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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 45.3
edited by Karen
on 2023/05/16 10:32
Change comment: There is no comment for this version
To version 51.2
edited by Karen
on 2023/05/16 11:18
Change comment: There is no comment for this version

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... ... @@ -593,43 +593,36 @@
593 593  
594 594  |=(% 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**
595 595  |(% 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" %)0.1ms
596 -|(% colspan="8" %)(((
596 +|(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
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]]
599 +[[image:image-20230515140953-9.png]]
600 +
600 600  **✎**Note: This parameter is only valid when the second gain is switched back to the first gain.
601 601  )))
602 602  
603 603  |=(% 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**
604 604  |(% 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
605 -|(% colspan="8" %)(((
606 +|(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
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"]]
609 +[[image:image-20230515140953-10.png]]
612 612  )))
613 -)))
614 614  
615 615  |=(% 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**
616 616  |(% 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
617 -|(% colspan="8" %)(((
614 +|(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
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"]]
617 +[[image:image-20230515140953-11.png]]
624 624  )))
625 -)))
626 626  
627 627  |=(% 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**
628 628  |(% 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
629 -|(% colspan="8" %)(((
622 +|(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
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]]|
625 +[[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  )))
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1185 1185  
1186 1186  Table 7-11 Notch filter function code parameters
1187 1187  ~)~)~)
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 +|=(% 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:150px" %)(((
1193 +**Setting method**
1194 +)))|=(% style="text-align:center; vertical-align:middle; width:128px" %)(((
1195 +**Effective time**
1196 +)))|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 107px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 350px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit**
1197 +|P4-11|Enable low-frequency vibration suppression function|(((
1198 +Operation
1199 +
1200 +setting
1201 +)))|(((
1202 +Effective
1203 +
1204 +immediately
1205 +)))|0|0 to 1|When the function code is set to 1, enable the low-frequency vibration suppression function.|
1206 +|P4-12|Low-frequency vibration suppression frequency|(((
1207 +Operation
1208 +
1209 +setting
1210 +)))|(((
1211 +Effective
1212 +
1213 +immediately
1214 +)))|800|10 to 2000|Set the vibration frequency when vibration occurs at the load end.|0.1HZ
1215 +|P4-14|Shutdown vibration detection amplitude|(((
1216 +Operation
1217 +
1218 +setting
1219 +)))|(((
1220 +Effective
1221 +
1222 +immediately
1223 +)))|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
1224 +
1225 +**(1) Vibration frequency detection:**
1226 +
1227 +* Users can measure vibration by measuring equipment such as laser displacement．
1228 +* 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.
1229 +* 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.
1230 +
1231 +**(2) Debugging method:**
1232 +
1233 +* Set the appropriate positioning completion thresholds P5-12 and P4-14 to help the software detect the vibration frequency.
1234 +* Run the position curve command to obtain the vibration frequency, and obtain the frequency through the speed curve of oscilloscope or U0-16.
1235 +* Set P4-12 vibration frequency and enable low frequency vibration suppression function P4-11.
1236 +* 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.
1237 +
1238 +|[[image:image-20230516105941-2.png]]
1239 +|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!
1240 +
1241 +== Type A vibration suppression ==
1242 +
1243 +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.
1244 +
1245 +(% style="text-align:center" %)
1246 +(((
1247 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1248 +[[**Figure 7-14 Applicable situations for type A vibration suppression**>>image:20230516-0714.png||id="20230516-0714.png"]]
1249 +)))
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