Changes for page 06 Operation
Last modified by Iris on 2025/07/23 15:49
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... ... @@ -838,11 +838,11 @@ 838 838 In this running mode, the next running segment number could be set when operating the current segment number. The interval time is determined by the instruction delay of the host computer. The running segment number is determined by DI terminal logic, and the related function codes are shown in the table below. 839 839 840 840 841 -| =(% scope="row" %)**DI function code**|=**Function name**|=**Function**842 -| =21|INPOS1: Internal multi-segment position segment selection 1|Form internal multi-segment position running segment number843 -| =22|INPOS2: Internal multi-segment position segment selection 2|Form internal multi-segment position running segment number844 -| =23|INPOS3: Internal multi-segment position segment selection 3|Form internal multi-segment position running segment number845 -| =24|INPOS4: Internal multi-segment position segment selection 4|Form internal multi-segment position running segment number841 +|**DI function code**|**Function name**|**Function** 842 +|21|INPOS1: Internal multi-segment position segment selection 1|Form internal multi-segment position running segment number 843 +|22|INPOS2: Internal multi-segment position segment selection 2|Form internal multi-segment position running segment number 844 +|23|INPOS3: Internal multi-segment position segment selection 3|Form internal multi-segment position running segment number 845 +|24|INPOS4: Internal multi-segment position segment selection 4|Form internal multi-segment position running segment number 846 846 847 847 Table 6-17 DI function code 848 848 ... ... @@ -849,12 +849,12 @@ 849 849 The multi-segment segment number is a 4-bit binary number, and the DI terminal logic is level valid. When the input level is valid, the segment selection bit value is 1, otherwise it is 0. Table 6-17 shows the correspondence between the position bits 1 to 4 of the internal multi-segment position and the position number. 850 850 851 851 852 -| =(% scope="row" %)**INPOS4**|=**INPOS3**|=**INPOS2**|=**INPOS1**|=**Running position number**853 -| =0|0|0|0|1854 -| =0|0|0|1|2855 -| =0|0|1|0|3856 -| =(% colspan="5" %)…………857 -| =1|1|1|1|16852 +|**INPOS4**|**INPOS3**|**INPOS2**|**INPOS1**|**Running position number** 853 +|0|0|0|0|1 854 +|0|0|0|1|2 855 +|0|0|1|0|3 856 +|(% colspan="5" %)………… 857 +|1|1|1|1|16 858 858 859 859 Table 6-18 INPOS corresponds to running segment number 860 860 ... ... @@ -924,8 +924,12 @@ 924 924 The multi-segment position running supports maximum 16 segments different position instructions. The displacement, maximum running speed (steady-state running speed), acceleration and deceleration time of each position and the waiting time between segment could all be set. __[[Table 6-19>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HPositioninstructioninputsetting]]__ are the related function codes of the 1st segment running curve. 925 925 926 926 927 -|=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit** 928 -|=P07-09|((( 927 +|**Function code**|**Name**|((( 928 +**Setting method** 929 +)))|((( 930 +**Effective time** 931 +)))|**Default value**|**Range**|**Definition**|**Unit** 932 +|P07-09|((( 929 929 1st segment 930 930 931 931 displacement ... ... @@ -938,17 +938,17 @@ 938 938 939 939 2147483646 940 940 )))|Position instruction, positive and negative values could be set|- 941 -| =P07-10|Maximum speed of the 1st displacement|(((945 +|P07-10|Maximum speed of the 1st displacement|((( 942 942 Operation setting 943 943 )))|((( 944 944 Effective