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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 73.1
edited by Mora Zhou
on 2024/07/17 14:07
Change comment: There is no comment for this version
To version 76.1
edited by Mora Zhou
on 2025/04/29 13:50
Change comment: There is no comment for this version

Summary

Details

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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  
... ... @@ -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