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Changes for page 06 Operation

Last modified by Iris on 2025/07/23 15:49
From version 51.17
edited by Stone Wu
on 2022/07/07 10:18
Change comment: (Autosaved)
To version 51.22
edited by Stone Wu
on 2022/07/07 10:33
Change comment: (Autosaved)

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Content
... ... @@ -1086,12 +1086,11 @@
1086 1086  
1087 1087  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.
1088 1088  
1089 -
1089 +(% style="text-align:center" %)
1090 1090  [[image:image-20220608170455-23.png]]
1091 1091  
1092 1092  Figure 6-25 Position instruction filtering diagram
1093 1093  
1094 -
1095 1095  |=(% scope="row" %)**Function code**|=**Name**|=(((
1096 1096  **Setting method**
1097 1097  )))|=(((
... ... @@ -1131,7 +1131,7 @@
1131 1131  (% class="wikigeneratedid" %)
1132 1132  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.
1133 1133  
1134 -
1133 +(% style="text-align:center" %)
1135 1135  [[image:image-20220608170550-24.png]]
1136 1136  
1137 1137  Figure 6-26 Positioning completion signal output diagram
... ... @@ -1140,11 +1140,11 @@
1140 1140  
1141 1141  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]]__.
1142 1142  
1142 +(% style="text-align:center" %)
1143 1143  [[image:image-20220608170650-25.png]]
1144 1144  
1145 1145  Figure 6-27 Positioning completion signal output with increased window filter time diagram
1146 1146  
1147 -
1148 1148  |=(% scope="row" %)**Function code**|=**Name**|=(((
1149 1149  **Setting method**
1150 1150  )))|=(((
... ... @@ -1173,7 +1173,6 @@
1173 1173  
1174 1174  Table 6-24 Function code parameters of positioning completion
1175 1175  
1176 -
1177 1177  |=(% scope="row" %)**DO function code**|=**Function name**|=**Function**
1178 1178  |=134|P-COIN positioning complete|Output this signal indicates the servo drive position is complete.
1179 1179  |=135|(((
... ... @@ -1188,7 +1188,7 @@
1188 1188  
1189 1189  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.
1190 1190  
1191 -
1189 +(% style="text-align:center" %)
1192 1192  [[image:6.28.jpg||height="260" width="806"]]
1193 1193  
1194 1194  Figure 6-28 Speed control block diagram
... ... @@ -1207,7 +1207,7 @@
1207 1207  Shutdown setting
1208 1208  )))|(((
1209 1209  Effective immediately
1210 -)))|1|1 to 6|(((
1208 +)))|1|1 to 1|(((
1211 1211  0: internal speed instruction
1212 1212  
1213 1213  1: AI_1 analog input (not supported by VD2F)
... ... @@ -1217,21 +1217,31 @@
1217 1217  
1218 1218  **(1) Speed instruction source is internal speed instruction (P01-01=0)**
1219 1219  
1220 -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
1221 1221  
1220 +(% style="width:1141px" %)
1221 +|(% colspan="1" %)**Function code**|(% colspan="2" %)**Name**|(% colspan="2" %)(((
1222 +**Setting**
1222 1222  
1223 -|**Function code**|**Name**|(((
1224 -**Setting method**
1225 -)))|(((
1226 -**Effective time**
1227 -)))|**Default value**|**Range**|**Definition**|**Unit**
1228 -|(% rowspan="2" %)P01-02|(% rowspan="2" %)(((
1229 -Internal speed Instruction 0
1230 -)))|(% rowspan="2" %)(((
1231 -Operation setting
1232 -)))|(% rowspan="2" %)(((
1233 -Effective immediately
1234 -)))|(% 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" %)(((
1235 1235  Internal speed instruction 0
1236 1236  
1237 1237  When DI input port:
... ... @@ -1243,15 +1243,20 @@
1243 1243  13-INSPD1: 0,
1244 1244  
1245 1245  select this speed instruction to be effective.
