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Changes for page 06 Operation

Last modified by Iris on 2025/08/08 14:40
From version 51.3
edited by Stone Wu
on 2022/07/07 09:23
Change comment: (Autosaved)
To version 46.1
edited by Leo Wei
on 2022/06/11 17:55
Change comment: There is no comment for this version

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1 -Servo.1 User Manual.02 VD2 SA Series.WebHome
1 +Servo.2\. User Manual.06 VD2 SA Series Servo Drives Manual (Full V1\.1).WebHome
Author
... ... @@ -1,1 +1,1 @@
1 -XWiki.Stone
1 +XWiki.admin
Content
... ... @@ -25,7 +25,7 @@
25 25  
26 26  After power on the main circuit, the bus voltage indicator shows no abnormality, and the panel display "rdy", indicating that the servo drive is in an operational state, waiting for the host computer to give the servo enable signal.
27 27  
28 -If the drive panel displays other fault codes, please refer to __[[“10 Faults>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/10%20Malfunctions/]]__” to analyze and eliminate the cause of the fault.
28 +If the drive panel displays other fault codes, please refer to __[[“10 Faults>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/10%20Malfunctions/#HFaultandwarningcodetable]]__” to analyze and eliminate the cause of the fault.
29 29  
30 30  **(2) Set the servo drive enable (S-ON) to invalid (OFF)**
31 31  
... ... @@ -35,7 +35,7 @@
35 35  
36 36  **(1) Panel jog operation**
37 37  
38 -Enter “P10-01” by pressing the key on the panel. After pressing “OK”, the panel will display the current jog speed. At this time, you can adjust the jog speed by pressing the "up" or "down" keys; After adjusting the moving speed, press "OK", and the panel displays "JOG" and is in a flashing state. Press "OK" again to enter the jog operation mode (the motor is now powered on!). Long press the "up" and "down" keys to achieve the forward and reverse rotation of the motor. Press "Mode" key to exit the jog operation mode. For operation and display, please refer to __[["5.3.2. Jog operation">>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/05%20Panel/#HJogoperation]]__.
38 +Enter “P10-01” by pressing the key on the panel. After pressing “OK”, the panel will display the current jog speed. At this time, you can adjust the jog speed by pressing the "up" or "down" keys; After adjusting the moving speed, press "OK", and the panel displays "JOG" and is in a flashing state. Press "OK" again to enter the jog operation mode (the motor is now powered on!). Long press the "up" and "down" keys to achieve the forward and reverse rotation of the motor. Press "Mode" key to exit the jog operation mode. For operation and display, please refer to __[["5.3.2. Jog operation">>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/05%20Panel/#HJogoperation]]__.
39 39  
40 40  **(2) Jog operation of servo debugging platform**
41 41  
... ... @@ -61,7 +61,13 @@
61 61  By setting the “P00-04” rotation direction, you could change the rotation direction of the motor without changing the polarity of the input instruction. The function code is shown in below.
62 62  
63 63  
64 -|=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=Effective time|=**Default value**|=**Range**|=**Definition**|=**Unit**
64 +|=(% scope="row" %)**Function code**|=**Name**|=(((
65 +**Setting method**
66 +)))|=(((
67 +**Effective time**
68 +)))|=(((
69 +**Default value**
70 +)))|=**Range**|=**Definition**|=**Unit**
65 65  |=P00-04|Rotation direction|(((
66 66  Shutdown setting
67 67  )))|(((
... ... @@ -127,7 +127,7 @@
127 127  
128 128  **(2) Input the instruction and the motor rotates**
129 129  
130 -Input appropriate instructions during operation, first run the motor at a low speed, and observe the rotation to see if it conforms to the set rotation direction. Observe the actual running speed, bus voltage and other parameters of the motor through the host computer debugging platform. According to [[__"7 Adjustment"__>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/]], the motor could work as expected.
136 +Input appropriate instructions during operation, first run the motor at a low speed, and observe the rotation to see if it conforms to the set rotation direction. Observe the actual running speed, bus voltage and other parameters of the motor through the host computer debugging platform. According to [[__"7 Adjustment"__>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/]], the motor could work as expected.
131 131  
132 132  **(3) Timing diagram of power on**
133 133  
... ... @@ -138,7 +138,7 @@
138 138  
139 139  == **Servo shutdown** ==
140 140  
141 -According to the different shutdown modes, it could be divided into free shutdown and zero speed shutdown. The respective characteristics are shown in __[[Table 6-5>>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/#HServoshutdown]]__. According to the shutdown status, it could be divided into free running state and position locked, as shown in __[[Table 6-6>>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/#HServoshutdown]]__.
147 +According to the different shutdown modes, it could be divided into free shutdown and zero speed shutdown. The respective characteristics are shown in __[[Table 6-5>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HServoshutdown]]__. According to the shutdown status, it could be divided into free running state and position locked, as shown in __[[Table 6-6>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HServoshutdown]]__.
