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Changes for page 06 Operation

Last modified by Iris on 2025/08/05 17:31
From version 50.2
edited by Joey
on 2022/06/18 21:53
Change comment: Update document after refactoring.
To version 48.1
edited by Leo Wei
on 2022/06/11 17:59
Change comment: There is no comment for this version

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1 -Servo.1 User Manual1.06 VD2 SA Series Servo Drives Manual (Full V1\.1).WebHome
1 +Servo.2\. User Manual.06 VD2 SA Series Servo Drives Manual (Full V1\.1).WebHome
Author
... ... @@ -1,1 +1,1 @@
1 -XWiki.Joey
1 +XWiki.admin
Content
... ... @@ -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  
... ... @@ -133,7 +133,7 @@
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.
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"__>>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  
... ... @@ -144,7 +144,7 @@
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]]__.
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>>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  
149 149  
150 150  |=(% scope="row" %)Shutdown mode|=Shutdown description|=Shutdown characteristics
... ... @@ -444,7 +444,7 @@
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]]__
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>>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  
449 449  
450 450  |(((
... ... @@ -464,7 +464,7 @@
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]]__.
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>>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  
469 469  
470 470  |(((
... ... @@ -507,12 +507,12 @@
507 507  Set “P00-01” to 1 by the software “Wecon SCTool”, and the servo drive is in position control mode.
508 508  
509 509  
510 -|=(% scope="row" %)**Function code**|=**Name**|=(((
510 +|**Function code**|**Name**|(((
511 511  **Setting method**
512 -)))|=(((
512 +)))|(((
513 513  **Effective time**
514 -)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
515 -|=P01-01|Control mode|(((
514 +)))|**Default value**|**Range**|**Definition**|**Unit**
515 +|P01-01|Control mode|(((
516 516  Operation setting
517 517  )))|(((
518 518  immediately Effective
... ... @@ -537,12 +537,12 @@
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  
539 539  
540 -|=(% scope="row" %)**Function code**|=**Name**|=(((
540 +|**Function code**|**Name**|(((
541 541  **Setting method**
542 -)))|=(((
542 +)))|(((
543 543  **Effective time**
544 -)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
545 -|=P01-06|Position instruction source|(((
544 +)))|**Default value**|**Range**|**Definition**|**Unit**
545 +|P01-06|Position instruction source|(((
546 546  Operation setting
547 547  )))|(((
548 548  immediately Effective
... ... @@ -563,7 +563,7 @@
563 563  |VD2A and VD2B servo drives|VD2F servo drive
564 564  |(% colspan="2" %)Figure 6-7 Position instruction input setting
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]]__.
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>>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]]__.
567 567  
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  
... ... @@ -583,7 +583,7 @@
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]]__”
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>>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  
... ... @@ -594,7 +594,7 @@
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]]__”
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>>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  
... ... @@ -608,17 +608,17 @@
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  
610 610  
611 -|=(% scope="row" %)**Function code**|=**Name**|=(((
611 +|**Function code**|**Name**|(((
612 612  **Setting method**
613 -)))|=(((
613 +)))|(((
614 614  **Effective time**
615 -)))|=**Default value**|=**Range**|=(% colspan="2" %)**Definition**|=**Unit**
616 -|=P00-13|Maximum position pulse frequency|(((
615 +)))|**Default value**|**Range**|(% colspan="2" %)**Definition**|**Unit**
616 +|P00-13|Maximum position pulse frequency|(((
617 617  Shutdown setting
618 618  )))|(((
619 619  Effective immediately
620 620  )))|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" %)(((
621 +|(% rowspan="3" %)P00-14|(% rowspan="3" %)Position pulse anti-interference level|(% rowspan="3" %)(((
622 622  Operation setting
623 623  )))|(% rowspan="3" %)(((
624 624  Power-on again
