Changes for page 06 Operation
Last modified by Iris on 2025/08/08 14:40
From version 86.1
edited by Mora Zhou
on 2025/04/28 17:24
on 2025/04/28 17:24
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To version 102.4
edited by xingzhi lin
on 2025/05/26 09:28
on 2025/05/26 09:28
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... ... @@ -1,1 +1,1 @@ 1 -XWiki. Mora1 +XWiki.lxz - Content
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... ... @@ -1291,8 +1291,9 @@ 1291 1291 )))|((( 1292 1292 Effective immediately 1293 1293 )))|0|0 to 1|((( 1294 -* 0: 1st-order low-pass filtering 1295 -* 1: average filtering 1294 +0: 1st-order low-pass filtering 1295 + 1296 +1: average filtering 1296 1296 )))|- 1297 1297 |=P04-02|Position instruction 1st-order low-pass filtering time constant|Shutdown setting|((( 1298 1298 Effective immediately ... ... @@ -1391,7 +1391,7 @@ 1391 1391 1392 1392 1393 1393 |(% rowspan="2" %)P06-28|Parameter name|Setting method|Effective time|Default|Set range|Application category|Unit 1394 -|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|- 1395 1395 |(% colspan="8" %)((( 1396 1396 Used to set DO functions corresponding to hardware DO2. Refer to the following table for the functions corresponding to the set value: 1397 1397 ... ... @@ -1406,7 +1406,7 @@ 1406 1406 |135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output) 1407 1407 |136|V-COIN (consistent speed)| |147|COM_VDO1(communication VDO3 output) 1408 1408 |137|V-NEAR (speed approach)| |148|COM_VDO1(communication VDO4 output) 1409 -|138|T-COIN (torque arrival)| | 1410 +|138|T-COIN (torque arrival)| |149|HOME_ATTAIN (Homing arrived) 1410 1410 1411 1411 When P06-28 is set to a value other than the above table, it is considered to not use DO port function. 1412 1412 ... ... @@ -1421,10 +1421,12 @@ 1421 1421 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! 1422 1422 1423 1423 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. 1424 1424 ))) 1425 1425 1426 1426 |(% rowspan="2" %)P06-30|Parameter name|Setting method|Effective time|Default|Set range|Application category|Unit 1427 -|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|- 1428 1428 |(% colspan="8" %)((( 1429 1429 Used to set DO functions corresponding to hardware DO3. Refer to the following table for the functions corresponding to the set value: 1430 1430 ... ... @@ -1439,7 +1439,7 @@ 1439 1439 |135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output) 1440 1440 |136|V-COIN (consistent speed)| |147|COM_VDO1(communication VDO3 output) 1441 1441 |137|V-NEAR (speed approach)| |148|COM_VDO1(communication VDO4 output) 1442 -|138|T-COIN (torque arrival)| | 1445 +|138|T-COIN (torque arrival)| |149|HOME_ATTAIN (Homing arrived) 1443 1443 1444 1444 When P06-30 is set to a value other than the above table, it is considered to not use DO port function. 1445 1445 ... ... @@ -1454,6 +1454,8 @@ 1454 1454 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! 1455 1455 1456 1456 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. 1457 1457 ))) 1458 1458 1459 1459 |(% rowspan="2" %)P06-32|Parameter name|Setting method|Effective time|Default|Set range|Application category|Unit ... ... @@ -1472,7 +1472,7 @@ 1472 1472 |135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output) 1473 1473 |136|V-COIN (consistent speed)| |147|COM_VDO1(communication VDO3 output) 1474 1474 |137|V-NEAR (speed approach)| |148|COM_VDO1(communication VDO4 output) 1475 -|138|T-COIN (torque arrival)| | 1480 +|138|T-COIN (torque arrival)| |149|HOME_ATTAIN (Homing arrived) 1476 1476 1477 1477 When P06-32 is set to a value other than the above table, it is considered to not use DO port function. 1478 1478 ... ... @@ -1487,6 +1487,8 @@ 1487 1487 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! 1488 1488 1489 1489 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. 1490 1490 ))) 1491 1491 1492 1492 = **Speed control mode** = ... ... @@ -1513,8 +1513,9 @@ 1513 1513 )))|(% style="width:125px" %)((( 1514 1514 Effective immediately 1515 1515 )))|(% style="width:85px" %)0|(% style="width:75px" %)0 to 1|(% style="width:310px" %)((( 1516 -* 0: internal speed instruction 1517 -* 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**) 1518 1518 )))|- 1519 1519 1520 1520 Table 6-26 Speed instruction source parameter ... ... @@ -1545,15 +1545,17 @@ 1545 1545 Effective 1546 1546 1547 1547 immediately 1548 -)))|(% colspan="2" %)0|(% colspan="2" %)- 5000 to5000|(% colspan="2" %)(((1556 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)((( 1549 1549 Internal speed instruction 0 1550 1550 1551 1551 When DI input port: 1552 1552 1553 -* 15-INSPD3: 0 1554 -* 14-INSPD2: 0 1555 -* 13-INSPD1: 0, 1561 +15-INSPD3: 0 1556 1556 1563 +14-INSPD2: 0 1564 + 1565 +13-INSPD1: 0, 1566 + 1557 1557 select this speed instruction to be effective. 