142 142  
143 143  
144 144  |=(% scope="row" %)Shutdown mode|=Shutdown description|=Shutdown characteristics
... ... @@ -266,7 +266,8 @@
266 266  
267 267  1: virtual VDI_3 input terminal
268 268  )))|-
269 -|=P06-11|DI_4 channel function selection|(((
275 +
276 +|P06-11|DI_4 channel function selection|(((
270 270  Operation setting
271 271  )))|(((
272 272  again Power-on
... ... @@ -319,7 +319,7 @@
319 319  
320 320  Others: reserved
321 321  )))|-
322 -|=P06-12|DI_4 channel logic selection|Operation setting|(((
329 +|P06-12|DI_4 channel logic selection|Operation setting|(((
323 323  Effective immediately
324 324  )))|0|0 to 1|(((
325 325  DI port input logic validity function selection.
... ... @@ -328,7 +328,7 @@
328 328  
329 329  1: Normally closed input. Active high level (switch off);
330 330  )))|-
331 -|=P06-13|DI_4 input source selection|Operation setting|(((
338 +|P06-13|DI_4 input source selection|Operation setting|(((
332 332  Effective immediately
333 333  )))|0|0 to 1|(((
334 334  Select the DI_4 port type to enable
... ... @@ -392,10 +392,10 @@
392 392  Related function code is as below.
393 393  
394 394  
395 -|=(% scope="row" %)**DO function code**|=**Function name**|=**Function**|=(((
402 +|**DO function code**|**Function name**|**Function**|(((
396 396  **Effective time**
397 397  )))
398 -|=144|(((
405 +|144|(((
399 399  BRK-OFF Brake output
400 400  )))|Output the signal indicates the servo motor brake release|Power-on again
401 401  
... ... @@ -402,18 +402,18 @@
402 402  Table 6-2 Relevant function codes for brake setting
403 403  
404 404  
405 -|=(% scope="row" %)**Function code**|=**Name**|=(((
412 +|**Function code**|**Name**|(((
406 406  **Setting method**
407 -)))|=(((
414 +)))|(((
408 408  **Effective time**
409 -)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
410 -|=P1-30|Delay from brake output to instruction reception|(((
416 +)))|**Default value**|**Range**|**Definition**|**Unit**
417 +|P1-30|Delay from brake output to instruction reception|(((
411 411  Operation setting
412 412  )))|Effective immediately|250|0 to 500|Set delay that from the brake (BRK-OFF) output is ON to servo drive allows to receive input instruction. When brake output (BRK-OFF) is not allocated, the function code has no effect.|ms
413 -|=P1-31|In static state, delay from brake output OFF to the motor is power off|(((
420 +|P1-31|In static state, delay from brake output OFF to the motor is power off|(((
414 414  Operation setting
415 415  )))|Effective immediately|150|1 to 1000|When the motor is in a static state, set the delay time from brake (BRK-OFF) output OFF to servo drive enters the non-channel state. When the brake output (BRK-OFF) is not allocated, this function code has no effect.|ms
416 -|=P1-32|Rotation status, when the brake output OFF, the speed threshold|(((
423 +|P1-32|Rotation status, when the brake output OFF, the speed threshold|(((
417 417  Operation setting
418 418  )))|Effective immediately|30|0 to 3000|(((
419 419  When the motor rotates, the motor speed threshold when the brake (BRK-OFF) is allowed to output OFF.
... ... @@ -420,7 +420,7 @@
420 420  
421 421  When the brake output (BRK-OFF) is not allocated, this function code has no effect.
422 422  )))|rpm
423 -|=P1-33|Rotation status, Delay from servo enable OFF to brake output OFF|(((
430 +|P1-33|Rotation status, Delay from servo enable OFF to brake output OFF|(((
424 424  Operation setting
425 425  )))|Effective immediately|500|1 to 1000|(((
426 426  When the motor rotates, the delay time from the servo enable (S-ON) OFF to the brake (BRK-OFF) output OFF is allowed.
... ... @@ -438,7 +438,7 @@
438 438  
439 439  1) Brake timing when servo motor is stationary
440 440  
441 -When the servo enable changes from ON to OFF, if the actual motor speed is lower than20 rpm, the servo drive will act according to the static brake sequence. The specific sequence action is shown in __[[Figure 6-3>>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-20220608163304-3.png?rev=1.1]]__
448 +When the servo enable changes from ON to OFF, if the actual motor speed is lower than20 rpm, the servo drive will act according to the static brake sequence. The specific sequence action is shown in __[[Figure 6-3>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_2da3eb860da7ba31.gif?rev=1.1]]__
442 442  
443 443  
444 444  |(((
... ... @@ -458,7 +458,7 @@
458 458  
459 459  2) The brake timing when servo motor rotates
460 460  
461 -When the servo enable is from ON to OFF, if the actual motor speed is greater than or equal to 20 rpm, the drive will act in accordance with the rotation brake sequence. The specific sequence action is shown in __[[Figure 6-4>>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-20220608163425-4.png?rev=1.1]]__.
468 +When the servo enable is from ON to OFF, if the actual motor speed is greater than or equal to 20 rpm, the drive will act in accordance with the rotation brake sequence. The specific sequence action is shown in __[[Figure 6-4>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_4408711d09c83291.gif?rev=1.1]]__.
462 462  
463 463  
464 464  |(((
... ... @@ -501,16 +501,16 @@
501 501  Set “P00-01” to 1 by the software “Wecon SCTool”, and the servo drive is in position control mode.
