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Wiki source code of 07 Adjustments

Version 43.1 by Karen on 2023/05/16 10:13
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1 = **Overview** =
2
3 The servo drive needs to make the motor faithfully operate in accordance with the instructions issued by the upper controller without delay as much as possible. In order to make the motor action closer to the instruction and maximize the mechanical performance, gain adjustment is required. The process of gain adjustment is shown in Figure 7-1.
4
5 (% style="text-align:center" %)
6 (((
7 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
8 [[**Figure 7-1 Gain adjustment process**>>image:image-20220608174118-1.png||id="Iimage-20220608174118-1.png"]]
9 )))
10
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
13 (% class="box infomessage" %)
14 (((
15 ✎**Note: **Before adjusting the gain, it is recommended to perform a jog trial run first to ensure that the servo motor can operate normally! The gain adjustment process description is shown in the table below.
16 )))
17
18 (% class="table-bordered" style="margin-right:auto" %)
19 |=(% colspan="3" style="text-align: center; vertical-align: middle;" %)**Gain adjustment process**|=(% style="text-align: center; vertical-align: middle;" %)**Function**|=(% style="text-align: center; vertical-align: middle;" %)**Detailed chapter**
20 |(% style="text-align:center; vertical-align:middle" %)1|(% colspan="2" style="text-align:center; vertical-align:middle" %)Online inertia recognition|(% style="text-align:center; vertical-align:middle" %)Use the host computer debugging platform software matched with the drive to automatically identify the load inertia ratio. With its own inertia identification function, the drive automatically calculates the load inertia ratio.|(% style="text-align:center; vertical-align:middle" %)__[[7.2>>||anchor="HInertiarecognition"]]__
21 |(% style="text-align:center; vertical-align:middle" %)2|(% colspan="2" style="text-align:center; vertical-align:middle" %)Automatic gain adjustment|On the premise of setting the inertia ratio correctly, the drive automatically adjusts a set of matching gain parameters.|(% style="text-align:center; vertical-align:middle" %)__[[7.3.1>>||anchor="HAutomaticgainadjustment"]]__
22 |(% rowspan="2" style="text-align:center; vertical-align:middle" %)3|(% rowspan="2" style="text-align:center; vertical-align:middle" %)Manual gain adjustment|(% style="text-align:center; vertical-align:middle" %)Basic gain|On the basis of automatic gain adjustment, if the expected effect is not achieved, manually fine-tune the gain to optimize the effect.|(% style="text-align:center; vertical-align:middle" %)__[[7.3.2>>||anchor="HManualgainadjustment"]]__
23 |(% style="text-align:center; vertical-align:middle" %)Feedforward gain|The feedforward function is enabled to improve the followability.|(% style="text-align:center; vertical-align:middle" %)__[[7.3.3>>||anchor="HFeedforwardgain"]]__
24 |(% style="text-align:center; vertical-align:middle" %)4|(% style="text-align:center; vertical-align:middle" %)Vibration suppression|(% style="text-align:center; vertical-align:middle" %)Mechanical resonance|The notch filter function is enabled to suppress mechanical resonance.|(% style="text-align:center; vertical-align:middle" %)__[[7.4.1>>||anchor="HMechanicalresonancesuppressionmethods"]]__
25
26 Table 7-1 Description of gain adjustment process
27
28 = **Inertia recognition** =
29
30 Load inertia ratio P03-01 refers to:
31
32 (% style="text-align:center" %)
33 [[image:image-20220611152902-1.png||class="img-thumbnail"]]
34
35 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.
36
37 (% class="warning" %)|(((
38 (% style="text-align:center" %)
39 [[image:image-20220611152918-2.png]]
40 )))
41 |(((
42 **Before performing online load inertia recognition, the following conditions should be met:**
43
44 * The maximum speed of the motor should be greater than 300rpm;
45 * The actual load inertia ratio is between 0.00 and 100.00;
46 * The load torque is relatively stable, and the load cannot change drastically during the measurement process;
47 * The backlash of the load transmission mechanism is within a certain range;
48
49 **The motor's runable stroke should meet two requirements:**
50
51 * There is a movable stroke of more than 1 turn in both forward and reverse directions between the mechanical limit switches.
52 * Before performing online inertia recognition, please make sure that the limit switch has been installed on the machine, and that the motor has a movable stroke of more than 1 turn each in the forward and reverse directions to prevent overtravel during the inertia recognition process and cause accidents.
53 * Meet the requirement of inertia recognition turns P03-05.
54 * Make sure that the motor's runable stroke at the stop position is greater than the set value of the number of inertia recognition circles P03-05, otherwise the maximum speed of inertia recognition P03-06 should be appropriately reduced.
55 * During the automatic load inertia recognition process, if vibration occurs, the load inertia recognition should be stopped immediately.
56 )))
57
58 The related function codes are shown in the table below.
59
60 (% class="table-bordered" %)
61 |=(% scope="row" style="text-align: center; vertical-align: middle; width: 117px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 173px;" %)(((
62 **Setting method**
63 )))|=(% style="text-align: center; vertical-align: middle; width: 168px;" %)(((
64 **Effective time**
65 )))|=(% style="text-align: center; vertical-align: middle; width: 125px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 118px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 276px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit**
66 |=(% style="text-align: center; vertical-align: middle; width: 117px;" %)P03-01|(% style="text-align:center; vertical-align:middle; width:136px" %)Load inertia ratio|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
67 Operation setting
68 )))|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
69 Effective immediately
70 )))|(% style="text-align:center; vertical-align:middle; width:125px" %)300|(% style="text-align:center; vertical-align:middle; width:118px" %)100 to 10000|(% style="width:276px" %)Set load inertia ratio, 0.00 to 100.00 times|(% style="text-align:center; vertical-align:middle" %)0.01
71 |=(% style="text-align: center; vertical-align: middle; width: 117px;" %)P03-05|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
72 Inertia recognition turns
73 )))|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
74 Shutdown setting
75 )))|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
76 Effective immediately
77 )))|(% style="text-align:center; vertical-align:middle; width:125px" %)2|(% style="text-align:center; vertical-align:middle; width:118px" %)1 to 20|(% style="width:276px" %)Offline load inertia recognition process, motor rotation number setting|(% style="text-align:center; vertical-align:middle" %)circle
78 |=(% style="text-align: center; vertical-align: middle; width: 117px;" %)P03-06|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
79 Inertia recognition maximum speed
80 )))|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
81 Shutdown setting
82 )))|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
83 Effective immediately
84 )))|(% style="text-align:center; vertical-align:middle; width:125px" %)1000|(% style="text-align:center; vertical-align:middle; width:118px" %)300 to 2000|(% style="width:276px" %)(((
85 Set the allowable maximum motor speed instruction in offline inertia recognition mode.
86
87 The faster the speed during inertia recognition, the more accurate the recognition result will be. Usually, you can keep the default value.
88 )))|(% style="text-align:center; vertical-align:middle" %)rpm
89 |=(% style="text-align: center; vertical-align: middle; width: 117px;" %)P03-07|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
90 Parameter recognition rotation direction
91 )))|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
92 Shutdown setting
93 )))|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
94 Effective immediately
95 )))|(% style="text-align:center; vertical-align:middle; width:125px" %)0|(% style="text-align:center; vertical-align:middle; width:118px" %)0 to 2|(% style="width:276px" %)(((
96 0: Forward and reverse reciprocating rotation
97
98 1: Forward one-way rotation
99
100 2: Reverse one-way rotation
101 )))|(% style="text-align:center; vertical-align:middle" %)-
102
103 Table 7-2 Related parameters of gain adjustment
104
105 = **Gain adjustment** =
106
107 In order to optimize the responsiveness of the servo drive, the servo gain set in the servo drive needs to be adjusted. Servo gain needs to set multiple parameter combinations, which will affect each other. Therefore, the adjustment of servo gain must consider the relationship between each parameter.
