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" %)((( ... ... @@ -487,11 +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 -)))| (% style="text-align:center" %) 491 -((( 492 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 493 -[[image:image-20230515140641-5.png||id="image-20230515140641-5.png"]] 494 -)))(% style="width:946px" %)[[image:image-20230515140641-5.png]] 486 +)))|(% style="width:946px" %)[[image:image-20230515140641-5.png]] 495 495 |=(% style="width:74px" %)((( 496 496 7 497 497 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( ... ... @@ -546,8 +546,8 @@ 546 546 Set the conditions for gain switching. 547 547 548 548 |=(% 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 549 -|=(% 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 gain 550 -|=(% style="text-align: center; vertical-align: middle" %)1|(% style="text-align:center; vertical-align:middle" %)Switch by DI port|((( 541 +|=(% 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 gain 542 +|=(% style="text-align: center; vertical-align: middle" %)1|=(% style="text-align: center; vertical-align: middle" %)Switch by DI port|((( 551 551 Use DI function 10 (GAIN-SEL, gain switching); 552 552 553 553 DI logic is invalid: the first gain (P02-01~~P02-03); ... ... @@ -554,102 +554,136 @@ 554 554 555 555 DI logic is valid: the second gain (P02-04~~P02-06). 556 556 ))) 557 -|=(% style="text-align: center; vertical-align: middle" %) 2|(% style="text-align:center; vertical-align:middle" %)Large torque command|(((549 +|2|=(% style="text-align: center; vertical-align: middle" %)Large torque command|((( 558 558 In the previous first gain, when the absolute value of torque command is greater than (grade + hysteresis), the second gain is switched; 559 559 560 560 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 + 561 561 ))) 562 -|=(% style="text-align: center; vertical-align: middle" %) 3|(% style="text-align:center; vertical-align:middle" %)Large actual torque|(((556 +|3|=(% style="text-align: center; vertical-align: middle" %)Large actual torque|((( 563 563 In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched; 564 564 565 565 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 + 566 566 ))) 567 -|=(% style="text-align: center; vertical-align: middle" %) 4|(% style="text-align:center; vertical-align:middle" %)Large speed command|(((563 +|4|=(% style="text-align: center; vertical-align: middle" %)Large speed command|((( 568 568 In the previous first gain, when the absolute value of speed command is greater than (grade + hysteresis), the second gain is switched; 569 569 570 570 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 + 571 571 ))) 572 -|=(% style="text-align: center; vertical-align: middle" %) 5|(% style="text-align:center; vertical-align:middle" %)Large actual speed|(((570 +|5|=(% style="text-align: center; vertical-align: middle" %)Large actual speed|((( 573 573 In the previous first gain, when the absolute value of actual speed is greater than (grade + hysteresis), the second gain is switched; 574 574 575 575 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 + 576 576 ))) 577 -|=(% 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 += (% style="text-align: center; vertical-align: middle" %) 583 + (%%) = 584 + 585 +Large rate of change in speed command 586 +)))|((( 578 578 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; 579 579 580 -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 +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. 590 + 591 + 581 581 ))) 582 -|=(% style="text-align: center; vertical-align: middle" %)7|(% style="text-align:center; vertical-align:middle" %)Large position deviation|((( 593 +|((( 594 + 595 + 596 +7 597 +)))|((( 598 + 599 + 600 +Large position deviation 601 +)))|((( 583 583 In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched; 584 584 585 -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. 604 +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 . 586 586 ))) 587 -| =(% style="text-align: center; vertical-align: middle" %)8|(% style="text-align:center; vertical-align:middle" %)Position command|(((606 +|8|Position command|((( 588 588 In the previous first gain, if the position command is not 0, switch to the second gain; 589 589 590 590 In the previous second gain, if the position command is 0 and the duration is greater than [P02-13], the first gain is returned. 591 591 ))) 592 -|=(% style="text-align: center; vertical-align: middle" %)9|(% style="text-align:center; vertical-align:middle" %)Positioning complete|((( 611 +|((( 612 + 613 + 614 +9 615 +)))|((( 616 + 617 + 618 +Positioning complete 619 +)))|((( 593 593 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. 621 + 622 + 594 594 ))) 595 -|=(% style="text-align: center; vertical-align: middle" %)10|(% style="text-align:center; vertical-align:middle" %)Position command + actual speed|((( 624 +|((( 625 + 626 + 627 +10 628 +)))|((( 629 + 630 + 631 +Position command + actual speed 632 +)))|((( 596 596 In the previous first gain, if the position command is not 0, the second gain is switched; 597 597 598 598 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). 636 + 637 + 599 599 ))) 639 + 640 + 600 600 ))) 601 601 602 -|=(% 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** 603 -|(% 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 643 +|(% rowspan="2" %) 644 +**P02-13**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 645 +|Delay Time for Gain Switching|Operation setting|Effective immediately|20|0 to 10000|Gain control|0.1ms 604 604 |(% colspan="8" %)((( 605 605 The duration of the switching condition required for the second gain to switch back to the first gain. 606 606 607 -(% style="text-align:center" %) 608 -((( 609 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 610 -[[image:image-20230515140953-9.png||id="image-20230515140953-9.png"]] 611 -))) 649 +[[image:image-20230515140953-9.png]] 612 612 613 -(% class="box infomessage" %) 614 -((( 615 615 **✎**Note: This parameter is only valid when the second gain is switched back to the first gain. 616 616 ))) 617 -))) 618 618 619 -|=(% 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** 620 -|(% 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 654 +|(% rowspan="2" %) 655 +**P02-14**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 656 +|Gain switching grade|Operation setting|Effective immediately|50|0 to 20000|Gain control|According to the switching conditions 621 621 |(% colspan="8" %)((( 622 622 Set the grade of the gain condition. The generation of the actual switching action is affected by the two conditions of grade and hysteresis. 623 623 624 -(% style="text-align:center" %) 625 -((( 626 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 627 -[[image:image-20230515140953-10.png||id="image-20230515140953-10.png"]] 660 +[[image:image-20230515140953-10.png]] 628 628 ))) 629 -))) 630 630 631 -|=(% 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** 632 -|(% 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 663 +|(% rowspan="2" %) 664 +**P02-15**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 665 +|Gain switching hysteresis|Operation setting|Effective immediately|20|0 to 20000|Gain control|According to the switching conditions 633 633 |(% colspan="8" %)((( 634 634 Set the hysteresis to meet the gain switching condition. 635 635 636 -(% style="text-align:center" %) 637 -((( 638 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 639 -[[image:image-20230515140953-11.png||id="image-20230515140953-11.png"]] 669 +[[image:image-20230515140953-11.png]] 640 640 ))) 641 -))) 642 642 643 -|=(% 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** 644 -|(% 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 672 +|(% rowspan="2" %) 673 +**P02-16**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 674 +|Position loop gain switching time|Operation setting|Effective immediately|30|0 to 10000|Gain control|0.1ms 645 645 |(% colspan="8" %)((( 646 646 Set the time for switching from the first position loop (P02-01) to the second position loop (P02-04) in the position control mode. 647 647 648 -(% style="text-align:center" %) 649 -((( 650 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 651 -[[image:image-20230515140953-12.png||id="image-20230515140953-12.png"]] 652 -))) 678 +[[image:image-20230515140953-12.png]] 653 653 654 654 If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately. 655 655 )))