502 502  
503 503  
504 -|=(% scope="row" %)**Function code**|=**Name**|=(((
511 +|**Function code**|**Name**|(((
505 505  **Setting method**
506 -)))|=(((
513 +)))|(((
507 507  **Effective time**
508 -)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
509 -|=P01-01|Control mode|(((
515 +)))|**Default value**|**Range**|**Definition**|**Unit**
516 +|P01-01|Control mode|(((
510 510  Operation setting
511 511  )))|(((
512 512  immediately Effective
513 -)))|0|0 to 6|(((
520 +)))|0|0 to 1|(((
514 514  0: position control
515 515  
516 516  2: speed control
... ... @@ -531,12 +531,12 @@
531 531  When the VD2 series servo drive is in position control mode, firstly set the position instruction source through the function code “P01-06”.
532 532  
533 533  
534 -|=(% scope="row" %)**Function code**|=**Name**|=(((
541 +|**Function code**|**Name**|(((
535 535  **Setting method**
536 -)))|=(((
543 +)))|(((
537 537  **Effective time**
538 -)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
539 -|=P01-06|Position instruction source|(((
545 +)))|**Default value**|**Range**|**Definition**|**Unit**
546 +|P01-06|Position instruction source|(((
540 540  Operation setting
541 541  )))|(((
542 542  immediately Effective
... ... @@ -552,11 +552,12 @@
552 552  
553 553  1) Low-speed pulse instruction input
554 554  
555 -|[[image:image-20220707092316-1.png]]|[[image:image-20220707092322-2.png]]
562 +
563 +|[[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/22.jpg?rev=1.1]]|[[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/23.jpg?rev=1.1]]
556 556  |VD2A and VD2B servo drives|VD2F servo drive
557 557  |(% colspan="2" %)Figure 6-7 Position instruction input setting
558 558  
559 -VD2 series servo drive has a set of pulse input terminals to receive the input of position pulse (via the CN2 terminal). The position pulse mode connection is shown in __[[Figure 6-7>>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]]__.
567 +VD2 series servo drive has a set of pulse input terminals to receive the input of position pulse (via the CN2 terminal). The position pulse mode connection is shown in __[[Figure 6-7>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HPositioninstructioninputsetting]]__.
560 560  
561 561  The instruction pulse and symbol output circuit on the control device(HMI/PLC) side could select differential input or open collector input. The maximum input frequency is shown as below.
562 562  
... ... @@ -571,21 +571,23 @@
571 571  
572 572  Take VD2A and VD2B drive as examples, the connection of differential input is shown as below.
573 573  
574 -[[image:image-20220707092440-4.jpeg]]
575 575  
583 +[[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/24.jpg?rev=1.1]]
584 +
576 576  Figure 6-8 Differential input connection
577 577  
578 -✎**Note: **The differential input connection of the VD2F drive differs only from the signal pin number. Please refer to “__[[4.4.3 position instruction input signal>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/04%20Wiring/#HPositioninstructioninputsignal]]__”
587 +✎**Note: **The differential input connection of the VD2F drive differs only from the signal pin number. Please refer to “__[[4.4.3 position instruction input signal>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/04%20Wiring/#HPositioninstructioninputsignal]]__”
579 579  
580 580  2.Open collector input
581 581  
582 582  Take VD2A and VD2B drive as examples, the connection of differential input is shown as below.
583 583  
584 -[[image:image-20220707092401-3.jpeg]]
585 585  
594 +[[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/25.jpg?rev=1.1]]
595 +
586 586  Figure 6-9 Open collector input connection
587 587  
588 -✎**Note:** The differential input connection of the VD2F drive differs only from the signal pin number. Please refer to “__[[4.4.3 position instruction input signal>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/04%20Wiring/#HPositioninstructioninputsignal]]__”
598 +✎**Note:** The differential input connection of the VD2F drive differs only from the signal pin number. Please refer to “__[[4.4.3 position instruction input signal>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/04%20Wiring/#HPositioninstructioninputsignal]]__”
589 589  
590 590  2) Position pulse frequency and anti-interference level
591 591  
... ... @@ -599,17 +599,17 @@
599 599  The input pulse frequency refers to the frequency of the input signal, which can be modified through the function code “P00-13”. If the actual input frequency is greater than the set value of “P00-13”, it may cause pulse loss or alarm. The position pulse anti-interference level can be adjusted through the function code “P00-14”, the larger the set value, the greater the filtering depth. The details of related function code parameters are as shown below.
