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Changes for page 06 Operation

Last modified by Iris on 2025/07/23 15:49
From version 48.7
edited by Joey
on 2022/06/15 14:36
Change comment: (Autosaved)
To version 51.25
edited by Stone Wu
on 2022/07/07 10:43
Change comment: (Autosaved)

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Parent
... ... @@ -1,1 +1,1 @@
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.Joey
1 +XWiki.Stone
Content
... ... @@ -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  )))|(((
... ... @@ -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
... ... @@ -558,8 +558,7 @@
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  
... ... @@ -578,9 +578,9 @@
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  
586 586  ✎**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>>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]]__”
... ... @@ -589,9 +589,9 @@
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  
597 597  ✎**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>>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]]__”
... ... @@ -600,7 +600,7 @@
600 600  
601 601  When low-speed pulses input pins, you need to set a certain pin filter time to filter the input pulse instructions to prevent external interference from entering the servo drive and affecting motor control. After the filter function is enabled, the input and output waveforms of the signal are shown in Figure 6-10.
602 602  
603 -
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
... ... @@ -755,7 +755,7 @@
755 755  
756 756  The servo drive completely runs the multi-segment position instruction set by P07-01 once, and the total number of positions is called completing one round of operation.
757 757  
758 -
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  )))|=(((
... ... @@ -817,6 +817,7 @@
817 817  In this running mode, the segment number is automatically incremented and switched, and the servo drive only operates for one round (the servo drive runs completely once for the total number of multi-segment position instructions set by P07-02 and P07-03). The single running curve is shown in __[[Figure 6-12>>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)
... ... @@ -826,6 +826,7 @@
826 826  In this running mode, the position number is automatically incremented and switched, and the servo drive repeatedly runs the total number of multi-segment position instructions set by P07-02 and P07-03. The waiting time could be set between each segment. The cycle running curve is shown in __[[Figure 6-13>>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)
... ... @@ -921,9 +921,8 @@
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 -
927 927  |=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit**
928 928  |=P07-09|(((
929 929  1st segment
... ... @@ -958,7 +958,7 @@
958 958  
959 959  After setting the above parameters, the actual operation curve of the motor is shown in Figure 6-23.
960 960  
961 -
959 +(% style="text-align:center" %)
962 962  [[image:image-20220608170149-21.png]]
963 963  
964 964  Figure 6-23 The 1st segment running curve of motor
... ... @@ -967,7 +967,6 @@
967 967  
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 -
971 971  |=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
972 972  |=20|ENINPOS: Internal multi-segment position enable signal|(((
973 973  DI port logic invalid: Does not affect the current operation of the servo motor.
... ... @@ -989,37 +989,20 @@
989 989  
990 990  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)
991 991  
989 +(% style="text-align:center" %)
990 +[[image:image-20220707094901-16.png]]
992 992  
993 -[[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]]
994 994  
995 995  
996 -[[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]]
997 997  
998 -
999 -[[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]]
1000 -
1001 1001  Otherwise, the servo drive will report Er.35: "Electronic gear ratio setting exceeds the limit"!
1002 1002  
1003 1003  **(2) Setting steps of electronic gear ratio**
1004 1004  
999 +[[image:image-20220707100850-20.jpeg]]
1005 1005  
1006 -[[image:image-20220608170320-22.png]]
1007 -
1008 1008  Figure 6-24 Setting steps of electronic gear ratio
1009 1009  
1010 -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.
1011 -
1012 -Step2: Confirm the resolution of servo motor encoder.
1013 -
1014 -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.
1015 -
1016 -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.
1017 -
1018 -Step5: Calculate the value of electronic gear ratio according to formula below.
1019 -
1020 -
1021 -[[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]]
1022 -
1023 1023  **(3) lectronic gear ratio switch setting**
1024 1024  
1025 1025  
... ... @@ -1085,14 +1085,14 @@
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]]
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]]
1092 1092  
1093 1093  Table 6-22 Application of electronic gear ratio
1094 1094  
1095 -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.
1096 1096  
1097 1097  == **Position instruction filtering** ==
1098 1098  
... ... @@ -1106,12 +1106,11 @@
1106 1106  
1107 1107  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.
1108 1108  
1109 -
1089 +(% style="text-align:center" %)
1110 1110  [[image:image-20220608170455-23.png]]
1111 1111  
1112 1112  Figure 6-25 Position instruction filtering diagram
1113 1113  
1114 -
1115 1115  |=(% scope="row" %)**Function code**|=**Name**|=(((
1116 1116  **Setting method**
1117 1117  )))|=(((
... ... @@ -1151,7 +1151,7 @@
1151 1151  (% class="wikigeneratedid" %)
1152 1152  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.
