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Changes for page 06 Operation

Last modified by Iris on 2025/08/05 17:31
From version 90.1
edited by Mora Zhou
on 2025/04/29 10:05
Change comment: There is no comment for this version
To version 102.5
edited by xingzhi lin
on 2025/05/26 09:35
Change comment: There is no comment for this version

Summary

Details

Page properties
Author
... ... @@ -1,1 +1,1 @@
1 -XWiki.Mora
1 +XWiki.lxz
Content
... ... @@ -1910,10 +1910,13 @@
1910 1910  )))|0|0 to 3|(((
1911 1911  Set the zero-speed clamp function. In speed mode:
1912 1912  
1913 -* 0: Force the speed to 0;
1914 -* 1: Force the speed to 0, and keep the position locked when the actual speed is less than P01-22
1915 -* 2: When speed instruction is less than P01-22, force the speed to 0 and keep the position locked
1916 -* 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
1917 1917  )))|-
1918 1918  |=P01-22|(((
1919 1919  Zero-speed clamp speed threshold
... ... @@ -1921,7 +1921,7 @@
1921 1921  Operation setting
1922 1922  )))|(((
1923 1923  Effective immediately
1924 -)))|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
1925 1925  
1926 1926  Table 6-33 Zero-speed clamp related parameters
1927 1927  
... ... @@ -1966,7 +1966,7 @@
1966 1966  
1967 1967  |=(% scope="row" %)**DO function code**|=(% style="width: 247px;" %)**Function name**|=(% style="width: 695px;" %)**Function**
1968 1968  |=132|(% style="width:247px" %)(((
1969 -T-COIN rotation detection
1972 +TGON rotation detection
1970 1970  )))|(% style="width:695px" %)(((
1971 1971  Valid: when the absolute value of motor speed after filtering is greater than or equal to the set value of function code P05-16
1972 1972  
... ... @@ -2034,7 +2034,7 @@
2034 2034  
2035 2035  |=(% scope="row" %)**DO Function code**|=(% style="width: 262px;" %)**Function name**|=(% style="width: 684px;" %)**Function**
2036 2036  |=136|(% style="width:262px" %)(((
2037 -U-COIN consistent speed
2040 +V-COIN consistent speed
2038 2038  )))|(% 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
2039 2039  
2040 2040  Table 6-39 DO speed consistent function code
... ... @@ -2218,8 +2218,9 @@
2218 2218  )))|(((
2219 2219  Effective immediately
2220 2220  )))|0|0 to 1|(((
2221 -* 0: internal value
2222 -* 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)
2223 2223  )))|-
2224 2224  
2225 2225  * Torque limit source is internal torque instruction (P01-14=0)
... ... @@ -2296,7 +2296,7 @@
2296 2296  Operation setting
2297 2297  )))|(((
2298 2298  Effective immediately
2299 -)))|3000|0 to 5000|(((
2303 +)))|3000|0 to 6000|(((
2300 2300  Forward torque
2301 2301  
2302 2302  limit in torque mode
... ... @@ -2309,7 +2309,7 @@
2309 2309  Operation setting
2310 2310  )))|(((
2311 2311  Effective immediately
2312 -)))|3000|0 to 5000|(((
2316 +)))|3000|0 to 6000|(((
2313 2313  Reverse torque
2314 2314  
2315 2315  limit in torque mode
... ... @@ -2394,13 +2394,18 @@
2394 2394  )))|(((
2395 2395  Shutdown setting
2396 2396  )))|1|(% style="width:90px" %)1 to 6|(% style="width:273px" %)(((
2397 -* 1: Position control
2398 -* 2: Speed control
2399 -* 3: Torque control
2400 -* 4: Position/speed mixed control
2401 -* 5: Position/torque mixed control
2402 -* 6: Speed/torque mixed control
2401 +1: Position control
2403 2403  
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 +
2404 2404  **VD2L drive P0-01 setting range: 1-3, not support mixed mode**
2405 2405  )))|-
2406 2406  
... ... @@ -2542,8 +2542,9 @@
2542 2542  **time**
2543 2543  )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2544 2544  |=P00-30|Shield multi-turn absolute encoder battery fault|Operation setting|Power on again|0|0 to 1|(((
2545 -* 0：Detect multi-turn absolute encoder battery under voltage, and battery low voltage fault
2546 -* 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
2547 2547  )))|-
2548 2548  
2549 2549  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.
... ... @@ -2688,8 +2688,9 @@
2688 2688  
2689 2689  VDI_1 input level:
2690 2690  
2691 -* 0: low level
2692 -* 1: high level
2701 +0: Low level
2702 +
2703 +1: High level
2693 2693  )))|-
2694 2694  |=P13-2|Virtual VDI_2 input value|Operation setting|Effective immediately|0|0 to 1|(((
2695 2695  When P06-07 is set to 1, DI_2 channel logic is control by this function code.
... ... @@ -2696,8 +2696,9 @@
2696 2696  
2697 2697  VDI_2 input level:
2698 2698  
2699 -* 0: low level
2700 -* 1: high level
2710 +0: Low level
2711 +
2712 +1: High level
2701 2701  )))|-
2702 2702  |=P13-3|Virtual VDI_3 input value|Operation setting|Effective immediately|0|0 to 1|(((
2703 2703  When P06-10 is set to 1, DI_3 channel logic is control by this function code.
... ... @@ -2704,8 +2704,9 @@
2704 2704  
2705 2705  VDI_3 input level:
2706 2706  
2707 -* 0: low level
2708 -* 1: high level
2719 +0: Low level
2720 +
2721 +1: High level
2709 2709  )))|-
2710 2710  |=P13-4|Virtual VDI_4 input value|Operation setting|Effective immediately|0|0 to 1|(((
2711 2711  When P06-13 is set to 1, DI_4 channel logic is control by this function code.
