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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 52.2
edited by Karen
on 2023/05/16 11:22
Change comment: There is no comment for this version
To version 55.4
edited by Karen
on 2023/05/16 11:29
Change comment: There is no comment for this version

Summary

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Content
... ... @@ -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 ==
... ... @@ -1105,11 +1105,11 @@
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: 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**
746 +|=(% 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:180px" %)(((
747 +**Setting method**
748 +)))|=(% style="text-align:center; vertical-align:middle; width:150px" %)(((
749 +**Effective time**
750 +)))|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 110px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 400px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit**
1113 1113  |P4-11|Enable low-frequency vibration suppression function|(((
1114 1114  Operation
1115 1115