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Changes for page 06 Operation

Last modified by Iris on 2025/08/06 18:24
From version 87.1
edited by Mora Zhou
on 2025/04/28 17:33
Change comment: There is no comment for this version
To version 102.2
edited by xingzhi lin
on 2025/05/26 09:21
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
... ... @@ -1392,7 +1392,7 @@
1392 1392  
1393 1393  
1394 1394  |(% rowspan="2" %)P06-28|Parameter name|Setting method|Effective time|Default|Set range|Application category|Unit
1395 -|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|-
1396 1396  |(% colspan="8" %)(((
1397 1397  Used to set DO functions corresponding to hardware DO2. Refer to the following table for the functions corresponding to the set value:
1398 1398  
... ... @@ -1407,7 +1407,7 @@
1407 1407  |135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output)
1408 1408  |136|V-COIN (consistent speed)| |147|COM_VDO1(communication VDO3 output)
1409 1409  |137|V-NEAR (speed approach)| |148|COM_VDO1(communication VDO4 output)
1410 -|138|T-COIN (torque arrival)| | |
1410 +|138|T-COIN (torque arrival)| |149|HOME_ATTAIN (Homing arrived)
1411 1411  
1412 1412  When P06-28 is set to a value other than the above table, it is considered to not use DO port function.
1413 1413  
... ... @@ -1422,10 +1422,12 @@
1422 1422  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!
1423 1423  
1424 1424  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.
1425 1425  )))
1426 1426  
1427 1427  |(% rowspan="2" %)P06-30|Parameter name|Setting method|Effective time|Default|Set range|Application category|Unit
1428 -|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|-
1429 1429  |(% colspan="8" %)(((
1430 1430  Used to set DO functions corresponding to hardware DO3. Refer to the following table for the functions corresponding to the set value:
1431 1431  
... ... @@ -1440,7 +1440,7 @@
1440 1440  |135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output)
1441 1441  |136|V-COIN (consistent speed)| |147|COM_VDO1(communication VDO3 output)
1442 1442  |137|V-NEAR (speed approach)| |148|COM_VDO1(communication VDO4 output)
1443 -|138|T-COIN (torque arrival)| | |
1445 +|138|T-COIN (torque arrival)| |149|HOME_ATTAIN (Homing arrived)
1444 1444  
1445 1445  When P06-30 is set to a value other than the above table, it is considered to not use DO port function.
1446 1446  
... ... @@ -1455,6 +1455,8 @@
1455 1455  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!
1456 1456  
1457 1457  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.
1458 1458  )))
1459 1459  
1460 1460  |(% rowspan="2" %)P06-32|Parameter name|Setting method|Effective time|Default|Set range|Application category|Unit
... ... @@ -1473,7 +1473,7 @@
1473 1473  |135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output)
1474 1474  |136|V-COIN (consistent speed)| |147|COM_VDO1(communication VDO3 output)
1475 1475  |137|V-NEAR (speed approach)| |148|COM_VDO1(communication VDO4 output)
1476 -|138|T-COIN (torque arrival)| | |
1480 +|138|T-COIN (torque arrival)| |149|HOME_ATTAIN (Homing arrived)
1477 1477  
1478 1478  When P06-32 is set to a value other than the above table, it is considered to not use DO port function.
1479 1479  
... ... @@ -1488,6 +1488,8 @@
1488 1488  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!
1489 1489  
1490 1490  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.
1491 1491  )))
1492 1492  
1493 1493  = **Speed control mode** =
... ... @@ -1514,8 +1514,9 @@
1514 1514  )))|(% style="width:125px" %)(((
1515 1515  Effective immediately
1516 1516  )))|(% style="width:85px" %)0|(% style="width:75px" %)0 to 1|(% style="width:310px" %)(((
1517 -* 0: internal speed instruction
1518 -* 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**)
1519 1519  )))|-
1520 1520  
1521 1521  Table 6-26 Speed instruction source parameter
... ... @@ -1546,15 +1546,17 @@
1546 1546  Effective
1547 1547  
1548 1548  immediately
1549 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1556 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1550 1550  Internal speed instruction 0
1551 1551  
1552 1552  When DI input port:
1553 1553  
1554 -* 15-INSPD3: 0
1555 -* 14-INSPD2: 0
1556 -* 13-INSPD1: 0,
1561 +15-INSPD3: 0
1557 1557  
1563 +14-INSPD2: 0
1564 +
1565 +13-INSPD1: 0,
1566 +
1558 1558  select this speed instruction to be effective.
