Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
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... ... @@ -463,14 +463,10 @@ 463 463 2 464 464 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( 465 465 Large torque command 466 -)))|(% style="text-align:center" %)((( 467 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 468 -[[image:image-20230515140641-1.png||id="image-20230515140641-1.png"]] 469 -))) 466 +)))|(% style="width:946px" %)[[image:image-20230515140641-1.png]] 470 470 |=(% style="text-align:center; vertical-align:middle" %)((( 471 471 3 472 -)))|(% style="text-align:center; vertical-align:middle; width:464px" %)Large actual torque| 473 -(% style="width:946px" %)[[image:image-20230515140641-2.png]] 469 +)))|(% style="text-align:center; vertical-align:middle; width:464px" %)Large actual torque|(% style="width:946px" %)[[image:image-20230515140641-2.png]] 474 474 |=(% style="text-align:center; vertical-align:middle" %)((( 475 475 4 476 476 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( ... ... @@ -487,12 +487,7 @@ 487 487 6 488 488 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( 489 489 Speed command change rate is large 490 -)))| 491 -(% style="text-align:center" %) 492 -((( 493 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 494 -[[image:image-20230515140641-5.png||id="image-20230515140641-5.png"]] 495 -)))(% style="width:946px" %)[[image:image-20230515140641-5.png]] 486 +)))|(% style="width:946px" %)[[image:image-20230515140641-5.png]] 496 496 |=(% style="width:74px" %)((( 497 497 7 498 498 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( ... ... @@ -547,8 +547,8 @@ 547 547 Set the conditions for gain switching. 548 548 549 549 |=(% style="text-align: center; vertical-align: middle; width:120px" %)Setting value|=(% style="text-align: center; vertical-align: middle" %)Gain switching conditions|=(% style="text-align: center; vertical-align: middle" %)Details 550 -| =(% style="text-align: center; vertical-align: middle" %)0|(% style="text-align:center; vertical-align:middle" %)The default is the first gain|Fixed use of the first gain551 -| =(% style="text-align: center; vertical-align: middle" %)1|(% style="text-align:center; vertical-align:middle" %)Switch by DI port|(((541 +|0|The default is the first gain|Fixed use of the first gain 542 +|1|Switch by DI port|((( 552 552 Use DI function 10 (GAIN-SEL, gain switching); 553 553 554 554 DI logic is invalid: the first gain (P02-01~~P02-03); ... ... @@ -555,102 +555,135 @@ 555 555 556 556 DI logic is valid: the second gain (P02-04~~P02-06). 557 557 ))) 558 -| =(% style="text-align: center; vertical-align: middle" %)2|(% style="text-align:center; vertical-align:middle" %)Large torque command|(((549 +|2|Large torque command|((( 559 559 In the previous first gain, when the absolute value of torque command is greater than (grade + hysteresis), the second gain is switched; 560 560 561 561 In the previous second gain, when the absolute value of torque command is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned. 553 + 554 + 562 562 ))) 563 -| =(% style="text-align: center; vertical-align: middle" %)3|(% style="text-align:center; vertical-align:middle" %)Large actual torque|(((556 +|3|Large actual torque|((( 564 564 In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched; 565 565 566 566 In the previous second gain, when the absolute value of actual torque is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned. 560 + 561 + 567 567 ))) 568 -| =(% style="text-align: center; vertical-align: middle" %)4|(% style="text-align:center; vertical-align:middle" %)Large speed command|(((563 +|4|Large speed command|((( 569 569 In the previous first gain, when the absolute value of speed command is greater than (grade + hysteresis), the second gain is switched; 570 570 571 -In the previous second gain, when the absolute value of speed command is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned. 566 +In the previous second gain, when the absolute value of speed command is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned . 567 + 568 + 572 572 ))) 573 -| =(% style="text-align: center; vertical-align: middle" %)5|(% style="text-align:center; vertical-align:middle" %)Large actual speed|(((570 +|5|Large actual speed|((( 574 574 In the previous first gain, when the absolute value of actual speed is greater than (grade + hysteresis), the second gain is switched; 575 575 576 -In the previous second gain, when the absolute value of actual speed is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned. 573 +In the previous second gain, when the absolute value of actual speed is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned . 