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Changes for page 06 Operation

Last modified by Iris on 2025/08/05 17:31
From version 51.8
edited by Stone Wu
on 2022/07/07 09:43
Change comment: (Autosaved)
To version 51.28
edited by Stone Wu
on 2022/07/07 10:51
Change comment: There is no comment for this version

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Content
... ... @@ -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
... ... @@ -756,7 +756,7 @@
756 756  
757 757  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.
758 758  
759 -
758 +(% style="text-align:center" %)
760 760  [[image:image-20220608164116-9.png]]
761 761  
762 762  Figure 6-11 The setting process of multi-segment position
... ... @@ -763,7 +763,6 @@
763 763  
764 764  1) Set multi-segment position running mode
765 765  
766 -
767 767  |=(% scope="row" %)**Function code**|=**Name**|=(((
768 768  **Setting method**
769 769  )))|=(((
... ... @@ -818,6 +818,7 @@
818 818  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
819 819  
820 820  
819 +(% style="text-align:center" %)
821 821  [[image:image-20220608164226-10.png]]
822 822  
823 823  Figure 6-12 Single running curve (P07-02=1, P07-03=2)
... ... @@ -827,6 +827,7 @@
827 827  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.
828 828  
829 829  
829 +(% style="text-align:center" %)
830 830  [[image:image-20220608164327-11.png]]
831 831  
832 832  Figure 6-13 Cycle running curve (P07-02=1, P07-03=4)
... ... @@ -838,7 +838,6 @@
838 838  
839 839  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.
840 840  
841 -
842 842  |=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
843 843  |=21|INPOS1: Internal multi-segment position segment selection 1|Form internal multi-segment position running segment number
844 844  |=22|INPOS2: Internal multi-segment position segment selection 2|Form internal multi-segment position running segment number
... ... @@ -849,7 +849,6 @@
849 849  
850 850  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.
851 851  
852 -
853 853  |=(% scope="row" %)**INPOS4**|=**INPOS3**|=**INPOS2**|=**INPOS1**|=**Running position number**
854 854  |=0|0|0|0|1
855 855  |=0|0|0|1|2
... ... @@ -861,7 +861,7 @@
861 861  
862 862  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]]__.
863 863  
864 -
862 +(% style="text-align:center" %)
865 865  [[image:image-20220608164545-12.png]]
866 866  
867 867  Figure 6-14 DI switching running curve
... ... @@ -872,12 +872,12 @@
872 872  
873 873  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.
874 874  
875 -
873 +(% style="text-align:center" %)
876 876  [[image:image-20220608164847-13.png]]
877 877  
878 878  Figure 6-15 Single running-run the remaining segments (P07-02=1, P07-03=4)
879 879  
880 -
878 +(% style="text-align:center" %)
881 881  [[image:image-20220608165032-14.png]]
882 882  
883 883  Figure 6-16 Cycle running-run the remaining segment (P07-02=1, P07-03=4)
... ... @@ -886,12 +886,12 @@
886 886  
887 887  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.
888 888  
889 -
887 +(% style="text-align:center" %)
890 890  [[image:image-20220608165343-15.png]]
891 891  
892 892  Figure 6-17 Single running-run from the start segment again (P07-02=1, P07-03=4)
893 893  
894 -
892 +(% style="text-align:center" %)
895 895  [[image:image-20220608165558-16.png]]
896 896  
897 897  Figure 6-18 Cyclic running-run from the start segment again (P07-02=1, P07-03=4)
... ... @@ -924,7 +924,6 @@
924 924  
925 925  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.
926 926  
927 -
928 928  |=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit**
929 929  |=P07-09|(((
930 930  1st segment
... ... @@ -959,7 +959,7 @@
959 959  
960 960  After setting the above parameters, the actual operation curve of the motor is shown in Figure 6-23.
961 961  
962 -
959 +(% style="text-align:center" %)
963 963  [[image:image-20220608170149-21.png]]
964 964  
965 965  Figure 6-23 The 1st segment running curve of motor
... ... @@ -968,7 +968,6 @@
968 968  
969 969  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.
