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Changes for page 06 Operation

Last modified by Iris on 2025/07/23 15:49
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 51.32
edited by Stone Wu
on 2022/07/07 11:03
Change comment: (Autosaved)

Summary

Details

Page properties
Author
... ... @@ -1,1 +1,1 @@
1 -XWiki.admin
1 +XWiki.Stone
Content
... ... @@ -510,7 +510,7 @@
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.
... ... @@ -983,37 +983,20 @@
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**
998 998  
999 +[[image:image-20220707100850-20.jpeg]]
999 999  
1000 -[[image:image-20220608170320-22.png]]
1001 -
1002 1002  Figure 6-24 Setting steps of electronic gear ratio
1003 1003  
1004 -Step1: Confirm the mechanical parameters including the reduction ratio, the ball screw lead, gear diameter in the gear drive, and pulley diameter in the pulley drive.
1005 -
1006 -Step2: Confirm the resolution of servo motor encoder.
1007 -
1008 -Step3: Confirm the parameters such as mechanical specifications, positioning accuracy, etc, and determine the load displacement corresponding to one position instruction output by the host computer.
1009 -
1010 -Step4: Combine the mechanical parameters and the load displacement corresponding to one position instruction, calculate the position instruction value required for one rotation of the load shaft.
1011 -
1012 -Step5: Calculate the value of electronic gear ratio according to formula below.
1013 -
1014 -
1015 -[[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]]
1016 -
1017 1017  **(3) lectronic gear ratio switch setting**
1018 1018  
1019 1019  
... ... @@ -1079,14 +1079,14 @@
1079 1079  
1080 1080  Table 6-21 Switching conditions of electronic gear ratio group
1081 1081  
1082 -|=(% 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]]
1083 -|=(% 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]]
1084 -|=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]]
1085 -|=1 to 131072|~-~-|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/42.png?rev=1.1]]
1068 +|=(% scope="row" %)**P00-16 value**|=(% style="width: 510px;" %)**DI terminal level corresponding to DI port function 9**|=(% style="width: 400px;" %)**Electronic gear ratio** [[image:image-20220707101503-24.png]]
1069 +|=(% rowspan="2" %)0|(% style="width:510px" %)DI port logic invalid|(% style="width:400px" %)[[image:image-20220707101328-21.png]]
1070 +|=(% style="width: 510px;" %)DI port logic valid|(% style="width:400px" %)[[image:image-20220707101336-22.png]]
1071 +|=1 to 131072|(% style="width:510px" %)~-~-|(% style="width:400px" %)[[image:image-20220707101341-23.png]]
1086 1086  
1087 1087  Table 6-22 Application of electronic gear ratio
1088 1088  
1089 -When the function code P00-16 is not 0, the electronic gear ratio [[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/39.png?rev=1.1]] is invalid.
1075 +When the function code P00-16 is not 0, the electronic gear ratio [[image:image-20220707101509-25.png]] is invalid.
1090 1090  
1091 1091  == **Position instruction filtering** ==
1092 1092  
... ... @@ -1100,12 +1100,11 @@
1100 1100  
1101 1101  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.
1102 1102  
1103 -
1089 +(% style="text-align:center" %)
1104 1104  [[image:image-20220608170455-23.png]]
1105 1105  
1106 1106  Figure 6-25 Position instruction filtering diagram
1107 1107  
1108 -
1109 1109  |=(% scope="row" %)**Function code**|=**Name**|=(((
1110 1110  **Setting method**
1111 1111  )))|=(((
... ... @@ -1145,7 +1145,7 @@
1145 1145  (% class="wikigeneratedid" %)
1146 1146  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.
1147 1147  
1148 -
1133 +(% style="text-align:center" %)
1149 1149  [[image:image-20220608170550-24.png]]
1150 1150  
1151 1151  Figure 6-26 Positioning completion signal output diagram
... ... @@ -1154,11 +1154,11 @@
1154 1154  
1155 1155  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]]__.
