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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
Change comment: There is no comment for this version
To version 75.1
edited by Mora Zhou
on 2025/04/29 11:38
Change comment: There is no comment for this version

Summary

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Author
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1 -XWiki.Karen
1 +XWiki.Mora
Content
... ... @@ -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, the host computer debugging software 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]]
... ... @@ -161,9 +161,11 @@
161 161  )))|(% style="text-align:center; vertical-align:middle; width:105px" %)(((
162 162  Effective immediately
163 163  )))|(% style="text-align:center; vertical-align:middle; width:87px" %)0|(% style="text-align:center; vertical-align:middle; width:83px" %)0 to 2|(% style="width:431px" %)(((
164 -* 0: Rigidity grade self-adjusting mode. Position loop gain, speed loop gain, speed loop integral time constant, torque filter parameter settings are automatically adjusted according to the rigidity grade setting.
165 -* 1: Manual setting; you need to manually set the position loop gain, speed loop gain, speed loop integral time constant, torque filter parameter setting
166 -* 2: Online automatic parameter self-adjusting mode (Not implemented yet)
171 +0: Rigidity grade self-adjusting mode. Position loop gain, speed loop gain, speed loop integral time constant, torque filter parameter settings are automatically adjusted according to the rigidity grade setting.
172 +
173 +1: Manual setting; you need to manually set the position loop gain, speed loop gain, speed loop integral time constant, torque filter parameter setting
174 +
175 +2: Online automatic parameter self-adjusting mode (Not implemented yet)
167 167  )))|(% style="text-align:center; vertical-align:middle" %)-
168 168  
169 169  Table 7-4 Details of self-adjusting mode selection parameters
... ... @@ -210,7 +210,7 @@
210 210  Operation setting
211 211  )))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
212 212  Effective immediately
213 -)))|(% style="text-align:center; vertical-align:middle; width:103px" %)65|(% style="text-align:center; vertical-align:middle; width:107px" %)0 to 35000|(% style="width:321px" %)Set speed loop proportional gain to determine the responsiveness of speed loop.|(% style="text-align:center; vertical-align:middle" %)0.1Hz
222 +)))|(% style="text-align:center; vertical-align:middle; width:103px" %)200|(% style="text-align:center; vertical-align:middle; width:107px" %)0 to 35000|(% style="width:321px" %)Set speed loop proportional gain to determine the responsiveness of speed loop.|(% style="text-align:center; vertical-align:middle" %)0.1Hz
214 214  |=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P02-05|(% style="text-align:center; vertical-align:middle; width:163px" %)2nd speed loop gain|(% style="text-align:center; vertical-align:middle; width:122px" %)(((
215 215  Operation setting
216 216  )))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
... ... @@ -241,7 +241,7 @@
241 241  Operation setting
242 242  )))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
243 243  Effective immediately
244 -)))|(% style="text-align:center; vertical-align:middle; width:109px" %)1000|(% style="text-align:center; vertical-align:middle; width:114px" %)100 to 65535|(% style="width:278px" %)Set the speed loop integral constant. The smaller the set value, the stronger the integral effect.|(% style="text-align:center; vertical-align:middle; width:78px" %)(((
253 +)))|(% style="text-align:center; vertical-align:middle; width:109px" %)210|(% style="text-align:center; vertical-align:middle; width:114px" %)100 to 65535|(% style="width:278px" %)Set the speed loop integral constant. The smaller the set value, the stronger the integral effect.|(% style="text-align:center; vertical-align:middle; width:78px" %)(((
245 245  0.1ms
246 246  )))
247 247  |=(% style="text-align: center; vertical-align: middle; width: 98px;" %)P02-06|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
... ... @@ -276,7 +276,7 @@
276 276  Operation setting
277 277  )))|(% style="text-align:center; vertical-align:middle; width:114px" %)(((
278 278  Effective immediately
279 -)))|(% style="text-align:center; vertical-align:middle; width:79px" %)400|(% style="text-align:center; vertical-align:middle; width:91px" %)0 to 6200|(% style="width:355px" %)Set position loop proportional gain to determine the responsiveness of position control system.|(% style="text-align:center; vertical-align:middle" %)0.1Hz
288 +)))|(% style="text-align:center; vertical-align:middle; width:79px" %)232|(% style="text-align:center; vertical-align:middle; width:91px" %)0 to 6200|(% style="width:355px" %)Set position loop proportional gain to determine the responsiveness of position control system.|(% style="text-align:center; vertical-align:middle" %)0.1Hz
280 280  |=(% style="text-align: center; vertical-align: middle; width: 95px;" %)P02-04|(% style="text-align:center; vertical-align:middle; width:174px" %)2nd position loop gain|(% style="text-align:center; vertical-align:middle; width:120px" %)(((
281 281  Operation setting
282 282  )))|(% style="text-align:center; vertical-align:middle; width:114px" %)(((
... ... @@ -300,12 +300,12 @@
300 300  **Setting method**
301 301  )))|=(% style="text-align: center; vertical-align: middle; width: 127px;" %)(((
302 302  **Effective time**
303 -)))|=(% style="text-align: center; vertical-align: middle; width: 79px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 371px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit**
312 +)))|=(% style="text-align: center; vertical-align: middle; width: 79px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 79px;" %)Range|=(% style="text-align: center; vertical-align: middle; width: 371px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit**
