Changes for page 06 Operation

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...	...	@@ -2,20 +2,20 @@
2	2
3	3	== **Check before operation** ==
4	4
5		-|=(% scope="row" style="width: 58px;" %)**No.**|=(% style="width: 1017px;" %)**Content**
	5	+|=(% scope="row" style="width: 79px;" %)**No.**|=(% style="width: 996px;" %)**Content**
6	6	|=(% colspan="2" %)Wiring
7		-|=(% style="width: 58px;" %)1|(% style="width:1017px" %)The main circuit input terminals (L1, L2 and L3) of servo drive must be properly connected.
8		-|=(% style="width: 58px;" %)2|(% style="width:1017px" %)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		-|=(% style="width: 58px;" %)3|(% style="width:1017px" %)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		-|=(% style="width: 58px;" %)4|(% style="width:1017px" %)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		-|=(% style="width: 58px;" %)5|(% style="width:1017px" %)Servo drive and servo motor must be grounded reliably.
12		-|=(% style="width: 58px;" %)6|(% style="width:1017px" %)When using an external braking resistor, the short wiring between drive C and D must be removed.
13		-|=(% style="width: 58px;" %)7|(% style="width:1017px" %)The force of all cables is within the specified range.
14		-|=(% style="width: 58px;" %)8|(% style="width:1017px" %)The wiring terminals have been insulated.
	7	+|=(% style="width: 79px;" %)1|(% style="width:996px" %)The main circuit input terminals (L1, L2 and L3) of servo drive must be properly connected.
	8	+|=(% style="width: 79px;" %)2|(% style="width:996px" %)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	+|=(% style="width: 79px;" %)3|(% style="width:996px" %)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	+|=(% style="width: 79px;" %)4|(% style="width:996px" %)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	+|=(% style="width: 79px;" %)5|(% style="width:996px" %)Servo drive and servo motor must be grounded reliably.
	12	+|=(% style="width: 79px;" %)6|(% style="width:996px" %)When using an external braking resistor, the short wiring between drive C and D must be removed.
	13	+|=(% style="width: 79px;" %)7|(% style="width:996px" %)The force of all cables is within the specified range.
	14	+|=(% style="width: 79px;" %)8|(% style="width:996px" %)The wiring terminals have been insulated.
15	15	|=(% colspan="2" %)Environment and Machinery
16		-|=(% style="width: 58px;" %)1|(% style="width:1017px" %)There is no iron filings, metal, etc. that can cause short circuits inside or outside the servo drive.
17		-|=(% style="width: 58px;" %)2|(% style="width:1017px" %)The servo drive and external braking resistor are not placed on combustible objects.
18		-|=(% style="width: 58px;" %)3|(% style="width:1017px" %)The installation, shaft and mechanical structure of the servo motor have been firmly connected.
	16	+|=(% style="width: 79px;" %)1|(% style="width:996px" %)There is no iron filings, metal, etc. that can cause short circuits inside or outside the servo drive.
	17	+|=(% style="width: 79px;" %)2|(% style="width:996px" %)The servo drive and external braking resistor are not placed on combustible objects.
	18	+|=(% style="width: 79px;" %)3|(% style="width:996px" %)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
...	...	@@ -46,11 +46,23 @@
46	46	)))|=(((
47	47	**Effective time**
48	48	)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
49		-|=P10-01|JOG speed|(((
	49	+|=(((
	50	+P10-01
	51	+)))|(((
	52	+JOG speed
	53	+)))|(((
50	50	Operation setting
51	51	)))|(((
52	52	Effective immediately
53		-)))|100|0 to 3000|JOG speed|rpm
	57	+)))|(((
	58	+100
	59	+)))|(((
	60	+0 to 3000
	61	+)))|(((
	62	+JOG speed
	63	+)))|(((
	64	+rpm
	65	+)))
54	54
55	55	Table 6-2 JOG speed parameter
56	56
...	...	@@ -59,11 +59,19 @@
59	59	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.
60	60
61	61	|=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=Effective time|=**Default value**|=**Range**|=**Definition**|=**Unit**
62		-|=P00-04|Rotation direction|(((
	74	+|=(((
	75	+P00-04
	76	+)))|(((
	77	+Rotation direction
	78	+)))|(((
63	63	Shutdown setting
64	64	)))|(((
65	65	Effective immediately
66		-)))|0|0 to 1|(((
	82	+)))|(((
	83	+0
	84	+)))|(((
	85	+0 to 1
	86	+)))|(((
67	67	Forward rotation: Face the motor shaft to watch
68	68
69	69	* 0: standard setting (CW is forward rotation)
...	...	@@ -81,14 +81,14 @@
81	81	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.
82	82	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.
83	83
84		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	104	+|=(% scope="row" %)**Function code**|=**Name**|=(% style="width: 118px;" %)(((
85	85	**Setting method**
86		-)))|=(((
	106	+)))|=(% style="width: 126px;" %)(((
87	87	**Effective time**
88	88	)))|=**Default**|=**Range**|=**Definition**|=**Unit**
89		-|=P00-09|Braking resistor setting|(((
	109	+|=P00-09|Braking resistor setting|(% style="width:118px" %)(((
90	90	Operation setting
91		-)))|(((
	111	+)))|(% style="width:126px" %)(((
92	92	Effective immediately
93	93	)))|0|0 to 3|(((
94	94	* 0: use built-in braking resistor
...	...	@@ -96,15 +96,15 @@
96	96	* 2: use external braking resistor and forced air cooling; (cannot be set)
97	97	* 3: No braking resistor is used, it is all absorbed by capacitor.
98	98	)))|-
99		-|=(% 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).
100		-|=P00-10|External braking resistor value|(((
	119	+(% class="info" %)|(% colspan="8" scope="row" %)✎**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).
	120	+|=P00-10|External braking resistor value|(% style="width:118px" %)(((
101	101	Operation setting
102		-)))|(((
	122	+)))|(% style="width:126px" %)(((
103	103	Effective immediately
104	104	)))|50|0 to 65535|It is used to set the external braking resistor value of a certain type of drive.|Ω
105		-|=P00-11|External braking resistor power|(((
	125	+|=P00-11|External braking resistor power|(% style="width:118px" %)(((
106	106	Operation setting
107		-)))|(((
	127	+)))|(% style="width:126px" %)(((
108	108	Effective immediately
109	109	)))|100|0 to 65535|It is used to set the external braking resistor power of a certain type of drive.|W
110	110
...	...	@@ -126,7 +126,7 @@
126	126
127	127	(% style="text-align:center" %)
128	128	(((
129		-(% class="wikigeneratedid" style="display:inline-block" %)
	149	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
130	130	[[**Figure 6-1 Timing diagram of power on**>>image:image-20220608163014-1.png||id="Iimage-20220608163014-1.png"]]
131	131	)))
132	132
...	...	@@ -134,14 +134,14 @@
134	134
135	135	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__. According to the shutdown status, it could be divided into free running state and position locked, as shown in __Table 6-6__.
136	136
137		-|=(% scope="row" %)Shutdown mode|=Shutdown description|=Shutdown characteristics
138		-|=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.
139		-|=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.
	157	+|=(% scope="row" style="width: 150px;" %)Shutdown mode|=(% style="width: 532px;" %)Shutdown description|=(% style="width: 393px;" %)Shutdown characteristics
	158	+|=(% style="width: 150px;" %)Free shutdown|(% style="width:532px" %)Servo motor is not energized and decelerates freely to 0. The deceleration time is affected by factors such as mechanical inertia and mechanical friction.|(% style="width:393px" %)Smooth deceleration, small mechanical shock, but slow deceleration process.
	159	+|=(% style="width: 150px;" %)Zero-speed shutdown|(% style="width:532px" %)The servo drive outputs reverse braking torque, and the motor quickly decelerates to zero-speed.|(% style="width:393px" %)Rapid deceleration with mechanical shock, but fast deceleration process.
140	140
141	141	Table 6-5 Comparison of two shutdown modes
142	142
143		-|=(% scope="row" %)**Shutdown status**|=**Free operation status**|=**Position locked**
144		-|=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.
	163	+|=(% scope="row" style="width: 151px;" %)**Shutdown status**|=(% style="width: 532px;" %)**Free operation status**|=(% style="width: 392px;" %)**Position locked**
	164	+|=(% style="width: 151px;" %)Characteristics|(% style="width:532px" %)After the motor stops rotating, it is power-off, and the motor shaft can rotate freely.|(% style="width:392px" %)After the motor stops rotating, the motor shaft is locked and could not rotate freely.
145	145
146	146	Table 6-6 Comparison of two shutdown status
147	147
...	...	@@ -149,22 +149,22 @@
149	149
150	150	The related parameters of the servo OFF shutdown mode are shown in the table below.
151	151
152		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	172	+|=(% scope="row" style="width: 94px;" %)**Function code**|=(% style="width: 180px;" %)**Name**|=(% style="width: 119px;" %)(((
153	153	**Setting method**
154		-)))|=(((
	174	+)))|=(% style="width: 134px;" %)(((
155	155	**Effective time**
156		-)))|=(((
	176	+)))|=(% style="width: 86px;" %)(((
157	157	**Default value**
158		-)))|=**Range**|=**Definition**|=**Unit**
159		-|=P00-05|Servo OFF shutdown|(((
	178	+)))|=(% style="width: 70px;" %)**Range**|=(% style="width: 347px;" %)**Definition**|=**Unit**
	179	+|=(% style="width: 94px;" %)P00-05|(% style="width:180px" %)Servo OFF shutdown|(% style="width:119px" %)(((
160	160	Shutdown
161	161
162	162	setting
163		-)))|(((
	183	+)))|(% style="width:134px" %)(((
164	164	Effective
165	165
166	166	immediately
167		-)))|0|0 to 1|(((
	187	+)))|(% style="width:86px" %)0|(% style="width:70px" %)0 to 1|(% style="width:347px" %)(((
168	168	* 0: Free shutdown, and the motor shaft remains free status.
