Changes for page 06 Operation

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Author

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1		-XWiki.Joey
	1	+XWiki.admin

Content

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2	2
3	3	== **Check before operation** ==
4	4
5		-|**No.**|**Content**
6		-|(% colspan="2" style="text-align:center; vertical-align:middle" %)Wiring
7		-|1|The main circuit input terminals (L1, L2 and L3) of servo drive must be properly connected.
8		-|2|The main circuit output terminals (U, V and W) of servo drive and the main circuit cables (U, V and W) of servo motor must have the same phase and be properly connected.
9		-|3|The main circuit power input terminals (L1, L2 and L3) and the main circuit output terminals (U, V and W) of servo drive cannot be short-circuited.
10		-|4|The wiring of each control signal cable of servo drive is correct: The external signal wires such as brake and overtravel protection have been reliably connected.
11		-|5|Servo drive and servo motor must be grounded reliably.
12		-|6|When using an external braking resistor, the short wiring between drive C and D must be removed.
13		-|7|The force of all cables is within the specified range.
14		-|8|The wiring terminals have been insulated.
15		-|(% colspan="2" style="text-align:center; vertical-align:middle" %)Environment and Machinery
16		-|1|There is no iron filings, metal, etc. that can cause short circuits inside or outside the servo drive.
17		-|2|The servo drive and external braking resistor are not placed on combustible objects.
18		-|3|The installation, shaft and mechanical structure of the servo motor have been firmly connected.
	5	+|=(% scope="row" %)**No.**|=**Content**
	6	+|=(% colspan="2" %)Wiring
	7	+|=1|The main circuit input terminals (L1, L2 and L3) of servo drive must be properly connected.
	8	+|=2|The main circuit output terminals (U, V and W) of servo drive and the main circuit cables (U, V and W) of servo motor must have the same phase and be properly connected.
	9	+|=3|The main circuit power input terminals (L1, L2 and L3) and the main circuit output terminals (U, V and W) of servo drive cannot be short-circuited.
	10	+|=4|The wiring of each control signal cable of servo drive is correct: The external signal wires such as brake and overtravel protection have been reliably connected.
	11	+|=5|Servo drive and servo motor must be grounded reliably.
	12	+|=6|When using an external braking resistor, the short wiring between drive C and D must be removed.
	13	+|=7|The force of all cables is within the specified range.
	14	+|=8|The wiring terminals have been insulated.
	15	+|=(% colspan="2" %)Environment and Machinery
	16	+|=1|There is no iron filings, metal, etc. that can cause short circuits inside or outside the servo drive.
	17	+|=2|The servo drive and external braking resistor are not placed on combustible objects.
	18	+|=3|The installation, shaft and mechanical structure of the servo motor have been firmly connected.
19	19
20	20	Table 6-1 Check contents before operation
21	21
...	...	@@ -42,17 +42,17 @@
42	42	Open the jog operation interface of the software “Wecon SCTool”, set the jog speed value in the "set speed" in the "manual operation", click the "servo on" button on the interface, and then achieve the jog forward and reverse function through the "forward rotation" or "Reverse" button on the interface. After clicking the "Servo off" button, the jog operation mode is exited. The related function codes are shown below.
43	43
44	44
45		-(% class="table-bordered" %)
46		-|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)(((
	45	+
	46	+|=(% scope="row" %)**Function code**|=**Name**|=(((
47	47	**Setting method**
48		-)))|(% style="text-align:center; vertical-align:middle" %)(((
	48	+)))|=(((
49	49	**Effective time**
50		-)))|(% style="text-align:center; vertical-align:middle" %)**Default value**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
51		-|(% style="text-align:center; vertical-align:middle" %)P10-01|(% style="text-align:center; vertical-align:middle" %)JOG speed|(% style="text-align:center; vertical-align:middle" %)(((
	50	+)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
	51	+|=P10-01|JOG speed|(((
52	52	Operation setting
53		-)))|(% style="text-align:center; vertical-align:middle" %)(((
	53	+)))|(((
54	54	Effective immediately
55		-)))|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)0 to 3000|(% style="text-align:center; vertical-align:middle" %)JOG speed|(% style="text-align:center; vertical-align:middle" %)rpm
	55	+)))|100|0 to 3000|JOG speed|rpm
56	56
57	57	Table 6-2 JOG speed parameter
58	58
...	...	@@ -60,25 +60,25 @@
60	60
61	61	By setting the “P00-04” rotation direction, you could change the rotation direction of the motor without changing the polarity of the input instruction. The function code is shown in below.
62	62
63		-(% class="table-bordered" %)
64		-|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)(((
	63	+
	64	+|=(% scope="row" %)**Function code**|=**Name**|=(((
65	65	**Setting method**
66		-)))|(% style="text-align:center; vertical-align:middle" %)(((
	66	+)))|=(((
67	67	**Effective time**
68		-)))|(% style="text-align:center; vertical-align:middle" %)(((
	68	+)))|=(((
69	69	**Default value**
70		-)))|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
71		-|(% style="text-align:center; vertical-align:middle" %)P00-04|(% style="text-align:center; vertical-align:middle" %)Rotation direction|(% style="text-align:center; vertical-align:middle" %)(((
	70	+)))|=**Range**|=**Definition**|=**Unit**
	71	+|=P00-04|Rotation direction|(((
72	72	Shutdown setting
73		-)))|(% style="text-align:center; vertical-align:middle" %)(((
	73	+)))|(((
74	74	Effective immediately
75		-)))|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
	75	+)))|0|0 to 1|(((
76	76	Forward rotation: Face the motor shaft to watch
77	77
78	78	0: standard setting (CW is forward rotation)
79	79
80	80	1: reverse mode (CCW is forward rotation)
81		-)))|(% style="text-align:center; vertical-align:middle" %)-
	81	+)))|-
82	82
83	83	Table 6-3 Rotation direction parameters** **
84	84
...	...	@@ -91,17 +91,16 @@
91	91	1. the maximum brake energy calculated value > the maximum brake energy absorbed by capacitor, and the brake power calculated value ≤ the built-in braking resistor power, use the built-in braking resistor.
92	92	1. the maximum brake energy calculated value > the maximum brake energy absorbed by capacitor, and the brake power calculated value > the built-in braking resistor power, use external braking resistor.
93	93
94		-(% class="table-bordered" %)
95		-|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)(((
	94	+|=(% scope="row" %)**Function code**|=**Name**|=(((
96	96	**Setting method**
97		-)))|(% style="text-align:center; vertical-align:middle" %)(((
	96	+)))|=(((
98	98	**Effective time**
99		-)))|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
100		-|(% style="text-align:center; vertical-align:middle" %)P00-09|(% style="text-align:center; vertical-align:middle" %)Braking resistor setting|(% style="text-align:center; vertical-align:middle" %)(((
	98	+)))|=**Default**|=**Range**|=**Definition**|=**Unit**
	99	+|=P00-09|Braking resistor setting|(((
101	101	Operation setting
102		-)))|(% style="text-align:center; vertical-align:middle" %)(((
	101	+)))|(((
103	103	Effective immediately
104		-)))|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 3|(((
	103	+)))|0|0 to 3|(((
105	105	0: use built-in braking resistor
106	106
107	107	1: use external braking resistor and natural cooling
...	...	@@ -109,18 +109,18 @@
109	109	2: use external braking resistor and forced air cooling; (cannot be set)
110	110
111	111	3: No braking resistor is used, it is all absorbed by capacitor.
112		-)))|(% style="text-align:center; vertical-align:middle" %)-
113		-|(% colspan="8" %)✎**Note: **VD2-010SA1G and VD2F-010SA1P drives have no built-in resistor by default, so the default value of the function code “P00-09” is 3 (No braking resistor is used, it is all absorbed by capacitor).
114		-|(% style="text-align:center; vertical-align:middle" %)P00-10|(% style="text-align:center; vertical-align:middle" %)External braking resistor value|(% style="text-align:center; vertical-align:middle" %)(((
	111	+)))|-
	112	+|=(% colspan="8" %)✎**Note: **VD2-010SA1G and VD2F-010SA1P drives have no built-in resistor by default, so the default value of the function code “P00-09” is 3 (No braking resistor is used, it is all absorbed by capacitor).
	113	+|=P00-10|External braking resistor value|(((
115	115	Operation setting
116		-)))|(% style="text-align:center; vertical-align:middle" %)(((
	115	+)))|(((
117	117	Effective immediately
118		-)))|(% style="text-align:center; vertical-align:middle" %)50|(% style="text-align:center; vertical-align:middle" %)0 to 65535|It is used to set the external braking resistor value of a certain type of drive.|(% style="text-align:center; vertical-align:middle" %)Ω
119		-|(% style="text-align:center; vertical-align:middle" %)P00-11|(% style="text-align:center; vertical-align:middle" %)External braking resistor power|(% style="text-align:center; vertical-align:middle" %)(((
	117	+)))|50|0 to 65535|It is used to set the external braking resistor value of a certain type of drive.|Ω
	118	+|=P00-11|External braking resistor power|(((
120	120	Operation setting
121		-)))|(% style="text-align:center; vertical-align:middle" %)(((
	120	+)))|(((
122	122	Effective immediately
123		-)))|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)0 to 65535|It is used to set the external braking resistor power of a certain type of drive.|(% style="text-align:center; vertical-align:middle" %)W
	122	+)))|100|0 to 65535|It is used to set the external braking resistor power of a certain type of drive.|W
124	124
125	125	Table 6-4 Braking resistor parameters
126	126
...	...	@@ -138,7 +138,7 @@
138	138
139	139	**(3) Timing diagram of power on**
140	140
141		-(% style="text-align:center" %)
	140	+
142	142	[[image:image-20220608163014-1.png]]
143	143
144	144	Figure 6-1 Timing diagram of power on
...	...	@@ -147,17 +147,17 @@
147	147
148	148	According to the different shutdown modes, it could be divided into free shutdown and zero speed shutdown. The respective characteristics are shown in __[[Table 6-5>>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/#HServoshutdown]]__. According to the shutdown status, it could be divided into free running state and position locked, as shown in __[[Table 6-6>>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/#HServoshutdown]]__.
149	149
150		-(% class="table-bordered" %)
151		-|Shutdown mode|Shutdown description|Shutdown characteristics
152		-|Free shutdown|Servo motor is not energized and decelerates freely to 0. The deceleration time is affected by factors such as mechanical inertia and mechanical friction.|Smooth deceleration, small mechanical shock, but slow deceleration process.
153		-|Zero-speed shutdown|The servo drive outputs reverse braking torque, and the motor quickly decelerates to zero-speed.|Rapid deceleration with mechanical shock, but fast deceleration process.
154	154
	150	+|=(% scope="row" %)Shutdown mode|=Shutdown description|=Shutdown characteristics
	151	+|=Free shutdown|Servo motor is not energized and decelerates freely to 0. The deceleration time is affected by factors such as mechanical inertia and mechanical friction.|Smooth deceleration, small mechanical shock, but slow deceleration process.
	152	+|=Zero-speed shutdown|The servo drive outputs reverse braking torque, and the motor quickly decelerates to zero-speed.|Rapid deceleration with mechanical shock, but fast deceleration process.
	153	+
155	155	Table 6-5 Comparison of two shutdown modes
156	156
157		-(% class="table-bordered" %)
158		-|(% style="text-align:center; vertical-align:middle" %)**Shutdown status**|(% style="text-align:center; vertical-align:middle" %)**Free operation status**|(% style="text-align:center; vertical-align:middle" %)**Position locked**
159		-|(% style="text-align:center; vertical-align:middle" %)Characteristics|After the motor stops rotating, it is power-off, and the motor shaft can rotate freely.|After the motor stops rotating, the motor shaft is locked and could not rotate freely.
160	160
	157	+|=(% scope="row" %)**Shutdown status**|=**Free operation status**|=**Position locked**
	158	+|=Characteristics|After the motor stops rotating, it is power-off, and the motor shaft can rotate freely.|After the motor stops rotating, the motor shaft is locked and could not rotate freely.
	159	+
161	161	Table 6-6 Comparison of two shutdown status
162	162
163	163	**(1) Servo enable (S-ON) OFF shutdown**
...	...	@@ -164,27 +164,27 @@
164	164
165	165	The related parameters of the servo OFF shutdown mode are shown in the table below.
166	166
167		-(% class="table-bordered" %)
168		-|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)(((
	166	+
	167	+|=(% scope="row" %)**Function code**|=**Name**|=(((
169	169	**Setting method**
170		-)))|(% style="text-align:center; vertical-align:middle" %)(((
	169	+)))|=(((
171	171	**Effective time**
172		-)))|(% style="text-align:center; vertical-align:middle" %)(((
	171	+)))|=(((
173	173	**Default value**
174		-)))|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
175		-|(% style="text-align:center; vertical-align:middle" %)P00-05|(% style="text-align:center; vertical-align:middle" %)Servo OFF shutdown|(% style="text-align:center; vertical-align:middle" %)(((
	173	+)))|=**Range**|=**Definition**|=**Unit**
	174	+|=P00-05|Servo OFF shutdown|(((
176	176	Shutdown
177	177
178	178	setting
179		-)))|(% style="text-align:center; vertical-align:middle" %)(((
	178	+)))|(((
180	180	Effective
181	181
182	182	immediately
183		-)))|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
	182	+)))|0|0 to 1|(((
184	184	0: Free shutdown, and the motor shaft remains free status.
185	185
186	186	1: Zero-speed shutdown, and the motor shaft remains free status.
187		-)))|(% style="text-align:center; vertical-align:middle" %)-
	186	+)))|-
188	188
189	189	Table 6-7Table 6-1 Servo OFF shutdown mode parameters details
190	190
...	...	@@ -200,13 +200,13 @@
200	200
201	201	The corresponding configuration and selection could be selected through the DI terminal function of the function code "DIDO configuration". The default function of DI3 is POT and DI4 is NOT, as shown in the table below.
202	202
203		-(% class="table-bordered" %)
204		-|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)(((
	202	+
	203	+|=(% scope="row" %)**Function code**|=**Name**|=(((
205	205	**Setting method**
206		-)))|(% style="text-align:center; vertical-align:middle" %)(((
	205	+)))|=(((
207	207	**Effective time**
208		-)))|(% style="text-align:center; vertical-align:middle" %)**Default value**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
209		-|(% style="text-align:center; vertical-align:middle" %)P06-08|(% style="text-align:center; vertical-align:middle" %)DI_3 channel function selection|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Power-on again|(% style="text-align:center; vertical-align:middle" %)3|(% style="text-align:center; vertical-align:middle" %)0 to 32|(((
	207	+)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
	208	+|=P06-08|DI_3 channel function selection|Operation setting|Power-on again|3|0 to 32|(((
210	210	0: OFF (not used)
211	211
212	212	01: S-ON servo enable
...	...	@@ -254,32 +254,30 @@
254	254	24: Internal multi-segment position selection 4
255	255
256	256	Others: reserved
257		-)))|(% style="text-align:center; vertical-align:middle" %)-
258		-|(% style="text-align:center; vertical-align:middle" %)P06-09|(% style="text-align:center; vertical-align:middle" %)DI_3 channel logic selection|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)(((
	256	+)))|-
	257	+|=P06-09|DI_3 channel logic selection|Operation setting|(((
259	259	Effective immediately
260		-)))|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
	259	+)))|0|0 to 1|(((
261	261	DI port input logic validity function selection.
262	262
263	263	0: Normally open input. Active low level (switch on);
264	264
265	265	1: Normally closed input. Active high level (switch off);
266		-)))|(% style="text-align:center; vertical-align:middle" %)-
267		-|(% style="text-align:center; vertical-align:middle" %)P06-10|(% style="text-align:center; vertical-align:middle" %)DI_3 input source selection|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)(((
	265	+)))|-
	266	+|=P06-10|DI_3 input source selection|Operation setting|(((
268	268	Effective immediately
269		-)))|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
	268	+)))|0|0 to 1|(((
270	270	Select the DI_3 port type to enable
271	271
272	272	0: Hardware DI_3 input terminal
273	273
274	274	1: virtual VDI_3 input terminal
275		-)))|(% style="text-align:center; vertical-align:middle" %)-
276		-
277		-(% class="table-bordered" %)
278		-|(% style="text-align:center; vertical-align:middle; width:140px" %)P06-11|(% style="text-align:center; vertical-align:middle; width:272px" %)DI_4 channel function selection|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
	274	+)))|-
	275	+|=P06-11|DI_4 channel function selection|(((
279	279	Operation setting
280		-)))|(% style="text-align:center; vertical-align:middle; width:195px" %)(((
	277	+)))|(((
281	281	again Power-on
282		-)))|(% style="text-align:center; vertical-align:middle; width:128px" %)4|(% style="text-align:center; vertical-align:middle; width:78px" %)0 to 32|(% style="width:454px" %)(((
	279	+)))|4|0 to 32|(((
283	283	0 off (not used)
284	284
285	285	01: SON Servo enable
...	...	@@ -327,25 +327,25 @@
327	327	24: Internal multi-segment position selection 4
328	328
329	329	Others: reserved
330		-)))|(% style="text-align:center; vertical-align:middle; width:56px" %)-
331		-|(% style="text-align:center; vertical-align:middle; width:140px" %)P06-12|(% style="text-align:center; vertical-align:middle; width:272px" %)DI_4 channel logic selection|(% style="text-align:center; vertical-align:middle; width:162px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:195px" %)(((
	327	+)))|-
	328	+|=P06-12|DI_4 channel logic selection|Operation setting|(((
332	332	Effective immediately
333		-)))|(% style="text-align:center; vertical-align:middle; width:128px" %)0|(% style="text-align:center; vertical-align:middle; width:78px" %)0 to 1|(% style="width:454px" %)(((
	330	+)))|0|0 to 1|(((
334	334	DI port input logic validity function selection.
335	335
336	336	0: Normally open input. Active low level (switch on);
337	337
338	338	1: Normally closed input. Active high level (switch off);
339		-)))|(% style="text-align:center; vertical-align:middle; width:56px" %)-
340		-|(% style="text-align:center; vertical-align:middle; width:140px" %)P06-13|(% style="text-align:center; vertical-align:middle; width:272px" %)DI_4 input source selection|(% style="text-align:center; vertical-align:middle; width:162px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:195px" %)(((
	336	+)))|-
	337	+|=P06-13|DI_4 input source selection|Operation setting|(((
341	341	Effective immediately
342		-)))|(% style="text-align:center; vertical-align:middle; width:128px" %)0|(% style="text-align:center; vertical-align:middle; width:78px" %)0 to 1|(% style="width:454px" %)(((
	339	+)))|0|0 to 1|(((
343	343	Select the DI_4 port type to enable
344	344
345	345	0: Hardware DI_4 input terminal
346	346
347	347	1: virtual VDI_4 input terminal
348		-)))|(% style="text-align:center; vertical-align:middle; width:56px" %)-
	345	+)))|-
349	349
350	350	Table 6-8 DI3 and DI4 channel parameters
351	351
...	...	@@ -357,9 +357,8 @@
357	357
358	358	The brake is a mechanism that prevents the servo motor shaft from moving when the servo drive is in a non-operating state, and keeps the motor locked in position, so that the moving part of the machine will not move due to its own weight or external force.
359	359
360		-(% class="table-bordered" %)
	357	+
361	361	|(((
362		-(% style="text-align:center" %)
363	363	[[image:image-20220611151617-1.png]]
364	364	)))
365	365	|(((
...	...	@@ -378,14 +378,13 @@
378	378
379	379	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)
380	380
381		-(% style="text-align:center" %)
	377	+
382	382	[[image:image-20220608163136-2.png]]
383	383
384	384	Figure 6-2 VD2B servo drive brake wiring
385	385
386		-(% class="table-bordered" %)
	382	+
387	387	|(((
388		-(% style="text-align:center" %)
389	389	[[image:image-20220611151642-2.png]]
390	390	)))
391	391	|(((
...	...	@@ -402,42 +402,42 @@
402	402
403	403	Related function code is as below.
