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Wiki source code of 07 Adjustments

Version 50.12 by Karen on 2023/05/16 11:13
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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; vertical-align:middle" %)[[image:image-20230515140641-1.png||height="310" width="543"]]
467 |=(% style="text-align:center; vertical-align:middle" %)(((
468 3
469 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
470 Large actual torque
471 )))|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-2.png||height="252" width="550"]]
472 |=(% style="text-align:center; vertical-align:middle" %)(((
473 4
474 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
475 Large speed command
476 )))|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-3.png||height="212" width="558"]]
477 |=(% style="text-align:center; vertical-align:middle" %)(((
478 5
479 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
480 Fast actual speed
481 )))|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-4.png||height="223" width="561"]]
482 |=(% style="text-align:center; vertical-align:middle" %)(((
483 6
484 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
485 Speed command change rate is large
486 )))|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-5.png||height="327" width="570"]]
487 |=(% style="text-align:center; vertical-align:middle;width:74px" %)(((
488 7
489 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
490 Large position deviation
491 )))|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-6.png||height="305" width="574"]]
492 |=(% style="text-align:center; vertical-align:middle;" %)(((
493 8
494 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
495 Position command
496 )))|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-7.png||height="280" width="570"]]
497 |=(% style="text-align:center; vertical-align:middle; width:74px" %)(((
498 9
499 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
500 Positioning completed
501 )))|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-8.png||height="302" width="553"]]
502 |=(% style="text-align:center; vertical-align:middle" %)(((
503 10
504 )))|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
505 Position command + actual speed
506 )))|(% style="text-align:center; vertical-align:middle; width:946px" %)(((
507 Refer to the chart below
508 )))
509
510 (% style="text-align:center" %)
511 (((
512 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
513 [[**Figure 7-10 P02-08=10 Position command + actual speed gain description**>>image:20230515-10.png||id="Iimage-20220608174118-1.png"]]
514 )))
515
516 **Description of related parameters**
517
518 |=(% rowspan="2" style="text-align: center; vertical-align: middle; width:120px" %)
519 **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**
520 |(% 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|
521 |(% colspan="8" %)(((
522 Set the switching mode of the second gain.
523
524 |=(% style="text-align: center; vertical-align: middle; width:120px" %)**Setting value**|=(% style="text-align: center; vertical-align: middle" %)**Function**
525 |=(% style="text-align: center; vertical-align: middle" %)0|(((
526 The first gain is used by default. Switching using DI function 10 (GAIN-SEL, gain switching):
527
528 DI logic invalid: PI control;
529
530 DI logic valid: PI control.
531 )))
532 |=(% style="text-align: center; vertical-align: middle" %)1|The first gain and the second gain are switched by the setting value of P02-08.
533 )))
534
535 |=(% 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**
536 |(% 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|
537 |(% colspan="8" %)(((
538 Set the conditions for gain switching.
539
540 |=(% 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
541 |=(% 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
542 |=(% style="text-align: center; vertical-align: middle" %)1|(% style="text-align:center; vertical-align:middle" %)Switch by DI port|(((
543 Use DI function 10 (GAIN-SEL, gain switching);
544
545 DI logic is invalid: the first gain (P02-01~~P02-03);
546
547 DI logic is valid: the second gain (P02-04~~P02-06).
548 )))
549 |=(% style="text-align: center; vertical-align: middle" %)2|(% style="text-align:center; vertical-align:middle" %)Large torque command|(((
550 In the previous first gain, when the absolute value of torque command is greater than (grade + hysteresis), the second gain is switched;
551
552 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.
553 )))
554 |=(% style="text-align: center; vertical-align: middle" %)3|(% style="text-align:center; vertical-align:middle" %)Large actual torque|(((
555 In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched;
556
557 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.
558 )))
559 |=(% style="text-align: center; vertical-align: middle" %)4|(% style="text-align:center; vertical-align:middle" %)Large speed command|(((
560 In the previous first gain, when the absolute value of speed command is greater than (grade + hysteresis), the second gain is switched;
561
562 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.
563 )))
564 |=(% style="text-align: center; vertical-align: middle" %)5|(% style="text-align:center; vertical-align:middle" %)Large actual speed|(((
565 In the previous first gain, when the absolute value of actual speed is greater than (grade + hysteresis), the second gain is switched;
566
567 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.
