Changes for page 06 Operation
Last modified by Iris on 2025/08/08 14:40
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... ... @@ -698,18 +698,29 @@ 698 698 )))|(% rowspan="3" %)2|(% rowspan="3" style="width:87px" %)0 to 9|(% colspan="2" style="width:296px" %)((( 699 699 Set the anti-interference level of external pulse instruction. 700 700 701 -* 0: no filtering; 702 -* 1: Filtering time 128ns 703 -* 2: Filtering time 256ns 704 -* 3: Filtering time 512ns 705 -* 4: Filtering time 1.024us 706 -* 5: Filtering time 2.048us 707 -* 6: Filtering time 4.096us 708 -* 7: Filtering time 8.192us 709 -* 8: Filtering time 16.384us 710 -* 9: 711 -** VD2: Filtering time 25.5us 712 -** 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 713 713 )))|(% rowspan="3" %)- 714 714 715 715 Table 6-14 Position pulse frequency and anti-interference level parameters ... ... @@ -772,13 +772,18 @@ 772 772 )))|(% style="width:109px" %)((( 773 773 Power-on again 774 774 )))|(% style="width:77px" %)0|(% style="width:74px" %)0 to 5|(% style="width:412px" %)((( 775 -* 0: direction + pulse (positive logic) 776 -* 1: CW/CCW 777 -* 2: A, B phase quadrature pulse (4 times frequency) 778 -* 3: Direction + pulse (negative logic) 779 -* 4: CW/CCW (negative logic) 780 -* 5: A, B phase quadrature pulse (4 times frequency negative logic) 786 +0: direction + pulse (positive logic) 781 781 788 +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 + 782 782 **✎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** 783 783 )))|- 784 784 ... ... @@ -1275,8 +1275,9 @@ 1275 1275 )))|((( 1276 1276 Effective immediately 1277 1277 )))|0|0 to 1|((( 1278 -* 0: 1st-order low-pass filtering 1279 -* 1: average filtering 1294 +0: 1st-order low-pass filtering 1295 + 1296 +1: average filtering 1280 1280 )))|- 1281 1281 |=P04-02|Position instruction 1st-order low-pass filtering time constant|Shutdown setting|((( 1282 1282 Effective immediately ... ... @@ -1375,7 +1375,7 @@ 1375 1375 1376 1376 1377 1377 |(% rowspan="2" %)P06-28|Parameter name|Setting method|Effective time|Default|Set range|Application category|Unit 1378 -|DO_2 channel function selection|Operation setting|Effective immediately|1 43|128-148|DI/DO|-1395 +|DO_2 channel function selection|Operation setting|Effective immediately|130|128-149|DI/DO|- 1379 1379 |(% colspan="8" %)((( 1380 1380 Used to set DO functions corresponding to hardware DO2. Refer to the following table for the functions corresponding to the set value: 1381 1381 ... ... @@ -1390,7 +1390,7 @@ 1390 1390 |135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output) 1391 1391 |136|V-COIN (consistent speed)| |147|COM_VDO1(communication VDO3 output) 1392 1392 |137|V-NEAR (speed approach)| |148|COM_VDO1(communication VDO4 output) 1393 -|138|T-COIN (torque arrival)| | 1410 +|138|T-COIN (torque arrival)| |149|HOME_ATTAIN (Homing arrived) 1394 1394 1395 1395 When P06-28 is set to a value other than the above table, it is considered to not use DO port function. 1396 1396 ... ... @@ -1405,10 +1405,12 @@ 1405 1405 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! 1406 1406 1407 1407 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. 