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Changes for page 06 Operation

Last modified by Iris on 2025/07/23 15:49
From version 51.29
edited by Stone Wu
on 2022/07/07 10:52
Change comment: There is no comment for this version
To version 51.35
edited by Stone Wu
on 2022/07/07 11:12
Change comment: There is no comment for this version

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... ... @@ -2126,35 +2126,68 @@
2126 2126  
2127 2127  Figure 6-49 The relationship between encoder feedback position and rotating load position
2128 2128  
2129 -== **Encoder feedback data** ==
2129 +== **Related functions and parameters** ==
2130 2130  
2131 +**Encoder feedback data**
2132 +
2131 2131  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.
2132 2132  
2133 -|**Monitoring number**|**Category**|**Name**|**Unit**|**Data type**
2135 +|**Monitoring number**|**Category**|**Name**|**Unit**|**Data type**
2134 2134  |U0-54|Universal|Absolute encoder position within 1 turn|Encoder unit|32-bit
2135 2135  |U0-55|Universal|Rotations number of absolute encoder|circle|16-bit
2136 2136  |U0-56|Universal|Multi-turn absolute value encoder current position|Instruction unit|32-bit
2137 2137  
2138 -Table 6-55 Encoder feedback data
2140 +Table 6-55 Encoder feedback data
2139 2139  
2140 -== **Absolute value system encoder battery box use precautions** ==
2142 +**Shield multi-turn absolute encoder battery fault**
2141 2141  
2142 -Er.40 (Encoder battery failure) will occur when the battery is turned on for the first time, and the function code P10-03 must be set to 1 to clear the encoder fault to operate the absolute value system again.
2144 +The VD2 series absolute value servo drive provides shielded multi-turn absolute encoder battery fault function to shield under voltage and low-voltage fault. You could set by setting the function code P00-30.
2143 2143  
2146 +|**Function code**|**Name**|(((
2147 +**Setting**
2144 2144  
2145 -[[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/45.jpg?rev=1.1||height="303" width="750"]]
2149 +**method**
2150 +)))|(((
2151 +**Effective**
2146 2146  
2147 -Figure 6-50 the encoder battery box
2153 +**time**
2154 +)))|**Default value**|**Range**|**Definition**|**Unit**
2155 +|P00-30|Shield multi-turn absolute encoder battery fault|Operation setting|Power on again|0|0 to 1|(((
2156 +0：Detect multi-turn absolute encoder battery under voltage, and battery low voltage fault
2148 2148  
2149 -When it is detected that the battery voltage is less than 3.1V, A-92 (Encoder battery low voltage warning) will occur. Please replace the battery in time. The specific replacement method is as follows:
2158 +1: (Not recommended) Shield multi-turn absolute motor battery failure alarm. Multi-turn absolute application may cause mechanical fault, only multi-turn absolute encoder motors is used as single-turn absolute
2159 +)))|-
2150 2150  
2151 -1. Step1 The servo drive is powered on and is in a non-operational state;
2152 -1. Step2 Replace the battery;
2153 -1. Step3 Set P10-03 to 1, and the drive will release A-92. It will run normally without other abnormal warnings.
2161 +This function is permitted when a multi-turn absolute encoder motor is used as a single-turn absolute and when it is confirmed that no mechanical failure will occur.
2154 2154  
2155 -When the servo drive is powered off, if the battery is replaced and powered on again, Er.40 (encoder battery failure) will occur, and the multi-turn data will change suddenly. Please set the function code P10-03 or P10-06 to 1 to clear the encoder fault alarms and perform the origin return function operation again.
2163 +**✎Note: **Be sure to use the shield multi-turn absolute encoder battery fault function carefully, otherwise it may cause data loss, mechanical failure, or even personal injury or death.
2156 2156  
2165 +== **Absolute value system encoder battery box use precautions**. ==
2157 2157  
2167 +**Cautions**
2168 +
2169 +Er.40 (Encoder battery failure) will occur when the battery is turned on for the first time, and the function code P10-03 must be set to 1 to clear the encoder fault to operate the absolute value system again.
2170 +
2171 +(% style="text-align:center" %)
2172 +[[image:image-20220707111333-28.png]]
2173 +
2174 +Figure 6-50 the encoder battery box
2175 +
2176 +When it is detected that the battery voltage is less than 3.1V, A-92 (Encoder battery low voltage warning) will occur. Please replace the battery in time.
2177 +
2178 +**Replace the battery**
2179 +
2180 +Please replace the battery while keeping the servo drive and motor well connected and the power on.
2181 +
2182 +The specific replacement method is as follows:
2183 +
2184 +* Step1 Push open the buckles on both ends of the outer cover of the battery compartment and open the outer cover.
2185 +* Step2 Remove the old battery.
2186 +* Step3 Embed the new battery, and the battery plug wire according to the anti-dull port on the battery box for placement.
2187 +* Step4 Close the outer cover of the battery box, please be careful not to pinch the connector wiring when closing.
2188 +
2189 +When the servo drive is powered off, if the battery is replaced and powered on again, Er.40 (encoder battery failure) will occur, and the multi-turn data will change suddenly. Please set the function code P10-03 or P10-06 to 1 to clear the encoder fault alarms and perform the origin return function operation again.
2190 +
2158 2158  |**Function code**|**Name**|(((
2159 2159  **Setting method**
2160 2160  )))|(((
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