Changes for page 06 Operation

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Author

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1		-XWiki.Jim
	1	+XWiki.Stone

Content

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2	2
3	3	== **Check before operation** ==
4	4
5		-|=(% scope="row" style="width: 79px;" %)**No.**|=(% style="width: 996px;" %)**Content**
	5	+|=(% scope="row" style="width: 58px;" %)**No.**|=(% style="width: 1017px;" %)**Content**
6	6	|=(% colspan="2" %)Wiring
7		-|=(% style="width: 79px;" %)1|(% style="width:996px" %)The main circuit input terminals (L1, L2 and L3) of servo drive must be properly connected.
8		-|=(% style="width: 79px;" %)2|(% style="width:996px" %)The main circuit output terminals (U, V and W) of servo drive and the main circuit cables (U, V and W) of servo motor must have the same phase and be properly connected.
9		-|=(% style="width: 79px;" %)3|(% style="width:996px" %)The main circuit power input terminals (L1, L2 and L3) and the main circuit output terminals (U, V and W) of servo drive cannot be short-circuited.
10		-|=(% style="width: 79px;" %)4|(% style="width:996px" %)The wiring of each control signal cable of servo drive is correct: The external signal wires such as brake and overtravel protection have been reliably connected.
11		-|=(% style="width: 79px;" %)5|(% style="width:996px" %)Servo drive and servo motor must be grounded reliably.
12		-|=(% style="width: 79px;" %)6|(% style="width:996px" %)When using an external braking resistor, the short wiring between drive C and D must be removed.
13		-|=(% style="width: 79px;" %)7|(% style="width:996px" %)The force of all cables is within the specified range.
14		-|=(% style="width: 79px;" %)8|(% style="width:996px" %)The wiring terminals have been insulated.
	7	+|=(% style="width: 58px;" %)1|(% style="width:1017px" %)The main circuit input terminals (L1, L2 and L3) of servo drive must be properly connected.
	8	+|=(% style="width: 58px;" %)2|(% style="width:1017px" %)The main circuit output terminals (U, V and W) of servo drive and the main circuit cables (U, V and W) of servo motor must have the same phase and be properly connected.
	9	+|=(% style="width: 58px;" %)3|(% style="width:1017px" %)The main circuit power input terminals (L1, L2 and L3) and the main circuit output terminals (U, V and W) of servo drive cannot be short-circuited.
	10	+|=(% style="width: 58px;" %)4|(% style="width:1017px" %)The wiring of each control signal cable of servo drive is correct: The external signal wires such as brake and overtravel protection have been reliably connected.
	11	+|=(% style="width: 58px;" %)5|(% style="width:1017px" %)Servo drive and servo motor must be grounded reliably.
	12	+|=(% style="width: 58px;" %)6|(% style="width:1017px" %)When using an external braking resistor, the short wiring between drive C and D must be removed.
	13	+|=(% style="width: 58px;" %)7|(% style="width:1017px" %)The force of all cables is within the specified range.
	14	+|=(% style="width: 58px;" %)8|(% style="width:1017px" %)The wiring terminals have been insulated.
15	15	|=(% colspan="2" %)Environment and Machinery
16		-|=(% style="width: 79px;" %)1|(% style="width:996px" %)There is no iron filings, metal, etc. that can cause short circuits inside or outside the servo drive.
17		-|=(% style="width: 79px;" %)2|(% style="width:996px" %)The servo drive and external braking resistor are not placed on combustible objects.
18		-|=(% style="width: 79px;" %)3|(% style="width:996px" %)The installation, shaft and mechanical structure of the servo motor have been firmly connected.
	16	+|=(% style="width: 58px;" %)1|(% style="width:1017px" %)There is no iron filings, metal, etc. that can cause short circuits inside or outside the servo drive.
	17	+|=(% style="width: 58px;" %)2|(% style="width:1017px" %)The servo drive and external braking resistor are not placed on combustible objects.
	18	+|=(% style="width: 58px;" %)3|(% style="width:1017px" %)The installation, shaft and mechanical structure of the servo motor have been firmly connected.
19	19
20	20	Table 6-1 Check contents before operation
21	21
...	...	@@ -46,23 +46,11 @@
46	46	)))|=(((
47	47	**Effective time**
48	48	)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
49		-|=(((
50		-P10-01
51		-)))|(((
52		-JOG speed
53		-)))|(((
	49	+|=P10-01|JOG speed|(((
54	54	Operation setting
55	55	)))|(((
56	56	Effective immediately
57		-)))|(((
58		-100
59		-)))|(((
60		-0 to 3000
61		-)))|(((
62		-JOG speed
63		-)))|(((
64		-rpm
65		-)))
	53	+)))|100|0 to 3000|JOG speed|rpm
66	66
67	67	Table 6-2 JOG speed parameter
68	68
...	...	@@ -71,19 +71,11 @@
71	71	By setting the “P00-04” rotation direction, you could change the rotation direction of the motor without changing the polarity of the input instruction. The function code is shown in below.
72	72
73	73	|=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=Effective time|=**Default value**|=**Range**|=**Definition**|=**Unit**
74		-|=(((
75		-P00-04
76		-)))|(((
77		-Rotation direction
78		-)))|(((
	62	+|=P00-04|Rotation direction|(((
79	79	Shutdown setting
80	80	)))|(((
81	81	Effective immediately
82		-)))|(((
83		-0
84		-)))|(((
85		-0 to 1
86		-)))|(((
	66	+)))|0|0 to 1|(((
87	87	Forward rotation: Face the motor shaft to watch
88	88
89	89	* 0: standard setting (CW is forward rotation)
...	...	@@ -101,14 +101,14 @@
101	101	1. the maximum brake energy calculated value > the maximum brake energy absorbed by capacitor, and the brake power calculated value ≤ the built-in braking resistor power, use the built-in braking resistor.
102	102	1. the maximum brake energy calculated value > the maximum brake energy absorbed by capacitor, and the brake power calculated value > the built-in braking resistor power, use external braking resistor.
103	103
104		-|=(% scope="row" %)**Function code**|=**Name**|=(% style="width: 118px;" %)(((
	84	+|=(% scope="row" %)**Function code**|=**Name**|=(((
105	105	**Setting method**
106		-)))|=(% style="width: 126px;" %)(((
	86	+)))|=(((
107	107	**Effective time**
108	108	)))|=**Default**|=**Range**|=**Definition**|=**Unit**
109		-|=P00-09|Braking resistor setting|(% style="width:118px" %)(((
	89	+|=P00-09|Braking resistor setting|(((
110	110	Operation setting
111		-)))|(% style="width:126px" %)(((
	91	+)))|(((
112	112	Effective immediately
113	113	)))|0|0 to 3|(((
114	114	* 0: use built-in braking resistor
...	...	@@ -116,15 +116,15 @@
116	116	* 2: use external braking resistor and forced air cooling; (cannot be set)
117	117	* 3: No braking resistor is used, it is all absorbed by capacitor.
118	118	)))|-
119		-(% class="info" %)|(% colspan="8" scope="row" %)✎**Note: **VD2-010SA1G and VD2F-010SA1P drives have no built-in resistor by default, so the default value of the function code “P00-09” is 3 (No braking resistor is used, it is all absorbed by capacitor).
120		-|=P00-10|External braking resistor value|(% style="width:118px" %)(((
	99	+|=(% colspan="8" %)✎**Note: **VD2-010SA1G and VD2F-010SA1P drives have no built-in resistor by default, so the default value of the function code “P00-09” is 3 (No braking resistor is used, it is all absorbed by capacitor).
	100	+|=P00-10|External braking resistor value|(((
121	121	Operation setting
122		-)))|(% style="width:126px" %)(((
	102	+)))|(((
123	123	Effective immediately
124	124	)))|50|0 to 65535|It is used to set the external braking resistor value of a certain type of drive.|Ω
125		-|=P00-11|External braking resistor power|(% style="width:118px" %)(((
	105	+|=P00-11|External braking resistor power|(((
126	126	Operation setting
127		-)))|(% style="width:126px" %)(((
	107	+)))|(((
128	128	Effective immediately
129	129	)))|100|0 to 65535|It is used to set the external braking resistor power of a certain type of drive.|W
130	130
...	...	@@ -146,7 +146,7 @@
146	146
147	147	(% style="text-align:center" %)
148	148	(((
149		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	129	+(% class="wikigeneratedid" style="display:inline-block" %)
150	150	[[**Figure 6-1 Timing diagram of power on**>>image:image-20220608163014-1.png||id="Iimage-20220608163014-1.png"]]
151	151	)))
152	152
...	...	@@ -154,14 +154,14 @@
154	154
155	155	According to the different shutdown modes, it could be divided into free shutdown and zero speed shutdown. The respective characteristics are shown in __Table 6-5__. According to the shutdown status, it could be divided into free running state and position locked, as shown in __Table 6-6__.
156	156
157		-|=(% scope="row" style="width: 150px;" %)Shutdown mode|=(% style="width: 532px;" %)Shutdown description|=(% style="width: 393px;" %)Shutdown characteristics
158		-|=(% style="width: 150px;" %)Free shutdown|(% style="width:532px" %)Servo motor is not energized and decelerates freely to 0. The deceleration time is affected by factors such as mechanical inertia and mechanical friction.|(% style="width:393px" %)Smooth deceleration, small mechanical shock, but slow deceleration process.
159		-|=(% style="width: 150px;" %)Zero-speed shutdown|(% style="width:532px" %)The servo drive outputs reverse braking torque, and the motor quickly decelerates to zero-speed.|(% style="width:393px" %)Rapid deceleration with mechanical shock, but fast deceleration process.
