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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 55.4
edited by Karen
on 2023/05/16 11:29
Change comment: There is no comment for this version

Summary

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Content
... ... @@ -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" %)(((
... ... @@ -599,505 +599,40 @@
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  )))
654 654  
655 -== **Model Tracking Control Function** ==
656 -
657 -Model tracking control is suitable for position control mode, which adds a model loop outside the three loop. In the model loop, new position commands, speed feedforward and torque feedforward and other control quantities are generated according to the user's response requirements to the system and the ideal motor control model. Applying these control quantities to the actual control loop can significantly improve the response performance and positioning performance of the position control, the design block diagram is as follows:
658 -
659 -(% style="text-align:center" %)
660 -[[image:20230515-7.png]]
661 -
662 -The usage method and conditions of model tracking control:
663 -
664 -~1. Correctly set the inertia ratio of the system P3-1, which can be obtained by monitoring the real-time load inertia ratio of U0-20.
665 -
666 -2. Set the load rigidity level P3-2, set an appropriate value, it is not need to set a high rigidity level (recommended value 17~~21 under rigid load).
667 -
668 -3. Set P2-20=1 to enable the function of model tracking control.
669 -
670 -4. Adjust the P2-21 model tracking control gain from small to large, and gradually increase in steps of 1000 until the responsiveness of the system meets the actual demand. The responsiveness of the system is mainly determined by this parameter.
671 -
672 -5. After the responsiveness meets the requirements, user can adjust the parameters appropriately to increase the load rigidity level P3-2.
673 -
674 -**✎Note**: Model tracking control is only available in position mode, and cannot be used in other modes.
675 -
676 -|**Function code**|**Name**|(((
677 -**Setting**
678 -
679 -**method**
680 -)))|(((
681 -**Effective**
682 -
683 -**time**
684 -)))|**Default**|**Range**|**Definition**|**Unit**
685 -|P2-20|Model tracking control function|Shutdown setting|(((
686 -Effective
687 -
688 -immediately
689 -)))|0|0 to 1|When the function code is set to 1, enable the model tracking control function.|
690 -|P2-21|Model tracking control gain|Shutdown setting|(((
691 -Effective
692 -
693 -immediately
694 -)))|1000|200 to 20000|(% rowspan="2" %)Increasing the model tracking control gain can improve the position response performance of the model loop. If the gain is too high, it may cause overshoot behavior. The gain compensation affects the damping ratio of the model loop, and the damping ratio becomes larger as the gain compensation becomes larger.|0.1/s
695 -|P2-22|Model tracking control gain compensation|Shutdown setting|(((
696 -Effective
697 -
698 -immediately
699 -)))|1000|500 to 2000|0.10%
700 -
701 -|**Function code**|**Name**|(((
702 -**Setting**
703 -
704 -**method**
705 -)))|(((
706 -**Effective**
707 -
708 -**time**
709 -)))|**Default**|**Range**|**Definition**|**Unit**
710 -|P2-23|Model tracking control forward rotation bias|(((
711 -Operation
712 -
713 -setting
714 -)))|(((
715 -Effective
716 -
717 -immediately
718 -)))|1000|0 to 10000|(% rowspan="2" %)Torque feedforward size in the positive and reverse direction under model tracking control|0.10%
719 -|P2-24|Model tracking control reverses rotation bias|(((
720 -Operation
721 -
722 -setting
723 -)))|(((
724 -Effective
725 -
726 -immediately
727 -)))|1000|0 to 10000|0.10%
728 -|P2-25|Model tracking control speed feedforward compensation|Operation setting|(((
729 -Effective
730 -
731 -immediately
732 -)))|1000|0 to 10000|The size of the speed feedforward under model tracking control|0.10%
733 -
734 -Please refer to the following for an example of the procedure of adjusting servo gain.
735 -
736 -|**Step**|**Content**
737 -|1|Please try to set the correct load inertia ratio parameter P3-1.
738 -|2|If the automatic adjustment mode is used (P3-3 is set to 0), please set the basic rigidity level parameter P3-2. If in manual adjustment mode (P3-3 is set to 1), please set the gain P2-1~~P2-3 related to the position loop and speed loop and the torque filter time constant P4-4. The setting principle is mainly no vibration and overshoot.
739 -|3|Turn on the model tracking function, set P2-20 to 1.
740 -|4|Increase the model tracking gain P2-21 within the range of no overshoot and vibration occur.
