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Changes for page 06 Operation

Last modified by Iris on 2025/07/23 15:49
From version 51.22
edited by Stone Wu
on 2022/07/07 10:33
Change comment: (Autosaved)
To version 51.18
edited by Stone Wu
on 2022/07/07 10:23
Change comment: (Autosaved)

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... ... @@ -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
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.
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" %)(((
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" %)(((
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" %)(((
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" %)(((
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" %)(((
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" %)(((
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" %)(((
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" %)(((
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
1304 +)))|(% rowspan="2" %)rpm
1305 +|-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" %)(((
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" %)(((
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" %)(((
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" %)(((
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" %)(((
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" %)(((
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" %)(((
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" %)(((
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
1385 +)))|(% rowspan="2" %)rpm
1386 +|-5000 to 5000*
1430 1430  
1431 1431  Table 6-27 Internal speed instruction parameters
1432 1432  
1390 +✎**Note: **“*” means the set range of VD2F servo drive.
1391 +
1392 +
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
... ... @@ -1449,15 +1449,16 @@
1449 1449  
1450 1450  Table 6-29 Correspondence between INSPD bits and segment numbers
1451 1451  
1412 +
1452 1452  [[image:image-20220608170845-26.png]]
1453 1453  
1454 1454  Figure 6-29 Multi-segment speed running curve
1455 1455  
1456 -**(2) Speed instruction source is internal speed instruction (P01-01=1)**
1417 +**(2) Speed instruction source is internal speed instruction (P01-01=0)**
1457 1457  
1458 1458  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.
1459 1459  
1460 -(% style="text-align:center" %)
1421 +
1461 1461  [[image:image-20220608153341-5.png]]
1462 1462  
1463 1463  Figure 6-30 Analog input circuit
... ... @@ -1464,7 +1464,7 @@
1464 1464  
1465 1465  Taking AI_1 as an example, the method of setting the speed instruction of analog voltage is illustrated as below.
1466 1466  
1467 -(% style="text-align:center" %)
1428 +
1468 1468  [[image:image-20220608170955-27.png]]
1469 1469  
1470 1470  Figure 6-31 Analog voltage speed instruction setting steps
... ... @@ -1471,15 +1471,18 @@
1471 1471  
1472 1472  Explanation of related terms:
1473 1473  
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.
1435 +Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
1477 1477  
1478 -(% style="text-align:center" %)
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 +
1479 1479  [[image:image-20220608171124-28.png]]
1480 1480  
1481 1481  Figure 6-32 AI_1 diagram before and after bias
1482 1482  
1446 +
1483 1483  |**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
1484 1484  |P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1485 1485  |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
... ... @@ -1496,12 +1496,14 @@
1496 1496  
1497 1497  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.
1498 1498  
1499 -(% style="text-align:center" %)
1463 +
1500 1500  [[image:image-20220608171314-29.png]]
1501 1501  
1502 1502  Figure 6-33 of acceleration and deceleration time diagram
1503 1503  
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 1504  
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]]
1505 1505  
1506 1506  
1507 1507  |**Function code**|**Name**|(((