	137	+|=(% scope="row" %)Shutdown mode|=Shutdown description|=Shutdown characteristics
	138	+|=Free shutdown|Servo motor is not energized and decelerates freely to 0. The deceleration time is affected by factors such as mechanical inertia and mechanical friction.|Smooth deceleration, small mechanical shock, but slow deceleration process.
	139	+|=Zero-speed shutdown|The servo drive outputs reverse braking torque, and the motor quickly decelerates to zero-speed.|Rapid deceleration with mechanical shock, but fast deceleration process.
160	160
161	161	Table 6-5 Comparison of two shutdown modes
162	162
163		-|=(% scope="row" style="width: 151px;" %)**Shutdown status**|=(% style="width: 532px;" %)**Free operation status**|=(% style="width: 392px;" %)**Position locked**
164		-|=(% style="width: 151px;" %)Characteristics|(% style="width:532px" %)After the motor stops rotating, it is power-off, and the motor shaft can rotate freely.|(% style="width:392px" %)After the motor stops rotating, the motor shaft is locked and could not rotate freely.
	143	+|=(% scope="row" %)**Shutdown status**|=**Free operation status**|=**Position locked**
	144	+|=Characteristics|After the motor stops rotating, it is power-off, and the motor shaft can rotate freely.|After the motor stops rotating, the motor shaft is locked and could not rotate freely.
165	165
166	166	Table 6-6 Comparison of two shutdown status
167	167
...	...	@@ -169,22 +169,22 @@
169	169
170	170	The related parameters of the servo OFF shutdown mode are shown in the table below.
171	171
172		-|=(% scope="row" style="width: 94px;" %)**Function code**|=(% style="width: 180px;" %)**Name**|=(% style="width: 119px;" %)(((
	152	+|=(% scope="row" %)**Function code**|=**Name**|=(((
173	173	**Setting method**
174		-)))|=(% style="width: 134px;" %)(((
	154	+)))|=(((
175	175	**Effective time**
176		-)))|=(% style="width: 86px;" %)(((
	156	+)))|=(((
177	177	**Default value**
178		-)))|=(% style="width: 70px;" %)**Range**|=(% style="width: 347px;" %)**Definition**|=**Unit**
179		-|=(% style="width: 94px;" %)P00-05|(% style="width:180px" %)Servo OFF shutdown|(% style="width:119px" %)(((
	158	+)))|=**Range**|=**Definition**|=**Unit**
	159	+|=P00-05|Servo OFF shutdown|(((
180	180	Shutdown
181	181
182	182	setting
183		-)))|(% style="width:134px" %)(((
	163	+)))|(((
184	184	Effective
185	185
186	186	immediately
187		-)))|(% style="width:86px" %)0|(% style="width:70px" %)0 to 1|(% style="width:347px" %)(((
	167	+)))|0|0 to 1|(((
188	188	* 0: Free shutdown, and the motor shaft remains free status.
189	189	* 1: Zero-speed shutdown, and the motor shaft remains free status.
190	190	)))|-
...	...	@@ -203,12 +203,12 @@
203	203
204	204	The corresponding configuration and selection could be selected through the DI terminal function of the function code "DIDO configuration". The default function of DI3 is POT and DI4 is NOT, as shown in the table below.
205	205
206		-|=(% scope="row" style="width: 89px;" %)**Function code**|=(% style="width: 135px;" %)**Name**|=(% style="width: 122px;" %)(((
	186	+|=(% scope="row" %)**Function code**|=(% style="width: 143px;" %)**Name**|=(% style="width: 137px;" %)(((
207	207	**Setting method**
208		-)))|=(% style="width: 114px;" %)(((
	188	+)))|=(% style="width: 141px;" %)(((
209	209	**Effective time**
210		-)))|=(% style="width: 106px;" %)**Default value**|=(% style="width: 84px;" %)**Range**|=(% style="width: 380px;" %)**Definition**|=**Unit**
211		-|=(% style="width: 89px;" %)P06-08|(% style="width:135px" %)DI_3 channel function selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)Power-on again|(% style="width:106px" %)3|(% style="width:84px" %)0 to 32|(% style="width:380px" %)(((
	190	+)))|=(% style="width: 84px;" %)**Default value**|=(% style="width: 100px;" %)**Range**|=**Definition**|=**Unit**
	191	+|=P06-08|(% style="width:143px" %)DI_3 channel function selection|(% style="width:137px" %)Operation setting|(% style="width:141px" %)Power-on again|(% style="width:84px" %)3|(% style="width:100px" %)0 to 32|(((
212	212	* 0: OFF (not used)
213	213	* 01: S-ON servo enable
214	214	* 02: A-CLR fault and Warning Clear
...	...	@@ -234,27 +234,27 @@
234	234	* 24: Internal multi-segment position selection 4
235	235	* Others: reserved
236	236	)))|-
237		-|=(% style="width: 89px;" %)P06-09|(% style="width:135px" %)DI_3 channel logic selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
	217	+|=P06-09|(% style="width:143px" %)DI_3 channel logic selection|(% style="width:137px" %)Operation setting|(% style="width:141px" %)(((
238	238	Effective immediately
239		-)))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
	219	+)))|(% style="width:84px" %)0|(% style="width:100px" %)0 to 1|(((
240	240	DI port input logic validity function selection.
241	241
242	242	* 0: Normally open input. Active low level (switch on);
243	243	* 1: Normally closed input. Active high level (switch off);
244	244	)))|-
245		-|=(% style="width: 89px;" %)P06-10|(% style="width:135px" %)DI_3 input source selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
	225	+|=P06-10|(% style="width:143px" %)DI_3 input source selection|(% style="width:137px" %)Operation setting|(% style="width:141px" %)(((
246	246	Effective immediately
247		-)))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
	227	+)))|(% style="width:84px" %)0|(% style="width:100px" %)0 to 1|(((
248	248	Select the DI_3 port type to enable
249	249
250	250	* 0: Hardware DI_3 input terminal
251	251	* 1: virtual VDI_3 input terminal
252	252	)))|-
253		-|=(% style="width: 89px;" %)P06-11|(% style="width:135px" %)DI_4 channel function selection|(% style="width:122px" %)(((
	233	+|=P06-11|(% style="width:143px" %)DI_4 channel function selection|(% style="width:137px" %)(((
254	254	Operation setting
255		-)))|(% style="width:114px" %)(((
	235	+)))|(% style="width:141px" %)(((
256	256	again Power-on
257		-)))|(% style="width:106px" %)4|(% style="width:84px" %)0 to 32|(% style="width:380px" %)(((
	237	+)))|(% style="width:84px" %)4|(% style="width:100px" %)0 to 32|(((
258	258	* 0: OFF (not used)
259	259	* 01: SON Servo enable
260	260	* 02: A-CLR Fault and Warning Clear
...	...	@@ -280,17 +280,17 @@
280	280	* 24: Internal multi-segment position selection 4
281	281	* Others: reserved
282	282	)))|-
283		-|=(% style="width: 89px;" %)P06-12|(% style="width:135px" %)DI_4 channel logic selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
	263	+|=P06-12|(% style="width:143px" %)DI_4 channel logic selection|(% style="width:137px" %)Operation setting|(% style="width:141px" %)(((
284	284	Effective immediately
285		-)))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
	265	+)))|(% style="width:84px" %)0|(% style="width:100px" %)0 to 1|(((
286	286	DI port input logic validity function selection.
287	287
288	288	* 0: Normally open input. Active low level (switch on);
289	289	* 1: Normally closed input. Active high level (switch off);
290	290	)))|-
291		-|=(% style="width: 89px;" %)P06-13|(% style="width:135px" %)DI_4 input source selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
	271	+|=P06-13|(% style="width:143px" %)DI_4 input source selection|(% style="width:137px" %)Operation setting|(% style="width:141px" %)(((
292	292	Effective immediately
293		-)))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
	273	+)))|(% style="width:84px" %)0|(% style="width:100px" %)0 to 1|(((
294	294	Select the DI_4 port type to enable
295	295
296	296	* 0: Hardware DI_4 input terminal
...	...	@@ -307,7 +307,7 @@
307	307
308	308	The brake is a mechanism that prevents the servo motor shaft from moving when the servo drive is in a non-operating state, and keeps the motor locked in position, so that the moving part of the machine will not move due to its own weight or external force.
309	309
310		-(% class="warning" %)|(((
	290	+|(((
311	311	(% style="text-align:center" %)
312	312	[[image:image-20220611151617-1.png]]
313	313	)))
...	...	@@ -325,16 +325,16 @@
325	325
326	326	**Wiring of brake device**
327	327
328		-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)
	308	+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)
329	329
330	330
331	331	(% style="text-align:center" %)
332	332	(((
333		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	313	+(% class="wikigeneratedid" style="display:inline-block" %)
334	334	[[**Figure 6-2 VD2B servo drive brake wiring**>>image:image-20220608163136-2.png||id="Iimage-20220608163136-2.png"]]
335	335	)))
336	336
337		-(% class="warning" %)|(((
	317	+|(((
338	338	(% style="text-align:center" %)
339	339	[[image:image-20220611151642-2.png]]
340	340	)))
...	...	@@ -352,12 +352,12 @@
352	352
353	353	Related function code is as below.
