Changes for page 06 Operation

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Parent

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1		-Servo.1 User Manual.02 VD2 SA Series.WebHome
	1	+Servo.2\. User Manual.06 VD2 SA Series Servo Drives Manual (Full V1\.1).WebHome

Author

...	...	@@ -1,1 +1,1 @@
1		-XWiki.Stone
	1	+XWiki.Joey

Content

...	...	@@ -2,20 +2,20 @@
2	2
3	3	== **Check before operation** ==
4	4
5		-|=(% scope="row" %)**No.**|=**Content**
6		-|=(% colspan="2" %)Wiring
7		-|=1|The main circuit input terminals (L1, L2 and L3) of servo drive must be properly connected.
8		-|=2|The main circuit output terminals (U, V and W) of servo drive and the main circuit cables (U, V and W) of servo motor must have the same phase and be properly connected.
9		-|=3|The main circuit power input terminals (L1, L2 and L3) and the main circuit output terminals (U, V and W) of servo drive cannot be short-circuited.
10		-|=4|The wiring of each control signal cable of servo drive is correct: The external signal wires such as brake and overtravel protection have been reliably connected.
11		-|=5|Servo drive and servo motor must be grounded reliably.
12		-|=6|When using an external braking resistor, the short wiring between drive C and D must be removed.
13		-|=7|The force of all cables is within the specified range.
14		-|=8|The wiring terminals have been insulated.
15		-|=(% colspan="2" %)Environment and Machinery
16		-|=1|There is no iron filings, metal, etc. that can cause short circuits inside or outside the servo drive.
17		-|=2|The servo drive and external braking resistor are not placed on combustible objects.
18		-|=3|The installation, shaft and mechanical structure of the servo motor have been firmly connected.
	5	+|**No.**|**Content**
	6	+|(% colspan="2" style="text-align:center; vertical-align:middle" %)Wiring
	7	+|1|The main circuit input terminals (L1, L2 and L3) of servo drive must be properly connected.
	8	+|2|The main circuit output terminals (U, V and W) of servo drive and the main circuit cables (U, V and W) of servo motor must have the same phase and be properly connected.
	9	+|3|The main circuit power input terminals (L1, L2 and L3) and the main circuit output terminals (U, V and W) of servo drive cannot be short-circuited.
	10	+|4|The wiring of each control signal cable of servo drive is correct: The external signal wires such as brake and overtravel protection have been reliably connected.
	11	+|5|Servo drive and servo motor must be grounded reliably.
	12	+|6|When using an external braking resistor, the short wiring between drive C and D must be removed.
	13	+|7|The force of all cables is within the specified range.
	14	+|8|The wiring terminals have been insulated.
	15	+|(% colspan="2" style="text-align:center; vertical-align:middle" %)Environment and Machinery
	16	+|1|There is no iron filings, metal, etc. that can cause short circuits inside or outside the servo drive.
	17	+|2|The servo drive and external braking resistor are not placed on combustible objects.
	18	+|3|The installation, shaft and mechanical structure of the servo motor have been firmly connected.
19	19
20	20	Table 6-1 Check contents before operation
21	21
...	...	@@ -25,7 +25,7 @@
25	25
26	26	After power on the main circuit, the bus voltage indicator shows no abnormality, and the panel display "rdy", indicating that the servo drive is in an operational state, waiting for the host computer to give the servo enable signal.
27	27
28		-If the drive panel displays other fault codes, please refer to __[[“10 Faults>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/10%20Malfunctions/]]__” to analyze and eliminate the cause of the fault.
	28	+If the drive panel displays other fault codes, please refer to __[[“10 Faults>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/10%20Malfunctions/#HFaultandwarningcodetable]]__” to analyze and eliminate the cause of the fault.
29	29
30	30	**(2) Set the servo drive enable (S-ON) to invalid (OFF)**
31	31
...	...	@@ -35,7 +35,7 @@
35	35
36	36	**(1) Panel jog operation**
37	37
38		-Enter “P10-01” by pressing the key on the panel. After pressing “OK”, the panel will display the current jog speed. At this time, you can adjust the jog speed by pressing the "up" or "down" keys; After adjusting the moving speed, press "OK", and the panel displays "JOG" and is in a flashing state. Press "OK" again to enter the jog operation mode (the motor is now powered on!). Long press the "up" and "down" keys to achieve the forward and reverse rotation of the motor. Press "Mode" key to exit the jog operation mode. For operation and display, please refer to __[["5.3.2. Jog operation">>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/05%20Panel/#HJogoperation]]__.
	38	+Enter “P10-01” by pressing the key on the panel. After pressing “OK”, the panel will display the current jog speed. At this time, you can adjust the jog speed by pressing the "up" or "down" keys; After adjusting the moving speed, press "OK", and the panel displays "JOG" and is in a flashing state. Press "OK" again to enter the jog operation mode (the motor is now powered on!). Long press the "up" and "down" keys to achieve the forward and reverse rotation of the motor. Press "Mode" key to exit the jog operation mode. For operation and display, please refer to __[["5.3.2. Jog operation">>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/05%20Panel/#HJogoperation]]__.
39	39
40	40	**(2) Jog operation of servo debugging platform**
41	41
...	...	@@ -42,17 +42,17 @@
42	42	Open the jog operation interface of the software “Wecon SCTool”, set the jog speed value in the "set speed" in the "manual operation", click the "servo on" button on the interface, and then achieve the jog forward and reverse function through the "forward rotation" or "Reverse" button on the interface. After clicking the "Servo off" button, the jog operation mode is exited. The related function codes are shown below.
43	43
44	44
45		-
46		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	45	+(% class="table-bordered" %)
	46	+|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)(((
47	47	**Setting method**
48		-)))|=(((
	48	+)))|(% style="text-align:center; vertical-align:middle" %)(((
49	49	**Effective time**
50		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
51		-|=P10-01|JOG speed|(((
	50	+)))|(% style="text-align:center; vertical-align:middle" %)**Default value**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	51	+|(% style="text-align:center; vertical-align:middle" %)P10-01|(% style="text-align:center; vertical-align:middle" %)JOG speed|(% style="text-align:center; vertical-align:middle" %)(((
52	52	Operation setting
53		-)))|(((
	53	+)))|(% style="text-align:center; vertical-align:middle" %)(((
54	54	Effective immediately
55		-)))|100|0 to 3000|JOG speed|rpm
	55	+)))|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)0 to 3000|(% style="text-align:center; vertical-align:middle" %)JOG speed|(% style="text-align:center; vertical-align:middle" %)rpm
56	56
57	57	Table 6-2 JOG speed parameter
58	58
...	...	@@ -60,19 +60,25 @@
60	60
61	61	By setting the “P00-04” rotation direction, you could change the rotation direction of the motor without changing the polarity of the input instruction. The function code is shown in below.
62	62
63		-
64		-|=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=Effective time|=**Default value**|=**Range**|=**Definition**|=**Unit**
65		-|=P00-04|Rotation direction|(((
	63	+(% class="table-bordered" %)
	64	+|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)(((
	65	+**Setting method**
	66	+)))|(% style="text-align:center; vertical-align:middle" %)(((
	67	+**Effective time**
	68	+)))|(% style="text-align:center; vertical-align:middle" %)(((
	69	+**Default value**
	70	+)))|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	71	+|(% style="text-align:center; vertical-align:middle" %)P00-04|(% style="text-align:center; vertical-align:middle" %)Rotation direction|(% style="text-align:center; vertical-align:middle" %)(((
66	66	Shutdown setting
67		-)))|(((
	73	+)))|(% style="text-align:center; vertical-align:middle" %)(((
68	68	Effective immediately
69		-)))|0|0 to 1|(((
	75	+)))|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
70	70	Forward rotation: Face the motor shaft to watch
71	71
72	72	0: standard setting (CW is forward rotation)
73	73
74	74	1: reverse mode (CCW is forward rotation)
75		-)))|-
	81	+)))|(% style="text-align:center; vertical-align:middle" %)-
76	76
77	77	Table 6-3 Rotation direction parameters** **
78	78
...	...	@@ -85,16 +85,17 @@
85	85	1. the maximum brake energy calculated value > the maximum brake energy absorbed by capacitor, and the brake power calculated value ≤ the built-in braking resistor power, use the built-in braking resistor.
86	86	1. the maximum brake energy calculated value > the maximum brake energy absorbed by capacitor, and the brake power calculated value > the built-in braking resistor power, use external braking resistor.
87	87
88		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	94	+(% class="table-bordered" %)
	95	+|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)(((
89	89	**Setting method**
90		-)))|=(((
	97	+)))|(% style="text-align:center; vertical-align:middle" %)(((
91	91	**Effective time**
92		-)))|=**Default**|=**Range**|=**Definition**|=**Unit**
93		-|=P00-09|Braking resistor setting|(((
	99	+)))|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	100	+|(% style="text-align:center; vertical-align:middle" %)P00-09|(% style="text-align:center; vertical-align:middle" %)Braking resistor setting|(% style="text-align:center; vertical-align:middle" %)(((
94	94	Operation setting
95		-)))|(((
	102	+)))|(% style="text-align:center; vertical-align:middle" %)(((
96	96	Effective immediately
97		-)))|0|0 to 3|(((
	104	+)))|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 3|(((
98	98	0: use built-in braking resistor
99	99
100	100	1: use external braking resistor and natural cooling
...	...	@@ -102,18 +102,18 @@
102	102	2: use external braking resistor and forced air cooling; (cannot be set)
103	103
104	104	3: No braking resistor is used, it is all absorbed by capacitor.
105		-)))|-
106		-|=(% colspan="8" %)✎**Note: **VD2-010SA1G and VD2F-010SA1P drives have no built-in resistor by default, so the default value of the function code “P00-09” is 3 (No braking resistor is used, it is all absorbed by capacitor).
107		-|=P00-10|External braking resistor value|(((
	112	+)))|(% style="text-align:center; vertical-align:middle" %)-
	113	+|(% colspan="8" %)✎**Note: **VD2-010SA1G and VD2F-010SA1P drives have no built-in resistor by default, so the default value of the function code “P00-09” is 3 (No braking resistor is used, it is all absorbed by capacitor).
	114	+|(% style="text-align:center; vertical-align:middle" %)P00-10|(% style="text-align:center; vertical-align:middle" %)External braking resistor value|(% style="text-align:center; vertical-align:middle" %)(((
108	108	Operation setting
109		-)))|(((
	116	+)))|(% style="text-align:center; vertical-align:middle" %)(((
110	110	Effective immediately
111		-)))|50|0 to 65535|It is used to set the external braking resistor value of a certain type of drive.|Ω
112		-|=P00-11|External braking resistor power|(((
	118	+)))|(% style="text-align:center; vertical-align:middle" %)50|(% style="text-align:center; vertical-align:middle" %)0 to 65535|It is used to set the external braking resistor value of a certain type of drive.|(% style="text-align:center; vertical-align:middle" %)Ω
	119	+|(% style="text-align:center; vertical-align:middle" %)P00-11|(% style="text-align:center; vertical-align:middle" %)External braking resistor power|(% style="text-align:center; vertical-align:middle" %)(((
113	113	Operation setting
114		-)))|(((
	121	+)))|(% style="text-align:center; vertical-align:middle" %)(((
115	115	Effective immediately
116		-)))|100|0 to 65535|It is used to set the external braking resistor power of a certain type of drive.|W
	123	+)))|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)0 to 65535|It is used to set the external braking resistor power of a certain type of drive.|(% style="text-align:center; vertical-align:middle" %)W
117	117
118	118	Table 6-4 Braking resistor parameters
119	119
...	...	@@ -127,11 +127,11 @@
127	127
128	128	**(2) Input the instruction and the motor rotates**
129	129
130		-Input appropriate instructions during operation, first run the motor at a low speed, and observe the rotation to see if it conforms to the set rotation direction. Observe the actual running speed, bus voltage and other parameters of the motor through the host computer debugging platform. According to [[__"7 Adjustment"__>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/]], the motor could work as expected.
	137	+Input appropriate instructions during operation, first run the motor at a low speed, and observe the rotation to see if it conforms to the set rotation direction. Observe the actual running speed, bus voltage and other parameters of the motor through the host computer debugging platform. According to [[__"7 Adjustment"__>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/]], the motor could work as expected.
131	131
132	132	**(3) Timing diagram of power on**
133	133
134		-
	141	+(% style="text-align:center" %)
135	135	[[image:image-20220608163014-1.png]]
136	136
137	137	Figure 6-1 Timing diagram of power on
...	...	@@ -138,19 +138,19 @@
138	138
139	139	== **Servo shutdown** ==
140	140
141		-According to the different shutdown modes, it could be divided into free shutdown and zero speed shutdown. The respective characteristics are shown in __[[Table 6-5>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HServoshutdown]]__. According to the shutdown status, it could be divided into free running state and position locked, as shown in __[[Table 6-6>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HServoshutdown]]__.
	148	+According to the different shutdown modes, it could be divided into free shutdown and zero speed shutdown. The respective characteristics are shown in __[[Table 6-5>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HServoshutdown]]__. According to the shutdown status, it could be divided into free running state and position locked, as shown in __[[Table 6-6>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HServoshutdown]]__.
142	142
	150	+(% class="table-bordered" %)
	151	+|Shutdown mode|Shutdown description|Shutdown characteristics
	152	+|Free shutdown|Servo motor is not energized and decelerates freely to 0. The deceleration time is affected by factors such as mechanical inertia and mechanical friction.|Smooth deceleration, small mechanical shock, but slow deceleration process.
	153	+|Zero-speed shutdown|The servo drive outputs reverse braking torque, and the motor quickly decelerates to zero-speed.|Rapid deceleration with mechanical shock, but fast deceleration process.
143	143
144		-|=(% scope="row" %)Shutdown mode|=Shutdown description|=Shutdown characteristics
145		-|=Free shutdown|Servo motor is not energized and decelerates freely to 0. The deceleration time is affected by factors such as mechanical inertia and mechanical friction.|Smooth deceleration, small mechanical shock, but slow deceleration process.
146		-|=Zero-speed shutdown|The servo drive outputs reverse braking torque, and the motor quickly decelerates to zero-speed.|Rapid deceleration with mechanical shock, but fast deceleration process.
147		-
148	148	Table 6-5 Comparison of two shutdown modes
149	149
	157	+(% class="table-bordered" %)
	158	+|(% style="text-align:center; vertical-align:middle" %)**Shutdown status**|(% style="text-align:center; vertical-align:middle" %)**Free operation status**|(% style="text-align:center; vertical-align:middle" %)**Position locked**
	159	+|(% style="text-align:center; vertical-align:middle" %)Characteristics|After the motor stops rotating, it is power-off, and the motor shaft can rotate freely.|After the motor stops rotating, the motor shaft is locked and could not rotate freely.
150	150
151		-|=(% scope="row" %)**Shutdown status**|=**Free operation status**|=**Position locked**
152		-|=Characteristics|After the motor stops rotating, it is power-off, and the motor shaft can rotate freely.|After the motor stops rotating, the motor shaft is locked and could not rotate freely.
153		-
154	154	Table 6-6 Comparison of two shutdown status
155	155
156	156	**(1) Servo enable (S-ON) OFF shutdown**
...	...	@@ -157,27 +157,27 @@
157	157
158	158	The related parameters of the servo OFF shutdown mode are shown in the table below.
159	159
160		-
161		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	167	+(% class="table-bordered" %)
	168	+|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)(((
162	162	**Setting method**
163		-)))|=(((
	170	+)))|(% style="text-align:center; vertical-align:middle" %)(((
164	164	**Effective time**
165		-)))|=(((
	172	+)))|(% style="text-align:center; vertical-align:middle" %)(((
166	166	**Default value**
167		-)))|=**Range**|=**Definition**|=**Unit**
168		-|=P00-05|Servo OFF shutdown|(((
	174	+)))|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	175	+|(% style="text-align:center; vertical-align:middle" %)P00-05|(% style="text-align:center; vertical-align:middle" %)Servo OFF shutdown|(% style="text-align:center; vertical-align:middle" %)(((
169	169	Shutdown
170	170
171	171	setting
172		-)))|(((
	179	+)))|(% style="text-align:center; vertical-align:middle" %)(((
173	173	Effective
174	174
175	175	immediately
176		-)))|0|0 to 1|(((
	183	+)))|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
177	177	0: Free shutdown, and the motor shaft remains free status.
178	178
179	179	1: Zero-speed shutdown, and the motor shaft remains free status.
180		-)))|-
	187	+)))|(% style="text-align:center; vertical-align:middle" %)-
181	181
182	182	Table 6-7Table 6-1 Servo OFF shutdown mode parameters details
183	183
...	...	@@ -193,13 +193,13 @@
193	193
194	194	The corresponding configuration and selection could be selected through the DI terminal function of the function code "DIDO configuration". The default function of DI3 is POT and DI4 is NOT, as shown in the table below.
195	195
196		-
197		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	203	+(% class="table-bordered" %)
	204	+|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)(((
198	198	**Setting method**
199		-)))|=(((
	206	+)))|(% style="text-align:center; vertical-align:middle" %)(((
200	200	**Effective time**
201		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
202		-|=P06-08|DI_3 channel function selection|Operation setting|Power-on again|3|0 to 32|(((
	208	+)))|(% style="text-align:center; vertical-align:middle" %)**Default value**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	209	+|(% style="text-align:center; vertical-align:middle" %)P06-08|(% style="text-align:center; vertical-align:middle" %)DI_3 channel function selection|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Power-on again|(% style="text-align:center; vertical-align:middle" %)3|(% style="text-align:center; vertical-align:middle" %)0 to 32|(((
203	203	0: OFF (not used)
204	204
205	205	01: S-ON servo enable
...	...	@@ -247,30 +247,32 @@
247	247	24: Internal multi-segment position selection 4
248	248
249	249	Others: reserved
250		-)))|-
251		-|=P06-09|DI_3 channel logic selection|Operation setting|(((
	257	+)))|(% style="text-align:center; vertical-align:middle" %)-
	258	+|(% style="text-align:center; vertical-align:middle" %)P06-09|(% style="text-align:center; vertical-align:middle" %)DI_3 channel logic selection|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)(((
252	252	Effective immediately
253		-)))|0|0 to 1|(((
	260	+)))|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
254	254	DI port input logic validity function selection.
255	255
256	256	0: Normally open input. Active low level (switch on);
257	257
258	258	1: Normally closed input. Active high level (switch off);
259		-)))|-
260		-|=P06-10|DI_3 input source selection|Operation setting|(((
	266	+)))|(% style="text-align:center; vertical-align:middle" %)-
	267	+|(% style="text-align:center; vertical-align:middle" %)P06-10|(% style="text-align:center; vertical-align:middle" %)DI_3 input source selection|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)(((
261	261	Effective immediately
262		-)))|0|0 to 1|(((
	269	+)))|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
263	263	Select the DI_3 port type to enable
264	264
265	265	0: Hardware DI_3 input terminal
266	266
267	267	1: virtual VDI_3 input terminal
268		-)))|-
269		-|=P06-11|DI_4 channel function selection|(((
	275	+)))|(% style="text-align:center; vertical-align:middle" %)-
	276	+
	277	+(% class="table-bordered" %)
	278	+|(% style="text-align:center; vertical-align:middle; width:140px" %)P06-11|(% style="text-align:center; vertical-align:middle; width:272px" %)DI_4 channel function selection|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
270	270	Operation setting
271		-)))|(((
	280	+)))|(% style="text-align:center; vertical-align:middle; width:195px" %)(((
272	272	again Power-on
273		-)))|4|0 to 32|(((
	282	+)))|(% style="text-align:center; vertical-align:middle; width:128px" %)4|(% style="text-align:center; vertical-align:middle; width:78px" %)0 to 32|(% style="width:454px" %)(((
274	274	0 off (not used)
275	275
276	276	01: SON Servo enable
...	...	@@ -318,25 +318,25 @@
318	318	24: Internal multi-segment position selection 4
319	319
320	320	Others: reserved
321		-)))|-
322		-|=P06-12|DI_4 channel logic selection|Operation setting|(((
	330	+)))|(% style="text-align:center; vertical-align:middle; width:56px" %)-
	331	+|(% style="text-align:center; vertical-align:middle; width:140px" %)P06-12|(% style="text-align:center; vertical-align:middle; width:272px" %)DI_4 channel logic selection|(% style="text-align:center; vertical-align:middle; width:162px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:195px" %)(((
323	323	Effective immediately
324		-)))|0|0 to 1|(((
	333	+)))|(% style="text-align:center; vertical-align:middle; width:128px" %)0|(% style="text-align:center; vertical-align:middle; width:78px" %)0 to 1|(% style="width:454px" %)(((
325	325	DI port input logic validity function selection.
