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Changes for page 06 Operation

Last modified by Iris on 2025/08/06 18:24
From version 51.6
edited by Stone Wu
on 2022/07/07 09:33
Change comment: (Autosaved)
To version 51.10
edited by Stone Wu
on 2022/07/07 09:48
Change comment: (Autosaved)

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... ... @@ -671,7 +671,6 @@
671 671  
672 672  Table 6-14 Position pulse type selection parameter
673 673  
674 -
675 675  |=(% scope="row" %)**Pulse type selection**|=**Pulse type**|=**Signal**|=**Schematic diagram of forward pulse**|=**Schematic diagram of negative pulse**
676 676  |=0|(((
677 677  Direction + pulse
... ... @@ -681,12 +681,12 @@
681 681  PULSE
682 682  
683 683  SIGN
684 -)))|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/21.jpg?rev=1.1]]|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/26.jpg?rev=1.1]]
683 +)))|[[image:image-20220707094340-6.jpeg]]|[[image:image-20220707094345-7.jpeg]]
685 685  |=1|CW/CCW|(((
686 686  PULSE (CW)
687 687  
688 688  SIGN (CCW)
689 -)))|(% colspan="2" %)[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/27.jpg?rev=1.1]]
688 +)))|(% colspan="2" %)[[image:image-20220707094351-8.jpeg]]
690 690  |=2|(((
691 691  AB phase orthogonal
692 692  
... ... @@ -696,12 +696,16 @@
696 696  
697 697  SIGN (Phase B)
698 698  )))|(((
699 -[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/28.jpg?rev=1.1]]
698 +
700 700  
700 +[[image:image-20220707094358-9.jpeg]]
701 +
701 701  Phase A is 90° ahead of Phase B
702 702  )))|(((
703 -[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/29.jpg?rev=1.1]]
704 +
704 704  
706 +[[image:image-20220707094407-10.jpeg]]
707 +
705 705  Phase B is 90° ahead of Phase A
706 706  )))
707 707  |=3|(((
... ... @@ -712,7 +712,7 @@
712 712  PULSE
713 713  
714 714  SIGN
715 -)))|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/30.jpg?rev=1.1]]|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/31.jpg?rev=1.1]]
718 +)))|[[image:image-20220707094414-11.jpeg]]|[[image:image-20220707094418-12.jpeg]]
716 716  |=4|(((
717 717  CW/CCW
718 718  
... ... @@ -721,7 +721,7 @@
721 721  PULSE (CW)
722 722  
723 723  SIGN (CCW)
724 -)))|(% colspan="2" %)[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/32.jpg?rev=1.1]]
727 +)))|(% colspan="2" %)[[image:image-20220707094423-13.jpeg]]
725 725  |=5|(((
726 726  AB phase orthogonal
727 727  
... ... @@ -731,13 +731,17 @@
731 731  
732 732  SIGN (Phase B)
733 733  )))|(((
734 -[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/33.jpg?rev=1.1]]
737 +
735 735  
736 -B phase is ahead of A phase by 90°
739 +[[image:image-20220707094429-14.jpeg]]
740 +
741 +Phase B is ahead of A phase by 90°
737 737  )))|(((
738 -[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/34.jpg?rev=1.1]]
743 +
739 739  
740 -A phase is ahead of B phase by 90°
745 +[[image:image-20220707094437-15.jpeg]]
746 +
747 +Phase A is ahead of B phase by 90°
741 741  )))
742 742  
743 743  Table 6-15 Pulse description
... ... @@ -748,7 +748,7 @@
748 748  
749 749  The servo drive completely runs the multi-segment position instruction set by P07-01 once, and the total number of positions is called completing one round of operation.
750 750  
751 -
758 +(% style="text-align:center" %)
752 752  [[image:image-20220608164116-9.png]]
753 753  
754 754  Figure 6-11 The setting process of multi-segment position
... ... @@ -755,7 +755,6 @@
755 755  
756 756  1) Set multi-segment position running mode
757 757  
758 -
759 759  |=(% scope="row" %)**Function code**|=**Name**|=(((
760 760  **Setting method**
761 761  )))|=(((
... ... @@ -810,6 +810,7 @@
810 810  In this running mode, the segment number is automatically incremented and switched, and the servo drive only operates for one round (the servo drive runs completely once for the total number of multi-segment position instructions set by P07-02 and P07-03). The single running curve is shown in __[[Figure 6-12>>https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/image-20220608164226-10.png?rev=1.1]]__, and S1 and S2 are the displacements of the 1st segment and the 2nd segment respectively
811 811  
812 812  
819 +(% style="text-align:center" %)
813 813  [[image:image-20220608164226-10.png]]
814 814  
815 815  Figure 6-12 Single running curve (P07-02=1, P07-03=2)
... ... @@ -819,6 +819,7 @@
819 819  In this running mode, the position number is automatically incremented and switched, and the servo drive repeatedly runs the total number of multi-segment position instructions set by P07-02 and P07-03. The waiting time could be set between each segment. The cycle running curve is shown in __[[Figure 6-13>>https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/image-20220608164327-11.png?rev=1.1]]__, and S1,S2,S3 and S4 are the displacements of the 1st, 2nd, 3rd and 4th segment respectively.
820 820  
821 821  
829 +(% style="text-align:center" %)
822 822  [[image:image-20220608164327-11.png]]
823 823  
824 824  Figure 6-13 Cycle running curve (P07-02=1, P07-03=4)
... ... @@ -830,7 +830,6 @@
830 830  
831 831  In this running mode, the next running segment number could be set when operating the current segment number. The interval time is determined by the instruction delay of the host computer. The running segment number is determined by DI terminal logic, and the related function codes are shown in the table below.
