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Changes for page 06 Operation

Last modified by Iris on 2025/08/05 17:31
From version 51.18
edited by Stone Wu
on 2022/07/07 10:23
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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... ... @@ -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  )))|(((
... ... @@ -1604,7 +1604,6 @@
1604 1604  
1605 1605  Table 6-34 Rotation detection speed threshold parameters
1606 1606  
1607 -
1608 1608  |**DO function code**|**Function name**|**Function**
1609 1609  |132|(((
1610 1610  T-COIN rotation detection
... ... @@ -1620,7 +1620,6 @@
1620 1620  
1621 1621  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.
1622 1622  
1623 -
1624 1624  [[image:image-20220608171904-32.png]]
1625 1625  
1626 1626  Figure 6-36 Zero-speed signal diagram
... ... @@ -1627,7 +1627,6 @@
1627 1627  
1628 1628  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]]__.
1629 1629  
1630 -
1631 1631  |**Function code**|**Name**|(((
1632 1632  **Setting method**
1633 1633  )))|(((
... ... @@ -1653,7 +1653,6 @@
1653 1653  
1654 1654  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.
1655 1655  
1656 -
1657 1657  [[image:image-20220608172053-33.png]]
1658 1658  
1659 1659  Figure 6-37 Speed consistent signal diagram
... ... @@ -1660,7 +1660,6 @@
1660 1660  
1661 1661  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]]__.
1662 1662  
1663 -
1664 1664  |**Function code**|**Name**|(((
1665 1665  **Setting method**
1666 1666  )))|(((
... ... @@ -1686,14 +1686,12 @@
1686 1686  
1687 1687  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.
1688 1688  
1689 -
1690 1690  [[image:image-20220608172207-34.png]]
1691 1691  
1692 1692  Figure 6-38 Speed approaching signal diagram
1693 1693  
1694 -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]]__.
1695 1695  
1696 -
1697 1697  |**Function code**|**Name**|(((
1698 1698  **Setting method**
1699 1699  )))|(((
... ... @@ -1707,7 +1707,6 @@
1707 1707  
1708 1708  Table 6-40 Speed approaching signal threshold parameters
1709 1709  
1710 -
1711 1711  |**DO function code**|**Function name**|**Function**
1712 1712  |137|(((
1713 1713  V-NEAR speed approach
... ... @@ -1768,7 +1768,7 @@
1768 1768  
1769 1769  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.
1770 1770  
1771 -
1797 +(% style="text-align:center" %)
1772 1772  [[image:image-20220608153646-7.png||height="213" width="408"]]
1773 1773  
1774 1774  Figure 6-40 Analog input circuit
... ... @@ -1775,7 +1775,7 @@
1775 1775  
1776 1776  Taking AI_1 as an example, the method of setting torque instruction of analog voltage is as below.
1777 1777  
1778 -
1804 +(% style="text-align:center" %)
1779 1779  [[image:image-20220608172502-36.png]]
1780 1780  
1781 1781  Figure 6-41 Analog voltage torque instruction setting steps
... ... @@ -1782,18 +1782,15 @@
1782 1782  
1783 1783  Explanation of related terms:
1784 1784  
1785 -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.
1786 1786  
1787 -Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
1788 -
1789 -Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1790 -
1791 -
1815 +(% style="text-align:center" %)
1792 1792  [[image:image-20220608172611-37.png]]
1793 1793  
1794 1794  Figure 6-42 AI_1 diagram before and after bias
1795 1795  
1796 -
1797 1797  |**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
1798 1798  |P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1799 1799  |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
... ... @@ -1808,7 +1808,6 @@
1808 1808  
1809 1809  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]]__.
1810 1810  
1811 -
1812 1812  |**Function code**|**Name**|(((
1813 1813  **Setting method**
1814 1814  )))|(((
... ... @@ -1824,7 +1824,7 @@
1824 1824  
1825 1825  ✎**Note: **If the filter time constant is set too large, the responsiveness will be reduced. Please set it while confirming the responsiveness.