1156 1156  
1142 +(% style="text-align:center" %)
1157 1157  [[image:image-20220608170650-25.png]]
1158 1158  
1159 1159  Figure 6-27 Positioning completion signal output with increased window filter time diagram
1160 1160  
1161 -
1162 1162  |=(% scope="row" %)**Function code**|=**Name**|=(((
1163 1163  **Setting method**
1164 1164  )))|=(((
... ... @@ -1187,7 +1187,6 @@
1187 1187  
1188 1188  Table 6-24 Function code parameters of positioning completion
1189 1189  
1190 -
1191 1191  |=(% scope="row" %)**DO function code**|=**Function name**|=**Function**
1192 1192  |=134|P-COIN positioning complete|Output this signal indicates the servo drive position is complete.
1193 1193  |=135|(((
... ... @@ -1202,7 +1202,7 @@
1202 1202  
1203 1203  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.
1204 1204  
1205 -
1189 +(% style="text-align:center" %)
1206 1206  [[image:6.28.jpg||height="260" width="806"]]
1207 1207  
1208 1208  Figure 6-28 Speed control block diagram
... ... @@ -1221,7 +1221,7 @@
1221 1221  Shutdown setting
1222 1222  )))|(((
1223 1223  Effective immediately
1224 -)))|1|1 to 6|(((
1208 +)))|1|1 to 1|(((
1225 1225  0: internal speed instruction
1226 1226  
1227 1227  1: AI_1 analog input (not supported by VD2F)
... ... @@ -1231,21 +1231,31 @@
1231 1231  
1232 1232  **(1) Speed instruction source is internal speed instruction (P01-01=0)**
1233 1233  
1234 -Speed instruction comes from internal instruction, and the internal speed instruction is given by a number. The VD2 series servo drive has internal multi-segment speed running function. There are 8 segments speed instructions stored in servo drive, and the speed of each segment could be set individually. The servo drive uses the 1st segment internal speed by default. To use the 2nd to 8th segment internal speed, the corresponding number of DI terminals must be configured as functions 13, 14, and 15. The detailed parameters and function codes are shown as below.
1218 +Speed instruction comes from internal instruction, and the internal speed instruction is given by a number. The VD2 series servo drive has internal multi-segment speed running function. There are 8 segments speed instructions stored in servo drive, and the speed of each segment could be set individually. The servo drive uses the 1st segment internal speed by default. To use the 2nd to 8th segment internal speed, the corresponding number of DI terminals must be configured as functions 13, 14, and 15. The detailed parameters and function codes are shown as belo
1235 1235  
1220 +(% style="width:1141px" %)
1221 +|(% colspan="1" %)**Function code**|(% colspan="2" %)**Name**|(% colspan="2" %)(((
1222 +**Setting**
1236 1236  
1237 -|**Function code**|**Name**|(((
1238 -**Setting method**
1239 -)))|(((
1240 -**Effective time**
1241 -)))|**Default value**|**Range**|**Definition**|**Unit**
1242 -|(% rowspan="2" %)P01-02|(% rowspan="2" %)(((
1243 -Internal speed Instruction 0
1244 -)))|(% rowspan="2" %)(((
1245 -Operation setting
1246 -)))|(% rowspan="2" %)(((
1247 -Effective immediately
1248 -)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1224 +**method**
1225 +)))|(% colspan="2" %)(((
1226 +**Effective**
1227 +
1228 +**time**
1229 +)))|(% colspan="2" %)**Default value**|(% colspan="2" %)**Range**|(% colspan="2" %)**Definition**|(% colspan="2" %)**Unit**
1230 +|(% colspan="1" %)P01-02|(% colspan="2" %)(((
1231 +Internal speed
1232 +
1233 +Instruction 0
1234 +)))|(% colspan="2" %)(((
1235 +Operation
1236 +
1237 +setting
1238 +)))|(% colspan="2" %)(((
1239 +Effective
1240 +
1241 +immediately
1242 +)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1249 1249  Internal speed instruction 0
1250 1250  
1251 1251  When DI input port:
... ... @@ -1257,15 +1257,20 @@
1257 1257  13-INSPD1: 0,
1258 1258  
1259 1259  select this speed instruction to be effective.
