Changes for page 06 Operation

Summary

• Page properties (1 modified, 0 added, 0 removed)

Details

Page properties

Content

...	...	@@ -2,20 +2,20 @@
2	2
3	3	== **Check before operation** ==
4	4
5		-|=(% scope="row" style="width: 79px;" %)**No.**|=(% style="width: 996px;" %)**Content**
	5	+|=(% scope="row" style="width: 58px;" %)**No.**|=(% style="width: 1017px;" %)**Content**
6	6	|=(% colspan="2" %)Wiring
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.
	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.
15	15	|=(% colspan="2" %)Environment and Machinery
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.
	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.
19	19
20	20	Table 6-1 Check contents before operation
21	21
...	...	@@ -46,23 +46,11 @@
46	46	)))|=(((
47	47	**Effective time**
48	48	)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
49		-|=(((
50		-P10-01
51		-)))|(((
52		-JOG speed
53		-)))|(((
	49	+|=P10-01|JOG speed|(((
54	54	Operation setting
55	55	)))|(((
56	56	Effective immediately
57		-)))|(((
58		-100
59		-)))|(((
60		-0 to 3000
61		-)))|(((
62		-JOG speed
63		-)))|(((
64		-rpm
65		-)))
	53	+)))|100|0 to 3000|JOG speed|rpm
66	66
67	67	Table 6-2 JOG speed parameter
68	68
...	...	@@ -71,19 +71,11 @@
71	71	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.
72	72
73	73	|=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=Effective time|=**Default value**|=**Range**|=**Definition**|=**Unit**
74		-|=(((
75		-P00-04
76		-)))|(((
77		-Rotation direction
78		-)))|(((
	62	+|=P00-04|Rotation direction|(((
79	79	Shutdown setting
80	80	)))|(((
81	81	Effective immediately
82		-)))|(((
83		-0
84		-)))|(((
85		-0 to 1
86		-)))|(((
	66	+)))|0|0 to 1|(((
87	87	Forward rotation: Face the motor shaft to watch
88	88
89	89	* 0: standard setting (CW is forward rotation)
...	...	@@ -101,14 +101,14 @@
101	101	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.
102	102	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.
103	103
104		-|=(% scope="row" %)**Function code**|=**Name**|=(% style="width: 118px;" %)(((
	84	+|=(% scope="row" %)**Function code**|=**Name**|=(((
105	105	**Setting method**
106		-)))|=(% style="width: 126px;" %)(((
	86	+)))|=(((
107	107	**Effective time**
108	108	)))|=**Default**|=**Range**|=**Definition**|=**Unit**
109		-|=P00-09|Braking resistor setting|(% style="width:118px" %)(((
	89	+|=P00-09|Braking resistor setting|(((
110	110	Operation setting
111		-)))|(% style="width:126px" %)(((
	91	+)))|(((
112	112	Effective immediately
113	113	)))|0|0 to 3|(((
114	114	* 0: use built-in braking resistor
...	...	@@ -116,15 +116,15 @@
116	116	* 2: use external braking resistor and forced air cooling; (cannot be set)
117	117	* 3: No braking resistor is used, it is all absorbed by capacitor.
118	118	)))|-
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" %)(((
	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|(((
121	121	Operation setting
122		-)))|(% style="width:126px" %)(((
	102	+)))|(((
123	123	Effective immediately
124	124	)))|50|0 to 65535|It is used to set the external braking resistor value of a certain type of drive.|Ω
125		-|=P00-11|External braking resistor power|(% style="width:118px" %)(((
	105	+|=P00-11|External braking resistor power|(((
126	126	Operation setting
127		-)))|(% style="width:126px" %)(((
	107	+)))|(((
128	128	Effective immediately
129	129	)))|100|0 to 65535|It is used to set the external braking resistor power of a certain type of drive.|W
130	130
...	...	@@ -146,7 +146,7 @@
146	146
147	147	(% style="text-align:center" %)
148	148	(((
149		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	129	+(% class="wikigeneratedid" style="display:inline-block" %)
150	150	[[**Figure 6-1 Timing diagram of power on**>>image:image-20220608163014-1.png||id="Iimage-20220608163014-1.png"]]
151	151	)))
152	152
...	...	@@ -154,14 +154,14 @@
154	154
155	155	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__.
156	156
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.
	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.
160	160
161	161	Table 6-5 Comparison of two shutdown modes
162	162
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.
	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.
165	165
166	166	Table 6-6 Comparison of two shutdown status
167	167
...	...	@@ -169,22 +169,22 @@
169	169
170	170	The related parameters of the servo OFF shutdown mode are shown in the table below.
171	171
172		-|=(% scope="row" style="width: 94px;" %)**Function code**|=(% style="width: 180px;" %)**Name**|=(% style="width: 119px;" %)(((
	152	+|=(% scope="row" %)**Function code**|=**Name**|=(((
173	173	**Setting method**
174		-)))|=(% style="width: 134px;" %)(((
	154	+)))|=(((
175	175	**Effective time**
176		-)))|=(% style="width: 86px;" %)(((
	156	+)))|=(((
177	177	**Default value**
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" %)(((
	158	+)))|=**Range**|=**Definition**|=**Unit**
	159	+|=P00-05|Servo OFF shutdown|(((
180	180	Shutdown
181	181
182	182	setting
183		-)))|(% style="width:134px" %)(((
	163	+)))|(((
184	184	Effective
185	185
186	186	immediately
187		-)))|(% style="width:86px" %)0|(% style="width:70px" %)0 to 1|(% style="width:347px" %)(((
	167	+)))|0|0 to 1|(((
188	188	* 0: Free shutdown, and the motor shaft remains free status.
189	189	* 1: Zero-speed shutdown, and the motor shaft remains free status.
190	190	)))|-
...	...	@@ -203,12 +203,12 @@
203	203
204	204	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.
205	205
206		-|=(% scope="row" style="width: 89px;" %)**Function code**|=(% style="width: 135px;" %)**Name**|=(% style="width: 122px;" %)(((
	186	+|=(% scope="row" %)**Function code**|=(% style="width: 143px;" %)**Name**|=(% style="width: 137px;" %)(((
207	207	**Setting method**
208		-)))|=(% style="width: 114px;" %)(((
	188	+)))|=(% style="width: 141px;" %)(((
209	209	**Effective time**
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" %)(((
	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|(((
212	212	* 0: OFF (not used)
213	213	* 01: S-ON servo enable
214	214	* 02: A-CLR fault and Warning Clear
...	...	@@ -234,27 +234,27 @@
234	234	* 24: Internal multi-segment position selection 4
235	235	* Others: reserved
236	236	)))|-
237		-|=(% style="width: 89px;" %)P06-09|(% style="width:135px" %)DI_3 channel logic selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
	217	+|=P06-09|(% style="width:143px" %)DI_3 channel logic selection|(% style="width:137px" %)Operation setting|(% style="width:141px" %)(((
238	238	Effective immediately
239		-)))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
	219	+)))|(% style="width:84px" %)0|(% style="width:100px" %)0 to 1|(((
240	240	DI port input logic validity function selection.
