Changes for page 06 Operation

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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
...	...	@@ -839,11 +839,11 @@
839	839	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.
840	840
841	841
842		-|**DI function code**|**Function name**|**Function**
843		-|21|INPOS1: Internal multi-segment position segment selection 1|Form internal multi-segment position running segment number
844		-|22|INPOS2: Internal multi-segment position segment selection 2|Form internal multi-segment position running segment number
845		-|23|INPOS3: Internal multi-segment position segment selection 3|Form internal multi-segment position running segment number
846		-|24|INPOS4: Internal multi-segment position segment selection 4|Form internal multi-segment position running segment number
	841	+|=(% scope="row" %)**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
847	847
848	848	Table 6-17 DI function code
849	849
...	...	@@ -850,12 +850,12 @@
850	850	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.
851	851
852	852
853		-|**INPOS4**|**INPOS3**|**INPOS2**|**INPOS1**|**Running position number**
854		-|0|0|0|0|1
855		-|0|0|0|1|2
856		-|0|0|1|0|3
857		-|(% colspan="5" %)…………
858		-|1|1|1|1|16
	852	+|=(% scope="row" %)**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
859	859
860	860	Table 6-18 INPOS corresponds to running segment number
861	861
...	...	@@ -925,12 +925,8 @@
925	925	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.
926	926
927	927
928		-|**Function code**|**Name**|(((
929		-**Setting method**
930		-)))|(((
931		-**Effective time**
932		-)))|**Default value**|**Range**|**Definition**|**Unit**
933		-|P07-09|(((
	927	+|=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit**
	928	+|=P07-09|(((
934	934	1st segment
935	935
936	936	displacement
...	...	@@ -943,17 +943,17 @@
943	943
944	944	2147483646
945	945	)))|Position instruction, positive and negative values could be set|-
946		-|P07-10|Maximum speed of the 1st displacement|(((
	941	+|=P07-10|Maximum speed of the 1st displacement|(((
947	947	Operation setting
948	948	)))|(((
949	949	Effective immediately
950	950	)))|100|1 to 5000|Steady-state running speed of the 1st segment|rpm
951		-|P07-11|Acceleration and deceleration of 1st segment displacement|(((
	946	+|=P07-11|Acceleration and deceleration of 1st segment displacement|(((
952	952	Operation setting
953	953	)))|(((
954	954	Effective immediately
955	955	)))|100|1 to 65535|The time required for the acceleration and deceleration of the 1st segment|ms
956		-|P07-12|Waiting time after completion of the 1st segment displacement|(((
	951	+|=P07-12|Waiting time after completion of the 1st segment displacement|(((
957	957	Operation setting
958	958	)))|(((
959	959	Effective immediately