Changes for page 06 Operation

Last modified by Iris on 2025/08/08 14:40

From 84.1 to 84.2 From 98.2 to 98.3

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 98.2

edited by Mora Zhou
on 2025/04/29 10:58

Change comment: There is no comment for this version

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@@ -311,9 +311,9 @@
  )))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
  DI port input logic validity function selection.
--0: Normally open input. Active low level (switch on);
++0: Normally open input. Low level valid (switch on);
--1: Normally closed input. Active high level (switch off);
++1: Normally closed input. High level valid (switch off);
  )))|-
  |=(% style="width: 89px;" %)P06-10|(% style="width:135px" %)DI_3 input source selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
  Effective immediately
@@ -322,7 +322,7 @@
 : Hardware DI_3 input terminal
--1: virtual VDI_3 input terminal
++1: Virtual VDI_3 input terminal
  )))|-
  |=(% style="width: 89px;" %)P06-11|(% style="width:135px" %)DI_4 channel function selection|(% style="width:122px" %)(((
  Operation setting
@@ -375,6 +375,11 @@
 : Internal multi-segment position selection 4
++25: HOME_START Homing start
++26: HOME ORG Homing signal
++27: JOGU DI Forward jog
++28: JOGD DI Reverse jog
++
  Others: reserved
  )))|-
  |=(% 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 @@
  )))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
  DI port input logic validity function selection.
--0: Normally open input. Active low level (switch on);
++0: Normally open input. Low level valid (switch on);
--1: Normally closed input. Active high level (switch off);
++1: Normally closed input. High level valid (switch off);
  )))|-
  |=(% style="width: 89px;" %)P06-13|(% style="width:135px" %)DI_4 input source selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
  Effective immediately
@@ -393,7 +393,7 @@
 : Hardware DI_4 input terminal
--1: virtual VDI_4 input terminal
++1: Virtual VDI_4 input terminal
  )))|-
  Table 6-8 DI3 and DI4 channel parameters
@@ -693,18 +693,29 @@
  )))|(% rowspan="3" %)2|(% rowspan="3" style="width:87px" %)0 to 9|(% colspan="2" style="width:296px" %)(((
  Set the anti-interference level of external pulse instruction.
--* 0: no filtering;
--* 1: Filtering time 128ns
--* 2: Filtering time 256ns
--* 3: Filtering time 512ns
--* 4: Filtering time 1.024us
--* 5: Filtering time 2.048us
--* 6: Filtering time 4.096us
--* 7: Filtering time 8.192us
--* 8: Filtering time 16.384us
--* 9:
--** VD2: Filtering time 25.5us
--** VD2F: Filtering time 25.5us
++0: no filtering;
++
++1: Filtering time 128ns
++
++2: Filtering time 256ns
++
++3: Filtering time 512ns
++
++4: Filtering time 1.024us
++
++5: Filtering time 2.048us
++
++6: Filtering time 4.096us
++
++7: Filtering time 8.192us
++
++8: Filtering time 16.384us
++
++9:
++
++VD2: Filtering time 32.768us
++
++VD2F: Filtering time 25.5us
  )))|(% rowspan="3" %)-
  Table 6-14 Position pulse frequency and anti-interference level parameters
@@ -767,13 +767,18 @@
  )))|(% style="width:109px" %)(((
  Power-on again
  )))|(% style="width:77px" %)0|(% style="width:74px" %)0 to 5|(% style="width:412px" %)(((
--* 0: direction + pulse (positive logic)
--* 1: CW/CCW
--* 2: A, B phase quadrature pulse (4 times frequency)
--* 3: Direction + pulse (negative logic)
--* 4: CW/CCW (negative logic)
--* 5: A, B phase quadrature pulse (4 times frequency negative logic)
++0: direction + pulse (positive logic)
++1: CW/CCW
++
++2: A, B phase quadrature pulse (4 times frequency)
++
++3: Direction + pulse (negative logic)
++
++4: CW/CCW (negative logic)
++
++5: A, B phase quadrature pulse (4 times frequency negative logic)
++
  **✎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**
  )))|-
@@ -1270,8 +1270,9 @@
  )))|(((
  Effective immediately
  )))|0|0 to 1|(((
--* 0: 1st-order low-pass filtering
--* 1: average filtering
++0: 1st-order low-pass filtering
++
++1: average filtering
  )))|-
  |=P04-02|Position instruction 1st-order low-pass filtering time constant|Shutdown setting|(((
  Effective immediately
@@ -1370,7 +1370,7 @@
  |(% rowspan="2" %)P06-28|Parameter name|Setting method|Effective time|Default|Set range|Application category|Unit
--|DO_2 channel function selection|Operation setting|Effective immediately|143|128-148|DI/DO|-
++|DO_2 channel function selection|Operation setting|Effective immediately|130|128-149|DI/DO|-
  |(% colspan="8" %)(((
  Used to set DO functions corresponding to hardware DO2. Refer to the following table for the functions corresponding to the set value:
@@ -1385,7 +1385,7 @@
  |135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output)
  |136|V-COIN (consistent speed)| |147|COM_VDO1(communication VDO3 output)
  |137|V-NEAR (speed approach)| |148|COM_VDO1(communication VDO4 output)
--|138|T-COIN (torque arrival)| | |
++|138|T-COIN (torque arrival)| |149|HOME_ATTAIN (Homing arrived)
  When P06-28 is set to a value other than the above table, it is considered to not use DO port function.
@@ -1400,10 +1400,12 @@
  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!
  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!
++
++④VD2L does not support function code 149.
  )))
  |(% rowspan="2" %)P06-30|Parameter name|Setting method|Effective time|Default|Set range|Application category|Unit
--|DO_3 channel function selection|Operation setting|Effective immediately|143|128-148|DI/DO|-
++|DO_3 channel function selection|Operation setting|Effective immediately|129|128-149|DI/DO|-
  |(% colspan="8" %)(((
  Used to set DO functions corresponding to hardware DO3. Refer to the following table for the functions corresponding to the set value:
@@ -1418,7 +1418,7 @@
  |135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output)
  |136|V-COIN (consistent speed)| |147|COM_VDO1(communication VDO3 output)
  |137|V-NEAR (speed approach)| |148|COM_VDO1(communication VDO4 output)
--|138|T-COIN (torque arrival)| | |
++|138|T-COIN (torque arrival)| |149|HOME_ATTAIN (Homing arrived)
  When P06-30 is set to a value other than the above table, it is considered to not use DO port function.