326	326
327	327	0: Normally open input. Active low level (switch on);
328	328
329	329	1: Normally closed input. Active high level (switch off);
330		-)))|-
331		-|=P06-13|DI_4 input source selection|Operation setting|(((
	339	+)))|(% style="text-align:center; vertical-align:middle; width:56px" %)-
	340	+|(% style="text-align:center; vertical-align:middle; width:140px" %)P06-13|(% style="text-align:center; vertical-align:middle; width:272px" %)DI_4 input source selection|(% style="text-align:center; vertical-align:middle; width:162px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:195px" %)(((
332	332	Effective immediately
333		-)))|0|0 to 1|(((
	342	+)))|(% style="text-align:center; vertical-align:middle; width:128px" %)0|(% style="text-align:center; vertical-align:middle; width:78px" %)0 to 1|(% style="width:454px" %)(((
334	334	Select the DI_4 port type to enable
335	335
336	336	0: Hardware DI_4 input terminal
337	337
338	338	1: virtual VDI_4 input terminal
339		-)))|-
	348	+)))|(% style="text-align:center; vertical-align:middle; width:56px" %)-
340	340
341	341	Table 6-8 DI3 and DI4 channel parameters
342	342
...	...	@@ -348,8 +348,9 @@
348	348
349	349	The brake is a mechanism that prevents the servo motor shaft from moving when the servo drive is in a non-operating state, and keeps the motor locked in position, so that the moving part of the machine will not move due to its own weight or external force.
350	350
351		-
	360	+(% class="table-bordered" %)
352	352	|(((
	362	+(% style="text-align:center" %)
353	353	[[image:image-20220611151617-1.png]]
354	354	)))
355	355	|(((
...	...	@@ -368,13 +368,14 @@
368	368
369	369	The brake input signal has no polarity. You need to prepare a 24V power supply. The standard connection of brake signal BK and brake power supply is shown in the figure below. (take VD2B servo drive as example)
370	370
371		-
	381	+(% style="text-align:center" %)
372	372	[[image:image-20220608163136-2.png]]
373	373
374	374	Figure 6-2 VD2B servo drive brake wiring
375	375
376		-
	386	+(% class="table-bordered" %)
377	377	|(((
	388	+(% style="text-align:center" %)
378	378	[[image:image-20220611151642-2.png]]
379	379	)))
380	380	|(((
...	...	@@ -391,42 +391,42 @@
391	391
392	392	Related function code is as below.
393	393
394		-
395		-|=(% scope="row" %)**DO function code**|=**Function name**|=**Function**|=(((
	405	+(% class="table-bordered" %)
	406	+|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**|(% style="text-align:center; vertical-align:middle" %)(((
396	396	**Effective time**
397	397	)))
398		-|=144|(((
	409	+|(% style="text-align:center; vertical-align:middle" %)144|(% style="text-align:center; vertical-align:middle" %)(((
399	399	BRK-OFF Brake output
400		-)))|Output the signal indicates the servo motor brake release|Power-on again
	411	+)))|(% style="text-align:center; vertical-align:middle" %)Output the signal indicates the servo motor brake release|(% style="text-align:center; vertical-align:middle" %)Power-on again
401	401
402	402	Table 6-2 Relevant function codes for brake setting
403	403
404		-
405		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	415	+(% class="table-bordered" %)
	416	+|(% style="text-align:center; vertical-align:middle; width:175px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:175px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:175px" %)(((
406	406	**Setting method**
407		-)))|=(((
	418	+)))|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
408	408	**Effective time**
409		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
410		-|=P1-30|Delay from brake output to instruction reception|(((
	420	+)))|(% style="text-align:center; vertical-align:middle; width:128px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:94px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:519px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	421	+|(% style="text-align:center; vertical-align:middle; width:175px" %)P1-30|(% style="text-align:center; vertical-align:middle; width:175px" %)Delay from brake output to instruction reception|(% style="text-align:center; vertical-align:middle; width:175px" %)(((
411	411	Operation setting
412		-)))|Effective immediately|250|0 to 500|Set delay that from the brake (BRK-OFF) output is ON to servo drive allows to receive input instruction. When brake output (BRK-OFF) is not allocated, the function code has no effect.|ms
413		-|=P1-31|In static state, delay from brake output OFF to the motor is power off|(((
	423	+)))|(% style="text-align:center; vertical-align:middle; width:173px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:128px" %)250|(% style="text-align:center; vertical-align:middle; width:94px" %)0 to 500|(% style="width:519px" %)Set delay that from the brake (BRK-OFF) output is ON to servo drive allows to receive input instruction. When brake output (BRK-OFF) is not allocated, the function code has no effect.|(% style="text-align:center; vertical-align:middle" %)ms
	424	+|(% style="text-align:center; vertical-align:middle; width:175px" %)P1-31|(% style="text-align:center; vertical-align:middle; width:175px" %)In static state, delay from brake output OFF to the motor is power off|(% style="text-align:center; vertical-align:middle; width:175px" %)(((
414	414	Operation setting
415		-)))|Effective immediately|150|1 to 1000|When the motor is in a static state, set the delay time from brake (BRK-OFF) output OFF to servo drive enters the non-channel state. When the brake output (BRK-OFF) is not allocated, this function code has no effect.|ms
416		-|=P1-32|Rotation status, when the brake output OFF, the speed threshold|(((
	426	+)))|(% style="text-align:center; vertical-align:middle; width:173px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:128px" %)150|(% style="text-align:center; vertical-align:middle; width:94px" %)1 to 1000|(% style="width:519px" %)When the motor is in a static state, set the delay time from brake (BRK-OFF) output OFF to servo drive enters the non-channel state. When the brake output (BRK-OFF) is not allocated, this function code has no effect.|(% style="text-align:center; vertical-align:middle" %)ms
	427	+|(% style="text-align:center; vertical-align:middle; width:175px" %)P1-32|(% style="text-align:center; vertical-align:middle; width:175px" %)Rotation status, when the brake output OFF, the speed threshold|(% style="text-align:center; vertical-align:middle; width:175px" %)(((
417	417	Operation setting
418		-)))|Effective immediately|30|0 to 3000|(((
	429	+)))|(% style="text-align:center; vertical-align:middle; width:173px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:128px" %)30|(% style="text-align:center; vertical-align:middle; width:94px" %)0 to 3000|(% style="width:519px" %)(((
419	419	When the motor rotates, the motor speed threshold when the brake (BRK-OFF) is allowed to output OFF.
420	420
421	421	When the brake output (BRK-OFF) is not allocated, this function code has no effect.
422		-)))|rpm
423		-|=P1-33|Rotation status, Delay from servo enable OFF to brake output OFF|(((
	433	+)))|(% style="text-align:center; vertical-align:middle" %)rpm
	434	+|(% style="text-align:center; vertical-align:middle; width:175px" %)P1-33|(% style="text-align:center; vertical-align:middle; width:175px" %)Rotation status, Delay from servo enable OFF to brake output OFF|(% style="text-align:center; vertical-align:middle; width:175px" %)(((
424	424	Operation setting
425		-)))|Effective immediately|500|1 to 1000|(((
	436	+)))|(% style="text-align:center; vertical-align:middle; width:173px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:128px" %)500|(% style="text-align:center; vertical-align:middle; width:94px" %)1 to 1000|(% style="width:519px" %)(((
426	426	When the motor rotates, the delay time from the servo enable (S-ON) OFF to the brake (BRK-OFF) output OFF is allowed.
427	427
428	428	When brake output (BRK-OFF) is not allocated, this function code has no effect.
429		-)))|ms
	440	+)))|(% style="text-align:center; vertical-align:middle" %)ms
430	430
431	431	Table 6-9 Brake setting function codes
432	432
...	...	@@ -438,10 +438,11 @@
438	438
439	439	1) Brake timing when servo motor is stationary
440	440
441		-When the servo enable changes from ON to OFF, if the actual motor speed is lower than20 rpm, the servo drive will act according to the static brake sequence. The specific sequence action is shown in __[[Figure 6-3>>https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/image-20220608163304-3.png?rev=1.1]]__
	452	+When the servo enable changes from ON to OFF, if the actual motor speed is lower than20 rpm, the servo drive will act according to the static brake sequence. The specific sequence action is shown in __[[Figure 6-3>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_2da3eb860da7ba31.gif?rev=1.1]]__
442	442
443		-
	454	+(% class="table-bordered" %)
444	444	|(((
	456	+(% style="text-align:center" %)
445	445	[[image:image-20220611151705-3.png]]
446	446	)))
447	447	|(((
...	...	@@ -450,6 +450,7 @@
450	450	✎When applied to a vertical axis, the external force or the weight of the mechanical moving part may cause the machine to move slightly. When the servo motor is stationary, and the servo enable is OFF, the brake output will be OFF immediately. However, the motor is still energized within the time of P01-31 to prevent mechanical movement from moving due to its own weight or external force.
451	451	)))
452	452
	465	+(% style="text-align:center" %)
453	453	[[image:image-20220608163304-3.png]]
454	454
455	455	Figure 6-3 Brake Timing of when the motor is stationary
...	...	@@ -458,10 +458,11 @@
458	458
459	459	2) The brake timing when servo motor rotates
460	460
461		-When the servo enable is from ON to OFF, if the actual motor speed is greater than or equal to 20 rpm, the drive will act in accordance with the rotation brake sequence. The specific sequence action is shown in __[[Figure 6-4>>https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/image-20220608163425-4.png?rev=1.1]]__.
	474	+When the servo enable is from ON to OFF, if the actual motor speed is greater than or equal to 20 rpm, the drive will act in accordance with the rotation brake sequence. The specific sequence action is shown in __[[Figure 6-4>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_4408711d09c83291.gif?rev=1.1]]__.
462	462
463		-
	476	+(% class="table-bordered" %)
464	464	|(((
	478	+(% style="text-align:center" %)
465	465	[[image:image-20220611151719-4.png]]
466	466	)))
467	467	|(((
...	...	@@ -476,6 +476,7 @@
476	476	✎After the brake output changes from ON to OFF, the motor is still in communication within 50ms to prevent the mechanical movement from moving due to its own weight or external force.
477	477	)))
478	478
	493	+(% style="text-align:center" %)
479	479	[[image:image-20220608163425-4.png]]
480	480
481	481	Figure 6-4 Brake timing when the motor rotates
...	...	@@ -484,7 +484,7 @@
484	484
485	485	The brake timing (free shutdown) in the fault status is as follows.
486	486
487		-
	502	+(% style="text-align:center" %)
488	488	[[image:image-20220608163541-5.png]]
489	489
490	490	Figure 6-5 The brake timing (free shutdown) in the fault state
...	...	@@ -493,7 +493,7 @@
493	493
494	494	Position control is the most important and commonly used control mode of the servo system. Position control refers to controlling the position of the motor through position instructions, and determining the target position of the motor by the total number of position instructions. The frequency of the position instruction determines the motor rotation speed. The servo drive can achieve fast and accurate control of the position and speed of the machine. Therefore, the position control mode is mainly used for occasions that require positioning control, such as manipulators, mounter, engraving machines, CNC machine tools, etc. The position control block diagram is shown in the figure below.
495	495
496		-
	511	+(% style="text-align:center" %)
497	497	[[image:image-20220608163643-6.png]]
498	498
499	499	Figure 6-6 Position control diagram
...	...	@@ -500,17 +500,17 @@
500	500
501	501	Set “P00-01” to 1 by the software “Wecon SCTool”, and the servo drive is in position control mode.
502	502
503		-
504		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	518	+(% class="table-bordered" %)
	519	+|(% style="text-align:center; vertical-align:middle; width:122px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:126px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:158px" %)(((
505	505	**Setting method**
506		-)))|=(((
	521	+)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
507	507	**Effective time**
508		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
509		-|=P01-01|Control mode|(((
	523	+)))|(% style="text-align:center; vertical-align:middle; width:145px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:134px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:326px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	524	+|(% style="text-align:center; vertical-align:middle; width:122px" %)P01-01|(% style="text-align:center; vertical-align:middle; width:126px" %)Control mode|(% style="text-align:center; vertical-align:middle; width:158px" %)(((
510	510	Operation setting
511		-)))|(((
	526	+)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
512	512	immediately Effective
513		-)))|0|0 to 6|(((
	528	+)))|(% style="text-align:center; vertical-align:middle; width:145px" %)0|(% style="text-align:center; vertical-align:middle; width:134px" %)0 to 1|(% style="width:326px" %)(((
514	514	0: position control
515	515
516	516	2: speed control
...	...	@@ -522,7 +522,7 @@
522	522	5: position/torque mix control
523	523
524	524	6: speed /torque mix control
525		-)))|-
	540	+)))|(% style="text-align:center; vertical-align:middle" %)-
526	526
527	527	Table 6-10 Control mode parameters
528	528
...	...	@@ -530,21 +530,21 @@
530	530
531	531	When the VD2 series servo drive is in position control mode, firstly set the position instruction source through the function code “P01-06”.
532	532
533		-
534		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	548	+(% class="table-bordered" %)
	549	+|(% style="text-align:center; vertical-align:middle; width:131px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:149px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:191px" %)(((
535	535	**Setting method**
536		-)))|=(((
	551	+)))|(% style="text-align:center; vertical-align:middle; width:189px" %)(((
537	537	**Effective time**
538		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
539		-|=P01-06|Position instruction source|(((
	553	+)))|(% style="text-align:center; vertical-align:middle; width:116px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:100px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:284px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	554	+|(% style="text-align:center; vertical-align:middle; width:131px" %)P01-06|(% style="text-align:center; vertical-align:middle; width:149px" %)Position instruction source|(% style="text-align:center; vertical-align:middle; width:191px" %)(((
540	540	Operation setting
541		-)))|(((
	556	+)))|(% style="text-align:center; vertical-align:middle; width:189px" %)(((
542	542	immediately Effective
543		-)))|0|0 to 1|(((
	558	+)))|(% style="text-align:center; vertical-align:middle; width:116px" %)0|(% style="text-align:center; vertical-align:middle; width:100px" %)0 to 1|(% style="width:284px" %)(((
544	544	0: pulse instruction
545	545
546	546	1: internal position instruction
547		-)))|-
	562	+)))|(% style="text-align:center; vertical-align:middle" %)-
548	548
549	549	Table 6-11 Position instruction source parameter
550	550
...	...	@@ -552,19 +552,20 @@
552	552
553	553	1) Low-speed pulse instruction input
554	554
555		-|[[image:image-20220707092316-1.png]]|[[image:image-20220707092322-2.png]]
556		-|VD2A and VD2B servo drives|VD2F servo drive
557		-|(% colspan="2" %)Figure 6-7 Position instruction input setting
	570	+(% class="table-bordered" %)
	571	+|(% style="text-align:center; vertical-align:middle" %)[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/22.jpg?rev=1.1]]|(% style="text-align:center; vertical-align:middle" %)[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/23.jpg?rev=1.1]]
	572	+|(% style="text-align:center; vertical-align:middle" %)VD2A and VD2B servo drives|(% style="text-align:center; vertical-align:middle" %)VD2F servo drive
	573	+|(% colspan="2" style="text-align:center; vertical-align:middle" %)Figure 6-7 Position instruction input setting
558	558
559		-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]]__.
	575	+VD2 series servo drive has a set of pulse input terminals to receive the input of position pulse (via the CN2 terminal). The position pulse mode connection is shown in __[[Figure 6-7>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HPositioninstructioninputsetting]]__.
560	560
561	561	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.
562	562
	579	+(% class="table-bordered" %)
	580	+|(% style="text-align:center; vertical-align:middle" %)**Pulse method**|(% style="text-align:center; vertical-align:middle" %)**Maximum frequency**|(% style="text-align:center; vertical-align:middle" %)**Voltage**
	581	+|(% style="text-align:center; vertical-align:middle" %)Open collector input|(% style="text-align:center; vertical-align:middle" %)200K|(% style="text-align:center; vertical-align:middle" %)24V
	582	+|(% style="text-align:center; vertical-align:middle" %)Differential input|(% style="text-align:center; vertical-align:middle" %)500K|(% style="text-align:center; vertical-align:middle" %)5V
563	563
564		-|**Pulse method**|**Maximum frequency**|**Voltage**
565		-|Open collector input|200K|24V
566		-|Differential input|500K|5V
567		-
568	568	Table 6-12 Pulse input specifications
569	569
570	570	1.Differential input
...	...	@@ -572,11 +572,11 @@
572	572	Take VD2A and VD2B drive as examples, the connection of differential input is shown as below.
573	573
574	574	(% style="text-align:center" %)
575		-[[image:image-20220707092615-5.jpeg]]
	591	+[[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]]
576	576
577	577	Figure 6-8 Differential input connection
578	578
579		-✎**Note: **The differential input connection of the VD2F drive differs only from the signal pin number. Please refer to “__[[4.4.3 position instruction input signal>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/04%20Wiring/#HPositioninstructioninputsignal]]__”
	595	+✎**Note: **The differential input connection of the VD2F drive differs only from the signal pin number. Please refer to “__[[4.4.3 position instruction input signal>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/04%20Wiring/#HPositioninstructioninputsignal]]__”
580	580
581	581	2.Open collector input
582	582
...	...	@@ -583,11 +583,11 @@
583	583	Take VD2A and VD2B drive as examples, the connection of differential input is shown as below.
584	584
585	585	(% style="text-align:center" %)
586		-[[image:image-20220707092401-3.jpeg||height="530" width="834"]]
	602	+[[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]]
587	587
588	588	Figure 6-9 Open collector input connection
589	589
590		-✎**Note:** The differential input connection of the VD2F drive differs only from the signal pin number. Please refer to “__[[4.4.3 position instruction input signal>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/04%20Wiring/#HPositioninstructioninputsignal]]__”
	606	+✎**Note:** The differential input connection of the VD2F drive differs only from the signal pin number. Please refer to “__[[4.4.3 position instruction input signal>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/04%20Wiring/#HPositioninstructioninputsignal]]__”
591	591
592	592	2) Position pulse frequency and anti-interference level
593	593
...	...	@@ -600,22 +600,22 @@
600	600
601	601	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.
602	602
603		-
604		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	619	+(% class="table-bordered" %)
	620	+|(% style="text-align:center; vertical-align:middle; width:120px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:202px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:158px" %)(((
605	605	**Setting method**
606		-)))|=(((
	622	+)))|(% style="text-align:center; vertical-align:middle; width:176px" %)(((
607	607	**Effective time**
608		-)))|=**Default value**|=**Range**|=(% colspan="2" %)**Definition**|=**Unit**
609		-|=P00-13|Maximum position pulse frequency|(((
	624	+)))|(% style="text-align:center; vertical-align:middle; width:121px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:87px" %)**Range**|(% colspan="2" style="text-align:center; vertical-align:middle; width:538px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	625	+|(% style="text-align:center; vertical-align:middle; width:120px" %)P00-13|(% style="text-align:center; vertical-align:middle; width:202px" %)Maximum position pulse frequency|(% style="text-align:center; vertical-align:middle; width:158px" %)(((
610	610	Shutdown setting
611		-)))|(((
	627	+)))|(% style="text-align:center; vertical-align:middle; width:176px" %)(((
612	612	Effective immediately
613		-)))|300|1 to 500|(% colspan="2" %)Set the maximum frequency of external pulse instruction|KHz
614		-|=(% rowspan="3" %)P00-14|(% rowspan="3" %)Position pulse anti-interference level|(% rowspan="3" %)(((
	629	+)))|(% style="text-align:center; vertical-align:middle; width:121px" %)300|(% style="text-align:center; vertical-align:middle; width:87px" %)1 to 500|(% colspan="2" style="width:538px" %)Set the maximum frequency of external pulse instruction|KHz
	630	+|(% rowspan="3" style="text-align:center; vertical-align:middle; width:120px" %)P00-14|(% rowspan="3" style="text-align:center; vertical-align:middle; width:202px" %)Position pulse anti-interference level|(% rowspan="3" style="text-align:center; vertical-align:middle; width:158px" %)(((
615	615	Operation setting
616		-)))|(% rowspan="3" %)(((
	632	+)))|(% rowspan="3" style="text-align:center; vertical-align:middle; width:176px" %)(((
617	617	Power-on again
618		-)))|(% rowspan="3" %)2|(% rowspan="3" %)0 to 9|(% colspan="2" %)(((
	634	+)))|(% rowspan="3" style="text-align:center; vertical-align:middle; width:121px" %)2|(% rowspan="3" style="text-align:center; vertical-align:middle; width:87px" %)0 to 9|(% colspan="2" style="width:538px" %)(((
619	619	Set the anti-interference level of external pulse instruction.
