06 Operation

1

= **Basic settings** =

2

3

== **Check before operation** ==

|**No.**|**Content**

|(% colspan="2" style="text-align:center; vertical-align:middle" %)Wiring

8

|1|The main circuit input terminals (L1, L2 and L3) of servo drive must be properly connected.

9

|2|The main circuit output terminals (U, V and W) of servo drive and the main circuit cables (U, V and W) of servo motor must have the same phase and be properly connected.

10

|3|The main circuit power input terminals (L1, L2 and L3) and the main circuit output terminals (U, V and W) of servo drive cannot be short-circuited.

11

|4|The wiring of each control signal cable of servo drive is correct: The external signal wires such as brake and overtravel protection have been reliably connected.

12

|5|Servo drive and servo motor must be grounded reliably.

13

|6|When using an external braking resistor, the short wiring between drive C and D must be removed.

14

|7|The force of all cables is within the specified range.

15

|8|The wiring terminals have been insulated.

16

|(% colspan="2" style="text-align:center; vertical-align:middle" %)Environment and Machinery

17

|1|There is no iron filings, metal, etc. that can cause short circuits inside or outside the servo drive.

18

|2|The servo drive and external braking resistor are not placed on combustible objects.

19

|3|The installation, shaft and mechanical structure of the servo motor have been firmly connected.

20

21

Table 6-1 Check contents before operation

== **Power-on** ==

**(1) Connect the main circuit power supply**

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After power on the main circuit, the bus voltage indicator shows no abnormality, and the panel display "rdy", indicating that the servo drive is in an operational state, waiting for the host computer to give the servo enable signal.

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If the drive panel displays other fault codes, please refer to __[[“10 Faults>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/10%20Malfunctions/#HFaultandwarningcodetable]]__” to analyze and eliminate the cause of the fault.

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**(2) Set the servo drive enable (S-ON) to invalid (OFF)**

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== **Jog operation** ==

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Jog operation is used to judge whether the servo motor can rotate normally, and whether there is abnormal vibration and abnormal sound during rotation. Jog operation can be realized in two ways, one is panel jog operation, which can be realized by pressing the buttons on the servo panel. The other is jog operation through the host computer debugging platform.

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**(1) Panel jog operation**

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Enter “P10-01” by pressing the key on the panel. After pressing “OK”, the panel will display the current jog speed. At this time, you can adjust the jog speed by pressing the "up" or "down" keys; After adjusting the moving speed, press "OK", and the panel displays "JOG" and is in a flashing state. Press "OK" again to enter the jog operation mode (the motor is now powered on!). Long press the "up" and "down" keys to achieve the forward and reverse rotation of the motor. Press "Mode" key to exit the jog operation mode. For operation and display, please refer to __[["5.3.2. Jog operation">>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/05%20Panel/#HJogoperation]]__.

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**(2) Jog operation of servo debugging platform**

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Open the jog operation interface of the software “Wecon SCTool”, set the jog speed value in the "set speed" in the "manual operation", click the "servo on" button on the interface, and then achieve the jog forward and reverse function through the "forward rotation" or "Reverse" button on the interface. After clicking the "Servo off" button, the jog operation mode is exited. The related function codes are shown below.

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(% class="table-bordered" %)

47

|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)(((

48

**Setting method**

49

)))|(% style="text-align:center; vertical-align:middle" %)(((

50

**Effective time**

51

)))|(% style="text-align:center; vertical-align:middle" %)**Default value**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**

52

|(% style="text-align:center; vertical-align:middle" %)P10-01|(% style="text-align:center; vertical-align:middle" %)JOG speed|(% style="text-align:center; vertical-align:middle" %)(((

53

Operation setting

54

)))|(% style="text-align:center; vertical-align:middle" %)(((

55

Effective immediately

56

)))|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)0 to 3000|(% style="text-align:center; vertical-align:middle" %)JOG speed|(% style="text-align:center; vertical-align:middle" %)rpm

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Table 6-2 JOG speed parameter

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== **Rotation direction selection** ==

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By setting the “P00-04” rotation direction, you could change the rotation direction of the motor without changing the polarity of the input instruction. The function code is shown in below.

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(% class="table-bordered" %)

65

|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)(((

66

**Setting method**

67

)))|(% style="text-align:center; vertical-align:middle" %)(((

68

**Effective time**

69

)))|(% style="text-align:center; vertical-align:middle" %)(((

70

**Default value**

71

)))|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**

72

|(% style="text-align:center; vertical-align:middle" %)P00-04|(% style="text-align:center; vertical-align:middle" %)Rotation direction|(% style="text-align:center; vertical-align:middle" %)(((

73

Shutdown setting

74

)))|(% style="text-align:center; vertical-align:middle" %)(((

75

Effective immediately

76

)))|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((

77

Forward rotation: Face the motor shaft to watch

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0: standard setting (CW is forward rotation)

80

81

1: reverse mode (CCW is forward rotation)

82

)))|(% style="text-align:center; vertical-align:middle" %)-

83

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Table 6-3 Rotation direction parameters** **

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== **Braking resistor** ==

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The servo motor is in the generator state when decelerating or stopping, the motor will transfer energy back to the drive, which will increase the bus voltage. When the bus voltage exceeds the braking point, The drive can consume the feedback energy in the form of thermal energy through the braking resistor. The braking resistor can be built-in or externally connected, but it cannot be used at the same time. When selecting an external braking resistor, it is necessary to remove the short link on the servo drive.

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The basis for judging whether the braking resistor is built-in or external.

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1. the maximum brake energy calculated value > the maximum brake energy absorbed by capacitor, and the brake power calculated value ≤ the built-in braking resistor power, use the built-in braking resistor.

93

1. the maximum brake energy calculated value > the maximum brake energy absorbed by capacitor, and the brake power calculated value > the built-in braking resistor power, use external braking resistor.

94

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(% class="table-bordered" %)

96

|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)(((

97

**Setting method**

98

)))|(% style="text-align:center; vertical-align:middle" %)(((

99

**Effective time**

100

)))|(% style="text-align:center; vertical-align:middle" %)**Default**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**

101

|(% style="text-align:center; vertical-align:middle" %)P00-09|(% style="text-align:center; vertical-align:middle" %)Braking resistor setting|(% style="text-align:center; vertical-align:middle" %)(((

102

Operation setting

103

)))|(% style="text-align:center; vertical-align:middle" %)(((

104

Effective immediately

105

)))|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 3|(((

106

0: use built-in braking resistor

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108

1: use external braking resistor and natural cooling

109

110

2: use external braking resistor and forced air cooling; (cannot be set)

111

112

3: No braking resistor is used, it is all absorbed by capacitor.

113

)))|(% style="text-align:center; vertical-align:middle" %)-

114

|(% colspan="8" %)✎**Note: **VD2-010SA1G and VD2F-010SA1P drives have no built-in resistor by default, so the default value of the function code “P00-09” is 3 (No braking resistor is used, it is all absorbed by capacitor).

115

|(% style="text-align:center; vertical-align:middle" %)P00-10|(% style="text-align:center; vertical-align:middle" %)External braking resistor value|(% style="text-align:center; vertical-align:middle" %)(((

116

Operation setting

117

)))|(% style="text-align:center; vertical-align:middle" %)(((

118

Effective immediately

119

)))|(% style="text-align:center; vertical-align:middle" %)50|(% style="text-align:center; vertical-align:middle" %)0 to 65535|It is used to set the external braking resistor value of a certain type of drive.|(% style="text-align:center; vertical-align:middle" %)Ω

120

|(% style="text-align:center; vertical-align:middle" %)P00-11|(% style="text-align:center; vertical-align:middle" %)External braking resistor power|(% style="text-align:center; vertical-align:middle" %)(((

121

Operation setting

122

)))|(% style="text-align:center; vertical-align:middle" %)(((

123

Effective immediately

124

)))|(% style="text-align:center; vertical-align:middle" %)100|(% style="text-align:center; vertical-align:middle" %)0 to 65535|It is used to set the external braking resistor power of a certain type of drive.|(% style="text-align:center; vertical-align:middle" %)W

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Table 6-4 Braking resistor parameters

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== **Servo operation** ==

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**(1) Set the servo enable (S-ON) to valid (ON)**

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The servo drive is in a running state and displays "run", but because there is no instruction input at this time, the servo motor does not rotate and is locked.

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S-ON can be configured and selected by the DI terminal function selection of the function code "DIDO configuration".

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**(2) Input the instruction and the motor rotates**

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Input appropriate instructions during operation, first run the motor at a low speed, and observe the rotation to see if it conforms to the set rotation direction. Observe the actual running speed, bus voltage and other parameters of the motor through the host computer debugging platform. According to [[__"7 Adjustment"__>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/]], the motor could work as expected.

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**(3) Timing diagram of power on**

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(% style="text-align:center" %)

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[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_22ac571c2ff6b372.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_22ac571c2ff6b372.gif"]]

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Figure 6-1 Timing diagram of power on

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== **Servo shutdown** ==

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According to the different shutdown modes, it could be divided into free shutdown and zero speed shutdown. The respective characteristics are shown in __[[Table 6-5>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HServoshutdown]]__. According to the shutdown status, it could be divided into free running state and position locked, as shown in __[[Table 6-6>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HServoshutdown]]__.

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(% class="table-bordered" %)

152

|Shutdown mode|Shutdown description|Shutdown characteristics

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|Free shutdown|Servo motor is not energized and decelerates freely to 0. The deceleration time is affected by factors such as mechanical inertia and mechanical friction.|Smooth deceleration, small mechanical shock, but slow deceleration process.

154

|Zero-speed shutdown|The servo drive outputs reverse braking torque, and the motor quickly decelerates to zero-speed.|Rapid deceleration with mechanical shock, but fast deceleration process.

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Table 6-5 Comparison of two shutdown modes

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(% class="table-bordered" %)

159

|(% style="text-align:center; vertical-align:middle" %)**Shutdown status**|(% style="text-align:center; vertical-align:middle" %)**Free operation status**|(% style="text-align:center; vertical-align:middle" %)**Position locked**

160

|(% style="text-align:center; vertical-align:middle" %)Characteristics|After the motor stops rotating, it is power-off, and the motor shaft can rotate freely.|After the motor stops rotating, the motor shaft is locked and could not rotate freely.

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Table 6-6 Comparison of two shutdown status

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**(1) Servo enable (S-ON) OFF shutdown**

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The related parameters of the servo OFF shutdown mode are shown in the table below.

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(% class="table-bordered" %)

169

|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)(((

170

**Setting method**

171

)))|(% style="text-align:center; vertical-align:middle" %)(((

172

**Effective time**

173

)))|(% style="text-align:center; vertical-align:middle" %)(((

174

**Default value**

175

)))|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**

176

|(% style="text-align:center; vertical-align:middle" %)P00-05|(% style="text-align:center; vertical-align:middle" %)Servo OFF shutdown|(% style="text-align:center; vertical-align:middle" %)(((

Shutdown

setting

)))|(% style="text-align:center; vertical-align:middle" %)(((

Effective

immediately

)))|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((

185

0: Free shutdown, and the motor shaft remains free status.

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1: Zero-speed shutdown, and the motor shaft remains free status.

188

)))|(% style="text-align:center; vertical-align:middle" %)-

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Table 6-7Table 6-1 Servo OFF shutdown mode parameters details

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**(2) Emergency shutdown**

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It is free shutdown mode at present, and the motor shaft remains in a free state. The corresponding configuration and selection could be selected through the DI terminal function of the function code "DIDO configuration".

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**(3) Overtravel shutdown**

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Overtravel means that the movable part of the machine exceeds the set area. In some occasions where the servo moves horizontally or vertically, it is necessary to limit the movement range of the workpiece. The overtravel is generally detected by limit switches, photoelectric switches or the multi-turn position of the encoder, that is, hardware overtravel or software overtravel.

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200

Once the servo drive detects the action of the limit switch signal, it will immediately force the speed in the current direction of rotation to 0 to prevent it from continuing, and it will not be affected for reverse rotation. The overtravel shutdonw is fixed at zero speed and the motor shaft remains locked.

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The corresponding configuration and selection could be selected through the DI terminal function of the function code "DIDO configuration". The default function of DI3 is POT and DI4 is NOT, as shown in the table below.

