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Changes for page 06 Operation

Last modified by Iris on 2025/08/05 17:31
From version 51.17
edited by Stone Wu
on 2022/07/07 10:18
Change comment: (Autosaved)
To version 51.28
edited by Stone Wu
on 2022/07/07 10:51
Change comment: There is no comment for this version

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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
... ... @@ -1462,16 +1462,14 @@
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]]
1504 +(% style="text-align:center" %)
1505 +[[image:image-20220707103616-27.png]]
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 -
1474 -
1475 1475  |**Function code**|**Name**|(((
1476 1476  **Setting method**
1477 1477  )))|(((
... ... @@ -1606,7 +1606,6 @@
1606 1606  
1607 1607  Table 6-34 Rotation detection speed threshold parameters
1608 1608  
1609 -
1610 1610  |**DO function code**|**Function name**|**Function**
1611 1611  |132|(((
1612 1612  T-COIN rotation detection
... ... @@ -1622,7 +1622,6 @@
1622 1622  
1623 1623  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.
1624 1624  
1625 -
1626 1626  [[image:image-20220608171904-32.png]]
1627 1627  
1628 1628  Figure 6-36 Zero-speed signal diagram
... ... @@ -1629,7 +1629,6 @@
1629 1629  
1630 1630  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]]__.
1631 1631  
1632 -
1633 1633  |**Function code**|**Name**|(((
1634 1634  **Setting method**
1635 1635  )))|(((
... ... @@ -1655,7 +1655,6 @@
1655 1655  
1656 1656  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.
1657 1657  
1658 -
1659 1659  [[image:image-20220608172053-33.png]]
1660 1660  
1661 1661  Figure 6-37 Speed consistent signal diagram
... ... @@ -1662,7 +1662,6 @@
1662 1662  
1663 1663  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]]__.
1664 1664  
1665 -
1666 1666  |**Function code**|**Name**|(((
1667 1667  **Setting method**
1668 1668  )))|(((
... ... @@ -1688,14 +1688,12 @@
1688 1688  
1689 1689  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.
1690 1690  
1691 -
1692 1692  [[image:image-20220608172207-34.png]]
1693 1693  
1694 1694  Figure 6-38 Speed approaching signal diagram
1695 1695  
1696 -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]]__.
1697 1697  
1698 -
1699 1699  |**Function code**|**Name**|(((
1700 1700  **Setting method**
1701 1701  )))|(((
... ... @@ -1709,7 +1709,6 @@
1709 1709  
1710 1710  Table 6-40 Speed approaching signal threshold parameters
1711 1711  
1712 -
1713 1713  |**DO function code**|**Function name**|**Function**
1714 1714  |137|(((
1715 1715  V-NEAR speed approach
... ... @@ -1770,7 +1770,7 @@
1770 1770  
1771 1771  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.
1772 1772  
1773 -
1797 +(% style="text-align:center" %)
1774 1774  [[image:image-20220608153646-7.png||height="213" width="408"]]
1775 1775  
1776 1776  Figure 6-40 Analog input circuit
... ... @@ -1777,7 +1777,7 @@
1777 1777  
1778 1778  Taking AI_1 as an example, the method of setting torque instruction of analog voltage is as below.
1779 1779  
1780 -
1804 +(% style="text-align:center" %)
1781 1781  [[image:image-20220608172502-36.png]]
1782 1782  
1783 1783  Figure 6-41 Analog voltage torque instruction setting steps
... ... @@ -1784,18 +1784,15 @@
1784 1784  
1785 1785  Explanation of related terms:
1786 1786  
1787 -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.
1788 1788  
1789 -Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
1790 -
1791 -Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1792 -
1793 -
1815 +(% style="text-align:center" %)
1794 1794  [[image:image-20220608172611-37.png]]
1795 1795  
1796 1796  Figure 6-42 AI_1 diagram before and after bias
1797 1797  
1798 -
1799 1799  |**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
1800 1800  |P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1801 1801  |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
... ... @@ -1810,7 +1810,6 @@
1810 1810  
1811 1811  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]]__.
1812 1812  
1813 -
1814 1814  |**Function code**|**Name**|(((
1815 1815  **Setting method**
1816 1816  )))|(((
... ... @@ -1826,7 +1826,7 @@
1826 1826  
1827 1827  ✎**Note: **If the filter time constant is set too large, the responsiveness will be reduced. Please set it while confirming the responsiveness.
