Skip to Content

Changes for page 07 Adjustments

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

Summary

Details

Page properties
Content
... ... @@ -168,11 +168,9 @@
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 -
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)
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)
176 176  )))|(% style="text-align:center; vertical-align:middle" %)-
177 177  
178 178  Table 7-4 Details of self-adjusting mode selection parameters
... ... @@ -219,7 +219,7 @@
219 219  Operation setting
220 220  )))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
221 221  Effective immediately
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
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
223 223  |=(% 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" %)(((
224 224  Operation setting
225 225  )))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
... ... @@ -250,7 +250,7 @@
250 250  Operation setting
251 251  )))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
252 252  Effective immediately
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" %)(((
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" %)(((
254 254  0.1ms
255 255  )))
256 256  |=(% style="text-align: center; vertical-align: middle; width: 98px;" %)P02-06|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
... ... @@ -285,7 +285,7 @@
285 285  Operation setting
286 286  )))|(% style="text-align:center; vertical-align:middle; width:114px" %)(((
287 287  Effective immediately
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
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
289 289  |=(% 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" %)(((
290 290  Operation setting
291 291  )))|(% style="text-align:center; vertical-align:middle; width:114px" %)(((
... ... @@ -309,12 +309,12 @@
309 309  **Setting method**
310 310  )))|=(% style="text-align: center; vertical-align: middle; width: 127px;" %)(((
311 311  **Effective time**
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**
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**
313 313  |=(% 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" %)(((
314 314  Operation setting
315 315  )))|(% style="text-align:center; vertical-align:middle; width:127px" %)(((
316 316  Effective immediately
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
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
318 318  
319 319  Table 7-8 Details of torque filter time constant parameters
320 320  
... ... @@ -704,9 +704,8 @@
704 704  )))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
705 705  Effective immediately
706 706  )))|(% 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" %)(((
707 -0: all truncated
708 -
709 -100: all passed
705 +1. 0: all truncated
706 +1. 100: all passed
710 710  )))|(% style="text-align:center; vertical-align:middle; width:96px" %)-
711 711  |=(% 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" %)(((
712 712  Operation setting
... ... @@ -713,13 +713,10 @@
713 713  )))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
714 714  Effective immediately
715 715  )))|(% 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" %)(((
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 +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
723 723  )))|(% style="text-align:center; vertical-align:middle; width:96px" %)-
724 724  |=(% 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" %)(((
725 725  Operation setting
... ... @@ -731,9 +731,8 @@
731 731  )))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
732 732  Effective immediately
733 733  )))|(% 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" %)(((
734 -0: all truncated
735 -
736 -100: all passed
728 +1. 0: all truncated
729 +1. 100: all passed
737 737  )))|(% style="text-align:center; vertical-align:middle; width:96px" %)-
738 738  |=(% 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" %)(((
739 739  Operation setting
... ... @@ -740,13 +740,10 @@
740 740  )))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
741 741  Effective immediately
742 742  )))|(% 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" %)(((
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 +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
750 750  )))|(% style="text-align:center; vertical-align:middle; width:96px" %)-
751 751  
752 752  Table 7-11 Notch filter function code parameters