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Changes for page 06 Operation

Last modified by Iris on 2025/07/23 15:49
From version 51.5
edited by Stone Wu
on 2022/07/07 09:28
Change comment: (Autosaved)
To version 51.26
edited by Stone Wu
on 2022/07/07 10:44
Change comment: There is no comment for this version

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... ... @@ -671,7 +671,6 @@
671 671  
672 672  Table 6-14 Position pulse type selection parameter
673 673  
674 -
675 675  |=(% scope="row" %)**Pulse type selection**|=**Pulse type**|=**Signal**|=**Schematic diagram of forward pulse**|=**Schematic diagram of negative pulse**
676 676  |=0|(((
677 677  Direction + pulse
... ... @@ -681,12 +681,12 @@
681 681  PULSE
682 682  
683 683  SIGN
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]]
683 +)))|[[image:image-20220707094340-6.jpeg]]|[[image:image-20220707094345-7.jpeg]]
685 685  |=1|CW/CCW|(((
686 686  PULSE (CW)
687 687  
688 688  SIGN (CCW)
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]]
688 +)))|(% colspan="2" %)[[image:image-20220707094351-8.jpeg]]
690 690  |=2|(((
691 691  AB phase orthogonal
692 692  
... ... @@ -696,12 +696,16 @@
696 696  
697 697  SIGN (Phase B)
698 698  )))|(((
699 -[[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 +
700 700  
700 +[[image:image-20220707094358-9.jpeg]]
701 +
701 701  Phase A is 90° ahead of Phase B
702 702  )))|(((
703 -[[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 +
704 704  
706 +[[image:image-20220707094407-10.jpeg]]
707 +
705 705  Phase B is 90° ahead of Phase A
706 706  )))
707 707  |=3|(((
... ... @@ -712,7 +712,7 @@
712 712  PULSE
713 713  
714 714  SIGN
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]]
718 +)))|[[image:image-20220707094414-11.jpeg]]|[[image:image-20220707094418-12.jpeg]]
716 716  |=4|(((
717 717  CW/CCW
718 718  
... ... @@ -721,7 +721,7 @@
721 721  PULSE (CW)
722 722  
723 723  SIGN (CCW)
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]]
727 +)))|(% colspan="2" %)[[image:image-20220707094423-13.jpeg]]
725 725  |=5|(((
726 726  AB phase orthogonal
727 727  
... ... @@ -731,13 +731,17 @@
731 731  
732 732  SIGN (Phase B)
733 733  )))|(((
734 -[[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 +
735 735  
736 -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°
737 737  )))|(((
738 -[[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 +
739 739  
740 -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°
741 741  )))
742 742  
743 743  Table 6-15 Pulse description
... ... @@ -748,7 +748,7 @@
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  
751 -
758 +(% style="text-align:center" %)
752 752  [[image:image-20220608164116-9.png]]
753 753  
754 754  Figure 6-11 The setting process of multi-segment position
... ... @@ -755,7 +755,6 @@
755 755  
756 756  1) Set multi-segment position running mode
757 757  
758 -
759 759  |=(% scope="row" %)**Function code**|=**Name**|=(((
760 760  **Setting method**
761 761  )))|=(((
... ... @@ -810,6 +810,7 @@
810 810  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
811 811  
812 812  
819 +(% style="text-align:center" %)
813 813  [[image:image-20220608164226-10.png]]
814 814  
815 815  Figure 6-12 Single running curve (P07-02=1, P07-03=2)
... ... @@ -819,6 +819,7 @@
819 819  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.
820 820  
821 821  
829 +(% style="text-align:center" %)
822 822  [[image:image-20220608164327-11.png]]
823 823  
824 824  Figure 6-13 Cycle running curve (P07-02=1, P07-03=4)
... ... @@ -830,7 +830,6 @@
830 830  
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 -
834 834  |=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
835 835  |=21|INPOS1: Internal multi-segment position segment selection 1|Form internal multi-segment position running segment number
836 836  |=22|INPOS2: Internal multi-segment position segment selection 2|Form internal multi-segment position running segment number
... ... @@ -841,7 +841,6 @@
841 841  
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 -
845 845  |=(% scope="row" %)**INPOS4**|=**INPOS3**|=**INPOS2**|=**INPOS1**|=**Running position number**
846 846  |=0|0|0|0|1
847 847  |=0|0|0|1|2
... ... @@ -853,7 +853,7 @@
853 853  
854 854  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]]__.
