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Changes for page 06 Operation

Last modified by Iris on 2025/07/23 15:49
From version 51.3
edited by Stone Wu
on 2022/07/07 09:23
Change comment: (Autosaved)
To version 51.28
edited by Stone Wu
on 2022/07/07 10:51
Change comment: There is no comment for this version

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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.
... ... @@ -980,37 +980,20 @@
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**
995 995  
999 +[[image:image-20220707100850-20.jpeg]]
996 996  
997 -[[image:image-20220608170320-22.png]]
998 -
999 999  Figure 6-24 Setting steps of electronic gear ratio
1000 1000  
1001 -Step1: Confirm the mechanical parameters including the reduction ratio, the ball screw lead, gear diameter in the gear drive, and pulley diameter in the pulley drive.
1002 -
1003 -Step2: Confirm the resolution of servo motor encoder.
1004 -
1005 -Step3: Confirm the parameters such as mechanical specifications, positioning accuracy, etc, and determine the load displacement corresponding to one position instruction output by the host computer.
1006 -
1007 -Step4: Combine the mechanical parameters and the load displacement corresponding to one position instruction, calculate the position instruction value required for one rotation of the load shaft.
1008 -
1009 -Step5: Calculate the value of electronic gear ratio according to formula below.
1010 -
1011 -
1012 -[[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/38.png?rev=1.1]]
1013 -
1014 1014  **(3) lectronic gear ratio switch setting**
1015 1015  
1016 1016  
... ... @@ -1076,14 +1076,14 @@
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]]
1068 +|=(% scope="row" %)**P00-16 value**|=(% style="width: 510px;" %)**DI terminal level corresponding to DI port function 9**|=(% style="width: 400px;" %)**Electronic gear ratio** [[image:image-20220707101503-24.png]]
1069 +|=(% rowspan="2" %)0|(% style="width:510px" %)DI port logic invalid|(% style="width:400px" %)[[image:image-20220707101328-21.png]]
1070 +|=(% style="width: 510px;" %)DI port logic valid|(% style="width:400px" %)[[image:image-20220707101336-22.png]]
1071 +|=1 to 131072|(% style="width:510px" %)~-~-|(% style="width:400px" %)[[image:image-20220707101341-23.png]]
1083 1083  
1084 1084  Table 6-22 Application of electronic gear ratio
1085 1085  
1086 -When the function code P00-16 is not 0, the 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]] is invalid.
1075 +When the function code P00-16 is not 0, the electronic gear ratio [[image:image-20220707101509-25.png]] is invalid.
1087 1087  
1088 1088  == **Position instruction filtering** ==
1089 1089  
... ... @@ -1097,12 +1097,11 @@
1097 1097  
1098 1098  Reasonable setting of the position loop filter time constant can operate the motor more smoothly, so that the motor speed will not overshoot before reaching the stable point. This setting has no effect on the number of instruction pulses. The filter time is not as long as possible. If the filter time is longer, the delay time will be longer too, and the response time will be correspondingly longer. It is an illustration of several kinds of position filtering.
1099 1099  
1100 -
1089 +(% style="text-align:center" %)
1101 1101  [[image:image-20220608170455-23.png]]
1102 1102  
1103 1103  Figure 6-25 Position instruction filtering diagram
1104 1104  
1105 -
1106 1106  |=(% scope="row" %)**Function code**|=**Name**|=(((
1107 1107  **Setting method**
1108 1108  )))|=(((
... ... @@ -1142,7 +1142,7 @@
1142 1142  (% class="wikigeneratedid" %)
1143 1143  the positioning completion function means that when the position deviation meets the value set by P05-12, it could be considered that the positioning is complete in position control mode. At this time, servo drive could output the positioning completion signal, and the host computer could confirm the completion of the positioning of servo drive after receiving the signal.
1144 1144  
1145 -
1133 +(% style="text-align:center" %)
1146 1146  [[image:image-20220608170550-24.png]]
1147 1147  
1148 1148  Figure 6-26 Positioning completion signal output diagram
... ... @@ -1151,11 +1151,11 @@
1151 1151  
1152 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]]__.
