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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.Joey

Content

...	...	@@ -2,20 +2,20 @@
2	2
3	3	== **Check before operation** ==
4	4
5		-|=(% scope="row" %)**No.**|=**Content**
6		-|=(% colspan="2" %)Wiring
7		-|=1|The main circuit input terminals (L1, L2 and L3) of servo drive must be properly connected.
8		-|=2|The main circuit output terminals (U, V and W) of servo drive and the main circuit cables (U, V and W) of servo motor must have the same phase and be properly connected.
9		-|=3|The main circuit power input terminals (L1, L2 and L3) and the main circuit output terminals (U, V and W) of servo drive cannot be short-circuited.
10		-|=4|The wiring of each control signal cable of servo drive is correct: The external signal wires such as brake and overtravel protection have been reliably connected.
11		-|=5|Servo drive and servo motor must be grounded reliably.
12		-|=6|When using an external braking resistor, the short wiring between drive C and D must be removed.
13		-|=7|The force of all cables is within the specified range.
14		-|=8|The wiring terminals have been insulated.
15		-|=(% colspan="2" %)Environment and Machinery
16		-|=1|There is no iron filings, metal, etc. that can cause short circuits inside or outside the servo drive.
17		-|=2|The servo drive and external braking resistor are not placed on combustible objects.
18		-|=3|The installation, shaft and mechanical structure of the servo motor have been firmly connected.
	5	+|**No.**|**Content**
	6	+|(% colspan="2" style="text-align:center; vertical-align:middle" %)Wiring
	7	+|1|The main circuit input terminals (L1, L2 and L3) of servo drive must be properly connected.
	8	+|2|The main circuit output terminals (U, V and W) of servo drive and the main circuit cables (U, V and W) of servo motor must have the same phase and be properly connected.
	9	+|3|The main circuit power input terminals (L1, L2 and L3) and the main circuit output terminals (U, V and W) of servo drive cannot be short-circuited.
	10	+|4|The wiring of each control signal cable of servo drive is correct: The external signal wires such as brake and overtravel protection have been reliably connected.
	11	+|5|Servo drive and servo motor must be grounded reliably.
	12	+|6|When using an external braking resistor, the short wiring between drive C and D must be removed.
	13	+|7|The force of all cables is within the specified range.
	14	+|8|The wiring terminals have been insulated.
	15	+|(% colspan="2" style="text-align:center; vertical-align:middle" %)Environment and Machinery
	16	+|1|There is no iron filings, metal, etc. that can cause short circuits inside or outside the servo drive.
	17	+|2|The servo drive and external braking resistor are not placed on combustible objects.
	18	+|3|The installation, shaft and mechanical structure of the servo motor have been firmly connected.
19	19
20	20	Table 6-1 Check contents before operation
21	21
...	...	@@ -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
...	...	@@ -42,17 +42,17 @@
42	42	Open the jog operation interface of the software “Wecon SCTool”, set the jog speed value in the "set speed" in the "manual operation", click the "servo on" button on the interface, and then achieve the jog forward and reverse function through the "forward rotation" or "Reverse" button on the interface. After clicking the "Servo off" button, the jog operation mode is exited. The related function codes are shown below.
43	43
44	44
45		-
46		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	45	+(% class="table-bordered" %)
	46	+|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)(((
47	47	**Setting method**
48		-)))|=(((
	48	+)))|(% style="text-align:center; vertical-align:middle" %)(((
49	49	**Effective time**
50		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
51		-|=P10-01|JOG speed|(((
	50	+)))|(% style="text-align:center; vertical-align:middle" %)**Default value**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	51	+|(% style="text-align:center; vertical-align:middle" %)P10-01|(% style="text-align:center; vertical-align:middle" %)JOG speed|(% style="text-align:center; vertical-align:middle" %)(((
52	52	Operation setting
53		-)))|(((
	53	+)))|(% style="text-align:center; vertical-align:middle" %)(((
54	54	Effective immediately
55		-)))|100|0 to 3000|JOG speed|rpm
	55	+)))|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)0 to 3000|(% style="text-align:center; vertical-align:middle" %)JOG speed|(% style="text-align:center; vertical-align:middle" %)rpm
56	56
57	57	Table 6-2 JOG speed parameter
58	58
...	...	@@ -60,19 +60,25 @@
60	60
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		-
64		-|=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=Effective time|=**Default value**|=**Range**|=**Definition**|=**Unit**
65		-|=P00-04|Rotation direction|(((
	63	+(% class="table-bordered" %)
	64	+|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)(((
	65	+**Setting method**
	66	+)))|(% style="text-align:center; vertical-align:middle" %)(((
	67	+**Effective time**
	68	+)))|(% style="text-align:center; vertical-align:middle" %)(((
	69	+**Default value**
	70	+)))|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	71	+|(% style="text-align:center; vertical-align:middle" %)P00-04|(% style="text-align:center; vertical-align:middle" %)Rotation direction|(% style="text-align:center; vertical-align:middle" %)(((
66	66	Shutdown setting
67		-)))|(((
	73	+)))|(% style="text-align:center; vertical-align:middle" %)(((
68	68	Effective immediately
69		-)))|0|0 to 1|(((
	75	+)))|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
70	70	Forward rotation: Face the motor shaft to watch
71	71
72	72	0: standard setting (CW is forward rotation)
73	73
74	74	1: reverse mode (CCW is forward rotation)
75		-)))|-
	81	+)))|(% style="text-align:center; vertical-align:middle" %)-
76	76
77	77	Table 6-3 Rotation direction parameters** **
78	78
...	...	@@ -85,16 +85,17 @@
85	85	1. the maximum brake energy calculated value > the maximum brake energy absorbed by capacitor, and the brake power calculated value ≤ the built-in braking resistor power, use the built-in braking resistor.
86	86	1. the maximum brake energy calculated value > the maximum brake energy absorbed by capacitor, and the brake power calculated value > the built-in braking resistor power, use external braking resistor.
87	87
88		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	94	+(% class="table-bordered" %)
	95	+|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)(((
89	89	**Setting method**
90		-)))|=(((
	97	+)))|(% style="text-align:center; vertical-align:middle" %)(((
91	91	**Effective time**
92		-)))|=**Default**|=**Range**|=**Definition**|=**Unit**
93		-|=P00-09|Braking resistor setting|(((
	99	+)))|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	100	+|(% style="text-align:center; vertical-align:middle" %)P00-09|(% style="text-align:center; vertical-align:middle" %)Braking resistor setting|(% style="text-align:center; vertical-align:middle" %)(((
94	94	Operation setting
95		-)))|(((
	102	+)))|(% style="text-align:center; vertical-align:middle" %)(((
96	96	Effective immediately
97		-)))|0|0 to 3|(((
	104	+)))|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 3|(((
98	98	0: use built-in braking resistor
99	99
100	100	1: use external braking resistor and natural cooling
...	...	@@ -102,18 +102,18 @@
102	102	2: use external braking resistor and forced air cooling; (cannot be set)
103	103
104	104	3: No braking resistor is used, it is all absorbed by capacitor.
105		-)))|-
106		-|=(% colspan="8" %)✎**Note: **VD2-010SA1G and VD2F-010SA1P drives have no built-in resistor by default, so the default value of the function code “P00-09” is 3 (No braking resistor is used, it is all absorbed by capacitor).
107		-|=P00-10|External braking resistor value|(((
	112	+)))|(% style="text-align:center; vertical-align:middle" %)-
	113	+|(% colspan="8" %)✎**Note: **VD2-010SA1G and VD2F-010SA1P drives have no built-in resistor by default, so the default value of the function code “P00-09” is 3 (No braking resistor is used, it is all absorbed by capacitor).
	114	+|(% style="text-align:center; vertical-align:middle" %)P00-10|(% style="text-align:center; vertical-align:middle" %)External braking resistor value|(% style="text-align:center; vertical-align:middle" %)(((
108	108	Operation setting
109		-)))|(((
	116	+)))|(% style="text-align:center; vertical-align:middle" %)(((
110	110	Effective immediately
111		-)))|50|0 to 65535|It is used to set the external braking resistor value of a certain type of drive.|Ω
112		-|=P00-11|External braking resistor power|(((
	118	+)))|(% style="text-align:center; vertical-align:middle" %)50|(% style="text-align:center; vertical-align:middle" %)0 to 65535|It is used to set the external braking resistor value of a certain type of drive.|(% style="text-align:center; vertical-align:middle" %)Ω
	119	+|(% style="text-align:center; vertical-align:middle" %)P00-11|(% style="text-align:center; vertical-align:middle" %)External braking resistor power|(% style="text-align:center; vertical-align:middle" %)(((
113	113	Operation setting
114		-)))|(((
	121	+)))|(% style="text-align:center; vertical-align:middle" %)(((
115	115	Effective immediately
116		-)))|100|0 to 65535|It is used to set the external braking resistor power of a certain type of drive.|W
	123	+)))|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)0 to 65535|It is used to set the external braking resistor power of a certain type of drive.|(% style="text-align:center; vertical-align:middle" %)W
117	117
118	118	Table 6-4 Braking resistor parameters
119	119
...	...	@@ -127,11 +127,11 @@
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.
	137	+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
134		-
	141	+(% style="text-align:center" %)
135	135	[[image:image-20220608163014-1.png]]
136	136
137	137	Figure 6-1 Timing diagram of power on
...	...	@@ -138,19 +138,19 @@
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]]__.
	148	+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
	150	+(% class="table-bordered" %)
	151	+|Shutdown mode|Shutdown description|Shutdown characteristics
	152	+|Free shutdown|Servo motor is not energized and decelerates freely to 0. The deceleration time is affected by factors such as mechanical inertia and mechanical friction.|Smooth deceleration, small mechanical shock, but slow deceleration process.
	153	+|Zero-speed shutdown|The servo drive outputs reverse braking torque, and the motor quickly decelerates to zero-speed.|Rapid deceleration with mechanical shock, but fast deceleration process.
143	143
144		-|=(% scope="row" %)Shutdown mode|=Shutdown description|=Shutdown characteristics
145		-|=Free shutdown|Servo motor is not energized and decelerates freely to 0. The deceleration time is affected by factors such as mechanical inertia and mechanical friction.|Smooth deceleration, small mechanical shock, but slow deceleration process.
146		-|=Zero-speed shutdown|The servo drive outputs reverse braking torque, and the motor quickly decelerates to zero-speed.|Rapid deceleration with mechanical shock, but fast deceleration process.
147		-
148	148	Table 6-5 Comparison of two shutdown modes
149	149
	157	+(% class="table-bordered" %)
	158	+|(% style="text-align:center; vertical-align:middle" %)**Shutdown status**|(% style="text-align:center; vertical-align:middle" %)**Free operation status**|(% style="text-align:center; vertical-align:middle" %)**Position locked**
	159	+|(% style="text-align:center; vertical-align:middle" %)Characteristics|After the motor stops rotating, it is power-off, and the motor shaft can rotate freely.|After the motor stops rotating, the motor shaft is locked and could not rotate freely.
150	150
151		-|=(% scope="row" %)**Shutdown status**|=**Free operation status**|=**Position locked**
152		-|=Characteristics|After the motor stops rotating, it is power-off, and the motor shaft can rotate freely.|After the motor stops rotating, the motor shaft is locked and could not rotate freely.
153		-
154	154	Table 6-6 Comparison of two shutdown status
155	155
156	156	**(1) Servo enable (S-ON) OFF shutdown**
...	...	@@ -157,27 +157,27 @@
157	157
158	158	The related parameters of the servo OFF shutdown mode are shown in the table below.
159	159
160		-
161		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	167	+(% class="table-bordered" %)
	168	+|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)(((
162	162	**Setting method**
163		-)))|=(((
	170	+)))|(% style="text-align:center; vertical-align:middle" %)(((
164	164	**Effective time**
165		-)))|=(((
	172	+)))|(% style="text-align:center; vertical-align:middle" %)(((
166	166	**Default value**
167		-)))|=**Range**|=**Definition**|=**Unit**
168		-|=P00-05|Servo OFF shutdown|(((
	174	+)))|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	175	+|(% style="text-align:center; vertical-align:middle" %)P00-05|(% style="text-align:center; vertical-align:middle" %)Servo OFF shutdown|(% style="text-align:center; vertical-align:middle" %)(((
169	169	Shutdown
170	170
171	171	setting
172		-)))|(((
	179	+)))|(% style="text-align:center; vertical-align:middle" %)(((
173	173	Effective
174	174
175	175	immediately
176		-)))|0|0 to 1|(((
	183	+)))|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
177	177	0: Free shutdown, and the motor shaft remains free status.
178	178
179	179	1: Zero-speed shutdown, and the motor shaft remains free status.
180		-)))|-
	187	+)))|(% style="text-align:center; vertical-align:middle" %)-
181	181
182	182	Table 6-7Table 6-1 Servo OFF shutdown mode parameters details
183	183
...	...	@@ -193,13 +193,13 @@
193	193
194	194	The corresponding configuration and selection could be selected through the DI terminal function of the function code "DIDO configuration". The default function of DI3 is POT and DI4 is NOT, as shown in the table below.
195	195
196		-
197		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	203	+(% class="table-bordered" %)
	204	+|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)(((
198	198	**Setting method**
199		-)))|=(((
	206	+)))|(% style="text-align:center; vertical-align:middle" %)(((
200	200	**Effective time**
201		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
202		-|=P06-08|DI_3 channel function selection|Operation setting|Power-on again|3|0 to 32|(((
	208	+)))|(% style="text-align:center; vertical-align:middle" %)**Default value**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	209	+|(% style="text-align:center; vertical-align:middle" %)P06-08|(% style="text-align:center; vertical-align:middle" %)DI_3 channel function selection|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Power-on again|(% style="text-align:center; vertical-align:middle" %)3|(% style="text-align:center; vertical-align:middle" %)0 to 32|(((
203	203	0: OFF (not used)
204	204
205	205	01: S-ON servo enable
...	...	@@ -247,30 +247,32 @@
247	247	24: Internal multi-segment position selection 4
248	248
249	249	Others: reserved
250		-)))|-
251		-|=P06-09|DI_3 channel logic selection|Operation setting|(((
	257	+)))|(% style="text-align:center; vertical-align:middle" %)-
	258	+|(% style="text-align:center; vertical-align:middle" %)P06-09|(% style="text-align:center; vertical-align:middle" %)DI_3 channel logic selection|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)(((
252	252	Effective immediately
253		-)))|0|0 to 1|(((
	260	+)))|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
254	254	DI port input logic validity function selection.
255	255
256	256	0: Normally open input. Active low level (switch on);
257	257
258	258	1: Normally closed input. Active high level (switch off);
259		-)))|-
260		-|=P06-10|DI_3 input source selection|Operation setting|(((
	266	+)))|(% style="text-align:center; vertical-align:middle" %)-
	267	+|(% style="text-align:center; vertical-align:middle" %)P06-10|(% style="text-align:center; vertical-align:middle" %)DI_3 input source selection|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)(((
261	261	Effective immediately
262		-)))|0|0 to 1|(((
	269	+)))|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
263	263	Select the DI_3 port type to enable
264	264
265	265	0: Hardware DI_3 input terminal
266	266
267	267	1: virtual VDI_3 input terminal
268		-)))|-
269		-|=P06-11|DI_4 channel function selection|(((
	275	+)))|(% style="text-align:center; vertical-align:middle" %)-
	276	+
	277	+(% class="table-bordered" %)
	278	+|(% style="text-align:center; vertical-align:middle; width:140px" %)P06-11|(% style="text-align:center; vertical-align:middle; width:272px" %)DI_4 channel function selection|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
270	270	Operation setting
271		-)))|(((
	280	+)))|(% style="text-align:center; vertical-align:middle; width:195px" %)(((
272	272	again Power-on
273		-)))|4|0 to 32|(((
	282	+)))|(% style="text-align:center; vertical-align:middle; width:128px" %)4|(% style="text-align:center; vertical-align:middle; width:78px" %)0 to 32|(% style="width:454px" %)(((
274	274	0 off (not used)
275	275
276	276	01: SON Servo enable
...	...	@@ -318,25 +318,25 @@
318	318	24: Internal multi-segment position selection 4
319	319
320	320	Others: reserved
321		-)))|-
322		-|=P06-12|DI_4 channel logic selection|Operation setting|(((
	330	+)))|(% style="text-align:center; vertical-align:middle; width:56px" %)-
	331	+|(% style="text-align:center; vertical-align:middle; width:140px" %)P06-12|(% style="text-align:center; vertical-align:middle; width:272px" %)DI_4 channel logic selection|(% style="text-align:center; vertical-align:middle; width:162px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:195px" %)(((
323	323	Effective immediately
324		-)))|0|0 to 1|(((
	333	+)))|(% style="text-align:center; vertical-align:middle; width:128px" %)0|(% style="text-align:center; vertical-align:middle; width:78px" %)0 to 1|(% style="width:454px" %)(((
325	325	DI port input logic validity function selection.
326	326
327	327	0: Normally open input. Active low level (switch on);
328	328
329	329	1: Normally closed input. Active high level (switch off);
330		-)))|-
331		-|=P06-13|DI_4 input source selection|Operation setting|(((
	339	+)))|(% style="text-align:center; vertical-align:middle; width:56px" %)-
	340	+|(% style="text-align:center; vertical-align:middle; width:140px" %)P06-13|(% style="text-align:center; vertical-align:middle; width:272px" %)DI_4 input source selection|(% style="text-align:center; vertical-align:middle; width:162px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:195px" %)(((
332	332	Effective immediately
333		-)))|0|0 to 1|(((
	342	+)))|(% style="text-align:center; vertical-align:middle; width:128px" %)0|(% style="text-align:center; vertical-align:middle; width:78px" %)0 to 1|(% style="width:454px" %)(((
334	334	Select the DI_4 port type to enable
335	335
336	336	0: Hardware DI_4 input terminal
337	337
338	338	1: virtual VDI_4 input terminal
339		-)))|-
	348	+)))|(% style="text-align:center; vertical-align:middle; width:56px" %)-
340	340
341	341	Table 6-8 DI3 and DI4 channel parameters
342	342
...	...	@@ -348,8 +348,9 @@
348	348
349	349	The brake is a mechanism that prevents the servo motor shaft from moving when the servo drive is in a non-operating state, and keeps the motor locked in position, so that the moving part of the machine will not move due to its own weight or external force.
350	350
351		-
	360	+(% class="table-bordered" %)
352	352	|(((
	362	+(% style="text-align:center" %)
353	353	[[image:image-20220611151617-1.png]]
354	354	)))
355	355	|(((
...	...	@@ -368,13 +368,14 @@
368	368
369	369	The brake input signal has no polarity. You need to prepare a 24V power supply. The standard connection of brake signal BK and brake power supply is shown in the figure below. (take VD2B servo drive as example)
370	370
371		-
	381	+(% style="text-align:center" %)
372	372	[[image:image-20220608163136-2.png]]
373	373
374	374	Figure 6-2 VD2B servo drive brake wiring
375	375
376		-
	386	+(% class="table-bordered" %)
377	377	|(((
	388	+(% style="text-align:center" %)
378	378	[[image:image-20220611151642-2.png]]
379	379	)))
380	380	|(((
...	...	@@ -391,42 +391,42 @@
391	391
392	392	Related function code is as below.