@@ -1433,6 +1433,8 @@
  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!
  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!
++
++④VD2L does not support function code 149.
  )))
  |(% rowspan="2" %)P06-32|Parameter name|Setting method|Effective time|Default|Set range|Application category|Unit
@@ -1451,7 +1451,7 @@
  |135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output)
  |136|V-COIN (consistent speed)| |147|COM_VDO1(communication VDO3 output)
  |137|V-NEAR (speed approach)| |148|COM_VDO1(communication VDO4 output)
--|138|T-COIN (torque arrival)| | |
++|138|T-COIN (torque arrival)| |149|HOME_ATTAIN (Homing arrived)
  When P06-32 is set to a value other than the above table, it is considered to not use DO port function.
@@ -1466,6 +1466,8 @@
  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!
  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!
++
++④VD2L does not support function code 149.
  )))
  = **Speed control mode** =
@@ -1492,8 +1492,9 @@
  )))|(% style="width:125px" %)(((
  Effective immediately
  )))|(% style="width:85px" %)0|(% style="width:75px" %)0 to 1|(% style="width:310px" %)(((
--* 0: internal speed instruction
--* 1: AI_1 analog input (not supported by VD2F)
++0: internal speed instruction
++
++1: AI_1 analog input (not supported by **VD2F and VD2L**)
  )))|-
  Table 6-26 Speed instruction source parameter
@@ -1524,15 +1524,17 @@
  Effective
  immediately
--)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
++)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
  Internal speed instruction 0
  When DI input port:
--* 15-INSPD3: 0
--* 14-INSPD2: 0
--* 13-INSPD1: 0,
++15-INSPD3: 0
++14-INSPD2: 0
++
++13-INSPD1: 0,
++
  select this speed instruction to be effective.
  )))|(% colspan="2" %)rpm
  |=(% colspan="1" %)P01-23|(% colspan="2" %)(((
@@ -1547,15 +1547,17 @@
  Effective
  immediately
--)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
++)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
  Internal speed instruction 1
  When DI input port:
--* 15-INSPD3: 0
--* 14-INSPD2: 0
--* 13-INSPD1: 1,
++15-INSPD3: 0
++14-INSPD2: 0
++
++13-INSPD1: 1,
++
  Select this speed instruction to be effective.
  )))|(% colspan="2" %)rpm
  |=(% colspan="1" %)P01-24|(% colspan="2" %)(((
@@ -1570,15 +1570,17 @@
  Effective
  immediately
--)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
++)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
  Internal speed instruction 2
  When DI input port:
--* 15-INSPD3: 0
--* 14-INSPD2: 1
--* 13-INSPD1: 0,
++15-INSPD3: 0
++14-INSPD2: 1
++
++13-INSPD1: 0,
++
  Select this speed instruction to be effective.
  )))|(% colspan="2" %)rpm
  |=(% colspan="1" %)P01-25|(% colspan="2" %)(((
@@ -1593,15 +1593,17 @@
  Effective
  immediately
--)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
++)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
  Internal speed instruction 3
  When DI input port:
--* 15-INSPD3: 0
--* 14-INSPD2: 1
--* 13-INSPD1: 1,
++15-INSPD3: 0
++14-INSPD2: 1
++
++13-INSPD1: 1,
++
  Select this speed instruction to be effective.
  )))|(% colspan="2" %)rpm
  |=P01-26|(% colspan="2" %)(((
@@ -1616,15 +1616,17 @@
  Effective
  immediately
--)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
++)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
  Internal speed instruction 4
  When DI input port:
--* 15-INSPD3: 1
--* 14-INSPD2: 0
--* 13-INSPD1: 0,
++15-INSPD3: 1
++14-INSPD2: 0
++
++13-INSPD1: 0,
++
  Select this speed instruction to be effective.
  )))|(% colspan="1" %)rpm
  |=P01-27|(% colspan="2" %)(((
@@ -1639,15 +1639,17 @@
  Effective
  immediately
--)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
++)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
  Internal speed instruction 5
  When DI input port:
--* 15-INSPD3: 1
--* 14-INSPD2: 0
--* 13-INSPD1: 1,
++15-INSPD3: 1
++14-INSPD2: 0
++
++13-INSPD1: 1,
++
  Select this speed instruction to be effective.
  )))|(% colspan="1" %)rpm
  |=P01-28|(% colspan="2" %)(((
@@ -1662,15 +1662,17 @@
  Effective
  immediately
--)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
++)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
  Internal speed instruction 6
  When DI input port:
--* 15-INSPD3: 1
--* 14-INSPD2: 1
--* 13-INSPD1: 0,
++15-INSPD3: 1
++14-INSPD2: 1
++
++13-INSPD1: 0,
++
  Select this speed instruction to be effective.
  )))|(% colspan="1" %)rpm
  |=P01-29|(% colspan="2" %)(((
@@ -1685,15 +1685,17 @@
  Effective
  immediately
--)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
++)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
  Internal speed instruction 7
  When DI input port:
--* 15-INSPD3: 1
--* 14-INSPD2: 1
--* 13-INSPD1: 1,
++15-INSPD3: 1
++14-INSPD2: 1
++
++13-INSPD1: 1,
++
  Select this speed instruction to be effective.
  )))|(% colspan="1" %)rpm
@@ -1709,12 +1709,13 @@
  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.
--|=**INSPD3**|=**INSPD2**|=**INSPD1**|=**Running segment number**|=**Internal speed instruction number**
--|0|0|0|1|0
--|0|0|1|2|1
--|0|1|0|3|2
--|(% colspan="5" %)......
--|1|1|1|8|7
++(% style="margin-left:auto; margin-right:auto" %)
++|=(% 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**
++|(% 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
++|(% 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
++|(% 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
++|(% colspan="5" style="text-align:center; vertical-align:middle" %)......
++|(% 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
  Table 6-29 Correspondence between INSPD bits and segment numbers
@@ -1755,16 +1755,22 @@
  )))
  |=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit**
--|=P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
--|=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
--|=P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel quantity dead zone value|mV
--|=P05-04☆|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV
++|=P05-01(((
++★
++)))|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
++|=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
++|=P05-03(((
++★
++)))|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel quantity dead zone value|mV
++|=P05-04(((
++★
++)))|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV
--Table 6-30 AI_1 parameters
--
  (% class="box infomessage" %)
  (((
--✎**Note: **“☆” means VD2F servo drive does not support the function code .
