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Changes for page 06 Operation

Last modified by Iris on 2025/08/05 17:31
From version 46.1
edited by Leo Wei
on 2022/06/11 17:55
Change comment: There is no comment for this version
To version 50.3
edited by Joey
on 2022/06/18 21:54
Change comment: Renamed from xwiki:Servo.1 User Manual1.06 VD2 SA Series Servo Drives Manual (Full V1\.1).06 Operation.WebHome

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1 -Servo.2\. User Manual.06 VD2 SA Series Servo Drives Manual (Full V1\.1).WebHome
1 +Servo.1 User Manual1.06 VD2 SA Series Servo Drives Manual (Full V1\.1).WebHome
Author
... ... @@ -1,1 +1,1 @@
1 -XWiki.admin
1 +XWiki.Joey
Content
... ... @@ -25,7 +25,7 @@
25 25  
26 26  After power on the main circuit, the bus voltage indicator shows no abnormality, and the panel display "rdy", indicating that the servo drive is in an operational state, waiting for the host computer to give the servo enable signal.
27 27  
28 -If the drive panel displays other fault codes, please refer to __[[“10 Faults>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/10%20Malfunctions/#HFaultandwarningcodetable]]__” to analyze and eliminate the cause of the fault.
28 +If the drive panel displays other fault codes, please refer to __[[“10 Faults>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/10%20Malfunctions/]]__” to analyze and eliminate the cause of the fault.
29 29  
30 30  **(2) Set the servo drive enable (S-ON) to invalid (OFF)**
31 31  
... ... @@ -35,7 +35,7 @@
35 35  
36 36  **(1) Panel jog operation**
37 37  
38 -Enter “P10-01” by pressing the key on the panel. After pressing “OK”, the panel will display the current jog speed. At this time, you can adjust the jog speed by pressing the "up" or "down" keys; After adjusting the moving speed, press "OK", and the panel displays "JOG" and is in a flashing state. Press "OK" again to enter the jog operation mode (the motor is now powered on!). Long press the "up" and "down" keys to achieve the forward and reverse rotation of the motor. Press "Mode" key to exit the jog operation mode. For operation and display, please refer to __[["5.3.2. Jog operation">>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/05%20Panel/#HJogoperation]]__.
38 +Enter “P10-01” by pressing the key on the panel. After pressing “OK”, the panel will display the current jog speed. At this time, you can adjust the jog speed by pressing the "up" or "down" keys; After adjusting the moving speed, press "OK", and the panel displays "JOG" and is in a flashing state. Press "OK" again to enter the jog operation mode (the motor is now powered on!). Long press the "up" and "down" keys to achieve the forward and reverse rotation of the motor. Press "Mode" key to exit the jog operation mode. For operation and display, please refer to __[["5.3.2. Jog operation">>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/05%20Panel/#HJogoperation]]__.
39 39  
40 40  **(2) Jog operation of servo debugging platform**
41 41  
... ... @@ -133,7 +133,7 @@
133 133  
134 134  **(2) Input the instruction and the motor rotates**
135 135  
136 -Input appropriate instructions during operation, first run the motor at a low speed, and observe the rotation to see if it conforms to the set rotation direction. Observe the actual running speed, bus voltage and other parameters of the motor through the host computer debugging platform. According to [[__"7 Adjustment"__>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/]], the motor could work as expected.
136 +Input appropriate instructions during operation, first run the motor at a low speed, and observe the rotation to see if it conforms to the set rotation direction. Observe the actual running speed, bus voltage and other parameters of the motor through the host computer debugging platform. According to [[__"7 Adjustment"__>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/]], the motor could work as expected.
137 137  
138 138  **(3) Timing diagram of power on**
139 139  
... ... @@ -144,7 +144,7 @@
144 144  
145 145  == **Servo shutdown** ==
146 146  
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]]__.
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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HServoshutdown]]__. According to the shutdown status, it could be divided into free running state and position locked, as shown in __[[Table 6-6>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HServoshutdown]]__.
148 148  
149 149  
150 150  |=(% scope="row" %)Shutdown mode|=Shutdown description|=Shutdown characteristics
... ... @@ -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.