855 855  
856 -
862 +(% style="text-align:center" %)
857 857  [[image:image-20220608164545-12.png]]
858 858  
859 859  Figure 6-14 DI switching running curve
... ... @@ -864,12 +864,12 @@
864 864  
865 865  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.
866 866  
867 -
873 +(% style="text-align:center" %)
868 868  [[image:image-20220608164847-13.png]]
869 869  
870 870  Figure 6-15 Single running-run the remaining segments (P07-02=1, P07-03=4)
871 871  
872 -
878 +(% style="text-align:center" %)
873 873  [[image:image-20220608165032-14.png]]
874 874  
875 875  Figure 6-16 Cycle running-run the remaining segment (P07-02=1, P07-03=4)
... ... @@ -878,12 +878,12 @@
878 878  
879 879  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.
880 880  
881 -
887 +(% style="text-align:center" %)
882 882  [[image:image-20220608165343-15.png]]
883 883  
884 884  Figure 6-17 Single running-run from the start segment again (P07-02=1, P07-03=4)
885 885  
886 -
892 +(% style="text-align:center" %)
887 887  [[image:image-20220608165558-16.png]]
888 888  
889 889  Figure 6-18 Cyclic running-run from the start segment again (P07-02=1, P07-03=4)
... ... @@ -916,7 +916,6 @@
916 916  
917 917  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.
918 918  
919 -
920 920  |=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit**
921 921  |=P07-09|(((
922 922  1st segment
... ... @@ -951,7 +951,7 @@
951 951  
952 952  After setting the above parameters, the actual operation curve of the motor is shown in Figure 6-23.
953 953  
954 -
959 +(% style="text-align:center" %)
955 955  [[image:image-20220608170149-21.png]]
956 956  
957 957  Figure 6-23 The 1st segment running curve of motor
... ... @@ -960,7 +960,6 @@
960 960  
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 -
964 964  |=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
965 965  |=20|ENINPOS: Internal multi-segment position enable signal|(((
966 966  DI port logic invalid: Does not affect the current operation of the servo motor.
... ... @@ -982,37 +982,20 @@
982 982  
983 983  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)
984 984  
989 +(% style="text-align:center" %)
990 +[[image:image-20220707094901-16.png]]
985 985  
986 -[[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]]
987 987  
988 988  
989 -[[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]]
990 990  
991 -
992 -[[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]]
993 -
994 994  Otherwise, the servo drive will report Er.35: "Electronic gear ratio setting exceeds the limit"!
995 995  
996 996  **(2) Setting steps of electronic gear ratio**
997 997  
999 +[[image:image-20220707100850-20.jpeg]]
998 998  
999 -[[image:image-20220608170320-22.png]]
1000 -
1001 1001  Figure 6-24 Setting steps of electronic gear ratio
1002 1002  
1003 -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.
1004 -
1005 -Step2: Confirm the resolution of servo motor encoder.
1006 -
1007 -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.
1008 -
1009 -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.
1010 -
1011 -Step5: Calculate the value of electronic gear ratio according to formula below.
1012 -
1013 -
1014 -[[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]]
1015 -
1016 1016  **(3) lectronic gear ratio switch setting**
1017 1017  
1018 1018  
... ... @@ -1078,14 +1078,14 @@
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]]
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]]
1085 1085  
1086 1086  Table 6-22 Application of electronic gear ratio
1087 1087  
1088 -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.
1089 1089  
1090 1090  == **Position instruction filtering** ==
1091 1091  
... ... @@ -1099,12 +1099,11 @@
1099 1099  
1100 1100  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.
1101 1101  
1102 -
1089 +(% style="text-align:center" %)
1103 1103  [[image:image-20220608170455-23.png]]
1104 1104  
1105 1105  Figure 6-25 Position instruction filtering diagram
1106 1106  
1107 -
1108 1108  |=(% scope="row" %)**Function code**|=**Name**|=(((
1109 1109  **Setting method**
1110 1110  )))|=(((
... ... @@ -1144,7 +1144,7 @@
1144 1144  (% class="wikigeneratedid" %)
1145 1145  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.
