Changes for page 06 Operation

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569	569	1) Low-speed pulse instruction input
570	570
571	571	(% class="table-bordered" %)
572		-|(% style="text-align:center; vertical-align:middle" %)[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/22.jpg?rev=1.1]]|(% style="text-align:center; vertical-align:middle" %)[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/23.jpg?rev=1.1]]
	572	+|(% style="text-align:center; vertical-align:middle" %)[[image: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_d9151239d79c87a3.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_d9151239d79c87a3.gif"]]|(% style="text-align:center; vertical-align:middle" %)[[image: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_26156823dfc2374b.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_26156823dfc2374b.gif" data-xwiki-image-style-alignment="center" data-xwiki-image-style-text-wrap="true"]]
573	573	|(% style="text-align:center; vertical-align:middle" %)VD2A and VD2B servo drives|(% style="text-align:center; vertical-align:middle" %)VD2F servo drive
574	574	|(% colspan="2" style="text-align:center; vertical-align:middle" %)Figure 6-7 Position instruction input setting
575	575
...	...	@@ -588,7 +588,8 @@
588	588
589	589	Take VD2A and VD2B drive as examples, the connection of differential input is shown as below.
590	590
591		-[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/24.jpg?rev=1.1]]
	591	+(% style="text-align:center" %)
	592	+[[image: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_efcec2927621d22d.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_efcec2927621d22d.gif" data-xwiki-image-style-alignment="center"]]
592	592
593	593	Figure 6-8 Differential input connection
594	594
...	...	@@ -598,7 +598,8 @@
598	598
599	599	Take VD2A and VD2B drive as examples, the connection of differential input is shown as below.
600	600
601		-[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/25.jpg?rev=1.1]]
	602	+(% style="text-align:center" %)
	603	+[[image: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_e0abafdeeac8b1c.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_e0abafdeeac8b1c.gif" data-xwiki-image-style-alignment="center"]]
602	602
603	603	Figure 6-9 Open collector input connection
604	604
...	...	@@ -696,7 +696,7 @@
696	696	PULSE
697	697
698	698	SIGN
699		-)))|(% style="text-align:center; vertical-align:middle" %)[[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]]|(% style="text-align:center; vertical-align:middle" %)[[image: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_da702cd5792c6189.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_da702cd5792c6189.gif"]]
	701	+)))|(% style="text-align:center; vertical-align:middle" %)[[image: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_79f577e37a33667d.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_79f577e37a33667d.gif"]]|(% style="text-align:center; vertical-align:middle" %)[[image: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_da702cd5792c6189.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_da702cd5792c6189.gif"]]
700	700	|(% style="text-align:center; vertical-align:middle; width:185px" %)1|(% style="text-align:center; vertical-align:middle; width:177px" %)CW/CCW|(% style="text-align:center; vertical-align:middle" %)(((
701	701	PULSE (CW)
702	702
...	...	@@ -1956,7 +1956,6 @@
1956	1956	(% style="text-align:center" %)
1957	1957	[[image:image-20220608172910-40.png]]
1958	1958	)))|(((
1959		-(% style="text-align:center" %)
1960	1960	[[image:image-20220608173155-41.png]]
1961	1961	)))
1962	1962	|Figure 6-45 Forward running curve|Figure 6-46 Reverse running curve
...	...	@@ -2007,7 +2007,7 @@
2007	2007	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.
2008	2008
2009	2009	(% style="text-align:center" %)
2010		-[[image:image-20220608173541-42.png]]
	2011	+[[image: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_c5aa33a1ea3666a9.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_c5aa33a1ea3666a9.gif"]]
2011	2011
2012	2012	Figure 6-47 Torque arrival output diagram
2013	2013
...	...	@@ -2132,7 +2132,7 @@
2132	2132	The relationship between encoder feedback position and rotating load position is shown in the figure below. (take a 17-bit encoder as an example).
2133	2133
2134	2134	(% style="text-align:center" %)
2135		-[[image:image-20220608173618-43.png]]
	2136	+[[image: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_f1dd9e5d93d026de.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_f1dd9e5d93d026de.gif"]]
2136	2136
2137	2137	Figure 6-48 Diagram of relationship between encoder feedback position and rotating load position
2138	2138
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2150	2150	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).
2151	2151
2152	2152	(% style="text-align:center" %)
2153		-[[image:image-20220608173701-44.png]]
	2154	+[[image: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_e6f0ac4930ba15b8.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_e6f0ac4930ba15b8.gif"]]
2154	2154
2155	2155	Figure 6-49 The relationship between encoder feedback position and rotating load position
2156	2156
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2218	2218	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.
2219	2219
2220	2220	(% style="text-align:center" %)
2221		-[[image:image-20220608173804-46.png]]
	2222	+[[image: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_d237b43521f07beb.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_d237b43521f07beb.gif"]]
2222	2222
2223	2223	Figure 6-51 VDI_1 setting steps
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2323	2323	Take the DO_2 terminal as communication VDO, and the use steps of VDI are as the figure below.
2324	2324
2325	2325	(% style="text-align:center" %)
2326		-[[image:image-20220608173957-48.png]]
	2327	+[[image: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_571b1f09b2ec0199.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_571b1f09b2ec0199.gif"]]
2327	2327
2328	2328	Figure 6-52 VDO_2 setting steps
2329	2329

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