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Changes for page 06 Operation

Last modified by Iris on 2025/07/23 15:49
From version 94.1
edited by Mora Zhou
on 2025/04/29 10:24
Change comment: There is no comment for this version
To version 102.3
edited by xingzhi lin
on 2025/05/26 09:27
Change comment: There is no comment for this version

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Details

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Author
... ... @@ -1,1 +1,1 @@
1 -XWiki.Mora
1 +XWiki.lxz
Content
... ... @@ -2398,13 +2398,18 @@
2398 2398  )))|(((
2399 2399  Shutdown setting
2400 2400  )))|1|(% style="width:90px" %)1 to 6|(% style="width:273px" %)(((
2401 -* 1: Position control
2402 -* 2: Speed control
2403 -* 3: Torque control
2404 -* 4: Position/speed mixed control
2405 -* 5: Position/torque mixed control
2406 -* 6: Speed/torque mixed control
2401 +1: Position control
2407 2407  
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 +
2408 2408  **VD2L drive P0-01 setting range: 1-3, not support mixed mode**
2409 2409  )))|-
2410 2410  
... ... @@ -2546,8 +2546,9 @@
2546 2546  **time**
2547 2547  )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2548 2548  |=P00-30|Shield multi-turn absolute encoder battery fault|Operation setting|Power on again|0|0 to 1|(((
2549 -* 0：Detect multi-turn absolute encoder battery under voltage, and battery low voltage fault
2550 -* 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
2551 2551  )))|-
2552 2552  
2553 2553  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.
... ... @@ -2692,8 +2692,9 @@
2692 2692  
2693 2693  VDI_1 input level:
2694 2694  
2695 -* 0: low level
2696 -* 1: high level
2701 +0: Low level
2702 +
2703 +1: High level
2697 2697  )))|-
2698 2698  |=P13-2|Virtual VDI_2 input value|Operation setting|Effective immediately|0|0 to 1|(((
2699 2699  When P06-07 is set to 1, DI_2 channel logic is control by this function code.
... ... @@ -2700,8 +2700,9 @@
2700 2700  
2701 2701  VDI_2 input level:
2702 2702  
2703 -* 0: low level
2704 -* 1: high level
2710 +0: Low level
2711 +
2712 +1: High level
2705 2705  )))|-
2706 2706  |=P13-3|Virtual VDI_3 input value|Operation setting|Effective immediately|0|0 to 1|(((
2707 2707  When P06-10 is set to 1, DI_3 channel logic is control by this function code.
... ... @@ -2708,8 +2708,9 @@
2708 2708  
2709 2709  VDI_3 input level:
2710 2710  
2711 -* 0: low level
2712 -* 1: high level
2719 +0: Low level
2720 +
2721 +1: High level
2713 2713  )))|-
2714 2714  |=P13-4|Virtual VDI_4 input value|Operation setting|Effective immediately|0|0 to 1|(((
2715 2715  When P06-13 is set to 1, DI_4 channel logic is control by this function code.
... ... @@ -2716,40 +2716,53 @@
2716 2716  
2717 2717  VDI_4 input level:
2718 2718  
2719 -* 0: low level
2720 -* 1: high level
2728 +0: Low level
2729 +
2730 +1: High level
2721 2721  )))|-
2722 -|=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|(((
2723 2723  When P06-16 is set to 1, DI_5 channel logic is control by this function code.
2724 2724  
2725 2725  VDI_5 input level:
2726 2726  
2727 -* 0: low level
2728 -* 1: high level
2739 +0: Low level
2740 +
2741 +1: High level
2729 2729  )))|-
2730 -|=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|(((
2731 2731  When P06-19 is set to 1, DI_6 channel logic is control by this function code.
2732 2732  
2733 2733  VDI_6 input level:
2734 2734  
2735 -* 0: low level
2736 -* 1: high level
2750 +0: Low level
2751 +
2752 +1: High level
2737 2737  )))|-
2738 -|=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|(((
2739 2739  When P06-22 is set to 1, DI_7 channel logic is control by this function code.
