Changes for page 06 Operation
Last modified by Iris on 2025/08/05 17:31
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... ... @@ -147,15 +147,15 @@ 147 147 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]]__. 148 148 149 149 150 -|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. 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. 153 153 154 154 Table 6-5 Comparison of two shutdown modes 155 155 156 156 157 -|**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. 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. 159 159 160 160 Table 6-6 Comparison of two shutdown status 161 161 ... ... @@ -164,14 +164,14 @@ 164 164 The related parameters of the servo OFF shutdown mode are shown in the table below. 165 165 166 166 167 -|**Function code**|**Name**|((( 167 +|=(% scope="row" %)**Function code**|=**Name**|=((( 168 168 **Setting method** 169 -)))|((( 169 +)))|=((( 170 170 **Effective time** 171 -)))|((( 171 +)))|=((( 172 172 **Default value** 173 -)))|**Range**|**Definition**|**Unit** 174 -|P00-05|Servo OFF shutdown|((( 173 +)))|=**Range**|=**Definition**|=**Unit** 174 +|=P00-05|Servo OFF shutdown|((( 175 175 Shutdown 176 176 177 177 setting ... ... @@ -200,12 +200,12 @@ 200 200 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. 201 201 202 202 203 -|**Function code**|**Name**|((( 203 +|=(% scope="row" %)**Function code**|=**Name**|=((( 204 204 **Setting method** 205 -)))|((( 205 +)))|=((( 206 206 **Effective time** 207 -)))|**Default value**|**Range**|**Definition**|**Unit** 208 -|P06-08|DI_3 channel function selection|Operation setting|Power-on again|3|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|((( 209 209 0: OFF (not used) 210 210 211 211 01: S-ON servo enable ... ... @@ -254,7 +254,7 @@ 254 254 255 255 Others: reserved 256 256 )))|- 257 -|P06-09|DI_3 channel logic selection|Operation setting|((( 257 +|=P06-09|DI_3 channel logic selection|Operation setting|((( 258 258 Effective immediately 259 259 )))|0|0 to 1|((( 260 260 DI port input logic validity function selection. ... ... @@ -263,7 +263,7 @@ 263 263 264 264 1: Normally closed input. Active high level (switch off); 265 265 )))|- 266 -|P06-10|DI_3 input source selection|Operation setting|((( 266 +|=P06-10|DI_3 input source selection|Operation setting|((( 267 267 Effective immediately 268 268 )))|0|0 to 1|((( 269 269 Select the DI_3 port type to enable ... ... @@ -272,8 +272,7 @@ 272 272 273 273 1: virtual VDI_3 input terminal 274 274 )))|- 275 - 276 -|P06-11|DI_4 channel function selection|((( 275 +|=P06-11|DI_4 channel function selection|((( 277 277 Operation setting 278 278 )))|((( 279 279 again Power-on ... ... @@ -326,7 +326,7 @@ 326 326 327 327 Others: reserved 328 328 )))|- 329 -|P06-12|DI_4 channel logic selection|Operation setting|((( 328 +|=P06-12|DI_4 channel logic selection|Operation setting|((( 330 330 Effective immediately 331 331 )))|0|0 to 1|((( 332 332 DI port input logic validity function selection. ... ... @@ -335,7 +335,7 @@ 335 335 336 336 1: Normally closed input. Active high level (switch off); 337 337 )))|- 338 -|P06-13|DI_4 input source selection|Operation setting|((( 337 +|=P06-13|DI_4 input source selection|Operation setting|((( 339 339 Effective immediately 340 340 )))|0|0 to 1|((( 341 341 Select the DI_4 port type to enable ... ... @@ -399,10 +399,10 @@ 399 399 Related function code is as below. 