169	169	* 1: Zero-speed shutdown, and the motor shaft remains free status.
170	170	)))|-
...	...	@@ -183,12 +183,12 @@
183	183
184	184	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.
185	185
186		-|=(% scope="row" %)**Function code**|=(% style="width: 143px;" %)**Name**|=(% style="width: 137px;" %)(((
	206	+|=(% scope="row" style="width: 89px;" %)**Function code**|=(% style="width: 135px;" %)**Name**|=(% style="width: 122px;" %)(((
187	187	**Setting method**
188		-)))|=(% style="width: 141px;" %)(((
	208	+)))|=(% style="width: 114px;" %)(((
189	189	**Effective time**
190		-)))|=(% style="width: 84px;" %)**Default value**|=(% style="width: 100px;" %)**Range**|=**Definition**|=**Unit**
191		-|=P06-08|(% style="width:143px" %)DI_3 channel function selection|(% style="width:137px" %)Operation setting|(% style="width:141px" %)Power-on again|(% style="width:84px" %)3|(% style="width:100px" %)0 to 32|(((
	210	+)))|=(% style="width: 106px;" %)**Default value**|=(% style="width: 84px;" %)**Range**|=(% style="width: 380px;" %)**Definition**|=**Unit**
	211	+|=(% style="width: 89px;" %)P06-08|(% style="width:135px" %)DI_3 channel function selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)Power-on again|(% style="width:106px" %)3|(% style="width:84px" %)0 to 32|(% style="width:380px" %)(((
192	192	* 0: OFF (not used)
193	193	* 01: S-ON servo enable
194	194	* 02: A-CLR fault and Warning Clear
...	...	@@ -214,27 +214,27 @@
214	214	* 24: Internal multi-segment position selection 4
215	215	* Others: reserved
216	216	)))|-
217		-|=P06-09|(% style="width:143px" %)DI_3 channel logic selection|(% style="width:137px" %)Operation setting|(% style="width:141px" %)(((
	237	+|=(% style="width: 89px;" %)P06-09|(% style="width:135px" %)DI_3 channel logic selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
218	218	Effective immediately
219		-)))|(% style="width:84px" %)0|(% style="width:100px" %)0 to 1|(((
	239	+)))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
220	220	DI port input logic validity function selection.
221	221
222	222	* 0: Normally open input. Active low level (switch on);
223	223	* 1: Normally closed input. Active high level (switch off);
224	224	)))|-
225		-|=P06-10|(% style="width:143px" %)DI_3 input source selection|(% style="width:137px" %)Operation setting|(% style="width:141px" %)(((
	245	+|=(% style="width: 89px;" %)P06-10|(% style="width:135px" %)DI_3 input source selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
226	226	Effective immediately
227		-)))|(% style="width:84px" %)0|(% style="width:100px" %)0 to 1|(((
	247	+)))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
228	228	Select the DI_3 port type to enable
229	229
230	230	* 0: Hardware DI_3 input terminal
231	231	* 1: virtual VDI_3 input terminal
232	232	)))|-
233		-|=P06-11|(% style="width:143px" %)DI_4 channel function selection|(% style="width:137px" %)(((
	253	+|=(% style="width: 89px;" %)P06-11|(% style="width:135px" %)DI_4 channel function selection|(% style="width:122px" %)(((
234	234	Operation setting
235		-)))|(% style="width:141px" %)(((
	255	+)))|(% style="width:114px" %)(((
236	236	again Power-on
237		-)))|(% style="width:84px" %)4|(% style="width:100px" %)0 to 32|(((
	257	+)))|(% style="width:106px" %)4|(% style="width:84px" %)0 to 32|(% style="width:380px" %)(((
238	238	* 0: OFF (not used)
239	239	* 01: SON Servo enable
240	240	* 02: A-CLR Fault and Warning Clear
...	...	@@ -260,17 +260,17 @@
260	260	* 24: Internal multi-segment position selection 4
261	261	* Others: reserved
262	262	)))|-
263		-|=P06-12|(% style="width:143px" %)DI_4 channel logic selection|(% style="width:137px" %)Operation setting|(% style="width:141px" %)(((
	283	+|=(% style="width: 89px;" %)P06-12|(% style="width:135px" %)DI_4 channel logic selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
264	264	Effective immediately
265		-)))|(% style="width:84px" %)0|(% style="width:100px" %)0 to 1|(((
	285	+)))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
266	266	DI port input logic validity function selection.
267	267
268	268	* 0: Normally open input. Active low level (switch on);
269	269	* 1: Normally closed input. Active high level (switch off);
270	270	)))|-
271		-|=P06-13|(% style="width:143px" %)DI_4 input source selection|(% style="width:137px" %)Operation setting|(% style="width:141px" %)(((
	291	+|=(% style="width: 89px;" %)P06-13|(% style="width:135px" %)DI_4 input source selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
272	272	Effective immediately
273		-)))|(% style="width:84px" %)0|(% style="width:100px" %)0 to 1|(((
	293	+)))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
274	274	Select the DI_4 port type to enable
275	275
276	276	* 0: Hardware DI_4 input terminal
...	...	@@ -287,7 +287,7 @@
287	287
288	288	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.
289	289
290		-|(((
	310	+(% class="warning" %)|(((
291	291	(% style="text-align:center" %)
292	292	[[image:image-20220611151617-1.png]]
293	293	)))
...	...	@@ -310,11 +310,11 @@
310	310
311	311	(% style="text-align:center" %)
312	312	(((
313		-(% class="wikigeneratedid" style="display:inline-block" %)
	333	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
314	314	[[**Figure 6-2 VD2B servo drive brake wiring**>>image:image-20220608163136-2.png||id="Iimage-20220608163136-2.png"]]
315	315	)))
316	316
317		-|(((
	337	+(% class="warning" %)|(((
318	318	(% style="text-align:center" %)
319	319	[[image:image-20220611151642-2.png]]
320	320	)))
...	...	@@ -332,12 +332,12 @@
332	332
333	333	Related function code is as below.
334	334
335		-|=(% scope="row" %)**DO function code**|=**Function name**|=**Function**|=(((
	355	+|=(% scope="row" %)**DO function code**|=(% style="width: 241px;" %)**Function name**|=(% style="width: 458px;" %)**Function**|=(% style="width: 191px;" %)(((
336	336	**Effective time**
337	337	)))
338		-|=144|(((
	358	+|=144|(% style="width:241px" %)(((
339	339	BRK-OFF Brake output
340		-)))|Output the signal indicates the servo motor brake release|Power-on again
	360	+)))|(% style="width:458px" %)Output the signal indicates the servo motor brake release|(% style="width:191px" %)Power-on again
341	341
342	342	Table 6-2 Relevant function codes for brake setting
343	343
...	...	@@ -379,7 +379,8 @@
379	379
380	380	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__
381	381
382		-|(((
	402	+(% class="warning" %)|(((
	403	+(% style="text-align:center" %)
383	383	[[image:image-20220611151705-3.png]]
384	384	)))
385	385	|(((
...	...	@@ -390,7 +390,7 @@
390	390
391	391	(% style="text-align:center" %)
392	392	(((
393		-(% class="wikigeneratedid" style="display:inline-block" %)
	414	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
394	394	[[**Figure 6-3 Brake Timing of when the motor is stationary**>>image:image-20220608163304-3.png||id="Iimage-20220608163304-3.png"]]
395	395	)))
396	396
...	...	@@ -403,7 +403,7 @@
403	403
404	404	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__.
405	405
406		-|(((
	427	+(% class="warning" %)|(((
407	407	(% style="text-align:center" %)
408	408	[[image:image-20220611151719-4.png]]
409	409	)))
...	...	@@ -421,7 +421,7 @@
421	421
422	422	(% style="text-align:center" %)
423	423	(((
424		-(% class="wikigeneratedid" style="display:inline-block" %)
	445	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
425	425	[[**Figure 6-4 Brake timing when the motor rotates**>>image:image-20220608163425-4.png||id="Iimage-20220608163425-4.png"]]
426	426	)))
427	427
...	...	@@ -431,7 +431,7 @@
431	431
432	432	(% style="text-align:center" %)
433	433	(((
434		-(% class="wikigeneratedid" style="display:inline-block" %)
	455	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
435	435	[[**~~ Figure 6-5 The brake timing (free shutdown) in the fault state**>>image:image-20220608163541-5.png||id="Iimage-20220608163541-5.png"]]
436	436	)))
437	437
...	...	@@ -441,18 +441,18 @@
441	441
442	442	(% style="text-align:center" %)
443	443	(((
444		-(% class="wikigeneratedid" style="display:inline-block" %)
	465	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
445	445	[[**Figure 6-6 Position control diagram**>>image:image-20220608163643-6.png||id="Iimage-20220608163643-6.png"]]
446	446	)))
447	447
448	448	Set “P00-01” to 1 by the software “Wecon SCTool”, and the servo drive is in position control mode.
