Changes for page 07 Adjustments

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Content

...	...	@@ -627,6 +627,452 @@
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	+== **Model Tracking Control Function** ==
	631	+
	632	+Model tracking control is suitable for position control mode, which adds a model loop outside the three loop. In the model loop, new position commands, speed feedforward and torque feedforward and other control quantities are generated according to the user's response requirements to the system and the ideal motor control model. Applying these control quantities to the actual control loop can significantly improve the response performance and positioning performance of the position control, the design block diagram is as follows:
	633	+
	634	+(% style="text-align:center" %)
	635	+[[image:20230515-7.png]]
	636	+
	637	+The usage method and conditions of model tracking control:
	638	+
	639	+~1. Correctly set the inertia ratio of the system P3-1, which can be obtained by monitoring the real-time load inertia ratio of U0-20.
	640	+
	641	+2. Set the load rigidity level P3-2, set an appropriate value, it is not need to set a high rigidity level (recommended value 17~~21 under rigid load).
	642	+
	643	+3. Set P2-20=1 to enable the function of model tracking control.
	644	+
	645	+4. Adjust the P2-21 model tracking control gain from small to large, and gradually increase in steps of 1000 until the responsiveness of the system meets the actual demand. The responsiveness of the system is mainly determined by this parameter.
	646	+
	647	+5. After the responsiveness meets the requirements, user can adjust the parameters appropriately to increase the load rigidity level P3-2.
	648	+
	649	+**✎Note**: Model tracking control is only available in position mode, and cannot be used in other modes.
	650	+
	651	+|**Function code**|**Name**|(((
	652	+**Setting**
	653	+
	654	+**method**
	655	+)))|(((
	656	+**Effective**
	657	+
	658	+**time**
	659	+)))|**Default**|**Range**|**Definition**|**Unit**
	660	+|P2-20|Model tracking control function|Shutdown setting|(((
	661	+Effective
	662	+
	663	+immediately
	664	+)))|0|0 to 1|When the function code is set to 1, enable the model tracking control function.|
	665	+|P2-21|Model tracking control gain|Shutdown setting|(((
	666	+Effective
	667	+
	668	+immediately
	669	+)))|1000|200 to 20000|(% rowspan="2" %)Increasing the model tracking control gain can improve the position response performance of the model loop. If the gain is too high, it may cause overshoot behavior. The gain compensation affects the damping ratio of the model loop, and the damping ratio becomes larger as the gain compensation becomes larger.|0.1/s
	670	+|P2-22|Model tracking control gain compensation|Shutdown setting|(((
	671	+Effective
	672	+
	673	+immediately
	674	+)))|1000|500 to 2000|0.10%
	675	+
	676	+|**Function code**|**Name**|(((
	677	+**Setting**
	678	+
	679	+**method**
	680	+)))|(((
	681	+**Effective**
	682	+
	683	+**time**
	684	+)))|**Default**|**Range**|**Definition**|**Unit**
	685	+|P2-23|Model tracking control forward rotation bias|(((
	686	+Operation
	687	+
	688	+setting
	689	+)))|(((
	690	+Effective
	691	+
	692	+immediately
	693	+)))|1000|0 to 10000|(% rowspan="2" %)Torque feedforward size in the positive and reverse direction under model tracking control|0.10%
	694	+|P2-24|Model tracking control reverses rotation bias|(((
	695	+Operation
	696	+
	697	+setting
	698	+)))|(((
	699	+Effective
	700	+
	701	+immediately
	702	+)))|1000|0 to 10000|0.10%
	703	+|P2-25|Model tracking control speed feedforward compensation|Operation setting|(((
	704	+Effective
	705	+
	706	+immediately
	707	+)))|1000|0 to 10000|The size of the speed feedforward under model tracking control|0.10%
	708	+
	709	+Please refer to the following for an example of the procedure of adjusting servo gain.
	710	+
	711	+|**Step**|**Content**
	712	+|1|Please try to set the correct load inertia ratio parameter P3-1.
	713	+|2|If the automatic adjustment mode is used (P3-3 is set to 0), please set the basic rigidity level parameter P3-2. If in manual adjustment mode (P3-3 is set to 1), please set the gain P2-1~~P2-3 related to the position loop and speed loop and the torque filter time constant P4-4. The setting principle is mainly no vibration and overshoot.
	714	+|3|Turn on the model tracking function, set P2-20 to 1.
	715	+|4|Increase the model tracking gain P2-21 within the range of no overshoot and vibration occur.
