Changes for page 06 Operation

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Details

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Parent

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

Author

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

Content

...	...	@@ -25,7 +25,7 @@
25	25
26	26	After power on the main circuit, the bus voltage indicator shows no abnormality, and the panel display "rdy", indicating that the servo drive is in an operational state, waiting for the host computer to give the servo enable signal.
27	27
28		-If the drive panel displays other fault codes, please refer to __[[“10 Faults>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/10%20Malfunctions/#HFaultandwarningcodetable]]__” to analyze and eliminate the cause of the fault.
	28	+If the drive panel displays other fault codes, please refer to __[[“10 Faults>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/10%20Malfunctions/]]__” to analyze and eliminate the cause of the fault.
29	29
30	30	**(2) Set the servo drive enable (S-ON) to invalid (OFF)**
31	31
...	...	@@ -35,7 +35,7 @@
35	35
36	36	**(1) Panel jog operation**
37	37
38		-Enter “P10-01” by pressing the key on the panel. After pressing “OK”, the panel will display the current jog speed. At this time, you can adjust the jog speed by pressing the "up" or "down" keys; After adjusting the moving speed, press "OK", and the panel displays "JOG" and is in a flashing state. Press "OK" again to enter the jog operation mode (the motor is now powered on!). Long press the "up" and "down" keys to achieve the forward and reverse rotation of the motor. Press "Mode" key to exit the jog operation mode. For operation and display, please refer to __[["5.3.2. Jog operation">>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/05%20Panel/#HJogoperation]]__.
	38	+Enter “P10-01” by pressing the key on the panel. After pressing “OK”, the panel will display the current jog speed. At this time, you can adjust the jog speed by pressing the "up" or "down" keys; After adjusting the moving speed, press "OK", and the panel displays "JOG" and is in a flashing state. Press "OK" again to enter the jog operation mode (the motor is now powered on!). Long press the "up" and "down" keys to achieve the forward and reverse rotation of the motor. Press "Mode" key to exit the jog operation mode. For operation and display, please refer to __[["5.3.2. Jog operation">>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/05%20Panel/#HJogoperation]]__.
39	39
40	40	**(2) Jog operation of servo debugging platform**
41	41
...	...	@@ -61,13 +61,7 @@
61	61	By setting the “P00-04” rotation direction, you could change the rotation direction of the motor without changing the polarity of the input instruction. The function code is shown in below.
62	62
63	63
64		-|=(% scope="row" %)**Function code**|=**Name**|=(((
65		-**Setting method**
66		-)))|=(((
67		-**Effective time**
68		-)))|=(((
69		-**Default value**
70		-)))|=**Range**|=**Definition**|=**Unit**
	64	+|=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=Effective time|=**Default value**|=**Range**|=**Definition**|=**Unit**
71	71	|=P00-04|Rotation direction|(((
72	72	Shutdown setting
73	73	)))|(((
...	...	@@ -133,7 +133,7 @@
133	133
134	134	**(2) Input the instruction and the motor rotates**
135	135
136		-Input appropriate instructions during operation, first run the motor at a low speed, and observe the rotation to see if it conforms to the set rotation direction. Observe the actual running speed, bus voltage and other parameters of the motor through the host computer debugging platform. According to [[__"7 Adjustment"__>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/]], the motor could work as expected.
	130	+Input appropriate instructions during operation, first run the motor at a low speed, and observe the rotation to see if it conforms to the set rotation direction. Observe the actual running speed, bus voltage and other parameters of the motor through the host computer debugging platform. According to [[__"7 Adjustment"__>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/]], the motor could work as expected.
137	137
138	138	**(3) Timing diagram of power on**
139	139
...	...	@@ -144,7 +144,7 @@
144	144
145	145	== **Servo shutdown** ==
146	146
147		-According to the different shutdown modes, it could be divided into free shutdown and zero speed shutdown. The respective characteristics are shown in __[[Table 6-5>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HServoshutdown]]__. According to the shutdown status, it could be divided into free running state and position locked, as shown in __[[Table 6-6>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HServoshutdown]]__.
	141	+According to the different shutdown modes, it could be divided into free shutdown and zero speed shutdown. The respective characteristics are shown in __[[Table 6-5>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HServoshutdown]]__. According to the shutdown status, it could be divided into free running state and position locked, as shown in __[[Table 6-6>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HServoshutdown]]__.
148	148
149	149
150	150	|=(% scope="row" %)Shutdown mode|=Shutdown description|=Shutdown characteristics
...	...	@@ -444,7 +444,7 @@
444	444
445	445	1) Brake timing when servo motor is stationary
446	446
447		-When the servo enable changes from ON to OFF, if the actual motor speed is lower than20 rpm, the servo drive will act according to the static brake sequence. The specific sequence action is shown in __[[Figure 6-3>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_2da3eb860da7ba31.gif?rev=1.1]]__
	441	+When the servo enable changes from ON to OFF, if the actual motor speed is lower than20 rpm, the servo drive will act according to the static brake sequence. The specific sequence action is shown in __[[Figure 6-3>>https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/image-20220608163304-3.png?rev=1.1]]__
448	448
449	449
450	450	|(((
...	...	@@ -464,7 +464,7 @@
464	464
465	465	2) The brake timing when servo motor rotates
466	466
467		-When the servo enable is from ON to OFF, if the actual motor speed is greater than or equal to 20 rpm, the drive will act in accordance with the rotation brake sequence. The specific sequence action is shown in __[[Figure 6-4>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_4408711d09c83291.gif?rev=1.1]]__.
	461	+When the servo enable is from ON to OFF, if the actual motor speed is greater than or equal to 20 rpm, the drive will act in accordance with the rotation brake sequence. The specific sequence action is shown in __[[Figure 6-4>>https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/image-20220608163425-4.png?rev=1.1]]__.
