Changes for page 06 Operation

Summary

• Page properties (3 modified, 0 added, 0 removed)
• Attachments (0 modified, 26 added, 0 removed)
  • image-20220707092316-1.png
  • image-20220707092322-2.png
  • image-20220707092401-3.jpeg
  • image-20220707092440-4.jpeg
  • image-20220707092615-5.jpeg
  • image-20220707094340-6.jpeg
  • image-20220707094345-7.jpeg
  • image-20220707094351-8.jpeg
  • image-20220707094358-9.jpeg
  • image-20220707094407-10.jpeg
  • image-20220707094414-11.jpeg
  • image-20220707094418-12.jpeg
  • image-20220707094423-13.jpeg
  • image-20220707094429-14.jpeg
  • image-20220707094437-15.jpeg
  • image-20220707094901-16.png
  • image-20220707100348-17.jpeg
  • image-20220707100409-18.png
  • image-20220707100813-19.jpeg
  • image-20220707100850-20.jpeg
  • image-20220707101328-21.png
  • image-20220707101336-22.png
  • image-20220707101341-23.png
  • image-20220707101509-25.png
  • image-20220707103506-26.png
  • image-20220707103616-27.png

Details

Page properties

Parent

...	...	@@ -1,1 +1,1 @@
1		-Servo.2\. User Manual.06 VD2 SA Series Servo Drives Manual (Full V1\.1).WebHome
	1	+Servo.1 User Manual.02 VD2 SA Series.WebHome