1146 1146  
1147 -
1133 +(% style="text-align:center" %)
1148 1148  [[image:image-20220608170550-24.png]]
1149 1149  
1150 1150  Figure 6-26 Positioning completion signal output diagram
... ... @@ -1153,11 +1153,11 @@
1153 1153  
1154 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]]__.
1155 1155  
1142 +(% style="text-align:center" %)
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 -
1161 1161  |=(% scope="row" %)**Function code**|=**Name**|=(((
1162 1162  **Setting method**
1163 1163  )))|=(((
... ... @@ -1186,7 +1186,6 @@
1186 1186  
1187 1187  Table 6-24 Function code parameters of positioning completion
1188 1188  
1189 -
1190 1190  |=(% scope="row" %)**DO function code**|=**Function name**|=**Function**
1191 1191  |=134|P-COIN positioning complete|Output this signal indicates the servo drive position is complete.
1192 1192  |=135|(((
... ... @@ -1201,7 +1201,7 @@
1201 1201  
1202 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.
1203 1203  
1204 -
1189 +(% style="text-align:center" %)
1205 1205  [[image:6.28.jpg||height="260" width="806"]]
1206 1206  
1207 1207  Figure 6-28 Speed control block diagram
... ... @@ -1220,7 +1220,7 @@
1220 1220  Shutdown setting
1221 1221  )))|(((
1222 1222  Effective immediately
1223 -)))|1|1 to 6|(((
1208 +)))|1|1 to 1|(((
1224 1224  0: internal speed instruction
1225 1225  
1226 1226  1: AI_1 analog input (not supported by VD2F)
... ... @@ -1230,21 +1230,31 @@
1230 1230  
1231 1231  **(1) Speed instruction source is internal speed instruction (P01-01=0)**
1232 1232  
1233 -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
1234 1234  
1220 +(% style="width:1141px" %)
1221 +|(% colspan="1" %)**Function code**|(% colspan="2" %)**Name**|(% colspan="2" %)(((
1222 +**Setting**
1235 1235  
1236 -|**Function code**|**Name**|(((
1237 -**Setting method**
1238 -)))|(((
1239 -**Effective time**
1240 -)))|**Default value**|**Range**|**Definition**|**Unit**
1241 -|(% rowspan="2" %)P01-02|(% rowspan="2" %)(((
1242 -Internal speed Instruction 0
1243 -)))|(% rowspan="2" %)(((
1244 -Operation setting
1245 -)))|(% rowspan="2" %)(((
1246 -Effective immediately
1247 -)))|(% 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" %)(((
1248 1248  Internal speed instruction 0
1249 1249  
1250 1250  When DI input port:
... ... @@ -1256,15 +1256,20 @@
1256 1256  13-INSPD1: 0,
1257 1257  
1258 1258  select this speed instruction to be effective.
1259 -)))|(% rowspan="2" %)rpm
1260 -|-5000 to 5000*
1261 -|(% rowspan="2" %)P01-23|(% rowspan="2" %)(((
1262 -Internal speed Instruction 1
1263 -)))|(% rowspan="2" %)(((
1264 -Operation setting
1265 -)))|(% rowspan="2" %)(((
1266 -Effective immediately
1267 -)))|(% 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" %)(((
1268 1268  Internal speed instruction 1
1269 1269  
1270 1270  When DI input port:
... ... @@ -1276,15 +1276,20 @@
1276 1276  13-INSPD1: 1,
1277 1277  
1278 1278  Select this speed instruction to be effective.
1279 -)))|(% rowspan="2" %)rpm
1280 -|-5000 to 5000*
1281 -|(% rowspan="2" %)P01-24|(% rowspan="2" %)(((
1282 -Internal speed Instruction 2
1283 -)))|(% rowspan="2" %)(((
1284 -Operation setting
1285 -)))|(% rowspan="2" %)(((
1286 -Effective immediately
1287 -)))|(% 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" %)(((
1288 1288  Internal speed instruction 2
1289 1289  
1290 1290  When DI input port:
... ... @@ -1296,15 +1296,20 @@
1296 1296  13-INSPD1: 0,
1297 1297  
1298 1298  Select this speed instruction to be effective.
