Changes for page 06 Operation

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1		-XWiki.admin
	1	+XWiki.Joey

Content

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2	2
3	3	== **Check before operation** ==
4	4
5		-|=(% scope="row" %)**No.**|=**Content**
6		-|=(% colspan="2" %)Wiring
7		-|=1|The main circuit input terminals (L1, L2 and L3) of servo drive must be properly connected.
8		-|=2|The main circuit output terminals (U, V and W) of servo drive and the main circuit cables (U, V and W) of servo motor must have the same phase and be properly connected.
9		-|=3|The main circuit power input terminals (L1, L2 and L3) and the main circuit output terminals (U, V and W) of servo drive cannot be short-circuited.
10		-|=4|The wiring of each control signal cable of servo drive is correct: The external signal wires such as brake and overtravel protection have been reliably connected.
11		-|=5|Servo drive and servo motor must be grounded reliably.
12		-|=6|When using an external braking resistor, the short wiring between drive C and D must be removed.
13		-|=7|The force of all cables is within the specified range.
14		-|=8|The wiring terminals have been insulated.
15		-|=(% colspan="2" %)Environment and Machinery
16		-|=1|There is no iron filings, metal, etc. that can cause short circuits inside or outside the servo drive.
17		-|=2|The servo drive and external braking resistor are not placed on combustible objects.
18		-|=3|The installation, shaft and mechanical structure of the servo motor have been firmly connected.
	5	+|**No.**|**Content**
	6	+|(% colspan="2" style="text-align:center; vertical-align:middle" %)Wiring
	7	+|1|The main circuit input terminals (L1, L2 and L3) of servo drive must be properly connected.
	8	+|2|The main circuit output terminals (U, V and W) of servo drive and the main circuit cables (U, V and W) of servo motor must have the same phase and be properly connected.
	9	+|3|The main circuit power input terminals (L1, L2 and L3) and the main circuit output terminals (U, V and W) of servo drive cannot be short-circuited.
	10	+|4|The wiring of each control signal cable of servo drive is correct: The external signal wires such as brake and overtravel protection have been reliably connected.
	11	+|5|Servo drive and servo motor must be grounded reliably.
	12	+|6|When using an external braking resistor, the short wiring between drive C and D must be removed.
	13	+|7|The force of all cables is within the specified range.
	14	+|8|The wiring terminals have been insulated.
	15	+|(% colspan="2" style="text-align:center; vertical-align:middle" %)Environment and Machinery
	16	+|1|There is no iron filings, metal, etc. that can cause short circuits inside or outside the servo drive.
	17	+|2|The servo drive and external braking resistor are not placed on combustible objects.
	18	+|3|The installation, shaft and mechanical structure of the servo motor have been firmly connected.
19	19
20	20	Table 6-1 Check contents before operation
21	21
...	...	@@ -42,17 +42,17 @@
42	42	Open the jog operation interface of the software “Wecon SCTool”, set the jog speed value in the "set speed" in the "manual operation", click the "servo on" button on the interface, and then achieve the jog forward and reverse function through the "forward rotation" or "Reverse" button on the interface. After clicking the "Servo off" button, the jog operation mode is exited. The related function codes are shown below.
43	43
44	44
45		-
46		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	45	+(% class="table-bordered" %)
	46	+|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)(((
47	47	**Setting method**
48		-)))|=(((
	48	+)))|(% style="text-align:center; vertical-align:middle" %)(((
49	49	**Effective time**
50		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
51		-|=P10-01|JOG speed|(((
	50	+)))|(% style="text-align:center; vertical-align:middle" %)**Default value**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	51	+|(% style="text-align:center; vertical-align:middle" %)P10-01|(% style="text-align:center; vertical-align:middle" %)JOG speed|(% style="text-align:center; vertical-align:middle" %)(((
52	52	Operation setting
53		-)))|(((
	53	+)))|(% style="text-align:center; vertical-align:middle" %)(((
54	54	Effective immediately
55		-)))|100|0 to 3000|JOG speed|rpm
	55	+)))|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)0 to 3000|(% style="text-align:center; vertical-align:middle" %)JOG speed|(% style="text-align:center; vertical-align:middle" %)rpm
56	56
57	57	Table 6-2 JOG speed parameter
58	58
...	...	@@ -60,25 +60,25 @@
60	60
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		-
64		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	63	+(% class="table-bordered" %)
	64	+|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)(((
65	65	**Setting method**
66		-)))|=(((
	66	+)))|(% style="text-align:center; vertical-align:middle" %)(((
67	67	**Effective time**
68		-)))|=(((
	68	+)))|(% style="text-align:center; vertical-align:middle" %)(((
69	69	**Default value**
70		-)))|=**Range**|=**Definition**|=**Unit**
71		-|=P00-04|Rotation direction|(((
	70	+)))|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	71	+|(% style="text-align:center; vertical-align:middle" %)P00-04|(% style="text-align:center; vertical-align:middle" %)Rotation direction|(% style="text-align:center; vertical-align:middle" %)(((
72	72	Shutdown setting
73		-)))|(((
	73	+)))|(% style="text-align:center; vertical-align:middle" %)(((
74	74	Effective immediately
75		-)))|0|0 to 1|(((
	75	+)))|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
76	76	Forward rotation: Face the motor shaft to watch
77	77
78	78	0: standard setting (CW is forward rotation)
79	79
80	80	1: reverse mode (CCW is forward rotation)
81		-)))|-
	81	+)))|(% style="text-align:center; vertical-align:middle" %)-
82	82
83	83	Table 6-3 Rotation direction parameters** **
84	84
...	...	@@ -91,16 +91,17 @@
91	91	1. the maximum brake energy calculated value > the maximum brake energy absorbed by capacitor, and the brake power calculated value ≤ the built-in braking resistor power, use the built-in braking resistor.
92	92	1. the maximum brake energy calculated value > the maximum brake energy absorbed by capacitor, and the brake power calculated value > the built-in braking resistor power, use external braking resistor.
93	93
94		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	94	+(% class="table-bordered" %)
	95	+|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)(((
95	95	**Setting method**
96		-)))|=(((
	97	+)))|(% style="text-align:center; vertical-align:middle" %)(((
97	97	**Effective time**
98		-)))|=**Default**|=**Range**|=**Definition**|=**Unit**
99		-|=P00-09|Braking resistor setting|(((
	99	+)))|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	100	+|(% style="text-align:center; vertical-align:middle" %)P00-09|(% style="text-align:center; vertical-align:middle" %)Braking resistor setting|(% style="text-align:center; vertical-align:middle" %)(((
100	100	Operation setting
101		-)))|(((
	102	+)))|(% style="text-align:center; vertical-align:middle" %)(((
102	102	Effective immediately
103		-)))|0|0 to 3|(((
	104	+)))|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 3|(((
104	104	0: use built-in braking resistor
105	105
106	106	1: use external braking resistor and natural cooling
...	...	@@ -108,18 +108,18 @@
108	108	2: use external braking resistor and forced air cooling; (cannot be set)
109	109
110	110	3: No braking resistor is used, it is all absorbed by capacitor.
111		-)))|-
112		-|=(% colspan="8" %)✎**Note: **VD2-010SA1G and VD2F-010SA1P drives have no built-in resistor by default, so the default value of the function code “P00-09” is 3 (No braking resistor is used, it is all absorbed by capacitor).
113		-|=P00-10|External braking resistor value|(((
	112	+)))|(% style="text-align:center; vertical-align:middle" %)-
	113	+|(% colspan="8" %)✎**Note: **VD2-010SA1G and VD2F-010SA1P drives have no built-in resistor by default, so the default value of the function code “P00-09” is 3 (No braking resistor is used, it is all absorbed by capacitor).
	114	+|(% style="text-align:center; vertical-align:middle" %)P00-10|(% style="text-align:center; vertical-align:middle" %)External braking resistor value|(% style="text-align:center; vertical-align:middle" %)(((
114	114	Operation setting
115		-)))|(((
	116	+)))|(% style="text-align:center; vertical-align:middle" %)(((
116	116	Effective immediately
117		-)))|50|0 to 65535|It is used to set the external braking resistor value of a certain type of drive.|Ω
118		-|=P00-11|External braking resistor power|(((
	118	+)))|(% style="text-align:center; vertical-align:middle" %)50|(% style="text-align:center; vertical-align:middle" %)0 to 65535|It is used to set the external braking resistor value of a certain type of drive.|(% style="text-align:center; vertical-align:middle" %)Ω
	119	+|(% style="text-align:center; vertical-align:middle" %)P00-11|(% style="text-align:center; vertical-align:middle" %)External braking resistor power|(% style="text-align:center; vertical-align:middle" %)(((
119	119	Operation setting
120		-)))|(((
	121	+)))|(% style="text-align:center; vertical-align:middle" %)(((
121	121	Effective immediately
122		-)))|100|0 to 65535|It is used to set the external braking resistor power of a certain type of drive.|W
	123	+)))|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)0 to 65535|It is used to set the external braking resistor power of a certain type of drive.|(% style="text-align:center; vertical-align:middle" %)W
123	123
124	124	Table 6-4 Braking resistor parameters
125	125
...	...	@@ -137,7 +137,7 @@
137	137
138	138	**(3) Timing diagram of power on**
139	139
140		-
	141	+(% style="text-align:center" %)
141	141	[[image:image-20220608163014-1.png]]
142	142
143	143	Figure 6-1 Timing diagram of power on
...	...	@@ -146,17 +146,17 @@
146	146
147	147	According to the different shutdown modes, it could be divided into free shutdown and zero speed shutdown. The respective characteristics are shown in __[[Table 6-5>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HServoshutdown]]__. According to the shutdown status, it could be divided into free running state and position locked, as shown in __[[Table 6-6>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HServoshutdown]]__.
148	148
	150	+(% class="table-bordered" %)
	151	+|Shutdown mode|Shutdown description|Shutdown characteristics
	152	+|Free shutdown|Servo motor is not energized and decelerates freely to 0. The deceleration time is affected by factors such as mechanical inertia and mechanical friction.|Smooth deceleration, small mechanical shock, but slow deceleration process.
	153	+|Zero-speed shutdown|The servo drive outputs reverse braking torque, and the motor quickly decelerates to zero-speed.|Rapid deceleration with mechanical shock, but fast deceleration process.
149	149
150		-|=(% scope="row" %)Shutdown mode|=Shutdown description|=Shutdown characteristics
151		-|=Free shutdown|Servo motor is not energized and decelerates freely to 0. The deceleration time is affected by factors such as mechanical inertia and mechanical friction.|Smooth deceleration, small mechanical shock, but slow deceleration process.
152		-|=Zero-speed shutdown|The servo drive outputs reverse braking torque, and the motor quickly decelerates to zero-speed.|Rapid deceleration with mechanical shock, but fast deceleration process.
153		-
154	154	Table 6-5 Comparison of two shutdown modes
155	155
	157	+(% class="table-bordered" %)
	158	+|(% style="text-align:center; vertical-align:middle" %)**Shutdown status**|(% style="text-align:center; vertical-align:middle" %)**Free operation status**|(% style="text-align:center; vertical-align:middle" %)**Position locked**
	159	+|(% style="text-align:center; vertical-align:middle" %)Characteristics|After the motor stops rotating, it is power-off, and the motor shaft can rotate freely.|After the motor stops rotating, the motor shaft is locked and could not rotate freely.
156	156
157		-|=(% scope="row" %)**Shutdown status**|=**Free operation status**|=**Position locked**
158		-|=Characteristics|After the motor stops rotating, it is power-off, and the motor shaft can rotate freely.|After the motor stops rotating, the motor shaft is locked and could not rotate freely.
159		-
160	160	Table 6-6 Comparison of two shutdown status
161	161
162	162	**(1) Servo enable (S-ON) OFF shutdown**
...	...	@@ -163,27 +163,27 @@
163	163
164	164	The related parameters of the servo OFF shutdown mode are shown in the table below.
165	165
166		-
167		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	167	+(% class="table-bordered" %)
	168	+|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)(((
168	168	**Setting method**
169		-)))|=(((
	170	+)))|(% style="text-align:center; vertical-align:middle" %)(((
170	170	**Effective time**
171		-)))|=(((
	172	+)))|(% style="text-align:center; vertical-align:middle" %)(((
172	172	**Default value**
173		-)))|=**Range**|=**Definition**|=**Unit**
174		-|=P00-05|Servo OFF shutdown|(((
	174	+)))|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	175	+|(% style="text-align:center; vertical-align:middle" %)P00-05|(% style="text-align:center; vertical-align:middle" %)Servo OFF shutdown|(% style="text-align:center; vertical-align:middle" %)(((
175	175	Shutdown
176	176
177	177	setting
178		-)))|(((
	179	+)))|(% style="text-align:center; vertical-align:middle" %)(((
179	179	Effective
180	180
181	181	immediately
182		-)))|0|0 to 1|(((
	183	+)))|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
183	183	0: Free shutdown, and the motor shaft remains free status.
184	184
185	185	1: Zero-speed shutdown, and the motor shaft remains free status.
186		-)))|-
	187	+)))|(% style="text-align:center; vertical-align:middle" %)-
187	187
188	188	Table 6-7Table 6-1 Servo OFF shutdown mode parameters details
189	189
...	...	@@ -199,13 +199,13 @@
199	199
200	200	The corresponding configuration and selection could be selected through the DI terminal function of the function code "DIDO configuration". The default function of DI3 is POT and DI4 is NOT, as shown in the table below.
201	201
202		-
203		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	203	+(% class="table-bordered" %)
	204	+|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)(((
204	204	**Setting method**
205		-)))|=(((
	206	+)))|(% style="text-align:center; vertical-align:middle" %)(((
206	206	**Effective time**
207		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
208		-|=P06-08|DI_3 channel function selection|Operation setting|Power-on again|3|0 to 32|(((
	208	+)))|(% style="text-align:center; vertical-align:middle" %)**Default value**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	209	+|(% style="text-align:center; vertical-align:middle" %)P06-08|(% style="text-align:center; vertical-align:middle" %)DI_3 channel function selection|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Power-on again|(% style="text-align:center; vertical-align:middle" %)3|(% style="text-align:center; vertical-align:middle" %)0 to 32|(((
209	209	0: OFF (not used)
210	210
211	211	01: S-ON servo enable
...	...	@@ -253,30 +253,32 @@
253	253	24: Internal multi-segment position selection 4
254	254
255	255	Others: reserved
256		-)))|-
257		-|=P06-09|DI_3 channel logic selection|Operation setting|(((
	257	+)))|(% style="text-align:center; vertical-align:middle" %)-
	258	+|(% style="text-align:center; vertical-align:middle" %)P06-09|(% style="text-align:center; vertical-align:middle" %)DI_3 channel logic selection|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)(((
258	258	Effective immediately
259		-)))|0|0 to 1|(((
	260	+)))|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
260	260	DI port input logic validity function selection.
261	261
262	262	0: Normally open input. Active low level (switch on);
263	263
264	264	1: Normally closed input. Active high level (switch off);
265		-)))|-
266		-|=P06-10|DI_3 input source selection|Operation setting|(((
	266	+)))|(% style="text-align:center; vertical-align:middle" %)-
	267	+|(% style="text-align:center; vertical-align:middle" %)P06-10|(% style="text-align:center; vertical-align:middle" %)DI_3 input source selection|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)(((
267	267	Effective immediately
268		-)))|0|0 to 1|(((
	269	+)))|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
269	269	Select the DI_3 port type to enable
270	270
271	271	0: Hardware DI_3 input terminal
272	272
273	273	1: virtual VDI_3 input terminal
274		-)))|-
275		-|=P06-11|DI_4 channel function selection|(((
	275	+)))|(% style="text-align:center; vertical-align:middle" %)-
	276	+
	277	+(% class="table-bordered" %)
	278	+|(% style="text-align:center; vertical-align:middle; width:140px" %)P06-11|(% style="text-align:center; vertical-align:middle; width:272px" %)DI_4 channel function selection|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
276	276	Operation setting
277		-)))|(((
	280	+)))|(% style="text-align:center; vertical-align:middle; width:195px" %)(((
278	278	again Power-on
279		-)))|4|0 to 32|(((
	282	+)))|(% style="text-align:center; vertical-align:middle; width:128px" %)4|(% style="text-align:center; vertical-align:middle; width:78px" %)0 to 32|(% style="width:454px" %)(((
280	280	0 off (not used)
281	281
282	282	01: SON Servo enable
...	...	@@ -324,25 +324,25 @@
324	324	24: Internal multi-segment position selection 4
325	325
326	326	Others: reserved
327		-)))|-
328		-|=P06-12|DI_4 channel logic selection|Operation setting|(((
	330	+)))|(% style="text-align:center; vertical-align:middle; width:56px" %)-
	331	+|(% style="text-align:center; vertical-align:middle; width:140px" %)P06-12|(% style="text-align:center; vertical-align:middle; width:272px" %)DI_4 channel logic selection|(% style="text-align:center; vertical-align:middle; width:162px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:195px" %)(((
329	329	Effective immediately
330		-)))|0|0 to 1|(((
	333	+)))|(% style="text-align:center; vertical-align:middle; width:128px" %)0|(% style="text-align:center; vertical-align:middle; width:78px" %)0 to 1|(% style="width:454px" %)(((
331	331	DI port input logic validity function selection.
332	332
333	333	0: Normally open input. Active low level (switch on);
334	334
335	335	1: Normally closed input. Active high level (switch off);
336		-)))|-
337		-|=P06-13|DI_4 input source selection|Operation setting|(((
	339	+)))|(% style="text-align:center; vertical-align:middle; width:56px" %)-
	340	+|(% style="text-align:center; vertical-align:middle; width:140px" %)P06-13|(% style="text-align:center; vertical-align:middle; width:272px" %)DI_4 input source selection|(% style="text-align:center; vertical-align:middle; width:162px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:195px" %)(((
338	338	Effective immediately
339		-)))|0|0 to 1|(((
	342	+)))|(% style="text-align:center; vertical-align:middle; width:128px" %)0|(% style="text-align:center; vertical-align:middle; width:78px" %)0 to 1|(% style="width:454px" %)(((
340	340	Select the DI_4 port type to enable
341	341
342	342	0: Hardware DI_4 input terminal
343	343
344	344	1: virtual VDI_4 input terminal
345		-)))|-
	348	+)))|(% style="text-align:center; vertical-align:middle; width:56px" %)-
346	346
347	347	Table 6-8 DI3 and DI4 channel parameters
348	348
...	...	@@ -354,8 +354,9 @@
354	354
355	355	The brake is a mechanism that prevents the servo motor shaft from moving when the servo drive is in a non-operating state, and keeps the motor locked in position, so that the moving part of the machine will not move due to its own weight or external force.
356	356
357		-
	360	+(% class="table-bordered" %)
358	358	|(((
	362	+(% style="text-align:center" %)
359	359	[[image:image-20220611151617-1.png]]
360	360	)))
361	361	|(((
...	...	@@ -374,13 +374,14 @@
374	374
375	375	The brake input signal has no polarity. You need to prepare a 24V power supply. The standard connection of brake signal BK and brake power supply is shown in the figure below. (take VD2B servo drive as example)
376	376
377		-
	381	+(% style="text-align:center" %)
378	378	[[image:image-20220608163136-2.png]]
379	379
380	380	Figure 6-2 VD2B servo drive brake wiring
381	381
382		-
	386	+(% class="table-bordered" %)
383	383	|(((
	388	+(% style="text-align:center" %)
384	384	[[image:image-20220611151642-2.png]]
385	385	)))
386	386	|(((
...	...	@@ -397,42 +397,42 @@
397	397
398	398	Related function code is as below.