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(% class="table-bordered" %)

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|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)(((

206

**Setting method**

207

)))|(% style="text-align:center; vertical-align:middle" %)(((

208

**Effective time**

209

)))|(% style="text-align:center; vertical-align:middle" %)**Default value**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**

210

|(% style="text-align:center; vertical-align:middle" %)P06-08|(% style="text-align:center; vertical-align:middle" %)DI_3 channel function selection|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Power-on again|(% style="text-align:center; vertical-align:middle" %)3|(% style="text-align:center; vertical-align:middle" %)0 to 32|(((

211

0: OFF (not used)

212

213

01: S-ON servo enable

214

215

02: A-CLR fault and Warning Clear

216

217

03: POT forward drive prohibition

218

219

04: NOT Reverse drive prohibition

220

221

05: ZCLAMP Zero speed

222

223

06: CL Clear deviation counter

224

225

07: C-SIGN Inverted instruction

226

227

08: E-STOP Emergency stop

228

229

09: GEAR-SEL Electronic Gear Switch 1

230

231

10: GAIN-SEL gain switch

232

233

11: INH Instruction pulse prohibited input

234

235

12: VSSEL Vibration control switch input

236

237

13: INSPD1 Internal speed instruction selection 1

238

239

14: INSPD2 Internal speed instruction selection 2

240

241

15: INSPD3 Internal speedinstruction selection 3

242

243

16: J-SEL inertia ratio switch (not implemented yet)

244

245

17: MixModesel mixed mode selection

246

247

20: Internal multi-segment position enable signal

248

249

21: Internal multi-segment position selection 1

250

251

22: Internal multi-segment position selection 2

252

253

23: Internal multi-segment position selection 3

254

255

24: Internal multi-segment position selection 4

256

257

Others: reserved

258

)))|(% style="text-align:center; vertical-align:middle" %)-

259

|(% style="text-align:center; vertical-align:middle" %)P06-09|(% style="text-align:center; vertical-align:middle" %)DI_3 channel logic selection|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)(((

260

Effective immediately

261

)))|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((

262

DI port input logic validity function selection.

263

264

0: Normally open input. Active low level (switch on);

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266

1: Normally closed input. Active high level (switch off);

267

)))|(% style="text-align:center; vertical-align:middle" %)-

268

|(% style="text-align:center; vertical-align:middle" %)P06-10|(% style="text-align:center; vertical-align:middle" %)DI_3 input source selection|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)(((

269

Effective immediately

270

)))|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((

271

Select the DI_3 port type to enable

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273

0: Hardware DI_3 input terminal

274

275

1: virtual VDI_3 input terminal

276

)))|(% style="text-align:center; vertical-align:middle" %)-

277

278

(% class="table-bordered" %)

279

|(% style="text-align:center; vertical-align:middle; width:140px" %)P06-11|(% style="text-align:center; vertical-align:middle; width:272px" %)DI_4 channel function selection|(% style="text-align:center; vertical-align:middle; width:162px" %)(((

280

Operation setting

281

)))|(% style="text-align:center; vertical-align:middle; width:195px" %)(((

282

again Power-on

283

)))|(% style="text-align:center; vertical-align:middle; width:128px" %)4|(% style="text-align:center; vertical-align:middle; width:78px" %)0 to 32|(% style="width:454px" %)(((

0 off (not used)

01: SON Servo enable

02: A-CLR Fault and Warning Clear

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290

03: POT Forward drive prohibition

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292

04: NOT Reverse drive prohibition

293

294

05: ZCLAMP Zero speed

295

296

06: CL Clear deviation counter

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298

07: C-SIGN Inverted instruction

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300

08: E-STOP Emergency shutdown

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302

09: GEAR-SEL Electronic Gear Switch 1

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304

10: GAIN-SEL gain switch

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306

11: INH Instruction pulse prohibited input

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308

12: VSSEL Vibration control switch input

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310

13: INSPD1 Internal speed instruction selection 1

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312

14: INSPD2 Internal speed instruction selection 2

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314

15: INSPD3 Internal speed instruction selection 3

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316

16: J-SEL inertia ratio switch (not implemented yet)

317

318

17: MixModesel mixed mode selection

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320

20: Internal multi-segment position enable signal

321

322

21: Internal multi-segment position selection 1

323

324

22: Internal multi-segment position selection 2

325

326

23: Internal multi-segment position selection 3

327

328

24: Internal multi-segment position selection 4

329

330

Others: reserved

331

)))|(% style="text-align:center; vertical-align:middle; width:56px" %)-

332

|(% style="text-align:center; vertical-align:middle; width:140px" %)P06-12|(% style="text-align:center; vertical-align:middle; width:272px" %)DI_4 channel logic selection|(% style="text-align:center; vertical-align:middle; width:162px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:195px" %)(((

333

Effective immediately

334

)))|(% style="text-align:center; vertical-align:middle; width:128px" %)0|(% style="text-align:center; vertical-align:middle; width:78px" %)0 to 1|(% style="width:454px" %)(((

335

DI port input logic validity function selection.

336

337

0: Normally open input. Active low level (switch on);

338

339

1: Normally closed input. Active high level (switch off);

340

)))|(% style="text-align:center; vertical-align:middle; width:56px" %)-

341

|(% style="text-align:center; vertical-align:middle; width:140px" %)P06-13|(% style="text-align:center; vertical-align:middle; width:272px" %)DI_4 input source selection|(% style="text-align:center; vertical-align:middle; width:162px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:195px" %)(((

342

Effective immediately

343

)))|(% style="text-align:center; vertical-align:middle; width:128px" %)0|(% style="text-align:center; vertical-align:middle; width:78px" %)0 to 1|(% style="width:454px" %)(((

344

Select the DI_4 port type to enable

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346

0: Hardware DI_4 input terminal

347

348

1: virtual VDI_4 input terminal

349

)))|(% style="text-align:center; vertical-align:middle; width:56px" %)-

350

351

Table 6-8 DI3 and DI4 channel parameters

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**(4) Malfunction shutdown**

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When the machine fails, the servo will perform a fault shutdown operation. The current shutdown mode is fixed to the free shutdown mode, and the motor shaft remains in a free state.

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== **Brake device** ==

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359

The brake is a mechanism that prevents the servo motor shaft from moving when the servo drive is in a non-operating state, and keeps the motor locked in position, so that the moving part of the machine will not move due to its own weight or external force.

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361

(% class="table-bordered" %)

362

|(((

363

(% style="text-align:center" %)

364

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_6db94f5d0421f97a.png?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_6db94f5d0421f97a.png"]]

365

)))

366

|(((

367

✎The brake device is built into the servo motor, which is only used as a non-energized fixed special mechanism. It cannot be used for braking purposes, and can only be used when the servo motor is kept stopped;

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✎ After the servo motor stops, turn off the servo enable (S-ON) in time;

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✎The brake coil has no polarity;

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✎When the brake coil is energized (that is, the brake is open), magnetic flux leakage may occur at the shaft end and other parts. If users need to use magnetic sensors and other device near the motor, please pay attention!

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375

✎When the motor with built-in brake is in operation, the brake device may make a clicking sound, which does not affect the function.

376

)))

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378

**(1) Wiring of brake device**

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380

The brake input signal has no polarity. You need to prepare a 24V power supply. The standard connection of brake signal BK and brake power supply is shown in the figure below. (take VD2B servo drive as example)

381

382

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_e701ace1cc66f255.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_e701ace1cc66f255.gif"]]

383

384

Figure 6-2 VD2B servo drive brake wiring

385

386

(% class="table-bordered" %)

387

|(((

388

(% style="text-align:center" %)

389

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_6db94f5d0421f97a.png?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_6db94f5d0421f97a.png"]]

390

)))

391

|(((

392

✎The length of the motor brake cable needs to fully consider the voltage drop caused by the cable resistance, and the brake operation needs to ensure that the voltage input is 24V.

393

394

✎It is recommended to use the power supply alone for the brake device. If the power supply is shared with other electrical device, the voltage or current may decrease due to the operation of other electrical device, which may cause the brake to malfunction.

395

396

✎It is recommended to use cables above 0.5 mm².

397

)))

398

399

**(2) Brake software setting**

400

401

For a servo motor with brake, one DO terminal of servo drive must be configured as function 141 (BRK-OFF, brake output), and the effective logic of the DO terminal must be determined.

402

403

Related function code is as below.

404

405

(% class="table-bordered" %)

406

|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**|(% style="text-align:center; vertical-align:middle" %)(((

407

**Effective time**

408

)))

409

|(% style="text-align:center; vertical-align:middle" %)144|(% style="text-align:center; vertical-align:middle" %)(((

410

BRK-OFF Brake output

411

)))|(% style="text-align:center; vertical-align:middle" %)Output the signal indicates the servo motor brake release|(% style="text-align:center; vertical-align:middle" %)Power-on again

412

413

Table 6-2 Relevant function codes for brake setting

414

415

(% class="table-bordered" %)

416

|(% style="text-align:center; vertical-align:middle; width:175px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:175px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:175px" %)(((

417

**Setting method**

418

)))|(% style="text-align:center; vertical-align:middle; width:173px" %)(((

419

**Effective time**

420

)))|(% style="text-align:center; vertical-align:middle; width:128px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:94px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:519px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**

421

|(% style="text-align:center; vertical-align:middle; width:175px" %)P1-30|(% style="text-align:center; vertical-align:middle; width:175px" %)Delay from brake output to instruction reception|(% style="text-align:center; vertical-align:middle; width:175px" %)(((

422

Operation setting

423

)))|(% style="text-align:center; vertical-align:middle; width:173px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:128px" %)250|(% style="text-align:center; vertical-align:middle; width:94px" %)0 to 500|(% style="width:519px" %)Set delay that from the brake (BRK-OFF) output is ON to servo drive allows to receive input instruction. When brake output (BRK-OFF) is not allocated, the function code has no effect.|(% style="text-align:center; vertical-align:middle" %)ms

424

|(% style="text-align:center; vertical-align:middle; width:175px" %)P1-31|(% style="text-align:center; vertical-align:middle; width:175px" %)In static state, delay from brake output OFF to the motor is power off|(% style="text-align:center; vertical-align:middle; width:175px" %)(((

425

Operation setting

426

)))|(% style="text-align:center; vertical-align:middle; width:173px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:128px" %)150|(% style="text-align:center; vertical-align:middle; width:94px" %)1 to 1000|(% style="width:519px" %)When the motor is in a static state, set the delay time from brake (BRK-OFF) output OFF to servo drive enters the non-channel state. When the brake output (BRK-OFF) is not allocated, this function code has no effect.|(% style="text-align:center; vertical-align:middle" %)ms

427

|(% style="text-align:center; vertical-align:middle; width:175px" %)P1-32|(% style="text-align:center; vertical-align:middle; width:175px" %)Rotation status, when the brake output OFF, the speed threshold|(% style="text-align:center; vertical-align:middle; width:175px" %)(((

428

Operation setting

429

)))|(% style="text-align:center; vertical-align:middle; width:173px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:128px" %)30|(% style="text-align:center; vertical-align:middle; width:94px" %)0 to 3000|(% style="width:519px" %)(((

430

When the motor rotates, the motor speed threshold when the brake (BRK-OFF) is allowed to output OFF.

431

432

When the brake output (BRK-OFF) is not allocated, this function code has no effect.

433

)))|(% style="text-align:center; vertical-align:middle" %)rpm

434

|(% style="text-align:center; vertical-align:middle; width:175px" %)P1-33|(% style="text-align:center; vertical-align:middle; width:175px" %)Rotation status, Delay from servo enable OFF to brake output OFF|(% style="text-align:center; vertical-align:middle; width:175px" %)(((

435

Operation setting

436

)))|(% style="text-align:center; vertical-align:middle; width:173px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:128px" %)500|(% style="text-align:center; vertical-align:middle; width:94px" %)1 to 1000|(% style="width:519px" %)(((

437

When the motor rotates, the delay time from the servo enable (S-ON) OFF to the brake (BRK-OFF) output OFF is allowed.

438

439

When brake output (BRK-OFF) is not allocated, this function code has no effect.

440

)))|(% style="text-align:center; vertical-align:middle" %)ms

441

442

Table 6-9 Brake setting function codes

443

444

According to the state of servo drive, the working sequence of the brake mechanism can be divided into the brake sequence in the normal state of the servo drive and the brake sequence in the fault state of the servo drive.

445

446

**(3) Servo drive brake timing in normal state**

447

448

The brake timing of the normal state could be divided into: the servo motor static (the actual speed of motor is lower than 20 rpm) and servo motor rotation(the actual speed of the motor reaches 20 and above).

449

450

1) Brake timing when servo motor is stationary

451

452

When the servo enable changes from ON to OFF, if the actual motor speed is lower than20 rpm, the servo drive will act according to the static brake sequence. The specific sequence action is shown in __[[Figure 6-3>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_2da3eb860da7ba31.gif?rev=1.1]]__

453

454

(% class="table-bordered" %)

455

|(((

456

(% style="text-align:center" %)

457

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_6db94f5d0421f97a.png?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_6db94f5d0421f97a.png"]]

458

)))

459

|(((

460

✎After the brake output is from OFF to ON, within P01-30, do not input position/speed/torque instructions, otherwise the instructions will be lost or operation errors will be caused.

461

462

✎When applied to a vertical axis, the external force or the weight of the mechanical moving part may cause the machine to move slightly. When the servo motor is stationary, and the servo enable is OFF, the brake output will be OFF immediately. However, the motor is still energized within the time of P01-31 to prevent mechanical movement from moving due to its own weight or external force.

463

)))

464

465

(% style="text-align:center" %)

466

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_2da3eb860da7ba31.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_2da3eb860da7ba31.gif"]]

467

468

Figure 6-3 Brake Timing of when the motor is stationary

469

470

✎**Note: **For the delay time of the contact part of the brake at ② in the figure, please refer to the relevant specifications of motor.