... ... @@ -643,8 +643,8 @@
643 643  
644 644  8: Filtering time 16.384us
645 645  )))|(% rowspan="3" %)-
646 -|=(% rowspan="2" %)9|VD2: Filtering time 25.5us
647 -|=VD2F: Filtering time 25.5us
646 +|(% rowspan="2" %)9|VD2: Filtering time 25.5us
647 +|VD2F: Filtering time 25.5us
648 648  
649 649  Table 6-13 Position pulse frequency and anti-interference level parameters
650 650  
... ... @@ -653,12 +653,12 @@
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  
655 655  
656 -|=(% scope="row" %)**Function code**|=**Name**|=(((
656 +|**Function code**|**Name**|(((
657 657  **Setting method**
658 -)))|=(((
658 +)))|(((
659 659  **Effective time**
660 -)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
661 -|=P00-12|Position pulse type selection|(((
660 +)))|**Default value**|**Range**|**Definition**|**Unit**
661 +|P00-12|Position pulse type selection|(((
662 662  Operation setting
663 663  )))|(((
664 664  Power-on again
... ... @@ -679,8 +679,8 @@
679 679  Table 6-14 Position pulse type selection parameter
680 680  
681 681  
682 -|=(% scope="row" %)**Pulse type selection**|=**Pulse type**|=**Signal**|=**Schematic diagram of forward pulse**|=**Schematic diagram of negative pulse**
683 -|=0|(((
682 +|**Pulse type selection**|**Pulse type**|**Signal**|**Schematic diagram of forward pulse**|**Schematic diagram of negative pulse**
683 +|0|(((
684 684  Direction + pulse
685 685  
686 686  (Positive logic)
... ... @@ -689,12 +689,12 @@
689 689  
690 690  SIGN
691 691  )))|[[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|(((
692 +|1|CW/CCW|(((
693 693  PULSE (CW)
694 694  
695 695  SIGN (CCW)
696 696  )))|(% 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|(((
697 +|2|(((
698 698  AB phase orthogonal
699 699  
700 700  pulse (4 times frequency)
... ... @@ -711,7 +711,7 @@
711 711  
712 712  Phase B is 90° ahead of Phase A
713 713  )))
714 -|=3|(((
714 +|3|(((
715 715  Direction + pulse
716 716  
717 717  (Negative logic)
... ... @@ -720,7 +720,7 @@
720 720  
721 721  SIGN
722 722  )))|[[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|(((
723 +|4|(((
724 724  CW/CCW
725 725  
726 726  (Negative logic)
... ... @@ -729,7 +729,7 @@
729 729  
730 730  SIGN (CCW)
731 731  )))|(% 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|(((
732 +|5|(((
733 733  AB phase orthogonal
734 734  
735 735  pulse (4 times frequency negative logic)
... ... @@ -751,7 +751,7 @@
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]]__.
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>>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  
... ... @@ -763,12 +763,12 @@
763 763  1) Set multi-segment position running mode
764 764  
765 765  
766 -|=(% scope="row" %)**Function code**|=**Name**|=(((
766 +|**Function code**|**Name**|(((
767 767  **Setting method**
768 -)))|=(((
768 +)))|(((
769 769  **Effective time**
770 -)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
771 -|=P07-01|Multi-segment position running mode|(((
770 +)))|**Default value**|**Range**|**Definition**|**Unit**
771 +|P07-01|Multi-segment position running mode|(((
772 772  Shutdown setting
773 773  )))|(((
774 774  Effective immediately
... ... @@ -779,17 +779,17 @@
779 779  
780 780  2: DI switching running
781 781  )))|-
782 -|=P07-02|Start segment number|(((
782 +|P07-02|Start segment number|(((
783 783  Shutdown setting
784 784  )))|(((
785 785  Effective immediately
786 786  )))|1|1 to 16|1st segment NO. in non-DI switching mode|-
787 -|=P07-03|End segment number|(((
787 +|P07-03|End segment number|(((
788 788  Shutdown setting
789 789  )))|(((
790 790  Effective immediately
791 791  )))|1|1 to 16|last segment NO. in non-DI switching mode|-
792 -|=P07-04|Margin processing method|(((
792 +|P07-04|Margin processing method|(((
793 793  Shutdown setting
794 794  )))|(((
795 795  Effective immediately
... ... @@ -798,7 +798,7 @@
798 798  
799 799  1: Run again from the start segment
800 800  )))|-
801 -|=P07-05|Displacement instruction type|(((
801 +|P07-05|Displacement instruction type|(((
802 802  Shutdown setting
803 803  )))|(((
804 804  Effective immediately
... ... @@ -814,7 +814,7 @@
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
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>>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  
819 819  
820 820  [[image:image-20220608164226-10.png]]
... ... @@ -823,7 +823,7 @@
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.
