Skip to Content

Changes for page 06 Operation

Last modified by Iris on 2025/08/08 14:40
From version 89.1
edited by Mora Zhou
on 2025/04/29 09:47
Change comment: There is no comment for this version
To version 84.1
edited by Mora Zhou
on 2025/04/28 14:11
Change comment: There is no comment for this version

Summary

Details

Page properties
Content
... ... @@ -159,7 +159,7 @@
159 159  According to the different shutdown modes, it could be divided into free shutdown and zero speed shutdown. The respective characteristics are shown in __Table 6-5__. According to the shutdown status, it could be divided into free running state and position locked, as shown in __Table 6-6__.
160 160  
161 161  |=(% scope="row" style="width: 150px;" %)Shutdown mode|=(% style="width: 532px;" %)Shutdown description|=(% style="width: 393px;" %)Shutdown characteristics
162 -|=(% style="width: 150px;" %)Free stop|(% style="width:532px" %)Servo motor is not energized and decelerates freely to 0. The deceleration time is affected by factors such as mechanical inertia and mechanical friction.|(% style="width:393px" %)Smooth deceleration, small mechanical shock, but slow deceleration process.
162 +|=(% style="width: 150px;" %)Free shutdown|(% style="width:532px" %)Servo motor is not energized and decelerates freely to 0. The deceleration time is affected by factors such as mechanical inertia and mechanical friction.|(% style="width:393px" %)Smooth deceleration, small mechanical shock, but slow deceleration process.
163 163  |=(% style="width: 150px;" %)Zero-speed shutdown|(% style="width:532px" %)The servo drive outputs reverse braking torque, and the motor quickly decelerates to zero-speed.|(% style="width:393px" %)Rapid deceleration with mechanical shock, but fast deceleration process.
164 164  
165 165  Table 6-5 Comparison of two shutdown modes
... ... @@ -189,9 +189,8 @@
189 189  
190 190  immediately
191 191  )))|(% style="width:86px" %)0|(% style="width:70px" %)0 to 1|(% style="width:347px" %)(((
192 -0: Free stop, and the motor shaft remains free status.
193 -
194 -1: Zero-speed stop, and the motor axis remains free status.
192 +* 0: Free shutdown, and the motor shaft remains free status.
193 +* 1: Zero-speed shutdown, and the motor shaft remains free status.
195 195  )))|-
196 196  
197 197  Table 6-7 Servo OFF shutdown mode parameters details
... ... @@ -253,58 +253,30 @@
253 253  **Effective time**
254 254  )))|=(% style="width: 106px;" %)**Default value**|=(% style="width: 84px;" %)**Range**|=(% style="width: 380px;" %)**Definition**|=**Unit**
255 255  |=(% style="width: 89px;" %)P06-08|(% style="width:135px" %)DI_3 channel function selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)Power-on again|(% style="width:106px" %)3|(% style="width:84px" %)0 to 32|(% style="width:380px" %)(((
256 -0: OFF (not used)
257 -
258 -01: S-ON servo enable
259 -
260 -02: A-CLR fault and Warning Clear
261 -
262 -03: POT forward drive prohibition
263 -
264 -04: NOT Reverse drive prohibition
265 -
266 -05: ZCLAMP Zero speed
267 -
268 -06: CL Clear deviation counter
269 -
270 -07: C-SIGN Inverted instruction
271 -
272 -08: E-STOP Emergency stop
273 -
274 -09: GEAR-SEL Electronic Gear Switch 1
275 -
276 -10: GAIN-SEL gain switch
277 -
278 -11: INH Instruction pulse prohibited input
279 -
280 -12: VSSEL Vibration control switch input
281 -
282 -13: INSPD1 Internal speed instruction selection 1
283 -
284 -14: INSPD2 Internal speed instruction selection 2
