Changes for page 07 Adjustments

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...	...	@@ -627,367 +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		-== **Gain switching** ==
635		-
636		-Gain switching function:
637		-
638		-●Switch to a lower gain in the motor stationary (servo enabled)state to suppress vibration;
639		-
640		-●Switch to a higher gain in the motor stationary state to shorten the positioning time;
641		-
642		-●Switch to a higher gain in the motor running state to get better command tracking performance;
643		-
644		-●Switch different gain settings by external signals depending on the load connected.
645		-
646		-(1) Gain switching parameter setting
647		-
648		-①When P02-07=0
649		-
650		-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).
651		-
652		-(% style="text-align:center" %)
653		-[[image:20230515-8.png]]
654		-
655		-② When P02-07=1
656		-
657		-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).
658		-
659		-(% style="text-align:center" %)
660		-[[image:20230515-9.png]]
661		-
662		-Figure 7-9 Flow chart of gain switching when P02-07=1
663		-
664		-|(% style="width:72px" %)**P02-08**|(% style="width:146px" %)**Content**|**Diagram**
665		-|(% style="width:72px" %)0|(% style="width:146px" %)Fixed use of the first gain|~-~-
666		-|(% style="width:72px" %)1|(% style="width:146px" %)Switching with DI|~-~-
667		-|(% style="width:72px" %)(((
668		-
669		-
670		-
671		-
672		-
673		-
674		-2
675		-)))|(% style="width:146px" %)(((
676		-
677		-
678		-
679		-
680		-
681		-
682		-Large torque command
683		-)))|[[image:image-20230515140641-1.png]]
684		-|(% style="width:72px" %)(((
685		-
686		-
687		-
688		-
689		-
690		-
691		-
692		-3
693		-)))|(% style="width:146px" %)Large actual torque|[[image:image-20230515140641-2.png]]
694		-|(% style="width:72px" %)(((
695		-
696		-
697		-
698		-
699		-
700		-
701		-4
702		-)))|(% style="width:146px" %)(((
703		-
704		-
705		-
706		-
707		-
708		-
709		-Large speed command
710		-)))|[[image:image-20230515140641-3.png]]
711		-
712		-|(% style="width:74px" %)**P02-08**|(% style="width:176px" %)**Content**|**Diagram**
713		-|(% style="width:74px" %)(((
714		-
715		-
716		-
717		-
718		-
719		-5
720		-)))|(% style="width:176px" %)(((
721		-
722		-
723		-
724		-
725		-
726		-Fast actual speed
727		-)))|(((
728		-
729		-
730		-[[image:image-20230515140641-4.png]]
731		-)))
732		-|(% style="width:74px" %)(((
733		-
734		-
735		-
736		-
737		-
738		-
739		-
740		-6
741		-)))|(% style="width:176px" %)(((
742		-
743		-
744		-
745		-
746		-
747		-
748		-
749		-Speed command change rate is large
750		-)))|[[image:image-20230515140641-5.png]]
751		-|(% style="width:74px" %)(((
752		-
753		-
754		-
755		-
756		-
757		-
758		-7
759		-
760		-
761		-)))|(% style="width:176px" %)(((
762		-
763		-
764		-
765		-
766		-
767		-
768		-Large position deviation
769		-)))|[[image:image-20230515140641-6.png]]
770		-|(% style="width:74px" %)(((
771		-
772		-
773		-
774		-
775		-
776		-8
777		-)))|(% style="width:176px" %)(((
778		-
779		-
780		-
781		-
782		-
783		-Position command
784		-)))|[[image:image-20230515140641-7.png]]
785		-
786		-|(% style="width:73px" %)(((
787		-
788		-
789		-
790		-
791		-
792		-
793		-9
794		-)))|(% style="width:154px" %)(((
795		-
796		-
797		-
798		-
799		-
800		-
801		-Positioning completed
802		-)))|[[image:image-20230515140641-8.png]]
803		-|(% style="width:73px" %)(((
804		-
805		-
806		-10
807		-
808		-
809		-)))|(% style="width:154px" %)(((
810		-
811		-
812		-Position command + actual speed
813		-)))|(((
814		-
815		-
816		-Refer to the chart below
817		-)))
818		-
819		-(% style="text-align:center" %)
820		-[[image:20230515-10.png]]
821		-
822		-Figure 7-10 P02-08=10 Position command + actual speed gain description
823		-
824		-(2) Description of related parameters
825		-
826		-|(% rowspan="2" style="width:68px" %)
827		-**P02-07**|(% style="width:150px" %)**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
828		-|(% style="width:150px" %)The second gain switching mode|Operation setting|Effective immediately|0|0 to 1|Gain control|
829		-|(% colspan="8" %)(((
830		-Set the switching mode of the second gain.