1558 1558 )))|(% colspan="2" %)rpm 1559 1559 |=(% colspan="1" %)P01-23|(% colspan="2" %)((( ... ... @@ -1568,15 +1568,17 @@ 1568 1568 Effective 1569 1569 1570 1570 immediately 1571 -)))|(% colspan="2" %)0|(% colspan="2" %)- 5000 to5000|(% colspan="2" %)(((1581 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)((( 1572 1572 Internal speed instruction 1 1573 1573 1574 1574 When DI input port: 1575 1575 1576 -* 15-INSPD3: 0 1577 -* 14-INSPD2: 0 1578 -* 13-INSPD1: 1, 1586 +15-INSPD3: 0 1579 1579 1588 +14-INSPD2: 0 1589 + 1590 +13-INSPD1: 1, 1591 + 1580 1580 Select this speed instruction to be effective. 1581 1581 )))|(% colspan="2" %)rpm 1582 1582 |=(% colspan="1" %)P01-24|(% colspan="2" %)((( ... ... @@ -1591,15 +1591,17 @@ 1591 1591 Effective 1592 1592 1593 1593 immediately 1594 -)))|(% colspan="2" %)0|(% colspan="2" %)- 5000 to5000|(% colspan="2" %)(((1606 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)((( 1595 1595 Internal speed instruction 2 1596 1596 1597 1597 When DI input port: 1598 1598 1599 -* 15-INSPD3: 0 1600 -* 14-INSPD2: 1 1601 -* 13-INSPD1: 0, 1611 +15-INSPD3: 0 1602 1602 1613 +14-INSPD2: 1 1614 + 1615 +13-INSPD1: 0, 1616 + 1603 1603 Select this speed instruction to be effective. 1604 1604 )))|(% colspan="2" %)rpm 1605 1605 |=(% colspan="1" %)P01-25|(% colspan="2" %)((( ... ... @@ -1614,15 +1614,17 @@ 1614 1614 Effective 1615 1615 1616 1616 immediately 1617 -)))|(% colspan="2" %)0|(% colspan="2" %)- 5000 to5000|(% colspan="2" %)(((1631 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)((( 1618 1618 Internal speed instruction 3 1619 1619 1620 1620 When DI input port: 1621 1621 1622 -* 15-INSPD3: 0 1623 -* 14-INSPD2: 1 1624 -* 13-INSPD1: 1, 1636 +15-INSPD3: 0 1625 1625 1638 +14-INSPD2: 1 1639 + 1640 +13-INSPD1: 1, 1641 + 1626 1626 Select this speed instruction to be effective. 1627 1627 )))|(% colspan="2" %)rpm 1628 1628 |=P01-26|(% colspan="2" %)((( ... ... @@ -1637,15 +1637,17 @@ 1637 1637 Effective 1638 1638 1639 1639 immediately 1640 -)))|(% colspan="2" %)0|(% colspan="2" %)- 5000 to5000|(% colspan="2" %)(((1656 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)((( 1641 1641 Internal speed instruction 4 1642 1642 1643 1643 When DI input port: 1644 1644 1645 -* 15-INSPD3: 1 1646 -* 14-INSPD2: 0 1647 -* 13-INSPD1: 0, 1661 +15-INSPD3: 1 1648 1648 1663 +14-INSPD2: 0 1664 + 1665 +13-INSPD1: 0, 1666 + 1649 1649 Select this speed instruction to be effective. 1650 1650 )))|(% colspan="1" %)rpm 1651 1651 |=P01-27|(% colspan="2" %)((( ... ... @@ -1660,15 +1660,17 @@ 1660 1660 Effective 1661 1661 1662 1662 immediately 1663 -)))|(% colspan="2" %)0|(% colspan="2" %)- 5000 to5000|(% colspan="2" %)(((1681 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)((( 1664 1664 Internal speed instruction 5 1665 1665 1666 1666 When DI input port: 1667 1667 1668 -* 15-INSPD3: 1 1669 -* 14-INSPD2: 0 1670 -* 13-INSPD1: 1, 1686 +15-INSPD3: 1 1671 1671 1688 +14-INSPD2: 0 1689 + 1690 +13-INSPD1: 1, 1691 + 1672 1672 Select this speed instruction to be effective. 1673 1673 )))|(% colspan="1" %)rpm 1674 1674 |=P01-28|(% colspan="2" %)((( ... ... @@ -1683,15 +1683,17 @@ 1683 1683 Effective 1684 1684 1685 1685 immediately 1686 -)))|(% colspan="2" %)0|(% colspan="2" %)- 5000 to5000|(% colspan="2" %)(((1706 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)((( 1687 1687 Internal speed instruction 6 1688 1688 1689 1689 When DI input port: 1690 1690 1691 -* 15-INSPD3: 1 1692 -* 14-INSPD2: 1 1693 -* 13-INSPD1: 0, 1711 +15-INSPD3: 1 1694 1694 1713 +14-INSPD2: 1 1714 + 1715 +13-INSPD1: 0, 1716 + 1695 1695 Select this speed instruction to be effective. 1696 1696 )))|(% colspan="1" %)rpm 1697 1697 |=P01-29|(% colspan="2" %)((( ... ... @@ -1706,15 +1706,17 @@ 1706 1706 Effective 1707 1707 1708 1708 immediately 1709 -)))|(% colspan="2" %)0|(% colspan="2" %)- 5000 to5000|(% colspan="2" %)(((1731 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)((( 1710 1710 Internal speed instruction 7 1711 1711 1712 1712 When DI input port: 1713 1713 1714 -* 15-INSPD3: 1 1715 -* 14-INSPD2: 1 1716 -* 13-INSPD1: 1, 1736 +15-INSPD3: 1 1717 1717 1738 +14-INSPD2: 1 1739 + 1740 +13-INSPD1: 1, 1741 + 1718 1718 Select this speed instruction to be effective. 1719 1719 )))|(% colspan="1" %)rpm 1720 1720 ... ... @@ -1730,12 +1730,13 @@ 1730 1730 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. 1731 1731 1732 1732 1733 -|=**INSPD3**|=**INSPD2**|=**INSPD1**|=**Running segment number**|=**Internal speed instruction number** 1734 -|0|0|0|1|0 1735 -|0|0|1|2|1 1736 -|0|1|0|3|2 1737 -|(% colspan="5" %)...... 1738 -|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 1739 1739 1740 1740 Table 6-29 Correspondence between INSPD bits and segment numbers 1741 1741 ... ... @@ -1776,16 +1776,22 @@ 1776 1776 ))) 1777 1777 1778 1778 |=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit** 1779 -|=P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV 1780 -|=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 1781 -|=P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel quantity dead zone value|mV 1782 -|=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 1783 1783 1784 -Table 6-30 AI_1 parameters 1785 - 1786 1786 (% class="box infomessage" %) 1787 1787 ((( 1788 -✎**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 . 