400 400 401 401 402 -|**DO function code**|**Function name**|**Function**|((( 401 +|=(% scope="row" %)**DO function code**|=**Function name**|=**Function**|=((( 403 403 **Effective time** 404 404 ))) 405 -|144|((( 404 +|=144|((( 406 406 BRK-OFF Brake output 407 407 )))|Output the signal indicates the servo motor brake release|Power-on again 408 408 ... ... @@ -409,18 +409,18 @@ 409 409 Table 6-2 Relevant function codes for brake setting 410 410 411 411 412 -|**Function code**|**Name**|((( 411 +|=(% scope="row" %)**Function code**|=**Name**|=((( 413 413 **Setting method** 414 -)))|((( 413 +)))|=((( 415 415 **Effective time** 416 -)))|**Default value**|**Range**|**Definition**|**Unit** 417 -|P1-30|Delay from brake output to instruction reception|((( 415 +)))|=**Default value**|=**Range**|=**Definition**|=**Unit** 416 +|=P1-30|Delay from brake output to instruction reception|((( 418 418 Operation setting 419 419 )))|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 420 -|P1-31|In static state, delay from brake output OFF to the motor is power off|((( 419 +|=P1-31|In static state, delay from brake output OFF to the motor is power off|((( 421 421 Operation setting 422 422 )))|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 423 -|P1-32|Rotation status, when the brake output OFF, the speed threshold|((( 422 +|=P1-32|Rotation status, when the brake output OFF, the speed threshold|((( 424 424 Operation setting 425 425 )))|Effective immediately|30|0 to 3000|((( 426 426 When the motor rotates, the motor speed threshold when the brake (BRK-OFF) is allowed to output OFF. ... ... @@ -427,7 +427,7 @@ 427 427 428 428 When the brake output (BRK-OFF) is not allocated, this function code has no effect. 429 429 )))|rpm 430 -|P1-33|Rotation status, Delay from servo enable OFF to brake output OFF|((( 429 +|=P1-33|Rotation status, Delay from servo enable OFF to brake output OFF|((( 431 431 Operation setting 432 432 )))|Effective immediately|500|1 to 1000|((( 433 433 When the motor rotates, the delay time from the servo enable (S-ON) OFF to the brake (BRK-OFF) output OFF is allowed. ... ... @@ -508,12 +508,12 @@ 508 508 Set “P00-01” to 1 by the software “Wecon SCTool”, and the servo drive is in position control mode. 509 509 510 510 511 -|**Function code**|**Name**|((( 510 +|=(% scope="row" %)**Function code**|=**Name**|=((( 512 512 **Setting method** 513 -)))|((( 512 +)))|=((( 514 514 **Effective time** 515 -)))|**Default value**|**Range**|**Definition**|**Unit** 516 -|P01-01|Control mode|((( 514 +)))|=**Default value**|=**Range**|=**Definition**|=**Unit** 515 +|=P01-01|Control mode|((( 517 517 Operation setting 518 518 )))|((( 519 519 immediately Effective ... ... @@ -538,12 +538,12 @@ 538 538 When the VD2 series servo drive is in position control mode, firstly set the position instruction source through the function code “P01-06”. 539 539 540 540 541 -|**Function code**|**Name**|((( 540 +|=(% scope="row" %)**Function code**|=**Name**|=((( 542 542 **Setting method** 543 -)))|((( 542 +)))|=((( 544 544 **Effective time** 545 -)))|**Default value**|**Range**|**Definition**|**Unit** 546 -|P01-06|Position instruction source|((( 544 +)))|=**Default value**|=**Range**|=**Definition**|=**Unit** 545 +|=P01-06|Position instruction source|((( 547 547 Operation setting 548 548 )))|((( 549 549 immediately Effective ... ... @@ -609,17 +609,17 @@ 609 609 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. 610 610 611 611 612 -|**Function code**|**Name**|((( 611 +|=(% scope="row" %)**Function code**|=**Name**|=((( 613 613 **Setting method** 614 -)))|((( 613 +)))|=((( 615 615 **Effective time** 616 -)))|**Default value**|**Range**|(% colspan="2" %)**Definition**|**Unit** 617 -|P00-13|Maximum position pulse frequency|((( 615 +)))|=**Default value**|=**Range**|=(% colspan="2" %)**Definition**|=**Unit** 616 +|=P00-13|Maximum position pulse frequency|((( 618 618 Shutdown setting 619 619 )))|((( 620 620 Effective immediately 621 621 )))|300|1 to 500|(% colspan="2" %)Set the maximum frequency of external pulse instruction|KHz 622 -|(% rowspan="3" %)P00-14|(% rowspan="3" %)Position pulse anti-interference level|(% rowspan="3" %)((( 621 +|=(% rowspan="3" %)P00-14|(% rowspan="3" %)Position pulse anti-interference level|(% rowspan="3" %)((( 623 623 Operation setting 624 624 )))|(% rowspan="3" %)((( 625 625 Power-on again ... ... @@ -644,8 +644,8 @@ 644 644 645 645 8: Filtering time 16.384us 646 646 )))|(% rowspan="3" %)- 647 -|(% rowspan="2" %)9|VD2: Filtering time 25.5us 648 -|VD2F: Filtering time 25.5us 646 +|=(% rowspan="2" %)9|VD2: Filtering time 25.5us 647 +|=VD2F: Filtering time 25.5us 649 649 650 650 Table 6-13 Position pulse frequency and anti-interference level parameters 651 651 ... ... @@ -654,12 +654,12 @@ 654 654 In VD2 series servo drives, there are three types of input pulse instructions, and the related function codes are shown in the table below. 