Changes for page 06 Operation

Summary

• Page properties (1 modified, 0 added, 0 removed)

Details

Page properties

Content

...	...	@@ -112,10 +112,13 @@
112	112	)))|(% style="width:126px" %)(((
113	113	Effective immediately
114	114	)))|0|0 to 3|(((
115		-* 0: use built-in braking resistor
116		-* 1: use external braking resistor and natural cooling
117		-* 2: use external braking resistor and forced air cooling; (cannot be set)
118		-* 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.
119	119	)))|-
120	120	(% 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).
121	121	|=P00-10|External braking resistor value|(% style="width:118px" %)(((
...	...	@@ -156,7 +156,7 @@
156	156	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__.
157	157
158	158	|=(% scope="row" style="width: 150px;" %)Shutdown mode|=(% style="width: 532px;" %)Shutdown description|=(% style="width: 393px;" %)Shutdown characteristics
159		-|=(% 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.
160	160	|=(% 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.
161	161
162	162	Table 6-5 Comparison of two shutdown modes
...	...	@@ -186,8 +186,9 @@
186	186
187	187	immediately
188	188	)))|(% style="width:86px" %)0|(% style="width:70px" %)0 to 1|(% style="width:347px" %)(((
189		-* 0: Free shutdown, and the motor shaft remains free status.
190		-* 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.
191	191	)))|-
192	192
193	193	Table 6-7 Servo OFF shutdown mode parameters details
...	...	@@ -249,30 +249,58 @@
249	249	**Effective time**
250	250	)))|=(% style="width: 106px;" %)**Default value**|=(% style="width: 84px;" %)**Range**|=(% style="width: 380px;" %)**Definition**|=**Unit**
251	251	|=(% 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" %)(((
252		-* 0: OFF (not used)
253		-* 01: S-ON servo enable
254		-* 02: A-CLR fault and Warning Clear
255		-* 03: POT forward drive prohibition
256		-* 04: NOT Reverse drive prohibition
257		-* 05: ZCLAMP Zero speed
258		-* 06: CL Clear deviation counter
259		-* 07: C-SIGN Inverted instruction
260		-* 08: E-STOP Emergency stop
261		-* 09: GEAR-SEL Electronic Gear Switch 1
262		-* 10: GAIN-SEL gain switch
263		-* 11: INH Instruction pulse prohibited input
264		-* 12: VSSEL Vibration control switch input
265		-* 13: INSPD1 Internal speed instruction selection 1
266		-* 14: INSPD2 Internal speed instruction selection 2
267		-* 15: INSPD3 Internal speedinstruction selection 3
268		-* 16: J-SEL inertia ratio switch (not implemented yet)
269		-* 17: MixModesel mixed mode selection
270		-* 20: Internal multi-segment position enable signal
271		-* 21: Internal multi-segment position selection 1
272		-* 22: Internal multi-segment position selection 2
273		-* 23: Internal multi-segment position selection 3
274		-* 24: Internal multi-segment position selection 4
275		-* 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
276	276	)))|-
277	277	|=(% style="width: 89px;" %)P06-09|(% style="width:135px" %)DI_3 channel logic selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
278	278	Effective immediately
...	...	@@ -279,8 +279,9 @@
279	279	)))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
280	280	DI port input logic validity function selection.