468	468
469	469
470	470	|(((
...	...	@@ -516,7 +516,7 @@
516	516	Operation setting
517	517	)))|(((
518	518	immediately Effective
519		-)))|0|0 to 1|(((
	513	+)))|0|0 to 6|(((
520	520	0: position control
521	521
522	522	2: speed control
...	...	@@ -558,12 +558,11 @@
558	558
559	559	1) Low-speed pulse instruction input
560	560
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]]
	555	+|[[image:image-20220707092316-1.png]]|[[image:image-20220707092322-2.png]]
563	563	|VD2A and VD2B servo drives|VD2F servo drive
564	564	|(% colspan="2" %)Figure 6-7 Position instruction input setting
565	565
566		-VD2 series servo drive has a set of pulse input terminals to receive the input of position pulse (via the CN2 terminal). The position pulse mode connection is shown in __[[Figure 6-7>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HPositioninstructioninputsetting]]__.
	559	+VD2 series servo drive has a set of pulse input terminals to receive the input of position pulse (via the CN2 terminal). The position pulse mode connection is shown in __[[Figure 6-7>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HPositioninstructioninputsetting]]__.
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
...	...	@@ -578,29 +578,29 @@
578	578
579	579	Take VD2A and VD2B drive as examples, the connection of differential input is shown as below.
580	580
	574	+(% style="text-align:center" %)
	575	+[[image:image-20220707092615-5.jpeg]]
581	581
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		-
584	584	Figure 6-8 Differential input connection
585	585
586		-✎**Note: **The differential input connection of the VD2F drive differs only from the signal pin number. Please refer to “__[[4.4.3 position instruction input signal>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/04%20Wiring/#HPositioninstructioninputsignal]]__”
	579	+✎**Note: **The differential input connection of the VD2F drive differs only from the signal pin number. Please refer to “__[[4.4.3 position instruction input signal>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/04%20Wiring/#HPositioninstructioninputsignal]]__”
587	587
588	588	2.Open collector input
589	589
590	590	Take VD2A and VD2B drive as examples, the connection of differential input is shown as below.
591	591
	585	+(% style="text-align:center" %)
	586	+[[image:image-20220707092401-3.jpeg||height="530" width="834"]]
592	592
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		-
595	595	Figure 6-9 Open collector input connection
596	596
597		-✎**Note:** The differential input connection of the VD2F drive differs only from the signal pin number. Please refer to “__[[4.4.3 position instruction input signal>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/04%20Wiring/#HPositioninstructioninputsignal]]__”
	590	+✎**Note:** The differential input connection of the VD2F drive differs only from the signal pin number. Please refer to “__[[4.4.3 position instruction input signal>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/04%20Wiring/#HPositioninstructioninputsignal]]__”
598	598
599	599	2) Position pulse frequency and anti-interference level
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		-
	596	+(% style="text-align:center" %)
604	604	[[image:image-20220608163952-8.png]]
605	605
606	606	Figure 6-10 Example of filtered signal waveform
...	...	@@ -678,7 +678,6 @@
678	678
679	679	Table 6-14 Position pulse type selection parameter
680	680
681		-
682	682	|=(% scope="row" %)**Pulse type selection**|=**Pulse type**|=**Signal**|=**Schematic diagram of forward pulse**|=**Schematic diagram of negative pulse**
683	683	|=0|(((
684	684	Direction + pulse
...	...	@@ -688,12 +688,12 @@
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]]
	683	+)))|[[image:image-20220707094340-6.jpeg]]|[[image:image-20220707094345-7.jpeg]]
692	692	|=1|CW/CCW|(((
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]]
	688	+)))|(% colspan="2" %)[[image:image-20220707094351-8.jpeg]]
697	697	|=2|(((
698	698	AB phase orthogonal
699	699
...	...	@@ -703,12 +703,16 @@
703	703
704	704	SIGN (Phase B)
705	705	)))|(((
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]]
	698	+
707	707
	700	+[[image:image-20220707094358-9.jpeg]]
	701	+
708	708	Phase A is 90° ahead of Phase B
709	709	)))|(((
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]]
	704	+
711	711
	706	+[[image:image-20220707094407-10.jpeg]]
	707	+
712	712	Phase B is 90° ahead of Phase A
713	713	)))
714	714	|=3|(((
...	...	@@ -719,7 +719,7 @@
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]]
	718	+)))|[[image:image-20220707094414-11.jpeg]]|[[image:image-20220707094418-12.jpeg]]
723	723	|=4|(((
724	724	CW/CCW
725	725
...	...	@@ -728,7 +728,7 @@
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]]
	727	+)))|(% colspan="2" %)[[image:image-20220707094423-13.jpeg]]
732	732	|=5|(((
733	733	AB phase orthogonal
734	734
...	...	@@ -738,13 +738,17 @@
738	738
739	739	SIGN (Phase B)
740	740	)))|(((
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]]
	737	+
742	742
743		-B phase is ahead of A phase by 90°
	739	+[[image:image-20220707094429-14.jpeg]]
	740	+
	741	+Phase B is ahead of A phase by 90°
744	744	)))|(((
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]]
	743	+
746	746
747		-A phase is ahead of B phase by 90°
	745	+[[image:image-20220707094437-15.jpeg]]
	746	+
	747	+Phase A is ahead of B phase by 90°
748	748	)))
749	749
750	750	Table 6-15 Pulse description
...	...	@@ -751,11 +751,11 @@
751	751
752	752	**(2) The source of position instruction is internal position instruction (P01-06=1)**
753	753
754		-The VD2 series servo drive has a multi-segment position operation function, which supports maximum 16-segment instructions. The displacement, maximum operating speed (steady-state operating speed) and acceleration/deceleration time of each segment could be set separately. The waiting time between positions could also be set according to actual needs. The setting process of multi-segment position is shown in __[[Figure 6-11>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_6173c39e1ccf532e.gif?rev=1.1]]__.
	754	+The VD2 series servo drive has a multi-segment position operation function, which supports maximum 16-segment instructions. The displacement, maximum operating speed (steady-state operating speed) and acceleration/deceleration time of each segment could be set separately. The waiting time between positions could also be set according to actual needs. The setting process of multi-segment position is shown in __[[Figure 6-11>>https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/image-20220608164116-9.png?rev=1.1]]__.
