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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 8.1
edited by Joey
on 2022/06/10 15:31
Change comment: Upload new image "44.png", version 1.1
To version 12.1
edited by Joey
on 2022/06/11 15:30
Change comment: There is no comment for this version

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... ... @@ -25,13 +25,14 @@
25 25  
26 26  Load inertia ratio P03-01 refers to:
27 27  
28 -[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_eea1e5e734146443.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_eea1e5e734146443.gif"]]
28 +(% style="text-align:center" %)
29 +[[image:image-20220611152902-1.png]]
29 29  
30 30  The load inertia ratio is an important parameter of the servo system, and setting of the load inertia ratio correctly helps to quickly complete the debugging. The load inertia ratio could be set manually, and online load inertia recognition could be performed through the host computer debugging software.
31 31  
32 32  |(((
33 33  (% style="text-align:center" %)
34 -[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_6db94f5d0421f97a.png?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_6db94f5d0421f97a.png"]]
35 +[[image:image-20220611152918-2.png]]
35 35  )))
36 36  |(((
37 37  **Before performing online load inertia recognition, the following conditions should be met:**
... ... @@ -119,7 +119,7 @@
119 119  The rigidity of the servo refers to the ability of the motor rotor to resist load inertia, that is, the self-locking ability of the motor rotor. The stronger the servo rigidity, the larger the corresponding position loop gain and speed loop gain, and the faster the response speed of the system.
120 120  
121 121  (% class="table-bordered" %)
122 -|(% style="text-align:center; vertical-align:middle" %)[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_6db94f5d0421f97a.png?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_6db94f5d0421f97a.png"]]
123 +|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611152630-1.png]]
123 123  |(% style="text-align:center; vertical-align:middle" %)Before adjusting the rigidity grade, set the appropriate load inertia ratio P03-01 correctly.
124 124  
125 125  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.
... ... @@ -151,7 +151,7 @@
151 151  Step7 After the parameter measurement is completed, the host computer debugging software will pop up a confirmation window for parameter writing and saving.
152 152  
153 153  (% class="table-bordered" %)
154 -|(% style="text-align:center; vertical-align:middle" %)[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_6db94f5d0421f97a.png?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_6db94f5d0421f97a.png"]]
155 +|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611152634-2.png]]
155 155  |(((
156 156  ✎There may be a short mechanical whistling sound during the test. Generally, the servo will automatically stop the test. If it does not stop automatically or in other abnormal situations, you can click the "Servo Off" button on the interface to turn off the servo, or power off the machine!
157 157  
... ... @@ -163,12 +163,12 @@
163 163  **Setting method**
164 164  )))|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
165 165  **Effective time**
166 -)))|(% style="text-align:center; vertical-align:middle; width:110px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:65px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:453px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
167 +)))|(% style="text-align:center; vertical-align:middle; width:134px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:85px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:430px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
167 167  |(% style="text-align:center; vertical-align:middle; width:121px" %)P03-03|(% style="text-align:center; vertical-align:middle; width:73px" %)Self-adjusting mode selection|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
168 168  Operation setting
169 169  )))|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
170 170  Effective immediately
171 -)))|(% style="text-align:center; vertical-align:middle; width:110px" %)0|(% style="text-align:center; vertical-align:middle; width:65px" %)0 to 2|(% style="width:453px" %)(((
172 +)))|(% style="text-align:center; vertical-align:middle; width:134px" %)0|(% style="text-align:center; vertical-align:middle; width:85px" %)0 to 2|(% style="width:430px" %)(((
172 172  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.
173 173  
174 174  1: Manual setting; you need to manually set the position loop gain, speed loop gain, speed loop integral time constant, torque filter parameter setting
... ... @@ -340,6 +340,7 @@
340 340  
341 341  By setting the filter time constant, the torque instruction is attenuated in the high frequency range above the cutoff frequency, so as to achieve the expectation of suppressing mechanical resonance. The cut-off frequency of the torque instruction filter could be calculated by the following formula:
342 342  
344 +(% style="text-align:center" %)
343 343  [[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/WebHome/40.png?rev=1.1]]
344 344  
345 345  **(2) Notch filter**
... ... @@ -354,6 +354,7 @@
354 354  
355 355  The notch width grade is used to express the ratio of the notch width to the center frequency of the notch:
356 356  
359 +(% style="text-align:center" %)
357 357  [[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/WebHome/41.png?rev=1.1]]
358 358  
359 359  In formula (7-1), [[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/WebHome/42.png?rev=1.1]] is the center frequency of notch filter, that is, the mechanical resonance frequency; [[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/WebHome/43.png?rev=1.1]] is the width of notch filter, which represents the frequency bandwidth with an amplitude attenuation rate of **-3dB** relative to the center frequency of notch filter.