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>>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  
828 828  
829 829  [[image:image-20220608164327-11.png]]
... ... @@ -838,11 +838,11 @@
838 838  In this running mode, the next running segment number could be set when operating the current segment number. The interval time is determined by the instruction delay of the host computer. The running segment number is determined by DI terminal logic, and the related function codes are shown in the table below.
839 839  
840 840  
841 -|=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
842 -|=21|INPOS1: Internal multi-segment position segment selection 1|Form internal multi-segment position running segment 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
841 +|**DI function code**|**Function name**|**Function**
842 +|21|INPOS1: Internal multi-segment position segment selection 1|Form internal multi-segment position running segment number
843 +|22|INPOS2: Internal multi-segment position segment selection 2|Form internal multi-segment position running segment number
844 +|23|INPOS3: Internal multi-segment position segment selection 3|Form internal multi-segment position running segment number
845 +|24|INPOS4: Internal multi-segment position segment selection 4|Form internal multi-segment position running segment number
846 846  
847 847  Table 6-17 DI function code
848 848  
... ... @@ -849,16 +849,16 @@
849 849  The multi-segment segment number is a 4-bit binary number, and the DI terminal logic is level valid. When the input level is valid, the segment selection bit value is 1, otherwise it is 0. Table 6-17 shows the correspondence between the position bits 1 to 4 of the internal multi-segment position and the position number.
850 850  
851 851  
852 -|=(% scope="row" %)**INPOS4**|=**INPOS3**|=**INPOS2**|=**INPOS1**|=**Running position number**
853 -|=0|0|0|0|1
854 -|=0|0|0|1|2
855 -|=0|0|1|0|3
856 -|=(% colspan="5" %)…………
857 -|=1|1|1|1|16
852 +|**INPOS4**|**INPOS3**|**INPOS2**|**INPOS1**|**Running position number**
853 +|0|0|0|0|1
854 +|0|0|0|1|2
855 +|0|0|1|0|3
856 +|(% colspan="5" %)…………
857 +|1|1|1|1|16
858 858  
859 859  Table 6-18 INPOS corresponds to running segment number
860 860  
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]]__.
861 +The operating curve in this running mode is shown in __[[Figure 6-14>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_91c44ab732c79e26.gif?rev=1.1]]__.
862 862  
863 863  
864 864  [[image:image-20220608164545-12.png]]
... ... @@ -869,7 +869,7 @@
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.
872 +In this processing way, the multi-segment position instruction enable is OFF during running, the servo drive will abandon the unfinished displacement part and shutdown, and the positioning completion signal will be valid after the shutdown is complete. When the multi-segment position enable is ON, and the servo drive will start to run from the next segment where the OFF occurs. The curves of single running and cycle running are shown in __[[Figure 6-15>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_29777829e6742c0d.gif?rev=1.1]]__ and __[[Figure 6-16>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_d264849e0940e3e4.gif?rev=1.1]]__ respectively.
873 873  
874 874  
875 875  [[image:image-20220608164847-13.png]]
... ... @@ -883,7 +883,7 @@
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.
886 +In this processing mode, when the multi-segment position instruction enable is OFF during running, the servo drive will abandon the uncompleted displacement part and shutdown. After the shutdown is completed, the positioning completion signal is valid. When the multi-segment position enable is ON, and the servo drive will start to operate from the next position set by P07-02. The curves of single running and cycle running are shown in __[[Figure 6-17>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_2328499c9613af49.gif?rev=1.1]]__ and __[[Figure 6-18>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_1f2e35174b1afd3c.gif?rev=1.1]]__ respectively.
887 887  
888 888  
889 889  [[image:image-20220608165343-15.png]]
... ... @@ -921,11 +921,15 @@
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.
924 +The multi-segment position running supports maximum 16 segments different position instructions. The displacement, maximum running speed (steady-state running speed), acceleration and deceleration time of each position and the waiting time between segment could all be set. __[[Table 6-19>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HPositioninstructioninputsetting]]__ are the related function codes of the 1st segment running curve.