285 -
286 -15: INSPD3 Internal speedinstruction selection 3
287 -
288 -16: J-SEL inertia ratio switch (not implemented yet)
289 -
290 -17: MixModesel mixed mode selection
291 -
292 -20: Internal multi-segment position enable signal
293 -
294 -21: Internal multi-segment position selection 1
295 -
296 -22: Internal multi-segment position selection 2
297 -
298 -23: Internal multi-segment position selection 3
299 -
300 -24: Internal multi-segment position selection 4
301 -
302 -25: HOME_START Homing start
303 -26: HOME ORG Homing signal
304 -27: JOGU DI Forward jog
305 -28: JOGD DI Reverse jog
306 -
307 -Others: reserved
255 +* 0: OFF (not used)
256 +* 01: S-ON servo enable
257 +* 02: A-CLR fault and Warning Clear
258 +* 03: POT forward drive prohibition
259 +* 04: NOT Reverse drive prohibition
260 +* 05: ZCLAMP Zero speed
261 +* 06: CL Clear deviation counter
262 +* 07: C-SIGN Inverted instruction
263 +* 08: E-STOP Emergency stop
264 +* 09: GEAR-SEL Electronic Gear Switch 1
265 +* 10: GAIN-SEL gain switch
266 +* 11: INH Instruction pulse prohibited input
267 +* 12: VSSEL Vibration control switch input
268 +* 13: INSPD1 Internal speed instruction selection 1
269 +* 14: INSPD2 Internal speed instruction selection 2
270 +* 15: INSPD3 Internal speedinstruction selection 3
271 +* 16: J-SEL inertia ratio switch (not implemented yet)
272 +* 17: MixModesel mixed mode selection
273 +* 20: Internal multi-segment position enable signal
274 +* 21: Internal multi-segment position selection 1
275 +* 22: Internal multi-segment position selection 2
276 +* 23: Internal multi-segment position selection 3
277 +* 24: Internal multi-segment position selection 4
278 +* Others: reserved
308 308  )))|-
309 309  |=(% style="width: 89px;" %)P06-09|(% style="width:135px" %)DI_3 channel logic selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
310 310  Effective immediately
... ... @@ -311,9 +311,8 @@
311 311  )))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
312 312  DI port input logic validity function selection.
313 313  
314 -0: Normally open input. Low level valid (switch on);
315 -
316 -1: Normally closed input. High level valid (switch off);
285 +* 0: Normally open input. Active low level (switch on);
286 +* 1: Normally closed input. Active high level (switch off);
317 317  )))|-
318 318  |=(% style="width: 89px;" %)P06-10|(% style="width:135px" %)DI_3 input source selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
319 319  Effective immediately
... ... @@ -320,9 +320,8 @@
320 320  )))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
321 321  Select the DI_3 port type to enable
322 322  
323 -0: Hardware DI_3 input terminal
324 -
325 -1: Virtual VDI_3 input terminal
293 +* 0: Hardware DI_3 input terminal
294 +* 1: virtual VDI_3 input terminal
326 326  )))|-
327 327  |=(% style="width: 89px;" %)P06-11|(% style="width:135px" %)DI_4 channel function selection|(% style="width:122px" %)(((
328 328  Operation setting
... ... @@ -329,58 +329,30 @@
329 329  )))|(% style="width:114px" %)(((
330 330  again Power-on
331 331  )))|(% style="width:106px" %)4|(% style="width:84px" %)0 to 32|(% style="width:380px" %)(((
332 -0: OFF (not used)
333 -
334 -01: SON Servo enable
335 -
336 -02: A-CLR Fault and Warning Clear
337 -
338 -03: POT Forward drive prohibition
339 -
340 -04: NOT Reverse drive prohibition
341 -
342 -05: ZCLAMP Zero speed
343 -
344 -06: CL Clear deviation counter
345 -
