Changes for page 06 Operation

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...	...	@@ -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)
...	...	@@ -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
	1241	+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" %)(((
	1244	+|**Function code**|**Name**|(((
	1245	+**Setting method**
	1246	+)))|(((
	1247	+**Effective time**
	1248	+)))|**Default value**|**Range**|**Definition**|**Unit**
	1249	+|(% rowspan="2" %)P01-02|(% rowspan="2" %)(((
	1250	+Internal speed Instruction 0
	1251	+)))|(% rowspan="2" %)(((
	1252	+Operation setting
	1253	+)))|(% rowspan="2" %)(((
	1254	+Effective immediately
	1255	+)))|(% 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" %)(((
	1267	+)))|(% rowspan="2" %)rpm
	1268	+|-5000 to 5000*
	1269	+|(% rowspan="2" %)P01-23|(% rowspan="2" %)(((
	1270	+Internal speed Instruction 1
	1271	+)))|(% rowspan="2" %)(((
	1272	+Operation setting
	1273	+)))|(% rowspan="2" %)(((
	1274	+Effective immediately
	1275	+)))|(% 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" %)(((
	1287	+)))|(% rowspan="2" %)rpm
	1288	+|-5000 to 5000*
	1289	+|(% rowspan="2" %)P01-24|(% rowspan="2" %)(((
	1290	+Internal speed Instruction 2
	1291	+)))|(% rowspan="2" %)(((
	1292	+Operation setting
	1293	+)))|(% rowspan="2" %)(((
	1294	+Effective immediately
	1295	+)))|(% 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" %)(((
	1307	+)))|(% rowspan="2" %)rpm
	1308	+|-5000 to 5000*
	1309	+|(% rowspan="2" %)P01-25|(% rowspan="2" %)(((
	1310	+Internal speed Instruction 3
	1311	+)))|(% rowspan="2" %)(((
	1312	+Operation setting
	1313	+)))|(% rowspan="2" %)(((
	1314	+Effective immediately
	1315	+)))|(% 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
	1327	+)))|(% rowspan="2" %)rpm
	1328	+|-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" %)(((
	1330	+|(% rowspan="2" %)P01-26|(% rowspan="2" %)(((
	1331	+Internal speed Instruction 4
	1332	+)))|(% rowspan="2" %)(((
	1333	+Operation setting
	1334	+)))|(% rowspan="2" %)(((
	1335	+Effective immediately
	1336	+)))|(% 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" %)(((
	1348	+)))|(% rowspan="2" %)rpm
	1349	+|-5000 to 5000*
	1350	+|(% rowspan="2" %)P01-27|(% rowspan="2" %)(((
	1351	+Internal speed Instruction 5
	1352	+)))|(% rowspan="2" %)(((
	1353	+Operation setting
	1354	+)))|(% rowspan="2" %)(((
	1355	+Effective immediately
	1356	+)))|(% 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" %)(((
	1368	+)))|(% rowspan="2" %)rpm
	1369	+|-5000 to 5000*
	1370	+|(% rowspan="2" %)P01-28|(% rowspan="2" %)(((
	1371	+Internal speed Instruction 6
	1372	+)))|(% rowspan="2" %)(((
	1373	+Operation setting
	1374	+)))|(% rowspan="2" %)(((
	1375	+Effective immediately
	1376	+)))|(% 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" %)(((
	1388	+)))|(% rowspan="2" %)rpm
	1389	+|-5000 to 5000*
	1390	+|(% rowspan="2" %)P01-29|(% rowspan="2" %)(((
	1391	+Internal speed Instruction 7
	1392	+)))|(% rowspan="2" %)(((
	1393	+Operation setting
	1394	+)))|(% rowspan="2" %)(((
	1395	+Effective immediately
	1396	+)))|(% 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
	1408	+)))|(% rowspan="2" %)rpm
	1409	+|-5000 to 5000*
1430	1430
1431	1431	Table 6-27 Internal speed instruction parameters
1432	1432
	1413	+✎**Note: **“*” means the set range of VD2F servo drive.
	1414	+
	1415	+
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
	1435	+
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)**
	1440	+**(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" %)
	1444	+
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" %)
	1451	+
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.
	1458	+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" %)
	1460	+Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
	1461	+
	1462	+Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
	1463	+
	1464	+
1479	1479	[[image:image-20220608171124-28.png]]
1480	1480
1481	1481	Figure 6-32 AI_1 diagram before and after bias
1482	1482
	1469	+
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
...	...	@@ -1496,14 +1496,16 @@
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" %)
	1486	+
1500	1500	[[image:image-20220608171314-29.png]]
1501	1501
1502	1502	Figure 6-33 of acceleration and deceleration time diagram
1503	1503
1504		-(% style="text-align:center" %)
1505		-[[image:image-20220707103616-27.png]]
	1491	+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]]
1506	1506
	1493	+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]]
	1494	+
	1495	+
1507	1507	|**Function code**|**Name**|(((
1508	1508	**Setting method**
1509	1509	)))|(((

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