925 925  
926 926  
927 -|=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit**
928 -|=P07-09|(((
927 +|**Function code**|**Name**|(((
928 +**Setting method**
929 +)))|(((
930 +**Effective time**
931 +)))|**Default value**|**Range**|**Definition**|**Unit**
932 +|P07-09|(((
929 929  1st segment
930 930  
931 931  displacement
... ... @@ -938,17 +938,17 @@
938 938  
939 939  2147483646
940 940  )))|Position instruction, positive and negative values could be set|-
941 -|=P07-10|Maximum speed of the 1st displacement|(((
945 +|P07-10|Maximum speed of the 1st displacement|(((
942 942  Operation setting
943 943  )))|(((
944 944  Effective immediately
945 945  )))|100|1 to 5000|Steady-state running speed of the 1st segment|rpm
946 -|=P07-11|Acceleration and deceleration of 1st segment displacement|(((
950 +|P07-11|Acceleration and deceleration of 1st segment displacement|(((
947 947  Operation setting
948 948  )))|(((
949 949  Effective immediately
950 950  )))|100|1 to 65535|The time required for the acceleration and deceleration of the 1st segment|ms
951 -|=P07-12|Waiting time after completion of the 1st segment displacement|(((
955 +|P07-12|Waiting time after completion of the 1st segment displacement|(((
952 952  Operation setting
953 953  )))|(((
954 954  Effective immediately
... ... @@ -968,8 +968,8 @@
968 968  When selecting multi-segment position instruction as the instruction source, configure 1 DI port channel of the servo drive to function 20 (internal multi-segment position enable signal), and confirm the valid logic of the DI terminal.
969 969  
970 970  
971 -|=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
972 -|=20|ENINPOS: Internal multi-segment position enable signal|(((
975 +|**DI function code**|**Function name**|**Function**
976 +|20|ENINPOS: Internal multi-segment position enable signal|(((
973 973  DI port logic invalid: Does not affect the current operation of the servo motor.
974 974  
975 975  DI port logic valid: Motor runs multi-segment position
... ... @@ -1026,12 +1026,12 @@
1026 1026  When the function code P00-16 is 0, the electronic gear ratio switching function could be used. You could switch between electronic gear 1 and electronic gear 2 as needed. There is only one set of gear ratios at any time. Related function codes are shown in the table below.
1027 1027  
1028 1028  
1029 -|=(% scope="row" %)**Function code**|=**Name**|=(((
1033 +|**Function code**|**Name**|(((
1030 1030  **Setting method**
1031 -)))|=(((
1035 +)))|(((
1032 1032  **Effective time**
1033 -)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1034 -|=P00-16|Number of instruction pulses when the motor rotates one circle|(((
1037 +)))|**Default value**|**Range**|**Definition**|**Unit**
1038 +|P00-16|Number of instruction pulses when the motor rotates one circle|(((
1035 1035  Shutdown setting
1036 1036  )))|(((
1037 1037  Effective immediately
... ... @@ -1040,7 +1040,7 @@
1040 1040  
1041 1041  unit
1042 1042  )))
1043 -|=P00-17|(((
1047 +|P00-17|(((
1044 1044  Electronic gear 1
1045 1045  
1046 1046  numerator
... ... @@ -1047,7 +1047,7 @@
1047 1047  )))|Operation setting|(((
1048 1048  Effective immediately
1049 1049  )))|1|1 to 4294967294|Set the numerator of the 1st group electronic gear ratio for position instruction frequency division or multiplication. P00-16 is effective when the number of instruction pulses of one motor rotation is 0.|-
1050 -|=P00-18|(((
1054 +|P00-18|(((
1051 1051  Electronic gear 1
1052 1052  
1053 1053  denominator
... ... @@ -1056,7 +1056,7 @@
1056 1056  )))|(((
1057 1057  Effective immediately
1058 1058  )))|1|1 to 4294967294|Set the denominator of the 1st group electronic gear ratio for position instruction frequency division or multiplication. P00-16 is effective when the number of instruction pulses of one motor rotation is 0.|-
1059 -|=P00-19|(((
1063 +|P00-19|(((
1060 1060  Electronic gear 2
1061 1061  
1062 1062  numerator
... ... @@ -1063,7 +1063,7 @@
1063 1063  )))|Operation setting|(((
1064 1064  Effective immediately
1065 1065  )))|1|1 to 4294967294|Set the numerator of the 2nd group electronic gear ratio for position instruction frequency division or multiplication. P00-16 is effective when the number of instruction pulses of one motor rotation is 0.|-
1066 -|=P00-20|(((
1070 +|P00-20|(((
1067 1067  Electronic gear 2
1068 1068  
1069 1069  denominator
... ... @@ -1076,8 +1076,8 @@
1076 1076  To use electronic gear ratio 2, it is necessary to configure any DI port as function 09 (GEAR-SEL electronic gear switch 1), and determine the valid logic of the DI terminal.