... ... @@ -2712,40 +2712,53 @@
2712 2712  
2713 2713  VDI_4 input level:
2714 2714  
2715 -* 0: low level
2716 -* 1: high level
2728 +0: Low level
2729 +
2730 +1: High level
2717 2717  )))|-
2718 -|=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|(((
2719 2719  When P06-16 is set to 1, DI_5 channel logic is control by this function code.
2720 2720  
2721 2721  VDI_5 input level:
2722 2722  
2723 -* 0: low level
2724 -* 1: high level
2739 +0: Low level
2740 +
2741 +1: High level
2725 2725  )))|-
2726 -|=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|(((
2727 2727  When P06-19 is set to 1, DI_6 channel logic is control by this function code.
2728 2728  
2729 2729  VDI_6 input level:
2730 2730  
2731 -* 0: low level
2732 -* 1: high level
2750 +0: Low level
2751 +
2752 +1: High level
2733 2733  )))|-
2734 -|=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|(((
2735 2735  When P06-22 is set to 1, DI_7 channel logic is control by this function code.
2736 2736  
2737 2737  VDI_7 input level:
2738 2738  
2739 -* 0: low level
2740 -* 1: high level
2761 +0: Low level
2762 +
2763 +1: High level
2741 2741  )))|-
2742 -|=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|(((
2743 2743  When P06-25 is set to 1, DI_8 channel logic is control by this function code.
2744 2744  
2745 2745  VDI_8 input level:
2746 2746  
2747 -* 0: low level
2748 -* 1: high level
2772 +0: Low level
2773 +
2774 +1: High level
2749 2749  )))|-
2750 2750  
2751 2751  Table 6-57 Virtual VDI parameters
... ... @@ -2752,7 +2752,7 @@
2752 2752  
2753 2753  (% class="box infomessage" %)
2754 2754  (((
2755 -✎**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 .
2756 2756  )))
2757 2757  
2758 2758  == Port filtering time ==
... ... @@ -2786,26 +2786,30 @@
2786 2786  |=P13-11|Communication VDO_1 output value|Operation setting|Effective immediately|0|0 to 1|(((
2787 2787  VDO_1 output level：
2788 2788  
2789 -* 0: low level
2790 -* 1: high level
2815 +0: Low level
2816 +
2817 +1: High level
2791 2791  )))|-
2792 2792  |=P13-12|Communication VDO_2 output value|Operation setting|Effective immediately|0|0 to 1|(((
2793 2793  VDO_2 output level：
2794 2794  
2795 -* 0: low level
2796 -* 1: high level
2822 +0: Low level
2823 +
2824 +1: High level
2797 2797  )))|-
2798 2798  |=P13-13|Communication VDO_3 output value|Operation setting|Effective immediately|0|0 to 1|(((
2799 2799  VDO_3 output level：
2800 2800  
2801 -* 0: low level
2802 -* 1: high level
2829 +0: Low level
2830 +
2831 +1: High level
2803 2803  )))|-
2804 2804  |=P13-14|Communication VDO_4 output value|Operation setting|Effective immediately|0|0 to 1|(((
2805 2805  VDO_4 output level：
2806 2806  
2807 -* 0: low level
2808 -* 1: high level
2836 +0: Low level
2837 +
2838 +1: High level
2809 2809  )))|-
2810 2810  
2811 2811  Table 6-59 Communication control DO function parameters
... ... @@ -2848,3 +2848,874 @@
2848 2848  (((
2849 2849  ✎**Note:** It is advised to configure function codes for DO terminals in sequence to avoid errors. Please use the shielded overload protection fault detection function with caution, otherwise it will cause burn out the motor.
2850 2850  )))
2881 +
2882 +
2883 += Homing mode =
2884 +
2885 +The homing mode is used to find the mechanical origin and locate the positional relationship between the mechanical origin and the mechanical zero.
2886 +
2887 +Mechanical homing: A mechanically fixed position may correspond to a certain defined homing switch, or may correspond to the motor Z signal.
2888 +
2889 +Mechanical zero point: Mechanically absolute 0 position.
2890 +
2891 +After the homing, the stop position of the motor is the mechanical homing. By setting P10-08, the relationship between the mechanical homing and the mechanical zero can be set:
2892 +
2893 +Mechanical homing = Mechanical zero +P10-08 (homing offset)
2894 +
2895 +When P10-08=0, the mechanical homing coincides with the mechanical zero.
