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Changes for page 06 Operation

Last modified by Iris on 2025/07/23 15:49
From version 2.2
edited by Joey
on 2022/06/08 15:31
Change comment: (Autosaved)
To version 2.10
edited by Joey
on 2022/06/08 17:22
Change comment: (Autosaved)

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Content
... ... @@ -140,7 +140,7 @@
140 140  **(3) Timing diagram of power on**
141 141  
142 142  (% style="text-align:center" %)
143 -[[image:image-20220608152346-1.png]]
143 +[[image:image-20220608163014-1.png]]
144 144  
145 145  Figure 6-1 Timing diagram of power on
146 146  
... ... @@ -380,7 +380,7 @@
380 380  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)
381 381  
382 382  (% style="text-align:center" %)
383 -[[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_e701ace1cc66f255.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_e701ace1cc66f255.gif"]]
383 +[[image:image-20220608163136-2.png]]
384 384  
385 385  Figure 6-2 VD2B servo drive brake wiring
386 386  
... ... @@ -464,7 +464,7 @@
464 464  )))
465 465  
466 466  (% style="text-align:center" %)
467 -[[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_2da3eb860da7ba31.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_2da3eb860da7ba31.gif"]]
467 +[[image:image-20220608163304-3.png]]
468 468  
469 469  Figure 6-3 Brake Timing of when the motor is stationary
470 470  
... ... @@ -492,7 +492,7 @@
492 492  )))
493 493  
494 494  (% style="text-align:center" %)
495 -[[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_4408711d09c83291.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_4408711d09c83291.gif"]]
495 +[[image:image-20220608163425-4.png]]
496 496  
497 497  Figure 6-4 Brake timing when the motor rotates
498 498  
... ... @@ -501,7 +501,7 @@
501 501  The brake timing (free shutdown) in the fault status is as follows.
502 502  
503 503  (% style="text-align:center" %)
504 -[[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_2d941f733d7ef90b.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_2d941f733d7ef90b.gif"]]
504 +[[image:image-20220608163541-5.png]]
505 505  
506 506   Figure 6-5 The brake timing (free shutdown) in the fault state
507 507  
... ... @@ -510,7 +510,7 @@
510 510  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.
511 511  
512 512  (% style="text-align:center" %)
513 -[[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_8f058b9bad397ea5.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_8f058b9bad397ea5.gif"]]
513 +[[image:image-20220608163643-6.png]]
514 514  
515 515  Figure 6-6 Position control diagram
516 516  
... ... @@ -611,7 +611,7 @@
611 611  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.
612 612  
613 613  (% style="text-align:center" %)
614 -[[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_d88f7db4d5439ab5.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_d88f7db4d5439ab5.gif" data-xwiki-image-style-alignment="center"]]
614 +[[image:image-20220608163952-8.png]]
615 615  
616 616  Figure 6-10 Example of filtered signal waveform
617 617  
... ... @@ -766,7 +766,7 @@
766 766  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.
767 767  
768 768  (% style="text-align:center" %)
769 -[[image:image-20220608152955-3.png]]
769 +[[image:image-20220608164116-9.png]]
770 770  
771 771  Figure 6-11 The setting process of multi-segment position
772 772  
... ... @@ -827,7 +827,7 @@
827 827  In this running mode, the segment number is automatically incremented and switched, and the servo drive only operates for one round (the servo drive runs completely once for the total number of multi-segment position instructions set by P07-02 and P07-03). The single running curve is shown in __[[Figure 6-12>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_669701d67ab2f246.gif?rev=1.1]]__, and [[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_b3223c0806f5c6c.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_b3223c0806f5c6c.gif"]] are the displacements of the 1st segment and the 2nd segment respectively
828 828  
829 829  (% style="text-align:center" %)
830 -[[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_669701d67ab2f246.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_669701d67ab2f246.gif" data-xwiki-image-style-alignment="center"]]
830 +[[image:image-20220608164226-10.png]]
831 831  
832 832  Figure 6-12 Single running curve (P07-02=1, P07-03=2)
833 833  
... ... @@ -836,7 +836,7 @@
836 836  In this running mode, the position number is automatically incremented and switched, and the servo drive repeatedly runs the total number of multi-segment position instructions set by P07-02 and P07-03. The waiting time could be set between each segment. The cycle running curve is shown in __[[Figure 6-13>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_80b358d07288f7b4.gif?rev=1.1]]__, and [[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_a2646a1ce199bcaa.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_a2646a1ce199bcaa.gif"]] are the displacements of the 1st, 2nd, 3rd and 4th segment respectively.
