Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
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... ... @@ -463,41 +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]]466 +)))|(% style="width:946px" %)[[image:image-20230515140641-1.png]] 467 467 |=(% style="text-align:center; vertical-align:middle" %)((( 468 468 3 469 -)))|(% style="text-align:center; vertical-align:middle; width:464px" %)Large actual torque| 470 -(% style="text-align:center; vertical-align:middle" %)[[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]] 471 471 |=(% style="text-align:center; vertical-align:middle" %)((( 472 472 4 473 473 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( 474 474 Large speed command 475 -)))|(% style=" text-align:center; vertical-align:middle" %)[[image:image-20230515140641-3.png]]474 +)))|(% style="width:946px" %)[[image:image-20230515140641-3.png]] 476 476 |=(% style="text-align:center; vertical-align:middle" %)((( 477 477 5 478 478 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( 479 479 Fast actual speed 480 -)))|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-4.png]] 479 +)))|(% style="width:946px" %)((( 480 +[[image:image-20230515140641-4.png]] 481 +))) 481 481 |=(% style="text-align:center; vertical-align:middle" %)((( 482 482 6 483 483 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( 484 484 Speed command change rate is large 485 -)))|(% style=" text-align:center; vertical-align:middle" %)[[image:image-20230515140641-5.png]]486 -|=(% style=" text-align:center; vertical-align:middle;width:74px" %)(((486 +)))|(% style="width:946px" %)[[image:image-20230515140641-5.png]] 487 +|=(% style="width:74px" %)((( 487 487 7 488 488 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( 489 489 Large position deviation 490 -)))|(% style=" text-align:center; vertical-align:middle" %)[[image:image-20230515140641-6.png]]491 +)))|(% style="width:946px" %)[[image:image-20230515140641-6.png]] 491 491 |=(% style="text-align:center; vertical-align:middle;" %)((( 492 492 8 493 493 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( 494 494 Position command 495 -)))|(% style=" text-align:center; vertical-align:middle" %)[[image:image-20230515140641-7.png]]496 +)))|(% style="width:946px" %)[[image:image-20230515140641-7.png]] 496 496 |=(% style="text-align:center; vertical-align:middle; width:74px" %)((( 497 497 9 498 498 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( 499 499 Positioning completed 500 -)))|(% style=" text-align:center; vertical-align:middle" %)[[image:image-20230515140641-8.png]]501 +)))|(% style="width:946px" %)[[image:image-20230515140641-8.png]] 501 501 |=(% style="text-align:center; vertical-align:middle" %)((( 502 502 10 503 503 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( ... ... @@ -516,12 +516,12 @@ 516 516 517 517 |=(% rowspan="2" style="text-align: center; vertical-align: middle; width:120px" %) 518 518 **P02-07**|=(% 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** 519 -|(% style="text-align:center; width:150px" %)The second gain switching mode| (% style="text-align:center" %)Operation setting|(% style="text-align:center" %)Effective immediately|(% style="text-align:center" %)0|(% style="text-align:center" %)0 to 1|(% style="text-align:center" %)Gain control|520 +|(% style="text-align: center; width:150px" %)The second gain switching mode|Operation setting|Effective immediately|0|0 to 1|Gain control| 520 520 |(% colspan="8" %)((( 521 521 Set the switching mode of the second gain. 522 522 523 -| =(% style="text-align: center; vertical-align: middle; width:120px" %)**Setting value**|=(% style="text-align: center; vertical-align: middle" %)**Function**524 -| =(% style="text-align: center; vertical-align: middle" %)0|(((524 +|**Setting value**|**Function** 525 +|0|((( 525 525 The first gain is used by default. Switching using DI function 10 (GAIN-SEL, gain switching): 526 526 527 527 DI logic invalid: PI control; ... ... @@ -528,17 +528,18 @@ 528 528 529 529 DI logic valid: PI control. 530 530 ))) 531 -| =(% style="text-align: center; vertical-align: middle" %)1|The first gain and the second gain are switched by the setting value of P02-08.532 +|1|The first gain and the second gain are switched by the setting value of P02-08. 532 532 ))) 533 533 534 -|=(% rowspan="2" style="text-align: center; vertical-align: middle; width:120px" %)**P02-08**|=(% 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** 535 -|(% style="text-align:center; width:150px" %)Gain switching condition selection|(% style="text-align:center" %)Operation setting|(% style="text-align:center" %)Effective immediately|(% style="text-align:center" %)0|(% style="text-align:center" %)0 to 10|(% style="text-align:center" %)Gain control| 535 +|(% rowspan="2" %) 536 +**P02-08**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 537 +|Gain switching condition selection|Operation setting|Effective immediately|0|0 to 10|Gain control| 536 536 |(% colspan="8" %)((( 537 537 Set the conditions for gain switching. 538 538 539 -| =(% 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" %)Details540 -| =(% 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 gain541 -| =(% style="text-align: center; vertical-align: middle" %)1|(% style="text-align:center; vertical-align:middle" %)Switch by DI port|(((541 +|Setting value|Gain switching conditions|Details 542 +|0|The default is the first gain|Fixed use of the first gain 543 +|1|Switch by DI port|((( 542 542 Use DI function 10 (GAIN-SEL, gain switching); 543 543 544 544 DI logic is invalid: the first gain (P02-01~~P02-03); ... ... @@ -545,102 +545,135 @@ 545 545 546 546 DI logic is valid: the second gain (P02-04~~P02-06). 