	716	+|5|If the rigidity level of step 2 is set relatively low, user can properly increase the rigidity level P3-2.
	717	+|6|When overshoot occurs, or the responses of forward rotation and reverse rotation are different, user can fine-tune through model tracking control forward bias P2-23, model tracking control reverse bias P2-24, model tracking control speed feedforward compensation P2 -25.
	718	+
	719	+== **Gain switching** ==
	720	+
	721	+Gain switching function:
	722	+
	723	+●Switch to a lower gain in the motor stationary (servo enabled)state to suppress vibration;
	724	+
	725	+●Switch to a higher gain in the motor stationary state to shorten the positioning time;
	726	+
	727	+●Switch to a higher gain in the motor running state to get better command tracking performance;
	728	+
	729	+●Switch different gain settings by external signals depending on the load connected.
	730	+
	731	+(1) Gain switching parameter setting
	732	+
	733	+①When P02-07=0
	734	+
	735	+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).
	736	+
	737	+(% style="text-align:center" %)
	738	+[[image:20230515-8.png]]
	739	+
	740	+② When P02-07=1
	741	+
	742	+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).
	743	+
	744	+(% style="text-align:center" %)
	745	+[[image:20230515-9.png]]
	746	+
	747	+Figure 7-9 Flow chart of gain switching when P02-07=1
	748	+
	749	+|(% style="width:72px" %)**P02-08**|(% style="width:146px" %)**Content**|**Diagram**
	750	+|(% style="width:72px" %)0|(% style="width:146px" %)Fixed use of the first gain|~-~-
	751	+|(% style="width:72px" %)1|(% style="width:146px" %)Switching with DI|~-~-
	752	+|(% style="width:72px" %)(((
	753	+
	754	+
	755	+
	756	+
	757	+
	758	+
	759	+2
	760	+)))|(% style="width:146px" %)(((
	761	+
	762	+
	763	+
	764	+
	765	+
	766	+
	767	+Large torque command
	768	+)))|[[image:image-20230515140641-1.png]]
	769	+|(% style="width:72px" %)(((
	770	+
	771	+
	772	+
	773	+
	774	+
	775	+
	776	+
	777	+3
	778	+)))|(% style="width:146px" %)Large actual torque|[[image:image-20230515140641-2.png]]
	779	+|(% style="width:72px" %)(((
	780	+
	781	+
	782	+
	783	+
	784	+
	785	+
	786	+4
	787	+)))|(% style="width:146px" %)(((
	788	+
	789	+
	790	+
	791	+
	792	+
	793	+
	794	+Large speed command
	795	+)))|[[image:image-20230515140641-3.png]]
	796	+
	797	+|(% style="width:74px" %)**P02-08**|(% style="width:176px" %)**Content**|**Diagram**
	798	+|(% style="width:74px" %)(((
	799	+
	800	+
	801	+
	802	+
	803	+
	804	+5
	805	+)))|(% style="width:176px" %)(((
	806	+
	807	+
	808	+
	809	+
	810	+
	811	+Fast actual speed
	812	+)))|(((
	813	+
	814	+
	815	+[[image:image-20230515140641-4.png]]
	816	+)))
	817	+|(% style="width:74px" %)(((
	818	+
	819	+
	820	+
	821	+
	822	+
	823	+
	824	+
	825	+6
	826	+)))|(% style="width:176px" %)(((
	827	+
	828	+
	829	+
	830	+
	831	+
	832	+
	833	+
	834	+Speed command change rate is large
	835	+)))|[[image:image-20230515140641-5.png]]
	836	+|(% style="width:74px" %)(((
	837	+
	838	+
	839	+
	840	+
	841	+
	842	+
	843	+7
	844	+
	845	+
	846	+)))|(% style="width:176px" %)(((
	847	+
	848	+
	849	+
	850	+
	851	+
	852	+
	853	+Large position deviation
	854	+)))|[[image:image-20230515140641-6.png]]
	855	+|(% style="width:74px" %)(((
	856	+
	857	+
	858	+
	859	+
	860	+
	861	+8
	862	+)))|(% style="width:176px" %)(((
	863	+
	864	+
	865	+
	866	+
	867	+
	868	+Position command
	869	+)))|[[image:image-20230515140641-7.png]]
	870	+
	871	+|(% style="width:73px" %)(((
	872	+
	873	+
	874	+
	875	+
	876	+
	877	+
	878	+9
	879	+)))|(% style="width:154px" %)(((
	880	+
	881	+
	882	+
	883	+
	884	+
	885	+
	886	+Positioning completed
	887	+)))|[[image:image-20230515140641-8.png]]
	888	+|(% style="width:73px" %)(((
	889	+
	890	+
	891	+10
	892	+
	893	+
	894	+)))|(% style="width:154px" %)(((
	895	+
	896	+
	897	+Position command + actual speed
	898	+)))|(((
	899	+
	900	+
	901	+Refer to the chart below
	902	+)))
	903	+
	904	+(% style="text-align:center" %)
	905	+[[image:20230515-10.png]]
	906	+
	907	+Figure 7-10 P02-08=10 Position command + actual speed gain description
	908	+
	909	+(2) Description of related parameters
	910	+
	911	+|(% rowspan="2" style="width:68px" %)
	912	+**P02-07**|(% style="width:150px" %)**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
	913	+|(% style="width:150px" %)The second gain switching mode|Operation setting|Effective immediately|0|0 to 1|Gain control|
	914	+|(% colspan="8" %)(((
	915	+Set the switching mode of the second gain.
