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Changes for page 06 Operation

Last modified by Iris on 2025/08/08 14:40
From version 84.2
edited by Mora Zhou
on 2025/04/28 14:23
Change comment: There is no comment for this version
To version 97.1
edited by Mora Zhou
on 2025/04/29 10:42
Change comment: There is no comment for this version

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Content
... ... @@ -311,9 +311,9 @@
311 311  )))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
312 312  DI port input logic validity function selection.
313 313  
314 -0: Normally open input. Active low level (switch on);
314 +0: Normally open input. Low level valid (switch on);
315 315  
316 -1: Normally closed input. Active high level (switch off);
316 +1: Normally closed input. High level valid (switch off);
317 317  )))|-
318 318  |=(% style="width: 89px;" %)P06-10|(% style="width:135px" %)DI_3 input source selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
319 319  Effective immediately
... ... @@ -322,7 +322,7 @@
322 322  
323 323  0: Hardware DI_3 input terminal
324 324  
325 -1: virtual VDI_3 input terminal
325 +1: Virtual VDI_3 input terminal
326 326  )))|-
327 327  |=(% style="width: 89px;" %)P06-11|(% style="width:135px" %)DI_4 channel function selection|(% style="width:122px" %)(((
328 328  Operation setting
... ... @@ -375,6 +375,11 @@
375 375  
376 376  24: Internal multi-segment position selection 4
377 377  
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 +
378 378  Others: reserved
379 379  )))|-
380 380  |=(% style="width: 89px;" %)P06-12|(% style="width:135px" %)DI_4 channel logic selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
... ... @@ -382,9 +382,9 @@
382 382  )))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
383 383  DI port input logic validity function selection.
384 384  
385 -0: Normally open input. Active low level (switch on);
390 +0: Normally open input. Low level valid (switch on);
386 386  
387 -1: Normally closed input. Active high level (switch off);
392 +1: Normally closed input. High level valid (switch off);
388 388  )))|-
389 389  |=(% style="width: 89px;" %)P06-13|(% style="width:135px" %)DI_4 input source selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
390 390  Effective immediately
... ... @@ -393,7 +393,7 @@
393 393  
394 394  0: Hardware DI_4 input terminal
395 395  
396 -1: virtual VDI_4 input terminal
401 +1: Virtual VDI_4 input terminal
397 397  )))|-
398 398  
399 399  Table 6-8 DI3 and DI4 channel parameters
... ... @@ -693,18 +693,29 @@
693 693  )))|(% rowspan="3" %)2|(% rowspan="3" style="width:87px" %)0 to 9|(% colspan="2" style="width:296px" %)(((
694 694  Set the anti-interference level of external pulse instruction.
695 695  
696 -* 0: no filtering;
697 -* 1: Filtering time 128ns
698 -* 2: Filtering time 256ns
699 -* 3: Filtering time 512ns
700 -* 4: Filtering time 1.024us
701 -* 5: Filtering time 2.048us
702 -* 6: Filtering time 4.096us
703 -* 7: Filtering time 8.192us
704 -* 8: Filtering time 16.384us
705 -* 9:
706 -** VD2: Filtering time 25.5us
707 -** 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
708 708  )))|(% rowspan="3" %)-
709 709  
710 710  Table 6-14 Position pulse frequency and anti-interference level parameters
... ... @@ -767,13 +767,18 @@
767 767  )))|(% style="width:109px" %)(((
768 768  Power-on again
769 769  )))|(% style="width:77px" %)0|(% style="width:74px" %)0 to 5|(% style="width:412px" %)(((
770 -* 0: direction + pulse (positive logic)
771 -* 1: CW/CCW
772 -* 2: A, B phase quadrature pulse (4 times frequency)
773 -* 3: Direction + pulse (negative logic)
774 -* 4: CW/CCW (negative logic)
775 -* 5: A, B phase quadrature pulse (4 times frequency negative logic)
786 +0: direction + pulse (positive logic)
776 776  
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 +
777 777  **✎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**
778 778  )))|-
779 779  
... ... @@ -1270,8 +1270,9 @@
1270 1270  )))|(((
1271 1271  Effective immediately
1272 1272  )))|0|0 to 1|(((
1273 -* 0: 1st-order low-pass filtering
1274 -* 1: average filtering
1294 +0: 1st-order low-pass filtering
1295 +
1296 +1: average filtering
1275 1275  )))|-
1276 1276  |=P04-02|Position instruction 1st-order low-pass filtering time constant|Shutdown setting|(((
1277 1277  Effective immediately
... ... @@ -1370,7 +1370,7 @@
1370 1370  
1371 1371  
1372 1372  |(% rowspan="2" %)P06-28|Parameter name|Setting method|Effective time|Default|Set range|Application category|Unit
1373 -|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|-
1374 1374  |(% colspan="8" %)(((
1375 1375  Used to set DO functions corresponding to hardware DO2. Refer to the following table for the functions corresponding to the set value:
1376 1376  
... ... @@ -1385,7 +1385,7 @@
1385 1385  |135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output)
1386 1386  |136|V-COIN (consistent speed)| |147|COM_VDO1(communication VDO3 output)
1387 1387  |137|V-NEAR (speed approach)| |148|COM_VDO1(communication VDO4 output)
1388 -|138|T-COIN (torque arrival)| | |
1410 +|138|T-COIN (torque arrival)| |149|HOME_ATTAIN (Homing arrived)
1389 1389  
1390 1390  When P06-28 is set to a value other than the above table, it is considered to not use DO port function.
