Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
From version 58.4
edited by Karen
on 2023/05/16 13:57
on 2023/05/16 13:57
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... ... @@ -1,1 +1,1 @@ 1 -XWiki. Karen1 +XWiki.Mora - Content
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... ... @@ -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.143 +* 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" %) 333 +(% 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" %) 351 +(% 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" %)((( 378 +|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P2-20|(% style="text-align:center; vertical-align:middle; width:163px" %)((( 379 +Enable model(% style="background-color:transparent" %) tracking control function 380 +)))|(% 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;" %)(((747 +|=(% 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;" %)(((749 +)))|=(% 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" %)(((751 +)))|=(% 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** 752 +|=(% 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" %)(((754 +)))|(% 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" %)(((756 +)))|(% 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" %) 757 +|=(% 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" %)(((759 +)))|(% 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" %)(((761 +)))|(% 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 762 +|=(% 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" %)(((764 +)))|(% 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" %)0.001766 +)))|(% 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 ... ... @@ -791,37 +791,36 @@ 791 791 [[**Figure 7-14 Applicable situations for type A vibration suppression**>>image:20230516-0714.png]] 792 792 ))) 793 793 794 - 795 -|=(% 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 +|=(% 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;" %)((( 796 796 **Setting method** 797 -)))|=(% style="text-align: center; vertical-align: middle; width: 12 0px;" %)(((797 +)))|=(% style="text-align: center; vertical-align: middle; width: 112px;" %)((( 798 798 **Effective time** 799 -)))|=(% style="text-align: center; vertical-align: middle; width: 1 00px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width:100px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit**800 -|P4-19|Enable the type A suppression function|((( 799 +)))|=(% 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** 800 +|=(% 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" %)((( 801 801 Operation setting 802 -)))|((( 802 +)))|(% style="text-align:center; vertical-align:middle; width:112px" %)((( 803 803 Effective immediately 804 -)))|0|0 to 1|When the function code is set to 1, enable the type A suppression function.| 805 -|P4-20|Type A suppression frequency|((( 804 +)))|(% 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.| 805 +|=(% 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" %)((( 806 806 Operation setting 807 -)))|((( 807 +)))|(% style="text-align:center; vertical-align:middle; width:112px" %)((( 808 808 Effective immediately 809 -)))|1000|100 to 20000|Set the frequency of Type A suppression.|0.1HZ 810 -|P4-21|Type A suppression gain correction|((( 809 +)))|(% 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 810 +|=(% 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" %)((( 811 811 Operation setting 812 -)))|((( 812 +)))|(% style="text-align:center; vertical-align:middle; width:112px" %)((( 813 813 Effective immediately 814 -)))|100|0 to 1000|Correct the load inertia ratio size.|0.01 815 -|P4-22|Type A suppression damping gain|((( 814 +)))|(% 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" %)0.01 815 +|=(% 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" %)((( 816 816 Operation setting 817 -)))|((( 817 +)))|(% style="text-align:center; vertical-align:middle; width:112px" %)((( 818 818 Effective immediately 819 -)))|0|0 to 500|The type A rejection compensation value is gradually increased until the vibration is reduced to the acceptable range.|0.01 820 -|P4-23|Type A suppression phase correction|((( 819 +)))|(% 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" %)0.01 820 +|=(% 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" %)((( 821 821 Operation setting 822 -)))|((( 822 +)))|(% style="text-align:center; vertical-align:middle; width:112px" %)((( 823 823 Effective immediately 824 -)))|200|0 to 900|Type A suppression phase compensation.|0.1 degree 824 +)))|(% 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 825 825 826 826 **Vibration frequency detection:** 827 827 ... ... @@ -836,5 +836,6 @@ 836 836 * 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. 837 837 * 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. 838 838 839 -|[[image:image-20230516135116-1.png]] 840 -|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! 839 +(% class="table-bordered" style="margin-right:auto" %) 840 +(% class="warning" %)|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230516135116-1.png]] 841 +|(% 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!