1408 1408 ))) 1409 1409 1410 1410 |(% rowspan="2" %)P06-30|Parameter name|Setting method|Effective time|Default|Set range|Application category|Unit 1411 -|DO_3 channel function selection|Operation setting|Effective immediately|1 43|128-148|DI/DO|-1430 +|DO_3 channel function selection|Operation setting|Effective immediately|129|128-149|DI/DO|- 1412 1412 |(% colspan="8" %)((( 1413 1413 Used to set DO functions corresponding to hardware DO3. Refer to the following table for the functions corresponding to the set value: 1414 1414 ... ... @@ -1423,7 +1423,7 @@ 1423 1423 |135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output) 1424 1424 |136|V-COIN (consistent speed)| |147|COM_VDO1(communication VDO3 output) 1425 1425 |137|V-NEAR (speed approach)| |148|COM_VDO1(communication VDO4 output) 1426 -|138|T-COIN (torque arrival)| | 1445 +|138|T-COIN (torque arrival)| |149|HOME_ATTAIN (Homing arrived) 1427 1427 1428 1428 When P06-30 is set to a value other than the above table, it is considered to not use DO port function. 1429 1429 ... ... @@ -1438,6 +1438,8 @@ 1438 1438 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! 1439 1439 1440 1440 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. 1441 1441 ))) 1442 1442 1443 1443 |(% rowspan="2" %)P06-32|Parameter name|Setting method|Effective time|Default|Set range|Application category|Unit ... ... @@ -1456,7 +1456,7 @@ 1456 1456 |135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output) 1457 1457 |136|V-COIN (consistent speed)| |147|COM_VDO1(communication VDO3 output) 1458 1458 |137|V-NEAR (speed approach)| |148|COM_VDO1(communication VDO4 output) 1459 -|138|T-COIN (torque arrival)| | 1480 +|138|T-COIN (torque arrival)| |149|HOME_ATTAIN (Homing arrived) 1460 1460 1461 1461 When P06-32 is set to a value other than the above table, it is considered to not use DO port function. 1462 1462 ... ... @@ -1471,6 +1471,8 @@ 1471 1471 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! 1472 1472 1473 1473 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. 1474 1474 ))) 1475 1475 1476 1476 = **Speed control mode** = ... ... @@ -1497,8 +1497,9 @@ 1497 1497 )))|(% style="width:125px" %)((( 1498 1498 Effective immediately 1499 1499 )))|(% style="width:85px" %)0|(% style="width:75px" %)0 to 1|(% style="width:310px" %)((( 1500 -* 0: internal speed instruction 1501 -* 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**) 1502 1502 )))|- 1503 1503 1504 1504 Table 6-26 Speed instruction source parameter ... ... @@ -1529,15 +1529,17 @@ 1529 1529 Effective 1530 1530 1531 1531 immediately 1532 -)))|(% colspan="2" %)0|(% colspan="2" %)- 5000 to5000|(% colspan="2" %)(((1556 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)((( 1533 1533 Internal speed instruction 0 1534 1534 1535 1535 When DI input port: 1536 1536 1537 -* 15-INSPD3: 0 1538 -* 14-INSPD2: 0 1539 -* 13-INSPD1: 0, 1561 +15-INSPD3: 0 1540 1540 1563 +14-INSPD2: 0 1564 + 1565 +13-INSPD1: 0, 1566 + 1541 1541 select this speed instruction to be effective. 1542 1542 )))|(% colspan="2" %)rpm 1543 1543 |=(% colspan="1" %)P01-23|(% colspan="2" %)((( ... ... @@ -1552,15 +1552,17 @@ 1552 1552 Effective 1553 1553 1554 1554 immediately 1555 -)))|(% colspan="2" %)0|(% colspan="2" %)- 5000 to5000|(% colspan="2" %)(((1581 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)((( 1556 1556 Internal speed instruction 1 1557 1557 1558 1558 When DI input port: 1559 1559 1560 -* 15-INSPD3: 0 1561 -* 14-INSPD2: 0 1562 -* 13-INSPD1: 1, 1586 +15-INSPD3: 0 1563 1563 1588 +14-INSPD2: 0 1589 + 1590 +13-INSPD1: 1, 1591 + 1564 1564 Select this speed instruction to be effective. 