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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 43.2
edited by Karen
on 2023/05/16 10:17
Change comment: There is no comment for this version
To version 50.3
edited by Karen
on 2023/05/16 10:59
Change comment: There is no comment for this version

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... ... @@ -463,48 +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; vertical-align:middle" %)[[image:image-20230515140641-1.png]]
467 -
466 +)))|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-1.png||height="310" width="543"]]
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" %)(((
470 +Large actual torque
471 +)))|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-2.png||height="252" width="550"]]
472 472  |=(% style="text-align:center; vertical-align:middle" %)(((
473 473  4
474 474  )))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
475 475  Large speed command
476 -)))|(% 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"]]
477 477  |=(% style="text-align:center; vertical-align:middle" %)(((
478 478  5
479 479  )))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
480 480  Fast actual speed
481 -)))|(% style="width:946px" %)(((
482 -[[image:image-20230515140641-4.png]]
483 -)))
481 +)))|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-4.png||height="223" width="561"]]
484 484  |=(% style="text-align:center; vertical-align:middle" %)(((
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]]
493 -|=(% 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" %)(((
494 494  7
495 495  )))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
496 496  Large position deviation
497 -)))|(% 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"]]
498 498  |=(% style="text-align:center; vertical-align:middle;" %)(((
499 499  8
500 500  )))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
501 501  Position command
502 -)))|(% 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"]]
503 503  |=(% style="text-align:center; vertical-align:middle; width:74px" %)(((
504 504  9
505 505  )))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
506 506  Positioning completed
507 -)))|(% 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"]]
508 508  |=(% style="text-align:center; vertical-align:middle" %)(((
509 509  10
510 510  )))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
... ... @@ -599,55 +599,36 @@
599 599  
600 600  |=(% 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**
601 601  |(% 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
602 -|(% colspan="8" %)(((
596 +|(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
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 -)))
599 +[[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  
617 617  |=(% 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**
618 618  |(% 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 -|(% colspan="8" %)(((
606 +|(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
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"]]
609 +[[image:image-20230515140953-10.png]]
626 626  )))
627 -)))
628 628  
629 629  |=(% 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**
630 630  |(% 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
631 -|(% colspan="8" %)(((
614 +|(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
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"]]
617 +[[image:image-20230515140953-11.png]]
638 638  )))
639 -)))
640 640  
641 641  |=(% 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**
642 642  |(% 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
643 -|(% colspan="8" %)(((
622 +|(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
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 -)))
625 +[[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  )))
... ... @@ -1203,3 +1203,76 @@
1203 1203  
1204 1204  Table 7-11 Notch filter function code parameters
1205 1205  ~)~)~)
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 +|**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 +)))
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