2740 2740  
2741 2741  VDI_7 input level:
2742 2742  
2743 -* 0: low level
2744 -* 1: high level
2761 +0: Low level
2762 +
2763 +1: High level
2745 2745  )))|-
2746 -|=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|(((
2747 2747  When P06-25 is set to 1, DI_8 channel logic is control by this function code.
2748 2748  
2749 2749  VDI_8 input level:
2750 2750  
2751 -* 0: low level
2752 -* 1: high level
2772 +0: Low level
2773 +
2774 +1: High level
2753 2753  )))|-
2754 2754  
2755 2755  Table 6-57 Virtual VDI parameters
... ... @@ -2756,7 +2756,7 @@
2756 2756  
2757 2757  (% class="box infomessage" %)
2758 2758  (((
2759 -✎**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 .
2760 2760  )))
2761 2761  
2762 2762  == Port filtering time ==
... ... @@ -2790,26 +2790,30 @@
2790 2790  |=P13-11|Communication VDO_1 output value|Operation setting|Effective immediately|0|0 to 1|(((
2791 2791  VDO_1 output level：
2792 2792  
2793 -* 0: low level
2794 -* 1: high level
2815 +0: Low level
2816 +
2817 +1: High level
2795 2795  )))|-
2796 2796  |=P13-12|Communication VDO_2 output value|Operation setting|Effective immediately|0|0 to 1|(((
2797 2797  VDO_2 output level：
2798 2798  
2799 -* 0: low level
2800 -* 1: high level
2822 +0: Low level
2823 +
2824 +1: High level
2801 2801  )))|-
2802 2802  |=P13-13|Communication VDO_3 output value|Operation setting|Effective immediately|0|0 to 1|(((
2803 2803  VDO_3 output level：
2804 2804  
2805 -* 0: low level
2806 -* 1: high level
2829 +0: Low level
2830 +
2831 +1: High level
2807 2807  )))|-
2808 2808  |=P13-14|Communication VDO_4 output value|Operation setting|Effective immediately|0|0 to 1|(((
2809 2809  VDO_4 output level：
2810 2810  
2811 -* 0: low level
2812 -* 1: high level
2836 +0: Low level
2837 +
2838 +1: High level
2813 2813  )))|-
2814 2814  
2815 2815  Table 6-59 Communication control DO function parameters
... ... @@ -2852,3 +2852,871 @@
2852 2852  (((
2853 2853  ✎**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.
2854 2854  )))
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 +
3301 +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.
3302 +
3303 +③ The deceleration point signal is valid when starting homing
3304 +
3305 +
3306 +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;
3307 +
3308 +
3309 +(10) P01-40=10
3310 +
3311 +Mechanical homing: Motor Z signal
3312 +
3313 +Deceleration point: Home switch (HW)
3314 +
3315 +① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3316 +
3317 +
3318 +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.
3319 +
3320 +When homing, the deceleration point signal is invalid and the forward limit switch is encountered
3321 +
3322 +
3323 +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.
3324 +
3325 +
3326 +③ The deceleration point signal is valid when starting homing
3327 +
3328 +
3329 +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;
3330 +
3331 +
3332 +(11) P01-40=11
3333 +
3334 +Mechanical homing: Motor Z signal
3335 +
3336 +Deceleration point: Home switch (HW)
3337 +
3338 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3339 +
3340 +
3341 +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.
3342 +
3343 +
3344 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3345 +
3346 +
3347 +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.
3348 +
3349 +③ The deceleration point signal is valid when starting homing
3350 +
3351 +
3352 +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;
3353 +
3354 +
3355 +(12) P01-40=12
3356 +
3357 +Mechanical homing: Motor Z signal
3358 +
3359 +Deceleration point: Home switch (HW)
3360 +
3361 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3362 +
3363 +
3364 +
3365 +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.
3366 +
3367 +
3368 +
3369 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3370 +
3371 +
3372 +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.
3373 +
3374 +
3375 +
3376 +③ The deceleration point signal is valid when starting homing
3377 +
3378 +
3379 +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.
3380 +
3381 +(13) P01-40=13
3382 +
3383 +Mechanical homing: Motor Z signal
3384 +
3385 +Deceleration point: Home switch (HW)
3386 +
3387 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3388 +
3389 +
3390 +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.
3391 +
3392 +
3393 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3394 +
3395 +
3396 +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.