837 837  
838 838  (% style="text-align:center" %)
839 -[[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_80b358d07288f7b4.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_80b358d07288f7b4.gif"]]
839 +[[image:image-20220608164327-11.png]]
840 840  
841 841  Figure 6-13 Cycle running curve (P07-02=1, P07-03=4)
842 842  
... ... @@ -871,7 +871,7 @@
871 871  The operating curve in this running mode is shown in __[[Figure 6-14>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_91c44ab732c79e26.gif?rev=1.1]]__.
872 872  
873 873  (% style="text-align:center" %)
874 -[[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_91c44ab732c79e26.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_91c44ab732c79e26.gif" data-xwiki-image-style-alignment="center"]]
874 +[[image:image-20220608164545-12.png]]
875 875  
876 876  Figure 6-14 DI switching running curve
877 877  
... ... @@ -882,12 +882,12 @@
882 882  In this processing way, the multi-segment position instruction enable is OFF during running, the servo drive will abandon the unfinished displacement part and shutdown, and the positioning completion signal will be valid after the shutdown is complete. When the multi-segment position enable is ON, and the servo drive will start to run from the next segment where the OFF occurs. The curves of single running and cycle running are shown in __[[Figure 6-15>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_29777829e6742c0d.gif?rev=1.1]]__ and __[[Figure 6-16>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_d264849e0940e3e4.gif?rev=1.1]]__ respectively.
883 883  
884 884  (% style="text-align:center" %)
885 -[[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_29777829e6742c0d.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_29777829e6742c0d.gif"]]
885 +[[image:image-20220608164847-13.png]]
886 886  
887 887  Figure 6-15 Single running-run the remaining segments (P07-02=1, P07-03=4)
888 888  
889 889  (% style="text-align:center" %)
890 -[[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_d264849e0940e3e4.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_d264849e0940e3e4.gif"]]
890 +[[image:image-20220608165032-14.png]]
891 891  
892 892  Figure 6-16 Cycle running-run the remaining segment (P07-02=1, P07-03=4)
893 893  
... ... @@ -896,12 +896,12 @@
896 896  In this processing mode, when the multi-segment position instruction enable is OFF during running, the servo drive will abandon the uncompleted displacement part and shutdown. After the shutdown is completed, the positioning completion signal is valid. When the multi-segment position enable is ON, and the servo drive will start to operate from the next position set by P07-02. The curves of single running and cycle running are shown in __[[Figure 6-17>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_2328499c9613af49.gif?rev=1.1]]__ and __[[Figure 6-18>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_1f2e35174b1afd3c.gif?rev=1.1]]__ respectively.
897 897  
898 898  (% style="text-align:center" %)
899 -[[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_2328499c9613af49.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_2328499c9613af49.gif"]]
899 +[[image:image-20220608165343-15.png]]
900 900  
901 901  Figure 6-17 Single running-run from the start segment again (P07-02=1, P07-03=4)
902 902  
903 903  (% style="text-align:center" %)
904 -[[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_1f2e35174b1afd3c.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_1f2e35174b1afd3c.gif"]]
904 +[[image:image-20220608165558-16.png]]
905 905  
906 906  Figure 6-18 Cyclic running-run from the start segment again (P07-02=1, P07-03=4)
907 907  
... ... @@ -913,10 +913,10 @@
913 913  
914 914  |(((
915 915  (% style="text-align:center" %)
916 -[[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_87634f36b33add27.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_87634f36b33add27.gif"]]
916 +[[image:image-20220608165710-17.png]]
917 917  )))|(((
918 918  (% style="text-align:center" %)
919 -[[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_6731ac1b21e3a000.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_6731ac1b21e3a000.gif"]]
919 +[[image:image-20220608165749-18.png]]
920 920  )))
921 921  |Figure 6-19 Relative position diagram|Figure 6-20 Displacement diagram
922 922  
... ... @@ -926,10 +926,10 @@
926 926  
927 927  |(((
928 928  (% style="text-align:center" %)
929 -[[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_18d123cfee9d9941.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_18d123cfee9d9941.gif"]]
929 +[[image:image-20220608165848-19.png]]
930 930  )))|(((
931 931  (% style="text-align:center" %)
932 -[[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_a2200ebb6453151f.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_a2200ebb6453151f.gif"]]
932 +[[image:image-20220608170005-20.png]]
933 933  )))
934 934  |Figure 6-21 Absolute indication|Figure 6-22 Displacement
935 935  
... ... @@ -977,7 +977,7 @@
977 977  After setting the above parameters, the actual operation curve of the motor is shown in Figure 6-23.