620	620
621	621	0: no filtering;
...	...	@@ -635,9 +635,9 @@
635	635	7: Filtering time 8.192us
636	636
637	637	8: Filtering time 16.384us
638		-)))|(% rowspan="3" %)-
639		-|=(% rowspan="2" %)9|VD2: Filtering time 25.5us
640		-|=VD2F: Filtering time 25.5us
	654	+)))|(% rowspan="3" style="text-align:center; vertical-align:middle" %)-
	655	+|(% rowspan="2" style="width:4px" %)9|VD2: Filtering time 25.5us
	656	+|VD2F: Filtering time 25.5us
641	641
642	642	Table 6-13 Position pulse frequency and anti-interference level parameters
643	643
...	...	@@ -645,17 +645,17 @@
645	645
646	646	In VD2 series servo drives, there are three types of input pulse instructions, and the related function codes are shown in the table below.
647	647
648		-
649		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	664	+(% class="table-bordered" %)
	665	+|(% style="text-align:center; vertical-align:middle; width:132px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:184px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
650	650	**Setting method**
651		-)))|=(((
	667	+)))|(% style="text-align:center; vertical-align:middle; width:135px" %)(((
652	652	**Effective time**
653		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
654		-|=P00-12|Position pulse type selection|(((
	669	+)))|(% style="text-align:center; vertical-align:middle; width:115px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:66px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:373px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	670	+|(% style="text-align:center; vertical-align:middle; width:132px" %)P00-12|(% style="text-align:center; vertical-align:middle; width:184px" %)Position pulse type selection|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
655	655	Operation setting
656		-)))|(((
	672	+)))|(% style="text-align:center; vertical-align:middle; width:135px" %)(((
657	657	Power-on again
658		-)))|0|0 to 5|(((
	674	+)))|(% style="text-align:center; vertical-align:middle; width:115px" %)0|(% style="text-align:center; vertical-align:middle; width:66px" %)0 to 5|(% style="width:373px" %)(((
659	659	0: direction + pulse (positive logic)
660	660
661	661	1: CW/CCW
...	...	@@ -667,84 +667,77 @@
667	667	4: CW/CCW (negative logic)
668	668
669	669	5: A, B phase quadrature pulse (4 times frequency negative logic)
670		-)))|-
	686	+)))|(% style="text-align:center; vertical-align:middle" %)-
671	671
672	672	Table 6-14 Position pulse type selection parameter
673	673
674		-|=(% scope="row" %)**Pulse type selection**|=**Pulse type**|=**Signal**|=**Schematic diagram of forward pulse**|=**Schematic diagram of negative pulse**
675		-|=0|(((
	690	+(% class="table-bordered" %)
	691	+|(% style="text-align:center; vertical-align:middle; width:185px" %)**Pulse type selection**|(% style="text-align:center; vertical-align:middle; width:177px" %)**Pulse type**|(% style="text-align:center; vertical-align:middle" %)**Signal**|(% style="text-align:center; vertical-align:middle" %)**Schematic diagram of forward pulse**|(% style="text-align:center; vertical-align:middle" %)**Schematic diagram of negative pulse**
	692	+|(% style="text-align:center; vertical-align:middle; width:185px" %)0|(% style="text-align:center; vertical-align:middle; width:177px" %)(((
676	676	Direction + pulse
677	677
678	678	(Positive logic)
679		-)))|(((
	696	+)))|(% style="text-align:center; vertical-align:middle" %)(((
680	680	PULSE
681	681
682	682	SIGN
683		-)))|[[image:image-20220707094340-6.jpeg]]|[[image:image-20220707094345-7.jpeg]]
684		-|=1|CW/CCW|(((
	700	+)))|(% style="text-align:center; vertical-align:middle" %)[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/21.jpg?rev=1.1]]|(% style="text-align:center; vertical-align:middle" %)[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/26.jpg?rev=1.1]]
	701	+|(% style="text-align:center; vertical-align:middle; width:185px" %)1|(% style="text-align:center; vertical-align:middle; width:177px" %)CW/CCW|(% style="text-align:center; vertical-align:middle" %)(((
685	685	PULSE (CW)
686	686
687	687	SIGN (CCW)
688		-)))|(% colspan="2" %)[[image:image-20220707094351-8.jpeg]]
689		-|=2|(((
	705	+)))|(% colspan="2" style="text-align:center; vertical-align:middle" %)[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/27.jpg?rev=1.1]]
	706	+|(% style="text-align:center; vertical-align:middle; width:185px" %)2|(% style="text-align:center; vertical-align:middle; width:177px" %)(((
690	690	AB phase orthogonal
691	691
692	692	pulse (4 times frequency)
693		-)))|(((
	710	+)))|(% style="text-align:center; vertical-align:middle" %)(((
694	694	PULSE (Phase A)
695	695
696	696	SIGN (Phase B)
697		-)))|(((
698		-
	714	+)))|(% style="text-align:center; vertical-align:middle" %)(((
	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/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		-)))|(((
704		-
	718	+)))|(% style="text-align:center; vertical-align:middle" %)(((
	719	+[[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		-|=3|(((
	723	+|(% style="text-align:center; vertical-align:middle; width:185px" %)3|(% style="text-align:center; vertical-align:middle; width:177px" %)(((
711	711	Direction + pulse
712	712
713	713	(Negative logic)
714		-)))|(((
	727	+)))|(% style="text-align:center; vertical-align:middle" %)(((
715	715	PULSE
716	716
717	717	SIGN
718		-)))|[[image:image-20220707094414-11.jpeg]]|[[image:image-20220707094418-12.jpeg]]
719		-|=4|(((
	731	+)))|(% style="text-align:center; vertical-align:middle" %)[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/30.jpg?rev=1.1]]|(% style="text-align:center; vertical-align:middle" %)[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/31.jpg?rev=1.1]]
	732	+|(% style="text-align:center; vertical-align:middle; width:185px" %)4|(% style="text-align:center; vertical-align:middle; width:177px" %)(((
720	720	CW/CCW
721	721
722	722	(Negative logic)
723		-)))|(((
	736	+)))|(% style="text-align:center; vertical-align:middle" %)(((
724	724	PULSE (CW)
725	725
726	726	SIGN (CCW)
727		-)))|(% colspan="2" %)[[image:image-20220707094423-13.jpeg]]
728		-|=5|(((
	740	+)))|(% colspan="2" style="text-align:center; vertical-align:middle" %)[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/32.jpg?rev=1.1]]
	741	+|(% style="text-align:center; vertical-align:middle; width:185px" %)5|(% style="text-align:center; vertical-align:middle; width:177px" %)(((
729	729	AB phase orthogonal
730	730
731	731	pulse (4 times frequency negative logic)
732		-)))|(((
	745	+)))|(% style="text-align:center; vertical-align:middle" %)(((
733	733	PULSE (Phase A)
734	734
735	735	SIGN (Phase B)
736		-)))|(((
737		-
	749	+)))|(% style="text-align:center; vertical-align:middle" %)(((
	750	+[[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]]
	752	+B phase is ahead of A phase by 90°
	753	+)))|(% style="text-align:center; vertical-align:middle" %)(((
	754	+[[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]]
740	740
741		-Phase B is ahead of A phase by 90°
742		-)))|(((
743		-
744		-
745		-[[image:image-20220707094437-15.jpeg]]
746		-
747		-Phase A is ahead of B phase by 90°
	756	+A phase is ahead of B phase by 90°
748	748	)))
749	749
750	750	Table 6-15 Pulse description
...	...	@@ -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]]__.
	763	+The VD2 series servo drive has a multi-segment position operation function, which supports maximum 16-segment instructions. The displacement, maximum operating speed (steady-state operating speed) and acceleration/deceleration time of each segment could be set separately. The waiting time between positions could also be set according to actual needs. The setting process of multi-segment position is shown in __[[Figure 6-11>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_6173c39e1ccf532e.gif?rev=1.1]]__.
755	755
756	756	The servo drive completely runs the multi-segment position instruction set by P07-01 once, and the total number of positions is called completing one round of operation.
757	757
...	...	@@ -762,50 +762,51 @@
762	762
763	763	1) Set multi-segment position running mode
764	764
765		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	774	+(% class="table-bordered" %)
	775	+|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle; width:141px" %)(((
766	766	**Setting method**
767		-)))|=(((
	777	+)))|(% style="text-align:center; vertical-align:middle; width:200px" %)(((
768	768	**Effective time**
769		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
770		-|=P07-01|Multi-segment position running mode|(((
	779	+)))|(% style="text-align:center; vertical-align:middle; width:16px" %)**Default value**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	780	+|(% style="text-align:center; vertical-align:middle" %)P07-01|(% style="text-align:center; vertical-align:middle" %)Multi-segment position running mode|(% style="text-align:center; vertical-align:middle; width:141px" %)(((
771	771	Shutdown setting
772		-)))|(((
	782	+)))|(% style="text-align:center; vertical-align:middle; width:200px" %)(((
773	773	Effective immediately
774		-)))|0|0 to 2|(((
	784	+)))|(% style="text-align:center; vertical-align:middle; width:16px" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 2|(((
775	775	0: Single running
776	776
777	777	1: Cycle running
778	778
779	779	2: DI switching running
780		-)))|-
781		-|=P07-02|Start segment number|(((
	790	+)))|(% style="text-align:center; vertical-align:middle" %)-
	791	+|(% style="text-align:center; vertical-align:middle" %)P07-02|(% style="text-align:center; vertical-align:middle" %)Start segment number|(% style="text-align:center; vertical-align:middle; width:141px" %)(((
782	782	Shutdown setting
783		-)))|(((
	793	+)))|(% style="text-align:center; vertical-align:middle; width:200px" %)(((
784	784	Effective immediately
785		-)))|1|1 to 16|1st segment NO. in non-DI switching mode|-
786		-|=P07-03|End segment number|(((
	795	+)))|(% style="text-align:center; vertical-align:middle; width:16px" %)1|(% style="text-align:center; vertical-align:middle" %)1 to 16|1st segment NO. in non-DI switching mode|(% style="text-align:center; vertical-align:middle" %)-
	796	+|(% style="text-align:center; vertical-align:middle" %)P07-03|(% style="text-align:center; vertical-align:middle" %)End segment number|(% style="text-align:center; vertical-align:middle; width:141px" %)(((
787	787	Shutdown setting
788		-)))|(((
	798	+)))|(% style="text-align:center; vertical-align:middle; width:200px" %)(((
789	789	Effective immediately
790		-)))|1|1 to 16|last segment NO. in non-DI switching mode|-
791		-|=P07-04|Margin processing method|(((
	800	+)))|(% style="text-align:center; vertical-align:middle; width:16px" %)1|(% style="text-align:center; vertical-align:middle" %)1 to 16|last segment NO. in non-DI switching mode|(% style="text-align:center; vertical-align:middle" %)-
	801	+|(% style="text-align:center; vertical-align:middle" %)P07-04|(% style="text-align:center; vertical-align:middle" %)Margin processing method|(% style="text-align:center; vertical-align:middle; width:141px" %)(((
792	792	Shutdown setting
793		-)))|(((
	803	+)))|(% style="text-align:center; vertical-align:middle; width:200px" %)(((
794	794	Effective immediately
795		-)))|0|0 to 1|(((
	805	+)))|(% style="text-align:center; vertical-align:middle; width:16px" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
796	796	0: Run the remaining segments
797	797
798	798	1: Run again from the start segment
799		-)))|-
800		-|=P07-05|Displacement instruction type|(((
	809	+)))|(% style="text-align:center; vertical-align:middle" %)-
	810	+|(% style="text-align:center; vertical-align:middle" %)P07-05|(% style="text-align:center; vertical-align:middle" %)Displacement instruction type|(% style="text-align:center; vertical-align:middle; width:141px" %)(((
801	801	Shutdown setting
802		-)))|(((
	812	+)))|(% style="text-align:center; vertical-align:middle; width:200px" %)(((
803	803	Effective immediately
804		-)))|0|0 to 1|(((
	814	+)))|(% style="text-align:center; vertical-align:middle; width:16px" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
805	805	0: Relative position instruction
806	806
807	807	1: Absolute position instruction
808		-)))|-
	818	+)))|(% style="text-align:center; vertical-align:middle" %)-
809	809
810	810	Table 6-16 multi-segment position running mode parameters
811	811
...	...	@@ -813,9 +813,8 @@
813	813
814	814	~1. Single running
815	815
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
	826	+In this running mode, the segment number is automatically incremented and switched, and the servo drive only operates for one round (the servo drive runs completely once for the total number of multi-segment position instructions set by P07-02 and P07-03). The single running curve is shown in __[[Figure 6-12>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_669701d67ab2f246.gif?rev=1.1]]__, and S1 and S2 are the displacements of the 1st segment and the 2nd segment respectively
817	817
818		-
819	819	(% style="text-align:center" %)
820	820	[[image:image-20220608164226-10.png]]
821	821
...	...	@@ -823,15 +823,14 @@
823	823
824	824	2. Cycle running
825	825
826		-In this running mode, the position number is automatically incremented and switched, and the servo drive repeatedly runs the total number of multi-segment position instructions set by P07-02 and P07-03. The waiting time could be set between each segment. The cycle running curve is shown in __[[Figure 6-13>>https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/image-20220608164327-11.png?rev=1.1]]__, and S1,S2,S3 and S4 are the displacements of the 1st, 2nd, 3rd and 4th segment respectively.
	835	+In this running mode, the position number is automatically incremented and switched, and the servo drive repeatedly runs the total number of multi-segment position instructions set by P07-02 and P07-03. The waiting time could be set between each segment. The cycle running curve is shown in __[[Figure 6-13>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_80b358d07288f7b4.gif?rev=1.1]]__, and S1,S2,S3 and S4 are the displacements of the 1st, 2nd, 3rd and 4th segment respectively.
827	827
828		-
829	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)
833	833
834		-|[[image:image-20220611151917-5.png]]
	842	+|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611151917-5.png]]
835	835	|In single running and cycle running mode, the setting value of P07-03 needs to be greater than the setting value of P07-02.
836	836
837	837	3. DI switching running
...	...	@@ -838,26 +838,28 @@
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
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
	849	+(% class="table-bordered" %)
	850	+|(% style="text-align:center; vertical-align:middle" %)**DI function code**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**
	851	+|(% style="text-align:center; vertical-align:middle" %)21|INPOS1: Internal multi-segment position segment selection 1|Form internal multi-segment position running segment number
	852	+|(% style="text-align:center; vertical-align:middle" %)22|INPOS2: Internal multi-segment position segment selection 2|Form internal multi-segment position running segment number
	853	+|(% style="text-align:center; vertical-align:middle" %)23|INPOS3: Internal multi-segment position segment selection 3|Form internal multi-segment position running segment number
	854	+|(% style="text-align:center; vertical-align:middle" %)24|INPOS4: Internal multi-segment position segment selection 4|Form internal multi-segment position running segment number
846	846
847	847	Table 6-17 DI function code
848	848
849	849	The multi-segment segment number is a 4-bit binary number, and the DI terminal logic is level valid. When the input level is valid, the segment selection bit value is 1, otherwise it is 0. Table 6-17 shows the correspondence between the position bits 1 to 4 of the internal multi-segment position and the position number.
850	850
851		-|=(% scope="row" %)**INPOS4**|=**INPOS3**|=**INPOS2**|=**INPOS1**|=**Running position number**
852		-|=0|0|0|0|1
853		-|=0|0|0|1|2
854		-|=0|0|1|0|3
855		-|=(% colspan="5" %)…………
856		-|=1|1|1|1|16
	860	+(% class="table-bordered" %)
	861	+|(% style="text-align:center; vertical-align:middle" %)**INPOS4**|(% style="text-align:center; vertical-align:middle" %)**INPOS3**|(% style="text-align:center; vertical-align:middle" %)**INPOS2**|(% style="text-align:center; vertical-align:middle" %)**INPOS1**|(% style="text-align:center; vertical-align:middle" %)**Running position number**
	862	+|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1
	863	+|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)2
	864	+|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)3
	865	+|(% colspan="5" style="text-align:center; vertical-align:middle" %)…………
	866	+|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)16
857	857
858	858	Table 6-18 INPOS corresponds to running segment number
859	859
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]]__.
	870	+The operating curve in this running mode is shown in __[[Figure 6-14>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_91c44ab732c79e26.gif?rev=1.1]]__.
861	861
862	862	(% style="text-align:center" %)
863	863	[[image:image-20220608164545-12.png]]
...	...	@@ -868,7 +868,7 @@
868	868
869	869	**A. Run the remaining segments**
870	870
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.
	881	+In this processing way, the multi-segment position instruction enable is OFF during running, the servo drive will abandon the unfinished displacement part and shutdown, and the positioning completion signal will be valid after the shutdown is complete. When the multi-segment position enable is ON, and the servo drive will start to run from the next segment where the OFF occurs. The curves of single running and cycle running are shown in __[[Figure 6-15>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_29777829e6742c0d.gif?rev=1.1]]__ and __[[Figure 6-16>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_d264849e0940e3e4.gif?rev=1.1]]__ respectively.
872	872
873	873	(% style="text-align:center" %)
874	874	[[image:image-20220608164847-13.png]]
...	...	@@ -882,7 +882,7 @@
882	882
883	883	**B. Run again from the start segment**
884	884
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.
	895	+In this processing mode, when the multi-segment position instruction enable is OFF during running, the servo drive will abandon the uncompleted displacement part and shutdown. After the shutdown is completed, the positioning completion signal is valid. When the multi-segment position enable is ON, and the servo drive will start to operate from the next position set by P07-02. The curves of single running and cycle running are shown in __[[Figure 6-17>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_2328499c9613af49.gif?rev=1.1]]__ and __[[Figure 6-18>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_1f2e35174b1afd3c.gif?rev=1.1]]__ respectively.
886	886
887	887	(% style="text-align:center" %)
888	888	[[image:image-20220608165343-15.png]]
...	...	@@ -901,8 +901,10 @@
901	901	The relative position instruction takes the current stop position of the motor as the start point and specifies the amount of displacement.
902	902
903	903	|(((
	914	+(% style="text-align:center" %)
904	904	[[image:image-20220608165710-17.png]]
905	905	)))|(((
	917	+(% style="text-align:center" %)
906	906	[[image:image-20220608165749-18.png]]
907	907	)))
908	908	|Figure 6-19 Relative position diagram|Figure 6-20 Displacement diagram
...	...	@@ -912,8 +912,10 @@
912	912	The absolute position instruction takes "reference origin" as the zero point of absolute positioning, and specifies the amount of displacement.
913	913
914	914	|(((
	927	+(% style="text-align:center" %)
915	915	[[image:image-20220608165848-19.png]]
916	916	)))|(((
	930	+(% style="text-align:center" %)
917	917	[[image:image-20220608170005-20.png]]
918	918	)))
919	919	|Figure 6-21 Absolute indication|Figure 6-22 Displacement
...	...	@@ -920,37 +920,42 @@
920	920
921	921	2) Multi-segment position running curve setting
922	922
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.
	937	+The multi-segment position running supports maximum 16 segments different position instructions. The displacement, maximum running speed (steady-state running speed), acceleration and deceleration time of each position and the waiting time between segment could all be set. __[[Table 6-19>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HPositioninstructioninputsetting]]__ are the related function codes of the 1st segment running curve.
