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Wiki source code of 06 Operation

Version 45.1 by Leo Wei on 2022/06/11 17:55
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1 = **Basic settings** =
2
3 == **Check before operation** ==
4
5 |=(% scope="row" %)**No.**|=**Content**
6 |=(% colspan="2" %)Wiring
7 |=1|The main circuit input terminals (L1, L2 and L3) of servo drive must be properly connected.
8 |=2|The main circuit output terminals (U, V and W) of servo drive and the main circuit cables (U, V and W) of servo motor must have the same phase and be properly connected.
9 |=3|The main circuit power input terminals (L1, L2 and L3) and the main circuit output terminals (U, V and W) of servo drive cannot be short-circuited.
10 |=4|The wiring of each control signal cable of servo drive is correct: The external signal wires such as brake and overtravel protection have been reliably connected.
11 |=5|Servo drive and servo motor must be grounded reliably.
12 |=6|When using an external braking resistor, the short wiring between drive C and D must be removed.
13 |=7|The force of all cables is within the specified range.
14 |=8|The wiring terminals have been insulated.
15 |=(% colspan="2" %)Environment and Machinery
16 |=1|There is no iron filings, metal, etc. that can cause short circuits inside or outside the servo drive.
17 |=2|The servo drive and external braking resistor are not placed on combustible objects.
18 |=3|The installation, shaft and mechanical structure of the servo motor have been firmly connected.
19
20 Table 6-1 Check contents before operation
21
22 == **Power-on** ==
23
24 **(1) Connect the main circuit power supply**
25
26 After power on the main circuit, the bus voltage indicator shows no abnormality, and the panel display "rdy", indicating that the servo drive is in an operational state, waiting for the host computer to give the servo enable signal.
27
28 If the drive panel displays other fault codes, please refer to __[[“10 Faults>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/10%20Malfunctions/#HFaultandwarningcodetable]]__” to analyze and eliminate the cause of the fault.
29
30 **(2) Set the servo drive enable (S-ON) to invalid (OFF)**
31
32 == **Jog operation** ==
33
34 Jog operation is used to judge whether the servo motor can rotate normally, and whether there is abnormal vibration and abnormal sound during rotation. Jog operation can be realized in two ways, one is panel jog operation, which can be realized by pressing the buttons on the servo panel. The other is jog operation through the host computer debugging platform.
35
36 **(1) Panel jog operation**
37
38 Enter “P10-01” by pressing the key on the panel. After pressing “OK”, the panel will display the current jog speed. At this time, you can adjust the jog speed by pressing the "up" or "down" keys; After adjusting the moving speed, press "OK", and the panel displays "JOG" and is in a flashing state. Press "OK" again to enter the jog operation mode (the motor is now powered on!). Long press the "up" and "down" keys to achieve the forward and reverse rotation of the motor. Press "Mode" key to exit the jog operation mode. For operation and display, please refer to __[["5.3.2. Jog operation">>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/05%20Panel/#HJogoperation]]__.
39
40 **(2) Jog operation of servo debugging platform**
41
42 Open the jog operation interface of the software “Wecon SCTool”, set the jog speed value in the "set speed" in the "manual operation", click the "servo on" button on the interface, and then achieve the jog forward and reverse function through the "forward rotation" or "Reverse" button on the interface. After clicking the "Servo off" button, the jog operation mode is exited. The related function codes are shown below.
43
44
45
46 |=(% scope="row" %)**Function code**|=**Name**|=(((
47 **Setting method**
48 )))|=(((
49 **Effective time**
50 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
51 |=P10-01|JOG speed|(((
52 Operation setting
53 )))|(((
54 Effective immediately
55 )))|100|0 to 3000|JOG speed|rpm
56
57 Table 6-2 JOG speed parameter
58
59 == **Rotation direction selection** ==
60
61 By setting the “P00-04” rotation direction, you could change the rotation direction of the motor without changing the polarity of the input instruction. The function code is shown in below.
62
63
64 |=(% scope="row" %)**Function code**|=**Name**|=(((
65 **Setting method**
66 )))|=(((
67 **Effective time**
68 )))|=(((
69 **Default value**
70 )))|=**Range**|=**Definition**|=**Unit**
71 |=P00-04|Rotation direction|(((
72 Shutdown setting
73 )))|(((
74 Effective immediately
75 )))|0|0 to 1|(((
76 Forward rotation: Face the motor shaft to watch
77
78 0: standard setting (CW is forward rotation)
79
80 1: reverse mode (CCW is forward rotation)
81 )))|-
82
83 Table 6-3 Rotation direction parameters** **
84
85 == **Braking resistor** ==
86
87 The servo motor is in the generator state when decelerating or stopping, the motor will transfer energy back to the drive, which will increase the bus voltage. When the bus voltage exceeds the braking point, The drive can consume the feedback energy in the form of thermal energy through the braking resistor. The braking resistor can be built-in or externally connected, but it cannot be used at the same time. When selecting an external braking resistor, it is necessary to remove the short link on the servo drive.
88
89 The basis for judging whether the braking resistor is built-in or external.
90
91 1. the maximum brake energy calculated value > the maximum brake energy absorbed by capacitor, and the brake power calculated value ≤ the built-in braking resistor power, use the built-in braking resistor.
92 1. the maximum brake energy calculated value > the maximum brake energy absorbed by capacitor, and the brake power calculated value > the built-in braking resistor power, use external braking resistor.
93
94 |=(% scope="row" %)**Function code**|=**Name**|=(((
95 **Setting method**
96 )))|=(((
97 **Effective time**
98 )))|=**Default**|=**Range**|=**Definition**|=**Unit**
99 |=P00-09|Braking resistor setting|(((
100 Operation setting
101 )))|(((
102 Effective immediately
103 )))|0|0 to 3|(((
104 0: use built-in braking resistor
105
106 1: use external braking resistor and natural cooling
107
108 2: use external braking resistor and forced air cooling; (cannot be set)
109
110 3: No braking resistor is used, it is all absorbed by capacitor.
111 )))|-
112 |=(% colspan="8" %)✎**Note: **VD2-010SA1G and VD2F-010SA1P drives have no built-in resistor by default, so the default value of the function code “P00-09” is 3 (No braking resistor is used, it is all absorbed by capacitor).
113 |=P00-10|External braking resistor value|(((
114 Operation setting
115 )))|(((
116 Effective immediately
117 )))|50|0 to 65535|It is used to set the external braking resistor value of a certain type of drive.|Ω
118 |=P00-11|External braking resistor power|(((
119 Operation setting
120 )))|(((
121 Effective immediately
122 )))|100|0 to 65535|It is used to set the external braking resistor power of a certain type of drive.|W
123
124 Table 6-4 Braking resistor parameters
125
126 == **Servo operation** ==
127
128 **(1) Set the servo enable (S-ON) to valid (ON)**
129
130 The servo drive is in a running state and displays "run", but because there is no instruction input at this time, the servo motor does not rotate and is locked.
131
132 S-ON can be configured and selected by the DI terminal function selection of the function code "DIDO configuration".
133
134 **(2) Input the instruction and the motor rotates**
135
136 Input appropriate instructions during operation, first run the motor at a low speed, and observe the rotation to see if it conforms to the set rotation direction. Observe the actual running speed, bus voltage and other parameters of the motor through the host computer debugging platform. According to [[__"7 Adjustment"__>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/]], the motor could work as expected.
137
138 **(3) Timing diagram of power on**
139
140
141 [[image:image-20220608163014-1.png]]
142
143 Figure 6-1 Timing diagram of power on
144
145 == **Servo shutdown** ==
146
147 According to the different shutdown modes, it could be divided into free shutdown and zero speed shutdown. The respective characteristics are shown in __[[Table 6-5>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HServoshutdown]]__. According to the shutdown status, it could be divided into free running state and position locked, as shown in __[[Table 6-6>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HServoshutdown]]__.
148
149
150 |Shutdown mode|Shutdown description|Shutdown characteristics
151 |Free shutdown|Servo motor is not energized and decelerates freely to 0. The deceleration time is affected by factors such as mechanical inertia and mechanical friction.|Smooth deceleration, small mechanical shock, but slow deceleration process.
152 |Zero-speed shutdown|The servo drive outputs reverse braking torque, and the motor quickly decelerates to zero-speed.|Rapid deceleration with mechanical shock, but fast deceleration process.
153
154 Table 6-5 Comparison of two shutdown modes
155
156
157 |**Shutdown status**|**Free operation status**|**Position locked**
158 |Characteristics|After the motor stops rotating, it is power-off, and the motor shaft can rotate freely.|After the motor stops rotating, the motor shaft is locked and could not rotate freely.
159
160 Table 6-6 Comparison of two shutdown status
161
162 **(1) Servo enable (S-ON) OFF shutdown**
163
164 The related parameters of the servo OFF shutdown mode are shown in the table below.
165
166
167 |**Function code**|**Name**|(((
168 **Setting method**
169 )))|(((
170 **Effective time**
171 )))|(((
172 **Default value**
173 )))|**Range**|**Definition**|**Unit**
174 |P00-05|Servo OFF shutdown|(((
175 Shutdown
176
177 setting
178 )))|(((
179 Effective
180
181 immediately
182 )))|0|0 to 1|(((
183 0: Free shutdown, and the motor shaft remains free status.
184
185 1: Zero-speed shutdown, and the motor shaft remains free status.
186 )))|-
187
188 Table 6-7Table 6-1 Servo OFF shutdown mode parameters details
189
190 **(2) Emergency shutdown**
191
192 It is free shutdown mode at present, and the motor shaft remains in a free state. The corresponding configuration and selection could be selected through the DI terminal function of the function code "DIDO configuration".
193
194 **(3) Overtravel shutdown**
195
196 Overtravel means that the movable part of the machine exceeds the set area. In some occasions where the servo moves horizontally or vertically, it is necessary to limit the movement range of the workpiece. The overtravel is generally detected by limit switches, photoelectric switches or the multi-turn position of the encoder, that is, hardware overtravel or software overtravel.
197
198 Once the servo drive detects the action of the limit switch signal, it will immediately force the speed in the current direction of rotation to 0 to prevent it from continuing, and it will not be affected for reverse rotation. The overtravel shutdonw is fixed at zero speed and the motor shaft remains locked.
199
200 The corresponding configuration and selection could be selected through the DI terminal function of the function code "DIDO configuration". The default function of DI3 is POT and DI4 is NOT, as shown in the table below.
201
202
203 |**Function code**|**Name**|(((
204 **Setting method**
205 )))|(((
206 **Effective time**
207 )))|**Default value**|**Range**|**Definition**|**Unit**
208 |P06-08|DI_3 channel function selection|Operation setting|Power-on again|3|0 to 32|(((
209 0: OFF (not used)
210
211 01: S-ON servo enable
212
213 02: A-CLR fault and Warning Clear
214
215 03: POT forward drive prohibition
216
217 04: NOT Reverse drive prohibition
218
219 05: ZCLAMP Zero speed
220
221 06: CL Clear deviation counter
222
223 07: C-SIGN Inverted instruction
224
225 08: E-STOP Emergency stop
226
227 09: GEAR-SEL Electronic Gear Switch 1
228
229 10: GAIN-SEL gain switch
230
231 11: INH Instruction pulse prohibited input
232
233 12: VSSEL Vibration control switch input
234
235 13: INSPD1 Internal speed instruction selection 1
236
237 14: INSPD2 Internal speed instruction selection 2
238
239 15: INSPD3 Internal speedinstruction selection 3
240
241 16: J-SEL inertia ratio switch (not implemented yet)