2896 +
2897 +== Control block diagram ==
2898 +
2899 +
2900 +=== Homing mode related function codes ===
2901 +
2902 +|Function code|Name|(((
2903 +Setting
2904 +
2905 +method
2906 +)))|(((
2907 +Effective
2908 +
2909 +time
2910 +)))|Default|Range|Definition|Unit
2911 +|P01-39|Homing start mode|(((
2912 +Stop
2913 +
2914 +settings
2915 +)))|(((
2916 +Immediately
2917 +
2918 +effective
2919 +)))|0|0 to 2|(((
2920 +0: Close
2921 +
2922 +1: The servo is powered ON and started after the first ON
2923 +
2924 +2: DI enable
2925 +)))|-
2926 +
2927 +|Function code|Name|(((
2928 +Setting
2929 +
2930 +method
2931 +)))|(((
2932 +Effective
2933 +
2934 +time
2935 +)))|Default|Range|Definition|Unit
2936 +|P01-40|Homing mode|(((
2937 +Stop
2938 +
2939 +settings
2940 +)))|(((
2941 +Immediately
2942 +
2943 +effective
2944 +)))|0|0 to 35|(((
2945 +0 ~~ 35 Homing mode;
2946 +
2947 +✎Note: VD2 currently does not support 15, 16, 31, 32 modes
2948 +)))|-
2949 +
2950 +|Function code|Name|(((
2951 +Setting
2952 +
2953 +method
2954 +)))|(((
2955 +Effective
2956 +
2957 +time
2958 +)))|Default|Range|Definition|Unit
2959 +|P01-41|High-speed search deceleration point signal velocity|(((
2960 +Running
2961 +
2962 +settings
2963 +)))|(((
2964 +Immediately
2965 +
2966 +effective
2967 +)))|300|1 to 3000|High-speed search deceleration point signal velocity in homing mode|rpm
2968 +
2969 +|Function code|Name|(((
2970 +Setting
2971 +
2972 +method
2973 +)))|(((
2974 +Effective
2975 +
2976 +time
2977 +)))|Default|Range|Definition|Unit
2978 +|P01-42〇|Low speed search homing signal speed|(((
2979 +Running
2980 +
2981 +settings
2982 +)))|(((
2983 +Immediately
2984 +
2985 +effective
2986 +)))|60|1 to 300|Low-speed search origin signal velocity in homing mode|rpm
2987 +
2988 +|Function code|Name|(((
2989 +Setting
2990 +
2991 +method
2992 +)))|(((
2993 +Effective
2994 +
2995 +time
2996 +)))|Default|Range|Definition|Unit
2997 +|P01-43〇|Homing acceleration and deceleration|(((
2998 +Running
2999 +
3000 +settings
3001 +)))|(((
3002 +Immediately
3003 +
3004 +effective
3005 +)))|50|1to1000|(((
3006 +Acceleration and deceleration in homing mode
3007 +
3008 +Time for speed acceleration from 0 to 1000rpm
3009 +)))|ms
3010 +
3011 +|Function code|Name|(((
3012 +Setting
3013 +
3014 +method
3015 +)))|(((
3016 +Effective
3017 +
3018 +time
3019 +)))|Default|Range|Definition|Unit
3020 +|P01-44〇|Homing timeout limited time|(((
3021 +Running
3022 +
3023 +settings
3024 +)))|(((
3025 +Immediately
3026 +
3027 +effective
3028 +)))|65535|100 to 65535|Homing timeout limited time|ms
3029 +
3030 +|Function code|Name|(((
3031 +Setting
3032 +
3033 +method
3034 +)))|(((
3035 +Effective
3036 +
3037 +time
3038 +)))|Default|Range|Definition|Unit
3039 +|P10-08〇|Multi-turn absolute encoder homing offset compensation|(((
3040 +Running
3041 +
3042 +settings
3043 +)))|(((
3044 +Immediately
3045 +
3046 +effective
3047 +)))|0|(((
3048 +-2147483647~~
3049 +
3050 +2147483646
3051 +)))|(((
3052 +P10-08 multi-turn absolute encoder homing offset compensation is used in conjunction with U0-56 multi-turn absolute encoder current position.
3053 +
3054 +When P10-6 is set to 1, the value of U0-56 is updated to P10-8.
3055 +)))|-
3056 +
3057 +== Introduction to homing mode ==
3058 +
3059 +In the following figure, "H" represents P01-41 (high-speed search deceleration point signal speed), and "L" represents P01-42 (low-speed search homing signal speed).
3060 +
3061 +
3062 +(1) P01-40 =1
3063 +
3064 +Mechanical homing: Motor Z signal
3065 +
3066 +Deceleration point: Reverse limit switch (NOT)
3067 +
3068 +① The deceleration point signal is invalid when starting homing
3069 +
3070 +(% style="text-align:center" %)
3071 +[[image:1748221916083-747.jpg||height="347" width="600"]]
3072 +
3073 +When it starts to homing, NOT=0, it starts to homing at a high speed in the reverse direction. After encountering the rising edge of NOT, it decelerates and reverses the direction, runs at a low speed in the forward direction, and stops at the first Z signal after encountering the falling edge of NOT.
3074 +
3075 +
3076 +② The deceleration point signal is valid when starting homing
3077 +
3078 +(% style="text-align:center" %)
3079 +[[image:1748222134730-241.jpg||height="341" width="600"]]
3080 +
3081 +When starting to homing, NOT=1, it starts to homing at a direct forward low speed, and stops at the first Z signal after encountering the falling edge of NOT.
3082 +
3083 +
3084 +
3085 +
3086 +
3087 +
3088 +(2) P01-40=2
3089 +
3090 +Mechanical homing: Motor Z signal
3091 +
3092 +Deceleration point: Positive Limit Switch (POT)
3093 +
3094 +① The deceleration point signal is invalid when starting homing
3095 +
3096 +(% style="text-align:center" %)
3097 +[[image:1748222168627-745.jpg||height="334" width="600"]]
3098 +
3099 +
3100 +When it starts to homing, POT = 0, and it starts to homing at a forward high speed. After encountering the rising edge of POT, it decelerates and reverses, runs at a reverse low speed, and stops at the first Z signal after encountering the falling edge of POT.
3101 +
3102 +
3103 +② The deceleration point signal is valid when starting homing
3104 +
3105 +(% style="text-align:center" %)
3106 +[[image:1748222190794-857.jpg||height="337" width="600"]]
3107 +
3108 +POT=1 when start homing, run at low speed directly in the reverse direction, and stops at the first Z signal after the falling edge of POT.
