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Changes for page 06 Operation

Last modified by Iris on 2025/07/23 15:49
From version 48.8
edited by Joey
on 2022/06/15 14:41
Change comment: (Autosaved)
To version 51.28
edited by Stone Wu
on 2022/07/07 10:51
Change comment: There is no comment for this version

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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
... ... @@ -860,7 +860,7 @@
860 860  
861 861  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
... ... @@ -871,12 +871,12 @@
871 871  
872 872  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>>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)
... ... @@ -885,12 +885,12 @@
885 885  
886 886  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>>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)
... ... @@ -923,7 +923,6 @@
923 923  
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>>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
... ... @@ -1160,11 +1160,11 @@
1160 1160  
1161 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>>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  
1142 +(% style="text-align:center" %)
1163 1163  [[image:image-20220608170650-25.png]]
1164 1164  
1165 1165  Figure 6-27 Positioning completion signal output with increased window filter time diagram
1166 1166  
1167 -
1168 1168  |=(% scope="row" %)**Function code**|=**Name**|=(((
1169 1169  **Setting method**
1170 1170  )))|=(((
... ... @@ -1193,7 +1193,6 @@
1193 1193  
1194 1194  Table 6-24 Function code parameters of positioning completion
1195 1195  
1196 -
1197 1197  |=(% scope="row" %)**DO function code**|=**Function name**|=**Function**
1198 1198  |=134|P-COIN positioning complete|Output this signal indicates the servo drive position is complete.
1199 1199  |=135|(((
... ... @@ -1206,9 +1206,9 @@
1206 1206  
1207 1207  = **Speed control mode** =
1208 1208  
1209 -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.
1210 1210  
1211 -
1189 +(% style="text-align:center" %)
1212 1212  [[image:6.28.jpg||height="260" width="806"]]
1213 1213  
1214 1214  Figure 6-28 Speed control block diagram
... ... @@ -1227,7 +1227,7 @@
1227 1227  Shutdown setting
1228 1228  )))|(((
1229 1229  Effective immediately
1230 -)))|1|1 to 6|(((
1208 +)))|1|1 to 1|(((
1231 1231  0: internal speed instruction
1232 1232  
1233 1233  1: AI_1 analog input (not supported by VD2F)
... ... @@ -1237,21 +1237,31 @@
1237 1237  
1238 1238  **(1) Speed instruction source is internal speed instruction (P01-01=0)**
1239 1239  
1240 -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
1241 1241  
1220 +(% style="width:1141px" %)
1221 +|(% colspan="1" %)**Function code**|(% colspan="2" %)**Name**|(% colspan="2" %)(((
1222 +**Setting**
1242 1242  
1243 -|**Function code**|**Name**|(((
1244 -**Setting method**
1245 -)))|(((
1246 -**Effective time**
1247 -)))|**Default value**|**Range**|**Definition**|**Unit**
1248 -|(% rowspan="2" %)P01-02|(% rowspan="2" %)(((
1249 -Internal speed Instruction 0
1250 -)))|(% rowspan="2" %)(((
1251 -Operation setting
1252 -)))|(% rowspan="2" %)(((
1253 -Effective immediately
1254 -)))|(% 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" %)(((
1255 1255  Internal speed instruction 0
1256 1256  
1257 1257  When DI input port:
... ... @@ -1263,15 +1263,20 @@
1263 1263  13-INSPD1: 0,
1264 1264  
1265 1265  select this speed instruction to be effective.
1266 -)))|(% rowspan="2" %)rpm
1267 -|-5000 to 5000*
1268 -|(% rowspan="2" %)P01-23|(% rowspan="2" %)(((
1269 -Internal speed Instruction 1
1270 -)))|(% rowspan="2" %)(((
1271 -Operation setting
1272 -)))|(% rowspan="2" %)(((
1273 -Effective immediately
1274 -)))|(% 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" %)(((
1275 1275  Internal speed instruction 1
1276 1276  
1277 1277  When DI input port:
... ... @@ -1283,15 +1283,20 @@
1283 1283  13-INSPD1: 1,
1284 1284  
1285 1285  Select this speed instruction to be effective.