242
243 17: MixModesel mixed mode selection
244
245 20: Internal multi-segment position enable signal
246
247 21: Internal multi-segment position selection 1
248
249 22: Internal multi-segment position selection 2
250
251 23: Internal multi-segment position selection 3
252
253 24: Internal multi-segment position selection 4
254
255 Others: reserved
256 )))|-
257 |P06-09|DI_3 channel logic selection|Operation setting|(((
258 Effective immediately
259 )))|0|0 to 1|(((
260 DI port input logic validity function selection.
261
262 0: Normally open input. Active low level (switch on);
263
264 1: Normally closed input. Active high level (switch off);
265 )))|-
266 |P06-10|DI_3 input source selection|Operation setting|(((
267 Effective immediately
268 )))|0|0 to 1|(((
269 Select the DI_3 port type to enable
270
271 0: Hardware DI_3 input terminal
272
273 1: virtual VDI_3 input terminal
274 )))|-
275
276 |P06-11|DI_4 channel function selection|(((
277 Operation setting
278 )))|(((
279 again Power-on
280 )))|4|0 to 32|(((
281 0 off (not used)
282
283 01: SON Servo enable
284
285 02: A-CLR Fault and Warning Clear
286
287 03: POT Forward drive prohibition
288
289 04: NOT Reverse drive prohibition
290
291 05: ZCLAMP Zero speed
292
293 06: CL Clear deviation counter
294
295 07: C-SIGN Inverted instruction
296
297 08: E-STOP Emergency shutdown
298
299 09: GEAR-SEL Electronic Gear Switch 1
300
301 10: GAIN-SEL gain switch
302
303 11: INH Instruction pulse prohibited input
304
305 12: VSSEL Vibration control switch input
306
307 13: INSPD1 Internal speed instruction selection 1
308
309 14: INSPD2 Internal speed instruction selection 2
310
311 15: INSPD3 Internal speed instruction selection 3
312
313 16: J-SEL inertia ratio switch (not implemented yet)
314
315 17: MixModesel mixed mode selection
316
317 20: Internal multi-segment position enable signal
318
319 21: Internal multi-segment position selection 1
320
321 22: Internal multi-segment position selection 2
322
323 23: Internal multi-segment position selection 3
324
325 24: Internal multi-segment position selection 4
326
327 Others: reserved
328 )))|-
329 |P06-12|DI_4 channel logic selection|Operation setting|(((
330 Effective immediately
331 )))|0|0 to 1|(((
332 DI port input logic validity function selection.
333
334 0: Normally open input. Active low level (switch on);
335
336 1: Normally closed input. Active high level (switch off);
337 )))|-
338 |P06-13|DI_4 input source selection|Operation setting|(((
339 Effective immediately
340 )))|0|0 to 1|(((
341 Select the DI_4 port type to enable
342
343 0: Hardware DI_4 input terminal
344
345 1: virtual VDI_4 input terminal
346 )))|-
347
348 Table 6-8 DI3 and DI4 channel parameters
349
350 **(4) Malfunction shutdown**
351
352 When the machine fails, the servo will perform a fault shutdown operation. The current shutdown mode is fixed to the free shutdown mode, and the motor shaft remains in a free state.
353
354 == **Brake device** ==
355
356 The brake is a mechanism that prevents the servo motor shaft from moving when the servo drive is in a non-operating state, and keeps the motor locked in position, so that the moving part of the machine will not move due to its own weight or external force.
357
358
359 |(((
360 [[image:image-20220611151617-1.png]]
361 )))
362 |(((
363 ✎The brake device is built into the servo motor, which is only used as a non-energized fixed special mechanism. It cannot be used for braking purposes, and can only be used when the servo motor is kept stopped;
364
365 ✎ After the servo motor stops, turn off the servo enable (S-ON) in time;
366
367 ✎The brake coil has no polarity;
368
369 ✎When the brake coil is energized (that is, the brake is open), magnetic flux leakage may occur at the shaft end and other parts. If users need to use magnetic sensors and other device near the motor, please pay attention!
370
371 ✎When the motor with built-in brake is in operation, the brake device may make a clicking sound, which does not affect the function.
372 )))
373
374 **(1) Wiring of brake device**
375
376 The brake input signal has no polarity. You need to prepare a 24V power supply. The standard connection of brake signal BK and brake power supply is shown in the figure below. (take VD2B servo drive as example)
377
378
379 [[image:image-20220608163136-2.png]]
380
381 Figure 6-2 VD2B servo drive brake wiring
382
383
384 |(((
385 [[image:image-20220611151642-2.png]]
386 )))
387 |(((
388 ✎The length of the motor brake cable needs to fully consider the voltage drop caused by the cable resistance, and the brake operation needs to ensure that the voltage input is 24V.
389
390 ✎It is recommended to use the power supply alone for the brake device. If the power supply is shared with other electrical device, the voltage or current may decrease due to the operation of other electrical device, which may cause the brake to malfunction.
391
392 ✎It is recommended to use cables above 0.5 mm².
393 )))
394
395 **(2) Brake software setting**
396
397 For a servo motor with brake, one DO terminal of servo drive must be configured as function 141 (BRK-OFF, brake output), and the effective logic of the DO terminal must be determined.
398
399 Related function code is as below.
400
401
402 |**DO function code**|**Function name**|**Function**|(((
403 **Effective time**
404 )))
405 |144|(((
406 BRK-OFF Brake output
407 )))|Output the signal indicates the servo motor brake release|Power-on again
408
409 Table 6-2 Relevant function codes for brake setting
410
411
412 |**Function code**|**Name**|(((
413 **Setting method**
414 )))|(((
415 **Effective time**
416 )))|**Default value**|**Range**|**Definition**|**Unit**
417 |P1-30|Delay from brake output to instruction reception|(((
418 Operation setting
419 )))|Effective immediately|250|0 to 500|Set delay that from the brake (BRK-OFF) output is ON to servo drive allows to receive input instruction. When brake output (BRK-OFF) is not allocated, the function code has no effect.|ms
420 |P1-31|In static state, delay from brake output OFF to the motor is power off|(((
421 Operation setting
422 )))|Effective immediately|150|1 to 1000|When the motor is in a static state, set the delay time from brake (BRK-OFF) output OFF to servo drive enters the non-channel state. When the brake output (BRK-OFF) is not allocated, this function code has no effect.|ms
423 |P1-32|Rotation status, when the brake output OFF, the speed threshold|(((
424 Operation setting
425 )))|Effective immediately|30|0 to 3000|(((
426 When the motor rotates, the motor speed threshold when the brake (BRK-OFF) is allowed to output OFF.
427
428 When the brake output (BRK-OFF) is not allocated, this function code has no effect.
429 )))|rpm
430 |P1-33|Rotation status, Delay from servo enable OFF to brake output OFF|(((
431 Operation setting
432 )))|Effective immediately|500|1 to 1000|(((
433 When the motor rotates, the delay time from the servo enable (S-ON) OFF to the brake (BRK-OFF) output OFF is allowed.
434
435 When brake output (BRK-OFF) is not allocated, this function code has no effect.
436 )))|ms
437
438 Table 6-9 Brake setting function codes
439
440 According to the state of servo drive, the working sequence of the brake mechanism can be divided into the brake sequence in the normal state of the servo drive and the brake sequence in the fault state of the servo drive.
441
442 **(3) Servo drive brake timing in normal state**
443
444 The brake timing of the normal state could be divided into: the servo motor static (the actual speed of motor is lower than 20 rpm) and servo motor rotation(the actual speed of the motor reaches 20 and above).
445
446 1) Brake timing when servo motor is stationary
447
448 When the servo enable changes from ON to OFF, if the actual motor speed is lower than20 rpm, the servo drive will act according to the static brake sequence. The specific sequence action is shown in __[[Figure 6-3>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_2da3eb860da7ba31.gif?rev=1.1]]__
449
450
451 |(((
452 [[image:image-20220611151705-3.png]]
453 )))
454 |(((
455 ✎After the brake output is from OFF to ON, within P01-30, do not input position/speed/torque instructions, otherwise the instructions will be lost or operation errors will be caused.
456
457 ✎When applied to a vertical axis, the external force or the weight of the mechanical moving part may cause the machine to move slightly. When the servo motor is stationary, and the servo enable is OFF, the brake output will be OFF immediately. However, the motor is still energized within the time of P01-31 to prevent mechanical movement from moving due to its own weight or external force.
458 )))
459
460 [[image:image-20220608163304-3.png]]
461
462 Figure 6-3 Brake Timing of when the motor is stationary
463
464 ✎**Note: **For the delay time of the contact part of the brake at ② in the figure, please refer to the relevant specifications of motor.
465
466 2) The brake timing when servo motor rotates
467
468 When the servo enable is from ON to OFF, if the actual motor speed is greater than or equal to 20 rpm, the drive will act in accordance with the rotation brake sequence. The specific sequence action is shown in __[[Figure 6-4>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_4408711d09c83291.gif?rev=1.1]]__.
469
470
471 |(((
472 [[image:image-20220611151719-4.png]]
473 )))
474 |(((
475 ✎When the servo enable is turned from OFF to ON, within P1-30, do not input position, speed or torque instructions, otherwise the instructions will be lost or operation errors will be caused.
476
477 ✎When the servo motor rotates, the servo enable is OFF and the servo motor is in the zero-speed shutdown state, but the brake output must meet any of the following conditions before it could be set OFF:
478
479 P01-33 time has not arrived, but the motor has decelerated to the speed set by P01-32;
480
481 P01-33 time is up, but the motor speed is still higher than the set value of P01-32.
482
483 ✎After the brake output changes from ON to OFF, the motor is still in communication within 50ms to prevent the mechanical movement from moving due to its own weight or external force.
484 )))
485
486 [[image:image-20220608163425-4.png]]
487
488 Figure 6-4 Brake timing when the motor rotates
489
490 **(4) Brake timing when the servo drive fails**
491
492 The brake timing (free shutdown) in the fault status is as follows.
493
494
495 [[image:image-20220608163541-5.png]]
496
497 Figure 6-5 The brake timing (free shutdown) in the fault state
498
499 = **Position control mode** =
500
501 Position control is the most important and commonly used control mode of the servo system. Position control refers to controlling the position of the motor through position instructions, and determining the target position of the motor by the total number of position instructions. The frequency of the position instruction determines the motor rotation speed. The servo drive can achieve fast and accurate control of the position and speed of the machine. Therefore, the position control mode is mainly used for occasions that require positioning control, such as manipulators, mounter, engraving machines, CNC machine tools, etc. The position control block diagram is shown in the figure below.
502
503
504 [[image:image-20220608163643-6.png]]
505
506 Figure 6-6 Position control diagram
507
508 Set “P00-01” to 1 by the software “Wecon SCTool”, and the servo drive is in position control mode.
509
510
511 |**Function code**|**Name**|(((
512 **Setting method**
513 )))|(((
514 **Effective time**
515 )))|**Default value**|**Range**|**Definition**|**Unit**
516 |P01-01|Control mode|(((
517 Operation setting
518 )))|(((
519 immediately Effective
520 )))|0|0 to 1|(((
521 0: position control
522
523 2: speed control
524
525 3: torque control
526
527 4: position/speed mix control
528
529 5: position/torque mix control
530
531 6: speed /torque mix control
532 )))|-
533
534 Table 6-10 Control mode parameters
535
536 == **Position instruction input setting** ==
537
538 When the VD2 series servo drive is in position control mode, firstly set the position instruction source through the function code “P01-06”.
539
540
541 |**Function code**|**Name**|(((
542 **Setting method**
543 )))|(((
544 **Effective time**
545 )))|**Default value**|**Range**|**Definition**|**Unit**
546 |P01-06|Position instruction source|(((
547 Operation setting
548 )))|(((
549 immediately Effective
550 )))|0|0 to 1|(((
551 0: pulse instruction
552
553 1: internal position instruction
554 )))|-
555
556 Table 6-11 Position instruction source parameter
557
558 **(1) The source of position instruction is pulse instruction (P01-06=0)**
559
560 1) Low-speed pulse instruction input
561
562
563 |[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/22.jpg?rev=1.1]]|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/23.jpg?rev=1.1]]
564 |VD2A and VD2B servo drives|VD2F servo drive
565 |(% colspan="2" %)Figure 6-7 Position instruction input setting
566
567 VD2 series servo drive has a set of pulse input terminals to receive the input of position pulse (via the CN2 terminal). The position pulse mode connection is shown in __[[Figure 6-7>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HPositioninstructioninputsetting]]__.
568
569 The instruction pulse and symbol output circuit on the control device(HMI/PLC) side could select differential input or open collector input. The maximum input frequency is shown as below.
570
571
572 |**Pulse method**|**Maximum frequency**|**Voltage**
573 |Open collector input|200K|24V
574 |Differential input|500K|5V
575
576 Table 6-12 Pulse input specifications
577
578 1.Differential input
579
580 Take VD2A and VD2B drive as examples, the connection of differential input is shown as below.
581
582
583 [[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/24.jpg?rev=1.1]]
584
585 Figure 6-8 Differential input connection
586
587 ✎**Note: **The differential input connection of the VD2F drive differs only from the signal pin number. Please refer to “__[[4.4.3 position instruction input signal>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/04%20Wiring/#HPositioninstructioninputsignal]]__”
588
589 2.Open collector input
590
591 Take VD2A and VD2B drive as examples, the connection of differential input is shown as below.
592
593
594 [[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/25.jpg?rev=1.1]]
595
596 Figure 6-9 Open collector input connection
597
598 ✎**Note:** The differential input connection of the VD2F drive differs only from the signal pin number. Please refer to “__[[4.4.3 position instruction input signal>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/04%20Wiring/#HPositioninstructioninputsignal]]__”
599
600 2) Position pulse frequency and anti-interference level
601
602 When low-speed pulses input pins, you need to set a certain pin filter time to filter the input pulse instructions to prevent external interference from entering the servo drive and affecting motor control. After the filter function is enabled, the input and output waveforms of the signal are shown in Figure 6-10.
