Changes for page 07 Adjustments

Summary

• Page properties (1 modified, 0 added, 0 removed)

Details

Page properties

Content

...	...	@@ -627,6 +627,368 @@
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	+
	635	+== **Gain switching** ==
	636	+
	637	+Gain switching function:
	638	+
	639	+●Switch to a lower gain in the motor stationary (servo enabled)state to suppress vibration;
	640	+
	641	+●Switch to a higher gain in the motor stationary state to shorten the positioning time;
	642	+
	643	+●Switch to a higher gain in the motor running state to get better command tracking performance;
	644	+
	645	+●Switch different gain settings by external signals depending on the load connected.
	646	+
	647	+(1) Gain switching parameter setting
	648	+
	649	+①When P02-07=0
	650	+
	651	+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).
	652	+
	653	+(% style="text-align:center" %)
	654	+[[image:20230515-8.png]]
	655	+
	656	+② When P02-07=1
	657	+
	658	+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).
	659	+
	660	+(% style="text-align:center" %)
	661	+[[image:20230515-9.png]]
	662	+
	663	+Figure 7-9 Flow chart of gain switching when P02-07=1
	664	+
	665	+|(% style="width:72px" %)**P02-08**|(% style="width:146px" %)**Content**|**Diagram**
	666	+|(% style="width:72px" %)0|(% style="width:146px" %)Fixed use of the first gain|~-~-
	667	+|(% style="width:72px" %)1|(% style="width:146px" %)Switching with DI|~-~-
	668	+|(% style="width:72px" %)(((
	669	+
	670	+
	671	+
	672	+
	673	+
	674	+
	675	+2
	676	+)))|(% style="width:146px" %)(((
	677	+
	678	+
	679	+
	680	+
	681	+
	682	+
	683	+Large torque command
	684	+)))|[[image:image-20230515140641-1.png]]
	685	+|(% style="width:72px" %)(((
	686	+
	687	+
	688	+
	689	+
	690	+
	691	+
	692	+
	693	+3
	694	+)))|(% style="width:146px" %)Large actual torque|[[image:image-20230515140641-2.png]]
	695	+|(% style="width:72px" %)(((
	696	+
	697	+
	698	+
	699	+
	700	+
	701	+
	702	+4
	703	+)))|(% style="width:146px" %)(((
	704	+
	705	+
	706	+
	707	+
	708	+
	709	+
	710	+Large speed command
	711	+)))|[[image:image-20230515140641-3.png]]
	712	+
	713	+|(% style="width:74px" %)**P02-08**|(% style="width:176px" %)**Content**|**Diagram**
	714	+|(% style="width:74px" %)(((
	715	+
	716	+
	717	+
	718	+
	719	+
	720	+5
	721	+)))|(% style="width:176px" %)(((
	722	+
	723	+
	724	+
	725	+
	726	+
	727	+Fast actual speed
	728	+)))|(((
	729	+
	730	+
	731	+[[image:image-20230515140641-4.png]]
	732	+)))
	733	+|(% style="width:74px" %)(((
	734	+
	735	+
	736	+
	737	+
	738	+
	739	+
	740	+
	741	+6
	742	+)))|(% style="width:176px" %)(((
	743	+
	744	+
	745	+
	746	+
	747	+
	748	+
	749	+
	750	+Speed command change rate is large
	751	+)))|[[image:image-20230515140641-5.png]]
	752	+|(% style="width:74px" %)(((
	753	+
	754	+
	755	+
	756	+
	757	+
	758	+
	759	+7
	760	+
	761	+
	762	+)))|(% style="width:176px" %)(((
	763	+
	764	+
	765	+
	766	+
	767	+
	768	+
	769	+Large position deviation
	770	+)))|[[image:image-20230515140641-6.png]]
	771	+|(% style="width:74px" %)(((
	772	+
	773	+
	774	+
	775	+
	776	+
	777	+8
	778	+)))|(% style="width:176px" %)(((
	779	+
	780	+
	781	+
	782	+
	783	+
	784	+Position command
	785	+)))|[[image:image-20230515140641-7.png]]
	786	+
	787	+|(% style="width:73px" %)(((
	788	+
	789	+
	790	+
	791	+
	792	+
	793	+
	794	+9
	795	+)))|(% style="width:154px" %)(((
	796	+
	797	+
	798	+
	799	+
	800	+
	801	+
	802	+Positioning completed
	803	+)))|[[image:image-20230515140641-8.png]]
	804	+|(% style="width:73px" %)(((
	805	+
	806	+
	807	+10
	808	+
	809	+
	810	+)))|(% style="width:154px" %)(((
	811	+
	812	+
	813	+Position command + actual speed
	814	+)))|(((
	815	+
	816	+
	817	+Refer to the chart below
	818	+)))
	819	+
	820	+(% style="text-align:center" %)
	821	+[[image:20230515-10.png]]
	822	+
	823	+Figure 7-10 P02-08=10 Position command + actual speed gain description
	824	+
	825	+(2) Description of related parameters
	826	+
	827	+|(% rowspan="2" style="width:68px" %)
	828	+**P02-07**|(% style="width:150px" %)**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
	829	+|(% style="width:150px" %)The second gain switching mode|Operation setting|Effective immediately|0|0 to 1|Gain control|
	830	+|(% colspan="8" %)(((
	831	+Set the switching mode of the second gain.
	832	+
	833	+|**Setting value**|**Function**
	834	+|0|(((
	835	+The first gain is used by default. Switching using DI function 10 (GAIN-SEL, gain switching):
	836	+
	837	+DI logic invalid: PI control;
	838	+
	839	+DI logic valid: PI control.
	840	+)))
	841	+|1|The first gain and the second gain are switched by the setting value of P02-08.
	842	+)))
	843	+
	844	+|(% rowspan="2" %)
	845	+**P02-08**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
	846	+|Gain switching condition selection|Operation setting|Effective immediately|0|0 to 10|Gain control|