471

472

2) The brake timing when servo motor rotates

473

474

When the servo enable is from ON to OFF, if the actual motor speed is greater than or equal to 20 rpm, the drive will act in accordance with the rotation brake sequence. The specific sequence action is shown in __[[Figure 6-4>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_4408711d09c83291.gif?rev=1.1]]__.

475

476

(% class="table-bordered" %)

477

|(((

478

(% style="text-align:center" %)

479

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_6db94f5d0421f97a.png?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_6db94f5d0421f97a.png"]]

480

)))

481

|(((

482

✎When the servo enable is turned from OFF to ON, within P1-30, do not input position, speed or torque instructions, otherwise the instructions will be lost or operation errors will be caused.

483

484

✎When the servo motor rotates, the servo enable is OFF and the servo motor is in the zero-speed shutdown state, but the brake output must meet any of the following conditions before it could be set OFF:

485

486

P01-33 time has not arrived, but the motor has decelerated to the speed set by P01-32;

487

488

P01-33 time is up, but the motor speed is still higher than the set value of P01-32.

489

490

✎After the brake output changes from ON to OFF, the motor is still in communication within 50ms to prevent the mechanical movement from moving due to its own weight or external force.

491

)))

492

493

(% style="text-align:center" %)

494

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_4408711d09c83291.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_4408711d09c83291.gif"]]

495

496

Figure 6-4 Brake timing when the motor rotates

497

498

**(4) Brake timing when the servo drive fails**

499

500

The brake timing (free shutdown) in the fault status is as follows.

501

502

(% style="text-align:center" %)

503

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_2d941f733d7ef90b.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_2d941f733d7ef90b.gif"]]

504

505

Figure 6-5 The brake timing (free shutdown) in the fault state

506

507

= **Position control mode** =

508

509

Position control is the most important and commonly used control mode of the servo system. Position control refers to controlling the position of the motor through position instructions, and determining the target position of the motor by the total number of position instructions. The frequency of the position instruction determines the motor rotation speed. The servo drive can achieve fast and accurate control of the position and speed of the machine. Therefore, the position control mode is mainly used for occasions that require positioning control, such as manipulators, mounter, engraving machines, CNC machine tools, etc. The position control block diagram is shown in the figure below.

510

511

(% style="text-align:center" %)

512

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_8f058b9bad397ea5.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_8f058b9bad397ea5.gif"]]

513

514

Figure 6-6 Position control diagram

515

516

Set “P00-01” to 1 by the software “Wecon SCTool”, and the servo drive is in position control mode.

517

518

(% class="table-bordered" %)

519

|(% style="text-align:center; vertical-align:middle; width:122px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:126px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:158px" %)(((

520

**Setting method**

521

)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((

522

**Effective time**

523

)))|(% style="text-align:center; vertical-align:middle; width:145px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:134px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:326px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**

524

|(% style="text-align:center; vertical-align:middle; width:122px" %)P01-01|(% style="text-align:center; vertical-align:middle; width:126px" %)Control mode|(% style="text-align:center; vertical-align:middle; width:158px" %)(((

525

Operation setting

526

)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((

527

immediately Effective

528

)))|(% style="text-align:center; vertical-align:middle; width:145px" %)0|(% style="text-align:center; vertical-align:middle; width:134px" %)0 to 1|(% style="width:326px" %)(((

0: position control

2: speed control

3: torque control

4: position/speed mix control

536

537

5: position/torque mix control

538

539

6: speed /torque mix control

540

)))|(% style="text-align:center; vertical-align:middle" %)-

541

542

Table 6-10 Control mode parameters

543

544

== **Position instruction input setting** ==

545

546

When the VD2 series servo drive is in position control mode, firstly set the position instruction source through the function code “P01-06”.

547

548

(% class="table-bordered" %)

549

|(% style="text-align:center; vertical-align:middle; width:131px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:149px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:191px" %)(((

550

**Setting method**

551

)))|(% style="text-align:center; vertical-align:middle; width:189px" %)(((

552

**Effective time**

553

)))|(% style="text-align:center; vertical-align:middle; width:116px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:100px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:284px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**

554

|(% style="text-align:center; vertical-align:middle; width:131px" %)P01-06|(% style="text-align:center; vertical-align:middle; width:149px" %)Position instruction source|(% style="text-align:center; vertical-align:middle; width:191px" %)(((

555

Operation setting

556

)))|(% style="text-align:center; vertical-align:middle; width:189px" %)(((

557

immediately Effective

558

)))|(% style="text-align:center; vertical-align:middle; width:116px" %)0|(% style="text-align:center; vertical-align:middle; width:100px" %)0 to 1|(% style="width:284px" %)(((

559

0: pulse instruction

560

561

1: internal position instruction

562

)))|(% style="text-align:center; vertical-align:middle" %)-

563

564

Table 6-11 Position instruction source parameter

565

566

**(1) The source of position instruction is pulse instruction (P01-06=0)**

567

568

1) Low-speed pulse instruction input

569

570

(% class="table-bordered" %)

571

|(% style="text-align:center; vertical-align:middle" %)[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_d9151239d79c87a3.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_d9151239d79c87a3.gif"]]|(% style="text-align:center; vertical-align:middle" %)[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_26156823dfc2374b.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_26156823dfc2374b.gif" data-xwiki-image-style-alignment="center" data-xwiki-image-style-text-wrap="true"]]

572

|(% style="text-align:center; vertical-align:middle" %)VD2A and VD2B servo drives|(% style="text-align:center; vertical-align:middle" %)VD2F servo drive

573

|(% colspan="2" style="text-align:center; vertical-align:middle" %)Figure 6-7 Position instruction input setting

574

575

VD2 series servo drive has a set of pulse input terminals to receive the input of position pulse (via the CN2 terminal). The position pulse mode connection is shown in __[[Figure 6-7>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HPositioninstructioninputsetting]]__.

576

577

The instruction pulse and symbol output circuit on the control device(HMI/PLC) side could select differential input or open collector input. The maximum input frequency is shown as below.

578

579

(% class="table-bordered" %)

580

|(% style="text-align:center; vertical-align:middle" %)**Pulse method**|(% style="text-align:center; vertical-align:middle" %)**Maximum frequency**|(% style="text-align:center; vertical-align:middle" %)**Voltage**

581

|(% style="text-align:center; vertical-align:middle" %)Open collector input|(% style="text-align:center; vertical-align:middle" %)200K|(% style="text-align:center; vertical-align:middle" %)24V

582

|(% style="text-align:center; vertical-align:middle" %)Differential input|(% style="text-align:center; vertical-align:middle" %)500K|(% style="text-align:center; vertical-align:middle" %)5V

583

584

Table 6-12 Pulse input specifications

1.Differential input

Take VD2A and VD2B drive as examples, the connection of differential input is shown as below.

589

590

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_efcec2927621d22d.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_efcec2927621d22d.gif" data-xwiki-image-style-alignment="center"]]

591

592

Figure 6-8 Differential input connection

593

594

✎**Note: **The differential input connection of the VD2F drive differs only from the signal pin number. Please refer to “__[[4.4.3 position instruction input signal>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/04%20Wiring/#HPositioninstructioninputsignal]]__”

595

596

2.Open collector input

597

598

Take VD2A and VD2B drive as examples, the connection of differential input is shown as below.

599

600

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_e0abafdeeac8b1c.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_e0abafdeeac8b1c.gif" data-xwiki-image-style-alignment="center"]]

601

602

Figure 6-9 Open collector input connection

603

604

✎**Note:** The differential input connection of the VD2F drive differs only from the signal pin number. Please refer to “__[[4.4.3 position instruction input signal>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/04%20Wiring/#HPositioninstructioninputsignal]]__”

605

606

2) Position pulse frequency and anti-interference level

607

608

When low-speed pulses input pins, you need to set a certain pin filter time to filter the input pulse instructions to prevent external interference from entering the servo drive and affecting motor control. After the filter function is enabled, the input and output waveforms of the signal are shown in Figure 6-10.

609

610

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_d88f7db4d5439ab5.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_d88f7db4d5439ab5.gif" data-xwiki-image-style-alignment="center"]]

611

612

Figure 6-10 Example of filtered signal waveform

613

614

The input pulse frequency refers to the frequency of the input signal, which can be modified through the function code “P00-13”. If the actual input frequency is greater than the set value of “P00-13”, it may cause pulse loss or alarm. The position pulse anti-interference level can be adjusted through the function code “P00-14”, the larger the set value, the greater the filtering depth. The details of related function code parameters are as shown below.

615

616

(% class="table-bordered" %)

617

|(% style="text-align:center; vertical-align:middle; width:120px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:202px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:158px" %)(((

618

**Setting method**

619

)))|(% style="text-align:center; vertical-align:middle; width:159px" %)(((

620

**Effective time**

621

)))|(% style="text-align:center; vertical-align:middle; width:105px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:71px" %)**Range**|(% colspan="2" style="text-align:center; vertical-align:middle; width:349px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**

622

|(% style="text-align:center; vertical-align:middle; width:120px" %)P00-13|(% style="text-align:center; vertical-align:middle; width:202px" %)Maximum position pulse frequency|(% style="text-align:center; vertical-align:middle; width:158px" %)(((

623

Shutdown setting

624

)))|(% style="text-align:center; vertical-align:middle; width:159px" %)(((

625

Effective immediately

626

)))|(% style="text-align:center; vertical-align:middle; width:105px" %)300|(% style="text-align:center; vertical-align:middle; width:71px" %)1 to 500|(% colspan="2" style="width:349px" %)Set the maximum frequency of external pulse instruction|KHz

627

|(% rowspan="3" style="text-align:center; vertical-align:middle; width:120px" %)P00-14|(% rowspan="3" style="text-align:center; vertical-align:middle; width:202px" %)Position pulse anti-interference level|(% rowspan="3" style="text-align:center; vertical-align:middle; width:158px" %)(((

628

Operation setting

629

)))|(% rowspan="3" style="text-align:center; vertical-align:middle; width:159px" %)(((

630

Power-on again

631

)))|(% rowspan="3" style="text-align:center; vertical-align:middle; width:105px" %)2|(% rowspan="3" style="text-align:center; vertical-align:middle; width:71px" %)0 to 9|(% colspan="2" style="width:349px" %)(((

632

Set the anti-interference level of external pulse instruction.

0: no filtering;

1: Filtering time 128ns

637

638

2: Filtering time 256ns

639

640

3: Filtering time 512ns

641

642

4: Filtering time 1.024us

643

644

5: Filtering time 2.048us

645

646

6: Filtering time 4.096us

647

648

7: Filtering time 8.192us

649

650

8: Filtering time 16.384us

651

)))|(% rowspan="3" style="text-align:center; vertical-align:middle" %)-

652

|(% rowspan="2" style="width:29px" %)9|VD2: Filtering time 25.5us

653

|VD2F: Filtering time 25.5us

654

655

Table 6-13 Position pulse frequency and anti-interference level parameters

656

657

3) Position pulse type selection

658

659

In VD2 series servo drives, there are three types of input pulse instructions, and the related function codes are shown in the table below.

660

661

(% class="table-bordered" %)

662

|(% style="text-align:center; vertical-align:middle; width:132px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:184px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:156px" %)(((

663

**Setting method**

664

)))|(% style="text-align:center; vertical-align:middle; width:135px" %)(((

665

**Effective time**

666

)))|(% style="text-align:center; vertical-align:middle; width:115px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:66px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:373px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**

667

|(% style="text-align:center; vertical-align:middle; width:132px" %)P00-12|(% style="text-align:center; vertical-align:middle; width:184px" %)Position pulse type selection|(% style="text-align:center; vertical-align:middle; width:156px" %)(((

668

Operation setting

669

)))|(% style="text-align:center; vertical-align:middle; width:135px" %)(((

670

Power-on again

671

)))|(% style="text-align:center; vertical-align:middle; width:115px" %)0|(% style="text-align:center; vertical-align:middle; width:66px" %)0 to 5|(% style="width:373px" %)(((

672

0: direction + pulse (positive logic)

1: CW/CCW

2: A, B phase quadrature pulse (4 times frequency)

677

678

3: Direction + pulse (negative logic)

679

680

4: CW/CCW (negative logic)

681

682

5: A, B phase quadrature pulse (4 times frequency negative logic)

683

)))|(% style="text-align:center; vertical-align:middle" %)-

684

685

Table 6-14 Position pulse type selection parameter

686

687

(% class="table-bordered" %)

688

|(% style="text-align:center; vertical-align:middle; width:185px" %)**Pulse type selection**|(% style="text-align:center; vertical-align:middle; width:177px" %)**Pulse type**|(% style="text-align:center; vertical-align:middle" %)**Signal**|(% style="text-align:center; vertical-align:middle" %)**Schematic diagram of forward pulse**|(% style="text-align:center; vertical-align:middle" %)**Schematic diagram of negative pulse**

689

|(% style="text-align:center; vertical-align:middle; width:185px" %)0|(% style="text-align:center; vertical-align:middle; width:177px" %)(((

Direction + pulse

(Positive logic)