603
604
605 [[image:image-20220608163952-8.png]]
606
607 Figure 6-10 Example of filtered signal waveform
608
609 The input pulse frequency refers to the frequency of the input signal, which can be modified through the function code “P00-13”. If the actual input frequency is greater than the set value of “P00-13”, it may cause pulse loss or alarm. The position pulse anti-interference level can be adjusted through the function code “P00-14”, the larger the set value, the greater the filtering depth. The details of related function code parameters are as shown below.
610
611
612 |**Function code**|**Name**|(((
613 **Setting method**
614 )))|(((
615 **Effective time**
616 )))|**Default value**|**Range**|(% colspan="2" %)**Definition**|**Unit**
617 |P00-13|Maximum position pulse frequency|(((
618 Shutdown setting
619 )))|(((
620 Effective immediately
621 )))|300|1 to 500|(% colspan="2" %)Set the maximum frequency of external pulse instruction|KHz
622 |(% rowspan="3" %)P00-14|(% rowspan="3" %)Position pulse anti-interference level|(% rowspan="3" %)(((
623 Operation setting
624 )))|(% rowspan="3" %)(((
625 Power-on again
626 )))|(% rowspan="3" %)2|(% rowspan="3" %)0 to 9|(% colspan="2" %)(((
627 Set the anti-interference level of external pulse instruction.
628
629 0: no filtering;
630
631 1: Filtering time 128ns
632
633 2: Filtering time 256ns
634
635 3: Filtering time 512ns
636
637 4: Filtering time 1.024us
638
639 5: Filtering time 2.048us
640
641 6: Filtering time 4.096us
642
643 7: Filtering time 8.192us
644
645 8: Filtering time 16.384us
646 )))|(% rowspan="3" %)-
647 |(% rowspan="2" %)9|VD2: Filtering time 25.5us
648 |VD2F: Filtering time 25.5us
649
650 Table 6-13 Position pulse frequency and anti-interference level parameters
651
652 3) Position pulse type selection
653
654 In VD2 series servo drives, there are three types of input pulse instructions, and the related function codes are shown in the table below.
655
656
657 |**Function code**|**Name**|(((
658 **Setting method**
659 )))|(((
660 **Effective time**
661 )))|**Default value**|**Range**|**Definition**|**Unit**
662 |P00-12|Position pulse type selection|(((
663 Operation setting
664 )))|(((
665 Power-on again
666 )))|0|0 to 5|(((
667 0: direction + pulse (positive logic)
668
669 1: CW/CCW
670
671 2: A, B phase quadrature pulse (4 times frequency)
672
673 3: Direction + pulse (negative logic)
674
675 4: CW/CCW (negative logic)
676
677 5: A, B phase quadrature pulse (4 times frequency negative logic)
678 )))|-
679
680 Table 6-14 Position pulse type selection parameter
681
682
683 |**Pulse type selection**|**Pulse type**|**Signal**|**Schematic diagram of forward pulse**|**Schematic diagram of negative pulse**
684 |0|(((
685 Direction + pulse
686
687 (Positive logic)
688 )))|(((
689 PULSE
690
691 SIGN
692 )))|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/21.jpg?rev=1.1]]|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/26.jpg?rev=1.1]]
693 |1|CW/CCW|(((
694 PULSE (CW)
695
696 SIGN (CCW)
697 )))|(% colspan="2" %)[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/27.jpg?rev=1.1]]
698 |2|(((
699 AB phase orthogonal
700
701 pulse (4 times frequency)
702 )))|(((
703 PULSE (Phase A)
704
705 SIGN (Phase B)
706 )))|(((
707 [[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/28.jpg?rev=1.1]]
708
709 Phase A is 90° ahead of Phase B
710 )))|(((
711 [[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/29.jpg?rev=1.1]]
712
713 Phase B is 90° ahead of Phase A
714 )))
715 |3|(((
716 Direction + pulse
717
718 (Negative logic)
719 )))|(((
720 PULSE
721
722 SIGN
723 )))|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/30.jpg?rev=1.1]]|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/31.jpg?rev=1.1]]
724 |4|(((
725 CW/CCW
726
727 (Negative logic)
728 )))|(((
729 PULSE (CW)
730
731 SIGN (CCW)
732 )))|(% colspan="2" %)[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/32.jpg?rev=1.1]]
733 |5|(((
734 AB phase orthogonal
735
736 pulse (4 times frequency negative logic)
737 )))|(((
738 PULSE (Phase A)
739
740 SIGN (Phase B)
741 )))|(((
742 [[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/33.jpg?rev=1.1]]
743
744 B phase is ahead of A phase by 90°
745 )))|(((
746 [[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/34.jpg?rev=1.1]]
747
748 A phase is ahead of B phase by 90°
749 )))
750
751 Table 6-15 Pulse description
752
753 **(2) The source of position instruction is internal position instruction (P01-06=1)**
754
755 The VD2 series servo drive has a multi-segment position operation function, which supports maximum 16-segment instructions. The displacement, maximum operating speed (steady-state operating speed) and acceleration/deceleration time of each segment could be set separately. The waiting time between positions could also be set according to actual needs. The setting process of multi-segment position is shown in __[[Figure 6-11>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_6173c39e1ccf532e.gif?rev=1.1]]__.
756
757 The servo drive completely runs the multi-segment position instruction set by P07-01 once, and the total number of positions is called completing one round of operation.
758
759
760 [[image:image-20220608164116-9.png]]
761
762 Figure 6-11 The setting process of multi-segment position
763
764 1) Set multi-segment position running mode
765
766
767 |**Function code**|**Name**|(((
768 **Setting method**
769 )))|(((
770 **Effective time**
771 )))|**Default value**|**Range**|**Definition**|**Unit**
772 |P07-01|Multi-segment position running mode|(((
773 Shutdown setting
774 )))|(((
775 Effective immediately
776 )))|0|0 to 2|(((
777 0: Single running
778
779 1: Cycle running
780
781 2: DI switching running
782 )))|-
783 |P07-02|Start segment number|(((
784 Shutdown setting
785 )))|(((
786 Effective immediately
787 )))|1|1 to 16|1st segment NO. in non-DI switching mode|-
788 |P07-03|End segment number|(((
789 Shutdown setting
790 )))|(((
791 Effective immediately
792 )))|1|1 to 16|last segment NO. in non-DI switching mode|-
793 |P07-04|Margin processing method|(((
794 Shutdown setting
795 )))|(((
796 Effective immediately
797 )))|0|0 to 1|(((
798 0: Run the remaining segments
799
800 1: Run again from the start segment
801 )))|-
802 |P07-05|Displacement instruction type|(((
803 Shutdown setting
804 )))|(((
805 Effective immediately
806 )))|0|0 to 1|(((
807 0: Relative position instruction
808
809 1: Absolute position instruction
810 )))|-
811
812 Table 6-16 multi-segment position running mode parameters
813
814 VD2 series servo drive has three multi-segment position running modes, and you could select the best running mode according to the site requirements.
815
816 ~1. Single running
817
818 In this running mode, the segment number is automatically incremented and switched, and the servo drive only operates for one round (the servo drive runs completely once for the total number of multi-segment position instructions set by P07-02 and P07-03). The single running curve is shown in __[[Figure 6-12>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_669701d67ab2f246.gif?rev=1.1]]__, and S1 and S2 are the displacements of the 1st segment and the 2nd segment respectively
819
820
821 [[image:image-20220608164226-10.png]]
822
823 Figure 6-12 Single running curve (P07-02=1, P07-03=2)
824
825 2. Cycle running
826
827 In this running mode, the position number is automatically incremented and switched, and the servo drive repeatedly runs the total number of multi-segment position instructions set by P07-02 and P07-03. The waiting time could be set between each segment. The cycle running curve is shown in __[[Figure 6-13>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_80b358d07288f7b4.gif?rev=1.1]]__, and S1,S2,S3 and S4 are the displacements of the 1st, 2nd, 3rd and 4th segment respectively.
828
829
830 [[image:image-20220608164327-11.png]]
831
832 Figure 6-13 Cycle running curve (P07-02=1, P07-03=4)
833
834 |[[image:image-20220611151917-5.png]]
835 |In single running and cycle running mode, the setting value of P07-03 needs to be greater than the setting value of P07-02.
836
837 3. DI switching running
838
839 In this running mode, the next running segment number could be set when operating the current segment number. The interval time is determined by the instruction delay of the host computer. The running segment number is determined by DI terminal logic, and the related function codes are shown in the table below.
840
841
842 |**DI function code**|**Function name**|**Function**
843 |21|INPOS1: Internal multi-segment position segment selection 1|Form internal multi-segment position running segment number
844 |22|INPOS2: Internal multi-segment position segment selection 2|Form internal multi-segment position running segment number
845 |23|INPOS3: Internal multi-segment position segment selection 3|Form internal multi-segment position running segment number
846 |24|INPOS4: Internal multi-segment position segment selection 4|Form internal multi-segment position running segment number
847
848 Table 6-17 DI function code
849
850 The multi-segment segment number is a 4-bit binary number, and the DI terminal logic is level valid. When the input level is valid, the segment selection bit value is 1, otherwise it is 0. Table 6-17 shows the correspondence between the position bits 1 to 4 of the internal multi-segment position and the position number.
851
852
853 |**INPOS4**|**INPOS3**|**INPOS2**|**INPOS1**|**Running position number**
854 |0|0|0|0|1
855 |0|0|0|1|2
856 |0|0|1|0|3
857 |(% colspan="5" %)…………
858 |1|1|1|1|16
859
860 Table 6-18 INPOS corresponds to running segment number
861
862 The operating curve in this running mode is shown in __[[Figure 6-14>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_91c44ab732c79e26.gif?rev=1.1]]__.
863
864
865 [[image:image-20220608164545-12.png]]
866
867 Figure 6-14 DI switching running curve
868
869 VD2 series servo drives have two margin processing methods: run the remaining segments and run from the start segment again. The related function code is P07-04.
870
871 **A. Run the remaining segments**
872
873 In this processing way, the multi-segment position instruction enable is OFF during running, the servo drive will abandon the unfinished displacement part and shutdown, and the positioning completion signal will be valid after the shutdown is complete. When the multi-segment position enable is ON, and the servo drive will start to run from the next segment where the OFF occurs. The curves of single running and cycle running are shown in __[[Figure 6-15>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_29777829e6742c0d.gif?rev=1.1]]__ and __[[Figure 6-16>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_d264849e0940e3e4.gif?rev=1.1]]__ respectively.
874
875
876 [[image:image-20220608164847-13.png]]
877
878 Figure 6-15 Single running-run the remaining segments (P07-02=1, P07-03=4)
879
880
881 [[image:image-20220608165032-14.png]]
882
883 Figure 6-16 Cycle running-run the remaining segment (P07-02=1, P07-03=4)
884
885 **B. Run again from the start segment**
886
887 In this processing mode, when the multi-segment position instruction enable is OFF during running, the servo drive will abandon the uncompleted displacement part and shutdown. After the shutdown is completed, the positioning completion signal is valid. When the multi-segment position enable is ON, and the servo drive will start to operate from the next position set by P07-02. The curves of single running and cycle running are shown in __[[Figure 6-17>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_2328499c9613af49.gif?rev=1.1]]__ and __[[Figure 6-18>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_1f2e35174b1afd3c.gif?rev=1.1]]__ respectively.
888
889
890 [[image:image-20220608165343-15.png]]
891
892 Figure 6-17 Single running-run from the start segment again (P07-02=1, P07-03=4)
893
894
895 [[image:image-20220608165558-16.png]]
896
897 Figure 6-18 Cyclic running-run from the start segment again (P07-02=1, P07-03=4)
898
899 VD2 series servo drives have two types of displacement instructions: relative position instruction and absolute position instruction. The related function code is P07-05.
900
901 A. Relative position instruction
902
903 The relative position instruction takes the current stop position of the motor as the start point and specifies the amount of displacement.