Author

...	...	@@ -1,1 +1,1 @@
1		-XWiki.admin
	1	+XWiki.Stone

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
...	...	@@ -61,13 +61,7 @@
61	61	By setting the “P00-04” rotation direction, you could change the rotation direction of the motor without changing the polarity of the input instruction. The function code is shown in below.
62	62
63	63
64		-|=(% scope="row" %)**Function code**|=**Name**|=(((
65		-**Setting method**
66		-)))|=(((
67		-**Effective time**
68		-)))|=(((
69		-**Default value**
70		-)))|=**Range**|=**Definition**|=**Unit**
	64	+|=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=Effective time|=**Default value**|=**Range**|=**Definition**|=**Unit**
71	71	|=P00-04|Rotation direction|(((
72	72	Shutdown setting
73	73	)))|(((
...	...	@@ -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.
	130	+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]]__.
	141	+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|(((
	269	+|=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|(((
	322	+|=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|(((
	331	+|=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**|(((
	395	+|=(% scope="row" %)**DO function code**|=**Function name**|=**Function**|=(((
403	403	**Effective time**
404	404	)))
405		-|144|(((
	398	+|=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**|(((
	405	+|=(% scope="row" %)**Function code**|=**Name**|=(((
413	413	**Setting method**
414		-)))|(((
	407	+)))|=(((
415	415	**Effective time**
416		-)))|**Default value**|**Range**|**Definition**|**Unit**
417		-|P1-30|Delay from brake output to instruction reception|(((
	409	+)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
	410	+|=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|(((
	413	+|=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|(((
	416	+|=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|(((
	423	+|=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]]__
	441	+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]]__.
	461	+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	|(((
...	...	@@ -508,16 +508,16 @@
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**|(((
	504	+|=(% scope="row" %)**Function code**|=**Name**|=(((
512	512	**Setting method**
513		-)))|(((
	506	+)))|=(((
514	514	**Effective time**
515		-)))|**Default value**|**Range**|**Definition**|**Unit**
516		-|P01-01|Control mode|(((
	508	+)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
	509	+|=P01-01|Control mode|(((
517	517	Operation setting
518	518	)))|(((
519	519	immediately Effective
520		-)))|0|0 to 1|(((
	513	+)))|0|0 to 6|(((
521	521	0: position control
522	522
523	523	2: speed control
...	...	@@ -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**|(((
	534	+|=(% scope="row" %)**Function code**|=**Name**|=(((
542	542	**Setting method**
543		-)))|(((
	536	+)))|=(((
544	544	**Effective time**
545		-)))|**Default value**|**Range**|**Definition**|**Unit**
546		-|P01-06|Position instruction source|(((
	538	+)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
	539	+|=P01-06|Position instruction source|(((
547	547	Operation setting
548	548	)))|(((
549	549	immediately Effective
...	...	@@ -559,12 +559,11 @@
559	559
560	560	1) Low-speed pulse instruction input
561	561
562		-
563		-|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/22.jpg?rev=1.1]]|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/23.jpg?rev=1.1]]
	555	+|[[image:image-20220707092316-1.png]]|[[image:image-20220707092322-2.png]]
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]]__.
	559	+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
...	...	@@ -579,29 +579,29 @@
579	579
580	580	Take VD2A and VD2B drive as examples, the connection of differential input is shown as below.
581	581
	574	+(% style="text-align:center" %)
	575	+[[image:image-20220707092615-5.jpeg]]
582	582
583		-[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/24.jpg?rev=1.1]]
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]]__”
	579	+✎**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
591	591	Take VD2A and VD2B drive as examples, the connection of differential input is shown as below.
592	592
	585	+(% style="text-align:center" %)
	586	+[[image:image-20220707092401-3.jpeg||height="530" width="834"]]
593	593
594		-[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/25.jpg?rev=1.1]]
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]]__”
	590	+✎**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
602	602	When low-speed pulses input pins, you need to set a certain pin filter time to filter the input pulse instructions to prevent external interference from entering the servo drive and affecting motor control. After the filter function is enabled, the input and output waveforms of the signal are shown in Figure 6-10.
603	603
604		-
	596	+(% style="text-align:center" %)
605	605	[[image:image-20220608163952-8.png]]
606	606
607	607	Figure 6-10 Example of filtered signal waveform
...	...	@@ -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**|(((
	604	+|=(% scope="row" %)**Function code**|=**Name**|=(((
613	613	**Setting method**
614		-)))|(((
	606	+)))|=(((
615	615	**Effective time**
616		-)))|**Default value**|**Range**|(% colspan="2" %)**Definition**|**Unit**
617		-|P00-13|Maximum position pulse frequency|(((
	608	+)))|=**Default value**|=**Range**|=(% colspan="2" %)**Definition**|=**Unit**
	609	+|=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" %)(((
	614	+|=(% 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
	639	+|=(% rowspan="2" %)9|VD2: Filtering time 25.5us
	640	+|=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**|(((
	649	+|=(% scope="row" %)**Function code**|=**Name**|=(((
658	658	**Setting method**
659		-)))|(((
	651	+)))|=(((
660	660	**Effective time**
661		-)))|**Default value**|**Range**|**Definition**|**Unit**
662		-|P00-12|Position pulse type selection|(((
	653	+)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
	654	+|=P00-12|Position pulse type selection|(((
663	663	Operation setting
664	664	)))|(((
665	665	Power-on again
...	...	@@ -679,9 +679,8 @@
679	679
680	680	Table 6-14 Position pulse type selection parameter
681	681
682		-
683		-|**Pulse type selection**|**Pulse type**|**Signal**|**Schematic diagram of forward pulse**|**Schematic diagram of negative pulse**
684		-|0|(((
	674	+|=(% scope="row" %)**Pulse type selection**|=**Pulse type**|=**Signal**|=**Schematic diagram of forward pulse**|=**Schematic diagram of negative pulse**
	675	+|=0|(((
685	685	Direction + pulse
686	686
687	687	(Positive logic)
...	...	@@ -689,13 +689,13 @@
689	689	PULSE
690	690
691	691	SIGN
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|(((
	683	+)))|[[image:image-20220707094340-6.jpeg]]|[[image:image-20220707094345-7.jpeg]]
	684	+|=1|CW/CCW|(((
694	694	PULSE (CW)
695	695
696	696	SIGN (CCW)
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|(((
	688	+)))|(% colspan="2" %)[[image:image-20220707094351-8.jpeg]]
	689	+|=2|(((
699	699	AB phase orthogonal
700	700
701	701	pulse (4 times frequency)
...	...	@@ -704,15 +704,19 @@
704	704
705	705	SIGN (Phase B)
706	706	)))|(((
707		-[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/28.jpg?rev=1.1]]
	698	+
708	708
	700	+[[image:image-20220707094358-9.jpeg]]
	701	+
709	709	Phase A is 90° ahead of Phase B
710	710	)))|(((
711		-[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/29.jpg?rev=1.1]]
	704	+
712	712
	706	+[[image:image-20220707094407-10.jpeg]]
	707	+
713	713	Phase B is 90° ahead of Phase A
714	714	)))
715		-|3|(((
	710	+|=3|(((
716	716	Direction + pulse
717	717
718	718	(Negative logic)
...	...	@@ -720,8 +720,8 @@
