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Changes for page 06 Operation

Last modified by Iris on 2025/07/23 15:49
From version 51.26
edited by Stone Wu
on 2022/07/07 10:44
Change comment: There is no comment for this version
To version 51.16
edited by Stone Wu
on 2022/07/07 10:14
Change comment: There is no comment for this version

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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
... ... @@ -1449,15 +1449,16 @@
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
1455 1455  
1456 -**(2) Speed instruction source is internal speed instruction (P01-01=1)**
1419 +**(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" %)
1423 +
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" %)
1430 +
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.
1437 +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" %)
1439 +Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
1440 +
1441 +Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1442 +
1443 +
1479 1479  [[image:image-20220608171124-28.png]]
1480 1480  
1481 1481  Figure 6-32 AI_1 diagram before and after bias
1482 1482  
1448 +
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" %)
1465 +
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]]
1470 +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  
1472 +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]]
1473 +
1474 +
1507 1507  |**Function code**|**Name**|(((
1508 1508  **Setting method**
1509 1509  )))|(((
... ... @@ -1638,6 +1638,7 @@
1638 1638  
1639 1639  Table 6-34 Rotation detection speed threshold parameters
1640 1640  
1609 +
1641 1641  |**DO function code**|**Function name**|**Function**
1642 1642  |132|(((
1643 1643  T-COIN rotation detection
... ... @@ -1653,6 +1653,7 @@
1653 1653  
1654 1654  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.
1655 1655  
1625 +
1656 1656  [[image:image-20220608171904-32.png]]
1657 1657  
1658 1658  Figure 6-36 Zero-speed signal diagram
... ... @@ -1659,6 +1659,7 @@
1659 1659  
1660 1660  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]]__.
1661 1661  
1632 +
1662 1662  |**Function code**|**Name**|(((
1663 1663  **Setting method**
1664 1664  )))|(((
... ... @@ -1684,6 +1684,7 @@
1684 1684  
1685 1685  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.
1686 1686  
1658 +
1687 1687  [[image:image-20220608172053-33.png]]
1688 1688  
1689 1689  Figure 6-37 Speed consistent signal diagram
... ... @@ -1690,6 +1690,7 @@
1690 1690  
1691 1691  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]]__.
1692 1692  
1665 +
1693 1693  |**Function code**|**Name**|(((
1694 1694  **Setting method**
1695 1695  )))|(((
... ... @@ -1715,12 +1715,14 @@
1715 1715  
1716 1716  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.
1717 1717  
1691 +
1718 1718  [[image:image-20220608172207-34.png]]
1719 1719  
1720 1720  Figure 6-38 Speed approaching signal diagram
1721 1721  
1722 -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]]__.
1696 +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]]__.
1723 1723  
1698 +
1724 1724  |**Function code**|**Name**|(((
1725 1725  **Setting method**
1726 1726  )))|(((
... ... @@ -1734,6 +1734,7 @@
1734 1734  
1735 1735  Table 6-40 Speed approaching signal threshold parameters
1736 1736  
1712 +
1737 1737  |**DO function code**|**Function name**|**Function**
1738 1738  |137|(((
1739 1739  V-NEAR speed approach
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