Wiki source code of 07 Adjustments

Version 71.1 by Mora Zhou on 2024/07/17 14:03

version	line-number	content
1.1	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
1.2	5	(% style="text-align:center" %)
16.5	6	(((
18.1	7	(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
16.5	8	[[Figure 7-1 Gain adjustment process>>image:image-20220608174118-1.png\|\|id="Iimage-20220608174118-1.png"]]
	9	)))
1.1	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
16.5	13	(% class="box infomessage" %)
	14	(((
1.1	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.
16.5	16	)))
1.1	17
18.1	18	(% class="table-bordered" style="margin-right:auto" %)
16.5	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"]]__
69.2	22	\|(% rowspan="3" style="text-align:center; vertical-align:middle" %)3\|(% rowspan="3" 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"]]__
16.5	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"]]__
69.2	24	\|(% style="text-align:center; vertical-align:middle" %)Model tracking control\|Enable model tracking control, shortening the responding time and improving followability.\|(% style="text-align:center; vertical-align:middle" %)7.3.4
	25	\|(% colspan="1" rowspan="3" style="text-align:center; vertical-align:middle" %)4\|(% colspan="1" rowspan="3" 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"]]__
	26	\|Low frequency vibration suppression\|Enable low frequency vibration suppression\|7.4.3
	27	\|Type A vibration suppression\|Enable type A vibration suppression\|7.4.4
1.1	28
	29	Table 7-1 Description of gain adjustment process
	30
	31	= Inertia recognition =
	32
	33	Load inertia ratio P03-01 refers to:
	34
11.2	35	(% style="text-align:center" %)
18.1	36	[[image:image-20220611152902-1.png\|\|class="img-thumbnail"]]
1.1	37
	38	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.
	39
18.1	40	(% class="warning" %)\|(((
1.3	41	(% style="text-align:center" %)
11.2	42	[[image:image-20220611152918-2.png]]
1.3	43	)))
	44	\|(((
1.1	45	Before performing online load inertia recognition, the following conditions should be met:
	46
16.5	47	* The maximum speed of the motor should be greater than 300rpm;
	48	* The actual load inertia ratio is between 0.00 and 100.00;
	49	* The load torque is relatively stable, and the load cannot change drastically during the measurement process;
	50	* The backlash of the load transmission mechanism is within a certain range;
1.1	51
	52	The motor's runable stroke should meet two requirements:
	53
16.5	54	* There is a movable stroke of more than 1 turn in both forward and reverse directions between the mechanical limit switches.
	55	* 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.
	56	* Meet the requirement of inertia recognition turns P03-05.
	57	* 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.
	58	* During the automatic load inertia recognition process, if vibration occurs, the load inertia recognition should be stopped immediately.
1.1	59	)))
	60
	61	The related function codes are shown in the table below.
	62
	63	(% class="table-bordered" %)
16.5	64	\|=(% 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;" %)(((
1.1	65	Setting method
18.1	66	)))\|=(% style="text-align: center; vertical-align: middle; width: 168px;" %)(((
1.1	67	Effective time
18.1	68	)))\|=(% 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
16.5	69	\|=(% 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" %)(((
1.1	70	Operation setting
18.1	71	)))\|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
1.1	72	Effective immediately
18.1	73	)))\|(% 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
16.5	74	\|=(% style="text-align: center; vertical-align: middle; width: 117px;" %)P03-05\|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
1.1	75	Inertia recognition turns
	76	)))\|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
	77	Shutdown setting
18.1	78	)))\|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
1.1	79	Effective immediately
18.1	80	)))\|(% 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
16.5	81	\|=(% style="text-align: center; vertical-align: middle; width: 117px;" %)P03-06\|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
1.1	82	Inertia recognition maximum speed
	83	)))\|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
	84	Shutdown setting
18.1	85	)))\|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
1.1	86	Effective immediately
18.1	87	)))\|(% 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" %)(((
1.1	88	Set the allowable maximum motor speed instruction in offline inertia recognition mode.
	89
	90	The faster the speed during inertia recognition, the more accurate the recognition result will be. Usually, you can keep the default value.
	91	)))\|(% style="text-align:center; vertical-align:middle" %)rpm
16.5	92	\|=(% style="text-align: center; vertical-align: middle; width: 117px;" %)P03-07\|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
1.1	93	Parameter recognition rotation direction
	94	)))\|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
	95	Shutdown setting
18.1	96	)))\|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
1.1	97	Effective immediately
18.1	98	)))\|(% 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" %)(((
1.1	99	0: Forward and reverse reciprocating rotation
	100
	101	1: Forward one-way rotation
	102
	103	2: Reverse one-way rotation
	104	)))\|(% style="text-align:center; vertical-align:middle" %)-
	105
	106	Table 7-2 Related parameters of gain adjustment
	107
	108	= Gain adjustment =
	109
	110	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.
	111
	112	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.
	113
	114	The servo supports automatic gain adjustment and manual gain adjustment. It is recommended to use automatic gain adjustment first.
	115
16.5	116	== Automatic gain adjustment ==
1.1	117
	118	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.
	119
	120	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.
	121
18.1	122	(% class="table-bordered" style="margin-right:auto" %)
	123	(% class="warning" %)\|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611152630-1.png]]
71.1	124	\|(% style="text-align:left; vertical-align:middle" %)(((
	125	Before adjusting the rigidity grade, set the appropriate load inertia ratio P03-01 correctly.
1.1	126
71.1	127	VD2L drive does not support automatic gain adjustment!
