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Changes for page 06 Operation

Last modified by Iris on 2025/08/06 18:24
From version 102.2
edited by xingzhi lin
on 2025/05/26 09:21
Change comment: There is no comment for this version
To version 89.1
edited by Mora Zhou
on 2025/04/29 09:47
Change comment: There is no comment for this version

Summary

Details

Page properties
Author
... ... @@ -1,1 +1,1 @@
1 -XWiki.lxz
1 +XWiki.Mora
Content
... ... @@ -1520,9 +1520,8 @@
1520 1520  )))|(% style="width:125px" %)(((
1521 1521  Effective immediately
1522 1522  )))|(% style="width:85px" %)0|(% style="width:75px" %)0 to 1|(% style="width:310px" %)(((
1523 -0: internal speed instruction
1524 -
1525 -1: AI_1 analog input (not supported by **VD2F and VD2L**)
1523 +* 0: internal speed instruction
1524 +* 1: AI_1 analog input (not supported by VD2F)
1526 1526  )))|-
1527 1527  
1528 1528  Table 6-26 Speed instruction source parameter
... ... @@ -1553,17 +1553,15 @@
1553 1553  Effective
1554 1554  
1555 1555  immediately
1556 -)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1555 +)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1557 1557  Internal speed instruction 0
1558 1558  
1559 1559  When DI input port:
1560 1560  
1561 -15-INSPD3: 0
1560 +* 15-INSPD3: 0
1561 +* 14-INSPD2: 0
1562 +* 13-INSPD1: 0,
1562 1562  
1563 -14-INSPD2: 0
1564 -
1565 -13-INSPD1: 0,
1566 -
1567 1567  select this speed instruction to be effective.
1568 1568  )))|(% colspan="2" %)rpm
1569 1569  |=(% colspan="1" %)P01-23|(% colspan="2" %)(((
... ... @@ -1578,17 +1578,15 @@
1578 1578  Effective
1579 1579  
1580 1580  immediately
1581 -)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1578 +)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1582 1582  Internal speed instruction 1
1583 1583  
1584 1584  When DI input port:
1585 1585  
1586 -15-INSPD3: 0
1583 +* 15-INSPD3: 0
1584 +* 14-INSPD2: 0
1585 +* 13-INSPD1: 1,
1587 1587  
1588 -14-INSPD2: 0
1589 -
1590 -13-INSPD1: 1,
1591 -
1592 1592  Select this speed instruction to be effective.
1593 1593  )))|(% colspan="2" %)rpm
1594 1594  |=(% colspan="1" %)P01-24|(% colspan="2" %)(((
... ... @@ -1603,17 +1603,15 @@
1603 1603  Effective
1604 1604  
1605 1605  immediately
1606 -)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1601 +)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1607 1607  Internal speed instruction 2
1608 1608  
1609 1609  When DI input port:
1610 1610  
1611 -15-INSPD3: 0
1606 +* 15-INSPD3: 0
1607 +* 14-INSPD2: 1
1608 +* 13-INSPD1: 0,
1612 1612  
1613 -14-INSPD2: 1
1614 -
1615 -13-INSPD1: 0,
1616 -
1617 1617  Select this speed instruction to be effective.
1618 1618  )))|(% colspan="2" %)rpm
1619 1619  |=(% colspan="1" %)P01-25|(% colspan="2" %)(((
... ... @@ -1628,17 +1628,15 @@
1628 1628  Effective
1629 1629  
1630 1630  immediately
1631 -)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1624 +)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1632 1632  Internal speed instruction 3
1633 1633  
1634 1634  When DI input port:
1635 1635  
1636 -15-INSPD3: 0
1629 +* 15-INSPD3: 0
1630 +* 14-INSPD2: 1
1631 +* 13-INSPD1: 1,
1637 1637  
1638 -14-INSPD2: 1
1639 -
1640 -13-INSPD1: 1,
1641 -
1642 1642  Select this speed instruction to be effective.
1643 1643  )))|(% colspan="2" %)rpm
1644 1644  |=P01-26|(% colspan="2" %)(((
... ... @@ -1653,17 +1653,15 @@
1653 1653  Effective
1654 1654  
1655 1655  immediately
1656 -)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1647 +)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1657 1657  Internal speed instruction 4
1658 1658  
1659 1659  When DI input port:
1660 1660  
1661 -15-INSPD3: 1
1652 +* 15-INSPD3: 1
1653 +* 14-INSPD2: 0
1654 +* 13-INSPD1: 0,
1662 1662  
1663 -14-INSPD2: 0
1664 -
1665 -13-INSPD1: 0,
1666 -
1667 1667  Select this speed instruction to be effective.
1668 1668  )))|(% colspan="1" %)rpm
1669 1669  |=P01-27|(% colspan="2" %)(((
... ... @@ -1678,17 +1678,15 @@
1678 1678  Effective
1679 1679  
1680 1680  immediately
1681 -)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1670 +)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1682 1682  Internal speed instruction 5
1683 1683  
1684 1684  When DI input port:
1685 1685  
1686 -15-INSPD3: 1
1675 +* 15-INSPD3: 1
1676 +* 14-INSPD2: 0
1677 +* 13-INSPD1: 1,
1687 1687  
1688 -14-INSPD2: 0
1689 -
1690 -13-INSPD1: 1,
1691 -
1692 1692  Select this speed instruction to be effective.
1693 1693  )))|(% colspan="1" %)rpm
1694 1694  |=P01-28|(% colspan="2" %)(((
... ... @@ -1703,17 +1703,15 @@
1703 1703  Effective
1704 1704  
1705 1705  immediately
1706 -)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1693 +)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1707 1707  Internal speed instruction 6
1708 1708  
1709 1709  When DI input port:
1710 1710  
1711 -15-INSPD3: 1
1698 +* 15-INSPD3: 1
1699 +* 14-INSPD2: 1
1700 +* 13-INSPD1: 0,
1712 1712  
1713 -14-INSPD2: 1
1714 -
1715 -13-INSPD1: 0,
1716 -
1717 1717  Select this speed instruction to be effective.
1718 1718  )))|(% colspan="1" %)rpm
1719 1719  |=P01-29|(% colspan="2" %)(((
... ... @@ -1728,17 +1728,15 @@
1728 1728  Effective
1729 1729  
1730 1730  immediately
1731 -)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1716 +)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1732 1732  Internal speed instruction 7
1733 1733  
1734 1734  When DI input port:
1735 1735  
1736 -15-INSPD3: 1
1721 +* 15-INSPD3: 1
1722 +* 14-INSPD2: 1
1723 +* 13-INSPD1: 1,
1737 1737  
1738 -14-INSPD2: 1
1739 -
1740 -13-INSPD1: 1,
1741 -
1742 1742  Select this speed instruction to be effective.
1743 1743  )))|(% colspan="1" %)rpm
1744 1744  
... ... @@ -1754,13 +1754,12 @@
1754 1754  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.