655 655 656 656 657 -|**Function code**|**Name**|((( 656 +|=(% scope="row" %)**Function code**|=**Name**|=((( 658 658 **Setting method** 659 -)))|((( 658 +)))|=((( 660 660 **Effective time** 661 -)))|**Default value**|**Range**|**Definition**|**Unit** 662 -|P00-12|Position pulse type selection|((( 660 +)))|=**Default value**|=**Range**|=**Definition**|=**Unit** 661 +|=P00-12|Position pulse type selection|((( 663 663 Operation setting 664 664 )))|((( 665 665 Power-on again ... ... @@ -680,8 +680,8 @@ 680 680 Table 6-14 Position pulse type selection parameter 681 681 682 682 683 -|**Pulse type selection**|**Pulse type**|**Signal**|**Schematic diagram of forward pulse**|**Schematic diagram of negative pulse** 684 -|0|((( 682 +|=(% scope="row" %)**Pulse type selection**|=**Pulse type**|=**Signal**|=**Schematic diagram of forward pulse**|=**Schematic diagram of negative pulse** 683 +|=0|((( 685 685 Direction + pulse 686 686 687 687 (Positive logic) ... ... @@ -690,12 +690,12 @@ 690 690 691 691 SIGN 692 692 )))|[[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]] 693 -|1|CW/CCW|((( 692 +|=1|CW/CCW|((( 694 694 PULSE (CW) 695 695 696 696 SIGN (CCW) 697 697 )))|(% 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]] 698 -|2|((( 697 +|=2|((( 699 699 AB phase orthogonal 700 700 701 701 pulse (4 times frequency) ... ... @@ -712,7 +712,7 @@ 712 712 713 713 Phase B is 90° ahead of Phase A 714 714 ))) 715 -|3|((( 714 +|=3|((( 716 716 Direction + pulse 717 717 718 718 (Negative logic) ... ... @@ -721,7 +721,7 @@ 721 721 722 722 SIGN 723 723 )))|[[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]] 724 -|4|((( 723 +|=4|((( 725 725 CW/CCW 726 726 727 727 (Negative logic) ... ... @@ -730,7 +730,7 @@ 730 730 731 731 SIGN (CCW) 732 732 )))|(% 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]] 733 -|5|((( 732 +|=5|((( 734 734 AB phase orthogonal 735 735 736 736 pulse (4 times frequency negative logic) ... ... @@ -764,12 +764,12 @@ 764 764 1) Set multi-segment position running mode 765 765 766 766 767 -|**Function code**|**Name**|((( 766 +|=(% scope="row" %)**Function code**|=**Name**|=((( 768 768 **Setting method** 769 -)))|((( 768 +)))|=((( 770 770 **Effective time** 771 -)))|**Default value**|**Range**|**Definition**|**Unit** 772 -|P07-01|Multi-segment position running mode|((( 770 +)))|=**Default value**|=**Range**|=**Definition**|=**Unit** 771 +|=P07-01|Multi-segment position running mode|((( 773 773 Shutdown setting 774 774 )))|((( 775 775 Effective immediately ... ... @@ -780,17 +780,17 @@ 780 780 781 781 2: DI switching running 782 782 )))|- 783 -|P07-02|Start segment number|((( 782 +|=P07-02|Start segment number|((( 784 784 Shutdown setting 785 785 )))|((( 786 786 Effective immediately 787 787 )))|1|1 to 16|1st segment NO. in non-DI switching mode|- 788 -|P07-03|End segment number|((( 787 +|=P07-03|End segment number|((( 789 789 Shutdown setting 790 790 )))|((( 791 791 Effective immediately 792 792 )))|1|1 to 16|last segment NO. in non-DI switching mode|- 793 -|P07-04|Margin processing method|((( 792 +|=P07-04|Margin processing method|((( 794 794 Shutdown setting 795 795 )))|((( 796 796 Effective immediately ... ... @@ -799,7 +799,7 @@ 799 799 800 800 1: Run again from the start segment 801 801 )))|- 802 -|P07-05|Displacement instruction type|((( 801 +|=P07-05|Displacement instruction type|((( 803 803 Shutdown setting 804 804 )))|((( 805 805 Effective immediately