06 Operation

1

= **Basic settings** =

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3

== **Check before operation** ==

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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.

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Table 6-1 Check contents before operation

== **Power-on** ==

**(1) Connect the main circuit power supply**

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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.

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If the drive panel displays other fault codes, please refer to __[[“10 Faults>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/10%20Malfunctions/]]__” to analyze and eliminate the cause of the fault.

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**(2) Set the servo drive enable (S-ON) to invalid (OFF)**

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== **Jog operation** ==

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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.

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**(1) Panel jog operation**

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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">>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/05%20Panel/#HJogoperation]]__.

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**(2) Jog operation of servo debugging platform**

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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.

|=(% scope="row" %)**Function code**|=**Name**|=(((

**Setting method**

)))|=(((

**Effective time**

)))|=**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

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Table 6-2 JOG speed parameter

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== **Rotation direction selection** ==

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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.

|=P00-04|Rotation direction|(((

66

Shutdown setting

67

)))|(((

68

Effective immediately

69

)))|0|0 to 1|(((

70

Forward rotation: Face the motor shaft to watch

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0: standard setting (CW is forward rotation)

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1: reverse mode (CCW is forward rotation)

75

)))|-

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Table 6-3 Rotation direction parameters** **

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== **Braking resistor** ==

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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.

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The basis for judging whether the braking resistor is built-in or external.

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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.

86

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.

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88

|=(% scope="row" %)**Function code**|=**Name**|=(((

**Setting method**

)))|=(((

**Effective time**

)))|=**Default**|=**Range**|=**Definition**|=**Unit**

93

|=P00-09|Braking resistor setting|(((

94

Operation setting

95

)))|(((

96

Effective immediately

97

)))|0|0 to 3|(((

98

0: use built-in braking resistor

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100

1: use external braking resistor and natural cooling

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2: use external braking resistor and forced air cooling; (cannot be set)

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3: No braking resistor is used, it is all absorbed by capacitor.

105

)))|-

106

|=(% 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).

107

|=P00-10|External braking resistor value|(((

108

Operation setting

109

)))|(((

110

Effective immediately

111

)))|50|0 to 65535|It is used to set the external braking resistor value of a certain type of drive.|Ω

112

|=P00-11|External braking resistor power|(((

113

Operation setting

114

)))|(((

115

Effective immediately

116

)))|100|0 to 65535|It is used to set the external braking resistor power of a certain type of drive.|W

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Table 6-4 Braking resistor parameters

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== **Servo operation** ==

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**(1) Set the servo enable (S-ON) to valid (ON)**

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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.

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S-ON can be configured and selected by the DI terminal function selection of the function code "DIDO configuration".

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**(2) Input the instruction and the motor rotates**

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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"__>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/]], the motor could work as expected.

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**(3) Timing diagram of power on**

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[[image:image-20220608163014-1.png]]

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Figure 6-1 Timing diagram of power on

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== **Servo shutdown** ==

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141

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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HServoshutdown]]__. According to the shutdown status, it could be divided into free running state and position locked, as shown in __[[Table 6-6>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HServoshutdown]]__.

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|=(% scope="row" %)Shutdown mode|=Shutdown description|=Shutdown characteristics

145

|=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.

146

|=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.

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148

Table 6-5 Comparison of two shutdown modes

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151

|=(% scope="row" %)**Shutdown status**|=**Free operation status**|=**Position locked**

152

|=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.

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Table 6-6 Comparison of two shutdown status

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**(1) Servo enable (S-ON) OFF shutdown**

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The related parameters of the servo OFF shutdown mode are shown in the table below.

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161

|=(% scope="row" %)**Function code**|=**Name**|=(((

**Setting method**

)))|=(((

**Effective time**

)))|=(((

**Default value**

)))|=**Range**|=**Definition**|=**Unit**

168

|=P00-05|Servo OFF shutdown|(((

Shutdown

setting

)))|(((

Effective

immediately

)))|0|0 to 1|(((

0: Free shutdown, and the motor shaft remains free status.

178

179

1: Zero-speed shutdown, and the motor shaft remains free status.

180

)))|-

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182

Table 6-7Table 6-1 Servo OFF shutdown mode parameters details

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184

**(2) Emergency shutdown**

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186

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".

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**(3) Overtravel shutdown**

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190

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.

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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.

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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.

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|=(% scope="row" %)**Function code**|=**Name**|=(((

**Setting method**

)))|=(((

**Effective time**

)))|=**Default value**|=**Range**|=**Definition**|=**Unit**

202

|=P06-08|DI_3 channel function selection|Operation setting|Power-on again|3|0 to 32|(((

203

0: OFF (not used)

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205

01: S-ON servo enable

206

207

02: A-CLR fault and Warning Clear

208

209

03: POT forward drive prohibition

210

211

04: NOT Reverse drive prohibition

212

213

05: ZCLAMP Zero speed

214

215

06: CL Clear deviation counter

216

217

07: C-SIGN Inverted instruction

218

219

08: E-STOP Emergency stop

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221

09: GEAR-SEL Electronic Gear Switch 1

222

223

10: GAIN-SEL gain switch

224

225

11: INH Instruction pulse prohibited input

226

227

12: VSSEL Vibration control switch input

228

229

13: INSPD1 Internal speed instruction selection 1

230

231

14: INSPD2 Internal speed instruction selection 2

232

233

15: INSPD3 Internal speedinstruction selection 3

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235

16: J-SEL inertia ratio switch (not implemented yet)

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237

17: MixModesel mixed mode selection

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239

20: Internal multi-segment position enable signal

240

241

21: Internal multi-segment position selection 1

242

243

22: Internal multi-segment position selection 2

244

245

23: Internal multi-segment position selection 3

246

247

24: Internal multi-segment position selection 4

Others: reserved

)))|-

|=P06-09|DI_3 channel logic selection|Operation setting|(((

252

Effective immediately

253

)))|0|0 to 1|(((

254

DI port input logic validity function selection.

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256

0: Normally open input. Active low level (switch on);

257

258

1: Normally closed input. Active high level (switch off);

259

)))|-

260

|=P06-10|DI_3 input source selection|Operation setting|(((

261

Effective immediately

262

)))|0|0 to 1|(((

263

Select the DI_3 port type to enable

264

265

0: Hardware DI_3 input terminal

266

267

1: virtual VDI_3 input terminal

268

)))|-

269

|=P06-11|DI_4 channel function selection|(((

Operation setting

)))|(((

again Power-on

)))|4|0 to 32|(((

0 off (not used)

01: SON Servo enable

02: A-CLR Fault and Warning Clear

279

280

03: POT Forward drive prohibition

281

282

04: NOT Reverse drive prohibition

283

284

05: ZCLAMP Zero speed

285

286

06: CL Clear deviation counter

287

288

07: C-SIGN Inverted instruction

289

290

08: E-STOP Emergency shutdown

291

292

09: GEAR-SEL Electronic Gear Switch 1

293

294

10: GAIN-SEL gain switch

295

296

11: INH Instruction pulse prohibited input

297

298

12: VSSEL Vibration control switch input

299

300

13: INSPD1 Internal speed instruction selection 1

301

302

14: INSPD2 Internal speed instruction selection 2

303

304

15: INSPD3 Internal speed instruction selection 3

305

306

16: J-SEL inertia ratio switch (not implemented yet)

307

308

17: MixModesel mixed mode selection

309

310

20: Internal multi-segment position enable signal

311

312

21: Internal multi-segment position selection 1

313

314

22: Internal multi-segment position selection 2

315

316

23: Internal multi-segment position selection 3

317

318

24: Internal multi-segment position selection 4

Others: reserved

)))|-

|=P06-12|DI_4 channel logic selection|Operation setting|(((

323

Effective immediately

324

)))|0|0 to 1|(((

325

DI port input logic validity function selection.

326

327

0: Normally open input. Active low level (switch on);

328

329

1: Normally closed input. Active high level (switch off);

330

)))|-

331

|=P06-13|DI_4 input source selection|Operation setting|(((

332

Effective immediately

333

)))|0|0 to 1|(((

334

Select the DI_4 port type to enable

335

336

0: Hardware DI_4 input terminal

337

338

1: virtual VDI_4 input terminal

339

)))|-

340

341

Table 6-8 DI3 and DI4 channel parameters

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343

**(4) Malfunction shutdown**

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345

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.