393	393
394		-
395		-|=(% scope="row" %)**DO function code**|=**Function name**|=**Function**|=(((
	405	+(% class="table-bordered" %)
	406	+|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**|(% style="text-align:center; vertical-align:middle" %)(((
396	396	**Effective time**
397	397	)))
398		-|=144|(((
	409	+|(% style="text-align:center; vertical-align:middle" %)144|(% style="text-align:center; vertical-align:middle" %)(((
399	399	BRK-OFF Brake output
400		-)))|Output the signal indicates the servo motor brake release|Power-on again
	411	+)))|(% style="text-align:center; vertical-align:middle" %)Output the signal indicates the servo motor brake release|(% style="text-align:center; vertical-align:middle" %)Power-on again
401	401
402	402	Table 6-2 Relevant function codes for brake setting
403	403
404		-
405		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	415	+(% class="table-bordered" %)
	416	+|(% style="text-align:center; vertical-align:middle; width:175px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:175px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:175px" %)(((
406	406	**Setting method**
407		-)))|=(((
	418	+)))|(% style="text-align:center; vertical-align:middle; width:173px" %)(((
408	408	**Effective time**
409		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
410		-|=P1-30|Delay from brake output to instruction reception|(((
	420	+)))|(% style="text-align:center; vertical-align:middle; width:128px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:94px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:519px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	421	+|(% style="text-align:center; vertical-align:middle; width:175px" %)P1-30|(% style="text-align:center; vertical-align:middle; width:175px" %)Delay from brake output to instruction reception|(% style="text-align:center; vertical-align:middle; width:175px" %)(((
411	411	Operation setting
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|(((
	423	+)))|(% style="text-align:center; vertical-align:middle; width:173px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:128px" %)250|(% style="text-align:center; vertical-align:middle; width:94px" %)0 to 500|(% style="width:519px" %)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.|(% style="text-align:center; vertical-align:middle" %)ms
	424	+|(% style="text-align:center; vertical-align:middle; width:175px" %)P1-31|(% style="text-align:center; vertical-align:middle; width:175px" %)In static state, delay from brake output OFF to the motor is power off|(% style="text-align:center; vertical-align:middle; width:175px" %)(((
414	414	Operation setting
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|(((
	426	+)))|(% style="text-align:center; vertical-align:middle; width:173px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:128px" %)150|(% style="text-align:center; vertical-align:middle; width:94px" %)1 to 1000|(% style="width:519px" %)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.|(% style="text-align:center; vertical-align:middle" %)ms
	427	+|(% style="text-align:center; vertical-align:middle; width:175px" %)P1-32|(% style="text-align:center; vertical-align:middle; width:175px" %)Rotation status, when the brake output OFF, the speed threshold|(% style="text-align:center; vertical-align:middle; width:175px" %)(((
417	417	Operation setting
418		-)))|Effective immediately|30|0 to 3000|(((
	429	+)))|(% style="text-align:center; vertical-align:middle; width:173px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:128px" %)30|(% style="text-align:center; vertical-align:middle; width:94px" %)0 to 3000|(% style="width:519px" %)(((
419	419	When the motor rotates, the motor speed threshold when the brake (BRK-OFF) is allowed to output OFF.
420	420
421	421	When the brake output (BRK-OFF) is not allocated, this function code has no effect.
422		-)))|rpm
423		-|=P1-33|Rotation status, Delay from servo enable OFF to brake output OFF|(((
	433	+)))|(% style="text-align:center; vertical-align:middle" %)rpm
	434	+|(% style="text-align:center; vertical-align:middle; width:175px" %)P1-33|(% style="text-align:center; vertical-align:middle; width:175px" %)Rotation status, Delay from servo enable OFF to brake output OFF|(% style="text-align:center; vertical-align:middle; width:175px" %)(((
424	424	Operation setting
425		-)))|Effective immediately|500|1 to 1000|(((
	436	+)))|(% style="text-align:center; vertical-align:middle; width:173px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:128px" %)500|(% style="text-align:center; vertical-align:middle; width:94px" %)1 to 1000|(% style="width:519px" %)(((
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.
427	427
428	428	When brake output (BRK-OFF) is not allocated, this function code has no effect.
429		-)))|ms
	440	+)))|(% style="text-align:center; vertical-align:middle" %)ms
430	430
431	431	Table 6-9 Brake setting function codes
432	432
...	...	@@ -438,10 +438,11 @@
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]]__
	452	+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		-
	454	+(% class="table-bordered" %)
444	444	|(((
	456	+(% style="text-align:center" %)
445	445	[[image:image-20220611151705-3.png]]
446	446	)))
447	447	|(((
...	...	@@ -450,6 +450,7 @@
450	450	✎When applied to a vertical axis, the external force or the weight of the mechanical moving part may cause the machine to move slightly. When the servo motor is stationary, and the servo enable is OFF, the brake output will be OFF immediately. However, the motor is still energized within the time of P01-31 to prevent mechanical movement from moving due to its own weight or external force.
451	451	)))
452	452
	465	+(% style="text-align:center" %)
453	453	[[image:image-20220608163304-3.png]]
454	454
455	455	Figure 6-3 Brake Timing of when the motor is stationary
...	...	@@ -458,10 +458,11 @@
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]]__.
	474	+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		-
	476	+(% class="table-bordered" %)
464	464	|(((
	478	+(% style="text-align:center" %)
465	465	[[image:image-20220611151719-4.png]]
466	466	)))
467	467	|(((
...	...	@@ -476,6 +476,7 @@
476	476	✎After the brake output changes from ON to OFF, the motor is still in communication within 50ms to prevent the mechanical movement from moving due to its own weight or external force.
477	477	)))
478	478
	493	+(% style="text-align:center" %)
479	479	[[image:image-20220608163425-4.png]]
480	480
481	481	Figure 6-4 Brake timing when the motor rotates
...	...	@@ -484,7 +484,7 @@
484	484
485	485	The brake timing (free shutdown) in the fault status is as follows.
486	486
487		-
	502	+(% style="text-align:center" %)
488	488	[[image:image-20220608163541-5.png]]
489	489
490	490	Figure 6-5 The brake timing (free shutdown) in the fault state
...	...	@@ -493,7 +493,7 @@
493	493
494	494	Position control is the most important and commonly used control mode of the servo system. Position control refers to controlling the position of the motor through position instructions, and determining the target position of the motor by the total number of position instructions. The frequency of the position instruction determines the motor rotation speed. The servo drive can achieve fast and accurate control of the position and speed of the machine. Therefore, the position control mode is mainly used for occasions that require positioning control, such as manipulators, mounter, engraving machines, CNC machine tools, etc. The position control block diagram is shown in the figure below.
495	495
496		-
	511	+(% style="text-align:center" %)
497	497	[[image:image-20220608163643-6.png]]
498	498
499	499	Figure 6-6 Position control diagram
...	...	@@ -500,17 +500,17 @@
500	500
501	501	Set “P00-01” to 1 by the software “Wecon SCTool”, and the servo drive is in position control mode.
502	502
503		-
504		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	518	+(% class="table-bordered" %)
	519	+|(% style="text-align:center; vertical-align:middle; width:122px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:126px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:158px" %)(((
505	505	**Setting method**
506		-)))|=(((
	521	+)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
507	507	**Effective time**
508		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
509		-|=P01-01|Control mode|(((
	523	+)))|(% style="text-align:center; vertical-align:middle; width:145px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:134px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:326px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	524	+|(% style="text-align:center; vertical-align:middle; width:122px" %)P01-01|(% style="text-align:center; vertical-align:middle; width:126px" %)Control mode|(% style="text-align:center; vertical-align:middle; width:158px" %)(((
510	510	Operation setting
511		-)))|(((
	526	+)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
512	512	immediately Effective
513		-)))|0|0 to 6|(((
	528	+)))|(% style="text-align:center; vertical-align:middle; width:145px" %)0|(% style="text-align:center; vertical-align:middle; width:134px" %)0 to 1|(% style="width:326px" %)(((
514	514	0: position control
515	515
516	516	2: speed control
...	...	@@ -522,7 +522,7 @@
522	522	5: position/torque mix control
523	523
524	524	6: speed /torque mix control
525		-)))|-
	540	+)))|(% style="text-align:center; vertical-align:middle" %)-
526	526
527	527	Table 6-10 Control mode parameters
528	528
...	...	@@ -530,21 +530,21 @@
530	530
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		-
534		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	548	+(% class="table-bordered" %)
	549	+|(% style="text-align:center; vertical-align:middle; width:131px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:149px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:191px" %)(((
535	535	**Setting method**
536		-)))|=(((
	551	+)))|(% style="text-align:center; vertical-align:middle; width:189px" %)(((
537	537	**Effective time**
538		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
539		-|=P01-06|Position instruction source|(((
	553	+)))|(% style="text-align:center; vertical-align:middle; width:116px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:100px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:284px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	554	+|(% style="text-align:center; vertical-align:middle; width:131px" %)P01-06|(% style="text-align:center; vertical-align:middle; width:149px" %)Position instruction source|(% style="text-align:center; vertical-align:middle; width:191px" %)(((
540	540	Operation setting
541		-)))|(((
	556	+)))|(% style="text-align:center; vertical-align:middle; width:189px" %)(((
542	542	immediately Effective
543		-)))|0|0 to 1|(((
	558	+)))|(% style="text-align:center; vertical-align:middle; width:116px" %)0|(% style="text-align:center; vertical-align:middle; width:100px" %)0 to 1|(% style="width:284px" %)(((
544	544	0: pulse instruction
545	545
546	546	1: internal position instruction
547		-)))|-
	562	+)))|(% style="text-align:center; vertical-align:middle" %)-
548	548
549	549	Table 6-11 Position instruction source parameter
550	550
...	...	@@ -552,19 +552,20 @@
552	552
553	553	1) Low-speed pulse instruction input
554	554
555		-|[[image:image-20220707092316-1.png]]|[[image:image-20220707092322-2.png]]
556		-|VD2A and VD2B servo drives|VD2F servo drive
557		-|(% colspan="2" %)Figure 6-7 Position instruction input setting
	570	+(% class="table-bordered" %)
	571	+|(% style="text-align:center; vertical-align:middle" %)[[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]]|(% style="text-align:center; vertical-align:middle" %)[[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]]
	572	+|(% style="text-align:center; vertical-align:middle" %)VD2A and VD2B servo drives|(% style="text-align:center; vertical-align:middle" %)VD2F servo drive
	573	+|(% colspan="2" style="text-align:center; vertical-align:middle" %)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]]__.
	575	+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
	579	+(% class="table-bordered" %)
	580	+|(% style="text-align:center; vertical-align:middle" %)**Pulse method**|(% style="text-align:center; vertical-align:middle" %)**Maximum frequency**|(% style="text-align:center; vertical-align:middle" %)**Voltage**
	581	+|(% style="text-align:center; vertical-align:middle" %)Open collector input|(% style="text-align:center; vertical-align:middle" %)200K|(% style="text-align:center; vertical-align:middle" %)24V
	582	+|(% style="text-align:center; vertical-align:middle" %)Differential input|(% style="text-align:center; vertical-align:middle" %)500K|(% style="text-align:center; vertical-align:middle" %)5V
563	563
564		-|**Pulse method**|**Maximum frequency**|**Voltage**
565		-|Open collector input|200K|24V
566		-|Differential input|500K|5V
567		-
568	568	Table 6-12 Pulse input specifications
569	569
570	570	1.Differential input
...	...	@@ -572,11 +572,11 @@
572	572	Take VD2A and VD2B drive as examples, the connection of differential input is shown as below.
573	573
574	574	(% style="text-align:center" %)
575		-[[image:image-20220707092615-5.jpeg]]
	591	+[[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]]
576	576
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]]__”
	595	+✎**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
...	...	@@ -583,11 +583,11 @@
583	583	Take VD2A and VD2B drive as examples, the connection of differential input is shown as below.
584	584
585	585	(% style="text-align:center" %)
586		-[[image:image-20220707092401-3.jpeg||height="530" width="834"]]
	602	+[[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]]
587	587
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]]__”
	606	+✎**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
...	...	@@ -600,22 +600,22 @@
600	600
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		-
604		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	619	+(% class="table-bordered" %)
	620	+|(% style="text-align:center; vertical-align:middle; width:120px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:202px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:158px" %)(((
605	605	**Setting method**
606		-)))|=(((
	622	+)))|(% style="text-align:center; vertical-align:middle; width:176px" %)(((
607	607	**Effective time**
608		-)))|=**Default value**|=**Range**|=(% colspan="2" %)**Definition**|=**Unit**
609		-|=P00-13|Maximum position pulse frequency|(((
	624	+)))|(% style="text-align:center; vertical-align:middle; width:121px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:87px" %)**Range**|(% colspan="2" style="text-align:center; vertical-align:middle; width:538px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	625	+|(% style="text-align:center; vertical-align:middle; width:120px" %)P00-13|(% style="text-align:center; vertical-align:middle; width:202px" %)Maximum position pulse frequency|(% style="text-align:center; vertical-align:middle; width:158px" %)(((
610	610	Shutdown setting
611		-)))|(((
	627	+)))|(% style="text-align:center; vertical-align:middle; width:176px" %)(((
612	612	Effective immediately
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" %)(((
	629	+)))|(% style="text-align:center; vertical-align:middle; width:121px" %)300|(% style="text-align:center; vertical-align:middle; width:87px" %)1 to 500|(% colspan="2" style="width:538px" %)Set the maximum frequency of external pulse instruction|KHz
	630	+|(% rowspan="3" style="text-align:center; vertical-align:middle; width:120px" %)P00-14|(% rowspan="3" style="text-align:center; vertical-align:middle; width:202px" %)Position pulse anti-interference level|(% rowspan="3" style="text-align:center; vertical-align:middle; width:158px" %)(((
615	615	Operation setting
616		-)))|(% rowspan="3" %)(((
	632	+)))|(% rowspan="3" style="text-align:center; vertical-align:middle; width:176px" %)(((
617	617	Power-on again
618		-)))|(% rowspan="3" %)2|(% rowspan="3" %)0 to 9|(% colspan="2" %)(((
	634	+)))|(% rowspan="3" style="text-align:center; vertical-align:middle; width:121px" %)2|(% rowspan="3" style="text-align:center; vertical-align:middle; width:87px" %)0 to 9|(% colspan="2" style="width:538px" %)(((
619	619	Set the anti-interference level of external pulse instruction.
620	620
621	621	0: no filtering;
...	...	@@ -635,9 +635,9 @@
635	635	7: Filtering time 8.192us
636	636
637	637	8: Filtering time 16.384us
638		-)))|(% rowspan="3" %)-
639		-|=(% rowspan="2" %)9|VD2: Filtering time 25.5us
640		-|=VD2F: Filtering time 25.5us
	654	+)))|(% rowspan="3" style="text-align:center; vertical-align:middle" %)-
	655	+|(% rowspan="2" style="width:4px" %)9|VD2: Filtering time 25.5us
	656	+|VD2F: Filtering time 25.5us
641	641
642	642	Table 6-13 Position pulse frequency and anti-interference level parameters
643	643
...	...	@@ -645,17 +645,17 @@
645	645
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		-
649		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	664	+(% class="table-bordered" %)
	665	+|(% style="text-align:center; vertical-align:middle; width:132px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:184px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
650	650	**Setting method**
651		-)))|=(((
	667	+)))|(% style="text-align:center; vertical-align:middle; width:135px" %)(((
652	652	**Effective time**
653		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
654		-|=P00-12|Position pulse type selection|(((
	669	+)))|(% style="text-align:center; vertical-align:middle; width:115px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:66px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:373px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	670	+|(% style="text-align:center; vertical-align:middle; width:132px" %)P00-12|(% style="text-align:center; vertical-align:middle; width:184px" %)Position pulse type selection|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
655	655	Operation setting
656		-)))|(((
	672	+)))|(% style="text-align:center; vertical-align:middle; width:135px" %)(((
657	657	Power-on again
658		-)))|0|0 to 5|(((
	674	+)))|(% style="text-align:center; vertical-align:middle; width:115px" %)0|(% style="text-align:center; vertical-align:middle; width:66px" %)0 to 5|(% style="width:373px" %)(((
659	659	0: direction + pulse (positive logic)
660	660
661	661	1: CW/CCW
...	...	@@ -667,74 +667,74 @@
667	667	4: CW/CCW (negative logic)
668	668
669	669	5: A, B phase quadrature pulse (4 times frequency negative logic)
670		-)))|-
	686	+)))|(% style="text-align:center; vertical-align:middle" %)-
671	671
672	672	Table 6-14 Position pulse type selection parameter
673	673
674		-
675		-|=(% scope="row" %)**Pulse type selection**|=**Pulse type**|=**Signal**|=**Schematic diagram of forward pulse**|=**Schematic diagram of negative pulse**
676		-|=0|(((
	690	+(% class="table-bordered" %)
	691	+|(% style="text-align:center; vertical-align:middle; width:185px" %)**Pulse type selection**|(% style="text-align:center; vertical-align:middle; width:177px" %)**Pulse type**|(% style="text-align:center; vertical-align:middle" %)**Signal**|(% style="text-align:center; vertical-align:middle" %)**Schematic diagram of forward pulse**|(% style="text-align:center; vertical-align:middle" %)**Schematic diagram of negative pulse**
	692	+|(% style="text-align:center; vertical-align:middle; width:185px" %)0|(% style="text-align:center; vertical-align:middle; width:177px" %)(((
677	677	Direction + pulse
678	678
679	679	(Positive logic)
680		-)))|(((
	696	+)))|(% style="text-align:center; vertical-align:middle" %)(((
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]]
685		-|=1|CW/CCW|(((
	700	+)))|(% style="text-align:center; vertical-align:middle" %)[[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]]|(% style="text-align:center; vertical-align:middle" %)[[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]]
	701	+|(% style="text-align:center; vertical-align:middle; width:185px" %)1|(% style="text-align:center; vertical-align:middle; width:177px" %)CW/CCW|(% style="text-align:center; vertical-align:middle" %)(((
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]]
690		-|=2|(((
	705	+)))|(% colspan="2" style="text-align:center; vertical-align:middle" %)[[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]]
	706	+|(% style="text-align:center; vertical-align:middle; width:185px" %)2|(% style="text-align:center; vertical-align:middle; width:177px" %)(((
691	691	AB phase orthogonal
692	692
693	693	pulse (4 times frequency)
694		-)))|(((
	710	+)))|(% style="text-align:center; vertical-align:middle" %)(((
695	695	PULSE (Phase A)
696	696
697	697	SIGN (Phase B)
698		-)))|(((
	714	+)))|(% style="text-align:center; vertical-align:middle" %)(((
699	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]]
700	700
701	701	Phase A is 90° ahead of Phase B
702		-)))|(((
	718	+)))|(% style="text-align:center; vertical-align:middle" %)(((
703	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
705	705	Phase B is 90° ahead of Phase A
706	706	)))
707		-|=3|(((
	723	+|(% style="text-align:center; vertical-align:middle; width:185px" %)3|(% style="text-align:center; vertical-align:middle; width:177px" %)(((
708	708	Direction + pulse
709	709
710	710	(Negative logic)
711		-)))|(((
	727	+)))|(% style="text-align:center; vertical-align:middle" %)(((
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]]
716		-|=4|(((
	731	+)))|(% style="text-align:center; vertical-align:middle" %)[[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]]|(% style="text-align:center; vertical-align:middle" %)[[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]]
	732	+|(% style="text-align:center; vertical-align:middle; width:185px" %)4|(% style="text-align:center; vertical-align:middle; width:177px" %)(((
717	717	CW/CCW
718	718
719	719	(Negative logic)
720		-)))|(((
	736	+)))|(% style="text-align:center; vertical-align:middle" %)(((
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]]
725		-|=5|(((
	740	+)))|(% colspan="2" style="text-align:center; vertical-align:middle" %)[[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]]
	741	+|(% style="text-align:center; vertical-align:middle; width:185px" %)5|(% style="text-align:center; vertical-align:middle; width:177px" %)(((
726	726	AB phase orthogonal
727	727
728	728	pulse (4 times frequency negative logic)
729		-)))|(((
	745	+)))|(% style="text-align:center; vertical-align:middle" %)(((
730	730	PULSE (Phase A)
731	731
732	732	SIGN (Phase B)
733		-)))|(((
	749	+)))|(% style="text-align:center; vertical-align:middle" %)(((
734	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]]
735	735
736	736	B phase is ahead of A phase by 90°
737		-)))|(((
	753	+)))|(% style="text-align:center; vertical-align:middle" %)(((
738	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]]
739	739
740	740	A phase is ahead of B phase by 90°
...	...	@@ -744,11 +744,11 @@
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]]__.