)))|(% style="text-align:center; vertical-align:middle" %)(((

PULSE

SIGN

)))|(% style="text-align:center; vertical-align:middle" %)[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_79f577e37a33667d.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_79f577e37a33667d.gif"]]|(% style="text-align:center; vertical-align:middle" %)[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_da702cd5792c6189.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_da702cd5792c6189.gif"]]

698

|(% style="text-align:center; vertical-align:middle; width:185px" %)1|(% style="text-align:center; vertical-align:middle; width:177px" %)CW/CCW|(% style="text-align:center; vertical-align:middle" %)(((

PULSE (CW)

SIGN (CCW)

)))|(% colspan="2" style="text-align:center; vertical-align:middle" %)[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_a59bd612219726ff.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_a59bd612219726ff.gif"]]

703

|(% style="text-align:center; vertical-align:middle; width:185px" %)2|(% style="text-align:center; vertical-align:middle; width:177px" %)(((

704

AB phase orthogonal

705

706

pulse (4 times frequency)

707

)))|(% style="text-align:center; vertical-align:middle" %)(((

PULSE (Phase A)

SIGN (Phase B)

)))|(% style="text-align:center; vertical-align:middle" %)(((

712

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_f35bccfc547cf59c.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_f35bccfc547cf59c.gif"]]

713

714

Phase A is 90° ahead of Phase B

715

)))|(% style="text-align:center; vertical-align:middle" %)(((

716

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_41687fb2387833e7.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_41687fb2387833e7.gif"]]

717

718

Phase B is 90° ahead of Phase A

719

)))

720

|(% style="text-align:center; vertical-align:middle; width:185px" %)3|(% style="text-align:center; vertical-align:middle; width:177px" %)(((

Direction + pulse

(Negative logic)

)))|(% style="text-align:center; vertical-align:middle" %)(((

PULSE

SIGN

)))|(% style="text-align:center; vertical-align:middle" %)[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_7d2b03d0fb959ea6.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_7d2b03d0fb959ea6.gif"]]|(% style="text-align:center; vertical-align:middle" %)[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_42312f2433c2ebf8.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_42312f2433c2ebf8.gif"]]

729

|(% style="text-align:center; vertical-align:middle; width:185px" %)4|(% style="text-align:center; vertical-align:middle; width:177px" %)(((

CW/CCW

(Negative logic)

)))|(% style="text-align:center; vertical-align:middle" %)(((

PULSE (CW)

SIGN (CCW)

)))|(% colspan="2" style="text-align:center; vertical-align:middle" %)[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_8218481384864bcd.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_8218481384864bcd.gif"]]

738

|(% style="text-align:center; vertical-align:middle; width:185px" %)5|(% style="text-align:center; vertical-align:middle; width:177px" %)(((

739

AB phase orthogonal

740

741

pulse (4 times frequency negative logic)

742

)))|(% style="text-align:center; vertical-align:middle" %)(((

PULSE (Phase A)

SIGN (Phase B)

)))|(% style="text-align:center; vertical-align:middle" %)(((

747

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_552d434eda0cc25a.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_552d434eda0cc25a.gif"]]

748

749

B phase is ahead of A phase by 90°

750

)))|(% style="text-align:center; vertical-align:middle" %)(((

751

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_d1de574238d8caf9.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_d1de574238d8caf9.gif"]]

752

753

A phase is ahead of B phase by 90°

754

)))

755

756

Table 6-15 Pulse description

757

758

**(2) The source of position instruction is internal position instruction (P01-06=1)**

759

760

The VD2 series servo drive has a multi-segment position operation function, which supports maximum 16-segment instructions. The displacement, maximum operating speed (steady-state operating speed) and acceleration/deceleration time of each segment could be set separately. The waiting time between positions could also be set according to actual needs. The setting process of multi-segment position is shown in __[[Figure 6-11>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_6173c39e1ccf532e.gif?rev=1.1]]__.

761

762

The servo drive completely runs the multi-segment position instruction set by P07-01 once, and the total number of positions is called completing one round of operation.

763

764

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_6173c39e1ccf532e.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_6173c39e1ccf532e.gif"]]

765

766

Figure 6-11 The setting process of multi-segment position

767

768

1) Set multi-segment position running mode

769

770

(% class="table-bordered" %)

771

|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle; width:141px" %)(((

772

**Setting method**

773

)))|(% style="text-align:center; vertical-align:middle; width:200px" %)(((

774

**Effective time**

775

)))|(% style="text-align:center; vertical-align:middle; width:16px" %)**Default value**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**

776

|(% style="text-align:center; vertical-align:middle" %)P07-01|(% style="text-align:center; vertical-align:middle" %)Multi-segment position running mode|(% style="text-align:center; vertical-align:middle; width:141px" %)(((

777

Shutdown setting

778

)))|(% style="text-align:center; vertical-align:middle; width:200px" %)(((

779

Effective immediately

780

)))|(% style="text-align:center; vertical-align:middle; width:16px" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 2|(((

0: Single running

1: Cycle running

2: DI switching running

786

)))|(% style="text-align:center; vertical-align:middle" %)-

787

|(% style="text-align:center; vertical-align:middle" %)P07-02|(% style="text-align:center; vertical-align:middle" %)Start segment number|(% style="text-align:center; vertical-align:middle; width:141px" %)(((

788

Shutdown setting

789

)))|(% style="text-align:center; vertical-align:middle; width:200px" %)(((

790

Effective immediately

791

)))|(% style="text-align:center; vertical-align:middle; width:16px" %)1|(% style="text-align:center; vertical-align:middle" %)1 to 16|1st segment NO. in non-DI switching mode|(% style="text-align:center; vertical-align:middle" %)-

792

|(% style="text-align:center; vertical-align:middle" %)P07-03|(% style="text-align:center; vertical-align:middle" %)End segment number|(% style="text-align:center; vertical-align:middle; width:141px" %)(((

793

Shutdown setting

794

)))|(% style="text-align:center; vertical-align:middle; width:200px" %)(((

795

Effective immediately

796

)))|(% style="text-align:center; vertical-align:middle; width:16px" %)1|(% style="text-align:center; vertical-align:middle" %)1 to 16|last segment NO. in non-DI switching mode|(% style="text-align:center; vertical-align:middle" %)-

797

|(% style="text-align:center; vertical-align:middle" %)P07-04|(% style="text-align:center; vertical-align:middle" %)Margin processing method|(% style="text-align:center; vertical-align:middle; width:141px" %)(((

798

Shutdown setting

799

)))|(% style="text-align:center; vertical-align:middle; width:200px" %)(((

800

Effective immediately

801

)))|(% style="text-align:center; vertical-align:middle; width:16px" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((

802

0: Run the remaining segments

803

804

1: Run again from the start segment

805

)))|(% style="text-align:center; vertical-align:middle" %)-

806

|(% style="text-align:center; vertical-align:middle" %)P07-05|(% style="text-align:center; vertical-align:middle" %)Displacement instruction type|(% style="text-align:center; vertical-align:middle; width:141px" %)(((

807

Shutdown setting

808

)))|(% style="text-align:center; vertical-align:middle; width:200px" %)(((

809

Effective immediately

810

)))|(% style="text-align:center; vertical-align:middle; width:16px" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((

811

0: Relative position instruction

812

813

1: Absolute position instruction

814

)))|(% style="text-align:center; vertical-align:middle" %)-

815

816

Table 6-16 multi-segment position running mode parameters

817

818

VD2 series servo drive has three multi-segment position running modes, and you could select the best running mode according to the site requirements.

~1. Single running

In this running mode, the segment number is automatically incremented and switched, and the servo drive only operates for one round (the servo drive runs completely once for the total number of multi-segment position instructions set by P07-02 and P07-03). The single running curve is shown in __[[Figure 6-12>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_669701d67ab2f246.gif?rev=1.1]]__, and [[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_b3223c0806f5c6c.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_b3223c0806f5c6c.gif"]] are the displacements of the 1st segment and the 2nd segment respectively

823

824

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_669701d67ab2f246.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_669701d67ab2f246.gif" data-xwiki-image-style-alignment="center"]]

825

826

Figure 6-12 Single running curve (P07-02=1, P07-03=2)

2. Cycle running

In this running mode, the position number is automatically incremented and switched, and the servo drive repeatedly runs the total number of multi-segment position instructions set by P07-02 and P07-03. The waiting time could be set between each segment. The cycle running curve is shown in __[[Figure 6-13>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_80b358d07288f7b4.gif?rev=1.1]]__, and [[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_a2646a1ce199bcaa.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_a2646a1ce199bcaa.gif"]] are the displacements of the 1st, 2nd, 3rd and 4th segment respectively.

831

832

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_80b358d07288f7b4.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_80b358d07288f7b4.gif"]]

833

834

Figure 6-13 Cycle running curve (P07-02=1, P07-03=4)

835

836

|[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_6db94f5d0421f97a.png?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_6db94f5d0421f97a.png"]]

837

|In single running and cycle running mode, the setting value of P07-03 needs to be greater than the setting value of P07-02.

838

839

3. DI switching running

840

841

In this running mode, the next running segment number could be set when operating the current segment number. The interval time is determined by the instruction delay of the host computer. The running segment number is determined by DI terminal logic, and the related function codes are shown in the table below.

842

843

(% class="table-bordered" %)

844

|(% style="text-align:center; vertical-align:middle" %)**DI function code**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**

845

|(% style="text-align:center; vertical-align:middle" %)21|INPOS1: Internal multi-segment position segment selection 1|Form internal multi-segment position running segment number

846

|(% style="text-align:center; vertical-align:middle" %)22|INPOS2: Internal multi-segment position segment selection 2|Form internal multi-segment position running segment number

847

|(% style="text-align:center; vertical-align:middle" %)23|INPOS3: Internal multi-segment position segment selection 3|Form internal multi-segment position running segment number

848

|(% style="text-align:center; vertical-align:middle" %)24|INPOS4: Internal multi-segment position segment selection 4|Form internal multi-segment position running segment number

849

850

Table 6-17 DI function code

851

852

The multi-segment segment number is a 4-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. Table 6-17 shows the correspondence between the position bits 1 to 4 of the internal multi-segment position and the position number.

853

854

(% class="table-bordered" %)

855

|(% style="text-align:center; vertical-align:middle" %)**INPOS4**|(% style="text-align:center; vertical-align:middle" %)**INPOS3**|(% style="text-align:center; vertical-align:middle" %)**INPOS2**|(% style="text-align:center; vertical-align:middle" %)**INPOS1**|(% style="text-align:center; vertical-align:middle" %)**Running position number**

856

|(% 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" %)0|(% style="text-align:center; vertical-align:middle" %)1

857

|(% 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" %)2

858

|(% 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|(% style="text-align:center; vertical-align:middle" %)3

859

|(% colspan="5" style="text-align:center; vertical-align:middle" %)…………

860

|(% 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" %)1|(% style="text-align:center; vertical-align:middle" %)16

861

862

Table 6-18 INPOS corresponds to running segment number

863

864

The operating curve in this running mode is shown in __[[Figure 6-14>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_91c44ab732c79e26.gif?rev=1.1]]__.

865

866

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_91c44ab732c79e26.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_91c44ab732c79e26.gif" data-xwiki-image-style-alignment="center"]]

867

868

Figure 6-14 DI switching running curve

869

870

VD2 series servo drives have two margin processing methods: run the remaining segments and run from the start segment again. The related function code is P07-04.

871

872

**A. Run the remaining segments**

873

874

In this processing way, the multi-segment position instruction enable is OFF during running, the servo drive will abandon the unfinished displacement part and shutdown, and the positioning completion signal will be valid after the shutdown is complete. When the multi-segment position enable is ON, and the servo drive will start to run from the next segment where the OFF occurs. The curves of single running and cycle running are shown in __[[Figure 6-15>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_29777829e6742c0d.gif?rev=1.1]]__ and __[[Figure 6-16>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_d264849e0940e3e4.gif?rev=1.1]]__ respectively.

875

876

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_29777829e6742c0d.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_29777829e6742c0d.gif"]]

877

878

Figure 6-15 Single running-run the remaining segments (P07-02=1, P07-03=4)

879

880

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_d264849e0940e3e4.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_d264849e0940e3e4.gif"]]

881

882

Figure 6-16 Cycle running-run the remaining segment (P07-02=1, P07-03=4)

883

884

**B. Run again from the start segment**

885

886

In this processing mode, when the multi-segment position instruction enable is OFF during running, the servo drive will abandon the uncompleted displacement part and shutdown. After the shutdown is completed, the positioning completion signal is valid. When the multi-segment position enable is ON, and the servo drive will start to operate from the next position set by P07-02. The curves of single running and cycle running are shown in __[[Figure 6-17>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_2328499c9613af49.gif?rev=1.1]]__ and __[[Figure 6-18>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_1f2e35174b1afd3c.gif?rev=1.1]]__ respectively.

887

888

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_2328499c9613af49.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_2328499c9613af49.gif"]]

889

890

Figure 6-17 Single running-run from the start segment again (P07-02=1, P07-03=4)

891

892

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_1f2e35174b1afd3c.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_1f2e35174b1afd3c.gif"]]

893

894

Figure 6-18 Cyclic running-run from the start segment again (P07-02=1, P07-03=4)

895

896

VD2 series servo drives have two types of displacement instructions: relative position instruction and absolute position instruction. The related function code is P07-05.

