Wiki source code of 07 Adjustments

Last modified by Iris on 2026/04/17 15:15

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
	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 gains are composed of multiple parameter sets, including position loop gain, speed loop gain, filter coefficients, and load inertia ratio. These gains affect each other, requiring balanced adjustment of all parameter values during servo tuning."
	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
2.1	20	\|(% style="text-align:center; vertical-align:middle; width:46px" %)1\|(% colspan="2" style="text-align:center; vertical-align:middle; width:279px" %)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; width:46px" %)2\|(% colspan="2" style="text-align:center; vertical-align:middle; width:279px" %)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="3" style="text-align:center; vertical-align:middle; width:46px" %)3\|(% rowspan="3" style="text-align:center; vertical-align:middle; width:116px" %)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"]]__
1.1	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" %)Model tracking control\|Enable model tracking control, shortening the responding time and improving followability.\|(% style="text-align:center; vertical-align:middle" %)7.3.4
2.1	25	\|(% colspan="1" rowspan="3" style="text-align:center; vertical-align:middle; width:46px" %)4\|(% colspan="1" rowspan="3" style="text-align:center; vertical-align:middle; width:116px" %)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"]]__
1.1	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
	28
	29	Table 7-1 Description of gain adjustment process
	30
	31	= Inertia recognition =
	32
	33	Load inertia ratio P03-01 refers to:
	34
	35	(% style="text-align:center" %)
	36	[[image:image-20220611152902-1.png\|\|class="img-thumbnail"]]
	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
	40	(% class="warning" %)\|(((
	41	(% style="text-align:center" %)
	42	[[image:image-20220611152918-2.png]]
	43	)))
	44	\|(((
	45	Before performing online load inertia recognition, the following conditions should be met:
	46
	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;
	51
	52	The motor's runable stroke should meet two requirements:
	53
	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.
	59	)))
	60
	61	The related function codes are shown in the table below.
	62
	63	(% class="table-bordered" %)
	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;" %)(((
	65	Setting method
	66	)))\|=(% style="text-align: center; vertical-align: middle; width: 168px;" %)(((
	67	Effective time
	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
	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" %)(((
	70	Operation setting
	71	)))\|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
	72	Effective immediately
	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
	74	\|=(% style="text-align: center; vertical-align: middle; width: 117px;" %)P03-05\|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
	75	Inertia recognition turns
	76	)))\|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
	77	Shutdown setting
	78	)))\|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
	79	Effective immediately
	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
	81	\|=(% style="text-align: center; vertical-align: middle; width: 117px;" %)P03-06\|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
	82	Inertia recognition maximum speed
	83	)))\|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
	84	Shutdown setting
	85	)))\|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
	86	Effective immediately
	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" %)(((
	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
2.1	92	\|=(% style="text-align: center; vertical-align: middle; width: 117px;" %)(((
	93	P03-07
	94
	95	(Not supported on VD2L)
	96	)))\|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
1.1	97	Parameter recognition rotation direction
	98	)))\|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
	99	Shutdown setting
	100	)))\|(% style="text-align:center; vertical-align:middle; width:168px" %)(((
	101	Effective immediately
	102	)))\|(% 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" %)(((
	103	0: Forward and reverse reciprocating rotation
	104
	105	1: Forward one-way rotation
	106
	107	2: Reverse one-way rotation
2.1	108
	109	(*VD2L currently does not support forward one-way rotation, reverse one-way rotation)
1.1	110	)))\|(% style="text-align:center; vertical-align:middle" %)-
	111
	112	Table 7-2 Related parameters of gain adjustment
	113
	114	= Gain adjustment =
	115
	116	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.
	117
	118	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.
	119
	120	The servo supports automatic gain adjustment and manual gain adjustment. It is recommended to use automatic gain adjustment first.
	121
	122	== Automatic gain adjustment ==
	123
	124	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.
	125
	126	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.
	127
	128	(% class="table-bordered" style="margin-right:auto" %)
	129	(% class="warning" %)\|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611152630-1.png]]
	130	\|(% style="text-align:left; vertical-align:middle" %)(((
	131	Before adjusting the rigidity grade, set the appropriate load inertia ratio P03-01 correctly.
	132
	133	VD2L drive does not support automatic gain adjustment!
	134	)))
	135
	136	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.