404	404
405		-(% class="table-bordered" %)
406		-|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**|(% style="text-align:center; vertical-align:middle" %)(((
	400	+
	401	+|**DO function code**|**Function name**|**Function**|(((
407	407	**Effective time**
408	408	)))
409		-|(% style="text-align:center; vertical-align:middle" %)144|(% style="text-align:center; vertical-align:middle" %)(((
	404	+|144|(((
410	410	BRK-OFF Brake output
411		-)))|(% style="text-align:center; vertical-align:middle" %)Output the signal indicates the servo motor brake release|(% style="text-align:center; vertical-align:middle" %)Power-on again
	406	+)))|Output the signal indicates the servo motor brake release|Power-on again
412	412
413	413	Table 6-2 Relevant function codes for brake setting
414	414
415		-(% class="table-bordered" %)
416		-|(% style="text-align:center; vertical-align:middle; width:175px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:175px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:175px" %)(((
	410	+
	411	+|**Function code**|**Name**|(((
417	417	**Setting method**
418		-)))|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
	413	+)))|(((
419	419	**Effective time**
420		-)))|(% style="text-align:center; vertical-align:middle; width:128px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:94px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:519px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
421		-|(% style="text-align:center; vertical-align:middle; width:175px" %)P1-30|(% style="text-align:center; vertical-align:middle; width:175px" %)Delay from brake output to instruction reception|(% style="text-align:center; vertical-align:middle; width:175px" %)(((
	415	+)))|**Default value**|**Range**|**Definition**|**Unit**
	416	+|P1-30|Delay from brake output to instruction reception|(((
422	422	Operation setting
423		-)))|(% style="text-align:center; vertical-align:middle; width:173px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:128px" %)250|(% style="text-align:center; vertical-align:middle; width:94px" %)0 to 500|(% style="width:519px" %)Set delay that from the brake (BRK-OFF) output is ON to servo drive allows to receive input instruction. When brake output (BRK-OFF) is not allocated, the function code has no effect.|(% style="text-align:center; vertical-align:middle" %)ms
424		-|(% style="text-align:center; vertical-align:middle; width:175px" %)P1-31|(% style="text-align:center; vertical-align:middle; width:175px" %)In static state, delay from brake output OFF to the motor is power off|(% style="text-align:center; vertical-align:middle; width:175px" %)(((
	418	+)))|Effective immediately|250|0 to 500|Set delay that from the brake (BRK-OFF) output is ON to servo drive allows to receive input instruction. When brake output (BRK-OFF) is not allocated, the function code has no effect.|ms
	419	+|P1-31|In static state, delay from brake output OFF to the motor is power off|(((
425	425	Operation setting
426		-)))|(% style="text-align:center; vertical-align:middle; width:173px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:128px" %)150|(% style="text-align:center; vertical-align:middle; width:94px" %)1 to 1000|(% style="width:519px" %)When the motor is in a static state, set the delay time from brake (BRK-OFF) output OFF to servo drive enters the non-channel state. When the brake output (BRK-OFF) is not allocated, this function code has no effect.|(% style="text-align:center; vertical-align:middle" %)ms
427		-|(% style="text-align:center; vertical-align:middle; width:175px" %)P1-32|(% style="text-align:center; vertical-align:middle; width:175px" %)Rotation status, when the brake output OFF, the speed threshold|(% style="text-align:center; vertical-align:middle; width:175px" %)(((
	421	+)))|Effective immediately|150|1 to 1000|When the motor is in a static state, set the delay time from brake (BRK-OFF) output OFF to servo drive enters the non-channel state. When the brake output (BRK-OFF) is not allocated, this function code has no effect.|ms
	422	+|P1-32|Rotation status, when the brake output OFF, the speed threshold|(((
428	428	Operation setting
429		-)))|(% style="text-align:center; vertical-align:middle; width:173px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:128px" %)30|(% style="text-align:center; vertical-align:middle; width:94px" %)0 to 3000|(% style="width:519px" %)(((
	424	+)))|Effective immediately|30|0 to 3000|(((
430	430	When the motor rotates, the motor speed threshold when the brake (BRK-OFF) is allowed to output OFF.
431	431
432	432	When the brake output (BRK-OFF) is not allocated, this function code has no effect.
433		-)))|(% style="text-align:center; vertical-align:middle" %)rpm
434		-|(% style="text-align:center; vertical-align:middle; width:175px" %)P1-33|(% style="text-align:center; vertical-align:middle; width:175px" %)Rotation status, Delay from servo enable OFF to brake output OFF|(% style="text-align:center; vertical-align:middle; width:175px" %)(((
	428	+)))|rpm
	429	+|P1-33|Rotation status, Delay from servo enable OFF to brake output OFF|(((
435	435	Operation setting
436		-)))|(% style="text-align:center; vertical-align:middle; width:173px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:128px" %)500|(% style="text-align:center; vertical-align:middle; width:94px" %)1 to 1000|(% style="width:519px" %)(((
	431	+)))|Effective immediately|500|1 to 1000|(((
437	437	When the motor rotates, the delay time from the servo enable (S-ON) OFF to the brake (BRK-OFF) output OFF is allowed.
438	438
439	439	When brake output (BRK-OFF) is not allocated, this function code has no effect.
440		-)))|(% style="text-align:center; vertical-align:middle" %)ms
	435	+)))|ms
441	441
442	442	Table 6-9 Brake setting function codes
443	443
...	...	@@ -451,9 +451,8 @@
451	451
452	452	When the servo enable changes from ON to OFF, if the actual motor speed is lower than20 rpm, the servo drive will act according to the static brake sequence. The specific sequence action is shown in __[[Figure 6-3>>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]]__
453	453
454		-(% class="table-bordered" %)
	449	+
455	455	|(((
456		-(% style="text-align:center" %)
457	457	[[image:image-20220611151705-3.png]]
458	458	)))
459	459	|(((
...	...	@@ -462,7 +462,6 @@
462	462	✎When applied to a vertical axis, the external force or the weight of the mechanical moving part may cause the machine to move slightly. When the servo motor is stationary, and the servo enable is OFF, the brake output will be OFF immediately. However, the motor is still energized within the time of P01-31 to prevent mechanical movement from moving due to its own weight or external force.
463	463	)))
464	464
465		-(% style="text-align:center" %)
466	466	[[image:image-20220608163304-3.png]]
467	467
468	468	Figure 6-3 Brake Timing of when the motor is stationary
...	...	@@ -473,9 +473,8 @@
473	473
474	474	When the servo enable is from ON to OFF, if the actual motor speed is greater than or equal to 20 rpm, the drive will act in accordance with the rotation brake sequence. The specific sequence action is shown in __[[Figure 6-4>>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]]__.
475	475
476		-(% class="table-bordered" %)
	469	+
477	477	|(((
478		-(% style="text-align:center" %)
479	479	[[image:image-20220611151719-4.png]]
480	480	)))
481	481	|(((
...	...	@@ -490,7 +490,6 @@
490	490	✎After the brake output changes from ON to OFF, the motor is still in communication within 50ms to prevent the mechanical movement from moving due to its own weight or external force.
491	491	)))
492	492
493		-(% style="text-align:center" %)
494	494	[[image:image-20220608163425-4.png]]
495	495
496	496	Figure 6-4 Brake timing when the motor rotates
...	...	@@ -499,7 +499,7 @@
499	499
500	500	The brake timing (free shutdown) in the fault status is as follows.
501	501
502		-(% style="text-align:center" %)
	493	+
503	503	[[image:image-20220608163541-5.png]]
504	504
505	505	Figure 6-5 The brake timing (free shutdown) in the fault state
...	...	@@ -508,7 +508,7 @@
508	508
509	509	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.
510	510
511		-(% style="text-align:center" %)
	502	+
512	512	[[image:image-20220608163643-6.png]]
513	513
514	514	Figure 6-6 Position control diagram
...	...	@@ -515,17 +515,17 @@
515	515
516	516	Set “P00-01” to 1 by the software “Wecon SCTool”, and the servo drive is in position control mode.
517	517
518		-(% class="table-bordered" %)
519		-|(% style="text-align:center; vertical-align:middle; width:122px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:126px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:158px" %)(((
	509	+
	510	+|**Function code**|**Name**|(((
520	520	**Setting method**
521		-)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
	512	+)))|(((
522	522	**Effective time**
523		-)))|(% style="text-align:center; vertical-align:middle; width:145px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:134px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:326px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
524		-|(% style="text-align:center; vertical-align:middle; width:122px" %)P01-01|(% style="text-align:center; vertical-align:middle; width:126px" %)Control mode|(% style="text-align:center; vertical-align:middle; width:158px" %)(((
	514	+)))|**Default value**|**Range**|**Definition**|**Unit**
	515	+|P01-01|Control mode|(((
525	525	Operation setting
526		-)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
	517	+)))|(((
527	527	immediately Effective
528		-)))|(% style="text-align:center; vertical-align:middle; width:145px" %)0|(% style="text-align:center; vertical-align:middle; width:134px" %)0 to 1|(% style="width:326px" %)(((
	519	+)))|0|0 to 1|(((
529	529	0: position control
530	530
531	531	2: speed control
...	...	@@ -537,7 +537,7 @@
537	537	5: position/torque mix control
538	538
539	539	6: speed /torque mix control
540		-)))|(% style="text-align:center; vertical-align:middle" %)-
	531	+)))|-
541	541
542	542	Table 6-10 Control mode parameters
543	543
...	...	@@ -545,21 +545,21 @@
545	545
546	546	When the VD2 series servo drive is in position control mode, firstly set the position instruction source through the function code “P01-06”.
547	547
548		-(% class="table-bordered" %)
549		-|(% style="text-align:center; vertical-align:middle; width:131px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:149px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:191px" %)(((
	539	+
	540	+|**Function code**|**Name**|(((
550	550	**Setting method**
551		-)))|(% style="text-align:center; vertical-align:middle; width:189px" %)(((
	542	+)))|(((
552	552	**Effective time**
553		-)))|(% style="text-align:center; vertical-align:middle; width:116px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:100px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:284px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
554		-|(% style="text-align:center; vertical-align:middle; width:131px" %)P01-06|(% style="text-align:center; vertical-align:middle; width:149px" %)Position instruction source|(% style="text-align:center; vertical-align:middle; width:191px" %)(((
	544	+)))|**Default value**|**Range**|**Definition**|**Unit**
	545	+|P01-06|Position instruction source|(((
555	555	Operation setting
556		-)))|(% style="text-align:center; vertical-align:middle; width:189px" %)(((
	547	+)))|(((
557	557	immediately Effective
558		-)))|(% style="text-align:center; vertical-align:middle; width:116px" %)0|(% style="text-align:center; vertical-align:middle; width:100px" %)0 to 1|(% style="width:284px" %)(((
	549	+)))|0|0 to 1|(((
559	559	0: pulse instruction
560	560
561	561	1: internal position instruction
562		-)))|(% style="text-align:center; vertical-align:middle" %)-
	553	+)))|-
563	563
564	564	Table 6-11 Position instruction source parameter
565	565
...	...	@@ -567,20 +567,20 @@
567	567
568	568	1) Low-speed pulse instruction input
569	569
570		-(% class="table-bordered" %)
571		-|(% 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" %)VD2A and VD2B servo drives|(% style="text-align:center; vertical-align:middle" %)VD2F servo drive
573		-|(% colspan="2" style="text-align:center; vertical-align:middle" %)Figure 6-7 Position instruction input setting
574	574
	562	+|[[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]]|[[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]]
	563	+|VD2A and VD2B servo drives|VD2F servo drive
	564	+|(% colspan="2" %)Figure 6-7 Position instruction input setting
	565	+
575	575	VD2 series servo drive has a set of pulse input terminals to receive the input of position pulse (via the CN2 terminal). The position pulse mode connection is shown in __[[Figure 6-7>>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/#HPositioninstructioninputsetting]]__.
576	576
577	577	The instruction pulse and symbol output circuit on the control device(HMI/PLC) side could select differential input or open collector input. The maximum input frequency is shown as below.
578	578
579		-(% class="table-bordered" %)
580		-|(% style="text-align:center; vertical-align:middle" %)**Pulse method**|(% style="text-align:center; vertical-align:middle" %)**Maximum frequency**|(% style="text-align:center; vertical-align:middle" %)**Voltage**
581		-|(% style="text-align:center; vertical-align:middle" %)Open collector input|(% style="text-align:center; vertical-align:middle" %)200K|(% style="text-align:center; vertical-align:middle" %)24V
582		-|(% style="text-align:center; vertical-align:middle" %)Differential input|(% style="text-align:center; vertical-align:middle" %)500K|(% style="text-align:center; vertical-align:middle" %)5V
583	583
	571	+|**Pulse method**|**Maximum frequency**|**Voltage**
	572	+|Open collector input|200K|24V
	573	+|Differential input|500K|5V
	574	+
584	584	Table 6-12 Pulse input specifications
585	585
586	586	1.Differential input
...	...	@@ -587,7 +587,7 @@
587	587
588	588	Take VD2A and VD2B drive as examples, the connection of differential input is shown as below.
589	589
590		-(% style="text-align:center" %)
	581	+
591	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]]
592	592
593	593	Figure 6-8 Differential input connection
...	...	@@ -598,7 +598,7 @@
598	598
599	599	Take VD2A and VD2B drive as examples, the connection of differential input is shown as below.
600	600
601		-(% style="text-align:center" %)
	592	+
602	602	[[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]]
603	603
604	604	Figure 6-9 Open collector input connection
...	...	@@ -609,7 +609,7 @@
609	609
610	610	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.
611	611
612		-(% style="text-align:center" %)
	603	+
613	613	[[image:image-20220608163952-8.png]]
614	614
615	615	Figure 6-10 Example of filtered signal waveform
...	...	@@ -616,22 +616,22 @@
616	616
617	617	The input pulse frequency refers to the frequency of the input signal, which can be modified through the function code “P00-13”. If the actual input frequency is greater than the set value of “P00-13”, it may cause pulse loss or alarm. The position pulse anti-interference level can be adjusted through the function code “P00-14”, the larger the set value, the greater the filtering depth. The details of related function code parameters are as shown below.
618	618
619		-(% class="table-bordered" %)
620		-|(% style="text-align:center; vertical-align:middle; width:120px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:202px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:158px" %)(((
	610	+
	611	+|**Function code**|**Name**|(((
621	621	**Setting method**
622		-)))|(% style="text-align:center; vertical-align:middle; width:176px" %)(((
	613	+)))|(((
623	623	**Effective time**
624		-)))|(% style="text-align:center; vertical-align:middle; width:121px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:87px" %)**Range**|(% colspan="2" style="text-align:center; vertical-align:middle; width:538px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
625		-|(% style="text-align:center; vertical-align:middle; width:120px" %)P00-13|(% style="text-align:center; vertical-align:middle; width:202px" %)Maximum position pulse frequency|(% style="text-align:center; vertical-align:middle; width:158px" %)(((
	615	+)))|**Default value**|**Range**|(% colspan="2" %)**Definition**|**Unit**
	616	+|P00-13|Maximum position pulse frequency|(((
626	626	Shutdown setting
627		-)))|(% style="text-align:center; vertical-align:middle; width:176px" %)(((
	618	+)))|(((
628	628	Effective immediately
629		-)))|(% style="text-align:center; vertical-align:middle; width:121px" %)300|(% style="text-align:center; vertical-align:middle; width:87px" %)1 to 500|(% colspan="2" style="width:538px" %)Set the maximum frequency of external pulse instruction|KHz
630		-|(% rowspan="3" style="text-align:center; vertical-align:middle; width:120px" %)P00-14|(% rowspan="3" style="text-align:center; vertical-align:middle; width:202px" %)Position pulse anti-interference level|(% rowspan="3" style="text-align:center; vertical-align:middle; width:158px" %)(((
	620	+)))|300|1 to 500|(% colspan="2" %)Set the maximum frequency of external pulse instruction|KHz
	621	+|(% rowspan="3" %)P00-14|(% rowspan="3" %)Position pulse anti-interference level|(% rowspan="3" %)(((
631	631	Operation setting
632		-)))|(% rowspan="3" style="text-align:center; vertical-align:middle; width:176px" %)(((
	623	+)))|(% rowspan="3" %)(((
633	633	Power-on again
634		-)))|(% rowspan="3" style="text-align:center; vertical-align:middle; width:121px" %)2|(% rowspan="3" style="text-align:center; vertical-align:middle; width:87px" %)0 to 9|(% colspan="2" style="width:538px" %)(((
	625	+)))|(% rowspan="3" %)2|(% rowspan="3" %)0 to 9|(% colspan="2" %)(((
635	635	Set the anti-interference level of external pulse instruction.
636	636
637	637	0: no filtering;
...	...	@@ -651,8 +651,8 @@
651	651	7: Filtering time 8.192us
652	652
653	653	8: Filtering time 16.384us
654		-)))|(% rowspan="3" style="text-align:center; vertical-align:middle" %)-
655		-|(% rowspan="2" style="width:4px" %)9|VD2: Filtering time 25.5us
	645	+)))|(% rowspan="3" %)-
	646	+|(% rowspan="2" %)9|VD2: Filtering time 25.5us
656	656	|VD2F: Filtering time 25.5us
657	657
658	658	Table 6-13 Position pulse frequency and anti-interference level parameters
...	...	@@ -661,17 +661,17 @@
661	661
662	662	In VD2 series servo drives, there are three types of input pulse instructions, and the related function codes are shown in the table below.
663	663
664		-(% class="table-bordered" %)
665		-|(% style="text-align:center; vertical-align:middle; width:132px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:184px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
	655	+
	656	+|**Function code**|**Name**|(((
666	666	**Setting method**
667		-)))|(% style="text-align:center; vertical-align:middle; width:135px" %)(((
	658	+)))|(((
668	668	**Effective time**
669		-)))|(% style="text-align:center; vertical-align:middle; width:115px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:66px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:373px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
670		-|(% style="text-align:center; vertical-align:middle; width:132px" %)P00-12|(% style="text-align:center; vertical-align:middle; width:184px" %)Position pulse type selection|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
	660	+)))|**Default value**|**Range**|**Definition**|**Unit**
	661	+|P00-12|Position pulse type selection|(((
671	671	Operation setting
672		-)))|(% style="text-align:center; vertical-align:middle; width:135px" %)(((
	663	+)))|(((
673	673	Power-on again
674		-)))|(% style="text-align:center; vertical-align:middle; width:115px" %)0|(% style="text-align:center; vertical-align:middle; width:66px" %)0 to 5|(% style="width:373px" %)(((
	665	+)))|0|0 to 5|(((
675	675	0: direction + pulse (positive logic)
676	676
677	677	1: CW/CCW
...	...	@@ -683,74 +683,74 @@
683	683	4: CW/CCW (negative logic)
684	684
685	685	5: A, B phase quadrature pulse (4 times frequency negative logic)
686		-)))|(% style="text-align:center; vertical-align:middle" %)-
	677	+)))|-
687	687
688	688	Table 6-14 Position pulse type selection parameter
689	689
690		-(% class="table-bordered" %)
691		-|(% style="text-align:center; vertical-align:middle; width:185px" %)**Pulse type selection**|(% style="text-align:center; vertical-align:middle; width:177px" %)**Pulse type**|(% style="text-align:center; vertical-align:middle" %)**Signal**|(% style="text-align:center; vertical-align:middle" %)**Schematic diagram of forward pulse**|(% style="text-align:center; vertical-align:middle" %)**Schematic diagram of negative pulse**
692		-|(% style="text-align:center; vertical-align:middle; width:185px" %)0|(% style="text-align:center; vertical-align:middle; width:177px" %)(((
	681	+
	682	+|**Pulse type selection**|**Pulse type**|**Signal**|**Schematic diagram of forward pulse**|**Schematic diagram of negative pulse**
	683	+|0|(((
693	693	Direction + pulse
694	694
695	695	(Positive logic)
696		-)))|(% style="text-align:center; vertical-align:middle" %)(((
	687	+)))|(((
697	697	PULSE
698	698
699	699	SIGN
700		-)))|(% 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: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/26.jpg?rev=1.1]]
701		-|(% 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" %)(((
	691	+)))|[[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]]|[[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/26.jpg?rev=1.1]]
	692	+|1|CW/CCW|(((
702	702	PULSE (CW)
703	703
704	704	SIGN (CCW)
705		-)))|(% colspan="2" 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/27.jpg?rev=1.1]]
706		-|(% style="text-align:center; vertical-align:middle; width:185px" %)2|(% style="text-align:center; vertical-align:middle; width:177px" %)(((
	696	+)))|(% colspan="2" %)[[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/27.jpg?rev=1.1]]
	697	+|2|(((
707	707	AB phase orthogonal
708	708
709	709	pulse (4 times frequency)
710		-)))|(% style="text-align:center; vertical-align:middle" %)(((
	701	+)))|(((
711	711	PULSE (Phase A)
712	712
713	713	SIGN (Phase B)
714		-)))|(% style="text-align:center; vertical-align:middle" %)(((
	705	+)))|(((
715	715	[[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/28.jpg?rev=1.1]]
716	716
717	717	Phase A is 90° ahead of Phase B
718		-)))|(% style="text-align:center; vertical-align:middle" %)(((
	709	+)))|(((
719	719	[[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/29.jpg?rev=1.1]]
720	720
721	721	Phase B is 90° ahead of Phase A
722	722	)))
723		-|(% style="text-align:center; vertical-align:middle; width:185px" %)3|(% style="text-align:center; vertical-align:middle; width:177px" %)(((
	714	+|3|(((
724	724	Direction + pulse
725	725
726	726	(Negative logic)
727		-)))|(% style="text-align:center; vertical-align:middle" %)(((
	718	+)))|(((
728	728	PULSE
729	729
730	730	SIGN
731		-)))|(% 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/30.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/31.jpg?rev=1.1]]
732		-|(% style="text-align:center; vertical-align:middle; width:185px" %)4|(% style="text-align:center; vertical-align:middle; width:177px" %)(((
	722	+)))|[[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/30.jpg?rev=1.1]]|[[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/31.jpg?rev=1.1]]
	723	+|4|(((
733	733	CW/CCW
734	734
735	735	(Negative logic)
736		-)))|(% style="text-align:center; vertical-align:middle" %)(((
	727	+)))|(((
737	737	PULSE (CW)
738	738
739	739	SIGN (CCW)
740		-)))|(% colspan="2" 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/32.jpg?rev=1.1]]
741		-|(% style="text-align:center; vertical-align:middle; width:185px" %)5|(% style="text-align:center; vertical-align:middle; width:177px" %)(((
	731	+)))|(% colspan="2" %)[[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/32.jpg?rev=1.1]]
	732	+|5|(((
742	742	AB phase orthogonal
743	743
744	744	pulse (4 times frequency negative logic)
745		-)))|(% style="text-align:center; vertical-align:middle" %)(((
	736	+)))|(((
746	746	PULSE (Phase A)
747	747
748	748	SIGN (Phase B)
749		-)))|(% style="text-align:center; vertical-align:middle" %)(((
	740	+)))|(((
750	750	[[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/33.jpg?rev=1.1]]
751	751
752	752	B phase is ahead of A phase by 90°
753		-)))|(% style="text-align:center; vertical-align:middle" %)(((
	744	+)))|(((
754	754	[[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/34.jpg?rev=1.1]]
755	755
756	756	A phase is ahead of B phase by 90°
...	...	@@ -764,7 +764,7 @@
764	764
765	765	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.