281	281
282		-* 0: Normally open input. Active low level (switch on);
283		-* 1: Normally closed input. Active high level (switch off);
	314	+0: Normally open input. Low level valid (switch on);
	315	+
	316	+1: Normally closed input. High level valid (switch off);
284	284	)))|-
285	285	|=(% style="width: 89px;" %)P06-10|(% style="width:135px" %)DI_3 input source selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
286	286	Effective immediately
...	...	@@ -287,8 +287,9 @@
287	287	)))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
288	288	Select the DI_3 port type to enable
289	289
290		-* 0: Hardware DI_3 input terminal
291		-* 1: virtual VDI_3 input terminal
	323	+0: Hardware DI_3 input terminal
	324	+
	325	+1: Virtual VDI_3 input terminal
292	292	)))|-
293	293	|=(% style="width: 89px;" %)P06-11|(% style="width:135px" %)DI_4 channel function selection|(% style="width:122px" %)(((
294	294	Operation setting
...	...	@@ -295,30 +295,58 @@
295	295	)))|(% style="width:114px" %)(((
296	296	again Power-on
297	297	)))|(% style="width:106px" %)4|(% style="width:84px" %)0 to 32|(% style="width:380px" %)(((
298		-* 0: OFF (not used)
299		-* 01: SON Servo enable
300		-* 02: A-CLR Fault and Warning Clear
301		-* 03: POT Forward drive prohibition
302		-* 04: NOT Reverse drive prohibition
303		-* 05: ZCLAMP Zero speed
304		-* 06: CL Clear deviation counter
305		-* 07: C-SIGN Inverted instruction
306		-* 08: E-STOP Emergency shutdown
307		-* 09: GEAR-SEL Electronic Gear Switch 1
308		-* 10: GAIN-SEL gain switch
309		-* 11: INH Instruction pulse prohibited input
310		-* 12: VSSEL Vibration control switch input
311		-* 13: INSPD1 Internal speed instruction selection 1
312		-* 14: INSPD2 Internal speed instruction selection 2
313		-* 15: INSPD3 Internal speed instruction selection 3
314		-* 16: J-SEL inertia ratio switch (not implemented yet)
315		-* 17: MixModesel mixed mode selection
316		-* 20: Internal multi-segment position enable signal
317		-* 21: Internal multi-segment position selection 1
318		-* 22: Internal multi-segment position selection 2
319		-* 23: Internal multi-segment position selection 3
320		-* 24: Internal multi-segment position selection 4
321		-* 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	+25: HOME_START Homing start
	379	+26: HOME ORG Homing signal
	380	+27: JOGU DI Forward jog
	381	+28: JOGD DI Reverse jog
	382	+
	383	+Others: reserved
322	322	)))|-
323	323	|=(% style="width: 89px;" %)P06-12|(% style="width:135px" %)DI_4 channel logic selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
324	324	Effective immediately
...	...	@@ -325,8 +325,9 @@
325	325	)))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
326	326	DI port input logic validity function selection.
327	327
328		-* 0: Normally open input. Active low level (switch on);
329		-* 1: Normally closed input. Active high level (switch off);
	390	+0: Normally open input. Low level valid (switch on);
	391	+
	392	+1: Normally closed input. High level valid (switch off);
330	330	)))|-
331	331	|=(% style="width: 89px;" %)P06-13|(% style="width:135px" %)DI_4 input source selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
332	332	Effective immediately
...	...	@@ -333,8 +333,9 @@
333	333	)))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
334	334	Select the DI_4 port type to enable
335	335
336		-* 0: Hardware DI_4 input terminal
337		-* 1: virtual VDI_4 input terminal
	399	+0: Hardware DI_4 input terminal
	400	+
	401	+1: Virtual VDI_4 input terminal
338	338	)))|-
339	339
340	340	Table 6-8 DI3 and DI4 channel parameters
...	...	@@ -634,18 +634,29 @@
634	634	)))|(% rowspan="3" %)2|(% rowspan="3" style="width:87px" %)0 to 9|(% colspan="2" style="width:296px" %)(((
635	635	Set the anti-interference level of external pulse instruction.
636	636
637		-* 0: no filtering;
638		-* 1: Filtering time 128ns
639		-* 2: Filtering time 256ns
640		-* 3: Filtering time 512ns
641		-* 4: Filtering time 1.024us
642		-* 5: Filtering time 2.048us
643		-* 6: Filtering time 4.096us
644		-* 7: Filtering time 8.192us
645		-* 8: Filtering time 16.384us
646		-* 9:
647		-** VD2: Filtering time 25.5us
648		-** VD2F: Filtering time 25.5us
	701	+0: no filtering;
	702	+
	703	+1: Filtering time 128ns
	704	+
	705	+2: Filtering time 256ns
	706	+
	707	+3: Filtering time 512ns
	708	+
	709	+4: Filtering time 1.024us
	710	+
	711	+5: Filtering time 2.048us
	712	+
	713	+6: Filtering time 4.096us
	714	+
