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Changes for page 06 Operation

Last modified by Iris on 2025/08/06 18:24
From version 87.3
edited by Mora Zhou
on 2025/04/29 09:34
Change comment: There is no comment for this version
To version 95.1
edited by Mora Zhou
on 2025/04/29 10:32
Change comment: There is no comment for this version

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... ... @@ -1442,7 +1442,7 @@
1442 1442  |135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output)
1443 1443  |136|V-COIN (consistent speed)| |147|COM_VDO1(communication VDO3 output)
1444 1444  |137|V-NEAR (speed approach)| |148|COM_VDO1(communication VDO4 output)
1445 -|138|T-COIN (torque arrival)| | |
1445 +|138|T-COIN (torque arrival)| |149|HOME_ATTAIN (Homing arrived)
1446 1446  
1447 1447  When P06-30 is set to a value other than the above table, it is considered to not use DO port function.
1448 1448  
... ... @@ -1457,6 +1457,8 @@
1457 1457  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!
1458 1458  
1459 1459  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.
1460 1460  )))
1461 1461  
1462 1462  |(% rowspan="2" %)P06-32|Parameter name|Setting method|Effective time|Default|Set range|Application category|Unit
... ... @@ -1475,7 +1475,7 @@
1475 1475  |135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output)
1476 1476  |136|V-COIN (consistent speed)| |147|COM_VDO1(communication VDO3 output)
1477 1477  |137|V-NEAR (speed approach)| |148|COM_VDO1(communication VDO4 output)
1478 -|138|T-COIN (torque arrival)| | |
1480 +|138|T-COIN (torque arrival)| |149|HOME_ATTAIN (Homing arrived)
1479 1479  
1480 1480  When P06-32 is set to a value other than the above table, it is considered to not use DO port function.
1481 1481  
... ... @@ -1490,6 +1490,8 @@
1490 1490  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!
1491 1491  
1492 1492  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.
1493 1493  )))
1494 1494  
1495 1495  = **Speed control mode** =
... ... @@ -1516,8 +1516,9 @@
1516 1516  )))|(% style="width:125px" %)(((
1517 1517  Effective immediately
1518 1518  )))|(% style="width:85px" %)0|(% style="width:75px" %)0 to 1|(% style="width:310px" %)(((
1519 -* 0: internal speed instruction
1520 -* 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**)
1521 1521  )))|-
1522 1522  
1523 1523  Table 6-26 Speed instruction source parameter
... ... @@ -1548,15 +1548,17 @@
1548 1548  Effective
1549 1549  
1550 1550  immediately
1551 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1556 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1552 1552  Internal speed instruction 0
1553 1553  
1554 1554  When DI input port:
1555 1555  
1556 -* 15-INSPD3: 0
1557 -* 14-INSPD2: 0
1558 -* 13-INSPD1: 0,
1561 +15-INSPD3: 0
1559 1559  
1563 +14-INSPD2: 0
1564 +
1565 +13-INSPD1: 0,
1566 +
1560 1560  select this speed instruction to be effective.
1561 1561  )))|(% colspan="2" %)rpm
1562 1562  |=(% colspan="1" %)P01-23|(% colspan="2" %)(((
... ... @@ -1571,15 +1571,17 @@
1571 1571  Effective
1572 1572  
1573 1573  immediately
1574 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1581 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1575 1575  Internal speed instruction 1
1576 1576  
1577 1577  When DI input port:
1578 1578  
1579 -* 15-INSPD3: 0
1580 -* 14-INSPD2: 0
1581 -* 13-INSPD1: 1,
1586 +15-INSPD3: 0
1582 1582  
1588 +14-INSPD2: 0
1589 +
1590 +13-INSPD1: 1,
1591 +
1583 1583  Select this speed instruction to be effective.
1584 1584  )))|(% colspan="2" %)rpm
1585 1585  |=(% colspan="1" %)P01-24|(% colspan="2" %)(((
... ... @@ -1594,15 +1594,17 @@
1594 1594  Effective
1595 1595  
1596 1596  immediately
1597 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1606 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1598 1598  Internal speed instruction 2
1599 1599  
1600 1600  When DI input port:
1601 1601  
1602 -* 15-INSPD3: 0
1603 -* 14-INSPD2: 1
1604 -* 13-INSPD1: 0,
1611 +15-INSPD3: 0
1605 1605  
1613 +14-INSPD2: 1
1614 +
1615 +13-INSPD1: 0,
1616 +
1606 1606  Select this speed instruction to be effective.