924	924
925		-|=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit**
926		-|=P07-09|(((
	939	+(% class="table-bordered" %)
	940	+|(% style="text-align:center; vertical-align:middle; width:124px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:171px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
	941	+**Setting method**
	942	+)))|(% style="text-align:center; vertical-align:middle; width:187px" %)(((
	943	+**Effective time**
	944	+)))|(% style="text-align:center; vertical-align:middle; width:130px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:123px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:260px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	945	+|(% style="text-align:center; vertical-align:middle; width:124px" %)P07-09|(% style="text-align:center; vertical-align:middle; width:171px" %)(((
927	927	1st segment
928	928
929	929	displacement
930		-)))|(((
	949	+)))|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
931	931	Operation setting
932		-)))|(((
	951	+)))|(% style="text-align:center; vertical-align:middle; width:187px" %)(((
933	933	Effective immediately
934		-)))|10000|(((
	953	+)))|(% style="text-align:center; vertical-align:middle; width:130px" %)10000|(% style="text-align:center; vertical-align:middle; width:123px" %)(((
935	935	-2147483647 to
936	936
937	937	2147483646
938		-)))|Position instruction, positive and negative values could be set|-
939		-|=P07-10|Maximum speed of the 1st displacement|(((
	957	+)))|(% style="width:260px" %)Position instruction, positive and negative values could be set|(% style="text-align:center; vertical-align:middle" %)-
	958	+|(% style="text-align:center; vertical-align:middle; width:124px" %)P07-10|(% style="text-align:center; vertical-align:middle; width:171px" %)Maximum speed of the 1st displacement|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
940	940	Operation setting
941		-)))|(((
	960	+)))|(% style="text-align:center; vertical-align:middle; width:187px" %)(((
942	942	Effective immediately
943		-)))|100|1 to 5000|Steady-state running speed of the 1st segment|rpm
944		-|=P07-11|Acceleration and deceleration of 1st segment displacement|(((
	962	+)))|(% style="text-align:center; vertical-align:middle; width:130px" %)100|(% style="text-align:center; vertical-align:middle; width:123px" %)1 to 5000|(% style="width:260px" %)Steady-state running speed of the 1st segment|(% style="text-align:center; vertical-align:middle" %)rpm
	963	+|(% style="text-align:center; vertical-align:middle; width:124px" %)P07-11|(% style="text-align:center; vertical-align:middle; width:171px" %)Acceleration and deceleration of 1st segment displacement|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
945	945	Operation setting
946		-)))|(((
	965	+)))|(% style="text-align:center; vertical-align:middle; width:187px" %)(((
947	947	Effective immediately
948		-)))|100|1 to 65535|The time required for the acceleration and deceleration of the 1st segment|ms
949		-|=P07-12|Waiting time after completion of the 1st segment displacement|(((
	967	+)))|(% style="text-align:center; vertical-align:middle; width:130px" %)100|(% style="text-align:center; vertical-align:middle; width:123px" %)1 to 65535|(% style="width:260px" %)The time required for the acceleration and deceleration of the 1st segment|(% style="text-align:center; vertical-align:middle" %)ms
	968	+|(% style="text-align:center; vertical-align:middle; width:124px" %)P07-12|(% style="text-align:center; vertical-align:middle; width:171px" %)Waiting time after completion of the 1st segment displacement|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
950	950	Operation setting
951		-)))|(((
	970	+)))|(% style="text-align:center; vertical-align:middle; width:187px" %)(((
952	952	Effective immediately
953		-)))|100|1 to 65535|Delayed waiting time from the completion of the 1st segment to the start of the next segment|Set by P07-06
	972	+)))|(% style="text-align:center; vertical-align:middle; width:130px" %)100|(% style="text-align:center; vertical-align:middle; width:123px" %)1 to 65535|(% style="width:260px" %)Delayed waiting time from the completion of the 1st segment to the start of the next segment|(% style="text-align:center; vertical-align:middle" %)Set by P07-06
954	954
955	955	Table 6-19 The 1st position operation curve parameters table
956	956
...	...	@@ -965,13 +965,15 @@
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
968		-|=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
969		-|=20|ENINPOS: Internal multi-segment position enable signal|(((
	987	+(% class="table-bordered" %)
	988	+|(% style="text-align:center; vertical-align:middle" %)**DI function code**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**
	989	+|(% style="text-align:center; vertical-align:middle" %)20|(% style="text-align:center; vertical-align:middle" %)ENINPOS: Internal multi-segment position enable signal|(% style="text-align:center; vertical-align:middle" %)(((
970	970	DI port logic invalid: Does not affect the current operation of the servo motor.
971	971
972	972	DI port logic valid: Motor runs multi-segment position
973	973	)))
974	974
	995	+(% style="text-align:center" %)
975	975	[[image:image-20220611152020-6.png]]
976	976
977	977	It should be noted that only when the internal multi-segment position enable signal is OFF, can the P07 group parameters be actually modified to write into the servo drive!
...	...	@@ -987,16 +987,19 @@
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	989	(% style="text-align:center" %)
990		-[[image:image-20220707094901-16.png]]
	1011	+[[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]]
991	991
	1013	+(% style="text-align:center" %)
	1014	+[[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]]
992	992
	1016	+(% style="text-align:center" %)
	1017	+[[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	993
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		-
	1023	+(% style="text-align:center" %)
1000	1000	[[image:image-20220608170320-22.png]]
1001	1001
1002	1002	Figure 6-24 Setting steps of electronic gear ratio
...	...	@@ -1011,7 +1011,7 @@
1011	1011
1012	1012	Step5: Calculate the value of electronic gear ratio according to formula below.
1013	1013
1014		-
	1038	+(% style="text-align:center" %)
1015	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	1016
1017	1017	**(3) lectronic gear ratio switch setting**
...	...	@@ -1019,59 +1019,59 @@
1019	1019
1020	1020	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.
1021	1021
1022		-
1023		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	1046	+(% class="table-bordered" %)
	1047	+|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:159px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
1024	1024	**Setting method**
1025		-)))|=(((
	1049	+)))|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
1026	1026	**Effective time**
1027		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1028		-|=P00-16|Number of instruction pulses when the motor rotates one circle|(((
	1051	+)))|(% style="text-align:center; vertical-align:middle; width:142px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:94px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:311px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	1052	+|(% style="text-align:center; vertical-align:middle" %)P00-16|(% style="text-align:center; vertical-align:middle; width:159px" %)Number of instruction pulses when the motor rotates one circle|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
1029	1029	Shutdown setting
1030		-)))|(((
	1054	+)))|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
1031	1031	Effective immediately
1032		-)))|10000|0 to 131072|Set the number of position command pulses required for each turn of the motor. When the setting value is 0, [P00-17]/[P00-19] Electronic gear 1/2 numerator, [P00-18]/[P00-20] Electronic gear 1/2 denominator is valid.|(((
	1056	+)))|(% style="text-align:center; vertical-align:middle; width:142px" %)10000|(% style="text-align:center; vertical-align:middle; width:94px" %)0 to 131072|(% style="width:311px" %)Set the number of position command pulses required for each turn of the motor. When the setting value is 0, [P00-17]/[P00-19] Electronic gear 1/2 numerator, [P00-18]/[P00-20] Electronic gear 1/2 denominator is valid.|(% style="text-align:center; vertical-align:middle" %)(((
1033	1033	Instruction pulse
1034	1034
1035	1035	unit
1036	1036	)))
1037		-|=P00-17|(((
	1061	+|(% style="text-align:center; vertical-align:middle" %)P00-17|(% style="text-align:center; vertical-align:middle; width:159px" %)(((
1038	1038	Electronic gear 1
1039	1039
1040	1040	numerator
1041		-)))|Operation setting|(((
	1065	+)))|(% style="text-align:center; vertical-align:middle; width:156px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
1042	1042	Effective immediately
1043		-)))|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.|-
1044		-|=P00-18|(((
	1067	+)))|(% style="text-align:center; vertical-align:middle; width:142px" %)1|(% style="text-align:center; vertical-align:middle; width:94px" %)1 to 4294967294|(% style="width:311px" %)Set the numerator of the 1st group electronic gear ratio for position instruction frequency division or multiplication. P00-16 is effective when the number of instruction pulses of one motor rotation is 0.|(% style="text-align:center; vertical-align:middle" %)-
	1068	+|(% style="text-align:center; vertical-align:middle" %)P00-18|(% style="text-align:center; vertical-align:middle; width:159px" %)(((
1045	1045	Electronic gear 1
1046	1046
1047	1047	denominator
1048		-)))|(((
	1072	+)))|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
1049	1049	Operation setting
1050		-)))|(((
	1074	+)))|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
1051	1051	Effective immediately
1052		-)))|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.|-
1053		-|=P00-19|(((
	1076	+)))|(% style="text-align:center; vertical-align:middle; width:142px" %)1|(% style="text-align:center; vertical-align:middle; width:94px" %)1 to 4294967294|(% style="width:311px" %)Set the denominator of the 1st group electronic gear ratio for position instruction frequency division or multiplication. P00-16 is effective when the number of instruction pulses of one motor rotation is 0.|(% style="text-align:center; vertical-align:middle" %)-
	1077	+|(% style="text-align:center; vertical-align:middle" %)P00-19|(% style="text-align:center; vertical-align:middle; width:159px" %)(((
1054	1054	Electronic gear 2
1055	1055
1056	1056	numerator
1057		-)))|Operation setting|(((
	1081	+)))|(% style="text-align:center; vertical-align:middle; width:156px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
1058	1058	Effective immediately
1059		-)))|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.|-
1060		-|=P00-20|(((
	1083	+)))|(% style="text-align:center; vertical-align:middle; width:142px" %)1|(% style="text-align:center; vertical-align:middle; width:94px" %)1 to 4294967294|(% style="width:311px" %)Set the numerator of the 2nd group electronic gear ratio for position instruction frequency division or multiplication. P00-16 is effective when the number of instruction pulses of one motor rotation is 0.|(% style="text-align:center; vertical-align:middle" %)-
	1084	+|(% style="text-align:center; vertical-align:middle" %)P00-20|(% style="text-align:center; vertical-align:middle; width:159px" %)(((
1061	1061	Electronic gear 2
1062	1062
1063	1063	denominator
1064		-)))|Operation setting|(((
	1088	+)))|(% style="text-align:center; vertical-align:middle; width:156px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
1065	1065	Effective immediately
1066		-)))|1|1 to 4294967294|Set the denominator of the 2nd group electronic gear ratio for position instruction frequency division or multiplication. P00-16 is effective when the number of instruction pulses of one motor rotation is 0.|-
	1090	+)))|(% style="text-align:center; vertical-align:middle; width:142px" %)1|(% style="text-align:center; vertical-align:middle; width:94px" %)1 to 4294967294|(% style="width:311px" %)Set the denominator of the 2nd group electronic gear ratio for position instruction frequency division or multiplication. P00-16 is effective when the number of instruction pulses of one motor rotation is 0.|(% style="text-align:center; vertical-align:middle" %)-
1067	1067
1068	1068	Table 6-20 Electronic gear ratio function code
1069	1069
1070	1070	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.
1071	1071
1072		-
1073		-|=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
1074		-|=09|GEAR-SEL electronic gear switch 1|(((
	1096	+(% class="table-bordered" %)
	1097	+|(% style="text-align:center; vertical-align:middle" %)**DI function code**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**
	1098	+|(% style="text-align:center; vertical-align:middle" %)09|(% style="text-align:center; vertical-align:middle" %)GEAR-SEL electronic gear switch 1|(% style="text-align:center; vertical-align:middle" %)(((
1075	1075	DI port logic invalid: electronic gear ratio 1
1076	1076
1077	1077	DI port logic valid: electronic gear ratio 2
...	...	@@ -1079,10 +1079,10 @@
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]]
	1106	+|(% style="text-align:center; vertical-align:middle" %)**P00-16 value**|(% style="text-align:center; vertical-align:middle" %)**DI terminal level corresponding to DI port function 9**|(% style="text-align:center; vertical-align:middle" %)**Electronic gear ratio**[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/39.png?rev=1.1]]
	1107	+|(% rowspan="2" style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)DI port logic invalid|(% style="text-align:center; vertical-align:middle" %)[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/40.png?rev=1.1]]
	1108	+|(% style="text-align:center; vertical-align:middle" %)DI port logic valid|(% style="text-align:center; vertical-align:middle" %)[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/41.png?rev=1.1]]
	1109	+|(% style="text-align:center; vertical-align:middle" %)1 to 131072|(% style="text-align:center; vertical-align:middle" %)~-~-|(% style="text-align:center; vertical-align:middle" %)[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/42.png?rev=1.1]]
1086	1086
1087	1087	Table 6-22 Application of electronic gear ratio
1088	1088
...	...	@@ -1100,32 +1100,32 @@
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		-
	1127	+(% 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		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	1132	+(% class="table-bordered" %)
	1133	+|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:193px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:150px" %)(((
1110	1110	**Setting method**
1111		-)))|=(((
	1135	+)))|(% style="text-align:center; vertical-align:middle; width:209px" %)(((
1112	1112	**Effective time**
1113		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1114		-|=P04-01|Pulse instruction filtering method|(((
	1137	+)))|(% style="text-align:center; vertical-align:middle; width:123px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:104px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:253px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:72px" %)**Unit**
	1138	+|(% style="text-align:center; vertical-align:middle" %)P04-01|(% style="text-align:center; vertical-align:middle; width:193px" %)Pulse instruction filtering method|(% style="text-align:center; vertical-align:middle; width:150px" %)(((
1115	1115	Shutdown setting
1116		-)))|(((
	1140	+)))|(% style="text-align:center; vertical-align:middle; width:209px" %)(((
1117	1117	Effective immediately
1118		-)))|0|0 to 1|(((
	1142	+)))|(% style="text-align:center; vertical-align:middle; width:123px" %)0|(% style="text-align:center; vertical-align:middle; width:104px" %)0 to 1|(% style="width:253px" %)(((
1119	1119	0: 1st-order low-pass filtering
1120	1120
1121	1121	1: average filtering
1122		-)))|-
1123		-|=P04-02|Position instruction 1st-order low-pass filtering time constant|Shutdown setting|(((
	1146	+)))|(% style="text-align:center; vertical-align:middle; width:72px" %)-
	1147	+|(% style="text-align:center; vertical-align:middle" %)P04-02|(% style="text-align:center; vertical-align:middle; width:193px" %)Position instruction 1st-order low-pass filtering time constant|(% style="text-align:center; vertical-align:middle; width:150px" %)Shutdown setting|(% style="text-align:center; vertical-align:middle; width:209px" %)(((
1124	1124	Effective immediately
1125		-)))|0|0 to 1000|Position instruction first-order low-pass filtering time constant|ms
1126		-|=P04-03|Position instruction average filtering time constant|Shutdown setting|(((
	1149	+)))|(% style="text-align:center; vertical-align:middle; width:123px" %)0|(% style="text-align:center; vertical-align:middle; width:104px" %)0 to 1000|(% style="width:253px" %)Position instruction first-order low-pass filtering time constant|(% style="text-align:center; vertical-align:middle; width:72px" %)ms
	1150	+|(% style="text-align:center; vertical-align:middle" %)P04-03|(% style="text-align:center; vertical-align:middle; width:193px" %)Position instruction average filtering time constant|(% style="text-align:center; vertical-align:middle; width:150px" %)Shutdown setting|(% style="text-align:center; vertical-align:middle; width:209px" %)(((
1127	1127	Effective immediately
1128		-)))|0|0 to 128|Position instruction average filtering time constant|ms
	1152	+)))|(% style="text-align:center; vertical-align:middle; width:123px" %)0|(% style="text-align:center; vertical-align:middle; width:104px" %)0 to 128|(% style="width:253px" %)Position instruction average filtering time constant|(% style="text-align:center; vertical-align:middle; width:72px" %)ms
1129	1129
1130	1130	Table 6-23 Position instruction filter function code
1131	1131
...	...	@@ -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		-
	1172	+(% style="text-align:center" %)
1149	1149	[[image:image-20220608170550-24.png]]
1150	1150
1151	1151	Figure 6-26 Positioning completion signal output diagram
...	...	@@ -1152,47 +1152,48 @@
1152	1152
1153	1153	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.
1154	1154
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]]__.
	1179	+To use the positioning completion/positioning approach function, a DO terminal of the servo drive should be assigned to the function 134 (P-COIN, positioning completion)/ 135 (P-NEAR, positioning approach). The related code parameters and DO function codes are shown as __[[Table 6-24>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HPosition-relatedDOoutputfunction]]__.
1156	1156
	1181	+(% 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		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	1186	+(% class="table-bordered" %)
	1187	+|(% style="text-align:center; vertical-align:middle; width:117px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:133px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:145px" %)(((
1163	1163	**Setting method**
1164		-)))|=(((
	1189	+)))|(% style="text-align:center; vertical-align:middle; width:224px" %)(((
1165	1165	**Effective time**
1166		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1167		-|=P05-12|Positioning completion threshold|(((
	1191	+)))|(% style="text-align:center; vertical-align:middle; width:114px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:103px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:377px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:272px" %)**Unit**
	1192	+|(% style="text-align:center; vertical-align:middle; width:117px" %)P05-12|(% style="text-align:center; vertical-align:middle; width:133px" %)Positioning completion threshold|(% style="text-align:center; vertical-align:middle; width:145px" %)(((
1168	1168	Operation setting
1169		-)))|(((
	1194	+)))|(% style="text-align:center; vertical-align:middle; width:224px" %)(((
1170	1170	Effective immediately
1171		-)))|800|1 to 65535|Positioning completion threshold|Equivalent pulse unit
1172		-|=P05-13|Positioning approach threshold|(((
	1196	+)))|(% style="text-align:center; vertical-align:middle; width:114px" %)800|(% style="text-align:center; vertical-align:middle; width:103px" %)1 to 65535|(% style="text-align:center; vertical-align:middle; width:377px" %)Positioning completion threshold|(% style="text-align:center; vertical-align:middle; width:272px" %)Equivalent pulse unit
	1197	+|(% style="text-align:center; vertical-align:middle; width:117px" %)P05-13|(% style="text-align:center; vertical-align:middle; width:133px" %)Positioning approach threshold|(% style="text-align:center; vertical-align:middle; width:145px" %)(((
1173	1173	Operation setting
1174		-)))|(((
	1199	+)))|(% style="text-align:center; vertical-align:middle; width:224px" %)(((
1175	1175	Effective immediately
1176		-)))|5000|1 to 65535|Positioning approach threshold|Equivalent pulse unit
1177		-|=P05-14|Position detection window time|(((
	1201	+)))|(% style="text-align:center; vertical-align:middle; width:114px" %)5000|(% style="text-align:center; vertical-align:middle; width:103px" %)1 to 65535|(% style="text-align:center; vertical-align:middle; width:377px" %)Positioning approach threshold|(% style="text-align:center; vertical-align:middle; width:272px" %)Equivalent pulse unit
	1202	+|(% style="text-align:center; vertical-align:middle; width:117px" %)P05-14|(% style="text-align:center; vertical-align:middle; width:133px" %)Position detection window time|(% style="text-align:center; vertical-align:middle; width:145px" %)(((
1178	1178	Operation setting
1179		-)))|(((
	1204	+)))|(% style="text-align:center; vertical-align:middle; width:224px" %)(((
1180	1180	Effective immediately
1181		-)))|10|0 to 20000|Set positioning completion detection window time|ms
1182		-|=P05-15|Positioning signal hold time|(((
	1206	+)))|(% style="text-align:center; vertical-align:middle; width:114px" %)10|(% style="text-align:center; vertical-align:middle; width:103px" %)0 to 20000|(% style="text-align:center; vertical-align:middle; width:377px" %)Set positioning completion detection window time|(% style="text-align:center; vertical-align:middle; width:272px" %)ms
	1207	+|(% style="text-align:center; vertical-align:middle; width:117px" %)P05-15|(% style="text-align:center; vertical-align:middle; width:133px" %)Positioning signal hold time|(% style="text-align:center; vertical-align:middle; width:145px" %)(((
1183	1183	Operation setting
1184		-)))|(((
	1209	+)))|(% style="text-align:center; vertical-align:middle; width:224px" %)(((
1185	1185	Effective immediately
1186		-)))|100|0 to 20000|Set positioning completion output hold time|ms
	1211	+)))|(% style="text-align:center; vertical-align:middle; width:114px" %)100|(% style="text-align:center; vertical-align:middle; width:103px" %)0 to 20000|(% style="text-align:center; vertical-align:middle; width:377px" %)Set positioning completion output hold time|(% style="text-align:center; vertical-align:middle; width:272px" %)ms
1187	1187
1188	1188	Table 6-24 Function code parameters of positioning completion
1189	1189
1190		-
1191		-|=(% scope="row" %)**DO function code**|=**Function name**|=**Function**
1192		-|=134|P-COIN positioning complete|Output this signal indicates the servo drive position is complete.
1193		-|=135|(((
	1215	+(% class="table-bordered" %)
	1216	+|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**
	1217	+|(% style="text-align:center; vertical-align:middle" %)134|(% style="text-align:center; vertical-align:middle" %)P-COIN positioning complete|(% style="text-align:center; vertical-align:middle" %)Output this signal indicates the servo drive position is complete.
	1218	+|(% style="text-align:center; vertical-align:middle" %)135|(% style="text-align:center; vertical-align:middle" %)(((
1194	1194	P-NEAR positioning close
1195		-)))|(((
	1220	+)))|(% style="text-align:center; vertical-align:middle" %)(((
1196	1196	Output this signal indicates that the servo drive position is close.