3109 +
3110 +
3111 +
3112 +(3) P01-40=3
3113 +
3114 +Mechanical homing: Motor Z signal
3115 +
3116 +Deceleration point: Home switch (HW)
3117 +
3118 +① The deceleration point signal is invalid when starting homing
3119 +
3120 +(% style="text-align:center" %)
3121 +[[image:1748222203229-740.jpg||height="337" width="600"]]
3122 +
3123 +
3124 +When it starts to homing, HW=0. It starts to homing at a forward high speed. After encountering the rising edge of HW, it decelerates and reverses the direction. It runs at a reverse low speed. After encountering the falling edge of HW, it continues to run, and then stops when encountering the first Z signal.
3125 +
3126 +
3127 +② The deceleration point signal is valid when starting homing
3128 +
3129 +(% style="text-align:center" %)
3130 +[[image:1748222259038-454.jpg||height="337" width="600"]]
3131 +
3132 +When starting homing, HW=1, start homing at low speed in reverse directly, and stop at the first Z signal after encountering the falling edge of HW;
3133 +
3134 +
3135 +
3136 +
3137 +
3138 +
3139 +
3140 +
3141 +
3142 +
3143 +
3144 +
3145 +
3146 +(4) P01-40=4
3147 +
3148 +Mechanical homing: Motor Z signal
3149 +
3150 +Deceleration point: Home switch (HW)
3151 +
3152 +① The deceleration point signal is invalid when starting homing
3153 +
3154 +(% style="text-align:center" %)
3155 +[[image:1748222356175-586.jpg||height="337" width="600"]]
3156 +
3157 +HW=0 when starting to homing, directly start to homing at low speed, and stop at the first Z signal after encountering the rising edge of HW;
3158 +
3159 +
3160 +② The deceleration point signal is valid when starting homing
3161 +
3162 +(% style="text-align:center" %)
3163 +[[image:1748222408099-521.jpg||height="338" width="600"]]
3164 +
3165 +
3166 +When starting to homing, HW = 1, start to homing at a high speed in the reverse direction. After encountering the falling edge of HW, decelerate and reverse, run at a low speed in the forward direction, and stop at the first Z signal after encountering the rising edge of HW.
3167 +
3168 +
3169 +
3170 +
3171 +
3172 +(5) P01-40=5
3173 +
3174 +Mechanical homing: Motor Z signal
3175 +
3176 +Deceleration point: Home switch (HW)
3177 +
3178 +① The deceleration point signal is invalid when starting homing
3179 +
3180 +(% style="text-align:center" %)
3181 +[[image:1748222430449-293.jpg||height="337" width="600"]]
3182 +
3183 +When it starts to homing, HW = 0, and it starts to homing at a reverse high speed. After encountering the rising edge of HW, it decelerates and reverses the direction, runs at a forward low speed, and stops at the first Z signal after encountering the falling edge of HW.
3184 +
3185 +
3186 +② The deceleration point signal is valid when starting homing
3187 +
3188 +(% style="text-align:center" %)
3189 +[[image:1748222448727-825.jpg||height="337" width="600"]]
3190 +
3191 +When starting homing, HW=1, it will start homing directly at low speed, and the first Z signal after encountering the falling edge of HW will stop;
3192 +
3193 +
3194 +
3195 +
3196 +
3197 +(6) P01-40=6
3198 +
3199 +Mechanical homing: Motor Z signal
3200 +
3201 +Deceleration point: Home switch (HW)
3202 +
3203 +① The deceleration point signal is invalid when starting homing
3204 +
3205 +(% style="text-align:center" %)
3206 +[[image:1748222469183-894.jpg||height="337" width="600"]]
3207 +
3208 +When starting to homing, HW=0, directly reverse low speed starts to homing, and the first Z signal stops after encountering the rising edge of HW;
3209 +
3210 +
3211 +② The deceleration point signal is valid when starting homing
3212 +
3213 +(% style="text-align:center" %)
3214 +[[image:1748222485622-911.jpg||height="337" width="600"]]
3215 +
3216 +When starting to homing, HW = 1, start to homing at a forward high speed, after encountering the falling edge of HW, decelerate and reverse, run at a reverse low speed, and stop at the first Z signal after encountering the rising edge of HW.
3217 +
3218 +
3219 +
3220 +
3221 +
3222 +(7) P01-40=7
3223 +
3224 +Mechanical homing: Motor Z signal
3225 +
3226 +Deceleration point: Home switch (HW)
3227 +
3228 +① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3229 +
3230 +(% style="text-align:center" %)
3231 +[[image:1748222509640-301.jpg||height="405" width="600"]]
3232 +
3233 +
3234 +When it starts to homing, HW = 0, and it starts to homing at a forward high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and reverses the direction, and runs at a reverse low speed. The first Z signal after encountering the falling edge of HW stops.
3235 +
3236 +
3237 +②When homing, the deceleration point signal is invalid and the forward limit switch is encountered
3238 +
3239 +(% style="text-align:center" %)
3240 +[[image:1748222603373-759.jpg||height="482" width="600"]]
3241 +
3242 +When it starts to homing, HW = 0, and it starts to homing at a forward high speed. If it encounters a limit switch, it will automatically reverse and run at a reverse high speed. After encountering the rising edge of HW, it will slow down and continue to run at a reverse low speed. The first Z signal after the falling edge of HW will stop.
3243 +
3244 +
3245 +③ The deceleration point signal is valid when starting homing
3246 +
3247 +(% style="text-align:center" %)
3248 +[[image:1748222658301-527.jpg||height="406" width="600"]]
3249 +
3250 +When starting homing, HW=1, then directly reverse the low speed to start homing, and stop the first Z signal after encountering the falling edge of HW;
3251 +
3252 +
3253 +(8) P01-40=8
3254 +
3255 +Mechanical homing: Motor Z signal
3256 +
3257 +Deceleration point: Home switch (HW)
3258 +
3259 +① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3260 +
3261 +(% style="text-align:center" %)
3262 +[[image:1748222676833-578.jpg||height="425" width="600"]]
3263 +
3264 +When it starts to homing, HM-0 starts to homing at a forward high speed. If it does not encounter the limit switch, after encountering the rising edge of HW, slow down and reverse, and run at a reverse low speed. After encountering the falling edge of HW, reverse, run at a forward low speed, and stop at the first Z signal after encountering the rising edge of HW.