1286 -)))|(% rowspan="2" %)rpm
1287 -|-5000 to 5000*
1288 -|(% rowspan="2" %)P01-24|(% rowspan="2" %)(((
1289 -Internal speed Instruction 2
1290 -)))|(% rowspan="2" %)(((
1291 -Operation setting
1292 -)))|(% rowspan="2" %)(((
1293 -Effective immediately
1294 -)))|(% 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" %)(((
1295 1295  Internal speed instruction 2
1296 1296  
1297 1297  When DI input port:
... ... @@ -1303,15 +1303,20 @@
1303 1303  13-INSPD1: 0,
1304 1304  
1305 1305  Select this speed instruction to be effective.
1306 -)))|(% rowspan="2" %)rpm
1307 -|-5000 to 5000*
1308 -|(% rowspan="2" %)P01-25|(% rowspan="2" %)(((
1309 -Internal speed Instruction 3
1310 -)))|(% rowspan="2" %)(((
1311 -Operation setting
1312 -)))|(% rowspan="2" %)(((
1313 -Effective immediately
1314 -)))|(% 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" %)(((
1315 1315  Internal speed instruction 3
1316 1316  
1317 1317  When DI input port:
... ... @@ -1323,16 +1323,20 @@
1323 1323  13-INSPD1: 1,
1324 1324  
1325 1325  Select this speed instruction to be effective.
1326 -)))|(% rowspan="2" %)rpm
1327 -|-5000 to 5000*
1329 +)))|(% colspan="2" %)rpm
1330 +|P01-26|(% colspan="2" %)(((
1331 +Internal speed
1328 1328  
1329 -|(% rowspan="2" %)P01-26|(% rowspan="2" %)(((
1330 -Internal speed Instruction 4
1331 -)))|(% rowspan="2" %)(((
1332 -Operation setting
1333 -)))|(% rowspan="2" %)(((
1334 -Effective immediately
1335 -)))|(% 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" %)(((
1336 1336  Internal speed instruction 4
1337 1337  
1338 1338  When DI input port:
... ... @@ -1344,15 +1344,20 @@
1344 1344  13-INSPD1: 0,
1345 1345  
1346 1346  Select this speed instruction to be effective.
1347 -)))|(% rowspan="2" %)rpm
1348 -|-5000 to 5000*
1349 -|(% rowspan="2" %)P01-27|(% rowspan="2" %)(((
1350 -Internal speed Instruction 5
1351 -)))|(% rowspan="2" %)(((
1352 -Operation setting
1353 -)))|(% rowspan="2" %)(((
1354 -Effective immediately
1355 -)))|(% 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" %)(((
1356 1356  Internal speed instruction 5
1357 1357  
1358 1358  When DI input port:
... ... @@ -1364,15 +1364,20 @@
1364 1364  13-INSPD1: 1,
1365 1365  
1366 1366  Select this speed instruction to be effective.
1367 -)))|(% rowspan="2" %)rpm
1368 -|-5000 to 5000*
1369 -|(% rowspan="2" %)P01-28|(% rowspan="2" %)(((
1370 -Internal speed Instruction 6
1371 -)))|(% rowspan="2" %)(((
1372 -Operation setting
1373 -)))|(% rowspan="2" %)(((
1374 -Effective immediately
1375 -)))|(% 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" %)(((
1376 1376  Internal speed instruction 6
1377 1377  
1378 1378  When DI input port:
... ... @@ -1384,15 +1384,20 @@
1384 1384  13-INSPD1: 0,
1385 1385  
1386 1386  Select this speed instruction to be effective.
