Changes for page 06 Operation
Last modified by Iris on 2025/07/23 15:49
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... ... @@ -507,12 +507,12 @@ 507 507 Set “P00-01” to 1 by the software “Wecon SCTool”, and the servo drive is in position control mode. 508 508 509 509 510 -|**Function code**|**Name**|((( 510 +|=(% scope="row" %)**Function code**|=**Name**|=((( 511 511 **Setting method** 512 -)))|((( 512 +)))|=((( 513 513 **Effective time** 514 -)))|**Default value**|**Range**|**Definition**|**Unit** 515 -|P01-01|Control mode|((( 514 +)))|=**Default value**|=**Range**|=**Definition**|=**Unit** 515 +|=P01-01|Control mode|((( 516 516 Operation setting 517 517 )))|((( 518 518 immediately Effective ... ... @@ -537,12 +537,12 @@ 537 537 When the VD2 series servo drive is in position control mode, firstly set the position instruction source through the function code “P01-06”. 538 538 539 539 540 -|**Function code**|**Name**|((( 540 +|=(% scope="row" %)**Function code**|=**Name**|=((( 541 541 **Setting method** 542 -)))|((( 542 +)))|=((( 543 543 **Effective time** 544 -)))|**Default value**|**Range**|**Definition**|**Unit** 545 -|P01-06|Position instruction source|((( 544 +)))|=**Default value**|=**Range**|=**Definition**|=**Unit** 545 +|=P01-06|Position instruction source|((( 546 546 Operation setting 547 547 )))|((( 548 548 immediately Effective ... ... @@ -608,17 +608,17 @@ 608 608 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. 609 609 610 610 611 -|**Function code**|**Name**|((( 611 +|=(% scope="row" %)**Function code**|=**Name**|=((( 612 612 **Setting method** 613 -)))|((( 613 +)))|=((( 614 614 **Effective time** 615 -)))|**Default value**|**Range**|(% colspan="2" %)**Definition**|**Unit** 616 -|P00-13|Maximum position pulse frequency|((( 615 +)))|=**Default value**|=**Range**|=(% colspan="2" %)**Definition**|=**Unit** 616 +|=P00-13|Maximum position pulse frequency|((( 617 617 Shutdown setting 618 618 )))|((( 619 619 Effective immediately 620 620 )))|300|1 to 500|(% colspan="2" %)Set the maximum frequency of external pulse instruction|KHz 621 -|(% rowspan="3" %)P00-14|(% rowspan="3" %)Position pulse anti-interference level|(% rowspan="3" %)((( 621 +|=(% rowspan="3" %)P00-14|(% rowspan="3" %)Position pulse anti-interference level|(% rowspan="3" %)((( 622 622 Operation setting 623 623 )))|(% rowspan="3" %)((( 624 624 Power-on again ... ... @@ -643,8 +643,8 @@ 643 643 644 644 8: Filtering time 16.384us 645 645 )))|(% rowspan="3" %)- 646 -|(% rowspan="2" %)9|VD2: Filtering time 25.5us 647 -|VD2F: Filtering time 25.5us 646 +|=(% rowspan="2" %)9|VD2: Filtering time 25.5us 647 +|=VD2F: Filtering time 25.5us 648 648 649 649 Table 6-13 Position pulse frequency and anti-interference level parameters 650 650 ... ... @@ -653,12 +653,12 @@ 653 653 In VD2 series servo drives, there are three types of input pulse instructions, and the related function codes are shown in the table below. 654 654 655 655 656 -|**Function code**|**Name**|((( 656 +|=(% scope="row" %)**Function code**|=**Name**|=((( 657 657 **Setting method** 658 -)))|((( 658 +)))|=((( 659 659 **Effective time** 660 -)))|**Default value**|**Range**|**Definition**|**Unit** 661 -|P00-12|Position pulse type selection|((( 660 +)))|=**Default value**|=**Range**|=**Definition**|=**Unit** 661 +|=P00-12|Position pulse type selection|((( 662 662 Operation setting 663 663 )))|((( 664 664 Power-on again ... ... @@ -679,8 +679,8 @@ 679 679 Table 6-14 