1153 1153  
1142 +(% style="text-align:center" %)
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 -
1159 1159  |=(% scope="row" %)**Function code**|=**Name**|=(((
1160 1160  **Setting method**
1161 1161  )))|=(((
... ... @@ -1184,7 +1184,6 @@
1184 1184  
1185 1185  Table 6-24 Function code parameters of positioning completion
1186 1186  
1187 -
1188 1188  |=(% scope="row" %)**DO function code**|=**Function name**|=**Function**
1189 1189  |=134|P-COIN positioning complete|Output this signal indicates the servo drive position is complete.
1190 1190  |=135|(((
... ... @@ -1199,7 +1199,7 @@
1199 1199  
1200 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.
1201 1201  
1202 -
1189 +(% style="text-align:center" %)
1203 1203  [[image:6.28.jpg||height="260" width="806"]]
1204 1204  
1205 1205  Figure 6-28 Speed control block diagram
... ... @@ -1218,7 +1218,7 @@
1218 1218  Shutdown setting
1219 1219  )))|(((
1220 1220  Effective immediately
1221 -)))|1|1 to 6|(((
1208 +)))|1|1 to 1|(((
1222 1222  0: internal speed instruction
1223 1223  
1224 1224  1: AI_1 analog input (not supported by VD2F)
... ... @@ -1228,21 +1228,31 @@
1228 1228  
1229 1229  **(1) Speed instruction source is internal speed instruction (P01-01=0)**
1230 1230  
1231 -Speed instruction comes from internal instruction, and the internal speed instruction is given by a number. The VD2 series servo drive has internal multi-segment speed running function. There are 8 segments speed instructions stored in servo drive, and the speed of each segment could be set individually. The servo drive uses the 1st segment internal speed by default. To use the 2nd to 8th segment internal speed, the corresponding number of DI terminals must be configured as functions 13, 14, and 15. The detailed parameters and function codes are shown as below.
1218 +Speed instruction comes from internal instruction, and the internal speed instruction is given by a number. The VD2 series servo drive has internal multi-segment speed running function. There are 8 segments speed instructions stored in servo drive, and the speed of each segment could be set individually. The servo drive uses the 1st segment internal speed by default. To use the 2nd to 8th segment internal speed, the corresponding number of DI terminals must be configured as functions 13, 14, and 15. The detailed parameters and function codes are shown as belo
1232 1232  
1220 +(% style="width:1141px" %)
1221 +|(% colspan="1" %)**Function code**|(% colspan="2" %)**Name**|(% colspan="2" %)(((
1222 +**Setting**
1233 1233  
1234 -|**Function code**|**Name**|(((
1235 -**Setting method**
1236 -)))|(((
1237 -**Effective time**
1238 -)))|**Default value**|**Range**|**Definition**|**Unit**
1239 -|(% rowspan="2" %)P01-02|(% rowspan="2" %)(((
1240 -Internal speed Instruction 0
1241 -)))|(% rowspan="2" %)(((
1242 -Operation setting
1243 -)))|(% rowspan="2" %)(((
1244 -Effective immediately
1245 -)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1224 +**method**
1225 +)))|(% colspan="2" %)(((
1226 +**Effective**
1227 +
1228 +**time**
1229 +)))|(% colspan="2" %)**Default value**|(% colspan="2" %)**Range**|(% colspan="2" %)**Definition**|(% colspan="2" %)**Unit**
1230 +|(% colspan="1" %)P01-02|(% colspan="2" %)(((
1231 +Internal speed
1232 +
1233 +Instruction 0
1234 +)))|(% colspan="2" %)(((
1235 +Operation
1236 +
1237 +setting
1238 +)))|(% colspan="2" %)(((
1239 +Effective
1240 +
1241 +immediately
1242 +)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1246 1246  Internal speed instruction 0
1247 1247  
1248 1248  When DI input port:
... ... @@ -1254,15 +1254,20 @@
1254 1254  13-INSPD1: 0,
1255 1255  
1256 1256  select this speed instruction to be effective.