831		-
832		-|**Setting value**|**Function**
833		-|0|(((
834		-The first gain is used by default. Switching using DI function 10 (GAIN-SEL, gain switching):
835		-
836		-DI logic invalid: PI control;
837		-
838		-DI logic valid: PI control.
839		-)))
840		-|1|The first gain and the second gain are switched by the setting value of P02-08.
841		-)))
842		-
843		-|(% rowspan="2" %)
844		-**P02-08**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
845		-|Gain switching condition selection|Operation setting|Effective immediately|0|0 to 10|Gain control|
846		-|(% colspan="8" %)(((
847		-Set the conditions for gain switching.
848		-
849		-|Setting value|Gain switching conditions|Details
850		-|0|The default is the first gain|Fixed use of the first gain
851		-|1|Switch by DI port|(((
852		-Use DI function 10 (GAIN-SEL, gain switching);
853		-
854		-DI logic is invalid: the first gain (P02-01~~P02-03);
855		-
856		-DI logic is valid: the second gain (P02-04~~P02-06).
857		-)))
858		-|2|Large torque command|(((
859		-In the previous first gain, when the absolute value of torque command is greater than (grade + hysteresis), the second gain is switched;
860		-
861		-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.
862		-
863		-
864		-)))
865		-|3|Large actual torque|(((
866		-In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched;
867		-
868		-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 .
869		-
870		-
871		-)))
872		-|4|Large speed command|(((
873		-In the previous first gain, when the absolute value of speed command is greater than (grade + hysteresis), the second gain is switched;
874		-
875		-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 .
876		-
877		-
878		-)))
879		-|5|Large actual speed|(((
880		-In the previous first gain, when the absolute value of actual speed is greater than (grade + hysteresis), the second gain is switched;
881		-
882		-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 .
883		-
884		-
885		-)))
886		-|(((
887		-
888		-
889		-6
890		-)))|(((
891		-
892		-
893		-Large rate of change in speed command
894		-)))|(((
895		-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;
896		-
897		-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 .
898		-
899		-
900		-)))
901		-|(((
902		-
903		-
904		-7
905		-)))|(((
906		-
907		-
908		-Large position deviation
909		-)))|(((
910		-In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched;
911		-
912		-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 .
913		-)))
914		-|8|Position command|(((
915		-In the previous first gain, if the position command is not 0, switch to the second gain;
916		-
917		-In the previous second gain, if the position command is 0 and the duration is greater than [P02-13], the first gain is returned.
918		-)))
919		-|(((
920		-
921		-
922		-9
923		-)))|(((
924		-
925		-
926		-Positioning complete
927		-)))|(((
928		-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.
929		-
930		-
931		-)))
932		-|(((
933		-
934		-
935		-10
936		-)))|(((
937		-
938		-
939		-Position command + actual speed
940		-)))|(((
941		-In the previous first gain, if the position command is not 0, the second gain is switched;
942		-
943		-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).
944		-
945		-
946		-)))
947		-
948		-
949		-)))
950		-
951		-|(% rowspan="2" %)
952		-**P02-13**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
953		-|Delay Time for Gain Switching|Operation setting|Effective immediately|20|0 to 10000|Gain control|0.1ms
954		-|(% colspan="8" %)(((
955		-The duration of the switching condition required for the second gain to switch back to the first gain.
956		-
957		-[[image:image-20230515140953-9.png]]
958		-
959		-**✎**Note: This parameter is only valid when the second gain is switched back to the first gain.
960		-)))
961		-
962		-|(% rowspan="2" %)
963		-**P02-14**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
964		-|Gain switching grade|Operation setting|Effective immediately|50|0 to 20000|Gain control|According to the switching conditions
965		-|(% colspan="8" %)(((
966		-Set the grade of the gain condition. The generation of the actual switching action is affected by the two conditions of grade and hysteresis.
967		-
968		-[[image:image-20230515140953-10.png]]
969		-)))
970		-
971		-|(% rowspan="2" %)
972		-**P02-15**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
973		-|Gain switching hysteresis|Operation setting|Effective immediately|20|0 to 20000|Gain control|According to the switching conditions
974		-|(% colspan="8" %)(((
975		-Set the hysteresis to meet the gain switching condition.
976		-
977		-[[image:image-20230515140953-11.png]]
978		-)))
979		-
980		-|(% rowspan="2" %)
981		-**P02-16**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
982		-|Position loop gain switching time|Operation setting|Effective immediately|30|0 to 10000|Gain control|0.1ms
983		-|(% colspan="8" %)(((
984		-Set the time for switching from the first position loop (P02-01) to the second position loop (P02-04) in the position control mode.
985		-
986		-[[image:image-20230515140953-12.png]]
987		-
988		-If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately.
989		-)))
990		-
991	991	= **Mechanical resonance suppression** =
992	992
993	993	== Mechanical resonance suppression methods ==