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347

== **Brake device** ==

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349

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.

|(((

[[image:image-20220611151617-1.png]]

354

)))

355

|(((

356

✎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;

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358

✎ After the servo motor stops, turn off the servo enable (S-ON) in time;

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360

✎The brake coil has no polarity;

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362

✎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!

363

364

✎When the motor with built-in brake is in operation, the brake device may make a clicking sound, which does not affect the function.

365

)))

366

367

**(1) Wiring of brake device**

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369

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)

370

371

372

[[image:image-20220608163136-2.png]]

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374

Figure 6-2 VD2B servo drive brake wiring

|(((

[[image:image-20220611151642-2.png]]

379

)))

380

|(((

381

✎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.

382

383

✎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.

384

385

✎It is recommended to use cables above 0.5 mm².

386

)))

387

388

**(2) Brake software setting**

389

390

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.

391

392

Related function code is as below.

393

394

395

|=(% scope="row" %)**DO function code**|=**Function name**|=**Function**|=(((

**Effective time**

)))

|=144|(((

BRK-OFF Brake output

)))|Output the signal indicates the servo motor brake release|Power-on again

401

402

Table 6-2 Relevant function codes for brake setting

403

404

405

|=(% scope="row" %)**Function code**|=**Name**|=(((

**Setting method**

)))|=(((

**Effective time**

)))|=**Default value**|=**Range**|=**Definition**|=**Unit**

410

|=P1-30|Delay from brake output to instruction reception|(((

411

Operation setting

412

)))|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

413

|=P1-31|In static state, delay from brake output OFF to the motor is power off|(((

414

Operation setting

415

)))|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

416

|=P1-32|Rotation status, when the brake output OFF, the speed threshold|(((

417

Operation setting

418

)))|Effective immediately|30|0 to 3000|(((

419

When the motor rotates, the motor speed threshold when the brake (BRK-OFF) is allowed to output OFF.

420

421

When the brake output (BRK-OFF) is not allocated, this function code has no effect.

422

)))|rpm

423

|=P1-33|Rotation status, Delay from servo enable OFF to brake output OFF|(((

424

Operation setting

425

)))|Effective immediately|500|1 to 1000|(((

426

When the motor rotates, the delay time from the servo enable (S-ON) OFF to the brake (BRK-OFF) output OFF is allowed.

427

428

When brake output (BRK-OFF) is not allocated, this function code has no effect.

429

)))|ms

430

431

Table 6-9 Brake setting function codes

432

433

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.

434

435

**(3) Servo drive brake timing in normal state**

436

437

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).

438

439

1) Brake timing when servo motor is stationary

440

441

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>>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/image-20220608163304-3.png?rev=1.1]]__

|(((

[[image:image-20220611151705-3.png]]

446

)))

447

|(((

448

✎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.

449

450

✎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.

451

)))

452

453

[[image:image-20220608163304-3.png]]

454

455

Figure 6-3 Brake Timing of when the motor is stationary

456

457

✎**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.

458

459

2) The brake timing when servo motor rotates

460

461

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>>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/image-20220608163425-4.png?rev=1.1]]__.

|(((

[[image:image-20220611151719-4.png]]

466

)))

467

|(((

468

✎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.

469

470

✎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:

471

472

P01-33 time has not arrived, but the motor has decelerated to the speed set by P01-32;

473

474

P01-33 time is up, but the motor speed is still higher than the set value of P01-32.

475

476

✎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.

477

)))

478

479

[[image:image-20220608163425-4.png]]

480

481

Figure 6-4 Brake timing when the motor rotates

482

483

**(4) Brake timing when the servo drive fails**

484

485

The brake timing (free shutdown) in the fault status is as follows.

486

487

488

[[image:image-20220608163541-5.png]]

489

490

Figure 6-5 The brake timing (free shutdown) in the fault state

491

492

= **Position control mode** =

493

494

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.

495

496

497

[[image:image-20220608163643-6.png]]

498

499

Figure 6-6 Position control diagram

500

501

Set “P00-01” to 1 by the software “Wecon SCTool”, and the servo drive is in position control mode.

502

503

504

|=(% scope="row" %)**Function code**|=**Name**|=(((

**Setting method**

)))|=(((

**Effective time**

)))|=**Default value**|=**Range**|=**Definition**|=**Unit**

509

|=P01-01|Control mode|(((

510

Operation setting

511

)))|(((

512

immediately Effective

)))|0|0 to 6|(((

0: position control

2: speed control

3: torque control

4: position/speed mix control

521

522

5: position/torque mix control

523

524

6: speed /torque mix control

525

)))|-

526

527

Table 6-10 Control mode parameters

528

529

== **Position instruction input setting** ==

530

531

When the VD2 series servo drive is in position control mode, firstly set the position instruction source through the function code “P01-06”.

532

533

534

|=(% scope="row" %)**Function code**|=**Name**|=(((

**Setting method**

)))|=(((

**Effective time**

)))|=**Default value**|=**Range**|=**Definition**|=**Unit**

539

|=P01-06|Position instruction source|(((

540

Operation setting

541

)))|(((

542

immediately Effective

)))|0|0 to 1|(((

0: pulse instruction

1: internal position instruction

547

)))|-

548

549

Table 6-11 Position instruction source parameter

550

551

**(1) The source of position instruction is pulse instruction (P01-06=0)**

552

553

1) Low-speed pulse instruction input

554

555

|[[image:image-20220707092316-1.png]]|[[image:image-20220707092322-2.png]]

556

|VD2A and VD2B servo drives|VD2F servo drive

557

|(% colspan="2" %)Figure 6-7 Position instruction input setting

558

559

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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HPositioninstructioninputsetting]]__.

560

561

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.

562

563

564

|**Pulse method**|**Maximum frequency**|**Voltage**

565

|Open collector input|200K|24V

566

|Differential input|500K|5V

567

568

Table 6-12 Pulse input specifications

1.Differential input

Take VD2A and VD2B drive as examples, the connection of differential input is shown as below.

573

574

[[image:image-20220707092440-4.jpeg]]

575

576

Figure 6-8 Differential input connection

577

578

✎**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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/04%20Wiring/#HPositioninstructioninputsignal]]__”

579

580

2.Open collector input

581

582

Take VD2A and VD2B drive as examples, the connection of differential input is shown as below.

583

584

[[image:image-20220707092401-3.jpeg]]

585

586

Figure 6-9 Open collector input connection

587

588

✎**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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/04%20Wiring/#HPositioninstructioninputsignal]]__”

589

590

2) Position pulse frequency and anti-interference level

591

592

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.

593

594

595

[[image:image-20220608163952-8.png]]

596

597

Figure 6-10 Example of filtered signal waveform

598

599

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.

600

601

602

|=(% scope="row" %)**Function code**|=**Name**|=(((

**Setting method**

)))|=(((

**Effective time**

)))|=**Default value**|=**Range**|=(% colspan="2" %)**Definition**|=**Unit**

607

|=P00-13|Maximum position pulse frequency|(((

608

Shutdown setting

609

)))|(((

610

Effective immediately

611

)))|300|1 to 500|(% colspan="2" %)Set the maximum frequency of external pulse instruction|KHz

612

|=(% rowspan="3" %)P00-14|(% rowspan="3" %)Position pulse anti-interference level|(% rowspan="3" %)(((

613

Operation setting

614

)))|(% rowspan="3" %)(((

615

Power-on again

616

)))|(% rowspan="3" %)2|(% rowspan="3" %)0 to 9|(% colspan="2" %)(((

617

Set the anti-interference level of external pulse instruction.

0: no filtering;

1: Filtering time 128ns

622

623

2: Filtering time 256ns

624

625

3: Filtering time 512ns

626

627

4: Filtering time 1.024us

628

629

5: Filtering time 2.048us

630

631

6: Filtering time 4.096us

632

633

7: Filtering time 8.192us

634

635

8: Filtering time 16.384us

636

)))|(% rowspan="3" %)-

637

|=(% rowspan="2" %)9|VD2: Filtering time 25.5us

638

|=VD2F: Filtering time 25.5us

639

640

Table 6-13 Position pulse frequency and anti-interference level parameters

641

642

3) Position pulse type selection

643

644

In VD2 series servo drives, there are three types of input pulse instructions, and the related function codes are shown in the table below.