1826 1826  
1827 -
1849 +(% style="text-align:center" %)
1828 1828  [[image:image-20220608172646-38.png]]
1829 1829  
1830 1830  Figure 6-43 Torque instruction-first-order filtering diagram
... ... @@ -1835,7 +1835,7 @@
1835 1835  
1836 1836  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.
1837 1837  
1838 -
1860 +(% style="text-align:center" %)
1839 1839  [[image:image-20220608172806-39.png]]
1840 1840  
1841 1841  Figure 6-44 Torque instruction limit diagram
... ... @@ -1844,7 +1844,6 @@
1844 1844  
1845 1845  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.
1846 1846  
1847 -
1848 1848  |**Function code**|**Name**|(((
1849 1849  **Setting method**
1850 1850  )))|(((
... ... @@ -1868,7 +1868,6 @@
1868 1868  
1869 1869  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.
1870 1870  
1871 -
1872 1872  |**Function code**|**Name**|(((
1873 1873  **Setting method**
1874 1874  )))|(((
... ... @@ -1899,7 +1899,6 @@
1899 1899  
1900 1900  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.
1901 1901  
1902 -
1903 1903  |**DO function code**|**Function name**|**Function**
1904 1904  |139|(((
1905 1905  T-LIMIT in torque limit
... ... @@ -1964,7 +1964,7 @@
1964 1964  
1965 1965  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.
1966 1966  
1967 -
1986 +(% style="text-align:center" %)
1968 1968  [[image:image-20220608173541-42.png]]
1969 1969  
1970 1970  Figure 6-47 Torque arrival output diagram
... ... @@ -1971,7 +1971,6 @@
1971 1971  
1972 1972  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]]__.
1973 1973  
1974 -
1975 1975  |**Function code**|**Name**|(((
1976 1976  **Setting method**
1977 1977  )))|(((
... ... @@ -2016,15 +2016,14 @@
2016 2016  
2017 2017  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:
2018 2018  
2019 -Position mode Speed mode
2037 +Position mode⇔ Speed mode
2020 2020  
2021 -Position mode Torque mode
2039 +Position mode ⇔Torque mode
2022 2022  
2023 -Speed mode Torque mode
2041 +Speed mode ⇔Torque mode
2024 2024  
2025 2025  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.
2026 2026  
2027 -
2028 2028  |**Function code**|**Name**|(((
2029 2029  **Setting method**
2030 2030  )))|(((
... ... @@ -2052,7 +2052,6 @@
2052 2052  
2053 2053  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.
2054 2054  
2055 -
2056 2056  |**DI function code**|**Name**|**Function name**|**Function**
2057 2057  |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(((
2058 2058  |**P00-01**|**MixModeSel terminal logic**|**Control mode**
... ... @@ -2088,7 +2088,7 @@
2088 2088  
2089 2089  The relationship between encoder feedback position and rotating load position is shown in the figure below. (take a 17-bit encoder as an example).
2090 2090  
2091 -
2107 +(% style="text-align:center" %)
2092 2092  [[image:image-20220608173618-43.png]]
2093 2093  
2094 2094  Figure 6-48 Diagram of relationship between encoder feedback position and rotating load position
... ... @@ -2097,7 +2097,6 @@
2097 2097  
2098 2098  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.
2099 2099  
2100 -
2101 2101  |**Encoder type**|**Encoder resolution (bits)**|**Data range**
2102 2102  |C1 (multi-turn magnetic encoder)|17|0 to 131071
2103 2103  |D2 (multi-turn Optical encoder)|23|0 to 8388607
... ... @@ -2106,7 +2106,7 @@
2106 2106  
2107 2107  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).
2108 2108  
2109 -
2124 +(% style="text-align:center" %)
2110 2110  [[image:image-20220608173701-44.png]]
2111 2111  
2112 2112  Figure 6-49 The relationship between encoder feedback position and rotating load position
... ... @@ -2115,7 +2115,6 @@
2115 2115  
2116 2116  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.
2117 2117  
2118 -
2119 2119  |**Monitoring number**|**Category**|**Name**|**Unit**|**Data type**
2120 2120  |U0-54|Universal|Absolute encoder position within 1 turn|Encoder unit|32-bit
2121 2121  |U0-55|Universal|Rotations number of absolute encoder|circle|16-bit
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