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 ... ... @@ -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 734 +~)~)~) 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;" %)(((746 +|=(% 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" %)0.001 748 +)))|=(% style="text-align:center; vertical-align:middle; width:128px" %)((( 749 +**Effective time** 750 +)))|=(% 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** 751 +|P4-11|Enable low-frequency vibration suppression function|((( 752 +Operation 767 767 768 -**Vibration frequency detection:** 754 +setting 755 +)))|((( 756 +Effective 769 769 758 +immediately 759 +)))|0|0 to 1|When the function code is set to 1, enable the low-frequency vibration suppression function.| 760 +|P4-12|Low-frequency vibration suppression frequency|((( 761 +Operation 762 + 763 +setting 764 +)))|((( 765 +Effective 766 + 767 +immediately 768 +)))|800|10 to 2000|Set the vibration frequency when vibration occurs at the load end.|0.1HZ 769 +|P4-14|Shutdown vibration detection amplitude|((( 770 +Operation 771 + 772 +setting 773 +)))|((( 774 +Effective 775 + 776 +immediately 777 +)))|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.|0.001 778 + 779 +**(1) Vibration frequency detection:** 780 + 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:** 785 +**(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! 792 +|[[image:image-20230516105941-2.png]] 793 +|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]] 802 +[[**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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