	763	+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
751		-
	767	+(% 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
...	...	@@ -755,51 +755,51 @@
755	755
756	756	1) Set multi-segment position running mode
757	757
758		-
759		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	774	+(% class="table-bordered" %)
	775	+|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle; width:141px" %)(((
760	760	**Setting method**
761		-)))|=(((
	777	+)))|(% style="text-align:center; vertical-align:middle; width:200px" %)(((
762	762	**Effective time**
763		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
764		-|=P07-01|Multi-segment position running mode|(((
	779	+)))|(% style="text-align:center; vertical-align:middle; width:16px" %)**Default value**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	780	+|(% style="text-align:center; vertical-align:middle" %)P07-01|(% style="text-align:center; vertical-align:middle" %)Multi-segment position running mode|(% style="text-align:center; vertical-align:middle; width:141px" %)(((
765	765	Shutdown setting
766		-)))|(((
	782	+)))|(% style="text-align:center; vertical-align:middle; width:200px" %)(((
767	767	Effective immediately
768		-)))|0|0 to 2|(((
	784	+)))|(% style="text-align:center; vertical-align:middle; width:16px" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 2|(((
769	769	0: Single running
770	770
771	771	1: Cycle running
772	772
773	773	2: DI switching running
774		-)))|-
775		-|=P07-02|Start segment number|(((
	790	+)))|(% style="text-align:center; vertical-align:middle" %)-
	791	+|(% style="text-align:center; vertical-align:middle" %)P07-02|(% style="text-align:center; vertical-align:middle" %)Start segment number|(% style="text-align:center; vertical-align:middle; width:141px" %)(((
776	776	Shutdown setting
777		-)))|(((
	793	+)))|(% style="text-align:center; vertical-align:middle; width:200px" %)(((
778	778	Effective immediately
779		-)))|1|1 to 16|1st segment NO. in non-DI switching mode|-
780		-|=P07-03|End segment number|(((
	795	+)))|(% style="text-align:center; vertical-align:middle; width:16px" %)1|(% style="text-align:center; vertical-align:middle" %)1 to 16|1st segment NO. in non-DI switching mode|(% style="text-align:center; vertical-align:middle" %)-
	796	+|(% style="text-align:center; vertical-align:middle" %)P07-03|(% style="text-align:center; vertical-align:middle" %)End segment number|(% style="text-align:center; vertical-align:middle; width:141px" %)(((
781	781	Shutdown setting
782		-)))|(((
	798	+)))|(% style="text-align:center; vertical-align:middle; width:200px" %)(((
783	783	Effective immediately
784		-)))|1|1 to 16|last segment NO. in non-DI switching mode|-
785		-|=P07-04|Margin processing method|(((
	800	+)))|(% style="text-align:center; vertical-align:middle; width:16px" %)1|(% style="text-align:center; vertical-align:middle" %)1 to 16|last segment NO. in non-DI switching mode|(% style="text-align:center; vertical-align:middle" %)-
	801	+|(% style="text-align:center; vertical-align:middle" %)P07-04|(% style="text-align:center; vertical-align:middle" %)Margin processing method|(% style="text-align:center; vertical-align:middle; width:141px" %)(((
786	786	Shutdown setting
787		-)))|(((
	803	+)))|(% style="text-align:center; vertical-align:middle; width:200px" %)(((
788	788	Effective immediately
789		-)))|0|0 to 1|(((
	805	+)))|(% style="text-align:center; vertical-align:middle; width:16px" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
790	790	0: Run the remaining segments
791	791
792	792	1: Run again from the start segment
793		-)))|-
794		-|=P07-05|Displacement instruction type|(((
	809	+)))|(% style="text-align:center; vertical-align:middle" %)-
	810	+|(% style="text-align:center; vertical-align:middle" %)P07-05|(% style="text-align:center; vertical-align:middle" %)Displacement instruction type|(% style="text-align:center; vertical-align:middle; width:141px" %)(((
795	795	Shutdown setting
796		-)))|(((
	812	+)))|(% style="text-align:center; vertical-align:middle; width:200px" %)(((
797	797	Effective immediately
798		-)))|0|0 to 1|(((
	814	+)))|(% style="text-align:center; vertical-align:middle; width:16px" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
799	799	0: Relative position instruction
800	800
801	801	1: Absolute position instruction
802		-)))|-
	818	+)))|(% style="text-align:center; vertical-align:middle" %)-
803	803
804	804	Table 6-16 multi-segment position running mode parameters
805	805
...	...	@@ -807,9 +807,9 @@
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
	826	+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		-
	828	+(% 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)
...	...	@@ -816,14 +816,14 @@
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.
	835	+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		-
	837	+(% 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)
825	825
826		-|[[image:image-20220611151917-5.png]]
	842	+|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611151917-5.png]]
827	827	|In single running and cycle running mode, the setting value of P07-03 needs to be greater than the setting value of P07-02.
828	828
829	829	3. DI switching running
...	...	@@ -830,30 +830,30 @@
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
	849	+(% class="table-bordered" %)
	850	+|(% style="text-align:center; vertical-align:middle" %)**DI function code**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**
	851	+|(% style="text-align:center; vertical-align:middle" %)21|INPOS1: Internal multi-segment position segment selection 1|Form internal multi-segment position running segment number
	852	+|(% style="text-align:center; vertical-align:middle" %)22|INPOS2: Internal multi-segment position segment selection 2|Form internal multi-segment position running segment number
	853	+|(% style="text-align:center; vertical-align:middle" %)23|INPOS3: Internal multi-segment position segment selection 3|Form internal multi-segment position running segment number
	854	+|(% style="text-align:center; vertical-align:middle" %)24|INPOS4: Internal multi-segment position segment selection 4|Form internal multi-segment position running segment number
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
839		-
840	840	Table 6-17 DI function code
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
	860	+(% class="table-bordered" %)
	861	+|(% style="text-align:center; vertical-align:middle" %)**INPOS4**|(% style="text-align:center; vertical-align:middle" %)**INPOS3**|(% style="text-align:center; vertical-align:middle" %)**INPOS2**|(% style="text-align:center; vertical-align:middle" %)**INPOS1**|(% style="text-align:center; vertical-align:middle" %)**Running position number**
	862	+|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1
	863	+|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)2
	864	+|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)3
	865	+|(% colspan="5" style="text-align:center; vertical-align:middle" %)…………
	866	+|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)16
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
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]]__.
	870	+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		-
	872	+(% style="text-align:center" %)
857	857	[[image:image-20220608164545-12.png]]
858	858
859	859	Figure 6-14 DI switching running curve
...	...	@@ -862,14 +862,14 @@
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.
	881	+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		-
	883	+(% 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		-
	888	+(% 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)
...	...	@@ -876,14 +876,14 @@
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.
	895	+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		-
	897	+(% 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		-
	902	+(% 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)
...	...	@@ -895,8 +895,10 @@
895	895	The relative position instruction takes the current stop position of the motor as the start point and specifies the amount of displacement.
896	896
897	897	|(((
	914	+(% style="text-align:center" %)
898	898	[[image:image-20220608165710-17.png]]
899	899	)))|(((
	917	+(% style="text-align:center" %)
900	900	[[image:image-20220608165749-18.png]]
901	901	)))
902	902	|Figure 6-19 Relative position diagram|Figure 6-20 Displacement diagram
...	...	@@ -906,8 +906,10 @@
906	906	The absolute position instruction takes "reference origin" as the zero point of absolute positioning, and specifies the amount of displacement.
907	907
908	908	|(((
	927	+(% style="text-align:center" %)
909	909	[[image:image-20220608165848-19.png]]
910	910	)))|(((
	930	+(% style="text-align:center" %)
911	911	[[image:image-20220608170005-20.png]]
912	912	)))
913	913	|Figure 6-21 Absolute indication|Figure 6-22 Displacement
...	...	@@ -914,44 +914,48 @@
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.
	937	+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		-
920		-|=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit**
921		-|=P07-09|(((
	939	+(% class="table-bordered" %)
	940	+|(% style="text-align:center; vertical-align:middle; width:124px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:171px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
	941	+**Setting method**
	942	+)))|(% style="text-align:center; vertical-align:middle; width:187px" %)(((
	943	+**Effective time**
	944	+)))|(% style="text-align:center; vertical-align:middle; width:130px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:123px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:260px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	945	+|(% style="text-align:center; vertical-align:middle; width:124px" %)P07-09|(% style="text-align:center; vertical-align:middle; width:171px" %)(((
922	922	1st segment
923	923
924	924	displacement
925		-)))|(((
	949	+)))|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
926	926	Operation setting
927		-)))|(((
	951	+)))|(% style="text-align:center; vertical-align:middle; width:187px" %)(((
928	928	Effective immediately
929		-)))|10000|(((
	953	+)))|(% style="text-align:center; vertical-align:middle; width:130px" %)10000|(% style="text-align:center; vertical-align:middle; width:123px" %)(((
930	930	-2147483647 to
931	931
932	932	2147483646
933		-)))|Position instruction, positive and negative values could be set|-
934		-|=P07-10|Maximum speed of the 1st displacement|(((
	957	+)))|(% style="width:260px" %)Position instruction, positive and negative values could be set|(% style="text-align:center; vertical-align:middle" %)-
	958	+|(% style="text-align:center; vertical-align:middle; width:124px" %)P07-10|(% style="text-align:center; vertical-align:middle; width:171px" %)Maximum speed of the 1st displacement|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
935	935	Operation setting
936		-)))|(((
	960	+)))|(% style="text-align:center; vertical-align:middle; width:187px" %)(((
937	937	Effective immediately
938		-)))|100|1 to 5000|Steady-state running speed of the 1st segment|rpm
939		-|=P07-11|Acceleration and deceleration of 1st segment displacement|(((
	962	+)))|(% style="text-align:center; vertical-align:middle; width:130px" %)100|(% style="text-align:center; vertical-align:middle; width:123px" %)1 to 5000|(% style="width:260px" %)Steady-state running speed of the 1st segment|(% style="text-align:center; vertical-align:middle" %)rpm
	963	+|(% style="text-align:center; vertical-align:middle; width:124px" %)P07-11|(% style="text-align:center; vertical-align:middle; width:171px" %)Acceleration and deceleration of 1st segment displacement|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
940	940	Operation setting
941		-)))|(((
	965	+)))|(% style="text-align:center; vertical-align:middle; width:187px" %)(((
942	942	Effective immediately
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|(((
	967	+)))|(% style="text-align:center; vertical-align:middle; width:130px" %)100|(% style="text-align:center; vertical-align:middle; width:123px" %)1 to 65535|(% style="width:260px" %)The time required for the acceleration and deceleration of the 1st segment|(% style="text-align:center; vertical-align:middle" %)ms
	968	+|(% style="text-align:center; vertical-align:middle; width:124px" %)P07-12|(% style="text-align:center; vertical-align:middle; width:171px" %)Waiting time after completion of the 1st segment displacement|(% style="text-align:center; vertical-align:middle; width:143px" %)(((
945	945	Operation setting
946		-)))|(((
	970	+)))|(% style="text-align:center; vertical-align:middle; width:187px" %)(((
947	947	Effective immediately
948		-)))|100|1 to 65535|Delayed waiting time from the completion of the 1st segment to the start of the next segment|Set by P07-06
	972	+)))|(% style="text-align:center; vertical-align:middle; width:130px" %)100|(% style="text-align:center; vertical-align:middle; width:123px" %)1 to 65535|(% style="width:260px" %)Delayed waiting time from the completion of the 1st segment to the start of the next segment|(% style="text-align:center; vertical-align:middle" %)Set by P07-06
949	949
950	950	Table 6-19 The 1st position operation curve parameters table
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		-
	978	+(% 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
...	...	@@ -960,14 +960,15 @@
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		-|=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
965		-|=20|ENINPOS: Internal multi-segment position enable signal|(((
	987	+(% class="table-bordered" %)
	988	+|(% style="text-align:center; vertical-align:middle" %)**DI function code**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**
	989	+|(% style="text-align:center; vertical-align:middle" %)20|(% style="text-align:center; vertical-align:middle" %)ENINPOS: Internal multi-segment position enable signal|(% style="text-align:center; vertical-align:middle" %)(((
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
969	969	)))
970	970
	995	+(% style="text-align:center" %)
971	971	[[image:image-20220611152020-6.png]]
972	972
973	973	It should be noted that only when the internal multi-segment position enable signal is OFF, can the P07 group parameters be actually modified to write into the servo drive!
...	...	@@ -982,13 +982,13 @@
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
985		-
	1010	+(% style="text-align:center" %)
986	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		-
	1013	+(% style="text-align:center" %)
989	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		-
	1016	+(% style="text-align:center" %)
992	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	993
994	994	Otherwise, the servo drive will report Er.35: "Electronic gear ratio setting exceeds the limit"!
...	...	@@ -995,7 +995,7 @@
995	995
996	996	**(2) Setting steps of electronic gear ratio**
997	997
998		-
	1023	+(% style="text-align:center" %)
999	999	[[image:image-20220608170320-22.png]]
1000	1000
1001	1001	Figure 6-24 Setting steps of electronic gear ratio
...	...	@@ -1010,7 +1010,7 @@
1010	1010
1011	1011	Step5: Calculate the value of electronic gear ratio according to formula below.