600 600  
601 601  
602 -|=(% scope="row" %)**Function code**|=**Name**|=(((
612 +|**Function code**|**Name**|(((
603 603  **Setting method**
604 -)))|=(((
614 +)))|(((
605 605  **Effective time**
606 -)))|=**Default value**|=**Range**|=(% colspan="2" %)**Definition**|=**Unit**
607 -|=P00-13|Maximum position pulse frequency|(((
616 +)))|**Default value**|**Range**|(% colspan="2" %)**Definition**|**Unit**
617 +|P00-13|Maximum position pulse frequency|(((
608 608  Shutdown setting
609 609  )))|(((
610 610  Effective immediately
611 611  )))|300|1 to 500|(% colspan="2" %)Set the maximum frequency of external pulse instruction|KHz
612 -|=(% rowspan="3" %)P00-14|(% rowspan="3" %)Position pulse anti-interference level|(% rowspan="3" %)(((
622 +|(% rowspan="3" %)P00-14|(% rowspan="3" %)Position pulse anti-interference level|(% rowspan="3" %)(((
613 613  Operation setting
614 614  )))|(% rowspan="3" %)(((
615 615  Power-on again
... ... @@ -634,8 +634,8 @@
634 634  
635 635  8: Filtering time 16.384us
636 636  )))|(% rowspan="3" %)-
637 -|=(% rowspan="2" %)9|VD2: Filtering time 25.5us
638 -|=VD2F: Filtering time 25.5us
647 +|(% rowspan="2" %)9|VD2: Filtering time 25.5us
648 +|VD2F: Filtering time 25.5us
639 639  
640 640  Table 6-13 Position pulse frequency and anti-interference level parameters
641 641  
... ... @@ -644,12 +644,12 @@
644 644  In VD2 series servo drives, there are three types of input pulse instructions, and the related function codes are shown in the table below.
645 645  
646 646  
647 -|=(% scope="row" %)**Function code**|=**Name**|=(((
657 +|**Function code**|**Name**|(((
648 648  **Setting method**
649 -)))|=(((
659 +)))|(((
650 650  **Effective time**
651 -)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
652 -|=P00-12|Position pulse type selection|(((
661 +)))|**Default value**|**Range**|**Definition**|**Unit**
662 +|P00-12|Position pulse type selection|(((
653 653  Operation setting
654 654  )))|(((
655 655  Power-on again
... ... @@ -670,8 +670,8 @@
670 670  Table 6-14 Position pulse type selection parameter
671 671  
672 672  
673 -|=(% scope="row" %)**Pulse type selection**|=**Pulse type**|=**Signal**|=**Schematic diagram of forward pulse**|=**Schematic diagram of negative pulse**
674 -|=0|(((
683 +|**Pulse type selection**|**Pulse type**|**Signal**|**Schematic diagram of forward pulse**|**Schematic diagram of negative pulse**
684 +|0|(((
675 675  Direction + pulse
676 676  
677 677  (Positive logic)
... ... @@ -680,12 +680,12 @@
680 680  
681 681  SIGN
682 682  )))|[[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/21.jpg?rev=1.1]]|[[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/26.jpg?rev=1.1]]
683 -|=1|CW/CCW|(((
693 +|1|CW/CCW|(((
684 684  PULSE (CW)
685 685  
686 686  SIGN (CCW)
687 687  )))|(% colspan="2" %)[[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/27.jpg?rev=1.1]]
688 -|=2|(((
698 +|2|(((
689 689  AB phase orthogonal
690 690  
691 691  pulse (4 times frequency)
... ... @@ -702,7 +702,7 @@
702 702  
703 703  Phase B is 90° ahead of Phase A
704 704  )))
705 -|=3|(((
715 +|3|(((
706 706  Direction + pulse
707 707  
708 708  (Negative logic)
... ... @@ -711,7 +711,7 @@
711 711  
712 712  SIGN
713 713  )))|[[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/30.jpg?rev=1.1]]|[[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/31.jpg?rev=1.1]]
714 -|=4|(((
724 +|4|(((
715 715  CW/CCW
716 716  
717 717  (Negative logic)
... ... @@ -720,7 +720,7 @@
720 720  
721 721  SIGN (CCW)
722 722  )))|(% colspan="2" %)[[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/32.jpg?rev=1.1]]
723 -|=5|(((
733 +|5|(((
724 724  AB phase orthogonal
725 725  
726 726  pulse (4 times frequency negative logic)
... ... @@ -742,7 +742,7 @@
742 742  
743 743  **(2) The source of position instruction is internal position instruction (P01-06=1)**
744 744  
745 -The VD2 series servo drive has a multi-segment position operation function, which supports maximum 16-segment instructions. The displacement, maximum operating speed (steady-state operating speed) and acceleration/deceleration time of each segment could be set separately. The waiting time between positions could also be set according to actual needs. The setting process of multi-segment position is shown in __[[Figure 6-11>>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-20220608164116-9.png?rev=1.1]]__.
755 +The VD2 series servo drive has a multi-segment position operation function, which supports maximum 16-segment instructions. The displacement, maximum operating speed (steady-state operating speed) and acceleration/deceleration time of each segment could be set separately. The waiting time between positions could also be set according to actual needs. The setting process of multi-segment position is shown in __[[Figure 6-11>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_6173c39e1ccf532e.gif?rev=1.1]]__.
746 746  
747 747  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.
