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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 54.1
edited by Karen
on 2023/05/16 11:23
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

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Content
... ... @@ -627,363 +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 -== **Gain switching** ==
631 -
632 -Gain switching function:
633 -
634 -●Switch to a lower gain in the motor stationary (servo enabled)state to suppress vibration;
635 -
636 -●Switch to a higher gain in the motor stationary state to shorten the positioning time;
637 -
638 -●Switch to a higher gain in the motor running state to get better command tracking performance;
639 -
640 -●Switch different gain settings by external signals depending on the load connected.
641 -
642 -(1) Gain switching parameter setting
643 -
644 -①When P02-07=0
645 -
646 -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).
647 -
648 -(% style="text-align:center" %)
649 -[[image:20230515-8.png]]
650 -
651 -② When P02-07=1
652 -
653 -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).
654 -
655 -(% style="text-align:center" %)
656 -[[image:20230515-9.png]]
657 -
658 -Figure 7-9 Flow chart of gain switching when P02-07=1
659 -
660 -|(% style="width:72px" %)**P02-08**|(% style="width:146px" %)**Content**|**Diagram**
661 -|(% style="width:72px" %)0|(% style="width:146px" %)Fixed use of the first gain|~-~-
662 -|(% style="width:72px" %)1|(% style="width:146px" %)Switching with DI|~-~-
663 -|(% style="width:72px" %)(((
664 -
665 -
666 -
667 -
668 -
669 -
670 -2
671 -)))|(% style="width:146px" %)(((
672 -
673 -
674 -
675 -
676 -
677 -
678 -Large torque command
679 -)))|[[image:image-20230515140641-1.png]]
680 -|(% style="width:72px" %)(((
681 -
682 -
683 -
684 -
685 -
686 -
687 -
688 -3
689 -)))|(% style="width:146px" %)Large actual torque|[[image:image-20230515140641-2.png]]
690 -|(% style="width:72px" %)(((
691 -
692 -
693 -
694 -
695 -
696 -
697 -4
698 -)))|(% style="width:146px" %)(((
699 -
700 -
701 -
702 -
703 -
704 -
705 -Large speed command
706 -)))|[[image:image-20230515140641-3.png]]
707 -
708 -|(% style="width:74px" %)**P02-08**|(% style="width:176px" %)**Content**|**Diagram**
709 -|(% style="width:74px" %)(((
710 -
711 -
712 -
713 -
714 -
715 -5
716 -)))|(% style="width:176px" %)(((
717 -
718 -
719 -
720 -
721 -
722 -Fast actual speed
723 -)))|(((
724 -
725 -
726 -[[image:image-20230515140641-4.png]]
727 -)))
728 -|(% style="width:74px" %)(((
729 -
730 -
731 -
732 -
733 -
734 -
735 -
736 -6
737 -)))|(% style="width:176px" %)(((
738 -
739 -
740 -
741 -
742 -
743 -
744 -
745 -Speed command change rate is large
746 -)))|[[image:image-20230515140641-5.png]]
747 -|(% style="width:74px" %)(((
748 -
749 -
750 -
751 -
752 -
753 -
754 -7
755 -
756 -
757 -)))|(% style="width:176px" %)(((
758 -
759 -
760 -
761 -
762 -
763 -
764 -Large position deviation
765 -)))|[[image:image-20230515140641-6.png]]
766 -|(% style="width:74px" %)(((
767 -
768 -
769 -
770 -
771 -
772 -8
773 -)))|(% style="width:176px" %)(((
774 -
775 -
776 -
777 -
778 -
779 -Position command
780 -)))|[[image:image-20230515140641-7.png]]
781 -
782 -|(% style="width:73px" %)(((
783 -
784 -
785 -
786 -
787 -
788 -
789 -9
790 -)))|(% style="width:154px" %)(((
791 -
792 -
793 -
794 -
795 -
796 -
797 -Positioning completed
798 -)))|[[image:image-20230515140641-8.png]]
799 -|(% style="width:73px" %)(((
800 -
801 -
802 -10
803 -
804 -
805 -)))|(% style="width:154px" %)(((
806 -
807 -
808 -Position command + actual speed
809 -)))|(((
810 -
811 -
812 -Refer to the chart below
813 -)))
814 -
815 -(% style="text-align:center" %)
816 -[[image:20230515-10.png]]
817 -
818 -Figure 7-10 P02-08=10 Position command + actual speed gain description
819 -
820 -(2) Description of related parameters
821 -
822 -|(% rowspan="2" style="width:68px" %)
823 -**P02-07**|(% style="width:150px" %)**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
824 -|(% style="width:150px" %)The second gain switching mode|Operation setting|Effective immediately|0|0 to 1|Gain control|
825 -|(% colspan="8" %)(((
826 -Set the switching mode of the second gain.
827 -
828 -|**Setting value**|**Function**
829 -|0|(((
830 -The first gain is used by default. Switching using DI function 10 (GAIN-SEL, gain switching):
831 -
832 -DI logic invalid: PI control;
833 -
834 -DI logic valid: PI control.
835 -)))
836 -|1|The first gain and the second gain are switched by the setting value of P02-08.
