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Changes for page 06 Operation

Last modified by Iris on 2025/08/06 18:24
From version 51.1
edited by Leo Wei
on 2022/06/21 17:10
Change comment: There is no comment for this version
To version 51.10
edited by Stone Wu
on 2022/07/07 09:48
Change comment: (Autosaved)

Summary

Details

Page properties
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... ... @@ -1,1 +1,1 @@
1 -XWiki.admin
1 +XWiki.Stone
Content
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510 510  Operation setting
511 511  )))|(((
512 512  immediately Effective
513 -)))|0|0 to 1|(((
513 +)))|0|0 to 6|(((
514 514  0: position control
515 515  
516 516  2: speed control
... ... @@ -552,8 +552,7 @@
552 552  
553 553  1) Low-speed pulse instruction input
554 554  
555 -
556 -|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/22.jpg?rev=1.1]]|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/23.jpg?rev=1.1]]
555 +|[[image:image-20220707092316-1.png]]|[[image:image-20220707092322-2.png]]
557 557  |VD2A and VD2B servo drives|VD2F servo drive
558 558  |(% colspan="2" %)Figure 6-7 Position instruction input setting
559 559  
... ... @@ -572,9 +572,9 @@
572 572  
573 573  Take VD2A and VD2B drive as examples, the connection of differential input is shown as below.
574 574  
574 +(% style="text-align:center" %)
575 +[[image:image-20220707092615-5.jpeg]]
575 575  
576 -[[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]]
577 -
578 578  Figure 6-8 Differential input connection
579 579  
580 580  ✎**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]]__”
... ... @@ -583,9 +583,9 @@
583 583  
584 584  Take VD2A and VD2B drive as examples, the connection of differential input is shown as below.
585 585  
585 +(% style="text-align:center" %)
586 +[[image:image-20220707092401-3.jpeg||height="530" width="834"]]
586 586  
587 -[[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]]
588 -
589 589  Figure 6-9 Open collector input connection
590 590  
591 591  ✎**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]]__”
... ... @@ -594,7 +594,7 @@
594 594  
595 595  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.
596 596  
597 -
596 +(% style="text-align:center" %)
598 598  [[image:image-20220608163952-8.png]]
599 599  
600 600  Figure 6-10 Example of filtered signal waveform
... ... @@ -672,7 +672,6 @@
672 672  
673 673  Table 6-14 Position pulse type selection parameter
674 674  
675 -
676 676  |=(% scope="row" %)**Pulse type selection**|=**Pulse type**|=**Signal**|=**Schematic diagram of forward pulse**|=**Schematic diagram of negative pulse**
677 677  |=0|(((
678 678  Direction + pulse
... ... @@ -682,12 +682,12 @@
682 682  PULSE
683 683  
684 684  SIGN
685 -)))|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/21.jpg?rev=1.1]]|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/26.jpg?rev=1.1]]
683 +)))|[[image:image-20220707094340-6.jpeg]]|[[image:image-20220707094345-7.jpeg]]
686 686  |=1|CW/CCW|(((
687 687  PULSE (CW)
688 688  
689 689  SIGN (CCW)
690 -)))|(% colspan="2" %)[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/27.jpg?rev=1.1]]
688 +)))|(% colspan="2" %)[[image:image-20220707094351-8.jpeg]]
691 691  |=2|(((
692 692  AB phase orthogonal
693 693  
... ... @@ -697,12 +697,16 @@
697 697  
698 698  SIGN (Phase B)
699 699  )))|(((
700 -[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/28.jpg?rev=1.1]]
698 +
701 701  
700 +[[image:image-20220707094358-9.jpeg]]
701 +
702 702  Phase A is 90° ahead of Phase B
703 703  )))|(((
704 -[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/29.jpg?rev=1.1]]
704 +
705 705  
706 +[[image:image-20220707094407-10.jpeg]]
707 +
706 706  Phase B is 90° ahead of Phase A
707 707  )))
708 708  |=3|(((
... ... @@ -713,7 +713,7 @@
713 713  PULSE
714 714  
715 715  SIGN
716 -)))|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/30.jpg?rev=1.1]]|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/31.jpg?rev=1.1]]
718 +)))|[[image:image-20220707094414-11.jpeg]]|[[image:image-20220707094418-12.jpeg]]
717 717  |=4|(((
718 718  CW/CCW
719 719  
... ... @@ -722,7 +722,7 @@
722 722  PULSE (CW)
723 723  
724 724  SIGN (CCW)
725 -)))|(% colspan="2" %)[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/32.jpg?rev=1.1]]
727 +)))|(% colspan="2" %)[[image:image-20220707094423-13.jpeg]]
726 726  |=5|(((
727 727  AB phase orthogonal
728 728  
... ... @@ -732,13 +732,17 @@
732 732  
733 733  SIGN (Phase B)
734 734  )))|(((
735 -[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/33.jpg?rev=1.1]]
737 +
736 736  
737 -B phase is ahead of A phase by 90°
739 +[[image:image-20220707094429-14.jpeg]]
740 +
741 +Phase B is ahead of A phase by 90°
738 738  )))|(((
739 -[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/34.jpg?rev=1.1]]