1607 1607  )))|(% colspan="2" %)rpm
1608 1608  |=(% colspan="1" %)P01-25|(% colspan="2" %)(((
... ... @@ -1617,15 +1617,17 @@
1617 1617  Effective
1618 1618  
1619 1619  immediately
1620 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1631 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1621 1621  Internal speed instruction 3
1622 1622  
1623 1623  When DI input port:
1624 1624  
1625 -* 15-INSPD3: 0
1626 -* 14-INSPD2: 1
1627 -* 13-INSPD1: 1,
1636 +15-INSPD3: 0
1628 1628  
1638 +14-INSPD2: 1
1639 +
1640 +13-INSPD1: 1,
1641 +
1629 1629  Select this speed instruction to be effective.
1630 1630  )))|(% colspan="2" %)rpm
1631 1631  |=P01-26|(% colspan="2" %)(((
... ... @@ -1640,15 +1640,17 @@
1640 1640  Effective
1641 1641  
1642 1642  immediately
1643 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1656 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1644 1644  Internal speed instruction 4
1645 1645  
1646 1646  When DI input port:
1647 1647  
1648 -* 15-INSPD3: 1
1649 -* 14-INSPD2: 0
1650 -* 13-INSPD1: 0,
1661 +15-INSPD3: 1
1651 1651  
1663 +14-INSPD2: 0
1664 +
1665 +13-INSPD1: 0,
1666 +
1652 1652  Select this speed instruction to be effective.
1653 1653  )))|(% colspan="1" %)rpm
1654 1654  |=P01-27|(% colspan="2" %)(((
... ... @@ -1663,15 +1663,17 @@
1663 1663  Effective
1664 1664  
1665 1665  immediately
1666 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1681 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1667 1667  Internal speed instruction 5
1668 1668  
1669 1669  When DI input port:
1670 1670  
1671 -* 15-INSPD3: 1
1672 -* 14-INSPD2: 0
1673 -* 13-INSPD1: 1,
1686 +15-INSPD3: 1
1674 1674  
1688 +14-INSPD2: 0
1689 +
1690 +13-INSPD1: 1,
1691 +
1675 1675  Select this speed instruction to be effective.
1676 1676  )))|(% colspan="1" %)rpm
1677 1677  |=P01-28|(% colspan="2" %)(((
... ... @@ -1686,15 +1686,17 @@
1686 1686  Effective
1687 1687  
1688 1688  immediately
1689 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1706 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1690 1690  Internal speed instruction 6
1691 1691  
1692 1692  When DI input port:
1693 1693  
1694 -* 15-INSPD3: 1
1695 -* 14-INSPD2: 1
1696 -* 13-INSPD1: 0,
1711 +15-INSPD3: 1
1697 1697  
1713 +14-INSPD2: 1
1714 +
1715 +13-INSPD1: 0,
1716 +
1698 1698  Select this speed instruction to be effective.
1699 1699  )))|(% colspan="1" %)rpm
1700 1700  |=P01-29|(% colspan="2" %)(((
... ... @@ -1709,15 +1709,17 @@
1709 1709  Effective
1710 1710  
1711 1711  immediately
1712 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1731 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1713 1713  Internal speed instruction 7
1714 1714  
1715 1715  When DI input port:
1716 1716  
1717 -* 15-INSPD3: 1
1718 -* 14-INSPD2: 1
1719 -* 13-INSPD1: 1,
1736 +15-INSPD3: 1
1720 1720  
1738 +14-INSPD2: 1
1739 +
1740 +13-INSPD1: 1,
1741 +
1721 1721  Select this speed instruction to be effective.
1722 1722  )))|(% colspan="1" %)rpm
1723 1723  
... ... @@ -1733,12 +1733,13 @@
1733 1733  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.
1734 1734  
1735 1735  
1736 -|=**INSPD3**|=**INSPD2**|=**INSPD1**|=**Running segment number**|=**Internal speed instruction number**
1737 -|0|0|0|1|0
1738 -|0|0|1|2|1
1739 -|0|1|0|3|2
1740 -|(% colspan="5" %)......
