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Changes for page 06 Operation

Last modified by Iris on 2025/08/08 14:40
From version 51.18
edited by Stone Wu
on 2022/07/07 10:23
Change comment: (Autosaved)
To version 51.8
edited by Stone Wu
on 2022/07/07 09:43
Change comment: (Autosaved)

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Details

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Content
... ... @@ -671,6 +671,7 @@
671 671  
672 672  Table 6-14 Position pulse type selection parameter
673 673  
674 +
674 674  |=(% scope="row" %)**Pulse type selection**|=**Pulse type**|=**Signal**|=**Schematic diagram of forward pulse**|=**Schematic diagram of negative pulse**
675 675  |=0|(((
676 676  Direction + pulse
... ... @@ -755,7 +755,7 @@
755 755  
756 756  The servo drive completely runs the multi-segment position instruction set by P07-01 once, and the total number of positions is called completing one round of operation.
757 757  
758 -(% style="text-align:center" %)
759 +
759 759  [[image:image-20220608164116-9.png]]
760 760  
761 761  Figure 6-11 The setting process of multi-segment position
... ... @@ -762,6 +762,7 @@
762 762  
763 763  1) Set multi-segment position running mode
764 764  
766 +
765 765  |=(% scope="row" %)**Function code**|=**Name**|=(((
766 766  **Setting method**
767 767  )))|=(((
... ... @@ -816,7 +816,6 @@
816 816  In this running mode, the segment number is automatically incremented and switched, and the servo drive only operates for one round (the servo drive runs completely once for the total number of multi-segment position instructions set by P07-02 and P07-03). The single running curve is shown in __[[Figure 6-12>>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/image-20220608164226-10.png?rev=1.1]]__, and S1 and S2 are the displacements of the 1st segment and the 2nd segment respectively
817 817  
818 818  
819 -(% style="text-align:center" %)
820 820  [[image:image-20220608164226-10.png]]
821 821  
822 822  Figure 6-12 Single running curve (P07-02=1, P07-03=2)
... ... @@ -826,7 +826,6 @@
826 826  In this running mode, the position number is automatically incremented and switched, and the servo drive repeatedly runs the total number of multi-segment position instructions set by P07-02 and P07-03. The waiting time could be set between each segment. The cycle running curve is shown in __[[Figure 6-13>>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/image-20220608164327-11.png?rev=1.1]]__, and S1,S2,S3 and S4 are the displacements of the 1st, 2nd, 3rd and 4th segment respectively.
827 827  
828 828  
829 -(% style="text-align:center" %)
830 830  [[image:image-20220608164327-11.png]]
831 831  
832 832  Figure 6-13 Cycle running curve (P07-02=1, P07-03=4)
... ... @@ -838,6 +838,7 @@
838 838  
839 839  In this running mode, the next running segment number could be set when operating the current segment number. The interval time is determined by the instruction delay of the host computer. The running segment number is determined by DI terminal logic, and the related function codes are shown in the table below.
840 840  
841 +
841 841  |=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
842 842  |=21|INPOS1: Internal multi-segment position segment selection 1|Form internal multi-segment position running segment number
843 843  |=22|INPOS2: Internal multi-segment position segment selection 2|Form internal multi-segment position running segment number
... ... @@ -848,6 +848,7 @@
848 848  
849 849  The multi-segment segment number is a 4-bit binary number, and the DI terminal logic is level valid. When the input level is valid, the segment selection bit value is 1, otherwise it is 0. Table 6-17 shows the correspondence between the position bits 1 to 4 of the internal multi-segment position and the position number.
850 850  
852 +
851 851  |=(% scope="row" %)**INPOS4**|=**INPOS3**|=**INPOS2**|=**INPOS1**|=**Running position number**
852 852  |=0|0|0|0|1
853 853  |=0|0|0|1|2
... ... @@ -859,7 +859,7 @@
859 859  
860 860  The operating curve in this running mode is shown in __[[Figure 6-14>>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/image-20220608164545-12.png?rev=1.1]]__.
861 861  
862 -(% style="text-align:center" %)
864 +
863 863  [[image:image-20220608164545-12.png]]
864 864  
865 865  Figure 6-14 DI switching running curve
... ... @@ -870,12 +870,12 @@
870 870  
871 871  In this processing way, the multi-segment position instruction enable is OFF during running, the servo drive will abandon the unfinished displacement part and shutdown, and the positioning completion signal will be valid after the shutdown is complete. When the multi-segment position enable is ON, and the servo drive will start to run from the next segment where the OFF occurs. The curves of single running and cycle running are shown in __[[Figure 6-15>>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/image-20220608164847-13.png?rev=1.1]]__ and __[[Figure 6-16>>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/image-20220608165032-14.png?rev=1.1]]__ respectively.
