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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 52.3
edited by Karen
on 2023/05/16 11:22
Change comment: There is no comment for this version
To version 55.3
edited by Karen
on 2023/05/16 11:28
Change comment: There is no comment for this version

Summary

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Content
... ... @@ -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 ==
... ... @@ -1107,7 +1107,7 @@
1107 1107  |=(% 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" %)(((
1108 1108  **Setting method**
1109 1109  )))|=(% style="text-align:center; vertical-align:middle; width:128px" %)(((
1110 -**Effective time**
749 +**Effective time**
1111 1111  )))|=(% 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**
1112 1112  |P4-11|Enable low-frequency vibration suppression function|(((
1113 1113  Operation