	128	)))
	129
1.1	130	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.
	131
	132	(% class="table-bordered" %)
16.5	133	\|=(% scope="row" style="text-align: center; vertical-align: middle;" %)Rigidity grade\|=(% style="text-align: center; vertical-align: middle;" %)Load mechanism type
	134	\|=(% style="text-align: center; vertical-align: middle;" %)Grade 4 to 8\|(% style="text-align:center; vertical-align:middle" %)Some large machinery
	135	\|=(% style="text-align: center; vertical-align: middle;" %)Grade 8 to 15\|(% style="text-align:center; vertical-align:middle" %)Low rigidity applications such as belts
	136	\|=(% 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
1.1	137
	138	Table 7-3 Experience reference of rigidity grade
	139
	140	When the function code P03-03 is set to 0, the gain parameters are stored in the first gain by modifying the rigidity grade.
	141
	142	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:
	143
14.8	144	* Step1 Confirm that the servo is in the ready state, the panel displays “rdy”, and the communication line is connected;
	145	* Step2 Open the host computer debugging software, enter the trial run interface, set the corresponding parameters, and click "Servo on";
	146	* Step3 Click the "forward rotation" or "reverse rotation" button to confirm the travel range of the servo operation;
	147	* Step4 After the "start recognition" of inertia recognition lights up, click "start recognition" to perform inertia recognition, and the load inertia can be measured.
	148	* Step5 After the inertia recognition test is completed, click "Save Inertia Value";
	149	* Step6 Click "Next" at the bottom right to go to the parameter adjustment interface, and click "Parameter measurement" to start parameter measurement.
68.1	150	* Step7 After the parameter measurement is completed, Wecon SCTool will pop up a confirmation window for parameter writing and saving.
1.1	151
	152	(% class="table-bordered" %)
18.1	153	(% class="warning" %)\|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611152634-2.png]]
1.1	154	\|(((
	155	✎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!
	156
	157	✎For the detailed operation of the host computer debugging software, please refer to "Wecon Servo Debugging Platform User Manual".
	158	)))
	159
	160	(% class="table-bordered" %)
18.1	161	\|=(% 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;" %)(((
1.1	162	Setting method
18.1	163	)))\|=(% style="text-align: center; vertical-align: middle; width: 105px;" %)(((
1.1	164	Effective time
18.1	165	)))\|=(% 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
	166	\|=(% 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" %)(((
1.1	167	Operation setting
18.1	168	)))\|(% style="text-align:center; vertical-align:middle; width:105px" %)(((
1.1	169	Effective immediately
18.1	170	)))\|(% style="text-align:center; vertical-align:middle; width:87px" %)0\|(% style="text-align:center; vertical-align:middle; width:83px" %)0 to 2\|(% style="width:431px" %)(((
16.5	171	* 0: Rigidity grade self-adjusting mode. Position loop gain, speed loop gain, speed loop integral time constant, torque filter parameter settings are automatically adjusted according to the rigidity grade setting.
	172	* 1: Manual setting; you need to manually set the position loop gain, speed loop gain, speed loop integral time constant, torque filter parameter setting
	173	* 2: Online automatic parameter self-adjusting mode (Not implemented yet)
1.1	174	)))\|(% style="text-align:center; vertical-align:middle" %)-
	175
	176	Table 7-4 Details of self-adjusting mode selection parameters
	177
16.5	178	== Manual gain adjustment ==
1.1	179
	180	When the servo automatic gain adjustment fails to achieve the desired result, you can manually fine-tune the gain to achieve better results.
	181
	182	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.
	183
1.2	184	(% style="text-align:center" %)
16.5	185	(((
18.1	186	(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
16.5	187	[[Figure 7-2 Basic block diagram of servo loop gain>>image:image-20220608174209-2.png\|\|id="Iimage-20220608174209-2.png"]]
	188	)))
1.1	189
	190	The more the inner loop is, the higher the responsiveness is required. Failure to comply with this principle may lead to system instability!
	191
	192	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.
	193
19.2	194	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.
1.1	195
	196	(% class="table-bordered" %)
16.5	197	\|=(% scope="row" style="text-align: center; vertical-align: middle; width: 450px;" %)Function code\|=(% style="text-align: center; vertical-align: middle; width: 751px;" %)Name
	198	\|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-01\|(% style="width:751px" %)The 1st position loop gain
	199	\|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-02\|(% style="width:751px" %)The 1st speed loop gain
	200	\|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-03\|(% style="width:751px" %)The 1st speed loop integral time constant
	201	\|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-04\|(% style="width:751px" %)The 2nd position loop gain
	202	\|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-05\|(% style="width:751px" %)The 2nd speed loop gain
	203	\|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-06\|(% style="width:751px" %)The 2nd speed loop integral time constant
	204	\|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P04-04\|(% style="width:751px" %)Torque filter time constant
1.1	205
16.5	206	Speed loop gain
1.1	207
	208	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.