720	720	PULSE
721	721
722	722	SIGN
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|(((
	718	+)))|[[image:image-20220707094414-11.jpeg]]|[[image:image-20220707094418-12.jpeg]]
	719	+|=4|(((
725	725	CW/CCW
726	726
727	727	(Negative logic)
...	...	@@ -729,8 +729,8 @@
729	729	PULSE (CW)
730	730
731	731	SIGN (CCW)
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|(((
	727	+)))|(% colspan="2" %)[[image:image-20220707094423-13.jpeg]]
	728	+|=5|(((
734	734	AB phase orthogonal
735	735
736	736	pulse (4 times frequency negative logic)
...	...	@@ -739,13 +739,17 @@
739	739
740	740	SIGN (Phase B)
741	741	)))|(((
742		-[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/33.jpg?rev=1.1]]
	737	+
743	743
744		-B phase is ahead of A phase by 90°
	739	+[[image:image-20220707094429-14.jpeg]]
	740	+
	741	+Phase B is ahead of A phase by 90°
745	745	)))|(((
746		-[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/34.jpg?rev=1.1]]
	743	+
747	747
748		-A phase is ahead of B phase by 90°
	745	+[[image:image-20220707094437-15.jpeg]]
	746	+
	747	+Phase A is ahead of B phase by 90°
749	749	)))
750	750
751	751	Table 6-15 Pulse description
...	...	@@ -752,11 +752,11 @@
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
759		-
	758	+(% style="text-align:center" %)
760	760	[[image:image-20220608164116-9.png]]
761	761
762	762	Figure 6-11 The setting process of multi-segment position
...	...	@@ -763,13 +763,12 @@
763	763
764	764	1) Set multi-segment position running mode
765	765
766		-
767		-|**Function code**|**Name**|(((
	765	+|=(% scope="row" %)**Function code**|=**Name**|=(((
768	768	**Setting method**
769		-)))|(((
	767	+)))|=(((
770	770	**Effective time**
771		-)))|**Default value**|**Range**|**Definition**|**Unit**
772		-|P07-01|Multi-segment position running mode|(((
	769	+)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
	770	+|=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|(((
	781	+|=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|(((
	786	+|=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|(((
	791	+|=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|(((
	800	+|=P07-05|Displacement instruction type|(((
803	803	Shutdown setting
804	804	)))|(((
805	805	Effective immediately
...	...	@@ -815,9 +815,10 @@
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
	816	+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
	819	+(% style="text-align:center" %)
821	821	[[image:image-20220608164226-10.png]]
822	822
823	823	Figure 6-12 Single running curve (P07-02=1, P07-03=2)
...	...	@@ -824,9 +824,10 @@
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
	829	+(% style="text-align:center" %)
830	830	[[image:image-20220608164327-11.png]]
831	831
832	832	Figure 6-13 Cycle running curve (P07-02=1, P07-03=4)
...	...	@@ -838,30 +838,28 @@
838	838
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	+|=(% 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
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
847		-
848	848	Table 6-17 DI function code
849	849
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
	851	+|=(% scope="row" %)**INPOS4**|=**INPOS3**|=**INPOS2**|=**INPOS1**|=**Running position number**
	852	+|=0|0|0|0|1
	853	+|=0|0|0|1|2
	854	+|=0|0|1|0|3
	855	+|=(% colspan="5" %)…………
	856	+|=1|1|1|1|16
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
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]]__.
	860	+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		-
	862	+(% style="text-align:center" %)
865	865	[[image:image-20220608164545-12.png]]
866	866
867	867	Figure 6-14 DI switching running curve
...	...	@@ -870,14 +870,14 @@
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.
	871	+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		-
	873	+(% style="text-align:center" %)
876	876	[[image:image-20220608164847-13.png]]
877	877
878	878	Figure 6-15 Single running-run the remaining segments (P07-02=1, P07-03=4)
879	879
880		-
	878	+(% style="text-align:center" %)
881	881	[[image:image-20220608165032-14.png]]
882	882
883	883	Figure 6-16 Cycle running-run the remaining segment (P07-02=1, P07-03=4)
...	...	@@ -884,14 +884,14 @@
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.
	885	+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		-
	887	+(% style="text-align:center" %)
890	890	[[image:image-20220608165343-15.png]]
891	891
892	892	Figure 6-17 Single running-run from the start segment again (P07-02=1, P07-03=4)
893	893
894		-
	892	+(% style="text-align:center" %)
895	895	[[image:image-20220608165558-16.png]]
896	896
897	897	Figure 6-18 Cyclic running-run from the start segment again (P07-02=1, P07-03=4)
...	...	@@ -922,15 +922,10 @@
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.
	923	+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		-
928		-|**Function code**|**Name**|(((
929		-**Setting method**
930		-)))|(((
931		-**Effective time**
932		-)))|**Default value**|**Range**|**Definition**|**Unit**
933		-|P07-09|(((
	925	+|=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit**
	926	+|=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|(((
	939	+|=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|(((
	944	+|=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|(((
	949	+|=P07-12|Waiting time after completion of the 1st segment displacement|(((
957	957	Operation setting
958	958	)))|(((
959	959	Effective immediately
...	...	@@ -963,7 +963,7 @@
963	963
964	964	After setting the above parameters, the actual operation curve of the motor is shown in Figure 6-23.
965	965
966		-
	959	+(% style="text-align:center" %)
967	967	[[image:image-20220608170149-21.png]]
968	968
969	969	Figure 6-23 The 1st segment running curve of motor
...	...	@@ -972,9 +972,8 @@
972	972
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		-
976		-|**DI function code**|**Function name**|**Function**
977		-|20|ENINPOS: Internal multi-segment position enable signal|(((
	968	+|=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
	969	+|=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
...	...	@@ -994,37 +994,20 @@
994	994
995	995	It it noted that the electronic gear ratio setting range of the 2500-line incremental encoder should meet the formula (6-1), and the electronic gear ratio setting range of the 17-bit encoder should meet the formula (6-2), setting range of the electronic gear ratio of 23-bit encoder should meet the formula (6-3)
996	996
	989	+(% style="text-align:center" %)
	990	+[[image:image-20220707094901-16.png]]
997	997
998		-[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/35.png?rev=1.1]]
999	999
1000	1000
1001		-[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/36.png?rev=1.1]]
1002	1002
1003		-
1004		-[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/37.png?rev=1.1]]
1005		-
1006	1006	Otherwise, the servo drive will report Er.35: "Electronic gear ratio setting exceeds the limit"!
1007	1007
1008	1008	**(2) Setting steps of electronic gear ratio**
1009	1009
	999	+[[image:image-20220707100850-20.jpeg]]
1010	1010
1011		-[[image:image-20220608170320-22.png]]
1012		-
1013	1013	Figure 6-24 Setting steps of electronic gear ratio
1014	1014
1015		-Step1: Confirm the mechanical parameters including the reduction ratio, the ball screw lead, gear diameter in the gear drive, and pulley diameter in the pulley drive.
1016		-
1017		-Step2: Confirm the resolution of servo motor encoder.
1018		-
1019		-Step3: Confirm the parameters such as mechanical specifications, positioning accuracy, etc, and determine the load displacement corresponding to one position instruction output by the host computer.
1020		-
