Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
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... ... @@ -627,368 +627,6 @@ 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 -== == 631 - 632 -== 633 - == 634 - 635 -== **Gain switching** == 636 - 637 -Gain switching function: 638 - 639 -●Switch to a lower gain in the motor stationary (servo enabled)state to suppress vibration; 640 - 641 -●Switch to a higher gain in the motor stationary state to shorten the positioning time; 642 - 643 -●Switch to a higher gain in the motor running state to get better command tracking performance; 644 - 645 -●Switch different gain settings by external signals depending on the load connected. 646 - 647 -(1) Gain switching parameter setting 648 - 649 -①When P02-07=0 650 - 651 -Fixed use of the first gain (using P02-01~~P02-03), and the switching of P/PI (proportional/proportional integral) control could be realized through DI function 10 (GAIN-SEL, gain switching). 652 - 653 -(% style="text-align:center" %) 654 -[[image:20230515-8.png]] 655 - 656 -② When P02-07=1 657 - 658 -The switching conditions can be set through parameter P02-08 to realize switching between the first gain (P02-01~~P02-03) and the second gain (P02-04~~P02-06). 659 - 660 -(% style="text-align:center" %) 661 -[[image:20230515-9.png]] 662 - 663 -Figure 7-9 Flow chart of gain switching when P02-07=1 664 - 665 -|(% style="width:72px" %)**P02-08**|(% style="width:146px" %)**Content**|**Diagram** 666 -|(% style="width:72px" %)0|(% style="width:146px" %)Fixed use of the first gain|~-~- 667 -|(% style="width:72px" %)1|(% style="width:146px" %)Switching with DI|~-~- 668 -|(% style="width:72px" %)((( 669 - 670 - 671 - 672 - 673 - 674 - 675 -2 676 -)))|(% style="width:146px" %)((( 677 - 678 - 679 - 680 - 681 - 682 - 683 -Large torque command 684 -)))|[[image:image-20230515140641-1.png]] 685 -|(% style="width:72px" %)((( 686 - 687 - 688 - 689 - 690 - 691 - 692 - 693 -3 694 -)))|(% style="width:146px" %)Large actual torque|[[image:image-20230515140641-2.png]] 695 -|(% style="width:72px" %)((( 696 - 697 - 698 - 699 - 700 - 701 - 702 -4 703 -)))|(% style="width:146px" %)((( 704 - 705 - 706 - 707 - 708 - 709 - 710 -Large speed command 711 -)))|[[image:image-20230515140641-3.png]] 712 - 713 -|(% style="width:74px" %)**P02-08**|(% style="width:176px" %)**Content**|**Diagram** 714 -|(% style="width:74px" %)((( 715 - 716 - 717 - 718 - 719 - 720 -5 721 -)))|(% style="width:176px" %)((( 722 - 723 - 724 - 725 - 726 - 727 -Fast actual speed 728 -)))|((( 729 - 730 - 731 -[[image:image-20230515140641-4.png]] 732 -))) 733 -|(% style="width:74px" %)((( 734 - 735 - 736 - 737 - 738 - 739 - 740 - 741 -6 742 -)))|(% style="width:176px" %)((( 743 - 744 - 745 - 746 - 747 - 748 - 749 - 750 -Speed command change rate is large 751 -)))|[[image:image-20230515140641-5.png]] 752 -|(% style="width:74px" %)((( 753 - 754 - 755 - 756 - 757 - 758 - 759 -7 760 - 761 - 762 -)))|(% style="width:176px" %)((( 763 - 764 - 765 - 766 - 767 - 768 - 769 -Large position deviation 770 -)))|[[image:image-20230515140641-6.png]] 771 -|(% style="width:74px" %)((( 772 - 773 - 774 - 775 - 776 - 777 -8 778 -)))|(% style="width:176px" %)((( 779 - 780 - 781 - 782 - 783 - 784 -Position command 785 -)))|[[image:image-20230515140641-7.png]] 786 - 787 -|(% style="width:73px" %)((( 788 - 789 - 790 - 791 - 792 - 793 - 794 -9 795 -)))|(% style="width:154px" %)((( 796 - 797 - 798 - 799 - 800 - 801 - 802 -Positioning completed 803 -)))|[[image:image-20230515140641-8.png]] 804 -|(% style="width:73px" %)((( 805 - 806 - 807 -10 808 - 809 - 810 -)))|(% style="width:154px" %)((( 811 - 812 - 813 -Position command + actual speed 814 -)))|((( 815 - 816 - 817 -Refer to the chart below 818 -))) 819 - 820 -(% style="text-align:center" %) 821 -[[image:20230515-10.png]] 822 - 823 -Figure 7-10 P02-08=10 Position command + actual speed gain description 824 - 825 -(2) Description of related parameters 826 - 827 -|(% rowspan="2" style="width:68px" %) 828 -**P02-07**|(% style="width:150px" %)**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 829 -|(% style="width:150px" %)The second gain switching mode|Operation setting|Effective immediately|0|0 to 1|Gain control| 830 -|(% colspan="8" %)((( 831 -Set the switching mode of the second gain. 832 - 833 -|**Setting value**|**Function** 834 -|0|((( 835 -The first gain is used by default. Switching using DI function 10 (GAIN-SEL, gain switching): 836 - 837 -DI logic invalid: PI control; 838 - 839 -DI logic valid: PI control. 