748 748  
... ... @@ -754,12 +754,12 @@
754 754  1) Set multi-segment position running mode
755 755  
756 756  
757 -|=(% scope="row" %)**Function code**|=**Name**|=(((
767 +|**Function code**|**Name**|(((
758 758  **Setting method**
759 -)))|=(((
769 +)))|(((
760 760  **Effective time**
761 -)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
762 -|=P07-01|Multi-segment position running mode|(((
771 +)))|**Default value**|**Range**|**Definition**|**Unit**
772 +|P07-01|Multi-segment position running mode|(((
763 763  Shutdown setting
764 764  )))|(((
765 765  Effective immediately
... ... @@ -770,17 +770,17 @@
770 770  
771 771  2: DI switching running
772 772  )))|-
773 -|=P07-02|Start segment number|(((
783 +|P07-02|Start segment number|(((
774 774  Shutdown setting
775 775  )))|(((
776 776  Effective immediately
777 777  )))|1|1 to 16|1st segment NO. in non-DI switching mode|-
778 -|=P07-03|End segment number|(((
788 +|P07-03|End segment number|(((
779 779  Shutdown setting
780 780  )))|(((
781 781  Effective immediately
782 782  )))|1|1 to 16|last segment NO. in non-DI switching mode|-
783 -|=P07-04|Margin processing method|(((
793 +|P07-04|Margin processing method|(((
784 784  Shutdown setting
785 785  )))|(((
786 786  Effective immediately
... ... @@ -789,7 +789,7 @@
789 789  
790 790  1: Run again from the start segment
791 791  )))|-
792 -|=P07-05|Displacement instruction type|(((
802 +|P07-05|Displacement instruction type|(((
793 793  Shutdown setting
794 794  )))|(((
795 795  Effective immediately
... ... @@ -805,7 +805,7 @@
805 805  
806 806  ~1. Single running
807 807  
808 -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
818 +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>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_669701d67ab2f246.gif?rev=1.1]]__, and S1 and S2 are the displacements of the 1st segment and the 2nd segment respectively
809 809  
810 810  
811 811  [[image:image-20220608164226-10.png]]
... ... @@ -814,7 +814,7 @@
814 814  
815 815  2. Cycle running
816 816  
817 -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 +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>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_80b358d07288f7b4.gif?rev=1.1]]__, and S1,S2,S3 and S4 are the displacements of the 1st, 2nd, 3rd and 4th segment respectively.
818 818  
819 819  
820 820  [[image:image-20220608164327-11.png]]
... ... @@ -829,11 +829,11 @@
829 829  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.
830 830  
831 831  
832 -|=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
833 -|=21|INPOS1: Internal multi-segment position segment selection 1|Form internal multi-segment position running segment number
834 -|=22|INPOS2: Internal multi-segment position segment selection 2|Form internal multi-segment position running segment number
835 -|=23|INPOS3: Internal multi-segment position segment selection 3|Form internal multi-segment position running segment number
836 -|=24|INPOS4: Internal multi-segment position segment selection 4|Form internal multi-segment position running segment number
842 +|**DI function code**|**Function name**|**Function**
843 +|21|INPOS1: Internal multi-segment position segment selection 1|Form internal multi-segment position running segment number
844 +|22|INPOS2: Internal multi-segment position segment selection 2|Form internal multi-segment position running segment number
845 +|23|INPOS3: Internal multi-segment position segment selection 3|Form internal multi-segment position running segment number
846 +|24|INPOS4: Internal multi-segment position segment selection 4|Form internal multi-segment position running segment number
837 837  
838 838  Table 6-17 DI function code
839 839  
... ... @@ -840,16 +840,16 @@
840 840  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.
841 841  
842 842  
843 -|=(% scope="row" %)**INPOS4**|=**INPOS3**|=**INPOS2**|=**INPOS1**|=**Running position number**
844 -|=0|0|0|0|1
845 -|=0|0|0|1|2
846 -|=0|0|1|0|3
847 -|=(% colspan="5" %)…………
848 -|=1|1|1|1|16
853 +|**INPOS4**|**INPOS3**|**INPOS2**|**INPOS1**|**Running position number**
854 +|0|0|0|0|1
855 +|0|0|0|1|2
856 +|0|0|1|0|3
857 +|(% colspan="5" %)…………
858 +|1|1|1|1|16
849 849  
850 850  Table 6-18 INPOS corresponds to running segment number
851 851  
852 -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]]__.
862 +The operating curve in this running mode is shown in __[[Figure 6-14>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_91c44ab732c79e26.gif?rev=1.1]]__.
853 853  
854 854  
855 855  [[image:image-20220608164545-12.png]]
... ... @@ -860,7 +860,7 @@
860 860  
861 861  **A. Run the remaining segments**
862 862  
863 -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.
873 +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>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_29777829e6742c0d.gif?rev=1.1]]__ and __[[Figure 6-16>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_d264849e0940e3e4.gif?rev=1.1]]__ respectively.
864 864  
865 865  
866 866  [[image:image-20220608164847-13.png]]
... ... @@ -874,7 +874,7 @@
874 874  
875 875  **B. Run again from the start segment**
876 876  
877 -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.
887 +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>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_2328499c9613af49.gif?rev=1.1]]__ and __[[Figure 6-18>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_1f2e35174b1afd3c.gif?rev=1.1]]__ respectively.
878 878  
879 879  
880 880  [[image:image-20220608165343-15.png]]
... ... @@ -912,11 +912,15 @@
912 912  
913 913  2) Multi-segment position running curve setting
914 914  
915 -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.
925 +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>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HPositioninstructioninputsetting]]__ are the related function codes of the 1st segment running curve.
