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Changes for page 06 Operation

Last modified by Iris on 2025/07/23 15:49
From version 48.2
edited by Leo Wei
on 2022/06/11 18:00
Change comment: There is no comment for this version
To version 48.6
edited by Joey
on 2022/06/15 14:31
Change comment: (Autosaved)

Summary

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Author
... ... @@ -1,1 +1,1 @@
1 -XWiki.admin
1 +XWiki.Joey
Content
... ... @@ -25,7 +25,7 @@
25 25  
26 26  After power on the main circuit, the bus voltage indicator shows no abnormality, and the panel display "rdy", indicating that the servo drive is in an operational state, waiting for the host computer to give the servo enable signal.
27 27  
28 -If the drive panel displays other fault codes, please refer to __[[“10 Faults>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/10%20Malfunctions/#HFaultandwarningcodetable]]__” to analyze and eliminate the cause of the fault.
28 +If the drive panel displays other fault codes, please refer to __[[“10 Faults>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/10%20Malfunctions/]]__” to analyze and eliminate the cause of the fault.
29 29  
30 30  **(2) Set the servo drive enable (S-ON) to invalid (OFF)**
31 31  
... ... @@ -35,7 +35,7 @@
35 35  
36 36  **(1) Panel jog operation**
37 37  
38 -Enter “P10-01” by pressing the key on the panel. After pressing “OK”, the panel will display the current jog speed. At this time, you can adjust the jog speed by pressing the "up" or "down" keys; After adjusting the moving speed, press "OK", and the panel displays "JOG" and is in a flashing state. Press "OK" again to enter the jog operation mode (the motor is now powered on!). Long press the "up" and "down" keys to achieve the forward and reverse rotation of the motor. Press "Mode" key to exit the jog operation mode. For operation and display, please refer to __[["5.3.2. Jog operation">>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/05%20Panel/#HJogoperation]]__.
38 +Enter “P10-01” by pressing the key on the panel. After pressing “OK”, the panel will display the current jog speed. At this time, you can adjust the jog speed by pressing the "up" or "down" keys; After adjusting the moving speed, press "OK", and the panel displays "JOG" and is in a flashing state. Press "OK" again to enter the jog operation mode (the motor is now powered on!). Long press the "up" and "down" keys to achieve the forward and reverse rotation of the motor. Press "Mode" key to exit the jog operation mode. For operation and display, please refer to __[["5.3.2. Jog operation">>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/05%20Panel/#HJogoperation]]__.
39 39  
40 40  **(2) Jog operation of servo debugging platform**
41 41  
... ... @@ -133,7 +133,7 @@
133 133  
134 134  **(2) Input the instruction and the motor rotates**
135 135  
136 -Input appropriate instructions during operation, first run the motor at a low speed, and observe the rotation to see if it conforms to the set rotation direction. Observe the actual running speed, bus voltage and other parameters of the motor through the host computer debugging platform. According to [[__"7 Adjustment"__>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/]], the motor could work as expected.
136 +Input appropriate instructions during operation, first run the motor at a low speed, and observe the rotation to see if it conforms to the set rotation direction. Observe the actual running speed, bus voltage and other parameters of the motor through the host computer debugging platform. According to [[__"7 Adjustment"__>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/]], the motor could work as expected.
137 137  
138 138  **(3) Timing diagram of power on**
139 139  
... ... @@ -144,7 +144,7 @@
144 144  
145 145  == **Servo shutdown** ==
146 146  
147 -According to the different shutdown modes, it could be divided into free shutdown and zero speed shutdown. The respective characteristics are shown in __[[Table 6-5>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HServoshutdown]]__. According to the shutdown status, it could be divided into free running state and position locked, as shown in __[[Table 6-6>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HServoshutdown]]__.
147 +According to the different shutdown modes, it could be divided into free shutdown and zero speed shutdown. The respective characteristics are shown in __[[Table 6-5>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HServoshutdown]]__. According to the shutdown status, it could be divided into free running state and position locked, as shown in __[[Table 6-6>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HServoshutdown]]__.
148 148  
149 149  
150 150  |=(% scope="row" %)Shutdown mode|=Shutdown description|=Shutdown characteristics
... ... @@ -444,7 +444,7 @@
444 444  
445 445  1) Brake timing when servo motor is stationary
446 446  
447 -When the servo enable changes from ON to OFF, if the actual motor speed is lower than20 rpm, the servo drive will act according to the static brake sequence. The specific sequence action is shown in __[[Figure 6-3>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_2da3eb860da7ba31.gif?rev=1.1]]__
447 +When the servo enable changes from ON to OFF, if the actual motor speed is lower than20 rpm, the servo drive will act according to the static brake sequence. The specific sequence action is shown in __[[Figure 6-3>>https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/image-20220608163304-3.png?rev=1.1]]__
448 448  
449 449  
450 450  |(((
... ... @@ -464,7 +464,7 @@
464 464  
465 465  2) The brake timing when servo motor rotates
466 466  
467 -When the servo enable is from ON to OFF, if the actual motor speed is greater than or equal to 20 rpm, the drive will act in accordance with the rotation brake sequence. The specific sequence action is shown in __[[Figure 6-4>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_4408711d09c83291.gif?rev=1.1]]__.
467 +When the servo enable is from ON to OFF, if the actual motor speed is greater than or equal to 20 rpm, the drive will act in accordance with the rotation brake sequence. The specific sequence action is shown in __[[Figure 6-4>>https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/image-20220608163425-4.png?rev=1.1]]__.
468 468  
469 469  
470 470  |(((
... ... @@ -563,7 +563,7 @@
563 563  |VD2A and VD2B servo drives|VD2F servo drive
564 564  |(% colspan="2" %)Figure 6-7 Position instruction input setting
565 565  
566 -VD2 series servo drive has a set of pulse input terminals to receive the input of position pulse (via the CN2 terminal). The position pulse mode connection is shown in __[[Figure 6-7>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HPositioninstructioninputsetting]]__.
566 +VD2 series servo drive has a set of pulse input terminals to receive the input of position pulse (via the CN2 terminal). The position pulse mode connection is shown in __[[Figure 6-7>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HPositioninstructioninputsetting]]__.
567 567  
568 568  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.
569 569  
... ... @@ -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.