	209
	210	(% class="table-bordered" %)
16.5	211	\|=(% 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;" %)(((
1.1	212	Setting method
16.5	213	)))\|=(% style="text-align: center; vertical-align: middle; width: 128px;" %)(((
1.1	214	Effective time
16.5	215	)))\|=(% 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
	216	\|=(% 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" %)(((
1.1	217	Operation setting
16.5	218	)))\|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
1.1	219	Effective immediately
16.5	220	)))\|(% 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
	221	\|=(% 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" %)(((
1.1	222	Operation setting
16.5	223	)))\|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
1.1	224	Effective immediately
16.5	225	)))\|(% 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
1.1	226
	227	Table 7-5 Speed loop gain parameters
	228
14.11	229	(% style="text-align:center" %)
16.5	230	(((
18.1	231	(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
16.5	232	[[Figure 7-3 Speed loop gain effect illustration>>image:image-20220706152743-1.jpeg\|\|id="Iimage-20220706152743-1.jpeg"]]
	233	)))
14.11	234
16.5	235	Speed loop integral time constant
14.11	236
1.1	237	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.
	238
	239	(% class="table-bordered" %)
16.5	240	\|=(% 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;" %)(((
1.1	241	Setting method
16.5	242	)))\|=(% style="text-align: center; vertical-align: middle; width: 112px;" %)(((
1.1	243	Effective time
16.5	244	)))\|=(% 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
	245	\|=(% style="text-align: center; vertical-align: middle; width: 98px;" %)P02-03\|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
1.1	246	1st speed loop integral time constant
16.5	247	)))\|(% style="text-align:center; vertical-align:middle; width:122px" %)(((
1.1	248	Operation setting
16.5	249	)))\|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
1.1	250	Effective immediately
16.5	251	)))\|(% 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" %)(((
	252	0.1ms
1.1	253	)))
16.5	254	\|=(% style="text-align: center; vertical-align: middle; width: 98px;" %)P02-06\|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
1.1	255	2nd speed loop integral time constant
16.5	256	)))\|(% style="text-align:center; vertical-align:middle; width:122px" %)(((
1.1	257	Operation setting
16.5	258	)))\|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
1.1	259	Effective immediately
16.5	260	)))\|(% 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" %)(((
	261	0.1ms
1.1	262	)))
	263
	264	Table 7-6 Speed loop integral time constant parameters
	265
14.13	266	(% style="text-align:center" %)
16.5	267	(((
18.1	268	(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
16.5	269	[[Figure 7-4 Speed loop integral time constant effect illustration>>image:image-20220706153140-2.jpeg\|\|id="Iimage-20220706153140-2.jpeg"]]
	270	)))
14.13	271
16.5	272	Position loop gain
14.13	273
1.1	274	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.
	275
	276	(% class="table-bordered" %)
18.1	277	\|=(% 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;" %)(((
1.1	278	Setting method
18.1	279	)))\|=(% style="text-align: center; vertical-align: middle; width: 114px;" %)(((
1.1	280	Effective time
18.1	281	)))\|=(% 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
	282	\|=(% 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" %)(((
1.1	283	Operation setting
18.1	284	)))\|(% style="text-align:center; vertical-align:middle; width:114px" %)(((
1.1	285	Effective immediately
18.1	286	)))\|(% 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
	287	\|=(% 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" %)(((
1.1	288	Operation setting
18.1	289	)))\|(% style="text-align:center; vertical-align:middle; width:114px" %)(((
1.1	290	Effective immediately
18.1	291	)))\|(% 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
1.1	292
	293	Table 7-7 Position loop gain parameters
	294
14.14	295	(% style="text-align:center" %)
16.5	296	(((
18.1	297	(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
16.5	298	[[Figure 7-5 Position loop gain effect illustration>>image:image-20220706153656-3.jpeg\|\|id="Iimage-20220706153656-3.jpeg"]]
	299	)))
14.14	300
16.5	301	Torque instruction filter time
14.14	302
1.1	303	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.
	304
	305	(% class="table-bordered" %)
16.5	306	\|=(% 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;" %)(((
1.1	307	Setting method
18.1	308	)))\|=(% style="text-align: center; vertical-align: middle; width: 127px;" %)(((
1.1	309	Effective time
18.1	310	)))\|=(% style="text-align: center; vertical-align: middle; width: 79px;" %)Default value\|=(% style="text-align: center; vertical-align: middle; width: 371px;" %)Definition\|=(% style="text-align: center; vertical-align: middle;" %)Unit
16.5	311	\|=(% 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" %)(((
1.1	312	Operation setting
18.1	313	)))\|(% style="text-align:center; vertical-align:middle; width:127px" %)(((
1.1	314	Effective immediately
18.1	315	)))\|(% style="text-align:center; vertical-align:middle; width:79px" %)50\|(% style="width:371px" %)This parameter is automatically set when “self-adjustment mode selection” is selected as 1 or 2\|(% style="text-align:center; vertical-align:middle" %)0.01ms
1.1	316
	317	Table 7-8 Details of torque filter time constant parameters
	318
	319	== Feedforward gain ==
	320
	321	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.
	322
16.5	323	Speed feedforward parameters are shown in __Table 7-9__. Torque feedforward parameters are shown in __Table 7-10__.
1.1	324
	325	Torque feedforward could improve the response to the torque instruction and reduce the position deviation with fixed acceleration and deceleration.
	326
	327	(% class="table-bordered" %)
16.5	328	\|=(% 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
	329	\|=(% 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" %)(((
1.1	330	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.
	331
	332	Position deviation (instruction unit) = instruction speed[instruction unit/s]÷position loop gain [1/s]×(100－speed feedforward gain [%])÷100
	333	)))
16.5	334	\|=(% 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
1.1	335
	336	Table 7-9 Speed feedforward parameters
	337
17.1	338	(% style="text-align:center" %)
	339	(((
68.1	340	(% class="wikigeneratedid img-thumbnail" style="display:inline-block;" %)
18.1	341	[[Figure 7-6 Speed feedforward parameters effect illustration>>image:image-20220706155307-4.jpeg\|\|height="119" id="Iimage-20220706155307-4.jpeg" width="835"]]
17.1	342	)))
14.18	343
	344
1.1	345	(% class="table-bordered" %)
18.1	346	\|=(% 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
	347	\|=(% 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.
