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Changes for page 06 Operation

Last modified by Iris on 2025/08/06 18:24
From version 51.10
edited by Stone Wu
on 2022/07/07 09:48
Change comment: (Autosaved)
To version 51.6
edited by Stone Wu
on 2022/07/07 09:33
Change comment: (Autosaved)

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... ... @@ -671,6 +671,7 @@
671 671  
672 672  Table 6-14 Position pulse type selection parameter
673 673  
674 +
674 674  |=(% scope="row" %)**Pulse type selection**|=**Pulse type**|=**Signal**|=**Schematic diagram of forward pulse**|=**Schematic diagram of negative pulse**
675 675  |=0|(((
676 676  Direction + pulse
... ... @@ -680,12 +680,12 @@
680 680  PULSE
681 681  
682 682  SIGN
683 -)))|[[image:image-20220707094340-6.jpeg]]|[[image:image-20220707094345-7.jpeg]]
684 +)))|[[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]]
684 684  |=1|CW/CCW|(((
685 685  PULSE (CW)
686 686  
687 687  SIGN (CCW)
688 -)))|(% colspan="2" %)[[image:image-20220707094351-8.jpeg]]
689 +)))|(% 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]]
689 689  |=2|(((
690 690  AB phase orthogonal
691 691  
... ... @@ -695,16 +695,12 @@
695 695  
696 696  SIGN (Phase B)
697 697  )))|(((
698 -
699 +[[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]]
699 699  
700 -[[image:image-20220707094358-9.jpeg]]
701 -
702 702  Phase A is 90° ahead of Phase B
703 703  )))|(((
704 -
703 +[[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]]
705 705  
706 -[[image:image-20220707094407-10.jpeg]]
707 -
708 708  Phase B is 90° ahead of Phase A
709 709  )))
710 710  |=3|(((
... ... @@ -715,7 +715,7 @@
715 715  PULSE
716 716  
717 717  SIGN
718 -)))|[[image:image-20220707094414-11.jpeg]]|[[image:image-20220707094418-12.jpeg]]
715 +)))|[[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]]
719 719  |=4|(((
720 720  CW/CCW
721 721  
... ... @@ -724,7 +724,7 @@
724 724  PULSE (CW)
725 725  
726 726  SIGN (CCW)
727 -)))|(% colspan="2" %)[[image:image-20220707094423-13.jpeg]]
724 +)))|(% 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]]
728 728  |=5|(((
729 729  AB phase orthogonal
730 730  
... ... @@ -734,17 +734,13 @@
734 734  
735 735  SIGN (Phase B)
736 736  )))|(((
737 -
734 +[[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]]
738 738  
739 -[[image:image-20220707094429-14.jpeg]]
740 -
741 -Phase B is ahead of A phase by 90°
736 +B phase is ahead of A phase by 90°
742 742  )))|(((
743 -
738 +[[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]]
744 744  
745 -[[image:image-20220707094437-15.jpeg]]
746 -
747 -Phase A is ahead of B phase by 90°
740 +A phase is ahead of B phase by 90°
748 748  )))
749 749  
750 750  Table 6-15 Pulse description
... ... @@ -755,7 +755,7 @@
755 755  
756 756  The servo drive completely runs the multi-segment position instruction set by P07-01 once, and the total number of positions is called completing one round of operation.
757 757  
758 -(% style="text-align:center" %)
751 +
759 759  [[image:image-20220608164116-9.png]]
760 760  
761 761  Figure 6-11 The setting process of multi-segment position
... ... @@ -762,6 +762,7 @@
762 762  
763 763  1) Set multi-segment position running mode
764 764  
758 +
765 765  |=(% scope="row" %)**Function code**|=**Name**|=(((
766 766  **Setting method**
767 767  )))|=(((
... ... @@ -816,7 +816,6 @@
816 816  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
817 817  
818 818  
819 -(% style="text-align:center" %)
820 820  [[image:image-20220608164226-10.png]]
821 821  
822 822  Figure 6-12 Single running curve (P07-02=1, P07-03=2)
... ... @@ -826,7 +826,6 @@
826 826  In this running mode, the position number is automatically incremented and switched, and the servo drive repeatedly runs the total number of multi-segment position instructions set by P07-02 and P07-03. The waiting time could be set between each segment. The cycle running curve is shown in __[[Figure 6-13>>https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/image-20220608164327-11.png?rev=1.1]]__, and S1,S2,S3 and S4 are the displacements of the 1st, 2nd, 3rd and 4th segment respectively.
