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Changes for page 06 Operation

Last modified by Iris on 2025/08/06 10:51
From version 98.1
edited by Mora Zhou
on 2025/04/29 10:46
Change comment: There is no comment for this version
To version 89.1
edited by Mora Zhou
on 2025/04/29 09:47
Change comment: There is no comment for this version

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... ... @@ -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**)
1523 +* 0: internal speed instruction
1524 +* 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" %)(((
1555 +)))|(% 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
1560 +* 15-INSPD3: 0
1561 +* 14-INSPD2: 0
1562 +* 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" %)(((
1578 +)))|(% 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
1583 +* 15-INSPD3: 0
1584 +* 14-INSPD2: 0
1585 +* 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" %)(((
1601 +)))|(% 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
1606 +* 15-INSPD3: 0
1607 +* 14-INSPD2: 1
1608 +* 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" %)(((
1624 +)))|(% 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
1629 +* 15-INSPD3: 0
1630 +* 14-INSPD2: 1
1631 +* 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" %)(((
1647 +)))|(% 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
1652 +* 15-INSPD3: 1
1653 +* 14-INSPD2: 0
1654 +* 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" %)(((
1670 +)))|(% 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
1675 +* 15-INSPD3: 1
1676 +* 14-INSPD2: 0
1677 +* 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" %)(((
1693 +)))|(% 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
1698 +* 15-INSPD3: 1
1699 +* 14-INSPD2: 1
1700 +* 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" %)(((
1716 +)))|(% 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
1721 +* 15-INSPD3: 1
1722 +* 14-INSPD2: 1
1723 +* 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
1740 +|=**INSPD3**|=**INSPD2**|=**INSPD1**|=**Running segment number**|=**Internal speed instruction number**
1741 +|0|0|0|1|0
1742 +|0|0|1|2|1
1743 +|0|1|0|3|2
1744 +|(% colspan="5" %)......
1745 +|1|1|1|8|7
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
1786 +|=P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1787 +|=P05-02☆|AI_1 input filter time constant|Operation setting|Effective immediately|200|0 to 60000|AI_1 channel input first-order low-pass filtering time constant|0.01ms
1788 +|=P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel quantity dead zone value|mV
1789 +|=P05-04☆|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV
1816 1816  
1791 +Table 6-30 AI_1 parameters
1792 +
1817 1817  (% class="box infomessage" %)
1818 1818  (((
1819 -✎**Note: **“★” means VD2F and VD2L servo drive does not support the function code .
1795 +✎**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
1889 +* 0: Force the speed to 0;
1890 +* 1: Force the speed to 0, and keep the position locked when the actual speed is less than P01-22
1891 +* 2: When speed instruction is less than P01-22, force the speed to 0 and keep the position locked
1892 +* 3: Invalid, ignore zero-speed clamp input
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
1900 +)))|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
1945 +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
2013 +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
... ... @@ -2221,9 +2221,8 @@
2221 2221  )))|(((
2222 2222  Effective immediately
2223 2223  )))|0|0 to 1|(((
2224 -0: internal value
2225 -
2226 -1: AI_1 analog input (not supported by VD2F and VD2L)
2197 +* 0: internal value
2198 +* 1: AI_1 analog input (not supported by VD2F and VD2L)
2227 2227  )))|-
2228 2228  
2229 2229  * Torque limit source is internal torque instruction (P01-14=0)
... ... @@ -2300,7 +2300,7 @@
2300 2300  Operation setting
2301 2301  )))|(((
2302 2302  Effective immediately
2303 -)))|3000|0 to 6000|(((
2275 +)))|3000|0 to 5000|(((
2304 2304  Forward torque
2305 2305  
2306 2306  limit in torque mode
... ... @@ -2313,7 +2313,7 @@
2313 2313  Operation setting
2314 2314  )))|(((
2315 2315  Effective immediately
2316 -)))|3000|0 to 6000|(((
2288 +)))|3000|0 to 5000|(((
2317 2317  Reverse torque
2318 2318  
2319 2319  limit in torque mode
... ... @@ -2398,18 +2398,13 @@
2398 2398  )))|(((
2399 2399  Shutdown setting
2400 2400  )))|1|(% style="width:90px" %)1 to 6|(% style="width:273px" %)(((
2401 -1: Position control
2373 +* 1: Position control
2374 +* 2: Speed control
2375 +* 3: Torque control
2376 +* 4: Position/speed mixed control
2377 +* 5: Position/torque mixed control
2378 +* 6: Speed/torque mixed control
2402 2402  
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 -
2413 2413  **VD2L drive P0-01 setting range: 1-3, not support mixed mode**
2414 2414  )))|-
2415 2415  
... ... @@ -2551,9 +2551,8 @@
2551 2551  **time**
2552 2552  )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2553 2553  |=P00-30|Shield multi-turn absolute encoder battery fault|Operation setting|Power on again|0|0 to 1|(((
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
2521 +* 0：Detect multi-turn absolute encoder battery under voltage, and battery low voltage fault
2522 +* 1: (Not recommended) Shield multi-turn absolute motor battery failure alarm. Multi-turn absolute application may cause mechanical fault, only multi-turn absolute encoder motors is used as single-turn absolute
2557 2557  )))|-
2558 2558  
2559 2559  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.
... ... @@ -2698,9 +2698,8 @@
2698 2698  
2699 2699  VDI_1 input level:
2700 2700  
2701 -0: Low level
2702 -
2703 -1: High level
2667 +* 0: low level
2668 +* 1: high level
2704 2704  )))|-
2705 2705  |=P13-2|Virtual VDI_2 input value|Operation setting|Effective immediately|0|0 to 1|(((
2706 2706  When P06-07 is set to 1, DI_2 channel logic is control by this function code.