840 -))) 841 -|1|The first gain and the second gain are switched by the setting value of P02-08. 842 -))) 843 - 844 -|(% rowspan="2" %) 845 -**P02-08**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 846 -|Gain switching condition selection|Operation setting|Effective immediately|0|0 to 10|Gain control| 847 -|(% colspan="8" %)((( 848 -Set the conditions for gain switching. 849 - 850 -|Setting value|Gain switching conditions|Details 851 -|0|The default is the first gain|Fixed use of the first gain 852 -|1|Switch by DI port|((( 853 -Use DI function 10 (GAIN-SEL, gain switching); 854 - 855 -DI logic is invalid: the first gain (P02-01~~P02-03); 856 - 857 -DI logic is valid: the second gain (P02-04~~P02-06). 858 -))) 859 -|2|Large torque command|((( 860 -In the previous first gain, when the absolute value of torque command is greater than (grade + hysteresis), the second gain is switched; 861 - 862 -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. 863 - 864 - 865 -))) 866 -|3|Large actual torque|((( 867 -In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched; 868 - 869 -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 . 870 - 871 - 872 -))) 873 -|4|Large speed command|((( 874 -In the previous first gain, when the absolute value of speed command is greater than (grade + hysteresis), the second gain is switched; 875 - 876 -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 . 877 - 878 - 879 -))) 880 -|5|Large actual speed|((( 881 -In the previous first gain, when the absolute value of actual speed is greater than (grade + hysteresis), the second gain is switched; 882 - 883 -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 . 884 - 885 - 886 -))) 887 -|((( 888 - 889 - 890 -6 891 -)))|((( 892 - 893 - 894 -Large rate of change in speed command 895 -)))|((( 896 -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; 897 - 898 -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 . 899 - 900 - 901 -))) 902 -|((( 903 - 904 - 905 -7 906 -)))|((( 907 - 908 - 909 -Large position deviation 910 -)))|((( 911 -In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched; 912 - 913 -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 . 914 -))) 915 -|8|Position command|((( 916 -In the previous first gain, if the position command is not 0, switch to the second gain; 917 - 918 -In the previous second gain, if the position command is 0 and the duration is greater than [P02-13], the first gain is returned. 919 -))) 920 -|((( 921 - 922 - 923 -9 924 -)))|((( 925 - 926 - 927 -Positioning complete 928 -)))|((( 929 -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. 930 - 931 - 932 -))) 933 -|((( 934 - 935 - 936 -10 937 -)))|((( 938 - 939 - 940 -Position command + actual speed 941 -)))|((( 942 -In the previous first gain, if the position command is not 0, the second gain is switched; 943 - 944 -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). 945 - 946 - 947 -))) 948 - 949 - 950 -))) 951 - 952 -|(% rowspan="2" %) 953 -**P02-13**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 954 -|Delay Time for Gain Switching|Operation setting|Effective immediately|20|0 to 10000|Gain control|0.1ms 955 -|(% colspan="8" %)((( 956 -The duration of the switching condition required for the second gain to switch back to the first gain. 957 - 958 -[[image:image-20230515140953-9.png]] 959 - 960 -**✎**Note: This parameter is only valid when the second gain is switched back to the first gain. 961 -))) 962 - 963 -|(% rowspan="2" %) 964 -**P02-14**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 965 -|Gain switching grade|Operation setting|Effective immediately|50|0 to 20000|Gain control|According to the switching conditions 966 -|(% colspan="8" %)((( 967 -Set the grade of the gain condition. The generation of the actual switching action is affected by the two conditions of grade and hysteresis. 