354	354
355		-|=(% scope="row" %)**DO function code**|=(% style="width: 241px;" %)**Function name**|=(% style="width: 458px;" %)**Function**|=(% style="width: 191px;" %)(((
	335	+|=(% scope="row" %)**DO function code**|=**Function name**|=**Function**|=(((
356	356	**Effective time**
357	357	)))
358		-|=144|(% style="width:241px" %)(((
	338	+|=144|(((
359	359	BRK-OFF Brake output
360		-)))|(% style="width:458px" %)Output the signal indicates the servo motor brake release|(% style="width:191px" %)Power-on again
	340	+)))|Output the signal indicates the servo motor brake release|Power-on again
361	361
362	362	Table 6-2 Relevant function codes for brake setting
363	363
...	...	@@ -399,8 +399,7 @@
399	399
400	400	When the servo enable changes from ON to OFF, if the actual motor speed is lower than20 rpm, the servo drive will act according to the static brake sequence. The specific sequence action is shown in __Figure 6-3__
401	401
402		-(% class="warning" %)|(((
403		-(% style="text-align:center" %)
	382	+|(((
404	404	[[image:image-20220611151705-3.png]]
405	405	)))
406	406	|(((
...	...	@@ -411,7 +411,7 @@
411	411
412	412	(% style="text-align:center" %)
413	413	(((
414		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	393	+(% class="wikigeneratedid" style="display:inline-block" %)
415	415	[[**Figure 6-3 Brake Timing of when the motor is stationary**>>image:image-20220608163304-3.png||id="Iimage-20220608163304-3.png"]]
416	416	)))
417	417
...	...	@@ -424,7 +424,7 @@
424	424
425	425	When the servo enable is from ON to OFF, if the actual motor speed is greater than or equal to 20 rpm, the drive will act in accordance with the rotation brake sequence. The specific sequence action is shown in __Figure 6-4__.
426	426
427		-(% class="warning" %)|(((
	406	+|(((
428	428	(% style="text-align:center" %)
429	429	[[image:image-20220611151719-4.png]]
430	430	)))
...	...	@@ -442,7 +442,7 @@
442	442
443	443	(% style="text-align:center" %)
444	444	(((
445		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	424	+(% class="wikigeneratedid" style="display:inline-block" %)
446	446	[[**Figure 6-4 Brake timing when the motor rotates**>>image:image-20220608163425-4.png||id="Iimage-20220608163425-4.png"]]
447	447	)))
448	448
...	...	@@ -452,7 +452,7 @@
452	452
453	453	(% style="text-align:center" %)
454	454	(((
455		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	434	+(% class="wikigeneratedid" style="display:inline-block" %)
456	456	[[**~~ Figure 6-5 The brake timing (free shutdown) in the fault state**>>image:image-20220608163541-5.png||id="Iimage-20220608163541-5.png"]]
457	457	)))
458	458
...	...	@@ -462,18 +462,18 @@
462	462
463	463	(% style="text-align:center" %)
464	464	(((
465		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	444	+(% class="wikigeneratedid" style="display:inline-block" %)
466	466	[[**Figure 6-6 Position control diagram**>>image:image-20220608163643-6.png||id="Iimage-20220608163643-6.png"]]
467	467	)))
468	468
469	469	Set “P00-01” to 1 by the software “Wecon SCTool”, and the servo drive is in position control mode.
470	470
471		-|=(% scope="row" style="width: 123px;" %)**Function code**|=(% style="width: 134px;" %)**Name**|=(((
	450	+|=(% scope="row" %)**Function code**|=**Name**|=(((
472	472	**Setting method**
473	473	)))|=(((
474	474	**Effective time**
475	475	)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
476		-|=(% style="width: 123px;" %)P01-01|(% style="width:134px" %)Control mode|(((
	455	+|=P01-01|Control mode|(((
477	477	Operation setting
478	478	)))|(((
479	479	immediately Effective
...	...	@@ -518,13 +518,8 @@
518	518
519	519	Low-speed pulse instruction input
520	520
521		-|(% style="text-align:center" %)(((
522		-(% class="wikigeneratedid" style="display:inline-block" %)
523		-[[VD2A and VD2B servo drives>>image:image-20220804160519-1.jpeg||id="Iimage-20220804160519-1.jpeg"]]
524		-)))|(% style="text-align:center" %)(((
525		-(% class="wikigeneratedid" style="display:inline-block" %)
526		-[[VD2F servo drive>>image:image-20220804160624-2.jpeg||id="Iimage-20220804160624-2.jpeg"]]
527		-)))
	500	+|[[image:image-20220804160519-1.jpeg]]|[[image:image-20220804160624-2.jpeg]]
	501	+|VD2A and VD2B servo drives|VD2F servo drive
528	528	|(% colspan="2" %)Figure 6-7 Position instruction input setting
529	529
530	530	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__.
...	...	@@ -531,9 +531,9 @@
531	531
532	532	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.
533	533
534		-|=(% scope="row" %)**Pulse method**|=(% style="width: 372px;" %)**Maximum frequency**|=(% style="width: 260px;" %)**Voltage**
535		-|=Open collector input|(% style="width:372px" %)200K|(% style="width:260px" %)24V
536		-|=Differential input|(% style="width:372px" %)500K|(% style="width:260px" %)5V
	508	+|=(% scope="row" %)**Pulse method**|=**Maximum frequency**|=**Voltage**
	509	+|=Open collector input|200K|24V
	510	+|=Differential input|500K|5V
537	537
538	538	Table 6-12 Pulse input specifications
539	539
...	...	@@ -543,8 +543,8 @@
543	543
544	544	(% style="text-align:center" %)
545	545	(((
546		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
547		-[[**Figure 6-8 Differential input connection**>>image:image-20220707092615-5.jpeg||height="306" id="Iimage-20220707092615-5.jpeg" width="583"]]
	520	+(% class="wikigeneratedid" style="display:inline-block" %)
	521	+[[**Figure 6-8 Differential input connection**>>image:image-20220707092615-5.jpeg||id="Iimage-20220707092615-5.jpeg"]]
548	548	)))
549	549
550	550	(% class="box infomessage" %)
...	...	@@ -558,8 +558,8 @@
558	558
559	559	(% style="text-align:center" %)
560	560	(((
561		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
562		-[[**Figure 6-9 Open collector input connection**>>image:image-20220707092401-3.jpeg||height="432" id="Iimage-20220707092401-3.jpeg" width="679"]]
	535	+(% class="wikigeneratedid" style="display:inline-block" %)
	536	+[[**Figure 6-9 Open collector input connection**>>image:image-20220707092401-3.jpeg||height="530" id="Iimage-20220707092401-3.jpeg" width="834"]]
563	563	)))
564	564
565	565
...	...	@@ -574,27 +574,27 @@
574	574
575	575	(% style="text-align:center" %)
576	576	(((
577		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	551	+(% class="wikigeneratedid" style="display:inline-block" %)
578	578	[[**Figure 6-10 Example of filtered signal waveform**>>image:image-20220608163952-8.png||id="Iimage-20220608163952-8.png"]]
579	579	)))
580	580
581	581	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.
582	582
583		-|=**Function code**|=(% style="width: 169px;" %)**Name**|=(% style="width: 146px;" %)(((
	557	+|=**Function code**|=**Name**|=(((
584	584	**Setting method**
585	585	)))|=(((
586	586	**Effective time**
587		-)))|=**Default value**|=(% style="width: 87px;" %)**Range**|=(% colspan="2" style="width: 296px;" %)**Definition**|=**Unit**
588		-|P00-13|(% style="width:169px" %)Maximum position pulse frequency|(% style="width:146px" %)(((
	561	+)))|=**Default value**|=**Range**|=(% colspan="2" %)**Definition**|=**Unit**
	562	+|P00-13|Maximum position pulse frequency|(((
589	589	Shutdown setting
590	590	)))|(((
591	591	Effective immediately
592		-)))|300|(% style="width:87px" %)1 to 500|(% colspan="2" style="width:296px" %)Set the maximum frequency of external pulse instruction|KHz
593		-|(% rowspan="3" %)P00-14|(% rowspan="3" style="width:169px" %)Position pulse anti-interference level|(% rowspan="3" style="width:146px" %)(((
	566	+)))|300|1 to 500|(% colspan="2" %)Set the maximum frequency of external pulse instruction|KHz
	567	+|(% rowspan="3" %)P00-14|(% rowspan="3" %)Position pulse anti-interference level|(% rowspan="3" %)(((
594	594	Operation setting
595	595	)))|(% rowspan="3" %)(((
596	596	Power-on again
597		-)))|(% rowspan="3" %)2|(% rowspan="3" style="width:87px" %)0 to 9|(% colspan="2" style="width:296px" %)(((
	571	+)))|(% rowspan="3" %)2|(% rowspan="3" %)0 to 9|(% colspan="2" %)(((
598	598	Set the anti-interference level of external pulse instruction.
599	599
600	600	* 0: no filtering;
...	...	@@ -617,16 +617,16 @@
617	617
618	618	In VD2 series servo drives, there are three types of input pulse instructions, and the related function codes are shown in the table below.