645

646

647

|=(% scope="row" %)**Function code**|=**Name**|=(((

**Setting method**

)))|=(((

**Effective time**

)))|=**Default value**|=**Range**|=**Definition**|=**Unit**

652

|=P00-12|Position pulse type selection|(((

Operation setting

)))|(((

Power-on again

)))|0|0 to 5|(((

0: direction + pulse (positive logic)

1: CW/CCW

2: A, B phase quadrature pulse (4 times frequency)

662

663

3: Direction + pulse (negative logic)

664

665

4: CW/CCW (negative logic)

666

667

5: A, B phase quadrature pulse (4 times frequency negative logic)

668

)))|-

669

670

Table 6-14 Position pulse type selection parameter

|=0|(((

Direction + pulse

(Positive logic)

)))|(((

PULSE

SIGN

)))|[[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]]

|=1|CW/CCW|(((

PULSE (CW)

SIGN (CCW)

)))|(% 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]]

|=2|(((

AB phase orthogonal

pulse (4 times frequency)

)))|(((

PULSE (Phase A)

SIGN (Phase B)

)))|(((

[[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]]

698

699

Phase A is 90° ahead of Phase B

700

)))|(((

701

[[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]]

702

703

Phase B is 90° ahead of Phase A

)))

|=3|(((

Direction + pulse

(Negative logic)

)))|(((

PULSE

SIGN

)))|[[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]]

|=4|(((

CW/CCW

(Negative logic)

)))|(((

PULSE (CW)

SIGN (CCW)

)))|(% 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]]

|=5|(((

AB phase orthogonal

pulse (4 times frequency negative logic)

)))|(((

PULSE (Phase A)

SIGN (Phase B)

)))|(((

[[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]]

733

734

B phase is ahead of A phase by 90°

735

)))|(((

736

[[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]]

737

738

A phase is ahead of B phase by 90°

739

)))

740

741

Table 6-15 Pulse description

742

743

**(2) The source of position instruction is internal position instruction (P01-06=1)**

744

745

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>>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/image-20220608164116-9.png?rev=1.1]]__.

746

747

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.

748

749

750

[[image:image-20220608164116-9.png]]

751

752

Figure 6-11 The setting process of multi-segment position

753

754

1) Set multi-segment position running mode

755

756

757

|=(% scope="row" %)**Function code**|=**Name**|=(((

**Setting method**

)))|=(((

**Effective time**

)))|=**Default value**|=**Range**|=**Definition**|=**Unit**

762

|=P07-01|Multi-segment position running mode|(((

763

Shutdown setting

764

)))|(((

765

Effective immediately

)))|0|0 to 2|(((

0: Single running

1: Cycle running

2: DI switching running

772

)))|-

773

|=P07-02|Start segment number|(((

774

Shutdown setting

775

)))|(((

776

Effective immediately

777

)))|1|1 to 16|1st segment NO. in non-DI switching mode|-

778

|=P07-03|End segment number|(((

779

Shutdown setting

780

)))|(((

781

Effective immediately

782

)))|1|1 to 16|last segment NO. in non-DI switching mode|-

783

|=P07-04|Margin processing method|(((

784

Shutdown setting

785

)))|(((

786

Effective immediately

787

)))|0|0 to 1|(((

788

0: Run the remaining segments

789

790

1: Run again from the start segment

791

)))|-

792

|=P07-05|Displacement instruction type|(((

793

Shutdown setting

794

)))|(((

795

Effective immediately

796

)))|0|0 to 1|(((

797

0: Relative position instruction

798

799

1: Absolute position instruction

800

)))|-

801

802

Table 6-16 multi-segment position running mode parameters

803

804

VD2 series servo drive has three multi-segment position running modes, and you could select the best running mode according to the site requirements.

~1. Single running

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>>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/image-20220608164226-10.png?rev=1.1]]__, and S1 and S2 are the displacements of the 1st segment and the 2nd segment respectively

809

810

811

[[image:image-20220608164226-10.png]]

812

813

Figure 6-12 Single running curve (P07-02=1, P07-03=2)

2. Cycle running

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>>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/image-20220608164327-11.png?rev=1.1]]__, and S1,S2,S3 and S4 are the displacements of the 1st, 2nd, 3rd and 4th segment respectively.

818

819

820

[[image:image-20220608164327-11.png]]

821

822

Figure 6-13 Cycle running curve (P07-02=1, P07-03=4)

823

824

|[[image:image-20220611151917-5.png]]

825

|In single running and cycle running mode, the setting value of P07-03 needs to be greater than the setting value of P07-02.

826

827

3. DI switching running

828

829

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.

830

831

832

|=(% scope="row" %)**DI function code**|=**Function name**|=**Function**

833

|=21|INPOS1: Internal multi-segment position segment selection 1|Form internal multi-segment position running segment number

834

|=22|INPOS2: Internal multi-segment position segment selection 2|Form internal multi-segment position running segment number

835

|=23|INPOS3: Internal multi-segment position segment selection 3|Form internal multi-segment position running segment number

836

|=24|INPOS4: Internal multi-segment position segment selection 4|Form internal multi-segment position running segment number

837

838

Table 6-17 DI function code

839

840

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.

|=0|0|0|0|1

|=0|0|0|1|2

|=0|0|1|0|3

|=(% colspan="5" %)…………

848

|=1|1|1|1|16

849

850

Table 6-18 INPOS corresponds to running segment number

851

852

The operating curve in this running mode is shown in __[[Figure 6-14>>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/image-20220608164545-12.png?rev=1.1]]__.

853

854

855

[[image:image-20220608164545-12.png]]

856

857

Figure 6-14 DI switching running curve

858

859

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.

860

861

**A. Run the remaining segments**

862

863

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>>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/image-20220608164847-13.png?rev=1.1]]__ and __[[Figure 6-16>>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/image-20220608165032-14.png?rev=1.1]]__ respectively.

864

865

866

[[image:image-20220608164847-13.png]]

867

868

Figure 6-15 Single running-run the remaining segments (P07-02=1, P07-03=4)

869

870

871

[[image:image-20220608165032-14.png]]

872

873

Figure 6-16 Cycle running-run the remaining segment (P07-02=1, P07-03=4)

874

875

**B. Run again from the start segment**

876

877

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>>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/image-20220608165343-15.png?rev=1.1]]__ and __[[Figure 6-18>>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/image-20220608165558-16.png?rev=1.1]]__ respectively.

878

879

880

[[image:image-20220608165343-15.png]]

881

882

Figure 6-17 Single running-run from the start segment again (P07-02=1, P07-03=4)

883

884

885

[[image:image-20220608165558-16.png]]

886

887

Figure 6-18 Cyclic running-run from the start segment again (P07-02=1, P07-03=4)

888

889

VD2 series servo drives have two types of displacement instructions: relative position instruction and absolute position instruction. The related function code is P07-05.

890

891

A. Relative position instruction

892

893

The relative position instruction takes the current stop position of the motor as the start point and specifies the amount of displacement.

894

895

|(((

896

[[image:image-20220608165710-17.png]]

897

)))|(((

898

[[image:image-20220608165749-18.png]]

899

)))

900

|Figure 6-19 Relative position diagram|Figure 6-20 Displacement diagram

901

902

B. Absolute position instruction

903

904

The absolute position instruction takes "reference origin" as the zero point of absolute positioning, and specifies the amount of displacement.