241	241
242	242	* 0: Normally open input. Active low level (switch on);
243	243	* 1: Normally closed input. Active high level (switch off);
244	244	)))|-
245		-|=(% style="width: 89px;" %)P06-10|(% style="width:135px" %)DI_3 input source selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
	225	+|=P06-10|(% style="width:143px" %)DI_3 input source selection|(% style="width:137px" %)Operation setting|(% style="width:141px" %)(((
246	246	Effective immediately
247		-)))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
	227	+)))|(% style="width:84px" %)0|(% style="width:100px" %)0 to 1|(((
248	248	Select the DI_3 port type to enable
249	249
250	250	* 0: Hardware DI_3 input terminal
251	251	* 1: virtual VDI_3 input terminal
252	252	)))|-
253		-|=(% style="width: 89px;" %)P06-11|(% style="width:135px" %)DI_4 channel function selection|(% style="width:122px" %)(((
	233	+|=P06-11|(% style="width:143px" %)DI_4 channel function selection|(% style="width:137px" %)(((
254	254	Operation setting
255		-)))|(% style="width:114px" %)(((
	235	+)))|(% style="width:141px" %)(((
256	256	again Power-on
257		-)))|(% style="width:106px" %)4|(% style="width:84px" %)0 to 32|(% style="width:380px" %)(((
	237	+)))|(% style="width:84px" %)4|(% style="width:100px" %)0 to 32|(((
258	258	* 0: OFF (not used)
259	259	* 01: SON Servo enable
260	260	* 02: A-CLR Fault and Warning Clear
...	...	@@ -280,17 +280,17 @@
280	280	* 24: Internal multi-segment position selection 4
281	281	* Others: reserved
282	282	)))|-
283		-|=(% style="width: 89px;" %)P06-12|(% style="width:135px" %)DI_4 channel logic selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
	263	+|=P06-12|(% style="width:143px" %)DI_4 channel logic selection|(% style="width:137px" %)Operation setting|(% style="width:141px" %)(((
284	284	Effective immediately
285		-)))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
	265	+)))|(% style="width:84px" %)0|(% style="width:100px" %)0 to 1|(((
286	286	DI port input logic validity function selection.
287	287
288	288	* 0: Normally open input. Active low level (switch on);
289	289	* 1: Normally closed input. Active high level (switch off);
290	290	)))|-
291		-|=(% style="width: 89px;" %)P06-13|(% style="width:135px" %)DI_4 input source selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
	271	+|=P06-13|(% style="width:143px" %)DI_4 input source selection|(% style="width:137px" %)Operation setting|(% style="width:141px" %)(((
292	292	Effective immediately
293		-)))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
	273	+)))|(% style="width:84px" %)0|(% style="width:100px" %)0 to 1|(((
294	294	Select the DI_4 port type to enable
295	295
296	296	* 0: Hardware DI_4 input terminal
...	...	@@ -307,7 +307,7 @@
307	307
308	308	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.
309	309
310		-(% class="warning" %)|(((
	290	+|(((
311	311	(% style="text-align:center" %)
312	312	[[image:image-20220611151617-1.png]]
313	313	)))
...	...	@@ -330,11 +330,11 @@
330	330
331	331	(% style="text-align:center" %)
332	332	(((
333		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	313	+(% class="wikigeneratedid" style="display:inline-block" %)
334	334	[[**Figure 6-2 VD2B servo drive brake wiring**>>image:image-20220608163136-2.png||id="Iimage-20220608163136-2.png"]]
335	335	)))
336	336
337		-(% class="warning" %)|(((
	317	+|(((
338	338	(% style="text-align:center" %)
339	339	[[image:image-20220611151642-2.png]]
340	340	)))
...	...	@@ -352,12 +352,12 @@
352	352
353	353	Related function code is as below.
354	354
355		-|=(% scope="row" %)**DO function code**|=(% style="width: 241px;" %)**Function name**|=(% style="width: 458px;" %)**Function**|=(% style="width: 191px;" %)(((
	335	+|=(% scope="row" %)**DO function code**|=**Function name**|=**Function**|=(((
356	356	**Effective time**
357	357	)))
358		-|=144|(% style="width:241px" %)(((
	338	+|=144|(((
359	359	BRK-OFF Brake output
360		-)))|(% style="width:458px" %)Output the signal indicates the servo motor brake release|(% style="width:191px" %)Power-on again
	340	+)))|Output the signal indicates the servo motor brake release|Power-on again
361	361
362	362	Table 6-2 Relevant function codes for brake setting
363	363
...	...	@@ -399,8 +399,7 @@
399	399
400	400	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__
401	401
402		-(% class="warning" %)|(((
403		-(% style="text-align:center" %)
	382	+|(((
404	404	[[image:image-20220611151705-3.png]]
405	405	)))
406	406	|(((
...	...	@@ -411,7 +411,7 @@
411	411
412	412	(% style="text-align:center" %)
413	413	(((
414		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	393	+(% class="wikigeneratedid" style="display:inline-block" %)
415	415	[[**Figure 6-3 Brake Timing of when the motor is stationary**>>image:image-20220608163304-3.png||id="Iimage-20220608163304-3.png"]]
416	416	)))
417	417
...	...	@@ -424,7 +424,7 @@
424	424
425	425	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__.
426	426
427		-(% class="warning" %)|(((
	406	+|(((
428	428	(% style="text-align:center" %)
429	429	[[image:image-20220611151719-4.png]]
430	430	)))
...	...	@@ -442,7 +442,7 @@
442	442
443	443	(% style="text-align:center" %)
444	444	(((
445		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	424	+(% class="wikigeneratedid" style="display:inline-block" %)
446	446	[[**Figure 6-4 Brake timing when the motor rotates**>>image:image-20220608163425-4.png||id="Iimage-20220608163425-4.png"]]
447	447	)))
448	448
...	...	@@ -452,7 +452,7 @@
452	452
453	453	(% style="text-align:center" %)
454	454	(((
455		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	434	+(% class="wikigeneratedid" style="display:inline-block" %)
456	456	[[**~~ Figure 6-5 The brake timing (free shutdown) in the fault state**>>image:image-20220608163541-5.png||id="Iimage-20220608163541-5.png"]]
457	457	)))
458	458
...	...	@@ -462,18 +462,18 @@
462	462
463	463	(% style="text-align:center" %)
464	464	(((
465		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	444	+(% class="wikigeneratedid" style="display:inline-block" %)
466	466	[[**Figure 6-6 Position control diagram**>>image:image-20220608163643-6.png||id="Iimage-20220608163643-6.png"]]
467	467	)))
468	468
469	469	Set “P00-01” to 1 by the software “Wecon SCTool”, and the servo drive is in position control mode.