904
905 |(((
906 [[image:image-20220608165710-17.png]]
907 )))|(((
908 [[image:image-20220608165749-18.png]]
909 )))
910 |Figure 6-19 Relative position diagram|Figure 6-20 Displacement diagram
911
912 B. Absolute position instruction
913
914 The absolute position instruction takes "reference origin" as the zero point of absolute positioning, and specifies the amount of displacement.
915
916 |(((
917 [[image:image-20220608165848-19.png]]
918 )))|(((
919 [[image:image-20220608170005-20.png]]
920 )))
921 |Figure 6-21 Absolute indication|Figure 6-22 Displacement
922
923 2) Multi-segment position running curve setting
924
925 The multi-segment position running supports maximum 16 segments different position instructions. The displacement, maximum running speed (steady-state running speed), acceleration and deceleration time of each position and the waiting time between segment could all be set. __[[Table 6-19>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HPositioninstructioninputsetting]]__ are the related function codes of the 1st segment running curve.
926
927
928 |**Function code**|**Name**|(((
929 **Setting method**
930 )))|(((
931 **Effective time**
932 )))|**Default value**|**Range**|**Definition**|**Unit**
933 |P07-09|(((
934 1st segment
935
936 displacement
937 )))|(((
938 Operation setting
939 )))|(((
940 Effective immediately
941 )))|10000|(((
942 -2147483647 to
943
944 2147483646
945 )))|Position instruction, positive and negative values could be set|-
946 |P07-10|Maximum speed of the 1st displacement|(((
947 Operation setting
948 )))|(((
949 Effective immediately
950 )))|100|1 to 5000|Steady-state running speed of the 1st segment|rpm
951 |P07-11|Acceleration and deceleration of 1st segment displacement|(((
952 Operation setting
953 )))|(((
954 Effective immediately
955 )))|100|1 to 65535|The time required for the acceleration and deceleration of the 1st segment|ms
956 |P07-12|Waiting time after completion of the 1st segment displacement|(((
957 Operation setting
958 )))|(((
959 Effective immediately
960 )))|100|1 to 65535|Delayed waiting time from the completion of the 1st segment to the start of the next segment|Set by P07-06
961
962 Table 6-19 The 1st position operation curve parameters table
963
964 After setting the above parameters, the actual operation curve of the motor is shown in Figure 6-23.
965
966
967 [[image:image-20220608170149-21.png]]
968
969 Figure 6-23 The 1st segment running curve of motor
970
971 3) multi-segment position instruction enable
972
973 When selecting multi-segment position instruction as the instruction source, configure 1 DI port channel of the servo drive to function 20 (internal multi-segment position enable signal), and confirm the valid logic of the DI terminal.
974
975
976 |**DI function code**|**Function name**|**Function**
977 |20|ENINPOS: Internal multi-segment position enable signal|(((
978 DI port logic invalid: Does not affect the current operation of the servo motor.
979
980 DI port logic valid: Motor runs multi-segment position
981 )))
982
983 [[image:image-20220611152020-6.png]]
984
985 It should be noted that only when the internal multi-segment position enable signal is OFF, can the P07 group parameters be actually modified to write into the servo drive!
986
987 == **Electronic gear ratio** ==
988
989 **(1) Definition of electronic gear ratio**
990
991 In the position control mode, the input position instruction (instruction unit) is to set the load displacement, and the motor position instruction (encoder unit) is to set the motor displacement, in order to establish the proportional relationship between the motor position instruction and the input position instruction, electronic gear ratio function is used. "instruction unit" refers to the minimum resolvable value input from the control device(HMI/PLC) to the servo drive. "Encoder unit" refers to the value of the input instruction processed by the electronic gear ratio.
992
993 With the function of the frequency division (electronic gear ratio <1) or multiplication (electronic gear ratio > 1) of the electronic gear ratio, the actual the motor rotation or movement displacement can be set when the input position instruction is 1 instruction unit.
994
995 It it noted that the electronic gear ratio setting range of the 2500-line incremental encoder should meet the formula (6-1), and the electronic gear ratio setting range of the 17-bit encoder should meet the formula (6-2), setting range of the electronic gear ratio of 23-bit encoder should meet the formula (6-3)
996
997
998 [[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/35.png?rev=1.1]]
999
1000
1001 [[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/36.png?rev=1.1]]
1002
1003
1004 [[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/37.png?rev=1.1]]
1005
1006 Otherwise, the servo drive will report Er.35: "Electronic gear ratio setting exceeds the limit"!
1007
1008 **(2) Setting steps of electronic gear ratio**
1009
1010
1011 [[image:image-20220608170320-22.png]]
1012
1013 Figure 6-24 Setting steps of electronic gear ratio
1014
1015 Step1: Confirm the mechanical parameters including the reduction ratio, the ball screw lead, gear diameter in the gear drive, and pulley diameter in the pulley drive.
1016
1017 Step2: Confirm the resolution of servo motor encoder.
1018
1019 Step3: Confirm the parameters such as mechanical specifications, positioning accuracy, etc, and determine the load displacement corresponding to one position instruction output by the host computer.
1020
1021 Step4: Combine the mechanical parameters and the load displacement corresponding to one position instruction, calculate the position instruction value required for one rotation of the load shaft.
1022
1023 Step5: Calculate the value of electronic gear ratio according to formula below.
1024
1025
1026 [[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/38.png?rev=1.1]]
1027
1028 **(3) lectronic gear ratio switch setting**
1029
1030
1031 When the function code P00-16 is 0, the electronic gear ratio switching function could be used. You could switch between electronic gear 1 and electronic gear 2 as needed. There is only one set of gear ratios at any time. Related function codes are shown in the table below.
1032
1033
1034 |**Function code**|**Name**|(((
1035 **Setting method**
1036 )))|(((
1037 **Effective time**
1038 )))|**Default value**|**Range**|**Definition**|**Unit**
1039 |P00-16|Number of instruction pulses when the motor rotates one circle|(((
1040 Shutdown setting
1041 )))|(((
1042 Effective immediately
1043 )))|10000|0 to 131072|Set the number of position command pulses required for each turn of the motor. When the setting value is 0, [P00-17]/[P00-19] Electronic gear 1/2 numerator, [P00-18]/[P00-20] Electronic gear 1/2 denominator is valid.|(((
1044 Instruction pulse
1045
1046 unit
1047 )))
1048 |P00-17|(((
1049 Electronic gear 1
1050
1051 numerator
1052 )))|Operation setting|(((
1053 Effective immediately
1054 )))|1|1 to 4294967294|Set the numerator of the 1st group electronic gear ratio for position instruction frequency division or multiplication. P00-16 is effective when the number of instruction pulses of one motor rotation is 0.|-
1055 |P00-18|(((
1056 Electronic gear 1
1057
1058 denominator
1059 )))|(((
1060 Operation setting
1061 )))|(((
1062 Effective immediately
1063 )))|1|1 to 4294967294|Set the denominator of the 1st group electronic gear ratio for position instruction frequency division or multiplication. P00-16 is effective when the number of instruction pulses of one motor rotation is 0.|-
1064 |P00-19|(((
1065 Electronic gear 2
1066
1067 numerator
1068 )))|Operation setting|(((
1069 Effective immediately
1070 )))|1|1 to 4294967294|Set the numerator of the 2nd group electronic gear ratio for position instruction frequency division or multiplication. P00-16 is effective when the number of instruction pulses of one motor rotation is 0.|-
1071 |P00-20|(((
1072 Electronic gear 2
1073
1074 denominator
1075 )))|Operation setting|(((
1076 Effective immediately
1077 )))|1|1 to 4294967294|Set the denominator of the 2nd group electronic gear ratio for position instruction frequency division or multiplication. P00-16 is effective when the number of instruction pulses of one motor rotation is 0.|-
1078
1079 Table 6-20 Electronic gear ratio function code
1080
1081 To use electronic gear ratio 2, it is necessary to configure any DI port as function 09 (GEAR-SEL electronic gear switch 1), and determine the valid logic of the DI terminal.
1082
1083
1084 |**DI function code**|**Function name**|**Function**
1085 |09|GEAR-SEL electronic gear switch 1|(((
1086 DI port logic invalid: electronic gear ratio 1
1087
1088 DI port logic valid: electronic gear ratio 2
1089 )))
1090
1091 Table 6-21 Switching conditions of electronic gear ratio group
1092
1093 |**P00-16 value**|**DI terminal level corresponding to DI port function 9**|**Electronic gear ratio**[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/39.png?rev=1.1]]
1094 |(% rowspan="2" %)0|DI port logic invalid|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/40.png?rev=1.1]]
1095 |DI port logic valid|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/41.png?rev=1.1]]
1096 |1 to 131072|~-~-|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/42.png?rev=1.1]]
1097
1098 Table 6-22 Application of electronic gear ratio
1099
1100 When the function code P00-16 is not 0, the electronic gear ratio [[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/39.png?rev=1.1]] is invalid.
1101
1102 == **Position instruction filtering** ==
1103
1104 Position instruction filtering is to filter the position instruction (encoder unit) after the electronic gear ratio frequency division or frequency multiplication, including first-order low-pass filtering and average filtering operation.
1105
1106 In the following situations, position instruction filtering should be added.
1107
1108 1. The position instruction output by host computer has not been processed with acceleration or deceleration;
1109 1. The pulse instruction frequency is low;
1110 1. When the electronic gear ratio is 10 times or more.
1111
1112 Reasonable setting of the position loop filter time constant can operate the motor more smoothly, so that the motor speed will not overshoot before reaching the stable point. This setting has no effect on the number of instruction pulses. The filter time is not as long as possible. If the filter time is longer, the delay time will be longer too, and the response time will be correspondingly longer. It is an illustration of several kinds of position filtering.
1113
1114
1115 [[image:image-20220608170455-23.png]]
1116
1117 Figure 6-25 Position instruction filtering diagram
1118
1119
1120 |**Function code**|**Name**|(((
1121 **Setting method**
1122 )))|(((
1123 **Effective time**
1124 )))|**Default value**|**Range**|**Definition**|**Unit**
1125 |P04-01|Pulse instruction filtering method|(((
1126 Shutdown setting
1127 )))|(((
1128 Effective immediately
1129 )))|0|0 to 1|(((
1130 0: 1st-order low-pass filtering
1131
1132 1: average filtering
1133 )))|-
1134 |P04-02|Position instruction 1st-order low-pass filtering time constant|Shutdown setting|(((
1135 Effective immediately
1136 )))|0|0 to 1000|Position instruction first-order low-pass filtering time constant|ms
1137 |P04-03|Position instruction average filtering time constant|Shutdown setting|(((
1138 Effective immediately
1139 )))|0|0 to 128|Position instruction average filtering time constant|ms
1140
1141 Table 6-23 Position instruction filter function code
1142
1143 == **Clearance of position deviation** ==
1144
1145 Position deviation clearance means that the drive could zero the deviation register in position mode. The user can realize the function of clearing the position deviation through the DI terminal;
1146
1147 Position deviation = (position instruction-position feedback) (encoder unit)
1148
1149 == **Position-related DO output function** ==
1150
1151 The feedback value of position instruction is compared with different thresholds, and output DO signal for host computer use.
1152
1153 (% class="wikigeneratedid" id="HPositioningcompletion2Fpositioningapproachoutput" %)
1154 **Positioning completion/positioning approach output**
1155
1156 (% class="wikigeneratedid" %)
1157 the positioning completion function means that when the position deviation meets the value set by P05-12, it could be considered that the positioning is complete in position control mode. At this time, servo drive could output the positioning completion signal, and the host computer could confirm the completion of the positioning of servo drive after receiving the signal.
1158
1159
1160 [[image:image-20220608170550-24.png]]
1161
1162 Figure 6-26 Positioning completion signal output diagram
1163
1164 When using the positioning completion or approach function, you could also set positioning completion, positioning approach conditions, window and hold time. The principle of window filter time is shown in Figure 6-27.
1165
1166 To use the positioning completion/positioning approach function, a DO terminal of the servo drive should be assigned to the function 134 (P-COIN, positioning completion)/ 135 (P-NEAR, positioning approach). The related code parameters and DO function codes are shown as __[[Table 6-24>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HPosition-relatedDOoutputfunction]]__.