743 +
740 740  
741 -A phase is ahead of B phase by 90°
745 +[[image:image-20220707094437-15.jpeg]]
746 +
747 +Phase A is ahead of B phase by 90°
742 742  )))
743 743  
744 744  Table 6-15 Pulse description
... ... @@ -749,7 +749,7 @@
749 749  
750 750  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.
751 751  
752 -
758 +(% style="text-align:center" %)
753 753  [[image:image-20220608164116-9.png]]
754 754  
755 755  Figure 6-11 The setting process of multi-segment position
... ... @@ -756,7 +756,6 @@
756 756  
757 757  1) Set multi-segment position running mode
758 758  
759 -
760 760  |=(% scope="row" %)**Function code**|=**Name**|=(((
761 761  **Setting method**
762 762  )))|=(((
... ... @@ -811,6 +811,7 @@
811 811  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
812 812  
813 813  
819 +(% style="text-align:center" %)
814 814  [[image:image-20220608164226-10.png]]
815 815  
816 816  Figure 6-12 Single running curve (P07-02=1, P07-03=2)
... ... @@ -820,6 +820,7 @@
820 820  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.
821 821  
822 822  
829 +(% style="text-align:center" %)
823 823  [[image:image-20220608164327-11.png]]
824 824  
825 825  Figure 6-13 Cycle running curve (P07-02=1, P07-03=4)
... ... @@ -831,7 +831,6 @@
831 831  
832 832  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.
833 833  
834 -
835 835  |=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
836 836  |=21|INPOS1: Internal multi-segment position segment selection 1|Form internal multi-segment position running segment number
837 837  |=22|INPOS2: Internal multi-segment position segment selection 2|Form internal multi-segment position running segment number
... ... @@ -842,7 +842,6 @@
842 842  
843 843  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.
844 844  
845 -
846 846  |=(% scope="row" %)**INPOS4**|=**INPOS3**|=**INPOS2**|=**INPOS1**|=**Running position number**
847 847  |=0|0|0|0|1
848 848  |=0|0|0|1|2
... ... @@ -854,7 +854,7 @@
854 854  
855 855  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]]__.
856 856  
857 -
862 +(% style="text-align:center" %)
858 858  [[image:image-20220608164545-12.png]]
859 859  
860 860  Figure 6-14 DI switching running curve
... ... @@ -865,12 +865,12 @@
865 865  
866 866  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.
867 867  
868 -
873 +(% style="text-align:center" %)
869 869  [[image:image-20220608164847-13.png]]
870 870  
871 871  Figure 6-15 Single running-run the remaining segments (P07-02=1, P07-03=4)
872 872  
873 -
878 +(% style="text-align:center" %)
874 874  [[image:image-20220608165032-14.png]]
875 875  
876 876  Figure 6-16 Cycle running-run the remaining segment (P07-02=1, P07-03=4)
... ... @@ -879,12 +879,12 @@
879 879  
880 880  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.
881 881  
882 -
887 +(% style="text-align:center" %)
883 883  [[image:image-20220608165343-15.png]]
884 884  
885 885  Figure 6-17 Single running-run from the start segment again (P07-02=1, P07-03=4)
886 886  
887 -
892 +(% style="text-align:center" %)
888 888  [[image:image-20220608165558-16.png]]
889 889  
890 890  Figure 6-18 Cyclic running-run from the start segment again (P07-02=1, P07-03=4)
... ... @@ -917,7 +917,6 @@
917 917  
918 918  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.
919 919  
920 -
921 921  |=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit**
922 922  |=P07-09|(((
923 923  1st segment
... ... @@ -952,7 +952,7 @@
952 952  
953 953  After setting the above parameters, the actual operation curve of the motor is shown in Figure 6-23.
954 954  
955 -
959 +(% style="text-align:center" %)
956 956  [[image:image-20220608170149-21.png]]
957 957  
958 958  Figure 6-23 The 1st segment running curve of motor
... ... @@ -961,7 +961,6 @@
961 961  
962 962  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.
963 963  
964 -
965 965  |=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
966 966  |=20|ENINPOS: Internal multi-segment position enable signal|(((
967 967  DI port logic invalid: Does not affect the current operation of the servo motor.
... ... @@ -983,15 +983,12 @@
983 983  
984 984  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)
985 985  
989 +(% style="text-align:center" %)
990 +[[image:image-20220707094901-16.png]]
986 986  
987 -[[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]]
988 988  
989 989  
990 -[[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]]
991 991  
992 -
993 -[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/37.png?rev=1.1]]
994 -
995 995  Otherwise, the servo drive will report Er.35: "Electronic gear ratio setting exceeds the limit"!
996 996  
997 997  **(2) Setting steps of electronic gear ratio**
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