Skip to Content

Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 6.1
edited by Joey
on 2022/06/10 15:28
Change comment: There is no comment for this version
To version 1.2
edited by Joey
on 2022/06/08 15:40
Change comment: There is no comment for this version

Summary

Details

Page properties
Content
... ... @@ -3,7 +3,7 @@
3 3  The servo drive needs to make the motor faithfully operate in accordance with the instructions issued by the upper controller without delay as much as possible. In order to make the motor action closer to the instruction and maximize the mechanical performance, gain adjustment is required. The process of gain adjustment is shown in Figure 7-1.
4 4  
5 5  (% style="text-align:center" %)
6 -[[image:image-20220608174118-1.png]]
6 +[[image:image-20220608154103-1.png]]
7 7  
8 8  Figure 7-1 Gain adjustment process
9 9  
... ... @@ -29,11 +29,8 @@
29 29  
30 30  The load inertia ratio is an important parameter of the servo system, and setting of the load inertia ratio correctly helps to quickly complete the debugging. The load inertia ratio could be set manually, and online load inertia recognition could be performed through the host computer debugging software.
31 31  
32 +|[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_6db94f5d0421f97a.png?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_6db94f5d0421f97a.png"]]
32 32  |(((
33 -(% style="text-align:center" %)
34 -[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_6db94f5d0421f97a.png?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_6db94f5d0421f97a.png"]]
35 -)))
36 -|(((
37 37  **Before performing online load inertia recognition, the following conditions should be met:**
38 38  
39 39  The maximum speed of the motor should be greater than 300rpm;
... ... @@ -185,7 +185,7 @@
185 185  The servo system consists of three control loops, from the outside to the inside are the position loop, the speed loop and the current loop. The basic control block diagram is shown as below.
186 186  
187 187  (% style="text-align:center" %)
188 -[[image:image-20220608174209-2.png]]
185 +[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_121534c3612a37b8.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_121534c3612a37b8.gif"]]
189 189  
190 190  Figure 7-2 Basic block diagram of servo loop gain
191 191  
... ... @@ -340,8 +340,9 @@
340 340  
341 341  By setting the filter time constant, the torque instruction is attenuated in the high frequency range above the cutoff frequency, so as to achieve the expectation of suppressing mechanical resonance. The cut-off frequency of the torque instruction filter could be calculated by the following formula:
342 342  
343 -[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/WebHome/40.png?rev=1.1]]
344 344  
341 +[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_b790fca20446a1fb.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_b790fca20446a1fb.gif"]]
342 +
345 345  **(2) Notch filter**
346 346  
347 347  The notch filter can achieve the expectation of suppressing mechanical resonance by reducing the gain at a specific frequency. When setting the notch filter correctly, the vibration can be effectively suppressed. You can try to increase the servo gain. The principle of the notch filter is shown in __[[Figure 7-3>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_c84670518f0b6362.gif?rev=1.1]]__.
... ... @@ -365,7 +365,7 @@
365 365  When the notch filter depth grade is 0, the input is completely suppressed at center frequency. When the notch filter depth grade is 100, the input is completely passable at center frequency. Therefore, the smaller the the notch filter depth grade is set, the deeper the the notch filter depth, and the stronger the suppression of mechanical resonance. But the system may be unstable, you should pay attention to it when using it. The specific relationship is shown in __[[Figure 7-4>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_10a8f8c1383fdf94.png?rev=1.1]]__.
366 366  
367 367  (% style="text-align:center" %)
368 -[[image:image-20220608174259-3.png]]
366 +[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_c84670518f0b6362.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_c84670518f0b6362.gif"]]
369 369  
370 370  Figure 7-3 Notch characteristics, notch width, and notch depth
371 371  
40.png
Author
... ... @@ -1,1 +1,0 @@
1 -XWiki.Joey
Size
... ... @@ -1,1 +1,0 @@
1 -2.5 KB
Content
41.png
Author
... ... @@ -1,1 +1,0 @@
1 -XWiki.Joey
Size
... ... @@ -1,1 +1,0 @@
1 -1.8 KB
Content
42.png
Author
... ... @@ -1,1 +1,0 @@
1 -XWiki.Joey
Size
... ... @@ -1,1 +1,0 @@
1 -304 bytes
Content
43.png
Author
... ... @@ -1,1 +1,0 @@
1 -XWiki.Joey
Size
... ... @@ -1,1 +1,0 @@
1 -401 bytes
Content
image-20220608174118-1.png
Author
... ... @@ -1,1 +1,0 @@
1 -XWiki.Joey
Size
... ... @@ -1,1 +1,0 @@
1 -83.7 KB
Content
image-20220608174209-2.png
Author
... ... @@ -1,1 +1,0 @@
1 -XWiki.Joey
Size
... ... @@ -1,1 +1,0 @@
1 -203.9 KB
Content
image-20220608174259-3.png
Author
... ... @@ -1,1 +1,0 @@
1 -XWiki.Joey
Size
... ... @@ -1,1 +1,0 @@
1 -110.1 KB
Content