Changes for page 06 Control Mode

Last modified by Mora Zhou on 2023/12/21 15:45

From 2.8 to 2.9

From version 2.9

edited by Leo Wei
on 2022/07/29 10:02

Change comment: Renamed from xwiki:Servo.01 VD1 User Manual.06 Control Mode.WebHome

To version 11.1

edited by Mora Zhou
on 2023/12/21 15:45

Change comment: There is no comment for this version

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Parent

@@ -1,1 +1,1 @@
--Servo.01 VD1 User Manual.WebHome
++Servo.Manual.01 VD1 User Manual.WebHome

Author

@@ -1,1 +1,1 @@
--XWiki.admin
++XWiki.Mora

Content

@@ -1,17 +1,17 @@
--= **6.1 Basic Setting** =
++= **Basic Setting** =
--== **6.1.1 Check Before Running** ==
++== **Check Before Running** ==
  (% class="table-bordered" %)
  |=**NO.**|=**Activity**
  |(% colspan="2" %)Wiring
--|1|The servo drive’s control circuit power input terminals (L1C, L2C) and main circuit power input terminals(L1,L2,L3) are connected correctly.
++|1|The servo drive’s control circuit power input terminals (L1C, L2C) and main circuit power input terminals(L1, L2, L3) are connected correctly.
  |2|(((
  The main circuit output terminals U, V, W of the servo drive are properly
  connected to the power cables U, V, W of the servo motor in correct phase sequence
  )))
--|3|No short circuit exists in the main circuit power input terminals (L1,L2,L3) and output terminals (U, V, W) of the servo drive.
++|3|No short circuit exists in the main circuit power input terminals (L1, L2, L3) and output terminals (U, V, W) of the servo drive.
  |4|(((
  The signal wires of the servo drive are connected correctly. The external
@@ -19,22 +19,18 @@
  )))
  |5|The servo drive and motor are grounded reliably.
  |6|(((
--The jumper between terminals C and D has been removed when the
--
--external regenerative resistor is used.
++The jumper between terminals C and D has been removed when the external regenerative resistor is used.
  )))
  |7|The cable tension is within the permissible range.
  |8|The wiring terminals have been insulated.
  |(% colspan="2" %)Environment and mechanical conditions
  |1|(((
--No foreign objects, such as wire end or metal powder, which may cause
--
--short circuit of the signal wire and power cables, exist inside and outside of the servo drive.
++No foreign objects, such as wire end or metal powder, which may cause short circuit of the signal wire and power cables, exist inside and outside of the servo drive.
  )))
  |2|The servo drive or external regenerative resistor is not placed on flammable objects.
  |3|Installation and shaft and mechanical connection are reliable.
--== **6.1.2 Power Supply Connection** ==
++== **Power Supply Connection** ==
  **Connect the power supply of the control circuit (L1C, L2C) and main circuit:**
@@ -46,7 +46,7 @@
   **Turn off the S-ON signal**
--== **6.1.3 Jogging** ==
++== **Jogging** ==
  Jog operation could be realized in two ways, one is panel jog operation, and the jog operation could be realized through the buttons on the servo panel. the other is jog operation through the debug tool running on pc.
@@ -66,7 +66,7 @@
  **Time**
  )))|=**Range**|=**Function**|=**Unit**|=**Default**
--|P10-1|JOG speed|During running|Immediate|0~~3000|(((
++|P10-1|JOG speed|During running|Immediate|0-3000|(((
  Set the jogging
  speed value
@@ -76,7 +76,7 @@
  Open We-con servo debugging tool, set the speed value of the jog in the "Set Speed" in the "Manual Operation" column, and then click the "Servo On" button on the interface. Click "Forward" or "Reverse" button to realize forward/reverse jogging. When the "servo off" button is clicked, the jog mode is exited.
--== **6.1.4 Selection of Rotating Direction** ==
++== **Selection of Rotating Direction** ==
  Set [P0-4] to change the motor rotating direction without changing the polarity of the input reference.
@@ -96,7 +96,7 @@
  Power-on
  again
--)))|(% style="width:69px" %)0~~1|(((
++)))|(% style="width:69px" %)0-1|(((
  Forward direction:viewed from the motor shaft.