399	399
400		-
401		-|=(% scope="row" %)**DO function code**|=**Function name**|=**Function**|=(((
	405	+(% class="table-bordered" %)
	406	+|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**|(% style="text-align:center; vertical-align:middle" %)(((
402	402	**Effective time**
403	403	)))
404		-|=144|(((
	409	+|(% style="text-align:center; vertical-align:middle" %)144|(% style="text-align:center; vertical-align:middle" %)(((
405	405	BRK-OFF Brake output
406		-)))|Output the signal indicates the servo motor brake release|Power-on again
	411	+)))|(% style="text-align:center; vertical-align:middle" %)Output the signal indicates the servo motor brake release|(% style="text-align:center; vertical-align:middle" %)Power-on again
407	407
408	408	Table 6-2 Relevant function codes for brake setting
409	409
410		-
411		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	415	+(% class="table-bordered" %)
	416	+|(% style="text-align:center; vertical-align:middle; width:175px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:175px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:175px" %)(((
412	412	**Setting method**
413		-)))|=(((
	418	+)))|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
414	414	**Effective time**
415		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
416		-|=P1-30|Delay from brake output to instruction reception|(((
	420	+)))|(% style="text-align:center; vertical-align:middle; width:128px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:94px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:519px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	421	+|(% style="text-align:center; vertical-align:middle; width:175px" %)P1-30|(% style="text-align:center; vertical-align:middle; width:175px" %)Delay from brake output to instruction reception|(% style="text-align:center; vertical-align:middle; width:175px" %)(((
417	417	Operation setting
418		-)))|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
419		-|=P1-31|In static state, delay from brake output OFF to the motor is power off|(((
	423	+)))|(% style="text-align:center; vertical-align:middle; width:173px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:128px" %)250|(% style="text-align:center; vertical-align:middle; width:94px" %)0 to 500|(% style="width:519px" %)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.|(% style="text-align:center; vertical-align:middle" %)ms
	424	+|(% style="text-align:center; vertical-align:middle; width:175px" %)P1-31|(% style="text-align:center; vertical-align:middle; width:175px" %)In static state, delay from brake output OFF to the motor is power off|(% style="text-align:center; vertical-align:middle; width:175px" %)(((
420	420	Operation setting
421		-)))|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
422		-|=P1-32|Rotation status, when the brake output OFF, the speed threshold|(((
	426	+)))|(% style="text-align:center; vertical-align:middle; width:173px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:128px" %)150|(% style="text-align:center; vertical-align:middle; width:94px" %)1 to 1000|(% style="width:519px" %)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.|(% style="text-align:center; vertical-align:middle" %)ms
	427	+|(% style="text-align:center; vertical-align:middle; width:175px" %)P1-32|(% style="text-align:center; vertical-align:middle; width:175px" %)Rotation status, when the brake output OFF, the speed threshold|(% style="text-align:center; vertical-align:middle; width:175px" %)(((
423	423	Operation setting
424		-)))|Effective immediately|30|0 to 3000|(((
	429	+)))|(% style="text-align:center; vertical-align:middle; width:173px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:128px" %)30|(% style="text-align:center; vertical-align:middle; width:94px" %)0 to 3000|(% style="width:519px" %)(((
425	425	When the motor rotates, the motor speed threshold when the brake (BRK-OFF) is allowed to output OFF.
426	426
427	427	When the brake output (BRK-OFF) is not allocated, this function code has no effect.
428		-)))|rpm
429		-|=P1-33|Rotation status, Delay from servo enable OFF to brake output OFF|(((
	433	+)))|(% style="text-align:center; vertical-align:middle" %)rpm
	434	+|(% style="text-align:center; vertical-align:middle; width:175px" %)P1-33|(% style="text-align:center; vertical-align:middle; width:175px" %)Rotation status, Delay from servo enable OFF to brake output OFF|(% style="text-align:center; vertical-align:middle; width:175px" %)(((
430	430	Operation setting
431		-)))|Effective immediately|500|1 to 1000|(((
	436	+)))|(% style="text-align:center; vertical-align:middle; width:173px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:128px" %)500|(% style="text-align:center; vertical-align:middle; width:94px" %)1 to 1000|(% style="width:519px" %)(((
432	432	When the motor rotates, the delay time from the servo enable (S-ON) OFF to the brake (BRK-OFF) output OFF is allowed.
433	433
434	434	When brake output (BRK-OFF) is not allocated, this function code has no effect.
435		-)))|ms
	440	+)))|(% style="text-align:center; vertical-align:middle" %)ms
436	436
437	437	Table 6-9 Brake setting function codes
438	438
...	...	@@ -446,8 +446,9 @@
446	446
447	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]]__
448	448
449		-
	454	+(% class="table-bordered" %)
450	450	|(((
	456	+(% style="text-align:center" %)
451	451	[[image:image-20220611151705-3.png]]
452	452	)))
453	453	|(((
...	...	@@ -456,6 +456,7 @@
456	456	✎When applied to a vertical axis, the external force or the weight of the mechanical moving part may cause the machine to move slightly. When the servo motor is stationary, and the servo enable is OFF, the brake output will be OFF immediately. However, the motor is still energized within the time of P01-31 to prevent mechanical movement from moving due to its own weight or external force.
457	457	)))
458	458
	465	+(% style="text-align:center" %)
459	459	[[image:image-20220608163304-3.png]]
460	460
461	461	Figure 6-3 Brake Timing of when the motor is stationary
...	...	@@ -466,8 +466,9 @@
466	466
467	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]]__.
468	468
469		-
	476	+(% class="table-bordered" %)
470	470	|(((
	478	+(% style="text-align:center" %)
471	471	[[image:image-20220611151719-4.png]]
472	472	)))
473	473	|(((
...	...	@@ -482,6 +482,7 @@
482	482	✎After the brake output changes from ON to OFF, the motor is still in communication within 50ms to prevent the mechanical movement from moving due to its own weight or external force.
483	483	)))
484	484
	493	+(% style="text-align:center" %)
485	485	[[image:image-20220608163425-4.png]]
486	486
487	487	Figure 6-4 Brake timing when the motor rotates
...	...	@@ -490,7 +490,7 @@
490	490
491	491	The brake timing (free shutdown) in the fault status is as follows.
492	492
493		-
	502	+(% style="text-align:center" %)
494	494	[[image:image-20220608163541-5.png]]
495	495
496	496	Figure 6-5 The brake timing (free shutdown) in the fault state
...	...	@@ -499,7 +499,7 @@
499	499
500	500	Position control is the most important and commonly used control mode of the servo system. Position control refers to controlling the position of the motor through position instructions, and determining the target position of the motor by the total number of position instructions. The frequency of the position instruction determines the motor rotation speed. The servo drive can achieve fast and accurate control of the position and speed of the machine. Therefore, the position control mode is mainly used for occasions that require positioning control, such as manipulators, mounter, engraving machines, CNC machine tools, etc. The position control block diagram is shown in the figure below.
501	501
502		-
	511	+(% style="text-align:center" %)
503	503	[[image:image-20220608163643-6.png]]
504	504
505	505	Figure 6-6 Position control diagram
...	...	@@ -506,17 +506,17 @@
506	506
507	507	Set “P00-01” to 1 by the software “Wecon SCTool”, and the servo drive is in position control mode.
508	508
509		-
510		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	518	+(% class="table-bordered" %)
	519	+|(% style="text-align:center; vertical-align:middle; width:122px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:126px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:158px" %)(((
511	511	**Setting method**
512		-)))|=(((
	521	+)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
513	513	**Effective time**
514		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
515		-|=P01-01|Control mode|(((
	523	+)))|(% style="text-align:center; vertical-align:middle; width:145px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:134px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:326px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	524	+|(% style="text-align:center; vertical-align:middle; width:122px" %)P01-01|(% style="text-align:center; vertical-align:middle; width:126px" %)Control mode|(% style="text-align:center; vertical-align:middle; width:158px" %)(((
516	516	Operation setting
517		-)))|(((
	526	+)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
518	518	immediately Effective
519		-)))|0|0 to 1|(((
	528	+)))|(% style="text-align:center; vertical-align:middle; width:145px" %)0|(% style="text-align:center; vertical-align:middle; width:134px" %)0 to 1|(% style="width:326px" %)(((
520	520	0: position control
521	521
522	522	2: speed control
...	...	@@ -528,7 +528,7 @@
528	528	5: position/torque mix control
529	529
530	530	6: speed /torque mix control
531		-)))|-
	540	+)))|(% style="text-align:center; vertical-align:middle" %)-
532	532
533	533	Table 6-10 Control mode parameters
534	534
...	...	@@ -536,21 +536,21 @@
536	536
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		-
540		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	548	+(% class="table-bordered" %)
	549	+|(% style="text-align:center; vertical-align:middle; width:131px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:149px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:191px" %)(((
541	541	**Setting method**
542		-)))|=(((
	551	+)))|(% style="text-align:center; vertical-align:middle; width:189px" %)(((
543	543	**Effective time**
544		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
545		-|=P01-06|Position instruction source|(((
	553	+)))|(% style="text-align:center; vertical-align:middle; width:116px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:100px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:284px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	554	+|(% style="text-align:center; vertical-align:middle; width:131px" %)P01-06|(% style="text-align:center; vertical-align:middle; width:149px" %)Position instruction source|(% style="text-align:center; vertical-align:middle; width:191px" %)(((
546	546	Operation setting
547		-)))|(((
	556	+)))|(% style="text-align:center; vertical-align:middle; width:189px" %)(((
548	548	immediately Effective
549		-)))|0|0 to 1|(((
	558	+)))|(% style="text-align:center; vertical-align:middle; width:116px" %)0|(% style="text-align:center; vertical-align:middle; width:100px" %)0 to 1|(% style="width:284px" %)(((
550	550	0: pulse instruction
551	551
552	552	1: internal position instruction
553		-)))|-
	562	+)))|(% style="text-align:center; vertical-align:middle" %)-
554	554
555	555	Table 6-11 Position instruction source parameter
556	556
...	...	@@ -558,20 +558,20 @@
558	558
559	559	1) Low-speed pulse instruction input
560	560
	570	+(% class="table-bordered" %)
	571	+|(% style="text-align:center; vertical-align:middle" %)[[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]]|(% style="text-align:center; vertical-align:middle" %)[[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]]
	572	+|(% style="text-align:center; vertical-align:middle" %)VD2A and VD2B servo drives|(% style="text-align:center; vertical-align:middle" %)VD2F servo drive
	573	+|(% colspan="2" style="text-align:center; vertical-align:middle" %)Figure 6-7 Position instruction input setting
561	561
562		-|[[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]]
563		-|VD2A and VD2B servo drives|VD2F servo drive
564		-|(% colspan="2" %)Figure 6-7 Position instruction input setting
565		-
566	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]]__.
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
	579	+(% class="table-bordered" %)
	580	+|(% style="text-align:center; vertical-align:middle" %)**Pulse method**|(% style="text-align:center; vertical-align:middle" %)**Maximum frequency**|(% style="text-align:center; vertical-align:middle" %)**Voltage**
	581	+|(% style="text-align:center; vertical-align:middle" %)Open collector input|(% style="text-align:center; vertical-align:middle" %)200K|(% style="text-align:center; vertical-align:middle" %)24V
	582	+|(% style="text-align:center; vertical-align:middle" %)Differential input|(% style="text-align:center; vertical-align:middle" %)500K|(% style="text-align:center; vertical-align:middle" %)5V
570	570
571		-|**Pulse method**|**Maximum frequency**|**Voltage**
572		-|Open collector input|200K|24V
573		-|Differential input|500K|5V
574		-
575	575	Table 6-12 Pulse input specifications
576	576
577	577	1.Differential input
...	...	@@ -578,7 +578,7 @@
578	578
579	579	Take VD2A and VD2B drive as examples, the connection of differential input is shown as below.
580	580
581		-
	590	+(% style="text-align:center" %)
582	582	[[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]]
583	583
584	584	Figure 6-8 Differential input connection
...	...	@@ -589,7 +589,7 @@
589	589
590	590	Take VD2A and VD2B drive as examples, the connection of differential input is shown as below.
591	591
592		-
	601	+(% style="text-align:center" %)
593	593	[[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]]
594	594
595	595	Figure 6-9 Open collector input connection
...	...	@@ -600,7 +600,7 @@
600	600
601	601	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.
602	602
603		-
	612	+(% style="text-align:center" %)
604	604	[[image:image-20220608163952-8.png]]
605	605
606	606	Figure 6-10 Example of filtered signal waveform
...	...	@@ -607,22 +607,22 @@
607	607
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		-
611		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	619	+(% class="table-bordered" %)
	620	+|(% style="text-align:center; vertical-align:middle; width:120px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:202px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:158px" %)(((
612	612	**Setting method**
613		-)))|=(((
	622	+)))|(% style="text-align:center; vertical-align:middle; width:176px" %)(((
614	614	**Effective time**
615		-)))|=**Default value**|=**Range**|=(% colspan="2" %)**Definition**|=**Unit**
616		-|=P00-13|Maximum position pulse frequency|(((
	624	+)))|(% style="text-align:center; vertical-align:middle; width:121px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:87px" %)**Range**|(% colspan="2" style="text-align:center; vertical-align:middle; width:538px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	625	+|(% style="text-align:center; vertical-align:middle; width:120px" %)P00-13|(% style="text-align:center; vertical-align:middle; width:202px" %)Maximum position pulse frequency|(% style="text-align:center; vertical-align:middle; width:158px" %)(((
617	617	Shutdown setting
618		-)))|(((
	627	+)))|(% style="text-align:center; vertical-align:middle; width:176px" %)(((
619	619	Effective immediately
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" %)(((
	629	+)))|(% style="text-align:center; vertical-align:middle; width:121px" %)300|(% style="text-align:center; vertical-align:middle; width:87px" %)1 to 500|(% colspan="2" style="width:538px" %)Set the maximum frequency of external pulse instruction|KHz
	630	+|(% rowspan="3" style="text-align:center; vertical-align:middle; width:120px" %)P00-14|(% rowspan="3" style="text-align:center; vertical-align:middle; width:202px" %)Position pulse anti-interference level|(% rowspan="3" style="text-align:center; vertical-align:middle; width:158px" %)(((
622	622	Operation setting
623		-)))|(% rowspan="3" %)(((
	632	+)))|(% rowspan="3" style="text-align:center; vertical-align:middle; width:176px" %)(((
624	624	Power-on again
625		-)))|(% rowspan="3" %)2|(% rowspan="3" %)0 to 9|(% colspan="2" %)(((
	634	+)))|(% rowspan="3" style="text-align:center; vertical-align:middle; width:121px" %)2|(% rowspan="3" style="text-align:center; vertical-align:middle; width:87px" %)0 to 9|(% colspan="2" style="width:538px" %)(((
626	626	Set the anti-interference level of external pulse instruction.
627	627
628	628	0: no filtering;
...	...	@@ -642,9 +642,9 @@
642	642	7: Filtering time 8.192us
643	643
644	644	8: Filtering time 16.384us
645		-)))|(% rowspan="3" %)-
646		-|=(% rowspan="2" %)9|VD2: Filtering time 25.5us
647		-|=VD2F: Filtering time 25.5us
	654	+)))|(% rowspan="3" style="text-align:center; vertical-align:middle" %)-
	655	+|(% rowspan="2" style="width:4px" %)9|VD2: Filtering time 25.5us
	656	+|VD2F: Filtering time 25.5us
648	648
649	649	Table 6-13 Position pulse frequency and anti-interference level parameters
650	650
...	...	@@ -652,17 +652,17 @@
652	652
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		-
656		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	664	+(% class="table-bordered" %)
	665	+|(% style="text-align:center; vertical-align:middle; width:132px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:184px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
657	657	**Setting method**
658		-)))|=(((
	667	+)))|(% style="text-align:center; vertical-align:middle; width:135px" %)(((
659	659	**Effective time**
660		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
661		-|=P00-12|Position pulse type selection|(((
	669	+)))|(% style="text-align:center; vertical-align:middle; width:115px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:66px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:373px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	670	+|(% style="text-align:center; vertical-align:middle; width:132px" %)P00-12|(% style="text-align:center; vertical-align:middle; width:184px" %)Position pulse type selection|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
662	662	Operation setting
663		-)))|(((
	672	+)))|(% style="text-align:center; vertical-align:middle; width:135px" %)(((
664	664	Power-on again
665		-)))|0|0 to 5|(((
	674	+)))|(% style="text-align:center; vertical-align:middle; width:115px" %)0|(% style="text-align:center; vertical-align:middle; width:66px" %)0 to 5|(% style="width:373px" %)(((
666	666	0: direction + pulse (positive logic)
667	667
668	668	1: CW/CCW
...	...	@@ -674,74 +674,74 @@
674	674	4: CW/CCW (negative logic)
675	675
676	676	5: A, B phase quadrature pulse (4 times frequency negative logic)
677		-)))|-
	686	+)))|(% style="text-align:center; vertical-align:middle" %)-
678	678
679	679	Table 6-14 Position pulse type selection parameter
680	680
681		-
682		-|=(% scope="row" %)**Pulse type selection**|=**Pulse type**|=**Signal**|=**Schematic diagram of forward pulse**|=**Schematic diagram of negative pulse**
683		-|=0|(((
	690	+(% class="table-bordered" %)
	691	+|(% style="text-align:center; vertical-align:middle; width:185px" %)**Pulse type selection**|(% style="text-align:center; vertical-align:middle; width:177px" %)**Pulse type**|(% style="text-align:center; vertical-align:middle" %)**Signal**|(% style="text-align:center; vertical-align:middle" %)**Schematic diagram of forward pulse**|(% style="text-align:center; vertical-align:middle" %)**Schematic diagram of negative pulse**
	692	+|(% style="text-align:center; vertical-align:middle; width:185px" %)0|(% style="text-align:center; vertical-align:middle; width:177px" %)(((
684	684	Direction + pulse
685	685
686	686	(Positive logic)
687		-)))|(((
	696	+)))|(% style="text-align:center; vertical-align:middle" %)(((
688	688	PULSE
689	689
690	690	SIGN
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|(((
	700	+)))|(% style="text-align:center; vertical-align:middle" %)[[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]]|(% style="text-align:center; vertical-align:middle" %)[[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]]
	701	+|(% style="text-align:center; vertical-align:middle; width:185px" %)1|(% style="text-align:center; vertical-align:middle; width:177px" %)CW/CCW|(% style="text-align:center; vertical-align:middle" %)(((
693	693	PULSE (CW)
694	694
695	695	SIGN (CCW)
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|(((
	705	+)))|(% colspan="2" style="text-align:center; vertical-align:middle" %)[[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]]
	706	+|(% style="text-align:center; vertical-align:middle; width:185px" %)2|(% style="text-align:center; vertical-align:middle; width:177px" %)(((
698	698	AB phase orthogonal
699	699
700	700	pulse (4 times frequency)
701		-)))|(((
	710	+)))|(% style="text-align:center; vertical-align:middle" %)(((
702	702	PULSE (Phase A)
703	703
704	704	SIGN (Phase B)
705		-)))|(((
	714	+)))|(% style="text-align:center; vertical-align:middle" %)(((
706	706	[[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]]
707	707
708	708	Phase A is 90° ahead of Phase B
709		-)))|(((
	718	+)))|(% style="text-align:center; vertical-align:middle" %)(((
710	710	[[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]]
711	711
712	712	Phase B is 90° ahead of Phase A
713	713	)))
714		-|=3|(((
	723	+|(% style="text-align:center; vertical-align:middle; width:185px" %)3|(% style="text-align:center; vertical-align:middle; width:177px" %)(((
715	715	Direction + pulse
716	716
717	717	(Negative logic)
718		-)))|(((
	727	+)))|(% style="text-align:center; vertical-align:middle" %)(((
719	719	PULSE
720	720
721	721	SIGN
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|(((
	731	+)))|(% style="text-align:center; vertical-align:middle" %)[[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]]|(% style="text-align:center; vertical-align:middle" %)[[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]]
	732	+|(% style="text-align:center; vertical-align:middle; width:185px" %)4|(% style="text-align:center; vertical-align:middle; width:177px" %)(((
724	724	CW/CCW
725	725
726	726	(Negative logic)
727		-)))|(((
	736	+)))|(% style="text-align:center; vertical-align:middle" %)(((
728	728	PULSE (CW)
729	729
730	730	SIGN (CCW)
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|(((
	740	+)))|(% colspan="2" style="text-align:center; vertical-align:middle" %)[[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]]
	741	+|(% style="text-align:center; vertical-align:middle; width:185px" %)5|(% style="text-align:center; vertical-align:middle; width:177px" %)(((
733	733	AB phase orthogonal
734	734
735	735	pulse (4 times frequency negative logic)
736		-)))|(((
	745	+)))|(% style="text-align:center; vertical-align:middle" %)(((
737	737	PULSE (Phase A)
738	738
739	739	SIGN (Phase B)
740		-)))|(((
	749	+)))|(% style="text-align:center; vertical-align:middle" %)(((
741	741	[[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]]
742	742
743	743	B phase is ahead of A phase by 90°
744		-)))|(((
	753	+)))|(% style="text-align:center; vertical-align:middle" %)(((
745	745	[[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]]
746	746
747	747	A phase is ahead of B phase by 90°
...	...	@@ -755,7 +755,7 @@
755	755
756	756	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.
