Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
From version 58.2
edited by Karen
on 2023/05/16 13:52
on 2023/05/16 13:52
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... ... @@ -1,1 +1,1 @@ 1 -XWiki. Karen1 +XWiki.Mora - Content
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... ... @@ -19,9 +19,12 @@ 19 19 |=(% colspan="3" style="text-align: center; vertical-align: middle;" %)**Gain adjustment process**|=(% style="text-align: center; vertical-align: middle;" %)**Function**|=(% style="text-align: center; vertical-align: middle;" %)**Detailed chapter** 20 20 |(% style="text-align:center; vertical-align:middle" %)1|(% colspan="2" style="text-align:center; vertical-align:middle" %)Online inertia recognition|(% style="text-align:center; vertical-align:middle" %)Use the host computer debugging platform software matched with the drive to automatically identify the load inertia ratio. With its own inertia identification function, the drive automatically calculates the load inertia ratio.|(% style="text-align:center; vertical-align:middle" %)__[[7.2>>||anchor="HInertiarecognition"]]__ 21 21 |(% style="text-align:center; vertical-align:middle" %)2|(% colspan="2" style="text-align:center; vertical-align:middle" %)Automatic gain adjustment|On the premise of setting the inertia ratio correctly, the drive automatically adjusts a set of matching gain parameters.|(% style="text-align:center; vertical-align:middle" %)__[[7.3.1>>||anchor="HAutomaticgainadjustment"]]__ 22 -|(% rowspan=" 2" style="text-align:center; vertical-align:middle" %)3|(% rowspan="2" style="text-align:center; vertical-align:middle" %)Manual gain adjustment|(% style="text-align:center; vertical-align:middle" %)Basic gain|On the basis of automatic gain adjustment, if the expected effect is not achieved, manually fine-tune the gain to optimize the effect.|(% style="text-align:center; vertical-align:middle" %)__[[7.3.2>>||anchor="HManualgainadjustment"]]__22 +|(% rowspan="3" style="text-align:center; vertical-align:middle" %)3|(% rowspan="3" style="text-align:center; vertical-align:middle" %)Manual gain adjustment|(% style="text-align:center; vertical-align:middle" %)Basic gain|On the basis of automatic gain adjustment, if the expected effect is not achieved, manually fine-tune the gain to optimize the effect.|(% style="text-align:center; vertical-align:middle" %)__[[7.3.2>>||anchor="HManualgainadjustment"]]__ 23 23 |(% style="text-align:center; vertical-align:middle" %)Feedforward gain|The feedforward function is enabled to improve the followability.|(% style="text-align:center; vertical-align:middle" %)__[[7.3.3>>||anchor="HFeedforwardgain"]]__ 24 -|(% style="text-align:center; vertical-align:middle" %)4|(% style="text-align:center; vertical-align:middle" %)Vibration suppression|(% style="text-align:center; vertical-align:middle" %)Mechanical resonance|The notch filter function is enabled to suppress mechanical resonance.|(% style="text-align:center; vertical-align:middle" %)__[[7.4.1>>||anchor="HMechanicalresonancesuppressionmethods"]]__ 24 +|(% style="text-align:center; vertical-align:middle" %)Model tracking control|Enable model tracking control, shortening the responding time and improving followability.|(% style="text-align:center; vertical-align:middle" %)7.3.4 25 +|(% colspan="1" rowspan="3" style="text-align:center; vertical-align:middle" %)4|(% colspan="1" rowspan="3" style="text-align:center; vertical-align:middle" %)Vibration suppression|(% style="text-align:center; vertical-align:middle" %)Mechanical resonance|The notch filter function is enabled to suppress mechanical resonance.|(% style="text-align:center; vertical-align:middle" %)__[[7.4.1>>||anchor="HMechanicalresonancesuppressionmethods"]]__ 26 +|Low frequency vibration suppression|Enable low frequency vibration suppression|7.4.3 27 +|Type A vibration suppression|Enable type A vibration suppression|7.4.4 25 25 26 26 Table 7-1 Description of gain adjustment process 27 27 ... ... @@ -118,8 +118,12 @@ 118 118 119 119 (% class="table-bordered" style="margin-right:auto" %) 120 120 (% class="warning" %)|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611152630-1.png]] 121 -|(% style="text-align:left; vertical-align:middle" %)Before adjusting the rigidity grade, set the appropriate load inertia ratio P03-01 correctly. 124 +|(% style="text-align:left; vertical-align:middle" %)((( 125 +Before adjusting the rigidity grade, set the appropriate load inertia ratio P03-01 correctly. 122 122 127 +**VD2L drive does not support automatic gain adjustment!