Changes for page 06 Operation

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

From 53.4 to 53.3 From 59.1 to 58.1

From version 58.1

edited by Jim(Forgotten)
on 2023/02/06 11:22

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To version 53.4

edited by Stone Wu
on 2022/07/29 10:04

Change comment: Update document after refactoring.

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

Content

@@ -2,67 +2,57 @@
  == **Check before operation** ==
--|=(% scope="row" style="width: 79px;" %)**No.**|=(% style="width: 996px;" %)**Content**
++|=(% scope="row" %)**No.**|=**Content**
  |=(% colspan="2" %)Wiring
--|=(% style="width: 79px;" %)1|(% style="width:996px" %)The main circuit input terminals (L1, L2 and L3) of servo drive must be properly connected.
--|=(% 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.
--|=(% 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.
--|=(% 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.
--|=(% style="width: 79px;" %)5|(% style="width:996px" %)Servo drive and servo motor must be grounded reliably.
--|=(% style="width: 79px;" %)6|(% style="width:996px" %)When using an external braking resistor, the short wiring between drive C and D must be removed.
--|=(% style="width: 79px;" %)7|(% style="width:996px" %)The force of all cables is within the specified range.
--|=(% style="width: 79px;" %)8|(% style="width:996px" %)The wiring terminals have been insulated.
++|=1|The main circuit input terminals (L1, L2 and L3) of servo drive must be properly connected.
++|=2|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.
++|=3|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.
++|=4|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.
++|=5|Servo drive and servo motor must be grounded reliably.
++|=6|When using an external braking resistor, the short wiring between drive C and D must be removed.
++|=7|The force of all cables is within the specified range.
++|=8|The wiring terminals have been insulated.
  |=(% colspan="2" %)Environment and Machinery
--|=(% 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.
--|=(% style="width: 79px;" %)2|(% style="width:996px" %)The servo drive and external braking resistor are not placed on combustible objects.
--|=(% style="width: 79px;" %)3|(% style="width:996px" %)The installation, shaft and mechanical structure of the servo motor have been firmly connected.
++|=1|There is no iron filings, metal, etc. that can cause short circuits inside or outside the servo drive.
++|=2|The servo drive and external braking resistor are not placed on combustible objects.
++|=3|The installation, shaft and mechanical structure of the servo motor have been firmly connected.
  Table 6-1 Check contents before operation
--== Power-on ==
++== **Power-on** ==
--**Connect the main circuit power supply**
++**(1) Connect the main circuit power supply**
  After power on the main circuit, the bus voltage indicator shows no abnormality, and the panel display "rdy", indicating that the servo drive is in an operational state, waiting for the host computer to give the servo enable signal.
--If the drive panel displays other fault codes, please refer to __[[“10 Malfunctions">>doc:Servo.Manual.02 VD2 SA Series.10 Malfunctions.WebHome]]__” to analyze and eliminate the cause of the fault.
++If the drive panel displays other fault codes, please refer to __[[“10 Faults>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/10%20Malfunctions/]]__” to analyze and eliminate the cause of the fault.
--**Set the servo drive enable (S-ON) to invalid (OFF)**
++**(2) Set the servo drive enable (S-ON) to invalid (OFF)**
--== Jog operation ==
++== **Jog operation** ==
  Jog operation is used to judge whether the servo motor can rotate normally, and whether there is abnormal vibration and abnormal sound during rotation. Jog operation can be realized in two ways, one is panel jog operation, which can be realized by pressing the buttons on the servo panel. The other is jog operation through the host computer debugging platform.
--**Panel jog operation**
++**(1) Panel jog operation**
--Enter “P10-01” by pressing the key on the panel. After pressing “OK”, the panel will display the current jog speed. At this time, you can adjust the jog speed by pressing the "up" or "down" keys; After adjusting the moving speed, press "OK", and the panel displays "JOG" and is in a flashing state. Press "OK" again to enter the jog operation mode (the motor is now powered on!). Long press the "up" and "down" keys to achieve the forward and reverse rotation of the motor. Press "Mode" key to exit the jog operation mode. For operation and display, please refer to __[["5.3.2. Jog operation">>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/05%20Panel/#HJogoperation]]__.
++Enter “P10-01” by pressing the key on the panel. After pressing “OK”, the panel will display the current jog speed. At this time, you can adjust the jog speed by pressing the "up" or "down" keys; After adjusting the moving speed, press "OK", and the panel displays "JOG" and is in a flashing state. Press "OK" again to enter the jog operation mode (the motor is now powered on!). Long press the "up" and "down" keys to achieve the forward and reverse rotation of the motor. Press "Mode" key to exit the jog operation mode. For operation and display, please refer to __[["5.3.2. Jog operation">>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/05%20Panel/#HJogoperation]]__.
--**Jog operation of servo debugging platform**
++**(2) Jog operation of servo debugging platform**
  Open the jog operation interface of the software “Wecon SCTool”, set the jog speed value in the "set speed" in the "manual operation", click the "servo on" button on the interface, and then achieve the jog forward and reverse function through the "forward rotation" or "Reverse" button on the interface. After clicking the "Servo off" button, the jog operation mode is exited. The related function codes are shown below.
++
++
  |=(% scope="row" %)**Function code**|=**Name**|=(((
  **Setting method**
  )))|=(((
  **Effective time**
  )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
--|=(((
--P10-01
--)))|(((
--JOG speed
--)))|(((
++|=P10-01|JOG speed|(((
  Operation setting
  )))|(((
  Effective immediately
--)))|(((
--100
--)))|(((
--0 to 3000
--)))|(((
--JOG speed
--)))|(((
--rpm
--)))
++)))|100|0 to 3000|JOG speed|rpm
  Table 6-2 JOG speed parameter
@@ -70,24 +70,18 @@
  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.
++
  |=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=Effective time|=**Default value**|=**Range**|=**Definition**|=**Unit**
--|=(((
--P00-04
--)))|(((
--Rotation direction
--)))|(((
++|=P00-04|Rotation direction|(((
  Shutdown setting
  )))|(((
  Effective immediately
--)))|(((
--0
--)))|(((
--0 to 1
--)))|(((
++)))|0|0 to 1|(((
  Forward rotation: Face the motor shaft to watch
--* 0: standard setting (CW is forward rotation)
--* 1: reverse mode (CCW is forward rotation)
++0: standard setting (CW is forward rotation)
++
++1: reverse mode (CCW is forward rotation)
  )))|-
  Table 6-3 Rotation direction parameters** **
@@ -101,30 +101,33 @@
 . 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.
 . 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.
--|=(% scope="row" %)**Function code**|=**Name**|=(% style="width: 118px;" %)(((
++|=(% scope="row" %)**Function code**|=**Name**|=(((
  **Setting method**
--)))|=(% style="width: 126px;" %)(((
++)))|=(((
  **Effective time**
  )))|=**Default**|=**Range**|=**Definition**|=**Unit**
--|=P00-09|Braking resistor setting|(% style="width:118px" %)(((
++|=P00-09|Braking resistor setting|(((
  Operation setting
--)))|(% style="width:126px" %)(((
++)))|(((
  Effective immediately
  )))|0|0 to 3|(((
--* 0: use built-in braking resistor
--* 1: use external braking resistor and natural cooling
--* 2: use external braking resistor and forced air cooling; (cannot be set)
--* 3: No braking resistor is used, it is all absorbed by capacitor.
++0: use built-in braking resistor
++
++1: use external braking resistor and natural cooling
++
++2: use external braking resistor and forced air cooling; (cannot be set)
++
++3: No braking resistor is used, it is all absorbed by capacitor.
  )))|-
--(% 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).
--|=P00-10|External braking resistor value|(% style="width:118px" %)(((
++|=(% 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).
++|=P00-10|External braking resistor value|(((
  Operation setting
--)))|(% style="width:126px" %)(((
++)))|(((
  Effective immediately
  )))|50|0 to 65535|It is used to set the external braking resistor value of a certain type of drive.|Ω
--|=P00-11|External braking resistor power|(% style="width:118px" %)(((
++|=P00-11|External braking resistor power|(((
  Operation setting
--)))|(% style="width:126px" %)(((
++)))|(((
  Effective immediately
  )))|100|0 to 65535|It is used to set the external braking resistor power of a certain type of drive.|W
@@ -132,70 +132,73 @@
  == **Servo operation** ==
--**Set the servo enable (S-ON) to valid (ON)**
++**(1) Set the servo enable (S-ON) to valid (ON)**
  The servo drive is in a running state and displays "run", but because there is no instruction input at this time, the servo motor does not rotate and is locked.
  S-ON can be configured and selected by the DI terminal function selection of the function code "DIDO configuration".
--**Input the instruction and the motor rotates**
++**(2) Input the instruction and the motor rotates**
--Input appropriate instructions during operation, first run the motor at a low speed, and observe the rotation to see if it conforms to the set rotation direction. Observe the actual running speed, bus voltage and other parameters of the motor through the host computer debugging platform. According to [[__"7 Adjustment"__>>doc:Servo.Manual.02 VD2 SA Series.07 Adjustments.WebHome]], the motor could work as expected.
++Input appropriate instructions during operation, first run the motor at a low speed, and observe the rotation to see if it conforms to the set rotation direction. Observe the actual running speed, bus voltage and other parameters of the motor through the host computer debugging platform. According to [[__"7 Adjustment"__>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/]], the motor could work as expected.
--**Timing diagram of power on**
++**(3) Timing diagram of power on**
--(% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**Figure 6-1 Timing diagram of power on**>>image:image-20220608163014-1.png||id="Iimage-20220608163014-1.png"]]
--)))
--== Servo shutdown ==
++[[image:image-20220608163014-1.png]]
--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__.
++Figure 6-1 Timing diagram of power on
--|=(% scope="row" style="width: 150px;" %)Shutdown mode|=(% style="width: 532px;" %)Shutdown description|=(% style="width: 393px;" %)Shutdown characteristics
--|=(% 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.
--|=(% 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.
++== **Servo shutdown** ==
++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>>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/#HServoshutdown]]__. According to the shutdown status, it could be divided into free running state and position locked, as shown in __[[Table 6-6>>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/#HServoshutdown]]__.
++
++
++|=(% scope="row" %)Shutdown mode|=Shutdown description|=Shutdown characteristics
++|=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.
++|=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.
++
  Table 6-5 Comparison of two shutdown modes
--|=(% scope="row" style="width: 151px;" %)**Shutdown status**|=(% style="width: 532px;" %)**Free operation status**|=(% style="width: 392px;" %)**Position locked**
--|=(% 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.
++|=(% scope="row" %)**Shutdown status**|=**Free operation status**|=**Position locked**
++|=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.
++
  Table 6-6 Comparison of two shutdown status
--**Servo enable (S-ON) OFF shutdown**
++**(1) Servo enable (S-ON) OFF shutdown**
  The related parameters of the servo OFF shutdown mode are shown in the table below.
--|=(% scope="row" style="width: 94px;" %)**Function code**|=(% style="width: 180px;" %)**Name**|=(% style="width: 119px;" %)(((
++
++|=(% scope="row" %)**Function code**|=**Name**|=(((
  **Setting method**
--)))|=(% style="width: 134px;" %)(((
++)))|=(((
  **Effective time**
--)))|=(% style="width: 86px;" %)(((
++)))|=(((
  **Default value**
--)))|=(% style="width: 70px;" %)**Range**|=(% style="width: 347px;" %)**Definition**|=**Unit**
--|=(% style="width: 94px;" %)P00-05|(% style="width:180px" %)Servo OFF shutdown|(% style="width:119px" %)(((
++)))|=**Range**|=**Definition**|=**Unit**
++|=P00-05|Servo OFF shutdown|(((
  Shutdown
  setting
--)))|(% style="width:134px" %)(((
++)))|(((
  Effective
  immediately
--)))|(% style="width:86px" %)0|(% style="width:70px" %)0 to 1|(% style="width:347px" %)(((
--* 0: Free shutdown, and the motor shaft remains free status.
--* 1: Zero-speed shutdown, and the motor shaft remains free status.
++)))|0|0 to 1|(((
++0: Free shutdown, and the motor shaft remains free status.
++
++1: Zero-speed shutdown, and the motor shaft remains free status.
  )))|-
--Table 6-7 Servo OFF shutdown mode parameters details
++Table 6-7Table 6-1 Servo OFF shutdown mode parameters details
--**Emergency shutdown**
++**(2) Emergency shutdown**
  It is free shutdown mode at present, and the motor shaft remains in a free state. The corresponding configuration and selection could be selected through the DI terminal function of the function code "DIDO configuration".
--**Overtravel shutdown**
++**(3) Overtravel shutdown**
  Overtravel means that the movable part of the machine exceeds the set area. In some occasions where the servo moves horizontally or vertically, it is necessary to limit the movement range of the workpiece. The overtravel is generally detected by limit switches, photoelectric switches or the multi-turn position of the encoder, that is, hardware overtravel or software overtravel.
@@ -203,98 +203,149 @@
  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.
--|=(% scope="row" style="width: 89px;" %)**Function code**|=(% style="width: 135px;" %)**Name**|=(% style="width: 122px;" %)(((
++
++|=(% scope="row" %)**Function code**|=**Name**|=(((
  **Setting method**
--)))|=(% style="width: 114px;" %)(((
++)))|=(((
  **Effective time**
--)))|=(% style="width: 106px;" %)**Default value**|=(% style="width: 84px;" %)**Range**|=(% style="width: 380px;" %)**Definition**|=**Unit**
--|=(% 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" %)(((
--* 0: OFF (not used)
--* 01: S-ON servo enable
--* 02: A-CLR fault and Warning Clear
--* 03: POT forward drive prohibition
--* 04: NOT Reverse drive prohibition
--* 05: ZCLAMP Zero speed
--* 06: CL Clear deviation counter
--* 07: C-SIGN Inverted instruction
--* 08: E-STOP Emergency stop
--* 09: GEAR-SEL Electronic Gear Switch 1
--* 10: GAIN-SEL gain switch
--* 11: INH Instruction pulse prohibited input
--* 12: VSSEL Vibration control switch input
--* 13: INSPD1 Internal speed instruction selection 1
--* 14: INSPD2 Internal speed instruction selection 2
--* 15: INSPD3 Internal speedinstruction selection 3
--* 16: J-SEL inertia ratio switch (not implemented yet)
--* 17: MixModesel mixed mode selection
--* 20: Internal multi-segment position enable signal
--* 21: Internal multi-segment position selection 1
--* 22: Internal multi-segment position selection 2
--* 23: Internal multi-segment position selection 3
--* 24: Internal multi-segment position selection 4
--* Others: reserved
++)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
++|=P06-08|DI_3 channel function selection|Operation setting|Power-on again|3|0 to 32|(((
++0: OFF (not used)
++
++01: S-ON servo enable
++
++02: A-CLR fault and Warning Clear
++
++03: POT forward drive prohibition
++
++04: NOT Reverse drive prohibition
++
++05: ZCLAMP Zero speed
++
++06: CL Clear deviation counter
++
++07: C-SIGN Inverted instruction
++
++08: E-STOP Emergency stop
++
++09: GEAR-SEL Electronic Gear Switch 1
++
++10: GAIN-SEL gain switch
++
++11: INH Instruction pulse prohibited input
++
++12: VSSEL Vibration control switch input
++
++13: INSPD1 Internal speed instruction selection 1
++
++14: INSPD2 Internal speed instruction selection 2
++
++15: INSPD3 Internal speedinstruction selection 3
++
++16: J-SEL inertia ratio switch (not implemented yet)
++
++17: MixModesel mixed mode selection
++
++20: Internal multi-segment position enable signal
++
++21: Internal multi-segment position selection 1
++
++22: Internal multi-segment position selection 2
++
++23: Internal multi-segment position selection 3
++
++24: Internal multi-segment position selection 4
++
++Others: reserved
  )))|-
--|=(% style="width: 89px;" %)P06-09|(% style="width:135px" %)DI_3 channel logic selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
++|=P06-09|DI_3 channel logic selection|Operation setting|(((
  Effective immediately
--)))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
++)))|0|0 to 1|(((
  DI port input logic validity function selection.