1789 1789 ))) 1790 1790 1791 1791 == Acceleration and deceleration time setting == ... ... @@ -1879,10 +1879,13 @@ 1879 1879 )))|0|0 to 3|((( 1880 1880 Set the zero-speed clamp function. In speed mode: 1881 1881 1882 -* 0: Force the speed to 0; 1883 -* 1: Force the speed to 0, and keep the position locked when the actual speed is less than P01-22 1884 -* 2: When speed instruction is less than P01-22, force the speed to 0 and keep the position locked 1885 -* 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 1886 1886 )))|- 1887 1887 |=P01-22|((( 1888 1888 Zero-speed clamp speed threshold ... ... @@ -1890,7 +1890,7 @@ 1890 1890 Operation setting 1891 1891 )))|((( 1892 1892 Effective immediately 1893 -)))|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 1894 1894 1895 1895 Table 6-33 Zero-speed clamp related parameters 1896 1896 ... ... @@ -1935,7 +1935,7 @@ 1935 1935 1936 1936 |=(% scope="row" %)**DO function code**|=(% style="width: 247px;" %)**Function name**|=(% style="width: 695px;" %)**Function** 1937 1937 |=132|(% style="width:247px" %)((( 1938 -T -COIN rotation detection1972 +TGON rotation detection 1939 1939 )))|(% style="width:695px" %)((( 1940 1940 Valid: when the absolute value of motor speed after filtering is greater than or equal to the set value of function code P05-16 1941 1941 ... ... @@ -2003,7 +2003,7 @@ 2003 2003 2004 2004 |=(% scope="row" %)**DO Function code**|=(% style="width: 262px;" %)**Function name**|=(% style="width: 684px;" %)**Function** 2005 2005 |=136|(% style="width:262px" %)((( 2006 - U-COIN consistent speed2040 +V-COIN consistent speed 2007 2007 )))|(% 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 2008 2008 2009 2009 Table 6-39 DO speed consistent function code ... ... @@ -2187,8 +2187,9 @@ 2187 2187 )))|((( 2188 2188 Effective immediately 2189 2189 )))|0|0 to 1|((( 2190 -* 0: internal value 2191 -* 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) 2192 2192 )))|- 2193 2193 2194 2194 * Torque limit source is internal torque instruction (P01-14=0) ... ... @@ -2265,7 +2265,7 @@ 2265 2265 Operation setting 2266 2266 )))|((( 2267 2267 Effective immediately 2268 -)))|3000|0 to 5000|(((2303 +)))|3000|0 to 6000|((( 2269 2269 Forward torque 2270 2270 2271 2271 limit in torque mode ... ... @@ -2278,7 +2278,7 @@ 2278 2278 Operation setting 2279 2279 )))|((( 2280 2280 Effective immediately 2281 -)))|3000|0 to 5000|(((2316 +)))|3000|0 to 6000|((( 2282 2282 Reverse torque 2283 2283 2284 2284 limit in torque mode ... ... @@ -2363,13 +2363,18 @@ 2363 2363 )))|((( 2364 2364 Shutdown setting 2365 2365 )))|1|(% style="width:90px" %)1 to 6|(% style="width:273px" %)((( 2366 -* 1: Position control 2367 -* 2: Speed control 2368 -* 3: Torque control 2369 -* 4: Position/speed mixed control 2370 -* 5: Position/torque mixed control 2371 -* 6: Speed/torque mixed control 2401 +1: Position control 2372 2372 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 + 2373 2373 **VD2L drive P0-01 setting range: 1-3, not support mixed mode** 2374 2374 )))|- 2375 2375 ... ... @@ -2511,8 +2511,9 @@ 2511 2511 **time** 2512 2512 )))|=**Default value**|=**Range**|=**Definition**|=**Unit** 2513 2513 |=P00-30|Shield multi-turn absolute encoder battery fault|Operation setting|Power on again|0|0 to 1|((( 2514 -* 0:Detect multi-turn absolute encoder battery under voltage, and battery low voltage fault 2515 -* 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 2516 2516 )))|- 2517 2517 2518 2518 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. ... ... @@ -2657,8 +2657,9 @@ 2657 2657 2658 2658 VDI_1 input level: 2659 2659 2660 -* 0: low level 2661 -* 1: high level 2701 +0: Low level 2702 + 2703 +1: High level 2662 2662 )))|- 2663 2663 |=P13-2|Virtual VDI_2 input value|Operation setting|Effective immediately|0|0 to 1|((( 2664 2664 When P06-07 is set to 1, DI_2 channel logic is control by this function code. ... ... @@ -2665,8 +2665,9 @@ 2665 2665 2666 2666 VDI_2 input level: 2667 2667 2668 -* 0: low level 2669 -* 1: high level 2710 +0: Low level 2711 + 2712 +1: High level 2670 2670 )))|- 2671 2671 |=P13-3|Virtual VDI_3 input value|Operation setting|Effective immediately|0|0 to 1|((( 2672 2672 When P06-10 is set to 1, DI_3 channel logic is control by this function code. ... ... @@ -2673,8 +2673,9 @@ 2673 2673 2674 2674 VDI_3 input level: 2675 2675 2676 -* 0: low level 2677 -* 1: high level 2719 +0: Low level 2720 + 2721 +1: High level 2678 2678 )))|- 2679 2679 |=P13-4|Virtual VDI_4 input value|Operation setting|Effective immediately|0|0 to 1|((( 2680 2680 When P06-13 is set to 1, DI_4 channel logic is control by this function code. ... ... @@ -2681,40 +2681,53 @@ 2681 2681 2682 2682 VDI_4 input level: 2683 2683 2684 -* 0: low level 2685 -* 1: high level 2728 +0: Low level 2729 + 2730 +1: High level 2686 2686 )))|- 2687 -|=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|((( 2688 2688 When P06-16 is set to 1, DI_5 channel logic is control by this function code. 2689 2689 2690 2690 VDI_5 input level: 