** 128 +))) 129 + 123 123 The value range of the rigidity grade is between 0 and 31. Grade 0 corresponds to the weakest rigidity and minimum gain, and grade 31 corresponds to the strongest rigidity and maximum gain. According to different load types, the values in the table below are for reference. 124 124 125 125 (% class="table-bordered" %) ... ... @@ -140,7 +140,7 @@ 140 140 * Step4 After the "start recognition" of inertia recognition lights up, click "start recognition" to perform inertia recognition, and the load inertia can be measured. 141 141 * Step5 After the inertia recognition test is completed, click "Save Inertia Value"; 142 142 * Step6 Click "Next" at the bottom right to go to the parameter adjustment interface, and click "Parameter measurement" to start parameter measurement. 143 -* Step7 After the parameter measurement is completed, thehostcomputer debuggingsoftware will pop up a confirmation window for parameter writing and saving.150 +* Step7 After the parameter measurement is completed, Wecon SCTool will pop up a confirmation window for parameter writing and saving. 144 144 145 145 (% class="table-bordered" %) 146 146 (% class="warning" %)|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611152634-2.png]] ... ... @@ -330,7 +330,7 @@ 330 330 331 331 (% style="text-align:center" %) 332 332 ((( 333 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 340 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block;" %) 334 334 [[**Figure 7-6 Speed feedforward parameters effect illustration**>>image:image-20220706155307-4.jpeg||height="119" id="Iimage-20220706155307-4.jpeg" width="835"]] 335 335 ))) 336 336 ... ... @@ -348,7 +348,7 @@ 348 348 349 349 (% style="text-align:center" %) 350 350 ((( 351 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 358 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block;" %) 352 352 [[**Figure 7-7 Block Diagram of Model Tracking Control Design**>>image:20230515-7.png||height="394" id="20230515-7.png" width="931"]] 353 353 ))) 354 354 ... ... @@ -375,7 +375,9 @@ 375 375 )))|=(% style="text-align: center; vertical-align: middle; width: 128px;" %)((( 376 376 **Effective time** 377 377 )))|=(% style="text-align: center; vertical-align: middle; width: 103px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 107px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 321px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit** 378 -|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P2-20|(% style="text-align:center; vertical-align:middle; width:163px" %)Model tracking control function|(% style="text-align:center; vertical-align:middle; width:122px" %)((( 385 +|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P2-20|(% style="text-align:center; vertical-align:middle; width:163px" %)((( 386 +Enable model(% style="background-color:transparent" %) tracking control function 387 +)))|(% style="text-align:center; vertical-align:middle; width:122px" %)((( 379 379 Shutdown setting 380 380 )))|(% style="text-align:center; vertical-align:middle; width:128px" %)((( 381 381 Effective immediately ... ... @@ -731,7 +731,6 @@ 731 731 )))|(% style="text-align:center; vertical-align:middle; width:96px" %)- 732 732 733 733 Table 7-11 Notch filter function code parameters 734 -~)~)~) 735 735 736 736 == Low frequency vibration suppression == 737 737 ... ... @@ -743,26 +743,26 @@ 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: 1 20px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width:155px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 137px;" %)(((754 +|=(% scope="row" style="text-align: center; vertical-align: middle; width: 134px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 258px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 127px;" %)((( 747 747 **Setting method** 748 -)))|=(% style="text-align: center; vertical-align: middle; width: 1 15px;" %)(((756 +)))|=(% style="text-align: center; vertical-align: middle; width: 157px;" %)((( 749 749 **Effective time** 750 -)))|=(% style="text-align: center; vertical-align: middle; width: 12 0px;" %)**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:2 94px" %)Enable low-frequency vibration suppression function|(% style="text-align:center; vertical-align:middle; width:137px" %)(((758 +)))|=(% style="text-align: center; vertical-align: middle; width: 121px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 116px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 462px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle; width: 