568 )))
569 |=(% style="text-align: center; vertical-align: middle" %)6|(% style="text-align:center; vertical-align:middle" %)Large rate of change in speed command|(((
570 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;
571
572 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.
573 )))
574 |=(% style="text-align: center; vertical-align: middle" %)7|(% style="text-align:center; vertical-align:middle" %)Large position deviation|(((
575 In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched;
576
577 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.
578 )))
579 |=(% style="text-align: center; vertical-align: middle" %)8|(% style="text-align:center; vertical-align:middle" %)Position command|(((
580 In the previous first gain, if the position command is not 0, switch to the second gain;
581
582 In the previous second gain, if the position command is 0 and the duration is greater than [P02-13], the first gain is returned.
583 )))
584 |=(% style="text-align: center; vertical-align: middle" %)9|(% style="text-align:center; vertical-align:middle" %)Positioning complete|(((
585 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.
586 )))
587 |=(% style="text-align: center; vertical-align: middle" %)10|(% style="text-align:center; vertical-align:middle" %)Position command + actual speed|(((
588 In the previous first gain, if the position command is not 0, the second gain is switched;
589
590 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).
591 )))
592 )))
593
594 |=(% 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**
595 |(% 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
596 |(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
597 The duration of the switching condition required for the second gain to switch back to the first gain.
598
599 [[image:image-20230515140953-9.png]]
600
601 **✎**Note: This parameter is only valid when the second gain is switched back to the first gain.
602 )))
603
604 |=(% 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**
605 |(% 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
606 |(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
607 Set the grade of the gain condition. The generation of the actual switching action is affected by the two conditions of grade and hysteresis.
608
609 [[image:image-20230515140953-10.png]]
610 )))
611
612 |=(% 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**
613 |(% 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
614 |(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
615 Set the hysteresis to meet the gain switching condition.
616
617 [[image:image-20230515140953-11.png]]
618 )))
619
620 |=(% 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**
621 |(% 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
622 |(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
623 Set the time for switching from the first position loop (P02-01) to the second position loop (P02-04) in the position control mode.
624
625 [[image:image-20230515140953-12.png]]|
626
627 If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately.
628 )))
629
630 == **Model Tracking Control Function** ==
631
632 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:
633
634 (% style="text-align:center" %)
635 [[image:20230515-7.png]]
636
637 The usage method and conditions of model tracking control:
638
639 ~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.
640
641 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).
642
643 3. Set P2-20=1 to enable the function of model tracking control.
644
645 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.
646
647 5. After the responsiveness meets the requirements, user can adjust the parameters appropriately to increase the load rigidity level P3-2.
648
649 **✎Note**: Model tracking control is only available in position mode, and cannot be used in other modes.
650
651 |**Function code**|**Name**|(((
652 **Setting**
653
654 **method**
655 )))|(((
656 **Effective**
657
658 **time**
659 )))|**Default**|**Range**|**Definition**|**Unit**
660 |P2-20|Model tracking control function|Shutdown setting|(((
661 Effective
662
663 immediately
664 )))|0|0 to 1|When the function code is set to 1, enable the model tracking control function.|
665 |P2-21|Model tracking control gain|Shutdown setting|(((
666 Effective
667
668 immediately
669 )))|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
670 |P2-22|Model tracking control gain compensation|Shutdown setting|(((
671 Effective
672
673 immediately
674 )))|1000|500 to 2000|0.10%
675
676 |**Function code**|**Name**|(((
677 **Setting**
678
679 **method**
680 )))|(((
681 **Effective**
682
683 **time**
684 )))|**Default**|**Range**|**Definition**|**Unit**
685 |P2-23|Model tracking control forward rotation bias|(((
686 Operation
687
688 setting
689 )))|(((
690 Effective
691
692 immediately
693 )))|1000|0 to 10000|(% rowspan="2" %)Torque feedforward size in the positive and reverse direction under model tracking control|0.10%
694 |P2-24|Model tracking control reverses rotation bias|(((
695 Operation
696
697 setting
698 )))|(((
699 Effective
700
701 immediately
702 )))|1000|0 to 10000|0.10%
703 |P2-25|Model tracking control speed feedforward compensation|Operation setting|(((
704 Effective
705
706 immediately
707 )))|1000|0 to 10000|The size of the speed feedforward under model tracking control|0.10%
708
709 Please refer to the following for an example of the procedure of adjusting servo gain.
710
711 |**Step**|**Content**
712 |1|Please try to set the correct load inertia ratio parameter P3-1.