978 978  
979 979  (% style="text-align:center" %)
980 -[[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_aca615fac179a16a.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_aca615fac179a16a.gif"]]
980 +[[image:image-20220608170149-21.png]]
981 981  
982 982  Figure 6-23 The 1st segment running curve of motor
983 983  
... ... @@ -1018,7 +1018,8 @@
1018 1018  
1019 1019  **(2) Setting steps of electronic gear ratio**
1020 1020  
1021 -[[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_9af279e6d5253d7a.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_9af279e6d5253d7a.gif"]]
1021 +(% style="text-align:center" %)
1022 +[[image:image-20220608170320-22.png]]
1022 1022  
1023 1023  Figure 6-24 Setting steps of electronic gear ratio
1024 1024  
... ... @@ -1120,7 +1120,8 @@
1120 1120  
1121 1121  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.
1122 1122  
1123 -[[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"]]
1124 +(% style="text-align:center" %)
1125 +[[image:image-20220608170455-23.png]]
1124 1124  
1125 1125  Figure 6-25 Position instruction filtering diagram
1126 1126  
... ... @@ -1164,7 +1164,8 @@
1164 1164  (% class="wikigeneratedid" %)
1165 1165  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.
1166 1166  
1167 -[[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"]]
1169 +(% style="text-align:center" %)
1170 +[[image:image-20220608170550-24.png]]
1168 1168  
1169 1169  Figure 6-26 Positioning completion signal output diagram
1170 1170  
... ... @@ -1172,7 +1172,8 @@
1172 1172  
1173 1173  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]]__.
1174 1174  
1175 -[[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"]]
1178 +(% style="text-align:center" %)
1179 +[[image:image-20220608170650-25.png]]
1176 1176  
1177 1177  Figure 6-27 Positioning completion signal output with increased window filter time diagram
1178 1178  
... ... @@ -1444,7 +1444,8 @@
1444 1444  
1445 1445  Table 6-29 Correspondence between INSPD bits and segment numbers
1446 1446  
1447 -[[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"]]
1451 +(% style="text-align:center" %)
1452 +[[image:image-20220608170845-26.png]]
1448 1448  
1449 1449  Figure 6-29 Multi-segment speed running curve
1450 1450  
... ... @@ -1452,13 +1452,15 @@
1452 1452  
1453 1453  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.
1454 1454  
1455 -[[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_a3f8a734b72fcc10.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_a3f8a734b72fcc10.gif"]]
1460 +(% style="text-align:center" %)
1461 +[[image:image-20220608153341-5.png]]
1456 1456  
1457 1457  Figure 6-30 Analog input circuit
1458 1458  
1459 1459  Taking AI_1 as an example, the method of setting the speed instruction of analog voltage is illustrated as below.
1460 1460  
1461 -[[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"]]
1467 +(% style="text-align:center" %)
1468 +[[image:image-20220608170955-27.png]]
1462 1462  
1463 1463  Figure 6-31 Analog voltage speed instruction setting steps
1464 1464  
... ... @@ -1470,7 +1470,8 @@
1470 1470  
1471 1471  Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1472 1472  
1473 -[[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"]]
1480 +(% style="text-align:center" %)
1481 +[[image:image-20220608171124-28.png]]
1474 1474  
1475 1475  Figure 6-32 AI_1 diagram before and after bias
1476 1476  
... ... @@ -1491,13 +1491,14 @@
1491 1491  
1492 1492  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.