970 970  
971 -
972 972  |=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
973 973  |=20|ENINPOS: Internal multi-segment position enable signal|(((
974 974  DI port logic invalid: Does not affect the current operation of the servo motor.
... ... @@ -990,37 +990,20 @@
990 990  
991 991  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)
992 992  
989 +(% style="text-align:center" %)
990 +[[image:image-20220707094901-16.png]]
993 993  
994 -[[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]]
995 995  
996 996  
997 -[[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]]
998 998  
999 -
1000 -[[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]]
1001 -
1002 1002  Otherwise, the servo drive will report Er.35: "Electronic gear ratio setting exceeds the limit"!
1003 1003  
1004 1004  **(2) Setting steps of electronic gear ratio**
1005 1005  
999 +[[image:image-20220707100850-20.jpeg]]
1006 1006  
1007 -[[image:image-20220608170320-22.png]]
1008 -
1009 1009  Figure 6-24 Setting steps of electronic gear ratio
1010 1010  
1011 -Step1: Confirm the mechanical parameters including the reduction ratio, the ball screw lead, gear diameter in the gear drive, and pulley diameter in the pulley drive.
1012 -
1013 -Step2: Confirm the resolution of servo motor encoder.
1014 -
1015 -Step3: Confirm the parameters such as mechanical specifications, positioning accuracy, etc, and determine the load displacement corresponding to one position instruction output by the host computer.
1016 -
1017 -Step4: Combine the mechanical parameters and the load displacement corresponding to one position instruction, calculate the position instruction value required for one rotation of the load shaft.
1018 -
1019 -Step5: Calculate the value of electronic gear ratio according to formula below.
1020 -
1021 -
1022 -[[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]]
1023 -
1024 1024  **(3) lectronic gear ratio switch setting**
1025 1025  
1026 1026  
... ... @@ -1086,14 +1086,14 @@
1086 1086  
1087 1087  Table 6-21 Switching conditions of electronic gear ratio group
1088 1088  
1089 -|=(% 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]]
1090 -|=(% 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]]
1091 -|=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]]
1092 -|=1 to 131072|~-~-|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/42.png?rev=1.1]]
1068 +|=(% scope="row" %)**P00-16 value**|=(% style="width: 510px;" %)**DI terminal level corresponding to DI port function 9**|=(% style="width: 400px;" %)**Electronic gear ratio** [[image:image-20220707101503-24.png]]
1069 +|=(% rowspan="2" %)0|(% style="width:510px" %)DI port logic invalid|(% style="width:400px" %)[[image:image-20220707101328-21.png]]
1070 +|=(% style="width: 510px;" %)DI port logic valid|(% style="width:400px" %)[[image:image-20220707101336-22.png]]
1071 +|=1 to 131072|(% style="width:510px" %)~-~-|(% style="width:400px" %)[[image:image-20220707101341-23.png]]
1093 1093  
1094 1094  Table 6-22 Application of electronic gear ratio
1095 1095  
1096 -When the function code P00-16 is not 0, the electronic gear ratio [[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/39.png?rev=1.1]] is invalid.
1075 +When the function code P00-16 is not 0, the electronic gear ratio [[image:image-20220707101509-25.png]] is invalid.
1097 1097  
1098 1098  == **Position instruction filtering** ==
1099 1099  
... ... @@ -1107,12 +1107,11 @@
1107 1107  
1108 1108  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.
1109 1109  
1110 -
1089 +(% style="text-align:center" %)
1111 1111  [[image:image-20220608170455-23.png]]
1112 1112  
1113 1113  Figure 6-25 Position instruction filtering diagram
1114 1114  
1115 -
1116 1116  |=(% scope="row" %)**Function code**|=**Name**|=(((
1117 1117  **Setting method**
1118 1118  )))|=(((
... ... @@ -1152,7 +1152,7 @@
1152 1152  (% class="wikigeneratedid" %)
1153 1153  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.