905

906

|(((

907

[[image:image-20220608165848-19.png]]

908

)))|(((

909

[[image:image-20220608170005-20.png]]

910

)))

911

|Figure 6-21 Absolute indication|Figure 6-22 Displacement

912

913

2) Multi-segment position running curve setting

914

915

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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HPositioninstructioninputsetting]]__ are the related function codes of the 1st segment running curve.

|=P07-09|(((

1st segment

displacement

)))|(((

Operation setting

)))|(((

Effective immediately

)))|10000|(((

-2147483647 to

2147483646

)))|Position instruction, positive and negative values could be set|-

932

|=P07-10|Maximum speed of the 1st displacement|(((

933

Operation setting

934

)))|(((

935

Effective immediately

936

)))|100|1 to 5000|Steady-state running speed of the 1st segment|rpm

937

|=P07-11|Acceleration and deceleration of 1st segment displacement|(((

938

Operation setting

939

)))|(((

940

Effective immediately

941

)))|100|1 to 65535|The time required for the acceleration and deceleration of the 1st segment|ms

942

|=P07-12|Waiting time after completion of the 1st segment displacement|(((

943

Operation setting

944

)))|(((

945

Effective immediately

946

)))|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

947

948

Table 6-19 The 1st position operation curve parameters table

949

950

After setting the above parameters, the actual operation curve of the motor is shown in Figure 6-23.

951

952

953

[[image:image-20220608170149-21.png]]

954

955

Figure 6-23 The 1st segment running curve of motor

956

957

3) multi-segment position instruction enable

958

959

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.

960

961

962

|=(% scope="row" %)**DI function code**|=**Function name**|=**Function**

963

|=20|ENINPOS: Internal multi-segment position enable signal|(((

964

DI port logic invalid: Does not affect the current operation of the servo motor.

965

966

DI port logic valid: Motor runs multi-segment position

967

)))

968

969

[[image:image-20220611152020-6.png]]

970

971

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!

972

973

== **Electronic gear ratio** ==

974

975

**(1) Definition of electronic gear ratio**

976

977

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.

978

979

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.

980

981

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)

982

983

984

[[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]]

985

986

987

[[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]]

988

989

990

[[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]]

991

992

Otherwise, the servo drive will report Er.35: "Electronic gear ratio setting exceeds the limit"!

993

994

**(2) Setting steps of electronic gear ratio**

995

996

997

[[image:image-20220608170320-22.png]]

998

999

Figure 6-24 Setting steps of electronic gear ratio

1000

1001

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.

1002

1003

Step2: Confirm the resolution of servo motor encoder.

1004

1005

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.

1006

1007

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.

1008

1009

Step5: Calculate the value of electronic gear ratio according to formula below.

1010

1011

1012

[[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]]

1013

1014

**(3) lectronic gear ratio switch setting**

1015

1016

1017

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.

1018

1019

1020

|=(% scope="row" %)**Function code**|=**Name**|=(((

**Setting method**

)))|=(((

**Effective time**

)))|=**Default value**|=**Range**|=**Definition**|=**Unit**

1025

|=P00-16|Number of instruction pulses when the motor rotates one circle|(((

1026

Shutdown setting

1027

)))|(((

1028

Effective immediately

1029

)))|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.|(((

Instruction pulse

unit

)))

|=P00-17|(((

Electronic gear 1

numerator

)))|Operation setting|(((

1039

Effective immediately

1040

)))|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.|-

|=P00-18|(((

Electronic gear 1

denominator

)))|(((

Operation setting

)))|(((

Effective immediately

1049

)))|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.|-

|=P00-19|(((

Electronic gear 2

numerator

)))|Operation setting|(((

1055

Effective immediately

1056

)))|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.|-

|=P00-20|(((

Electronic gear 2

denominator

)))|Operation setting|(((

1062

Effective immediately

1063

)))|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.|-

1064

1065

Table 6-20 Electronic gear ratio function code

1066

1067

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.

1068

1069

1070

|=(% scope="row" %)**DI function code**|=**Function name**|=**Function**

1071

|=09|GEAR-SEL electronic gear switch 1|(((

1072

DI port logic invalid: electronic gear ratio 1

1073

1074

DI port logic valid: electronic gear ratio 2

1075

)))

1076

1077

Table 6-21 Switching conditions of electronic gear ratio group

1078

1079

|=(% scope="row" %)**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]]

1080

|=(% 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]]

1081

|=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]]

1082

|=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]]

1083

1084

Table 6-22 Application of electronic gear ratio

1085

1086

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.

1087

1088

== **Position instruction filtering** ==

1089

1090

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.

1091

1092

In the following situations, position instruction filtering should be added.

1093

1094

1. The position instruction output by host computer has not been processed with acceleration or deceleration;

1095

1. The pulse instruction frequency is low;

1096

1. When the electronic gear ratio is 10 times or more.

1097

1098

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.

1099

1100

1101

[[image:image-20220608170455-23.png]]

1102

1103

Figure 6-25 Position instruction filtering diagram

1104

1105

1106

|=(% scope="row" %)**Function code**|=**Name**|=(((

**Setting method**

)))|=(((

**Effective time**

)))|=**Default value**|=**Range**|=**Definition**|=**Unit**

1111

|=P04-01|Pulse instruction filtering method|(((

1112

Shutdown setting

1113

)))|(((

1114

Effective immediately

1115

)))|0|0 to 1|(((

1116

0: 1st-order low-pass filtering

1: average filtering

)))|-

|=P04-02|Position instruction 1st-order low-pass filtering time constant|Shutdown setting|(((

1121

Effective immediately

1122

)))|0|0 to 1000|Position instruction first-order low-pass filtering time constant|ms

1123

|=P04-03|Position instruction average filtering time constant|Shutdown setting|(((

1124

Effective immediately

1125

)))|0|0 to 128|Position instruction average filtering time constant|ms

1126

1127

Table 6-23 Position instruction filter function code

1128

1129

== **Clearance of position deviation** ==

1130

1131

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;

1132

1133

Position deviation = (position instruction-position feedback) (encoder unit)

1134

1135

== **Position-related DO output function** ==

1136

1137

The feedback value of position instruction is compared with different thresholds, and output DO signal for host computer use.

1138

1139

(% class="wikigeneratedid" id="HPositioningcompletion2Fpositioningapproachoutput" %)

1140

**Positioning completion/positioning approach output**

1141

1142

(% class="wikigeneratedid" %)

1143

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.

1144

1145

1146

[[image:image-20220608170550-24.png]]

1147

1148

Figure 6-26 Positioning completion signal output diagram

1149

1150

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.

1151

1152

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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HPosition-relatedDOoutputfunction]]__.

1153

1154

[[image:image-20220608170650-25.png]]

1155

1156

Figure 6-27 Positioning completion signal output with increased window filter time diagram

1157

1158

1159

|=(% scope="row" %)**Function code**|=**Name**|=(((

**Setting method**

)))|=(((

**Effective time**

)))|=**Default value**|=**Range**|=**Definition**|=**Unit**

1164

|=P05-12|Positioning completion threshold|(((

1165

Operation setting

1166

)))|(((

1167

Effective immediately

1168

)))|800|1 to 65535|Positioning completion threshold|Equivalent pulse unit

1169

|=P05-13|Positioning approach threshold|(((

1170

Operation setting

1171

)))|(((

1172

Effective immediately

1173

)))|5000|1 to 65535|Positioning approach threshold|Equivalent pulse unit

1174

|=P05-14|Position detection window time|(((

1175

Operation setting

1176

)))|(((

1177

Effective immediately

1178

)))|10|0 to 20000|Set positioning completion detection window time|ms

1179

|=P05-15|Positioning signal hold time|(((

1180

Operation setting

1181

)))|(((

1182

Effective immediately

1183

)))|100|0 to 20000|Set positioning completion output hold time|ms

1184

1185

Table 6-24 Function code parameters of positioning completion

1186

1187

1188

|=(% scope="row" %)**DO function code**|=**Function name**|=**Function**

1189

|=134|P-COIN positioning complete|Output this signal indicates the servo drive position is complete.

1190

|=135|(((

1191

P-NEAR positioning close

1192

)))|(((

1193

Output this signal indicates that the servo drive position is close.

1194

)))

1195

1196

Table 6-25 Description of DO rotation detection function code

1197

1198

= **Speed control mode** =

1199

1200

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: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/6.28.jpg?width=806&height=260&rev=1.1]] is the speed control block diagram.

1201

1202

1203

[[image:6.28.jpg||height="260" width="806"]]

1204

1205

Figure 6-28 Speed control block diagram

1206

1207

== **Speed instruction input setting** ==

1208

1209

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.