757	757
758		-
	767	+(% style="text-align:center" %)
759	759	[[image:image-20220608164116-9.png]]
760	760
761	761	Figure 6-11 The setting process of multi-segment position
...	...	@@ -762,51 +762,51 @@
762	762
763	763	1) Set multi-segment position running mode
764	764
765		-
766		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	774	+(% class="table-bordered" %)
	775	+|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle; width:141px" %)(((
767	767	**Setting method**
768		-)))|=(((
	777	+)))|(% style="text-align:center; vertical-align:middle; width:200px" %)(((
769	769	**Effective time**
770		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
771		-|=P07-01|Multi-segment position running mode|(((
	779	+)))|(% style="text-align:center; vertical-align:middle; width:16px" %)**Default value**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	780	+|(% style="text-align:center; vertical-align:middle" %)P07-01|(% style="text-align:center; vertical-align:middle" %)Multi-segment position running mode|(% style="text-align:center; vertical-align:middle; width:141px" %)(((
772	772	Shutdown setting
773		-)))|(((
	782	+)))|(% style="text-align:center; vertical-align:middle; width:200px" %)(((
774	774	Effective immediately
775		-)))|0|0 to 2|(((
	784	+)))|(% style="text-align:center; vertical-align:middle; width:16px" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 2|(((
776	776	0: Single running
777	777
778	778	1: Cycle running
779	779
780	780	2: DI switching running
781		-)))|-
782		-|=P07-02|Start segment number|(((
	790	+)))|(% style="text-align:center; vertical-align:middle" %)-
	791	+|(% style="text-align:center; vertical-align:middle" %)P07-02|(% style="text-align:center; vertical-align:middle" %)Start segment number|(% style="text-align:center; vertical-align:middle; width:141px" %)(((
783	783	Shutdown setting
784		-)))|(((
	793	+)))|(% style="text-align:center; vertical-align:middle; width:200px" %)(((
785	785	Effective immediately
786		-)))|1|1 to 16|1st segment NO. in non-DI switching mode|-
787		-|=P07-03|End segment number|(((
	795	+)))|(% style="text-align:center; vertical-align:middle; width:16px" %)1|(% style="text-align:center; vertical-align:middle" %)1 to 16|1st segment NO. in non-DI switching mode|(% style="text-align:center; vertical-align:middle" %)-
	796	+|(% style="text-align:center; vertical-align:middle" %)P07-03|(% style="text-align:center; vertical-align:middle" %)End segment number|(% style="text-align:center; vertical-align:middle; width:141px" %)(((
788	788	Shutdown setting
789		-)))|(((
	798	+)))|(% style="text-align:center; vertical-align:middle; width:200px" %)(((
790	790	Effective immediately
791		-)))|1|1 to 16|last segment NO. in non-DI switching mode|-
792		-|=P07-04|Margin processing method|(((
	800	+)))|(% style="text-align:center; vertical-align:middle; width:16px" %)1|(% style="text-align:center; vertical-align:middle" %)1 to 16|last segment NO. in non-DI switching mode|(% style="text-align:center; vertical-align:middle" %)-
	801	+|(% style="text-align:center; vertical-align:middle" %)P07-04|(% style="text-align:center; vertical-align:middle" %)Margin processing method|(% style="text-align:center; vertical-align:middle; width:141px" %)(((
793	793	Shutdown setting
794		-)))|(((
	803	+)))|(% style="text-align:center; vertical-align:middle; width:200px" %)(((
795	795	Effective immediately
796		-)))|0|0 to 1|(((
	805	+)))|(% style="text-align:center; vertical-align:middle; width:16px" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
797	797	0: Run the remaining segments
798	798
799	799	1: Run again from the start segment
800		-)))|-
801		-|=P07-05|Displacement instruction type|(((
	809	+)))|(% style="text-align:center; vertical-align:middle" %)-
	810	+|(% style="text-align:center; vertical-align:middle" %)P07-05|(% style="text-align:center; vertical-align:middle" %)Displacement instruction type|(% style="text-align:center; vertical-align:middle; width:141px" %)(((
802	802	Shutdown setting
803		-)))|(((
	812	+)))|(% style="text-align:center; vertical-align:middle; width:200px" %)(((
804	804	Effective immediately
805		-)))|0|0 to 1|(((
	814	+)))|(% style="text-align:center; vertical-align:middle; width:16px" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
806	806	0: Relative position instruction
807	807
808	808	1: Absolute position instruction
809		-)))|-
	818	+)))|(% style="text-align:center; vertical-align:middle" %)-
810	810
811	811	Table 6-16 multi-segment position running mode parameters
812	812
...	...	@@ -816,7 +816,7 @@
816	816
817	817	In this running mode, the segment number is automatically incremented and switched, and the servo drive only operates for one round (the servo drive runs completely once for the total number of multi-segment position instructions set by P07-02 and P07-03). The single running curve is shown in __[[Figure 6-12>>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
818	818
819		-
	828	+(% style="text-align:center" %)
820	820	[[image:image-20220608164226-10.png]]
821	821
822	822	Figure 6-12 Single running curve (P07-02=1, P07-03=2)
...	...	@@ -825,12 +825,12 @@
825	825
826	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>>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.
827	827
828		-
	837	+(% style="text-align:center" %)
829	829	[[image:image-20220608164327-11.png]]
830	830
831	831	Figure 6-13 Cycle running curve (P07-02=1, P07-03=4)
832	832
833		-|[[image:image-20220611151917-5.png]]
	842	+|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611151917-5.png]]
834	834	|In single running and cycle running mode, the setting value of P07-03 needs to be greater than the setting value of P07-02.
835	835
836	836	3. DI switching running
...	...	@@ -837,30 +837,30 @@
837	837
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
	849	+(% class="table-bordered" %)
	850	+|(% style="text-align:center; vertical-align:middle" %)**DI function code**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**
	851	+|(% style="text-align:center; vertical-align:middle" %)21|INPOS1: Internal multi-segment position segment selection 1|Form internal multi-segment position running segment number
	852	+|(% style="text-align:center; vertical-align:middle" %)22|INPOS2: Internal multi-segment position segment selection 2|Form internal multi-segment position running segment number
	853	+|(% style="text-align:center; vertical-align:middle" %)23|INPOS3: Internal multi-segment position segment selection 3|Form internal multi-segment position running segment number
	854	+|(% style="text-align:center; vertical-align:middle" %)24|INPOS4: Internal multi-segment position segment selection 4|Form internal multi-segment position running segment number
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
846		-
847	847	Table 6-17 DI function code
848	848
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
	860	+(% class="table-bordered" %)
	861	+|(% style="text-align:center; vertical-align:middle" %)**INPOS4**|(% style="text-align:center; vertical-align:middle" %)**INPOS3**|(% style="text-align:center; vertical-align:middle" %)**INPOS2**|(% style="text-align:center; vertical-align:middle" %)**INPOS1**|(% style="text-align:center; vertical-align:middle" %)**Running position number**
	862	+|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1
	863	+|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)2
	864	+|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)3
	865	+|(% colspan="5" style="text-align:center; vertical-align:middle" %)…………
	866	+|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)16
851	851
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		-
859	859	Table 6-18 INPOS corresponds to running segment number
860	860
861	861	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]]__.
862	862
863		-
	872	+(% style="text-align:center" %)
864	864	[[image:image-20220608164545-12.png]]
865	865
866	866	Figure 6-14 DI switching running curve
...	...	@@ -871,12 +871,12 @@
871	871
872	872	In this processing way, the multi-segment position instruction enable is OFF during running, the servo drive will abandon the unfinished displacement part and shutdown, and the positioning completion signal will be valid after the shutdown is complete. When the multi-segment position enable is ON, and the servo drive will start to run from the next segment where the OFF occurs. The curves of single running and cycle running are shown in __[[Figure 6-15>>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.
873	873
874		-
	883	+(% style="text-align:center" %)
875	875	[[image:image-20220608164847-13.png]]
876	876
877	877	Figure 6-15 Single running-run the remaining segments (P07-02=1, P07-03=4)
878	878
879		-
	888	+(% style="text-align:center" %)
880	880	[[image:image-20220608165032-14.png]]
881	881
882	882	Figure 6-16 Cycle running-run the remaining segment (P07-02=1, P07-03=4)
...	...	@@ -885,12 +885,12 @@
885	885
886	886	In this processing mode, when the multi-segment position instruction enable is OFF during running, the servo drive will abandon the uncompleted displacement part and shutdown. After the shutdown is completed, the positioning completion signal is valid. When the multi-segment position enable is ON, and the servo drive will start to operate from the next position set by P07-02. The curves of single running and cycle running are shown in __[[Figure 6-17>>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.
887	887
888		-
	897	+(% style="text-align:center" %)
889	889	[[image:image-20220608165343-15.png]]
890	890
891	891	Figure 6-17 Single running-run from the start segment again (P07-02=1, P07-03=4)
892	892
893		-
	902	+(% style="text-align:center" %)
894	894	[[image:image-20220608165558-16.png]]
895	895
896	896	Figure 6-18 Cyclic running-run from the start segment again (P07-02=1, P07-03=4)
...	...	@@ -902,8 +902,10 @@
902	902	The relative position instruction takes the current stop position of the motor as the start point and specifies the amount of displacement.
903	903
904	904	|(((
	914	+(% style="text-align:center" %)
905	905	[[image:image-20220608165710-17.png]]
906	906	)))|(((
	917	+(% style="text-align:center" %)
907	907	[[image:image-20220608165749-18.png]]
908	908	)))
909	909	|Figure 6-19 Relative position diagram|Figure 6-20 Displacement diagram
...	...	@@ -913,8 +913,10 @@
913	913	The absolute position instruction takes "reference origin" as the zero point of absolute positioning, and specifies the amount of displacement.
914	914
915	915	|(((
	927	+(% style="text-align:center" %)
916	916	[[image:image-20220608165848-19.png]]
917	917	)))|(((
	930	+(% style="text-align:center" %)
918	918	[[image:image-20220608170005-20.png]]
919	919	)))
920	920	|Figure 6-21 Absolute indication|Figure 6-22 Displacement
...	...	@@ -923,46 +923,46 @@
923	923
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		-
927		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	939	+(% class="table-bordered" %)
	940	+|(% style="text-align:center; vertical-align:middle; width:124px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:171px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
928	928	**Setting method**
929		-)))|=(((
	942	+)))|(% style="text-align:center; vertical-align:middle; width:187px" %)(((
930	930	**Effective time**
931		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
932		-|=P07-09|(((
	944	+)))|(% style="text-align:center; vertical-align:middle; width:130px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:123px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:260px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	945	+|(% style="text-align:center; vertical-align:middle; width:124px" %)P07-09|(% style="text-align:center; vertical-align:middle; width:171px" %)(((
933	933	1st segment
934	934
935	935	displacement
936		-)))|(((
	949	+)))|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
937	937	Operation setting
938		-)))|(((
	951	+)))|(% style="text-align:center; vertical-align:middle; width:187px" %)(((
939	939	Effective immediately
940		-)))|10000|(((
	953	+)))|(% style="text-align:center; vertical-align:middle; width:130px" %)10000|(% style="text-align:center; vertical-align:middle; width:123px" %)(((
941	941	-2147483647 to
942	942
943	943	2147483646
944		-)))|Position instruction, positive and negative values could be set|-
945		-|=P07-10|Maximum speed of the 1st displacement|(((
	957	+)))|(% style="width:260px" %)Position instruction, positive and negative values could be set|(% style="text-align:center; vertical-align:middle" %)-
	958	+|(% style="text-align:center; vertical-align:middle; width:124px" %)P07-10|(% style="text-align:center; vertical-align:middle; width:171px" %)Maximum speed of the 1st displacement|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
946	946	Operation setting
947		-)))|(((
	960	+)))|(% style="text-align:center; vertical-align:middle; width:187px" %)(((
948	948	Effective immediately
949		-)))|100|1 to 5000|Steady-state running speed of the 1st segment|rpm
950		-|=P07-11|Acceleration and deceleration of 1st segment displacement|(((
	962	+)))|(% style="text-align:center; vertical-align:middle; width:130px" %)100|(% style="text-align:center; vertical-align:middle; width:123px" %)1 to 5000|(% style="width:260px" %)Steady-state running speed of the 1st segment|(% style="text-align:center; vertical-align:middle" %)rpm
	963	+|(% style="text-align:center; vertical-align:middle; width:124px" %)P07-11|(% style="text-align:center; vertical-align:middle; width:171px" %)Acceleration and deceleration of 1st segment displacement|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
951	951	Operation setting
952		-)))|(((
	965	+)))|(% style="text-align:center; vertical-align:middle; width:187px" %)(((
953	953	Effective immediately
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|(((
	967	+)))|(% style="text-align:center; vertical-align:middle; width:130px" %)100|(% style="text-align:center; vertical-align:middle; width:123px" %)1 to 65535|(% style="width:260px" %)The time required for the acceleration and deceleration of the 1st segment|(% style="text-align:center; vertical-align:middle" %)ms
	968	+|(% style="text-align:center; vertical-align:middle; width:124px" %)P07-12|(% style="text-align:center; vertical-align:middle; width:171px" %)Waiting time after completion of the 1st segment displacement|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
956	956	Operation setting
957		-)))|(((
	970	+)))|(% style="text-align:center; vertical-align:middle; width:187px" %)(((
958	958	Effective immediately
959		-)))|100|1 to 65535|Delayed waiting time from the completion of the 1st segment to the start of the next segment|Set by P07-06
	972	+)))|(% style="text-align:center; vertical-align:middle; width:130px" %)100|(% style="text-align:center; vertical-align:middle; width:123px" %)1 to 65535|(% style="width:260px" %)Delayed waiting time from the completion of the 1st segment to the start of the next segment|(% style="text-align:center; vertical-align:middle" %)Set by P07-06
960	960
961	961	Table 6-19 The 1st position operation curve parameters table
962	962
963	963	After setting the above parameters, the actual operation curve of the motor is shown in Figure 6-23.
964	964
965		-
	978	+(% style="text-align:center" %)
966	966	[[image:image-20220608170149-21.png]]
967	967
968	968	Figure 6-23 The 1st segment running curve of motor
...	...	@@ -971,14 +971,15 @@
971	971
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		-
975		-|**DI function code**|**Function name**|**Function**
976		-|20|ENINPOS: Internal multi-segment position enable signal|(((
	987	+(% class="table-bordered" %)
	988	+|(% style="text-align:center; vertical-align:middle" %)**DI function code**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**
	989	+|(% style="text-align:center; vertical-align:middle" %)20|(% style="text-align:center; vertical-align:middle" %)ENINPOS: Internal multi-segment position enable signal|(% style="text-align:center; vertical-align:middle" %)(((
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
980	980	)))
981	981
	995	+(% style="text-align:center" %)
982	982	[[image:image-20220611152020-6.png]]
983	983
984	984	It should be noted that only when the internal multi-segment position enable signal is OFF, can the P07 group parameters be actually modified to write into the servo drive!
...	...	@@ -993,13 +993,13 @@
993	993
994	994	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)
995	995
996		-
	1010	+(% style="text-align:center" %)
997	997	[[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]]
998	998
999		-
	1013	+(% style="text-align:center" %)
1000	1000	[[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]]
1001	1001
1002		-
	1016	+(% style="text-align:center" %)
1003	1003	[[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]]
1004	1004
1005	1005	Otherwise, the servo drive will report Er.35: "Electronic gear ratio setting exceeds the limit"!
...	...	@@ -1006,7 +1006,7 @@
1006	1006
1007	1007	**(2) Setting steps of electronic gear ratio**
1008	1008
1009		-
	1023	+(% style="text-align:center" %)
1010	1010	[[image:image-20220608170320-22.png]]
1011	1011
1012	1012	Figure 6-24 Setting steps of electronic gear ratio
...	...	@@ -1021,7 +1021,7 @@
1021	1021
1022	1022	Step5: Calculate the value of electronic gear ratio according to formula below.
