Skip to Content

Changes for page 06 Operation

Last modified by Iris on 2025/08/08 14:40
From version 51.5
edited by Stone Wu
on 2022/07/07 09:28
Change comment: (Autosaved)
To version 47.1
edited by Leo Wei
on 2022/06/11 17:58
Change comment: There is no comment for this version

Summary

Details

Page properties
Parent
... ... @@ -1,1 +1,1 @@
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
... ... @@ -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**|=(((
401 +|**DO function code**|**Function name**|**Function**|(((
396 396  **Effective time**
397 397  )))
398 -|=144|(((
404 +|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**|=(((
411 +|**Function code**|**Name**|(((
406 406  **Setting method**
407 -)))|=(((
413 +)))|(((
408 408  **Effective time**
409 -)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
410 -|=P1-30|Delay from brake output to instruction reception|(((
415 +)))|**Default value**|**Range**|**Definition**|**Unit**
416 +|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|(((
419 +|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|(((
422 +|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|(((
429 +|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]]__
447 +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]]__.
467 +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**|=(((
510 +|**Function code**|**Name**|(((
505 505  **Setting method**
506 -)))|=(((
512 +)))|(((
507 507  **Effective time**
508 -)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
509 -|=P01-01|Control mode|(((
514 +)))|**Default value**|**Range**|**Definition**|**Unit**
515 +|P01-01|Control mode|(((
510 510  Operation setting
511 511  )))|(((
512 512  immediately Effective
513 -)))|0|0 to 6|(((
519 +)))|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**|=(((
540 +|**Function code**|**Name**|(((
535 535  **Setting method**
536 -)))|=(((
542 +)))|(((
537 537  **Effective time**
538 -)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
539 -|=P01-06|Position instruction source|(((
544 +)))|**Default value**|**Range**|**Definition**|**Unit**
545 +|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]]
561 +
562 +|[[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]]__.
566 +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  
... ... @@ -571,29 +571,29 @@
571 571  
572 572  Take VD2A and VD2B drive as examples, the connection of differential input is shown as below.
573 573  
574 -(% style="text-align:center" %)
575 -[[image:image-20220707092615-5.jpeg]]
576 576  
582 +[[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]]
583 +
577 577  Figure 6-8 Differential input connection
578 578  
579 -✎**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]]__”
586 +✎**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]]__”
580 580  
581 581  2.Open collector input
582 582  
583 583  Take VD2A and VD2B drive as examples, the connection of differential input is shown as below.
584 584  
585 -(% style="text-align:center" %)
586 -[[image:image-20220707092401-3.jpeg||height="530" width="834"]]
587 587  
593 +[[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]]
594 +
588 588  Figure 6-9 Open collector input connection
589 589  
590 -✎**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]]__”
597 +✎**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]]__”
591 591  
592 592  2) Position pulse frequency and anti-interference level
593 593  
594 594  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.
595 595  
596 -(% style="text-align:center" %)
603 +
597 597  [[image:image-20220608163952-8.png]]
598 598  
599 599  Figure 6-10 Example of filtered signal waveform
... ... @@ -601,17 +601,17 @@
601 601  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.
602 602  
603 603  
604 -|=(% scope="row" %)**Function code**|=**Name**|=(((
611 +|**Function code**|**Name**|(((
605 605  **Setting method**
606 -)))|=(((
613 +)))|(((
607 607  **Effective time**
608 -)))|=**Default value**|=**Range**|=(% colspan="2" %)**Definition**|=**Unit**
609 -|=P00-13|Maximum position pulse frequency|(((
615 +)))|**Default value**|**Range**|(% colspan="2" %)**Definition**|**Unit**
616 +|P00-13|Maximum position pulse frequency|(((
610 610  Shutdown setting
611 611  )))|(((
612 612  Effective immediately
613 613  )))|300|1 to 500|(% colspan="2" %)Set the maximum frequency of external pulse instruction|KHz
614 -|=(% rowspan="3" %)P00-14|(% rowspan="3" %)Position pulse anti-interference level|(% rowspan="3" %)(((
621 +|(% rowspan="3" %)P00-14|(% rowspan="3" %)Position pulse anti-interference level|(% rowspan="3" %)(((
615 615  Operation setting
616 616  )))|(% rowspan="3" %)(((
617 617  Power-on again
... ... @@ -636,8 +636,8 @@
636 636  
637 637  8: Filtering time 16.384us
638 638  )))|(% rowspan="3" %)-
639 -|=(% rowspan="2" %)9|VD2: Filtering time 25.5us
640 -|=VD2F: Filtering time 25.5us
646 +|(% rowspan="2" %)9|VD2: Filtering time 25.5us
647 +|VD2F: Filtering time 25.5us
641 641  
642 642  Table 6-13 Position pulse frequency and anti-interference level parameters
643 643  
... ... @@ -646,12 +646,12 @@
646 646  In VD2 series servo drives, there are three types of input pulse instructions, and the related function codes are shown in the table below.