741 -|5|If the rigidity level of step 2 is set relatively low, user can properly increase the rigidity level P3-2.
742 -|6|When overshoot occurs, or the responses of forward rotation and reverse rotation are different, user can fine-tune through model tracking control forward bias P2-23, model tracking control reverse bias P2-24, model tracking control speed feedforward compensation P2 -25.
743 -
744 -== **Gain switching** ==
745 -
746 -Gain switching function:
747 -
748 -●Switch to a lower gain in the motor stationary (servo enabled)state to suppress vibration;
749 -
750 -●Switch to a higher gain in the motor stationary state to shorten the positioning time;
751 -
752 -●Switch to a higher gain in the motor running state to get better command tracking performance;
753 -
754 -●Switch different gain settings by external signals depending on the load connected.
755 -
756 -(1) Gain switching parameter setting
757 -
758 -①When P02-07=0
759 -
760 -Fixed use of the first gain (using P02-01~~P02-03), and the switching of P/PI (proportional/proportional integral) control could be realized through DI function 10 (GAIN-SEL, gain switching).
761 -
762 -(% style="text-align:center" %)
763 -[[image:20230515-8.png]]
764 -
765 -② When P02-07=1
766 -
767 -The switching conditions can be set through parameter P02-08 to realize switching between the first gain (P02-01~~P02-03) and the second gain (P02-04~~P02-06).
768 -
769 -(% style="text-align:center" %)
770 -[[image:20230515-9.png]]
771 -
772 -Figure 7-9 Flow chart of gain switching when P02-07=1
773 -
774 -|(% style="width:72px" %)**P02-08**|(% style="width:146px" %)**Content**|**Diagram**
775 -|(% style="width:72px" %)0|(% style="width:146px" %)Fixed use of the first gain|~-~-
776 -|(% style="width:72px" %)1|(% style="width:146px" %)Switching with DI|~-~-
777 -|(% style="width:72px" %)(((
778 -
779 -
780 -
781 -
782 -
783 -
784 -2
785 -)))|(% style="width:146px" %)(((
786 -
787 -
788 -
789 -
790 -
791 -
792 -Large torque command
793 -)))|[[image:image-20230515140641-1.png]]
794 -|(% style="width:72px" %)(((
795 -
796 -
797 -
798 -
799 -
800 -
801 -
802 -3
803 -)))|(% style="width:146px" %)Large actual torque|[[image:image-20230515140641-2.png]]
804 -|(% style="width:72px" %)(((
805 -
806 -
807 -
808 -
809 -
810 -
811 -4
812 -)))|(% style="width:146px" %)(((
813 -
814 -
815 -
816 -
817 -
818 -
819 -Large speed command
820 -)))|[[image:image-20230515140641-3.png]]
821 -
822 -|(% style="width:74px" %)**P02-08**|(% style="width:176px" %)**Content**|**Diagram**
823 -|(% style="width:74px" %)(((
824 -
825 -
826 -
827 -
828 -
829 -5
830 -)))|(% style="width:176px" %)(((
831 -
832 -
833 -
834 -
835 -
836 -Fast actual speed
837 -)))|(((
838 -
839 -
840 -[[image:image-20230515140641-4.png]]
841 -)))
842 -|(% style="width:74px" %)(((
843 -
844 -
845 -
846 -
847 -
848 -
849 -
850 -6
851 -)))|(% style="width:176px" %)(((
852 -
853 -
854 -
855 -
856 -
857 -
858 -
859 -Speed command change rate is large
860 -)))|[[image:image-20230515140641-5.png]]
861 -|(% style="width:74px" %)(((
862 -
863 -
864 -
865 -
866 -
867 -
868 -7
869 -
870 -
871 -)))|(% style="width:176px" %)(((
872 -
873 -
874 -
875 -
876 -
877 -
878 -Large position deviation
879 -)))|[[image:image-20230515140641-6.png]]
880 -|(% style="width:74px" %)(((
881 -
882 -
883 -
884 -
885 -
886 -8
887 -)))|(% style="width:176px" %)(((
888 -
889 -
890 -
891 -
892 -
893 -Position command
894 -)))|[[image:image-20230515140641-7.png]]
895 -
896 -|(% style="width:73px" %)(((
897 -
898 -
899 -
900 -
901 -
902 -
903 -9
904 -)))|(% style="width:154px" %)(((
905 -
906 -
907 -
908 -
909 -
910 -
911 -Positioning completed
912 -)))|[[image:image-20230515140641-8.png]]
913 -|(% style="width:73px" %)(((
914 -
915 -
916 -10
917 -
918 -
919 -)))|(% style="width:154px" %)(((
920 -
921 -
922 -Position command + actual speed
923 -)))|(((
924 -
925 -
926 -Refer to the chart below
927 -)))
928 -
929 -(% style="text-align:center" %)
930 -[[image:20230515-10.png]]
931 -
932 -Figure 7-10 P02-08=10 Position command + actual speed gain description
933 -
934 -(2) Description of related parameters
935 -
936 -|(% rowspan="2" style="width:68px" %)
937 -**P02-07**|(% style="width:150px" %)**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
938 -|(% style="width:150px" %)The second gain switching mode|Operation setting|Effective immediately|0|0 to 1|Gain control|
939 -|(% colspan="8" %)(((
940 -Set the switching mode of the second gain.