115px;" %)**Unit** 759 +|=(% style="text-align: center; vertical-align: middle; width: 134px;" %)P4-11|(% style="text-align:center; vertical-align:middle; width:258px" %)Enable low-frequency vibration suppression function|(% style="text-align:center; vertical-align:middle; width:127px" %)((( 752 752 Operation setting 753 -)))|(% style="text-align:center; vertical-align:middle; width:15 6px" %)(((761 +)))|(% style="text-align:center; vertical-align:middle; width:157px" %)((( 754 754 Effective immediately 755 -)))|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle; width:1 26px" %)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:2 94px" %)Low-frequency vibration suppression frequency|(% style="text-align:center; vertical-align:middle; width:137px" %)(((763 +)))|(% style="text-align:center; vertical-align:middle; width:121px" %)0|(% style="text-align:center; vertical-align:middle; width:116px" %)0 to 1|(% style="width:462px" %)When the function code is set to 1, enable the low-frequency vibration suppression function.|(% style="width:115px" %) 764 +|=(% style="text-align: center; vertical-align: middle; width: 134px;" %)P4-12|(% style="text-align:center; vertical-align:middle; width:258px" %)Low-frequency vibration suppression frequency|(% style="text-align:center; vertical-align:middle; width:127px" %)((( 757 757 Operation setting 758 -)))|(% style="text-align:center; vertical-align:middle; width:15 6px" %)(((766 +)))|(% style="text-align:center; vertical-align:middle; width:157px" %)((( 759 759 Effective immediately 760 -)))|(% style="text-align:center; vertical-align:middle" %)800|(% style="text-align:center; vertical-align:middle; width:1 26px" %)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" %)0.1HZ761 -|=(% style="text-align:center; vertical-align:middle" %)P4-14|(% style="width:2 94px" %)Shutdown vibration detection amplitude|(% style="text-align:center; vertical-align:middle; width:137px" %)(((768 +)))|(% style="text-align:center; vertical-align:middle; width:121px" %)800|(% style="text-align:center; vertical-align:middle; width:116px" %)10 to 2000|(% style="width:462px" %)Set the vibration frequency when vibration occurs at the load end.|(% style="text-align:center; vertical-align:middle; width:115px" %)0.1HZ 769 +|=(% style="text-align: center; vertical-align: middle; width: 134px;" %)P4-14|(% style="text-align:center; vertical-align:middle; width:258px" %)Shutdown vibration detection amplitude|(% style="text-align:center; vertical-align:middle; width:127px" %)((( 762 762 Operation setting 763 -)))|(% style="text-align:center; vertical-align:middle; width:15 6px" %)(((771 +)))|(% style="text-align:center; vertical-align:middle; width:157px" %)((( 764 764 Effective immediately 765 -)))|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle; width:1 26px" %)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" %)0.001773 +)))|(% style="text-align:center; vertical-align:middle; width:121px" %)100|(% style="text-align:center; vertical-align:middle; width:116px" %)0 to 1000|(% style="width:462px" %)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:115px" %)0.001 766 766 767 767 **Vibration frequency detection:** 768 768 ... ... @@ -791,62 +791,37 @@ 791 791 [[**Figure 7-14 Applicable situations for type A vibration suppression**>>image:20230516-0714.png]] 792 792 ))) 793 793 802 +|=(% scope="row" style="text-align: center; vertical-align: middle; width: 136px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 225px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 121px;" %)((( 803 +**Setting method** 804 +)))|=(% style="text-align: center; vertical-align: middle; width: 112px;" %)((( 805 +**Effective time** 806 +)))|=(% style="text-align: center; vertical-align: middle; width: 114px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 183px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 501px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle; width: 96px" %)**Unit** 807 +|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)P4-19|(% style="text-align:center; vertical-align:middle; width:225px" %)Enable the type A suppression function|(% style="text-align:center; vertical-align:middle; width:121px" %)((( 808 +Operation setting 809 +)))|(% style="text-align:center; vertical-align:middle; width:112px" %)((( 810 +Effective immediately 811 +)))|(% style="text-align:center; vertical-align:middle; width:114px" %)0|(% style="text-align:center; vertical-align:middle; width:183px" %)0 to 1|(% style="width:501px" %)When the function code is set to 1, enable the type A suppression function.