1154 1154  
1155 -
1133 +(% style="text-align:center" %)
1156 1156  [[image:image-20220608170550-24.png]]
1157 1157  
1158 1158  Figure 6-26 Positioning completion signal output diagram
... ... @@ -1161,11 +1161,11 @@
1161 1161  
1162 1162  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]]__.
1163 1163  
1142 +(% style="text-align:center" %)
1164 1164  [[image:image-20220608170650-25.png]]
1165 1165  
1166 1166  Figure 6-27 Positioning completion signal output with increased window filter time diagram
1167 1167  
1168 -
1169 1169  |=(% scope="row" %)**Function code**|=**Name**|=(((
1170 1170  **Setting method**
1171 1171  )))|=(((
... ... @@ -1194,7 +1194,6 @@
1194 1194  
1195 1195  Table 6-24 Function code parameters of positioning completion
1196 1196  
1197 -
1198 1198  |=(% scope="row" %)**DO function code**|=**Function name**|=**Function**
1199 1199  |=134|P-COIN positioning complete|Output this signal indicates the servo drive position is complete.
1200 1200  |=135|(((
... ... @@ -1209,7 +1209,7 @@
1209 1209  
1210 1210  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.
1211 1211  
1212 -
1189 +(% style="text-align:center" %)
1213 1213  [[image:6.28.jpg||height="260" width="806"]]
1214 1214  
1215 1215  Figure 6-28 Speed control block diagram
... ... @@ -1228,7 +1228,7 @@
1228 1228  Shutdown setting
1229 1229  )))|(((
1230 1230  Effective immediately
1231 -)))|1|1 to 6|(((
1208 +)))|1|1 to 1|(((
1232 1232  0: internal speed instruction
1233 1233  
1234 1234  1: AI_1 analog input (not supported by VD2F)
... ... @@ -1238,21 +1238,31 @@
1238 1238  
1239 1239  **(1) Speed instruction source is internal speed instruction (P01-01=0)**
1240 1240  
1241 -Speed instruction comes from internal instruction, and the internal speed instruction is given by a number. The VD2 series servo drive has internal multi-segment speed running function. There are 8 segments speed instructions stored in servo drive, and the speed of each segment could be set individually. The servo drive uses the 1st segment internal speed by default. To use the 2nd to 8th segment internal speed, the corresponding number of DI terminals must be configured as functions 13, 14, and 15. The detailed parameters and function codes are shown as below.
1218 +Speed instruction comes from internal instruction, and the internal speed instruction is given by a number. The VD2 series servo drive has internal multi-segment speed running function. There are 8 segments speed instructions stored in servo drive, and the speed of each segment could be set individually. The servo drive uses the 1st segment internal speed by default. To use the 2nd to 8th segment internal speed, the corresponding number of DI terminals must be configured as functions 13, 14, and 15. The detailed parameters and function codes are shown as belo
1242 1242  
1220 +(% style="width:1141px" %)
1221 +|(% colspan="1" %)**Function code**|(% colspan="2" %)**Name**|(% colspan="2" %)(((
1222 +**Setting**
1243 1243  
1244 -|**Function code**|**Name**|(((
1245 -**Setting method**
1246 -)))|(((
1247 -**Effective time**
1248 -)))|**Default value**|**Range**|**Definition**|**Unit**
1249 -|(% rowspan="2" %)P01-02|(% rowspan="2" %)(((
1250 -Internal speed Instruction 0
1251 -)))|(% rowspan="2" %)(((
1252 -Operation setting
1253 -)))|(% rowspan="2" %)(((
1254 -Effective immediately
1255 -)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1224 +**method**
1225 +)))|(% colspan="2" %)(((
1226 +**Effective**
1227 +
1228 +**time**
1229 +)))|(% colspan="2" %)**Default value**|(% colspan="2" %)**Range**|(% colspan="2" %)**Definition**|(% colspan="2" %)**Unit**
1230 +|(% colspan="1" %)P01-02|(% colspan="2" %)(((
1231 +Internal speed
1232 +
1233 +Instruction 0
1234 +)))|(% colspan="2" %)(((
1235 +Operation
1236 +
1237 +setting
1238 +)))|(% colspan="2" %)(((
1239 +Effective
1240 +
1241 +immediately
1242 +)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1256 1256  Internal speed instruction 0
1257 1257  
1258 1258  When DI input port:
... ... @@ -1264,15 +1264,20 @@
1264 1264  13-INSPD1: 0,
1265 1265  
1266 1266  select this speed instruction to be effective.