1197	1197	)))
1198	1198
...	...	@@ -1200,9 +1200,9 @@
1200	1200
1201	1201	= **Speed control mode** =
1202	1202
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.
	1228	+Speed control refers to controlling the speed of the machine through speed instructions. Given the speed instruction by digital voltage or communication, the servo drive can control the mechanical speed fast and precisely. Therefore, the speed control mode is mainly used to control the rotation speed such as analog CNC engraving and milling machine. [[Figure 6-28>>path:http://13.229.109.52:8080/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/6.28.jpg?width=806&height=260&rev=1.1]] is the speed control block diagram.
1204	1204
1205		-
	1230	+(% 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
...	...	@@ -1211,21 +1211,21 @@
1211	1211
1212	1212	In speed control mode, VD2A and VD2B servo drives have two instruction source: internal speed instruction and analog speed instruction. VD2F drive only supports internal speed instruction. Speed instruction source is set by function code P01-01.
1213	1213
1214		-
1215		-|**Function code**|**Name**|(((
	1239	+(% class="table-bordered" %)
	1240	+|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:140px" %)(((
1216	1216	**Setting method**
1217		-)))|(((
	1242	+)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
1218	1218	**Effective time**
1219		-)))|**Default value**|**Range**|**Definition**|**Unit**
1220		-|P01-01|Speed instruction source|(((
	1244	+)))|(% style="text-align:center; vertical-align:middle; width:124px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:83px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:328px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	1245	+|(% style="text-align:center; vertical-align:middle" %)P01-01|(% style="text-align:center; vertical-align:middle; width:180px" %)Speed instruction source|(% style="text-align:center; vertical-align:middle; width:140px" %)(((
1221	1221	Shutdown setting
1222		-)))|(((
	1247	+)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
1223	1223	Effective immediately
1224		-)))|1|1 to 6|(((
	1249	+)))|(% style="text-align:center; vertical-align:middle; width:124px" %)1|(% style="text-align:center; vertical-align:middle; width:83px" %)1 to 6|(% style="text-align:center; vertical-align:middle; width:328px" %)(((
1225	1225	0: internal speed instruction
1226	1226
1227	1227	1: AI_1 analog input (not supported by VD2F)
1228		-)))|-
	1253	+)))|(% style="text-align:center; vertical-align:middle" %)-
1229	1229
1230	1230	Table 6-26 Speed instruction source parameter
1231	1231
...	...	@@ -1233,19 +1233,19 @@
1233	1233
1234	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.
1235	1235
1236		-
1237		-|**Function code**|**Name**|(((
	1261	+(% class="table-bordered" %)
	1262	+|(% style="text-align:center; vertical-align:middle; width:112px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:212px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:138px" %)(((
1238	1238	**Setting method**
1239		-)))|(((
	1264	+)))|(% style="text-align:center; vertical-align:middle; width:191px" %)(((
1240	1240	**Effective time**
1241		-)))|**Default value**|**Range**|**Definition**|**Unit**
1242		-|(% rowspan="2" %)P01-02|(% rowspan="2" %)(((
	1266	+)))|(% style="text-align:center; vertical-align:middle; width:142px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:144px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:287px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:259px" %)**Unit**
	1267	+|(% rowspan="2" style="text-align:center; vertical-align:middle; width:112px" %)P01-02|(% rowspan="2" style="text-align:center; vertical-align:middle; width:212px" %)(((
1243	1243	Internal speed Instruction 0
1244		-)))|(% rowspan="2" %)(((
	1269	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((
1245	1245	Operation setting
1246		-)))|(% rowspan="2" %)(((
	1271	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:191px" %)(((
1247	1247	Effective immediately
1248		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1273	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:142px" %)0|(% style="text-align:center; vertical-align:middle; width:144px" %)-3000 to 3000|(% rowspan="2" style="width:287px" %)(((
1249	1249	Internal speed instruction 0
1250	1250
1251	1251	When DI input port:
...	...	@@ -1257,15 +1257,15 @@
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" %)(((
	1285	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:259px" %)rpm
	1286	+|(% style="text-align:center; vertical-align:middle; width:144px" %)-5000 to 5000*
	1287	+|(% rowspan="2" style="text-align:center; vertical-align:middle; width:112px" %)P01-23|(% rowspan="2" style="text-align:center; vertical-align:middle; width:212px" %)(((
1263	1263	Internal speed Instruction 1
1264		-)))|(% rowspan="2" %)(((
	1289	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((
1265	1265	Operation setting
1266		-)))|(% rowspan="2" %)(((
	1291	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:191px" %)(((
1267	1267	Effective immediately
1268		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1293	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:142px" %)0|(% style="text-align:center; vertical-align:middle; width:144px" %)-3000 to 3000|(% rowspan="2" style="width:287px" %)(((
1269	1269	Internal speed instruction 1
1270	1270
1271	1271	When DI input port:
...	...	@@ -1277,15 +1277,15 @@
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" %)(((
	1305	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:259px" %)rpm
	1306	+|(% style="text-align:center; vertical-align:middle; width:144px" %)-5000 to 5000*
	1307	+|(% rowspan="2" style="text-align:center; vertical-align:middle; width:112px" %)P01-24|(% rowspan="2" style="text-align:center; vertical-align:middle; width:212px" %)(((
1283	1283	Internal speed Instruction 2
1284		-)))|(% rowspan="2" %)(((
	1309	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((
1285	1285	Operation setting
1286		-)))|(% rowspan="2" %)(((
	1311	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:191px" %)(((
1287	1287	Effective immediately
1288		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1313	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:142px" %)0|(% style="text-align:center; vertical-align:middle; width:144px" %)-3000 to 3000|(% rowspan="2" style="width:287px" %)(((
1289	1289	Internal speed instruction 2
1290	1290
1291	1291	When DI input port:
...	...	@@ -1297,15 +1297,15 @@
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" %)(((
	1325	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:259px" %)rpm
	1326	+|(% style="text-align:center; vertical-align:middle; width:144px" %)-5000 to 5000*
	1327	+|(% rowspan="2" style="text-align:center; vertical-align:middle; width:112px" %)P01-25|(% rowspan="2" style="text-align:center; vertical-align:middle; width:212px" %)(((
1303	1303	Internal speed Instruction 3
1304		-)))|(% rowspan="2" %)(((
	1329	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((
1305	1305	Operation setting
1306		-)))|(% rowspan="2" %)(((
	1331	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:191px" %)(((
1307	1307	Effective immediately
1308		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1333	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:142px" %)0|(% style="text-align:center; vertical-align:middle; width:144px" %)-3000 to 3000|(% rowspan="2" style="width:287px" %)(((
1309	1309	Internal speed instruction 3
1310	1310
1311	1311	When DI input port:
...	...	@@ -1317,16 +1317,17 @@
1317	1317	13-INSPD1: 1,
1318	1318
1319	1319	Select this speed instruction to be effective.
1320		-)))|(% rowspan="2" %)rpm
1321		-|-5000 to 5000*
	1345	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:259px" %)rpm
	1346	+|(% style="text-align:center; vertical-align:middle; width:144px" %)-5000 to 5000*
1322	1322
1323		-|(% rowspan="2" %)P01-26|(% rowspan="2" %)(((
	1348	+(% class="table-bordered" %)
	1349	+|(% rowspan="2" style="text-align:center; vertical-align:middle; width:111px" %)P01-26|(% rowspan="2" style="text-align:center; vertical-align:middle; width:214px" %)(((
1324	1324	Internal speed Instruction 4
1325		-)))|(% rowspan="2" %)(((
	1351	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((
1326	1326	Operation setting
1327		-)))|(% rowspan="2" %)(((
	1353	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:161px" %)(((
1328	1328	Effective immediately
1329		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1355	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:117px" %)-3000 to 3000|(% rowspan="2" style="width:302px" %)(((
1330	1330	Internal speed instruction 4
1331	1331
1332	1332	When DI input port:
...	...	@@ -1338,15 +1338,15 @@
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" %)(((
	1367	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle" %)rpm
	1368	+|(% style="text-align:center; vertical-align:middle; width:117px" %)-5000 to 5000*
	1369	+|(% rowspan="2" style="text-align:center; vertical-align:middle; width:111px" %)P01-27|(% rowspan="2" style="text-align:center; vertical-align:middle; width:214px" %)(((
1344	1344	Internal speed Instruction 5
1345		-)))|(% rowspan="2" %)(((
	1371	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((
1346	1346	Operation setting
1347		-)))|(% rowspan="2" %)(((
	1373	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:161px" %)(((
1348	1348	Effective immediately
1349		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1375	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:117px" %)-3000 to 3000|(% rowspan="2" style="width:302px" %)(((
1350	1350	Internal speed instruction 5
1351	1351
1352	1352	When DI input port:
...	...	@@ -1358,15 +1358,15 @@
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" %)(((
	1387	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle" %)rpm
	1388	+|(% style="text-align:center; vertical-align:middle; width:117px" %)-5000 to 5000*
	1389	+|(% rowspan="2" style="text-align:center; vertical-align:middle; width:111px" %)P01-28|(% rowspan="2" style="text-align:center; vertical-align:middle; width:214px" %)(((
1364	1364	Internal speed Instruction 6
1365		-)))|(% rowspan="2" %)(((
	1391	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((
1366	1366	Operation setting
1367		-)))|(% rowspan="2" %)(((
	1393	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:161px" %)(((
1368	1368	Effective immediately
1369		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1395	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:117px" %)-3000 to 3000|(% rowspan="2" style="width:302px" %)(((
1370	1370	Internal speed instruction 6
1371	1371
1372	1372	When DI input port:
...	...	@@ -1378,15 +1378,15 @@
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" %)(((
	1407	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle" %)rpm
	1408	+|(% style="text-align:center; vertical-align:middle; width:117px" %)-5000 to 5000*
	1409	+|(% rowspan="2" style="text-align:center; vertical-align:middle; width:111px" %)P01-29|(% rowspan="2" style="text-align:center; vertical-align:middle; width:214px" %)(((
1384	1384	Internal speed Instruction 7
1385		-)))|(% rowspan="2" %)(((
	1411	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((
1386	1386	Operation setting
1387		-)))|(% rowspan="2" %)(((
	1413	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:161px" %)(((
1388	1388	Effective immediately
1389		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1415	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:117px" %)-3000 to 3000|(% rowspan="2" style="width:302px" %)(((
1390	1390	Internal speed instruction 7
1391	1391
1392	1392	When DI input port:
...	...	@@ -1398,34 +1398,34 @@
1398	1398	13-INSPD1: 1,
1399	1399
1400	1400	Select this speed instruction to be effective.
1401		-)))|(% rowspan="2" %)rpm
1402		-|-5000 to 5000*
	1427	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle" %)rpm
	1428	+|(% style="text-align:center; vertical-align:middle; width:117px" %)-5000 to 5000*
1403	1403
1404	1404	Table 6-27 Internal speed instruction parameters
1405	1405
1406	1406	✎**Note: **“*” means the set range of VD2F servo drive.
1407	1407
	1434	+(% class="table-bordered" %)
	1435	+|(% style="text-align:center; vertical-align:middle" %)**DI function code**|(% style="text-align:center; vertical-align:middle" %)**function name**|(% style="text-align:center; vertical-align:middle" %)**Function**
	1436	+|(% style="text-align:center; vertical-align:middle" %)13|(% style="text-align:center; vertical-align:middle" %)INSPD1 internal speed instruction selection 1|Form internal multi-speed running segment number
	1437	+|(% style="text-align:center; vertical-align:middle" %)14|(% style="text-align:center; vertical-align:middle" %)INSPD2 internal speed instruction selection 2|Form internal multi-speed running segment number
	1438	+|(% style="text-align:center; vertical-align:middle" %)15|(% style="text-align:center; vertical-align:middle" %)INSPD3 internal speed instruction selection 3|Form internal multi-speed running segment number
1408	1408
1409		-|**DI function code**|**function name**|**Function**
1410		-|13|INSPD1 internal speed instruction selection 1|Form internal multi-speed running segment number
1411		-|14|INSPD2 internal speed instruction selection 2|Form internal multi-speed running segment number
1412		-|15|INSPD3 internal speed instruction selection 3|Form internal multi-speed running segment number
1413		-
1414	1414	Table 6-28 DI multi-speed function code description
1415	1415
1416	1416	The multi-speed segment number is a 3-bit binary number, and the DI terminal logic is level valid. When the input level is valid, the segment selection bit value is 1, otherwise it is 0. The corresponding relationship between INSPD1 to 3 and segment numbers is shown as below.
1417	1417
1418		-
1419		-|**INSPD3**|**INSPD2**|**INSPD1**|**Running segment number**|**Internal speed instruction number**
1420		-|0|0|0|1|0
1421		-|0|0|1|2|1
1422		-|0|1|0|3|2
	1444	+(% class="table-bordered" %)
	1445	+|(% style="text-align:center; vertical-align:middle" %)**INSPD3**|(% style="text-align:center; vertical-align:middle" %)**INSPD2**|(% style="text-align:center; vertical-align:middle" %)**INSPD1**|(% style="text-align:center; vertical-align:middle" %)**Running segment number**|(% style="text-align:center; vertical-align:middle" %)**Internal speed instruction number**
	1446	+|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)0
	1447	+|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)2|(% style="text-align:center; vertical-align:middle" %)1
	1448	+|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)3|(% style="text-align:center; vertical-align:middle" %)2
1423	1423	|(% colspan="5" %)......
1424		-|1|1|1|8|7
	1450	+|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)8|(% style="text-align:center; vertical-align:middle" %)7
1425	1425
1426	1426	Table 6-29 Correspondence between INSPD bits and segment numbers
1427	1427
1428		-
	1454	+(% style="text-align:center" %)
1429	1429	[[image:image-20220608170845-26.png]]
1430	1430
1431	1431	Figure 6-29 Multi-segment speed running curve
...	...	@@ -1434,7 +1434,7 @@
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		-
	1463	+(% 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		-
	1470	+(% style="text-align:center" %)
1445	1445	[[image:image-20220608170955-27.png]]
1446	1446
1447	1447	Figure 6-31 Analog voltage speed instruction setting steps
...	...	@@ -1454,18 +1454,18 @@
1454	1454
1455	1455	Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1456	1456
1457		-
	1483	+(% 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
	1488	+(% class="table-bordered" %)
	1489	+|(% style="text-align:center; vertical-align:middle; width:115px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:125px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:137px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:165px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:111px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:136px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:360px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:44px" %)**Unit**
	1490	+|(% style="text-align:center; vertical-align:middle; width:115px" %)P05-01☆|(% style="text-align:center; vertical-align:middle; width:125px" %)AI_1 input bias|(% style="text-align:center; vertical-align:middle; width:137px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:165px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:111px" %)0|(% style="text-align:center; vertical-align:middle; width:136px" %)-5000 to 5000|(% style="width:360px" %)Set AI_1 channel analog bias value|(% style="text-align:center; vertical-align:middle; width:44px" %)mV
	1491	+|(% style="text-align:center; vertical-align:middle; width:115px" %)P05-02☆|(% style="text-align:center; vertical-align:middle; width:125px" %)AI_1 input filter time constant|(% style="text-align:center; vertical-align:middle; width:137px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:165px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:111px" %)200|(% style="text-align:center; vertical-align:middle; width:136px" %)0 to 60000|(% style="width:360px" %)AI_1 channel input first-order low-pass filtering time constant|(% style="text-align:center; vertical-align:middle; width:44px" %)0.01ms
	1492	+|(% style="text-align:center; vertical-align:middle; width:115px" %)P05-03☆|(% style="text-align:center; vertical-align:middle; width:125px" %)AI_1 dead zone|(% style="text-align:center; vertical-align:middle; width:137px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:165px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:111px" %)20|(% style="text-align:center; vertical-align:middle; width:136px" %)0 to 1000|(% style="width:360px" %)Set AI_1 channel quantity dead zone value|(% style="text-align:center; vertical-align:middle; width:44px" %)mV
	1493	+|(% style="text-align:center; vertical-align:middle; width:115px" %)P05-04☆|(% style="text-align:center; vertical-align:middle; width:125px" %)AI_1 zero drift|(% style="text-align:center; vertical-align:middle; width:137px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:165px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:111px" %)0|(% style="text-align:center; vertical-align:middle; width:136px" %)-500 to 500|(% style="width:360px" %)Automatic calibration of zero drift inside the drive|(% style="text-align:center; vertical-align:middle; width:44px" %)mV
1462	1462
1463		-|**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
1464		-|P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
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
1466		-|P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel quantity dead zone value|mV
1467		-|P05-04☆|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV
1468		-
1469	1469	Table 6-30 AI_1 parameters
1470	1470
1471	1471	✎**Note: **“☆” means VD2F servo drive does not support the function code .
...	...	@@ -1476,7 +1476,7 @@
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		-
	1505	+(% style="text-align:center" %)
1480	1480	[[image:image-20220608171314-29.png]]
1481	1481
1482	1482	Figure 6-33 of acceleration and deceleration time diagram
...	...	@@ -1485,22 +1485,22 @@
1485	1485
1486	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	1487
1488		-
1489		-|**Function code**|**Name**|(((
	1514	+(% class="table-bordered" %)
	1515	+|(% style="text-align:center; vertical-align:middle; width:116px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:137px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
1490	1490	**Setting method**
1491		-)))|(((
	1517	+)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
1492	1492	**Effective time**
1493		-)))|**Default value**|**Range**|**Definition**|**Unit**
1494		-|P01-03|Acceleration time|(((
	1519	+)))|(% style="text-align:center; vertical-align:middle; width:104px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:92px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:393px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:66px" %)**Unit**
	1520	+|(% style="text-align:center; vertical-align:middle; width:116px" %)P01-03|(% style="text-align:center; vertical-align:middle; width:137px" %)Acceleration time|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
1495	1495	Operation setting
1496		-)))|(((
	1522	+)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
1497	1497	Effective immediately
1498		-)))|50|0 to 65535|The time for the speed instruction to accelerate from 0 to 1000rpm|ms
1499		-|P01-04|Deceleration time|(((
	1524	+)))|(% style="text-align:center; vertical-align:middle; width:104px" %)50|(% style="text-align:center; vertical-align:middle; width:92px" %)0 to 65535|(% style="width:393px" %)The time for the speed instruction to accelerate from 0 to 1000rpm|(% style="text-align:center; vertical-align:middle; width:66px" %)ms
	1525	+|(% style="text-align:center; vertical-align:middle; width:116px" %)P01-04|(% style="text-align:center; vertical-align:middle; width:137px" %)Deceleration time|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
1500	1500	Operation setting
1501		-)))|(((
	1527	+)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
1502	1502	Effective immediately
1503		-)))|50|0 to 65535|The time for the speed instruction to decelerate from 1000rpm to 0|ms
	1529	+)))|(% style="text-align:center; vertical-align:middle; width:104px" %)50|(% style="text-align:center; vertical-align:middle; width:92px" %)0 to 65535|(% style="width:393px" %)The time for the speed instruction to decelerate from 1000rpm to 0|(% style="text-align:center; vertical-align:middle; width:66px" %)ms
1504	1504
1505	1505	Table 6-31 Acceleration and deceleration time parameters
1506	1506
...	...	@@ -1519,27 +1519,27 @@
1519	1519
1520	1520	The amplitude of negative speed command ≤ min (Maximum motor speed, P01-10, P01-13)
1521	1521
1522		-
1523		-|**Function code**|**Name**|(((
	1548	+(% class="table-bordered" %)
	1549	+|(% style="text-align:center; vertical-align:middle; width:119px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:136px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:133px" %)(((
1524	1524	**Setting method**
1525		-)))|(((
	1551	+)))|(% style="text-align:center; vertical-align:middle; width:163px" %)(((
1526	1526	**Effective time**
1527		-)))|**Default value**|**Range**|**Definition**|**Unit**
1528		-|P01-10|Maximum speed threshold|(((
	1553	+)))|(% style="text-align:center; vertical-align:middle; width:112px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:86px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:395px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:61px" %)**Unit**
	1554	+|(% style="text-align:center; vertical-align:middle; width:119px" %)P01-10|(% style="text-align:center; vertical-align:middle; width:136px" %)Maximum speed threshold|(% style="text-align:center; vertical-align:middle; width:133px" %)(((
1529	1529	Operation setting
1530		-)))|(((
	1556	+)))|(% style="text-align:center; vertical-align:middle; width:163px" %)(((
1531	1531	Effective immediately
1532		-)))|3600|0 to 5000|Set the maximum speed limit value, if exceeds this value, an overspeed fault will be reported|rpm
1533		-|P01-12|Forward speed threshold|(((
	1558	+)))|(% style="text-align:center; vertical-align:middle; width:112px" %)3600|(% style="text-align:center; vertical-align:middle; width:86px" %)0 to 5000|(% style="width:395px" %)Set the maximum speed limit value, if exceeds this value, an overspeed fault will be reported|(% style="text-align:center; vertical-align:middle; width:61px" %)rpm
	1559	+|(% style="text-align:center; vertical-align:middle; width:119px" %)P01-12|(% style="text-align:center; vertical-align:middle; width:136px" %)Forward speed threshold|(% style="text-align:center; vertical-align:middle; width:133px" %)(((
1534	1534	Operation setting
1535		-)))|(((
	1561	+)))|(% style="text-align:center; vertical-align:middle; width:163px" %)(((
1536	1536	Effective immediately
1537		-)))|3000|0 to 5000|Set forward speed limit value|rpm
1538		-|P01-13|Reverse speed threshold|(((
	1563	+)))|(% style="text-align:center; vertical-align:middle; width:112px" %)3000|(% style="text-align:center; vertical-align:middle; width:86px" %)0 to 5000|(% style="width:395px" %)Set forward speed limit value|(% style="text-align:center; vertical-align:middle; width:61px" %)rpm
	1564	+|(% style="text-align:center; vertical-align:middle; width:119px" %)P01-13|(% style="text-align:center; vertical-align:middle; width:136px" %)Reverse speed threshold|(% style="text-align:center; vertical-align:middle; width:133px" %)(((
1539	1539	Operation setting
1540		-)))|(((
	1566	+)))|(% style="text-align:center; vertical-align:middle; width:163px" %)(((
1541	1541	Effective immediately
1542		-)))|3000|0 to 5000|Set reverse speed limit value|rpm
	1568	+)))|(% style="text-align:center; vertical-align:middle; width:112px" %)3000|(% style="text-align:center; vertical-align:middle; width:86px" %)0 to 5000|(% style="width:395px" %)Set reverse speed limit value|(% style="text-align:center; vertical-align:middle; width:61px" %)rpm
1543	1543
1544	1544	Table 6-32 Rotation speed related function codes
1545	1545
...	...	@@ -1549,19 +1549,19 @@
1549	1549
1550	1550	If the speed instruction amplitude is greater than zero-speed clamp speed threshold, the servo motor exits the locked state and continues to run according to the current input speed instruction.