--* 0: Normally open input. Active low level (switch on);
--* 1: Normally closed input. Active high level (switch off);
++0: Normally open input. Active low level (switch on);
++
++1: Normally closed input. Active high level (switch off);
  )))|-
--|=(% style="width: 89px;" %)P06-10|(% style="width:135px" %)DI_3 input source selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
++|=P06-10|DI_3 input source selection|Operation setting|(((
  Effective immediately
--)))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
++)))|0|0 to 1|(((
  Select the DI_3 port type to enable
--* 0: Hardware DI_3 input terminal
--* 1: virtual VDI_3 input terminal
++0: Hardware DI_3 input terminal
++
++1: virtual VDI_3 input terminal
  )))|-
--|=(% style="width: 89px;" %)P06-11|(% style="width:135px" %)DI_4 channel function selection|(% style="width:122px" %)(((
++|=P06-11|DI_4 channel function selection|(((
  Operation setting
--)))|(% style="width:114px" %)(((
++)))|(((
  again Power-on
--)))|(% style="width:106px" %)4|(% style="width:84px" %)0 to 32|(% style="width:380px" %)(((
--* 0: OFF (not used)
--* 01: SON Servo enable
--* 02: A-CLR Fault and Warning Clear
--* 03: POT Forward drive prohibition
--* 04: NOT Reverse drive prohibition
--* 05: ZCLAMP Zero speed
--* 06: CL Clear deviation counter
--* 07: C-SIGN Inverted instruction
--* 08: E-STOP Emergency shutdown
--* 09: GEAR-SEL Electronic Gear Switch 1
--* 10: GAIN-SEL gain switch
--* 11: INH Instruction pulse prohibited input
--* 12: VSSEL Vibration control switch input
--* 13: INSPD1 Internal speed instruction selection 1
--* 14: INSPD2 Internal speed instruction selection 2
--* 15: INSPD3 Internal speed instruction selection 3
--* 16: J-SEL inertia ratio switch (not implemented yet)
--* 17: MixModesel mixed mode selection
--* 20: Internal multi-segment position enable signal
--* 21: Internal multi-segment position selection 1
--* 22: Internal multi-segment position selection 2
--* 23: Internal multi-segment position selection 3
--* 24: Internal multi-segment position selection 4
--* Others: reserved
++)))|4|0 to 32|(((
++0 off (not used)
++
++01: SON Servo enable
++
++02: A-CLR Fault and Warning Clear
++
++03: POT Forward drive prohibition
++
++04: NOT Reverse drive prohibition
++
++05: ZCLAMP Zero speed
++
++06: CL Clear deviation counter
++
++07: C-SIGN Inverted instruction
++
++08: E-STOP Emergency shutdown
++
++09: GEAR-SEL Electronic Gear Switch 1
++
++10: GAIN-SEL gain switch
++
++11: INH Instruction pulse prohibited input
++
++12: VSSEL Vibration control switch input
++
++13: INSPD1 Internal speed instruction selection 1
++
++14: INSPD2 Internal speed instruction selection 2
++
++15: INSPD3 Internal speed instruction selection 3
++
++16: J-SEL inertia ratio switch (not implemented yet)
++
++17: MixModesel mixed mode selection
++
++20: Internal multi-segment position enable signal
++
++21: Internal multi-segment position selection 1
++
++22: Internal multi-segment position selection 2
++
++23: Internal multi-segment position selection 3
++
++24: Internal multi-segment position selection 4
++
++Others: reserved
  )))|-
--|=(% style="width: 89px;" %)P06-12|(% style="width:135px" %)DI_4 channel logic selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
++|=P06-12|DI_4 channel logic selection|Operation setting|(((
  Effective immediately
--)))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
++)))|0|0 to 1|(((
  DI port input logic validity function selection.
--* 0: Normally open input. Active low level (switch on);
--* 1: Normally closed input. Active high level (switch off);
++0: Normally open input. Active low level (switch on);
++
++1: Normally closed input. Active high level (switch off);
  )))|-
--|=(% style="width: 89px;" %)P06-13|(% style="width:135px" %)DI_4 input source selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
++|=P06-13|DI_4 input source selection|Operation setting|(((
  Effective immediately
--)))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
++)))|0|0 to 1|(((
  Select the DI_4 port type to enable
--* 0: Hardware DI_4 input terminal
--* 1: virtual VDI_4 input terminal
++0: Hardware DI_4 input terminal
++
++1: virtual VDI_4 input terminal
  )))|-
  Table 6-8 DI3 and DI4 channel parameters
@@ -303,12 +303,12 @@
  When the machine fails, the servo will perform a fault shutdown operation. The current shutdown mode is fixed to the free shutdown mode, and the motor shaft remains in a free state.
--== Brake device ==
++== **Brake device** ==
  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.
--(% class="warning" %)|(((
--(% style="text-align:center" %)
++
++|(((
  [[image:image-20220611151617-1.png]]
  )))
  |(((
@@ -323,19 +323,17 @@
  ✎When the motor with built-in brake is in operation, the brake device may make a clicking sound, which does not affect the function.
  )))
--**Wiring of brake device**
++**(1) Wiring of brake device**
--The brake input signal has no polarity. User need to prepare a 24V power supply. The standard connection of brake signal BK and brake power supply is shown in the figure below. (take VD2B servo drive as example)
++The brake input signal has no polarity. You need to prepare a 24V power supply. The standard connection of brake signal BK and brake power supply is shown in the figure below. (take VD2B servo drive as example)
--(% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**Figure 6-2 VD2B servo drive brake wiring**>>image:image-20220608163136-2.png||id="Iimage-20220608163136-2.png"]]
--)))
++[[image:image-20220608163136-2.png]]
--(% class="warning" %)|(((
--(% style="text-align:center" %)
++Figure 6-2 VD2B servo drive brake wiring
++
++
++|(((
  [[image:image-20220611151642-2.png]]
  )))
  |(((
@@ -346,21 +346,23 @@
  ✎It is recommended to use cables above 0.5 mm².
  )))
--**Brake software setting**
++**(2) Brake software setting**
  For a servo motor with brake, one DO terminal of servo drive must be configured as function 141 (BRK-OFF, brake output), and the effective logic of the DO terminal must be determined.
  Related function code is as below.
--|=(% scope="row" %)**DO function code**|=(% style="width: 241px;" %)**Function name**|=(% style="width: 458px;" %)**Function**|=(% style="width: 191px;" %)(((
++
++|=(% scope="row" %)**DO function code**|=**Function name**|=**Function**|=(((
  **Effective time**
  )))
--|=144|(% style="width:241px" %)(((
++|=144|(((
  BRK-OFF Brake output
--)))|(% style="width:458px" %)Output the signal indicates the servo motor brake release|(% style="width:191px" %)Power-on again
++)))|Output the signal indicates the servo motor brake release|Power-on again
  Table 6-2 Relevant function codes for brake setting
++
  |=(% scope="row" %)**Function code**|=**Name**|=(((
  **Setting method**
  )))|=(((
@@ -391,16 +391,16 @@
  According to the state of servo drive, the working sequence of the brake mechanism can be divided into the brake sequence in the normal state of the servo drive and the brake sequence in the fault state of the servo drive.
--**Servo drive brake timing in normal state**
++**(3) Servo drive brake timing in normal state**
  The brake timing of the normal state could be divided into: the servo motor static (the actual speed of motor is lower than 20 rpm) and servo motor rotation(the actual speed of the motor reaches 20 and above).
--* Brake timing when servo motor is stationary
++1) Brake timing when servo motor is stationary
--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__
++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>>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-20220608163304-3.png?rev=1.1]]__
--(% class="warning" %)|(((
--(% style="text-align:center" %)
++
++|(((
  [[image:image-20220611151705-3.png]]
  )))
  |(((
@@ -409,23 +409,18 @@
  ✎When applied to a vertical axis, the external force or the weight of the mechanical moving part may cause the machine to move slightly. When the servo motor is stationary, and the servo enable is OFF, the brake output will be OFF immediately. However, the motor is still energized within the time of P01-31 to prevent mechanical movement from moving due to its own weight or external force.
  )))
--(% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**Figure 6-3 Brake Timing of when the motor is stationary**>>image:image-20220608163304-3.png||id="Iimage-20220608163304-3.png"]]
--)))
++[[image:image-20220608163304-3.png]]
--(% class="box infomessage" %)
--(((
++Figure 6-3 Brake Timing of when the motor is stationary
++
  ✎**Note: **For the delay time of the contact part of the brake at ② in the figure, please refer to the relevant specifications of motor.
--)))
--* The brake timing when servo motor rotates
++2) The brake timing when servo motor rotates
--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__.
++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>>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-20220608163425-4.png?rev=1.1]]__.
--(% class="warning" %)|(((
--(% style="text-align:center" %)
++
++|(((
  [[image:image-20220611151719-4.png]]
  )))
  |(((
@@ -440,40 +440,37 @@
  ✎After the brake output changes from ON to OFF, the motor is still in communication within 50ms to prevent the mechanical movement from moving due to its own weight or external force.
  )))
--(% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**Figure 6-4 Brake timing when the motor rotates**>>image:image-20220608163425-4.png||id="Iimage-20220608163425-4.png"]]
--)))
++[[image:image-20220608163425-4.png]]
--**Brake timing when the servo drive fails**
++Figure 6-4 Brake timing when the motor rotates
++**(4) Brake timing when the servo drive fails**
++
  The brake timing (free shutdown) in the fault status is as follows.
--(% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**~~ Figure 6-5 The brake timing (free shutdown) in the fault state**>>image:image-20220608163541-5.png||id="Iimage-20220608163541-5.png"]]
--)))
++[[image:image-20220608163541-5.png]]
++
++ Figure 6-5 The brake timing (free shutdown) in the fault state
++
  = **Position control mode** =
  Position control is the most important and commonly used control mode of the servo system. Position control refers to controlling the position of the motor through position instructions, and determining the target position of the motor by the total number of position instructions. The frequency of the position instruction determines the motor rotation speed. The servo drive can achieve fast and accurate control of the position and speed of the machine. Therefore, the position control mode is mainly used for occasions that require positioning control, such as manipulators, mounter, engraving machines, CNC machine tools, etc. The position control block diagram is shown in the figure below.
--(% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**Figure 6-6 Position control diagram**>>image:image-20220608163643-6.png||id="Iimage-20220608163643-6.png"]]
--)))
++[[image:image-20220608163643-6.png]]
++
++Figure 6-6 Position control diagram
++
  Set “P00-01” to 1 by the software “Wecon SCTool”, and the servo drive is in position control mode.
--|=(% scope="row" style="width: 123px;" %)**Function code**|=(% style="width: 134px;" %)**Name**|=(((
++
++|=(% scope="row" %)**Function code**|=**Name**|=(((
  **Setting method**
  )))|=(((
  **Effective time**
  )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
--|=(% style="width: 123px;" %)P01-01|(% style="width:134px" %)Control mode|(((
++|=P01-01|Control mode|(((
  Operation setting
  )))|(((
  immediately Effective
@@ -493,10 +493,11 @@
  Table 6-10 Control mode parameters
--== Position instruction input setting ==
++== **Position instruction input setting** ==
  When the VD2 series servo drive is in position control mode, firstly set the position instruction source through the function code “P01-06”.
++
  |=(% scope="row" %)**Function code**|=**Name**|=(((
  **Setting method**
  )))|=(((
@@ -514,149 +514,149 @@
  Table 6-11 Position instruction source parameter
--**The source of position instruction is pulse instruction (P01-06=0)**
++**(1) The source of position instruction is pulse instruction (P01-06=0)**
--Low-speed pulse instruction input
++1) Low-speed pulse instruction input
--|(% style="text-align:center" %)(((
--(% class="wikigeneratedid" style="display:inline-block" %)
--[[VD2A and VD2B servo drives>>image:image-20220804160519-1.jpeg||id="Iimage-20220804160519-1.jpeg"]]
--)))|(% style="text-align:center" %)(((
--(% class="wikigeneratedid" style="display:inline-block" %)
--[[VD2F servo drive>>image:image-20220804160624-2.jpeg||id="Iimage-20220804160624-2.jpeg"]]
--)))
++|[[image:image-20220707092316-1.png]]|[[image:image-20220707092322-2.png]]
++|VD2A and VD2B servo drives|VD2F servo drive
  |(% colspan="2" %)Figure 6-7 Position instruction input setting
--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__.
++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>>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/#HPositioninstructioninputsetting]]__.
  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.
--|=(% scope="row" %)**Pulse method**|=(% style="width: 372px;" %)**Maximum frequency**|=(% style="width: 260px;" %)**Voltage**
--|=Open collector input|(% style="width:372px" %)200K|(% style="width:260px" %)24V
--|=Differential input|(% style="width:372px" %)500K|(% style="width:260px" %)5V
++|**Pulse method**|**Maximum frequency**|**Voltage**
++|Open collector input|200K|24V
++|Differential input|500K|5V
++
  Table 6-12 Pulse input specifications
--* Differential input
++1.Differential input
  Take VD2A and VD2B drive as examples, the connection of differential input is shown as below.