	137
	138	(% class="table-bordered" %)
	139	\|=(% scope="row" style="text-align: center; vertical-align: middle;" %)Rigidity grade\|=(% style="text-align: center; vertical-align: middle;" %)Load mechanism type
	140	\|=(% style="text-align: center; vertical-align: middle;" %)Grade 4 to 8\|(% style="text-align:center; vertical-align:middle" %)Some large machinery
	141	\|=(% style="text-align: center; vertical-align: middle;" %)Grade 8 to 15\|(% style="text-align:center; vertical-align:middle" %)Low rigidity applications such as belts
	142	\|=(% 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
	143
	144	Table 7-3 Experience reference of rigidity grade
	145
	146	When the function code P03-03 is set to 0, the gain parameters are stored in the first gain by modifying the rigidity grade.
	147
	148	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:
	149
	150	* Step1 Confirm that the servo is in the ready state, the panel displays “rdy”, and the communication line is connected;
	151	* Step2 Open the host computer debugging software, enter the trial run interface, set the corresponding parameters, and click "Servo on";
	152	* Step3 Click the "forward rotation" or "reverse rotation" button to confirm the travel range of the servo operation;
	153	* Step4 After the "start recognition" of inertia recognition lights up, click "start recognition" to perform inertia recognition, and the load inertia can be measured.
	154	* Step5 After the inertia recognition test is completed, click "Save Inertia Value";
	155	* Step6 Click "Next" at the bottom right to go to the parameter adjustment interface, and click "Parameter measurement" to start parameter measurement.
	156	* Step7 After the parameter measurement is completed, Wecon SCTool will pop up a confirmation window for parameter writing and saving.
	157
	158	(% class="table-bordered" %)
	159	(% class="warning" %)\|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611152634-2.png]]
	160	\|(((
	161	✎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!
	162
	163	✎For the detailed operation of the host computer debugging software, please refer to "Wecon Servo Debugging Platform User Manual".
	164	)))
	165
	166	(% class="table-bordered" %)
	167	\|=(% 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;" %)(((
	168	Setting method
	169	)))\|=(% style="text-align: center; vertical-align: middle; width: 105px;" %)(((
	170	Effective time
	171	)))\|=(% 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
	172	\|=(% 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" %)(((
	173	Operation setting
	174	)))\|(% style="text-align:center; vertical-align:middle; width:105px" %)(((
	175	Effective immediately
	176	)))\|(% 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" %)(((
	177	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.
	178
	179	1: Manual setting; you need to manually set the position loop gain, speed loop gain, speed loop integral time constant, torque filter parameter setting
	180
	181	2: Online automatic parameter self-adjusting mode (Not implemented yet)
	182	)))\|(% style="text-align:center; vertical-align:middle" %)-
	183
	184	Table 7-4 Details of self-adjusting mode selection parameters
	185
	186	== Manual gain adjustment ==
	187
	188	When the servo automatic gain adjustment fails to achieve the desired result, you can manually fine-tune the gain to achieve better results.
	189
	190	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.
	191
	192	(% style="text-align:center" %)
	193	(((
	194	(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	195	[[Figure 7-2 Basic block diagram of servo loop gain>>image:image-20220608174209-2.png\|\|id="Iimage-20220608174209-2.png"]]
	196	)))
	197
	198	The more the inner loop is, the higher the responsiveness is required. Failure to comply with this principle may lead to system instability!
	199
	200	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.
	201
	202	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.
	203
	204	(% class="table-bordered" %)
	205	\|=(% scope="row" style="text-align: center; vertical-align: middle; width: 450px;" %)Function code\|=(% style="text-align: center; vertical-align: middle; width: 751px;" %)Name
	206	\|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-01\|(% style="width:751px" %)The 1st position loop gain
	207	\|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-02\|(% style="width:751px" %)The 1st speed loop gain
	208	\|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-03\|(% style="width:751px" %)The 1st speed loop integral time constant
	209	\|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-04\|(% style="width:751px" %)The 2nd position loop gain
	210	\|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-05\|(% style="width:751px" %)The 2nd speed loop gain
	211	\|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P02-06\|(% style="width:751px" %)The 2nd speed loop integral time constant
	212	\|=(% style="text-align: center; vertical-align: middle; width: 450px;" %)P04-04\|(% style="width:751px" %)Torque filter time constant
	213
	214	Speed loop gain
	215
	216	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.
	217
	218	(% class="table-bordered" %)
	219	\|=(% 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;" %)(((
	220	Setting method
	221	)))\|=(% style="text-align: center; vertical-align: middle; width: 128px;" %)(((
	222	Effective time
	223	)))\|=(% 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
	224	\|=(% 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" %)(((
	225	Operation setting
	226	)))\|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
	227	Effective immediately
1.2	228	)))\|(% style="text-align:center; vertical-align:middle; width:103px" %)200\|(% 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	229	\|=(% 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" %)(((
	230	Operation setting
	231	)))\|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
	232	Effective immediately
	233	)))\|(% 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
	234
	235	Table 7-5 Speed loop gain parameters
	236
	237	(% style="text-align:center" %)
	238	(((
	239	(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	240	[[Figure 7-3 Speed loop gain effect illustration>>image:image-20220706152743-1.jpeg\|\|id="Iimage-20220706152743-1.jpeg"]]
	241	)))
	242
	243	Speed loop integral time constant
	244
	245	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.
