Skip to Content

Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 42.2
edited by Karen
on 2023/05/16 10:13
Change comment: There is no comment for this version
To version 50.5
edited by Karen
on 2023/05/16 11:03
Change comment: There is no comment for this version

Summary

Details

Page properties
Content
... ... @@ -463,51 +463,42 @@
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="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-1.png||height="310" width="543"]]
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" %)(((
470 +Large actual torque
471 +)))|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-2.png||height="252" width="550"]]
474 474  |=(% style="text-align:center; vertical-align:middle" %)(((
475 475  4
476 476  )))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
477 477  Large speed command
478 -)))|(% style="width:946px" %)[[image:image-20230515140641-3.png]]
476 +)))|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-3.png||height="212" width="558"]]
479 479  |=(% style="text-align:center; vertical-align:middle" %)(((
480 480  5
481 481  )))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
482 482  Fast actual speed
483 -)))|(% style="width:946px" %)(((
484 -[[image:image-20230515140641-4.png]]
485 -)))
481 +)))|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-4.png||height="223" width="561"]]
486 486  |=(% style="text-align:center; vertical-align:middle" %)(((
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]]
496 -|=(% style="width:74px" %)(((
486 +)))|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-5.png||height="327" width="570"]]
487 +|=(% style="text-align:center; vertical-align:middle;width:74px" %)(((
497 497  7
498 498  )))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
499 499  Large position deviation
500 -)))|(% style="width:946px" %)[[image:image-20230515140641-6.png]]
491 +)))|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-6.png||height="305" width="574"]]
501 501  |=(% style="text-align:center; vertical-align:middle;" %)(((
502 502  8
503 503  )))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
504 504  Position command
505 -)))|(% style="width:946px" %)[[image:image-20230515140641-7.png]]
496 +)))|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-7.png||height="280" width="570"]]
506 506  |=(% style="text-align:center; vertical-align:middle; width:74px" %)(((
507 507  9
508 508  )))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
509 509  Positioning completed
510 -)))|(% style="width:946px" %)[[image:image-20230515140641-8.png]]
501 +)))|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-8.png||height="302" width="553"]]
511 511  |=(% style="text-align:center; vertical-align:middle" %)(((
512 512  10
513 513  )))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
... ... @@ -602,55 +602,36 @@
602 602  
603 603  |=(% 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**
604 604  |(% 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
605 -|(% colspan="8" %)(((
596 +|(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
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 -)))
599 +[[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  
620 620  |=(% 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**
621 621  |(% 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
622 -|(% colspan="8" %)(((
606 +|(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
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"]]
609 +[[image:image-20230515140953-10.png]]
629 629  )))
630 -)))
631 631  
632 632  |=(% 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**
633 633  |(% 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
634 -|(% colspan="8" %)(((
614 +|(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
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"]]
617 +[[image:image-20230515140953-11.png]]
641 641  )))
642 -)))
643 643  
644 644  |=(% 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**
645 645  |(% 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
646 -|(% colspan="8" %)(((
622 +|(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
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 -)))
625 +[[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  )))
... ... @@ -1206,3 +1206,76 @@
1206 1206  
1207 1207  Table 7-11 Notch filter function code parameters
1208 1208  ~)~)~)
1181 +
1182 +== Low frequency vibration suppression ==
1183 +