897

898

A. Relative position instruction

899

900

The relative position instruction takes the current stop position of the motor as the start point and specifies the amount of displacement.

901

902

|[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_87634f36b33add27.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_87634f36b33add27.gif"]]|[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_6731ac1b21e3a000.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_6731ac1b21e3a000.gif"]]

903

|Figure 6-19 Relative position diagram|Figure 6-20 Displacement diagram

904

905

B. Absolute position instruction

906

907

The absolute position instruction takes "reference origin" as the zero point of absolute positioning, and specifies the amount of displacement.

908

909

|[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_18d123cfee9d9941.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_18d123cfee9d9941.gif"]]|[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_a2200ebb6453151f.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_a2200ebb6453151f.gif"]]

910

|Figure 6-21 Absolute indication|Figure 6-22 Displacement

911

912

2) Multi-segment position running curve setting

913

914

The multi-segment position running supports maximum 16 segments different position instructions. The displacement, maximum running speed (steady-state running speed), acceleration and deceleration time of each position and the waiting time between segment could all be set. __[[Table 6-19>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HPositioninstructioninputsetting]]__ are the related function codes of the 1st segment running curve.

915

916

(% class="table-bordered" %)

917

|(% style="text-align:center; vertical-align:middle; width:124px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:171px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:143px" %)(((

918

**Setting method**

919

)))|(% style="text-align:center; vertical-align:middle; width:187px" %)(((

920

**Effective time**

921

)))|(% style="text-align:center; vertical-align:middle; width:110px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:143px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:260px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**

922

|(% style="text-align:center; vertical-align:middle; width:124px" %)P07-09|(% style="text-align:center; vertical-align:middle; width:171px" %)(((

1st segment

displacement

)))|(% style="text-align:center; vertical-align:middle; width:143px" %)(((

927

Operation setting

928

)))|(% style="text-align:center; vertical-align:middle; width:187px" %)(((

929

Effective immediately

930

)))|(% style="text-align:center; vertical-align:middle; width:110px" %)10000|(% style="text-align:center; vertical-align:middle; width:143px" %)(((

-2147483647 to

2147483646

)))|(% style="width:260px" %)Position instruction, positive and negative values could be set|(% style="text-align:center; vertical-align:middle" %)-

935

|(% style="text-align:center; vertical-align:middle; width:124px" %)P07-10|(% style="text-align:center; vertical-align:middle; width:171px" %)Maximum speed of the 1st displacement|(% style="text-align:center; vertical-align:middle; width:143px" %)(((

936

Operation setting

937

)))|(% style="text-align:center; vertical-align:middle; width:187px" %)(((

938

Effective immediately

939

)))|(% style="text-align:center; vertical-align:middle; width:110px" %)100|(% style="text-align:center; vertical-align:middle; width:143px" %)1 to 5000|(% style="width:260px" %)Steady-state running speed of the 1st segment|(% style="text-align:center; vertical-align:middle" %)rpm

940

|(% style="text-align:center; vertical-align:middle; width:124px" %)P07-11|(% style="text-align:center; vertical-align:middle; width:171px" %)Acceleration and deceleration of 1st segment displacement|(% style="text-align:center; vertical-align:middle; width:143px" %)(((

941

Operation setting

942

)))|(% style="text-align:center; vertical-align:middle; width:187px" %)(((

943

Effective immediately

944

)))|(% style="text-align:center; vertical-align:middle; width:110px" %)100|(% style="text-align:center; vertical-align:middle; width:143px" %)1 to 65535|(% style="width:260px" %)The time required for the acceleration and deceleration of the 1st segment|(% style="text-align:center; vertical-align:middle" %)ms

945

|(% style="text-align:center; vertical-align:middle; width:124px" %)P07-12|(% style="text-align:center; vertical-align:middle; width:171px" %)Waiting time after completion of the 1st segment displacement|(% style="text-align:center; vertical-align:middle; width:143px" %)(((

946

Operation setting

947

)))|(% style="text-align:center; vertical-align:middle; width:187px" %)(((

948

Effective immediately

949

)))|(% style="text-align:center; vertical-align:middle; width:110px" %)100|(% style="text-align:center; vertical-align:middle; width:143px" %)1 to 65535|(% style="width:260px" %)Delayed waiting time from the completion of the 1st segment to the start of the next segment|(% style="text-align:center; vertical-align:middle" %)Set by P07-06

950

951

Table 6-19 The 1st position operation curve parameters table

952

953

After setting the above parameters, the actual operation curve of the motor is shown in Figure 6-23.

954

955

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_aca615fac179a16a.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_aca615fac179a16a.gif"]]

956

957

Figure 6-23 The 1st segment running curve of motor

958

959

3) multi-segment position instruction enable

960

961

When selecting multi-segment position instruction as the instruction source, configure 1 DI port channel of the servo drive to function 20 (internal multi-segment position enable signal), and confirm the valid logic of the DI terminal.

962

963

(% class="table-bordered" %)

964

|(% style="text-align:center; vertical-align:middle" %)**DI function code**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**

965

|(% style="text-align:center; vertical-align:middle" %)20|(% style="text-align:center; vertical-align:middle" %)ENINPOS: Internal multi-segment position enable signal|(% style="text-align:center; vertical-align:middle" %)(((

966

DI port logic invalid: Does not affect the current operation of the servo motor.

967

968

DI port logic valid: Motor runs multi-segment position

969

)))

970

971

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_6db94f5d0421f97a.png?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_6db94f5d0421f97a.png" data-xwiki-image-style-alignment="center"]]

972

973

It should be noted that only when the internal multi-segment position enable signal is OFF, can the P07 group parameters be actually modified to write into the servo drive!

974

975

== **Electronic gear ratio** ==

976

977

**(1) Definition of electronic gear ratio**

978

979

In the position control mode, the input position instruction (instruction unit) is to set the load displacement, and the motor position instruction (encoder unit) is to set the motor displacement, in order to establish the proportional relationship between the motor position instruction and the input position instruction, electronic gear ratio function is used. "instruction unit" refers to the minimum resolvable value input from the control device(HMI/PLC) to the servo drive. "Encoder unit" refers to the value of the input instruction processed by the electronic gear ratio.

980

981

With the function of the frequency division (electronic gear ratio <1) or multiplication (electronic gear ratio > 1) of the electronic gear ratio, the actual the motor rotation or movement displacement can be set when the input position instruction is 1 instruction unit.

982

983

It it noted that the electronic gear ratio setting range of the 2500-line incremental encoder should meet the formula (6-1), and the electronic gear ratio setting range of the 17-bit encoder should meet the formula (6-2), setting range of the electronic gear ratio of 23-bit encoder should meet the formula (6-3)

984

985

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_36eea050640062e9.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_36eea050640062e9.gif"]] (6-1)

986

987

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_2cd5305a8be2e1f2.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_2cd5305a8be2e1f2.gif"]] (6-2)

988

989

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_5e7b8108abd1a9ed.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_5e7b8108abd1a9ed.gif"]] (6-3)

990

991

Otherwise, the servo drive will report Er.35: "Electronic gear ratio setting exceeds the limit"!

992

993

**(2) Setting steps of electronic gear ratio**

994

995

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_9af279e6d5253d7a.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_9af279e6d5253d7a.gif"]]

996

997

Figure 6-24 Setting steps of electronic gear ratio

998

999

Step1: Confirm the mechanical parameters including the reduction ratio, the ball screw lead, gear diameter in the gear drive, and pulley diameter in the pulley drive.

1000

1001

Step2: Confirm the resolution of servo motor encoder.

1002

1003

Step3: Confirm the parameters such as mechanical specifications, positioning accuracy, etc, and determine the load displacement corresponding to one position instruction output by the host computer.

1004

1005

Step4: Combine the mechanical parameters and the load displacement corresponding to one position instruction, calculate the position instruction value required for one rotation of the load shaft.

1006

1007

Step5: Calculate the value of electronic gear ratio according to formula below.

1008

1009

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_783be3e5149faf1e.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_783be3e5149faf1e.gif"]]

1010

1011

**(3) lectronic gear ratio switch setting**

1012

1013

1014

When the function code P00-16 is 0, the electronic gear ratio switching function could be used. You could switch between electronic gear 1 and electronic gear 2 as needed. There is only one set of gear ratios at any time. Related function codes are shown in the table below.

1015

1016

(% class="table-bordered" %)

1017

|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:159px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:156px" %)(((

1018

**Setting method**

1019

)))|(% style="text-align:center; vertical-align:middle; width:162px" %)(((

1020

**Effective time**

1021

)))|(% style="text-align:center; vertical-align:middle; width:109px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:127px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:311px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**

1022

|(% style="text-align:center; vertical-align:middle" %)P00-16|(% style="text-align:center; vertical-align:middle; width:159px" %)Number of instruction pulses when the motor rotates one circle|(% style="text-align:center; vertical-align:middle; width:156px" %)(((

1023

Shutdown setting

1024

)))|(% style="text-align:center; vertical-align:middle; width:162px" %)(((

1025

Effective immediately

1026

)))|(% style="text-align:center; vertical-align:middle; width:109px" %)10000|(% style="text-align:center; vertical-align:middle; width:127px" %)0 to 131072|(% style="width:311px" %)Set the number of position command pulses required for each turn of the motor. When the setting value is 0, [P00-17]/[P00-19] Electronic gear 1/2 numerator, [P00-18]/[P00-20] Electronic gear 1/2 denominator is valid.|(% style="text-align:center; vertical-align:middle" %)(((

Instruction pulse

unit

)))

|(% style="text-align:center; vertical-align:middle" %)P00-17|(% style="text-align:center; vertical-align:middle; width:159px" %)(((

Electronic gear 1

numerator

)))|(% style="text-align:center; vertical-align:middle; width:156px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)(((

1036

Effective immediately

1037

)))|(% style="text-align:center; vertical-align:middle; width:109px" %)1|(% style="text-align:center; vertical-align:middle; width:127px" %)1 to 4294967294|(% style="width:311px" %)Set the numerator of the 1st group electronic gear ratio for position instruction frequency division or multiplication. P00-16 is effective when the number of instruction pulses of one motor rotation is 0.|(% style="text-align:center; vertical-align:middle" %)-

1038

|(% style="text-align:center; vertical-align:middle" %)P00-18|(% style="text-align:center; vertical-align:middle; width:159px" %)(((

Electronic gear 1

denominator

)))|(% style="text-align:center; vertical-align:middle; width:156px" %)(((

1043

Operation setting

1044

)))|(% style="text-align:center; vertical-align:middle; width:162px" %)(((

1045

Effective immediately

1046

)))|(% style="text-align:center; vertical-align:middle; width:109px" %)1|(% style="text-align:center; vertical-align:middle; width:127px" %)1 to 4294967294|(% style="width:311px" %)Set the denominator of the 1st group electronic gear ratio for position instruction frequency division or multiplication. P00-16 is effective when the number of instruction pulses of one motor rotation is 0.|(% style="text-align:center; vertical-align:middle" %)-

1047

|(% style="text-align:center; vertical-align:middle" %)P00-19|(% style="text-align:center; vertical-align:middle; width:159px" %)(((

Electronic gear 2

numerator

)))|(% style="text-align:center; vertical-align:middle; width:156px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)(((

1052

Effective immediately

1053

)))|(% style="text-align:center; vertical-align:middle; width:109px" %)1|(% style="text-align:center; vertical-align:middle; width:127px" %)1 to 4294967294|(% style="width:311px" %)Set the numerator of the 2nd group electronic gear ratio for position instruction frequency division or multiplication. P00-16 is effective when the number of instruction pulses of one motor rotation is 0.|(% style="text-align:center; vertical-align:middle" %)-

1054

|(% style="text-align:center; vertical-align:middle" %)P00-20|(% style="text-align:center; vertical-align:middle; width:159px" %)(((

Electronic gear 2

denominator

)))|(% style="text-align:center; vertical-align:middle; width:156px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)(((

1059

Effective immediately

1060

)))|(% style="text-align:center; vertical-align:middle; width:109px" %)1|(% style="text-align:center; vertical-align:middle; width:127px" %)1 to 4294967294|(% style="width:311px" %)Set the denominator of the 2nd group electronic gear ratio for position instruction frequency division or multiplication. P00-16 is effective when the number of instruction pulses of one motor rotation is 0.|(% style="text-align:center; vertical-align:middle" %)-

1061

1062

Table 6-20 Electronic gear ratio function code

1063

1064

To use electronic gear ratio 2, it is necessary to configure any DI port as function 09 (GEAR-SEL electronic gear switch 1), and determine the valid logic of the DI terminal.

