Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
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... ... @@ -463,42 +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||height="310" width="543"]]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" %)((( 470 -Large actual torque 471 -)))|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-2.png||height="252" width="550"]] 469 +)))|(% style="text-align:center; vertical-align:middle; width:464px" %)Large actual torque|(% style="width:946px" %)[[image:image-20230515140641-2.png]] 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=" text-align:center; vertical-align:middle" %)[[image:image-20230515140641-3.png||height="212" width="558"]]474 +)))|(% style="width:946px" %)[[image:image-20230515140641-3.png]] 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="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-4.png||height="223" width="561"]] 479 +)))|(% style="width:946px" %)((( 480 +[[image:image-20230515140641-4.png]] 481 +))) 482 482 |=(% style="text-align:center; vertical-align:middle" %)((( 483 483 6 484 484 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( 485 485 Speed command change rate is large 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" %)(((486 +)))|(% style="width:946px" %)[[image:image-20230515140641-5.png]] 487 +|=(% style="width:74px" %)((( 488 488 7 489 489 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( 490 490 Large position deviation 491 -)))|(% style=" text-align:center; vertical-align:middle" %)[[image:image-20230515140641-6.png||height="305" width="574"]]491 +)))|(% style="width:946px" %)[[image:image-20230515140641-6.png]] 492 492 |=(% style="text-align:center; vertical-align:middle;" %)((( 493 493 8 494 494 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( 495 495 Position command 496 -)))|(% style=" text-align:center; vertical-align:middle" %)[[image:image-20230515140641-7.png||height="280" width="570"]]496 +)))|(% style="width:946px" %)[[image:image-20230515140641-7.png]] 497 497 |=(% style="text-align:center; vertical-align:middle; width:74px" %)((( 498 498 9 499 499 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( 500 500 Positioning completed 501 -)))|(% style=" text-align:center; vertical-align:middle" %)[[image:image-20230515140641-8.png||height="302" width="553"]]501 +)))|(% style="width:946px" %)[[image:image-20230515140641-8.png]] 502 502 |=(% style="text-align:center; vertical-align:middle" %)((( 503 503 10 504 504 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)((( ... ... @@ -539,7 +539,8 @@ 539 539 540 540 |=(% 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 541 541 |=(% 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 542 -|=(% 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 +((( 543 543 Use DI function 10 (GAIN-SEL, gain switching); 544 544 545 545 DI logic is invalid: the first gain (P02-01~~P02-03); ... ... @@ -546,45 +546,54 @@ 546 546 547 547 DI logic is valid: the second gain (P02-04~~P02-06). 548 548 ))) 549 -|=(% 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 +((( 550 550 In the previous first gain, when the absolute value of torque command is greater than (grade + hysteresis), the second gain is switched; 551 551 552 552 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. 553 553 ))) 554 -|=(% 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 +((( 555 555 In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched; 556 556 557 557 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. 558 558 ))) 559 -|=(% 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 +((( 560 560 In the previous first gain, when the absolute value of speed command is greater than (grade + hysteresis), the second gain is switched; 561 561 562 562 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. 563 563 ))) 564 -|=(% 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 +((( 565 565 In the previous first gain, when the absolute value of actual speed is greater than (grade + hysteresis), the second gain is switched; 566 566 567 567 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. 568 568 ))) 569 -|=(% 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 +((( 570 570 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; 571 571 572 572 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. 573 573 ))) 574 -|=(% 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 +((( 575 575 In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched; 576 576 577 577 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. 578 578 ))) 579 -|=(% 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 +((( 580 580 In the previous first gain, if the position command is not 0, switch to the second gain; 581 581 582 582 In the previous second gain, if the position command is 0 and the duration is greater than [P02-13], the first gain is returned. 583 583 ))) 584 -|=(% 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 +((( 585 585 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. 586 586 ))) 587 -|=(% 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 +((( 588 588 In the previous first gain, if the position command is not 0, the second gain is switched; 589 589 590 590 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). ... ... @@ -591,45 +591,41 @@ 591 591 ))) 592 592 ))) 593 593 594 -| =(% 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**595 -| (% 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" %)0.1ms604 +|(% 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** 605 +|Delay Time for Gain Switching|Operation setting|Effective immediately|20|0 to 10000|Gain control|0.1ms 596 596 |(% colspan="8" %)((( 597 597 The duration of the switching condition required for the second gain to switch back to the first gain. 598 598 599 -(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140953-9.png]] 609 +[[image:image-20230515140953-9.png]] 610 + 600 600 **✎**Note: This parameter is only valid when the second gain is switched back to the first gain. 601 601 ))) 602 602 603 -|=(% 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** 604 -|(% 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 614 +|(% rowspan="2" %) 615 +**P02-14**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 616 +|Gain switching grade|Operation setting|Effective immediately|50|0 to 20000|Gain control|According to the switching conditions 605 605 |(% colspan="8" %)((( 606 606 Set the grade of the gain condition. The generation of the actual switching action is affected by the two conditions of grade and hysteresis. 607 607 608 -(% style="text-align:center" %) 609 -((( 610 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 611 -[[image:image-20230515140953-10.png||id="image-20230515140953-10.png"]] 620 +[[image:image-20230515140953-10.png]] 612 612 ))) 613 -))) 614 614 615 -|=(% 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** 616 -|(% 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 623 +|(% rowspan="2" %) 624 +**P02-15**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 625 +|Gain switching hysteresis|Operation setting|Effective immediately|20|0 to 20000|Gain control|According to the switching conditions 617 617 |(% colspan="8" %)((( 618 618 Set the hysteresis to meet the gain switching condition. 619 619 620 -(% style="text-align:center" %) 621 -((( 622 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 623 -[[image:image-20230515140953-11.png||id="image-20230515140953-11.png"]] 629 +[[image:image-20230515140953-11.png]] 624 624 ))) 625 -))) 626 626 627 -|=(% 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** 628 -|(% 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 632 +|(% rowspan="2" %) 633 +**P02-16**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 634 +|Position loop gain switching time|Operation setting|Effective immediately|30|0 to 10000|Gain control|0.1ms 629 629 |(% colspan="8" %)((( 630 630 Set the time for switching from the first position loop (P02-01) to the second position loop (P02-04) in the position control mode. 631 631 632 - |(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140953-12.png]]|638 +[[image:image-20230515140953-12.png]] 633 633 634 634 If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately. 635 635 )))