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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 77.1
edited by Mora Zhou
on 2025/04/29 13:56
Change comment: There is no comment for this version

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Author
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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  (((
... ... @@ -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" %)(((
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" %)(((
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" %)(((
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" %)(((
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" %)(((
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" %)(((
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" %)(((
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" %)(((
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" %)(((
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" %)(((
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.