108
109 Under normal circumstances, high-rigidity machinery can improve the response performance by increasing the servo gain. But for machines with lower rigidity, when the servo gain is increased, vibration may occur, and then affects the increase in gain. Therefore, selecting appropriate servo gain parameters can achieve higher response and stable performance.
110
111 The servo supports automatic gain adjustment and manual gain adjustment. It is recommended to use automatic gain adjustment first.
112
113 == Automatic gain adjustment ==
114
115 Automatic gain adjustment means that through the rigidity level selection function P03-02, the servo drive will automatically generate a set of matching gain parameters to meet the requirements of rapidity and stability.
116
117 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.
118
119 (% class="table-bordered" style="margin-right:auto" %)
120 (% class="warning" %)|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611152630-1.png]]
121 |(% style="text-align:left; vertical-align:middle" %)Before adjusting the rigidity grade, set the appropriate load inertia ratio P03-01 correctly.
122
123 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.
124
125 (% class="table-bordered" %)
126 |=(% scope="row" style="text-align: center; vertical-align: middle;" %)**Rigidity grade**|=(% style="text-align: center; vertical-align: middle;" %)**Load mechanism type**
127 |=(% style="text-align: center; vertical-align: middle;" %)Grade 4 to 8|(% style="text-align:center; vertical-align:middle" %)Some large machinery
128 |=(% style="text-align: center; vertical-align: middle;" %)Grade 8 to 15|(% style="text-align:center; vertical-align:middle" %)Low rigidity applications such as belts
129 |=(% style="text-align: center; vertical-align: middle;" %)Grade 15 to 20|(% style="text-align:center; vertical-align:middle" %)High rigidity applications such as ball screw and direct connection
130
131 Table 7-3 Experience reference of rigidity grade
132
133 When the function code P03-03 is set to 0, the gain parameters are stored in the first gain by modifying the rigidity grade.
134
135 When debugging with the host computer debugging software, automatic rigidity level measurement can be carried out, which is used to select a set of appropriate rigidity grades as operating parameters. The operation steps are as follows:
136
137 * Step1 Confirm that the servo is in the ready state, the panel displays “rdy”, and the communication line is connected;
138 * Step2 Open the host computer debugging software, enter the trial run interface, set the corresponding parameters, and click "Servo on";
139 * Step3 Click the "forward rotation" or "reverse rotation" button to confirm the travel range of the servo operation;
140 * Step4 After the "start recognition" of inertia recognition lights up, click "start recognition" to perform inertia recognition, and the load inertia can be measured.
141 * Step5 After the inertia recognition test is completed, click "Save Inertia Value";
142 * Step6 Click "Next" at the bottom right to go to the parameter adjustment interface, and click "Parameter measurement" to start parameter measurement.
143 * Step7 After the parameter measurement is completed, the host computer debugging software will pop up a confirmation window for parameter writing and saving.
144
145 (% class="table-bordered" %)
146 (% class="warning" %)|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611152634-2.png]]
147 |(((
148 ✎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!
149
150 ✎For the detailed operation of the host computer debugging software, please refer to "Wecon Servo Debugging Platform User Manual".
151 )))
152
153 (% class="table-bordered" %)
154 |=(% scope="row" style="text-align: center; vertical-align: middle; width: 84px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 138px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 103px;" %)(((
155 **Setting method**
156 )))|=(% style="text-align: center; vertical-align: middle; width: 105px;" %)(((
157 **Effective time**
158 )))|=(% style="text-align: center; vertical-align: middle; width: 87px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 83px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 431px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit**
159 |=(% style="text-align: center; vertical-align: middle; width: 84px;" %)P03-03|(% style="text-align:center; vertical-align:middle; width:138px" %)Self-adjusting mode selection|(% style="text-align:center; vertical-align:middle; width:103px" %)(((
160 Operation setting
161 )))|(% style="text-align:center; vertical-align:middle; width:105px" %)(((
162 Effective immediately
163 )))|(% 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" %)(((
164 * 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.
165 * 1: Manual setting; you need to manually set the position loop gain, speed loop gain, speed loop integral time constant, torque filter parameter setting
166 * 2: Online automatic parameter self-adjusting mode (Not implemented yet)
167 )))|(% style="text-align:center; vertical-align:middle" %)-
168
169 Table 7-4 Details of self-adjusting mode selection parameters
170
171 == Manual gain adjustment ==
172
173 When the servo automatic gain adjustment fails to achieve the desired result, you can manually fine-tune the gain to achieve better results.
174
175 The servo system consists of three control loops, from the outside to the inside are the position loop, the speed loop and the current loop. The basic control block diagram is shown as below.
176
177 (% style="text-align:center" %)
178 (((
179 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
180 [[**Figure 7-2 Basic block diagram of servo loop gain**>>image:image-20220608174209-2.png||id="Iimage-20220608174209-2.png"]]
181 )))
182
183 The more the inner loop is, the higher the responsiveness is required. Failure to comply with this principle may lead to system instability!
184
185 The default current loop gain of the servo drive has ensured sufficient responsiveness. Generally, no adjustment is required. Only the position loop gain, speed loop gain and other auxiliary gains need to be adjusted.
186
187 This servo drive has two sets of gain parameters for position loop and speed loop. The user can switch the two sets of gain parameters according to the setting value of P02-07 the 2nd gain switching mode. The parameters are below.
188
189 (% class="table-bordered" %)
190 |=(% scope="row" style="text-align: center; vertical-align: middle; width: 450px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 751px;" %)**Name**
191 |=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-01|(% style="width:751px" %)The 1st position loop gain
192 |=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-02|(% style="width:751px" %)The 1st speed loop gain
193 |=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-03|(% style="width:751px" %)The 1st speed loop integral time constant
194 |=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-04|(% style="width:751px" %)The 2nd position loop gain
195 |=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-05|(% style="width:751px" %)The 2nd speed loop gain
196 |=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-06|(% style="width:751px" %)The 2nd speed loop integral time constant
197 |=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P04-04|(% style="width:751px" %)Torque filter time constant
198
199 **Speed loop gain**
200
201 In the case of no vibration or noise in the mechanical system, the larger the speed loop gain setting value, the better the response of servo system and the better the speed followability. When noise occurs in the system, reduce the speed loop gain. The related function codes are shown as below.
202
203 (% class="table-bordered" %)
204 |=(% scope="row" style="text-align: center; vertical-align: middle; width: 120px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 163px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 122px;" %)(((
205 **Setting method**
206 )))|=(% style="text-align: center; vertical-align: middle; width: 128px;" %)(((
207 **Effective time**
208 )))|=(% style="text-align: center; vertical-align: middle; width: 103px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 107px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 321px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit**
209 |=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P02-02|(% style="text-align:center; vertical-align:middle; width:163px" %)1st speed loop gain|(% style="text-align:center; vertical-align:middle; width:122px" %)(((
210 Operation setting
211 )))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
212 Effective immediately
213 )))|(% 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
214 |=(% 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" %)(((
215 Operation setting
216 )))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
217 Effective immediately
218 )))|(% 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
219
220 Table 7-5 Speed loop gain parameters
221
222 (% style="text-align:center" %)
223 (((
224 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
225 [[**Figure 7-3 Speed loop gain effect illustration**>>image:image-20220706152743-1.jpeg||id="Iimage-20220706152743-1.jpeg"]]
226 )))
227
228 **Speed loop integral time constant**
229
230 The speed loop integral time constant is used to eliminate the speed loop deviation. Decreasing the integral time constant of the speed loop can increase the speed of the speed following. If the set value is too small, is will easily cause speed overshoot or vibration. When the time constant is set too large, the integral action will be weakened, resulting in a deviation of the speed loop. Related function codes are shown as below.