647 647  
648 648  
649 -|=(% scope="row" %)**Function code**|=**Name**|=(((
656 +|**Function code**|**Name**|(((
650 650  **Setting method**
651 -)))|=(((
658 +)))|(((
652 652  **Effective time**
653 -)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
654 -|=P00-12|Position pulse type selection|(((
660 +)))|**Default value**|**Range**|**Definition**|**Unit**
661 +|P00-12|Position pulse type selection|(((
655 655  Operation setting
656 656  )))|(((
657 657  Power-on again
... ... @@ -672,8 +672,8 @@
672 672  Table 6-14 Position pulse type selection parameter
673 673  
674 674  
675 -|=(% scope="row" %)**Pulse type selection**|=**Pulse type**|=**Signal**|=**Schematic diagram of forward pulse**|=**Schematic diagram of negative pulse**
676 -|=0|(((
682 +|**Pulse type selection**|**Pulse type**|**Signal**|**Schematic diagram of forward pulse**|**Schematic diagram of negative pulse**
683 +|0|(((
677 677  Direction + pulse
678 678  
679 679  (Positive logic)
... ... @@ -682,12 +682,12 @@
682 682  
683 683  SIGN
684 684  )))|[[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]]
685 -|=1|CW/CCW|(((
692 +|1|CW/CCW|(((
686 686  PULSE (CW)
687 687  
688 688  SIGN (CCW)
689 689  )))|(% 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]]
690 -|=2|(((
697 +|2|(((
691 691  AB phase orthogonal
692 692  
693 693  pulse (4 times frequency)
... ... @@ -704,7 +704,7 @@
704 704  
705 705  Phase B is 90° ahead of Phase A
706 706  )))
707 -|=3|(((
714 +|3|(((
708 708  Direction + pulse
709 709  
710 710  (Negative logic)
... ... @@ -713,7 +713,7 @@
713 713  
714 714  SIGN
715 715  )))|[[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]]
716 -|=4|(((
723 +|4|(((
717 717  CW/CCW
718 718  
719 719  (Negative logic)
... ... @@ -722,7 +722,7 @@
722 722  
723 723  SIGN (CCW)
724 724  )))|(% 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]]
725 -|=5|(((
732 +|5|(((
726 726  AB phase orthogonal
727 727  
728 728  pulse (4 times frequency negative logic)
... ... @@ -744,7 +744,7 @@
744 744  
745 745  **(2) The source of position instruction is internal position instruction (P01-06=1)**
746 746  
747 -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]]__.
754 +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]]__.
748 748  
749 749  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.