619	619
620		-|=(% scope="row" %)**Function code**|=(% style="width: 144px;" %)**Name**|=(% style="width: 110px;" %)(((
	594	+|=(% scope="row" %)**Function code**|=**Name**|=(((
621	621	**Setting method**
622		-)))|=(% style="width: 109px;" %)(((
	596	+)))|=(((
623	623	**Effective time**
624		-)))|=(% style="width: 77px;" %)**Default value**|=(% style="width: 74px;" %)**Range**|=(% style="width: 412px;" %)**Definition**|=**Unit**
625		-|=P00-12|(% style="width:144px" %)Position pulse type selection|(% style="width:110px" %)(((
	598	+)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
	599	+|=P00-12|Position pulse type selection|(((
626	626	Operation setting
627		-)))|(% style="width:109px" %)(((
	601	+)))|(((
628	628	Power-on again
629		-)))|(% style="width:77px" %)0|(% style="width:74px" %)0 to 5|(% style="width:412px" %)(((
	603	+)))|0|0 to 5|(((
630	630	* 0: direction + pulse (positive logic)
631	631	* 1: CW/CCW
632	632	* 2: A, B phase quadrature pulse (4 times frequency)
...	...	@@ -637,26 +637,26 @@
637	637
638	638	Table 6-14 Position pulse type selection parameter
639	639
640		-|=(% scope="row" %)**Pulse type selection**|=(% style="width: 200px;" %)**Pulse type**|=(% style="width: 161px;" %)**Signal**|=**Schematic diagram of forward pulse**|=**Schematic diagram of negative pulse**
641		-|=0|(% style="width:200px" %)(((
	614	+|=(% scope="row" %)**Pulse type selection**|=**Pulse type**|=**Signal**|=**Schematic diagram of forward pulse**|=**Schematic diagram of negative pulse**
	615	+|=0|(((
642	642	Direction + pulse
643	643
644	644	(Positive logic)
645		-)))|(% style="width:161px" %)(((
	619	+)))|(((
646	646	PULSE
647	647
648	648	SIGN
649	649	)))|[[image:image-20220707094340-6.jpeg]]|[[image:image-20220707094345-7.jpeg]]
650		-|=1|(% style="width:200px" %)CW/CCW|(% style="width:161px" %)(((
	624	+|=1|CW/CCW|(((
651	651	PULSE (CW)
652	652
653	653	SIGN (CCW)
654	654	)))|(% colspan="2" %)[[image:image-20220707094351-8.jpeg]]
655		-|=2|(% style="width:200px" %)(((
	629	+|=2|(((
656	656	AB phase orthogonal
657	657
658	658	pulse (4 times frequency)
659		-)))|(% style="width:161px" %)(((
	633	+)))|(((
660	660	PULSE (Phase A)
661	661
662	662	SIGN (Phase B)
...	...	@@ -673,29 +673,29 @@
673	673
674	674	Phase B is 90° ahead of Phase A
675	675	)))
676		-|=3|(% style="width:200px" %)(((
	650	+|=3|(((
677	677	Direction + pulse
678	678
679	679	(Negative logic)
680		-)))|(% style="width:161px" %)(((
	654	+)))|(((
681	681	PULSE
682	682
683	683	SIGN
684	684	)))|[[image:image-20220707094414-11.jpeg]]|[[image:image-20220707094418-12.jpeg]]
685		-|=4|(% style="width:200px" %)(((
	659	+|=4|(((
686	686	CW/CCW
687	687
688	688	(Negative logic)
689		-)))|(% style="width:161px" %)(((
	663	+)))|(((
690	690	PULSE (CW)
691	691
692	692	SIGN (CCW)
693	693	)))|(% colspan="2" %)[[image:image-20220707094423-13.jpeg]]
694		-|=5|(% style="width:200px" %)(((
	668	+|=5|(((
695	695	AB phase orthogonal
696	696
697	697	pulse (4 times frequency negative logic)
698		-)))|(% style="width:161px" %)(((
	672	+)))|(((
699	699	PULSE (Phase A)
700	700
701	701	SIGN (Phase B)
...	...	@@ -723,7 +723,7 @@
723	723
724	724	(% style="text-align:center" %)
725	725	(((
726		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	700	+(% class="wikigeneratedid" style="display:inline-block" %)
727	727	[[**Figure 6-11 The setting process of multi-segment position**>>image:image-20220608164116-9.png||id="Iimage-20220608164116-9.png"]]
728	728	)))
729	729
...	...	@@ -779,9 +779,10 @@
779	779
780	780	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
781	781
	756	+
782	782	(% style="text-align:center" %)
783	783	(((
784		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	759	+(% class="wikigeneratedid" style="display:inline-block" %)
785	785	[[**Figure 6-12 Single running curve (P07-02=1, P07-03=2)**>>image:image-20220608164226-10.png||id="Iimage-20220608164226-10.png"]]
786	786	)))
787	787
...	...	@@ -791,11 +791,11 @@
791	791
792	792	(% style="text-align:center" %)
793	793	(((
794		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	769	+(% class="wikigeneratedid" style="display:inline-block" %)
795	795	[[**Figure 6-13 Cycle running curve (P07-02=1, P07-03=4)**>>image:image-20220608164327-11.png||id="Iimage-20220608164327-11.png"]]
796	796	)))
797	797
798		-(% class="warning" %)|(((
	773	+|(((
799	799	(% style="text-align:center" %)
800	800	[[image:image-20220611151917-5.png]]
801	801	)))
...	...	@@ -829,7 +829,7 @@
829	829
830	830	(% style="text-align:center" %)
831	831	(((
832		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	807	+(% class="wikigeneratedid" style="display:inline-block" %)
833	833	[[**Figure 6-14 DI switching running curve**>>image:image-20220608164545-12.png||id="Iimage-20220608164545-12.png"]]
834	834	)))
835	835
...	...	@@ -841,29 +841,29 @@
841	841
842	842	(% style="text-align:center" %)
843	843	(((
844		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	819	+(% class="wikigeneratedid" style="display:inline-block" %)
845	845	[[**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"]]
846	846	)))
847	847
848	848	(% style="text-align:center" %)
849	849	(((
850		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
851		-[[**Figure 6-16 Cycle running-run the remaining segment (P07-02=1, P07-03=4)**>>image:image-20220608165032-14.png||height="285" id="Iimage-20220608165032-14.png" width="734"]]
	825	+(% class="wikigeneratedid" style="display:inline-block" %)
	826	+[[**Figure 6-16 Cycle running-run the remaining segment (P07-02=1, P07-03=4)**>>image:image-20220608165032-14.png||id="Iimage-20220608165032-14.png"]]
852	852	)))
853	853
854	854	**Run again from the start segment**
855	855
856		-In this processing mode, when the multi-segment position instruction enable is OFF during running, the servo drive will abandon the uncompleted displacement part and shutdown. After the shutdown is completed, the positioning completion signal is valid. When the multi-segment position enable is ON, and the servo drive will start to operate from the next position set by P07-02. The curves of single running and cycle running are shown in __Figure 6-17__ and __Figure 6-18__ respectively.
	831	+In this processing mode, when the multi-segment position instruction enable is OFF during running, the servo drive will abandon the uncompleted displacement part and shutdown. After the shutdown is completed, the positioning completion signal is valid. When the multi-segment position enable is ON, and the servo drive will start to operate from the next position set by P07-02. The curves of single running and cycle running are shown in __[[Figure 6-17>>https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/image-20220608165343-15.png?rev=1.1]]__ and __[[Figure 6-18>>https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/image-20220608165558-16.png?rev=1.1]]__ respectively.
857	857
858	858	(% style="text-align:center" %)
859	859	(((
860		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	835	+(% class="wikigeneratedid" style="display:inline-block" %)
861	861	[[**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"]]
862	862	)))
863	863
864	864	(% style="text-align:center" %)
865	865	(((
866		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	841	+(% class="wikigeneratedid" style="display:inline-block" %)
867	867	[[**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"]]
868	868	)))
869	869
...	...	@@ -876,13 +876,13 @@
876	876	|(((
877	877	(% style="text-align:center" %)
878	878	(((
879		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	854	+(% class="wikigeneratedid" style="display:inline-block" %)
880	880	[[**Figure 6-19 Relative position diagram**>>image:image-20220608165710-17.png||id="Iimage-20220608165710-17.png"]]
881	881	)))
882	882	)))|(((
883	883	(% style="text-align:center" %)
884	884	(((
885		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	860	+(% class="wikigeneratedid" style="display:inline-block" %)
886	886	[[**Figure 6-20 Displacement diagram**>>image:image-20220608165749-18.png||id="Iimage-20220608165749-18.png"]]
887	887	)))
888	888	)))
...	...	@@ -894,13 +894,13 @@
894	894	|(((
895	895	(% style="text-align:center" %)
896	896	(((
897		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	872	+(% class="wikigeneratedid" style="display:inline-block" %)
898	898	[[**Figure 6-21 Absolute indication**>>image:image-20220608165848-19.png||id="Iimage-20220608165848-19.png"]]
899	899	)))
900	900	)))|(((
901	901	(% style="text-align:center" %)
902	902	(((
903		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	878	+(% class="wikigeneratedid" style="display:inline-block" %)
904	904	[[**Figure 6-22 Displacement**>>image:image-20220608170005-20.png||id="Iimage-20220608170005-20.png"]]
905	905	)))
906	906	)))
...	...	@@ -945,7 +945,7 @@
945	945
946	946	(% style="text-align:center" %)
947	947	(((
948		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	923	+(% class="wikigeneratedid" style="display:inline-block" %)
949	949	[[**Figure 6-23 The 1st segment running curve of motor**>>image:image-20220608170149-21.png||id="Iimage-20220608170149-21.png"]]
950	950	)))
951	951
...	...	@@ -962,7 +962,7 @@
962	962	)))
963	963
964	964	(% style="text-align:center" %)
965		-[[image:image-20220611152020-6.png||class="img-thumbnail"]]
	940	+[[image:image-20220611152020-6.png]]
966	966
967	967	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!
968	968
...	...	@@ -977,7 +977,7 @@
977	977	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)
978	978
979	979	(% style="text-align:center" %)
980		-[[image:image-20220707094901-16.png||class="img-thumbnail"]]
	955	+[[image:image-20220707094901-16.png]]
981	981
982	982	Otherwise, the servo drive will report Er.35: "Electronic gear ratio setting exceeds the limit"!