1257 -)))|(% rowspan="2" %)rpm
1258 -|-5000 to 5000*
1259 -|(% rowspan="2" %)P01-23|(% rowspan="2" %)(((
1260 -Internal speed Instruction 1
1261 -)))|(% rowspan="2" %)(((
1262 -Operation setting
1263 -)))|(% rowspan="2" %)(((
1264 -Effective immediately
1265 -)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1254 +)))|(% colspan="2" %)rpm
1255 +|(% colspan="1" %)P01-23|(% colspan="2" %)(((
1256 +Internal speed
1257 +
1258 +Instruction 1
1259 +)))|(% colspan="2" %)(((
1260 +Operation
1261 +
1262 +setting
1263 +)))|(% colspan="2" %)(((
1264 +Effective
1265 +
1266 +immediately
1267 +)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1266 1266  Internal speed instruction 1
1267 1267  
1268 1268  When DI input port:
... ... @@ -1274,15 +1274,20 @@
1274 1274  13-INSPD1: 1,
1275 1275  
1276 1276  Select this speed instruction to be effective.
1277 -)))|(% rowspan="2" %)rpm
1278 -|-5000 to 5000*
1279 -|(% rowspan="2" %)P01-24|(% rowspan="2" %)(((
1280 -Internal speed Instruction 2
1281 -)))|(% rowspan="2" %)(((
1282 -Operation setting
1283 -)))|(% rowspan="2" %)(((
1284 -Effective immediately
1285 -)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1279 +)))|(% colspan="2" %)rpm
1280 +|(% colspan="1" %)P01-24|(% colspan="2" %)(((
1281 +Internal speed
1282 +
1283 +Instruction 2
1284 +)))|(% colspan="2" %)(((
1285 +Operation
1286 +
1287 +setting
1288 +)))|(% colspan="2" %)(((
1289 +Effective
1290 +
1291 +immediately
1292 +)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1286 1286  Internal speed instruction 2
1287 1287  
1288 1288  When DI input port:
... ... @@ -1294,15 +1294,20 @@
1294 1294  13-INSPD1: 0,
1295 1295  
1296 1296  Select this speed instruction to be effective.
1297 -)))|(% rowspan="2" %)rpm
1298 -|-5000 to 5000*
1299 -|(% rowspan="2" %)P01-25|(% rowspan="2" %)(((
1300 -Internal speed Instruction 3
1301 -)))|(% rowspan="2" %)(((
1302 -Operation setting
1303 -)))|(% rowspan="2" %)(((
1304 -Effective immediately
1305 -)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1304 +)))|(% colspan="2" %)rpm
1305 +|(% colspan="1" %)P01-25|(% colspan="2" %)(((
1306 +Internal speed
1307 +
1308 +Instruction 3
1309 +)))|(% colspan="2" %)(((
1310 +Operation
1311 +
1312 +setting
1313 +)))|(% colspan="2" %)(((
1314 +Effective
1315 +
1316 +immediately
1317 +)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1306 1306  Internal speed instruction 3
1307 1307  
1308 1308  When DI input port:
... ... @@ -1314,16 +1314,20 @@
1314 1314  13-INSPD1: 1,
1315 1315  
1316 1316  Select this speed instruction to be effective.
1317 -)))|(% rowspan="2" %)rpm
1318 -|-5000 to 5000*
1329 +)))|(% colspan="2" %)rpm
1330 +|P01-26|(% colspan="2" %)(((
1331 +Internal speed
1319 1319  
1320 -|(% rowspan="2" %)P01-26|(% rowspan="2" %)(((
1321 -Internal speed Instruction 4
1322 -)))|(% rowspan="2" %)(((
1323 -Operation setting
1324 -)))|(% rowspan="2" %)(((
1325 -Effective immediately
1326 -)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1333 +Instruction 4
1334 +)))|(% colspan="2" %)(((
1335 +Operation
1336 +
1337 +setting
1338 +)))|(% colspan="2" %)(((
1339 +Effective
1340 +
1341 +immediately
1342 +)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1327 1327  Internal speed instruction 4
1328 1328  
1329 1329  When DI input port:
... ... @@ -1335,15 +1335,20 @@
1335 1335  13-INSPD1: 0,
1336 1336  
1337 1337  Select this speed instruction to be effective.