	246
	247	(% class="table-bordered" %)
	248	\|=(% 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;" %)(((
	249	Setting method
	250	)))\|=(% style="text-align: center; vertical-align: middle; width: 112px;" %)(((
	251	Effective time
	252	)))\|=(% 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
	253	\|=(% style="text-align: center; vertical-align: middle; width: 98px;" %)P02-03\|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
	254	1st speed loop integral time constant
	255	)))\|(% style="text-align:center; vertical-align:middle; width:122px" %)(((
	256	Operation setting
	257	)))\|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
	258	Effective immediately
1.2	259	)))\|(% style="text-align:center; vertical-align:middle; width:109px" %)210\|(% 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" %)(((
1.1	260	0.1ms
	261	)))
	262	\|=(% style="text-align: center; vertical-align: middle; width: 98px;" %)P02-06\|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
	263	2nd speed loop integral time constant
	264	)))\|(% style="text-align:center; vertical-align:middle; width:122px" %)(((
	265	Operation setting
	266	)))\|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
	267	Effective immediately
3.1	268	)))\|(% style="text-align:center; vertical-align:middle; width:109px" %)1000\|(% style="text-align:center; vertical-align:middle; width:114px" %)10 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" %)(((
1.1	269	0.1ms
	270	)))
	271
	272	Table 7-6 Speed loop integral time constant parameters
	273
	274	(% style="text-align:center" %)
	275	(((
	276	(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	277	[[Figure 7-4 Speed loop integral time constant effect illustration>>image:image-20220706153140-2.jpeg\|\|id="Iimage-20220706153140-2.jpeg"]]
	278	)))
	279
	280	Position loop gain
	281
	282	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.
	283
	284	(% class="table-bordered" %)
	285	\|=(% 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;" %)(((
	286	Setting method
	287	)))\|=(% style="text-align: center; vertical-align: middle; width: 114px;" %)(((
	288	Effective time
	289	)))\|=(% 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
	290	\|=(% 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" %)(((
	291	Operation setting
	292	)))\|(% style="text-align:center; vertical-align:middle; width:114px" %)(((
	293	Effective immediately
1.2	294	)))\|(% style="text-align:center; vertical-align:middle; width:79px" %)232\|(% 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	295	\|=(% 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" %)(((
	296	Operation setting
	297	)))\|(% style="text-align:center; vertical-align:middle; width:114px" %)(((
	298	Effective immediately
	299	)))\|(% 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
	300
	301	Table 7-7 Position loop gain parameters
	302
	303	(% style="text-align:center" %)
	304	(((
	305	(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	306	[[Figure 7-5 Position loop gain effect illustration>>image:image-20220706153656-3.jpeg\|\|id="Iimage-20220706153656-3.jpeg"]]
	307	)))
	308
	309	Torque instruction filter time
	310
	311	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.
	312
	313	(% class="table-bordered" %)
	314	\|=(% 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;" %)(((
	315	Setting method
	316	)))\|=(% style="text-align: center; vertical-align: middle; width: 127px;" %)(((
	317	Effective time
	318	)))\|=(% style="text-align: center; vertical-align: middle; width: 79px;" %)Default value\|=(% style="text-align: center; vertical-align: middle; width: 79px;" %)Range\|=(% style="text-align: center; vertical-align: middle; width: 371px;" %)Definition\|=(% style="text-align: center; vertical-align: middle;" %)Unit
	319	\|=(% 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" %)(((
	320	Operation setting
	321	)))\|(% style="text-align:center; vertical-align:middle; width:127px" %)(((
	322	Effective immediately
1.2	323	)))\|(% style="text-align:center; vertical-align:middle; width:79px" %)80\|(% style="text-align:center; vertical-align:middle; width:79px" %)10 to 2500\|(% style="width:371px" %)This parameter is automatically set when “self-adjustment mode selection” is selected as 1 or 2\|(% style="text-align:center; vertical-align:middle" %)0.01ms
1.1	324
	325	Table 7-8 Details of torque filter time constant parameters
	326
	327	== Feedforward gain ==
	328
	329	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.