	348	\|=(% 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
1.1	349
	350	Table 7-10 Torque feedforward parameters
	351
18.2	352	== Model Tracking Control Function ==
	353
19.3	354	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:
18.2	355
	356	(% style="text-align:center" %)
19.3	357	(((
68.1	358	(% class="wikigeneratedid img-thumbnail" style="display:inline-block;" %)
25.2	359	[[Figure 7-7 Block Diagram of Model Tracking Control Design>>image:20230515-7.png\|\|height="394" id="20230515-7.png" width="931"]]
19.3	360	)))
18.2	361
	362	The usage method and conditions of model tracking control:
	363
	364	~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.
	365
19.3	366	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).
18.2	367
	368	3. Set P2-20=1 to enable the function of model tracking control.
	369
	370	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.
	371
	372	5. After the responsiveness meets the requirements, user can adjust the parameters appropriately to increase the load rigidity level P3-2.
	373
21.2	374	(% class="box infomessage" %)
	375	(((
18.2	376	✎Note: Model tracking control is only available in position mode, and cannot be used in other modes.
22.1	377	)))
18.2	378
19.3	379	(% class="table-bordered" %)
	380	\|=(% 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;" %)(((
	381	Setting method
	382	)))\|=(% style="text-align: center; vertical-align: middle; width: 128px;" %)(((
	383	Effective time
	384	)))\|=(% 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
66.2	385	\|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P2-20\|(% style="text-align:center; vertical-align:middle; width:163px" %)(((
	386	Enable model(% style="background-color:transparent" %) tracking control function
	387	)))\|(% style="text-align:center; vertical-align:middle; width:122px" %)(((
21.2	388	Shutdown setting
	389	)))\|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
19.3	390	Effective immediately
21.2	391	)))\|(% 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.\|
23.3	392	\|=(% 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" %)(((
21.2	393	Shutdown setting
23.2	394	)))\|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
19.3	395	Effective immediately
23.3	396	)))\|(% 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
24.7	397	\|=(% 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" %)(((
	398	Shutdown setting
	399	)))\|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
19.3	400	Effective immediately
24.8	401	)))\|(% 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%
18.2	402
19.3	403	(% class="table-bordered" %)
	404	\|=(% 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;" %)(((
	405	Setting method
	406	)))\|=(% style="text-align: center; vertical-align: middle; width: 128px;" %)(((
	407	Effective time
	408	)))\|=(% 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
21.2	409	\|=(% 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\|(((
19.3	410	Operation setting
23.2	411	)))\|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
19.3	412	Effective immediately
23.3	413	)))\|(% 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%
21.2	414	\|=(% 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\|(((
19.3	415	Operation setting
23.2	416	)))\|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
19.3	417	Effective immediately
24.9	418	)))\|(% 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%
23.2	419	\|=(% 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" %)(((
19.3	420	Effective immediately
21.2	421	)))\|(% 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%
18.2	422
	423	Please refer to the following for an example of the procedure of adjusting servo gain.
	424
24.1	425	(% style="width:1508px" %)
24.11	426	\|=(% style="text-align:center; vertical-align:middle; width:80px" %)Step\|=(% style="text-align:center; vertical-align:middle; width:1420px" %)Content
24.3	427	\|=(% style="text-align: center; vertical-align: middle; width: 80px;" %)1\|Please try to set the correct load inertia ratio parameter P3-1.
24.4	428	\|=(% 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.
24.5	429	\|=(% style="text-align: center; vertical-align: middle; width: 80px;" %)3\|Turn on the model tracking function, set P2-20 to 1.
	430	\|=(% 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.
	431	\|=(% 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.
	432	\|=(% 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.
22.2	433
	434	== Gain switching ==
	435
28.1	436	Gain switching function:
22.2	437
27.1	438	● Switch to a lower gain in the motor stationary (servo enabled)state to suppress vibration;
22.2	439
27.1	440	● Switch to a higher gain in the motor stationary state to shorten the positioning time;
22.2	441
27.1	442	● Switch to a higher gain in the motor running state to get better command tracking performance;
22.2	443
27.1	444	● Switch different gain settings by external signals depending on the load connected.
22.2	445
28.1	446	Gain switching parameter setting
22.2	447
	448	①When P02-07=0
	449
	450	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).
	451
	452	(% style="text-align:center" %)
28.5	453	(((
	454	(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
29.1	455	[[image:20230515-8.png\|\|height="378" id="20230515-8.png" width="363"]]
28.5	456	)))
22.2	457
	458	② When P02-07=1
	459
	460	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).