Position pulse type selection parameter 680 680 681 681 682 -|**Pulse type selection**|**Pulse type**|**Signal**|**Schematic diagram of forward pulse**|**Schematic diagram of negative pulse** 683 -|0|((( 682 +|=(% scope="row" %)**Pulse type selection**|=**Pulse type**|=**Signal**|=**Schematic diagram of forward pulse**|=**Schematic diagram of negative pulse** 683 +|=0|((( 684 684 Direction + pulse 685 685 686 686 (Positive logic) ... ... @@ -689,12 +689,12 @@ 689 689 690 690 SIGN 691 691 )))|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/21.jpg?rev=1.1]]|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/26.jpg?rev=1.1]] 692 -|1|CW/CCW|((( 692 +|=1|CW/CCW|((( 693 693 PULSE (CW) 694 694 695 695 SIGN (CCW) 696 696 )))|(% colspan="2" %)[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/27.jpg?rev=1.1]] 697 -|2|((( 697 +|=2|((( 698 698 AB phase orthogonal 699 699 700 700 pulse (4 times frequency) ... ... @@ -711,7 +711,7 @@ 711 711 712 712 Phase B is 90° ahead of Phase A 713 713 ))) 714 -|3|((( 714 +|=3|((( 715 715 Direction + pulse 716 716 717 717 (Negative logic) ... ... @@ -720,7 +720,7 @@ 720 720 721 721 SIGN 722 722 )))|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/30.jpg?rev=1.1]]|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/31.jpg?rev=1.1]] 723 -|4|((( 723 +|=4|((( 724 724 CW/CCW 725 725 726 726 (Negative logic) ... ... @@ -729,7 +729,7 @@ 729 729 730 730 SIGN (CCW) 731 731 )))|(% colspan="2" %)[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/32.jpg?rev=1.1]] 732 -|5|((( 732 +|=5|((( 733 733 AB phase orthogonal 734 734 735 735 pulse (4 times frequency negative logic) ... ... @@ -763,12 +763,12 @@ 763 763 1) Set multi-segment position running mode 764 764 765 765 766 -|**Function code**|**Name**|((( 766 +|=(% scope="row" %)**Function code**|=**Name**|=((( 767 767 **Setting method** 768 -)))|((( 768 +)))|=((( 769 769 **Effective time** 770 -)))|**Default value**|**Range**|**Definition**|**Unit** 771 -|P07-01|Multi-segment position running mode|((( 770 +)))|=**Default value**|=**Range**|=**Definition**|=**Unit** 771 +|=P07-01|Multi-segment position running mode|((( 772 772 Shutdown setting 773 773 )))|((( 774 774 Effective immediately ... ... @@ -779,17 +779,17 @@ 779 779 780 780 2: DI switching running 781 781 )))|- 782 -|P07-02|Start segment number|((( 782 +|=P07-02|Start segment number|((( 783 783 Shutdown setting 784 784 )))|((( 785 785 Effective immediately 786 786 )))|1|1 to 16|1st segment NO. in non-DI switching mode|- 787 -|P07-03|End segment number|((( 787 +|=P07-03|End segment number|((( 788 788 Shutdown setting 789 789 )))|((( 790 790 Effective immediately 791 791 )))|1|1 to 16|last segment NO. in non-DI switching mode|- 792 -|P07-04|Margin processing method|((( 792 +|=P07-04|Margin processing method|((( 793 793 Shutdown setting 794 794 )))|((( 795 795 Effective immediately ... ... @@ -798,7 +798,7 @@ 798 798 799 799 1: Run again from the start segment 800 800 )))|- 801 -|P07-05|Displacement instruction type|((( 801 +|=P07-05|Displacement instruction type|((( 802 802 Shutdown setting 803 803 )))|((( 804 804 Effective immediately ... ... @@ -838,11 +838,11 @@ 838 838 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. 