Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
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... ... @@ -627,365 +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 -== **Gain switching** == 633 - 634 -Gain switching function: 635 - 636 -●Switch to a lower gain in the motor stationary (servo enabled)state to suppress vibration; 637 - 638 -●Switch to a higher gain in the motor stationary state to shorten the positioning time; 639 - 640 -●Switch to a higher gain in the motor running state to get better command tracking performance; 641 - 642 -●Switch different gain settings by external signals depending on the load connected. 643 - 644 -(1) Gain switching parameter setting 645 - 646 -①When P02-07=0 647 - 648 -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). 649 - 650 -(% style="text-align:center" %) 651 -[[image:20230515-8.png]] 652 - 653 -② When P02-07=1 654 - 655 -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). 656 - 657 -(% style="text-align:center" %) 658 -[[image:20230515-9.png]] 659 - 660 -Figure 7-9 Flow chart of gain switching when P02-07=1 661 - 662 -|(% style="width:72px" %)**P02-08**|(% style="width:146px" %)**Content**|**Diagram** 663 -|(% style="width:72px" %)0|(% style="width:146px" %)Fixed use of the first gain|~-~- 664 -|(% style="width:72px" %)1|(% style="width:146px" %)Switching with DI|~-~- 665 -|(% style="width:72px" %)((( 666 - 667 - 668 - 669 - 670 - 671 - 672 -2 673 -)))|(% style="width:146px" %)((( 674 - 675 - 676 - 677 - 678 - 679 - 680 -Large torque command 681 -)))|[[image:image-20230515140641-1.png]] 682 -|(% style="width:72px" %)((( 683 - 684 - 685 - 686 - 687 - 688 - 689 - 690 -3 691 -)))|(% style="width:146px" %)Large actual torque|[[image:image-20230515140641-2.png]] 692 -|(% style="width:72px" %)((( 693 - 694 - 695 - 696 - 697 - 698 - 699 -4 700 -)))|(% style="width:146px" %)((( 701 - 702 - 703 - 704 - 705 - 706 - 707 -Large speed command 708 -)))|[[image:image-20230515140641-3.png]] 709 - 710 -|(% style="width:74px" %)**P02-08**|(% style="width:176px" %)**Content**|**Diagram** 711 -|(% style="width:74px" %)((( 712 - 713 - 714 - 715 - 716 - 717 -5 718 -)))|(% style="width:176px" %)((( 719 - 720 - 721 - 722 - 723 - 724 -Fast actual speed 725 -)))|((( 726 - 727 - 728 -[[image:image-20230515140641-4.png]] 729 -))) 730 -|(% style="width:74px" %)((( 731 - 732 - 733 - 734 - 735 - 736 - 737 - 738 -6 739 -)))|(% style="width:176px" %)((( 740 - 741 - 742 - 743 - 744 - 745 - 746 - 747 -Speed command change rate is large 748 -)))|[[image:image-20230515140641-5.png]] 749 -|(% style="width:74px" %)((( 750 - 751 - 752 - 753 - 754 - 755 - 756 -7 757 - 758 - 759 -)))|(% style="width:176px" %)((( 760 - 761 - 762 - 763 - 764 - 765 - 766 -Large position deviation 767 -)))|[[image:image-20230515140641-6.png]] 768 -|(% style="width:74px" %)((( 769 - 770 - 771 - 772 - 773 - 774 -8 775 -)))|(% style="width:176px" %)((( 776 - 777 - 778 - 779 - 780 - 781 -Position command 782 -)))|[[image:image-20230515140641-7.png]] 783 - 784 -|(% style="width:73px" %)((( 785 - 786 - 787 - 788 - 789 - 790 - 791 -9 792 -)))|(% style="width:154px" %)((( 793 - 794 - 795 - 796 - 797 - 798 - 799 -Positioning completed 800 -)))|[[image:image-20230515140641-8.png]] 801 -|(% style="width:73px" %)((( 802 - 803 - 804 -10 805 - 806 - 807 -)))|(% style="width:154px" %)((( 808 - 809 - 810 -Position command + actual speed 811 -)))|((( 812 - 813 - 814 -Refer to the chart below 815 -))) 816 - 817 -(% style="text-align:center" %) 818 -[[image:20230515-10.png]] 819 - 820 -Figure 7-10 P02-08=10 Position command + actual speed gain description 821 - 822 -(2) Description of related parameters 823 - 824 -|(% rowspan="2" style="width:68px" %) 825 -**P02-07**|(% style="width:150px" %)**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 826 -|(% style="width:150px" %)The second gain switching mode|Operation setting|Effective immediately|0|0 to 1|Gain control| 827 -|(% colspan="8" %)((( 828 -Set the switching mode of the second gain. 829 - 830 -|**Setting value**|**Function** 831 -|0|((( 832 -The first gain is used by default. Switching using DI function 10 (GAIN-SEL, gain switching): 833 - 834 -DI logic invalid: PI control; 835 - 836 -DI logic valid: PI control. 837 -))) 838 -|1|The first gain and the second gain are switched by the setting value of P02-08. 839 -))) 840 - 841 -|(% rowspan="2" %) 842 -**P02-08**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 843 -|Gain switching condition selection|Operation setting|Effective immediately|0|0 to 10|Gain control| 844 -|(% colspan="8" %)((( 845 -Set the conditions for gain switching. 