++✎**Note: **“★” means VD2F and VD2L servo drive does not support the function code .
  )))
  == Acceleration and deceleration time setting ==
@@ -1858,10 +1858,13 @@
  )))|0|0 to 3|(((
  Set the zero-speed clamp function. In speed mode:
--* 0: Force the speed to 0;
--* 1: Force the speed to 0, and keep the position locked when the actual speed is less than P01-22
--* 2: When speed instruction is less than P01-22, force the speed to 0 and keep the position locked
--* 3: Invalid, ignore zero-speed clamp input
++0: Force the speed to 0;
++
++1: Force the speed to 0, and keep the position locked when the actual speed is less than P01-22
++
++2: When speed instruction is less than P01-22, force the speed to 0 and keep the position locked
++
++3: Invalid, ignore zero-speed clamp input
  )))|-
  |=P01-22|(((
  Zero-speed clamp speed threshold
@@ -1869,7 +1869,7 @@
  Operation setting
  )))|(((
  Effective immediately
--)))|20|0 to 1000|Set the speed threshold of zero-speed clamp function|rpm
++)))|20|0 to 6000|Set the speed threshold of zero-speed clamp function|rpm
  Table 6-33 Zero-speed clamp related parameters
@@ -1914,7 +1914,7 @@
  |=(% scope="row" %)**DO function code**|=(% style="width: 247px;" %)**Function name**|=(% style="width: 695px;" %)**Function**
  |=132|(% style="width:247px" %)(((
--T-COIN rotation detection
++TGON rotation detection
  )))|(% style="width:695px" %)(((
  Valid: when the absolute value of motor speed after filtering is greater than or equal to the set value of function code P05-16
@@ -1982,7 +1982,7 @@
  |=(% scope="row" %)**DO Function code**|=(% style="width: 262px;" %)**Function name**|=(% style="width: 684px;" %)**Function**
  |=136|(% style="width:262px" %)(((
--U-COIN consistent speed
++V-COIN consistent speed
  )))|(% 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
  Table 6-39 DO speed consistent function code
@@ -2166,8 +2166,9 @@
  )))|(((
  Effective immediately
  )))|0|0 to 1|(((
--* 0: internal value
--* 1: AI_1 analog input (not supported by VD2F and VD2L)
++0: internal value
++
++1: AI_1 analog input (not supported by VD2F and VD2L)
  )))|-
  * Torque limit source is internal torque instruction (P01-14=0)
@@ -2244,7 +2244,7 @@
  Operation setting
  )))|(((
  Effective immediately
--)))|3000|0 to 5000|(((
++)))|3000|0 to 6000|(((
  Forward torque
  limit in torque mode
@@ -2257,7 +2257,7 @@
  Operation setting
  )))|(((
  Effective immediately
--)))|3000|0 to 5000|(((
++)))|3000|0 to 6000|(((
  Reverse torque
  limit in torque mode
@@ -2342,13 +2342,18 @@
  )))|(((
  Shutdown setting
  )))|1|(% style="width:90px" %)1 to 6|(% style="width:273px" %)(((
--* 1: Position control
--* 2: Speed control
--* 3: Torque control
--* 4: Position/speed mixed control
--* 5: Position/torque mixed control
--* 6: Speed/torque mixed control
++1: Position control
++2: Speed control
++
++3: Torque control
++
++4: Position/speed mixed control
++
++5: Position/torque mixed control
++
++6: Speed/torque mixed control
++
  **VD2L drive P0-01 setting range: 1-3, not support mixed mode**
  )))|-
@@ -2490,8 +2490,9 @@
  **time**
  )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
  |=P00-30|Shield multi-turn absolute encoder battery fault|Operation setting|Power on again|0|0 to 1|(((
--* 0：Detect multi-turn absolute encoder battery under voltage, and battery low voltage fault
--* 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
++0：Detect multi-turn absolute encoder battery under voltage, and battery low voltage fault
++
++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
  )))|-
  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 @@
  VDI_1 input level:
--* 0: low level
--* 1: high level
++0: Low level
++
++1: High level
  )))|-
  |=P13-2|Virtual VDI_2 input value|Operation setting|Effective immediately|0|0 to 1|(((
  When P06-07 is set to 1, DI_2 channel logic is control by this function code.
@@ -2644,8 +2644,9 @@
  VDI_2 input level:
--* 0: low level
--* 1: high level
++0: Low level
++
++1: High level
  )))|-
  |=P13-3|Virtual VDI_3 input value|Operation setting|Effective immediately|0|0 to 1|(((
  When P06-10 is set to 1, DI_3 channel logic is control by this function code.
@@ -2652,8 +2652,9 @@
  VDI_3 input level:
--* 0: low level
--* 1: high level
++0: Low level
++
++1: High level
  )))|-
  |=P13-4|Virtual VDI_4 input value|Operation setting|Effective immediately|0|0 to 1|(((
  When P06-13 is set to 1, DI_4 channel logic is control by this function code.
@@ -2660,40 +2660,53 @@
  VDI_4 input level:
--* 0: low level
--* 1: high level
++0: Low level
++
++1: High level
  )))|-
--|=P13-05☆|Virtual VDI_5 input value|Operation setting|Effective immediately|0|0 to 1|(((
++|=P13-05(((
++★
++)))|Virtual VDI_5 input value|Operation setting|Effective immediately|0|0 to 1|(((
  When P06-16 is set to 1, DI_5 channel logic is control by this function code.
  VDI_5 input level:
--* 0: low level
--* 1: high level
++0: Low level
++
++1: High level
  )))|-
--|=P13-06☆|Virtual VDI_6 input value|Operation setting|Effective immediately|0|0 to 1|(((
++|=P13-06(((
++★
++)))|Virtual VDI_6 input value|Operation setting|Effective immediately|0|0 to 1|(((
  When P06-19 is set to 1, DI_6 channel logic is control by this function code.