983	983
...	...	@@ -985,8 +985,8 @@
985	985
986	986	(% style="text-align:center" %)
987	987	(((
988		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
989		-[[**Figure 6-24 Setting steps of electronic gear ratio**>>image:image-20220707100850-20.jpeg||height="458" id="Iimage-20220707100850-20.jpeg" width="1021"]]
	963	+(% class="wikigeneratedid" style="display:inline-block" %)
	964	+[[**Figure 6-24 Setting steps of electronic gear ratio**>>image:image-20220707100850-20.jpeg||id="Iimage-20220707100850-20.jpeg"]]
990	990	)))
991	991
992	992	**lectronic gear ratio switch setting**
...	...	@@ -1083,8 +1083,8 @@
1083	1083
1084	1084	(% style="text-align:center" %)
1085	1085	(((
1086		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1087		-[[**Figure 6-25 Position instruction filtering diagram**>>image:image-20220608170455-23.png||height="230" id="Iimage-20220608170455-23.png" width="514"]]
	1061	+(% class="wikigeneratedid" style="display:inline-block" %)
	1062	+[[**Figure 6-25 Position instruction filtering diagram**>>image:image-20220608170455-23.png||id="Iimage-20220608170455-23.png"]]
1088	1088	)))
1089	1089
1090	1090	|=(% scope="row" %)**Function code**|=**Name**|=(((
...	...	@@ -1127,7 +1127,7 @@
1127	1127
1128	1128	(% style="text-align:center" %)
1129	1129	(((
1130		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	1105	+(% class="wikigeneratedid" style="display:inline-block" %)
1131	1131	[[**Figure 6-26 Positioning completion signal output diagram**>>image:image-20220608170550-24.png||id="Iimage-20220608170550-24.png"]]
1132	1132	)))
1133	1133
...	...	@@ -1137,8 +1137,8 @@
1137	1137
1138	1138	(% style="text-align:center" %)
1139	1139	(((
1140		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1141		-[[**Figure 6-27 Positioning completion signal output with increased window filter time diagram**>>image:image-20220608170650-25.png||height="331" id="Iimage-20220608170650-25.png" width="709"]]
	1115	+(% class="wikigeneratedid" style="display:inline-block" %)
	1116	+[[**Figure 6-27 Positioning completion signal output with increased window filter time diagram**>>image:image-20220608170650-25.png||id="Iimage-20220608170650-25.png"]]
1142	1142	)))
1143	1143
1144	1144	|=(% scope="row" %)**Function code**|=**Name**|=(((
...	...	@@ -1185,7 +1185,7 @@
1185	1185
1186	1186	(% style="text-align:center" %)
1187	1187	(((
1188		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	1163	+(% class="wikigeneratedid" style="display:inline-block" %)
1189	1189	[[**Figure 6-28 Speed control block diagram**>>image:6.28.jpg||height="260" id="I6.28.jpg" width="806"]]
1190	1190	)))
1191	1191
...	...	@@ -1193,12 +1193,12 @@
1193	1193
1194	1194	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.
1195	1195
1196		-|=(% scope="row" style="width: 121px;" %)**Function code**|=(% style="width: 186px;" %)**Name**|=(% style="width: 128px;" %)(((
	1171	+|=(% scope="row" style="width: 121px;" %)**Function code**|=(% style="width: 189px;" %)**Name**|=(% style="width: 125px;" %)(((
1197	1197	**Setting method**
1198	1198	)))|=(% style="width: 125px;" %)(((
1199	1199	**Effective time**
1200	1200	)))|=(% style="width: 85px;" %)**Default value**|=(% style="width: 75px;" %)**Range**|=(% style="width: 310px;" %)**Definition**|=**Unit**
1201		-|=(% style="width: 121px;" %)P01-01|(% style="width:186px" %)Speed instruction source|(% style="width:128px" %)(((
	1176	+|=(% style="width: 121px;" %)P01-01|(% style="width:189px" %)Speed instruction source|(% style="width:125px" %)(((
1202	1202	Shutdown setting
1203	1203	)))|(% style="width:125px" %)(((
1204	1204	Effective immediately
...	...	@@ -1431,8 +1431,8 @@
1431	1431
1432	1432	(% style="text-align:center" %)
1433	1433	(((
1434		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1435		-[[**Figure 6-29 Multi-segment speed running curve**>>image:image-20220608170845-26.png||height="524" id="Iimage-20220608170845-26.png" width="814"]]
	1409	+(% class="wikigeneratedid" style="display:inline-block" %)
	1410	+[[**Figure 6-29 Multi-segment speed running curve**>>image:image-20220608170845-26.png||id="Iimage-20220608170845-26.png"]]
1436	1436	)))
1437	1437
1438	1438	**Speed instruction source is internal speed instruction (P01-01=1)**
...	...	@@ -1441,7 +1441,7 @@
1441	1441
1442	1442	(% style="text-align:center" %)
1443	1443	(((
1444		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	1419	+(% class="wikigeneratedid" style="display:inline-block" %)
1445	1445	[[**Figure 6-30 Analog input circuit**>>image:image-20220608153341-5.png||id="Iimage-20220608153341-5.png"]]
1446	1446	)))
1447	1447
...	...	@@ -1449,7 +1449,7 @@
1449	1449
1450	1450	(% style="text-align:center" %)
1451	1451	(((
1452		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	1427	+(% class="wikigeneratedid" style="display:inline-block" %)
1453	1453	[[**Figure 6-31 Analog voltage speed instruction setting steps**>>image:image-20220608170955-27.png||id="Iimage-20220608170955-27.png"]]
1454	1454	)))
1455	1455
...	...	@@ -1461,7 +1461,7 @@
1461	1461
1462	1462	(% style="text-align:center" %)
1463	1463	(((
1464		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	1439	+(% class="wikigeneratedid" style="display:inline-block" %)
1465	1465	[[**Figure 6-32 AI_1 diagram before and after bias**>>image:image-20220608171124-28.png||id="Iimage-20220608171124-28.png"]]
1466	1466	)))
1467	1467
...	...	@@ -1486,12 +1486,12 @@
1486	1486
1487	1487	(% style="text-align:center" %)
1488	1488	(((
1489		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	1464	+(% class="wikigeneratedid" style="display:inline-block" %)
1490	1490	[[**Figure 6-33 of acceleration and deceleration time diagram**>>image:image-20220608171314-29.png||id="Iimage-20220608171314-29.png"]]
1491	1491	)))
1492	1492
1493	1493	(% style="text-align:center" %)
1494		-[[image:image-20220707103616-27.png||class="img-thumbnail"]]
	1469	+[[image:image-20220707103616-27.png]]
1495	1495
1496	1496	|=(% scope="row" %)**Function code**|=**Name**|=(((
1497	1497	**Setting method**
...	...	@@ -1586,7 +1586,7 @@
1586	1586
1587	1587	(% style="text-align:center" %)
1588	1588	(((
1589		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	1564	+(% class="wikigeneratedid" style="display:inline-block" %)
1590	1590	[[**Figure 6-34 Zero-speed clamp diagram**>>image:image-20220608171549-30.png||id="Iimage-20220608171549-30.png"]]
1591	1591	)))
1592	1592
...	...	@@ -1600,7 +1600,7 @@
1600	1600
1601	1601	(% style="text-align:center" %)
1602	1602	(((
1603		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	1578	+(% class="wikigeneratedid" style="display:inline-block" %)
1604	1604	[[**Figure 6-35 Rotation detection signal diagram**>>image:image-20220608171625-31.png||id="Iimage-20220608171625-31.png"]]
1605	1605	)))
1606	1606
...	...	@@ -1640,7 +1640,7 @@
1640	1640
1641	1641	(% style="text-align:center" %)
1642	1642	(((
1643		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	1618	+(% class="wikigeneratedid" style="display:inline-block" %)
1644	1644	[[**Figure 6-36 Zero-speed signal diagram**>>image:image-20220608171904-32.png||id="Iimage-20220608171904-32.png"]]
1645	1645	)))
1646	1646
...	...	@@ -1672,7 +1672,7 @@
1672	1672
1673	1673	(% style="text-align:center" %)
1674	1674	(((
1675		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	1650	+(% class="wikigeneratedid" style="display:inline-block" %)
1676	1676	[[**Figure 6-37 Speed consistent signal diagram**>>image:image-20220608172053-33.png||id="Iimage-20220608172053-33.png"]]
1677	1677	)))
1678	1678
...	...	@@ -1704,18 +1704,18 @@
1704	1704
1705	1705	(% style="text-align:center" %)
1706	1706	(((
1707		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	1682	+(% class="wikigeneratedid" style="display:inline-block" %)
1708	1708	[[**Figure 6-38 Speed approaching signal diagram**>>image:image-20220608172207-34.png||id="Iimage-20220608172207-34.png"]]
1709	1709	)))
1710	1710
1711	1711	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__.