1021		-Step4: Combine the mechanical parameters and the load displacement corresponding to one position instruction, calculate the position instruction value required for one rotation of the load shaft.
1022		-
1023		-Step5: Calculate the value of electronic gear ratio according to formula below.
1024		-
1025		-
1026		-[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/38.png?rev=1.1]]
1027		-
1028	1028	**(3) lectronic gear ratio switch setting**
1029	1029
1030	1030
...	...	@@ -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**|(((
	1009	+|=(% scope="row" %)**Function code**|=**Name**|=(((
1035	1035	**Setting method**
1036		-)))|(((
	1011	+)))|=(((
1037	1037	**Effective time**
1038		-)))|**Default value**|**Range**|**Definition**|**Unit**
1039		-|P00-16|Number of instruction pulses when the motor rotates one circle|(((
	1013	+)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
	1014	+|=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|(((
	1023	+|=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|(((
	1030	+|=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|(((
	1039	+|=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|(((
	1046	+|=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|(((
	1059	+|=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
	1060	+|=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
...	...	@@ -1090,14 +1090,14 @@
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]]
	1068	+|=(% scope="row" %)**P00-16 value**|=(% style="width: 510px;" %)**DI terminal level corresponding to DI port function 9**|=(% style="width: 400px;" %)**Electronic gear ratio** [[image:image-20220707101503-24.png]]
	1069	+|=(% rowspan="2" %)0|(% style="width:510px" %)DI port logic invalid|(% style="width:400px" %)[[image:image-20220707101328-21.png]]
	1070	+|=(% style="width: 510px;" %)DI port logic valid|(% style="width:400px" %)[[image:image-20220707101336-22.png]]
	1071	+|=1 to 131072|(% style="width:510px" %)~-~-|(% style="width:400px" %)[[image:image-20220707101341-23.png]]
1097	1097
1098	1098	Table 6-22 Application of electronic gear ratio
1099	1099
1100		-When the function code P00-16 is not 0, the 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]] is invalid.
	1075	+When the function code P00-16 is not 0, the electronic gear ratio [[image:image-20220707101509-25.png]] is invalid.
1101	1101
1102	1102	== **Position instruction filtering** ==
1103	1103
...	...	@@ -1111,18 +1111,17 @@
1111	1111
1112	1112	Reasonable setting of the position loop filter time constant can operate the motor more smoothly, so that the motor speed will not overshoot before reaching the stable point. This setting has no effect on the number of instruction pulses. The filter time is not as long as possible. If the filter time is longer, the delay time will be longer too, and the response time will be correspondingly longer. It is an illustration of several kinds of position filtering.
1113	1113
1114		-
	1089	+(% style="text-align:center" %)
1115	1115	[[image:image-20220608170455-23.png]]
1116	1116
1117	1117	Figure 6-25 Position instruction filtering diagram
1118	1118
1119		-
1120		-|**Function code**|**Name**|(((
	1094	+|=(% scope="row" %)**Function code**|=**Name**|=(((
1121	1121	**Setting method**
1122		-)))|(((
	1096	+)))|=(((
1123	1123	**Effective time**
1124		-)))|**Default value**|**Range**|**Definition**|**Unit**
1125		-|P04-01|Pulse instruction filtering method|(((
	1098	+)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
	1099	+|=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|(((
	1108	+|=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|(((
	1111	+|=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
...	...	@@ -1156,7 +1156,7 @@
1156	1156	(% class="wikigeneratedid" %)
1157	1157	the positioning completion function means that when the position deviation meets the value set by P05-12, it could be considered that the positioning is complete in position control mode. At this time, servo drive could output the positioning completion signal, and the host computer could confirm the completion of the positioning of servo drive after receiving the signal.
1158	1158
1159		-
	1133	+(% style="text-align:center" %)
1160	1160	[[image:image-20220608170550-24.png]]
1161	1161
1162	1162	Figure 6-26 Positioning completion signal output diagram
...	...	@@ -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]]__.
	1140	+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		-
	1142	+(% style="text-align:center" %)
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		-
1174		-|**Function code**|**Name**|(((
	1147	+|=(% scope="row" %)**Function code**|=**Name**|=(((
1175	1175	**Setting method**
1176		-)))|(((
	1149	+)))|=(((
1177	1177	**Effective time**
1178		-)))|**Default value**|**Range**|**Definition**|**Unit**
1179		-|P05-12|Positioning completion threshold|(((
	1151	+)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
	1152	+|=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|(((
	1157	+|=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|(((
	1162	+|=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|(((
	1167	+|=P05-15|Positioning signal hold time|(((
1195	1195	Operation setting
1196	1196	)))|(((
1197	1197	Effective immediately
...	...	@@ -1199,10 +1199,9 @@
1199	1199
1200	1200	Table 6-24 Function code parameters of positioning completion
1201	1201
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|(((
	1175	+|=(% scope="row" %)**DO function code**|=**Function name**|=**Function**
	1176	+|=134|P-COIN positioning complete|Output this signal indicates the servo drive position is complete.
	1177	+|=135|(((
1206	1206	P-NEAR positioning close
1207	1207	)))|(((
1208	1208	Output this signal indicates that the servo drive position is close.
...	...	@@ -1212,9 +1212,9 @@
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.
	1187	+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		-
	1189	+(% style="text-align:center" %)
1218	1218	[[image:6.28.jpg||height="260" width="806"]]
1219	1219
1220	1220	Figure 6-28 Speed control block diagram
...	...	@@ -1233,7 +1233,7 @@
1233	1233	Shutdown setting
1234	1234	)))|(((
1235	1235	Effective immediately
1236		-)))|1|1 to 6|(((
	1208	+)))|1|1 to 1|(((
1237	1237	0: internal speed instruction
1238	1238
1239	1239	1: AI_1 analog input (not supported by VD2F)
...	...	@@ -1243,21 +1243,31 @@
1243	1243
1244	1244	**(1) Speed instruction source is internal speed instruction (P01-01=0)**
1245	1245
1246		-Speed instruction comes from internal instruction, and the internal speed instruction is given by a number. The VD2 series servo drive has internal multi-segment speed running function. There are 8 segments speed instructions stored in servo drive, and the speed of each segment could be set individually. The servo drive uses the 1st segment internal speed by default. To use the 2nd to 8th segment internal speed, the corresponding number of DI terminals must be configured as functions 13, 14, and 15. The detailed parameters and function codes are shown as below.
	1218	+Speed instruction comes from internal instruction, and the internal speed instruction is given by a number. The VD2 series servo drive has internal multi-segment speed running function. There are 8 segments speed instructions stored in servo drive, and the speed of each segment could be set individually. The servo drive uses the 1st segment internal speed by default. To use the 2nd to 8th segment internal speed, the corresponding number of DI terminals must be configured as functions 13, 14, and 15. The detailed parameters and function codes are shown as belo
1247	1247
	1220	+(% style="width:1141px" %)