	330
	331	Speed feedforward parameters are shown in __Table 7-9__. Torque feedforward parameters are shown in __Table 7-10__.
	332
	333	Torque feedforward could improve the response to the torque instruction and reduce the position deviation with fixed acceleration and deceleration.
	334
	335	(% class="table-bordered" %)
	336	\|=(% 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
	337	\|=(% 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" %)(((
	338	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.
	339
	340	Position deviation (instruction unit) = instruction speed[instruction unit/s]÷position loop gain [1/s]×(100－speed feedforward gain [%])÷100
	341	)))
	342	\|=(% 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
	343
	344	Table 7-9 Speed feedforward parameters
	345
	346	(% style="text-align:center" %)
	347	(((
1.2	348	(% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:835px;" %)
1.1	349	[[Figure 7-6 Speed feedforward parameters effect illustration>>image:image-20220706155307-4.jpeg\|\|height="119" id="Iimage-20220706155307-4.jpeg" width="835"]]
	350	)))
	351
	352
	353	(% class="table-bordered" %)
	354	\|=(% 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
	355	\|=(% 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.
	356	\|=(% 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
	357
	358	Table 7-10 Torque feedforward parameters
	359
	360	== Model Tracking Control Function ==
	361
	362	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:
	363
	364	(% style="text-align:center" %)
	365	(((
1.2	366	(% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:931px;" %)
1.1	367	[[Figure 7-7 Block Diagram of Model Tracking Control Design>>image:20230515-7.png\|\|height="394" id="20230515-7.png" width="931"]]
	368	)))
	369
	370	The usage method and conditions of model tracking control:
	371
	372	~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.
	373
	374	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).
	375
	376	3. Set P2-20=1 to enable the function of model tracking control.
	377
	378	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.
	379
	380	5. After the responsiveness meets the requirements, user can adjust the parameters appropriately to increase the load rigidity level P3-2.
	381
	382	(% class="box infomessage" %)
	383	(((
	384	✎Note: Model tracking control is only available in position mode, and cannot be used in other modes.
	385	)))
	386
	387	(% class="table-bordered" %)
	388	\|=(% 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;" %)(((
	389	Setting method
	390	)))\|=(% style="text-align: center; vertical-align: middle; width: 128px;" %)(((
	391	Effective time
	392	)))\|=(% 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
	393	\|=(% style="text-align: center; vertical-align: middle; width: 120px;" %)P2-20\|(% style="text-align:center; vertical-align:middle; width:163px" %)(((
	394	Enable model(% style="background-color:transparent" %) tracking control function
	395	)))\|(% style="text-align:center; vertical-align:middle; width:122px" %)(((
	396	Shutdown setting
	397	)))\|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
	398	Effective immediately
	399	)))\|(% 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.\|
	400	\|=(% 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" %)(((
	401	Shutdown 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" %)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
	405	\|=(% 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" %)(((
	406	Shutdown 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" %)500 to 2000\|(% style="text-align:center; vertical-align:middle" %)0.10%
	410
	411	(% class="table-bordered" %)
	412	\|=(% 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;" %)(((
	413	Setting method
	414	)))\|=(% style="text-align: center; vertical-align: middle; width: 128px;" %)(((
	415	Effective time
	416	)))\|=(% 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
	417	\|=(% 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\|(((
	418	Operation setting
	419	)))\|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
	420	Effective immediately
	421	)))\|(% 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%
	422	\|=(% 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\|(((
	423	Operation setting
	424	)))\|(% style="text-align:center; vertical-align:middle; width:128px" %)(((
	425	Effective immediately
	426	)))\|(% 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%
	427	\|=(% 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" %)(((
	428	Effective immediately
	429	)))\|(% 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%
	430
	431	Please refer to the following for an example of the procedure of adjusting servo gain.
	432
	433	(% style="width:1508px" %)
	434	\|=(% style="text-align:center; vertical-align:middle; width:80px" %)Step\|=(% style="text-align:center; vertical-align:middle; width:1420px" %)Content
	435	\|=(% style="text-align: center; vertical-align: middle; width: 80px;" %)1\|Please try to set the correct load inertia ratio parameter P3-1.
	436	\|=(% 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.
	437	\|=(% style="text-align: center; vertical-align: middle; width: 80px;" %)3\|Turn on the model tracking function, set P2-20 to 1.
	438	\|=(% 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.
	439	\|=(% 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.
	440	\|=(% 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.
	441
	442	== Gain switching ==
	443
	444	Gain switching function:
	445
	446	● Switch to a lower gain in the motor stationary (servo enabled)state to suppress vibration;
	447
	448	● Switch to a higher gain in the motor stationary state to shorten the positioning time;
	449
	450	● Switch to a higher gain in the motor running state to get better command tracking performance;
	451
	452	● Switch different gain settings by external signals depending on the load connected.
