Changes for page 06 Operation

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...	...	@@ -2,20 +2,20 @@
2	2
3	3	== **Check before operation** ==
4	4
5		-|=(% scope="row" %)**No.**|=**Content**
6		-|=(% colspan="2" %)Wiring
7		-|=1|The main circuit input terminals (L1, L2 and L3) of servo drive must be properly connected.
8		-|=2|The main circuit output terminals (U, V and W) of servo drive and the main circuit cables (U, V and W) of servo motor must have the same phase and be properly connected.
9		-|=3|The main circuit power input terminals (L1, L2 and L3) and the main circuit output terminals (U, V and W) of servo drive cannot be short-circuited.
10		-|=4|The wiring of each control signal cable of servo drive is correct: The external signal wires such as brake and overtravel protection have been reliably connected.
11		-|=5|Servo drive and servo motor must be grounded reliably.
12		-|=6|When using an external braking resistor, the short wiring between drive C and D must be removed.
13		-|=7|The force of all cables is within the specified range.
14		-|=8|The wiring terminals have been insulated.
15		-|=(% colspan="2" %)Environment and Machinery
16		-|=1|There is no iron filings, metal, etc. that can cause short circuits inside or outside the servo drive.
17		-|=2|The servo drive and external braking resistor are not placed on combustible objects.
18		-|=3|The installation, shaft and mechanical structure of the servo motor have been firmly connected.
	5	+|**No.**|**Content**
	6	+|(% colspan="2" style="text-align:center; vertical-align:middle" %)Wiring
	7	+|1|The main circuit input terminals (L1, L2 and L3) of servo drive must be properly connected.
	8	+|2|The main circuit output terminals (U, V and W) of servo drive and the main circuit cables (U, V and W) of servo motor must have the same phase and be properly connected.
	9	+|3|The main circuit power input terminals (L1, L2 and L3) and the main circuit output terminals (U, V and W) of servo drive cannot be short-circuited.
	10	+|4|The wiring of each control signal cable of servo drive is correct: The external signal wires such as brake and overtravel protection have been reliably connected.
	11	+|5|Servo drive and servo motor must be grounded reliably.
	12	+|6|When using an external braking resistor, the short wiring between drive C and D must be removed.
	13	+|7|The force of all cables is within the specified range.
	14	+|8|The wiring terminals have been insulated.
	15	+|(% colspan="2" style="text-align:center; vertical-align:middle" %)Environment and Machinery
	16	+|1|There is no iron filings, metal, etc. that can cause short circuits inside or outside the servo drive.
	17	+|2|The servo drive and external braking resistor are not placed on combustible objects.
	18	+|3|The installation, shaft and mechanical structure of the servo motor have been firmly connected.
19	19
20	20	Table 6-1 Check contents before operation
21	21
...	...	@@ -25,7 +25,7 @@
25	25
26	26	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.
27	27
28		-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.
	28	+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.
29	29
30	30	**(2) Set the servo drive enable (S-ON) to invalid (OFF)**
31	31
...	...	@@ -35,7 +35,7 @@
35	35
36	36	**(1) Panel jog operation**
37	37
38		-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]]__.
	38	+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]]__.
39	39
40	40	**(2) Jog operation of servo debugging platform**
41	41
...	...	@@ -42,17 +42,17 @@
42	42	Open the jog operation interface of the software “Wecon SCTool”, set the jog speed value in the "set speed" in the "manual operation", click the "servo on" button on the interface, and then achieve the jog forward and reverse function through the "forward rotation" or "Reverse" button on the interface. After clicking the "Servo off" button, the jog operation mode is exited. The related function codes are shown below.
43	43
44	44
45		-
46		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	45	+(% class="table-bordered" %)
	46	+|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)(((
47	47	**Setting method**
48		-)))|=(((
	48	+)))|(% style="text-align:center; vertical-align:middle" %)(((
49	49	**Effective time**
50		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
51		-|=P10-01|JOG speed|(((
	50	+)))|(% style="text-align:center; vertical-align:middle" %)**Default value**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	51	+|(% style="text-align:center; vertical-align:middle" %)P10-01|(% style="text-align:center; vertical-align:middle" %)JOG speed|(% style="text-align:center; vertical-align:middle" %)(((
52	52	Operation setting
53		-)))|(((
	53	+)))|(% style="text-align:center; vertical-align:middle" %)(((
54	54	Effective immediately
55		-)))|100|0 to 3000|JOG speed|rpm
	55	+)))|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)0 to 3000|(% style="text-align:center; vertical-align:middle" %)JOG speed|(% style="text-align:center; vertical-align:middle" %)rpm
56	56
57	57	Table 6-2 JOG speed parameter
58	58
...	...	@@ -60,25 +60,25 @@
60	60
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		-
64		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	63	+(% class="table-bordered" %)
	64	+|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)(((
65	65	**Setting method**
66		-)))|=(((
	66	+)))|(% style="text-align:center; vertical-align:middle" %)(((
67	67	**Effective time**
68		-)))|=(((
	68	+)))|(% style="text-align:center; vertical-align:middle" %)(((
69	69	**Default value**
70		-)))|=**Range**|=**Definition**|=**Unit**
71		-|=P00-04|Rotation direction|(((
	70	+)))|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	71	+|(% style="text-align:center; vertical-align:middle" %)P00-04|(% style="text-align:center; vertical-align:middle" %)Rotation direction|(% style="text-align:center; vertical-align:middle" %)(((
72	72	Shutdown setting
73		-)))|(((
	73	+)))|(% style="text-align:center; vertical-align:middle" %)(((
74	74	Effective immediately
75		-)))|0|0 to 1|(((
	75	+)))|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
76	76	Forward rotation: Face the motor shaft to watch
77	77
78	78	0: standard setting (CW is forward rotation)
79	79
80	80	1: reverse mode (CCW is forward rotation)
81		-)))|-
	81	+)))|(% style="text-align:center; vertical-align:middle" %)-
82	82
83	83	Table 6-3 Rotation direction parameters** **
84	84
...	...	@@ -91,16 +91,17 @@
91	91	1. the maximum brake energy calculated value > the maximum brake energy absorbed by capacitor, and the brake power calculated value ≤ the built-in braking resistor power, use the built-in braking resistor.
92	92	1. the maximum brake energy calculated value > the maximum brake energy absorbed by capacitor, and the brake power calculated value > the built-in braking resistor power, use external braking resistor.
93	93
94		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	94	+(% class="table-bordered" %)
	95	+|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)(((
95	95	**Setting method**
96		-)))|=(((
	97	+)))|(% style="text-align:center; vertical-align:middle" %)(((
97	97	**Effective time**
98		-)))|=**Default**|=**Range**|=**Definition**|=**Unit**
99		-|=P00-09|Braking resistor setting|(((
	99	+)))|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	100	+|(% style="text-align:center; vertical-align:middle" %)P00-09|(% style="text-align:center; vertical-align:middle" %)Braking resistor setting|(% style="text-align:center; vertical-align:middle" %)(((
100	100	Operation setting
101		-)))|(((
	102	+)))|(% style="text-align:center; vertical-align:middle" %)(((
102	102	Effective immediately
103		-)))|0|0 to 3|(((
	104	+)))|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 3|(((
104	104	0: use built-in braking resistor
105	105
106	106	1: use external braking resistor and natural cooling
...	...	@@ -108,18 +108,18 @@
108	108	2: use external braking resistor and forced air cooling; (cannot be set)
109	109
110	110	3: No braking resistor is used, it is all absorbed by capacitor.
111		-)))|-
112		-|=(% colspan="8" %)✎**Note: **VD2-010SA1G and VD2F-010SA1P drives have no built-in resistor by default, so the default value of the function code “P00-09” is 3 (No braking resistor is used, it is all absorbed by capacitor).
113		-|=P00-10|External braking resistor value|(((
	112	+)))|(% style="text-align:center; vertical-align:middle" %)-
	113	+|(% colspan="8" %)✎**Note: **VD2-010SA1G and VD2F-010SA1P drives have no built-in resistor by default, so the default value of the function code “P00-09” is 3 (No braking resistor is used, it is all absorbed by capacitor).
	114	+|(% style="text-align:center; vertical-align:middle" %)P00-10|(% style="text-align:center; vertical-align:middle" %)External braking resistor value|(% style="text-align:center; vertical-align:middle" %)(((
114	114	Operation setting
115		-)))|(((
	116	+)))|(% style="text-align:center; vertical-align:middle" %)(((
116	116	Effective immediately
117		-)))|50|0 to 65535|It is used to set the external braking resistor value of a certain type of drive.|Ω
118		-|=P00-11|External braking resistor power|(((
	118	+)))|(% style="text-align:center; vertical-align:middle" %)50|(% style="text-align:center; vertical-align:middle" %)0 to 65535|It is used to set the external braking resistor value of a certain type of drive.|(% style="text-align:center; vertical-align:middle" %)Ω
	119	+|(% style="text-align:center; vertical-align:middle" %)P00-11|(% style="text-align:center; vertical-align:middle" %)External braking resistor power|(% style="text-align:center; vertical-align:middle" %)(((
119	119	Operation setting
120		-)))|(((
	121	+)))|(% style="text-align:center; vertical-align:middle" %)(((
121	121	Effective immediately
122		-)))|100|0 to 65535|It is used to set the external braking resistor power of a certain type of drive.|W
	123	+)))|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)0 to 65535|It is used to set the external braking resistor power of a certain type of drive.|(% style="text-align:center; vertical-align:middle" %)W
123	123
124	124	Table 6-4 Braking resistor parameters
125	125
...	...	@@ -133,11 +133,11 @@
133	133
134	134	**(2) Input the instruction and the motor rotates**
135	135
136		-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.
	137	+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.
137	137
138	138	**(3) Timing diagram of power on**
139	139
140		-
	141	+(% style="text-align:center" %)
141	141	[[image:image-20220608163014-1.png]]
142	142
143	143	Figure 6-1 Timing diagram of power on
...	...	@@ -144,19 +144,19 @@
144	144
145	145	== **Servo shutdown** ==
146	146
147		-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]]__.
	148	+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]]__.
148	148
	150	+(% class="table-bordered" %)
	151	+|Shutdown mode|Shutdown description|Shutdown characteristics
	152	+|Free shutdown|Servo motor is not energized and decelerates freely to 0. The deceleration time is affected by factors such as mechanical inertia and mechanical friction.|Smooth deceleration, small mechanical shock, but slow deceleration process.
	153	+|Zero-speed shutdown|The servo drive outputs reverse braking torque, and the motor quickly decelerates to zero-speed.|Rapid deceleration with mechanical shock, but fast deceleration process.
149	149
150		-|=(% scope="row" %)Shutdown mode|=Shutdown description|=Shutdown characteristics
151		-|=Free shutdown|Servo motor is not energized and decelerates freely to 0. The deceleration time is affected by factors such as mechanical inertia and mechanical friction.|Smooth deceleration, small mechanical shock, but slow deceleration process.
152		-|=Zero-speed shutdown|The servo drive outputs reverse braking torque, and the motor quickly decelerates to zero-speed.|Rapid deceleration with mechanical shock, but fast deceleration process.
153		-
154	154	Table 6-5 Comparison of two shutdown modes
155	155
	157	+(% class="table-bordered" %)
	158	+|(% style="text-align:center; vertical-align:middle" %)**Shutdown status**|(% style="text-align:center; vertical-align:middle" %)**Free operation status**|(% style="text-align:center; vertical-align:middle" %)**Position locked**
	159	+|(% style="text-align:center; vertical-align:middle" %)Characteristics|After the motor stops rotating, it is power-off, and the motor shaft can rotate freely.|After the motor stops rotating, the motor shaft is locked and could not rotate freely.
156	156
157		-|=(% scope="row" %)**Shutdown status**|=**Free operation status**|=**Position locked**
158		-|=Characteristics|After the motor stops rotating, it is power-off, and the motor shaft can rotate freely.|After the motor stops rotating, the motor shaft is locked and could not rotate freely.
159		-
160	160	Table 6-6 Comparison of two shutdown status
161	161
162	162	**(1) Servo enable (S-ON) OFF shutdown**
...	...	@@ -163,27 +163,27 @@
163	163
164	164	The related parameters of the servo OFF shutdown mode are shown in the table below.
165	165
166		-
167		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	167	+(% class="table-bordered" %)
	168	+|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)(((
168	168	**Setting method**
169		-)))|=(((
	170	+)))|(% style="text-align:center; vertical-align:middle" %)(((
170	170	**Effective time**
171		-)))|=(((
	172	+)))|(% style="text-align:center; vertical-align:middle" %)(((
172	172	**Default value**
173		-)))|=**Range**|=**Definition**|=**Unit**
174		-|=P00-05|Servo OFF shutdown|(((
	174	+)))|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	175	+|(% style="text-align:center; vertical-align:middle" %)P00-05|(% style="text-align:center; vertical-align:middle" %)Servo OFF shutdown|(% style="text-align:center; vertical-align:middle" %)(((
175	175	Shutdown
176	176
177	177	setting
178		-)))|(((
	179	+)))|(% style="text-align:center; vertical-align:middle" %)(((
179	179	Effective
180	180
181	181	immediately
182		-)))|0|0 to 1|(((
	183	+)))|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
183	183	0: Free shutdown, and the motor shaft remains free status.
184	184
185	185	1: Zero-speed shutdown, and the motor shaft remains free status.
186		-)))|-
	187	+)))|(% style="text-align:center; vertical-align:middle" %)-
187	187
188	188	Table 6-7Table 6-1 Servo OFF shutdown mode parameters details
189	189
...	...	@@ -199,13 +199,13 @@
199	199
200	200	The corresponding configuration and selection could be selected through the DI terminal function of the function code "DIDO configuration". The default function of DI3 is POT and DI4 is NOT, as shown in the table below.
201	201
202		-
203		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	203	+(% class="table-bordered" %)
	204	+|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)(((
204	204	**Setting method**
205		-)))|=(((
	206	+)))|(% style="text-align:center; vertical-align:middle" %)(((
206	206	**Effective time**
207		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
208		-|=P06-08|DI_3 channel function selection|Operation setting|Power-on again|3|0 to 32|(((
	208	+)))|(% style="text-align:center; vertical-align:middle" %)**Default value**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	209	+|(% style="text-align:center; vertical-align:middle" %)P06-08|(% style="text-align:center; vertical-align:middle" %)DI_3 channel function selection|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Power-on again|(% style="text-align:center; vertical-align:middle" %)3|(% style="text-align:center; vertical-align:middle" %)0 to 32|(((
209	209	0: OFF (not used)
210	210
211	211	01: S-ON servo enable
...	...	@@ -253,30 +253,32 @@
253	253	24: Internal multi-segment position selection 4
254	254
255	255	Others: reserved
256		-)))|-
257		-|=P06-09|DI_3 channel logic selection|Operation setting|(((
	257	+)))|(% style="text-align:center; vertical-align:middle" %)-
	258	+|(% style="text-align:center; vertical-align:middle" %)P06-09|(% style="text-align:center; vertical-align:middle" %)DI_3 channel logic selection|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)(((
258	258	Effective immediately
259		-)))|0|0 to 1|(((
	260	+)))|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
260	260	DI port input logic validity function selection.
261	261
262	262	0: Normally open input. Active low level (switch on);
263	263
264	264	1: Normally closed input. Active high level (switch off);
265		-)))|-
266		-|=P06-10|DI_3 input source selection|Operation setting|(((
	266	+)))|(% style="text-align:center; vertical-align:middle" %)-
	267	+|(% style="text-align:center; vertical-align:middle" %)P06-10|(% style="text-align:center; vertical-align:middle" %)DI_3 input source selection|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)(((
267	267	Effective immediately
268		-)))|0|0 to 1|(((
	269	+)))|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
269	269	Select the DI_3 port type to enable
270	270
271	271	0: Hardware DI_3 input terminal
272	272
273	273	1: virtual VDI_3 input terminal
274		-)))|-
275		-|=P06-11|DI_4 channel function selection|(((
	275	+)))|(% style="text-align:center; vertical-align:middle" %)-
	276	+
	277	+(% class="table-bordered" %)
	278	+|(% style="text-align:center; vertical-align:middle; width:140px" %)P06-11|(% style="text-align:center; vertical-align:middle; width:272px" %)DI_4 channel function selection|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
276	276	Operation setting
277		-)))|(((
	280	+)))|(% style="text-align:center; vertical-align:middle; width:195px" %)(((
278	278	again Power-on
279		-)))|4|0 to 32|(((
	282	+)))|(% style="text-align:center; vertical-align:middle; width:128px" %)4|(% style="text-align:center; vertical-align:middle; width:78px" %)0 to 32|(% style="width:454px" %)(((
280	280	0 off (not used)
281	281
282	282	01: SON Servo enable
...	...	@@ -324,25 +324,25 @@
324	324	24: Internal multi-segment position selection 4
325	325
326	326	Others: reserved
327		-)))|-
328		-|=P06-12|DI_4 channel logic selection|Operation setting|(((
	330	+)))|(% style="text-align:center; vertical-align:middle; width:56px" %)-
	331	+|(% style="text-align:center; vertical-align:middle; width:140px" %)P06-12|(% style="text-align:center; vertical-align:middle; width:272px" %)DI_4 channel logic selection|(% style="text-align:center; vertical-align:middle; width:162px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:195px" %)(((
329	329	Effective immediately
330		-)))|0|0 to 1|(((
	333	+)))|(% style="text-align:center; vertical-align:middle; width:128px" %)0|(% style="text-align:center; vertical-align:middle; width:78px" %)0 to 1|(% style="width:454px" %)(((
331	331	DI port input logic validity function selection.
332	332
333	333	0: Normally open input. Active low level (switch on);
334	334
335	335	1: Normally closed input. Active high level (switch off);
336		-)))|-
337		-|=P06-13|DI_4 input source selection|Operation setting|(((
	339	+)))|(% style="text-align:center; vertical-align:middle; width:56px" %)-
	340	+|(% style="text-align:center; vertical-align:middle; width:140px" %)P06-13|(% style="text-align:center; vertical-align:middle; width:272px" %)DI_4 input source selection|(% style="text-align:center; vertical-align:middle; width:162px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:195px" %)(((
338	338	Effective immediately
339		-)))|0|0 to 1|(((
	342	+)))|(% style="text-align:center; vertical-align:middle; width:128px" %)0|(% style="text-align:center; vertical-align:middle; width:78px" %)0 to 1|(% style="width:454px" %)(((
340	340	Select the DI_4 port type to enable
341	341
342	342	0: Hardware DI_4 input terminal
343	343
344	344	1: virtual VDI_4 input terminal
345		-)))|-
	348	+)))|(% style="text-align:center; vertical-align:middle; width:56px" %)-
346	346
347	347	Table 6-8 DI3 and DI4 channel parameters
348	348
...	...	@@ -354,8 +354,9 @@
354	354
355	355	The brake is a mechanism that prevents the servo motor shaft from moving when the servo drive is in a non-operating state, and keeps the motor locked in position, so that the moving part of the machine will not move due to its own weight or external force.