  (% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**Figure 6-8 Differential input connection**>>image:image-20220707092615-5.jpeg||height="306" id="Iimage-20220707092615-5.jpeg" width="583"]]
--)))
++[[image:image-20220707092615-5.jpeg]]
--(% class="box infomessage" %)
--(((
--✎**Note: **The differential input connection of the VD2F drive differs only from the signal pin number. Please refer to “__[[4.4.3 position instruction input signal>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/04%20Wiring/#HPositioninstructioninputsignal]]__”
--)))
++Figure 6-8 Differential input connection
--* Open collector input
++✎**Note: **The differential input connection of the VD2F drive differs only from the signal pin number. Please refer to “__[[4.4.3 position instruction input signal>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/04%20Wiring/#HPositioninstructioninputsignal]]__”
++2.Open collector input
++
  Take VD2A and VD2B drive as examples, the connection of differential input is shown as below.
  (% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**Figure 6-9 Open collector input connection**>>image:image-20220707092401-3.jpeg||height="432" id="Iimage-20220707092401-3.jpeg" width="679"]]
--)))
++[[image:image-20220707092401-3.jpeg||height="530" width="834"]]
++Figure 6-9 Open collector input connection
--(% class="box infomessage" %)
--(((
--✎**Note:** The differential input connection of the VD2F drive differs only from the signal pin number. Please refer to “__[[4.4.3 position instruction input signal>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/04%20Wiring/#HPositioninstructioninputsignal]]__”
--)))
++✎**Note:** The differential input connection of the VD2F drive differs only from the signal pin number. Please refer to “__[[4.4.3 position instruction input signal>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/04%20Wiring/#HPositioninstructioninputsignal]]__”
--* Position pulse frequency and anti-interference level
++2) Position pulse frequency and anti-interference level
  When low-speed pulses input pins, you need to set a certain pin filter time to filter the input pulse instructions to prevent external interference from entering the servo drive and affecting motor control. After the filter function is enabled, the input and output waveforms of the signal are shown in Figure 6-10.
  (% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**Figure 6-10 Example of filtered signal waveform**>>image:image-20220608163952-8.png||id="Iimage-20220608163952-8.png"]]
--)))
++[[image:image-20220608163952-8.png]]
++Figure 6-10 Example of filtered signal waveform
++
  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.
--|=**Function code**|=(% style="width: 169px;" %)**Name**|=(% style="width: 146px;" %)(((
++
++|=(% scope="row" %)**Function code**|=**Name**|=(((
  **Setting method**
  )))|=(((
  **Effective time**
--)))|=**Default value**|=(% style="width: 87px;" %)**Range**|=(% colspan="2" style="width: 296px;" %)**Definition**|=**Unit**
--|P00-13|(% style="width:169px" %)Maximum position pulse frequency|(% style="width:146px" %)(((
++)))|=**Default value**|=**Range**|=(% colspan="2" %)**Definition**|=**Unit**
++|=P00-13|Maximum position pulse frequency|(((
  Shutdown setting
  )))|(((
  Effective immediately
--)))|300|(% style="width:87px" %)1 to 500|(% colspan="2" style="width:296px" %)Set the maximum frequency of external pulse instruction|KHz
--|(% rowspan="3" %)P00-14|(% rowspan="3" style="width:169px" %)Position pulse anti-interference level|(% rowspan="3" style="width:146px" %)(((
++)))|300|1 to 500|(% colspan="2" %)Set the maximum frequency of external pulse instruction|KHz
++|=(% rowspan="3" %)P00-14|(% rowspan="3" %)Position pulse anti-interference level|(% rowspan="3" %)(((
  Operation setting
  )))|(% rowspan="3" %)(((
  Power-on again
--)))|(% rowspan="3" %)2|(% rowspan="3" style="width:87px" %)0 to 9|(% colspan="2" style="width:296px" %)(((
++)))|(% rowspan="3" %)2|(% rowspan="3" %)0 to 9|(% colspan="2" %)(((
  Set the anti-interference level of external pulse instruction.
--* 0: no filtering;
--* 1: Filtering time 128ns
--* 2: Filtering time 256ns
--* 3: Filtering time 512ns
--* 4: Filtering time 1.024us
--* 5: Filtering time 2.048us
--* 6: Filtering time 4.096us
--* 7: Filtering time 8.192us
--* 8: Filtering time 16.384us
--* 9:
--** VD2: Filtering time 25.5us
--** VD2F: Filtering time 25.5us
++0: no filtering;
++
++1: Filtering time 128ns
++
++2: Filtering time 256ns
++
++3: Filtering time 512ns
++
++4: Filtering time 1.024us
++
++5: Filtering time 2.048us
++
++6: Filtering time 4.096us
++
++7: Filtering time 8.192us
++
++8: Filtering time 16.384us
  )))|(% rowspan="3" %)-
++|=(% rowspan="2" %)9|VD2: Filtering time 25.5us
++|=VD2F: Filtering time 25.5us
  Table 6-13 Position pulse frequency and anti-interference level parameters
--* Position pulse type selection
++3) Position pulse type selection
  In VD2 series servo drives, there are three types of input pulse instructions, and the related function codes are shown in the table below.
--|=(% scope="row" %)**Function code**|=(% style="width: 144px;" %)**Name**|=(% style="width: 110px;" %)(((
++
++|=(% scope="row" %)**Function code**|=**Name**|=(((
  **Setting method**
--)))|=(% style="width: 109px;" %)(((
++)))|=(((
  **Effective time**
--)))|=(% style="width: 77px;" %)**Default value**|=(% style="width: 74px;" %)**Range**|=(% style="width: 412px;" %)**Definition**|=**Unit**
--|=P00-12|(% style="width:144px" %)Position pulse type selection|(% style="width:110px" %)(((
++)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
++|=P00-12|Position pulse type selection|(((
  Operation setting
--)))|(% style="width:109px" %)(((
++)))|(((
  Power-on again
--)))|(% style="width:77px" %)0|(% style="width:74px" %)0 to 5|(% style="width:412px" %)(((
--* 0: direction + pulse (positive logic)
--* 1: CW/CCW
--* 2: A, B phase quadrature pulse (4 times frequency)
--* 3: Direction + pulse (negative logic)
--* 4: CW/CCW (negative logic)
--* 5: A, B phase quadrature pulse (4 times frequency negative logic)
++)))|0|0 to 5|(((
++0: direction + pulse (positive logic)
++
++1: CW/CCW
++
++2: A, B phase quadrature pulse (4 times frequency)
++
++3: Direction + pulse (negative logic)
++
++4: CW/CCW (negative logic)
++
++5: A, B phase quadrature pulse (4 times frequency negative logic)
  )))|-
  Table 6-14 Position pulse type selection parameter
--|=(% scope="row" %)**Pulse type selection**|=(% style="width: 200px;" %)**Pulse type**|=(% style="width: 161px;" %)**Signal**|=**Schematic diagram of forward pulse**|=**Schematic diagram of negative pulse**
--|=0|(% style="width:200px" %)(((
++|=(% scope="row" %)**Pulse type selection**|=**Pulse type**|=**Signal**|=**Schematic diagram of forward pulse**|=**Schematic diagram of negative pulse**
++|=0|(((
  Direction + pulse
  (Positive logic)
--)))|(% style="width:161px" %)(((
++)))|(((
  PULSE
  SIGN
  )))|[[image:image-20220707094340-6.jpeg]]|[[image:image-20220707094345-7.jpeg]]
--|=1|(% style="width:200px" %)CW/CCW|(% style="width:161px" %)(((
++|=1|CW/CCW|(((
  PULSE (CW)
  SIGN (CCW)
  )))|(% colspan="2" %)[[image:image-20220707094351-8.jpeg]]
--|=2|(% style="width:200px" %)(((
++|=2|(((
  AB phase orthogonal
  pulse (4 times frequency)
--)))|(% style="width:161px" %)(((
++)))|(((
  PULSE (Phase A)
  SIGN (Phase B)
@@ -673,29 +673,29 @@
  Phase B is 90° ahead of Phase A
  )))
--|=3|(% style="width:200px" %)(((
++|=3|(((
  Direction + pulse
  (Negative logic)
--)))|(% style="width:161px" %)(((
++)))|(((
  PULSE
  SIGN
  )))|[[image:image-20220707094414-11.jpeg]]|[[image:image-20220707094418-12.jpeg]]
--|=4|(% style="width:200px" %)(((
++|=4|(((
  CW/CCW
  (Negative logic)
--)))|(% style="width:161px" %)(((
++)))|(((
  PULSE (CW)
  SIGN (CCW)
  )))|(% colspan="2" %)[[image:image-20220707094423-13.jpeg]]
--|=5|(% style="width:200px" %)(((
++|=5|(((
  AB phase orthogonal
  pulse (4 times frequency negative logic)
--)))|(% style="width:161px" %)(((
++)))|(((
  PULSE (Phase A)
  SIGN (Phase B)
@@ -708,7 +708,7 @@
  )))|(((
--[[image:image-20220707094437-15.jpeg]]
++[[image:image-20220707094437-15.jpeg]]
  Phase A is ahead of B phase by 90°
  )))
@@ -715,20 +715,18 @@
  Table 6-15 Pulse description
--**The source of position instruction is internal position instruction (P01-06=1)**
++**(2) The source of position instruction is internal position instruction (P01-06=1)**
--The VD2 series servo drive has a multi-segment position operation function, which supports maximum 16-segment instructions. The displacement, maximum operating speed (steady-state operating speed) and acceleration/deceleration time of each segment could be set separately. The waiting time between positions could also be set according to actual needs. The setting process of multi-segment position is shown in __Figure 6-11__.
++The VD2 series servo drive has a multi-segment position operation function, which supports maximum 16-segment instructions. The displacement, maximum operating speed (steady-state operating speed) and acceleration/deceleration time of each segment could be set separately. The waiting time between positions could also be set according to actual needs. The setting process of multi-segment position is shown in __[[Figure 6-11>>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-20220608164116-9.png?rev=1.1]]__.
  The servo drive completely runs the multi-segment position instruction set by P07-01 once, and the total number of positions is called completing one round of operation.
  (% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**Figure 6-11 The setting process of multi-segment position**>>image:image-20220608164116-9.png||id="Iimage-20220608164116-9.png"]]
--)))
++[[image:image-20220608164116-9.png]]
++Figure 6-11 The setting process of multi-segment position
--* Set multi-segment position running mode
++1) Set multi-segment position running mode
  |=(% scope="row" %)**Function code**|=**Name**|=(((
  **Setting method**
@@ -740,9 +740,11 @@
  )))|(((
  Effective immediately
  )))|0|0 to 2|(((
--* 0: Single running
--* 1: Cycle running
--* 2: DI switching running
++0: Single running
++
++1: Cycle running
++
++2: DI switching running
  )))|-
  |=P07-02|Start segment number|(((
  Shutdown setting
@@ -759,8 +759,9 @@
  )))|(((
  Effective immediately
  )))|0|0 to 1|(((
--* 0: Run the remaining segments
--* 1: Run again from the start segment
++0: Run the remaining segments
++
++1: Run again from the start segment
  )))|-
  |=P07-05|Displacement instruction type|(((
  Shutdown setting
@@ -767,8 +767,9 @@
  )))|(((
  Effective immediately
  )))|0|0 to 1|(((
--* 0: Relative position instruction
--* 1: Absolute position instruction
++0: Relative position instruction
++
++1: Absolute position instruction
  )))|-
  Table 6-16 multi-segment position running mode parameters
@@ -775,34 +775,30 @@
  VD2 series servo drive has three multi-segment position running modes, and you could select the best running mode according to the site requirements.
--1. Single running
++~1. Single running
--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
++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>>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-20220608164226-10.png?rev=1.1]]__, and S1 and S2 are the displacements of the 1st segment and the 2nd segment respectively
++
  (% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**Figure 6-12 Single running curve (P07-02=1, P07-03=2)**>>image:image-20220608164226-10.png||id="Iimage-20220608164226-10.png"]]
--)))
++[[image:image-20220608164226-10.png]]
--* 2. Cycle running
++Figure 6-12 Single running curve (P07-02=1, P07-03=2)
++2. Cycle running
++
  In this running mode, the position number is automatically incremented and switched, and the servo drive repeatedly runs the total number of multi-segment position instructions set by P07-02 and P07-03. The waiting time could be set between each segment. The cycle running curve is shown in __[[Figure 6-13>>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-20220608164327-11.png?rev=1.1]]__, and S1,S2,S3 and S4 are the displacements of the 1st, 2nd, 3rd and 4th segment respectively.
--(% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**Figure 6-13 Cycle running curve (P07-02=1, P07-03=4)**>>image:image-20220608164327-11.png||id="Iimage-20220608164327-11.png"]]
--)))
--(% class="warning" %)|(((
  (% style="text-align:center" %)
--[[image:image-20220611151917-5.png]]
--)))
++[[image:image-20220608164327-11.png]]
++
++Figure 6-13 Cycle running curve (P07-02=1, P07-03=4)
++
++|[[image:image-20220611151917-5.png]]
  |In single running and cycle running mode, the setting value of P07-03 needs to be greater than the setting value of P07-02.
--(% start="3" %)
--1. DI switching running
++3. DI switching running
  In this running mode, the next running segment number could be set when operating the current segment number. The interval time is determined by the instruction delay of the host computer. The running segment number is determined by DI terminal logic, and the related function codes are shown in the table below.
@@ -825,87 +825,68 @@
  Table 6-18 INPOS corresponds to running segment number
--The operating curve in this running mode is shown in __Figure 6-14__.
++The operating curve in this running mode is shown in __[[Figure 6-14>>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-20220608164545-12.png?rev=1.1]]__.
  (% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**Figure 6-14 DI switching running curve**>>image:image-20220608164545-12.png||id="Iimage-20220608164545-12.png"]]
--)))
++[[image:image-20220608164545-12.png]]
++Figure 6-14 DI switching running curve
++
  VD2 series servo drives have two margin processing methods: run the remaining segments and run from the start segment again. The related function code is P07-04.
--**Run the remaining segments**
++**A. Run the remaining segments**
  In this processing way, the multi-segment position instruction enable is OFF during running, the servo drive will abandon the unfinished displacement part and shutdown, and the positioning completion signal will be valid after the shutdown is complete. When the multi-segment position enable is ON, and the servo drive will start to run from the next segment where the OFF occurs. The curves of single running and cycle running are shown in __[[Figure 6-15>>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-20220608164847-13.png?rev=1.1]]__ and __[[Figure 6-16>>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-20220608165032-14.png?rev=1.1]]__ respectively.
  (% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**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"]]
--)))
++[[image:image-20220608164847-13.png]]
++Figure 6-15 Single running-run the remaining segments (P07-02=1, P07-03=4)
++
  (% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**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"]]
--)))
++[[image:image-20220608165032-14.png]]
--**Run again from the start segment**
++Figure 6-16 Cycle running-run the remaining segment (P07-02=1, P07-03=4)
--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.
++**B. Run again from the start segment**
++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.
++
  (% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**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"]]
--)))
++[[image:image-20220608165343-15.png]]
++Figure 6-17 Single running-run from the start segment again (P07-02=1, P07-03=4)
++
  (% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**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"]]
--)))
++[[image:image-20220608165558-16.png]]
++Figure 6-18 Cyclic running-run from the start segment again (P07-02=1, P07-03=4)
++
  VD2 series servo drives have two types of displacement instructions: relative position instruction and absolute position instruction. The related function code is P07-05.