1077 1077  
1078 1078  
1079 -|=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
1080 -|=09|GEAR-SEL electronic gear switch 1|(((
1083 +|**DI function code**|**Function name**|**Function**
1084 +|09|GEAR-SEL electronic gear switch 1|(((
1081 1081  DI port logic invalid: electronic gear ratio 1
1082 1082  
1083 1083  DI port logic valid: electronic gear ratio 2
... ... @@ -1085,10 +1085,10 @@
1085 1085  
1086 1086  Table 6-21 Switching conditions of electronic gear ratio group
1087 1087  
1088 -|=(% scope="row" %)**P00-16 value**|=**DI terminal level corresponding to DI port function 9**|=**Electronic gear ratio**[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/39.png?rev=1.1]]
1089 -|=(% rowspan="2" %)0|DI port logic invalid|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/40.png?rev=1.1]]
1090 -|=DI port logic valid|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/41.png?rev=1.1]]
1091 -|=1 to 131072|~-~-|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/42.png?rev=1.1]]
1092 +|**P00-16 value**|**DI terminal level corresponding to DI port function 9**|**Electronic gear ratio**[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/39.png?rev=1.1]]
1093 +|(% rowspan="2" %)0|DI port logic invalid|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/40.png?rev=1.1]]
1094 +|DI port logic valid|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/41.png?rev=1.1]]
1095 +|1 to 131072|~-~-|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/42.png?rev=1.1]]
1092 1092  
1093 1093  Table 6-22 Application of electronic gear ratio
1094 1094  
... ... @@ -1112,12 +1112,12 @@
1112 1112  Figure 6-25 Position instruction filtering diagram
1113 1113  
1114 1114  
1115 -|=(% scope="row" %)**Function code**|=**Name**|=(((
1119 +|**Function code**|**Name**|(((
1116 1116  **Setting method**
1117 -)))|=(((
1121 +)))|(((
1118 1118  **Effective time**
1119 -)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1120 -|=P04-01|Pulse instruction filtering method|(((
1123 +)))|**Default value**|**Range**|**Definition**|**Unit**
1124 +|P04-01|Pulse instruction filtering method|(((
1121 1121  Shutdown setting
1122 1122  )))|(((
1123 1123  Effective immediately
... ... @@ -1126,10 +1126,10 @@
1126 1126  
1127 1127  1: average filtering
1128 1128  )))|-
1129 -|=P04-02|Position instruction 1st-order low-pass filtering time constant|Shutdown setting|(((
1133 +|P04-02|Position instruction 1st-order low-pass filtering time constant|Shutdown setting|(((
1130 1130  Effective immediately
1131 1131  )))|0|0 to 1000|Position instruction first-order low-pass filtering time constant|ms
1132 -|=P04-03|Position instruction average filtering time constant|Shutdown setting|(((
1136 +|P04-03|Position instruction average filtering time constant|Shutdown setting|(((
1133 1133  Effective immediately
1134 1134  )))|0|0 to 128|Position instruction average filtering time constant|ms
1135 1135  
... ... @@ -1158,34 +1158,35 @@
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]]__.
1165 +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  
1167 +
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 1167  
1168 -|=(% scope="row" %)**Function code**|=**Name**|=(((
1173 +|**Function code**|**Name**|(((
1169 1169  **Setting method**
1170 -)))|=(((
1175 +)))|(((
1171 1171  **Effective time**
1172 -)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1173 -|=P05-12|Positioning completion threshold|(((
1177 +)))|**Default value**|**Range**|**Definition**|**Unit**
1178 +|P05-12|Positioning completion threshold|(((
1174 1174  Operation setting
1175 1175  )))|(((
1176 1176  Effective immediately
1177 1177  )))|800|1 to 65535|Positioning completion threshold|Equivalent pulse unit
1178 -|=P05-13|Positioning approach threshold|(((
1183 +|P05-13|Positioning approach threshold|(((
1179 1179  Operation setting
1180 1180  )))|(((
1181 1181  Effective immediately
1182 1182  )))|5000|1 to 65535|Positioning approach threshold|Equivalent pulse unit
1183 -|=P05-14|Position detection window time|(((
1188 +|P05-14|Position detection window time|(((
1184 1184  Operation setting
1185 1185  )))|(((
1186 1186  Effective immediately
1187 1187  )))|10|0 to 20000|Set positioning completion detection window time|ms
1188 -|=P05-15|Positioning signal hold time|(((
1193 +|P05-15|Positioning signal hold time|(((
1189 1189  Operation setting
1190 1190  )))|(((
1191 1191  Effective immediately
... ... @@ -1194,9 +1194,9 @@
1194 1194  Table 6-24 Function code parameters of positioning completion
1195 1195  
1196 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|(((
1202 +|**DO function code**|**Function name**|**Function**
1203 +|134|P-COIN positioning complete|Output this signal indicates the servo drive position is complete.
