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
Change comment: There is no comment for this version
To version 102.4
edited by xingzhi lin
on 2025/05/26 09:28
Change comment: There is no comment for this version

Summary

Details

Page properties
Author
... ... @@ -1,1 +1,1 @@
1 -XWiki.Mora
1 +XWiki.lxz
Content
... ... @@ -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|143|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|143|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 to 5000|(% 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 to 5000|(% 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 to 5000|(% 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 to 5000|(% 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 to 5000|(% 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 to 5000|(% 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 to 5000|(% 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 to 5000|(% 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|rpm
1927 +)))|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 detection
1972 +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 speed
2040 +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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