1267 -)))|(% rowspan="2" %)rpm
1268 -|-5000 to 5000*
1269 -|(% rowspan="2" %)P01-23|(% rowspan="2" %)(((
1270 -Internal speed Instruction 1
1271 -)))|(% rowspan="2" %)(((
1272 -Operation setting
1273 -)))|(% rowspan="2" %)(((
1274 -Effective immediately
1275 -)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1254 +)))|(% colspan="2" %)rpm
1255 +|(% colspan="1" %)P01-23|(% colspan="2" %)(((
1256 +Internal speed
1257 +
1258 +Instruction 1
1259 +)))|(% colspan="2" %)(((
1260 +Operation
1261 +
1262 +setting
1263 +)))|(% colspan="2" %)(((
1264 +Effective
1265 +
1266 +immediately
1267 +)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1276 1276  Internal speed instruction 1
1277 1277  
1278 1278  When DI input port:
... ... @@ -1284,15 +1284,20 @@
1284 1284  13-INSPD1: 1,
1285 1285  
1286 1286  Select this speed instruction to be effective.
1287 -)))|(% rowspan="2" %)rpm
1288 -|-5000 to 5000*
1289 -|(% rowspan="2" %)P01-24|(% rowspan="2" %)(((
1290 -Internal speed Instruction 2
1291 -)))|(% rowspan="2" %)(((
1292 -Operation setting
1293 -)))|(% rowspan="2" %)(((
1294 -Effective immediately
1295 -)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1279 +)))|(% colspan="2" %)rpm
1280 +|(% colspan="1" %)P01-24|(% colspan="2" %)(((
1281 +Internal speed
1282 +
1283 +Instruction 2
1284 +)))|(% colspan="2" %)(((
1285 +Operation
1286 +
1287 +setting
1288 +)))|(% colspan="2" %)(((
1289 +Effective
1290 +
1291 +immediately
1292 +)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1296 1296  Internal speed instruction 2
1297 1297  
1298 1298  When DI input port:
... ... @@ -1304,15 +1304,20 @@
1304 1304  13-INSPD1: 0,
1305 1305  
1306 1306  Select this speed instruction to be effective.
1307 -)))|(% rowspan="2" %)rpm
1308 -|-5000 to 5000*
1309 -|(% rowspan="2" %)P01-25|(% rowspan="2" %)(((
1310 -Internal speed Instruction 3
1311 -)))|(% rowspan="2" %)(((
1312 -Operation setting
1313 -)))|(% rowspan="2" %)(((
1314 -Effective immediately
1315 -)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1304 +)))|(% colspan="2" %)rpm
1305 +|(% colspan="1" %)P01-25|(% colspan="2" %)(((
1306 +Internal speed
1307 +
1308 +Instruction 3
1309 +)))|(% colspan="2" %)(((
1310 +Operation
1311 +
1312 +setting
1313 +)))|(% colspan="2" %)(((
1314 +Effective
1315 +
1316 +immediately
1317 +)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1316 1316  Internal speed instruction 3
1317 1317  
1318 1318  When DI input port:
... ... @@ -1324,16 +1324,20 @@
1324 1324  13-INSPD1: 1,
1325 1325  
1326 1326  Select this speed instruction to be effective.
