Changes for page 06 Operation
Last modified by Iris on 2025/08/06 18:24
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... ... @@ -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|1 43|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|1 43|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 to5000|(% 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 to5000|(% 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 to5000|(% 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 to5000|(% 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 to5000|(% 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 to5000|(% 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 to5000|(% 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 to5000|(% 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|rpm1927 +)))|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 detection1972 +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 speed2040 +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)