Skip to Content

Changes for page 06 Operation

Last modified by Iris on 2025/08/06 18:24
From version 88.1
edited by Mora Zhou
on 2025/04/29 09:38
Change comment: There is no comment for this version
To version 94.1
edited by Mora Zhou
on 2025/04/29 10:24
Change comment: There is no comment for this version

Summary

Details

Page properties
Content
... ... @@ -1477,7 +1477,7 @@
1477 1477  |135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output)
1478 1478  |136|V-COIN (consistent speed)| |147|COM_VDO1(communication VDO3 output)
1479 1479  |137|V-NEAR (speed approach)| |148|COM_VDO1(communication VDO4 output)
1480 -|138|T-COIN (torque arrival)| | |
1480 +|138|T-COIN (torque arrival)| |149|HOME_ATTAIN (Homing arrived)
1481 1481  
1482 1482  When P06-32 is set to a value other than the above table, it is considered to not use DO port function.
1483 1483  
... ... @@ -1492,6 +1492,8 @@
1492 1492  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!
1493 1493  
1494 1494  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.
1495 1495  )))
1496 1496  
1497 1497  = **Speed control mode** =
... ... @@ -1518,8 +1518,9 @@
1518 1518  )))|(% style="width:125px" %)(((
1519 1519  Effective immediately
1520 1520  )))|(% style="width:85px" %)0|(% style="width:75px" %)0 to 1|(% style="width:310px" %)(((
1521 -* 0: internal speed instruction
1522 -* 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**)
1523 1523  )))|-
1524 1524  
1525 1525  Table 6-26 Speed instruction source parameter
... ... @@ -1550,15 +1550,17 @@
1550 1550  Effective
1551 1551  
1552 1552  immediately
1553 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1556 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1554 1554  Internal speed instruction 0
1555 1555  
1556 1556  When DI input port:
1557 1557  
1558 -* 15-INSPD3: 0
1559 -* 14-INSPD2: 0
1560 -* 13-INSPD1: 0,
1561 +15-INSPD3: 0
1561 1561  
1563 +14-INSPD2: 0
1564 +
1565 +13-INSPD1: 0,
1566 +
1562 1562  select this speed instruction to be effective.
1563 1563  )))|(% colspan="2" %)rpm
1564 1564  |=(% colspan="1" %)P01-23|(% colspan="2" %)(((
... ... @@ -1573,15 +1573,17 @@
1573 1573  Effective
1574 1574  
1575 1575  immediately
1576 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1581 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1577 1577  Internal speed instruction 1
1578 1578  
1579 1579  When DI input port:
1580 1580  
1581 -* 15-INSPD3: 0
1582 -* 14-INSPD2: 0
1583 -* 13-INSPD1: 1,
1586 +15-INSPD3: 0
1584 1584  
1588 +14-INSPD2: 0
1589 +
1590 +13-INSPD1: 1,
1591 +
1585 1585  Select this speed instruction to be effective.
1586 1586  )))|(% colspan="2" %)rpm
1587 1587  |=(% colspan="1" %)P01-24|(% colspan="2" %)(((
... ... @@ -1596,15 +1596,17 @@
1596 1596  Effective
1597 1597  
1598 1598  immediately
1599 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1606 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1600 1600  Internal speed instruction 2
1601 1601  
1602 1602  When DI input port:
1603 1603  
1604 -* 15-INSPD3: 0
1605 -* 14-INSPD2: 1
1606 -* 13-INSPD1: 0,
1611 +15-INSPD3: 0
1607 1607  
1613 +14-INSPD2: 1
1614 +
1615 +13-INSPD1: 0,
1616 +
1608 1608  Select this speed instruction to be effective.
1609 1609  )))|(% colspan="2" %)rpm
1610 1610  |=(% colspan="1" %)P01-25|(% colspan="2" %)(((
... ... @@ -1619,15 +1619,17 @@
1619 1619  Effective
1620 1620  
1621 1621  immediately
1622 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1631 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1623 1623  Internal speed instruction 3
1624 1624  
1625 1625  When DI input port:
1626 1626  
1627 -* 15-INSPD3: 0
1628 -* 14-INSPD2: 1
1629 -* 13-INSPD1: 1,
1636 +15-INSPD3: 0
1630 1630  
1638 +14-INSPD2: 1
1639 +
1640 +13-INSPD1: 1,
1641 +
1631 1631  Select this speed instruction to be effective.
1632 1632  )))|(% colspan="2" %)rpm
1633 1633  |=P01-26|(% colspan="2" %)(((
... ... @@ -1642,15 +1642,17 @@
1642 1642  Effective
1643 1643  
1644 1644  immediately
1645 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1656 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1646 1646  Internal speed instruction 4
1647 1647  
1648 1648  When DI input port:
1649 1649  
1650 -* 15-INSPD3: 1
1651 -* 14-INSPD2: 0
1652 -* 13-INSPD1: 0,
1661 +15-INSPD3: 1
1653 1653  
1663 +14-INSPD2: 0
1664 +
1665 +13-INSPD1: 0,
1666 +
1654 1654  Select this speed instruction to be effective.
1655 1655  )))|(% colspan="1" %)rpm
1656 1656  |=P01-27|(% colspan="2" %)(((
... ... @@ -1665,15 +1665,17 @@
1665 1665  Effective
1666 1666  
1667 1667  immediately
1668 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1681 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1669 1669  Internal speed instruction 5
1670 1670  
1671 1671  When DI input port:
1672 1672  
1673 -* 15-INSPD3: 1
1674 -* 14-INSPD2: 0
1675 -* 13-INSPD1: 1,
1686 +15-INSPD3: 1
1676 1676  
1688 +14-INSPD2: 0
1689 +
