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Changes for page 06 Operation

Last modified by Iris on 2025/07/23 15:49
From version 51.27
edited by Stone Wu
on 2022/07/07 10:48
Change comment: (Autosaved)
To version 51.19
edited by Stone Wu
on 2022/07/07 10:28
Change comment: (Autosaved)

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... ... @@ -1327,7 +1327,7 @@
1327 1327  
1328 1328  Select this speed instruction to be effective.
1329 1329  )))|(% colspan="2" %)rpm
1330 -|P01-26|(% colspan="2" %)(((
1330 +|(% colspan="2" %)P01-26|(% colspan="2" %)(((
1331 1331  Internal speed
1332 1332  
1333 1333  Instruction 4
... ... @@ -1339,7 +1339,7 @@
1339 1339  Effective
1340 1340  
1341 1341  immediately
1342 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1342 +)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000*|(% colspan="2" %)(((
1343 1343  Internal speed instruction 4
1344 1344  
1345 1345  When DI input port:
... ... @@ -1352,7 +1352,7 @@
1352 1352  
1353 1353  Select this speed instruction to be effective.
1354 1354  )))|(% colspan="1" %)rpm
1355 -|P01-27|(% colspan="2" %)(((
1355 +|(% colspan="2" %)P01-27|(% colspan="2" %)(((
1356 1356  Internal speed
1357 1357  
1358 1358  Instruction 5
... ... @@ -1377,7 +1377,7 @@
1377 1377  
1378 1378  Select this speed instruction to be effective.
1379 1379  )))|(% colspan="1" %)rpm
1380 -|P01-28|(% colspan="2" %)(((
1380 +|(% colspan="2" %)P01-28|(% colspan="2" %)(((
1381 1381  Internal speed
1382 1382  
1383 1383  Instruction 6
... ... @@ -1402,7 +1402,7 @@
1402 1402  
1403 1403  Select this speed instruction to be effective.
1404 1404  )))|(% colspan="1" %)rpm
1405 -|P01-29|(% colspan="2" %)(((
1405 +|(% colspan="2" %)P01-29|(% colspan="2" %)(((
1406 1406  Internal speed
1407 1407  
1408 1408  Instruction 7
... ... @@ -1430,6 +1430,9 @@
1430 1430  
1431 1431  Table 6-27 Internal speed instruction parameters
1432 1432  
1433 +✎**Note: **“*” means the set range of VD2F servo drive.
1434 +
1435 +
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  
1455 +
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)**
1460 +**(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" %)
1464 +
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" %)
1471 +
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.
1478 +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" %)
1480 +Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
1481 +
1482 +Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1483 +
1484 +
1479 1479  [[image:image-20220608171124-28.png]]
1480 1480  
1481 1481  Figure 6-32 AI_1 diagram before and after bias
1482 1482  
1489 +
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" %)
1506 +
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]]
1511 +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  
1513 +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]]
1514 +
1515 +
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  
1650 +
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  
1666 +
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  
1673 +
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  
1699 +
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  
1706 +
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  
1732 +
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]]__.
1737 +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  
1739 +
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  
1753 +
1737 1737  |**DO function code**|**Function name**|**Function**
1738 1738  |137|(((
1739 1739  V-NEAR speed approach
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