	1221	+|(% colspan="1" %)**Function code**|(% colspan="2" %)**Name**|(% colspan="2" %)(((
	1222	+**Setting**
1248	1248
1249		-|**Function code**|**Name**|(((
1250		-**Setting method**
1251		-)))|(((
1252		-**Effective time**
1253		-)))|**Default value**|**Range**|**Definition**|**Unit**
1254		-|(% rowspan="2" %)P01-02|(% rowspan="2" %)(((
1255		-Internal speed Instruction 0
1256		-)))|(% rowspan="2" %)(((
1257		-Operation setting
1258		-)))|(% rowspan="2" %)(((
1259		-Effective immediately
1260		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1224	+**method**
	1225	+)))|(% colspan="2" %)(((
	1226	+**Effective**
	1227	+
	1228	+**time**
	1229	+)))|(% colspan="2" %)**Default value**|(% colspan="2" %)**Range**|(% colspan="2" %)**Definition**|(% colspan="2" %)**Unit**
	1230	+|(% colspan="1" %)P01-02|(% colspan="2" %)(((
	1231	+Internal speed
	1232	+
	1233	+Instruction 0
	1234	+)))|(% colspan="2" %)(((
	1235	+Operation
	1236	+
	1237	+setting
	1238	+)))|(% colspan="2" %)(((
	1239	+Effective
	1240	+
	1241	+immediately
	1242	+)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1261	1261	Internal speed instruction 0
1262	1262
1263	1263	When DI input port:
...	...	@@ -1269,15 +1269,20 @@
1269	1269	13-INSPD1: 0,
1270	1270
1271	1271	select this speed instruction to be effective.
1272		-)))|(% rowspan="2" %)rpm
1273		-|-5000 to 5000*
1274		-|(% rowspan="2" %)P01-23|(% rowspan="2" %)(((
1275		-Internal speed Instruction 1
1276		-)))|(% rowspan="2" %)(((
1277		-Operation setting
1278		-)))|(% rowspan="2" %)(((
1279		-Effective immediately
1280		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1254	+)))|(% colspan="2" %)rpm
	1255	+|(% colspan="1" %)P01-23|(% colspan="2" %)(((
	1256	+Internal speed
	1257	+
	1258	+Instruction 1
	1259	+)))|(% colspan="2" %)(((
	1260	+Operation
	1261	+
	1262	+setting
	1263	+)))|(% colspan="2" %)(((
	1264	+Effective
	1265	+
	1266	+immediately
	1267	+)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1281	1281	Internal speed instruction 1
1282	1282
1283	1283	When DI input port:
...	...	@@ -1289,15 +1289,20 @@
1289	1289	13-INSPD1: 1,
1290	1290
1291	1291	Select this speed instruction to be effective.
1292		-)))|(% rowspan="2" %)rpm
1293		-|-5000 to 5000*
1294		-|(% rowspan="2" %)P01-24|(% rowspan="2" %)(((
1295		-Internal speed Instruction 2
1296		-)))|(% rowspan="2" %)(((
1297		-Operation setting
1298		-)))|(% rowspan="2" %)(((
1299		-Effective immediately
1300		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1279	+)))|(% colspan="2" %)rpm
	1280	+|(% colspan="1" %)P01-24|(% colspan="2" %)(((
	1281	+Internal speed
	1282	+
	1283	+Instruction 2
	1284	+)))|(% colspan="2" %)(((
	1285	+Operation
	1286	+
	1287	+setting
	1288	+)))|(% colspan="2" %)(((
	1289	+Effective
	1290	+
	1291	+immediately
	1292	+)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1301	1301	Internal speed instruction 2
1302	1302
1303	1303	When DI input port:
...	...	@@ -1309,15 +1309,20 @@
1309	1309	13-INSPD1: 0,
1310	1310
1311	1311	Select this speed instruction to be effective.
1312		-)))|(% rowspan="2" %)rpm
1313		-|-5000 to 5000*
1314		-|(% rowspan="2" %)P01-25|(% rowspan="2" %)(((
1315		-Internal speed Instruction 3
1316		-)))|(% rowspan="2" %)(((
1317		-Operation setting
1318		-)))|(% rowspan="2" %)(((
1319		-Effective immediately
1320		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1304	+)))|(% colspan="2" %)rpm
	1305	+|(% colspan="1" %)P01-25|(% colspan="2" %)(((
	1306	+Internal speed
	1307	+
	1308	+Instruction 3
	1309	+)))|(% colspan="2" %)(((
	1310	+Operation
	1311	+
	1312	+setting
	1313	+)))|(% colspan="2" %)(((
	1314	+Effective
	1315	+
	1316	+immediately
	1317	+)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1321	1321	Internal speed instruction 3
1322	1322
1323	1323	When DI input port:
...	...	@@ -1329,16 +1329,20 @@
1329	1329	13-INSPD1: 1,
1330	1330
1331	1331	Select this speed instruction to be effective.
1332		-)))|(% rowspan="2" %)rpm
1333		-|-5000 to 5000*
	1329	+)))|(% colspan="2" %)rpm
	1330	+|P01-26|(% colspan="2" %)(((
	1331	+Internal speed
1334	1334
1335		-|(% rowspan="2" %)P01-26|(% rowspan="2" %)(((
1336		-Internal speed Instruction 4
1337		-)))|(% rowspan="2" %)(((
1338		-Operation setting
1339		-)))|(% rowspan="2" %)(((
1340		-Effective immediately
1341		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1333	+Instruction 4
	1334	+)))|(% colspan="2" %)(((
	1335	+Operation
	1336	+
	1337	+setting
	1338	+)))|(% colspan="2" %)(((
	1339	+Effective
	1340	+
	1341	+immediately
	1342	+)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1342	1342	Internal speed instruction 4
1343	1343
1344	1344	When DI input port:
...	...	@@ -1350,15 +1350,20 @@
1350	1350	13-INSPD1: 0,
1351	1351
1352	1352	Select this speed instruction to be effective.
1353		-)))|(% rowspan="2" %)rpm
1354		-|-5000 to 5000*
1355		-|(% rowspan="2" %)P01-27|(% rowspan="2" %)(((
1356		-Internal speed Instruction 5
1357		-)))|(% rowspan="2" %)(((
1358		-Operation setting
1359		-)))|(% rowspan="2" %)(((
1360		-Effective immediately
1361		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1354	+)))|(% colspan="1" %)rpm
	1355	+|P01-27|(% colspan="2" %)(((
	1356	+Internal speed
	1357	+
	1358	+Instruction 5
	1359	+)))|(% colspan="2" %)(((
	1360	+Operation
	1361	+
	1362	+setting
	1363	+)))|(% colspan="2" %)(((
	1364	+Effective
	1365	+
	1366	+immediately
	1367	+)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1362	1362	Internal speed instruction 5
1363	1363
1364	1364	When DI input port:
...	...	@@ -1370,15 +1370,20 @@
1370	1370	13-INSPD1: 1,
1371	1371
1372	1372	Select this speed instruction to be effective.
1373		-)))|(% rowspan="2" %)rpm
1374		-|-5000 to 5000*
1375		-|(% rowspan="2" %)P01-28|(% rowspan="2" %)(((
1376		-Internal speed Instruction 6
1377		-)))|(% rowspan="2" %)(((
1378		-Operation setting
1379		-)))|(% rowspan="2" %)(((
1380		-Effective immediately
1381		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1379	+)))|(% colspan="1" %)rpm
	1380	+|P01-28|(% colspan="2" %)(((
	1381	+Internal speed
	1382	+
	1383	+Instruction 6
	1384	+)))|(% colspan="2" %)(((
	1385	+Operation
	1386	+
	1387	+setting
	1388	+)))|(% colspan="2" %)(((
	1389	+Effective
	1390	+
	1391	+immediately
	1392	+)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1382	1382	Internal speed instruction 6
1383	1383
1384	1384	When DI input port:
...	...	@@ -1390,15 +1390,20 @@
1390	1390	13-INSPD1: 0,
1391	1391
1392	1392	Select this speed instruction to be effective.
1393		-)))|(% rowspan="2" %)rpm
1394		-|-5000 to 5000*
1395		-|(% rowspan="2" %)P01-29|(% rowspan="2" %)(((
1396		-Internal speed Instruction 7
1397		-)))|(% rowspan="2" %)(((
1398		-Operation setting
1399		-)))|(% rowspan="2" %)(((
1400		-Effective immediately
1401		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1404	+)))|(% colspan="1" %)rpm
	1405	+|P01-29|(% colspan="2" %)(((
	1406	+Internal speed
	1407	+
	1408	+Instruction 7
	1409	+)))|(% colspan="2" %)(((
	1410	+Operation
	1411	+
	1412	+setting
	1413	+)))|(% colspan="2" %)(((
	1414	+Effective
	1415	+
	1416	+immediately
	1417	+)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1402	1402	Internal speed instruction 7
1403	1403
1404	1404	When DI input port:
...	...	@@ -1410,14 +1410,10 @@
1410	1410	13-INSPD1: 1,
1411	1411
1412	1412	Select this speed instruction to be effective.
1413		-)))|(% rowspan="2" %)rpm
1414		-|-5000 to 5000*
	1429	+)))|(% colspan="1" %)rpm
1415	1415
1416	1416	Table 6-27 Internal speed instruction parameters
1417	1417
1418		-✎**Note: **“*” means the set range of VD2F servo drive.
1419		-
1420		-
1421	1421	|**DI function code**|**function name**|**Function**