1755 1755  
1756 1756  
1757 -(% style="margin-left:auto; margin-right:auto" %)
1758 -|=(% style="text-align: center; vertical-align: middle;" %)**INSPD3**|=(% style="text-align: center; vertical-align: middle;" %)**INSPD2**|=(% style="text-align: center; vertical-align: middle;" %)**INSPD1**|=(% style="text-align: center; vertical-align: middle;" %)**Running segment number**|=(% style="text-align: center; vertical-align: middle;" %)**Internal speed instruction number**
1759 -|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)0
1760 -|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)2|(% style="text-align:center; vertical-align:middle" %)1
1761 -|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)3|(% style="text-align:center; vertical-align:middle" %)2
1762 -|(% colspan="5" style="text-align:center; vertical-align:middle" %)......
1763 -|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)8|(% style="text-align:center; vertical-align:middle" %)7
1740 +|=**INSPD3**|=**INSPD2**|=**INSPD1**|=**Running segment number**|=**Internal speed instruction number**
1741 +|0|0|0|1|0
1742 +|0|0|1|2|1
1743 +|0|1|0|3|2
1744 +|(% colspan="5" %)......
1745 +|1|1|1|8|7
1764 1764  
1765 1765  Table 6-29 Correspondence between INSPD bits and segment numbers
1766 1766  
... ... @@ -1801,22 +1801,16 @@
1801 1801  )))
1802 1802  
1803 1803  |=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit**
1804 -|=P05-01(((
1805 -★
1806 -)))|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1807 -|=P05-02(((
1808 -★
1809 -)))|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
1810 -|=P05-03(((
1811 -★
1812 -)))|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel quantity dead zone value|mV
1813 -|=P05-04(((
1814 -★
1815 -)))|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV
1786 +|=P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1787 +|=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
1788 +|=P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel quantity dead zone value|mV
1789 +|=P05-04☆|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV
1816 1816  
1791 +Table 6-30 AI_1 parameters
1792 +
1817 1817  (% class="box infomessage" %)
1818 1818  (((
1819 -✎**Note: **“★” means VD2F and VD2L servo drive does not support the function code .
1795 +✎**Note: **“☆” means VD2F servo drive does not support the function code .
1820 1820  )))
1821 1821  
1822 1822  == Acceleration and deceleration time setting ==
... ... @@ -1910,13 +1910,10 @@
1910 1910  )))|0|0 to 3|(((
1911 1911  Set the zero-speed clamp function. In speed mode:
1912 1912  
1913 -0: Force the speed to 0;
1914 -
1915 -1: Force the speed to 0, and keep the position locked when the actual speed is less than P01-22
1916 -
1917 -2: When speed instruction is less than P01-22, force the speed to 0 and keep the position locked
1918 -
1919 -3: Invalid, ignore zero-speed clamp input
1889 +* 0: Force the speed to 0;
1890 +* 1: Force the speed to 0, and keep the position locked when the actual speed is less than P01-22
1891 +* 2: When speed instruction is less than P01-22, force the speed to 0 and keep the position locked
1892 +* 3: Invalid, ignore zero-speed clamp input
1920 1920  )))|-
1921 1921  |=P01-22|(((
1922 1922  Zero-speed clamp speed threshold
... ... @@ -1924,7 +1924,7 @@
1924 1924  Operation setting
1925 1925  )))|(((
1926 1926  Effective immediately
1927 -)))|20|0 to 6000|Set the speed threshold of zero-speed clamp function|rpm
1900 +)))|20|0 to 1000|Set the speed threshold of zero-speed clamp function|rpm
1928 1928  
1929 1929  Table 6-33 Zero-speed clamp related parameters
1930 1930  
... ... @@ -1969,7 +1969,7 @@
1969 1969  
1970 1970  |=(% scope="row" %)**DO function code**|=(% style="width: 247px;" %)**Function name**|=(% style="width: 695px;" %)**Function**
1971 1971  |=132|(% style="width:247px" %)(((
1972 -TGON rotation detection
1945 +T-COIN rotation detection
1973 1973  )))|(% style="width:695px" %)(((
1974 1974  Valid: when the absolute value of motor speed after filtering is greater than or equal to the set value of function code P05-16
1975 1975  
... ... @@ -2037,7 +2037,7 @@
2037 2037  
2038 2038  |=(% scope="row" %)**DO Function code**|=(% style="width: 262px;" %)**Function name**|=(% style="width: 684px;" %)**Function**
2039 2039  |=136|(% style="width:262px" %)(((
2040 -V-COIN consistent speed
2013 +U-COIN consistent speed
2041 2041  )))|(% style="width:684px" %)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
2042 2042  
2043 2043  Table 6-39 DO speed consistent function code
... ... @@ -2221,9 +2221,8 @@
2221 2221  )))|(((
2222 2222  Effective immediately
2223 2223  )))|0|0 to 1|(((
2224 -0: internal value
2225 -
2226 -1: AI_1 analog input (not supported by VD2F and VD2L)
2197 +* 0: internal value
2198 +* 1: AI_1 analog input (not supported by VD2F and VD2L)
2227 2227  )))|-
2228 2228  
2229 2229  * Torque limit source is internal torque instruction (P01-14=0)
... ... @@ -2300,7 +2300,7 @@
2300 2300  Operation setting
2301 2301  )))|(((
2302 2302  Effective immediately
2303 -)))|3000|0 to 6000|(((
2275 +)))|3000|0 to 5000|(((
2304 2304  Forward torque
2305 2305  
2306 2306  limit in torque mode
... ... @@ -2313,7 +2313,7 @@
2313 2313  Operation setting
2314 2314  )))|(((
2315 2315  Effective immediately
2316 -)))|3000|0 to 6000|(((
2288 +)))|3000|0 to 5000|(((
2317 2317  Reverse torque
2318 2318  
2319 2319  limit in torque mode
... ... @@ -2398,18 +2398,13 @@
2398 2398  )))|(((
2399 2399  Shutdown setting
2400 2400  )))|1|(% style="width:90px" %)1 to 6|(% style="width:273px" %)(((
2401 -1: Position control
2373 +* 1: Position control
2374 +* 2: Speed control
2375 +* 3: Torque control
2376 +* 4: Position/speed mixed control
2377 +* 5: Position/torque mixed control
2378 +* 6: Speed/torque mixed control
2402 2402  
2403 -2: Speed control
2404 -
2405 -3: Torque control
2406 -
2407 -4: Position/speed mixed control
2408 -
2409 -5: Position/torque mixed control
2410 -
2411 -6: Speed/torque mixed control
2412 -
2413 2413  **VD2L drive P0-01 setting range: 1-3, not support mixed mode**
2414 2414  )))|-
2415 2415  
... ... @@ -2551,9 +2551,8 @@
2551 2551  **time**
2552 2552  )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2553 2553  |=P00-30|Shield multi-turn absolute encoder battery fault|Operation setting|Power on again|0|0 to 1|(((
2554 -0：Detect multi-turn absolute encoder battery under voltage, and battery low voltage fault
2555 -
2556 -1: (Not recommended) Shield multi-turn absolute motor battery failure alarm. Multi-turn absolute application may cause mechanical fault, only multi-turn absolute encoder motors is used as single-turn absolute
2521 +* 0：Detect multi-turn absolute encoder battery under voltage, and battery low voltage fault
2522 +* 1: (Not recommended) Shield multi-turn absolute motor battery failure alarm. Multi-turn absolute application may cause mechanical fault, only multi-turn absolute encoder motors is used as single-turn absolute
2557 2557  )))|-
2558 2558  
2559 2559  This function is permitted when a multi-turn absolute encoder motor is used as a single-turn absolute and when it is confirmed that no mechanical failure will occur.