1246 -)))|(% rowspan="2" %)rpm
1247 -|-5000 to 5000*
1248 -|(% rowspan="2" %)P01-23|(% rowspan="2" %)(((
1249 -Internal speed Instruction 1
1250 -)))|(% rowspan="2" %)(((
1251 -Operation setting
1252 -)))|(% rowspan="2" %)(((
1253 -Effective immediately
1254 -)))|(% 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" %)(((
1255 1255  Internal speed instruction 1
1256 1256  
1257 1257  When DI input port:
... ... @@ -1263,15 +1263,20 @@
1263 1263  13-INSPD1: 1,
1264 1264  
1265 1265  Select this speed instruction to be effective.
1266 -)))|(% rowspan="2" %)rpm
1267 -|-5000 to 5000*
1268 -|(% rowspan="2" %)P01-24|(% rowspan="2" %)(((
1269 -Internal speed Instruction 2
1270 -)))|(% rowspan="2" %)(((
1271 -Operation setting
1272 -)))|(% rowspan="2" %)(((
1273 -Effective immediately
1274 -)))|(% 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" %)(((
1275 1275  Internal speed instruction 2
1276 1276  
1277 1277  When DI input port:
... ... @@ -1283,15 +1283,20 @@
1283 1283  13-INSPD1: 0,
1284 1284  
1285 1285  Select this speed instruction to be effective.
1286 -)))|(% rowspan="2" %)rpm
1287 -|-5000 to 5000*
1288 -|(% rowspan="2" %)P01-25|(% rowspan="2" %)(((
1289 -Internal speed Instruction 3
1290 -)))|(% rowspan="2" %)(((
1291 -Operation setting
1292 -)))|(% rowspan="2" %)(((
1293 -Effective immediately
1294 -)))|(% 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" %)(((
1295 1295  Internal speed instruction 3
1296 1296  
1297 1297  When DI input port:
... ... @@ -1303,16 +1303,20 @@
1303 1303  13-INSPD1: 1,
1304 1304  
1305 1305  Select this speed instruction to be effective.
1306 -)))|(% rowspan="2" %)rpm
1307 -|-5000 to 5000*
1329 +)))|(% colspan="2" %)rpm
1330 +|P01-26|(% colspan="2" %)(((
1331 +Internal speed
1308 1308  
1309 -|(% rowspan="2" %)P01-26|(% rowspan="2" %)(((
1310 -Internal speed Instruction 4
1311 -)))|(% rowspan="2" %)(((
1312 -Operation setting
1313 -)))|(% rowspan="2" %)(((
1314 -Effective immediately
1315 -)))|(% 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" %)(((
1316 1316  Internal speed instruction 4
1317 1317  
1318 1318  When DI input port:
... ... @@ -1324,15 +1324,20 @@
1324 1324  13-INSPD1: 0,
1325 1325  
1326 1326  Select this speed instruction to be effective.
1327 -)))|(% rowspan="2" %)rpm
1328 -|-5000 to 5000*
1329 -|(% rowspan="2" %)P01-27|(% rowspan="2" %)(((
1330 -Internal speed Instruction 5
1331 -)))|(% rowspan="2" %)(((
1332 -Operation setting
1333 -)))|(% rowspan="2" %)(((
1334 -Effective immediately
1335 -)))|(% 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" %)(((
1336 1336  Internal speed instruction 5
1337 1337  
1338 1338  When DI input port:
... ... @@ -1344,15 +1344,20 @@
1344 1344  13-INSPD1: 1,
1345 1345  
1346 1346  Select this speed instruction to be effective.