766	766
767		-(% style="text-align:center" %)
	758	+
768	768	[[image:image-20220608164116-9.png]]
769	769
770	770	Figure 6-11 The setting process of multi-segment position
...	...	@@ -771,51 +771,51 @@
771	771
772	772	1) Set multi-segment position running mode
773	773
774		-(% class="table-bordered" %)
775		-|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle; width:141px" %)(((
	765	+
	766	+|**Function code**|**Name**|(((
776	776	**Setting method**
777		-)))|(% style="text-align:center; vertical-align:middle; width:200px" %)(((
	768	+)))|(((
778	778	**Effective time**
779		-)))|(% style="text-align:center; vertical-align:middle; width:16px" %)**Default value**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
780		-|(% style="text-align:center; vertical-align:middle" %)P07-01|(% style="text-align:center; vertical-align:middle" %)Multi-segment position running mode|(% style="text-align:center; vertical-align:middle; width:141px" %)(((
	770	+)))|**Default value**|**Range**|**Definition**|**Unit**
	771	+|P07-01|Multi-segment position running mode|(((
781	781	Shutdown setting
782		-)))|(% style="text-align:center; vertical-align:middle; width:200px" %)(((
	773	+)))|(((
783	783	Effective immediately
784		-)))|(% style="text-align:center; vertical-align:middle; width:16px" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 2|(((
	775	+)))|0|0 to 2|(((
785	785	0: Single running
786	786
787	787	1: Cycle running
788	788
789	789	2: DI switching running
790		-)))|(% style="text-align:center; vertical-align:middle" %)-
791		-|(% style="text-align:center; vertical-align:middle" %)P07-02|(% style="text-align:center; vertical-align:middle" %)Start segment number|(% style="text-align:center; vertical-align:middle; width:141px" %)(((
	781	+)))|-
	782	+|P07-02|Start segment number|(((
792	792	Shutdown setting
793		-)))|(% style="text-align:center; vertical-align:middle; width:200px" %)(((
	784	+)))|(((
794	794	Effective immediately
795		-)))|(% style="text-align:center; vertical-align:middle; width:16px" %)1|(% style="text-align:center; vertical-align:middle" %)1 to 16|1st segment NO. in non-DI switching mode|(% style="text-align:center; vertical-align:middle" %)-
796		-|(% style="text-align:center; vertical-align:middle" %)P07-03|(% style="text-align:center; vertical-align:middle" %)End segment number|(% style="text-align:center; vertical-align:middle; width:141px" %)(((
	786	+)))|1|1 to 16|1st segment NO. in non-DI switching mode|-
	787	+|P07-03|End segment number|(((
797	797	Shutdown setting
798		-)))|(% style="text-align:center; vertical-align:middle; width:200px" %)(((
	789	+)))|(((
799	799	Effective immediately
800		-)))|(% style="text-align:center; vertical-align:middle; width:16px" %)1|(% style="text-align:center; vertical-align:middle" %)1 to 16|last segment NO. in non-DI switching mode|(% style="text-align:center; vertical-align:middle" %)-
801		-|(% style="text-align:center; vertical-align:middle" %)P07-04|(% style="text-align:center; vertical-align:middle" %)Margin processing method|(% style="text-align:center; vertical-align:middle; width:141px" %)(((
	791	+)))|1|1 to 16|last segment NO. in non-DI switching mode|-
	792	+|P07-04|Margin processing method|(((
802	802	Shutdown setting
803		-)))|(% style="text-align:center; vertical-align:middle; width:200px" %)(((
	794	+)))|(((
804	804	Effective immediately
805		-)))|(% style="text-align:center; vertical-align:middle; width:16px" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
	796	+)))|0|0 to 1|(((
806	806	0: Run the remaining segments
807	807
808	808	1: Run again from the start segment
809		-)))|(% style="text-align:center; vertical-align:middle" %)-
810		-|(% style="text-align:center; vertical-align:middle" %)P07-05|(% style="text-align:center; vertical-align:middle" %)Displacement instruction type|(% style="text-align:center; vertical-align:middle; width:141px" %)(((
	800	+)))|-
	801	+|P07-05|Displacement instruction type|(((
811	811	Shutdown setting
812		-)))|(% style="text-align:center; vertical-align:middle; width:200px" %)(((
	803	+)))|(((
813	813	Effective immediately
814		-)))|(% style="text-align:center; vertical-align:middle; width:16px" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
	805	+)))|0|0 to 1|(((
815	815	0: Relative position instruction
816	816
817	817	1: Absolute position instruction
818		-)))|(% style="text-align:center; vertical-align:middle" %)-
	809	+)))|-
819	819
820	820	Table 6-16 multi-segment position running mode parameters
821	821
...	...	@@ -825,7 +825,7 @@
825	825
826	826	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 S1 and S2 are the displacements of the 1st segment and the 2nd segment respectively
827	827
828		-(% style="text-align:center" %)
	819	+
829	829	[[image:image-20220608164226-10.png]]
830	830
831	831	Figure 6-12 Single running curve (P07-02=1, P07-03=2)
...	...	@@ -834,12 +834,12 @@
834	834
835	835	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 S1,S2,S3 and S4 are the displacements of the 1st, 2nd, 3rd and 4th segment respectively.
836	836
837		-(% style="text-align:center" %)
	828	+
838	838	[[image:image-20220608164327-11.png]]
839	839
840	840	Figure 6-13 Cycle running curve (P07-02=1, P07-03=4)
841	841
842		-|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611151917-5.png]]
	833	+|[[image:image-20220611151917-5.png]]
843	843	|In single running and cycle running mode, the setting value of P07-03 needs to be greater than the setting value of P07-02.
844	844
845	845	3. DI switching running
...	...	@@ -846,30 +846,30 @@
846	846
847	847	In this running mode, the next running segment number could be set when operating the current segment number. The interval time is determined by the instruction delay of the host computer. The running segment number is determined by DI terminal logic, and the related function codes are shown in the table below.
848	848
849		-(% class="table-bordered" %)
850		-|(% style="text-align:center; vertical-align:middle" %)**DI function code**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**
851		-|(% style="text-align:center; vertical-align:middle" %)21|INPOS1: Internal multi-segment position segment selection 1|Form internal multi-segment position running segment number
852		-|(% style="text-align:center; vertical-align:middle" %)22|INPOS2: Internal multi-segment position segment selection 2|Form internal multi-segment position running segment number
853		-|(% style="text-align:center; vertical-align:middle" %)23|INPOS3: Internal multi-segment position segment selection 3|Form internal multi-segment position running segment number
854		-|(% style="text-align:center; vertical-align:middle" %)24|INPOS4: Internal multi-segment position segment selection 4|Form internal multi-segment position running segment number
855	855
	841	+|**DI function code**|**Function name**|**Function**
	842	+|21|INPOS1: Internal multi-segment position segment selection 1|Form internal multi-segment position running segment number
	843	+|22|INPOS2: Internal multi-segment position segment selection 2|Form internal multi-segment position running segment number
	844	+|23|INPOS3: Internal multi-segment position segment selection 3|Form internal multi-segment position running segment number
	845	+|24|INPOS4: Internal multi-segment position segment selection 4|Form internal multi-segment position running segment number
	846	+
856	856	Table 6-17 DI function code
857	857
858	858	The multi-segment segment number is a 4-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. Table 6-17 shows the correspondence between the position bits 1 to 4 of the internal multi-segment position and the position number.
859	859
860		-(% class="table-bordered" %)
861		-|(% style="text-align:center; vertical-align:middle" %)**INPOS4**|(% style="text-align:center; vertical-align:middle" %)**INPOS3**|(% style="text-align:center; vertical-align:middle" %)**INPOS2**|(% style="text-align:center; vertical-align:middle" %)**INPOS1**|(% style="text-align:center; vertical-align:middle" %)**Running position number**
862		-|(% 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" %)0|(% style="text-align:center; vertical-align:middle" %)1
863		-|(% 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" %)2
864		-|(% 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|(% style="text-align:center; vertical-align:middle" %)3
865		-|(% colspan="5" style="text-align:center; vertical-align:middle" %)…………
866		-|(% 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" %)1|(% style="text-align:center; vertical-align:middle" %)16
867	867
	852	+|**INPOS4**|**INPOS3**|**INPOS2**|**INPOS1**|**Running position number**
	853	+|0|0|0|0|1
	854	+|0|0|0|1|2
	855	+|0|0|1|0|3
	856	+|(% colspan="5" %)…………
	857	+|1|1|1|1|16
	858	+
868	868	Table 6-18 INPOS corresponds to running segment number
869	869
870	870	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]]__.
871	871
872		-(% style="text-align:center" %)
	863	+
873	873	[[image:image-20220608164545-12.png]]
874	874
875	875	Figure 6-14 DI switching running curve
...	...	@@ -880,12 +880,12 @@
880	880
881	881	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.
882	882
883		-(% style="text-align:center" %)
	874	+
884	884	[[image:image-20220608164847-13.png]]
885	885
886	886	Figure 6-15 Single running-run the remaining segments (P07-02=1, P07-03=4)
887	887
888		-(% style="text-align:center" %)
	879	+
889	889	[[image:image-20220608165032-14.png]]
890	890
891	891	Figure 6-16 Cycle running-run the remaining segment (P07-02=1, P07-03=4)
...	...	@@ -894,12 +894,12 @@
894	894
895	895	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.
896	896
897		-(% style="text-align:center" %)
	888	+
898	898	[[image:image-20220608165343-15.png]]
899	899
900	900	Figure 6-17 Single running-run from the start segment again (P07-02=1, P07-03=4)
901	901
902		-(% style="text-align:center" %)
	893	+
903	903	[[image:image-20220608165558-16.png]]
904	904
905	905	Figure 6-18 Cyclic running-run from the start segment again (P07-02=1, P07-03=4)
...	...	@@ -911,10 +911,8 @@
911	911	The relative position instruction takes the current stop position of the motor as the start point and specifies the amount of displacement.
912	912
913	913	|(((
914		-(% style="text-align:center" %)
915	915	[[image:image-20220608165710-17.png]]
916	916	)))|(((
917		-(% style="text-align:center" %)
918	918	[[image:image-20220608165749-18.png]]
919	919	)))
920	920	|Figure 6-19 Relative position diagram|Figure 6-20 Displacement diagram
...	...	@@ -924,10 +924,8 @@
924	924	The absolute position instruction takes "reference origin" as the zero point of absolute positioning, and specifies the amount of displacement.
925	925
926	926	|(((
927		-(% style="text-align:center" %)
928	928	[[image:image-20220608165848-19.png]]
929	929	)))|(((
930		-(% style="text-align:center" %)
931	931	[[image:image-20220608170005-20.png]]
932	932	)))
933	933	|Figure 6-21 Absolute indication|Figure 6-22 Displacement
...	...	@@ -936,46 +936,46 @@
936	936
937	937	The multi-segment position running supports maximum 16 segments different position instructions. The displacement, maximum running speed (steady-state running speed), acceleration and deceleration time of each position and the waiting time between segment could all be set. __[[Table 6-19>>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/#HPositioninstructioninputsetting]]__ are the related function codes of the 1st segment running curve.
938	938
939		-(% class="table-bordered" %)
940		-|(% style="text-align:center; vertical-align:middle; width:124px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:171px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
	926	+
	927	+|**Function code**|**Name**|(((
941	941	**Setting method**
942		-)))|(% style="text-align:center; vertical-align:middle; width:187px" %)(((
	929	+)))|(((
943	943	**Effective time**
944		-)))|(% style="text-align:center; vertical-align:middle; width:110px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:143px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:260px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
945		-|(% style="text-align:center; vertical-align:middle; width:124px" %)P07-09|(% style="text-align:center; vertical-align:middle; width:171px" %)(((
	931	+)))|**Default value**|**Range**|**Definition**|**Unit**
	932	+|P07-09|(((
946	946	1st segment
947	947
948	948	displacement
949		-)))|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
	936	+)))|(((
950	950	Operation setting
951		-)))|(% style="text-align:center; vertical-align:middle; width:187px" %)(((
	938	+)))|(((
952	952	Effective immediately
953		-)))|(% style="text-align:center; vertical-align:middle; width:110px" %)10000|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
	940	+)))|10000|(((
954	954	-2147483647 to
955	955
956	956	2147483646
957		-)))|(% style="width:260px" %)Position instruction, positive and negative values could be set|(% style="text-align:center; vertical-align:middle" %)-
958		-|(% style="text-align:center; vertical-align:middle; width:124px" %)P07-10|(% style="text-align:center; vertical-align:middle; width:171px" %)Maximum speed of the 1st displacement|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
	944	+)))|Position instruction, positive and negative values could be set|-
	945	+|P07-10|Maximum speed of the 1st displacement|(((
959	959	Operation setting
960		-)))|(% style="text-align:center; vertical-align:middle; width:187px" %)(((
	947	+)))|(((
961	961	Effective immediately
962		-)))|(% style="text-align:center; vertical-align:middle; width:110px" %)100|(% style="text-align:center; vertical-align:middle; width:143px" %)1 to 5000|(% style="width:260px" %)Steady-state running speed of the 1st segment|(% style="text-align:center; vertical-align:middle" %)rpm
963		-|(% style="text-align:center; vertical-align:middle; width:124px" %)P07-11|(% style="text-align:center; vertical-align:middle; width:171px" %)Acceleration and deceleration of 1st segment displacement|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
	949	+)))|100|1 to 5000|Steady-state running speed of the 1st segment|rpm
	950	+|P07-11|Acceleration and deceleration of 1st segment displacement|(((
964	964	Operation setting
965		-)))|(% style="text-align:center; vertical-align:middle; width:187px" %)(((
	952	+)))|(((
966	966	Effective immediately
967		-)))|(% style="text-align:center; vertical-align:middle; width:110px" %)100|(% style="text-align:center; vertical-align:middle; width:143px" %)1 to 65535|(% style="width:260px" %)The time required for the acceleration and deceleration of the 1st segment|(% style="text-align:center; vertical-align:middle" %)ms
968		-|(% style="text-align:center; vertical-align:middle; width:124px" %)P07-12|(% style="text-align:center; vertical-align:middle; width:171px" %)Waiting time after completion of the 1st segment displacement|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
	954	+)))|100|1 to 65535|The time required for the acceleration and deceleration of the 1st segment|ms
	955	+|P07-12|Waiting time after completion of the 1st segment displacement|(((
969	969	Operation setting
970		-)))|(% style="text-align:center; vertical-align:middle; width:187px" %)(((
	957	+)))|(((
971	971	Effective immediately
972		-)))|(% style="text-align:center; vertical-align:middle; width:110px" %)100|(% style="text-align:center; vertical-align:middle; width:143px" %)1 to 65535|(% style="width:260px" %)Delayed waiting time from the completion of the 1st segment to the start of the next segment|(% style="text-align:center; vertical-align:middle" %)Set by P07-06
	959	+)))|100|1 to 65535|Delayed waiting time from the completion of the 1st segment to the start of the next segment|Set by P07-06
973	973
974	974	Table 6-19 The 1st position operation curve parameters table
975	975
976	976	After setting the above parameters, the actual operation curve of the motor is shown in Figure 6-23.
977	977
978		-(% style="text-align:center" %)
	965	+
979	979	[[image:image-20220608170149-21.png]]
980	980
981	981	Figure 6-23 The 1st segment running curve of motor
...	...	@@ -984,16 +984,15 @@
984	984
985	985	When selecting multi-segment position instruction as the instruction source, configure 1 DI port channel of the servo drive to function 20 (internal multi-segment position enable signal), and confirm the valid logic of the DI terminal.
986	986
987		-(% class="table-bordered" %)
988		-|(% style="text-align:center; vertical-align:middle" %)**DI function code**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**
989		-|(% style="text-align:center; vertical-align:middle" %)20|(% style="text-align:center; vertical-align:middle" %)ENINPOS: Internal multi-segment position enable signal|(% style="text-align:center; vertical-align:middle" %)(((
	974	+
	975	+|**DI function code**|**Function name**|**Function**
	976	+|20|ENINPOS: Internal multi-segment position enable signal|(((
990	990	DI port logic invalid: Does not affect the current operation of the servo motor.
991	991
992	992	DI port logic valid: Motor runs multi-segment position
993	993	)))
994	994
995		-(% style="text-align:center" %)
996		-[[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_6db94f5d0421f97a.png?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_6db94f5d0421f97a.png" data-xwiki-image-style-alignment="center"]]
	982	+[[image:image-20220611152020-6.png]]
997	997
998	998	It should be noted that only when the internal multi-segment position enable signal is OFF, can the P07 group parameters be actually modified to write into the servo drive!
999	999
...	...	@@ -1007,13 +1007,13 @@
1007	1007
1008	1008	It it noted that the electronic gear ratio setting range of the 2500-line incremental encoder should meet the formula (6-1), and the electronic gear ratio setting range of the 17-bit encoder should meet the formula (6-2), setting range of the electronic gear ratio of 23-bit encoder should meet the formula (6-3)
1009	1009
1010		-(% style="text-align:center" %)
	996	+
1011	1011	[[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/35.png?rev=1.1]]
1012	1012
1013		-(% style="text-align:center" %)
	999	+
1014	1014	[[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/36.png?rev=1.1]]
1015	1015
1016		-(% style="text-align:center" %)
	1002	+
1017	1017	[[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/37.png?rev=1.1]]
1018	1018
1019	1019	Otherwise, the servo drive will report Er.35: "Electronic gear ratio setting exceeds the limit"!
...	...	@@ -1020,7 +1020,7 @@
1020	1020
1021	1021	**(2) Setting steps of electronic gear ratio**
1022	1022
1023		-(% style="text-align:center" %)
	1009	+
1024	1024	[[image:image-20220608170320-22.png]]
1025	1025
1026	1026	Figure 6-24 Setting steps of electronic gear ratio
...	...	@@ -1035,6 +1035,7 @@
1035	1035
1036	1036	Step5: Calculate the value of electronic gear ratio according to formula below.
1037	1037
	1024	+
1038	1038	[[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/38.png?rev=1.1]]
1039	1039
1040	1040	**(3) lectronic gear ratio switch setting**
...	...	@@ -1042,59 +1042,59 @@
1042	1042
1043	1043	When the function code P00-16 is 0, the electronic gear ratio switching function could be used. You could switch between electronic gear 1 and electronic gear 2 as needed. There is only one set of gear ratios at any time. Related function codes are shown in the table below.