1712	1712
1713		-|=(% scope="row" style="width: 147px;" %)**Function code**|=(% style="width: 184px;" %)**Name**|=(((
	1688	+|=(% scope="row" %)**Function code**|=**Name**|=(((
1714	1714	**Setting method**
1715	1715	)))|=(((
1716	1716	**Effective time**
1717	1717	)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1718		-|=(% style="width: 147px;" %)P05-18|(% style="width:184px" %)Speed approach signal threshold|(((
	1693	+|=P05-18|Speed approach signal threshold|(((
1719	1719	Operation setting
1720	1720	)))|(((
1721	1721	Effective immediately
...	...	@@ -1736,7 +1736,7 @@
1736	1736
1737	1737	(% style="text-align:center" %)
1738	1738	(((
1739		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	1714	+(% class="wikigeneratedid" style="display:inline-block" %)
1740	1740	[[**Figure 6-39 Torque mode diagram**>>image:image-20220608172405-35.png||id="Iimage-20220608172405-35.png"]]
1741	1741	)))
1742	1742
...	...	@@ -1749,7 +1749,7 @@
1749	1749	)))|=(((
1750	1750	**Effective time**
1751	1751	)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1752		-|=P01-07|Torque instruction source|(((
	1727	+|=P01-08|Torque instruction source|(((
1753	1753	Shutdown setting
1754	1754	)))|(((
1755	1755	Effective immediately
...	...	@@ -1784,7 +1784,7 @@
1784	1784
1785	1785	(% style="text-align:center" %)
1786	1786	(((
1787		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	1762	+(% class="wikigeneratedid" style="display:inline-block" %)
1788	1788	[[**Figure 6-40 Analog input circuit**>>image:image-20220608153646-7.png||height="213" id="Iimage-20220608153646-7.png" width="408"]]
1789	1789	)))
1790	1790
...	...	@@ -1792,7 +1792,7 @@
1792	1792
1793	1793	(% style="text-align:center" %)
1794	1794	(((
1795		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	1770	+(% class="wikigeneratedid" style="display:inline-block" %)
1796	1796	[[**Figure 6-41 Analog voltage torque instruction setting steps**>>image:image-20220608172502-36.png||id="Iimage-20220608172502-36.png"]]
1797	1797	)))
1798	1798
...	...	@@ -1804,7 +1804,7 @@
1804	1804
1805	1805	(% style="text-align:center" %)
1806	1806	(((
1807		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	1782	+(% class="wikigeneratedid" style="display:inline-block" %)
1808	1808	[[**Figure 6-42 AI_1 diagram before and after bias**>>image:image-20220608172611-37.png||id="Iimage-20220608172611-37.png"]]
1809	1809	)))
1810	1810
...	...	@@ -1845,7 +1845,7 @@
1845	1845
1846	1846	(% style="text-align:center" %)
1847	1847	(((
1848		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	1823	+(% class="wikigeneratedid" style="display:inline-block" %)
1849	1849	[[**Figure 6-43 Torque instruction-first-order filtering diagram**>>image:image-20220608172646-38.png||id="Iimage-20220608172646-38.png"]]
1850	1850	)))
1851	1851
...	...	@@ -1857,7 +1857,7 @@
1857	1857
1858	1858	(% style="text-align:center" %)
1859	1859	(((
1860		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	1835	+(% class="wikigeneratedid" style="display:inline-block" %)
1861	1861	[[**Figure 6-44 Torque instruction limit diagram**>>image:image-20220608172806-39.png||id="Iimage-20220608172806-39.png"]]
1862	1862	)))
1863	1863
...	...	@@ -1931,13 +1931,13 @@
1931	1931	|(((
1932	1932	(% style="text-align:center" %)
1933	1933	(((
1934		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	1909	+(% class="wikigeneratedid" style="display:inline-block" %)
1935	1935	[[**Figure 6-45 Forward running curve**>>image:image-20220608172910-40.png||id="Iimage-20220608172910-40.png"]]
1936	1936	)))
1937	1937	)))|(((
1938	1938	(% style="text-align:center" %)
1939	1939	(((
1940		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
	1915	+(% class="wikigeneratedid" style="display:inline-block" %)
1941	1941	[[Figure 6-46 Reverse running curve>>image:image-20220608173155-41.png||id="Iimage-20220608173155-41.png"]]
1942	1942	)))
1943	1943	)))
...	...	@@ -1978,7 +1978,7 @@
1978	1978
1979	1979	✎**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]]__.
1980	1980
1981		-== Torque-related DO output functions ==
	1956	+== **Torque-related DO output functions** ==
1982	1982
1983	1983	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.
1984	1984
...	...	@@ -1987,27 +1987,26 @@
1987	1987	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.
1988	1988
1989	1989	(% style="text-align:center" %)
1990		-(((
1991		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1992		-[[**Figure 6-47 Torque arrival output diagram**>>image:image-20220608173541-42.png||height="342" id="Iimage-20220608173541-42.png" width="705"]]
1993		-)))
	1965	+[[image:image-20220608173541-42.png]]
1994	1994
1995		-To use the torque arrival function, a DO terminal of the servo drive should be assigned to function 138 (T-COIN, torque arrival). The function code parameters and related DO function codes are shown in __Table 6-49__ and __Table 6-50__.
	1967	+Figure 6-47 Torque arrival output diagram
1996	1996
1997		-|=(% scope="row" %)**Function code**|=(% style="width: 113px;" %)**Name**|=(% style="width: 100px;" %)(((
	1969	+To use the torque arrival function, a DO terminal of the servo drive should be assigned to function 138 (T-COIN, torque arrival). The function code parameters and related DO function codes are shown in __[[Table 6-49>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HTorque-relatedDOoutputfunctions]]__ and __[[Table 6-50>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HTorque-relatedDOoutputfunctions]]__.
	1970	+
	1971	+|**Function code**|**Name**|(((
1998	1998	**Setting method**
1999		-)))|=(% style="width: 124px;" %)(((
	1973	+)))|(((
2000	2000	**Effective time**
2001		-)))|=(% style="width: 83px;" %)**Default value**|=(% style="width: 94px;" %)**Range**|=(% style="width: 421px;" %)**Definition**|=**Unit**
2002		-|=P05-20|(% style="width:113px" %)(((
	1975	+)))|**Default value**|**Range**|**Definition**|**Unit**
	1976	+|P05-20|(((
2003	2003	Torque arrival
2004	2004
2005	2005	threshold
2006		-)))|(% style="width:100px" %)(((
	1980	+)))|(((
2007	2007	Operation setting
2008		-)))|(% style="width:124px" %)(((
	1982	+)))|(((
2009	2009	Effective immediately
2010		-)))|(% style="width:83px" %)100|(% style="width:94px" %)0 to 300|(% style="width:421px" %)(((
	1984	+)))|100|0 to 300|(((
2011	2011	The torque arrival threshold must be used with “Torque arrival hysteresis value”:
2012	2012
2013	2013	When the actual torque reaches Torque arrival threshold + Torque arrival hysteresis Value, the torque arrival DO is valid;
...	...	@@ -2014,20 +2014,21 @@
2014	2014
2015	2015	When the actual torque decreases below torque arrival threshold-torque arrival hysteresis value, the torque arrival DO is invalid
2016	2016	)))|%
2017		-|=P05-21|(% style="width:113px" %)(((
	1991	+|P05-21|(((
2018	2018	Torque arrival
2019	2019
2020	2020	hysteresis
2021		-)))|(% style="width:100px" %)(((
	1995	+)))|(((
2022	2022	Operation setting
2023		-)))|(% style="width:124px" %)(((
	1997	+)))|(((
2024	2024	Effective immediately
2025		-)))|(% style="width:83px" %)10|(% style="width:94px" %)0 to 20|(% style="width:421px" %)Torque arrival the hysteresis value must be used with Torque arrival threshold|%
	1999	+)))|10|0 to 20|Torque arrival the hysteresis value must be used with Torque arrival threshold|%
2026	2026
2027	2027	Table 6-49 Torque arrival parameters
2028	2028
2029		-|=(% scope="row" %)**DO function code**|=**Function name**|=**Function**
2030		-|=138|(((
	2003	+
	2004	+|**DO function code**|**Function name**|**Function**
	2005	+|138|(((
2031	2031	T-COIN torque arrival
2032	2032	)))|Used to determine whether the actual torque instruction has reached the set range
2033	2033
...	...	@@ -2037,28 +2037,35 @@
2037	2037
2038	2038	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:
2039	2039
2040		-* Position mode⇔ Speed mode
2041		-* Position mode ⇔Torque mode
2042		-* Speed mode ⇔Torque mode
	2015	+Position mode⇔ Speed mode
2043	2043
	2017	+Position mode ⇔Torque mode
	2018	+
	2019	+Speed mode ⇔Torque mode
	2020	+
2044	2044	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.
2045	2045
2046		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	2023	+|**Function code**|**Name**|(((
2047	2047	**Setting method**
2048		-)))|=(((
	2025	+)))|(((
2049	2049	**Effective time**
2050		-)))|=**Default value**|=(% style="width: 90px;" %)**Range**|=(% style="width: 273px;" %)**Definition**|=**Unit**
2051		-|=P00-01|Control mode|(((
	2027	+)))|**Default value**|**Range**|**Definition**|**Unit**
	2028	+|P00-01|Control mode|(((
2052	2052	Shutdown setting
2053	2053	)))|(((
2054	2054	Shutdown setting
2055		-)))|1|(% style="width:90px" %)1 to 6|(% style="width:273px" %)(((
2056		-* 1: Position control
2057		-* 2: Speed control
2058		-* 3: Torque control
2059		-* 4: Position/speed mixed control
2060		-* 5: Position/torque mixed control
2061		-* 6: Speed/torque mixed control
	2032	+)))|1|1 to 6|(((
	2033	+1: Position control
	2034	+
	2035	+2: Speed control
	2036	+
	2037	+3: Torque control
	2038	+
	2039	+4: Position/speed mixed control
	2040	+
	2041	+5: Position/torque mixed control
	2042	+
	2043	+6: Speed/torque mixed control
2062	2062	)))|-
2063	2063
2064	2064	Table 6-51 Mixed control mode parameters
...	...	@@ -2065,38 +2065,35 @@
2065	2065
2066	2066	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.
2067	2067
2068		-|=(% scope="row" %)**DI function code**|=**Name**|=(% style="width: 187px;" %)**Function name**|=(% style="width: 662px;" %)**Function**
2069		-|=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(((
2070		-(% style="margin-left:auto; margin-right:auto; width:585px" %)
2071		-|=**P00-01**|=(% style="width: 243px;" %)**MixModeSel terminal logic**|=(% style="width: 220px;" %)**Control mode**
2072		-|(% rowspan="2" %)4|(% style="width:243px" %)Valid|(% style="width:220px" %)Speed mode
2073		-|(% style="width:243px" %)invalid|(% style="width:220px" %)Position mode
2074		-|(% rowspan="2" %)5|(% style="width:243px" %)Valid|(% style="width:220px" %)Torque mode
2075		-|(% style="width:243px" %)invalid|(% style="width:220px" %)Position mode
2076		-|(% rowspan="2" %)6|(% style="width:243px" %)Valid|(% style="width:220px" %)Torque mode
2077		-|(% style="width:243px" %)invalid|(% style="width:220px" %)Speed mode
	2050	+|**DI function code**|**Name**|**Function name**|**Function**
	2051	+|17|MixModeSel|Mixed mode selection|Used in mixed control mode, when the servo status is "run", set the current control mode of the servo drive(((
	2052	+|**P00-01**|**MixModeSel terminal logic**|**Control mode**
	2053	+|(% rowspan="2" %)4|Valid|Speed mode
	2054	+|invalid|Position mode
	2055	+|(% rowspan="2" %)5|Valid|Torque mode
	2056	+|invalid|Position mode
	2057	+|(% rowspan="2" %)6|Valid|Torque mode
	2058	+|invalid|Speed mode
2078	2078	)))
2079	2079
2080	2080	Table 6-52 Description of DI function codes in control mode
2081	2081
2082		-(% class="box infomessage" %)
2083		-(((
2084	2084	✎**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.
