Changes for page 06 Operation
Last modified by Iris on 2025/08/08 14:40
From version 82.1
edited by Jim(Forgotten)
on 2024/10/22 18:54
on 2024/10/22 18:54
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... ... @@ -1,1 +1,1 @@ 1 -XWiki. Jim1 +XWiki.Mora - Content
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... ... @@ -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 s hutdown|(% 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