837 -)))
838 -
839 -|(% rowspan="2" %)
840 -**P02-08**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
841 -|Gain switching condition selection|Operation setting|Effective immediately|0|0 to 10|Gain control|
842 -|(% colspan="8" %)(((
843 -Set the conditions for gain switching.
844 -
845 -|Setting value|Gain switching conditions|Details
846 -|0|The default is the first gain|Fixed use of the first gain
847 -|1|Switch by DI port|(((
848 -Use DI function 10 (GAIN-SEL, gain switching);
849 -
850 -DI logic is invalid: the first gain (P02-01~~P02-03);
851 -
852 -DI logic is valid: the second gain (P02-04~~P02-06).
853 -)))
854 -|2|Large torque command|(((
855 -In the previous first gain, when the absolute value of torque command is greater than (grade + hysteresis), the second gain is switched;
856 -
857 -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.
858 -
859 -
860 -)))
861 -|3|Large actual torque|(((
862 -In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched;
863 -
864 -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 .
865 -
866 -
867 -)))
868 -|4|Large speed command|(((
869 -In the previous first gain, when the absolute value of speed command is greater than (grade + hysteresis), the second gain is switched;
870 -
871 -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 .
872 -
873 -
874 -)))
875 -|5|Large actual speed|(((
876 -In the previous first gain, when the absolute value of actual speed is greater than (grade + hysteresis), the second gain is switched;
877 -
878 -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 .
879 -
880 -
881 -)))
882 -|(((
883 -
884 -
885 -6
886 -)))|(((
887 -
888 -
889 -Large rate of change in speed command
890 -)))|(((
891 -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;
892 -
893 -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 .
894 -
895 -
896 -)))
897 -|(((
898 -
899 -
900 -7
901 -)))|(((
902 -
903 -
904 -Large position deviation
905 -)))|(((
906 -In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched;
907 -
908 -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 .
909 -)))
910 -|8|Position command|(((
911 -In the previous first gain, if the position command is not 0, switch to the second gain;
912 -
913 -In the previous second gain, if the position command is 0 and the duration is greater than [P02-13], the first gain is returned.
914 -)))
915 -|(((
916 -
917 -
918 -9
919 -)))|(((
920 -
921 -
922 -Positioning complete
923 -)))|(((
924 -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.
925 -
926 -
927 -)))
928 -|(((
929 -
930 -
931 -10
932 -)))|(((
933 -
934 -
935 -Position command + actual speed
936 -)))|(((
937 -In the previous first gain, if the position command is not 0, the second gain is switched;
938 -
939 -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).
940 -
941 -
942 -)))
943 -
944 -
945 -)))
946 -
947 -|(% rowspan="2" %)
948 -**P02-13**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
949 -|Delay Time for Gain Switching|Operation setting|Effective immediately|20|0 to 10000|Gain control|0.1ms
950 -|(% colspan="8" %)(((
951 -The duration of the switching condition required for the second gain to switch back to the first gain.
952 -
953 -[[image:image-20230515140953-9.png]]
954 -
955 -**✎**Note: This parameter is only valid when the second gain is switched back to the first gain.
956 -)))
957 -
958 -|(% rowspan="2" %)
959 -**P02-14**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
960 -|Gain switching grade|Operation setting|Effective immediately|50|0 to 20000|Gain control|According to the switching conditions
961 -|(% colspan="8" %)(((
962 -Set the grade of the gain condition. The generation of the actual switching action is affected by the two conditions of grade and hysteresis.
963 -
964 -[[image:image-20230515140953-10.png]]
965 -)))
966 -
967 -|(% rowspan="2" %)
968 -**P02-15**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
969 -|Gain switching hysteresis|Operation setting|Effective immediately|20|0 to 20000|Gain control|According to the switching conditions
970 -|(% colspan="8" %)(((
971 -Set the hysteresis to meet the gain switching condition.
972 -
973 -[[image:image-20230515140953-11.png]]
974 -)))
975 -
976 -|(% rowspan="2" %)
977 -**P02-16**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
978 -|Position loop gain switching time|Operation setting|Effective immediately|30|0 to 10000|Gain control|0.1ms
979 -|(% colspan="8" %)(((
980 -Set the time for switching from the first position loop (P02-01) to the second position loop (P02-04) in the position control mode.
981 -
982 -[[image:image-20230515140953-12.png]]
983 -
984 -If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately.
985 -)))
986 -
987 987  = **Mechanical resonance suppression** =
988 988  
989 989  == Mechanical resonance suppression methods ==
... ... @@ -1100,11 +1100,11 @@
1100 1100  [[**Figure 7-13 Applicable working conditions for low-frequency vibration suppression**>>image:20230516-0713.png||id="20230516-0713.png"]]
1101 1101  )))
1102 1102  
1103 -|=(% 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" %)(((
1104 -**Setting method**
1105 -)))|=(% style="text-align:center; vertical-align:middle; width:128px" %)(((
1106 -**Effective time**
1107 -)))|=(% 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**
1108 1108  |P4-11|Enable low-frequency vibration suppression function|(((
1109 1109  Operation
1110 1110