1012	1012
1013		-
	1038	+(% style="text-align:center" %)
1014	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	1015
1016	1016	**(3) lectronic gear ratio switch setting**
...	...	@@ -1018,59 +1018,59 @@
1018	1018
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		-
1022		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	1046	+(% class="table-bordered" %)
	1047	+|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:159px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
1023	1023	**Setting method**
1024		-)))|=(((
	1049	+)))|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
1025	1025	**Effective time**
1026		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1027		-|=P00-16|Number of instruction pulses when the motor rotates one circle|(((
	1051	+)))|(% style="text-align:center; vertical-align:middle; width:142px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:94px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:311px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	1052	+|(% style="text-align:center; vertical-align:middle" %)P00-16|(% style="text-align:center; vertical-align:middle; width:159px" %)Number of instruction pulses when the motor rotates one circle|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
1028	1028	Shutdown setting
1029		-)))|(((
	1054	+)))|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
1030	1030	Effective immediately
1031		-)))|10000|0 to 131072|Set the number of position command pulses required for each turn of the motor. When the setting value is 0, [P00-17]/[P00-19] Electronic gear 1/2 numerator, [P00-18]/[P00-20] Electronic gear 1/2 denominator is valid.|(((
	1056	+)))|(% style="text-align:center; vertical-align:middle; width:142px" %)10000|(% style="text-align:center; vertical-align:middle; width:94px" %)0 to 131072|(% style="width:311px" %)Set the number of position command pulses required for each turn of the motor. When the setting value is 0, [P00-17]/[P00-19] Electronic gear 1/2 numerator, [P00-18]/[P00-20] Electronic gear 1/2 denominator is valid.|(% style="text-align:center; vertical-align:middle" %)(((
1032	1032	Instruction pulse
1033	1033
1034	1034	unit
1035	1035	)))
1036		-|=P00-17|(((
	1061	+|(% style="text-align:center; vertical-align:middle" %)P00-17|(% style="text-align:center; vertical-align:middle; width:159px" %)(((
1037	1037	Electronic gear 1
1038	1038
1039	1039	numerator
1040		-)))|Operation setting|(((
	1065	+)))|(% style="text-align:center; vertical-align:middle; width:156px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
1041	1041	Effective immediately
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|(((
	1067	+)))|(% style="text-align:center; vertical-align:middle; width:142px" %)1|(% style="text-align:center; vertical-align:middle; width:94px" %)1 to 4294967294|(% style="width:311px" %)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.|(% style="text-align:center; vertical-align:middle" %)-
	1068	+|(% style="text-align:center; vertical-align:middle" %)P00-18|(% style="text-align:center; vertical-align:middle; width:159px" %)(((
1044	1044	Electronic gear 1
1045	1045
1046	1046	denominator
1047		-)))|(((
	1072	+)))|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
1048	1048	Operation setting
1049		-)))|(((
	1074	+)))|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
1050	1050	Effective immediately
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|(((
	1076	+)))|(% style="text-align:center; vertical-align:middle; width:142px" %)1|(% style="text-align:center; vertical-align:middle; width:94px" %)1 to 4294967294|(% style="width:311px" %)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.|(% style="text-align:center; vertical-align:middle" %)-
	1077	+|(% style="text-align:center; vertical-align:middle" %)P00-19|(% style="text-align:center; vertical-align:middle; width:159px" %)(((
1053	1053	Electronic gear 2
1054	1054
1055	1055	numerator
1056		-)))|Operation setting|(((
	1081	+)))|(% style="text-align:center; vertical-align:middle; width:156px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
1057	1057	Effective immediately
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|(((
	1083	+)))|(% style="text-align:center; vertical-align:middle; width:142px" %)1|(% style="text-align:center; vertical-align:middle; width:94px" %)1 to 4294967294|(% style="width:311px" %)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.|(% style="text-align:center; vertical-align:middle" %)-
	1084	+|(% style="text-align:center; vertical-align:middle" %)P00-20|(% style="text-align:center; vertical-align:middle; width:159px" %)(((
1060	1060	Electronic gear 2
1061	1061
1062	1062	denominator
1063		-)))|Operation setting|(((
	1088	+)))|(% style="text-align:center; vertical-align:middle; width:156px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
1064	1064	Effective immediately
1065		-)))|1|1 to 4294967294|Set the denominator 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.|-
	1090	+)))|(% style="text-align:center; vertical-align:middle; width:142px" %)1|(% style="text-align:center; vertical-align:middle; width:94px" %)1 to 4294967294|(% style="width:311px" %)Set the denominator 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.|(% style="text-align:center; vertical-align:middle" %)-
1066	1066
1067	1067	Table 6-20 Electronic gear ratio function code
1068	1068
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		-
1072		-|=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
1073		-|=09|GEAR-SEL electronic gear switch 1|(((
	1096	+(% class="table-bordered" %)
	1097	+|(% style="text-align:center; vertical-align:middle" %)**DI function code**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**
	1098	+|(% style="text-align:center; vertical-align:middle" %)09|(% style="text-align:center; vertical-align:middle" %)GEAR-SEL electronic gear switch 1|(% style="text-align:center; vertical-align:middle" %)(((
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]]
	1106	+|(% style="text-align:center; vertical-align:middle" %)**P00-16 value**|(% style="text-align:center; vertical-align:middle" %)**DI terminal level corresponding to DI port function 9**|(% style="text-align:center; vertical-align:middle" %)**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]]
	1107	+|(% rowspan="2" style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)DI port logic invalid|(% style="text-align:center; vertical-align:middle" %)[[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]]
	1108	+|(% style="text-align:center; vertical-align:middle" %)DI port logic valid|(% style="text-align:center; vertical-align:middle" %)[[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]]
	1109	+|(% style="text-align:center; vertical-align:middle" %)1 to 131072|(% style="text-align:center; vertical-align:middle" %)~-~-|(% style="text-align:center; vertical-align:middle" %)[[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
...	...	@@ -1099,32 +1099,32 @@
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		-
	1127	+(% 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		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	1132	+(% class="table-bordered" %)
	1133	+|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:193px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:150px" %)(((
1109	1109	**Setting method**
1110		-)))|=(((
	1135	+)))|(% style="text-align:center; vertical-align:middle; width:209px" %)(((
1111	1111	**Effective time**
1112		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1113		-|=P04-01|Pulse instruction filtering method|(((
	1137	+)))|(% style="text-align:center; vertical-align:middle; width:123px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:104px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:253px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:72px" %)**Unit**
	1138	+|(% style="text-align:center; vertical-align:middle" %)P04-01|(% style="text-align:center; vertical-align:middle; width:193px" %)Pulse instruction filtering method|(% style="text-align:center; vertical-align:middle; width:150px" %)(((
1114	1114	Shutdown setting
1115		-)))|(((
	1140	+)))|(% style="text-align:center; vertical-align:middle; width:209px" %)(((
1116	1116	Effective immediately
1117		-)))|0|0 to 1|(((
	1142	+)))|(% style="text-align:center; vertical-align:middle; width:123px" %)0|(% style="text-align:center; vertical-align:middle; width:104px" %)0 to 1|(% style="width:253px" %)(((
1118	1118	0: 1st-order low-pass filtering
1119	1119
1120	1120	1: average filtering
1121		-)))|-
1122		-|=P04-02|Position instruction 1st-order low-pass filtering time constant|Shutdown setting|(((
	1146	+)))|(% style="text-align:center; vertical-align:middle; width:72px" %)-
	1147	+|(% style="text-align:center; vertical-align:middle" %)P04-02|(% style="text-align:center; vertical-align:middle; width:193px" %)Position instruction 1st-order low-pass filtering time constant|(% style="text-align:center; vertical-align:middle; width:150px" %)Shutdown setting|(% style="text-align:center; vertical-align:middle; width:209px" %)(((
1123	1123	Effective immediately
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|(((
	1149	+)))|(% style="text-align:center; vertical-align:middle; width:123px" %)0|(% style="text-align:center; vertical-align:middle; width:104px" %)0 to 1000|(% style="width:253px" %)Position instruction first-order low-pass filtering time constant|(% style="text-align:center; vertical-align:middle; width:72px" %)ms
	1150	+|(% style="text-align:center; vertical-align:middle" %)P04-03|(% style="text-align:center; vertical-align:middle; width:193px" %)Position instruction average filtering time constant|(% style="text-align:center; vertical-align:middle; width:150px" %)Shutdown setting|(% style="text-align:center; vertical-align:middle; width:209px" %)(((
1126	1126	Effective immediately
1127		-)))|0|0 to 128|Position instruction average filtering time constant|ms
	1152	+)))|(% style="text-align:center; vertical-align:middle; width:123px" %)0|(% style="text-align:center; vertical-align:middle; width:104px" %)0 to 128|(% style="width:253px" %)Position instruction average filtering time constant|(% style="text-align:center; vertical-align:middle; width:72px" %)ms
1128	1128
1129	1129	Table 6-23 Position instruction filter function code
1130	1130
...	...	@@ -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		-
	1172	+(% style="text-align:center" %)
1148	1148	[[image:image-20220608170550-24.png]]
1149	1149
1150	1150	Figure 6-26 Positioning completion signal output diagram
...	...	@@ -1151,47 +1151,48 @@
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]]__.
	1179	+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
	1181	+(% 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		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	1186	+(% class="table-bordered" %)
	1187	+|(% style="text-align:center; vertical-align:middle; width:117px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:133px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:145px" %)(((
1162	1162	**Setting method**
1163		-)))|=(((
	1189	+)))|(% style="text-align:center; vertical-align:middle; width:224px" %)(((
1164	1164	**Effective time**
1165		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1166		-|=P05-12|Positioning completion threshold|(((
	1191	+)))|(% style="text-align:center; vertical-align:middle; width:114px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:103px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:377px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:272px" %)**Unit**
	1192	+|(% style="text-align:center; vertical-align:middle; width:117px" %)P05-12|(% style="text-align:center; vertical-align:middle; width:133px" %)Positioning completion threshold|(% style="text-align:center; vertical-align:middle; width:145px" %)(((
1167	1167	Operation setting
1168		-)))|(((
	1194	+)))|(% style="text-align:center; vertical-align:middle; width:224px" %)(((
1169	1169	Effective immediately
1170		-)))|800|1 to 65535|Positioning completion threshold|Equivalent pulse unit
1171		-|=P05-13|Positioning approach threshold|(((
	1196	+)))|(% style="text-align:center; vertical-align:middle; width:114px" %)800|(% style="text-align:center; vertical-align:middle; width:103px" %)1 to 65535|(% style="text-align:center; vertical-align:middle; width:377px" %)Positioning completion threshold|(% style="text-align:center; vertical-align:middle; width:272px" %)Equivalent pulse unit
	1197	+|(% style="text-align:center; vertical-align:middle; width:117px" %)P05-13|(% style="text-align:center; vertical-align:middle; width:133px" %)Positioning approach threshold|(% style="text-align:center; vertical-align:middle; width:145px" %)(((
1172	1172	Operation setting
1173		-)))|(((
	1199	+)))|(% style="text-align:center; vertical-align:middle; width:224px" %)(((
1174	1174	Effective immediately
1175		-)))|5000|1 to 65535|Positioning approach threshold|Equivalent pulse unit
1176		-|=P05-14|Position detection window time|(((
	1201	+)))|(% style="text-align:center; vertical-align:middle; width:114px" %)5000|(% style="text-align:center; vertical-align:middle; width:103px" %)1 to 65535|(% style="text-align:center; vertical-align:middle; width:377px" %)Positioning approach threshold|(% style="text-align:center; vertical-align:middle; width:272px" %)Equivalent pulse unit
	1202	+|(% style="text-align:center; vertical-align:middle; width:117px" %)P05-14|(% style="text-align:center; vertical-align:middle; width:133px" %)Position detection window time|(% style="text-align:center; vertical-align:middle; width:145px" %)(((
1177	1177	Operation setting
1178		-)))|(((
	1204	+)))|(% style="text-align:center; vertical-align:middle; width:224px" %)(((
1179	1179	Effective immediately
1180		-)))|10|0 to 20000|Set positioning completion detection window time|ms
1181		-|=P05-15|Positioning signal hold time|(((
	1206	+)))|(% style="text-align:center; vertical-align:middle; width:114px" %)10|(% style="text-align:center; vertical-align:middle; width:103px" %)0 to 20000|(% style="text-align:center; vertical-align:middle; width:377px" %)Set positioning completion detection window time|(% style="text-align:center; vertical-align:middle; width:272px" %)ms
	1207	+|(% style="text-align:center; vertical-align:middle; width:117px" %)P05-15|(% style="text-align:center; vertical-align:middle; width:133px" %)Positioning signal hold time|(% style="text-align:center; vertical-align:middle; width:145px" %)(((
1182	1182	Operation setting
1183		-)))|(((
	1209	+)))|(% style="text-align:center; vertical-align:middle; width:224px" %)(((
1184	1184	Effective immediately
1185		-)))|100|0 to 20000|Set positioning completion output hold time|ms
	1211	+)))|(% style="text-align:center; vertical-align:middle; width:114px" %)100|(% style="text-align:center; vertical-align:middle; width:103px" %)0 to 20000|(% style="text-align:center; vertical-align:middle; width:377px" %)Set positioning completion output hold time|(% style="text-align:center; vertical-align:middle; width:272px" %)ms
1186	1186
1187	1187	Table 6-24 Function code parameters of positioning completion
1188	1188
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|(((
	1215	+(% class="table-bordered" %)
	1216	+|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**
	1217	+|(% style="text-align:center; vertical-align:middle" %)134|(% style="text-align:center; vertical-align:middle" %)P-COIN positioning complete|(% style="text-align:center; vertical-align:middle" %)Output this signal indicates the servo drive position is complete.
	1218	+|(% style="text-align:center; vertical-align:middle" %)135|(% style="text-align:center; vertical-align:middle" %)(((
1193	1193	P-NEAR positioning close
1194		-)))|(((
	1220	+)))|(% style="text-align:center; vertical-align:middle" %)(((
1195	1195	Output this signal indicates that the servo drive position is close.
1196	1196	)))
1197	1197
...	...	@@ -1199,9 +1199,9 @@
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.
	1228	+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		-
	1230	+(% 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
...	...	@@ -1210,21 +1210,21 @@
1210	1210
1211	1211	In speed control mode, VD2A and VD2B servo drives have two instruction source: internal speed instruction and analog speed instruction. VD2F drive only supports internal speed instruction. Speed instruction source is set by function code P01-01.
1212	1212
1213		-
1214		-|**Function code**|**Name**|(((
	1239	+(% class="table-bordered" %)
	1240	+|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:140px" %)(((
1215	1215	**Setting method**
1216		-)))|(((
	1242	+)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
1217	1217	**Effective time**
1218		-)))|**Default value**|**Range**|**Definition**|**Unit**
1219		-|P01-01|Speed instruction source|(((
	1244	+)))|(% style="text-align:center; vertical-align:middle; width:124px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:83px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:328px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	1245	+|(% style="text-align:center; vertical-align:middle" %)P01-01|(% style="text-align:center; vertical-align:middle; width:180px" %)Speed instruction source|(% style="text-align:center; vertical-align:middle; width:140px" %)(((
1220	1220	Shutdown setting
1221		-)))|(((
	1247	+)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
1222	1222	Effective immediately
1223		-)))|1|1 to 6|(((
	1249	+)))|(% style="text-align:center; vertical-align:middle; width:124px" %)1|(% style="text-align:center; vertical-align:middle; width:83px" %)1 to 6|(% style="text-align:center; vertical-align:middle; width:328px" %)(((
1224	1224	0: internal speed instruction
1225	1225
1226	1226	1: AI_1 analog input (not supported by VD2F)
1227		-)))|-
	1253	+)))|(% style="text-align:center; vertical-align:middle" %)-
1228	1228
1229	1229	Table 6-26 Speed instruction source parameter
1230	1230
...	...	@@ -1232,19 +1232,19 @@
1232	1232
1233	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.
1234	1234
1235		-
1236		-|**Function code**|**Name**|(((
	1261	+(% class="table-bordered" %)
	1262	+|(% style="text-align:center; vertical-align:middle; width:112px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:212px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:138px" %)(((
1237	1237	**Setting method**
1238		-)))|(((
	1264	+)))|(% style="text-align:center; vertical-align:middle; width:191px" %)(((
1239	1239	**Effective time**
1240		-)))|**Default value**|**Range**|**Definition**|**Unit**
1241		-|(% rowspan="2" %)P01-02|(% rowspan="2" %)(((
	1266	+)))|(% style="text-align:center; vertical-align:middle; width:142px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:144px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:287px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:259px" %)**Unit**
	1267	+|(% rowspan="2" style="text-align:center; vertical-align:middle; width:112px" %)P01-02|(% rowspan="2" style="text-align:center; vertical-align:middle; width:212px" %)(((
1242	1242	Internal speed Instruction 0
1243		-)))|(% rowspan="2" %)(((
	1269	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((
1244	1244	Operation setting
1245		-)))|(% rowspan="2" %)(((
	1271	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:191px" %)(((
1246	1246	Effective immediately
1247		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1273	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:142px" %)0|(% style="text-align:center; vertical-align:middle; width:144px" %)-3000 to 3000|(% rowspan="2" style="width:287px" %)(((
1248	1248	Internal speed instruction 0
1249	1249
1250	1250	When DI input port:
...	...	@@ -1256,15 +1256,15 @@
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" %)(((
	1285	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:259px" %)rpm
	1286	+|(% style="text-align:center; vertical-align:middle; width:144px" %)-5000 to 5000*
	1287	+|(% rowspan="2" style="text-align:center; vertical-align:middle; width:112px" %)P01-23|(% rowspan="2" style="text-align:center; vertical-align:middle; width:212px" %)(((
1262	1262	Internal speed Instruction 1
1263		-)))|(% rowspan="2" %)(((
	1289	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((
1264	1264	Operation setting
1265		-)))|(% rowspan="2" %)(((
	1291	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:191px" %)(((
1266	1266	Effective immediately
1267		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1293	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:142px" %)0|(% style="text-align:center; vertical-align:middle; width:144px" %)-3000 to 3000|(% rowspan="2" style="width:287px" %)(((
1268	1268	Internal speed instruction 1
1269	1269
1270	1270	When DI input port:
...	...	@@ -1276,15 +1276,15 @@
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" %)(((
	1305	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:259px" %)rpm
	1306	+|(% style="text-align:center; vertical-align:middle; width:144px" %)-5000 to 5000*
	1307	+|(% rowspan="2" style="text-align:center; vertical-align:middle; width:112px" %)P01-24|(% rowspan="2" style="text-align:center; vertical-align:middle; width:212px" %)(((
1282	1282	Internal speed Instruction 2
1283		-)))|(% rowspan="2" %)(((
	1309	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((
1284	1284	Operation setting
1285		-)))|(% rowspan="2" %)(((
	1311	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:191px" %)(((
1286	1286	Effective immediately
1287		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1313	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:142px" %)0|(% style="text-align:center; vertical-align:middle; width:144px" %)-3000 to 3000|(% rowspan="2" style="width:287px" %)(((
1288	1288	Internal speed instruction 2
1289	1289
1290	1290	When DI input port:
...	...	@@ -1296,15 +1296,15 @@
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" %)(((
	1325	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:259px" %)rpm
	1326	+|(% style="text-align:center; vertical-align:middle; width:144px" %)-5000 to 5000*
	1327	+|(% rowspan="2" style="text-align:center; vertical-align:middle; width:112px" %)P01-25|(% rowspan="2" style="text-align:center; vertical-align:middle; width:212px" %)(((
1302	1302	Internal speed Instruction 3
1303		-)))|(% rowspan="2" %)(((
	1329	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((
1304	1304	Operation setting
1305		-)))|(% rowspan="2" %)(((
	1331	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:191px" %)(((
1306	1306	Effective immediately
1307		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1333	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:142px" %)0|(% style="text-align:center; vertical-align:middle; width:144px" %)-3000 to 3000|(% rowspan="2" style="width:287px" %)(((
1308	1308	Internal speed instruction 3
1309	1309
1310	1310	When DI input port:
...	...	@@ -1316,16 +1316,17 @@
1316	1316	13-INSPD1: 1,
1317	1317
1318	1318	Select this speed instruction to be effective.
