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Changes for page 06 Operation

Last modified by Iris on 2025/08/06 18:24
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 97.1
edited by Mora Zhou
on 2025/04/29 10:42
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
... ... @@ -2370,13 +2370,18 @@
2370 2370  )))|(((
2371 2371  Shutdown setting
2372 2372  )))|1|(% style="width:90px" %)1 to 6|(% style="width:273px" %)(((
2373 -* 1: Position control
2374 -* 2: Speed control
2375 -* 3: Torque control
2376 -* 4: Position/speed mixed control
2377 -* 5: Position/torque mixed control
2378 -* 6: Speed/torque mixed control
2401 +1: Position control
2379 2379  
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 +
2380 2380  **VD2L drive P0-01 setting range: 1-3, not support mixed mode**
2381 2381  )))|-
2382 2382  
... ... @@ -2518,8 +2518,9 @@
2518 2518  **time**
2519 2519  )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2520 2520  |=P00-30|Shield multi-turn absolute encoder battery fault|Operation setting|Power on again|0|0 to 1|(((
2521 -* 0：Detect multi-turn absolute encoder battery under voltage, and battery low voltage fault
2522 -* 1: (Not recommended) Shield multi-turn absolute motor battery failure alarm. Multi-turn absolute application may cause mechanical fault, only multi-turn absolute encoder motors is used as single-turn absolute
2554 +0：Detect multi-turn absolute encoder battery under voltage, and battery low voltage fault
2555 +
2556 +1: (Not recommended) Shield multi-turn absolute motor battery failure alarm. Multi-turn absolute application may cause mechanical fault, only multi-turn absolute encoder motors is used as single-turn absolute
2523 2523  )))|-
2524 2524  
2525 2525  This function is permitted when a multi-turn absolute encoder motor is used as a single-turn absolute and when it is confirmed that no mechanical failure will occur.
... ... @@ -2664,8 +2664,9 @@
2664 2664  
2665 2665  VDI_1 input level:
2666 2666  
2667 -* 0: low level
2668 -* 1: high level
2701 +0: Low level
2702 +
2703 +1: High level
2669 2669  )))|-
2670 2670  |=P13-2|Virtual VDI_2 input value|Operation setting|Effective immediately|0|0 to 1|(((
2671 2671  When P06-07 is set to 1, DI_2 channel logic is control by this function code.
... ... @@ -2672,8 +2672,9 @@
2672 2672  
2673 2673  VDI_2 input level:
2674 2674  
2675 -* 0: low level
2676 -* 1: high level
2710 +0: Low level
2711 +
2712 +1: High level
2677 2677  )))|-
2678 2678  |=P13-3|Virtual VDI_3 input value|Operation setting|Effective immediately|0|0 to 1|(((
2679 2679  When P06-10 is set to 1, DI_3 channel logic is control by this function code.
... ... @@ -2680,8 +2680,9 @@
2680 2680  
2681 2681  VDI_3 input level:
2682 2682  
2683 -* 0: low level
2684 -* 1: high level
2719 +0: Low level
2720 +
2721 +1: High level
2685 2685  )))|-
2686 2686  |=P13-4|Virtual VDI_4 input value|Operation setting|Effective immediately|0|0 to 1|(((
2687 2687  When P06-13 is set to 1, DI_4 channel logic is control by this function code.
... ... @@ -2688,40 +2688,53 @@
2688 2688  
2689 2689  VDI_4 input level:
2690 2690  
2691 -* 0: low level
2692 -* 1: high level
2728 +0: Low level
2729 +
2730 +1: High level
2693 2693  )))|-
2694 -|=P13-05☆|Virtual VDI_5 input value|Operation setting|Effective immediately|0|0 to 1|(((
2732 +|=P13-05(((
2733 +★
2734 +)))|Virtual VDI_5 input value|Operation setting|Effective immediately|0|0 to 1|(((
2695 2695  When P06-16 is set to 1, DI_5 channel logic is control by this function code.
2696 2696  
2697 2697  VDI_5 input level:
2698 2698  
2699 -* 0: low level
2700 -* 1: high level
2739 +0: Low level
2740 +
2741 +1: High level
2701 2701  )))|-
2702 -|=P13-06☆|Virtual VDI_6 input value|Operation setting|Effective immediately|0|0 to 1|(((
2743 +|=P13-06(((
2744 +★
2745 +)))|Virtual VDI_6 input value|Operation setting|Effective immediately|0|0 to 1|(((
2703 2703  When P06-19 is set to 1, DI_6 channel logic is control by this function code.
2704 2704  
2705 2705  VDI_6 input level:
2706 2706  
2707 -* 0: low level
2708 -* 1: high level
2750 +0: Low level
2751 +
2752 +1: High level
2709 2709  )))|-
2710 -|=P13-07☆|Virtual VDI_7 input value|Operation setting|Effective immediately|0|0 to 1|(((
2754 +|=P13-07(((
2755 +★
2756 +)))|Virtual VDI_7 input value|Operation setting|Effective immediately|0|0 to 1|(((
2711 2711  When P06-22 is set to 1, DI_7 channel logic is control by this function code.
2712 2712  
2713 2713  VDI_7 input level:
2714 2714  
2715 -* 0: low level
2716 -* 1: high level
2761 +0: Low level
2762 +
2763 +1: High level
2717 2717  )))|-
2718 -|=P13-08☆|Virtual VDI_8 input value|Operation setting|Effective immediately|0|0 to 1|(((
2765 +|=P13-08(((
2766 +★
2767 +)))|Virtual VDI_8 input value|Operation setting|Effective immediately|0|0 to 1|(((
2719 2719  When P06-25 is set to 1, DI_8 channel logic is control by this function code.
2720 2720  
2721 2721  VDI_8 input level:
2722 2722  
2723 -* 0: low level
2724 -* 1: high level
2772 +0: Low level
2773 +
2774 +1: High level
2725 2725  )))|-
2726 2726  
2727 2727  Table 6-57 Virtual VDI parameters
... ... @@ -2728,7 +2728,7 @@
2728 2728  
2729 2729  (% class="box infomessage" %)
2730 2730  (((
2731 -✎**Note: **“☆” means VD2F servo drive does not support the function code .
2781 +✎**Note: **“★” means VD2F and VD2L servo drive does not support the function code .
2732 2732  )))
2733 2733  
2734 2734  == Port filtering time ==