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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 71.1
edited by Mora Zhou
on 2024/07/17 14:03
Change comment: There is no comment for this version
To version 83.1
edited by Iris
on 2025/07/24 10:51
Change comment: There is no comment for this version

Summary

Details

Page properties
Author
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1 -XWiki.Mora
1 +XWiki.Iris
Content
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8 8  [[**Figure 7-1 Gain adjustment process**>>image:image-20220608174118-1.png||id="Iimage-20220608174118-1.png"]]
9 9  )))
10 10  
11 -The servo gain is composed of multiple sets of parameters such as position loop, speed loop, filter, load inertia ratio, etc., and they affect each other. In the process of setting the servo gain, the balance between the setting values of each parameter must be considered.
11 +The servo gains are composed of multiple parameter sets, including position loop gain, speed loop gain, filter coefficients, and load inertia ratio. These gains affect each other, requiring balanced adjustment of all parameter values during servo tuning."
12 12  
13 13  (% class="box infomessage" %)
14 14  (((
... ... @@ -168,9 +168,11 @@
168 168  )))|(% style="text-align:center; vertical-align:middle; width:105px" %)(((
169 169  Effective immediately
170 170  )))|(% 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" %)(((
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 -* 1: Manual setting; you need to manually set the position loop gain, speed loop gain, speed loop integral time constant, torque filter parameter setting
173 -* 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)
174 174  )))|(% style="text-align:center; vertical-align:middle" %)-
175 175  
176 176  Table 7-4 Details of self-adjusting mode selection parameters
... ... @@ -307,12 +307,12 @@
307 307  **Setting method**
308 308  )))|=(% style="text-align: center; vertical-align: middle; width: 127px;" %)(((
309 309  **Effective time**
310 -)))|=(% 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**
311 311  |=(% 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" %)(((
312 312  Operation setting
313 313  )))|(% style="text-align:center; vertical-align:middle; width:127px" %)(((
314 314  Effective immediately
315 -)))|(% 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" %)50|(% 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
316 316  
317 317  Table 7-8 Details of torque filter time constant parameters
318 318  
... ... @@ -651,7 +651,7 @@
651 651  
652 652  **Notch filter**
653 653  
654 -The notch filter can achieve the expectation of suppressing mechanical resonance by reducing the gain at a specific frequency. When setting the notch filter correctly, the vibration can be effectively suppressed. You can try to increase the servo gain. The principle of the notch filter is shown in __Figure 7-3__.
656 +The notch filter can achieve the expectation of suppressing mechanical resonance by reducing the gain at a specific frequency. When setting the notch filter correctly, the vibration can be effectively suppressed. You can try to increase the servo gain. The principle of the notch filter is shown in __Figure 7-11__.
655 655  
656 656  == Notch filter ==
657 657  
... ... @@ -670,12 +670,12 @@
670 670  
671 671  The depth grade of notch filter represents the ratio relationship between input and output at center frequency.
672 672  
673 -When the notch filter depth grade is 0, the input is completely suppressed at center frequency. When the notch filter depth grade is 100, the input is completely passable at center frequency. Therefore, the smaller the the notch filter depth grade is set, the deeper the the notch filter depth, and the stronger the suppression of mechanical resonance. But the system may be unstable, you should pay attention to it when using it. The specific relationship is shown in __Figure 7-4__.
675 +When the notch filter depth grade is 0, the input is completely suppressed at center frequency. When the notch filter depth grade is 100, the input is completely passable at center frequency. Therefore, the smaller the the notch filter depth grade is set, the deeper the the notch filter depth, and the stronger the suppression of mechanical resonance. But the system may be unstable, you should pay attention to it when using it. The specific relationship is shown in __Figure 7-12__.
674 674  
675 675  (% style="text-align:center" %)
676 676  (((
677 677  (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
678 -[[Figure 7-7 Notch characteristics, notch width, and notch depth>>image:image-20220608174259-3.png||id="Iimage-20220608174259-3.png"]]
680 +[[Figure 7-11 Notch characteristics, notch width, and notch depth>>image:image-20220608174259-3.png||id="Iimage-20220608174259-3.png"]]
679 679  )))
680 680  
681 681  
... ... @@ -682,7 +682,7 @@
682 682  (% style="text-align:center" %)
683 683  (((
684 684  (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
685 -[[Figure 7-8 Frequency characteristics of notch filter>>image:image-20220706160046-9.png||id="Iimage-20220706160046-9.png"]]
687 +[[Figure 7-12 Frequency characteristics of notch filter>>image:image-20220706160046-9.png||id="Iimage-20220706160046-9.png"]]
686 686  )))
687 687  
688 688  
... ... @@ -702,8 +702,9 @@
702 702  )))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
703 703  Effective immediately
704 704  )))|(% 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" %)(((
705 -1. 0: all truncated
706 -1. 100: all passed
707 +0: all truncated
708 +
709 +100: all passed
707 707  )))|(% style="text-align:center; vertical-align:middle; width:96px" %)-
708 708  |=(% 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" %)(((
709 709  Operation setting
... ... @@ -710,10 +710,13 @@
710 710  )))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
711 711  Effective immediately
712 712  )))|(% 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" %)(((
713 -1. 0: 0.5 times the bandwidth
714 -1. 4: 1 times the bandwidth
715 -1. 8: 2 times the bandwidth
716 -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
