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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 79.1
edited by Iris
on 2025/07/23 16:40
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

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Author
... ... @@ -1,1 +1,1 @@
1 -XWiki.Iris
1 +XWiki.Mora
Content
... ... @@ -8,7 +8,7 @@
8 8  [[**Figure 7-1 Gain adjustment process**>>image:image-20220608174118-1.png||id="Iimage-20220608174118-1.png"]]
9 9  )))
10 10  
11 -The servo gains are composed of multiple parameter sets, including position loop gain, speed loop gain, filter coefficients, and load inertia ratio. These gains affect each other, requiring balanced adjustment of all parameter values during servo tuning."
11 +The servo gain is composed of multiple sets of parameters such as position loop, speed loop, filter, load inertia ratio, etc., and they affect each other. In the process of setting the servo gain, the balance between the setting values of each parameter must be considered.
12 12  
13 13  (% class="box infomessage" %)
14 14  (((
... ... @@ -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" %)(((
771 +|=(% 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" %)(((
776 +|=(% 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" %)(((
781 +|=(% 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．
... ... @@ -826,44 +826,32 @@
826 826  )))|=(% style="text-align: center; vertical-align: middle; width: 112px;" %)(((
827 827  **Effective time**
828 828  )))|=(% 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(((
830 -〇
831 -)))|(% style="text-align:center; vertical-align:middle; width:225px" %)Enable the type A suppression function|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
821 +|=(% 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" %)(((
832 832  Operation setting
833 833  )))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
834 834  Effective immediately
835 835  )))|(% 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.|
836 -|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)P4-20(((
837 -〇
838 -)))|(% style="text-align:center; vertical-align:middle; width:225px" %)Type A suppression frequency|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
826 +|=(% 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" %)(((
839 839  Operation setting
840 840  )))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
841 841  Effective immediately
842 842  )))|(% 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
843 -|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)P4-21(((
844 -〇
845 -)))|(% style="text-align:center; vertical-align:middle; width:225px" %)Type A suppression gain correction|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
831 +|=(% 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" %)(((
846 846  Operation setting
847 847  )))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
848 848  Effective immediately
849 849  )))|(% 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
850 -|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)P4-22(((
851 -〇
852 -)))|(% style="text-align:center; vertical-align:middle; width:225px" %)Type A suppression damping gain|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
836 +|=(% 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" %)(((
853 853  Operation setting
854 854  )))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
855 855  Effective immediately
856 856  )))|(% 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
857 -|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)P4-23(((
858 -〇
859 -)))|(% style="text-align:center; vertical-align:middle; width:225px" %)Type A suppression phase correction|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
841 +|=(% 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" %)(((
860 860  Operation setting
861 861  )))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
862 862  Effective immediately
863 863  )))|(% 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
864 864  
865 -〇 indicates that VD2L servo drive does not supprt this function code.
866 -
867 867  **Vibration frequency detection:**
868 868  
869 869  The vibration frequency can directly obtain the value of the current vibration frequency from the software oscilloscope vibration frequency, combined with real-time speed waveform to observe the current vibration situation.