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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 70.1
edited by Mora Zhou
on 2024/07/17 13:59
Change comment: There is no comment for this version
To version 75.1
edited by Mora Zhou
on 2025/04/29 11:38
Change comment: There is no comment for this version

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Content
... ... @@ -121,8 +121,12 @@
121 121  
122 122  (% class="table-bordered" style="margin-right:auto" %)
123 123  (% class="warning" %)|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611152630-1.png]]
124 -|(% 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.
125 125  
127 +**VD2L drive does not support automatic gain adjustment!**
128 +)))
129 +
126 126  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.
127 127  
128 128  (% class="table-bordered" %)
... ... @@ -164,9 +164,11 @@
164 164  )))|(% style="text-align:center; vertical-align:middle; width:105px" %)(((
165 165  Effective immediately
166 166  )))|(% 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" %)(((
167 -* 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.
168 -* 1: Manual setting; you need to manually set the position loop gain, speed loop gain, speed loop integral time constant, torque filter parameter setting
169 -* 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)
170 170  )))|(% style="text-align:center; vertical-align:middle" %)-
171 171  
172 172  Table 7-4 Details of self-adjusting mode selection parameters
... ... @@ -213,7 +213,7 @@
213 213  Operation setting
214 214  )))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
215 215  Effective immediately
216 -)))|(% 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" %)0.1Hz
222 +)))|(% 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
217 217  |=(% 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" %)(((
218 218  Operation setting
219 219  )))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
... ... @@ -244,7 +244,7 @@
244 244  Operation setting
245 245  )))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
246 246  Effective immediately
247 -)))|(% style="text-align:center; vertical-align:middle; width:109px" %)1000|(% 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" %)(((
248 248  0.1ms
249 249  )))
250 250  |=(% style="text-align: center; vertical-align: middle; width: 98px;" %)P02-06|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
... ... @@ -279,7 +279,7 @@
279 279  Operation setting
280 280  )))|(% style="text-align:center; vertical-align:middle; width:114px" %)(((
281 281  Effective immediately
282 -)))|(% 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" %)0.1Hz
288 +)))|(% 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
283 283  |=(% 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" %)(((
284 284  Operation setting
285 285  )))|(% style="text-align:center; vertical-align:middle; width:114px" %)(((
... ... @@ -303,12 +303,12 @@
303 303  **Setting method**
304 304  )))|=(% style="text-align: center; vertical-align: middle; width: 127px;" %)(((
305 305  **Effective time**
306 -)))|=(% 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**
307 307  |=(% 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" %)(((
308 308  Operation setting
309 309  )))|(% style="text-align:center; vertical-align:middle; width:127px" %)(((
310 310  Effective immediately
311 -)))|(% 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
312 312  
313 313  Table 7-8 Details of torque filter time constant parameters
314 314  
... ... @@ -741,6 +741,8 @@
741 741  
742 742  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.
743 743  
750 +**VD2L drive does not support low frequency vibrartion suppression.**
751 +
744 744  (% style="text-align:center" %)
745 745  (((
746 746  (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
... ... @@ -789,6 +789,8 @@
789 789  
790 790  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.
791 791  
800 +**VD2L drive does not support type A vibration suppression.**
801 +
792 792  (% style="text-align:center" %)
793 793  (((
794 794  (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)