	715	+7: Filtering time 8.192us
	716	+
	717	+8: Filtering time 16.384us
	718	+
	719	+9:
	720	+
	721	+VD2: Filtering time 32.768us
	722	+
	723	+VD2F: Filtering time 25.5us
649	649	)))|(% rowspan="3" %)-
650	650
651	651	Table 6-14 Position pulse frequency and anti-interference level parameters
...	...	@@ -708,13 +708,18 @@
708	708	)))|(% style="width:109px" %)(((
709	709	Power-on again
710	710	)))|(% style="width:77px" %)0|(% style="width:74px" %)0 to 5|(% style="width:412px" %)(((
711		-* 0: direction + pulse (positive logic)
712		-* 1: CW/CCW
713		-* 2: A, B phase quadrature pulse (4 times frequency)
714		-* 3: Direction + pulse (negative logic)
715		-* 4: CW/CCW (negative logic)
716		-* 5: A, B phase quadrature pulse (4 times frequency negative logic)
	786	+0: direction + pulse (positive logic)
717	717
	788	+1: CW/CCW
	789	+
	790	+2: A, B phase quadrature pulse (4 times frequency)
	791	+
	792	+3: Direction + pulse (negative logic)
	793	+
	794	+4: CW/CCW (negative logic)
	795	+
	796	+5: A, B phase quadrature pulse (4 times frequency negative logic)
	797	+
718	718	**✎Note: VD2F and VD2L series drivers do not support the pulse form of CW/CCW! P0-12 parameter setting range of VD2L: 0, 2, 3, 5**
719	719	)))|-
720	720
...	...	@@ -1211,8 +1211,9 @@
1211	1211	)))|(((
1212	1212	Effective immediately
1213	1213	)))|0|0 to 1|(((
1214		-* 0: 1st-order low-pass filtering
1215		-* 1: average filtering
	1294	+0: 1st-order low-pass filtering
	1295	+
	1296	+1: average filtering
1216	1216	)))|-
1217	1217	|=P04-02|Position instruction 1st-order low-pass filtering time constant|Shutdown setting|(((
1218	1218	Effective immediately
...	...	@@ -1311,7 +1311,7 @@
1311	1311
1312	1312
1313	1313	|(% rowspan="2" %)P06-28|Parameter name|Setting method|Effective time|Default|Set range|Application category|Unit
1314		-|DO_2 channel function selection|Operation setting|Effective immediately|143|128-148|DI/DO|-
	1395	+|DO_2 channel function selection|Operation setting|Effective immediately|130|128-149|DI/DO|-
1315	1315	|(% colspan="8" %)(((
1316	1316	Used to set DO functions corresponding to hardware DO2. Refer to the following table for the functions corresponding to the set value:
1317	1317
...	...	@@ -1326,7 +1326,7 @@
1326	1326	|135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output)
1327	1327	|136|V-COIN (consistent speed)| |147|COM_VDO1(communication VDO3 output)
1328	1328	|137|V-NEAR (speed approach)| |148|COM_VDO1(communication VDO4 output)
1329		-|138|T-COIN (torque arrival)| | |
	1410	+|138|T-COIN (torque arrival)| |149|HOME_ATTAIN (Homing arrived)
1330	1330
1331	1331	When P06-28 is set to a value other than the above table, it is considered to not use DO port function.
1332	1332
...	...	@@ -1341,10 +1341,12 @@
1341	1341	② Only in the VD2-0xxSA1H model, the default function code for the DO_1 channel function selection is 130ALM (fault signal)! In the VD2-0xxSA1H model, the function code for the DO_2, DO_3, and DO_4 channels are 143 OZ (Z/A/B pulse output), and these 3 channels correspond to the Z-axis, A-axis, and B-axis of the pulse output respectively!
1342	1342
1343	1343	③ The function selection code of DO_2, DO_3 and DO_4 channels in the VD2L-0xxSA1P model are 143 OZ (Z pulse output), and these 3 channels correspond to Z axis, pulse axis, and direction axis of the pulse output respectively!
	1425	+
	1426	+④VD2L does not support function code 149.
1344	1344	)))
1345	1345
1346	1346	|(% rowspan="2" %)P06-30|Parameter name|Setting method|Effective time|Default|Set range|Application category|Unit
1347		-|DO_3 channel function selection|Operation setting|Effective immediately|143|128-148|DI/DO|-
	1430	+|DO_3 channel function selection|Operation setting|Effective immediately|129|128-149|DI/DO|-
1348	1348	|(% colspan="8" %)(((
1349	1349	Used to set DO functions corresponding to hardware DO3. Refer to the following table for the functions corresponding to the set value:
1350	1350
...	...	@@ -1359,7 +1359,7 @@
1359	1359	|135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output)
1360	1360	|136|V-COIN (consistent speed)| |147|COM_VDO1(communication VDO3 output)
1361	1361	|137|V-NEAR (speed approach)| |148|COM_VDO1(communication VDO4 output)
1362		-|138|T-COIN (torque arrival)| | |
	1445	+|138|T-COIN (torque arrival)| |149|HOME_ATTAIN (Homing arrived)
1363	1363
1364	1364	When P06-30 is set to a value other than the above table, it is considered to not use DO port function.