--* Relative position instruction
++A. Relative position instruction
  The relative position instruction takes the current stop position of the motor as the start point and specifies the amount of displacement.
  |(((
--(% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**Figure 6-19 Relative position diagram**>>image:image-20220608165710-17.png||id="Iimage-20220608165710-17.png"]]
--)))
++[[image:image-20220608165710-17.png]]
  )))|(((
--(% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**Figure 6-20 Displacement diagram**>>image:image-20220608165749-18.png||id="Iimage-20220608165749-18.png"]]
++[[image:image-20220608165749-18.png]]
  )))
--)))
++|Figure 6-19 Relative position diagram|Figure 6-20 Displacement diagram
--* Absolute position instruction
++B. Absolute position instruction
  The absolute position instruction takes "reference origin" as the zero point of absolute positioning, and specifies the amount of displacement.
  |(((
--(% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**Figure 6-21 Absolute indication**>>image:image-20220608165848-19.png||id="Iimage-20220608165848-19.png"]]
--)))
++[[image:image-20220608165848-19.png]]
  )))|(((
--(% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**Figure 6-22 Displacement**>>image:image-20220608170005-20.png||id="Iimage-20220608170005-20.png"]]
++[[image:image-20220608170005-20.png]]
  )))
--)))
++|Figure 6-21 Absolute indication|Figure 6-22 Displacement
--* Multi-segment position running curve setting
++2) Multi-segment position running curve setting
  The multi-segment position running supports maximum 16 segments different position instructions. The displacement, maximum running speed (steady-state running speed), acceleration and deceleration time of each position and the waiting time between segment could all be set. __[[Table 6-19>>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/#HPositioninstructioninputsetting]]__ are the related function codes of the 1st segment running curve.
@@ -944,13 +944,11 @@
  After setting the above parameters, the actual operation curve of the motor is shown in Figure 6-23.
  (% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**Figure 6-23 The 1st segment running curve of motor**>>image:image-20220608170149-21.png||id="Iimage-20220608170149-21.png"]]
--)))
++[[image:image-20220608170149-21.png]]
++Figure 6-23 The 1st segment running curve of motor
--* multi-segment position instruction enable
++3) multi-segment position instruction enable
  When selecting multi-segment position instruction as the instruction source, configure 1 DI port channel of the servo drive to function 20 (internal multi-segment position enable signal), and confirm the valid logic of the DI terminal.
@@ -961,14 +961,13 @@
  DI port logic valid: Motor runs multi-segment position
  )))
--(% style="text-align:center" %)
--[[image:image-20220611152020-6.png||class="img-thumbnail"]]
++[[image:image-20220611152020-6.png]]
  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!
--== Electronic gear ratio ==
++== **Electronic gear ratio** ==
--**Definition of electronic gear ratio**
++**(1) Definition of electronic gear ratio**
  In the position control mode, the input position instruction (instruction unit) is to set the load displacement, and the motor position instruction (encoder unit) is to set the motor displacement, in order to establish the proportional relationship between the motor position instruction and the input position instruction, electronic gear ratio function is used. "instruction unit" refers to the minimum resolvable value input from the control device(HMI/PLC) to the servo drive. "Encoder unit" refers to the value of the input instruction processed by the electronic gear ratio.
@@ -977,22 +977,25 @@
  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)
  (% style="text-align:center" %)
--[[image:image-20220707094901-16.png||class="img-thumbnail"]]
++[[image:image-20220707094901-16.png]]
++
++
++
  Otherwise, the servo drive will report Er.35: "Electronic gear ratio setting exceeds the limit"!
--**Setting steps of electronic gear ratio**
++**(2) Setting steps of electronic gear ratio**
--(% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**Figure 6-24 Setting steps of electronic gear ratio**>>image:image-20220707100850-20.jpeg||height="458" id="Iimage-20220707100850-20.jpeg" width="1021"]]
--)))
++[[image:image-20220707100850-20.jpeg]]
--**lectronic gear ratio switch setting**
++Figure 6-24 Setting steps of electronic gear ratio
++**(3) lectronic gear ratio switch setting**
++
++
  When the function code P00-16 is 0, the electronic gear ratio switching function could be used. You could switch between electronic gear 1 and electronic gear 2 as needed. There is only one set of gear ratios at any time. Related function codes are shown in the table below.
++
  |=(% scope="row" %)**Function code**|=**Name**|=(((
  **Setting method**
  )))|=(((
@@ -1042,6 +1042,7 @@
  To use electronic gear ratio 2, it is necessary to configure any DI port as function 09 (GEAR-SEL electronic gear switch 1), and determine the valid logic of the DI terminal.
++
  |=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
  |=09|GEAR-SEL electronic gear switch 1|(((
  DI port logic invalid: electronic gear ratio 1
@@ -1051,25 +1051,16 @@
  Table 6-21 Switching conditions of electronic gear ratio group
--|=**P00-16 value**|=(% style="width: 510px;" %)**DI terminal level corresponding to DI port function 9**|=(% style="width: 400px;" %)**Electronic gear ratio**
--|(% rowspan="2" %)0|(% style="width:510px" %)DI port logic invalid|(% style="width:400px" %)(((
--(% style="text-align:center" %)
--[[image:image-20220707101328-21.png]]
--)))
--|(% style="width:510px" %)DI port logic valid|(% style="width:400px" %)(((
--(% style="text-align:center" %)
--[[image:image-20220707101336-22.png]]
--)))
--|1 to 131072|(% style="width:510px" %)~-~-|(% style="width:400px" %)(((
--(% style="text-align:center" %)
--[[image:image-20220707101341-23.png]]
--)))
++|=(% scope="row" %)**P00-16 value**|=(% style="width: 510px;" %)**DI terminal level corresponding to DI port function 9**|=(% style="width: 400px;" %)**Electronic gear ratio** [[image:image-20220707101503-24.png]]
++|=(% rowspan="2" %)0|(% style="width:510px" %)DI port logic invalid|(% style="width:400px" %)[[image:image-20220707101328-21.png]]
++|=(% style="width: 510px;" %)DI port logic valid|(% style="width:400px" %)[[image:image-20220707101336-22.png]]
++|=1 to 131072|(% style="width:510px" %)~-~-|(% style="width:400px" %)[[image:image-20220707101341-23.png]]
  Table 6-22 Application of electronic gear ratio
  When the function code P00-16 is not 0, the electronic gear ratio [[image:image-20220707101509-25.png]] is invalid.
--== Position instruction filtering ==
++== **Position instruction filtering** ==
  Position instruction filtering is to filter the position instruction (encoder unit) after the electronic gear ratio frequency division or frequency multiplication, including first-order low-pass filtering and average filtering operation.
@@ -1082,11 +1082,10 @@
  Reasonable setting of the position loop filter time constant can operate the motor more smoothly, so that the motor speed will not overshoot before reaching the stable point. This setting has no effect on the number of instruction pulses. The filter time is not as long as possible. If the filter time is longer, the delay time will be longer too, and the response time will be correspondingly longer. It is an illustration of several kinds of position filtering.
  (% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**Figure 6-25 Position instruction filtering diagram**>>image:image-20220608170455-23.png||height="230" id="Iimage-20220608170455-23.png" width="514"]]
--)))
++[[image:image-20220608170455-23.png]]
++Figure 6-25 Position instruction filtering diagram
++
  |=(% scope="row" %)**Function code**|=**Name**|=(((
  **Setting method**
  )))|=(((
@@ -1097,8 +1097,9 @@
  )))|(((
  Effective immediately
  )))|0|0 to 1|(((
--* 0: 1st-order low-pass filtering
--* 1: average filtering
++0: 1st-order low-pass filtering
++
++1: average filtering
  )))|-
  |=P04-02|Position instruction 1st-order low-pass filtering time constant|Shutdown setting|(((
  Effective immediately
@@ -1109,13 +1109,13 @@
  Table 6-23 Position instruction filter function code
--== Clearance of position deviation ==
++== **Clearance of position deviation** ==
  Position deviation clearance means that the drive could zero the deviation register in position mode. The user can realize the function of clearing the position deviation through the DI terminal;
  Position deviation = (position instruction-position feedback) (encoder unit)
--== Position-related DO output function ==
++== **Position-related DO output function** ==
  The feedback value of position instruction is compared with different thresholds, and output DO signal for host computer use.
@@ -1126,46 +1126,44 @@
  the positioning completion function means that when the position deviation meets the value set by P05-12, it could be considered that the positioning is complete in position control mode. At this time, servo drive could output the positioning completion signal, and the host computer could confirm the completion of the positioning of servo drive after receiving the signal.
  (% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**Figure 6-26 Positioning completion signal output diagram**>>image:image-20220608170550-24.png||id="Iimage-20220608170550-24.png"]]
--)))
++[[image:image-20220608170550-24.png]]
++Figure 6-26 Positioning completion signal output diagram
++
  When using the positioning completion or approach function, you could also set positioning completion, positioning approach conditions, window and hold time. The principle of window filter time is shown in Figure 6-27.
  To use the positioning completion/positioning approach function, a DO terminal of the servo drive should be assigned to the function 134 (P-COIN, positioning completion)/ 135 (P-NEAR, positioning approach). The related code parameters and DO function codes are shown as __[[Table 6-24>>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/#HPosition-relatedDOoutputfunction]]__.
  (% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**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"]]
--)))
++[[image:image-20220608170650-25.png]]
++Figure 6-27 Positioning completion signal output with increased window filter time diagram
++
  |=(% scope="row" %)**Function code**|=**Name**|=(((
  **Setting method**
--)))|=(% style="width: 129px;" %)(((
++)))|=(((
  **Effective time**
--)))|=(% style="width: 95px;" %)**Default value**|=**Range**|=**Definition**|=**Unit**
++)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
  |=P05-12|Positioning completion threshold|(((
  Operation setting
--)))|(% style="width:129px" %)(((
++)))|(((
  Effective immediately
--)))|(% style="width:95px" %)800|1 to 65535|Positioning completion threshold|Equivalent pulse unit
++)))|800|1 to 65535|Positioning completion threshold|Equivalent pulse unit
  |=P05-13|Positioning approach threshold|(((
  Operation setting
--)))|(% style="width:129px" %)(((
++)))|(((
  Effective immediately
--)))|(% style="width:95px" %)5000|1 to 65535|Positioning approach threshold|Equivalent pulse unit
++)))|5000|1 to 65535|Positioning approach threshold|Equivalent pulse unit
  |=P05-14|Position detection window time|(((
  Operation setting
--)))|(% style="width:129px" %)(((
++)))|(((
  Effective immediately
--)))|(% style="width:95px" %)10|0 to 20000|Set positioning completion detection window time|ms
++)))|10|0 to 20000|Set positioning completion detection window time|ms
  |=P05-15|Positioning signal hold time|(((
  Operation setting
--)))|(% style="width:129px" %)(((
++)))|(((
  Effective immediately
--)))|(% style="width:95px" %)100|0 to 20000|Set positioning completion output hold time|ms
++)))|100|0 to 20000|Set positioning completion output hold time|ms
  Table 6-24 Function code parameters of positioning completion
@@ -1184,46 +1184,47 @@
  Speed control refers to controlling the speed of the machine through speed instructions. Given the speed instruction by digital voltage or communication, the servo drive can control the mechanical speed fast and precisely. Therefore, the speed control mode is mainly used to control the rotation speed such as analog CNC engraving and milling machine. [[Figure 6-28>>path: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/6.28.jpg?width=806&height=260&rev=1.1]] is the speed control block diagram.
  (% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**Figure 6-28 Speed control block diagram**>>image:6.28.jpg||height="260" id="I6.28.jpg" width="806"]]
--)))
++[[image:6.28.jpg||height="260" width="806"]]
--== Speed instruction input setting ==
++Figure 6-28 Speed control block diagram
++== **Speed instruction input setting** ==
++
  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.
--|=(% scope="row" style="width: 121px;" %)**Function code**|=(% style="width: 186px;" %)**Name**|=(% style="width: 128px;" %)(((
++
++|**Function code**|**Name**|(((
  **Setting method**
--)))|=(% style="width: 125px;" %)(((
++)))|(((
  **Effective time**
--)))|=(% style="width: 85px;" %)**Default value**|=(% style="width: 75px;" %)**Range**|=(% style="width: 310px;" %)**Definition**|=**Unit**
--|=(% style="width: 121px;" %)P01-01|(% style="width:186px" %)Speed instruction source|(% style="width:128px" %)(((
++)))|**Default value**|**Range**|**Definition**|**Unit**
++|P01-01|Speed instruction source|(((
  Shutdown setting
--)))|(% style="width:125px" %)(((
++)))|(((
  Effective immediately
--)))|(% style="width:85px" %)1|(% style="width:75px" %)1 to 1|(% style="width:310px" %)(((
--* 0: internal speed instruction
--* 1: AI_1 analog input (not supported by VD2F)
++)))|1|1 to 1|(((
++0: internal speed instruction
++
++1: AI_1 analog input (not supported by VD2F)
  )))|-
  Table 6-26 Speed instruction source parameter
--**Speed instruction source is internal speed instruction (P01-01=0)**
++**(1) Speed instruction source is internal speed instruction (P01-01=0)**
  Speed instruction comes from internal instruction, and the internal speed instruction is given by a number. The VD2 series servo drive has internal multi-segment speed running function. There are 8 segments speed instructions stored in servo drive, and the speed of each segment could be set individually. The servo drive uses the 1st segment internal speed by default. To use the 2nd to 8th segment internal speed, the corresponding number of DI terminals must be configured as functions 13, 14, and 15. The detailed parameters and function codes are shown as belo
  (% style="width:1141px" %)
--|=(% colspan="1" scope="row" %)**Function code**|=(% colspan="2" %)**Name**|=(% colspan="2" %)(((
++|(% colspan="1" %)**Function code**|(% colspan="2" %)**Name**|(% colspan="2" %)(((
  **Setting**
  **method**
--)))|=(% colspan="2" %)(((
++)))|(% colspan="2" %)(((
  **Effective**
  **time**
--)))|=(% colspan="2" %)**Default value**|=(% colspan="2" %)**Range**|=(% colspan="2" %)**Definition**|=(% colspan="2" %)**Unit**
--|=(% colspan="1" %)P01-02|(% colspan="2" %)(((
++)))|(% colspan="2" %)**Default value**|(% colspan="2" %)**Range**|(% colspan="2" %)**Definition**|(% colspan="2" %)**Unit**
++|(% colspan="1" %)P01-02|(% colspan="2" %)(((
  Internal speed
  Instruction 0
@@ -1240,13 +1240,15 @@
  When DI input port:
--* 15-INSPD3: 0
--* 14-INSPD2: 0
--* 13-INSPD1: 0,
++15-INSPD3: 0
++14-INSPD2: 0
++
++13-INSPD1: 0,
++
  select this speed instruction to be effective.