574 + 575 + 577 577 ))) 578 -|=(% style="text-align: center; vertical-align: middle" %)6|(% style="text-align:center; vertical-align:middle" %)Large rate of change in speed command|((( 577 +|((( 578 + 579 + 580 +6 581 +)))|((( 582 + 583 + 584 +Large rate of change in speed command 585 +)))|((( 579 579 In the previous first gain, when the absolute value of the rate of change in speed command is greater than (grade + hysteresis), the second gain is switched; 580 580 581 -In the previous second gain, switch to the first gain when the absolute value of the rate of change in speed command is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned. 588 +In the previous second gain, switch to the first gain when the absolute value of the rate of change in speed command is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned . 589 + 590 + 582 582 ))) 583 -|=(% style="text-align: center; vertical-align: middle" %)7|(% style="text-align:center; vertical-align:middle" %)Large position deviation|((( 592 +|((( 593 + 594 + 595 +7 596 +)))|((( 597 + 598 + 599 +Large position deviation 600 +)))|((( 584 584 In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched; 585 585 586 -In the previous second gain, switch to the first gain when the absolute value of position deviation is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned. 603 +In the previous second gain, switch to the first gain when the absolute value of position deviation is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned . 587 587 ))) 588 -| =(% style="text-align: center; vertical-align: middle" %)8|(% style="text-align:center; vertical-align:middle" %)Position command|(((605 +|8|Position command|((( 589 589 In the previous first gain, if the position command is not 0, switch to the second gain; 590 590 591 591 In the previous second gain, if the position command is 0 and the duration is greater than [P02-13], the first gain is returned. 592 592 ))) 593 -|=(% style="text-align: center; vertical-align: middle" %)9|(% style="text-align:center; vertical-align:middle" %)Positioning complete|((( 610 +|((( 611 + 612 + 613 +9 614 +)))|((( 615 + 616 + 617 +Positioning complete 618 +)))|((( 594 594 In the previous first gain, if the positioning is not completed, the second gain is switched; In the previous second gain, if the positioning is not completed and the duration is greater than [P02-13], the first gain is returned. 620 + 621 + 595 595 ))) 596 -|=(% style="text-align: center; vertical-align: middle" %)10|(% style="text-align:center; vertical-align:middle" %)Position command + actual speed|((( 623 +|((( 624 + 625 + 626 +10 627 +)))|((( 628 + 629 + 630 +Position command + actual speed 631 +)))|((( 597 597 In the previous first gain, if the position command is not 0, the second gain is switched; 598 598 599 599 In the previous second gain, if the position command is 0, the duration is greater than [P02-13] and the absolute value of actual speed is less than ( grade - hysteresis). 635 + 636 + 600 600 ))) 638 + 639 + 601 601 ))) 602 602 603 -|=(% rowspan="2" style="text-align:center; vertical-align:middle; width:120px" %)**P02-13**|=(% style="width:150px" %)Parameter name|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Setting method**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Effective time**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Default**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Set range**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Application category**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Unit** 604 -|(% style="text-align:center; width:150px" %)Delay Time for Gain Switching|(% style="text-align:center" %)Operation setting|(% style="text-align:center" %)Effective immediately|(% style="text-align:center" %)20|(% style="text-align:center" %)0 to 10000|(% style="text-align:center" %)Gain control|(% style="text-align:center" %)0.1ms 642 +|(% rowspan="2" %) 643 +**P02-13**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 644 +|Delay Time for Gain Switching|Operation setting|Effective immediately|20|0 to 10000|Gain control|0.1ms 605 605 |(% colspan="8" %)((( 606 606 The duration of the switching condition required for the second gain to switch back to the first gain. 607 607 608 -(% style="text-align:center" %) 609 -((( 610 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 611 -[[image:image-20230515140953-9.png||id="image-20230515140953-9.png"]] 612 -))) 648 +[[image:image-20230515140953-9.png]] 613 613 614 -(% class="box infomessage" %) 615 -((( 616 616 **✎**Note: This parameter is only valid when the second gain is switched back to