 : CW direction as the forward direction
@@ -108,7 +108,7 @@
  Limit switches (positive over travel POT and reverse over travel NOT), POT has the same direction set in [P0-4](Rotating direction selection).
--== **6.1.5 Braking resistor** ==
++== **Braking resistor** ==
  When the servo motor is in the generator state when decelerating or stopping, the motor would transfer the energy back to the driver, which would increase the bus voltage. When the bus voltage exceeds the braking point, the driver could use the braking resistor to consume the energy. The braking resistor could be built-in or external, but it couldnot be used at the same time. When the external braking resistor is connected, the jumper on the servo drive needs to be removed.
@@ -126,7 +126,7 @@
  **Time**
  )))|=(% style="width: 83px;" %)**Range**|=(% style="width: 418px;" %)**Function**|=**Unit**|=**Default**
--|(% style="width:81px" %)P0-9|(% style="width:220px" %)Braking resistance|(% style="width:81px" %)At stop|(% style="width:83px" %)Immediate|(% style="width:83px" %)0~~3|(% style="width:418px" %)(((
++|(% style="width:81px" %)P0-9|(% style="width:220px" %)Braking resistance|(% style="width:81px" %)At stop|(% style="width:83px" %)Immediate|(% style="width:83px" %)0-3|(% style="width:418px" %)(((
 - Use built-in braking resistor.
 - Use external braking resistor and natural cooling.
@@ -135,18 +135,18 @@
 - No braking resistors are used, all rely on capacitor absorption.
  )))|-|0
--|(% style="width:81px" %)P0-10|(% style="width:220px" %)External braking resistance|(% style="width:81px" %)At stop|(% style="width:83px" %)Immediate|(% style="width:83px" %)0~~65535|(% style="width:418px" %)set the resistance value of the external braking resistor.|Ω|50
--|(% style="width:81px" %)P0-11|(% style="width:220px" %)External braking resistor power|(% style="width:81px" %)At stop|(% style="width:83px" %)Immediate|(% style="width:83px" %)0~~65535|(% style="width:418px" %)Used to set the power of external braking resistor.|W|100
++|(% style="width:81px" %)P0-10|(% style="width:220px" %)External braking resistance|(% style="width:81px" %)At stop|(% style="width:83px" %)Immediate|(% style="width:83px" %)0-65535|(% style="width:418px" %)set the resistance value of the external braking resistor.|Ω|50
++|(% style="width:81px" %)P0-11|(% style="width:220px" %)External braking resistor power|(% style="width:81px" %)At stop|(% style="width:83px" %)Immediate|(% style="width:83px" %)0-65535|(% style="width:418px" %)Used to set the power of external braking resistor.|W|100
  **Braking resistor selection process**
  (% style="text-align:center" %)
--[[image:Braking resistor.png||class="img-thumbnail" height="1197" width="800"]]
++[[image:Braking resistor.png||height="1197" width="800" class="img-thumbnail"]]
  **VD1 750W drive brake resistance calculation formula**
--750W motor inertia : 1.82*10^^-4^^ kg m^^2^^
++750W motor inertia: 1.82*10^^-4^^ kg m^^2^^
  Total load inertia J,,L,, = load inertia ratio * 1.82*10^^-4^^
@@ -162,7 +162,7 @@
  which is:[[image:VD1 750W 驱动器制动电阻计算公式_html_506c1de75a99e6fa.gif||class="img-thumbnail"]]
--== **6.1.6 Servo Running** ==
++== **Servo Running** ==
 . Turn on the S-ON signal
@@ -177,11 +177,11 @@
 . Power-on time sequence
  (% style="text-align:center" %)
--[[image:5.Basic Setting_html_f889a9585b78ace9.jpg||class="img-thumbnail" height="371" width="700"]]
++[[image:5.Basic Setting_html_f889a9585b78ace9.jpg||height="371" width="700" class="img-thumbnail"]]
  Figure 6-1 Power-on time sequence
--== **6.1.7 Servo Stop** ==
++== **Servo Stop** ==
  Servo stop includes coast to stop and zero-speed stop based on the stop mode, and de energized state and position lock based on the stop state.
@@ -269,17 +269,15 @@
 : INH, Position reference inhibited
--12: VSSEL, Damp control switch(not implemented yet)
++12: VSSEL, Damp control switch(Not implemented yet)
--13: INSPD1, Internal speed command selection 1(not implemented yet)
++13: INSPD1, Internal speed command selection 1(Not implemented yet)
