Changes for page 06 Operation

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

From 48.2 to 48.1 From 48.9 to 48.8

From version 48.8

edited by Joey
on 2022/06/15 14:41

Change comment: (Autosaved)

To version 48.2

edited by Leo Wei
on 2022/06/11 18:00

Change comment: There is no comment for this version

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

Content

@@ -25,7 +25,7 @@
  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.
--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.
++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.
  **(2) Set the servo drive enable (S-ON) to invalid (OFF)**
@@ -35,7 +35,7 @@
  **(1) Panel jog operation**
--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]]__.
++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]]__.
  **(2) Jog operation of servo debugging platform**
@@ -133,7 +133,7 @@
  **(2) Input the instruction and the motor rotates**
--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.
++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.
  **(3) Timing diagram of power on**
@@ -144,7 +144,7 @@
  == **Servo shutdown** ==
--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]]__.
++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
@@ -444,7 +444,7 @@
 ) Brake timing when servo motor is stationary
--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]]__
++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]]__
  |(((
@@ -464,7 +464,7 @@
 ) The brake timing when servo motor rotates
--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]]__.
++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]]__.
  |(((
@@ -563,7 +563,7 @@
  |VD2A and VD2B servo drives|VD2F servo drive
  |(% colspan="2" %)Figure 6-7 Position instruction input setting
--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]]__.
++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]]__.
  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.
@@ -583,7 +583,7 @@
  Figure 6-8 Differential input connection
--✎**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]]__”
++✎**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]]__”
 .Open collector input
@@ -594,7 +594,7 @@
  Figure 6-9 Open collector input connection
--✎**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]]__”
++✎**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]]__”
 ) Position pulse frequency and anti-interference level
@@ -751,7 +751,7 @@
  **(2) The source of position instruction is internal position instruction (P01-06=1)**
--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]]__.
++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]]__.
  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.
@@ -814,7 +814,7 @@
  ~1. Single running
--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
++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
  [[image:image-20220608164226-10.png]]
@@ -823,7 +823,7 @@
 . Cycle running
--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.
++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.
  [[image:image-20220608164327-11.png]]
@@ -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
@@ -849,16 +849,16 @@
  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
--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]]__.
++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]]__.
  [[image:image-20220608164545-12.png]]
@@ -869,7 +869,7 @@
  **A. Run the remaining segments**
--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.
++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.
  [[image:image-20220608164847-13.png]]
@@ -883,7 +883,7 @@
  **B. Run again from the start segment**
--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.
++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.
  [[image:image-20220608165343-15.png]]
@@ -921,11 +921,15 @@
 ) Multi-segment position running curve setting
--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.
++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
@@ -968,8 +968,8 @@
  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.
--|=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
--|=20|ENINPOS: Internal multi-segment position enable signal|(((
++|**DI function code**|**Function name**|**Function**
++|20|ENINPOS: Internal multi-segment position enable signal|(((
  DI port logic invalid: Does not affect the current operation of the servo motor.
  DI port logic valid: Motor runs multi-segment position
@@ -1026,12 +1026,12 @@
  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.
--|=(% scope="row" %)**Function code**|=**Name**|=(((
++|**Function code**|**Name**|(((
  **Setting method**
--)))|=(((
++)))|(((
  **Effective time**
--)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
--|=P00-16|Number of instruction pulses when the motor rotates one circle|(((
++)))|**Default value**|**Range**|**Definition**|**Unit**
