Changes for page 06 Operation

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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. Low level valid (switch on);
	315	+
	316	+1: Normally closed input. High level valid (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 +298,58 @@
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	+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
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);
	390	+0: Normally open input. Low level valid (switch on);
	391	+
	392	+1: Normally closed input. High level valid (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
	399	+0: Hardware DI_4 input terminal
	400	+
	401	+1: Virtual VDI_4 input terminal
341	341	)))|-
342	342
343	343	Table 6-8 DI3 and DI4 channel parameters
...	...	@@ -637,18 +637,29 @@
637	637	)))|(% rowspan="3" %)2|(% rowspan="3" style="width:87px" %)0 to 9|(% colspan="2" style="width:296px" %)(((
638	638	Set the anti-interference level of external pulse instruction.
639	639
640		-* 0: no filtering;
641		-* 1: Filtering time 128ns
642		-* 2: Filtering time 256ns
643		-* 3: Filtering time 512ns
644		-* 4: Filtering time 1.024us
645		-* 5: Filtering time 2.048us
646		-* 6: Filtering time 4.096us
647		-* 7: Filtering time 8.192us
648		-* 8: Filtering time 16.384us
649		-* 9:
650		-** VD2: Filtering time 25.5us
651		-** 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
652	652	)))|(% rowspan="3" %)-
653	653
654	654	Table 6-14 Position pulse frequency and anti-interference level parameters
...	...	@@ -711,13 +711,18 @@
711	711	)))|(% style="width:109px" %)(((
712	712	Power-on again
713	713	)))|(% style="width:77px" %)0|(% style="width:74px" %)0 to 5|(% style="width:412px" %)(((
714		-* 0: direction + pulse (positive logic)
715		-* 1: CW/CCW
716		-* 2: A, B phase quadrature pulse (4 times frequency)
717		-* 3: Direction + pulse (negative logic)
718		-* 4: CW/CCW (negative logic)
719		-* 5: A, B phase quadrature pulse (4 times frequency negative logic)
	786	+0: direction + pulse (positive logic)
720	720
	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	+
721	721	**✎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**
722	722	)))|-
723	723
...	...	@@ -1214,8 +1214,9 @@
1214	1214	)))|(((
1215	1215	Effective immediately
1216	1216	)))|0|0 to 1|(((
1217		-* 0: 1st-order low-pass filtering
1218		-* 1: average filtering
	1294	+0: 1st-order low-pass filtering
	1295	+
	1296	+1: average filtering
1219	1219	)))|-
1220	1220	|=P04-02|Position instruction 1st-order low-pass filtering time constant|Shutdown setting|(((
1221	1221	Effective immediately
...	...	@@ -1314,7 +1314,7 @@
1314	1314
1315	1315
1316	1316	|(% rowspan="2" %)P06-28|Parameter name|Setting method|Effective time|Default|Set range|Application category|Unit
1317		-|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|-
1318	1318	|(% colspan="8" %)(((
1319	1319	Used to set DO functions corresponding to hardware DO2. Refer to the following table for the functions corresponding to the set value:
1320	1320
...	...	@@ -1329,7 +1329,7 @@
1329	1329	|135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output)
1330	1330	|136|V-COIN (consistent speed)| |147|COM_VDO1(communication VDO3 output)
1331	1331	|137|V-NEAR (speed approach)| |148|COM_VDO1(communication VDO4 output)
1332		-|138|T-COIN (torque arrival)| | |
	1410	+|138|T-COIN (torque arrival)| |149|HOME_ATTAIN (Homing arrived)
1333	1333
1334	1334	When P06-28 is set to a value other than the above table, it is considered to not use DO port function.
1335	1335
...	...	@@ -1344,10 +1344,12 @@
1344	1344	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!
1345	1345
1346	1346	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.