449	449
450		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	471	+|=(% scope="row" style="width: 123px;" %)**Function code**|=(% style="width: 134px;" %)**Name**|=(((
451	451	**Setting method**
452	452	)))|=(((
453	453	**Effective time**
454	454	)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
455		-|=P01-01|Control mode|(((
	476	+|=(% style="width: 123px;" %)P01-01|(% style="width:134px" %)Control mode|(((
456	456	Operation setting
457	457	)))|(((
458	458	immediately Effective
...	...	@@ -497,8 +497,15 @@
497	497
498	498	Low-speed pulse instruction input
499	499
500		-|[[image:image-20220804160519-1.jpeg]]|[[image:image-20220804160624-2.jpeg]]
501		-|VD2A and VD2B servo drives|VD2F servo drive
	521	+|(% style="text-align:center" %)
	522	+(((
	523	+(% class="wikigeneratedid" style="display:inline-block" %)
	524	+[[VD2A and VD2B servo drives>>image:image-20220804160519-1.jpeg||id="Iimage-20220804160519-1.jpeg"]]
	525	+)))|(% style="text-align:center" %)
	526	+(((
	527	+(% class="wikigeneratedid" style="display:inline-block" %)
	528	+[[VD2F servo drive>>image:image-20220804160624-2.jpeg||id="Iimage-20220804160624-2.jpeg"]]
	529	+)))
502	502	|(% colspan="2" %)Figure 6-7 Position instruction input setting
503	503
504	504	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__.
...	...	@@ -505,9 +505,9 @@
505	505
506	506	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.
507	507
508		-|=(% scope="row" %)**Pulse method**|=**Maximum frequency**|=**Voltage**
509		-|=Open collector input|200K|24V
510		-|=Differential input|500K|5V
	536	+|=(% scope="row" %)**Pulse method**|=(% style="width: 372px;" %)**Maximum frequency**|=(% style="width: 260px;" %)**Voltage**
	537	+|=Open collector input|(% style="width:372px" %)200K|(% style="width:260px" %)24V
	538	+|=Differential input|(% style="width:372px" %)500K|(% style="width:260px" %)5V
511	511
512	512	Table 6-12 Pulse input specifications
513	513
...	...	@@ -517,8 +517,8 @@
517	517
518	518	(% style="text-align:center" %)
519	519	(((
520		-(% class="wikigeneratedid" style="display:inline-block" %)
521		-[[**Figure 6-8 Differential input connection**>>image:image-20220707092615-5.jpeg||id="Iimage-20220707092615-5.jpeg"]]
	548	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	549	+[[**Figure 6-8 Differential input connection**>>image:image-20220707092615-5.jpeg||height="306" id="Iimage-20220707092615-5.jpeg" width="583"]]
522	522	)))
523	523
524	524	(% class="box infomessage" %)
...	...	@@ -532,8 +532,8 @@
532	532
533	533	(% style="text-align:center" %)
534	534	(((
535		-(% class="wikigeneratedid" style="display:inline-block" %)
536		-[[**Figure 6-9 Open collector input connection**>>image:image-20220707092401-3.jpeg||height="530" id="Iimage-20220707092401-3.jpeg" width="834"]]
	563	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	564	+[[**Figure 6-9 Open collector input connection**>>image:image-20220707092401-3.jpeg||height="432" id="Iimage-20220707092401-3.jpeg" width="679"]]
537	537	)))
538	538
539	539
...	...	@@ -548,27 +548,27 @@
548	548
549	549	(% style="text-align:center" %)
550	550	(((
551		-(% class="wikigeneratedid" style="display:inline-block" %)
	579	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
552	552	[[**Figure 6-10 Example of filtered signal waveform**>>image:image-20220608163952-8.png||id="Iimage-20220608163952-8.png"]]
553	553	)))
554	554
555	555	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.
556	556
557		-|=**Function code**|=**Name**|=(((
	585	+|=**Function code**|=(% style="width: 169px;" %)**Name**|=(% style="width: 146px;" %)(((
558	558	**Setting method**
559	559	)))|=(((
560	560	**Effective time**
561		-)))|=**Default value**|=**Range**|=(% colspan="2" %)**Definition**|=**Unit**
562		-|P00-13|Maximum position pulse frequency|(((
	589	+)))|=**Default value**|=(% style="width: 87px;" %)**Range**|=(% colspan="2" style="width: 296px;" %)**Definition**|=**Unit**
	590	+|P00-13|(% style="width:169px" %)Maximum position pulse frequency|(% style="width:146px" %)(((
563	563	Shutdown setting
564	564	)))|(((
565	565	Effective immediately
566		-)))|300|1 to 500|(% colspan="2" %)Set the maximum frequency of external pulse instruction|KHz
567		-|(% rowspan="3" %)P00-14|(% rowspan="3" %)Position pulse anti-interference level|(% rowspan="3" %)(((
	594	+)))|300|(% style="width:87px" %)1 to 500|(% colspan="2" style="width:296px" %)Set the maximum frequency of external pulse instruction|KHz
	595	+|(% rowspan="3" %)P00-14|(% rowspan="3" style="width:169px" %)Position pulse anti-interference level|(% rowspan="3" style="width:146px" %)(((
568	568	Operation setting
569	569	)))|(% rowspan="3" %)(((
570	570	Power-on again
571		-)))|(% rowspan="3" %)2|(% rowspan="3" %)0 to 9|(% colspan="2" %)(((
	599	+)))|(% rowspan="3" %)2|(% rowspan="3" style="width:87px" %)0 to 9|(% colspan="2" style="width:296px" %)(((
572	572	Set the anti-interference level of external pulse instruction.
573	573
574	574	* 0: no filtering;
...	...	@@ -591,16 +591,16 @@
591	591
592	592	In VD2 series servo drives, there are three types of input pulse instructions, and the related function codes are shown in the table below.
593	593
594		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	622	+|=(% scope="row" %)**Function code**|=(% style="width: 144px;" %)**Name**|=(% style="width: 110px;" %)(((
595	595	**Setting method**
596		-)))|=(((
	624	+)))|=(% style="width: 109px;" %)(((
597	597	**Effective time**
598		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
599		-|=P00-12|Position pulse type selection|(((
	626	+)))|=(% style="width: 77px;" %)**Default value**|=(% style="width: 74px;" %)**Range**|=(% style="width: 412px;" %)**Definition**|=**Unit**
	627	+|=P00-12|(% style="width:144px" %)Position pulse type selection|(% style="width:110px" %)(((
600	600	Operation setting
601		-)))|(((
	629	+)))|(% style="width:109px" %)(((
602	602	Power-on again
603		-)))|0|0 to 5|(((
	631	+)))|(% style="width:77px" %)0|(% style="width:74px" %)0 to 5|(% style="width:412px" %)(((
604	604	* 0: direction + pulse (positive logic)
605	605	* 1: CW/CCW
606	606	* 2: A, B phase quadrature pulse (4 times frequency)
...	...	@@ -611,26 +611,26 @@
611	611
612	612	Table 6-14 Position pulse type selection parameter
613	613
614		-|=(% scope="row" %)**Pulse type selection**|=**Pulse type**|=**Signal**|=**Schematic diagram of forward pulse**|=**Schematic diagram of negative pulse**
615		-|=0|(((
	642	+|=(% scope="row" %)**Pulse type selection**|=(% style="width: 200px;" %)**Pulse type**|=(% style="width: 161px;" %)**Signal**|=**Schematic diagram of forward pulse**|=**Schematic diagram of negative pulse**
	643	+|=0|(% style="width:200px" %)(((
616	616	Direction + pulse
617	617
618	618	(Positive logic)
619		-)))|(((
	647	+)))|(% style="width:161px" %)(((
620	620	PULSE
621	621
622	622	SIGN
623	623	)))|[[image:image-20220707094340-6.jpeg]]|[[image:image-20220707094345-7.jpeg]]
624		-|=1|CW/CCW|(((
	652	+|=1|(% style="width:200px" %)CW/CCW|(% style="width:161px" %)(((
625	625	PULSE (CW)
626	626
627	627	SIGN (CCW)
628	628	)))|(% colspan="2" %)[[image:image-20220707094351-8.jpeg]]
629		-|=2|(((
	657	+|=2|(% style="width:200px" %)(((
630	630	AB phase orthogonal
631	631
632	632	pulse (4 times frequency)
633		-)))|(((
	661	+)))|(% style="width:161px" %)(((
634	634	PULSE (Phase A)
635	635
636	636	SIGN (Phase B)
...	...	@@ -647,29 +647,29 @@
647	647
648	648	Phase B is 90° ahead of Phase A
649	649	)))
650		-|=3|(((
	678	+|=3|(% style="width:200px" %)(((
651	651	Direction + pulse
652	652
653	653	(Negative logic)
654		-)))|(((
	682	+)))|(% style="width:161px" %)(((
655	655	PULSE
656	656
657	657	SIGN
658	658	)))|[[image:image-20220707094414-11.jpeg]]|[[image:image-20220707094418-12.jpeg]]
659		-|=4|(((
	687	+|=4|(% style="width:200px" %)(((
660	660	CW/CCW
661	661
662	662	(Negative logic)
663		-)))|(((
	691	+)))|(% style="width:161px" %)(((
664	664	PULSE (CW)
665	665
666	666	SIGN (CCW)
667	667	)))|(% colspan="2" %)[[image:image-20220707094423-13.jpeg]]
668		-|=5|(((
	696	+|=5|(% style="width:200px" %)(((
669	669	AB phase orthogonal
670	670
671	671	pulse (4 times frequency negative logic)
672		-)))|(((
	700	+)))|(% style="width:161px" %)(((
673	673	PULSE (Phase A)
674	674
675	675	SIGN (Phase B)
...	...	@@ -697,7 +697,7 @@
697	697
698	698	(% style="text-align:center" %)
699	699	(((
700		-(% class="wikigeneratedid" style="display:inline-block" %)
	728	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
