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Changes for page 06 Operation

Last modified by Iris on 2025/07/23 15:49
From version 51.18
edited by Stone Wu
on 2022/07/07 10:23
Change comment: (Autosaved)
To version 51.23
edited by Stone Wu
on 2022/07/07 10:35
Change comment: There is no comment for this version

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... ... @@ -1215,21 +1215,31 @@
1215 1215  
1216 1216  **(1) Speed instruction source is internal speed instruction (P01-01=0)**
1217 1217  
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 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
1219 1219  
1220 +(% style="width:1141px" %)
1221 +|(% colspan="1" %)**Function code**|(% colspan="2" %)**Name**|(% colspan="2" %)(((
1222 +**Setting**
1220 1220  
1221 -|**Function code**|**Name**|(((
1222 -**Setting method**
1223 -)))|(((
1224 -**Effective time**
1225 -)))|**Default value**|**Range**|**Definition**|**Unit**
1226 -|(% rowspan="2" %)P01-02|(% rowspan="2" %)(((
1227 -Internal speed Instruction 0
1228 -)))|(% rowspan="2" %)(((
1229 -Operation setting
1230 -)))|(% rowspan="2" %)(((
1231 -Effective immediately
1232 -)))|(% 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" %)(((
1233 1233  Internal speed instruction 0
1234 1234  
1235 1235  When DI input port:
... ... @@ -1241,15 +1241,20 @@
1241 1241  13-INSPD1: 0,
1242 1242  
1243 1243  select this speed instruction to be effective.
1244 -)))|(% rowspan="2" %)rpm
1245 -|-5000 to 5000*
1246 -|(% rowspan="2" %)P01-23|(% rowspan="2" %)(((
1247 -Internal speed Instruction 1
1248 -)))|(% rowspan="2" %)(((
1249 -Operation setting
1250 -)))|(% rowspan="2" %)(((
1251 -Effective immediately
1252 -)))|(% 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" %)(((
1253 1253  Internal speed instruction 1
1254 1254  
1255 1255  When DI input port:
... ... @@ -1261,15 +1261,20 @@
1261 1261  13-INSPD1: 1,
1262 1262  
1263 1263  Select this speed instruction to be effective.
1264 -)))|(% rowspan="2" %)rpm
1265 -|-5000 to 5000*
1266 -|(% rowspan="2" %)P01-24|(% rowspan="2" %)(((
1267 -Internal speed Instruction 2
1268 -)))|(% rowspan="2" %)(((
1269 -Operation setting
1270 -)))|(% rowspan="2" %)(((
1271 -Effective immediately
1272 -)))|(% 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" %)(((
1273 1273  Internal speed instruction 2
1274 1274  
1275 1275  When DI input port:
... ... @@ -1281,15 +1281,20 @@
1281 1281  13-INSPD1: 0,
1282 1282  
1283 1283  Select this speed instruction to be effective.
1284 -)))|(% rowspan="2" %)rpm
1285 -|-5000 to 5000*
1286 -|(% rowspan="2" %)P01-25|(% rowspan="2" %)(((
1287 -Internal speed Instruction 3
1288 -)))|(% rowspan="2" %)(((
1289 -Operation setting
1290 -)))|(% rowspan="2" %)(((
1291 -Effective immediately
1292 -)))|(% 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" %)(((
1293 1293  Internal speed instruction 3
1294 1294  
1295 1295  When DI input port:
... ... @@ -1301,16 +1301,20 @@
1301 1301  13-INSPD1: 1,
1302 1302  
1303 1303  Select this speed instruction to be effective.
1304 -)))|(% rowspan="2" %)rpm
1305 -|-5000 to 5000*
1329 +)))|(% colspan="2" %)rpm
1330 +|P01-26|(% colspan="2" %)(((
1331 +Internal speed
1306 1306  
1307 -|(% rowspan="2" %)P01-26|(% rowspan="2" %)(((
1308 -Internal speed Instruction 4
1309 -)))|(% rowspan="2" %)(((
1310 -Operation setting
1311 -)))|(% rowspan="2" %)(((
1312 -Effective immediately
1313 -)))|(% 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" %)(((
1314 1314  Internal speed instruction 4
1315 1315  
1316 1316  When DI input port:
... ... @@ -1322,15 +1322,20 @@
1322 1322  13-INSPD1: 0,
1323 1323  
1324 1324  Select this speed instruction to be effective.