1493 1493  
1494 -[[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"]]
1502 +(% style="text-align:center" %)
1503 +[[image:image-20220608171314-29.png]]
1495 1495  
1496 1496  Figure 6-33 of acceleration and deceleration time diagram
1497 1497  
1498 -Actual acceleration time T1 =[[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_f534257c8134eb35.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_f534257c8134eb35.gif"]][[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_f534257c8134eb35.gif?rev=1.1]][[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_f534257c8134eb35.gif?rev=1.1]][[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_f534257c8134eb35.gif?rev=1.1]][[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_f534257c8134eb35.gif?rev=1.1||alt="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_f534257c8134eb35.gif?rev=1.1"]],,[[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_f534257c8134eb35.gif?rev=1.1]],,
1507 +Actual acceleration time T1 =[[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_f534257c8134eb35.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_f534257c8134eb35.gif"]][[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_f534257c8134eb35.gif?rev=1.1]][[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_f534257c8134eb35.gif?rev=1.1]][[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_f534257c8134eb35.gif?rev=1.1]][[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_f534257c8134eb35.gif?rev=1.1]][[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_f534257c8134eb35.gif?rev=1.1||alt="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_f534257c8134eb35.gif?rev=1.1"]],,[[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_f534257c8134eb35.gif?rev=1.1]],,
1499 1499  
1500 -Actual deceleration time T2 =[[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_f696c4e8005b5d7.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_f696c4e8005b5d7.gif"]][[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_f696c4e8005b5d7.gif?rev=1.1]][[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_f696c4e8005b5d7.gif?rev=1.1]][[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_f696c4e8005b5d7.gif?rev=1.1]][[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_f696c4e8005b5d7.gif?rev=1.1||alt="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_f696c4e8005b5d7.gif?rev=1.1"]],,[[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_f696c4e8005b5d7.gif?rev=1.1]],,
1509 +Actual deceleration time T2 =[[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_f696c4e8005b5d7.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_f696c4e8005b5d7.gif"]][[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_f696c4e8005b5d7.gif?rev=1.1]][[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_f696c4e8005b5d7.gif?rev=1.1]][[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_f696c4e8005b5d7.gif?rev=1.1]][[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_f696c4e8005b5d7.gif?rev=1.1]][[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_f696c4e8005b5d7.gif?rev=1.1||alt="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_f696c4e8005b5d7.gif?rev=1.1"]],,[[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_f696c4e8005b5d7.gif?rev=1.1]],,
1501 1501  
1502 1502  (% class="table-bordered" %)
1503 1503  |(% style="text-align:center; vertical-align:middle; width:116px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:137px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
... ... @@ -1596,7 +1596,8 @@
1596 1596  
1597 1597  Table 6-33 Zero-speed clamp related parameters
1598 1598  
1599 -[[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"]]
1608 +(% style="text-align:center" %)
1609 +[[image:image-20220608171549-30.png]]
1600 1600  
1601 1601  Figure 6-34 Zero-speed clamp diagram
1602 1602  
... ... @@ -1608,7 +1608,8 @@
1608 1608  
1609 1609  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.
1610 1610  
1611 -[[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"]]
1621 +(% style="text-align:center" %)
1622 +[[image:image-20220608171625-31.png]]
1612 1612  
1613 1613  Figure 6-35 Rotation detection signal diagram
1614 1614  
... ... @@ -1650,7 +1650,8 @@
1650 1650  
1651 1651  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.
1652 1652  
1653 -[[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"]]
1664 +(% style="text-align:center" %)
1665 +[[image:image-20220608171904-32.png]]
1654 1654  
1655 1655  Figure 6-36 Zero-speed signal diagram
1656 1656  
... ... @@ -1682,7 +1682,8 @@
1682 1682  
1683 1683  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.
1684 1684  
1685 -[[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"]]
1697 +(% style="text-align:center" %)
1698 +[[image:image-20220608172053-33.png]]
1686 1686  
1687 1687  Figure 6-37 Speed consistent signal diagram
1688 1688  
... ... @@ -1714,7 +1714,8 @@
1714 1714  
1715 1715  After filtering, the absolute value of the actual speed of the servo motor exceeds a certain threshold [P05-17], and it is considered that the actual speed of the servo motor has reached the expected value. At this time, the servo drive can output a speed close signal (V-NEAR) through the DO terminal. Conversely, if the absolute value of the actual speed of the servo motor after filtering is not greater than this value, the speed approach signal is invalid.
1716 1716  
1717 -[[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"]]
1730 +(% style="text-align:center" %)
1731 +[[image:image-20220608172207-34.png]]
1718 1718  
1719 1719  Figure 6-38 Speed approaching signal diagram
1720 1720  
... ... @@ -1746,6 +1746,7 @@
1746 1746  
1747 1747  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.
