Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
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... ... @@ -463,12 +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; vertical-align:middle" %)[[image:image-20230515140641-1.png]] 467 - 466 +)))|(% style="width:946px" %)[[image:image-20230515140641-1.png]] 468 468 |=(% style="text-align:center; vertical-align:middle" %)((( 469 469 3 470 -)))|(% style="text-align:center; vertical-align:middle; width:464px" %)Large actual torque| 471 -(% 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]] 472 472 |=(% style="text-align:center; vertical-align:middle" %)((( 473 473 4 474 474 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( ... ... @@ -485,11 +485,7 @@ 485 485 6 486 486 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( 487 487 Speed command change rate is large 488 -)))| (% style="text-align:center" %) 489 -((( 490 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 491 -[[image:image-20230515140641-5.png||id="image-20230515140641-5.png"]] 492 -)))(% style="width:946px" %)[[image:image-20230515140641-5.png]] 486 +)))|(% style="width:946px" %)[[image:image-20230515140641-5.png]] 493 493 |=(% style="width:74px" %)((( 494 494 7 495 495 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( ... ... @@ -545,7 +545,8 @@ 545 545 546 546 |=(% 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 547 547 |=(% 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 548 -|=(% style="text-align: center; vertical-align: middle" %)1|(% style="text-align:center; vertical-align:middle" %)Switch by DI port|((( 542 +|=(% style="text-align: center; vertical-align: middle" %)1|(% style="text-align:center; vertical-align:middle" %)Switch by DI port| 543 +((( 549 549 Use DI function 10 (GAIN-SEL, gain switching); 550 550 551 551 DI logic is invalid: the first gain (P02-01~~P02-03); ... ... @@ -552,30 +552,41 @@ 552 552 553 553 DI logic is valid: the second gain (P02-04~~P02-06). 554 554 ))) 550 + 555 555 |=(% style="text-align: center; vertical-align: middle" %)2|(% style="text-align:center; vertical-align:middle" %)Large torque command|((( 556 556 In the previous first gain, when the absolute value of torque command is greater than (grade + hysteresis), the second gain is switched; 557 557 558 558 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. 555 + 556 + 559 559 ))) 560 560 |=(% style="text-align: center; vertical-align: middle" %)3|(% style="text-align:center; vertical-align:middle" %)Large actual torque|((( 561 561 In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched; 562 562 563 563 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. 562 + 563 + 564 564 ))) 565 565 |=(% style="text-align: center; vertical-align: middle" %)4|(% style="text-align:center; vertical-align:middle" %)Large speed command|((( 566 566 In the previous first gain, when the absolute value of speed command is greater than (grade + hysteresis), the second gain is switched; 567 567 568 568 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. 569 + 570 + 569 569 ))) 570 570 |=(% style="text-align: center; vertical-align: middle" %)5|(% style="text-align:center; vertical-align:middle" %)Large actual speed|((( 571 571 In the previous first gain, when the absolute value of actual speed is greater than (grade + hysteresis), the second gain is switched; 572 572 573 573 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. 576 + 577 + 574 574 ))) 575 575 |=(% style="text-align: center; vertical-align: middle" %)6|(% style="text-align:center; vertical-align:middle" %)Large rate of change in speed command|((( 576 576 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; 577 577 578 -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. 582 +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. 583 + 584 + 579 579 ))) 580 580 |=(% style="text-align: center; vertical-align: middle" %)7|(% style="text-align:center; vertical-align:middle" %)Large position deviation|((( 581 581 In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched; ... ... @@ -590,64 +590,51 @@ 590 590 |=(% style="text-align: center; vertical-align: middle" %)9|(% style="text-align:center; vertical-align:middle" %)Positioning complete|((( 591 591 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. 592 592 ))) 593 -|=(% style="text-align: center; vertical-align: middle" %)10|(% style="text-align:center; vertical-align:middle" %)Position command + actual speed|((( 599 +|=(% style="text-align: center; vertical-align: middle" %)10|(% style="text-align:center; vertical-align:middle" %)Position command + actual speed| 600 +((( 594 594 In the previous first gain, if the position command is not 0, the second gain is switched; 595 595 596 596 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). 604 + 605 +))) 597 597 ))) 598 -))) 599 599 600 -|=(% 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** 601 -|(% 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 608 +|(% rowspan="2" %) 609 +**P02-13**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 610 +|Delay Time for Gain Switching|Operation setting|Effective immediately|20|0 to 10000|Gain control|0.1ms 602 602 |(% colspan="8" %)((( 603 603 The duration of the switching condition required for the second gain to switch back to the first gain. 604 604 605 -(% style="text-align:center" %) 606 -((( 607 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 608 -[[image:image-20230515140953-9.png||id="image-20230515140953-9.png"]] 609 -))) 614 +[[image:image-20230515140953-9.png]] 610 610 611 -(% class="box infomessage" %) 612 -((( 613 613 **✎**Note: This parameter is only valid when the second gain is switched back to the first gain. 614 614 ))) 615 -))) 616 616 617 -|=(% 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** 618 -|(% 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 619 +|(% rowspan="2" %) 620 +**P02-14**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 621 +|Gain switching grade|Operation setting|Effective immediately|50|0 to 20000|Gain control|According to the switching conditions 619 619 |(% colspan="8" %)((( 620 620 Set the grade of the gain condition. The generation of the actual switching action is affected by the two conditions of grade and hysteresis. 621 621 622 -(% style="text-align:center" %) 623 -((( 624 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 625 -[[image:image-20230515140953-10.png||id="image-20230515140953-10.png"]] 625 +[[image:image-20230515140953-10.png]] 626 626 ))) 627 -))) 628 628 629 -|=(% 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** 630 -|(% 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 628 +|(% rowspan="2" %) 629 +**P02-15**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 630 +|Gain switching hysteresis|Operation setting|Effective immediately|20|0 to 20000|Gain control|According to the switching conditions 631 631 |(% colspan="8" %)((( 632 632 Set the hysteresis to meet the gain switching condition. 633 633 634 -(% style="text-align:center" %) 635 -((( 636 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 637 -[[image:image-20230515140953-11.png||id="image-20230515140953-11.png"]] 634 +[[image:image-20230515140953-11.png]] 638 638 ))) 639 -))) 640 640 641 -|=(% 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** 642 -|(% 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 637 +|(% rowspan="2" %) 638 +**P02-16**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 639 +|Position loop gain switching time|Operation setting|Effective immediately|30|0 to 10000|Gain control|0.1ms 643 643 |(% colspan="8" %)((( 644 644 Set the time for switching from the first position loop (P02-01) to the second position loop (P02-04) in the position control mode. 645 645 646 -(% style="text-align:center" %) 647 -((( 648 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 649 -[[image:image-20230515140953-12.png||id="image-20230515140953-12.png"]] 650 -))) 643 +[[image:image-20230515140953-12.png]] 651 651 652 652 If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately. 653 653 )))