356	356
357		-
	360	+(% class="table-bordered" %)
358	358	|(((
	362	+(% style="text-align:center" %)
359	359	[[image:image-20220611151617-1.png]]
360	360	)))
361	361	|(((
...	...	@@ -374,13 +374,14 @@
374	374
375	375	The brake input signal has no polarity. You need to prepare a 24V power supply. The standard connection of brake signal BK and brake power supply is shown in the figure below. (take VD2B servo drive as example)
376	376
377		-
	381	+(% style="text-align:center" %)
378	378	[[image:image-20220608163136-2.png]]
379	379
380	380	Figure 6-2 VD2B servo drive brake wiring
381	381
382		-
	386	+(% class="table-bordered" %)
383	383	|(((
	388	+(% style="text-align:center" %)
384	384	[[image:image-20220611151642-2.png]]
385	385	)))
386	386	|(((
...	...	@@ -397,42 +397,42 @@
397	397
398	398	Related function code is as below.
399	399
400		-
401		-|=(% scope="row" %)**DO function code**|=**Function name**|=**Function**|=(((
	405	+(% class="table-bordered" %)
	406	+|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**|(% style="text-align:center; vertical-align:middle" %)(((
402	402	**Effective time**
403	403	)))
404		-|=144|(((
	409	+|(% style="text-align:center; vertical-align:middle" %)144|(% style="text-align:center; vertical-align:middle" %)(((
405	405	BRK-OFF Brake output
406		-)))|Output the signal indicates the servo motor brake release|Power-on again
	411	+)))|(% style="text-align:center; vertical-align:middle" %)Output the signal indicates the servo motor brake release|(% style="text-align:center; vertical-align:middle" %)Power-on again
407	407
408	408	Table 6-2 Relevant function codes for brake setting
409	409
410		-
411		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	415	+(% class="table-bordered" %)
	416	+|(% style="text-align:center; vertical-align:middle; width:175px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:175px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:175px" %)(((
412	412	**Setting method**
413		-)))|=(((
	418	+)))|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
414	414	**Effective time**
415		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
416		-|=P1-30|Delay from brake output to instruction reception|(((
	420	+)))|(% style="text-align:center; vertical-align:middle; width:128px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:94px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:519px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	421	+|(% style="text-align:center; vertical-align:middle; width:175px" %)P1-30|(% style="text-align:center; vertical-align:middle; width:175px" %)Delay from brake output to instruction reception|(% style="text-align:center; vertical-align:middle; width:175px" %)(((
417	417	Operation setting
418		-)))|Effective immediately|250|0 to 500|Set delay that from the brake (BRK-OFF) output is ON to servo drive allows to receive input instruction. When brake output (BRK-OFF) is not allocated, the function code has no effect.|ms
419		-|=P1-31|In static state, delay from brake output OFF to the motor is power off|(((
	423	+)))|(% style="text-align:center; vertical-align:middle; width:173px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:128px" %)250|(% style="text-align:center; vertical-align:middle; width:94px" %)0 to 500|(% style="width:519px" %)Set delay that from the brake (BRK-OFF) output is ON to servo drive allows to receive input instruction. When brake output (BRK-OFF) is not allocated, the function code has no effect.|(% style="text-align:center; vertical-align:middle" %)ms
	424	+|(% style="text-align:center; vertical-align:middle; width:175px" %)P1-31|(% style="text-align:center; vertical-align:middle; width:175px" %)In static state, delay from brake output OFF to the motor is power off|(% style="text-align:center; vertical-align:middle; width:175px" %)(((
420	420	Operation setting
421		-)))|Effective immediately|150|1 to 1000|When the motor is in a static state, set the delay time from brake (BRK-OFF) output OFF to servo drive enters the non-channel state. When the brake output (BRK-OFF) is not allocated, this function code has no effect.|ms
422		-|=P1-32|Rotation status, when the brake output OFF, the speed threshold|(((
	426	+)))|(% style="text-align:center; vertical-align:middle; width:173px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:128px" %)150|(% style="text-align:center; vertical-align:middle; width:94px" %)1 to 1000|(% style="width:519px" %)When the motor is in a static state, set the delay time from brake (BRK-OFF) output OFF to servo drive enters the non-channel state. When the brake output (BRK-OFF) is not allocated, this function code has no effect.|(% style="text-align:center; vertical-align:middle" %)ms
	427	+|(% style="text-align:center; vertical-align:middle; width:175px" %)P1-32|(% style="text-align:center; vertical-align:middle; width:175px" %)Rotation status, when the brake output OFF, the speed threshold|(% style="text-align:center; vertical-align:middle; width:175px" %)(((
423	423	Operation setting
424		-)))|Effective immediately|30|0 to 3000|(((
	429	+)))|(% style="text-align:center; vertical-align:middle; width:173px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:128px" %)30|(% style="text-align:center; vertical-align:middle; width:94px" %)0 to 3000|(% style="width:519px" %)(((
425	425	When the motor rotates, the motor speed threshold when the brake (BRK-OFF) is allowed to output OFF.
426	426
427	427	When the brake output (BRK-OFF) is not allocated, this function code has no effect.
428		-)))|rpm
429		-|=P1-33|Rotation status, Delay from servo enable OFF to brake output OFF|(((
	433	+)))|(% style="text-align:center; vertical-align:middle" %)rpm
	434	+|(% style="text-align:center; vertical-align:middle; width:175px" %)P1-33|(% style="text-align:center; vertical-align:middle; width:175px" %)Rotation status, Delay from servo enable OFF to brake output OFF|(% style="text-align:center; vertical-align:middle; width:175px" %)(((
430	430	Operation setting
431		-)))|Effective immediately|500|1 to 1000|(((
	436	+)))|(% style="text-align:center; vertical-align:middle; width:173px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:128px" %)500|(% style="text-align:center; vertical-align:middle; width:94px" %)1 to 1000|(% style="width:519px" %)(((
432	432	When the motor rotates, the delay time from the servo enable (S-ON) OFF to the brake (BRK-OFF) output OFF is allowed.
433	433
434	434	When brake output (BRK-OFF) is not allocated, this function code has no effect.
435		-)))|ms
	440	+)))|(% style="text-align:center; vertical-align:middle" %)ms
436	436
437	437	Table 6-9 Brake setting function codes
438	438
...	...	@@ -444,10 +444,11 @@
444	444
445	445	1) Brake timing when servo motor is stationary
446	446
447		-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]]__
	452	+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]]__
448	448
449		-
	454	+(% class="table-bordered" %)
450	450	|(((
	456	+(% style="text-align:center" %)
451	451	[[image:image-20220611151705-3.png]]
452	452	)))
453	453	|(((
...	...	@@ -456,6 +456,7 @@
456	456	✎When applied to a vertical axis, the external force or the weight of the mechanical moving part may cause the machine to move slightly. When the servo motor is stationary, and the servo enable is OFF, the brake output will be OFF immediately. However, the motor is still energized within the time of P01-31 to prevent mechanical movement from moving due to its own weight or external force.
457	457	)))
458	458
	465	+(% style="text-align:center" %)
459	459	[[image:image-20220608163304-3.png]]
460	460
461	461	Figure 6-3 Brake Timing of when the motor is stationary
...	...	@@ -464,10 +464,11 @@
464	464
465	465	2) The brake timing when servo motor rotates
466	466
467		-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]]__.
	474	+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]]__.
468	468
469		-
	476	+(% class="table-bordered" %)
470	470	|(((
	478	+(% style="text-align:center" %)
471	471	[[image:image-20220611151719-4.png]]
472	472	)))
473	473	|(((
...	...	@@ -482,6 +482,7 @@
482	482	✎After the brake output changes from ON to OFF, the motor is still in communication within 50ms to prevent the mechanical movement from moving due to its own weight or external force.
483	483	)))
484	484
	493	+(% style="text-align:center" %)
485	485	[[image:image-20220608163425-4.png]]
486	486
487	487	Figure 6-4 Brake timing when the motor rotates
...	...	@@ -490,7 +490,7 @@
490	490
491	491	The brake timing (free shutdown) in the fault status is as follows.
492	492
493		-
	502	+(% style="text-align:center" %)
494	494	[[image:image-20220608163541-5.png]]
495	495
496	496	Figure 6-5 The brake timing (free shutdown) in the fault state
...	...	@@ -499,7 +499,7 @@
499	499
500	500	Position control is the most important and commonly used control mode of the servo system. Position control refers to controlling the position of the motor through position instructions, and determining the target position of the motor by the total number of position instructions. The frequency of the position instruction determines the motor rotation speed. The servo drive can achieve fast and accurate control of the position and speed of the machine. Therefore, the position control mode is mainly used for occasions that require positioning control, such as manipulators, mounter, engraving machines, CNC machine tools, etc. The position control block diagram is shown in the figure below.
501	501
502		-
	511	+(% style="text-align:center" %)
503	503	[[image:image-20220608163643-6.png]]
504	504
505	505	Figure 6-6 Position control diagram
...	...	@@ -506,17 +506,17 @@
506	506
507	507	Set “P00-01” to 1 by the software “Wecon SCTool”, and the servo drive is in position control mode.
508	508
509		-
510		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	518	+(% class="table-bordered" %)
	519	+|(% style="text-align:center; vertical-align:middle; width:122px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:126px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:158px" %)(((
511	511	**Setting method**
512		-)))|=(((
	521	+)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
513	513	**Effective time**
514		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
515		-|=P01-01|Control mode|(((
	523	+)))|(% style="text-align:center; vertical-align:middle; width:145px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:134px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:326px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	524	+|(% style="text-align:center; vertical-align:middle; width:122px" %)P01-01|(% style="text-align:center; vertical-align:middle; width:126px" %)Control mode|(% style="text-align:center; vertical-align:middle; width:158px" %)(((
516	516	Operation setting
517		-)))|(((
	526	+)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
518	518	immediately Effective
519		-)))|0|0 to 1|(((
	528	+)))|(% style="text-align:center; vertical-align:middle; width:145px" %)0|(% style="text-align:center; vertical-align:middle; width:134px" %)0 to 1|(% style="width:326px" %)(((
520	520	0: position control
521	521
522	522	2: speed control
...	...	@@ -528,7 +528,7 @@
528	528	5: position/torque mix control
529	529
530	530	6: speed /torque mix control
531		-)))|-
	540	+)))|(% style="text-align:center; vertical-align:middle" %)-
532	532
533	533	Table 6-10 Control mode parameters
534	534
...	...	@@ -536,21 +536,21 @@
536	536
537	537	When the VD2 series servo drive is in position control mode, firstly set the position instruction source through the function code “P01-06”.
538	538
539		-
540		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	548	+(% class="table-bordered" %)
	549	+|(% style="text-align:center; vertical-align:middle; width:131px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:149px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:191px" %)(((
541	541	**Setting method**
542		-)))|=(((
	551	+)))|(% style="text-align:center; vertical-align:middle; width:189px" %)(((
543	543	**Effective time**
544		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
545		-|=P01-06|Position instruction source|(((
	553	+)))|(% style="text-align:center; vertical-align:middle; width:116px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:100px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:284px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	554	+|(% style="text-align:center; vertical-align:middle; width:131px" %)P01-06|(% style="text-align:center; vertical-align:middle; width:149px" %)Position instruction source|(% style="text-align:center; vertical-align:middle; width:191px" %)(((
546	546	Operation setting
547		-)))|(((
	556	+)))|(% style="text-align:center; vertical-align:middle; width:189px" %)(((
548	548	immediately Effective
549		-)))|0|0 to 1|(((
	558	+)))|(% style="text-align:center; vertical-align:middle; width:116px" %)0|(% style="text-align:center; vertical-align:middle; width:100px" %)0 to 1|(% style="width:284px" %)(((
550	550	0: pulse instruction
551	551
552	552	1: internal position instruction
553		-)))|-
	562	+)))|(% style="text-align:center; vertical-align:middle" %)-
554	554
555	555	Table 6-11 Position instruction source parameter
556	556
...	...	@@ -558,20 +558,20 @@
558	558
559	559	1) Low-speed pulse instruction input
560	560
	570	+(% class="table-bordered" %)
	571	+|(% style="text-align:center; vertical-align:middle" %)[[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]]|(% style="text-align:center; vertical-align:middle" %)[[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]]
	572	+|(% style="text-align:center; vertical-align:middle" %)VD2A and VD2B servo drives|(% style="text-align:center; vertical-align:middle" %)VD2F servo drive
	573	+|(% colspan="2" style="text-align:center; vertical-align:middle" %)Figure 6-7 Position instruction input setting
561	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]]
563		-|VD2A and VD2B servo drives|VD2F servo drive
564		-|(% colspan="2" %)Figure 6-7 Position instruction input setting
	575	+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]]__.
565	565
566		-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]]__.
567		-
568	568	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.
569	569
	579	+(% class="table-bordered" %)
	580	+|(% style="text-align:center; vertical-align:middle" %)**Pulse method**|(% style="text-align:center; vertical-align:middle" %)**Maximum frequency**|(% style="text-align:center; vertical-align:middle" %)**Voltage**
	581	+|(% style="text-align:center; vertical-align:middle" %)Open collector input|(% style="text-align:center; vertical-align:middle" %)200K|(% style="text-align:center; vertical-align:middle" %)24V
	582	+|(% style="text-align:center; vertical-align:middle" %)Differential input|(% style="text-align:center; vertical-align:middle" %)500K|(% style="text-align:center; vertical-align:middle" %)5V
570	570
571		-|**Pulse method**|**Maximum frequency**|**Voltage**
572		-|Open collector input|200K|24V
573		-|Differential input|500K|5V
574		-
575	575	Table 6-12 Pulse input specifications
576	576
577	577	1.Differential input
...	...	@@ -578,29 +578,29 @@
578	578
579	579	Take VD2A and VD2B drive as examples, the connection of differential input is shown as below.
580	580
581		-
	590	+(% style="text-align:center" %)
582	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	583
584	584	Figure 6-8 Differential input connection
585	585
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]]__”
	595	+✎**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]]__”
587	587
588	588	2.Open collector input
589	589
590	590	Take VD2A and VD2B drive as examples, the connection of differential input is shown as below.
591	591
592		-
	601	+(% style="text-align:center" %)
593	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	594
595	595	Figure 6-9 Open collector input connection
596	596
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]]__”
	606	+✎**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]]__”
598	598
599	599	2) Position pulse frequency and anti-interference level
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		-
	612	+(% style="text-align:center" %)
604	604	[[image:image-20220608163952-8.png]]
605	605
606	606	Figure 6-10 Example of filtered signal waveform
...	...	@@ -607,22 +607,22 @@
607	607
608	608	The input pulse frequency refers to the frequency of the input signal, which can be modified through the function code “P00-13”. If the actual input frequency is greater than the set value of “P00-13”, it may cause pulse loss or alarm. The position pulse anti-interference level can be adjusted through the function code “P00-14”, the larger the set value, the greater the filtering depth. The details of related function code parameters are as shown below.
609	609
610		-
611		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	619	+(% class="table-bordered" %)
	620	+|(% style="text-align:center; vertical-align:middle; width:120px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:202px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:158px" %)(((
612	612	**Setting method**
613		-)))|=(((
	622	+)))|(% style="text-align:center; vertical-align:middle; width:176px" %)(((
614	614	**Effective time**
615		-)))|=**Default value**|=**Range**|=(% colspan="2" %)**Definition**|=**Unit**
616		-|=P00-13|Maximum position pulse frequency|(((
	624	+)))|(% style="text-align:center; vertical-align:middle; width:121px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:87px" %)**Range**|(% colspan="2" style="text-align:center; vertical-align:middle; width:538px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	625	+|(% style="text-align:center; vertical-align:middle; width:120px" %)P00-13|(% style="text-align:center; vertical-align:middle; width:202px" %)Maximum position pulse frequency|(% style="text-align:center; vertical-align:middle; width:158px" %)(((
617	617	Shutdown setting
618		-)))|(((
	627	+)))|(% style="text-align:center; vertical-align:middle; width:176px" %)(((
619	619	Effective immediately
620		-)))|300|1 to 500|(% colspan="2" %)Set the maximum frequency of external pulse instruction|KHz
621		-|=(% rowspan="3" %)P00-14|(% rowspan="3" %)Position pulse anti-interference level|(% rowspan="3" %)(((
	629	+)))|(% style="text-align:center; vertical-align:middle; width:121px" %)300|(% style="text-align:center; vertical-align:middle; width:87px" %)1 to 500|(% colspan="2" style="width:538px" %)Set the maximum frequency of external pulse instruction|KHz
	630	+|(% rowspan="3" style="text-align:center; vertical-align:middle; width:120px" %)P00-14|(% rowspan="3" style="text-align:center; vertical-align:middle; width:202px" %)Position pulse anti-interference level|(% rowspan="3" style="text-align:center; vertical-align:middle; width:158px" %)(((
622	622	Operation setting
623		-)))|(% rowspan="3" %)(((
	632	+)))|(% rowspan="3" style="text-align:center; vertical-align:middle; width:176px" %)(((
624	624	Power-on again
625		-)))|(% rowspan="3" %)2|(% rowspan="3" %)0 to 9|(% colspan="2" %)(((
	634	+)))|(% rowspan="3" style="text-align:center; vertical-align:middle; width:121px" %)2|(% rowspan="3" style="text-align:center; vertical-align:middle; width:87px" %)0 to 9|(% colspan="2" style="width:538px" %)(((
626	626	Set the anti-interference level of external pulse instruction.
627	627
628	628	0: no filtering;
...	...	@@ -642,9 +642,9 @@
642	642	7: Filtering time 8.192us
643	643
644	644	8: Filtering time 16.384us
645		-)))|(% rowspan="3" %)-
646		-|=(% rowspan="2" %)9|VD2: Filtering time 25.5us
647		-|=VD2F: Filtering time 25.5us
	654	+)))|(% rowspan="3" style="text-align:center; vertical-align:middle" %)-
	655	+|(% rowspan="2" style="width:4px" %)9|VD2: Filtering time 25.5us
	656	+|VD2F: Filtering time 25.5us
648	648
649	649	Table 6-13 Position pulse frequency and anti-interference level parameters
650	650
...	...	@@ -652,17 +652,17 @@
652	652
653	653	In VD2 series servo drives, there are three types of input pulse instructions, and the related function codes are shown in the table below.