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		-
	758	+(% 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
...	...	@@ -762,7 +762,6 @@
762	762
763	763	1) Set multi-segment position running mode
764	764
765		-
766	766	|=(% scope="row" %)**Function code**|=**Name**|=(((
767	767	**Setting method**
768	768	)))|=(((
...	...	@@ -814,9 +814,10 @@
814	814
815	815	~1. Single running
816	816
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
	816	+In this running mode, the segment number is automatically incremented and switched, and the servo drive only operates for one round (the servo drive runs completely once for the total number of multi-segment position instructions set by P07-02 and P07-03). The single running curve is shown in __[[Figure 6-12>>https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/image-20220608164226-10.png?rev=1.1]]__, and S1 and S2 are the displacements of the 1st segment and the 2nd segment respectively
818	818
819	819
	819	+(% 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)
...	...	@@ -823,9 +823,10 @@
823	823
824	824	2. Cycle running
825	825
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.
	826	+In this running mode, the position number is automatically incremented and switched, and the servo drive repeatedly runs the total number of multi-segment position instructions set by P07-02 and P07-03. The waiting time could be set between each segment. The cycle running curve is shown in __[[Figure 6-13>>https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/image-20220608164327-11.png?rev=1.1]]__, and S1,S2,S3 and S4 are the displacements of the 1st, 2nd, 3rd and 4th segment respectively.
827	827
828	828
	829	+(% 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)
...	...	@@ -837,7 +837,6 @@
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
840		-
841	841	|=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
842	842	|=21|INPOS1: Internal multi-segment position segment selection 1|Form internal multi-segment position running segment number
843	843	|=22|INPOS2: Internal multi-segment position segment selection 2|Form internal multi-segment position running segment number
...	...	@@ -848,7 +848,6 @@
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
851		-
852	852	|=(% scope="row" %)**INPOS4**|=**INPOS3**|=**INPOS2**|=**INPOS1**|=**Running position number**
853	853	|=0|0|0|0|1
854	854	|=0|0|0|1|2
...	...	@@ -858,9 +858,9 @@
858	858
859	859	Table 6-18 INPOS corresponds to running segment number
860	860
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]]__.
	860	+The operating curve in this running mode is shown in __[[Figure 6-14>>https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/image-20220608164545-12.png?rev=1.1]]__.
862	862
863		-
	862	+(% style="text-align:center" %)
864	864	[[image:image-20220608164545-12.png]]
865	865
866	866	Figure 6-14 DI switching running curve
...	...	@@ -869,14 +869,14 @@
869	869
870	870	**A. Run the remaining segments**
871	871
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.
	871	+In this processing way, the multi-segment position instruction enable is OFF during running, the servo drive will abandon the unfinished displacement part and shutdown, and the positioning completion signal will be valid after the shutdown is complete. When the multi-segment position enable is ON, and the servo drive will start to run from the next segment where the OFF occurs. The curves of single running and cycle running are shown in __[[Figure 6-15>>https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/image-20220608164847-13.png?rev=1.1]]__ and __[[Figure 6-16>>https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/image-20220608165032-14.png?rev=1.1]]__ respectively.
873	873
874		-
	873	+(% 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		-
	878	+(% 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)
...	...	@@ -883,14 +883,14 @@
883	883
884	884	**B. Run again from the start segment**
885	885
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.
	885	+In this processing mode, when the multi-segment position instruction enable is OFF during running, the servo drive will abandon the uncompleted displacement part and shutdown. After the shutdown is completed, the positioning completion signal is valid. When the multi-segment position enable is ON, and the servo drive will start to operate from the next position set by P07-02. The curves of single running and cycle running are shown in __[[Figure 6-17>>https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/image-20220608165343-15.png?rev=1.1]]__ and __[[Figure 6-18>>https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/image-20220608165558-16.png?rev=1.1]]__ respectively.
887	887
888		-
	887	+(% 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		-
	892	+(% 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)
...	...	@@ -921,14 +921,9 @@
921	921
922	922	2) Multi-segment position running curve setting
923	923
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.
	923	+The multi-segment position running supports maximum 16 segments different position instructions. The displacement, maximum running speed (steady-state running speed), acceleration and deceleration time of each position and the waiting time between segment could all be set. __[[Table 6-19>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HPositioninstructioninputsetting]]__ are the related function codes of the 1st segment running curve.
925	925
926		-
927		-|=(% scope="row" %)**Function code**|=**Name**|=(((
928		-**Setting method**
929		-)))|=(((
930		-**Effective time**
931		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
	925	+|=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit**
932	932	|=P07-09|(((
933	933	1st segment
934	934
...	...	@@ -962,7 +962,7 @@
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		-
	959	+(% 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
...	...	@@ -971,9 +971,8 @@
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|(((
	968	+|=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
	969	+|=20|ENINPOS: Internal multi-segment position enable signal|(((
977	977	DI port logic invalid: Does not affect the current operation of the servo motor.
978	978
979	979	DI port logic valid: Motor runs multi-segment position
...	...	@@ -993,37 +993,20 @@
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
	989	+(% style="text-align:center" %)
	990	+[[image:image-20220707094901-16.png]]
996	996
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	999
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		-
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		-
1005	1005	Otherwise, the servo drive will report Er.35: "Electronic gear ratio setting exceeds the limit"!
1006	1006
1007	1007	**(2) Setting steps of electronic gear ratio**
1008	1008
	999	+[[image:image-20220707100850-20.jpeg]]
1009	1009
1010		-[[image:image-20220608170320-22.png]]
1011		-
1012	1012	Figure 6-24 Setting steps of electronic gear ratio
1013	1013
1014		-Step1: Confirm the mechanical parameters including the reduction ratio, the ball screw lead, gear diameter in the gear drive, and pulley diameter in the pulley drive.
