Changes for page 06 Operation

Last modified by Iris on 2025/08/05 17:31

From 45.1 to 44.1 From 48.5 to 48.4

From version 48.4

edited by Leo Wei
on 2022/06/11 18:02

Change comment: There is no comment for this version

To version 45.1

edited by Leo Wei
on 2022/06/11 17:55

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@@ -147,15 +147,15 @@
  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]]__.
--|=(% scope="row" %)Shutdown mode|=Shutdown description|=Shutdown characteristics
--|=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.
--|=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.
++|Shutdown mode|Shutdown description|Shutdown characteristics
++|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.
++|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.
  Table 6-5 Comparison of two shutdown modes
--|=(% scope="row" %)**Shutdown status**|=**Free operation status**|=**Position locked**
--|=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.
++|**Shutdown status**|**Free operation status**|**Position locked**
++|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.
  Table 6-6 Comparison of two shutdown status
@@ -164,14 +164,14 @@
  The related parameters of the servo OFF shutdown mode are shown in the table below.
--|=(% scope="row" %)**Function code**|=**Name**|=(((
++|**Function code**|**Name**|(((
  **Setting method**
--)))|=(((
++)))|(((
  **Effective time**
--)))|=(((
++)))|(((
  **Default value**
--)))|=**Range**|=**Definition**|=**Unit**
--|=P00-05|Servo OFF shutdown|(((
++)))|**Range**|**Definition**|**Unit**
++|P00-05|Servo OFF shutdown|(((
  Shutdown
  setting
@@ -200,12 +200,12 @@
  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.
--|=(% scope="row" %)**Function code**|=**Name**|=(((
++|**Function code**|**Name**|(((
  **Setting method**
--)))|=(((
++)))|(((
  **Effective time**
--)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
--|=P06-08|DI_3 channel function selection|Operation setting|Power-on again|3|0 to 32|(((
++)))|**Default value**|**Range**|**Definition**|**Unit**
++|P06-08|DI_3 channel function selection|Operation setting|Power-on again|3|0 to 32|(((
 : OFF (not used)
 : S-ON servo enable
@@ -254,7 +254,7 @@
  Others: reserved
  )))|-
--|=P06-09|DI_3 channel logic selection|Operation setting|(((
++|P06-09|DI_3 channel logic selection|Operation setting|(((
  Effective immediately
  )))|0|0 to 1|(((
  DI port input logic validity function selection.
@@ -263,7 +263,7 @@
 : Normally closed input. Active high level (switch off);
  )))|-
--|=P06-10|DI_3 input source selection|Operation setting|(((
++|P06-10|DI_3 input source selection|Operation setting|(((
  Effective immediately
  )))|0|0 to 1|(((
  Select the DI_3 port type to enable
@@ -272,7 +272,8 @@
 : virtual VDI_3 input terminal
  )))|-
--|=P06-11|DI_4 channel function selection|(((
++
++|P06-11|DI_4 channel function selection|(((
  Operation setting
  )))|(((
  again Power-on
@@ -325,7 +325,7 @@
  Others: reserved
  )))|-
--|=P06-12|DI_4 channel logic selection|Operation setting|(((
++|P06-12|DI_4 channel logic selection|Operation setting|(((
  Effective immediately
  )))|0|0 to 1|(((
  DI port input logic validity function selection.
@@ -334,7 +334,7 @@
 : Normally closed input. Active high level (switch off);
  )))|-
--|=P06-13|DI_4 input source selection|Operation setting|(((
++|P06-13|DI_4 input source selection|Operation setting|(((
  Effective immediately
  )))|0|0 to 1|(((
  Select the DI_4 port type to enable
@@ -398,10 +398,10 @@
  Related function code is as below.
--|=(% scope="row" %)**DO function code**|=**Function name**|=**Function**|=(((
++|**DO function code**|**Function name**|**Function**|(((
  **Effective time**
  )))
--|=144|(((
++|144|(((
  BRK-OFF Brake output
  )))|Output the signal indicates the servo motor brake release|Power-on again
@@ -408,18 +408,18 @@
  Table 6-2 Relevant function codes for brake setting
--|=(% scope="row" %)**Function code**|=**Name**|=(((
++|**Function code**|**Name**|(((
  **Setting method**
--)))|=(((
++)))|(((
  **Effective time**
--)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
--|=P1-30|Delay from brake output to instruction reception|(((
++)))|**Default value**|**Range**|**Definition**|**Unit**
++|P1-30|Delay from brake output to instruction reception|(((
  Operation setting
  )))|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
--|=P1-31|In static state, delay from brake output OFF to the motor is power off|(((
++|P1-31|In static state, delay from brake output OFF to the motor is power off|(((