654	654
655		-
656		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	664	+(% class="table-bordered" %)
	665	+|(% style="text-align:center; vertical-align:middle; width:132px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:184px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
657	657	**Setting method**
658		-)))|=(((
	667	+)))|(% style="text-align:center; vertical-align:middle; width:135px" %)(((
659	659	**Effective time**
660		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
661		-|=P00-12|Position pulse type selection|(((
	669	+)))|(% style="text-align:center; vertical-align:middle; width:115px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:66px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:373px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	670	+|(% style="text-align:center; vertical-align:middle; width:132px" %)P00-12|(% style="text-align:center; vertical-align:middle; width:184px" %)Position pulse type selection|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
662	662	Operation setting
663		-)))|(((
	672	+)))|(% style="text-align:center; vertical-align:middle; width:135px" %)(((
664	664	Power-on again
665		-)))|0|0 to 5|(((
	674	+)))|(% style="text-align:center; vertical-align:middle; width:115px" %)0|(% style="text-align:center; vertical-align:middle; width:66px" %)0 to 5|(% style="width:373px" %)(((
666	666	0: direction + pulse (positive logic)
667	667
668	668	1: CW/CCW
...	...	@@ -674,74 +674,74 @@
674	674	4: CW/CCW (negative logic)
675	675
676	676	5: A, B phase quadrature pulse (4 times frequency negative logic)
677		-)))|-
	686	+)))|(% style="text-align:center; vertical-align:middle" %)-
678	678
679	679	Table 6-14 Position pulse type selection parameter
680	680
681		-
682		-|=(% scope="row" %)**Pulse type selection**|=**Pulse type**|=**Signal**|=**Schematic diagram of forward pulse**|=**Schematic diagram of negative pulse**
683		-|=0|(((
	690	+(% class="table-bordered" %)
	691	+|(% style="text-align:center; vertical-align:middle; width:185px" %)**Pulse type selection**|(% style="text-align:center; vertical-align:middle; width:177px" %)**Pulse type**|(% style="text-align:center; vertical-align:middle" %)**Signal**|(% style="text-align:center; vertical-align:middle" %)**Schematic diagram of forward pulse**|(% style="text-align:center; vertical-align:middle" %)**Schematic diagram of negative pulse**
	692	+|(% style="text-align:center; vertical-align:middle; width:185px" %)0|(% style="text-align:center; vertical-align:middle; width:177px" %)(((
684	684	Direction + pulse
685	685
686	686	(Positive logic)
687		-)))|(((
	696	+)))|(% style="text-align:center; vertical-align:middle" %)(((
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]]
692		-|=1|CW/CCW|(((
	700	+)))|(% style="text-align:center; vertical-align:middle" %)[[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]]|(% style="text-align:center; vertical-align:middle" %)[[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]]
	701	+|(% style="text-align:center; vertical-align:middle; width:185px" %)1|(% style="text-align:center; vertical-align:middle; width:177px" %)CW/CCW|(% style="text-align:center; vertical-align:middle" %)(((
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]]
697		-|=2|(((
	705	+)))|(% colspan="2" style="text-align:center; vertical-align:middle" %)[[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]]
	706	+|(% style="text-align:center; vertical-align:middle; width:185px" %)2|(% style="text-align:center; vertical-align:middle; width:177px" %)(((
698	698	AB phase orthogonal
699	699
700	700	pulse (4 times frequency)
701		-)))|(((
	710	+)))|(% style="text-align:center; vertical-align:middle" %)(((
702	702	PULSE (Phase A)
703	703
704	704	SIGN (Phase B)
705		-)))|(((
	714	+)))|(% style="text-align:center; vertical-align:middle" %)(((
706	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]]
707	707
708	708	Phase A is 90° ahead of Phase B
709		-)))|(((
	718	+)))|(% style="text-align:center; vertical-align:middle" %)(((
710	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]]
711	711
712	712	Phase B is 90° ahead of Phase A
713	713	)))
714		-|=3|(((
	723	+|(% style="text-align:center; vertical-align:middle; width:185px" %)3|(% style="text-align:center; vertical-align:middle; width:177px" %)(((
715	715	Direction + pulse
716	716
717	717	(Negative logic)
718		-)))|(((
	727	+)))|(% style="text-align:center; vertical-align:middle" %)(((
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]]
723		-|=4|(((
	731	+)))|(% style="text-align:center; vertical-align:middle" %)[[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]]|(% style="text-align:center; vertical-align:middle" %)[[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]]
	732	+|(% style="text-align:center; vertical-align:middle; width:185px" %)4|(% style="text-align:center; vertical-align:middle; width:177px" %)(((
724	724	CW/CCW
725	725
726	726	(Negative logic)
727		-)))|(((
	736	+)))|(% style="text-align:center; vertical-align:middle" %)(((
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]]
732		-|=5|(((
	740	+)))|(% colspan="2" style="text-align:center; vertical-align:middle" %)[[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]]
	741	+|(% style="text-align:center; vertical-align:middle; width:185px" %)5|(% style="text-align:center; vertical-align:middle; width:177px" %)(((
733	733	AB phase orthogonal
734	734
735	735	pulse (4 times frequency negative logic)
736		-)))|(((
	745	+)))|(% style="text-align:center; vertical-align:middle" %)(((
737	737	PULSE (Phase A)
738	738
739	739	SIGN (Phase B)
740		-)))|(((
	749	+)))|(% style="text-align:center; vertical-align:middle" %)(((
741	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]]
742	742
743	743	B phase is ahead of A phase by 90°
744		-)))|(((
	753	+)))|(% style="text-align:center; vertical-align:middle" %)(((
745	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]]
746	746
747	747	A phase is ahead of B phase by 90°
...	...	@@ -751,11 +751,11 @@
751	751
752	752	**(2) The source of position instruction is internal position instruction (P01-06=1)**
753	753
754		-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]]__.
	763	+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]]__.
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		-
	767	+(% 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
...	...	@@ -762,51 +762,51 @@
762	762
763	763	1) Set multi-segment position running mode
764	764
765		-
766		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	774	+(% class="table-bordered" %)
	775	+|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle; width:141px" %)(((
767	767	**Setting method**
768		-)))|=(((
	777	+)))|(% style="text-align:center; vertical-align:middle; width:200px" %)(((
769	769	**Effective time**
770		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
771		-|=P07-01|Multi-segment position running mode|(((
	779	+)))|(% style="text-align:center; vertical-align:middle; width:16px" %)**Default value**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	780	+|(% style="text-align:center; vertical-align:middle" %)P07-01|(% style="text-align:center; vertical-align:middle" %)Multi-segment position running mode|(% style="text-align:center; vertical-align:middle; width:141px" %)(((
772	772	Shutdown setting
773		-)))|(((
	782	+)))|(% style="text-align:center; vertical-align:middle; width:200px" %)(((
774	774	Effective immediately
775		-)))|0|0 to 2|(((
	784	+)))|(% style="text-align:center; vertical-align:middle; width:16px" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 2|(((
776	776	0: Single running
777	777
778	778	1: Cycle running
779	779
780	780	2: DI switching running
781		-)))|-
782		-|=P07-02|Start segment number|(((
	790	+)))|(% style="text-align:center; vertical-align:middle" %)-
	791	+|(% style="text-align:center; vertical-align:middle" %)P07-02|(% style="text-align:center; vertical-align:middle" %)Start segment number|(% style="text-align:center; vertical-align:middle; width:141px" %)(((
783	783	Shutdown setting
784		-)))|(((
	793	+)))|(% style="text-align:center; vertical-align:middle; width:200px" %)(((
785	785	Effective immediately
786		-)))|1|1 to 16|1st segment NO. in non-DI switching mode|-
787		-|=P07-03|End segment number|(((
	795	+)))|(% style="text-align:center; vertical-align:middle; width:16px" %)1|(% style="text-align:center; vertical-align:middle" %)1 to 16|1st segment NO. in non-DI switching mode|(% style="text-align:center; vertical-align:middle" %)-
	796	+|(% style="text-align:center; vertical-align:middle" %)P07-03|(% style="text-align:center; vertical-align:middle" %)End segment number|(% style="text-align:center; vertical-align:middle; width:141px" %)(((
788	788	Shutdown setting
789		-)))|(((
	798	+)))|(% style="text-align:center; vertical-align:middle; width:200px" %)(((
790	790	Effective immediately
791		-)))|1|1 to 16|last segment NO. in non-DI switching mode|-
792		-|=P07-04|Margin processing method|(((
	800	+)))|(% style="text-align:center; vertical-align:middle; width:16px" %)1|(% style="text-align:center; vertical-align:middle" %)1 to 16|last segment NO. in non-DI switching mode|(% style="text-align:center; vertical-align:middle" %)-
	801	+|(% style="text-align:center; vertical-align:middle" %)P07-04|(% style="text-align:center; vertical-align:middle" %)Margin processing method|(% style="text-align:center; vertical-align:middle; width:141px" %)(((
793	793	Shutdown setting
794		-)))|(((
	803	+)))|(% style="text-align:center; vertical-align:middle; width:200px" %)(((
795	795	Effective immediately
796		-)))|0|0 to 1|(((
	805	+)))|(% style="text-align:center; vertical-align:middle; width:16px" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
797	797	0: Run the remaining segments
798	798
799	799	1: Run again from the start segment
800		-)))|-
801		-|=P07-05|Displacement instruction type|(((
	809	+)))|(% style="text-align:center; vertical-align:middle" %)-
	810	+|(% style="text-align:center; vertical-align:middle" %)P07-05|(% style="text-align:center; vertical-align:middle" %)Displacement instruction type|(% style="text-align:center; vertical-align:middle; width:141px" %)(((
802	802	Shutdown setting
803		-)))|(((
	812	+)))|(% style="text-align:center; vertical-align:middle; width:200px" %)(((
804	804	Effective immediately
805		-)))|0|0 to 1|(((
	814	+)))|(% style="text-align:center; vertical-align:middle; width:16px" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
806	806	0: Relative position instruction
807	807
808	808	1: Absolute position instruction
809		-)))|-
	818	+)))|(% style="text-align:center; vertical-align:middle" %)-
810	810
811	811	Table 6-16 multi-segment position running mode parameters
812	812
...	...	@@ -814,9 +814,9 @@
814	814
815	815	~1. Single running
816	816
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
	826	+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
818	818
819		-
	828	+(% 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)
...	...	@@ -823,14 +823,14 @@
823	823
824	824	2. Cycle running
825	825
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.
	835	+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.
827	827
828		-
	837	+(% 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)
832	832
833		-|[[image:image-20220611151917-5.png]]
	842	+|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611151917-5.png]]
834	834	|In single running and cycle running mode, the setting value of P07-03 needs to be greater than the setting value of P07-02.
835	835
836	836	3. DI switching running
...	...	@@ -837,30 +837,30 @@
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
	849	+(% class="table-bordered" %)
	850	+|(% style="text-align:center; vertical-align:middle" %)**DI function code**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**
	851	+|(% style="text-align:center; vertical-align:middle" %)21|INPOS1: Internal multi-segment position segment selection 1|Form internal multi-segment position running segment number
	852	+|(% style="text-align:center; vertical-align:middle" %)22|INPOS2: Internal multi-segment position segment selection 2|Form internal multi-segment position running segment number
	853	+|(% style="text-align:center; vertical-align:middle" %)23|INPOS3: Internal multi-segment position segment selection 3|Form internal multi-segment position running segment number
	854	+|(% style="text-align:center; vertical-align:middle" %)24|INPOS4: Internal multi-segment position segment selection 4|Form internal multi-segment position running segment number
840	840
841		-|=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
842		-|=21|INPOS1: Internal multi-segment position segment selection 1|Form internal multi-segment position running segment number
843		-|=22|INPOS2: Internal multi-segment position segment selection 2|Form internal multi-segment position running segment number
844		-|=23|INPOS3: Internal multi-segment position segment selection 3|Form internal multi-segment position running segment number
845		-|=24|INPOS4: Internal multi-segment position segment selection 4|Form internal multi-segment position running segment number
846		-
847	847	Table 6-17 DI function code
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
	860	+(% class="table-bordered" %)
	861	+|(% style="text-align:center; vertical-align:middle" %)**INPOS4**|(% style="text-align:center; vertical-align:middle" %)**INPOS3**|(% style="text-align:center; vertical-align:middle" %)**INPOS2**|(% style="text-align:center; vertical-align:middle" %)**INPOS1**|(% style="text-align:center; vertical-align:middle" %)**Running position number**
	862	+|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1
	863	+|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)2
	864	+|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)3
	865	+|(% colspan="5" style="text-align:center; vertical-align:middle" %)…………
	866	+|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)16
851	851
852		-|=(% scope="row" %)**INPOS4**|=**INPOS3**|=**INPOS2**|=**INPOS1**|=**Running position number**
853		-|=0|0|0|0|1
854		-|=0|0|0|1|2
855		-|=0|0|1|0|3
856		-|=(% colspan="5" %)…………
857		-|=1|1|1|1|16
858		-
859	859	Table 6-18 INPOS corresponds to running segment number
860	860
861		-The operating curve in this running mode is shown in __[[Figure 6-14>>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]]__.
	870	+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]]__.
862	862
863		-
	872	+(% style="text-align:center" %)
864	864	[[image:image-20220608164545-12.png]]
865	865
866	866	Figure 6-14 DI switching running curve
...	...	@@ -869,14 +869,14 @@
869	869
870	870	**A. Run the remaining segments**
871	871
872		-In this processing way, the multi-segment position instruction enable is OFF during running, the servo drive will abandon the unfinished displacement part and shutdown, and the positioning completion signal will be valid after the shutdown is complete. When the multi-segment position enable is ON, and the servo drive will start to run from the next segment where the OFF occurs. The curves of single running and cycle running are shown in __[[Figure 6-15>>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.
	881	+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.
873	873
874		-
	883	+(% 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		-
	888	+(% style="text-align:center" %)
880	880	[[image:image-20220608165032-14.png]]
881	881
882	882	Figure 6-16 Cycle running-run the remaining segment (P07-02=1, P07-03=4)
...	...	@@ -883,14 +883,14 @@
883	883
884	884	**B. Run again from the start segment**
885	885
886		-In this processing mode, when the multi-segment position instruction enable is OFF during running, the servo drive will abandon the uncompleted displacement part and shutdown. After the shutdown is completed, the positioning completion signal is valid. When the multi-segment position enable is ON, and the servo drive will start to operate from the next position set by P07-02. The curves of single running and cycle running are shown in __[[Figure 6-17>>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.
	895	+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.
887	887
888		-
	897	+(% 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		-
	902	+(% 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)
...	...	@@ -902,8 +902,10 @@
902	902	The relative position instruction takes the current stop position of the motor as the start point and specifies the amount of displacement.
903	903
904	904	|(((
	914	+(% style="text-align:center" %)
905	905	[[image:image-20220608165710-17.png]]
906	906	)))|(((
	917	+(% style="text-align:center" %)
907	907	[[image:image-20220608165749-18.png]]
908	908	)))
909	909	|Figure 6-19 Relative position diagram|Figure 6-20 Displacement diagram
...	...	@@ -913,8 +913,10 @@
913	913	The absolute position instruction takes "reference origin" as the zero point of absolute positioning, and specifies the amount of displacement.
914	914
915	915	|(((
	927	+(% style="text-align:center" %)
916	916	[[image:image-20220608165848-19.png]]
917	917	)))|(((
	930	+(% style="text-align:center" %)
918	918	[[image:image-20220608170005-20.png]]
919	919	)))
920	920	|Figure 6-21 Absolute indication|Figure 6-22 Displacement
...	...	@@ -921,44 +921,48 @@
921	921
922	922	2) Multi-segment position running curve setting
923	923
924		-The multi-segment position running supports maximum 16 segments different position instructions. The displacement, maximum running speed (steady-state running speed), acceleration and deceleration time of each position and the waiting time between segment could all be set. __[[Table 6-19>>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.
	937	+The multi-segment position running supports maximum 16 segments different position instructions. The displacement, maximum running speed (steady-state running speed), acceleration and deceleration time of each position and the waiting time between segment could all be set. __[[Table 6-19>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HPositioninstructioninputsetting]]__ are the related function codes of the 1st segment running curve.
925	925
926		-
927		-|=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit**
928		-|=P07-09|(((
	939	+(% class="table-bordered" %)
	940	+|(% style="text-align:center; vertical-align:middle; width:124px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:171px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
	941	+**Setting method**
	942	+)))|(% style="text-align:center; vertical-align:middle; width:187px" %)(((
	943	+**Effective time**
	944	+)))|(% style="text-align:center; vertical-align:middle; width:130px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:123px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:260px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	945	+|(% style="text-align:center; vertical-align:middle; width:124px" %)P07-09|(% style="text-align:center; vertical-align:middle; width:171px" %)(((
929	929	1st segment
930	930
931	931	displacement
932		-)))|(((
	949	+)))|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
933	933	Operation setting
934		-)))|(((
	951	+)))|(% style="text-align:center; vertical-align:middle; width:187px" %)(((
935	935	Effective immediately
936		-)))|10000|(((
	953	+)))|(% style="text-align:center; vertical-align:middle; width:130px" %)10000|(% style="text-align:center; vertical-align:middle; width:123px" %)(((
937	937	-2147483647 to
938	938
939	939	2147483646
940		-)))|Position instruction, positive and negative values could be set|-
941		-|=P07-10|Maximum speed of the 1st displacement|(((
	957	+)))|(% style="width:260px" %)Position instruction, positive and negative values could be set|(% style="text-align:center; vertical-align:middle" %)-
	958	+|(% style="text-align:center; vertical-align:middle; width:124px" %)P07-10|(% style="text-align:center; vertical-align:middle; width:171px" %)Maximum speed of the 1st displacement|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
942	942	Operation setting
943		-)))|(((
	960	+)))|(% style="text-align:center; vertical-align:middle; width:187px" %)(((
944	944	Effective immediately
945		-)))|100|1 to 5000|Steady-state running speed of the 1st segment|rpm
946		-|=P07-11|Acceleration and deceleration of 1st segment displacement|(((
	962	+)))|(% style="text-align:center; vertical-align:middle; width:130px" %)100|(% style="text-align:center; vertical-align:middle; width:123px" %)1 to 5000|(% style="width:260px" %)Steady-state running speed of the 1st segment|(% style="text-align:center; vertical-align:middle" %)rpm
	963	+|(% style="text-align:center; vertical-align:middle; width:124px" %)P07-11|(% style="text-align:center; vertical-align:middle; width:171px" %)Acceleration and deceleration of 1st segment displacement|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
947	947	Operation setting
948		-)))|(((
	965	+)))|(% style="text-align:center; vertical-align:middle; width:187px" %)(((
949	949	Effective immediately
950		-)))|100|1 to 65535|The time required for the acceleration and deceleration of the 1st segment|ms
951		-|=P07-12|Waiting time after completion of the 1st segment displacement|(((
	967	+)))|(% style="text-align:center; vertical-align:middle; width:130px" %)100|(% style="text-align:center; vertical-align:middle; width:123px" %)1 to 65535|(% style="width:260px" %)The time required for the acceleration and deceleration of the 1st segment|(% style="text-align:center; vertical-align:middle" %)ms
	968	+|(% style="text-align:center; vertical-align:middle; width:124px" %)P07-12|(% style="text-align:center; vertical-align:middle; width:171px" %)Waiting time after completion of the 1st segment displacement|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
952	952	Operation setting
953		-)))|(((
	970	+)))|(% style="text-align:center; vertical-align:middle; width:187px" %)(((
954	954	Effective immediately
955		-)))|100|1 to 65535|Delayed waiting time from the completion of the 1st segment to the start of the next segment|Set by P07-06
	972	+)))|(% style="text-align:center; vertical-align:middle; width:130px" %)100|(% style="text-align:center; vertical-align:middle; width:123px" %)1 to 65535|(% style="width:260px" %)Delayed waiting time from the completion of the 1st segment to the start of the next segment|(% style="text-align:center; vertical-align:middle" %)Set by P07-06
956	956
957	957	Table 6-19 The 1st position operation curve parameters table
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		-
	978	+(% 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
...	...	@@ -967,14 +967,15 @@
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		-|=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
972		-|=20|ENINPOS: Internal multi-segment position enable signal|(((
	987	+(% class="table-bordered" %)
	988	+|(% style="text-align:center; vertical-align:middle" %)**DI function code**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**
	989	+|(% style="text-align:center; vertical-align:middle" %)20|(% style="text-align:center; vertical-align:middle" %)ENINPOS: Internal multi-segment position enable signal|(% style="text-align:center; vertical-align:middle" %)(((
973	973	DI port logic invalid: Does not affect the current operation of the servo motor.