| 812 +|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)P4-20|(% style="text-align:center; vertical-align:middle; width:225px" %)Type A suppression frequency|(% style="text-align:center; vertical-align:middle; width:121px" %)((( 813 +Operation setting 814 +)))|(% style="text-align:center; vertical-align:middle; width:112px" %)((( 815 +Effective immediately 816 +)))|(% style="text-align:center; vertical-align:middle; width:114px" %)1000|(% style="text-align:center; vertical-align:middle; width:183px" %)100 to 20000|(% style="width:501px" %)Set the frequency of Type A suppression.|(% style="text-align:center; vertical-align:middle" %)0.1HZ 817 +|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)P4-21|(% style="text-align:center; vertical-align:middle; width:225px" %)Type A suppression gain correction|(% style="text-align:center; vertical-align:middle; width:121px" %)((( 818 +Operation setting 819 +)))|(% style="text-align:center; vertical-align:middle; width:112px" %)((( 820 +Effective immediately 821 +)))|(% style="text-align:center; vertical-align:middle; width:114px" %)100|(% style="text-align:center; vertical-align:middle; width:183px" %)0 to 1000|(% style="width:501px" %)Correct the load inertia ratio size.|(% style="text-align:center; vertical-align:middle" %)0.01 822 +|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)P4-22|(% style="text-align:center; vertical-align:middle; width:225px" %)Type A suppression damping gain|(% style="text-align:center; vertical-align:middle; width:121px" %)((( 823 +Operation setting 824 +)))|(% style="text-align:center; vertical-align:middle; width:112px" %)((( 825 +Effective immediately 826 +)))|(% style="text-align:center; vertical-align:middle; width:114px" %)0|(% style="text-align:center; vertical-align:middle; width:183px" %)0 to 500|(% style="width:501px" %)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" %)0.01 827 +|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)P4-23|(% style="text-align:center; vertical-align:middle; width:225px" %)Type A suppression phase correction|(% style="text-align:center; vertical-align:middle; width:121px" %)((( 828 +Operation setting 829 +)))|(% style="text-align:center; vertical-align:middle; width:112px" %)((( 830 +Effective immediately 831 +)))|(% style="text-align:center; vertical-align:middle; width:114px" %)200|(% style="text-align:center; vertical-align:middle; width:183px" %)0 to 900|(% style="width:501px" %)Type A suppression phase compensation.|(% style="text-align:center; vertical-align:middle" %)0.1 degree 794 794 795 -|**Function code**|**Name**|((( 796 -**Setting** 797 - 798 -**method** 799 -)))|((( 800 -**Effective** 801 - 802 -**time** 803 -)))|**Default**|**Range**|**Definition**|**Unit** 804 -|P4-19|Enable the type A suppression function|((( 805 -Operation 806 - 807 -setting 808 -)))|((( 809 -Effective 810 - 811 -immediately 812 -)))|0|0 to 1|When the function code is set to 1, enable the type A suppression function.| 813 -|P4-20|Type A suppression frequency|((( 814 -Operation 815 - 816 -setting 817 -)))|((( 818 -Effective 819 - 820 -immediately 821 -)))|1000|100 to 20000|Set the frequency of Type A suppression.|0.1HZ 822 -|P4-21|Type A suppression gain correction|((( 823 -Operation 824 - 825 -setting 826 -)))|((( 827 -Effective 828 - 829 -immediately 830 -)))|100|0 to 1000|Correct the load inertia ratio size.|0.01 831 -|P4-22|Type A suppression damping gain|((( 832 -Operation 833 - 834 -setting 835 -)))|((( 836 -Effective 837 - 838 -immediately 839 -)))|0|0 to 500|The type A rejection compensation value is gradually increased until the vibration is reduced to the acceptable range.|0.01 840 -|P4-23|Type A suppression phase correction|((( 841 -Operation 842 - 843 -setting 844 -)))|((( 845 -Effective 846 - 847 -immediately 848 -)))|200|0 to 900|Type A suppression phase compensation.|0.1 degree 849 - 850 850 **Vibration frequency detection:** 851 851 852 852 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. ... ... @@ -860,5 +860,6 @@ 860 860 * 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. 861 861 * 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. 862 862 863 -|[[image:image-20230516135116-1.png]] 864 -|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! 846 +(% class="table-bordered" style="margin-right:auto" %) 847 +(% class="warning" %)|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230516135116-1.png]] 848 +|(% 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!