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Changes for page 06 Operation

Last modified by Iris on 2025/08/08 14:40
From version 51.13
edited by Stone Wu
on 2022/07/07 10:03
Change comment: (Autosaved)
To version 51.30
edited by Stone Wu
on 2022/07/07 10:53
Change comment: (Autosaved)

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Content
... ... @@ -996,22 +996,10 @@
996 996  
997 997  **(2) Setting steps of electronic gear ratio**
998 998  
999 -[[image:image-20220707100348-17.jpeg]]
999 +[[image:image-20220707100850-20.jpeg]]
1000 1000  
1001 1001  Figure 6-24 Setting steps of electronic gear ratio
1002 1002  
1003 -Step1: Confirm the mechanical parameters including the reduction ratio, the ball screw lead, gear diameter in the gear drive, and pulley diameter in the pulley drive.
1004 -
1005 -Step2: Confirm the resolution of servo motor encoder.
1006 -
1007 -Step3: Confirm the parameters such as mechanical specifications, positioning accuracy, etc, and determine the load displacement corresponding to one position instruction output by the host computer.
1008 -
1009 -Step4: Combine the mechanical parameters and the load displacement corresponding to one position instruction, calculate the position instruction value required for one rotation of the load shaft.
1010 -
1011 -Step5: Calculate the value of electronic gear ratio according to formula below.
1012 -
1013 -[[image:image-20220707100409-18.png]]
1014 -
1015 1015  **(3) lectronic gear ratio switch setting**
1016 1016  
1017 1017  
... ... @@ -1077,14 +1077,14 @@
1077 1077  
1078 1078  Table 6-21 Switching conditions of electronic gear ratio group
1079 1079  
1080 -|=(% 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]]
1081 -|=(% 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]]
1082 -|=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]]
1083 -|=1 to 131072|~-~-|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/42.png?rev=1.1]]
1068 +|=(% scope="row" %)**P00-16 value**|=(% style="width: 510px;" %)**DI terminal level corresponding to DI port function 9**|=(% style="width: 400px;" %)**Electronic gear ratio** [[image:image-20220707101503-24.png]]
1069 +|=(% rowspan="2" %)0|(% style="width:510px" %)DI port logic invalid|(% style="width:400px" %)[[image:image-20220707101328-21.png]]
1070 +|=(% style="width: 510px;" %)DI port logic valid|(% style="width:400px" %)[[image:image-20220707101336-22.png]]
1071 +|=1 to 131072|(% style="width:510px" %)~-~-|(% style="width:400px" %)[[image:image-20220707101341-23.png]]
1084 1084  
1085 1085  Table 6-22 Application of electronic gear ratio
1086 1086  
1087 -When the function code P00-16 is not 0, the electronic gear ratio [[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/39.png?rev=1.1]] is invalid.
1075 +When the function code P00-16 is not 0, the electronic gear ratio [[image:image-20220707101509-25.png]] is invalid.
1088 1088  
1089 1089  == **Position instruction filtering** ==
1090 1090  
... ... @@ -1098,12 +1098,11 @@
1098 1098  
1099 1099  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.
1100 1100  
1101 -
1089 +(% style="text-align:center" %)
1102 1102  [[image:image-20220608170455-23.png]]
1103 1103  
1104 1104  Figure 6-25 Position instruction filtering diagram
1105 1105  
1106 -
1107 1107  |=(% scope="row" %)**Function code**|=**Name**|=(((
1108 1108  **Setting method**
1109 1109  )))|=(((
... ... @@ -1143,7 +1143,7 @@
1143 1143  (% class="wikigeneratedid" %)
1144 1144  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.
1145 1145  
1146 -
1133 +(% style="text-align:center" %)
1147 1147  [[image:image-20220608170550-24.png]]
1148 1148  
1149 1149  Figure 6-26 Positioning completion signal output diagram
... ... @@ -1152,11 +1152,11 @@
1152 1152  
1153 1153  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]]__.