  )))|(% colspan="2" %)rpm
--|=(% colspan="1" %)P01-23|(% colspan="2" %)(((
++|(% colspan="1" %)P01-23|(% colspan="2" %)(((
  Internal speed
  Instruction 1
@@ -1263,13 +1263,15 @@
  When DI input port:
--* 15-INSPD3: 0
--* 14-INSPD2: 0
--* 13-INSPD1: 1,
++15-INSPD3: 0
++14-INSPD2: 0
++
++13-INSPD1: 1,
++
  Select this speed instruction to be effective.
  )))|(% colspan="2" %)rpm
--|=(% colspan="1" %)P01-24|(% colspan="2" %)(((
++|(% colspan="1" %)P01-24|(% colspan="2" %)(((
  Internal speed
  Instruction 2
@@ -1286,13 +1286,15 @@
  When DI input port:
--* 15-INSPD3: 0
--* 14-INSPD2: 1
--* 13-INSPD1: 0,
++15-INSPD3: 0
++14-INSPD2: 1
++
++13-INSPD1: 0,
++
  Select this speed instruction to be effective.
  )))|(% colspan="2" %)rpm
--|=(% colspan="1" %)P01-25|(% colspan="2" %)(((
++|(% colspan="1" %)P01-25|(% colspan="2" %)(((
  Internal speed
  Instruction 3
@@ -1309,13 +1309,15 @@
  When DI input port:
--* 15-INSPD3: 0
--* 14-INSPD2: 1
--* 13-INSPD1: 1,
++15-INSPD3: 0
++14-INSPD2: 1
++
++13-INSPD1: 1,
++
  Select this speed instruction to be effective.
  )))|(% colspan="2" %)rpm
--|=P01-26|(% colspan="2" %)(((
++|P01-26|(% colspan="2" %)(((
  Internal speed
  Instruction 4
@@ -1332,13 +1332,15 @@
  When DI input port:
--* 15-INSPD3: 1
--* 14-INSPD2: 0
--* 13-INSPD1: 0,
++15-INSPD3: 1
++14-INSPD2: 0
++
++13-INSPD1: 0,
++
  Select this speed instruction to be effective.
  )))|(% colspan="1" %)rpm
--|=P01-27|(% colspan="2" %)(((
++|P01-27|(% colspan="2" %)(((
  Internal speed
  Instruction 5
@@ -1355,13 +1355,15 @@
  When DI input port:
--* 15-INSPD3: 1
--* 14-INSPD2: 0
--* 13-INSPD1: 1,
++15-INSPD3: 1
++14-INSPD2: 0
++
++13-INSPD1: 1,
++
  Select this speed instruction to be effective.
  )))|(% colspan="1" %)rpm
--|=P01-28|(% colspan="2" %)(((
++|P01-28|(% colspan="2" %)(((
  Internal speed
  Instruction 6
@@ -1378,13 +1378,15 @@
  When DI input port:
--* 15-INSPD3: 1
--* 14-INSPD2: 1
--* 13-INSPD1: 0,
++15-INSPD3: 1
++14-INSPD2: 1
++
++13-INSPD1: 0,
++
  Select this speed instruction to be effective.
  )))|(% colspan="1" %)rpm
--|=P01-29|(% colspan="2" %)(((
++|P01-29|(% colspan="2" %)(((
  Internal speed
  Instruction 7
@@ -1401,19 +1401,21 @@
  When DI input port:
--* 15-INSPD3: 1
--* 14-INSPD2: 1
--* 13-INSPD1: 1,
++15-INSPD3: 1
++14-INSPD2: 1
++
++13-INSPD1: 1,
++
  Select this speed instruction to be effective.
  )))|(% colspan="1" %)rpm
  Table 6-27 Internal speed instruction parameters
--|=(% scope="row" %)**DI function code**|=**function name**|=**Function**
--|=13|INSPD1 internal speed instruction selection 1|Form internal multi-speed running segment number
--|=14|INSPD2 internal speed instruction selection 2|Form internal multi-speed running segment number
--|=15|INSPD3 internal speed instruction selection 3|Form internal multi-speed running segment number
++|**DI function code**|**function name**|**Function**
++|13|INSPD1 internal speed instruction selection 1|Form internal multi-speed running segment number
++|14|INSPD2 internal speed instruction selection 2|Form internal multi-speed running segment number
++|15|INSPD3 internal speed instruction selection 3|Form internal multi-speed running segment number
  Table 6-28 DI multi-speed function code description
@@ -1420,7 +1420,7 @@
  The multi-speed segment number is a 3-bit binary number, and the DI terminal logic is level valid. When the input level is valid, the segment selection bit value is 1, otherwise it is 0. The corresponding relationship between INSPD1 to 3 and segment numbers is shown as below.
--|=**INSPD3**|=**INSPD2**|=**INSPD1**|=**Running segment number**|=**Internal speed instruction number**
++|**INSPD3**|**INSPD2**|**INSPD1**|**Running segment number**|**Internal speed instruction number**
  |0|0|0|1|0
  |0|0|1|2|1
  |0|1|0|3|2
@@ -1429,30 +1429,26 @@
  Table 6-29 Correspondence between INSPD bits and segment numbers
--(% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**Figure 6-29 Multi-segment speed running curve**>>image:image-20220608170845-26.png||height="524" id="Iimage-20220608170845-26.png" width="814"]]
--)))
++[[image:image-20220608170845-26.png]]
--**Speed instruction source is internal speed instruction (P01-01=1)**
++Figure 6-29 Multi-segment speed running curve
++**(2) Speed instruction source is internal speed instruction (P01-01=1)**
++
  The servo drive processes the analog voltage signal output by the host computer or other equipment as a speed instruction. VD2A and VD2B series servo drives have 2 analog input channels: AI_1 and AI_2. AI_1 is analog speed input, and AI_2 is analog speed limit.
  (% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**Figure 6-30 Analog input circuit**>>image:image-20220608153341-5.png||id="Iimage-20220608153341-5.png"]]
--)))
++[[image:image-20220608153341-5.png]]
++Figure 6-30 Analog input circuit
++
  Taking AI_1 as an example, the method of setting the speed instruction of analog voltage is illustrated as below.
  (% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**Figure 6-31 Analog voltage speed instruction setting steps**>>image:image-20220608170955-27.png||id="Iimage-20220608170955-27.png"]]
--)))
++[[image:image-20220608170955-27.png]]
++Figure 6-31 Analog voltage speed instruction setting steps
++
  Explanation of related terms:
  * Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
@@ -1460,25 +1460,21 @@
  * Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
  (% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**Figure 6-32 AI_1 diagram before and after bias**>>image:image-20220608171124-28.png||id="Iimage-20220608171124-28.png"]]
--)))
++[[image:image-20220608171124-28.png]]
--|=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit**
--|=P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
--|=P05-02☆|AI_1 input filter time constant|Operation setting|Effective immediately|200|0 to 60000|AI_1 channel input first-order low-pass filtering time constant|0.01ms
--|=P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel quantity dead zone value|mV
--|=P05-04☆|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV
++Figure 6-32 AI_1 diagram before and after bias
++|**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
++|P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
++|P05-02☆|AI_1 input filter time constant|Operation setting|Effective immediately|200|0 to 60000|AI_1 channel input first-order low-pass filtering time constant|0.01ms
++|P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel quantity dead zone value|mV
++|P05-04☆|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV
++
  Table 6-30 AI_1 parameters
--(% class="box infomessage" %)
--(((
  ✎**Note: **“☆” means VD2F servo drive does not support the function code .
--)))
--== Acceleration and deceleration time setting ==
++== **Acceleration and deceleration time setting** ==
  The acceleration and deceleration time setting can achieve the expectation of controlling acceleration by converting the speed instruction with higher acceleration into the speed instruction with gentle acceleration.
@@ -1485,25 +1485,24 @@
  In the speed control mode, excessive acceleration of the speed instruction will cause the motor to jump or vibrate. Therefore, a suitable acceleration and deceleration time can realize the smooth speed change of the motor and avoid the occurrence of mechanical damage caused by the above situation.
  (% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**Figure 6-33 of acceleration and deceleration time diagram**>>image:image-20220608171314-29.png||id="Iimage-20220608171314-29.png"]]
--)))
++[[image:image-20220608171314-29.png]]
++Figure 6-33 of acceleration and deceleration time diagram
++
  (% style="text-align:center" %)
--[[image:image-20220707103616-27.png||class="img-thumbnail"]]
++[[image:image-20220707103616-27.png]]
--|=(% scope="row" %)**Function code**|=**Name**|=(((
++|**Function code**|**Name**|(((
  **Setting method**
--)))|=(((
++)))|(((
  **Effective time**
--)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
--|=P01-03|Acceleration time|(((
++)))|**Default value**|**Range**|**Definition**|**Unit**
++|P01-03|Acceleration time|(((
  Operation setting
  )))|(((
  Effective immediately
  )))|50|0 to 65535|The time for the speed instruction to accelerate from 0 to 1000rpm|ms
--|=P01-04|Deceleration time|(((
++|P01-04|Deceleration time|(((
  Operation setting
  )))|(((
  Effective immediately
@@ -1511,7 +1511,7 @@
  Table 6-31 Acceleration and deceleration time parameters
--== Speed instruction limit ==
++== **Speed instruction limit** ==
  In speed mode, the servo drive could limit the size of the speed instruction. The sources of speed instruction limit include:
@@ -1526,22 +1526,23 @@
  The amplitude of negative speed command ≤ min (Maximum motor speed, P01-10, P01-13)
--|=(% scope="row" %)**Function code**|=**Name**|=(((
++
++|**Function code**|**Name**|(((
  **Setting method**
--)))|=(((
++)))|(((
  **Effective time**
--)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
--|=P01-10|Maximum speed threshold|(((
++)))|**Default value**|**Range**|**Definition**|**Unit**
++|P01-10|Maximum speed threshold|(((
  Operation setting
  )))|(((
  Effective immediately
  )))|3600|0 to 5000|Set the maximum speed limit value, if exceeds this value, an overspeed fault will be reported|rpm
--|=P01-12|Forward speed threshold|(((
++|P01-12|Forward speed threshold|(((
  Operation setting
  )))|(((
  Effective immediately
  )))|3000|0 to 5000|Set forward speed limit value|rpm
--|=P01-13|Reverse speed threshold|(((
++|P01-13|Reverse speed threshold|(((
  Operation setting
  )))|(((
  Effective immediately
@@ -1549,18 +1549,19 @@
  Table 6-32 Rotation speed related function codes
--== Zero-speed clamp function ==
++== **Zero-speed clamp function** ==
  The zero speed clamp function refers to the speed control mode, when the zero speed clamp signal (ZCLAMP) is valid, and the absolute value of the speed instruction is lower than the zero speed clamp speed threshold (P01-22), the servo motor is at In locked state, the servo drive is in position lock mode at this time, and the speed instruction is invalid.
  If the speed instruction amplitude is greater than zero-speed clamp speed threshold, the servo motor exits the locked state and continues to run according to the current input speed instruction.
--|=(% scope="row" %)**Function code**|=**Name**|=(((
++
++|**Function code**|**Name**|(((
  **Setting method**
--)))|=(((
++)))|(((
  **Effective time**
--)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
--|=P01-21|(((
++)))|**Default value**|**Range**|**Definition**|**Unit**
++|P01-21|(((
  Zero-speed clamp function selection
  )))|(((
  Operation setting
@@ -1569,12 +1569,15 @@
  )))|0|0 to 3|(((
  Set the zero-speed clamp function. In speed mode:
--* 0: Force the speed to 0;
--* 1: Force the speed to 0, and keep the position locked when the actual speed is less than P01-22
--* 2: When speed instruction is less than P01-22, force the speed to 0 and keep the position locked
--* 3: Invalid, ignore zero-speed clamp input
++0: Force the speed to 0;
++
++1: Force the speed to 0, and keep the position locked when the actual speed is less than P01-22
++
++2: When speed instruction is less than P01-22, force the speed to 0 and keep the position locked
++
++3: Invalid, ignore zero-speed clamp input
  )))|-
--|=P01-22|(((
++|P01-22|(((
  Zero-speed clamp speed threshold
  )))|(((
  Operation setting
@@ -1584,34 +1584,33 @@
  Table 6-33 Zero-speed clamp related parameters
--(% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**Figure 6-34 Zero-speed clamp diagram**>>image:image-20220608171549-30.png||id="Iimage-20220608171549-30.png"]]
--)))
--== Speed-related DO output function ==
++[[image:image-20220608171549-30.png]]
++Figure 6-34 Zero-speed clamp diagram
++
++== **Speed-related DO output function** ==
++
  The feedback value of the position instruction is compared with different thresholds, and could output DO signal for host computer use.
--**Rotation detection signal**
++**(1) Rotation detection signal**
  After the speed instruction is filtered, the absolute value of the actual speed absolute value of the servo motor reaches P05-16 (rotation detection speed threshold), it could be considered that the motor is rotating. At this time, the servo drive outputs a rotation detection signal (TGON), which can be used to confirm that the motor has rotated. On the contrary, when the absolute value of the actual rotation speed of the servo motor is less than P05-16, it is considered that the motor is not rotating.
--(% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**Figure 6-35 Rotation detection signal diagram**>>image:image-20220608171625-31.png||id="Iimage-20220608171625-31.png"]]
--)))
--To use the motor rotation detection signal output function, a DO terminal of the servo drive should be assigned to function 132 (T-COIN, rotation detection). The function code parameters and related DO function codes are shown in __Table 6-34__ and __Table 6-35__.
++[[image:image-20220608171625-31.png]]
--|=(% scope="row" %)**Function code**|=**Name**|=(((
++Figure 6-35 Rotation detection signal diagram
++
++To use the motor rotation detection signal output function, a DO terminal of the servo drive should be assigned to function 132 (T-COIN, rotation detection). The function code parameters and related DO function codes are shown in __[[Table 6-34>>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/#HSpeed-relatedDOoutputfunction]]__ and __[[Table 6-35>>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/#HSpeed-relatedDOoutputfunction]]__.