... ... @@ -2698,9 +2698,8 @@
2698 2698  
2699 2699  VDI_1 input level:
2700 2700  
2701 -0: Low level
2702 -
2703 -1: High level
2667 +* 0: low level
2668 +* 1: high level
2704 2704  )))|-
2705 2705  |=P13-2|Virtual VDI_2 input value|Operation setting|Effective immediately|0|0 to 1|(((
2706 2706  When P06-07 is set to 1, DI_2 channel logic is control by this function code.
... ... @@ -2707,9 +2707,8 @@
2707 2707  
2708 2708  VDI_2 input level:
2709 2709  
2710 -0: Low level
2711 -
2712 -1: High level
2675 +* 0: low level
2676 +* 1: high level
2713 2713  )))|-
2714 2714  |=P13-3|Virtual VDI_3 input value|Operation setting|Effective immediately|0|0 to 1|(((
2715 2715  When P06-10 is set to 1, DI_3 channel logic is control by this function code.
... ... @@ -2716,9 +2716,8 @@
2716 2716  
2717 2717  VDI_3 input level:
2718 2718  
2719 -0: Low level
2720 -
2721 -1: High level
2683 +* 0: low level
2684 +* 1: high level
2722 2722  )))|-
2723 2723  |=P13-4|Virtual VDI_4 input value|Operation setting|Effective immediately|0|0 to 1|(((
2724 2724  When P06-13 is set to 1, DI_4 channel logic is control by this function code.
... ... @@ -2725,53 +2725,40 @@
2725 2725  
2726 2726  VDI_4 input level:
2727 2727  
2728 -0: Low level
2729 -
2730 -1: High level
2691 +* 0: low level
2692 +* 1: high level
2731 2731  )))|-
2732 -|=P13-05(((
2733 -★
2734 -)))|Virtual VDI_5 input value|Operation setting|Effective immediately|0|0 to 1|(((
2694 +|=P13-05☆|Virtual VDI_5 input value|Operation setting|Effective immediately|0|0 to 1|(((
2735 2735  When P06-16 is set to 1, DI_5 channel logic is control by this function code.
2736 2736  
2737 2737  VDI_5 input level:
2738 2738  
2739 -0: Low level
2740 -
2741 -1: High level
2699 +* 0: low level
2700 +* 1: high level
2742 2742  )))|-
2743 -|=P13-06(((
2744 -★
2745 -)))|Virtual VDI_6 input value|Operation setting|Effective immediately|0|0 to 1|(((
2702 +|=P13-06☆|Virtual VDI_6 input value|Operation setting|Effective immediately|0|0 to 1|(((
2746 2746  When P06-19 is set to 1, DI_6 channel logic is control by this function code.
2747 2747  
2748 2748  VDI_6 input level:
2749 2749  
2750 -0: Low level
2751 -
2752 -1: High level
2707 +* 0: low level
2708 +* 1: high level
2753 2753  )))|-
2754 -|=P13-07(((
2755 -★
2756 -)))|Virtual VDI_7 input value|Operation setting|Effective immediately|0|0 to 1|(((
2710 +|=P13-07☆|Virtual VDI_7 input value|Operation setting|Effective immediately|0|0 to 1|(((
2757 2757  When P06-22 is set to 1, DI_7 channel logic is control by this function code.
2758 2758  
2759 2759  VDI_7 input level:
2760 2760  
2761 -0: Low level
2762 -
2763 -1: High level
2715 +* 0: low level
2716 +* 1: high level
2764 2764  )))|-
2765 -|=P13-08(((
2766 -★
2767 -)))|Virtual VDI_8 input value|Operation setting|Effective immediately|0|0 to 1|(((
2718 +|=P13-08☆|Virtual VDI_8 input value|Operation setting|Effective immediately|0|0 to 1|(((
2768 2768  When P06-25 is set to 1, DI_8 channel logic is control by this function code.
2769 2769  
2770 2770  VDI_8 input level:
2771 2771  
2772 -0: Low level
2773 -
2774 -1: High level
2723 +* 0: low level
2724 +* 1: high level
2775 2775  )))|-
2776 2776  
2777 2777  Table 6-57 Virtual VDI parameters
... ... @@ -2778,7 +2778,7 @@
2778 2778  
2779 2779  (% class="box infomessage" %)
2780 2780  (((
2781 -✎**Note: **“★” means VD2F and VD2L servo drive does not support the function code .
2731 +✎**Note: **“☆” means VD2F servo drive does not support the function code .
2782 2782  )))
2783 2783  
2784 2784  == Port filtering time ==
... ... @@ -2812,30 +2812,26 @@
2812 2812  |=P13-11|Communication VDO_1 output value|Operation setting|Effective immediately|0|0 to 1|(((
2813 2813  VDO_1 output level：
2814 2814  
2815 -0: Low level
2816 -
2817 -1: High level
2765 +* 0: low level
2766 +* 1: high level
2818 2818  )))|-
2819 2819  |=P13-12|Communication VDO_2 output value|Operation setting|Effective immediately|0|0 to 1|(((
2820 2820  VDO_2 output level：
2821 2821  
2822 -0: Low level
2823 -
2824 -1: High level
2771 +* 0: low level
2772 +* 1: high level
2825 2825  )))|-
2826 2826  |=P13-13|Communication VDO_3 output value|Operation setting|Effective immediately|0|0 to 1|(((
2827 2827  VDO_3 output level：
2828 2828  
2829 -0: Low level
2830 -
2831 -1: High level
2777 +* 0: low level
2778 +* 1: high level
2832 2832  )))|-
2833 2833  |=P13-14|Communication VDO_4 output value|Operation setting|Effective immediately|0|0 to 1|(((
2834 2834  VDO_4 output level：
2835 2835  
2836 -0: Low level
2837 -
2838 -1: High level
2783 +* 0: low level
2784 +* 1: high level
2839 2839  )))|-
2840 2840  
2841 2841  Table 6-59 Communication control DO function parameters
... ... @@ -2878,857 +2878,3 @@
2878 2878  (((
2879 2879  ✎**Note:** It is advised to configure function codes for DO terminals in sequence to avoid errors. Please use the shielded overload protection fault detection function with caution, otherwise it will cause burn out the motor.
2880 2880  )))
2881 -
2882 -
2883 -= Homing mode =
2884 -
2885 -The homing mode is used to find the mechanical origin and locate the positional relationship between the mechanical origin and the mechanical zero.