1210

1211

1212

|**Function code**|**Name**|(((

**Setting method**

)))|(((

**Effective time**

)))|**Default value**|**Range**|**Definition**|**Unit**

1217

|P01-01|Speed instruction source|(((

1218

Shutdown setting

1219

)))|(((

1220

Effective immediately

1221

)))|1|1 to 6|(((

1222

0: internal speed instruction

1223

1224

1: AI_1 analog input (not supported by VD2F)

1225

)))|-

1226

1227

Table 6-26 Speed instruction source parameter

1228

1229

**(1) Speed instruction source is internal speed instruction (P01-01=0)**

1230

1231

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.

1232

1233

1234

|**Function code**|**Name**|(((

**Setting method**

)))|(((

**Effective time**

)))|**Default value**|**Range**|**Definition**|**Unit**

1239

|(% rowspan="2" %)P01-02|(% rowspan="2" %)(((

1240

Internal speed Instruction 0

1241

)))|(% rowspan="2" %)(((

1242

Operation setting

1243

)))|(% rowspan="2" %)(((

1244

Effective immediately

1245

)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((

1246

Internal speed instruction 0

When DI input port:

15-INSPD3: 0

14-INSPD2: 0

13-INSPD1: 0,

select this speed instruction to be effective.

1257

)))|(% rowspan="2" %)rpm

1258

|-5000 to 5000*

1259

|(% rowspan="2" %)P01-23|(% rowspan="2" %)(((

1260

Internal speed Instruction 1

1261

)))|(% rowspan="2" %)(((

1262

Operation setting

1263

)))|(% rowspan="2" %)(((

1264

Effective immediately

1265

)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((

1266

Internal speed instruction 1

When DI input port:

15-INSPD3: 0

14-INSPD2: 0

13-INSPD1: 1,

Select this speed instruction to be effective.

1277

)))|(% rowspan="2" %)rpm

1278

|-5000 to 5000*

1279

|(% rowspan="2" %)P01-24|(% rowspan="2" %)(((

1280

Internal speed Instruction 2

1281

)))|(% rowspan="2" %)(((

1282

Operation setting

1283

)))|(% rowspan="2" %)(((

1284

Effective immediately

1285

)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((

1286

Internal speed instruction 2

When DI input port:

15-INSPD3: 0

14-INSPD2: 1

13-INSPD1: 0,

Select this speed instruction to be effective.

1297

)))|(% rowspan="2" %)rpm

1298

|-5000 to 5000*

1299

|(% rowspan="2" %)P01-25|(% rowspan="2" %)(((

1300

Internal speed Instruction 3

1301

)))|(% rowspan="2" %)(((

1302

Operation setting

1303

)))|(% rowspan="2" %)(((

1304

Effective immediately

1305

)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((

1306

Internal speed instruction 3

When DI input port:

15-INSPD3: 0

14-INSPD2: 1

13-INSPD1: 1,

Select this speed instruction to be effective.

1317

)))|(% rowspan="2" %)rpm

1318

|-5000 to 5000*

1319

1320

|(% rowspan="2" %)P01-26|(% rowspan="2" %)(((

1321

Internal speed Instruction 4

1322

)))|(% rowspan="2" %)(((

1323

Operation setting

1324

)))|(% rowspan="2" %)(((

1325

Effective immediately

1326

)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((

1327

Internal speed instruction 4

When DI input port:

15-INSPD3: 1

14-INSPD2: 0

13-INSPD1: 0,

Select this speed instruction to be effective.

1338

)))|(% rowspan="2" %)rpm

1339

|-5000 to 5000*

1340

|(% rowspan="2" %)P01-27|(% rowspan="2" %)(((

1341

Internal speed Instruction 5

1342

)))|(% rowspan="2" %)(((

1343

Operation setting

1344

)))|(% rowspan="2" %)(((

1345

Effective immediately

1346

)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((

1347

Internal speed instruction 5

When DI input port:

15-INSPD3: 1

14-INSPD2: 0

13-INSPD1: 1,

Select this speed instruction to be effective.

1358

)))|(% rowspan="2" %)rpm

1359

|-5000 to 5000*

1360

|(% rowspan="2" %)P01-28|(% rowspan="2" %)(((

1361

Internal speed Instruction 6

1362

)))|(% rowspan="2" %)(((

1363

Operation setting

1364

)))|(% rowspan="2" %)(((

1365

Effective immediately

1366

)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((

1367

Internal speed instruction 6

When DI input port:

15-INSPD3: 1

14-INSPD2: 1

13-INSPD1: 0,

Select this speed instruction to be effective.

1378

)))|(% rowspan="2" %)rpm

1379

|-5000 to 5000*

1380

|(% rowspan="2" %)P01-29|(% rowspan="2" %)(((

1381

Internal speed Instruction 7

1382

)))|(% rowspan="2" %)(((

1383

Operation setting

1384

)))|(% rowspan="2" %)(((

1385

Effective immediately

1386

)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((

1387

Internal speed instruction 7

When DI input port:

15-INSPD3: 1

14-INSPD2: 1

13-INSPD1: 1,

Select this speed instruction to be effective.

1398

)))|(% rowspan="2" %)rpm

1399

|-5000 to 5000*

1400

1401

Table 6-27 Internal speed instruction parameters

1402

1403

✎**Note: **“*” means the set range of VD2F servo drive.

1404

1405

1406

|**DI function code**|**function name**|**Function**

1407

|13|INSPD1 internal speed instruction selection 1|Form internal multi-speed running segment number

1408

|14|INSPD2 internal speed instruction selection 2|Form internal multi-speed running segment number

1409

|15|INSPD3 internal speed instruction selection 3|Form internal multi-speed running segment number

1410

1411

Table 6-28 DI multi-speed function code description

1412

1413

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.

|0|0|0|1|0

|0|0|1|2|1

|0|1|0|3|2

|(% colspan="5" %)......

1421

|1|1|1|8|7

1422

1423

Table 6-29 Correspondence between INSPD bits and segment numbers

1424

1425

1426

[[image:image-20220608170845-26.png]]

1427

1428

Figure 6-29 Multi-segment speed running curve

1429

1430

**(2) Speed instruction source is internal speed instruction (P01-01=0)**

1431

1432

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.

1433

1434

1435

[[image:image-20220608153341-5.png]]

1436

1437

Figure 6-30 Analog input circuit

1438

1439

Taking AI_1 as an example, the method of setting the speed instruction of analog voltage is illustrated as below.

1440

1441

1442

[[image:image-20220608170955-27.png]]

1443

1444

Figure 6-31 Analog voltage speed instruction setting steps

1445

1446

Explanation of related terms:

1447

1448

Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.

1449

1450

Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.

1451

1452

Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.

1453

1454

1455

[[image:image-20220608171124-28.png]]

1456

1457

Figure 6-32 AI_1 diagram before and after bias

|P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV

1462

|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

1463

|P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel quantity dead zone value|mV

1464

|P05-04☆|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV

1465

1466

Table 6-30 AI_1 parameters

1467

1468

✎**Note: **“☆” means VD2F servo drive does not support the function code .

1469

1470

== **Acceleration and deceleration time setting** ==

1471

1472

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.

1473

1474

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.