1387 -)))|(% rowspan="2" %)rpm
1388 -|-5000 to 5000*
1389 -|(% rowspan="2" %)P01-29|(% rowspan="2" %)(((
1390 -Internal speed Instruction 7
1391 -)))|(% rowspan="2" %)(((
1392 -Operation setting
1393 -)))|(% rowspan="2" %)(((
1394 -Effective immediately
1395 -)))|(% 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" %)(((
1396 1396  Internal speed instruction 7
1397 1397  
1398 1398  When DI input port:
... ... @@ -1404,14 +1404,10 @@
1404 1404  13-INSPD1: 1,
1405 1405  
1406 1406  Select this speed instruction to be effective.
1407 -)))|(% rowspan="2" %)rpm
1408 -|-5000 to 5000*
1429 +)))|(% colspan="1" %)rpm
1409 1409  
1410 1410  Table 6-27 Internal speed instruction parameters
1411 1411  
1412 -✎**Note: **“*” means the set range of VD2F servo drive.
1413 -
1414 -
1415 1415  |**DI function code**|**function name**|**Function**
1416 1416  |13|INSPD1 internal speed instruction selection 1|Form internal multi-speed running segment number
1417 1417  |14|INSPD2 internal speed instruction selection 2|Form internal multi-speed running segment number
... ... @@ -1431,16 +1431,15 @@
1431 1431  
1432 1432  Table 6-29 Correspondence between INSPD bits and segment numbers
1433 1433  
1434 -
1435 1435  [[image:image-20220608170845-26.png]]
1436 1436  
1437 1437  Figure 6-29 Multi-segment speed running curve
1438 1438  
1439 -**(2) Speed instruction source is internal speed instruction (P01-01=0)**
1456 +**(2) Speed instruction source is internal speed instruction (P01-01=1)**
1440 1440  
1441 1441  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.
1442 1442  
1443 -
1460 +(% style="text-align:center" %)
1444 1444  [[image:image-20220608153341-5.png]]
1445 1445  
1446 1446  Figure 6-30 Analog input circuit
... ... @@ -1447,7 +1447,7 @@
1447 1447  
1448 1448  Taking AI_1 as an example, the method of setting the speed instruction of analog voltage is illustrated as below.
1449 1449  
1450 -
1467 +(% style="text-align:center" %)
1451 1451  [[image:image-20220608170955-27.png]]
1452 1452  
1453 1453  Figure 6-31 Analog voltage speed instruction setting steps
... ... @@ -1454,18 +1454,15 @@
1454 1454  
1455 1455  Explanation of related terms:
1456 1456  
1457 -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.
1458 1458  
1459 -Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
1460 -
1461 -Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1462 -
1463 -
1478 +(% style="text-align:center" %)
1464 1464  [[image:image-20220608171124-28.png]]
1465 1465  
1466 1466  Figure 6-32 AI_1 diagram before and after bias
1467 1467  
1468 -
1469 1469  |**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
1470 1470  |P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1471 1471  |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
... ... @@ -1482,16 +1482,14 @@
1482 1482  
1483 1483  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.
1484 1484  
1485 -
1499 +(% style="text-align:center" %)
1486 1486  [[image:image-20220608171314-29.png]]
1487 1487  
1488 1488  Figure 6-33 of acceleration and deceleration time diagram
1489 1489  
1490 -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]]
1491 1491  
1492 -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]]
1493 -
1494 -
1495 1495  |**Function code**|**Name**|(((
1496 1496  **Setting method**
1497 1497  )))|(((
... ... @@ -1606,7 +1606,7 @@
1606 1606  
1607 1607  Figure 6-35 Rotation detection signal diagram
1608 1608  
1609 -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]]__.
1610 1610  
1611 1611  
1612 1612  |**Function code**|**Name**|(((
... ... @@ -1626,7 +1626,6 @@
1626 1626  
1627 1627  Table 6-34 Rotation detection speed threshold parameters
1628 1628  
1629 -
1630 1630  |**DO function code**|**Function name**|**Function**
1631 1631  |132|(((
1632 1632  T-COIN rotation detection
... ... @@ -1642,14 +1642,12 @@
1642 1642  
1643 1643  If the absolute value of the actual speed of servo motor is less than a certain threshold P05-19, it is considered that servo motor stops rotating (close to a standstill), and the servo drive outputs a zero speed signal (ZSP) at this time. On the contrary, if the absolute value of the actual speed of the servo motor is not less than this value, it is considered that the motor is not at a standstill and the zero-speed signal is invalid.