713 |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.
714 |3|Turn on the model tracking function, set P2-20 to 1.
715 |4|Increase the model tracking gain P2-21 within the range of no overshoot and vibration occur.
716 |5|If the rigidity level of step 2 is set relatively low, user can properly increase the rigidity level P3-2.
717 |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.
718
719 == **Gain switching** ==
720
721 Gain switching function:
722
723 ●Switch to a lower gain in the motor stationary (servo enabled)state to suppress vibration;
724
725 ●Switch to a higher gain in the motor stationary state to shorten the positioning time;
726
727 ●Switch to a higher gain in the motor running state to get better command tracking performance;
728
729 ●Switch different gain settings by external signals depending on the load connected.
730
731 (1) Gain switching parameter setting
732
733 ①When P02-07=0
734
735 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).
736
737 (% style="text-align:center" %)
738 [[image:20230515-8.png]]
739
740 ② When P02-07=1
741
742 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).
743
744 (% style="text-align:center" %)
745 [[image:20230515-9.png]]
746
747 Figure 7-9 Flow chart of gain switching when P02-07=1
748
749 |(% style="width:72px" %)**P02-08**|(% style="width:146px" %)**Content**|**Diagram**
750 |(% style="width:72px" %)0|(% style="width:146px" %)Fixed use of the first gain|~-~-
751 |(% style="width:72px" %)1|(% style="width:146px" %)Switching with DI|~-~-
752 |(% style="width:72px" %)(((
753
754
755
756
757
758
759 2
760 )))|(% style="width:146px" %)(((
761
762
763
764
765
766
767 Large torque command
768 )))|[[image:image-20230515140641-1.png]]
769 |(% style="width:72px" %)(((
770
771
772
773
774
775
776
777 3
778 )))|(% style="width:146px" %)Large actual torque|[[image:image-20230515140641-2.png]]
779 |(% style="width:72px" %)(((
780
781
782
783
784
785
786 4
787 )))|(% style="width:146px" %)(((
788
789
790
791
792
793
794 Large speed command
795 )))|[[image:image-20230515140641-3.png]]
796
797 |(% style="width:74px" %)**P02-08**|(% style="width:176px" %)**Content**|**Diagram**
798 |(% style="width:74px" %)(((
799
800
801
802
803
804 5
805 )))|(% style="width:176px" %)(((
806
807
808
809
810
811 Fast actual speed
812 )))|(((
813
814
815 [[image:image-20230515140641-4.png]]
816 )))
817 |(% style="width:74px" %)(((
818
819
820
821
822
823
824
825 6
826 )))|(% style="width:176px" %)(((
827
828
829
830
831
832
833
834 Speed command change rate is large
835 )))|[[image:image-20230515140641-5.png]]
836 |(% style="width:74px" %)(((
837
838
839
840
841
842
843 7
844
845
846 )))|(% style="width:176px" %)(((
847
848
849
850
851
852
853 Large position deviation
854 )))|[[image:image-20230515140641-6.png]]
855 |(% style="width:74px" %)(((
856
857
858
859
860
861 8
862 )))|(% style="width:176px" %)(((
863
864
865
866
867
868 Position command
869 )))|[[image:image-20230515140641-7.png]]
870
871 |(% style="width:73px" %)(((
872
873
874
875
876
877
878 9
879 )))|(% style="width:154px" %)(((
880
881
882
883
884
885
886 Positioning completed
887 )))|[[image:image-20230515140641-8.png]]
888 |(% style="width:73px" %)(((
889
890
891 10
892
893
894 )))|(% style="width:154px" %)(((
895
896
897 Position command + actual speed
898 )))|(((
899
900
901 Refer to the chart below
902 )))
903
904 (% style="text-align:center" %)
905 [[image:20230515-10.png]]
906
907 Figure 7-10 P02-08=10 Position command + actual speed gain description
908
909 (2) Description of related parameters
910
911 |(% rowspan="2" style="width:68px" %)
912 **P02-07**|(% style="width:150px" %)**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
913 |(% style="width:150px" %)The second gain switching mode|Operation setting|Effective immediately|0|0 to 1|Gain control|