2691 2691 2692 -* 0: low level 2693 -* 1: high level 2739 +0: Low level 2740 + 2741 +1: High level 2694 2694 )))|- 2695 -|=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|((( 2696 2696 When P06-19 is set to 1, DI_6 channel logic is control by this function code. 2697 2697 2698 2698 VDI_6 input level: 2699 2699 2700 -* 0: low level 2701 -* 1: high level 2750 +0: Low level 2751 + 2752 +1: High level 2702 2702 )))|- 2703 -|=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|((( 2704 2704 When P06-22 is set to 1, DI_7 channel logic is control by this function code. 2705 2705 2706 2706 VDI_7 input level: 2707 2707 2708 -* 0: low level 2709 -* 1: high level 2761 +0: Low level 2762 + 2763 +1: High level 2710 2710 )))|- 2711 -|=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|((( 2712 2712 When P06-25 is set to 1, DI_8 channel logic is control by this function code. 2713 2713 2714 2714 VDI_8 input level: 2715 2715 2716 -* 0: low level 2717 -* 1: high level 2772 +0: Low level 2773 + 2774 +1: High level 2718 2718 )))|- 2719 2719 2720 2720 Table 6-57 Virtual VDI parameters ... ... @@ -2721,7 +2721,7 @@ 2721 2721 2722 2722 (% class="box infomessage" %) 2723 2723 ((( 2724 -✎**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 . 2725 2725 ))) 2726 2726 2727 2727 == Port filtering time == ... ... @@ -2755,26 +2755,30 @@ 2755 2755 |=P13-11|Communication VDO_1 output value|Operation setting|Effective immediately|0|0 to 1|((( 2756 2756 VDO_1 output level: 2757 2757 2758 -* 0: low level 2759 -* 1: high level 2815 +0: Low level 2816 + 2817 +1: High level 2760 2760 )))|- 2761 2761 |=P13-12|Communication VDO_2 output value|Operation setting|Effective immediately|0|0 to 1|((( 2762 2762 VDO_2 output level: 2763 2763 2764 -* 0: low level 2765 -* 1: high level 2822 +0: Low level 2823 + 2824 +1: High level 2766 2766 )))|- 2767 2767 |=P13-13|Communication VDO_3 output value|Operation setting|Effective immediately|0|0 to 1|((( 2768 2768 VDO_3 output level: 2769 2769 2770 -* 0: low level 2771 -* 1: high level 2829 +0: Low level 2830 + 2831 +1: High level 2772 2772 )))|- 2773 2773 |=P13-14|Communication VDO_4 output value|Operation setting|Effective immediately|0|0 to 1|((( 2774 2774 VDO_4 output level: 2775 2775 2776 -* 0: low level 2777 -* 1: high level 2836 +0: Low level 2837 + 2838 +1: High level 2778 2778 )))|- 2779 2779 2780 2780 Table 6-59 Communication control DO function parameters ... ... @@ -2817,3 +2817,875 @@ 2817 2817 ((( 2818 2818 ✎**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. 2819 2819 ))) 2881 + 2882 + 2883 += Homing mode = 2884 + 2885 +The homing mode is used to find the mechanical origin and locate the positional relationship between the mechanical origin and the mechanical zero. 2886 + 2887 +Mechanical homing: A mechanically fixed position may correspond to a certain defined homing switch, or may correspond to the motor Z signal. 2888 + 2889 +Mechanical zero point: Mechanically absolute 0 position. 2890 + 2891 +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: 2892 + 2893 +Mechanical homing = Mechanical zero +P10-08 (homing offset) 2894 + 2895 +When P10-08=0, the mechanical homing coincides with the mechanical zero. 2896 + 2897 +== Control block diagram == 2898 + 2899 + 2900 +=== Homing mode related function codes === 2901 + 2902 +|Function code|Name|((( 2903 +Setting 2904 + 2905 +method 2906 +)))|((( 2907 +Effective 2908 + 2909 +time 2910 +)))|Default|Range|Definition|Unit 2911 +|P01-39|Homing start mode|((( 2912 +Stop 2913 + 2914 +settings 2915 +)))|((( 2916 +Immediately 2917 + 2918 +effective 2919 +)))|0|0 to 2|((( 2920 +0: Close 2921 + 2922 +1: The servo is powered ON and started after the first ON 2923 + 2924 +2: DI enable 2925 +)))|- 2926 + 2927 +|Function code|Name|((( 2928 +Setting 2929 + 2930 +method 2931 +)))|((( 2932 +Effective 2933 + 2934 +time 2935 +)))|Default|Range|Definition|Unit 2936 +|P01-40|Homing mode|((( 2937 +Stop 2938 + 2939 +settings 2940 +)))|((( 2941 +Immediately 2942 + 2943 +effective 2944 +)))|0|0 to 35|((( 2945 +0 ~~ 35 Homing mode; 2946 + 2947 +✎Note: VD2 currently does not support 15, 16, 31, 32 modes 2948 +)))|- 2949 + 2950 +|Function code|Name|((( 2951 +Setting 2952 + 2953 +method 2954 +)))|((( 2955 +Effective 2956 + 2957 +time 2958 +)))|Default|Range|Definition|Unit 2959 +|P01-41|High-speed search deceleration point signal velocity|((( 2960 +Running 2961 + 2962 +settings 2963 +)))|((( 2964 +Immediately 2965 + 2966 +effective 2967 +)))|300|1 to 3000|High-speed search deceleration point signal velocity in homing mode|rpm 2968 + 2969 +|Function code|Name|((( 2970 +Setting 2971 + 2972 +method 2973 +)))|((( 2974 +Effective 2975 + 2976 +time 2977 +)))|Default|Range|Definition|Unit 2978 +|P01-42〇|Low speed search homing signal speed|((( 2979 +Running 2980 + 2981 +settings 2982 +)))|((( 2983 +Immediately 2984 + 2985 +effective 2986 +)))|60|1 to 300|Low-speed search origin signal velocity in homing mode|rpm 2987 + 2988 +|Function code|Name|((( 2989 +Setting 2990 + 2991 +method 2992 +)))|((( 2993 +Effective 