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Changes for page 06 Operation

Last modified by Iris on 2025/08/08 14:40
From version 56.1
edited by Jim(Forgotten)
on 2022/09/09 11:03
Change comment: There is no comment for this version
To version 57.1
edited by Stone Wu
on 2022/09/23 14:31
Change comment: There is no comment for this version

Summary

Details

Page properties
Author
... ... @@ -1,1 +1,1 @@
1 -XWiki.Jim
1 +XWiki.Stone
Content
... ... @@ -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  
... ... @@ -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  )))
... ... @@ -1963,8 +1963,8 @@
1963 1963  
1964 1964  (% style="text-align:center" %)
1965 1965  (((
1966 -(% class="wikigeneratedid" style="display:inline-block" %)
1967 -[[**Figure 6-47 Torque arrival output diagram**>>image:image-20220608173541-42.png||id="Iimage-20220608173541-42.png"]]
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"]]
1968 1968  )))
1969 1969  
1970 1970  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__.
... ... @@ -2080,8 +2080,8 @@
2080 2080  
2081 2081  (% style="text-align:center" %)
2082 2082  (((
2083 -(% class="wikigeneratedid" style="display:inline-block" %)
2084 -[[**Figure 6-48 Diagram of relationship between encoder feedback position and rotating load position**>>image:image-20220608173618-43.png||id="Iimage-20220608173618-43.png"]]
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"]]
2085 2085  )))
2086 2086  
2087 2087  == Multi-turn absolute value system ==
... ... @@ -2098,7 +2098,7 @@
2098 2098  
2099 2099  (% style="text-align:center" %)
2100 2100  (((
2101 -(% class="wikigeneratedid" style="display:inline-block" %)
2128 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2102 2102  [[**Figure 6-49 The relationship between encoder feedback position and rotating load position**>>image:image-20220608173701-44.png||id="Iimage-20220608173701-44.png"]]
2103 2103  )))
2104 2104  
... ... @@ -2148,8 +2148,8 @@
2148 2148  
2149 2149  (% style="text-align:center" %)
2150 2150  (((
2151 -(% class="wikigeneratedid" style="display:inline-block" %)
2152 -[[**Figure 6-50 the encoder battery box**>>image:image-20220707111333-28.png||id="Iimage-20220707111333-28.png"]]
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"]]
2153 2153  )))
2154 2154  
2155 2155  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.
... ... @@ -2228,7 +2228,7 @@
2228 2228  
2229 2229  (% style="text-align:center" %)
2230 2230  (((
2231 -(% class="wikigeneratedid" style="display:inline-block" %)
2258 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2232 2232  [[**Figure 6-51 VDI_1 setting steps**>>image:image-20220608173804-46.png||id="Iimage-20220608173804-46.png"]]
2233 2233  )))
2234 2234  
... ... @@ -2327,7 +2327,7 @@
2327 2327  
2328 2328  (% style="text-align:center" %)
2329 2329  (((
2330 -(% class="wikigeneratedid" style="display:inline-block" %)
2357 +(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2331 2331  [[**Figure 6-52 VDO_2 setting steps**>>image:image-20220608173957-48.png||id="Iimage-20220608173957-48.png"]]
2332 2332  )))
2333 2333