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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 5.1
edited by Joey
on 2022/06/10 15:28
Change comment: Upload new image "43.png", version 1.1
To version 12.1
edited by Joey
on 2022/06/11 15:30
Change comment: There is no comment for this version

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... ... @@ -25,13 +25,14 @@
25 25  
26 26  Load inertia ratio P03-01 refers to:
27 27  
28 -[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_eea1e5e734146443.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_eea1e5e734146443.gif"]]
28 +(% style="text-align:center" %)
29 +[[image:image-20220611152902-1.png]]
29 29  
30 30  The load inertia ratio is an important parameter of the servo system, and setting of the load inertia ratio correctly helps to quickly complete the debugging. The load inertia ratio could be set manually, and online load inertia recognition could be performed through the host computer debugging software.
31 31  
32 32  |(((
33 33  (% style="text-align:center" %)
34 -[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_6db94f5d0421f97a.png?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_6db94f5d0421f97a.png"]]
35 +[[image:image-20220611152918-2.png]]
35 35  )))
36 36  |(((
37 37  **Before performing online load inertia recognition, the following conditions should be met:**
... ... @@ -119,7 +119,7 @@
119 119  The rigidity of the servo refers to the ability of the motor rotor to resist load inertia, that is, the self-locking ability of the motor rotor. The stronger the servo rigidity, the larger the corresponding position loop gain and speed loop gain, and the faster the response speed of the system.
120 120  
121 121  (% class="table-bordered" %)
122 -|(% style="text-align:center; vertical-align:middle" %)[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_6db94f5d0421f97a.png?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_6db94f5d0421f97a.png"]]
123 +|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611152630-1.png]]
123 123  |(% style="text-align:center; vertical-align:middle" %)Before adjusting the rigidity grade, set the appropriate load inertia ratio P03-01 correctly.
124 124  
125 125  The value range of the rigidity grade is between 0 and 31. Grade 0 corresponds to the weakest rigidity and minimum gain, and grade 31 corresponds to the strongest rigidity and maximum gain. According to different load types, the values in the table below are for reference.
... ... @@ -151,7 +151,7 @@
151 151  Step7 After the parameter measurement is completed, the host computer debugging software will pop up a confirmation window for parameter writing and saving.
152 152  
153 153  (% class="table-bordered" %)
154 -|(% style="text-align:center; vertical-align:middle" %)[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_6db94f5d0421f97a.png?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_6db94f5d0421f97a.png"]]
155 +|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611152634-2.png]]
155 155  |(((
156 156  ✎There may be a short mechanical whistling sound during the test. Generally, the servo will automatically stop the test. If it does not stop automatically or in other abnormal situations, you can click the "Servo Off" button on the interface to turn off the servo, or power off the machine!
157 157  
... ... @@ -163,12 +163,12 @@
163 163  **Setting method**
164 164  )))|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
165 165  **Effective time**
166 -)))|(% style="text-align:center; vertical-align:middle; width:110px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:65px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:453px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
167 +)))|(% style="text-align:center; vertical-align:middle; width:134px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:85px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:430px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
167 167  |(% style="text-align:center; vertical-align:middle; width:121px" %)P03-03|(% style="text-align:center; vertical-align:middle; width:73px" %)Self-adjusting mode selection|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
168 168  Operation setting
169 169  )))|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
170 170  Effective immediately
171 -)))|(% style="text-align:center; vertical-align:middle; width:110px" %)0|(% style="text-align:center; vertical-align:middle; width:65px" %)0 to 2|(% style="width:453px" %)(((
172 +)))|(% style="text-align:center; vertical-align:middle; width:134px" %)0|(% style="text-align:center; vertical-align:middle; width:85px" %)0 to 2|(% style="width:430px" %)(((
172 172  0: Rigidity grade self-adjusting mode. Position loop gain, speed loop gain, speed loop integral time constant, torque filter parameter settings are automatically adjusted according to the rigidity grade setting.