  VDI_6 input level:
--* 0: low level
--* 1: high level
++0: Low level
++
++1: High level
  )))|-
--|=P13-07☆|Virtual VDI_7 input value|Operation setting|Effective immediately|0|0 to 1|(((
++|=P13-07(((
++★
++)))|Virtual VDI_7 input value|Operation setting|Effective immediately|0|0 to 1|(((
  When P06-22 is set to 1, DI_7 channel logic is control by this function code.
  VDI_7 input level:
--* 0: low level
--* 1: high level
++0: Low level
++
++1: High level
  )))|-
--|=P13-08☆|Virtual VDI_8 input value|Operation setting|Effective immediately|0|0 to 1|(((
++|=P13-08(((
++★
++)))|Virtual VDI_8 input value|Operation setting|Effective immediately|0|0 to 1|(((
  When P06-25 is set to 1, DI_8 channel logic is control by this function code.
  VDI_8 input level:
--* 0: low level
--* 1: high level
++0: Low level
++
++1: High level
  )))|-
  Table 6-57 Virtual VDI parameters
@@ -2700,7 +2700,7 @@
  (% class="box infomessage" %)
  (((
--✎**Note: **“☆” means VD2F servo drive does not support the function code .
++✎**Note: **“★” means VD2F and VD2L servo drive does not support the function code .
  )))
  == Port filtering time ==
@@ -2734,26 +2734,30 @@
  |=P13-11|Communication VDO_1 output value|Operation setting|Effective immediately|0|0 to 1|(((
  VDO_1 output level：
--* 0: low level
--* 1: high level
++0: Low level
++
++1: High level
  )))|-
  |=P13-12|Communication VDO_2 output value|Operation setting|Effective immediately|0|0 to 1|(((
  VDO_2 output level：
--* 0: low level
--* 1: high level
++0: Low level
++
++1: High level
  )))|-
  |=P13-13|Communication VDO_3 output value|Operation setting|Effective immediately|0|0 to 1|(((
  VDO_3 output level：
--* 0: low level
--* 1: high level
++0: Low level
++
++1: High level
  )))|-
  |=P13-14|Communication VDO_4 output value|Operation setting|Effective immediately|0|0 to 1|(((
  VDO_4 output level：
--* 0: low level
--* 1: high level
++0: Low level
++
++1: High level
  )))|-
  Table 6-59 Communication control DO function parameters
@@ -2796,3 +2796,924 @@
  (((
  ✎**Note:** It is advised to configure function codes for DO terminals in sequence to avoid errors. Please use the shielded overload protection fault detection function with caution, otherwise it will cause burn out the motor.
  )))
++
++
++
++6.8 Homing Model (HM)
++
++The homing mode is used to find the mechanical origin and locate the positional relationship between the mechanical origin and the mechanical zero.
++
++Mechanical homing: A mechanically fixed position may correspond to a certain defined homing switch, or may correspond to the motor Z signal.
++
++Mechanical zero point: Mechanically absolute 0 position.
++
++After the homing, the stop position of the motor is the mechanical homing. By setting P10-08, the relationship between the mechanical homing and the mechanical zero can be set:
++
++Mechanical homing = Mechanical zero +P10-08 (homing offset)
++
++When P10-08=0, the mechanical homing coincides with the mechanical zero.
++
++
++6.8.1 Control block diagram
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps1.png]]Figure 6-53 Homing mode control block diagram
++
++
++
++
++6.8. 2 Homing mode related function codes
++
++|Function code|Name|(((
++Setting
++
++method
++)))|(((
++Effective
++
++time
++)))|Default|Range|Definition|Unit
++|P01-39.|Homing start mode|(((
++Stop
++
++settings
++)))|(((
++Immediately
++
++effective
++)))|0|0 to 2|(((
++0: Close
++
++1: The servo is powered ON and started after the first ON
++
++2: DI enable
++)))|-
++
++
++|Function code|Name|(((
++Setting
++
++method
++)))|(((
++Effective
++
++time
++)))|Default|Range|Definition|Unit
++|P01-40|Homing mode|(((
++Stop
++
++settings
++)))|(((
++Immediately
++
++effective
++)))|0|0 to 35|(((
++0 ~~ 35 Homing mode;
++
++✎Note: VD2 currently does not support 15, 16, 31, 32 modes
++)))|-
++
++|Function code|Name|(((
++Setting
++
++method
++)))|(((
++Effective
++
++time
++)))|Default|Range|Definition|Unit
++|P01-41|High-speed search deceleration point signal velocity|(((
++Running
++
++settings
++)))|(((
++Immediately
++
++effective
++)))|300|1 to 3000|High-speed search deceleration point signal velocity in homing mode|rpm
++
++|Function code|Name|(((
++Setting
++
++method
++)))|(((
++Effective
++
++time
++)))|Default|Range|Definition|Unit
++|P01-42〇|Low speed search homing signal speed|(((
++Running
++
++settings
++)))|(((
++Immediately
++
++effective
++)))|60|1 to 300|Low-speed search origin signal velocity in homing mode|rpm
++
++|Function code|Name|(((
++Setting
++
++method
++)))|(((
++Effective
++
++time
++)))|Default|Range|Definition|Unit
++|P01-43〇|Homing acceleration and deceleration|(((
++Running
++
++settings
++)))|(((
++Immediately
++
++effective
++)))|50|1to1000|(((
++Acceleration and deceleration in homing mode
++
++Time for speed acceleration from 0 to 1000rpm
++)))|ms
++
++|Function code|Name|(((
++Setting
++
++method
++)))|(((
++Effective
++
++time
++)))|Default|Range|Definition|Unit
++|P01-44〇|Homing timeout limited time|(((
++Running
++
++settings
++)))|(((
++Immediately
++
++effective
++)))|65535|100 to 65535|Homing timeout limited time|ms
++
++|Function code|Name|(((
++Setting
++
++method
++)))|(((
++Effective
++
++time
++)))|Default|Range|Definition|Unit
++|P10-08〇|Multi-turn absolute encoder homing offset compensation|(((
++Running
++
++settings
++)))|(((
++Immediately
++
++effective
++)))|0|(((
++-2147483647~~
++
++2147483646
++)))|(((
++P10-08 multi-turn absolute encoder homing offset compensation is used in conjunction with U0-56 multi-turn absolute encoder current position.
++
++When P10-6 is set to 1, the value of U0-56 is updated to P10-8.