	916	+
	917	+|**Setting value**|**Function**
	918	+|0|(((
	919	+The first gain is used by default. Switching using DI function 10 (GAIN-SEL, gain switching):
	920	+
	921	+DI logic invalid: PI control;
	922	+
	923	+DI logic valid: PI control.
	924	+)))
	925	+|1|The first gain and the second gain are switched by the setting value of P02-08.
	926	+)))
	927	+
	928	+|(% rowspan="2" %)
	929	+**P02-08**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
	930	+|Gain switching condition selection|Operation setting|Effective immediately|0|0 to 10|Gain control|
	931	+|(% colspan="8" %)(((
	932	+Set the conditions for gain switching.
	933	+
	934	+|Setting value|Gain switching conditions|Details
	935	+|0|The default is the first gain|Fixed use of the first gain
	936	+|1|Switch by DI port|(((
	937	+Use DI function 10 (GAIN-SEL, gain switching);
	938	+
	939	+DI logic is invalid: the first gain (P02-01~~P02-03);
	940	+
	941	+DI logic is valid: the second gain (P02-04~~P02-06).
	942	+)))
	943	+|2|Large torque command|(((
	944	+In the previous first gain, when the absolute value of torque command is greater than (grade + hysteresis), the second gain is switched;
	945	+
	946	+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.
	947	+
	948	+
	949	+)))
	950	+|3|Large actual torque|(((
	951	+In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched;
	952	+
	953	+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 .
	954	+
	955	+
	956	+)))
	957	+|4|Large speed command|(((
	958	+In the previous first gain, when the absolute value of speed command is greater than (grade + hysteresis), the second gain is switched;
	959	+
	960	+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 .
	961	+
	962	+
	963	+)))
	964	+|5|Large actual speed|(((
	965	+In the previous first gain, when the absolute value of actual speed is greater than (grade + hysteresis), the second gain is switched;
	966	+
	967	+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 .
	968	+
	969	+
	970	+)))
	971	+|(((
	972	+
	973	+
	974	+6
	975	+)))|(((
	976	+
	977	+
	978	+Large rate of change in speed command
	979	+)))|(((
	980	+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;
	981	+
	982	+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 .
	983	+
	984	+
	985	+)))
	986	+|(((
	987	+
	988	+
	989	+7
	990	+)))|(((
	991	+
	992	+
	993	+Large position deviation
	994	+)))|(((
	995	+In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched;
	996	+
	997	+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 .
	998	+)))
	999	+|8|Position command|(((
	1000	+In the previous first gain, if the position command is not 0, switch to the second gain;
	1001	+
	1002	+In the previous second gain, if the position command is 0 and the duration is greater than [P02-13], the first gain is returned.
	1003	+)))
	1004	+|(((
	1005	+
	1006	+
	1007	+9
	1008	+)))|(((
	1009	+
	1010	+
	1011	+Positioning complete
	1012	+)))|(((
	1013	+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.
	1014	+
	1015	+
	1016	+)))
	1017	+|(((
	1018	+
	1019	+
	1020	+10
	1021	+)))|(((
	1022	+
	1023	+
	1024	+Position command + actual speed
	1025	+)))|(((
	1026	+In the previous first gain, if the position command is not 0, the second gain is switched;
	1027	+
	1028	+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).
	1029	+
	1030	+
	1031	+)))
	1032	+
	1033	+
	1034	+)))
	1035	+
	1036	+|(% rowspan="2" %)
	1037	+**P02-13**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
	1038	+|Delay Time for Gain Switching|Operation setting|Effective immediately|20|0 to 10000|Gain control|0.1ms
	1039	+|(% colspan="8" %)(((
	1040	+The duration of the switching condition required for the second gain to switch back to the first gain.