1828 1828  
1829 -
1849 +(% style="text-align:center" %)
1830 1830  [[image:image-20220608172646-38.png]]
1831 1831  
1832 1832  Figure 6-43 Torque instruction-first-order filtering diagram
... ... @@ -1837,7 +1837,7 @@
1837 1837  
1838 1838  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.
1839 1839  
1840 -
1860 +(% style="text-align:center" %)
1841 1841  [[image:image-20220608172806-39.png]]
1842 1842  
1843 1843  Figure 6-44 Torque instruction limit diagram
... ... @@ -1846,7 +1846,6 @@
1846 1846  
1847 1847  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.
1848 1848  
1849 -
1850 1850  |**Function code**|**Name**|(((
1851 1851  **Setting method**
1852 1852  )))|(((
... ... @@ -1870,7 +1870,6 @@
1870 1870  
1871 1871  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.
1872 1872  
1873 -
1874 1874  |**Function code**|**Name**|(((
1875 1875  **Setting method**
1876 1876  )))|(((
... ... @@ -1901,7 +1901,6 @@
1901 1901  
1902 1902  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.
1903 1903  
1904 -
1905 1905  |**DO function code**|**Function name**|**Function**
1906 1906  |139|(((
1907 1907  T-LIMIT in torque limit
... ... @@ -1966,7 +1966,7 @@
1966 1966  
1967 1967  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.
1968 1968  
1969 -
1986 +(% style="text-align:center" %)
1970 1970  [[image:image-20220608173541-42.png]]
1971 1971  
1972 1972  Figure 6-47 Torque arrival output diagram
... ... @@ -1973,7 +1973,6 @@
1973 1973  
1974 1974  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]]__.
1975 1975  
1976 -
1977 1977  |**Function code**|**Name**|(((
1978 1978  **Setting method**
1979 1979  )))|(((
... ... @@ -2018,15 +2018,14 @@
2018 2018  
2019 2019  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:
2020 2020  
2021 -Position mode Speed mode
2037 +Position mode⇔ Speed mode
2022 2022  
2023 -Position mode Torque mode
2039 +Position mode ⇔Torque mode
2024 2024  
2025 -Speed mode Torque mode
2041 +Speed mode ⇔Torque mode
2026 2026  
2027 2027  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.
2028 2028  
2029 -
2030 2030  |**Function code**|**Name**|(((
2031 2031  **Setting method**
2032 2032  )))|(((
... ... @@ -2054,7 +2054,6 @@
2054 2054  
2055 2055  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.
2056 2056  
2057 -
2058 2058  |**DI function code**|**Name**|**Function name**|**Function**
2059 2059  |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(((
2060 2060  |**P00-01**|**MixModeSel terminal logic**|**Control mode**
... ... @@ -2090,7 +2090,7 @@
2090 2090  
2091 2091  The relationship between encoder feedback position and rotating load position is shown in the figure below. (take a 17-bit encoder as an example).
2092 2092  
2093 -
2107 +(% style="text-align:center" %)
2094 2094  [[image:image-20220608173618-43.png]]
2095 2095  
2096 2096  Figure 6-48 Diagram of relationship between encoder feedback position and rotating load position
... ... @@ -2099,7 +2099,6 @@
2099 2099  
2100 2100  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.
2101 2101  
2102 -
2103 2103  |**Encoder type**|**Encoder resolution (bits)**|**Data range**
2104 2104  |C1 (multi-turn magnetic encoder)|17|0 to 131071
2105 2105  |D2 (multi-turn Optical encoder)|23|0 to 8388607
... ... @@ -2108,7 +2108,7 @@
2108 2108  
2109 2109  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).
2110 2110  
2111 -
2124 +(% style="text-align:center" %)
2112 2112  [[image:image-20220608173701-44.png]]
2113 2113  
2114 2114  Figure 6-49 The relationship between encoder feedback position and rotating load position
... ... @@ -2117,7 +2117,6 @@
2117 2117  
2118 2118  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.
2119 2119  
2120 -
2121 2121  |**Monitoring number**|**Category**|**Name**|**Unit**|**Data type**
2122 2122  |U0-54|Universal|Absolute encoder position within 1 turn|Encoder unit|32-bit
2123 2123  |U0-55|Universal|Rotations number of absolute encoder|circle|16-bit
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