470	470
471		-|=(% scope="row" style="width: 123px;" %)**Function code**|=(% style="width: 134px;" %)**Name**|=(((
	450	+|=(% scope="row" %)**Function code**|=**Name**|=(((
472	472	**Setting method**
473	473	)))|=(((
474	474	**Effective time**
475	475	)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
476		-|=(% style="width: 123px;" %)P01-01|(% style="width:134px" %)Control mode|(((
	455	+|=P01-01|Control mode|(((
477	477	Operation setting
478	478	)))|(((
479	479	immediately Effective
...	...	@@ -518,15 +518,8 @@
518	518
519	519	Low-speed pulse instruction input
520	520
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		-)))
	500	+|[[image:image-20220804160519-1.jpeg]]|[[image:image-20220804160624-2.jpeg]]
	501	+|VD2A and VD2B servo drives|VD2F servo drive
530	530	|(% colspan="2" %)Figure 6-7 Position instruction input setting
531	531
532	532	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__.
...	...	@@ -533,9 +533,9 @@
533	533
534	534	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.
535	535
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
	508	+|=(% scope="row" %)**Pulse method**|=**Maximum frequency**|=**Voltage**
	509	+|=Open collector input|200K|24V
	510	+|=Differential input|500K|5V
539	539
540	540	Table 6-12 Pulse input specifications
541	541
...	...	@@ -545,8 +545,8 @@
545	545
546	546	(% style="text-align:center" %)
547	547	(((
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"]]
	520	+(% class="wikigeneratedid" style="display:inline-block" %)
	521	+[[**Figure 6-8 Differential input connection**>>image:image-20220707092615-5.jpeg||id="Iimage-20220707092615-5.jpeg"]]
550	550	)))
551	551
552	552	(% class="box infomessage" %)
...	...	@@ -560,8 +560,8 @@
560	560
561	561	(% style="text-align:center" %)
562	562	(((
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"]]
	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"]]
565	565	)))
566	566
567	567
...	...	@@ -576,27 +576,27 @@
576	576
577	577	(% style="text-align:center" %)
578	578	(((
579		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	551	+(% class="wikigeneratedid" style="display:inline-block" %)
580	580	[[**Figure 6-10 Example of filtered signal waveform**>>image:image-20220608163952-8.png||id="Iimage-20220608163952-8.png"]]
581	581	)))
582	582
583	583	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.
584	584
585		-|=**Function code**|=(% style="width: 169px;" %)**Name**|=(% style="width: 146px;" %)(((
	557	+|=**Function code**|=**Name**|=(((
586	586	**Setting method**
587	587	)))|=(((
588	588	**Effective time**
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" %)(((
	561	+)))|=**Default value**|=**Range**|=(% colspan="2" %)**Definition**|=**Unit**
	562	+|P00-13|Maximum position pulse frequency|(((
591	591	Shutdown setting
592	592	)))|(((
593	593	Effective immediately
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" %)(((
	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" %)(((
596	596	Operation setting
597	597	)))|(% rowspan="3" %)(((
598	598	Power-on again
599		-)))|(% rowspan="3" %)2|(% rowspan="3" style="width:87px" %)0 to 9|(% colspan="2" style="width:296px" %)(((
	571	+)))|(% rowspan="3" %)2|(% rowspan="3" %)0 to 9|(% colspan="2" %)(((
600	600	Set the anti-interference level of external pulse instruction.
601	601
602	602	* 0: no filtering;
...	...	@@ -619,16 +619,16 @@
619	619
620	620	In VD2 series servo drives, there are three types of input pulse instructions, and the related function codes are shown in the table below.
621	621
622		-|=(% scope="row" %)**Function code**|=(% style="width: 144px;" %)**Name**|=(% style="width: 110px;" %)(((
	594	+|=(% scope="row" %)**Function code**|=**Name**|=(((
623	623	**Setting method**
624		-)))|=(% style="width: 109px;" %)(((
	596	+)))|=(((
625	625	**Effective time**
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" %)(((
	598	+)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
	599	+|=P00-12|Position pulse type selection|(((
628	628	Operation setting
629		-)))|(% style="width:109px" %)(((
	601	+)))|(((
630	630	Power-on again
631		-)))|(% style="width:77px" %)0|(% style="width:74px" %)0 to 5|(% style="width:412px" %)(((
	603	+)))|0|0 to 5|(((
632	632	* 0: direction + pulse (positive logic)
633	633	* 1: CW/CCW
634	634	* 2: A, B phase quadrature pulse (4 times frequency)
...	...	@@ -639,26 +639,26 @@
639	639
640	640	Table 6-14 Position pulse type selection parameter
641	641
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" %)(((
	614	+|=(% scope="row" %)**Pulse type selection**|=**Pulse type**|=**Signal**|=**Schematic diagram of forward pulse**|=**Schematic diagram of negative pulse**
	615	+|=0|(((
644	644	Direction + pulse
645	645
646	646	(Positive logic)
647		-)))|(% style="width:161px" %)(((
	619	+)))|(((
648	648	PULSE
649	649
650	650	SIGN
651	651	)))|[[image:image-20220707094340-6.jpeg]]|[[image:image-20220707094345-7.jpeg]]
652		-|=1|(% style="width:200px" %)CW/CCW|(% style="width:161px" %)(((
	624	+|=1|CW/CCW|(((
653	653	PULSE (CW)
654	654
655	655	SIGN (CCW)
656	656	)))|(% colspan="2" %)[[image:image-20220707094351-8.jpeg]]
657		-|=2|(% style="width:200px" %)(((
	629	+|=2|(((
658	658	AB phase orthogonal
659	659
660	660	pulse (4 times frequency)
661		-)))|(% style="width:161px" %)(((
	633	+)))|(((
662	662	PULSE (Phase A)
663	663
664	664	SIGN (Phase B)
...	...	@@ -675,29 +675,29 @@
675	675
676	676	Phase B is 90° ahead of Phase A
677	677	)))
678		-|=3|(% style="width:200px" %)(((
	650	+|=3|(((
679	679	Direction + pulse
680	680
681	681	(Negative logic)
682		-)))|(% style="width:161px" %)(((
	654	+)))|(((
683	683	PULSE
684	684
685	685	SIGN
686	686	)))|[[image:image-20220707094414-11.jpeg]]|[[image:image-20220707094418-12.jpeg]]
687		-|=4|(% style="width:200px" %)(((
	659	+|=4|(((
688	688	CW/CCW
689	689
690	690	(Negative logic)
691		-)))|(% style="width:161px" %)(((
	663	+)))|(((
692	692	PULSE (CW)
693	693
694	694	SIGN (CCW)
695	695	)))|(% colspan="2" %)[[image:image-20220707094423-13.jpeg]]
696		-|=5|(% style="width:200px" %)(((
	668	+|=5|(((
697	697	AB phase orthogonal
698	698
699	699	pulse (4 times frequency negative logic)
700		-)))|(% style="width:161px" %)(((
	672	+)))|(((
701	701	PULSE (Phase A)
702	702
703	703	SIGN (Phase B)
...	...	@@ -725,7 +725,7 @@
725	725
726	726	(% style="text-align:center" %)
727	727	(((
728		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	700	+(% class="wikigeneratedid" style="display:inline-block" %)
729	729	[[**Figure 6-11 The setting process of multi-segment position**>>image:image-20220608164116-9.png||id="Iimage-20220608164116-9.png"]]
730	730	)))
731	731
...	...	@@ -781,9 +781,10 @@
781	781
782	782	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
783	783
	756	+
784	784	(% style="text-align:center" %)
785	785	(((
786		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	759	+(% class="wikigeneratedid" style="display:inline-block" %)
787	787	[[**Figure 6-12 Single running curve (P07-02=1, P07-03=2)**>>image:image-20220608164226-10.png||id="Iimage-20220608164226-10.png"]]
788	788	)))
789	789
...	...	@@ -793,11 +793,11 @@
793	793
794	794	(% style="text-align:center" %)
795	795	(((
796		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	769	+(% class="wikigeneratedid" style="display:inline-block" %)
797	797	[[**Figure 6-13 Cycle running curve (P07-02=1, P07-03=4)**>>image:image-20220608164327-11.png||id="Iimage-20220608164327-11.png"]]
798	798	)))
799	799
800		-(% class="warning" %)|(((
	773	+|(((
801	801	(% style="text-align:center" %)
802	802	[[image:image-20220611151917-5.png]]
803	803	)))
...	...	@@ -831,7 +831,7 @@
831	831
832	832	(% style="text-align:center" %)
833	833	(((
834		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	807	+(% class="wikigeneratedid" style="display:inline-block" %)
835	835	[[**Figure 6-14 DI switching running curve**>>image:image-20220608164545-12.png||id="Iimage-20220608164545-12.png"]]
836	836	)))
837	837
...	...	@@ -843,29 +843,29 @@
843	843
844	844	(% style="text-align:center" %)
845	845	(((
846		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	819	+(% class="wikigeneratedid" style="display:inline-block" %)
847	847	[[**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"]]
848	848	)))
849	849
850	850	(% style="text-align:center" %)
851	851	(((
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"]]
	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"]]
854	854	)))
855	855
856	856	**Run again from the start segment**
857	857
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.