839 839 840 840 841 -|**DI function code**|**Function name**|**Function** 842 -|21|INPOS1: Internal multi-segment position segment selection 1|Form internal multi-segment position running segment number 843 -|22|INPOS2: Internal multi-segment position segment selection 2|Form internal multi-segment position running segment number 844 -|23|INPOS3: Internal multi-segment position segment selection 3|Form internal multi-segment position running segment number 845 -|24|INPOS4: Internal multi-segment position segment selection 4|Form internal multi-segment position running segment number 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 846 846 847 847 Table 6-17 DI function code 848 848 ... ... @@ -849,12 +849,12 @@ 849 849 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. 850 850 851 851 852 -|**INPOS4**|**INPOS3**|**INPOS2**|**INPOS1**|**Running position number** 853 -|0|0|0|0|1 854 -|0|0|0|1|2 855 -|0|0|1|0|3 856 -|(% colspan="5" %)………… 857 -|1|1|1|1|16 852 +|=(% scope="row" %)**INPOS4**|=**INPOS3**|=**INPOS2**|=**INPOS1**|=**Running position number** 853 +|=0|0|0|0|1 854 +|=0|0|0|1|2 855 +|=0|0|1|0|3 856 +|=(% colspan="5" %)………… 857 +|=1|1|1|1|16 858 858 859 859 Table 6-18 INPOS corresponds to running segment number 860 860 ... ... @@ -924,12 +924,8 @@ 924 924 The multi-segment position running supports maximum 16 segments different position instructions. The displacement, maximum running speed (steady-state running speed), acceleration and deceleration time of each position and the waiting time between segment could all be set. __[[Table 6-19>>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. 925 925 926 926 927 -|**Function code**|**Name**|((( 928 -**Setting method** 929 -)))|((( 930 -**Effective time** 931 -)))|**Default value**|**Range**|**Definition**|**Unit** 932 -|P07-09|((( 927 +|=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit** 928 +|=P07-09|((( 933 933 1st segment 934 934 935 935 displacement ... ... @@ -942,17 +942,17 @@ 942 942 943 943 2147483646 944 944 )))|Position instruction, positive and negative values could be set|- 945 -|P07-10|Maximum speed of the 1st displacement|((( 941 +|=P07-10|Maximum speed of the 1st displacement|((( 946 946 Operation setting 947 947 )))|((( 948 948 Effective immediately 949 949 )))|100|1 to 5000|Steady-state running speed of the 1st segment|rpm 950 -|P07-11|Acceleration and deceleration of 1st segment displacement|((( 946 +|=P07-11|Acceleration and deceleration of 1st segment displacement|((( 951 951 Operation setting 952 952 )))|((( 953 953 Effective immediately 954 954 )))|100|1 to 65535|The time required for the acceleration and deceleration of the 1st segment|ms 955 -|P07-12|Waiting time after completion of the 1st segment displacement|((( 951 +|=P07-12|Waiting time after completion of the 1st segment displacement|((( 956 956 Operation setting 957 957 )))|((( 958 958 Effective immediately ... ... @@ -972,8 +972,8 @@ 972 972 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. 973 973 974 974 975 -|**DI function code**|**Function name**|**Function** 976 -|20|ENINPOS: Internal multi-segment position enable signal|((( 971 +|=(% scope="row" %)**DI function code**|=**Function name**|=**Function** 972 +|=20|ENINPOS: Internal multi-segment position enable signal|((( 977 977 DI port logic invalid: Does not affect the current operation of the servo motor. 978 978 979 979 DI port logic valid: Motor runs multi-segment position ... ... @@ -1030,12 +1030,12 @@ 1030 1030 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. 