1565 1565 )))|(% colspan="2" %)rpm 1566 1566 |=(% colspan="1" %)P01-24|(% colspan="2" %)((( ... ... @@ -1575,15 +1575,17 @@ 1575 1575 Effective 1576 1576 1577 1577 immediately 1578 -)))|(% colspan="2" %)0|(% colspan="2" %)- 5000 to5000|(% colspan="2" %)(((1606 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)((( 1579 1579 Internal speed instruction 2 1580 1580 1581 1581 When DI input port: 1582 1582 1583 -* 15-INSPD3: 0 1584 -* 14-INSPD2: 1 1585 -* 13-INSPD1: 0, 1611 +15-INSPD3: 0 1586 1586 1613 +14-INSPD2: 1 1614 + 1615 +13-INSPD1: 0, 1616 + 1587 1587 Select this speed instruction to be effective. 1588 1588 )))|(% colspan="2" %)rpm 1589 1589 |=(% colspan="1" %)P01-25|(% colspan="2" %)((( ... ... @@ -1598,15 +1598,17 @@ 1598 1598 Effective 1599 1599 1600 1600 immediately 1601 -)))|(% colspan="2" %)0|(% colspan="2" %)- 5000 to5000|(% colspan="2" %)(((1631 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)((( 1602 1602 Internal speed instruction 3 1603 1603 1604 1604 When DI input port: 1605 1605 1606 -* 15-INSPD3: 0 1607 -* 14-INSPD2: 1 1608 -* 13-INSPD1: 1, 1636 +15-INSPD3: 0 1609 1609 1638 +14-INSPD2: 1 1639 + 1640 +13-INSPD1: 1, 1641 + 1610 1610 Select this speed instruction to be effective. 1611 1611 )))|(% colspan="2" %)rpm 1612 1612 |=P01-26|(% colspan="2" %)((( ... ... @@ -1621,15 +1621,17 @@ 1621 1621 Effective 1622 1622 1623 1623 immediately 1624 -)))|(% colspan="2" %)0|(% colspan="2" %)- 5000 to5000|(% colspan="2" %)(((1656 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)((( 1625 1625 Internal speed instruction 4 1626 1626 1627 1627 When DI input port: 1628 1628 1629 -* 15-INSPD3: 1 1630 -* 14-INSPD2: 0 1631 -* 13-INSPD1: 0, 1661 +15-INSPD3: 1 1632 1632 1663 +14-INSPD2: 0 1664 + 1665 +13-INSPD1: 0, 1666 + 1633 1633 Select this speed instruction to be effective. 1634 1634 )))|(% colspan="1" %)rpm 1635 1635 |=P01-27|(% colspan="2" %)((( ... ... @@ -1644,15 +1644,17 @@ 1644 1644 Effective 1645 1645 1646 1646 immediately 1647 -)))|(% colspan="2" %)0|(% colspan="2" %)- 5000 to5000|(% colspan="2" %)(((1681 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)((( 1648 1648 Internal speed instruction 5 1649 1649 1650 1650 When DI input port: 1651 1651 1652 -* 15-INSPD3: 1 1653 -* 14-INSPD2: 0 1654 -* 13-INSPD1: 1, 1686 +15-INSPD3: 1 1655 1655 1688 +14-INSPD2: 0 1689 + 1690 +13-INSPD1: 1, 1691 + 1656 1656 Select this speed instruction to be effective. 1657 1657 )))|(% colspan="1" %)rpm 1658 1658 |=P01-28|(% colspan="2" %)((( ... ... @@ -1667,15 +1667,17 @@ 1667 1667 Effective 1668 1668 1669 1669 immediately 1670 -)))|(% colspan="2" %)0|(% colspan="2" %)- 5000 to5000|(% colspan="2" %)(((1706 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)((( 1671 1671 Internal speed instruction 6 1672 1672 1673 1673 When DI input port: 1674 1674 1675 -* 15-INSPD3: 1 1676 -* 14-INSPD2: 1 1677 -* 13-INSPD1: 0, 1711 +15-INSPD3: 1 1678 1678 1713 +14-INSPD2: 1 1714 + 1715 +13-INSPD1: 0, 1716 + 1679 1679 Select this speed instruction to be effective. 1680 1680 )))|(% colspan="1" %)rpm 1681 1681 |=P01-29|(% colspan="2" %)((( ... ... @@ -1690,15 +1690,17 @@ 1690 1690 Effective 1691 1691 1692 1692 immediately 1693 -)))|(% colspan="2" %)0|(% colspan="2" %)- 5000 to5000|(% colspan="2" %)(((1731 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)((( 1694 1694 Internal speed instruction 7 1695 1695 1696 1696 When DI input port: 1697 1697 1698 -* 15-INSPD3: 1 1699 -* 14-INSPD2: 1 1700 -* 13-INSPD1: 1, 1736 +15-INSPD3: 1 1701 1701 1738 +14-INSPD2: 1 1739 + 1740 +13-INSPD1: 1, 1741 + 1702 1702 Select this speed instruction to be effective. 