... ... @@ -445,7 +445,7 @@
445 445  
446 446  1) Brake timing when servo motor is stationary
447 447  
448 -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]]__
447 +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>>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/image-20220608163304-3.png?rev=1.1]]__
449 449  
450 450  
451 451  |(((
... ... @@ -465,7 +465,7 @@
465 465  
466 466  2) The brake timing when servo motor rotates
467 467  
468 -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]]__.
467 +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>>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/image-20220608163425-4.png?rev=1.1]]__.
469 469  
470 470  
471 471  |(((
... ... @@ -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
... ... @@ -564,7 +564,7 @@
564 564  |VD2A and VD2B servo drives|VD2F servo drive
565 565  |(% colspan="2" %)Figure 6-7 Position instruction input setting
566 566  
567 -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]]__.
566 +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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HPositioninstructioninputsetting]]__.
568 568  
569 569  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.
570 570  
... ... @@ -584,7 +584,7 @@
584 584  
585 585  Figure 6-8 Differential input connection
586 586  
587 -✎**Note: **The differential input connection of the VD2F drive differs only from the signal pin number. Please refer to “__[[4.4.3 position instruction input signal>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/04%20Wiring/#HPositioninstructioninputsignal]]__”
586 +✎**Note: **The differential input connection of the VD2F drive differs only from the signal pin number. Please refer to “__[[4.4.3 position instruction input signal>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/04%20Wiring/#HPositioninstructioninputsignal]]__”
588 588  
589 589  2.Open collector input
590 590  
... ... @@ -595,7 +595,7 @@
595 595  
596 596  Figure 6-9 Open collector input connection
597 597  
598 -✎**Note:** The differential input connection of the VD2F drive differs only from the signal pin number. Please refer to “__[[4.4.3 position instruction input signal>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/04%20Wiring/#HPositioninstructioninputsignal]]__”
597 +✎**Note:** The differential input connection of the VD2F drive differs only from the signal pin number. Please refer to “__[[4.4.3 position instruction input signal>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/04%20Wiring/#HPositioninstructioninputsignal]]__”
599 599  
600 600  2) Position pulse frequency and anti-interference level
601 601  
... ... @@ -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)
... ... @@ -752,7 +752,7 @@
752 752  
753 753  **(2) The source of position instruction is internal position instruction (P01-06=1)**
754 754  
755 -The VD2 series servo drive has a multi-segment position operation function, which supports maximum 16-segment instructions. The displacement, maximum operating speed (steady-state operating speed) and acceleration/deceleration time of each segment could be set separately. The waiting time between positions could also be set according to actual needs. The setting process of multi-segment position is shown in __[[Figure 6-11>>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_6173c39e1ccf532e.gif?rev=1.1]]__.
754 +The VD2 series servo drive has a multi-segment position operation function, which supports maximum 16-segment instructions. The displacement, maximum operating speed (steady-state operating speed) and acceleration/deceleration time of each segment could be set separately. The waiting time between positions could also be set according to actual needs. The setting process of multi-segment position is shown in __[[Figure 6-11>>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/image-20220608164116-9.png?rev=1.1]]__.
756 756  
757 757  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.
758 758  
... ... @@ -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
... ... @@ -815,7 +815,7 @@
815 815  
816 816  ~1. Single running
817 817  
818 -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
817 +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>>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/image-20220608164226-10.png?rev=1.1]]__, and S1 and S2 are the displacements of the 1st segment and the 2nd segment respectively
819 819  
820 820  
821 821  [[image:image-20220608164226-10.png]]
... ... @@ -824,7 +824,7 @@
824 824  
825 825  2. Cycle running
826 826  
827 -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.
826 +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>>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/image-20220608164327-11.png?rev=1.1]]__, and S1,S2,S3 and S4 are the displacements of the 1st, 2nd, 3rd and 4th segment respectively.
828 828  
829 829  
830 830  [[image:image-20220608164327-11.png]]
... ... @@ -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  
... ... @@ -850,16 +850,16 @@
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  
862 -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]]__.
861 +The operating curve in this running mode is shown in __[[Figure 6-14>>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/image-20220608164545-12.png?rev=1.1]]__.
863 863  
864 864  
865 865  [[image:image-20220608164545-12.png]]
... ... @@ -870,7 +870,7 @@
870 870  
871 871  **A. Run the remaining segments**
872 872  
873 -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.
