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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 77.1
edited by Mora Zhou
on 2025/04/29 13:56
Change comment: There is no comment for this version
To version 60.2
edited by Karen
on 2023/05/16 14:10
Change comment: There is no comment for this version

Summary

Details

Page properties
Author
... ... @@ -1,1 +1,1 @@
1 -XWiki.Mora
1 +XWiki.Karen
Content
... ... @@ -19,12 +19,9 @@
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  
... ... @@ -121,12 +121,8 @@
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" %)
... ... @@ -147,7 +147,7 @@
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]]
... ... @@ -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)
164 +* 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.
165 +* 1: Manual setting; you need to manually set the position loop gain, speed loop gain, speed loop integral time constant, torque filter parameter setting
166 +* 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
213 +)))|(% 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" %)(((
244 +)))|(% 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
279 +)))|(% 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**
303 +)))|=(% 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
308 +)))|(% 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  
... ... @@ -339,7 +339,7 @@
339 339  
340 340  (% style="text-align:center" %)
341 341  (((
342 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block;" %)
333 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
343 343  [[**Figure 7-6 Speed feedforward parameters effect illustration**>>image:image-20220706155307-4.jpeg||height="119" id="Iimage-20220706155307-4.jpeg" width="835"]]
344 344  )))
345 345  
... ... @@ -357,7 +357,7 @@
357 357  
358 358  (% style="text-align:center" %)
359 359  (((
360 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block;" %)
351 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
361 361  [[**Figure 7-7 Block Diagram of Model Tracking Control Design**>>image:20230515-7.png||height="394" id="20230515-7.png" width="931"]]
362 362  )))
363 363  
... ... @@ -384,9 +384,7 @@
384 384  )))|=(% style="text-align: center; vertical-align: middle; width: 128px;" %)(((
385 385  **Effective time**
386 386  )))|=(% 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**
387 -|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P2-20|(% style="text-align:center; vertical-align:middle; width:163px" %)(((
388 -Enable model(% style="background-color:transparent" %) tracking control function
389 -)))|(% 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" %)(((
390 390  Shutdown setting
391 391  )))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
392 392  Effective immediately
... ... @@ -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
696 +1. 0: all truncated
697 +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
704 +1. 0: 0.5 times the bandwidth
705 +1. 4: 1 times the bandwidth
706 +1. 8: 2 times the bandwidth
707 +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
719 +1. 0: all truncated
720 +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
... ... @@ -740,23 +740,19 @@
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
727 +1. 0: 0.5 times the bandwidth
728 +1. 4: 1 times the bandwidth
729 +1. 8: 2 times the bandwidth
730 +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
734 +~)~)~)
753 753  
754 754  == Low frequency vibration suppression ==
755 755  
756 756  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.
757 757  
758 -**VD2L drive does not support low frequency vibrartion suppression.**
759 -
760 760  (% style="text-align:center" %)
761 761  (((
762 762  (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
... ... @@ -763,35 +763,27 @@
763 763  [[**Figure 7-13 Applicable working conditions for low-frequency vibration suppression**>>image:20230516-0713.png||id="20230516-0713.png"]]
764 764  )))
765 765  
766 -|=(% scope="row" style="text-align: center; vertical-align: middle; width: 134px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 258px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 127px;" %)(((
746 +|=(% scope="row" style="text-align: center; vertical-align: middle; width: 120px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 155px" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 137px;" %)(((
767 767  **Setting method**
768 -)))|=(% style="text-align: center; vertical-align: middle; width: 157px;" %)(((
748 +)))|=(% style="text-align: center; vertical-align: middle; width: 115px;" %)(((
769 769  **Effective time**
770 -)))|=(% 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**
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" %)(((
750 +)))|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 100px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle; width: 96px;" %)**Unit**
751 +|=(% style="text-align:center; vertical-align:middle" %)P4-11|(% style="text-align:center; vertical-align:middle; width:294px" %)Enable low-frequency vibration suppression function|(% style="text-align:center; vertical-align:middle; width:137px" %)(((
774 774  Operation setting
775 -)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
753 +)))|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
776 776  Effective immediately
777 -)))|(% 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" %)
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" %)(((
755 +)))|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle; width:126px" %)0 to 1|(% style="width:448px" %)When the function code is set to 1, enable the low-frequency vibration suppression function.|(% style="width:96px" %)
756 +|=(% style="text-align:center; vertical-align:middle" %)P4-12|(% style="text-align:center; vertical-align:middle; width:294px" %)Low-frequency vibration suppression frequency|(% style="text-align:center; vertical-align:middle; width:137px" %)(((
781 781  Operation setting
782 -)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
