Changes for page 07 Adjustments

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...	...	@@ -627,6 +627,367 @@
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	+== **Gain switching** ==
	635	+
	636	+Gain switching function:
	637	+
	638	+●Switch to a lower gain in the motor stationary (servo enabled)state to suppress vibration;
	639	+
	640	+●Switch to a higher gain in the motor stationary state to shorten the positioning time;
	641	+
	642	+●Switch to a higher gain in the motor running state to get better command tracking performance;
	643	+
	644	+●Switch different gain settings by external signals depending on the load connected.
	645	+
	646	+(1) Gain switching parameter setting
	647	+
	648	+①When P02-07=0
	649	+
	650	+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).
	651	+
	652	+(% style="text-align:center" %)
	653	+[[image:20230515-8.png]]
	654	+
	655	+② When P02-07=1
	656	+
	657	+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).
	658	+
	659	+(% style="text-align:center" %)
	660	+[[image:20230515-9.png]]
	661	+
	662	+Figure 7-9 Flow chart of gain switching when P02-07=1
	663	+
	664	+|(% style="width:72px" %)**P02-08**|(% style="width:146px" %)**Content**|**Diagram**
	665	+|(% style="width:72px" %)0|(% style="width:146px" %)Fixed use of the first gain|~-~-
	666	+|(% style="width:72px" %)1|(% style="width:146px" %)Switching with DI|~-~-
	667	+|(% style="width:72px" %)(((
	668	+
	669	+
	670	+
	671	+
	672	+
	673	+
	674	+2
	675	+)))|(% style="width:146px" %)(((
	676	+
	677	+
	678	+
	679	+
	680	+
	681	+
	682	+Large torque command
	683	+)))|[[image:image-20230515140641-1.png]]
	684	+|(% style="width:72px" %)(((
	685	+
	686	+
	687	+
	688	+
	689	+
	690	+
	691	+
	692	+3
	693	+)))|(% style="width:146px" %)Large actual torque|[[image:image-20230515140641-2.png]]
	694	+|(% style="width:72px" %)(((
	695	+
	696	+
	697	+
	698	+
	699	+
	700	+
	701	+4
	702	+)))|(% style="width:146px" %)(((
	703	+
	704	+
	705	+
	706	+
	707	+
	708	+
	709	+Large speed command
	710	+)))|[[image:image-20230515140641-3.png]]
	711	+
	712	+|(% style="width:74px" %)**P02-08**|(% style="width:176px" %)**Content**|**Diagram**
	713	+|(% style="width:74px" %)(((
	714	+
	715	+
	716	+
	717	+
	718	+
	719	+5
	720	+)))|(% style="width:176px" %)(((
	721	+
	722	+
	723	+
	724	+
	725	+
	726	+Fast actual speed
	727	+)))|(((
	728	+
	729	+
	730	+[[image:image-20230515140641-4.png]]
	731	+)))
	732	+|(% style="width:74px" %)(((
	733	+
	734	+
	735	+
	736	+
	737	+
	738	+
	739	+
	740	+6
	741	+)))|(% style="width:176px" %)(((
	742	+
	743	+
	744	+
	745	+
	746	+
	747	+
	748	+
	749	+Speed command change rate is large
	750	+)))|[[image:image-20230515140641-5.png]]
	751	+|(% style="width:74px" %)(((
	752	+
	753	+
	754	+
	755	+
	756	+
	757	+
	758	+7
	759	+
	760	+
	761	+)))|(% style="width:176px" %)(((
	762	+
	763	+
	764	+
	765	+
	766	+
	767	+
	768	+Large position deviation
	769	+)))|[[image:image-20230515140641-6.png]]
	770	+|(% style="width:74px" %)(((
	771	+
	772	+
	773	+
	774	+
	775	+
	776	+8
	777	+)))|(% style="width:176px" %)(((
	778	+
	779	+
	780	+
	781	+
	782	+
	783	+Position command
	784	+)))|[[image:image-20230515140641-7.png]]
	785	+
	786	+|(% style="width:73px" %)(((
	787	+
	788	+
	789	+
	790	+
	791	+
	792	+
	793	+9
	794	+)))|(% style="width:154px" %)(((
	795	+
	796	+
	797	+
	798	+
	799	+
	800	+
	801	+Positioning completed
	802	+)))|[[image:image-20230515140641-8.png]]
	803	+|(% style="width:73px" %)(((
	804	+
	805	+
	806	+10
	807	+
	808	+
	809	+)))|(% style="width:154px" %)(((
	810	+
	811	+
	812	+Position command + actual speed
	813	+)))|(((
	814	+
	815	+
	816	+Refer to the chart below
	817	+)))
	818	+
	819	+(% style="text-align:center" %)
	820	+[[image:20230515-10.png]]
	821	+
	822	+Figure 7-10 P02-08=10 Position command + actual speed gain description
	823	+
	824	+(2) Description of related parameters
	825	+
	826	+|(% rowspan="2" style="width:68px" %)
	827	+**P02-07**|(% style="width:150px" %)**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
	828	+|(% style="width:150px" %)The second gain switching mode|Operation setting|Effective immediately|0|0 to 1|Gain control|
	829	+|(% colspan="8" %)(((
	830	+Set the switching mode of the second gain.