1023	1023
1024		-
	1038	+(% style="text-align:center" %)
1025	1025	[[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]]
1026	1026
1027	1027	**(3) lectronic gear ratio switch setting**
...	...	@@ -1029,59 +1029,59 @@
1029	1029
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		-
1033		-|**Function code**|**Name**|(((
	1046	+(% class="table-bordered" %)
	1047	+|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:159px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
1034	1034	**Setting method**
1035		-)))|(((
	1049	+)))|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
1036	1036	**Effective time**
1037		-)))|**Default value**|**Range**|**Definition**|**Unit**
1038		-|P00-16|Number of instruction pulses when the motor rotates one circle|(((
	1051	+)))|(% style="text-align:center; vertical-align:middle; width:142px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:94px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:311px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	1052	+|(% style="text-align:center; vertical-align:middle" %)P00-16|(% style="text-align:center; vertical-align:middle; width:159px" %)Number of instruction pulses when the motor rotates one circle|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
1039	1039	Shutdown setting
1040		-)))|(((
	1054	+)))|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
1041	1041	Effective immediately
1042		-)))|10000|0 to 131072|Set the number of position command pulses required for each turn of the motor. When the setting value is 0, [P00-17]/[P00-19] Electronic gear 1/2 numerator, [P00-18]/[P00-20] Electronic gear 1/2 denominator is valid.|(((
	1056	+)))|(% style="text-align:center; vertical-align:middle; width:142px" %)10000|(% style="text-align:center; vertical-align:middle; width:94px" %)0 to 131072|(% style="width:311px" %)Set the number of position command pulses required for each turn of the motor. When the setting value is 0, [P00-17]/[P00-19] Electronic gear 1/2 numerator, [P00-18]/[P00-20] Electronic gear 1/2 denominator is valid.|(% style="text-align:center; vertical-align:middle" %)(((
1043	1043	Instruction pulse
1044	1044
1045	1045	unit
1046	1046	)))
1047		-|P00-17|(((
	1061	+|(% style="text-align:center; vertical-align:middle" %)P00-17|(% style="text-align:center; vertical-align:middle; width:159px" %)(((
1048	1048	Electronic gear 1
1049	1049
1050	1050	numerator
1051		-)))|Operation setting|(((
	1065	+)))|(% style="text-align:center; vertical-align:middle; width:156px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
1052	1052	Effective immediately
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|(((
	1067	+)))|(% style="text-align:center; vertical-align:middle; width:142px" %)1|(% style="text-align:center; vertical-align:middle; width:94px" %)1 to 4294967294|(% style="width:311px" %)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.|(% style="text-align:center; vertical-align:middle" %)-
	1068	+|(% style="text-align:center; vertical-align:middle" %)P00-18|(% style="text-align:center; vertical-align:middle; width:159px" %)(((
1055	1055	Electronic gear 1
1056	1056
1057	1057	denominator
1058		-)))|(((
	1072	+)))|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
1059	1059	Operation setting
1060		-)))|(((
	1074	+)))|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
1061	1061	Effective immediately
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|(((
	1076	+)))|(% style="text-align:center; vertical-align:middle; width:142px" %)1|(% style="text-align:center; vertical-align:middle; width:94px" %)1 to 4294967294|(% style="width:311px" %)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.|(% style="text-align:center; vertical-align:middle" %)-
	1077	+|(% style="text-align:center; vertical-align:middle" %)P00-19|(% style="text-align:center; vertical-align:middle; width:159px" %)(((
1064	1064	Electronic gear 2
1065	1065
1066	1066	numerator
1067		-)))|Operation setting|(((
	1081	+)))|(% style="text-align:center; vertical-align:middle; width:156px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
1068	1068	Effective immediately
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|(((
	1083	+)))|(% style="text-align:center; vertical-align:middle; width:142px" %)1|(% style="text-align:center; vertical-align:middle; width:94px" %)1 to 4294967294|(% style="width:311px" %)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.|(% style="text-align:center; vertical-align:middle" %)-
	1084	+|(% style="text-align:center; vertical-align:middle" %)P00-20|(% style="text-align:center; vertical-align:middle; width:159px" %)(((
1071	1071	Electronic gear 2
1072	1072
1073	1073	denominator
1074		-)))|Operation setting|(((
	1088	+)))|(% style="text-align:center; vertical-align:middle; width:156px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
1075	1075	Effective immediately
1076		-)))|1|1 to 4294967294|Set the denominator 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.|-
	1090	+)))|(% style="text-align:center; vertical-align:middle; width:142px" %)1|(% style="text-align:center; vertical-align:middle; width:94px" %)1 to 4294967294|(% style="width:311px" %)Set the denominator 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.|(% style="text-align:center; vertical-align:middle" %)-
1077	1077
1078	1078	Table 6-20 Electronic gear ratio function code
1079	1079
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		-
1083		-|**DI function code**|**Function name**|**Function**
1084		-|09|GEAR-SEL electronic gear switch 1|(((
	1096	+(% class="table-bordered" %)
	1097	+|(% style="text-align:center; vertical-align:middle" %)**DI function code**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**
	1098	+|(% style="text-align:center; vertical-align:middle" %)09|(% style="text-align:center; vertical-align:middle" %)GEAR-SEL electronic gear switch 1|(% style="text-align:center; vertical-align:middle" %)(((
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]]
	1106	+|(% style="text-align:center; vertical-align:middle" %)**P00-16 value**|(% style="text-align:center; vertical-align:middle" %)**DI terminal level corresponding to DI port function 9**|(% style="text-align:center; vertical-align:middle" %)**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]]
	1107	+|(% rowspan="2" style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)DI port logic invalid|(% style="text-align:center; vertical-align:middle" %)[[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]]
	1108	+|(% style="text-align:center; vertical-align:middle" %)DI port logic valid|(% style="text-align:center; vertical-align:middle" %)[[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]]
	1109	+|(% style="text-align:center; vertical-align:middle" %)1 to 131072|(% style="text-align:center; vertical-align:middle" %)~-~-|(% style="text-align:center; vertical-align:middle" %)[[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
...	...	@@ -1110,32 +1110,32 @@
1110	1110
1111	1111	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.
1112	1112
1113		-
	1127	+(% style="text-align:center" %)
1114	1114	[[image:image-20220608170455-23.png]]
1115	1115
1116	1116	Figure 6-25 Position instruction filtering diagram
1117	1117
1118		-
1119		-|**Function code**|**Name**|(((
	1132	+(% class="table-bordered" %)
	1133	+|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:193px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:150px" %)(((
1120	1120	**Setting method**
1121		-)))|(((
	1135	+)))|(% style="text-align:center; vertical-align:middle; width:209px" %)(((
1122	1122	**Effective time**
1123		-)))|**Default value**|**Range**|**Definition**|**Unit**
1124		-|P04-01|Pulse instruction filtering method|(((
	1137	+)))|(% style="text-align:center; vertical-align:middle; width:123px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:104px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:253px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:72px" %)**Unit**
	1138	+|(% style="text-align:center; vertical-align:middle" %)P04-01|(% style="text-align:center; vertical-align:middle; width:193px" %)Pulse instruction filtering method|(% style="text-align:center; vertical-align:middle; width:150px" %)(((
1125	1125	Shutdown setting
1126		-)))|(((
	1140	+)))|(% style="text-align:center; vertical-align:middle; width:209px" %)(((
1127	1127	Effective immediately
1128		-)))|0|0 to 1|(((
	1142	+)))|(% style="text-align:center; vertical-align:middle; width:123px" %)0|(% style="text-align:center; vertical-align:middle; width:104px" %)0 to 1|(% style="width:253px" %)(((
1129	1129	0: 1st-order low-pass filtering
1130	1130
1131	1131	1: average filtering
1132		-)))|-
1133		-|P04-02|Position instruction 1st-order low-pass filtering time constant|Shutdown setting|(((
	1146	+)))|(% style="text-align:center; vertical-align:middle; width:72px" %)-
	1147	+|(% style="text-align:center; vertical-align:middle" %)P04-02|(% style="text-align:center; vertical-align:middle; width:193px" %)Position instruction 1st-order low-pass filtering time constant|(% style="text-align:center; vertical-align:middle; width:150px" %)Shutdown setting|(% style="text-align:center; vertical-align:middle; width:209px" %)(((
1134	1134	Effective immediately
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|(((
	1149	+)))|(% style="text-align:center; vertical-align:middle; width:123px" %)0|(% style="text-align:center; vertical-align:middle; width:104px" %)0 to 1000|(% style="width:253px" %)Position instruction first-order low-pass filtering time constant|(% style="text-align:center; vertical-align:middle; width:72px" %)ms
	1150	+|(% style="text-align:center; vertical-align:middle" %)P04-03|(% style="text-align:center; vertical-align:middle; width:193px" %)Position instruction average filtering time constant|(% style="text-align:center; vertical-align:middle; width:150px" %)Shutdown setting|(% style="text-align:center; vertical-align:middle; width:209px" %)(((
1137	1137	Effective immediately
1138		-)))|0|0 to 128|Position instruction average filtering time constant|ms
	1152	+)))|(% style="text-align:center; vertical-align:middle; width:123px" %)0|(% style="text-align:center; vertical-align:middle; width:104px" %)0 to 128|(% style="width:253px" %)Position instruction average filtering time constant|(% style="text-align:center; vertical-align:middle; width:72px" %)ms
1139	1139
1140	1140	Table 6-23 Position instruction filter function code
1141	1141
...	...	@@ -1155,7 +1155,7 @@
1155	1155	(% class="wikigeneratedid" %)
1156	1156	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.
1157	1157
1158		-
	1172	+(% style="text-align:center" %)
1159	1159	[[image:image-20220608170550-24.png]]
1160	1160
1161	1161	Figure 6-26 Positioning completion signal output diagram
...	...	@@ -1164,46 +1164,46 @@
1164	1164
1165	1165	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]]__.
1166	1166
1167		-
	1181	+(% style="text-align:center" %)
1168	1168	[[image:image-20220608170650-25.png]]
1169	1169
1170	1170	Figure 6-27 Positioning completion signal output with increased window filter time diagram
1171	1171
1172		-
1173		-|**Function code**|**Name**|(((
	1186	+(% class="table-bordered" %)
	1187	+|(% style="text-align:center; vertical-align:middle; width:117px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:133px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:145px" %)(((
1174	1174	**Setting method**
1175		-)))|(((
	1189	+)))|(% style="text-align:center; vertical-align:middle; width:224px" %)(((
1176	1176	**Effective time**
1177		-)))|**Default value**|**Range**|**Definition**|**Unit**
1178		-|P05-12|Positioning completion threshold|(((
	1191	+)))|(% style="text-align:center; vertical-align:middle; width:114px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:103px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:377px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:272px" %)**Unit**
	1192	+|(% style="text-align:center; vertical-align:middle; width:117px" %)P05-12|(% style="text-align:center; vertical-align:middle; width:133px" %)Positioning completion threshold|(% style="text-align:center; vertical-align:middle; width:145px" %)(((
1179	1179	Operation setting
1180		-)))|(((
	1194	+)))|(% style="text-align:center; vertical-align:middle; width:224px" %)(((
1181	1181	Effective immediately
1182		-)))|800|1 to 65535|Positioning completion threshold|Equivalent pulse unit
1183		-|P05-13|Positioning approach threshold|(((
	1196	+)))|(% style="text-align:center; vertical-align:middle; width:114px" %)800|(% style="text-align:center; vertical-align:middle; width:103px" %)1 to 65535|(% style="text-align:center; vertical-align:middle; width:377px" %)Positioning completion threshold|(% style="text-align:center; vertical-align:middle; width:272px" %)Equivalent pulse unit
	1197	+|(% style="text-align:center; vertical-align:middle; width:117px" %)P05-13|(% style="text-align:center; vertical-align:middle; width:133px" %)Positioning approach threshold|(% style="text-align:center; vertical-align:middle; width:145px" %)(((
1184	1184	Operation setting
1185		-)))|(((
	1199	+)))|(% style="text-align:center; vertical-align:middle; width:224px" %)(((
1186	1186	Effective immediately
1187		-)))|5000|1 to 65535|Positioning approach threshold|Equivalent pulse unit
1188		-|P05-14|Position detection window time|(((
	1201	+)))|(% style="text-align:center; vertical-align:middle; width:114px" %)5000|(% style="text-align:center; vertical-align:middle; width:103px" %)1 to 65535|(% style="text-align:center; vertical-align:middle; width:377px" %)Positioning approach threshold|(% style="text-align:center; vertical-align:middle; width:272px" %)Equivalent pulse unit
	1202	+|(% style="text-align:center; vertical-align:middle; width:117px" %)P05-14|(% style="text-align:center; vertical-align:middle; width:133px" %)Position detection window time|(% style="text-align:center; vertical-align:middle; width:145px" %)(((
1189	1189	Operation setting
1190		-)))|(((
	1204	+)))|(% style="text-align:center; vertical-align:middle; width:224px" %)(((
1191	1191	Effective immediately
1192		-)))|10|0 to 20000|Set positioning completion detection window time|ms
1193		-|P05-15|Positioning signal hold time|(((
	1206	+)))|(% style="text-align:center; vertical-align:middle; width:114px" %)10|(% style="text-align:center; vertical-align:middle; width:103px" %)0 to 20000|(% style="text-align:center; vertical-align:middle; width:377px" %)Set positioning completion detection window time|(% style="text-align:center; vertical-align:middle; width:272px" %)ms
	1207	+|(% style="text-align:center; vertical-align:middle; width:117px" %)P05-15|(% style="text-align:center; vertical-align:middle; width:133px" %)Positioning signal hold time|(% style="text-align:center; vertical-align:middle; width:145px" %)(((
1194	1194	Operation setting
1195		-)))|(((
	1209	+)))|(% style="text-align:center; vertical-align:middle; width:224px" %)(((
1196	1196	Effective immediately
1197		-)))|100|0 to 20000|Set positioning completion output hold time|ms
	1211	+)))|(% style="text-align:center; vertical-align:middle; width:114px" %)100|(% style="text-align:center; vertical-align:middle; width:103px" %)0 to 20000|(% style="text-align:center; vertical-align:middle; width:377px" %)Set positioning completion output hold time|(% style="text-align:center; vertical-align:middle; width:272px" %)ms
1198	1198
1199	1199	Table 6-24 Function code parameters of positioning completion
1200	1200
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|(((
	1215	+(% class="table-bordered" %)
	1216	+|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**
	1217	+|(% style="text-align:center; vertical-align:middle" %)134|(% style="text-align:center; vertical-align:middle" %)P-COIN positioning complete|(% style="text-align:center; vertical-align:middle" %)Output this signal indicates the servo drive position is complete.
	1218	+|(% style="text-align:center; vertical-align:middle" %)135|(% style="text-align:center; vertical-align:middle" %)(((
1205	1205	P-NEAR positioning close
1206		-)))|(((
	1220	+)))|(% style="text-align:center; vertical-align:middle" %)(((
1207	1207	Output this signal indicates that the servo drive position is close.
1208	1208	)))
1209	1209
...	...	@@ -1213,7 +1213,7 @@
1213	1213
1214	1214	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.
1215	1215
1216		-
	1230	+(% style="text-align:center" %)
1217	1217	[[image:6.28.jpg||height="260" width="806"]]
1218	1218
1219	1219	Figure 6-28 Speed control block diagram
...	...	@@ -1222,21 +1222,21 @@
1222	1222
1223	1223	In speed control mode, VD2A and VD2B servo drives have two instruction source: internal speed instruction and analog speed instruction. VD2F drive only supports internal speed instruction. Speed instruction source is set by function code P01-01.
1224	1224
1225		-
1226		-|**Function code**|**Name**|(((
	1239	+(% class="table-bordered" %)
	1240	+|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:140px" %)(((
1227	1227	**Setting method**
1228		-)))|(((
	1242	+)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
1229	1229	**Effective time**
1230		-)))|**Default value**|**Range**|**Definition**|**Unit**
1231		-|P01-01|Speed instruction source|(((
	1244	+)))|(% style="text-align:center; vertical-align:middle; width:124px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:83px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:328px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	1245	+|(% style="text-align:center; vertical-align:middle" %)P01-01|(% style="text-align:center; vertical-align:middle; width:180px" %)Speed instruction source|(% style="text-align:center; vertical-align:middle; width:140px" %)(((
1232	1232	Shutdown setting
1233		-)))|(((
	1247	+)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
1234	1234	Effective immediately
1235		-)))|1|1 to 6|(((
	1249	+)))|(% style="text-align:center; vertical-align:middle; width:124px" %)1|(% style="text-align:center; vertical-align:middle; width:83px" %)1 to 6|(% style="text-align:center; vertical-align:middle; width:328px" %)(((
1236	1236	0: internal speed instruction
1237	1237
1238	1238	1: AI_1 analog input (not supported by VD2F)
1239		-)))|-
	1253	+)))|(% style="text-align:center; vertical-align:middle" %)-
1240	1240
1241	1241	Table 6-26 Speed instruction source parameter
1242	1242
...	...	@@ -1244,19 +1244,19 @@
1244	1244
1245	1245	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.
1246	1246
1247		-
1248		-|**Function code**|**Name**|(((
	1261	+(% class="table-bordered" %)
	1262	+|(% style="text-align:center; vertical-align:middle; width:112px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:212px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:138px" %)(((
1249	1249	**Setting method**
1250		-)))|(((
	1264	+)))|(% style="text-align:center; vertical-align:middle; width:191px" %)(((
1251	1251	**Effective time**
1252		-)))|**Default value**|**Range**|**Definition**|**Unit**
1253		-|(% rowspan="2" %)P01-02|(% rowspan="2" %)(((
	1266	+)))|(% style="text-align:center; vertical-align:middle; width:142px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:144px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:287px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:259px" %)**Unit**
	1267	+|(% rowspan="2" style="text-align:center; vertical-align:middle; width:112px" %)P01-02|(% rowspan="2" style="text-align:center; vertical-align:middle; width:212px" %)(((
1254	1254	Internal speed Instruction 0
1255		-)))|(% rowspan="2" %)(((
	1269	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((
1256	1256	Operation setting
1257		-)))|(% rowspan="2" %)(((
	1271	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:191px" %)(((
1258	1258	Effective immediately
1259		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1273	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:142px" %)0|(% style="text-align:center; vertical-align:middle; width:144px" %)-3000 to 3000|(% rowspan="2" style="width:287px" %)(((
1260	1260	Internal speed instruction 0
1261	1261
1262	1262	When DI input port:
...	...	@@ -1268,15 +1268,15 @@
1268	1268	13-INSPD1: 0,
1269	1269
1270	1270	select this speed instruction to be effective.
1271		-)))|(% rowspan="2" %)rpm
1272		-|-5000 to 5000*
1273		-|(% rowspan="2" %)P01-23|(% rowspan="2" %)(((
	1285	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:259px" %)rpm
	1286	+|(% style="text-align:center; vertical-align:middle; width:144px" %)-5000 to 5000*
	1287	+|(% rowspan="2" style="text-align:center; vertical-align:middle; width:112px" %)P01-23|(% rowspan="2" style="text-align:center; vertical-align:middle; width:212px" %)(((
1274	1274	Internal speed Instruction 1
1275		-)))|(% rowspan="2" %)(((
	1289	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((
1276	1276	Operation setting
1277		-)))|(% rowspan="2" %)(((
	1291	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:191px" %)(((
1278	1278	Effective immediately
1279		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1293	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:142px" %)0|(% style="text-align:center; vertical-align:middle; width:144px" %)-3000 to 3000|(% rowspan="2" style="width:287px" %)(((
1280	1280	Internal speed instruction 1
1281	1281
1282	1282	When DI input port:
...	...	@@ -1288,15 +1288,15 @@
1288	1288	13-INSPD1: 1,
1289	1289
1290	1290	Select this speed instruction to be effective.
1291		-)))|(% rowspan="2" %)rpm
1292		-|-5000 to 5000*
1293		-|(% rowspan="2" %)P01-24|(% rowspan="2" %)(((
	1305	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:259px" %)rpm
	1306	+|(% style="text-align:center; vertical-align:middle; width:144px" %)-5000 to 5000*
	1307	+|(% rowspan="2" style="text-align:center; vertical-align:middle; width:112px" %)P01-24|(% rowspan="2" style="text-align:center; vertical-align:middle; width:212px" %)(((
1294	1294	Internal speed Instruction 2
1295		-)))|(% rowspan="2" %)(((
	1309	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((
1296	1296	Operation setting
1297		-)))|(% rowspan="2" %)(((
	1311	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:191px" %)(((
1298	1298	Effective immediately
1299		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1313	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:142px" %)0|(% style="text-align:center; vertical-align:middle; width:144px" %)-3000 to 3000|(% rowspan="2" style="width:287px" %)(((
1300	1300	Internal speed instruction 2
1301	1301
1302	1302	When DI input port:
...	...	@@ -1308,15 +1308,15 @@
1308	1308	13-INSPD1: 0,
1309	1309
1310	1310	Select this speed instruction to be effective.
