Changes for page 07 Adjustments

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

From 53.1 to 54.1 From 58.1 to 58.2

From version 54.1

edited by Karen
on 2023/05/16 11:23

Change comment: There is no comment for this version

To version 58.1

edited by Karen
on 2023/05/16 13:47

Change comment: There is no comment for this version

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@@ -627,363 +627,6 @@
  If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately.
  )))
--== **Gain switching** ==
--
--Gain switching function:
--
--●Switch to a lower gain in the motor stationary (servo enabled)state to suppress vibration;
--
--●Switch to a higher gain in the motor stationary state to shorten the positioning time;
--
--●Switch to a higher gain in the motor running state to get better command tracking performance;
--
--●Switch different gain settings by external signals depending on the load connected.
--
--(1) Gain switching parameter setting
--
--①When P02-07=0
--
--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).
--
--(% style="text-align:center" %)
--[[image:20230515-8.png]]
--
--② When P02-07=1
--
--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).
--
--(% style="text-align:center" %)
--[[image:20230515-9.png]]
--
--Figure 7-9 Flow chart of gain switching when P02-07=1
--
--|(% style="width:72px" %)**P02-08**|(% style="width:146px" %)**Content**|**Diagram**
--|(% style="width:72px" %)0|(% style="width:146px" %)Fixed use of the first gain|~-~-
--|(% style="width:72px" %)1|(% style="width:146px" %)Switching with DI|~-~-
--|(% style="width:72px" %)(((
--
--
--
--
--
--
--2
--)))|(% style="width:146px" %)(((
--
--
--
--
--
--
--Large torque command
--)))|[[image:image-20230515140641-1.png]]
--|(% style="width:72px" %)(((
--
--
--
--
--
--
--
--3
--)))|(% style="width:146px" %)Large actual torque|[[image:image-20230515140641-2.png]]
--|(% style="width:72px" %)(((
--
--
--
--
--
--
--4
--)))|(% style="width:146px" %)(((
--
--
--
--
--
--
--Large speed command
--)))|[[image:image-20230515140641-3.png]]
--
--|(% style="width:74px" %)**P02-08**|(% style="width:176px" %)**Content**|**Diagram**
--|(% style="width:74px" %)(((
--
--
--
--
--
--5
--)))|(% style="width:176px" %)(((
--
--
--
--
--
--Fast actual speed
--)))|(((
--
--
--[[image:image-20230515140641-4.png]]
--)))
--|(% style="width:74px" %)(((
--
--
--
--
--
--
--
--6
--)))|(% style="width:176px" %)(((
--
--
--
--
--
--
--
--Speed command change rate is large
--)))|[[image:image-20230515140641-5.png]]
--|(% style="width:74px" %)(((
--
--
--
--
--
--
--7
--
--
--)))|(% style="width:176px" %)(((
--
--
--
--
--
--
--Large position deviation
--)))|[[image:image-20230515140641-6.png]]
--|(% style="width:74px" %)(((
--
--
--
--
--
--8
--)))|(% style="width:176px" %)(((
--
--
--
--
--
--Position command
--)))|[[image:image-20230515140641-7.png]]
--
--|(% style="width:73px" %)(((
--
--
--
--
--
--
--9
--)))|(% style="width:154px" %)(((
--
--
--
--
--
--
--Positioning completed
--)))|[[image:image-20230515140641-8.png]]
--|(% style="width:73px" %)(((
--
--
--10
--
--
--)))|(% style="width:154px" %)(((
--
--
--Position command + actual speed
--)))|(((
--
--
--Refer to the chart below
--)))
--
--(% style="text-align:center" %)
--[[image:20230515-10.png]]
--
--Figure 7-10 P02-08=10 Position command + actual speed gain description
--
--(2) Description of related parameters
--
--|(% rowspan="2" style="width:68px" %)
--**P02-07**|(% style="width:150px" %)**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
--|(% style="width:150px" %)The second gain switching mode|Operation setting|Effective immediately|0|0 to 1|Gain control|
--|(% colspan="8" %)(((
--Set the switching mode of the second gain.
--
--|**Setting value**|**Function**
--|0|(((
--The first gain is used by default. Switching using DI function 10 (GAIN-SEL, gain switching):
--
--DI logic invalid: PI control;
--
--DI logic valid: PI control.
--)))
--|1|The first gain and the second gain are switched by the setting value of P02-08.
--)))
--
--|(% rowspan="2" %)
--**P02-08**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
--|Gain switching condition selection|Operation setting|Effective immediately|0|0 to 10|Gain control|
--|(% colspan="8" %)(((
--Set the conditions for gain switching.
--
--|Setting value|Gain switching conditions|Details
--|0|The default is the first gain|Fixed use of the first gain
--|1|Switch by DI port|(((
--Use DI function 10 (GAIN-SEL, gain switching);
--
--DI logic is invalid: the first gain (P02-01~~P02-03);
--
--DI logic is valid: the second gain (P02-04~~P02-06).
--)))
--|2|Large torque command|(((
--In the previous first gain, when the absolute value of torque command is greater than (grade + hysteresis), the second gain is switched;
--