701	701	[[**Figure 6-11 The setting process of multi-segment position**>>image:image-20220608164116-9.png||id="Iimage-20220608164116-9.png"]]
702	702	)))
703	703
...	...	@@ -753,10 +753,9 @@
753	753
754	754	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__, and S1 and S2 are the displacements of the 1st segment and the 2nd segment respectively
755	755
756		-
757	757	(% style="text-align:center" %)
758	758	(((
759		-(% class="wikigeneratedid" style="display:inline-block" %)
	786	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
760	760	[[**Figure 6-12 Single running curve (P07-02=1, P07-03=2)**>>image:image-20220608164226-10.png||id="Iimage-20220608164226-10.png"]]
761	761	)))
762	762
...	...	@@ -766,11 +766,11 @@
766	766
767	767	(% style="text-align:center" %)
768	768	(((
769		-(% class="wikigeneratedid" style="display:inline-block" %)
	796	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
770	770	[[**Figure 6-13 Cycle running curve (P07-02=1, P07-03=4)**>>image:image-20220608164327-11.png||id="Iimage-20220608164327-11.png"]]
771	771	)))
772	772
773		-|(((
	800	+(% class="warning" %)|(((
774	774	(% style="text-align:center" %)
775	775	[[image:image-20220611151917-5.png]]
776	776	)))
...	...	@@ -804,7 +804,7 @@
804	804
805	805	(% style="text-align:center" %)
806	806	(((
807		-(% class="wikigeneratedid" style="display:inline-block" %)
	834	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
808	808	[[**Figure 6-14 DI switching running curve**>>image:image-20220608164545-12.png||id="Iimage-20220608164545-12.png"]]
809	809	)))
810	810
...	...	@@ -816,29 +816,29 @@
816	816
817	817	(% style="text-align:center" %)
818	818	(((
819		-(% class="wikigeneratedid" style="display:inline-block" %)
	846	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
820	820	[[**Figure 6-15 Single running-run the remaining segments (P07-02=1, P07-03=4)**>>image:image-20220608164847-13.png||id="Iimage-20220608164847-13.png"]]
821	821	)))
822	822
823	823	(% style="text-align:center" %)
824	824	(((
825		-(% class="wikigeneratedid" style="display:inline-block" %)
826		-[[**Figure 6-16 Cycle running-run the remaining segment (P07-02=1, P07-03=4)**>>image:image-20220608165032-14.png||id="Iimage-20220608165032-14.png"]]
	852	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	853	+[[**Figure 6-16 Cycle running-run the remaining segment (P07-02=1, P07-03=4)**>>image:image-20220608165032-14.png||height="285" id="Iimage-20220608165032-14.png" width="734"]]
827	827	)))
828	828
829	829	**Run again from the start segment**
830	830
831		-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.
	858	+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__ and __Figure 6-18__ respectively.
832	832
833	833	(% style="text-align:center" %)
834	834	(((
835		-(% class="wikigeneratedid" style="display:inline-block" %)
	862	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
836	836	[[**Figure 6-17 Single running-run from the start segment again (P07-02=1, P07-03=4)**>>image:image-20220608165343-15.png||id="Iimage-20220608165343-15.png"]]
837	837	)))
838	838
839	839	(% style="text-align:center" %)
840	840	(((
841		-(% class="wikigeneratedid" style="display:inline-block" %)
	868	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
842	842	[[**Figure 6-18 Cyclic running-run from the start segment again (P07-02=1, P07-03=4)**>>image:image-20220608165558-16.png||id="Iimage-20220608165558-16.png"]]
843	843	)))
844	844
...	...	@@ -851,13 +851,13 @@
851	851	|(((
852	852	(% style="text-align:center" %)
853	853	(((
854		-(% class="wikigeneratedid" style="display:inline-block" %)
	881	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
855	855	[[**Figure 6-19 Relative position diagram**>>image:image-20220608165710-17.png||id="Iimage-20220608165710-17.png"]]
856	856	)))
857	857	)))|(((
858	858	(% style="text-align:center" %)
859	859	(((
860		-(% class="wikigeneratedid" style="display:inline-block" %)
	887	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
861	861	[[**Figure 6-20 Displacement diagram**>>image:image-20220608165749-18.png||id="Iimage-20220608165749-18.png"]]
862	862	)))
863	863	)))
...	...	@@ -869,13 +869,13 @@
869	869	|(((
870	870	(% style="text-align:center" %)
871	871	(((
872		-(% class="wikigeneratedid" style="display:inline-block" %)
	899	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
873	873	[[**Figure 6-21 Absolute indication**>>image:image-20220608165848-19.png||id="Iimage-20220608165848-19.png"]]
874	874	)))
875	875	)))|(((
876	876	(% style="text-align:center" %)
877	877	(((
878		-(% class="wikigeneratedid" style="display:inline-block" %)
	905	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
879	879	[[**Figure 6-22 Displacement**>>image:image-20220608170005-20.png||id="Iimage-20220608170005-20.png"]]
880	880	)))
881	881	)))
...	...	@@ -920,7 +920,7 @@
920	920
921	921	(% style="text-align:center" %)
922	922	(((
923		-(% class="wikigeneratedid" style="display:inline-block" %)
	950	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
924	924	[[**Figure 6-23 The 1st segment running curve of motor**>>image:image-20220608170149-21.png||id="Iimage-20220608170149-21.png"]]
925	925	)))
926	926
...	...	@@ -937,7 +937,7 @@
937	937	)))
938	938
939	939	(% style="text-align:center" %)
940		-[[image:image-20220611152020-6.png]]
	967	+[[image:image-20220611152020-6.png||class="img-thumbnail"]]
941	941
942	942	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!
943	943
...	...	@@ -952,7 +952,7 @@
952	952	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)
953	953
954	954	(% style="text-align:center" %)
955		-[[image:image-20220707094901-16.png]]
	982	+[[image:image-20220707094901-16.png||class="img-thumbnail"]]
956	956
957	957	Otherwise, the servo drive will report Er.35: "Electronic gear ratio setting exceeds the limit"!
958	958
...	...	@@ -960,8 +960,8 @@
960	960
961	961	(% style="text-align:center" %)
962	962	(((
963		-(% class="wikigeneratedid" style="display:inline-block" %)
964		-[[**Figure 6-24 Setting steps of electronic gear ratio**>>image:image-20220707100850-20.jpeg||id="Iimage-20220707100850-20.jpeg"]]
	990	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	991	+[[**Figure 6-24 Setting steps of electronic gear ratio**>>image:image-20220707100850-20.jpeg||height="458" id="Iimage-20220707100850-20.jpeg" width="1021"]]
965	965	)))
966	966
967	967	**lectronic gear ratio switch setting**
...	...	@@ -1058,8 +1058,8 @@
1058	1058
1059	1059	(% style="text-align:center" %)
1060	1060	(((
1061		-(% class="wikigeneratedid" style="display:inline-block" %)
1062		-[[**Figure 6-25 Position instruction filtering diagram**>>image:image-20220608170455-23.png||id="Iimage-20220608170455-23.png"]]
	1088	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	1089	+[[**Figure 6-25 Position instruction filtering diagram**>>image:image-20220608170455-23.png||height="230" id="Iimage-20220608170455-23.png" width="514"]]
1063	1063	)))
1064	1064
1065	1065	|=(% scope="row" %)**Function code**|=**Name**|=(((
...	...	@@ -1102,7 +1102,7 @@
1102	1102
1103	1103	(% style="text-align:center" %)
1104	1104	(((
1105		-(% class="wikigeneratedid" style="display:inline-block" %)
	1132	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1106	1106	[[**Figure 6-26 Positioning completion signal output diagram**>>image:image-20220608170550-24.png||id="Iimage-20220608170550-24.png"]]
1107	1107	)))
1108	1108
...	...	@@ -1112,8 +1112,8 @@
1112	1112
1113	1113	(% style="text-align:center" %)
1114	1114	(((
1115		-(% class="wikigeneratedid" style="display:inline-block" %)
1116		-[[**Figure 6-27 Positioning completion signal output with increased window filter time diagram**>>image:image-20220608170650-25.png||id="Iimage-20220608170650-25.png"]]
	1142	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	1143	+[[**Figure 6-27 Positioning completion signal output with increased window filter time diagram**>>image:image-20220608170650-25.png||height="331" id="Iimage-20220608170650-25.png" width="709"]]
1117	1117	)))
1118	1118
1119	1119	|=(% scope="row" %)**Function code**|=**Name**|=(((
...	...	@@ -1160,7 +1160,7 @@
1160	1160
1161	1161	(% style="text-align:center" %)
1162	1162	(((
1163		-(% class="wikigeneratedid" style="display:inline-block" %)
	1190	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1164	1164	[[**Figure 6-28 Speed control block diagram**>>image:6.28.jpg||height="260" id="I6.28.jpg" width="806"]]
1165	1165	)))
1166	1166
...	...	@@ -1168,12 +1168,12 @@
1168	1168
1169	1169	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.
