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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 72.1
edited by Mora Zhou
on 2024/07/17 14:06
Change comment: There is no comment for this version
To version 65.1
edited by Karen
on 2023/05/16 14:17
Change comment: There is no comment for this version

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Author
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1 -XWiki.Mora
1 +XWiki.Karen
Content
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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="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"]]__
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"]]__
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" %)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
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"]]__
28 28  
29 29  Table 7-1 Description of gain adjustment process
30 30  
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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" %)(((
125 -Before adjusting the rigidity grade, set the appropriate load inertia ratio P03-01 correctly.
121 +|(% style="text-align:left; vertical-align:middle" %)Before adjusting the rigidity grade, set the appropriate load inertia ratio P03-01 correctly.
126 126  
127 -**VD2L drive does not support automatic gain adjustment!**
128 -)))
129 -
130 130  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.
131 131  
132 132  (% class="table-bordered" %)
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147 147  * Step4 After the "start recognition" of inertia recognition lights up, click "start recognition" to perform inertia recognition, and the load inertia can be measured.
148 148  * Step5 After the inertia recognition test is completed, click "Save Inertia Value";
149 149  * Step6 Click "Next" at the bottom right to go to the parameter adjustment interface, and click "Parameter measurement" to start parameter measurement.
150 -* Step7 After the parameter measurement is completed, Wecon SCTool will pop up a confirmation window for parameter writing and saving.
143 +* Step7 After the parameter measurement is completed, the host computer debugging software will pop up a confirmation window for parameter writing and saving.
151 151  
152 152  (% class="table-bordered" %)
153 153  (% class="warning" %)|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611152634-2.png]]
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337 337  
338 338  (% style="text-align:center" %)
339 339  (((
340 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block;" %)
333 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
341 341  [[**Figure 7-6 Speed feedforward parameters effect illustration**>>image:image-20220706155307-4.jpeg||height="119" id="Iimage-20220706155307-4.jpeg" width="835"]]
342 342  )))
343 343  
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355 355  
356 356  (% style="text-align:center" %)
357 357  (((
358 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block;" %)
351 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
359 359  [[**Figure 7-7 Block Diagram of Model Tracking Control Design**>>image:20230515-7.png||height="394" id="20230515-7.png" width="931"]]
360 360  )))
361 361  
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382 382  )))|=(% style="text-align: center; vertical-align: middle; width: 128px;" %)(((
383 383  **Effective time**
384 384  )))|=(% 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**
385 -|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P2-20|(% style="text-align:center; vertical-align:middle; width:163px" %)(((
386 -Enable model(% style="background-color:transparent" %) tracking control function
387 -)))|(% 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" %)(((
388 388  Shutdown setting
389 389  )))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
390 390  Effective immediately
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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  
748 -**VD2L drive does not support low frequency vibrartion suppression.**
749 -
750 750  (% style="text-align:center" %)
751 751  (((
752 752  (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
... ... @@ -801,32 +801,32 @@
801 801  [[**Figure 7-14 Applicable situations for type A vibration suppression**>>image:20230516-0714.png]]
802 802  )))
803 803  
804 -|=(% scope="row" style="text-align: center; vertical-align: middle; width: 136px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 225px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 121px;" %)(((
793 +|=(% scope="row" style="text-align: center; vertical-align: middle; width: 120px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 241px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 121px;" %)(((
805 805  **Setting method**
806 806  )))|=(% style="text-align: center; vertical-align: middle; width: 112px;" %)(((
807 807  **Effective time**
808 808  )))|=(% 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**
809 -|=(% 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" %)P4-19|(% style="text-align:center; vertical-align:middle; width:241px" %)Enable the type A suppression function|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
810 810  Operation setting
811 811  )))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
812 812  Effective immediately
813 813  )))|(% 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.|
814 -|=(% 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" %)P4-20|(% style="text-align:center; vertical-align:middle; width:241px" %)Type A suppression frequency|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
815 815  Operation setting
816 816  )))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
817 817  Effective immediately
818 818  )))|(% 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
819 -|=(% 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" %)P4-21|(% style="text-align:center; vertical-align:middle; width:241px" %)Type A suppression gain correction|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
820 820  Operation setting
821 821  )))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
822 822  Effective immediately
823 823  )))|(% 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
824 -|=(% 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" %)P4-22|(% style="text-align:center; vertical-align:middle; width:241px" %)Type A suppression damping gain|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
825 825  Operation setting
826 826  )))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
827 827  Effective immediately
828 828  )))|(% 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
829 -|=(% 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" %)P4-23|(% style="text-align:center; vertical-align:middle; width:241px" %)Type A suppression phase correction|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
830 830  Operation setting
831 831  )))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
832 832  Effective immediately