1184 +Low-frequency vibration suppression is suitable for working conditions where the motor vibrates during deceleration and shutdown after the position command is sent, and the vibration amplitude gradually decreases. The use of the low-frequency vibration suppression function is effective in reducing the time to complete positioning due to vibration effects.
1185 +
1186 +(% style="text-align:center" %)
1187 +(((
1188 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1189 +[[**Figure 7-13 Applicable working conditions for low-frequency vibration suppression**>>image:20230516-0713.png||id="20230516-0713.png"]]
1190 +)))
1191 +
1192 +|=(% scope="row" style="text-align: center; vertical-align: middle;" %)**Function code**|**Name**|(((
1193 +**Setting**
1194 +
1195 +**method**
1196 +)))|(((
1197 +**Effective**
1198 +
1199 +**time**
1200 +)))|**Default**|**Range**|**Definition**|**Unit**
1201 +|P4-11|Enable low-frequency vibration suppression function|(((
1202 +Operation
1203 +
1204 +setting
1205 +)))|(((
1206 +Effective
1207 +
1208 +immediately
1209 +)))|0|0 to 1|When the function code is set to 1, enable the low-frequency vibration suppression function.|
1210 +|P4-12|Low-frequency vibration suppression frequency|(((
1211 +Operation
1212 +
1213 +setting
1214 +)))|(((
1215 +Effective
1216 +
1217 +immediately
1218 +)))|800|10 to 2000|Set the vibration frequency when vibration occurs at the load end.|0.1HZ
1219 +|P4-14|Shutdown vibration detection amplitude|(((
1220 +Operation
1221 +
1222 +setting
1223 +)))|(((
1224 +Effective
1225 +
1226 +immediately
1227 +)))|100|0 to 1000|When the vibration amplitude is greater than (P5-12*P4-14 detection amplitude ratio), the low-frequency vibration frequency can be recognized and updated to the U0-16 monitor quantity.|0.001
1228 +
1229 +**(1) Vibration frequency detection:**
1230 +
1231 +* Users can measure vibration by measuring equipment such as laser displacement．
1232 +* If no measuring equipment, the user can also read the position deviation waveform to confirm the vibration frequency through the "waveform" function of the PC debugging software.
1233 +* Low-frequency vibration detection needs to be coordinated by the two parameters of completion positioning threshold and vibration detection amplitude. When the vibration amplitude is greater than (P5-12*P4-14 detection amplitude ratio), the low-frequency vibration frequency can be recognized and updated to U0-16 monitoring quantity. For example, when the vibration amplitude is greater than (P5-12*P4-14*0.001) detection amplitude ratio. For example, in P05-12=800, P04_14=50, the vibration amplitude is greater than P5-12*P4-14*0.001=800*50*0.001=40 pulses, stop vibration frequency can be identified in U0-16.
1234 +
1235 +**(2) Debugging method:**
1236 +
1237 +* Set the appropriate positioning completion thresholds P5-12 and P4-14 to help the software detect the vibration frequency.
1238 +* Run the position curve command to obtain the vibration frequency, and obtain the frequency through the speed curve of oscilloscope or U0-16.
1239 +* Set P4-12 vibration frequency and enable low frequency vibration suppression function P4-11.
1240 +* Run again to observe the speed waveform and determine whether to eliminate the vibration. If the vibration is not eliminated, please manually modify the vibration frequency and try again.
1241 +
1242 +|[[image:image-20230516105941-2.png]]
1243 +|Note: If there is a speed substantial vibration and the vibration increases during the debugging, it may be that the low-frequency vibration suppression is not suitable for the current working conditions, please immediately close the servo, or power down!
1244 +
1245 +== Type A vibration suppression ==
1246 +
1247 +Type A vibration suppression is suitable for durational vibration during motor operation or shutdown. Use Type A suppression to help reduce vibrations at specific frequencies that occur during motion (For the situation where the vibration continues to maintain and the vibration amplitude is almost constant after the command is completed.) As shown in Figure 7-14.
1248 +
1249 +(% style="text-align:center" %)
1250 +(((
1251 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1252 +[[**Figure 7-14 Applicable situations for type A vibration suppression**>>image:20230516-0714.png||id="20230516-0714.png"]]
1253 +)))
20230516-0713.png
Author
... ... @@ -1,0 +1,1 @@
1 +XWiki.Karen
Size
... ... @@ -1,0 +1,1 @@
1 +8.4 KB
Content
20230516-0714.png
Author
... ... @@ -1,0 +1,1 @@
1 +XWiki.Karen
Size
... ... @@ -1,0 +1,1 @@
1 +7.1 KB
Content
image-20230516105842-1.png
Author
... ... @@ -1,0 +1,1 @@
1 +XWiki.Karen
Size
... ... @@ -1,0 +1,1 @@
1 +1.8 KB
Content
image-20230516105941-2.png
Author
... ... @@ -1,0 +1,1 @@
1 +XWiki.Karen
Size
... ... @@ -1,0 +1,1 @@
1 +1.8 KB
Content