1153 1153  
1154 -
1133 +(% style="text-align:center" %)
1155 1155  [[image:image-20220608170550-24.png]]
1156 1156  
1157 1157  Figure 6-26 Positioning completion signal output diagram
... ... @@ -1158,14 +1158,13 @@
1158 1158  
1159 1159  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.
1160 1160  
1161 -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]]__.
1162 1162  
1163 -
1142 +(% style="text-align:center" %)
1164 1164  [[image:image-20220608170650-25.png]]
1165 1165  
1166 1166  Figure 6-27 Positioning completion signal output with increased window filter time diagram
1167 1167  
1168 -
1169 1169  |=(% scope="row" %)**Function code**|=**Name**|=(((
1170 1170  **Setting method**
1171 1171  )))|=(((
... ... @@ -1194,7 +1194,6 @@
1194 1194  
1195 1195  Table 6-24 Function code parameters of positioning completion
1196 1196  
1197 -
1198 1198  |=(% scope="row" %)**DO function code**|=**Function name**|=**Function**
1199 1199  |=134|P-COIN positioning complete|Output this signal indicates the servo drive position is complete.
1200 1200  |=135|(((
... ... @@ -1207,9 +1207,9 @@
1207 1207  
1208 1208  = **Speed control mode** =
1209 1209  
1210 -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.
1211 1211  
1212 -
1189 +(% style="text-align:center" %)
1213 1213  [[image:6.28.jpg||height="260" width="806"]]
1214 1214  
1215 1215  Figure 6-28 Speed control block diagram
... ... @@ -1228,7 +1228,7 @@
1228 1228  Shutdown setting
1229 1229  )))|(((
1230 1230  Effective immediately
1231 -)))|1|1 to 6|(((
1208 +)))|1|1 to 1|(((
1232 1232  0: internal speed instruction
1233 1233  
1234 1234  1: AI_1 analog input (not supported by VD2F)
... ... @@ -1238,21 +1238,31 @@
1238 1238  
1239 1239  **(1) Speed instruction source is internal speed instruction (P01-01=0)**
1240 1240  
1241 -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
1242 1242  
1220 +(% style="width:1141px" %)
1221 +|(% colspan="1" %)**Function code**|(% colspan="2" %)**Name**|(% colspan="2" %)(((
1222 +**Setting**
1243 1243  
1244 -|**Function code**|**Name**|(((
1245 -**Setting method**
1246 -)))|(((
1247 -**Effective time**
1248 -)))|**Default value**|**Range**|**Definition**|**Unit**
1249 -|(% rowspan="2" %)P01-02|(% rowspan="2" %)(((
1250 -Internal speed Instruction 0
1251 -)))|(% rowspan="2" %)(((
1252 -Operation setting
1253 -)))|(% rowspan="2" %)(((
1254 -Effective immediately
1255 -)))|(% 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" %)(((
1256 1256  Internal speed instruction 0
1257 1257  
1258 1258  When DI input port:
... ... @@ -1264,15 +1264,20 @@
1264 1264  13-INSPD1: 0,
1265 1265  
1266 1266  select this speed instruction to be effective.
1267 -)))|(% rowspan="2" %)rpm
1268 -|-5000 to 5000*
1269 -|(% rowspan="2" %)P01-23|(% rowspan="2" %)(((
1270 -Internal speed Instruction 1
1271 -)))|(% rowspan="2" %)(((
1272 -Operation setting
1273 -)))|(% rowspan="2" %)(((
1274 -Effective immediately
1275 -)))|(% 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" %)(((
1276 1276  Internal speed instruction 1
1277 1277  
1278 1278  When DI input port:
... ... @@ -1284,15 +1284,20 @@
1284 1284  13-INSPD1: 1,
1285 1285  
1286 1286  Select this speed instruction to be effective.
1287 -)))|(% rowspan="2" %)rpm
1288 -|-5000 to 5000*
1289 -|(% rowspan="2" %)P01-24|(% rowspan="2" %)(((
1290 -Internal speed Instruction 2
1291 -)))|(% rowspan="2" %)(((
1292 -Operation setting
1293 -)))|(% rowspan="2" %)(((
1294 -Effective immediately
1295 -)))|(% 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" %)(((
1296 1296  Internal speed instruction 2
1297 1297  
1298 1298  When DI input port:
... ... @@ -1304,15 +1304,20 @@
1304 1304  13-INSPD1: 0,
1305 1305  
1306 1306  Select this speed instruction to be effective.