872 872  
873 -(% style="text-align:center" %)
875 +
874 874  [[image:image-20220608164847-13.png]]
875 875  
876 876  Figure 6-15 Single running-run the remaining segments (P07-02=1, P07-03=4)
877 877  
878 -(% style="text-align:center" %)
880 +
879 879  [[image:image-20220608165032-14.png]]
880 880  
881 881  Figure 6-16 Cycle running-run the remaining segment (P07-02=1, P07-03=4)
... ... @@ -884,12 +884,12 @@
884 884  
885 885  In this processing mode, when the multi-segment position instruction enable is OFF during running, the servo drive will abandon the uncompleted displacement part and shutdown. After the shutdown is completed, the positioning completion signal is valid. When the multi-segment position enable is ON, and the servo drive will start to operate from the next position set by P07-02. The curves of single running and cycle running are shown in __[[Figure 6-17>>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/image-20220608165343-15.png?rev=1.1]]__ and __[[Figure 6-18>>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/image-20220608165558-16.png?rev=1.1]]__ respectively.
886 886  
887 -(% style="text-align:center" %)
889 +
888 888  [[image:image-20220608165343-15.png]]
889 889  
890 890  Figure 6-17 Single running-run from the start segment again (P07-02=1, P07-03=4)
891 891  
892 -(% style="text-align:center" %)
894 +
893 893  [[image:image-20220608165558-16.png]]
894 894  
895 895  Figure 6-18 Cyclic running-run from the start segment again (P07-02=1, P07-03=4)
... ... @@ -922,6 +922,7 @@
922 922  
923 923  The multi-segment position running supports maximum 16 segments different position instructions. The displacement, maximum running speed (steady-state running speed), acceleration and deceleration time of each position and the waiting time between segment could all be set. __[[Table 6-19>>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/#HPositioninstructioninputsetting]]__ are the related function codes of the 1st segment running curve.
924 924  
927 +
925 925  |=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit**
926 926  |=P07-09|(((
927 927  1st segment
... ... @@ -956,7 +956,7 @@
956 956  
957 957  After setting the above parameters, the actual operation curve of the motor is shown in Figure 6-23.
958 958  
959 -(% style="text-align:center" %)
962 +
960 960  [[image:image-20220608170149-21.png]]
961 961  
962 962  Figure 6-23 The 1st segment running curve of motor
... ... @@ -965,6 +965,7 @@
965 965  
966 966  When selecting multi-segment position instruction as the instruction source, configure 1 DI port channel of the servo drive to function 20 (internal multi-segment position enable signal), and confirm the valid logic of the DI terminal.
967 967  
971 +
968 968  |=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
969 969  |=20|ENINPOS: Internal multi-segment position enable signal|(((
970 970  DI port logic invalid: Does not affect the current operation of the servo motor.
... ... @@ -986,20 +986,37 @@
986 986  
987 987  It it noted that the electronic gear ratio setting range of the 2500-line incremental encoder should meet the formula (6-1), and the electronic gear ratio setting range of the 17-bit encoder should meet the formula (6-2), setting range of the electronic gear ratio of 23-bit encoder should meet the formula (6-3)
988 988  
989 -(% style="text-align:center" %)
990 -[[image:image-20220707094901-16.png]]
991 991  
994 +[[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/35.png?rev=1.1]]
992 992  
993 993  
997 +[[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/36.png?rev=1.1]]
994 994  
999 +
1000 +[[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/37.png?rev=1.1]]
1001 +
995 995  Otherwise, the servo drive will report Er.35: "Electronic gear ratio setting exceeds the limit"!
996 996  
997 997  **(2) Setting steps of electronic gear ratio**
998 998  
999 -[[image:image-20220707100850-20.jpeg]]
1000 1000  
1007 +[[image:image-20220608170320-22.png]]
1008 +
1001 1001  Figure 6-24 Setting steps of electronic gear ratio
1002 1002  
1011 +Step1: Confirm the mechanical parameters including the reduction ratio, the ball screw lead, gear diameter in the gear drive, and pulley diameter in the pulley drive.
1012 +
1013 +Step2: Confirm the resolution of servo motor encoder.
