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Changes for page 07 Adjustments

Last modified by Iris on 2025/07/24 11:03
From version 83.1
edited by Iris
on 2025/07/24 10:51
Change comment: There is no comment for this version
To version 73.1
edited by Mora Zhou
on 2024/07/17 14:07
Change comment: There is no comment for this version

Summary

Details

Page properties
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  (((
... ... @@ -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
... ... @@ -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" %)50|(% 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  
... ... @@ -653,7 +653,7 @@
653 653  
654 654  **Notch filter**
655 655  
656 -The notch filter can achieve the expectation of suppressing mechanical resonance by reducing the gain at a specific frequency. When setting the notch filter correctly, the vibration can be effectively suppressed. You can try to increase the servo gain. The principle of the notch filter is shown in __Figure 7-11__.
654 +The notch filter can achieve the expectation of suppressing mechanical resonance by reducing the gain at a specific frequency. When setting the notch filter correctly, the vibration can be effectively suppressed. You can try to increase the servo gain. The principle of the notch filter is shown in __Figure 7-3__.
657 657  
658 658  == Notch filter ==
659 659  
... ... @@ -672,12 +672,12 @@
672 672  
673 673  The depth grade of notch filter represents the ratio relationship between input and output at center frequency.
674 674  
675 -When the notch filter depth grade is 0, the input is completely suppressed at center frequency. When the notch filter depth grade is 100, the input is completely passable at center frequency. Therefore, the smaller the the notch filter depth grade is set, the deeper the the notch filter depth, and the stronger the suppression of mechanical resonance. But the system may be unstable, you should pay attention to it when using it. The specific relationship is shown in __Figure 7-12__.
673 +When the notch filter depth grade is 0, the input is completely suppressed at center frequency. When the notch filter depth grade is 100, the input is completely passable at center frequency. Therefore, the smaller the the notch filter depth grade is set, the deeper the the notch filter depth, and the stronger the suppression of mechanical resonance. But the system may be unstable, you should pay attention to it when using it. The specific relationship is shown in __Figure 7-4__.
676 676  
677 677  (% style="text-align:center" %)
678 678  (((
679 679  (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
680 -[[Figure 7-11 Notch characteristics, notch width, and notch depth>>image:image-20220608174259-3.png||id="Iimage-20220608174259-3.png"]]
678 +[[Figure 7-7 Notch characteristics, notch width, and notch depth>>image:image-20220608174259-3.png||id="Iimage-20220608174259-3.png"]]
681 681  )))
682 682  
683 683  
... ... @@ -684,7 +684,7 @@
684 684  (% style="text-align:center" %)
685 685  (((
686 686  (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
687 -[[Figure 7-12 Frequency characteristics of notch filter>>image:image-20220706160046-9.png||id="Iimage-20220706160046-9.png"]]
685 +[[Figure 7-8 Frequency characteristics of notch filter>>image:image-20220706160046-9.png||id="Iimage-20220706160046-9.png"]]
688 688  )))
689 689  
690 690  
... ... @@ -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
... ... @@ -768,34 +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" %)(((
761 +|=(% 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" %)(((
766 +|=(% 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" %)(((
771 +|=(% 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 -☆: Indicates that VD2F servo drive does not support this function code
794 -
795 -〇: Indicates that VD2L servo drive does not support this function code
796 -
797 -★: Indicates that VD2F and VD2L servo drives do not support this function code
798 -
799 799  **Vibration frequency detection:**
800 800  
801 801  * Users can measure vibration by measuring equipment such as laser displacement．
... ... @@ -830,44 +830,32 @@
830 830  )))|=(% style="text-align: center; vertical-align: middle; width: 112px;" %)(((
831 831  **Effective time**
832 832  )))|=(% 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**
833 -|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)P4-19(((
834 -〇
835 -)))|(% style="text-align:center; vertical-align:middle; width:225px" %)Enable the type A suppression function|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
811 +|=(% 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" %)(((
836 836  Operation setting
837 837  )))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
838 838  Effective immediately
839 839  )))|(% 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.|
840 -|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)P4-20(((
841 -〇
842 -)))|(% style="text-align:center; vertical-align:middle; width:225px" %)Type A suppression frequency|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
816 +|=(% 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" %)(((
843 843  Operation setting
844 844  )))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
845 845  Effective immediately
846 846  )))|(% 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
847 -|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)P4-21(((
848 -〇
849 -)))|(% style="text-align:center; vertical-align:middle; width:225px" %)Type A suppression gain correction|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
821 +|=(% 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" %)(((
850 850  Operation setting
851 851  )))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
852 852  Effective immediately
853 853  )))|(% 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
854 -|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)P4-22(((
855 -〇
856 -)))|(% style="text-align:center; vertical-align:middle; width:225px" %)Type A suppression damping gain|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
826 +|=(% 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" %)(((
857 857  Operation setting
858 858  )))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
859 859  Effective immediately
860 860  )))|(% 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
861 -|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)P4-23(((
862 -〇
863 -)))|(% style="text-align:center; vertical-align:middle; width:225px" %)Type A suppression phase correction|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
831 +|=(% 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" %)(((
864 864  Operation setting
865 865  )))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
866 866  Effective immediately
867 867  )))|(% 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
868 868  
869 -〇 indicates that VD2L servo drive does not supprt this function code.
870 -
871 871  **Vibration frequency detection:**
872 872  
873 873  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.