1170	1170
1171		-|=(% scope="row" style="width: 121px;" %)**Function code**|=(% style="width: 189px;" %)**Name**|=(% style="width: 125px;" %)(((
	1198	+|=(% scope="row" style="width: 121px;" %)**Function code**|=(% style="width: 186px;" %)**Name**|=(% style="width: 128px;" %)(((
1172	1172	**Setting method**
1173	1173	)))|=(% style="width: 125px;" %)(((
1174	1174	**Effective time**
1175	1175	)))|=(% style="width: 85px;" %)**Default value**|=(% style="width: 75px;" %)**Range**|=(% style="width: 310px;" %)**Definition**|=**Unit**
1176		-|=(% style="width: 121px;" %)P01-01|(% style="width:189px" %)Speed instruction source|(% style="width:125px" %)(((
	1203	+|=(% style="width: 121px;" %)P01-01|(% style="width:186px" %)Speed instruction source|(% style="width:128px" %)(((
1177	1177	Shutdown setting
1178	1178	)))|(% style="width:125px" %)(((
1179	1179	Effective immediately
...	...	@@ -1406,8 +1406,8 @@
1406	1406
1407	1407	(% style="text-align:center" %)
1408	1408	(((
1409		-(% class="wikigeneratedid" style="display:inline-block" %)
1410		-[[**Figure 6-29 Multi-segment speed running curve**>>image:image-20220608170845-26.png||id="Iimage-20220608170845-26.png"]]
	1436	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	1437	+[[**Figure 6-29 Multi-segment speed running curve**>>image:image-20220608170845-26.png||height="524" id="Iimage-20220608170845-26.png" width="814"]]
1411	1411	)))
1412	1412
1413	1413	**Speed instruction source is internal speed instruction (P01-01=1)**
...	...	@@ -1416,7 +1416,7 @@
1416	1416
1417	1417	(% style="text-align:center" %)
1418	1418	(((
1419		-(% class="wikigeneratedid" style="display:inline-block" %)
	1446	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1420	1420	[[**Figure 6-30 Analog input circuit**>>image:image-20220608153341-5.png||id="Iimage-20220608153341-5.png"]]
1421	1421	)))
1422	1422
...	...	@@ -1424,7 +1424,7 @@
1424	1424
1425	1425	(% style="text-align:center" %)
1426	1426	(((
1427		-(% class="wikigeneratedid" style="display:inline-block" %)
	1454	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1428	1428	[[**Figure 6-31 Analog voltage speed instruction setting steps**>>image:image-20220608170955-27.png||id="Iimage-20220608170955-27.png"]]
1429	1429	)))
1430	1430
...	...	@@ -1436,7 +1436,7 @@
1436	1436
1437	1437	(% style="text-align:center" %)
1438	1438	(((
1439		-(% class="wikigeneratedid" style="display:inline-block" %)
	1466	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1440	1440	[[**Figure 6-32 AI_1 diagram before and after bias**>>image:image-20220608171124-28.png||id="Iimage-20220608171124-28.png"]]
1441	1441	)))
1442	1442
...	...	@@ -1461,12 +1461,12 @@
1461	1461
1462	1462	(% style="text-align:center" %)
1463	1463	(((
1464		-(% class="wikigeneratedid" style="display:inline-block" %)
	1491	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1465	1465	[[**Figure 6-33 of acceleration and deceleration time diagram**>>image:image-20220608171314-29.png||id="Iimage-20220608171314-29.png"]]
1466	1466	)))
1467	1467
1468	1468	(% style="text-align:center" %)
1469		-[[image:image-20220707103616-27.png]]
	1496	+[[image:image-20220707103616-27.png||class="img-thumbnail"]]
1470	1470
1471	1471	|=(% scope="row" %)**Function code**|=**Name**|=(((
1472	1472	**Setting method**
...	...	@@ -1561,7 +1561,7 @@
1561	1561
1562	1562	(% style="text-align:center" %)
1563	1563	(((
1564		-(% class="wikigeneratedid" style="display:inline-block" %)
	1591	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1565	1565	[[**Figure 6-34 Zero-speed clamp diagram**>>image:image-20220608171549-30.png||id="Iimage-20220608171549-30.png"]]
1566	1566	)))
1567	1567
...	...	@@ -1575,7 +1575,7 @@
1575	1575
1576	1576	(% style="text-align:center" %)
1577	1577	(((
1578		-(% class="wikigeneratedid" style="display:inline-block" %)
	1605	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1579	1579	[[**Figure 6-35 Rotation detection signal diagram**>>image:image-20220608171625-31.png||id="Iimage-20220608171625-31.png"]]
1580	1580	)))
1581	1581
...	...	@@ -1615,7 +1615,7 @@
1615	1615
1616	1616	(% style="text-align:center" %)
1617	1617	(((
1618		-(% class="wikigeneratedid" style="display:inline-block" %)
	1645	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1619	1619	[[**Figure 6-36 Zero-speed signal diagram**>>image:image-20220608171904-32.png||id="Iimage-20220608171904-32.png"]]
1620	1620	)))
1621	1621
...	...	@@ -1647,7 +1647,7 @@
1647	1647
1648	1648	(% style="text-align:center" %)
1649	1649	(((
1650		-(% class="wikigeneratedid" style="display:inline-block" %)
	1677	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1651	1651	[[**Figure 6-37 Speed consistent signal diagram**>>image:image-20220608172053-33.png||id="Iimage-20220608172053-33.png"]]
1652	1652	)))
1653	1653
...	...	@@ -1679,18 +1679,18 @@
1679	1679
1680	1680	(% style="text-align:center" %)
1681	1681	(((
1682		-(% class="wikigeneratedid" style="display:inline-block" %)
	1709	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1683	1683	[[**Figure 6-38 Speed approaching signal diagram**>>image:image-20220608172207-34.png||id="Iimage-20220608172207-34.png"]]
1684	1684	)))
1685	1685
1686	1686	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__ and __Table 6-41__.
1687	1687
1688		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	1715	+|=(% scope="row" style="width: 147px;" %)**Function code**|=(% style="width: 184px;" %)**Name**|=(((
1689	1689	**Setting method**
1690	1690	)))|=(((
1691	1691	**Effective time**
1692	1692	)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1693		-|=P05-18|Speed approach signal threshold|(((
	1720	+|=(% style="width: 147px;" %)P05-18|(% style="width:184px" %)Speed approach signal threshold|(((
1694	1694	Operation setting
1695	1695	)))|(((
1696	1696	Effective immediately
...	...	@@ -1711,7 +1711,7 @@
1711	1711
1712	1712	(% style="text-align:center" %)
1713	1713	(((
1714		-(% class="wikigeneratedid" style="display:inline-block" %)
	1741	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1715	1715	[[**Figure 6-39 Torque mode diagram**>>image:image-20220608172405-35.png||id="Iimage-20220608172405-35.png"]]
1716	1716	)))
1717	1717
...	...	@@ -1724,7 +1724,7 @@
1724	1724	)))|=(((
1725	1725	**Effective time**
1726	1726	)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1727		-|=P01-08|Torque instruction source|(((
	1754	+|=P01-07|Torque instruction source|(((
1728	1728	Shutdown setting
1729	1729	)))|(((
1730	1730	Effective immediately
...	...	@@ -1759,7 +1759,7 @@
1759	1759
1760	1760	(% style="text-align:center" %)
1761	1761	(((
1762		-(% class="wikigeneratedid" style="display:inline-block" %)
	1789	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1763	1763	[[**Figure 6-40 Analog input circuit**>>image:image-20220608153646-7.png||height="213" id="Iimage-20220608153646-7.png" width="408"]]
1764	1764	)))
1765	1765
...	...	@@ -1767,7 +1767,7 @@
1767	1767
1768	1768	(% style="text-align:center" %)
1769	1769	(((
1770		-(% class="wikigeneratedid" style="display:inline-block" %)
	1797	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1771	1771	[[**Figure 6-41 Analog voltage torque instruction setting steps**>>image:image-20220608172502-36.png||id="Iimage-20220608172502-36.png"]]
1772	1772	)))
1773	1773
...	...	@@ -1779,7 +1779,7 @@
1779	1779
1780	1780	(% style="text-align:center" %)
1781	1781	(((
1782		-(% class="wikigeneratedid" style="display:inline-block" %)
	1809	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1783	1783	[[**Figure 6-42 AI_1 diagram before and after bias**>>image:image-20220608172611-37.png||id="Iimage-20220608172611-37.png"]]
1784	1784	)))
1785	1785
...	...	@@ -1820,7 +1820,7 @@
1820	1820
1821	1821	(% style="text-align:center" %)
1822	1822	(((
1823		-(% class="wikigeneratedid" style="display:inline-block" %)
	1850	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1824	1824	[[**Figure 6-43 Torque instruction-first-order filtering diagram**>>image:image-20220608172646-38.png||id="Iimage-20220608172646-38.png"]]
1825	1825	)))
1826	1826
...	...	@@ -1832,7 +1832,7 @@
1832	1832
1833	1833	(% style="text-align:center" %)
1834	1834	(((
1835		-(% class="wikigeneratedid" style="display:inline-block" %)
	1862	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1836	1836	[[**Figure 6-44 Torque instruction limit diagram**>>image:image-20220608172806-39.png||id="Iimage-20220608172806-39.png"]]
1837	1837	)))
1838	1838
...	...	@@ -1906,13 +1906,13 @@
1906	1906	|(((
1907	1907	(% style="text-align:center" %)
1908	1908	(((
1909		-(% class="wikigeneratedid" style="display:inline-block" %)
	1936	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1910	1910	[[**Figure 6-45 Forward running curve**>>image:image-20220608172910-40.png||id="Iimage-20220608172910-40.png"]]
1911	1911	)))
1912	1912	)))|(((
1913	1913	(% style="text-align:center" %)
1914	1914	(((
1915		-(% class="wikigeneratedid" style="display:inline-block" %)
	1942	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1916	1916	[[Figure 6-46 Reverse running curve>>image:image-20220608173155-41.png||id="Iimage-20220608173155-41.png"]]
1917	1917	)))
1918	1918	)))
...	...	@@ -1953,7 +1953,7 @@
1953	1953
1954	1954	✎**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/Manual/02%20VD2%20SA%20Series/06%20Operation/#HSpeedinstructionlimit]]__.