1391 1391  
... ... @@ -1400,10 +1400,12 @@
1400 1400  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!
1401 1401  
1402 1402  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.
1403 1403  )))
1404 1404  
1405 1405  |(% rowspan="2" %)P06-30|Parameter name|Setting method|Effective time|Default|Set range|Application category|Unit
1406 -|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|-
1407 1407  |(% colspan="8" %)(((
1408 1408  Used to set DO functions corresponding to hardware DO3. Refer to the following table for the functions corresponding to the set value:
1409 1409  
... ... @@ -1418,7 +1418,7 @@
1418 1418  |135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output)
1419 1419  |136|V-COIN (consistent speed)| |147|COM_VDO1(communication VDO3 output)
1420 1420  |137|V-NEAR (speed approach)| |148|COM_VDO1(communication VDO4 output)
1421 -|138|T-COIN (torque arrival)| | |
1445 +|138|T-COIN (torque arrival)| |149|HOME_ATTAIN (Homing arrived)
1422 1422  
1423 1423  When P06-30 is set to a value other than the above table, it is considered to not use DO port function.
1424 1424  
... ... @@ -1433,6 +1433,8 @@
1433 1433  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!
1434 1434  
1435 1435  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.
1436 1436  )))
1437 1437  
1438 1438  |(% rowspan="2" %)P06-32|Parameter name|Setting method|Effective time|Default|Set range|Application category|Unit
... ... @@ -1451,7 +1451,7 @@
1451 1451  |135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output)
1452 1452  |136|V-COIN (consistent speed)| |147|COM_VDO1(communication VDO3 output)
1453 1453  |137|V-NEAR (speed approach)| |148|COM_VDO1(communication VDO4 output)
1454 -|138|T-COIN (torque arrival)| | |
1480 +|138|T-COIN (torque arrival)| |149|HOME_ATTAIN (Homing arrived)
1455 1455  
1456 1456  When P06-32 is set to a value other than the above table, it is considered to not use DO port function.
1457 1457  
... ... @@ -1466,6 +1466,8 @@
1466 1466  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!
1467 1467  
1468 1468  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.
1469 1469  )))
1470 1470  
1471 1471  = **Speed control mode** =
... ... @@ -1492,8 +1492,9 @@
1492 1492  )))|(% style="width:125px" %)(((
1493 1493  Effective immediately
1494 1494  )))|(% style="width:85px" %)0|(% style="width:75px" %)0 to 1|(% style="width:310px" %)(((
1495 -* 0: internal speed instruction
1496 -* 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**)
1497 1497  )))|-
1498 1498  
1499 1499  Table 6-26 Speed instruction source parameter
... ... @@ -1524,15 +1524,17 @@
1524 1524  Effective
1525 1525  
1526 1526  immediately
1527 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1556 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1528 1528  Internal speed instruction 0
1529 1529  
1530 1530  When DI input port:
1531 1531  
1532 -* 15-INSPD3: 0
1533 -* 14-INSPD2: 0
1534 -* 13-INSPD1: 0,
1561 +15-INSPD3: 0
1535 1535  
1563 +14-INSPD2: 0
1564 +
1565 +13-INSPD1: 0,
1566 +
1536 1536  select this speed instruction to be effective.