173 173  
174 174  1: Manual setting; you need to manually set the position loop gain, speed loop gain, speed loop integral time constant, torque filter parameter setting
... ... @@ -340,9 +340,9 @@
340 340  
341 341  By setting the filter time constant, the torque instruction is attenuated in the high frequency range above the cutoff frequency, so as to achieve the expectation of suppressing mechanical resonance. The cut-off frequency of the torque instruction filter could be calculated by the following formula:
342 342  
344 +(% style="text-align:center" %)
345 +[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/WebHome/40.png?rev=1.1]]
343 343  
344 -[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_b790fca20446a1fb.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_b790fca20446a1fb.gif"]]
345 -
346 346  **(2) Notch filter**
347 347  
348 348  The notch filter can achieve the expectation of suppressing mechanical resonance by reducing the gain at a specific frequency. When setting the notch filter correctly, the vibration can be effectively suppressed. You can try to increase the servo gain. The principle of the notch filter is shown in __[[Figure 7-3>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_c84670518f0b6362.gif?rev=1.1]]__.
... ... @@ -355,9 +355,10 @@
355 355  
356 356  The notch width grade is used to express the ratio of the notch width to the center frequency of the notch:
357 357  
358 -[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_81c5e241dc9592c2.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_81c5e241dc9592c2.gif"]] (7-1)
359 +(% style="text-align:center" %)
360 +[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/WebHome/41.png?rev=1.1]]
359 359  
360 -In formula (7-1), [[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_1acf7c31dc319d0b.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_1acf7c31dc319d0b.gif"]] is the center frequency of notch filter, that is, the mechanical resonance frequency; [[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_d742f627f5179fb3.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_d742f627f5179fb3.gif"]] is the width of notch filter, which represents the frequency bandwidth with an amplitude attenuation rate of **-3dB** relative to the center frequency of notch filter.
362 +In formula (7-1), [[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/WebHome/42.png?rev=1.1]] is the center frequency of notch filter, that is, the mechanical resonance frequency; [[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/WebHome/43.png?rev=1.1]] is the width of notch filter, which represents the frequency bandwidth with an amplitude attenuation rate of **-3dB** relative to the center frequency of notch filter.
361 361  
362 362  **(2) Depth grade of notch filter**
363 363  
... ... @@ -371,7 +371,7 @@
371 371  Figure 7-3 Notch characteristics, notch width, and notch depth
372 372  
373 373  (% style="text-align:center" %)
374 -[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_10a8f8c1383fdf94.png?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_10a8f8c1383fdf94.png"]]
376 +[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/WebHome/44.png?rev=1.1]]
375 375  
376 376  Figure 7-4 Frequency characteristics of notch filter
377 377  
... ... @@ -380,26 +380,26 @@
380 380  **Setting method**
381 381  )))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
382 382  **Effective time**
383 -)))|(% style="text-align:center; vertical-align:middle; width:107px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:97px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:334px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
385 +)))|(% style="text-align:center; vertical-align:middle; width:127px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:102px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:391px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:248px" %)**Unit**
384 384  |(% style="text-align:center; vertical-align:middle; width:113px" %)P04-05|(% style="text-align:center; vertical-align:middle; width:197px" %)1st notch filter frequency|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
385 385  Operation setting
386 386  )))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
387 387  Effective immediately
388 -)))|(% style="text-align:center; vertical-align:middle; width:107px" %)300|(% style="text-align:center; vertical-align:middle; width:97px" %)250 to 5000|(% style="width:334px" %)Set the center frequency of the 1st notch filter. When the set value is 5000, the function of notch filter is invalid.|(% style="text-align:center; vertical-align:middle" %)Hz
390 +)))|(% style="text-align:center; vertical-align:middle; width:127px" %)300|(% style="text-align:center; vertical-align:middle; width:102px" %)250 to 5000|(% style="width:391px" %)Set the center frequency of the 1st notch filter. When the set value is 5000, the function of notch filter is invalid.|(% style="text-align:center; vertical-align:middle; width:248px" %)Hz