1319		-)))|(% rowspan="2" %)rpm
1320		-|-5000 to 5000*
	1345	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:259px" %)rpm
	1346	+|(% style="text-align:center; vertical-align:middle; width:144px" %)-5000 to 5000*
1321	1321
1322		-|(% rowspan="2" %)P01-26|(% rowspan="2" %)(((
	1348	+(% class="table-bordered" %)
	1349	+|(% rowspan="2" style="text-align:center; vertical-align:middle; width:111px" %)P01-26|(% rowspan="2" style="text-align:center; vertical-align:middle; width:214px" %)(((
1323	1323	Internal speed Instruction 4
1324		-)))|(% rowspan="2" %)(((
	1351	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((
1325	1325	Operation setting
1326		-)))|(% rowspan="2" %)(((
	1353	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:161px" %)(((
1327	1327	Effective immediately
1328		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1355	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:117px" %)-3000 to 3000|(% rowspan="2" style="width:302px" %)(((
1329	1329	Internal speed instruction 4
1330	1330
1331	1331	When DI input port:
...	...	@@ -1337,15 +1337,15 @@
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" %)(((
	1367	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle" %)rpm
	1368	+|(% style="text-align:center; vertical-align:middle; width:117px" %)-5000 to 5000*
	1369	+|(% rowspan="2" style="text-align:center; vertical-align:middle; width:111px" %)P01-27|(% rowspan="2" style="text-align:center; vertical-align:middle; width:214px" %)(((
1343	1343	Internal speed Instruction 5
1344		-)))|(% rowspan="2" %)(((
	1371	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((
1345	1345	Operation setting
1346		-)))|(% rowspan="2" %)(((
	1373	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:161px" %)(((
1347	1347	Effective immediately
1348		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1375	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:117px" %)-3000 to 3000|(% rowspan="2" style="width:302px" %)(((
1349	1349	Internal speed instruction 5
1350	1350
1351	1351	When DI input port:
...	...	@@ -1357,15 +1357,15 @@
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" %)(((
	1387	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle" %)rpm
	1388	+|(% style="text-align:center; vertical-align:middle; width:117px" %)-5000 to 5000*
	1389	+|(% rowspan="2" style="text-align:center; vertical-align:middle; width:111px" %)P01-28|(% rowspan="2" style="text-align:center; vertical-align:middle; width:214px" %)(((
1363	1363	Internal speed Instruction 6
1364		-)))|(% rowspan="2" %)(((
	1391	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((
1365	1365	Operation setting
1366		-)))|(% rowspan="2" %)(((
	1393	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:161px" %)(((
1367	1367	Effective immediately
1368		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1395	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:117px" %)-3000 to 3000|(% rowspan="2" style="width:302px" %)(((
1369	1369	Internal speed instruction 6
1370	1370
1371	1371	When DI input port:
...	...	@@ -1377,15 +1377,15 @@
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" %)(((
	1407	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle" %)rpm
	1408	+|(% style="text-align:center; vertical-align:middle; width:117px" %)-5000 to 5000*
	1409	+|(% rowspan="2" style="text-align:center; vertical-align:middle; width:111px" %)P01-29|(% rowspan="2" style="text-align:center; vertical-align:middle; width:214px" %)(((
1383	1383	Internal speed Instruction 7
1384		-)))|(% rowspan="2" %)(((
	1411	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((
1385	1385	Operation setting
1386		-)))|(% rowspan="2" %)(((
	1413	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:161px" %)(((
1387	1387	Effective immediately
1388		-)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
	1415	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:117px" %)-3000 to 3000|(% rowspan="2" style="width:302px" %)(((
1389	1389	Internal speed instruction 7
1390	1390
1391	1391	When DI input port:
...	...	@@ -1397,34 +1397,34 @@
1397	1397	13-INSPD1: 1,
1398	1398
1399	1399	Select this speed instruction to be effective.
1400		-)))|(% rowspan="2" %)rpm
1401		-|-5000 to 5000*
	1427	+)))|(% rowspan="2" style="text-align:center; vertical-align:middle" %)rpm
	1428	+|(% style="text-align:center; vertical-align:middle; width:117px" %)-5000 to 5000*
1402	1402
1403	1403	Table 6-27 Internal speed instruction parameters
1404	1404
1405	1405	✎**Note: **“*” means the set range of VD2F servo drive.
1406	1406
	1434	+(% class="table-bordered" %)
	1435	+|(% style="text-align:center; vertical-align:middle" %)**DI function code**|(% style="text-align:center; vertical-align:middle" %)**function name**|(% style="text-align:center; vertical-align:middle" %)**Function**
	1436	+|(% style="text-align:center; vertical-align:middle" %)13|(% style="text-align:center; vertical-align:middle" %)INSPD1 internal speed instruction selection 1|Form internal multi-speed running segment number
	1437	+|(% style="text-align:center; vertical-align:middle" %)14|(% style="text-align:center; vertical-align:middle" %)INSPD2 internal speed instruction selection 2|Form internal multi-speed running segment number
	1438	+|(% style="text-align:center; vertical-align:middle" %)15|(% style="text-align:center; vertical-align:middle" %)INSPD3 internal speed instruction selection 3|Form internal multi-speed running segment number
1407	1407
1408		-|**DI function code**|**function name**|**Function**
1409		-|13|INSPD1 internal speed instruction selection 1|Form internal multi-speed running segment number
1410		-|14|INSPD2 internal speed instruction selection 2|Form internal multi-speed running segment number
1411		-|15|INSPD3 internal speed instruction selection 3|Form internal multi-speed running segment number
1412		-
1413	1413	Table 6-28 DI multi-speed function code description
1414	1414
1415	1415	The multi-speed segment number is a 3-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. The corresponding relationship between INSPD1 to 3 and segment numbers is shown as below.
1416	1416
1417		-
1418		-|**INSPD3**|**INSPD2**|**INSPD1**|**Running segment number**|**Internal speed instruction number**
1419		-|0|0|0|1|0
1420		-|0|0|1|2|1
1421		-|0|1|0|3|2
	1444	+(% class="table-bordered" %)
	1445	+|(% style="text-align:center; vertical-align:middle" %)**INSPD3**|(% style="text-align:center; vertical-align:middle" %)**INSPD2**|(% style="text-align:center; vertical-align:middle" %)**INSPD1**|(% style="text-align:center; vertical-align:middle" %)**Running segment number**|(% style="text-align:center; vertical-align:middle" %)**Internal speed instruction number**
	1446	+|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)0
	1447	+|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)2|(% style="text-align:center; vertical-align:middle" %)1
	1448	+|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)3|(% style="text-align:center; vertical-align:middle" %)2
1422	1422	|(% colspan="5" %)......
1423		-|1|1|1|8|7
	1450	+|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)8|(% style="text-align:center; vertical-align:middle" %)7
1424	1424
1425	1425	Table 6-29 Correspondence between INSPD bits and segment numbers
1426	1426
1427		-
	1454	+(% style="text-align:center" %)
1428	1428	[[image:image-20220608170845-26.png]]
1429	1429
1430	1430	Figure 6-29 Multi-segment speed running curve
...	...	@@ -1433,7 +1433,7 @@
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		-
	1463	+(% 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		-
	1470	+(% style="text-align:center" %)
1444	1444	[[image:image-20220608170955-27.png]]
1445	1445
1446	1446	Figure 6-31 Analog voltage speed instruction setting steps
...	...	@@ -1453,18 +1453,18 @@
1453	1453
1454	1454	Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1455	1455
1456		-
	1483	+(% 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
	1488	+(% class="table-bordered" %)
	1489	+|(% style="text-align:center; vertical-align:middle; width:115px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:125px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:137px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:165px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:111px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:136px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:360px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:44px" %)**Unit**
	1490	+|(% style="text-align:center; vertical-align:middle; width:115px" %)P05-01☆|(% style="text-align:center; vertical-align:middle; width:125px" %)AI_1 input bias|(% style="text-align:center; vertical-align:middle; width:137px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:165px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:111px" %)0|(% style="text-align:center; vertical-align:middle; width:136px" %)-5000 to 5000|(% style="width:360px" %)Set AI_1 channel analog bias value|(% style="text-align:center; vertical-align:middle; width:44px" %)mV
	1491	+|(% style="text-align:center; vertical-align:middle; width:115px" %)P05-02☆|(% style="text-align:center; vertical-align:middle; width:125px" %)AI_1 input filter time constant|(% style="text-align:center; vertical-align:middle; width:137px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:165px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:111px" %)200|(% style="text-align:center; vertical-align:middle; width:136px" %)0 to 60000|(% style="width:360px" %)AI_1 channel input first-order low-pass filtering time constant|(% style="text-align:center; vertical-align:middle; width:44px" %)0.01ms
	1492	+|(% style="text-align:center; vertical-align:middle; width:115px" %)P05-03☆|(% style="text-align:center; vertical-align:middle; width:125px" %)AI_1 dead zone|(% style="text-align:center; vertical-align:middle; width:137px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:165px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:111px" %)20|(% style="text-align:center; vertical-align:middle; width:136px" %)0 to 1000|(% style="width:360px" %)Set AI_1 channel quantity dead zone value|(% style="text-align:center; vertical-align:middle; width:44px" %)mV
	1493	+|(% style="text-align:center; vertical-align:middle; width:115px" %)P05-04☆|(% style="text-align:center; vertical-align:middle; width:125px" %)AI_1 zero drift|(% style="text-align:center; vertical-align:middle; width:137px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:165px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:111px" %)0|(% style="text-align:center; vertical-align:middle; width:136px" %)-500 to 500|(% style="width:360px" %)Automatic calibration of zero drift inside the drive|(% style="text-align:center; vertical-align:middle; width:44px" %)mV
1461	1461
1462		-|**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
1463		-|P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
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
1465		-|P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel quantity dead zone value|mV
1466		-|P05-04☆|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV
1467		-
1468	1468	Table 6-30 AI_1 parameters
1469	1469
1470	1470	✎**Note: **“☆” means VD2F servo drive does not support the function code .
...	...	@@ -1475,7 +1475,7 @@
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		-
	1505	+(% style="text-align:center" %)
1479	1479	[[image:image-20220608171314-29.png]]
1480	1480
1481	1481	Figure 6-33 of acceleration and deceleration time diagram
...	...	@@ -1484,22 +1484,22 @@
1484	1484
1485	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	1486
1487		-
1488		-|**Function code**|**Name**|(((
	1514	+(% class="table-bordered" %)
	1515	+|(% style="text-align:center; vertical-align:middle; width:116px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:137px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
1489	1489	**Setting method**
1490		-)))|(((
	1517	+)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
1491	1491	**Effective time**
1492		-)))|**Default value**|**Range**|**Definition**|**Unit**
1493		-|P01-03|Acceleration time|(((
	1519	+)))|(% style="text-align:center; vertical-align:middle; width:104px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:92px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:393px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:66px" %)**Unit**
	1520	+|(% style="text-align:center; vertical-align:middle; width:116px" %)P01-03|(% style="text-align:center; vertical-align:middle; width:137px" %)Acceleration time|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
1494	1494	Operation setting
1495		-)))|(((
	1522	+)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
1496	1496	Effective immediately
1497		-)))|50|0 to 65535|The time for the speed instruction to accelerate from 0 to 1000rpm|ms
1498		-|P01-04|Deceleration time|(((
	1524	+)))|(% style="text-align:center; vertical-align:middle; width:104px" %)50|(% style="text-align:center; vertical-align:middle; width:92px" %)0 to 65535|(% style="width:393px" %)The time for the speed instruction to accelerate from 0 to 1000rpm|(% style="text-align:center; vertical-align:middle; width:66px" %)ms
	1525	+|(% style="text-align:center; vertical-align:middle; width:116px" %)P01-04|(% style="text-align:center; vertical-align:middle; width:137px" %)Deceleration time|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
1499	1499	Operation setting
1500		-)))|(((
	1527	+)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
1501	1501	Effective immediately
1502		-)))|50|0 to 65535|The time for the speed instruction to decelerate from 1000rpm to 0|ms
	1529	+)))|(% style="text-align:center; vertical-align:middle; width:104px" %)50|(% style="text-align:center; vertical-align:middle; width:92px" %)0 to 65535|(% style="width:393px" %)The time for the speed instruction to decelerate from 1000rpm to 0|(% style="text-align:center; vertical-align:middle; width:66px" %)ms
1503	1503
1504	1504	Table 6-31 Acceleration and deceleration time parameters
1505	1505
...	...	@@ -1518,27 +1518,27 @@
1518	1518
1519	1519	The amplitude of negative speed command ≤ min (Maximum motor speed, P01-10, P01-13)
1520	1520
1521		-
1522		-|**Function code**|**Name**|(((
	1548	+(% class="table-bordered" %)
	1549	+|(% style="text-align:center; vertical-align:middle; width:119px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:136px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:133px" %)(((
1523	1523	**Setting method**
1524		-)))|(((
	1551	+)))|(% style="text-align:center; vertical-align:middle; width:163px" %)(((
1525	1525	**Effective time**
1526		-)))|**Default value**|**Range**|**Definition**|**Unit**
1527		-|P01-10|Maximum speed threshold|(((
	1553	+)))|(% style="text-align:center; vertical-align:middle; width:112px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:86px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:395px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:61px" %)**Unit**
	1554	+|(% style="text-align:center; vertical-align:middle; width:119px" %)P01-10|(% style="text-align:center; vertical-align:middle; width:136px" %)Maximum speed threshold|(% style="text-align:center; vertical-align:middle; width:133px" %)(((
1528	1528	Operation setting
1529		-)))|(((
	1556	+)))|(% style="text-align:center; vertical-align:middle; width:163px" %)(((
1530	1530	Effective immediately
1531		-)))|3600|0 to 5000|Set the maximum speed limit value, if exceeds this value, an overspeed fault will be reported|rpm
1532		-|P01-12|Forward speed threshold|(((
	1558	+)))|(% style="text-align:center; vertical-align:middle; width:112px" %)3600|(% style="text-align:center; vertical-align:middle; width:86px" %)0 to 5000|(% style="width:395px" %)Set the maximum speed limit value, if exceeds this value, an overspeed fault will be reported|(% style="text-align:center; vertical-align:middle; width:61px" %)rpm
	1559	+|(% style="text-align:center; vertical-align:middle; width:119px" %)P01-12|(% style="text-align:center; vertical-align:middle; width:136px" %)Forward speed threshold|(% style="text-align:center; vertical-align:middle; width:133px" %)(((
1533	1533	Operation setting
1534		-)))|(((
	1561	+)))|(% style="text-align:center; vertical-align:middle; width:163px" %)(((
1535	1535	Effective immediately
1536		-)))|3000|0 to 5000|Set forward speed limit value|rpm
1537		-|P01-13|Reverse speed threshold|(((
	1563	+)))|(% style="text-align:center; vertical-align:middle; width:112px" %)3000|(% style="text-align:center; vertical-align:middle; width:86px" %)0 to 5000|(% style="width:395px" %)Set forward speed limit value|(% style="text-align:center; vertical-align:middle; width:61px" %)rpm
	1564	+|(% style="text-align:center; vertical-align:middle; width:119px" %)P01-13|(% style="text-align:center; vertical-align:middle; width:136px" %)Reverse speed threshold|(% style="text-align:center; vertical-align:middle; width:133px" %)(((
1538	1538	Operation setting
1539		-)))|(((
	1566	+)))|(% style="text-align:center; vertical-align:middle; width:163px" %)(((
1540	1540	Effective immediately
1541		-)))|3000|0 to 5000|Set reverse speed limit value|rpm
	1568	+)))|(% style="text-align:center; vertical-align:middle; width:112px" %)3000|(% style="text-align:center; vertical-align:middle; width:86px" %)0 to 5000|(% style="width:395px" %)Set reverse speed limit value|(% style="text-align:center; vertical-align:middle; width:61px" %)rpm
1542	1542
1543	1543	Table 6-32 Rotation speed related function codes
1544	1544
...	...	@@ -1548,19 +1548,19 @@
1548	1548
1549	1549	If the speed instruction amplitude is greater than zero-speed clamp speed threshold, the servo motor exits the locked state and continues to run according to the current input speed instruction.
1550	1550
1551		-
1552		-|**Function code**|**Name**|(((
	1578	+(% class="table-bordered" %)
	1579	+|(% style="text-align:center; vertical-align:middle; width:119px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:115px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:147px" %)(((
1553	1553	**Setting method**
1554		-)))|(((
	1581	+)))|(% style="text-align:center; vertical-align:middle; width:166px" %)(((
1555	1555	**Effective time**
1556		-)))|**Default value**|**Range**|**Definition**|**Unit**
1557		-|P01-21|(((
	1583	+)))|(% style="text-align:center; vertical-align:middle; width:116px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:86px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:398px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:58px" %)**Unit**
	1584	+|(% style="text-align:center; vertical-align:middle; width:119px" %)P01-21|(% style="text-align:center; vertical-align:middle; width:115px" %)(((
1558	1558	Zero-speed clamp function selection
1559		-)))|(((
	1586	+)))|(% style="text-align:center; vertical-align:middle; width:147px" %)(((
1560	1560	Operation setting
1561		-)))|(((
	1588	+)))|(% style="text-align:center; vertical-align:middle; width:166px" %)(((
1562	1562	Effective immediately
1563		-)))|0|0 to 3|(((
	1590	+)))|(% style="text-align:center; vertical-align:middle; width:116px" %)0|(% style="text-align:center; vertical-align:middle; width:86px" %)0 to 3|(% style="width:398px" %)(((
1564	1564	Set the zero-speed clamp function. In speed mode:
1565	1565
1566	1566	0: Force the speed to 0;
...	...	@@ -1570,18 +1570,18 @@
1570	1570	2: When speed instruction is less than P01-22, force the speed to 0 and keep the position locked
1571	1571
1572	1572	3: Invalid, ignore zero-speed clamp input
1573		-)))|-
1574		-|P01-22|(((
	1600	+)))|(% style="text-align:center; vertical-align:middle; width:58px" %)-
	1601	+|(% style="text-align:center; vertical-align:middle; width:119px" %)P01-22|(% style="text-align:center; vertical-align:middle; width:115px" %)(((
1575	1575	Zero-speed clamp speed threshold
1576		-)))|(((
	1603	+)))|(% style="text-align:center; vertical-align:middle; width:147px" %)(((
1577	1577	Operation setting
1578		-)))|(((
	1605	+)))|(% style="text-align:center; vertical-align:middle; width:166px" %)(((
1579	1579	Effective immediately
1580		-)))|20|0 to 1000|Set the speed threshold of zero-speed clamp function|rpm
	1607	+)))|(% style="text-align:center; vertical-align:middle; width:116px" %)20|(% style="text-align:center; vertical-align:middle; width:86px" %)0 to 1000|(% style="text-align:left; vertical-align:middle; width:398px" %)Set the speed threshold of zero-speed clamp function|(% style="text-align:center; vertical-align:middle; width:58px" %)rpm
1581	1581
1582	1582	Table 6-33 Zero-speed clamp related parameters
1583	1583
1584		-
	1611	+(% style="text-align:center" %)
1585	1585	[[image:image-20220608171549-30.png]]
1586	1586
1587	1587	Figure 6-34 Zero-speed clamp diagram
...	...	@@ -1594,36 +1594,36 @@
1594	1594
1595	1595	After the speed instruction is filtered, the absolute value of the actual speed absolute value of the servo motor reaches P05-16 (rotation detection speed threshold), it could be considered that the motor is rotating. At this time, the servo drive outputs a rotation detection signal (TGON), which can be used to confirm that the motor has rotated. On the contrary, when the absolute value of the actual rotation speed of the servo motor is less than P05-16, it is considered that the motor is not rotating.
1596	1596
1597		-
	1624	+(% style="text-align:center" %)
1598	1598	[[image:image-20220608171625-31.png]]
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]]__.
