Changes for page 07 Adjustments

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...	...	@@ -627,6 +627,365 @@
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	+
630	630	= **Mechanical resonance suppression** =
631	631
632	632	== Mechanical resonance suppression methods ==