1537 1537  )))|(% colspan="2" %)rpm
1538 1538  |=(% colspan="1" %)P01-23|(% colspan="2" %)(((
... ... @@ -1547,15 +1547,17 @@
1547 1547  Effective
1548 1548  
1549 1549  immediately
1550 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1581 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1551 1551  Internal speed instruction 1
1552 1552  
1553 1553  When DI input port:
1554 1554  
1555 -* 15-INSPD3: 0
1556 -* 14-INSPD2: 0
1557 -* 13-INSPD1: 1,
1586 +15-INSPD3: 0
1558 1558  
1588 +14-INSPD2: 0
1589 +
1590 +13-INSPD1: 1,
1591 +
1559 1559  Select this speed instruction to be effective.
1560 1560  )))|(% colspan="2" %)rpm
1561 1561  |=(% colspan="1" %)P01-24|(% colspan="2" %)(((
... ... @@ -1570,15 +1570,17 @@
1570 1570  Effective
1571 1571  
1572 1572  immediately
1573 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1606 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1574 1574  Internal speed instruction 2
1575 1575  
1576 1576  When DI input port:
1577 1577  
1578 -* 15-INSPD3: 0
1579 -* 14-INSPD2: 1
1580 -* 13-INSPD1: 0,
1611 +15-INSPD3: 0
1581 1581  
1613 +14-INSPD2: 1
1614 +
1615 +13-INSPD1: 0,
1616 +
1582 1582  Select this speed instruction to be effective.
1583 1583  )))|(% colspan="2" %)rpm
1584 1584  |=(% colspan="1" %)P01-25|(% colspan="2" %)(((
... ... @@ -1593,15 +1593,17 @@
1593 1593  Effective
1594 1594  
1595 1595  immediately
1596 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1631 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1597 1597  Internal speed instruction 3
1598 1598  
1599 1599  When DI input port:
1600 1600  
1601 -* 15-INSPD3: 0
1602 -* 14-INSPD2: 1
1603 -* 13-INSPD1: 1,
1636 +15-INSPD3: 0
1604 1604  
1638 +14-INSPD2: 1
1639 +
1640 +13-INSPD1: 1,
1641 +
1605 1605  Select this speed instruction to be effective.
1606 1606  )))|(% colspan="2" %)rpm
1607 1607  |=P01-26|(% colspan="2" %)(((
... ... @@ -1616,15 +1616,17 @@
1616 1616  Effective
1617 1617  
1618 1618  immediately
1619 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1656 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1620 1620  Internal speed instruction 4
1621 1621  
1622 1622  When DI input port:
1623 1623  
1624 -* 15-INSPD3: 1
1625 -* 14-INSPD2: 0
1626 -* 13-INSPD1: 0,
1661 +15-INSPD3: 1
1627 1627  
1663 +14-INSPD2: 0
1664 +
1665 +13-INSPD1: 0,
1666 +
1628 1628  Select this speed instruction to be effective.
1629 1629  )))|(% colspan="1" %)rpm
1630 1630  |=P01-27|(% colspan="2" %)(((
... ... @@ -1639,15 +1639,17 @@
1639 1639  Effective
1640 1640  
1641 1641  immediately
1642 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1681 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1643 1643  Internal speed instruction 5
1644 1644  
1645 1645  When DI input port:
1646 1646  
1647 -* 15-INSPD3: 1
1648 -* 14-INSPD2: 0
1649 -* 13-INSPD1: 1,
1686 +15-INSPD3: 1
1650 1650  
1688 +14-INSPD2: 0
1689 +
1690 +13-INSPD1: 1,
1691 +
1651 1651  Select this speed instruction to be effective.
1652 1652  )))|(% colspan="1" %)rpm
1653 1653  |=P01-28|(% colspan="2" %)(((
... ... @@ -1662,15 +1662,17 @@
1662 1662  Effective
1663 1663  
1664 1664  immediately
1665 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1706 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1666 1666  Internal speed instruction 6
1667 1667  
1668 1668  When DI input port:
1669 1669  
1670 -* 15-INSPD3: 1
1671 -* 14-INSPD2: 1
1672 -* 13-INSPD1: 0,
1711 +15-INSPD3: 1
1673 1673  
1713 +14-INSPD2: 1
1714 +
1715 +13-INSPD1: 0,
1716 +
1674 1674  Select this speed instruction to be effective.