2994 + 2995 +time 2996 +)))|Default|Range|Definition|Unit 2997 +|P01-43〇|Homing acceleration and deceleration|((( 2998 +Running 2999 + 3000 +settings 3001 +)))|((( 3002 +Immediately 3003 + 3004 +effective 3005 +)))|50|1to1000|((( 3006 +Acceleration and deceleration in homing mode 3007 + 3008 +Time for speed acceleration from 0 to 1000rpm 3009 +)))|ms 3010 + 3011 +|Function code|Name|((( 3012 +Setting 3013 + 3014 +method 3015 +)))|((( 3016 +Effective 3017 + 3018 +time 3019 +)))|Default|Range|Definition|Unit 3020 +|P01-44〇|Homing timeout limited time|((( 3021 +Running 3022 + 3023 +settings 3024 +)))|((( 3025 +Immediately 3026 + 3027 +effective 3028 +)))|65535|100 to 65535|Homing timeout limited time|ms 3029 + 3030 +|Function code|Name|((( 3031 +Setting 3032 + 3033 +method 3034 +)))|((( 3035 +Effective 3036 + 3037 +time 3038 +)))|Default|Range|Definition|Unit 3039 +|P10-08〇|Multi-turn absolute encoder homing offset compensation|((( 3040 +Running 3041 + 3042 +settings 3043 +)))|((( 3044 +Immediately 3045 + 3046 +effective 3047 +)))|0|((( 3048 +-2147483647~~ 3049 + 3050 +2147483646 3051 +)))|((( 3052 +P10-08 multi-turn absolute encoder homing offset compensation is used in conjunction with U0-56 multi-turn absolute encoder current position. 3053 + 3054 +When P10-6 is set to 1, the value of U0-56 is updated to P10-8. 3055 +)))|- 3056 + 3057 +== Introduction to homing mode == 3058 + 3059 +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). 3060 + 3061 + 3062 +(1) P01-40 =1 3063 + 3064 +Mechanical homing: Motor Z signal 3065 + 3066 +Deceleration point: Reverse limit switch (NOT) 3067 + 3068 +① The deceleration point signal is invalid when starting homing 3069 + 3070 +(% style="text-align:center" %) 3071 +[[image:1748221916083-747.jpg||height="347" width="600"]] 3072 + 3073 +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. 3074 + 3075 + 3076 +② The deceleration point signal is valid when starting homing 3077 + 3078 +(% style="text-align:center" %) 3079 +[[image:1748222134730-241.jpg||height="341" width="600"]] 3080 + 3081 +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. 3082 + 3083 + 3084 + 3085 + 3086 + 3087 + 3088 +(2) P01-40=2 3089 + 3090 +Mechanical homing: Motor Z signal 3091 + 3092 +Deceleration point: Positive Limit Switch (POT) 3093 + 3094 +① The deceleration point signal is invalid when starting homing 3095 + 3096 +(% style="text-align:center" %) 3097 +[[image:1748222168627-745.jpg||height="334" width="600"]] 3098 + 3099 + 3100 +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. 3101 + 3102 + 3103 +② The deceleration point signal is valid when starting homing 3104 + 3105 +(% style="text-align:center" %) 3106 +[[image:1748222190794-857.jpg||height="337" width="600"]] 3107 + 3108 +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. 3109 + 3110 + 3111 + 3112 +(3) P01-40=3 3113 + 3114 +Mechanical homing: Motor Z signal 3115 + 3116 +Deceleration point: Home switch (HW) 3117 + 3118 +① The deceleration point signal is invalid when starting homing 3119 + 3120 +(% style="text-align:center" %) 3121 +[[image:1748222203229-740.jpg||height="337" width="600"]] 3122 + 3123 + 3124 +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. 3125 + 3126 + 3127 +② The deceleration point signal is valid when starting homing 3128 + 3129 +(% style="text-align:center" %) 3130 +[[image:1748222259038-454.jpg||height="337" width="600"]] 3131 + 3132 +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; 3133 + 3134 + 3135 + 3136 + 3137 + 3138 + 3139 + 3140 + 3141 + 3142 + 3143 + 3144 + 3145 + 3146 +(4) P01-40=4 3147 + 3148 +Mechanical homing: Motor Z signal 3149 + 3150 +Deceleration point: Home switch (HW) 3151 + 3152 +① The deceleration point signal is invalid when starting homing 3153 + 3154 +(% style="text-align:center" %) 3155 +[[image:1748222356175-586.jpg||height="337" width="600"]] 3156 + 3157 +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; 3158 + 3159 + 3160 +② The deceleration point signal is valid when starting homing 3161 + 3162 +(% style="text-align:center" %) 3163 +[[image:1748222408099-521.jpg||height="338" width="600"]] 3164 + 3165 + 3166 +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. 3167 + 3168 + 3169 + 3170 + 3171 + 3172 +(5) P01-40=5 3173 + 3174 +Mechanical homing: Motor Z signal 3175 + 3176 +Deceleration point: Home switch (HW) 3177 + 3178 +① The deceleration point signal is invalid when starting homing 3179 + 3180 +(% style="text-align:center" %) 3181 +[[image:1748222430449-293.jpg||height="337" width="600"]] 3182 + 3183 +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. 