1031 1031 1032 1032 1033 -|**Function code**|**Name**|((( 1029 +|=(% scope="row" %)**Function code**|=**Name**|=((( 1034 1034 **Setting method** 1035 -)))|((( 1031 +)))|=((( 1036 1036 **Effective time** 1037 -)))|**Default value**|**Range**|**Definition**|**Unit** 1038 -|P00-16|Number of instruction pulses when the motor rotates one circle|((( 1033 +)))|=**Default value**|=**Range**|=**Definition**|=**Unit** 1034 +|=P00-16|Number of instruction pulses when the motor rotates one circle|((( 1039 1039 Shutdown setting 1040 1040 )))|((( 1041 1041 Effective immediately ... ... @@ -1044,7 +1044,7 @@ 1044 1044 1045 1045 unit 1046 1046 ))) 1047 -|P00-17|((( 1043 +|=P00-17|((( 1048 1048 Electronic gear 1 1049 1049 1050 1050 numerator ... ... @@ -1051,7 +1051,7 @@ 1051 1051 )))|Operation setting|((( 1052 1052 Effective immediately 1053 1053 )))|1|1 to 4294967294|Set the numerator of the 1st group electronic gear ratio for position instruction frequency division or multiplication. P00-16 is effective when the number of instruction pulses of one motor rotation is 0.|- 1054 -|P00-18|((( 1050 +|=P00-18|((( 1055 1055 Electronic gear 1 1056 1056 1057 1057 denominator ... ... @@ -1060,7 +1060,7 @@ 1060 1060 )))|((( 1061 1061 Effective immediately 1062 1062 )))|1|1 to 4294967294|Set the denominator of the 1st group electronic gear ratio for position instruction frequency division or multiplication. P00-16 is effective when the number of instruction pulses of one motor rotation is 0.|- 1063 -|P00-19|((( 1059 +|=P00-19|((( 1064 1064 Electronic gear 2 1065 1065 1066 1066 numerator ... ... @@ -1067,7 +1067,7 @@ 1067 1067 )))|Operation setting|((( 1068 1068 Effective immediately 1069 1069 )))|1|1 to 4294967294|Set the numerator of the 2nd group electronic gear ratio for position instruction frequency division or multiplication. P00-16 is effective when the number of instruction pulses of one motor rotation is 0.|- 1070 -|P00-20|((( 1066 +|=P00-20|((( 1071 1071 Electronic gear 2 1072 1072 1073 1073 denominator ... ... @@ -1080,8 +1080,8 @@ 1080 1080 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. 1081 1081 1082 1082 1083 -|**DI function code**|**Function name**|**Function** 1084 -|09|GEAR-SEL electronic gear switch 1|((( 1079 +|=(% scope="row" %)**DI function code**|=**Function name**|=**Function** 1080 +|=09|GEAR-SEL electronic gear switch 1|((( 1085 1085 DI port logic invalid: electronic gear ratio 1 1086 1086 1087 1087 DI port logic valid: electronic gear ratio 2 ... ... @@ -1089,10 +1089,10 @@ 1089 1089 1090 1090 Table 6-21 Switching conditions of electronic gear ratio group 1091 1091 1092 -|**P00-16 value**|**DI terminal level corresponding to DI port function 9**|**Electronic gear ratio**[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/39.png?rev=1.1]] 1093 -|(% rowspan="2" %)0|DI port logic invalid|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/40.png?rev=1.1]] 1094 -|DI port logic valid|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/41.png?rev=1.1]] 1095 -|1 to 131072|~-~-|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/42.png?rev=1.1]] 1088 +|=(% scope="row" %)**P00-16 value**|=**DI terminal level corresponding to DI port function 9**|=**Electronic gear ratio**[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/39.png?rev=1.1]] 1089 +|=(% rowspan="2" %)0|DI port logic invalid|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/40.png?rev=1.1]] 1090 +|=DI port logic valid|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/41.png?rev=1.1]] 1091 +|=1 to 131072|~-~-|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/42.png?rev=1.1]] 