1741 -|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
1742 1742  
1743 1743  Table 6-29 Correspondence between INSPD bits and segment numbers
1744 1744  
... ... @@ -1779,16 +1779,22 @@
1779 1779  )))
1780 1780  
1781 1781  |=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit**
1782 -|=P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1783 -|=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
1784 -|=P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel quantity dead zone value|mV
1785 -|=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
1786 1786  
1787 -Table 6-30 AI_1 parameters
1788 -
1789 1789  (% class="box infomessage" %)
1790 1790  (((
1791 -✎**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 .
1792 1792  )))
1793 1793  
1794 1794  == Acceleration and deceleration time setting ==
... ... @@ -1882,10 +1882,13 @@
1882 1882  )))|0|0 to 3|(((
1883 1883  Set the zero-speed clamp function. In speed mode:
1884 1884  
1885 -* 0: Force the speed to 0;
1886 -* 1: Force the speed to 0, and keep the position locked when the actual speed is less than P01-22
1887 -* 2: When speed instruction is less than P01-22, force the speed to 0 and keep the position locked
1888 -* 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
1889 1889  )))|-
1890 1890  |=P01-22|(((
1891 1891  Zero-speed clamp speed threshold
... ... @@ -1893,7 +1893,7 @@
1893 1893  Operation setting
1894 1894  )))|(((
1895 1895  Effective immediately
1896 -)))|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
1897 1897  
1898 1898  Table 6-33 Zero-speed clamp related parameters
1899 1899  
... ... @@ -1938,7 +1938,7 @@
1938 1938  
1939 1939  |=(% scope="row" %)**DO function code**|=(% style="width: 247px;" %)**Function name**|=(% style="width: 695px;" %)**Function**
1940 1940  |=132|(% style="width:247px" %)(((
1941 -T-COIN rotation detection
1972 +TGON rotation detection
1942 1942  )))|(% style="width:695px" %)(((
1943 1943  Valid: when the absolute value of motor speed after filtering is greater than or equal to the set value of function code P05-16
1944 1944  
... ... @@ -2006,7 +2006,7 @@
2006 2006  
2007 2007  |=(% scope="row" %)**DO Function code**|=(% style="width: 262px;" %)**Function name**|=(% style="width: 684px;" %)**Function**
2008 2008  |=136|(% style="width:262px" %)(((
2009 -U-COIN consistent speed
2040 +V-COIN consistent speed
2010 2010  )))|(% 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
2011 2011  
2012 2012  Table 6-39 DO speed consistent function code
... ... @@ -2190,8 +2190,9 @@
2190 2190  )))|(((
2191 2191  Effective immediately
2192 2192  )))|0|0 to 1|(((
2193 -* 0: internal value
2194 -* 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)
2195 2195  )))|-
2196 2196  
2197 2197  * Torque limit source is internal torque instruction (P01-14=0)
... ... @@ -2268,7 +2268,7 @@
2268 2268  Operation setting
2269 2269  )))|(((
2270 2270  Effective immediately
2271 -)))|3000|0 to 5000|(((
2303 +)))|3000|0 to 6000|(((
2272 2272  Forward torque
2273 2273  
2274 2274  limit in torque mode
... ... @@ -2281,7 +2281,7 @@
2281 2281  Operation setting
2282 2282  )))|(((
2283 2283  Effective immediately
2284 -)))|3000|0 to 5000|(((
2316 +)))|3000|0 to 6000|(((
2285 2285  Reverse torque
2286 2286  
2287 2287  limit in torque mode
... ... @@ -2366,13 +2366,18 @@
2366 2366  )))|(((
2367 2367  Shutdown setting
2368 2368  )))|1|(% style="width:90px" %)1 to 6|(% style="width:273px" %)(((
2369 -* 1: Position control
2370 -* 2: Speed control
2371 -* 3: Torque control
2372 -* 4: Position/speed mixed control
2373 -* 5: Position/torque mixed control
2374 -* 6: Speed/torque mixed control
2401 +1: Position control
2375 2375  
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 +
2376 2376  **VD2L drive P0-01 setting range: 1-3, not support mixed mode**
2377 2377  )))|-
2378 2378