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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 55.3
edited by Karen
on 2023/05/16 11:28
Change comment: There is no comment for this version
To version 54.1
edited by Karen
on 2023/05/16 11:23
Change comment: There is no comment for this version

Summary

Details

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Content
... ... @@ -627,6 +627,363 @@
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 +
630 630  = **Mechanical resonance suppression** =
631 631  
632 632  == Mechanical resonance suppression methods ==
... ... @@ -746,7 +746,7 @@
746 746  |=(% 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:150px" %)(((
747 747  **Setting method**
748 748  )))|=(% style="text-align:center; vertical-align:middle; width:128px" %)(((
749 -**Effective time**
1106 +**Effective time**
750 750  )))|=(% 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**
751 751  |P4-11|Enable low-frequency vibration suppression function|(((
752 752  Operation