2886 -
2887 -Mechanical homing: A mechanically fixed position may correspond to a certain defined homing switch, or may correspond to the motor Z signal.
2888 -
2889 -Mechanical zero point: Mechanically absolute 0 position.
2890 -
2891 -After the homing, the stop position of the motor is the mechanical homing. By setting P10-08, the relationship between the mechanical homing and the mechanical zero can be set:
2892 -
2893 -Mechanical homing = Mechanical zero +P10-08 (homing offset)
2894 -
2895 -When P10-08=0, the mechanical homing coincides with the mechanical zero.
2896 -
2897 -== Control block diagram ==
2898 -
2899 -
2900 -=== Homing mode related function codes ===
2901 -
2902 -|Function code|Name|(((
2903 -Setting
2904 -
2905 -method
2906 -)))|(((
2907 -Effective
2908 -
2909 -time
2910 -)))|Default|Range|Definition|Unit
2911 -|P01-39|Homing start mode|(((
2912 -Stop
2913 -
2914 -settings
2915 -)))|(((
2916 -Immediately
2917 -
2918 -effective
2919 -)))|0|0 to 2|(((
2920 -0: Close
2921 -
2922 -1: The servo is powered ON and started after the first ON
2923 -
2924 -2: DI enable
2925 -)))|-
2926 -
2927 -|Function code|Name|(((
2928 -Setting
2929 -
2930 -method
2931 -)))|(((
2932 -Effective
2933 -
2934 -time
2935 -)))|Default|Range|Definition|Unit
2936 -|P01-40|Homing mode|(((
2937 -Stop
2938 -
2939 -settings
2940 -)))|(((
2941 -Immediately
2942 -
2943 -effective
2944 -)))|0|0 to 35|(((
2945 -0 ~~ 35 Homing mode;
2946 -
2947 -✎Note: VD2 currently does not support 15, 16, 31, 32 modes
2948 -)))|-
2949 -
2950 -|Function code|Name|(((
2951 -Setting
2952 -
2953 -method
2954 -)))|(((
2955 -Effective
2956 -
2957 -time
2958 -)))|Default|Range|Definition|Unit
2959 -|P01-41|High-speed search deceleration point signal velocity|(((
2960 -Running
2961 -
2962 -settings
2963 -)))|(((
2964 -Immediately
2965 -
2966 -effective
2967 -)))|300|1 to 3000|High-speed search deceleration point signal velocity in homing mode|rpm
2968 -
2969 -|Function code|Name|(((
2970 -Setting
2971 -
2972 -method
2973 -)))|(((
2974 -Effective
2975 -
2976 -time
2977 -)))|Default|Range|Definition|Unit
2978 -|P01-42〇|Low speed search homing signal speed|(((
2979 -Running
2980 -
2981 -settings
2982 -)))|(((
2983 -Immediately
2984 -
2985 -effective
2986 -)))|60|1 to 300|Low-speed search origin signal velocity in homing mode|rpm
2987 -
2988 -|Function code|Name|(((
2989 -Setting
2990 -
2991 -method
2992 -)))|(((
2993 -Effective
2994 -
2995 -time
2996 -)))|Default|Range|Definition|Unit
2997 -|P01-43〇|Homing acceleration and deceleration|(((
2998 -Running
2999 -
3000 -settings
3001 -)))|(((
3002 -Immediately
3003 -
3004 -effective
3005 -)))|50|1to1000|(((
3006 -Acceleration and deceleration in homing mode
3007 -
3008 -Time for speed acceleration from 0 to 1000rpm
3009 -)))|ms
3010 -
3011 -|Function code|Name|(((
3012 -Setting
3013 -
3014 -method
3015 -)))|(((
3016 -Effective
3017 -
3018 -time
3019 -)))|Default|Range|Definition|Unit
3020 -|P01-44〇|Homing timeout limited time|(((
3021 -Running
3022 -
3023 -settings
3024 -)))|(((
3025 -Immediately
3026 -
3027 -effective
3028 -)))|65535|100 to 65535|Homing timeout limited time|ms
3029 -
3030 -|Function code|Name|(((
3031 -Setting
3032 -
3033 -method
3034 -)))|(((
3035 -Effective
3036 -
3037 -time
3038 -)))|Default|Range|Definition|Unit
3039 -|P10-08〇|Multi-turn absolute encoder homing offset compensation|(((
3040 -Running
3041 -
3042 -settings
3043 -)))|(((
3044 -Immediately
3045 -
3046 -effective
3047 -)))|0|(((
3048 --2147483647~~
3049 -
3050 -2147483646
3051 -)))|(((
3052 -P10-08 multi-turn absolute encoder homing offset compensation is used in conjunction with U0-56 multi-turn absolute encoder current position.
3053 -
3054 -When P10-6 is set to 1, the value of U0-56 is updated to P10-8.
3055 -)))|-
3056 -
3057 -== Introduction to homing mode ==
3058 -
3059 -In the following figure, "H" represents P01-41 (high-speed search deceleration point signal speed), and "L" represents P01-42 (low-speed search homing signal speed).
3060 -
3061 -
3062 -(1) P01-40 =1
3063 -
3064 -Mechanical homing: Motor Z signal
3065 -
3066 -Deceleration point: Reverse limit switch (NOT)
3067 -
3068 -① The deceleration point signal is invalid when starting homing
3069 -
3070 -(% style="text-align:center" %)
3071 -[[image:1748221916083-747.jpg||height="347" width="600"]]
3072 -
3073 -When it starts to homing, NOT=0, it starts to homing at a high speed in the reverse direction. After encountering the rising edge of NOT, it decelerates and reverses the direction, runs at a low speed in the forward direction, and stops at the first Z signal after encountering the falling edge of NOT.
3074 -
3075 -
3076 -② The deceleration point signal is valid when starting homing
3077 -
3078 -(% style="text-align:center" %)
3079 -[[image:1748222134730-241.jpg||height="341" width="600"]]
3080 -
3081 -When starting to homing, NOT=1, it starts to homing at a direct forward low speed, and stops at the first Z signal after encountering the falling edge of NOT.
3082 -
3083 -
3084 -
3085 -
3086 -
3087 -
3088 -(2) P01-40=2
3089 -
3090 -Mechanical homing: Motor Z signal
3091 -
3092 -Deceleration point: Positive Limit Switch (POT)
3093 -
3094 -① The deceleration point signal is invalid when starting homing
3095 -
3096 -(% style="text-align:center" %)
3097 -[[image:1748222168627-745.jpg||height="334" width="600"]]
3098 -
3099 -
3100 -When it starts to homing, POT = 0, and it starts to homing at a forward high speed. After encountering the rising edge of POT, it decelerates and reverses, runs at a reverse low speed, and stops at the first Z signal after encountering the falling edge of POT.
3101 -
3102 -
3103 -② The deceleration point signal is valid when starting homing
3104 -
3105 -(% style="text-align:center" %)
3106 -[[image:1748222190794-857.jpg||height="337" width="600"]]
3107 -
3108 -POT=1 when start homing, run at low speed directly in the reverse direction, and stops at the first Z signal after the falling edge of POT.
