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Changes for page 06 Operation

Last modified by Iris on 2025/07/23 15:49
From version 2.12
edited by Joey
on 2022/06/08 17:32
Change comment: (Autosaved)
To version 2.6
edited by Joey
on 2022/06/08 17:02
Change comment: (Autosaved)

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1019 1019  **(2) Setting steps of electronic gear ratio**
1020 1020  
1021 1021  (% style="text-align:center" %)
1022 -[[image:image-20220608170320-22.png]]
1022 +[[image:image-20220608153230-4.png||height="567" width="290"]]
1023 1023  
1024 1024  Figure 6-24 Setting steps of electronic gear ratio
1025 1025  
... ... @@ -1122,7 +1122,7 @@
1122 1122  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.
1123 1123  
1124 1124  (% style="text-align:center" %)
1125 -[[image:image-20220608170455-23.png]]
1125 +[[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_58c73e15d14818f5.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_58c73e15d14818f5.gif"]]
1126 1126  
1127 1127  Figure 6-25 Position instruction filtering diagram
1128 1128  
... ... @@ -1167,7 +1167,7 @@
1167 1167  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.
1168 1168  
1169 1169  (% style="text-align:center" %)
1170 -[[image:image-20220608170550-24.png]]
1170 +[[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_a317d1e7b69d9f5.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_a317d1e7b69d9f5.gif"]]
1171 1171  
1172 1172  Figure 6-26 Positioning completion signal output diagram
1173 1173  
... ... @@ -1176,7 +1176,7 @@
1176 1176  To use the positioning completion/positioning approach function, a DO terminal of the servo drive should be assigned to the function 134 (P-COIN, positioning completion)/ 135 (P-NEAR, positioning approach). The related code parameters and DO function codes are shown as __[[Table 6-24>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HPosition-relatedDOoutputfunction]]__.
1177 1177  
1178 1178  (% style="text-align:center" %)
1179 -[[image:image-20220608170650-25.png]]
1179 +[[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_135bb12a3465fd06.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_135bb12a3465fd06.gif"]]
1180 1180  
1181 1181  Figure 6-27 Positioning completion signal output with increased window filter time diagram
1182 1182  
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1449 1449  Table 6-29 Correspondence between INSPD bits and segment numbers
1450 1450  
1451 1451  (% style="text-align:center" %)
1452 -[[image:image-20220608170845-26.png]]
1452 +[[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_f54c42ea2d098bf8.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_f54c42ea2d098bf8.gif"]]
1453 1453  
1454 1454  Figure 6-29 Multi-segment speed running curve
1455 1455  
... ... @@ -1465,7 +1465,7 @@
1465 1465  Taking AI_1 as an example, the method of setting the speed instruction of analog voltage is illustrated as below.
1466 1466  
1467 1467  (% style="text-align:center" %)
1468 -[[image:image-20220608170955-27.png]]
1468 +[[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_43da944efa0a6a10.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_43da944efa0a6a10.gif"]]
1469 1469  
1470 1470  Figure 6-31 Analog voltage speed instruction setting steps
1471 1471  
... ... @@ -1478,7 +1478,7 @@
1478 1478  Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1479 1479  
1480 1480  (% style="text-align:center" %)
1481 -[[image:image-20220608171124-28.png]]
1481 +[[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_4bcfc7a8548b6252.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_4bcfc7a8548b6252.gif"]]
1482 1482  
1483 1483  Figure 6-32 AI_1 diagram before and after bias
1484 1484  
... ... @@ -1500,7 +1500,7 @@
1500 1500  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.
1501 1501  
1502 1502  (% style="text-align:center" %)
1503 -[[image:image-20220608171314-29.png]]
1503 +[[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_68d514ca1c1b327.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_68d514ca1c1b327.gif"]]
1504 1504  
1505 1505  Figure 6-33 of acceleration and deceleration time diagram
1506 1506  
... ... @@ -1606,7 +1606,7 @@
1606 1606  Table 6-33 Zero-speed clamp related parameters
1607 1607  
1608 1608  (% style="text-align:center" %)
1609 -[[image:image-20220608171549-30.png]]
1609 +[[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_bc1d29f8fdb299dc.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_bc1d29f8fdb299dc.gif"]]
1610 1610  
1611 1611  Figure 6-34 Zero-speed clamp diagram
1612 1612  
... ... @@ -1619,7 +1619,7 @@
1619 1619  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.