... ... @@ -2707,9 +2707,8 @@
2707 2707  
2708 2708  VDI_2 input level:
2709 2709  
2710 -0: Low level
2711 -
2712 -1: High level
2675 +* 0: low level
2676 +* 1: high level
2713 2713  )))|-
2714 2714  |=P13-3|Virtual VDI_3 input value|Operation setting|Effective immediately|0|0 to 1|(((
2715 2715  When P06-10 is set to 1, DI_3 channel logic is control by this function code.
... ... @@ -2716,9 +2716,8 @@
2716 2716  
2717 2717  VDI_3 input level:
2718 2718  
2719 -0: Low level
2720 -
2721 -1: High level
2683 +* 0: low level
2684 +* 1: high level
2722 2722  )))|-
2723 2723  |=P13-4|Virtual VDI_4 input value|Operation setting|Effective immediately|0|0 to 1|(((
2724 2724  When P06-13 is set to 1, DI_4 channel logic is control by this function code.
... ... @@ -2725,53 +2725,40 @@
2725 2725  
2726 2726  VDI_4 input level:
2727 2727  
2728 -0: Low level
2729 -
2730 -1: High level
2691 +* 0: low level
2692 +* 1: high level
2731 2731  )))|-
2732 -|=P13-05(((
2733 -★
2734 -)))|Virtual VDI_5 input value|Operation setting|Effective immediately|0|0 to 1|(((
2694 +|=P13-05☆|Virtual VDI_5 input value|Operation setting|Effective immediately|0|0 to 1|(((
2735 2735  When P06-16 is set to 1, DI_5 channel logic is control by this function code.
2736 2736  
2737 2737  VDI_5 input level:
2738 2738  
2739 -0: Low level
2740 -
2741 -1: High level
2699 +* 0: low level
2700 +* 1: high level
2742 2742  )))|-
2743 -|=P13-06(((
2744 -★
2745 -)))|Virtual VDI_6 input value|Operation setting|Effective immediately|0|0 to 1|(((
2702 +|=P13-06☆|Virtual VDI_6 input value|Operation setting|Effective immediately|0|0 to 1|(((
2746 2746  When P06-19 is set to 1, DI_6 channel logic is control by this function code.
2747 2747  
2748 2748  VDI_6 input level:
2749 2749  
2750 -0: Low level
2751 -
2752 -1: High level
2707 +* 0: low level
2708 +* 1: high level
2753 2753  )))|-
2754 -|=P13-07(((
2755 -★
2756 -)))|Virtual VDI_7 input value|Operation setting|Effective immediately|0|0 to 1|(((
2710 +|=P13-07☆|Virtual VDI_7 input value|Operation setting|Effective immediately|0|0 to 1|(((
2757 2757  When P06-22 is set to 1, DI_7 channel logic is control by this function code.
2758 2758  
2759 2759  VDI_7 input level:
2760 2760  
2761 -0: Low level
2762 -
2763 -1: High level
2715 +* 0: low level
2716 +* 1: high level
2764 2764  )))|-
2765 -|=P13-08(((
2766 -★
2767 -)))|Virtual VDI_8 input value|Operation setting|Effective immediately|0|0 to 1|(((
2718 +|=P13-08☆|Virtual VDI_8 input value|Operation setting|Effective immediately|0|0 to 1|(((
2768 2768  When P06-25 is set to 1, DI_8 channel logic is control by this function code.
2769 2769  
2770 2770  VDI_8 input level:
2771 2771  
2772 -0: Low level
2773 -
2774 -1: High level
2723 +* 0: low level
2724 +* 1: high level
2775 2775  )))|-
2776 2776  
2777 2777  Table 6-57 Virtual VDI parameters
... ... @@ -2778,7 +2778,7 @@
2778 2778  
2779 2779  (% class="box infomessage" %)
2780 2780  (((
2781 -✎**Note: **“★” means VD2F and VD2L servo drive does not support the function code .
2731 +✎**Note: **“☆” means VD2F servo drive does not support the function code .
2782 2782  )))
2783 2783  
2784 2784  == Port filtering time ==
... ... @@ -2812,30 +2812,26 @@
2812 2812  |=P13-11|Communication VDO_1 output value|Operation setting|Effective immediately|0|0 to 1|(((
2813 2813  VDO_1 output level：
2814 2814  
2815 -0: Low level
2816 -
2817 -1: High level
2765 +* 0: low level
2766 +* 1: high level
2818 2818  )))|-
2819 2819  |=P13-12|Communication VDO_2 output value|Operation setting|Effective immediately|0|0 to 1|(((
2820 2820  VDO_2 output level：
2821 2821  
2822 -0: Low level
2823 -
2824 -1: High level
2771 +* 0: low level
2772 +* 1: high level
2825 2825  )))|-
2826 2826  |=P13-13|Communication VDO_3 output value|Operation setting|Effective immediately|0|0 to 1|(((
2827 2827  VDO_3 output level：
2828 2828  
2829 -0: Low level
2830 -
2831 -1: High level
2777 +* 0: low level
2778 +* 1: high level
2832 2832  )))|-
2833 2833  |=P13-14|Communication VDO_4 output value|Operation setting|Effective immediately|0|0 to 1|(((
2834 2834  VDO_4 output level：
2835 2835  
2836 -0: Low level
2837 -
2838 -1: High level
2783 +* 0: low level
2784 +* 1: high level
2839 2839  )))|-
2840 2840  
2841 2841  Table 6-59 Communication control DO function parameters