1559 1559  )))|(% colspan="2" %)rpm
1560 1560  |=(% colspan="1" %)P01-23|(% colspan="2" %)(((
... ... @@ -1569,15 +1569,17 @@
1569 1569  Effective
1570 1570  
1571 1571  immediately
1572 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1581 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1573 1573  Internal speed instruction 1
1574 1574  
1575 1575  When DI input port:
1576 1576  
1577 -* 15-INSPD3: 0
1578 -* 14-INSPD2: 0
1579 -* 13-INSPD1: 1,
1586 +15-INSPD3: 0
1580 1580  
1588 +14-INSPD2: 0
1589 +
1590 +13-INSPD1: 1,
1591 +
1581 1581  Select this speed instruction to be effective.
1582 1582  )))|(% colspan="2" %)rpm
1583 1583  |=(% colspan="1" %)P01-24|(% colspan="2" %)(((
... ... @@ -1592,15 +1592,17 @@
1592 1592  Effective
1593 1593  
1594 1594  immediately
1595 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1606 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1596 1596  Internal speed instruction 2
1597 1597  
1598 1598  When DI input port:
1599 1599  
1600 -* 15-INSPD3: 0
1601 -* 14-INSPD2: 1
1602 -* 13-INSPD1: 0,
1611 +15-INSPD3: 0
1603 1603  
1613 +14-INSPD2: 1
1614 +
1615 +13-INSPD1: 0,
1616 +
1604 1604  Select this speed instruction to be effective.
1605 1605  )))|(% colspan="2" %)rpm
1606 1606  |=(% colspan="1" %)P01-25|(% colspan="2" %)(((
... ... @@ -1615,15 +1615,17 @@
1615 1615  Effective
1616 1616  
1617 1617  immediately
1618 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1631 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1619 1619  Internal speed instruction 3
1620 1620  
1621 1621  When DI input port:
1622 1622  
1623 -* 15-INSPD3: 0
1624 -* 14-INSPD2: 1
1625 -* 13-INSPD1: 1,
1636 +15-INSPD3: 0
1626 1626  
1638 +14-INSPD2: 1
1639 +
1640 +13-INSPD1: 1,
1641 +
1627 1627  Select this speed instruction to be effective.
1628 1628  )))|(% colspan="2" %)rpm
1629 1629  |=P01-26|(% colspan="2" %)(((
... ... @@ -1638,15 +1638,17 @@
1638 1638  Effective
1639 1639  
1640 1640  immediately
1641 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1656 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1642 1642  Internal speed instruction 4
1643 1643  
1644 1644  When DI input port:
1645 1645  
1646 -* 15-INSPD3: 1
1647 -* 14-INSPD2: 0
1648 -* 13-INSPD1: 0,
1661 +15-INSPD3: 1
1649 1649  
1663 +14-INSPD2: 0
1664 +
1665 +13-INSPD1: 0,
1666 +
1650 1650  Select this speed instruction to be effective.
1651 1651  )))|(% colspan="1" %)rpm
1652 1652  |=P01-27|(% colspan="2" %)(((
... ... @@ -1661,15 +1661,17 @@
1661 1661  Effective
1662 1662  
1663 1663  immediately
1664 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1681 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1665 1665  Internal speed instruction 5
1666 1666  
1667 1667  When DI input port:
1668 1668  
1669 -* 15-INSPD3: 1
1670 -* 14-INSPD2: 0
1671 -* 13-INSPD1: 1,
1686 +15-INSPD3: 1
1672 1672  
1688 +14-INSPD2: 0
1689 +
1690 +13-INSPD1: 1,
1691 +
1673 1673  Select this speed instruction to be effective.
1674 1674  )))|(% colspan="1" %)rpm
1675 1675  |=P01-28|(% colspan="2" %)(((
... ... @@ -1684,15 +1684,17 @@
1684 1684  Effective
1685 1685  
1686 1686  immediately
1687 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1706 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1688 1688  Internal speed instruction 6
1689 1689  
1690 1690  When DI input port:
1691 1691  
1692 -* 15-INSPD3: 1
1693 -* 14-INSPD2: 1
1694 -* 13-INSPD1: 0,
1711 +15-INSPD3: 1
1695 1695  
1713 +14-INSPD2: 1
1714 +
1715 +13-INSPD1: 0,
1716 +
1696 1696  Select this speed instruction to be effective.