++
++
++|**Function code**|**Name**|(((
  **Setting method**
--)))|=(((
++)))|(((
  **Effective time**
--)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
--|=P05-16|(((
++)))|**Default value**|**Range**|**Definition**|**Unit**
++|P05-16|(((
  Rotation detection
  speed threshold
@@ -1623,10 +1623,10 @@
  Table 6-34 Rotation detection speed threshold parameters
--|=(% scope="row" %)**DO function code**|=(% style="width: 247px;" %)**Function name**|=(% style="width: 695px;" %)**Function**
--|=132|(% style="width:247px" %)(((
++|**DO function code**|**Function name**|**Function**
++|132|(((
  T-COIN rotation detection
--)))|(% style="width:695px" %)(((
++)))|(((
  Valid: when the absolute value of motor speed after filtering is greater than or equal to the set value of function code P05-16
  Invalid, when the absolute value of motor speed after filtering is less than set value of function code P05-16
@@ -1634,24 +1634,22 @@
  Table 6-35 DO rotation detection function code
--**Zero-speed signal**
++**(2) Zero-speed signal**
  If the absolute value of the actual speed of servo motor is less than a certain threshold P05-19, it is considered that servo motor stops rotating (close to a standstill), and the servo drive outputs a zero speed signal (ZSP) at this time. On the contrary, if the absolute value of the actual speed of the servo motor is not less than this value, it is considered that the motor is not at a standstill and the zero-speed signal is invalid.
--(% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**Figure 6-36 Zero-speed signal diagram**>>image:image-20220608171904-32.png||id="Iimage-20220608171904-32.png"]]
--)))
++[[image:image-20220608171904-32.png]]
--To use the motor zero-speed signal output function, a DO terminal of servo drive should be assigned to function 133 (ZSP, zero-speed signal). The function code parameters and related DO function codes are shown in __Table 6-36__ and __Table 6-37__.
++Figure 6-36 Zero-speed signal diagram
--|=(% scope="row" %)**Function code**|=**Name**|=(((
++To use the motor zero-speed signal output function, a DO terminal of servo drive should be assigned to function 133 (ZSP, zero-speed signal). The function code parameters and related DO function codes are shown in __[[Table 6-36>>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/#HSpeed-relatedDOoutputfunction]]__ and __[[Table 6-37>>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/#HSpeed-relatedDOoutputfunction]]__.
++
++|**Function code**|**Name**|(((
  **Setting method**
--)))|=(((
++)))|(((
  **Effective time**
--)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
--|=P05-19|Zero speed output signal threshold|(((
++)))|**Default value**|**Range**|**Definition**|**Unit**
++|P05-19|Zero speed output signal threshold|(((
  Operation setting
  )))|(((
  Effective immediately
@@ -1659,31 +1659,30 @@
  Table 6-36 Zero-speed output signal threshold parameter
--|=(% scope="row" %)**DO function code**|=**Function name**|=**Function**
--|=133|(((
++
++|**DO function code**|**Function name**|**Function**
++|133|(((
  ZSP zero speed signal
  )))|Output this signal indicates that the servo motor is stopping rotation
  Table 6-37 DO zero-speed signal function code
--**Speed consistent signal**
++**(3) Speed consistent signal**
  When the absolute value of the deviation between the actual speed of the servo motor after filtering and the speed instruction meets a certain threshold P05-17, it is considered that the actual speed of the motor has reached the set value, and the servo drive outputs a speed coincidence signal (V-COIN) at this time. Conversely, if the absolute value of the deviation between the actual speed of the servo motor and the set speed instruction after filtering exceeds the threshold, the speed consistent signal is invalid.
--(% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**Figure 6-37 Speed consistent signal diagram**>>image:image-20220608172053-33.png||id="Iimage-20220608172053-33.png"]]
--)))
++[[image:image-20220608172053-33.png]]
--To use the motor speed consistent function, a DO terminal of the servo drive should be assigned to function 136 (V-COIN, consistent speed). The function code parameters and related DO function codes are shown in __Table 6-38__ and __Table 6-39__.
++Figure 6-37 Speed consistent signal diagram
--|=(% scope="row" %)**Function code**|=**Name**|=(((
++To use the motor speed consistent function, a DO terminal of the servo drive should be assigned to function 136 (V-COIN, consistent speed). The function code parameters and related DO function codes are shown in __[[Table 6-38>>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/#HSpeed-relatedDOoutputfunction]]__ and __[[Table 6-39>>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/#HSpeed-relatedDOoutputfunction]]__.
++
++|**Function code**|**Name**|(((
  **Setting method**
--)))|=(((
++)))|(((
  **Effective time**
--)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
--|=P05-17|Speed consistent signal threshold|(((
++)))|**Default value**|**Range**|**Definition**|**Unit**
++|P05-17|Speed consistent signal threshold|(((
  Operationsetting
  )))|(((
  Effective immediately
@@ -1691,31 +1691,30 @@
  Table 6-38 Speed consistent signal threshold parameters
--|=(% scope="row" %)**DO Function code**|=(% style="width: 262px;" %)**Function name**|=(% style="width: 684px;" %)**Function**
--|=136|(% style="width:262px" %)(((
++
++|**DO Function code**|**Function name**|**Function**
++|136|(((
  U-COIN consistent speed
--)))|(% style="width:684px" %)The output signal indicates that the absolute deviation of the actual speed of servo motor and the speed instruction meets the P05-17 set value
++)))|The output signal indicates that the absolute deviation of the actual speed of servo motor and the speed instruction meets the P05-17 set value
  Table 6-39 DO speed consistent function code
--**Speed approach signal**
++**(4) Speed approach signal**
  After filtering, the absolute value of the actual speed of the servo motor exceeds a certain threshold [P05-17], and it is considered that the actual speed of the servo motor has reached the expected value. At this time, the servo drive can output a speed close signal (V-NEAR) through the DO terminal. Conversely, if the absolute value of the actual speed of the servo motor after filtering is not greater than this value, the speed approach signal is invalid.
--(% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**Figure 6-38 Speed approaching signal diagram**>>image:image-20220608172207-34.png||id="Iimage-20220608172207-34.png"]]
--)))
++[[image:image-20220608172207-34.png]]
--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__.
++Figure 6-38 Speed approaching signal diagram
--|=(% scope="row" style="width: 147px;" %)**Function code**|=(% style="width: 184px;" %)**Name**|=(((
++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>>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/#HSpeed-relatedDOoutputfunction]]__ and __[[Table 6-41>>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/#HSpeed-relatedDOoutputfunction]]__.
++
++|**Function code**|**Name**|(((
  **Setting method**
--)))|=(((
++)))|(((
  **Effective time**
--)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
--|=(% style="width: 147px;" %)P05-18|(% style="width:184px" %)Speed approach signal threshold|(((
++)))|**Default value**|**Range**|**Definition**|**Unit**
++|P05-18|Speed approach signal threshold|(((
  Operation setting
  )))|(((
  Effective immediately
@@ -1723,8 +1723,8 @@
  Table 6-40 Speed approaching signal threshold parameters
--|=(% scope="row" %)**DO function code**|=**Function name**|=**Function**
--|=137|(((
++|**DO function code**|**Function name**|**Function**
++|137|(((
  V-NEAR speed approach
  )))|The output signal indicates that the actual speed of the servo motor has reached the expected value
@@ -1734,22 +1734,22 @@
  The current of the servo motor has a linear relationship with the torque. Therefore, the control of the current can realize the control of the torque. Torque control refers to controlling the output torque of the motor through torque instructions. Torque instruction could be given by internal instruction and analog voltage.
--(% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**Figure 6-39 Torque mode diagram**>>image:image-20220608172405-35.png||id="Iimage-20220608172405-35.png"]]
--)))
--== Torque instru**ction input setting** ==
++[[image:image-20220608172405-35.png]]
++Figure 6-39 Torque mode diagram
++
++== **Torque instruction input setting** ==
++
  In torque instruction, VD2A and VD2B servo drives have two instruction source: internal torque instruction and analog torque instruction. VD2F drive only has internal torque instruction. The torque instruction source is set by the function code P01-07.
--|=(% scope="row" %)**Function code**|=**Name**|=(((
++
++|**Function code**|**Name**|(((
  **Setting method**
--)))|=(((
++)))|(((
  **Effective time**
--)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
--|=P01-07|Torque instruction source|(((
++)))|**Default value**|**Range**|**Definition**|**Unit**
++|P01-08|Torque instruction source|(((
  Shutdown setting
  )))|(((
  Effective immediately
@@ -1761,16 +1761,17 @@
  Table 6-42 Torque instruction source parameter
--**Torque instruction source is internal torque instruction (P01-07=0)**
++**(1) Torque instruction source is internal torque instruction (P01-07=0)**
  Torque instruction source is from inside, the value is set by function code P01-08.
--|=(% scope="row" %)**Function code**|=**Name**|=(((
++
++|**Function code**|**Name**|(((
  **Setting method**
--)))|=(((
++)))|(((
  **Effective time**
--)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
--|=P01-08|Torque instruction keyboard set value|(((
++)))|**Default value**|**Range**|**Definition**|**Unit**
++|P01-08|Torque instruction keyboard set value|(((
  Operation setting
  )))|(((
  Effective immediately
@@ -1778,24 +1778,22 @@
  Table 6-43 Torque instruction keyboard set value
--**Torque instruction source is internal torque instruction (P01-07=1)**
++**(2) Torque instruction source is internal torque instruction (P01-07=1)**
  The servo drive processes the analog voltage signal output by host computer or other equipment as torque instruction. VD2A and VD2B series servo drives have 2 analog input channels: AI_1 and AI_2. AI_1 is analog torque input, and AI_2 is analog torque limit.
  (% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**Figure 6-40 Analog input circuit**>>image:image-20220608153646-7.png||height="213" id="Iimage-20220608153646-7.png" width="408"]]
--)))
++[[image:image-20220608153646-7.png||height="213" width="408"]]
++Figure 6-40 Analog input circuit
++
  Taking AI_1 as an example, the method of setting torque instruction of analog voltage is as below.
  (% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**Figure 6-41 Analog voltage torque instruction setting steps**>>image:image-20220608172502-36.png||id="Iimage-20220608172502-36.png"]]
--)))
++[[image:image-20220608172502-36.png]]
++Figure 6-41 Analog voltage torque instruction setting steps
++
  Explanation of related terms:
  * Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
@@ -1803,74 +1803,65 @@
  * Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
  (% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**Figure 6-42 AI_1 diagram before and after bias**>>image:image-20220608172611-37.png||id="Iimage-20220608172611-37.png"]]
--)))
++[[image:image-20220608172611-37.png]]
--|=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit**
--|=P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
--|=P05-02☆|AI_1 input filter time constant|Operation setting|Effective immediately|200|0 to 60000|AI_1 channel input first-order low-pass filtering time constant|0.01ms
--|=P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel dead zone value|mV
--|=P05-04☆|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV
++Figure 6-42 AI_1 diagram before and after bias
++|**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
++|P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
++|P05-02☆|AI_1 input filter time constant|Operation setting|Effective immediately|200|0 to 60000|AI_1 channel input first-order low-pass filtering time constant|0.01ms
++|P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel dead zone value|mV
++|P05-04☆|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV
++
  Table 6-44 AI_1 parameters
--(% class="box infomessage" %)
--(((
  ✎**Note: **“☆” means VD2F servo drive does not support the function code .
--)))
--== Torque instruction filtering ==
++== **Torque instruction filtering** ==
--In torque mode, the servo drive could realize low-pass filtering of torque instruction, making the instruction smoother and reducing the vibration of servo motor. The first-order filtering is shown in __Figure 6-43__.
++In torque mode, the servo drive could realize low-pass filtering of torque instruction, making the instruction smoother and reducing the vibration of servo motor. The first-order filtering is shown in __[[Figure 6-43>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_205df0eae349c586.gif?rev=1.1]]__.
--|=(% scope="row" %)**Function code**|=**Name**|=(((
++|**Function code**|**Name**|(((
  **Setting method**
--)))|=(((
++)))|(((
  **Effective time**
--)))|=**Default value**|=(% style="width: 83px;" %)**Range**|=(% style="width: 369px;" %)**Definition**|=**Unit**
--|=P04-04|Torque filtering time constant|(((
++)))|**Default value**|**Range**|**Definition**|**Unit**
++|P04-04|Torque filtering time constant|(((
  Operation setting
  )))|(((
  Effective immediately
--)))|50|(% style="width:83px" %)10 to 2500|(% style="width:369px" %)This parameter is automatically set when “self-adjustment mode selection” is selected as 0|0.01ms
++)))|50|10 to 2500|This parameter is automatically set when “self-adjustment mode selection” is selected as 0|0.01ms
  Table 6-45 Torque filtering time constant parameter details
--(% class="box infomessage" %)
--(((
  ✎**Note: **If the filter time constant is set too large, the responsiveness will be reduced. Please set it while confirming the responsiveness.
--)))
  (% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**Figure 6-43 Torque instruction-first-order filtering diagram**>>image:image-20220608172646-38.png||id="Iimage-20220608172646-38.png"]]
--)))
++[[image:image-20220608172646-38.png]]
--== Torque instruction limit ==
++Figure 6-43 Torque instruction-first-order filtering diagram
++== **Torque instruction limit** ==
++
  When the absolute value of torque instruction input by host computer is greater than the absolute value of torque instruction limit, the drive's actual torque instruction is limited and equal to the limit value of torque instruction. Otherwise, it is equal to the torque instruction value input by host computer.
  At any time, there is only one valid torque limit value. And the positive and negative torque limit values do not exceed the maximum torque of drive and motor and ±300.0% of the rated torque.
  (% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**Figure 6-44 Torque instruction limit diagram**>>image:image-20220608172806-39.png||id="Iimage-20220608172806-39.png"]]
--)))
++[[image:image-20220608172806-39.png]]
--**Set torque limit source**
++Figure 6-44 Torque instruction limit diagram
++**(1) Set torque limit source**
++
  You need to set the torque limit source by function code P01-14. After the setting, the drive torque instruction will be limited within the torque limit value. When the torque limit value is reached, the motor will operate with the torque limit value as the torque instruction. The torque limit value should be set according to the load operation requirements. If the setting is too small, the motor's acceleration and deceleration capacity may be weakened. During constant torque operation, the actual motor speed cannot reach the required value.
--|=(% scope="row" %)**Function code**|=**Name**|=(((
++|**Function code**|**Name**|(((
  **Setting method**
--)))|=(((
++)))|(((
  **Effective time**
--)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
--|=P01-14|(((
++)))|**Default value**|**Range**|**Definition**|**Unit**
++|P01-14|(((
  Torque limit source
  )))|(((
  Shutdown setting
@@ -1877,46 +1877,49 @@
  )))|(((
  Effective immediately
  )))|0|0 to 1|(((
--* 0: internal value
--* 1: AI_1 analog input (not supported by VD2F)
++0: internal value
++
++1: AI_1 analog input
++
++(not supported by VD2F)
  )))|-
--* Torque limit source is internal torque instruction (P01-14=0)
++1) Torque limit source is internal torque instruction (P01-14=0)
  Torque limit source is from inside, you need to set torque limit, and the value is set by function code P01-15 and P01-16.