	1041	+
	1042	+[[image:image-20230515140953-9.png]]
	1043	+
	1044	+**✎**Note: This parameter is only valid when the second gain is switched back to the first gain.
	1045	+)))
	1046	+
	1047	+|(% rowspan="2" %)
	1048	+**P02-14**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
	1049	+|Gain switching grade|Operation setting|Effective immediately|50|0 to 20000|Gain control|According to the switching conditions
	1050	+|(% colspan="8" %)(((
	1051	+Set the grade of the gain condition. The generation of the actual switching action is affected by the two conditions of grade and hysteresis.
	1052	+
	1053	+[[image:image-20230515140953-10.png]]
	1054	+)))
	1055	+
	1056	+|(% rowspan="2" %)
	1057	+**P02-15**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
	1058	+|Gain switching hysteresis|Operation setting|Effective immediately|20|0 to 20000|Gain control|According to the switching conditions
	1059	+|(% colspan="8" %)(((
	1060	+Set the hysteresis to meet the gain switching condition.
	1061	+
	1062	+[[image:image-20230515140953-11.png]]
	1063	+)))
	1064	+
	1065	+|(% rowspan="2" %)
	1066	+**P02-16**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
	1067	+|Position loop gain switching time|Operation setting|Effective immediately|30|0 to 10000|Gain control|0.1ms
	1068	+|(% colspan="8" %)(((
	1069	+Set the time for switching from the first position loop (P02-01) to the second position loop (P02-04) in the position control mode.
	1070	+
	1071	+[[image:image-20230515140953-12.png]]
	1072	+
	1073	+If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately.
	1074	+)))
	1075	+
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: 155px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 137px;" %)(((
	1192	+|=(% 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: 115px;" %)(((
749		-**Effective time**
750		-)))|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 100px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**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
	1194	+)))|=(% style="text-align:center; vertical-align:middle; width:128px" %)(((
	1195	+**Effective time**
	1196	+)))|=(% 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**
	1197	+|P4-11|Enable low-frequency vibration suppression function|(((
	1198	+Operation
766	766
767		-**Vibration frequency detection:**
	1200	+setting
	1201	+)))|(((
	1202	+Effective
768	768
	1204	+immediately
	1205	+)))|0|0 to 1|When the function code is set to 1, enable the low-frequency vibration suppression function.|
	1206	+|P4-12|Low-frequency vibration suppression frequency|(((
	1207	+Operation
	1208	+
	1209	+setting
	1210	+)))|(((
	1211	+Effective
	1212	+
	1213	+immediately
	1214	+)))|800|10 to 2000|Set the vibration frequency when vibration occurs at the load end.|0.1HZ
	1215	+|P4-14|Shutdown vibration detection amplitude|(((
	1216	+Operation
	1217	+
	1218	+setting
	1219	+)))|(((
	1220	+Effective
	1221	+
	1222	+immediately
	1223	+)))|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
	1224	+
	1225	+**(1) Vibration frequency detection:**
	1226	+
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:**
	1231	+**(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.
...	...	@@ -777,9 +777,8 @@
777	777	* Set P4-12 vibration frequency and enable low frequency vibration suppression function P4-11.
778	778	* Run again to observe the speed waveform and determine whether to eliminate the vibration. If the vibration is not eliminated, please manually modify the vibration frequency and try again.
779	779
780		-(% class="table-bordered" style="margin-right:auto" %)
781		-(% class="warning" %)|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230516105941-2.png]]
782		-|(% style="text-align:left; vertical-align:middle" %)Note: If there is a speed substantial vibration and the vibration increases during the debugging, it may be that the low-frequency vibration suppression is not suitable for the current working conditions, please immediately close the servo, or power down!
	1238	+|[[image:image-20230516105941-2.png]]
	1239	+|Note: If there is a speed substantial vibration and the vibration increases during the debugging, it may be that the low-frequency vibration suppression is not suitable for the current working conditions, please immediately close the servo, or power down!