--14: INSPD2, Internal speed command selection 2
++14: INSPD2, Internal speed command selection 2(Not implemented yet)
--(not implemented yet)
++15: INSPD3, Internal speed command selection 3(Not implemented yet)
--15: INSPD3, Internal speed command selection 3(not implemented yet)
--
--16: J-SEL, Inertia ratio switch(not implemented yet)
++16: J-SEL, Inertia ratio switch(Not implemented yet)
  )))|-|03-POT
  |(% style="width:73px" %)P6-9|(% style="width:134px" %)DI_3 logic selection|(% style="width:114px" %)During running|(% style="width:85px" %)(((
  Power-on
@@ -288,9 +288,9 @@
  )))|(% style="width:69px" %)0~~1|(% style="width:490px" %)(((
  DI port input logic validity function selection.
--0: Normal open input. Active when off (switch closed).
++0: Normal open input. Active when off (Switch closed).
--1: Normal closed input. Active when on (switch open).
++1: Normal closed input. Active when on (Switch open).
  )))|-|0
  |(% style="width:73px" %)P6-10|(% style="width:134px" %)DI_3 input source selection|(% style="width:114px" %)During running|(% style="width:85px" %)(((
  Power-on
@@ -363,7 +363,7 @@
  If the machine breaks down, the servo would perform fault shutdown operation. The current shutdown mode is fixed to free stop mode, and the motor shaft remains free.
--= **6.2 Position mode** =
++= **Position mode** =
  Position control mode is the most important and commonly used control mode of servo system. Position control refers to controlling the position of the motor through position commands, determining the target position of the motor based on the total number of position commands, and the frequency of the position command determines the rotation speed of the motor. The servo drive could achieve fast and accurate control of the position and speed of the machine. Therefore, the position control mode is mainly used in applications requiring positioning control, such as manipulators, chip mounters, engraving machines, CNC machine tools, etc.
@@ -370,16 +370,16 @@
  **The block diagram of position control is as follows:**
  (% style="text-align:center" %)
--[[image:1649921243846-652.png||class="img-thumbnail" height="272" width="800"]]
++[[image:1649921243846-652.png||height="272" width="800" class="img-thumbnail"]]
  Figure 6-2 Position control diagram
--== **6.2.1 Position Reference Input Setting** ==
++== **Position Reference Input Setting** ==
  The servo drive has 1 set of pulse input terminals for receiving position pulse input (through the CN2 terminal of the drive)
  (% style="text-align:center" %)
--[[image:1649921251765-622.png||class="img-thumbnail" height="525" width="600"]]
++[[image:1649921251765-622.png||height="525" width="600" class="img-thumbnail"]]
  The reference from the host controller could be differential output or open collector output. The maximum input frequency is shown in** the following table:**
@@ -391,12 +391,12 @@
 . **Low-speed Pulse Input   **Differential drive mode
  (% style="text-align:center" %)
--[[image:1649921259462-732.png||class="img-thumbnail" height="468" width="700"]]
++[[image:1649921259462-732.png||height="468" width="700" class="img-thumbnail"]]
 . **OC mode**
  (% style="text-align:center" %)
--[[image:1649921266972-816.png||class="img-thumbnail" height="472" width="700"]]
++[[image:1649921266972-816.png||height="472" width="700" class="img-thumbnail"]]
 . Position pulse selection
@@ -461,7 +461,7 @@
  Filtering time is necessary for the reference input pin to prevent external interference input to the driver and affect the control of the motor. The signal input and output waveforms with filtering enabled are shown in** the following figure:**
  (% style="text-align:center" %)
--[[image:1649921315771-948.png||class="img-thumbnail" height="328" width="800"]]
++[[image:1649921315771-948.png||height="328" width="800" class="img-thumbnail"]]
  Figure 6-3 Filtering signal waveform
@@ -494,7 +494,7 @@
 : High (0.4)
  )))|-|2
--== **6.2.2 Electronic Gear Ratio** ==
