Changes for page 06 Operation

Last modified by Iris on 2025/08/08 14:40

From 54.2 to 54.1 From 57.1 to 56.1

From version 56.1

edited by Jim(Forgotten)
on 2022/09/09 11:03

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To version 54.2

edited by Stone Wu
on 2022/08/30 11:07

Change comment: There is no comment for this version

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@@ -1,1 +1,1 @@
--XWiki.Jim
++XWiki.Stone

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@@ -1724,7 +1724,7 @@
  )))|=(((
  **Effective time**
  )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
--|=P01-07|Torque instruction source|(((
++|=P01-08|Torque instruction source|(((
  Shutdown setting
  )))|(((
  Effective immediately
@@ -1953,7 +1953,7 @@
  ✎**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]]__.
--== Torque-related DO output functions ==
++== **Torque-related DO output functions** ==
  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.
@@ -1962,27 +1962,26 @@
  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.
  (% style="text-align:center" %)
--(((
--(% class="wikigeneratedid" style="display:inline-block" %)
--[[**Figure 6-47 Torque arrival output diagram**>>image:image-20220608173541-42.png||id="Iimage-20220608173541-42.png"]]
--)))
++[[image:image-20220608173541-42.png]]
--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__.
++Figure 6-47 Torque arrival output diagram
--|=(% scope="row" %)**Function code**|=(% style="width: 113px;" %)**Name**|=(% style="width: 100px;" %)(((
++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]]__.
++
++|**Function code**|**Name**|(((
  **Setting method**
--)))|=(% style="width: 124px;" %)(((
++)))|(((
  **Effective time**
--)))|=(% style="width: 83px;" %)**Default value**|=(% style="width: 94px;" %)**Range**|=(% style="width: 421px;" %)**Definition**|=**Unit**
--|=P05-20|(% style="width:113px" %)(((
++)))|**Default value**|**Range**|**Definition**|**Unit**
++|P05-20|(((
  Torque arrival
  threshold
--)))|(% style="width:100px" %)(((
++)))|(((
  Operation setting
--)))|(% style="width:124px" %)(((
++)))|(((
  Effective immediately
--)))|(% style="width:83px" %)100|(% style="width:94px" %)0 to 300|(% style="width:421px" %)(((
++)))|100|0 to 300|(((
  The torque arrival threshold must be used with “Torque arrival hysteresis value”:
  When the actual torque reaches Torque arrival threshold + Torque arrival hysteresis Value, the torque arrival DO is valid;
@@ -1989,20 +1989,21 @@
  When the actual torque decreases below torque arrival threshold-torque arrival hysteresis value, the torque arrival DO is invalid
  )))|%
--|=P05-21|(% style="width:113px" %)(((
++|P05-21|(((
  Torque arrival
  hysteresis
--)))|(% style="width:100px" %)(((
++)))|(((
  Operation setting
--)))|(% style="width:124px" %)(((
++)))|(((
  Effective immediately
--)))|(% 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|%
++)))|10|0 to 20|Torque arrival the hysteresis value must be used with Torque arrival threshold|%
  Table 6-49 Torque arrival parameters
--|=(% scope="row" %)**DO function code**|=**Function name**|=**Function**
--|=138|(((
++
++|**DO function code**|**Function name**|**Function**
++|138|(((
  T-COIN torque arrival
  )))|Used to determine whether the actual torque instruction has reached the set range
@@ -2012,28 +2012,35 @@
  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:
--* Position mode⇔ Speed mode
--* Position mode ⇔Torque mode
--* Speed mode ⇔Torque mode
++Position mode⇔ Speed mode
++Position mode ⇔Torque mode
++
++Speed mode ⇔Torque mode
++
  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.
--|=(% scope="row" %)**Function code**|=**Name**|=(((
++|**Function code**|**Name**|(((
  **Setting method**
--)))|=(((
++)))|(((
  **Effective time**
--)))|=**Default value**|=(% style="width: 90px;" %)**Range**|=(% style="width: 273px;" %)**Definition**|=**Unit**
--|=P00-01|Control mode|(((
++)))|**Default value**|**Range**|**Definition**|**Unit**
++|P00-01|Control mode|(((
  Shutdown setting
  )))|(((
  Shutdown setting
--)))|1|(% style="width:90px" %)1 to 6|(% style="width:273px" %)(((