3184 + 3185 + 3186 +② The deceleration point signal is valid when starting homing 3187 + 3188 +(% style="text-align:center" %) 3189 +[[image:1748222448727-825.jpg||height="337" width="600"]] 3190 + 3191 +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; 3192 + 3193 + 3194 + 3195 + 3196 + 3197 +(6) P01-40=6 3198 + 3199 +Mechanical homing: Motor Z signal 3200 + 3201 +Deceleration point: Home switch (HW) 3202 + 3203 +① The deceleration point signal is invalid when starting homing 3204 + 3205 +(% style="text-align:center" %) 3206 +[[image:1748222469183-894.jpg||height="337" width="600"]] 3207 + 3208 +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; 3209 + 3210 + 3211 +② The deceleration point signal is valid when starting homing 3212 + 3213 +(% style="text-align:center" %) 3214 +[[image:1748222485622-911.jpg||height="337" width="600"]] 3215 + 3216 +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. 3217 + 3218 + 3219 + 3220 + 3221 + 3222 +(7) P01-40=7 3223 + 3224 +Mechanical homing: Motor Z signal 3225 + 3226 +Deceleration point: Home switch (HW) 3227 + 3228 +① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered 3229 + 3230 +(% style="text-align:center" %) 3231 +[[image:1748222509640-301.jpg||height="405" width="600"]] 3232 + 3233 + 3234 +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. 3235 + 3236 + 3237 +②When homing, the deceleration point signal is invalid and the forward limit switch is encountered 3238 + 3239 +(% style="text-align:center" %) 3240 +[[image:1748222603373-759.jpg||height="482" width="600"]] 3241 + 3242 +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. 3243 + 3244 + 3245 +③ The deceleration point signal is valid when starting homing 3246 + 3247 +(% style="text-align:center" %) 3248 +[[image:1748222658301-527.jpg||height="406" width="600"]] 3249 + 3250 +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; 3251 + 3252 + 3253 +(8) P01-40=8 3254 + 3255 +Mechanical homing: Motor Z signal 3256 + 3257 +Deceleration point: Home switch (HW) 3258 + 3259 +① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered 3260 + 3261 +(% style="text-align:center" %) 3262 +[[image:1748222676833-578.jpg||height="425" width="600"]] 3263 + 3264 +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. 3265 + 3266 + 3267 +② The deceleration point signal is invalid when starting homing, the forward limit switch is encountered 3268 + 3269 +(% style="text-align:center" %) 3270 +[[image:1748222776332-811.jpg||height="460" width="600"]] 3271 + 3272 +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. 3273 + 3274 + 3275 +③ The deceleration point signal is valid when starting homing 3276 + 3277 +(% style="text-align:center" %) 3278 +[[image:1748222790840-470.jpg||height="403" width="600"]] 3279 + 3280 +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. 3281 + 3282 + 3283 + 3284 +(9) P01-40=9 3285 + 3286 +Mechanical homing: Motor Z signal 3287 + 3288 +Deceleration point: Home switch (HW) 3289 + 3290 +① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered 3291 + 3292 +(% style="text-align:center" %) 3293 +[[image:1748222807478-627.jpg||height="407" width="600"]] 3294 + 3295 +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. 3296 + 3297 + 3298 +② The deceleration point signal is invalid when starting homing, the forward limit switch is encountered 3299 + 3300 +(% style="text-align:center" %) 3301 +[[image:1748222889157-134.jpg||height="473" width="600"]] 3302 + 3303 +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. 3304 + 3305 +③ The deceleration point signal is valid when starting homing 3306 + 3307 +(% style="text-align:center" %) 3308 +[[image:1748222905814-838.jpg||height="4" width="600"]] 3309 + 3310 +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; 3311 + 3312 + 3313 +(10) P01-40=10 3314 + 3315 +Mechanical homing: Motor Z signal 3316 + 3317 +Deceleration point: Home switch (HW) 3318 + 3319 +① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered 3320 + 3321 + 3322 +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. 3323 + 3324 +When homing, the deceleration point signal is invalid and the forward limit switch is encountered 3325 + 3326 + 3327 +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. 3328 + 3329 + 3330 +③ The deceleration point signal is valid when starting homing 3331 + 3332 + 3333 +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; 3334 + 3335 + 3336 +(11) P01-40=11 3337 + 3338 +Mechanical homing: Motor Z signal 3339 + 3340 +Deceleration point: Home switch (HW) 3341 + 3342 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered 3343 + 3344 + 3345 +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. 3346 + 3347 + 3348 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered 3349 + 3350 + 3351 +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. 3352 + 3353 +③ The deceleration point signal is valid when starting homing 3354 + 3355 + 3356 +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; 3357 + 3358 + 3359 +(12) P01-40=12 3360 + 3361 +Mechanical homing: Motor Z signal 3362 + 3363 +Deceleration point: Home switch (HW) 3364 + 3365 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered 3366 + 3367 + 3368 + 3369 +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. 3370 + 3371 + 3372 + 3373 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered 3374 + 3375 + 3376 +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. 3377 + 3378 + 3379 + 3380 +③ The deceleration point signal is valid when starting homing 3381 + 3382 + 3383 +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. 