346 -07: C-SIGN Inverted instruction
347 -
348 -08: E-STOP Emergency shutdown
349 -
350 -09: GEAR-SEL Electronic Gear Switch 1
351 -
352 -10: GAIN-SEL gain switch
353 -
354 -11: INH Instruction pulse prohibited input
355 -
356 -12: VSSEL Vibration control switch input
357 -
358 -13: INSPD1 Internal speed instruction selection 1
359 -
360 -14: INSPD2 Internal speed instruction selection 2
361 -
362 -15: INSPD3 Internal speed instruction selection 3
363 -
364 -16: J-SEL inertia ratio switch (not implemented yet)
365 -
366 -17: MixModesel mixed mode selection
367 -
368 -20: Internal multi-segment position enable signal
369 -
370 -21: Internal multi-segment position selection 1
371 -
372 -22: Internal multi-segment position selection 2
373 -
374 -23: Internal multi-segment position selection 3
375 -
376 -24: Internal multi-segment position selection 4
377 -
378 -25: HOME_START Homing start
379 -26: HOME ORG Homing signal
380 -27: JOGU DI Forward jog
381 -28: JOGD DI Reverse jog
382 -
383 -Others: reserved
301 +* 0: OFF (not used)
302 +* 01: SON Servo enable
303 +* 02: A-CLR Fault and Warning Clear
304 +* 03: POT Forward drive prohibition
305 +* 04: NOT Reverse drive prohibition
306 +* 05: ZCLAMP Zero speed
307 +* 06: CL Clear deviation counter
308 +* 07: C-SIGN Inverted instruction
309 +* 08: E-STOP Emergency shutdown
310 +* 09: GEAR-SEL Electronic Gear Switch 1
311 +* 10: GAIN-SEL gain switch
312 +* 11: INH Instruction pulse prohibited input
313 +* 12: VSSEL Vibration control switch input
314 +* 13: INSPD1 Internal speed instruction selection 1
315 +* 14: INSPD2 Internal speed instruction selection 2
316 +* 15: INSPD3 Internal speed instruction selection 3
317 +* 16: J-SEL inertia ratio switch (not implemented yet)
318 +* 17: MixModesel mixed mode selection
319 +* 20: Internal multi-segment position enable signal
320 +* 21: Internal multi-segment position selection 1
321 +* 22: Internal multi-segment position selection 2
322 +* 23: Internal multi-segment position selection 3
323 +* 24: Internal multi-segment position selection 4
324 +* Others: reserved
384 384  )))|-
385 385  |=(% style="width: 89px;" %)P06-12|(% style="width:135px" %)DI_4 channel logic selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
386 386  Effective immediately
... ... @@ -387,9 +387,8 @@
387 387  )))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
388 388  DI port input logic validity function selection.
389 389  
390 -0: Normally open input. Low level valid (switch on);
391 -
392 -1: Normally closed input. High level valid (switch off);
331 +* 0: Normally open input. Active low level (switch on);
332 +* 1: Normally closed input. Active high level (switch off);
393 393  )))|-
394 394  |=(% style="width: 89px;" %)P06-13|(% style="width:135px" %)DI_4 input source selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
395 395  Effective immediately
... ... @@ -396,9 +396,8 @@
396 396  )))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
397 397  Select the DI_4 port type to enable
398 398  
399 -0: Hardware DI_4 input terminal
400 -
401 -1: Virtual VDI_4 input terminal
339 +* 0: Hardware DI_4 input terminal
340 +* 1: virtual VDI_4 input terminal
402 402  )))|-
403 403  
404 404  Table 6-8 DI3 and DI4 channel parameters
... ... @@ -698,29 +698,18 @@
698 698  )))|(% rowspan="3" %)2|(% rowspan="3" style="width:87px" %)0 to 9|(% colspan="2" style="width:296px" %)(((
699 699  Set the anti-interference level of external pulse instruction.