3397 +
3398 +③ The deceleration point signal is valid when starting homing
3399 +
3400 +
3401 +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;
3402 +
3403 +
3404 +(14) P01-40=14
3405 +
3406 +Mechanical homing: Motor Z signal
3407 +
3408 +Deceleration point: Home switch (HW)
3409 +
3410 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3411 +
3412 +
3413 +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.
3414 +
3415 +
3416 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3417 +
3418 +
3419 +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.
3420 +
3421 +
3422 +③ The deceleration point signal is valid when starting homing
3423 +
3424 +
3425 +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;
3426 +
3427 +
3428 +(15) P01-40=17
3429 +
3430 +Mechanical homing: Negative overrun switch (NOT)
3431 +
3432 +Deceleration point: Negative overrun switch (NOT)
3433 +
3434 +① The deceleration point signal is invalid when starting homing
3435 +
3436 +
3437 +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.
3438 +
3439 +
3440 +② The deceleration point signal is valid when starting homing
3441 +
3442 +
3443 +When starting homing, NOT=1, start homing directly at low speed, and stop after encountering the falling edge of NOT.
3444 +
3445 +
3446 +(16) P01-40=18
3447 +
3448 +Mechanical homing: Positive overrun switch (POT)
3449 +
3450 +Deceleration point: Positive overrun switch (POT)
3451 +
3452 +① The deceleration point signal is invalid when starting homing
3453 +
3454 +
3455 +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.
3456 +
3457 +
3458 +② The deceleration point signal is valid when starting homing
3459 +
3460 +
3461 +When starting homing, POT=1, start homing at low speed in reverse directly, and stop when encountering POT falling edge;
3462 +
3463 +
3464 +
3465 +(17) P01-40=19
3466 +
3467 +Mechanical homing: Home switch (HW)
3468 +
3469 +Deceleration point: Home switch (HW)
3470 +
3471 +① The deceleration point signal is invalid when starting homing
3472 +
3473 +
3474 +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.
3475 +
3476 +
3477 +② The deceleration point signal is valid when starting homing
3478 +
3479 +
3480 +When starting homing, HW=1, start homing at low speed in reverse directly, and stop when encountering HW falling edge;
3481 +
3482 +
3483 +(18) P01-40=20
3484 +
3485 +Mechanical homing: Home switch (HW)
3486 +
3487 +Deceleration point: Home switch (HW)
3488 +
3489 +① The deceleration point signal is invalid when starting homing
3490 +
3491 +
3492 +When starting to homing, HW=0, directly start to homing at low speed, and stop after encountering the rising edge of HW;
3493 +
3494 +
3495 +② The deceleration point signal is valid when starting homing
3496 +
3497 +
3498 +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.
3499 +
3500 +
3501 +(19) P01-40=21
3502 +
3503 +Mechanical homing: Home switch (HW)
3504 +
3505 +Deceleration point: Home switch (HW)
3506 +
3507 +① The deceleration point signal is invalid when starting homing
3508 +
3509 +
3510 +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.
3511 +
3512 +
3513 +② The deceleration point signal is valid when starting homing
3514 +
3515 +
3516 +When starting back to zero, HW=1, it will start homing directly at low speed, and stop after encountering the falling edge of HW;
3517 +
3518 +
3519 +(20) P01-40=22
3520 +
3521 +Mechanical homing: Home switch (HW)
3522 +
3523 +Deceleration point: Home switch (HW)
3524 +
3525 +① The deceleration point signal is invalid when starting homing
3526 +
3527 +
3528 +When starting to homing, HW=0, directly reverse low speed starts to homing, and stops when encountering HW rising edge;
3529 +
3530 +
3531 +Deceleration point signal is valid when homing start
3532 +
3533 +
3534 +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.
3535 +
3536 +
3537 +(21) P01-40=23
3538 +
3539 +Mechanical homing: Home switch (HW)
3540 +
3541 +Deceleration point: Home switch (HW)
3542 +
3543 +① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3544 +
3545 +
3546 +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.
3547 +
3548 +
3549 +① The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
3550 +
3551 +
3552 +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.
3553 +
3554 +
3555 +
3556 +③ The deceleration point signal is valid when starting homing
3557 +
3558 +
3559 +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.