	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.
859	859
860	860	(% style="text-align:center" %)
861	861	(((
862		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	835	+(% class="wikigeneratedid" style="display:inline-block" %)
863	863	[[**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"]]
864	864	)))
865	865
866	866	(% style="text-align:center" %)
867	867	(((
868		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	841	+(% class="wikigeneratedid" style="display:inline-block" %)
869	869	[[**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"]]
870	870	)))
871	871
...	...	@@ -878,13 +878,13 @@
878	878	|(((
879	879	(% style="text-align:center" %)
880	880	(((
881		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	854	+(% class="wikigeneratedid" style="display:inline-block" %)
882	882	[[**Figure 6-19 Relative position diagram**>>image:image-20220608165710-17.png||id="Iimage-20220608165710-17.png"]]
883	883	)))
884	884	)))|(((
885	885	(% style="text-align:center" %)
886	886	(((
887		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	860	+(% class="wikigeneratedid" style="display:inline-block" %)
888	888	[[**Figure 6-20 Displacement diagram**>>image:image-20220608165749-18.png||id="Iimage-20220608165749-18.png"]]
889	889	)))
890	890	)))
...	...	@@ -896,13 +896,13 @@
896	896	|(((
897	897	(% style="text-align:center" %)
898	898	(((
899		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	872	+(% class="wikigeneratedid" style="display:inline-block" %)
900	900	[[**Figure 6-21 Absolute indication**>>image:image-20220608165848-19.png||id="Iimage-20220608165848-19.png"]]
901	901	)))
902	902	)))|(((
903	903	(% style="text-align:center" %)
904	904	(((
905		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	878	+(% class="wikigeneratedid" style="display:inline-block" %)
906	906	[[**Figure 6-22 Displacement**>>image:image-20220608170005-20.png||id="Iimage-20220608170005-20.png"]]
907	907	)))
908	908	)))
...	...	@@ -947,7 +947,7 @@
947	947
948	948	(% style="text-align:center" %)
949	949	(((
950		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	923	+(% class="wikigeneratedid" style="display:inline-block" %)
951	951	[[**Figure 6-23 The 1st segment running curve of motor**>>image:image-20220608170149-21.png||id="Iimage-20220608170149-21.png"]]
952	952	)))
953	953
...	...	@@ -964,7 +964,7 @@
964	964	)))
965	965
966	966	(% style="text-align:center" %)
967		-[[image:image-20220611152020-6.png||class="img-thumbnail"]]
	940	+[[image:image-20220611152020-6.png]]
968	968
969	969	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!
970	970
...	...	@@ -979,7 +979,7 @@
979	979	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)
980	980
981	981	(% style="text-align:center" %)
982		-[[image:image-20220707094901-16.png||class="img-thumbnail"]]
	955	+[[image:image-20220707094901-16.png]]
983	983
984	984	Otherwise, the servo drive will report Er.35: "Electronic gear ratio setting exceeds the limit"!
985	985
...	...	@@ -987,8 +987,8 @@
987	987
988	988	(% style="text-align:center" %)
989	989	(((
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"]]
	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"]]
992	992	)))
993	993
994	994	**lectronic gear ratio switch setting**
...	...	@@ -1085,8 +1085,8 @@
1085	1085
1086	1086	(% style="text-align:center" %)
1087	1087	(((
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"]]
	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"]]
1090	1090	)))
1091	1091
1092	1092	|=(% scope="row" %)**Function code**|=**Name**|=(((
...	...	@@ -1129,7 +1129,7 @@
1129	1129
1130	1130	(% style="text-align:center" %)
1131	1131	(((
1132		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	1105	+(% class="wikigeneratedid" style="display:inline-block" %)
1133	1133	[[**Figure 6-26 Positioning completion signal output diagram**>>image:image-20220608170550-24.png||id="Iimage-20220608170550-24.png"]]
1134	1134	)))
1135	1135
...	...	@@ -1139,8 +1139,8 @@
1139	1139
1140	1140	(% style="text-align:center" %)
1141	1141	(((
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"]]
	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"]]
1144	1144	)))
1145	1145
1146	1146	|=(% scope="row" %)**Function code**|=**Name**|=(((
...	...	@@ -1187,7 +1187,7 @@
1187	1187
1188	1188	(% style="text-align:center" %)
1189	1189	(((
1190		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	1163	+(% class="wikigeneratedid" style="display:inline-block" %)
1191	1191	[[**Figure 6-28 Speed control block diagram**>>image:6.28.jpg||height="260" id="I6.28.jpg" width="806"]]
1192	1192	)))
1193	1193
...	...	@@ -1195,12 +1195,12 @@
1195	1195
1196	1196	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.