750 750  
... ... @@ -756,12 +756,12 @@
756 756  1) Set multi-segment position running mode
757 757  
758 758  
759 -|=(% scope="row" %)**Function code**|=**Name**|=(((
766 +|**Function code**|**Name**|(((
760 760  **Setting method**
761 -)))|=(((
768 +)))|(((
762 762  **Effective time**
763 -)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
764 -|=P07-01|Multi-segment position running mode|(((
770 +)))|**Default value**|**Range**|**Definition**|**Unit**
771 +|P07-01|Multi-segment position running mode|(((
765 765  Shutdown setting
766 766  )))|(((
767 767  Effective immediately
... ... @@ -772,17 +772,17 @@
772 772  
773 773  2: DI switching running
774 774  )))|-
775 -|=P07-02|Start segment number|(((
782 +|P07-02|Start segment number|(((
776 776  Shutdown setting
777 777  )))|(((
778 778  Effective immediately
779 779  )))|1|1 to 16|1st segment NO. in non-DI switching mode|-
780 -|=P07-03|End segment number|(((
787 +|P07-03|End segment number|(((
781 781  Shutdown setting
782 782  )))|(((
783 783  Effective immediately
784 784  )))|1|1 to 16|last segment NO. in non-DI switching mode|-
785 -|=P07-04|Margin processing method|(((
792 +|P07-04|Margin processing method|(((
786 786  Shutdown setting
787 787  )))|(((
788 788  Effective immediately
... ... @@ -791,7 +791,7 @@
791 791  
792 792  1: Run again from the start segment
793 793  )))|-
794 -|=P07-05|Displacement instruction type|(((
801 +|P07-05|Displacement instruction type|(((
795 795  Shutdown setting
796 796  )))|(((
797 797  Effective immediately
... ... @@ -807,7 +807,7 @@
807 807  
808 808  ~1. Single running
809 809  
810 -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
817 +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
811 811  
812 812  
813 813  [[image:image-20220608164226-10.png]]
... ... @@ -816,7 +816,7 @@
816 816  
817 817  2. Cycle running
818 818  
819 -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.
826 +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.
820 820  
821 821  
822 822  [[image:image-20220608164327-11.png]]
... ... @@ -831,11 +831,11 @@
831 831  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.
832 832  
833 833  
834 -|=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
835 -|=21|INPOS1: Internal multi-segment position segment selection 1|Form internal multi-segment position running segment number
836 -|=22|INPOS2: Internal multi-segment position segment selection 2|Form internal multi-segment position running segment number
837 -|=23|INPOS3: Internal multi-segment position segment selection 3|Form internal multi-segment position running segment number
838 -|=24|INPOS4: Internal multi-segment position segment selection 4|Form internal multi-segment position running segment number
841 +|**DI function code**|**Function name**|**Function**
842 +|21|INPOS1: Internal multi-segment position segment selection 1|Form internal multi-segment position running segment number
843 +|22|INPOS2: Internal multi-segment position segment selection 2|Form internal multi-segment position running segment number
844 +|23|INPOS3: Internal multi-segment position segment selection 3|Form internal multi-segment position running segment number
845 +|24|INPOS4: Internal multi-segment position segment selection 4|Form internal multi-segment position running segment number
839 839  
840 840  Table 6-17 DI function code
841 841  
... ... @@ -842,16 +842,16 @@
842 842  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.
843 843  
844 844  
845 -|=(% scope="row" %)**INPOS4**|=**INPOS3**|=**INPOS2**|=**INPOS1**|=**Running position number**
846 -|=0|0|0|0|1
847 -|=0|0|0|1|2
848 -|=0|0|1|0|3
849 -|=(% colspan="5" %)…………
850 -|=1|1|1|1|16
852 +|**INPOS4**|**INPOS3**|**INPOS2**|**INPOS1**|**Running position number**
853 +|0|0|0|0|1
854 +|0|0|0|1|2
855 +|0|0|1|0|3
856 +|(% colspan="5" %)…………
857 +|1|1|1|1|16
851 851  
852 852  Table 6-18 INPOS corresponds to running segment number
853 853  
854 -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]]__.
861 +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]]__.
855 855  
856 856  
857 857  [[image:image-20220608164545-12.png]]
... ... @@ -862,7 +862,7 @@
862 862  
863 863  **A. Run the remaining segments**
864 864  
865 -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.
872 +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.
866 866  
867 867  
868 868  [[image:image-20220608164847-13.png]]
... ... @@ -876,7 +876,7 @@
876 876  
877 877  **B. Run again from the start segment**
878 878  
879 -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.
886 +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.
880 880  
881 881  
882 882  [[image:image-20220608165343-15.png]]
... ... @@ -914,11 +914,15 @@
914 914  
915 915  2) Multi-segment position running curve setting
916 916  
917 -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.
924 +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.