  Operation setting
  )))|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
--|=P1-32|Rotation status, when the brake output OFF, the speed threshold|(((
++|P1-32|Rotation status, when the brake output OFF, the speed threshold|(((
  Operation setting
  )))|Effective immediately|30|0 to 3000|(((
  When the motor rotates, the motor speed threshold when the brake (BRK-OFF) is allowed to output OFF.
@@ -426,7 +426,7 @@
  When the brake output (BRK-OFF) is not allocated, this function code has no effect.
  )))|rpm
--|=P1-33|Rotation status, Delay from servo enable OFF to brake output OFF|(((
++|P1-33|Rotation status, Delay from servo enable OFF to brake output OFF|(((
  Operation setting
  )))|Effective immediately|500|1 to 1000|(((
  When the motor rotates, the delay time from the servo enable (S-ON) OFF to the brake (BRK-OFF) output OFF is allowed.
@@ -507,12 +507,12 @@
  Set “P00-01” to 1 by the software “Wecon SCTool”, and the servo drive is in position control mode.
--|=(% scope="row" %)**Function code**|=**Name**|=(((
++|**Function code**|**Name**|(((
  **Setting method**
--)))|=(((
++)))|(((
  **Effective time**
--)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
--|=P01-01|Control mode|(((
++)))|**Default value**|**Range**|**Definition**|**Unit**
++|P01-01|Control mode|(((
  Operation setting
  )))|(((
  immediately Effective
@@ -537,12 +537,12 @@
  When the VD2 series servo drive is in position control mode, firstly set the position instruction source through the function code “P01-06”.
--|=(% scope="row" %)**Function code**|=**Name**|=(((
++|**Function code**|**Name**|(((
  **Setting method**
--)))|=(((
++)))|(((
  **Effective time**
--)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
--|=P01-06|Position instruction source|(((
++)))|**Default value**|**Range**|**Definition**|**Unit**
++|P01-06|Position instruction source|(((
  Operation setting
  )))|(((
  immediately Effective
@@ -608,17 +608,17 @@
  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.
--|=(% scope="row" %)**Function code**|=**Name**|=(((
++|**Function code**|**Name**|(((
  **Setting method**
--)))|=(((
++)))|(((
  **Effective time**
--)))|=**Default value**|=**Range**|=(% colspan="2" %)**Definition**|=**Unit**
--|=P00-13|Maximum position pulse frequency|(((
++)))|**Default value**|**Range**|(% colspan="2" %)**Definition**|**Unit**
++|P00-13|Maximum position pulse frequency|(((
  Shutdown setting
  )))|(((
  Effective immediately
  )))|300|1 to 500|(% colspan="2" %)Set the maximum frequency of external pulse instruction|KHz
--|=(% rowspan="3" %)P00-14|(% rowspan="3" %)Position pulse anti-interference level|(% rowspan="3" %)(((
++|(% rowspan="3" %)P00-14|(% rowspan="3" %)Position pulse anti-interference level|(% rowspan="3" %)(((
  Operation setting
  )))|(% rowspan="3" %)(((
  Power-on again
@@ -643,8 +643,8 @@
 : Filtering time 16.384us
  )))|(% rowspan="3" %)-
--|=(% rowspan="2" %)9|VD2: Filtering time 25.5us
--|=VD2F: Filtering time 25.5us
++|(% rowspan="2" %)9|VD2: Filtering time 25.5us
++|VD2F: Filtering time 25.5us
  Table 6-13 Position pulse frequency and anti-interference level parameters
@@ -653,12 +653,12 @@
  In VD2 series servo drives, there are three types of input pulse instructions, and the related function codes are shown in the table below.
--|=(% scope="row" %)**Function code**|=**Name**|=(((
++|**Function code**|**Name**|(((
  **Setting method**
--)))|=(((
++)))|(((
  **Effective time**
--)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
--|=P00-12|Position pulse type selection|(((
++)))|**Default value**|**Range**|**Definition**|**Unit**
++|P00-12|Position pulse type selection|(((
  Operation setting
  )))|(((
  Power-on again
@@ -679,8 +679,8 @@
  Table 6-14 Position pulse type selection parameter
--|=(% scope="row" %)**Pulse type selection**|=**Pulse type**|=**Signal**|=**Schematic diagram of forward pulse**|=**Schematic diagram of negative pulse**
--|=0|(((
++|**Pulse type selection**|**Pulse type**|**Signal**|**Schematic diagram of forward pulse**|**Schematic diagram of negative pulse**
++|0|(((
  Direction + pulse
  (Positive logic)
@@ -689,12 +689,12 @@
  SIGN
  )))|[[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]]
--|=1|CW/CCW|(((
++|1|CW/CCW|(((
  PULSE (CW)
  SIGN (CCW)
  )))|(% 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]]
--|=2|(((
++|2|(((
  AB phase orthogonal
  pulse (4 times frequency)
@@ -711,7 +711,7 @@
  Phase B is 90° ahead of Phase A
  )))
--|=3|(((
++|3|(((
