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Changes for page 06 Operation

Last modified by Iris on 2025/08/05 17:31
From version 51.40
edited by Stone Wu
on 2022/07/07 11:28
Change comment: (Autosaved)
To version 51.32
edited by Stone Wu
on 2022/07/07 11:03
Change comment: (Autosaved)

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... ... @@ -2126,68 +2126,35 @@
2126 2126  
2127 2127  Figure 6-49 The relationship between encoder feedback position and rotating load position
2128 2128  
2129 -== **Related functions and parameters** ==
2129 +== **Encoder feedback data** ==
2130 2130  
2131 -**Encoder feedback data**
2132 -
2133 2133  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.
2134 2134  
2135 -|**Monitoring number**|**Category**|**Name**|**Unit**|**Data type**
2133 +|**Monitoring number**|**Category**|**Name**|**Unit**|**Data type**
2136 2136  |U0-54|Universal|Absolute encoder position within 1 turn|Encoder unit|32-bit
2137 2137  |U0-55|Universal|Rotations number of absolute encoder|circle|16-bit
2138 2138  |U0-56|Universal|Multi-turn absolute value encoder current position|Instruction unit|32-bit
2139 2139  
2140 -Table 6-55 Encoder feedback data
2138 +Table 6-55 Encoder feedback data
2141 2141  
2142 -**Shield multi-turn absolute encoder battery fault**
2140 +== **Absolute value system encoder battery box use precautions** ==
2143 2143  
2144 -The VD2 series absolute value servo drive provides shielded multi-turn absolute encoder battery fault function to shield under voltage and low-voltage fault. You could set by setting the function code P00-30.
2142 +Er.40 (Encoder battery failure) will occur when the battery is turned on for the first time, and the function code P10-03 must be set to 1 to clear the encoder fault to operate the absolute value system again.
2145 2145  
2146 -|**Function code**|**Name**|(((
2147 -**Setting**
2148 2148  
2149 -**method**
2150 -)))|(((
2151 -**Effective**
2145 +[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/45.jpg?rev=1.1||height="303" width="750"]]
2152 2152  
2153 -**time**
2154 -)))|**Default value**|**Range**|**Definition**|**Unit**
2155 -|P00-30|Shield multi-turn absolute encoder battery fault|Operation setting|Power on again|0|0 to 1|(((
2156 -0：Detect multi-turn absolute encoder battery under voltage, and battery low voltage fault
2147 +Figure 6-50 the encoder battery box
2157 2157  
2158 -1: (Not recommended) Shield multi-turn absolute motor battery failure alarm. Multi-turn absolute application may cause mechanical fault, only multi-turn absolute encoder motors is used as single-turn absolute
2159 -)))|-
2149 +When it is detected that the battery voltage is less than 3.1V, A-92 (Encoder battery low voltage warning) will occur. Please replace the battery in time. The specific replacement method is as follows:
2160 2160  
2161 -This function is permitted when a multi-turn absolute encoder motor is used as a single-turn absolute and when it is confirmed that no mechanical failure will occur.
2151 +1. Step1 The servo drive is powered on and is in a non-operational state;
2152 +1. Step2 Replace the battery;
2153 +1. Step3 Set P10-03 to 1, and the drive will release A-92. It will run normally without other abnormal warnings.
2162 2162  
2163 -**✎Note: **Be sure to use the shield multi-turn absolute encoder battery fault function carefully, otherwise it may cause data loss, mechanical failure, or even personal injury or death.
2155 +When the servo drive is powered off, if the battery is replaced and powered on again, Er.40 (encoder battery failure) will occur, and the multi-turn data will change suddenly. Please set the function code P10-03 or P10-06 to 1 to clear the encoder fault alarms and perform the origin return function operation again.
2164 2164  
2165 -== **Absolute value system encoder battery box use precautions**. ==
2166 2166  
2167 -**Cautions**
2168 -
2169 -Er.40 (Encoder battery failure) will occur when the battery is turned on for the first time, and the function code P10-03 must be set to 1 to clear the encoder fault to operate the absolute value system again.
2170 -
2171 -(% style="text-align:center" %)
2172 -[[image:image-20220707111333-28.png]]
2173 -
2174 -Figure 6-50 the encoder battery box
2175 -
2176 -When it is detected that the battery voltage is less than 3.1V, A-92 (Encoder battery low voltage warning) will occur. Please replace the battery in time.
2177 -
2178 -**Replace the battery**
2179 -
2180 -Please replace the battery while keeping the servo drive and motor well connected and the power on.
2181 -
2182 -The specific replacement method is as follows:
2183 -
2184 -* Step1 Push open the buckles on both ends of the outer cover of the battery compartment and open the outer cover.
2185 -* Step2 Remove the old battery.
2186 -* Step3 Embed the new battery, and the battery plug wire according to the anti-dull port on the battery box for placement.