	453
	454	Gain switching parameter setting
	455
	456	①When P02-07=0
	457
	458	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).
	459
	460	(% style="text-align:center" %)
	461	(((
	462	(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	463	[[image:20230515-8.png\|\|height="378" id="20230515-8.png" width="363"]]
	464	)))
	465
	466	② When P02-07=1
	467
	468	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).
	469
	470	(% style="text-align:center" %)
	471	(((
	472	(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	473	[[Figure 7-9 Flow chart of gain switching when P02-07=1>>image:20230515-9.png\|\|id="20230515-9.png"]]
	474	)))
	475
	476	\|=(% 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
	477	\|=(% 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" %)~-~-
	478	\|=(% style="text-align:center; vertical-align:middle" %)1\|(% style="text-align:center; vertical-align:middle; width:464px" %)Switching with DI\|(% style="width:946px" %)~-~-
	479	\|=(% style="text-align:center; vertical-align:middle" %)(((
	480	2
	481	)))\|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
	482	Large torque command
	483	)))\|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-1.png\|\|height="310" width="543"]]
	484	\|=(% style="text-align:center; vertical-align:middle" %)(((
	485	3
	486	)))\|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
	487	Large actual torque
	488	)))\|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-2.png\|\|height="252" width="550"]]
	489	\|=(% style="text-align:center; vertical-align:middle" %)(((
	490	4
	491	)))\|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
	492	Large speed command
	493	)))\|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-3.png\|\|height="212" width="558"]]
	494	\|=(% style="text-align:center; vertical-align:middle" %)(((
	495	5
	496	)))\|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
	497	Fast actual speed
	498	)))\|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-4.png\|\|height="223" width="561"]]
	499	\|=(% style="text-align:center; vertical-align:middle" %)(((
	500	6
	501	)))\|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
	502	Speed command change rate is large
	503	)))\|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-5.png\|\|height="327" width="570"]]
	504	\|=(% style="text-align:center; vertical-align:middle;width:74px" %)(((
	505	7
	506	)))\|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
	507	Large position deviation
	508	)))\|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-6.png\|\|height="305" width="574"]]
	509	\|=(% style="text-align:center; vertical-align:middle;" %)(((
	510	8
	511	)))\|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
	512	Position command
	513	)))\|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-7.png\|\|height="280" width="570"]]
	514	\|=(% style="text-align:center; vertical-align:middle; width:74px" %)(((
	515	9
	516	)))\|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
	517	Positioning completed
	518	)))\|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230515140641-8.png\|\|height="302" width="553"]]
	519	\|=(% style="text-align:center; vertical-align:middle" %)(((
	520	10
	521	)))\|(% style="text-align:center; vertical-align:middle; width:464px" %)(((
	522	Position command + actual speed
	523	)))\|(% style="text-align:center; vertical-align:middle; width:946px" %)(((
	524	Refer to the chart below
	525	)))
	526
	527	(% style="text-align:center" %)
	528	(((
	529	(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	530	[[Figure 7-10 P02-08=10 Position command + actual speed gain description>>image:20230515-10.png\|\|id="Iimage-20220608174118-1.png"]]
	531	)))
	532
	533	Description of related parameters
	534
	535	\|=(% rowspan="2" style="text-align: center; vertical-align: middle; width:120px" %)
	536	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
	537	\|(% 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\|
	538	\|(% colspan="8" %)(((
	539	Set the switching mode of the second gain.
	540
	541	\|=(% style="text-align: center; vertical-align: middle; width:120px" %)Setting value\|=(% style="text-align: center; vertical-align: middle" %)Function
	542	\|=(% style="text-align: center; vertical-align: middle" %)0\|(((
	543	The first gain is used by default. Switching using DI function 10 (GAIN-SEL, gain switching):
	544
	545	DI logic invalid: PI control;
	546
	547	DI logic valid: PI control.
	548	)))
	549	\|=(% style="text-align: center; vertical-align: middle" %)1\|The first gain and the second gain are switched by the setting value of P02-08.
	550	)))
	551
	552	\|=(% 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
	553	\|(% 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\|
	554	\|(% colspan="8" %)(((
	555	Set the conditions for gain switching.
	556
	557	\|=(% 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
	558	\|=(% 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
	559	\|=(% style="text-align: center; vertical-align: middle" %)1\|(% style="text-align:center; vertical-align:middle" %)Switch by DI port\|(((
	560	Use DI function 10 (GAIN-SEL, gain switching);
	561
	562	DI logic is invalid: the first gain (P02-01~~P02-03);
	563
	564	DI logic is valid: the second gain (P02-04~~P02-06).
	565	)))
	566	\|=(% style="text-align: center; vertical-align: middle" %)2\|(% style="text-align:center; vertical-align:middle" %)Large torque command\|(((
	567	In the previous first gain, when the absolute value of torque command is greater than (grade + hysteresis), the second gain is switched;
	568
	569	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.