1475

1476

1477

[[image:image-20220608171314-29.png]]

1478

1479

Figure 6-33 of acceleration and deceleration time diagram

1480

1481

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]]

1482

1483

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]]

1484

1485

1486

|**Function code**|**Name**|(((

**Setting method**

)))|(((

**Effective time**

)))|**Default value**|**Range**|**Definition**|**Unit**

1491

|P01-03|Acceleration time|(((

1492

Operation setting

1493

)))|(((

1494

Effective immediately

1495

)))|50|0 to 65535|The time for the speed instruction to accelerate from 0 to 1000rpm|ms

1496

|P01-04|Deceleration time|(((

1497

Operation setting

1498

)))|(((

1499

Effective immediately

1500

)))|50|0 to 65535|The time for the speed instruction to decelerate from 1000rpm to 0|ms

1501

1502

Table 6-31 Acceleration and deceleration time parameters

1503

1504

== **Speed instruction limit** ==

1505

1506

In speed mode, the servo drive could limit the size of the speed instruction. The sources of speed instruction limit include:

1507

1508

1. P01-10: Set the maximum speed limit value

1509

1. P01-12: Set forward speed limit value

1510

1. P01-13: Set reverse speed limit value

1511

1. The maximum speed of the motor: determined by motor model

1512

1513

The actual motor speed limit interval satisfies the following relationship:

1514

1515

The amplitude of forward speed instruction ≤ min (Maximum motor speed, P01-10, P01-12)

1516

1517

The amplitude of negative speed command ≤ min (Maximum motor speed, P01-10, P01-13)

1518

1519

1520

|**Function code**|**Name**|(((

**Setting method**

)))|(((

**Effective time**

)))|**Default value**|**Range**|**Definition**|**Unit**

1525

|P01-10|Maximum speed threshold|(((

1526

Operation setting

1527

)))|(((

1528

Effective immediately

1529

)))|3600|0 to 5000|Set the maximum speed limit value, if exceeds this value, an overspeed fault will be reported|rpm

1530

|P01-12|Forward speed threshold|(((

1531

Operation setting

1532

)))|(((

1533

Effective immediately

1534

)))|3000|0 to 5000|Set forward speed limit value|rpm

1535

|P01-13|Reverse speed threshold|(((

1536

Operation setting

1537

)))|(((

1538

Effective immediately

1539

)))|3000|0 to 5000|Set reverse speed limit value|rpm

1540

1541

Table 6-32 Rotation speed related function codes

1542

1543

== **Zero-speed clamp function** ==

1544

1545

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.

1546

1547

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.

1548

1549

1550

|**Function code**|**Name**|(((

**Setting method**

)))|(((

**Effective time**

)))|**Default value**|**Range**|**Definition**|**Unit**

1555

|P01-21|(((

1556

Zero-speed clamp function selection

)))|(((

Operation setting

)))|(((

Effective immediately

1561

)))|0|0 to 3|(((

1562

Set the zero-speed clamp function. In speed mode:

1563

1564

0: Force the speed to 0;

1565

1566

1: Force the speed to 0, and keep the position locked when the actual speed is less than P01-22

1567

1568

2: When speed instruction is less than P01-22, force the speed to 0 and keep the position locked

1569

1570

3: Invalid, ignore zero-speed clamp input

1571

)))|-

1572

|P01-22|(((

1573

Zero-speed clamp speed threshold

)))|(((

Operation setting

)))|(((

Effective immediately

1578

)))|20|0 to 1000|Set the speed threshold of zero-speed clamp function|rpm

1579

1580

Table 6-33 Zero-speed clamp related parameters

1581

1582

1583

[[image:image-20220608171549-30.png]]

1584

1585

Figure 6-34 Zero-speed clamp diagram

1586

1587

== **Speed-related DO output function** ==

1588

1589

The feedback value of the position instruction is compared with different thresholds, and could output DO signal for host computer use.

1590

1591

**(1) Rotation detection signal**

1592

1593

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.

1594

1595

1596

[[image:image-20220608171625-31.png]]

1597

1598

Figure 6-35 Rotation detection signal diagram

1599

1600

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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__ and __[[Table 6-35>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__.

1601

1602

1603

|**Function code**|**Name**|(((

**Setting method**

)))|(((

**Effective time**

)))|**Default value**|**Range**|**Definition**|**Unit**

|P05-16|(((

Rotation detection

speed threshold

)))|(((

Operation setting

)))|(((

Effective immediately

1616

)))|20|0 to 1000|Set the motor rotation signal judgment threshold|rpm

1617

1618

Table 6-34 Rotation detection speed threshold parameters

1619

1620

1621

|**DO function code**|**Function name**|**Function**

1622

|132|(((

1623

T-COIN rotation detection

1624

)))|(((

1625

Valid: when the absolute value of motor speed after filtering is greater than or equal to the set value of function code P05-16

1626

1627

Invalid, when the absolute value of motor speed after filtering is less than set value of function code P05-16

1628

)))

1629

1630

Table 6-35 DO rotation detection function code

1631

1632

**(2) Zero-speed signal**

1633

1634

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.

1635

1636

1637

[[image:image-20220608171904-32.png]]

1638

1639

Figure 6-36 Zero-speed signal diagram

1640

1641

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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__ and __[[Table 6-37>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__.

1642

1643

1644

|**Function code**|**Name**|(((

**Setting method**

)))|(((

**Effective time**

)))|**Default value**|**Range**|**Definition**|**Unit**

1649

|P05-19|Zero speed output signal threshold|(((

1650

Operation setting

1651

)))|(((

1652

Effective immediately

1653

)))|10|0 to 6000|Set zero-speed output signal judgment threshold|rpm

1654

1655

Table 6-36 Zero-speed output signal threshold parameter

1656

1657

1658

|**DO function code**|**Function name**|**Function**

1659

|133|(((

1660

ZSP zero speed signal

1661

)))|Output this signal indicates that the servo motor is stopping rotation

1662

1663

Table 6-37 DO zero-speed signal function code

1664

1665

**(3) Speed consistent signal**

1666

1667

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.

1668

1669

1670

[[image:image-20220608172053-33.png]]

1671

1672

Figure 6-37 Speed consistent signal diagram

1673

1674

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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__ and __[[Table 6-39>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__.

1675

1676

1677

|**Function code**|**Name**|(((

**Setting method**

)))|(((

**Effective time**

)))|**Default value**|**Range**|**Definition**|**Unit**

1682

|P05-17|Speed consistent signal threshold|(((

1683

Operationsetting

1684

)))|(((

1685

Effective immediately

1686

)))|10|0 to 100|Set speed consistent signal threshold|rpm

1687

1688

Table 6-38 Speed consistent signal threshold parameters

1689

1690

1691

|**DO Function code**|**Function name**|**Function**

1692

|136|(((

1693

U-COIN consistent speed

1694

)))|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

1695

1696

Table 6-39 DO speed consistent function code

1697

1698

**(4) Speed approach signal**

1699

1700

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.

1701

1702

1703

[[image:image-20220608172207-34.png]]

1704

1705

Figure 6-38 Speed approaching signal diagram

1706

1707

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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__ and __[[Table 6-40>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__.

1708

1709

1710

|**Function code**|**Name**|(((

**Setting method**

)))|(((

**Effective time**

)))|**Default value**|**Range**|**Definition**|**Unit**

1715

|P05-18|Speed approach signal threshold|(((

1716

Operation setting

1717

)))|(((

1718

Effective immediately

1719

)))|100|10 to 6000|Set speed approach signal threshold|rpm

1720

1721

Table 6-40 Speed approaching signal threshold parameters

1722

1723

1724

|**DO function code**|**Function name**|**Function**

1725

|137|(((

1726

V-NEAR speed approach

1727

)))|The output signal indicates that the actual speed of the servo motor has reached the expected value

1728

1729

Table 6-41 DO speed approach function code

1730

1731

= **Torque control mode** =

1732

1733

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.

1734

1735

1736

[[image:image-20220608172405-35.png]]

1737

1738

Figure 6-39 Torque mode diagram

1739

1740

== **Torque instruction input setting** ==

1741

1742

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.

1743

1744

1745

|**Function code**|**Name**|(((

**Setting method**

)))|(((

**Effective time**

)))|**Default value**|**Range**|**Definition**|**Unit**

1750

|P01-08|Torque instruction source|(((

1751

Shutdown setting

1752

)))|(((

1753

Effective immediately

1754

)))|0|0 to 1|(((

1755

0: internal torque instruction

1756

1757

1: AI_1 analog input(not supported by VD2F)

1758

)))|-

1759

1760

Table 6-42 Torque instruction source parameter

1761

1762

**(1) Torque instruction source is internal torque instruction (P01-07=0)**

1763

1764

Torque instruction source is from inside, the value is set by function code P01-08.

1765

1766

1767

|**Function code**|**Name**|(((

**Setting method**

)))|(((

**Effective time**

)))|**Default value**|**Range**|**Definition**|**Unit**

1772

|P01-08|Torque instruction keyboard set value|(((

1773

Operation setting

1774

)))|(((

1775

Effective immediately

1776

)))|0|-3000 to 3000|-300.0% to 300.0%|0.1%

1777

1778

Table 6-43 Torque instruction keyboard set value

1779

1780

**(2) Torque instruction source is internal torque instruction (P01-07=1)**

1781

1782

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.

