Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
Summary
-
Page properties (1 modified, 0 added, 0 removed)
Details
- Page properties
-
- Content
-
... ... @@ -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 == ... ... @@ -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;" %)(((1105 +|=(% 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 1107 +)))|=(% style="text-align:center; vertical-align:middle; width:128px" %)((( 1108 +**Effective time** 1109 +)))|=(% 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** 1110 +|P4-11|Enable low-frequency vibration suppression function|((( 1111 +Operation 766 766 767 -**Vibration frequency detection:** 1113 +setting 1114 +)))|((( 1115 +Effective 768 768 1117 +immediately 1118 +)))|0|0 to 1|When the function code is set to 1, enable the low-frequency vibration suppression function.| 1119 +|P4-12|Low-frequency vibration suppression frequency|((( 1120 +Operation 1121 + 1122 +setting 1123 +)))|((( 1124 +Effective 1125 + 1126 +immediately 1127 +)))|800|10 to 2000|Set the vibration frequency when vibration occurs at the load end.|0.1HZ 1128 +|P4-14|Shutdown vibration detection amplitude|((( 1129 +Operation 1130 + 1131 +setting 1132 +)))|((( 1133 +Effective 1134 + 1135 +immediately 1136 +)))|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 1137 + 1138 +**(1) Vibration frequency detection:** 1139 + 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:** 1144 +**(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.