1620 1620  
1621 1621  (% style="text-align:center" %)
1622 -[[image:image-20220608171625-31.png]]
1622 +[[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_fb8cfa4f5903d0f1.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_fb8cfa4f5903d0f1.gif"]]
1623 1623  
1624 1624  Figure 6-35 Rotation detection signal diagram
1625 1625  
... ... @@ -1662,7 +1662,7 @@
1662 1662  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.
1663 1663  
1664 1664  (% style="text-align:center" %)
1665 -[[image:image-20220608171904-32.png]]
1665 +[[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_5e35c1aad6d8dfbe.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_5e35c1aad6d8dfbe.gif"]]
1666 1666  
1667 1667  Figure 6-36 Zero-speed signal diagram
1668 1668  
... ... @@ -1695,7 +1695,7 @@
1695 1695  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.
1696 1696  
1697 1697  (% style="text-align:center" %)
1698 -[[image:image-20220608172053-33.png]]
1698 +[[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_2b53a916c8f09d5.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_2b53a916c8f09d5.gif"]]
1699 1699  
1700 1700  Figure 6-37 Speed consistent signal diagram
1701 1701  
... ... @@ -1728,7 +1728,7 @@
1728 1728  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.
1729 1729  
1730 1730  (% style="text-align:center" %)
1731 -[[image:image-20220608172207-34.png]]
1731 +[[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_46c88547b24e8a4b.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_46c88547b24e8a4b.gif"]]
1732 1732  
1733 1733  Figure 6-38 Speed approaching signal diagram
1734 1734  
... ... @@ -1761,7 +1761,7 @@
1761 1761  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.
1762 1762  
1763 1763  (% style="text-align:center" %)
1764 -[[image:image-20220608172405-35.png]]
1764 +[[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_fa7e410ad05cf1a6.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_fa7e410ad05cf1a6.gif"]]
1765 1765  
1766 1766  Figure 6-39 Torque mode diagram
1767 1767  
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1817 1817  Taking AI_1 as an example, the method of setting torque instruction of analog voltage is as below.
1818 1818  
1819 1819  (% style="text-align:center" %)
1820 -[[image:image-20220608172502-36.png]]
1820 +[[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_186332b32f148c60.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_186332b32f148c60.gif"]]
1821 1821  
1822 1822  Figure 6-41 Analog voltage torque instruction setting steps
1823 1823  
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1830 1830  Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1831 1831  
1832 1832  (% style="text-align:center" %)
1833 -[[image:image-20220608172611-37.png]]
1833 +[[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_9e37dbf27a47694a.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_9e37dbf27a47694a.gif"]]
1834 1834  
1835 1835  Figure 6-42 AI_1 diagram before and after bias
1836 1836  
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1866 1866  ✎**Note: **If the filter time constant is set too large, the responsiveness will be reduced. Please set it while confirming the responsiveness.
1867 1867  
1868 1868  (% style="text-align:center" %)
1869 -[[image:image-20220608172646-38.png]]
1869 +[[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_205df0eae349c586.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_205df0eae349c586.gif"]]
1870 1870  
1871 1871  Figure 6-43 Torque instruction-first-order filtering diagram
1872 1872  
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1877 1877  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.
1878 1878  
1879 1879  (% style="text-align:center" %)
1880 -[[image:image-20220608172806-39.png]]
1880 +[[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_5150cab591eac5bc.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_5150cab591eac5bc.gif"]]
1881 1881  
1882 1882  Figure 6-44 Torque instruction limit diagram
1883 1883  
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1956 1956  
1957 1957  |(((
1958 1958  (% style="text-align:center" %)
1959 -[[image:image-20220608172910-40.png]]
1959 +[[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_e1eced3568bc22d7.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_e1eced3568bc22d7.gif"]]
1960 1960  )))|(((
1961 -[[image:image-20220608173155-41.png]]
1961 +(% style="text-align:center" %)
1962 +[[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_79d479af8534745f.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_79d479af8534745f.gif"]]
1962 1962  )))
1963 1963  |Figure 6-45 Forward running curve|Figure 6-46 Reverse running curve
1964 1964  
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