	847	+|(% colspan="8" %)(((
	848	+Set the conditions for gain switching.
	849	+
	850	+|Setting value|Gain switching conditions|Details
	851	+|0|The default is the first gain|Fixed use of the first gain
	852	+|1|Switch by DI port|(((
	853	+Use DI function 10 (GAIN-SEL, gain switching);
	854	+
	855	+DI logic is invalid: the first gain (P02-01~~P02-03);
	856	+
	857	+DI logic is valid: the second gain (P02-04~~P02-06).
	858	+)))
	859	+|2|Large torque command|(((
	860	+In the previous first gain, when the absolute value of torque command is greater than (grade + hysteresis), the second gain is switched;
	861	+
	862	+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.
	863	+
	864	+
	865	+)))
	866	+|3|Large actual torque|(((
	867	+In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched;
	868	+
	869	+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 .
	870	+
	871	+
	872	+)))
	873	+|4|Large speed command|(((
	874	+In the previous first gain, when the absolute value of speed command is greater than (grade + hysteresis), the second gain is switched;
	875	+
	876	+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 .
	877	+
	878	+
	879	+)))
	880	+|5|Large actual speed|(((
	881	+In the previous first gain, when the absolute value of actual speed is greater than (grade + hysteresis), the second gain is switched;
	882	+
	883	+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 .
	884	+
	885	+
	886	+)))
	887	+|(((
	888	+
	889	+
	890	+6
	891	+)))|(((
	892	+
	893	+
	894	+Large rate of change in speed command
	895	+)))|(((
	896	+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;
	897	+
	898	+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 .
	899	+
	900	+
	901	+)))
	902	+|(((
	903	+
	904	+
	905	+7
	906	+)))|(((
	907	+
	908	+
	909	+Large position deviation
	910	+)))|(((
	911	+In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched;
	912	+
	913	+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 .
	914	+)))
	915	+|8|Position command|(((
	916	+In the previous first gain, if the position command is not 0, switch to the second gain;
	917	+
	918	+In the previous second gain, if the position command is 0 and the duration is greater than [P02-13], the first gain is returned.
	919	+)))
	920	+|(((
	921	+
	922	+
	923	+9
	924	+)))|(((
	925	+
	926	+
	927	+Positioning complete
	928	+)))|(((
	929	+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.
	930	+
	931	+
	932	+)))
	933	+|(((
	934	+
	935	+
	936	+10
	937	+)))|(((
	938	+
	939	+
	940	+Position command + actual speed
	941	+)))|(((
	942	+In the previous first gain, if the position command is not 0, the second gain is switched;
	943	+
	944	+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).
	945	+
	946	+
	947	+)))
	948	+
	949	+
	950	+)))
	951	+
	952	+|(% rowspan="2" %)
	953	+**P02-13**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
	954	+|Delay Time for Gain Switching|Operation setting|Effective immediately|20|0 to 10000|Gain control|0.1ms
	955	+|(% colspan="8" %)(((
	956	+The duration of the switching condition required for the second gain to switch back to the first gain.
	957	+
	958	+[[image:image-20230515140953-9.png]]
	959	+
	960	+**✎**Note: This parameter is only valid when the second gain is switched back to the first gain.
	961	+)))
	962	+
	963	+|(% rowspan="2" %)
	964	+**P02-14**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
	965	+|Gain switching grade|Operation setting|Effective immediately|50|0 to 20000|Gain control|According to the switching conditions
	966	+|(% colspan="8" %)(((
	967	+Set the grade of the gain condition. The generation of the actual switching action is affected by the two conditions of grade and hysteresis.
	968	+
	969	+[[image:image-20230515140953-10.png]]
	970	+)))
	971	+
	972	+|(% rowspan="2" %)
	973	+**P02-15**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
	974	+|Gain switching hysteresis|Operation setting|Effective immediately|20|0 to 20000|Gain control|According to the switching conditions
	975	+|(% colspan="8" %)(((
	976	+Set the hysteresis to meet the gain switching condition.
	977	+
	978	+[[image:image-20230515140953-11.png]]
	979	+)))
	980	+
	981	+|(% rowspan="2" %)
	982	+**P02-16**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
	983	+|Position loop gain switching time|Operation setting|Effective immediately|30|0 to 10000|Gain control|0.1ms
	984	+|(% colspan="8" %)(((
	985	+Set the time for switching from the first position loop (P02-01) to the second position loop (P02-04) in the position control mode.
	986	+
	987	+[[image:image-20230515140953-12.png]]
	988	+
	989	+If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately.
	990	+)))
	991	+
630	630	= **Mechanical resonance suppression** =
631	631
632	632	== Mechanical resonance suppression methods ==