--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.
--
--
--)))
--|3|Large actual torque|(((
--In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched;
--
--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 .
--
--
--)))
--|4|Large speed command|(((
--In the previous first gain, when the absolute value of speed command is greater than (grade + hysteresis), the second gain is switched;
--
--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 .
--
--
--)))
--|5|Large actual speed|(((
--In the previous first gain, when the absolute value of actual speed is greater than (grade + hysteresis), the second gain is switched;
--
--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 .
--
--
--)))
--|(((
--
--
--6
--)))|(((
--
--
--Large rate of change in speed command
--)))|(((
--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;
--
--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 .
--
--
--)))
--|(((
--
--
--7
--)))|(((
--
--
--Large position deviation
--)))|(((
--In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched;
--
--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 .
--)))
--|8|Position command|(((
--In the previous first gain, if the position command is not 0, switch to the second gain;
--
--In the previous second gain, if the position command is 0 and the duration is greater than [P02-13], the first gain is returned.
--)))
--|(((
--
--
--9
--)))|(((
--
--
--Positioning complete
--)))|(((
--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.
--
--
--)))
--|(((
--
--
--10
--)))|(((
--
--
--Position command + actual speed
--)))|(((
--In the previous first gain, if the position command is not 0, the second gain is switched;
--
--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).
--
--
--)))
--
--
--)))
--
--|(% rowspan="2" %)
--**P02-13**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
--|Delay Time for Gain Switching|Operation setting|Effective immediately|20|0 to 10000|Gain control|0.1ms
--|(% colspan="8" %)(((
--The duration of the switching condition required for the second gain to switch back to the first gain.
--
--[[image:image-20230515140953-9.png]]
--
--**✎**Note: This parameter is only valid when the second gain is switched back to the first gain.
--)))
--
--|(% rowspan="2" %)
--**P02-14**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
--|Gain switching grade|Operation setting|Effective immediately|50|0 to 20000|Gain control|According to the switching conditions
--|(% colspan="8" %)(((
--Set the grade of the gain condition. The generation of the actual switching action is affected by the two conditions of grade and hysteresis.
--
--[[image:image-20230515140953-10.png]]
--)))
--
--|(% rowspan="2" %)
--**P02-15**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
--|Gain switching hysteresis|Operation setting|Effective immediately|20|0 to 20000|Gain control|According to the switching conditions
--|(% colspan="8" %)(((
--Set the hysteresis to meet the gain switching condition.
--
--[[image:image-20230515140953-11.png]]
--)))
--
--|(% rowspan="2" %)
--**P02-16**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
--|Position loop gain switching time|Operation setting|Effective immediately|30|0 to 10000|Gain control|0.1ms
--|(% colspan="8" %)(((
--Set the time for switching from the first position loop (P02-01) to the second position loop (P02-04) in the position control mode.
--
--[[image:image-20230515140953-12.png]]
--
--If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately.
--)))
--
  = **Mechanical resonance suppression** =
  == Mechanical resonance suppression methods ==
@@ -1100,46 +1100,34 @@
  [[**Figure 7-13 Applicable working conditions for low-frequency vibration suppression**>>image:20230516-0713.png||id="20230516-0713.png"]]
  )))
--|=(% 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" %)(((
++|=(% scope="row" style="text-align: center; vertical-align: middle; width: 120px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 155px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 137px;" %)(((
  **Setting method**
--)))|=(% style="text-align:center; vertical-align:middle; width:128px" %)(((
--**Effective time**
--)))|=(% 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**
--|P4-11|Enable low-frequency vibration suppression function|(((
--Operation
++)))|=(% style="text-align: center; vertical-align: middle; width: 115px;" %)(((
++**Effective time**
++)))|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 100px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle; width: 96px;" %)**Unit**
++|=(% style="text-align:center; vertical-align:middle" %)P4-11|(% style="width:294px" %)Enable low-frequency vibration suppression function|(% style="text-align:center; vertical-align:middle; width:137px" %)(((
++Operation setting
