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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 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
... ... @@ -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
... ... @@ -217,7 +217,7 @@
217 217  Operation setting
218 218  )))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
219 219  Effective immediately
220 -)))|(% 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
221 221  |=(% 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" %)(((
222 222  Operation setting
223 223  )))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
... ... @@ -248,7 +248,7 @@
248 248  Operation setting
249 249  )))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
250 250  Effective immediately
251 -)))|(% 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" %)(((
252 252  0.1ms
253 253  )))
254 254  |=(% style="text-align: center; vertical-align: middle; width: 98px;" %)P02-06|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
... ... @@ -283,7 +283,7 @@
283 283  Operation setting
284 284  )))|(% style="text-align:center; vertical-align:middle; width:114px" %)(((
285 285  Effective immediately
286 -)))|(% 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
287 287  |=(% 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" %)(((
288 288  Operation setting
289 289  )))|(% style="text-align:center; vertical-align:middle; width:114px" %)(((
... ... @@ -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" %)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
316 316  
317 317  Table 7-8 Details of torque filter time constant parameters
318 318  
... ... @@ -795,6 +795,8 @@
795 795  
796 796  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.
797 797  
800 +**VD2L drive does not support type A vibration suppression.**
801 +
798 798  (% style="text-align:center" %)
799 799  (((
800 800  (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)