231
232 (% class="table-bordered" %)
233 |=(% scope="row" style="text-align: center; vertical-align: middle; width: 98px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 173px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 122px;" %)(((
234 **Setting method**
235 )))|=(% style="text-align: center; vertical-align: middle; width: 112px;" %)(((
236 **Effective time**
237 )))|=(% style="text-align: center; vertical-align: middle; width: 109px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 114px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 278px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle; width: 78px;" %)**Unit**
238 |=(% style="text-align: center; vertical-align: middle; width: 98px;" %)P02-03|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
239 1st speed loop integral time constant
240 )))|(% style="text-align:center; vertical-align:middle; width:122px" %)(((
241 Operation setting
242 )))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
243 Effective immediately
244 )))|(% 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" %)(((
245 0.1ms
246 )))
247 |=(% style="text-align: center; vertical-align: middle; width: 98px;" %)P02-06|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
248 2nd speed loop integral time constant
249 )))|(% style="text-align:center; vertical-align:middle; width:122px" %)(((
250 Operation setting
251 )))|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
252 Effective immediately
253 )))|(% style="text-align:center; vertical-align:middle; width:109px" %)1000|(% style="text-align:center; vertical-align:middle; width:114px" %)0 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 0.1ms
255 )))
256
257 Table 7-6 Speed loop integral time constant parameters
258
259 (% style="text-align:center" %)
260 (((
261 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
262 [[**Figure 7-4 Speed loop integral time constant effect illustration**>>image:image-20220706153140-2.jpeg||id="Iimage-20220706153140-2.jpeg"]]
263 )))
264
265 **Position loop gain**
266
267 Determine the highest frequency of the position instruction that the position loop can follow the change. Increasing this parameter can speed up the positioning time and improve the ability of the motor to resist external disturbances when the motor is stationary. However, if the setting value is too large, the system may be unstable and oscillate. The related function codes are shown as below.
268
269 (% class="table-bordered" %)
270 |=(% scope="row" style="text-align: center; vertical-align: middle; width: 95px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 174px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)(((
271 **Setting method**
272 )))|=(% style="text-align: center; vertical-align: middle; width: 114px;" %)(((
273 **Effective time**
274 )))|=(% style="text-align: center; vertical-align: middle; width: 79px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 91px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 355px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit**
275 |=(% style="text-align: center; vertical-align: middle; width: 95px;" %)P02-01|(% style="text-align:center; vertical-align:middle; width:174px" %)1st position loop gain|(% style="text-align:center; vertical-align:middle; width:120px" %)(((
276 Operation setting
277 )))|(% style="text-align:center; vertical-align:middle; width:114px" %)(((
278 Effective immediately
279 )))|(% 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
280 |=(% 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" %)(((
281 Operation setting
282 )))|(% style="text-align:center; vertical-align:middle; width:114px" %)(((
283 Effective immediately
284 )))|(% style="text-align:center; vertical-align:middle; width:79px" %)35|(% 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
285
286 Table 7-7 Position loop gain parameters
287
288 (% style="text-align:center" %)
289 (((
290 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
291 [[**Figure 7-5 Position loop gain effect illustration**>>image:image-20220706153656-3.jpeg||id="Iimage-20220706153656-3.jpeg"]]
292 )))
293
294 **Torque instruction filter time**
295
296 Selecting an appropriate torque filter time constant could suppress mechanical resonance. The larger the value of this parameter, the stronger the suppression ability. If the setting value is too large, it will decrease the current loop response frequency and cause needle movement. The related function codes are shown as below.
297
298 (% class="table-bordered" %)
299 |=(% scope="row" style="text-align: center; vertical-align: middle; width: 117px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 200px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)(((
300 **Setting method**
301 )))|=(% style="text-align: center; vertical-align: middle; width: 127px;" %)(((
302 **Effective time**
303 )))|=(% 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**
304 |=(% 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" %)(((
305 Operation setting
306 )))|(% style="text-align:center; vertical-align:middle; width:127px" %)(((
307 Effective immediately
308 )))|(% 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
309
310 Table 7-8 Details of torque filter time constant parameters
311
312 == **Feedforward gain** ==
313
314 Speed feedforward could be used in position control mode and full closed-loop function. It could improve the response to the speed instruction and reduce the position deviation with fixed speed.
315
316 Speed feedforward parameters are shown in __Table 7-9__. Torque feedforward parameters are shown in __Table 7-10__.
317
318 Torque feedforward could improve the response to the torque instruction and reduce the position deviation with fixed acceleration and deceleration.
319
320 (% class="table-bordered" %)
321 |=(% scope="row" style="text-align: center; vertical-align: middle; width: 125px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 330px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 746px;" %)**Adjustment description**
322 |=(% style="text-align: center; vertical-align: middle; width: 125px;" %)P02-09|(% style="text-align:center; vertical-align:middle; width:330px" %)Speed feedforward gain|(% rowspan="2" style="width:746px" %)(((
323 When the speed feedforward filter is set to 50 (0.5 ms), gradually increase the speed feedforward gain, and the speed feedforward will take effect. The position deviation during operation at a certain speed will be reduced according to the value of speed feedforward gain as the formula below.
324
325 Position deviation (instruction unit) = instruction speed[instruction unit/s]÷position loop gain [1/s]×(100－speed feedforward gain [%])÷100
326 )))
327 |=(% style="text-align: center; vertical-align: middle; width: 125px;" %)P02-10|(% style="text-align:center; vertical-align:middle; width:330px" %)Speed feedforward filtering time constant
328
329 Table 7-9 Speed feedforward parameters
330
331 (% style="text-align:center" %)
332 (((
333 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
334 [[**Figure 7-6 Speed feedforward parameters effect illustration**>>image:image-20220706155307-4.jpeg||height="119" id="Iimage-20220706155307-4.jpeg" width="835"]]
335 )))
336
337
338 (% class="table-bordered" %)
339 |=(% scope="row" style="text-align: center; vertical-align: middle; width: 125px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 259px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 690px;" %)**Adjustment description**
340 |=(% style="text-align: center; vertical-align: middle; width: 125px;" %)P02-11|(% style="text-align:center; vertical-align:middle; width:259px" %)Torque feedforward gain|(% rowspan="2" style="width:690px" %)Increase the torque feedforward gain because the position deviation can be close to 0 during certain acceleration and deceleration. Under the ideal condition of external disturbance torque not operating, when driving in the trapezoidal speed model, the position deviation can be close to 0 in the entire action interval. In fact, there must be external disturbance torque, so the position deviation cannot be zero. In addition, like the speed feedforward, although the larger the constant of the torque feedforward filter, the smaller the action sound, but the greater the position deviation of the acceleration change point.
341 |=(% style="text-align: center; vertical-align: middle; width: 125px;" %)P02-12|(% style="text-align:center; vertical-align:middle; width:259px" %)Torque feedforward filtering time constant
342
343 Table 7-10 Torque feedforward parameters
344
345 == **Model Tracking Control Function** ==
346
347 Model tracking control is suitable for position control mode, which adds a model loop outside the three loops. In the model loop, new position commands, speed feedforward and torque feedforward and other control quantities are generated according to the user's response requirements to the system and the ideal motor control model. Applying these control quantities to the actual control loop can significantly improve the response performance and positioning performance of the position control, the design block diagram is as follows:
348
349 (% style="text-align:center" %)
350 (((
351 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
352 [[**Figure 7-7 Block Diagram of Model Tracking Control Design**>>image:20230515-7.png||height="394" id="20230515-7.png" width="931"]]
353 )))
354
355 The usage method and conditions of model tracking control:
356
357 ~1. Correctly set the inertia ratio of the system P3-1, which can be obtained by monitoring the real-time load inertia ratio of U0-20.