1327 -)))|(% rowspan="2" %)rpm
1328 -|-5000 to 5000*
1329 +)))|(% colspan="2" %)rpm
1330 +|P01-26|(% colspan="2" %)(((
1331 +Internal speed
1329 1329  
1330 -|(% rowspan="2" %)P01-26|(% rowspan="2" %)(((
1331 -Internal speed Instruction 4
1332 -)))|(% rowspan="2" %)(((
1333 -Operation setting
1334 -)))|(% rowspan="2" %)(((
1335 -Effective immediately
1336 -)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1333 +Instruction 4
1334 +)))|(% colspan="2" %)(((
1335 +Operation
1336 +
1337 +setting
1338 +)))|(% colspan="2" %)(((
1339 +Effective
1340 +
1341 +immediately
1342 +)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1337 1337  Internal speed instruction 4
1338 1338  
1339 1339  When DI input port:
... ... @@ -1345,15 +1345,20 @@
1345 1345  13-INSPD1: 0,
1346 1346  
1347 1347  Select this speed instruction to be effective.
1348 -)))|(% rowspan="2" %)rpm
1349 -|-5000 to 5000*
1350 -|(% rowspan="2" %)P01-27|(% rowspan="2" %)(((
1351 -Internal speed Instruction 5
1352 -)))|(% rowspan="2" %)(((
1353 -Operation setting
1354 -)))|(% rowspan="2" %)(((
1355 -Effective immediately
1356 -)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1354 +)))|(% colspan="1" %)rpm
1355 +|P01-27|(% colspan="2" %)(((
1356 +Internal speed
1357 +
1358 +Instruction 5
1359 +)))|(% colspan="2" %)(((
1360 +Operation
1361 +
1362 +setting
1363 +)))|(% colspan="2" %)(((
1364 +Effective
1365 +
1366 +immediately
1367 +)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1357 1357  Internal speed instruction 5
1358 1358  
1359 1359  When DI input port:
... ... @@ -1365,15 +1365,20 @@
1365 1365  13-INSPD1: 1,
1366 1366  
1367 1367  Select this speed instruction to be effective.
1368 -)))|(% rowspan="2" %)rpm
1369 -|-5000 to 5000*
1370 -|(% rowspan="2" %)P01-28|(% rowspan="2" %)(((
1371 -Internal speed Instruction 6
1372 -)))|(% rowspan="2" %)(((
1373 -Operation setting
1374 -)))|(% rowspan="2" %)(((
1375 -Effective immediately
1376 -)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1379 +)))|(% colspan="1" %)rpm
1380 +|P01-28|(% colspan="2" %)(((
1381 +Internal speed
1382 +
1383 +Instruction 6
1384 +)))|(% colspan="2" %)(((
1385 +Operation
1386 +
1387 +setting
1388 +)))|(% colspan="2" %)(((
1389 +Effective
1390 +
1391 +immediately
1392 +)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1377 1377  Internal speed instruction 6
1378 1378  
1379 1379  When DI input port:
... ... @@ -1385,15 +1385,20 @@
1385 1385  13-INSPD1: 0,
1386 1386  
1387 1387  Select this speed instruction to be effective.
1388 -)))|(% rowspan="2" %)rpm
1389 -|-5000 to 5000*
1390 -|(% rowspan="2" %)P01-29|(% rowspan="2" %)(((
1391 -Internal speed Instruction 7
1392 -)))|(% rowspan="2" %)(((
1393 -Operation setting
1394 -)))|(% rowspan="2" %)(((
1395 -Effective immediately
1396 -)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1404 +)))|(% colspan="1" %)rpm
1405 +|P01-29|(% colspan="2" %)(((
1406 +Internal speed
1407 +
1408 +Instruction 7
1409 +)))|(% colspan="2" %)(((
1410 +Operation
1411 +
1412 +setting
1413 +)))|(% colspan="2" %)(((
1414 +Effective
1415 +
1416 +immediately
1417 +)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1397 1397  Internal speed instruction 7
1398 1398  
1399 1399  When DI input port:
... ... @@ -1405,14 +1405,10 @@
1405 1405  13-INSPD1: 1,
1406 1406  
1407 1407  Select this speed instruction to be effective.