--* 1: Position control
--* 2: Speed control
--* 3: Torque control
--* 4: Position/speed mixed control
--* 5: Position/torque mixed control
--* 6: Speed/torque mixed control
++)))|1|1 to 6|(((
++1: Position control
++
++2: Speed control
++
++3: Torque control
++
++4: Position/speed mixed control
++
++5: Position/torque mixed control
++
++6: Speed/torque mixed control
  )))|-
  Table 6-51 Mixed control mode parameters
@@ -2040,38 +2040,35 @@
  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.
--|=(% scope="row" %)**DI function code**|=**Name**|=(% style="width: 187px;" %)**Function name**|=(% style="width: 662px;" %)**Function**
--|=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(((
--(% style="margin-left:auto; margin-right:auto; width:585px" %)
--|=**P00-01**|=(% style="width: 243px;" %)**MixModeSel terminal logic**|=(% style="width: 220px;" %)**Control mode**
--|(% rowspan="2" %)4|(% style="width:243px" %)Valid|(% style="width:220px" %)Speed mode
--|(% style="width:243px" %)invalid|(% style="width:220px" %)Position mode
--|(% rowspan="2" %)5|(% style="width:243px" %)Valid|(% style="width:220px" %)Torque mode
--|(% style="width:243px" %)invalid|(% style="width:220px" %)Position mode
--|(% rowspan="2" %)6|(% style="width:243px" %)Valid|(% style="width:220px" %)Torque mode
--|(% style="width:243px" %)invalid|(% style="width:220px" %)Speed mode
++|**DI function code**|**Name**|**Function name**|**Function**
++|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(((
++|**P00-01**|**MixModeSel terminal logic**|**Control mode**
++|(% rowspan="2" %)4|Valid|Speed mode
++|invalid|Position mode
++|(% rowspan="2" %)5|Valid|Torque mode
++|invalid|Position mode
++|(% rowspan="2" %)6|Valid|Torque mode
++|invalid|Speed mode
  )))
  Table 6-52 Description of DI function codes in control mode
--(% class="box infomessage" %)
--(((
  ✎**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.
--)))
  = **Absolute system** =
--== Overview ==
++== **Overview** ==
  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.
  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.
--== Single-turn absolute value system ==
++== **Single-turn absolute value system** ==
  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.
--|=**Encoder type**|=**Encoder resolution (bits)**|=**Data range**
++
++|**Encoder type**|**Encoder resolution (bits)**|**Data range**
  |A1 (single-turn magnetic encoder)|17|0 to 131071
  Table 6-53 Single-turn absolute encoder information
@@ -2079,18 +2079,17 @@
  The relationship between encoder feedback position and rotating load position is shown in the figure below. (take a 17-bit encoder as an example).
  (% style="text-align:center" %)
--(((
--(% class="wikigeneratedid" style="display:inline-block" %)
--[[**Figure 6-48 Diagram of relationship between encoder feedback position and rotating load position**>>image:image-20220608173618-43.png||id="Iimage-20220608173618-43.png"]]
--)))
++[[image:image-20220608173618-43.png]]
--== Multi-turn absolute value system ==
++Figure 6-48 Diagram of relationship between encoder feedback position and rotating load position
++== **Multi-turn absolute value system** ==
++
  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.
--|=(% scope="row" %)**Encoder type**|=**Encoder resolution (bits)**|=**Data range**
--|=C1 (multi-turn magnetic encoder)|17|0 to 131071
--|=D2 (multi-turn Optical encoder)|23|0 to 8388607
++|**Encoder type**|**Encoder resolution (bits)**|**Data range**
++|C1 (multi-turn magnetic encoder)|17|0 to 131071
++|D2 (multi-turn Optical encoder)|23|0 to 8388607
  Table 6-54 Multi-turn absolute encoder information
@@ -2097,21 +2097,20 @@
  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).
  (% style="text-align:center" %)
--(((
--(% class="wikigeneratedid" style="display:inline-block" %)
--[[**Figure 6-49 The relationship between encoder feedback position and rotating load position**>>image:image-20220608173701-44.png||id="Iimage-20220608173701-44.png"]]
--)))
++[[image:image-20220608173701-44.png]]
--== Related functions and parameters ==