1065

1066

(% class="table-bordered" %)

1067

|(% style="text-align:center; vertical-align:middle" %)**DI function code**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**

1068

|(% style="text-align:center; vertical-align:middle" %)09|(% style="text-align:center; vertical-align:middle" %)GEAR-SEL electronic gear switch 1|(% style="text-align:center; vertical-align:middle" %)(((

1069

DI port logic invalid: electronic gear ratio 1

1070

1071

DI port logic valid: electronic gear ratio 2

1072

)))

1073

1074

Table 6-21 Switching conditions of electronic gear ratio group

1075

1076

|(% style="text-align:center; vertical-align:middle" %)**P00-16 value**|(% style="text-align:center; vertical-align:middle" %)**DI terminal level corresponding to DI port function 9**|(% style="text-align:center; vertical-align:middle" %)**Electronic gear ratio**[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_3c885bb1dd9f482d.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_3c885bb1dd9f482d.gif"]]

1077

|(% rowspan="2" style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)DI port logic invalid|(% style="text-align:center; vertical-align:middle" %)[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_936c435aaa56afe9.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_936c435aaa56afe9.gif"]]

1078

|(% style="text-align:center; vertical-align:middle" %)DI port logic valid|(% style="text-align:center; vertical-align:middle" %)[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_f7cc7443de5ae1fd.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_f7cc7443de5ae1fd.gif"]]

1079

|(% style="text-align:center; vertical-align:middle" %)1 to 131072|(% style="text-align:center; vertical-align:middle" %)~-~-|(% style="text-align:center; vertical-align:middle" %)[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_3b79819a4d341e9c.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_3b79819a4d341e9c.gif"]]

1080

1081

Table 6-22 Application of electronic gear ratio

1082

1083

When the function code P00-16 is not 0, the electronic gear ratio [[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_3c885bb1dd9f482d.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_3c885bb1dd9f482d.gif"]] is invalid.

1084

1085

== **Position instruction filtering** ==

1086

1087

Position instruction filtering is to filter the position instruction (encoder unit) after the electronic gear ratio frequency division or frequency multiplication, including first-order low-pass filtering and average filtering operation.

1088

1089

In the following situations, position instruction filtering should be added.

1090

1091

1. The position instruction output by host computer has not been processed with acceleration or deceleration;

1092

1. The pulse instruction frequency is low;

1093

1. When the electronic gear ratio is 10 times or more.

1094

1095

Reasonable setting of the position loop filter time constant can operate the motor more smoothly, so that the motor speed will not overshoot before reaching the stable point. This setting has no effect on the number of instruction pulses. The filter time is not as long as possible. If the filter time is longer, the delay time will be longer too, and the response time will be correspondingly longer. It is an illustration of several kinds of position filtering.

1096

1097

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_58c73e15d14818f5.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_58c73e15d14818f5.gif"]]

1098

1099

Figure 6-25 Position instruction filtering diagram

1100

1101

(% class="table-bordered" %)

1102

|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:193px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:150px" %)(((

1103

**Setting method**

1104

)))|(% style="text-align:center; vertical-align:middle; width:209px" %)(((

1105

**Effective time**

1106

)))|(% style="text-align:center; vertical-align:middle; width:107px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:93px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:280px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:72px" %)**Unit**

1107

|(% style="text-align:center; vertical-align:middle" %)P04-01|(% style="text-align:center; vertical-align:middle; width:193px" %)Pulse instruction filtering method|(% style="text-align:center; vertical-align:middle; width:150px" %)(((

1108

Shutdown setting

1109

)))|(% style="text-align:center; vertical-align:middle; width:209px" %)(((

1110

Effective immediately

1111

)))|(% style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:93px" %)0 to 1|(% style="width:280px" %)(((

1112

0: 1st-order low-pass filtering

1113

1114

1: average filtering

1115

)))|(% style="text-align:center; vertical-align:middle; width:72px" %)-

1116

|(% style="text-align:center; vertical-align:middle" %)P04-02|(% style="text-align:center; vertical-align:middle; width:193px" %)Position instruction 1st-order low-pass filtering time constant|(% style="text-align:center; vertical-align:middle; width:150px" %)Shutdown setting|(% style="text-align:center; vertical-align:middle; width:209px" %)(((

1117

Effective immediately

1118

)))|(% style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:93px" %)0 to 1000|(% style="width:280px" %)Position instruction first-order low-pass filtering time constant|(% style="text-align:center; vertical-align:middle; width:72px" %)ms

1119

|(% style="text-align:center; vertical-align:middle" %)P04-03|(% style="text-align:center; vertical-align:middle; width:193px" %)Position instruction average filtering time constant|(% style="text-align:center; vertical-align:middle; width:150px" %)Shutdown setting|(% style="text-align:center; vertical-align:middle; width:209px" %)(((

1120

Effective immediately

1121

)))|(% style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:93px" %)0 to 128|(% style="width:280px" %)Position instruction average filtering time constant|(% style="text-align:center; vertical-align:middle; width:72px" %)ms

1122

1123

Table 6-23 Position instruction filter function code

1124

1125

== **Clearance of position deviation** ==

1126

1127

Position deviation clearance means that the drive could zero the deviation register in position mode. The user can realize the function of clearing the position deviation through the DI terminal;

1128

1129

Position deviation = (position instruction-position feedback) (encoder unit)

1130

1131

== **Position-related DO output function** ==

1132

1133

The feedback value of position instruction is compared with different thresholds, and output DO signal for host computer use.

1134

1135

(% class="wikigeneratedid" id="HPositioningcompletion2Fpositioningapproachoutput" %)

1136

**Positioning completion/positioning approach output**

1137

1138

(% class="wikigeneratedid" %)

1139

the positioning completion function means that when the position deviation meets the value set by P05-12, it could be considered that the positioning is complete in position control mode. At this time, servo drive could output the positioning completion signal, and the host computer could confirm the completion of the positioning of servo drive after receiving the signal.

1140

1141

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_a317d1e7b69d9f5.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_a317d1e7b69d9f5.gif"]]

1142

1143

Figure 6-26 Positioning completion signal output diagram

1144

1145

When using the positioning completion or approach function, you could also set positioning completion, positioning approach conditions, window and hold time. The principle of window filter time is shown in Figure 6-27.

1146

1147

To use the positioning completion/positioning approach function, a DO terminal of the servo drive should be assigned to the function 134 (P-COIN, positioning completion)/ 135 (P-NEAR, positioning approach). The related code parameters and DO function codes are shown as __[[Table 6-24>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HPosition-relatedDOoutputfunction]]__.

1148

1149

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_135bb12a3465fd06.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_135bb12a3465fd06.gif"]]

1150

1151

Figure 6-27 Positioning completion signal output with increased window filter time diagram

1152

1153

(% class="table-bordered" %)

1154

|(% style="text-align:center; vertical-align:middle; width:117px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:133px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:145px" %)(((

1155

**Setting method**

1156

)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((

1157

**Effective time**

1158

)))|(% style="text-align:center; vertical-align:middle; width:106px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:100px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:293px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**

1159

|(% style="text-align:center; vertical-align:middle; width:117px" %)P05-12|(% style="text-align:center; vertical-align:middle; width:133px" %)Positioning completion threshold|(% style="text-align:center; vertical-align:middle; width:145px" %)(((

1160

Operation setting

1161

)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((

1162

Effective immediately

1163

)))|(% style="text-align:center; vertical-align:middle; width:106px" %)800|(% style="text-align:center; vertical-align:middle; width:100px" %)1 to 65535|(% style="text-align:center; vertical-align:middle; width:293px" %)Positioning completion threshold|(% style="text-align:center; vertical-align:middle" %)Equivalent pulse unit

1164

|(% style="text-align:center; vertical-align:middle; width:117px" %)P05-13|(% style="text-align:center; vertical-align:middle; width:133px" %)Positioning approach threshold|(% style="text-align:center; vertical-align:middle; width:145px" %)(((

1165

Operation setting

1166

)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((

1167

Effective immediately

1168

)))|(% style="text-align:center; vertical-align:middle; width:106px" %)5000|(% style="text-align:center; vertical-align:middle; width:100px" %)1 to 65535|(% style="text-align:center; vertical-align:middle; width:293px" %)Positioning approach threshold|(% style="text-align:center; vertical-align:middle" %)Equivalent pulse unit

1169

|(% style="text-align:center; vertical-align:middle; width:117px" %)P05-14|(% style="text-align:center; vertical-align:middle; width:133px" %)Position detection window time|(% style="text-align:center; vertical-align:middle; width:145px" %)(((

1170

Operation setting

1171

)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((

1172

Effective immediately

1173

)))|(% style="text-align:center; vertical-align:middle; width:106px" %)10|(% style="text-align:center; vertical-align:middle; width:100px" %)0 to 20000|(% style="text-align:center; vertical-align:middle; width:293px" %)Set positioning completion detection window time|(% style="text-align:center; vertical-align:middle" %)ms

1174

|(% style="text-align:center; vertical-align:middle; width:117px" %)P05-15|(% style="text-align:center; vertical-align:middle; width:133px" %)Positioning signal hold time|(% style="text-align:center; vertical-align:middle; width:145px" %)(((

1175

Operation setting

1176

)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((

1177

Effective immediately

1178

)))|(% style="text-align:center; vertical-align:middle; width:106px" %)100|(% style="text-align:center; vertical-align:middle; width:100px" %)0 to 20000|(% style="text-align:center; vertical-align:middle; width:293px" %)Set positioning completion output hold time|(% style="text-align:center; vertical-align:middle" %)ms

1179

1180

Table 6-24 Function code parameters of positioning completion

1181

1182

(% class="table-bordered" %)

1183

|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**

1184

|(% style="text-align:center; vertical-align:middle" %)134|(% style="text-align:center; vertical-align:middle" %)P-COIN positioning complete|(% style="text-align:center; vertical-align:middle" %)Output this signal indicates the servo drive position is complete.

1185

|(% style="text-align:center; vertical-align:middle" %)135|(% style="text-align:center; vertical-align:middle" %)(((

1186

P-NEAR positioning close

1187

)))|(% style="text-align:center; vertical-align:middle" %)(((

1188

Output this signal indicates that the servo drive position is close.

1189

)))

1190

1191

Table 6-25 Description of DO rotation detection function code

1192

1193

= **Speed control mode** =

1194

1195

Speed control refers to controlling the speed of the machine through speed instructions. Given the speed instruction by digital voltage or communication, the servo drive can control the mechanical speed fast and precisely. Therefore, the speed control mode is mainly used to control the rotation speed such as analog CNC engraving and milling machine. [[Figure 6-28>>path:http://13.229.109.52:8080/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/6.28.jpg?width=806&height=260&rev=1.1]] is the speed control block diagram.

1196

1197

(% style="text-align:center" %)

1198

[[image:6.28.jpg||height="260" width="806"]]

1199

1200

Figure 6-28 Speed control block diagram

1201

1202

== **Speed instruction input setting** ==

1203

1204

In speed control mode, VD2A and VD2B servo drives have two instruction source: internal speed instruction and analog speed instruction. VD2F drive only supports internal speed instruction. Speed instruction source is set by function code P00-01.

1205

1206

(% class="table-bordered" %)

1207

|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:180px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:140px" %)(((

1208

**Setting method**

1209

)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((

1210

**Effective time**

1211

)))|(% style="text-align:center; vertical-align:middle; width:124px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:83px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:328px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**

1212

|(% style="text-align:center; vertical-align:middle" %)P00-01|(% style="text-align:center; vertical-align:middle; width:180px" %)Speed instruction source|(% style="text-align:center; vertical-align:middle; width:140px" %)(((

1213

Shutdown setting

1214

)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((

1215

Effective immediately

1216

)))|(% style="text-align:center; vertical-align:middle; width:124px" %)1|(% style="text-align:center; vertical-align:middle; width:83px" %)1 to 6|(% style="text-align:center; vertical-align:middle; width:328px" %)(((

1217

0: internal speed instruction

1218

1219

1: AI_1 analog input (not supported by VD2F)

1220

)))|(% style="text-align:center; vertical-align:middle" %)-

1221

1222

Table 6-26 Speed instruction source parameter

1223

1224

**(1) Speed instruction source is internal speed instruction (P01-01=0)**

1225

1226

Speed instruction comes from internal instruction, and the internal speed instruction is given by a number. The VD2 series servo drive has internal multi-segment speed running function. There are 8 segments speed instructions stored in servo drive, and the speed of each segment could be set individually. The servo drive uses the 1st segment internal speed by default. To use the 2nd to 8th segment internal speed, the corresponding number of DI terminals must be configured as functions 13, 14, and 15. The detailed parameters and function codes are shown as below.

1227

1228

(% class="table-bordered" %)

1229

|(% style="text-align:center; vertical-align:middle; width:112px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:212px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:138px" %)(((

1230

**Setting method**

1231

)))|(% style="text-align:center; vertical-align:middle; width:160px" %)(((

1232

**Effective time**

1233

)))|(% style="text-align:center; vertical-align:middle; width:107px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:118px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:302px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**

1234

|(% rowspan="2" style="text-align:center; vertical-align:middle; width:112px" %)P01-02|(% rowspan="2" style="text-align:center; vertical-align:middle; width:212px" %)(((

1235

Internal speed Instruction 0

1236

)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((

1237

Operation setting

1238

)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:160px" %)(((

1239

Effective immediately

1240

)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:118px" %)-3000 to 3000|(% rowspan="2" style="width:302px" %)(((

1241

Internal speed instruction 0

When DI input port:

15-INSPD3: 0

14-INSPD2: 0

13-INSPD1: 0,

select this speed instruction to be effective.