1260 -)))|(% rowspan="2" %)rpm
1261 -|-5000 to 5000*
1262 -|(% rowspan="2" %)P01-23|(% rowspan="2" %)(((
1263 -Internal speed Instruction 1
1264 -)))|(% rowspan="2" %)(((
1265 -Operation setting
1266 -)))|(% rowspan="2" %)(((
1267 -Effective immediately
1268 -)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1254 +)))|(% colspan="2" %)rpm
1255 +|(% colspan="1" %)P01-23|(% colspan="2" %)(((
1256 +Internal speed
1257 +
1258 +Instruction 1
1259 +)))|(% colspan="2" %)(((
1260 +Operation
1261 +
1262 +setting
1263 +)))|(% colspan="2" %)(((
1264 +Effective
1265 +
1266 +immediately
1267 +)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1269 1269  Internal speed instruction 1
1270 1270  
1271 1271  When DI input port:
... ... @@ -1277,15 +1277,20 @@
1277 1277  13-INSPD1: 1,
1278 1278  
1279 1279  Select this speed instruction to be effective.
1280 -)))|(% rowspan="2" %)rpm
1281 -|-5000 to 5000*
1282 -|(% rowspan="2" %)P01-24|(% rowspan="2" %)(((
1283 -Internal speed Instruction 2
1284 -)))|(% rowspan="2" %)(((
1285 -Operation setting
1286 -)))|(% rowspan="2" %)(((
1287 -Effective immediately
1288 -)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1279 +)))|(% colspan="2" %)rpm
1280 +|(% colspan="1" %)P01-24|(% colspan="2" %)(((
1281 +Internal speed
1282 +
1283 +Instruction 2
1284 +)))|(% colspan="2" %)(((
1285 +Operation
1286 +
1287 +setting
1288 +)))|(% colspan="2" %)(((
1289 +Effective
1290 +
1291 +immediately
1292 +)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1289 1289  Internal speed instruction 2
1290 1290  
1291 1291  When DI input port:
... ... @@ -1297,15 +1297,20 @@
1297 1297  13-INSPD1: 0,
1298 1298  
1299 1299  Select this speed instruction to be effective.
1300 -)))|(% rowspan="2" %)rpm
1301 -|-5000 to 5000*
1302 -|(% rowspan="2" %)P01-25|(% rowspan="2" %)(((
1303 -Internal speed Instruction 3
1304 -)))|(% rowspan="2" %)(((
1305 -Operation setting
1306 -)))|(% rowspan="2" %)(((
1307 -Effective immediately
1308 -)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1304 +)))|(% colspan="2" %)rpm
1305 +|(% colspan="1" %)P01-25|(% colspan="2" %)(((
1306 +Internal speed
1307 +
1308 +Instruction 3
1309 +)))|(% colspan="2" %)(((
1310 +Operation
1311 +
1312 +setting
1313 +)))|(% colspan="2" %)(((
1314 +Effective
1315 +
1316 +immediately
1317 +)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1309 1309  Internal speed instruction 3
1310 1310  
1311 1311  When DI input port:
... ... @@ -1317,16 +1317,20 @@
1317 1317  13-INSPD1: 1,
1318 1318  
1319 1319  Select this speed instruction to be effective.