--|=(% scope="row" %)**Function code**|=**Name**|=(((
++|**Function code**|**Name**|(((
  **Setting method**
--)))|=(((
++)))|(((
  **Effective time**
--)))|=**Default value**|=(% style="width: 106px;" %)**Range**|=(% style="width: 363px;" %)**Definition**|=**Unit**
--|=P01-15|(((
++)))|**Default value**|**Range**|**Definition**|**Unit**
++|P01-15|(((
  Forward torque limit
  )))|(((
  Operation setting
  )))|(((
  Effective immediately
--)))|3000|(% style="width:106px" %)0 to 3000|(% style="width:363px" %)When P01-14 is set to 0, the value of this function code is forward torque limit value|0.1%
--|=P01-16|(((
++)))|3000|0 to 3000|When P01-14 is set to 0, the value of this function code is forward torque limit value|0.1%
++|P01-16|(((
  Reverse torque limit
  )))|(((
  Operation setting
  )))|(((
  Effective immediately
--)))|3000|(% style="width:106px" %)0 to 3000|(% style="width:363px" %)When P01-14 is set to 0, the value of this function code is reverse torque limit value|0.1%
++)))|3000|0 to 3000|When P01-14 is set to 0, the value of this function code is reverse torque limit value|0.1%
  Table 6-46 Torque limit parameter details
--* Torque limit source is external (P01-14=1)
++2) Torque limit source is external (P01-14=1)
  Torque limit source is from external analog channel. The limit value is determined by the torque value corresponding to external AI_2 terminal.
--**Set torque limit DO signal output**
++**(2) Set torque limit DO signal output**
  When torque instruction reaches the torque limit value, the drive outputs a torque limit signal (T-LIMIT) for the host computer use. At this time, one DO terminal of the drive should be assigned to function 139 (T-LIMIT, in torque limit) , and confirm that the terminal logic is valid.
--|=(% scope="row" %)**DO function code**|=**Function name**|=**Function**
--|=139|(((
++|**DO function code**|**Function name**|**Function**
++|139|(((
  T-LIMIT in torque limit
  )))|Output of this signal indicates that the servo motor torque is limited
@@ -1926,28 +1926,21 @@
  In torque mode, if the given torque instruction is too large to exceed the load torque of the mechanical side. This would cause the servo motor to continuously accelerate and overspeed. In order to protect the machinery, the speed of the motor must be limited.
--In torque mode, the actual motor speed would be in the limited speed. After the speed limit is reached, the motor runs at a constant speed at the speed limit. The running curves are shown as __Figure 6-45__ and __Figure 6-46__.
++In torque mode, the actual motor speed would be in the limited speed. After the speed limit is reached, the motor runs at a constant speed at the speed limit. The running curves are shown as __[[Figure 6-45>>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/#HSpeedlimitintorquemode]]__ and __[[Figure 6-46>>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/#HSpeedlimitintorquemode]]__.
  |(((
--(% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**Figure 6-45 Forward running curve**>>image:image-20220608172910-40.png||id="Iimage-20220608172910-40.png"]]
--)))
++[[image:image-20220608172910-40.png]]
  )))|(((
--(% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[Figure 6-46 Reverse running curve>>image:image-20220608173155-41.png||id="Iimage-20220608173155-41.png"]]
++[[image:image-20220608173155-41.png]]
  )))
--)))
++|Figure 6-45 Forward running curve|Figure 6-46 Reverse running curve
--|=(% scope="row" %)**Function code**|=**Name**|=(((
++|**Function code**|**Name**|(((
  **Setting method**
--)))|=(((
++)))|(((
  **Effective time**
--)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
--|=P01-17|(((
++)))|**Default value**|**Range**|**Definition**|**Unit**
++|P01-17|(((
  Forward torque
  limit in torque mode
@@ -1960,7 +1960,7 @@
  limit in torque mode
  )))|0.1%
--|=P01-18|(((
++|P01-18|(((
  Reverse torque
  limit in torque mode
@@ -1976,9 +1976,9 @@
  Table 6-48 Speed limit parameters in torque mode
--✎**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]]__.
++✎**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/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeedinstructionlimit]]__.
--== Torque-related DO output functions ==
++== **Torque-related DO output functions** ==
  The feedback value of torque instruction is compared with different thresholds, and could output the DO signal for the host computer use. The DO terminal of the servo drive is assigned to different functions and determine the logic to be valid.
@@ -1987,27 +1987,26 @@
  The torque arrival function is used to determine whether the actual torque instruction reaches the set interval. When the actual torque instruction reaches the torque instruction threshold, the servo drive outputs a torque arrival signal (T-COIN) for the host computer use.
  (% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**Figure 6-47 Torque arrival output diagram**>>image:image-20220608173541-42.png||height="342" id="Iimage-20220608173541-42.png" width="705"]]
--)))
++[[image:image-20220608173541-42.png]]
--To use the torque arrival function, a DO terminal of the servo drive should be assigned to function 138 (T-COIN, torque arrival). The function code parameters and related DO function codes are shown in __Table 6-49__ and __Table 6-50__.
++Figure 6-47 Torque arrival output diagram
--|=(% scope="row" %)**Function code**|=(% style="width: 113px;" %)**Name**|=(% style="width: 100px;" %)(((
++To use the torque arrival function, a DO terminal of the servo drive should be assigned to function 138 (T-COIN, torque arrival). The function code parameters and related DO function codes are shown in __[[Table 6-49>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HTorque-relatedDOoutputfunctions]]__ and __[[Table 6-50>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HTorque-relatedDOoutputfunctions]]__.
++
++|**Function code**|**Name**|(((
  **Setting method**
--)))|=(% style="width: 124px;" %)(((
++)))|(((
  **Effective time**
--)))|=(% style="width: 83px;" %)**Default value**|=(% style="width: 94px;" %)**Range**|=(% style="width: 421px;" %)**Definition**|=**Unit**
--|=P05-20|(% style="width:113px" %)(((
++)))|**Default value**|**Range**|**Definition**|**Unit**
++|P05-20|(((
  Torque arrival
  threshold
--)))|(% style="width:100px" %)(((
++)))|(((
  Operation setting
--)))|(% style="width:124px" %)(((
++)))|(((
  Effective immediately
--)))|(% style="width:83px" %)100|(% style="width:94px" %)0 to 300|(% style="width:421px" %)(((
++)))|100|0 to 300|(((
  The torque arrival threshold must be used with “Torque arrival hysteresis value”:
  When the actual torque reaches Torque arrival threshold + Torque arrival hysteresis Value, the torque arrival DO is valid;
@@ -2014,20 +2014,21 @@
  When the actual torque decreases below torque arrival threshold-torque arrival hysteresis value, the torque arrival DO is invalid
  )))|%
--|=P05-21|(% style="width:113px" %)(((
++|P05-21|(((
  Torque arrival
  hysteresis
--)))|(% style="width:100px" %)(((
++)))|(((
  Operation setting
--)))|(% style="width:124px" %)(((
++)))|(((
  Effective immediately
--)))|(% style="width:83px" %)10|(% style="width:94px" %)0 to 20|(% style="width:421px" %)Torque arrival the hysteresis value must be used with Torque arrival threshold|%
++)))|10|0 to 20|Torque arrival the hysteresis value must be used with Torque arrival threshold|%
  Table 6-49 Torque arrival parameters
--|=(% scope="row" %)**DO function code**|=**Function name**|=**Function**
--|=138|(((
++
++|**DO function code**|**Function name**|**Function**
++|138|(((
  T-COIN torque arrival
  )))|Used to determine whether the actual torque instruction has reached the set range
@@ -2037,28 +2037,35 @@
  Mixed control mode means that when the servo enable is ON and the status of the servo drive is "run", the mode of the servo drive could be switched between different modes. The VD2 series servo drives have the following 3 mixed control modes:
--* Position mode⇔ Speed mode
--* Position mode ⇔Torque mode
--* Speed mode ⇔Torque mode
++Position mode⇔ Speed mode
++Position mode ⇔Torque mode
++
++Speed mode ⇔Torque mode
++
  Set the function code P00-01 through the software of Wecon “SCTool” or servo drive panel, and the servo drive will run in mixed mode.
--|=(% scope="row" %)**Function code**|=**Name**|=(((
++|**Function code**|**Name**|(((
  **Setting method**
--)))|=(((
++)))|(((
  **Effective time**
--)))|=**Default value**|=(% style="width: 90px;" %)**Range**|=(% style="width: 273px;" %)**Definition**|=**Unit**
--|=P00-01|Control mode|(((
++)))|**Default value**|**Range**|**Definition**|**Unit**
++|P00-01|Control mode|(((
  Shutdown setting
  )))|(((
  Shutdown setting
--)))|1|(% style="width:90px" %)1 to 6|(% style="width:273px" %)(((
--* 1: Position control
--* 2: Speed control
--* 3: Torque control
--* 4: Position/speed mixed control
--* 5: Position/torque mixed control
--* 6: Speed/torque mixed control
++)))|1|1 to 6|(((
++1: Position control
++
++2: Speed control
++
++3: Torque control
++
++4: Position/speed mixed control
++
++5: Position/torque mixed control
++
++6: Speed/torque mixed control
  )))|-
  Table 6-51 Mixed control mode parameters
@@ -2065,38 +2065,35 @@
  Please set the servo drive parameters in different control modes according to the mechanical structure and indicators. The setting method refer to [[__“Parameters”__>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/09%20Parameters/]]. When function code P00-01=4/5/6 (that is, in mixed mode), a DI terminal of the servo drive needs to be assigned to function 17 (MixModeSel, mixed mode selection), and the DI terminal logic is determined to be valid.
--|=(% scope="row" %)**DI function code**|=**Name**|=(% style="width: 187px;" %)**Function name**|=(% style="width: 662px;" %)**Function**
--|=17|MixModeSel|(% style="width:187px" %)Mixed mode selection|(% style="width:662px" %)Used in mixed control mode, when the servo status is "run", set the current control mode of the servo drive(((
--(% style="margin-left:auto; margin-right:auto; width:585px" %)
--|=**P00-01**|=(% style="width: 243px;" %)**MixModeSel terminal logic**|=(% style="width: 220px;" %)**Control mode**
--|(% rowspan="2" %)4|(% style="width:243px" %)Valid|(% style="width:220px" %)Speed mode
--|(% style="width:243px" %)invalid|(% style="width:220px" %)Position mode
--|(% rowspan="2" %)5|(% style="width:243px" %)Valid|(% style="width:220px" %)Torque mode
--|(% style="width:243px" %)invalid|(% style="width:220px" %)Position mode
--|(% rowspan="2" %)6|(% style="width:243px" %)Valid|(% style="width:220px" %)Torque mode
--|(% style="width:243px" %)invalid|(% style="width:220px" %)Speed mode
++|**DI function code**|**Name**|**Function name**|**Function**
++|17|MixModeSel|Mixed mode selection|Used in mixed control mode, when the servo status is "run", set the current control mode of the servo drive(((
++|**P00-01**|**MixModeSel terminal logic**|**Control mode**
++|(% rowspan="2" %)4|Valid|Speed mode
++|invalid|Position mode
++|(% rowspan="2" %)5|Valid|Torque mode
++|invalid|Position mode
++|(% rowspan="2" %)6|Valid|Torque mode
++|invalid|Speed mode
  )))
  Table 6-52 Description of DI function codes in control mode
--(% class="box infomessage" %)
--(((
  ✎**Note:** In mixed control mode, it is recommended to switch the mode at zero speed or low speed, and the switching process will be smoother.
--)))
  = **Absolute system** =
--== Overview ==
++== **Overview** ==
  Absolute encoder could detect the position of the servo motor within one turn, and could count the number of turns of the motor. This series of servo drives are equipped with a maximum of 23-bit encoders and could memorize 16-bit multi-turn data, and position, speed, torque control modes could be used. Especially in position control, the absolute value encoder does not need to count, could achieve direct internal high-speed reading and external output, and could significantly reduce the subsequent calculation tasks of the receiving device controller. When the drive is powered off, the encoder uses battery backup data. After power on, the drive uses the encoder's absolute position to calculate the absolute mechanical position, eliminating the need for repeated mechanical origin reset operations.
  The absolute value encoder is determined by the mechanical position of the photoelectric code disc, and is not affected by power failure or interference. Each position of the absolute encoder determined by the mechanical position is unique, and no external sensor is required to assist in memorizing position.
--== Single-turn absolute value system ==
++== **Single-turn absolute value system** ==
  The single-turn absolute value system is applicable for the equipment load stroke within the single-turn range of the encoder. At this time, the absolute encoder is only as a single-turn system function and does not need to be connected to the battery. The types and information of encoders adapted to VD2 series servo drives are shown as below.
--|=**Encoder type**|=**Encoder resolution (bits)**|=**Data range**
++
++|**Encoder type**|**Encoder resolution (bits)**|**Data range**
  |A1 (single-turn magnetic encoder)|17|0 to 131071
  Table 6-53 Single-turn absolute encoder information
@@ -2104,18 +2104,17 @@
  The relationship between encoder feedback position and rotating load position is shown in the figure below. (take a 17-bit encoder as an example).
  (% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**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"]]
--)))
++[[image:image-20220608173618-43.png]]
--== Multi-turn absolute value system ==
++Figure 6-48 Diagram of relationship between encoder feedback position and rotating load position
++== **Multi-turn absolute value system** ==
++
  The encoder adapted to the multi-turn absolute value system is equipped with 16-bit RAM memory. Compared with the single-turn absolute value, it can additionally memorize the number of turns of the 16-bit encoder. The multi-turn absolute encoder is equipped with a battery (the battery is installed on the encoder cable with a battery unit), which can achieve direct internal high-speed readings and external output without the need for external sensors to assist memory positions. The types and information of encoders adapted to VD2 series servo drives are shown as below.
--|=(% scope="row" %)**Encoder type**|=**Encoder resolution (bits)**|=**Data range**
--|=C1 (multi-turn magnetic encoder)|17|0 to 131071
--|=D2 (multi-turn Optical encoder)|23|0 to 8388607
++|**Encoder type**|**Encoder resolution (bits)**|**Data range**
++|C1 (multi-turn magnetic encoder)|17|0 to 131071
++|D2 (multi-turn Optical encoder)|23|0 to 8388607
  Table 6-54 Multi-turn absolute encoder information
@@ -2122,21 +2122,20 @@
  The relationship between encoder feedback position and rotating load multi-turn is shown in the figure below (take a 23-bit encoder as an example).
  (% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**Figure 6-49 The relationship between encoder feedback position and rotating load position**>>image:image-20220608173701-44.png||id="Iimage-20220608173701-44.png"]]
--)))
++[[image:image-20220608173701-44.png]]
--== Related functions and parameters ==
++Figure 6-49 The relationship between encoder feedback position and rotating load position
++== **Related functions and parameters** ==
++
  **Encoder feedback data**
  The feedback data of the absolute value encoder can be divided into the position within 1 turn of the absolute value encoder and the number of rotations of the absolute value encoder. The related information of the two feedback data is shown in the table below.