358
359 2. Set the load rigidity level P3-2, set an appropriate value, it does not need to set a high rigidity level (recommended value 17~~21 under rigid load).
360
361 3. Set P2-20=1 to enable the function of model tracking control.
362
363 4. Adjust the P2-21 model tracking control gain from small to large, and gradually increase in steps of 1000 until the responsiveness of the system meets the actual demand. The responsiveness of the system is mainly determined by this parameter.
364
365 5. After the responsiveness meets the requirements, user can adjust the parameters appropriately to increase the load rigidity level P3-2.
366
367 (% class="box infomessage" %)
368 (((
369 **✎Note**: Model tracking control is only available in position mode, and cannot be used in other modes.
370 )))
371
372 (% class="table-bordered" %)
373 |=(% scope="row" style="text-align: center; vertical-align: middle; width: 120px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 163px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 122px;" %)(((
374 **Setting method**
375 )))|=(% style="text-align: center; vertical-align: middle; width: 128px;" %)(((
376 **Effective time**
377 )))|=(% style="text-align: center; vertical-align: middle; width: 103px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 107px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 321px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit**
378 |=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P2-20|(% style="text-align:center; vertical-align:middle; width:163px" %)Model tracking control function|(% style="text-align:center; vertical-align:middle; width:122px" %)(((
379 Shutdown setting
380 )))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
381 Effective immediately
382 )))|(% style="text-align:center; vertical-align:middle; width:103px" %)0|(% style="text-align:center; vertical-align:middle; width:107px" %)0 to 1|When the function code is set to 1, enable the model tracking control function.|
383 |=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P2-21|(% style="text-align:center; vertical-align:middle; width:163px" %)Model tracking control gain|(% style="text-align:center; vertical-align:middle; width:122px" %)(((
384 Shutdown setting
385 )))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
386 Effective immediately
387 )))|(% style="text-align:center; vertical-align:middle; width:103px" %)1000|(% style="text-align:center; vertical-align:middle; width:107px" %)200 to 20000|(% rowspan="2" style="width:321px" %)Increasing the model tracking control gain can improve the position response performance of the model loop. If the gain is too high, it may cause overshoot behavior. The gain compensation affects the damping ratio of the model loop, and the damping ratio becomes larger as the gain compensation becomes larger.|(% style="text-align:center; vertical-align:middle" %)0.1/s
388 |=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P2-22|(% style="text-align:center; vertical-align:middle; width:163px" %)Model tracking control gain compensation|(% style="text-align:center; vertical-align:middle; width:122px" %)(((
389 Shutdown setting
390 )))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
391 Effective immediately
392 )))|(% style="text-align:center; vertical-align:middle; width:103px" %)1000|(% style="text-align:center; vertical-align:middle; width:107px" %)500 to 2000|(% style="text-align:center; vertical-align:middle" %)0.10%
393
394 (% class="table-bordered" %)
395 |=(% scope="row" style="text-align: center; vertical-align: middle; width: 120px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 163px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 122px;" %)(((
396 **Setting method**
397 )))|=(% style="text-align: center; vertical-align: middle; width: 128px;" %)(((
398 **Effective time**
399 )))|=(% style="text-align: center; vertical-align: middle; width: 103px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 107px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 321px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit**
400 |=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P2-23|(% style="text-align:center; vertical-align:middle; width:163px" %)Model tracking control forward rotation bias|(((
401 Operation setting
402 )))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
403 Effective immediately
404 )))|(% style="text-align:center; vertical-align:middle; width:103px" %)1000|(% style="text-align:center; vertical-align:middle; width:107px" %)0 to 10000|(% rowspan="2" %)(% style="width:321px" %)Torque feedforward size in the positive and reverse direction under model tracking control|(% style="text-align:center; vertical-align:middle" %)0.10%
405 |=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P2-24|(% style="text-align:center; vertical-align:middle; width:163px" %)Model tracking control reverses rotation bias|(((
406 Operation setting
407 )))|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
408 Effective immediately
409 )))|(% style="text-align:center; vertical-align:middle; width:103px" %)1000|(% style="text-align:center; vertical-align:middle; width:107px" %)0 to 10000|(% style="text-align:center; vertical-align:middle" %)0.10%
410 |=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P2-25|(% style="text-align:center; vertical-align:middle; width:163px" %)Model tracking control speed feedforward compensation|Operation setting|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
411 Effective immediately
412 )))|(% style="text-align:center; vertical-align:middle; width:103px" %)1000|(% style="text-align:center; vertical-align:middle; width:107px" %)0 to 10000|(% style="width:321px" %)The size of the speed feedforward under model tracking control|(% style="text-align:center; vertical-align:middle" %)0.10%
413
414 Please refer to the following for an example of the procedure of adjusting servo gain.
415
416 (% style="width:1508px" %)
417 |=(% style="text-align:center; vertical-align:middle; width:80px" %)**Step**|=(% style="text-align:center; vertical-align:middle; width:1420px" %)**Content**
418 |=(% style="text-align: center; vertical-align: middle; width: 80px;" %)1|Please try to set the correct load inertia ratio parameter P3-1.
419 |=(% style="text-align:center; vertical-align:middle; width:80px" %)2|If the automatic adjustment mode is used (P3-3 is set to 0), please set the basic rigidity level parameter P3-2. If in manual adjustment mode (P3-3 is set to 1), please set the gain P2-1~~P2-3 related to the position loop and speed loop and the torque filter time constant P4-4. The setting principle is mainly no vibration and overshoot.
420 |=(% style="text-align: center; vertical-align: middle; width: 80px;" %)3|Turn on the model tracking function, set P2-20 to 1.
421 |=(% style="text-align: center; vertical-align: middle; width: 80px;" %)4|Increase the model tracking gain P2-21 within the range of no overshoot and vibration occurring.
422 |=(% style="text-align: center; vertical-align: middle; width: 80px;" %)5|If the rigidity level of step 2 is set relatively low, user can properly increase the rigidity level P3-2.
423 |=(% style="text-align: center; vertical-align: middle; width: 80px;" %)6|When overshoot occurs, or the responses of forward rotation and reverse rotation are different, user can fine-tune through model tracking control forward bias P2-23, model tracking control reverse bias P2-24, model tracking control speed feedforward compensation P2 -25.
424
425 == **Gain switching** ==
426
427 **Gain switching function:**
428
429 ● Switch to a lower gain in the motor stationary (servo enabled)state to suppress vibration;
430
431 ● Switch to a higher gain in the motor stationary state to shorten the positioning time;
432
433 ● Switch to a higher gain in the motor running state to get better command tracking performance;
434
435 ● Switch different gain settings by external signals depending on the load connected.
436
437 **Gain switching parameter setting**
438
439 ①When P02-07=0
440
441 Fixed use of the first gain (using P02-01~~P02-03), and the switching of P/PI (proportional/proportional integral) control could be realized through DI function 10 (GAIN-SEL, gain switching).
442
443 (% style="text-align:center" %)
444 (((
445 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
446 [[image:20230515-8.png||height="378" id="20230515-8.png" width="363"]]
447 )))
448
449 ② When P02-07=1
450
451 The switching conditions can be set through parameter P02-08 to realize switching between the first gain (P02-01~~P02-03) and the second gain (P02-04~~P02-06).
