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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 43.3
edited by Karen
on 2023/05/16 10:20
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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... ... @@ -463,41 +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="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-1.png||height="310" width="543"]]
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" %)(((
470 +Large actual torque
471 +)))|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-2.png||height="252" width="550"]]
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]]
476 +)))|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-3.png||height="212" width="558"]]
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]]
481 +)))|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-4.png||height="223" width="561"]]
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" %)[[image:image-20230515140641-5.png||height="327" width="570"]]
486 486  |=(% style="text-align:center; vertical-align:middle;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="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-6.png||height="305" width="574"]]
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="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-7.png||height="280" width="570"]]
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="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-8.png||height="302" width="553"]]
501 501  |=(% style="text-align:center; vertical-align:middle" %)(((
502 502  10
503 503  )))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
... ... @@ -592,55 +592,36 @@
592 592  
593 593  |=(% 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**
594 594  |(% 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
595 -|(% colspan="8" %)(((
596 +|(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
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 -)))
599 +[[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  
610 610  |=(% 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**
611 611  |(% 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
612 -|(% colspan="8" %)(((
606 +|(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
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"]]
609 +[[image:image-20230515140953-10.png]]
619 619  )))
620 -)))
621 621  
622 622  |=(% 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**
623 623  |(% 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 -|(% colspan="8" %)(((
614 +|(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
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"]]
617 +[[image:image-20230515140953-11.png]]
631 631  )))
632 -)))
633 633  
634 634  |=(% 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**
635 635  |(% 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
636 -|(% colspan="8" %)(((
622 +|(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
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 -)))
625 +[[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  )))
... ... @@ -1196,3 +1196,76 @@
1196 1196  
1197 1197  Table 7-11 Notch filter function code parameters
1198 1198  ~)~)~)
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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