--|=(% scope="row" %)**Monitoring number**|=**Category**|=**Name**|=**Unit**|=**Data type**
--|=U0-54|Universal|Absolute encoder position within 1 turn|Encoder unit|32-bit
--|=U0-55|Universal|Rotations number of absolute encoder|circle|16-bit
--|=U0-56|Universal|Multi-turn absolute value encoder current position|Instruction unit|32-bit
++|**Monitoring number**|**Category**|**Name**|**Unit**|**Data type**
++|U0-54|Universal|Absolute encoder position within 1 turn|Encoder unit|32-bit
++|U0-55|Universal|Rotations number of absolute encoder|circle|16-bit
++|U0-56|Universal|Multi-turn absolute value encoder current position|Instruction unit|32-bit
  Table 6-55 Encoder feedback data
@@ -2144,28 +2144,26 @@
  The VD2 series absolute value servo drive provides shielded multi-turn absolute encoder battery fault function to shield under voltage and low-voltage fault. You could set by setting the function code P00-30.
--|=(% scope="row" %)**Function code**|=**Name**|=(((
++|**Function code**|**Name**|(((
  **Setting**
  **method**
--)))|=(((
++)))|(((
  **Effective**
  **time**
--)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
--|=P00-30|Shield multi-turn absolute encoder battery fault|Operation setting|Power on again|0|0 to 1|(((
--* 0：Detect multi-turn absolute encoder battery under voltage, and battery low voltage fault
--* 1: (Not recommended) Shield multi-turn absolute motor battery failure alarm. Multi-turn absolute application may cause mechanical fault, only multi-turn absolute encoder motors is used as single-turn absolute
++)))|**Default value**|**Range**|**Definition**|**Unit**
++|P00-30|Shield multi-turn absolute encoder battery fault|Operation setting|Power on again|0|0 to 1|(((
++0：Detect multi-turn absolute encoder battery under voltage, and battery low voltage fault
++
++1: (Not recommended) Shield multi-turn absolute motor battery failure alarm. Multi-turn absolute application may cause mechanical fault, only multi-turn absolute encoder motors is used as single-turn absolute
  )))|-
  This function is permitted when a multi-turn absolute encoder motor is used as a single-turn absolute and when it is confirmed that no mechanical failure will occur.
--(% class="box infomessage" %)
--(((
  **✎Note: **Be sure to use the shield multi-turn absolute encoder battery fault function carefully, otherwise it may cause data loss, mechanical failure, or even personal injury or death.
--)))
--== Absolute value system encoder battery box use precautions. ==
++== **Absolute value system encoder battery box use precautions**. ==
  **Cautions**
@@ -2172,11 +2172,10 @@
  Er.40 (Encoder battery failure) will occur when the battery is turned on for the first time, and the function code P10-03 must be set to 1 to clear the encoder fault to operate the absolute value system again.
  (% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**Figure 6-50 the encoder battery box**>>image:image-20220707111333-28.png||height="390" id="Iimage-20220707111333-28.png" width="975"]]
--)))
++[[image:image-20220707111333-28.png]]
++Figure 6-50 the encoder battery box
++
  When it is detected that the battery voltage is less than 3.1V, A-92 (Encoder battery low voltage warning) will occur. Please replace the battery in time.
  **Replace the battery**
@@ -2192,19 +2192,20 @@
  When the servo drive is powered off, if the battery is replaced and powered on again, Er.40 (encoder battery failure) will occur, and the multi-turn data will change suddenly. Please set the function code P10-03 or P10-06 to 1 to clear the encoder fault alarms and perform the origin return function operation again.
--|=(% scope="row" %)**Function code**|=**Name**|=(((
++|**Function code**|**Name**|(((
  **Setting method**
--)))|=(((
++)))|(((
  **Effective time**
--)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
--|=P10-06|Multi-turn absolute encoder reset|(((
++)))|**Default value**|**Range**|**Definition**|**Unit**
++|P10-06|Multi-turn absolute encoder reset|(((
  Shutdown setting
  )))|(((
  Effective immediately
  )))|0|0 to 1|(((
--* 0: No operation
--* 1: Clear rotation number of multi-turn absolute encoder, multi-turn absolute encoder current position and encoder fault alarms.
++0: No operation
++1: Clear rotation number of multi-turn absolute encoder, multi-turn absolute encoder current position and encoder fault alarms.
++
  ✎**Note: **After resetting the multi-turn data of the encoder, the encoder absolute position will change suddenly, and the mechanical origin return operation is required.
  )))|-
@@ -2212,7 +2212,7 @@
  **Battery selection**
--|=(% scope="row" style="width: 361px;" %)**Battery selection specification**|=(% style="width: 496px;" %)**Item**|=(% style="width: 219px;" %)**Value**
++|(% style="width:361px" %)**Battery selection specification**|(% style="width:496px" %)**Item**|(% style="width:219px" %)**Value**
  |(% rowspan="4" style="width:361px" %)(((
  Nominal Voltage: 3.6V
@@ -2240,108 +2240,111 @@
  = **Other functions** =
--== VDI ==
++== **VDI** ==
  VDI (Virtual Digital Signal Input Port) is similar to hardware DI terminal. The DI function could also be assigned for use.
--(% class="box infomessage" %)
--(((
  ✎**Note: **If multiple VDI terminals are configured with the same non-zero DI function, servo drive will occur an error “A-89” (DI port configuration is duplicate).
--)))
  Take the VDI_1 terminal assignment forward drive prohibition (03-POT) as an example, and the use steps of VDI are as the figure below.
++
  (% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**Figure 6-51 VDI_1 setting steps**>>image:image-20220608173804-46.png||id="Iimage-20220608173804-46.png"]]
--)))
++[[image:image-20220608173804-46.png]]
--|=(% scope="row" %)**Function code**|=**Name**|=(((
++Figure 6-51 VDI_1 setting steps
++
++|**Function code**|**Name**|(((
  **Setting method**
--)))|=(((
++)))|(((
  **Effective time**
--)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
--|=P13-1|Virtual VDI_1 input value|Operation setting|Effective immediately|0|0 to 1|(((
++)))|**Default value**|**Range**|**Definition**|**Unit**
++|P13-1|Virtual VDI_1 input value|Operation setting|Effective immediately|0|0 to 1|(((
  When P06-04 is set to 1, DI_1 channel logic is control by this function code.
  VDI_1 input level:
--* 0: low level
--* 1: high level
++0: low level
++
++1: high level
  )))|-
--|=P13-2|Virtual VDI_2 input value|Operation setting|Effective immediately|0|0 to 1|(((
++|P13-2|Virtual VDI_2 input value|Operation setting|Effective immediately|0|0 to 1|(((
  When P06-07 is set to 1, DI_2 channel logic is control by this function code.
  VDI_2 input level:
--* 0: low level
--* 1: high level
++0: low level
++
++1: high level
  )))|-
--|=P13-3|Virtual VDI_3 input value|Operation setting|Effective immediately|0|0 to 1|(((
++|P13-3|Virtual VDI_3 input value|Operation setting|Effective immediately|0|0 to 1|(((
  When P06-10 is set to 1, DI_3 channel logic is control by this function code.
  VDI_3 input level:
--* 0: low level
--* 1: high level
++0: low level
++
++1: high level
  )))|-
--|=P13-4|Virtual VDI_4 input value|Operation setting|Effective immediately|0|0 to 1|(((
++|P13-4|Virtual VDI_4 input value|Operation setting|Effective immediately|0|0 to 1|(((
  When P06-13 is set to 1, DI_4 channel logic is control by this function code.
  VDI_4 input level:
--* 0: low level
--* 1: high level
++0: low level
++
++1: high level
  )))|-
--|=P13-05☆|Virtual VDI_5 input value|Operation setting|Effective immediately|0|0 to 1|(((
++|P13-05☆|Virtual VDI_5 input value|Operation setting|Effective immediately|0|0 to 1|(((
  When P06-16 is set to 1, DI_5 channel logic is control by this function code.
  VDI_5 input level:
--* 0: low level
--* 1: high level
++0: low level
++
++1: high level
  )))|-
--|=P13-06☆|Virtual VDI_6 input value|Operation setting|Effective immediately|0|0 to 1|(((
++|P13-06☆|Virtual VDI_6 input value|Operation setting|Effective immediately|0|0 to 1|(((
  When P06-19 is set to 1, DI_6 channel logic is control by this function code.
  VDI_6 input level:
--* 0: low level
--* 1: high level
++0: low level
++
++1: high level
  )))|-
--|=P13-07☆|Virtual VDI_7 input value|Operation setting|Effective immediately|0|0 to 1|(((
++|P13-07☆|Virtual VDI_7 input value|Operation setting|Effective immediately|0|0 to 1|(((
  When P06-22 is set to 1, DI_7 channel logic is control by this function code.
  VDI_7 input level:
--* 0: low level
--* 1: high level
++0: low level
++
++1: high level
  )))|-
--|=P13-08☆|Virtual VDI_8 input value|Operation setting|Effective immediately|0|0 to 1|(((
++|P13-08☆|Virtual VDI_8 input value|Operation setting|Effective immediately|0|0 to 1|(((
  When P06-25 is set to 1, DI_8 channel logic is control by this function code.
  VDI_8 input level:
--* 0: low level
--* 1: high level
++0: low level
++
++1: high level
  )))|-
  Table 6-57 Virtual VDI parameters
--(% class="box infomessage" %)
--(((
  ✎**Note: **“☆” means VD2F servo drive does not support the function code .
--)))
--== Port filtering time ==
++== **Port filtering time** ==
  VD2A and VD2B servo drives have 8 hardware DI terminals (DI_1 to DI_8) , and VD2F servo drive has 4 hardware DI terminals (DI_1 to DI_4) . All the DI terminals are normal terminals.
--|=(% scope="row" style="width: 204px;" %)**Setting value**|=(% style="width: 235px;" %)**DI channel logic selection**|=(% style="width: 637px;" %)**Illustration**
--|=(% style="width: 204px;" %)0|(% style="width:235px" %)Active high level|(% style="width:637px" %)[[image:image-20220707113050-31.jpeg]]
--|=(% style="width: 204px;" %)1|(% style="width:235px" %)Active low level|(% style="width:637px" %)[[image:image-20220707113205-33.jpeg||height="166" width="526"]]
++|(% style="width:204px" %)**Setting value**|(% style="width:235px" %)**DI channel logic selection**|(% style="width:637px" %)**Illustration**
++|(% style="width:204px" %)0|(% style="width:235px" %)Active high level|(% style="width:637px" %)[[image:image-20220707113050-31.jpeg]]
++|(% style="width:204px" %)1|(% style="width:235px" %)Active low level|(% style="width:637px" %)[[image:image-20220707113205-33.jpeg||height="166" width="526"]]
++
  Table 6-58 DI terminal channel logic selection
  == **VDO** ==
@@ -2351,49 +2351,51 @@
  Take the DO_2 terminal as communication VDO, and the use steps of VDI are as the figure below.
  (% style="text-align:center" %)
--(((
--(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
--[[**Figure 6-52 VDO_2 setting steps**>>image:image-20220608173957-48.png||id="Iimage-20220608173957-48.png"]]
--)))
++[[image:image-20220608173957-48.png]]
++Figure 6-52 VDO_2 setting steps
--|=(% scope="row" %)**Function code**|=**Name**|=(((
++|**Function code**|**Name**|(((
  **Setting method**
--)))|=(((
++)))|(((
  **Effective time**
--)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
--|=P13-11|Communication VDO_1 output value|Operation setting|Effective immediately|0|0 to 1|(((
++)))|**Default value**|**Range**|**Definition**|**Unit**
++|P13-11|Communication VDO_1 output value|Operation setting|Effective immediately|0|0 to 1|(((
  VDO_1 output level：
--* 0: low level
--* 1: high level
++0: low level
++
++1: high level
  )))|-
--|=P13-12|Communication VDO_2 output value|Operation setting|Effective immediately|0|0 to 1|(((
++|P13-12|Communication VDO_2 output value|Operation setting|Effective immediately|0|0 to 1|(((
  VDO_2 output level：
--* 0: low level
--* 1: high level
++0: low level
++
++1: high level
  )))|-
--|=P13-13|Communication VDO_3 output value|Operation setting|Effective immediately|0|0 to 1|(((
++|P13-13|Communication VDO_3 output value|Operation setting|Effective immediately|0|0 to 1|(((
  VDO_3 output level：
--* 0: low level
--* 1: high level
++0: low level
++
++1: high level
  )))|-
--|=P13-14|Communication VDO_4 output value|Operation setting|Effective immediately|0|0 to 1|(((
++|P13-14|Communication VDO_4 output value|Operation setting|Effective immediately|0|0 to 1|(((
  VDO_4 output level：
--* 0: low level
--* 1: high level
++0: low level
++
++1: high level
  )))|-
  Table 6-59 Communication control DO function parameters
--|=(% scope="row" %)**DO function number**|=**Function name**|=**Function**
--|=145|COM_VDO1 communication VDO1 output|Use communication VDO
--|=146|COM_VDO1 communication VDO2 output|Use communication VDO
--|=147|COM_VDO1 communication VDO3 output|Use communication VDO
--|=148|COM_VDO1 communication VDO4output|Use communication VDO
++|**DO function number**|**Function name**|**Function**
++|145|COM_VDO1 communication VDO1 output|Use communication VDO
++|146|COM_VDO1 communication VDO2 output|Use communication VDO
++|147|COM_VDO1 communication VDO3 output|Use communication VDO
++|148|COM_VDO1 communication VDO4output|Use communication VDO
  Table 6-60 VDO function number
@@ -2401,16 +2401,16 @@
  If multiple DO terminals are configured with the same non-128 DI function, servo drive will occur an error “A-90” (DO port configuration is duplicate).
--== Motor overload protection ==
++== **Motor overload protection** ==
  VD2 Series absolute encoder (VD2SA) servo drive provides motor overload protection to prevent motor burning due to high temperature. By setting function code P10-04 to modify motor overload alarm (A-82) and motor overload protection fault time (Er.34). The default value of P10-04 is 100%.
--|=(% scope="row" %)**Function code**|=**Name**|=(((
++|**Function code**|**Name**|(((
  **Setting method**
--)))|=(((
++)))|(((
  **Effective time**
--)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
--|=P10-04|motor overload protection time coefficient|Operation setting|Effective immediately|100|0 to 800|(((
++)))|**Default value**|**Range**|**Definition**|**Unit**
++|P10-04|motor overload protection time coefficient|Operation setting|Effective immediately|100|0 to 800|(((
  According to the heating condition of the motor, the value could be modified to make the overload protection time float up and down in the reference value.
 corresponds to 50%, that is, the time is reduced by half. 300 corresponds to 300%, that is, the time extended to 3 times. When the value is set to 0, the overload protection fault detection function is disabled

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