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Changes for page 06 Operation

Last modified by Iris on 2025/08/08 14:40
From version 84.1
edited by Mora Zhou
on 2025/04/28 14:11
Change comment: There is no comment for this version
To version 84.2
edited by Mora Zhou
on 2025/04/28 14:23
Change comment: There is no comment for this version

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... ... @@ -159,7 +159,7 @@
159 159  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__.
160 160  
161 161  |=(% scope="row" style="width: 150px;" %)Shutdown mode|=(% style="width: 532px;" %)Shutdown description|=(% style="width: 393px;" %)Shutdown characteristics
162 -|=(% 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.
163 163  |=(% 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.
164 164  
165 165  Table 6-5 Comparison of two shutdown modes
... ... @@ -189,8 +189,9 @@
189 189  
190 190  immediately
191 191  )))|(% style="width:86px" %)0|(% style="width:70px" %)0 to 1|(% style="width:347px" %)(((
192 -* 0: Free shutdown, and the motor shaft remains free status.
193 -* 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.
194 194  )))|-
195 195  
196 196  Table 6-7 Servo OFF shutdown mode parameters details
... ... @@ -252,30 +252,58 @@
252 252  **Effective time**
253 253  )))|=(% style="width: 106px;" %)**Default value**|=(% style="width: 84px;" %)**Range**|=(% style="width: 380px;" %)**Definition**|=**Unit**
254 254  |=(% 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" %)(((
255 -* 0: OFF (not used)
256 -* 01: S-ON servo enable
257 -* 02: A-CLR fault and Warning Clear
258 -* 03: POT forward drive prohibition
259 -* 04: NOT Reverse drive prohibition
260 -* 05: ZCLAMP Zero speed
261 -* 06: CL Clear deviation counter
262 -* 07: C-SIGN Inverted instruction
263 -* 08: E-STOP Emergency stop
264 -* 09: GEAR-SEL Electronic Gear Switch 1
265 -* 10: GAIN-SEL gain switch
266 -* 11: INH Instruction pulse prohibited input
267 -* 12: VSSEL Vibration control switch input
268 -* 13: INSPD1 Internal speed instruction selection 1
269 -* 14: INSPD2 Internal speed instruction selection 2
270 -* 15: INSPD3 Internal speedinstruction selection 3
271 -* 16: J-SEL inertia ratio switch (not implemented yet)
272 -* 17: MixModesel mixed mode selection
273 -* 20: Internal multi-segment position enable signal
274 -* 21: Internal multi-segment position selection 1
275 -* 22: Internal multi-segment position selection 2
276 -* 23: Internal multi-segment position selection 3
277 -* 24: Internal multi-segment position selection 4
278 -* 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
279 279  )))|-
280 280  |=(% style="width: 89px;" %)P06-09|(% style="width:135px" %)DI_3 channel logic selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
281 281  Effective immediately
... ... @@ -282,8 +282,9 @@
282 282  )))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
283 283  DI port input logic validity function selection.
284 284  
285 -* 0: Normally open input. Active low level (switch on);
286 -* 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);
287 287  )))|-
288 288  |=(% style="width: 89px;" %)P06-10|(% style="width:135px" %)DI_3 input source selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
289 289  Effective immediately
... ... @@ -290,8 +290,9 @@
290 290  )))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
291 291  Select the DI_3 port type to enable
292 292  
293 -* 0: Hardware DI_3 input terminal
294 -* 1: virtual VDI_3 input terminal
323 +0: Hardware DI_3 input terminal
324 +
325 +1: virtual VDI_3 input terminal
295 295  )))|-
296 296  |=(% style="width: 89px;" %)P06-11|(% style="width:135px" %)DI_4 channel function selection|(% style="width:122px" %)(((
297 297  Operation setting
... ... @@ -298,30 +298,53 @@
298 298  )))|(% style="width:114px" %)(((
299 299  again Power-on
300 300  )))|(% style="width:106px" %)4|(% style="width:84px" %)0 to 32|(% style="width:380px" %)(((
301 -* 0: OFF (not used)
302 -* 01: SON Servo enable
303 -* 02: A-CLR Fault and Warning Clear
304 -* 03: POT Forward drive prohibition
305 -* 04: NOT Reverse drive prohibition
306 -* 05: ZCLAMP Zero speed
307 -* 06: CL Clear deviation counter
308 -* 07: C-SIGN Inverted instruction
309 -* 08: E-STOP Emergency shutdown
310 -* 09: GEAR-SEL Electronic Gear Switch 1
311 -* 10: GAIN-SEL gain switch
312 -* 11: INH Instruction pulse prohibited input
313 -* 12: VSSEL Vibration control switch input
314 -* 13: INSPD1 Internal speed instruction selection 1
315 -* 14: INSPD2 Internal speed instruction selection 2
316 -* 15: INSPD3 Internal speed instruction selection 3
317 -* 16: J-SEL inertia ratio switch (not implemented yet)
318 -* 17: MixModesel mixed mode selection
319 -* 20: Internal multi-segment position enable signal
320 -* 21: Internal multi-segment position selection 1
321 -* 22: Internal multi-segment position selection 2
322 -* 23: Internal multi-segment position selection 3
323 -* 24: Internal multi-segment position selection 4
324 -* 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
325 325  )))|-
326 326  |=(% style="width: 89px;" %)P06-12|(% style="width:135px" %)DI_4 channel logic selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
327 327  Effective immediately
... ... @@ -328,8 +328,9 @@
328 328  )))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
329 329  DI port input logic validity function selection.
330 330  
331 -* 0: Normally open input. Active low level (switch on);
332 -* 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);
333 333  )))|-
334 334  |=(% style="width: 89px;" %)P06-13|(% style="width:135px" %)DI_4 input source selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
335 335  Effective immediately
... ... @@ -336,8 +336,9 @@
336 336  )))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
337 337  Select the DI_4 port type to enable
338 338  
339 -* 0: Hardware DI_4 input terminal
340 -* 1: virtual VDI_4 input terminal
394 +0: Hardware DI_4 input terminal
395 +
396 +1: virtual VDI_4 input terminal
341 341  )))|-
342 342  
343 343  Table 6-8 DI3 and DI4 channel parameters