1783

1784

1785

[[image:image-20220608153646-7.png||height="213" width="408"]]

1786

1787

Figure 6-40 Analog input circuit

1788

1789

Taking AI_1 as an example, the method of setting torque instruction of analog voltage is as below.

1790

1791

1792

[[image:image-20220608172502-36.png]]

1793

1794

Figure 6-41 Analog voltage torque instruction setting steps

1795

1796

Explanation of related terms:

1797

1798

Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.

1799

1800

Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.

1801

1802

Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.

1803

1804

1805

[[image:image-20220608172611-37.png]]

1806

1807

Figure 6-42 AI_1 diagram before and after bias

|P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV

1812

|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

1813

|P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel dead zone value|mV

1814

|P05-04☆|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV

1815

1816

Table 6-44 AI_1 parameters

1817

1818

✎**Note: **“☆” means VD2F servo drive does not support the function code .

1819

1820

== **Torque instruction filtering** ==

1821

1822

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]]__.

1823

1824

1825

|**Function code**|**Name**|(((

**Setting method**

)))|(((

**Effective time**

)))|**Default value**|**Range**|**Definition**|**Unit**

1830

|P04-04|Torque filtering time constant|(((

1831

Operation setting

1832

)))|(((

1833

Effective immediately

1834

)))|50|10 to 2500|This parameter is automatically set when “self-adjustment mode selection” is selected as 0|0.01ms

1835

1836

Table 6-45 Torque filtering time constant parameter details

1837

1838

✎**Note: **If the filter time constant is set too large, the responsiveness will be reduced. Please set it while confirming the responsiveness.

1839

1840

1841

[[image:image-20220608172646-38.png]]

1842

1843

Figure 6-43 Torque instruction-first-order filtering diagram

1844

1845

== **Torque instruction limit** ==

1846

1847

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.

1848

1849

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.

1850

1851

1852

[[image:image-20220608172806-39.png]]

1853

1854

Figure 6-44 Torque instruction limit diagram

1855

1856

**(1) Set torque limit source**

1857

1858

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.

1859

1860

1861

|**Function code**|**Name**|(((

**Setting method**

)))|(((

**Effective time**

)))|**Default value**|**Range**|**Definition**|**Unit**

|P01-14|(((

Torque limit source

)))|(((

Shutdown setting

)))|(((

Effective immediately

)))|0|0 to 1|(((

0: internal value

1: AI_1 analog input

(not supported by VD2F)

1878

)))|-

1879

1880

1) Torque limit source is internal torque instruction (P01-14=0)

1881

1882

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.

1883

1884

1885

|**Function code**|**Name**|(((

**Setting method**

)))|(((

**Effective time**

)))|**Default value**|**Range**|**Definition**|**Unit**

|P01-15|(((

Forward torque limit

)))|(((

Operation setting

)))|(((

Effective immediately

1896

)))|3000|0 to 3000|When P01-14 is set to 0, the value of this function code is forward torque limit value|0.1%

|P01-16|(((

Reverse torque limit

)))|(((

Operation setting

)))|(((

Effective immediately

1903

)))|3000|0 to 3000|When P01-14 is set to 0, the value of this function code is reverse torque limit value|0.1%

1904

1905

Table 6-46 Torque limit parameter details

1906

1907

2) Torque limit source is external (P01-14=1)

1908

1909

Torque limit source is from external analog channel. The limit value is determined by the torque value corresponding to external AI_2 terminal.

1910

1911

**(2) Set torque limit DO signal output**

1912

1913

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.

1914

1915

1916

|**DO function code**|**Function name**|**Function**

1917

|139|(((

1918

T-LIMIT in torque limit

1919

)))|Output of this signal indicates that the servo motor torque is limited

1920

1921

Table 6-47 DO torque limit function codes

1922

1923

== **Speed limit in torque mode** ==

1924

1925

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.

1926

1927

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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeedlimitintorquemode]]__ and __[[Figure 6-46>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeedlimitintorquemode]]__.

1928

1929

|(((

1930

[[image:image-20220608172910-40.png]]

1931

)))|(((

1932

[[image:image-20220608173155-41.png]]

1933

)))

1934

|Figure 6-45 Forward running curve|Figure 6-46 Reverse running curve

1935

1936

|**Function code**|**Name**|(((

**Setting method**

)))|(((

**Effective time**

)))|**Default value**|**Range**|**Definition**|**Unit**

|P01-17|(((

Forward torque

limit in torque mode

)))|(((

Operation setting

)))|(((

Effective immediately

1949

)))|3000|0 to 5000|(((

Forward torque

limit in torque mode

)))|0.1%

|P01-18|(((

Reverse torque

limit in torque mode

)))|(((

Operation setting

)))|(((

Effective immediately

1962

)))|3000|0 to 5000|(((

Reverse torque

limit in torque mode

)))|0.1%

Table 6-48 Speed limit parameters in torque mode

1969

1970

✎**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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeedinstructionlimit]]__.

1971

1972

== **Torque-related DO output functions** ==

1973

1974

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.

**Torque arrival**

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.

1979

1980

1981

[[image:image-20220608173541-42.png]]

1982

1983

Figure 6-47 Torque arrival output diagram

1984

1985

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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HTorque-relatedDOoutputfunctions]]__ and __[[Table 6-50>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HTorque-relatedDOoutputfunctions]]__.

1986

1987

1988

|**Function code**|**Name**|(((

**Setting method**

)))|(((

**Effective time**

)))|**Default value**|**Range**|**Definition**|**Unit**

|P05-20|(((

Torque arrival

threshold

)))|(((

Operation setting

)))|(((

Effective immediately

2001

)))|100|0 to 300|(((

2002

The torque arrival threshold must be used with “Torque arrival hysteresis value”:

2003

2004

When the actual torque reaches Torque arrival threshold + Torque arrival hysteresis Value, the torque arrival DO is valid;

2005

2006

When the actual torque decreases below torque arrival threshold-torque arrival hysteresis value, the torque arrival DO is invalid

)))|%

|P05-21|(((

Torque arrival

hysteresis

)))|(((

Operation setting

)))|(((

Effective immediately

2016

)))|10|0 to 20|Torque arrival the hysteresis value must be used with Torque arrival threshold|%

2017

2018

Table 6-49 Torque arrival parameters

2019

2020

2021

|**DO function code**|**Function name**|**Function**

2022

|138|(((

2023

T-COIN torque arrival

2024

)))|Used to determine whether the actual torque instruction has reached the set range

2025

2026

Table 6-50 DO Torque Arrival Function Code

2027

2028

= **Mixed control mode** =

2029

2030

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:

2031

2032

Position mode  Speed mode

2033

2034

Position mode  Torque mode

2035

2036

Speed mode  Torque mode

2037

2038

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.

2039

2040

2041

|**Function code**|**Name**|(((

**Setting method**

)))|(((

**Effective time**

)))|**Default value**|**Range**|**Definition**|**Unit**

2046

|P00-01|Control mode|(((

Shutdown setting

)))|(((

Shutdown setting

)))|1|1 to 6|(((

1: Position control

2: Speed control

3: Torque control

4: Position/speed mixed control

2058

2059

5: Position/torque mixed control

2060

2061

6: Speed/torque mixed control

2062

)))|-

2063

2064

Table 6-51 Mixed control mode parameters

2065

2066

Please set the servo drive parameters in different control modes according to the mechanical structure and indicators. The setting method refer to [[__“Parameters”__>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/09%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.

2067

2068

2069

|**DI function code**|**Name**|**Function name**|**Function**

2070

|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(((

2071

|**P00-01**|**MixModeSel terminal logic**|**Control mode**

2072

|(% rowspan="2" %)4|Valid|Speed mode

2073

|invalid|Position mode

2074

|(% rowspan="2" %)5|Valid|Torque mode

2075

|invalid|Position mode

2076

|(% rowspan="2" %)6|Valid|Torque mode

|invalid|Speed mode

)))

Table 6-52 Description of DI function codes in control mode

2081

2082

✎**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.

