Changes for page 06 Operation

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...	...	@@ -193,47 +193,8 @@
193	193
194	194	**Emergency shutdown**
195	195
196		-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". The V1.18 firmware version adds the Estop stop time setting function. In some occasions where the servo needs to control the emergency stop of the motor, it is necessary to control the emergency stop time of the DI. Therefore, the P01-05 shutdown deceleration time function is added to deal with this situation.
	196	+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".
197	197
198		-Estop mode 1 (deceleration stop):
199		-
200		-~1. Configurate DI function code: 8 [ESTOP]
201		-
202		-2. Set P1-5 shutdown deceleration time.
203		-
204		-3. Trigger DI emergency shutdown.
205		-
206		-4. Servo emergency shutdown and deceleration to zero speed.
207		-
208		-Estop mode 2:
209		-
210		-~1. Configurate DI function code: 1 [Servo enable SON]
211		-
212		-2. Set P1-05 shutdown deceleration time.
213		-
214		-3. Set P0-05 Servo OFF shutdown mode: zero speed stop.
215		-
216		-4. Trigger DI to turn off servo enable SON.
217		-
218		-|Function code|Name|(((
219		-Setting
220		-
221		-method
222		-)))|(((
223		-Effective
224		-
225		-time
226		-)))|Default|Range|Definition|Unit
227		-|P01-05|Shutdown deceleration time|(((
228		-Shutdown
229		-
230		-setting
231		-)))|(((
232		-immediately
233		-
234		-Effective
235		-)))|50|0 to 65535|The time for the speed command to decelerate from 1000rpm to 0|ms
236		-
237	237	**Overtravel shutdown**
238	238
239	239	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.
...	...	@@ -394,7 +394,7 @@
394	394	|=(% scope="row" %)**DO function code**|=(% style="width: 241px;" %)**Function name**|=(% style="width: 458px;" %)**Function**|=(% style="width: 191px;" %)(((
395	395	**Effective time**
396	396	)))
397		-|=141|(% style="width:241px" %)(((
	358	+|=144|(% style="width:241px" %)(((
398	398	BRK-OFF Brake output
399	399	)))|(% style="width:458px" %)Output the signal indicates the servo motor brake release|(% style="width:191px" %)Power-on again
400	400
...	...	@@ -558,10 +558,10 @@
558	558	Low-speed pulse instruction input
559	559
560	560	|(% style="text-align:center" %)(((
561		-(% class="wikigeneratedid" %)
	522	+(% class="wikigeneratedid" style="display:inline-block" %)
562	562	[[VD2A and VD2B servo drives>>image:image-20220804160519-1.jpeg||id="Iimage-20220804160519-1.jpeg"]]
563	563	)))|(% style="text-align:center" %)(((
564		-(% class="wikigeneratedid" %)
	525	+(% class="wikigeneratedid" style="display:inline-block" %)
565	565	[[VD2F servo drive>>image:image-20220804160624-2.jpeg||id="Iimage-20220804160624-2.jpeg"]]
566	566	)))
567	567	|(% colspan="2" %)Figure 6-7 Position instruction input setting
...	...	@@ -859,18 +859,7 @@
859	859	|=0|0|0|0|1
860	860	|=0|0|0|1|2
861	861	|=0|0|1|0|3
862		-|=0|0|1|1|4
863		-|=0|1|0|0|5
864		-|=0|1|0|1|6
865		-|=0|1|1|0|7
866		-|=0|1|1|1|8
867		-|=1|0|0|0|9
868		-|=1|0|0|1|10
869		-|=1|0|1|0|11
870		-|=1|0|1|1|12
871		-|=1|1|0|0|13
872		-|=1|1|0|1|14
873		-|=1|1|1|0|15
	823	+|=(% colspan="5" %)…………
874	874	|=1|1|1|1|16
875	875
876	876	Table 6-18 INPOS corresponds to running segment number
...	...	@@ -2177,51 +2177,6 @@
2177	2177	[[**Figure 6-49 The relationship between encoder feedback position and rotating load position**>>image:image-20220608173701-44.png||id="Iimage-20220608173701-44.png"]]
2178	2178	)))
2179	2179
2180		-(% class="wikigeneratedid" %)
2181		-(((
2182		-Multi-turn absolute value position U0-56 origin setting (only for multi-turn encoders)
2183		-Under the following two working conditions: 1. The current physical position of the motor cannot reach the
2184		-absolute zero point (U0-56). The value of U0-56 can be calibrated by moving the motor to the target position and setting the offset value of P10-8. 2. Move the motor to a known position on the machine and use this function to determine the position of U0-56.