941 -
942 -|**Setting value**|**Function**
943 -|0|(((
944 -The first gain is used by default. Switching using DI function 10 (GAIN-SEL, gain switching):
945 -
946 -DI logic invalid: PI control;
947 -
948 -DI logic valid: PI control.
949 -)))
950 -|1|The first gain and the second gain are switched by the setting value of P02-08.
951 -)))
952 -
953 -|(% rowspan="2" %)
954 -**P02-08**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
955 -|Gain switching condition selection|Operation setting|Effective immediately|0|0 to 10|Gain control|
956 -|(% colspan="8" %)(((
957 -Set the conditions for gain switching.
958 -
959 -|Setting value|Gain switching conditions|Details
960 -|0|The default is the first gain|Fixed use of the first gain
961 -|1|Switch by DI port|(((
962 -Use DI function 10 (GAIN-SEL, gain switching);
963 -
964 -DI logic is invalid: the first gain (P02-01~~P02-03);
965 -
966 -DI logic is valid: the second gain (P02-04~~P02-06).
967 -)))
968 -|2|Large torque command|(((
969 -In the previous first gain, when the absolute value of torque command is greater than (grade + hysteresis), the second gain is switched;
970 -
971 -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.
972 -
973 -
974 -)))
975 -|3|Large actual torque|(((
976 -In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched;
977 -
978 -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 .
979 -
980 -
981 -)))
982 -|4|Large speed command|(((
983 -In the previous first gain, when the absolute value of speed command is greater than (grade + hysteresis), the second gain is switched;
984 -
985 -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 .
986 -
987 -
988 -)))
989 -|5|Large actual speed|(((
990 -In the previous first gain, when the absolute value of actual speed is greater than (grade + hysteresis), the second gain is switched;
991 -
992 -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 .
993 -
994 -
995 -)))
996 -|(((
997 -
998 -
999 -6
1000 -)))|(((
1001 -
1002 -
1003 -Large rate of change in speed command
1004 -)))|(((
1005 -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;
1006 -
1007 -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 .
1008 -
1009 -
1010 -)))
1011 -|(((
1012 -
1013 -
1014 -7
1015 -)))|(((
1016 -
1017 -
1018 -Large position deviation
1019 -)))|(((
1020 -In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched;
1021 -
1022 -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 .
1023 -)))
1024 -|8|Position command|(((
1025 -In the previous first gain, if the position command is not 0, switch to the second gain;
1026 -
1027 -In the previous second gain, if the position command is 0 and the duration is greater than [P02-13], the first gain is returned.
1028 -)))
1029 -|(((
1030 -
1031 -
1032 -9
1033 -)))|(((
1034 -
1035 -
1036 -Positioning complete
1037 -)))|(((
1038 -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.
1039 -
1040 -
1041 -)))
1042 -|(((
1043 -
1044 -
1045 -10
1046 -)))|(((
1047 -
1048 -
1049 -Position command + actual speed
1050 -)))|(((
1051 -In the previous first gain, if the position command is not 0, the second gain is switched;
1052 -
1053 -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).
1054 -
1055 -
1056 -)))
1057 -
1058 -
1059 -)))
1060 -
1061 -|(% rowspan="2" %)
1062 -**P02-13**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
1063 -|Delay Time for Gain Switching|Operation setting|Effective immediately|20|0 to 10000|Gain control|0.1ms
1064 -|(% colspan="8" %)(((
1065 -The duration of the switching condition required for the second gain to switch back to the first gain.