1167
1168
1169 [[image:image-20220608170650-25.png]]
1170
1171 Figure 6-27 Positioning completion signal output with increased window filter time diagram
1172
1173
1174 |**Function code**|**Name**|(((
1175 **Setting method**
1176 )))|(((
1177 **Effective time**
1178 )))|**Default value**|**Range**|**Definition**|**Unit**
1179 |P05-12|Positioning completion threshold|(((
1180 Operation setting
1181 )))|(((
1182 Effective immediately
1183 )))|800|1 to 65535|Positioning completion threshold|Equivalent pulse unit
1184 |P05-13|Positioning approach threshold|(((
1185 Operation setting
1186 )))|(((
1187 Effective immediately
1188 )))|5000|1 to 65535|Positioning approach threshold|Equivalent pulse unit
1189 |P05-14|Position detection window time|(((
1190 Operation setting
1191 )))|(((
1192 Effective immediately
1193 )))|10|0 to 20000|Set positioning completion detection window time|ms
1194 |P05-15|Positioning signal hold time|(((
1195 Operation setting
1196 )))|(((
1197 Effective immediately
1198 )))|100|0 to 20000|Set positioning completion output hold time|ms
1199
1200 Table 6-24 Function code parameters of positioning completion
1201
1202
1203 |**DO function code**|**Function name**|**Function**
1204 |134|P-COIN positioning complete|Output this signal indicates the servo drive position is complete.
1205 |135|(((
1206 P-NEAR positioning close
1207 )))|(((
1208 Output this signal indicates that the servo drive position is close.
1209 )))
1210
1211 Table 6-25 Description of DO rotation detection function code
1212
1213 = **Speed control mode** =
1214
1215 Speed control refers to controlling the speed of the machine through speed instructions. Given the speed instruction by digital voltage or communication, the servo drive can control the mechanical speed fast and precisely. Therefore, the speed control mode is mainly used to control the rotation speed such as analog CNC engraving and milling machine. [[Figure 6-28>>path:http://13.229.109.52:8080/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/6.28.jpg?width=806&height=260&rev=1.1]] is the speed control block diagram.
1216
1217
1218 [[image:6.28.jpg||height="260" width="806"]]
1219
1220 Figure 6-28 Speed control block diagram
1221
1222 == **Speed instruction input setting** ==
1223
1224 In speed control mode, VD2A and VD2B servo drives have two instruction source: internal speed instruction and analog speed instruction. VD2F drive only supports internal speed instruction. Speed instruction source is set by function code P01-01.
1225
1226
1227 |**Function code**|**Name**|(((
1228 **Setting method**
1229 )))|(((
1230 **Effective time**
1231 )))|**Default value**|**Range**|**Definition**|**Unit**
1232 |P01-01|Speed instruction source|(((
1233 Shutdown setting
1234 )))|(((
1235 Effective immediately
1236 )))|1|1 to 6|(((
1237 0: internal speed instruction
1238
1239 1: AI_1 analog input (not supported by VD2F)
1240 )))|-
1241
1242 Table 6-26 Speed instruction source parameter
1243
1244 **(1) Speed instruction source is internal speed instruction (P01-01=0)**
1245
1246 Speed instruction comes from internal instruction, and the internal speed instruction is given by a number. The VD2 series servo drive has internal multi-segment speed running function. There are 8 segments speed instructions stored in servo drive, and the speed of each segment could be set individually. The servo drive uses the 1st segment internal speed by default. To use the 2nd to 8th segment internal speed, the corresponding number of DI terminals must be configured as functions 13, 14, and 15. The detailed parameters and function codes are shown as below.
1247
1248
1249 |**Function code**|**Name**|(((
1250 **Setting method**
1251 )))|(((
1252 **Effective time**
1253 )))|**Default value**|**Range**|**Definition**|**Unit**
1254 |(% rowspan="2" %)P01-02|(% rowspan="2" %)(((
1255 Internal speed Instruction 0
1256 )))|(% rowspan="2" %)(((
1257 Operation setting
1258 )))|(% rowspan="2" %)(((
1259 Effective immediately
1260 )))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1261 Internal speed instruction 0
1262
1263 When DI input port:
1264
1265 15-INSPD3: 0
1266
1267 14-INSPD2: 0
1268
1269 13-INSPD1: 0,
1270
1271 select this speed instruction to be effective.
1272 )))|(% rowspan="2" %)rpm
1273 |-5000 to 5000*
1274 |(% rowspan="2" %)P01-23|(% rowspan="2" %)(((
1275 Internal speed Instruction 1
1276 )))|(% rowspan="2" %)(((
1277 Operation setting
1278 )))|(% rowspan="2" %)(((
1279 Effective immediately
1280 )))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1281 Internal speed instruction 1
1282
1283 When DI input port:
1284
1285 15-INSPD3: 0
1286
1287 14-INSPD2: 0
1288
1289 13-INSPD1: 1,
1290
1291 Select this speed instruction to be effective.
1292 )))|(% rowspan="2" %)rpm
1293 |-5000 to 5000*
1294 |(% rowspan="2" %)P01-24|(% rowspan="2" %)(((
1295 Internal speed Instruction 2
1296 )))|(% rowspan="2" %)(((
1297 Operation setting
1298 )))|(% rowspan="2" %)(((
1299 Effective immediately
1300 )))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1301 Internal speed instruction 2
1302
1303 When DI input port:
1304
1305 15-INSPD3: 0
1306
1307 14-INSPD2: 1
1308
1309 13-INSPD1: 0,
1310
1311 Select this speed instruction to be effective.
1312 )))|(% rowspan="2" %)rpm
1313 |-5000 to 5000*
1314 |(% rowspan="2" %)P01-25|(% rowspan="2" %)(((
1315 Internal speed Instruction 3
1316 )))|(% rowspan="2" %)(((
1317 Operation setting
1318 )))|(% rowspan="2" %)(((
1319 Effective immediately
1320 )))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1321 Internal speed instruction 3
1322
1323 When DI input port:
1324
1325 15-INSPD3: 0
1326
1327 14-INSPD2: 1
1328
1329 13-INSPD1: 1,
1330
1331 Select this speed instruction to be effective.
1332 )))|(% rowspan="2" %)rpm
1333 |-5000 to 5000*
1334
1335 |(% rowspan="2" %)P01-26|(% rowspan="2" %)(((
1336 Internal speed Instruction 4
1337 )))|(% rowspan="2" %)(((
1338 Operation setting
1339 )))|(% rowspan="2" %)(((
1340 Effective immediately
1341 )))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1342 Internal speed instruction 4
1343
1344 When DI input port:
1345
1346 15-INSPD3: 1
1347
1348 14-INSPD2: 0
1349
1350 13-INSPD1: 0,
1351
1352 Select this speed instruction to be effective.
1353 )))|(% rowspan="2" %)rpm
1354 |-5000 to 5000*
1355 |(% rowspan="2" %)P01-27|(% rowspan="2" %)(((
1356 Internal speed Instruction 5
1357 )))|(% rowspan="2" %)(((
1358 Operation setting
1359 )))|(% rowspan="2" %)(((
1360 Effective immediately
1361 )))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1362 Internal speed instruction 5
1363
1364 When DI input port:
1365
1366 15-INSPD3: 1
1367
1368 14-INSPD2: 0
1369
1370 13-INSPD1: 1,
1371
1372 Select this speed instruction to be effective.
1373 )))|(% rowspan="2" %)rpm
1374 |-5000 to 5000*
1375 |(% rowspan="2" %)P01-28|(% rowspan="2" %)(((
1376 Internal speed Instruction 6
1377 )))|(% rowspan="2" %)(((
1378 Operation setting
1379 )))|(% rowspan="2" %)(((
1380 Effective immediately
1381 )))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1382 Internal speed instruction 6
1383
1384 When DI input port:
1385
1386 15-INSPD3: 1
1387
1388 14-INSPD2: 1
1389
1390 13-INSPD1: 0,
1391
1392 Select this speed instruction to be effective.
1393 )))|(% rowspan="2" %)rpm
1394 |-5000 to 5000*
1395 |(% rowspan="2" %)P01-29|(% rowspan="2" %)(((
1396 Internal speed Instruction 7
1397 )))|(% rowspan="2" %)(((
1398 Operation setting
1399 )))|(% rowspan="2" %)(((
1400 Effective immediately
1401 )))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1402 Internal speed instruction 7
1403
1404 When DI input port:
1405
1406 15-INSPD3: 1
1407
1408 14-INSPD2: 1
1409
1410 13-INSPD1: 1,
1411
1412 Select this speed instruction to be effective.
1413 )))|(% rowspan="2" %)rpm
1414 |-5000 to 5000*
1415
1416 Table 6-27 Internal speed instruction parameters
1417
1418 ✎**Note: **“*” means the set range of VD2F servo drive.
1419
1420
1421 |**DI function code**|**function name**|**Function**
1422 |13|INSPD1 internal speed instruction selection 1|Form internal multi-speed running segment number
1423 |14|INSPD2 internal speed instruction selection 2|Form internal multi-speed running segment number
1424 |15|INSPD3 internal speed instruction selection 3|Form internal multi-speed running segment number
1425
1426 Table 6-28 DI multi-speed function code description
1427
1428 The multi-speed segment number is a 3-bit binary number, and the DI terminal logic is level valid. When the input level is valid, the segment selection bit value is 1, otherwise it is 0. The corresponding relationship between INSPD1 to 3 and segment numbers is shown as below.
1429
1430
1431 |**INSPD3**|**INSPD2**|**INSPD1**|**Running segment number**|**Internal speed instruction number**
1432 |0|0|0|1|0
1433 |0|0|1|2|1
1434 |0|1|0|3|2
1435 |(% colspan="5" %)......
1436 |1|1|1|8|7
1437
1438 Table 6-29 Correspondence between INSPD bits and segment numbers
1439
1440
1441 [[image:image-20220608170845-26.png]]
1442
1443 Figure 6-29 Multi-segment speed running curve
1444
1445 **(2) Speed instruction source is internal speed instruction (P01-01=0)**
1446
1447 The servo drive processes the analog voltage signal output by the host computer or other equipment as a speed instruction. VD2A and VD2B series servo drives have 2 analog input channels: AI_1 and AI_2. AI_1 is analog speed input, and AI_2 is analog speed limit.
1448
1449
1450 [[image:image-20220608153341-5.png]]
1451
1452 Figure 6-30 Analog input circuit
1453
1454 Taking AI_1 as an example, the method of setting the speed instruction of analog voltage is illustrated as below.
1455
1456
1457 [[image:image-20220608170955-27.png]]
1458
1459 Figure 6-31 Analog voltage speed instruction setting steps
1460
1461 Explanation of related terms:
1462
1463 Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
1464
1465 Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
1466
1467 Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1468
1469
1470 [[image:image-20220608171124-28.png]]
1471
1472 Figure 6-32 AI_1 diagram before and after bias
1473
1474
1475 |**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
1476 |P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1477 |P05-02☆|AI_1 input filter time constant|Operation setting|Effective immediately|200|0 to 60000|AI_1 channel input first-order low-pass filtering time constant|0.01ms
1478 |P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel quantity dead zone value|mV
1479 |P05-04☆|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV
1480
1481 Table 6-30 AI_1 parameters
1482
1483 ✎**Note: **“☆” means VD2F servo drive does not support the function code .
1484
1485 == **Acceleration and deceleration time setting** ==
1486
1487 The acceleration and deceleration time setting can achieve the expectation of controlling acceleration by converting the speed instruction with higher acceleration into the speed instruction with gentle acceleration.
1488
1489 In the speed control mode, excessive acceleration of the speed instruction will cause the motor to jump or vibrate. Therefore, a suitable acceleration and deceleration time can realize the smooth speed change of the motor and avoid the occurrence of mechanical damage caused by the above situation.