758 +)))|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
783 783  Effective immediately
784 -)))|(% 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
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" %)(((
760 +)))|(% style="text-align:center; vertical-align:middle" %)800|(% style="text-align:center; vertical-align:middle; width:126px" %)10 to 2000|(% style="width:448px" %)Set the vibration frequency when vibration occurs at the load end.|(% style="text-align:center; vertical-align:middle; width:96px" %)0.1HZ
761 +|=(% style="text-align:center; vertical-align:middle" %)P4-14|(% style="text-align:center; vertical-align:middle; width:294px" %)Shutdown vibration detection amplitude|(% style="text-align:center; vertical-align:middle; width:137px" %)(((
788 788  Operation setting
789 -)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
763 +)))|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
790 790  Effective immediately
791 -)))|(% 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
765 +)))|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle; width:126px" %)0 to 1000|(% style="width:448px" %)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:96px" %)0.001
792 792  
793 -〇 indicates that VD2L servo drive does not support this function code.
794 -
795 795  **Vibration frequency detection:**
796 796  
797 797  * Users can measure vibration by measuring equipment such as laser displacement．
... ... @@ -813,8 +813,6 @@
813 813  
814 814  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.
815 815  
816 -**VD2L drive does not support type A vibration suppression.**
817 -
818 818  (% style="text-align:center" %)
819 819  (((
820 820  (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
... ... @@ -821,36 +821,36 @@
821 821  [[**Figure 7-14 Applicable situations for type A vibration suppression**>>image:20230516-0714.png]]
822 822  )))
823 823  
824 -|=(% 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;" %)(((
794 +|=(% scope="row" style="text-align: center; vertical-align: middle; width: 120px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 155px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 115px;" %)(((
825 825  **Setting method**
826 -)))|=(% style="text-align: center; vertical-align: middle; width: 112px;" %)(((
796 +)))|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)(((
827 827  **Effective time**
828 -)))|=(% 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**
829 -|=(% 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; width: 100px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 618px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle; width: 142px;" %)**Unit**
799 +|=(% style="text-align: center; vertical-align: middle" %)P4-19|Enable the type A suppression function|(% style="text-align:center; vertical-align:middle" %)(((
830 830  Operation setting
831 -)))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
801 +)))|(% style="text-align:center; vertical-align:middle" %)(((
832 832  Effective immediately
833 -)))|(% 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.|
834 -|=(% 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" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="width:618px" %)When the function code is set to 1, enable the type A suppression function.|
804 +|=(% style="text-align: center; vertical-align: middle" %)P4-20|Type A suppression frequency|(% style="text-align:center; vertical-align:middle" %)(((
835 835  Operation setting
836 -)))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
806 +)))|(% style="text-align:center; vertical-align:middle" %)(((
837 837  Effective immediately
838 -)))|(% 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
839 -|=(% 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" %)1000|(% style="text-align:center; vertical-align:middle" %)100 to 20000|(% style="width:618px" %)Set the frequency of Type A suppression.|(% style="text-align:center; vertical-align:middle; width:142px" %)0.1HZ
809 +|=(% style="text-align: center; vertical-align: middle" %)P4-21|Type A suppression gain correction|(% style="text-align:center; vertical-align:middle" %)(((
840 840  Operation setting
841 -)))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
811 +)))|(% style="text-align:center; vertical-align:middle" %)(((
842 842  Effective immediately
843 -)))|(% 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
844 -|=(% 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" %)100|(% style="text-align:center; vertical-align:middle" %)0 to 1000|(% style="width:618px" %)Correct the load inertia ratio size.|(% style="text-align:center; vertical-align:middle; width:142px" %)0.01
814 +|=(% style="text-align: center; vertical-align: middle" %)P4-22|Type A suppression damping gain|(% style="text-align:center; vertical-align:middle" %)(((
845 845  Operation setting
846 -)))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
816 +)))|(% style="text-align:center; vertical-align:middle" %)(((
847 847  Effective immediately
848 -)))|(% 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
849 -|=(% 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" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 500|(% style="width:618px" %)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; width:142px" %)0.01
819 +|=(% style="text-align: center; vertical-align: middle" %)P4-23|Type A suppression phase correction|(% style="text-align:center; vertical-align:middle" %)(((
850 850  Operation setting
851 -)))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
821 +)))|(% style="text-align:center; vertical-align:middle" %)(((
852 852  Effective immediately
853 -)))|(% 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
823 +)))|(% style="text-align:center; vertical-align:middle" %)200|(% style="text-align:center; vertical-align:middle" %)0 to 900|(% style="width:618px" %)Type A suppression phase compensation.|(% style="text-align:center; vertical-align:middle; width:142px" %)0.1 degree
854 854  
855 855  **Vibration frequency detection:**
856 856