Skip to Content

Changes for page 06 Operation

Last modified by Iris on 2025/08/08 14:40
From version 57.1
edited by Stone Wu
on 2022/09/23 14:31
Change comment: There is no comment for this version
To version 55.1
edited by Stone Wu
on 2022/08/30 11:13
Change comment: There is no comment for this version

Summary

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  )))
... ... @@ -1990,8 +1990,8 @@
1990 1990  
1991 1991  (% style="text-align:center" %)
1992 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"]]
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"]]
1995 1995  )))
1996 1996  
1997 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__.
... ... @@ -2107,8 +2107,8 @@
2107 2107  
2108 2108  (% style="text-align:center" %)
2109 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"]]
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"]]
2112 2112  )))
2113 2113  
2114 2114  == Multi-turn absolute value system ==
... ... @@ -2125,7 +2125,7 @@
2125 2125  
2126 2126  (% style="text-align:center" %)
2127 2127  (((
2128 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2101 +(% class="wikigeneratedid" style="display:inline-block" %)
2129 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 2130  )))
2131 2131  
... ... @@ -2175,8 +2175,8 @@
2175 2175  
2176 2176  (% style="text-align:center" %)
2177 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"]]
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"]]
2180 2180  )))
2181 2181  
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.
... ... @@ -2255,7 +2255,7 @@
2255 2255  
2256 2256  (% style="text-align:center" %)
2257 2257  (((
2258 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2231 +(% class="wikigeneratedid" style="display:inline-block" %)
2259 2259  [[**Figure 6-51 VDI_1 setting steps**>>image:image-20220608173804-46.png||id="Iimage-20220608173804-46.png"]]
2260 2260  )))
2261 2261  
... ... @@ -2354,7 +2354,7 @@
2354 2354  
2355 2355  (% style="text-align:center" %)
2356 2356  (((
2357 -(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2330 +(% class="wikigeneratedid" style="display:inline-block" %)
2358 2358  [[**Figure 6-52 VDO_2 setting steps**>>image:image-20220608173957-48.png||id="Iimage-20220608173957-48.png"]]
2359 2359  )))
2360 2360