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); ... ... @@ -552,45 +552,54 @@ 552 552 553 553 DI logic is valid: the second gain (P02-04~~P02-06). 554 554 ))) 555 -|=(% style="text-align: center; vertical-align: middle" %)2|(% style="text-align:center; vertical-align:middle" %)Large torque command|((( 550 +|=(% style="text-align: center; vertical-align: middle" %)2|(% style="text-align:center; vertical-align:middle" %)Large torque command| 551 +((( 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. 559 559 ))) 560 -|=(% style="text-align: center; vertical-align: middle" %)3|(% style="text-align:center; vertical-align:middle" %)Large actual torque|((( 556 +|=(% style="text-align: center; vertical-align: middle" %)3|(% style="text-align:center; vertical-align:middle" %)Large actual torque| 557 +((( 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. 564 564 ))) 565 -|=(% style="text-align: center; vertical-align: middle" %)4|(% style="text-align:center; vertical-align:middle" %)Large speed command|((( 562 +|=(% style="text-align: center; vertical-align: middle" %)4|(% style="text-align:center; vertical-align:middle" %)Large speed command| 563 +((( 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. 569 569 ))) 570 -|=(% style="text-align: center; vertical-align: middle" %)5|(% style="text-align:center; vertical-align:middle" %)Large actual speed|((( 568 +|=(% style="text-align: center; vertical-align: middle" %)5|(% style="text-align:center; vertical-align:middle" %)Large actual speed| 569 +((( 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. 574 574 ))) 575 -|=(% style="text-align: center; vertical-align: middle" %)6|(% style="text-align:center; vertical-align:middle" %)Large rate of change in speed command|((( 574 +|=(% style="text-align: center; vertical-align: middle" %)6|(% style="text-align:center; vertical-align:middle" %)Large rate of change in speed command| 575 +((( 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; 577 577 578 578 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. 579 579 ))) 580 -|=(% style="text-align: center; vertical-align: middle" %)7|(% style="text-align:center; vertical-align:middle" %)Large position deviation|((( 580 +|=(% style="text-align: center; vertical-align: middle" %)7|(% style="text-align:center; vertical-align:middle" %)Large position deviation| 581 +((( 581 581 In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched; 582 582 583 583 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. 584 584 ))) 585 -|=(% style="text-align: center; vertical-align: middle" %)8|(% style="text-align:center; vertical-align:middle" %)Position command|((( 586 +|=(% style="text-align: center; vertical-align: middle" %)8|(% style="text-align:center; vertical-align:middle" %)Position command| 587 +((( 586 586 In the previous first gain, if the position command is not 0, switch to the second gain; 587 587 588 588 In the previous second gain, if the position command is 0 and the duration is greater than [P02-13], the first gain is returned. 589 589 ))) 590 -|=(% style="text-align: center; vertical-align: middle" %)9|(% style="text-align:center; vertical-align:middle" %)Positioning complete|((( 592 +|=(% style="text-align: center; vertical-align: middle" %)9|(% style="text-align:center; vertical-align:middle" %)Positioning complete| 593 +((( 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|((( 596 +|=(% style="text-align: center; vertical-align: middle" %)10|(% style="text-align:center; vertical-align:middle" %)Position command + actual speed| 597 +((( 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). ... ... @@ -597,57 +597,41 @@ 597 597 ))) 598 598 ))) 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" %)0.1ms604 +|(% 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** 605 +|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 -))) 609 +[[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 614 +|(% rowspan="2" %) 615 +**P02-14**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 616 +|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"]] 620 +[[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 623 +|(% rowspan="2" %) 624 +**P02-15**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 625 +|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"]] 629 +[[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 632 +|(% rowspan="2" %) 633 +**P02-16**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 634 +|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 -))) 638 +[[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 )))