Skip to Content

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 94.1
edited by Mora Zhou
on 2025/04/29 10:24
Change comment: There is no comment for this version

Summary

Details

Page properties
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