++== **Electronic Gear Ratio** ==
  **[Glossary]**
@@ -513,7 +513,7 @@
  The setting range of the electronic gear ratio should** **meet **the following conditions**:
  (% style="text-align:center" %)
--[[image:1649921327785-423.png||class="img-thumbnail" height="63" width="500"]]
++[[image:1649921327785-423.png||height="63" width="500" class="img-thumbnail"]]
  Otherwise, it would display [Er. 35] "Electronic gear ratio setting over limit" fault.
@@ -520,7 +520,7 @@
  **Electronic gear ratio setting Flowchart:**
  (% style="text-align:center" %)
--[[image:1649921334117-284.png||class="img-thumbnail" height="857" width="300"]]
++[[image:1649921334117-284.png||height="857" width="300" class="img-thumbnail"]]
  Figure 6-4 Electronic gear ratio setting flowchart
@@ -570,7 +570,7 @@
  It is valid when P0-16=0
  )))|(% style="width:58px" %)-|(% style="width:51px" %)1
--== **6.2.3 Position Reference Filter** ==
++== **Position Reference Filter** ==
  This function filters the position references (encoder unit) divided or multiplied by the electronic gear ratio. It involves the first-order filter and average filter.
@@ -585,7 +585,7 @@
  The filter time is not as long as possible. The longer the filter time, the longer the delay time and the longer the response time.
  (% style="text-align:center" %)
--[[image:1649921346187-572.png||class="img-thumbnail" height="305" width="700"]]
++[[image:1649921346187-572.png||height="305" width="700" class="img-thumbnail"]]
  Figure 6-5 position reference filter
@@ -605,18 +605,18 @@
  |P4-2|Position command first-order low-pass filter|At stop|Immediate|0~~128|For pulse command input filtering|ms|0
  |P4-3|Position command average filtering time constant|At stop|Immediate|0~~1000|For pulse command input filtering|ms|20
--== **6.2.4 Position Deviation Clear** ==
++== **Position Deviation Clear** ==
  Position deviation = Position reference – Position feedback (encoder unit)
  The position deviation clear function refers to the function that the drive clears the deviation register in the position mode. The function of clearing position deviation could be realized through DI terminal.
--== **6.2.5 Frequency-Division Output** ==
++== **Frequency-Division Output** ==
  The encoder pulse is output as a quadrature differential signal after divided by the internal circuit of the servo driver. The phase and frequency of the frequency-divided signal could be set by parameters. The source of frequency division output could be set by function code, and the setting of different sources makes the function of frequency division output more widely used.
  (% style="text-align:center" %)
--[[image:1649921354912-251.png||class="img-thumbnail" height="385" width="500"]]
++[[image:1649921354912-251.png||height="385" width="500" class="img-thumbnail"]]
  Figure 6-6 diagram of frequency division output wiring
@@ -674,7 +674,7 @@
 -Z Active when pulse is low
  )))|-|0
--== **6.2.6 Position-relevant DO output function** ==
++== **Position-relevant DO output function** ==
  The feedback value of the position command is compared with different thresholds, and the DO signal could be output for the host controller to use.
@@ -687,7 +687,7 @@
  **The functional schematic diagram is as follows:**
  (% style="text-align:center" %)
--[[image:1649921403464-270.png||class="img-thumbnail" height="393" width="600"]]
++[[image:1649921403464-270.png||height="393" width="600" class="img-thumbnail"]]
  Figure 6-7 positioning completed diagram
@@ -694,7 +694,7 @@
  When using the positioning completion / proximity function, you could also set positioning completion, positioning proximity conditions, window, and hold time. The diagram of window filtering time is shown in** the figure below:**
  (% style="text-align:center" %)
--[[image:1649921410286-328.png||class="img-thumbnail" height="429" width="750"]]
++[[image:1649921410286-328.png||height="429" width="750" class="img-thumbnail"]]