918 918  
919 919  
920 -|=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit**
921 -|=P07-09|(((
927 +|**Function code**|**Name**|(((
928 +**Setting method**
929 +)))|(((
930 +**Effective time**
931 +)))|**Default value**|**Range**|**Definition**|**Unit**
932 +|P07-09|(((
922 922  1st segment
923 923  
924 924  displacement
... ... @@ -931,17 +931,17 @@
931 931  
932 932  2147483646
933 933  )))|Position instruction, positive and negative values could be set|-
934 -|=P07-10|Maximum speed of the 1st displacement|(((
945 +|P07-10|Maximum speed of the 1st displacement|(((
935 935  Operation setting
936 936  )))|(((
937 937  Effective immediately
938 938  )))|100|1 to 5000|Steady-state running speed of the 1st segment|rpm
939 -|=P07-11|Acceleration and deceleration of 1st segment displacement|(((
950 +|P07-11|Acceleration and deceleration of 1st segment displacement|(((
940 940  Operation setting
941 941  )))|(((
942 942  Effective immediately
943 943  )))|100|1 to 65535|The time required for the acceleration and deceleration of the 1st segment|ms
944 -|=P07-12|Waiting time after completion of the 1st segment displacement|(((
955 +|P07-12|Waiting time after completion of the 1st segment displacement|(((
945 945  Operation setting
946 946  )))|(((
947 947  Effective immediately
... ... @@ -961,8 +961,8 @@
961 961  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.
962 962  
963 963  
964 -|=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
965 -|=20|ENINPOS: Internal multi-segment position enable signal|(((
975 +|**DI function code**|**Function name**|**Function**
976 +|20|ENINPOS: Internal multi-segment position enable signal|(((
966 966  DI port logic invalid: Does not affect the current operation of the servo motor.
967 967  
968 968  DI port logic valid: Motor runs multi-segment position
... ... @@ -1019,12 +1019,12 @@
1019 1019  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.
1020 1020  
1021 1021  
1022 -|=(% scope="row" %)**Function code**|=**Name**|=(((
1033 +|**Function code**|**Name**|(((
1023 1023  **Setting method**
1024 -)))|=(((
1035 +)))|(((
1025 1025  **Effective time**
1026 -)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1027 -|=P00-16|Number of instruction pulses when the motor rotates one circle|(((
1037 +)))|**Default value**|**Range**|**Definition**|**Unit**
1038 +|P00-16|Number of instruction pulses when the motor rotates one circle|(((
1028 1028  Shutdown setting
1029 1029  )))|(((
1030 1030  Effective immediately
... ... @@ -1033,7 +1033,7 @@
1033 1033  
1034 1034  unit
1035 1035  )))
1036 -|=P00-17|(((
1047 +|P00-17|(((
1037 1037  Electronic gear 1
1038 1038  
1039 1039  numerator
... ... @@ -1040,7 +1040,7 @@
1040 1040  )))|Operation setting|(((
1041 1041  Effective immediately
1042 1042  )))|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.|-
1043 -|=P00-18|(((
1054 +|P00-18|(((
1044 1044  Electronic gear 1
1045 1045  
1046 1046  denominator
... ... @@ -1049,7 +1049,7 @@
1049 1049  )))|(((
1050 1050  Effective immediately
1051 1051  )))|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.|-
1052 -|=P00-19|(((
1063 +|P00-19|(((
1053 1053  Electronic gear 2
1054 1054  
1055 1055  numerator
... ... @@ -1056,7 +1056,7 @@
1056 1056  )))|Operation setting|(((
1057 1057  Effective immediately
1058 1058  )))|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.|-
1059 -|=P00-20|(((
1070 +|P00-20|(((
1060 1060  Electronic gear 2
1061 1061  
1062 1062  denominator
... ... @@ -1069,8 +1069,8 @@
1069 1069  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.