1320 -)))|(% rowspan="2" %)rpm
1321 -|-5000 to 5000*
1329 +)))|(% colspan="2" %)rpm
1330 +|P01-26|(% colspan="2" %)(((
1331 +Internal speed
1322 1322  
1323 -|(% rowspan="2" %)P01-26|(% rowspan="2" %)(((
1324 -Internal speed Instruction 4
1325 -)))|(% rowspan="2" %)(((
1326 -Operation setting
1327 -)))|(% rowspan="2" %)(((
1328 -Effective immediately
1329 -)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1333 +Instruction 4
1334 +)))|(% colspan="2" %)(((
1335 +Operation
1336 +
1337 +setting
1338 +)))|(% colspan="2" %)(((
1339 +Effective
1340 +
1341 +immediately
1342 +)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1330 1330  Internal speed instruction 4
1331 1331  
1332 1332  When DI input port:
... ... @@ -1338,15 +1338,20 @@
1338 1338  13-INSPD1: 0,
1339 1339  
1340 1340  Select this speed instruction to be effective.
1341 -)))|(% rowspan="2" %)rpm
1342 -|-5000 to 5000*
1343 -|(% rowspan="2" %)P01-27|(% rowspan="2" %)(((
1344 -Internal speed Instruction 5
1345 -)))|(% rowspan="2" %)(((
1346 -Operation setting
1347 -)))|(% rowspan="2" %)(((
1348 -Effective immediately
1349 -)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1354 +)))|(% colspan="1" %)rpm
1355 +|P01-27|(% colspan="2" %)(((
1356 +Internal speed
1357 +
1358 +Instruction 5
1359 +)))|(% colspan="2" %)(((
1360 +Operation
1361 +
1362 +setting
1363 +)))|(% colspan="2" %)(((
1364 +Effective
1365 +
1366 +immediately
1367 +)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1350 1350  Internal speed instruction 5
1351 1351  
1352 1352  When DI input port:
... ... @@ -1358,15 +1358,20 @@
1358 1358  13-INSPD1: 1,
1359 1359  
1360 1360  Select this speed instruction to be effective.
1361 -)))|(% rowspan="2" %)rpm
1362 -|-5000 to 5000*
1363 -|(% rowspan="2" %)P01-28|(% rowspan="2" %)(((
1364 -Internal speed Instruction 6
1365 -)))|(% rowspan="2" %)(((
1366 -Operation setting
1367 -)))|(% rowspan="2" %)(((
1368 -Effective immediately
1369 -)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1379 +)))|(% colspan="1" %)rpm
1380 +|P01-28|(% colspan="2" %)(((
1381 +Internal speed
1382 +
1383 +Instruction 6
1384 +)))|(% colspan="2" %)(((
1385 +Operation
1386 +
1387 +setting
1388 +)))|(% colspan="2" %)(((
1389 +Effective
1390 +
1391 +immediately
1392 +)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1370 1370  Internal speed instruction 6
1371 1371  
1372 1372  When DI input port:
... ... @@ -1378,15 +1378,20 @@
1378 1378  13-INSPD1: 0,
1379 1379  
1380 1380  Select this speed instruction to be effective.
1381 -)))|(% rowspan="2" %)rpm
1382 -|-5000 to 5000*
1383 -|(% rowspan="2" %)P01-29|(% rowspan="2" %)(((
1384 -Internal speed Instruction 7
1385 -)))|(% rowspan="2" %)(((
1386 -Operation setting
1387 -)))|(% rowspan="2" %)(((
1388 -Effective immediately
1389 -)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1404 +)))|(% colspan="1" %)rpm
1405 +|P01-29|(% colspan="2" %)(((
1406 +Internal speed
1407 +
1408 +Instruction 7
1409 +)))|(% colspan="2" %)(((
1410 +Operation
1411 +
1412 +setting
1413 +)))|(% colspan="2" %)(((
1414 +Effective
1415 +
1416 +immediately
1417 +)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1390 1390  Internal speed instruction 7
1391 1391  
1392 1392  When DI input port:
... ... @@ -1398,14 +1398,10 @@
1398 1398  13-INSPD1: 1,
1399 1399  
1400 1400  Select this speed instruction to be effective.
