Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
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... ... @@ -627,6 +627,368 @@ 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 +== == 631 + 632 +== 633 + == 634 + 635 +== **Gain switching** == 636 + 637 +Gain switching function: 638 + 639 +●Switch to a lower gain in the motor stationary (servo enabled)state to suppress vibration; 640 + 641 +●Switch to a higher gain in the motor stationary state to shorten the positioning time; 642 + 643 +●Switch to a higher gain in the motor running state to get better command tracking performance; 644 + 645 +●Switch different gain settings by external signals depending on the load connected. 646 + 647 +(1) Gain switching parameter setting 648 + 649 +①When P02-07=0 650 + 651 +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). 652 + 653 +(% style="text-align:center" %) 654 +[[image:20230515-8.png]] 655 + 656 +② When P02-07=1 657 + 658 +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). 659 + 660 +(% style="text-align:center" %) 661 +[[image:20230515-9.png]] 662 + 663 +Figure 7-9 Flow chart of gain switching when P02-07=1 664 + 665 +|(% style="width:72px" %)**P02-08**|(% style="width:146px" %)**Content**|**Diagram** 666 +|(% style="width:72px" %)0|(% style="width:146px" %)Fixed use of the first gain|~-~- 667 +|(% style="width:72px" %)1|(% style="width:146px" %)Switching with DI|~-~- 668 +|(% style="width:72px" %)((( 669 + 670 + 671 + 672 + 673 + 674 + 675 +2 676 +)))|(% style="width:146px" %)((( 677 + 678 + 679 + 680 + 681 + 682 + 683 +Large torque command 684 +)))|[[image:image-20230515140641-1.png]] 685 +|(% style="width:72px" %)((( 686 + 687 + 688 + 689 + 690 + 691 + 692 + 693 +3 694 +)))|(% style="width:146px" %)Large actual torque|[[image:image-20230515140641-2.png]] 695 +|(% style="width:72px" %)((( 696 + 697 + 698 + 699 + 700 + 701 + 702 +4 703 +)))|(% style="width:146px" %)((( 704 + 705 + 706 + 707 + 708 + 709 + 710 +Large speed command 711 +)))|[[image:image-20230515140641-3.png]] 712 + 713 +|(% style="width:74px" %)**P02-08**|(% style="width:176px" %)**Content**|**Diagram** 714 +|(% style="width:74px" %)((( 715 + 716 + 717 + 718 + 719 + 720 +5 721 +)))|(% style="width:176px" %)((( 722 + 723 + 724 + 725 + 726 + 727 +Fast actual speed 728 +)))|((( 729 + 730 + 731 +[[image:image-20230515140641-4.png]] 732 +))) 733 +|(% style="width:74px" %)((( 734 + 735 + 736 + 737 + 738 + 739 + 740 + 741 +6 742 +)))|(% style="width:176px" %)((( 743 + 744 + 745 + 746 + 747 + 748 + 749 + 750 +Speed command change rate is large 751 +)))|[[image:image-20230515140641-5.png]] 752 +|(% style="width:74px" %)((( 753 + 754 + 755 + 756 + 757 + 758 + 759 +7 760 + 761 + 762 +)))|(% style="width:176px" %)((( 763 + 764 + 765 + 766 + 767 + 768 + 769 +Large position deviation 770 +)))|[[image:image-20230515140641-6.png]] 771 +|(% style="width:74px" %)((( 772 + 773 + 774 + 775 + 776 + 777 +8 778 +)))|(% style="width:176px" %)((( 779 + 780 + 781 + 782 + 783 + 784 +Position command 785 +)))|[[image:image-20230515140641-7.png]] 786 + 787 +|(% style="width:73px" %)((( 788 + 789 + 790 + 791 + 792 + 793 + 794 +9 795 +)))|(% style="width:154px" %)((( 796 + 797 + 798 + 799 + 800 + 801 + 802 +Positioning completed 803 +)))|[[image:image-20230515140641-8.png]] 804 +|(% style="width:73px" %)((( 805 + 806 + 807 +10 808 + 809 + 810 +)))|(% style="width:154px" %)((( 811 + 812 + 813 +Position command + actual speed 814 +)))|((( 815 + 816 + 817 +Refer to the chart below 818 +))) 819 + 820 +(% style="text-align:center" %) 821 +[[image:20230515-10.png]] 822 + 823 +Figure 7-10 P02-08=10 Position command + actual speed gain description 824 + 825 +(2) Description of related parameters 826 + 827 +|(% rowspan="2" style="width:68px" %) 828 +**P02-07**|(% style="width:150px" %)**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 829 +|(% style="width:150px" %)The second gain switching mode|Operation setting|Effective immediately|0|0 to 1|Gain control| 830 +|(% colspan="8" %)((( 831 +Set the switching mode of the second gain. 832 + 833 +|**Setting value**|**Function** 834 +|0|((( 835 +The first gain is used by default. Switching using DI function 10 (GAIN-SEL, gain switching): 836 + 837 +DI logic invalid: PI control; 838 + 839 +DI logic valid: PI control. 840 +))) 841 +|1|The first gain and the second gain are switched by the setting value of P02-08. 842 +))) 843 + 844 +|(% rowspan="2" %) 845 +**P02-08**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 846 +|Gain switching condition selection|Operation setting|Effective immediately|0|0 to 10|Gain control| 847 +|(% colspan="8" %)((( 848 +Set the conditions for gain switching. 849 + 850 +|Setting value|Gain switching conditions|Details 851 +|0|The default is the first gain|Fixed use of the first gain 852 +|1|Switch by DI port|((( 853 +Use DI function 10 (GAIN-SEL, gain switching); 854 + 855 +DI logic is invalid: the first gain (P02-01~~P02-03); 856 + 857 +DI logic is valid: the second gain (P02-04~~P02-06). 858 +))) 859 +|2|Large torque command|((( 860 +In the previous first gain, when the absolute value of torque command is greater than (grade + hysteresis), the second gain is switched; 861 + 862 +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. 863 + 864 + 865 +))) 866 +|3|Large actual torque|((( 867 +In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched; 868 + 869 +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 . 