783	783
784	784	== Type A vibration suppression ==
785	785
...	...	@@ -788,53 +788,5 @@
788	788	(% style="text-align:center" %)
789	789	(((
790	790	(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
791		-[[**Figure 7-14 Applicable situations for type A vibration suppression**>>image:20230516-0714.png]]
	1248	+[[**Figure 7-14 Applicable situations for type A vibration suppression**>>image:20230516-0714.png||id="20230516-0714.png"]]
792	792	)))
793		-
794		-|=(% scope="row" style="text-align: center; vertical-align: middle; width: 120px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 155px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 115px;" %)(((
795		-**Setting method**
796		-)))|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)(((
797		-**Effective time**
798		-)))|=(% style="text-align: center; vertical-align: middle; width: 100px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 618px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle; width: 142px;" %)**Unit**
799		-|=(% style="text-align: center; vertical-align: middle" %)P4-19|Enable the type A suppression function|(% style="text-align:center; vertical-align:middle" %)(((
800		-Operation setting
801		-)))|(% style="text-align:center; vertical-align:middle" %)(((
802		-Effective immediately
803		-)))|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="width:618px" %)When the function code is set to 1, enable the type A suppression function.|
804		-|=(% style="text-align: center; vertical-align: middle" %)P4-20|Type A suppression frequency|(% style="text-align:center; vertical-align:middle" %)(((
805		-Operation setting
806		-)))|(% style="text-align:center; vertical-align:middle" %)(((
807		-Effective immediately
808		-)))|(% style="text-align:center; vertical-align:middle" %)1000|(% style="text-align:center; vertical-align:middle" %)100 to 20000|(% style="width:618px" %)Set the frequency of Type A suppression.|(% style="text-align: center; vertical-align: middle ; width:142px" %)0.1HZ
809		-|=(% style="text-align: center; vertical-align: middle" %)P4-21|Type A suppression gain correction|(% style="text-align:center; vertical-align:middle" %)(((
810		-Operation setting
811		-)))|(% style="text-align:center; vertical-align:middle" %)(((
812		-Effective immediately
813		-)))|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)0 to 1000|(% style="width:618px" %)Correct the load inertia ratio size.|(% style="text-align:center; vertical-align:middle; width:142px" %)0.01
814		-|=(% style="text-align: center; vertical-align: middle" %)P4-22|Type A suppression damping gain|(% style="text-align:center; vertical-align:middle" %)(((
815		-Operation setting
816		-)))|(% style="text-align:center; vertical-align:middle" %)(((
817		-Effective immediately
818		-)))|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 500|(% style="width:618px" %)The type A rejection compensation value is gradually increased until the vibration is reduced to the acceptable range.|(% style="text-align:center; vertical-align:middle; width:142px" %)0.01
819		-|=(% style="text-align: center; vertical-align: middle" %)P4-23|Type A suppression phase correction|(% style="text-align:center; vertical-align:middle" %)(((
820		-Operation setting
821		-)))|(% style="text-align:center; vertical-align:middle" %)(((
822		-Effective immediately
823		-)))|(% style="text-align:center; vertical-align:middle" %)200|(% style="text-align:center; vertical-align:middle" %)0 to 900|(% style="width:618px" %)Type A suppression phase compensation.|(% style="text-align:center; vertical-align:middle; width:142px" %)0.1 degree
824		-
825		-**Vibration frequency detection:**
826		-
827		-The vibration frequency can directly obtain the value of the current vibration frequency from the software oscilloscope vibration frequency, combined with real-time speed waveform to observe the current vibration situation.
828		-
829		-**Debugging method:**
830		-
831		-* Please set the correct inertia ratio parameter P3-1 when using type A vibration suppression,
832		-* Run the position curve command, observe the servo host computer software waveform interface (sine wave) to obtain the vibration frequency.
833		-* Set P4-20 vibration frequency and enable type A vibration suppression function P4-19. ( Type A vibration frequency takes effect when P4-19 is set to 1 for the first time. If change A-type vibration frequency P4-20, please set P4-19 to 0 again, then set to 1)
834		-* Set P4-22 damping gain, gradually increasing from 0, each time increasing about 20.
835		-* Observe the size of the vibration speed component, if the amplitude speed component is getting larger, it can be the vibration frequency setting error, if the vibration speed component is getting smaller, it means the vibration is gradually suppressed.
836		-* When the vibration is suppressed, there is still a small part of the vibration speed component, users can fine-tune the P4-23 phase correction, the recommended value of 150~~300.
837		-
838		-(% class="table-bordered" style="margin-right:auto" %)
839		-(% class="warning" %)|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230516135116-1.png]]
840		-|(% style="text-align:left; vertical-align:middle" %)Note: If there is a speed substantial vibration and the vibration increases during the debugging, it may be that the low-frequency vibration suppression is not suitable for the current working conditions, please immediately close the servo, or power down!

image-20230516135116-1.png

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