1015		-
1016		-Step2: Confirm the resolution of servo motor encoder.
1017		-
1018		-Step3: Confirm the parameters such as mechanical specifications, positioning accuracy, etc, and determine the load displacement corresponding to one position instruction output by the host computer.
1019		-
1020		-Step4: Combine the mechanical parameters and the load displacement corresponding to one position instruction, calculate the position instruction value required for one rotation of the load shaft.
1021		-
1022		-Step5: Calculate the value of electronic gear ratio according to formula below.
1023		-
1024		-
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		-
1027	1027	**(3) lectronic gear ratio switch setting**
1028	1028
1029	1029
...	...	@@ -1030,12 +1030,12 @@
1030	1030	When the function code P00-16 is 0, the electronic gear ratio switching function could be used. You could switch between electronic gear 1 and electronic gear 2 as needed. There is only one set of gear ratios at any time. Related function codes are shown in the table below.
1031	1031
1032	1032
1033		-|**Function code**|**Name**|(((
	1009	+|=(% scope="row" %)**Function code**|=**Name**|=(((
1034	1034	**Setting method**
1035		-)))|(((
	1011	+)))|=(((
1036	1036	**Effective time**
1037		-)))|**Default value**|**Range**|**Definition**|**Unit**
1038		-|P00-16|Number of instruction pulses when the motor rotates one circle|(((
	1013	+)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
	1014	+|=P00-16|Number of instruction pulses when the motor rotates one circle|(((
1039	1039	Shutdown setting
1040	1040	)))|(((
1041	1041	Effective immediately
...	...	@@ -1044,7 +1044,7 @@
1044	1044
1045	1045	unit
1046	1046	)))
1047		-|P00-17|(((
	1023	+|=P00-17|(((
1048	1048	Electronic gear 1
1049	1049
1050	1050	numerator
...	...	@@ -1051,7 +1051,7 @@
1051	1051	)))|Operation setting|(((
1052	1052	Effective immediately
1053	1053	)))|1|1 to 4294967294|Set the numerator of the 1st group electronic gear ratio for position instruction frequency division or multiplication. P00-16 is effective when the number of instruction pulses of one motor rotation is 0.|-
1054		-|P00-18|(((
	1030	+|=P00-18|(((
1055	1055	Electronic gear 1
1056	1056
1057	1057	denominator
...	...	@@ -1060,7 +1060,7 @@
1060	1060	)))|(((
1061	1061	Effective immediately
1062	1062	)))|1|1 to 4294967294|Set the denominator of the 1st group electronic gear ratio for position instruction frequency division or multiplication. P00-16 is effective when the number of instruction pulses of one motor rotation is 0.|-
1063		-|P00-19|(((
	1039	+|=P00-19|(((
1064	1064	Electronic gear 2
1065	1065
1066	1066	numerator
...	...	@@ -1067,7 +1067,7 @@
1067	1067	)))|Operation setting|(((
1068	1068	Effective immediately
1069	1069	)))|1|1 to 4294967294|Set the numerator of the 2nd group electronic gear ratio for position instruction frequency division or multiplication. P00-16 is effective when the number of instruction pulses of one motor rotation is 0.|-
1070		-|P00-20|(((
	1046	+|=P00-20|(((
1071	1071	Electronic gear 2
1072	1072
1073	1073	denominator
...	...	@@ -1080,8 +1080,8 @@
1080	1080	To use electronic gear ratio 2, it is necessary to configure any DI port as function 09 (GEAR-SEL electronic gear switch 1), and determine the valid logic of the DI terminal.
1081	1081
1082	1082
1083		-|**DI function code**|**Function name**|**Function**
1084		-|09|GEAR-SEL electronic gear switch 1|(((
	1059	+|=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
	1060	+|=09|GEAR-SEL electronic gear switch 1|(((
1085	1085	DI port logic invalid: electronic gear ratio 1
1086	1086
1087	1087	DI port logic valid: electronic gear ratio 2
...	...	@@ -1089,14 +1089,14 @@
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]]
	1068	+|=(% scope="row" %)**P00-16 value**|=(% style="width: 510px;" %)**DI terminal level corresponding to DI port function 9**|=(% style="width: 400px;" %)**Electronic gear ratio** [[image:image-20220707101503-24.png]]
	1069	+|=(% rowspan="2" %)0|(% style="width:510px" %)DI port logic invalid|(% style="width:400px" %)[[image:image-20220707101328-21.png]]
	1070	+|=(% style="width: 510px;" %)DI port logic valid|(% style="width:400px" %)[[image:image-20220707101336-22.png]]
	1071	+|=1 to 131072|(% style="width:510px" %)~-~-|(% style="width:400px" %)[[image:image-20220707101341-23.png]]
1096	1096
1097	1097	Table 6-22 Application of electronic gear ratio
1098	1098
1099		-When the function code P00-16 is not 0, the electronic gear ratio [[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/39.png?rev=1.1]] is invalid.
	1075	+When the function code P00-16 is not 0, the electronic gear ratio [[image:image-20220707101509-25.png]] is invalid.