	570	)))
	571	\|=(% style="text-align: center; vertical-align: middle" %)3\|(% style="text-align:center; vertical-align:middle" %)Large actual torque\|(((
	572	In the previous first gain, when the absolute value of actual torque is greater than ( grade + hysteresis ), the second gain is switched;
	573
	574	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.
	575	)))
	576	\|=(% style="text-align: center; vertical-align: middle" %)4\|(% style="text-align:center; vertical-align:middle" %)Large speed command\|(((
	577	In the previous first gain, when the absolute value of speed command is greater than (grade + hysteresis), the second gain is switched;
	578
	579	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.
	580	)))
	581	\|=(% style="text-align: center; vertical-align: middle" %)5\|(% style="text-align:center; vertical-align:middle" %)Large actual speed\|(((
	582	In the previous first gain, when the absolute value of actual speed is greater than (grade + hysteresis), the second gain is switched;
	583
	584	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.
	585	)))
	586	\|=(% style="text-align: center; vertical-align: middle" %)6\|(% style="text-align:center; vertical-align:middle" %)Large rate of change in speed command\|(((
	587	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;
	588
	589	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.
	590	)))
	591	\|=(% style="text-align: center; vertical-align: middle" %)7\|(% style="text-align:center; vertical-align:middle" %)Large position deviation\|(((
	592	In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched;
	593
	594	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.
	595	)))
	596	\|=(% style="text-align: center; vertical-align: middle" %)8\|(% style="text-align:center; vertical-align:middle" %)Position command\|(((
	597	In the previous first gain, if the position command is not 0, switch to the second gain;
	598
	599	In the previous second gain, if the position command is 0 and the duration is greater than [P02-13], the first gain is returned.
	600	)))
	601	\|=(% style="text-align: center; vertical-align: middle" %)9\|(% style="text-align:center; vertical-align:middle" %)Positioning complete\|(((
	602	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.
	603	)))
	604	\|=(% style="text-align: center; vertical-align: middle" %)10\|(% style="text-align:center; vertical-align:middle" %)Position command + actual speed\|(((
	605	In the previous first gain, if the position command is not 0, the second gain is switched;
	606
	607	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).
	608	)))
	609	)))
	610
	611	\|=(% 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
	612	\|(% 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
	613	\|(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
	614	The duration of the switching condition required for the second gain to switch back to the first gain.
	615
	616	[[image:image-20230515140953-9.png]]
	617
	618	✎Note: This parameter is only valid when the second gain is switched back to the first gain.
	619	)))
	620
	621	\|=(% 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
	622	\|(% 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
	623	\|(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
	624	Set the grade of the gain condition. The generation of the actual switching action is affected by the two conditions of grade and hysteresis.
	625
	626	[[image:image-20230515140953-10.png]]
	627	)))
	628
	629	\|=(% 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
	630	\|(% 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
	631	\|(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
	632	Set the hysteresis to meet the gain switching condition.
	633
	634	[[image:image-20230515140953-11.png]]
	635	)))
	636
	637	\|=(% 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
	638	\|(% 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
	639	\|(% colspan="8" style="text-align:center; vertical-align:middle" %)(((
	640	Set the time for switching from the first position loop (P02-01) to the second position loop (P02-04) in the position control mode.
	641
	642	[[image:image-20230515140953-12.png]]\|
	643
	644	If P02-04≤P02-01, then P02-16 is invalid, and the second gain is switched from the first gain immediately.
	645	)))
	646
	647	= Mechanical resonance suppression =
	648
	649	== Mechanical resonance suppression methods ==
	650
	651	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.
	652
	653	Torque instruction filter
	654
	655	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:
	656
	657	(% style="text-align:center" %)
	658	[[image:image-20220706155820-5.jpeg\|\|class="img-thumbnail"]]
	659
	660	Notch filter
	661
	662	The notch filter can achieve the expectation of suppressing mechanical resonance by reducing the gain at a specific frequency. When setting the notch filter correctly, the vibration can be effectively suppressed. You can try to increase the servo gain. The principle of the notch filter is shown in __Figure 7-11__.
	663
	664	== Notch filter ==
	665
	666	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.