452
453 (% style="text-align:center" %)
454 (((
455 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
456 [[**Figure 7-9 Flow chart of gain switching when P02-07=1**>>image:20230515-9.png||id="20230515-9.png"]]
457 )))
458
459 |=(% style="text-align:center; vertical-align:middle; width:120px" %)**P02-08**|=(% style="text-align: center; vertical-align: middle; width: 464px;" %)**Content**|=(% style="text-align: center; vertical-align: middle; width: 946px;" %)**Diagram**
460 |=(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle; width:464px" %)Fixed use of the first gain|(% style="width:946px" %)~-~-
461 |=(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle; width:464px" %)Switching with DI|(% style="width:946px" %)~-~-
462 |=(% style="text-align:center; vertical-align:middle" %)(((
463 2
464 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
465 Large torque command
466 )))|(% style="text-align:center" %)(((
467 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
468 [[image:image-20230515140641-1.png||id="image-20230515140641-1.png"]]
469 )))
470 |=(% style="text-align:center; vertical-align:middle" %)(((
471 3
472 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)Large actual torque|
473 (% style="width:946px" %)[[image:image-20230515140641-2.png]]
474 |=(% style="text-align:center; vertical-align:middle" %)(((
475 4
476 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
477 Large speed command
478 )))|(% style="width:946px" %)[[image:image-20230515140641-3.png]]
479 |=(% style="text-align:center; vertical-align:middle" %)(((
480 5
481 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
482 Fast actual speed
483 )))|(% style="width:946px" %)(((
484 [[image:image-20230515140641-4.png]]
485 )))
486 |=(% style="text-align:center; vertical-align:middle" %)(((
487 6
488 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
489 Speed command change rate is large
490 )))| (% style="text-align:center" %)
491 (((
492 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
493 [[image:image-20230515140641-5.png||id="image-20230515140641-5.png"]]
494 )))(% style="width:946px" %)[[image:image-20230515140641-5.png]]
495 |=(% style="width:74px" %)(((
496 7
497 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
498 Large position deviation
499 )))|(% style="width:946px" %)[[image:image-20230515140641-6.png]]
500 |=(% style="text-align:center; vertical-align:middle;" %)(((
501 8
502 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
503 Position command
504 )))|(% style="width:946px" %)[[image:image-20230515140641-7.png]]
505 |=(% style="text-align:center; vertical-align:middle; width:74px" %)(((
506 9
507 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
508 Positioning completed
509 )))|(% style="width:946px" %)[[image:image-20230515140641-8.png]]
510 |=(% style="text-align:center; vertical-align:middle" %)(((
511 10
512 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
513 Position command + actual speed
514 )))|(% style="text-align:center; vertical-align:middle; width:946px" %)(((
515 Refer to the chart below
516 )))
517
518 (% style="text-align:center" %)
519 (((
520 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
521 [[**Figure 7-10 P02-08=10 Position command + actual speed gain description**>>image:20230515-10.png||id="Iimage-20220608174118-1.png"]]
522 )))
523
524 **Description of related parameters**
525
526 |=(% rowspan="2" style="text-align: center; vertical-align: middle; width:120px" %)
527 **P02-07**|=(% style="width:150px" %)**Parameter name**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Setting method**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Effective time**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Default**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Set range**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Application category**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Unit**
528 |(% style="text-align:center; width:150px" %)The second gain switching mode|(% style="text-align:center" %)Operation setting|(% style="text-align:center" %)Effective immediately|(% style="text-align:center" %)0|(% style="text-align:center" %)0 to 1|(% style="text-align:center" %)Gain control|
529 |(% colspan="8" %)(((
530 Set the switching mode of the second gain.
531
532 |=(% style="text-align: center; vertical-align: middle; width:120px" %)**Setting value**|=(% style="text-align: center; vertical-align: middle" %)**Function**
533 |=(% style="text-align: center; vertical-align: middle" %)0|(((
534 The first gain is used by default. Switching using DI function 10 (GAIN-SEL, gain switching):
535
536 DI logic invalid: PI control;
537
538 DI logic valid: PI control.
539 )))
540 |=(% style="text-align: center; vertical-align: middle" %)1|The first gain and the second gain are switched by the setting value of P02-08.
541 )))
542
543 |=(% rowspan="2" style="text-align: center; vertical-align: middle; width:120px" %)**P02-08**|=(% style="width:150px" %)Parameter name|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Setting method**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Effective time**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Default**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Set range**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Application category**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Unit**
544 |(% style="text-align:center; width:150px" %)Gain switching condition selection|(% style="text-align:center" %)Operation setting|(% style="text-align:center" %)Effective immediately|(% style="text-align:center" %)0|(% style="text-align:center" %)0 to 10|(% style="text-align:center" %)Gain control|
545 |(% colspan="8" %)(((
546 Set the conditions for gain switching.
547
548 |=(% style="text-align: center; vertical-align: middle; width:120px" %)Setting value|=(% style="text-align: center; vertical-align: middle" %)Gain switching conditions|=(% style="text-align: center; vertical-align: middle" %)Details
549 |=(% style="text-align: center; vertical-align: middle" %)0|(% style="text-align:center; vertical-align:middle" %)The default is the first gain|Fixed use of the first gain
550 |=(% style="text-align: center; vertical-align: middle" %)1|(% style="text-align:center; vertical-align:middle" %)Switch by DI port|(((
551 Use DI function 10 (GAIN-SEL, gain switching);
552
553 DI logic is invalid: the first gain (P02-01~~P02-03);
554
555 DI logic is valid: the second gain (P02-04~~P02-06).
556 )))
557 |=(% style="text-align: center; vertical-align: middle" %)2|(% style="text-align:center; vertical-align:middle" %)Large torque command|(((
558 In the previous first gain, when the absolute value of torque command is greater than (grade + hysteresis), the second gain is switched;
559
560 In the previous second gain, when the absolute value of torque command is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned.
561 )))
562 |=(% style="text-align: center; vertical-align: middle" %)3|(% style="text-align:center; vertical-align:middle" %)Large actual torque|(((
563 In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched;
564
565 In the previous second gain, when the absolute value of actual torque is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned.
566 )))
567 |=(% style="text-align: center; vertical-align: middle" %)4|(% style="text-align:center; vertical-align:middle" %)Large speed command|(((
568 In the previous first gain, when the absolute value of speed command is greater than (grade + hysteresis), the second gain is switched;
569
570 In the previous second gain, when the absolute value of speed command is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned.
571 )))
572 |=(% style="text-align: center; vertical-align: middle" %)5|(% style="text-align:center; vertical-align:middle" %)Large actual speed|(((
573 In the previous first gain, when the absolute value of actual speed is greater than (grade + hysteresis), the second gain is switched;
574
575 In the previous second gain, when the absolute value of actual speed is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned.
576 )))
577 |=(% style="text-align: center; vertical-align: middle" %)6|(% style="text-align:center; vertical-align:middle" %)Large rate of change in speed command|(((
578 In the previous first gain, when the absolute value of the rate of change in speed command is greater than (grade + hysteresis), the second gain is switched;
579
580 In the previous second gain, switch to the first gain when the absolute value of the rate of change in speed command is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned.
581 )))
582 |=(% style="text-align: center; vertical-align: middle" %)7|(% style="text-align:center; vertical-align:middle" %)Large position deviation|(((
583 In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched;
584
585 In the previous second gain, switch to the first gain when the absolute value of position deviation is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned.
586 )))
587 |=(% style="text-align: center; vertical-align: middle" %)8|(% style="text-align:center; vertical-align:middle" %)Position command|(((
588 In the previous first gain, if the position command is not 0, switch to the second gain;
589
590 In the previous second gain, if the position command is 0 and the duration is greater than [P02-13], the first gain is returned.
591 )))
592 |=(% style="text-align: center; vertical-align: middle" %)9|(% style="text-align:center; vertical-align:middle" %)Positioning complete|(((
593 In the previous first gain, if the positioning is not completed, the second gain is switched; In the previous second gain, if the positioning is not completed and the duration is greater than [P02-13], the first gain is returned.