1154 1154  
1142 +(% style="text-align:center" %)
1155 1155  [[image:image-20220608170650-25.png]]
1156 1156  
1157 1157  Figure 6-27 Positioning completion signal output with increased window filter time diagram
1158 1158  
1159 -
1160 1160  |=(% scope="row" %)**Function code**|=**Name**|=(((
1161 1161  **Setting method**
1162 1162  )))|=(((
... ... @@ -1185,7 +1185,6 @@
1185 1185  
1186 1186  Table 6-24 Function code parameters of positioning completion
1187 1187  
1188 -
1189 1189  |=(% scope="row" %)**DO function code**|=**Function name**|=**Function**
1190 1190  |=134|P-COIN positioning complete|Output this signal indicates the servo drive position is complete.
1191 1191  |=135|(((
... ... @@ -1200,7 +1200,7 @@
1200 1200  
1201 1201  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.
1202 1202  
1203 -
1189 +(% style="text-align:center" %)
1204 1204  [[image:6.28.jpg||height="260" width="806"]]
1205 1205  
1206 1206  Figure 6-28 Speed control block diagram
... ... @@ -1219,7 +1219,7 @@
1219 1219  Shutdown setting
1220 1220  )))|(((
1221 1221  Effective immediately
1222 -)))|1|1 to 6|(((
1208 +)))|1|1 to 1|(((
1223 1223  0: internal speed instruction
1224 1224  
1225 1225  1: AI_1 analog input (not supported by VD2F)
... ... @@ -1229,21 +1229,31 @@
1229 1229  
1230 1230  **(1) Speed instruction source is internal speed instruction (P01-01=0)**
1231 1231  
1232 -Speed instruction comes from internal instruction, and the internal speed instruction is given by a number. The VD2 series servo drive has internal multi-segment speed running function. There are 8 segments speed instructions stored in servo drive, and the speed of each segment could be set individually. The servo drive uses the 1st segment internal speed by default. To use the 2nd to 8th segment internal speed, the corresponding number of DI terminals must be configured as functions 13, 14, and 15. The detailed parameters and function codes are shown as below.
1218 +Speed instruction comes from internal instruction, and the internal speed instruction is given by a number. The VD2 series servo drive has internal multi-segment speed running function. There are 8 segments speed instructions stored in servo drive, and the speed of each segment could be set individually. The servo drive uses the 1st segment internal speed by default. To use the 2nd to 8th segment internal speed, the corresponding number of DI terminals must be configured as functions 13, 14, and 15. The detailed parameters and function codes are shown as belo
1233 1233  
1220 +(% style="width:1141px" %)
1221 +|(% colspan="1" %)**Function code**|(% colspan="2" %)**Name**|(% colspan="2" %)(((
1222 +**Setting**
1234 1234  
1235 -|**Function code**|**Name**|(((
1236 -**Setting method**
1237 -)))|(((
1238 -**Effective time**
1239 -)))|**Default value**|**Range**|**Definition**|**Unit**
1240 -|(% rowspan="2" %)P01-02|(% rowspan="2" %)(((
1241 -Internal speed Instruction 0
1242 -)))|(% rowspan="2" %)(((
1243 -Operation setting
1244 -)))|(% rowspan="2" %)(((
1245 -Effective immediately
1246 -)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1224 +**method**
1225 +)))|(% colspan="2" %)(((
1226 +**Effective**
1227 +
1228 +**time**
1229 +)))|(% colspan="2" %)**Default value**|(% colspan="2" %)**Range**|(% colspan="2" %)**Definition**|(% colspan="2" %)**Unit**
1230 +|(% colspan="1" %)P01-02|(% colspan="2" %)(((
1231 +Internal speed
1232 +
1233 +Instruction 0
1234 +)))|(% colspan="2" %)(((
1235 +Operation
1236 +
1237 +setting
1238 +)))|(% colspan="2" %)(((
1239 +Effective
1240 +
1241 +immediately
1242 +)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1247 1247  Internal speed instruction 0
1248 1248  
1249 1249  When DI input port:
... ... @@ -1255,15 +1255,20 @@
1255 1255  13-INSPD1: 0,
1256 1256  
1257 1257  select this speed instruction to be effective.