1307 -)))|(% rowspan="2" %)rpm
1308 -|-5000 to 5000*
1309 -|(% rowspan="2" %)P01-25|(% rowspan="2" %)(((
1310 -Internal speed Instruction 3
1311 -)))|(% rowspan="2" %)(((
1312 -Operation setting
1313 -)))|(% rowspan="2" %)(((
1314 -Effective immediately
1315 -)))|(% 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" %)(((
1316 1316  Internal speed instruction 3
1317 1317  
1318 1318  When DI input port:
... ... @@ -1324,16 +1324,20 @@
1324 1324  13-INSPD1: 1,
1325 1325  
1326 1326  Select this speed instruction to be effective.
1327 -)))|(% rowspan="2" %)rpm
1328 -|-5000 to 5000*
1329 +)))|(% colspan="2" %)rpm
1330 +|P01-26|(% colspan="2" %)(((
1331 +Internal speed
1329 1329  
1330 -|(% rowspan="2" %)P01-26|(% rowspan="2" %)(((
1331 -Internal speed Instruction 4
1332 -)))|(% rowspan="2" %)(((
1333 -Operation setting
1334 -)))|(% rowspan="2" %)(((
1335 -Effective immediately
1336 -)))|(% 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" %)(((
1337 1337  Internal speed instruction 4
1338 1338  
1339 1339  When DI input port:
... ... @@ -1345,15 +1345,20 @@
1345 1345  13-INSPD1: 0,
1346 1346  
1347 1347  Select this speed instruction to be effective.
1348 -)))|(% rowspan="2" %)rpm
1349 -|-5000 to 5000*
1350 -|(% rowspan="2" %)P01-27|(% rowspan="2" %)(((
1351 -Internal speed Instruction 5
1352 -)))|(% rowspan="2" %)(((
1353 -Operation setting
1354 -)))|(% rowspan="2" %)(((
1355 -Effective immediately
1356 -)))|(% 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" %)(((
1357 1357  Internal speed instruction 5
1358 1358  
1359 1359  When DI input port:
... ... @@ -1365,15 +1365,20 @@
1365 1365  13-INSPD1: 1,
1366 1366  
1367 1367  Select this speed instruction to be effective.
1368 -)))|(% rowspan="2" %)rpm
1369 -|-5000 to 5000*
1370 -|(% rowspan="2" %)P01-28|(% rowspan="2" %)(((
1371 -Internal speed Instruction 6
1372 -)))|(% rowspan="2" %)(((
1373 -Operation setting
1374 -)))|(% rowspan="2" %)(((
1375 -Effective immediately
1376 -)))|(% 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" %)(((
1377 1377  Internal speed instruction 6
1378 1378  
1379 1379  When DI input port:
... ... @@ -1385,15 +1385,20 @@
1385 1385  13-INSPD1: 0,
1386 1386  
1387 1387  Select this speed instruction to be effective.
1388 -)))|(% rowspan="2" %)rpm
1389 -|-5000 to 5000*
1390 -|(% rowspan="2" %)P01-29|(% rowspan="2" %)(((
1391 -Internal speed Instruction 7
1392 -)))|(% rowspan="2" %)(((
1393 -Operation setting
1394 -)))|(% rowspan="2" %)(((
1395 -Effective immediately
1396 -)))|(% 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" %)(((
1397 1397  Internal speed instruction 7
1398 1398  
1399 1399  When DI input port:
... ... @@ -1405,14 +1405,10 @@
1405 1405  13-INSPD1: 1,
1406 1406  
1407 1407  Select this speed instruction to be effective.
1408 -)))|(% rowspan="2" %)rpm
1409 -|-5000 to 5000*
1429 +)))|(% colspan="1" %)rpm
1410 1410  
1411 1411  Table 6-27 Internal speed instruction parameters
1412 1412  
1413 -✎**Note: **“*” means the set range of VD2F servo drive.