++|P00-16|Number of instruction pulses when the motor rotates one circle|(((
  Shutdown setting
  )))|(((
  Effective immediately
@@ -1040,7 +1040,7 @@
  unit
  )))
--|=P00-17|(((
++|P00-17|(((
  Electronic gear 1
  numerator
@@ -1047,7 +1047,7 @@
  )))|Operation setting|(((
  Effective immediately
  )))|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.|-
--|=P00-18|(((
++|P00-18|(((
  Electronic gear 1
  denominator
@@ -1056,7 +1056,7 @@
  )))|(((
  Effective immediately
  )))|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.|-
--|=P00-19|(((
++|P00-19|(((
  Electronic gear 2
  numerator
@@ -1063,7 +1063,7 @@
  )))|Operation setting|(((
  Effective immediately
  )))|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.|-
--|=P00-20|(((
++|P00-20|(((
  Electronic gear 2
  denominator
@@ -1076,8 +1076,8 @@
  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.
--|=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
--|=09|GEAR-SEL electronic gear switch 1|(((
++|**DI function code**|**Function name**|**Function**
++|09|GEAR-SEL electronic gear switch 1|(((
  DI port logic invalid: electronic gear ratio 1
  DI port logic valid: electronic gear ratio 2
@@ -1085,10 +1085,10 @@
  Table 6-21 Switching conditions of electronic gear ratio group
--|=(% 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]]
--|=(% 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]]
--|=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]]
--|=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]]
++|**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]]
++|(% 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]]
++|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]]
++|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]]
  Table 6-22 Application of electronic gear ratio
@@ -1112,12 +1112,12 @@
  Figure 6-25 Position instruction filtering diagram
--|=(% scope="row" %)**Function code**|=**Name**|=(((
++|**Function code**|**Name**|(((
  **Setting method**
--)))|=(((
++)))|(((
  **Effective time**
--)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
--|=P04-01|Pulse instruction filtering method|(((
++)))|**Default value**|**Range**|**Definition**|**Unit**
++|P04-01|Pulse instruction filtering method|(((
  Shutdown setting
  )))|(((
  Effective immediately
@@ -1126,10 +1126,10 @@
 : average filtering
  )))|-
--|=P04-02|Position instruction 1st-order low-pass filtering time constant|Shutdown setting|(((
++|P04-02|Position instruction 1st-order low-pass filtering time constant|Shutdown setting|(((
  Effective immediately
  )))|0|0 to 1000|Position instruction first-order low-pass filtering time constant|ms
--|=P04-03|Position instruction average filtering time constant|Shutdown setting|(((
++|P04-03|Position instruction average filtering time constant|Shutdown setting|(((
  Effective immediately
  )))|0|0 to 128|Position instruction average filtering time constant|ms
@@ -1158,34 +1158,35 @@
  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.
--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]]__.
++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]]__.
++
  [[image:image-20220608170650-25.png]]
  Figure 6-27 Positioning completion signal output with increased window filter time diagram
--|=(% scope="row" %)**Function code**|=**Name**|=(((
++|**Function code**|**Name**|(((
  **Setting method**
--)))|=(((
++)))|(((
  **Effective time**
--)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
--|=P05-12|Positioning completion threshold|(((
++)))|**Default value**|**Range**|**Definition**|**Unit**
++|P05-12|Positioning completion threshold|(((
  Operation setting
  )))|(((
  Effective immediately
  )))|800|1 to 65535|Positioning completion threshold|Equivalent pulse unit
--|=P05-13|Positioning approach threshold|(((
++|P05-13|Positioning approach threshold|(((
  Operation setting
  )))|(((
  Effective immediately
  )))|5000|1 to 65535|Positioning approach threshold|Equivalent pulse unit
--|=P05-14|Position detection window time|(((
++|P05-14|Position detection window time|(((
  Operation setting
  )))|(((
  Effective immediately
  )))|10|0 to 20000|Set positioning completion detection window time|ms
--|=P05-15|Positioning signal hold time|(((
++|P05-15|Positioning signal hold time|(((
  Operation setting
  )))|(((
  Effective immediately
@@ -1194,9 +1194,9 @@
  Table 6-24 Function code parameters of positioning completion
--|=(% scope="row" %)**DO function code**|=**Function name**|=**Function**
--|=134|P-COIN positioning complete|Output this signal indicates the servo drive position is complete.
--|=135|(((
++|**DO function code**|**Function name**|**Function**
++|134|P-COIN positioning complete|Output this signal indicates the servo drive position is complete.
++|135|(((
  P-NEAR positioning close
  )))|(((
  Output this signal indicates that the servo drive position is close.

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