3109 -
3110 -
3111 -
3112 -(3) P01-40=3
3113 -
3114 -Mechanical homing: Motor Z signal
3115 -
3116 -Deceleration point: Home switch (HW)
3117 -
3118 -① The deceleration point signal is invalid when starting homing
3119 -
3120 -(% style="text-align:center" %)
3121 -[[image:1748222203229-740.jpg||height="337" width="600"]]
3122 -
3123 -
3124 -When it starts to homing, HW=0. It starts to homing at a forward high speed. After encountering the rising edge of HW, it decelerates and reverses the direction. It runs at a reverse low speed. After encountering the falling edge of HW, it continues to run, and then stops when encountering the first Z signal.
3125 -
3126 -
3127 -② The deceleration point signal is valid when starting homing
3128 -
3129 -(% style="text-align:center" %)
3130 -[[image:1748222259038-454.jpg||height="337" width="600"]]
3131 -
3132 -When starting homing, HW=1, start homing at low speed in reverse directly, and stop at the first Z signal after encountering the falling edge of HW;
3133 -
3134 -
3135 -
3136 -
3137 -
3138 -
3139 -
3140 -
3141 -
3142 -
3143 -
3144 -
3145 -
3146 -(4) P01-40=4
3147 -
3148 -Mechanical homing: Motor Z signal
3149 -
3150 -Deceleration point: Home switch (HW)
3151 -
3152 -① The deceleration point signal is invalid when starting homing
3153 -
3154 -(% style="text-align:center" %)
3155 -[[image:1748222356175-586.jpg||height="337" width="600"]]
3156 -
3157 -HW=0 when starting to homing, directly start to homing at low speed, and stop at the first Z signal after encountering the rising edge of HW;
3158 -
3159 -
3160 -② The deceleration point signal is valid when starting homing
3161 -
3162 -(% style="text-align:center" %)
3163 -[[image:1748222408099-521.jpg||height="338" width="600"]]
3164 -
3165 -
3166 -When starting to homing, HW = 1, start to homing at a high speed in the reverse direction. After encountering the falling edge of HW, decelerate and reverse, run at a low speed in the forward direction, and stop at the first Z signal after encountering the rising edge of HW.
3167 -
3168 -
3169 -
3170 -
3171 -
3172 -(5) P01-40=5
3173 -
3174 -Mechanical homing: Motor Z signal
3175 -
3176 -Deceleration point: Home switch (HW)
3177 -
3178 -① The deceleration point signal is invalid when starting homing
3179 -
3180 -(% style="text-align:center" %)
3181 -[[image:1748222430449-293.jpg||height="337" width="600"]]
3182 -
3183 -When it starts to homing, HW = 0, and it starts to homing at a reverse high speed. After encountering the rising edge of HW, it decelerates and reverses the direction, runs at a forward low speed, and stops at the first Z signal after encountering the falling edge of HW.
3184 -
3185 -
3186 -② The deceleration point signal is valid when starting homing
3187 -
3188 -(% style="text-align:center" %)
3189 -[[image:1748222448727-825.jpg||height="337" width="600"]]
3190 -
3191 -When starting homing, HW=1, it will start homing directly at low speed, and the first Z signal after encountering the falling edge of HW will stop;
3192 -
3193 -
3194 -
3195 -
3196 -
3197 -(6) P01-40=6
3198 -
3199 -Mechanical homing: Motor Z signal
3200 -
3201 -Deceleration point: Home switch (HW)
3202 -
3203 -① The deceleration point signal is invalid when starting homing
3204 -
3205 -(% style="text-align:center" %)
3206 -[[image:1748222469183-894.jpg||height="337" width="600"]]
3207 -
3208 -When starting to homing, HW=0, directly reverse low speed starts to homing, and the first Z signal stops after encountering the rising edge of HW;
3209 -
3210 -
3211 -② The deceleration point signal is valid when starting homing
3212 -
3213 -(% style="text-align:center" %)
3214 -[[image:1748222485622-911.jpg||height="337" width="600"]]
3215 -
3216 -When starting to homing, HW = 1, start to homing at a forward high speed, after encountering the falling edge of HW, decelerate and reverse, run at a reverse low speed, and stop at the first Z signal after encountering the rising edge of HW.
3217 -
3218 -
3219 -
3220 -
3221 -
3222 -(7) P01-40=7
3223 -
3224 -Mechanical homing: Motor Z signal
3225 -
3226 -Deceleration point: Home switch (HW)
3227 -
3228 -① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3229 -
3230 -
3231 -
3232 -When it starts to homing, HW = 0, and it starts to homing at a forward high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and reverses the direction, and runs at a reverse low speed. The first Z signal after encountering the falling edge of HW stops.
3233 -
3234 -
3235 -When homing, the deceleration point signal is invalid and the forward limit switch is encountered
3236 -
3237 -
3238 -When it starts to homing, HW = 0, and it starts to homing at a forward high speed. If it encounters a limit switch, it will automatically reverse and run at a reverse high speed. After encountering the rising edge of HW, it will slow down and continue to run at a reverse low speed. The first Z signal after the falling edge of HW will stop.
3239 -
3240 -
3241 -③ The deceleration point signal is valid when starting homing
3242 -
3243 -
3244 -When starting homing, HW=1, then directly reverse the low speed to start homing, and stop the first Z signal after encountering the falling edge of HW;
3245 -
3246 -
3247 -(8) P01-40=8
3248 -
3249 -Mechanical homing: Motor Z signal
3250 -
3251 -Deceleration point: Home switch (HW)
3252 -
3253 -① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3254 -
3255 -
3256 -When it starts to homing, HM-0 starts to homing at a forward high speed. If it does not encounter the limit switch, after encountering the rising edge of HW, slow down and reverse, and run at a reverse low speed. After encountering the falling edge of HW, reverse, run at a forward low speed, and stop at the first Z signal after encountering the rising edge of HW.
3257 -
3258 -
3259 -① The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
3260 -
3261 -
3262 -When it starts to homing, HW = 0, and it starts to homing at forward high speed. If it encounters a limit switch, it will automatically reverse and run at reverse high speed; After encountering the rising edge of HW, slow down and run at a reverse low speed; After encountering the falling edge of HW, reverse the direction, run at a forward low speed, and stop the first Z signal after encountering the rising edge of HW.
3263 -
3264 -
3265 -③ The deceleration point signal is valid when starting homing
3266 -
3267 -
3268 -When starting to homing, HM-1 will directly reverse and start to return to zero at low speed. After encountering the falling edge of HW, it will reverse and run at forward low speed. The first Z signal after encountering the rising edge of HW will stop.