1955	1955
1956		-== **Torque-related DO output functions** ==
	1983	+== Torque-related DO output functions ==
1957	1957
1958	1958	The feedback value of torque instruction is compared with different thresholds, and could output the DO signal for the host computer use. The DO terminal of the servo drive is assigned to different functions and determine the logic to be valid.
1959	1959
...	...	@@ -1962,26 +1962,27 @@
1962	1962	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.
1963	1963
1964	1964	(% style="text-align:center" %)
1965		-[[image:image-20220608173541-42.png]]
	1992	+(((
	1993	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	1994	+[[**Figure 6-47 Torque arrival output diagram**>>image:image-20220608173541-42.png||height="342" id="Iimage-20220608173541-42.png" width="705"]]
	1995	+)))
1966	1966
1967		-Figure 6-47 Torque arrival output diagram
	1997	+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__ and __Table 6-50__.
1968	1968
1969		-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]]__.
1970		-
1971		-|**Function code**|**Name**|(((
	1999	+|=(% scope="row" %)**Function code**|=(% style="width: 113px;" %)**Name**|=(% style="width: 100px;" %)(((
1972	1972	**Setting method**
1973		-)))|(((
	2001	+)))|=(% style="width: 124px;" %)(((
1974	1974	**Effective time**
1975		-)))|**Default value**|**Range**|**Definition**|**Unit**
1976		-|P05-20|(((
	2003	+)))|=(% style="width: 83px;" %)**Default value**|=(% style="width: 94px;" %)**Range**|=(% style="width: 421px;" %)**Definition**|=**Unit**
	2004	+|=P05-20|(% style="width:113px" %)(((
1977	1977	Torque arrival
1978	1978
1979	1979	threshold
1980		-)))|(((
	2008	+)))|(% style="width:100px" %)(((
1981	1981	Operation setting
1982		-)))|(((
	2010	+)))|(% style="width:124px" %)(((
1983	1983	Effective immediately
1984		-)))|100|0 to 300|(((
	2012	+)))|(% style="width:83px" %)100|(% style="width:94px" %)0 to 300|(% style="width:421px" %)(((
1985	1985	The torque arrival threshold must be used with “Torque arrival hysteresis value”:
1986	1986
1987	1987	When the actual torque reaches Torque arrival threshold + Torque arrival hysteresis Value, the torque arrival DO is valid;
...	...	@@ -1988,21 +1988,20 @@
1988	1988
1989	1989	When the actual torque decreases below torque arrival threshold-torque arrival hysteresis value, the torque arrival DO is invalid
1990	1990	)))|%
1991		-|P05-21|(((
	2019	+|=P05-21|(% style="width:113px" %)(((
1992	1992	Torque arrival
1993	1993
1994	1994	hysteresis
1995		-)))|(((
	2023	+)))|(% style="width:100px" %)(((
1996	1996	Operation setting
1997		-)))|(((
	2025	+)))|(% style="width:124px" %)(((
1998	1998	Effective immediately
1999		-)))|10|0 to 20|Torque arrival the hysteresis value must be used with Torque arrival threshold|%
	2027	+)))|(% style="width:83px" %)10|(% style="width:94px" %)0 to 20|(% style="width:421px" %)Torque arrival the hysteresis value must be used with Torque arrival threshold|%
2000	2000
2001	2001	Table 6-49 Torque arrival parameters
2002	2002
2003		-
2004		-|**DO function code**|**Function name**|**Function**
2005		-|138|(((
	2031	+|=(% scope="row" %)**DO function code**|=**Function name**|=**Function**
	2032	+|=138|(((
2006	2006	T-COIN torque arrival
2007	2007	)))|Used to determine whether the actual torque instruction has reached the set range
2008	2008
...	...	@@ -2012,35 +2012,28 @@
2012	2012
2013	2013	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:
2014	2014
2015		-Position mode⇔ Speed mode
	2042	+* Position mode⇔ Speed mode
	2043	+* Position mode ⇔Torque mode
	2044	+* Speed mode ⇔Torque mode
2016	2016
2017		-Position mode ⇔Torque mode
2018		-
2019		-Speed mode ⇔Torque mode
2020		-
2021	2021	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.
2022	2022
2023		-|**Function code**|**Name**|(((
	2048	+|=(% scope="row" %)**Function code**|=**Name**|=(((
2024	2024	**Setting method**
2025		-)))|(((
	2050	+)))|=(((
2026	2026	**Effective time**
2027		-)))|**Default value**|**Range**|**Definition**|**Unit**
2028		-|P00-01|Control mode|(((
	2052	+)))|=**Default value**|=(% style="width: 90px;" %)**Range**|=(% style="width: 273px;" %)**Definition**|=**Unit**
	2053	+|=P00-01|Control mode|(((
2029	2029	Shutdown setting
2030	2030	)))|(((
2031	2031	Shutdown setting
2032		-)))|1|1 to 6|(((
2033		-1: Position control
2034		-
2035		-2: Speed control
2036		-
2037		-3: Torque control
2038		-
2039		-4: Position/speed mixed control
2040		-
2041		-5: Position/torque mixed control
2042		-
2043		-6: Speed/torque mixed control
	2057	+)))|1|(% style="width:90px" %)1 to 6|(% style="width:273px" %)(((
	2058	+* 1: Position control
	2059	+* 2: Speed control
	2060	+* 3: Torque control
	2061	+* 4: Position/speed mixed control
	2062	+* 5: Position/torque mixed control
	2063	+* 6: Speed/torque mixed control
2044	2044	)))|-
2045	2045
2046	2046	Table 6-51 Mixed control mode parameters
...	...	@@ -2047,35 +2047,38 @@
2047	2047
2048	2048	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.
2049	2049
2050		-|**DI function code**|**Name**|**Function name**|**Function**
2051		-|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(((
2052		-|**P00-01**|**MixModeSel terminal logic**|**Control mode**
2053		-|(% rowspan="2" %)4|Valid|Speed mode
2054		-|invalid|Position mode
2055		-|(% rowspan="2" %)5|Valid|Torque mode
2056		-|invalid|Position mode
2057		-|(% rowspan="2" %)6|Valid|Torque mode
2058		-|invalid|Speed mode
	2070	+|=(% scope="row" %)**DI function code**|=**Name**|=(% style="width: 187px;" %)**Function name**|=(% style="width: 662px;" %)**Function**
	2071	+|=17|MixModeSel|(% style="width:187px" %)Mixed mode selection|(% style="width:662px" %)Used in mixed control mode, when the servo status is "run", set the current control mode of the servo drive(((
	2072	+(% style="margin-left:auto; margin-right:auto; width:585px" %)
	2073	+|=**P00-01**|=(% style="width: 243px;" %)**MixModeSel terminal logic**|=(% style="width: 220px;" %)**Control mode**
	2074	+|(% rowspan="2" %)4|(% style="width:243px" %)Valid|(% style="width:220px" %)Speed mode
	2075	+|(% style="width:243px" %)invalid|(% style="width:220px" %)Position mode
	2076	+|(% rowspan="2" %)5|(% style="width:243px" %)Valid|(% style="width:220px" %)Torque mode
	2077	+|(% style="width:243px" %)invalid|(% style="width:220px" %)Position mode
	2078	+|(% rowspan="2" %)6|(% style="width:243px" %)Valid|(% style="width:220px" %)Torque mode
	2079	+|(% style="width:243px" %)invalid|(% style="width:220px" %)Speed mode
2059	2059	)))
2060	2060
2061	2061	Table 6-52 Description of DI function codes in control mode
2062	2062
	2084	+(% class="box infomessage" %)
	2085	+(((
2063	2063	✎**Note:** In mixed control mode, it is recommended to switch the mode at zero speed or low speed, and the switching process will be smoother.
	2087	+)))
2064	2064
2065	2065	= **Absolute system** =
2066	2066
2067		-== **Overview** ==
	2091	+== Overview ==
2068	2068
2069	2069	Absolute encoder could detect the position of the servo motor within one turn, and could count the number of turns of the motor. This series of servo drives are equipped with a maximum of 23-bit encoders and could memorize 16-bit multi-turn data, and position, speed, torque control modes could be used. Especially in position control, the absolute value encoder does not need to count, could achieve direct internal high-speed reading and external output, and could significantly reduce the subsequent calculation tasks of the receiving device controller. When the drive is powered off, the encoder uses battery backup data. After power on, the drive uses the encoder's absolute position to calculate the absolute mechanical position, eliminating the need for repeated mechanical origin reset operations.
2070	2070
2071	2071	The absolute value encoder is determined by the mechanical position of the photoelectric code disc, and is not affected by power failure or interference. Each position of the absolute encoder determined by the mechanical position is unique, and no external sensor is required to assist in memorizing position.
2072	2072
2073		-== **Single-turn absolute value system** ==
	2097	+== Single-turn absolute value system ==
2074	2074
2075	2075	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.
2076	2076
2077		-
2078		-|**Encoder type**|**Encoder resolution (bits)**|**Data range**
	2101	+|=**Encoder type**|=**Encoder resolution (bits)**|=**Data range**
2079	2079	|A1 (single-turn magnetic encoder)|17|0 to 131071
2080	2080
2081	2081	Table 6-53 Single-turn absolute encoder information
...	...	@@ -2083,17 +2083,18 @@
2083	2083	The relationship between encoder feedback position and rotating load position is shown in the figure below. (take a 17-bit encoder as an example).