1365	1365
...	...	@@ -1374,6 +1374,8 @@
1374	1374	② Only in the VD2-0xxSA1H model, the default function code for the DO_1 channel function selection is 130ALM (fault signal)! In the VD2-0xxSA1H model, the function code for the DO_2, DO_3, and DO_4 channels are 143 OZ (Z/A/B pulse output), and these 3 channels correspond to the Z-axis, A-axis, and B-axis of the pulse output respectively!
1375	1375
1376	1376	③ The function selection code of DO_2, DO_3 and DO_4 channels in the VD2L-0xxSA1P model are 143 OZ (Z pulse output), and these 3 channels correspond to Z axis, pulse axis, and direction axis of the pulse output respectively!
	1460	+
	1461	+④VD2L does not support function code 149.
1377	1377	)))
1378	1378
1379	1379	|(% rowspan="2" %)P06-32|Parameter name|Setting method|Effective time|Default|Set range|Application category|Unit
...	...	@@ -1392,7 +1392,7 @@
1392	1392	|135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output)
1393	1393	|136|V-COIN (consistent speed)| |147|COM_VDO1(communication VDO3 output)
1394	1394	|137|V-NEAR (speed approach)| |148|COM_VDO1(communication VDO4 output)
1395		-|138|T-COIN (torque arrival)| | |
	1480	+|138|T-COIN (torque arrival)| |149|HOME_ATTAIN (Homing arrived)
1396	1396
1397	1397	When P06-32 is set to a value other than the above table, it is considered to not use DO port function.
1398	1398
...	...	@@ -1407,6 +1407,8 @@
1407	1407	② Only in the VD2-0xxSA1H model, the default function code for the DO_1 channel function selection is 130ALM (fault signal)! In the VD2-0xxSA1H model, the function code for the DO_2, DO_3, and DO_4 channels are 143 OZ (Z/A/B pulse output), and these 3 channels correspond to the Z-axis, A-axis, and B-axis of the pulse output respectively!
1408	1408
1409	1409	③ The function selection code of DO_2, DO_3 and DO_4 channels in the VD2L-0xxSA1P model are 143 OZ (Z pulse output), and these 3 channels correspond to Z axis, pulse axis, and direction axis of the pulse output respectively!
	1495	+
	1496	+④VD2L does not support function code 149.
1410	1410	)))
1411	1411
1412	1412	= **Speed control mode** =
...	...	@@ -1433,8 +1433,9 @@
1433	1433	)))|(% style="width:125px" %)(((
1434	1434	Effective immediately
1435	1435	)))|(% style="width:85px" %)0|(% style="width:75px" %)0 to 1|(% style="width:310px" %)(((
1436		-* 0: internal speed instruction
1437		-* 1: AI_1 analog input (not supported by VD2F)
	1523	+0: internal speed instruction
	1524	+
	1525	+1: AI_1 analog input (not supported by **VD2F and VD2L**)
1438	1438	)))|-
1439	1439
1440	1440	Table 6-26 Speed instruction source parameter
...	...	@@ -1465,15 +1465,17 @@
1465	1465	Effective
1466	1466
1467	1467	immediately
1468		-)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
	1556	+)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1469	1469	Internal speed instruction 0
1470	1470
1471	1471	When DI input port:
1472	1472
1473		-* 15-INSPD3: 0
1474		-* 14-INSPD2: 0
1475		-* 13-INSPD1: 0,
	1561	+15-INSPD3: 0
1476	1476
	1563	+14-INSPD2: 0
	1564	+
	1565	+13-INSPD1: 0,
	1566	+
1477	1477	select this speed instruction to be effective.
1478	1478	)))|(% colspan="2" %)rpm
1479	1479	|=(% colspan="1" %)P01-23|(% colspan="2" %)(((
...	...	@@ -1488,15 +1488,17 @@
1488	1488	Effective
1489	1489
1490	1490	immediately
1491		-)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
	1581	+)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1492	1492	Internal speed instruction 1
1493	1493
1494	1494	When DI input port:
1495	1495
1496		-* 15-INSPD3: 0
1497		-* 14-INSPD2: 0
1498		-* 13-INSPD1: 1,
	1586	+15-INSPD3: 0
1499	1499
	1588	+14-INSPD2: 0
	1589	+
	1590	+13-INSPD1: 1,
	1591	+
1500	1500	Select this speed instruction to be effective.