1044	1044
1045		-(% class="table-bordered" %)
1046		-|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:159px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
	1032	+
	1033	+|**Function code**|**Name**|(((
1047	1047	**Setting method**
1048		-)))|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
	1035	+)))|(((
1049	1049	**Effective time**
1050		-)))|(% style="text-align:center; vertical-align:middle; width:109px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:127px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:311px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1051		-|(% style="text-align:center; vertical-align:middle" %)P00-16|(% style="text-align:center; vertical-align:middle; width:159px" %)Number of instruction pulses when the motor rotates one circle|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
	1037	+)))|**Default value**|**Range**|**Definition**|**Unit**
	1038	+|P00-16|Number of instruction pulses when the motor rotates one circle|(((
1052	1052	Shutdown setting
1053		-)))|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
	1040	+)))|(((
1054	1054	Effective immediately
1055		-)))|(% style="text-align:center; vertical-align:middle; width:109px" %)10000|(% style="text-align:center; vertical-align:middle; width:127px" %)0 to 131072|(% style="width:311px" %)Set the number of position command pulses required for each turn of the motor. When the setting value is 0, [P00-17]/[P00-19] Electronic gear 1/2 numerator, [P00-18]/[P00-20] Electronic gear 1/2 denominator is valid.|(% style="text-align:center; vertical-align:middle" %)(((
	1042	+)))|10000|0 to 131072|Set the number of position command pulses required for each turn of the motor. When the setting value is 0, [P00-17]/[P00-19] Electronic gear 1/2 numerator, [P00-18]/[P00-20] Electronic gear 1/2 denominator is valid.|(((
1056	1056	Instruction pulse
1057	1057
1058	1058	unit
1059	1059	)))
1060		-|(% style="text-align:center; vertical-align:middle" %)P00-17|(% style="text-align:center; vertical-align:middle; width:159px" %)(((
	1047	+|P00-17|(((
1061	1061	Electronic gear 1
1062	1062
1063	1063	numerator
1064		-)))|(% style="text-align:center; vertical-align:middle; width:156px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
	1051	+)))|Operation setting|(((
1065	1065	Effective immediately
1066		-)))|(% style="text-align:center; vertical-align:middle; width:109px" %)1|(% style="text-align:center; vertical-align:middle; width:127px" %)1 to 4294967294|(% style="width:311px" %)Set the numerator of the 1st group electronic gear ratio for position instruction frequency division or multiplication. P00-16 is effective when the number of instruction pulses of one motor rotation is 0.|(% style="text-align:center; vertical-align:middle" %)-
1067		-|(% style="text-align:center; vertical-align:middle" %)P00-18|(% style="text-align:center; vertical-align:middle; width:159px" %)(((
	1053	+)))|1|1 to 4294967294|Set the numerator of the 1st group electronic gear ratio for position instruction frequency division or multiplication. P00-16 is effective when the number of instruction pulses of one motor rotation is 0.|-
	1054	+|P00-18|(((
1068	1068	Electronic gear 1
1069	1069
1070	1070	denominator
1071		-)))|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
	1058	+)))|(((
1072	1072	Operation setting
1073		-)))|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
	1060	+)))|(((
1074	1074	Effective immediately
1075		-)))|(% style="text-align:center; vertical-align:middle; width:109px" %)1|(% style="text-align:center; vertical-align:middle; width:127px" %)1 to 4294967294|(% style="width:311px" %)Set the denominator of the 1st group electronic gear ratio for position instruction frequency division or multiplication. P00-16 is effective when the number of instruction pulses of one motor rotation is 0.|(% style="text-align:center; vertical-align:middle" %)-
1076		-|(% style="text-align:center; vertical-align:middle" %)P00-19|(% style="text-align:center; vertical-align:middle; width:159px" %)(((
	1062	+)))|1|1 to 4294967294|Set the denominator of the 1st group electronic gear ratio for position instruction frequency division or multiplication. P00-16 is effective when the number of instruction pulses of one motor rotation is 0.|-
	1063	+|P00-19|(((
1077	1077	Electronic gear 2
1078	1078
1079	1079	numerator
1080		-)))|(% style="text-align:center; vertical-align:middle; width:156px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
	1067	+)))|Operation setting|(((
1081	1081	Effective immediately
1082		-)))|(% style="text-align:center; vertical-align:middle; width:109px" %)1|(% style="text-align:center; vertical-align:middle; width:127px" %)1 to 4294967294|(% style="width:311px" %)Set the numerator of the 2nd group electronic gear ratio for position instruction frequency division or multiplication. P00-16 is effective when the number of instruction pulses of one motor rotation is 0.|(% style="text-align:center; vertical-align:middle" %)-
1083		-|(% style="text-align:center; vertical-align:middle" %)P00-20|(% style="text-align:center; vertical-align:middle; width:159px" %)(((
	1069	+)))|1|1 to 4294967294|Set the numerator of the 2nd group electronic gear ratio for position instruction frequency division or multiplication. P00-16 is effective when the number of instruction pulses of one motor rotation is 0.|-
	1070	+|P00-20|(((
1084	1084	Electronic gear 2
1085	1085
1086	1086	denominator
1087		-)))|(% style="text-align:center; vertical-align:middle; width:156px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
	1074	+)))|Operation setting|(((
1088	1088	Effective immediately
1089		-)))|(% style="text-align:center; vertical-align:middle; width:109px" %)1|(% style="text-align:center; vertical-align:middle; width:127px" %)1 to 4294967294|(% style="width:311px" %)Set the denominator of the 2nd group electronic gear ratio for position instruction frequency division or multiplication. P00-16 is effective when the number of instruction pulses of one motor rotation is 0.|(% style="text-align:center; vertical-align:middle" %)-
	1076	+)))|1|1 to 4294967294|Set the denominator of the 2nd group electronic gear ratio for position instruction frequency division or multiplication. P00-16 is effective when the number of instruction pulses of one motor rotation is 0.|-
1090	1090
1091	1091	Table 6-20 Electronic gear ratio function code
1092	1092
1093	1093	To use electronic gear ratio 2, it is necessary to configure any DI port as function 09 (GEAR-SEL electronic gear switch 1), and determine the valid logic of the DI terminal.
1094	1094
1095		-(% class="table-bordered" %)
1096		-|(% style="text-align:center; vertical-align:middle" %)**DI function code**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**
1097		-|(% style="text-align:center; vertical-align:middle" %)09|(% style="text-align:center; vertical-align:middle" %)GEAR-SEL electronic gear switch 1|(% style="text-align:center; vertical-align:middle" %)(((
	1082	+
	1083	+|**DI function code**|**Function name**|**Function**
	1084	+|09|GEAR-SEL electronic gear switch 1|(((
1098	1098	DI port logic invalid: electronic gear ratio 1
1099	1099
1100	1100	DI port logic valid: electronic gear ratio 2
...	...	@@ -1102,10 +1102,10 @@
1102	1102
1103	1103	Table 6-21 Switching conditions of electronic gear ratio group
1104	1104
1105		-|(% style="text-align:center; vertical-align:middle" %)**P00-16 value**|(% style="text-align:center; vertical-align:middle" %)**DI terminal level corresponding to DI port function 9**|(% style="text-align:center; vertical-align:middle" %)**Electronic gear ratio**[[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/39.png?rev=1.1]]
1106		-|(% rowspan="2" style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)DI port logic invalid|(% 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/40.png?rev=1.1]]
1107		-|(% style="text-align:center; vertical-align:middle" %)DI port logic valid|(% 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/41.png?rev=1.1]]
1108		-|(% style="text-align:center; vertical-align:middle" %)1 to 131072|(% style="text-align:center; vertical-align:middle" %)~-~-|(% 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/42.png?rev=1.1]]
	1092	+|**P00-16 value**|**DI terminal level corresponding to DI port function 9**|**Electronic gear ratio**[[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/39.png?rev=1.1]]
	1093	+|(% rowspan="2" %)0|DI port logic invalid|[[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/40.png?rev=1.1]]
	1094	+|DI port logic valid|[[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/41.png?rev=1.1]]
	1095	+|1 to 131072|~-~-|[[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/42.png?rev=1.1]]
1109	1109
1110	1110	Table 6-22 Application of electronic gear ratio
1111	1111
...	...	@@ -1123,32 +1123,32 @@
1123	1123
1124	1124	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.
1125	1125
1126		-(% style="text-align:center" %)
	1113	+
1127	1127	[[image:image-20220608170455-23.png]]
1128	1128
1129	1129	Figure 6-25 Position instruction filtering diagram
1130	1130
1131		-(% class="table-bordered" %)
1132		-|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:193px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:150px" %)(((
	1118	+
	1119	+|**Function code**|**Name**|(((
1133	1133	**Setting method**
1134		-)))|(% style="text-align:center; vertical-align:middle; width:209px" %)(((
	1121	+)))|(((
1135	1135	**Effective time**
1136		-)))|(% style="text-align:center; vertical-align:middle; width:107px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:93px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:280px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:72px" %)**Unit**
1137		-|(% style="text-align:center; vertical-align:middle" %)P04-01|(% style="text-align:center; vertical-align:middle; width:193px" %)Pulse instruction filtering method|(% style="text-align:center; vertical-align:middle; width:150px" %)(((
	1123	+)))|**Default value**|**Range**|**Definition**|**Unit**
	1124	+|P04-01|Pulse instruction filtering method|(((
1138	1138	Shutdown setting
1139		-)))|(% style="text-align:center; vertical-align:middle; width:209px" %)(((
	1126	+)))|(((
1140	1140	Effective immediately
1141		-)))|(% style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:93px" %)0 to 1|(% style="width:280px" %)(((
	1128	+)))|0|0 to 1|(((
1142	1142	0: 1st-order low-pass filtering
1143	1143
1144	1144	1: average filtering
1145		-)))|(% style="text-align:center; vertical-align:middle; width:72px" %)-
1146		-|(% style="text-align:center; vertical-align:middle" %)P04-02|(% style="text-align:center; vertical-align:middle; width:193px" %)Position instruction 1st-order low-pass filtering time constant|(% style="text-align:center; vertical-align:middle; width:150px" %)Shutdown setting|(% style="text-align:center; vertical-align:middle; width:209px" %)(((
	1132	+)))|-
	1133	+|P04-02|Position instruction 1st-order low-pass filtering time constant|Shutdown setting|(((
1147	1147	Effective immediately
1148		-)))|(% style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:93px" %)0 to 1000|(% style="width:280px" %)Position instruction first-order low-pass filtering time constant|(% style="text-align:center; vertical-align:middle; width:72px" %)ms
1149		-|(% style="text-align:center; vertical-align:middle" %)P04-03|(% style="text-align:center; vertical-align:middle; width:193px" %)Position instruction average filtering time constant|(% style="text-align:center; vertical-align:middle; width:150px" %)Shutdown setting|(% style="text-align:center; vertical-align:middle; width:209px" %)(((
	1135	+)))|0|0 to 1000|Position instruction first-order low-pass filtering time constant|ms
	1136	+|P04-03|Position instruction average filtering time constant|Shutdown setting|(((
1150	1150	Effective immediately
1151		-)))|(% style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:93px" %)0 to 128|(% style="width:280px" %)Position instruction average filtering time constant|(% style="text-align:center; vertical-align:middle; width:72px" %)ms
	1138	+)))|0|0 to 128|Position instruction average filtering time constant|ms
1152	1152
1153	1153	Table 6-23 Position instruction filter function code
1154	1154
...	...	@@ -1168,7 +1168,7 @@
1168	1168	(% class="wikigeneratedid" %)
1169	1169	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.
1170	1170
1171		-(% style="text-align:center" %)
	1158	+
1172	1172	[[image:image-20220608170550-24.png]]
1173	1173
1174	1174	Figure 6-26 Positioning completion signal output diagram
...	...	@@ -1177,46 +1177,46 @@
1177	1177
1178	1178	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]]__.
1179	1179
1180		-(% style="text-align:center" %)
	1167	+
1181	1181	[[image:image-20220608170650-25.png]]
1182	1182
1183	1183	Figure 6-27 Positioning completion signal output with increased window filter time diagram
1184	1184
1185		-(% class="table-bordered" %)
1186		-|(% style="text-align:center; vertical-align:middle; width:117px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:133px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:145px" %)(((
	1172	+
	1173	+|**Function code**|**Name**|(((
1187	1187	**Setting method**
1188		-)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
	1175	+)))|(((
1189	1189	**Effective time**
1190		-)))|(% style="text-align:center; vertical-align:middle; width:106px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:100px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:293px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1191		-|(% style="text-align:center; vertical-align:middle; width:117px" %)P05-12|(% style="text-align:center; vertical-align:middle; width:133px" %)Positioning completion threshold|(% style="text-align:center; vertical-align:middle; width:145px" %)(((
	1177	+)))|**Default value**|**Range**|**Definition**|**Unit**
	1178	+|P05-12|Positioning completion threshold|(((
1192	1192	Operation setting
1193		-)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
	1180	+)))|(((
1194	1194	Effective immediately
1195		-)))|(% style="text-align:center; vertical-align:middle; width:106px" %)800|(% style="text-align:center; vertical-align:middle; width:100px" %)1 to 65535|(% style="text-align:center; vertical-align:middle; width:293px" %)Positioning completion threshold|(% style="text-align:center; vertical-align:middle" %)Equivalent pulse unit
1196		-|(% style="text-align:center; vertical-align:middle; width:117px" %)P05-13|(% style="text-align:center; vertical-align:middle; width:133px" %)Positioning approach threshold|(% style="text-align:center; vertical-align:middle; width:145px" %)(((
	1182	+)))|800|1 to 65535|Positioning completion threshold|Equivalent pulse unit
	1183	+|P05-13|Positioning approach threshold|(((
1197	1197	Operation setting
1198		-)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
	1185	+)))|(((
1199	1199	Effective immediately
1200		-)))|(% style="text-align:center; vertical-align:middle; width:106px" %)5000|(% style="text-align:center; vertical-align:middle; width:100px" %)1 to 65535|(% style="text-align:center; vertical-align:middle; width:293px" %)Positioning approach threshold|(% style="text-align:center; vertical-align:middle" %)Equivalent pulse unit
1201		-|(% style="text-align:center; vertical-align:middle; width:117px" %)P05-14|(% style="text-align:center; vertical-align:middle; width:133px" %)Position detection window time|(% style="text-align:center; vertical-align:middle; width:145px" %)(((
	1187	+)))|5000|1 to 65535|Positioning approach threshold|Equivalent pulse unit
	1188	+|P05-14|Position detection window time|(((
1202	1202	Operation setting
1203		-)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
	1190	+)))|(((
1204	1204	Effective immediately
1205		-)))|(% style="text-align:center; vertical-align:middle; width:106px" %)10|(% style="text-align:center; vertical-align:middle; width:100px" %)0 to 20000|(% style="text-align:center; vertical-align:middle; width:293px" %)Set positioning completion detection window time|(% style="text-align:center; vertical-align:middle" %)ms
1206		-|(% style="text-align:center; vertical-align:middle; width:117px" %)P05-15|(% style="text-align:center; vertical-align:middle; width:133px" %)Positioning signal hold time|(% style="text-align:center; vertical-align:middle; width:145px" %)(((
	1192	+)))|10|0 to 20000|Set positioning completion detection window time|ms
	1193	+|P05-15|Positioning signal hold time|(((
1207	1207	Operation setting
1208		-)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
	1195	+)))|(((
1209	1209	Effective immediately
1210		-)))|(% style="text-align:center; vertical-align:middle; width:106px" %)100|(% style="text-align:center; vertical-align:middle; width:100px" %)0 to 20000|(% style="text-align:center; vertical-align:middle; width:293px" %)Set positioning completion output hold time|(% style="text-align:center; vertical-align:middle" %)ms
	1197	+)))|100|0 to 20000|Set positioning completion output hold time|ms
1211	1211
1212	1212	Table 6-24 Function code parameters of positioning completion
1213	1213
1214		-(% class="table-bordered" %)
1215		-|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**
1216		-|(% style="text-align:center; vertical-align:middle" %)134|(% style="text-align:center; vertical-align:middle" %)P-COIN positioning complete|(% style="text-align:center; vertical-align:middle" %)Output this signal indicates the servo drive position is complete.
1217		-|(% style="text-align:center; vertical-align:middle" %)135|(% style="text-align:center; vertical-align:middle" %)(((
	1201	+
	1202	+|**DO function code**|**Function name**|**Function**
	1203	+|134|P-COIN positioning complete|Output this signal indicates the servo drive position is complete.
	1204	+|135|(((
1218	1218	P-NEAR positioning close
1219		-)))|(% style="text-align:center; vertical-align:middle" %)(((
	1206	+)))|(((
1220	1220	Output this signal indicates that the servo drive position is close.
1221	1221	)))
1222	1222
...	...	@@ -1226,7 +1226,7 @@
1226	1226
1227	1227	Speed control refers to controlling the speed of the machine through speed instructions. Given the speed instruction by digital voltage or communication, the servo drive can control the mechanical speed fast and precisely. Therefore, the speed control mode is mainly used to control the rotation speed such as analog CNC engraving and milling machine. [[Figure 6-28>>path:http://13.229.109.52:8080/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/6.28.jpg?width=806&height=260&rev=1.1]] is the speed control block diagram.
1228	1228
1229		-(% style="text-align:center" %)
	1216	+
1230	1230	[[image:6.28.jpg||height="260" width="806"]]
1231	1231
1232	1232	Figure 6-28 Speed control block diagram
...	...	@@ -1235,21 +1235,21 @@
1235	1235
1236	1236	In speed control mode, VD2A and VD2B servo drives have two instruction source: internal speed instruction and analog speed instruction. VD2F drive only supports internal speed instruction. Speed instruction source is set by function code P01-01.
1237	1237
1238		-(% class="table-bordered" %)
1239		-|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:140px" %)(((
	1225	+
	1226	+|**Function code**|**Name**|(((
1240	1240	**Setting method**
1241		-)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
	1228	+)))|(((
1242	1242	**Effective time**
1243		-)))|(% style="text-align:center; vertical-align:middle; width:124px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:83px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:328px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1244		-|(% style="text-align:center; vertical-align:middle" %)P01-01|(% style="text-align:center; vertical-align:middle; width:180px" %)Speed instruction source|(% style="text-align:center; vertical-align:middle; width:140px" %)(((
	1230	+)))|**Default value**|**Range**|**Definition**|**Unit**
	1231	+|P01-01|Speed instruction source|(((
1245	1245	Shutdown setting
1246		-)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
	1233	+)))|(((
1247	1247	Effective immediately
1248		-)))|(% style="text-align:center; vertical-align:middle; width:124px" %)1|(% style="text-align:center; vertical-align:middle; width:83px" %)1 to 6|(% style="text-align:center; vertical-align:middle; width:328px" %)(((
	1235	+)))|1|1 to 6|(((
1249	1249	0: internal speed instruction
1250	1250
1251	1251	1: AI_1 analog input (not supported by VD2F)
1252		-)))|(% style="text-align:center; vertical-align:middle" %)-
	1239	+)))|-
1253	1253
1254	1254	Table 6-26 Speed instruction source parameter
1255	1255
...	...	@@ -1257,19 +1257,19 @@
1257	1257
1258	1258	Speed instruction comes from internal instruction, and the internal speed instruction is given by a number. The VD2 series servo drive has internal multi-segment speed running function. There are 8 segments speed instructions stored in servo drive, and the speed of each segment could be set individually. The servo drive uses the 1st segment internal speed by default. To use the 2nd to 8th segment internal speed, the corresponding number of DI terminals must be configured as functions 13, 14, and 15. The detailed parameters and function codes are shown as below.
1259	1259
1260		-(% class="table-bordered" %)
1261		-|(% style="text-align:center; vertical-align:middle; width:112px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:212px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:138px" %)(((
	1247	+
	1248	+|**Function code**|**Name**|(((
1262	1262	**Setting method**
1263		-)))|(% style="text-align:center; vertical-align:middle; width:160px" %)(((
	1250	+)))|(((
1264	1264	**Effective time**
1265		-)))|(% style="text-align:center; vertical-align:middle; width:107px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:118px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:302px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1266		-|(% rowspan="2" style="text-align:center; vertical-align:middle; width:112px" %)P01-02|(% rowspan="2" style="text-align:center; vertical-align:middle; width:212px" %)(((
	1252	+)))|**Default value**|**Range**|**Definition**|**Unit**
	1253	+|(% rowspan="2" %)P01-02|(% rowspan="2" %)(((
1267	1267	Internal speed Instruction 0
1268		-)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((
	1255	+)))|(% rowspan="2" %)(((
1269	1269	Operation setting
1270		-)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:160px" %)(((
	1257	+)))|(% rowspan="2" %)(((
1271	1271	Effective immediately
1272		-)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:118px" %)-3000 to 3000|(% rowspan="2" style="width:302px" %)(((
	1259	+)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1273	1273	Internal speed instruction 0
1274	1274
1275	1275	When DI input port:
...	...	@@ -1281,15 +1281,15 @@
1281	1281	13-INSPD1: 0,
1282	1282
1283	1283	select this speed instruction to be effective.