immediately 945 945 )))|100|1 to 5000|Steady-state running speed of the 1st segment|rpm 946 -| =P07-11|Acceleration and deceleration of 1st segment displacement|(((950 +|P07-11|Acceleration and deceleration of 1st segment displacement|((( 947 947 Operation setting 948 948 )))|((( 949 949 Effective immediately 950 950 )))|100|1 to 65535|The time required for the acceleration and deceleration of the 1st segment|ms 951 -| =P07-12|Waiting time after completion of the 1st segment displacement|(((955 +|P07-12|Waiting time after completion of the 1st segment displacement|((( 952 952 Operation setting 953 953 )))|((( 954 954 Effective immediately ... ... @@ -968,8 +968,8 @@ 968 968 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. 969 969 970 970 971 -| =(% scope="row" %)**DI function code**|=**Function name**|=**Function**972 -| =20|ENINPOS: Internal multi-segment position enable signal|(((975 +|**DI function code**|**Function name**|**Function** 976 +|20|ENINPOS: Internal multi-segment position enable signal|((( 973 973 DI port logic invalid: Does not affect the current operation of the servo motor. 974 974 975 975 DI port logic valid: Motor runs multi-segment position ... ... @@ -1026,12 +1026,12 @@ 1026 1026 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. 1027 1027 1028 1028 1029 -| =(% scope="row" %)**Function code**|=**Name**|=(((1033 +|**Function code**|**Name**|((( 1030 1030 **Setting method** 1031 -)))| =(((1035 +)))|((( 1032 1032 **Effective time** 1033 -)))| =**Default value**|=**Range**|=**Definition**|=**Unit**1034 -| =P00-16|Number of instruction pulses when the motor rotates one circle|(((1037 +)))|**Default value**|**Range**|**Definition**|**Unit** 1038 +|P00-16|Number of instruction pulses when the motor rotates one circle|((( 1035 1035 Shutdown setting 1036 1036 )))|((( 1037 1037 Effective immediately ... ... @@ -1040,7 +1040,7 @@ 1040 1040 1041 1041 unit 1042 1042 ))) 1043 -| =P00-17|(((1047 +|P00-17|((( 1044 1044 Electronic gear 1 1045 1045 1046 1046 numerator ... ... @@ -1047,7 +1047,7 @@ 1047 1047 )))|Operation setting|((( 1048 1048 Effective immediately 1049 1049 )))|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.|- 1050 -| =P00-18|(((1054 +|P00-18|((( 1051 1051 Electronic gear 1 1052 1052 1053 1053 denominator ... ... @@ -1056,7 +1056,7 @@ 1056 1056 )))|((( 1057 1057 Effective immediately 1058 1058 )))|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.|- 1059 -| =P00-19|(((1063 +|P00-19|((( 1060 1060 Electronic gear 2 1061 1061 1062 1062 numerator ... ... @@ -1063,7 +1063,7 @@ 1063 1063 )))|Operation setting|((( 1064 1064 Effective immediately 1065 1065 )))|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.|- 1066 -| =P00-20|(((1070 +|P00-20|((( 1067 1067 Electronic gear 2 1068 1068 1069 1069 denominator ... ... @@ -1076,8 +1076,8 @@ 1076 1076 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. 1077 1077 1078 1078 1079 -| =(% scope="row" %)**DI function code**|=**Function name**|=**Function**1080 -| =09|GEAR-SEL electronic gear switch 1|(((1083 +|**DI function code**|**Function name**|**Function** 1084 +|09|GEAR-SEL electronic gear switch 1|((( 1081 1081 DI port logic invalid: electronic gear ratio 1 1082 1082 1083 1083 DI port logic valid: electronic gear ratio 2 ... ... @@ -1085,10 +1085,10 @@ 1085 1085 1086 1086 Table 6-21 Switching conditions of electronic gear ratio group 1087 1087 1088 -| =(% scope="row" %)**P00-16 value**|=**DI terminal level corresponding to DI port function 9**|=**Electronic gear ratio**[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/39.png?rev=1.1]]1089 -| =(% rowspan="2" %)0|DI port logic