Changes for page 06 Operation

Last modified by Iris on 2025/08/05 10:23

From 51.20 to 51.21 From 51.29 to 51.30

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 51.29

edited by Stone Wu
on 2022/07/07 10:52

Change comment: There is no comment for this version

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- image-20220707103616-27.png

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@@ -1453,11 +1453,11 @@
  Figure 6-29 Multi-segment speed running curve
--**(2) Speed instruction source is internal speed instruction (P01-01=0)**
++**(2) Speed instruction source is internal speed instruction (P01-01=1)**
  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.
--
++(% style="text-align:center" %)
  [[image:image-20220608153341-5.png]]
  Figure 6-30 Analog input circuit
@@ -1464,7 +1464,7 @@
  Taking AI_1 as an example, the method of setting the speed instruction of analog voltage is illustrated as below.
--
++(% style="text-align:center" %)
  [[image:image-20220608170955-27.png]]
  Figure 6-31 Analog voltage speed instruction setting steps
@@ -1471,18 +1471,15 @@
  Explanation of related terms:
--Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
++* Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
++* Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
++* Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
--Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
--
--Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
--
--
++(% style="text-align:center" %)
  [[image:image-20220608171124-28.png]]
  Figure 6-32 AI_1 diagram before and after bias
--
  |**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
  |P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
  |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
@@ -1499,16 +1499,14 @@
  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.
--
++(% style="text-align:center" %)
  [[image:image-20220608171314-29.png]]
  Figure 6-33 of acceleration and deceleration time diagram
--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]]
++(% style="text-align:center" %)
++[[image:image-20220707103616-27.png]]
--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]]
--
--
  |**Function code**|**Name**|(((
  **Setting method**
  )))|(((
@@ -1643,7 +1643,6 @@
  Table 6-34 Rotation detection speed threshold parameters
--
  |**DO function code**|**Function name**|**Function**
  |132|(((
  T-COIN rotation detection
@@ -1659,7 +1659,6 @@
  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.
--
  [[image:image-20220608171904-32.png]]
  Figure 6-36 Zero-speed signal diagram
@@ -1666,7 +1666,6 @@
  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]]__.
--
  |**Function code**|**Name**|(((
  **Setting method**
  )))|(((
@@ -1692,7 +1692,6 @@
  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.
--
  [[image:image-20220608172053-33.png]]
  Figure 6-37 Speed consistent signal diagram
@@ -1699,7 +1699,6 @@
  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]]__.
--
  |**Function code**|**Name**|(((
  **Setting method**
  )))|(((
@@ -1725,14 +1725,12 @@
  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.
--
  [[image:image-20220608172207-34.png]]
  Figure 6-38 Speed approaching signal diagram
--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]]__.
++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]]__.
--
  |**Function code**|**Name**|(((
  **Setting method**
  )))|(((
@@ -1746,7 +1746,6 @@
  Table 6-40 Speed approaching signal threshold parameters
--
  |**DO function code**|**Function name**|**Function**
  |137|(((
  V-NEAR speed approach
@@ -1807,7 +1807,7 @@
  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.
--
++(% style="text-align:center" %)
  [[image:image-20220608153646-7.png||height="213" width="408"]]
  Figure 6-40 Analog input circuit
@@ -1814,7 +1814,7 @@
  Taking AI_1 as an example, the method of setting torque instruction of analog voltage is as below.
--
++(% style="text-align:center" %)
  [[image:image-20220608172502-36.png]]
  Figure 6-41 Analog voltage torque instruction setting steps
@@ -1821,18 +1821,15 @@
  Explanation of related terms:
--Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
++* Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
++* Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
++* Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
--Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
--
--Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
--
--
++(% style="text-align:center" %)
  [[image:image-20220608172611-37.png]]
  Figure 6-42 AI_1 diagram before and after bias
--
  |**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
  |P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
  |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
@@ -1847,7 +1847,6 @@
  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]]__.
--
  |**Function code**|**Name**|(((
  **Setting method**
  )))|(((
@@ -1863,7 +1863,7 @@
  ✎**Note: **If the filter time constant is set too large, the responsiveness will be reduced. Please set it while confirming the responsiveness.
--
++(% style="text-align:center" %)
  [[image:image-20220608172646-38.png]]
  Figure 6-43 Torque instruction-first-order filtering diagram
@@ -1874,7 +1874,7 @@
  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.
--
++(% style="text-align:center" %)
  [[image:image-20220608172806-39.png]]
  Figure 6-44 Torque instruction limit diagram
@@ -1883,7 +1883,6 @@
  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.
--
  |**Function code**|**Name**|(((
  **Setting method**
  )))|(((
@@ -1907,7 +1907,6 @@
  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.
--
  |**Function code**|**Name**|(((
  **Setting method**
  )))|(((
@@ -1938,7 +1938,6 @@
  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.
--
  |**DO function code**|**Function name**|**Function**
  |139|(((
  T-LIMIT in torque limit
@@ -2003,7 +2003,7 @@
  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.
--
++(% style="text-align:center" %)
  [[image:image-20220608173541-42.png]]
  Figure 6-47 Torque arrival output diagram
@@ -2010,7 +2010,6 @@
  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]]__.
--
  |**Function code**|**Name**|(((
  **Setting method**
  )))|(((
@@ -2055,15 +2055,14 @@
  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:
--Position mode  Speed mode
++Position mode⇔ Speed mode
--Position mode  Torque mode
++Position mode ⇔Torque mode
--Speed mode  Torque mode
++Speed mode ⇔Torque mode
  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.
--
  |**Function code**|**Name**|(((
  **Setting method**
  )))|(((
@@ -2091,7 +2091,6 @@
  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.
--
  |**DI function code**|**Name**|**Function name**|**Function**
  |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(((
  |**P00-01**|**MixModeSel terminal logic**|**Control mode**
@@ -2127,7 +2127,7 @@
  The relationship between encoder feedback position and rotating load position is shown in the figure below. (take a 17-bit encoder as an example).
--
++(% style="text-align:center" %)
  [[image:image-20220608173618-43.png]]
  Figure 6-48 Diagram of relationship between encoder feedback position and rotating load position
@@ -2136,7 +2136,6 @@
  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.
--
  |**Encoder type**|**Encoder resolution (bits)**|**Data range**
  |C1 (multi-turn magnetic encoder)|17|0 to 131071
  |D2 (multi-turn Optical encoder)|23|0 to 8388607
@@ -2145,7 +2145,7 @@
  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).
--
++(% style="text-align:center" %)
  [[image:image-20220608173701-44.png]]
  Figure 6-49 The relationship between encoder feedback position and rotating load position
@@ -2154,7 +2154,6 @@
  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.
--
  |**Monitoring number**|**Category**|**Name**|**Unit**|**Data type**
  |U0-54|Universal|Absolute encoder position within 1 turn|Encoder unit|32-bit
  |U0-55|Universal|Rotations number of absolute encoder|circle|16-bit

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