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

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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|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