++Figure 6-49 The relationship between encoder feedback position and rotating load position
++== **Related functions and parameters** ==
++
  **Encoder feedback data**
  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.
--|=(% scope="row" %)**Monitoring number**|=**Category**|=**Name**|=**Unit**|=**Data type**
--|=U0-54|Universal|Absolute encoder position within 1 turn|Encoder unit|32-bit
--|=U0-55|Universal|Rotations number of absolute encoder|circle|16-bit
--|=U0-56|Universal|Multi-turn absolute value encoder current position|Instruction unit|32-bit
++|**Monitoring number**|**Category**|**Name**|**Unit**|**Data type**
++|U0-54|Universal|Absolute encoder position within 1 turn|Encoder unit|32-bit
++|U0-55|Universal|Rotations number of absolute encoder|circle|16-bit
++|U0-56|Universal|Multi-turn absolute value encoder current position|Instruction unit|32-bit
  Table 6-55 Encoder feedback data
@@ -2119,28 +2119,26 @@
  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.
--|=(% scope="row" %)**Function code**|=**Name**|=(((
++|**Function code**|**Name**|(((
  **Setting**
  **method**
--)))|=(((
++)))|(((
  **Effective**
  **time**
--)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
--|=P00-30|Shield multi-turn absolute encoder battery fault|Operation setting|Power on again|0|0 to 1|(((
--* 0：Detect multi-turn absolute encoder battery under voltage, and battery low voltage fault
--* 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
++)))|**Default value**|**Range**|**Definition**|**Unit**
++|P00-30|Shield multi-turn absolute encoder battery fault|Operation setting|Power on again|0|0 to 1|(((
++0：Detect multi-turn absolute encoder battery under voltage, and battery low voltage fault
++
++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
  )))|-
  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.
--(% class="box infomessage" %)
--(((
  **✎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.
--)))
--== Absolute value system encoder battery box use precautions. ==
++== **Absolute value system encoder battery box use precautions**. ==
  **Cautions**
@@ -2147,11 +2147,10 @@
  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.
  (% style="text-align:center" %)
--(((
--(% class="wikigeneratedid" style="display:inline-block" %)
--[[**Figure 6-50 the encoder battery box**>>image:image-20220707111333-28.png||id="Iimage-20220707111333-28.png"]]
--)))
++[[image:image-20220707111333-28.png]]
++Figure 6-50 the encoder battery box
++
  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.
  **Replace the battery**
@@ -2167,19 +2167,20 @@
  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.
--|=(% scope="row" %)**Function code**|=**Name**|=(((
++|**Function code**|**Name**|(((
  **Setting method**
--)))|=(((
++)))|(((
  **Effective time**
--)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
--|=P10-06|Multi-turn absolute encoder reset|(((
++)))|**Default value**|**Range**|**Definition**|**Unit**
++|P10-06|Multi-turn absolute encoder reset|(((
  Shutdown setting
  )))|(((
  Effective immediately
  )))|0|0 to 1|(((
--* 0: No operation
--* 1: Clear rotation number of multi-turn absolute encoder, multi-turn absolute encoder current position and encoder fault alarms.
++0: No operation
++1: Clear rotation number of multi-turn absolute encoder, multi-turn absolute encoder current position and encoder fault alarms.
++
  ✎**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.
  )))|-
@@ -2187,7 +2187,7 @@
  **Battery selection**
--|=(% scope="row" style="width: 361px;" %)**Battery selection specification**|=(% style="width: 496px;" %)**Item**|=(% style="width: 219px;" %)**Value**
++|(% style="width:361px" %)**Battery selection specification**|(% style="width:496px" %)**Item**|(% style="width:219px" %)**Value**
  |(% rowspan="4" style="width:361px" %)(((
  Nominal Voltage: 3.6V
@@ -2215,108 +2215,111 @@
  = **Other functions** =
--== VDI ==
++== **VDI** ==
  VDI (Virtual Digital Signal Input Port) is similar to hardware DI terminal. The DI function could also be assigned for use.
--(% class="box infomessage" %)
--(((