1197	1197
1198		-|=(% scope="row" style="width: 121px;" %)**Function code**|=(% style="width: 186px;" %)**Name**|=(% style="width: 128px;" %)(((
	1171	+|=(% scope="row" style="width: 121px;" %)**Function code**|=(% style="width: 189px;" %)**Name**|=(% style="width: 125px;" %)(((
1199	1199	**Setting method**
1200	1200	)))|=(% style="width: 125px;" %)(((
1201	1201	**Effective time**
1202	1202	)))|=(% style="width: 85px;" %)**Default value**|=(% style="width: 75px;" %)**Range**|=(% style="width: 310px;" %)**Definition**|=**Unit**
1203		-|=(% style="width: 121px;" %)P01-01|(% style="width:186px" %)Speed instruction source|(% style="width:128px" %)(((
	1176	+|=(% style="width: 121px;" %)P01-01|(% style="width:189px" %)Speed instruction source|(% style="width:125px" %)(((
1204	1204	Shutdown setting
1205	1205	)))|(% style="width:125px" %)(((
1206	1206	Effective immediately
...	...	@@ -1433,8 +1433,8 @@
1433	1433
1434	1434	(% style="text-align:center" %)
1435	1435	(((
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"]]
	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"]]
1438	1438	)))
1439	1439
1440	1440	**Speed instruction source is internal speed instruction (P01-01=1)**
...	...	@@ -1443,7 +1443,7 @@
1443	1443
1444	1444	(% style="text-align:center" %)
1445	1445	(((
1446		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	1419	+(% class="wikigeneratedid" style="display:inline-block" %)
1447	1447	[[**Figure 6-30 Analog input circuit**>>image:image-20220608153341-5.png||id="Iimage-20220608153341-5.png"]]
1448	1448	)))
1449	1449
...	...	@@ -1451,7 +1451,7 @@
1451	1451
1452	1452	(% style="text-align:center" %)
1453	1453	(((
1454		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	1427	+(% class="wikigeneratedid" style="display:inline-block" %)
1455	1455	[[**Figure 6-31 Analog voltage speed instruction setting steps**>>image:image-20220608170955-27.png||id="Iimage-20220608170955-27.png"]]
1456	1456	)))
1457	1457
...	...	@@ -1463,7 +1463,7 @@
1463	1463
1464	1464	(% style="text-align:center" %)
1465	1465	(((
1466		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	1439	+(% class="wikigeneratedid" style="display:inline-block" %)
1467	1467	[[**Figure 6-32 AI_1 diagram before and after bias**>>image:image-20220608171124-28.png||id="Iimage-20220608171124-28.png"]]
1468	1468	)))
1469	1469
...	...	@@ -1488,12 +1488,12 @@
1488	1488
1489	1489	(% style="text-align:center" %)
1490	1490	(((
1491		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	1464	+(% class="wikigeneratedid" style="display:inline-block" %)
1492	1492	[[**Figure 6-33 of acceleration and deceleration time diagram**>>image:image-20220608171314-29.png||id="Iimage-20220608171314-29.png"]]
1493	1493	)))
1494	1494
1495	1495	(% style="text-align:center" %)
1496		-[[image:image-20220707103616-27.png||class="img-thumbnail"]]
	1469	+[[image:image-20220707103616-27.png]]
1497	1497
1498	1498	|=(% scope="row" %)**Function code**|=**Name**|=(((
1499	1499	**Setting method**
...	...	@@ -1588,7 +1588,7 @@
1588	1588
1589	1589	(% style="text-align:center" %)
1590	1590	(((
1591		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	1564	+(% class="wikigeneratedid" style="display:inline-block" %)
1592	1592	[[**Figure 6-34 Zero-speed clamp diagram**>>image:image-20220608171549-30.png||id="Iimage-20220608171549-30.png"]]
1593	1593	)))
1594	1594
...	...	@@ -1602,7 +1602,7 @@
1602	1602
1603	1603	(% style="text-align:center" %)
1604	1604	(((
1605		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	1578	+(% class="wikigeneratedid" style="display:inline-block" %)
1606	1606	[[**Figure 6-35 Rotation detection signal diagram**>>image:image-20220608171625-31.png||id="Iimage-20220608171625-31.png"]]
1607	1607	)))
1608	1608
...	...	@@ -1642,7 +1642,7 @@
1642	1642
1643	1643	(% style="text-align:center" %)
1644	1644	(((
1645		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	1618	+(% class="wikigeneratedid" style="display:inline-block" %)
1646	1646	[[**Figure 6-36 Zero-speed signal diagram**>>image:image-20220608171904-32.png||id="Iimage-20220608171904-32.png"]]
1647	1647	)))
1648	1648
...	...	@@ -1674,7 +1674,7 @@
1674	1674
1675	1675	(% style="text-align:center" %)
1676	1676	(((
1677		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	1650	+(% class="wikigeneratedid" style="display:inline-block" %)
1678	1678	[[**Figure 6-37 Speed consistent signal diagram**>>image:image-20220608172053-33.png||id="Iimage-20220608172053-33.png"]]
1679	1679	)))
1680	1680
...	...	@@ -1706,18 +1706,18 @@
1706	1706
1707	1707	(% style="text-align:center" %)
1708	1708	(((
1709		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	1682	+(% class="wikigeneratedid" style="display:inline-block" %)
1710	1710	[[**Figure 6-38 Speed approaching signal diagram**>>image:image-20220608172207-34.png||id="Iimage-20220608172207-34.png"]]
1711	1711	)))
1712	1712
1713	1713	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__.