547 547 ))) 548 -| =(% style="text-align: center; vertical-align: middle" %)2|(% style="text-align:center; vertical-align:middle" %)Large torque command|(((550 +|2|Large torque command|((( 549 549 In the previous first gain, when the absolute value of torque command is greater than (grade + hysteresis), the second gain is switched; 550 550 551 551 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. 554 + 555 + 552 552 ))) 553 -| =(% style="text-align: center; vertical-align: middle" %)3|(% style="text-align:center; vertical-align:middle" %)Large actual torque|(((557 +|3|Large actual torque|((( 554 554 In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched; 555 555 556 556 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. 561 + 562 + 557 557 ))) 558 -| =(% style="text-align: center; vertical-align: middle" %)4|(% style="text-align:center; vertical-align:middle" %)Large speed command|(((564 +|4|Large speed command|((( 559 559 In the previous first gain, when the absolute value of speed command is greater than (grade + hysteresis), the second gain is switched; 560 560 561 -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 +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 . 568 + 569 + 562 562 ))) 563 -| =(% style="text-align: center; vertical-align: middle" %)5|(% style="text-align:center; vertical-align:middle" %)Large actual speed|(((571 +|5|Large actual speed|((( 564 564 In the previous first gain, when the absolute value of actual speed is greater than (grade + hysteresis), the second gain is switched; 565 565 566 -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 +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 . 575 + 576 + 567 567 ))) 568 -|=(% style="text-align: center; vertical-align: middle" %)6|(% style="text-align:center; vertical-align:middle" %)Large rate of change in speed command|((( 578 +|((( 579 + 580 + 581 +6 582 +)))|((( 583 + 584 + 585 +Large rate of change in speed command 586 +)))|((( 569 569 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; 570 570 571 -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 + 572 572 ))) 573 -|=(% 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 +)))|((( 574 574 In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched; 575 575 576 -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 . 577 577 ))) 578 -| =(% style="text-align: center; vertical-align: middle" %)8|(% style="text-align:center; vertical-align:middle" %)Position command|(((606 +|8|Position command|((( 579 579 In the previous first gain, if the position command is not 0, switch to the second gain; 580 580 581 581 In the previous second gain, if the position command is 0 and the duration is greater than [P02-13], the first gain is returned. 582 582 ))) 583 -|=(% 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 +)))|((( 584 584 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 + 585 585 ))) 586 -|=(% 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 +)))|((( 587 587 In the previous first gain, if the position command is not 0, the second gain is switched; 588 588 589 589 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 + 590 590 ))) 639 + 640 + 591 591 ))) 592 592 593 -|=(% 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** 594 -|(% 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 595 595 |(% colspan="8" %)((( 596 596 The duration of the switching condition required for the second gain to switch back to the first gain. 597 597 598 -(% style="text-align:center" %) 599 -((( 600 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 601 -[[image:image-20230515140953-9.png||id="image-20230515140953-9.png"]] 602 -))) 649 +[[image:image-20230515140953-9.png]] 603 603 604 -(% class="box infomessage" %) 605 -((( 606 606 **✎**Note: This parameter is only valid when the second gain is switched back to the first gain. 607 607 ))) 608 -))) 609 609 610 -|=(% 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** 611 -|(% 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 612 612 |(% colspan="8" %)((( 613 613 Set the grade of the gain condition. The generation of the actual switching action is affected by the two conditions of grade and hysteresis. 614 614 615 -(% style="text-align:center" %) 616 -((( 617 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 618 -[[image:image-20230515140953-10.png||id="image-20230515140953-10.png"]] 660 +[[image:image-20230515140953-10.png]] 619 619 ))) 620 -))) 621 621 622 -|=(% 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** 623 -|(% 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 624 624 |(% colspan="8" %)((( 625 625 Set the hysteresis to meet the gain switching condition. 626 626 627 -(% style="text-align:center" %) 628 -((( 629 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 630 -[[image:image-20230515140953-11.png||id="image-20230515140953-11.png"]] 669 +[[image:image-20230515140953-11.png]] 631 631 ))) 632 -))) 633 633 634 -|=(% 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** 635 -|(% 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 636 636 |(% colspan="8" %)((( 637 637 Set the time for switching from the first position loop (P02-01) to the second position loop (P02-04) in the position control mode. 638 638 639 -(% style="text-align:center" %) 640 -((( 641 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 642 -[[image:image-20230515140953-12.png||id="image-20230515140953-12.png"]] 643 -))) 678 +[[image:image-20230515140953-12.png]] 644 644 645 645 If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately. 646 646 )))