Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
From version 66.1
edited by Karen
on 2023/05/16 14:18
on 2023/05/16 14:18
Change comment:
There is no comment for this version
Summary
-
Page properties (2 modified, 0 added, 0 removed)
Details
- Page properties
-
- Author
-
... ... @@ -1,1 +1,1 @@ 1 -XWiki. Karen1 +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, thehostcomputer debuggingsoftware 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" %)0.1Hz222 +)))|(% 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" %)10 00|(% 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" %)0.1Hz288 +)))|(% 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 ... ... @@ -693,8 +693,9 @@ 693 693 )))|(% style="text-align:center; vertical-align:middle; width:121px" %)((( 694 694 Effective immediately 695 695 )))|(% style="text-align:center; vertical-align:middle; width:99px" %)100|(% style="text-align:center; vertical-align:middle; width:102px" %)0 to 100|(% style="width:362px" %)((( 696 -1. 0: all truncated 697 -1. 100: all passed 707 +0: all truncated 708 + 709 +100: all passed 698 698 )))|(% style="text-align:center; vertical-align:middle; width:96px" %)- 699 699 |=(% style="text-align: center; vertical-align: middle; width: 113px;" %)P04-07|(% style="text-align:center; vertical-align:middle; width:155px" %)1st notch filter width|(% style="text-align:center; vertical-align:middle; width:115px" %)((( 700 700 Operation setting ... ... @@ -701,10 +701,13 @@ 701 701 )))|(% style="text-align:center; vertical-align:middle; width:121px" %)((( 702 702 Effective immediately 703 703 )))|(% style="text-align:center; vertical-align:middle; width:99px" %)4|(% style="text-align:center; vertical-align:middle; width:102px" %)0 to 12|(% style="width:362px" %)((( 704 -1. 0: 0.5 times the bandwidth 705 -1. 4: 1 times the bandwidth 706 -1. 8: 2 times the bandwidth 707 -1. 12: 4 times the bandwidth 716 +0: 0.5 times the bandwidth 717 + 718 +4: 1 times the bandwidth 719 + 720 +8: 2 times the bandwidth 721 + 722 +12: 4 times the bandwidth 708 708 )))|(% style="text-align:center; vertical-align:middle; width:96px" %)- 709 709 |=(% style="text-align: center; vertical-align: middle; width: 113px;" %)P04-08|(% style="text-align:center; vertical-align:middle; width:155px" %)2nd notch filter frequency|(% style="text-align:center; vertical-align:middle; width:115px" %)((( 710 710 Operation setting ... ... @@ -716,8 +716,9 @@ 716 716 )))|(% style="text-align:center; vertical-align:middle; width:121px" %)((( 717 717 Effective immediately 718 718 )))|(% style="text-align:center; vertical-align:middle; width:99px" %)100|(% style="text-align:center; vertical-align:middle; width:102px" %)0 to 100|(% style="width:362px" %)((( 719 -1. 0: all truncated 720 -1. 100: all passed 734 +0: all truncated 735 + 736 +100: all passed 721 721 )))|(% style="text-align:center; vertical-align:middle; width:96px" %)- 722 722 |=(% style="text-align: center; vertical-align: middle; width: 113px;" %)P04-10|(% style="text-align:center; vertical-align:middle; width:155px" %)2nd notch filter width|(% style="text-align:center; vertical-align:middle; width:115px" %)((( 723 723 Operation setting ... ... @@ -724,10 +724,13 @@ 724 724 )))|(% style="text-align:center; vertical-align:middle; width:121px" %)((( 725 725 Effective immediately 726 726 )))|(% style="text-align:center; vertical-align:middle; width:99px" %)4|(% style="text-align:center; vertical-align:middle; width:102px" %)0 to 12|(% style="width:362px" %)((( 727 -1. 0: 0.5 times the bandwidth 728 -1. 4: 1 times the bandwidth 729 -1. 8: 2 times the bandwidth 730 -1. 12: 4 times the bandwidth 743 +0: 0.5 times the bandwidth 744 + 745 +4: 1 times the bandwidth 746 + 747 +8: 2 times the bandwidth 748 + 749 +12: 4 times the bandwidth 731 731 )))|(% style="text-align:center; vertical-align:middle; width:96px" %)- 732 732 733 733 Table 7-11 Notch filter function code parameters ... ... @@ -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. 738 738 758 +**VD2L drive does not support low frequency vibrartion suppression.** 759 + 739 739 (% style="text-align:center" %) 740 740 ((( 741 741 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) ... ... @@ -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. 786 786 808 +**VD2L drive does not support type A vibration suppression.** 809 + 787 787 (% style="text-align:center" %) 788 788 ((( 789 789 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)