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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 85.1
edited by Mora Zhou
on 2025/04/28 14:26
Change comment: There is no comment for this version

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... ... @@ -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
701 +* 0: no filtering;
702 +* 1: Filtering time 128ns
703 +* 2: Filtering time 256ns
704 +* 3: Filtering time 512ns
705 +* 4: Filtering time 1.024us
706 +* 5: Filtering time 2.048us
707 +* 6: Filtering time 4.096us
708 +* 7: Filtering time 8.192us
709 +* 8: Filtering time 16.384us
710 +* 9:
711 +** VD2: Filtering time 25.5us
712 +** 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)
775 +* 0: direction + pulse (positive logic)
776 +* 1: CW/CCW
777 +* 2: A, B phase quadrature pulse (4 times frequency)
778 +* 3: Direction + pulse (negative logic)
779 +* 4: CW/CCW (negative logic)
780 +* 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
1278 +* 0: 1st-order low-pass filtering
1279 +* 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|-
1378 +|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)
1393 +|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|-
1411 +|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)
1426 +|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)
1459 +|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** =