3265 +
3266 +
3267 +② The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
3268 +
3269 +(% style="text-align:center" %)
3270 +[[image:1748222776332-811.jpg||height="460" width="600"]]
3271 +
3272 +When it starts to homing, HW = 0, and it starts to homing at forward high speed. If it encounters a limit switch, it will automatically reverse and run at reverse high speed; After encountering the rising edge of HW, slow down and run at a reverse low speed; After encountering the falling edge of HW, reverse the direction, run at a forward low speed, and stop the first Z signal after encountering the rising edge of HW.
3273 +
3274 +
3275 +③ The deceleration point signal is valid when starting homing
3276 +
3277 +(% style="text-align:center" %)
3278 +[[image:1748222790840-470.jpg||height="403" width="600"]]
3279 +
3280 +When starting to homing, HM-1 will directly reverse and start to return to zero at low speed. After encountering the falling edge of HW, it will reverse and run at forward low speed. The first Z signal after encountering the rising edge of HW will stop.
3281 +
3282 +
3283 +
3284 +(9) P01-40=9
3285 +
3286 +Mechanical homing: Motor Z signal
3287 +
3288 +Deceleration point: Home switch (HW)
3289 +
3290 +① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3291 +
3292 +(% style="text-align:center" %)
3293 +[[image:1748222807478-627.jpg||height="407" width="600"]]
3294 +
3295 +When it starts to homing, HW=0, and it starts to homing at a forward high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and runs at a forward low speed; After encountering the falling edge of HW, reverse, run at a low speed in the reverse direction, and stop at the first Z signal after encountering the rising edge of HW.
3296 +
3297 +
3298 +② The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
3299 +
3300 +(% style="text-align:center" %)
3301 +[[image:1748222889157-134.jpg||height="473" width="600"]]
3302 +
3303 +When it starts to homing, HW = 0, and it starts to homing at a forward high speed. If it encounters a limit switch, it will automatically reverse and run at a reverse high speed. After encountering a rising edge of HW, it will slow down and reverse to resume forward operation. Running at a forward low speed, after encountering a falling edge of HW, it will reverse. During reverse low speed operation, the first Z signal after encountering a rising edge of HW will stop.
3304 +
3305 +③ The deceleration point signal is valid when starting homing
3306 +
3307 +[[image:1748223323594-945.jpg]]
3308 +
3309 +When starting homing, HW=1 starts homing directly at forward low speed. After encountering the falling edge of HW, the first Z signal after encountering the rising edge of HW stops in reverse and reverse low speed operation;
3310 +
3311 +
3312 +(10) P01-40=10
3313 +
3314 +Mechanical homing: Motor Z signal
3315 +
3316 +Deceleration point: Home switch (HW)
3317 +
3318 +① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3319 +
3320 +
3321 +When it starts to homing, HW = 0, and it starts to homing at a forward high speed. If the limit switch is not encountered, after encountering the rising edge of HW, slow down and run at a forward low speed. After encountering the falling edge of HW, continue to run at a forward low speed, and then the first Z signal encountered stops.
3322 +
3323 +When homing, the deceleration point signal is invalid and the forward limit switch is encountered
3324 +
3325 +
3326 +When it starts to homing, HW = 0, and it starts to homing at a forward high speed. If it encounters a limit switch, it will automatically reverse and run at a reverse high speed. After encountering the rising edge of HW, it will slow down and reverse to resume forward operation. The first Z signal after the low speed encounters the falling edge of HW will stop.
3327 +
3328 +
3329 +③ The deceleration point signal is valid when starting homing
3330 +
3331 +
3332 +When starting homing, HW=1, it will start homing directly at low speed, and the first Z signal after encountering the falling edge of HW will stop;
3333 +
3334 +
3335 +(11) P01-40=11
3336 +
3337 +Mechanical homing: Motor Z signal
3338 +
3339 +Deceleration point: Home switch (HW)
3340 +
3341 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3342 +
3343 +
3344 +When it starts to homing, HW=0, and it starts to homing at a reverse high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and reverses the direction, runs at a forward low speed, and stops at the first Z signal after encountering the falling edge of HW.
3345 +
3346 +
3347 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3348 +
3349 +
3350 +When it starts to homing, HW=0, and it starts to homing at a reverse high speed. If it encounters a limit switch, it will automatically reverse and run at a forward high speed. After encountering a rising edge of HW, slow down and continue to run at a forward low speed. When encountering a falling edge of HW, the first Z signal after the edge stops.
3351 +
3352 +③ The deceleration point signal is valid when starting homing
3353 +
3354 +
3355 +When starting homing, HW=1, it will start homing directly at low speed, and the first Z signal after encountering the falling edge of HW will stop;
3356 +
3357 +
3358 +(12) P01-40=12
3359 +
3360 +Mechanical homing: Motor Z signal
3361 +
3362 +Deceleration point: Home switch (HW)
3363 +
3364 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3365 +
3366 +
3367 +
3368 +When it starts to homing, HW = 0, it starts to homing at a reverse high speed, and does not encounter a limit switch. After encountering the rising edge of HW, it decelerates and reverses, and runs at a forward low speed. After encountering the falling edge of HW, it reverses and runs at a reverse low speed, and stops at the first Z signal after encountering the rising edge of HW.