1490
1491
1492 [[image:image-20220608171314-29.png]]
1493
1494 Figure 6-33 of acceleration and deceleration time diagram
1495
1496 Actual acceleration time T1 =[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/43.jpg?rev=1.1]]
1497
1498 Actual deceleration time T2 =[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/44.jpg?rev=1.1]]
1499
1500
1501 |**Function code**|**Name**|(((
1502 **Setting method**
1503 )))|(((
1504 **Effective time**
1505 )))|**Default value**|**Range**|**Definition**|**Unit**
1506 |P01-03|Acceleration time|(((
1507 Operation setting
1508 )))|(((
1509 Effective immediately
1510 )))|50|0 to 65535|The time for the speed instruction to accelerate from 0 to 1000rpm|ms
1511 |P01-04|Deceleration time|(((
1512 Operation setting
1513 )))|(((
1514 Effective immediately
1515 )))|50|0 to 65535|The time for the speed instruction to decelerate from 1000rpm to 0|ms
1516
1517 Table 6-31 Acceleration and deceleration time parameters
1518
1519 == **Speed instruction limit** ==
1520
1521 In speed mode, the servo drive could limit the size of the speed instruction. The sources of speed instruction limit include:
1522
1523 1. P01-10: Set the maximum speed limit value
1524 1. P01-12: Set forward speed limit value
1525 1. P01-13: Set reverse speed limit value
1526 1. The maximum speed of the motor: determined by motor model
1527
1528 The actual motor speed limit interval satisfies the following relationship:
1529
1530 The amplitude of forward speed instruction ≤ min (Maximum motor speed, P01-10, P01-12)
1531
1532 The amplitude of negative speed command ≤ min (Maximum motor speed, P01-10, P01-13)
1533
1534
1535 |**Function code**|**Name**|(((
1536 **Setting method**
1537 )))|(((
1538 **Effective time**
1539 )))|**Default value**|**Range**|**Definition**|**Unit**
1540 |P01-10|Maximum speed threshold|(((
1541 Operation setting
1542 )))|(((
1543 Effective immediately
1544 )))|3600|0 to 5000|Set the maximum speed limit value, if exceeds this value, an overspeed fault will be reported|rpm
1545 |P01-12|Forward speed threshold|(((
1546 Operation setting
1547 )))|(((
1548 Effective immediately
1549 )))|3000|0 to 5000|Set forward speed limit value|rpm
1550 |P01-13|Reverse speed threshold|(((
1551 Operation setting
1552 )))|(((
1553 Effective immediately
1554 )))|3000|0 to 5000|Set reverse speed limit value|rpm
1555
1556 Table 6-32 Rotation speed related function codes
1557
1558 == **Zero-speed clamp function** ==
1559
1560 The zero speed clamp function refers to the speed control mode, when the zero speed clamp signal (ZCLAMP) is valid, and the absolute value of the speed instruction is lower than the zero speed clamp speed threshold (P01-22), the servo motor is at In locked state, the servo drive is in position lock mode at this time, and the speed instruction is invalid.
1561
1562 If the speed instruction amplitude is greater than zero-speed clamp speed threshold, the servo motor exits the locked state and continues to run according to the current input speed instruction.
1563
1564
1565 |**Function code**|**Name**|(((
1566 **Setting method**
1567 )))|(((
1568 **Effective time**
1569 )))|**Default value**|**Range**|**Definition**|**Unit**
1570 |P01-21|(((
1571 Zero-speed clamp function selection
1572 )))|(((
1573 Operation setting
1574 )))|(((
1575 Effective immediately
1576 )))|0|0 to 3|(((
1577 Set the zero-speed clamp function. In speed mode:
1578
1579 0: Force the speed to 0;
1580
1581 1: Force the speed to 0, and keep the position locked when the actual speed is less than P01-22
1582
1583 2: When speed instruction is less than P01-22, force the speed to 0 and keep the position locked
1584
1585 3: Invalid, ignore zero-speed clamp input
1586 )))|-
1587 |P01-22|(((
1588 Zero-speed clamp speed threshold
1589 )))|(((
1590 Operation setting
1591 )))|(((
1592 Effective immediately
1593 )))|20|0 to 1000|Set the speed threshold of zero-speed clamp function|rpm
1594
1595 Table 6-33 Zero-speed clamp related parameters
1596
1597
1598 [[image:image-20220608171549-30.png]]
1599
1600 Figure 6-34 Zero-speed clamp diagram
1601
1602 == **Speed-related DO output function** ==
1603
1604 The feedback value of the position instruction is compared with different thresholds, and could output DO signal for host computer use.
1605
1606 **(1) Rotation detection signal**
1607
1608 After the speed instruction is filtered, the absolute value of the actual speed absolute value of the servo motor reaches P05-16 (rotation detection speed threshold), it could be considered that the motor is rotating. At this time, the servo drive outputs a rotation detection signal (TGON), which can be used to confirm that the motor has rotated. On the contrary, when the absolute value of the actual rotation speed of the servo motor is less than P05-16, it is considered that the motor is not rotating.
1609
1610
1611 [[image:image-20220608171625-31.png]]
1612
1613 Figure 6-35 Rotation detection signal diagram
1614
1615 To use the motor rotation detection signal output function, a DO terminal of the servo drive should be assigned to function 132 (T-COIN, rotation detection). The function code parameters and related DO function codes are shown in __[[Table 6-34>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HZero-speedclampfunction]]__ and __[[Table 6-35>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HZero-speedclampfunction]]__.
1616
1617
1618 |**Function code**|**Name**|(((
1619 **Setting method**
1620 )))|(((
1621 **Effective time**
1622 )))|**Default value**|**Range**|**Definition**|**Unit**
1623 |P05-16|(((
1624 Rotation detection
1625
1626 speed threshold
1627 )))|(((
1628 Operation setting
1629 )))|(((
1630 Effective immediately
1631 )))|20|0 to 1000|Set the motor rotation signal judgment threshold|rpm
1632
1633 Table 6-34 Rotation detection speed threshold parameters
1634
1635
1636 |**DO function code**|**Function name**|**Function**
1637 |132|(((
1638 T-COIN rotation detection
1639 )))|(((
1640 Valid: when the absolute value of motor speed after filtering is greater than or equal to the set value of function code P05-16
1641
1642 Invalid, when the absolute value of motor speed after filtering is less than set value of function code P05-16
1643 )))
1644
1645 Table 6-35 DO rotation detection function code
1646
1647 **(2) Zero-speed signal**
1648
1649 If the absolute value of the actual speed of servo motor is less than a certain threshold P05-19, it is considered that servo motor stops rotating (close to a standstill), and the servo drive outputs a zero speed signal (ZSP) at this time. On the contrary, 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.
1650
1651
1652 [[image:image-20220608171904-32.png]]
1653
1654 Figure 6-36 Zero-speed signal diagram
1655
1656 To use the motor zero-speed signal output function, a DO terminal of servo drive should be assigned to function 133 (ZSP, zero-speed signal). The function code parameters and related DO function codes are shown in __[[Table 6-36>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HZero-speedclampfunction]]__ and __[[Table 6-37>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HZero-speedclampfunction]]__.
1657
1658
1659 |**Function code**|**Name**|(((
1660 **Setting method**
1661 )))|(((
1662 **Effective time**
1663 )))|**Default value**|**Range**|**Definition**|**Unit**
1664 |P05-19|Zero speed output signal threshold|(((
1665 Operation setting
1666 )))|(((
1667 Effective immediately
1668 )))|10|0 to 6000|Set zero-speed output signal judgment threshold|rpm
1669
1670 Table 6-36 Zero-speed output signal threshold parameter
1671
1672
1673 |**DO function code**|**Function name**|**Function**
1674 |133|(((
1675 ZSP zero speed signal
1676 )))|Output this signal indicates that the servo motor is stopping rotation
1677
1678 Table 6-37 DO zero-speed signal function code
1679
1680 **(3) Speed consistent signal**
1681
1682 When the absolute value of the deviation between the actual speed of the servo motor after filtering and the speed instruction meets a certain threshold P05-17, it is considered that the actual speed of the motor has reached the set value, and the servo drive outputs a speed coincidence signal (V-COIN) at this time. Conversely, if the absolute value of the deviation between the actual speed of the servo motor and the set speed instruction after filtering exceeds the threshold, the speed consistent signal is invalid.
1683
1684
1685 [[image:image-20220608172053-33.png]]
1686
1687 Figure 6-37 Speed consistent signal diagram
1688
1689 To use the motor speed consistent function, a DO terminal of the servo drive should be assigned to function 136 (V-COIN, consistent speed). The function code parameters and related DO function codes are shown in __[[Table 6-38>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HZero-speedclampfunction]]__ and __[[Table 6-39>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HZero-speedclampfunction]]__.
1690
1691
1692 |**Function code**|**Name**|(((
1693 **Setting method**
1694 )))|(((
1695 **Effective time**
1696 )))|**Default value**|**Range**|**Definition**|**Unit**
1697 |P05-17|Speed consistent signal threshold|(((
1698 Operationsetting
1699 )))|(((
1700 Effective immediately
1701 )))|10|0 to 100|Set speed consistent signal threshold|rpm
1702
1703 Table 6-38 Speed consistent signal threshold parameters
1704
1705
1706 |**DO Function code**|**Function name**|**Function**
1707 |136|(((
1708 U-COIN consistent speed
1709 )))|The output signal indicates that the absolute deviation of the actual speed of servo motor and the speed instruction meets the P05-17 set value
1710
1711 Table 6-39 DO speed consistent function code
1712
1713 **(4) Speed approach signal**
1714
1715 After filtering, the absolute value of the actual speed of the servo motor exceeds a certain threshold [P05-17], and it is considered that the actual speed of the servo motor has reached the expected value. At this time, the servo drive can output a speed close signal (V-NEAR) through the DO terminal. Conversely, if the absolute value of the actual speed of the servo motor after filtering is not greater than this value, the speed approach signal is invalid.
1716
1717
1718 [[image:image-20220608172207-34.png]]
1719
1720 Figure 6-38 Speed approaching signal diagram
1721
1722 To use the motor speed approach function, a DO terminal of the servo drive should be assigned to function 137 (V-NEAR, speed approach). The function code parameters and related DO function codes are shown in __[[Table 6-40>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HZero-speedclampfunction]]__ and __[[Table 6-40>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HZero-speedclampfunction]]__.
1723
1724
1725 |**Function code**|**Name**|(((
1726 **Setting method**
1727 )))|(((
1728 **Effective time**
1729 )))|**Default value**|**Range**|**Definition**|**Unit**
1730 |P05-18|Speed approach signal threshold|(((
1731 Operation setting
1732 )))|(((
1733 Effective immediately
1734 )))|100|10 to 6000|Set speed approach signal threshold|rpm
1735
1736 Table 6-40 Speed approaching signal threshold parameters
1737
1738
1739 |**DO function code**|**Function name**|**Function**
1740 |137|(((
1741 V-NEAR speed approach
1742 )))|The output signal indicates that the actual speed of the servo motor has reached the expected value
1743
1744 Table 6-41 DO speed approach function code
1745
1746 = **Torque control mode** =
1747
1748 The current of the servo motor has a linear relationship with the torque. Therefore, the control of the current can realize the control of the torque. Torque control refers to controlling the output torque of the motor through torque instructions. Torque instruction could be given by internal instruction and analog voltage.
1749
1750
1751 [[image:image-20220608172405-35.png]]
1752
1753 Figure 6-39 Torque mode diagram
1754
1755 == **Torque instruction input setting** ==
1756
1757 In torque instruction, VD2A and VD2B servo drives have two instruction source: internal torque instruction and analog torque instruction. VD2F drive only has internal torque instruction. The torque instruction source is set by the function code P01-07.
1758
1759
1760 |**Function code**|**Name**|(((
1761 **Setting method**
1762 )))|(((
1763 **Effective time**
1764 )))|**Default value**|**Range**|**Definition**|**Unit**
1765 |P01-08|Torque instruction source|(((
1766 Shutdown setting
1767 )))|(((
1768 Effective immediately
1769 )))|0|0 to 1|(((
1770 0: internal torque instruction
1771
1772 1: AI_1 analog input(not supported by VD2F)
1773 )))|-
1774
1775 Table 6-42 Torque instruction source parameter
1776
1777 **(1) Torque instruction source is internal torque instruction (P01-07=0)**
1778
1779 Torque instruction source is from inside, the value is set by function code P01-08.
1780
1781
1782 |**Function code**|**Name**|(((
1783 **Setting method**
1784 )))|(((
1785 **Effective time**
1786 )))|**Default value**|**Range**|**Definition**|**Unit**
1787 |P01-08|Torque instruction keyboard set value|(((
1788 Operation setting
1789 )))|(((
1790 Effective immediately
1791 )))|0|-3000 to 3000|-300.0% to 300.0%|0.1%
1792
1793 Table 6-43 Torque instruction keyboard set value
1794
1795 **(2) Torque instruction source is internal torque instruction (P01-07=1)**
1796
1797 The servo drive processes the analog voltage signal output by host computer or other equipment as torque instruction. VD2A and VD2B series servo drives have 2 analog input channels: AI_1 and AI_2. AI_1 is analog torque input, and AI_2 is analog torque limit.
1798
1799
1800 [[image:image-20220608153646-7.png||height="213" width="408"]]
1801
1802 Figure 6-40 Analog input circuit
1803
1804 Taking AI_1 as an example, the method of setting torque instruction of analog voltage is as below.
1805
1806
1807 [[image:image-20220608172502-36.png]]
1808
1809 Figure 6-41 Analog voltage torque instruction setting steps
1810
1811 Explanation of related terms:
1812
1813 Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
1814
1815 Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
1816
1817 Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1818
1819
1820 [[image:image-20220608172611-37.png]]
1821
1822 Figure 6-42 AI_1 diagram before and after bias
1823
1824
1825 |**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
1826 |P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1827 |P05-02☆|AI_1 input filter time constant|Operation setting|Effective immediately|200|0 to 60000|AI_1 channel input first-order low-pass filtering time constant|0.01ms
1828 |P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel dead zone value|mV
1829 |P05-04☆|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV
1830
1831 Table 6-44 AI_1 parameters
1832
1833 ✎**Note: **“☆” means VD2F servo drive does not support the function code .
