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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 78.1
edited by Mora Zhou
on 2025/04/29 13:59
Change comment: There is no comment for this version

Summary

Details

Page properties
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  
... ... @@ -698,8 +698,9 @@
698 698  )))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
699 699  Effective immediately
700 700  )))|(% 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" %)(((
701 -1. 0: all truncated
702 -1. 100: all passed
707 +0: all truncated
708 +
709 +100: all passed
703 703  )))|(% style="text-align:center; vertical-align:middle; width:96px" %)-
704 704  |=(% 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" %)(((
705 705  Operation setting
... ... @@ -706,10 +706,13 @@
706 706  )))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
707 707  Effective immediately
708 708  )))|(% 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" %)(((
709 -1. 0: 0.5 times the bandwidth
710 -1. 4: 1 times the bandwidth
711 -1. 8: 2 times the bandwidth
712 -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
713 713  )))|(% style="text-align:center; vertical-align:middle; width:96px" %)-
714 714  |=(% 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" %)(((
715 715  Operation setting
... ... @@ -721,8 +721,9 @@
721 721  )))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
722 722  Effective immediately
723 723  )))|(% 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" %)(((
724 -1. 0: all truncated
725 -1. 100: all passed
734 +0: all truncated
735 +
736 +100: all passed
726 726  )))|(% style="text-align:center; vertical-align:middle; width:96px" %)-
727 727  |=(% 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" %)(((
728 728  Operation setting
... ... @@ -729,10 +729,13 @@
729 729  )))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
730 730  Effective immediately
731 731  )))|(% 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" %)(((
732 -1. 0: 0.5 times the bandwidth
733 -1. 4: 1 times the bandwidth
734 -1. 8: 2 times the bandwidth
735 -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
736 736  )))|(% style="text-align:center; vertical-align:middle; width:96px" %)-
737 737  
738 738  Table 7-11 Notch filter function code parameters
... ... @@ -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  
758 +**VD2L drive does not support low frequency vibrartion suppression.**
759 +
744 744  (% style="text-align:center" %)
745 745  (((
746 746  (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
... ... @@ -752,22 +752,30 @@
752 752  )))|=(% style="text-align: center; vertical-align: middle; width: 157px;" %)(((
753 753  **Effective time**
754 754  )))|=(% 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**
755 -|=(% 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" %)(((
771 +|=(% style="text-align: center; vertical-align: middle; width: 134px;" %)P4-11(((
772 +〇
773 +)))|(% style="text-align:center; vertical-align:middle; width:258px" %)Enable low-frequency vibration suppression function|(% style="text-align:center; vertical-align:middle; width:127px" %)(((
756 756  Operation setting
757 757  )))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
758 758  Effective immediately
759 759  )))|(% 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" %)
760 -|=(% 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" %)(((
778 +|=(% style="text-align: center; vertical-align: middle; width: 134px;" %)P4-12(((
779 +〇
780 +)))|(% style="text-align:center; vertical-align:middle; width:258px" %)Low-frequency vibration suppression frequency|(% style="text-align:center; vertical-align:middle; width:127px" %)(((
761 761  Operation setting
762 762  )))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
763 763  Effective immediately
764 764  )))|(% 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
765 -|=(% 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" %)(((
785 +|=(% style="text-align: center; vertical-align: middle; width: 134px;" %)P4-14(((
786 +〇
787 +)))|(% style="text-align:center; vertical-align:middle; width:258px" %)Shutdown vibration detection amplitude|(% style="text-align:center; vertical-align:middle; width:127px" %)(((
766 766  Operation setting
767 767  )))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
768 768  Effective immediately
769 769  )))|(% 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
770 770  
793 +〇 indicates that VD2L servo drive does not support this function code.
794 +
771 771  **Vibration frequency detection:**
772 772  
773 773  * Users can measure vibration by measuring equipment such as laser displacement．
... ... @@ -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  
816 +**VD2L drive does not support type A vibration suppression.**
817 +
792 792  (% style="text-align:center" %)
793 793  (((
794 794  (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
... ... @@ -800,32 +800,44 @@
800 800  )))|=(% style="text-align: center; vertical-align: middle; width: 112px;" %)(((
801 801  **Effective time**
802 802  )))|=(% 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**
803 -|=(% 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" %)(((
829 +|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)P4-19(((
830 +〇
831 +)))|(% style="text-align:center; vertical-align:middle; width:225px" %)Enable the type A suppression function|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
804 804  Operation setting
805 805  )))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
806 806  Effective immediately
807 807  )))|(% 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.|
808 -|=(% 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" %)(((
836 +|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)P4-20(((
837 +〇
838 +)))|(% style="text-align:center; vertical-align:middle; width:225px" %)Type A suppression frequency|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
809 809  Operation setting
810 810  )))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
811 811  Effective immediately
812 812  )))|(% 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
813 -|=(% 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" %)(((
843 +|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)P4-21(((
844 +〇
845 +)))|(% style="text-align:center; vertical-align:middle; width:225px" %)Type A suppression gain correction|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
814 814  Operation setting
815 815  )))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
816 816  Effective immediately
817 817  )))|(% 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
818 -|=(% 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" %)(((
850 +|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)P4-22(((
851 +〇
852 +)))|(% style="text-align:center; vertical-align:middle; width:225px" %)Type A suppression damping gain|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
819 819  Operation setting
820 820  )))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
821 821  Effective immediately
822 822  )))|(% 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
823 -|=(% 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" %)(((
857 +|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)P4-23(((
858 +〇
859 +)))|(% style="text-align:center; vertical-align:middle; width:225px" %)Type A suppression phase correction|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
824 824  Operation setting
825 825  )))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
826 826  Effective immediately
827 827  )))|(% 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
828 828  
865 +〇 indicates that VD2L servo drive does not supprt this function code.
866 +
829 829  **Vibration frequency detection:**
830 830  
831 831  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.