1347	1347	)))
1348	1348
1349	1349	|(% rowspan="2" %)P06-30|Parameter name|Setting method|Effective time|Default|Set range|Application category|Unit
1350		-|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|-
1351	1351	|(% colspan="8" %)(((
1352	1352	Used to set DO functions corresponding to hardware DO3. Refer to the following table for the functions corresponding to the set value:
1353	1353
...	...	@@ -1362,7 +1362,7 @@
1362	1362	|135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output)
1363	1363	|136|V-COIN (consistent speed)| |147|COM_VDO1(communication VDO3 output)
1364	1364	|137|V-NEAR (speed approach)| |148|COM_VDO1(communication VDO4 output)
1365		-|138|T-COIN (torque arrival)| | |
	1445	+|138|T-COIN (torque arrival)| |149|HOME_ATTAIN (Homing arrived)
1366	1366
1367	1367	When P06-30 is set to a value other than the above table, it is considered to not use DO port function.
1368	1368
...	...	@@ -1377,6 +1377,8 @@
1377	1377	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!
1378	1378
1379	1379	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.
1380	1380	)))
1381	1381
1382	1382	|(% rowspan="2" %)P06-32|Parameter name|Setting method|Effective time|Default|Set range|Application category|Unit
...	...	@@ -1395,7 +1395,7 @@
1395	1395	|135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output)
1396	1396	|136|V-COIN (consistent speed)| |147|COM_VDO1(communication VDO3 output)
1397	1397	|137|V-NEAR (speed approach)| |148|COM_VDO1(communication VDO4 output)
1398		-|138|T-COIN (torque arrival)| | |
	1480	+|138|T-COIN (torque arrival)| |149|HOME_ATTAIN (Homing arrived)
1399	1399
1400	1400	When P06-32 is set to a value other than the above table, it is considered to not use DO port function.
1401	1401
...	...	@@ -1410,6 +1410,8 @@
1410	1410	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!
1411	1411
1412	1412	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.
1413	1413	)))
1414	1414
1415	1415	= **Speed control mode** =
...	...	@@ -1436,8 +1436,9 @@
1436	1436	)))|(% style="width:125px" %)(((
1437	1437	Effective immediately
1438	1438	)))|(% style="width:85px" %)0|(% style="width:75px" %)0 to 1|(% style="width:310px" %)(((
1439		-* 0: internal speed instruction
1440		-* 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**)
1441	1441	)))|-
1442	1442
1443	1443	Table 6-26 Speed instruction source parameter
...	...	@@ -1468,15 +1468,17 @@
1468	1468	Effective
1469	1469
1470	1470	immediately
1471		-)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
	1556	+)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1472	1472	Internal speed instruction 0
1473	1473
1474	1474	When DI input port:
1475	1475
1476		-* 15-INSPD3: 0
1477		-* 14-INSPD2: 0
1478		-* 13-INSPD1: 0,
	1561	+15-INSPD3: 0
1479	1479
	1563	+14-INSPD2: 0
	1564	+
	1565	+13-INSPD1: 0,
	1566	+
1480	1480	select this speed instruction to be effective.
1481	1481	)))|(% colspan="2" %)rpm
1482	1482	|=(% colspan="1" %)P01-23|(% colspan="2" %)(((
...	...	@@ -1491,15 +1491,17 @@
1491	1491	Effective
1492	1492
1493	1493	immediately
1494		-)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
	1581	+)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1495	1495	Internal speed instruction 1
1496	1496
1497	1497	When DI input port:
1498	1498
1499		-* 15-INSPD3: 0
1500		-* 14-INSPD2: 0
1501		-* 13-INSPD1: 1,
	1586	+15-INSPD3: 0
1502	1502
	1588	+14-INSPD2: 0
	1589	+
	1590	+13-INSPD1: 1,
	1591	+
1503	1503	Select this speed instruction to be effective.
1504	1504	)))|(% colspan="2" %)rpm
1505	1505	|=(% colspan="1" %)P01-24|(% colspan="2" %)(((
...	...	@@ -1514,15 +1514,17 @@
1514	1514	Effective
1515	1515
1516	1516	immediately
1517		-)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
	1606	+)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1518	1518	Internal speed instruction 2
1519	1519
1520	1520	When DI input port:
1521	1521
1522		-* 15-INSPD3: 0
1523		-* 14-INSPD2: 1
1524		-* 13-INSPD1: 0,
	1611	+15-INSPD3: 0
1525	1525
	1613	+14-INSPD2: 1
	1614	+
	1615	+13-INSPD1: 0,
	1616	+
1526	1526	Select this speed instruction to be effective.
