Changes for page 07 Adjustments
Last modified by Iris on 2025/07/24 11:03
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... ... @@ -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" %) ... ... @@ -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 ... ... @@ -695,8 +695,9 @@ 695 695 )))|(% style="text-align:center; vertical-align:middle; width:121px" %)((( 696 696 Effective immediately 697 697 )))|(% 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" %)((( 698 -1. 0: all truncated 699 -1. 100: all passed 707 +0: all truncated 708 + 709 +100: all passed 700 700 )))|(% style="text-align:center; vertical-align:middle; width:96px" %)- 701 701 |=(% 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" %)((( 702 702 Operation setting ... ... @@ -703,10 +703,13 @@ 703 703 )))|(% style="text-align:center; vertical-align:middle; width:121px" %)((( 704 704 Effective immediately 705 705 )))|(% 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" %)((( 706 -1. 0: 0.5 times the bandwidth 707 -1. 4: 1 times the bandwidth 708 -1. 8: 2 times the bandwidth 709 -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 710 710 )))|(% style="text-align:center; vertical-align:middle; width:96px" %)- 711 711 |=(% 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" %)((( 712 712 Operation setting ... ... @@ -718,8 +718,9 @@ 718 718 )))|(% style="text-align:center; vertical-align:middle; width:121px" %)((( 719 719 Effective immediately 720 720 )))|(% 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" %)((( 721 -1. 0: all truncated 722 -1. 100: all passed 734 +0: all truncated 735 + 736 +100: all passed 723 723 )))|(% style="text-align:center; vertical-align:middle; width:96px" %)- 724 724 |=(% 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" %)((( 725 725 Operation setting ... ... @@ -726,10 +726,13 @@ 726 726 )))|(% style="text-align:center; vertical-align:middle; width:121px" %)((( 727 727 Effective immediately 728 728 )))|(% 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" %)((( 729 -1. 0: 0.5 times the bandwidth 730 -1. 4: 1 times the bandwidth 731 -1. 8: 2 times the bandwidth 732 -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 733 733 )))|(% style="text-align:center; vertical-align:middle; width:96px" %)- 734 734 735 735 Table 7-11 Notch filter function code parameters ... ... @@ -738,6 +738,8 @@ 738 738 739 739 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. 740 740 758 +**VD2L drive does not support low frequency vibrartion suppression.** 759 + 741 741 (% style="text-align:center" %) 742 742 ((( 743 743 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) ... ... @@ -786,6 +786,8 @@ 786 786 787 787 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. 788 788 808 +**VD2L drive does not support type A vibration suppression.** 809 + 789 789 (% style="text-align:center" %) 790 790 ((( 791 791 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)