  Figure 6-8 diagram of positioning completion signal output with window filtering time
@@ -787,18 +787,18 @@
  ----
--== **6.2.7 [[Servo position control case>>doc:Servo.3\. Demos.01 VD1/VD2 Servo Position control.WebHome]]** ==
++== **Servo position control case** ==
  **Introduction**
  This case uses three commonly used PLC positioning instructions to implement the servo position control mode actions.
--== **6.2.8 I/O wiring** ==
++== **I/O wiring** ==
  (% style="text-align:center" %)
--[[image:1649921424832-617.png||class="img-thumbnail" height="473" width="700"]]
++[[image:1649921424832-617.png||height="473" width="700" class="img-thumbnail"]]
--== **6.2.9 Servo parameter setting** ==
++== **Servo parameter setting** ==
  **Step 1**:Power on the servo, set the M key on the panel of the servo drive, set the value of function code P0-1 to 1, and 1 is the position control mode;
@@ -812,7 +812,7 @@
  Control mode
  (default setting)
--)))|(% style="width:126px" %)At stop|(% style="width:130px" %)Power-on again|(% style="width:87px" %)1~~10|(% style="width:369px" %)(((
++)))|(% style="width:126px" %)At stop|(% style="width:130px" %)Power-on again|(% style="width:87px" %)1-10|(% style="width:369px" %)(((
 : Position control mode
 : Speed control mode
@@ -838,7 +838,7 @@
  Power-on
  again
--)))|(% style="width:81px" %)0~~1|(% style="width:433px" %)(((
++)))|(% style="width:81px" %)0-1|(% style="width:433px" %)(((
  Forward direction:viewed from the motor shaft.
 : CW direction as the forward direction
@@ -860,7 +860,9 @@
  **Step 4**:Set the value of the function code P13-1 to choose whether VDI1 is valid at high or low levels.
++{{info}}
  **✎Note:** the value of function code P6-02 should be set to 1. Only in this way can the motor rotate.
++{{/info}}
  (% class="table-bordered" %)
  |=(% style="width: 74px;" %)**Code**|=(% style="width: 142px;" %)**Function**|=(% style="width: 116px;" %)**Effective time**|=(% style="width: 76px;" %)**Default**|=(% style="width: 70px;" %)**Range**|=(% style="width: 548px;" %)**Description**|=**Unit**
@@ -898,12 +898,12 @@
 : J-SEL, Inertia ratio switch(not implemented yet)
  )))|
--== **6.2.10 PLC Project** ==
++== **PLC Project** ==
  (% style="text-align:center" %)
--[[image:1649921441261-362.png||class="img-thumbnail" height="256" width="800"]]
++[[image:1649921441261-362.png||height="256" width="800" class="img-thumbnail"]]
--== **6.2.11 Explanation** ==
++== **Explanation** ==
  The program uses M0,M1,M2 as the switch button of three modes of actions.
@@ -913,7 +913,7 @@
  When M2 is turned on, the Y0 servo motor moves to the absolute position of 2000 at the speed of 4000 pulses, and Y3 represents the direction of the motor.
--= **6.3 Speed mode** =
++= **Speed mode** =
   Speed control refers to control the speed of the machine through the speed reference. Through internal digital setting, analog voltage or communication, the servo drive could achieve fast and precise control of the mechanical speed. Therefore, the speed control mode is mainly used to control the rotation speed, or use the host controller to realize the position control, and the host controller output is used as the speed reference, such as analog engraving and milling machine.
@@ -920,7 +920,7 @@
  The speed control block diagram is **as follows:**
  (% style="text-align:center" %)
--[[image:1649921468579-521.png||class="img-thumbnail" height="255" width="800"]]
++[[image:1649921468579-521.png||height="255" width="800" class="img-thumbnail"]]
  Figure1 speed control diagram
@@ -942,10 +942,10 @@
 : Torque control mode
  )))|-|1
--== ** 6.3.1 Speed Reference Input Setting** ==
++== **Speed Reference Input Setting** ==
  (% style="text-align:center" %)
--[[image:1649921476490-234.png||class="img-thumbnail" height="392" width="600"]]
++[[image:1649921476490-234.png||height="392" width="600" class="img-thumbnail"]]
  Speed Reference Source
@@ -986,7 +986,7 @@
  **Analog voltage setting method**:
  (% style="text-align:center" %)