1014 +
1015 +Step3: Confirm the parameters such as mechanical specifications, positioning accuracy, etc, and determine the load displacement corresponding to one position instruction output by the host computer.
1016 +
1017 +Step4: Combine the mechanical parameters and the load displacement corresponding to one position instruction, calculate the position instruction value required for one rotation of the load shaft.
1018 +
1019 +Step5: Calculate the value of electronic gear ratio according to formula below.
1020 +
1021 +
1022 +[[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/38.png?rev=1.1]]
1023 +
1003 1003  **(3) lectronic gear ratio switch setting**
1004 1004  
1005 1005  
... ... @@ -1065,14 +1065,14 @@
1065 1065  
1066 1066  Table 6-21 Switching conditions of electronic gear ratio group
1067 1067  
1068 -|=(% scope="row" %)**P00-16 value**|=(% style="width: 510px;" %)**DI terminal level corresponding to DI port function 9**|=(% style="width: 400px;" %)**Electronic gear ratio** [[image:image-20220707101503-24.png]]
1069 -|=(% rowspan="2" %)0|(% style="width:510px" %)DI port logic invalid|(% style="width:400px" %)[[image:image-20220707101328-21.png]]
1070 -|=(% style="width: 510px;" %)DI port logic valid|(% style="width:400px" %)[[image:image-20220707101336-22.png]]
1071 -|=1 to 131072|(% style="width:510px" %)~-~-|(% style="width:400px" %)[[image:image-20220707101341-23.png]]
1089 +|=(% scope="row" %)**P00-16 value**|=**DI terminal level corresponding to DI port function 9**|=**Electronic gear ratio**[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/39.png?rev=1.1]]
1090 +|=(% rowspan="2" %)0|DI port logic invalid|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/40.png?rev=1.1]]
1091 +|=DI port logic valid|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/41.png?rev=1.1]]
1092 +|=1 to 131072|~-~-|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/42.png?rev=1.1]]
1072 1072  
1073 1073  Table 6-22 Application of electronic gear ratio
1074 1074  
1075 -When the function code P00-16 is not 0, the electronic gear ratio [[image:image-20220707101509-25.png]] is invalid.
1096 +When the function code P00-16 is not 0, the electronic gear ratio [[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/39.png?rev=1.1]] is invalid.
1076 1076  
1077 1077  == **Position instruction filtering** ==
1078 1078  
... ... @@ -1086,11 +1086,12 @@
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 -(% style="text-align:center" %)
1110 +
1090 1090  [[image:image-20220608170455-23.png]]
1091 1091  
1092 1092  Figure 6-25 Position instruction filtering diagram
1093 1093  
1115 +
1094 1094  |=(% scope="row" %)**Function code**|=**Name**|=(((
1095 1095  **Setting method**
1096 1096  )))|=(((
... ... @@ -1130,7 +1130,7 @@
1130 1130  (% class="wikigeneratedid" %)
1131 1131  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.
1132 1132  
1133 -(% style="text-align:center" %)
1155 +
1134 1134  [[image:image-20220608170550-24.png]]
1135 1135  
1136 1136  Figure 6-26 Positioning completion signal output diagram
... ... @@ -1139,11 +1139,11 @@
1139 1139  
1140 1140  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]]__.
1141 1141  
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  
1168 +
1147 1147  |=(% scope="row" %)**Function code**|=**Name**|=(((
1148 1148  **Setting method**
1149 1149  )))|=(((
... ... @@ -1172,6 +1172,7 @@
1172 1172  
1173 1173  Table 6-24 Function code parameters of positioning completion
1174 1174  
1197 +
1175 1175  |=(% scope="row" %)**DO function code**|=**Function name**|=**Function**
1176 1176  |=134|P-COIN positioning complete|Output this signal indicates the servo drive position is complete.
1177 1177  |=135|(((
... ... @@ -1186,7 +1186,7 @@
1186 1186  
1187 1187  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.
1188 1188  
1189 -(% style="text-align:center" %)
1212 +
1190 1190  [[image:6.28.jpg||height="260" width="806"]]
1191 1191  
1192 1192  Figure 6-28 Speed control block diagram
... ... @@ -1205,7 +1205,7 @@
1205 1205  Shutdown setting
1206 1206  )))|(((
1207 1207  Effective immediately
1208 -)))|1|1 to 1|(((
1231 +)))|1|1 to 6|(((
1209 1209  0: internal speed instruction
1210 1210  
1211 1211  1: AI_1 analog input (not supported by VD2F)
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