++)))|-
++
++
++
++
++
++
++
++6.8.2 Introduction to homing method
++
++In the following figure, "H" represents P01-41 (high-speed search deceleration point signal speed), and "L" represents P01-42 (low-speed search homing signal speed).
++
++
++(1) P01-40 =1
++
++Mechanical homing: Motor Z signal
++
++Deceleration point: Reverse limit switch (NOT)
++
++① The deceleration point signal is invalid when starting homing
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps2.png]]
++
++When it starts to homing, NOT=0, it starts to homing at a high speed in the reverse direction. After encountering the rising edge of NOT, it decelerates and reverses the direction, runs at a low speed in the forward direction, and stops at the first Z signal after encountering the falling edge of NOT.
++
++
++② The deceleration point signal is valid when starting homing
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps3.png]]
++
++When starting to homing, NOT=1, it starts to homing at a direct forward low speed, and stops at the first Z signal after encountering the falling edge of NOT.
++
++
++
++
++
++
++(2) P01-40=2
++
++Mechanical homing: Motor Z signal
++
++Deceleration point: Positive Limit Switch (POT)
++
++① The deceleration point signal is invalid when starting homing
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps4.png]]
++
++When it starts to homing, POT = 0, and it starts to homing at a forward high speed. After encountering the rising edge of POT, it decelerates and reverses, runs at a reverse low speed, and stops at the first Z signal after encountering the falling edge of POT.
++
++
++② The deceleration point signal is valid when starting homing
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps5.png]]
++
++POT=1 when start homing, run at low speed directly in the reverse direction, and stops at the first Z signal after the falling edge of POT.
++
++
++
++
++
++
++
++
++
++
++
++
++
++(3) P01-40=3
++
++Mechanical homing: Motor Z signal
++
++Deceleration point: Home switch (HW)
++
++① The deceleration point signal is invalid when starting homing
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps6.png]]
++
++When it starts to homing, HW=0. It starts to homing at a forward high speed. After encountering the rising edge of HW, it decelerates and reverses the direction. It runs at a reverse low speed. After encountering the falling edge of HW, it continues to run, and then stops when encountering the first Z signal.
++
++
++② The deceleration point signal is valid when starting homing
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps7.png]]
++
++When starting homing, HW=1, start homing at low speed in reverse directly, and stop at the first Z signal after encountering the falling edge of HW;
++
++
++
++
++
++
++
++
++
++
++
++
++
++(4) P01-40=4
++
++Mechanical homing: Motor Z signal
++
++Deceleration point: Home switch (HW)
++
++① The deceleration point signal is invalid when starting homing
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps8.png]]
++
++HW=0 when starting to homing, directly start to homing at low speed, and stop at the first Z signal after encountering the rising edge of HW;
++
++
++② The deceleration point signal is valid when starting homing
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps9.jpg]]
++
++
++When starting to homing, HW = 1, start to homing at a high speed in the reverse direction. After encountering the falling edge of HW, decelerate and reverse, run at a low speed in the forward direction, and stop at the first Z signal after encountering the rising edge of HW.
++
++
++
++
++
++(5) P01-40=5
++
++Mechanical homing: Motor Z signal
++
++Deceleration point: Home switch (HW)
++
++① The deceleration point signal is invalid when starting homing
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps10.png]]
++
++When it starts to homing, HW = 0, and it starts to homing at a reverse high speed. After encountering the rising edge of HW, it decelerates and reverses the direction, runs at a forward low speed, and stops at the first Z signal after encountering the falling edge of HW.
++
++
++② The deceleration point signal is valid when starting homing
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps11.png]]
++
++When starting homing, HW=1, it will start homing directly at low speed, and the first Z signal after encountering the falling edge of HW will stop;
++
++
++
++
++
++(6) P01-40=6
++
++Mechanical homing: Motor Z signal
++
++Deceleration point: Home switch (HW)
++
++① The deceleration point signal is invalid when starting homing
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps12.png]]
++
++When starting to homing, HW=0, directly reverse low speed starts to homing, and the first Z signal stops after encountering the rising edge of HW;
++
++
++② The deceleration point signal is valid when starting homing
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps13.png]]
++
++When starting to homing, HW = 1, start to homing at a forward high speed, after encountering the falling edge of HW, decelerate and reverse, run at a reverse low speed, and stop at the first Z signal after encountering the rising edge of HW.
++
++
++
++
++
++(7) P01-40=7
++
++Mechanical homing: Motor Z signal
++
++Deceleration point: Home switch (HW)
++
++① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps14.png]]
++
++When it starts to homing, HW = 0, and it starts to homing at a forward high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and reverses the direction, and runs at a reverse low speed. The first Z signal after encountering the falling edge of HW stops.
++
++
++When homing, the deceleration point signal is invalid and the forward limit switch is encountered
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps15.jpg]]
++
++When it starts to homing, HW = 0, and it starts to homing at a forward high speed. If it encounters a limit switch, it will automatically reverse and run at a reverse high speed. After encountering the rising edge of HW, it will slow down and continue to run at a reverse low speed. The first Z signal after the falling edge of HW will stop.
++
++
++③ The deceleration point signal is valid when starting homing
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps16.png]]
++
++When starting homing, HW=1, then directly reverse the low speed to start homing, and stop the first Z signal after encountering the falling edge of HW;
++
++
++(8) P01-40=8
++
++Mechanical homing: Motor Z signal
++
++Deceleration point: Home switch (HW)
++
++① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps17.png]]
++
++When it starts to homing, HM-0 starts to homing at a forward high speed. If it does not encounter the limit switch, after encountering the rising edge of HW, slow down and reverse, and run at a reverse low speed. After encountering the falling edge of HW, reverse, run at a forward low speed, and stop at the first Z signal after encountering the rising edge of HW.
++
++
++① The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps18.png]]
++
++When it starts to homing, HW = 0, and it starts to homing at forward high speed. If it encounters a limit switch, it will automatically reverse and run at reverse high speed; After encountering the rising edge of HW, slow down and run at a reverse low speed; After encountering the falling edge of HW, reverse the direction, run at a forward low speed, and stop the first Z signal after encountering the rising edge of HW.
++
++
++③ The deceleration point signal is valid when starting homing
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps19.png]]
++
++When starting to homing, HM-1 will directly reverse and start to return to zero at low speed. After encountering the falling edge of HW, it will reverse and run at forward low speed. The first Z signal after encountering the rising edge of HW will stop.