	461
	462	(% style="text-align:center" %)
28.2	463	(((
	464	(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	465	[[Figure 7-9 Flow chart of gain switching when P02-07=1>>image:20230515-9.png\|\|id="20230515-9.png"]]
	466	)))
22.2	467
37.4	468	\|=(% 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
	469	\|=(% 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" %)~-~-
	470	\|=(% style="text-align:center; vertical-align:middle" %)1\|(% style="text-align:center; vertical-align:middle; width:464px" %)Switching with DI\|(% style="width:946px" %)~-~-
34.2	471	\|=(% style="text-align:center; vertical-align:middle" %)(((
22.2	472	2
37.4	473	)))\|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
22.2	474	Large torque command
43.5	475	)))\|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-1.png\|\|height="310" width="543"]]
37.4	476	\|=(% style="text-align:center; vertical-align:middle" %)(((
22.2	477	3
43.4	478	)))\|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
	479	Large actual torque
43.5	480	)))\|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-2.png\|\|height="252" width="550"]]
37.4	481	\|=(% style="text-align:center; vertical-align:middle" %)(((
22.2	482	4
38.1	483	)))\|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
22.2	484	Large speed command
43.5	485	)))\|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-3.png\|\|height="212" width="558"]]
37.4	486	\|=(% style="text-align:center; vertical-align:middle" %)(((
22.2	487	5
37.4	488	)))\|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
22.2	489	Fast actual speed
43.5	490	)))\|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-4.png\|\|height="223" width="561"]]
37.4	491	\|=(% style="text-align:center; vertical-align:middle" %)(((
22.2	492	6
37.4	493	)))\|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
22.2	494	Speed command change rate is large
43.5	495	)))\|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-5.png\|\|height="327" width="570"]]
43.3	496	\|=(% style="text-align:center; vertical-align:middle;width:74px" %)(((
22.2	497	7
37.4	498	)))\|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
22.2	499	Large position deviation
43.5	500	)))\|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-6.png\|\|height="305" width="574"]]
37.4	501	\|=(% style="text-align:center; vertical-align:middle;" %)(((
22.2	502	8
37.4	503	)))\|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
22.2	504	Position command
43.5	505	)))\|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-7.png\|\|height="280" width="570"]]
37.4	506	\|=(% style="text-align:center; vertical-align:middle; width:74px" %)(((
22.2	507	9
37.4	508	)))\|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
22.2	509	Positioning completed
44.2	510	)))\|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-8.png\|\|height="302" width="553"]]
37.4	511	\|=(% style="text-align:center; vertical-align:middle" %)(((
22.2	512	10
37.4	513	)))\|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
22.2	514	Position command + actual speed
37.4	515	)))\|(% style="text-align:center; vertical-align:middle; width:946px" %)(((
22.2	516	Refer to the chart below
	517	)))
	518
	519	(% style="text-align:center" %)
38.2	520	(((
	521	(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	522	[[Figure 7-10 P02-08=10 Position command + actual speed gain description>>image:20230515-10.png\|\|id="Iimage-20220608174118-1.png"]]
	523	)))
22.2	524
38.3	525	Description of related parameters
22.2	526
38.11	527	\|=(% rowspan="2" style="text-align: center; vertical-align: middle; width:120px" %)
38.8	528	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
39.1	529	\|(% 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\|
22.2	530	\|(% colspan="8" %)(((
	531	Set the switching mode of the second gain.
	532
40.5	533	\|=(% style="text-align: center; vertical-align: middle; width:120px" %)Setting value\|=(% style="text-align: center; vertical-align: middle" %)Function
39.2	534	\|=(% style="text-align: center; vertical-align: middle" %)0\|(((
22.2	535	The first gain is used by default. Switching using DI function 10 (GAIN-SEL, gain switching):
	536
	537	DI logic invalid: PI control;
	538
	539	DI logic valid: PI control.
	540	)))
39.2	541	\|=(% style="text-align: center; vertical-align: middle" %)1\|The first gain and the second gain are switched by the setting value of P02-08.
22.2	542	)))
	543
40.3	544	\|=(% 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
40.4	545	\|(% 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\|
22.2	546	\|(% colspan="8" %)(((
	547	Set the conditions for gain switching.
	548
40.5	549	\|=(% 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
40.9	550	\|=(% 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
40.17	551	\|=(% style="text-align: center; vertical-align: middle" %)1\|(% style="text-align:center; vertical-align:middle" %)Switch by DI port\|(((
22.2	552	Use DI function 10 (GAIN-SEL, gain switching);
	553
	554	DI logic is invalid: the first gain (P02-01~~P02-03);
	555
	556	DI logic is valid: the second gain (P02-04~~P02-06).
	557	)))
40.17	558	\|=(% style="text-align: center; vertical-align: middle" %)2\|(% style="text-align:center; vertical-align:middle" %)Large torque command\|(((
22.2	559	In the previous first gain, when the absolute value of torque command is greater than (grade + hysteresis), the second gain is switched;
	560
	561	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.
	562	)))
40.17	563	\|=(% style="text-align: center; vertical-align: middle" %)3\|(% style="text-align:center; vertical-align:middle" %)Large actual torque\|(((
22.2	564	In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched;
	565
30.2	566	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.
22.2	567	)))
40.17	568	\|=(% style="text-align: center; vertical-align: middle" %)4\|(% style="text-align:center; vertical-align:middle" %)Large speed command\|(((
22.2	569	In the previous first gain, when the absolute value of speed command is greater than (grade + hysteresis), the second gain is switched;
	570
40.6	571	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.
22.2	572	)))
40.17	573	\|=(% style="text-align: center; vertical-align: middle" %)5\|(% style="text-align:center; vertical-align:middle" %)Large actual speed\|(((
22.2	574	In the previous first gain, when the absolute value of actual speed is greater than (grade + hysteresis), the second gain is switched;
	575
40.6	576	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.
22.2	577	)))
40.17	578	\|=(% style="text-align: center; vertical-align: middle" %)6\|(% style="text-align:center; vertical-align:middle" %)Large rate of change in speed command\|(((
22.2	579	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;
	580
40.15	581	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.