1338 -)))|(% rowspan="2" %)rpm
1339 -|-5000 to 5000*
1340 -|(% rowspan="2" %)P01-27|(% rowspan="2" %)(((
1341 -Internal speed Instruction 5
1342 -)))|(% rowspan="2" %)(((
1343 -Operation setting
1344 -)))|(% rowspan="2" %)(((
1345 -Effective immediately
1346 -)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1354 +)))|(% colspan="1" %)rpm
1355 +|P01-27|(% colspan="2" %)(((
1356 +Internal speed
1357 +
1358 +Instruction 5
1359 +)))|(% colspan="2" %)(((
1360 +Operation
1361 +
1362 +setting
1363 +)))|(% colspan="2" %)(((
1364 +Effective
1365 +
1366 +immediately
1367 +)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1347 1347  Internal speed instruction 5
1348 1348  
1349 1349  When DI input port:
... ... @@ -1355,15 +1355,20 @@
1355 1355  13-INSPD1: 1,
1356 1356  
1357 1357  Select this speed instruction to be effective.
1358 -)))|(% rowspan="2" %)rpm
1359 -|-5000 to 5000*
1360 -|(% rowspan="2" %)P01-28|(% rowspan="2" %)(((
1361 -Internal speed Instruction 6
1362 -)))|(% rowspan="2" %)(((
1363 -Operation setting
1364 -)))|(% rowspan="2" %)(((
1365 -Effective immediately
1366 -)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1379 +)))|(% colspan="1" %)rpm
1380 +|P01-28|(% colspan="2" %)(((
1381 +Internal speed
1382 +
1383 +Instruction 6
1384 +)))|(% colspan="2" %)(((
1385 +Operation
1386 +
1387 +setting
1388 +)))|(% colspan="2" %)(((
1389 +Effective
1390 +
1391 +immediately
1392 +)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1367 1367  Internal speed instruction 6
1368 1368  
1369 1369  When DI input port:
... ... @@ -1375,15 +1375,20 @@
1375 1375  13-INSPD1: 0,
1376 1376  
1377 1377  Select this speed instruction to be effective.
1378 -)))|(% rowspan="2" %)rpm
1379 -|-5000 to 5000*
1380 -|(% rowspan="2" %)P01-29|(% rowspan="2" %)(((
1381 -Internal speed Instruction 7
1382 -)))|(% rowspan="2" %)(((
1383 -Operation setting
1384 -)))|(% rowspan="2" %)(((
1385 -Effective immediately
1386 -)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1404 +)))|(% colspan="1" %)rpm
1405 +|P01-29|(% colspan="2" %)(((
1406 +Internal speed
1407 +
1408 +Instruction 7
1409 +)))|(% colspan="2" %)(((
1410 +Operation
1411 +
1412 +setting
1413 +)))|(% colspan="2" %)(((
1414 +Effective
1415 +
1416 +immediately
1417 +)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1387 1387  Internal speed instruction 7
1388 1388  
1389 1389  When DI input port:
... ... @@ -1395,14 +1395,10 @@
1395 1395  13-INSPD1: 1,
1396 1396  
1397 1397  Select this speed instruction to be effective.
1398 -)))|(% rowspan="2" %)rpm
1399 -|-5000 to 5000*
1429 +)))|(% colspan="1" %)rpm
1400 1400  
1401 1401  Table 6-27 Internal speed instruction parameters
1402 1402  
1403 -✎**Note: **“*” means the set range of VD2F servo drive.
1404 -
1405 -
1406 1406  |**DI function code**|**function name**|**Function**
1407 1407  |13|INSPD1 internal speed instruction selection 1|Form internal multi-speed running segment number
1408 1408  |14|INSPD2 internal speed instruction selection 2|Form internal multi-speed running segment number
... ... @@ -1422,16 +1422,15 @@
1422 1422  
1423 1423  Table 6-29 Correspondence between INSPD bits and segment numbers
1424 1424  
1425 -
1426 1426  [[image:image-20220608170845-26.png]]
1427 1427  
1428 1428  Figure 6-29 Multi-segment speed running curve
1429 1429  
1430 -**(2) Speed instruction source is internal speed instruction (P01-01=0)**
1456 +**(2) Speed instruction source is internal speed instruction (P01-01=1)**
1431 1431  
1432 1432  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.