3269 -
3270 -
3271 -
3272 -(9) P01-40=9
3273 -
3274 -Mechanical homing: Motor Z signal
3275 -
3276 -Deceleration point: Home switch (HW)
3277 -
3278 -① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3279 -
3280 -
3281 -When it starts to homing, HW=0, and it starts to homing at a forward high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and runs at a forward low speed; After encountering the falling edge of HW, reverse, run at a low speed in the reverse direction, and stop at the first Z signal after encountering the rising edge of HW.
3282 -
3283 -
3284 -① The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
3285 -
3286 -
3287 -When it starts to homing, HW = 0, and it starts to homing at a forward high speed. If it encounters a limit switch, it will automatically reverse and run at a reverse high speed. After encountering a rising edge of HW, it will slow down and reverse to resume forward operation. Running at a forward low speed, after encountering a falling edge of HW, it will reverse. During reverse low speed operation, the first Z signal after encountering a rising edge of HW will stop.
3288 -
3289 -③ The deceleration point signal is valid when starting homing
3290 -
3291 -
3292 -When starting homing, HW=1 starts homing directly at forward low speed. After encountering the falling edge of HW, the first Z signal after encountering the rising edge of HW stops in reverse and reverse low speed operation;
3293 -
3294 -
3295 -(10) P01-40=10
3296 -
3297 -Mechanical homing: Motor Z signal
3298 -
3299 -Deceleration point: Home switch (HW)
3300 -
3301 -① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3302 -
3303 -
3304 -When it starts to homing, HW = 0, and it starts to homing at a forward high speed. If the limit switch is not encountered, after encountering the rising edge of HW, slow down and run at a forward low speed. After encountering the falling edge of HW, continue to run at a forward low speed, and then the first Z signal encountered stops.
3305 -
3306 -When homing, the deceleration point signal is invalid and the forward limit switch is encountered
3307 -
3308 -
3309 -When it starts to homing, HW = 0, and it starts to homing at a forward high speed. If it encounters a limit switch, it will automatically reverse and run at a reverse high speed. After encountering the rising edge of HW, it will slow down and reverse to resume forward operation. The first Z signal after the low speed encounters the falling edge of HW will stop.
3310 -
3311 -
3312 -③ The deceleration point signal is valid when starting homing
3313 -
3314 -
3315 -When starting homing, HW=1, it will start homing directly at low speed, and the first Z signal after encountering the falling edge of HW will stop;
3316 -
3317 -
3318 -(11) P01-40=11
3319 -
3320 -Mechanical homing: Motor Z signal
3321 -
3322 -Deceleration point: Home switch (HW)
3323 -
3324 -① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3325 -
3326 -
3327 -When it starts to homing, HW=0, and it starts to homing at a reverse high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and reverses the direction, runs at a forward low speed, and stops at the first Z signal after encountering the falling edge of HW.
3328 -
3329 -
3330 -① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3331 -
3332 -
3333 -When it starts to homing, HW=0, and it starts to homing at a reverse high speed. If it encounters a limit switch, it will automatically reverse and run at a forward high speed. After encountering a rising edge of HW, slow down and continue to run at a forward low speed. When encountering a falling edge of HW, the first Z signal after the edge stops.
3334 -
3335 -③ The deceleration point signal is valid when starting homing
3336 -
3337 -
3338 -When starting homing, HW=1, it will start homing directly at low speed, and the first Z signal after encountering the falling edge of HW will stop;
3339 -
3340 -
3341 -(12) P01-40=12
3342 -
3343 -Mechanical homing: Motor Z signal
3344 -
3345 -Deceleration point: Home switch (HW)
3346 -
3347 -① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3348 -
3349 -
3350 -
3351 -When it starts to homing, HW = 0, it starts to homing at a reverse high speed, and does not encounter a limit switch. After encountering the rising edge of HW, it decelerates and reverses, and runs at a forward low speed. After encountering the falling edge of HW, it reverses and runs at a reverse low speed, and stops at the first Z signal after encountering the rising edge of HW.
3352 -
3353 -
3354 -
3355 -① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3356 -
3357 -
3358 -When it starts to homing, HW=0, it starts to homing at a reverse high speed, encounters a limit switch, automatically reverses, runs at a forward high speed, encounters a rising edge of HW, decelerates, runs at a forward low speed, encounters a falling edge of HW, reverses, runs at a reverse low speed, and stops at the first Z signal after encountering a rising edge of HW.
3359 -
3360 -
3361 -
3362 -③ The deceleration point signal is valid when starting homing
3363 -
3364 -
3365 -When starting to homing, HW = 1, it will directly start to homing at a forward low speed. After encountering the falling edge of HW, it will reverse and run at a reverse low speed. The first Z signal after encountering the rising edge of HW will stop.
3366 -
3367 -(13) P01-40=13
3368 -
3369 -Mechanical homing: Motor Z signal
3370 -
3371 -Deceleration point: Home switch (HW)
3372 -
3373 -① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3374 -
3375 -
3376 -When it starts to homing, HW=0, and it starts to homing at a reverse high speed. If it does not encounter the limit switch, after encountering the rising edge of HW, slow down and run at a reverse low speed. After encountering the falling edge of HW, reverse and run at a forward low speed, and stop at the first Z signal after encountering the rising edge of HW.
3377 -
3378 -
3379 -① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3380 -
3381 -
3382 -When it starts to homing, HW=0, it starts to homing at reverse high speed, encounters the limit switch, automatically reverses, runs at forward high speed, after encountering the rising edge of HW, decelerates and runs in reverse low speed, and encounters the falling edge of HW when running at reverse low speed, the first Z signal after encountering the rising edge of HW stops.
3383 -
3384 -③ The deceleration point signal is valid when starting homing
3385 -
3386 -
3387 -When starting homing, HW=1 starts homing directly at reverse low speed. After encountering the falling edge of HW, the first Z signal after encountering the rising edge of HW stops in reverse and forward low speed operation;
3388 -
3389 -
3390 -(14) P01-40=14
3391 -
3392 -Mechanical homing: Motor Z signal
3393 -
3394 -Deceleration point: Home switch (HW)
3395 -
3396 -① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3397 -
3398 -
3399 -When it starts to homing, HW=0, it starts to homing at reverse high speed, and does not encounter the limit switch. After encountering the rising edge of HW, it decelerates and runs at reverse low speed. After encountering the falling edge of HW, it continues to run at reverse low speed, and then the first Z signal encountered stops.
3400 -
3401 -
3402 -① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3403 -
3404 -
3405 -When it starts to homing, HW = 0, it starts to homing at a reverse high speed, encounters a limit switch, automatically reverses, runs at a forward high speed, encounters a rising edge of HW, decelerates and runs in a reverse direction, and stops the first Z signal after encountering a falling edge of HW at a reverse low speed.
3406 -
3407 -
3408 -③ The deceleration point signal is valid when starting homing
3409 -
3410 -
3411 -When starting homing, HW=1, then directly reverse the low speed to start homing, and stop the first Z signal after encountering the falling edge of HW;
3412 -
3413 -
3414 -(15) P01-40=17
3415 -
3416 -Mechanical homing: Negative overrun switch (NOT)
3417 -
3418 -Deceleration point: Negative overrun switch (NOT)
3419 -
3420 -① The deceleration point signal is invalid when starting homing
3421 -
3422 -
3423 -When it starts to homing, NOT = 0, it starts to homing at a high speed in the reverse direction. After encountering the rising edge of NOT, it decelerates and reverses the direction, runs at a low speed in the forward direction, and stops after encountering the falling edge of NOT.