1252

)))|(% rowspan="2" style="text-align:center; vertical-align:middle" %)rpm

1253

|(% style="text-align:center; vertical-align:middle; width:118px" %)-5000 to 5000*

1254

|(% rowspan="2" style="text-align:center; vertical-align:middle; width:112px" %)P01-23|(% rowspan="2" style="text-align:center; vertical-align:middle; width:212px" %)(((

1255

Internal speed Instruction 1

1256

)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((

1257

Operation setting

1258

)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:160px" %)(((

1259

Effective immediately

1260

)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:118px" %)-3000 to 3000|(% rowspan="2" style="width:302px" %)(((

1261

Internal speed instruction 1

When DI input port:

15-INSPD3: 0

14-INSPD2: 0

13-INSPD1: 1,

Select this speed instruction to be effective.

1272

)))|(% rowspan="2" style="text-align:center; vertical-align:middle" %)rpm

1273

|(% style="text-align:center; vertical-align:middle; width:118px" %)-5000 to 5000*

1274

|(% rowspan="2" style="text-align:center; vertical-align:middle; width:112px" %)P01-24|(% rowspan="2" style="text-align:center; vertical-align:middle; width:212px" %)(((

1275

Internal speed Instruction 2

1276

)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((

1277

Operation setting

1278

)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:160px" %)(((

1279

Effective immediately

1280

)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:118px" %)-3000 to 3000|(% rowspan="2" style="width:302px" %)(((

1281

Internal speed instruction 2

When DI input port:

15-INSPD3: 0

14-INSPD2: 1

13-INSPD1: 0,

Select this speed instruction to be effective.

1292

)))|(% rowspan="2" style="text-align:center; vertical-align:middle" %)rpm

1293

|(% style="text-align:center; vertical-align:middle; width:118px" %)-5000 to 5000*

1294

|(% rowspan="2" style="text-align:center; vertical-align:middle; width:112px" %)P01-25|(% rowspan="2" style="text-align:center; vertical-align:middle; width:212px" %)(((

1295

Internal speed Instruction 3

1296

)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((

1297

Operation setting

1298

)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:160px" %)(((

1299

Effective immediately

1300

)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:118px" %)-3000 to 3000|(% rowspan="2" style="width:302px" %)(((

1301

Internal speed instruction 3

When DI input port:

15-INSPD3: 0

14-INSPD2: 1

13-INSPD1: 1,

Select this speed instruction to be effective.

1312

)))|(% rowspan="2" style="text-align:center; vertical-align:middle" %)rpm

1313

|(% style="text-align:center; vertical-align:middle; width:118px" %)-5000 to 5000*

1314

1315

(% class="table-bordered" %)

1316

|(% rowspan="2" style="text-align:center; vertical-align:middle; width:111px" %)P01-26|(% rowspan="2" style="text-align:center; vertical-align:middle; width:214px" %)(((

1317

Internal speed Instruction 4

1318

)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((

1319

Operation setting

1320

)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:161px" %)(((

1321

Effective immediately

1322

)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:117px" %)-3000 to 3000|(% rowspan="2" style="width:302px" %)(((

1323

Internal speed instruction 4

When DI input port:

15-INSPD3: 1

14-INSPD2: 0

13-INSPD1: 0,

Select this speed instruction to be effective.

1334

)))|(% rowspan="2" style="text-align:center; vertical-align:middle" %)rpm

1335

|(% style="text-align:center; vertical-align:middle; width:117px" %)-5000 to 5000*

1336

|(% rowspan="2" style="text-align:center; vertical-align:middle; width:111px" %)P01-27|(% rowspan="2" style="text-align:center; vertical-align:middle; width:214px" %)(((

1337

Internal speed Instruction 5

1338

)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((

1339

Operation setting

1340

)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:161px" %)(((

1341

Effective immediately

1342

)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:117px" %)-3000 to 3000|(% rowspan="2" style="width:302px" %)(((

1343

Internal speed instruction 5

When DI input port:

15-INSPD3: 1

14-INSPD2: 0

13-INSPD1: 1,

Select this speed instruction to be effective.

1354

)))|(% rowspan="2" style="text-align:center; vertical-align:middle" %)rpm

1355

|(% style="text-align:center; vertical-align:middle; width:117px" %)-5000 to 5000*

1356

|(% rowspan="2" style="text-align:center; vertical-align:middle; width:111px" %)P01-28|(% rowspan="2" style="text-align:center; vertical-align:middle; width:214px" %)(((

1357

Internal speed Instruction 6

1358

)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((

1359

Operation setting

1360

)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:161px" %)(((

1361

Effective immediately

1362

)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:117px" %)-3000 to 3000|(% rowspan="2" style="width:302px" %)(((

1363

Internal speed instruction 6

When DI input port:

15-INSPD3: 1

14-INSPD2: 1

13-INSPD1: 0,

Select this speed instruction to be effective.

1374

)))|(% rowspan="2" style="text-align:center; vertical-align:middle" %)rpm

1375

|(% style="text-align:center; vertical-align:middle; width:117px" %)-5000 to 5000*

1376

|(% rowspan="2" style="text-align:center; vertical-align:middle; width:111px" %)P01-29|(% rowspan="2" style="text-align:center; vertical-align:middle; width:214px" %)(((

1377

Internal speed Instruction 7

1378

)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:138px" %)(((

1379

Operation setting

1380

)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:161px" %)(((

1381

Effective immediately

1382

)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:107px" %)0|(% style="text-align:center; vertical-align:middle; width:117px" %)-3000 to 3000|(% rowspan="2" style="width:302px" %)(((

1383

Internal speed instruction 7

When DI input port:

15-INSPD3: 1

14-INSPD2: 1

13-INSPD1: 1,

Select this speed instruction to be effective.

1394

)))|(% rowspan="2" style="text-align:center; vertical-align:middle" %)rpm

1395

|(% style="text-align:center; vertical-align:middle; width:117px" %)-5000 to 5000*

1396

1397

Table 6-27 Internal speed instruction parameters

1398

1399

✎**Note: **“*” means the set range of VD2F servo drive.

1400

1401

(% class="table-bordered" %)

1402

|(% style="text-align:center; vertical-align:middle" %)**DI function code**|(% style="text-align:center; vertical-align:middle" %)**function name**|(% style="text-align:center; vertical-align:middle" %)**Function**

1403

|(% style="text-align:center; vertical-align:middle" %)13|(% style="text-align:center; vertical-align:middle" %)INSPD1 internal speed instruction selection 1|Form internal multi-speed running segment number

1404

|(% style="text-align:center; vertical-align:middle" %)14|(% style="text-align:center; vertical-align:middle" %)INSPD2 internal speed instruction selection 2|Form internal multi-speed running segment number

1405

|(% style="text-align:center; vertical-align:middle" %)15|(% style="text-align:center; vertical-align:middle" %)INSPD3 internal speed instruction selection 3|Form internal multi-speed running segment number

1406

1407

Table 6-28 DI multi-speed function code description

1408

1409

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.

1410

1411

(% class="table-bordered" %)

1412

|(% 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**

1413

|(% 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

1414

|(% 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

1415

|(% 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

1416

|(% colspan="5" %)......

1417

|(% 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

1418

1419

Table 6-29 Correspondence between INSPD bits and segment numbers

1420

1421

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_f54c42ea2d098bf8.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_f54c42ea2d098bf8.gif"]]

1422

1423

Figure 6-29 Multi-segment speed running curve

1424

1425

**(2) Speed instruction source is internal speed instruction (P01-01=0)**

1426

1427

The servo drive processes the analog voltage signal output by the host computer or other equipment as a speed instruction. VD2A and VD2B series servo drives have 2 analog input channels: AI_1 and AI_2. AI_1 is analog speed input, and AI_2 is analog speed limit.

1428

1429

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_a3f8a734b72fcc10.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_a3f8a734b72fcc10.gif"]]

1430

1431

Figure 6-30 Analog input circuit

1432

1433

Taking AI_1 as an example, the method of setting the speed instruction of analog voltage is illustrated as below.

1434

1435

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_43da944efa0a6a10.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_43da944efa0a6a10.gif"]]

1436

1437

Figure 6-31 Analog voltage speed instruction setting steps

1438

1439

Explanation of related terms:

1440

1441

Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.

1442

1443

Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.

1444

1445

Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.

1446

1447

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_4bcfc7a8548b6252.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_4bcfc7a8548b6252.gif"]]

1448

1449

Figure 6-32 AI_1 diagram before and after bias

1450

1451

(% class="table-bordered" %)

1452

|(% style="text-align:center; vertical-align:middle; width:115px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:125px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:137px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:165px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:111px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:136px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:360px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:44px" %)**Unit**

1453

|(% style="text-align:center; vertical-align:middle; width:115px" %)P05-01☆|(% style="text-align:center; vertical-align:middle; width:125px" %)AI_1 input bias|(% style="text-align:center; vertical-align:middle; width:137px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:165px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:111px" %)0|(% style="text-align:center; vertical-align:middle; width:136px" %)-5000 to 5000|(% style="width:360px" %)Set AI_1 channel analog bias value|(% style="text-align:center; vertical-align:middle; width:44px" %)mV

1454

|(% style="text-align:center; vertical-align:middle; width:115px" %)P05-02☆|(% style="text-align:center; vertical-align:middle; width:125px" %)AI_1 input filter time constant|(% style="text-align:center; vertical-align:middle; width:137px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:165px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:111px" %)200|(% style="text-align:center; vertical-align:middle; width:136px" %)0 to 60000|(% style="width:360px" %)AI_1 channel input first-order low-pass filtering time constant|(% style="text-align:center; vertical-align:middle; width:44px" %)0.01ms

1455

|(% style="text-align:center; vertical-align:middle; width:115px" %)P05-03☆|(% style="text-align:center; vertical-align:middle; width:125px" %)AI_1 dead zone|(% style="text-align:center; vertical-align:middle; width:137px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:165px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:111px" %)20|(% style="text-align:center; vertical-align:middle; width:136px" %)0 to 1000|(% style="width:360px" %)Set AI_1 channel quantity dead zone value|(% style="text-align:center; vertical-align:middle; width:44px" %)mV

1456

|(% style="text-align:center; vertical-align:middle; width:115px" %)P05-04☆|(% style="text-align:center; vertical-align:middle; width:125px" %)AI_1 zero drift|(% style="text-align:center; vertical-align:middle; width:137px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:165px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:111px" %)0|(% style="text-align:center; vertical-align:middle; width:136px" %)-500 to 500|(% style="width:360px" %)Automatic calibration of zero drift inside the drive|(% style="text-align:center; vertical-align:middle; width:44px" %)mV

1457

1458

Table 6-30 AI_1 parameters

1459

1460

✎**Note: **“☆” means VD2F servo drive does not support the function code .

1461

1462

== **Acceleration and deceleration time setting** ==

1463

1464

The acceleration and deceleration time setting can achieve the expectation of controlling acceleration by converting the speed instruction with higher acceleration into the speed instruction with gentle acceleration.

1465

1466

In the speed control mode, excessive acceleration of the speed instruction will cause the motor to jump or vibrate. Therefore, a suitable acceleration and deceleration time can realize the smooth speed change of the motor and avoid the occurrence of mechanical damage caused by the above situation.