974	974
975	975	DI port logic valid: Motor runs multi-segment position
976	976	)))
977	977
	995	+(% style="text-align:center" %)
978	978	[[image:image-20220611152020-6.png]]
979	979
980	980	It should be noted that only when the internal multi-segment position enable signal is OFF, can the P07 group parameters be actually modified to write into the servo drive!
...	...	@@ -989,13 +989,13 @@
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
992		-
	1010	+(% style="text-align:center" %)
993	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		-
	1013	+(% style="text-align:center" %)
996	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		-
	1016	+(% style="text-align:center" %)
999	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	1000
1001	1001	Otherwise, the servo drive will report Er.35: "Electronic gear ratio setting exceeds the limit"!
...	...	@@ -1002,7 +1002,7 @@
1002	1002
1003	1003	**(2) Setting steps of electronic gear ratio**
1004	1004
1005		-
	1023	+(% style="text-align:center" %)
1006	1006	[[image:image-20220608170320-22.png]]
1007	1007
1008	1008	Figure 6-24 Setting steps of electronic gear ratio
...	...	@@ -1017,7 +1017,7 @@
1017	1017
1018	1018	Step5: Calculate the value of electronic gear ratio according to formula below.
1019	1019
1020		-
	1038	+(% style="text-align:center" %)
1021	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	1022
1023	1023	**(3) lectronic gear ratio switch setting**
...	...	@@ -1025,59 +1025,59 @@
1025	1025
1026	1026	When the function code P00-16 is 0, the electronic gear ratio switching function could be used. You could switch between electronic gear 1 and electronic gear 2 as needed. There is only one set of gear ratios at any time. Related function codes are shown in the table below.
1027	1027
1028		-
1029		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	1046	+(% class="table-bordered" %)
	1047	+|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:159px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
1030	1030	**Setting method**
1031		-)))|=(((
	1049	+)))|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
1032	1032	**Effective time**
1033		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1034		-|=P00-16|Number of instruction pulses when the motor rotates one circle|(((
	1051	+)))|(% style="text-align:center; vertical-align:middle; width:142px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:94px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:311px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	1052	+|(% style="text-align:center; vertical-align:middle" %)P00-16|(% style="text-align:center; vertical-align:middle; width:159px" %)Number of instruction pulses when the motor rotates one circle|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
1035	1035	Shutdown setting
1036		-)))|(((
	1054	+)))|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
1037	1037	Effective immediately
1038		-)))|10000|0 to 131072|Set the number of position command pulses required for each turn of the motor. When the setting value is 0, [P00-17]/[P00-19] Electronic gear 1/2 numerator, [P00-18]/[P00-20] Electronic gear 1/2 denominator is valid.|(((
	1056	+)))|(% style="text-align:center; vertical-align:middle; width:142px" %)10000|(% style="text-align:center; vertical-align:middle; width:94px" %)0 to 131072|(% style="width:311px" %)Set the number of position command pulses required for each turn of the motor. When the setting value is 0, [P00-17]/[P00-19] Electronic gear 1/2 numerator, [P00-18]/[P00-20] Electronic gear 1/2 denominator is valid.|(% style="text-align:center; vertical-align:middle" %)(((
1039	1039	Instruction pulse
1040	1040
1041	1041	unit
1042	1042	)))
1043		-|=P00-17|(((
	1061	+|(% style="text-align:center; vertical-align:middle" %)P00-17|(% style="text-align:center; vertical-align:middle; width:159px" %)(((
1044	1044	Electronic gear 1
1045	1045
1046	1046	numerator
1047		-)))|Operation setting|(((
	1065	+)))|(% style="text-align:center; vertical-align:middle; width:156px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
1048	1048	Effective immediately
1049		-)))|1|1 to 4294967294|Set the numerator of the 1st group electronic gear ratio for position instruction frequency division or multiplication. P00-16 is effective when the number of instruction pulses of one motor rotation is 0.|-
1050		-|=P00-18|(((
	1067	+)))|(% style="text-align:center; vertical-align:middle; width:142px" %)1|(% style="text-align:center; vertical-align:middle; width:94px" %)1 to 4294967294|(% style="width:311px" %)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.|(% style="text-align:center; vertical-align:middle" %)-
	1068	+|(% style="text-align:center; vertical-align:middle" %)P00-18|(% style="text-align:center; vertical-align:middle; width:159px" %)(((
1051	1051	Electronic gear 1
1052	1052
1053	1053	denominator
1054		-)))|(((
	1072	+)))|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
1055	1055	Operation setting
1056		-)))|(((
	1074	+)))|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
1057	1057	Effective immediately
1058		-)))|1|1 to 4294967294|Set the denominator of the 1st group electronic gear ratio for position instruction frequency division or multiplication. P00-16 is effective when the number of instruction pulses of one motor rotation is 0.|-
1059		-|=P00-19|(((
	1076	+)))|(% style="text-align:center; vertical-align:middle; width:142px" %)1|(% style="text-align:center; vertical-align:middle; width:94px" %)1 to 4294967294|(% style="width:311px" %)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.|(% style="text-align:center; vertical-align:middle" %)-
	1077	+|(% style="text-align:center; vertical-align:middle" %)P00-19|(% style="text-align:center; vertical-align:middle; width:159px" %)(((
1060	1060	Electronic gear 2
1061	1061
1062	1062	numerator
1063		-)))|Operation setting|(((
	1081	+)))|(% style="text-align:center; vertical-align:middle; width:156px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
1064	1064	Effective immediately
1065		-)))|1|1 to 4294967294|Set the numerator of the 2nd group electronic gear ratio for position instruction frequency division or multiplication. P00-16 is effective when the number of instruction pulses of one motor rotation is 0.|-
1066		-|=P00-20|(((
	1083	+)))|(% style="text-align:center; vertical-align:middle; width:142px" %)1|(% style="text-align:center; vertical-align:middle; width:94px" %)1 to 4294967294|(% style="width:311px" %)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.|(% style="text-align:center; vertical-align:middle" %)-
	1084	+|(% style="text-align:center; vertical-align:middle" %)P00-20|(% style="text-align:center; vertical-align:middle; width:159px" %)(((
1067	1067	Electronic gear 2
1068	1068
1069	1069	denominator
1070		-)))|Operation setting|(((
	1088	+)))|(% style="text-align:center; vertical-align:middle; width:156px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
1071	1071	Effective immediately
1072		-)))|1|1 to 4294967294|Set the denominator 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.|-
	1090	+)))|(% style="text-align:center; vertical-align:middle; width:142px" %)1|(% style="text-align:center; vertical-align:middle; width:94px" %)1 to 4294967294|(% style="width:311px" %)Set the denominator 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.|(% style="text-align:center; vertical-align:middle" %)-
1073	1073
1074	1074	Table 6-20 Electronic gear ratio function code
1075	1075
1076	1076	To use electronic gear ratio 2, it is necessary to configure any DI port as function 09 (GEAR-SEL electronic gear switch 1), and determine the valid logic of the DI terminal.
1077	1077
1078		-
1079		-|=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
1080		-|=09|GEAR-SEL electronic gear switch 1|(((
	1096	+(% class="table-bordered" %)
	1097	+|(% style="text-align:center; vertical-align:middle" %)**DI function code**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**
	1098	+|(% style="text-align:center; vertical-align:middle" %)09|(% style="text-align:center; vertical-align:middle" %)GEAR-SEL electronic gear switch 1|(% style="text-align:center; vertical-align:middle" %)(((
1081	1081	DI port logic invalid: electronic gear ratio 1
1082	1082
1083	1083	DI port logic valid: electronic gear ratio 2
...	...	@@ -1085,10 +1085,10 @@
1085	1085
1086	1086	Table 6-21 Switching conditions of electronic gear ratio group
1087	1087
1088		-|=(% scope="row" %)**P00-16 value**|=**DI terminal level corresponding to DI port function 9**|=**Electronic gear ratio**[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/39.png?rev=1.1]]
1089		-|=(% rowspan="2" %)0|DI port logic invalid|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/40.png?rev=1.1]]
1090		-|=DI port logic valid|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/41.png?rev=1.1]]
1091		-|=1 to 131072|~-~-|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/42.png?rev=1.1]]
	1106	+|(% style="text-align:center; vertical-align:middle" %)**P00-16 value**|(% style="text-align:center; vertical-align:middle" %)**DI terminal level corresponding to DI port function 9**|(% style="text-align:center; vertical-align:middle" %)**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]]
	1107	+|(% rowspan="2" style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)DI port logic invalid|(% style="text-align:center; vertical-align:middle" %)[[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]]
	1108	+|(% style="text-align:center; vertical-align:middle" %)DI port logic valid|(% style="text-align:center; vertical-align:middle" %)[[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]]
	1109	+|(% style="text-align:center; vertical-align:middle" %)1 to 131072|(% style="text-align:center; vertical-align:middle" %)~-~-|(% style="text-align:center; vertical-align:middle" %)[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/42.png?rev=1.1]]
1092	1092
1093	1093	Table 6-22 Application of electronic gear ratio
1094	1094
...	...	@@ -1106,32 +1106,32 @@
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		-
	1127	+(% 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		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	1132	+(% class="table-bordered" %)
	1133	+|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:193px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:150px" %)(((
1116	1116	**Setting method**
1117		-)))|=(((
	1135	+)))|(% style="text-align:center; vertical-align:middle; width:209px" %)(((
1118	1118	**Effective time**
1119		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1120		-|=P04-01|Pulse instruction filtering method|(((
	1137	+)))|(% style="text-align:center; vertical-align:middle; width:123px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:104px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:253px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:72px" %)**Unit**
	1138	+|(% style="text-align:center; vertical-align:middle" %)P04-01|(% style="text-align:center; vertical-align:middle; width:193px" %)Pulse instruction filtering method|(% style="text-align:center; vertical-align:middle; width:150px" %)(((
1121	1121	Shutdown setting
1122		-)))|(((
	1140	+)))|(% style="text-align:center; vertical-align:middle; width:209px" %)(((
1123	1123	Effective immediately
1124		-)))|0|0 to 1|(((
	1142	+)))|(% style="text-align:center; vertical-align:middle; width:123px" %)0|(% style="text-align:center; vertical-align:middle; width:104px" %)0 to 1|(% style="width:253px" %)(((
1125	1125	0: 1st-order low-pass filtering
1126	1126
1127	1127	1: average filtering
1128		-)))|-
1129		-|=P04-02|Position instruction 1st-order low-pass filtering time constant|Shutdown setting|(((
	1146	+)))|(% style="text-align:center; vertical-align:middle; width:72px" %)-
	1147	+|(% style="text-align:center; vertical-align:middle" %)P04-02|(% style="text-align:center; vertical-align:middle; width:193px" %)Position instruction 1st-order low-pass filtering time constant|(% style="text-align:center; vertical-align:middle; width:150px" %)Shutdown setting|(% style="text-align:center; vertical-align:middle; width:209px" %)(((
1130	1130	Effective immediately
1131		-)))|0|0 to 1000|Position instruction first-order low-pass filtering time constant|ms
1132		-|=P04-03|Position instruction average filtering time constant|Shutdown setting|(((
	1149	+)))|(% style="text-align:center; vertical-align:middle; width:123px" %)0|(% style="text-align:center; vertical-align:middle; width:104px" %)0 to 1000|(% style="width:253px" %)Position instruction first-order low-pass filtering time constant|(% style="text-align:center; vertical-align:middle; width:72px" %)ms
	1150	+|(% style="text-align:center; vertical-align:middle" %)P04-03|(% style="text-align:center; vertical-align:middle; width:193px" %)Position instruction average filtering time constant|(% style="text-align:center; vertical-align:middle; width:150px" %)Shutdown setting|(% style="text-align:center; vertical-align:middle; width:209px" %)(((
1133	1133	Effective immediately
1134		-)))|0|0 to 128|Position instruction average filtering time constant|ms
	1152	+)))|(% style="text-align:center; vertical-align:middle; width:123px" %)0|(% style="text-align:center; vertical-align:middle; width:104px" %)0 to 128|(% style="width:253px" %)Position instruction average filtering time constant|(% style="text-align:center; vertical-align:middle; width:72px" %)ms
1135	1135
1136	1136	Table 6-23 Position instruction filter function code
1137	1137
...	...	@@ -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		-
	1172	+(% style="text-align:center" %)
1155	1155	[[image:image-20220608170550-24.png]]
1156	1156
1157	1157	Figure 6-26 Positioning completion signal output diagram
...	...	@@ -1158,47 +1158,48 @@
1158	1158
1159	1159	When using the positioning completion or approach function, you could also set positioning completion, positioning approach conditions, window and hold time. The principle of window filter time is shown in Figure 6-27.
1160	1160
1161		-To use the positioning completion/positioning approach function, a DO terminal of the servo drive should be assigned to the function 134 (P-COIN, positioning completion)/ 135 (P-NEAR, positioning approach). The related code parameters and DO function codes are shown as __[[Table 6-24>>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]]__.
	1179	+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]]__.
1162	1162
	1181	+(% 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		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	1186	+(% class="table-bordered" %)
	1187	+|(% style="text-align:center; vertical-align:middle; width:117px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:133px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:145px" %)(((
1169	1169	**Setting method**
1170		-)))|=(((
	1189	+)))|(% style="text-align:center; vertical-align:middle; width:224px" %)(((
1171	1171	**Effective time**
1172		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1173		-|=P05-12|Positioning completion threshold|(((
	1191	+)))|(% style="text-align:center; vertical-align:middle; width:114px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:103px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:377px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:272px" %)**Unit**
	1192	+|(% style="text-align:center; vertical-align:middle; width:117px" %)P05-12|(% style="text-align:center; vertical-align:middle; width:133px" %)Positioning completion threshold|(% style="text-align:center; vertical-align:middle; width:145px" %)(((
1174	1174	Operation setting
1175		-)))|(((
	1194	+)))|(% style="text-align:center; vertical-align:middle; width:224px" %)(((
1176	1176	Effective immediately
1177		-)))|800|1 to 65535|Positioning completion threshold|Equivalent pulse unit
1178		-|=P05-13|Positioning approach threshold|(((
	1196	+)))|(% style="text-align:center; vertical-align:middle; width:114px" %)800|(% style="text-align:center; vertical-align:middle; width:103px" %)1 to 65535|(% style="text-align:center; vertical-align:middle; width:377px" %)Positioning completion threshold|(% style="text-align:center; vertical-align:middle; width:272px" %)Equivalent pulse unit
	1197	+|(% style="text-align:center; vertical-align:middle; width:117px" %)P05-13|(% style="text-align:center; vertical-align:middle; width:133px" %)Positioning approach threshold|(% style="text-align:center; vertical-align:middle; width:145px" %)(((
1179	1179	Operation setting
1180		-)))|(((
	1199	+)))|(% style="text-align:center; vertical-align:middle; width:224px" %)(((
1181	1181	Effective immediately
1182		-)))|5000|1 to 65535|Positioning approach threshold|Equivalent pulse unit
1183		-|=P05-14|Position detection window time|(((
	1201	+)))|(% style="text-align:center; vertical-align:middle; width:114px" %)5000|(% style="text-align:center; vertical-align:middle; width:103px" %)1 to 65535|(% style="text-align:center; vertical-align:middle; width:377px" %)Positioning approach threshold|(% style="text-align:center; vertical-align:middle; width:272px" %)Equivalent pulse unit
	1202	+|(% style="text-align:center; vertical-align:middle; width:117px" %)P05-14|(% style="text-align:center; vertical-align:middle; width:133px" %)Position detection window time|(% style="text-align:center; vertical-align:middle; width:145px" %)(((
1184	1184	Operation setting
1185		-)))|(((
	1204	+)))|(% style="text-align:center; vertical-align:middle; width:224px" %)(((
1186	1186	Effective immediately
1187		-)))|10|0 to 20000|Set positioning completion detection window time|ms
1188		-|=P05-15|Positioning signal hold time|(((
	1206	+)))|(% style="text-align:center; vertical-align:middle; width:114px" %)10|(% style="text-align:center; vertical-align:middle; width:103px" %)0 to 20000|(% style="text-align:center; vertical-align:middle; width:377px" %)Set positioning completion detection window time|(% style="text-align:center; vertical-align:middle; width:272px" %)ms
	1207	+|(% style="text-align:center; vertical-align:middle; width:117px" %)P05-15|(% style="text-align:center; vertical-align:middle; width:133px" %)Positioning signal hold time|(% style="text-align:center; vertical-align:middle; width:145px" %)(((
1189	1189	Operation setting
1190		-)))|(((
	1209	+)))|(% style="text-align:center; vertical-align:middle; width:224px" %)(((
1191	1191	Effective immediately
1192		-)))|100|0 to 20000|Set positioning completion output hold time|ms
	1211	+)))|(% style="text-align:center; vertical-align:middle; width:114px" %)100|(% style="text-align:center; vertical-align:middle; width:103px" %)0 to 20000|(% style="text-align:center; vertical-align:middle; width:377px" %)Set positioning completion output hold time|(% style="text-align:center; vertical-align:middle; width:272px" %)ms
1193	1193
1194	1194	Table 6-24 Function code parameters of positioning completion
1195	1195
1196		-
1197		-|=(% scope="row" %)**DO function code**|=**Function name**|=**Function**
1198		-|=134|P-COIN positioning complete|Output this signal indicates the servo drive position is complete.
1199		-|=135|(((
	1215	+(% class="table-bordered" %)
	1216	+|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**
	1217	+|(% style="text-align:center; vertical-align:middle" %)134|(% style="text-align:center; vertical-align:middle" %)P-COIN positioning complete|(% style="text-align:center; vertical-align:middle" %)Output this signal indicates the servo drive position is complete.
	1218	+|(% style="text-align:center; vertical-align:middle" %)135|(% style="text-align:center; vertical-align:middle" %)(((
1200	1200	P-NEAR positioning close
1201		-)))|(((
	1220	+)))|(% style="text-align:center; vertical-align:middle" %)(((
1202	1202	Output this signal indicates that the servo drive position is close.
1203	1203	)))
1204	1204
...	...	@@ -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: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.
	1228	+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.
1210	1210
1211		-
	1230	+(% 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
...	...	@@ -1217,21 +1217,21 @@
1217	1217
1218	1218	In speed control mode, VD2A and VD2B servo drives have two instruction source: internal speed instruction and analog speed instruction. VD2F drive only supports internal speed instruction. Speed instruction source is set by function code P01-01.
1219	1219
1220		-
1221		-|**Function code**|**Name**|(((
	1239	+(% class="table-bordered" %)
	1240	+|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:140px" %)(((
1222	1222	**Setting method**
1223		-)))|(((
	1242	+)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
1224	1224	**Effective time**
1225		-)))|**Default value**|**Range**|**Definition**|**Unit**
1226		-|P01-01|Speed instruction source|(((
	1244	+)))|(% style="text-align:center; vertical-align:middle; width:124px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:83px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:328px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	1245	+|(% style="text-align:center; vertical-align:middle" %)P01-01|(% style="text-align:center; vertical-align:middle; width:180px" %)Speed instruction source|(% style="text-align:center; vertical-align:middle; width:140px" %)(((
1227	1227	Shutdown setting
1228		-)))|(((
	1247	+)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
1229	1229	Effective immediately
1230		-)))|1|1 to 6|(((
	1249	+)))|(% style="text-align:center; vertical-align:middle; width:124px" %)1|(% style="text-align:center; vertical-align:middle; width:83px" %)1 to 6|(% style="text-align:center; vertical-align:middle; width:328px" %)(((
1231	1231	0: internal speed instruction
1232	1232
1233	1233	1: AI_1 analog input (not supported by VD2F)
1234		-)))|-
	1253	+)))|(% style="text-align:center; vertical-align:middle" %)-
1235	1235
1236	1236	Table 6-26 Speed instruction source parameter
1237	1237
...	...	@@ -1239,19 +1239,19 @@
1239	1239
1240	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.
