Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
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... ... @@ -731,6 +731,7 @@ 731 731 )))|(% style="text-align:center; vertical-align:middle; width:96px" %)- 732 732 733 733 Table 7-11 Notch filter function code parameters 734 +~)~)~) 734 734 735 735 == Low frequency vibration suppression == 736 736 ... ... @@ -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: 1 34px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width:258px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 127px;" %)(((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;" %)((( 746 746 **Setting method** 747 -)))|=(% style="text-align: center; vertical-align: middle; width: 15 7px;" %)(((748 +)))|=(% style="text-align: center; vertical-align: middle; width: 115px;" %)((( 748 748 **Effective time** 749 -)))|=(% style="text-align: center; vertical-align: middle; width: 12 1px;" %)**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**750 -|=(% style="text-align: ; 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" %)(((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" %)((( 751 751 Operation setting 752 -)))|(% style="text-align:center; vertical-align:middle; width:15 7px" %)(((753 +)))|(% style="text-align:center; vertical-align:middle; width:156px" %)((( 753 753 Effective immediately 754 -)))|(% 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" %)755 -|=(% style="text-align: ; 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" %)(((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" %)((( 756 756 Operation setting 757 -)))|(% style="text-align:center; vertical-align:middle; width:15 7px" %)(((758 +)))|(% style="text-align:center; vertical-align:middle; width:156px" %)((( 758 758 Effective immediately 759 -)))|(% 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" %)0.1HZ760 -|=(% style="text-align: ; 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" %)(((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" %)((( 761 761 Operation setting 762 -)))|(% style="text-align:center; vertical-align:middle; width:15 7px" %)(((763 +)))|(% style="text-align:center; vertical-align:middle; width:156px" %)((( 763 763 Effective immediately 764 -)))|(% 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" %)0.001765 +)))|(% 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" %)0.001 765 765 766 766 **Vibration frequency detection:** 767 767 ... ... @@ -790,37 +790,58 @@ 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: 241px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 121px;" %)((( 794 + 795 +|=(% scope="row" style="text-align: center; vertical-align: middle; width: 120px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 163px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 122px;" %)((( 794 794 **Setting method** 795 -)))|=(% style="text-align: center; vertical-align: middle; width: 1 12px;" %)(((797 +)))|=(% style="text-align: center; vertical-align: middle; width: 128px;" %)((( 796 796 **Effective time** 797 -)))|=(% 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** 798 -|=(% style="text-align: center; vertical-align: middle" %)P4-19|(% style="text-align:center; vertical-align:middle; width:241px" %)Enable the type A suppression function|(% style="text-align:center; vertical-align:middle; width:121px" %)((( 799 -Operation setting 800 -)))|(% style="text-align:center; vertical-align:middle; width:112px" %)((( 801 -Effective immediately 802 -)))|(% 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.| 803 -|=(% style="text-align: center; vertical-align: middle" %)P4-20|(% style="text-align:center; vertical-align:middle; width:241px" %)Type A suppression frequency|(% style="text-align:center; vertical-align:middle; width:121px" %)((( 804 -Operation setting 805 -)))|(% style="text-align:center; vertical-align:middle; width:112px" %)((( 806 -Effective immediately 807 -)))|(% 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 808 -|=(% style="text-align: center; vertical-align: middle" %)P4-21|(% style="text-align:center; vertical-align:middle; width:241px" %)Type A suppression gain correction|(% style="text-align:center; vertical-align:middle; width:121px" %)((( 809 -Operation setting 810 -)))|(% style="text-align:center; vertical-align:middle; width:112px" %)((( 811 -Effective immediately 812 -)))|(% 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" %)0.01 813 -|=(% style="text-align: center; vertical-align: middle" %)P4-22|(% style="text-align:center; vertical-align:middle; width:241px" %)Type A suppression damping gain|(% style="text-align:center; vertical-align:middle; width:121px" %)((( 814 -Operation setting 815 -)))|(% style="text-align:center; vertical-align:middle; width:112px" %)((( 816 -Effective immediately 817 -)))|(% 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" %)0.01 818 -|=(% style="text-align: center; vertical-align: middle" %)P4-23|(% style="text-align:center; vertical-align:middle; width:241px" %)Type A suppression phase correction|(% style="text-align:center; vertical-align:middle; width:121px" %)((( 819 -Operation setting 820 -)))|(% style="text-align:center; vertical-align:middle; width:112px" %)((( 821 -Effective immediately 822 -)))|(% 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 799 +)))|=(% 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** 800 +|P4-19|Enable the type A suppression function|((( 801 +Operation 823 823 803 +setting 804 +)))|((( 805 +Effective 806 + 807 +immediately 808 +)))|0|0 to 1|When the function code is set to 1, enable the type A suppression function.| 809 +|P4-20|Type A suppression frequency|((( 810 +Operation 811 + 812 +setting 813 +)))|((( 814 +Effective 815 + 816 +immediately 817 +)))|1000|100 to 20000|Set the frequency of Type A suppression.|0.1HZ 818 +|P4-21|Type A suppression gain correction|((( 819 +Operation 820 + 821 +setting 822 +)))|((( 823 +Effective 824 + 825 +immediately 826 +)))|100|0 to 1000|Correct the load inertia ratio size.|0.01 827 +|P4-22|Type A suppression damping gain|((( 828 +Operation 829 + 830 +setting 831 +)))|((( 832 +Effective 833 + 834 +immediately 835 +)))|0|0 to 500|The type A rejection compensation value is gradually increased until the vibration is reduced to the acceptable range.|0.01 836 +|P4-23|Type A suppression phase correction|((( 837 +Operation 838 + 839 +setting 840 +)))|((( 841 +Effective 842 + 843 +immediately 844 +)))|200|0 to 900|Type A suppression phase compensation.|0.1 degree 845 + 824 824 **Vibration frequency detection:** 825 825 826 826 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. ... ... @@ -834,6 +834,5 @@ 834 834 * 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. 835 835 * 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. 836 836 837 -(% class="table-bordered" style="margin-right:auto" %) 838 -(% class="warning" %)|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230516135116-1.png]] 839 -|(% 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! 859 +|[[image:image-20230516135116-1.png]] 860 +|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!