  ✎**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).
--)))
  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.
++
  (% style="text-align:center" %)
--(((
--(% class="wikigeneratedid" style="display:inline-block" %)
--[[**Figure 6-51 VDI_1 setting steps**>>image:image-20220608173804-46.png||id="Iimage-20220608173804-46.png"]]
--)))
++[[image:image-20220608173804-46.png]]
--|=(% scope="row" %)**Function code**|=**Name**|=(((
++Figure 6-51 VDI_1 setting steps
++
++|**Function code**|**Name**|(((
  **Setting method**
--)))|=(((
++)))|(((
  **Effective time**
--)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
--|=P13-1|Virtual VDI_1 input value|Operation setting|Effective immediately|0|0 to 1|(((
++)))|**Default value**|**Range**|**Definition**|**Unit**
++|P13-1|Virtual VDI_1 input value|Operation setting|Effective immediately|0|0 to 1|(((
  When P06-04 is set to 1, DI_1 channel logic is control by this function code.
  VDI_1 input level:
--* 0: low level
--* 1: high level
++0: low level
++
++1: high level
  )))|-
--|=P13-2|Virtual VDI_2 input value|Operation setting|Effective immediately|0|0 to 1|(((
++|P13-2|Virtual VDI_2 input value|Operation setting|Effective immediately|0|0 to 1|(((
  When P06-07 is set to 1, DI_2 channel logic is control by this function code.
  VDI_2 input level:
--* 0: low level
--* 1: high level
++0: low level
++
++1: high level
  )))|-
--|=P13-3|Virtual VDI_3 input value|Operation setting|Effective immediately|0|0 to 1|(((
++|P13-3|Virtual VDI_3 input value|Operation setting|Effective immediately|0|0 to 1|(((
  When P06-10 is set to 1, DI_3 channel logic is control by this function code.
  VDI_3 input level:
--* 0: low level
--* 1: high level
++0: low level
++
++1: high level
  )))|-
--|=P13-4|Virtual VDI_4 input value|Operation setting|Effective immediately|0|0 to 1|(((
++|P13-4|Virtual VDI_4 input value|Operation setting|Effective immediately|0|0 to 1|(((
  When P06-13 is set to 1, DI_4 channel logic is control by this function code.
  VDI_4 input level:
--* 0: low level
--* 1: high level
++0: low level
++
++1: high level
  )))|-
--|=P13-05☆|Virtual VDI_5 input value|Operation setting|Effective immediately|0|0 to 1|(((
++|P13-05☆|Virtual VDI_5 input value|Operation setting|Effective immediately|0|0 to 1|(((
  When P06-16 is set to 1, DI_5 channel logic is control by this function code.
  VDI_5 input level:
--* 0: low level
--* 1: high level
++0: low level
++
++1: high level
  )))|-
--|=P13-06☆|Virtual VDI_6 input value|Operation setting|Effective immediately|0|0 to 1|(((
++|P13-06☆|Virtual VDI_6 input value|Operation setting|Effective immediately|0|0 to 1|(((
  When P06-19 is set to 1, DI_6 channel logic is control by this function code.
  VDI_6 input level:
--* 0: low level
--* 1: high level
++0: low level
++
++1: high level
  )))|-
--|=P13-07☆|Virtual VDI_7 input value|Operation setting|Effective immediately|0|0 to 1|(((
++|P13-07☆|Virtual VDI_7 input value|Operation setting|Effective immediately|0|0 to 1|(((
  When P06-22 is set to 1, DI_7 channel logic is control by this function code.
  VDI_7 input level:
--* 0: low level
--* 1: high level
++0: low level
++
++1: high level
  )))|-
--|=P13-08☆|Virtual VDI_8 input value|Operation setting|Effective immediately|0|0 to 1|(((
++|P13-08☆|Virtual VDI_8 input value|Operation setting|Effective immediately|0|0 to 1|(((
  When P06-25 is set to 1, DI_8 channel logic is control by this function code.
  VDI_8 input level:
--* 0: low level
--* 1: high level
++0: low level
++
++1: high level
  )))|-
  Table 6-57 Virtual VDI parameters
--(% class="box infomessage" %)
--(((
  ✎**Note: **“☆” means VD2F servo drive does not support the function code .
--)))
--== Port filtering time ==
++== **Port filtering time** ==
  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.
--|=(% scope="row" style="width: 204px;" %)**Setting value**|=(% style="width: 235px;" %)**DI channel logic selection**|=(% style="width: 637px;" %)**Illustration**
--|=(% style="width: 204px;" %)0|(% style="width:235px" %)Active high level|(% style="width:637px" %)[[image:image-20220707113050-31.jpeg]]
