Skip to Content

Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 49.1
edited by Karen
on 2023/05/16 10:53
Change comment: There is no comment for this version
To version 52.2
edited by Karen
on 2023/05/16 11:22
Change comment: There is no comment for this version

Summary

Details

Page properties
Content
... ... @@ -627,95 +627,11 @@
627 627  If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately.
628 628  )))
629 629  
630 -== **Model Tracking Control Function** ==
630 +== ==
631 631  
632 -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 +==
633 + ==
633 633  
634 -(% style="text-align:center" %)
635 -[[image:20230515-7.png]]
636 -
637 -The usage method and conditions of model tracking control:
638 -
639 -~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.
640 -
641 -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).
642 -
643 -3. Set P2-20=1 to enable the function of model tracking control.
644 -
645 -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.
646 -
647 -5. After the responsiveness meets the requirements, user can adjust the parameters appropriately to increase the load rigidity level P3-2.
648 -
649 -**✎Note**: Model tracking control is only available in position mode, and cannot be used in other modes.
650 -
651 -|**Function code**|**Name**|(((
652 -**Setting**
653 -
654 -**method**
655 -)))|(((
656 -**Effective**
657 -
658 -**time**
659 -)))|**Default**|**Range**|**Definition**|**Unit**
660 -|P2-20|Model tracking control function|Shutdown setting|(((
661 -Effective
662 -
663 -immediately
664 -)))|0|0 to 1|When the function code is set to 1, enable the model tracking control function.|
665 -|P2-21|Model tracking control gain|Shutdown setting|(((
666 -Effective
667 -
668 -immediately
669 -)))|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
670 -|P2-22|Model tracking control gain compensation|Shutdown setting|(((
671 -Effective
672 -
673 -immediately
674 -)))|1000|500 to 2000|0.10%
675 -
676 -|**Function code**|**Name**|(((
677 -**Setting**
678 -
679 -**method**
680 -)))|(((
681 -**Effective**
682 -
683 -**time**
684 -)))|**Default**|**Range**|**Definition**|**Unit**
685 -|P2-23|Model tracking control forward rotation bias|(((
686 -Operation
687 -
688 -setting
689 -)))|(((
690 -Effective
691 -
692 -immediately
693 -)))|1000|0 to 10000|(% rowspan="2" %)Torque feedforward size in the positive and reverse direction under model tracking control|0.10%
694 -|P2-24|Model tracking control reverses rotation bias|(((
695 -Operation
696 -
697 -setting
698 -)))|(((
699 -Effective
700 -
701 -immediately
702 -)))|1000|0 to 10000|0.10%
703 -|P2-25|Model tracking control speed feedforward compensation|Operation setting|(((
704 -Effective
705 -
706 -immediately
707 -)))|1000|0 to 10000|The size of the speed feedforward under model tracking control|0.10%
708 -
709 -Please refer to the following for an example of the procedure of adjusting servo gain.
710 -
711 -|**Step**|**Content**
712 -|1|Please try to set the correct load inertia ratio parameter P3-1.
713 -|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.
714 -|3|Turn on the model tracking function, set P2-20 to 1.
715 -|4|Increase the model tracking gain P2-21 within the range of no overshoot and vibration occur.
716 -|5|If the rigidity level of step 2 is set relatively low, user can properly increase the rigidity level P3-2.
717 -|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.
718 -
719 719  == **Gain switching** ==
720 720  
721 721  Gain switching function:
... ... @@ -1189,19 +1189,58 @@
1189 1189  [[**Figure 7-13 Applicable working conditions for low-frequency vibration suppression**>>image:20230516-0713.png||id="20230516-0713.png"]]
1190 1190  )))
1191 1191  
1192 -== Type A vibration suppression ==
1108 +|=(% 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" %)(((
1109 +**Setting method**
1110 +)))|=(% style="text-align:center; vertical-align:middle; width:128px" %)(((
1111 +**Effective time**
1112 +)))|=(% 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**
1113 +|P4-11|Enable low-frequency vibration suppression function|(((
1114 +Operation
1193 1193  
1194 -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>>path:#F714]].
1116 +setting
1117 +)))|(((
1118 +Effective
1195 1195  
1196 -(% style="text-align:center" %)
1197 -(((
1198 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1199 -[[**Figure 7-14 Applicable situations for type A vibration suppression**>>image:20230516-0714.png||id="20230516-0714.png"]]
1200 -)))
1120 +immediately
1121 +)))|0|0 to 1|When the function code is set to 1, enable the low-frequency vibration suppression function.|
1122 +|P4-12|Low-frequency vibration suppression frequency|(((
1123 +Operation
1201 1201  
1125 +setting
1126 +)))|(((
1127 +Effective
1128 +
1129 +immediately
1130 +)))|800|10 to 2000|Set the vibration frequency when vibration occurs at the load end.|0.1HZ
1131 +|P4-14|Shutdown vibration detection amplitude|(((
1132 +Operation
1133 +
1134 +setting
1135 +)))|(((
1136 +Effective
1137 +
1138 +immediately
1139 +)))|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
1140 +
1141 +**(1) Vibration frequency detection:**
1142 +
1143 +* Users can measure vibration by measuring equipment such as laser displacement．
1144 +* 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.
1145 +* 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.
1146 +
1147 +**(2) Debugging method:**
1148 +
1149 +* Set the appropriate positioning completion thresholds P5-12 and P4-14 to help the software detect the vibration frequency.
1150 +* Run the position curve command to obtain the vibration frequency, and obtain the frequency through the speed curve of oscilloscope or U0-16.
1151 +* Set P4-12 vibration frequency and enable low frequency vibration suppression function P4-11.
1152 +* 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.
1153 +
1154 +|[[image:image-20230516105941-2.png]]
1155 +|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!
1156 +
1202 1202  == Type A vibration suppression ==
1203 1203  
1204 -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>>path:#F714]].
1159 +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.
1205 1205  
1206 1206  (% style="text-align:center" %)
1207 1207  (((
image-20230516105842-1.png
Author
... ... @@ -1,0 +1,1 @@
1 +XWiki.Karen
Size
... ... @@ -1,0 +1,1 @@
1 +1.8 KB
Content
image-20230516105941-2.png
Author
... ... @@ -1,0 +1,1 @@
1 +XWiki.Karen
Size
... ... @@ -1,0 +1,1 @@
1 +1.8 KB
Content