968 - 969 -[[image:image-20230515140953-10.png]] 970 -))) 971 - 972 -|(% rowspan="2" %) 973 -**P02-15**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 974 -|Gain switching hysteresis|Operation setting|Effective immediately|20|0 to 20000|Gain control|According to the switching conditions 975 -|(% colspan="8" %)((( 976 -Set the hysteresis to meet the gain switching condition. 977 - 978 -[[image:image-20230515140953-11.png]] 979 -))) 980 - 981 -|(% rowspan="2" %) 982 -**P02-16**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 983 -|Position loop gain switching time|Operation setting|Effective immediately|30|0 to 10000|Gain control|0.1ms 984 -|(% colspan="8" %)((( 985 -Set the time for switching from the first position loop (P02-01) to the second position loop (P02-04) in the position control mode. 986 - 987 -[[image:image-20230515140953-12.png]] 988 - 989 -If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately. 990 -))) 991 - 992 992 = **Mechanical resonance suppression** = 993 993 994 994 == Mechanical resonance suppression methods == ... ... @@ -1105,39 +1105,27 @@ 1105 1105 [[**Figure 7-13 Applicable working conditions for low-frequency vibration suppression**>>image:20230516-0713.png||id="20230516-0713.png"]] 1106 1106 ))) 1107 1107 1108 -|=(% scope="row" style="text-align: center; vertical-align: middle; width: 120px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 2 50px;" %)**Name**|=(% style="text-align:center; vertical-align:middle; width:150px" %)(((746 +|=(% scope="row" style="text-align: center; vertical-align: middle; width: 120px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 294px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 137px;" %)((( 1109 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 748 +)))|=(% style="text-align: center; vertical-align: middle; width: 156px;" %)((( 749 +**Effective time** 750 +)))|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 126px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 448px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle; width: 96px;" %)**Unit** 751 +|=(% style="text-align:center; vertical-align:middle" %)P4-11|(% style="width:294px" %)Enable low-frequency vibration suppression function|(% style="text-align:center; vertical-align:middle; width:137px" %)((( 752 +Operation setting 753 +)))|(% style="text-align:center; vertical-align:middle; width:156px" %)((( 754 +Effective immediately 755 +)))|(% style="text-align:center; vertical-align:middle " %)0|(% style="text-align:center; vertical-align:middle; width:126px" %)0 to 1|(% style="width:448px" %)When the function code is set to 1, enable the low-frequency vibration suppression function.|(% style="width:96px" %) 756 +|=(% style="text-align:center; vertical-align:middle" %)P4-12|(% style="width:294px" %)Low-frequency vibration suppression frequency|(% style="text-align:center; vertical-align:middle; width:137px" %)((( 757 +Operation setting 758 +)))|(% style="text-align:center; vertical-align:middle; width:156px" %)((( 759 +Effective immediately 760 +)))|(% style="text-align:center; vertical-align:middle" %)800|(% style="text-align:center; vertical-align:middle; width:126px" %)10 to 2000|(% style="width:448px" %)Set the vibration frequency when vibration occurs at the load end.|(% style="text-align:center; vertical-align:middle; width:96px" %)0.1HZ 761 +|=(% style="text-align:center; vertical-align:middle" %)P4-14|(% style="width:294px" %)Shutdown vibration detection amplitude|(% style="width:137px" %)((( 762 +Operation setting 763 +)))|(% style="text-align:center; vertical-align:middle; width:156px" %)((( 764 +Effective immediately 765 +)))|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle; width:126px" %)0 to 1000|(% style="width:448px" %)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.|(% style="text-align:center; vertical-align:middle; width:96px" %)0.001 1115 1115 1116 -setting 1117 -)))|((( 1118 -Effective 1119 - 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 1124 - 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 1141 **(1) Vibration frequency detection:** 1142 1142 1143 1143 * Users can measure vibration by measuring equipment such as laser displacement．