--[[image:1649921484882-112.png||class="img-thumbnail" height="855" width="250"]]
++[[image:1649921484882-112.png||height="855" width="250" class="img-thumbnail"]]
  Figure 2 flowchart of setting speed reference by analog voltage
@@ -1003,7 +1003,7 @@
  **Dead zone: **Input voltage range of the analog channel when the sampling voltage is zero.
  (% style="text-align:center" %)
--[[image:1649921492713-261.png||class="img-thumbnail" height="415" width="700"]]
++[[image:1649921492713-261.png||height="415" width="700" class="img-thumbnail"]]
  Figure 3 Analog signal after-offset
@@ -1033,7 +1033,7 @@
  |(% style="width:61px" %)P5-9|(% style="width:194px" %)Analog 10V for speed value|At stop|Immediate|1000~~4500|Set the speed value corresponding to analog 10V|rpm|3000
  |(% style="width:61px" %)P5-10|(% style="width:194px" %)Analog 10V for torque value|At stop|Immediate|0~~3000|Set the torque value corresponding to analog 10V|0.1%|1000
--== **6.3.2 Acceleration and deceleration time setting** ==
++== **Acceleration and deceleration time setting** ==
  The acceleration/deceleration time setting refers to convert a speed command with a relatively high acceleration into a speed command with a relatively gentle acceleration, so as to achieve the purpose of controlling the acceleration.
@@ -1040,7 +1040,7 @@
  In the speed control mode, excessive acceleration of the speed command would cause the vibration. At this time, increase the acceleration or deceleration time to achieve a smooth speed change of the motor and avoid mechanical damage caused by the above situation.
  (% style="text-align:center" %)
--[[image:1649921501713-829.png||class="img-thumbnail" height="387" width="600"]]
++[[image:1649921501713-829.png||height="387" width="600" class="img-thumbnail"]]
  Figure 4 diagram of acc. and dec. time
@@ -1059,7 +1059,7 @@
  |(% style="width:65px" %)P1-3|(% style="width:136px" %)Acc. time|During running|Immediate|0~~65535|Acceleration time from 0 to 1000rpm in speed command mode|ms|50
  |(% style="width:65px" %)P1-4|(% style="width:136px" %)Dec. time|During running|Immediate|0~~65535|Deceleration time from 1000 to 0 rpm in speed command mode|ms|50
--== **6.3.3 Speed Reference Limitation** ==
++== **Speed Reference Limitation** ==
  The servo drive could display the value of the speed reference in speed mode.
@@ -1087,7 +1087,7 @@
  |(% style="width:74px" %)P1-12|(% style="width:210px" %)Forward speed threshold|During running|Immediate|0~~3000|Set forward speed limit|rpm|3000
  |(% style="width:74px" %)P1-13|(% style="width:210px" %)Reverse speed threshold|During running|Immediate|0~~3000|Set reverse speed limit|rpm|3000
--== **6.3.4 Zero Speed Clamp Function** ==
++== **Zero Speed Clamp Function** ==
  Zero speed clamping function means that when the zero speed clamping signal (ZCLAMP) is valid, when the absolute value of the speed reference is lower than the zero speed clamping speed value, the servo motor is in the locked state. At this time, the servo drive is in position lock mode, and the speed reference is invalid.
@@ -1111,11 +1111,11 @@
  |(% style="width:69px" %)P1-22|(% style="width:176px" %)Speed threshold for zero|During running|Immediate|0~~1000|Set the speed threshold of the zero speed clamp function|rpm|20
  (% style="text-align:center" %)
--[[image:1649921513950-217.png||class="img-thumbnail" height="388" width="600"]]
++[[image:1649921513950-217.png||height="388" width="600" class="img-thumbnail"]]
  Figure 5 Zero Speed Clamp waveform
--== **6.3.5 Speed-relevant DO Signals** ==
++== **Speed-relevant DO Signals** ==
  Different DO signals are output to the host controller based on comparison between the speed feedback after filter and different thresholds. We need to assign different function for the DO terminals and set the valid logic.
@@ -1124,7 +1124,7 @@