594 )))
595 |=(% style="text-align: center; vertical-align: middle" %)10|(% style="text-align:center; vertical-align:middle" %)Position command + actual speed|(((
596 In the previous first gain, if the position command is not 0, the second gain is switched;
597
598 In the previous second gain, if the position command is 0, the duration is greater than [P02-13] and the absolute value of actual speed is less than ( grade - hysteresis).
599 )))
600 )))
601
602 |=(% rowspan="2" style="text-align:center; vertical-align:middle; width:120px" %)**P02-13**|=(% style="width:150px" %)Parameter name|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Setting method**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Effective time**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Default**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Set range**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Application category**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Unit**
603 |(% style="text-align:center; width:150px" %)Delay Time for Gain Switching|(% style="text-align:center" %)Operation setting|(% style="text-align:center" %)Effective immediately|(% style="text-align:center" %)20|(% style="text-align:center" %)0 to 10000|(% style="text-align:center" %)Gain control|(% style="text-align:center" %)0.1ms
604 |(% colspan="8" %)(((
605 The duration of the switching condition required for the second gain to switch back to the first gain.
606
607 (% style="text-align:center" %)
608 (((
609 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
610 [[image:image-20230515140953-9.png||id="image-20230515140953-9.png"]]
611 )))
612
613 (% class="box infomessage" %)
614 (((
615 **✎**Note: This parameter is only valid when the second gain is switched back to the first gain.
616 )))
617 )))
618
619 |=(% rowspan="2" style="text-align:center; vertical-align:middle; width:120px" %)**P02-14**|=(% style="width:150px" %)Parameter name|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Setting method**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Effective time**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Default**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Set range**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Application category**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Unit**
620 |(% style="text-align:center; width:150px" %)Gain switching grade|(% style="text-align:center" %)Operation setting|(% style="text-align:center" %)Effective immediately|(% style="text-align:center" %)50|(% style="text-align:center" %)0 to 20000|(% style="text-align:center" %)Gain control|(% style="text-align:center" %)According to the switching conditions
621 |(% colspan="8" %)(((
622 Set the grade of the gain condition. The generation of the actual switching action is affected by the two conditions of grade and hysteresis.
623
624 (% style="text-align:center" %)
625 (((
626 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
627 [[image:image-20230515140953-10.png||id="image-20230515140953-10.png"]]
628 )))
629 )))
630
631 |=(% rowspan="2" style="text-align:center; vertical-align:middle; width:120px" %)**P02-15**|=(% style="width:150px" %)Parameter name|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Setting method**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Effective time**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Default**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Set range**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Application category**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Unit**
632 |(% style="text-align:center; width:150px" %)Gain switching hysteresis|(% style="text-align:center" %)Operation setting|(% style="text-align:center" %)Effective immediately|(% style="text-align:center" %)20|(% style="text-align:center" %)0 to 20000|(% style="text-align:center" %)Gain control|(% style="text-align:center" %)According to the switching conditions
633 |(% colspan="8" %)(((
634 Set the hysteresis to meet the gain switching condition.
635
636 (% style="text-align:center" %)
637 (((
638 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
639 [[image:image-20230515140953-11.png||id="image-20230515140953-11.png"]]
640 )))
641 )))
642
643 |=(% rowspan="2" style="text-align:center; vertical-align:middle; width:120px" %)**P02-16**|=(% style="width:150px" %)Parameter name|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Setting method**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Effective time**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Default**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Set range**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Application category**|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Unit**
644 |(% style="text-align:center; width:150px" %)Position loop gain switching time|(% style="text-align:center" %)Operation setting|(% style="text-align:center" %)Effective immediately|(% style="text-align:center" %)30|(% style="text-align:center" %)0 to 10000|(% style="text-align:center" %)Gain control|(% style="text-align:center" %)0.1ms
645 |(% colspan="8" %)(((
646 Set the time for switching from the first position loop (P02-01) to the second position loop (P02-04) in the position control mode.
647
648 (% style="text-align:center" %)
649 (((
650 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
651 [[image:image-20230515140953-12.png||id="image-20230515140953-12.png"]]
652 )))
653
654 If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately.
655 )))
656
657 == **Model Tracking Control Function** ==
658
659 Model tracking control is suitable for position control mode, which adds a model loop outside the three loop. In the model loop, new position commands, speed feedforward and torque feedforward and other control quantities are generated according to the user's response requirements to the system and the ideal motor control model. Applying these control quantities to the actual control loop can significantly improve the response performance and positioning performance of the position control, the design block diagram is as follows:
660
661 (% style="text-align:center" %)
662 [[image:20230515-7.png]]
663
664 The usage method and conditions of model tracking control:
665
666 ~1. Correctly set the inertia ratio of the system P3-1, which can be obtained by monitoring the real-time load inertia ratio of U0-20.
667
668 2. Set the load rigidity level P3-2, set an appropriate value, it is not need to set a high rigidity level (recommended value 17~~21 under rigid load).
669
670 3. Set P2-20=1 to enable the function of model tracking control.
671
672 4. Adjust the P2-21 model tracking control gain from small to large, and gradually increase in steps of 1000 until the responsiveness of the system meets the actual demand. The responsiveness of the system is mainly determined by this parameter.
673
674 5. After the responsiveness meets the requirements, user can adjust the parameters appropriately to increase the load rigidity level P3-2.
675
676 **✎Note**: Model tracking control is only available in position mode, and cannot be used in other modes.
677
678 |**Function code**|**Name**|(((
679 **Setting**
680
681 **method**
682 )))|(((
683 **Effective**
684
685 **time**
686 )))|**Default**|**Range**|**Definition**|**Unit**
687 |P2-20|Model tracking control function|Shutdown setting|(((
688 Effective
689
690 immediately
691 )))|0|0 to 1|When the function code is set to 1, enable the model tracking control function.|
692 |P2-21|Model tracking control gain|Shutdown setting|(((
693 Effective
694
695 immediately
696 )))|1000|200 to 20000|(% rowspan="2" %)Increasing the model tracking control gain can improve the position response performance of the model loop. If the gain is too high, it may cause overshoot behavior. The gain compensation affects the damping ratio of the model loop, and the damping ratio becomes larger as the gain compensation becomes larger.|0.1/s
697 |P2-22|Model tracking control gain compensation|Shutdown setting|(((
698 Effective
699
700 immediately
701 )))|1000|500 to 2000|0.10%
702
703 |**Function code**|**Name**|(((
704 **Setting**
705
706 **method**
707 )))|(((
708 **Effective**
709
710 **time**
711 )))|**Default**|**Range**|**Definition**|**Unit**
712 |P2-23|Model tracking control forward rotation bias|(((
713 Operation
714
715 setting
716 )))|(((
717 Effective
718
719 immediately
720 )))|1000|0 to 10000|(% rowspan="2" %)Torque feedforward size in the positive and reverse direction under model tracking control|0.10%
721 |P2-24|Model tracking control reverses rotation bias|(((
722 Operation
723
724 setting
725 )))|(((
726 Effective
727
728 immediately
729 )))|1000|0 to 10000|0.10%
730 |P2-25|Model tracking control speed feedforward compensation|Operation setting|(((
731 Effective
732
733 immediately
734 )))|1000|0 to 10000|The size of the speed feedforward under model tracking control|0.10%
735
736 Please refer to the following for an example of the procedure of adjusting servo gain.
737
738 |**Step**|**Content**
739 |1|Please try to set the correct load inertia ratio parameter P3-1.