1422	1422	|13|INSPD1 internal speed instruction selection 1|Form internal multi-speed running segment number
1423	1423	|14|INSPD2 internal speed instruction selection 2|Form internal multi-speed running segment number
...	...	@@ -1437,16 +1437,15 @@
1437	1437
1438	1438	Table 6-29 Correspondence between INSPD bits and segment numbers
1439	1439
1440		-
1441	1441	[[image:image-20220608170845-26.png]]
1442	1442
1443	1443	Figure 6-29 Multi-segment speed running curve
1444	1444
1445		-**(2) Speed instruction source is internal speed instruction (P01-01=0)**
	1456	+**(2) Speed instruction source is internal speed instruction (P01-01=1)**
1446	1446
1447	1447	The servo drive processes the analog voltage signal output by the host computer or other equipment as a speed instruction. VD2A and VD2B series servo drives have 2 analog input channels: AI_1 and AI_2. AI_1 is analog speed input, and AI_2 is analog speed limit.
1448	1448
1449		-
	1460	+(% style="text-align:center" %)
1450	1450	[[image:image-20220608153341-5.png]]
1451	1451
1452	1452	Figure 6-30 Analog input circuit
...	...	@@ -1453,7 +1453,7 @@
1453	1453
1454	1454	Taking AI_1 as an example, the method of setting the speed instruction of analog voltage is illustrated as below.
1455	1455
1456		-
	1467	+(% style="text-align:center" %)
1457	1457	[[image:image-20220608170955-27.png]]
1458	1458
1459	1459	Figure 6-31 Analog voltage speed instruction setting steps
...	...	@@ -1460,18 +1460,15 @@
1460	1460
1461	1461	Explanation of related terms:
1462	1462
1463		-Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
	1474	+* Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
	1475	+* Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
	1476	+* Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1464	1464
1465		-Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
1466		-
1467		-Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1468		-
1469		-
	1478	+(% style="text-align:center" %)
1470	1470	[[image:image-20220608171124-28.png]]
1471	1471
1472	1472	Figure 6-32 AI_1 diagram before and after bias
1473	1473
1474		-
1475	1475	|**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
1476	1476	|P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1477	1477	|P05-02☆|AI_1 input filter time constant|Operation setting|Effective immediately|200|0 to 60000|AI_1 channel input first-order low-pass filtering time constant|0.01ms
...	...	@@ -1488,16 +1488,14 @@
1488	1488
1489	1489	In the speed control mode, excessive acceleration of the speed instruction will cause the motor to jump or vibrate. Therefore, a suitable acceleration and deceleration time can realize the smooth speed change of the motor and avoid the occurrence of mechanical damage caused by the above situation.
1490	1490
1491		-
	1499	+(% style="text-align:center" %)
1492	1492	[[image:image-20220608171314-29.png]]
1493	1493
1494	1494	Figure 6-33 of acceleration and deceleration time diagram
1495	1495
1496		-Actual acceleration time T1 =[[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/43.jpg?rev=1.1]]
	1504	+(% style="text-align:center" %)
	1505	+[[image:image-20220707103616-27.png]]
1497	1497
1498		-Actual deceleration time T2 =[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/44.jpg?rev=1.1]]
1499		-
1500		-
1501	1501	|**Function code**|**Name**|(((
1502	1502	**Setting method**
1503	1503	)))|(((
...	...	@@ -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]]__.
	1621	+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**|(((
...	...	@@ -1632,7 +1632,6 @@
1632	1632
1633	1633	Table 6-34 Rotation detection speed threshold parameters
1634	1634
1635		-
1636	1636	|**DO function code**|**Function name**|**Function**
1637	1637	|132|(((
1638	1638	T-COIN rotation detection
...	...	@@ -1648,14 +1648,12 @@
1648	1648
1649	1649	If the absolute value of the actual speed of servo motor is less than a certain threshold P05-19, it is considered that servo motor stops rotating (close to a standstill), and the servo drive outputs a zero speed signal (ZSP) at this time. On the contrary, if the absolute value of the actual speed of the servo motor is not less than this value, it is considered that the motor is not at a standstill and the zero-speed signal is invalid.
1650	1650
1651		-
1652	1652	[[image:image-20220608171904-32.png]]
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]]__.
	1660	+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		-
1659	1659	|**Function code**|**Name**|(((
1660	1660	**Setting method**
1661	1661	)))|(((
...	...	@@ -1681,14 +1681,12 @@
1681	1681
1682	1682	When the absolute value of the deviation between the actual speed of the servo motor after filtering and the speed instruction meets a certain threshold P05-17, it is considered that the actual speed of the motor has reached the set value, and the servo drive outputs a speed coincidence signal (V-COIN) at this time. Conversely, if the absolute value of the deviation between the actual speed of the servo motor and the set speed instruction after filtering exceeds the threshold, the speed consistent signal is invalid.
1683	1683
1684		-
1685	1685	[[image:image-20220608172053-33.png]]
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]]__.
	1691	+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		-
1692	1692	|**Function code**|**Name**|(((
1693	1693	**Setting method**
1694	1694	)))|(((
...	...	@@ -1714,14 +1714,12 @@
1714	1714
1715	1715	After filtering, the absolute value of the actual speed of the servo motor exceeds a certain threshold [P05-17], and it is considered that the actual speed of the servo motor has reached the expected value. At this time, the servo drive can output a speed close signal (V-NEAR) through the DO terminal. Conversely, if the absolute value of the actual speed of the servo motor after filtering is not greater than this value, the speed approach signal is invalid.
1716	1716
1717		-
1718	1718	[[image:image-20220608172207-34.png]]
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]]__.
	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>>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 6-41>>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		-
1725	1725	|**Function code**|**Name**|(((
1726	1726	**Setting method**
1727	1727	)))|(((
...	...	@@ -1735,7 +1735,6 @@
1735	1735
1736	1736	Table 6-40 Speed approaching signal threshold parameters
1737	1737
1738		-
1739	1739	|**DO function code**|**Function name**|**Function**
1740	1740	|137|(((
1741	1741	V-NEAR speed approach
...	...	@@ -1796,7 +1796,7 @@
1796	1796
1797	1797	The servo drive processes the analog voltage signal output by host computer or other equipment as torque instruction. VD2A and VD2B series servo drives have 2 analog input channels: AI_1 and AI_2. AI_1 is analog torque input, and AI_2 is analog torque limit.
1798	1798
1799		-
	1797	+(% style="text-align:center" %)
1800	1800	[[image:image-20220608153646-7.png||height="213" width="408"]]
1801	1801
1802	1802	Figure 6-40 Analog input circuit
...	...	@@ -1803,7 +1803,7 @@
1803	1803
1804	1804	Taking AI_1 as an example, the method of setting torque instruction of analog voltage is as below.
1805	1805
1806		-
	1804	+(% style="text-align:center" %)
1807	1807	[[image:image-20220608172502-36.png]]
1808	1808
1809	1809	Figure 6-41 Analog voltage torque instruction setting steps
...	...	@@ -1810,18 +1810,15 @@
1810	1810
1811	1811	Explanation of related terms:
1812	1812
1813		-Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
	1811	+* Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
	1812	+* Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
	1813	+* Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1814	1814