  After the speed reference is filtered, the absolute value of the actual speed of the servo motor reaches [P5-16] (rotation detection speed threshold), then the motor is considered to be rotating. At this time, the DO terminal of the servo drive could output a rotation detection signal. Conversely, when the actual rotation speed of the servo motor does not reach [P5-16], it is considered that the motor is not rotating.
  (% style="text-align:center" %)
--[[image:1649921523559-858.png||class="img-thumbnail" height="236" width="600"]]
++[[image:1649921523559-858.png||height="236" width="600" class="img-thumbnail"]]
  Figure 6-14 motor rotation DO signal
@@ -1144,7 +1144,7 @@
  The absolute value of the actual speed of the servo motor is less than a certain threshold [P5-19], it is considered that the servo motor stops rotating, and the DO terminal of the servo drive could output a zero speed signal at this time. Conversely, if the absolute value of the actual speed of the servo motor is not less than this value, it is considered that the motor is not at a standstill and the zero speed signal is invalid.
  (% style="text-align:center" %)
--[[image:1649921531202-104.png||class="img-thumbnail" height="373" width="600"]]
++[[image:1649921531202-104.png||height="373" width="600" class="img-thumbnail"]]
  Figure 6 zero speed signal waveform
@@ -1164,7 +1164,7 @@
  In speed control, when the absolute value of the difference between the motor speed after filter and the speed reference satisfies the setting of [P5-17], the actual motor speed is considered to reach the speed reference. At this moment, the servo drive outputs the speed consistent signal. When the absolute value of the difference between the motor speed after filter and the speed reference exceeds the setting of [P5-17], the speed consistent signal is inactive.
  (% style="text-align:center" %)
--[[image:1649921539069-575.png||class="img-thumbnail" height="366" width="600"]]
++[[image:1649921539069-575.png||height="366" width="600" class="img-thumbnail"]]
  Figure 7 Speed Consistent Waveform
@@ -1184,7 +1184,7 @@
  When the absolute value of the motor speed after filter exceeds the setting of[P4-16],the motor speed is considered to reach the desired value. At this moment, the servo drive outputs the speed reached signal. When the absolute value of the motor speed after filter is smaller than or equal to the setting of[P4-16], the speed reached signal is inactive.
  (% style="text-align:center" %)
--[[image:1649921547861-635.png||class="img-thumbnail" height="323" width="600"]]
++[[image:1649921547861-635.png||height="323" width="600" class="img-thumbnail"]]
  Figure 6-17 Speed reached signal waveform
@@ -1199,7 +1199,7 @@
  |(% style="width:71px" %)P5-18|(% style="width:274px" %)Speed approaching signal threshold|During running|Immediate|10~~6000|Speed reached signal threshhold|rpm|100
  |(% style="width:71px" %)P7-18|(% style="width:274px" %)DO_1 function selection |During running|Power on again|128~~142|136-V-NEAR speed near |-|136
--= **6.4 Torque mode** =
++= **Torque mode** =
   The current of the servo motor has a linear relationship with the torque. Therefore, the control of the current could achieve the control of the torque. Torque control refers to controlling the output torque of the motor through a torque reference. Torque reference could be given by internal command and analog voltage.
@@ -1206,14 +1206,14 @@
  **The torque control block diagram is as follows**:
  (% style="text-align:center" %)
--[[image:1649921574316-568.png||class="img-thumbnail" height="230" width="700"]]
++[[image:1649921574316-568.png||height="230" width="700" class="img-thumbnail"]]
--== **6.4.1 Torque Reference Input Setting** ==
++== **Torque Reference Input Setting** ==
  (% style="text-align:center" %)
--[[image:1649921579089-736.png||class="img-thumbnail" height="379" width="600"]]
++[[image:1649921579089-736.png||height="379" width="600" class="img-thumbnail"]]
--== **6.4.2 Torque reference source** ==
++== **Torque reference source** ==
  In the torque control mode, there are two sources of torque reference, which could be set through [P1-7].** Relevant function codes:**
@@ -1263,7 +1263,7 @@