1433 1433  
1434 -
1460 +(% style="text-align:center" %)
1435 1435  [[image:image-20220608153341-5.png]]
1436 1436  
1437 1437  Figure 6-30 Analog input circuit
... ... @@ -1438,7 +1438,7 @@
1438 1438  
1439 1439  Taking AI_1 as an example, the method of setting the speed instruction of analog voltage is illustrated as below.
1440 1440  
1441 -
1467 +(% style="text-align:center" %)
1442 1442  [[image:image-20220608170955-27.png]]
1443 1443  
1444 1444  Figure 6-31 Analog voltage speed instruction setting steps
... ... @@ -1445,18 +1445,15 @@
1445 1445  
1446 1446  Explanation of related terms:
1447 1447  
1448 -Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
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.
1449 1449  
1450 -Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
1451 -
1452 -Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1453 -
1454 -
1478 +(% style="text-align:center" %)
1455 1455  [[image:image-20220608171124-28.png]]
1456 1456  
1457 1457  Figure 6-32 AI_1 diagram before and after bias
1458 1458  
1459 -
1460 1460  |**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
1461 1461  |P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1462 1462  |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
... ... @@ -1473,16 +1473,14 @@
1473 1473  
1474 1474  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.
1475 1475  
1476 -
1499 +(% style="text-align:center" %)
1477 1477  [[image:image-20220608171314-29.png]]
1478 1478  
1479 1479  Figure 6-33 of acceleration and deceleration time diagram
1480 1480  
1481 -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]]
1504 +(% style="text-align:center" %)
1505 +[[image:image-20220707103616-27.png]]
1482 1482  
1483 -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]]
1484 -
1485 -
1486 1486  |**Function code**|**Name**|(((
1487 1487  **Setting method**
1488 1488  )))|(((
... ... @@ -1617,7 +1617,6 @@
1617 1617  
1618 1618  Table 6-34 Rotation detection speed threshold parameters
1619 1619  
1620 -
1621 1621  |**DO function code**|**Function name**|**Function**
1622 1622  |132|(((
1623 1623  T-COIN rotation detection
... ... @@ -1633,7 +1633,6 @@
1633 1633  
1634 1634  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.
1635 1635  
1636 -
1637 1637  [[image:image-20220608171904-32.png]]
1638 1638  
1639 1639  Figure 6-36 Zero-speed signal diagram
... ... @@ -1640,7 +1640,6 @@
1640 1640  
1641 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]]__.
1642 1642  
1643 -
1644 1644  |**Function code**|**Name**|(((
1645 1645  **Setting method**
1646 1646  )))|(((
... ... @@ -1666,7 +1666,6 @@
1666 1666  
1667 1667  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.
1668 1668  
1669 -
1670 1670  [[image:image-20220608172053-33.png]]
1671 1671  
1672 1672  Figure 6-37 Speed consistent signal diagram
... ... @@ -1673,7 +1673,6 @@
1673 1673  
1674 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]]__.
1675 1675  
1676 -
1677 1677  |**Function code**|**Name**|(((
1678 1678  **Setting method**
1679 1679  )))|(((
... ... @@ -1699,14 +1699,12 @@
1699 1699  
1700 1700  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.
1701 1701  
1702 -
1703 1703  [[image:image-20220608172207-34.png]]
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>>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]]__.
1708 1708  
1709 -
1710 1710  |**Function code**|**Name**|(((
1711 1711  **Setting method**
1712 1712  )))|(((
... ... @@ -1720,7 +1720,6 @@
1720 1720  
1721 1721  Table 6-40 Speed approaching signal threshold parameters
1722 1722  
1723 -
1724 1724  |**DO function code**|**Function name**|**Function**
1725 1725  |137|(((
1726 1726  V-NEAR speed approach
... ... @@ -1781,7 +1781,7 @@
1781 1781  
1782 1782  The servo drive processes the analog voltage signal output by host computer or other equipment as torque instruction. VD2A and VD2B series servo drives have 2 analog input channels: AI_1 and AI_2. AI_1 is analog torque input, and AI_2 is analog torque limit.