1644 1644  
1645 -
1646 1646  [[image:image-20220608171904-32.png]]
1647 1647  
1648 1648  Figure 6-36 Zero-speed signal diagram
1649 1649  
1650 -To use the motor zero-speed signal output function, a DO terminal of servo drive should be assigned to function 133 (ZSP, zero-speed signal). The function code parameters and related DO function codes are shown in __[[Table 6-36>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HZero-speedclampfunction]]__ and __[[Table 6-37>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HZero-speedclampfunction]]__.
1660 +To use the motor zero-speed signal output function, a DO terminal of servo drive should be assigned to function 133 (ZSP, zero-speed signal). The function code parameters and related DO function codes are shown in __[[Table 6-36>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__ and __[[Table 6-37>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__.
1651 1651  
1652 -
1653 1653  |**Function code**|**Name**|(((
1654 1654  **Setting method**
1655 1655  )))|(((
... ... @@ -1675,14 +1675,12 @@
1675 1675  
1676 1676  When the absolute value of the deviation between the actual speed of the servo motor after filtering and the speed instruction meets a certain threshold P05-17, it is considered that the actual speed of the motor has reached the set value, and the servo drive outputs a speed coincidence signal (V-COIN) at this time. Conversely, if the absolute value of the deviation between the actual speed of the servo motor and the set speed instruction after filtering exceeds the threshold, the speed consistent signal is invalid.
1677 1677  
1678 -
1679 1679  [[image:image-20220608172053-33.png]]
1680 1680  
1681 1681  Figure 6-37 Speed consistent signal diagram
1682 1682  
1683 -To use the motor speed consistent function, a DO terminal of the servo drive should be assigned to function 136 (V-COIN, consistent speed). The function code parameters and related DO function codes are shown in __[[Table 6-38>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HZero-speedclampfunction]]__ and __[[Table 6-39>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HZero-speedclampfunction]]__.
1691 +To use the motor speed consistent function, a DO terminal of the servo drive should be assigned to function 136 (V-COIN, consistent speed). The function code parameters and related DO function codes are shown in __[[Table 6-38>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__ and __[[Table 6-39>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__.
1684 1684  
1685 -
1686 1686  |**Function code**|**Name**|(((
1687 1687  **Setting method**
1688 1688  )))|(((
... ... @@ -1708,14 +1708,12 @@
1708 1708  
1709 1709  After filtering, the absolute value of the actual speed of the servo motor exceeds a certain threshold [P05-17], and it is considered that the actual speed of the servo motor has reached the expected value. At this time, the servo drive can output a speed close signal (V-NEAR) through the DO terminal. Conversely, if the absolute value of the actual speed of the servo motor after filtering is not greater than this value, the speed approach signal is invalid.
1710 1710  
1711 -
1712 1712  [[image:image-20220608172207-34.png]]
1713 1713  
1714 1714  Figure 6-38 Speed approaching signal diagram
1715 1715  
1716 -To use the motor speed approach function, a DO terminal of the servo drive should be assigned to function 137 (V-NEAR, speed approach). The function code parameters and related DO function codes are shown in __[[Table 6-40>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HZero-speedclampfunction]]__ and __[[Table 6-40>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HZero-speedclampfunction]]__.
1722 +To use the motor speed approach function, a DO terminal of the servo drive should be assigned to function 137 (V-NEAR, speed approach). The function code parameters and related DO function codes are shown in __[[Table 6-40>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__ and __[[Table 6-41>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__.
