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Changes for page 06 Operation

Last modified by Iris on 2025/08/08 14:40
From version 81.1
edited by Leo Wei
on 2024/08/22 03:14
Change comment: Added annotation on "The source of position inst..."
To version 84.2
edited by Mora Zhou
on 2025/04/28 14:23
Change comment: There is no comment for this version

Summary

Details

Page properties
Author
... ... @@ -1,1 +1,1 @@
1 -XWiki.admin
1 +XWiki.Mora
Content
... ... @@ -83,13 +83,14 @@
83 83  0
84 84  )))|(((
85 85  0 to 1
86 -)))|(((
87 -Forward rotation: Face the motor shaft to watch
86 +)))|Forward: facing the motor axis.
87 +0: Standard setting (CW is forward);
88 +1: Reverse mode (CCW is forward);
89 +2: Reverse mode (CCW is forward), set P1-12,
90 +P1-17 to limit the CCW direction speed; set
91 +P1-13, P1-18 to limit the CW direction speed.
92 +**Note:VD2L driver P0-04 setting range: 0~~1, not support P00-4=2!**|-
88 88  
89 -* 0: standard setting (CW is forward rotation)
90 -* 1: reverse mode (CCW is forward rotation)
91 -)))|-
92 -
93 93  Table 6-3 Rotation direction parameters** **
94 94  
95 95  == **Braking resistor** ==
... ... @@ -111,10 +111,13 @@
111 111  )))|(% style="width:126px" %)(((
112 112  Effective immediately
113 113  )))|0|0 to 3|(((
114 -* 0: use built-in braking resistor
115 -* 1: use external braking resistor and natural cooling
116 -* 2: use external braking resistor and forced air cooling; (cannot be set)
117 -* 3: No braking resistor is used, it is all absorbed by capacitor.
115 +0: use built-in braking resistor
116 +
117 +1: use external braking resistor and natural cooling
118 +
119 +2: use external braking resistor and forced air cooling; (cannot be set)
120 +
121 +3: No braking resistor is used, it is all absorbed by capacitor.
118 118  )))|-
119 119  (% 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).
120 120  |=P00-10|External braking resistor value|(% style="width:118px" %)(((
... ... @@ -155,7 +155,7 @@
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  
157 157  |=(% 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.
162 +|=(% style="width: 150px;" %)Free stop|(% 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.
159 159  |=(% 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.
160 160  
161 161  Table 6-5 Comparison of two shutdown modes
... ... @@ -185,8 +185,9 @@
185 185  
186 186  immediately
187 187  )))|(% style="width:86px" %)0|(% style="width:70px" %)0 to 1|(% style="width:347px" %)(((
188 -* 0: Free shutdown, and the motor shaft remains free status.
189 -* 1: Zero-speed shutdown, and the motor shaft remains free status.
192 +0: Free stop, and the motor shaft remains free status.
193 +
194 +1: Zero-speed stop, and the motor axis remains free status.