... ... @@ -370,7 +370,7 @@
370 370  Figure 7-3 Notch characteristics, notch width, and notch depth
371 371  
372 372  (% style="text-align:center" %)
373 -[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_10a8f8c1383fdf94.png?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_10a8f8c1383fdf94.png"]]
376 +[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/WebHome/44.png?rev=1.1]]
374 374  
375 375  Figure 7-4 Frequency characteristics of notch filter
376 376  
... ... @@ -379,26 +379,26 @@
379 379  **Setting method**
380 380  )))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
381 381  **Effective time**
382 -)))|(% style="text-align:center; vertical-align:middle; width:107px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:97px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:334px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
385 +)))|(% style="text-align:center; vertical-align:middle; width:127px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:102px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:391px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:248px" %)**Unit**
383 383  |(% style="text-align:center; vertical-align:middle; width:113px" %)P04-05|(% style="text-align:center; vertical-align:middle; width:197px" %)1st notch filter frequency|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
384 384  Operation setting
385 385  )))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
386 386  Effective immediately
387 -)))|(% style="text-align:center; vertical-align:middle; width:107px" %)300|(% style="text-align:center; vertical-align:middle; width:97px" %)250 to 5000|(% style="width:334px" %)Set the center frequency of the 1st notch filter. When the set value is 5000, the function of notch filter is invalid.|(% style="text-align:center; vertical-align:middle" %)Hz
390 +)))|(% style="text-align:center; vertical-align:middle; width:127px" %)300|(% style="text-align:center; vertical-align:middle; width:102px" %)250 to 5000|(% style="width:391px" %)Set the center frequency of the 1st notch filter. When the set value is 5000, the function of notch filter is invalid.|(% style="text-align:center; vertical-align:middle; width:248px" %)Hz
388 388  |(% style="text-align:center; vertical-align:middle; width:113px" %)P04-06|(% style="text-align:center; vertical-align:middle; width:197px" %)1st notch filter depth|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
389 389  Operation setting
390 390  )))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
391 391  Effective immediately
392 -)))|(% style="text-align:center; vertical-align:middle; width:107px" %)100|(% style="text-align:center; vertical-align:middle; width:97px" %)0 to 100|(% style="width:334px" %)(((
395 +)))|(% style="text-align:center; vertical-align:middle; width:127px" %)100|(% style="text-align:center; vertical-align:middle; width:102px" %)0 to 100|(% style="width:391px" %)(((
393 393  0: all truncated
394 394  
395 395  100: all passed
396 -)))|(% style="text-align:center; vertical-align:middle" %)-
399 +)))|(% style="text-align:center; vertical-align:middle; width:248px" %)-
397 397  |(% style="text-align:center; vertical-align:middle; width:113px" %)P04-07|(% style="text-align:center; vertical-align:middle; width:197px" %)1st notch filter width|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
398 398  Operation setting
399 399  )))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
400 400  Effective immediately
401 -)))|(% style="text-align:center; vertical-align:middle; width:107px" %)4|(% style="text-align:center; vertical-align:middle; width:97px" %)0 to 12|(% style="width:334px" %)(((
404 +)))|(% style="text-align:center; vertical-align:middle; width:127px" %)4|(% style="text-align:center; vertical-align:middle; width:102px" %)0 to 12|(% style="width:391px" %)(((
402 402  0: 0.5 times the bandwidth
403 403  
404 404  4: 1 times the bandwidth
... ... @@ -406,26 +406,26 @@
406 406  8: 2 times the bandwidth
407 407  
408 408  12: 4 times the bandwidth
409 -)))|(% style="text-align:center; vertical-align:middle" %)-
412 +)))|(% style="text-align:center; vertical-align:middle; width:248px" %)-
410 410  |(% style="text-align:center; vertical-align:middle; width:113px" %)P04-08|(% style="text-align:center; vertical-align:middle; width:197px" %)2nd notch filter frequency|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
411 411  Operation setting
412 412  )))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
413 413  Effective immediately
414 -)))|(% style="text-align:center; vertical-align:middle; width:107px" %)500|(% style="text-align:center; vertical-align:middle; width:97px" %)250 to 5000|(% style="width:334px" %)Set the center frequency of the 2nd notch filter. When the set value is 5000, the function of the notch filter is invalid.|(% style="text-align:center; vertical-align:middle" %)Hz
417 +)))|(% style="text-align:center; vertical-align:middle; width:127px" %)500|(% style="text-align:center; vertical-align:middle; width:102px" %)250 to 5000|(% style="width:391px" %)Set the center frequency of the 2nd notch filter. When the set value is 5000, the function of the notch filter is invalid.|(% style="text-align:center; vertical-align:middle; width:248px" %)Hz
415 415  |(% style="text-align:center; vertical-align:middle; width:113px" %)P04-09|(% style="text-align:center; vertical-align:middle; width:197px" %)2nd notch filter depth|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
416 416  Operation setting
417 417  )))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
418 418  Effective immediately
419 -)))|(% style="text-align:center; vertical-align:middle; width:107px" %)100|(% style="text-align:center; vertical-align:middle; width:97px" %)0 to 100|(% style="width:334px" %)(((
422 +)))|(% style="text-align:center; vertical-align:middle; width:127px" %)100|(% style="text-align:center; vertical-align:middle; width:102px" %)0 to 100|(% style="width:391px" %)(((
420 420  0: all truncated
421 421  
422 422  100: all passed
423 -)))|(% style="text-align:center; vertical-align:middle" %)-
426 +)))|(% style="text-align:center; vertical-align:middle; width:248px" %)-
424 424  |(% style="text-align:center; vertical-align:middle; width:113px" %)P04-10|(% style="text-align:center; vertical-align:middle; width:197px" %)2nd notch filter width|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
425 425  Operation setting
426 426  )))|(% style="text-align:center; vertical-align:middle; width:164px" %)(((
427 427  Effective immediately
428 -)))|(% style="text-align:center; vertical-align:middle; width:107px" %)4|(% style="text-align:center; vertical-align:middle; width:97px" %)0 to 12|(% style="width:334px" %)(((
431 +)))|(% style="text-align:center; vertical-align:middle; width:127px" %)4|(% style="text-align:center; vertical-align:middle; width:102px" %)0 to 12|(% style="width:391px" %)(((
429 429  0: 0.5 times the bandwidth
430 430  
431 431  4: 1 times the bandwidth
... ... @@ -433,6 +433,6 @@
433 433  8: 2 times the bandwidth
434 434  
435 435  12: 4 times the bandwidth
436 -)))|(% style="text-align:center; vertical-align:middle" %)-
439 +)))|(% style="text-align:center; vertical-align:middle; width:248px" %)-
437 437  
438 438  Table 7-11 Notch filter function code parameters
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