1551	1551
1552		-
1553		-|**Function code**|**Name**|(((
	1578	+(% class="table-bordered" %)
	1579	+|(% style="text-align:center; vertical-align:middle; width:119px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:115px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:147px" %)(((
1554	1554	**Setting method**
1555		-)))|(((
	1581	+)))|(% style="text-align:center; vertical-align:middle; width:166px" %)(((
1556	1556	**Effective time**
1557		-)))|**Default value**|**Range**|**Definition**|**Unit**
1558		-|P01-21|(((
	1583	+)))|(% style="text-align:center; vertical-align:middle; width:116px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:86px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:398px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:58px" %)**Unit**
	1584	+|(% style="text-align:center; vertical-align:middle; width:119px" %)P01-21|(% style="text-align:center; vertical-align:middle; width:115px" %)(((
1559	1559	Zero-speed clamp function selection
1560		-)))|(((
	1586	+)))|(% style="text-align:center; vertical-align:middle; width:147px" %)(((
1561	1561	Operation setting
1562		-)))|(((
	1588	+)))|(% style="text-align:center; vertical-align:middle; width:166px" %)(((
1563	1563	Effective immediately
1564		-)))|0|0 to 3|(((
	1590	+)))|(% style="text-align:center; vertical-align:middle; width:116px" %)0|(% style="text-align:center; vertical-align:middle; width:86px" %)0 to 3|(% style="width:398px" %)(((
1565	1565	Set the zero-speed clamp function. In speed mode:
1566	1566
1567	1567	0: Force the speed to 0;
...	...	@@ -1571,18 +1571,18 @@
1571	1571	2: When speed instruction is less than P01-22, force the speed to 0 and keep the position locked
1572	1572
1573	1573	3: Invalid, ignore zero-speed clamp input
1574		-)))|-
1575		-|P01-22|(((
	1600	+)))|(% style="text-align:center; vertical-align:middle; width:58px" %)-
	1601	+|(% style="text-align:center; vertical-align:middle; width:119px" %)P01-22|(% style="text-align:center; vertical-align:middle; width:115px" %)(((
1576	1576	Zero-speed clamp speed threshold
1577		-)))|(((
	1603	+)))|(% style="text-align:center; vertical-align:middle; width:147px" %)(((
1578	1578	Operation setting
1579		-)))|(((
	1605	+)))|(% style="text-align:center; vertical-align:middle; width:166px" %)(((
1580	1580	Effective immediately
1581		-)))|20|0 to 1000|Set the speed threshold of zero-speed clamp function|rpm
	1607	+)))|(% style="text-align:center; vertical-align:middle; width:116px" %)20|(% style="text-align:center; vertical-align:middle; width:86px" %)0 to 1000|(% style="text-align:left; vertical-align:middle; width:398px" %)Set the speed threshold of zero-speed clamp function|(% style="text-align:center; vertical-align:middle; width:58px" %)rpm
1582	1582
1583	1583	Table 6-33 Zero-speed clamp related parameters
1584	1584
1585		-
	1611	+(% style="text-align:center" %)
1586	1586	[[image:image-20220608171549-30.png]]
1587	1587
1588	1588	Figure 6-34 Zero-speed clamp diagram
...	...	@@ -1595,36 +1595,36 @@
1595	1595
1596	1596	After the speed instruction is filtered, the absolute value of the actual speed absolute value of the servo motor reaches P05-16 (rotation detection speed threshold), it could be considered that the motor is rotating. At this time, the servo drive outputs a rotation detection signal (TGON), which can be used to confirm that the motor has rotated. On the contrary, when the absolute value of the actual rotation speed of the servo motor is less than P05-16, it is considered that the motor is not rotating.
1597	1597
1598		-
	1624	+(% style="text-align:center" %)
1599	1599	[[image:image-20220608171625-31.png]]
1600	1600
1601	1601	Figure 6-35 Rotation detection signal diagram
1602	1602
1603		-To use the motor rotation detection signal output function, a DO terminal of the servo drive should be assigned to function 132 (T-COIN, rotation detection). The function code parameters and related DO function codes are shown in __[[Table 6-34>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__ and __[[Table 6-35>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__.
	1629	+To use the motor rotation detection signal output function, a DO terminal of the servo drive should be assigned to function 132 (T-COIN, rotation detection). The function code parameters and related DO function codes are shown in __[[Table 6-34>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HZero-speedclampfunction]]__ and __[[Table 6-35>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HZero-speedclampfunction]]__.
1604	1604
1605		-
1606		-|**Function code**|**Name**|(((
	1631	+(% class="table-bordered" %)
	1632	+|(% style="text-align:center; vertical-align:middle; width:147px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:166px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:139px" %)(((
1607	1607	**Setting method**
1608		-)))|(((
	1634	+)))|(% style="text-align:center; vertical-align:middle; width:175px" %)(((
1609	1609	**Effective time**
1610		-)))|**Default value**|**Range**|**Definition**|**Unit**
1611		-|P05-16|(((
	1636	+)))|(% style="text-align:center; vertical-align:middle; width:126px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:113px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:382px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:237px" %)**Unit**
	1637	+|(% style="text-align:center; vertical-align:middle; width:147px" %)P05-16|(% style="text-align:center; vertical-align:middle; width:166px" %)(((
1612	1612	Rotation detection
1613	1613
1614	1614	speed threshold
1615		-)))|(((
	1641	+)))|(% style="text-align:center; vertical-align:middle; width:139px" %)(((
1616	1616	Operation setting
1617		-)))|(((
	1643	+)))|(% style="text-align:center; vertical-align:middle; width:175px" %)(((
1618	1618	Effective immediately
1619		-)))|20|0 to 1000|Set the motor rotation signal judgment threshold|rpm
	1645	+)))|(% style="text-align:center; vertical-align:middle; width:126px" %)20|(% style="text-align:center; vertical-align:middle; width:113px" %)0 to 1000|(% style="text-align:center; vertical-align:middle; width:382px" %)Set the motor rotation signal judgment threshold|(% style="text-align:center; vertical-align:middle; width:237px" %)rpm
1620	1620
1621	1621	Table 6-34 Rotation detection speed threshold parameters
1622	1622
1623		-
1624		-|**DO function code**|**Function name**|**Function**
1625		-|132|(((
	1649	+(% class="table-bordered" %)
	1650	+|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle; width:421px" %)**Function name**|(% style="text-align:center; vertical-align:middle; width:879px" %)**Function**
	1651	+|(% style="text-align:center; vertical-align:middle" %)132|(% style="text-align:center; vertical-align:middle; width:421px" %)(((
1626	1626	T-COIN rotation detection
1627		-)))|(((
	1653	+)))|(% style="width:879px" %)(((
1628	1628	Valid: when the absolute value of motor speed after filtering is greater than or equal to the set value of function code P05-16
1629	1629
1630	1630	Invalid, when the absolute value of motor speed after filtering is less than set value of function code P05-16
...	...	@@ -1636,32 +1636,32 @@
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		-
	1665	+(% style="text-align:center" %)
1640	1640	[[image:image-20220608171904-32.png]]
1641	1641
1642	1642	Figure 6-36 Zero-speed signal diagram
1643	1643
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]]__.
	1670	+To use the motor zero-speed signal output function, a DO terminal of servo drive should be assigned to function 133 (ZSP, zero-speed signal). The function code parameters and related DO function codes are shown in __[[Table 6-36>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HZero-speedclampfunction]]__ and __[[Table 6-37>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HZero-speedclampfunction]]__.
1645	1645
1646		-
1647		-|**Function code**|**Name**|(((
	1672	+(% class="table-bordered" %)
	1673	+|(% style="text-align:center; vertical-align:middle; width:112px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:188px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:169px" %)(((
1648	1648	**Setting method**
1649		-)))|(((
	1675	+)))|(% style="text-align:center; vertical-align:middle; width:194px" %)(((
1650	1650	**Effective time**
1651		-)))|**Default value**|**Range**|**Definition**|**Unit**
1652		-|P05-19|Zero speed output signal threshold|(((
	1677	+)))|(% style="text-align:center; vertical-align:middle; width:120px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:106px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:400px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:196px" %)**Unit**
	1678	+|(% style="text-align:center; vertical-align:middle; width:112px" %)P05-19|(% style="text-align:center; vertical-align:middle; width:188px" %)Zero speed output signal threshold|(% style="text-align:center; vertical-align:middle; width:169px" %)(((
1653	1653	Operation setting
1654		-)))|(((
	1680	+)))|(% style="text-align:center; vertical-align:middle; width:194px" %)(((
1655	1655	Effective immediately
1656		-)))|10|0 to 6000|Set zero-speed output signal judgment threshold|rpm
	1682	+)))|(% style="text-align:center; vertical-align:middle; width:120px" %)10|(% style="text-align:center; vertical-align:middle; width:106px" %)0 to 6000|(% style="text-align:center; vertical-align:middle; width:400px" %)Set zero-speed output signal judgment threshold|(% style="text-align:center; vertical-align:middle; width:196px" %)rpm
1657	1657
1658	1658	Table 6-36 Zero-speed output signal threshold parameter
1659	1659
1660		-
1661		-|**DO function code**|**Function name**|**Function**
1662		-|133|(((
	1686	+(% class="table-bordered" %)
	1687	+|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**
	1688	+|(% style="text-align:center; vertical-align:middle" %)133|(% style="text-align:center; vertical-align:middle" %)(((
1663	1663	ZSP zero speed signal
1664		-)))|Output this signal indicates that the servo motor is stopping rotation
	1690	+)))|(% style="text-align:center; vertical-align:middle" %)Output this signal indicates that the servo motor is stopping rotation
1665	1665
1666	1666	Table 6-37 DO zero-speed signal function code
1667	1667
...	...	@@ -1669,32 +1669,32 @@
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		-
	1698	+(% style="text-align:center" %)
1673	1673	[[image:image-20220608172053-33.png]]
1674	1674
1675	1675	Figure 6-37 Speed consistent signal diagram
1676	1676
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]]__.
	1703	+To use the motor speed consistent function, a DO terminal of the servo drive should be assigned to function 136 (V-COIN, consistent speed). The function code parameters and related DO function codes are shown in __[[Table 6-38>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HZero-speedclampfunction]]__ and __[[Table 6-39>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HZero-speedclampfunction]]__.
1678	1678
1679		-
1680		-|**Function code**|**Name**|(((
	1705	+(% class="table-bordered" %)
	1706	+|(% style="text-align:center; vertical-align:middle; width:115px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:243px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
1681	1681	**Setting method**
1682		-)))|(((
	1708	+)))|(% style="text-align:center; vertical-align:middle; width:169px" %)(((
1683	1683	**Effective time**
1684		-)))|**Default value**|**Range**|**Definition**|**Unit**
1685		-|P05-17|Speed consistent signal threshold|(((
	1710	+)))|(% style="text-align:center; vertical-align:middle; width:143px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:103px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:347px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:209px" %)**Unit**
	1711	+|(% style="text-align:center; vertical-align:middle; width:115px" %)P05-17|(% style="text-align:center; vertical-align:middle; width:243px" %)Speed consistent signal threshold|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
1686	1686	Operationsetting
1687		-)))|(((
	1713	+)))|(% style="text-align:center; vertical-align:middle; width:169px" %)(((
1688	1688	Effective immediately
1689		-)))|10|0 to 100|Set speed consistent signal threshold|rpm
	1715	+)))|(% style="text-align:center; vertical-align:middle; width:143px" %)10|(% style="text-align:center; vertical-align:middle; width:103px" %)0 to 100|(% style="text-align:center; vertical-align:middle; width:347px" %)Set speed consistent signal threshold|(% style="text-align:center; vertical-align:middle; width:209px" %)rpm
1690	1690
1691	1691	Table 6-38 Speed consistent signal threshold parameters
1692	1692
1693		-
1694		-|**DO Function code**|**Function name**|**Function**
1695		-|136|(((
	1719	+(% class="table-bordered" %)
	1720	+|(% style="text-align:center; vertical-align:middle; width:193px" %)**DO Function code**|(% style="text-align:center; vertical-align:middle; width:340px" %)**Function name**|(% style="text-align:center; vertical-align:middle; width:672px" %)**Function**
	1721	+|(% style="text-align:center; vertical-align:middle; width:193px" %)136|(% style="text-align:center; vertical-align:middle; width:340px" %)(((
1696	1696	U-COIN consistent speed
1697		-)))|The output signal indicates that the absolute deviation of the actual speed of servo motor and the speed instruction meets the P05-17 set value
	1723	+)))|(% style="text-align:center; vertical-align:middle; width:672px" %)The output signal indicates that the absolute deviation of the actual speed of servo motor and the speed instruction meets the P05-17 set value
1698	1698
1699	1699	Table 6-39 DO speed consistent function code
1700	1700
...	...	@@ -1702,32 +1702,32 @@
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		-
	1731	+(% style="text-align:center" %)
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]]__.
	1736	+To use the motor speed approach function, a DO terminal of the servo drive should be assigned to function 137 (V-NEAR, speed approach). The function code parameters and related DO function codes are shown in __[[Table 6-40>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HZero-speedclampfunction]]__ and __[[Table 6-40>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HZero-speedclampfunction]]__.
1711	1711
1712		-
1713		-|**Function code**|**Name**|(((
	1738	+(% class="table-bordered" %)
	1739	+|(% style="text-align:center; vertical-align:middle; width:114px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:238px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:153px" %)(((
1714	1714	**Setting method**
1715		-)))|(((
	1741	+)))|(% style="text-align:center; vertical-align:middle; width:180px" %)(((
1716	1716	**Effective time**
1717		-)))|**Default value**|**Range**|**Definition**|**Unit**
1718		-|P05-18|Speed approach signal threshold|(((
	1743	+)))|(% style="text-align:center; vertical-align:middle; width:115px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:89px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:263px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	1744	+|(% style="text-align:center; vertical-align:middle; width:114px" %)P05-18|(% style="text-align:center; vertical-align:middle; width:238px" %)Speed approach signal threshold|(% style="text-align:center; vertical-align:middle; width:153px" %)(((
1719	1719	Operation setting
1720		-)))|(((
	1746	+)))|(% style="text-align:center; vertical-align:middle; width:180px" %)(((
1721	1721	Effective immediately
1722		-)))|100|10 to 6000|Set speed approach signal threshold|rpm
	1748	+)))|(% style="text-align:center; vertical-align:middle; width:115px" %)100|(% style="text-align:center; vertical-align:middle; width:89px" %)10 to 6000|(% style="text-align:center; vertical-align:middle; width:263px" %)Set speed approach signal threshold|(% style="text-align:center; vertical-align:middle" %)rpm
1723	1723
1724	1724	Table 6-40 Speed approaching signal threshold parameters
1725	1725
1726		-
1727		-|**DO function code**|**Function name**|**Function**
1728		-|137|(((
	1752	+(% class="table-bordered" %)
	1753	+|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle; width:314px" %)**Function name**|(% style="text-align:center; vertical-align:middle; width:719px" %)**Function**
	1754	+|(% style="text-align:center; vertical-align:middle" %)137|(% style="text-align:center; vertical-align:middle; width:314px" %)(((
1729	1729	V-NEAR speed approach
1730		-)))|The output signal indicates that the actual speed of the servo motor has reached the expected value
	1756	+)))|(% style="text-align:center; vertical-align:middle; width:719px" %)The output signal indicates that the actual speed of the servo motor has reached the expected value
1731	1731
1732	1732	Table 6-41 DO speed approach function code
1733	1733
...	...	@@ -1735,7 +1735,7 @@
1735	1735
1736	1736	The current of the servo motor has a linear relationship with the torque. Therefore, the control of the current can realize the control of the torque. Torque control refers to controlling the output torque of the motor through torque instructions. Torque instruction could be given by internal instruction and analog voltage.
1737	1737
1738		-
	1764	+(% style="text-align:center" %)
1739	1739	[[image:image-20220608172405-35.png]]
1740	1740
1741	1741	Figure 6-39 Torque mode diagram
...	...	@@ -1744,21 +1744,21 @@
1744	1744
1745	1745	In torque instruction, VD2A and VD2B servo drives have two instruction source: internal torque instruction and analog torque instruction. VD2F drive only has internal torque instruction. The torque instruction source is set by the function code P01-07.
1746	1746
1747		-
1748		-|**Function code**|**Name**|(((
	1773	+(% class="table-bordered" %)
	1774	+|(% style="text-align:center; vertical-align:middle; width:110px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:186px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
1749	1749	**Setting method**
1750		-)))|(((
	1776	+)))|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
1751	1751	**Effective time**
1752		-)))|**Default value**|**Range**|**Definition**|**Unit**
1753		-|P01-08|Torque instruction source|(((
	1778	+)))|(% style="text-align:center; vertical-align:middle; width:112px" %)**Default value**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	1779	+|(% style="text-align:center; vertical-align:middle; width:110px" %)P01-08|(% style="text-align:center; vertical-align:middle; width:186px" %)Torque instruction source|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
1754	1754	Shutdown setting
1755		-)))|(((
	1781	+)))|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
1756	1756	Effective immediately
1757		-)))|0|0 to 1|(((
	1783	+)))|(% style="text-align:center; vertical-align:middle; width:112px" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)(((
1758	1758	0: internal torque instruction
1759	1759
1760	1760	1: AI_1 analog input(not supported by VD2F)
1761		-)))|-
	1787	+)))|(% style="text-align:center; vertical-align:middle" %)-
1762	1762
1763	1763	Table 6-42 Torque instruction source parameter
1764	1764
...	...	@@ -1766,17 +1766,17 @@
1766	1766
1767	1767	Torque instruction source is from inside, the value is set by function code P01-08.