3384 + 3385 +(13) P01-40=13 3386 + 3387 +Mechanical homing: Motor Z signal 3388 + 3389 +Deceleration point: Home switch (HW) 3390 + 3391 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered 3392 + 3393 + 3394 +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. 3395 + 3396 + 3397 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered 3398 + 3399 + 3400 +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. 3401 + 3402 +③ The deceleration point signal is valid when starting homing 3403 + 3404 + 3405 +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; 3406 + 3407 + 3408 +(14) P01-40=14 3409 + 3410 +Mechanical homing: Motor Z signal 3411 + 3412 +Deceleration point: Home switch (HW) 3413 + 3414 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered 3415 + 3416 + 3417 +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. 3418 + 3419 + 3420 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered 3421 + 3422 + 3423 +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. 3424 + 3425 + 3426 +③ The deceleration point signal is valid when starting homing 3427 + 3428 + 3429 +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; 3430 + 3431 + 3432 +(15) P01-40=17 3433 + 3434 +Mechanical homing: Negative overrun switch (NOT) 3435 + 3436 +Deceleration point: Negative overrun switch (NOT) 3437 + 3438 +① The deceleration point signal is invalid when starting homing 3439 + 3440 + 3441 +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. 3442 + 3443 + 3444 +② The deceleration point signal is valid when starting homing 3445 + 3446 + 3447 +When starting homing, NOT=1, start homing directly at low speed, and stop after encountering the falling edge of NOT. 3448 + 3449 + 3450 +(16) P01-40=18 3451 + 3452 +Mechanical homing: Positive overrun switch (POT) 3453 + 3454 +Deceleration point: Positive overrun switch (POT) 3455 + 3456 +① The deceleration point signal is invalid when starting homing 3457 + 3458 + 3459 +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. 3460 + 3461 + 3462 +② The deceleration point signal is valid when starting homing 3463 + 3464 + 3465 +When starting homing, POT=1, start homing at low speed in reverse directly, and stop when encountering POT falling edge; 3466 + 3467 + 3468 + 3469 +(17) P01-40=19 3470 + 3471 +Mechanical homing: Home switch (HW) 3472 + 3473 +Deceleration point: Home switch (HW) 3474 + 3475 +① The deceleration point signal is invalid when starting homing 3476 + 3477 + 3478 +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. 3479 + 3480 + 3481 +② The deceleration point signal is valid when starting homing 3482 + 3483 + 3484 +When starting homing, HW=1, start homing at low speed in reverse directly, and stop when encountering HW falling edge; 3485 + 3486 + 3487 +(18) P01-40=20 3488 + 3489 +Mechanical homing: Home switch (HW) 3490 + 3491 +Deceleration point: Home switch (HW) 3492 + 3493 +① The deceleration point signal is invalid when starting homing 3494 + 3495 + 3496 +When starting to homing, HW=0, directly start to homing at low speed, and stop after encountering the rising edge of HW; 3497 + 3498 + 3499 +② The deceleration point signal is valid when starting homing 3500 + 3501 + 3502 +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. 3503 + 3504 + 3505 +(19) P01-40=21 3506 + 3507 +Mechanical homing: Home switch (HW) 3508 + 3509 +Deceleration point: Home switch (HW) 3510 + 3511 +① The deceleration point signal is invalid when starting homing 3512 + 3513 + 3514 +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. 3515 + 3516 + 3517 +② The deceleration point signal is valid when starting homing 3518 + 3519 + 3520 +When starting back to zero, HW=1, it will start homing directly at low speed, and stop after encountering the falling edge of HW; 3521 + 3522 + 3523 +(20) P01-40=22 3524 + 3525 +Mechanical homing: Home switch (HW) 3526 + 3527 +Deceleration point: Home switch (HW) 3528 + 3529 +① The deceleration point signal is invalid when starting homing 3530 + 3531 + 3532 +When starting to homing, HW=0, directly reverse low speed starts to homing, and stops when encountering HW rising edge; 3533 + 3534 + 3535 +Deceleration point signal is valid when homing start 3536 + 3537 + 3538 +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. 3539 + 3540 + 3541 +(21) P01-40=23 3542 + 3543 +Mechanical homing: Home switch (HW) 3544 + 3545 +Deceleration point: Home switch (HW) 3546 + 3547 +① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered 3548 + 3549 + 3550 +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. 3551 + 3552 + 3553 +① The deceleration point signal is invalid when starting homing, the forward limit switch is encountered 3554 + 3555 + 3556 +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. 3557 + 3558 + 3559 + 3560 +③ The deceleration point signal is valid when starting homing 3561 + 3562 + 3563 +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. 