1501	1501	)))|(% colspan="2" %)rpm
1502	1502	|=(% colspan="1" %)P01-24|(% colspan="2" %)(((
...	...	@@ -1511,15 +1511,17 @@
1511	1511	Effective
1512	1512
1513	1513	immediately
1514		-)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
	1606	+)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1515	1515	Internal speed instruction 2
1516	1516
1517	1517	When DI input port:
1518	1518
1519		-* 15-INSPD3: 0
1520		-* 14-INSPD2: 1
1521		-* 13-INSPD1: 0,
	1611	+15-INSPD3: 0
1522	1522
	1613	+14-INSPD2: 1
	1614	+
	1615	+13-INSPD1: 0,
	1616	+
1523	1523	Select this speed instruction to be effective.
1524	1524	)))|(% colspan="2" %)rpm
1525	1525	|=(% colspan="1" %)P01-25|(% colspan="2" %)(((
...	...	@@ -1534,15 +1534,17 @@
1534	1534	Effective
1535	1535
1536	1536	immediately
1537		-)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
	1631	+)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1538	1538	Internal speed instruction 3
1539	1539
1540	1540	When DI input port:
1541	1541
1542		-* 15-INSPD3: 0
1543		-* 14-INSPD2: 1
1544		-* 13-INSPD1: 1,
	1636	+15-INSPD3: 0
1545	1545
	1638	+14-INSPD2: 1
	1639	+
	1640	+13-INSPD1: 1,
	1641	+
1546	1546	Select this speed instruction to be effective.
1547	1547	)))|(% colspan="2" %)rpm
1548	1548	|=P01-26|(% colspan="2" %)(((
...	...	@@ -1557,15 +1557,17 @@
1557	1557	Effective
1558	1558
1559	1559	immediately
1560		-)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
	1656	+)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1561	1561	Internal speed instruction 4
1562	1562
1563	1563	When DI input port:
1564	1564
1565		-* 15-INSPD3: 1
1566		-* 14-INSPD2: 0
1567		-* 13-INSPD1: 0,
	1661	+15-INSPD3: 1
1568	1568
	1663	+14-INSPD2: 0
	1664	+
	1665	+13-INSPD1: 0,
	1666	+
1569	1569	Select this speed instruction to be effective.
1570	1570	)))|(% colspan="1" %)rpm
1571	1571	|=P01-27|(% colspan="2" %)(((
...	...	@@ -1580,15 +1580,17 @@
1580	1580	Effective
1581	1581
1582	1582	immediately
1583		-)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
	1681	+)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1584	1584	Internal speed instruction 5
1585	1585
1586	1586	When DI input port:
1587	1587
1588		-* 15-INSPD3: 1
1589		-* 14-INSPD2: 0
1590		-* 13-INSPD1: 1,
	1686	+15-INSPD3: 1
1591	1591
	1688	+14-INSPD2: 0
	1689	+
	1690	+13-INSPD1: 1,
	1691	+
1592	1592	Select this speed instruction to be effective.
1593	1593	)))|(% colspan="1" %)rpm
1594	1594	|=P01-28|(% colspan="2" %)(((
...	...	@@ -1603,15 +1603,17 @@
1603	1603	Effective
1604	1604
1605	1605	immediately
1606		-)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
	1706	+)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1607	1607	Internal speed instruction 6
1608	1608
1609	1609	When DI input port:
1610	1610
1611		-* 15-INSPD3: 1
1612		-* 14-INSPD2: 1
1613		-* 13-INSPD1: 0,
	1711	+15-INSPD3: 1
1614	1614
	1713	+14-INSPD2: 1
	1714	+
	1715	+13-INSPD1: 0,
	1716	+
1615	1615	Select this speed instruction to be effective.
1616	1616	)))|(% colspan="1" %)rpm
1617	1617	|=P01-29|(% colspan="2" %)(((
...	...	@@ -1626,15 +1626,17 @@
1626	1626	Effective
1627	1627
1628	1628	immediately
1629		-)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
	1731	+)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1630	1630	Internal speed instruction 7
1631	1631
1632	1632	When DI input port:
1633	1633
1634		-* 15-INSPD3: 1
1635		-* 14-INSPD2: 1
1636		-* 13-INSPD1: 1,
	1736	+15-INSPD3: 1
1637	1637
	1738	+14-INSPD2: 1
	1739	+
	1740	+13-INSPD1: 1,
	1741	+
1638	1638	Select this speed instruction to be effective.
1639	1639	)))|(% colspan="1" %)rpm
1640	1640
...	...	@@ -1650,12 +1650,13 @@
1650	1650	The multi-speed segment number is a 3-bit binary number, and the DI terminal logic is level valid. When the input level is valid, the segment selection bit value is 1, otherwise it is 0. The corresponding relationship between INSPD1 to 3 and segment numbers is shown as below.