1100	1100
1101	1101	== **Position instruction filtering** ==
1102	1102
...	...	@@ -1110,18 +1110,17 @@
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		-
	1089	+(% 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**|(((
	1094	+|=(% scope="row" %)**Function code**|=**Name**|=(((
1120	1120	**Setting method**
1121		-)))|(((
	1096	+)))|=(((
1122	1122	**Effective time**
1123		-)))|**Default value**|**Range**|**Definition**|**Unit**
1124		-|P04-01|Pulse instruction filtering method|(((
	1098	+)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
	1099	+|=P04-01|Pulse instruction filtering method|(((
1125	1125	Shutdown setting
1126	1126	)))|(((
1127	1127	Effective immediately
...	...	@@ -1130,10 +1130,10 @@
1130	1130
1131	1131	1: average filtering
1132	1132	)))|-
1133		-|P04-02|Position instruction 1st-order low-pass filtering time constant|Shutdown setting|(((
	1108	+|=P04-02|Position instruction 1st-order low-pass filtering time constant|Shutdown setting|(((
1134	1134	Effective immediately
1135	1135	)))|0|0 to 1000|Position instruction first-order low-pass filtering time constant|ms
1136		-|P04-03|Position instruction average filtering time constant|Shutdown setting|(((
	1111	+|=P04-03|Position instruction average filtering time constant|Shutdown setting|(((
1137	1137	Effective immediately
1138	1138	)))|0|0 to 128|Position instruction average filtering time constant|ms
1139	1139
...	...	@@ -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		-
	1133	+(% style="text-align:center" %)
1159	1159	[[image:image-20220608170550-24.png]]
1160	1160
1161	1161	Figure 6-26 Positioning completion signal output diagram
...	...	@@ -1162,35 +1162,34 @@
1162	1162
1163	1163	When using the positioning completion or approach function, you could also set positioning completion, positioning approach conditions, window and hold time. The principle of window filter time is shown in Figure 6-27.
1164	1164
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]]__.
	1140	+To use the positioning completion/positioning approach function, a DO terminal of the servo drive should be assigned to the function 134 (P-COIN, positioning completion)/ 135 (P-NEAR, positioning approach). The related code parameters and DO function codes are shown as __[[Table 6-24>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HPosition-relatedDOoutputfunction]]__.
1166	1166
1167		-
	1142	+(% 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**|(((
	1147	+|=(% scope="row" %)**Function code**|=**Name**|=(((
1174	1174	**Setting method**
1175		-)))|(((
	1149	+)))|=(((
1176	1176	**Effective time**
1177		-)))|**Default value**|**Range**|**Definition**|**Unit**
1178		-|P05-12|Positioning completion threshold|(((
	1151	+)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
	1152	+|=P05-12|Positioning completion threshold|(((
1179	1179	Operation setting
1180	1180	)))|(((
1181	1181	Effective immediately
1182	1182	)))|800|1 to 65535|Positioning completion threshold|Equivalent pulse unit
1183		-|P05-13|Positioning approach threshold|(((
	1157	+|=P05-13|Positioning approach threshold|(((
1184	1184	Operation setting
1185	1185	)))|(((
1186	1186	Effective immediately
1187	1187	)))|5000|1 to 65535|Positioning approach threshold|Equivalent pulse unit
1188		-|P05-14|Position detection window time|(((
	1162	+|=P05-14|Position detection window time|(((
1189	1189	Operation setting
1190	1190	)))|(((
1191	1191	Effective immediately
1192	1192	)))|10|0 to 20000|Set positioning completion detection window time|ms
1193		-|P05-15|Positioning signal hold time|(((
	1167	+|=P05-15|Positioning signal hold time|(((
1194	1194	Operation setting
1195	1195	)))|(((
1196	1196	Effective immediately
...	...	@@ -1198,10 +1198,9 @@
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|(((
	1175	+|=(% scope="row" %)**DO function code**|=**Function name**|=**Function**
	1176	+|=134|P-COIN positioning complete|Output this signal indicates the servo drive position is complete.
	1177	+|=135|(((
1205	1205	P-NEAR positioning close
1206	1206	)))|(((
1207	1207	Output this signal indicates that the servo drive position is close.
...	...	@@ -1211,9 +1211,9 @@
1211	1211
1212	1212	= **Speed control mode** =
1213	1213
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.
	1187	+Speed control refers to controlling the speed of the machine through speed instructions. Given the speed instruction by digital voltage or communication, the servo drive can control the mechanical speed fast and precisely. Therefore, the speed control mode is mainly used to control the rotation speed such as analog CNC engraving and milling machine. [[Figure 6-28>>path:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/6.28.jpg?width=806&height=260&rev=1.1]] is the speed control block diagram.
1215	1215
1216		-
	1189	+(% 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
...	...	@@ -1232,7 +1232,7 @@
1232	1232	Shutdown setting
1233	1233	)))|(((
1234	1234	Effective immediately
1235		-)))|1|1 to 6|(((
	1208	+)))|1|1 to 1|(((
1236	1236	0: internal speed instruction
1237	1237
1238	1238	1: AI_1 analog input (not supported by VD2F)
...	...	@@ -1242,21 +1242,31 @@
1242	1242
1243	1243	**(1) Speed instruction source is internal speed instruction (P01-01=0)**
1244	1244
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.