	831	+
	832	+|**Setting value**|**Function**
	833	+|0|(((
	834	+The first gain is used by default. Switching using DI function 10 (GAIN-SEL, gain switching):
	835	+
	836	+DI logic invalid: PI control;
	837	+
	838	+DI logic valid: PI control.
	839	+)))
	840	+|1|The first gain and the second gain are switched by the setting value of P02-08.
	841	+)))
	842	+
	843	+|(% rowspan="2" %)
	844	+**P02-08**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
	845	+|Gain switching condition selection|Operation setting|Effective immediately|0|0 to 10|Gain control|
	846	+|(% colspan="8" %)(((
	847	+Set the conditions for gain switching.
	848	+
	849	+|Setting value|Gain switching conditions|Details
	850	+|0|The default is the first gain|Fixed use of the first gain
	851	+|1|Switch by DI port|(((
	852	+Use DI function 10 (GAIN-SEL, gain switching);
	853	+
	854	+DI logic is invalid: the first gain (P02-01~~P02-03);
	855	+
	856	+DI logic is valid: the second gain (P02-04~~P02-06).
	857	+)))
	858	+|2|Large torque command|(((
	859	+In the previous first gain, when the absolute value of torque command is greater than (grade + hysteresis), the second gain is switched;
	860	+
	861	+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.
	862	+
	863	+
	864	+)))
	865	+|3|Large actual torque|(((
	866	+In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched;
	867	+
	868	+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 .
	869	+
	870	+
	871	+)))
	872	+|4|Large speed command|(((
	873	+In the previous first gain, when the absolute value of speed command is greater than (grade + hysteresis), the second gain is switched;
	874	+
	875	+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 .
	876	+
	877	+
	878	+)))
	879	+|5|Large actual speed|(((
	880	+In the previous first gain, when the absolute value of actual speed is greater than (grade + hysteresis), the second gain is switched;
	881	+
	882	+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 .
	883	+
	884	+
	885	+)))
	886	+|(((
	887	+
	888	+
	889	+6
	890	+)))|(((
	891	+
	892	+
	893	+Large rate of change in speed command
	894	+)))|(((
	895	+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;
	896	+
	897	+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 .
	898	+
	899	+
	900	+)))
	901	+|(((
	902	+
	903	+
	904	+7
	905	+)))|(((
	906	+
	907	+
	908	+Large position deviation
	909	+)))|(((
	910	+In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched;
	911	+
	912	+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 .
	913	+)))
	914	+|8|Position command|(((
	915	+In the previous first gain, if the position command is not 0, switch to the second gain;
	916	+
	917	+In the previous second gain, if the position command is 0 and the duration is greater than [P02-13], the first gain is returned.
	918	+)))
	919	+|(((
	920	+
	921	+
	922	+9
	923	+)))|(((
	924	+
	925	+
	926	+Positioning complete
	927	+)))|(((
	928	+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.
	929	+
	930	+
	931	+)))
	932	+|(((
	933	+
	934	+
	935	+10
	936	+)))|(((
	937	+
	938	+
	939	+Position command + actual speed
	940	+)))|(((
	941	+In the previous first gain, if the position command is not 0, the second gain is switched;
	942	+
	943	+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).
	944	+
	945	+
	946	+)))
	947	+
	948	+
	949	+)))
	950	+
	951	+|(% rowspan="2" %)
	952	+**P02-13**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
	953	+|Delay Time for Gain Switching|Operation setting|Effective immediately|20|0 to 10000|Gain control|0.1ms
	954	+|(% colspan="8" %)(((
	955	+The duration of the switching condition required for the second gain to switch back to the first gain.
	956	+
	957	+[[image:image-20230515140953-9.png]]
	958	+
	959	+**✎**Note: This parameter is only valid when the second gain is switched back to the first gain.
	960	+)))
	961	+
	962	+|(% rowspan="2" %)
	963	+**P02-14**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
	964	+|Gain switching grade|Operation setting|Effective immediately|50|0 to 20000|Gain control|According to the switching conditions
	965	+|(% colspan="8" %)(((
	966	+Set the grade of the gain condition. The generation of the actual switching action is affected by the two conditions of grade and hysteresis.
	967	+
	968	+[[image:image-20230515140953-10.png]]
	969	+)))
	970	+
	971	+|(% rowspan="2" %)
	972	+**P02-15**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
	973	+|Gain switching hysteresis|Operation setting|Effective immediately|20|0 to 20000|Gain control|According to the switching conditions
	974	+|(% colspan="8" %)(((
	975	+Set the hysteresis to meet the gain switching condition.
	976	+
	977	+[[image:image-20230515140953-11.png]]
	978	+)))
	979	+
	980	+|(% rowspan="2" %)
	981	+**P02-16**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
	982	+|Position loop gain switching time|Operation setting|Effective immediately|30|0 to 10000|Gain control|0.1ms
	983	+|(% colspan="8" %)(((
	984	+Set the time for switching from the first position loop (P02-01) to the second position loop (P02-04) in the position control mode.
	985	+
	986	+[[image:image-20230515140953-12.png]]
	987	+
	988	+If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately.
	989	+)))
	990	+
630	630	= **Mechanical resonance suppression** =
631	631
632	632	== Mechanical resonance suppression methods ==