1651	1651
1652	1652
1653		-|=**INSPD3**|=**INSPD2**|=**INSPD1**|=**Running segment number**|=**Internal speed instruction number**
1654		-|0|0|0|1|0
1655		-|0|0|1|2|1
1656		-|0|1|0|3|2
1657		-|(% colspan="5" %)......
1658		-|1|1|1|8|7
	1757	+(% style="margin-left:auto; margin-right:auto" %)
	1758	+|=(% style="text-align: center; vertical-align: middle;" %)**INSPD3**|=(% style="text-align: center; vertical-align: middle;" %)**INSPD2**|=(% style="text-align: center; vertical-align: middle;" %)**INSPD1**|=(% style="text-align: center; vertical-align: middle;" %)**Running segment number**|=(% style="text-align: center; vertical-align: middle;" %)**Internal speed instruction number**
	1759	+|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)0
	1760	+|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)2|(% style="text-align:center; vertical-align:middle" %)1
	1761	+|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)3|(% style="text-align:center; vertical-align:middle" %)2
	1762	+|(% colspan="5" style="text-align:center; vertical-align:middle" %)......
	1763	+|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)8|(% style="text-align:center; vertical-align:middle" %)7
1659	1659
1660	1660	Table 6-29 Correspondence between INSPD bits and segment numbers
1661	1661
...	...	@@ -1696,16 +1696,22 @@
1696	1696	)))
1697	1697
1698	1698	|=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit**
1699		-|=P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1700		-|=P05-02☆|AI_1 input filter time constant|Operation setting|Effective immediately|200|0 to 60000|AI_1 channel input first-order low-pass filtering time constant|0.01ms
1701		-|=P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel quantity dead zone value|mV
1702		-|=P05-04☆|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV
	1804	+|=P05-01(((
	1805	+★
	1806	+)))|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
	1807	+|=P05-02(((
	1808	+★
	1809	+)))|AI_1 input filter time constant|Operation setting|Effective immediately|200|0 to 60000|AI_1 channel input first-order low-pass filtering time constant|0.01ms
	1810	+|=P05-03(((
	1811	+★
	1812	+)))|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel quantity dead zone value|mV
	1813	+|=P05-04(((
	1814	+★
	1815	+)))|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV
1703	1703
1704		-Table 6-30 AI_1 parameters
1705		-
1706	1706	(% class="box infomessage" %)
1707	1707	(((
1708		-✎**Note: **“☆” means VD2F servo drive does not support the function code .
	1819	+✎**Note: **“★” means VD2F and VD2L servo drive does not support the function code .
1709	1709	)))
1710	1710
1711	1711	== Acceleration and deceleration time setting ==
...	...	@@ -1799,10 +1799,13 @@
1799	1799	)))|0|0 to 3|(((
1800	1800	Set the zero-speed clamp function. In speed mode:
1801	1801
1802		-* 0: Force the speed to 0;
1803		-* 1: Force the speed to 0, and keep the position locked when the actual speed is less than P01-22
1804		-* 2: When speed instruction is less than P01-22, force the speed to 0 and keep the position locked
1805		-* 3: Invalid, ignore zero-speed clamp input
	1913	+0: Force the speed to 0;
	1914	+
	1915	+1: Force the speed to 0, and keep the position locked when the actual speed is less than P01-22
	1916	+
	1917	+2: When speed instruction is less than P01-22, force the speed to 0 and keep the position locked
	1918	+
	1919	+3: Invalid, ignore zero-speed clamp input
1806	1806	)))|-
1807	1807	|=P01-22|(((
1808	1808	Zero-speed clamp speed threshold
...	...	@@ -1810,7 +1810,7 @@
1810	1810	Operation setting
1811	1811	)))|(((
1812	1812	Effective immediately
1813		-)))|20|0 to 1000|Set the speed threshold of zero-speed clamp function|rpm
	1927	+)))|20|0 to 6000|Set the speed threshold of zero-speed clamp function|rpm
1814	1814
1815	1815	Table 6-33 Zero-speed clamp related parameters
1816	1816
...	...	@@ -1855,7 +1855,7 @@
1855	1855
1856	1856	|=(% scope="row" %)**DO function code**|=(% style="width: 247px;" %)**Function name**|=(% style="width: 695px;" %)**Function**
1857	1857	|=132|(% style="width:247px" %)(((
1858		-T-COIN rotation detection