1815		-Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
1816		-
1817		-Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1818		-
1819		-
	1815	+(% style="text-align:center" %)
1820	1820	[[image:image-20220608172611-37.png]]
1821	1821
1822	1822	Figure 6-42 AI_1 diagram before and after bias
1823	1823
1824		-
1825	1825	|**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
1826	1826	|P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1827	1827	|P05-02☆|AI_1 input filter time constant|Operation setting|Effective immediately|200|0 to 60000|AI_1 channel input first-order low-pass filtering time constant|0.01ms
...	...	@@ -1836,7 +1836,6 @@
1836	1836
1837	1837	In torque mode, the servo drive could realize low-pass filtering of torque instruction, making the instruction smoother and reducing the vibration of servo motor. The first-order filtering is shown in __[[Figure 6-43>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_205df0eae349c586.gif?rev=1.1]]__.
1838	1838
1839		-
1840	1840	|**Function code**|**Name**|(((
1841	1841	**Setting method**
1842	1842	)))|(((
...	...	@@ -1852,7 +1852,7 @@
1852	1852
1853	1853	✎**Note: **If the filter time constant is set too large, the responsiveness will be reduced. Please set it while confirming the responsiveness.
1854	1854
1855		-
	1849	+(% style="text-align:center" %)
1856	1856	[[image:image-20220608172646-38.png]]
1857	1857
1858	1858	Figure 6-43 Torque instruction-first-order filtering diagram
...	...	@@ -1863,7 +1863,7 @@
1863	1863
1864	1864	At any time, there is only one valid torque limit value. And the positive and negative torque limit values do not exceed the maximum torque of drive and motor and ±300.0% of the rated torque.
1865	1865
1866		-
	1860	+(% style="text-align:center" %)
1867	1867	[[image:image-20220608172806-39.png]]
1868	1868
1869	1869	Figure 6-44 Torque instruction limit diagram
...	...	@@ -1872,7 +1872,6 @@
1872	1872
1873	1873	You need to set the torque limit source by function code P01-14. After the setting, the drive torque instruction will be limited within the torque limit value. When the torque limit value is reached, the motor will operate with the torque limit value as the torque instruction. The torque limit value should be set according to the load operation requirements. If the setting is too small, the motor's acceleration and deceleration capacity may be weakened. During constant torque operation, the actual motor speed cannot reach the required value.
1874	1874
1875		-
1876	1876	|**Function code**|**Name**|(((
1877	1877	**Setting method**
1878	1878	)))|(((
...	...	@@ -1896,7 +1896,6 @@
1896	1896
1897	1897	Torque limit source is from inside, you need to set torque limit, and the value is set by function code P01-15 and P01-16.
1898	1898
1899		-
1900	1900	|**Function code**|**Name**|(((
1901	1901	**Setting method**
1902	1902	)))|(((
...	...	@@ -1927,7 +1927,6 @@
1927	1927
1928	1928	When torque instruction reaches the torque limit value, the drive outputs a torque limit signal (T-LIMIT) for the host computer use. At this time, one DO terminal of the drive should be assigned to function 139 (T-LIMIT, in torque limit) , and confirm that the terminal logic is valid.
1929	1929
1930		-
1931	1931	|**DO function code**|**Function name**|**Function**
1932	1932	|139|(((
1933	1933	T-LIMIT in torque limit
...	...	@@ -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]]__.
	1933	+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]]__.
	1976	+✎**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
...	...	@@ -1992,14 +1992,13 @@
1992	1992
1993	1993	The torque arrival function is used to determine whether the actual torque instruction reaches the set interval. When the actual torque instruction reaches the torque instruction threshold, the servo drive outputs a torque arrival signal (T-COIN) for the host computer use.
1994	1994
1995		-
	1986	+(% style="text-align:center" %)
1996	1996	[[image:image-20220608173541-42.png]]
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]]__.
	1991	+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		-
2003	2003	|**Function code**|**Name**|(((
2004	2004	**Setting method**
2005	2005	)))|(((
...	...	@@ -2044,15 +2044,14 @@
2044	2044
2045	2045	Mixed control mode means that when the servo enable is ON and the status of the servo drive is "run", the mode of the servo drive could be switched between different modes. The VD2 series servo drives have the following 3 mixed control modes:
2046	2046
2047		-Position mode  Speed mode
	2037	+Position mode⇔ Speed mode
2048	2048
2049		-Position mode  Torque mode
	2039	+Position mode ⇔Torque mode
2050	2050
2051		-Speed mode  Torque mode
	2041	+Speed mode ⇔Torque mode
2052	2052
2053	2053	Set the function code P00-01 through the software of Wecon “SCTool” or servo drive panel, and the servo drive will run in mixed mode.
2054	2054
2055		-
2056	2056	|**Function code**|**Name**|(((
2057	2057	**Setting method**
2058	2058	)))|(((
...	...	@@ -2078,9 +2078,8 @@
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.
	2070	+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		-
2084	2084	|**DI function code**|**Name**|**Function name**|**Function**
2085	2085	|17|MixModeSel|Mixed mode selection|Used in mixed control mode, when the servo status is "run", set the current control mode of the servo drive(((
2086	2086	|**P00-01**|**MixModeSel terminal logic**|**Control mode**
...	...	@@ -2116,7 +2116,7 @@
2116	2116
2117	2117	The relationship between encoder feedback position and rotating load position is shown in the figure below. (take a 17-bit encoder as an example).
2118	2118
2119		-
	2107	+(% style="text-align:center" %)
2120	2120	[[image:image-20220608173618-43.png]]
2121	2121
2122	2122	Figure 6-48 Diagram of relationship between encoder feedback position and rotating load position
...	...	@@ -2125,7 +2125,6 @@
2125	2125
2126	2126	The encoder adapted to the multi-turn absolute value system is equipped with 16-bit RAM memory. Compared with the single-turn absolute value, it can additionally memorize the number of turns of the 16-bit encoder. The multi-turn absolute encoder is equipped with a battery (the battery is installed on the encoder cable with a battery unit), which can achieve direct internal high-speed readings and external output without the need for external sensors to assist memory positions. The types and information of encoders adapted to VD2 series servo drives are shown as below.
2127	2127
2128		-
2129	2129	|**Encoder type**|**Encoder resolution (bits)**|**Data range**
2130	2130	|C1 (multi-turn magnetic encoder)|17|0 to 131071
2131	2131	|D2 (multi-turn Optical encoder)|23|0 to 8388607
...	...	@@ -2134,7 +2134,7 @@
2134	2134
2135	2135	The relationship between encoder feedback position and rotating load multi-turn is shown in the figure below (take a 23-bit encoder as an example).
2136	2136
2137		-
	2124	+(% style="text-align:center" %)
2138	2138	[[image:image-20220608173701-44.png]]
2139	2139
2140	2140	Figure 6-49 The relationship between encoder feedback position and rotating load position
...	...	@@ -2143,7 +2143,6 @@
2143	2143
2144	2144	The feedback data of the absolute value encoder can be divided into the position within 1 turn of the absolute value encoder and the number of rotations of the absolute value encoder. The related information of the two feedback data is shown in the table below.
2145	2145
2146		-
2147	2147	|**Monitoring number**|**Category**|**Name**|**Unit**|**Data type**
2148	2148	|U0-54|Universal|Absolute encoder position within 1 turn|Encoder unit|32-bit
2149	2149	|U0-55|Universal|Rotations number of absolute encoder|circle|16-bit