389 389  |(% style="text-align:center; vertical-align:middle; width:113px" %)P04-06|(% style="text-align:center; vertical-align:middle; width:197px" %)1st notch filter depth|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
390 390  Operation setting
391 391  )))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
392 392  Effective immediately
393 -)))|(% style="text-align:center; vertical-align:middle; width:107px" %)100|(% style="text-align:center; vertical-align:middle; width:97px" %)0 to 100|(% style="width:334px" %)(((
395 +)))|(% style="text-align:center; vertical-align:middle; width:127px" %)100|(% style="text-align:center; vertical-align:middle; width:102px" %)0 to 100|(% style="width:391px" %)(((
394 394  0: all truncated
395 395  
396 396  100: all passed
397 -)))|(% style="text-align:center; vertical-align:middle" %)-
399 +)))|(% style="text-align:center; vertical-align:middle; width:248px" %)-
398 398  |(% style="text-align:center; vertical-align:middle; width:113px" %)P04-07|(% style="text-align:center; vertical-align:middle; width:197px" %)1st notch filter width|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
399 399  Operation setting
400 400  )))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
401 401  Effective immediately
402 -)))|(% style="text-align:center; vertical-align:middle; width:107px" %)4|(% style="text-align:center; vertical-align:middle; width:97px" %)0 to 12|(% style="width:334px" %)(((
404 +)))|(% style="text-align:center; vertical-align:middle; width:127px" %)4|(% style="text-align:center; vertical-align:middle; width:102px" %)0 to 12|(% style="width:391px" %)(((
403 403  0: 0.5 times the bandwidth
404 404  
405 405  4: 1 times the bandwidth
... ... @@ -407,26 +407,26 @@
407 407  8: 2 times the bandwidth
408 408  
409 409  12: 4 times the bandwidth
410 -)))|(% style="text-align:center; vertical-align:middle" %)-
412 +)))|(% style="text-align:center; vertical-align:middle; width:248px" %)-
411 411  |(% style="text-align:center; vertical-align:middle; width:113px" %)P04-08|(% style="text-align:center; vertical-align:middle; width:197px" %)2nd notch filter frequency|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
412 412  Operation setting
413 413  )))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
414 414  Effective immediately
415 -)))|(% style="text-align:center; vertical-align:middle; width:107px" %)500|(% style="text-align:center; vertical-align:middle; width:97px" %)250 to 5000|(% style="width:334px" %)Set the center frequency of the 2nd notch filter. When the set value is 5000, the function of the notch filter is invalid.|(% style="text-align:center; vertical-align:middle" %)Hz
417 +)))|(% style="text-align:center; vertical-align:middle; width:127px" %)500|(% style="text-align:center; vertical-align:middle; width:102px" %)250 to 5000|(% style="width:391px" %)Set the center frequency of the 2nd notch filter. When the set value is 5000, the function of the notch filter is invalid.|(% style="text-align:center; vertical-align:middle; width:248px" %)Hz
416 416  |(% style="text-align:center; vertical-align:middle; width:113px" %)P04-09|(% style="text-align:center; vertical-align:middle; width:197px" %)2nd notch filter depth|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
417 417  Operation setting
418 418  )))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
419 419  Effective immediately
420 -)))|(% style="text-align:center; vertical-align:middle; width:107px" %)100|(% style="text-align:center; vertical-align:middle; width:97px" %)0 to 100|(% style="width:334px" %)(((
422 +)))|(% style="text-align:center; vertical-align:middle; width:127px" %)100|(% style="text-align:center; vertical-align:middle; width:102px" %)0 to 100|(% style="width:391px" %)(((
421 421  0: all truncated
422 422  
423 423  100: all passed
424 -)))|(% style="text-align:center; vertical-align:middle" %)-
426 +)))|(% style="text-align:center; vertical-align:middle; width:248px" %)-
425 425  |(% style="text-align:center; vertical-align:middle; width:113px" %)P04-10|(% style="text-align:center; vertical-align:middle; width:197px" %)2nd notch filter width|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
426 426  Operation setting
427 427  )))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
428 428  Effective immediately
429 -)))|(% style="text-align:center; vertical-align:middle; width:107px" %)4|(% style="text-align:center; vertical-align:middle; width:97px" %)0 to 12|(% style="width:334px" %)(((
431 +)))|(% style="text-align:center; vertical-align:middle; width:127px" %)4|(% style="text-align:center; vertical-align:middle; width:102px" %)0 to 12|(% style="width:391px" %)(((
430 430  0: 0.5 times the bandwidth
431 431  
432 432  4: 1 times the bandwidth
... ... @@ -434,6 +434,6 @@
434 434  8: 2 times the bandwidth
435 435  
436 436  12: 4 times the bandwidth
437 -)))|(% style="text-align:center; vertical-align:middle" %)-
439 +)))|(% style="text-align:center; vertical-align:middle; width:248px" %)-
438 438  
439 439  Table 7-11 Notch filter function code parameters
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