1697 1697  )))|(% colspan="1" %)rpm
1698 1698  |=P01-29|(% colspan="2" %)(((
... ... @@ -1707,15 +1707,17 @@
1707 1707  Effective
1708 1708  
1709 1709  immediately
1710 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1731 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1711 1711  Internal speed instruction 7
1712 1712  
1713 1713  When DI input port:
1714 1714  
1715 -* 15-INSPD3: 1
1716 -* 14-INSPD2: 1
1717 -* 13-INSPD1: 1,
1736 +15-INSPD3: 1
1718 1718  
1738 +14-INSPD2: 1
1739 +
1740 +13-INSPD1: 1,
1741 +
1719 1719  Select this speed instruction to be effective.
1720 1720  )))|(% colspan="1" %)rpm
1721 1721  
... ... @@ -1731,12 +1731,13 @@
1731 1731  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.
1732 1732  
1733 1733  
1734 -|=**INSPD3**|=**INSPD2**|=**INSPD1**|=**Running segment number**|=**Internal speed instruction number**
1735 -|0|0|0|1|0
1736 -|0|0|1|2|1
1737 -|0|1|0|3|2
1738 -|(% colspan="5" %)......
1739 -|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
1740 1740  
1741 1741  Table 6-29 Correspondence between INSPD bits and segment numbers
1742 1742  
... ... @@ -1777,16 +1777,22 @@
1777 1777  )))
1778 1778  
1779 1779  |=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit**
1780 -|=P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1781 -|=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
1782 -|=P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel quantity dead zone value|mV
1783 -|=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
1784 1784  
1785 -Table 6-30 AI_1 parameters
1786 -
1787 1787  (% class="box infomessage" %)
1788 1788  (((
1789 -✎**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 .
1790 1790  )))
1791 1791  
1792 1792  == Acceleration and deceleration time setting ==
... ... @@ -1880,10 +1880,13 @@
1880 1880  )))|0|0 to 3|(((
1881 1881  Set the zero-speed clamp function. In speed mode:
1882 1882  
1883 -* 0: Force the speed to 0;
1884 -* 1: Force the speed to 0, and keep the position locked when the actual speed is less than P01-22
1885 -* 2: When speed instruction is less than P01-22, force the speed to 0 and keep the position locked
1886 -* 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
1887 1887  )))|-
1888 1888  |=P01-22|(((
1889 1889  Zero-speed clamp speed threshold
... ... @@ -1891,7 +1891,7 @@
1891 1891  Operation setting
1892 1892  )))|(((
1893 1893  Effective immediately
1894 -)))|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
1895 1895  
1896 1896  Table 6-33 Zero-speed clamp related parameters
1897 1897  
... ... @@ -1936,7 +1936,7 @@
1936 1936  
1937 1937  |=(% scope="row" %)**DO function code**|=(% style="width: 247px;" %)**Function name**|=(% style="width: 695px;" %)**Function**
1938 1938  |=132|(% style="width:247px" %)(((
1939 -T-COIN rotation detection
1972 +TGON rotation detection
1940 1940  )))|(% style="width:695px" %)(((
1941 1941  Valid: when the absolute value of motor speed after filtering is greater than or equal to the set value of function code P05-16
1942 1942  
... ... @@ -2004,7 +2004,7 @@
2004 2004  
2005 2005  |=(% scope="row" %)**DO Function code**|=(% style="width: 262px;" %)**Function name**|=(% style="width: 684px;" %)**Function**
2006 2006  |=136|(% style="width:262px" %)(((
2007 -U-COIN consistent speed
2040 +V-COIN consistent speed
2008 2008  )))|(% 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
2009 2009  
2010 2010  Table 6-39 DO speed consistent function code
... ... @@ -2188,8 +2188,9 @@
2188 2188  )))|(((
2189 2189  Effective immediately
2190 2190  )))|0|0 to 1|(((
2191 -* 0: internal value
2192 -* 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)
2193 2193  )))|-
2194 2194  
