Changes for page 06 Operation

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...	...	@@ -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)
	1445	+|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)
	1478	+|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** =
...	...	@@ -1520,9 +1520,8 @@
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		-
1525		-1: AI_1 analog input (not supported by **VD2F and VD2L**)
	1519	+* 0: internal speed instruction
	1520	+* 1: AI_1 analog input (not supported by VD2F)
1526	1526	)))|-
1527	1527
1528	1528	Table 6-26 Speed instruction source parameter
...	...	@@ -1553,17 +1553,15 @@
1553	1553	Effective
1554	1554
1555	1555	immediately
1556		-)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
	1551	+)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1557	1557	Internal speed instruction 0
1558	1558
1559	1559	When DI input port:
1560	1560
1561		-15-INSPD3: 0
	1556	+* 15-INSPD3: 0
	1557	+* 14-INSPD2: 0
	1558	+* 13-INSPD1: 0,
1562	1562
1563		-14-INSPD2: 0
1564		-
1565		-13-INSPD1: 0,
1566		-
1567	1567	select this speed instruction to be effective.
1568	1568	)))|(% colspan="2" %)rpm
1569	1569	|=(% colspan="1" %)P01-23|(% colspan="2" %)(((
...	...	@@ -1578,17 +1578,15 @@
1578	1578	Effective
1579	1579
1580	1580	immediately
1581		-)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
	1574	+)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1582	1582	Internal speed instruction 1
1583	1583
1584	1584	When DI input port:
1585	1585
1586		-15-INSPD3: 0
	1579	+* 15-INSPD3: 0
	1580	+* 14-INSPD2: 0
	1581	+* 13-INSPD1: 1,
1587	1587
1588		-14-INSPD2: 0
1589		-
1590		-13-INSPD1: 1,
1591		-
1592	1592	Select this speed instruction to be effective.
1593	1593	)))|(% colspan="2" %)rpm
1594	1594	|=(% colspan="1" %)P01-24|(% colspan="2" %)(((
...	...	@@ -1603,17 +1603,15 @@
1603	1603	Effective
1604	1604
1605	1605	immediately
1606		-)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
	1597	+)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1607	1607	Internal speed instruction 2
1608	1608
1609	1609	When DI input port:
1610	1610
1611		-15-INSPD3: 0
	1602	+* 15-INSPD3: 0
	1603	+* 14-INSPD2: 1
	1604	+* 13-INSPD1: 0,
1612	1612
1613		-14-INSPD2: 1
1614		-
1615		-13-INSPD1: 0,
1616		-
1617	1617	Select this speed instruction to be effective.
1618	1618	)))|(% colspan="2" %)rpm
1619	1619	|=(% colspan="1" %)P01-25|(% colspan="2" %)(((
...	...	@@ -1628,17 +1628,15 @@
1628	1628	Effective
1629	1629
1630	1630	immediately
1631		-)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
	1620	+)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1632	1632	Internal speed instruction 3
1633	1633
1634	1634	When DI input port:
1635	1635
1636		-15-INSPD3: 0
	1625	+* 15-INSPD3: 0
	1626	+* 14-INSPD2: 1
	1627	+* 13-INSPD1: 1,
1637	1637
1638		-14-INSPD2: 1
1639		-
1640		-13-INSPD1: 1,
1641		-
1642	1642	Select this speed instruction to be effective.
1643	1643	)))|(% colspan="2" %)rpm
1644	1644	|=P01-26|(% colspan="2" %)(((
...	...	@@ -1653,17 +1653,15 @@
1653	1653	Effective
1654	1654
1655	1655	immediately
1656		-)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
	1643	+)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1657	1657	Internal speed instruction 4
1658	1658
1659	1659	When DI input port:
1660	1660
1661		-15-INSPD3: 1
	1648	+* 15-INSPD3: 1
	1649	+* 14-INSPD2: 0
	1650	+* 13-INSPD1: 0,
1662	1662
1663		-14-INSPD2: 0
1664		-
1665		-13-INSPD1: 0,
1666		-
1667	1667	Select this speed instruction to be effective.
1668	1668	)))|(% colspan="1" %)rpm
1669	1669	|=P01-27|(% colspan="2" %)(((
...	...	@@ -1678,17 +1678,15 @@
1678	1678	Effective
1679	1679
1680	1680	immediately
1681		-)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
	1666	+)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1682	1682	Internal speed instruction 5
1683	1683
1684	1684	When DI input port:
1685	1685
1686		-15-INSPD3: 1
	1671	+* 15-INSPD3: 1
	1672	+* 14-INSPD2: 0
	1673	+* 13-INSPD1: 1,
1687	1687
1688		-14-INSPD2: 0
1689		-
1690		-13-INSPD1: 1,
1691		-
1692	1692	Select this speed instruction to be effective.
