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Changes for page 06 Operation

Last modified by Iris on 2025/07/23 15:49
From version 51.21
edited by Stone Wu
on 2022/07/07 10:30
Change comment: There is no comment for this version
To version 51.17
edited by Stone Wu
on 2022/07/07 10:18
Change comment: (Autosaved)

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Content
... ... @@ -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" %)
1089 +
1090 1090  [[image:image-20220608170455-23.png]]
1091 1091  
1092 1092  Figure 6-25 Position instruction filtering diagram
1093 1093  
1094 +
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" %)
1134 +
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  
1147 +
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  
1176 +
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" %)
1191 +
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|(((
1210 +)))|1|1 to 6|(((
1209 1209  0: internal speed instruction
1210 1210  
1211 1211  1: AI_1 analog input (not supported by VD2F)
... ... @@ -1215,31 +1215,21 @@
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 belo
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.
1219 1219  
1220 -(% style="width:1141px" %)
1221 -|(% colspan="1" %)**Function code**|(% colspan="2" %)**Name**|(% colspan="2" %)(((
1222 -**Setting**
1223 1223  
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" %)(((
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" %)(((
1243 1243  Internal speed instruction 0
1244 1244  
1245 1245  When DI input port:
... ... @@ -1251,20 +1251,15 @@
1251 1251  13-INSPD1: 0,
1252 1252  
1253 1253  select this speed instruction to be effective.
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" %)(((
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" %)(((
1268 1268  Internal speed instruction 1
1269 1269  
1270 1270  When DI input port:
... ... @@ -1276,20 +1276,15 @@
1276 1276  13-INSPD1: 1,
1277 1277  
1278 1278  Select this speed instruction to be effective.
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" %)(((
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" %)(((
1293 1293  Internal speed instruction 2
1294 1294  
1295 1295  When DI input port:
... ... @@ -1301,20 +1301,15 @@
1301 1301  13-INSPD1: 0,
1302 1302  
1303 1303  Select this speed instruction to be effective.
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" %)(((
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" %)(((
1318 1318  Internal speed instruction 3
1319 1319  
1320 1320  When DI input port:
... ... @@ -1326,20 +1326,16 @@
1326 1326  13-INSPD1: 1,
1327 1327  
1328 1328  Select this speed instruction to be effective.
1329 -)))|(% colspan="2" %)rpm
1330 -|P01-26|(% colspan="2" %)(((
1331 -Internal speed
1306 +)))|(% rowspan="2" %)rpm
1307 +|-5000 to 5000*
1332 1332  
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" %)(((
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" %)(((
1343 1343  Internal speed instruction 4
1344 1344  
1345 1345  When DI input port:
... ... @@ -1351,20 +1351,15 @@
1351 1351  13-INSPD1: 0,
1352 1352  
1353 1353  Select this speed instruction to be effective.
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" %)(((
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" %)(((
1368 1368  Internal speed instruction 5
1369 1369  
1370 1370  When DI input port:
... ... @@ -1376,20 +1376,15 @@
1376 1376  13-INSPD1: 1,
1377 1377  
1378 1378  Select this speed instruction to be effective.
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" %)(((
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" %)(((
1393 1393  Internal speed instruction 6
1394 1394  
1395 1395  When DI input port:
... ... @@ -1401,20 +1401,15 @@
1401 1401  13-INSPD1: 0,
1402 1402  
1403 1403  Select this speed instruction to be effective.
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" %)(((
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" %)(((
1418 1418  Internal speed instruction 7
1419 1419  
1420 1420  When DI input port:
... ... @@ -1426,10 +1426,14 @@
1426 1426  13-INSPD1: 1,
1427 1427  
1428 1428  Select this speed instruction to be effective.
1429 -)))|(% colspan="1" %)rpm
1387 +)))|(% rowspan="2" %)rpm
1388 +|-5000 to 5000*
1430 1430  
1431 1431  Table 6-27 Internal speed instruction parameters
1432 1432  
1392 +✎**Note: **“*” means the set range of VD2F servo drive.
1393 +
1394 +
1433 1433  |**DI function code**|**function name**|**Function**
1434 1434  |13|INSPD1 internal speed instruction selection 1|Form internal multi-speed running segment number
1435 1435  |14|INSPD2 internal speed instruction selection 2|Form internal multi-speed running segment number
... ... @@ -1449,6 +1449,7 @@
1449 1449  
1450 1450  Table 6-29 Correspondence between INSPD bits and segment numbers
1451 1451  
1414 +
1452 1452  [[image:image-20220608170845-26.png]]
1453 1453  
1454 1454  Figure 6-29 Multi-segment speed running curve