914 |(% colspan="8" %)(((
915 Set the switching mode of the second gain.
916
917 |**Setting value**|**Function**
918 |0|(((
919 The first gain is used by default. Switching using DI function 10 (GAIN-SEL, gain switching):
920
921 DI logic invalid: PI control;
922
923 DI logic valid: PI control.
924 )))
925 |1|The first gain and the second gain are switched by the setting value of P02-08.
926 )))
927
928 |(% rowspan="2" %)
929 **P02-08**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
930 |Gain switching condition selection|Operation setting|Effective immediately|0|0 to 10|Gain control|
931 |(% colspan="8" %)(((
932 Set the conditions for gain switching.
933
934 |Setting value|Gain switching conditions|Details
935 |0|The default is the first gain|Fixed use of the first gain
936 |1|Switch by DI port|(((
937 Use DI function 10 (GAIN-SEL, gain switching);
938
939 DI logic is invalid: the first gain (P02-01~~P02-03);
940
941 DI logic is valid: the second gain (P02-04~~P02-06).
942 )))
943 |2|Large torque command|(((
944 In the previous first gain, when the absolute value of torque command is greater than (grade + hysteresis), the second gain is switched;
945
946 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.
947
948
949 )))
950 |3|Large actual torque|(((
951 In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched;
952
953 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 .
954
955
956 )))
957 |4|Large speed command|(((
958 In the previous first gain, when the absolute value of speed command is greater than (grade + hysteresis), the second gain is switched;
959
960 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 .
961
962
963 )))
964 |5|Large actual speed|(((
965 In the previous first gain, when the absolute value of actual speed is greater than (grade + hysteresis), the second gain is switched;
966
967 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 .
968
969
970 )))
971 |(((
972
973
974 6
975 )))|(((
976
977
978 Large rate of change in speed command
979 )))|(((
980 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;
981
982 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 .
983
984
985 )))
986 |(((
987
988
989 7
990 )))|(((
991
992
993 Large position deviation
994 )))|(((
995 In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched;
996
997 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 .
998 )))
999 |8|Position command|(((
1000 In the previous first gain, if the position command is not 0, switch to the second gain;
1001
1002 In the previous second gain, if the position command is 0 and the duration is greater than [P02-13], the first gain is returned.
1003 )))
1004 |(((
1005
1006
1007 9
1008 )))|(((
1009
1010
1011 Positioning complete
1012 )))|(((
1013 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.
1014
1015
1016 )))
1017 |(((
1018
1019
1020 10
1021 )))|(((
1022
1023
1024 Position command + actual speed
1025 )))|(((
1026 In the previous first gain, if the position command is not 0, the second gain is switched;
1027
1028 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).
1029
1030
1031 )))
1032
1033
1034 )))
1035
1036 |(% rowspan="2" %)
1037 **P02-13**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
1038 |Delay Time for Gain Switching|Operation setting|Effective immediately|20|0 to 10000|Gain control|0.1ms
1039 |(% colspan="8" %)(((
1040 The duration of the switching condition required for the second gain to switch back to the first gain.
1041
1042 [[image:image-20230515140953-9.png]]
1043
1044 **✎**Note: This parameter is only valid when the second gain is switched back to the first gain.
1045 )))
1046
1047 |(% rowspan="2" %)
1048 **P02-14**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
1049 |Gain switching grade|Operation setting|Effective immediately|50|0 to 20000|Gain control|According to the switching conditions
1050 |(% colspan="8" %)(((
1051 Set the grade of the gain condition. The generation of the actual switching action is affected by the two conditions of grade and hysteresis.