1768	1768
1769		-
1770		-|**Function code**|**Name**|(((
	1795	+(% class="table-bordered" %)
	1796	+|(% style="text-align:center; vertical-align:middle; width:112px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:274px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:132px" %)(((
1771	1771	**Setting method**
1772		-)))|(((
	1798	+)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((
1773	1773	**Effective time**
1774		-)))|**Default value**|**Range**|**Definition**|**Unit**
1775		-|P01-08|Torque instruction keyboard set value|(((
	1800	+)))|(% style="text-align:center; vertical-align:middle; width:120px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:129px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:211px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	1801	+|(% style="text-align:center; vertical-align:middle; width:112px" %)P01-08|(% style="text-align:center; vertical-align:middle; width:274px" %)Torque instruction keyboard set value|(% style="text-align:center; vertical-align:middle; width:132px" %)(((
1776	1776	Operation setting
1777		-)))|(((
	1803	+)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((
1778	1778	Effective immediately
1779		-)))|0|-3000 to 3000|-300.0% to 300.0%|0.1%
	1805	+)))|(% style="text-align:center; vertical-align:middle; width:120px" %)0|(% style="text-align:center; vertical-align:middle; width:129px" %)-3000 to 3000|(% style="text-align:center; vertical-align:middle; width:211px" %)-300.0% to 300.0%|(% style="text-align:center; vertical-align:middle" %)0.1%
1780	1780
1781	1781	Table 6-43 Torque instruction keyboard set value
1782	1782
...	...	@@ -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		-
	1813	+(% 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		-
	1820	+(% style="text-align:center" %)
1795	1795	[[image:image-20220608172502-36.png]]
1796	1796
1797	1797	Figure 6-41 Analog voltage torque instruction setting steps
...	...	@@ -1804,18 +1804,18 @@
1804	1804
1805	1805	Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1806	1806
1807		-
	1833	+(% 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
	1838	+(% class="table-bordered" %)
	1839	+|(% style="text-align:center; vertical-align:middle; width:127px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:148px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:144px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:162px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:85px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:134px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:340px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	1840	+|(% style="text-align:center; vertical-align:middle; width:127px" %)P05-01☆|(% style="text-align:center; vertical-align:middle; width:148px" %)AI_1 input bias|(% style="text-align:center; vertical-align:middle; width:144px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:85px" %)0|(% style="text-align:center; vertical-align:middle; width:134px" %)-5000 to 5000|(% style="text-align:center; vertical-align:middle; width:340px" %)Set AI_1 channel analog bias value|(% style="text-align:center; vertical-align:middle" %)mV
	1841	+|(% style="text-align:center; vertical-align:middle; width:127px" %)P05-02☆|(% style="text-align:center; vertical-align:middle; width:148px" %)AI_1 input filter time constant|(% style="text-align:center; vertical-align:middle; width:144px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:85px" %)200|(% style="text-align:center; vertical-align:middle; width:134px" %)0 to 60000|(% style="text-align:center; vertical-align:middle; width:340px" %)AI_1 channel input first-order low-pass filtering time constant|(% style="text-align:center; vertical-align:middle" %)0.01ms
	1842	+|(% style="text-align:center; vertical-align:middle; width:127px" %)P05-03☆|(% style="text-align:center; vertical-align:middle; width:148px" %)AI_1 dead zone|(% style="text-align:center; vertical-align:middle; width:144px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:85px" %)20|(% style="text-align:center; vertical-align:middle; width:134px" %)0 to 1000|(% style="text-align:center; vertical-align:middle; width:340px" %)Set AI_1 channel dead zone value|(% style="text-align:center; vertical-align:middle" %)mV
	1843	+|(% style="text-align:center; vertical-align:middle; width:127px" %)P05-04☆|(% style="text-align:center; vertical-align:middle; width:148px" %)AI_1 zero drift|(% style="text-align:center; vertical-align:middle; width:144px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:85px" %)0|(% style="text-align:center; vertical-align:middle; width:134px" %)-500 to 500|(% style="text-align:center; vertical-align:middle; width:340px" %)Automatic calibration of zero drift inside the drive|(% style="text-align:center; vertical-align:middle" %)mV
1812	1812
1813		-|**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
1814		-|P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
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
1816		-|P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel dead zone value|mV
1817		-|P05-04☆|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV
1818		-
1819	1819	Table 6-44 AI_1 parameters
1820	1820
1821	1821	✎**Note: **“☆” means VD2F servo drive does not support the function code .
...	...	@@ -1824,23 +1824,23 @@
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		-|**Function code**|**Name**|(((
	1853	+(% class="table-bordered" %)
	1854	+|(% style="text-align:center; vertical-align:middle; width:115px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:129px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:144px" %)(((
1829	1829	**Setting method**
1830		-)))|(((
	1856	+)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
1831	1831	**Effective time**
1832		-)))|**Default value**|**Range**|**Definition**|**Unit**
1833		-|P04-04|Torque filtering time constant|(((
	1858	+)))|(% style="text-align:center; vertical-align:middle; width:109px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:89px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:398px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	1859	+|(% style="text-align:center; vertical-align:middle; width:115px" %)P04-04|(% style="text-align:center; vertical-align:middle; width:129px" %)Torque filtering time constant|(% style="text-align:center; vertical-align:middle; width:144px" %)(((
1834	1834	Operation setting
1835		-)))|(((
	1861	+)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
1836	1836	Effective immediately
1837		-)))|50|10 to 2500|This parameter is automatically set when “self-adjustment mode selection” is selected as 0|0.01ms
	1863	+)))|(% style="text-align:center; vertical-align:middle; width:109px" %)50|(% style="text-align:center; vertical-align:middle; width:89px" %)10 to 2500|(% style="text-align:center; vertical-align:middle; width:398px" %)This parameter is automatically set when “self-adjustment mode selection” is selected as 0|(% style="text-align:center; vertical-align:middle" %)0.01ms
1838	1838
1839	1839	Table 6-45 Torque filtering time constant parameter details
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		-
	1869	+(% 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		-
	1880	+(% style="text-align:center" %)
1855	1855	[[image:image-20220608172806-39.png]]
1856	1856
1857	1857	Figure 6-44 Torque instruction limit diagram
...	...	@@ -1860,50 +1860,50 @@
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		-|**Function code**|**Name**|(((
	1889	+(% class="table-bordered" %)
	1890	+|(% style="text-align:center; vertical-align:middle; width:116px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:145px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:134px" %)(((
1865	1865	**Setting method**
1866		-)))|(((
	1892	+)))|(% style="text-align:center; vertical-align:middle; width:167px" %)(((
1867	1867	**Effective time**
1868		-)))|**Default value**|**Range**|**Definition**|**Unit**
1869		-|P01-14|(((
	1894	+)))|(% style="text-align:center; vertical-align:middle; width:133px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:96px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:344px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	1895	+|(% style="text-align:center; vertical-align:middle; width:116px" %)P01-14|(% style="text-align:center; vertical-align:middle; width:145px" %)(((
1870	1870	Torque limit source
1871		-)))|(((
	1897	+)))|(% style="text-align:center; vertical-align:middle; width:134px" %)(((
1872	1872	Shutdown setting
1873		-)))|(((
	1899	+)))|(% style="text-align:center; vertical-align:middle; width:167px" %)(((
1874	1874	Effective immediately
1875		-)))|0|0 to 1|(((
	1901	+)))|(% style="text-align:center; vertical-align:middle; width:133px" %)0|(% style="text-align:center; vertical-align:middle; width:96px" %)0 to 1|(% style="text-align:center; vertical-align:middle; width:344px" %)(((
1876	1876	0: internal value
1877	1877
1878	1878	1: AI_1 analog input
1879	1879
1880	1880	(not supported by VD2F)
1881		-)))|-
	1907	+)))|(% style="text-align:center; vertical-align:middle" %)-
1882	1882
1883	1883	1) Torque limit source is internal torque instruction (P01-14=0)
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		-|**Function code**|**Name**|(((
	1913	+(% class="table-bordered" %)
	1914	+|(% style="text-align:center; vertical-align:middle; width:117px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:154px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
1889	1889	**Setting method**
1890		-)))|(((
	1916	+)))|(% style="text-align:center; vertical-align:middle; width:169px" %)(((
1891	1891	**Effective time**
1892		-)))|**Default value**|**Range**|**Definition**|**Unit**
1893		-|P01-15|(((
	1918	+)))|(% style="text-align:center; vertical-align:middle; width:118px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:95px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:353px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:63px" %)**Unit**
	1919	+|(% style="text-align:center; vertical-align:middle; width:117px" %)P01-15|(% style="text-align:center; vertical-align:middle; width:154px" %)(((
1894	1894	Forward torque limit
1895		-)))|(((
	1921	+)))|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
1896	1896	Operation setting
1897		-)))|(((
	1923	+)))|(% style="text-align:center; vertical-align:middle; width:169px" %)(((
1898	1898	Effective immediately
1899		-)))|3000|0 to 3000|When P01-14 is set to 0, the value of this function code is forward torque limit value|0.1%
1900		-|P01-16|(((
	1925	+)))|(% style="text-align:center; vertical-align:middle; width:118px" %)3000|(% style="text-align:center; vertical-align:middle; width:95px" %)0 to 3000|(% style="text-align:center; vertical-align:middle; width:353px" %)When P01-14 is set to 0, the value of this function code is forward torque limit value|(% style="text-align:center; vertical-align:middle; width:63px" %)0.1%
	1926	+|(% style="text-align:center; vertical-align:middle; width:117px" %)P01-16|(% style="text-align:center; vertical-align:middle; width:154px" %)(((
1901	1901	Reverse torque limit
1902		-)))|(((
	1928	+)))|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
1903	1903	Operation setting
1904		-)))|(((
	1930	+)))|(% style="text-align:center; vertical-align:middle; width:169px" %)(((
1905	1905	Effective immediately
1906		-)))|3000|0 to 3000|When P01-14 is set to 0, the value of this function code is reverse torque limit value|0.1%
	1932	+)))|(% style="text-align:center; vertical-align:middle; width:118px" %)3000|(% style="text-align:center; vertical-align:middle; width:95px" %)0 to 3000|(% style="text-align:center; vertical-align:middle; width:353px" %)When P01-14 is set to 0, the value of this function code is reverse torque limit value|(% style="text-align:center; vertical-align:middle; width:63px" %)0.1%
1907	1907
1908	1908	Table 6-46 Torque limit parameter details
1909	1909
...	...	@@ -1915,11 +1915,11 @@
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		-|**DO function code**|**Function name**|**Function**
1920		-|139|(((
	1944	+(% class="table-bordered" %)
	1945	+|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle; width:222px" %)**Function name**|(% style="text-align:center; vertical-align:middle; width:758px" %)**Function**
	1946	+|(% style="text-align:center; vertical-align:middle" %)139|(% style="text-align:center; vertical-align:middle; width:222px" %)(((
1921	1921	T-LIMIT in torque limit
1922		-)))|Output of this signal indicates that the servo motor torque is limited
	1948	+)))|(% style="text-align:center; vertical-align:middle; width:758px" %)Output of this signal indicates that the servo motor torque is limited
1923	1923
1924	1924	Table 6-47 DO torque limit function codes
1925	1925
...	...	@@ -1927,50 +1927,53 @@
1927	1927
1928	1928	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.
1929	1929
1930		-In torque mode, the actual motor speed would be in the limited speed. After the speed limit is reached, the motor runs at a constant speed at the speed limit. The running curves are shown as __[[Figure 6-45>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeedlimitintorquemode]]__ and __[[Figure 6-46>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeedlimitintorquemode]]__.
	1956	+In torque mode, the actual motor speed would be in the limited speed. After the speed limit is reached, the motor runs at a constant speed at the speed limit. The running curves are shown as __[[Figure 6-45>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_e1eced3568bc22d7.gif?rev=1.1]]__ and __[[Figure 6-46>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_79d479af8534745f.gif?rev=1.1]]__.
1931	1931
1932	1932	|(((
	1959	+(% style="text-align:center" %)
1933	1933	[[image:image-20220608172910-40.png]]
1934	1934	)))|(((
	1962	+(% style="text-align:center" %)
1935	1935	[[image:image-20220608173155-41.png]]
1936	1936	)))
1937	1937	|Figure 6-45 Forward running curve|Figure 6-46 Reverse running curve
1938	1938
1939		-|**Function code**|**Name**|(((
	1967	+(% class="table-bordered" %)
	1968	+|(% style="text-align:center; vertical-align:middle; width:117px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:157px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:140px" %)(((
1940	1940	**Setting method**
1941		-)))|(((
	1970	+)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
1942	1942	**Effective time**
1943		-)))|**Default value**|**Range**|**Definition**|**Unit**
1944		-|P01-17|(((
	1972	+)))|(% style="text-align:center; vertical-align:middle; width:171px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:166px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	1973	+|(% style="text-align:center; vertical-align:middle; width:117px" %)P01-17|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
1945	1945	Forward torque
1946	1946
1947	1947	limit in torque mode
1948		-)))|(((
	1977	+)))|(% style="text-align:center; vertical-align:middle; width:140px" %)(((
1949	1949	Operation setting
1950		-)))|(((
	1979	+)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
1951	1951	Effective immediately
1952		-)))|3000|0 to 5000|(((
	1981	+)))|(% style="text-align:center; vertical-align:middle; width:171px" %)3000|(% style="text-align:center; vertical-align:middle; width:166px" %)0 to 5000|(% style="text-align:center; vertical-align:middle" %)(((
1953	1953	Forward torque
1954	1954
1955	1955	limit in torque mode
1956		-)))|0.1%
1957		-|P01-18|(((
	1985	+)))|(% style="text-align:center; vertical-align:middle" %)0.1%
	1986	+|(% style="text-align:center; vertical-align:middle; width:117px" %)P01-18|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
1958	1958	Reverse torque
1959	1959
1960	1960	limit in torque mode
1961		-)))|(((
	1990	+)))|(% style="text-align:center; vertical-align:middle; width:140px" %)(((
1962	1962	Operation setting
1963		-)))|(((
	1992	+)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
1964	1964	Effective immediately
1965		-)))|3000|0 to 5000|(((
	1994	+)))|(% style="text-align:center; vertical-align:middle; width:171px" %)3000|(% style="text-align:center; vertical-align:middle; width:166px" %)0 to 5000|(% style="text-align:center; vertical-align:middle" %)(((
1966	1966	Reverse torque
1967	1967
1968	1968	limit in torque mode
1969		-)))|0.1%
	1998	+)))|(% style="text-align:center; vertical-align:middle" %)0.1%
1970	1970
1971	1971	Table 6-48 Speed limit parameters in torque mode
1972	1972
1973		-✎**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]]__.
	2002	+✎**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]]__.
1974	1974
1975	1975	== **Torque-related DO output functions** ==
1976	1976
...	...	@@ -1980,51 +1980,51 @@
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		-
	2012	+(% style="text-align:center" %)
1984	1984	[[image:image-20220608173541-42.png]]
1985	1985
1986	1986	Figure 6-47 Torque arrival output diagram
1987	1987
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]]__.
	2017	+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]]__.
1989	1989
1990		-
1991		-|**Function code**|**Name**|(((
	2019	+(% class="table-bordered" %)
	2020	+|(% style="text-align:center; vertical-align:middle; width:126px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:115px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:137px" %)(((
1992	1992	**Setting method**
1993		-)))|(((
	2022	+)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
1994	1994	**Effective time**
1995		-)))|**Default value**|**Range**|**Definition**|**Unit**
1996		-|P05-20|(((
	2024	+)))|(% style="text-align:center; vertical-align:middle; width:115px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:77px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:417px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	2025	+|(% style="text-align:center; vertical-align:middle; width:126px" %)P05-20|(% style="text-align:center; vertical-align:middle; width:115px" %)(((
1997	1997	Torque arrival
1998	1998
1999	1999	threshold
2000		-)))|(((
	2029	+)))|(% style="text-align:center; vertical-align:middle; width:137px" %)(((
2001	2001	Operation setting
2002		-)))|(((
	2031	+)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
2003	2003	Effective immediately
2004		-)))|100|0 to 300|(((
	2033	+)))|(% style="text-align:center; vertical-align:middle; width:115px" %)100|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 300|(% style="text-align:center; vertical-align:middle; width:417px" %)(((
2005	2005	The torque arrival threshold must be used with “Torque arrival hysteresis value”:
2006	2006
2007	2007	When the actual torque reaches Torque arrival threshold + Torque arrival hysteresis Value, the torque arrival DO is valid;
2008	2008
2009	2009	When the actual torque decreases below torque arrival threshold-torque arrival hysteresis value, the torque arrival DO is invalid
2010		-)))|%
2011		-|P05-21|(((
	2039	+)))|(% style="text-align:center; vertical-align:middle" %)%
	2040	+|(% style="text-align:center; vertical-align:middle; width:126px" %)P05-21|(% style="text-align:center; vertical-align:middle; width:115px" %)(((
2012	2012	Torque arrival
2013	2013
2014	2014	hysteresis
2015		-)))|(((
	2044	+)))|(% style="text-align:center; vertical-align:middle; width:137px" %)(((
2016	2016	Operation setting
2017		-)))|(((
	2046	+)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
2018	2018	Effective immediately
2019		-)))|10|0 to 20|Torque arrival the hysteresis value must be used with Torque arrival threshold|%
	2048	+)))|(% style="text-align:center; vertical-align:middle; width:115px" %)10|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 20|(% style="text-align:center; vertical-align:middle; width:417px" %)Torque arrival the hysteresis value must be used with Torque arrival threshold|(% style="text-align:center; vertical-align:middle" %)%
2020	2020
2021	2021	Table 6-49 Torque arrival parameters
2022	2022
2023		-
2024		-|**DO function code**|**Function name**|**Function**
2025		-|138|(((
	2052	+(% class="table-bordered" %)
	2053	+|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle; width:205px" %)**Function name**|(% style="text-align:center; vertical-align:middle; width:803px" %)**Function**
	2054	+|(% style="text-align:center; vertical-align:middle" %)138|(% style="text-align:center; vertical-align:middle; width:205px" %)(((
2026	2026	T-COIN torque arrival
2027		-)))|Used to determine whether the actual torque instruction has reached the set range
	2056	+)))|(% style="text-align:center; vertical-align:middle; width:803px" %)Used to determine whether the actual torque instruction has reached the set range
2028	2028
2029	2029	Table 6-50 DO Torque Arrival Function Code
2030	2030
...	...	@@ -2040,17 +2040,17 @@
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		-|**Function code**|**Name**|(((
	2072	+(% class="table-bordered" %)
	2073	+|(% style="text-align:center; vertical-align:middle; width:118px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:122px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
2045	2045	**Setting method**
2046		-)))|(((
	2075	+)))|(% style="text-align:center; vertical-align:middle; width:142px" %)(((
2047	2047	**Effective time**
2048		-)))|**Default value**|**Range**|**Definition**|**Unit**
2049		-|P00-01|Control mode|(((
	2077	+)))|(% style="text-align:center; vertical-align:middle; width:144px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:97px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:408px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	2078	+|(% style="text-align:center; vertical-align:middle; width:118px" %)P00-01|(% style="text-align:center; vertical-align:middle; width:122px" %)Control mode|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
2050	2050	Shutdown setting
2051		-)))|(((
	2080	+)))|(% style="text-align:center; vertical-align:middle; width:142px" %)(((
2052	2052	Shutdown setting
2053		-)))|1|1 to 6|(((
	2082	+)))|(% style="text-align:center; vertical-align:middle; width:144px" %)1|(% style="text-align:center; vertical-align:middle; width:97px" %)1 to 6|(% style="width:408px" %)(((
2054	2054	1: Position control
2055	2055
2056	2056	2: Speed control
...	...	@@ -2062,22 +2062,23 @@
2062	2062	5: Position/torque mixed control
2063	2063
2064	2064	6: Speed/torque mixed control
2065		-)))|-
	2094	+)))|(% style="text-align:center; vertical-align:middle" %)-
2066	2066
2067	2067	Table 6-51 Mixed control mode parameters
2068	2068
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.
	2098	+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.