827 827  
828 828  
829 -(% style="text-align:center" %)
830 830  [[image:image-20220608164327-11.png]]
831 831  
832 832  Figure 6-13 Cycle running curve (P07-02=1, P07-03=4)
... ... @@ -838,6 +838,7 @@
838 838  
839 839  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.
840 840  
833 +
841 841  |=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
842 842  |=21|INPOS1: Internal multi-segment position segment selection 1|Form internal multi-segment position running segment number
843 843  |=22|INPOS2: Internal multi-segment position segment selection 2|Form internal multi-segment position running segment number
... ... @@ -848,6 +848,7 @@
848 848  
849 849  The multi-segment segment number is a 4-bit binary number, and the DI terminal logic is level valid. When the input level is valid, the segment selection bit value is 1, otherwise it is 0. Table 6-17 shows the correspondence between the position bits 1 to 4 of the internal multi-segment position and the position number.
850 850  
844 +
851 851  |=(% scope="row" %)**INPOS4**|=**INPOS3**|=**INPOS2**|=**INPOS1**|=**Running position number**
852 852  |=0|0|0|0|1
853 853  |=0|0|0|1|2
... ... @@ -859,7 +859,7 @@
859 859  
860 860  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]]__.
861 861  
862 -(% style="text-align:center" %)
856 +
863 863  [[image:image-20220608164545-12.png]]
864 864  
865 865  Figure 6-14 DI switching running curve
... ... @@ -870,12 +870,12 @@
870 870  
871 871  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.
872 872  
873 -(% style="text-align:center" %)
867 +
874 874  [[image:image-20220608164847-13.png]]
875 875  
876 876  Figure 6-15 Single running-run the remaining segments (P07-02=1, P07-03=4)
877 877  
878 -(% style="text-align:center" %)
872 +
879 879  [[image:image-20220608165032-14.png]]
880 880  
881 881  Figure 6-16 Cycle running-run the remaining segment (P07-02=1, P07-03=4)
... ... @@ -884,12 +884,12 @@
884 884  
885 885  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.
886 886  
887 -(% style="text-align:center" %)
881 +
888 888  [[image:image-20220608165343-15.png]]
889 889  
890 890  Figure 6-17 Single running-run from the start segment again (P07-02=1, P07-03=4)
891 891  
892 -(% style="text-align:center" %)
886 +
893 893  [[image:image-20220608165558-16.png]]
894 894  
895 895  Figure 6-18 Cyclic running-run from the start segment again (P07-02=1, P07-03=4)
... ... @@ -922,6 +922,7 @@
922 922  
923 923  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.
924 924  
919 +
925 925  |=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit**
926 926  |=P07-09|(((
927 927  1st segment
... ... @@ -956,7 +956,7 @@
956 956  
957 957  After setting the above parameters, the actual operation curve of the motor is shown in Figure 6-23.
958 958  
959 -(% style="text-align:center" %)
954 +
960 960  [[image:image-20220608170149-21.png]]
961 961  
962 962  Figure 6-23 The 1st segment running curve of motor
... ... @@ -965,6 +965,7 @@
965 965  
966 966  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.
967 967  
963 +
968 968  |=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
969 969  |=20|ENINPOS: Internal multi-segment position enable signal|(((
970 970  DI port logic invalid: Does not affect the current operation of the servo motor.
... ... @@ -986,12 +986,15 @@
986 986  
987 987  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)
988 988  
989 -(% style="text-align:center" %)
990 -[[image:image-20220707094901-16.png]]
991 991  
986 +[[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]]
992 992  
993 993  
989 +[[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]]
994 994  
991 +
992 +[[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]]
993 +
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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