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Changes for page 06 Operation

Last modified by Iris on 2025/08/06 18:24
From version 51.3
edited by Stone Wu
on 2022/07/07 09:23
Change comment: (Autosaved)
To version 51.10
edited by Stone Wu
on 2022/07/07 09:48
Change comment: (Autosaved)

Summary

Details

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Content
... ... @@ -571,7 +571,8 @@
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]]
574 +(% style="text-align:center" %)
575 +[[image:image-20220707092615-5.jpeg]]
575 575  
576 576  Figure 6-8 Differential input connection
577 577  
... ... @@ -581,7 +581,8 @@
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 +(% style="text-align:center" %)
586 +[[image:image-20220707092401-3.jpeg||height="530" width="834"]]
585 585  
586 586  Figure 6-9 Open collector input connection
587 587  
... ... @@ -591,7 +591,7 @@
591 591  
592 592  When low-speed pulses input pins, you need to set a certain pin filter time to filter the input pulse instructions to prevent external interference from entering the servo drive and affecting motor control. After the filter function is enabled, the input and output waveforms of the signal are shown in Figure 6-10.
593 593  
594 -
596 +(% style="text-align:center" %)
595 595  [[image:image-20220608163952-8.png]]
596 596  
597 597  Figure 6-10 Example of filtered signal waveform
... ... @@ -669,7 +669,6 @@
669 669  
670 670  Table 6-14 Position pulse type selection parameter
671 671  
672 -
673 673  |=(% scope="row" %)**Pulse type selection**|=**Pulse type**|=**Signal**|=**Schematic diagram of forward pulse**|=**Schematic diagram of negative pulse**
674 674  |=0|(((
675 675  Direction + pulse
... ... @@ -679,12 +679,12 @@
679 679  PULSE
680 680  
681 681  SIGN
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 +)))|[[image:image-20220707094340-6.jpeg]]|[[image:image-20220707094345-7.jpeg]]
683 683  |=1|CW/CCW|(((
684 684  PULSE (CW)
685 685  
686 686  SIGN (CCW)
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 +)))|(% colspan="2" %)[[image:image-20220707094351-8.jpeg]]
688 688  |=2|(((
689 689  AB phase orthogonal
690 690  
... ... @@ -694,12 +694,16 @@
694 694  
695 695  SIGN (Phase B)
696 696  )))|(((
697 -[[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/28.jpg?rev=1.1]]
698 +
698 698  
700 +[[image:image-20220707094358-9.jpeg]]
701 +
699 699  Phase A is 90° ahead of Phase B
700 700  )))|(((
701 -[[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/29.jpg?rev=1.1]]
704 +
702 702  
706 +[[image:image-20220707094407-10.jpeg]]
707 +
703 703  Phase B is 90° ahead of Phase A
704 704  )))
705 705  |=3|(((
... ... @@ -710,7 +710,7 @@
710 710  PULSE
711 711  
712 712  SIGN
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]]
718 +)))|[[image:image-20220707094414-11.jpeg]]|[[image:image-20220707094418-12.jpeg]]
714 714  |=4|(((
715 715  CW/CCW
716 716  
... ... @@ -719,7 +719,7 @@
719 719  PULSE (CW)
720 720  
721 721  SIGN (CCW)
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]]
727 +)))|(% colspan="2" %)[[image:image-20220707094423-13.jpeg]]
723 723  |=5|(((
724 724  AB phase orthogonal
725 725  
... ... @@ -729,13 +729,17 @@
729 729  
730 730  SIGN (Phase B)
731 731  )))|(((
732 -[[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/33.jpg?rev=1.1]]
737 +
733 733  
734 -B phase is ahead of A phase by 90°
739 +[[image:image-20220707094429-14.jpeg]]
740 +
741 +Phase B is ahead of A phase by 90°
735 735  )))|(((
736 -[[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/34.jpg?rev=1.1]]
743 +
737 737  
738 -A phase is ahead of B phase by 90°
745 +[[image:image-20220707094437-15.jpeg]]
746 +
747 +Phase A is ahead of B phase by 90°
739 739  )))
740 740  
741 741  Table 6-15 Pulse description
... ... @@ -746,7 +746,7 @@
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  
749 -
758 +(% style="text-align:center" %)
750 750  [[image:image-20220608164116-9.png]]
751 751  
752 752  Figure 6-11 The setting process of multi-segment position
... ... @@ -753,7 +753,6 @@
753 753  
754 754  1) Set multi-segment position running mode
755 755  
756 -
757 757  |=(% scope="row" %)**Function code**|=**Name**|=(((
758 758  **Setting method**
759 759  )))|=(((
... ... @@ -808,6 +808,7 @@