  Direction + pulse
  (Negative logic)
@@ -720,7 +720,7 @@
  SIGN
  )))|[[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]]
--|=4|(((
++|4|(((
  CW/CCW
  (Negative logic)
@@ -729,7 +729,7 @@
  SIGN (CCW)
  )))|(% 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]]
--|=5|(((
++|5|(((
  AB phase orthogonal
  pulse (4 times frequency negative logic)
@@ -763,12 +763,12 @@
 ) Set multi-segment position running mode
--|=(% scope="row" %)**Function code**|=**Name**|=(((
++|**Function code**|**Name**|(((
  **Setting method**
--)))|=(((
++)))|(((
  **Effective time**
--)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
--|=P07-01|Multi-segment position running mode|(((
++)))|**Default value**|**Range**|**Definition**|**Unit**
++|P07-01|Multi-segment position running mode|(((
  Shutdown setting
  )))|(((
  Effective immediately
@@ -779,17 +779,17 @@
 : DI switching running
  )))|-
--|=P07-02|Start segment number|(((
++|P07-02|Start segment number|(((
  Shutdown setting
  )))|(((
  Effective immediately
  )))|1|1 to 16|1st segment NO. in non-DI switching mode|-
--|=P07-03|End segment number|(((
++|P07-03|End segment number|(((
  Shutdown setting
  )))|(((
  Effective immediately
  )))|1|1 to 16|last segment NO. in non-DI switching mode|-
--|=P07-04|Margin processing method|(((
++|P07-04|Margin processing method|(((
  Shutdown setting
  )))|(((
  Effective immediately
@@ -798,7 +798,7 @@
 : Run again from the start segment
  )))|-
--|=P07-05|Displacement instruction type|(((
++|P07-05|Displacement instruction type|(((
  Shutdown setting
  )))|(((
  Effective immediately
@@ -838,11 +838,11 @@
  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.
--|=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
--|=21|INPOS1: Internal multi-segment position segment selection 1|Form internal multi-segment position running segment number
--|=22|INPOS2: Internal multi-segment position segment selection 2|Form internal multi-segment position running segment number
--|=23|INPOS3: Internal multi-segment position segment selection 3|Form internal multi-segment position running segment number
--|=24|INPOS4: Internal multi-segment position segment selection 4|Form internal multi-segment position running segment number
++|**DI function code**|**Function name**|**Function**
++|21|INPOS1: Internal multi-segment position segment selection 1|Form internal multi-segment position running segment number
++|22|INPOS2: Internal multi-segment position segment selection 2|Form internal multi-segment position running segment number
++|23|INPOS3: Internal multi-segment position segment selection 3|Form internal multi-segment position running segment number
++|24|INPOS4: Internal multi-segment position segment selection 4|Form internal multi-segment position running segment number
  Table 6-17 DI function code
@@ -849,12 +849,12 @@
  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.
--|=(% scope="row" %)**INPOS4**|=**INPOS3**|=**INPOS2**|=**INPOS1**|=**Running position number**
--|=0|0|0|0|1
--|=0|0|0|1|2
--|=0|0|1|0|3
--|=(% colspan="5" %)…………
--|=1|1|1|1|16
++|**INPOS4**|**INPOS3**|**INPOS2**|**INPOS1**|**Running position number**
++|0|0|0|0|1
++|0|0|0|1|2
++|0|0|1|0|3
++|(% colspan="5" %)…………
++|1|1|1|1|16
  Table 6-18 INPOS corresponds to running segment number
@@ -924,8 +924,12 @@
  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.
--|=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit**
--|=P07-09|(((
++|**Function code**|**Name**|(((
++**Setting method**
++)))|(((
++**Effective time**
++)))|**Default value**|**Range**|**Definition**|**Unit**
++|P07-09|(((
 st segment
  displacement
@@ -938,17 +938,17 @@
  2147483646
  )))|Position instruction, positive and negative values could be set|-
--|=P07-10|Maximum speed of the 1st displacement|(((
++|P07-10|Maximum speed of the 1st displacement|(((
  Operation setting
  )))|(((
  Effective immediately
  )))|100|1 to 5000|Steady-state running speed of the 1st segment|rpm
--|=P07-11|Acceleration and deceleration of 1st segment displacement|(((
++|P07-11|Acceleration and deceleration of 1st segment displacement|(((
  Operation setting
  )))|(((
  Effective immediately
  )))|100|1 to 65535|The time required for the acceleration and deceleration of the 1st segment|ms
--|=P07-12|Waiting time after completion of the 1st segment displacement|(((
++|P07-12|Waiting time after completion of the 1st segment displacement|(((
  Operation setting
  )))|(((
  Effective immediately

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