	1629	+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		-
1605		-|**Function code**|**Name**|(((
	1631	+(% class="table-bordered" %)
	1632	+|(% style="text-align:center; vertical-align:middle; width:147px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:166px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:139px" %)(((
1606	1606	**Setting method**
1607		-)))|(((
	1634	+)))|(% style="text-align:center; vertical-align:middle; width:175px" %)(((
1608	1608	**Effective time**
1609		-)))|**Default value**|**Range**|**Definition**|**Unit**
1610		-|P05-16|(((
	1636	+)))|(% style="text-align:center; vertical-align:middle; width:126px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:113px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:382px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:237px" %)**Unit**
	1637	+|(% style="text-align:center; vertical-align:middle; width:147px" %)P05-16|(% style="text-align:center; vertical-align:middle; width:166px" %)(((
1611	1611	Rotation detection
1612	1612
1613	1613	speed threshold
1614		-)))|(((
	1641	+)))|(% style="text-align:center; vertical-align:middle; width:139px" %)(((
1615	1615	Operation setting
1616		-)))|(((
	1643	+)))|(% style="text-align:center; vertical-align:middle; width:175px" %)(((
1617	1617	Effective immediately
1618		-)))|20|0 to 1000|Set the motor rotation signal judgment threshold|rpm
	1645	+)))|(% style="text-align:center; vertical-align:middle; width:126px" %)20|(% style="text-align:center; vertical-align:middle; width:113px" %)0 to 1000|(% style="text-align:center; vertical-align:middle; width:382px" %)Set the motor rotation signal judgment threshold|(% style="text-align:center; vertical-align:middle; width:237px" %)rpm
1619	1619
1620	1620	Table 6-34 Rotation detection speed threshold parameters
1621	1621
1622		-
1623		-|**DO function code**|**Function name**|**Function**
1624		-|132|(((
	1649	+(% class="table-bordered" %)
	1650	+|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle; width:421px" %)**Function name**|(% style="text-align:center; vertical-align:middle; width:879px" %)**Function**
	1651	+|(% style="text-align:center; vertical-align:middle" %)132|(% style="text-align:center; vertical-align:middle; width:421px" %)(((
1625	1625	T-COIN rotation detection
1626		-)))|(((
	1653	+)))|(% style="width:879px" %)(((
1627	1627	Valid: when the absolute value of motor speed after filtering is greater than or equal to the set value of function code P05-16
1628	1628
1629	1629	Invalid, when the absolute value of motor speed after filtering is less than set value of function code P05-16
...	...	@@ -1635,32 +1635,32 @@
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		-
	1665	+(% style="text-align:center" %)
1639	1639	[[image:image-20220608171904-32.png]]
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]]__.
	1670	+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		-
1646		-|**Function code**|**Name**|(((
	1672	+(% class="table-bordered" %)
	1673	+|(% style="text-align:center; vertical-align:middle; width:112px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:188px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:169px" %)(((
1647	1647	**Setting method**
1648		-)))|(((
	1675	+)))|(% style="text-align:center; vertical-align:middle; width:194px" %)(((
1649	1649	**Effective time**
1650		-)))|**Default value**|**Range**|**Definition**|**Unit**
1651		-|P05-19|Zero speed output signal threshold|(((
	1677	+)))|(% style="text-align:center; vertical-align:middle; width:120px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:106px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:400px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:196px" %)**Unit**
	1678	+|(% style="text-align:center; vertical-align:middle; width:112px" %)P05-19|(% style="text-align:center; vertical-align:middle; width:188px" %)Zero speed output signal threshold|(% style="text-align:center; vertical-align:middle; width:169px" %)(((
1652	1652	Operation setting
1653		-)))|(((
	1680	+)))|(% style="text-align:center; vertical-align:middle; width:194px" %)(((
1654	1654	Effective immediately
1655		-)))|10|0 to 6000|Set zero-speed output signal judgment threshold|rpm
	1682	+)))|(% style="text-align:center; vertical-align:middle; width:120px" %)10|(% style="text-align:center; vertical-align:middle; width:106px" %)0 to 6000|(% style="text-align:center; vertical-align:middle; width:400px" %)Set zero-speed output signal judgment threshold|(% style="text-align:center; vertical-align:middle; width:196px" %)rpm
1656	1656
1657	1657	Table 6-36 Zero-speed output signal threshold parameter
1658	1658
1659		-
1660		-|**DO function code**|**Function name**|**Function**
1661		-|133|(((
	1686	+(% class="table-bordered" %)
	1687	+|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**
	1688	+|(% style="text-align:center; vertical-align:middle" %)133|(% style="text-align:center; vertical-align:middle" %)(((
1662	1662	ZSP zero speed signal
1663		-)))|Output this signal indicates that the servo motor is stopping rotation
	1690	+)))|(% style="text-align:center; vertical-align:middle" %)Output this signal indicates that the servo motor is stopping rotation
1664	1664
1665	1665	Table 6-37 DO zero-speed signal function code
1666	1666
...	...	@@ -1668,32 +1668,32 @@
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		-
	1698	+(% style="text-align:center" %)
1672	1672	[[image:image-20220608172053-33.png]]
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]]__.
	1703	+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		-
1679		-|**Function code**|**Name**|(((
	1705	+(% class="table-bordered" %)
	1706	+|(% style="text-align:center; vertical-align:middle; width:115px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:243px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
1680	1680	**Setting method**
1681		-)))|(((
	1708	+)))|(% style="text-align:center; vertical-align:middle; width:169px" %)(((
1682	1682	**Effective time**
1683		-)))|**Default value**|**Range**|**Definition**|**Unit**
1684		-|P05-17|Speed consistent signal threshold|(((
	1710	+)))|(% style="text-align:center; vertical-align:middle; width:143px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:103px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:347px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:209px" %)**Unit**
	1711	+|(% style="text-align:center; vertical-align:middle; width:115px" %)P05-17|(% style="text-align:center; vertical-align:middle; width:243px" %)Speed consistent signal threshold|(% style="text-align:center; vertical-align:middle; width:156px" %)(((
1685	1685	Operationsetting
1686		-)))|(((
	1713	+)))|(% style="text-align:center; vertical-align:middle; width:169px" %)(((
1687	1687	Effective immediately
1688		-)))|10|0 to 100|Set speed consistent signal threshold|rpm
	1715	+)))|(% style="text-align:center; vertical-align:middle; width:143px" %)10|(% style="text-align:center; vertical-align:middle; width:103px" %)0 to 100|(% style="text-align:center; vertical-align:middle; width:347px" %)Set speed consistent signal threshold|(% style="text-align:center; vertical-align:middle; width:209px" %)rpm
1689	1689
1690	1690	Table 6-38 Speed consistent signal threshold parameters
1691	1691
1692		-
1693		-|**DO Function code**|**Function name**|**Function**
1694		-|136|(((
	1719	+(% class="table-bordered" %)
	1720	+|(% style="text-align:center; vertical-align:middle; width:193px" %)**DO Function code**|(% style="text-align:center; vertical-align:middle; width:340px" %)**Function name**|(% style="text-align:center; vertical-align:middle; width:672px" %)**Function**
	1721	+|(% style="text-align:center; vertical-align:middle; width:193px" %)136|(% style="text-align:center; vertical-align:middle; width:340px" %)(((
1695	1695	U-COIN consistent speed
1696		-)))|The output signal indicates that the absolute deviation of the actual speed of servo motor and the speed instruction meets the P05-17 set value
	1723	+)))|(% style="text-align:center; vertical-align:middle; width:672px" %)The output signal indicates that the absolute deviation of the actual speed of servo motor and the speed instruction meets the P05-17 set value
1697	1697
1698	1698	Table 6-39 DO speed consistent function code
1699	1699
...	...	@@ -1701,32 +1701,32 @@
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		-
	1731	+(% style="text-align:center" %)
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]]__.
	1736	+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		-
1712		-|**Function code**|**Name**|(((
	1738	+(% class="table-bordered" %)
	1739	+|(% style="text-align:center; vertical-align:middle; width:114px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:238px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:153px" %)(((
1713	1713	**Setting method**
1714		-)))|(((
	1741	+)))|(% style="text-align:center; vertical-align:middle; width:180px" %)(((
1715	1715	**Effective time**
1716		-)))|**Default value**|**Range**|**Definition**|**Unit**
1717		-|P05-18|Speed approach signal threshold|(((
	1743	+)))|(% style="text-align:center; vertical-align:middle; width:115px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:89px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:263px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	1744	+|(% style="text-align:center; vertical-align:middle; width:114px" %)P05-18|(% style="text-align:center; vertical-align:middle; width:238px" %)Speed approach signal threshold|(% style="text-align:center; vertical-align:middle; width:153px" %)(((
1718	1718	Operation setting
1719		-)))|(((
	1746	+)))|(% style="text-align:center; vertical-align:middle; width:180px" %)(((
1720	1720	Effective immediately
1721		-)))|100|10 to 6000|Set speed approach signal threshold|rpm
	1748	+)))|(% style="text-align:center; vertical-align:middle; width:115px" %)100|(% style="text-align:center; vertical-align:middle; width:89px" %)10 to 6000|(% style="text-align:center; vertical-align:middle; width:263px" %)Set speed approach signal threshold|(% style="text-align:center; vertical-align:middle" %)rpm
1722	1722
1723	1723	Table 6-40 Speed approaching signal threshold parameters
1724	1724
1725		-
1726		-|**DO function code**|**Function name**|**Function**
1727		-|137|(((
	1752	+(% class="table-bordered" %)
	1753	+|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle; width:314px" %)**Function name**|(% style="text-align:center; vertical-align:middle; width:719px" %)**Function**
	1754	+|(% style="text-align:center; vertical-align:middle" %)137|(% style="text-align:center; vertical-align:middle; width:314px" %)(((
1728	1728	V-NEAR speed approach
1729		-)))|The output signal indicates that the actual speed of the servo motor has reached the expected value
	1756	+)))|(% style="text-align:center; vertical-align:middle; width:719px" %)The output signal indicates that the actual speed of the servo motor has reached the expected value
1730	1730
1731	1731	Table 6-41 DO speed approach function code
1732	1732
...	...	@@ -1734,7 +1734,7 @@
1734	1734
1735	1735	The current of the servo motor has a linear relationship with the torque. Therefore, the control of the current can realize the control of the torque. Torque control refers to controlling the output torque of the motor through torque instructions. Torque instruction could be given by internal instruction and analog voltage.
1736	1736
1737		-
	1764	+(% style="text-align:center" %)
1738	1738	[[image:image-20220608172405-35.png]]
1739	1739
1740	1740	Figure 6-39 Torque mode diagram
...	...	@@ -1743,21 +1743,21 @@
1743	1743
1744	1744	In torque instruction, VD2A and VD2B servo drives have two instruction source: internal torque instruction and analog torque instruction. VD2F drive only has internal torque instruction. The torque instruction source is set by the function code P01-07.
1745	1745
1746		-
1747		-|**Function code**|**Name**|(((
	1773	+(% class="table-bordered" %)
	1774	+|(% style="text-align:center; vertical-align:middle; width:110px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:186px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
1748	1748	**Setting method**
1749		-)))|(((
	1776	+)))|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
1750	1750	**Effective time**
1751		-)))|**Default value**|**Range**|**Definition**|**Unit**
1752		-|P01-08|Torque instruction source|(((
	1778	+)))|(% style="text-align:center; vertical-align:middle; width:112px" %)**Default value**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	1779	+|(% style="text-align:center; vertical-align:middle; width:110px" %)P01-08|(% style="text-align:center; vertical-align:middle; width:186px" %)Torque instruction source|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
1753	1753	Shutdown setting
1754		-)))|(((
	1781	+)))|(% style="text-align:center; vertical-align:middle; width:162px" %)(((
1755	1755	Effective immediately
1756		-)))|0|0 to 1|(((
	1783	+)))|(% style="text-align:center; vertical-align:middle; width:112px" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)(((
1757	1757	0: internal torque instruction
1758	1758
1759	1759	1: AI_1 analog input(not supported by VD2F)
1760		-)))|-
	1787	+)))|(% style="text-align:center; vertical-align:middle" %)-
1761	1761
1762	1762	Table 6-42 Torque instruction source parameter
1763	1763
...	...	@@ -1765,17 +1765,17 @@
1765	1765
1766	1766	Torque instruction source is from inside, the value is set by function code P01-08.
1767	1767
1768		-
1769		-|**Function code**|**Name**|(((
	1795	+(% class="table-bordered" %)
	1796	+|(% style="text-align:center; vertical-align:middle; width:112px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:274px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:132px" %)(((
1770	1770	**Setting method**
1771		-)))|(((
	1798	+)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((
1772	1772	**Effective time**
1773		-)))|**Default value**|**Range**|**Definition**|**Unit**
1774		-|P01-08|Torque instruction keyboard set value|(((
	1800	+)))|(% style="text-align:center; vertical-align:middle; width:120px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:129px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:211px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	1801	+|(% style="text-align:center; vertical-align:middle; width:112px" %)P01-08|(% style="text-align:center; vertical-align:middle; width:274px" %)Torque instruction keyboard set value|(% style="text-align:center; vertical-align:middle; width:132px" %)(((
1775	1775	Operation setting
1776		-)))|(((
	1803	+)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((
1777	1777	Effective immediately
1778		-)))|0|-3000 to 3000|-300.0% to 300.0%|0.1%
	1805	+)))|(% style="text-align:center; vertical-align:middle; width:120px" %)0|(% style="text-align:center; vertical-align:middle; width:129px" %)-3000 to 3000|(% style="text-align:center; vertical-align:middle; width:211px" %)-300.0% to 300.0%|(% style="text-align:center; vertical-align:middle" %)0.1%
1779	1779
1780	1780	Table 6-43 Torque instruction keyboard set value
1781	1781
...	...	@@ -1783,7 +1783,7 @@
1783	1783
1784	1784	The servo drive processes the analog voltage signal output by host computer or other equipment as torque instruction. VD2A and VD2B series servo drives have 2 analog input channels: AI_1 and AI_2. AI_1 is analog torque input, and AI_2 is analog torque limit.
1785	1785
1786		-
	1813	+(% style="text-align:center" %)
1787	1787	[[image:image-20220608153646-7.png||height="213" width="408"]]
1788	1788
1789	1789	Figure 6-40 Analog input circuit
...	...	@@ -1790,7 +1790,7 @@
1790	1790
1791	1791	Taking AI_1 as an example, the method of setting torque instruction of analog voltage is as below.
1792	1792
1793		-
	1820	+(% style="text-align:center" %)
1794	1794	[[image:image-20220608172502-36.png]]
1795	1795
1796	1796	Figure 6-41 Analog voltage torque instruction setting steps
...	...	@@ -1803,18 +1803,18 @@
1803	1803
1804	1804	Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1805	1805
1806		-
	1833	+(% style="text-align:center" %)
1807	1807	[[image:image-20220608172611-37.png]]
1808	1808
1809	1809	Figure 6-42 AI_1 diagram before and after bias
1810	1810
	1838	+(% class="table-bordered" %)
	1839	+|(% style="text-align:center; vertical-align:middle; width:127px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:148px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:144px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:162px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:85px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:134px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:340px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	1840	+|(% style="text-align:center; vertical-align:middle; width:127px" %)P05-01☆|(% style="text-align:center; vertical-align:middle; width:148px" %)AI_1 input bias|(% style="text-align:center; vertical-align:middle; width:144px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:85px" %)0|(% style="text-align:center; vertical-align:middle; width:134px" %)-5000 to 5000|(% style="text-align:center; vertical-align:middle; width:340px" %)Set AI_1 channel analog bias value|(% style="text-align:center; vertical-align:middle" %)mV
	1841	+|(% style="text-align:center; vertical-align:middle; width:127px" %)P05-02☆|(% style="text-align:center; vertical-align:middle; width:148px" %)AI_1 input filter time constant|(% style="text-align:center; vertical-align:middle; width:144px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:85px" %)200|(% style="text-align:center; vertical-align:middle; width:134px" %)0 to 60000|(% style="text-align:center; vertical-align:middle; width:340px" %)AI_1 channel input first-order low-pass filtering time constant|(% style="text-align:center; vertical-align:middle" %)0.01ms
	1842	+|(% style="text-align:center; vertical-align:middle; width:127px" %)P05-03☆|(% style="text-align:center; vertical-align:middle; width:148px" %)AI_1 dead zone|(% style="text-align:center; vertical-align:middle; width:144px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:85px" %)20|(% style="text-align:center; vertical-align:middle; width:134px" %)0 to 1000|(% style="text-align:center; vertical-align:middle; width:340px" %)Set AI_1 channel dead zone value|(% style="text-align:center; vertical-align:middle" %)mV
	1843	+|(% style="text-align:center; vertical-align:middle; width:127px" %)P05-04☆|(% style="text-align:center; vertical-align:middle; width:148px" %)AI_1 zero drift|(% style="text-align:center; vertical-align:middle; width:144px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:85px" %)0|(% style="text-align:center; vertical-align:middle; width:134px" %)-500 to 500|(% style="text-align:center; vertical-align:middle; width:340px" %)Automatic calibration of zero drift inside the drive|(% style="text-align:center; vertical-align:middle" %)mV
1811	1811
1812		-|**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
1813		-|P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1814		-|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
1815		-|P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel dead zone value|mV
1816		-|P05-04☆|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV
1817		-
1818	1818	Table 6-44 AI_1 parameters
1819	1819
1820	1820	✎**Note: **“☆” means VD2F servo drive does not support the function code .
...	...	@@ -1823,23 +1823,23 @@
1823	1823
1824	1824	In torque mode, the servo drive could realize low-pass filtering of torque instruction, making the instruction smoother and reducing the vibration of servo motor. The first-order filtering is shown in __[[Figure 6-43>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_205df0eae349c586.gif?rev=1.1]]__.
1825	1825
1826		-
1827		-|**Function code**|**Name**|(((
	1853	+(% class="table-bordered" %)
	1854	+|(% style="text-align:center; vertical-align:middle; width:115px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:129px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:144px" %)(((
1828	1828	**Setting method**
1829		-)))|(((
	1856	+)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
1830	1830	**Effective time**
1831		-)))|**Default value**|**Range**|**Definition**|**Unit**
1832		-|P04-04|Torque filtering time constant|(((
	1858	+)))|(% style="text-align:center; vertical-align:middle; width:109px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:89px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:398px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	1859	+|(% style="text-align:center; vertical-align:middle; width:115px" %)P04-04|(% style="text-align:center; vertical-align:middle; width:129px" %)Torque filtering time constant|(% style="text-align:center; vertical-align:middle; width:144px" %)(((
1833	1833	Operation setting
1834		-)))|(((
	1861	+)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
1835	1835	Effective immediately
1836		-)))|50|10 to 2500|This parameter is automatically set when “self-adjustment mode selection” is selected as 0|0.01ms
	1863	+)))|(% style="text-align:center; vertical-align:middle; width:109px" %)50|(% style="text-align:center; vertical-align:middle; width:89px" %)10 to 2500|(% style="text-align:center; vertical-align:middle; width:398px" %)This parameter is automatically set when “self-adjustment mode selection” is selected as 0|(% style="text-align:center; vertical-align:middle" %)0.01ms
1837	1837
1838	1838	Table 6-45 Torque filtering time constant parameter details
1839	1839
1840	1840	✎**Note: **If the filter time constant is set too large, the responsiveness will be reduced. Please set it while confirming the responsiveness.