1714	1714
1715		-|=(% scope="row" style="width: 147px;" %)**Function code**|=(% style="width: 184px;" %)**Name**|=(((
	1688	+|=(% scope="row" %)**Function code**|=**Name**|=(((
1716	1716	**Setting method**
1717	1717	)))|=(((
1718	1718	**Effective time**
1719	1719	)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1720		-|=(% style="width: 147px;" %)P05-18|(% style="width:184px" %)Speed approach signal threshold|(((
	1693	+|=P05-18|Speed approach signal threshold|(((
1721	1721	Operation setting
1722	1722	)))|(((
1723	1723	Effective immediately
...	...	@@ -1738,7 +1738,7 @@
1738	1738
1739	1739	(% style="text-align:center" %)
1740	1740	(((
1741		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	1714	+(% class="wikigeneratedid" style="display:inline-block" %)
1742	1742	[[**Figure 6-39 Torque mode diagram**>>image:image-20220608172405-35.png||id="Iimage-20220608172405-35.png"]]
1743	1743	)))
1744	1744
...	...	@@ -1751,7 +1751,7 @@
1751	1751	)))|=(((
1752	1752	**Effective time**
1753	1753	)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1754		-|=P01-07|Torque instruction source|(((
	1727	+|=P01-08|Torque instruction source|(((
1755	1755	Shutdown setting
1756	1756	)))|(((
1757	1757	Effective immediately
...	...	@@ -1786,7 +1786,7 @@
1786	1786
1787	1787	(% style="text-align:center" %)
1788	1788	(((
1789		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	1762	+(% class="wikigeneratedid" style="display:inline-block" %)
1790	1790	[[**Figure 6-40 Analog input circuit**>>image:image-20220608153646-7.png||height="213" id="Iimage-20220608153646-7.png" width="408"]]
1791	1791	)))
1792	1792
...	...	@@ -1794,7 +1794,7 @@
1794	1794
1795	1795	(% style="text-align:center" %)
1796	1796	(((
1797		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	1770	+(% class="wikigeneratedid" style="display:inline-block" %)
1798	1798	[[**Figure 6-41 Analog voltage torque instruction setting steps**>>image:image-20220608172502-36.png||id="Iimage-20220608172502-36.png"]]
1799	1799	)))
1800	1800
...	...	@@ -1806,7 +1806,7 @@
1806	1806
1807	1807	(% style="text-align:center" %)
1808	1808	(((
1809		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	1782	+(% class="wikigeneratedid" style="display:inline-block" %)
1810	1810	[[**Figure 6-42 AI_1 diagram before and after bias**>>image:image-20220608172611-37.png||id="Iimage-20220608172611-37.png"]]
1811	1811	)))
1812	1812
...	...	@@ -1847,7 +1847,7 @@
1847	1847
1848	1848	(% style="text-align:center" %)
1849	1849	(((
1850		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	1823	+(% class="wikigeneratedid" style="display:inline-block" %)
1851	1851	[[**Figure 6-43 Torque instruction-first-order filtering diagram**>>image:image-20220608172646-38.png||id="Iimage-20220608172646-38.png"]]
1852	1852	)))
1853	1853
...	...	@@ -1859,7 +1859,7 @@
1859	1859
1860	1860	(% style="text-align:center" %)
1861	1861	(((
1862		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	1835	+(% class="wikigeneratedid" style="display:inline-block" %)
1863	1863	[[**Figure 6-44 Torque instruction limit diagram**>>image:image-20220608172806-39.png||id="Iimage-20220608172806-39.png"]]
1864	1864	)))
1865	1865
...	...	@@ -1933,13 +1933,13 @@
1933	1933	|(((
1934	1934	(% style="text-align:center" %)
1935	1935	(((
1936		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	1909	+(% class="wikigeneratedid" style="display:inline-block" %)
1937	1937	[[**Figure 6-45 Forward running curve**>>image:image-20220608172910-40.png||id="Iimage-20220608172910-40.png"]]
1938	1938	)))
1939	1939	)))|(((
1940	1940	(% style="text-align:center" %)
1941	1941	(((
1942		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	1915	+(% class="wikigeneratedid" style="display:inline-block" %)
1943	1943	[[Figure 6-46 Reverse running curve>>image:image-20220608173155-41.png||id="Iimage-20220608173155-41.png"]]
1944	1944	)))
1945	1945	)))
...	...	@@ -1980,7 +1980,7 @@
1980	1980
1981	1981	✎**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]]__.
1982	1982
1983		-== Torque-related DO output functions ==
	1956	+== **Torque-related DO output functions** ==
1984	1984
1985	1985	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.
1986	1986
...	...	@@ -1989,27 +1989,26 @@
1989	1989	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.
1990	1990
1991	1991	(% style="text-align:center" %)
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		-)))
	1965	+[[image:image-20220608173541-42.png]]
1996	1996
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__.
	1967	+Figure 6-47 Torque arrival output diagram
1998	1998
1999		-|=(% scope="row" %)**Function code**|=(% style="width: 113px;" %)**Name**|=(% style="width: 100px;" %)(((
	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**|(((
2000	2000	**Setting method**
2001		-)))|=(% style="width: 124px;" %)(((
	1973	+)))|(((
2002	2002	**Effective time**
2003		-)))|=(% style="width: 83px;" %)**Default value**|=(% style="width: 94px;" %)**Range**|=(% style="width: 421px;" %)**Definition**|=**Unit**
2004		-|=P05-20|(% style="width:113px" %)(((
	1975	+)))|**Default value**|**Range**|**Definition**|**Unit**
	1976	+|P05-20|(((
2005	2005	Torque arrival
2006	2006
2007	2007	threshold
2008		-)))|(% style="width:100px" %)(((
	1980	+)))|(((
2009	2009	Operation setting
2010		-)))|(% style="width:124px" %)(((
	1982	+)))|(((
2011	2011	Effective immediately
2012		-)))|(% style="width:83px" %)100|(% style="width:94px" %)0 to 300|(% style="width:421px" %)(((
	1984	+)))|100|0 to 300|(((
2013	2013	The torque arrival threshold must be used with “Torque arrival hysteresis value”:
2014	2014
2015	2015	When the actual torque reaches Torque arrival threshold + Torque arrival hysteresis Value, the torque arrival DO is valid;
...	...	@@ -2016,20 +2016,21 @@
2016	2016
2017	2017	When the actual torque decreases below torque arrival threshold-torque arrival hysteresis value, the torque arrival DO is invalid
2018	2018	)))|%
2019		-|=P05-21|(% style="width:113px" %)(((
	1991	+|P05-21|(((
2020	2020	Torque arrival
2021	2021
2022	2022	hysteresis
2023		-)))|(% style="width:100px" %)(((
	1995	+)))|(((
2024	2024	Operation setting
2025		-)))|(% style="width:124px" %)(((
	1997	+)))|(((
2026	2026	Effective immediately
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|%
	1999	+)))|10|0 to 20|Torque arrival the hysteresis value must be used with Torque arrival threshold|%
2028	2028
2029	2029	Table 6-49 Torque arrival parameters
2030	2030
2031		-|=(% scope="row" %)**DO function code**|=**Function name**|=**Function**
2032		-|=138|(((
	2003	+
	2004	+|**DO function code**|**Function name**|**Function**
	2005	+|138|(((
2033	2033	T-COIN torque arrival
2034	2034	)))|Used to determine whether the actual torque instruction has reached the set range
2035	2035
...	...	@@ -2039,28 +2039,35 @@
2039	2039
2040	2040	Mixed control mode means that when the servo enable is ON and the status of the servo drive is "run", the mode of the servo drive could be switched between different modes. The VD2 series servo drives have the following 3 mixed control modes:
2041	2041
2042		-* Position mode⇔ Speed mode
2043		-* Position mode ⇔Torque mode
2044		-* Speed mode ⇔Torque mode
	2015	+Position mode⇔ Speed mode
2045	2045
	2017	+Position mode ⇔Torque mode
	2018	+
	2019	+Speed mode ⇔Torque mode
	2020	+
2046	2046	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.
2047	2047
2048		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	2023	+|**Function code**|**Name**|(((
2049	2049	**Setting method**
2050		-)))|=(((
	2025	+)))|(((
2051	2051	**Effective time**
2052		-)))|=**Default value**|=(% style="width: 90px;" %)**Range**|=(% style="width: 273px;" %)**Definition**|=**Unit**
2053		-|=P00-01|Control mode|(((
	2027	+)))|**Default value**|**Range**|**Definition**|**Unit**
	2028	+|P00-01|Control mode|(((
2054	2054	Shutdown setting
2055	2055	)))|(((
2056	2056	Shutdown setting
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
	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
2064	2064	)))|-
2065	2065
2066	2066	Table 6-51 Mixed control mode parameters
...	...	@@ -2067,38 +2067,35 @@
2067	2067
2068	2068	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.