2085		-)))
2086	2086
2087	2087	= **Absolute system** =
2088	2088
2089		-== Overview ==
	2067	+== **Overview** ==
2090	2090
2091	2091	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.
2092	2092
2093	2093	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.
2094	2094
2095		-== Single-turn absolute value system ==
	2073	+== **Single-turn absolute value system** ==
2096	2096
2097	2097	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.
2098	2098
2099		-|=**Encoder type**|=**Encoder resolution (bits)**|=**Data range**
	2077	+
	2078	+|**Encoder type**|**Encoder resolution (bits)**|**Data range**
2100	2100	|A1 (single-turn magnetic encoder)|17|0 to 131071
2101	2101
2102	2102	Table 6-53 Single-turn absolute encoder information
...	...	@@ -2104,18 +2104,17 @@
2104	2104	The relationship between encoder feedback position and rotating load position is shown in the figure below. (take a 17-bit encoder as an example).
2105	2105
2106	2106	(% style="text-align:center" %)
2107		-(((
2108		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2109		-[[**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"]]
2110		-)))
	2086	+[[image:image-20220608173618-43.png]]
2111	2111
2112		-== Multi-turn absolute value system ==
	2088	+Figure 6-48 Diagram of relationship between encoder feedback position and rotating load position
2113	2113
	2090	+== **Multi-turn absolute value system** ==
	2091	+
2114	2114	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.
2115	2115
2116		-|=(% scope="row" %)**Encoder type**|=**Encoder resolution (bits)**|=**Data range**
2117		-|=C1 (multi-turn magnetic encoder)|17|0 to 131071
2118		-|=D2 (multi-turn Optical encoder)|23|0 to 8388607
	2094	+|**Encoder type**|**Encoder resolution (bits)**|**Data range**
	2095	+|C1 (multi-turn magnetic encoder)|17|0 to 131071
	2096	+|D2 (multi-turn Optical encoder)|23|0 to 8388607
2119	2119
2120	2120	Table 6-54 Multi-turn absolute encoder information
2121	2121
...	...	@@ -2122,21 +2122,20 @@
2122	2122	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).
2123	2123
2124	2124	(% style="text-align:center" %)
2125		-(((
2126		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2127		-[[**Figure 6-49 The relationship between encoder feedback position and rotating load position**>>image:image-20220608173701-44.png||id="Iimage-20220608173701-44.png"]]
2128		-)))
	2103	+[[image:image-20220608173701-44.png]]
2129	2129
2130		-== Related functions and parameters ==
	2105	+Figure 6-49 The relationship between encoder feedback position and rotating load position
2131	2131
	2107	+== **Related functions and parameters** ==
	2108	+
2132	2132	**Encoder feedback data**
2133	2133
2134	2134	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.
2135	2135
2136		-|=(% scope="row" %)**Monitoring number**|=**Category**|=**Name**|=**Unit**|=**Data type**
2137		-|=U0-54|Universal|Absolute encoder position within 1 turn|Encoder unit|32-bit
2138		-|=U0-55|Universal|Rotations number of absolute encoder|circle|16-bit
2139		-|=U0-56|Universal|Multi-turn absolute value encoder current position|Instruction unit|32-bit
	2113	+|**Monitoring number**|**Category**|**Name**|**Unit**|**Data type**
	2114	+|U0-54|Universal|Absolute encoder position within 1 turn|Encoder unit|32-bit
	2115	+|U0-55|Universal|Rotations number of absolute encoder|circle|16-bit
	2116	+|U0-56|Universal|Multi-turn absolute value encoder current position|Instruction unit|32-bit
2140	2140
2141	2141	Table 6-55 Encoder feedback data
2142	2142
...	...	@@ -2144,28 +2144,26 @@
2144	2144
2145	2145	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.
2146	2146
2147		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	2124	+|**Function code**|**Name**|(((
2148	2148	**Setting**
2149	2149
2150	2150	**method**
2151		-)))|=(((
	2128	+)))|(((
2152	2152	**Effective**
2153	2153
2154	2154	**time**
2155		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2156		-|=P00-30|Shield multi-turn absolute encoder battery fault|Operation setting|Power on again|0|0 to 1|(((
2157		-* 0：Detect multi-turn absolute encoder battery under voltage, and battery low voltage fault
2158		-* 1: (Not recommended) Shield multi-turn absolute motor battery failure alarm. Multi-turn absolute application may cause mechanical fault, only multi-turn absolute encoder motors is used as single-turn absolute
	2132	+)))|**Default value**|**Range**|**Definition**|**Unit**
	2133	+|P00-30|Shield multi-turn absolute encoder battery fault|Operation setting|Power on again|0|0 to 1|(((
	2134	+0：Detect multi-turn absolute encoder battery under voltage, and battery low voltage fault
	2135	+
	2136	+1: (Not recommended) Shield multi-turn absolute motor battery failure alarm. Multi-turn absolute application may cause mechanical fault, only multi-turn absolute encoder motors is used as single-turn absolute
2159	2159	)))|-
2160	2160
2161	2161	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.
2162	2162
2163		-(% class="box infomessage" %)
2164		-(((
2165	2165	**✎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.
2166		-)))
2167	2167
2168		-== Absolute value system encoder battery box use precautions. ==
	2143	+== **Absolute value system encoder battery box use precautions**. ==
2169	2169
2170	2170	**Cautions**
2171	2171
...	...	@@ -2172,11 +2172,10 @@
2172	2172	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.
2173	2173
2174	2174	(% style="text-align:center" %)
2175		-(((
2176		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2177		-[[**Figure 6-50 the encoder battery box**>>image:image-20220707111333-28.png||height="390" id="Iimage-20220707111333-28.png" width="975"]]
2178		-)))
	2150	+[[image:image-20220707111333-28.png]]
2179	2179
	2152	+Figure 6-50 the encoder battery box
	2153	+
2180	2180	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.
2181	2181
2182	2182	**Replace the battery**
...	...	@@ -2192,19 +2192,20 @@
2192	2192
2193	2193	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.
2194	2194
2195		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	2169	+|**Function code**|**Name**|(((
2196	2196	**Setting method**
2197		-)))|=(((
	2171	+)))|(((
2198	2198	**Effective time**
2199		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2200		-|=P10-06|Multi-turn absolute encoder reset|(((
	2173	+)))|**Default value**|**Range**|**Definition**|**Unit**
	2174	+|P10-06|Multi-turn absolute encoder reset|(((
2201	2201	Shutdown setting
2202	2202	)))|(((
2203	2203	Effective immediately
2204	2204	)))|0|0 to 1|(((
2205		-* 0: No operation
2206		-* 1: Clear rotation number of multi-turn absolute encoder, multi-turn absolute encoder current position and encoder fault alarms.
	2179	+0: No operation
2207	2207
	2181	+1: Clear rotation number of multi-turn absolute encoder, multi-turn absolute encoder current position and encoder fault alarms.
	2182	+
2208	2208	✎**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.
2209	2209	)))|-
2210	2210
...	...	@@ -2212,7 +2212,7 @@
2212	2212
2213	2213	**Battery selection**
2214	2214
2215		-|=(% scope="row" style="width: 361px;" %)**Battery selection specification**|=(% style="width: 496px;" %)**Item**|=(% style="width: 219px;" %)**Value**
	2190	+|(% style="width:361px" %)**Battery selection specification**|(% style="width:496px" %)**Item**|(% style="width:219px" %)**Value**
2216	2216	|(% rowspan="4" style="width:361px" %)(((
2217	2217	Nominal Voltage: 3.6V
2218	2218
...	...	@@ -2240,108 +2240,111 @@
2240	2240
2241	2241	= **Other functions** =
2242	2242
2243		-== VDI ==
	2218	+== **VDI** ==
2244	2244
2245	2245	VDI (Virtual Digital Signal Input Port) is similar to hardware DI terminal. The DI function could also be assigned for use.
2246	2246
2247		-(% class="box infomessage" %)
2248		-(((
2249	2249	✎**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).
2250		-)))
2251	2251
2252	2252	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.
2253	2253
	2226	+
2254	2254	(% style="text-align:center" %)
2255		-(((
2256		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2257		-[[**Figure 6-51 VDI_1 setting steps**>>image:image-20220608173804-46.png||id="Iimage-20220608173804-46.png"]]
2258		-)))
	2228	+[[image:image-20220608173804-46.png]]
2259	2259
2260		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	2230	+Figure 6-51 VDI_1 setting steps
	2231	+
	2232	+|**Function code**|**Name**|(((
2261	2261	**Setting method**
2262		-)))|=(((
	2234	+)))|(((
2263	2263	**Effective time**
2264		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2265		-|=P13-1|Virtual VDI_1 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2236	+)))|**Default value**|**Range**|**Definition**|**Unit**
	2237	+|P13-1|Virtual VDI_1 input value|Operation setting|Effective immediately|0|0 to 1|(((
2266	2266	When P06-04 is set to 1, DI_1 channel logic is control by this function code.