2187 -* Step4 Close the outer cover of the battery box, please be careful not to pinch the connector wiring when closing.
2188 -
2189 -When the servo drive is powered off, if the battery is replaced and powered on again, Er.40 (encoder battery failure) will occur, and the multi-turn data will change suddenly. Please set the function code P10-03 or P10-06 to 1 to clear the encoder fault alarms and perform the origin return function operation again.
2190 -
2191 2191  |**Function code**|**Name**|(((
2192 2192  **Setting method**
2193 2193  )))|(((
... ... @@ -2207,36 +2207,12 @@
2207 2207  
2208 2208  Table 6-56 Absolute encoder reset enable parameter
2209 2209  
2210 -**Battery selection**
2177 +✎**Note: **If the battery is replaced when the servo drive is powered off, the encoder data will be lost.
2211 2211  
2212 -|(% style="width:361px" %)**Battery selection specification**|(% style="width:496px" %)**Item**|(% style="width:219px" %)**Value**
2213 -|(% rowspan="4" style="width:361px" %)(((
2214 -Nominal Voltage: 3.6V
2215 -
2216 -Nominal capacity: 2700mAh
2217 -)))|(% style="width:496px" %)Standard battery voltage (V)|(% style="width:219px" %)3.6
2218 -|(% style="width:496px" %)Standard cell voltage (V)|(% style="width:219px" %)3.1
2219 -|(% style="width:496px" %)Battery ambient temperature range|(% style="width:219px" %)0 to 40
2220 -|(% style="width:496px" %)Battery storage ambient temperature range|(% style="width:219px" %)-20 to 60
2221 -
2222 -Table 6-57 Absolute value encoder battery information
2223 -
2224 -**✎Note: **
2225 -
2226 -If the battery is replaced when the servo drive is powered off, the encoder data will be lost.
2227 -
2228 2228  When the servo drive is powered off, please ensure that the maximum speed of motor does not exceed 3000 rpm to ensure that the encoder position information is accurately recorded. Please store the storage device according to the specified ambient temperature, and ensure that the encoder battery has reliable contact and sufficient power, otherwise the encoder position information may be lost.
2229 2229  
2230 -Correct placement of batteries +, - direction
2181 += **Overview** =
2231 2231  
2232 -1. Do not disassemble the battery or put the battery into the fire! If the battery is put into the fire or heated, there is a risk of explosion!
2233 -1. This battery cannot be charged.
2234 -1. If the battery is left inside the machine after a long period of use or the battery is no longer usable, liquid may leak out, etc. Please replace it as soon as possible! (Recommended to replace every 2 years, you can contact the manufacturer's technical staff for replacement)
2235 -1. Do not allow the battery to short-circuit or peel the battery skin! Otherwise, there may be a one-time outflow of high current, making the battery's power weakened, or even rupture.
2236 -1. After the replacement of the battery, please dispose of it according to local laws and regulations.
2237 -
2238 -= **Other functions** =
2239 -
2240 2240  == **VDI** ==
2241 2241  
2242 2242  VDI (Virtual Digital Signal Input Port) is similar to hardware DI terminal. The DI function could also be assigned for use.
... ... @@ -2246,11 +2246,11 @@
2246 2246  Take the VDI_1 terminal assignment forward drive prohibition (03-POT) as an example, and the use steps of VDI are as the figure below.
2247 2247  
2248 2248  
2249 -(% style="text-align:center" %)
2250 2250  [[image:image-20220608173804-46.png]]
2251 2251  
2252 2252  Figure 6-51 VDI_1 setting steps
2253 2253  
2196 +
2254 2254  |**Function code**|**Name**|(((
2255 2255  **Setting method**
2256 2256  )))|(((
... ... @@ -2338,9 +2338,9 @@
2338 2338  VD2A and VD2B servo drives have 8 hardware DI terminals (DI_1 to DI_8) , and VD2F servo drive has 4 hardware DI terminals (DI_1 to DI_4) . All the DI terminals are normal terminals.
2339 2339  
2340 2340  
2341 -|**Setting value**|(% style="width:247px" %)**DI channel logic selection**|(% style="width:592px" %)**Illustration**
2342 -|0|(% style="width:247px" %)Active high level|(% style="width:592px" %)[[image:image-20220707112813-29.jpeg||height="78" width="246"]]
2343 -|1|(% style="width:247px" %)Active low level|(% style="width:592px" %)[[image:image-20220707112819-30.jpeg]]
2284 +|**Setting value**|**DI channel logic selection**|**Illustration**
2285 +|0|Active high level|[[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/46.jpg?rev=1.1||height="97" width="307"]]
2286 +|1|Active low level|[[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/47.jpg?rev=1.1||height="83" width="305"]]
2344 2344  
2345 2345  Table 6-58 DI terminal channel logic selection
2346 2346  
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