1527	1527	)))|(% colspan="2" %)rpm
1528	1528	|=(% colspan="1" %)P01-25|(% colspan="2" %)(((
...	...	@@ -1537,15 +1537,17 @@
1537	1537	Effective
1538	1538
1539	1539	immediately
1540		-)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
	1631	+)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1541	1541	Internal speed instruction 3
1542	1542
1543	1543	When DI input port:
1544	1544
1545		-* 15-INSPD3: 0
1546		-* 14-INSPD2: 1
1547		-* 13-INSPD1: 1,
	1636	+15-INSPD3: 0
1548	1548
	1638	+14-INSPD2: 1
	1639	+
	1640	+13-INSPD1: 1,
	1641	+
1549	1549	Select this speed instruction to be effective.
1550	1550	)))|(% colspan="2" %)rpm
1551	1551	|=P01-26|(% colspan="2" %)(((
...	...	@@ -1560,15 +1560,17 @@
1560	1560	Effective
1561	1561
1562	1562	immediately
1563		-)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
	1656	+)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1564	1564	Internal speed instruction 4
1565	1565
1566	1566	When DI input port:
1567	1567
1568		-* 15-INSPD3: 1
1569		-* 14-INSPD2: 0
1570		-* 13-INSPD1: 0,
	1661	+15-INSPD3: 1
1571	1571
	1663	+14-INSPD2: 0
	1664	+
	1665	+13-INSPD1: 0,
	1666	+
1572	1572	Select this speed instruction to be effective.
1573	1573	)))|(% colspan="1" %)rpm
1574	1574	|=P01-27|(% colspan="2" %)(((
...	...	@@ -1583,15 +1583,17 @@
1583	1583	Effective
1584	1584
1585	1585	immediately
1586		-)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
	1681	+)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1587	1587	Internal speed instruction 5
1588	1588
1589	1589	When DI input port:
1590	1590
1591		-* 15-INSPD3: 1
1592		-* 14-INSPD2: 0
1593		-* 13-INSPD1: 1,
	1686	+15-INSPD3: 1
1594	1594
	1688	+14-INSPD2: 0
	1689	+
	1690	+13-INSPD1: 1,
	1691	+
1595	1595	Select this speed instruction to be effective.
1596	1596	)))|(% colspan="1" %)rpm
1597	1597	|=P01-28|(% colspan="2" %)(((
...	...	@@ -1606,15 +1606,17 @@
1606	1606	Effective
1607	1607
1608	1608	immediately
1609		-)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
	1706	+)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1610	1610	Internal speed instruction 6
1611	1611
1612	1612	When DI input port:
1613	1613
1614		-* 15-INSPD3: 1
1615		-* 14-INSPD2: 1
1616		-* 13-INSPD1: 0,
	1711	+15-INSPD3: 1
1617	1617
	1713	+14-INSPD2: 1
	1714	+
	1715	+13-INSPD1: 0,
	1716	+
1618	1618	Select this speed instruction to be effective.
1619	1619	)))|(% colspan="1" %)rpm
1620	1620	|=P01-29|(% colspan="2" %)(((
...	...	@@ -1629,15 +1629,17 @@
1629	1629	Effective
1630	1630
1631	1631	immediately
1632		-)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
	1731	+)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1633	1633	Internal speed instruction 7
1634	1634
1635	1635	When DI input port:
1636	1636
1637		-* 15-INSPD3: 1
1638		-* 14-INSPD2: 1
1639		-* 13-INSPD1: 1,
	1736	+15-INSPD3: 1
1640	1640
	1738	+14-INSPD2: 1
	1739	+
	1740	+13-INSPD1: 1,
	1741	+
1641	1641	Select this speed instruction to be effective.
1642	1642	)))|(% colspan="1" %)rpm
1643	1643
...	...	@@ -1653,12 +1653,13 @@
1653	1653	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.