2083

2084

= **Absolute system** =

== **Overview** ==

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.

2089

2090

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.

2091

2092

== **Single-turn absolute value system** ==

2093

2094

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.

2095

2096

2097

|**Encoder type**|**Encoder resolution (bits)**|**Data range**

2098

|A1 (single-turn magnetic encoder)|17|0 to 131071

2099

2100

Table 6-53 Single-turn absolute encoder information

2101

2102

The relationship between encoder feedback position and rotating load position is shown in the figure below. (take a 17-bit encoder as an example).

2103

2104

2105

[[image:image-20220608173618-43.png]]

2106

2107

Figure 6-48 Diagram of relationship between encoder feedback position and rotating load position

2108

2109

== **Multi-turn absolute value system** ==

2110

2111

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.

2112

2113

2114

|**Encoder type**|**Encoder resolution (bits)**|**Data range**

2115

|C1 (multi-turn magnetic encoder)|17|0 to 131071

2116

|D2 (multi-turn Optical encoder)|23|0 to 8388607

2117

2118

Table 6-54 Multi-turn absolute encoder information

2119

2120

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).

2121

2122

2123

[[image:image-20220608173701-44.png]]

2124

2125

Figure 6-49 The relationship between encoder feedback position and rotating load position

2126

2127

== **Encoder feedback data** ==

2128

2129

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.

Table 6-55 Encoder feedback data

2138

2139

== **Absolute value system encoder battery box use precautions** ==

2140

2141

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.

2142

2143

2144

[[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"]]

2145

2146

Figure 6-50 the encoder battery box

2147

2148

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:

2149

2150

1. Step1 The servo drive is powered on and is in a non-operational state;

2151

1. Step2 Replace the battery;

2152

1. Step3 Set P10-03 to 1, and the drive will release A-92. It will run normally without other abnormal warnings.

2153

2154

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.

2155

2156

2157

|**Function code**|**Name**|(((

**Setting method**

)))|(((

**Effective time**

)))|**Default value**|**Range**|**Definition**|**Unit**

2162

|P10-06|Multi-turn absolute encoder reset|(((

2163

Shutdown setting

2164

)))|(((

2165

Effective immediately

)))|0|0 to 1|(((

0: No operation

1: Clear rotation number of multi-turn absolute encoder, multi-turn absolute encoder current position and encoder fault alarms.

2170

2171

✎**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.

2172

)))|-

2173

2174

Table 6-56 Absolute encoder reset enable parameter

2175

2176

✎**Note: **If the battery is replaced when the servo drive is powered off, the encoder data will be lost.

2177

2178

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.

= **Overview** =

== **VDI** ==

VDI (Virtual Digital Signal Input Port) is similar to hardware DI terminal. The DI function could also be assigned for use.

2185

2186

✎**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).

2187

2188

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.

2189

2190

2191

[[image:image-20220608173804-46.png]]

2192

2193

Figure 6-51 VDI_1 setting steps

2194

2195

2196

|**Function code**|**Name**|(((

**Setting method**

)))|(((

**Effective time**

)))|**Default value**|**Range**|**Definition**|**Unit**

2201

|P13-1|Virtual VDI_1 input value|Operation setting|Effective immediately|0|0 to 1|(((

2202

When P06-04 is set to 1, DI_1 channel logic is control by this function code.

VDI_1 input level:

0: low level

1: high level

)))|-

|P13-2|Virtual VDI_2 input value|Operation setting|Effective immediately|0|0 to 1|(((

2211

When P06-07 is set to 1, DI_2 channel logic is control by this function code.

VDI_2 input level:

0: low level

1: high level

)))|-

|P13-3|Virtual VDI_3 input value|Operation setting|Effective immediately|0|0 to 1|(((

2220

When P06-10 is set to 1, DI_3 channel logic is control by this function code.

VDI_3 input level:

0: low level

1: high level

)))|-

|P13-4|Virtual VDI_4 input value|Operation setting|Effective immediately|0|0 to 1|(((

2229

When P06-13 is set to 1, DI_4 channel logic is control by this function code.

VDI_4 input level:

0: low level

1: high level

)))|-

|P13-05☆|Virtual VDI_5 input value|Operation setting|Effective immediately|0|0 to 1|(((

2238

When P06-16 is set to 1, DI_5 channel logic is control by this function code.

VDI_5 input level:

0: low level

1: high level

)))|-

|P13-06☆|Virtual VDI_6 input value|Operation setting|Effective immediately|0|0 to 1|(((

2247

When P06-19 is set to 1, DI_6 channel logic is control by this function code.

VDI_6 input level:

0: low level

1: high level

)))|-

|P13-07☆|Virtual VDI_7 input value|Operation setting|Effective immediately|0|0 to 1|(((

2256

When P06-22 is set to 1, DI_7 channel logic is control by this function code.

VDI_7 input level:

0: low level

1: high level

)))|-

|P13-08☆|Virtual VDI_8 input value|Operation setting|Effective immediately|0|0 to 1|(((

2265

When P06-25 is set to 1, DI_8 channel logic is control by this function code.

VDI_8 input level:

0: low level

1: high level

)))|-

Table 6-57 Virtual VDI parameters

2275

2276

✎**Note: **“☆” means VD2F servo drive does not support the function code .

2277

2278

== **Port filtering time** ==

2279

2280

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.

2281

2282

2283

|**Setting value**|**DI channel logic selection**|**Illustration**

2284

|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"]]

2285

|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"]]

2286

2287

Table 6-58 DI terminal channel logic selection

== **VDO** ==

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.

2292

2293

Take the DO_2 terminal as communication VDO, and the use steps of VDI are as the figure below.

2294

2295

2296

[[image:image-20220608173957-48.png]]

2297

2298

Figure 6-52 VDO_2 setting steps

2299

2300

2301

|**Function code**|**Name**|(((

**Setting method**

)))|(((

**Effective time**

)))|**Default value**|**Range**|**Definition**|**Unit**

2306

|P13-11|Communication VDO_1 output value|Operation setting|Effective immediately|0|0 to 1|(((

VDO_1 output level：

0: low level

1: high level

)))|-

|P13-12|Communication VDO_2 output value|Operation setting|Effective immediately|0|0 to 1|(((

VDO_2 output level：

0: low level

1: high level

)))|-

|P13-13|Communication VDO_3 output value|Operation setting|Effective immediately|0|0 to 1|(((

VDO_3 output level：

0: low level

1: high level

)))|-

|P13-14|Communication VDO_4 output value|Operation setting|Effective immediately|0|0 to 1|(((

VDO_4 output level：

0: low level

1: high level

)))|-

Table 6-59 Communication control DO function parameters

2336

2337

2338

|**DO function number**|**Function name**|**Function**

2339

|145|COM_VDO1 communication VDO1 output|Use communication VDO

2340

|146|COM_VDO1 communication VDO2 output|Use communication VDO

2341

|147|COM_VDO1 communication VDO3 output|Use communication VDO

2342

|148|COM_VDO1 communication VDO4output|Use communication VDO

2343

2344

Table 6-60 VDO function number

2345

2346

✎**Note:** You are advised to configure function codes for DO terminals in sequence to avoid errors during DO signal observation

2347

2348

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).

2349

2350

== **Motor overload protection** ==

2351

2352

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%.

2353

2354

2355

|**Function code**|**Name**|(((

**Setting method**

)))|(((

**Effective time**

)))|**Default value**|**Range**|**Definition**|**Unit**

2360

|P10-04|motor overload protection time coefficient|Operation setting|Effective immediately|100|0 to 800|(((

2361

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.

2362

2363

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

2364

)))|%

2365

2366

In the following cases, it could be modified according to the actual heat generation of the motor

2367

2368

1. The motor works in a place with high ambient temperature

2369

1. The motor runs in cycle circulates, and the single running cycle is short and the acceleration and deceleration is frequent.

2370

2371

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).

2372

2373

✎**Note:** You are advised to configure function codes for DO terminals in sequence to avoid errors

2374

2375

Please use the shielded overload protection fault detection function with caution, otherwise it will cause burn out the motor.

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