3560 +
3561 +
3562 +(22) P01-40=24
3563 +
3564 +Mechanical homing: Home switch (HW)
3565 +
3566 +Deceleration point: Home switch (HW)
3567 +
3568 +① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3569 +
3570 +
3571 +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.
3572 +
3573 +
3574 +① The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
3575 +
3576 +
3577 +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.
3578 +
3579 +
3580 +③ The deceleration point signal is valid when starting homing
3581 +
3582 +
3583 +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.
3584 +
3585 +
3586 +(23) P01-40=25
3587 +
3588 +Mechanical homing: Home switch (HW)
3589 +
3590 +Deceleration point: Home switch (HW)
3591 +
3592 +① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3593 +
3594 +
3595 +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.
3596 +
3597 +
3598 +① The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
3599 +
3600 +
3601 +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.
3602 +
3603 +
3604 +③ The deceleration point signal is valid when starting homing
3605 +
3606 +
3607 +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
3608 +
3609 +
3610 +(24) P01-40=26
3611 +
3612 +Mechanical homing: Home switch (HW)
3613 +
3614 +Deceleration point: Home switch (HW)
3615 +
3616 +① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3617 +
3618 +
3619 +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.
3620 +
3621 +
3622 +① The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
3623 +
3624 +
3625 +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.
3626 +
3627 +
3628 +③ The deceleration point signal is valid when starting homing
3629 +
3630 +
3631 +When starting homing, HW=1, it will start homing directly at low speed, and stop when encountering HW falling edge;
3632 +
3633 +
3634 +(25) P01-40=27
3635 +
3636 +Mechanical homing: Home switch (HW)
3637 +
3638 +Deceleration point: Home switch (HW)
3639 +
3640 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3641 +
3642 +
3643 +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.
3644 +
3645 +
3646 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3647 +
3648 +
3649 +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.
3650 +
3651 +
3652 +③ The deceleration point signal is valid when starting homing
3653 +
3654 +
3655 +When starting homing, HW=1, it will start homing directly at low speed, and stop when encountering HW falling edge;
3656 +
3657 +
3658 +(26) P01-40=28
3659 +
3660 +Mechanical homing: Home switch (HW)
3661 +
3662 +Deceleration point: Home switch (HW)
3663 +
3664 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3665 +
3666 +
3667 +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.
3668 +
3669 +
3670 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3671 +
3672 +
3673 +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.
3674 +
3675 +
3676 +③ The deceleration point signal is valid when starting homing
3677 +
3678 +
3679 +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.
3680 +
3681 +
3682 +(27) P01-40=29
3683 +
3684 +Mechanical homing: Home switch (HW)
3685 +
3686 +Deceleration point: Home switch (HW)
3687 +
3688 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3689 +
3690 +
3691 +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.
3692 +
3693 +
3694 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3695 +
3696 +
3697 +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.
3698 +
3699 +③ The deceleration point signal is valid when starting homing
3700 +
3701 +
3702 +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
3703 +
3704 +
3705 +(28) P01-40=30
3706 +
3707 +Mechanical homing: Home switch (HW)
3708 +
3709 +Deceleration point: Home switch (HW)
3710 +
3711 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3712 +
3713 +
3714 +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.
3715 +
3716 +
3717 +① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3718 +
3719 +
3720 +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.
3721 +
3722 +
3723 +③ The deceleration point signal is valid when starting homing
3724 +
3725 +
3726 +When starting homing, HW=1, start homing at low speed in reverse directly, and stop when encountering HW falling edge;
3727 +
3728 +
3729 +(29) P01-40=33 and P01-40=34
3730 +
3731 +Mechanical homing: Z signal.
3732 +
3733 +Deceleration point: None
3734 +
3735 +Homing mode 33: Reverse low speed operation, stop the first Z signal encountered
3736 +
3737 +Homing mode 34: running at low speed in forward direction, stopping the first Z signal encountered
3738 +
3739 +
3740 +
3741 +(30) P01-40=35
3742 +
3743 +Homing mode 35, taking the current position as the mechanical homing, after triggering the homing (P01-39: 0x00→0x01/0x00 → 0x02);
3744 +
3745 +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.
3746 +
3747 +
3748 +
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