1654	1654
1655	1655
1656		-|=**INSPD3**|=**INSPD2**|=**INSPD1**|=**Running segment number**|=**Internal speed instruction number**
1657		-|0|0|0|1|0
1658		-|0|0|1|2|1
1659		-|0|1|0|3|2
1660		-|(% colspan="5" %)......
1661		-|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
1662	1662
1663	1663	Table 6-29 Correspondence between INSPD bits and segment numbers
1664	1664
...	...	@@ -1699,16 +1699,22 @@
1699	1699	)))
1700	1700
1701	1701	|=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit**
1702		-|=P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1703		-|=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
1704		-|=P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel quantity dead zone value|mV
1705		-|=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
1706	1706
1707		-Table 6-30 AI_1 parameters
1708		-
1709	1709	(% class="box infomessage" %)
1710	1710	(((
1711		-✎**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 .
1712	1712	)))
1713	1713
1714	1714	== Acceleration and deceleration time setting ==
...	...	@@ -1802,10 +1802,13 @@
1802	1802	)))|0|0 to 3|(((
1803	1803	Set the zero-speed clamp function. In speed mode:
1804	1804
1805		-* 0: Force the speed to 0;
1806		-* 1: Force the speed to 0, and keep the position locked when the actual speed is less than P01-22
1807		-* 2: When speed instruction is less than P01-22, force the speed to 0 and keep the position locked
1808		-* 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
1809	1809	)))|-
1810	1810	|=P01-22|(((
1811	1811	Zero-speed clamp speed threshold
...	...	@@ -1813,7 +1813,7 @@
1813	1813	Operation setting
1814	1814	)))|(((
1815	1815	Effective immediately
1816		-)))|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
1817	1817
1818	1818	Table 6-33 Zero-speed clamp related parameters
1819	1819
...	...	@@ -1858,7 +1858,7 @@
1858	1858
1859	1859	|=(% scope="row" %)**DO function code**|=(% style="width: 247px;" %)**Function name**|=(% style="width: 695px;" %)**Function**
1860	1860	|=132|(% style="width:247px" %)(((
1861		-T-COIN rotation detection
	1972	+TGON rotation detection
1862	1862	)))|(% style="width:695px" %)(((
1863	1863	Valid: when the absolute value of motor speed after filtering is greater than or equal to the set value of function code P05-16
1864	1864
...	...	@@ -1926,7 +1926,7 @@
1926	1926
1927	1927	|=(% scope="row" %)**DO Function code**|=(% style="width: 262px;" %)**Function name**|=(% style="width: 684px;" %)**Function**
1928	1928	|=136|(% style="width:262px" %)(((
1929		-U-COIN consistent speed
	2040	+V-COIN consistent speed
1930	1930	)))|(% 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
1931	1931
1932	1932	Table 6-39 DO speed consistent function code
...	...	@@ -2110,8 +2110,9 @@
2110	2110	)))|(((
2111	2111	Effective immediately
2112	2112	)))|0|0 to 1|(((
2113		-* 0: internal value
2114		-* 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)
2115	2115	)))|-
2116	2116
2117	2117	* Torque limit source is internal torque instruction (P01-14=0)
...	...	@@ -2188,7 +2188,7 @@
2188	2188	Operation setting
2189	2189	)))|(((
2190	2190	Effective immediately
2191		-)))|3000|0 to 5000|(((
	2303	+)))|3000|0 to 6000|(((
2192	2192	Forward torque
2193	2193
2194	2194	limit in torque mode
...	...	@@ -2201,7 +2201,7 @@
2201	2201	Operation setting
2202	2202	)))|(((
2203	2203	Effective immediately
2204		-)))|3000|0 to 5000|(((
	2316	+)))|3000|0 to 6000|(((
2205	2205	Reverse torque
2206	2206
2207	2207	limit in torque mode
...	...	@@ -2286,13 +2286,18 @@
2286	2286	)))|(((
2287	2287	Shutdown setting
2288	2288	)))|1|(% style="width:90px" %)1 to 6|(% style="width:273px" %)(((
2289		-* 1: Position control
2290		-* 2: Speed control
2291		-* 3: Torque control
2292		-* 4: Position/speed mixed control
2293		-* 5: Position/torque mixed control
2294		-* 6: Speed/torque mixed control
	2401	+1: Position control
2295	2295
	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	+
2296	2296	**VD2L drive P0-01 setting range: 1-3, not support mixed mode**
2297	2297	)))|-
2298	2298
...	...	@@ -2434,8 +2434,9 @@
2434	2434	**time**
2435	2435	)))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2436	2436	|=P00-30|Shield multi-turn absolute encoder battery fault|Operation setting|Power on again|0|0 to 1|(((
2437		-* 0：Detect multi-turn absolute encoder battery under voltage, and battery low voltage fault
2438		-* 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
2439	2439	)))|-
2440	2440
2441	2441	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.
