Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
Summary
-
Page properties (1 modified, 0 added, 0 removed)
Details
- Page properties
-
- Content
-
... ... @@ -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" %)((( ... ... @@ -538,7 +538,8 @@ 538 538 539 539 |=(% 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" %)Details 540 540 |=(% 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 541 -|=(% 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 +((( 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); ... ... @@ -545,45 +545,54 @@ 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 +|=(% style="text-align: center; vertical-align: middle" %)2|(% style="text-align:center; vertical-align:middle" %)Large torque command| 551 +((( 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. 552 552 ))) 553 -|=(% 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 +((( 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. 557 557 ))) 558 -|=(% 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 +((( 559 559 In the previous first gain, when the absolute value of speed command is greater than (grade + hysteresis), the second gain is switched; 560 560 561 561 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. 562 562 ))) 563 -|=(% 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 +((( 564 564 In the previous first gain, when the absolute value of actual speed is greater than (grade + hysteresis), the second gain is switched; 565 565 566 566 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. 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|((( 574 +|=(% style="text-align: center; vertical-align: middle" %)6|(% style="text-align:center; vertical-align:middle" %)Large rate of change in speed command| 575 +((( 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; 570 570 571 571 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. 572 572 ))) 573 -|=(% 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 +((( 574 574 In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched; 575 575 576 576 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. 577 577 ))) 578 -|=(% 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 +((( 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|((( 592 +|=(% style="text-align: center; vertical-align: middle" %)9|(% style="text-align:center; vertical-align:middle" %)Positioning complete| 593 +((( 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. 585 585 ))) 586 -|=(% 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 +((( 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). ... ... @@ -590,57 +590,42 @@ 590 590 ))) 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 604 +|(% rowspan="2" %) 605 +**P02-13**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 606 +|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 -))) 610 +[[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 615 +|(% rowspan="2" %) 616 +**P02-14**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 617 +|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"]] 621 +[[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 624 +|(% rowspan="2" %) 625 +**P02-15**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 626 +|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"]] 630 +[[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 633 +|(% rowspan="2" %) 634 +**P02-16**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 635 +|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 -))) 639 +[[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 )))