	1972	+TGON rotation detection
1859	1859	)))|(% style="width:695px" %)(((
1860	1860	Valid: when the absolute value of motor speed after filtering is greater than or equal to the set value of function code P05-16
1861	1861
...	...	@@ -1923,7 +1923,7 @@
1923	1923
1924	1924	|=(% scope="row" %)**DO Function code**|=(% style="width: 262px;" %)**Function name**|=(% style="width: 684px;" %)**Function**
1925	1925	|=136|(% style="width:262px" %)(((
1926		-U-COIN consistent speed
	2040	+V-COIN consistent speed
1927	1927	)))|(% style="width:684px" %)The output signal indicates that the absolute deviation of the actual speed of servo motor and the speed instruction meets the P05-17 set value
1928	1928
1929	1929	Table 6-39 DO speed consistent function code
...	...	@@ -2107,8 +2107,9 @@
2107	2107	)))|(((
2108	2108	Effective immediately
2109	2109	)))|0|0 to 1|(((
2110		-* 0: internal value
2111		-* 1: AI_1 analog input (not supported by VD2F and VD2L)
	2224	+0: internal value
	2225	+
	2226	+1: AI_1 analog input (not supported by VD2F and VD2L)
2112	2112	)))|-
2113	2113
2114	2114	* Torque limit source is internal torque instruction (P01-14=0)
...	...	@@ -2185,7 +2185,7 @@
2185	2185	Operation setting
2186	2186	)))|(((
2187	2187	Effective immediately
2188		-)))|3000|0 to 5000|(((
	2303	+)))|3000|0 to 6000|(((
2189	2189	Forward torque
2190	2190
2191	2191	limit in torque mode
...	...	@@ -2198,7 +2198,7 @@
2198	2198	Operation setting
2199	2199	)))|(((
2200	2200	Effective immediately
2201		-)))|3000|0 to 5000|(((
	2316	+)))|3000|0 to 6000|(((
2202	2202	Reverse torque
2203	2203
2204	2204	limit in torque mode
...	...	@@ -2283,13 +2283,18 @@
2283	2283	)))|(((
2284	2284	Shutdown setting
2285	2285	)))|1|(% style="width:90px" %)1 to 6|(% style="width:273px" %)(((
2286		-* 1: Position control
2287		-* 2: Speed control
2288		-* 3: Torque control
2289		-* 4: Position/speed mixed control
2290		-* 5: Position/torque mixed control
2291		-* 6: Speed/torque mixed control
	2401	+1: Position control
2292	2292
	2403	+2: Speed control
	2404	+
	2405	+3: Torque control
	2406	+
	2407	+4: Position/speed mixed control
	2408	+
	2409	+5: Position/torque mixed control
	2410	+
	2411	+6: Speed/torque mixed control
	2412	+
2293	2293	**VD2L drive P0-01 setting range: 1-3, not support mixed mode**
2294	2294	)))|-
2295	2295
...	...	@@ -2431,8 +2431,9 @@
2431	2431	**time**
2432	2432	)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2433	2433	|=P00-30|Shield multi-turn absolute encoder battery fault|Operation setting|Power on again|0|0 to 1|(((
2434		-* 0：Detect multi-turn absolute encoder battery under voltage, and battery low voltage fault
2435		-* 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
	2554	+0：Detect multi-turn absolute encoder battery under voltage, and battery low voltage fault
	2555	+
	2556	+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
2436	2436	)))|-
2437	2437
2438	2438	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.
...	...	@@ -2577,8 +2577,9 @@
2577	2577
2578	2578	VDI_1 input level:
2579	2579
2580		-* 0: low level
2581		-* 1: high level
	2701	+0: Low level
	2702	+
	2703	+1: High level
2582	2582	)))|-
2583	2583	|=P13-2|Virtual VDI_2 input value|Operation setting|Effective immediately|0|0 to 1|(((
2584	2584	When P06-07 is set to 1, DI_2 channel logic is control by this function code.
...	...	@@ -2585,8 +2585,9 @@
2585	2585
2586	2586	VDI_2 input level:
2587	2587
2588		-* 0: low level
2589		-* 1: high level
	2710	+0: Low level
	2711	+
	2712	+1: High level
2590	2590	)))|-
2591	2591	|=P13-3|Virtual VDI_3 input value|Operation setting|Effective immediately|0|0 to 1|(((
2592	2592	When P06-10 is set to 1, DI_3 channel logic is control by this function code.
...	...	@@ -2593,8 +2593,9 @@
2593	2593
2594	2594	VDI_3 input level:
2595	2595
2596		-* 0: low level
2597		-* 1: high level
	2719	+0: Low level
	2720	+
	2721	+1: High level
2598	2598	)))|-
2599	2599	|=P13-4|Virtual VDI_4 input value|Operation setting|Effective immediately|0|0 to 1|(((
2600	2600	When P06-13 is set to 1, DI_4 channel logic is control by this function code.