1066 -
1067 -[[image:image-20230515140953-9.png]]
1068 -
1069 -**✎**Note: This parameter is only valid when the second gain is switched back to the first gain.
1070 -)))
1071 -
1072 -|(% rowspan="2" %)
1073 -**P02-14**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
1074 -|Gain switching grade|Operation setting|Effective immediately|50|0 to 20000|Gain control|According to the switching conditions
1075 -|(% colspan="8" %)(((
1076 -Set the grade of the gain condition. The generation of the actual switching action is affected by the two conditions of grade and hysteresis.
1077 -
1078 -[[image:image-20230515140953-10.png]]
1079 -)))
1080 -
1081 -|(% rowspan="2" %)
1082 -**P02-15**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
1083 -|Gain switching hysteresis|Operation setting|Effective immediately|20|0 to 20000|Gain control|According to the switching conditions
1084 -|(% colspan="8" %)(((
1085 -Set the hysteresis to meet the gain switching condition.
1086 -
1087 -[[image:image-20230515140953-11.png]]
1088 -)))
1089 -
1090 -|(% rowspan="2" %)
1091 -**P02-16**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
1092 -|Position loop gain switching time|Operation setting|Effective immediately|30|0 to 10000|Gain control|0.1ms
1093 -|(% colspan="8" %)(((
1094 -Set the time for switching from the first position loop (P02-01) to the second position loop (P02-04) in the position control mode.
1095 -
1096 -[[image:image-20230515140953-12.png]]
1097 -
1098 -If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately.
1099 -)))
1100 -
1101 1101  = **Mechanical resonance suppression** =
1102 1102  
1103 1103  == Mechanical resonance suppression methods ==
... ... @@ -1203,3 +1203,72 @@
1203 1203  
1204 1204  Table 7-11 Notch filter function code parameters
1205 1205  ~)~)~)
735 +
736 +== Low frequency vibration suppression ==
737 +
738 +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.
739 +
740 +(% style="text-align:center" %)
741 +(((
742 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
743 +[[**Figure 7-13 Applicable working conditions for low-frequency vibration suppression**>>image:20230516-0713.png||id="20230516-0713.png"]]
744 +)))
745 +
746 +|=(% scope="row" style="text-align: center; vertical-align: middle; width: 120px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 250px;" %)**Name**|=(% style="text-align:center; vertical-align:middle; width:180px" %)(((
747 +**Setting method**
748 +)))|=(% style="text-align:center; vertical-align:middle; width:150px" %)(((
749 +**Effective time**
750 +)))|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 110px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 400px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit**
751 +|P4-11|Enable low-frequency vibration suppression function|(((
752 +Operation
753 +
754 +setting
755 +)))|(((
756 +Effective
757 +
758 +immediately
759 +)))|0|0 to 1|When the function code is set to 1, enable the low-frequency vibration suppression function.|
760 +|P4-12|Low-frequency vibration suppression frequency|(((
761 +Operation
762 +
763 +setting
764 +)))|(((
765 +Effective
766 +
767 +immediately
768 +)))|800|10 to 2000|Set the vibration frequency when vibration occurs at the load end.|0.1HZ
769 +|P4-14|Shutdown vibration detection amplitude|(((
770 +Operation
771 +
772 +setting
773 +)))|(((
774 +Effective
775 +
776 +immediately
777 +)))|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
778 +
779 +**(1) Vibration frequency detection:**
780 +
781 +* Users can measure vibration by measuring equipment such as laser displacement．
782 +* 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.
783 +* 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.
784 +
785 +**(2) Debugging method:**
786 +
787 +* Set the appropriate positioning completion thresholds P5-12 and P4-14 to help the software detect the vibration frequency.
788 +* Run the position curve command to obtain the vibration frequency, and obtain the frequency through the speed curve of oscilloscope or U0-16.
789 +* Set P4-12 vibration frequency and enable low frequency vibration suppression function P4-11.
790 +* 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.
791 +
792 +|[[image:image-20230516105941-2.png]]
793 +|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!
794 +
795 +== Type A vibration suppression ==
796 +
797 +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.
798 +
799 +(% style="text-align:center" %)
800 +(((
801 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
802 +[[**Figure 7-14 Applicable situations for type A vibration suppression**>>image:20230516-0714.png||id="20230516-0714.png"]]
803 +)))
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