	1218	+Speed instruction comes from internal instruction, and the internal speed instruction is given by a number. The VD2 series servo drive has internal multi-segment speed running function. There are 8 segments speed instructions stored in servo drive, and the speed of each segment could be set individually. The servo drive uses the 1st segment internal speed by default. To use the 2nd to 8th segment internal speed, the corresponding number of DI terminals must be configured as functions 13, 14, and 15. The detailed parameters and function codes are shown as belo
1246	1246
	1220	+(% style="width:1141px" %)
	1221	+|(% colspan="1" %)**Function code**|(% colspan="2" %)**Name**|(% colspan="2" %)(((
	1222	+**Setting**
1247	1247
1248		-|**Function code**|**Name**|(((
1249		-**Setting method**
1250		-)))|(((
1251		-**Effective time**
1252		-)))|**Default value**|**Range**|**Definition**|**Unit**
1253		-|(% rowspan="2" %)P01-02|(% rowspan="2" %)(((
1254		-Internal speed Instruction 0
1255		-)))|(% rowspan="2" %)(((
1256		-Operation setting
1257		-)))|(% rowspan="2" %)(((
1258		-Effective immediately
1259		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1224	+**method**
	1225	+)))|(% colspan="2" %)(((
	1226	+**Effective**
	1227	+
	1228	+**time**
	1229	+)))|(% colspan="2" %)**Default value**|(% colspan="2" %)**Range**|(% colspan="2" %)**Definition**|(% colspan="2" %)**Unit**
	1230	+|(% colspan="1" %)P01-02|(% colspan="2" %)(((
	1231	+Internal speed
	1232	+
	1233	+Instruction 0
	1234	+)))|(% colspan="2" %)(((
	1235	+Operation
	1236	+
	1237	+setting
	1238	+)))|(% colspan="2" %)(((
	1239	+Effective
	1240	+
	1241	+immediately
	1242	+)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1260	1260	Internal speed instruction 0
1261	1261
1262	1262	When DI input port:
...	...	@@ -1268,15 +1268,20 @@
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" %)(((
1274		-Internal speed Instruction 1
1275		-)))|(% rowspan="2" %)(((
1276		-Operation setting
1277		-)))|(% rowspan="2" %)(((
1278		-Effective immediately
1279		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1254	+)))|(% colspan="2" %)rpm
	1255	+|(% colspan="1" %)P01-23|(% colspan="2" %)(((
	1256	+Internal speed
	1257	+
	1258	+Instruction 1
	1259	+)))|(% colspan="2" %)(((
	1260	+Operation
	1261	+
	1262	+setting
	1263	+)))|(% colspan="2" %)(((
	1264	+Effective
	1265	+
	1266	+immediately
	1267	+)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1280	1280	Internal speed instruction 1
1281	1281
1282	1282	When DI input port:
...	...	@@ -1288,15 +1288,20 @@
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" %)(((
1294		-Internal speed Instruction 2
1295		-)))|(% rowspan="2" %)(((
1296		-Operation setting
1297		-)))|(% rowspan="2" %)(((
1298		-Effective immediately
1299		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1279	+)))|(% colspan="2" %)rpm
	1280	+|(% colspan="1" %)P01-24|(% colspan="2" %)(((
	1281	+Internal speed
	1282	+
	1283	+Instruction 2
	1284	+)))|(% colspan="2" %)(((
	1285	+Operation
	1286	+
	1287	+setting
	1288	+)))|(% colspan="2" %)(((
	1289	+Effective
	1290	+
	1291	+immediately
	1292	+)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1300	1300	Internal speed instruction 2
1301	1301
1302	1302	When DI input port:
...	...	@@ -1308,15 +1308,20 @@
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" %)(((
1314		-Internal speed Instruction 3
1315		-)))|(% rowspan="2" %)(((
1316		-Operation setting
1317		-)))|(% rowspan="2" %)(((
1318		-Effective immediately
1319		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1304	+)))|(% colspan="2" %)rpm
	1305	+|(% colspan="1" %)P01-25|(% colspan="2" %)(((
	1306	+Internal speed
	1307	+
	1308	+Instruction 3
	1309	+)))|(% colspan="2" %)(((
	1310	+Operation
	1311	+
	1312	+setting
	1313	+)))|(% colspan="2" %)(((
	1314	+Effective
	1315	+
	1316	+immediately
	1317	+)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1320	1320	Internal speed instruction 3
1321	1321
1322	1322	When DI input port:
...	...	@@ -1328,16 +1328,20 @@
1328	1328	13-INSPD1: 1,
1329	1329
1330	1330	Select this speed instruction to be effective.
1331		-)))|(% rowspan="2" %)rpm
1332		-|-5000 to 5000*
	1329	+)))|(% colspan="2" %)rpm
	1330	+|P01-26|(% colspan="2" %)(((
	1331	+Internal speed
1333	1333
1334		-|(% rowspan="2" %)P01-26|(% rowspan="2" %)(((
1335		-Internal speed Instruction 4
1336		-)))|(% rowspan="2" %)(((
1337		-Operation setting
1338		-)))|(% rowspan="2" %)(((
1339		-Effective immediately
1340		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1333	+Instruction 4
	1334	+)))|(% colspan="2" %)(((
	1335	+Operation
	1336	+
	1337	+setting
	1338	+)))|(% colspan="2" %)(((
	1339	+Effective
	1340	+
	1341	+immediately
	1342	+)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1341	1341	Internal speed instruction 4
1342	1342
1343	1343	When DI input port:
...	...	@@ -1349,15 +1349,20 @@
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" %)(((
1355		-Internal speed Instruction 5
1356		-)))|(% rowspan="2" %)(((
1357		-Operation setting
1358		-)))|(% rowspan="2" %)(((
1359		-Effective immediately
1360		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1354	+)))|(% colspan="1" %)rpm
	1355	+|P01-27|(% colspan="2" %)(((
	1356	+Internal speed
	1357	+
	1358	+Instruction 5
	1359	+)))|(% colspan="2" %)(((
	1360	+Operation
	1361	+
	1362	+setting
	1363	+)))|(% colspan="2" %)(((
	1364	+Effective
	1365	+
	1366	+immediately
	1367	+)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1361	1361	Internal speed instruction 5
1362	1362
1363	1363	When DI input port:
...	...	@@ -1369,15 +1369,20 @@
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" %)(((
1375		-Internal speed Instruction 6
1376		-)))|(% rowspan="2" %)(((
1377		-Operation setting
1378		-)))|(% rowspan="2" %)(((
1379		-Effective immediately
1380		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1379	+)))|(% colspan="1" %)rpm
	1380	+|P01-28|(% colspan="2" %)(((
	1381	+Internal speed
	1382	+
	1383	+Instruction 6
	1384	+)))|(% colspan="2" %)(((
	1385	+Operation
	1386	+
	1387	+setting
	1388	+)))|(% colspan="2" %)(((
	1389	+Effective
	1390	+
	1391	+immediately
	1392	+)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1381	1381	Internal speed instruction 6
1382	1382
1383	1383	When DI input port:
...	...	@@ -1389,15 +1389,20 @@
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" %)(((
1395		-Internal speed Instruction 7
1396		-)))|(% rowspan="2" %)(((
1397		-Operation setting
1398		-)))|(% rowspan="2" %)(((
1399		-Effective immediately
1400		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1404	+)))|(% colspan="1" %)rpm
	1405	+|P01-29|(% colspan="2" %)(((
	1406	+Internal speed
	1407	+
	1408	+Instruction 7
	1409	+)))|(% colspan="2" %)(((
	1410	+Operation
	1411	+
	1412	+setting
	1413	+)))|(% colspan="2" %)(((
	1414	+Effective
	1415	+
	1416	+immediately
	1417	+)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1401	1401	Internal speed instruction 7
1402	1402
1403	1403	When DI input port:
...	...	@@ -1409,14 +1409,10 @@
1409	1409	13-INSPD1: 1,
1410	1410
1411	1411	Select this speed instruction to be effective.