1401 -)))|(% rowspan="2" %)rpm
1402 -|-5000 to 5000*
1429 +)))|(% colspan="1" %)rpm
1403 1403  
1404 1404  Table 6-27 Internal speed instruction parameters
1405 1405  
1406 -✎**Note: **“*” means the set range of VD2F servo drive.
1407 -
1408 -
1409 1409  |**DI function code**|**function name**|**Function**
1410 1410  |13|INSPD1 internal speed instruction selection 1|Form internal multi-speed running segment number
1411 1411  |14|INSPD2 internal speed instruction selection 2|Form internal multi-speed running segment number
... ... @@ -1425,16 +1425,15 @@
1425 1425  
1426 1426  Table 6-29 Correspondence between INSPD bits and segment numbers
1427 1427  
1428 -
1429 1429  [[image:image-20220608170845-26.png]]
1430 1430  
1431 1431  Figure 6-29 Multi-segment speed running curve
1432 1432  
1433 -**(2) Speed instruction source is internal speed instruction (P01-01=0)**
1456 +**(2) Speed instruction source is internal speed instruction (P01-01=1)**
1434 1434  
1435 1435  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.
1436 1436  
1437 -
1460 +(% style="text-align:center" %)
1438 1438  [[image:image-20220608153341-5.png]]
1439 1439  
1440 1440  Figure 6-30 Analog input circuit
... ... @@ -1441,7 +1441,7 @@
1441 1441  
1442 1442  Taking AI_1 as an example, the method of setting the speed instruction of analog voltage is illustrated as below.
1443 1443  
1444 -
1467 +(% style="text-align:center" %)
1445 1445  [[image:image-20220608170955-27.png]]
1446 1446  
1447 1447  Figure 6-31 Analog voltage speed instruction setting steps
... ... @@ -1448,18 +1448,15 @@
1448 1448  
1449 1449  Explanation of related terms:
1450 1450  
1451 -Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
1474 +* Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
1475 +* Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
1476 +* Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1452 1452  
1453 -Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
1454 -
1455 -Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1456 -
1457 -
1478 +(% style="text-align:center" %)
1458 1458  [[image:image-20220608171124-28.png]]
1459 1459  
1460 1460  Figure 6-32 AI_1 diagram before and after bias
1461 1461  
1462 -
1463 1463  |**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
1464 1464  |P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1465 1465  |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
... ... @@ -1476,16 +1476,14 @@
1476 1476  
1477 1477  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.
1478 1478  
1479 -
1499 +(% style="text-align:center" %)
1480 1480  [[image:image-20220608171314-29.png]]
1481 1481  
1482 1482  Figure 6-33 of acceleration and deceleration time diagram
1483 1483  
1484 -Actual acceleration time T1 =[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/43.jpg?rev=1.1]]
1504 +(% style="text-align:center" %)
1505 +[[image:image-20220707103616-27.png]]
1485 1485  
1486 -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]]
1487 -
1488 -
1489 1489  |**Function code**|**Name**|(((
1490 1490  **Setting method**
1491 1491  )))|(((
... ... @@ -1620,7 +1620,6 @@
1620 1620  
1621 1621  Table 6-34 Rotation detection speed threshold parameters
1622 1622  
1623 -
1624 1624  |**DO function code**|**Function name**|**Function**
1625 1625  |132|(((
1626 1626  T-COIN rotation detection
... ... @@ -1636,7 +1636,6 @@
1636 1636  
1637 1637  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.
1638 1638  
1639 -
1640 1640  [[image:image-20220608171904-32.png]]
1641 1641  
1642 1642  Figure 6-36 Zero-speed signal diagram
... ... @@ -1643,7 +1643,6 @@
1643 1643  
1644 1644  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]]__.