832 832  
833 -
834 834  |=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
835 835  |=21|INPOS1: Internal multi-segment position segment selection 1|Form internal multi-segment position running segment number
836 836  |=22|INPOS2: Internal multi-segment position segment selection 2|Form internal multi-segment position running segment number
... ... @@ -841,7 +841,6 @@
841 841  
842 842  The multi-segment segment number is a 4-bit binary number, and the DI terminal logic is level valid. When the input level is valid, the segment selection bit value is 1, otherwise it is 0. Table 6-17 shows the correspondence between the position bits 1 to 4 of the internal multi-segment position and the position number.
843 843  
844 -
845 845  |=(% scope="row" %)**INPOS4**|=**INPOS3**|=**INPOS2**|=**INPOS1**|=**Running position number**
846 846  |=0|0|0|0|1
847 847  |=0|0|0|1|2
... ... @@ -853,7 +853,7 @@
853 853  
854 854  The operating curve in this running mode is shown in __[[Figure 6-14>>https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/image-20220608164545-12.png?rev=1.1]]__.
855 855  
856 -
862 +(% style="text-align:center" %)
857 857  [[image:image-20220608164545-12.png]]
858 858  
859 859  Figure 6-14 DI switching running curve
... ... @@ -864,12 +864,12 @@
864 864  
865 865  In this processing way, the multi-segment position instruction enable is OFF during running, the servo drive will abandon the unfinished displacement part and shutdown, and the positioning completion signal will be valid after the shutdown is complete. When the multi-segment position enable is ON, and the servo drive will start to run from the next segment where the OFF occurs. The curves of single running and cycle running are shown in __[[Figure 6-15>>https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/image-20220608164847-13.png?rev=1.1]]__ and __[[Figure 6-16>>https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/image-20220608165032-14.png?rev=1.1]]__ respectively.
866 866  
867 -
873 +(% style="text-align:center" %)
868 868  [[image:image-20220608164847-13.png]]
869 869  
870 870  Figure 6-15 Single running-run the remaining segments (P07-02=1, P07-03=4)
871 871  
872 -
878 +(% style="text-align:center" %)
873 873  [[image:image-20220608165032-14.png]]
874 874  
875 875  Figure 6-16 Cycle running-run the remaining segment (P07-02=1, P07-03=4)
... ... @@ -878,12 +878,12 @@
878 878  
879 879  In this processing mode, when the multi-segment position instruction enable is OFF during running, the servo drive will abandon the uncompleted displacement part and shutdown. After the shutdown is completed, the positioning completion signal is valid. When the multi-segment position enable is ON, and the servo drive will start to operate from the next position set by P07-02. The curves of single running and cycle running are shown in __[[Figure 6-17>>https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/image-20220608165343-15.png?rev=1.1]]__ and __[[Figure 6-18>>https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/image-20220608165558-16.png?rev=1.1]]__ respectively.
880 880  
881 -
887 +(% style="text-align:center" %)
882 882  [[image:image-20220608165343-15.png]]
883 883  
884 884  Figure 6-17 Single running-run from the start segment again (P07-02=1, P07-03=4)
885 885  
886 -
892 +(% style="text-align:center" %)
887 887  [[image:image-20220608165558-16.png]]
888 888  
889 889  Figure 6-18 Cyclic running-run from the start segment again (P07-02=1, P07-03=4)
... ... @@ -916,7 +916,6 @@
916 916  
917 917  The multi-segment position running supports maximum 16 segments different position instructions. The displacement, maximum running speed (steady-state running speed), acceleration and deceleration time of each position and the waiting time between segment could all be set. __[[Table 6-19>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HPositioninstructioninputsetting]]__ are the related function codes of the 1st segment running curve.
918 918  
919 -
920 920  |=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit**
921 921  |=P07-09|(((
922 922  1st segment
... ... @@ -951,7 +951,7 @@
951 951  
952 952  After setting the above parameters, the actual operation curve of the motor is shown in Figure 6-23.
953 953  
954 -
959 +(% style="text-align:center" %)
955 955  [[image:image-20220608170149-21.png]]
956 956  
957 957  Figure 6-23 The 1st segment running curve of motor
... ... @@ -960,7 +960,6 @@
960 960  
961 961  When selecting multi-segment position instruction as the instruction source, configure 1 DI port channel of the servo drive to function 20 (internal multi-segment position enable signal), and confirm the valid logic of the DI terminal.
962 962  
963 -
964 964  |=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
965 965  |=20|ENINPOS: Internal multi-segment position enable signal|(((
966 966  DI port logic invalid: Does not affect the current operation of the servo motor.
... ... @@ -982,15 +982,12 @@
982 982  
983 983  It it noted that the electronic gear ratio setting range of the 2500-line incremental encoder should meet the formula (6-1), and the electronic gear ratio setting range of the 17-bit encoder should meet the formula (6-2), setting range of the electronic gear ratio of 23-bit encoder should meet the formula (6-3)
984 984  
989 +(% style="text-align:center" %)
990 +[[image:image-20220707094901-16.png]]
985 985  
986 -[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/35.png?rev=1.1]]
987 987  
988 988  
989 -[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/36.png?rev=1.1]]
990 990  
991 -
992 -[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/37.png?rev=1.1]]
993 -
994 994  Otherwise, the servo drive will report Er.35: "Electronic gear ratio setting exceeds the limit"!
995 995  
996 996  **(2) Setting steps of electronic gear ratio**
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