2267	2267
2268	2268	VDI_1 input level:
2269	2269
2270		-* 0: low level
2271		-* 1: high level
	2242	+0: low level
	2243	+
	2244	+1: high level
2272	2272	)))|-
2273		-|=P13-2|Virtual VDI_2 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2246	+|P13-2|Virtual VDI_2 input value|Operation setting|Effective immediately|0|0 to 1|(((
2274	2274	When P06-07 is set to 1, DI_2 channel logic is control by this function code.
2275	2275
2276	2276	VDI_2 input level:
2277	2277
2278		-* 0: low level
2279		-* 1: high level
	2251	+0: low level
	2252	+
	2253	+1: high level
2280	2280	)))|-
2281		-|=P13-3|Virtual VDI_3 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2255	+|P13-3|Virtual VDI_3 input value|Operation setting|Effective immediately|0|0 to 1|(((
2282	2282	When P06-10 is set to 1, DI_3 channel logic is control by this function code.
2283	2283
2284	2284	VDI_3 input level:
2285	2285
2286		-* 0: low level
2287		-* 1: high level
	2260	+0: low level
	2261	+
	2262	+1: high level
2288	2288	)))|-
2289		-|=P13-4|Virtual VDI_4 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2264	+|P13-4|Virtual VDI_4 input value|Operation setting|Effective immediately|0|0 to 1|(((
2290	2290	When P06-13 is set to 1, DI_4 channel logic is control by this function code.
2291	2291
2292	2292	VDI_4 input level:
2293	2293
2294		-* 0: low level
2295		-* 1: high level
	2269	+0: low level
	2270	+
	2271	+1: high level
2296	2296	)))|-
2297		-|=P13-05☆|Virtual VDI_5 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2273	+|P13-05☆|Virtual VDI_5 input value|Operation setting|Effective immediately|0|0 to 1|(((
2298	2298	When P06-16 is set to 1, DI_5 channel logic is control by this function code.
2299	2299
2300	2300	VDI_5 input level:
2301	2301
2302		-* 0: low level
2303		-* 1: high level
	2278	+0: low level
	2279	+
	2280	+1: high level
2304	2304	)))|-
2305		-|=P13-06☆|Virtual VDI_6 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2282	+|P13-06☆|Virtual VDI_6 input value|Operation setting|Effective immediately|0|0 to 1|(((
2306	2306	When P06-19 is set to 1, DI_6 channel logic is control by this function code.
2307	2307
2308	2308	VDI_6 input level:
2309	2309
2310		-* 0: low level
2311		-* 1: high level
	2287	+0: low level
	2288	+
	2289	+1: high level
2312	2312	)))|-
2313		-|=P13-07☆|Virtual VDI_7 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2291	+|P13-07☆|Virtual VDI_7 input value|Operation setting|Effective immediately|0|0 to 1|(((
2314	2314	When P06-22 is set to 1, DI_7 channel logic is control by this function code.
2315	2315
2316	2316	VDI_7 input level:
2317	2317
2318		-* 0: low level
2319		-* 1: high level
	2296	+0: low level
	2297	+
	2298	+1: high level
2320	2320	)))|-
2321		-|=P13-08☆|Virtual VDI_8 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2300	+|P13-08☆|Virtual VDI_8 input value|Operation setting|Effective immediately|0|0 to 1|(((
2322	2322	When P06-25 is set to 1, DI_8 channel logic is control by this function code.
2323	2323
2324	2324	VDI_8 input level:
2325	2325
2326		-* 0: low level
2327		-* 1: high level
	2305	+0: low level
	2306	+
	2307	+1: high level
2328	2328	)))|-
2329	2329
2330	2330	Table 6-57 Virtual VDI parameters
2331	2331
2332		-(% class="box infomessage" %)
2333		-(((
2334	2334	✎**Note: **“☆” means VD2F servo drive does not support the function code .
2335		-)))
2336	2336
2337		-== Port filtering time ==
	2314	+== **Port filtering time** ==
2338	2338
2339	2339	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.
2340	2340
2341		-|=(% scope="row" style="width: 204px;" %)**Setting value**|=(% style="width: 235px;" %)**DI channel logic selection**|=(% style="width: 637px;" %)**Illustration**
2342		-|=(% style="width: 204px;" %)0|(% style="width:235px" %)Active high level|(% style="width:637px" %)[[image:image-20220707113050-31.jpeg]]
2343		-|=(% style="width: 204px;" %)1|(% style="width:235px" %)Active low level|(% style="width:637px" %)[[image:image-20220707113205-33.jpeg||height="166" width="526"]]
2344	2344
	2319	+|(% style="width:204px" %)**Setting value**|(% style="width:235px" %)**DI channel logic selection**|(% style="width:637px" %)**Illustration**
	2320	+|(% style="width:204px" %)0|(% style="width:235px" %)Active high level|(% style="width:637px" %)[[image:image-20220707113050-31.jpeg]]
	2321	+|(% style="width:204px" %)1|(% style="width:235px" %)Active low level|(% style="width:637px" %)[[image:image-20220707113205-33.jpeg||height="166" width="526"]]
	2322	+
2345	2345	Table 6-58 DI terminal channel logic selection
2346	2346
2347	2347	== **VDO** ==
...	...	@@ -2351,49 +2351,51 @@
2351	2351	Take the DO_2 terminal as communication VDO, and the use steps of VDI are as the figure below.
2352	2352
2353	2353	(% style="text-align:center" %)
2354		-(((
2355		-(% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2356		-[[**Figure 6-52 VDO_2 setting steps**>>image:image-20220608173957-48.png||id="Iimage-20220608173957-48.png"]]
2357		-)))
	2332	+[[image:image-20220608173957-48.png]]
2358	2358
	2334	+Figure 6-52 VDO_2 setting steps
2359	2359
2360		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	2336	+|**Function code**|**Name**|(((
2361	2361	**Setting method**
2362		-)))|=(((
	2338	+)))|(((
2363	2363	**Effective time**
2364		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2365		-|=P13-11|Communication VDO_1 output value|Operation setting|Effective immediately|0|0 to 1|(((
	2340	+)))|**Default value**|**Range**|**Definition**|**Unit**
	2341	+|P13-11|Communication VDO_1 output value|Operation setting|Effective immediately|0|0 to 1|(((
2366	2366	VDO_1 output level：
2367	2367
2368		-* 0: low level
2369		-* 1: high level
	2344	+0: low level
	2345	+
	2346	+1: high level
2370	2370	)))|-
2371		-|=P13-12|Communication VDO_2 output value|Operation setting|Effective immediately|0|0 to 1|(((
	2348	+|P13-12|Communication VDO_2 output value|Operation setting|Effective immediately|0|0 to 1|(((
2372	2372	VDO_2 output level：
2373	2373
2374		-* 0: low level
2375		-* 1: high level
	2351	+0: low level
	2352	+
	2353	+1: high level
2376	2376	)))|-
2377		-|=P13-13|Communication VDO_3 output value|Operation setting|Effective immediately|0|0 to 1|(((
	2355	+|P13-13|Communication VDO_3 output value|Operation setting|Effective immediately|0|0 to 1|(((
2378	2378	VDO_3 output level：
2379	2379
2380		-* 0: low level
2381		-* 1: high level
	2358	+0: low level
	2359	+
	2360	+1: high level
2382	2382	)))|-
2383		-|=P13-14|Communication VDO_4 output value|Operation setting|Effective immediately|0|0 to 1|(((
	2362	+|P13-14|Communication VDO_4 output value|Operation setting|Effective immediately|0|0 to 1|(((
2384	2384	VDO_4 output level：
2385	2385
2386		-* 0: low level
2387		-* 1: high level
	2365	+0: low level
	2366	+
	2367	+1: high level
2388	2388	)))|-
2389	2389
2390	2390	Table 6-59 Communication control DO function parameters
2391	2391
2392		-|=(% scope="row" %)**DO function number**|=**Function name**|=**Function**
2393		-|=145|COM_VDO1 communication VDO1 output|Use communication VDO
2394		-|=146|COM_VDO1 communication VDO2 output|Use communication VDO
2395		-|=147|COM_VDO1 communication VDO3 output|Use communication VDO
2396		-|=148|COM_VDO1 communication VDO4output|Use communication VDO
	2372	+|**DO function number**|**Function name**|**Function**
	2373	+|145|COM_VDO1 communication VDO1 output|Use communication VDO
	2374	+|146|COM_VDO1 communication VDO2 output|Use communication VDO
	2375	+|147|COM_VDO1 communication VDO3 output|Use communication VDO
	2376	+|148|COM_VDO1 communication VDO4output|Use communication VDO
2397	2397
2398	2398	Table 6-60 VDO function number
2399	2399
...	...	@@ -2401,16 +2401,16 @@
2401	2401
2402	2402	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).
2403	2403
2404		-== Motor overload protection ==
	2384	+== **Motor overload protection** ==
2405	2405
2406	2406	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%.
2407	2407
2408		-|=(% scope="row" %)**Function code**|=**Name**|=(((
	2388	+|**Function code**|**Name**|(((
2409	2409	**Setting method**
2410		-)))|=(((
	2390	+)))|(((
2411	2411	**Effective time**
2412		-)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2413		-|=P10-04|motor overload protection time coefficient|Operation setting|Effective immediately|100|0 to 800|(((
	2392	+)))|**Default value**|**Range**|**Definition**|**Unit**
	2393	+|P10-04|motor overload protection time coefficient|Operation setting|Effective immediately|100|0 to 800|(((
2414	2414	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.
2415	2415
2416	2416	50 corresponds to 50%, that is, the time is reduced by half. 300 corresponds to 300%, that is, the time extended to 3 times. When the value is set to 0, the overload protection fault detection function is disabled