1675 1675  )))|(% colspan="1" %)rpm
1676 1676  |=P01-29|(% colspan="2" %)(((
... ... @@ -1685,15 +1685,17 @@
1685 1685  Effective
1686 1686  
1687 1687  immediately
1688 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1731 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1689 1689  Internal speed instruction 7
1690 1690  
1691 1691  When DI input port:
1692 1692  
1693 -* 15-INSPD3: 1
1694 -* 14-INSPD2: 1
1695 -* 13-INSPD1: 1,
1736 +15-INSPD3: 1
1696 1696  
1738 +14-INSPD2: 1
1739 +
1740 +13-INSPD1: 1,
1741 +
1697 1697  Select this speed instruction to be effective.
1698 1698  )))|(% colspan="1" %)rpm
1699 1699  
... ... @@ -1709,12 +1709,13 @@
1709 1709  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.
1710 1710  
1711 1711  
1712 -|=**INSPD3**|=**INSPD2**|=**INSPD1**|=**Running segment number**|=**Internal speed instruction number**
1713 -|0|0|0|1|0
1714 -|0|0|1|2|1
1715 -|0|1|0|3|2
1716 -|(% colspan="5" %)......
1717 -|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
1718 1718  
1719 1719  Table 6-29 Correspondence between INSPD bits and segment numbers
1720 1720  
... ... @@ -1755,16 +1755,22 @@
1755 1755  )))
1756 1756  
1757 1757  |=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit**
1758 -|=P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1759 -|=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
1760 -|=P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel quantity dead zone value|mV
1761 -|=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
1762 1762  
1763 -Table 6-30 AI_1 parameters
1764 -
1765 1765  (% class="box infomessage" %)
1766 1766  (((
1767 -✎**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 .
1768 1768  )))
1769 1769  
1770 1770  == Acceleration and deceleration time setting ==
... ... @@ -1858,10 +1858,13 @@
1858 1858  )))|0|0 to 3|(((
1859 1859  Set the zero-speed clamp function. In speed mode:
1860 1860  
1861 -* 0: Force the speed to 0;
1862 -* 1: Force the speed to 0, and keep the position locked when the actual speed is less than P01-22
1863 -* 2: When speed instruction is less than P01-22, force the speed to 0 and keep the position locked
1864 -* 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
1865 1865  )))|-
1866 1866  |=P01-22|(((
1867 1867  Zero-speed clamp speed threshold
... ... @@ -1869,7 +1869,7 @@
1869 1869  Operation setting
1870 1870  )))|(((
1871 1871  Effective immediately
1872 -)))|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
1873 1873  
1874 1874  Table 6-33 Zero-speed clamp related parameters
1875 1875  
... ... @@ -1914,7 +1914,7 @@
1914 1914  
1915 1915  |=(% scope="row" %)**DO function code**|=(% style="width: 247px;" %)**Function name**|=(% style="width: 695px;" %)**Function**
1916 1916  |=132|(% style="width:247px" %)(((
1917 -T-COIN rotation detection
1972 +TGON rotation detection
1918 1918  )))|(% style="width:695px" %)(((
1919 1919  Valid: when the absolute value of motor speed after filtering is greater than or equal to the set value of function code P05-16
1920 1920  
... ... @@ -1982,7 +1982,7 @@
1982 1982  
1983 1983  |=(% scope="row" %)**DO Function code**|=(% style="width: 262px;" %)**Function name**|=(% style="width: 684px;" %)**Function**
1984 1984  |=136|(% style="width:262px" %)(((
1985 -U-COIN consistent speed
2040 +V-COIN consistent speed
1986 1986  )))|(% 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
1987 1987  
1988 1988  Table 6-39 DO speed consistent function code
... ... @@ -2166,8 +2166,9 @@
2166 2166  )))|(((
2167 2167  Effective immediately
2168 2168  )))|0|0 to 1|(((
2169 -* 0: internal value
2170 -* 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)
2171 2171  )))|-
2172 2172  
2173 2173  * Torque limit source is internal torque instruction (P01-14=0)
... ... @@ -2244,7 +2244,7 @@
2244 2244  Operation setting
2245 2245  )))|(((
2246 2246  Effective immediately
2247 -)))|3000|0 to 5000|(((
2303 +)))|3000|0 to 6000|(((
2248 2248  Forward torque
2249 2249  
2250 2250  limit in torque mode
... ... @@ -2257,7 +2257,7 @@
2257 2257  Operation setting
2258 2258  )))|(((
2259 2259  Effective immediately
2260 -)))|3000|0 to 5000|(((
2316 +)))|3000|0 to 6000|(((
2261 2261  Reverse torque
2262 2262  
2263 2263  limit in torque mode
... ... @@ -2342,13 +2342,18 @@
2342 2342  )))|(((
2343 2343  Shutdown setting
2344 2344  )))|1|(% style="width:90px" %)1 to 6|(% style="width:273px" %)(((
2345 -* 1: Position control
2346 -* 2: Speed control
2347 -* 3: Torque control
2348 -* 4: Position/speed mixed control
2349 -* 5: Position/torque mixed control
2350 -* 6: Speed/torque mixed control
2401 +1: Position control
2351 2351  
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 +
2352 2352  **VD2L drive P0-01 setting range: 1-3, not support mixed mode**
2353 2353  )))|-
2354 2354  
... ... @@ -2490,8 +2490,9 @@
2490 2490  **time**
2491 2491  )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2492 2492  |=P00-30|Shield multi-turn absolute encoder battery fault|Operation setting|Power on again|0|0 to 1|(((
2493 -* 0：Detect multi-turn absolute encoder battery under voltage, and battery low voltage fault
2494 -* 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
2495 2495  )))|-
2496 2496  
2497 2497  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.