1645 1645  
1646 -
1647 1647  |**Function code**|**Name**|(((
1648 1648  **Setting method**
1649 1649  )))|(((
... ... @@ -1669,7 +1669,6 @@
1669 1669  
1670 1670  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.
1671 1671  
1672 -
1673 1673  [[image:image-20220608172053-33.png]]
1674 1674  
1675 1675  Figure 6-37 Speed consistent signal diagram
... ... @@ -1676,7 +1676,6 @@
1676 1676  
1677 1677  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]]__.
1678 1678  
1679 -
1680 1680  |**Function code**|**Name**|(((
1681 1681  **Setting method**
1682 1682  )))|(((
... ... @@ -1702,14 +1702,12 @@
1702 1702  
1703 1703  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.
1704 1704  
1705 -
1706 1706  [[image:image-20220608172207-34.png]]
1707 1707  
1708 1708  Figure 6-38 Speed approaching signal diagram
1709 1709  
1710 -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]]__.
1722 +To use the motor speed approach function, a DO terminal of the servo drive should be assigned to function 137 (V-NEAR, speed approach). The function code parameters and related DO function codes are shown in __[[Table 6-40>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__ and __[[Table 6-41>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__.
1711 1711  
1712 -
1713 1713  |**Function code**|**Name**|(((
1714 1714  **Setting method**
1715 1715  )))|(((
... ... @@ -1723,7 +1723,6 @@
1723 1723  
1724 1724  Table 6-40 Speed approaching signal threshold parameters
1725 1725  
1726 -
1727 1727  |**DO function code**|**Function name**|**Function**
1728 1728  |137|(((
1729 1729  V-NEAR speed approach
... ... @@ -1784,7 +1784,7 @@
1784 1784  
1785 1785  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.
1786 1786  
1787 -
1797 +(% style="text-align:center" %)
1788 1788  [[image:image-20220608153646-7.png||height="213" width="408"]]
1789 1789  
1790 1790  Figure 6-40 Analog input circuit
... ... @@ -1791,7 +1791,7 @@
1791 1791  
1792 1792  Taking AI_1 as an example, the method of setting torque instruction of analog voltage is as below.
1793 1793  
1794 -
1804 +(% style="text-align:center" %)
1795 1795  [[image:image-20220608172502-36.png]]
1796 1796  
1797 1797  Figure 6-41 Analog voltage torque instruction setting steps
... ... @@ -1798,18 +1798,15 @@
1798 1798  
1799 1799  Explanation of related terms:
1800 1800  
1801 -Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
1811 +* Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
1812 +* Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
1813 +* Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1802 1802  
1803 -Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
1804 -
1805 -Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1806 -
1807 -
1815 +(% style="text-align:center" %)
1808 1808  [[image:image-20220608172611-37.png]]
1809 1809  
1810 1810  Figure 6-42 AI_1 diagram before and after bias
1811 1811  
1812 -
1813 1813  |**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
1814 1814  |P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1815 1815  |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
... ... @@ -1824,7 +1824,6 @@
1824 1824  
1825 1825  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]]__.
1826 1826  
1827 -
1828 1828  |**Function code**|**Name**|(((
1829 1829  **Setting method**
1830 1830  )))|(((
... ... @@ -1840,7 +1840,7 @@
1840 1840  
1841 1841  ✎**Note: **If the filter time constant is set too large, the responsiveness will be reduced. Please set it while confirming the responsiveness.
1842 1842  
1843 -
1849 +(% style="text-align:center" %)
1844 1844  [[image:image-20220608172646-38.png]]
1845 1845  
1846 1846  Figure 6-43 Torque instruction-first-order filtering diagram
... ... @@ -1851,7 +1851,7 @@
1851 1851  
1852 1852  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.
1853 1853  
1854 -
1860 +(% style="text-align:center" %)
1855 1855  [[image:image-20220608172806-39.png]]
1856 1856  
1857 1857  Figure 6-44 Torque instruction limit diagram
... ... @@ -1860,7 +1860,6 @@
1860 1860  
1861 1861  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.
