Changes for page 07 Adjustments

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...	...	@@ -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 ==
...	...	@@ -743,35 +743,39 @@
743	743	[[**Figure 7-13 Applicable working conditions for low-frequency vibration suppression**>>image:20230516-0713.png||id="20230516-0713.png"]]
744	744	)))
745	745
746		-|=(% scope="row" style="text-align: center; vertical-align: middle; width: 120px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 294px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 172px;" %)(((
	1103	+|=(% 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		-)))|=(% style="text-align: center; vertical-align: middle; width: 126px;" %)(((
749		-**Effective time**
750		-)))|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 126px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 448px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle; width: 96px;" %)**Unit**
751		-|=(% style="text-align:center; vertical-align:middle" %)P4-11|(% style="width:294px" %)Enable low-frequency vibration suppression function|(% style="width:172px" %)(((
752		-Operation setting
753		-)))|(% style="width:126px" %)(((
754		-Effective immediately
755		-)))|0|(% style="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" %)
756		-|P4-12|(% style="width:294px" %)Low-frequency vibration suppression frequency|(% style="width:172px" %)(((
	1105	+)))|=(% style="text-align:center; vertical-align:middle; width:128px" %)(((
	1106	+**Effective time**
	1107	+)))|=(% 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**
	1108	+|P4-11|Enable low-frequency vibration suppression function|(((
757	757	Operation
758	758
759	759	setting
760		-)))|(% style="width:126px" %)(((
	1112	+)))|(((
761	761	Effective
762	762
763	763	immediately
764		-)))|800|(% style="width:126px" %)10 to 2000|(% style="width:448px" %)Set the vibration frequency when vibration occurs at the load end.|(% style="width:96px" %)0.1HZ
765		-|P4-14|(% style="width:294px" %)Shutdown vibration detection amplitude|(% style="width:172px" %)(((
	1116	+)))|0|0 to 1|When the function code is set to 1, enable the low-frequency vibration suppression function.|
	1117	+|P4-12|Low-frequency vibration suppression frequency|(((
766	766	Operation
767	767
768	768	setting
769		-)))|(% style="width:126px" %)(((
	1121	+)))|(((
770	770	Effective
771	771
772	772	immediately
773		-)))|100|(% style="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="width:96px" %)0.001
	1125	+)))|800|10 to 2000|Set the vibration frequency when vibration occurs at the load end.|0.1HZ
	1126	+|P4-14|Shutdown vibration detection amplitude|(((
	1127	+Operation
774	774
	1129	+setting
	1130	+)))|(((
	1131	+Effective
	1132	+
	1133	+immediately
	1134	+)))|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
	1135	+
775	775	**(1) Vibration frequency detection:**
776	776
777	777	* Users can measure vibration by measuring equipment such as laser displacement．