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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 45.4
edited by Karen
on 2023/05/16 10:32
Change comment: There is no comment for this version
To version 52.3
edited by Karen
on 2023/05/16 11:22
Change comment: There is no comment for this version

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... ... @@ -593,136 +593,44 @@
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="6" %)(((
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  )))
636 636  
637 -== **Model Tracking Control Function** ==
630 +== ==
638 638  
639 -Model tracking control is suitable for position control mode, which adds a model loop outside the three loop. In the model loop, new position commands, speed feedforward and torque feedforward and other control quantities are generated according to the user's response requirements to the system and the ideal motor control model. Applying these control quantities to the actual control loop can significantly improve the response performance and positioning performance of the position control, the design block diagram is as follows:
632 +== ==
640 640  
641 -(% style="text-align:center" %)
642 -[[image:20230515-7.png]]
643 -
644 -The usage method and conditions of model tracking control:
645 -
646 -~1. Correctly set the inertia ratio of the system P3-1, which can be obtained by monitoring the real-time load inertia ratio of U0-20.
647 -
648 -2. Set the load rigidity level P3-2, set an appropriate value, it is not need to set a high rigidity level (recommended value 17~~21 under rigid load).
649 -
650 -3. Set P2-20=1 to enable the function of model tracking control.
651 -
652 -4. Adjust the P2-21 model tracking control gain from small to large, and gradually increase in steps of 1000 until the responsiveness of the system meets the actual demand. The responsiveness of the system is mainly determined by this parameter.
653 -
654 -5. After the responsiveness meets the requirements, user can adjust the parameters appropriately to increase the load rigidity level P3-2.
655 -
656 -**✎Note**: Model tracking control is only available in position mode, and cannot be used in other modes.
657 -
658 -|**Function code**|**Name**|(((
659 -**Setting**
660 -
661 -**method**
662 -)))|(((
663 -**Effective**
664 -
665 -**time**
666 -)))|**Default**|**Range**|**Definition**|**Unit**
667 -|P2-20|Model tracking control function|Shutdown setting|(((
668 -Effective
669 -
670 -immediately
671 -)))|0|0 to 1|When the function code is set to 1, enable the model tracking control function.|
672 -|P2-21|Model tracking control gain|Shutdown setting|(((
673 -Effective
674 -
675 -immediately
676 -)))|1000|200 to 20000|(% rowspan="2" %)Increasing the model tracking control gain can improve the position response performance of the model loop. If the gain is too high, it may cause overshoot behavior. The gain compensation affects the damping ratio of the model loop, and the damping ratio becomes larger as the gain compensation becomes larger.|0.1/s
677 -|P2-22|Model tracking control gain compensation|Shutdown setting|(((
678 -Effective
679 -
680 -immediately
681 -)))|1000|500 to 2000|0.10%
682 -
683 -|**Function code**|**Name**|(((
684 -**Setting**
685 -
686 -**method**
687 -)))|(((
688 -**Effective**
689 -
690 -**time**
691 -)))|**Default**|**Range**|**Definition**|**Unit**
692 -|P2-23|Model tracking control forward rotation bias|(((
693 -Operation
694 -
695 -setting
696 -)))|(((
697 -Effective
698 -
699 -immediately
700 -)))|1000|0 to 10000|(% rowspan="2" %)Torque feedforward size in the positive and reverse direction under model tracking control|0.10%
701 -|P2-24|Model tracking control reverses rotation bias|(((
702 -Operation
703 -
704 -setting
705 -)))|(((
706 -Effective
707 -
708 -immediately
709 -)))|1000|0 to 10000|0.10%
710 -|P2-25|Model tracking control speed feedforward compensation|Operation setting|(((
711 -Effective
712 -
713 -immediately
714 -)))|1000|0 to 10000|The size of the speed feedforward under model tracking control|0.10%
715 -
716 -Please refer to the following for an example of the procedure of adjusting servo gain.
717 -
718 -|**Step**|**Content**
719 -|1|Please try to set the correct load inertia ratio parameter P3-1.
720 -|2|If the automatic adjustment mode is used (P3-3 is set to 0), please set the basic rigidity level parameter P3-2. If in manual adjustment mode (P3-3 is set to 1), please set the gain P2-1~~P2-3 related to the position loop and speed loop and the torque filter time constant P4-4. The setting principle is mainly no vibration and overshoot.
721 -|3|Turn on the model tracking function, set P2-20 to 1.
722 -|4|Increase the model tracking gain P2-21 within the range of no overshoot and vibration occur.
723 -|5|If the rigidity level of step 2 is set relatively low, user can properly increase the rigidity level P3-2.
724 -|6|When overshoot occurs, or the responses of forward rotation and reverse rotation are different, user can fine-tune through model tracking control forward bias P2-23, model tracking control reverse bias P2-24, model tracking control speed feedforward compensation P2 -25.
725 -
726 726  == **Gain switching** ==
727 727  
728 728  Gain switching function:
... ... @@ -1185,3 +1185,72 @@
1185 1185  
1186 1186  Table 7-11 Notch filter function code parameters
1187 1187  ~)~)~)
1096 +
1097 +== Low frequency vibration suppression ==
1098 +
1099 +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.
1100 +
1101 +(% style="text-align:center" %)
1102 +(((
1103 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1104 +[[**Figure 7-13 Applicable working conditions for low-frequency vibration suppression**>>image:20230516-0713.png||id="20230516-0713.png"]]
1105 +)))
1106 +
1107 +|=(% 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" %)(((
1108 +**Setting method**
1109 +)))|=(% style="text-align:center; vertical-align:middle; width:128px" %)(((
1110 +**Effective time**
1111 +)))|=(% 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**
1112 +|P4-11|Enable low-frequency vibration suppression function|(((
1113 +Operation
1114 +
1115 +setting
1116 +)))|(((
1117 +Effective
1118 +
1119 +immediately
1120 +)))|0|0 to 1|When the function code is set to 1, enable the low-frequency vibration suppression function.|
1121 +|P4-12|Low-frequency vibration suppression frequency|(((
1122 +Operation
1123 +
1124 +setting
1125 +)))|(((
1126 +Effective
1127 +
1128 +immediately
1129 +)))|800|10 to 2000|Set the vibration frequency when vibration occurs at the load end.|0.1HZ
1130 +|P4-14|Shutdown vibration detection amplitude|(((
1131 +Operation
1132 +
1133 +setting
1134 +)))|(((
1135 +Effective
1136 +
1137 +immediately
1138 +)))|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
1139 +
1140 +**(1) Vibration frequency detection:**
1141 +
1142 +* Users can measure vibration by measuring equipment such as laser displacement．
1143 +* 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.
1144 +* 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.
1145 +
1146 +**(2) Debugging method:**
1147 +
1148 +* Set the appropriate positioning completion thresholds P5-12 and P4-14 to help the software detect the vibration frequency.
1149 +* Run the position curve command to obtain the vibration frequency, and obtain the frequency through the speed curve of oscilloscope or U0-16.
1150 +* Set P4-12 vibration frequency and enable low frequency vibration suppression function P4-11.
1151 +* 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.
1152 +
1153 +|[[image:image-20230516105941-2.png]]
1154 +|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!
1155 +
1156 +== Type A vibration suppression ==
1157 +
1158 +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.
1159 +
1160 +(% style="text-align:center" %)
1161 +(((
1162 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1163 +[[**Figure 7-14 Applicable situations for type A vibration suppression**>>image:20230516-0714.png||id="20230516-0714.png"]]
1164 +)))
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