872 +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>>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/image-20220608164847-13.png?rev=1.1]]__ and __[[Figure 6-16>>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/image-20220608165032-14.png?rev=1.1]]__ respectively.
874 874  
875 875  
876 876  [[image:image-20220608164847-13.png]]
... ... @@ -884,7 +884,7 @@
884 884  
885 885  **B. Run again from the start segment**
886 886  
887 -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.
886 +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>>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/image-20220608165343-15.png?rev=1.1]]__ and __[[Figure 6-18>>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/image-20220608165558-16.png?rev=1.1]]__ respectively.
888 888  
889 889  
890 890  [[image:image-20220608165343-15.png]]
... ... @@ -922,15 +922,11 @@
922 922  
923 923  2) Multi-segment position running curve setting
924 924  
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.
924 +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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%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
... ... @@ -973,8 +973,8 @@
973 973  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.
974 974  
975 975  
976 -|**DI function code**|**Function name**|**Function**
977 -|20|ENINPOS: Internal multi-segment position enable signal|(((
971 +|=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
972 +|=20|ENINPOS: Internal multi-segment position enable signal|(((
978 978  DI port logic invalid: Does not affect the current operation of the servo motor.
979 979  
980 980  DI port logic valid: Motor runs multi-segment position
... ... @@ -1031,12 +1031,12 @@
1031 1031  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.
1032 1032  
1033 1033  
1034 -|**Function code**|**Name**|(((
1029 +|=(% scope="row" %)**Function code**|=**Name**|=(((
1035 1035  **Setting method**
1036 -)))|(((
1031 +)))|=(((
1037 1037  **Effective time**
1038 -)))|**Default value**|**Range**|**Definition**|**Unit**
1039 -|P00-16|Number of instruction pulses when the motor rotates one circle|(((
1033 +)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1034 +|=P00-16|Number of instruction pulses when the motor rotates one circle|(((
1040 1040  Shutdown setting
1041 1041  )))|(((
1042 1042  Effective immediately
... ... @@ -1045,7 +1045,7 @@
1045 1045  
1046 1046  unit
1047 1047  )))
1048 -|P00-17|(((
1043 +|=P00-17|(((
1049 1049  Electronic gear 1
1050 1050  
1051 1051  numerator
... ... @@ -1052,7 +1052,7 @@
1052 1052  )))|Operation setting|(((
1053 1053  Effective immediately
1054 1054  )))|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.|-
1055 -|P00-18|(((
1050 +|=P00-18|(((
1056 1056  Electronic gear 1
1057 1057  
1058 1058  denominator
... ... @@ -1061,7 +1061,7 @@
1061 1061  )))|(((
1062 1062  Effective immediately
1063 1063  )))|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.|-
1064 -|P00-19|(((
1059 +|=P00-19|(((
1065 1065  Electronic gear 2
1066 1066  
1067 1067  numerator
... ... @@ -1068,7 +1068,7 @@
1068 1068  )))|Operation setting|(((
1069 1069  Effective immediately
1070 1070  )))|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.|-
1071 -|P00-20|(((
1066 +|=P00-20|(((
1072 1072  Electronic gear 2
1073 1073  
1074 1074  denominator
... ... @@ -1081,8 +1081,8 @@
1081 1081  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.