1052
1053 [[image:image-20230515140953-10.png]]
1054 )))
1055
1056 |(% rowspan="2" %)
1057 **P02-15**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
1058 |Gain switching hysteresis|Operation setting|Effective immediately|20|0 to 20000|Gain control|According to the switching conditions
1059 |(% colspan="8" %)(((
1060 Set the hysteresis to meet the gain switching condition.
1061
1062 [[image:image-20230515140953-11.png]]
1063 )))
1064
1065 |(% rowspan="2" %)
1066 **P02-16**|**Parameter name**|**Setting method**|**Effective time**|**Default**|**Set range**|**Application category**|**Unit**
1067 |Position loop gain switching time|Operation setting|Effective immediately|30|0 to 10000|Gain control|0.1ms
1068 |(% colspan="8" %)(((
1069 Set the time for switching from the first position loop (P02-01) to the second position loop (P02-04) in the position control mode.
1070
1071 [[image:image-20230515140953-12.png]]
1072
1073 If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately.
1074 )))
1075
1076 = **Mechanical resonance suppression** =
1077
1078 == Mechanical resonance suppression methods ==
1079
1080 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.
1081
1082 **Torque instruction filter**
1083
1084 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:
1085
1086 (% style="text-align:center" %)
1087 [[image:image-20220706155820-5.jpeg||class="img-thumbnail"]]
1088
1089 **Notch filter**
1090
1091 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__.
1092
1093 == Notch filter ==
1094
1095 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.
1096
1097 **Width grade of notch filter**
1098
1099 The notch width grade is used to express the ratio of the notch width to the center frequency of the notch:
1100
1101 (% style="text-align:center" %)
1102 [[image:image-20220706155836-6.png||class="img-thumbnail"]]
1103
1104 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.
1105
1106 **Depth grade of notch filter**
1107
1108 The depth grade of notch filter represents the ratio relationship between input and output at center frequency.
1109
1110 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__.
1111
1112 (% style="text-align:center" %)
1113 (((
1114 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1115 [[Figure 7-7 Notch characteristics, notch width, and notch depth>>image:image-20220608174259-3.png||id="Iimage-20220608174259-3.png"]]
1116 )))
1117
1118
1119 (% style="text-align:center" %)
1120 (((
1121 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1122 [[Figure 7-8 Frequency characteristics of notch filter>>image:image-20220706160046-9.png||id="Iimage-20220706160046-9.png"]]
1123 )))
1124
1125
1126 (% class="table-bordered" %)
1127 |=(% 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;" %)(((
1128 **Setting method**
1129 )))|=(% style="text-align: center; vertical-align: middle; width: 121px;" %)(((
1130 **Effective time**
1131 )))|=(% 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**
1132 |=(% 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" %)(((
1133 Operation setting
1134 )))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
1135 Effective immediately
1136 )))|(% 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
1137 |=(% 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" %)(((
1138 Operation setting
1139 )))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
1140 Effective immediately
1141 )))|(% 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" %)(((
1142 1. 0: all truncated
1143 1. 100: all passed
1144 )))|(% style="text-align:center; vertical-align:middle; width:96px" %)-
1145 |=(% 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" %)(((
1146 Operation setting
1147 )))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
1148 Effective immediately
1149 )))|(% 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" %)(((
1150 1. 0: 0.5 times the bandwidth
1151 1. 4: 1 times the bandwidth
1152 1. 8: 2 times the bandwidth
1153 1. 12: 4 times the bandwidth
1154 )))|(% style="text-align:center; vertical-align:middle; width:96px" %)-
1155 |=(% 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" %)(((
1156 Operation setting
1157 )))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
1158 Effective immediately
1159 )))|(% 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
1160 |=(% 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" %)(((
1161 Operation setting
1162 )))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
1163 Effective immediately
1164 )))|(% 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" %)(((
1165 1. 0: all truncated
1166 1. 100: all passed
1167 )))|(% style="text-align:center; vertical-align:middle; width:96px" %)-
1168 |=(% 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" %)(((
1169 Operation setting
1170 )))|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
1171 Effective immediately
1172 )))|(% 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" %)(((
1173 1. 0: 0.5 times the bandwidth
1174 1. 4: 1 times the bandwidth
1175 1. 8: 2 times the bandwidth
1176 1. 12: 4 times the bandwidth
1177 )))|(% style="text-align:center; vertical-align:middle; width:96px" %)-
1178
1179 Table 7-11 Notch filter function code parameters
1180 ~)~)~)
1181
1182 == Low frequency vibration suppression ==
1183
1184 Low-frequency vibration suppression is suitable for working conditions where the motor vibrates during deceleration and shutdown after the position command is sent, and the vibration amplitude gradually decreases. The use of the low-frequency vibration suppression function is effective in reducing the time to complete positioning due to vibration effects.