190 190  )))|-
191 191  
192 192  Table 6-7 Servo OFF shutdown mode parameters details
... ... @@ -248,30 +248,58 @@
248 248  **Effective time**
249 249  )))|=(% style="width: 106px;" %)**Default value**|=(% style="width: 84px;" %)**Range**|=(% style="width: 380px;" %)**Definition**|=**Unit**
250 250  |=(% 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" %)(((
251 -* 0: OFF (not used)
252 -* 01: S-ON servo enable
253 -* 02: A-CLR fault and Warning Clear
254 -* 03: POT forward drive prohibition
255 -* 04: NOT Reverse drive prohibition
256 -* 05: ZCLAMP Zero speed
257 -* 06: CL Clear deviation counter
258 -* 07: C-SIGN Inverted instruction
259 -* 08: E-STOP Emergency stop
260 -* 09: GEAR-SEL Electronic Gear Switch 1
261 -* 10: GAIN-SEL gain switch
262 -* 11: INH Instruction pulse prohibited input
263 -* 12: VSSEL Vibration control switch input
264 -* 13: INSPD1 Internal speed instruction selection 1
265 -* 14: INSPD2 Internal speed instruction selection 2
266 -* 15: INSPD3 Internal speedinstruction selection 3
267 -* 16: J-SEL inertia ratio switch (not implemented yet)
268 -* 17: MixModesel mixed mode selection
269 -* 20: Internal multi-segment position enable signal
270 -* 21: Internal multi-segment position selection 1
271 -* 22: Internal multi-segment position selection 2
272 -* 23: Internal multi-segment position selection 3
273 -* 24: Internal multi-segment position selection 4
274 -* Others: reserved
256 +0: OFF (not used)
257 +
258 +01: S-ON servo enable
259 +
260 +02: A-CLR fault and Warning Clear
261 +
262 +03: POT forward drive prohibition
263 +
264 +04: NOT Reverse drive prohibition
265 +
266 +05: ZCLAMP Zero speed
267 +
268 +06: CL Clear deviation counter
269 +
270 +07: C-SIGN Inverted instruction
271 +
272 +08: E-STOP Emergency stop
273 +
274 +09: GEAR-SEL Electronic Gear Switch 1
275 +
276 +10: GAIN-SEL gain switch
277 +
278 +11: INH Instruction pulse prohibited input
279 +
280 +12: VSSEL Vibration control switch input
281 +
282 +13: INSPD1 Internal speed instruction selection 1
283 +
284 +14: INSPD2 Internal speed instruction selection 2
285 +
286 +15: INSPD3 Internal speedinstruction selection 3
287 +
288 +16: J-SEL inertia ratio switch (not implemented yet)
289 +
290 +17: MixModesel mixed mode selection
291 +
292 +20: Internal multi-segment position enable signal
293 +
294 +21: Internal multi-segment position selection 1
295 +
296 +22: Internal multi-segment position selection 2
297 +
298 +23: Internal multi-segment position selection 3
299 +
300 +24: Internal multi-segment position selection 4
301 +
302 +25: HOME_START Homing start
303 +26: HOME ORG Homing signal
304 +27: JOGU DI Forward jog
305 +28: JOGD DI Reverse jog
306 +
307 +Others: reserved
275 275  )))|-
276 276  |=(% style="width: 89px;" %)P06-09|(% style="width:135px" %)DI_3 channel logic selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
277 277  Effective immediately
... ... @@ -278,8 +278,9 @@
278 278  )))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
279 279  DI port input logic validity function selection.
280 280  
281 -* 0: Normally open input. Active low level (switch on);
282 -* 1: Normally closed input. Active high level (switch off);
314 +0: Normally open input. Active low level (switch on);
315 +
316 +1: Normally closed input. Active high level (switch off);
283 283  )))|-