1412		-)))|(% rowspan="2" %)rpm
1413		-|-5000 to 5000*
	1429	+)))|(% colspan="1" %)rpm
1414	1414
1415	1415	Table 6-27 Internal speed instruction parameters
1416	1416
1417		-✎**Note: **“*” means the set range of VD2F servo drive.
1418		-
1419		-
1420	1420	|**DI function code**|**function name**|**Function**
1421	1421	|13|INSPD1 internal speed instruction selection 1|Form internal multi-speed running segment number
1422	1422	|14|INSPD2 internal speed instruction selection 2|Form internal multi-speed running segment number
...	...	@@ -1436,16 +1436,15 @@
1436	1436
1437	1437	Table 6-29 Correspondence between INSPD bits and segment numbers
1438	1438
1439		-
1440	1440	[[image:image-20220608170845-26.png]]
1441	1441
1442	1442	Figure 6-29 Multi-segment speed running curve
1443	1443
1444		-**(2) Speed instruction source is internal speed instruction (P01-01=0)**
	1456	+**(2) Speed instruction source is internal speed instruction (P01-01=1)**
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		-
	1460	+(% 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		-
	1467	+(% style="text-align:center" %)
1456	1456	[[image:image-20220608170955-27.png]]
1457	1457
1458	1458	Figure 6-31 Analog voltage speed instruction setting steps
...	...	@@ -1459,18 +1459,15 @@
1459	1459
1460	1460	Explanation of related terms:
1461	1461
1462		-Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
	1474	+* Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
	1475	+* Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
	1476	+* Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1463	1463
1464		-Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
1465		-
1466		-Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1467		-
1468		-
	1478	+(% 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
1473		-
1474	1474	|**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
1475	1475	|P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1476	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
...	...	@@ -1487,16 +1487,14 @@
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		-
	1499	+(% style="text-align:center" %)
1491	1491	[[image:image-20220608171314-29.png]]
1492	1492
1493	1493	Figure 6-33 of acceleration and deceleration time diagram
1494	1494
1495		-Actual acceleration time T1 =[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/43.jpg?rev=1.1]]
	1504	+(% style="text-align:center" %)
	1505	+[[image:image-20220707103616-27.png]]
1496	1496
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		-
1499		-
1500	1500	|**Function code**|**Name**|(((
1501	1501	**Setting method**
1502	1502	)))|(((
...	...	@@ -1611,7 +1611,7 @@
1611	1611
1612	1612	Figure 6-35 Rotation detection signal diagram
1613	1613
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]]__.
	1621	+To use the motor rotation detection signal output function, a DO terminal of the servo drive should be assigned to function 132 (T-COIN, rotation detection). The function code parameters and related DO function codes are shown in __[[Table 6-34>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__ and __[[Table 6-35>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__.
1615	1615
1616	1616
1617	1617	|**Function code**|**Name**|(((
...	...	@@ -1631,7 +1631,6 @@
1631	1631
1632	1632	Table 6-34 Rotation detection speed threshold parameters
1633	1633
1634		-
1635	1635	|**DO function code**|**Function name**|**Function**
1636	1636	|132|(((
1637	1637	T-COIN rotation detection
...	...	@@ -1647,14 +1647,12 @@
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		-
1651	1651	[[image:image-20220608171904-32.png]]
1652	1652
1653	1653	Figure 6-36 Zero-speed signal diagram
1654	1654
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]]__.
	1660	+To use the motor zero-speed signal output function, a DO terminal of servo drive should be assigned to function 133 (ZSP, zero-speed signal). The function code parameters and related DO function codes are shown in __[[Table 6-36>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__ and __[[Table 6-37>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__.
1656	1656
1657		-
1658	1658	|**Function code**|**Name**|(((
1659	1659	**Setting method**
1660	1660	)))|(((
...	...	@@ -1680,14 +1680,12 @@
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		-
1684	1684	[[image:image-20220608172053-33.png]]
1685	1685
1686	1686	Figure 6-37 Speed consistent signal diagram
1687	1687
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]]__.
	1691	+To use the motor speed consistent function, a DO terminal of the servo drive should be assigned to function 136 (V-COIN, consistent speed). The function code parameters and related DO function codes are shown in __[[Table 6-38>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__ and __[[Table 6-39>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__.
1689	1689
1690		-
1691	1691	|**Function code**|**Name**|(((
1692	1692	**Setting method**
1693	1693	)))|(((
...	...	@@ -1713,14 +1713,12 @@
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		-
1717	1717	[[image:image-20220608172207-34.png]]
1718	1718
1719	1719	Figure 6-38 Speed approaching signal diagram
1720	1720
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	+To use the motor speed approach function, a DO terminal of the servo drive should be assigned to function 137 (V-NEAR, speed approach). The function code parameters and related DO function codes are shown in __[[Table 6-40>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__ and __[[Table 6-41>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__.