	667
	668	Width grade of notch filter
	669
	670	The notch width grade is used to express the ratio of the notch width to the center frequency of the notch:
	671
	672	(% style="text-align:center" %)
	673	[[image:image-20220706155836-6.png\|\|class="img-thumbnail"]]
	674
	675	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.
	676
	677	Depth grade of notch filter
	678
	679	The depth grade of notch filter represents the ratio relationship between input and output at center frequency.
	680
	681	When the notch filter depth grade is 0, the input is completely suppressed at center frequency. When the notch filter depth grade is 100, the input is completely passable at center frequency. Therefore, the smaller the the notch filter depth grade is set, the deeper the the notch filter depth, and the stronger the suppression of mechanical resonance. But the system may be unstable, you should pay attention to it when using it. The specific relationship is shown in __Figure 7-12__.
	682
	683	(% style="text-align:center" %)
	684	(((
	685	(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	686	[[Figure 7-11 Notch characteristics, notch width, and notch depth>>image:image-20220608174259-3.png\|\|id="Iimage-20220608174259-3.png"]]
	687	)))
	688
	689
	690	(% style="text-align:center" %)
	691	(((
	692	(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	693	[[Figure 7-12 Frequency characteristics of notch filter>>image:image-20220706160046-9.png\|\|id="Iimage-20220706160046-9.png"]]
	694	)))
	695
	696
	697	(% class="table-bordered" %)
	698	\|=(% 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;" %)(((
	699	Setting method
	700	)))\|=(% style="text-align: center; vertical-align: middle; width: 121px;" %)(((
	701	Effective time
	702	)))\|=(% 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
	703	\|=(% 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" %)(((
	704	Operation setting
	705	)))\|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
	706	Effective immediately
	707	)))\|(% 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
	708	\|=(% 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" %)(((
	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" %)100\|(% style="text-align:center; vertical-align:middle; width:102px" %)0 to 100\|(% style="width:362px" %)(((
	713	0: all truncated
	714
	715	100: all passed
	716	)))\|(% style="text-align:center; vertical-align:middle; width:96px" %)-
	717	\|=(% 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" %)(((
	718	Operation setting
	719	)))\|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
	720	Effective immediately
	721	)))\|(% 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" %)(((
	722	0: 0.5 times the bandwidth
	723
	724	4: 1 times the bandwidth
	725
	726	8: 2 times the bandwidth
	727
	728	12: 4 times the bandwidth
	729	)))\|(% style="text-align:center; vertical-align:middle; width:96px" %)-
	730	\|=(% 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" %)(((
	731	Operation setting
	732	)))\|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
	733	Effective immediately
	734	)))\|(% 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
	735	\|=(% 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" %)(((
	736	Operation setting
	737	)))\|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
	738	Effective immediately
	739	)))\|(% 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" %)(((
	740	0: all truncated
	741
	742	100: all passed
	743	)))\|(% style="text-align:center; vertical-align:middle; width:96px" %)-
	744	\|=(% 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" %)(((
	745	Operation setting
	746	)))\|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
	747	Effective immediately
	748	)))\|(% 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" %)(((
	749	0: 0.5 times the bandwidth
	750
	751	4: 1 times the bandwidth
	752
	753	8: 2 times the bandwidth
	754
	755	12: 4 times the bandwidth
	756	)))\|(% style="text-align:center; vertical-align:middle; width:96px" %)-
	757
	758	Table 7-11 Notch filter function code parameters
	759
	760	== Low frequency vibration suppression ==
	761
	762	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.
	763
	764	VD2L drive does not support low frequency vibrartion suppression.
	765
	766	(% style="text-align:center" %)
	767	(((
	768	(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	769	[[Figure 7-13 Applicable working conditions for low-frequency vibration suppression>>image:20230516-0713.png\|\|id="20230516-0713.png"]]
	770	)))
	771
	772	\|=(% 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;" %)(((
	773	Setting method
	774	)))\|=(% style="text-align: center; vertical-align: middle; width: 157px;" %)(((
	775	Effective time
	776	)))\|=(% 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
	777	\|=(% style="text-align: center; vertical-align: middle; width: 134px;" %)P4-11(((
	778	〇
	779	)))\|(% style="text-align:center; vertical-align:middle; width:258px" %)Enable low-frequency vibration suppression function\|(% style="text-align:center; vertical-align:middle; width:127px" %)(((
	780	Operation setting
	781	)))\|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
	782	Effective immediately
	783	)))\|(% 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" %)
	784	\|=(% style="text-align: center; vertical-align: middle; width: 134px;" %)P4-12(((
	785	〇
	786	)))\|(% style="text-align:center; vertical-align:middle; width:258px" %)Low-frequency vibration suppression frequency\|(% style="text-align:center; vertical-align:middle; width:127px" %)(((
	787	Operation setting
	788	)))\|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
	789	Effective immediately
	790	)))\|(% 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
	791	\|=(% style="text-align: center; vertical-align: middle; width: 134px;" %)P4-14(((
	792	〇
	793	)))\|(% style="text-align:center; vertical-align:middle; width:258px" %)Shutdown vibration detection amplitude\|(% style="text-align:center; vertical-align:middle; width:127px" %)(((
	794	Operation setting
	795	)))\|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
	796	Effective immediately
	797	)))\|(% 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
	798
	799	☆: Indicates that VD2F servo drive does not support this function code
	800
	801	〇: Indicates that VD2L servo drive does not support this function code
	802
	803	★: Indicates that VD2F and VD2L servo drives do not support this function code
	804
	805	Vibration frequency detection:
	806
	807	* Users can measure vibration by measuring equipment such as laser displacement．
	808	* 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.