2084	2084
2085	2085	(% style="text-align:center" %)
2086		-[[image:image-20220608173618-43.png]]
	2109	+(((
	2110	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	2111	+[[**Figure 6-48 Diagram of relationship between encoder feedback position and rotating load position**>>image:image-20220608173618-43.png||height="307" id="Iimage-20220608173618-43.png" width="629"]]
	2112	+)))
2087	2087
2088		-Figure 6-48 Diagram of relationship between encoder feedback position and rotating load position
	2114	+== Multi-turn absolute value system ==
2089	2089
2090		-== **Multi-turn absolute value system** ==
2091		-
2092	2092	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.
2093	2093
2094		-|**Encoder type**|**Encoder resolution (bits)**|**Data range**
2095		-|C1 (multi-turn magnetic encoder)|17|0 to 131071
2096		-|D2 (multi-turn Optical encoder)|23|0 to 8388607
	2118	+|=(% scope="row" %)**Encoder type**|=**Encoder resolution (bits)**|=**Data range**
	2119	+|=C1 (multi-turn magnetic encoder)|17|0 to 131071
	2120	+|=D2 (multi-turn Optical encoder)|23|0 to 8388607
2097	2097
2098	2098	Table 6-54 Multi-turn absolute encoder information
2099	2099
...	...	@@ -2100,20 +2100,21 @@
2100	2100	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).
2101	2101
2102	2102	(% style="text-align:center" %)
2103		-[[image:image-20220608173701-44.png]]
	2127	+(((
	2128	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	2129	+[[**Figure 6-49 The relationship between encoder feedback position and rotating load position**>>image:image-20220608173701-44.png||id="Iimage-20220608173701-44.png"]]
	2130	+)))
2104	2104
2105		-Figure 6-49 The relationship between encoder feedback position and rotating load position
	2132	+== Related functions and parameters ==
2106	2106
2107		-== **Related functions and parameters** ==
2108		-
2109	2109	**Encoder feedback data**
2110	2110
2111	2111	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.
2112	2112
2113		-|**Monitoring number**|**Category**|**Name**|**Unit**|**Data type**
2114		-|U0-54|Universal|Absolute encoder position within 1 turn|Encoder unit|32-bit
2115		-|U0-55|Universal|Rotations number of absolute encoder|circle|16-bit
2116		-|U0-56|Universal|Multi-turn absolute value encoder current position|Instruction unit|32-bit
	2138	+|=(% scope="row" %)**Monitoring number**|=**Category**|=**Name**|=**Unit**|=**Data type**
	2139	+|=U0-54|Universal|Absolute encoder position within 1 turn|Encoder unit|32-bit
	2140	+|=U0-55|Universal|Rotations number of absolute encoder|circle|16-bit
	2141	+|=U0-56|Universal|Multi-turn absolute value encoder current position|Instruction unit|32-bit
2117	2117
2118	2118	Table 6-55 Encoder feedback data
2119	2119
...	...	@@ -2121,26 +2121,28 @@
2121	2121
2122	2122	The VD2 series absolute value servo drive provides shielded multi-turn absolute encoder battery fault function to shield under voltage and low-voltage fault. You could set by setting the function code P00-30.
2123	2123
2124		-|**Function code**|**Name**|(((
	2149	+|=(% scope="row" %)**Function code**|=**Name**|=(((
2125	2125	**Setting**
2126	2126
2127	2127	**method**
2128		-)))|(((
	2153	+)))|=(((
2129	2129	**Effective**
2130	2130
2131	2131	**time**
2132		-)))|**Default value**|**Range**|**Definition**|**Unit**
2133		-|P00-30|Shield multi-turn absolute encoder battery fault|Operation setting|Power on again|0|0 to 1|(((
2134		-0：Detect multi-turn absolute encoder battery under voltage, and battery low voltage fault
2135		-
2136		-1: (Not recommended) Shield multi-turn absolute motor battery failure alarm. Multi-turn absolute application may cause mechanical fault, only multi-turn absolute encoder motors is used as single-turn absolute
	2157	+)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
	2158	+|=P00-30|Shield multi-turn absolute encoder battery fault|Operation setting|Power on again|0|0 to 1|(((
	2159	+* 0：Detect multi-turn absolute encoder battery under voltage, and battery low voltage fault
	2160	+* 1: (Not recommended) Shield multi-turn absolute motor battery failure alarm. Multi-turn absolute application may cause mechanical fault, only multi-turn absolute encoder motors is used as single-turn absolute
2137	2137	)))|-
2138	2138
2139	2139	This function is permitted when a multi-turn absolute encoder motor is used as a single-turn absolute and when it is confirmed that no mechanical failure will occur.
2140	2140
	2165	+(% class="box infomessage" %)
	2166	+(((
2141	2141	**✎Note: **Be sure to use the shield multi-turn absolute encoder battery fault function carefully, otherwise it may cause data loss, mechanical failure, or even personal injury or death.
	2168	+)))
2142	2142
2143		-== **Absolute value system encoder battery box use precautions**. ==
	2170	+== Absolute value system encoder battery box use precautions. ==
2144	2144
2145	2145	**Cautions**
2146	2146
...	...	@@ -2147,10 +2147,11 @@
2147	2147	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.
2148	2148
2149	2149	(% style="text-align:center" %)
2150		-[[image:image-20220707111333-28.png]]
	2177	+(((
	2178	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	2179	+[[**Figure 6-50 the encoder battery box**>>image:image-20220707111333-28.png||height="390" id="Iimage-20220707111333-28.png" width="975"]]
	2180	+)))
2151	2151
2152		-Figure 6-50 the encoder battery box
2153		-
2154	2154	When it is detected that the battery voltage is less than 3.1V, A-92 (Encoder battery low voltage warning) will occur. Please replace the battery in time.
2155	2155
2156	2156	**Replace the battery**
...	...	@@ -2166,20 +2166,19 @@
2166	2166
2167	2167	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.
2168	2168
2169		-|**Function code**|**Name**|(((
	2197	+|=(% scope="row" %)**Function code**|=**Name**|=(((
2170	2170	**Setting method**
2171		-)))|(((
	2199	+)))|=(((
2172	2172	**Effective time**
2173		-)))|**Default value**|**Range**|**Definition**|**Unit**
2174		-|P10-06|Multi-turn absolute encoder reset|(((
	2201	+)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
	2202	+|=P10-06|Multi-turn absolute encoder reset|(((
2175	2175	Shutdown setting
2176	2176	)))|(((
2177	2177	Effective immediately
2178	2178	)))|0|0 to 1|(((
2179		-0: No operation
	2207	+* 0: No operation
	2208	+* 1: Clear rotation number of multi-turn absolute encoder, multi-turn absolute encoder current position and encoder fault alarms.
2180	2180
2181		-1: Clear rotation number of multi-turn absolute encoder, multi-turn absolute encoder current position and encoder fault alarms.
2182		-
2183	2183	✎**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.
2184	2184	)))|-
2185	2185
...	...	@@ -2187,7 +2187,7 @@
2187	2187
2188	2188	**Battery selection**
2189	2189
2190		-|(% style="width:361px" %)**Battery selection specification**|(% style="width:496px" %)**Item**|(% style="width:219px" %)**Value**
	2217	+|=(% scope="row" style="width: 361px;" %)**Battery selection specification**|=(% style="width: 496px;" %)**Item**|=(% style="width: 219px;" %)**Value**
2191	2191	|(% rowspan="4" style="width:361px" %)(((
2192	2192	Nominal Voltage: 3.6V
2193	2193
...	...	@@ -2215,111 +2215,108 @@
2215	2215
2216	2216	= **Other functions** =
2217	2217
2218		-== **VDI** ==
	2245	+== VDI ==
2219	2219
2220	2220	VDI (Virtual Digital Signal Input Port) is similar to hardware DI terminal. The DI function could also be assigned for use.
2221	2221
	2249	+(% class="box infomessage" %)
	2250	+(((
2222	2222	✎**Note: **If multiple VDI terminals are configured with the same non-zero DI function, servo drive will occur an error “A-89” (DI port configuration is duplicate).
	2252	+)))
2223	2223
2224	2224	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.
2225	2225
2226		-
2227	2227	(% style="text-align:center" %)
2228		-[[image:image-20220608173804-46.png]]
	2257	+(((
	2258	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	2259	+[[**Figure 6-51 VDI_1 setting steps**>>image:image-20220608173804-46.png||id="Iimage-20220608173804-46.png"]]
	2260	+)))
2229	2229
2230		-Figure 6-51 VDI_1 setting steps
2231		-
2232		-|**Function code**|**Name**|(((
	2262	+|=(% scope="row" %)**Function code**|=**Name**|=(((
2233	2233	**Setting method**
2234		-)))|(((
	2264	+)))|=(((
2235	2235	**Effective time**
2236		-)))|**Default value**|**Range**|**Definition**|**Unit**
2237		-|P13-1|Virtual VDI_1 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2266	+)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
	2267	+|=P13-1|Virtual VDI_1 input value|Operation setting|Effective immediately|0|0 to 1|(((
2238	2238	When P06-04 is set to 1, DI_1 channel logic is control by this function code.