1311		-)))|(% rowspan="2" %)rpm
1312		-|-5000 to 5000*
1313		-|(% rowspan="2" %)P01-25|(% rowspan="2" %)(((
	1325	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:259px" %)rpm
	1326	+|(% style="text-align:center; vertical-align:middle; width:144px" %)-5000 to 5000*
	1327	+|(% rowspan="2" style="text-align:center; vertical-align:middle; width:112px" %)P01-25|(% rowspan="2" style="text-align:center; vertical-align:middle; width:212px" %)(((
1314	1314	Internal speed Instruction 3
1315		-)))|(% rowspan="2" %)(((
	1329	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((
1316	1316	Operation setting
1317		-)))|(% rowspan="2" %)(((
	1331	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:191px" %)(((
1318	1318	Effective immediately
1319		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1333	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:142px" %)0|(% style="text-align:center; vertical-align:middle; width:144px" %)-3000 to 3000|(% rowspan="2" style="width:287px" %)(((
1320	1320	Internal speed instruction 3
1321	1321
1322	1322	When DI input port:
...	...	@@ -1328,16 +1328,17 @@
1328	1328	13-INSPD1: 1,
1329	1329
1330	1330	Select this speed instruction to be effective.
1331		-)))|(% rowspan="2" %)rpm
1332		-|-5000 to 5000*
	1345	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:259px" %)rpm
	1346	+|(% style="text-align:center; vertical-align:middle; width:144px" %)-5000 to 5000*
1333	1333
1334		-|(% rowspan="2" %)P01-26|(% rowspan="2" %)(((
	1348	+(% class="table-bordered" %)
	1349	+|(% rowspan="2" style="text-align:center; vertical-align:middle; width:111px" %)P01-26|(% rowspan="2" style="text-align:center; vertical-align:middle; width:214px" %)(((
1335	1335	Internal speed Instruction 4
1336		-)))|(% rowspan="2" %)(((
	1351	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((
1337	1337	Operation setting
1338		-)))|(% rowspan="2" %)(((
	1353	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:161px" %)(((
1339	1339	Effective immediately
1340		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1355	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:117px" %)-3000 to 3000|(% rowspan="2" style="width:302px" %)(((
1341	1341	Internal speed instruction 4
1342	1342
1343	1343	When DI input port:
...	...	@@ -1349,15 +1349,15 @@
1349	1349	13-INSPD1: 0,
1350	1350
1351	1351	Select this speed instruction to be effective.
1352		-)))|(% rowspan="2" %)rpm
1353		-|-5000 to 5000*
1354		-|(% rowspan="2" %)P01-27|(% rowspan="2" %)(((
	1367	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle" %)rpm
	1368	+|(% style="text-align:center; vertical-align:middle; width:117px" %)-5000 to 5000*
	1369	+|(% rowspan="2" style="text-align:center; vertical-align:middle; width:111px" %)P01-27|(% rowspan="2" style="text-align:center; vertical-align:middle; width:214px" %)(((
1355	1355	Internal speed Instruction 5
1356		-)))|(% rowspan="2" %)(((
	1371	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((
1357	1357	Operation setting
1358		-)))|(% rowspan="2" %)(((
	1373	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:161px" %)(((
1359	1359	Effective immediately
1360		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1375	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:117px" %)-3000 to 3000|(% rowspan="2" style="width:302px" %)(((
1361	1361	Internal speed instruction 5
1362	1362
1363	1363	When DI input port:
...	...	@@ -1369,15 +1369,15 @@
1369	1369	13-INSPD1: 1,
1370	1370
1371	1371	Select this speed instruction to be effective.
1372		-)))|(% rowspan="2" %)rpm
1373		-|-5000 to 5000*
1374		-|(% rowspan="2" %)P01-28|(% rowspan="2" %)(((
	1387	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle" %)rpm
	1388	+|(% style="text-align:center; vertical-align:middle; width:117px" %)-5000 to 5000*
	1389	+|(% rowspan="2" style="text-align:center; vertical-align:middle; width:111px" %)P01-28|(% rowspan="2" style="text-align:center; vertical-align:middle; width:214px" %)(((
1375	1375	Internal speed Instruction 6
1376		-)))|(% rowspan="2" %)(((
	1391	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((
1377	1377	Operation setting
1378		-)))|(% rowspan="2" %)(((
	1393	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:161px" %)(((
1379	1379	Effective immediately
1380		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1395	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:117px" %)-3000 to 3000|(% rowspan="2" style="width:302px" %)(((
1381	1381	Internal speed instruction 6
1382	1382
1383	1383	When DI input port:
...	...	@@ -1389,15 +1389,15 @@
1389	1389	13-INSPD1: 0,
1390	1390
1391	1391	Select this speed instruction to be effective.
1392		-)))|(% rowspan="2" %)rpm
1393		-|-5000 to 5000*
1394		-|(% rowspan="2" %)P01-29|(% rowspan="2" %)(((
	1407	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle" %)rpm
	1408	+|(% style="text-align:center; vertical-align:middle; width:117px" %)-5000 to 5000*
	1409	+|(% rowspan="2" style="text-align:center; vertical-align:middle; width:111px" %)P01-29|(% rowspan="2" style="text-align:center; vertical-align:middle; width:214px" %)(((
1395	1395	Internal speed Instruction 7
1396		-)))|(% rowspan="2" %)(((
	1411	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((
1397	1397	Operation setting
1398		-)))|(% rowspan="2" %)(((
	1413	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:161px" %)(((
1399	1399	Effective immediately
1400		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1415	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:117px" %)-3000 to 3000|(% rowspan="2" style="width:302px" %)(((
1401	1401	Internal speed instruction 7
1402	1402
1403	1403	When DI input port:
...	...	@@ -1409,34 +1409,34 @@
1409	1409	13-INSPD1: 1,
1410	1410
1411	1411	Select this speed instruction to be effective.
1412		-)))|(% rowspan="2" %)rpm
1413		-|-5000 to 5000*
	1427	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle" %)rpm
	1428	+|(% style="text-align:center; vertical-align:middle; width:117px" %)-5000 to 5000*
1414	1414
1415	1415	Table 6-27 Internal speed instruction parameters
1416	1416
1417	1417	✎**Note: **“*” means the set range of VD2F servo drive.
1418	1418
	1434	+(% class="table-bordered" %)
	1435	+|(% style="text-align:center; vertical-align:middle" %)**DI function code**|(% style="text-align:center; vertical-align:middle" %)**function name**|(% style="text-align:center; vertical-align:middle" %)**Function**
	1436	+|(% style="text-align:center; vertical-align:middle" %)13|(% style="text-align:center; vertical-align:middle" %)INSPD1 internal speed instruction selection 1|Form internal multi-speed running segment number
	1437	+|(% style="text-align:center; vertical-align:middle" %)14|(% style="text-align:center; vertical-align:middle" %)INSPD2 internal speed instruction selection 2|Form internal multi-speed running segment number
	1438	+|(% style="text-align:center; vertical-align:middle" %)15|(% style="text-align:center; vertical-align:middle" %)INSPD3 internal speed instruction selection 3|Form internal multi-speed running segment number
1419	1419
1420		-|**DI function code**|**function name**|**Function**
1421		-|13|INSPD1 internal speed instruction selection 1|Form internal multi-speed running segment number
1422		-|14|INSPD2 internal speed instruction selection 2|Form internal multi-speed running segment number
1423		-|15|INSPD3 internal speed instruction selection 3|Form internal multi-speed running segment number
1424		-
1425	1425	Table 6-28 DI multi-speed function code description
1426	1426
1427	1427	The multi-speed segment number is a 3-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. The corresponding relationship between INSPD1 to 3 and segment numbers is shown as below.
1428	1428
1429		-
1430		-|**INSPD3**|**INSPD2**|**INSPD1**|**Running segment number**|**Internal speed instruction number**
1431		-|0|0|0|1|0
1432		-|0|0|1|2|1
1433		-|0|1|0|3|2
	1444	+(% class="table-bordered" %)
	1445	+|(% style="text-align:center; vertical-align:middle" %)**INSPD3**|(% style="text-align:center; vertical-align:middle" %)**INSPD2**|(% style="text-align:center; vertical-align:middle" %)**INSPD1**|(% style="text-align:center; vertical-align:middle" %)**Running segment number**|(% style="text-align:center; vertical-align:middle" %)**Internal speed instruction number**
	1446	+|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)0
	1447	+|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)2|(% style="text-align:center; vertical-align:middle" %)1
	1448	+|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)3|(% style="text-align:center; vertical-align:middle" %)2
1434	1434	|(% colspan="5" %)......
1435		-|1|1|1|8|7
	1450	+|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)8|(% style="text-align:center; vertical-align:middle" %)7
1436	1436
1437	1437	Table 6-29 Correspondence between INSPD bits and segment numbers
1438	1438
1439		-
	1454	+(% style="text-align:center" %)
1440	1440	[[image:image-20220608170845-26.png]]
1441	1441
1442	1442	Figure 6-29 Multi-segment speed running curve
...	...	@@ -1445,7 +1445,7 @@
1445	1445
1446	1446	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.
1447	1447
1448		-
	1463	+(% style="text-align:center" %)
1449	1449	[[image:image-20220608153341-5.png]]
1450	1450
1451	1451	Figure 6-30 Analog input circuit
...	...	@@ -1452,7 +1452,7 @@
1452	1452
1453	1453	Taking AI_1 as an example, the method of setting the speed instruction of analog voltage is illustrated as below.
1454	1454
1455		-
	1470	+(% style="text-align:center" %)
1456	1456	[[image:image-20220608170955-27.png]]
1457	1457
1458	1458	Figure 6-31 Analog voltage speed instruction setting steps
...	...	@@ -1465,18 +1465,18 @@
1465	1465
1466	1466	Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1467	1467
1468		-
	1483	+(% style="text-align:center" %)
1469	1469	[[image:image-20220608171124-28.png]]
1470	1470
1471	1471	Figure 6-32 AI_1 diagram before and after bias
1472	1472
	1488	+(% class="table-bordered" %)
	1489	+|(% style="text-align:center; vertical-align:middle; width:115px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:125px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:137px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:165px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:111px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:136px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:360px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:44px" %)**Unit**
	1490	+|(% style="text-align:center; vertical-align:middle; width:115px" %)P05-01☆|(% style="text-align:center; vertical-align:middle; width:125px" %)AI_1 input bias|(% style="text-align:center; vertical-align:middle; width:137px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:165px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:111px" %)0|(% style="text-align:center; vertical-align:middle; width:136px" %)-5000 to 5000|(% style="width:360px" %)Set AI_1 channel analog bias value|(% style="text-align:center; vertical-align:middle; width:44px" %)mV
	1491	+|(% style="text-align:center; vertical-align:middle; width:115px" %)P05-02☆|(% style="text-align:center; vertical-align:middle; width:125px" %)AI_1 input filter time constant|(% style="text-align:center; vertical-align:middle; width:137px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:165px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:111px" %)200|(% style="text-align:center; vertical-align:middle; width:136px" %)0 to 60000|(% style="width:360px" %)AI_1 channel input first-order low-pass filtering time constant|(% style="text-align:center; vertical-align:middle; width:44px" %)0.01ms
	1492	+|(% style="text-align:center; vertical-align:middle; width:115px" %)P05-03☆|(% style="text-align:center; vertical-align:middle; width:125px" %)AI_1 dead zone|(% style="text-align:center; vertical-align:middle; width:137px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:165px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:111px" %)20|(% style="text-align:center; vertical-align:middle; width:136px" %)0 to 1000|(% style="width:360px" %)Set AI_1 channel quantity dead zone value|(% style="text-align:center; vertical-align:middle; width:44px" %)mV
	1493	+|(% style="text-align:center; vertical-align:middle; width:115px" %)P05-04☆|(% style="text-align:center; vertical-align:middle; width:125px" %)AI_1 zero drift|(% style="text-align:center; vertical-align:middle; width:137px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:165px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:111px" %)0|(% style="text-align:center; vertical-align:middle; width:136px" %)-500 to 500|(% style="width:360px" %)Automatic calibration of zero drift inside the drive|(% style="text-align:center; vertical-align:middle; width:44px" %)mV
1473	1473
1474		-|**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
1475		-|P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1476		-|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
1477		-|P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel quantity dead zone value|mV
1478		-|P05-04☆|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV
1479		-
1480	1480	Table 6-30 AI_1 parameters
1481	1481
1482	1482	✎**Note: **“☆” means VD2F servo drive does not support the function code .
...	...	@@ -1487,7 +1487,7 @@
1487	1487
1488	1488	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.
1489	1489
1490		-
	1505	+(% style="text-align:center" %)
1491	1491	[[image:image-20220608171314-29.png]]
1492	1492
1493	1493	Figure 6-33 of acceleration and deceleration time diagram
...	...	@@ -1496,22 +1496,22 @@
1496	1496
1497	1497	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]]
1498	1498
1499		-
1500		-|**Function code**|**Name**|(((
	1514	+(% class="table-bordered" %)
	1515	+|(% style="text-align:center; vertical-align:middle; width:116px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:137px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
1501	1501	**Setting method**
1502		-)))|(((
	1517	+)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
1503	1503	**Effective time**
1504		-)))|**Default value**|**Range**|**Definition**|**Unit**
1505		-|P01-03|Acceleration time|(((
	1519	+)))|(% style="text-align:center; vertical-align:middle; width:104px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:92px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:393px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:66px" %)**Unit**
	1520	+|(% style="text-align:center; vertical-align:middle; width:116px" %)P01-03|(% style="text-align:center; vertical-align:middle; width:137px" %)Acceleration time|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
1506	1506	Operation setting
1507		-)))|(((
	1522	+)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
1508	1508	Effective immediately
1509		-)))|50|0 to 65535|The time for the speed instruction to accelerate from 0 to 1000rpm|ms
1510		-|P01-04|Deceleration time|(((
	1524	+)))|(% style="text-align:center; vertical-align:middle; width:104px" %)50|(% style="text-align:center; vertical-align:middle; width:92px" %)0 to 65535|(% style="width:393px" %)The time for the speed instruction to accelerate from 0 to 1000rpm|(% style="text-align:center; vertical-align:middle; width:66px" %)ms
	1525	+|(% style="text-align:center; vertical-align:middle; width:116px" %)P01-04|(% style="text-align:center; vertical-align:middle; width:137px" %)Deceleration time|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
1511	1511	Operation setting
1512		-)))|(((
	1527	+)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
1513	1513	Effective immediately
1514		-)))|50|0 to 65535|The time for the speed instruction to decelerate from 1000rpm to 0|ms
	1529	+)))|(% style="text-align:center; vertical-align:middle; width:104px" %)50|(% style="text-align:center; vertical-align:middle; width:92px" %)0 to 65535|(% style="width:393px" %)The time for the speed instruction to decelerate from 1000rpm to 0|(% style="text-align:center; vertical-align:middle; width:66px" %)ms
1515	1515
1516	1516	Table 6-31 Acceleration and deceleration time parameters
1517	1517
...	...	@@ -1530,27 +1530,27 @@
1530	1530
1531	1531	The amplitude of negative speed command ≤ min (Maximum motor speed, P01-10, P01-13)
1532	1532
1533		-
1534		-|**Function code**|**Name**|(((
	1548	+(% class="table-bordered" %)
	1549	+|(% style="text-align:center; vertical-align:middle; width:119px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:136px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:133px" %)(((
1535	1535	**Setting method**
1536		-)))|(((
	1551	+)))|(% style="text-align:center; vertical-align:middle; width:163px" %)(((
1537	1537	**Effective time**
1538		-)))|**Default value**|**Range**|**Definition**|**Unit**
1539		-|P01-10|Maximum speed threshold|(((
	1553	+)))|(% style="text-align:center; vertical-align:middle; width:112px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:86px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:395px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:61px" %)**Unit**
	1554	+|(% style="text-align:center; vertical-align:middle; width:119px" %)P01-10|(% style="text-align:center; vertical-align:middle; width:136px" %)Maximum speed threshold|(% style="text-align:center; vertical-align:middle; width:133px" %)(((
1540	1540	Operation setting
1541		-)))|(((
	1556	+)))|(% style="text-align:center; vertical-align:middle; width:163px" %)(((
1542	1542	Effective immediately
1543		-)))|3600|0 to 5000|Set the maximum speed limit value, if exceeds this value, an overspeed fault will be reported|rpm
1544		-|P01-12|Forward speed threshold|(((
	1558	+)))|(% style="text-align:center; vertical-align:middle; width:112px" %)3600|(% style="text-align:center; vertical-align:middle; width:86px" %)0 to 5000|(% style="width:395px" %)Set the maximum speed limit value, if exceeds this value, an overspeed fault will be reported|(% style="text-align:center; vertical-align:middle; width:61px" %)rpm
	1559	+|(% style="text-align:center; vertical-align:middle; width:119px" %)P01-12|(% style="text-align:center; vertical-align:middle; width:136px" %)Forward speed threshold|(% style="text-align:center; vertical-align:middle; width:133px" %)(((
1545	1545	Operation setting
1546		-)))|(((
	1561	+)))|(% style="text-align:center; vertical-align:middle; width:163px" %)(((
1547	1547	Effective immediately
1548		-)))|3000|0 to 5000|Set forward speed limit value|rpm
1549		-|P01-13|Reverse speed threshold|(((
	1563	+)))|(% style="text-align:center; vertical-align:middle; width:112px" %)3000|(% style="text-align:center; vertical-align:middle; width:86px" %)0 to 5000|(% style="width:395px" %)Set forward speed limit value|(% style="text-align:center; vertical-align:middle; width:61px" %)rpm
	1564	+|(% style="text-align:center; vertical-align:middle; width:119px" %)P01-13|(% style="text-align:center; vertical-align:middle; width:136px" %)Reverse speed threshold|(% style="text-align:center; vertical-align:middle; width:133px" %)(((
1550	1550	Operation setting
1551		-)))|(((
	1566	+)))|(% style="text-align:center; vertical-align:middle; width:163px" %)(((
1552	1552	Effective immediately
1553		-)))|3000|0 to 5000|Set reverse speed limit value|rpm
	1568	+)))|(% style="text-align:center; vertical-align:middle; width:112px" %)3000|(% style="text-align:center; vertical-align:middle; width:86px" %)0 to 5000|(% style="width:395px" %)Set reverse speed limit value|(% style="text-align:center; vertical-align:middle; width:61px" %)rpm
1554	1554
1555	1555	Table 6-32 Rotation speed related function codes
1556	1556
...	...	@@ -1560,19 +1560,19 @@
1560	1560
1561	1561	If the speed instruction amplitude is greater than zero-speed clamp speed threshold, the servo motor exits the locked state and continues to run according to the current input speed instruction.
