Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
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... ... @@ -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 == ... ... @@ -743,34 +743,46 @@ 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: 2 94px;" %)**Name**|=(% style="text-align:37px;" %)(((1108 +|=(% 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: 156px;" %)((( 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="text-align:center; vertical-align:middle; width:137px" %)((( 752 -Operation setting 753 -)))|(% style="text-align:center; vertical-align:middle; width:156px" %)((( 754 -Effective immediately 755 -)))|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle; 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 -|=(% style="text-align:center; vertical-align:middle" %)P4-12|(% style="width:294px" %)Low-frequency vibration suppression frequency|(% style="text-align:center; vertical-align:middle; width:137px" %)((( 757 -Operation setting 758 -)))|(% style="text-align:center; vertical-align:middle; width:156px" %)((( 759 -Effective immediately 760 -)))|(% style="text-align:center; vertical-align:middle" %)800|(% style="text-align:center; vertical-align:middle; width:126px" %)10 to 2000|(% style="width:448px" %)Set the vibration frequency when vibration occurs at the load end.|(% style="text-align:center; vertical-align:middle; width:96px" %)0.1HZ 761 -|=(% style="text-align:center; vertical-align:middle" %)P4-14|(% style="width:294px" %)Shutdown vibration detection amplitude|(% style="text-align:center; vertical-align:middle; width:137px" %)((( 762 -Operation setting 763 -)))|(% style="text-align:center; vertical-align:middle; width:156px" %)((( 764 -Effective immediately 765 -)))|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle; 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="text-align:center; vertical-align:middle; width:96px" %)0.001 1110 +)))|=(% style="text-align:center; vertical-align:middle; width:128px" %)((( 1111 +**Effective time** 1112 +)))|=(% 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** 1113 +|P4-11|Enable low-frequency vibration suppression function|((( 1114 +Operation 766 766 767 -**Vibration frequency detection:** 1116 +setting 1117 +)))|((( 1118 +Effective 768 768 1120 +immediately 1121 +)))|0|0 to 1|When the function code is set to 1, enable the low-frequency vibration suppression function.| 1122 +|P4-12|Low-frequency vibration suppression frequency|((( 1123 +Operation 1124 + 1125 +setting 1126 +)))|((( 1127 +Effective 1128 + 1129 +immediately 1130 +)))|800|10 to 2000|Set the vibration frequency when vibration occurs at the load end.|0.1HZ 1131 +|P4-14|Shutdown vibration detection amplitude|((( 1132 +Operation 1133 + 1134 +setting 1135 +)))|((( 1136 +Effective 1137 + 1138 +immediately 1139 +)))|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 1140 + 1141 +**(1) Vibration frequency detection:** 1142 + 769 769 * Users can measure vibration by measuring equipment such as laser displacement． 770 770 * If no measuring equipment, the user can also read the position deviation waveform to confirm the vibration frequency through the "waveform" function of the PC debugging software. 771 771 * Low-frequency vibration detection needs to be coordinated by the two parameters of completion positioning threshold and vibration detection amplitude. 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 U0-16 monitoring quantity. For example, when the vibration amplitude is greater than (P5-12*P4-14*0.001) detection amplitude ratio. For example, in P05-12=800, P04_14=50, the vibration amplitude is greater than P5-12*P4-14*0.001=800*50*0.001=40 pulses, stop vibration frequency can be identified in U0-16. 772 772 773 -**Debugging method:** 1147 +**(2) Debugging method:** 774 774 775 775 * Set the appropriate positioning completion thresholds P5-12 and P4-14 to help the software detect the vibration frequency. 776 776 * Run the position curve command to obtain the vibration frequency, and obtain the frequency through the speed curve of oscilloscope or U0-16.