1834
1835 == **Torque instruction filtering** ==
1836
1837 In torque mode, the servo drive could realize low-pass filtering of torque instruction, making the instruction smoother and reducing the vibration of servo motor. The first-order filtering is shown in __[[Figure 6-43>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_205df0eae349c586.gif?rev=1.1]]__.
1838
1839
1840 |**Function code**|**Name**|(((
1841 **Setting method**
1842 )))|(((
1843 **Effective time**
1844 )))|**Default value**|**Range**|**Definition**|**Unit**
1845 |P04-04|Torque filtering time constant|(((
1846 Operation setting
1847 )))|(((
1848 Effective immediately
1849 )))|50|10 to 2500|This parameter is automatically set when “self-adjustment mode selection” is selected as 0|0.01ms
1850
1851 Table 6-45 Torque filtering time constant parameter details
1852
1853 ✎**Note: **If the filter time constant is set too large, the responsiveness will be reduced. Please set it while confirming the responsiveness.
1854
1855
1856 [[image:image-20220608172646-38.png]]
1857
1858 Figure 6-43 Torque instruction-first-order filtering diagram
1859
1860 == **Torque instruction limit** ==
1861
1862 When the absolute value of torque instruction input by host computer is greater than the absolute value of torque instruction limit, the drive's actual torque instruction is limited and equal to the limit value of torque instruction. Otherwise, it is equal to the torque instruction value input by host computer.
1863
1864 At any time, there is only one valid torque limit value. And the positive and negative torque limit values do not exceed the maximum torque of drive and motor and ±300.0% of the rated torque.
1865
1866
1867 [[image:image-20220608172806-39.png]]
1868
1869 Figure 6-44 Torque instruction limit diagram
1870
1871 **(1) Set torque limit source**
1872
1873 You need to set the torque limit source by function code P01-14. After the setting, the drive torque instruction will be limited within the torque limit value. When the torque limit value is reached, the motor will operate with the torque limit value as the torque instruction. The torque limit value should be set according to the load operation requirements. If the setting is too small, the motor's acceleration and deceleration capacity may be weakened. During constant torque operation, the actual motor speed cannot reach the required value.
1874
1875
1876 |**Function code**|**Name**|(((
1877 **Setting method**
1878 )))|(((
1879 **Effective time**
1880 )))|**Default value**|**Range**|**Definition**|**Unit**
1881 |P01-14|(((
1882 Torque limit source
1883 )))|(((
1884 Shutdown setting
1885 )))|(((
1886 Effective immediately
1887 )))|0|0 to 1|(((
1888 0: internal value
1889
1890 1: AI_1 analog input
1891
1892 (not supported by VD2F)
1893 )))|-
1894
1895 1) Torque limit source is internal torque instruction (P01-14=0)
1896
1897 Torque limit source is from inside, you need to set torque limit, and the value is set by function code P01-15 and P01-16.
1898
1899
1900 |**Function code**|**Name**|(((
1901 **Setting method**
1902 )))|(((
1903 **Effective time**
1904 )))|**Default value**|**Range**|**Definition**|**Unit**
1905 |P01-15|(((
1906 Forward torque limit
1907 )))|(((
1908 Operation setting
1909 )))|(((
1910 Effective immediately
1911 )))|3000|0 to 3000|When P01-14 is set to 0, the value of this function code is forward torque limit value|0.1%
1912 |P01-16|(((
1913 Reverse torque limit
1914 )))|(((
1915 Operation setting
1916 )))|(((
1917 Effective immediately
1918 )))|3000|0 to 3000|When P01-14 is set to 0, the value of this function code is reverse torque limit value|0.1%
1919
1920 Table 6-46 Torque limit parameter details
1921
1922 2) Torque limit source is external (P01-14=1)
1923
1924 Torque limit source is from external analog channel. The limit value is determined by the torque value corresponding to external AI_2 terminal.
1925
1926 **(2) Set torque limit DO signal output**
1927
1928 When torque instruction reaches the torque limit value, the drive outputs a torque limit signal (T-LIMIT) for the host computer use. At this time, one DO terminal of the drive should be assigned to function 139 (T-LIMIT, in torque limit) , and confirm that the terminal logic is valid.
1929
1930
1931 |**DO function code**|**Function name**|**Function**
1932 |139|(((
1933 T-LIMIT in torque limit
1934 )))|Output of this signal indicates that the servo motor torque is limited
1935
1936 Table 6-47 DO torque limit function codes
1937
1938 == **Speed limit in torque mode** ==
1939
1940 In torque mode, if the given torque instruction is too large to exceed the load torque of the mechanical side. This would cause the servo motor to continuously accelerate and overspeed. In order to protect the machinery, the speed of the motor must be limited.
1941
1942 In torque mode, the actual motor speed would be in the limited speed. After the speed limit is reached, the motor runs at a constant speed at the speed limit. The running curves are shown as __[[Figure 6-45>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_e1eced3568bc22d7.gif?rev=1.1]]__ and __[[Figure 6-46>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_79d479af8534745f.gif?rev=1.1]]__.
1943
1944 |(((
1945 [[image:image-20220608172910-40.png]]
1946 )))|(((
1947 [[image:image-20220608173155-41.png]]
1948 )))
1949 |Figure 6-45 Forward running curve|Figure 6-46 Reverse running curve
1950
1951 |**Function code**|**Name**|(((
1952 **Setting method**
1953 )))|(((
1954 **Effective time**
1955 )))|**Default value**|**Range**|**Definition**|**Unit**
1956 |P01-17|(((
1957 Forward torque
1958
1959 limit in torque mode
1960 )))|(((
1961 Operation setting
1962 )))|(((
1963 Effective immediately
1964 )))|3000|0 to 5000|(((
1965 Forward torque
1966
1967 limit in torque mode
1968 )))|0.1%
1969 |P01-18|(((
1970 Reverse torque
1971
1972 limit in torque mode
1973 )))|(((
1974 Operation setting
1975 )))|(((
1976 Effective immediately
1977 )))|3000|0 to 5000|(((
1978 Reverse torque
1979
1980 limit in torque mode
1981 )))|0.1%
1982
1983 Table 6-48 Speed limit parameters in torque mode
1984
1985 ✎**Note:** Function codes P01-17 and P01-18 are only effective in limiting motor speed under the torque mode. The speed limit value is set according to load requirements. To set speed limit in speed mode or position mode, please refer to __[[6.3.3 Speed instruction limit>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HSpeedinstructionlimit]]__.
1986
1987 == **Torque-related DO output functions** ==
1988
1989 The feedback value of torque instruction is compared with different thresholds, and could output the DO signal for the host computer use. The DO terminal of the servo drive is assigned to different functions and determine the logic to be valid.
1990
1991 **Torque arrival**
1992
1993 The torque arrival function is used to determine whether the actual torque instruction reaches the set interval. When the actual torque instruction reaches the torque instruction threshold, the servo drive outputs a torque arrival signal (T-COIN) for the host computer use.
1994
1995
1996 [[image:image-20220608173541-42.png]]
1997
1998 Figure 6-47 Torque arrival output diagram
1999
2000 To use the torque arrival function, a DO terminal of the servo drive should be assigned to function 138 (T-COIN, torque arrival). The function code parameters and related DO function codes are shown in __[[Table 6-49>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HTorque-relatedDOoutputfunctions]]__ and __[[Table 6-50>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HTorque-relatedDOoutputfunctions]]__.
2001
2002
2003 |**Function code**|**Name**|(((
2004 **Setting method**
2005 )))|(((
2006 **Effective time**
2007 )))|**Default value**|**Range**|**Definition**|**Unit**
2008 |P05-20|(((
2009 Torque arrival
2010
2011 threshold
2012 )))|(((
2013 Operation setting
2014 )))|(((
2015 Effective immediately
2016 )))|100|0 to 300|(((
2017 The torque arrival threshold must be used with “Torque arrival hysteresis value”:
2018
2019 When the actual torque reaches Torque arrival threshold + Torque arrival hysteresis Value, the torque arrival DO is valid;
2020
2021 When the actual torque decreases below torque arrival threshold-torque arrival hysteresis value, the torque arrival DO is invalid
2022 )))|%
2023 |P05-21|(((
2024 Torque arrival
2025
2026 hysteresis
2027 )))|(((
2028 Operation setting
2029 )))|(((
2030 Effective immediately
2031 )))|10|0 to 20|Torque arrival the hysteresis value must be used with Torque arrival threshold|%
2032
2033 Table 6-49 Torque arrival parameters
2034
2035
2036 |**DO function code**|**Function name**|**Function**
2037 |138|(((
2038 T-COIN torque arrival
2039 )))|Used to determine whether the actual torque instruction has reached the set range
2040
2041 Table 6-50 DO Torque Arrival Function Code
2042
2043 = **Mixed control mode** =
2044
2045 Mixed control mode means that when the servo enable is ON and the status of the servo drive is "run", the mode of the servo drive could be switched between different modes. The VD2 series servo drives have the following 3 mixed control modes:
2046
2047 Position mode  Speed mode
2048
2049 Position mode  Torque mode
2050
2051 Speed mode  Torque mode
2052
2053 Set the function code P00-01 through the software of Wecon “SCTool” or servo drive panel, and the servo drive will run in mixed mode.
2054
2055
2056 |**Function code**|**Name**|(((
2057 **Setting method**
2058 )))|(((
2059 **Effective time**
2060 )))|**Default value**|**Range**|**Definition**|**Unit**
2061 |P00-01|Control mode|(((
2062 Shutdown setting
2063 )))|(((
2064 Shutdown setting
2065 )))|1|1 to 6|(((
2066 1: Position control
2067
2068 2: Speed control
2069
2070 3: Torque control
2071
2072 4: Position/speed mixed control
2073
2074 5: Position/torque mixed control
2075
2076 6: Speed/torque mixed control
2077 )))|-
2078
2079 Table 6-51 Mixed control mode parameters
2080
2081 Please set the servo drive parameters in different control modes according to the mechanical structure and indicators. The setting method refer to [[__“Parameters”__>>url:http://docs.we-con.com.cn/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/#_Chapter%209%20Parameters]]. When function code P00-01=4/5/6 (that is, in mixed mode), a DI terminal of the servo drive needs to be assigned to function 17 (MixModeSel, mixed mode selection), and the DI terminal logic is determined to be valid.
2082
2083
2084 |**DI function code**|**Name**|**Function name**|**Function**
2085 |17|MixModeSel|Mixed mode selection|Used in mixed control mode, when the servo status is "run", set the current control mode of the servo drive(((
2086 |**P00-01**|**MixModeSel terminal logic**|**Control mode**
2087 |(% rowspan="2" %)4|Valid|Speed mode
2088 |invalid|Position mode
2089 |(% rowspan="2" %)5|Valid|Torque mode
2090 |invalid|Position mode
2091 |(% rowspan="2" %)6|Valid|Torque mode
2092 |invalid|Speed mode
2093 )))
2094
2095 Table 6-52 Description of DI function codes in control mode
2096
2097 ✎**Note:** In mixed control mode, it is recommended to switch the mode at zero speed or low speed, and the switching process will be smoother.
2098
2099 = **Absolute system** =
2100
2101 == **Overview** ==
2102
2103 Absolute encoder could detect the position of the servo motor within one turn, and could count the number of turns of the motor. This series of servo drives are equipped with a maximum of 23-bit encoders and could memorize 16-bit multi-turn data, and position, speed, torque control modes could be used. Especially in position control, the absolute value encoder does not need to count, could achieve direct internal high-speed reading and external output, and could significantly reduce the subsequent calculation tasks of the receiving device controller. When the drive is powered off, the encoder uses battery backup data. After power on, the drive uses the encoder's absolute position to calculate the absolute mechanical position, eliminating the need for repeated mechanical origin reset operations.
2104
2105 The absolute value encoder is determined by the mechanical position of the photoelectric code disc, and is not affected by power failure or interference. Each position of the absolute encoder determined by the mechanical position is unique, and no external sensor is required to assist in memorizing position.