...	...	@@ -2580,8 +2580,9 @@
2580	2580
2581	2581	VDI_1 input level:
2582	2582
2583		-* 0: low level
2584		-* 1: high level
	2701	+0: Low level
	2702	+
	2703	+1: High level
2585	2585	)))|-
2586	2586	|=P13-2|Virtual VDI_2 input value|Operation setting|Effective immediately|0|0 to 1|(((
2587	2587	When P06-07 is set to 1, DI_2 channel logic is control by this function code.
...	...	@@ -2588,8 +2588,9 @@
2588	2588
2589	2589	VDI_2 input level:
2590	2590
2591		-* 0: low level
2592		-* 1: high level
	2710	+0: Low level
	2711	+
	2712	+1: High level
2593	2593	)))|-
2594	2594	|=P13-3|Virtual VDI_3 input value|Operation setting|Effective immediately|0|0 to 1|(((
2595	2595	When P06-10 is set to 1, DI_3 channel logic is control by this function code.
...	...	@@ -2596,8 +2596,9 @@
2596	2596
2597	2597	VDI_3 input level:
2598	2598
2599		-* 0: low level
2600		-* 1: high level
	2719	+0: Low level
	2720	+
	2721	+1: High level
2601	2601	)))|-
2602	2602	|=P13-4|Virtual VDI_4 input value|Operation setting|Effective immediately|0|0 to 1|(((
2603	2603	When P06-13 is set to 1, DI_4 channel logic is control by this function code.
...	...	@@ -2604,40 +2604,53 @@
2604	2604
2605	2605	VDI_4 input level:
2606	2606
2607		-* 0: low level
2608		-* 1: high level
	2728	+0: Low level
	2729	+
	2730	+1: High level
2609	2609	)))|-
2610		-|=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|(((
2611	2611	When P06-16 is set to 1, DI_5 channel logic is control by this function code.
2612	2612
2613	2613	VDI_5 input level:
2614	2614
2615		-* 0: low level
2616		-* 1: high level
	2739	+0: Low level
	2740	+
	2741	+1: High level
2617	2617	)))|-
2618		-|=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|(((
2619	2619	When P06-19 is set to 1, DI_6 channel logic is control by this function code.
2620	2620
2621	2621	VDI_6 input level:
2622	2622
2623		-* 0: low level
2624		-* 1: high level
	2750	+0: Low level
	2751	+
	2752	+1: High level
2625	2625	)))|-
2626		-|=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|(((
2627	2627	When P06-22 is set to 1, DI_7 channel logic is control by this function code.
2628	2628
2629	2629	VDI_7 input level:
2630	2630
2631		-* 0: low level
2632		-* 1: high level
	2761	+0: Low level
	2762	+
	2763	+1: High level
2633	2633	)))|-
2634		-|=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|(((
2635	2635	When P06-25 is set to 1, DI_8 channel logic is control by this function code.
2636	2636
2637	2637	VDI_8 input level:
2638	2638
2639		-* 0: low level
2640		-* 1: high level
	2772	+0: Low level
	2773	+
	2774	+1: High level
2641	2641	)))|-
2642	2642
2643	2643	Table 6-57 Virtual VDI parameters
...	...	@@ -2644,7 +2644,7 @@
2644	2644
2645	2645	(% class="box infomessage" %)
2646	2646	(((
2647		-✎**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 .
2648	2648	)))
2649	2649
2650	2650	== Port filtering time ==