	809	* 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.
	810
	811	Debugging method:
	812
	813	* Set the appropriate positioning completion thresholds P5-12 and P4-14 to help the software detect the vibration frequency.
	814	* Run the position curve command to obtain the vibration frequency, and obtain the frequency through the speed curve of oscilloscope or U0-16.
	815	* Set P4-12 vibration frequency and enable low frequency vibration suppression function P4-11.
	816	* 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.
	817
	818	(% class="table-bordered" style="margin-right:auto" %)
	819	(% class="warning" %)\|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230516105941-2.png]]
	820	\|(% 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!
	821
	822	== Type A vibration suppression ==
	823
	824	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.
	825
	826	VD2L drive does not support type A vibration suppression.
	827
	828	(% style="text-align:center" %)
	829	(((
	830	(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	831	[[Figure 7-14 Applicable situations for type A vibration suppression>>image:20230516-0714.png]]
	832	)))
	833
	834	\|=(% 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;" %)(((
	835	Setting method
	836	)))\|=(% style="text-align: center; vertical-align: middle; width: 112px;" %)(((
	837	Effective time
	838	)))\|=(% 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
	839	\|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)P4-19(((
	840	〇
	841	)))\|(% style="text-align:center; vertical-align:middle; width:225px" %)Enable the type A suppression function\|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
	842	Operation setting
	843	)))\|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
	844	Effective immediately
	845	)))\|(% 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.\|
	846	\|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)P4-20(((
	847	〇
	848	)))\|(% style="text-align:center; vertical-align:middle; width:225px" %)Type A suppression frequency\|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
	849	Operation setting
	850	)))\|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
	851	Effective immediately
	852	)))\|(% 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
	853	\|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)P4-21(((
	854	〇
	855	)))\|(% style="text-align:center; vertical-align:middle; width:225px" %)Type A suppression gain correction\|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
	856	Operation setting
	857	)))\|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
	858	Effective immediately
	859	)))\|(% 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
	860	\|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)P4-22(((
	861	〇
	862	)))\|(% style="text-align:center; vertical-align:middle; width:225px" %)Type A suppression damping gain\|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
	863	Operation setting
	864	)))\|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
	865	Effective immediately
	866	)))\|(% 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
	867	\|=(% style="text-align: center; vertical-align: middle; width: 136px;" %)P4-23(((
	868	〇
	869	)))\|(% style="text-align:center; vertical-align:middle; width:225px" %)Type A suppression phase correction\|(% style="text-align:center; vertical-align:middle; width:121px" %)(((
	870	Operation setting
	871	)))\|(% style="text-align:center; vertical-align:middle; width:112px" %)(((
	872	Effective immediately
	873	)))\|(% 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
	874
	875	☆: Indicates that VD2F servo drive does not support this function code
	876
	877	〇: Indicates that VD2L servo drive does not support this function code
	878
	879	★: Indicates that VD2F and VD2L servo drives do not support this function code
	880
	881	Vibration frequency detection:
	882
	883	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.
	884
	885	Debugging method:
	886
	887	* Please set the correct inertia ratio parameter P3-1 when using type A vibration suppression,
	888	* Run the position curve command, observe the servo host computer software waveform interface (sine wave) to obtain the vibration frequency.
	889	* 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)
	890	* Set P4-22 damping gain, gradually increasing from 0, each time increasing about 20.
	891	* 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.
	892	* 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.
	893
	894	(% class="table-bordered" style="margin-right:auto" %)
	895	(% class="warning" %)\|(% style="text-align:center; vertical-align:middle" %)[[image:image-20230516135116-1.png]]
	896	\|(% 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

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