1204 +|135|(((
1200 1200  P-NEAR positioning close
1201 1201  )))|(((
1202 1202  Output this signal indicates that the servo drive position is close.
... ... @@ -1206,7 +1206,7 @@
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.
1214 +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 1211  
1212 1212  [[image:6.28.jpg||height="260" width="806"]]
... ... @@ -1606,7 +1606,7 @@
1606 1606  
1607 1607  Figure 6-35 Rotation detection signal diagram
1608 1608  
1609 -To use the motor rotation detection signal output function, a DO terminal of the servo drive should be assigned to function 132 (T-COIN, rotation detection). The function code parameters and related DO function codes are shown in __[[Table 6-34>>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]]__.
1614 +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 1611  
1612 1612  |**Function code**|**Name**|(((
... ... @@ -1647,7 +1647,7 @@
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]]__.
1655 +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 1652  
1653 1653  |**Function code**|**Name**|(((
... ... @@ -1680,7 +1680,7 @@
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]]__.
1688 +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 1685  
1686 1686  |**Function code**|**Name**|(((
... ... @@ -1713,7 +1713,7 @@
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]]__.
1721 +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 1718  
1719 1719  |**Function code**|**Name**|(((
... ... @@ -1933,7 +1933,7 @@
1933 1933  
1934 1934  In torque mode, if the given torque instruction is too large to exceed the load torque of the mechanical side. This would cause the servo motor to continuously accelerate and overspeed. In order to protect the machinery, the speed of the motor must be limited.
1935 1935  
1936 -In torque mode, the actual motor speed would be in the limited speed. After the speed limit is reached, the motor runs at a constant speed at the speed limit. The running curves are shown as __[[Figure 6-45>>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]]__.
1941 +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  |(((
1939 1939  [[image:image-20220608172910-40.png]]
... ... @@ -1976,7 +1976,7 @@
1976 1976  
1977 1977  Table 6-48 Speed limit parameters in torque mode
1978 1978  
1979 -✎**Note:** Function codes P01-17 and P01-18 are only effective in limiting motor speed under the torque mode. The speed limit value is set according to load requirements. To set speed limit in speed mode or position mode, please refer to __[[6.3.3 Speed instruction limit>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeedinstructionlimit]]__.
1984 +✎**Note:** Function codes P01-17 and P01-18 are only effective in limiting motor speed under the torque mode. The speed limit value is set according to load requirements. To set speed limit in speed mode or position mode, please refer to __[[6.3.3 Speed instruction limit>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HSpeedinstructionlimit]]__.
1980 1980  
1981 1981  == **Torque-related DO output functions** ==
1982 1982  
... ... @@ -1991,7 +1991,7 @@
1991 1991  
1992 1992  Figure 6-47 Torque arrival output diagram
1993 1993  
1994 -To use the torque arrival function, a DO terminal of the servo drive should be assigned to function 138 (T-COIN, torque arrival). The function code parameters and related DO function codes are shown in __[[Table 6-49>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HTorque-relatedDOoutputfunctions]]__ and __[[Table 6-50>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HTorque-relatedDOoutputfunctions]]__.
1999 +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 1996  
1997 1997  |**Function code**|**Name**|(((
... ... @@ -2072,7 +2072,7 @@
2072 2072  
2073 2073  Table 6-51 Mixed control mode parameters
2074 2074  
2075 -Please set the servo drive parameters in different control modes according to the mechanical structure and indicators. The setting method refer to [[__“Parameters”__>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/09%20Parameters/]]. When function code P00-01=4/5/6 (that is, in mixed mode), a DI terminal of the servo drive needs to be assigned to function 17 (MixModeSel, mixed mode selection), and the DI terminal logic is determined to be valid.
2080 +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 2077  
2078 2078  |**DI function code**|**Name**|**Function name**|**Function**