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Changes for page 06 Operation

Last modified by Iris on 2025/08/05 17:31
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 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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... ... @@ -1520,8 +1520,9 @@
1520 1520  )))|(% style="width:125px" %)(((
1521 1521  Effective immediately
1522 1522  )))|(% style="width:85px" %)0|(% style="width:75px" %)0 to 1|(% style="width:310px" %)(((
1523 -* 0: internal speed instruction
1524 -* 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**)
1525 1525  )))|-
1526 1526  
1527 1527  Table 6-26 Speed instruction source parameter
... ... @@ -1552,15 +1552,17 @@
1552 1552  Effective
1553 1553  
1554 1554  immediately
1555 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1556 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1556 1556  Internal speed instruction 0
1557 1557  
1558 1558  When DI input port:
1559 1559  
1560 -* 15-INSPD3: 0
1561 -* 14-INSPD2: 0
1562 -* 13-INSPD1: 0,
1561 +15-INSPD3: 0
1563 1563  
1563 +14-INSPD2: 0
1564 +
1565 +13-INSPD1: 0,
1566 +
1564 1564  select this speed instruction to be effective.
1565 1565  )))|(% colspan="2" %)rpm
1566 1566  |=(% colspan="1" %)P01-23|(% colspan="2" %)(((
... ... @@ -1575,15 +1575,17 @@
1575 1575  Effective
1576 1576  
1577 1577  immediately
1578 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1581 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1579 1579  Internal speed instruction 1
1580 1580  
1581 1581  When DI input port:
1582 1582  
1583 -* 15-INSPD3: 0
1584 -* 14-INSPD2: 0
1585 -* 13-INSPD1: 1,
1586 +15-INSPD3: 0
1586 1586  
1588 +14-INSPD2: 0
1589 +
1590 +13-INSPD1: 1,
1591 +
1587 1587  Select this speed instruction to be effective.
1588 1588  )))|(% colspan="2" %)rpm
1589 1589  |=(% colspan="1" %)P01-24|(% colspan="2" %)(((
... ... @@ -1598,15 +1598,17 @@
1598 1598  Effective
1599 1599  
1600 1600  immediately
1601 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1606 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1602 1602  Internal speed instruction 2
1603 1603  
1604 1604  When DI input port:
1605 1605  
1606 -* 15-INSPD3: 0
1607 -* 14-INSPD2: 1
1608 -* 13-INSPD1: 0,
1611 +15-INSPD3: 0
1609 1609  
1613 +14-INSPD2: 1
1614 +
1615 +13-INSPD1: 0,
1616 +
1610 1610  Select this speed instruction to be effective.
1611 1611  )))|(% colspan="2" %)rpm
1612 1612  |=(% colspan="1" %)P01-25|(% colspan="2" %)(((
... ... @@ -1621,15 +1621,17 @@
1621 1621  Effective
1622 1622  
1623 1623  immediately
1624 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1631 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1625 1625  Internal speed instruction 3
1626 1626  
1627 1627  When DI input port:
1628 1628  
1629 -* 15-INSPD3: 0
1630 -* 14-INSPD2: 1
1631 -* 13-INSPD1: 1,
1636 +15-INSPD3: 0
1632 1632  
1638 +14-INSPD2: 1
1639 +
1640 +13-INSPD1: 1,
1641 +
1633 1633  Select this speed instruction to be effective.
1634 1634  )))|(% colspan="2" %)rpm
1635 1635  |=P01-26|(% colspan="2" %)(((
... ... @@ -1644,15 +1644,17 @@
1644 1644  Effective
1645 1645  
1646 1646  immediately
1647 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1656 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1648 1648  Internal speed instruction 4
1649 1649  
1650 1650  When DI input port:
1651 1651  
1652 -* 15-INSPD3: 1
1653 -* 14-INSPD2: 0
1654 -* 13-INSPD1: 0,
1661 +15-INSPD3: 1
1655 1655  
1663 +14-INSPD2: 0
1664 +
1665 +13-INSPD1: 0,
1666 +
1656 1656  Select this speed instruction to be effective.
1657 1657  )))|(% colspan="1" %)rpm
1658 1658  |=P01-27|(% colspan="2" %)(((
... ... @@ -1667,15 +1667,17 @@
1667 1667  Effective
1668 1668  
1669 1669  immediately
1670 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1681 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1671 1671  Internal speed instruction 5
1672 1672  
1673 1673  When DI input port:
1674 1674  
1675 -* 15-INSPD3: 1
1676 -* 14-INSPD2: 0
1677 -* 13-INSPD1: 1,
1686 +15-INSPD3: 1
1678 1678  
1688 +14-INSPD2: 0
1689 +
1690 +13-INSPD1: 1,
1691 +
1679 1679  Select this speed instruction to be effective.