1258 -)))|(% rowspan="2" %)rpm
1259 -|-5000 to 5000*
1260 -|(% rowspan="2" %)P01-23|(% rowspan="2" %)(((
1261 -Internal speed Instruction 1
1262 -)))|(% rowspan="2" %)(((
1263 -Operation setting
1264 -)))|(% rowspan="2" %)(((
1265 -Effective immediately
1266 -)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1254 +)))|(% colspan="2" %)rpm
1255 +|(% colspan="1" %)P01-23|(% colspan="2" %)(((
1256 +Internal speed
1257 +
1258 +Instruction 1
1259 +)))|(% colspan="2" %)(((
1260 +Operation
1261 +
1262 +setting
1263 +)))|(% colspan="2" %)(((
1264 +Effective
1265 +
1266 +immediately
1267 +)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1267 1267  Internal speed instruction 1
1268 1268  
1269 1269  When DI input port:
... ... @@ -1275,15 +1275,20 @@
1275 1275  13-INSPD1: 1,
1276 1276  
1277 1277  Select this speed instruction to be effective.
1278 -)))|(% rowspan="2" %)rpm
1279 -|-5000 to 5000*
1280 -|(% rowspan="2" %)P01-24|(% rowspan="2" %)(((
1281 -Internal speed Instruction 2
1282 -)))|(% rowspan="2" %)(((
1283 -Operation setting
1284 -)))|(% rowspan="2" %)(((
1285 -Effective immediately
1286 -)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1279 +)))|(% colspan="2" %)rpm
1280 +|(% colspan="1" %)P01-24|(% colspan="2" %)(((
1281 +Internal speed
1282 +
1283 +Instruction 2
1284 +)))|(% colspan="2" %)(((
1285 +Operation
1286 +
1287 +setting
1288 +)))|(% colspan="2" %)(((
1289 +Effective
1290 +
1291 +immediately
1292 +)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1287 1287  Internal speed instruction 2
1288 1288  
1289 1289  When DI input port:
... ... @@ -1295,15 +1295,20 @@
1295 1295  13-INSPD1: 0,
1296 1296  
1297 1297  Select this speed instruction to be effective.
1298 -)))|(% rowspan="2" %)rpm
1299 -|-5000 to 5000*
1300 -|(% rowspan="2" %)P01-25|(% rowspan="2" %)(((
1301 -Internal speed Instruction 3
1302 -)))|(% rowspan="2" %)(((
1303 -Operation setting
1304 -)))|(% rowspan="2" %)(((
1305 -Effective immediately
1306 -)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1304 +)))|(% colspan="2" %)rpm
1305 +|(% colspan="1" %)P01-25|(% colspan="2" %)(((
1306 +Internal speed
1307 +
1308 +Instruction 3
1309 +)))|(% colspan="2" %)(((
1310 +Operation
1311 +
1312 +setting
1313 +)))|(% colspan="2" %)(((
1314 +Effective
1315 +
1316 +immediately
1317 +)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1307 1307  Internal speed instruction 3
1308 1308  
1309 1309  When DI input port:
... ... @@ -1315,16 +1315,20 @@
1315 1315  13-INSPD1: 1,
1316 1316  
1317 1317  Select this speed instruction to be effective.