1408 -)))|(% rowspan="2" %)rpm
1409 -|-5000 to 5000*
1429 +)))|(% colspan="1" %)rpm
1410 1410  
1411 1411  Table 6-27 Internal speed instruction parameters
1412 1412  
1413 -✎**Note: **“*” means the set range of VD2F servo drive.
1414 -
1415 -
1416 1416  |**DI function code**|**function name**|**Function**
1417 1417  |13|INSPD1 internal speed instruction selection 1|Form internal multi-speed running segment number
1418 1418  |14|INSPD2 internal speed instruction selection 2|Form internal multi-speed running segment number
... ... @@ -1432,16 +1432,15 @@
1432 1432  
1433 1433  Table 6-29 Correspondence between INSPD bits and segment numbers
1434 1434  
1435 -
1436 1436  [[image:image-20220608170845-26.png]]
1437 1437  
1438 1438  Figure 6-29 Multi-segment speed running curve
1439 1439  
1440 -**(2) Speed instruction source is internal speed instruction (P01-01=0)**
1456 +**(2) Speed instruction source is internal speed instruction (P01-01=1)**
1441 1441  
1442 1442  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.
1443 1443  
1444 -
1460 +(% style="text-align:center" %)
1445 1445  [[image:image-20220608153341-5.png]]
1446 1446  
1447 1447  Figure 6-30 Analog input circuit
... ... @@ -1448,7 +1448,7 @@
1448 1448  
1449 1449  Taking AI_1 as an example, the method of setting the speed instruction of analog voltage is illustrated as below.
1450 1450  
1451 -
1467 +(% style="text-align:center" %)
1452 1452  [[image:image-20220608170955-27.png]]
1453 1453  
1454 1454  Figure 6-31 Analog voltage speed instruction setting steps
... ... @@ -1455,18 +1455,15 @@
1455 1455  
1456 1456  Explanation of related terms:
1457 1457  
1458 -Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
1474 +* Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
1475 +* Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
1476 +* Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1459 1459  
1460 -Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
1461 -
1462 -Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1463 -
1464 -
1478 +(% style="text-align:center" %)
1465 1465  [[image:image-20220608171124-28.png]]
1466 1466  
1467 1467  Figure 6-32 AI_1 diagram before and after bias
1468 1468  
1469 -
1470 1470  |**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
1471 1471  |P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1472 1472  |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
... ... @@ -1483,16 +1483,14 @@
1483 1483  
1484 1484  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.
1485 1485  
1486 -
1499 +(% style="text-align:center" %)
1487 1487  [[image:image-20220608171314-29.png]]
1488 1488  
1489 1489  Figure 6-33 of acceleration and deceleration time diagram
1490 1490  
1491 -Actual acceleration time T1 =[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/43.jpg?rev=1.1]]
1504 +(% style="text-align:center" %)
1505 +[[image:image-20220707103616-27.png]]
1492 1492  
1493 -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]]
1494 -
1495 -
1496 1496  |**Function code**|**Name**|(((
1497 1497  **Setting method**
1498 1498  )))|(((
... ... @@ -1627,7 +1627,6 @@
1627 1627  
1628 1628  Table 6-34 Rotation detection speed threshold parameters
1629 1629  
1630 -
1631 1631  |**DO function code**|**Function name**|**Function**
1632 1632  |132|(((
1633 1633  T-COIN rotation detection
... ... @@ -1643,7 +1643,6 @@
1643 1643  
1644 1644  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.
1645 1645  
1646 -
1647 1647  [[image:image-20220608171904-32.png]]
1648 1648  
1649 1649  Figure 6-36 Zero-speed signal diagram
... ... @@ -1650,7 +1650,6 @@
1650 1650  
1651 1651  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]]__.