2069	2069
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
	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
2080	2080	)))
2081	2081
2082	2082	Table 6-52 Description of DI function codes in control mode
2083	2083
2084		-(% class="box infomessage" %)
2085		-(((
2086	2086	✎**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		-)))
2088	2088
2089	2089	= **Absolute system** =
2090	2090
2091		-== Overview ==
	2067	+== **Overview** ==
2092	2092
2093	2093	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.
2094	2094
2095	2095	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.
2096	2096
2097		-== Single-turn absolute value system ==
	2073	+== **Single-turn absolute value system** ==
2098	2098
2099	2099	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.
2100	2100
2101		-|=**Encoder type**|=**Encoder resolution (bits)**|=**Data range**
	2077	+
	2078	+|**Encoder type**|**Encoder resolution (bits)**|**Data range**
2102	2102	|A1 (single-turn magnetic encoder)|17|0 to 131071
2103	2103
2104	2104	Table 6-53 Single-turn absolute encoder information
...	...	@@ -2106,18 +2106,17 @@
2106	2106	The relationship between encoder feedback position and rotating load position is shown in the figure below. (take a 17-bit encoder as an example).
2107	2107
2108	2108	(% style="text-align:center" %)
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		-)))
	2086	+[[image:image-20220608173618-43.png]]
2113	2113
2114		-== Multi-turn absolute value system ==
	2088	+Figure 6-48 Diagram of relationship between encoder feedback position and rotating load position
2115	2115
	2090	+== **Multi-turn absolute value system** ==
	2091	+
2116	2116	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.
2117	2117
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
	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
2121	2121
2122	2122	Table 6-54 Multi-turn absolute encoder information
2123	2123
...	...	@@ -2124,21 +2124,20 @@
2124	2124	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).
2125	2125
2126	2126	(% style="text-align:center" %)
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		-)))
	2103	+[[image:image-20220608173701-44.png]]
2131	2131
2132		-== Related functions and parameters ==
	2105	+Figure 6-49 The relationship between encoder feedback position and rotating load position
2133	2133
	2107	+== **Related functions and parameters** ==
	2108	+
2134	2134	**Encoder feedback data**
2135	2135
2136	2136	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.
2137	2137
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
	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
2142	2142
2143	2143	Table 6-55 Encoder feedback data
2144	2144
...	...	@@ -2146,28 +2146,26 @@
2146	2146
2147	2147	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.
2148	2148
2149		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	2124	+|**Function code**|**Name**|(((
2150	2150	**Setting**
2151	2151
2152	2152	**method**
2153		-)))|=(((
	2128	+)))|(((
2154	2154	**Effective**
2155	2155
2156	2156	**time**
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
	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
2161	2161	)))|-
2162	2162
2163	2163	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.
2164	2164
2165		-(% class="box infomessage" %)
2166		-(((
2167	2167	**✎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		-)))
2169	2169
2170		-== Absolute value system encoder battery box use precautions. ==
	2143	+== **Absolute value system encoder battery box use precautions**. ==
2171	2171
2172	2172	**Cautions**
2173	2173
...	...	@@ -2174,11 +2174,10 @@
2174	2174	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.
2175	2175
2176	2176	(% style="text-align:center" %)
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		-)))
	2150	+[[image:image-20220707111333-28.png]]
2181	2181
	2152	+Figure 6-50 the encoder battery box
	2153	+
2182	2182	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.
2183	2183
2184	2184	**Replace the battery**
...	...	@@ -2194,19 +2194,20 @@
2194	2194
2195	2195	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.
2196	2196
2197		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	2169	+|**Function code**|**Name**|(((
2198	2198	**Setting method**
2199		-)))|=(((
	2171	+)))|(((
2200	2200	**Effective time**
2201		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2202		-|=P10-06|Multi-turn absolute encoder reset|(((
	2173	+)))|**Default value**|**Range**|**Definition**|**Unit**
	2174	+|P10-06|Multi-turn absolute encoder reset|(((
2203	2203	Shutdown setting
2204	2204	)))|(((
2205	2205	Effective immediately
2206	2206	)))|0|0 to 1|(((
2207		-* 0: No operation
2208		-* 1: Clear rotation number of multi-turn absolute encoder, multi-turn absolute encoder current position and encoder fault alarms.
	2179	+0: No operation
2209	2209
	2181	+1: Clear rotation number of multi-turn absolute encoder, multi-turn absolute encoder current position and encoder fault alarms.
	2182	+
2210	2210	✎**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.
2211	2211	)))|-
2212	2212
...	...	@@ -2214,7 +2214,7 @@
2214	2214
2215	2215	**Battery selection**
2216	2216
2217		-|=(% scope="row" style="width: 361px;" %)**Battery selection specification**|=(% style="width: 496px;" %)**Item**|=(% style="width: 219px;" %)**Value**
	2190	+|(% style="width:361px" %)**Battery selection specification**|(% style="width:496px" %)**Item**|(% style="width:219px" %)**Value**
2218	2218	|(% rowspan="4" style="width:361px" %)(((
2219	2219	Nominal Voltage: 3.6V
2220	2220
...	...	@@ -2242,108 +2242,111 @@
2242	2242
2243	2243	= **Other functions** =
2244	2244
2245		-== VDI ==
	2218	+== **VDI** ==
2246	2246
2247	2247	VDI (Virtual Digital Signal Input Port) is similar to hardware DI terminal. The DI function could also be assigned for use.
2248	2248
2249		-(% class="box infomessage" %)
2250		-(((
2251	2251	✎**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		-)))
2253	2253
2254	2254	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.
2255	2255
	2226	+
2256	2256	(% style="text-align:center" %)
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		-)))
	2228	+[[image:image-20220608173804-46.png]]
2261	2261
2262		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	2230	+Figure 6-51 VDI_1 setting steps
	2231	+
	2232	+|**Function code**|**Name**|(((
2263	2263	**Setting method**
2264		-)))|=(((
	2234	+)))|(((
2265	2265	**Effective time**
2266		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2267		-|=P13-1|Virtual VDI_1 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2236	+)))|**Default value**|**Range**|**Definition**|**Unit**
	2237	+|P13-1|Virtual VDI_1 input value|Operation setting|Effective immediately|0|0 to 1|(((
2268	2268	When P06-04 is set to 1, DI_1 channel logic is control by this function code.
2269	2269
2270	2270	VDI_1 input level:
2271	2271
2272		-* 0: low level
2273		-* 1: high level
	2242	+0: low level
	2243	+
	2244	+1: high level
2274	2274	)))|-
2275		-|=P13-2|Virtual VDI_2 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2246	+|P13-2|Virtual VDI_2 input value|Operation setting|Effective immediately|0|0 to 1|(((
2276	2276	When P06-07 is set to 1, DI_2 channel logic is control by this function code.