1562	1562
1563		-
1564		-|**Function code**|**Name**|(((
	1578	+(% class="table-bordered" %)
	1579	+|(% style="text-align:center; vertical-align:middle; width:119px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:115px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:147px" %)(((
1565	1565	**Setting method**
1566		-)))|(((
	1581	+)))|(% style="text-align:center; vertical-align:middle; width:166px" %)(((
1567	1567	**Effective time**
1568		-)))|**Default value**|**Range**|**Definition**|**Unit**
1569		-|P01-21|(((
	1583	+)))|(% style="text-align:center; vertical-align:middle; width:116px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:86px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:398px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:58px" %)**Unit**
	1584	+|(% style="text-align:center; vertical-align:middle; width:119px" %)P01-21|(% style="text-align:center; vertical-align:middle; width:115px" %)(((
1570	1570	Zero-speed clamp function selection
1571		-)))|(((
	1586	+)))|(% style="text-align:center; vertical-align:middle; width:147px" %)(((
1572	1572	Operation setting
1573		-)))|(((
	1588	+)))|(% style="text-align:center; vertical-align:middle; width:166px" %)(((
1574	1574	Effective immediately
1575		-)))|0|0 to 3|(((
	1590	+)))|(% style="text-align:center; vertical-align:middle; width:116px" %)0|(% style="text-align:center; vertical-align:middle; width:86px" %)0 to 3|(% style="width:398px" %)(((
1576	1576	Set the zero-speed clamp function. In speed mode:
1577	1577
1578	1578	0: Force the speed to 0;
...	...	@@ -1582,18 +1582,18 @@
1582	1582	2: When speed instruction is less than P01-22, force the speed to 0 and keep the position locked
1583	1583
1584	1584	3: Invalid, ignore zero-speed clamp input
1585		-)))|-
1586		-|P01-22|(((
	1600	+)))|(% style="text-align:center; vertical-align:middle; width:58px" %)-
	1601	+|(% style="text-align:center; vertical-align:middle; width:119px" %)P01-22|(% style="text-align:center; vertical-align:middle; width:115px" %)(((
1587	1587	Zero-speed clamp speed threshold
1588		-)))|(((
	1603	+)))|(% style="text-align:center; vertical-align:middle; width:147px" %)(((
1589	1589	Operation setting
1590		-)))|(((
	1605	+)))|(% style="text-align:center; vertical-align:middle; width:166px" %)(((
1591	1591	Effective immediately
1592		-)))|20|0 to 1000|Set the speed threshold of zero-speed clamp function|rpm
	1607	+)))|(% style="text-align:center; vertical-align:middle; width:116px" %)20|(% style="text-align:center; vertical-align:middle; width:86px" %)0 to 1000|(% style="text-align:left; vertical-align:middle; width:398px" %)Set the speed threshold of zero-speed clamp function|(% style="text-align:center; vertical-align:middle; width:58px" %)rpm
1593	1593
1594	1594	Table 6-33 Zero-speed clamp related parameters
1595	1595
1596		-
	1611	+(% style="text-align:center" %)
1597	1597	[[image:image-20220608171549-30.png]]
1598	1598
1599	1599	Figure 6-34 Zero-speed clamp diagram
...	...	@@ -1606,7 +1606,7 @@
1606	1606
1607	1607	After the speed instruction is filtered, the absolute value of the actual speed absolute value of the servo motor reaches P05-16 (rotation detection speed threshold), it could be considered that the motor is rotating. At this time, the servo drive outputs a rotation detection signal (TGON), which can be used to confirm that the motor has rotated. On the contrary, when the absolute value of the actual rotation speed of the servo motor is less than P05-16, it is considered that the motor is not rotating.
1608	1608
1609		-
	1624	+(% style="text-align:center" %)
1610	1610	[[image:image-20220608171625-31.png]]
1611	1611
1612	1612	Figure 6-35 Rotation detection signal diagram
...	...	@@ -1613,29 +1613,29 @@
1613	1613
1614	1614	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]]__.
1615	1615
1616		-
1617		-|**Function code**|**Name**|(((
	1631	+(% class="table-bordered" %)
	1632	+|(% style="text-align:center; vertical-align:middle; width:147px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:166px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:139px" %)(((
1618	1618	**Setting method**
1619		-)))|(((
	1634	+)))|(% style="text-align:center; vertical-align:middle; width:175px" %)(((
1620	1620	**Effective time**
1621		-)))|**Default value**|**Range**|**Definition**|**Unit**
1622		-|P05-16|(((
	1636	+)))|(% style="text-align:center; vertical-align:middle; width:126px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:113px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:382px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:237px" %)**Unit**
	1637	+|(% style="text-align:center; vertical-align:middle; width:147px" %)P05-16|(% style="text-align:center; vertical-align:middle; width:166px" %)(((
1623	1623	Rotation detection
1624	1624
1625	1625	speed threshold
1626		-)))|(((
	1641	+)))|(% style="text-align:center; vertical-align:middle; width:139px" %)(((
1627	1627	Operation setting
1628		-)))|(((
	1643	+)))|(% style="text-align:center; vertical-align:middle; width:175px" %)(((
1629	1629	Effective immediately
1630		-)))|20|0 to 1000|Set the motor rotation signal judgment threshold|rpm
	1645	+)))|(% style="text-align:center; vertical-align:middle; width:126px" %)20|(% style="text-align:center; vertical-align:middle; width:113px" %)0 to 1000|(% style="text-align:center; vertical-align:middle; width:382px" %)Set the motor rotation signal judgment threshold|(% style="text-align:center; vertical-align:middle; width:237px" %)rpm
1631	1631
1632	1632	Table 6-34 Rotation detection speed threshold parameters
1633	1633
1634		-
1635		-|**DO function code**|**Function name**|**Function**
1636		-|132|(((
	1649	+(% class="table-bordered" %)
	1650	+|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle; width:421px" %)**Function name**|(% style="text-align:center; vertical-align:middle; width:879px" %)**Function**
	1651	+|(% style="text-align:center; vertical-align:middle" %)132|(% style="text-align:center; vertical-align:middle; width:421px" %)(((
1637	1637	T-COIN rotation detection
1638		-)))|(((
	1653	+)))|(% style="width:879px" %)(((
1639	1639	Valid: when the absolute value of motor speed after filtering is greater than or equal to the set value of function code P05-16
1640	1640
1641	1641	Invalid, when the absolute value of motor speed after filtering is less than set value of function code P05-16
...	...	@@ -1647,7 +1647,7 @@
1647	1647
1648	1648	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.
1649	1649
1650		-
	1665	+(% style="text-align:center" %)
1651	1651	[[image:image-20220608171904-32.png]]
1652	1652
1653	1653	Figure 6-36 Zero-speed signal diagram
...	...	@@ -1654,25 +1654,25 @@
1654	1654
1655	1655	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]]__.
1656	1656
1657		-
1658		-|**Function code**|**Name**|(((
	1672	+(% class="table-bordered" %)
	1673	+|(% style="text-align:center; vertical-align:middle; width:112px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:188px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:169px" %)(((
1659	1659	**Setting method**
1660		-)))|(((
	1675	+)))|(% style="text-align:center; vertical-align:middle; width:194px" %)(((
1661	1661	**Effective time**
1662		-)))|**Default value**|**Range**|**Definition**|**Unit**
1663		-|P05-19|Zero speed output signal threshold|(((
	1677	+)))|(% style="text-align:center; vertical-align:middle; width:120px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:106px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:400px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:196px" %)**Unit**
	1678	+|(% style="text-align:center; vertical-align:middle; width:112px" %)P05-19|(% style="text-align:center; vertical-align:middle; width:188px" %)Zero speed output signal threshold|(% style="text-align:center; vertical-align:middle; width:169px" %)(((
1664	1664	Operation setting
1665		-)))|(((
	1680	+)))|(% style="text-align:center; vertical-align:middle; width:194px" %)(((
1666	1666	Effective immediately
1667		-)))|10|0 to 6000|Set zero-speed output signal judgment threshold|rpm
	1682	+)))|(% style="text-align:center; vertical-align:middle; width:120px" %)10|(% style="text-align:center; vertical-align:middle; width:106px" %)0 to 6000|(% style="text-align:center; vertical-align:middle; width:400px" %)Set zero-speed output signal judgment threshold|(% style="text-align:center; vertical-align:middle; width:196px" %)rpm
1668	1668
1669	1669	Table 6-36 Zero-speed output signal threshold parameter
1670	1670
1671		-
1672		-|**DO function code**|**Function name**|**Function**
1673		-|133|(((
	1686	+(% class="table-bordered" %)
	1687	+|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**
	1688	+|(% style="text-align:center; vertical-align:middle" %)133|(% style="text-align:center; vertical-align:middle" %)(((
1674	1674	ZSP zero speed signal
1675		-)))|Output this signal indicates that the servo motor is stopping rotation
	1690	+)))|(% style="text-align:center; vertical-align:middle" %)Output this signal indicates that the servo motor is stopping rotation
1676	1676
1677	1677	Table 6-37 DO zero-speed signal function code
1678	1678
...	...	@@ -1680,7 +1680,7 @@
1680	1680
1681	1681	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.
1682	1682
1683		-
	1698	+(% style="text-align:center" %)
1684	1684	[[image:image-20220608172053-33.png]]
1685	1685
1686	1686	Figure 6-37 Speed consistent signal diagram
...	...	@@ -1687,25 +1687,25 @@
1687	1687
1688	1688	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]]__.
1689	1689
1690		-
1691		-|**Function code**|**Name**|(((
	1705	+(% class="table-bordered" %)
	1706	+|(% style="text-align:center; vertical-align:middle; width:115px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:243px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
1692	1692	**Setting method**
1693		-)))|(((
	1708	+)))|(% style="text-align:center; vertical-align:middle; width:169px" %)(((
1694	1694	**Effective time**
1695		-)))|**Default value**|**Range**|**Definition**|**Unit**
1696		-|P05-17|Speed consistent signal threshold|(((
	1710	+)))|(% style="text-align:center; vertical-align:middle; width:143px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:103px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:347px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:209px" %)**Unit**
	1711	+|(% style="text-align:center; vertical-align:middle; width:115px" %)P05-17|(% style="text-align:center; vertical-align:middle; width:243px" %)Speed consistent signal threshold|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
1697	1697	Operationsetting
1698		-)))|(((
	1713	+)))|(% style="text-align:center; vertical-align:middle; width:169px" %)(((
1699	1699	Effective immediately
1700		-)))|10|0 to 100|Set speed consistent signal threshold|rpm
	1715	+)))|(% style="text-align:center; vertical-align:middle; width:143px" %)10|(% style="text-align:center; vertical-align:middle; width:103px" %)0 to 100|(% style="text-align:center; vertical-align:middle; width:347px" %)Set speed consistent signal threshold|(% style="text-align:center; vertical-align:middle; width:209px" %)rpm
1701	1701
1702	1702	Table 6-38 Speed consistent signal threshold parameters
1703	1703
1704		-
1705		-|**DO Function code**|**Function name**|**Function**
1706		-|136|(((
	1719	+(% class="table-bordered" %)
	1720	+|(% style="text-align:center; vertical-align:middle; width:193px" %)**DO Function code**|(% style="text-align:center; vertical-align:middle; width:340px" %)**Function name**|(% style="text-align:center; vertical-align:middle; width:672px" %)**Function**
	1721	+|(% style="text-align:center; vertical-align:middle; width:193px" %)136|(% style="text-align:center; vertical-align:middle; width:340px" %)(((
1707	1707	U-COIN consistent speed
1708		-)))|The output signal indicates that the absolute deviation of the actual speed of servo motor and the speed instruction meets the P05-17 set value
	1723	+)))|(% style="text-align:center; vertical-align:middle; width:672px" %)The output signal indicates that the absolute deviation of the actual speed of servo motor and the speed instruction meets the P05-17 set value
1709	1709
1710	1710	Table 6-39 DO speed consistent function code
1711	1711
...	...	@@ -1713,7 +1713,7 @@
1713	1713
1714	1714	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.
1715	1715
1716		-
	1731	+(% style="text-align:center" %)
1717	1717	[[image:image-20220608172207-34.png]]
1718	1718
1719	1719	Figure 6-38 Speed approaching signal diagram
...	...	@@ -1720,25 +1720,25 @@
1720	1720
1721	1721	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	1722
1723		-
1724		-|**Function code**|**Name**|(((
	1738	+(% class="table-bordered" %)
	1739	+|(% style="text-align:center; vertical-align:middle; width:114px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:238px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:153px" %)(((
1725	1725	**Setting method**
1726		-)))|(((
	1741	+)))|(% style="text-align:center; vertical-align:middle; width:180px" %)(((
1727	1727	**Effective time**
1728		-)))|**Default value**|**Range**|**Definition**|**Unit**
1729		-|P05-18|Speed approach signal threshold|(((
	1743	+)))|(% style="text-align:center; vertical-align:middle; width:115px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:89px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:263px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	1744	+|(% style="text-align:center; vertical-align:middle; width:114px" %)P05-18|(% style="text-align:center; vertical-align:middle; width:238px" %)Speed approach signal threshold|(% style="text-align:center; vertical-align:middle; width:153px" %)(((
1730	1730	Operation setting
1731		-)))|(((
	1746	+)))|(% style="text-align:center; vertical-align:middle; width:180px" %)(((
1732	1732	Effective immediately
1733		-)))|100|10 to 6000|Set speed approach signal threshold|rpm
	1748	+)))|(% style="text-align:center; vertical-align:middle; width:115px" %)100|(% style="text-align:center; vertical-align:middle; width:89px" %)10 to 6000|(% style="text-align:center; vertical-align:middle; width:263px" %)Set speed approach signal threshold|(% style="text-align:center; vertical-align:middle" %)rpm
1734	1734
1735	1735	Table 6-40 Speed approaching signal threshold parameters
1736	1736
1737		-
1738		-|**DO function code**|**Function name**|**Function**
1739		-|137|(((
	1752	+(% class="table-bordered" %)
	1753	+|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle; width:314px" %)**Function name**|(% style="text-align:center; vertical-align:middle; width:719px" %)**Function**
	1754	+|(% style="text-align:center; vertical-align:middle" %)137|(% style="text-align:center; vertical-align:middle; width:314px" %)(((
1740	1740	V-NEAR speed approach
1741		-)))|The output signal indicates that the actual speed of the servo motor has reached the expected value
	1756	+)))|(% style="text-align:center; vertical-align:middle; width:719px" %)The output signal indicates that the actual speed of the servo motor has reached the expected value
1742	1742
1743	1743	Table 6-41 DO speed approach function code
1744	1744
...	...	@@ -1746,7 +1746,7 @@
1746	1746
1747	1747	The current of the servo motor has a linear relationship with the torque. Therefore, the control of the current can realize the control of the torque. Torque control refers to controlling the output torque of the motor through torque instructions. Torque instruction could be given by internal instruction and analog voltage.
1748	1748
1749		-
	1764	+(% style="text-align:center" %)
1750	1750	[[image:image-20220608172405-35.png]]
1751	1751
1752	1752	Figure 6-39 Torque mode diagram
...	...	@@ -1755,21 +1755,21 @@
1755	1755
1756	1756	In torque instruction, VD2A and VD2B servo drives have two instruction source: internal torque instruction and analog torque instruction. VD2F drive only has internal torque instruction. The torque instruction source is set by the function code P01-07.
1757	1757
1758		-
1759		-|**Function code**|**Name**|(((
	1773	+(% class="table-bordered" %)
	1774	+|(% style="text-align:center; vertical-align:middle; width:110px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:186px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
1760	1760	**Setting method**
1761		-)))|(((
	1776	+)))|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
1762	1762	**Effective time**
1763		-)))|**Default value**|**Range**|**Definition**|**Unit**
1764		-|P01-08|Torque instruction source|(((
	1778	+)))|(% style="text-align:center; vertical-align:middle; width:112px" %)**Default value**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	1779	+|(% style="text-align:center; vertical-align:middle; width:110px" %)P01-08|(% style="text-align:center; vertical-align:middle; width:186px" %)Torque instruction source|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
1765	1765	Shutdown setting
1766		-)))|(((
	1781	+)))|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
1767	1767	Effective immediately
1768		-)))|0|0 to 1|(((
	1783	+)))|(% style="text-align:center; vertical-align:middle; width:112px" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)(((
1769	1769	0: internal torque instruction
1770	1770
1771	1771	1: AI_1 analog input(not supported by VD2F)
1772		-)))|-
	1787	+)))|(% style="text-align:center; vertical-align:middle" %)-
1773	1773
1774	1774	Table 6-42 Torque instruction source parameter
1775	1775
...	...	@@ -1777,17 +1777,17 @@
1777	1777
1778	1778	Torque instruction source is from inside, the value is set by function code P01-08.
1779	1779
1780		-
1781		-|**Function code**|**Name**|(((
	1795	+(% class="table-bordered" %)
	1796	+|(% style="text-align:center; vertical-align:middle; width:112px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:274px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:132px" %)(((
1782	1782	**Setting method**
1783		-)))|(((
	1798	+)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((
1784	1784	**Effective time**
1785		-)))|**Default value**|**Range**|**Definition**|**Unit**
1786		-|P01-08|Torque instruction keyboard set value|(((
	1800	+)))|(% style="text-align:center; vertical-align:middle; width:120px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:129px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:211px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	1801	+|(% style="text-align:center; vertical-align:middle; width:112px" %)P01-08|(% style="text-align:center; vertical-align:middle; width:274px" %)Torque instruction keyboard set value|(% style="text-align:center; vertical-align:middle; width:132px" %)(((
1787	1787	Operation setting
1788		-)))|(((
	1803	+)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((
1789	1789	Effective immediately
1790		-)))|0|-3000 to 3000|-300.0% to 300.0%|0.1%
	1805	+)))|(% style="text-align:center; vertical-align:middle; width:120px" %)0|(% style="text-align:center; vertical-align:middle; width:129px" %)-3000 to 3000|(% style="text-align:center; vertical-align:middle; width:211px" %)-300.0% to 300.0%|(% style="text-align:center; vertical-align:middle" %)0.1%
1791	1791
1792	1792	Table 6-43 Torque instruction keyboard set value
1793	1793
...	...	@@ -1795,7 +1795,7 @@
1795	1795
1796	1796	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.
1797	1797
1798		-
	1813	+(% style="text-align:center" %)
1799	1799	[[image:image-20220608153646-7.png||height="213" width="408"]]
1800	1800
1801	1801	Figure 6-40 Analog input circuit
...	...	@@ -1802,7 +1802,7 @@
1802	1802
1803	1803	Taking AI_1 as an example, the method of setting torque instruction of analog voltage is as below.
1804	1804
1805		-
	1820	+(% style="text-align:center" %)
1806	1806	[[image:image-20220608172502-36.png]]
1807	1807
1808	1808	Figure 6-41 Analog voltage torque instruction setting steps
...	...	@@ -1815,18 +1815,18 @@
1815	1815
1816	1816	Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1817	1817
1818		-
	1833	+(% style="text-align:center" %)
1819	1819	[[image:image-20220608172611-37.png]]
1820	1820
1821	1821	Figure 6-42 AI_1 diagram before and after bias
1822	1822
	1838	+(% class="table-bordered" %)
	1839	+|(% style="text-align:center; vertical-align:middle; width:127px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:148px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:144px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:162px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:85px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:134px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:340px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	1840	+|(% style="text-align:center; vertical-align:middle; width:127px" %)P05-01☆|(% style="text-align:center; vertical-align:middle; width:148px" %)AI_1 input bias|(% style="text-align:center; vertical-align:middle; width:144px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:85px" %)0|(% style="text-align:center; vertical-align:middle; width:134px" %)-5000 to 5000|(% style="text-align:center; vertical-align:middle; width:340px" %)Set AI_1 channel analog bias value|(% style="text-align:center; vertical-align:middle" %)mV
	1841	+|(% style="text-align:center; vertical-align:middle; width:127px" %)P05-02☆|(% style="text-align:center; vertical-align:middle; width:148px" %)AI_1 input filter time constant|(% style="text-align:center; vertical-align:middle; width:144px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:85px" %)200|(% style="text-align:center; vertical-align:middle; width:134px" %)0 to 60000|(% style="text-align:center; vertical-align:middle; width:340px" %)AI_1 channel input first-order low-pass filtering time constant|(% style="text-align:center; vertical-align:middle" %)0.01ms
	1842	+|(% style="text-align:center; vertical-align:middle; width:127px" %)P05-03☆|(% style="text-align:center; vertical-align:middle; width:148px" %)AI_1 dead zone|(% style="text-align:center; vertical-align:middle; width:144px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:85px" %)20|(% style="text-align:center; vertical-align:middle; width:134px" %)0 to 1000|(% style="text-align:center; vertical-align:middle; width:340px" %)Set AI_1 channel dead zone value|(% style="text-align:center; vertical-align:middle" %)mV
	1843	+|(% style="text-align:center; vertical-align:middle; width:127px" %)P05-04☆|(% style="text-align:center; vertical-align:middle; width:148px" %)AI_1 zero drift|(% style="text-align:center; vertical-align:middle; width:144px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:85px" %)0|(% style="text-align:center; vertical-align:middle; width:134px" %)-500 to 500|(% style="text-align:center; vertical-align:middle; width:340px" %)Automatic calibration of zero drift inside the drive|(% style="text-align:center; vertical-align:middle" %)mV
1823	1823
1824		-|**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
1825		-|P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1826		-|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
1827		-|P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel dead zone value|mV
1828		-|P05-04☆|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV
1829		-
1830	1830	Table 6-44 AI_1 parameters
1831	1831
1832	1832	✎**Note: **“☆” means VD2F servo drive does not support the function code .