1717 1717  
1718 -
1719 1719  |**Function code**|**Name**|(((
1720 1720  **Setting method**
1721 1721  )))|(((
... ... @@ -1729,7 +1729,6 @@
1729 1729  
1730 1730  Table 6-40 Speed approaching signal threshold parameters
1731 1731  
1732 -
1733 1733  |**DO function code**|**Function name**|**Function**
1734 1734  |137|(((
1735 1735  V-NEAR speed approach
... ... @@ -1790,7 +1790,7 @@
1790 1790  
1791 1791  The servo drive processes the analog voltage signal output by host computer or other equipment as torque instruction. VD2A and VD2B series servo drives have 2 analog input channels: AI_1 and AI_2. AI_1 is analog torque input, and AI_2 is analog torque limit.
1792 1792  
1793 -
1797 +(% style="text-align:center" %)
1794 1794  [[image:image-20220608153646-7.png||height="213" width="408"]]
1795 1795  
1796 1796  Figure 6-40 Analog input circuit
... ... @@ -1797,7 +1797,7 @@
1797 1797  
1798 1798  Taking AI_1 as an example, the method of setting torque instruction of analog voltage is as below.
1799 1799  
1800 -
1804 +(% style="text-align:center" %)
1801 1801  [[image:image-20220608172502-36.png]]
1802 1802  
1803 1803  Figure 6-41 Analog voltage torque instruction setting steps
... ... @@ -1804,18 +1804,15 @@
1804 1804  
1805 1805  Explanation of related terms:
1806 1806  
1807 -Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
1811 +* Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
1812 +* Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
1813 +* Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1808 1808  
1809 -Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
1810 -
1811 -Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1812 -
1813 -
1815 +(% style="text-align:center" %)
1814 1814  [[image:image-20220608172611-37.png]]
1815 1815  
1816 1816  Figure 6-42 AI_1 diagram before and after bias
1817 1817  
1818 -
1819 1819  |**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
1820 1820  |P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1821 1821  |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
... ... @@ -1830,7 +1830,6 @@
1830 1830  
1831 1831  In torque mode, the servo drive could realize low-pass filtering of torque instruction, making the instruction smoother and reducing the vibration of servo motor. The first-order filtering is shown in __[[Figure 6-43>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_205df0eae349c586.gif?rev=1.1]]__.
1832 1832  
1833 -
1834 1834  |**Function code**|**Name**|(((
1835 1835  **Setting method**
1836 1836  )))|(((
... ... @@ -1846,7 +1846,7 @@
1846 1846  
1847 1847  ✎**Note: **If the filter time constant is set too large, the responsiveness will be reduced. Please set it while confirming the responsiveness.
1848 1848  
1849 -
1849 +(% style="text-align:center" %)
1850 1850  [[image:image-20220608172646-38.png]]
1851 1851  
1852 1852  Figure 6-43 Torque instruction-first-order filtering diagram
... ... @@ -1857,7 +1857,7 @@
1857 1857  
1858 1858  At any time, there is only one valid torque limit value. And the positive and negative torque limit values do not exceed the maximum torque of drive and motor and ±300.0% of the rated torque.
1859 1859  
1860 -
1860 +(% style="text-align:center" %)
1861 1861  [[image:image-20220608172806-39.png]]
1862 1862  
1863 1863  Figure 6-44 Torque instruction limit diagram
... ... @@ -1866,7 +1866,6 @@
1866 1866  
1867 1867  You need to set the torque limit source by function code P01-14. After the setting, the drive torque instruction will be limited within the torque limit value. When the torque limit value is reached, the motor will operate with the torque limit value as the torque instruction. The torque limit value should be set according to the load operation requirements. If the setting is too small, the motor's acceleration and deceleration capacity may be weakened. During constant torque operation, the actual motor speed cannot reach the required value.
1868 1868  
1869 -
1870 1870  |**Function code**|**Name**|(((
1871 1871  **Setting method**
1872 1872  )))|(((
... ... @@ -1890,7 +1890,6 @@
1890 1890  
1891 1891  Torque limit source is from inside, you need to set torque limit, and the value is set by function code P01-15 and P01-16.