1680 1680  )))|(% colspan="1" %)rpm
1681 1681  |=P01-28|(% colspan="2" %)(((
... ... @@ -1690,15 +1690,17 @@
1690 1690  Effective
1691 1691  
1692 1692  immediately
1693 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1706 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1694 1694  Internal speed instruction 6
1695 1695  
1696 1696  When DI input port:
1697 1697  
1698 -* 15-INSPD3: 1
1699 -* 14-INSPD2: 1
1700 -* 13-INSPD1: 0,
1711 +15-INSPD3: 1
1701 1701  
1713 +14-INSPD2: 1
1714 +
1715 +13-INSPD1: 0,
1716 +
1702 1702  Select this speed instruction to be effective.
1703 1703  )))|(% colspan="1" %)rpm
1704 1704  |=P01-29|(% colspan="2" %)(((
... ... @@ -1713,15 +1713,17 @@
1713 1713  Effective
1714 1714  
1715 1715  immediately
1716 -)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1731 +)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
1717 1717  Internal speed instruction 7
1718 1718  
1719 1719  When DI input port:
1720 1720  
1721 -* 15-INSPD3: 1
1722 -* 14-INSPD2: 1
1723 -* 13-INSPD1: 1,
1736 +15-INSPD3: 1
1724 1724  
1738 +14-INSPD2: 1
1739 +
1740 +13-INSPD1: 1,
1741 +
1725 1725  Select this speed instruction to be effective.
1726 1726  )))|(% colspan="1" %)rpm
1727 1727  
... ... @@ -1737,12 +1737,13 @@
1737 1737  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.
1738 1738  
1739 1739  
1740 -|=**INSPD3**|=**INSPD2**|=**INSPD1**|=**Running segment number**|=**Internal speed instruction number**
1741 -|0|0|0|1|0
1742 -|0|0|1|2|1
1743 -|0|1|0|3|2
1744 -|(% colspan="5" %)......
1745 -|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
1746 1746  
1747 1747  Table 6-29 Correspondence between INSPD bits and segment numbers
1748 1748  
... ... @@ -1783,16 +1783,22 @@
1783 1783  )))
1784 1784  
1785 1785  |=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit**
1786 -|=P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1787 -|=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
1788 -|=P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel quantity dead zone value|mV
1789 -|=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
1790 1790  
1791 -Table 6-30 AI_1 parameters
1792 -
1793 1793  (% class="box infomessage" %)
1794 1794  (((
1795 -✎**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 .
1796 1796  )))
1797 1797  
1798 1798  == Acceleration and deceleration time setting ==
... ... @@ -1886,10 +1886,13 @@
1886 1886  )))|0|0 to 3|(((
1887 1887  Set the zero-speed clamp function. In speed mode:
1888 1888  
1889 -* 0: Force the speed to 0;
1890 -* 1: Force the speed to 0, and keep the position locked when the actual speed is less than P01-22
1891 -* 2: When speed instruction is less than P01-22, force the speed to 0 and keep the position locked
1892 -* 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
1893 1893  )))|-
1894 1894  |=P01-22|(((
1895 1895  Zero-speed clamp speed threshold
... ... @@ -1897,7 +1897,7 @@
1897 1897  Operation setting
1898 1898  )))|(((
1899 1899  Effective immediately
1900 -)))|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
1901 1901  
1902 1902  Table 6-33 Zero-speed clamp related parameters
1903 1903  
... ... @@ -1942,7 +1942,7 @@
1942 1942  
1943 1943  |=(% scope="row" %)**DO function code**|=(% style="width: 247px;" %)**Function name**|=(% style="width: 695px;" %)**Function**
1944 1944  |=132|(% style="width:247px" %)(((
1945 -T-COIN rotation detection
1972 +TGON rotation detection
1946 1946  )))|(% style="width:695px" %)(((
1947 1947  Valid: when the absolute value of motor speed after filtering is greater than or equal to the set value of function code P05-16
1948 1948  
... ... @@ -2010,7 +2010,7 @@
2010 2010  
2011 2011  |=(% scope="row" %)**DO Function code**|=(% style="width: 262px;" %)**Function name**|=(% style="width: 684px;" %)**Function**
2012 2012  |=136|(% style="width:262px" %)(((
2013 -U-COIN consistent speed
2040 +V-COIN consistent speed
2014 2014  )))|(% 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
2015 2015  
2016 2016  Table 6-39 DO speed consistent function code
... ... @@ -2194,8 +2194,9 @@
2194 2194  )))|(((
2195 2195  Effective immediately
2196 2196  )))|0|0 to 1|(((
2197 -* 0: internal value
2198 -* 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)
2199 2199  )))|-
2200 2200  
2201 2201  * Torque limit source is internal torque instruction (P01-14=0)
... ... @@ -2272,7 +2272,7 @@
2272 2272  Operation setting
2273 2273  )))|(((
2274 2274  Effective immediately
2275 -)))|3000|0 to 5000|(((
2303 +)))|3000|0 to 6000|(((
2276 2276  Forward torque
2277 2277  
2278 2278  limit in torque mode
... ... @@ -2285,7 +2285,7 @@
2285 2285  Operation setting
2286 2286  )))|(((
2287 2287  Effective immediately
2288 -)))|3000|0 to 5000|(((
2316 +)))|3000|0 to 6000|(((
2289 2289  Reverse torque
2290 2290  
2291 2291  limit in torque mode