...	...	@@ -2601,40 +2601,53 @@
2601	2601
2602	2602	VDI_4 input level:
2603	2603
2604		-* 0: low level
2605		-* 1: high level
	2728	+0: Low level
	2729	+
	2730	+1: High level
2606	2606	)))|-
2607		-|=P13-05☆|Virtual VDI_5 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2732	+|=P13-05(((
	2733	+★
	2734	+)))|Virtual VDI_5 input value|Operation setting|Effective immediately|0|0 to 1|(((
2608	2608	When P06-16 is set to 1, DI_5 channel logic is control by this function code.
2609	2609
2610	2610	VDI_5 input level:
2611	2611
2612		-* 0: low level
2613		-* 1: high level
	2739	+0: Low level
	2740	+
	2741	+1: High level
2614	2614	)))|-
2615		-|=P13-06☆|Virtual VDI_6 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2743	+|=P13-06(((
	2744	+★
	2745	+)))|Virtual VDI_6 input value|Operation setting|Effective immediately|0|0 to 1|(((
2616	2616	When P06-19 is set to 1, DI_6 channel logic is control by this function code.
2617	2617
2618	2618	VDI_6 input level:
2619	2619
2620		-* 0: low level
2621		-* 1: high level
	2750	+0: Low level
	2751	+
	2752	+1: High level
2622	2622	)))|-
2623		-|=P13-07☆|Virtual VDI_7 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2754	+|=P13-07(((
	2755	+★
	2756	+)))|Virtual VDI_7 input value|Operation setting|Effective immediately|0|0 to 1|(((
2624	2624	When P06-22 is set to 1, DI_7 channel logic is control by this function code.
2625	2625
2626	2626	VDI_7 input level:
2627	2627
2628		-* 0: low level
2629		-* 1: high level
	2761	+0: Low level
	2762	+
	2763	+1: High level
2630	2630	)))|-
2631		-|=P13-08☆|Virtual VDI_8 input value|Operation setting|Effective immediately|0|0 to 1|(((
	2765	+|=P13-08(((
	2766	+★
	2767	+)))|Virtual VDI_8 input value|Operation setting|Effective immediately|0|0 to 1|(((
2632	2632	When P06-25 is set to 1, DI_8 channel logic is control by this function code.
2633	2633
2634	2634	VDI_8 input level:
2635	2635
2636		-* 0: low level
2637		-* 1: high level
	2772	+0: Low level
	2773	+
	2774	+1: High level
2638	2638	)))|-
2639	2639
2640	2640	Table 6-57 Virtual VDI parameters
...	...	@@ -2641,7 +2641,7 @@
2641	2641
2642	2642	(% class="box infomessage" %)
2643	2643	(((
2644		-✎**Note: **“☆” means VD2F servo drive does not support the function code .
	2781	+✎**Note: **“★” means VD2F and VD2L servo drive does not support the function code .
2645	2645	)))
2646	2646
2647	2647	== Port filtering time ==
...	...	@@ -2675,26 +2675,30 @@
2675	2675	|=P13-11|Communication VDO_1 output value|Operation setting|Effective immediately|0|0 to 1|(((
2676	2676	VDO_1 output level：
2677	2677
2678		-* 0: low level
2679		-* 1: high level
	2815	+0: Low level
	2816	+
	2817	+1: High level
2680	2680	)))|-
2681	2681	|=P13-12|Communication VDO_2 output value|Operation setting|Effective immediately|0|0 to 1|(((
2682	2682	VDO_2 output level：
2683	2683
2684		-* 0: low level
2685		-* 1: high level
	2822	+0: Low level
	2823	+
	2824	+1: High level
2686	2686	)))|-
2687	2687	|=P13-13|Communication VDO_3 output value|Operation setting|Effective immediately|0|0 to 1|(((
2688	2688	VDO_3 output level：
2689	2689
2690		-* 0: low level
2691		-* 1: high level
	2829	+0: Low level
	2830	+
	2831	+1: High level
2692	2692	)))|-
2693	2693	|=P13-14|Communication VDO_4 output value|Operation setting|Effective immediately|0|0 to 1|(((
2694	2694	VDO_4 output level：
2695	2695
2696		-* 0: low level
2697		-* 1: high level
	2836	+0: Low level
	2837	+
	2838	+1: High level
2698	2698	)))|-
2699	2699
2700	2700	Table 6-59 Communication control DO function parameters