1892 1892  
1893 -
1894 1894  |**Function code**|**Name**|(((
1895 1895  **Setting method**
1896 1896  )))|(((
... ... @@ -1921,7 +1921,6 @@
1921 1921  
1922 1922  When torque instruction reaches the torque limit value, the drive outputs a torque limit signal (T-LIMIT) for the host computer use. At this time, one DO terminal of the drive should be assigned to function 139 (T-LIMIT, in torque limit) , and confirm that the terminal logic is valid.
1923 1923  
1924 -
1925 1925  |**DO function code**|**Function name**|**Function**
1926 1926  |139|(((
1927 1927  T-LIMIT in torque limit
... ... @@ -1933,7 +1933,7 @@
1933 1933  
1934 1934  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.
1935 1935  
1936 -In torque mode, the actual motor speed would be in the limited speed. After the speed limit is reached, the motor runs at a constant speed at the speed limit. The running curves are shown as __[[Figure 6-45>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_e1eced3568bc22d7.gif?rev=1.1]]__ and __[[Figure 6-46>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_79d479af8534745f.gif?rev=1.1]]__.
1933 +In torque mode, the actual motor speed would be in the limited speed. After the speed limit is reached, the motor runs at a constant speed at the speed limit. The running curves are shown as __[[Figure 6-45>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeedlimitintorquemode]]__ and __[[Figure 6-46>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeedlimitintorquemode]]__.
1937 1937  
1938 1938  |(((
1939 1939  [[image:image-20220608172910-40.png]]
... ... @@ -1976,7 +1976,7 @@
1976 1976  
1977 1977  Table 6-48 Speed limit parameters in torque mode
1978 1978  
1979 -✎**Note:** Function codes P01-17 and P01-18 are only effective in limiting motor speed under the torque mode. The speed limit value is set according to load requirements. To set speed limit in speed mode or position mode, please refer to __[[6.3.3 Speed instruction limit>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HSpeedinstructionlimit]]__.
1976 +✎**Note:** Function codes P01-17 and P01-18 are only effective in limiting motor speed under the torque mode. The speed limit value is set according to load requirements. To set speed limit in speed mode or position mode, please refer to __[[6.3.3 Speed instruction limit>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeedinstructionlimit]]__.
1980 1980  
1981 1981  == **Torque-related DO output functions** ==
1982 1982  
... ... @@ -1986,14 +1986,13 @@
1986 1986  
1987 1987  The torque arrival function is used to determine whether the actual torque instruction reaches the set interval. When the actual torque instruction reaches the torque instruction threshold, the servo drive outputs a torque arrival signal (T-COIN) for the host computer use.
1988 1988  
1989 -
1986 +(% style="text-align:center" %)
1990 1990  [[image:image-20220608173541-42.png]]
1991 1991  
1992 1992  Figure 6-47 Torque arrival output diagram
1993 1993  
1994 -To use the torque arrival function, a DO terminal of the servo drive should be assigned to function 138 (T-COIN, torque arrival). The function code parameters and related DO function codes are shown in __[[Table 6-49>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HTorque-relatedDOoutputfunctions]]__ and __[[Table 6-50>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HTorque-relatedDOoutputfunctions]]__.
1991 +To use the torque arrival function, a DO terminal of the servo drive should be assigned to function 138 (T-COIN, torque arrival). The function code parameters and related DO function codes are shown in __[[Table 6-49>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HTorque-relatedDOoutputfunctions]]__ and __[[Table 6-50>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HTorque-relatedDOoutputfunctions]]__.
1995 1995  
1996 -
1997 1997  |**Function code**|**Name**|(((
1998 1998  **Setting method**
1999 1999  )))|(((
... ... @@ -2038,15 +2038,14 @@
2038 2038  
2039 2039  Mixed control mode means that when the servo enable is ON and the status of the servo drive is "run", the mode of the servo drive could be switched between different modes. The VD2 series servo drives have the following 3 mixed control modes:
2040 2040  
2041 -Position mode Speed mode
2037 +Position mode⇔ Speed mode
2042 2042  
2043 -Position mode Torque mode
2039 +Position mode ⇔Torque mode
2044 2044  
2045 -Speed mode Torque mode
2041 +Speed mode ⇔Torque mode
2046 2046  
2047 2047  Set the function code P00-01 through the software of Wecon “SCTool” or servo drive panel, and the servo drive will run in mixed mode.