1299 -)))|(% rowspan="2" %)rpm
1300 -|-5000 to 5000*
1301 -|(% rowspan="2" %)P01-25|(% rowspan="2" %)(((
1302 -Internal speed Instruction 3
1303 -)))|(% rowspan="2" %)(((
1304 -Operation setting
1305 -)))|(% rowspan="2" %)(((
1306 -Effective immediately
1307 -)))|(% 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" %)(((
1308 1308  Internal speed instruction 3
1309 1309  
1310 1310  When DI input port:
... ... @@ -1316,16 +1316,20 @@
1316 1316  13-INSPD1: 1,
1317 1317  
1318 1318  Select this speed instruction to be effective.
1319 -)))|(% rowspan="2" %)rpm
1320 -|-5000 to 5000*
1329 +)))|(% colspan="2" %)rpm
1330 +|P01-26|(% colspan="2" %)(((
1331 +Internal speed
1321 1321  
1322 -|(% rowspan="2" %)P01-26|(% rowspan="2" %)(((
1323 -Internal speed Instruction 4
1324 -)))|(% rowspan="2" %)(((
1325 -Operation setting
1326 -)))|(% rowspan="2" %)(((
1327 -Effective immediately
1328 -)))|(% 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" %)(((
1329 1329  Internal speed instruction 4
1330 1330  
1331 1331  When DI input port:
... ... @@ -1337,15 +1337,20 @@
1337 1337  13-INSPD1: 0,
1338 1338  
1339 1339  Select this speed instruction to be effective.
1340 -)))|(% rowspan="2" %)rpm
1341 -|-5000 to 5000*
1342 -|(% rowspan="2" %)P01-27|(% rowspan="2" %)(((
1343 -Internal speed Instruction 5
1344 -)))|(% rowspan="2" %)(((
1345 -Operation setting
1346 -)))|(% rowspan="2" %)(((
1347 -Effective immediately
1348 -)))|(% 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" %)(((
1349 1349  Internal speed instruction 5
1350 1350  
1351 1351  When DI input port:
... ... @@ -1357,15 +1357,20 @@
1357 1357  13-INSPD1: 1,
1358 1358  
1359 1359  Select this speed instruction to be effective.
1360 -)))|(% rowspan="2" %)rpm
1361 -|-5000 to 5000*
1362 -|(% rowspan="2" %)P01-28|(% rowspan="2" %)(((
1363 -Internal speed Instruction 6
1364 -)))|(% rowspan="2" %)(((
1365 -Operation setting
1366 -)))|(% rowspan="2" %)(((
1367 -Effective immediately
1368 -)))|(% 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" %)(((
1369 1369  Internal speed instruction 6
1370 1370  
1371 1371  When DI input port:
... ... @@ -1377,15 +1377,20 @@
1377 1377  13-INSPD1: 0,
1378 1378  
1379 1379  Select this speed instruction to be effective.
1380 -)))|(% rowspan="2" %)rpm
1381 -|-5000 to 5000*
1382 -|(% rowspan="2" %)P01-29|(% rowspan="2" %)(((
1383 -Internal speed Instruction 7
1384 -)))|(% rowspan="2" %)(((
1385 -Operation setting
1386 -)))|(% rowspan="2" %)(((
1387 -Effective immediately
1388 -)))|(% 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" %)(((
1389 1389  Internal speed instruction 7
1390 1390  
1391 1391  When DI input port:
... ... @@ -1397,14 +1397,10 @@
1397 1397  13-INSPD1: 1,
1398 1398  
1399 1399  Select this speed instruction to be effective.
1400 -)))|(% rowspan="2" %)rpm
1401 -|-5000 to 5000*
1429 +)))|(% colspan="1" %)rpm
1402 1402  
1403 1403  Table 6-27 Internal speed instruction parameters
1404 1404  
1405 -✎**Note: **“*” means the set range of VD2F servo drive.