...	...	@@ -1835,23 +1835,23 @@
1835	1835
1836	1836	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]]__.
1837	1837
1838		-
1839		-|**Function code**|**Name**|(((
	1853	+(% class="table-bordered" %)
	1854	+|(% style="text-align:center; vertical-align:middle; width:115px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:129px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:144px" %)(((
1840	1840	**Setting method**
1841		-)))|(((
	1856	+)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
1842	1842	**Effective time**
1843		-)))|**Default value**|**Range**|**Definition**|**Unit**
1844		-|P04-04|Torque filtering time constant|(((
	1858	+)))|(% style="text-align:center; vertical-align:middle; width:109px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:89px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:398px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	1859	+|(% style="text-align:center; vertical-align:middle; width:115px" %)P04-04|(% style="text-align:center; vertical-align:middle; width:129px" %)Torque filtering time constant|(% style="text-align:center; vertical-align:middle; width:144px" %)(((
1845	1845	Operation setting
1846		-)))|(((
	1861	+)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
1847	1847	Effective immediately
1848		-)))|50|10 to 2500|This parameter is automatically set when “self-adjustment mode selection” is selected as 0|0.01ms
	1863	+)))|(% style="text-align:center; vertical-align:middle; width:109px" %)50|(% style="text-align:center; vertical-align:middle; width:89px" %)10 to 2500|(% style="text-align:center; vertical-align:middle; width:398px" %)This parameter is automatically set when “self-adjustment mode selection” is selected as 0|(% style="text-align:center; vertical-align:middle" %)0.01ms
1849	1849
1850	1850	Table 6-45 Torque filtering time constant parameter details
1851	1851
1852	1852	✎**Note: **If the filter time constant is set too large, the responsiveness will be reduced. Please set it while confirming the responsiveness.
1853	1853
1854		-
	1869	+(% style="text-align:center" %)
1855	1855	[[image:image-20220608172646-38.png]]
1856	1856
1857	1857	Figure 6-43 Torque instruction-first-order filtering diagram
...	...	@@ -1862,7 +1862,7 @@
1862	1862
1863	1863	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.
1864	1864
1865		-
	1880	+(% style="text-align:center" %)
1866	1866	[[image:image-20220608172806-39.png]]
1867	1867
1868	1868	Figure 6-44 Torque instruction limit diagram
...	...	@@ -1871,50 +1871,50 @@
1871	1871
1872	1872	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.
1873	1873
1874		-
1875		-|**Function code**|**Name**|(((
	1889	+(% class="table-bordered" %)
	1890	+|(% style="text-align:center; vertical-align:middle; width:116px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:145px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:134px" %)(((
1876	1876	**Setting method**
1877		-)))|(((
	1892	+)))|(% style="text-align:center; vertical-align:middle; width:167px" %)(((
1878	1878	**Effective time**
1879		-)))|**Default value**|**Range**|**Definition**|**Unit**
1880		-|P01-14|(((
	1894	+)))|(% style="text-align:center; vertical-align:middle; width:133px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:96px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:344px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	1895	+|(% style="text-align:center; vertical-align:middle; width:116px" %)P01-14|(% style="text-align:center; vertical-align:middle; width:145px" %)(((
1881	1881	Torque limit source
1882		-)))|(((
	1897	+)))|(% style="text-align:center; vertical-align:middle; width:134px" %)(((
1883	1883	Shutdown setting
1884		-)))|(((
	1899	+)))|(% style="text-align:center; vertical-align:middle; width:167px" %)(((
1885	1885	Effective immediately
1886		-)))|0|0 to 1|(((
	1901	+)))|(% style="text-align:center; vertical-align:middle; width:133px" %)0|(% style="text-align:center; vertical-align:middle; width:96px" %)0 to 1|(% style="text-align:center; vertical-align:middle; width:344px" %)(((
1887	1887	0: internal value
1888	1888
1889	1889	1: AI_1 analog input
1890	1890
1891	1891	(not supported by VD2F)
1892		-)))|-
	1907	+)))|(% style="text-align:center; vertical-align:middle" %)-
1893	1893
1894	1894	1) Torque limit source is internal torque instruction (P01-14=0)
1895	1895
1896	1896	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.
1897	1897
1898		-
1899		-|**Function code**|**Name**|(((
	1913	+(% class="table-bordered" %)
	1914	+|(% style="text-align:center; vertical-align:middle; width:117px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:154px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
1900	1900	**Setting method**
1901		-)))|(((
	1916	+)))|(% style="text-align:center; vertical-align:middle; width:169px" %)(((
1902	1902	**Effective time**
1903		-)))|**Default value**|**Range**|**Definition**|**Unit**
1904		-|P01-15|(((
	1918	+)))|(% style="text-align:center; vertical-align:middle; width:118px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:95px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:353px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:63px" %)**Unit**
	1919	+|(% style="text-align:center; vertical-align:middle; width:117px" %)P01-15|(% style="text-align:center; vertical-align:middle; width:154px" %)(((
1905	1905	Forward torque limit
1906		-)))|(((
	1921	+)))|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
1907	1907	Operation setting
1908		-)))|(((
	1923	+)))|(% style="text-align:center; vertical-align:middle; width:169px" %)(((
1909	1909	Effective immediately
1910		-)))|3000|0 to 3000|When P01-14 is set to 0, the value of this function code is forward torque limit value|0.1%
1911		-|P01-16|(((
	1925	+)))|(% style="text-align:center; vertical-align:middle; width:118px" %)3000|(% style="text-align:center; vertical-align:middle; width:95px" %)0 to 3000|(% style="text-align:center; vertical-align:middle; width:353px" %)When P01-14 is set to 0, the value of this function code is forward torque limit value|(% style="text-align:center; vertical-align:middle; width:63px" %)0.1%
	1926	+|(% style="text-align:center; vertical-align:middle; width:117px" %)P01-16|(% style="text-align:center; vertical-align:middle; width:154px" %)(((
1912	1912	Reverse torque limit
1913		-)))|(((
	1928	+)))|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
1914	1914	Operation setting
1915		-)))|(((
	1930	+)))|(% style="text-align:center; vertical-align:middle; width:169px" %)(((
1916	1916	Effective immediately
1917		-)))|3000|0 to 3000|When P01-14 is set to 0, the value of this function code is reverse torque limit value|0.1%
	1932	+)))|(% style="text-align:center; vertical-align:middle; width:118px" %)3000|(% style="text-align:center; vertical-align:middle; width:95px" %)0 to 3000|(% style="text-align:center; vertical-align:middle; width:353px" %)When P01-14 is set to 0, the value of this function code is reverse torque limit value|(% style="text-align:center; vertical-align:middle; width:63px" %)0.1%
1918	1918
1919	1919	Table 6-46 Torque limit parameter details
1920	1920
...	...	@@ -1926,11 +1926,11 @@
1926	1926
1927	1927	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.
1928	1928
1929		-
1930		-|**DO function code**|**Function name**|**Function**
1931		-|139|(((
	1944	+(% class="table-bordered" %)
	1945	+|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle; width:222px" %)**Function name**|(% style="text-align:center; vertical-align:middle; width:758px" %)**Function**
	1946	+|(% style="text-align:center; vertical-align:middle" %)139|(% style="text-align:center; vertical-align:middle; width:222px" %)(((
1932	1932	T-LIMIT in torque limit
1933		-)))|Output of this signal indicates that the servo motor torque is limited
	1948	+)))|(% style="text-align:center; vertical-align:middle; width:758px" %)Output of this signal indicates that the servo motor torque is limited
1934	1934
1935	1935	Table 6-47 DO torque limit function codes
1936	1936
...	...	@@ -1941,43 +1941,46 @@
1941	1941	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]]__.
1942	1942
1943	1943	|(((
	1959	+(% style="text-align:center" %)
1944	1944	[[image:image-20220608172910-40.png]]
1945	1945	)))|(((
	1962	+(% style="text-align:center" %)
1946	1946	[[image:image-20220608173155-41.png]]
1947	1947	)))
1948	1948	|Figure 6-45 Forward running curve|Figure 6-46 Reverse running curve
1949	1949
1950		-|**Function code**|**Name**|(((
	1967	+(% class="table-bordered" %)
	1968	+|(% style="text-align:center; vertical-align:middle; width:117px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:157px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:140px" %)(((
1951	1951	**Setting method**
1952		-)))|(((
	1970	+)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
1953	1953	**Effective time**
1954		-)))|**Default value**|**Range**|**Definition**|**Unit**
1955		-|P01-17|(((
	1972	+)))|(% style="text-align:center; vertical-align:middle; width:171px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:166px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	1973	+|(% style="text-align:center; vertical-align:middle; width:117px" %)P01-17|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
1956	1956	Forward torque
1957	1957
1958	1958	limit in torque mode
1959		-)))|(((
	1977	+)))|(% style="text-align:center; vertical-align:middle; width:140px" %)(((
1960	1960	Operation setting
1961		-)))|(((
	1979	+)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
1962	1962	Effective immediately
1963		-)))|3000|0 to 5000|(((
	1981	+)))|(% style="text-align:center; vertical-align:middle; width:171px" %)3000|(% style="text-align:center; vertical-align:middle; width:166px" %)0 to 5000|(% style="text-align:center; vertical-align:middle" %)(((
1964	1964	Forward torque
1965	1965
1966	1966	limit in torque mode
1967		-)))|0.1%
1968		-|P01-18|(((
	1985	+)))|(% style="text-align:center; vertical-align:middle" %)0.1%
	1986	+|(% style="text-align:center; vertical-align:middle; width:117px" %)P01-18|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
1969	1969	Reverse torque
1970	1970
1971	1971	limit in torque mode
1972		-)))|(((
	1990	+)))|(% style="text-align:center; vertical-align:middle; width:140px" %)(((
1973	1973	Operation setting
1974		-)))|(((
	1992	+)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
1975	1975	Effective immediately
1976		-)))|3000|0 to 5000|(((
	1994	+)))|(% style="text-align:center; vertical-align:middle; width:171px" %)3000|(% style="text-align:center; vertical-align:middle; width:166px" %)0 to 5000|(% style="text-align:center; vertical-align:middle" %)(((
1977	1977	Reverse torque
1978	1978
1979	1979	limit in torque mode
1980		-)))|0.1%
	1998	+)))|(% style="text-align:center; vertical-align:middle" %)0.1%
1981	1981
1982	1982	Table 6-48 Speed limit parameters in torque mode
1983	1983
...	...	@@ -1991,7 +1991,7 @@
1991	1991
1992	1992	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.
1993	1993
1994		-
	2012	+(% style="text-align:center" %)
1995	1995	[[image:image-20220608173541-42.png]]
1996	1996
1997	1997	Figure 6-47 Torque arrival output diagram
...	...	@@ -1998,44 +1998,44 @@
1998	1998
1999	1999	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]]__.
2000	2000
2001		-
2002		-|**Function code**|**Name**|(((
	2019	+(% class="table-bordered" %)
	2020	+|(% style="text-align:center; vertical-align:middle; width:126px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:115px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:137px" %)(((
2003	2003	**Setting method**
2004		-)))|(((
	2022	+)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
2005	2005	**Effective time**
2006		-)))|**Default value**|**Range**|**Definition**|**Unit**
2007		-|P05-20|(((
	2024	+)))|(% style="text-align:center; vertical-align:middle; width:115px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:77px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:417px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	2025	+|(% style="text-align:center; vertical-align:middle; width:126px" %)P05-20|(% style="text-align:center; vertical-align:middle; width:115px" %)(((
2008	2008	Torque arrival
2009	2009
2010	2010	threshold
2011		-)))|(((
	2029	+)))|(% style="text-align:center; vertical-align:middle; width:137px" %)(((
2012	2012	Operation setting
2013		-)))|(((
	2031	+)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
2014	2014	Effective immediately
2015		-)))|100|0 to 300|(((
	2033	+)))|(% style="text-align:center; vertical-align:middle; width:115px" %)100|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 300|(% style="text-align:center; vertical-align:middle; width:417px" %)(((
2016	2016	The torque arrival threshold must be used with “Torque arrival hysteresis value”:
2017	2017
2018	2018	When the actual torque reaches Torque arrival threshold + Torque arrival hysteresis Value, the torque arrival DO is valid;
2019	2019
2020	2020	When the actual torque decreases below torque arrival threshold-torque arrival hysteresis value, the torque arrival DO is invalid
2021		-)))|%
2022		-|P05-21|(((
	2039	+)))|(% style="text-align:center; vertical-align:middle" %)%
	2040	+|(% style="text-align:center; vertical-align:middle; width:126px" %)P05-21|(% style="text-align:center; vertical-align:middle; width:115px" %)(((
2023	2023	Torque arrival
2024	2024
2025	2025	hysteresis
2026		-)))|(((
	2044	+)))|(% style="text-align:center; vertical-align:middle; width:137px" %)(((
2027	2027	Operation setting
2028		-)))|(((
	2046	+)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
2029	2029	Effective immediately
2030		-)))|10|0 to 20|Torque arrival the hysteresis value must be used with Torque arrival threshold|%
	2048	+)))|(% style="text-align:center; vertical-align:middle; width:115px" %)10|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 20|(% style="text-align:center; vertical-align:middle; width:417px" %)Torque arrival the hysteresis value must be used with Torque arrival threshold|(% style="text-align:center; vertical-align:middle" %)%
2031	2031
2032	2032	Table 6-49 Torque arrival parameters
2033	2033
2034		-
2035		-|**DO function code**|**Function name**|**Function**
2036		-|138|(((
	2052	+(% class="table-bordered" %)
	2053	+|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle; width:205px" %)**Function name**|(% style="text-align:center; vertical-align:middle; width:803px" %)**Function**
	2054	+|(% style="text-align:center; vertical-align:middle" %)138|(% style="text-align:center; vertical-align:middle; width:205px" %)(((
2037	2037	T-COIN torque arrival
2038		-)))|Used to determine whether the actual torque instruction has reached the set range
	2056	+)))|(% style="text-align:center; vertical-align:middle; width:803px" %)Used to determine whether the actual torque instruction has reached the set range
2039	2039
2040	2040	Table 6-50 DO Torque Arrival Function Code
2041	2041
...	...	@@ -2051,17 +2051,17 @@
2051	2051
2052	2052	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.
2053	2053
2054		-
2055		-|**Function code**|**Name**|(((
	2072	+(% class="table-bordered" %)
	2073	+|(% style="text-align:center; vertical-align:middle; width:118px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:122px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
2056	2056	**Setting method**
2057		-)))|(((
	2075	+)))|(% style="text-align:center; vertical-align:middle; width:142px" %)(((
2058	2058	**Effective time**
2059		-)))|**Default value**|**Range**|**Definition**|**Unit**
2060		-|P00-01|Control mode|(((
	2077	+)))|(% style="text-align:center; vertical-align:middle; width:144px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:97px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:408px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	2078	+|(% style="text-align:center; vertical-align:middle; width:118px" %)P00-01|(% style="text-align:center; vertical-align:middle; width:122px" %)Control mode|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
2061	2061	Shutdown setting
2062		-)))|(((
	2080	+)))|(% style="text-align:center; vertical-align:middle; width:142px" %)(((
2063	2063	Shutdown setting
2064		-)))|1|1 to 6|(((
	2082	+)))|(% style="text-align:center; vertical-align:middle; width:144px" %)1|(% style="text-align:center; vertical-align:middle; width:97px" %)1 to 6|(% style="width:408px" %)(((
2065	2065	1: Position control
2066	2066
2067	2067	2: Speed control
...	...	@@ -2073,22 +2073,23 @@
2073	2073	5: Position/torque mixed control
2074	2074
2075	2075	6: Speed/torque mixed control
2076		-)))|-
	2094	+)))|(% style="text-align:center; vertical-align:middle" %)-
2077	2077
2078	2078	Table 6-51 Mixed control mode parameters
2079	2079
2080	2080	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.
2081	2081
2082		-
2083		-|**DI function code**|**Name**|**Function name**|**Function**
2084		-|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(((
2085		-|**P00-01**|**MixModeSel terminal logic**|**Control mode**
2086		-|(% rowspan="2" %)4|Valid|Speed mode
2087		-|invalid|Position mode
2088		-|(% rowspan="2" %)5|Valid|Torque mode
2089		-|invalid|Position mode
2090		-|(% rowspan="2" %)6|Valid|Torque mode
2091		-|invalid|Speed mode
	2100	+(% class="table-bordered" %)
	2101	+|(% style="text-align:center; vertical-align:middle" %)**DI function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**
	2102	+|(% style="text-align:center; vertical-align:middle" %)17|(% style="text-align:center; vertical-align:middle" %)MixModeSel|(% style="text-align:center; vertical-align:middle" %)Mixed mode selection|(% style="text-align:center; vertical-align:middle" %)Used in mixed control mode, when the servo status is "run", set the current control mode of the servo drive(((
	2103	+(% class="table-bordered" %)
	2104	+|(% style="text-align:center; vertical-align:middle" %)**P00-01**|(% style="text-align:center; vertical-align:middle" %)**MixModeSel terminal logic**|(% style="text-align:center; vertical-align:middle" %)**Control mode**
	2105	+|(% rowspan="2" style="text-align:center; vertical-align:middle" %)4|(% style="text-align:center; vertical-align:middle" %)Valid|(% style="text-align:center; vertical-align:middle" %)Speed mode
	2106	+|(% style="text-align:center; vertical-align:middle" %)invalid|(% style="text-align:center; vertical-align:middle" %)Position mode
	2107	+|(% rowspan="2" style="text-align:center; vertical-align:middle" %)5|(% style="text-align:center; vertical-align:middle" %)Valid|(% style="text-align:center; vertical-align:middle" %)Torque mode
	2108	+|(% style="text-align:center; vertical-align:middle" %)invalid|(% style="text-align:center; vertical-align:middle" %)Position mode
	2109	+|(% rowspan="2" style="text-align:center; vertical-align:middle" %)6|(% style="text-align:center; vertical-align:middle" %)Valid|(% style="text-align:center; vertical-align:middle" %)Torque mode
	2110	+|(% style="text-align:center; vertical-align:middle" %)invalid|(% style="text-align:center; vertical-align:middle" %)Speed mode
2092	2092	)))
2093	2093
2094	2094	Table 6-52 Description of DI function codes in control mode
...	...	@@ -2107,15 +2107,15 @@
2107	2107
2108	2108	The single-turn absolute value system is applicable for the equipment load stroke within the single-turn range of the encoder. At this time, the absolute encoder is only as a single-turn system function and does not need to be connected to the battery. The types and information of encoders adapted to VD2 series servo drives are shown as below.