2277	2277
2278	2278	VDI_2 input level:
2279	2279
2280		-* 0: low level
2281		-* 1: high level
	2251	+0: low level
	2252	+
	2253	+1: high level
2282	2282	)))|-
2283		-|=P13-3|Virtual VDI_3 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2255	+|P13-3|Virtual VDI_3 input value|Operation setting|Effective immediately|0|0 to 1|(((
2284	2284	When P06-10 is set to 1, DI_3 channel logic is control by this function code.
2285	2285
2286	2286	VDI_3 input level:
2287	2287
2288		-* 0: low level
2289		-* 1: high level
	2260	+0: low level
	2261	+
	2262	+1: high level
2290	2290	)))|-
2291		-|=P13-4|Virtual VDI_4 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2264	+|P13-4|Virtual VDI_4 input value|Operation setting|Effective immediately|0|0 to 1|(((
2292	2292	When P06-13 is set to 1, DI_4 channel logic is control by this function code.
2293	2293
2294	2294	VDI_4 input level:
2295	2295
2296		-* 0: low level
2297		-* 1: high level
	2269	+0: low level
	2270	+
	2271	+1: high level
2298	2298	)))|-
2299		-|=P13-05☆|Virtual VDI_5 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2273	+|P13-05☆|Virtual VDI_5 input value|Operation setting|Effective immediately|0|0 to 1|(((
2300	2300	When P06-16 is set to 1, DI_5 channel logic is control by this function code.
2301	2301
2302	2302	VDI_5 input level:
2303	2303
2304		-* 0: low level
2305		-* 1: high level
	2278	+0: low level
	2279	+
	2280	+1: high level
2306	2306	)))|-
2307		-|=P13-06☆|Virtual VDI_6 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2282	+|P13-06☆|Virtual VDI_6 input value|Operation setting|Effective immediately|0|0 to 1|(((
2308	2308	When P06-19 is set to 1, DI_6 channel logic is control by this function code.
2309	2309
2310	2310	VDI_6 input level:
2311	2311
2312		-* 0: low level
2313		-* 1: high level
	2287	+0: low level
	2288	+
	2289	+1: high level
2314	2314	)))|-
2315		-|=P13-07☆|Virtual VDI_7 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2291	+|P13-07☆|Virtual VDI_7 input value|Operation setting|Effective immediately|0|0 to 1|(((
2316	2316	When P06-22 is set to 1, DI_7 channel logic is control by this function code.
2317	2317
2318	2318	VDI_7 input level:
2319	2319
2320		-* 0: low level
2321		-* 1: high level
	2296	+0: low level
	2297	+
	2298	+1: high level
2322	2322	)))|-
2323		-|=P13-08☆|Virtual VDI_8 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2300	+|P13-08☆|Virtual VDI_8 input value|Operation setting|Effective immediately|0|0 to 1|(((
2324	2324	When P06-25 is set to 1, DI_8 channel logic is control by this function code.
2325	2325
2326	2326	VDI_8 input level:
2327	2327
2328		-* 0: low level
2329		-* 1: high level
	2305	+0: low level
	2306	+
	2307	+1: high level
2330	2330	)))|-
2331	2331
2332	2332	Table 6-57 Virtual VDI parameters
2333	2333
2334		-(% class="box infomessage" %)
2335		-(((
2336	2336	✎**Note: **“☆” means VD2F servo drive does not support the function code .
2337		-)))
2338	2338
2339		-== Port filtering time ==
	2314	+== **Port filtering time** ==
2340	2340
2341	2341	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.
2342	2342
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"]]
2346	2346
	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	+
2347	2347	Table 6-58 DI terminal channel logic selection
2348	2348
2349	2349	== **VDO** ==
...	...	@@ -2353,49 +2353,51 @@
2353	2353	Take the DO_2 terminal as communication VDO, and the use steps of VDI are as the figure below.
2354	2354
2355	2355	(% style="text-align:center" %)
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		-)))
	2332	+[[image:image-20220608173957-48.png]]
2360	2360
	2334	+Figure 6-52 VDO_2 setting steps
2361	2361
2362		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	2336	+|**Function code**|**Name**|(((
2363	2363	**Setting method**
2364		-)))|=(((
	2338	+)))|(((
2365	2365	**Effective time**
2366		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2367		-|=P13-11|Communication VDO_1 output value|Operation setting|Effective immediately|0|0 to 1|(((
	2340	+)))|**Default value**|**Range**|**Definition**|**Unit**
	2341	+|P13-11|Communication VDO_1 output value|Operation setting|Effective immediately|0|0 to 1|(((
2368	2368	VDO_1 output level：
2369	2369
2370		-* 0: low level
2371		-* 1: high level
	2344	+0: low level
	2345	+
	2346	+1: high level
2372	2372	)))|-
2373		-|=P13-12|Communication VDO_2 output value|Operation setting|Effective immediately|0|0 to 1|(((
	2348	+|P13-12|Communication VDO_2 output value|Operation setting|Effective immediately|0|0 to 1|(((
2374	2374	VDO_2 output level：
2375	2375
2376		-* 0: low level
2377		-* 1: high level
	2351	+0: low level
	2352	+
	2353	+1: high level
2378	2378	)))|-
2379		-|=P13-13|Communication VDO_3 output value|Operation setting|Effective immediately|0|0 to 1|(((
	2355	+|P13-13|Communication VDO_3 output value|Operation setting|Effective immediately|0|0 to 1|(((
2380	2380	VDO_3 output level：
2381	2381
2382		-* 0: low level
2383		-* 1: high level
	2358	+0: low level
	2359	+
	2360	+1: high level
2384	2384	)))|-
2385		-|=P13-14|Communication VDO_4 output value|Operation setting|Effective immediately|0|0 to 1|(((
	2362	+|P13-14|Communication VDO_4 output value|Operation setting|Effective immediately|0|0 to 1|(((
2386	2386	VDO_4 output level：
2387	2387
2388		-* 0: low level
2389		-* 1: high level
	2365	+0: low level
	2366	+
	2367	+1: high level
2390	2390	)))|-
2391	2391
2392	2392	Table 6-59 Communication control DO function parameters
2393	2393
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
	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
2399	2399
2400	2400	Table 6-60 VDO function number
2401	2401
...	...	@@ -2403,16 +2403,16 @@
2403	2403
2404	2404	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).
2405	2405
2406		-== Motor overload protection ==
	2384	+== **Motor overload protection** ==
2407	2407
2408	2408	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%.
2409	2409
2410		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	2388	+|**Function code**|**Name**|(((
2411	2411	**Setting method**
2412		-)))|=(((
	2390	+)))|(((
2413	2413	**Effective time**
2414		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2415		-|=P10-04|motor overload protection time coefficient|Operation setting|Effective immediately|100|0 to 800|(((
	2392	+)))|**Default value**|**Range**|**Definition**|**Unit**
	2393	+|P10-04|motor overload protection time coefficient|Operation setting|Effective immediately|100|0 to 800|(((
2416	2416	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.
2417	2417
2418	2418	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