3369 +
3370 +
3371 +
3372 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3373 +
3374 +
3375 +When it starts to homing, HW=0, it starts to homing at a reverse high speed, encounters a limit switch, automatically reverses, runs at a forward high speed, encounters a rising edge of HW, decelerates, runs at a forward low speed, encounters a falling edge of HW, reverses, runs at a reverse low speed, and stops at the first Z signal after encountering a rising edge of HW.
3376 +
3377 +
3378 +
3379 +③ The deceleration point signal is valid when starting homing
3380 +
3381 +
3382 +When starting to homing, HW = 1, it will directly start to homing at a forward low speed. After encountering the falling edge of HW, it will reverse and run at a reverse low speed. The first Z signal after encountering the rising edge of HW will stop.
3383 +
3384 +(13) P01-40=13
3385 +
3386 +Mechanical homing: Motor Z signal
3387 +
3388 +Deceleration point: Home switch (HW)
3389 +
3390 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3391 +
3392 +
3393 +When it starts to homing, HW=0, and it starts to homing at a reverse high speed. If it does not encounter the limit switch, after encountering the rising edge of HW, slow down and run at a reverse low speed. After encountering the falling edge of HW, reverse and run at a forward low speed, and stop at the first Z signal after encountering the rising edge of HW.
3394 +
3395 +
3396 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3397 +
3398 +
3399 +When it starts to homing, HW=0, it starts to homing at reverse high speed, encounters the limit switch, automatically reverses, runs at forward high speed, after encountering the rising edge of HW, decelerates and runs in reverse low speed, and encounters the falling edge of HW when running at reverse low speed, the first Z signal after encountering the rising edge of HW stops.
3400 +
3401 +③ The deceleration point signal is valid when starting homing
3402 +
3403 +
3404 +When starting homing, HW=1 starts homing directly at reverse low speed. After encountering the falling edge of HW, the first Z signal after encountering the rising edge of HW stops in reverse and forward low speed operation;
3405 +
3406 +
3407 +(14) P01-40=14
3408 +
3409 +Mechanical homing: Motor Z signal
3410 +
3411 +Deceleration point: Home switch (HW)
3412 +
3413 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3414 +
3415 +
3416 +When it starts to homing, HW=0, it starts to homing at reverse high speed, and does not encounter the limit switch. After encountering the rising edge of HW, it decelerates and runs at reverse low speed. After encountering the falling edge of HW, it continues to run at reverse low speed, and then the first Z signal encountered stops.
3417 +
3418 +
3419 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3420 +
3421 +
3422 +When it starts to homing, HW = 0, it starts to homing at a reverse high speed, encounters a limit switch, automatically reverses, runs at a forward high speed, encounters a rising edge of HW, decelerates and runs in a reverse direction, and stops the first Z signal after encountering a falling edge of HW at a reverse low speed.
3423 +
3424 +
3425 +③ The deceleration point signal is valid when starting homing
3426 +
3427 +
3428 +When starting homing, HW=1, then directly reverse the low speed to start homing, and stop the first Z signal after encountering the falling edge of HW;
3429 +
3430 +
3431 +(15) P01-40=17
3432 +
3433 +Mechanical homing: Negative overrun switch (NOT)
3434 +
3435 +Deceleration point: Negative overrun switch (NOT)
3436 +
3437 +① The deceleration point signal is invalid when starting homing
3438 +
3439 +
3440 +When it starts to homing, NOT = 0, it starts to homing at a high speed in the reverse direction. After encountering the rising edge of NOT, it decelerates and reverses the direction, runs at a low speed in the forward direction, and stops after encountering the falling edge of NOT.
3441 +
3442 +
3443 +② The deceleration point signal is valid when starting homing
3444 +
3445 +
3446 +When starting homing, NOT=1, start homing directly at low speed, and stop after encountering the falling edge of NOT.
3447 +
3448 +
3449 +(16) P01-40=18
3450 +
3451 +Mechanical homing: Positive overrun switch (POT)
3452 +
3453 +Deceleration point: Positive overrun switch (POT)
3454 +
3455 +① The deceleration point signal is invalid when starting homing
3456 +
3457 +
3458 +When it starts to return to zero, POT=0, it starts to homing at a forward high speed, after encountering the rising edge of POT, it decelerates and reverses, runs at a reverse low speed, and stops after encountering the falling edge of POT.
3459 +
3460 +
3461 +② The deceleration point signal is valid when starting homing
3462 +
3463 +
3464 +When starting homing, POT=1, start homing at low speed in reverse directly, and stop when encountering POT falling edge;
3465 +
3466 +
3467 +
3468 +(17) P01-40=19
3469 +
3470 +Mechanical homing: Home switch (HW)
3471 +
3472 +Deceleration point: Home switch (HW)
3473 +
3474 +① The deceleration point signal is invalid when starting homing
3475 +
3476 +
3477 +When it starts to homing, HW=0, and it starts to homing at a forward high speed. After encountering the rising edge of HW, it decelerates and reverses the direction, runs at a reverse low speed, and stops when encountering the falling edge of HW.
3478 +
3479 +
3480 +② The deceleration point signal is valid when starting homing
3481 +
3482 +
3483 +When starting homing, HW=1, start homing at low speed in reverse directly, and stop when encountering HW falling edge;
3484 +
3485 +
3486 +(18) P01-40=20
3487 +
3488 +Mechanical homing: Home switch (HW)
3489 +
3490 +Deceleration point: Home switch (HW)
3491 +
3492 +① The deceleration point signal is invalid when starting homing
3493 +
3494 +
3495 +When starting to homing, HW=0, directly start to homing at low speed, and stop after encountering the rising edge of HW;
3496 +
3497 +
3498 +② The deceleration point signal is valid when starting homing
3499 +
3500 +
3501 +When starting to homing, HW = 1, start to homing at a high speed in the reverse direction. After encountering the falling edge of HW, slow down and reverse the direction, run at a low speed in the forward direction, and stop when encountering the rising edge of HW.