1070 1070  
1071 1071  
1072 -|=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
1073 -|=09|GEAR-SEL electronic gear switch 1|(((
1083 +|**DI function code**|**Function name**|**Function**
1084 +|09|GEAR-SEL electronic gear switch 1|(((
1074 1074  DI port logic invalid: electronic gear ratio 1
1075 1075  
1076 1076  DI port logic valid: electronic gear ratio 2
... ... @@ -1078,10 +1078,10 @@
1078 1078  
1079 1079  Table 6-21 Switching conditions of electronic gear ratio group
1080 1080  
1081 -|=(% 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]]
1082 -|=(% 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]]
1083 -|=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]]
1084 -|=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]]
1092 +|**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]]
1093 +|(% 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]]
1094 +|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]]
1095 +|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]]
1085 1085  
1086 1086  Table 6-22 Application of electronic gear ratio
1087 1087  
... ... @@ -1105,12 +1105,12 @@
1105 1105  Figure 6-25 Position instruction filtering diagram
1106 1106  
1107 1107  
1108 -|=(% scope="row" %)**Function code**|=**Name**|=(((
1119 +|**Function code**|**Name**|(((
1109 1109  **Setting method**
1110 -)))|=(((
1121 +)))|(((
1111 1111  **Effective time**
1112 -)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1113 -|=P04-01|Pulse instruction filtering method|(((
1123 +)))|**Default value**|**Range**|**Definition**|**Unit**
1124 +|P04-01|Pulse instruction filtering method|(((
1114 1114  Shutdown setting
1115 1115  )))|(((
1116 1116  Effective immediately
... ... @@ -1119,10 +1119,10 @@
1119 1119  
1120 1120  1: average filtering
1121 1121  )))|-
1122 -|=P04-02|Position instruction 1st-order low-pass filtering time constant|Shutdown setting|(((
1133 +|P04-02|Position instruction 1st-order low-pass filtering time constant|Shutdown setting|(((
1123 1123  Effective immediately
1124 1124  )))|0|0 to 1000|Position instruction first-order low-pass filtering time constant|ms
1125 -|=P04-03|Position instruction average filtering time constant|Shutdown setting|(((
1136 +|P04-03|Position instruction average filtering time constant|Shutdown setting|(((
1126 1126  Effective immediately
1127 1127  )))|0|0 to 128|Position instruction average filtering time constant|ms
1128 1128  
... ... @@ -1151,34 +1151,35 @@
1151 1151  
1152 1152  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.
1153 1153  
1154 -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]]__.
1165 +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]]__.
1155 1155  
1167 +
1156 1156  [[image:image-20220608170650-25.png]]
1157 1157  
1158 1158  Figure 6-27 Positioning completion signal output with increased window filter time diagram
1159 1159  
1160 1160  
1161 -|=(% scope="row" %)**Function code**|=**Name**|=(((
1173 +|**Function code**|**Name**|(((
1162 1162  **Setting method**
1163 -)))|=(((
1175 +)))|(((
1164 1164  **Effective time**
1165 -)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1166 -|=P05-12|Positioning completion threshold|(((
1177 +)))|**Default value**|**Range**|**Definition**|**Unit**
1178 +|P05-12|Positioning completion threshold|(((
1167 1167  Operation setting
1168 1168  )))|(((
1169 1169  Effective immediately
1170 1170  )))|800|1 to 65535|Positioning completion threshold|Equivalent pulse unit
1171 -|=P05-13|Positioning approach threshold|(((
1183 +|P05-13|Positioning approach threshold|(((
1172 1172  Operation setting
1173 1173  )))|(((
1174 1174  Effective immediately
1175 1175  )))|5000|1 to 65535|Positioning approach threshold|Equivalent pulse unit
1176 -|=P05-14|Position detection window time|(((
1188 +|P05-14|Position detection window time|(((
1177 1177  Operation setting
1178 1178  )))|(((
1179 1179  Effective immediately
1180 1180  )))|10|0 to 20000|Set positioning completion detection window time|ms
1181 -|=P05-15|Positioning signal hold time|(((
1193 +|P05-15|Positioning signal hold time|(((
1182 1182  Operation setting
1183 1183  )))|(((
1184 1184  Effective immediately
... ... @@ -1187,9 +1187,9 @@
1187 1187  Table 6-24 Function code parameters of positioning completion
1188 1188  
1189 1189  
1190 -|=(% scope="row" %)**DO function code**|=**Function name**|=**Function**
1191 -|=134|P-COIN positioning complete|Output this signal indicates the servo drive position is complete.