1241	1241
1242		-
1243		-|**Function code**|**Name**|(((
	1261	+(% class="table-bordered" %)
	1262	+|(% style="text-align:center; vertical-align:middle; width:112px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:212px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:138px" %)(((
1244	1244	**Setting method**
1245		-)))|(((
	1264	+)))|(% style="text-align:center; vertical-align:middle; width:191px" %)(((
1246	1246	**Effective time**
1247		-)))|**Default value**|**Range**|**Definition**|**Unit**
1248		-|(% rowspan="2" %)P01-02|(% rowspan="2" %)(((
	1266	+)))|(% style="text-align:center; vertical-align:middle; width:142px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:144px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:287px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:259px" %)**Unit**
	1267	+|(% rowspan="2" style="text-align:center; vertical-align:middle; width:112px" %)P01-02|(% rowspan="2" style="text-align:center; vertical-align:middle; width:212px" %)(((
1249	1249	Internal speed Instruction 0
1250		-)))|(% rowspan="2" %)(((
	1269	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((
1251	1251	Operation setting
1252		-)))|(% rowspan="2" %)(((
	1271	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:191px" %)(((
1253	1253	Effective immediately
1254		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1273	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:142px" %)0|(% style="text-align:center; vertical-align:middle; width:144px" %)-3000 to 3000|(% rowspan="2" style="width:287px" %)(((
1255	1255	Internal speed instruction 0
1256	1256
1257	1257	When DI input port:
...	...	@@ -1263,15 +1263,15 @@
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" %)(((
	1285	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:259px" %)rpm
	1286	+|(% style="text-align:center; vertical-align:middle; width:144px" %)-5000 to 5000*
	1287	+|(% rowspan="2" style="text-align:center; vertical-align:middle; width:112px" %)P01-23|(% rowspan="2" style="text-align:center; vertical-align:middle; width:212px" %)(((
1269	1269	Internal speed Instruction 1
1270		-)))|(% rowspan="2" %)(((
	1289	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((
1271	1271	Operation setting
1272		-)))|(% rowspan="2" %)(((
	1291	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:191px" %)(((
1273	1273	Effective immediately
1274		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1293	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:142px" %)0|(% style="text-align:center; vertical-align:middle; width:144px" %)-3000 to 3000|(% rowspan="2" style="width:287px" %)(((
1275	1275	Internal speed instruction 1
1276	1276
1277	1277	When DI input port:
...	...	@@ -1283,15 +1283,15 @@
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" %)(((
	1305	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:259px" %)rpm
	1306	+|(% style="text-align:center; vertical-align:middle; width:144px" %)-5000 to 5000*
	1307	+|(% rowspan="2" style="text-align:center; vertical-align:middle; width:112px" %)P01-24|(% rowspan="2" style="text-align:center; vertical-align:middle; width:212px" %)(((
1289	1289	Internal speed Instruction 2
1290		-)))|(% rowspan="2" %)(((
	1309	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((
1291	1291	Operation setting
1292		-)))|(% rowspan="2" %)(((
	1311	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:191px" %)(((
1293	1293	Effective immediately
1294		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1313	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:142px" %)0|(% style="text-align:center; vertical-align:middle; width:144px" %)-3000 to 3000|(% rowspan="2" style="width:287px" %)(((
1295	1295	Internal speed instruction 2
1296	1296
1297	1297	When DI input port:
...	...	@@ -1303,15 +1303,15 @@
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" %)(((
	1325	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:259px" %)rpm
	1326	+|(% style="text-align:center; vertical-align:middle; width:144px" %)-5000 to 5000*
	1327	+|(% rowspan="2" style="text-align:center; vertical-align:middle; width:112px" %)P01-25|(% rowspan="2" style="text-align:center; vertical-align:middle; width:212px" %)(((
1309	1309	Internal speed Instruction 3
1310		-)))|(% rowspan="2" %)(((
	1329	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((
1311	1311	Operation setting
1312		-)))|(% rowspan="2" %)(((
	1331	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:191px" %)(((
1313	1313	Effective immediately
1314		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1333	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:142px" %)0|(% style="text-align:center; vertical-align:middle; width:144px" %)-3000 to 3000|(% rowspan="2" style="width:287px" %)(((
1315	1315	Internal speed instruction 3
1316	1316
1317	1317	When DI input port:
...	...	@@ -1323,16 +1323,17 @@
1323	1323	13-INSPD1: 1,
1324	1324
1325	1325	Select this speed instruction to be effective.
1326		-)))|(% rowspan="2" %)rpm
1327		-|-5000 to 5000*
	1345	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:259px" %)rpm
	1346	+|(% style="text-align:center; vertical-align:middle; width:144px" %)-5000 to 5000*
1328	1328
1329		-|(% rowspan="2" %)P01-26|(% rowspan="2" %)(((
	1348	+(% class="table-bordered" %)
	1349	+|(% rowspan="2" style="text-align:center; vertical-align:middle; width:111px" %)P01-26|(% rowspan="2" style="text-align:center; vertical-align:middle; width:214px" %)(((
1330	1330	Internal speed Instruction 4
1331		-)))|(% rowspan="2" %)(((
	1351	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((
1332	1332	Operation setting
1333		-)))|(% rowspan="2" %)(((
	1353	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:161px" %)(((
1334	1334	Effective immediately
1335		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1355	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:117px" %)-3000 to 3000|(% rowspan="2" style="width:302px" %)(((
1336	1336	Internal speed instruction 4
1337	1337
1338	1338	When DI input port:
...	...	@@ -1344,15 +1344,15 @@
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" %)(((
	1367	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle" %)rpm
	1368	+|(% style="text-align:center; vertical-align:middle; width:117px" %)-5000 to 5000*
	1369	+|(% rowspan="2" style="text-align:center; vertical-align:middle; width:111px" %)P01-27|(% rowspan="2" style="text-align:center; vertical-align:middle; width:214px" %)(((
1350	1350	Internal speed Instruction 5
1351		-)))|(% rowspan="2" %)(((
	1371	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((
1352	1352	Operation setting
1353		-)))|(% rowspan="2" %)(((
	1373	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:161px" %)(((
1354	1354	Effective immediately
1355		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1375	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:117px" %)-3000 to 3000|(% rowspan="2" style="width:302px" %)(((
1356	1356	Internal speed instruction 5
1357	1357
1358	1358	When DI input port:
...	...	@@ -1364,15 +1364,15 @@
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" %)(((
	1387	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle" %)rpm
	1388	+|(% style="text-align:center; vertical-align:middle; width:117px" %)-5000 to 5000*
	1389	+|(% rowspan="2" style="text-align:center; vertical-align:middle; width:111px" %)P01-28|(% rowspan="2" style="text-align:center; vertical-align:middle; width:214px" %)(((
1370	1370	Internal speed Instruction 6
1371		-)))|(% rowspan="2" %)(((
	1391	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((
1372	1372	Operation setting
1373		-)))|(% rowspan="2" %)(((
	1393	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:161px" %)(((
1374	1374	Effective immediately
1375		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1395	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:117px" %)-3000 to 3000|(% rowspan="2" style="width:302px" %)(((
1376	1376	Internal speed instruction 6
1377	1377
1378	1378	When DI input port:
...	...	@@ -1384,15 +1384,15 @@
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" %)(((
	1407	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle" %)rpm
	1408	+|(% style="text-align:center; vertical-align:middle; width:117px" %)-5000 to 5000*
	1409	+|(% rowspan="2" style="text-align:center; vertical-align:middle; width:111px" %)P01-29|(% rowspan="2" style="text-align:center; vertical-align:middle; width:214px" %)(((
1390	1390	Internal speed Instruction 7
1391		-)))|(% rowspan="2" %)(((
	1411	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((
1392	1392	Operation setting
1393		-)))|(% rowspan="2" %)(((
	1413	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:161px" %)(((
1394	1394	Effective immediately
1395		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1415	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:117px" %)-3000 to 3000|(% rowspan="2" style="width:302px" %)(((
1396	1396	Internal speed instruction 7
1397	1397
1398	1398	When DI input port:
...	...	@@ -1404,34 +1404,34 @@
1404	1404	13-INSPD1: 1,
1405	1405
1406	1406	Select this speed instruction to be effective.
1407		-)))|(% rowspan="2" %)rpm
1408		-|-5000 to 5000*
	1427	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle" %)rpm
	1428	+|(% style="text-align:center; vertical-align:middle; width:117px" %)-5000 to 5000*
1409	1409
1410	1410	Table 6-27 Internal speed instruction parameters
1411	1411
1412	1412	✎**Note: **“*” means the set range of VD2F servo drive.
1413	1413
	1434	+(% class="table-bordered" %)
	1435	+|(% style="text-align:center; vertical-align:middle" %)**DI function code**|(% style="text-align:center; vertical-align:middle" %)**function name**|(% style="text-align:center; vertical-align:middle" %)**Function**
	1436	+|(% style="text-align:center; vertical-align:middle" %)13|(% style="text-align:center; vertical-align:middle" %)INSPD1 internal speed instruction selection 1|Form internal multi-speed running segment number
	1437	+|(% style="text-align:center; vertical-align:middle" %)14|(% style="text-align:center; vertical-align:middle" %)INSPD2 internal speed instruction selection 2|Form internal multi-speed running segment number
	1438	+|(% style="text-align:center; vertical-align:middle" %)15|(% style="text-align:center; vertical-align:middle" %)INSPD3 internal speed instruction selection 3|Form internal multi-speed running segment number
1414	1414
1415		-|**DI function code**|**function name**|**Function**
1416		-|13|INSPD1 internal speed instruction selection 1|Form internal multi-speed running segment number
1417		-|14|INSPD2 internal speed instruction selection 2|Form internal multi-speed running segment number
1418		-|15|INSPD3 internal speed instruction selection 3|Form internal multi-speed running segment number
1419		-
1420	1420	Table 6-28 DI multi-speed function code description
1421	1421
1422	1422	The multi-speed segment number is a 3-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. The corresponding relationship between INSPD1 to 3 and segment numbers is shown as below.
1423	1423
1424		-
1425		-|**INSPD3**|**INSPD2**|**INSPD1**|**Running segment number**|**Internal speed instruction number**
1426		-|0|0|0|1|0
1427		-|0|0|1|2|1
1428		-|0|1|0|3|2
	1444	+(% class="table-bordered" %)
	1445	+|(% style="text-align:center; vertical-align:middle" %)**INSPD3**|(% style="text-align:center; vertical-align:middle" %)**INSPD2**|(% style="text-align:center; vertical-align:middle" %)**INSPD1**|(% style="text-align:center; vertical-align:middle" %)**Running segment number**|(% style="text-align:center; vertical-align:middle" %)**Internal speed instruction number**
	1446	+|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)0
	1447	+|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)2|(% style="text-align:center; vertical-align:middle" %)1
	1448	+|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)3|(% style="text-align:center; vertical-align:middle" %)2
1429	1429	|(% colspan="5" %)......
1430		-|1|1|1|8|7
	1450	+|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)8|(% style="text-align:center; vertical-align:middle" %)7
1431	1431
1432	1432	Table 6-29 Correspondence between INSPD bits and segment numbers
1433	1433
1434		-
	1454	+(% style="text-align:center" %)
1435	1435	[[image:image-20220608170845-26.png]]
1436	1436
1437	1437	Figure 6-29 Multi-segment speed running curve
...	...	@@ -1440,7 +1440,7 @@
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		-
	1463	+(% 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		-
	1470	+(% style="text-align:center" %)
1451	1451	[[image:image-20220608170955-27.png]]
1452	1452
1453	1453	Figure 6-31 Analog voltage speed instruction setting steps
...	...	@@ -1460,18 +1460,18 @@
1460	1460
1461	1461	Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1462	1462
1463		-
	1483	+(% 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
	1488	+(% class="table-bordered" %)
	1489	+|(% style="text-align:center; vertical-align:middle; width:115px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:125px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:137px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:165px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:111px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:136px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:360px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:44px" %)**Unit**
	1490	+|(% style="text-align:center; vertical-align:middle; width:115px" %)P05-01☆|(% style="text-align:center; vertical-align:middle; width:125px" %)AI_1 input bias|(% style="text-align:center; vertical-align:middle; width:137px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:165px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:111px" %)0|(% style="text-align:center; vertical-align:middle; width:136px" %)-5000 to 5000|(% style="width:360px" %)Set AI_1 channel analog bias value|(% style="text-align:center; vertical-align:middle; width:44px" %)mV
	1491	+|(% style="text-align:center; vertical-align:middle; width:115px" %)P05-02☆|(% style="text-align:center; vertical-align:middle; width:125px" %)AI_1 input filter time constant|(% style="text-align:center; vertical-align:middle; width:137px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:165px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:111px" %)200|(% style="text-align:center; vertical-align:middle; width:136px" %)0 to 60000|(% style="width:360px" %)AI_1 channel input first-order low-pass filtering time constant|(% style="text-align:center; vertical-align:middle; width:44px" %)0.01ms
	1492	+|(% style="text-align:center; vertical-align:middle; width:115px" %)P05-03☆|(% style="text-align:center; vertical-align:middle; width:125px" %)AI_1 dead zone|(% style="text-align:center; vertical-align:middle; width:137px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:165px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:111px" %)20|(% style="text-align:center; vertical-align:middle; width:136px" %)0 to 1000|(% style="width:360px" %)Set AI_1 channel quantity dead zone value|(% style="text-align:center; vertical-align:middle; width:44px" %)mV
	1493	+|(% style="text-align:center; vertical-align:middle; width:115px" %)P05-04☆|(% style="text-align:center; vertical-align:middle; width:125px" %)AI_1 zero drift|(% style="text-align:center; vertical-align:middle; width:137px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:165px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:111px" %)0|(% style="text-align:center; vertical-align:middle; width:136px" %)-500 to 500|(% style="width:360px" %)Automatic calibration of zero drift inside the drive|(% style="text-align:center; vertical-align:middle; width:44px" %)mV
1468	1468
1469		-|**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
1470		-|P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
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
1472		-|P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel quantity dead zone value|mV
1473		-|P05-04☆|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV
1474		-
1475	1475	Table 6-30 AI_1 parameters
1476	1476
1477	1477	✎**Note: **“☆” means VD2F servo drive does not support the function code .
...	...	@@ -1482,7 +1482,7 @@
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		-
	1505	+(% style="text-align:center" %)
1486	1486	[[image:image-20220608171314-29.png]]
1487	1487
1488	1488	Figure 6-33 of acceleration and deceleration time diagram
...	...	@@ -1491,22 +1491,22 @@
1491	1491
1492	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	1493
1494		-
1495		-|**Function code**|**Name**|(((
	1514	+(% class="table-bordered" %)
	1515	+|(% style="text-align:center; vertical-align:middle; width:116px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:137px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
1496	1496	**Setting method**
1497		-)))|(((
	1517	+)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
1498	1498	**Effective time**
1499		-)))|**Default value**|**Range**|**Definition**|**Unit**
1500		-|P01-03|Acceleration time|(((
	1519	+)))|(% style="text-align:center; vertical-align:middle; width:104px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:92px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:393px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:66px" %)**Unit**
	1520	+|(% style="text-align:center; vertical-align:middle; width:116px" %)P01-03|(% style="text-align:center; vertical-align:middle; width:137px" %)Acceleration time|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
1501	1501	Operation setting
1502		-)))|(((
	1522	+)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
1503	1503	Effective immediately
1504		-)))|50|0 to 65535|The time for the speed instruction to accelerate from 0 to 1000rpm|ms
1505		-|P01-04|Deceleration time|(((
	1524	+)))|(% style="text-align:center; vertical-align:middle; width:104px" %)50|(% style="text-align:center; vertical-align:middle; width:92px" %)0 to 65535|(% style="width:393px" %)The time for the speed instruction to accelerate from 0 to 1000rpm|(% style="text-align:center; vertical-align:middle; width:66px" %)ms
	1525	+|(% style="text-align:center; vertical-align:middle; width:116px" %)P01-04|(% style="text-align:center; vertical-align:middle; width:137px" %)Deceleration time|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
1506	1506	Operation setting
1507		-)))|(((
	1527	+)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
1508	1508	Effective immediately
1509		-)))|50|0 to 65535|The time for the speed instruction to decelerate from 1000rpm to 0|ms
	1529	+)))|(% style="text-align:center; vertical-align:middle; width:104px" %)50|(% style="text-align:center; vertical-align:middle; width:92px" %)0 to 65535|(% style="width:393px" %)The time for the speed instruction to decelerate from 1000rpm to 0|(% style="text-align:center; vertical-align:middle; width:66px" %)ms
1510	1510
1511	1511	Table 6-31 Acceleration and deceleration time parameters
1512	1512
...	...	@@ -1525,27 +1525,27 @@
1525	1525
1526	1526	The amplitude of negative speed command ≤ min (Maximum motor speed, P01-10, P01-13)
1527	1527
1528		-
1529		-|**Function code**|**Name**|(((
	1548	+(% class="table-bordered" %)
	1549	+|(% style="text-align:center; vertical-align:middle; width:119px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:136px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:133px" %)(((
1530	1530	**Setting method**
1531		-)))|(((
	1551	+)))|(% style="text-align:center; vertical-align:middle; width:163px" %)(((
1532	1532	**Effective time**
1533		-)))|**Default value**|**Range**|**Definition**|**Unit**
1534		-|P01-10|Maximum speed threshold|(((
	1553	+)))|(% style="text-align:center; vertical-align:middle; width:112px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:86px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:395px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:61px" %)**Unit**
	1554	+|(% style="text-align:center; vertical-align:middle; width:119px" %)P01-10|(% style="text-align:center; vertical-align:middle; width:136px" %)Maximum speed threshold|(% style="text-align:center; vertical-align:middle; width:133px" %)(((
1535	1535	Operation setting
1536		-)))|(((
	1556	+)))|(% style="text-align:center; vertical-align:middle; width:163px" %)(((
1537	1537	Effective immediately
1538		-)))|3600|0 to 5000|Set the maximum speed limit value, if exceeds this value, an overspeed fault will be reported|rpm
1539		-|P01-12|Forward speed threshold|(((
	1558	+)))|(% style="text-align:center; vertical-align:middle; width:112px" %)3600|(% style="text-align:center; vertical-align:middle; width:86px" %)0 to 5000|(% style="width:395px" %)Set the maximum speed limit value, if exceeds this value, an overspeed fault will be reported|(% style="text-align:center; vertical-align:middle; width:61px" %)rpm
	1559	+|(% style="text-align:center; vertical-align:middle; width:119px" %)P01-12|(% style="text-align:center; vertical-align:middle; width:136px" %)Forward speed threshold|(% style="text-align:center; vertical-align:middle; width:133px" %)(((
1540	1540	Operation setting
1541		-)))|(((
	1561	+)))|(% style="text-align:center; vertical-align:middle; width:163px" %)(((
1542	1542	Effective immediately
1543		-)))|3000|0 to 5000|Set forward speed limit value|rpm
1544		-|P01-13|Reverse speed threshold|(((
	1563	+)))|(% style="text-align:center; vertical-align:middle; width:112px" %)3000|(% style="text-align:center; vertical-align:middle; width:86px" %)0 to 5000|(% style="width:395px" %)Set forward speed limit value|(% style="text-align:center; vertical-align:middle; width:61px" %)rpm
	1564	+|(% style="text-align:center; vertical-align:middle; width:119px" %)P01-13|(% style="text-align:center; vertical-align:middle; width:136px" %)Reverse speed threshold|(% style="text-align:center; vertical-align:middle; width:133px" %)(((
1545	1545	Operation setting
1546		-)))|(((
	1566	+)))|(% style="text-align:center; vertical-align:middle; width:163px" %)(((
1547	1547	Effective immediately
1548		-)))|3000|0 to 5000|Set reverse speed limit value|rpm
	1568	+)))|(% style="text-align:center; vertical-align:middle; width:112px" %)3000|(% style="text-align:center; vertical-align:middle; width:86px" %)0 to 5000|(% style="width:395px" %)Set reverse speed limit value|(% style="text-align:center; vertical-align:middle; width:61px" %)rpm
1549	1549
1550	1550	Table 6-32 Rotation speed related function codes
1551	1551
...	...	@@ -1555,19 +1555,19 @@
1555	1555
1556	1556	If the speed instruction amplitude is greater than zero-speed clamp speed threshold, the servo motor exits the locked state and continues to run according to the current input speed instruction.