2195 2195  * Torque limit source is internal torque instruction (P01-14=0)
... ... @@ -2266,7 +2266,7 @@
2266 2266  Operation setting
2267 2267  )))|(((
2268 2268  Effective immediately
2269 -)))|3000|0 to 5000|(((
2303 +)))|3000|0 to 6000|(((
2270 2270  Forward torque
2271 2271  
2272 2272  limit in torque mode
... ... @@ -2279,7 +2279,7 @@
2279 2279  Operation setting
2280 2280  )))|(((
2281 2281  Effective immediately
2282 -)))|3000|0 to 5000|(((
2316 +)))|3000|0 to 6000|(((
2283 2283  Reverse torque
2284 2284  
2285 2285  limit in torque mode
... ... @@ -2364,13 +2364,18 @@
2364 2364  )))|(((
2365 2365  Shutdown setting
2366 2366  )))|1|(% style="width:90px" %)1 to 6|(% style="width:273px" %)(((
2367 -* 1: Position control
2368 -* 2: Speed control
2369 -* 3: Torque control
2370 -* 4: Position/speed mixed control
2371 -* 5: Position/torque mixed control
2372 -* 6: Speed/torque mixed control
2401 +1: Position control
2373 2373  
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 +
2374 2374  **VD2L drive P0-01 setting range: 1-3, not support mixed mode**
2375 2375  )))|-
2376 2376  
... ... @@ -2512,8 +2512,9 @@
2512 2512  **time**
2513 2513  )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2514 2514  |=P00-30|Shield multi-turn absolute encoder battery fault|Operation setting|Power on again|0|0 to 1|(((
2515 -* 0：Detect multi-turn absolute encoder battery under voltage, and battery low voltage fault
2516 -* 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
2517 2517  )))|-
2518 2518  
2519 2519  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.
... ... @@ -2658,8 +2658,9 @@
2658 2658  
2659 2659  VDI_1 input level:
2660 2660  
2661 -* 0: low level
2662 -* 1: high level
2701 +0: Low level
2702 +
2703 +1: High level
2663 2663  )))|-
2664 2664  |=P13-2|Virtual VDI_2 input value|Operation setting|Effective immediately|0|0 to 1|(((
2665 2665  When P06-07 is set to 1, DI_2 channel logic is control by this function code.
... ... @@ -2666,8 +2666,9 @@
2666 2666  
2667 2667  VDI_2 input level:
2668 2668  
2669 -* 0: low level
2670 -* 1: high level
2710 +0: Low level
2711 +
2712 +1: High level
2671 2671  )))|-
2672 2672  |=P13-3|Virtual VDI_3 input value|Operation setting|Effective immediately|0|0 to 1|(((
2673 2673  When P06-10 is set to 1, DI_3 channel logic is control by this function code.
... ... @@ -2674,8 +2674,9 @@
2674 2674  
2675 2675  VDI_3 input level:
2676 2676  
2677 -* 0: low level
2678 -* 1: high level
2719 +0: Low level
2720 +
2721 +1: High level
2679 2679  )))|-
2680 2680  |=P13-4|Virtual VDI_4 input value|Operation setting|Effective immediately|0|0 to 1|(((
2681 2681  When P06-13 is set to 1, DI_4 channel logic is control by this function code.
... ... @@ -2682,40 +2682,53 @@
2682 2682  
2683 2683  VDI_4 input level:
2684 2684  
2685 -* 0: low level
2686 -* 1: high level
2728 +0: Low level
2729 +
2730 +1: High level
2687 2687  )))|-
2688 -|=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|(((
2689 2689  When P06-16 is set to 1, DI_5 channel logic is control by this function code.
2690 2690  
2691 2691  VDI_5 input level:
2692 2692  
2693 -* 0: low level
2694 -* 1: high level
2739 +0: Low level
2740 +
2741 +1: High level
2695 2695  )))|-
2696 -|=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|(((
2697 2697  When P06-19 is set to 1, DI_6 channel logic is control by this function code.
2698 2698  
2699 2699  VDI_6 input level:
2700 2700  
2701 -* 0: low level
2702 -* 1: high level
2750 +0: Low level
2751 +
2752 +1: High level
2703 2703  )))|-
2704 -|=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|(((
2705 2705  When P06-22 is set to 1, DI_7 channel logic is control by this function code.