3502 +
3503 +
3504 +(19) P01-40=21
3505 +
3506 +Mechanical homing: Home switch (HW)
3507 +
3508 +Deceleration point: Home switch (HW)
3509 +
3510 +① The deceleration point signal is invalid when starting homing
3511 +
3512 +
3513 +When it starts to homing, HW=0, it starts to homing at a reverse high speed. After encountering the rising edge of HW, it decelerates and reverses the direction, runs at a forward low speed, and stops when encountering the falling edge of HW.
3514 +
3515 +
3516 +② The deceleration point signal is valid when starting homing
3517 +
3518 +
3519 +When starting back to zero, HW=1, it will start homing directly at low speed, and stop after encountering the falling edge of HW;
3520 +
3521 +
3522 +(20) P01-40=22
3523 +
3524 +Mechanical homing: Home switch (HW)
3525 +
3526 +Deceleration point: Home switch (HW)
3527 +
3528 +① The deceleration point signal is invalid when starting homing
3529 +
3530 +
3531 +When starting to homing, HW=0, directly reverse low speed starts to homing, and stops when encountering HW rising edge;
3532 +
3533 +
3534 +Deceleration point signal is valid when homing start
3535 +
3536 +
3537 +When starting to homing, HW=1, start to homing at a forward high speed, after encountering the falling edge of HW, slow down and reverse, run at a reverse low speed, and stop when encountering the rising edge of HW.
3538 +
3539 +
3540 +(21) P01-40=23
3541 +
3542 +Mechanical homing: Home switch (HW)
3543 +
3544 +Deceleration point: Home switch (HW)
3545 +
3546 +① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3547 +
3548 +
3549 +When it starts to homing, HW = 0, it starts to homing at a forward high speed, and does not encounter a limit switch. After encountering the rising edge of HW, it decelerates and reverses, runs at a reverse low speed, and stops when encountering the falling edge of HW.
3550 +
3551 +
3552 +① The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
3553 +
3554 +
3555 +When you start homing, HW = 0, start homing at a forward high speed. When encountering the limit switch, it will automatically reverse and run at a reverse high speed. After encountering the rising edge of HW, slow down, continue to run at reverse low speed, and stop when encountering the HW falling edge.
3556 +
3557 +
3558 +
3559 +③ The deceleration point signal is valid when starting homing
3560 +
3561 +
3562 +When it starts to homing, HW=1, it starts to homing at a reverse low speed, and stops when it encounters the falling edge of HW.
3563 +
3564 +
3565 +(22) P01-40=24
3566 +
3567 +Mechanical homing: Home switch (HW)
3568 +
3569 +Deceleration point: Home switch (HW)
3570 +
3571 +① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3572 +
3573 +
3574 +When it starts to homing, HW = 0, it starts to homing at a forward high speed, and does not encounter a limit switch. After encountering the rising edge of HW, it decelerates and reverses, and runs at a reverse low speed. After encountering the falling edge of HW, it reverses and runs at a forward low speed, and stops when encountering the rising edge of HW.
3575 +
3576 +
3577 +① The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
3578 +
3579 +
3580 +When it starts to homing, HW = 0, it starts to homing at forward high speed, encounters the limit switch, automatically reverses, runs at reverse high speed, encounters the rising edge of HW, decelerates and runs at reverse low speed, encounters the falling edge of HW, reverses, runs at forward low speed, and stops when encountering the rising edge of HW.
3581 +
3582 +
3583 +③ The deceleration point signal is valid when starting homing
3584 +
3585 +
3586 +When starting with homing, HW = 1, it will directly reverse the low speed and start to homing. After encountering the falling edge of HW, it will reverse the direction and run at a forward low speed, and stop when encountering the rising edge of HW.
3587 +
3588 +
3589 +(23) P01-40=25
3590 +
3591 +Mechanical homing: Home switch (HW)
3592 +
3593 +Deceleration point: Home switch (HW)
3594 +
3595 +① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3596 +
3597 +
3598 +When it starts to homing, HW=0, it starts to homing at a forward high speed, and does not encounter a limit switch. After encountering the rising edge of HW, it decelerates and runs at a forward low speed. After encountering the falling edge of HW, it reverses and runs at a reverse low speed, and stops when encountering the rising edge of HW.
3599 +
3600 +
3601 +① The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
3602 +
3603 +
3604 +When it starts to homing, HW=0, it starts to homing at forward high speed, encounters the limit switch, automatically reverses, and runs at reverse high speed. After encountering the rising edge of HW, decelerate and reverse to resume forward operation. After encountering the falling edge of HW at forward low speed, reverse. When running at reverse low speed, stop when encountering the rising edge of HW.
3605 +
3606 +
3607 +③ The deceleration point signal is valid when starting homing
3608 +
3609 +
3610 +When starting homing, when HW=1, it starts to homing directly at low speed in the forward direction. After encountering the falling edge of HW, it stops at the rising edge of HW in the reverse low speed operation
3611 +
3612 +
3613 +(24) P01-40=26
3614 +
3615 +Mechanical homing: Home switch (HW)
3616 +
3617 +Deceleration point: Home switch (HW)
3618 +
3619 +① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3620 +
3621 +
3622 +When it starts to homing, HW=0, it starts to homing at a forward high speed, and does not encounter a limit switch. After encountering the rising edge of HW, it decelerates, runs at a forward low speed, and stops when encountering the falling edge of HW.
3623 +
3624 +
3625 +① The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
3626 +
3627 +
3628 +When it starts to homing, HW=0, it starts to homing at forward high speed, encounters the limit switch, automatically reverses, and runs at reverse high speed. After encountering the rising edge of HW, decelerates and reverses to resume forward operation, and stops when encountering the falling edge of HW at forward low speed.