717 717  )))|(% style="text-align:center; vertical-align:middle; width:96px" %)-
718 718  |=(% 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" %)(((
719 719  Operation setting
... ... @@ -725,8 +725,9 @@
725 725  )))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
726 726  Effective immediately
727 727  )))|(% 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" %)(((
728 -1. 0: all truncated
729 -1. 100: all passed
734 +0: all truncated
735 +
736 +100: all passed
730 730  )))|(% style="text-align:center; vertical-align:middle; width:96px" %)-
731 731  |=(% 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" %)(((
732 732  Operation setting
... ... @@ -733,10 +733,13 @@
733 733  )))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
734 734  Effective immediately
735 735  )))|(% 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" %)(((
736 -1. 0: 0.5 times the bandwidth
737 -1. 4: 1 times the bandwidth
738 -1. 8: 2 times the bandwidth
739 -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
740 740  )))|(% style="text-align:center; vertical-align:middle; width:96px" %)-
741 741  
742 742  Table 7-11 Notch filter function code parameters
... ... @@ -745,6 +745,8 @@
745 745  
746 746  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.
747 747  
758 +**VD2L drive does not support low frequency vibrartion suppression.**
759 +
748 748  (% style="text-align:center" %)
749 749  (((
750 750  (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
... ... @@ -756,22 +756,34 @@
756 756  )))|=(% style="text-align: center; vertical-align: middle; width: 157px;" %)(((
757 757  **Effective time**
758 758  )))|=(% 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**
759 -|=(% 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" %)(((
760 760  Operation setting
761 761  )))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
762 762  Effective immediately
763 763  )))|(% 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" %)
764 -|=(% 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" %)(((
765 765  Operation setting
766 766  )))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
767 767  Effective immediately
768 768  )))|(% 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
769 -|=(% 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" %)(((
770 770  Operation setting
771 771  )))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
772 772  Effective immediately
773 773  )))|(% 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
774 774  
793 +☆: Indicates that VD2F servo drive does not support this function code
794 +
795 +〇: Indicates that VD2L servo drive does not support this function code
796 +
797 +★: Indicates that VD2F and VD2L servo drives do not support this function code
798 +
775 775  **Vibration frequency detection:**
776 776  
777 777  * Users can measure vibration by measuring equipment such as laser displacement．
... ... @@ -793,6 +793,8 @@
793 793  
794 794  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.
795 795  
820 +**VD2L drive does not support type A vibration suppression.**
821 +
796 796  (% style="text-align:center" %)
797 797  (((
798 798  (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
... ... @@ -804,32 +804,44 @@
804 804  )))|=(% style="text-align: center; vertical-align: middle; width: 112px;" %)(((
805 805  **Effective time**
806 806  )))|=(% 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**
807 -|=(% 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" %)(((
833 +|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)P4-19(((
834 +〇
835 +)))|(% style="text-align:center; vertical-align:middle; width:225px" %)Enable the type A suppression function|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
808 808  Operation setting
809 809  )))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
810 810  Effective immediately
811 811  )))|(% 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.|
812 -|=(% 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" %)(((
840 +|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)P4-20(((
841 +〇
842 +)))|(% style="text-align:center; vertical-align:middle; width:225px" %)Type A suppression frequency|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
813 813  Operation setting
814 814  )))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
815 815  Effective immediately
816 816  )))|(% 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
817 -|=(% 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" %)(((
847 +|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)P4-21(((
848 +〇
849 +)))|(% style="text-align:center; vertical-align:middle; width:225px" %)Type A suppression gain correction|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
818 818  Operation setting
819 819  )))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
820 820  Effective immediately
821 821  )))|(% 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
822 -|=(% 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" %)(((
854 +|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)P4-22(((
855 +〇
856 +)))|(% style="text-align:center; vertical-align:middle; width:225px" %)Type A suppression damping gain|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
823 823  Operation setting
824 824  )))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
825 825  Effective immediately
826 826  )))|(% 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
827 -|=(% 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" %)(((
861 +|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)P4-23(((
862 +〇
863 +)))|(% style="text-align:center; vertical-align:middle; width:225px" %)Type A suppression phase correction|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
828 828  Operation setting
829 829  )))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
830 830  Effective immediately
831 831  )))|(% 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
832 832  
869 +〇 indicates that VD2L servo drive does not supprt this function code.
870 +
833 833  **Vibration frequency detection:**
834 834  
835 835  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.