2706 2706  
2707 2707  VDI_7 input level:
2708 2708  
2709 -* 0: low level
2710 -* 1: high level
2761 +0: Low level
2762 +
2763 +1: High level
2711 2711  )))|-
2712 -|=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|(((
2713 2713  When P06-25 is set to 1, DI_8 channel logic is control by this function code.
2714 2714  
2715 2715  VDI_8 input level:
2716 2716  
2717 -* 0: low level
2718 -* 1: high level
2772 +0: Low level
2773 +
2774 +1: High level
2719 2719  )))|-
2720 2720  
2721 2721  Table 6-57 Virtual VDI parameters
... ... @@ -2722,7 +2722,7 @@
2722 2722  
2723 2723  (% class="box infomessage" %)
2724 2724  (((
2725 -✎**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 .
2726 2726  )))
2727 2727  
2728 2728  == Port filtering time ==
... ... @@ -2756,26 +2756,30 @@
2756 2756  |=P13-11|Communication VDO_1 output value|Operation setting|Effective immediately|0|0 to 1|(((
2757 2757  VDO_1 output level：
2758 2758  
2759 -* 0: low level
2760 -* 1: high level
2815 +0: Low level
2816 +
2817 +1: High level
2761 2761  )))|-
2762 2762  |=P13-12|Communication VDO_2 output value|Operation setting|Effective immediately|0|0 to 1|(((
2763 2763  VDO_2 output level：
2764 2764  
2765 -* 0: low level
2766 -* 1: high level
2822 +0: Low level
2823 +
2824 +1: High level
2767 2767  )))|-
2768 2768  |=P13-13|Communication VDO_3 output value|Operation setting|Effective immediately|0|0 to 1|(((
2769 2769  VDO_3 output level：
2770 2770  
2771 -* 0: low level
2772 -* 1: high level
2829 +0: Low level
2830 +
2831 +1: High level
2773 2773  )))|-
2774 2774  |=P13-14|Communication VDO_4 output value|Operation setting|Effective immediately|0|0 to 1|(((
2775 2775  VDO_4 output level：
2776 2776  
2777 -* 0: low level
2778 -* 1: high level
2836 +0: Low level
2837 +
2838 +1: High level
2779 2779  )))|-
2780 2780  
2781 2781  Table 6-59 Communication control DO function parameters
... ... @@ -2818,3 +2818,857 @@
2818 2818  (((
2819 2819  ✎**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.
2820 2820  )))
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 +
3231 +
3232 +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.
3233 +
3234 +
3235 +When homing, the deceleration point signal is invalid and the forward limit switch is encountered
3236 +
3237 +
3238 +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.
3239 +
3240 +
3241 +③ The deceleration point signal is valid when starting homing
3242 +
3243 +
3244 +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;
3245 +
3246 +
3247 +(8) P01-40=8
3248 +
3249 +Mechanical homing: Motor Z signal
3250 +
3251 +Deceleration point: Home switch (HW)
3252 +
3253 +① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3254 +
3255 +
3256 +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.
3257 +
3258 +
3259 +① The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
3260 +
3261 +
3262 +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.
3263 +
3264 +
3265 +③ The deceleration point signal is valid when starting homing
3266 +
3267 +
3268 +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.
3269 +
3270 +
3271 +
3272 +(9) P01-40=9
3273 +
3274 +Mechanical homing: Motor Z signal
3275 +
3276 +Deceleration point: Home switch (HW)
3277 +
3278 +① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3279 +
3280 +
3281 +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.
3282 +
3283 +
3284 +① The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
3285 +
3286 +
3287 +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.
3288 +
3289 +③ The deceleration point signal is valid when starting homing
3290 +
3291 +
3292 +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;
3293 +
3294 +
3295 +(10) P01-40=10
3296 +
3297 +Mechanical homing: Motor Z signal
3298 +
3299 +Deceleration point: Home switch (HW)
3300 +
3301 +① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3302 +
3303 +
3304 +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.
3305 +
3306 +When homing, the deceleration point signal is invalid and the forward limit switch is encountered
3307 +
3308 +
3309 +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.
3310 +
3311 +
3312 +③ The deceleration point signal is valid when starting homing
3313 +
3314 +
3315 +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;
3316 +
3317 +
3318 +(11) P01-40=11
3319 +
3320 +Mechanical homing: Motor Z signal
3321 +
3322 +Deceleration point: Home switch (HW)
3323 +
3324 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3325 +
3326 +
3327 +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.