1748 1748  
1763 +(% style="text-align:center" %)
1749 1749  [[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"]]
1750 1750  
1751 1751  Figure 6-39 Torque mode diagram
... ... @@ -1794,12 +1794,14 @@
1794 1794  
1795 1795  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.
1796 1796  
1797 -[[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_bd6a9cba37c8c87e.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_bd6a9cba37c8c87e.gif"]]
1812 +(% style="text-align:center" %)
1813 +[[image:image-20220608153646-7.png||height="213" width="408"]]
1798 1798  
1799 1799  Figure 6-40 Analog input circuit
1800 1800  
1801 1801  Taking AI_1 as an example, the method of setting torque instruction of analog voltage is as below.
1802 1802  
1819 +(% style="text-align:center" %)
1803 1803  [[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"]]
1804 1804  
1805 1805  Figure 6-41 Analog voltage torque instruction setting steps
... ... @@ -1812,6 +1812,7 @@
1812 1812  
1813 1813  Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1814 1814  
1832 +(% style="text-align:center" %)
1815 1815  [[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"]]
1816 1816  
1817 1817  Figure 6-42 AI_1 diagram before and after bias
... ... @@ -1847,6 +1847,7 @@
1847 1847  
1848 1848  ✎**Note: **If the filter time constant is set too large, the responsiveness will be reduced. Please set it while confirming the responsiveness.
1849 1849  
1868 +(% style="text-align:center" %)
1850 1850  [[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"]]
1851 1851  
1852 1852  Figure 6-43 Torque instruction-first-order filtering diagram
... ... @@ -1857,6 +1857,7 @@
1857 1857  
1858 1858  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.
1859 1859  
1879 +(% style="text-align:center" %)
1860 1860  [[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"]]
1861 1861  
1862 1862  Figure 6-44 Torque instruction limit diagram
... ... @@ -1934,7 +1934,13 @@
1934 1934  
1935 1935  In torque mode, the actual motor speed would be in the limited speed. After the speed limit is reached, the motor runs at a constant speed at the speed limit. The running curves are shown as __[[Figure 6-45>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_e1eced3568bc22d7.gif?rev=1.1]]__ and __[[Figure 6-46>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_79d479af8534745f.gif?rev=1.1]]__.
1936 1936  
1937 -|[[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"]]|[[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"]]
1957 +|(((
1958 +(% style="text-align:center" %)
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 +)))|(((
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"]]
1963 +)))
1938 1938  |Figure 6-45 Forward running curve|Figure 6-46 Reverse running curve
1939 1939  
1940 1940  (% class="table-bordered" %)
... ... @@ -1982,6 +1982,7 @@
1982 1982  
1983 1983  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.
1984 1984  
2011 +(% style="text-align:center" %)
1985 1985  [[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"]]
1986 1986  
1987 1987  Figure 6-47 Torque arrival output diagram
... ... @@ -2106,6 +2106,7 @@
2106 2106  
2107 2107  The relationship between encoder feedback position and rotating load position is shown in the figure below. (take a 17-bit encoder as an example).
2108 2108  
2136 +(% style="text-align:center" %)
2109 2109  [[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"]]
2110 2110  
2111 2111  Figure 6-48 Diagram of relationship between encoder feedback position and rotating load position
... ... @@ -2123,6 +2123,7 @@
2123 2123  
2124 2124  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).
2125 2125  
2154 +(% style="text-align:center" %)
2126 2126  [[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"]]
2127 2127  
2128 2128  Figure 6-49 The relationship between encoder feedback position and rotating load position
... ... @@ -2143,6 +2143,7 @@
2143 2143  
2144 2144  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.
2145 2145  
2175 +(% style="text-align:center" %)
2146 2146  [[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_e9fac7759607dce6.png?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_e9fac7759607dce6.png"]]
2147 2147  
2148 2148  Figure 6-50 the encoder battery box
... ... @@ -2189,6 +2189,7 @@
2189 2189  
2190 2190  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.
2191 2191  
2222 +(% style="text-align:center" %)
2192 2192  [[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"]]
2193 2193  
2194 2194  Figure 6-51 VDI_1 setting steps
... ... @@ -2293,6 +2293,7 @@
2293 2293  
2294 2294  Take the DO_2 terminal as communication VDO, and the use steps of VDI are as the figure below.
2295 2295  
2327 +(% style="text-align:center" %)
2296 2296  [[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"]]
2297 2297  
2298 2298  Figure 6-52 VDO_2 setting steps
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