3424 -
3425 -
3426 -② The deceleration point signal is valid when starting homing
3427 -
3428 -
3429 -When starting homing, NOT=1, start homing directly at low speed, and stop after encountering the falling edge of NOT.
3430 -
3431 -
3432 -(16) P01-40=18
3433 -
3434 -Mechanical homing: Positive overrun switch (POT)
3435 -
3436 -Deceleration point: Positive overrun switch (POT)
3437 -
3438 -① The deceleration point signal is invalid when starting homing
3439 -
3440 -
3441 -When it starts to return to zero, POT=0, it starts to homing at a forward high speed, after encountering the rising edge of POT, it decelerates and reverses, runs at a reverse low speed, and stops after encountering the falling edge of POT.
3442 -
3443 -
3444 -② The deceleration point signal is valid when starting homing
3445 -
3446 -
3447 -When starting homing, POT=1, start homing at low speed in reverse directly, and stop when encountering POT falling edge;
3448 -
3449 -
3450 -
3451 -(17) P01-40=19
3452 -
3453 -Mechanical homing: Home switch (HW)
3454 -
3455 -Deceleration point: Home switch (HW)
3456 -
3457 -① The deceleration point signal is invalid when starting homing
3458 -
3459 -
3460 -When it starts to homing, HW=0, and it starts to homing at a forward high speed. After encountering the rising edge of HW, it decelerates and reverses the direction, runs at a reverse low speed, and stops when encountering the falling edge of HW.
3461 -
3462 -
3463 -② The deceleration point signal is valid when starting homing
3464 -
3465 -
3466 -When starting homing, HW=1, start homing at low speed in reverse directly, and stop when encountering HW falling edge;
3467 -
3468 -
3469 -(18) P01-40=20
3470 -
3471 -Mechanical homing: Home switch (HW)
3472 -
3473 -Deceleration point: Home switch (HW)
3474 -
3475 -① The deceleration point signal is invalid when starting homing
3476 -
3477 -
3478 -When starting to homing, HW=0, directly start to homing at low speed, and stop after encountering the rising edge of HW;
3479 -
3480 -
3481 -② The deceleration point signal is valid when starting homing
3482 -
3483 -
3484 -When starting to homing, HW = 1, start to homing at a high speed in the reverse direction. After encountering the falling edge of HW, slow down and reverse the direction, run at a low speed in the forward direction, and stop when encountering the rising edge of HW.
3485 -
3486 -
3487 -(19) P01-40=21
3488 -
3489 -Mechanical homing: Home switch (HW)
3490 -
3491 -Deceleration point: Home switch (HW)
3492 -
3493 -① The deceleration point signal is invalid when starting homing
3494 -
3495 -
3496 -When it starts to homing, HW=0, it starts to homing at a reverse high speed. After encountering the rising edge of HW, it decelerates and reverses the direction, runs at a forward low speed, and stops when encountering the falling edge of HW.
3497 -
3498 -
3499 -② The deceleration point signal is valid when starting homing
3500 -
3501 -
3502 -When starting back to zero, HW=1, it will start homing directly at low speed, and stop after encountering the falling edge of HW;
3503 -
3504 -
3505 -(20) P01-40=22
3506 -
3507 -Mechanical homing: Home switch (HW)
3508 -
3509 -Deceleration point: Home switch (HW)
3510 -
3511 -① The deceleration point signal is invalid when starting homing
3512 -
3513 -
3514 -When starting to homing, HW=0, directly reverse low speed starts to homing, and stops when encountering HW rising edge;
3515 -
3516 -
3517 -Deceleration point signal is valid when homing start
3518 -
3519 -
3520 -When starting to homing, HW=1, start to homing at a forward high speed, after encountering the falling edge of HW, slow down and reverse, run at a reverse low speed, and stop when encountering the rising edge of HW.
3521 -
3522 -
3523 -(21) P01-40=23
3524 -
3525 -Mechanical homing: Home switch (HW)
3526 -
3527 -Deceleration point: Home switch (HW)
3528 -
3529 -① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3530 -
3531 -
3532 -When it starts to homing, HW = 0, it starts to homing at a forward high speed, and does not encounter a limit switch. After encountering the rising edge of HW, it decelerates and reverses, runs at a reverse low speed, and stops when encountering the falling edge of HW.
3533 -
3534 -
3535 -① The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
3536 -
3537 -
3538 -When you start homing, HW = 0, start homing at a forward high speed. When encountering the limit switch, it will automatically reverse and run at a reverse high speed. After encountering the rising edge of HW, slow down, continue to run at reverse low speed, and stop when encountering the HW falling edge.
3539 -
3540 -
3541 -
3542 -③ The deceleration point signal is valid when starting homing
3543 -
3544 -
3545 -When it starts to homing, HW=1, it starts to homing at a reverse low speed, and stops when it encounters the falling edge of HW.
3546 -
3547 -
3548 -(22) P01-40=24
3549 -
3550 -Mechanical homing: Home switch (HW)
3551 -
3552 -Deceleration point: Home switch (HW)
3553 -
3554 -① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3555 -
3556 -
3557 -When it starts to homing, HW = 0, it starts to homing at a forward high speed, and does not encounter a limit switch. After encountering the rising edge of HW, it decelerates and reverses, and runs at a reverse low speed. After encountering the falling edge of HW, it reverses and runs at a forward low speed, and stops when encountering the rising edge of HW.
3558 -
3559 -
3560 -① The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
3561 -
3562 -
3563 -When it starts to homing, HW = 0, it starts to homing at forward high speed, encounters the limit switch, automatically reverses, runs at reverse high speed, encounters the rising edge of HW, decelerates and runs at reverse low speed, encounters the falling edge of HW, reverses, runs at forward low speed, and stops when encountering the rising edge of HW.
3564 -
3565 -
3566 -③ The deceleration point signal is valid when starting homing
3567 -
3568 -
3569 -When starting with homing, HW = 1, it will directly reverse the low speed and start to homing. After encountering the falling edge of HW, it will reverse the direction and run at a forward low speed, and stop when encountering the rising edge of HW.
3570 -
3571 -
3572 -(23) P01-40=25
3573 -
3574 -Mechanical homing: Home switch (HW)
3575 -
3576 -Deceleration point: Home switch (HW)
3577 -
3578 -① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3579 -
3580 -
3581 -When it starts to homing, HW=0, it starts to homing at a forward high speed, and does not encounter a limit switch. After encountering the rising edge of HW, it decelerates and runs at a forward low speed. After encountering the falling edge of HW, it reverses and runs at a reverse low speed, and stops when encountering the rising edge of HW.