1557	1557
1558		-
1559		-|**Function code**|**Name**|(((
	1578	+(% class="table-bordered" %)
	1579	+|(% style="text-align:center; vertical-align:middle; width:119px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:115px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:147px" %)(((
1560	1560	**Setting method**
1561		-)))|(((
	1581	+)))|(% style="text-align:center; vertical-align:middle; width:166px" %)(((
1562	1562	**Effective time**
1563		-)))|**Default value**|**Range**|**Definition**|**Unit**
1564		-|P01-21|(((
	1583	+)))|(% style="text-align:center; vertical-align:middle; width:116px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:86px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:398px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:58px" %)**Unit**
	1584	+|(% style="text-align:center; vertical-align:middle; width:119px" %)P01-21|(% style="text-align:center; vertical-align:middle; width:115px" %)(((
1565	1565	Zero-speed clamp function selection
1566		-)))|(((
	1586	+)))|(% style="text-align:center; vertical-align:middle; width:147px" %)(((
1567	1567	Operation setting
1568		-)))|(((
	1588	+)))|(% style="text-align:center; vertical-align:middle; width:166px" %)(((
1569	1569	Effective immediately
1570		-)))|0|0 to 3|(((
	1590	+)))|(% style="text-align:center; vertical-align:middle; width:116px" %)0|(% style="text-align:center; vertical-align:middle; width:86px" %)0 to 3|(% style="width:398px" %)(((
1571	1571	Set the zero-speed clamp function. In speed mode:
1572	1572
1573	1573	0: Force the speed to 0;
...	...	@@ -1577,18 +1577,18 @@
1577	1577	2: When speed instruction is less than P01-22, force the speed to 0 and keep the position locked
1578	1578
1579	1579	3: Invalid, ignore zero-speed clamp input
1580		-)))|-
1581		-|P01-22|(((
	1600	+)))|(% style="text-align:center; vertical-align:middle; width:58px" %)-
	1601	+|(% style="text-align:center; vertical-align:middle; width:119px" %)P01-22|(% style="text-align:center; vertical-align:middle; width:115px" %)(((
1582	1582	Zero-speed clamp speed threshold
1583		-)))|(((
	1603	+)))|(% style="text-align:center; vertical-align:middle; width:147px" %)(((
1584	1584	Operation setting
1585		-)))|(((
	1605	+)))|(% style="text-align:center; vertical-align:middle; width:166px" %)(((
1586	1586	Effective immediately
1587		-)))|20|0 to 1000|Set the speed threshold of zero-speed clamp function|rpm
	1607	+)))|(% style="text-align:center; vertical-align:middle; width:116px" %)20|(% style="text-align:center; vertical-align:middle; width:86px" %)0 to 1000|(% style="text-align:left; vertical-align:middle; width:398px" %)Set the speed threshold of zero-speed clamp function|(% style="text-align:center; vertical-align:middle; width:58px" %)rpm
1588	1588
1589	1589	Table 6-33 Zero-speed clamp related parameters
1590	1590
1591		-
	1611	+(% style="text-align:center" %)
1592	1592	[[image:image-20220608171549-30.png]]
1593	1593
1594	1594	Figure 6-34 Zero-speed clamp diagram
...	...	@@ -1601,36 +1601,36 @@
1601	1601
1602	1602	After the speed instruction is filtered, the absolute value of the actual speed absolute value of the servo motor reaches P05-16 (rotation detection speed threshold), it could be considered that the motor is rotating. At this time, the servo drive outputs a rotation detection signal (TGON), which can be used to confirm that the motor has rotated. On the contrary, when the absolute value of the actual rotation speed of the servo motor is less than P05-16, it is considered that the motor is not rotating.
1603	1603
1604		-
	1624	+(% style="text-align:center" %)
1605	1605	[[image:image-20220608171625-31.png]]
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>>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]]__.
	1629	+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]]__.
1610	1610
1611		-
1612		-|**Function code**|**Name**|(((
	1631	+(% class="table-bordered" %)
	1632	+|(% style="text-align:center; vertical-align:middle; width:147px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:166px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:139px" %)(((
1613	1613	**Setting method**
1614		-)))|(((
	1634	+)))|(% style="text-align:center; vertical-align:middle; width:175px" %)(((
1615	1615	**Effective time**
1616		-)))|**Default value**|**Range**|**Definition**|**Unit**
1617		-|P05-16|(((
	1636	+)))|(% style="text-align:center; vertical-align:middle; width:126px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:113px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:382px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:237px" %)**Unit**
	1637	+|(% style="text-align:center; vertical-align:middle; width:147px" %)P05-16|(% style="text-align:center; vertical-align:middle; width:166px" %)(((
1618	1618	Rotation detection
1619	1619
1620	1620	speed threshold
1621		-)))|(((
	1641	+)))|(% style="text-align:center; vertical-align:middle; width:139px" %)(((
1622	1622	Operation setting
1623		-)))|(((
	1643	+)))|(% style="text-align:center; vertical-align:middle; width:175px" %)(((
1624	1624	Effective immediately
1625		-)))|20|0 to 1000|Set the motor rotation signal judgment threshold|rpm
	1645	+)))|(% style="text-align:center; vertical-align:middle; width:126px" %)20|(% style="text-align:center; vertical-align:middle; width:113px" %)0 to 1000|(% style="text-align:center; vertical-align:middle; width:382px" %)Set the motor rotation signal judgment threshold|(% style="text-align:center; vertical-align:middle; width:237px" %)rpm
1626	1626
1627	1627	Table 6-34 Rotation detection speed threshold parameters
1628	1628
1629		-
1630		-|**DO function code**|**Function name**|**Function**
1631		-|132|(((
	1649	+(% class="table-bordered" %)
	1650	+|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle; width:421px" %)**Function name**|(% style="text-align:center; vertical-align:middle; width:879px" %)**Function**
	1651	+|(% style="text-align:center; vertical-align:middle" %)132|(% style="text-align:center; vertical-align:middle; width:421px" %)(((
1632	1632	T-COIN rotation detection
1633		-)))|(((
	1653	+)))|(% style="width:879px" %)(((
1634	1634	Valid: when the absolute value of motor speed after filtering is greater than or equal to the set value of function code P05-16
1635	1635
1636	1636	Invalid, when the absolute value of motor speed after filtering is less than set value of function code P05-16
...	...	@@ -1642,32 +1642,32 @@
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		-
	1665	+(% style="text-align:center" %)
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>>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]]__.
	1670	+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]]__.
1651	1651
1652		-
1653		-|**Function code**|**Name**|(((
	1672	+(% class="table-bordered" %)
	1673	+|(% style="text-align:center; vertical-align:middle; width:112px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:188px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:169px" %)(((
1654	1654	**Setting method**
1655		-)))|(((
	1675	+)))|(% style="text-align:center; vertical-align:middle; width:194px" %)(((
1656	1656	**Effective time**
1657		-)))|**Default value**|**Range**|**Definition**|**Unit**
1658		-|P05-19|Zero speed output signal threshold|(((
	1677	+)))|(% style="text-align:center; vertical-align:middle; width:120px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:106px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:400px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:196px" %)**Unit**
	1678	+|(% style="text-align:center; vertical-align:middle; width:112px" %)P05-19|(% style="text-align:center; vertical-align:middle; width:188px" %)Zero speed output signal threshold|(% style="text-align:center; vertical-align:middle; width:169px" %)(((
1659	1659	Operation setting
1660		-)))|(((
	1680	+)))|(% style="text-align:center; vertical-align:middle; width:194px" %)(((
1661	1661	Effective immediately
1662		-)))|10|0 to 6000|Set zero-speed output signal judgment threshold|rpm
	1682	+)))|(% style="text-align:center; vertical-align:middle; width:120px" %)10|(% style="text-align:center; vertical-align:middle; width:106px" %)0 to 6000|(% style="text-align:center; vertical-align:middle; width:400px" %)Set zero-speed output signal judgment threshold|(% style="text-align:center; vertical-align:middle; width:196px" %)rpm
1663	1663
1664	1664	Table 6-36 Zero-speed output signal threshold parameter
1665	1665
1666		-
1667		-|**DO function code**|**Function name**|**Function**
1668		-|133|(((
	1686	+(% class="table-bordered" %)
	1687	+|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**
	1688	+|(% style="text-align:center; vertical-align:middle" %)133|(% style="text-align:center; vertical-align:middle" %)(((
1669	1669	ZSP zero speed signal
1670		-)))|Output this signal indicates that the servo motor is stopping rotation
	1690	+)))|(% style="text-align:center; vertical-align:middle" %)Output this signal indicates that the servo motor is stopping rotation
1671	1671
1672	1672	Table 6-37 DO zero-speed signal function code
1673	1673
...	...	@@ -1675,32 +1675,32 @@
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		-
	1698	+(% style="text-align:center" %)
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>>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]]__.
	1703	+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]]__.
1684	1684
1685		-
1686		-|**Function code**|**Name**|(((
	1705	+(% class="table-bordered" %)
	1706	+|(% style="text-align:center; vertical-align:middle; width:115px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:243px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
1687	1687	**Setting method**
1688		-)))|(((
	1708	+)))|(% style="text-align:center; vertical-align:middle; width:169px" %)(((
1689	1689	**Effective time**
1690		-)))|**Default value**|**Range**|**Definition**|**Unit**
1691		-|P05-17|Speed consistent signal threshold|(((
	1710	+)))|(% style="text-align:center; vertical-align:middle; width:143px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:103px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:347px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:209px" %)**Unit**
	1711	+|(% style="text-align:center; vertical-align:middle; width:115px" %)P05-17|(% style="text-align:center; vertical-align:middle; width:243px" %)Speed consistent signal threshold|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
1692	1692	Operationsetting
1693		-)))|(((
	1713	+)))|(% style="text-align:center; vertical-align:middle; width:169px" %)(((
1694	1694	Effective immediately
1695		-)))|10|0 to 100|Set speed consistent signal threshold|rpm
	1715	+)))|(% style="text-align:center; vertical-align:middle; width:143px" %)10|(% style="text-align:center; vertical-align:middle; width:103px" %)0 to 100|(% style="text-align:center; vertical-align:middle; width:347px" %)Set speed consistent signal threshold|(% style="text-align:center; vertical-align:middle; width:209px" %)rpm
1696	1696
1697	1697	Table 6-38 Speed consistent signal threshold parameters
1698	1698
1699		-
1700		-|**DO Function code**|**Function name**|**Function**
1701		-|136|(((
	1719	+(% class="table-bordered" %)
	1720	+|(% style="text-align:center; vertical-align:middle; width:193px" %)**DO Function code**|(% style="text-align:center; vertical-align:middle; width:340px" %)**Function name**|(% style="text-align:center; vertical-align:middle; width:672px" %)**Function**
	1721	+|(% style="text-align:center; vertical-align:middle; width:193px" %)136|(% style="text-align:center; vertical-align:middle; width:340px" %)(((
1702	1702	U-COIN consistent speed
1703		-)))|The output signal indicates that the absolute deviation of the actual speed of servo motor and the speed instruction meets the P05-17 set value
	1723	+)))|(% style="text-align:center; vertical-align:middle; width:672px" %)The output signal indicates that the absolute deviation of the actual speed of servo motor and the speed instruction meets the P05-17 set value
1704	1704
1705	1705	Table 6-39 DO speed consistent function code
1706	1706
...	...	@@ -1708,32 +1708,32 @@
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		-
	1731	+(% style="text-align:center" %)
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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__ and __[[Table 6-40>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__.
	1736	+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]]__.
1717	1717
1718		-
1719		-|**Function code**|**Name**|(((
	1738	+(% class="table-bordered" %)
	1739	+|(% style="text-align:center; vertical-align:middle; width:114px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:238px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:153px" %)(((
1720	1720	**Setting method**
1721		-)))|(((
	1741	+)))|(% style="text-align:center; vertical-align:middle; width:180px" %)(((
1722	1722	**Effective time**
1723		-)))|**Default value**|**Range**|**Definition**|**Unit**
1724		-|P05-18|Speed approach signal threshold|(((
	1743	+)))|(% style="text-align:center; vertical-align:middle; width:115px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:89px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:263px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	1744	+|(% style="text-align:center; vertical-align:middle; width:114px" %)P05-18|(% style="text-align:center; vertical-align:middle; width:238px" %)Speed approach signal threshold|(% style="text-align:center; vertical-align:middle; width:153px" %)(((
1725	1725	Operation setting
1726		-)))|(((
	1746	+)))|(% style="text-align:center; vertical-align:middle; width:180px" %)(((
1727	1727	Effective immediately
1728		-)))|100|10 to 6000|Set speed approach signal threshold|rpm
	1748	+)))|(% style="text-align:center; vertical-align:middle; width:115px" %)100|(% style="text-align:center; vertical-align:middle; width:89px" %)10 to 6000|(% style="text-align:center; vertical-align:middle; width:263px" %)Set speed approach signal threshold|(% style="text-align:center; vertical-align:middle" %)rpm
1729	1729
1730	1730	Table 6-40 Speed approaching signal threshold parameters
1731	1731
1732		-
1733		-|**DO function code**|**Function name**|**Function**
1734		-|137|(((
	1752	+(% class="table-bordered" %)
	1753	+|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle; width:314px" %)**Function name**|(% style="text-align:center; vertical-align:middle; width:719px" %)**Function**
	1754	+|(% style="text-align:center; vertical-align:middle" %)137|(% style="text-align:center; vertical-align:middle; width:314px" %)(((
1735	1735	V-NEAR speed approach
1736		-)))|The output signal indicates that the actual speed of the servo motor has reached the expected value
	1756	+)))|(% style="text-align:center; vertical-align:middle; width:719px" %)The output signal indicates that the actual speed of the servo motor has reached the expected value
1737	1737
1738	1738	Table 6-41 DO speed approach function code
1739	1739
...	...	@@ -1741,7 +1741,7 @@
1741	1741
1742	1742	The current of the servo motor has a linear relationship with the torque. Therefore, the control of the current can realize the control of the torque. Torque control refers to controlling the output torque of the motor through torque instructions. Torque instruction could be given by internal instruction and analog voltage.
1743	1743
1744		-
	1764	+(% style="text-align:center" %)
1745	1745	[[image:image-20220608172405-35.png]]
1746	1746
1747	1747	Figure 6-39 Torque mode diagram
...	...	@@ -1750,21 +1750,21 @@
1750	1750
1751	1751	In torque instruction, VD2A and VD2B servo drives have two instruction source: internal torque instruction and analog torque instruction. VD2F drive only has internal torque instruction. The torque instruction source is set by the function code P01-07.
1752	1752
1753		-
1754		-|**Function code**|**Name**|(((
	1773	+(% class="table-bordered" %)
	1774	+|(% style="text-align:center; vertical-align:middle; width:110px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:186px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
1755	1755	**Setting method**
1756		-)))|(((
	1776	+)))|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
1757	1757	**Effective time**
1758		-)))|**Default value**|**Range**|**Definition**|**Unit**
1759		-|P01-08|Torque instruction source|(((
	1778	+)))|(% style="text-align:center; vertical-align:middle; width:112px" %)**Default value**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	1779	+|(% style="text-align:center; vertical-align:middle; width:110px" %)P01-08|(% style="text-align:center; vertical-align:middle; width:186px" %)Torque instruction source|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
1760	1760	Shutdown setting
1761		-)))|(((
	1781	+)))|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
1762	1762	Effective immediately
1763		-)))|0|0 to 1|(((
	1783	+)))|(% style="text-align:center; vertical-align:middle; width:112px" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)(((
1764	1764	0: internal torque instruction
1765	1765
1766	1766	1: AI_1 analog input(not supported by VD2F)
1767		-)))|-
	1787	+)))|(% style="text-align:center; vertical-align:middle" %)-
1768	1768
1769	1769	Table 6-42 Torque instruction source parameter
1770	1770
...	...	@@ -1772,17 +1772,17 @@
1772	1772
1773	1773	Torque instruction source is from inside, the value is set by function code P01-08.