1690 +13-INSPD1: 1,
1691 +
1677 1677  Select this speed instruction to be effective.
1678 1678  )))|(% colspan="1" %)rpm
1679 1679  |=P01-28|(% colspan="2" %)(((
... ... @@ -1688,15 +1688,17 @@
1688 1688  Effective
1689 1689  
1690 1690  immediately
1691 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1706 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1692 1692  Internal speed instruction 6
1693 1693  
1694 1694  When DI input port:
1695 1695  
1696 -* 15-INSPD3: 1
1697 -* 14-INSPD2: 1
1698 -* 13-INSPD1: 0,
1711 +15-INSPD3: 1
1699 1699  
1713 +14-INSPD2: 1
1714 +
1715 +13-INSPD1: 0,
1716 +
1700 1700  Select this speed instruction to be effective.
1701 1701  )))|(% colspan="1" %)rpm
1702 1702  |=P01-29|(% colspan="2" %)(((
... ... @@ -1711,15 +1711,17 @@
1711 1711  Effective
1712 1712  
1713 1713  immediately
1714 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1731 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1715 1715  Internal speed instruction 7
1716 1716  
1717 1717  When DI input port:
1718 1718  
1719 -* 15-INSPD3: 1
1720 -* 14-INSPD2: 1
1721 -* 13-INSPD1: 1,
1736 +15-INSPD3: 1
1722 1722  
1738 +14-INSPD2: 1
1739 +
1740 +13-INSPD1: 1,
1741 +
1723 1723  Select this speed instruction to be effective.
1724 1724  )))|(% colspan="1" %)rpm
1725 1725  
... ... @@ -1735,12 +1735,13 @@
1735 1735  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.
1736 1736  
1737 1737  
1738 -|=**INSPD3**|=**INSPD2**|=**INSPD1**|=**Running segment number**|=**Internal speed instruction number**
1739 -|0|0|0|1|0
1740 -|0|0|1|2|1
1741 -|0|1|0|3|2
1742 -|(% colspan="5" %)......
1743 -|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
1744 1744  
1745 1745  Table 6-29 Correspondence between INSPD bits and segment numbers
1746 1746  
... ... @@ -1781,16 +1781,22 @@
1781 1781  )))
1782 1782  
1783 1783  |=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit**
1784 -|=P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1785 -|=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
1786 -|=P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel quantity dead zone value|mV
1787 -|=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
1788 1788  
1789 -Table 6-30 AI_1 parameters
1790 -
1791 1791  (% class="box infomessage" %)
1792 1792  (((
1793 -✎**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 .
1794 1794  )))
1795 1795  
1796 1796  == Acceleration and deceleration time setting ==
... ... @@ -1884,10 +1884,13 @@
1884 1884  )))|0|0 to 3|(((
1885 1885  Set the zero-speed clamp function. In speed mode:
1886 1886  
1887 -* 0: Force the speed to 0;
1888 -* 1: Force the speed to 0, and keep the position locked when the actual speed is less than P01-22
1889 -* 2: When speed instruction is less than P01-22, force the speed to 0 and keep the position locked
1890 -* 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
1891 1891  )))|-
1892 1892  |=P01-22|(((
1893 1893  Zero-speed clamp speed threshold
... ... @@ -1895,7 +1895,7 @@
1895 1895  Operation setting
1896 1896  )))|(((
1897 1897  Effective immediately
1898 -)))|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
1899 1899  
1900 1900  Table 6-33 Zero-speed clamp related parameters
1901 1901  
... ... @@ -1940,7 +1940,7 @@
1940 1940  
1941 1941  |=(% scope="row" %)**DO function code**|=(% style="width: 247px;" %)**Function name**|=(% style="width: 695px;" %)**Function**
1942 1942  |=132|(% style="width:247px" %)(((
1943 -T-COIN rotation detection
1972 +TGON rotation detection
1944 1944  )))|(% style="width:695px" %)(((
1945 1945  Valid: when the absolute value of motor speed after filtering is greater than or equal to the set value of function code P05-16
1946 1946  
... ... @@ -2008,7 +2008,7 @@
2008 2008  
2009 2009  |=(% scope="row" %)**DO Function code**|=(% style="width: 262px;" %)**Function name**|=(% style="width: 684px;" %)**Function**
2010 2010  |=136|(% style="width:262px" %)(((
2011 -U-COIN consistent speed
2040 +V-COIN consistent speed
2012 2012  )))|(% 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
2013 2013  
2014 2014  Table 6-39 DO speed consistent function code
... ... @@ -2192,8 +2192,9 @@
2192 2192  )))|(((
2193 2193  Effective immediately
2194 2194  )))|0|0 to 1|(((
2195 -* 0: internal value
2196 -* 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)
2197 2197  )))|-
2198 2198  
2199 2199  * Torque limit source is internal torque instruction (P01-14=0)
... ... @@ -2270,7 +2270,7 @@
2270 2270  Operation setting
2271 2271  )))|(((
2272 2272  Effective immediately
2273 -)))|3000|0 to 5000|(((
2303 +)))|3000|0 to 6000|(((
2274 2274  Forward torque
2275 2275  
2276 2276  limit in torque mode
... ... @@ -2283,7 +2283,7 @@
2283 2283  Operation setting
2284 2284  )))|(((
2285 2285  Effective immediately
2286 -)))|3000|0 to 5000|(((
2316 +)))|3000|0 to 6000|(((
2287 2287  Reverse torque
2288 2288  
2289 2289  limit in torque mode