1347 -)))|(% rowspan="2" %)rpm
1348 -|-5000 to 5000*
1349 -|(% rowspan="2" %)P01-28|(% rowspan="2" %)(((
1350 -Internal speed Instruction 6
1351 -)))|(% rowspan="2" %)(((
1352 -Operation setting
1353 -)))|(% rowspan="2" %)(((
1354 -Effective immediately
1355 -)))|(% 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" %)(((
1356 1356  Internal speed instruction 6
1357 1357  
1358 1358  When DI input port:
... ... @@ -1364,15 +1364,20 @@
1364 1364  13-INSPD1: 0,
1365 1365  
1366 1366  Select this speed instruction to be effective.
1367 -)))|(% rowspan="2" %)rpm
1368 -|-5000 to 5000*
1369 -|(% rowspan="2" %)P01-29|(% rowspan="2" %)(((
1370 -Internal speed Instruction 7
1371 -)))|(% rowspan="2" %)(((
1372 -Operation setting
1373 -)))|(% rowspan="2" %)(((
1374 -Effective immediately
1375 -)))|(% 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" %)(((
1376 1376  Internal speed instruction 7
1377 1377  
1378 1378  When DI input port:
... ... @@ -1384,14 +1384,10 @@
1384 1384  13-INSPD1: 1,
1385 1385  
1386 1386  Select this speed instruction to be effective.
1387 -)))|(% rowspan="2" %)rpm
1388 -|-5000 to 5000*
1429 +)))|(% colspan="1" %)rpm
1389 1389  
1390 1390  Table 6-27 Internal speed instruction parameters
1391 1391  
1392 -✎**Note: **“*” means the set range of VD2F servo drive.
1393 -
1394 -
1395 1395  |**DI function code**|**function name**|**Function**
1396 1396  |13|INSPD1 internal speed instruction selection 1|Form internal multi-speed running segment number
1397 1397  |14|INSPD2 internal speed instruction selection 2|Form internal multi-speed running segment number
... ... @@ -1411,16 +1411,15 @@
1411 1411  
1412 1412  Table 6-29 Correspondence between INSPD bits and segment numbers
1413 1413  
1414 -
1415 1415  [[image:image-20220608170845-26.png]]
1416 1416  
1417 1417  Figure 6-29 Multi-segment speed running curve
1418 1418  
1419 -**(2) Speed instruction source is internal speed instruction (P01-01=0)**
1456 +**(2) Speed instruction source is internal speed instruction (P01-01=1)**
1420 1420  
1421 1421  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.
1422 1422  
1423 -
1460 +(% style="text-align:center" %)
1424 1424  [[image:image-20220608153341-5.png]]
1425 1425  
1426 1426  Figure 6-30 Analog input circuit
... ... @@ -1427,7 +1427,7 @@
1427 1427  
1428 1428  Taking AI_1 as an example, the method of setting the speed instruction of analog voltage is illustrated as below.
1429 1429  
1430 -
1467 +(% style="text-align:center" %)
1431 1431  [[image:image-20220608170955-27.png]]
1432 1432  
1433 1433  Figure 6-31 Analog voltage speed instruction setting steps
... ... @@ -1434,18 +1434,15 @@
1434 1434  
1435 1435  Explanation of related terms:
1436 1436  
1437 -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.
1438 1438  
1439 -Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
1440 -
1441 -Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1442 -
1443 -
1478 +(% style="text-align:center" %)
1444 1444  [[image:image-20220608171124-28.png]]
1445 1445  
1446 1446  Figure 6-32 AI_1 diagram before and after bias
1447 1447  
1448 -
1449 1449  |**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
1450 1450  |P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1451 1451  |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
... ... @@ -1462,14 +1462,12 @@
1462 1462  
1463 1463  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.
1464 1464  
1465 -
1499 +(% style="text-align:center" %)
1466 1466  [[image:image-20220608171314-29.png]]
1467 1467  
1468 1468  Figure 6-33 of acceleration and deceleration time diagram
1469 1469  
1470 -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]]
1471 1471  
1472 -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]]
1473 1473  
1474 1474  
1475 1475  |**Function code**|**Name**|(((