Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
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... ... @@ -375,9 +375,7 @@ 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" %)((( 379 -Enable model(% style="background-color:transparent" %) tracking control function 380 -)))|(% style="text-align:center; vertical-align:middle; width:122px" %)((( 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" %)((( 381 381 Shutdown setting 382 382 )))|(% style="text-align:center; vertical-align:middle; width:128px" %)((( 383 383 Effective immediately ... ... @@ -629,6 +629,368 @@ 629 629 If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately. 630 630 ))) 631 631 630 +== == 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 + 632 632 = **Mechanical resonance suppression** = 633 633 634 634 == Mechanical resonance suppression methods == ... ... @@ -733,6 +733,7 @@ 733 733 )))|(% style="text-align:center; vertical-align:middle; width:96px" %)- 734 734 735 735 Table 7-11 Notch filter function code parameters 1096 +~)~)~) 736 736 737 737 == Low frequency vibration suppression == 738 738 ... ... @@ -744,34 +744,46 @@ 744 744 [[**Figure 7-13 Applicable working conditions for low-frequency vibration suppression**>>image:20230516-0713.png||id="20230516-0713.png"]] 745 745 ))) 746 746 747 -|=(% 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:27px;" %)(((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" %)((( 748 748 **Setting method** 749 -)))|=(% style="text-align: center; vertical-align: middle; width: 157px;" %)((( 750 -**Effective time** 751 -)))|=(% 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** 752 -|=(% 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" %)((( 753 -Operation setting 754 -)))|(% style="text-align:center; vertical-align:middle; width:157px" %)((( 755 -Effective immediately 756 -)))|(% 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" %) 757 -|=(% 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" %)((( 758 -Operation setting 759 -)))|(% style="text-align:center; vertical-align:middle; width:157px" %)((( 760 -Effective immediately 761 -)))|(% 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 762 -|=(% 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" %)((( 763 -Operation setting 764 -)))|(% style="text-align:center; vertical-align:middle; width:157px" %)((( 765 -Effective immediately 766 -)))|(% 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 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 767 767 768 -**Vibration frequency detection:** 1116 +setting 1117 +)))|((( 1118 +Effective 769 769 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 + 770 770 * Users can measure vibration by measuring equipment such as laser displacement． 771 771 * 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. 772 772 * 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. 773 773 774 -**Debugging method:** 1147 +**(2) Debugging method:** 775 775 776 776 * Set the appropriate positioning completion thresholds P5-12 and P4-14 to help the software detect the vibration frequency. 777 777 * Run the position curve command to obtain the vibration frequency, and obtain the frequency through the speed curve of oscilloscope or U0-16. ... ... @@ -778,9 +778,8 @@ 778 778 * Set P4-12 vibration frequency and enable low frequency vibration suppression function P4-11. 779 779 * 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. 780 780 781 -(% class="table-bordered" style="margin-right:auto" %) 782 -(% class="warning" %)|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230516105941-2.png]] 783 -|(% 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! 784 784 785 785 == Type A vibration suppression == 786 786 ... ... @@ -789,53 +789,5 @@ 789 789 (% style="text-align:center" %) 790 790 ((( 791 791 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) 792 -[[**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"]] 793 793 ))) 794 - 795 -|=(% 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;" %)((( 796 -**Setting method** 797 -)))|=(% style="text-align: center; vertical-align: middle; width: 112px;" %)((( 798 -**Effective time** 799 -)))|=(% 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** 800 -|=(% 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" %)((( 801 -Operation setting 802 -)))|(% style="text-align:center; vertical-align:middle; width:112px" %)((( 803 -Effective immediately 804 -)))|(% 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.| 805 -|=(% 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" %)((( 806 -Operation setting 807 -)))|(% style="text-align:center; vertical-align:middle; width:112px" %)((( 808 -Effective immediately 809 -)))|(% 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 810 -|=(% 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" %)((( 811 -Operation setting 812 -)))|(% style="text-align:center; vertical-align:middle; width:112px" %)((( 813 -Effective immediately 814 -)))|(% 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" %)0.01 815 -|=(% 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" %)((( 816 -Operation setting 817 -)))|(% style="text-align:center; vertical-align:middle; width:112px" %)((( 818 -Effective immediately 819 -)))|(% 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" %)0.01 820 -|=(% 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" %)((( 821 -Operation setting 822 -)))|(% style="text-align:center; vertical-align:middle; width:112px" %)((( 823 -Effective immediately 824 -)))|(% 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 825 - 826 -**Vibration frequency detection:** 827 - 828 -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. 829 - 830 -**Debugging method:** 831 - 832 -* Please set the correct inertia ratio parameter P3-1 when using type A vibration suppression, 833 -* Run the position curve command, observe the servo host computer software waveform interface (sine wave) to obtain the vibration frequency. 834 -* 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) 835 -* Set P4-22 damping gain, gradually increasing from 0, each time increasing about 20. 836 -* 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. 837 -* 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. 838 - 839 -(% class="table-bordered" style="margin-right:auto" %) 840 -(% class="warning" %)|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230516135116-1.png]] 841 -|(% 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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