1082 1082  
1083 1083  
1084 -|**DI function code**|**Function name**|**Function**
1085 -|09|GEAR-SEL electronic gear switch 1|(((
1079 +|=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
1080 +|=09|GEAR-SEL electronic gear switch 1|(((
1086 1086  DI port logic invalid: electronic gear ratio 1
1087 1087  
1088 1088  DI port logic valid: electronic gear ratio 2
... ... @@ -1090,10 +1090,10 @@
1090 1090  
1091 1091  Table 6-21 Switching conditions of electronic gear ratio group
1092 1092  
1093 -|**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]]
1094 -|(% 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]]
1095 -|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]]
1096 -|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]]
1088 +|=(% scope="row" %)**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]]
1089 +|=(% 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]]
1090 +|=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]]
1091 +|=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]]
1097 1097  
1098 1098  Table 6-22 Application of electronic gear ratio
1099 1099  
... ... @@ -1117,12 +1117,12 @@
1117 1117  Figure 6-25 Position instruction filtering diagram
1118 1118  
1119 1119  
1120 -|**Function code**|**Name**|(((
1115 +|=(% scope="row" %)**Function code**|=**Name**|=(((
1121 1121  **Setting method**
1122 -)))|(((
1117 +)))|=(((
1123 1123  **Effective time**
1124 -)))|**Default value**|**Range**|**Definition**|**Unit**
1125 -|P04-01|Pulse instruction filtering method|(((
1119 +)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1120 +|=P04-01|Pulse instruction filtering method|(((
1126 1126  Shutdown setting
1127 1127  )))|(((
1128 1128  Effective immediately
... ... @@ -1131,10 +1131,10 @@
1131 1131  
1132 1132  1: average filtering
1133 1133  )))|-
1134 -|P04-02|Position instruction 1st-order low-pass filtering time constant|Shutdown setting|(((
1129 +|=P04-02|Position instruction 1st-order low-pass filtering time constant|Shutdown setting|(((
1135 1135  Effective immediately
1136 1136  )))|0|0 to 1000|Position instruction first-order low-pass filtering time constant|ms
1137 -|P04-03|Position instruction average filtering time constant|Shutdown setting|(((
1132 +|=P04-03|Position instruction average filtering time constant|Shutdown setting|(((
1138 1138  Effective immediately
1139 1139  )))|0|0 to 128|Position instruction average filtering time constant|ms
1140 1140  
... ... @@ -1163,35 +1163,34 @@
1163 1163  
1164 1164  When using the positioning completion or approach function, you could also set positioning completion, positioning approach conditions, window and hold time. The principle of window filter time is shown in Figure 6-27.
1165 1165  
1166 -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]]__.
1161 +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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HPosition-relatedDOoutputfunction]]__.
1167 1167  
1168 -
1169 1169  [[image:image-20220608170650-25.png]]
1170 1170  
1171 1171  Figure 6-27 Positioning completion signal output with increased window filter time diagram
1172 1172  
1173 1173  
1174 -|**Function code**|**Name**|(((
1168 +|=(% scope="row" %)**Function code**|=**Name**|=(((
1175 1175  **Setting method**
1176 -)))|(((
1170 +)))|=(((
1177 1177  **Effective time**
1178 -)))|**Default value**|**Range**|**Definition**|**Unit**
1179 -|P05-12|Positioning completion threshold|(((
1172 +)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1173 +|=P05-12|Positioning completion threshold|(((
1180 1180  Operation setting
1181 1181  )))|(((
1182 1182  Effective immediately
1183 1183  )))|800|1 to 65535|Positioning completion threshold|Equivalent pulse unit
1184 -|P05-13|Positioning approach threshold|(((
1178 +|=P05-13|Positioning approach threshold|(((
1185 1185  Operation setting
1186 1186  )))|(((
1187 1187  Effective immediately
1188 1188  )))|5000|1 to 65535|Positioning approach threshold|Equivalent pulse unit
1189 -|P05-14|Position detection window time|(((
1183 +|=P05-14|Position detection window time|(((
1190 1190  Operation setting
1191 1191  )))|(((
1192 1192  Effective immediately
1193 1193  )))|10|0 to 20000|Set positioning completion detection window time|ms
1194 -|P05-15|Positioning signal hold time|(((
1188 +|=P05-15|Positioning signal hold time|(((
1195 1195  Operation setting
1196 1196  )))|(((
1197 1197  Effective immediately
... ... @@ -1200,9 +1200,9 @@
1200 1200  Table 6-24 Function code parameters of positioning completion
1201 1201  
1202 1202  
1203 -|**DO function code**|**Function name**|**Function**
1204 -|134|P-COIN positioning complete|Output this signal indicates the servo drive position is complete.
1205 -|135|(((
1197 +|=(% scope="row" %)**DO function code**|=**Function name**|=**Function**
1198 +|=134|P-COIN positioning complete|Output this signal indicates the servo drive position is complete.
1199 +|=135|(((
1206 1206  P-NEAR positioning close
1207 1207  )))|(((
1208 1208  Output this signal indicates that the servo drive position is close.