1284		-)))|(% rowspan="2" style="text-align:center; vertical-align:middle" %)rpm
1285		-|(% style="text-align:center; vertical-align:middle; width:118px" %)-5000 to 5000*
1286		-|(% rowspan="2" style="text-align:center; vertical-align:middle; width:112px" %)P01-23|(% rowspan="2" style="text-align:center; vertical-align:middle; width:212px" %)(((
	1271	+)))|(% rowspan="2" %)rpm
	1272	+|-5000 to 5000*
	1273	+|(% rowspan="2" %)P01-23|(% rowspan="2" %)(((
1287	1287	Internal speed Instruction 1
1288		-)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((
	1275	+)))|(% rowspan="2" %)(((
1289	1289	Operation setting
1290		-)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:160px" %)(((
	1277	+)))|(% rowspan="2" %)(((
1291	1291	Effective immediately
1292		-)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:118px" %)-3000 to 3000|(% rowspan="2" style="width:302px" %)(((
	1279	+)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1293	1293	Internal speed instruction 1
1294	1294
1295	1295	When DI input port:
...	...	@@ -1301,15 +1301,15 @@
1301	1301	13-INSPD1: 1,
1302	1302
1303	1303	Select this speed instruction to be effective.
1304		-)))|(% rowspan="2" style="text-align:center; vertical-align:middle" %)rpm
1305		-|(% style="text-align:center; vertical-align:middle; width:118px" %)-5000 to 5000*
1306		-|(% rowspan="2" style="text-align:center; vertical-align:middle; width:112px" %)P01-24|(% rowspan="2" style="text-align:center; vertical-align:middle; width:212px" %)(((
	1291	+)))|(% rowspan="2" %)rpm
	1292	+|-5000 to 5000*
	1293	+|(% rowspan="2" %)P01-24|(% rowspan="2" %)(((
1307	1307	Internal speed Instruction 2
1308		-)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((
	1295	+)))|(% rowspan="2" %)(((
1309	1309	Operation setting
1310		-)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:160px" %)(((
	1297	+)))|(% rowspan="2" %)(((
1311	1311	Effective immediately
1312		-)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:118px" %)-3000 to 3000|(% rowspan="2" style="width:302px" %)(((
	1299	+)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1313	1313	Internal speed instruction 2
1314	1314
1315	1315	When DI input port:
...	...	@@ -1321,15 +1321,15 @@
1321	1321	13-INSPD1: 0,
1322	1322
1323	1323	Select this speed instruction to be effective.
1324		-)))|(% rowspan="2" style="text-align:center; vertical-align:middle" %)rpm
1325		-|(% style="text-align:center; vertical-align:middle; width:118px" %)-5000 to 5000*
1326		-|(% rowspan="2" style="text-align:center; vertical-align:middle; width:112px" %)P01-25|(% rowspan="2" style="text-align:center; vertical-align:middle; width:212px" %)(((
	1311	+)))|(% rowspan="2" %)rpm
	1312	+|-5000 to 5000*
	1313	+|(% rowspan="2" %)P01-25|(% rowspan="2" %)(((
1327	1327	Internal speed Instruction 3
1328		-)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((
	1315	+)))|(% rowspan="2" %)(((
1329	1329	Operation setting
1330		-)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:160px" %)(((
	1317	+)))|(% rowspan="2" %)(((
1331	1331	Effective immediately
1332		-)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:118px" %)-3000 to 3000|(% rowspan="2" style="width:302px" %)(((
	1319	+)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1333	1333	Internal speed instruction 3
1334	1334
1335	1335	When DI input port:
...	...	@@ -1341,17 +1341,16 @@
1341	1341	13-INSPD1: 1,
1342	1342
1343	1343	Select this speed instruction to be effective.
1344		-)))|(% rowspan="2" style="text-align:center; vertical-align:middle" %)rpm
1345		-|(% style="text-align:center; vertical-align:middle; width:118px" %)-5000 to 5000*
	1331	+)))|(% rowspan="2" %)rpm
	1332	+|-5000 to 5000*
1346	1346
1347		-(% class="table-bordered" %)
1348		-|(% rowspan="2" style="text-align:center; vertical-align:middle; width:111px" %)P01-26|(% rowspan="2" style="text-align:center; vertical-align:middle; width:214px" %)(((
	1334	+|(% rowspan="2" %)P01-26|(% rowspan="2" %)(((
1349	1349	Internal speed Instruction 4
1350		-)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((
	1336	+)))|(% rowspan="2" %)(((
1351	1351	Operation setting
1352		-)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:161px" %)(((
	1338	+)))|(% rowspan="2" %)(((
1353	1353	Effective immediately
1354		-)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:117px" %)-3000 to 3000|(% rowspan="2" style="width:302px" %)(((
	1340	+)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1355	1355	Internal speed instruction 4
1356	1356
1357	1357	When DI input port:
...	...	@@ -1363,15 +1363,15 @@
1363	1363	13-INSPD1: 0,
1364	1364
1365	1365	Select this speed instruction to be effective.
1366		-)))|(% rowspan="2" style="text-align:center; vertical-align:middle" %)rpm
1367		-|(% style="text-align:center; vertical-align:middle; width:117px" %)-5000 to 5000*
1368		-|(% rowspan="2" style="text-align:center; vertical-align:middle; width:111px" %)P01-27|(% rowspan="2" style="text-align:center; vertical-align:middle; width:214px" %)(((
	1352	+)))|(% rowspan="2" %)rpm
	1353	+|-5000 to 5000*
	1354	+|(% rowspan="2" %)P01-27|(% rowspan="2" %)(((
1369	1369	Internal speed Instruction 5
1370		-)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((
	1356	+)))|(% rowspan="2" %)(((
1371	1371	Operation setting
1372		-)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:161px" %)(((
	1358	+)))|(% rowspan="2" %)(((
1373	1373	Effective immediately
1374		-)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:117px" %)-3000 to 3000|(% rowspan="2" style="width:302px" %)(((
	1360	+)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1375	1375	Internal speed instruction 5
1376	1376
1377	1377	When DI input port:
...	...	@@ -1383,15 +1383,15 @@
1383	1383	13-INSPD1: 1,
1384	1384
1385	1385	Select this speed instruction to be effective.
1386		-)))|(% rowspan="2" style="text-align:center; vertical-align:middle" %)rpm
1387		-|(% style="text-align:center; vertical-align:middle; width:117px" %)-5000 to 5000*
1388		-|(% rowspan="2" style="text-align:center; vertical-align:middle; width:111px" %)P01-28|(% rowspan="2" style="text-align:center; vertical-align:middle; width:214px" %)(((
	1372	+)))|(% rowspan="2" %)rpm
	1373	+|-5000 to 5000*
	1374	+|(% rowspan="2" %)P01-28|(% rowspan="2" %)(((
1389	1389	Internal speed Instruction 6
1390		-)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((
	1376	+)))|(% rowspan="2" %)(((
1391	1391	Operation setting
1392		-)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:161px" %)(((
	1378	+)))|(% rowspan="2" %)(((
1393	1393	Effective immediately
1394		-)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:117px" %)-3000 to 3000|(% rowspan="2" style="width:302px" %)(((
	1380	+)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1395	1395	Internal speed instruction 6
1396	1396
1397	1397	When DI input port:
...	...	@@ -1403,15 +1403,15 @@
1403	1403	13-INSPD1: 0,
1404	1404
1405	1405	Select this speed instruction to be effective.
1406		-)))|(% rowspan="2" style="text-align:center; vertical-align:middle" %)rpm
1407		-|(% style="text-align:center; vertical-align:middle; width:117px" %)-5000 to 5000*
1408		-|(% rowspan="2" style="text-align:center; vertical-align:middle; width:111px" %)P01-29|(% rowspan="2" style="text-align:center; vertical-align:middle; width:214px" %)(((
	1392	+)))|(% rowspan="2" %)rpm
	1393	+|-5000 to 5000*
	1394	+|(% rowspan="2" %)P01-29|(% rowspan="2" %)(((
1409	1409	Internal speed Instruction 7
1410		-)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((
	1396	+)))|(% rowspan="2" %)(((
1411	1411	Operation setting
1412		-)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:161px" %)(((
	1398	+)))|(% rowspan="2" %)(((
1413	1413	Effective immediately
1414		-)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:117px" %)-3000 to 3000|(% rowspan="2" style="width:302px" %)(((
	1400	+)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1415	1415	Internal speed instruction 7
1416	1416
1417	1417	When DI input port:
...	...	@@ -1423,34 +1423,34 @@
1423	1423	13-INSPD1: 1,
1424	1424
1425	1425	Select this speed instruction to be effective.
1426		-)))|(% rowspan="2" style="text-align:center; vertical-align:middle" %)rpm
1427		-|(% style="text-align:center; vertical-align:middle; width:117px" %)-5000 to 5000*
	1412	+)))|(% rowspan="2" %)rpm
	1413	+|-5000 to 5000*
1428	1428
1429	1429	Table 6-27 Internal speed instruction parameters
1430	1430
1431	1431	✎**Note: **“*” means the set range of VD2F servo drive.
1432	1432
1433		-(% class="table-bordered" %)
1434		-|(% style="text-align:center; vertical-align:middle" %)**DI function code**|(% style="text-align:center; vertical-align:middle" %)**function name**|(% style="text-align:center; vertical-align:middle" %)**Function**
1435		-|(% style="text-align:center; vertical-align:middle" %)13|(% style="text-align:center; vertical-align:middle" %)INSPD1 internal speed instruction selection 1|Form internal multi-speed running segment number
1436		-|(% style="text-align:center; vertical-align:middle" %)14|(% style="text-align:center; vertical-align:middle" %)INSPD2 internal speed instruction selection 2|Form internal multi-speed running segment number
1437		-|(% style="text-align:center; vertical-align:middle" %)15|(% style="text-align:center; vertical-align:middle" %)INSPD3 internal speed instruction selection 3|Form internal multi-speed running segment number
1438	1438
	1420	+|**DI function code**|**function name**|**Function**
	1421	+|13|INSPD1 internal speed instruction selection 1|Form internal multi-speed running segment number
	1422	+|14|INSPD2 internal speed instruction selection 2|Form internal multi-speed running segment number
	1423	+|15|INSPD3 internal speed instruction selection 3|Form internal multi-speed running segment number
	1424	+
1439	1439	Table 6-28 DI multi-speed function code description
1440	1440
1441	1441	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.
1442	1442
1443		-(% class="table-bordered" %)
1444		-|(% 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**
1445		-|(% 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
1446		-|(% 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
1447		-|(% 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
	1429	+
	1430	+|**INSPD3**|**INSPD2**|**INSPD1**|**Running segment number**|**Internal speed instruction number**
	1431	+|0|0|0|1|0
	1432	+|0|0|1|2|1
	1433	+|0|1|0|3|2
1448	1448	|(% colspan="5" %)......
1449		-|(% 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
	1435	+|1|1|1|8|7
1450	1450
1451	1451	Table 6-29 Correspondence between INSPD bits and segment numbers
1452	1452
1453		-(% style="text-align:center" %)
	1439	+
1454	1454	[[image:image-20220608170845-26.png]]
1455	1455
1456	1456	Figure 6-29 Multi-segment speed running curve
...	...	@@ -1459,7 +1459,7 @@
1459	1459
1460	1460	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.
1461	1461
1462		-(% style="text-align:center" %)
	1448	+
1463	1463	[[image:image-20220608153341-5.png]]
1464	1464
1465	1465	Figure 6-30 Analog input circuit
...	...	@@ -1466,7 +1466,7 @@
1466	1466
1467	1467	Taking AI_1 as an example, the method of setting the speed instruction of analog voltage is illustrated as below.
1468	1468
1469		-(% style="text-align:center" %)
	1455	+
1470	1470	[[image:image-20220608170955-27.png]]
1471	1471
1472	1472	Figure 6-31 Analog voltage speed instruction setting steps
...	...	@@ -1479,18 +1479,18 @@
1479	1479
1480	1480	Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1481	1481
1482		-(% style="text-align:center" %)
	1468	+
1483	1483	[[image:image-20220608171124-28.png]]
1484	1484
1485	1485	Figure 6-32 AI_1 diagram before and after bias
1486	1486
1487		-(% class="table-bordered" %)
1488		-|(% style="text-align:center; vertical-align:middle; width:115px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:125px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:137px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:165px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:111px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:136px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:360px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:44px" %)**Unit**
1489		-|(% style="text-align:center; vertical-align:middle; width:115px" %)P05-01☆|(% style="text-align:center; vertical-align:middle; width:125px" %)AI_1 input bias|(% style="text-align:center; vertical-align:middle; width:137px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:165px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:111px" %)0|(% style="text-align:center; vertical-align:middle; width:136px" %)-5000 to 5000|(% style="width:360px" %)Set AI_1 channel analog bias value|(% style="text-align:center; vertical-align:middle; width:44px" %)mV
1490		-|(% style="text-align:center; vertical-align:middle; width:115px" %)P05-02☆|(% style="text-align:center; vertical-align:middle; width:125px" %)AI_1 input filter time constant|(% style="text-align:center; vertical-align:middle; width:137px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:165px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:111px" %)200|(% style="text-align:center; vertical-align:middle; width:136px" %)0 to 60000|(% style="width:360px" %)AI_1 channel input first-order low-pass filtering time constant|(% style="text-align:center; vertical-align:middle; width:44px" %)0.01ms
1491		-|(% style="text-align:center; vertical-align:middle; width:115px" %)P05-03☆|(% style="text-align:center; vertical-align:middle; width:125px" %)AI_1 dead zone|(% style="text-align:center; vertical-align:middle; width:137px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:165px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:111px" %)20|(% style="text-align:center; vertical-align:middle; width:136px" %)0 to 1000|(% style="width:360px" %)Set AI_1 channel quantity dead zone value|(% style="text-align:center; vertical-align:middle; width:44px" %)mV
1492		-|(% style="text-align:center; vertical-align:middle; width:115px" %)P05-04☆|(% style="text-align:center; vertical-align:middle; width:125px" %)AI_1 zero drift|(% style="text-align:center; vertical-align:middle; width:137px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:165px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:111px" %)0|(% style="text-align:center; vertical-align:middle; width:136px" %)-500 to 500|(% style="width:360px" %)Automatic calibration of zero drift inside the drive|(% style="text-align:center; vertical-align:middle; width:44px" %)mV
1493	1493
	1474	+|**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
	1475	+|P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
	1476	+|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
	1477	+|P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel quantity dead zone value|mV
	1478	+|P05-04☆|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV
	1479	+
1494	1494	Table 6-30 AI_1 parameters
1495	1495
1496	1496	✎**Note: **“☆” means VD2F servo drive does not support the function code .
...	...	@@ -1501,7 +1501,7 @@
1501	1501
1502	1502	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.
1503	1503
1504		-(% style="text-align:center" %)
	1490	+
1505	1505	[[image:image-20220608171314-29.png]]
1506	1506
1507	1507	Figure 6-33 of acceleration and deceleration time diagram
...	...	@@ -1510,22 +1510,22 @@
1510	1510
1511	1511	Actual deceleration time T2 =[[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/44.jpg?rev=1.1]]
1512	1512
1513		-(% class="table-bordered" %)
1514		-|(% 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" %)(((
	1499	+
	1500	+|**Function code**|**Name**|(((
1515	1515	**Setting method**
1516		-)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
	1502	+)))|(((
1517	1517	**Effective time**
1518		-)))|(% style="text-align:center; vertical-align:middle; width:104px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:92px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:393px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:66px" %)**Unit**
1519		-|(% style="text-align:center; vertical-align:middle; width:116px" %)P01-03|(% style="text-align:center; vertical-align:middle; width:137px" %)Acceleration time|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
	1504	+)))|**Default value**|**Range**|**Definition**|**Unit**
	1505	+|P01-03|Acceleration time|(((
1520	1520	Operation setting
1521		-)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
	1507	+)))|(((
1522	1522	Effective immediately
1523		-)))|(% style="text-align:center; vertical-align:middle; width:104px" %)50|(% style="text-align:center; vertical-align:middle; width:92px" %)0 to 65535|(% style="width:393px" %)The time for the speed instruction to accelerate from 0 to 1000rpm|(% style="text-align:center; vertical-align:middle; width:66px" %)ms
1524		-|(% style="text-align:center; vertical-align:middle; width:116px" %)P01-04|(% style="text-align:center; vertical-align:middle; width:137px" %)Deceleration time|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
	1509	+)))|50|0 to 65535|The time for the speed instruction to accelerate from 0 to 1000rpm|ms
	1510	+|P01-04|Deceleration time|(((
1525	1525	Operation setting
1526		-)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
	1512	+)))|(((
1527	1527	Effective immediately
1528		-)))|(% style="text-align:center; vertical-align:middle; width:104px" %)50|(% style="text-align:center; vertical-align:middle; width:92px" %)0 to 65535|(% style="width:393px" %)The time for the speed instruction to decelerate from 1000rpm to 0|(% style="text-align:center; vertical-align:middle; width:66px" %)ms
	1514	+)))|50|0 to 65535|The time for the speed instruction to decelerate from 1000rpm to 0|ms
1529	1529
1530	1530	Table 6-31 Acceleration and deceleration time parameters
1531	1531
...	...	@@ -1544,27 +1544,27 @@
1544	1544
1545	1545	The amplitude of negative speed command ≤ min (Maximum motor speed, P01-10, P01-13)
1546	1546
1547		-(% class="table-bordered" %)
1548		-|(% style="text-align:center; vertical-align:middle; width:119px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:136px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:133px" %)(((
	1533	+
	1534	+|**Function code**|**Name**|(((
1549	1549	**Setting method**
1550		-)))|(% style="text-align:center; vertical-align:middle; width:163px" %)(((
	1536	+)))|(((
1551	1551	**Effective time**
1552		-)))|(% style="text-align:center; vertical-align:middle; width:112px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:86px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:395px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:61px" %)**Unit**
1553		-|(% style="text-align:center; vertical-align:middle; width:119px" %)P01-10|(% style="text-align:center; vertical-align:middle; width:136px" %)Maximum speed threshold|(% style="text-align:center; vertical-align:middle; width:133px" %)(((
	1538	+)))|**Default value**|**Range**|**Definition**|**Unit**
	1539	+|P01-10|Maximum speed threshold|(((
1554	1554	Operation setting
1555		-)))|(% style="text-align:center; vertical-align:middle; width:163px" %)(((
	1541	+)))|(((
1556	1556	Effective immediately
1557		-)))|(% style="text-align:center; vertical-align:middle; width:112px" %)3600|(% style="text-align:center; vertical-align:middle; width:86px" %)0 to 5000|(% style="width:395px" %)Set the maximum speed limit value, if exceeds this value, an overspeed fault will be reported|(% style="text-align:center; vertical-align:middle; width:61px" %)rpm
1558		-|(% style="text-align:center; vertical-align:middle; width:119px" %)P01-12|(% style="text-align:center; vertical-align:middle; width:136px" %)Forward speed threshold|(% style="text-align:center; vertical-align:middle; width:133px" %)(((
	1543	+)))|3600|0 to 5000|Set the maximum speed limit value, if exceeds this value, an overspeed fault will be reported|rpm
	1544	+|P01-12|Forward speed threshold|(((
1559	1559	Operation setting
1560		-)))|(% style="text-align:center; vertical-align:middle; width:163px" %)(((
	1546	+)))|(((
1561	1561	Effective immediately
1562		-)))|(% style="text-align:center; vertical-align:middle; width:112px" %)3000|(% style="text-align:center; vertical-align:middle; width:86px" %)0 to 5000|(% style="width:395px" %)Set forward speed limit value|(% style="text-align:center; vertical-align:middle; width:61px" %)rpm
1563		-|(% style="text-align:center; vertical-align:middle; width:119px" %)P01-13|(% style="text-align:center; vertical-align:middle; width:136px" %)Reverse speed threshold|(% style="text-align:center; vertical-align:middle; width:133px" %)(((
	1548	+)))|3000|0 to 5000|Set forward speed limit value|rpm
	1549	+|P01-13|Reverse speed threshold|(((
1564	1564	Operation setting
1565		-)))|(% style="text-align:center; vertical-align:middle; width:163px" %)(((
	1551	+)))|(((
1566	1566	Effective immediately
1567		-)))|(% style="text-align:center; vertical-align:middle; width:112px" %)3000|(% style="text-align:center; vertical-align:middle; width:86px" %)0 to 5000|(% style="width:395px" %)Set reverse speed limit value|(% style="text-align:center; vertical-align:middle; width:61px" %)rpm
	1553	+)))|3000|0 to 5000|Set reverse speed limit value|rpm
1568	1568
1569	1569	Table 6-32 Rotation speed related function codes
1570	1570
...	...	@@ -1574,19 +1574,19 @@
1574	1574
1575	1575	If the speed instruction amplitude is greater than zero-speed clamp speed threshold, the servo motor exits the locked state and continues to run according to the current input speed instruction.