... ... @@ -2636,8 +2636,9 @@
2636 2636  
2637 2637  VDI_1 input level:
2638 2638  
2639 -* 0: low level
2640 -* 1: high level
2701 +0: Low level
2702 +
2703 +1: High level
2641 2641  )))|-
2642 2642  |=P13-2|Virtual VDI_2 input value|Operation setting|Effective immediately|0|0 to 1|(((
2643 2643  When P06-07 is set to 1, DI_2 channel logic is control by this function code.
... ... @@ -2644,8 +2644,9 @@
2644 2644  
2645 2645  VDI_2 input level:
2646 2646  
2647 -* 0: low level
2648 -* 1: high level
2710 +0: Low level
2711 +
2712 +1: High level
2649 2649  )))|-
2650 2650  |=P13-3|Virtual VDI_3 input value|Operation setting|Effective immediately|0|0 to 1|(((
2651 2651  When P06-10 is set to 1, DI_3 channel logic is control by this function code.
... ... @@ -2652,8 +2652,9 @@
2652 2652  
2653 2653  VDI_3 input level:
2654 2654  
2655 -* 0: low level
2656 -* 1: high level
2719 +0: Low level
2720 +
2721 +1: High level
2657 2657  )))|-
2658 2658  |=P13-4|Virtual VDI_4 input value|Operation setting|Effective immediately|0|0 to 1|(((
2659 2659  When P06-13 is set to 1, DI_4 channel logic is control by this function code.
... ... @@ -2660,40 +2660,53 @@
2660 2660  
2661 2661  VDI_4 input level:
2662 2662  
2663 -* 0: low level
2664 -* 1: high level
2728 +0: Low level
2729 +
2730 +1: High level
2665 2665  )))|-
2666 -|=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|(((
2667 2667  When P06-16 is set to 1, DI_5 channel logic is control by this function code.
2668 2668  
2669 2669  VDI_5 input level:
2670 2670  
2671 -* 0: low level
2672 -* 1: high level
2739 +0: Low level
2740 +
2741 +1: High level
2673 2673  )))|-
2674 -|=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|(((
2675 2675  When P06-19 is set to 1, DI_6 channel logic is control by this function code.
2676 2676  
2677 2677  VDI_6 input level:
2678 2678  
2679 -* 0: low level
2680 -* 1: high level
2750 +0: Low level
2751 +
2752 +1: High level
2681 2681  )))|-
2682 -|=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|(((
2683 2683  When P06-22 is set to 1, DI_7 channel logic is control by this function code.
2684 2684  
2685 2685  VDI_7 input level:
2686 2686  
2687 -* 0: low level
2688 -* 1: high level
2761 +0: Low level
2762 +
2763 +1: High level
2689 2689  )))|-
2690 -|=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|(((
2691 2691  When P06-25 is set to 1, DI_8 channel logic is control by this function code.
2692 2692  
2693 2693  VDI_8 input level:
2694 2694  
2695 -* 0: low level
2696 -* 1: high level
2772 +0: Low level
2773 +
2774 +1: High level
2697 2697  )))|-
2698 2698  
2699 2699  Table 6-57 Virtual VDI parameters
... ... @@ -2700,7 +2700,7 @@
2700 2700  
2701 2701  (% class="box infomessage" %)
2702 2702  (((
2703 -✎**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 .
2704 2704  )))
2705 2705  
2706 2706  == Port filtering time ==