++
++
++
++(9) P01-40=9
++
++Mechanical homing: Motor Z signal
++
++Deceleration point: Home switch (HW)
++
++① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps20.png]]
++
++When it starts to homing, HW=0, and it starts to homing at a forward high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and runs at a forward low speed; After encountering the falling edge of HW, reverse, run at a low speed in the reverse direction, and stop at the first Z signal after encountering the rising edge of HW.
++
++
++① The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps21.png]]
++
++When it starts to homing, HW = 0, and it starts to homing at a forward high speed. If it encounters a limit switch, it will automatically reverse and run at a reverse high speed. After encountering a rising edge of HW, it will slow down and reverse to resume forward operation. Running at a forward low speed, after encountering a falling edge of HW, it will reverse. During reverse low speed operation, the first Z signal after encountering a rising edge of HW will stop.
++
++③ The deceleration point signal is valid when starting homing
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps22.png]]
++
++When starting homing, HW=1 starts homing directly at forward low speed. After encountering the falling edge of HW, the first Z signal after encountering the rising edge of HW stops in reverse and reverse low speed operation;
++
++
++(10) P01-40=10
++
++Mechanical homing: Motor Z signal
++
++Deceleration point: Home switch (HW)
++
++① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps23.png]]
++
++When it starts to homing, HW = 0, and it starts to homing at a forward high speed. If the limit switch is not encountered, after encountering the rising edge of HW, slow down and run at a forward low speed. After encountering the falling edge of HW, continue to run at a forward low speed, and then the first Z signal encountered stops.
++
++When homing, the deceleration point signal is invalid and the forward limit switch is encountered
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps24.jpg]]
++
++When it starts to homing, HW = 0, and it starts to homing at a forward high speed. If it encounters a limit switch, it will automatically reverse and run at a reverse high speed. After encountering the rising edge of HW, it will slow down and reverse to resume forward operation. The first Z signal after the low speed encounters the falling edge of HW will stop.
++
++
++③ The deceleration point signal is valid when starting homing
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps25.png]]
++
++When starting homing, HW=1, it will start homing directly at low speed, and the first Z signal after encountering the falling edge of HW will stop;
++
++
++(11) P01-40=11
++
++Mechanical homing: Motor Z signal
++
++Deceleration point: Home switch (HW)
++
++① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps26.png]]
++
++When it starts to homing, HW=0, and it starts to homing at a reverse high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and reverses the direction, runs at a forward low speed, and stops at the first Z signal after encountering the falling edge of HW.
++
++
++① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps27.png]]
++
++When it starts to homing, HW=0, and it starts to homing at a reverse high speed. If it encounters a limit switch, it will automatically reverse and run at a forward high speed. After encountering a rising edge of HW, slow down and continue to run at a forward low speed. When encountering a falling edge of HW, the first Z signal after the edge stops.
++
++③ The deceleration point signal is valid when starting homing
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps28.png]]
++
++When starting homing, HW=1, it will start homing directly at low speed, and the first Z signal after encountering the falling edge of HW will stop;
++
++
++(12) P01-40=12
++
++Mechanical homing: Motor Z signal
++
++Deceleration point: Home switch (HW)
++
++① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps29.png]]
++
++When it starts to homing, HW = 0, it starts to homing at a reverse high speed, and does not encounter a limit switch. After encountering the rising edge of HW, it decelerates and reverses, and runs at a forward low speed. After encountering the falling edge of HW, it reverses and runs at a reverse low speed, and stops at the first Z signal after encountering the rising edge of HW.
++
++
++
++① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps30.png]]
++
++When it starts to homing, HW=0, it starts to homing at a reverse high speed, encounters a limit switch, automatically reverses, runs at a forward high speed, encounters a rising edge of HW, decelerates, runs at a forward low speed, encounters a falling edge of HW, reverses, runs at a reverse low speed, and stops at the first Z signal after encountering a rising edge of HW.
++
++
++③ The deceleration point signal is valid when starting homing
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps31.png]]
++
++When starting to homing, HW = 1, it will directly start to homing at a forward low speed. After encountering the falling edge of HW, it will reverse and run at a reverse low speed. The first Z signal after encountering the rising edge of HW will stop.
++
++(13) P01-40=13
++
++Mechanical homing: Motor Z signal
++
++Deceleration point: Home switch (HW)
++
++① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps32.png]]
++
++When it starts to homing, HW=0, and it starts to homing at a reverse high speed. If it does not encounter the limit switch, after encountering the rising edge of HW, slow down and run at a reverse low speed. After encountering the falling edge of HW, reverse and run at a forward low speed, and stop at the first Z signal after encountering the rising edge of HW.
++
++
++① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps33.png]]
++
++When it starts to homing, HW=0, it starts to homing at reverse high speed, encounters the limit switch, automatically reverses, runs at forward high speed, after encountering the rising edge of HW, decelerates and runs in reverse low speed, and encounters the falling edge of HW when running at reverse low speed, the first Z signal after encountering the rising edge of HW stops.
++
++③ The deceleration point signal is valid when starting homing
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps34.png]]
++
++When starting homing, HW=1 starts homing directly at reverse low speed. After encountering the falling edge of HW, the first Z signal after encountering the rising edge of HW stops in reverse and forward low speed operation;
++
++
++(14) P01-40=14
++
++Mechanical homing: Motor Z signal
++
++Deceleration point: Home switch (HW)
++
++① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps35.png]]
++
++When it starts to homing, HW=0, it starts to homing at reverse high speed, and does not encounter the limit switch. After encountering the rising edge of HW, it decelerates and runs at reverse low speed. After encountering the falling edge of HW, it continues to run at reverse low speed, and then the first Z signal encountered stops.
++
++
++① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps36.png]]
++
++When it starts to homing, HW = 0, it starts to homing at a reverse high speed, encounters a limit switch, automatically reverses, runs at a forward high speed, encounters a rising edge of HW, decelerates and runs in a reverse direction, and stops the first Z signal after encountering a falling edge of HW at a reverse low speed.