image-20220707092316-1.png

Author

...	...	@@ -1,0 +1,1 @@
	1	+XWiki.Stone

Size

...	...	@@ -1,0 +1,1 @@
	1	+277.2 KB

Content

image-20220707092322-2.png

Author

...	...	@@ -1,0 +1,1 @@
	1	+XWiki.Stone

Size

...	...	@@ -1,0 +1,1 @@
	1	+277.2 KB

Content

image-20220707092401-3.jpeg

Author

...	...	@@ -1,0 +1,1 @@
	1	+XWiki.Stone

Size

...	...	@@ -1,0 +1,1 @@
	1	+73.4 KB

Content

image-20220707092440-4.jpeg

Author

...	...	@@ -1,0 +1,1 @@
	1	+XWiki.Stone

Size

...	...	@@ -1,0 +1,1 @@
	1	+33.1 KB

Content

image-20220707092615-5.jpeg

Author

...	...	@@ -1,0 +1,1 @@
	1	+XWiki.Stone

Size

...	...	@@ -1,0 +1,1 @@
	1	+61.4 KB

Content

image-20220707094340-6.jpeg

Author

...	...	@@ -1,0 +1,1 @@
	1	+XWiki.Stone

Size

...	...	@@ -1,0 +1,1 @@
	1	+8.2 KB

Content

image-20220707094345-7.jpeg

Author

...	...	@@ -1,0 +1,1 @@
	1	+XWiki.Stone

Size

...	...	@@ -1,0 +1,1 @@
	1	+7.9 KB

Content

image-20220707094351-8.jpeg

Author

...	...	@@ -1,0 +1,1 @@
	1	+XWiki.Stone

Size

...	...	@@ -1,0 +1,1 @@
	1	+8.1 KB

Content

image-20220707094358-9.jpeg

Author

...	...	@@ -1,0 +1,1 @@
	1	+XWiki.Stone

Size

...	...	@@ -1,0 +1,1 @@
	1	+8.8 KB

Content

image-20220707094407-10.jpeg

Author

...	...	@@ -1,0 +1,1 @@
	1	+XWiki.Stone

Size

...	...	@@ -1,0 +1,1 @@
	1	+9.0 KB

Content

image-20220707094414-11.jpeg

Author

...	...	@@ -1,0 +1,1 @@
	1	+XWiki.Stone

Size

...	...	@@ -1,0 +1,1 @@
	1	+8.1 KB

Content

image-20220707094418-12.jpeg

Author

...	...	@@ -1,0 +1,1 @@
	1	+XWiki.Stone

Size

...	...	@@ -1,0 +1,1 @@
	1	+8.9 KB

Content

image-20220707094423-13.jpeg

Author

...	...	@@ -1,0 +1,1 @@
	1	+XWiki.Stone

Size

...	...	@@ -1,0 +1,1 @@
	1	+8.0 KB

Content

image-20220707094429-14.jpeg

Author

...	...	@@ -1,0 +1,1 @@
	1	+XWiki.Stone

Size

...	...	@@ -1,0 +1,1 @@
	1	+9.1 KB

Content

image-20220707094437-15.jpeg

Author

...	...	@@ -1,0 +1,1 @@
	1	+XWiki.Stone

Size

...	...	@@ -1,0 +1,1 @@
	1	+9.1 KB

Content

image-20220707094901-16.png

Author

...	...	@@ -1,0 +1,1 @@
	1	+XWiki.Stone

Size

...	...	@@ -1,0 +1,1 @@
	1	+11.1 KB

Content

image-20220707100348-17.jpeg

Author

...	...	@@ -1,0 +1,1 @@
	1	+XWiki.Stone

Size

...	...	@@ -1,0 +1,1 @@
	1	+343.4 KB

Content

image-20220707100409-18.png

Author

...	...	@@ -1,0 +1,1 @@
	1	+XWiki.Stone

Size

...	...	@@ -1,0 +1,1 @@
	1	+4.0 KB

Content

image-20220707100813-19.jpeg

Author

...	...	@@ -1,0 +1,1 @@
	1	+XWiki.Stone

Size

...	...	@@ -1,0 +1,1 @@
	1	+343.4 KB

Content

image-20220707100850-20.jpeg

Author

...	...	@@ -1,0 +1,1 @@
	1	+XWiki.Stone

Size

...	...	@@ -1,0 +1,1 @@
	1	+338.3 KB

Content

image-20220707101328-21.png

Author

...	...	@@ -1,0 +1,1 @@
	1	+XWiki.Stone

Size

...	...	@@ -1,0 +1,1 @@
	1	+1.0 KB

Content

image-20220707101336-22.png

Author

...	...	@@ -1,0 +1,1 @@
	1	+XWiki.Stone

Size

...	...	@@ -1,0 +1,1 @@
	1	+1.1 KB

Content

image-20220707101341-23.png

Author

...	...	@@ -1,0 +1,1 @@
	1	+XWiki.Stone

Size

...	...	@@ -1,0 +1,1 @@
	1	+1.8 KB

Content

image-20220707101509-25.png

Author

...	...	@@ -1,0 +1,1 @@
	1	+XWiki.Stone

Size

...	...	@@ -1,0 +1,1 @@
	1	+513 bytes

Content

image-20220707103506-26.png

Author

...	...	@@ -1,0 +1,1 @@
	1	+XWiki.Stone

Size

...	...	@@ -1,0 +1,1 @@
	1	+7.4 KB

Content

image-20220707103616-27.png

Author

...	...	@@ -1,0 +1,1 @@
	1	+XWiki.Stone

Size

...	...	@@ -1,0 +1,1 @@
	1	+7.3 KB

Content