1841	1841
1842		-
	1869	+(% style="text-align:center" %)
1843	1843	[[image:image-20220608172646-38.png]]
1844	1844
1845	1845	Figure 6-43 Torque instruction-first-order filtering diagram
...	...	@@ -1850,7 +1850,7 @@
1850	1850
1851	1851	At any time, there is only one valid torque limit value. And the positive and negative torque limit values do not exceed the maximum torque of drive and motor and ±300.0% of the rated torque.
1852	1852
1853		-
	1880	+(% style="text-align:center" %)
1854	1854	[[image:image-20220608172806-39.png]]
1855	1855
1856	1856	Figure 6-44 Torque instruction limit diagram
...	...	@@ -1859,50 +1859,50 @@
1859	1859
1860	1860	You need to set the torque limit source by function code P01-14. After the setting, the drive torque instruction will be limited within the torque limit value. When the torque limit value is reached, the motor will operate with the torque limit value as the torque instruction. The torque limit value should be set according to the load operation requirements. If the setting is too small, the motor's acceleration and deceleration capacity may be weakened. During constant torque operation, the actual motor speed cannot reach the required value.
1861	1861
1862		-
1863		-|**Function code**|**Name**|(((
	1889	+(% class="table-bordered" %)
	1890	+|(% style="text-align:center; vertical-align:middle; width:116px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:145px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:134px" %)(((
1864	1864	**Setting method**
1865		-)))|(((
	1892	+)))|(% style="text-align:center; vertical-align:middle; width:167px" %)(((
1866	1866	**Effective time**
1867		-)))|**Default value**|**Range**|**Definition**|**Unit**
1868		-|P01-14|(((
	1894	+)))|(% style="text-align:center; vertical-align:middle; width:133px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:96px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:344px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	1895	+|(% style="text-align:center; vertical-align:middle; width:116px" %)P01-14|(% style="text-align:center; vertical-align:middle; width:145px" %)(((
1869	1869	Torque limit source
1870		-)))|(((
	1897	+)))|(% style="text-align:center; vertical-align:middle; width:134px" %)(((
1871	1871	Shutdown setting
1872		-)))|(((
	1899	+)))|(% style="text-align:center; vertical-align:middle; width:167px" %)(((
1873	1873	Effective immediately
1874		-)))|0|0 to 1|(((
	1901	+)))|(% style="text-align:center; vertical-align:middle; width:133px" %)0|(% style="text-align:center; vertical-align:middle; width:96px" %)0 to 1|(% style="text-align:center; vertical-align:middle; width:344px" %)(((
1875	1875	0: internal value
1876	1876
1877	1877	1: AI_1 analog input
1878	1878
1879	1879	(not supported by VD2F)
1880		-)))|-
	1907	+)))|(% style="text-align:center; vertical-align:middle" %)-
1881	1881
1882	1882	1) Torque limit source is internal torque instruction (P01-14=0)
1883	1883
1884	1884	Torque limit source is from inside, you need to set torque limit, and the value is set by function code P01-15 and P01-16.
1885	1885
1886		-
1887		-|**Function code**|**Name**|(((
	1913	+(% class="table-bordered" %)
	1914	+|(% style="text-align:center; vertical-align:middle; width:117px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:154px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
1888	1888	**Setting method**
1889		-)))|(((
	1916	+)))|(% style="text-align:center; vertical-align:middle; width:169px" %)(((
1890	1890	**Effective time**
1891		-)))|**Default value**|**Range**|**Definition**|**Unit**
1892		-|P01-15|(((
	1918	+)))|(% style="text-align:center; vertical-align:middle; width:118px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:95px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:353px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:63px" %)**Unit**
	1919	+|(% style="text-align:center; vertical-align:middle; width:117px" %)P01-15|(% style="text-align:center; vertical-align:middle; width:154px" %)(((
1893	1893	Forward torque limit
1894		-)))|(((
	1921	+)))|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
1895	1895	Operation setting
1896		-)))|(((
	1923	+)))|(% style="text-align:center; vertical-align:middle; width:169px" %)(((
1897	1897	Effective immediately
1898		-)))|3000|0 to 3000|When P01-14 is set to 0, the value of this function code is forward torque limit value|0.1%
1899		-|P01-16|(((
	1925	+)))|(% style="text-align:center; vertical-align:middle; width:118px" %)3000|(% style="text-align:center; vertical-align:middle; width:95px" %)0 to 3000|(% style="text-align:center; vertical-align:middle; width:353px" %)When P01-14 is set to 0, the value of this function code is forward torque limit value|(% style="text-align:center; vertical-align:middle; width:63px" %)0.1%
	1926	+|(% style="text-align:center; vertical-align:middle; width:117px" %)P01-16|(% style="text-align:center; vertical-align:middle; width:154px" %)(((
1900	1900	Reverse torque limit
1901		-)))|(((
	1928	+)))|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
1902	1902	Operation setting
1903		-)))|(((
	1930	+)))|(% style="text-align:center; vertical-align:middle; width:169px" %)(((
1904	1904	Effective immediately
1905		-)))|3000|0 to 3000|When P01-14 is set to 0, the value of this function code is reverse torque limit value|0.1%
	1932	+)))|(% style="text-align:center; vertical-align:middle; width:118px" %)3000|(% style="text-align:center; vertical-align:middle; width:95px" %)0 to 3000|(% style="text-align:center; vertical-align:middle; width:353px" %)When P01-14 is set to 0, the value of this function code is reverse torque limit value|(% style="text-align:center; vertical-align:middle; width:63px" %)0.1%
1906	1906
1907	1907	Table 6-46 Torque limit parameter details
1908	1908
...	...	@@ -1914,11 +1914,11 @@
1914	1914
1915	1915	When torque instruction reaches the torque limit value, the drive outputs a torque limit signal (T-LIMIT) for the host computer use. At this time, one DO terminal of the drive should be assigned to function 139 (T-LIMIT, in torque limit) , and confirm that the terminal logic is valid.
1916	1916
1917		-
1918		-|**DO function code**|**Function name**|**Function**
1919		-|139|(((
	1944	+(% class="table-bordered" %)
	1945	+|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle; width:222px" %)**Function name**|(% style="text-align:center; vertical-align:middle; width:758px" %)**Function**
	1946	+|(% style="text-align:center; vertical-align:middle" %)139|(% style="text-align:center; vertical-align:middle; width:222px" %)(((
1920	1920	T-LIMIT in torque limit
1921		-)))|Output of this signal indicates that the servo motor torque is limited
	1948	+)))|(% style="text-align:center; vertical-align:middle; width:758px" %)Output of this signal indicates that the servo motor torque is limited
1922	1922
1923	1923	Table 6-47 DO torque limit function codes
1924	1924
...	...	@@ -1926,50 +1926,53 @@
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]]__.
	1956	+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	|(((
	1959	+(% style="text-align:center" %)
1932	1932	[[image:image-20220608172910-40.png]]
1933	1933	)))|(((
	1962	+(% style="text-align:center" %)
1934	1934	[[image:image-20220608173155-41.png]]
1935	1935	)))
1936	1936	|Figure 6-45 Forward running curve|Figure 6-46 Reverse running curve
1937	1937
1938		-|**Function code**|**Name**|(((
	1967	+(% class="table-bordered" %)
	1968	+|(% style="text-align:center; vertical-align:middle; width:117px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:157px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:140px" %)(((
1939	1939	**Setting method**
1940		-)))|(((
	1970	+)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
1941	1941	**Effective time**
1942		-)))|**Default value**|**Range**|**Definition**|**Unit**
1943		-|P01-17|(((
	1972	+)))|(% style="text-align:center; vertical-align:middle; width:171px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:166px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	1973	+|(% style="text-align:center; vertical-align:middle; width:117px" %)P01-17|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
1944	1944	Forward torque
1945	1945
1946	1946	limit in torque mode
1947		-)))|(((
	1977	+)))|(% style="text-align:center; vertical-align:middle; width:140px" %)(((
1948	1948	Operation setting
1949		-)))|(((
	1979	+)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
1950	1950	Effective immediately
1951		-)))|3000|0 to 5000|(((
	1981	+)))|(% style="text-align:center; vertical-align:middle; width:171px" %)3000|(% style="text-align:center; vertical-align:middle; width:166px" %)0 to 5000|(% style="text-align:center; vertical-align:middle" %)(((
1952	1952	Forward torque
1953	1953
1954	1954	limit in torque mode
1955		-)))|0.1%
1956		-|P01-18|(((
	1985	+)))|(% style="text-align:center; vertical-align:middle" %)0.1%
	1986	+|(% style="text-align:center; vertical-align:middle; width:117px" %)P01-18|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
1957	1957	Reverse torque
1958	1958
1959	1959	limit in torque mode
1960		-)))|(((
	1990	+)))|(% style="text-align:center; vertical-align:middle; width:140px" %)(((
1961	1961	Operation setting
1962		-)))|(((
	1992	+)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((
1963	1963	Effective immediately
1964		-)))|3000|0 to 5000|(((
	1994	+)))|(% style="text-align:center; vertical-align:middle; width:171px" %)3000|(% style="text-align:center; vertical-align:middle; width:166px" %)0 to 5000|(% style="text-align:center; vertical-align:middle" %)(((
1965	1965	Reverse torque
1966	1966
1967	1967	limit in torque mode
1968		-)))|0.1%
	1998	+)))|(% style="text-align:center; vertical-align:middle" %)0.1%
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]]__.
	2002	+✎**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
...	...	@@ -1979,51 +1979,51 @@
1979	1979
1980	1980	The torque arrival function is used to determine whether the actual torque instruction reaches the set interval. When the actual torque instruction reaches the torque instruction threshold, the servo drive outputs a torque arrival signal (T-COIN) for the host computer use.
1981	1981
1982		-
	2012	+(% style="text-align:center" %)
1983	1983	[[image:image-20220608173541-42.png]]
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]]__.
	2017	+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		-
1990		-|**Function code**|**Name**|(((
	2019	+(% class="table-bordered" %)
	2020	+|(% style="text-align:center; vertical-align:middle; width:126px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:115px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:137px" %)(((
1991	1991	**Setting method**
1992		-)))|(((
	2022	+)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
1993	1993	**Effective time**
1994		-)))|**Default value**|**Range**|**Definition**|**Unit**
1995		-|P05-20|(((
	2024	+)))|(% style="text-align:center; vertical-align:middle; width:115px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:77px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:417px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	2025	+|(% style="text-align:center; vertical-align:middle; width:126px" %)P05-20|(% style="text-align:center; vertical-align:middle; width:115px" %)(((
1996	1996	Torque arrival
1997	1997
1998	1998	threshold
1999		-)))|(((
	2029	+)))|(% style="text-align:center; vertical-align:middle; width:137px" %)(((
2000	2000	Operation setting
2001		-)))|(((
	2031	+)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
2002	2002	Effective immediately
2003		-)))|100|0 to 300|(((
	2033	+)))|(% style="text-align:center; vertical-align:middle; width:115px" %)100|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 300|(% style="text-align:center; vertical-align:middle; width:417px" %)(((
2004	2004	The torque arrival threshold must be used with “Torque arrival hysteresis value”:
2005	2005
2006	2006	When the actual torque reaches Torque arrival threshold + Torque arrival hysteresis Value, the torque arrival DO is valid;
2007	2007
2008	2008	When the actual torque decreases below torque arrival threshold-torque arrival hysteresis value, the torque arrival DO is invalid
2009		-)))|%
2010		-|P05-21|(((
	2039	+)))|(% style="text-align:center; vertical-align:middle" %)%
	2040	+|(% style="text-align:center; vertical-align:middle; width:126px" %)P05-21|(% style="text-align:center; vertical-align:middle; width:115px" %)(((
2011	2011	Torque arrival
2012	2012
2013	2013	hysteresis
2014		-)))|(((
	2044	+)))|(% style="text-align:center; vertical-align:middle; width:137px" %)(((
2015	2015	Operation setting
2016		-)))|(((
	2046	+)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((
2017	2017	Effective immediately
2018		-)))|10|0 to 20|Torque arrival the hysteresis value must be used with Torque arrival threshold|%
	2048	+)))|(% style="text-align:center; vertical-align:middle; width:115px" %)10|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 20|(% style="text-align:center; vertical-align:middle; width:417px" %)Torque arrival the hysteresis value must be used with Torque arrival threshold|(% style="text-align:center; vertical-align:middle" %)%
2019	2019
2020	2020	Table 6-49 Torque arrival parameters
2021	2021
2022		-
2023		-|**DO function code**|**Function name**|**Function**
2024		-|138|(((
	2052	+(% class="table-bordered" %)
	2053	+|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle; width:205px" %)**Function name**|(% style="text-align:center; vertical-align:middle; width:803px" %)**Function**
	2054	+|(% style="text-align:center; vertical-align:middle" %)138|(% style="text-align:center; vertical-align:middle; width:205px" %)(((
2025	2025	T-COIN torque arrival
2026		-)))|Used to determine whether the actual torque instruction has reached the set range
	2056	+)))|(% style="text-align:center; vertical-align:middle; width:803px" %)Used to determine whether the actual torque instruction has reached the set range
2027	2027
2028	2028	Table 6-50 DO Torque Arrival Function Code
2029	2029
...	...	@@ -2039,17 +2039,17 @@
2039	2039
2040	2040	Set the function code P00-01 through the software of Wecon “SCTool” or servo drive panel, and the servo drive will run in mixed mode.
2041	2041
2042		-
2043		-|**Function code**|**Name**|(((
	2072	+(% class="table-bordered" %)
	2073	+|(% style="text-align:center; vertical-align:middle; width:118px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:122px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
2044	2044	**Setting method**
2045		-)))|(((
	2075	+)))|(% style="text-align:center; vertical-align:middle; width:142px" %)(((
2046	2046	**Effective time**
2047		-)))|**Default value**|**Range**|**Definition**|**Unit**
2048		-|P00-01|Control mode|(((
	2077	+)))|(% style="text-align:center; vertical-align:middle; width:144px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:97px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:408px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	2078	+|(% style="text-align:center; vertical-align:middle; width:118px" %)P00-01|(% style="text-align:center; vertical-align:middle; width:122px" %)Control mode|(% style="text-align:center; vertical-align:middle; width:136px" %)(((
2049	2049	Shutdown setting
2050		-)))|(((
	2080	+)))|(% style="text-align:center; vertical-align:middle; width:142px" %)(((
2051	2051	Shutdown setting
2052		-)))|1|1 to 6|(((
	2082	+)))|(% style="text-align:center; vertical-align:middle; width:144px" %)1|(% style="text-align:center; vertical-align:middle; width:97px" %)1 to 6|(% style="width:408px" %)(((
2053	2053	1: Position control
2054	2054
2055	2055	2: Speed control
...	...	@@ -2061,22 +2061,23 @@
2061	2061	5: Position/torque mixed control
2062	2062
2063	2063	6: Speed/torque mixed control
2064		-)))|-
	2094	+)))|(% style="text-align:center; vertical-align:middle" %)-
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.
	2098	+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		-
2071		-|**DI function code**|**Name**|**Function name**|**Function**
2072		-|17|MixModeSel|Mixed mode selection|Used in mixed control mode, when the servo status is "run", set the current control mode of the servo drive(((
2073		-|**P00-01**|**MixModeSel terminal logic**|**Control mode**
2074		-|(% rowspan="2" %)4|Valid|Speed mode
2075		-|invalid|Position mode
2076		-|(% rowspan="2" %)5|Valid|Torque mode
2077		-|invalid|Position mode
2078		-|(% rowspan="2" %)6|Valid|Torque mode
2079		-|invalid|Speed mode
	2100	+(% class="table-bordered" %)
	2101	+|(% style="text-align:center; vertical-align:middle" %)**DI function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**
	2102	+|(% style="text-align:center; vertical-align:middle" %)17|(% style="text-align:center; vertical-align:middle" %)MixModeSel|(% style="text-align:center; vertical-align:middle" %)Mixed mode selection|(% style="text-align:center; vertical-align:middle" %)Used in mixed control mode, when the servo status is "run", set the current control mode of the servo drive(((
	2103	+(% class="table-bordered" %)
	2104	+|(% style="text-align:center; vertical-align:middle" %)**P00-01**|(% style="text-align:center; vertical-align:middle" %)**MixModeSel terminal logic**|(% style="text-align:center; vertical-align:middle" %)**Control mode**
	2105	+|(% rowspan="2" style="text-align:center; vertical-align:middle" %)4|(% style="text-align:center; vertical-align:middle" %)Valid|(% style="text-align:center; vertical-align:middle" %)Speed mode
	2106	+|(% style="text-align:center; vertical-align:middle" %)invalid|(% style="text-align:center; vertical-align:middle" %)Position mode
	2107	+|(% rowspan="2" style="text-align:center; vertical-align:middle" %)5|(% style="text-align:center; vertical-align:middle" %)Valid|(% style="text-align:center; vertical-align:middle" %)Torque mode
	2108	+|(% style="text-align:center; vertical-align:middle" %)invalid|(% style="text-align:center; vertical-align:middle" %)Position mode
	2109	+|(% rowspan="2" style="text-align:center; vertical-align:middle" %)6|(% style="text-align:center; vertical-align:middle" %)Valid|(% style="text-align:center; vertical-align:middle" %)Torque mode
	2110	+|(% style="text-align:center; vertical-align:middle" %)invalid|(% style="text-align:center; vertical-align:middle" %)Speed mode
2080	2080	)))
2081	2081
2082	2082	Table 6-52 Description of DI function codes in control mode
...	...	@@ -2095,15 +2095,15 @@
2095	2095
2096	2096	The single-turn absolute value system is applicable for the equipment load stroke within the single-turn range of the encoder. At this time, the absolute encoder is only as a single-turn system function and does not need to be connected to the battery. The types and information of encoders adapted to VD2 series servo drives are shown as below.
2097	2097
	2129	+(% class="table-bordered" %)
	2130	+|(% style="text-align:center; vertical-align:middle" %)**Encoder type**|(% style="text-align:center; vertical-align:middle" %)**Encoder resolution (bits)**|(% style="text-align:center; vertical-align:middle" %)**Data range**
	2131	+|(% style="text-align:center; vertical-align:middle" %)A1 (single-turn magnetic encoder)|(% style="text-align:center; vertical-align:middle" %)17|(% style="text-align:center; vertical-align:middle" %)0 to 131071
2098	2098
2099		-|**Encoder type**|**Encoder resolution (bits)**|**Data range**
2100		-|A1 (single-turn magnetic encoder)|17|0 to 131071
2101		-
2102	2102	Table 6-53 Single-turn absolute encoder information
2103	2103
2104	2104	The relationship between encoder feedback position and rotating load position is shown in the figure below. (take a 17-bit encoder as an example).