3328 +
3329 +
3330 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3331 +
3332 +
3333 +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.
3334 +
3335 +③ The deceleration point signal is valid when starting homing
3336 +
3337 +
3338 +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;
3339 +
3340 +
3341 +(12) P01-40=12
3342 +
3343 +Mechanical homing: Motor Z signal
3344 +
3345 +Deceleration point: Home switch (HW)
3346 +
3347 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3348 +
3349 +
3350 +
3351 +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.
3352 +
3353 +
3354 +
3355 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3356 +
3357 +
3358 +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.
3359 +
3360 +
3361 +
3362 +③ The deceleration point signal is valid when starting homing
3363 +
3364 +
3365 +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.
3366 +
3367 +(13) P01-40=13
3368 +
3369 +Mechanical homing: Motor Z signal
3370 +
3371 +Deceleration point: Home switch (HW)
3372 +
3373 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3374 +
3375 +
3376 +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.
3377 +
3378 +
3379 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3380 +
3381 +
3382 +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.
3383 +
3384 +③ The deceleration point signal is valid when starting homing
3385 +
3386 +
3387 +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;
3388 +
3389 +
3390 +(14) P01-40=14
3391 +
3392 +Mechanical homing: Motor Z signal
3393 +
3394 +Deceleration point: Home switch (HW)
3395 +
3396 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3397 +
3398 +
3399 +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.
3400 +
3401 +
3402 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3403 +
3404 +
3405 +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.
3406 +
3407 +
3408 +③ The deceleration point signal is valid when starting homing
3409 +
3410 +
3411 +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;
3412 +
3413 +
3414 +(15) P01-40=17
3415 +
3416 +Mechanical homing: Negative overrun switch (NOT)
3417 +
3418 +Deceleration point: Negative overrun switch (NOT)
3419 +
3420 +① The deceleration point signal is invalid when starting homing
3421 +
3422 +
3423 +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.
3424 +
3425 +
3426 +② The deceleration point signal is valid when starting homing
3427 +
3428 +
3429 +When starting homing, NOT=1, start homing directly at low speed, and stop after encountering the falling edge of NOT.
3430 +
3431 +
3432 +(16) P01-40=18
3433 +
3434 +Mechanical homing: Positive overrun switch (POT)
3435 +
3436 +Deceleration point: Positive overrun switch (POT)
3437 +
3438 +① The deceleration point signal is invalid when starting homing
3439 +
3440 +
3441 +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.
3442 +
3443 +
3444 +② The deceleration point signal is valid when starting homing
3445 +
3446 +
3447 +When starting homing, POT=1, start homing at low speed in reverse directly, and stop when encountering POT falling edge;
3448 +
3449 +
3450 +
3451 +(17) P01-40=19
3452 +
3453 +Mechanical homing: Home switch (HW)
3454 +
3455 +Deceleration point: Home switch (HW)
3456 +
3457 +① The deceleration point signal is invalid when starting homing
3458 +
3459 +
3460 +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.
3461 +
3462 +
3463 +② The deceleration point signal is valid when starting homing
3464 +
3465 +
3466 +When starting homing, HW=1, start homing at low speed in reverse directly, and stop when encountering HW falling edge;
3467 +
3468 +
3469 +(18) P01-40=20
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 starting to homing, HW=0, directly start to homing at low speed, and stop after encountering the rising edge of HW;
3479 +
3480 +
3481 +② The deceleration point signal is valid when starting homing
3482 +
3483 +
3484 +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.
3485 +
3486 +
3487 +(19) P01-40=21
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 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.
3497 +
3498 +
3499 +② The deceleration point signal is valid when starting homing
3500 +
3501 +
3502 +When starting back to zero, HW=1, it will start homing directly at low speed, and stop after encountering the falling edge of HW;
3503 +
3504 +
3505 +(20) P01-40=22
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 starting to homing, HW=0, directly reverse low speed starts to homing, and stops when encountering HW rising edge;
3515 +
3516 +
3517 +Deceleration point signal is valid when homing start
3518 +
3519 +
3520 +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.
3521 +
3522 +
3523 +(21) P01-40=23
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, the forward limit switch is not encountered
3530 +
3531 +
3532 +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.
3533 +
3534 +
3535 +① The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
3536 +
3537 +
3538 +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.