3629 +
3630 +
3631 +③ The deceleration point signal is valid when starting homing
3632 +
3633 +
3634 +When starting homing, HW=1, it will start homing directly at low speed, and stop when encountering HW falling edge;
3635 +
3636 +
3637 +(25) P01-40=27
3638 +
3639 +Mechanical homing: Home switch (HW)
3640 +
3641 +Deceleration point: Home switch (HW)
3642 +
3643 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3644 +
3645 +
3646 +When it starts to homing, HW=0, it starts to homing at a reverse high speed, and does not encounter a limit switch. After encountering the rising edge of HW, it decelerates and reverses the direction, runs at a forward low speed, and stops when encountering the falling edge of HW.
3647 +
3648 +
3649 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3650 +
3651 +
3652 +When it starts to homing, HW=0, it starts to homing at a reverse high speed. When it encounters a limit switch, it automatically reverses and runs at a forward high speed. When it encounters a rising edge of HW, it decelerates and continues to run at a forward low speed. When it encounters a falling edge of HW, it stops.
3653 +
3654 +
3655 +③ The deceleration point signal is valid when starting homing
3656 +
3657 +
3658 +When starting homing, HW=1, it will start homing directly at low speed, and stop when encountering HW falling edge;
3659 +
3660 +
3661 +(26) P01-40=28
3662 +
3663 +Mechanical homing: Home switch (HW)
3664 +
3665 +Deceleration point: Home switch (HW)
3666 +
3667 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3668 +
3669 +
3670 +When it starts to homing, HW=0, it starts to homing at a reverse high speed, and does not encounter a limit switch. After encountering the rising edge of HW, it decelerates and reverses, and runs at a forward low speed. After encountering the falling edge of HW, it reverses and runs at a reverse low speed, and stops when encountering the rising edge of HW.
3671 +
3672 +
3673 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3674 +
3675 +
3676 +When it starts to homing, HW=0, it starts to homing at a reverse high speed. When encountering a limit switch, it automatically reverses and runs at a forward high speed. When encountering a rising edge of HW, it decelerates and runs at a forward low speed. When encountering a falling edge of HW, it reverses and runs at a reverse low speed. When encountering a rising edge of HW, it stops.
3677 +
3678 +
3679 +③ The deceleration point signal is valid when starting homing
3680 +
3681 +
3682 +When starting with homing, HW = 1, it will directly start to homing at a forward low speed. After encountering the falling edge of HW, it will reverse and run at a reverse low speed. When encountering the rising edge of HW, it will stop.
3683 +
3684 +
3685 +(27) P01-40=29
3686 +
3687 +Mechanical homing: Home switch (HW)
3688 +
3689 +Deceleration point: Home switch (HW)
3690 +
3691 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3692 +
3693 +
3694 +When it starts to homing, HW = 0, it starts to homing at a reverse high speed, and does not encounter a limit switch. After encountering the rising edge of HW, it decelerates and runs at a reverse low speed. After encountering the falling edge of HW, it reverses and runs at a forward low speed, and stops when encountering the rising edge of HW.
3695 +
3696 +
3697 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3698 +
3699 +
3700 +When it starts to homing, HW=0, it starts to homing at a reverse high speed. When it encounters a limit switch, it automatically reverses and runs at a forward high speed. After encountering a rising edge of HW, it decelerates and runs in a reverse low speed. After encountering a falling edge of HW, it reverses. When running at a forward low speed, it stops when it encounters a rising edge of HW.
3701 +
3702 +③ The deceleration point signal is valid when starting homing
3703 +
3704 +
3705 +When starting homing, when HW=1, it starts to homing directly at low speed in reverse direction. After encountering the falling edge of HW, it stops when running at low speed in reverse direction and forward direction and encountering the rising edge of HW
3706 +
3707 +
3708 +(28) P01-40=30
3709 +
3710 +Mechanical homing: Home switch (HW)
3711 +
3712 +Deceleration point: Home switch (HW)
3713 +
3714 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3715 +
3716 +
3717 +When it starts to homing, HW=0, it starts to homing at reverse high speed, and does not encounter the limit switch. After encountering the rising edge of HW, it decelerates, runs at reverse low speed, and stops when encountering the falling edge of HW.
3718 +
3719 +
3720 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3721 +
3722 +
3723 +When it starts to homing, HW=0, it starts to homing at a reverse high speed. When it encounters a limit switch, it automatically reverses and runs at a forward high speed. When it encounters a rising edge of HW, it decelerates and runs in a reverse low speed. When it encounters a falling edge of HW, it stops.
3724 +
3725 +
3726 +③ The deceleration point signal is valid when starting homing
3727 +
3728 +
3729 +When starting homing, HW=1, start homing at low speed in reverse directly, and stop when encountering HW falling edge;
3730 +
3731 +
3732 +(29) P01-40=33 and P01-40=34
3733 +
3734 +Mechanical homing: Z signal.
3735 +
3736 +Deceleration point: None
3737 +
3738 +Homing mode 33: Reverse low speed operation, stop the first Z signal encountered
3739 +
3740 +Homing mode 34: running at low speed in forward direction, stopping the first Z signal encountered
3741 +
3742 +
3743 +
3744 +(30) P01-40=35
3745 +
3746 +Homing mode 35, taking the current position as the mechanical homing, after triggering the homing (P01-39: 0x00→0x01/0x00 → 0x02);
3747 +
3748 +After the homing is completed, according to the set value of P10-08 (homing bias compensation), P10-06 (encoder multi-turn reset operation) is executed.
3749 +
3750 +
3751 +
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