1318 -)))|(% rowspan="2" %)rpm
1319 -|-5000 to 5000*
1329 +)))|(% colspan="2" %)rpm
1330 +|P01-26|(% colspan="2" %)(((
1331 +Internal speed
1320 1320  
1321 -|(% rowspan="2" %)P01-26|(% rowspan="2" %)(((
1322 -Internal speed Instruction 4
1323 -)))|(% rowspan="2" %)(((
1324 -Operation setting
1325 -)))|(% rowspan="2" %)(((
1326 -Effective immediately
1327 -)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1333 +Instruction 4
1334 +)))|(% colspan="2" %)(((
1335 +Operation
1336 +
1337 +setting
1338 +)))|(% colspan="2" %)(((
1339 +Effective
1340 +
1341 +immediately
1342 +)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1328 1328  Internal speed instruction 4
1329 1329  
1330 1330  When DI input port:
... ... @@ -1336,15 +1336,20 @@
1336 1336  13-INSPD1: 0,
1337 1337  
1338 1338  Select this speed instruction to be effective.
1339 -)))|(% rowspan="2" %)rpm
1340 -|-5000 to 5000*
1341 -|(% rowspan="2" %)P01-27|(% rowspan="2" %)(((
1342 -Internal speed Instruction 5
1343 -)))|(% rowspan="2" %)(((
1344 -Operation setting
1345 -)))|(% rowspan="2" %)(((
1346 -Effective immediately
1347 -)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1354 +)))|(% colspan="1" %)rpm
1355 +|P01-27|(% colspan="2" %)(((
1356 +Internal speed
1357 +
1358 +Instruction 5
1359 +)))|(% colspan="2" %)(((
1360 +Operation
1361 +
1362 +setting
1363 +)))|(% colspan="2" %)(((
1364 +Effective
1365 +
1366 +immediately
1367 +)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1348 1348  Internal speed instruction 5
1349 1349  
1350 1350  When DI input port:
... ... @@ -1356,15 +1356,20 @@
1356 1356  13-INSPD1: 1,
1357 1357  
1358 1358  Select this speed instruction to be effective.
1359 -)))|(% rowspan="2" %)rpm
1360 -|-5000 to 5000*
1361 -|(% rowspan="2" %)P01-28|(% rowspan="2" %)(((
1362 -Internal speed Instruction 6
1363 -)))|(% rowspan="2" %)(((
1364 -Operation setting
1365 -)))|(% rowspan="2" %)(((
1366 -Effective immediately
1367 -)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1379 +)))|(% colspan="1" %)rpm
1380 +|P01-28|(% colspan="2" %)(((
1381 +Internal speed
1382 +
1383 +Instruction 6
1384 +)))|(% colspan="2" %)(((
1385 +Operation
1386 +
1387 +setting
1388 +)))|(% colspan="2" %)(((
1389 +Effective
1390 +
1391 +immediately
1392 +)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1368 1368  Internal speed instruction 6
1369 1369  
1370 1370  When DI input port:
... ... @@ -1376,15 +1376,20 @@
1376 1376  13-INSPD1: 0,
1377 1377  
1378 1378  Select this speed instruction to be effective.
1379 -)))|(% rowspan="2" %)rpm
1380 -|-5000 to 5000*
1381 -|(% rowspan="2" %)P01-29|(% rowspan="2" %)(((
1382 -Internal speed Instruction 7
1383 -)))|(% rowspan="2" %)(((
1384 -Operation setting
1385 -)))|(% rowspan="2" %)(((
1386 -Effective immediately
1387 -)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1404 +)))|(% colspan="1" %)rpm
1405 +|P01-29|(% colspan="2" %)(((
1406 +Internal speed
1407 +
1408 +Instruction 7
1409 +)))|(% colspan="2" %)(((
1410 +Operation
1411 +
1412 +setting
1413 +)))|(% colspan="2" %)(((
1414 +Effective
1415 +
1416 +immediately
1417 +)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1388 1388  Internal speed instruction 7
1389 1389  
1390 1390  When DI input port:
... ... @@ -1396,14 +1396,10 @@
1396 1396  13-INSPD1: 1,
1397 1397  
1398 1398  Select this speed instruction to be effective.