1192 -|=135|(((
1202 +|**DO function code**|**Function name**|**Function**
1203 +|134|P-COIN positioning complete|Output this signal indicates the servo drive position is complete.
1204 +|135|(((
1193 1193  P-NEAR positioning close
1194 1194  )))|(((
1195 1195  Output this signal indicates that the servo drive position is close.
... ... @@ -1199,7 +1199,7 @@
1199 1199  
1200 1200  = **Speed control mode** =
1201 1201  
1202 -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.
1214 +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.
1203 1203  
1204 1204  
1205 1205  [[image:6.28.jpg||height="260" width="806"]]
... ... @@ -1599,7 +1599,7 @@
1599 1599  
1600 1600  Figure 6-35 Rotation detection signal diagram
1601 1601  
1602 -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]]__.
1614 +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]]__.
1603 1603  
1604 1604  
1605 1605  |**Function code**|**Name**|(((
... ... @@ -1640,7 +1640,7 @@
1640 1640  
1641 1641  Figure 6-36 Zero-speed signal diagram
1642 1642  
1643 -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]]__.
1655 +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]]__.
1644 1644  
1645 1645  
1646 1646  |**Function code**|**Name**|(((
... ... @@ -1673,7 +1673,7 @@
1673 1673  
1674 1674  Figure 6-37 Speed consistent signal diagram
1675 1675  
1676 -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]]__.
1688 +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]]__.
1677 1677  
1678 1678  
1679 1679  |**Function code**|**Name**|(((
... ... @@ -1706,7 +1706,7 @@
1706 1706  
1707 1707  Figure 6-38 Speed approaching signal diagram
1708 1708  
1709 -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]]__.
1721 +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]]__.
1710 1710  
1711 1711  
1712 1712  |**Function code**|**Name**|(((
... ... @@ -1926,7 +1926,7 @@
1926 1926  
1927 1927  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.
1928 1928  
1929 -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]]__.
1941 +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]]__.
1930 1930  
1931 1931  |(((
1932 1932  [[image:image-20220608172910-40.png]]
... ... @@ -1969,7 +1969,7 @@
1969 1969  
1970 1970  Table 6-48 Speed limit parameters in torque mode
1971 1971  
1972 -✎**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]]__.
1984 +✎**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]]__.
1973 1973  
1974 1974  == **Torque-related DO output functions** ==
1975 1975  
... ... @@ -1984,7 +1984,7 @@
1984 1984  
1985 1985  Figure 6-47 Torque arrival output diagram
1986 1986  
1987 -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]]__.
1999 +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]]__.
1988 1988  
1989 1989  
1990 1990  |**Function code**|**Name**|(((
... ... @@ -2065,7 +2065,7 @@
2065 2065  
2066 2066  Table 6-51 Mixed control mode parameters
2067 2067  
2068 -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.
2080 +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.
2069 2069  
2070 2070  
2071 2071  |**DI function code**|**Name**|**Function name**|**Function**
image-20220707092316-1.png
Author
... ... @@ -1,1 +1,0 @@
1 -XWiki.Stone
Size
... ... @@ -1,1 +1,0 @@
1 -277.2 KB
Content
image-20220707092322-2.png
Author
... ... @@ -1,1 +1,0 @@
1 -XWiki.Stone
Size
... ... @@ -1,1 +1,0 @@
1 -277.2 KB
Content
image-20220707092401-3.jpeg
Author
... ... @@ -1,1 +1,0 @@
1 -XWiki.Stone
Size
... ... @@ -1,1 +1,0 @@
1 -73.4 KB
Content
image-20220707092440-4.jpeg
Author
... ... @@ -1,1 +1,0 @@
1 -XWiki.Stone
Size
... ... @@ -1,1 +1,0 @@
1 -33.1 KB
Content
image-20220707092615-5.jpeg
Author
... ... @@ -1,1 +1,0 @@
1 -XWiki.Stone
Size
... ... @@ -1,1 +1,0 @@
1 -61.4 KB
Content