284 284  |=(% style="width: 89px;" %)P06-10|(% style="width:135px" %)DI_3 input source selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
285 285  Effective immediately
... ... @@ -286,8 +286,9 @@
286 286  )))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
287 287  Select the DI_3 port type to enable
288 288  
289 -* 0: Hardware DI_3 input terminal
290 -* 1: virtual VDI_3 input terminal
323 +0: Hardware DI_3 input terminal
324 +
325 +1: virtual VDI_3 input terminal
291 291  )))|-
292 292  |=(% style="width: 89px;" %)P06-11|(% style="width:135px" %)DI_4 channel function selection|(% style="width:122px" %)(((
293 293  Operation setting
... ... @@ -294,30 +294,53 @@
294 294  )))|(% style="width:114px" %)(((
295 295  again Power-on
296 296  )))|(% style="width:106px" %)4|(% style="width:84px" %)0 to 32|(% style="width:380px" %)(((
297 -* 0: OFF (not used)
298 -* 01: SON Servo enable
299 -* 02: A-CLR Fault and Warning Clear
300 -* 03: POT Forward drive prohibition
301 -* 04: NOT Reverse drive prohibition
302 -* 05: ZCLAMP Zero speed
303 -* 06: CL Clear deviation counter
304 -* 07: C-SIGN Inverted instruction
305 -* 08: E-STOP Emergency shutdown
306 -* 09: GEAR-SEL Electronic Gear Switch 1
307 -* 10: GAIN-SEL gain switch
308 -* 11: INH Instruction pulse prohibited input
309 -* 12: VSSEL Vibration control switch input
310 -* 13: INSPD1 Internal speed instruction selection 1
311 -* 14: INSPD2 Internal speed instruction selection 2
312 -* 15: INSPD3 Internal speed instruction selection 3
313 -* 16: J-SEL inertia ratio switch (not implemented yet)
314 -* 17: MixModesel mixed mode selection
315 -* 20: Internal multi-segment position enable signal
316 -* 21: Internal multi-segment position selection 1
317 -* 22: Internal multi-segment position selection 2
318 -* 23: Internal multi-segment position selection 3
319 -* 24: Internal multi-segment position selection 4
320 -* Others: reserved
332 +0: OFF (not used)
333 +
334 +01: SON Servo enable
335 +
336 +02: A-CLR Fault and Warning Clear
337 +
338 +03: POT Forward drive prohibition
339 +
340 +04: NOT Reverse drive prohibition
341 +
342 +05: ZCLAMP Zero speed
343 +
344 +06: CL Clear deviation counter
345 +
346 +07: C-SIGN Inverted instruction
347 +
348 +08: E-STOP Emergency shutdown
349 +
350 +09: GEAR-SEL Electronic Gear Switch 1
351 +
352 +10: GAIN-SEL gain switch
353 +
354 +11: INH Instruction pulse prohibited input
355 +
356 +12: VSSEL Vibration control switch input
357 +
358 +13: INSPD1 Internal speed instruction selection 1
359 +
360 +14: INSPD2 Internal speed instruction selection 2
361 +
362 +15: INSPD3 Internal speed instruction selection 3
363 +
364 +16: J-SEL inertia ratio switch (not implemented yet)
365 +
366 +17: MixModesel mixed mode selection
367 +
368 +20: Internal multi-segment position enable signal
369 +
370 +21: Internal multi-segment position selection 1
371 +
372 +22: Internal multi-segment position selection 2
373 +
374 +23: Internal multi-segment position selection 3
375 +
376 +24: Internal multi-segment position selection 4
377 +
378 +Others: reserved
321 321  )))|-
322 322  |=(% style="width: 89px;" %)P06-12|(% style="width:135px" %)DI_4 channel logic selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
323 323  Effective immediately
... ... @@ -324,8 +324,9 @@
324 324  )))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
325 325  DI port input logic validity function selection.