22.2	582	)))
40.17	583	\|=(% style="text-align: center; vertical-align: middle" %)7\|(% style="text-align:center; vertical-align:middle" %)Large position deviation\|(((
22.2	584	In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched;
	585
40.9	586	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.
22.2	587	)))
40.17	588	\|=(% style="text-align: center; vertical-align: middle" %)8\|(% style="text-align:center; vertical-align:middle" %)Position command\|(((
22.2	589	In the previous first gain, if the position command is not 0, switch to the second gain;
	590
	591	In the previous second gain, if the position command is 0 and the duration is greater than [P02-13], the first gain is returned.
	592	)))
40.17	593	\|=(% style="text-align: center; vertical-align: middle" %)9\|(% style="text-align:center; vertical-align:middle" %)Positioning complete\|(((
22.2	594	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.
	595	)))
40.17	596	\|=(% style="text-align: center; vertical-align: middle" %)10\|(% style="text-align:center; vertical-align:middle" %)Position command + actual speed\|(((
22.2	597	In the previous first gain, if the position command is not 0, the second gain is switched;
	598
	599	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).
	600	)))
40.15	601	)))
22.2	602
41.2	603	\|=(% 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
40.18	604	\|(% 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
45.5	605	\|(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
22.2	606	The duration of the switching condition required for the second gain to switch back to the first gain.
	607
45.5	608	[[image:image-20230515140953-9.png]]
	609
22.2	610	✎Note: This parameter is only valid when the second gain is switched back to the first gain.
	611	)))
	612
41.2	613	\|=(% 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
41.8	614	\|(% 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
45.6	615	\|(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
22.2	616	Set the grade of the gain condition. The generation of the actual switching action is affected by the two conditions of grade and hysteresis.
	617
45.6	618	[[image:image-20230515140953-10.png]]
22.2	619	)))
	620
41.2	621	\|=(% 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
41.9	622	\|(% 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
45.6	623	\|(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
22.2	624	Set the hysteresis to meet the gain switching condition.
	625
45.6	626	[[image:image-20230515140953-11.png]]
22.2	627	)))
	628
41.3	629	\|=(% 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
41.9	630	\|(% 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
45.6	631	\|(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
22.2	632	Set the time for switching from the first position loop (P02-01) to the second position loop (P02-04) in the position control mode.
	633
45.6	634	[[image:image-20230515140953-12.png]]\|
44.5	635
22.2	636	If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately.
	637	)))
	638
	639	= Mechanical resonance suppression =
	640
	641	== Mechanical resonance suppression methods ==
	642
	643	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.
	644
	645	Torque instruction filter
	646
	647	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:
	648
	649	(% style="text-align:center" %)
	650	[[image:image-20220706155820-5.jpeg\|\|class="img-thumbnail"]]
	651
	652	Notch filter
	653
	654	The notch filter can achieve the expectation of suppressing mechanical resonance by reducing the gain at a specific frequency. When setting the notch filter correctly, the vibration can be effectively suppressed. You can try to increase the servo gain. The principle of the notch filter is shown in __Figure 7-3__.
	655
	656	== Notch filter ==
	657
	658	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.
	659
	660	Width grade of notch filter
	661
	662	The notch width grade is used to express the ratio of the notch width to the center frequency of the notch:
	663
	664	(% style="text-align:center" %)
	665	[[image:image-20220706155836-6.png\|\|class="img-thumbnail"]]
	666
	667	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.
	668
	669	Depth grade of notch filter
	670
	671	The depth grade of notch filter represents the ratio relationship between input and output at center frequency.
	672
	673	When the notch filter depth grade is 0, the input is completely suppressed at center frequency. When the notch filter depth grade is 100, the input is completely passable at center frequency. Therefore, the smaller the the notch filter depth grade is set, the deeper the the notch filter depth, and the stronger the suppression of mechanical resonance. But the system may be unstable, you should pay attention to it when using it. The specific relationship is shown in __Figure 7-4__.
	674
	675	(% style="text-align:center" %)
	676	(((
	677	(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	678	[[Figure 7-7 Notch characteristics, notch width, and notch depth>>image:image-20220608174259-3.png\|\|id="Iimage-20220608174259-3.png"]]
	679	)))
	680
	681
	682	(% style="text-align:center" %)
	683	(((
	684	(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	685	[[Figure 7-8 Frequency characteristics of notch filter>>image:image-20220706160046-9.png\|\|id="Iimage-20220706160046-9.png"]]
	686	)))
	687
	688
	689	(% class="table-bordered" %)
	690	\|=(% 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;" %)(((
	691	Setting method
	692	)))\|=(% style="text-align: center; vertical-align: middle; width: 121px;" %)(((
	693	Effective time
	694	)))\|=(% 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
	695	\|=(% 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" %)(((
	696	Operation setting
	697	)))\|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
	698	Effective immediately
	699	)))\|(% 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
	700	\|=(% 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" %)(((
	701	Operation setting
	702	)))\|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
	703	Effective immediately
	704	)))\|(% 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" %)(((
	705	1. 0: all truncated
	706	1. 100: all passed
	707	)))\|(% style="text-align:center; vertical-align:middle; width:96px" %)-
	708	\|=(% 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" %)(((
	709	Operation setting
	710	)))\|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
	711	Effective immediately
	712	)))\|(% 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" %)(((
	713	1. 0: 0.5 times the bandwidth
	714	1. 4: 1 times the bandwidth
	715	1. 8: 2 times the bandwidth
	716	1. 12: 4 times the bandwidth
	717	)))\|(% style="text-align:center; vertical-align:middle; width:96px" %)-
	718	\|=(% 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" %)(((
	719	Operation setting
	720	)))\|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
	721	Effective immediately
	722	)))\|(% 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
	723	\|=(% 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" %)(((
	724	Operation setting
	725	)))\|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
	726	Effective immediately
	727	)))\|(% 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" %)(((
	728	1. 0: all truncated
	729	1. 100: all passed
	730	)))\|(% style="text-align:center; vertical-align:middle; width:96px" %)-
	731	\|=(% 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" %)(((
	732	Operation setting
	733	)))\|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
	734	Effective immediately
	735	)))\|(% 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" %)(((
	736	1. 0: 0.5 times the bandwidth
	737	1. 4: 1 times the bandwidth
	738	1. 8: 2 times the bandwidth
	739	1. 12: 4 times the bandwidth
	740	)))\|(% style="text-align:center; vertical-align:middle; width:96px" %)-
	741
	742	Table 7-11 Notch filter function code parameters
46.2	743
47.2	744	== Low frequency vibration suppression ==
46.2	745
	746	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.