1185
1186 (% style="text-align:center" %)
1187 (((
1188 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1189 [[**Figure 7-13 Applicable working conditions for low-frequency vibration suppression**>>image:20230516-0713.png||id="20230516-0713.png"]]
1190 )))
1191
1192 |=(% scope="row" style="text-align: center; vertical-align: middle; width: 120px;" %)**Function code**|=(% style="text-align: center; vertical-align: middle; width: 250px;" %)**Name**|=(% style="text-align:center; vertical-align:middle; width:150px" %)(((
1193 **Setting method**
1194 )))|=(% style="text-align:center; vertical-align:middle; width:128px" %)(((
1195 **Effective time**
1196 )))|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)**Default value**|=(% style="text-align: center; vertical-align: middle; width: 107px;" %)**Range**|=(% style="text-align: center; vertical-align: middle; width: 350px;" %)**Definition**|=(% style="text-align: center; vertical-align: middle;" %)**Unit**
1197 |P4-11|Enable low-frequency vibration suppression function|(((
1198 Operation
1199
1200 setting
1201 )))|(((
1202 Effective
1203
1204 immediately
1205 )))|0|0 to 1|When the function code is set to 1, enable the low-frequency vibration suppression function.|
1206 |P4-12|Low-frequency vibration suppression frequency|(((
1207 Operation
1208
1209 setting
1210 )))|(((
1211 Effective
1212
1213 immediately
1214 )))|800|10 to 2000|Set the vibration frequency when vibration occurs at the load end.|0.1HZ
1215 |P4-14|Shutdown vibration detection amplitude|(((
1216 Operation
1217
1218 setting
1219 )))|(((
1220 Effective
1221
1222 immediately
1223 )))|100|0 to 1000|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.|0.001
1224
1225 **(1) Vibration frequency detection:**
1226
1227 * Users can measure vibration by measuring equipment such as laser displacement．
1228 * If no measuring equipment, the user can also read the position deviation waveform to confirm the vibration frequency through the "waveform" function of the PC debugging software.
1229 * Low-frequency vibration detection needs to be coordinated by the two parameters of completion positioning threshold and vibration detection amplitude. 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 U0-16 monitoring quantity. For example, when the vibration amplitude is greater than (P5-12*P4-14*0.001) detection amplitude ratio. For example, in P05-12=800, P04_14=50, the vibration amplitude is greater than P5-12*P4-14*0.001=800*50*0.001=40 pulses, stop vibration frequency can be identified in U0-16.
1230
1231 **(2) Debugging method:**
1232
1233 * Set the appropriate positioning completion thresholds P5-12 and P4-14 to help the software detect the vibration frequency.
1234 * Run the position curve command to obtain the vibration frequency, and obtain the frequency through the speed curve of oscilloscope or U0-16.
1235 * Set P4-12 vibration frequency and enable low frequency vibration suppression function P4-11.
1236 * Run again to observe the speed waveform and determine whether to eliminate the vibration. If the vibration is not eliminated, please manually modify the vibration frequency and try again.
1237
1238 |[[image:image-20230516105941-2.png]]
1239 |Note: If there is a speed substantial vibration and the vibration increases during the debugging, it may be that the low-frequency vibration suppression is not suitable for the current working conditions, please immediately close the servo, or power down!
1240
1241 == Type A vibration suppression ==
1242
1243 Type A vibration suppression is suitable for durational vibration during motor operation or shutdown. Use Type A suppression to help reduce vibrations at specific frequencies that occur during motion (For the situation where the vibration continues to maintain and the vibration amplitude is almost constant after the command is completed.) As shown in Figure 7-14.
1244
1245 (% style="text-align:center" %)
1246 (((
1247 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1248 [[**Figure 7-14 Applicable situations for type A vibration suppression**>>image:20230516-0714.png||id="20230516-0714.png"]]
1249 )))