808 808  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
809 809  
810 810  
819 +(% style="text-align:center" %)
811 811  [[image:image-20220608164226-10.png]]
812 812  
813 813  Figure 6-12 Single running curve (P07-02=1, P07-03=2)
... ... @@ -817,6 +817,7 @@
817 817  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.
818 818  
819 819  
829 +(% style="text-align:center" %)
820 820  [[image:image-20220608164327-11.png]]
821 821  
822 822  Figure 6-13 Cycle running curve (P07-02=1, P07-03=4)
... ... @@ -828,7 +828,6 @@
828 828  
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 -
832 832  |=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
833 833  |=21|INPOS1: Internal multi-segment position segment selection 1|Form internal multi-segment position running segment number
834 834  |=22|INPOS2: Internal multi-segment position segment selection 2|Form internal multi-segment position running segment number
... ... @@ -839,7 +839,6 @@
839 839  
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 -
843 843  |=(% scope="row" %)**INPOS4**|=**INPOS3**|=**INPOS2**|=**INPOS1**|=**Running position number**
844 844  |=0|0|0|0|1
845 845  |=0|0|0|1|2
... ... @@ -851,7 +851,7 @@
851 851  
852 852  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]]__.
853 853  
854 -
862 +(% style="text-align:center" %)
855 855  [[image:image-20220608164545-12.png]]
856 856  
857 857  Figure 6-14 DI switching running curve
... ... @@ -862,12 +862,12 @@
862 862  
863 863  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.
864 864  
865 -
873 +(% style="text-align:center" %)
866 866  [[image:image-20220608164847-13.png]]
867 867  
868 868  Figure 6-15 Single running-run the remaining segments (P07-02=1, P07-03=4)
869 869  
870 -
878 +(% style="text-align:center" %)
871 871  [[image:image-20220608165032-14.png]]
872 872  
873 873  Figure 6-16 Cycle running-run the remaining segment (P07-02=1, P07-03=4)
... ... @@ -876,12 +876,12 @@
876 876  
877 877  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.
878 878  
879 -
887 +(% style="text-align:center" %)
880 880  [[image:image-20220608165343-15.png]]
881 881  
882 882  Figure 6-17 Single running-run from the start segment again (P07-02=1, P07-03=4)
883 883  
884 -
892 +(% style="text-align:center" %)
885 885  [[image:image-20220608165558-16.png]]
886 886  
887 887  Figure 6-18 Cyclic running-run from the start segment again (P07-02=1, P07-03=4)
... ... @@ -914,7 +914,6 @@
914 914  
915 915  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.
916 916  
917 -
918 918  |=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit**
919 919  |=P07-09|(((
920 920  1st segment
... ... @@ -949,7 +949,7 @@
949 949  
950 950  After setting the above parameters, the actual operation curve of the motor is shown in Figure 6-23.
951 951  
952 -
959 +(% style="text-align:center" %)
953 953  [[image:image-20220608170149-21.png]]
954 954  
955 955  Figure 6-23 The 1st segment running curve of motor
... ... @@ -958,7 +958,6 @@
958 958  
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 -
962 962  |=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
963 963  |=20|ENINPOS: Internal multi-segment position enable signal|(((
964 964  DI port logic invalid: Does not affect the current operation of the servo motor.
... ... @@ -980,15 +980,12 @@
980 980  
981 981  It it noted that the electronic gear ratio setting range of the 2500-line incremental encoder should meet the formula (6-1), and the electronic gear ratio setting range of the 17-bit encoder should meet the formula (6-2), setting range of the electronic gear ratio of 23-bit encoder should meet the formula (6-3)
982 982  
989 +(% style="text-align:center" %)
990 +[[image:image-20220707094901-16.png]]
983 983  
984 -[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/35.png?rev=1.1]]
985 985  
986 986  
987 -[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/36.png?rev=1.1]]
988 988  
989 -
990 -[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/37.png?rev=1.1]]
991 -
992 992  Otherwise, the servo drive will report Er.35: "Electronic gear ratio setting exceeds the limit"!
993 993  
994 994  **(2) Setting steps of electronic gear ratio**
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