3564 + 3565 + 3566 +(22) P01-40=24 3567 + 3568 +Mechanical homing: Home switch (HW) 3569 + 3570 +Deceleration point: Home switch (HW) 3571 + 3572 +① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered 3573 + 3574 + 3575 +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. 3576 + 3577 + 3578 +① The deceleration point signal is invalid when starting homing, the forward limit switch is encountered 3579 + 3580 + 3581 +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. 3582 + 3583 + 3584 +③ The deceleration point signal is valid when starting homing 3585 + 3586 + 3587 +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. 3588 + 3589 + 3590 +(23) P01-40=25 3591 + 3592 +Mechanical homing: Home switch (HW) 3593 + 3594 +Deceleration point: Home switch (HW) 3595 + 3596 +① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered 3597 + 3598 + 3599 +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. 3600 + 3601 + 3602 +① The deceleration point signal is invalid when starting homing, the forward limit switch is encountered 3603 + 3604 + 3605 +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. 3606 + 3607 + 3608 +③ The deceleration point signal is valid when starting homing 3609 + 3610 + 3611 +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 3612 + 3613 + 3614 +(24) P01-40=26 3615 + 3616 +Mechanical homing: Home switch (HW) 3617 + 3618 +Deceleration point: Home switch (HW) 3619 + 3620 +① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered 3621 + 3622 + 3623 +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. 3624 + 3625 + 3626 +① The deceleration point signal is invalid when starting homing, the forward limit switch is encountered 3627 + 3628 + 3629 +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. 3630 + 3631 + 3632 +③ The deceleration point signal is valid when starting homing 3633 + 3634 + 3635 +When starting homing, HW=1, it will start homing directly at low speed, and stop when encountering HW falling edge; 3636 + 3637 + 3638 +(25) P01-40=27 3639 + 3640 +Mechanical homing: Home switch (HW) 3641 + 3642 +Deceleration point: Home switch (HW) 3643 + 3644 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered 3645 + 3646 + 3647 +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. 3648 + 3649 + 3650 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered 3651 + 3652 + 3653 +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. 3654 + 3655 + 3656 +③ The deceleration point signal is valid when starting homing 3657 + 3658 + 3659 +When starting homing, HW=1, it will start homing directly at low speed, and stop when encountering HW falling edge; 3660 + 3661 + 3662 +(26) P01-40=28 3663 + 3664 +Mechanical homing: Home switch (HW) 3665 + 3666 +Deceleration point: Home switch (HW) 3667 + 3668 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered 3669 + 3670 + 3671 +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. 3672 + 3673 + 3674 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered 3675 + 3676 + 3677 +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. 3678 + 3679 + 3680 +③ The deceleration point signal is valid when starting homing 3681 + 3682 + 3683 +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. 3684 + 3685 + 3686 +(27) P01-40=29 3687 + 3688 +Mechanical homing: Home switch (HW) 3689 + 3690 +Deceleration point: Home switch (HW) 3691 + 3692 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered 3693 + 3694 + 3695 +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. 3696 + 3697 + 3698 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered 3699 + 3700 + 3701 +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. 3702 + 3703 +③ The deceleration point signal is valid when starting homing 3704 + 3705 + 3706 +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 3707 + 3708 + 3709 +(28) P01-40=30 3710 + 3711 +Mechanical homing: Home switch (HW) 3712 + 3713 +Deceleration point: Home switch (HW) 3714 + 3715 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered 3716 + 3717 + 3718 +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. 3719 + 3720 + 3721 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered 3722 + 3723 + 3724 +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. 3725 + 3726 + 3727 +③ The deceleration point signal is valid when starting homing 3728 + 3729 + 3730 +When starting homing, HW=1, start homing at low speed in reverse directly, and stop when encountering HW falling edge; 3731 + 3732 + 3733 +(29) P01-40=33 and P01-40=34 3734 + 3735 +Mechanical homing: Z signal. 3736 + 3737 +Deceleration point: None 3738 + 3739 +Homing mode 33: Reverse low speed operation, stop the first Z signal encountered 3740 + 3741 +Homing mode 34: running at low speed in forward direction, stopping the first Z signal encountered 3742 + 3743 + 3744 + 3745 +(30) P01-40=35 3746 + 3747 +Homing mode 35, taking the current position as the mechanical homing, after triggering the homing (P01-39: 0x00→0x01/0x00 → 0x02); 3748 + 3749 +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. 3750 + 3751 + 3752 +
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