740 |2|If the automatic adjustment mode is used (P3-3 is set to 0), please set the basic rigidity level parameter P3-2. If in manual adjustment mode (P3-3 is set to 1), please set the gain P2-1~~P2-3 related to the position loop and speed loop and the torque filter time constant P4-4. The setting principle is mainly no vibration and overshoot.
741 |3|Turn on the model tracking function, set P2-20 to 1.
742 |4|Increase the model tracking gain P2-21 within the range of no overshoot and vibration occur.
743 |5|If the rigidity level of step 2 is set relatively low, user can properly increase the rigidity level P3-2.
744 |6|When overshoot occurs, or the responses of forward rotation and reverse rotation are different, user can fine-tune through model tracking control forward bias P2-23, model tracking control reverse bias P2-24, model tracking control speed feedforward compensation P2 -25.
745
746 == **Gain switching** ==
747
748 Gain switching function:
749
750 ●Switch to a lower gain in the motor stationary (servo enabled)state to suppress vibration;
751
752 ●Switch to a higher gain in the motor stationary state to shorten the positioning time;
753
754 ●Switch to a higher gain in the motor running state to get better command tracking performance;
755
756 ●Switch different gain settings by external signals depending on the load connected.
757
758 (1) Gain switching parameter setting
759
760 ①When P02-07=0
761
762 Fixed use of the first gain (using P02-01~~P02-03), and the switching of P/PI (proportional/proportional integral) control could be realized through DI function 10 (GAIN-SEL, gain switching).
763
764 (% style="text-align:center" %)
765 [[image:20230515-8.png]]
766
767 ② When P02-07=1
768
769 The switching conditions can be set through parameter P02-08 to realize switching between the first gain (P02-01~~P02-03) and the second gain (P02-04~~P02-06).
770
771 (% style="text-align:center" %)
772 [[image:20230515-9.png]]
773
774 Figure 7-9 Flow chart of gain switching when P02-07=1
775
776 |(% style="width:72px" %)**P02-08**|(% style="width:146px" %)**Content**|**Diagram**
777 |(% style="width:72px" %)0|(% style="width:146px" %)Fixed use of the first gain|~-~-
778 |(% style="width:72px" %)1|(% style="width:146px" %)Switching with DI|~-~-
779 |(% style="width:72px" %)(((
780
781
782
783
784
785
786 2
787 )))|(% style="width:146px" %)(((
788
789
790
791
792
793
794 Large torque command
795 )))|[[image:image-20230515140641-1.png]]
796 |(% style="width:72px" %)(((
797
798
799
800
801
802
803
804 3
805 )))|(% style="width:146px" %)Large actual torque|[[image:image-20230515140641-2.png]]
806 |(% style="width:72px" %)(((
807
808
809
810
811
812
813 4
814 )))|(% style="width:146px" %)(((
815
816
817
818
819
820
821 Large speed command
822 )))|[[image:image-20230515140641-3.png]]
823
824 |(% style="width:74px" %)**P02-08**|(% style="width:176px" %)**Content**|**Diagram**
825 |(% style="width:74px" %)(((
826
827
828
829
830
831 5
832 )))|(% style="width:176px" %)(((
833
834
835
836
837
838 Fast actual speed
839 )))|(((
840
841
842 [[image:image-20230515140641-4.png]]
843 )))
844 |(% style="width:74px" %)(((
845
846
847
848
849
850
851
852 6
853 )))|(% style="width:176px" %)(((
854
855
856
857
858
859
860
861 Speed command change rate is large
862 )))|[[image:image-20230515140641-5.png]]
863 |(% style="width:74px" %)(((
864
865
866
867
868
869
870 7
871
872
873 )))|(% style="width:176px" %)(((
874
875
876
877
878
879
880 Large position deviation
881 )))|[[image:image-20230515140641-6.png]]
882 |(% style="width:74px" %)(((
883
884
885
886
887
888 8
889 )))|(% style="width:176px" %)(((
890
891
892
893
894
895 Position command
896 )))|[[image:image-20230515140641-7.png]]
897
898 |(% style="width:73px" %)(((
899
900
901
902
903
904
905 9
906 )))|(% style="width:154px" %)(((
907
908
909
910
911
912
913 Positioning completed
914 )))|[[image:image-20230515140641-8.png]]
915 |(% style="width:73px" %)(((
916
917
918 10
919
920
921 )))|(% style="width:154px" %)(((
922
923
924 Position command + actual speed
925 )))|(((
926
927
928 Refer to the chart below
929 )))
930
931 (% style="text-align:center" %)
932 [[image:20230515-10.png]]
933
934 Figure 7-10 P02-08=10 Position command + actual speed gain description
935
936 (2) Description of related parameters
937
938 |(% rowspan="2" style="width:68px" %)
939 **P02-07**|(% style="width:150px" %)**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
940 |(% style="width:150px" %)The second gain switching mode|Operation setting|Effective immediately|0|0 to 1|Gain control|
941 |(% colspan="8" %)(((
942 Set the switching mode of the second gain.
943
944 |**Setting value**|**Function**
945 |0|(((
946 The first gain is used by default. Switching using DI function 10 (GAIN-SEL, gain switching):
947
948 DI logic invalid: PI control;
949
950 DI logic valid: PI control.
951 )))
952 |1|The first gain and the second gain are switched by the setting value of P02-08.
953 )))
954
955 |(% rowspan="2" %)
956 **P02-08**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
957 |Gain switching condition selection|Operation setting|Effective immediately|0|0 to 10|Gain control|
958 |(% colspan="8" %)(((
959 Set the conditions for gain switching.
960
961 |Setting value|Gain switching conditions|Details
962 |0|The default is the first gain|Fixed use of the first gain
963 |1|Switch by DI port|(((
964 Use DI function 10 (GAIN-SEL, gain switching);
965
966 DI logic is invalid: the first gain (P02-01~~P02-03);
967
968 DI logic is valid: the second gain (P02-04~~P02-06).
969 )))
970 |2|Large torque command|(((
971 In the previous first gain, when the absolute value of torque command is greater than (grade + hysteresis), the second gain is switched;
972
973 In the previous second gain, when the absolute value of torque command is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned.
974
975
976 )))
977 |3|Large actual torque|(((
978 In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched;
979
980 In the previous second gain, when the absolute value of actual torque is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned .
981
982
983 )))
984 |4|Large speed command|(((
985 In the previous first gain, when the absolute value of speed command is greater than (grade + hysteresis), the second gain is switched;
986
987 In the previous second gain, when the absolute value of speed command is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned .
988
989
990 )))
991 |5|Large actual speed|(((
992 In the previous first gain, when the absolute value of actual speed is greater than (grade + hysteresis), the second gain is switched;
993
994 In the previous second gain, when the absolute value of actual speed is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned .
995
996
997 )))
998 |(((
999
1000
1001 6
1002 )))|(((
1003
1004
1005 Large rate of change in speed command
1006 )))|(((
1007 In the previous first gain, when the absolute value of the rate of change in speed command is greater than (grade + hysteresis), the second gain is switched;
1008
1009 In the previous second gain, switch to the first gain when the absolute value of the rate of change in speed command is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned .
1010
1011
1012 )))
1013 |(((
1014
1015
1016 7
1017 )))|(((
1018
1019
1020 Large position deviation
1021 )))|(((
1022 In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched;
1023
1024 In the previous second gain, switch to the first gain when the absolute value of position deviation is less than the value of (grade - hysteresis) and the duration is greater than [P02-13], the first gain is returned .
1025 )))
1026 |8|Position command|(((
1027 In the previous first gain, if the position command is not 0, switch to the second gain;
1028
1029 In the previous second gain, if the position command is 0 and the duration is greater than [P02-13], the first gain is returned.