invalid|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/40.png?rev=1.1]]1090 -| =DI port logic valid|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/41.png?rev=1.1]]1091 -| =1 to 131072|~-~-|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/42.png?rev=1.1]]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]] 1092 1092 1093 1093 Table 6-22 Application of electronic gear ratio 1094 1094 ... ... @@ -1112,12 +1112,12 @@ 1112 1112 Figure 6-25 Position instruction filtering diagram 1113 1113 1114 1114 1115 -| =(% scope="row" %)**Function code**|=**Name**|=(((1119 +|**Function code**|**Name**|((( 1116 1116 **Setting method** 1117 -)))| =(((1121 +)))|((( 1118 1118 **Effective time** 1119 -)))| =**Default value**|=**Range**|=**Definition**|=**Unit**1120 -| =P04-01|Pulse instruction filtering method|(((1123 +)))|**Default value**|**Range**|**Definition**|**Unit** 1124 +|P04-01|Pulse instruction filtering method|((( 1121 1121 Shutdown setting 1122 1122 )))|((( 1123 1123 Effective immediately ... ... @@ -1126,10 +1126,10 @@ 1126 1126 1127 1127 1: average filtering 1128 1128 )))|- 1129 -| =P04-02|Position instruction 1st-order low-pass filtering time constant|Shutdown setting|(((1133 +|P04-02|Position instruction 1st-order low-pass filtering time constant|Shutdown setting|((( 1130 1130 Effective immediately 1131 1131 )))|0|0 to 1000|Position instruction first-order low-pass filtering time constant|ms 1132 -| =P04-03|Position instruction average filtering time constant|Shutdown setting|(((1136 +|P04-03|Position instruction average filtering time constant|Shutdown setting|((( 1133 1133 Effective immediately 1134 1134 )))|0|0 to 128|Position instruction average filtering time constant|ms 1135 1135 ... ... @@ -1166,27 +1166,27 @@ 1166 1166 Figure 6-27 Positioning completion signal output with increased window filter time diagram 1167 1167 1168 1168 1169 -| =(% scope="row" %)**Function code**|=**Name**|=(((1173 +|**Function code**|**Name**|((( 1170 1170 **Setting method** 1171 -)))| =(((1175 +)))|((( 1172 1172 **Effective time** 1173 -)))| =**Default value**|=**Range**|=**Definition**|=**Unit**1174 -| =P05-12|Positioning completion threshold|(((1177 +)))|**Default value**|**Range**|**Definition**|**Unit** 1178 +|P05-12|Positioning completion threshold|((( 1175 1175 Operation setting 1176 1176 )))|((( 1177 1177 Effective immediately 1178 1178 )))|800|1 to 65535|Positioning completion threshold|Equivalent pulse unit 1179 -| =P05-13|Positioning approach threshold|(((1183 +|P05-13|Positioning approach threshold|((( 1180 1180 Operation setting 1181 1181 )))|((( 1182 1182 Effective immediately 1183 1183 )))|5000|1 to 65535|Positioning approach threshold|Equivalent pulse unit 1184 -| =P05-14|Position detection window time|(((1188 +|P05-14|Position detection window time|((( 1185 1185 Operation setting 1186 1186 )))|((( 1187 1187 Effective immediately 1188 1188 )))|10|0 to 20000|Set positioning completion detection window time|ms 1189 -| =P05-15|Positioning signal hold time|(((1193 +|P05-15|Positioning signal hold time|((( 1190 1190 Operation setting 1191 1191 )))|((( 1192 1192 Effective immediately ... ... @@ -1195,9 +1195,9 @@ 1195 1195 Table 6-24 Function code parameters of positioning completion 1196 1196 1197 1197 1198 -| =(% scope="row" %)**DO function code**|=**Function name**|=**Function**1199 -| =134|P-COIN positioning complete|Output this signal indicates the servo drive position is complete.1200 -| =135|(((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|((( 1201 1201 P-NEAR positioning close 1202 1202 )))|((( 1203 1203 Output this signal indicates that the servo drive position is close.