1406 -
1407 -
1408 1408  |**DI function code**|**function name**|**Function**
1409 1409  |13|INSPD1 internal speed instruction selection 1|Form internal multi-speed running segment number
1410 1410  |14|INSPD2 internal speed instruction selection 2|Form internal multi-speed running segment number
... ... @@ -1424,16 +1424,15 @@
1424 1424  
1425 1425  Table 6-29 Correspondence between INSPD bits and segment numbers
1426 1426  
1427 -
1428 1428  [[image:image-20220608170845-26.png]]
1429 1429  
1430 1430  Figure 6-29 Multi-segment speed running curve
1431 1431  
1432 -**(2) Speed instruction source is internal speed instruction (P01-01=0)**
1456 +**(2) Speed instruction source is internal speed instruction (P01-01=1)**
1433 1433  
1434 1434  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.
1435 1435  
1436 -
1460 +(% style="text-align:center" %)
1437 1437  [[image:image-20220608153341-5.png]]
1438 1438  
1439 1439  Figure 6-30 Analog input circuit
... ... @@ -1440,7 +1440,7 @@
1440 1440  
1441 1441  Taking AI_1 as an example, the method of setting the speed instruction of analog voltage is illustrated as below.
1442 1442  
1443 -
1467 +(% style="text-align:center" %)
1444 1444  [[image:image-20220608170955-27.png]]
1445 1445  
1446 1446  Figure 6-31 Analog voltage speed instruction setting steps
... ... @@ -1447,18 +1447,15 @@
1447 1447  
1448 1448  Explanation of related terms:
1449 1449  
1450 -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.
1451 1451  
1452 -Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
1453 -
1454 -Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1455 -
1456 -
1478 +(% style="text-align:center" %)
1457 1457  [[image:image-20220608171124-28.png]]
1458 1458  
1459 1459  Figure 6-32 AI_1 diagram before and after bias
1460 1460  
1461 -
1462 1462  |**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
1463 1463  |P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1464 1464  |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
... ... @@ -1475,16 +1475,14 @@
1475 1475  
1476 1476  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.
1477 1477  
1478 -
1499 +(% style="text-align:center" %)
1479 1479  [[image:image-20220608171314-29.png]]
1480 1480  
1481 1481  Figure 6-33 of acceleration and deceleration time diagram
1482 1482  
1483 -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]]
1484 1484  
1485 -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]]
1486 -
1487 -
1488 1488  |**Function code**|**Name**|(((
1489 1489  **Setting method**
1490 1490  )))|(((
... ... @@ -1619,7 +1619,6 @@
1619 1619  
1620 1620  Table 6-34 Rotation detection speed threshold parameters
1621 1621  
1622 -
1623 1623  |**DO function code**|**Function name**|**Function**
1624 1624  |132|(((
1625 1625  T-COIN rotation detection
... ... @@ -1635,7 +1635,6 @@
1635 1635  
1636 1636  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.
1637 1637  
1638 -
1639 1639  [[image:image-20220608171904-32.png]]
1640 1640  
1641 1641  Figure 6-36 Zero-speed signal diagram
... ... @@ -1642,7 +1642,6 @@
1642 1642  
1643 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]]__.
1644 1644  
1645 -
1646 1646  |**Function code**|**Name**|(((
1647 1647  **Setting method**
1648 1648  )))|(((
... ... @@ -1668,7 +1668,6 @@
1668 1668  
1669 1669  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.
1670 1670  
1671 -
1672 1672  [[image:image-20220608172053-33.png]]
1673 1673  
1674 1674  Figure 6-37 Speed consistent signal diagram
... ... @@ -1675,7 +1675,6 @@
1675 1675  
1676 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]]__.
1677 1677  
1678 -
1679 1679  |**Function code**|**Name**|(((
1680 1680  **Setting method**
1681 1681  )))|(((
... ... @@ -1701,14 +1701,12 @@
1701 1701  
1702 1702  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.
1703 1703  
1704 -
1705 1705  [[image:image-20220608172207-34.png]]
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]]__.
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]]__.
1710 1710  
1711 -
1712 1712  |**Function code**|**Name**|(((
1713 1713  **Setting method**
1714 1714  )))|(((
... ... @@ -1722,7 +1722,6 @@
1722 1722  
1723 1723  Table 6-40 Speed approaching signal threshold parameters
1724 1724  
1725 -
1726 1726  |**DO function code**|**Function name**|**Function**
1727 1727  |137|(((
1728 1728  V-NEAR speed approach
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