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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 71.1
edited by Mora Zhou
on 2024/07/17 14:03
Change comment: There is no comment for this version

Summary

Details

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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
... ... @@ -755,8 +755,6 @@
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" %)
... ... @@ -768,30 +768,22 @@
768 768  )))|=(% style="text-align: center; vertical-align: middle; width: 157px;" %)(((
769 769  **Effective time**
770 770  )))|=(% 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" %)(((
759 +|=(% style="text-align: center; vertical-align: middle; width: 134px;" %)P4-11|(% style="text-align:center; vertical-align:middle; width:258px" %)Enable low-frequency vibration suppression function|(% style="text-align:center; vertical-align:middle; width:127px" %)(((
774 774  Operation setting
775 775  )))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
776 776  Effective immediately
777 777  )))|(% 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" %)(((
764 +|=(% style="text-align: center; vertical-align: middle; width: 134px;" %)P4-12|(% style="text-align:center; vertical-align:middle; width:258px" %)Low-frequency vibration suppression frequency|(% style="text-align:center; vertical-align:middle; width:127px" %)(((
781 781  Operation setting
782 782  )))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
783 783  Effective immediately
784 784  )))|(% 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" %)(((
769 +|=(% style="text-align: center; vertical-align: middle; width: 134px;" %)P4-14|(% style="text-align:center; vertical-align:middle; width:258px" %)Shutdown vibration detection amplitude|(% style="text-align:center; vertical-align:middle; width:127px" %)(((
788 788  Operation setting
789 789  )))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
790 790  Effective immediately
791 791  )))|(% 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
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" %)