1652 1652  
1653 -
1654 1654  |**Function code**|**Name**|(((
1655 1655  **Setting method**
1656 1656  )))|(((
... ... @@ -1676,7 +1676,6 @@
1676 1676  
1677 1677  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.
1678 1678  
1679 -
1680 1680  [[image:image-20220608172053-33.png]]
1681 1681  
1682 1682  Figure 6-37 Speed consistent signal diagram
... ... @@ -1683,7 +1683,6 @@
1683 1683  
1684 1684  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]]__.
1685 1685  
1686 -
1687 1687  |**Function code**|**Name**|(((
1688 1688  **Setting method**
1689 1689  )))|(((
... ... @@ -1709,14 +1709,12 @@
1709 1709  
1710 1710  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.
1711 1711  
1712 -
1713 1713  [[image:image-20220608172207-34.png]]
1714 1714  
1715 1715  Figure 6-38 Speed approaching signal diagram
1716 1716  
1717 -To use the motor speed approach function, a DO terminal of the servo drive should be assigned to function 137 (V-NEAR, speed approach). The function code parameters and related DO function codes are shown in __[[Table 6-40>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__ and __[[Table 6-40>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__.
1722 +To use the motor speed approach function, a DO terminal of the servo drive should be assigned to function 137 (V-NEAR, speed approach). The function code parameters and related DO function codes are shown in __[[Table 6-40>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__ and __[[Table 6-41>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__.
1718 1718  
1719 -
1720 1720  |**Function code**|**Name**|(((
1721 1721  **Setting method**
1722 1722  )))|(((
... ... @@ -1730,7 +1730,6 @@
1730 1730  
1731 1731  Table 6-40 Speed approaching signal threshold parameters
1732 1732  
1733 -
1734 1734  |**DO function code**|**Function name**|**Function**
1735 1735  |137|(((
1736 1736  V-NEAR speed approach
... ... @@ -1791,7 +1791,7 @@
1791 1791  
1792 1792  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.
1793 1793  
1794 -
1797 +(% style="text-align:center" %)
1795 1795  [[image:image-20220608153646-7.png||height="213" width="408"]]
1796 1796  
1797 1797  Figure 6-40 Analog input circuit
... ... @@ -1798,7 +1798,7 @@
1798 1798  
1799 1799  Taking AI_1 as an example, the method of setting torque instruction of analog voltage is as below.
1800 1800  
1801 -
1804 +(% style="text-align:center" %)
1802 1802  [[image:image-20220608172502-36.png]]
1803 1803  
1804 1804  Figure 6-41 Analog voltage torque instruction setting steps
... ... @@ -1805,18 +1805,15 @@
1805 1805  
1806 1806  Explanation of related terms:
1807 1807  
1808 -Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
1811 +* Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
1812 +* Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
1813 +* Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1809 1809  
1810 -Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
1811 -
1812 -Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1813 -
1814 -
1815 +(% style="text-align:center" %)
1815 1815  [[image:image-20220608172611-37.png]]
1816 1816  
1817 1817  Figure 6-42 AI_1 diagram before and after bias
1818 1818  
1819 -
1820 1820  |**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
1821 1821  |P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1822 1822  |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
... ... @@ -1831,7 +1831,6 @@
1831 1831  
1832 1832  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]]__.
1833 1833  
1834 -
1835 1835  |**Function code**|**Name**|(((
1836 1836  **Setting method**
1837 1837  )))|(((
... ... @@ -1847,7 +1847,7 @@
1847 1847  
1848 1848  ✎**Note: **If the filter time constant is set too large, the responsiveness will be reduced. Please set it while confirming the responsiveness.
1849 1849  
1850 -
1849 +(% style="text-align:center" %)
1851 1851  [[image:image-20220608172646-38.png]]
1852 1852  
1853 1853  Figure 6-43 Torque instruction-first-order filtering diagram
... ... @@ -1858,7 +1858,7 @@
1858 1858  
1859 1859  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.