++
++
++③ The deceleration point signal is valid when starting homing
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps37.png]]
++
++When starting homing, HW=1, then directly reverse the low speed to start homing, and stop the first Z signal after encountering the falling edge of HW;
++
++
++(15) P01-40=17
++
++Mechanical homing: Negative overrun switch (NOT)
++
++Deceleration point: Negative overrun switch (NOT)
++
++① The deceleration point signal is invalid when starting homing
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps38.png]]
++
++When it starts to homing, NOT = 0, it starts to homing at a high speed in the reverse direction. After encountering the rising edge of NOT, it decelerates and reverses the direction, runs at a low speed in the forward direction, and stops after encountering the falling edge of NOT.
++
++
++② The deceleration point signal is valid when starting homing
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps39.png]]
++
++When starting homing, NOT=1, start homing directly at low speed, and stop after encountering the falling edge of NOT.
++
++
++(16) P01-40=18
++
++Mechanical homing: Positive overrun switch (POT)
++
++Deceleration point: Positive overrun switch (POT)
++
++① The deceleration point signal is invalid when starting homing
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps40.png]]
++
++When it starts to return to zero, POT=0, it starts to homing at a forward high speed, after encountering the rising edge of POT, it decelerates and reverses, runs at a reverse low speed, and stops after encountering the falling edge of POT.
++
++
++② The deceleration point signal is valid when starting homing
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps41.png]]
++
++When starting homing, POT=1, start homing at low speed in reverse directly, and stop when encountering POT falling edge;
++
++
++
++(17) P01-40=19
++
++Mechanical homing: Home switch (HW)
++
++Deceleration point: Home switch (HW)
++
++① The deceleration point signal is invalid when starting homing
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps42.png]]
++
++When it starts to homing, HW=0, and it starts to homing at a forward high speed. After encountering the rising edge of HW, it decelerates and reverses the direction, runs at a reverse low speed, and stops when encountering the falling edge of HW.
++
++
++② The deceleration point signal is valid when starting homing
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps43.png]]
++
++When starting homing, HW=1, start homing at low speed in reverse directly, and stop when encountering HW falling edge;
++
++
++(18) P01-40=20
++
++Mechanical homing: Home switch (HW)
++
++Deceleration point: Home switch (HW)
++
++① The deceleration point signal is invalid when starting homing
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps44.png]]
++
++When starting to homing, HW=0, directly start to homing at low speed, and stop after encountering the rising edge of HW;
++
++
++② The deceleration point signal is valid when starting homing
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps45.png]]
++
++When starting to homing, HW = 1, start to homing at a high speed in the reverse direction. After encountering the falling edge of HW, slow down and reverse the direction, run at a low speed in the forward direction, and stop when encountering the rising edge of HW.
++
++
++(19) P01-40=21
++
++Mechanical homing: Home switch (HW)
++
++Deceleration point: Home switch (HW)
++
++① The deceleration point signal is invalid when starting homing
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps46.png]]
++
++When it starts to homing, HW=0, it starts to homing at a reverse high speed. After encountering the rising edge of HW, it decelerates and reverses the direction, runs at a forward low speed, and stops when encountering the falling edge of HW.
++
++
++② The deceleration point signal is valid when starting homing
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps47.png]]
++
++When starting back to zero, HW=1, it will start homing directly at low speed, and stop after encountering the falling edge of HW;
++
++
++(20) P01-40=22
++
++Mechanical homing: Home switch (HW)
++
++Deceleration point: Home switch (HW)
++
++① The deceleration point signal is invalid when starting homing
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps48.png]]
++
++When starting to homing, HW=0, directly reverse low speed starts to homing, and stops when encountering HW rising edge;
++
++
++Deceleration point signal is valid when homing start
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps49.jpg]]
++
++When starting to homing, HW=1, start to homing at a forward high speed, after encountering the falling edge of HW, slow down and reverse, run at a reverse low speed, and stop when encountering the rising edge of HW.
++
++
++(21) P01-40=23
++
++Mechanical homing: Home switch (HW)
++
++Deceleration point: Home switch (HW)
++
++① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps50.png]]
++
++When it starts to homing, HW = 0, it starts to homing at a forward high speed, and does not encounter a limit switch. After encountering the rising edge of HW, it decelerates and reverses, runs at a reverse low speed, and stops when encountering the falling edge of HW.
++
++
++① The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps51.png]]
++
++When you start homing, HW = 0, start homing at a forward high speed. When encountering the limit switch, it will automatically reverse and run at a reverse high speed. After encountering the rising edge of HW, slow down, continue to run at reverse low speed, and stop when encountering the HW falling edge.
++
++
++
++③ The deceleration point signal is valid when starting homing
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps52.png]]
++
++When it starts to homing, HW=1, it starts to homing at a reverse low speed, and stops when it encounters the falling edge of HW.
++
++
++(22) P01-40=24
++
++Mechanical homing: Home switch (HW)
++
++Deceleration point: Home switch (HW)
++
++① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps53.png]]
++
++When it starts to homing, HW = 0, it starts to homing at a forward high speed, and does not encounter a limit switch. After encountering the rising edge of HW, it decelerates and reverses, and runs at a reverse low speed. After encountering the falling edge of HW, it reverses and runs at a forward low speed, and stops when encountering the rising edge of HW.
++
++
++① The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps54.png]]
++
++When it starts to homing, HW = 0, it starts to homing at forward high speed, encounters the limit switch, automatically reverses, runs at reverse high speed, encounters the rising edge of HW, decelerates and runs at reverse low speed, encounters the falling edge of HW, reverses, runs at forward low speed, and stops when encountering the rising edge of HW.
++
++
++③ The deceleration point signal is valid when starting homing
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps55.png]]
++
++When starting with homing, HW = 1, it will directly reverse the low speed and start to homing. After encountering the falling edge of HW, it will reverse the direction and run at a forward low speed, and stop when encountering the rising edge of HW.
++
++
++(23) P01-40=25
++
++Mechanical homing: Home switch (HW)
++
++Deceleration point: Home switch (HW)
++
++① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps56.png]]
++
++When it starts to homing, HW=0, it starts to homing at a forward high speed, and does not encounter a limit switch. After encountering the rising edge of HW, it decelerates and runs at a forward low speed. After encountering the falling edge of HW, it reverses and runs at a reverse low speed, and stops when encountering the rising edge of HW.