1774	1774
1775		-
1776		-|**Function code**|**Name**|(((
	1795	+(% class="table-bordered" %)
	1796	+|(% style="text-align:center; vertical-align:middle; width:112px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:274px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:132px" %)(((
1777	1777	**Setting method**
1778		-)))|(((
	1798	+)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((
1779	1779	**Effective time**
1780		-)))|**Default value**|**Range**|**Definition**|**Unit**
1781		-|P01-08|Torque instruction keyboard set value|(((
	1800	+)))|(% style="text-align:center; vertical-align:middle; width:120px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:129px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:211px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	1801	+|(% style="text-align:center; vertical-align:middle; width:112px" %)P01-08|(% style="text-align:center; vertical-align:middle; width:274px" %)Torque instruction keyboard set value|(% style="text-align:center; vertical-align:middle; width:132px" %)(((
1782	1782	Operation setting
1783		-)))|(((
	1803	+)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((
1784	1784	Effective immediately
1785		-)))|0|-3000 to 3000|-300.0% to 300.0%|0.1%
	1805	+)))|(% style="text-align:center; vertical-align:middle; width:120px" %)0|(% style="text-align:center; vertical-align:middle; width:129px" %)-3000 to 3000|(% style="text-align:center; vertical-align:middle; width:211px" %)-300.0% to 300.0%|(% style="text-align:center; vertical-align:middle" %)0.1%
1786	1786
1787	1787	Table 6-43 Torque instruction keyboard set value
1788	1788
...	...	@@ -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		-
	1813	+(% 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		-
	1820	+(% style="text-align:center" %)
1801	1801	[[image:image-20220608172502-36.png]]
1802	1802
1803	1803	Figure 6-41 Analog voltage torque instruction setting steps
...	...	@@ -1810,18 +1810,18 @@
1810	1810
1811	1811	Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1812	1812
1813		-
	1833	+(% 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
	1838	+(% class="table-bordered" %)
	1839	+|(% style="text-align:center; vertical-align:middle; width:127px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:148px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:144px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:162px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:85px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:134px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:340px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	1840	+|(% style="text-align:center; vertical-align:middle; width:127px" %)P05-01☆|(% style="text-align:center; vertical-align:middle; width:148px" %)AI_1 input bias|(% style="text-align:center; vertical-align:middle; width:144px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:85px" %)0|(% style="text-align:center; vertical-align:middle; width:134px" %)-5000 to 5000|(% style="text-align:center; vertical-align:middle; width:340px" %)Set AI_1 channel analog bias value|(% style="text-align:center; vertical-align:middle" %)mV
	1841	+|(% style="text-align:center; vertical-align:middle; width:127px" %)P05-02☆|(% style="text-align:center; vertical-align:middle; width:148px" %)AI_1 input filter time constant|(% style="text-align:center; vertical-align:middle; width:144px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:85px" %)200|(% style="text-align:center; vertical-align:middle; width:134px" %)0 to 60000|(% style="text-align:center; vertical-align:middle; width:340px" %)AI_1 channel input first-order low-pass filtering time constant|(% style="text-align:center; vertical-align:middle" %)0.01ms
	1842	+|(% style="text-align:center; vertical-align:middle; width:127px" %)P05-03☆|(% style="text-align:center; vertical-align:middle; width:148px" %)AI_1 dead zone|(% style="text-align:center; vertical-align:middle; width:144px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:85px" %)20|(% style="text-align:center; vertical-align:middle; width:134px" %)0 to 1000|(% style="text-align:center; vertical-align:middle; width:340px" %)Set AI_1 channel dead zone value|(% style="text-align:center; vertical-align:middle" %)mV
	1843	+|(% style="text-align:center; vertical-align:middle; width:127px" %)P05-04☆|(% style="text-align:center; vertical-align:middle; width:148px" %)AI_1 zero drift|(% style="text-align:center; vertical-align:middle; width:144px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:85px" %)0|(% style="text-align:center; vertical-align:middle; width:134px" %)-500 to 500|(% style="text-align:center; vertical-align:middle; width:340px" %)Automatic calibration of zero drift inside the drive|(% style="text-align:center; vertical-align:middle" %)mV
1818	1818
1819		-|**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
1820		-|P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
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
1822		-|P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel dead zone value|mV
1823		-|P05-04☆|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV
1824		-
1825	1825	Table 6-44 AI_1 parameters
1826	1826
1827	1827	✎**Note: **“☆” means VD2F servo drive does not support the function code .
...	...	@@ -1830,23 +1830,23 @@
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		-|**Function code**|**Name**|(((
	1853	+(% class="table-bordered" %)
	1854	+|(% style="text-align:center; vertical-align:middle; width:115px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:129px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:144px" %)(((
1835	1835	**Setting method**
1836		-)))|(((
	1856	+)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
1837	1837	**Effective time**
1838		-)))|**Default value**|**Range**|**Definition**|**Unit**
1839		-|P04-04|Torque filtering time constant|(((
	1858	+)))|(% style="text-align:center; vertical-align:middle; width:109px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:89px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:398px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	1859	+|(% style="text-align:center; vertical-align:middle; width:115px" %)P04-04|(% style="text-align:center; vertical-align:middle; width:129px" %)Torque filtering time constant|(% style="text-align:center; vertical-align:middle; width:144px" %)(((
1840	1840	Operation setting
1841		-)))|(((
	1861	+)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
1842	1842	Effective immediately
1843		-)))|50|10 to 2500|This parameter is automatically set when “self-adjustment mode selection” is selected as 0|0.01ms
	1863	+)))|(% style="text-align:center; vertical-align:middle; width:109px" %)50|(% style="text-align:center; vertical-align:middle; width:89px" %)10 to 2500|(% style="text-align:center; vertical-align:middle; width:398px" %)This parameter is automatically set when “self-adjustment mode selection” is selected as 0|(% style="text-align:center; vertical-align:middle" %)0.01ms
1844	1844
1845	1845	Table 6-45 Torque filtering time constant parameter details
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		-
	1869	+(% 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		-
	1880	+(% style="text-align:center" %)
1861	1861	[[image:image-20220608172806-39.png]]
1862	1862
1863	1863	Figure 6-44 Torque instruction limit diagram
...	...	@@ -1866,50 +1866,50 @@
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		-|**Function code**|**Name**|(((
	1889	+(% class="table-bordered" %)
	1890	+|(% style="text-align:center; vertical-align:middle; width:116px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:145px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:134px" %)(((
1871	1871	**Setting method**
1872		-)))|(((
	1892	+)))|(% style="text-align:center; vertical-align:middle; width:167px" %)(((
1873	1873	**Effective time**
1874		-)))|**Default value**|**Range**|**Definition**|**Unit**
1875		-|P01-14|(((
	1894	+)))|(% style="text-align:center; vertical-align:middle; width:133px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:96px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:344px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	1895	+|(% style="text-align:center; vertical-align:middle; width:116px" %)P01-14|(% style="text-align:center; vertical-align:middle; width:145px" %)(((
1876	1876	Torque limit source
1877		-)))|(((
	1897	+)))|(% style="text-align:center; vertical-align:middle; width:134px" %)(((
1878	1878	Shutdown setting
1879		-)))|(((
	1899	+)))|(% style="text-align:center; vertical-align:middle; width:167px" %)(((
1880	1880	Effective immediately
1881		-)))|0|0 to 1|(((
	1901	+)))|(% style="text-align:center; vertical-align:middle; width:133px" %)0|(% style="text-align:center; vertical-align:middle; width:96px" %)0 to 1|(% style="text-align:center; vertical-align:middle; width:344px" %)(((
1882	1882	0: internal value
1883	1883
1884	1884	1: AI_1 analog input
1885	1885
1886	1886	(not supported by VD2F)
1887		-)))|-
	1907	+)))|(% style="text-align:center; vertical-align:middle" %)-
1888	1888
1889	1889	1) Torque limit source is internal torque instruction (P01-14=0)
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		-|**Function code**|**Name**|(((
	1913	+(% class="table-bordered" %)
	1914	+|(% style="text-align:center; vertical-align:middle; width:117px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:154px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
1895	1895	**Setting method**
1896		-)))|(((
	1916	+)))|(% style="text-align:center; vertical-align:middle; width:169px" %)(((
1897	1897	**Effective time**
1898		-)))|**Default value**|**Range**|**Definition**|**Unit**
1899		-|P01-15|(((
	1918	+)))|(% style="text-align:center; vertical-align:middle; width:118px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:95px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:353px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:63px" %)**Unit**
	1919	+|(% style="text-align:center; vertical-align:middle; width:117px" %)P01-15|(% style="text-align:center; vertical-align:middle; width:154px" %)(((
1900	1900	Forward torque limit
1901		-)))|(((
	1921	+)))|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
1902	1902	Operation setting
1903		-)))|(((
	1923	+)))|(% style="text-align:center; vertical-align:middle; width:169px" %)(((
1904	1904	Effective immediately
1905		-)))|3000|0 to 3000|When P01-14 is set to 0, the value of this function code is forward torque limit value|0.1%
1906		-|P01-16|(((
	1925	+)))|(% style="text-align:center; vertical-align:middle; width:118px" %)3000|(% style="text-align:center; vertical-align:middle; width:95px" %)0 to 3000|(% style="text-align:center; vertical-align:middle; width:353px" %)When P01-14 is set to 0, the value of this function code is forward torque limit value|(% style="text-align:center; vertical-align:middle; width:63px" %)0.1%
	1926	+|(% style="text-align:center; vertical-align:middle; width:117px" %)P01-16|(% style="text-align:center; vertical-align:middle; width:154px" %)(((
1907	1907	Reverse torque limit
1908		-)))|(((
	1928	+)))|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
1909	1909	Operation setting
1910		-)))|(((
	1930	+)))|(% style="text-align:center; vertical-align:middle; width:169px" %)(((
1911	1911	Effective immediately
1912		-)))|3000|0 to 3000|When P01-14 is set to 0, the value of this function code is reverse torque limit value|0.1%
	1932	+)))|(% style="text-align:center; vertical-align:middle; width:118px" %)3000|(% style="text-align:center; vertical-align:middle; width:95px" %)0 to 3000|(% style="text-align:center; vertical-align:middle; width:353px" %)When P01-14 is set to 0, the value of this function code is reverse torque limit value|(% style="text-align:center; vertical-align:middle; width:63px" %)0.1%
1913	1913
1914	1914	Table 6-46 Torque limit parameter details
1915	1915
...	...	@@ -1921,11 +1921,11 @@
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		-|**DO function code**|**Function name**|**Function**
1926		-|139|(((
	1944	+(% class="table-bordered" %)
	1945	+|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle; width:222px" %)**Function name**|(% style="text-align:center; vertical-align:middle; width:758px" %)**Function**
	1946	+|(% style="text-align:center; vertical-align:middle" %)139|(% style="text-align:center; vertical-align:middle; width:222px" %)(((
1927	1927	T-LIMIT in torque limit
1928		-)))|Output of this signal indicates that the servo motor torque is limited
	1948	+)))|(% style="text-align:center; vertical-align:middle; width:758px" %)Output of this signal indicates that the servo motor torque is limited
1929	1929
1930	1930	Table 6-47 DO torque limit function codes
1931	1931
...	...	@@ -1933,46 +1933,49 @@
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>>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]]__.
	1956	+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]]__.
1937	1937
1938	1938	|(((
	1959	+(% style="text-align:center" %)
1939	1939	[[image:image-20220608172910-40.png]]
1940	1940	)))|(((
	1962	+(% style="text-align:center" %)
1941	1941	[[image:image-20220608173155-41.png]]
1942	1942	)))
1943	1943	|Figure 6-45 Forward running curve|Figure 6-46 Reverse running curve
1944	1944
1945		-|**Function code**|**Name**|(((
	1967	+(% class="table-bordered" %)
	1968	+|(% style="text-align:center; vertical-align:middle; width:117px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:157px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:140px" %)(((
1946	1946	**Setting method**
1947		-)))|(((
	1970	+)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
1948	1948	**Effective time**
1949		-)))|**Default value**|**Range**|**Definition**|**Unit**
1950		-|P01-17|(((
	1972	+)))|(% style="text-align:center; vertical-align:middle; width:171px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:166px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	1973	+|(% style="text-align:center; vertical-align:middle; width:117px" %)P01-17|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
1951	1951	Forward torque
1952	1952
1953	1953	limit in torque mode
1954		-)))|(((
	1977	+)))|(% style="text-align:center; vertical-align:middle; width:140px" %)(((
1955	1955	Operation setting
1956		-)))|(((
	1979	+)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
1957	1957	Effective immediately
1958		-)))|3000|0 to 5000|(((
	1981	+)))|(% style="text-align:center; vertical-align:middle; width:171px" %)3000|(% style="text-align:center; vertical-align:middle; width:166px" %)0 to 5000|(% style="text-align:center; vertical-align:middle" %)(((
1959	1959	Forward torque
1960	1960
1961	1961	limit in torque mode
1962		-)))|0.1%
1963		-|P01-18|(((
	1985	+)))|(% style="text-align:center; vertical-align:middle" %)0.1%
	1986	+|(% style="text-align:center; vertical-align:middle; width:117px" %)P01-18|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
1964	1964	Reverse torque
1965	1965
1966	1966	limit in torque mode
1967		-)))|(((
	1990	+)))|(% style="text-align:center; vertical-align:middle; width:140px" %)(((
1968	1968	Operation setting
1969		-)))|(((
	1992	+)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
1970	1970	Effective immediately
1971		-)))|3000|0 to 5000|(((
	1994	+)))|(% style="text-align:center; vertical-align:middle; width:171px" %)3000|(% style="text-align:center; vertical-align:middle; width:166px" %)0 to 5000|(% style="text-align:center; vertical-align:middle" %)(((
1972	1972	Reverse torque
1973	1973
1974	1974	limit in torque mode
1975		-)))|0.1%
	1998	+)))|(% style="text-align:center; vertical-align:middle" %)0.1%
1976	1976
1977	1977	Table 6-48 Speed limit parameters in torque mode
1978	1978
...	...	@@ -1986,7 +1986,7 @@
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		-
	2012	+(% style="text-align:center" %)
1990	1990	[[image:image-20220608173541-42.png]]
1991	1991
1992	1992	Figure 6-47 Torque arrival output diagram
...	...	@@ -1993,44 +1993,44 @@
1993	1993
1994	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]]__.
1995	1995
1996		-
1997		-|**Function code**|**Name**|(((
	2019	+(% class="table-bordered" %)
	2020	+|(% style="text-align:center; vertical-align:middle; width:126px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:115px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:137px" %)(((
1998	1998	**Setting method**
1999		-)))|(((
	2022	+)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
2000	2000	**Effective time**
2001		-)))|**Default value**|**Range**|**Definition**|**Unit**
2002		-|P05-20|(((
	2024	+)))|(% style="text-align:center; vertical-align:middle; width:115px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:77px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:417px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	2025	+|(% style="text-align:center; vertical-align:middle; width:126px" %)P05-20|(% style="text-align:center; vertical-align:middle; width:115px" %)(((
2003	2003	Torque arrival
2004	2004
2005	2005	threshold
2006		-)))|(((
	2029	+)))|(% style="text-align:center; vertical-align:middle; width:137px" %)(((
2007	2007	Operation setting
2008		-)))|(((
	2031	+)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
2009	2009	Effective immediately
2010		-)))|100|0 to 300|(((
	2033	+)))|(% style="text-align:center; vertical-align:middle; width:115px" %)100|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 300|(% style="text-align:center; vertical-align:middle; width:417px" %)(((
2011	2011	The torque arrival threshold must be used with “Torque arrival hysteresis value”:
2012	2012
2013	2013	When the actual torque reaches Torque arrival threshold + Torque arrival hysteresis Value, the torque arrival DO is valid;
2014	2014
2015	2015	When the actual torque decreases below torque arrival threshold-torque arrival hysteresis value, the torque arrival DO is invalid
2016		-)))|%
2017		-|P05-21|(((
	2039	+)))|(% style="text-align:center; vertical-align:middle" %)%
	2040	+|(% style="text-align:center; vertical-align:middle; width:126px" %)P05-21|(% style="text-align:center; vertical-align:middle; width:115px" %)(((
2018	2018	Torque arrival
2019	2019
2020	2020	hysteresis
2021		-)))|(((
	2044	+)))|(% style="text-align:center; vertical-align:middle; width:137px" %)(((
2022	2022	Operation setting
2023		-)))|(((
	2046	+)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
2024	2024	Effective immediately
2025		-)))|10|0 to 20|Torque arrival the hysteresis value must be used with Torque arrival threshold|%
	2048	+)))|(% style="text-align:center; vertical-align:middle; width:115px" %)10|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 20|(% style="text-align:center; vertical-align:middle; width:417px" %)Torque arrival the hysteresis value must be used with Torque arrival threshold|(% style="text-align:center; vertical-align:middle" %)%
2026	2026
2027	2027	Table 6-49 Torque arrival parameters
2028	2028
2029		-
2030		-|**DO function code**|**Function name**|**Function**
2031		-|138|(((
	2052	+(% class="table-bordered" %)
	2053	+|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle; width:205px" %)**Function name**|(% style="text-align:center; vertical-align:middle; width:803px" %)**Function**
	2054	+|(% style="text-align:center; vertical-align:middle" %)138|(% style="text-align:center; vertical-align:middle; width:205px" %)(((
2032	2032	T-COIN torque arrival
2033		-)))|Used to determine whether the actual torque instruction has reached the set range
	2056	+)))|(% style="text-align:center; vertical-align:middle; width:803px" %)Used to determine whether the actual torque instruction has reached the set range
2034	2034
2035	2035	Table 6-50 DO Torque Arrival Function Code
2036	2036
...	...	@@ -2046,17 +2046,17 @@
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		-|**Function code**|**Name**|(((
	2072	+(% class="table-bordered" %)
	2073	+|(% style="text-align:center; vertical-align:middle; width:118px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:122px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
2051	2051	**Setting method**
2052		-)))|(((
	2075	+)))|(% style="text-align:center; vertical-align:middle; width:142px" %)(((
2053	2053	**Effective time**
2054		-)))|**Default value**|**Range**|**Definition**|**Unit**
2055		-|P00-01|Control mode|(((
	2077	+)))|(% style="text-align:center; vertical-align:middle; width:144px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:97px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:408px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	2078	+|(% style="text-align:center; vertical-align:middle; width:118px" %)P00-01|(% style="text-align:center; vertical-align:middle; width:122px" %)Control mode|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
2056	2056	Shutdown setting
2057		-)))|(((
	2080	+)))|(% style="text-align:center; vertical-align:middle; width:142px" %)(((
2058	2058	Shutdown setting
2059		-)))|1|1 to 6|(((
	2082	+)))|(% style="text-align:center; vertical-align:middle; width:144px" %)1|(% style="text-align:center; vertical-align:middle; width:97px" %)1 to 6|(% style="width:408px" %)(((
2060	2060	1: Position control
2061	2061
2062	2062	2: Speed control
...	...	@@ -2068,22 +2068,23 @@
2068	2068	5: Position/torque mixed control
2069	2069
2070	2070	6: Speed/torque mixed control
2071		-)))|-
	2094	+)))|(% style="text-align:center; vertical-align:middle" %)-
2072	2072
2073	2073	Table 6-51 Mixed control mode parameters
2074	2074
2075	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.
2076	2076
2077		-
2078		-|**DI function code**|**Name**|**Function name**|**Function**
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		-|**P00-01**|**MixModeSel terminal logic**|**Control mode**
2081		-|(% rowspan="2" %)4|Valid|Speed mode
2082		-|invalid|Position mode
2083		-|(% rowspan="2" %)5|Valid|Torque mode
2084		-|invalid|Position mode
2085		-|(% rowspan="2" %)6|Valid|Torque mode
2086		-|invalid|Speed mode
	2100	+(% class="table-bordered" %)
	2101	+|(% style="text-align:center; vertical-align:middle" %)**DI function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**
	2102	+|(% style="text-align:center; vertical-align:middle" %)17|(% style="text-align:center; vertical-align:middle" %)MixModeSel|(% style="text-align:center; vertical-align:middle" %)Mixed mode selection|(% style="text-align:center; vertical-align:middle" %)Used in mixed control mode, when the servo status is "run", set the current control mode of the servo drive(((
	2103	+(% class="table-bordered" %)
	2104	+|(% style="text-align:center; vertical-align:middle" %)**P00-01**|(% style="text-align:center; vertical-align:middle" %)**MixModeSel terminal logic**|(% style="text-align:center; vertical-align:middle" %)**Control mode**
	2105	+|(% rowspan="2" style="text-align:center; vertical-align:middle" %)4|(% style="text-align:center; vertical-align:middle" %)Valid|(% style="text-align:center; vertical-align:middle" %)Speed mode
	2106	+|(% style="text-align:center; vertical-align:middle" %)invalid|(% style="text-align:center; vertical-align:middle" %)Position mode
	2107	+|(% rowspan="2" style="text-align:center; vertical-align:middle" %)5|(% style="text-align:center; vertical-align:middle" %)Valid|(% style="text-align:center; vertical-align:middle" %)Torque mode
	2108	+|(% style="text-align:center; vertical-align:middle" %)invalid|(% style="text-align:center; vertical-align:middle" %)Position mode
	2109	+|(% rowspan="2" style="text-align:center; vertical-align:middle" %)6|(% style="text-align:center; vertical-align:middle" %)Valid|(% style="text-align:center; vertical-align:middle" %)Torque mode
	2110	+|(% style="text-align:center; vertical-align:middle" %)invalid|(% style="text-align:center; vertical-align:middle" %)Speed mode
2087	2087	)))
2088	2088
2089	2089	Table 6-52 Description of DI function codes in control mode
...	...	@@ -2102,15 +2102,15 @@
2102	2102
2103	2103	The single-turn absolute value system is applicable for the equipment load stroke within the single-turn range of the encoder. At this time, the absolute encoder is only as a single-turn system function and does not need to be connected to the battery. The types and information of encoders adapted to VD2 series servo drives are shown as below.