++)))|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
++Effective immediately
++)))|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle; width:126px" %)0 to 1|(% style="width:448px" %)When the function code is set to 1, enable the low-frequency vibration suppression function.|(% style="width:96px" %)
++|=(% style="text-align:center; vertical-align:middle" %)P4-12|(% style="width:294px" %)Low-frequency vibration suppression frequency|(% style="text-align:center; vertical-align:middle; width:137px" %)(((
++Operation setting
++)))|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
++Effective immediately
++)))|(% style="text-align:center; vertical-align:middle" %)800|(% style="text-align:center; vertical-align:middle; width:126px" %)10 to 2000|(% style="width:448px" %)Set the vibration frequency when vibration occurs at the load end.|(% style="text-align:center; vertical-align:middle; width:96px" %)0.1HZ
++|=(% style="text-align:center; vertical-align:middle" %)P4-14|(% style="width:294px" %)Shutdown vibration detection amplitude|(% style="text-align:center; vertical-align:middle; width:137px" %)(((
++Operation setting
++)))|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
++Effective immediately
++)))|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle; width:126px" %)0 to 1000|(% style="width:448px" %)When the vibration amplitude is greater than (P5-12*P4-14 detection amplitude ratio), the low-frequency vibration frequency can be recognized and updated to the U0-16 monitor quantity.|(% style="text-align:center; vertical-align:middle; width:96px" %)0.001
--setting
--)))|(((
--Effective
++**Vibration frequency detection:**
--immediately
--)))|0|0 to 1|When the function code is set to 1, enable the low-frequency vibration suppression function.|
--|P4-12|Low-frequency vibration suppression frequency|(((
--Operation
--
--setting
--)))|(((
--Effective
--
--immediately
--)))|800|10 to 2000|Set the vibration frequency when vibration occurs at the load end.|0.1HZ
--|P4-14|Shutdown vibration detection amplitude|(((
--Operation
--
--setting
--)))|(((
--Effective
--
--immediately
--)))|100|0 to 1000|When the vibration amplitude is greater than (P5-12*P4-14 detection amplitude ratio), the low-frequency vibration frequency can be recognized and updated to the U0-16 monitor quantity.|0.001
--
--**(1) Vibration frequency detection:**
--
  * Users can measure vibration by measuring equipment such as laser displacement．
  *  If no measuring equipment, the user can also read the position deviation waveform to confirm the vibration frequency through the "waveform" function of the PC debugging software.
  * Low-frequency vibration detection needs to be coordinated by the two parameters of completion positioning threshold and vibration detection amplitude. When the vibration amplitude is greater than (P5-12*P4-14 detection amplitude ratio), the low-frequency vibration frequency can be recognized and updated to U0-16 monitoring quantity. For example, when the vibration amplitude is greater than (P5-12*P4-14*0.001) detection amplitude ratio. For example, in P05-12=800, P04_14=50, the vibration amplitude is greater than P5-12*P4-14*0.001=800*50*0.001=40 pulses, stop vibration frequency can be identified in U0-16.
--**(2) Debugging method:**
++**Debugging method:**
  * Set the appropriate positioning completion thresholds P5-12 and P4-14 to help the software detect the vibration frequency.
  * Run the position curve command to obtain the vibration frequency, and obtain the frequency through the speed curve of oscilloscope or U0-16.
@@ -1146,8 +1146,9 @@
  * Set P4-12 vibration frequency and enable low frequency vibration suppression function P4-11.
  * Run again to observe the speed waveform and determine whether to eliminate the vibration. If the vibration is not eliminated, please manually modify the vibration frequency and try again.
--|[[image:image-20230516105941-2.png]]
--|Note: If there is a speed substantial vibration and the vibration increases during the debugging, it may be that the low-frequency vibration suppression is not suitable for the current working conditions, please immediately close the servo, or power down!
++(% class="table-bordered" style="margin-right:auto" %)
++(% class="warning" %)|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230516105941-2.png]]
++|(% style="text-align:left; vertical-align:middle" %)Note: If there is a speed substantial vibration and the vibration increases during the debugging, it may be that the low-frequency vibration suppression is not suitable for the current working conditions, please immediately close the servo, or power down!
  == Type A vibration suppression ==

Changes for page 07 Adjustments

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