2239	2239
2240	2240	VDI_1 input level:
2241	2241
2242		-0: low level
2243		-
2244		-1: high level
	2272	+* 0: low level
	2273	+* 1: high level
2245	2245	)))|-
2246		-|P13-2|Virtual VDI_2 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2275	+|=P13-2|Virtual VDI_2 input value|Operation setting|Effective immediately|0|0 to 1|(((
2247	2247	When P06-07 is set to 1, DI_2 channel logic is control by this function code.
2248	2248
2249	2249	VDI_2 input level:
2250	2250
2251		-0: low level
2252		-
2253		-1: high level
	2280	+* 0: low level
	2281	+* 1: high level
2254	2254	)))|-
2255		-|P13-3|Virtual VDI_3 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2283	+|=P13-3|Virtual VDI_3 input value|Operation setting|Effective immediately|0|0 to 1|(((
2256	2256	When P06-10 is set to 1, DI_3 channel logic is control by this function code.
2257	2257
2258	2258	VDI_3 input level:
2259	2259
2260		-0: low level
2261		-
2262		-1: high level
	2288	+* 0: low level
	2289	+* 1: high level
2263	2263	)))|-
2264		-|P13-4|Virtual VDI_4 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2291	+|=P13-4|Virtual VDI_4 input value|Operation setting|Effective immediately|0|0 to 1|(((
2265	2265	When P06-13 is set to 1, DI_4 channel logic is control by this function code.
2266	2266
2267	2267	VDI_4 input level:
2268	2268
2269		-0: low level
2270		-
2271		-1: high level
	2296	+* 0: low level
	2297	+* 1: high level
2272	2272	)))|-
2273		-|P13-05☆|Virtual VDI_5 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2299	+|=P13-05☆|Virtual VDI_5 input value|Operation setting|Effective immediately|0|0 to 1|(((
2274	2274	When P06-16 is set to 1, DI_5 channel logic is control by this function code.
2275	2275
2276	2276	VDI_5 input level:
2277	2277
2278		-0: low level
2279		-
2280		-1: high level
	2304	+* 0: low level
	2305	+* 1: high level
2281	2281	)))|-
2282		-|P13-06☆|Virtual VDI_6 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2307	+|=P13-06☆|Virtual VDI_6 input value|Operation setting|Effective immediately|0|0 to 1|(((
2283	2283	When P06-19 is set to 1, DI_6 channel logic is control by this function code.
2284	2284
2285	2285	VDI_6 input level:
2286	2286
2287		-0: low level
2288		-
2289		-1: high level
	2312	+* 0: low level
	2313	+* 1: high level
2290	2290	)))|-
2291		-|P13-07☆|Virtual VDI_7 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2315	+|=P13-07☆|Virtual VDI_7 input value|Operation setting|Effective immediately|0|0 to 1|(((
2292	2292	When P06-22 is set to 1, DI_7 channel logic is control by this function code.
2293	2293
2294	2294	VDI_7 input level:
2295	2295
2296		-0: low level
2297		-
2298		-1: high level
	2320	+* 0: low level
	2321	+* 1: high level
2299	2299	)))|-
2300		-|P13-08☆|Virtual VDI_8 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2323	+|=P13-08☆|Virtual VDI_8 input value|Operation setting|Effective immediately|0|0 to 1|(((
2301	2301	When P06-25 is set to 1, DI_8 channel logic is control by this function code.
2302	2302
2303	2303	VDI_8 input level:
2304	2304
2305		-0: low level
2306		-
2307		-1: high level
	2328	+* 0: low level
	2329	+* 1: high level
2308	2308	)))|-
2309	2309
2310	2310	Table 6-57 Virtual VDI parameters
2311	2311
	2334	+(% class="box infomessage" %)
	2335	+(((
2312	2312	✎**Note: **“☆” means VD2F servo drive does not support the function code .
	2337	+)))
2313	2313
2314		-== **Port filtering time** ==
	2339	+== Port filtering time ==
2315	2315
2316	2316	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.
2317	2317
	2343	+|=(% scope="row" style="width: 204px;" %)**Setting value**|=(% style="width: 235px;" %)**DI channel logic selection**|=(% style="width: 637px;" %)**Illustration**
	2344	+|=(% style="width: 204px;" %)0|(% style="width:235px" %)Active high level|(% style="width:637px" %)[[image:image-20220707113050-31.jpeg]]
	2345	+|=(% style="width: 204px;" %)1|(% style="width:235px" %)Active low level|(% style="width:637px" %)[[image:image-20220707113205-33.jpeg||height="166" width="526"]]
2318	2318
2319		-|(% style="width:204px" %)**Setting value**|(% style="width:235px" %)**DI channel logic selection**|(% style="width:637px" %)**Illustration**
2320		-|(% style="width:204px" %)0|(% style="width:235px" %)Active high level|(% style="width:637px" %)[[image:image-20220707113050-31.jpeg]]
2321		-|(% style="width:204px" %)1|(% style="width:235px" %)Active low level|(% style="width:637px" %)[[image:image-20220707113205-33.jpeg||height="166" width="526"]]
2322		-
2323	2323	Table 6-58 DI terminal channel logic selection
2324	2324
2325	2325	== **VDO** ==
...	...	@@ -2329,51 +2329,49 @@
2329	2329	Take the DO_2 terminal as communication VDO, and the use steps of VDI are as the figure below.
2330	2330
2331	2331	(% style="text-align:center" %)
2332		-[[image:image-20220608173957-48.png]]
	2356	+(((
	2357	+(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	2358	+[[**Figure 6-52 VDO_2 setting steps**>>image:image-20220608173957-48.png||id="Iimage-20220608173957-48.png"]]
	2359	+)))
2333	2333
2334		-Figure 6-52 VDO_2 setting steps
2335	2335
2336		-|**Function code**|**Name**|(((
	2362	+|=(% scope="row" %)**Function code**|=**Name**|=(((
2337	2337	**Setting method**
2338		-)))|(((
	2364	+)))|=(((
2339	2339	**Effective time**
2340		-)))|**Default value**|**Range**|**Definition**|**Unit**
2341		-|P13-11|Communication VDO_1 output value|Operation setting|Effective immediately|0|0 to 1|(((
	2366	+)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
	2367	+|=P13-11|Communication VDO_1 output value|Operation setting|Effective immediately|0|0 to 1|(((
2342	2342	VDO_1 output level：
2343	2343
2344		-0: low level
2345		-
2346		-1: high level
	2370	+* 0: low level
	2371	+* 1: high level
2347	2347	)))|-
2348		-|P13-12|Communication VDO_2 output value|Operation setting|Effective immediately|0|0 to 1|(((
	2373	+|=P13-12|Communication VDO_2 output value|Operation setting|Effective immediately|0|0 to 1|(((
2349	2349	VDO_2 output level：
2350	2350
2351		-0: low level
2352		-
2353		-1: high level
	2376	+* 0: low level
	2377	+* 1: high level
2354	2354	)))|-
2355		-|P13-13|Communication VDO_3 output value|Operation setting|Effective immediately|0|0 to 1|(((
	2379	+|=P13-13|Communication VDO_3 output value|Operation setting|Effective immediately|0|0 to 1|(((
2356	2356	VDO_3 output level：
2357	2357
2358		-0: low level
2359		-
2360		-1: high level
	2382	+* 0: low level
	2383	+* 1: high level
2361	2361	)))|-
2362		-|P13-14|Communication VDO_4 output value|Operation setting|Effective immediately|0|0 to 1|(((
	2385	+|=P13-14|Communication VDO_4 output value|Operation setting|Effective immediately|0|0 to 1|(((
2363	2363	VDO_4 output level：
2364	2364
2365		-0: low level
2366		-
2367		-1: high level
	2388	+* 0: low level
	2389	+* 1: high level
2368	2368	)))|-
2369	2369
2370	2370	Table 6-59 Communication control DO function parameters
2371	2371
2372		-|**DO function number**|**Function name**|**Function**
2373		-|145|COM_VDO1 communication VDO1 output|Use communication VDO
2374		-|146|COM_VDO1 communication VDO2 output|Use communication VDO
2375		-|147|COM_VDO1 communication VDO3 output|Use communication VDO
2376		-|148|COM_VDO1 communication VDO4output|Use communication VDO
	2394	+|=(% scope="row" %)**DO function number**|=**Function name**|=**Function**
	2395	+|=145|COM_VDO1 communication VDO1 output|Use communication VDO
	2396	+|=146|COM_VDO1 communication VDO2 output|Use communication VDO
	2397	+|=147|COM_VDO1 communication VDO3 output|Use communication VDO
	2398	+|=148|COM_VDO1 communication VDO4output|Use communication VDO
2377	2377
2378	2378	Table 6-60 VDO function number
2379	2379
...	...	@@ -2381,16 +2381,16 @@
2381	2381
2382	2382	If multiple DO terminals are configured with the same non-128 DI function, servo drive will occur an error “A-90” (DO port configuration is duplicate).
2383	2383
2384		-== **Motor overload protection** ==
	2406	+== Motor overload protection ==
2385	2385
2386	2386	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%.
2387	2387
2388		-|**Function code**|**Name**|(((
	2410	+|=(% scope="row" %)**Function code**|=**Name**|=(((
2389	2389	**Setting method**
2390		-)))|(((
	2412	+)))|=(((
2391	2391	**Effective time**
2392		-)))|**Default value**|**Range**|**Definition**|**Unit**
2393		-|P10-04|motor overload protection time coefficient|Operation setting|Effective immediately|100|0 to 800|(((
	2414	+)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
	2415	+|=P10-04|motor overload protection time coefficient|Operation setting|Effective immediately|100|0 to 800|(((
2394	2394	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.
2395	2395
2396	2396	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