3539 +
3540 +
3541 +
3542 +③ The deceleration point signal is valid when starting homing
3543 +
3544 +
3545 +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.
3546 +
3547 +
3548 +(22) P01-40=24
3549 +
3550 +Mechanical homing: Home switch (HW)
3551 +
3552 +Deceleration point: Home switch (HW)
3553 +
3554 +① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3555 +
3556 +
3557 +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.
3558 +
3559 +
3560 +① The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
3561 +
3562 +
3563 +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.
3564 +
3565 +
3566 +③ The deceleration point signal is valid when starting homing
3567 +
3568 +
3569 +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.
3570 +
3571 +
3572 +(23) P01-40=25
3573 +
3574 +Mechanical homing: Home switch (HW)
3575 +
3576 +Deceleration point: Home switch (HW)
3577 +
3578 +① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3579 +
3580 +
3581 +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.
3582 +
3583 +
3584 +① The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
3585 +
3586 +
3587 +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.
3588 +
3589 +
3590 +③ The deceleration point signal is valid when starting homing
3591 +
3592 +
3593 +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
3594 +
3595 +
3596 +(24) P01-40=26
3597 +
3598 +Mechanical homing: Home switch (HW)
3599 +
3600 +Deceleration point: Home switch (HW)
3601 +
3602 +① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3603 +
3604 +
3605 +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.
3606 +
3607 +
3608 +① The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
3609 +
3610 +
3611 +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.
3612 +
3613 +
3614 +③ The deceleration point signal is valid when starting homing
3615 +
3616 +
3617 +When starting homing, HW=1, it will start homing directly at low speed, and stop when encountering HW falling edge;
3618 +
3619 +
3620 +(25) P01-40=27
3621 +
3622 +Mechanical homing: Home switch (HW)
3623 +
3624 +Deceleration point: Home switch (HW)
3625 +
3626 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3627 +
3628 +
3629 +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.
3630 +
3631 +
3632 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3633 +
3634 +
3635 +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.
3636 +
3637 +
3638 +③ The deceleration point signal is valid when starting homing
3639 +
3640 +
3641 +When starting homing, HW=1, it will start homing directly at low speed, and stop when encountering HW falling edge;
3642 +
3643 +
3644 +(26) P01-40=28
3645 +
3646 +Mechanical homing: Home switch (HW)
3647 +
3648 +Deceleration point: Home switch (HW)
3649 +
3650 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3651 +
3652 +
3653 +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.
3654 +
3655 +
3656 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3657 +
3658 +
3659 +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.
3660 +
3661 +
3662 +③ The deceleration point signal is valid when starting homing
3663 +
3664 +
3665 +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.
3666 +
3667 +
3668 +(27) P01-40=29
3669 +
3670 +Mechanical homing: Home switch (HW)
3671 +
3672 +Deceleration point: Home switch (HW)
3673 +
3674 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3675 +
3676 +
3677 +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.
3678 +
3679 +
3680 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3681 +
3682 +
3683 +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.
3684 +
3685 +③ The deceleration point signal is valid when starting homing
3686 +
3687 +
3688 +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
3689 +
3690 +
3691 +(28) P01-40=30
3692 +
3693 +Mechanical homing: Home switch (HW)
3694 +
3695 +Deceleration point: Home switch (HW)
3696 +
3697 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3698 +
3699 +
3700 +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.
3701 +
3702 +
3703 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3704 +
3705 +
3706 +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.
3707 +
3708 +
3709 +③ The deceleration point signal is valid when starting homing
3710 +
3711 +
3712 +When starting homing, HW=1, start homing at low speed in reverse directly, and stop when encountering HW falling edge;
3713 +
3714 +
3715 +(29) P01-40=33 and P01-40=34
3716 +
3717 +Mechanical homing: Z signal.
3718 +
3719 +Deceleration point: None
3720 +
3721 +Homing mode 33: Reverse low speed operation, stop the first Z signal encountered
3722 +
3723 +Homing mode 34: running at low speed in forward direction, stopping the first Z signal encountered
3724 +
3725 +
3726 +
3727 +(30) P01-40=35
3728 +
3729 +Homing mode 35, taking the current position as the mechanical homing, after triggering the homing (P01-39: 0x00→0x01/0x00 → 0x02);
3730 +
3731 +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.
3732 +
3733 +
3734 +
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