1860 1860  
1861 -
1860 +(% style="text-align:center" %)
1862 1862  [[image:image-20220608172806-39.png]]
1863 1863  
1864 1864  Figure 6-44 Torque instruction limit diagram
... ... @@ -1867,7 +1867,6 @@
1867 1867  
1868 1868  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.
1869 1869  
1870 -
1871 1871  |**Function code**|**Name**|(((
1872 1872  **Setting method**
1873 1873  )))|(((
... ... @@ -1891,7 +1891,6 @@
1891 1891  
1892 1892  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.
1893 1893  
1894 -
1895 1895  |**Function code**|**Name**|(((
1896 1896  **Setting method**
1897 1897  )))|(((
... ... @@ -1922,7 +1922,6 @@
1922 1922  
1923 1923  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.
1924 1924  
1925 -
1926 1926  |**DO function code**|**Function name**|**Function**
1927 1927  |139|(((
1928 1928  T-LIMIT in torque limit
... ... @@ -1987,7 +1987,7 @@
1987 1987  
1988 1988  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.
1989 1989  
1990 -
1986 +(% style="text-align:center" %)
1991 1991  [[image:image-20220608173541-42.png]]
1992 1992  
1993 1993  Figure 6-47 Torque arrival output diagram
... ... @@ -1994,7 +1994,6 @@
1994 1994  
1995 1995  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]]__.
1996 1996  
1997 -
1998 1998  |**Function code**|**Name**|(((
1999 1999  **Setting method**
2000 2000  )))|(((
... ... @@ -2039,15 +2039,14 @@
2039 2039  
2040 2040  Mixed control mode means that when the servo enable is ON and the status of the servo drive is "run", the mode of the servo drive could be switched between different modes. The VD2 series servo drives have the following 3 mixed control modes:
2041 2041  
2042 -Position mode Speed mode
2037 +Position mode⇔ Speed mode
2043 2043  
2044 -Position mode Torque mode
2039 +Position mode ⇔Torque mode
2045 2045  
2046 -Speed mode Torque mode
2041 +Speed mode ⇔Torque mode
2047 2047  
2048 2048  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.
2049 2049  
2050 -
2051 2051  |**Function code**|**Name**|(((
2052 2052  **Setting method**
2053 2053  )))|(((
... ... @@ -2075,7 +2075,6 @@
2075 2075  
2076 2076  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.
2077 2077  
2078 -
2079 2079  |**DI function code**|**Name**|**Function name**|**Function**
2080 2080  |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(((
2081 2081  |**P00-01**|**MixModeSel terminal logic**|**Control mode**
... ... @@ -2111,7 +2111,7 @@
2111 2111  
2112 2112  The relationship between encoder feedback position and rotating load position is shown in the figure below. (take a 17-bit encoder as an example).
2113 2113  
2114 -
2107 +(% style="text-align:center" %)
2115 2115  [[image:image-20220608173618-43.png]]
2116 2116  
2117 2117  Figure 6-48 Diagram of relationship between encoder feedback position and rotating load position
... ... @@ -2120,7 +2120,6 @@
2120 2120  
2121 2121  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.
2122 2122  
2123 -
2124 2124  |**Encoder type**|**Encoder resolution (bits)**|**Data range**
2125 2125  |C1 (multi-turn magnetic encoder)|17|0 to 131071
2126 2126  |D2 (multi-turn Optical encoder)|23|0 to 8388607
... ... @@ -2129,7 +2129,7 @@
2129 2129  
2130 2130  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).
2131 2131  
2132 -
2124 +(% style="text-align:center" %)
2133 2133  [[image:image-20220608173701-44.png]]
2134 2134  
2135 2135  Figure 6-49 The relationship between encoder feedback position and rotating load position
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2138 2138  
2139 2139  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.
2140 2140  
2141 -
2142 2142  |**Monitoring number**|**Category**|**Name**|**Unit**|**Data type**
2143 2143  |U0-54|Universal|Absolute encoder position within 1 turn|Encoder unit|32-bit
2144 2144  |U0-55|Universal|Rotations number of absolute encoder|circle|16-bit
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