2104	2104
	2129	+(% class="table-bordered" %)
	2130	+|(% style="text-align:center; vertical-align:middle" %)**Encoder type**|(% style="text-align:center; vertical-align:middle" %)**Encoder resolution (bits)**|(% style="text-align:center; vertical-align:middle" %)**Data range**
	2131	+|(% style="text-align:center; vertical-align:middle" %)A1 (single-turn magnetic encoder)|(% style="text-align:center; vertical-align:middle" %)17|(% style="text-align:center; vertical-align:middle" %)0 to 131071
2105	2105
2106		-|**Encoder type**|**Encoder resolution (bits)**|**Data range**
2107		-|A1 (single-turn magnetic encoder)|17|0 to 131071
2108		-
2109	2109	Table 6-53 Single-turn absolute encoder information
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		-
	2137	+(% 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
...	...	@@ -2119,16 +2119,16 @@
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
	2146	+(% class="table-bordered" %)
	2147	+|(% style="text-align:center; vertical-align:middle" %)**Encoder type**|(% style="text-align:center; vertical-align:middle" %)**Encoder resolution (bits)**|(% style="text-align:center; vertical-align:middle" %)**Data range**
	2148	+|(% style="text-align:center; vertical-align:middle" %)C1 (multi-turn magnetic encoder)|(% style="text-align:center; vertical-align:middle" %)17|(% style="text-align:center; vertical-align:middle" %)0 to 131071
	2149	+|(% style="text-align:center; vertical-align:middle" %)D2 (multi-turn Optical encoder)|(% style="text-align:center; vertical-align:middle" %)23|(% style="text-align:center; vertical-align:middle" %)0 to 8388607
2122	2122
2123		-|**Encoder type**|**Encoder resolution (bits)**|**Data range**
2124		-|C1 (multi-turn magnetic encoder)|17|0 to 131071
2125		-|D2 (multi-turn Optical encoder)|23|0 to 8388607
2126		-
2127	2127	Table 6-54 Multi-turn absolute encoder information
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		-
	2155	+(% 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
...	...	@@ -2137,12 +2137,12 @@
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
	2164	+(% class="table-bordered" %)
	2165	+|(% style="text-align:center; vertical-align:middle" %)**Monitoring number**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
	2166	+|(% style="text-align:center; vertical-align:middle" %)U0-54|(% style="text-align:center; vertical-align:middle" %)Universal|(% style="text-align:center; vertical-align:middle" %)Absolute encoder position within 1 turn|(% style="text-align:center; vertical-align:middle" %)Encoder unit|(% style="text-align:center; vertical-align:middle" %)32-bit
	2167	+|(% style="text-align:center; vertical-align:middle" %)U0-55|(% style="text-align:center; vertical-align:middle" %)Universal|(% style="text-align:center; vertical-align:middle" %)Rotations number of absolute encoder|(% style="text-align:center; vertical-align:middle" %)circle|(% style="text-align:center; vertical-align:middle" %)16-bit
	2168	+|(% style="text-align:center; vertical-align:middle" %)U0-56|(% style="text-align:center; vertical-align:middle" %)Universal|(% style="text-align:center; vertical-align:middle" %)Multi-turn absolute value encoder current position|(% style="text-align:center; vertical-align:middle" %)Instruction unit|(% style="text-align:center; vertical-align:middle" %)32-bit
2140	2140
2141		-|**Monitoring number**|**Category**|**Name**|**Unit**|**Data type**
2142		-|U0-54|Universal|Absolute encoder position within 1 turn|Encoder unit|32-bit
2143		-|U0-55|Universal|Rotations number of absolute encoder|circle|16-bit
2144		-|U0-56|Universal|Multi-turn absolute value encoder current position|Instruction unit|32-bit
2145		-
2146	2146	Table 6-55 Encoder feedback data
2147	2147
2148	2148	== **Absolute value system encoder battery box use precautions** ==
...	...	@@ -2149,7 +2149,7 @@
2149	2149
2150	2150	Er.40 (Encoder battery failure) will occur when the battery is turned on for the first time, and the function code P10-03 must be set to 1 to clear the encoder fault to operate the absolute value system again.
2151	2151
2152		-
	2176	+(% style="text-align:center" %)
2153	2153	[[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/45.jpg?rev=1.1||height="303" width="750"]]
2154	2154
2155	2155	Figure 6-50 the encoder battery box
...	...	@@ -2162,23 +2162,23 @@
2162	2162
2163	2163	When the servo drive is powered off, if the battery is replaced and powered on again, Er.40 (encoder battery failure) will occur, and the multi-turn data will change suddenly. Please set the function code P10-03 or P10-06 to 1 to clear the encoder fault alarms and perform the origin return function operation again.
2164	2164
2165		-
2166		-|**Function code**|**Name**|(((
	2189	+(% class="table-bordered" %)
	2190	+|(% style="text-align:center; vertical-align:middle; width:110px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:144px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:135px" %)(((
2167	2167	**Setting method**
2168		-)))|(((
	2192	+)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((
2169	2169	**Effective time**
2170		-)))|**Default value**|**Range**|**Definition**|**Unit**
2171		-|P10-06|Multi-turn absolute encoder reset|(((
	2194	+)))|(% style="text-align:center; vertical-align:middle; width:106px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:61px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:438px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	2195	+|(% style="text-align:center; vertical-align:middle; width:110px" %)P10-06|(% style="text-align:center; vertical-align:middle; width:144px" %)Multi-turn absolute encoder reset|(% style="text-align:center; vertical-align:middle; width:135px" %)(((
2172	2172	Shutdown setting
2173		-)))|(((
	2197	+)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((
2174	2174	Effective immediately
2175		-)))|0|0 to 1|(((
	2199	+)))|(% style="text-align:center; vertical-align:middle; width:106px" %)0|(% style="text-align:center; vertical-align:middle; width:61px" %)0 to 1|(% style="width:438px" %)(((
2176	2176	0: No operation
2177	2177
2178	2178	1: Clear rotation number of multi-turn absolute encoder, multi-turn absolute encoder current position and encoder fault alarms.
2179	2179
2180	2180	✎**Note: **After resetting the multi-turn data of the encoder, the encoder absolute position will change suddenly, and the mechanical origin return operation is required.
2181		-)))|-
	2205	+)))|(% style="text-align:center; vertical-align:middle" %)-
2182	2182
2183	2183	Table 6-56 Absolute encoder reset enable parameter
2184	2184
...	...	@@ -2196,18 +2196,18 @@
2196	2196
2197	2197	Take the VDI_1 terminal assignment forward drive prohibition (03-POT) as an example, and the use steps of VDI are as the figure below.
2198	2198
2199		-
	2223	+(% style="text-align:center" %)
2200	2200	[[image:image-20220608173804-46.png]]
2201	2201
2202	2202	Figure 6-51 VDI_1 setting steps
2203	2203
2204		-
2205		-|**Function code**|**Name**|(((
	2228	+(% class="table-bordered" %)
	2229	+|(% style="text-align:center; vertical-align:middle; width:131px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:183px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:147px" %)(((
2206	2206	**Setting method**
2207		-)))|(((
	2231	+)))|(% style="text-align:center; vertical-align:middle; width:213px" %)(((
2208	2208	**Effective time**
2209		-)))|**Default value**|**Range**|**Definition**|**Unit**
2210		-|P13-1|Virtual VDI_1 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2233	+)))|(% style="text-align:center; vertical-align:middle; width:143px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:77px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:266px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	2234	+|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-1|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_1 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((
2211	2211	When P06-04 is set to 1, DI_1 channel logic is control by this function code.
2212	2212
2213	2213	VDI_1 input level:
...	...	@@ -2215,8 +2215,8 @@
2215	2215	0: low level
2216	2216
2217	2217	1: high level
2218		-)))|-
2219		-|P13-2|Virtual VDI_2 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2242	+)))|(% style="text-align:center; vertical-align:middle" %)-
	2243	+|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-2|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_2 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((
2220	2220	When P06-07 is set to 1, DI_2 channel logic is control by this function code.
2221	2221
2222	2222	VDI_2 input level:
...	...	@@ -2224,8 +2224,8 @@
2224	2224	0: low level
2225	2225
2226	2226	1: high level
2227		-)))|-
2228		-|P13-3|Virtual VDI_3 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2251	+)))|(% style="text-align:center; vertical-align:middle" %)-
	2252	+|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-3|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_3 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((
2229	2229	When P06-10 is set to 1, DI_3 channel logic is control by this function code.
2230	2230
2231	2231	VDI_3 input level:
...	...	@@ -2233,8 +2233,8 @@
2233	2233	0: low level
2234	2234
2235	2235	1: high level
2236		-)))|-
2237		-|P13-4|Virtual VDI_4 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2260	+)))|(% style="text-align:center; vertical-align:middle" %)-
	2261	+|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-4|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_4 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((
2238	2238	When P06-13 is set to 1, DI_4 channel logic is control by this function code.
2239	2239
2240	2240	VDI_4 input level:
...	...	@@ -2242,8 +2242,8 @@
2242	2242	0: low level
2243	2243
2244	2244	1: high level
2245		-)))|-
2246		-|P13-05☆|Virtual VDI_5 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2269	+)))|(% style="text-align:center; vertical-align:middle" %)-
	2270	+|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-05☆|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_5 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((
2247	2247	When P06-16 is set to 1, DI_5 channel logic is control by this function code.
2248	2248
2249	2249	VDI_5 input level:
...	...	@@ -2251,8 +2251,8 @@
2251	2251	0: low level
2252	2252
2253	2253	1: high level
2254		-)))|-
2255		-|P13-06☆|Virtual VDI_6 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2278	+)))|(% style="text-align:center; vertical-align:middle" %)-
	2279	+|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-06☆|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_6 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((
2256	2256	When P06-19 is set to 1, DI_6 channel logic is control by this function code.
2257	2257
2258	2258	VDI_6 input level:
...	...	@@ -2260,8 +2260,8 @@
2260	2260	0: low level
2261	2261
2262	2262	1: high level
2263		-)))|-
2264		-|P13-07☆|Virtual VDI_7 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2287	+)))|(% style="text-align:center; vertical-align:middle" %)-
	2288	+|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-07☆|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_7 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((
2265	2265	When P06-22 is set to 1, DI_7 channel logic is control by this function code.
2266	2266
2267	2267	VDI_7 input level:
...	...	@@ -2269,8 +2269,8 @@
2269	2269	0: low level
2270	2270
2271	2271	1: high level
2272		-)))|-
2273		-|P13-08☆|Virtual VDI_8 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2296	+)))|(% style="text-align:center; vertical-align:middle" %)-
	2297	+|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-08☆|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_8 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((
2274	2274	When P06-25 is set to 1, DI_8 channel logic is control by this function code.
2275	2275
2276	2276	VDI_8 input level:
...	...	@@ -2278,7 +2278,7 @@
2278	2278	0: low level
2279	2279
2280	2280	1: high level
2281		-)))|-
	2305	+)))|(% style="text-align:center; vertical-align:middle" %)-
2282	2282
2283	2283	Table 6-57 Virtual VDI parameters
2284	2284
...	...	@@ -2288,11 +2288,11 @@
2288	2288
2289	2289	VD2A and VD2B servo drives have 8 hardware DI terminals (DI_1 to DI_8) , and VD2F servo drive has 4 hardware DI terminals (DI_1 to DI_4) . All the DI terminals are normal terminals.
2290	2290
	2315	+(% class="table-bordered" %)
	2316	+|(% style="text-align:center; vertical-align:middle" %)**Setting value**|(% style="text-align:center; vertical-align:middle" %)**DI channel logic selection**|(% style="text-align:center; vertical-align:middle" %)**Illustration**
	2317	+|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)Active high level|(% style="text-align:center; vertical-align:middle" %)[[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/46.jpg?rev=1.1||height="97" width="307"]]
	2318	+|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)Active low level|(% style="text-align:center; vertical-align:middle" %)[[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/47.jpg?rev=1.1||height="83" width="305"]]
2291	2291
2292		-|**Setting value**|**DI channel logic selection**|**Illustration**
2293		-|0|Active high level|[[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/46.jpg?rev=1.1||height="97" width="307"]]
2294		-|1|Active low level|[[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/47.jpg?rev=1.1||height="83" width="305"]]
2295		-
2296	2296	Table 6-58 DI terminal channel logic selection
2297	2297
2298	2298	== **VDO** ==
...	...	@@ -2301,55 +2301,55 @@
2301	2301
2302	2302	Take the DO_2 terminal as communication VDO, and the use steps of VDI are as the figure below.
2303	2303
2304		-
	2328	+(% style="text-align:center" %)
2305	2305	[[image:image-20220608173957-48.png]]
2306	2306
2307	2307	Figure 6-52 VDO_2 setting steps
2308	2308
2309		-
2310		-|**Function code**|**Name**|(((
	2333	+(% class="table-bordered" %)
	2334	+|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)(((
2311	2311	**Setting method**
2312		-)))|(((
	2336	+)))|(% style="text-align:center; vertical-align:middle" %)(((
2313	2313	**Effective time**
2314		-)))|**Default value**|**Range**|**Definition**|**Unit**
2315		-|P13-11|Communication VDO_1 output value|Operation setting|Effective immediately|0|0 to 1|(((
	2338	+)))|(% style="text-align:center; vertical-align:middle" %)**Default value**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	2339	+|(% style="text-align:center; vertical-align:middle" %)P13-11|(% style="text-align:center; vertical-align:middle" %)Communication VDO_1 output value|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
2316	2316	VDO_1 output level：
2317	2317
2318	2318	0: low level
2319	2319
2320	2320	1: high level
2321		-)))|-
2322		-|P13-12|Communication VDO_2 output value|Operation setting|Effective immediately|0|0 to 1|(((
	2345	+)))|(% style="text-align:center; vertical-align:middle" %)-
	2346	+|(% style="text-align:center; vertical-align:middle" %)P13-12|(% style="text-align:center; vertical-align:middle" %)Communication VDO_2 output value|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
2323	2323	VDO_2 output level：
2324	2324
2325	2325	0: low level
2326	2326
2327	2327	1: high level
2328		-)))|-
2329		-|P13-13|Communication VDO_3 output value|Operation setting|Effective immediately|0|0 to 1|(((
	2352	+)))|(% style="text-align:center; vertical-align:middle" %)-
	2353	+|(% style="text-align:center; vertical-align:middle" %)P13-13|(% style="text-align:center; vertical-align:middle" %)Communication VDO_3 output value|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
2330	2330	VDO_3 output level：
2331	2331
2332	2332	0: low level
2333	2333
2334	2334	1: high level
2335		-)))|-
2336		-|P13-14|Communication VDO_4 output value|Operation setting|Effective immediately|0|0 to 1|(((
	2359	+)))|(% style="text-align:center; vertical-align:middle" %)-
	2360	+|(% style="text-align:center; vertical-align:middle" %)P13-14|(% style="text-align:center; vertical-align:middle" %)Communication VDO_4 output value|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
2337	2337	VDO_4 output level：
2338	2338
2339	2339	0: low level
2340	2340
2341	2341	1: high level
2342		-)))|-
	2366	+)))|(% style="text-align:center; vertical-align:middle" %)-
2343	2343
2344	2344	Table 6-59 Communication control DO function parameters
2345	2345
	2370	+(% class="table-bordered" %)
	2371	+|(% style="text-align:center; vertical-align:middle" %)**DO function number**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**
	2372	+|(% style="text-align:center; vertical-align:middle" %)145|(% style="text-align:center; vertical-align:middle" %)COM_VDO1 communication VDO1 output|(% style="text-align:center; vertical-align:middle" %)Use communication VDO
	2373	+|(% style="text-align:center; vertical-align:middle" %)146|(% style="text-align:center; vertical-align:middle" %)COM_VDO1 communication VDO2 output|(% style="text-align:center; vertical-align:middle" %)Use communication VDO
	2374	+|(% style="text-align:center; vertical-align:middle" %)147|(% style="text-align:center; vertical-align:middle" %)COM_VDO1 communication VDO3 output|(% style="text-align:center; vertical-align:middle" %)Use communication VDO
	2375	+|(% style="text-align:center; vertical-align:middle" %)148|(% style="text-align:center; vertical-align:middle" %)COM_VDO1 communication VDO4output|(% style="text-align:center; vertical-align:middle" %)Use communication VDO
2346	2346
2347		-|**DO function number**|**Function name**|**Function**
2348		-|145|COM_VDO1 communication VDO1 output|Use communication VDO
2349		-|146|COM_VDO1 communication VDO2 output|Use communication VDO
2350		-|147|COM_VDO1 communication VDO3 output|Use communication VDO
2351		-|148|COM_VDO1 communication VDO4output|Use communication VDO
2352		-
2353	2353	Table 6-60 VDO function number
2354	2354
2355	2355	✎**Note:** You are advised to configure function codes for DO terminals in sequence to avoid errors during DO signal observation
...	...	@@ -2360,17 +2360,17 @@
2360	2360
2361	2361	VD2 Series absolute encoder (VD2SA) servo drive provides motor overload protection to prevent motor burning due to high temperature. By setting function code P10-04 to modify motor overload alarm (A-82) and motor overload protection fault time (Er.34). The default value of P10-04 is 100%.
2362	2362
2363		-
2364		-|**Function code**|**Name**|(((
	2387	+(% class="table-bordered" %)
	2388	+|(% style="text-align:center; vertical-align:middle; width:122px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:99px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:150px" %)(((
2365	2365	**Setting method**
2366		-)))|(((
	2390	+)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
2367	2367	**Effective time**
2368		-)))|**Default value**|**Range**|**Definition**|**Unit**
2369		-|P10-04|motor overload protection time coefficient|Operation setting|Effective immediately|100|0 to 800|(((
	2392	+)))|(% style="text-align:center; vertical-align:middle; width:116px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:72px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:445px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	2393	+|(% style="text-align:center; vertical-align:middle; width:122px" %)P10-04|(% style="text-align:center; vertical-align:middle; width:99px" %)motor overload protection time coefficient|(% style="text-align:center; vertical-align:middle; width:150px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:157px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:116px" %)100|(% style="text-align:center; vertical-align:middle; width:72px" %)0 to 800|(% style="width:445px" %)(((
2370	2370	According to the heating condition of the motor, the value could be modified to make the overload protection time float up and down in the reference value.
2371	2371
2372	2372	50 corresponds to 50%, that is, the time is reduced by half. 300 corresponds to 300%, that is, the time extended to 3 times. When the value is set to 0, the overload protection fault detection function is disabled
2373		-)))|%
	2397	+)))|(% style="text-align:center; vertical-align:middle" %)%
2374	2374
2375	2375	In the following cases, it could be modified according to the actual heat generation of the motor
2376	2376