870 + 871 + 872 +))) 873 +|4|Large speed command|((( 874 +In the previous first gain, when the absolute value of speed command is greater than (grade + hysteresis), the second gain is switched; 875 + 876 +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 . 877 + 878 + 879 +))) 880 +|5|Large actual speed|((( 881 +In the previous first gain, when the absolute value of actual speed is greater than (grade + hysteresis), the second gain is switched; 882 + 883 +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 . 884 + 885 + 886 +))) 887 +|((( 888 + 889 + 890 +6 891 +)))|((( 892 + 893 + 894 +Large rate of change in speed command 895 +)))|((( 896 +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; 897 + 898 +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 . 899 + 900 + 901 +))) 902 +|((( 903 + 904 + 905 +7 906 +)))|((( 907 + 908 + 909 +Large position deviation 910 +)))|((( 911 +In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched; 912 + 913 +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 . 914 +))) 915 +|8|Position command|((( 916 +In the previous first gain, if the position command is not 0, switch to the second gain; 917 + 918 +In the previous second gain, if the position command is 0 and the duration is greater than [P02-13], the first gain is returned. 919 +))) 920 +|((( 921 + 922 + 923 +9 924 +)))|((( 925 + 926 + 927 +Positioning complete 928 +)))|((( 929 +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. 930 + 931 + 932 +))) 933 +|((( 934 + 935 + 936 +10 937 +)))|((( 938 + 939 + 940 +Position command + actual speed 941 +)))|((( 942 +In the previous first gain, if the position command is not 0, the second gain is switched; 943 + 944 +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). 945 + 946 + 947 +))) 948 + 949 + 950 +))) 951 + 952 +|(% rowspan="2" %) 953 +**P02-13**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 954 +|Delay Time for Gain Switching|Operation setting|Effective immediately|20|0 to 10000|Gain control|0.1ms 955 +|(% colspan="8" %)((( 956 +The duration of the switching condition required for the second gain to switch back to the first gain. 957 + 958 +[[image:image-20230515140953-9.png]] 959 + 960 +**✎**Note: This parameter is only valid when the second gain is switched back to the first gain. 961 +))) 962 + 963 +|(% rowspan="2" %) 964 +**P02-14**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 965 +|Gain switching grade|Operation setting|Effective immediately|50|0 to 20000|Gain control|According to the switching conditions 966 +|(% colspan="8" %)((( 967 +Set the grade of the gain condition. The generation of the actual switching action is affected by the two conditions of grade and hysteresis. 968 + 969 +[[image:image-20230515140953-10.png]] 970 +))) 971 + 972 +|(% rowspan="2" %) 973 +**P02-15**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 974 +|Gain switching hysteresis|Operation setting|Effective immediately|20|0 to 20000|Gain control|According to the switching conditions 975 +|(% colspan="8" %)((( 976 +Set the hysteresis to meet the gain switching condition. 977 + 978 +[[image:image-20230515140953-11.png]] 979 +))) 980 + 981 +|(% rowspan="2" %) 982 +**P02-16**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit** 983 +|Position loop gain switching time|Operation setting|Effective immediately|30|0 to 10000|Gain control|0.1ms 984 +|(% colspan="8" %)((( 985 +Set the time for switching from the first position loop (P02-01) to the second position loop (P02-04) in the position control mode. 986 + 987 +[[image:image-20230515140953-12.png]] 988 + 989 +If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately. 990 +))) 991 + 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:37px;" %)(((1108 +|=(% 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="text-align:center; vertical-align:middle; 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="text-align:center; vertical-align:middle; 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="text-align:center; vertical-align:middle; 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 1110 +)))|=(% style="text-align:center; vertical-align:middle; width:128px" %)((( 1111 +**Effective time** 1112 +)))|=(% 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** 1113 +|P4-11|Enable low-frequency vibration suppression function|((( 1114 +Operation 766 766 767 -**Vibration frequency detection:** 1116 +setting 1117 +)))|((( 1118 +Effective 768 768 1120 +immediately 1121 +)))|0|0 to 1|When the function code is set to 1, enable the low-frequency vibration suppression function.| 1122 +|P4-12|Low-frequency vibration suppression frequency|((( 1123 +Operation 1124 + 1125 +setting 1126 +)))|((( 1127 +Effective 1128 + 1129 +immediately 1130 +)))|800|10 to 2000|Set the vibration frequency when vibration occurs at the load end.|0.1HZ 1131 +|P4-14|Shutdown vibration detection amplitude|((( 1132 +Operation 1133 + 1134 +setting 1135 +)))|((( 1136 +Effective 1137 + 1138 +immediately 1139 +)))|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 1140 + 1141 +**(1) Vibration frequency detection:** 1142 + 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:** 1147 +**(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! 1154 +|[[image:image-20230516105941-2.png]] 1155 +|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]] 1164 +[[**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!
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