1722	1722
1723		-
1724	1724	|**Function code**|**Name**|(((
1725	1725	**Setting method**
1726	1726	)))|(((
...	...	@@ -1734,7 +1734,6 @@
1734	1734
1735	1735	Table 6-40 Speed approaching signal threshold parameters
1736	1736
1737		-
1738	1738	|**DO function code**|**Function name**|**Function**
1739	1739	|137|(((
1740	1740	V-NEAR speed approach
...	...	@@ -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		-
	1797	+(% 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		-
	1804	+(% style="text-align:center" %)
1806	1806	[[image:image-20220608172502-36.png]]
1807	1807
1808	1808	Figure 6-41 Analog voltage torque instruction setting steps
...	...	@@ -1809,18 +1809,15 @@
1809	1809
1810	1810	Explanation of related terms:
1811	1811
1812		-Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
	1811	+* Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
	1812	+* Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
	1813	+* Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1813	1813
1814		-Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
1815		-
1816		-Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1817		-
1818		-
	1815	+(% 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
1823		-
1824	1824	|**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
1825	1825	|P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1826	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
...	...	@@ -1835,7 +1835,6 @@
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	1839	|**Function code**|**Name**|(((
1840	1840	**Setting method**
1841	1841	)))|(((
...	...	@@ -1851,7 +1851,7 @@
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		-
	1849	+(% 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		-
	1860	+(% style="text-align:center" %)
1866	1866	[[image:image-20220608172806-39.png]]
1867	1867
1868	1868	Figure 6-44 Torque instruction limit diagram
...	...	@@ -1871,7 +1871,6 @@
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	1875	|**Function code**|**Name**|(((
1876	1876	**Setting method**
1877	1877	)))|(((
...	...	@@ -1895,7 +1895,6 @@
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	1899	|**Function code**|**Name**|(((
1900	1900	**Setting method**
1901	1901	)))|(((
...	...	@@ -1926,7 +1926,6 @@
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	1930	|**DO function code**|**Function name**|**Function**
1931	1931	|139|(((
1932	1932	T-LIMIT in torque limit
...	...	@@ -1938,7 +1938,7 @@
1938	1938
1939	1939	In torque mode, if the given torque instruction is too large to exceed the load torque of the mechanical side. This would cause the servo motor to continuously accelerate and overspeed. In order to protect the machinery, the speed of the motor must be limited.
1940	1940
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]]__.
	1933	+In torque mode, the actual motor speed would be in the limited speed. After the speed limit is reached, the motor runs at a constant speed at the speed limit. The running curves are shown as __[[Figure 6-45>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeedlimitintorquemode]]__ and __[[Figure 6-46>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeedlimitintorquemode]]__.
1942	1942
1943	1943	|(((
1944	1944	[[image:image-20220608172910-40.png]]
...	...	@@ -1981,7 +1981,7 @@
1981	1981
1982	1982	Table 6-48 Speed limit parameters in torque mode
1983	1983
1984		-✎**Note:** Function codes P01-17 and P01-18 are only effective in limiting motor speed under the torque mode. The speed limit value is set according to load requirements. To set speed limit in speed mode or position mode, please refer to __[[6.3.3 Speed instruction limit>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HSpeedinstructionlimit]]__.
	1976	+✎**Note:** Function codes P01-17 and P01-18 are only effective in limiting motor speed under the torque mode. The speed limit value is set according to load requirements. To set speed limit in speed mode or position mode, please refer to __[[6.3.3 Speed instruction limit>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeedinstructionlimit]]__.
1985	1985
1986	1986	== **Torque-related DO output functions** ==
1987	1987
...	...	@@ -1991,14 +1991,13 @@
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		-
	1986	+(% style="text-align:center" %)
1995	1995	[[image:image-20220608173541-42.png]]
1996	1996
1997	1997	Figure 6-47 Torque arrival output diagram
1998	1998
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]]__.
	1991	+To use the torque arrival function, a DO terminal of the servo drive should be assigned to function 138 (T-COIN, torque arrival). The function code parameters and related DO function codes are shown in __[[Table 6-49>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HTorque-relatedDOoutputfunctions]]__ and __[[Table 6-50>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HTorque-relatedDOoutputfunctions]]__.
2000	2000
2001		-
2002	2002	|**Function code**|**Name**|(((
2003	2003	**Setting method**
2004	2004	)))|(((
...	...	@@ -2043,15 +2043,14 @@
2043	2043
2044	2044	Mixed control mode means that when the servo enable is ON and the status of the servo drive is "run", the mode of the servo drive could be switched between different modes. The VD2 series servo drives have the following 3 mixed control modes:
2045	2045
2046		-Position mode  Speed mode
	2037	+Position mode⇔ Speed mode
2047	2047
2048		-Position mode  Torque mode
	2039	+Position mode ⇔Torque mode
2049	2049
2050		-Speed mode  Torque mode
	2041	+Speed mode ⇔Torque mode
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	2055	|**Function code**|**Name**|(((
2056	2056	**Setting method**
2057	2057	)))|(((
...	...	@@ -2077,9 +2077,8 @@
2077	2077
2078	2078	Table 6-51 Mixed control mode parameters
2079	2079
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.
	2070	+Please set the servo drive parameters in different control modes according to the mechanical structure and indicators. The setting method refer to [[__“Parameters”__>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/09%20Parameters/]]. When function code P00-01=4/5/6 (that is, in mixed mode), a DI terminal of the servo drive needs to be assigned to function 17 (MixModeSel, mixed mode selection), and the DI terminal logic is determined to be valid.
2081	2081
2082		-
2083	2083	|**DI function code**|**Name**|**Function name**|**Function**
2084	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	2085	|**P00-01**|**MixModeSel terminal logic**|**Control mode**
...	...	@@ -2115,7 +2115,7 @@
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		-
	2107	+(% 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
...	...	@@ -2124,7 +2124,6 @@
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
2127		-
2128	2128	|**Encoder type**|**Encoder resolution (bits)**|**Data range**
2129	2129	|C1 (multi-turn magnetic encoder)|17|0 to 131071
2130	2130	|D2 (multi-turn Optical encoder)|23|0 to 8388607
...	...	@@ -2133,7 +2133,7 @@
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		-
	2124	+(% 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
...	...	@@ -2142,7 +2142,6 @@
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
2145		-
2146	2146	|**Monitoring number**|**Category**|**Name**|**Unit**|**Data type**
2147	2147	|U0-54|Universal|Absolute encoder position within 1 turn|Encoder unit|32-bit
2148	2148	|U0-55|Universal|Rotations number of absolute encoder|circle|16-bit

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