304 304  |=(% style="text-align: center; vertical-align: middle; width: 117px;" %)P04-04|(% style="text-align:center; vertical-align:middle; width:200px" %)Torque filter time constant|(% style="text-align:center; vertical-align:middle; width:120px" %)(((
305 305  Operation setting
306 306  )))|(% style="text-align:center; vertical-align:middle; width:127px" %)(((
307 307  Effective immediately
308 -)))|(% style="text-align:center; vertical-align:middle; width:79px" %)50|(% style="width:371px" %)This parameter is automatically set when “self-adjustment mode selection” is selected as 1 or 2|(% style="text-align:center; vertical-align:middle" %)0.01ms
317 +)))|(% style="text-align:center; vertical-align:middle; width:79px" %)80|(% style="text-align:center; vertical-align:middle; width:79px" %)10 to 2500|(% style="width:371px" %)This parameter is automatically set when “self-adjustment mode selection” is selected as 1 or 2|(% style="text-align:center; vertical-align:middle" %)0.01ms
309 309  
310 310  Table 7-8 Details of torque filter time constant parameters
311 311  
... ... @@ -330,7 +330,7 @@
330 330  
331 331  (% style="text-align:center" %)
332 332  (((
333 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
342 +(% 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" %)
360 +(% 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" %)(((
387 +|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P2-20|(% style="text-align:center; vertical-align:middle; width:163px" %)(((
388 +Enable model(% style="background-color:transparent" %) tracking control function
389 +)))|(% 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
... ... @@ -731,12 +731,13 @@
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  
738 738  Low-frequency vibration suppression is suitable for working conditions where the motor vibrates during deceleration and shutdown after the position command is sent, and the vibration amplitude gradually decreases. The use of the low-frequency vibration suppression function is effective in reducing the time to complete positioning due to vibration effects.
739 739  
750 +**VD2L drive does not support low frequency vibrartion suppression.**
751 +
740 740  (% style="text-align:center" %)
741 741  (((
742 742  (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
... ... @@ -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: 120px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 155px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 137px;" %)(((
758 +|=(% 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: 115px;" %)(((
760 +)))|=(% style="text-align: center; vertical-align: middle; width: 157px;" %)(((
749 749  **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" %)(((
762 +)))|=(% 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**
763 +|=(% 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:156px" %)(((
765 +)))|(% 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: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" %)(((
767 +)))|(% 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" %)
768 +|=(% 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:156px" %)(((
770 +)))|(% 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: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" %)(((
772 +)))|(% 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
773 +|=(% 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:156px" %)(((
775 +)))|(% 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: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
777 +)))|(% 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  
... ... @@ -785,6 +785,8 @@
785 785  
786 786  Type A vibration suppression is suitable for durational vibration during motor operation or shutdown. Use Type A suppression to help reduce vibrations at specific frequencies that occur during motion (For the situation where the vibration continues to maintain and the vibration amplitude is almost constant after the command is completed.) As shown in Figure 7-14.
787 787  
800 +**VD2L drive does not support type A vibration suppression.**
801 +
788 788  (% style="text-align:center" %)
789 789  (((
790 790  (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
... ... @@ -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;" %)(((
808 +|=(% 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: 120px;" %)(((
810 +)))|=(% style="text-align: center; vertical-align: middle; width: 112px;" %)(((
798 798  **Effective time**
799 -)))|=(% 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: 100px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit**
800 -|P4-19|Enable the type A suppression function|(((
812 +)))|=(% 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**
813 +|=(% 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 -)))|(((
815 +)))|(% 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|(((
817 +)))|(% 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.|
818 +|=(% 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 -)))|(((
820 +)))|(% 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|(((
822 +)))|(% 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
823 +|=(% 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 -)))|(((
825 +)))|(% 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|(((
827 +)))|(% 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
828 +|=(% 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 -)))|(((
830 +)))|(% 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|(((
832 +)))|(% 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
833 +|=(% 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 -)))|(((
835 +)))|(% 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
837 +)))|(% 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!
852 +(% class="table-bordered" style="margin-right:auto" %)
853 +(% class="warning" %)|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230516135116-1.png]]
854 +|(% 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!