2185		-P10-08 multi-turn absolute encoder origin offset compensation is used in conjunction with U0-56 multi-turn absolute encoder current position. When setting P10-06=1, the value of U0-56 is updated to the value of P10-8 multi-turn absolute value encoder origin offset compensation at the reset time.
2186		-
2187		-|**Function code**|**Name**|(((
2188		-**Setting**
2189		-
2190		-**method**
2191		-)))|(((
2192		-**Effective**
2193		-
2194		-**time**
2195		-)))|**Default**|**Range**|**Definition**|**Unit**
2196		-|P10-06|Multi-turn absolute encoder reset|(((
2197		-Shutdown
2198		-
2199		-setting
2200		-)))|Effective immediately|0|0 to 1|(((
2201		-0: No operation
2202		-
2203		-1: Clear rotation number of multi-turn absolute encoder, multi-turn absolute encoder current position and encoder fault alarms.
2204		-
2205		-**✎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.
2206		-)))|-
2207		-
2208		-(% style="background-color:#ffffff" %)
2209		-|**Function code**|**Name**|(((
2210		-**Setting**
2211		-
2212		-**method**
2213		-)))|(((
2214		-**Effective**
2215		-
2216		-**time**
2217		-)))|**Default**|**Range**|**Definition**|**Unit**
2218		-|P10-08|Multi-turn absolute encoder origin offset compensation|(((
2219		-Operation
2220		-
2221		-setting
2222		-)))|Effective immediately|0|-2147483647 to 2147483646|P10-08 multi-turn absolute encoder origin offset compensation is used in conjunction with U0-56 multi-turn absolute encoder current position. When P10-6 is set to 1, the value of U0-56 is updated to P10-8.|-
2223		-)))
2224		-
2225	2225	== Related functions and parameters ==
2226	2226
2227	2227	**Encoder feedback data**
...	...	@@ -2255,36 +2255,6 @@
2255	2255
2256	2256	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.
2257	2257
2258		-**A93 warning solution**
2259		-
2260		-Check the encoder communication wire and its placement, reduce the abnormal frequency, and eliminate A93. In this way, the A93 warning problem can be completely solved, and the operation of the motor will not be affected after the A93 warning is released.
2261		-Increase the threshold for encoder read-write check exceptions is only suitable as a temporary solution. Eliminate A93 warning by increasing exception threshold. The disadvantage is that the motor may run in an unstable state.
2262		-
2263		-|**Function code**|**Name**|(((
2264		-**Setting**
2265		-
2266		-**method**
2267		-)))|(((
2268		-**Effective**
2269		-
2270		-**time**
2271		-)))|**Default**|**Range**|**Definition**|**Unit**
2272		-|P00-31|Encoder read-write check abnormal frequency|(((
2273		-Operation
2274		-
2275		-setting
2276		-)))|(((
2277		-immediately
2278		-
2279		-Effective
2280		-)))|20|0 to100|(((
2281		-The setting of the alarm threshold for the abnormal frequency of the encoder read-write
2282		-
2283		-0: no alarm
2284		-
2285		-Others: When this setting value is exceeded, report A93.
2286		-)))|-
2287		-
2288	2288	(% class="box infomessage" %)
2289	2289	(((
2290	2290	**✎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.