846 - 847 -|Setting value|Gain switching conditions|Details 848 -|0|The default is the first gain|Fixed use of the first gain 849 -|1|Switch by DI port|((( 850 -Use DI function 10 (GAIN-SEL, gain switching); 851 - 852 -DI logic is invalid: the first gain (P02-01~~P02-03); 853 - 854 -DI logic is valid: the second gain (P02-04~~P02-06). 855 -))) 856 -|2|Large torque command|((( 857 -In the previous first gain, when the absolute value of torque command is greater than (grade + hysteresis), the second gain is switched; 858 - 859 -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. 860 - 861 - 862 -))) 863 -|3|Large actual torque|((( 864 -In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched; 865 - 866 -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 . 867 - 868 - 869 -))) 870 -|4|Large speed command|((( 871 -In the previous first gain, when the absolute value of speed command is greater than (grade + hysteresis), the second gain is switched; 872 - 873 -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 . 874 - 875 - 876 -))) 877 -|5|Large actual speed|((( 878 -In the previous first gain, when the absolute value of actual speed is greater than (grade + hysteresis), the second gain is switched; 879 - 880 -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 . 881 - 882 - 883 -))) 884 -|((( 885 - 886 - 887 -6 888 -)))|((( 889 - 890 - 891 -Large rate of change in speed command 892 -)))|((( 893 -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; 894 - 895 -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 . 896 - 897 - 898 -))) 899 -|((( 900 - 901 - 902 -7 903 -)))|((( 904 - 905 - 906 -Large position deviation 907 -)))|((( 908 -In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched; 909 - 910 -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 . 911 -))) 912 -|8|Position command|((( 913 -In the previous first gain, if the position command is not 0, switch to the second gain; 914 - 915 -In the previous second gain, if the position command is 0 and the duration is greater than [P02-13], the first gain is returned. 916 -))) 917 -|((( 918 - 919 - 920 -9 921 -)))|((( 922 - 923 - 924 -Positioning complete 925 -)))|((( 926 -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. 927 - 928 - 929 -))) 930 -|((( 931 - 932 - 933 -10 934 -)))|((( 935 - 936 - 937 -Position command + actual speed 938 -)))|((( 939 -In the previous first gain, if the position command is not 0, the second gain is switched; 940 - 941 -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). 942 - 943 - 944 -))) 945 - 946 - 947 -))) 948 - 949 -|(% rowspan="2" %) 950 -**P02-13**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 951 -|Delay Time for Gain Switching|Operation setting|Effective immediately|20|0 to 10000|Gain control|0.1ms 952 -|(% colspan="8" %)((( 953 -The duration of the switching condition required for the second gain to switch back to the first gain. 954 - 955 -[[image:image-20230515140953-9.png]] 956 - 957 -**✎**Note: This parameter is only valid when the second gain is switched back to the first gain. 958 -))) 959 - 960 -|(% rowspan="2" %) 961 -**P02-14**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 962 -|Gain switching grade|Operation setting|Effective immediately|50|0 to 20000|Gain control|According to the switching conditions 963 -|(% colspan="8" %)((( 964 -Set the grade of the gain condition. The generation of the actual switching action is affected by the two conditions of grade and hysteresis. 965 - 966 -[[image:image-20230515140953-10.png]] 967 -))) 968 - 969 -|(% rowspan="2" %) 970 -**P02-15**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 971 -|Gain switching hysteresis|Operation setting|Effective immediately|20|0 to 20000|Gain control|According to the switching conditions 972 -|(% colspan="8" %)((( 973 -Set the hysteresis to meet the gain switching condition. 974 - 975 -[[image:image-20230515140953-11.png]] 976 -))) 977 - 978 -|(% rowspan="2" %) 979 -**P02-16**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 980 -|Position loop gain switching time|Operation setting|Effective immediately|30|0 to 10000|Gain control|0.1ms 981 -|(% colspan="8" %)((( 982 -Set the time for switching from the first position loop (P02-01) to the second position loop (P02-04) in the position control mode. 983 - 984 -[[image:image-20230515140953-12.png]] 985 - 986 -If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately. 987 -))) 988 - 989 989 = **Mechanical resonance suppression** = 990 990 991 991 == Mechanical resonance suppression methods ==