1399 -)))|(% rowspan="2" %)rpm
1400 -|-5000 to 5000*
1429 +)))|(% colspan="1" %)rpm
1401 1401  
1402 1402  Table 6-27 Internal speed instruction parameters
1403 1403  
1404 -✎**Note: **“*” means the set range of VD2F servo drive.
1405 -
1406 -
1407 1407  |**DI function code**|**function name**|**Function**
1408 1408  |13|INSPD1 internal speed instruction selection 1|Form internal multi-speed running segment number
1409 1409  |14|INSPD2 internal speed instruction selection 2|Form internal multi-speed running segment number
... ... @@ -1423,16 +1423,15 @@
1423 1423  
1424 1424  Table 6-29 Correspondence between INSPD bits and segment numbers
1425 1425  
1426 -
1427 1427  [[image:image-20220608170845-26.png]]
1428 1428  
1429 1429  Figure 6-29 Multi-segment speed running curve
1430 1430  
1431 -**(2) Speed instruction source is internal speed instruction (P01-01=0)**
1456 +**(2) Speed instruction source is internal speed instruction (P01-01=1)**
1432 1432  
1433 1433  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.
1434 1434  
1435 -
1460 +(% style="text-align:center" %)
1436 1436  [[image:image-20220608153341-5.png]]
1437 1437  
1438 1438  Figure 6-30 Analog input circuit
... ... @@ -1439,7 +1439,7 @@
1439 1439  
1440 1440  Taking AI_1 as an example, the method of setting the speed instruction of analog voltage is illustrated as below.
1441 1441  
1442 -
1467 +(% style="text-align:center" %)
1443 1443  [[image:image-20220608170955-27.png]]
1444 1444  
1445 1445  Figure 6-31 Analog voltage speed instruction setting steps
... ... @@ -1446,18 +1446,15 @@
1446 1446  
1447 1447  Explanation of related terms:
1448 1448  
1449 -Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
1474 +* Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
1475 +* Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
1476 +* Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1450 1450  
1451 -Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
1452 -
1453 -Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1454 -
1455 -
1478 +(% style="text-align:center" %)
1456 1456  [[image:image-20220608171124-28.png]]
1457 1457  
1458 1458  Figure 6-32 AI_1 diagram before and after bias
1459 1459  
1460 -
1461 1461  |**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
1462 1462  |P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1463 1463  |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
... ... @@ -1474,16 +1474,14 @@
1474 1474  
1475 1475  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.
1476 1476  
1477 -
1499 +(% style="text-align:center" %)
1478 1478  [[image:image-20220608171314-29.png]]
1479 1479  
1480 1480  Figure 6-33 of acceleration and deceleration time diagram
1481 1481  
1482 -Actual acceleration time T1 =[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/43.jpg?rev=1.1]]
1504 +(% style="text-align:center" %)
1505 +[[image:image-20220707103616-27.png]]
1483 1483  
1484 -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]]
1485 -
1486 -
1487 1487  |**Function code**|**Name**|(((
1488 1488  **Setting method**
1489 1489  )))|(((
... ... @@ -1618,7 +1618,6 @@
1618 1618  
1619 1619  Table 6-34 Rotation detection speed threshold parameters
1620 1620  
1621 -
1622 1622  |**DO function code**|**Function name**|**Function**
1623 1623  |132|(((
1624 1624  T-COIN rotation detection
... ... @@ -1634,7 +1634,6 @@
1634 1634  
1635 1635  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.
1636 1636  
1637 -
1638 1638  [[image:image-20220608171904-32.png]]
1639 1639  
1640 1640  Figure 6-36 Zero-speed signal diagram
... ... @@ -1641,7 +1641,6 @@
1641 1641  
1642 1642  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]]__.
1643 1643  
1644 -
1645 1645  |**Function code**|**Name**|(((
1646 1646  **Setting method**
1647 1647  )))|(((
... ... @@ -1667,7 +1667,6 @@
1667 1667  
1668 1668  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.