1576	1576
1577		-(% class="table-bordered" %)
1578		-|(% style="text-align:center; vertical-align:middle; width:119px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:115px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:147px" %)(((
	1563	+
	1564	+|**Function code**|**Name**|(((
1579	1579	**Setting method**
1580		-)))|(% style="text-align:center; vertical-align:middle; width:166px" %)(((
	1566	+)))|(((
1581	1581	**Effective time**
1582		-)))|(% style="text-align:center; vertical-align:middle; width:116px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:86px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:398px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:58px" %)**Unit**
1583		-|(% style="text-align:center; vertical-align:middle; width:119px" %)P01-21|(% style="text-align:center; vertical-align:middle; width:115px" %)(((
	1568	+)))|**Default value**|**Range**|**Definition**|**Unit**
	1569	+|P01-21|(((
1584	1584	Zero-speed clamp function selection
1585		-)))|(% style="text-align:center; vertical-align:middle; width:147px" %)(((
	1571	+)))|(((
1586	1586	Operation setting
1587		-)))|(% style="text-align:center; vertical-align:middle; width:166px" %)(((
	1573	+)))|(((
1588	1588	Effective immediately
1589		-)))|(% style="text-align:center; vertical-align:middle; width:116px" %)0|(% style="text-align:center; vertical-align:middle; width:86px" %)0 to 3|(% style="width:398px" %)(((
	1575	+)))|0|0 to 3|(((
1590	1590	Set the zero-speed clamp function. In speed mode:
1591	1591
1592	1592	0: Force the speed to 0;
...	...	@@ -1596,18 +1596,18 @@
1596	1596	2: When speed instruction is less than P01-22, force the speed to 0 and keep the position locked
1597	1597
1598	1598	3: Invalid, ignore zero-speed clamp input
1599		-)))|(% style="text-align:center; vertical-align:middle; width:58px" %)-
1600		-|(% style="text-align:center; vertical-align:middle; width:119px" %)P01-22|(% style="text-align:center; vertical-align:middle; width:115px" %)(((
	1585	+)))|-
	1586	+|P01-22|(((
1601	1601	Zero-speed clamp speed threshold
1602		-)))|(% style="text-align:center; vertical-align:middle; width:147px" %)(((
	1588	+)))|(((
1603	1603	Operation setting
1604		-)))|(% style="text-align:center; vertical-align:middle; width:166px" %)(((
	1590	+)))|(((
1605	1605	Effective immediately
1606		-)))|(% style="text-align:center; vertical-align:middle; width:116px" %)20|(% style="text-align:center; vertical-align:middle; width:86px" %)0 to 1000|(% style="text-align:left; vertical-align:middle; width:398px" %)Set the speed threshold of zero-speed clamp function|(% style="text-align:center; vertical-align:middle; width:58px" %)rpm
	1592	+)))|20|0 to 1000|Set the speed threshold of zero-speed clamp function|rpm
1607	1607
1608	1608	Table 6-33 Zero-speed clamp related parameters
1609	1609
1610		-(% style="text-align:center" %)
	1596	+
1611	1611	[[image:image-20220608171549-30.png]]
1612	1612
1613	1613	Figure 6-34 Zero-speed clamp diagram
...	...	@@ -1620,7 +1620,7 @@
1620	1620
1621	1621	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.
1622	1622
1623		-(% style="text-align:center" %)
	1609	+
1624	1624	[[image:image-20220608171625-31.png]]
1625	1625
1626	1626	Figure 6-35 Rotation detection signal diagram
...	...	@@ -1627,30 +1627,28 @@
1627	1627
1628	1628	To use the motor rotation detection signal output function, a DO terminal of the servo drive should be assigned to function 132 (T-COIN, rotation detection). The function code parameters and related DO function codes are shown in __[[Table 6-34>>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/#HZero-speedclampfunction]]__ and __[[Table 6-35>>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/#HZero-speedclampfunction]]__.
1629	1629
1630		-(% class="table-bordered" %)
1631		-|(% style="text-align:center; vertical-align:middle; width:147px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:166px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:139px" %)(((
	1616	+
	1617	+|**Function code**|**Name**|(((
1632	1632	**Setting method**
1633		-)))|(% style="text-align:center; vertical-align:middle; width:160px" %)(((
	1619	+)))|(((
1634	1634	**Effective time**
1635		-)))|(% style="text-align:center; vertical-align:middle; width:106px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:96px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:337px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1636		-|(% style="text-align:center; vertical-align:middle; width:147px" %)P05-16|(% style="text-align:center; vertical-align:middle; width:166px" %)(((
	1621	+)))|**Default value**|**Range**|**Definition**|**Unit**
	1622	+|P05-16|(((
1637	1637	Rotation detection
1638	1638
1639	1639	speed threshold
1640		-)))|(% style="text-align:center; vertical-align:middle; width:139px" %)(((
	1626	+)))|(((
1641	1641	Operation setting
1642		-)))|(% style="text-align:center; vertical-align:middle; width:160px" %)(((
	1628	+)))|(((
1643	1643	Effective immediately
1644		-)))|(% style="text-align:center; vertical-align:middle; width:106px" %)20|(% style="text-align:center; vertical-align:middle; width:96px" %)0 to 1000|(% style="text-align:center; vertical-align:middle; width:337px" %)Set the motor rotation signal judgment threshold|(% style="text-align:center; vertical-align:middle" %)rpm
	1630	+)))|20|0 to 1000|Set the motor rotation signal judgment threshold|rpm
1645	1645
1646	1646	Table 6-34 Rotation detection speed threshold parameters
1647	1647
1648		-(% class="table-bordered" %)
1649		-|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**
1650		-|(% style="text-align:center; vertical-align:middle" %)132|(% style="text-align:center; vertical-align:middle" %)(((
1651		-T-COIN
1652	1652
1653		-rotation detection
	1635	+|**DO function code**|**Function name**|**Function**
	1636	+|132|(((
	1637	+T-COIN rotation detection
1654	1654	)))|(((
1655	1655	Valid: when the absolute value of motor speed after filtering is greater than or equal to the set value of function code P05-16
1656	1656
...	...	@@ -1663,7 +1663,7 @@
1663	1663
1664	1664	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.
1665	1665
1666		-(% style="text-align:center" %)
	1650	+
1667	1667	[[image:image-20220608171904-32.png]]
1668	1668
1669	1669	Figure 6-36 Zero-speed signal diagram
...	...	@@ -1670,25 +1670,25 @@
1670	1670
1671	1671	To use the motor zero-speed signal output function, a DO terminal of servo drive should be assigned to function 133 (ZSP, zero-speed signal). The function code parameters and related DO function codes are shown in __[[Table 6-36>>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/#HZero-speedclampfunction]]__ and __[[Table 6-37>>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/#HZero-speedclampfunction]]__.
1672	1672
1673		-(% class="table-bordered" %)
1674		-|(% style="text-align:center; vertical-align:middle; width:112px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:188px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:169px" %)(((
	1657	+
	1658	+|**Function code**|**Name**|(((
1675	1675	**Setting method**
1676		-)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
	1660	+)))|(((
1677	1677	**Effective time**
1678		-)))|(% style="text-align:center; vertical-align:middle; width:109px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:79px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:342px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1679		-|(% style="text-align:center; vertical-align:middle; width:112px" %)P05-19|(% style="text-align:center; vertical-align:middle; width:188px" %)Zero speed output signal threshold|(% style="text-align:center; vertical-align:middle; width:169px" %)(((
	1662	+)))|**Default value**|**Range**|**Definition**|**Unit**
	1663	+|P05-19|Zero speed output signal threshold|(((
1680	1680	Operation setting
1681		-)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
	1665	+)))|(((
1682	1682	Effective immediately
1683		-)))|(% style="text-align:center; vertical-align:middle; width:109px" %)10|(% style="text-align:center; vertical-align:middle; width:79px" %)0 to 6000|(% style="text-align:center; vertical-align:middle; width:342px" %)Set zero-speed output signal judgment threshold|(% style="text-align:center; vertical-align:middle" %)rpm
	1667	+)))|10|0 to 6000|Set zero-speed output signal judgment threshold|rpm
1684	1684
1685	1685	Table 6-36 Zero-speed output signal threshold parameter
1686	1686
1687		-(% class="table-bordered" %)
1688		-|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**
1689		-|(% style="text-align:center; vertical-align:middle" %)133|(% style="text-align:center; vertical-align:middle" %)(((
	1671	+
	1672	+|**DO function code**|**Function name**|**Function**
	1673	+|133|(((
1690	1690	ZSP zero speed signal
1691		-)))|(% style="text-align:center; vertical-align:middle" %)Output this signal indicates that the servo motor is stopping rotation
	1675	+)))|Output this signal indicates that the servo motor is stopping rotation
1692	1692
1693	1693	Table 6-37 DO zero-speed signal function code
1694	1694
...	...	@@ -1696,7 +1696,7 @@
1696	1696
1697	1697	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.
1698	1698
1699		-(% style="text-align:center" %)
	1683	+
1700	1700	[[image:image-20220608172053-33.png]]
1701	1701
1702	1702	Figure 6-37 Speed consistent signal diagram
...	...	@@ -1703,25 +1703,25 @@
1703	1703
1704	1704	To use the motor speed consistent function, a DO terminal of the servo drive should be assigned to function 136 (V-COIN, consistent speed). The function code parameters and related DO function codes are shown in __[[Table 6-38>>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/#HZero-speedclampfunction]]__ and __[[Table 6-39>>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/#HZero-speedclampfunction]]__.
1705	1705
1706		-(% class="table-bordered" %)
1707		-|(% style="text-align:center; vertical-align:middle; width:115px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:243px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
	1690	+
	1691	+|**Function code**|**Name**|(((
1708	1708	**Setting method**
1709		-)))|(% style="text-align:center; vertical-align:middle; width:169px" %)(((
	1693	+)))|(((
1710	1710	**Effective time**
1711		-)))|(% style="text-align:center; vertical-align:middle; width:105px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:76px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:288px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1712		-|(% style="text-align:center; vertical-align:middle; width:115px" %)P05-17|(% style="text-align:center; vertical-align:middle; width:243px" %)Speed consistent signal threshold|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
	1695	+)))|**Default value**|**Range**|**Definition**|**Unit**
	1696	+|P05-17|Speed consistent signal threshold|(((
1713	1713	Operationsetting
1714		-)))|(% style="text-align:center; vertical-align:middle; width:169px" %)(((
	1698	+)))|(((
1715	1715	Effective immediately
1716		-)))|(% style="text-align:center; vertical-align:middle; width:105px" %)10|(% style="text-align:center; vertical-align:middle; width:76px" %)0 to 100|(% style="text-align:center; vertical-align:middle; width:288px" %)Set speed consistent signal threshold|(% style="text-align:center; vertical-align:middle" %)rpm
	1700	+)))|10|0 to 100|Set speed consistent signal threshold|rpm
1717	1717
1718	1718	Table 6-38 Speed consistent signal threshold parameters
1719	1719
1720		-(% class="table-bordered" %)
1721		-|(% style="text-align:center; vertical-align:middle; width:193px" %)**DO Function code**|(% style="text-align:center; vertical-align:middle; width:340px" %)**Function name**|(% style="text-align:center; vertical-align:middle; width:672px" %)**Function**
1722		-|(% style="text-align:center; vertical-align:middle; width:193px" %)136|(% style="text-align:center; vertical-align:middle; width:340px" %)(((
	1704	+
	1705	+|**DO Function code**|**Function name**|**Function**
	1706	+|136|(((
1723	1723	U-COIN consistent speed
1724		-)))|(% style="text-align:center; vertical-align:middle; width:672px" %)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
	1708	+)))|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
1725	1725
1726	1726	Table 6-39 DO speed consistent function code
1727	1727
...	...	@@ -1729,7 +1729,7 @@
1729	1729
1730	1730	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.
1731	1731
1732		-(% style="text-align:center" %)
	1716	+
1733	1733	[[image:image-20220608172207-34.png]]
1734	1734
1735	1735	Figure 6-38 Speed approaching signal diagram
...	...	@@ -1736,25 +1736,25 @@
1736	1736
1737	1737	To use the motor speed approach function, a DO terminal of the servo drive should be assigned to function 137 (V-NEAR, speed approach). The function code parameters and related DO function codes are shown in __[[Table 6-40>>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/#HZero-speedclampfunction]]__ and __[[Table 6-40>>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/#HZero-speedclampfunction]]__.
1738	1738
1739		-(% class="table-bordered" %)
1740		-|(% style="text-align:center; vertical-align:middle; width:114px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:238px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:153px" %)(((
	1723	+
	1724	+|**Function code**|**Name**|(((
1741	1741	**Setting method**
1742		-)))|(% style="text-align:center; vertical-align:middle; width:180px" %)(((
	1726	+)))|(((
1743	1743	**Effective time**
1744		-)))|(% style="text-align:center; vertical-align:middle; width:115px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:89px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:263px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1745		-|(% style="text-align:center; vertical-align:middle; width:114px" %)P05-18|(% style="text-align:center; vertical-align:middle; width:238px" %)Speed approach signal threshold|(% style="text-align:center; vertical-align:middle; width:153px" %)(((
	1728	+)))|**Default value**|**Range**|**Definition**|**Unit**
	1729	+|P05-18|Speed approach signal threshold|(((
1746	1746	Operation setting
1747		-)))|(% style="text-align:center; vertical-align:middle; width:180px" %)(((
	1731	+)))|(((
1748	1748	Effective immediately
1749		-)))|(% style="text-align:center; vertical-align:middle; width:115px" %)100|(% style="text-align:center; vertical-align:middle; width:89px" %)10 to 6000|(% style="text-align:center; vertical-align:middle; width:263px" %)Set speed approach signal threshold|(% style="text-align:center; vertical-align:middle" %)rpm
	1733	+)))|100|10 to 6000|Set speed approach signal threshold|rpm
1750	1750
1751	1751	Table 6-40 Speed approaching signal threshold parameters
1752	1752
1753		-(% class="table-bordered" %)
1754		-|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle; width:314px" %)**Function name**|(% style="text-align:center; vertical-align:middle; width:719px" %)**Function**
1755		-|(% style="text-align:center; vertical-align:middle" %)137|(% style="text-align:center; vertical-align:middle; width:314px" %)(((
	1737	+
	1738	+|**DO function code**|**Function name**|**Function**
	1739	+|137|(((
1756	1756	V-NEAR speed approach
1757		-)))|(% style="text-align:center; vertical-align:middle; width:719px" %)The output signal indicates that the actual speed of the servo motor has reached the expected value
	1741	+)))|The output signal indicates that the actual speed of the servo motor has reached the expected value
1758	1758
1759	1759	Table 6-41 DO speed approach function code
1760	1760
...	...	@@ -1762,7 +1762,7 @@
1762	1762
1763	1763	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.
1764	1764
1765		-(% style="text-align:center" %)
	1749	+
1766	1766	[[image:image-20220608172405-35.png]]
1767	1767
1768	1768	Figure 6-39 Torque mode diagram
...	...	@@ -1771,21 +1771,21 @@
1771	1771
1772	1772	In torque instruction, VD2A and VD2B servo drives have two instruction source: internal torque instruction and analog torque instruction. VD2F drive only has internal torque instruction. The torque instruction source is set by the function code P01-07.
1773	1773
1774		-(% class="table-bordered" %)
1775		-|(% style="text-align:center; vertical-align:middle; width:110px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:186px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
	1758	+
	1759	+|**Function code**|**Name**|(((
1776	1776	**Setting method**
1777		-)))|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
	1761	+)))|(((
1778	1778	**Effective time**
1779		-)))|(% style="text-align:center; vertical-align:middle; width:112px" %)**Default value**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1780		-|(% style="text-align:center; vertical-align:middle; width:110px" %)P01-08|(% style="text-align:center; vertical-align:middle; width:186px" %)Torque instruction source|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
	1763	+)))|**Default value**|**Range**|**Definition**|**Unit**
	1764	+|P01-08|Torque instruction source|(((
1781	1781	Shutdown setting
1782		-)))|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
	1766	+)))|(((
1783	1783	Effective immediately
1784		-)))|(% style="text-align:center; vertical-align:middle; width:112px" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)(((
	1768	+)))|0|0 to 1|(((
1785	1785	0: internal torque instruction
1786	1786
1787	1787	1: AI_1 analog input(not supported by VD2F)
1788		-)))|(% style="text-align:center; vertical-align:middle" %)-
	1772	+)))|-
1789	1789
1790	1790	Table 6-42 Torque instruction source parameter
1791	1791
...	...	@@ -1793,17 +1793,17 @@
1793	1793
1794	1794	Torque instruction source is from inside, the value is set by function code P01-08.
1795	1795
1796		-(% class="table-bordered" %)
1797		-|(% style="text-align:center; vertical-align:middle; width:112px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:274px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:132px" %)(((
	1780	+
	1781	+|**Function code**|**Name**|(((
1798	1798	**Setting method**
1799		-)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((
	1783	+)))|(((
1800	1800	**Effective time**
1801		-)))|(% style="text-align:center; vertical-align:middle; width:120px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:129px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:211px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1802		-|(% style="text-align:center; vertical-align:middle; width:112px" %)P01-08|(% style="text-align:center; vertical-align:middle; width:274px" %)Torque instruction keyboard set value|(% style="text-align:center; vertical-align:middle; width:132px" %)(((
	1785	+)))|**Default value**|**Range**|**Definition**|**Unit**
	1786	+|P01-08|Torque instruction keyboard set value|(((
1803	1803	Operation setting
1804		-)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((
	1788	+)))|(((
1805	1805	Effective immediately
1806		-)))|(% style="text-align:center; vertical-align:middle; width:120px" %)0|(% style="text-align:center; vertical-align:middle; width:129px" %)-3000 to 3000|(% style="text-align:center; vertical-align:middle; width:211px" %)-300.0% to 300.0%|(% style="text-align:center; vertical-align:middle" %)0.1%
	1790	+)))|0|-3000 to 3000|-300.0% to 300.0%|0.1%
1807	1807
1808	1808	Table 6-43 Torque instruction keyboard set value
1809	1809
...	...	@@ -1811,7 +1811,7 @@
1811	1811
1812	1812	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.
1813	1813
1814		-(% style="text-align:center" %)
	1798	+
1815	1815	[[image:image-20220608153646-7.png||height="213" width="408"]]
1816	1816
1817	1817	Figure 6-40 Analog input circuit
...	...	@@ -1818,7 +1818,7 @@
1818	1818
1819	1819	Taking AI_1 as an example, the method of setting torque instruction of analog voltage is as below.
1820	1820
1821		-(% style="text-align:center" %)
	1805	+
1822	1822	[[image:image-20220608172502-36.png]]
1823	1823
1824	1824	Figure 6-41 Analog voltage torque instruction setting steps
...	...	@@ -1831,18 +1831,18 @@
1831	1831
1832	1832	Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1833	1833
1834		-(% style="text-align:center" %)
	1818	+
1835	1835	[[image:image-20220608172611-37.png]]
1836	1836
1837	1837	Figure 6-42 AI_1 diagram before and after bias
1838	1838
1839		-(% class="table-bordered" %)
1840		-|(% style="text-align:center; vertical-align:middle; width:127px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:148px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:144px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:162px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:85px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:134px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:340px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1841		-|(% style="text-align:center; vertical-align:middle; width:127px" %)P05-01☆|(% style="text-align:center; vertical-align:middle; width:148px" %)AI_1 input bias|(% style="text-align:center; vertical-align:middle; width:144px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:85px" %)0|(% style="text-align:center; vertical-align:middle; width:134px" %)-5000 to 5000|(% style="text-align:center; vertical-align:middle; width:340px" %)Set AI_1 channel analog bias value|(% style="text-align:center; vertical-align:middle" %)mV
1842		-|(% style="text-align:center; vertical-align:middle; width:127px" %)P05-02☆|(% style="text-align:center; vertical-align:middle; width:148px" %)AI_1 input filter time constant|(% style="text-align:center; vertical-align:middle; width:144px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:85px" %)200|(% style="text-align:center; vertical-align:middle; width:134px" %)0 to 60000|(% style="text-align:center; vertical-align:middle; width:340px" %)AI_1 channel input first-order low-pass filtering time constant|(% style="text-align:center; vertical-align:middle" %)0.01ms
1843		-|(% style="text-align:center; vertical-align:middle; width:127px" %)P05-03☆|(% style="text-align:center; vertical-align:middle; width:148px" %)AI_1 dead zone|(% style="text-align:center; vertical-align:middle; width:144px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:85px" %)20|(% style="text-align:center; vertical-align:middle; width:134px" %)0 to 1000|(% style="text-align:center; vertical-align:middle; width:340px" %)Set AI_1 channel dead zone value|(% style="text-align:center; vertical-align:middle" %)mV
1844		-|(% style="text-align:center; vertical-align:middle; width:127px" %)P05-04☆|(% style="text-align:center; vertical-align:middle; width:148px" %)AI_1 zero drift|(% style="text-align:center; vertical-align:middle; width:144px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:85px" %)0|(% style="text-align:center; vertical-align:middle; width:134px" %)-500 to 500|(% style="text-align:center; vertical-align:middle; width:340px" %)Automatic calibration of zero drift inside the drive|(% style="text-align:center; vertical-align:middle" %)mV
1845	1845
	1824	+|**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
	1825	+|P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
	1826	+|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
	1827	+|P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel dead zone value|mV
	1828	+|P05-04☆|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV
	1829	+
1846	1846	Table 6-44 AI_1 parameters
1847	1847
1848	1848	✎**Note: **“☆” means VD2F servo drive does not support the function code .
