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 ... ... @@ -744,26 +744,26 @@ 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: 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;" %)((( 748 748 **Setting method** 749 -)))|=(% style="text-align: center; vertical-align: middle; width: 15 7px;" %)(((748 +)))|=(% style="text-align: center; vertical-align: middle; width: 115px;" %)((( 750 750 **Effective time** 751 -)))|=(% 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**752 -|=(% 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" %)((( 753 753 Operation setting 754 -)))|(% style="text-align:center; vertical-align:middle; width:15 7px" %)(((753 +)))|(% style="text-align:center; vertical-align:middle; width:156px" %)((( 755 755 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: ; 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" %)((( 758 758 Operation setting 759 -)))|(% style="text-align:center; vertical-align:middle; width:15 7px" %)(((758 +)))|(% style="text-align:center; vertical-align:middle; width:156px" %)((( 760 760 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" %)0.1HZ762 -|=(% 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" %)((( 763 763 Operation setting 764 -)))|(% style="text-align:center; vertical-align:middle; width:15 7px" %)(((763 +)))|(% style="text-align:center; vertical-align:middle; width:156px" %)((( 765 765 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" %)0.001765 +)))|(% 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" %)0.001 767 767 768 768 **Vibration frequency detection:** 769 769 ... ... @@ -792,36 +792,36 @@ 792 792 [[**Figure 7-14 Applicable situations for type A vibration suppression**>>image:20230516-0714.png]] 793 793 ))) 794 794 795 -|=(% scope="row" style="text-align: center; vertical-align: middle; width: 1 36px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width:225px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 121px;" %)(((794 +|=(% 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;" %)((( 796 796 **Setting method** 797 -)))|=(% style="text-align: center; vertical-align: middle; width: 1 12px;" %)(((796 +)))|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)((( 798 798 **Effective time** 799 -)))|=(% style="text-align: center; vertical-align: middle; width: 1 14px;" %)**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" %)(((798 +)))|=(% 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** 799 +|=(% style="text-align: center; vertical-align: middle " %)P4-19|Enable the type A suppression function|(% style="text-align: center; vertical-align: middle " %)((( 801 801 Operation setting 802 -)))|(% style="text-align:center; vertical-align:middle ;width:112px" %)(((801 +)))|(% style="text-align: center; vertical-align: middle " %)((( 803 803 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" %)(((803 +)))|(% 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.|\\ 804 +|=(% style="text-align: center; vertical-align: middle " %)P4-20|Type A suppression frequency|(% style="text-align: center; vertical-align: middle " %)((( 806 806 Operation setting 807 -)))|(% style="text-align:center; vertical-align:middle ;width:112px" %)(((806 +)))|(% style="text-align: center; vertical-align: middle " %)((( 808 808 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" %)0.1HZ810 -|=(% 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" %)(((808 +)))|(% 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="width:142px" %)0.1HZ 809 +|=(% style="text-align: center; vertical-align: middle " %)P4-21|Type A suppression gain correction|(% style="text-align: center; vertical-align: middle " %)((( 811 811 Operation setting 812 -)))|(% style="text-align:center; vertical-align:middle ;width:112px" %)(((811 +)))|(% style="text-align: center; vertical-align: middle " %)((( 813 813 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" %)0.01815 -|=(% 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" %)(((813 +)))|(% 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" %)0.01 814 +|=(% style="text-align: center; vertical-align: middle " %)P4-22|Type A suppression damping gain|(% style="text-align: center; vertical-align: middle " %)((( 816 816 Operation setting 817 -)))|(% style="text-align:center; vertical-align:middle ;width:112px" %)(((816 +)))|(% style="text-align: center; vertical-align: middle " %)((( 818 818 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" %)0.01820 -|=(% 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" %)(((818 +)))|(% 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" %)0.01 819 +|=(% style="text-align: center; vertical-align: middle " %)P4-23|Type A suppression phase correction|(% style="text-align: center; vertical-align: middle " %)((( 821 821 Operation setting 822 -)))|(% style="text-align:center; vertical-align:middle ;width:112px" %)(((821 +)))|(% style="text-align: center; vertical-align: middle " %)((( 823 823 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 degree823 +)))|(% 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 825 825 826 826 **Vibration frequency detection:** 827 827 ... ... @@ -836,6 +836,5 @@ 836 836 * 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. 837 837 * 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. 838 838 839 -(% 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! 838 +|[[image:image-20230516135116-1.png]] 839 +|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!