1669 1669  
1670 -
1671 1671  [[image:image-20220608172053-33.png]]
1672 1672  
1673 1673  Figure 6-37 Speed consistent signal diagram
... ... @@ -1674,7 +1674,6 @@
1674 1674  
1675 1675  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]]__.
1676 1676  
1677 -
1678 1678  |**Function code**|**Name**|(((
1679 1679  **Setting method**
1680 1680  )))|(((
... ... @@ -1700,14 +1700,12 @@
1700 1700  
1701 1701  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.
1702 1702  
1703 -
1704 1704  [[image:image-20220608172207-34.png]]
1705 1705  
1706 1706  Figure 6-38 Speed approaching signal diagram
1707 1707  
1708 -To use the motor speed approach function, a DO terminal of the servo drive should be assigned to function 137 (V-NEAR, speed approach). The function code parameters and related DO function codes are shown in __[[Table 6-40>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__ and __[[Table 6-40>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__.
1722 +To use the motor speed approach function, a DO terminal of the servo drive should be assigned to function 137 (V-NEAR, speed approach). The function code parameters and related DO function codes are shown in __[[Table 6-40>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__ and __[[Table 6-41>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__.
1709 1709  
1710 -
1711 1711  |**Function code**|**Name**|(((
1712 1712  **Setting method**
1713 1713  )))|(((
... ... @@ -1721,7 +1721,6 @@
1721 1721  
1722 1722  Table 6-40 Speed approaching signal threshold parameters
1723 1723  
1724 -
1725 1725  |**DO function code**|**Function name**|**Function**
1726 1726  |137|(((
1727 1727  V-NEAR speed approach
... ... @@ -1782,7 +1782,7 @@
1782 1782  
1783 1783  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.
1784 1784  
1785 -
1797 +(% style="text-align:center" %)
1786 1786  [[image:image-20220608153646-7.png||height="213" width="408"]]
1787 1787  
1788 1788  Figure 6-40 Analog input circuit
... ... @@ -1789,7 +1789,7 @@
1789 1789  
1790 1790  Taking AI_1 as an example, the method of setting torque instruction of analog voltage is as below.
1791 1791  
1792 -
1804 +(% style="text-align:center" %)
1793 1793  [[image:image-20220608172502-36.png]]
1794 1794  
1795 1795  Figure 6-41 Analog voltage torque instruction setting steps
... ... @@ -1796,18 +1796,15 @@
1796 1796  
1797 1797  Explanation of related terms:
1798 1798  
1799 -Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
1811 +* Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
1812 +* Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
1813 +* Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1800 1800  
1801 -Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
1802 -
1803 -Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1804 -
1805 -
1815 +(% style="text-align:center" %)
1806 1806  [[image:image-20220608172611-37.png]]
1807 1807  
1808 1808  Figure 6-42 AI_1 diagram before and after bias
1809 1809  
1810 -
1811 1811  |**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
1812 1812  |P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1813 1813  |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
... ... @@ -1822,7 +1822,6 @@
1822 1822  
1823 1823  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]]__.
1824 1824  
1825 -
1826 1826  |**Function code**|**Name**|(((
1827 1827  **Setting method**
1828 1828  )))|(((
... ... @@ -1838,7 +1838,7 @@
1838 1838  
1839 1839  ✎**Note: **If the filter time constant is set too large, the responsiveness will be reduced. Please set it while confirming the responsiveness.
1840 1840  
1841 -
1849 +(% style="text-align:center" %)
1842 1842  [[image:image-20220608172646-38.png]]
1843 1843  
1844 1844  Figure 6-43 Torque instruction-first-order filtering diagram
... ... @@ -1849,7 +1849,7 @@
1849 1849  
1850 1850  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.
1851 1851  
1852 -
1860 +(% style="text-align:center" %)
1853 1853  [[image:image-20220608172806-39.png]]
1854 1854  
1855 1855  Figure 6-44 Torque instruction limit diagram
... ... @@ -1858,7 +1858,6 @@
1858 1858  
1859 1859  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.