the first gain. 617 617 ))) 618 -))) 619 619 620 -|=(% rowspan="2" style="text-align:center; vertical-align:middle; width:120px" %)**P02-14**|=(% style="width:150px" %)Parameter name|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Setting method**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Effective time**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Default**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Set range**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Application category**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Unit** 621 -|(% style="text-align:center; width:150px" %)Gain switching grade|(% style="text-align:center" %)Operation setting|(% style="text-align:center" %)Effective immediately|(% style="text-align:center" %)50|(% style="text-align:center" %)0 to 20000|(% style="text-align:center" %)Gain control|(% style="text-align:center" %)According to the switching conditions 653 +|(% rowspan="2" %) 654 +**P02-14**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 655 +|Gain switching grade|Operation setting|Effective immediately|50|0 to 20000|Gain control|According to the switching conditions 622 622 |(% colspan="8" %)((( 623 623 Set the grade of the gain condition. The generation of the actual switching action is affected by the two conditions of grade and hysteresis. 624 624 625 -(% style="text-align:center" %) 626 -((( 627 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 628 -[[image:image-20230515140953-10.png||id="image-20230515140953-10.png"]] 659 +[[image:image-20230515140953-10.png]] 629 629 ))) 630 -))) 631 631 632 -|=(% rowspan="2" style="text-align:center; vertical-align:middle; width:120px" %)**P02-15**|=(% style="width:150px" %)Parameter name|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Setting method**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Effective time**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Default**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Set range**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Application category**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Unit** 633 -|(% style="text-align:center; width:150px" %)Gain switching hysteresis|(% style="text-align:center" %)Operation setting|(% style="text-align:center" %)Effective immediately|(% style="text-align:center" %)20|(% style="text-align:center" %)0 to 20000|(% style="text-align:center" %)Gain control|(% style="text-align:center" %)According to the switching conditions 662 +|(% rowspan="2" %) 663 +**P02-15**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 664 +|Gain switching hysteresis|Operation setting|Effective immediately|20|0 to 20000|Gain control|According to the switching conditions 634 634 |(% colspan="8" %)((( 635 635 Set the hysteresis to meet the gain switching condition. 636 636 637 -(% style="text-align:center" %) 638 -((( 639 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 640 -[[image:image-20230515140953-11.png||id="image-20230515140953-11.png"]] 668 +[[image:image-20230515140953-11.png]] 641 641 ))) 642 -))) 643 643 644 -|=(% rowspan="2" style="text-align:center; vertical-align:middle; width:120px" %)**P02-16**|=(% style="width:150px" %)Parameter name|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Setting method**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Effective time**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Default**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Set range**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Application category**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Unit** 645 -|(% style="text-align:center; width:150px" %)Position loop gain switching time|(% style="text-align:center" %)Operation setting|(% style="text-align:center" %)Effective immediately|(% style="text-align:center" %)30|(% style="text-align:center" %)0 to 10000|(% style="text-align:center" %)Gain control|(% style="text-align:center" %)0.1ms 671 +|(% rowspan="2" %) 672 +**P02-16**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 673 +|Position loop gain switching time|Operation setting|Effective immediately|30|0 to 10000|Gain control|0.1ms 646 646 |(% colspan="8" %)((( 647 647 Set the time for switching from the first position loop (P02-01) to the second position loop (P02-04) in the position control mode. 648 648 649 -(% style="text-align:center" %) 650 -((( 651 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 652 -[[image:image-20230515140953-12.png||id="image-20230515140953-12.png"]] 653 -))) 677 +[[image:image-20230515140953-12.png]] 654 654 655 655 If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately. 656 656 )))