3582 -
3583 -
3584 -① The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
3585 -
3586 -
3587 -When it starts to homing, HW=0, it starts to homing at forward high speed, encounters the limit switch, automatically reverses, and runs at reverse high speed. After encountering the rising edge of HW, decelerate and reverse to resume forward operation. After encountering the falling edge of HW at forward low speed, reverse. When running at reverse low speed, stop when encountering the rising edge of HW.
3588 -
3589 -
3590 -③ The deceleration point signal is valid when starting homing
3591 -
3592 -
3593 -When starting homing, when HW=1, it starts to homing directly at low speed in the forward direction. After encountering the falling edge of HW, it stops at the rising edge of HW in the reverse low speed operation
3594 -
3595 -
3596 -(24) P01-40=26
3597 -
3598 -Mechanical homing: Home switch (HW)
3599 -
3600 -Deceleration point: Home switch (HW)
3601 -
3602 -① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3603 -
3604 -
3605 -When it starts to homing, HW=0, it starts to homing at a forward high speed, and does not encounter a limit switch. After encountering the rising edge of HW, it decelerates, runs at a forward low speed, and stops when encountering the falling edge of HW.
3606 -
3607 -
3608 -① The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
3609 -
3610 -
3611 -When it starts to homing, HW=0, it starts to homing at forward high speed, encounters the limit switch, automatically reverses, and runs at reverse high speed. After encountering the rising edge of HW, decelerates and reverses to resume forward operation, and stops when encountering the falling edge of HW at forward low speed.
3612 -
3613 -
3614 -③ The deceleration point signal is valid when starting homing
3615 -
3616 -
3617 -When starting homing, HW=1, it will start homing directly at low speed, and stop when encountering HW falling edge;
3618 -
3619 -
3620 -(25) P01-40=27
3621 -
3622 -Mechanical homing: Home switch (HW)
3623 -
3624 -Deceleration point: Home switch (HW)
3625 -
3626 -① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3627 -
3628 -
3629 -When it starts to homing, HW=0, it starts to homing at a reverse high speed, and does not encounter a limit switch. After encountering the rising edge of HW, it decelerates and reverses the direction, runs at a forward low speed, and stops when encountering the falling edge of HW.
3630 -
3631 -
3632 -① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3633 -
3634 -
3635 -When it starts to homing, HW=0, it starts to homing at a reverse high speed. When it encounters a limit switch, it automatically reverses and runs at a forward high speed. When it encounters a rising edge of HW, it decelerates and continues to run at a forward low speed. When it encounters a falling edge of HW, it stops.
3636 -
3637 -
3638 -③ The deceleration point signal is valid when starting homing
3639 -
3640 -
3641 -When starting homing, HW=1, it will start homing directly at low speed, and stop when encountering HW falling edge;
3642 -
3643 -
3644 -(26) P01-40=28
3645 -
3646 -Mechanical homing: Home switch (HW)
3647 -
3648 -Deceleration point: Home switch (HW)
3649 -
3650 -① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3651 -
3652 -
3653 -When it starts to homing, HW=0, it starts to homing at a reverse high speed, and does not encounter a limit switch. After encountering the rising edge of HW, it decelerates and reverses, and runs at a forward low speed. After encountering the falling edge of HW, it reverses and runs at a reverse low speed, and stops when encountering the rising edge of HW.
3654 -
3655 -
3656 -① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3657 -
3658 -
3659 -When it starts to homing, HW=0, it starts to homing at a reverse high speed. When encountering a limit switch, it automatically reverses and runs at a forward high speed. When encountering a rising edge of HW, it decelerates and runs at a forward low speed. When encountering a falling edge of HW, it reverses and runs at a reverse low speed. When encountering a rising edge of HW, it stops.
3660 -
3661 -
3662 -③ The deceleration point signal is valid when starting homing
3663 -
3664 -
3665 -When starting with homing, HW = 1, it will directly start to homing at a forward low speed. After encountering the falling edge of HW, it will reverse and run at a reverse low speed. When encountering the rising edge of HW, it will stop.
3666 -
3667 -
3668 -(27) P01-40=29
3669 -
3670 -Mechanical homing: Home switch (HW)
3671 -
3672 -Deceleration point: Home switch (HW)
3673 -
3674 -① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3675 -
3676 -
3677 -When it starts to homing, HW = 0, it starts to homing at a reverse high speed, and does not encounter a limit switch. After encountering the rising edge of HW, it decelerates and runs at a reverse low speed. After encountering the falling edge of HW, it reverses and runs at a forward low speed, and stops when encountering the rising edge of HW.
3678 -
3679 -
3680 -① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3681 -
3682 -
3683 -When it starts to homing, HW=0, it starts to homing at a reverse high speed. When it encounters a limit switch, it automatically reverses and runs at a forward high speed. After encountering a rising edge of HW, it decelerates and runs in a reverse low speed. After encountering a falling edge of HW, it reverses. When running at a forward low speed, it stops when it encounters a rising edge of HW.
3684 -
3685 -③ The deceleration point signal is valid when starting homing
3686 -
3687 -
3688 -When starting homing, when HW=1, it starts to homing directly at low speed in reverse direction. After encountering the falling edge of HW, it stops when running at low speed in reverse direction and forward direction and encountering the rising edge of HW
3689 -
3690 -
3691 -(28) P01-40=30
3692 -
3693 -Mechanical homing: Home switch (HW)
3694 -
3695 -Deceleration point: Home switch (HW)
3696 -
3697 -① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3698 -
3699 -
3700 -When it starts to homing, HW=0, it starts to homing at reverse high speed, and does not encounter the limit switch. After encountering the rising edge of HW, it decelerates, runs at reverse low speed, and stops when encountering the falling edge of HW.
3701 -
3702 -
3703 -① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3704 -
3705 -
3706 -When it starts to homing, HW=0, it starts to homing at a reverse high speed. When it encounters a limit switch, it automatically reverses and runs at a forward high speed. When it encounters a rising edge of HW, it decelerates and runs in a reverse low speed. When it encounters a falling edge of HW, it stops.
3707 -
3708 -
3709 -③ The deceleration point signal is valid when starting homing
3710 -
3711 -
3712 -When starting homing, HW=1, start homing at low speed in reverse directly, and stop when encountering HW falling edge;
3713 -
3714 -
3715 -(29) P01-40=33 and P01-40=34
3716 -
3717 -Mechanical homing: Z signal.
3718 -
3719 -Deceleration point: None
3720 -
3721 -Homing mode 33: Reverse low speed operation, stop the first Z signal encountered
3722 -
3723 -Homing mode 34: running at low speed in forward direction, stopping the first Z signal encountered
3724 -
3725 -
3726 -
3727 -(30) P01-40=35
3728 -
3729 -Homing mode 35, taking the current position as the mechanical homing, after triggering the homing (P01-39: 0x00→0x01/0x00 → 0x02);
3730 -
3731 -After the homing is completed, according to the set value of P10-08 (homing bias compensation), P10-06 (encoder multi-turn reset operation) is executed.
3732 -
3733 -
3734 -
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