1325 -)))|(% rowspan="2" %)rpm
1326 -|-5000 to 5000*
1327 -|(% rowspan="2" %)P01-27|(% rowspan="2" %)(((
1328 -Internal speed Instruction 5
1329 -)))|(% rowspan="2" %)(((
1330 -Operation setting
1331 -)))|(% rowspan="2" %)(((
1332 -Effective immediately
1333 -)))|(% 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" %)(((
1334 1334  Internal speed instruction 5
1335 1335  
1336 1336  When DI input port:
... ... @@ -1342,15 +1342,20 @@
1342 1342  13-INSPD1: 1,
1343 1343  
1344 1344  Select this speed instruction to be effective.
1345 -)))|(% rowspan="2" %)rpm
1346 -|-5000 to 5000*
1347 -|(% rowspan="2" %)P01-28|(% rowspan="2" %)(((
1348 -Internal speed Instruction 6
1349 -)))|(% rowspan="2" %)(((
1350 -Operation setting
1351 -)))|(% rowspan="2" %)(((
1352 -Effective immediately
1353 -)))|(% 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" %)(((
1354 1354  Internal speed instruction 6
1355 1355  
1356 1356  When DI input port:
... ... @@ -1362,15 +1362,20 @@
1362 1362  13-INSPD1: 0,
1363 1363  
1364 1364  Select this speed instruction to be effective.
1365 -)))|(% rowspan="2" %)rpm
1366 -|-5000 to 5000*
1367 -|(% rowspan="2" %)P01-29|(% rowspan="2" %)(((
1368 -Internal speed Instruction 7
1369 -)))|(% rowspan="2" %)(((
1370 -Operation setting
1371 -)))|(% rowspan="2" %)(((
1372 -Effective immediately
1373 -)))|(% 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" %)(((
1374 1374  Internal speed instruction 7
1375 1375  
1376 1376  When DI input port:
... ... @@ -1382,14 +1382,10 @@
1382 1382  13-INSPD1: 1,
1383 1383  
1384 1384  Select this speed instruction to be effective.
1385 -)))|(% rowspan="2" %)rpm
1386 -|-5000 to 5000*
1429 +)))|(% colspan="1" %)rpm
1387 1387  
1388 1388  Table 6-27 Internal speed instruction parameters
1389 1389  
1390 -✎**Note: **“*” means the set range of VD2F servo drive.
1391 -
1392 -
1393 1393  |**DI function code**|**function name**|**Function**
1394 1394  |13|INSPD1 internal speed instruction selection 1|Form internal multi-speed running segment number
1395 1395  |14|INSPD2 internal speed instruction selection 2|Form internal multi-speed running segment number
... ... @@ -1409,16 +1409,15 @@
1409 1409  
1410 1410  Table 6-29 Correspondence between INSPD bits and segment numbers
1411 1411  
1412 -
1413 1413  [[image:image-20220608170845-26.png]]
1414 1414  
1415 1415  Figure 6-29 Multi-segment speed running curve
1416 1416  
1417 -**(2) Speed instruction source is internal speed instruction (P01-01=0)**
1456 +**(2) Speed instruction source is internal speed instruction (P01-01=1)**
1418 1418  
1419 1419  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.
1420 1420  
1421 -
1460 +(% style="text-align:center" %)
1422 1422  [[image:image-20220608153341-5.png]]
1423 1423  
1424 1424  Figure 6-30 Analog input circuit
... ... @@ -1425,7 +1425,7 @@
1425 1425  
1426 1426  Taking AI_1 as an example, the method of setting the speed instruction of analog voltage is illustrated as below.
1427 1427  
1428 -
1467 +(% style="text-align:center" %)
1429 1429  [[image:image-20220608170955-27.png]]
1430 1430  
1431 1431  Figure 6-31 Analog voltage speed instruction setting steps
... ... @@ -1432,18 +1432,15 @@
1432 1432  
1433 1433  Explanation of related terms:
1434 1434  
1435 -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.
1436 1436  
1437 -Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
1438 -
1439 -Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1440 -
1441 -
1478 +(% style="text-align:center" %)
1442 1442  [[image:image-20220608171124-28.png]]
1443 1443  
1444 1444  Figure 6-32 AI_1 diagram before and after bias
1445 1445  
1446 -
1447 1447  |**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
1448 1448  |P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1449 1449  |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
... ... @@ -1460,16 +1460,14 @@
1460 1460  
1461 1461  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.
1462 1462  
1463 -
1499 +(% style="text-align:center" %)
1464 1464  [[image:image-20220608171314-29.png]]
1465 1465  
1466 1466  Figure 6-33 of acceleration and deceleration time diagram
1467 1467  
1468 -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]]
1469 1469  
1470 -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]]
1471 -
1472 -
1473 1473  |**Function code**|**Name**|(((
1474 1474  **Setting method**
1475 1475  )))|(((
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