  )))
--== **6.4.3 Digital setting** ==
++== **Digital setting** ==
  The source of the torque reference is an internal command, which is set through function code [P1-8]. **Relevant function codes:**
@@ -1305,7 +1305,7 @@
  )))
--== **6.4.4 Analog voltage setting** ==
++== **Analog voltage setting** ==
  (% class="table-bordered" %)
  |=(((
@@ -1570,7 +1570,7 @@
  **Operation flowchart of setting torque reference by analog voltage:**
  (% style="text-align:center" %)
--[[image:1649921591828-681.png||class="img-thumbnail" height="1010" width="250"]]
++[[image:1649921591828-681.png||height="1010" width="250" class="img-thumbnail"]]
  flowchart of setting torque reference by analog voltage
@@ -1581,7 +1581,7 @@
  **Dead zone:** input voltage range of the analog channel when the sampling voltage is zero
  (% style="text-align:center" %)
--[[image:1649921598803-241.png||class="img-thumbnail" height="369" width="600"]]
++[[image:1649921598803-241.png||height="369" width="600" class="img-thumbnail"]]
  Analog signal waveform after-offset
@@ -1589,7 +1589,7 @@
  **Relevant function codes:**
--== **6.4.5 Torque Reference Filter** ==
++== **Torque Reference Filter** ==
  In the torque mode, the servo drive could realize low-pass filtering of the torque command, which reduces the vibration of the servo motor.
@@ -1596,13 +1596,13 @@
  **Relevant function codes:**
  (% style="text-align:center" %)
--[[image:1649921605656-975.png||class="img-thumbnail" height="369" width="600"]]
++[[image:1649921605656-975.png||height="369" width="600" class="img-thumbnail"]]
  Diagram of torque reference first-order filter
  If the setting value of the filter time constant is too large, the responsiveness would be reduced. Please set it while confirming the responsiveness.
--== **6.4.6 Torque Reference Limit** ==
++== **Torque Reference Limit** ==
  When the absolute value of the torque reference input from the host controller or output by the speed regulator is larger than the absolute value of the torque reference limit, the actual torque reference of the servo drive is restricted to the torque reference limit. Otherwise, the torque reference input from the host controller or output by the speed regulator is used.
@@ -1609,11 +1609,11 @@
  Only one torque reference limit is valid at a moment. Both positive and negative torque limits does not exceed the maximum torques of the servo drive and motor and ±300.0% of the rated torque.
  (% style="text-align:center" %)
--[[image:1649921617358-189.png||class="img-thumbnail" height="358" width="700"]]
++[[image:1649921617358-189.png||height="358" width="700" class="img-thumbnail"]]
  Torque setting and limit
--== **6.4.7 Torque Limit Source** ==
++== **Torque Limit Source** ==
  (% class="table-bordered" %)
  |=(((
@@ -1718,7 +1718,7 @@
  )))
--== **6.4.8 Torque Limit DO Signal** ==
++== **Torque Limit DO Signal** ==
  When the torque reference reaches the torque limit value, the driver outputs a torque limit signal (138-T-LIMIT torque limit) to the host controller and determines the DO terminal logic.
@@ -1732,7 +1732,7 @@
  )))|=**Range**|=**Function**|=**Unit**|=**Default**
  |(% style="width:89px" %)P6-26|(% style="width:220px" %)DO_1 function selection |During running|Power on again|128~~142|138-T-LIMIT torque limit|-|138
--== **6.4.9 Torque related DO output function** ==
++== **Torque related DO output function** ==
  The feedback value of the torque reference is compared with different thresholds, and the DO signal could be output to the host controller to use. Assign the DO terminals of the servo drive to different functions and set the valid logic.
@@ -1739,7 +1739,7 @@
  Torch reach signal
  (% style="text-align:center" %)
--[[image:1649921631575-959.png||class="img-thumbnail" height="414" width="600"]]
++[[image:1649921631575-959.png||height="414" width="600" class="img-thumbnail"]]
  Torch reach signal waveform

Changes for page 06 Control Mode

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