700 700  
701 -0: no filtering;
702 -
703 -1: Filtering time 128ns
704 -
705 -2: Filtering time 256ns
706 -
707 -3: Filtering time 512ns
708 -
709 -4: Filtering time 1.024us
710 -
711 -5: Filtering time 2.048us
712 -
713 -6: Filtering time 4.096us
714 -
715 -7: Filtering time 8.192us
716 -
717 -8: Filtering time 16.384us
718 -
719 -9:
720 -
721 -VD2: Filtering time 32.768us
722 -
723 -VD2F: Filtering time 25.5us
640 +* 0: no filtering;
641 +* 1: Filtering time 128ns
642 +* 2: Filtering time 256ns
643 +* 3: Filtering time 512ns
644 +* 4: Filtering time 1.024us
645 +* 5: Filtering time 2.048us
646 +* 6: Filtering time 4.096us
647 +* 7: Filtering time 8.192us
648 +* 8: Filtering time 16.384us
649 +* 9:
650 +** VD2: Filtering time 25.5us
651 +** VD2F: Filtering time 25.5us
724 724  )))|(% rowspan="3" %)-
725 725  
726 726  Table 6-14 Position pulse frequency and anti-interference level parameters
... ... @@ -783,18 +783,13 @@
783 783  )))|(% style="width:109px" %)(((
784 784  Power-on again
785 785  )))|(% style="width:77px" %)0|(% style="width:74px" %)0 to 5|(% style="width:412px" %)(((
786 -0: direction + pulse (positive logic)
714 +* 0: direction + pulse (positive logic)
715 +* 1: CW/CCW
716 +* 2: A, B phase quadrature pulse (4 times frequency)
717 +* 3: Direction + pulse (negative logic)
718 +* 4: CW/CCW (negative logic)
719 +* 5: A, B phase quadrature pulse (4 times frequency negative logic)
787 787  
788 -1: CW/CCW
789 -
790 -2: A, B phase quadrature pulse (4 times frequency)
791 -
792 -3: Direction + pulse (negative logic)
793 -
794 -4: CW/CCW (negative logic)
795 -
796 -5: A, B phase quadrature pulse (4 times frequency negative logic)
797 -
798 798  **✎Note: VD2F and VD2L series drivers do not support the pulse form of CW/CCW! P0-12 parameter setting range of VD2L: 0, 2, 3, 5**
799 799  )))|-
800 800  
... ... @@ -1291,9 +1291,8 @@
1291 1291  )))|(((
1292 1292  Effective immediately
1293 1293  )))|0|0 to 1|(((
1294 -0: 1st-order low-pass filtering
1295 -
1296 -1: average filtering
1217 +* 0: 1st-order low-pass filtering
1218 +* 1: average filtering
1297 1297  )))|-
1298 1298  |=P04-02|Position instruction 1st-order low-pass filtering time constant|Shutdown setting|(((
1299 1299  Effective immediately
... ... @@ -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|130|128-149|DI/DO|-
1317 +|DO_2 channel function selection|Operation setting|Effective immediately|143|128-148|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)| |149|HOME_ATTAIN (Homing arrived)
1332 +|138|T-COIN (torque arrival)| | |
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  
... ... @@ -1422,12 +1422,10 @@
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.
1427 1427  )))
1428 1428  
1429 1429  |(% rowspan="2" %)P06-30|Parameter name|Setting method|Effective time|Default|Set range|Application category|Unit
1430 -|DO_3 channel function selection|Operation setting|Effective immediately|129|128-149|DI/DO|-
1350 +|DO_3 channel function selection|Operation setting|Effective immediately|143|128-148|DI/DO|-
1431 1431  |(% colspan="8" %)(((
1432 1432  Used to set DO functions corresponding to hardware DO3. Refer to the following table for the functions corresponding to the set value:
1433 1433  
... ... @@ -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)| |149|HOME_ATTAIN (Homing arrived)
1365 +|138|T-COIN (torque arrival)| | |
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  
... ... @@ -1457,8 +1457,6 @@
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.
1462 1462  )))
1463 1463  
1464 1464  |(% rowspan="2" %)P06-32|Parameter name|Setting method|Effective time|Default|Set range|Application category|Unit
... ... @@ -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)| |149|HOME_ATTAIN (Homing arrived)
1398 +|138|T-COIN (torque arrival)| | |
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  
... ... @@ -1492,8 +1492,6 @@
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.
1497 1497  )))
1498 1498  
1499 1499  = **Speed control mode** =