2070	2070
2071		-
2072		-|**DI function code**|**Name**|**Function name**|**Function**
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		-|**P00-01**|**MixModeSel terminal logic**|**Control mode**
2075		-|(% rowspan="2" %)4|Valid|Speed mode
2076		-|invalid|Position mode
2077		-|(% rowspan="2" %)5|Valid|Torque mode
2078		-|invalid|Position mode
2079		-|(% rowspan="2" %)6|Valid|Torque mode
2080		-|invalid|Speed mode
	2100	+(% class="table-bordered" %)
	2101	+|(% style="text-align:center; vertical-align:middle" %)**DI function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**
	2102	+|(% style="text-align:center; vertical-align:middle" %)17|(% style="text-align:center; vertical-align:middle" %)MixModeSel|(% style="text-align:center; vertical-align:middle" %)Mixed mode selection|(% style="text-align:center; vertical-align:middle" %)Used in mixed control mode, when the servo status is "run", set the current control mode of the servo drive(((
	2103	+(% class="table-bordered" %)
	2104	+|(% style="text-align:center; vertical-align:middle" %)**P00-01**|(% style="text-align:center; vertical-align:middle" %)**MixModeSel terminal logic**|(% style="text-align:center; vertical-align:middle" %)**Control mode**
	2105	+|(% rowspan="2" style="text-align:center; vertical-align:middle" %)4|(% style="text-align:center; vertical-align:middle" %)Valid|(% style="text-align:center; vertical-align:middle" %)Speed mode
	2106	+|(% style="text-align:center; vertical-align:middle" %)invalid|(% style="text-align:center; vertical-align:middle" %)Position mode
	2107	+|(% rowspan="2" style="text-align:center; vertical-align:middle" %)5|(% style="text-align:center; vertical-align:middle" %)Valid|(% style="text-align:center; vertical-align:middle" %)Torque mode
	2108	+|(% style="text-align:center; vertical-align:middle" %)invalid|(% style="text-align:center; vertical-align:middle" %)Position mode
	2109	+|(% rowspan="2" style="text-align:center; vertical-align:middle" %)6|(% style="text-align:center; vertical-align:middle" %)Valid|(% style="text-align:center; vertical-align:middle" %)Torque mode
	2110	+|(% style="text-align:center; vertical-align:middle" %)invalid|(% style="text-align:center; vertical-align:middle" %)Speed mode
2081	2081	)))
2082	2082
2083	2083	Table 6-52 Description of DI function codes in control mode
...	...	@@ -2096,15 +2096,15 @@
2096	2096
2097	2097	The single-turn absolute value system is applicable for the equipment load stroke within the single-turn range of the encoder. At this time, the absolute encoder is only as a single-turn system function and does not need to be connected to the battery. The types and information of encoders adapted to VD2 series servo drives are shown as below.
2098	2098
	2129	+(% class="table-bordered" %)
	2130	+|(% style="text-align:center; vertical-align:middle" %)**Encoder type**|(% style="text-align:center; vertical-align:middle" %)**Encoder resolution (bits)**|(% style="text-align:center; vertical-align:middle" %)**Data range**
	2131	+|(% style="text-align:center; vertical-align:middle" %)A1 (single-turn magnetic encoder)|(% style="text-align:center; vertical-align:middle" %)17|(% style="text-align:center; vertical-align:middle" %)0 to 131071
2099	2099
2100		-|**Encoder type**|**Encoder resolution (bits)**|**Data range**
2101		-|A1 (single-turn magnetic encoder)|17|0 to 131071
2102		-
2103	2103	Table 6-53 Single-turn absolute encoder information
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		-
	2137	+(% 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
...	...	@@ -2113,16 +2113,16 @@
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
	2146	+(% class="table-bordered" %)
	2147	+|(% style="text-align:center; vertical-align:middle" %)**Encoder type**|(% style="text-align:center; vertical-align:middle" %)**Encoder resolution (bits)**|(% style="text-align:center; vertical-align:middle" %)**Data range**
	2148	+|(% style="text-align:center; vertical-align:middle" %)C1 (multi-turn magnetic encoder)|(% style="text-align:center; vertical-align:middle" %)17|(% style="text-align:center; vertical-align:middle" %)0 to 131071
	2149	+|(% style="text-align:center; vertical-align:middle" %)D2 (multi-turn Optical encoder)|(% style="text-align:center; vertical-align:middle" %)23|(% style="text-align:center; vertical-align:middle" %)0 to 8388607
2116	2116
2117		-|**Encoder type**|**Encoder resolution (bits)**|**Data range**
2118		-|C1 (multi-turn magnetic encoder)|17|0 to 131071
2119		-|D2 (multi-turn Optical encoder)|23|0 to 8388607
2120		-
2121	2121	Table 6-54 Multi-turn absolute encoder information
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		-
	2155	+(% 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
...	...	@@ -2131,12 +2131,12 @@
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
	2164	+(% class="table-bordered" %)
	2165	+|(% style="text-align:center; vertical-align:middle" %)**Monitoring number**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
	2166	+|(% style="text-align:center; vertical-align:middle" %)U0-54|(% style="text-align:center; vertical-align:middle" %)Universal|(% style="text-align:center; vertical-align:middle" %)Absolute encoder position within 1 turn|(% style="text-align:center; vertical-align:middle" %)Encoder unit|(% style="text-align:center; vertical-align:middle" %)32-bit
	2167	+|(% style="text-align:center; vertical-align:middle" %)U0-55|(% style="text-align:center; vertical-align:middle" %)Universal|(% style="text-align:center; vertical-align:middle" %)Rotations number of absolute encoder|(% style="text-align:center; vertical-align:middle" %)circle|(% style="text-align:center; vertical-align:middle" %)16-bit
	2168	+|(% style="text-align:center; vertical-align:middle" %)U0-56|(% style="text-align:center; vertical-align:middle" %)Universal|(% style="text-align:center; vertical-align:middle" %)Multi-turn absolute value encoder current position|(% style="text-align:center; vertical-align:middle" %)Instruction unit|(% style="text-align:center; vertical-align:middle" %)32-bit
2134	2134
2135		-|**Monitoring number**|**Category**|**Name**|**Unit**|**Data type**
2136		-|U0-54|Universal|Absolute encoder position within 1 turn|Encoder unit|32-bit
2137		-|U0-55|Universal|Rotations number of absolute encoder|circle|16-bit
2138		-|U0-56|Universal|Multi-turn absolute value encoder current position|Instruction unit|32-bit
2139		-
2140	2140	Table 6-55 Encoder feedback data
2141	2141
2142	2142	== **Absolute value system encoder battery box use precautions** ==
...	...	@@ -2143,7 +2143,7 @@
2143	2143
2144	2144	Er.40 (Encoder battery failure) will occur when the battery is turned on for the first time, and the function code P10-03 must be set to 1 to clear the encoder fault to operate the absolute value system again.
2145	2145
2146		-
	2176	+(% style="text-align:center" %)
2147	2147	[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/45.jpg?rev=1.1||height="303" width="750"]]
2148	2148
2149	2149	Figure 6-50 the encoder battery box
...	...	@@ -2156,23 +2156,23 @@
2156	2156
2157	2157	When the servo drive is powered off, if the battery is replaced and powered on again, Er.40 (encoder battery failure) will occur, and the multi-turn data will change suddenly. Please set the function code P10-03 or P10-06 to 1 to clear the encoder fault alarms and perform the origin return function operation again.
2158	2158
2159		-
2160		-|**Function code**|**Name**|(((
	2189	+(% class="table-bordered" %)
	2190	+|(% style="text-align:center; vertical-align:middle; width:110px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:144px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:135px" %)(((
2161	2161	**Setting method**
2162		-)))|(((
	2192	+)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((
2163	2163	**Effective time**
2164		-)))|**Default value**|**Range**|**Definition**|**Unit**
2165		-|P10-06|Multi-turn absolute encoder reset|(((
	2194	+)))|(% style="text-align:center; vertical-align:middle; width:106px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:61px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:438px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	2195	+|(% style="text-align:center; vertical-align:middle; width:110px" %)P10-06|(% style="text-align:center; vertical-align:middle; width:144px" %)Multi-turn absolute encoder reset|(% style="text-align:center; vertical-align:middle; width:135px" %)(((
2166	2166	Shutdown setting
2167		-)))|(((
	2197	+)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((
2168	2168	Effective immediately
2169		-)))|0|0 to 1|(((
	2199	+)))|(% style="text-align:center; vertical-align:middle; width:106px" %)0|(% style="text-align:center; vertical-align:middle; width:61px" %)0 to 1|(% style="width:438px" %)(((
2170	2170	0: No operation
2171	2171
2172	2172	1: Clear rotation number of multi-turn absolute encoder, multi-turn absolute encoder current position and encoder fault alarms.
2173	2173
2174	2174	✎**Note: **After resetting the multi-turn data of the encoder, the encoder absolute position will change suddenly, and the mechanical origin return operation is required.
2175		-)))|-
	2205	+)))|(% style="text-align:center; vertical-align:middle" %)-
2176	2176
2177	2177	Table 6-56 Absolute encoder reset enable parameter
2178	2178
...	...	@@ -2190,18 +2190,18 @@
2190	2190
2191	2191	Take the VDI_1 terminal assignment forward drive prohibition (03-POT) as an example, and the use steps of VDI are as the figure below.
2192	2192
2193		-
	2223	+(% style="text-align:center" %)
2194	2194	[[image:image-20220608173804-46.png]]
2195	2195
2196	2196	Figure 6-51 VDI_1 setting steps
2197	2197
2198		-
2199		-|**Function code**|**Name**|(((
	2228	+(% class="table-bordered" %)
	2229	+|(% style="text-align:center; vertical-align:middle; width:131px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:183px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:147px" %)(((
2200	2200	**Setting method**
2201		-)))|(((
	2231	+)))|(% style="text-align:center; vertical-align:middle; width:213px" %)(((
2202	2202	**Effective time**
2203		-)))|**Default value**|**Range**|**Definition**|**Unit**
2204		-|P13-1|Virtual VDI_1 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2233	+)))|(% style="text-align:center; vertical-align:middle; width:143px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:77px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:266px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	2234	+|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-1|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_1 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((
2205	2205	When P06-04 is set to 1, DI_1 channel logic is control by this function code.
2206	2206
2207	2207	VDI_1 input level:
...	...	@@ -2209,8 +2209,8 @@
2209	2209	0: low level
2210	2210
2211	2211	1: high level
2212		-)))|-
2213		-|P13-2|Virtual VDI_2 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2242	+)))|(% style="text-align:center; vertical-align:middle" %)-
	2243	+|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-2|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_2 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((
2214	2214	When P06-07 is set to 1, DI_2 channel logic is control by this function code.
2215	2215
2216	2216	VDI_2 input level:
...	...	@@ -2218,8 +2218,8 @@
2218	2218	0: low level
2219	2219
2220	2220	1: high level
2221		-)))|-
2222		-|P13-3|Virtual VDI_3 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2251	+)))|(% style="text-align:center; vertical-align:middle" %)-
	2252	+|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-3|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_3 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((
2223	2223	When P06-10 is set to 1, DI_3 channel logic is control by this function code.
2224	2224
2225	2225	VDI_3 input level:
...	...	@@ -2227,8 +2227,8 @@
2227	2227	0: low level
2228	2228
2229	2229	1: high level
2230		-)))|-
2231		-|P13-4|Virtual VDI_4 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2260	+)))|(% style="text-align:center; vertical-align:middle" %)-
	2261	+|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-4|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_4 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((
2232	2232	When P06-13 is set to 1, DI_4 channel logic is control by this function code.
2233	2233
2234	2234	VDI_4 input level:
...	...	@@ -2236,8 +2236,8 @@
2236	2236	0: low level
2237	2237
2238	2238	1: high level
2239		-)))|-
2240		-|P13-05☆|Virtual VDI_5 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2269	+)))|(% style="text-align:center; vertical-align:middle" %)-
	2270	+|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-05☆|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_5 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((
2241	2241	When P06-16 is set to 1, DI_5 channel logic is control by this function code.
2242	2242
2243	2243	VDI_5 input level:
...	...	@@ -2245,8 +2245,8 @@
2245	2245	0: low level
2246	2246
2247	2247	1: high level
2248		-)))|-
2249		-|P13-06☆|Virtual VDI_6 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2278	+)))|(% style="text-align:center; vertical-align:middle" %)-
	2279	+|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-06☆|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_6 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((
2250	2250	When P06-19 is set to 1, DI_6 channel logic is control by this function code.
2251	2251
2252	2252	VDI_6 input level:
...	...	@@ -2254,8 +2254,8 @@
2254	2254	0: low level
2255	2255
2256	2256	1: high level
2257		-)))|-
2258		-|P13-07☆|Virtual VDI_7 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2287	+)))|(% style="text-align:center; vertical-align:middle" %)-
	2288	+|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-07☆|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_7 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((
2259	2259	When P06-22 is set to 1, DI_7 channel logic is control by this function code.
2260	2260
2261	2261	VDI_7 input level:
...	...	@@ -2263,8 +2263,8 @@
2263	2263	0: low level
2264	2264
2265	2265	1: high level
2266		-)))|-
2267		-|P13-08☆|Virtual VDI_8 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2296	+)))|(% style="text-align:center; vertical-align:middle" %)-
	2297	+|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-08☆|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_8 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((
2268	2268	When P06-25 is set to 1, DI_8 channel logic is control by this function code.
2269	2269
2270	2270	VDI_8 input level:
...	...	@@ -2272,7 +2272,7 @@
2272	2272	0: low level
2273	2273
2274	2274	1: high level
2275		-)))|-
	2305	+)))|(% style="text-align:center; vertical-align:middle" %)-
2276	2276
2277	2277	Table 6-57 Virtual VDI parameters
2278	2278
...	...	@@ -2282,11 +2282,11 @@
2282	2282
2283	2283	VD2A and VD2B servo drives have 8 hardware DI terminals (DI_1 to DI_8) , and VD2F servo drive has 4 hardware DI terminals (DI_1 to DI_4) . All the DI terminals are normal terminals.
2284	2284
	2315	+(% class="table-bordered" %)
	2316	+|(% style="text-align:center; vertical-align:middle" %)**Setting value**|(% style="text-align:center; vertical-align:middle" %)**DI channel logic selection**|(% style="text-align:center; vertical-align:middle" %)**Illustration**
	2317	+|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)Active high level|(% style="text-align:center; vertical-align:middle" %)[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/46.jpg?rev=1.1||height="97" width="307"]]
	2318	+|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)Active low level|(% style="text-align:center; vertical-align:middle" %)[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/47.jpg?rev=1.1||height="83" width="305"]]
2285	2285
2286		-|**Setting value**|**DI channel logic selection**|**Illustration**
2287		-|0|Active high level|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/46.jpg?rev=1.1||height="97" width="307"]]
2288		-|1|Active low level|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/47.jpg?rev=1.1||height="83" width="305"]]
2289		-
2290	2290	Table 6-58 DI terminal channel logic selection
2291	2291
2292	2292	== **VDO** ==
...	...	@@ -2295,55 +2295,55 @@
2295	2295
2296	2296	Take the DO_2 terminal as communication VDO, and the use steps of VDI are as the figure below.
2297	2297
2298		-
	2328	+(% style="text-align:center" %)
2299	2299	[[image:image-20220608173957-48.png]]
2300	2300
2301	2301	Figure 6-52 VDO_2 setting steps
2302	2302
2303		-
2304		-|**Function code**|**Name**|(((
	2333	+(% class="table-bordered" %)
	2334	+|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)(((
2305	2305	**Setting method**
2306		-)))|(((
	2336	+)))|(% style="text-align:center; vertical-align:middle" %)(((
2307	2307	**Effective time**
2308		-)))|**Default value**|**Range**|**Definition**|**Unit**
2309		-|P13-11|Communication VDO_1 output value|Operation setting|Effective immediately|0|0 to 1|(((
	2338	+)))|(% style="text-align:center; vertical-align:middle" %)**Default value**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	2339	+|(% style="text-align:center; vertical-align:middle" %)P13-11|(% style="text-align:center; vertical-align:middle" %)Communication VDO_1 output value|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
2310	2310	VDO_1 output level：
2311	2311
2312	2312	0: low level
2313	2313
2314	2314	1: high level
2315		-)))|-
2316		-|P13-12|Communication VDO_2 output value|Operation setting|Effective immediately|0|0 to 1|(((
	2345	+)))|(% style="text-align:center; vertical-align:middle" %)-
	2346	+|(% style="text-align:center; vertical-align:middle" %)P13-12|(% style="text-align:center; vertical-align:middle" %)Communication VDO_2 output value|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
2317	2317	VDO_2 output level：
2318	2318
2319	2319	0: low level
2320	2320
2321	2321	1: high level
2322		-)))|-
2323		-|P13-13|Communication VDO_3 output value|Operation setting|Effective immediately|0|0 to 1|(((
	2352	+)))|(% style="text-align:center; vertical-align:middle" %)-
	2353	+|(% style="text-align:center; vertical-align:middle" %)P13-13|(% style="text-align:center; vertical-align:middle" %)Communication VDO_3 output value|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
2324	2324	VDO_3 output level：
2325	2325
2326	2326	0: low level
2327	2327
2328	2328	1: high level
2329		-)))|-
2330		-|P13-14|Communication VDO_4 output value|Operation setting|Effective immediately|0|0 to 1|(((
	2359	+)))|(% style="text-align:center; vertical-align:middle" %)-
	2360	+|(% style="text-align:center; vertical-align:middle" %)P13-14|(% style="text-align:center; vertical-align:middle" %)Communication VDO_4 output value|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
2331	2331	VDO_4 output level：
2332	2332
2333	2333	0: low level
2334	2334
2335	2335	1: high level
2336		-)))|-
	2366	+)))|(% style="text-align:center; vertical-align:middle" %)-
2337	2337
2338	2338	Table 6-59 Communication control DO function parameters
2339	2339
	2370	+(% class="table-bordered" %)
	2371	+|(% style="text-align:center; vertical-align:middle" %)**DO function number**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**
	2372	+|(% style="text-align:center; vertical-align:middle" %)145|(% style="text-align:center; vertical-align:middle" %)COM_VDO1 communication VDO1 output|(% style="text-align:center; vertical-align:middle" %)Use communication VDO
	2373	+|(% style="text-align:center; vertical-align:middle" %)146|(% style="text-align:center; vertical-align:middle" %)COM_VDO1 communication VDO2 output|(% style="text-align:center; vertical-align:middle" %)Use communication VDO
	2374	+|(% style="text-align:center; vertical-align:middle" %)147|(% style="text-align:center; vertical-align:middle" %)COM_VDO1 communication VDO3 output|(% style="text-align:center; vertical-align:middle" %)Use communication VDO
	2375	+|(% style="text-align:center; vertical-align:middle" %)148|(% style="text-align:center; vertical-align:middle" %)COM_VDO1 communication VDO4output|(% style="text-align:center; vertical-align:middle" %)Use communication VDO
2340	2340
2341		-|**DO function number**|**Function name**|**Function**
2342		-|145|COM_VDO1 communication VDO1 output|Use communication VDO
2343		-|146|COM_VDO1 communication VDO2 output|Use communication VDO
2344		-|147|COM_VDO1 communication VDO3 output|Use communication VDO
2345		-|148|COM_VDO1 communication VDO4output|Use communication VDO
2346		-
2347	2347	Table 6-60 VDO function number
2348	2348
2349	2349	✎**Note:** You are advised to configure function codes for DO terminals in sequence to avoid errors during DO signal observation
...	...	@@ -2354,17 +2354,17 @@
2354	2354
2355	2355	VD2 Series absolute encoder (VD2SA) servo drive provides motor overload protection to prevent motor burning due to high temperature. By setting function code P10-04 to modify motor overload alarm (A-82) and motor overload protection fault time (Er.34). The default value of P10-04 is 100%.
2356	2356
2357		-
2358		-|**Function code**|**Name**|(((
	2387	+(% class="table-bordered" %)
	2388	+|(% style="text-align:center; vertical-align:middle; width:122px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:99px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:150px" %)(((
2359	2359	**Setting method**
2360		-)))|(((
	2390	+)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
2361	2361	**Effective time**
2362		-)))|**Default value**|**Range**|**Definition**|**Unit**
2363		-|P10-04|motor overload protection time coefficient|Operation setting|Effective immediately|100|0 to 800|(((
	2392	+)))|(% style="text-align:center; vertical-align:middle; width:116px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:72px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:445px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	2393	+|(% style="text-align:center; vertical-align:middle; width:122px" %)P10-04|(% style="text-align:center; vertical-align:middle; width:99px" %)motor overload protection time coefficient|(% style="text-align:center; vertical-align:middle; width:150px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:157px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:116px" %)100|(% style="text-align:center; vertical-align:middle; width:72px" %)0 to 800|(% style="width:445px" %)(((
2364	2364	According to the heating condition of the motor, the value could be modified to make the overload protection time float up and down in the reference value.
2365	2365
2366	2366	50 corresponds to 50%, that is, the time is reduced by half. 300 corresponds to 300%, that is, the time extended to 3 times. When the value is set to 0, the overload protection fault detection function is disabled
2367		-)))|%
	2397	+)))|(% style="text-align:center; vertical-align:middle" %)%
2368	2368
2369	2369	In the following cases, it could be modified according to the actual heat generation of the motor
2370	2370

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