1783 1783  
1784 -
1797 +(% style="text-align:center" %)
1785 1785  [[image:image-20220608153646-7.png||height="213" width="408"]]
1786 1786  
1787 1787  Figure 6-40 Analog input circuit
... ... @@ -1788,7 +1788,7 @@
1788 1788  
1789 1789  Taking AI_1 as an example, the method of setting torque instruction of analog voltage is as below.
1790 1790  
1791 -
1804 +(% style="text-align:center" %)
1792 1792  [[image:image-20220608172502-36.png]]
1793 1793  
1794 1794  Figure 6-41 Analog voltage torque instruction setting steps
... ... @@ -1795,18 +1795,15 @@
1795 1795  
1796 1796  Explanation of related terms:
1797 1797  
1798 -Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
1811 +* Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
1812 +* Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
1813 +* Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1799 1799  
1800 -Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
1801 -
1802 -Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1803 -
1804 -
1815 +(% style="text-align:center" %)
1805 1805  [[image:image-20220608172611-37.png]]
1806 1806  
1807 1807  Figure 6-42 AI_1 diagram before and after bias
1808 1808  
1809 -
1810 1810  |**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
1811 1811  |P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1812 1812  |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
... ... @@ -1821,7 +1821,6 @@
1821 1821  
1822 1822  In torque mode, the servo drive could realize low-pass filtering of torque instruction, making the instruction smoother and reducing the vibration of servo motor. The first-order filtering is shown in __[[Figure 6-43>>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_205df0eae349c586.gif?rev=1.1]]__.
1823 1823  
1824 -
1825 1825  |**Function code**|**Name**|(((
1826 1826  **Setting method**
1827 1827  )))|(((
... ... @@ -1837,7 +1837,7 @@
1837 1837  
1838 1838  ✎**Note: **If the filter time constant is set too large, the responsiveness will be reduced. Please set it while confirming the responsiveness.
1839 1839  
1840 -
1849 +(% style="text-align:center" %)
1841 1841  [[image:image-20220608172646-38.png]]
1842 1842  
1843 1843  Figure 6-43 Torque instruction-first-order filtering diagram
... ... @@ -1848,7 +1848,7 @@
1848 1848  
1849 1849  At any time, there is only one valid torque limit value. And the positive and negative torque limit values do not exceed the maximum torque of drive and motor and ±300.0% of the rated torque.
1850 1850  
1851 -
1860 +(% style="text-align:center" %)
1852 1852  [[image:image-20220608172806-39.png]]
1853 1853  
1854 1854  Figure 6-44 Torque instruction limit diagram
... ... @@ -1857,7 +1857,6 @@
1857 1857  
1858 1858  You need to set the torque limit source by function code P01-14. After the setting, the drive torque instruction will be limited within the torque limit value. When the torque limit value is reached, the motor will operate with the torque limit value as the torque instruction. The torque limit value should be set according to the load operation requirements. If the setting is too small, the motor's acceleration and deceleration capacity may be weakened. During constant torque operation, the actual motor speed cannot reach the required value.
1859 1859  
1860 -
1861 1861  |**Function code**|**Name**|(((
1862 1862  **Setting method**
1863 1863  )))|(((
... ... @@ -1881,7 +1881,6 @@
1881 1881  
1882 1882  Torque limit source is from inside, you need to set torque limit, and the value is set by function code P01-15 and P01-16.
1883 1883  
1884 -
1885 1885  |**Function code**|**Name**|(((
1886 1886  **Setting method**
1887 1887  )))|(((
... ... @@ -1912,7 +1912,6 @@
1912 1912  
1913 1913  When torque instruction reaches the torque limit value, the drive outputs a torque limit signal (T-LIMIT) for the host computer use. At this time, one DO terminal of the drive should be assigned to function 139 (T-LIMIT, in torque limit) , and confirm that the terminal logic is valid.