2048 2048  
2049 -
2050 2050  |**Function code**|**Name**|(((
2051 2051  **Setting method**
2052 2052  )))|(((
... ... @@ -2072,9 +2072,8 @@
2072 2072  
2073 2073  Table 6-51 Mixed control mode parameters
2074 2074  
2075 -Please set the servo drive parameters in different control modes according to the mechanical structure and indicators. The setting method refer to [[__“Parameters”__>>url:http://docs.we-con.com.cn/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/#_Chapter%209%20Parameters]]. When function code P00-01=4/5/6 (that is, in mixed mode), a DI terminal of the servo drive needs to be assigned to function 17 (MixModeSel, mixed mode selection), and the DI terminal logic is determined to be valid.
2070 +Please set the servo drive parameters in different control modes according to the mechanical structure and indicators. The setting method refer to [[__“Parameters”__>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/09%20Parameters/]]. When function code P00-01=4/5/6 (that is, in mixed mode), a DI terminal of the servo drive needs to be assigned to function 17 (MixModeSel, mixed mode selection), and the DI terminal logic is determined to be valid.
2076 2076  
2077 -
2078 2078  |**DI function code**|**Name**|**Function name**|**Function**
2079 2079  |17|MixModeSel|Mixed mode selection|Used in mixed control mode, when the servo status is "run", set the current control mode of the servo drive(((
2080 2080  |**P00-01**|**MixModeSel terminal logic**|**Control mode**
... ... @@ -2110,7 +2110,7 @@
2110 2110  
2111 2111  The relationship between encoder feedback position and rotating load position is shown in the figure below. (take a 17-bit encoder as an example).
2112 2112  
2113 -
2107 +(% style="text-align:center" %)
2114 2114  [[image:image-20220608173618-43.png]]
2115 2115  
2116 2116  Figure 6-48 Diagram of relationship between encoder feedback position and rotating load position
... ... @@ -2119,7 +2119,6 @@
2119 2119  
2120 2120  The encoder adapted to the multi-turn absolute value system is equipped with 16-bit RAM memory. Compared with the single-turn absolute value, it can additionally memorize the number of turns of the 16-bit encoder. The multi-turn absolute encoder is equipped with a battery (the battery is installed on the encoder cable with a battery unit), which can achieve direct internal high-speed readings and external output without the need for external sensors to assist memory positions. The types and information of encoders adapted to VD2 series servo drives are shown as below.
2121 2121  
2122 -
2123 2123  |**Encoder type**|**Encoder resolution (bits)**|**Data range**
2124 2124  |C1 (multi-turn magnetic encoder)|17|0 to 131071
2125 2125  |D2 (multi-turn Optical encoder)|23|0 to 8388607
... ... @@ -2128,7 +2128,7 @@
2128 2128  
2129 2129  The relationship between encoder feedback position and rotating load multi-turn is shown in the figure below (take a 23-bit encoder as an example).
2130 2130  
2131 -
2124 +(% style="text-align:center" %)
2132 2132  [[image:image-20220608173701-44.png]]
2133 2133  
2134 2134  Figure 6-49 The relationship between encoder feedback position and rotating load position
... ... @@ -2137,7 +2137,6 @@
2137 2137  
2138 2138  The feedback data of the absolute value encoder can be divided into the position within 1 turn of the absolute value encoder and the number of rotations of the absolute value encoder. The related information of the two feedback data is shown in the table below.
2139 2139  
2140 -
2141 2141  |**Monitoring number**|**Category**|**Name**|**Unit**|**Data type**
2142 2142  |U0-54|Universal|Absolute encoder position within 1 turn|Encoder unit|32-bit
2143 2143  |U0-55|Universal|Rotations number of absolute encoder|circle|16-bit
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