1096 1096 1097 1097 Table 6-22 Application of electronic gear ratio 1098 1098 ... ... @@ -1116,12 +1116,12 @@ 1116 1116 Figure 6-25 Position instruction filtering diagram 1117 1117 1118 1118 1119 -|**Function code**|**Name**|((( 1115 +|=(% scope="row" %)**Function code**|=**Name**|=((( 1120 1120 **Setting method** 1121 -)))|((( 1117 +)))|=((( 1122 1122 **Effective time** 1123 -)))|**Default value**|**Range**|**Definition**|**Unit** 1124 -|P04-01|Pulse instruction filtering method|((( 1119 +)))|=**Default value**|=**Range**|=**Definition**|=**Unit** 1120 +|=P04-01|Pulse instruction filtering method|((( 1125 1125 Shutdown setting 1126 1126 )))|((( 1127 1127 Effective immediately ... ... @@ -1130,10 +1130,10 @@ 1130 1130 1131 1131 1: average filtering 1132 1132 )))|- 1133 -|P04-02|Position instruction 1st-order low-pass filtering time constant|Shutdown setting|((( 1129 +|=P04-02|Position instruction 1st-order low-pass filtering time constant|Shutdown setting|((( 1134 1134 Effective immediately 1135 1135 )))|0|0 to 1000|Position instruction first-order low-pass filtering time constant|ms 1136 -|P04-03|Position instruction average filtering time constant|Shutdown setting|((( 1132 +|=P04-03|Position instruction average filtering time constant|Shutdown setting|((( 1137 1137 Effective immediately 1138 1138 )))|0|0 to 128|Position instruction average filtering time constant|ms 1139 1139 ... ... @@ -1170,27 +1170,27 @@ 1170 1170 Figure 6-27 Positioning completion signal output with increased window filter time diagram 1171 1171 1172 1172 1173 -|**Function code**|**Name**|((( 1169 +|=(% scope="row" %)**Function code**|=**Name**|=((( 1174 1174 **Setting method** 1175 -)))|((( 1171 +)))|=((( 1176 1176 **Effective time** 1177 -)))|**Default value**|**Range**|**Definition**|**Unit** 1178 -|P05-12|Positioning completion threshold|((( 1173 +)))|=**Default value**|=**Range**|=**Definition**|=**Unit** 1174 +|=P05-12|Positioning completion threshold|((( 1179 1179 Operation setting 1180 1180 )))|((( 1181 1181 Effective immediately 1182 1182 )))|800|1 to 65535|Positioning completion threshold|Equivalent pulse unit 1183 -|P05-13|Positioning approach threshold|((( 1179 +|=P05-13|Positioning approach threshold|((( 1184 1184 Operation setting 1185 1185 )))|((( 1186 1186 Effective immediately 1187 1187 )))|5000|1 to 65535|Positioning approach threshold|Equivalent pulse unit 1188 -|P05-14|Position detection window time|((( 1184 +|=P05-14|Position detection window time|((( 1189 1189 Operation setting 1190 1190 )))|((( 1191 1191 Effective immediately 1192 1192 )))|10|0 to 20000|Set positioning completion detection window time|ms 1193 -|P05-15|Positioning signal hold time|((( 1189 +|=P05-15|Positioning signal hold time|((( 1194 1194 Operation setting 1195 1195 )))|((( 1196 1196 Effective immediately ... ... @@ -1199,9 +1199,9 @@ 1199 1199 Table 6-24 Function code parameters of positioning completion 1200 1200 1201 1201 1202 -|**DO function code**|**Function name**|**Function** 1203 -|134|P-COIN positioning complete|Output this signal indicates the servo drive position is complete. 1204 -|135|((( 1198 +|=(% scope="row" %)**DO function code**|=**Function name**|=**Function** 1199 +|=134|P-COIN positioning complete|Output this signal indicates the servo drive position is complete. 1200 +|=135|((( 1205 1205 P-NEAR positioning close 1206 1206 )))|((( 1207 1207 Output this signal indicates that the servo drive position is close.