2106
2107 == **Single-turn absolute value system** ==
2108
2109 The single-turn absolute value system is applicable for the equipment load stroke within the single-turn range of the encoder. At this time, the absolute encoder is only as a single-turn system function and does not need to be connected to the battery. The types and information of encoders adapted to VD2 series servo drives are shown as below.
2110
2111
2112 |**Encoder type**|**Encoder resolution (bits)**|**Data range**
2113 |A1 (single-turn magnetic encoder)|17|0 to 131071
2114
2115 Table 6-53 Single-turn absolute encoder information
2116
2117 The relationship between encoder feedback position and rotating load position is shown in the figure below. (take a 17-bit encoder as an example).
2118
2119
2120 [[image:image-20220608173618-43.png]]
2121
2122 Figure 6-48 Diagram of relationship between encoder feedback position and rotating load position
2123
2124 == **Multi-turn absolute value system** ==
2125
2126 The encoder adapted to the multi-turn absolute value system is equipped with 16-bit RAM memory. Compared with the single-turn absolute value, it can additionally memorize the number of turns of the 16-bit encoder. The multi-turn absolute encoder is equipped with a battery (the battery is installed on the encoder cable with a battery unit), which can achieve direct internal high-speed readings and external output without the need for external sensors to assist memory positions. The types and information of encoders adapted to VD2 series servo drives are shown as below.
2127
2128
2129 |**Encoder type**|**Encoder resolution (bits)**|**Data range**
2130 |C1 (multi-turn magnetic encoder)|17|0 to 131071
2131 |D2 (multi-turn Optical encoder)|23|0 to 8388607
2132
2133 Table 6-54 Multi-turn absolute encoder information
2134
2135 The relationship between encoder feedback position and rotating load multi-turn is shown in the figure below (take a 23-bit encoder as an example).
2136
2137
2138 [[image:image-20220608173701-44.png]]
2139
2140 Figure 6-49 The relationship between encoder feedback position and rotating load position
2141
2142 == **Encoder feedback data** ==
2143
2144 The feedback data of the absolute value encoder can be divided into the position within 1 turn of the absolute value encoder and the number of rotations of the absolute value encoder. The related information of the two feedback data is shown in the table below.
2145
2146
2147 |**Monitoring number**|**Category**|**Name**|**Unit**|**Data type**
2148 |U0-54|Universal|Absolute encoder position within 1 turn|Encoder unit|32-bit
2149 |U0-55|Universal|Rotations number of absolute encoder|circle|16-bit
2150 |U0-56|Universal|Multi-turn absolute value encoder current position|Instruction unit|32-bit
2151
2152 Table 6-55 Encoder feedback data
2153
2154 == **Absolute value system encoder battery box use precautions** ==
2155
2156 Er.40 (Encoder battery failure) will occur when the battery is turned on for the first time, and the function code P10-03 must be set to 1 to clear the encoder fault to operate the absolute value system again.
2157
2158
2159 [[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/45.jpg?rev=1.1||height="303" width="750"]]
2160
2161 Figure 6-50 the encoder battery box
2162
2163 When it is detected that the battery voltage is less than 3.1V, A-92 (Encoder battery low voltage warning) will occur. Please replace the battery in time. The specific replacement method is as follows:
2164
2165 1. Step1 The servo drive is powered on and is in a non-operational state;
2166 1. Step2 Replace the battery;
2167 1. Step3 Set P10-03 to 1, and the drive will release A-92. It will run normally without other abnormal warnings.
2168
2169 When the servo drive is powered off, if the battery is replaced and powered on again, Er.40 (encoder battery failure) will occur, and the multi-turn data will change suddenly. Please set the function code P10-03 or P10-06 to 1 to clear the encoder fault alarms and perform the origin return function operation again.
2170
2171
2172 |**Function code**|**Name**|(((
2173 **Setting method**
2174 )))|(((
2175 **Effective time**
2176 )))|**Default value**|**Range**|**Definition**|**Unit**
2177 |P10-06|Multi-turn absolute encoder reset|(((
2178 Shutdown setting
2179 )))|(((
2180 Effective immediately
2181 )))|0|0 to 1|(((
2182 0: No operation
2183
2184 1: Clear rotation number of multi-turn absolute encoder, multi-turn absolute encoder current position and encoder fault alarms.
2185
2186 ✎**Note: **After resetting the multi-turn data of the encoder, the encoder absolute position will change suddenly, and the mechanical origin return operation is required.
2187 )))|-
2188
2189 Table 6-56 Absolute encoder reset enable parameter
2190
2191 ✎**Note: **If the battery is replaced when the servo drive is powered off, the encoder data will be lost.
2192
2193 When the servo drive is powered off, please ensure that the maximum speed of motor does not exceed 3000 rpm to ensure that the encoder position information is accurately recorded. Please store the storage device according to the specified ambient temperature, and ensure that the encoder battery has reliable contact and sufficient power, otherwise the encoder position information may be lost.
2194
2195 = **Overview** =
2196
2197 == **VDI** ==
2198
2199 VDI (Virtual Digital Signal Input Port) is similar to hardware DI terminal. The DI function could also be assigned for use.
2200
2201 ✎**Note: **If multiple VDI terminals are configured with the same non-zero DI function, servo drive will occur an error “A-89” (DI port configuration is duplicate).
2202
2203 Take the VDI_1 terminal assignment forward drive prohibition (03-POT) as an example, and the use steps of VDI are as the figure below.
2204
2205
2206 [[image:image-20220608173804-46.png]]
2207
2208 Figure 6-51 VDI_1 setting steps
2209
2210
2211 |**Function code**|**Name**|(((
2212 **Setting method**
2213 )))|(((
2214 **Effective time**
2215 )))|**Default value**|**Range**|**Definition**|**Unit**
2216 |P13-1|Virtual VDI_1 input value|Operation setting|Effective immediately|0|0 to 1|(((
2217 When P06-04 is set to 1, DI_1 channel logic is control by this function code.
2218
2219 VDI_1 input level:
2220
2221 0: low level
2222
2223 1: high level
2224 )))|-
2225 |P13-2|Virtual VDI_2 input value|Operation setting|Effective immediately|0|0 to 1|(((
2226 When P06-07 is set to 1, DI_2 channel logic is control by this function code.
2227
2228 VDI_2 input level:
2229
2230 0: low level
2231
2232 1: high level
2233 )))|-
2234 |P13-3|Virtual VDI_3 input value|Operation setting|Effective immediately|0|0 to 1|(((
2235 When P06-10 is set to 1, DI_3 channel logic is control by this function code.
2236
2237 VDI_3 input level:
2238
2239 0: low level
2240
2241 1: high level
2242 )))|-
2243 |P13-4|Virtual VDI_4 input value|Operation setting|Effective immediately|0|0 to 1|(((
2244 When P06-13 is set to 1, DI_4 channel logic is control by this function code.
2245
2246 VDI_4 input level:
2247
2248 0: low level
2249
2250 1: high level
2251 )))|-
2252 |P13-05☆|Virtual VDI_5 input value|Operation setting|Effective immediately|0|0 to 1|(((
2253 When P06-16 is set to 1, DI_5 channel logic is control by this function code.
2254
2255 VDI_5 input level:
2256
2257 0: low level
2258
2259 1: high level
2260 )))|-
2261 |P13-06☆|Virtual VDI_6 input value|Operation setting|Effective immediately|0|0 to 1|(((
2262 When P06-19 is set to 1, DI_6 channel logic is control by this function code.
2263
2264 VDI_6 input level:
2265
2266 0: low level
2267
2268 1: high level
2269 )))|-
2270 |P13-07☆|Virtual VDI_7 input value|Operation setting|Effective immediately|0|0 to 1|(((
2271 When P06-22 is set to 1, DI_7 channel logic is control by this function code.
2272
2273 VDI_7 input level:
2274
2275 0: low level
2276
2277 1: high level
2278 )))|-
2279 |P13-08☆|Virtual VDI_8 input value|Operation setting|Effective immediately|0|0 to 1|(((
2280 When P06-25 is set to 1, DI_8 channel logic is control by this function code.
2281
2282 VDI_8 input level:
2283
2284 0: low level
2285
2286 1: high level
2287 )))|-
2288
2289 Table 6-57 Virtual VDI parameters
2290
2291 ✎**Note: **“☆” means VD2F servo drive does not support the function code .
2292
2293 == **Port filtering time** ==
2294
2295 VD2A and VD2B servo drives have 8 hardware DI terminals (DI_1 to DI_8) , and VD2F servo drive has 4 hardware DI terminals (DI_1 to DI_4) . All the DI terminals are normal terminals.
2296
2297
2298 |**Setting value**|**DI channel logic selection**|**Illustration**
2299 |0|Active high level|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/46.jpg?rev=1.1||height="97" width="307"]]
2300 |1|Active low level|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/47.jpg?rev=1.1||height="83" width="305"]]
2301
2302 Table 6-58 DI terminal channel logic selection
2303
2304 == **VDO** ==
2305
2306 In addition to being an internal hardware output port, DO terminal is also used as a communication VDO. The communication control DO function could help you to achieve communication control DO output on the servo drive.
2307
2308 Take the DO_2 terminal as communication VDO, and the use steps of VDI are as the figure below.
2309
2310
2311 [[image:image-20220608173957-48.png]]
2312
2313 Figure 6-52 VDO_2 setting steps
2314
2315
2316 |**Function code**|**Name**|(((
2317 **Setting method**
2318 )))|(((
2319 **Effective time**
2320 )))|**Default value**|**Range**|**Definition**|**Unit**
2321 |P13-11|Communication VDO_1 output value|Operation setting|Effective immediately|0|0 to 1|(((
2322 VDO_1 output level：
2323
2324 0: low level
2325
2326 1: high level
2327 )))|-
2328 |P13-12|Communication VDO_2 output value|Operation setting|Effective immediately|0|0 to 1|(((
2329 VDO_2 output level：
2330
2331 0: low level
2332
2333 1: high level
2334 )))|-
2335 |P13-13|Communication VDO_3 output value|Operation setting|Effective immediately|0|0 to 1|(((
2336 VDO_3 output level：
2337
2338 0: low level
2339
2340 1: high level
2341 )))|-
2342 |P13-14|Communication VDO_4 output value|Operation setting|Effective immediately|0|0 to 1|(((
2343 VDO_4 output level：
2344
2345 0: low level
2346
2347 1: high level
2348 )))|-
2349
2350 Table 6-59 Communication control DO function parameters
2351
2352
2353 |**DO function number**|**Function name**|**Function**
2354 |145|COM_VDO1 communication VDO1 output|Use communication VDO
2355 |146|COM_VDO1 communication VDO2 output|Use communication VDO
2356 |147|COM_VDO1 communication VDO3 output|Use communication VDO
2357 |148|COM_VDO1 communication VDO4output|Use communication VDO
2358
2359 Table 6-60 VDO function number
2360
2361 ✎**Note:** You are advised to configure function codes for DO terminals in sequence to avoid errors during DO signal observation
2362
2363 If multiple DO terminals are configured with the same non-128 DI function, servo drive will occur an error “A-90” (DO port configuration is duplicate).
2364
2365 == **Motor overload protection** ==
2366
2367 VD2 Series absolute encoder (VD2SA) servo drive provides motor overload protection to prevent motor burning due to high temperature. By setting function code P10-04 to modify motor overload alarm (A-82) and motor overload protection fault time (Er.34). The default value of P10-04 is 100%.
2368
2369
2370 |**Function code**|**Name**|(((
2371 **Setting method**
2372 )))|(((
2373 **Effective time**
2374 )))|**Default value**|**Range**|**Definition**|**Unit**
2375 |P10-04|motor overload protection time coefficient|Operation setting|Effective immediately|100|0 to 800|(((
2376 According to the heating condition of the motor, the value could be modified to make the overload protection time float up and down in the reference value.
2377
2378 50 corresponds to 50%, that is, the time is reduced by half. 300 corresponds to 300%, that is, the time extended to 3 times. When the value is set to 0, the overload protection fault detection function is disabled
2379 )))|%
2380
2381 In the following cases, it could be modified according to the actual heat generation of the motor
2382
2383 1. The motor works in a place with high ambient temperature
2384 1. The motor runs in cycle circulates, and the single running cycle is short and the acceleration and deceleration is frequent.
2385
2386 In the case of confirming that the motor will not burn out, it is also possible to shield the overload protection fault detection function (P10-04 set to 0).
2387
2388 ✎**Note:** You are advised to configure function codes for DO terminals in sequence to avoid errors
2389
2390 Please use the shielded overload protection fault detection function with caution, otherwise it will cause burn out the motor.