2109	2109
	2129	+(% class="table-bordered" %)
	2130	+|(% style="text-align:center; vertical-align:middle" %)**Encoder type**|(% style="text-align:center; vertical-align:middle" %)**Encoder resolution (bits)**|(% style="text-align:center; vertical-align:middle" %)**Data range**
	2131	+|(% style="text-align:center; vertical-align:middle" %)A1 (single-turn magnetic encoder)|(% style="text-align:center; vertical-align:middle" %)17|(% style="text-align:center; vertical-align:middle" %)0 to 131071
2110	2110
2111		-|**Encoder type**|**Encoder resolution (bits)**|**Data range**
2112		-|A1 (single-turn magnetic encoder)|17|0 to 131071
2113		-
2114	2114	Table 6-53 Single-turn absolute encoder information
2115	2115
2116	2116	The relationship between encoder feedback position and rotating load position is shown in the figure below. (take a 17-bit encoder as an example).
2117	2117
2118		-
	2137	+(% style="text-align:center" %)
2119	2119	[[image:image-20220608173618-43.png]]
2120	2120
2121	2121	Figure 6-48 Diagram of relationship between encoder feedback position and rotating load position
...	...	@@ -2124,16 +2124,16 @@
2124	2124
2125	2125	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.
2126	2126
	2146	+(% class="table-bordered" %)
	2147	+|(% style="text-align:center; vertical-align:middle" %)**Encoder type**|(% style="text-align:center; vertical-align:middle" %)**Encoder resolution (bits)**|(% style="text-align:center; vertical-align:middle" %)**Data range**
	2148	+|(% style="text-align:center; vertical-align:middle" %)C1 (multi-turn magnetic encoder)|(% style="text-align:center; vertical-align:middle" %)17|(% style="text-align:center; vertical-align:middle" %)0 to 131071
	2149	+|(% style="text-align:center; vertical-align:middle" %)D2 (multi-turn Optical encoder)|(% style="text-align:center; vertical-align:middle" %)23|(% style="text-align:center; vertical-align:middle" %)0 to 8388607
2127	2127
2128		-|**Encoder type**|**Encoder resolution (bits)**|**Data range**
2129		-|C1 (multi-turn magnetic encoder)|17|0 to 131071
2130		-|D2 (multi-turn Optical encoder)|23|0 to 8388607
2131		-
2132	2132	Table 6-54 Multi-turn absolute encoder information
2133	2133
2134	2134	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).
2135	2135
2136		-
	2155	+(% style="text-align:center" %)
2137	2137	[[image:image-20220608173701-44.png]]
2138	2138
2139	2139	Figure 6-49 The relationship between encoder feedback position and rotating load position
...	...	@@ -2142,12 +2142,12 @@
2142	2142
2143	2143	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.
2144	2144
	2164	+(% class="table-bordered" %)
	2165	+|(% style="text-align:center; vertical-align:middle" %)**Monitoring number**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
	2166	+|(% style="text-align:center; vertical-align:middle" %)U0-54|(% style="text-align:center; vertical-align:middle" %)Universal|(% style="text-align:center; vertical-align:middle" %)Absolute encoder position within 1 turn|(% style="text-align:center; vertical-align:middle" %)Encoder unit|(% style="text-align:center; vertical-align:middle" %)32-bit
	2167	+|(% style="text-align:center; vertical-align:middle" %)U0-55|(% style="text-align:center; vertical-align:middle" %)Universal|(% style="text-align:center; vertical-align:middle" %)Rotations number of absolute encoder|(% style="text-align:center; vertical-align:middle" %)circle|(% style="text-align:center; vertical-align:middle" %)16-bit
	2168	+|(% style="text-align:center; vertical-align:middle" %)U0-56|(% style="text-align:center; vertical-align:middle" %)Universal|(% style="text-align:center; vertical-align:middle" %)Multi-turn absolute value encoder current position|(% style="text-align:center; vertical-align:middle" %)Instruction unit|(% style="text-align:center; vertical-align:middle" %)32-bit
2145	2145
2146		-|**Monitoring number**|**Category**|**Name**|**Unit**|**Data type**
2147		-|U0-54|Universal|Absolute encoder position within 1 turn|Encoder unit|32-bit
2148		-|U0-55|Universal|Rotations number of absolute encoder|circle|16-bit
2149		-|U0-56|Universal|Multi-turn absolute value encoder current position|Instruction unit|32-bit
2150		-
2151	2151	Table 6-55 Encoder feedback data
2152	2152
2153	2153	== **Absolute value system encoder battery box use precautions** ==
...	...	@@ -2154,7 +2154,7 @@
2154	2154
2155	2155	Er.40 (Encoder battery failure) will occur when the battery is turned on for the first time, and the function code P10-03 must be set to 1 to clear the encoder fault to operate the absolute value system again.
2156	2156
2157		-
	2176	+(% style="text-align:center" %)
2158	2158	[[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/45.jpg?rev=1.1||height="303" width="750"]]
2159	2159
2160	2160	Figure 6-50 the encoder battery box
...	...	@@ -2167,23 +2167,23 @@
2167	2167
2168	2168	When the servo drive is powered off, if the battery is replaced and powered on again, Er.40 (encoder battery failure) will occur, and the multi-turn data will change suddenly. Please set the function code P10-03 or P10-06 to 1 to clear the encoder fault alarms and perform the origin return function operation again.
2169	2169
2170		-
2171		-|**Function code**|**Name**|(((
	2189	+(% class="table-bordered" %)
	2190	+|(% style="text-align:center; vertical-align:middle; width:110px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:144px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:135px" %)(((
2172	2172	**Setting method**
2173		-)))|(((
	2192	+)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((
2174	2174	**Effective time**
2175		-)))|**Default value**|**Range**|**Definition**|**Unit**
2176		-|P10-06|Multi-turn absolute encoder reset|(((
	2194	+)))|(% style="text-align:center; vertical-align:middle; width:106px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:61px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:438px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	2195	+|(% style="text-align:center; vertical-align:middle; width:110px" %)P10-06|(% style="text-align:center; vertical-align:middle; width:144px" %)Multi-turn absolute encoder reset|(% style="text-align:center; vertical-align:middle; width:135px" %)(((
2177	2177	Shutdown setting
2178		-)))|(((
	2197	+)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((
2179	2179	Effective immediately
2180		-)))|0|0 to 1|(((
	2199	+)))|(% style="text-align:center; vertical-align:middle; width:106px" %)0|(% style="text-align:center; vertical-align:middle; width:61px" %)0 to 1|(% style="width:438px" %)(((
2181	2181	0: No operation
2182	2182
2183	2183	1: Clear rotation number of multi-turn absolute encoder, multi-turn absolute encoder current position and encoder fault alarms.
2184	2184
2185	2185	✎**Note: **After resetting the multi-turn data of the encoder, the encoder absolute position will change suddenly, and the mechanical origin return operation is required.
2186		-)))|-
	2205	+)))|(% style="text-align:center; vertical-align:middle" %)-
2187	2187
2188	2188	Table 6-56 Absolute encoder reset enable parameter
2189	2189
...	...	@@ -2201,18 +2201,18 @@
2201	2201
2202	2202	Take the VDI_1 terminal assignment forward drive prohibition (03-POT) as an example, and the use steps of VDI are as the figure below.
2203	2203
2204		-
	2223	+(% style="text-align:center" %)
2205	2205	[[image:image-20220608173804-46.png]]
2206	2206
2207	2207	Figure 6-51 VDI_1 setting steps
2208	2208
2209		-
2210		-|**Function code**|**Name**|(((
	2228	+(% class="table-bordered" %)
	2229	+|(% style="text-align:center; vertical-align:middle; width:131px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:183px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:147px" %)(((
2211	2211	**Setting method**
2212		-)))|(((
	2231	+)))|(% style="text-align:center; vertical-align:middle; width:213px" %)(((
2213	2213	**Effective time**
2214		-)))|**Default value**|**Range**|**Definition**|**Unit**
2215		-|P13-1|Virtual VDI_1 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2233	+)))|(% style="text-align:center; vertical-align:middle; width:143px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:77px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:266px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	2234	+|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-1|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_1 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((
2216	2216	When P06-04 is set to 1, DI_1 channel logic is control by this function code.
2217	2217
2218	2218	VDI_1 input level:
...	...	@@ -2220,8 +2220,8 @@
2220	2220	0: low level
2221	2221
2222	2222	1: high level
2223		-)))|-
2224		-|P13-2|Virtual VDI_2 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2242	+)))|(% style="text-align:center; vertical-align:middle" %)-
	2243	+|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-2|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_2 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((
2225	2225	When P06-07 is set to 1, DI_2 channel logic is control by this function code.
2226	2226
2227	2227	VDI_2 input level:
...	...	@@ -2229,8 +2229,8 @@
2229	2229	0: low level
2230	2230
2231	2231	1: high level
2232		-)))|-
2233		-|P13-3|Virtual VDI_3 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2251	+)))|(% style="text-align:center; vertical-align:middle" %)-
	2252	+|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-3|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_3 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((
2234	2234	When P06-10 is set to 1, DI_3 channel logic is control by this function code.
2235	2235
2236	2236	VDI_3 input level:
...	...	@@ -2238,8 +2238,8 @@
2238	2238	0: low level
2239	2239
2240	2240	1: high level
2241		-)))|-
2242		-|P13-4|Virtual VDI_4 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2260	+)))|(% style="text-align:center; vertical-align:middle" %)-
	2261	+|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-4|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_4 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((
2243	2243	When P06-13 is set to 1, DI_4 channel logic is control by this function code.
2244	2244
2245	2245	VDI_4 input level:
...	...	@@ -2247,8 +2247,8 @@
2247	2247	0: low level
2248	2248
2249	2249	1: high level
2250		-)))|-
2251		-|P13-05☆|Virtual VDI_5 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2269	+)))|(% style="text-align:center; vertical-align:middle" %)-
	2270	+|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-05☆|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_5 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((
2252	2252	When P06-16 is set to 1, DI_5 channel logic is control by this function code.
2253	2253
2254	2254	VDI_5 input level:
...	...	@@ -2256,8 +2256,8 @@
2256	2256	0: low level
2257	2257
2258	2258	1: high level
2259		-)))|-
2260		-|P13-06☆|Virtual VDI_6 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2278	+)))|(% style="text-align:center; vertical-align:middle" %)-
	2279	+|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-06☆|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_6 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((
2261	2261	When P06-19 is set to 1, DI_6 channel logic is control by this function code.
2262	2262
2263	2263	VDI_6 input level:
...	...	@@ -2265,8 +2265,8 @@
2265	2265	0: low level
2266	2266
2267	2267	1: high level
2268		-)))|-
2269		-|P13-07☆|Virtual VDI_7 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2287	+)))|(% style="text-align:center; vertical-align:middle" %)-
	2288	+|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-07☆|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_7 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((
2270	2270	When P06-22 is set to 1, DI_7 channel logic is control by this function code.
2271	2271
2272	2272	VDI_7 input level:
...	...	@@ -2274,8 +2274,8 @@
2274	2274	0: low level
2275	2275
2276	2276	1: high level
2277		-)))|-
2278		-|P13-08☆|Virtual VDI_8 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2296	+)))|(% style="text-align:center; vertical-align:middle" %)-
	2297	+|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-08☆|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_8 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((
2279	2279	When P06-25 is set to 1, DI_8 channel logic is control by this function code.
2280	2280
2281	2281	VDI_8 input level:
...	...	@@ -2283,7 +2283,7 @@
2283	2283	0: low level
2284	2284
2285	2285	1: high level
2286		-)))|-
	2305	+)))|(% style="text-align:center; vertical-align:middle" %)-
2287	2287
2288	2288	Table 6-57 Virtual VDI parameters
2289	2289
...	...	@@ -2293,11 +2293,11 @@
2293	2293
2294	2294	VD2A and VD2B servo drives have 8 hardware DI terminals (DI_1 to DI_8) , and VD2F servo drive has 4 hardware DI terminals (DI_1 to DI_4) . All the DI terminals are normal terminals.
2295	2295
	2315	+(% class="table-bordered" %)
	2316	+|(% style="text-align:center; vertical-align:middle" %)**Setting value**|(% style="text-align:center; vertical-align:middle" %)**DI channel logic selection**|(% style="text-align:center; vertical-align:middle" %)**Illustration**
	2317	+|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)Active high level|(% style="text-align:center; vertical-align:middle" %)[[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/46.jpg?rev=1.1||height="97" width="307"]]
	2318	+|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)Active low level|(% style="text-align:center; vertical-align:middle" %)[[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/47.jpg?rev=1.1||height="83" width="305"]]
2296	2296
2297		-|**Setting value**|**DI channel logic selection**|**Illustration**
2298		-|0|Active high level|[[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/46.jpg?rev=1.1||height="97" width="307"]]
2299		-|1|Active low level|[[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/47.jpg?rev=1.1||height="83" width="305"]]
2300		-
2301	2301	Table 6-58 DI terminal channel logic selection
2302	2302
2303	2303	== **VDO** ==
...	...	@@ -2306,55 +2306,55 @@
2306	2306
2307	2307	Take the DO_2 terminal as communication VDO, and the use steps of VDI are as the figure below.
2308	2308
2309		-
	2328	+(% style="text-align:center" %)
2310	2310	[[image:image-20220608173957-48.png]]
2311	2311
2312	2312	Figure 6-52 VDO_2 setting steps
2313	2313
2314		-
2315		-|**Function code**|**Name**|(((
	2333	+(% class="table-bordered" %)
	2334	+|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)(((
2316	2316	**Setting method**
2317		-)))|(((
	2336	+)))|(% style="text-align:center; vertical-align:middle" %)(((
2318	2318	**Effective time**
2319		-)))|**Default value**|**Range**|**Definition**|**Unit**
2320		-|P13-11|Communication VDO_1 output value|Operation setting|Effective immediately|0|0 to 1|(((
	2338	+)))|(% style="text-align:center; vertical-align:middle" %)**Default value**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	2339	+|(% style="text-align:center; vertical-align:middle" %)P13-11|(% style="text-align:center; vertical-align:middle" %)Communication VDO_1 output value|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
2321	2321	VDO_1 output level：
2322	2322
2323	2323	0: low level
2324	2324
2325	2325	1: high level
2326		-)))|-
2327		-|P13-12|Communication VDO_2 output value|Operation setting|Effective immediately|0|0 to 1|(((
	2345	+)))|(% style="text-align:center; vertical-align:middle" %)-
	2346	+|(% style="text-align:center; vertical-align:middle" %)P13-12|(% style="text-align:center; vertical-align:middle" %)Communication VDO_2 output value|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
2328	2328	VDO_2 output level：
2329	2329
2330	2330	0: low level
2331	2331
2332	2332	1: high level
2333		-)))|-
2334		-|P13-13|Communication VDO_3 output value|Operation setting|Effective immediately|0|0 to 1|(((
	2352	+)))|(% style="text-align:center; vertical-align:middle" %)-
	2353	+|(% style="text-align:center; vertical-align:middle" %)P13-13|(% style="text-align:center; vertical-align:middle" %)Communication VDO_3 output value|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
2335	2335	VDO_3 output level：
2336	2336
2337	2337	0: low level
2338	2338
2339	2339	1: high level
2340		-)))|-
2341		-|P13-14|Communication VDO_4 output value|Operation setting|Effective immediately|0|0 to 1|(((
	2359	+)))|(% style="text-align:center; vertical-align:middle" %)-
	2360	+|(% style="text-align:center; vertical-align:middle" %)P13-14|(% style="text-align:center; vertical-align:middle" %)Communication VDO_4 output value|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
2342	2342	VDO_4 output level：
2343	2343
2344	2344	0: low level
2345	2345
2346	2346	1: high level
2347		-)))|-
	2366	+)))|(% style="text-align:center; vertical-align:middle" %)-
2348	2348
2349	2349	Table 6-59 Communication control DO function parameters
2350	2350
	2370	+(% class="table-bordered" %)
	2371	+|(% style="text-align:center; vertical-align:middle" %)**DO function number**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**
	2372	+|(% style="text-align:center; vertical-align:middle" %)145|(% style="text-align:center; vertical-align:middle" %)COM_VDO1 communication VDO1 output|(% style="text-align:center; vertical-align:middle" %)Use communication VDO
	2373	+|(% style="text-align:center; vertical-align:middle" %)146|(% style="text-align:center; vertical-align:middle" %)COM_VDO1 communication VDO2 output|(% style="text-align:center; vertical-align:middle" %)Use communication VDO
	2374	+|(% style="text-align:center; vertical-align:middle" %)147|(% style="text-align:center; vertical-align:middle" %)COM_VDO1 communication VDO3 output|(% style="text-align:center; vertical-align:middle" %)Use communication VDO
	2375	+|(% style="text-align:center; vertical-align:middle" %)148|(% style="text-align:center; vertical-align:middle" %)COM_VDO1 communication VDO4output|(% style="text-align:center; vertical-align:middle" %)Use communication VDO
2351	2351
2352		-|**DO function number**|**Function name**|**Function**
2353		-|145|COM_VDO1 communication VDO1 output|Use communication VDO
2354		-|146|COM_VDO1 communication VDO2 output|Use communication VDO
2355		-|147|COM_VDO1 communication VDO3 output|Use communication VDO
2356		-|148|COM_VDO1 communication VDO4output|Use communication VDO
2357		-
2358	2358	Table 6-60 VDO function number
2359	2359
2360	2360	✎**Note:** You are advised to configure function codes for DO terminals in sequence to avoid errors during DO signal observation
...	...	@@ -2365,17 +2365,17 @@
2365	2365
2366	2366	VD2 Series absolute encoder (VD2SA) servo drive provides motor overload protection to prevent motor burning due to high temperature. By setting function code P10-04 to modify motor overload alarm (A-82) and motor overload protection fault time (Er.34). The default value of P10-04 is 100%.
2367	2367
2368		-
2369		-|**Function code**|**Name**|(((
	2387	+(% class="table-bordered" %)
	2388	+|(% style="text-align:center; vertical-align:middle; width:122px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:99px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:150px" %)(((
2370	2370	**Setting method**
2371		-)))|(((
	2390	+)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
2372	2372	**Effective time**
2373		-)))|**Default value**|**Range**|**Definition**|**Unit**
2374		-|P10-04|motor overload protection time coefficient|Operation setting|Effective immediately|100|0 to 800|(((
	2392	+)))|(% style="text-align:center; vertical-align:middle; width:116px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:72px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:445px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	2393	+|(% style="text-align:center; vertical-align:middle; width:122px" %)P10-04|(% style="text-align:center; vertical-align:middle; width:99px" %)motor overload protection time coefficient|(% style="text-align:center; vertical-align:middle; width:150px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:157px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:116px" %)100|(% style="text-align:center; vertical-align:middle; width:72px" %)0 to 800|(% style="width:445px" %)(((
2375	2375	According to the heating condition of the motor, the value could be modified to make the overload protection time float up and down in the reference value.
2376	2376
2377	2377	50 corresponds to 50%, that is, the time is reduced by half. 300 corresponds to 300%, that is, the time extended to 3 times. When the value is set to 0, the overload protection fault detection function is disabled
2378		-)))|%
	2397	+)))|(% style="text-align:center; vertical-align:middle" %)%
2379	2379
2380	2380	In the following cases, it could be modified according to the actual heat generation of the motor
2381	2381