	747
	748	(% style="text-align:center" %)
	749	(((
	750	(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
46.3	751	[[Figure 7-13 Applicable working conditions for low-frequency vibration suppression>>image:20230516-0713.png\|\|id="20230516-0713.png"]]
46.2	752	)))
48.1	753
65.1	754	\|=(% scope="row" style="text-align: center; vertical-align: middle; width: 134px;" %)Function code\|=(% style="text-align: center; vertical-align: middle; width: 258px;" %)Name\|=(% style="text-align: center; vertical-align: middle; width: 127px;" %)(((
55.5	755	Setting method
65.1	756	)))\|=(% style="text-align: center; vertical-align: middle; width: 157px;" %)(((
55.3	757	Effective time
65.1	758	)))\|=(% style="text-align: center; vertical-align: middle; width: 121px;" %)Default value\|=(% style="text-align: center; vertical-align: middle; width: 116px;" %)Range\|=(% style="text-align: center; vertical-align: middle; width: 462px;" %)Definition\|=(% style="text-align: center; vertical-align: middle; width: 115px;" %)Unit
	759	\|=(% style="text-align: center; vertical-align: middle; width: 134px;" %)P4-11\|(% style="text-align:center; vertical-align:middle; width:258px" %)Enable low-frequency vibration suppression function\|(% style="text-align:center; vertical-align:middle; width:127px" %)(((
55.6	760	Operation setting
65.1	761	)))\|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
55.6	762	Effective immediately
65.1	763	)))\|(% style="text-align:center; vertical-align:middle; width:121px" %)0\|(% style="text-align:center; vertical-align:middle; width:116px" %)0 to 1\|(% style="width:462px" %)When the function code is set to 1, enable the low-frequency vibration suppression function.\|(% style="width:115px" %)
	764	\|=(% style="text-align: center; vertical-align: middle; width: 134px;" %)P4-12\|(% style="text-align:center; vertical-align:middle; width:258px" %)Low-frequency vibration suppression frequency\|(% style="text-align:center; vertical-align:middle; width:127px" %)(((
55.7	765	Operation setting
65.1	766	)))\|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
55.7	767	Effective immediately
65.1	768	)))\|(% style="text-align:center; vertical-align:middle; width:121px" %)800\|(% style="text-align:center; vertical-align:middle; width:116px" %)10 to 2000\|(% style="width:462px" %)Set the vibration frequency when vibration occurs at the load end.\|(% style="text-align:center; vertical-align:middle; width:115px" %)0.1HZ
	769	\|=(% style="text-align: center; vertical-align: middle; width: 134px;" %)P4-14\|(% style="text-align:center; vertical-align:middle; width:258px" %)Shutdown vibration detection amplitude\|(% style="text-align:center; vertical-align:middle; width:127px" %)(((
55.7	770	Operation setting
65.1	771	)))\|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
55.7	772	Effective immediately
65.1	773	)))\|(% style="text-align:center; vertical-align:middle; width:121px" %)100\|(% style="text-align:center; vertical-align:middle; width:116px" %)0 to 1000\|(% style="width:462px" %)When the vibration amplitude is greater than (P5-12*P4-14 detection amplitude ratio), the low-frequency vibration frequency can be recognized and updated to the U0-16 monitor quantity.\|(% style="text-align:center; vertical-align:middle; width:115px" %)0.001
50.3	774
55.13	775	Vibration frequency detection:
50.3	776
	777	* Users can measure vibration by measuring equipment such as laser displacement．
	778	* 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.
	779	* 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 (P5-12P4-14 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 (P5-12P4-140.001) detection amplitude ratio. For example, in P05-12=800, P04_14=50, the vibration amplitude is greater than P5-12P4-140.001=80050*0.001=40 pulses, stop vibration frequency can be identified in U0-16.
	780
55.13	781	Debugging method:
50.3	782
	783	* Set the appropriate positioning completion thresholds P5-12 and P4-14 to help the software detect the vibration frequency.
	784	* Run the position curve command to obtain the vibration frequency, and obtain the frequency through the speed curve of oscilloscope or U0-16.
	785	* Set P4-12 vibration frequency and enable low frequency vibration suppression function P4-11.
	786	* 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.