1914 1914  
1915 -
1916 1916  |**DO function code**|**Function name**|**Function**
1917 1917  |139|(((
1918 1918  T-LIMIT in torque limit
... ... @@ -1977,7 +1977,7 @@
1977 1977  
1978 1978  The torque arrival function is used to determine whether the actual torque instruction reaches the set interval. When the actual torque instruction reaches the torque instruction threshold, the servo drive outputs a torque arrival signal (T-COIN) for the host computer use.
1979 1979  
1980 -
1986 +(% style="text-align:center" %)
1981 1981  [[image:image-20220608173541-42.png]]
1982 1982  
1983 1983  Figure 6-47 Torque arrival output diagram
... ... @@ -1984,7 +1984,6 @@
1984 1984  
1985 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]]__.
1986 1986  
1987 -
1988 1988  |**Function code**|**Name**|(((
1989 1989  **Setting method**
1990 1990  )))|(((
... ... @@ -2029,15 +2029,14 @@
2029 2029  
2030 2030  Mixed control mode means that when the servo enable is ON and the status of the servo drive is "run", the mode of the servo drive could be switched between different modes. The VD2 series servo drives have the following 3 mixed control modes:
2031 2031  
2032 -Position mode Speed mode
2037 +Position mode⇔ Speed mode
2033 2033  
2034 -Position mode Torque mode
2039 +Position mode ⇔Torque mode
2035 2035  
2036 -Speed mode Torque mode
2041 +Speed mode ⇔Torque mode
2037 2037  
2038 2038  Set the function code P00-01 through the software of Wecon “SCTool” or servo drive panel, and the servo drive will run in mixed mode.
2039 2039  
2040 -
2041 2041  |**Function code**|**Name**|(((
2042 2042  **Setting method**
2043 2043  )))|(((
... ... @@ -2065,7 +2065,6 @@
2065 2065  
2066 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.
2067 2067  
2068 -
2069 2069  |**DI function code**|**Name**|**Function name**|**Function**
2070 2070  |17|MixModeSel|Mixed mode selection|Used in mixed control mode, when the servo status is "run", set the current control mode of the servo drive(((
2071 2071  |**P00-01**|**MixModeSel terminal logic**|**Control mode**
... ... @@ -2101,7 +2101,7 @@
2101 2101  
2102 2102  The relationship between encoder feedback position and rotating load position is shown in the figure below. (take a 17-bit encoder as an example).
2103 2103  
2104 -
2107 +(% style="text-align:center" %)
2105 2105  [[image:image-20220608173618-43.png]]
2106 2106  
2107 2107  Figure 6-48 Diagram of relationship between encoder feedback position and rotating load position
... ... @@ -2110,7 +2110,6 @@
2110 2110  
2111 2111  The encoder adapted to the multi-turn absolute value system is equipped with 16-bit RAM memory. Compared with the single-turn absolute value, it can additionally memorize the number of turns of the 16-bit encoder. The multi-turn absolute encoder is equipped with a battery (the battery is installed on the encoder cable with a battery unit), which can achieve direct internal high-speed readings and external output without the need for external sensors to assist memory positions. The types and information of encoders adapted to VD2 series servo drives are shown as below.
2112 2112  
2113 -
2114 2114  |**Encoder type**|**Encoder resolution (bits)**|**Data range**
2115 2115  |C1 (multi-turn magnetic encoder)|17|0 to 131071
2116 2116  |D2 (multi-turn Optical encoder)|23|0 to 8388607
... ... @@ -2119,7 +2119,7 @@
2119 2119  
2120 2120  The relationship between encoder feedback position and rotating load multi-turn is shown in the figure below (take a 23-bit encoder as an example).
2121 2121  
2122 -
2124 +(% style="text-align:center" %)
2123 2123  [[image:image-20220608173701-44.png]]
2124 2124  
2125 2125  Figure 6-49 The relationship between encoder feedback position and rotating load position
... ... @@ -2128,7 +2128,6 @@
2128 2128  
2129 2129  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.
2130 2130  
2131 -
2132 2132  |**Monitoring number**|**Category**|**Name**|**Unit**|**Data type**
2133 2133  |U0-54|Universal|Absolute encoder position within 1 turn|Encoder unit|32-bit
2134 2134  |U0-55|Universal|Rotations number of absolute encoder|circle|16-bit
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