1862 1862  
1863 -
1864 1864  |**Function code**|**Name**|(((
1865 1865  **Setting method**
1866 1866  )))|(((
... ... @@ -1884,7 +1884,6 @@
1884 1884  
1885 1885  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.
1886 1886  
1887 -
1888 1888  |**Function code**|**Name**|(((
1889 1889  **Setting method**
1890 1890  )))|(((
... ... @@ -1915,7 +1915,6 @@
1915 1915  
1916 1916  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.
1917 1917  
1918 -
1919 1919  |**DO function code**|**Function name**|**Function**
1920 1920  |139|(((
1921 1921  T-LIMIT in torque limit
... ... @@ -1980,7 +1980,7 @@
1980 1980  
1981 1981  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.
1982 1982  
1983 -
1986 +(% style="text-align:center" %)
1984 1984  [[image:image-20220608173541-42.png]]
1985 1985  
1986 1986  Figure 6-47 Torque arrival output diagram
... ... @@ -1987,7 +1987,6 @@
1987 1987  
1988 1988  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]]__.
1989 1989  
1990 -
1991 1991  |**Function code**|**Name**|(((
1992 1992  **Setting method**
1993 1993  )))|(((
... ... @@ -2032,15 +2032,14 @@
2032 2032  
2033 2033  Mixed control mode means that when the servo enable is ON and the status of the servo drive is "run", the mode of the servo drive could be switched between different modes. The VD2 series servo drives have the following 3 mixed control modes:
2034 2034  
2035 -Position mode Speed mode
2037 +Position mode⇔ Speed mode
2036 2036  
2037 -Position mode Torque mode
2039 +Position mode ⇔Torque mode
2038 2038  
2039 -Speed mode Torque mode
2041 +Speed mode ⇔Torque mode
2040 2040  
2041 2041  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.
2042 2042  
2043 -
2044 2044  |**Function code**|**Name**|(((
2045 2045  **Setting method**
2046 2046  )))|(((
... ... @@ -2068,7 +2068,6 @@
2068 2068  
2069 2069  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.
2070 2070  
2071 -
2072 2072  |**DI function code**|**Name**|**Function name**|**Function**
2073 2073  |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(((
2074 2074  |**P00-01**|**MixModeSel terminal logic**|**Control mode**
... ... @@ -2104,7 +2104,7 @@
2104 2104  
2105 2105  The relationship between encoder feedback position and rotating load position is shown in the figure below. (take a 17-bit encoder as an example).
2106 2106  
2107 -
2107 +(% style="text-align:center" %)
2108 2108  [[image:image-20220608173618-43.png]]
2109 2109  
2110 2110  Figure 6-48 Diagram of relationship between encoder feedback position and rotating load position
... ... @@ -2113,7 +2113,6 @@
2113 2113  
2114 2114  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.
2115 2115  
2116 -
2117 2117  |**Encoder type**|**Encoder resolution (bits)**|**Data range**
2118 2118  |C1 (multi-turn magnetic encoder)|17|0 to 131071
2119 2119  |D2 (multi-turn Optical encoder)|23|0 to 8388607
... ... @@ -2122,7 +2122,7 @@
2122 2122  
2123 2123  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).
2124 2124  
2125 -
2124 +(% style="text-align:center" %)
2126 2126  [[image:image-20220608173701-44.png]]
2127 2127  
2128 2128  Figure 6-49 The relationship between encoder feedback position and rotating load position
... ... @@ -2131,7 +2131,6 @@
2131 2131  
2132 2132  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.
2133 2133  
2134 -
2135 2135  |**Monitoring number**|**Category**|**Name**|**Unit**|**Data type**
2136 2136  |U0-54|Universal|Absolute encoder position within 1 turn|Encoder unit|32-bit
2137 2137  |U0-55|Universal|Rotations number of absolute encoder|circle|16-bit
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