1860 1860  
1861 -
1862 1862  |**Function code**|**Name**|(((
1863 1863  **Setting method**
1864 1864  )))|(((
... ... @@ -1882,7 +1882,6 @@
1882 1882  
1883 1883  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.
1884 1884  
1885 -
1886 1886  |**Function code**|**Name**|(((
1887 1887  **Setting method**
1888 1888  )))|(((
... ... @@ -1913,7 +1913,6 @@
1913 1913  
1914 1914  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.
1915 1915  
1916 -
1917 1917  |**DO function code**|**Function name**|**Function**
1918 1918  |139|(((
1919 1919  T-LIMIT in torque limit
... ... @@ -1978,7 +1978,7 @@
1978 1978  
1979 1979  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.
1980 1980  
1981 -
1986 +(% style="text-align:center" %)
1982 1982  [[image:image-20220608173541-42.png]]
1983 1983  
1984 1984  Figure 6-47 Torque arrival output diagram
... ... @@ -1985,7 +1985,6 @@
1985 1985  
1986 1986  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]]__.
1987 1987  
1988 -
1989 1989  |**Function code**|**Name**|(((
1990 1990  **Setting method**
1991 1991  )))|(((
... ... @@ -2030,15 +2030,14 @@
2030 2030  
2031 2031  Mixed control mode means that when the servo enable is ON and the status of the servo drive is "run", the mode of the servo drive could be switched between different modes. The VD2 series servo drives have the following 3 mixed control modes:
2032 2032  
2033 -Position mode Speed mode
2037 +Position mode⇔ Speed mode
2034 2034  
2035 -Position mode Torque mode
2039 +Position mode ⇔Torque mode
2036 2036  
2037 -Speed mode Torque mode
2041 +Speed mode ⇔Torque mode
2038 2038  
2039 2039  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.
2040 2040  
2041 -
2042 2042  |**Function code**|**Name**|(((
2043 2043  **Setting method**
2044 2044  )))|(((
... ... @@ -2066,7 +2066,6 @@
2066 2066  
2067 2067  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.
2068 2068  
2069 -
2070 2070  |**DI function code**|**Name**|**Function name**|**Function**
2071 2071  |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(((
2072 2072  |**P00-01**|**MixModeSel terminal logic**|**Control mode**
... ... @@ -2102,7 +2102,7 @@
2102 2102  
2103 2103  The relationship between encoder feedback position and rotating load position is shown in the figure below. (take a 17-bit encoder as an example).
2104 2104  
2105 -
2107 +(% style="text-align:center" %)
2106 2106  [[image:image-20220608173618-43.png]]
2107 2107  
2108 2108  Figure 6-48 Diagram of relationship between encoder feedback position and rotating load position
... ... @@ -2111,7 +2111,6 @@
2111 2111  
2112 2112  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.
2113 2113  
2114 -
2115 2115  |**Encoder type**|**Encoder resolution (bits)**|**Data range**
2116 2116  |C1 (multi-turn magnetic encoder)|17|0 to 131071
2117 2117  |D2 (multi-turn Optical encoder)|23|0 to 8388607
... ... @@ -2120,7 +2120,7 @@
2120 2120  
2121 2121  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).
2122 2122  
2123 -
2124 +(% style="text-align:center" %)
2124 2124  [[image:image-20220608173701-44.png]]
2125 2125  
2126 2126  Figure 6-49 The relationship between encoder feedback position and rotating load position
... ... @@ -2129,7 +2129,6 @@
2129 2129  
2130 2130  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.
2131 2131  
2132 -
2133 2133  |**Monitoring number**|**Category**|**Name**|**Unit**|**Data type**
2134 2134  |U0-54|Universal|Absolute encoder position within 1 turn|Encoder unit|32-bit
2135 2135  |U0-55|Universal|Rotations number of absolute encoder|circle|16-bit
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