326 326  
327 -* 0: Normally open input. Active low level (switch on);
328 -* 1: Normally closed input. Active high level (switch off);
385 +0: Normally open input. Active low level (switch on);
386 +
387 +1: Normally closed input. Active high level (switch off);
329 329  )))|-
330 330  |=(% style="width: 89px;" %)P06-13|(% style="width:135px" %)DI_4 input source selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
331 331  Effective immediately
... ... @@ -332,8 +332,9 @@
332 332  )))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
333 333  Select the DI_4 port type to enable
334 334  
335 -* 0: Hardware DI_4 input terminal
336 -* 1: virtual VDI_4 input terminal
394 +0: Hardware DI_4 input terminal
395 +
396 +1: virtual VDI_4 input terminal
337 337  )))|-
338 338  
339 339  Table 6-8 DI3 and DI4 channel parameters
... ... @@ -1317,9 +1317,9 @@
1317 1317  |Setting value|DO channel function| |Setting value|DO channel function
1318 1318  |128|OFF (not used)| |139|T-LIMIT (Torque limit)
1319 1319  |129|RDY (Servo ready)| |140|V-LIMIT (speed limited)
1320 -|130|ALM (fault signal)| |141|BRK-OFF (Brake Output)^^ Note1^^
1380 +|130|ALM (fault signal)| |141|BRK-OFF (Brake Output)^^ Note1^^
1321 1321  |131|WARN (warning signal)| |142|SRV-ST (Servo start status output)
1322 -|132|TGON (rotation detection)| |143|OZ (Z pulse output)^^ Note2^^
1382 +|132|TGON (rotation detection)| |143|OZ (Z pulse output)^^ Note2^^
1323 1323  |133|ZSP (zero speed signal)| |144|N/A
1324 1324  |134|P-COIN (Positioning completed)| |145|COM_VDO1 (communication VDO1 output)
1325 1325  |135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output)
... ... @@ -1350,9 +1350,9 @@
1350 1350  |Setting value|DO channel function| |Setting value|DO channel function
1351 1351  |128|OFF (not used)| |139|T-LIMIT (torque limit)
1352 1352  |129|RDY (Servo ready)| |140|V-LIMIT (speed limited)
1353 -|130|ALM (fault signal)| |141|BRK-OFF (Brake Output)^^ Note1^^
1413 +|130|ALM (fault signal)| |141|BRK-OFF (Brake Output)^^ Note1^^
1354 1354  |131|WARN (warning signal)| |142|SRV-ST (Servo start status output)
1355 -|132|TGON (rotation detection)| |143|OA (A pulse output)^^ Note2^^
1415 +|132|TGON (rotation detection)| |143|OA (A pulse output)^^ Note2^^
1356 1356  |133|ZSP (zero speed signal)| |144|None
1357 1357  |134|P-COIN (Positioning completed)| |145|COM_VDO1 (communication VDO1 output)
1358 1358  |135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output)
... ... @@ -1383,9 +1383,9 @@
1383 1383  |Setting value|DO channel function| |Setting value|DO channel function
1384 1384  |128|OFF (not used)| |139|T-LIMIT (Torque limit)
1385 1385  |129|RDY (Servo ready)| |140|V-LIMIT (speed limited)
1386 -|130|ALM (fault signal)| |141|BRK-OFF (Brake Output)^^ Note1^^
1446 +|130|ALM (fault signal)| |141|BRK-OFF (Brake Output)^^ Note1^^
1387 1387  |131|WARN (warning signal)| |142|SRV-ST (Servo start status output)
1388 -|132|TGON (rotation detection)| |143|OB (B pulse output)^^ Note2^^
1448 +|132|TGON (rotation detection)| |143|OB (B pulse output)^^ Note2^^
1389 1389  |133|ZSP (zero speed signal)| |144|None
1390 1390  |134|P-COIN (Positioning completed)| |145|COM_VDO1 (communication VDO1 output)
1391 1391  |135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output)
... ... @@ -2177,7 +2177,7 @@
2177 2177  **Effective time**
2178 2178  )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2179 2179  |=P01-17|(((
2180 -Forward torque
2240 +Forward speed
2181 2181  
2182 2182  limit in torque mode
2183 2183  )))|(((
... ... @@ -2188,9 +2188,9 @@
2188 2188  Forward torque
2189 2189  
2190 2190  limit in torque mode
2191 -)))|0.1%
2251 +)))|rpm
2192 2192  |=P01-18|(((
2193 -Reverse torque
2253 +Reverse speed
2194 2194  
2195 2195  limit in torque mode
2196 2196  )))|(((
... ... @@ -2201,7 +2201,7 @@
2201 2201  Reverse torque
2202 2202  
2203 2203  limit in torque mode
2204 -)))|0.1%
2264 +)))|rpm
2205 2205  
2206 2206  Table 6-48 Speed limit parameters in torque mode
2207 2207