...	...	@@ -1851,23 +1851,23 @@
1851	1851
1852	1852	In torque mode, the servo drive could realize low-pass filtering of torque instruction, making the instruction smoother and reducing the vibration of servo motor. The first-order filtering is shown in __[[Figure 6-43>>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]]__.
1853	1853
1854		-(% class="table-bordered" %)
1855		-|(% style="text-align:center; vertical-align:middle; width:115px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:129px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:144px" %)(((
	1838	+
	1839	+|**Function code**|**Name**|(((
1856	1856	**Setting method**
1857		-)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
	1841	+)))|(((
1858	1858	**Effective time**
1859		-)))|(% style="text-align:center; vertical-align:middle; width:109px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:89px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:398px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1860		-|(% style="text-align:center; vertical-align:middle; width:115px" %)P04-04|(% style="text-align:center; vertical-align:middle; width:129px" %)Torque filtering time constant|(% style="text-align:center; vertical-align:middle; width:144px" %)(((
	1843	+)))|**Default value**|**Range**|**Definition**|**Unit**
	1844	+|P04-04|Torque filtering time constant|(((
1861	1861	Operation setting
1862		-)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
	1846	+)))|(((
1863	1863	Effective immediately
1864		-)))|(% style="text-align:center; vertical-align:middle; width:109px" %)50|(% style="text-align:center; vertical-align:middle; width:89px" %)10 to 2500|(% style="text-align:center; vertical-align:middle; width:398px" %)This parameter is automatically set when “self-adjustment mode selection” is selected as 0|(% style="text-align:center; vertical-align:middle" %)0.01ms
	1848	+)))|50|10 to 2500|This parameter is automatically set when “self-adjustment mode selection” is selected as 0|0.01ms
1865	1865
1866	1866	Table 6-45 Torque filtering time constant parameter details
1867	1867
1868	1868	✎**Note: **If the filter time constant is set too large, the responsiveness will be reduced. Please set it while confirming the responsiveness.
1869	1869
1870		-(% style="text-align:center" %)
	1854	+
1871	1871	[[image:image-20220608172646-38.png]]
1872	1872
1873	1873	Figure 6-43 Torque instruction-first-order filtering diagram
...	...	@@ -1878,7 +1878,7 @@
1878	1878
1879	1879	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.
1880	1880
1881		-(% style="text-align:center" %)
	1865	+
1882	1882	[[image:image-20220608172806-39.png]]
1883	1883
1884	1884	Figure 6-44 Torque instruction limit diagram
...	...	@@ -1887,50 +1887,50 @@
1887	1887
1888	1888	You need to set the torque limit source by function code P01-14. After the setting, the drive torque instruction will be limited within the torque limit value. When the torque limit value is reached, the motor will operate with the torque limit value as the torque instruction. The torque limit value should be set according to the load operation requirements. If the setting is too small, the motor's acceleration and deceleration capacity may be weakened. During constant torque operation, the actual motor speed cannot reach the required value.
1889	1889
1890		-(% class="table-bordered" %)
1891		-|(% style="text-align:center; vertical-align:middle; width:116px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:145px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:134px" %)(((
	1874	+
	1875	+|**Function code**|**Name**|(((
1892	1892	**Setting method**
1893		-)))|(% style="text-align:center; vertical-align:middle; width:167px" %)(((
	1877	+)))|(((
1894	1894	**Effective time**
1895		-)))|(% style="text-align:center; vertical-align:middle; width:133px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:96px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:344px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1896		-|(% style="text-align:center; vertical-align:middle; width:116px" %)P01-14|(% style="text-align:center; vertical-align:middle; width:145px" %)(((
	1879	+)))|**Default value**|**Range**|**Definition**|**Unit**
	1880	+|P01-14|(((
1897	1897	Torque limit source
1898		-)))|(% style="text-align:center; vertical-align:middle; width:134px" %)(((
	1882	+)))|(((
1899	1899	Shutdown setting
1900		-)))|(% style="text-align:center; vertical-align:middle; width:167px" %)(((
	1884	+)))|(((
1901	1901	Effective immediately
1902		-)))|(% style="text-align:center; vertical-align:middle; width:133px" %)0|(% style="text-align:center; vertical-align:middle; width:96px" %)0 to 1|(% style="text-align:center; vertical-align:middle; width:344px" %)(((
	1886	+)))|0|0 to 1|(((
1903	1903	0: internal value
1904	1904
1905	1905	1: AI_1 analog input
1906	1906
1907	1907	(not supported by VD2F)
1908		-)))|(% style="text-align:center; vertical-align:middle" %)-
	1892	+)))|-
1909	1909
1910	1910	1) Torque limit source is internal torque instruction (P01-14=0)
1911	1911
1912	1912	Torque limit source is from inside, you need to set torque limit, and the value is set by function code P01-15 and P01-16.
1913	1913
1914		-(% class="table-bordered" %)
1915		-|(% style="text-align:center; vertical-align:middle; width:117px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:154px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
	1898	+
	1899	+|**Function code**|**Name**|(((
1916	1916	**Setting method**
1917		-)))|(% style="text-align:center; vertical-align:middle; width:169px" %)(((
	1901	+)))|(((
1918	1918	**Effective time**
1919		-)))|(% style="text-align:center; vertical-align:middle; width:118px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:95px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:353px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:63px" %)**Unit**
1920		-|(% style="text-align:center; vertical-align:middle; width:117px" %)P01-15|(% style="text-align:center; vertical-align:middle; width:154px" %)(((
	1903	+)))|**Default value**|**Range**|**Definition**|**Unit**
	1904	+|P01-15|(((
1921	1921	Forward torque limit
1922		-)))|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
	1906	+)))|(((
1923	1923	Operation setting
1924		-)))|(% style="text-align:center; vertical-align:middle; width:169px" %)(((
	1908	+)))|(((
1925	1925	Effective immediately
1926		-)))|(% style="text-align:center; vertical-align:middle; width:118px" %)3000|(% style="text-align:center; vertical-align:middle; width:95px" %)0 to 3000|(% style="text-align:center; vertical-align:middle; width:353px" %)When P01-14 is set to 0, the value of this function code is forward torque limit value|(% style="text-align:center; vertical-align:middle; width:63px" %)0.1%
1927		-|(% style="text-align:center; vertical-align:middle; width:117px" %)P01-16|(% style="text-align:center; vertical-align:middle; width:154px" %)(((
	1910	+)))|3000|0 to 3000|When P01-14 is set to 0, the value of this function code is forward torque limit value|0.1%
	1911	+|P01-16|(((
1928	1928	Reverse torque limit
1929		-)))|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
	1913	+)))|(((
1930	1930	Operation setting
1931		-)))|(% style="text-align:center; vertical-align:middle; width:169px" %)(((
	1915	+)))|(((
1932	1932	Effective immediately
1933		-)))|(% style="text-align:center; vertical-align:middle; width:118px" %)3000|(% style="text-align:center; vertical-align:middle; width:95px" %)0 to 3000|(% style="text-align:center; vertical-align:middle; width:353px" %)When P01-14 is set to 0, the value of this function code is reverse torque limit value|(% style="text-align:center; vertical-align:middle; width:63px" %)0.1%
	1917	+)))|3000|0 to 3000|When P01-14 is set to 0, the value of this function code is reverse torque limit value|0.1%
1934	1934
1935	1935	Table 6-46 Torque limit parameter details
1936	1936
...	...	@@ -1942,11 +1942,11 @@
1942	1942
1943	1943	When torque instruction reaches the torque limit value, the drive outputs a torque limit signal (T-LIMIT) for the host computer use. At this time, one DO terminal of the drive should be assigned to function 139 (T-LIMIT, in torque limit) , and confirm that the terminal logic is valid.
1944	1944
1945		-(% class="table-bordered" %)
1946		-|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle; width:222px" %)**Function name**|(% style="text-align:center; vertical-align:middle; width:758px" %)**Function**
1947		-|(% style="text-align:center; vertical-align:middle" %)139|(% style="text-align:center; vertical-align:middle; width:222px" %)(((
	1929	+
	1930	+|**DO function code**|**Function name**|**Function**
	1931	+|139|(((
1948	1948	T-LIMIT in torque limit
1949		-)))|(% style="text-align:center; vertical-align:middle; width:758px" %)Output of this signal indicates that the servo motor torque is limited
	1933	+)))|Output of this signal indicates that the servo motor torque is limited
1950	1950
1951	1951	Table 6-47 DO torque limit function codes
1952	1952
...	...	@@ -1957,46 +1957,43 @@
1957	1957	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]]__.
1958	1958
1959	1959	|(((
1960		-(% style="text-align:center" %)
1961	1961	[[image:image-20220608172910-40.png]]
1962	1962	)))|(((
1963		-(% style="text-align:center" %)
1964	1964	[[image:image-20220608173155-41.png]]
1965	1965	)))
1966	1966	|Figure 6-45 Forward running curve|Figure 6-46 Reverse running curve
1967	1967
1968		-(% class="table-bordered" %)
1969		-|(% style="text-align:center; vertical-align:middle; width:117px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:157px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:140px" %)(((
	1950	+|**Function code**|**Name**|(((
1970	1970	**Setting method**
1971		-)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
	1952	+)))|(((
1972	1972	**Effective time**
1973		-)))|(% style="text-align:center; vertical-align:middle; width:171px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:166px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
1974		-|(% style="text-align:center; vertical-align:middle; width:117px" %)P01-17|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
	1954	+)))|**Default value**|**Range**|**Definition**|**Unit**
	1955	+|P01-17|(((
1975	1975	Forward torque
1976	1976
1977	1977	limit in torque mode
1978		-)))|(% style="text-align:center; vertical-align:middle; width:140px" %)(((
	1959	+)))|(((
1979	1979	Operation setting
1980		-)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
	1961	+)))|(((
1981	1981	Effective immediately
1982		-)))|(% style="text-align:center; vertical-align:middle; width:171px" %)3000|(% style="text-align:center; vertical-align:middle; width:166px" %)0 to 5000|(% style="text-align:center; vertical-align:middle" %)(((
	1963	+)))|3000|0 to 5000|(((
1983	1983	Forward torque
1984	1984
1985	1985	limit in torque mode
1986		-)))|(% style="text-align:center; vertical-align:middle" %)0.1%
1987		-|(% style="text-align:center; vertical-align:middle; width:117px" %)P01-18|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
	1967	+)))|0.1%
	1968	+|P01-18|(((
1988	1988	Reverse torque
1989	1989
1990	1990	limit in torque mode
1991		-)))|(% style="text-align:center; vertical-align:middle; width:140px" %)(((
	1972	+)))|(((
1992	1992	Operation setting
1993		-)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
	1974	+)))|(((
1994	1994	Effective immediately
1995		-)))|(% style="text-align:center; vertical-align:middle; width:171px" %)3000|(% style="text-align:center; vertical-align:middle; width:166px" %)0 to 5000|(% style="text-align:center; vertical-align:middle" %)(((
	1976	+)))|3000|0 to 5000|(((
1996	1996	Reverse torque
1997	1997
1998	1998	limit in torque mode
1999		-)))|(% style="text-align:center; vertical-align:middle" %)0.1%
	1980	+)))|0.1%
2000	2000
2001	2001	Table 6-48 Speed limit parameters in torque mode
2002	2002
...	...	@@ -2010,7 +2010,7 @@
2010	2010
2011	2011	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.
2012	2012
2013		-(% style="text-align:center" %)
	1994	+
2014	2014	[[image:image-20220608173541-42.png]]
2015	2015
2016	2016	Figure 6-47 Torque arrival output diagram
...	...	@@ -2017,44 +2017,44 @@
2017	2017
2018	2018	To use the torque arrival function, a DO terminal of the servo drive should be assigned to function 138 (T-COIN, torque arrival). The function code parameters and related DO function codes are shown in __[[Table 6-49>>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/#HTorque-relatedDOoutputfunctions]]__ and __[[Table 6-50>>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/#HTorque-relatedDOoutputfunctions]]__.
2019	2019
2020		-(% class="table-bordered" %)
2021		-|(% style="text-align:center; vertical-align:middle; width:126px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:115px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:137px" %)(((
	2001	+
	2002	+|**Function code**|**Name**|(((
2022	2022	**Setting method**
2023		-)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
	2004	+)))|(((
2024	2024	**Effective time**
2025		-)))|(% style="text-align:center; vertical-align:middle; width:115px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:77px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:417px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
2026		-|(% style="text-align:center; vertical-align:middle; width:126px" %)P05-20|(% style="text-align:center; vertical-align:middle; width:115px" %)(((
	2006	+)))|**Default value**|**Range**|**Definition**|**Unit**
	2007	+|P05-20|(((
2027	2027	Torque arrival
2028	2028
2029	2029	threshold
2030		-)))|(% style="text-align:center; vertical-align:middle; width:137px" %)(((
	2011	+)))|(((
2031	2031	Operation setting
2032		-)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
	2013	+)))|(((
2033	2033	Effective immediately
2034		-)))|(% style="text-align:center; vertical-align:middle; width:115px" %)100|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 300|(% style="text-align:center; vertical-align:middle; width:417px" %)(((
	2015	+)))|100|0 to 300|(((
2035	2035	The torque arrival threshold must be used with “Torque arrival hysteresis value”:
2036	2036
2037	2037	When the actual torque reaches Torque arrival threshold + Torque arrival hysteresis Value, the torque arrival DO is valid;
2038	2038
2039	2039	When the actual torque decreases below torque arrival threshold-torque arrival hysteresis value, the torque arrival DO is invalid
2040		-)))|(% style="text-align:center; vertical-align:middle" %)%
2041		-|(% style="text-align:center; vertical-align:middle; width:126px" %)P05-21|(% style="text-align:center; vertical-align:middle; width:115px" %)(((
	2021	+)))|%
	2022	+|P05-21|(((
2042	2042	Torque arrival
2043	2043
2044	2044	hysteresis
2045		-)))|(% style="text-align:center; vertical-align:middle; width:137px" %)(((
	2026	+)))|(((
2046	2046	Operation setting
2047		-)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
	2028	+)))|(((
2048	2048	Effective immediately
2049		-)))|(% style="text-align:center; vertical-align:middle; width:115px" %)10|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 20|(% style="text-align:center; vertical-align:middle; width:417px" %)Torque arrival the hysteresis value must be used with Torque arrival threshold|(% style="text-align:center; vertical-align:middle" %)%
	2030	+)))|10|0 to 20|Torque arrival the hysteresis value must be used with Torque arrival threshold|%
2050	2050
2051	2051	Table 6-49 Torque arrival parameters
2052	2052
2053		-(% class="table-bordered" %)
2054		-|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle; width:205px" %)**Function name**|(% style="text-align:center; vertical-align:middle; width:803px" %)**Function**
2055		-|(% style="text-align:center; vertical-align:middle" %)138|(% style="text-align:center; vertical-align:middle; width:205px" %)(((
	2034	+
	2035	+|**DO function code**|**Function name**|**Function**
	2036	+|138|(((
2056	2056	T-COIN torque arrival
2057		-)))|(% style="text-align:center; vertical-align:middle; width:803px" %)Used to determine whether the actual torque instruction has reached the set range
	2038	+)))|Used to determine whether the actual torque instruction has reached the set range
2058	2058
2059	2059	Table 6-50 DO Torque Arrival Function Code
2060	2060
...	...	@@ -2070,17 +2070,17 @@
2070	2070
2071	2071	Set the function code P00-01 through the software of Wecon “SCTool” or servo drive panel, and the servo drive will run in mixed mode.
2072	2072
2073		-(% class="table-bordered" %)
2074		-|(% style="text-align:center; vertical-align:middle; width:118px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:122px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
	2054	+
	2055	+|**Function code**|**Name**|(((
2075	2075	**Setting method**
2076		-)))|(% style="text-align:center; vertical-align:middle; width:142px" %)(((
	2057	+)))|(((
2077	2077	**Effective time**
2078		-)))|(% style="text-align:center; vertical-align:middle; width:106px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:72px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:443px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
2079		-|(% style="text-align:center; vertical-align:middle; width:118px" %)P00-01|(% style="text-align:center; vertical-align:middle; width:122px" %)Control mode|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
	2059	+)))|**Default value**|**Range**|**Definition**|**Unit**
	2060	+|P00-01|Control mode|(((
2080	2080	Shutdown setting
2081		-)))|(% style="text-align:center; vertical-align:middle; width:142px" %)(((
	2062	+)))|(((
2082	2082	Shutdown setting
2083		-)))|(% style="text-align:center; vertical-align:middle; width:106px" %)1|(% style="text-align:center; vertical-align:middle; width:72px" %)1 to 6|(% style="width:443px" %)(((
	2064	+)))|1|1 to 6|(((
2084	2084	1: Position control
2085	2085
2086	2086	2: Speed control
...	...	@@ -2092,23 +2092,22 @@
2092	2092	5: Position/torque mixed control
2093	2093
2094	2094	6: Speed/torque mixed control
2095		-)))|(% style="text-align:center; vertical-align:middle" %)-
	2076	+)))|-
2096	2096
2097	2097	Table 6-51 Mixed control mode parameters
2098	2098
2099	2099	Please set the servo drive parameters in different control modes according to the mechanical structure and indicators. The setting method refer to [[__“Parameters”__>>url:http://docs.we-con.com.cn/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/#_Chapter%209%20Parameters]]. When function code P00-01=4/5/6 (that is, in mixed mode), a DI terminal of the servo drive needs to be assigned to function 17 (MixModeSel, mixed mode selection), and the DI terminal logic is determined to be valid.
2100	2100
2101		-(% class="table-bordered" %)
2102		-|(% style="text-align:center; vertical-align:middle" %)**DI function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**
2103		-|(% style="text-align:center; vertical-align:middle" %)17|(% style="text-align:center; vertical-align:middle" %)MixModeSel|(% style="text-align:center; vertical-align:middle" %)Mixed mode selection|(% style="text-align:center; vertical-align:middle" %)Used in mixed control mode, when the servo status is "run", set the current control mode of the servo drive(((
2104		-(% class="table-bordered" %)
2105		-|(% style="text-align:center; vertical-align:middle" %)**P00-01**|(% style="text-align:center; vertical-align:middle" %)**MixModeSel terminal logic**|(% style="text-align:center; vertical-align:middle" %)**Control mode**
2106		-|(% rowspan="2" style="text-align:center; vertical-align:middle" %)4|(% style="text-align:center; vertical-align:middle" %)Valid|(% style="text-align:center; vertical-align:middle" %)Speed mode
2107		-|(% style="text-align:center; vertical-align:middle" %)invalid|(% style="text-align:center; vertical-align:middle" %)Position mode
2108		-|(% rowspan="2" style="text-align:center; vertical-align:middle" %)5|(% style="text-align:center; vertical-align:middle" %)Valid|(% style="text-align:center; vertical-align:middle" %)Torque mode
2109		-|(% style="text-align:center; vertical-align:middle" %)invalid|(% style="text-align:center; vertical-align:middle" %)Position mode
2110		-|(% rowspan="2" style="text-align:center; vertical-align:middle" %)6|(% style="text-align:center; vertical-align:middle" %)Valid|(% style="text-align:center; vertical-align:middle" %)Torque mode
2111		-|(% style="text-align:center; vertical-align:middle" %)invalid|(% style="text-align:center; vertical-align:middle" %)Speed mode
	2082	+
	2083	+|**DI function code**|**Name**|**Function name**|**Function**
	2084	+|17|MixModeSel|Mixed mode selection|Used in mixed control mode, when the servo status is "run", set the current control mode of the servo drive(((
	2085	+|**P00-01**|**MixModeSel terminal logic**|**Control mode**
	2086	+|(% rowspan="2" %)4|Valid|Speed mode
	2087	+|invalid|Position mode
	2088	+|(% rowspan="2" %)5|Valid|Torque mode
	2089	+|invalid|Position mode
	2090	+|(% rowspan="2" %)6|Valid|Torque mode
	2091	+|invalid|Speed mode
2112	2112	)))
2113	2113
2114	2114	Table 6-52 Description of DI function codes in control mode
...	...	@@ -2127,15 +2127,15 @@
2127	2127
2128	2128	The single-turn absolute value system is applicable for the equipment load stroke within the single-turn range of the encoder. At this time, the absolute encoder is only as a single-turn system function and does not need to be connected to the battery. The types and information of encoders adapted to VD2 series servo drives are shown as below.
