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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 53.1
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

Details

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Content
... ... @@ -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 ==
... ... @@ -1102,11 +1102,11 @@
1102 1102  [[**Figure 7-13 Applicable working conditions for low-frequency vibration suppression**>>image:20230516-0713.png||id="20230516-0713.png"]]
1103 1103  )))
1104 1104  
1105 -|=(% 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" %)(((
1106 -**Setting method**
1107 -)))|=(% style="text-align:center; vertical-align:middle; width:128px" %)(((
1108 -**Effective time**
1109 -)))|=(% 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**
1110 1110  |P4-11|Enable low-frequency vibration suppression function|(((
1111 1111  Operation
1112 1112