1030 )))
1031 |(((
1032
1033
1034 9
1035 )))|(((
1036
1037
1038 Positioning complete
1039 )))|(((
1040 In the previous first gain, if the positioning is not completed, the second gain is switched; In the previous second gain, if the positioning is not completed and the duration is greater than [P02-13], the first gain is returned.
1041
1042
1043 )))
1044 |(((
1045
1046
1047 10
1048 )))|(((
1049
1050
1051 Position command + actual speed
1052 )))|(((
1053 In the previous first gain, if the position command is not 0, the second gain is switched;
1054
1055 In the previous second gain, if the position command is 0, the duration is greater than [P02-13] and the absolute value of actual speed is less than ( grade - hysteresis).
1056
1057
1058 )))
1059
1060
1061 )))
1062
1063 |(% rowspan="2" %)
1064 **P02-13**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
1065 |Delay Time for Gain Switching|Operation setting|Effective immediately|20|0 to 10000|Gain control|0.1ms
1066 |(% colspan="8" %)(((
1067 The duration of the switching condition required for the second gain to switch back to the first gain.
1068
1069 [[image:image-20230515140953-9.png]]
1070
1071 **✎**Note: This parameter is only valid when the second gain is switched back to the first gain.
1072 )))
1073
1074 |(% rowspan="2" %)
1075 **P02-14**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
1076 |Gain switching grade|Operation setting|Effective immediately|50|0 to 20000|Gain control|According to the switching conditions
1077 |(% colspan="8" %)(((
1078 Set the grade of the gain condition. The generation of the actual switching action is affected by the two conditions of grade and hysteresis.
1079
1080 [[image:image-20230515140953-10.png]]
1081 )))
1082
1083 |(% rowspan="2" %)
1084 **P02-15**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
1085 |Gain switching hysteresis|Operation setting|Effective immediately|20|0 to 20000|Gain control|According to the switching conditions
1086 |(% colspan="8" %)(((
1087 Set the hysteresis to meet the gain switching condition.
1088
1089 [[image:image-20230515140953-11.png]]
1090 )))
1091
1092 |(% rowspan="2" %)
1093 **P02-16**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
1094 |Position loop gain switching time|Operation setting|Effective immediately|30|0 to 10000|Gain control|0.1ms
1095 |(% colspan="8" %)(((
1096 Set the time for switching from the first position loop (P02-01) to the second position loop (P02-04) in the position control mode.
1097
1098 [[image:image-20230515140953-12.png]]
1099
1100 If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately.
1101 )))
1102
1103 = **Mechanical resonance suppression** =
1104
1105 == Mechanical resonance suppression methods ==
1106
1107 When the mechanical rigidity is low, vibration and noise may occur due to resonance caused by shaft twisting, and it may not be possible to increase the gain setting. In this case, by using a notch filter to reduce the gain at a specific frequency, after resonance is effectively suppressed, you can continue to increase the servo gain. There are 2 methods to suppress mechanical resonance.
1108
1109 **Torque instruction filter**
1110
1111 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:
1112
1113 (% style="text-align:center" %)
1114 [[image:image-20220706155820-5.jpeg||class="img-thumbnail"]]
1115
1116 **Notch filter**
1117
1118 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__.
1119
1120 == Notch filter ==
1121
1122 The VD2 series servo drives have 2 sets of notch filters, each of which has 3 parameters, namely notch frequency, width grade and depth grade.
1123
1124 **Width grade of notch filter**
1125
1126 The notch width grade is used to express the ratio of the notch width to the center frequency of the notch:
1127
1128 (% style="text-align:center" %)
1129 [[image:image-20220706155836-6.png||class="img-thumbnail"]]
1130
1131 In formula (7-1), [[image:image-20220706155946-7.png]] is the center frequency of notch filter, that is, the mechanical resonance frequency; [[image:image-20220706155952-8.png]] 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.
1132
1133 **Depth grade of notch filter**
1134
1135 The depth grade of notch filter represents the ratio relationship between input and output at center frequency.
1136
1137 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__.
1138
1139 (% style="text-align:center" %)
1140 (((
1141 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1142 [[Figure 7-7 Notch characteristics, notch width, and notch depth>>image:image-20220608174259-3.png||id="Iimage-20220608174259-3.png"]]
1143 )))
1144
1145
1146 (% style="text-align:center" %)
1147 (((
1148 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1149 [[Figure 7-8 Frequency characteristics of notch filter>>image:image-20220706160046-9.png||id="Iimage-20220706160046-9.png"]]
1150 )))
1151
1152
1153 (% class="table-bordered" %)
1154 |=(% scope="row" style="text-align: center; vertical-align: middle; width: 113px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 155px;" %)**Name**|=(% style="text-align: center; vertical-align: middle; width: 115px;" %)(((
1155 **Setting method**
1156 )))|=(% style="text-align: center; vertical-align: middle; width: 121px;" %)(((
1157 **Effective time**
1158 )))|=(% style="text-align: center; vertical-align: middle; width: 99px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 102px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 362px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle; width: 96px;" %)**Unit**
1159 |=(% style="text-align: center; vertical-align: middle; width: 113px;" %)P04-05|(% style="text-align:center; vertical-align:middle; width:155px" %)1st notch filter frequency|(% style="text-align:center; vertical-align:middle; width:115px" %)(((
1160 Operation setting
1161 )))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
1162 Effective immediately
1163 )))|(% style="text-align:center; vertical-align:middle; width:99px" %)300|(% style="text-align:center; vertical-align:middle; width:102px" %)250 to 5000|(% style="width:362px" %)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:96px" %)Hz
1164 |=(% style="text-align: center; vertical-align: middle; width: 113px;" %)P04-06|(% style="text-align:center; vertical-align:middle; width:155px" %)1st notch filter depth|(% style="text-align:center; vertical-align:middle; width:115px" %)(((
1165 Operation setting
1166 )))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
1167 Effective immediately
1168 )))|(% 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" %)(((
1169 1. 0: all truncated
1170 1. 100: all passed
1171 )))|(% style="text-align:center; vertical-align:middle; width:96px" %)-
1172 |=(% 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" %)(((
1173 Operation setting
1174 )))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
1175 Effective immediately
1176 )))|(% 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" %)(((
1177 1. 0: 0.5 times the bandwidth
1178 1. 4: 1 times the bandwidth
1179 1. 8: 2 times the bandwidth
1180 1. 12: 4 times the bandwidth
1181 )))|(% style="text-align:center; vertical-align:middle; width:96px" %)-
1182 |=(% 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" %)(((
1183 Operation setting
1184 )))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
1185 Effective immediately
1186 )))|(% style="text-align:center; vertical-align:middle; width:99px" %)500|(% style="text-align:center; vertical-align:middle; width:102px" %)250 to 5000|(% style="width:362px" %)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:96px" %)Hz
1187 |=(% style="text-align: center; vertical-align: middle; width: 113px;" %)P04-09|(% style="text-align:center; vertical-align:middle; width:155px" %)2nd notch filter depth|(% style="text-align:center; vertical-align:middle; width:115px" %)(((
1188 Operation setting
1189 )))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
1190 Effective immediately
1191 )))|(% 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" %)(((
1192 1. 0: all truncated
1193 1. 100: all passed
1194 )))|(% style="text-align:center; vertical-align:middle; width:96px" %)-
1195 |=(% 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" %)(((
1196 Operation setting
1197 )))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
1198 Effective immediately
1199 )))|(% 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" %)(((
1200 1. 0: 0.5 times the bandwidth
1201 1. 4: 1 times the bandwidth
1202 1. 8: 2 times the bandwidth
1203 1. 12: 4 times the bandwidth
1204 )))|(% style="text-align:center; vertical-align:middle; width:96px" %)-
1205
1206 Table 7-11 Notch filter function code parameters
1207 ~)~)~)