1414 -
1415 -
1416 1416  |**DI function code**|**function name**|**Function**
1417 1417  |13|INSPD1 internal speed instruction selection 1|Form internal multi-speed running segment number
1418 1418  |14|INSPD2 internal speed instruction selection 2|Form internal multi-speed running segment number
... ... @@ -1432,16 +1432,15 @@
1432 1432  
1433 1433  Table 6-29 Correspondence between INSPD bits and segment numbers
1434 1434  
1435 -
1436 1436  [[image:image-20220608170845-26.png]]
1437 1437  
1438 1438  Figure 6-29 Multi-segment speed running curve
1439 1439  
1440 -**(2) Speed instruction source is internal speed instruction (P01-01=0)**
1456 +**(2) Speed instruction source is internal speed instruction (P01-01=1)**
1441 1441  
1442 1442  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.
1443 1443  
1444 -
1460 +(% style="text-align:center" %)
1445 1445  [[image:image-20220608153341-5.png]]
1446 1446  
1447 1447  Figure 6-30 Analog input circuit
... ... @@ -1448,7 +1448,7 @@
1448 1448  
1449 1449  Taking AI_1 as an example, the method of setting the speed instruction of analog voltage is illustrated as below.
1450 1450  
1451 -
1467 +(% style="text-align:center" %)
1452 1452  [[image:image-20220608170955-27.png]]
1453 1453  
1454 1454  Figure 6-31 Analog voltage speed instruction setting steps
... ... @@ -1455,18 +1455,15 @@
1455 1455  
1456 1456  Explanation of related terms:
1457 1457  
1458 -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.
1459 1459  
1460 -Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
1461 -
1462 -Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1463 -
1464 -
1478 +(% style="text-align:center" %)
1465 1465  [[image:image-20220608171124-28.png]]
1466 1466  
1467 1467  Figure 6-32 AI_1 diagram before and after bias
1468 1468  
1469 -
1470 1470  |**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
1471 1471  |P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1472 1472  |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
... ... @@ -1483,16 +1483,14 @@
1483 1483  
1484 1484  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.
1485 1485  
1486 -
1499 +(% style="text-align:center" %)
1487 1487  [[image:image-20220608171314-29.png]]
1488 1488  
1489 1489  Figure 6-33 of acceleration and deceleration time diagram
1490 1490  
1491 -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]]
1492 1492  
1493 -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]]
1494 -
1495 -
1496 1496  |**Function code**|**Name**|(((
1497 1497  **Setting method**
1498 1498  )))|(((
... ... @@ -1607,7 +1607,7 @@
1607 1607  
1608 1608  Figure 6-35 Rotation detection signal diagram
1609 1609  
1610 -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]]__.
1611 1611  
1612 1612  
1613 1613  |**Function code**|**Name**|(((
... ... @@ -1648,7 +1648,7 @@
1648 1648  
1649 1649  Figure 6-36 Zero-speed signal diagram
1650 1650  
1651 -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]]__.
1662 +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]]__.
1652 1652  
1653 1653  
1654 1654  |**Function code**|**Name**|(((
... ... @@ -1681,7 +1681,7 @@
1681 1681  
1682 1682  Figure 6-37 Speed consistent signal diagram
1683 1683  
1684 -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]]__.
1695 +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]]__.
1685 1685  
1686 1686  
1687 1687  |**Function code**|**Name**|(((
... ... @@ -1714,7 +1714,7 @@
1714 1714  
1715 1715  Figure 6-38 Speed approaching signal diagram
1716 1716  
1717 -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]]__.
1728 +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 6-40>>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]]__.
1718 1718  
1719 1719  
1720 1720  |**Function code**|**Name**|(((
... ... @@ -1934,7 +1934,7 @@
1934 1934  
1935 1935  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.
1936 1936  
1937 -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]]__.
1948 +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]]__.
1938 1938  
1939 1939  |(((
1940 1940  [[image:image-20220608172910-40.png]]
... ... @@ -1977,7 +1977,7 @@
1977 1977  
1978 1978  Table 6-48 Speed limit parameters in torque mode
1979 1979  
1980 -✎**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]]__.
1991 +✎**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]]__.
1981 1981  
1982 1982  == **Torque-related DO output functions** ==
1983 1983  
... ... @@ -1992,7 +1992,7 @@
1992 1992  
1993 1993  Figure 6-47 Torque arrival output diagram
1994 1994  
1995 -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]]__.
2006 +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]]__.
1996 1996  
1997 1997  
1998 1998  |**Function code**|**Name**|(((
... ... @@ -2073,7 +2073,7 @@
2073 2073  
2074 2074  Table 6-51 Mixed control mode parameters
2075 2075  
2076 -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.
2087 +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.
2077 2077  
2078 2078  
2079 2079  |**DI function code**|**Name**|**Function name**|**Function**
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