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Changes for page 06 Operation

Last modified by Iris on 2025/07/23 15:49
From version 2.4
edited by Joey
on 2022/06/08 15:39
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To version 2.3
edited by Joey
on 2022/06/08 15:36
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1809 1809  
1810 1810  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.
1811 1811  
1812 -(% style="text-align:center" %)
1813 1813  [[image:image-20220608153646-7.png||height="213" width="408"]]
1814 1814  
1815 1815  Figure 6-40 Analog input circuit
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1816 1816  
1817 1817  Taking AI_1 as an example, the method of setting torque instruction of analog voltage is as below.
1818 1818  
1819 -(% style="text-align:center" %)
1820 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
... ... @@ -1829,7 +1829,6 @@
1829 1829  
1830 1830  Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1831 1831  
1832 -(% style="text-align:center" %)
1833 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
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1865 1865  
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 -(% style="text-align:center" %)
1869 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
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1876 1876  
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 -(% style="text-align:center" %)
1880 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
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1954 1954  
1955 1955  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]]__.
1956 1956  
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 -)))
1952 +|[[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"]]
1964 1964  |Figure 6-45 Forward running curve|Figure 6-46 Reverse running curve
1965 1965  
1966 1966  (% class="table-bordered" %)
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2008 2008  
2009 2009  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.
2010 2010  
2011 -(% style="text-align:center" %)
2012 2012  [[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"]]
2013 2013  
2014 2014  Figure 6-47 Torque arrival output diagram
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2133 2133  
2134 2134  The relationship between encoder feedback position and rotating load position is shown in the figure below. (take a 17-bit encoder as an example).
2135 2135  
2136 -(% style="text-align:center" %)
2137 2137  [[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"]]
2138 2138  
2139 2139  Figure 6-48 Diagram of relationship between encoder feedback position and rotating load position
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2151 2151  
2152 2152  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).
2153 2153  
2154 -(% style="text-align:center" %)
2155 2155  [[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"]]
2156 2156  
2157 2157  Figure 6-49 The relationship between encoder feedback position and rotating load position
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2172 2172  
2173 2173  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.
2174 2174  
2175 -(% style="text-align:center" %)
2176 2176  [[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"]]
2177 2177  
2178 2178  Figure 6-50 the encoder battery box
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2219 2219  
2220 2220  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.
2221 2221  
2222 -(% style="text-align:center" %)
2223 2223  [[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"]]
2224 2224  
2225 2225  Figure 6-51 VDI_1 setting steps
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2324 2324  
2325 2325  Take the DO_2 terminal as communication VDO, and the use steps of VDI are as the figure below.
2326 2326  
2327 -(% style="text-align:center" %)
2328 2328  [[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"]]
2329 2329  
2330 2330  Figure 6-52 VDO_2 setting steps
image-20220608153911-8.png
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