916 916  
917 917  
918 -|=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit**
919 -|=P07-09|(((
928 +|**Function code**|**Name**|(((
929 +**Setting method**
930 +)))|(((
931 +**Effective time**
932 +)))|**Default value**|**Range**|**Definition**|**Unit**
933 +|P07-09|(((
920 920  1st segment
921 921  
922 922  displacement
... ... @@ -929,17 +929,17 @@
929 929  
930 930  2147483646
931 931  )))|Position instruction, positive and negative values could be set|-
932 -|=P07-10|Maximum speed of the 1st displacement|(((
946 +|P07-10|Maximum speed of the 1st displacement|(((
933 933  Operation setting
934 934  )))|(((
935 935  Effective immediately
936 936  )))|100|1 to 5000|Steady-state running speed of the 1st segment|rpm
937 -|=P07-11|Acceleration and deceleration of 1st segment displacement|(((
951 +|P07-11|Acceleration and deceleration of 1st segment displacement|(((
938 938  Operation setting
939 939  )))|(((
940 940  Effective immediately
941 941  )))|100|1 to 65535|The time required for the acceleration and deceleration of the 1st segment|ms
942 -|=P07-12|Waiting time after completion of the 1st segment displacement|(((
956 +|P07-12|Waiting time after completion of the 1st segment displacement|(((
943 943  Operation setting
944 944  )))|(((
945 945  Effective immediately
... ... @@ -959,8 +959,8 @@
959 959  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.
960 960  
961 961  
962 -|=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
963 -|=20|ENINPOS: Internal multi-segment position enable signal|(((
976 +|**DI function code**|**Function name**|**Function**
977 +|20|ENINPOS: Internal multi-segment position enable signal|(((
964 964  DI port logic invalid: Does not affect the current operation of the servo motor.
965 965  
966 966  DI port logic valid: Motor runs multi-segment position
... ... @@ -1017,12 +1017,12 @@
1017 1017  When the function code P00-16 is 0, the electronic gear ratio switching function could be used. You could switch between electronic gear 1 and electronic gear 2 as needed. There is only one set of gear ratios at any time. Related function codes are shown in the table below.
1018 1018  
1019 1019  
1020 -|=(% scope="row" %)**Function code**|=**Name**|=(((
1034 +|**Function code**|**Name**|(((
1021 1021  **Setting method**
1022 -)))|=(((
1036 +)))|(((
1023 1023  **Effective time**
1024 -)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1025 -|=P00-16|Number of instruction pulses when the motor rotates one circle|(((
1038 +)))|**Default value**|**Range**|**Definition**|**Unit**
1039 +|P00-16|Number of instruction pulses when the motor rotates one circle|(((
1026 1026  Shutdown setting
1027 1027  )))|(((
1028 1028  Effective immediately
... ... @@ -1031,7 +1031,7 @@
1031 1031  
1032 1032  unit
1033 1033  )))
1034 -|=P00-17|(((
1048 +|P00-17|(((
1035 1035  Electronic gear 1
1036 1036  
1037 1037  numerator
... ... @@ -1038,7 +1038,7 @@
1038 1038  )))|Operation setting|(((
1039 1039  Effective immediately
1040 1040  )))|1|1 to 4294967294|Set the numerator of the 1st group electronic gear ratio for position instruction frequency division or multiplication. P00-16 is effective when the number of instruction pulses of one motor rotation is 0.|-
1041 -|=P00-18|(((
1055 +|P00-18|(((
1042 1042  Electronic gear 1
1043 1043  
1044 1044  denominator
... ... @@ -1047,7 +1047,7 @@
1047 1047  )))|(((
1048 1048  Effective immediately
1049 1049  )))|1|1 to 4294967294|Set the denominator of the 1st group electronic gear ratio for position instruction frequency division or multiplication. P00-16 is effective when the number of instruction pulses of one motor rotation is 0.|-
1050 -|=P00-19|(((
1064 +|P00-19|(((
1051 1051  Electronic gear 2
1052 1052  
1053 1053  numerator
... ... @@ -1054,7 +1054,7 @@
1054 1054  )))|Operation setting|(((
1055 1055  Effective immediately
1056 1056  )))|1|1 to 4294967294|Set the numerator of the 2nd group electronic gear ratio for position instruction frequency division or multiplication. P00-16 is effective when the number of instruction pulses of one motor rotation is 0.|-
1057 -|=P00-20|(((
1071 +|P00-20|(((
1058 1058  Electronic gear 2
1059 1059  
1060 1060  denominator
... ... @@ -1067,8 +1067,8 @@
1067 1067  To use electronic gear ratio 2, it is necessary to configure any DI port as function 09 (GEAR-SEL electronic gear switch 1), and determine the valid logic of the DI terminal.