	787
57.2	788	(% class="table-bordered" style="margin-right:auto" %)
	789	(% class="warning" %)\|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230516105941-2.png]]
	790	\|(% style="text-align:left; vertical-align:middle" %)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!
50.3	791
48.4	792	== Type A vibration suppression ==
48.1	793
49.2	794	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.
48.1	795
	796	(% style="text-align:center" %)
	797	(((
	798	(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
58.2	799	[[Figure 7-14 Applicable situations for type A vibration suppression>>image:20230516-0714.png]]
48.1	800	)))
58.2	801
66.1	802	\|=(% scope="row" style="text-align: center; vertical-align: middle; width: 136px;" %)Function code\|=(% style="text-align: center; vertical-align: middle; width: 225px;" %)Name\|=(% style="text-align: center; vertical-align: middle; width: 121px;" %)(((
58.3	803	Setting method
64.1	804	)))\|=(% style="text-align: center; vertical-align: middle; width: 112px;" %)(((
58.3	805	Effective time
64.1	806	)))\|=(% style="text-align: center; vertical-align: middle; width: 114px;" %)Default value\|=(% style="text-align: center; vertical-align: middle; width: 183px;" %)Range\|=(% style="text-align: center; vertical-align: middle; width: 501px;" %)Definition\|=(% style="text-align: center; vertical-align: middle; width: 96px" %)Unit
66.1	807	\|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)P4-19\|(% style="text-align:center; vertical-align:middle; width:225px" %)Enable the type A suppression function\|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
58.4	808	Operation setting
64.1	809	)))\|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
58.4	810	Effective immediately
64.1	811	)))\|(% style="text-align:center; vertical-align:middle; width:114px" %)0\|(% style="text-align:center; vertical-align:middle; width:183px" %)0 to 1\|(% style="width:501px" %)When the function code is set to 1, enable the type A suppression function.\|
66.1	812	\|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)P4-20\|(% style="text-align:center; vertical-align:middle; width:225px" %)Type A suppression frequency\|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
58.4	813	Operation setting
64.1	814	)))\|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
58.4	815	Effective immediately
64.1	816	)))\|(% style="text-align:center; vertical-align:middle; width:114px" %)1000\|(% style="text-align:center; vertical-align:middle; width:183px" %)100 to 20000\|(% style="width:501px" %)Set the frequency of Type A suppression.\|(% style="text-align:center; vertical-align:middle" %)0.1HZ
66.1	817	\|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)P4-21\|(% style="text-align:center; vertical-align:middle; width:225px" %)Type A suppression gain correction\|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
58.4	818	Operation setting
64.1	819	)))\|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
58.4	820	Effective immediately
64.1	821	)))\|(% style="text-align:center; vertical-align:middle; width:114px" %)100\|(% style="text-align:center; vertical-align:middle; width:183px" %)0 to 1000\|(% style="width:501px" %)Correct the load inertia ratio size.\|(% style="text-align:center; vertical-align:middle" %)0.01
66.1	822	\|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)P4-22\|(% style="text-align:center; vertical-align:middle; width:225px" %)Type A suppression damping gain\|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
58.4	823	Operation setting
64.1	824	)))\|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
58.4	825	Effective immediately
64.1	826	)))\|(% style="text-align:center; vertical-align:middle; width:114px" %)0\|(% style="text-align:center; vertical-align:middle; width:183px" %)0 to 500\|(% style="width:501px" %)The type A rejection compensation value is gradually increased until the vibration is reduced to the acceptable range.\|(% style="text-align:center; vertical-align:middle" %)0.01
66.1	827	\|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)P4-23\|(% style="text-align:center; vertical-align:middle; width:225px" %)Type A suppression phase correction\|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
58.4	828	Operation setting
64.1	829	)))\|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
58.4	830	Effective immediately
64.1	831	)))\|(% style="text-align:center; vertical-align:middle; width:114px" %)200\|(% style="text-align:center; vertical-align:middle; width:183px" %)0 to 900\|(% style="width:501px" %)Type A suppression phase compensation.\|(% style="text-align:center; vertical-align:middle" %)0.1 degree
58.2	832
	833	Vibration frequency detection:
	834
	835	The vibration frequency can directly obtain the value of the current vibration frequency from the software oscilloscope vibration frequency, combined with real-time speed waveform to observe the current vibration situation.
	836
	837	Debugging method:
	838
	839	* Please set the correct inertia ratio parameter P3-1 when using type A vibration suppression,
	840	* Run the position curve command, observe the servo host computer software waveform interface (sine wave) to obtain the vibration frequency.
	841	* Set P4-20 vibration frequency and enable type A vibration suppression function P4-19. ( Type A vibration frequency takes effect when P4-19 is set to 1 for the first time. If change A-type vibration frequency P4-20, please set P4-19 to 0 again, then set to 1)
	842	* Set P4-22 damping gain, gradually increasing from 0, each time increasing about 20.
	843	* Observe the size of the vibration speed component, if the amplitude speed component is getting larger, it can be the vibration frequency setting error, if the vibration speed component is getting smaller, it means the vibration is gradually suppressed.
	844	* When the vibration is suppressed, there is still a small part of the vibration speed component, users can fine-tune the P4-23 phase correction, the recommended value of 150~~300.
	845
58.10	846	(% class="table-bordered" style="margin-right:auto" %)
	847	(% class="warning" %)\|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230516135116-1.png]]
	848	\|(% style="text-align:left; vertical-align:middle" %)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!

Wiki source code of 07 Adjustments

Navigation

Table of Contents