--|=(% style="width: 204px;" %)1|(% style="width:235px" %)Active low level|(% style="width:637px" %)[[image:image-20220707113205-33.jpeg||height="166" width="526"]]
++|(% style="width:204px" %)**Setting value**|(% style="width:235px" %)**DI channel logic selection**|(% style="width:637px" %)**Illustration**
++|(% style="width:204px" %)0|(% style="width:235px" %)Active high level|(% style="width:637px" %)[[image:image-20220707113050-31.jpeg]]
++|(% style="width:204px" %)1|(% style="width:235px" %)Active low level|(% style="width:637px" %)[[image:image-20220707113205-33.jpeg||height="166" width="526"]]
++
  Table 6-58 DI terminal channel logic selection
  == **VDO** ==
@@ -2326,49 +2326,51 @@
  Take the DO_2 terminal as communication VDO, and the use steps of VDI are as the figure below.
  (% style="text-align:center" %)
--(((
--(% class="wikigeneratedid" style="display:inline-block" %)
--[[**Figure 6-52 VDO_2 setting steps**>>image:image-20220608173957-48.png||id="Iimage-20220608173957-48.png"]]
--)))
++[[image:image-20220608173957-48.png]]
++Figure 6-52 VDO_2 setting steps
--|=(% scope="row" %)**Function code**|=**Name**|=(((
++|**Function code**|**Name**|(((
  **Setting method**
--)))|=(((
++)))|(((
  **Effective time**
--)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
--|=P13-11|Communication VDO_1 output value|Operation setting|Effective immediately|0|0 to 1|(((
++)))|**Default value**|**Range**|**Definition**|**Unit**
++|P13-11|Communication VDO_1 output value|Operation setting|Effective immediately|0|0 to 1|(((
  VDO_1 output level：
--* 0: low level
--* 1: high level
++0: low level
++
++1: high level
  )))|-
--|=P13-12|Communication VDO_2 output value|Operation setting|Effective immediately|0|0 to 1|(((
++|P13-12|Communication VDO_2 output value|Operation setting|Effective immediately|0|0 to 1|(((
  VDO_2 output level：
--* 0: low level
--* 1: high level
++0: low level
++
++1: high level
  )))|-
--|=P13-13|Communication VDO_3 output value|Operation setting|Effective immediately|0|0 to 1|(((
++|P13-13|Communication VDO_3 output value|Operation setting|Effective immediately|0|0 to 1|(((
  VDO_3 output level：
--* 0: low level
--* 1: high level
++0: low level
++
++1: high level
  )))|-
--|=P13-14|Communication VDO_4 output value|Operation setting|Effective immediately|0|0 to 1|(((
++|P13-14|Communication VDO_4 output value|Operation setting|Effective immediately|0|0 to 1|(((
  VDO_4 output level：
--* 0: low level
--* 1: high level
++0: low level
++
++1: high level
  )))|-
  Table 6-59 Communication control DO function parameters
--|=(% scope="row" %)**DO function number**|=**Function name**|=**Function**
--|=145|COM_VDO1 communication VDO1 output|Use communication VDO
--|=146|COM_VDO1 communication VDO2 output|Use communication VDO
--|=147|COM_VDO1 communication VDO3 output|Use communication VDO
--|=148|COM_VDO1 communication VDO4output|Use communication VDO
++|**DO function number**|**Function name**|**Function**
++|145|COM_VDO1 communication VDO1 output|Use communication VDO
++|146|COM_VDO1 communication VDO2 output|Use communication VDO
++|147|COM_VDO1 communication VDO3 output|Use communication VDO
++|148|COM_VDO1 communication VDO4output|Use communication VDO
  Table 6-60 VDO function number
@@ -2376,16 +2376,16 @@
  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).
--== Motor overload protection ==
++== **Motor overload protection** ==
  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%.
--|=(% scope="row" %)**Function code**|=**Name**|=(((
++|**Function code**|**Name**|(((
  **Setting method**
--)))|=(((
++)))|(((
  **Effective time**
--)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
--|=P10-04|motor overload protection time coefficient|Operation setting|Effective immediately|100|0 to 800|(((
++)))|**Default value**|**Range**|**Definition**|**Unit**
++|P10-04|motor overload protection time coefficient|Operation setting|Effective immediately|100|0 to 800|(((
  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.
 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

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