1068 1068  
1069 1069  
1070 -|=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
1071 -|=09|GEAR-SEL electronic gear switch 1|(((
1084 +|**DI function code**|**Function name**|**Function**
1085 +|09|GEAR-SEL electronic gear switch 1|(((
1072 1072  DI port logic invalid: electronic gear ratio 1
1073 1073  
1074 1074  DI port logic valid: electronic gear ratio 2
... ... @@ -1076,10 +1076,10 @@
1076 1076  
1077 1077  Table 6-21 Switching conditions of electronic gear ratio group
1078 1078  
1079 -|=(% 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]]
1080 -|=(% 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]]
1081 -|=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]]
1082 -|=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]]
1093 +|**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]]
1094 +|(% 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]]
1095 +|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]]
1096 +|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]]
1083 1083  
1084 1084  Table 6-22 Application of electronic gear ratio
1085 1085  
... ... @@ -1103,12 +1103,12 @@
1103 1103  Figure 6-25 Position instruction filtering diagram
1104 1104  
1105 1105  
1106 -|=(% scope="row" %)**Function code**|=**Name**|=(((
1120 +|**Function code**|**Name**|(((
1107 1107  **Setting method**
1108 -)))|=(((
1122 +)))|(((
1109 1109  **Effective time**
1110 -)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1111 -|=P04-01|Pulse instruction filtering method|(((
1124 +)))|**Default value**|**Range**|**Definition**|**Unit**
1125 +|P04-01|Pulse instruction filtering method|(((
1112 1112  Shutdown setting
1113 1113  )))|(((
1114 1114  Effective immediately
... ... @@ -1117,10 +1117,10 @@
1117 1117  
1118 1118  1: average filtering
1119 1119  )))|-
1120 -|=P04-02|Position instruction 1st-order low-pass filtering time constant|Shutdown setting|(((
1134 +|P04-02|Position instruction 1st-order low-pass filtering time constant|Shutdown setting|(((
1121 1121  Effective immediately
1122 1122  )))|0|0 to 1000|Position instruction first-order low-pass filtering time constant|ms
1123 -|=P04-03|Position instruction average filtering time constant|Shutdown setting|(((
1137 +|P04-03|Position instruction average filtering time constant|Shutdown setting|(((
1124 1124  Effective immediately
1125 1125  )))|0|0 to 128|Position instruction average filtering time constant|ms
1126 1126  
... ... @@ -1149,34 +1149,35 @@
1149 1149  
1150 1150  When using the positioning completion or approach function, you could also set positioning completion, positioning approach conditions, window and hold time. The principle of window filter time is shown in Figure 6-27.
1151 1151  
1152 -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]]__.
1166 +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>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HPosition-relatedDOoutputfunction]]__.
1153 1153  
1168 +
1154 1154  [[image:image-20220608170650-25.png]]
1155 1155  
1156 1156  Figure 6-27 Positioning completion signal output with increased window filter time diagram
1157 1157  
1158 1158  
1159 -|=(% scope="row" %)**Function code**|=**Name**|=(((
1174 +|**Function code**|**Name**|(((
1160 1160  **Setting method**
1161 -)))|=(((
1176 +)))|(((
1162 1162  **Effective time**
1163 -)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1164 -|=P05-12|Positioning completion threshold|(((
1178 +)))|**Default value**|**Range**|**Definition**|**Unit**
1179 +|P05-12|Positioning completion threshold|(((
1165 1165  Operation setting
1166 1166  )))|(((
1167 1167  Effective immediately
1168 1168  )))|800|1 to 65535|Positioning completion threshold|Equivalent pulse unit
1169 -|=P05-13|Positioning approach threshold|(((
1184 +|P05-13|Positioning approach threshold|(((
1170 1170  Operation setting
1171 1171  )))|(((
1172 1172  Effective immediately
1173 1173  )))|5000|1 to 65535|Positioning approach threshold|Equivalent pulse unit
1174 -|=P05-14|Position detection window time|(((
1189 +|P05-14|Position detection window time|(((
1175 1175  Operation setting
1176 1176  )))|(((
1177 1177  Effective immediately
1178 1178  )))|10|0 to 20000|Set positioning completion detection window time|ms
1179 -|=P05-15|Positioning signal hold time|(((
1194 +|P05-15|Positioning signal hold time|(((
1180 1180  Operation setting
1181 1181  )))|(((
1182 1182  Effective immediately
... ... @@ -1185,9 +1185,9 @@
1185 1185  Table 6-24 Function code parameters of positioning completion
1186 1186  
1187 1187  
1188 -|=(% scope="row" %)**DO function code**|=**Function name**|=**Function**
1189 -|=134|P-COIN positioning complete|Output this signal indicates the servo drive position is complete.
1190 -|=135|(((
1203 +|**DO function code**|**Function name**|**Function**
1204 +|134|P-COIN positioning complete|Output this signal indicates the servo drive position is complete.
1205 +|135|(((
1191 1191  P-NEAR positioning close
1192 1192  )))|(((
1193 1193  Output this signal indicates that the servo drive position is close.
... ... @@ -1197,7 +1197,7 @@
1197 1197  
1198 1198  = **Speed control mode** =
1199 1199  
1200 -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.
1215 +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:http://13.229.109.52:8080/wiki/servo/download/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.
1201 1201  
1202 1202  
1203 1203  [[image:6.28.jpg||height="260" width="806"]]
... ... @@ -1597,7 +1597,7 @@
1597 1597  
1598 1598  Figure 6-35 Rotation detection signal diagram
1599 1599  
1600 -To use the motor rotation detection signal output function, a DO terminal of the servo drive should be assigned to function 132 (T-COIN, rotation detection). The function code parameters and related DO function codes are shown in __[[Table 6-34>>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 6-35>>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]]__.
1615 +To use the motor rotation detection signal output function, a DO terminal of the servo drive should be assigned to function 132 (T-COIN, rotation detection). The function code parameters and related DO function codes are shown in __[[Table 6-34>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HZero-speedclampfunction]]__ and __[[Table 6-35>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HZero-speedclampfunction]]__.
