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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 62.1
edited by Karen
on 2023/05/16 14:10
Change comment: There is no comment for this version
To version 74.1
edited by Mora Zhou
on 2025/04/29 11:32
Change comment: There is no comment for this version

Summary

Details

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Author
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1 -XWiki.Karen
1 +XWiki.Mora
Content
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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
... ... @@ -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
... ... @@ -736,6 +736,8 @@
736 736  
737 737  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.
738 738  
750 +**VD2L drive does not support low frequency vibrartion suppression.**
751 +
739 739  (% style="text-align:center" %)
740 740  (((
741 741  (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
... ... @@ -742,26 +742,26 @@
742 742  [[**Figure 7-13 Applicable working conditions for low-frequency vibration suppression**>>image:20230516-0713.png||id="20230516-0713.png"]]
743 743  )))
744 744  
745 -|=(% 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;" %)(((
746 746  **Setting method**
747 -)))|=(% style="text-align: center; vertical-align: middle; width: 115px;" %)(((
760 +)))|=(% style="text-align: center; vertical-align: middle; width: 157px;" %)(((
748 748  **Effective time**
749 -)))|=(% 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**
750 -|=(% 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" %)(((
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" %)(((
751 751  Operation setting
752 -)))|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
765 +)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
753 753  Effective immediately
754 -)))|(% 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" %)
755 -|=(% 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" %)(((
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" %)(((
756 756  Operation setting
757 -)))|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
770 +)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
758 758  Effective immediately
759 -)))|(% 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
760 -|=(% 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" %)(((
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" %)(((
761 761  Operation setting
762 -)))|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
775 +)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
763 763  Effective immediately
764 -)))|(% 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
765 765  
766 766  **Vibration frequency detection:**
767 767  
... ... @@ -784,6 +784,8 @@
784 784  
785 785  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.
786 786  
800 +**VD2L drive does not support type A vibration suppression.**
801 +
787 787  (% style="text-align:center" %)
788 788  (((
789 789  (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
... ... @@ -790,36 +790,36 @@
790 790  [[**Figure 7-14 Applicable situations for type A vibration suppression**>>image:20230516-0714.png]]
791 791  )))
792 792  
793 -|=(% 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;" %)(((
794 794  **Setting method**
795 -)))|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)(((
810 +)))|=(% style="text-align: center; vertical-align: middle; width: 112px;" %)(((
796 796  **Effective time**
797 -)))|=(% 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**
798 -|=(% style="text-align: center; vertical-align: middle" %)P4-19|Enable the type A suppression function|(% style="text-align:center; vertical-align:middle" %)(((
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" %)(((
799 799  Operation setting
800 -)))|(% style="text-align:center; vertical-align:middle" %)(((
815 +)))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
801 801  Effective immediately
802 -)))|(% 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.|
803 -|=(% style="text-align: center; vertical-align: middle" %)P4-20|Type A suppression frequency|(% style="text-align:center; vertical-align:middle" %)(((
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" %)(((
804 804  Operation setting
805 -)))|(% style="text-align:center; vertical-align:middle" %)(((
820 +)))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
806 806  Effective immediately
807 -)))|(% 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
808 -|=(% style="text-align: center; vertical-align: middle" %)P4-21|Type A suppression gain correction|(% style="text-align:center; vertical-align:middle" %)(((
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" %)(((
809 809  Operation setting
810 -)))|(% style="text-align:center; vertical-align:middle" %)(((
825 +)))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
811 811  Effective immediately
812 -)))|(% 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
813 -|=(% style="text-align: center; vertical-align: middle" %)P4-22|Type A suppression damping gain|(% style="text-align:center; vertical-align:middle" %)(((
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" %)(((
814 814  Operation setting
815 -)))|(% style="text-align:center; vertical-align:middle" %)(((
830 +)))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
816 816  Effective immediately
817 -)))|(% 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
818 -|=(% style="text-align: center; vertical-align: middle" %)P4-23|Type A suppression phase correction|(% style="text-align:center; vertical-align:middle" %)(((
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" %)(((
819 819  Operation setting
820 -)))|(% style="text-align:center; vertical-align:middle" %)(((
835 +)))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
821 821  Effective immediately
822 -)))|(% 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
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
823 823  
824 824  **Vibration frequency detection:**
825 825