2129	2129
2130		-(% class="table-bordered" %)
2131		-|(% style="text-align:center; vertical-align:middle" %)**Encoder type**|(% style="text-align:center; vertical-align:middle" %)**Encoder resolution (bits)**|(% style="text-align:center; vertical-align:middle" %)**Data range**
2132		-|(% style="text-align:center; vertical-align:middle" %)A1 (single-turn magnetic encoder)|(% style="text-align:center; vertical-align:middle" %)17|(% style="text-align:center; vertical-align:middle" %)0 to 131071
2133	2133
	2111	+|**Encoder type**|**Encoder resolution (bits)**|**Data range**
	2112	+|A1 (single-turn magnetic encoder)|17|0 to 131071
	2113	+
2134	2134	Table 6-53 Single-turn absolute encoder information
2135	2135
2136	2136	The relationship between encoder feedback position and rotating load position is shown in the figure below. (take a 17-bit encoder as an example).
2137	2137
2138		-(% style="text-align:center" %)
	2118	+
2139	2139	[[image:image-20220608173618-43.png]]
2140	2140
2141	2141	Figure 6-48 Diagram of relationship between encoder feedback position and rotating load position
...	...	@@ -2144,16 +2144,16 @@
2144	2144
2145	2145	The encoder adapted to the multi-turn absolute value system is equipped with 16-bit RAM memory. Compared with the single-turn absolute value, it can additionally memorize the number of turns of the 16-bit encoder. The multi-turn absolute encoder is equipped with a battery (the battery is installed on the encoder cable with a battery unit), which can achieve direct internal high-speed readings and external output without the need for external sensors to assist memory positions. The types and information of encoders adapted to VD2 series servo drives are shown as below.
2146	2146
2147		-(% class="table-bordered" %)
2148		-|(% style="text-align:center; vertical-align:middle" %)**Encoder type**|(% style="text-align:center; vertical-align:middle" %)**Encoder resolution (bits)**|(% style="text-align:center; vertical-align:middle" %)**Data range**
2149		-|(% style="text-align:center; vertical-align:middle" %)C1 (multi-turn magnetic encoder)|(% style="text-align:center; vertical-align:middle" %)17|(% style="text-align:center; vertical-align:middle" %)0 to 131071
2150		-|(% style="text-align:center; vertical-align:middle" %)D2 (multi-turn Optical encoder)|(% style="text-align:center; vertical-align:middle" %)23|(% style="text-align:center; vertical-align:middle" %)0 to 8388607
2151	2151
	2128	+|**Encoder type**|**Encoder resolution (bits)**|**Data range**
	2129	+|C1 (multi-turn magnetic encoder)|17|0 to 131071
	2130	+|D2 (multi-turn Optical encoder)|23|0 to 8388607
	2131	+
2152	2152	Table 6-54 Multi-turn absolute encoder information
2153	2153
2154	2154	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).
2155	2155
2156		-(% style="text-align:center" %)
	2136	+
2157	2157	[[image:image-20220608173701-44.png]]
2158	2158
2159	2159	Figure 6-49 The relationship between encoder feedback position and rotating load position
...	...	@@ -2162,12 +2162,12 @@
2162	2162
2163	2163	The feedback data of the absolute value encoder can be divided into the position within 1 turn of the absolute value encoder and the number of rotations of the absolute value encoder. The related information of the two feedback data is shown in the table below.
2164	2164
2165		-(% class="table-bordered" %)
2166		-|(% style="text-align:center; vertical-align:middle" %)**Monitoring number**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
2167		-|(% style="text-align:center; vertical-align:middle" %)U0-54|(% style="text-align:center; vertical-align:middle" %)Universal|(% style="text-align:center; vertical-align:middle" %)Absolute encoder position within 1 turn|(% style="text-align:center; vertical-align:middle" %)Encoder unit|(% style="text-align:center; vertical-align:middle" %)32-bit
2168		-|(% style="text-align:center; vertical-align:middle" %)U0-55|(% style="text-align:center; vertical-align:middle" %)Universal|(% style="text-align:center; vertical-align:middle" %)Rotations number of absolute encoder|(% style="text-align:center; vertical-align:middle" %)circle|(% style="text-align:center; vertical-align:middle" %)16-bit
2169		-|(% style="text-align:center; vertical-align:middle" %)U0-56|(% style="text-align:center; vertical-align:middle" %)Universal|(% style="text-align:center; vertical-align:middle" %)Multi-turn absolute value encoder current position|(% style="text-align:center; vertical-align:middle" %)Instruction unit|(% style="text-align:center; vertical-align:middle" %)32-bit
2170	2170
	2146	+|**Monitoring number**|**Category**|**Name**|**Unit**|**Data type**
	2147	+|U0-54|Universal|Absolute encoder position within 1 turn|Encoder unit|32-bit
	2148	+|U0-55|Universal|Rotations number of absolute encoder|circle|16-bit
	2149	+|U0-56|Universal|Multi-turn absolute value encoder current position|Instruction unit|32-bit
	2150	+
2171	2171	Table 6-55 Encoder feedback data
2172	2172
2173	2173	== **Absolute value system encoder battery box use precautions** ==
...	...	@@ -2174,7 +2174,7 @@
2174	2174
2175	2175	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.
2176	2176
2177		-(% style="text-align:center" %)
	2157	+
2178	2178	[[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/45.jpg?rev=1.1||height="303" width="750"]]
2179	2179
2180	2180	Figure 6-50 the encoder battery box
...	...	@@ -2187,23 +2187,23 @@
2187	2187
2188	2188	When the servo drive is powered off, if the battery is replaced and powered on again, Er.40 (encoder battery failure) will occur, and the multi-turn data will change suddenly. Please set the function code P10-03 or P10-06 to 1 to clear the encoder fault alarms and perform the origin return function operation again.
2189	2189
2190		-(% class="table-bordered" %)
2191		-|(% style="text-align:center; vertical-align:middle; width:110px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:144px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:135px" %)(((
	2170	+
	2171	+|**Function code**|**Name**|(((
2192	2192	**Setting method**
2193		-)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((
	2173	+)))|(((
2194	2194	**Effective time**
2195		-)))|(% style="text-align:center; vertical-align:middle; width:106px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:61px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:438px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
2196		-|(% style="text-align:center; vertical-align:middle; width:110px" %)P10-06|(% style="text-align:center; vertical-align:middle; width:144px" %)Multi-turn absolute encoder reset|(% style="text-align:center; vertical-align:middle; width:135px" %)(((
	2175	+)))|**Default value**|**Range**|**Definition**|**Unit**
	2176	+|P10-06|Multi-turn absolute encoder reset|(((
2197	2197	Shutdown setting
2198		-)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((
	2178	+)))|(((
2199	2199	Effective immediately
2200		-)))|(% style="text-align:center; vertical-align:middle; width:106px" %)0|(% style="text-align:center; vertical-align:middle; width:61px" %)0 to 1|(% style="width:438px" %)(((
	2180	+)))|0|0 to 1|(((
2201	2201	0: No operation
2202	2202
2203	2203	1: Clear rotation number of multi-turn absolute encoder, multi-turn absolute encoder current position and encoder fault alarms.
2204	2204
2205	2205	✎**Note: **After resetting the multi-turn data of the encoder, the encoder absolute position will change suddenly, and the mechanical origin return operation is required.
2206		-)))|(% style="text-align:center; vertical-align:middle" %)-
	2186	+)))|-
2207	2207
2208	2208	Table 6-56 Absolute encoder reset enable parameter
2209	2209
...	...	@@ -2221,18 +2221,18 @@
2221	2221
2222	2222	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.
2223	2223
2224		-(% style="text-align:center" %)
	2204	+
2225	2225	[[image:image-20220608173804-46.png]]
2226	2226
2227	2227	Figure 6-51 VDI_1 setting steps
2228	2228
2229		-(% class="table-bordered" %)
2230		-|(% style="text-align:center; vertical-align:middle; width:131px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:183px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:147px" %)(((
	2209	+
	2210	+|**Function code**|**Name**|(((
2231	2231	**Setting method**
2232		-)))|(% style="text-align:center; vertical-align:middle; width:213px" %)(((
	2212	+)))|(((
2233	2233	**Effective time**
2234		-)))|(% style="text-align:center; vertical-align:middle; width:143px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:77px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:266px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
2235		-|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-1|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_1 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((
	2214	+)))|**Default value**|**Range**|**Definition**|**Unit**
	2215	+|P13-1|Virtual VDI_1 input value|Operation setting|Effective immediately|0|0 to 1|(((
2236	2236	When P06-04 is set to 1, DI_1 channel logic is control by this function code.
2237	2237
2238	2238	VDI_1 input level:
...	...	@@ -2240,8 +2240,8 @@
2240	2240	0: low level
2241	2241
2242	2242	1: high level
2243		-)))|(% style="text-align:center; vertical-align:middle" %)-
2244		-|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-2|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_2 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((
	2223	+)))|-
	2224	+|P13-2|Virtual VDI_2 input value|Operation setting|Effective immediately|0|0 to 1|(((
2245	2245	When P06-07 is set to 1, DI_2 channel logic is control by this function code.
2246	2246
2247	2247	VDI_2 input level:
...	...	@@ -2249,8 +2249,8 @@
2249	2249	0: low level
2250	2250
2251	2251	1: high level
2252		-)))|(% style="text-align:center; vertical-align:middle" %)-
2253		-|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-3|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_3 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((
	2232	+)))|-
	2233	+|P13-3|Virtual VDI_3 input value|Operation setting|Effective immediately|0|0 to 1|(((
2254	2254	When P06-10 is set to 1, DI_3 channel logic is control by this function code.
2255	2255
2256	2256	VDI_3 input level:
...	...	@@ -2258,8 +2258,8 @@
2258	2258	0: low level
2259	2259
2260	2260	1: high level
2261		-)))|(% style="text-align:center; vertical-align:middle" %)-
2262		-|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-4|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_4 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((
	2241	+)))|-
	2242	+|P13-4|Virtual VDI_4 input value|Operation setting|Effective immediately|0|0 to 1|(((
2263	2263	When P06-13 is set to 1, DI_4 channel logic is control by this function code.
2264	2264
2265	2265	VDI_4 input level:
...	...	@@ -2267,8 +2267,8 @@
2267	2267	0: low level
2268	2268
2269	2269	1: high level
2270		-)))|(% style="text-align:center; vertical-align:middle" %)-
2271		-|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-05☆|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_5 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((
	2250	+)))|-
	2251	+|P13-05☆|Virtual VDI_5 input value|Operation setting|Effective immediately|0|0 to 1|(((
2272	2272	When P06-16 is set to 1, DI_5 channel logic is control by this function code.
2273	2273
2274	2274	VDI_5 input level:
...	...	@@ -2276,8 +2276,8 @@
2276	2276	0: low level
2277	2277
2278	2278	1: high level
2279		-)))|(% style="text-align:center; vertical-align:middle" %)-
2280		-|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-06☆|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_6 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((
	2259	+)))|-
	2260	+|P13-06☆|Virtual VDI_6 input value|Operation setting|Effective immediately|0|0 to 1|(((
2281	2281	When P06-19 is set to 1, DI_6 channel logic is control by this function code.
2282	2282
2283	2283	VDI_6 input level:
...	...	@@ -2285,8 +2285,8 @@
2285	2285	0: low level
2286	2286
2287	2287	1: high level
2288		-)))|(% style="text-align:center; vertical-align:middle" %)-
2289		-|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-07☆|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_7 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((
	2268	+)))|-
	2269	+|P13-07☆|Virtual VDI_7 input value|Operation setting|Effective immediately|0|0 to 1|(((
2290	2290	When P06-22 is set to 1, DI_7 channel logic is control by this function code.
2291	2291
2292	2292	VDI_7 input level:
...	...	@@ -2294,8 +2294,8 @@
2294	2294	0: low level
2295	2295
2296	2296	1: high level
2297		-)))|(% style="text-align:center; vertical-align:middle" %)-
2298		-|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-08☆|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_8 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((
	2277	+)))|-
	2278	+|P13-08☆|Virtual VDI_8 input value|Operation setting|Effective immediately|0|0 to 1|(((
2299	2299	When P06-25 is set to 1, DI_8 channel logic is control by this function code.
2300	2300
2301	2301	VDI_8 input level:
...	...	@@ -2303,7 +2303,7 @@
2303	2303	0: low level
2304	2304
2305	2305	1: high level
2306		-)))|(% style="text-align:center; vertical-align:middle" %)-
	2286	+)))|-
2307	2307
2308	2308	Table 6-57 Virtual VDI parameters
2309	2309
...	...	@@ -2313,11 +2313,11 @@
2313	2313
2314	2314	VD2A and VD2B servo drives have 8 hardware DI terminals (DI_1 to DI_8) , and VD2F servo drive has 4 hardware DI terminals (DI_1 to DI_4) . All the DI terminals are normal terminals.
2315	2315
2316		-(% class="table-bordered" %)
2317		-|(% style="text-align:center; vertical-align:middle" %)**Setting value**|(% style="text-align:center; vertical-align:middle" %)**DI channel logic selection**|(% style="text-align:center; vertical-align:middle" %)**Illustration**
2318		-|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)Active high level|(% 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/46.jpg?rev=1.1||height="97" width="307"]]
2319		-|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)Active low level|(% 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/47.jpg?rev=1.1||height="83" width="305"]]
2320	2320
	2297	+|**Setting value**|**DI channel logic selection**|**Illustration**
	2298	+|0|Active high level|[[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/46.jpg?rev=1.1||height="97" width="307"]]
	2299	+|1|Active low level|[[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/47.jpg?rev=1.1||height="83" width="305"]]
	2300	+
2321	2321	Table 6-58 DI terminal channel logic selection
2322	2322
2323	2323	== **VDO** ==
...	...	@@ -2326,55 +2326,55 @@
2326	2326
2327	2327	Take the DO_2 terminal as communication VDO, and the use steps of VDI are as the figure below.
2328	2328
2329		-(% style="text-align:center" %)
	2309	+
2330	2330	[[image:image-20220608173957-48.png]]
2331	2331
2332	2332	Figure 6-52 VDO_2 setting steps
2333	2333
2334		-(% class="table-bordered" %)
2335		-|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)(((
	2314	+
	2315	+|**Function code**|**Name**|(((
2336	2336	**Setting method**
2337		-)))|(% style="text-align:center; vertical-align:middle" %)(((
	2317	+)))|(((
2338	2338	**Effective time**
2339		-)))|(% style="text-align:center; vertical-align:middle" %)**Default value**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
2340		-|(% style="text-align:center; vertical-align:middle" %)P13-11|(% style="text-align:center; vertical-align:middle" %)Communication VDO_1 output value|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
	2319	+)))|**Default value**|**Range**|**Definition**|**Unit**
	2320	+|P13-11|Communication VDO_1 output value|Operation setting|Effective immediately|0|0 to 1|(((
2341	2341	VDO_1 output level：
2342	2342
2343	2343	0: low level
2344	2344
2345	2345	1: high level
2346		-)))|(% style="text-align:center; vertical-align:middle" %)-
2347		-|(% style="text-align:center; vertical-align:middle" %)P13-12|(% style="text-align:center; vertical-align:middle" %)Communication VDO_2 output value|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
	2326	+)))|-
	2327	+|P13-12|Communication VDO_2 output value|Operation setting|Effective immediately|0|0 to 1|(((
2348	2348	VDO_2 output level：
2349	2349
2350	2350	0: low level
2351	2351
2352	2352	1: high level
2353		-)))|(% style="text-align:center; vertical-align:middle" %)-
2354		-|(% style="text-align:center; vertical-align:middle" %)P13-13|(% style="text-align:center; vertical-align:middle" %)Communication VDO_3 output value|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
	2333	+)))|-
	2334	+|P13-13|Communication VDO_3 output value|Operation setting|Effective immediately|0|0 to 1|(((
2355	2355	VDO_3 output level：
2356	2356
2357	2357	0: low level
2358	2358
2359	2359	1: high level
2360		-)))|(% style="text-align:center; vertical-align:middle" %)-
2361		-|(% style="text-align:center; vertical-align:middle" %)P13-14|(% style="text-align:center; vertical-align:middle" %)Communication VDO_4 output value|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
	2340	+)))|-
	2341	+|P13-14|Communication VDO_4 output value|Operation setting|Effective immediately|0|0 to 1|(((
2362	2362	VDO_4 output level：
2363	2363
2364	2364	0: low level
2365	2365
2366	2366	1: high level
2367		-)))|(% style="text-align:center; vertical-align:middle" %)-
	2347	+)))|-
2368	2368
2369	2369	Table 6-59 Communication control DO function parameters
2370	2370
2371		-(% class="table-bordered" %)
2372		-|(% style="text-align:center; vertical-align:middle" %)**DO function number**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**
2373		-|(% style="text-align:center; vertical-align:middle" %)145|(% style="text-align:center; vertical-align:middle" %)COM_VDO1 communication VDO1 output|(% style="text-align:center; vertical-align:middle" %)Use communication VDO
2374		-|(% style="text-align:center; vertical-align:middle" %)146|(% style="text-align:center; vertical-align:middle" %)COM_VDO1 communication VDO2 output|(% style="text-align:center; vertical-align:middle" %)Use communication VDO
2375		-|(% style="text-align:center; vertical-align:middle" %)147|(% style="text-align:center; vertical-align:middle" %)COM_VDO1 communication VDO3 output|(% style="text-align:center; vertical-align:middle" %)Use communication VDO
2376		-|(% style="text-align:center; vertical-align:middle" %)148|(% style="text-align:center; vertical-align:middle" %)COM_VDO1 communication VDO4output|(% style="text-align:center; vertical-align:middle" %)Use communication VDO
2377	2377
	2352	+|**DO function number**|**Function name**|**Function**
	2353	+|145|COM_VDO1 communication VDO1 output|Use communication VDO
	2354	+|146|COM_VDO1 communication VDO2 output|Use communication VDO
	2355	+|147|COM_VDO1 communication VDO3 output|Use communication VDO
	2356	+|148|COM_VDO1 communication VDO4output|Use communication VDO
	2357	+
2378	2378	Table 6-60 VDO function number
2379	2379
2380	2380	✎**Note:** You are advised to configure function codes for DO terminals in sequence to avoid errors during DO signal observation
...	...	@@ -2385,17 +2385,17 @@
2385	2385
2386	2386	VD2 Series absolute encoder (VD2SA) servo drive provides motor overload protection to prevent motor burning due to high temperature. By setting function code P10-04 to modify motor overload alarm (A-82) and motor overload protection fault time (Er.34). The default value of P10-04 is 100%.
2387	2387
2388		-(% class="table-bordered" %)
2389		-|(% style="text-align:center; vertical-align:middle; width:122px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:99px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:150px" %)(((
	2368	+
	2369	+|**Function code**|**Name**|(((
2390	2390	**Setting method**
2391		-)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
	2371	+)))|(((
2392	2392	**Effective time**
2393		-)))|(% style="text-align:center; vertical-align:middle; width:116px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:72px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:445px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
2394		-|(% style="text-align:center; vertical-align:middle; width:122px" %)P10-04|(% style="text-align:center; vertical-align:middle; width:99px" %)motor overload protection time coefficient|(% style="text-align:center; vertical-align:middle; width:150px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:157px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:116px" %)100|(% style="text-align:center; vertical-align:middle; width:72px" %)0 to 800|(% style="width:445px" %)(((
	2373	+)))|**Default value**|**Range**|**Definition**|**Unit**
	2374	+|P10-04|motor overload protection time coefficient|Operation setting|Effective immediately|100|0 to 800|(((
2395	2395	According to the heating condition of the motor, the value could be modified to make the overload protection time float up and down in the reference value.
2396	2396
2397	2397	50 corresponds to 50%, that is, the time is reduced by half. 300 corresponds to 300%, that is, the time extended to 3 times. When the value is set to 0, the overload protection fault detection function is disabled
2398		-)))|(% style="text-align:center; vertical-align:middle" %)%
	2378	+)))|%
2399	2399
2400	2400	In the following cases, it could be modified according to the actual heat generation of the motor
2401	2401

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