1601 1601  
1602 1602  
1603 1603  |**Function code**|**Name**|(((
... ... @@ -1638,7 +1638,7 @@
1638 1638  
1639 1639  Figure 6-36 Zero-speed signal diagram
1640 1640  
1641 -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]]__.
1656 +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>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HZero-speedclampfunction]]__ and __[[Table 6-37>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HZero-speedclampfunction]]__.
1642 1642  
1643 1643  
1644 1644  |**Function code**|**Name**|(((
... ... @@ -1671,7 +1671,7 @@
1671 1671  
1672 1672  Figure 6-37 Speed consistent signal diagram
1673 1673  
1674 -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]]__.
1689 +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>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HZero-speedclampfunction]]__ and __[[Table 6-39>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HZero-speedclampfunction]]__.
1675 1675  
1676 1676  
1677 1677  |**Function code**|**Name**|(((
... ... @@ -1704,7 +1704,7 @@
1704 1704  
1705 1705  Figure 6-38 Speed approaching signal diagram
1706 1706  
1707 -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]]__.
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>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HZero-speedclampfunction]]__ and __[[Table 6-40>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HZero-speedclampfunction]]__.
1708 1708  
1709 1709  
1710 1710  |**Function code**|**Name**|(((
... ... @@ -1924,7 +1924,7 @@
1924 1924  
1925 1925  In torque mode, if the given torque instruction is too large to exceed the load torque of the mechanical side. This would cause the servo motor to continuously accelerate and overspeed. In order to protect the machinery, the speed of the motor must be limited.
1926 1926  
1927 -In torque mode, the actual motor speed would be in the limited speed. After the speed limit is reached, the motor runs at a constant speed at the speed limit. The running curves are shown as __[[Figure 6-45>>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/#HSpeedlimitintorquemode]]__ and __[[Figure 6-46>>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/#HSpeedlimitintorquemode]]__.
1942 +In torque mode, the actual motor speed would be in the limited speed. After the speed limit is reached, the motor runs at a constant speed at the speed limit. The running curves are shown as __[[Figure 6-45>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_e1eced3568bc22d7.gif?rev=1.1]]__ and __[[Figure 6-46>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_79d479af8534745f.gif?rev=1.1]]__.
1928 1928  
1929 1929  |(((
1930 1930  [[image:image-20220608172910-40.png]]
... ... @@ -1967,7 +1967,7 @@
1967 1967  
1968 1968  Table 6-48 Speed limit parameters in torque mode
1969 1969  
1970 -✎**Note:** Function codes P01-17 and P01-18 are only effective in limiting motor speed under the torque mode. The speed limit value is set according to load requirements. To set speed limit in speed mode or position mode, please refer to __[[6.3.3 Speed instruction limit>>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/#HSpeedinstructionlimit]]__.
1985 +✎**Note:** Function codes P01-17 and P01-18 are only effective in limiting motor speed under the torque mode. The speed limit value is set according to load requirements. To set speed limit in speed mode or position mode, please refer to __[[6.3.3 Speed instruction limit>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HSpeedinstructionlimit]]__.
1971 1971  
1972 1972  == **Torque-related DO output functions** ==
1973 1973  
... ... @@ -1982,7 +1982,7 @@
1982 1982  
1983 1983  Figure 6-47 Torque arrival output diagram
1984 1984  
1985 -To use the torque arrival function, a DO terminal of the servo drive should be assigned to function 138 (T-COIN, torque arrival). The function code parameters and related DO function codes are shown in __[[Table 6-49>>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/#HTorque-relatedDOoutputfunctions]]__ and __[[Table 6-50>>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/#HTorque-relatedDOoutputfunctions]]__.
2000 +To use the torque arrival function, a DO terminal of the servo drive should be assigned to function 138 (T-COIN, torque arrival). The function code parameters and related DO function codes are shown in __[[Table 6-49>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HTorque-relatedDOoutputfunctions]]__ and __[[Table 6-50>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HTorque-relatedDOoutputfunctions]]__.
1986 1986  
1987 1987  
1988 1988  |**Function code**|**Name**|(((
... ... @@ -2063,7 +2063,7 @@
2063 2063  
2064 2064  Table 6-51 Mixed control mode parameters
2065 2065  
2066 -Please set the servo drive parameters in different control modes according to the mechanical structure and indicators. The setting method refer to [[__“Parameters”__>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/09%20Parameters/]]. When function code P00-01=4/5/6 (that is, in mixed mode), a DI terminal of the servo drive needs to be assigned to function 17 (MixModeSel, mixed mode selection), and the DI terminal logic is determined to be valid.
2081 +Please set the servo drive parameters in different control modes according to the mechanical structure and indicators. The setting method refer to [[__“Parameters”__>>url:http://docs.we-con.com.cn/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/#_Chapter%209%20Parameters]]. When function code P00-01=4/5/6 (that is, in mixed mode), a DI terminal of the servo drive needs to be assigned to function 17 (MixModeSel, mixed mode selection), and the DI terminal logic is determined to be valid.
2067 2067  
2068 2068  
2069 2069  |**DI function code**|**Name**|**Function name**|**Function**
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