2105	2105
2106		-
	2137	+(% style="text-align:center" %)
2107	2107	[[image:image-20220608173618-43.png]]
2108	2108
2109	2109	Figure 6-48 Diagram of relationship between encoder feedback position and rotating load position
...	...	@@ -2112,16 +2112,16 @@
2112	2112
2113	2113	The encoder adapted to the multi-turn absolute value system is equipped with 16-bit RAM memory. Compared with the single-turn absolute value, it can additionally memorize the number of turns of the 16-bit encoder. The multi-turn absolute encoder is equipped with a battery (the battery is installed on the encoder cable with a battery unit), which can achieve direct internal high-speed readings and external output without the need for external sensors to assist memory positions. The types and information of encoders adapted to VD2 series servo drives are shown as below.
2114	2114
	2146	+(% class="table-bordered" %)
	2147	+|(% style="text-align:center; vertical-align:middle" %)**Encoder type**|(% style="text-align:center; vertical-align:middle" %)**Encoder resolution (bits)**|(% style="text-align:center; vertical-align:middle" %)**Data range**
	2148	+|(% style="text-align:center; vertical-align:middle" %)C1 (multi-turn magnetic encoder)|(% style="text-align:center; vertical-align:middle" %)17|(% style="text-align:center; vertical-align:middle" %)0 to 131071
	2149	+|(% style="text-align:center; vertical-align:middle" %)D2 (multi-turn Optical encoder)|(% style="text-align:center; vertical-align:middle" %)23|(% style="text-align:center; vertical-align:middle" %)0 to 8388607
2115	2115
2116		-|**Encoder type**|**Encoder resolution (bits)**|**Data range**
2117		-|C1 (multi-turn magnetic encoder)|17|0 to 131071
2118		-|D2 (multi-turn Optical encoder)|23|0 to 8388607
2119		-
2120	2120	Table 6-54 Multi-turn absolute encoder information
2121	2121
2122	2122	The relationship between encoder feedback position and rotating load multi-turn is shown in the figure below (take a 23-bit encoder as an example).
2123	2123
2124		-
	2155	+(% style="text-align:center" %)
2125	2125	[[image:image-20220608173701-44.png]]
2126	2126
2127	2127	Figure 6-49 The relationship between encoder feedback position and rotating load position
...	...	@@ -2130,12 +2130,12 @@
2130	2130
2131	2131	The feedback data of the absolute value encoder can be divided into the position within 1 turn of the absolute value encoder and the number of rotations of the absolute value encoder. The related information of the two feedback data is shown in the table below.
2132	2132
	2164	+(% class="table-bordered" %)
	2165	+|(% style="text-align:center; vertical-align:middle" %)**Monitoring number**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**
	2166	+|(% style="text-align:center; vertical-align:middle" %)U0-54|(% style="text-align:center; vertical-align:middle" %)Universal|(% style="text-align:center; vertical-align:middle" %)Absolute encoder position within 1 turn|(% style="text-align:center; vertical-align:middle" %)Encoder unit|(% style="text-align:center; vertical-align:middle" %)32-bit
	2167	+|(% style="text-align:center; vertical-align:middle" %)U0-55|(% style="text-align:center; vertical-align:middle" %)Universal|(% style="text-align:center; vertical-align:middle" %)Rotations number of absolute encoder|(% style="text-align:center; vertical-align:middle" %)circle|(% style="text-align:center; vertical-align:middle" %)16-bit
	2168	+|(% style="text-align:center; vertical-align:middle" %)U0-56|(% style="text-align:center; vertical-align:middle" %)Universal|(% style="text-align:center; vertical-align:middle" %)Multi-turn absolute value encoder current position|(% style="text-align:center; vertical-align:middle" %)Instruction unit|(% style="text-align:center; vertical-align:middle" %)32-bit
2133	2133
2134		-|**Monitoring number**|**Category**|**Name**|**Unit**|**Data type**
2135		-|U0-54|Universal|Absolute encoder position within 1 turn|Encoder unit|32-bit
2136		-|U0-55|Universal|Rotations number of absolute encoder|circle|16-bit
2137		-|U0-56|Universal|Multi-turn absolute value encoder current position|Instruction unit|32-bit
2138		-
2139	2139	Table 6-55 Encoder feedback data
2140	2140
2141	2141	== **Absolute value system encoder battery box use precautions** ==
...	...	@@ -2142,7 +2142,7 @@
2142	2142
2143	2143	Er.40 (Encoder battery failure) will occur when the battery is turned on for the first time, and the function code P10-03 must be set to 1 to clear the encoder fault to operate the absolute value system again.
2144	2144
2145		-
	2176	+(% style="text-align:center" %)
2146	2146	[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/45.jpg?rev=1.1||height="303" width="750"]]
2147	2147
2148	2148	Figure 6-50 the encoder battery box
...	...	@@ -2155,23 +2155,23 @@
2155	2155
2156	2156	When the servo drive is powered off, if the battery is replaced and powered on again, Er.40 (encoder battery failure) will occur, and the multi-turn data will change suddenly. Please set the function code P10-03 or P10-06 to 1 to clear the encoder fault alarms and perform the origin return function operation again.
2157	2157
2158		-
2159		-|**Function code**|**Name**|(((
	2189	+(% class="table-bordered" %)
	2190	+|(% style="text-align:center; vertical-align:middle; width:110px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:144px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:135px" %)(((
2160	2160	**Setting method**
2161		-)))|(((
	2192	+)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((
2162	2162	**Effective time**
2163		-)))|**Default value**|**Range**|**Definition**|**Unit**
2164		-|P10-06|Multi-turn absolute encoder reset|(((
	2194	+)))|(% style="text-align:center; vertical-align:middle; width:106px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:61px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:438px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	2195	+|(% style="text-align:center; vertical-align:middle; width:110px" %)P10-06|(% style="text-align:center; vertical-align:middle; width:144px" %)Multi-turn absolute encoder reset|(% style="text-align:center; vertical-align:middle; width:135px" %)(((
2165	2165	Shutdown setting
2166		-)))|(((
	2197	+)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((
2167	2167	Effective immediately
2168		-)))|0|0 to 1|(((
	2199	+)))|(% style="text-align:center; vertical-align:middle; width:106px" %)0|(% style="text-align:center; vertical-align:middle; width:61px" %)0 to 1|(% style="width:438px" %)(((
2169	2169	0: No operation
2170	2170
2171	2171	1: Clear rotation number of multi-turn absolute encoder, multi-turn absolute encoder current position and encoder fault alarms.
2172	2172
2173	2173	✎**Note: **After resetting the multi-turn data of the encoder, the encoder absolute position will change suddenly, and the mechanical origin return operation is required.
2174		-)))|-
	2205	+)))|(% style="text-align:center; vertical-align:middle" %)-
2175	2175
2176	2176	Table 6-56 Absolute encoder reset enable parameter
2177	2177
...	...	@@ -2189,18 +2189,18 @@
2189	2189
2190	2190	Take the VDI_1 terminal assignment forward drive prohibition (03-POT) as an example, and the use steps of VDI are as the figure below.
2191	2191
2192		-
	2223	+(% style="text-align:center" %)
2193	2193	[[image:image-20220608173804-46.png]]
2194	2194
2195	2195	Figure 6-51 VDI_1 setting steps
2196	2196
2197		-
2198		-|**Function code**|**Name**|(((
	2228	+(% class="table-bordered" %)
	2229	+|(% style="text-align:center; vertical-align:middle; width:131px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:183px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:147px" %)(((
2199	2199	**Setting method**
2200		-)))|(((
	2231	+)))|(% style="text-align:center; vertical-align:middle; width:213px" %)(((
2201	2201	**Effective time**
2202		-)))|**Default value**|**Range**|**Definition**|**Unit**
2203		-|P13-1|Virtual VDI_1 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2233	+)))|(% style="text-align:center; vertical-align:middle; width:143px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:77px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:266px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	2234	+|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-1|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_1 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((
2204	2204	When P06-04 is set to 1, DI_1 channel logic is control by this function code.
2205	2205
2206	2206	VDI_1 input level:
...	...	@@ -2208,8 +2208,8 @@
2208	2208	0: low level
2209	2209
2210	2210	1: high level
2211		-)))|-
2212		-|P13-2|Virtual VDI_2 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2242	+)))|(% style="text-align:center; vertical-align:middle" %)-
	2243	+|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-2|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_2 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((
2213	2213	When P06-07 is set to 1, DI_2 channel logic is control by this function code.
2214	2214
2215	2215	VDI_2 input level:
...	...	@@ -2217,8 +2217,8 @@
2217	2217	0: low level
2218	2218
2219	2219	1: high level
2220		-)))|-
2221		-|P13-3|Virtual VDI_3 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2251	+)))|(% style="text-align:center; vertical-align:middle" %)-
	2252	+|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-3|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_3 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((
2222	2222	When P06-10 is set to 1, DI_3 channel logic is control by this function code.
2223	2223
2224	2224	VDI_3 input level:
...	...	@@ -2226,8 +2226,8 @@
2226	2226	0: low level
2227	2227
2228	2228	1: high level
2229		-)))|-
2230		-|P13-4|Virtual VDI_4 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2260	+)))|(% style="text-align:center; vertical-align:middle" %)-
	2261	+|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-4|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_4 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((
2231	2231	When P06-13 is set to 1, DI_4 channel logic is control by this function code.
2232	2232
2233	2233	VDI_4 input level:
...	...	@@ -2235,8 +2235,8 @@
2235	2235	0: low level
2236	2236
2237	2237	1: high level
2238		-)))|-
2239		-|P13-05☆|Virtual VDI_5 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2269	+)))|(% style="text-align:center; vertical-align:middle" %)-
	2270	+|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-05☆|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_5 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((
2240	2240	When P06-16 is set to 1, DI_5 channel logic is control by this function code.
2241	2241
2242	2242	VDI_5 input level:
...	...	@@ -2244,8 +2244,8 @@
2244	2244	0: low level
2245	2245
2246	2246	1: high level
2247		-)))|-
2248		-|P13-06☆|Virtual VDI_6 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2278	+)))|(% style="text-align:center; vertical-align:middle" %)-
	2279	+|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-06☆|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_6 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((
2249	2249	When P06-19 is set to 1, DI_6 channel logic is control by this function code.
2250	2250
2251	2251	VDI_6 input level:
...	...	@@ -2253,8 +2253,8 @@
2253	2253	0: low level
2254	2254
2255	2255	1: high level
2256		-)))|-
2257		-|P13-07☆|Virtual VDI_7 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2287	+)))|(% style="text-align:center; vertical-align:middle" %)-
	2288	+|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-07☆|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_7 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((
2258	2258	When P06-22 is set to 1, DI_7 channel logic is control by this function code.
2259	2259
2260	2260	VDI_7 input level:
...	...	@@ -2262,8 +2262,8 @@
2262	2262	0: low level
2263	2263
2264	2264	1: high level
2265		-)))|-
2266		-|P13-08☆|Virtual VDI_8 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2296	+)))|(% style="text-align:center; vertical-align:middle" %)-
	2297	+|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-08☆|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_8 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((
2267	2267	When P06-25 is set to 1, DI_8 channel logic is control by this function code.
2268	2268
2269	2269	VDI_8 input level:
...	...	@@ -2271,7 +2271,7 @@
2271	2271	0: low level
2272	2272
2273	2273	1: high level
2274		-)))|-
	2305	+)))|(% style="text-align:center; vertical-align:middle" %)-
2275	2275
2276	2276	Table 6-57 Virtual VDI parameters
2277	2277
...	...	@@ -2281,11 +2281,11 @@
2281	2281
2282	2282	VD2A and VD2B servo drives have 8 hardware DI terminals (DI_1 to DI_8) , and VD2F servo drive has 4 hardware DI terminals (DI_1 to DI_4) . All the DI terminals are normal terminals.
2283	2283
	2315	+(% class="table-bordered" %)
	2316	+|(% style="text-align:center; vertical-align:middle" %)**Setting value**|(% style="text-align:center; vertical-align:middle" %)**DI channel logic selection**|(% style="text-align:center; vertical-align:middle" %)**Illustration**
	2317	+|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)Active high level|(% style="text-align:center; vertical-align:middle" %)[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/46.jpg?rev=1.1||height="97" width="307"]]
	2318	+|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)Active low level|(% style="text-align:center; vertical-align:middle" %)[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/47.jpg?rev=1.1||height="83" width="305"]]
2284	2284
2285		-|**Setting value**|**DI channel logic selection**|**Illustration**
2286		-|0|Active high level|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/46.jpg?rev=1.1||height="97" width="307"]]
2287		-|1|Active low level|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/47.jpg?rev=1.1||height="83" width="305"]]
2288		-
2289	2289	Table 6-58 DI terminal channel logic selection
2290	2290
2291	2291	== **VDO** ==
...	...	@@ -2294,55 +2294,55 @@
2294	2294
2295	2295	Take the DO_2 terminal as communication VDO, and the use steps of VDI are as the figure below.
2296	2296
2297		-
	2328	+(% style="text-align:center" %)
2298	2298	[[image:image-20220608173957-48.png]]
2299	2299
2300	2300	Figure 6-52 VDO_2 setting steps
2301	2301
2302		-
2303		-|**Function code**|**Name**|(((
	2333	+(% class="table-bordered" %)
	2334	+|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)(((
2304	2304	**Setting method**
2305		-)))|(((
	2336	+)))|(% style="text-align:center; vertical-align:middle" %)(((
2306	2306	**Effective time**
2307		-)))|**Default value**|**Range**|**Definition**|**Unit**
2308		-|P13-11|Communication VDO_1 output value|Operation setting|Effective immediately|0|0 to 1|(((
	2338	+)))|(% style="text-align:center; vertical-align:middle" %)**Default value**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	2339	+|(% style="text-align:center; vertical-align:middle" %)P13-11|(% style="text-align:center; vertical-align:middle" %)Communication VDO_1 output value|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
2309	2309	VDO_1 output level：
2310	2310
2311	2311	0: low level
2312	2312
2313	2313	1: high level
2314		-)))|-
2315		-|P13-12|Communication VDO_2 output value|Operation setting|Effective immediately|0|0 to 1|(((
	2345	+)))|(% style="text-align:center; vertical-align:middle" %)-
	2346	+|(% style="text-align:center; vertical-align:middle" %)P13-12|(% style="text-align:center; vertical-align:middle" %)Communication VDO_2 output value|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
2316	2316	VDO_2 output level：
2317	2317
2318	2318	0: low level
2319	2319
2320	2320	1: high level
2321		-)))|-
2322		-|P13-13|Communication VDO_3 output value|Operation setting|Effective immediately|0|0 to 1|(((
	2352	+)))|(% style="text-align:center; vertical-align:middle" %)-
	2353	+|(% style="text-align:center; vertical-align:middle" %)P13-13|(% style="text-align:center; vertical-align:middle" %)Communication VDO_3 output value|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
2323	2323	VDO_3 output level：
2324	2324
2325	2325	0: low level
2326	2326
2327	2327	1: high level
2328		-)))|-
2329		-|P13-14|Communication VDO_4 output value|Operation setting|Effective immediately|0|0 to 1|(((
	2359	+)))|(% style="text-align:center; vertical-align:middle" %)-
	2360	+|(% style="text-align:center; vertical-align:middle" %)P13-14|(% style="text-align:center; vertical-align:middle" %)Communication VDO_4 output value|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((
2330	2330	VDO_4 output level：
2331	2331
2332	2332	0: low level
2333	2333
2334	2334	1: high level
2335		-)))|-
	2366	+)))|(% style="text-align:center; vertical-align:middle" %)-
2336	2336
2337	2337	Table 6-59 Communication control DO function parameters
2338	2338
	2370	+(% class="table-bordered" %)
	2371	+|(% style="text-align:center; vertical-align:middle" %)**DO function number**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**
	2372	+|(% style="text-align:center; vertical-align:middle" %)145|(% style="text-align:center; vertical-align:middle" %)COM_VDO1 communication VDO1 output|(% style="text-align:center; vertical-align:middle" %)Use communication VDO
	2373	+|(% style="text-align:center; vertical-align:middle" %)146|(% style="text-align:center; vertical-align:middle" %)COM_VDO1 communication VDO2 output|(% style="text-align:center; vertical-align:middle" %)Use communication VDO
	2374	+|(% style="text-align:center; vertical-align:middle" %)147|(% style="text-align:center; vertical-align:middle" %)COM_VDO1 communication VDO3 output|(% style="text-align:center; vertical-align:middle" %)Use communication VDO
	2375	+|(% style="text-align:center; vertical-align:middle" %)148|(% style="text-align:center; vertical-align:middle" %)COM_VDO1 communication VDO4output|(% style="text-align:center; vertical-align:middle" %)Use communication VDO
2339	2339
2340		-|**DO function number**|**Function name**|**Function**
2341		-|145|COM_VDO1 communication VDO1 output|Use communication VDO
2342		-|146|COM_VDO1 communication VDO2 output|Use communication VDO
2343		-|147|COM_VDO1 communication VDO3 output|Use communication VDO
2344		-|148|COM_VDO1 communication VDO4output|Use communication VDO
2345		-
2346	2346	Table 6-60 VDO function number
2347	2347
2348	2348	✎**Note:** You are advised to configure function codes for DO terminals in sequence to avoid errors during DO signal observation
...	...	@@ -2353,17 +2353,17 @@
2353	2353
2354	2354	VD2 Series absolute encoder (VD2SA) servo drive provides motor overload protection to prevent motor burning due to high temperature. By setting function code P10-04 to modify motor overload alarm (A-82) and motor overload protection fault time (Er.34). The default value of P10-04 is 100%.
2355	2355
2356		-
2357		-|**Function code**|**Name**|(((
	2387	+(% class="table-bordered" %)
	2388	+|(% style="text-align:center; vertical-align:middle; width:122px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:99px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:150px" %)(((
2358	2358	**Setting method**
2359		-)))|(((
	2390	+)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((
2360	2360	**Effective time**
2361		-)))|**Default value**|**Range**|**Definition**|**Unit**
2362		-|P10-04|motor overload protection time coefficient|Operation setting|Effective immediately|100|0 to 800|(((
	2392	+)))|(% style="text-align:center; vertical-align:middle; width:116px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:72px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:445px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**
	2393	+|(% style="text-align:center; vertical-align:middle; width:122px" %)P10-04|(% style="text-align:center; vertical-align:middle; width:99px" %)motor overload protection time coefficient|(% style="text-align:center; vertical-align:middle; width:150px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:157px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:116px" %)100|(% style="text-align:center; vertical-align:middle; width:72px" %)0 to 800|(% style="width:445px" %)(((
2363	2363	According to the heating condition of the motor, the value could be modified to make the overload protection time float up and down in the reference value.
2364	2364
2365	2365	50 corresponds to 50%, that is, the time is reduced by half. 300 corresponds to 300%, that is, the time extended to 3 times. When the value is set to 0, the overload protection fault detection function is disabled
2366		-)))|%
	2397	+)))|(% style="text-align:center; vertical-align:middle" %)%
2367	2367
2368	2368	In the following cases, it could be modified according to the actual heat generation of the motor
2369	2369

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