++
++
++① The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps57.png]]
++
++When it starts to homing, HW=0, it starts to homing at forward high speed, encounters the limit switch, automatically reverses, and runs at reverse high speed. After encountering the rising edge of HW, decelerate and reverse to resume forward operation. After encountering the falling edge of HW at forward low speed, reverse. When running at reverse low speed, stop when encountering the rising edge of HW.
++
++
++③ The deceleration point signal is valid when starting homing
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps58.png]]
++
++When starting homing, when HW=1, it starts to homing directly at low speed in the forward direction. After encountering the falling edge of HW, it stops at the rising edge of HW in the reverse low speed operation
++
++
++(24) P01-40=26
++
++Mechanical homing: Home switch (HW)
++
++Deceleration point: Home switch (HW)
++
++① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps59.png]]
++
++When it starts to homing, HW=0, it starts to homing at a forward high speed, and does not encounter a limit switch. After encountering the rising edge of HW, it decelerates, runs at a forward low speed, and stops when encountering the falling edge of HW.
++
++
++① The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps60.png]]
++
++When it starts to homing, HW=0, it starts to homing at forward high speed, encounters the limit switch, automatically reverses, and runs at reverse high speed. After encountering the rising edge of HW, decelerates and reverses to resume forward operation, and stops when encountering the falling edge of HW at forward low speed.
++
++
++③ The deceleration point signal is valid when starting homing
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps61.png]]
++
++When starting homing, HW=1, it will start homing directly at low speed, and stop when encountering HW falling edge;
++
++
++(25) P01-40=27
++
++Mechanical homing: Home switch (HW)
++
++Deceleration point: Home switch (HW)
++
++① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps62.png]]
++
++When it starts to homing, HW=0, it starts to homing at a reverse high speed, and does not encounter a limit switch. After encountering the rising edge of HW, it decelerates and reverses the direction, runs at a forward low speed, and stops when encountering the falling edge of HW.
++
++
++① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps63.png]]
++
++When it starts to homing, HW=0, it starts to homing at a reverse high speed. When it encounters a limit switch, it automatically reverses and runs at a forward high speed. When it encounters a rising edge of HW, it decelerates and continues to run at a forward low speed. When it encounters a falling edge of HW, it stops.
++
++
++③ The deceleration point signal is valid when starting homing
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps64.png]]
++
++When starting homing, HW=1, it will start homing directly at low speed, and stop when encountering HW falling edge;
++
++
++(26) P01-40=28
++
++Mechanical homing: Home switch (HW)
++
++Deceleration point: Home switch (HW)
++
++① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps65.png]]
++
++When it starts to homing, HW=0, it starts to homing at a reverse high speed, and does not encounter a limit switch. After encountering the rising edge of HW, it decelerates and reverses, and runs at a forward low speed. After encountering the falling edge of HW, it reverses and runs at a reverse low speed, and stops when encountering the rising edge of HW.
++
++
++① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps66.png]]
++
++When it starts to homing, HW=0, it starts to homing at a reverse high speed. When encountering a limit switch, it automatically reverses and runs at a forward high speed. When encountering a rising edge of HW, it decelerates and runs at a forward low speed. When encountering a falling edge of HW, it reverses and runs at a reverse low speed. When encountering a rising edge of HW, it stops.
++
++
++③ The deceleration point signal is valid when starting homing
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps67.png]]
++
++When starting with homing, HW = 1, it will directly start to homing at a forward low speed. After encountering the falling edge of HW, it will reverse and run at a reverse low speed. When encountering the rising edge of HW, it will stop.
++
++
++(27) P01-40=29
++
++Mechanical homing: Home switch (HW)
++
++Deceleration point: Home switch (HW)
++
++① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps68.png]]
++
++When it starts to homing, HW = 0, it starts to homing at a reverse high speed, and does not encounter a limit switch. After encountering the rising edge of HW, it decelerates and runs at a reverse low speed. After encountering the falling edge of HW, it reverses and runs at a forward low speed, and stops when encountering the rising edge of HW.
++
++
++① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps69.png]]
++
++When it starts to homing, HW=0, it starts to homing at a reverse high speed. When it encounters a limit switch, it automatically reverses and runs at a forward high speed. After encountering a rising edge of HW, it decelerates and runs in a reverse low speed. After encountering a falling edge of HW, it reverses. When running at a forward low speed, it stops when it encounters a rising edge of HW.
++
++③ The deceleration point signal is valid when starting homing
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps70.png]]
++
++When starting homing, when HW=1, it starts to homing directly at low speed in reverse direction. After encountering the falling edge of HW, it stops when running at low speed in reverse direction and forward direction and encountering the rising edge of HW
++
++
++(28) P01-40=30
++
++Mechanical homing: Home switch (HW)
++
++Deceleration point: Home switch (HW)
++
++① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps71.png]]
++
++When it starts to homing, HW=0, it starts to homing at reverse high speed, and does not encounter the limit switch. After encountering the rising edge of HW, it decelerates, runs at reverse low speed, and stops when encountering the falling edge of HW.
++
++
++① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps72.png]]
++
++When it starts to homing, HW=0, it starts to homing at a reverse high speed. When it encounters a limit switch, it automatically reverses and runs at a forward high speed. When it encounters a rising edge of HW, it decelerates and runs in a reverse low speed. When it encounters a falling edge of HW, it stops.
++
++
++③ The deceleration point signal is valid when starting homing
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps73.png]]
++
++When starting homing, HW=1, start homing at low speed in reverse directly, and stop when encountering HW falling edge;
++
++
++(29) P01-40=33 and P01-40=34
++
++Mechanical homing: Z signal.
++
++Deceleration point: None
++
++Homing mode 33: Reverse low speed operation, stop the first Z signal encountered
++
++Homing mode 34: running at low speed in forward direction, stopping the first Z signal encountered
++
++[[image:file:///C:\Users\Administrator\AppData\Local\Temp\ksohtml22584\wps74.png]]
++
++
++(30) P01-40=35
++
++Homing mode 35, taking the current position as the mechanical homing, after triggering the homing (P01-39: 0x00→0x01/0x00 → 0x02);
++
++After the homing is completed, according to the set value of P10-08 (homing bias compensation), P10-06 (encoder multi-turn reset operation) is executed.
++
++
++

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