... ... @@ -1212,7 +1212,7 @@
1212 1212  
1213 1213  = **Speed control mode** =
1214 1214  
1215 -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.
1209 +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: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/6.28.jpg?width=806&height=260&rev=1.1]] is the speed control block diagram.
1216 1216  
1217 1217  
1218 1218  [[image:6.28.jpg||height="260" width="806"]]
... ... @@ -1612,7 +1612,7 @@
1612 1612  
1613 1613  Figure 6-35 Rotation detection signal diagram
1614 1614  
1615 -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]]__.
1609 +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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__ and __[[Table 6-35>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__.
1616 1616  
1617 1617  
1618 1618  |**Function code**|**Name**|(((
... ... @@ -1653,7 +1653,7 @@
1653 1653  
1654 1654  Figure 6-36 Zero-speed signal diagram
1655 1655  
1656 -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]]__.
1650 +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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__ and __[[Table 6-37>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__.
1657 1657  
1658 1658  
1659 1659  |**Function code**|**Name**|(((
... ... @@ -1686,7 +1686,7 @@
1686 1686  
1687 1687  Figure 6-37 Speed consistent signal diagram
1688 1688  
1689 -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]]__.
1683 +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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__ and __[[Table 6-39>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__.
1690 1690  
1691 1691  
1692 1692  |**Function code**|**Name**|(((
... ... @@ -1719,7 +1719,7 @@
1719 1719  
1720 1720  Figure 6-38 Speed approaching signal diagram
1721 1721  
1722 -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]]__.
1716 +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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__ and __[[Table 6-40>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__.
1723 1723  
1724 1724  
1725 1725  |**Function code**|**Name**|(((
... ... @@ -1939,7 +1939,7 @@
1939 1939  
1940 1940  In torque mode, if the given torque instruction is too large to exceed the load torque of the mechanical side. This would cause the servo motor to continuously accelerate and overspeed. In order to protect the machinery, the speed of the motor must be limited.
1941 1941  
1942 -In torque mode, the actual motor speed would be in the limited speed. After the speed limit is reached, the motor runs at a constant speed at the speed limit. The running curves are shown as __[[Figure 6-45>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_e1eced3568bc22d7.gif?rev=1.1]]__ and __[[Figure 6-46>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_79d479af8534745f.gif?rev=1.1]]__.
1936 +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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeedlimitintorquemode]]__ and __[[Figure 6-46>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeedlimitintorquemode]]__.
1943 1943  
1944 1944  |(((
1945 1945  [[image:image-20220608172910-40.png]]
... ... @@ -1982,7 +1982,7 @@
1982 1982  
1983 1983  Table 6-48 Speed limit parameters in torque mode
1984 1984  
1985 -✎**Note:** Function codes P01-17 and P01-18 are only effective in limiting motor speed under the torque mode. The speed limit value is set according to load requirements. To set speed limit in speed mode or position mode, please refer to __[[6.3.3 Speed instruction limit>>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/#HSpeedinstructionlimit]]__.
1979 +✎**Note:** Function codes P01-17 and P01-18 are only effective in limiting motor speed under the torque mode. The speed limit value is set according to load requirements. To set speed limit in speed mode or position mode, please refer to __[[6.3.3 Speed instruction limit>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeedinstructionlimit]]__.
1986 1986  
1987 1987  == **Torque-related DO output functions** ==
1988 1988  
... ... @@ -1997,7 +1997,7 @@
1997 1997  
1998 1998  Figure 6-47 Torque arrival output diagram
1999 1999  
2000 -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]]__.
1994 +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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HTorque-relatedDOoutputfunctions]]__ and __[[Table 6-50>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HTorque-relatedDOoutputfunctions]]__.
2001 2001  
2002 2002  
2003 2003  |**Function code**|**Name**|(((
... ... @@ -2078,7 +2078,7 @@
2078 2078  
2079 2079  Table 6-51 Mixed control mode parameters
2080 2080  
2081 -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.
2075 +Please set the servo drive parameters in different control modes according to the mechanical structure and indicators. The setting method refer to [[__“Parameters”__>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/09%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.
2082 2082  
2083 2083  
2084 2084  |**DI function code**|**Name**|**Function name**|**Function**