1693	1693	)))|(% colspan="1" %)rpm
1694	1694	|=P01-28|(% colspan="2" %)(((
...	...	@@ -1703,17 +1703,15 @@
1703	1703	Effective
1704	1704
1705	1705	immediately
1706		-)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
	1689	+)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1707	1707	Internal speed instruction 6
1708	1708
1709	1709	When DI input port:
1710	1710
1711		-15-INSPD3: 1
	1694	+* 15-INSPD3: 1
	1695	+* 14-INSPD2: 1
	1696	+* 13-INSPD1: 0,
1712	1712
1713		-14-INSPD2: 1
1714		-
1715		-13-INSPD1: 0,
1716		-
1717	1717	Select this speed instruction to be effective.
1718	1718	)))|(% colspan="1" %)rpm
1719	1719	|=P01-29|(% colspan="2" %)(((
...	...	@@ -1728,17 +1728,15 @@
1728	1728	Effective
1729	1729
1730	1730	immediately
1731		-)))|(% colspan="2" %)0|(% colspan="2" %)-6000 to 6000|(% colspan="2" %)(((
	1712	+)))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1732	1732	Internal speed instruction 7
1733	1733
1734	1734	When DI input port:
1735	1735
1736		-15-INSPD3: 1
	1717	+* 15-INSPD3: 1
	1718	+* 14-INSPD2: 1
	1719	+* 13-INSPD1: 1,
1737	1737
1738		-14-INSPD2: 1
1739		-
1740		-13-INSPD1: 1,
1741		-
1742	1742	Select this speed instruction to be effective.
1743	1743	)))|(% colspan="1" %)rpm
1744	1744
...	...	@@ -1754,13 +1754,12 @@
1754	1754	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.
1755	1755
1756	1756
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
	1736	+|=**INSPD3**|=**INSPD2**|=**INSPD1**|=**Running segment number**|=**Internal speed instruction number**
	1737	+|0|0|0|1|0
	1738	+|0|0|1|2|1
	1739	+|0|1|0|3|2
	1740	+|(% colspan="5" %)......
	1741	+|1|1|1|8|7
1764	1764
1765	1765	Table 6-29 Correspondence between INSPD bits and segment numbers
1766	1766
...	...	@@ -1801,22 +1801,16 @@
1801	1801	)))
1802	1802
1803	1803	|=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit**
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
	1782	+|=P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
	1783	+|=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
	1784	+|=P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel quantity dead zone value|mV
	1785	+|=P05-04☆|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV
1816	1816
	1787	+Table 6-30 AI_1 parameters
	1788	+
1817	1817	(% class="box infomessage" %)
1818	1818	(((
1819		-✎**Note: **“★” means VD2F and VD2L servo drive does not support the function code .
	1791	+✎**Note: **“☆” means VD2F servo drive does not support the function code .
1820	1820	)))
1821	1821
1822	1822	== Acceleration and deceleration time setting ==
...	...	@@ -1910,13 +1910,10 @@
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		-
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
	1885	+* 0: Force the speed to 0;
	1886	+* 1: Force the speed to 0, and keep the position locked when the actual speed is less than P01-22
	1887	+* 2: When speed instruction is less than P01-22, force the speed to 0 and keep the position locked
	1888	+* 3: Invalid, ignore zero-speed clamp input
1920	1920	)))|-
1921	1921	|=P01-22|(((
1922	1922	Zero-speed clamp speed threshold
...	...	@@ -1924,7 +1924,7 @@
1924	1924	Operation setting
1925	1925	)))|(((
1926	1926	Effective immediately
1927		-)))|20|0 to 6000|Set the speed threshold of zero-speed clamp function|rpm
	1896	+)))|20|0 to 1000|Set the speed threshold of zero-speed clamp function|rpm
1928	1928
1929	1929	Table 6-33 Zero-speed clamp related parameters
1930	1930
...	...	@@ -1969,7 +1969,7 @@
1969	1969
1970	1970	|=(% scope="row" %)**DO function code**|=(% style="width: 247px;" %)**Function name**|=(% style="width: 695px;" %)**Function**
1971	1971	|=132|(% style="width:247px" %)(((
1972		-TGON rotation detection
	1941	+T-COIN rotation detection
1973	1973	)))|(% style="width:695px" %)(((
1974	1974	Valid: when the absolute value of motor speed after filtering is greater than or equal to the set value of function code P05-16
1975	1975
...	...	@@ -2037,7 +2037,7 @@
2037	2037
2038	2038	|=(% scope="row" %)**DO Function code**|=(% style="width: 262px;" %)**Function name**|=(% style="width: 684px;" %)**Function**
2039	2039	|=136|(% style="width:262px" %)(((
2040		-V-COIN consistent speed
	2009	+U-COIN consistent speed
2041	2041	)))|(% 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
2042	2042
2043	2043	Table 6-39 DO speed consistent function code