1703 1703 )))|(% colspan="1" %)rpm 1704 1704 ... ... @@ -1714,12 +1714,13 @@ 1714 1714 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. 1715 1715 1716 1716 1717 -|=**INSPD3**|=**INSPD2**|=**INSPD1**|=**Running segment number**|=**Internal speed instruction number** 1718 -|0|0|0|1|0 1719 -|0|0|1|2|1 1720 -|0|1|0|3|2 1721 -|(% colspan="5" %)...... 1722 -|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 1723 1723 1724 1724 Table 6-29 Correspondence between INSPD bits and segment numbers 1725 1725 ... ... @@ -1760,16 +1760,22 @@ 1760 1760 ))) 1761 1761 1762 1762 |=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit** 1763 -|=P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV 1764 -|=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 1765 -|=P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel quantity dead zone value|mV 1766 -|=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 1767 1767 1768 -Table 6-30 AI_1 parameters 1769 - 1770 1770 (% class="box infomessage" %) 1771 1771 ((( 1772 -✎**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 . 1773 1773 ))) 1774 1774 1775 1775 == Acceleration and deceleration time setting == ... ... @@ -1863,10 +1863,13 @@ 1863 1863 )))|0|0 to 3|((( 1864 1864 Set the zero-speed clamp function. In speed mode: 1865 1865 1866 -* 0: Force the speed to 0; 1867 -* 1: Force the speed to 0, and keep the position locked when the actual speed is less than P01-22 1868 -* 2: When speed instruction is less than P01-22, force the speed to 0 and keep the position locked 1869 -* 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 1870 1870 )))|- 1871 1871 |=P01-22|((( 1872 1872 Zero-speed clamp speed threshold ... ... @@ -1874,7 +1874,7 @@ 1874 1874 Operation setting 1875 1875 )))|((( 1876 1876 Effective immediately 1877 -)))|20|0 to 1000|Set the speed threshold of zero-speed clamp function|rpm1927 +)))|20|0 to 6000|Set the speed threshold of zero-speed clamp function|rpm 1878 1878 1879 1879 Table 6-33 Zero-speed clamp related parameters 1880 1880 ... ... @@ -1919,7 +1919,7 @@ 1919 1919 1920 1920 |=(% scope="row" %)**DO function code**|=(% style="width: 247px;" %)**Function name**|=(% style="width: 695px;" %)**Function** 1921 1921 |=132|(% style="width:247px" %)((( 1922 -T -COIN rotation detection1972 +TGON rotation detection 1923 1923 )))|(% style="width:695px" %)((( 1924 1924 Valid: when the absolute value of motor speed after filtering is greater than or equal to the set value of function code P05-16 1925 1925 ... ... @@ -1987,7 +1987,7 @@ 1987 1987 1988 1988 |=(% scope="row" %)**DO Function code**|=(% style="width: 262px;" %)**Function name**|=(% style="width: 684px;" %)**Function** 1989 1989 |=136|(% style="width:262px" %)((( 1990 - U-COIN consistent speed2040 +V-COIN consistent speed 1991 1991 )))|(% 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 1992 1992 1993 1993 Table 6-39 DO speed consistent function code ... ... @@ -2171,8 +2171,9 @@ 2171 2171 )))|((( 2172 2172 Effective immediately 2173 2173 )))|0|0 to 1|((( 2174 -* 0: internal value 2175 -* 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) 2176 2176 )))|- 2177 2177 2178 2178 * Torque limit source is internal torque instruction (P01-14=0)