1467

1468

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_68d514ca1c1b327.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_68d514ca1c1b327.gif"]]

1469

1470

Figure 6-33 of acceleration and deceleration time diagram

1471

1472

Actual acceleration time T1 =[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_f534257c8134eb35.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_f534257c8134eb35.gif"]][[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_f534257c8134eb35.gif?rev=1.1]][[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_f534257c8134eb35.gif?rev=1.1||alt="http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_f534257c8134eb35.gif?rev=1.1"]],,[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_f534257c8134eb35.gif?rev=1.1]],,

1473

1474

Actual deceleration time T2 =[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_f696c4e8005b5d7.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_f696c4e8005b5d7.gif"]][[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_f696c4e8005b5d7.gif?rev=1.1]][[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_f696c4e8005b5d7.gif?rev=1.1||alt="http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_f696c4e8005b5d7.gif?rev=1.1"]],,[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_f696c4e8005b5d7.gif?rev=1.1]],,

1475

1476

(% class="table-bordered" %)

1477

|(% style="text-align:center; vertical-align:middle; width:116px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:137px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:136px" %)(((

1478

**Setting method**

1479

)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((

1480

**Effective time**

1481

)))|(% style="text-align:center; vertical-align:middle; width:104px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:92px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:393px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:66px" %)**Unit**

1482

|(% style="text-align:center; vertical-align:middle; width:116px" %)P01-03|(% style="text-align:center; vertical-align:middle; width:137px" %)Acceleration time|(% style="text-align:center; vertical-align:middle; width:136px" %)(((

1483

Operation setting

1484

)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((

1485

Effective immediately

1486

)))|(% style="text-align:center; vertical-align:middle; width:104px" %)50|(% style="text-align:center; vertical-align:middle; width:92px" %)0 to 65535|(% style="width:393px" %)The time for the speed instruction to accelerate from 0 to 1000rpm|(% style="text-align:center; vertical-align:middle; width:66px" %)ms

1487

|(% style="text-align:center; vertical-align:middle; width:116px" %)P01-04|(% style="text-align:center; vertical-align:middle; width:137px" %)Deceleration time|(% style="text-align:center; vertical-align:middle; width:136px" %)(((

1488

Operation setting

1489

)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((

1490

Effective immediately

1491

)))|(% style="text-align:center; vertical-align:middle; width:104px" %)50|(% style="text-align:center; vertical-align:middle; width:92px" %)0 to 65535|(% style="width:393px" %)The time for the speed instruction to decelerate from 1000rpm to 0|(% style="text-align:center; vertical-align:middle; width:66px" %)ms

1492

1493

Table 6-31 Acceleration and deceleration time parameters

1494

1495

== **Speed instruction limit** ==

1496

1497

In speed mode, the servo drive could limit the size of the speed instruction. The sources of speed instruction limit include:

1498

1499

1. P01-10: Set the maximum speed limit value

1500

1. P01-12: Set forward speed limit value

1501

1. P01-13: Set reverse speed limit value

1502

1. The maximum speed of the motor: determined by motor model

1503

1504

The actual motor speed limit interval satisfies the following relationship:

1505

1506

The amplitude of forward speed instruction ≤ min (Maximum motor speed, P01-10, P01-12)

1507

1508

The amplitude of negative speed command ≤ min (Maximum motor speed, P01-10, P01-13)

1509

1510

(% class="table-bordered" %)

1511

|(% style="text-align:center; vertical-align:middle; width:119px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:136px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:133px" %)(((

1512

**Setting method**

1513

)))|(% style="text-align:center; vertical-align:middle; width:163px" %)(((

1514

**Effective time**

1515

)))|(% style="text-align:center; vertical-align:middle; width:112px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:86px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:395px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:61px" %)**Unit**

1516

|(% style="text-align:center; vertical-align:middle; width:119px" %)P01-10|(% style="text-align:center; vertical-align:middle; width:136px" %)Maximum speed threshold|(% style="text-align:center; vertical-align:middle; width:133px" %)(((

1517

Operation setting

1518

)))|(% style="text-align:center; vertical-align:middle; width:163px" %)(((

1519

Effective immediately

1520

)))|(% style="text-align:center; vertical-align:middle; width:112px" %)3600|(% style="text-align:center; vertical-align:middle; width:86px" %)0 to 5000|(% style="width:395px" %)Set the maximum speed limit value, if exceeds this value, an overspeed fault will be reported|(% style="text-align:center; vertical-align:middle; width:61px" %)rpm

1521

|(% style="text-align:center; vertical-align:middle; width:119px" %)P01-12|(% style="text-align:center; vertical-align:middle; width:136px" %)Forward speed threshold|(% style="text-align:center; vertical-align:middle; width:133px" %)(((

1522

Operation setting

1523

)))|(% style="text-align:center; vertical-align:middle; width:163px" %)(((

1524

Effective immediately

1525

)))|(% style="text-align:center; vertical-align:middle; width:112px" %)3000|(% style="text-align:center; vertical-align:middle; width:86px" %)0 to 5000|(% style="width:395px" %)Set forward speed limit value|(% style="text-align:center; vertical-align:middle; width:61px" %)rpm

1526

|(% style="text-align:center; vertical-align:middle; width:119px" %)P01-13|(% style="text-align:center; vertical-align:middle; width:136px" %)Reverse speed threshold|(% style="text-align:center; vertical-align:middle; width:133px" %)(((

1527

Operation setting

1528

)))|(% style="text-align:center; vertical-align:middle; width:163px" %)(((

1529

Effective immediately

1530

)))|(% style="text-align:center; vertical-align:middle; width:112px" %)3000|(% style="text-align:center; vertical-align:middle; width:86px" %)0 to 5000|(% style="width:395px" %)Set reverse speed limit value|(% style="text-align:center; vertical-align:middle; width:61px" %)rpm

1531

1532

Table 6-32 Rotation speed related function codes

1533

1534

== **Zero-speed clamp function** ==

1535

1536

The zero speed clamp function refers to the speed control mode, when the zero speed clamp signal (ZCLAMP) is valid, and the absolute value of the speed instruction is lower than the zero speed clamp speed threshold (P01-22), the servo motor is at In locked state, the servo drive is in position lock mode at this time, and the speed instruction is invalid.

1537

1538

If the speed instruction amplitude is greater than zero-speed clamp speed threshold, the servo motor exits the locked state and continues to run according to the current input speed instruction.

1539

1540

(% class="table-bordered" %)

1541

|(% style="text-align:center; vertical-align:middle; width:119px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:115px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:147px" %)(((

1542

**Setting method**

1543

)))|(% style="text-align:center; vertical-align:middle; width:166px" %)(((

1544

**Effective time**

1545

)))|(% style="text-align:center; vertical-align:middle; width:116px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:86px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:398px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:58px" %)**Unit**

1546

|(% style="text-align:center; vertical-align:middle; width:119px" %)P01-21|(% style="text-align:center; vertical-align:middle; width:115px" %)(((

1547

Zero-speed clamp function selection

1548

)))|(% style="text-align:center; vertical-align:middle; width:147px" %)(((

1549

Operation setting

1550

)))|(% style="text-align:center; vertical-align:middle; width:166px" %)(((

1551

Effective immediately

1552

)))|(% style="text-align:center; vertical-align:middle; width:116px" %)0|(% style="text-align:center; vertical-align:middle; width:86px" %)0 to 3|(% style="width:398px" %)(((

1553

Set the zero-speed clamp function. In speed mode:

1554

1555

0: Force the speed to 0;

1556

1557

1: Force the speed to 0, and keep the position locked when the actual speed is less than P01-22

1558

1559

2: When speed instruction is less than P01-22, force the speed to 0 and keep the position locked

1560

1561

3: Invalid, ignore zero-speed clamp input

1562

)))|(% style="text-align:center; vertical-align:middle; width:58px" %)-

1563

|(% style="text-align:center; vertical-align:middle; width:119px" %)P01-22|(% style="text-align:center; vertical-align:middle; width:115px" %)(((

1564

Zero-speed clamp speed threshold

1565

)))|(% style="text-align:center; vertical-align:middle; width:147px" %)(((

1566

Operation setting

1567

)))|(% style="text-align:center; vertical-align:middle; width:166px" %)(((

1568

Effective immediately

1569

)))|(% style="text-align:center; vertical-align:middle; width:116px" %)20|(% style="text-align:center; vertical-align:middle; width:86px" %)0 to 1000|(% style="text-align:left; vertical-align:middle; width:398px" %)Set the speed threshold of zero-speed clamp function|(% style="text-align:center; vertical-align:middle; width:58px" %)rpm

1570

1571

Table 6-33 Zero-speed clamp related parameters

1572

1573

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_bc1d29f8fdb299dc.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_bc1d29f8fdb299dc.gif"]]

1574

1575

Figure 6-34 Zero-speed clamp diagram

1576

1577

== **Speed-related DO output function** ==

1578

1579

The feedback value of the position instruction is compared with different thresholds, and could output DO signal for host computer use.

1580

1581

**(1) Rotation detection signal**

1582

1583

After the speed instruction is filtered, the absolute value of the actual speed absolute value of the servo motor reaches P05-16 (rotation detection speed threshold), it could be considered that the motor is rotating. At this time, the servo drive outputs a rotation detection signal (TGON), which can be used to confirm that the motor has rotated. On the contrary, when the absolute value of the actual rotation speed of the servo motor is less than P05-16, it is considered that the motor is not rotating.

1584

1585

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_fb8cfa4f5903d0f1.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_fb8cfa4f5903d0f1.gif"]]

1586

1587

Figure 6-35 Rotation detection signal diagram

1588

1589

To use the motor rotation detection signal output function, a DO terminal of the servo drive should be assigned to function 132 (T-COIN, rotation detection). The function code parameters and related DO function codes are shown in __[[Table 6-34>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HZero-speedclampfunction]]__ and __[[Table 6-35>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HZero-speedclampfunction]]__.

1590

1591

(% class="table-bordered" %)

1592

|(% style="text-align:center; vertical-align:middle; width:147px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:166px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:139px" %)(((

1593

**Setting method**

1594

)))|(% style="text-align:center; vertical-align:middle; width:160px" %)(((

1595

**Effective time**

1596

)))|(% style="text-align:center; vertical-align:middle; width:106px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:96px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:337px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**

1597

|(% style="text-align:center; vertical-align:middle; width:147px" %)P05-16|(% style="text-align:center; vertical-align:middle; width:166px" %)(((

Rotation detection

speed threshold

)))|(% style="text-align:center; vertical-align:middle; width:139px" %)(((

1602

Operation setting

1603

)))|(% style="text-align:center; vertical-align:middle; width:160px" %)(((

1604

Effective immediately

1605

)))|(% style="text-align:center; vertical-align:middle; width:106px" %)20|(% style="text-align:center; vertical-align:middle; width:96px" %)0 to 1000|(% style="text-align:center; vertical-align:middle; width:337px" %)Set the motor rotation signal judgment threshold|(% style="text-align:center; vertical-align:middle" %)rpm

1606

1607

Table 6-34 Rotation detection speed threshold parameters

1608

1609

(% class="table-bordered" %)

1610

|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**

1611

|(% style="text-align:center; vertical-align:middle" %)132|(% style="text-align:center; vertical-align:middle" %)(((

T-COIN

rotation detection

)))|(((

Valid: when the absolute value of motor speed after filtering is greater than or equal to the set value of function code P05-16

1617

1618

Invalid, when the absolute value of motor speed after filtering is less than set value of function code P05-16

1619

)))

1620

1621

Table 6-35 DO rotation detection function code

1622

1623

**(2) Zero-speed signal**

1624

1625

If the absolute value of the actual speed of servo motor is less than a certain threshold P05-19, it is considered that servo motor stops rotating (close to a standstill), and the servo drive outputs a zero speed signal (ZSP) at this time. On the contrary, if the absolute value of the actual speed of the servo motor is not less than this value, it is considered that the motor is not at a standstill and the zero-speed signal is invalid.

1626

1627

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_5e35c1aad6d8dfbe.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_5e35c1aad6d8dfbe.gif"]]

1628

1629

Figure 6-36 Zero-speed signal diagram

1630

1631

To use the motor zero-speed signal output function, a DO terminal of servo drive should be assigned to function 133 (ZSP, zero-speed signal). The function code parameters and related DO function codes are shown in __[[Table 6-36>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HZero-speedclampfunction]]__ and __[[Table 6-37>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HZero-speedclampfunction]]__.

1632

1633

(% class="table-bordered" %)

1634

|(% style="text-align:center; vertical-align:middle; width:112px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:188px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:169px" %)(((

1635

**Setting method**

1636

)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((

1637

**Effective time**

1638

)))|(% style="text-align:center; vertical-align:middle; width:109px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:79px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:342px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**

1639

|(% style="text-align:center; vertical-align:middle; width:112px" %)P05-19|(% style="text-align:center; vertical-align:middle; width:188px" %)Zero speed output signal threshold|(% style="text-align:center; vertical-align:middle; width:169px" %)(((

1640

Operation setting

1641

)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((

1642

Effective immediately

1643

)))|(% style="text-align:center; vertical-align:middle; width:109px" %)10|(% style="text-align:center; vertical-align:middle; width:79px" %)0 to 6000|(% style="text-align:center; vertical-align:middle; width:342px" %)Set zero-speed output signal judgment threshold|(% style="text-align:center; vertical-align:middle" %)rpm

1644

1645

Table 6-36 Zero-speed output signal threshold parameter

1646

1647

(% class="table-bordered" %)

1648

|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**

1649

|(% style="text-align:center; vertical-align:middle" %)133|(% style="text-align:center; vertical-align:middle" %)(((

1650

ZSP zero speed signal

1651

)))|(% style="text-align:center; vertical-align:middle" %)Output this signal indicates that the servo motor is stopping rotation

1652

1653

Table 6-37 DO zero-speed signal function code

1654

1655

**(3) Speed consistent signal**

1656

1657

When the absolute value of the deviation between the actual speed of the servo motor after filtering and the speed instruction meets a certain threshold P05-17, it is considered that the actual speed of the motor has reached the set value, and the servo drive outputs a speed coincidence signal (V-COIN) at this time. Conversely, if the absolute value of the deviation between the actual speed of the servo motor and the set speed instruction after filtering exceeds the threshold, the speed consistent signal is invalid.

1658

1659

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_2b53a916c8f09d5.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_2b53a916c8f09d5.gif"]]

1660

1661

Figure 6-37 Speed consistent signal diagram

1662

1663

To use the motor speed consistent function, a DO terminal of the servo drive should be assigned to function 136 (V-COIN, consistent speed). The function code parameters and related DO function codes are shown in __[[Table 6-38>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HZero-speedclampfunction]]__ and __[[Table 6-39>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HZero-speedclampfunction]]__.

1664

1665

(% class="table-bordered" %)

1666

|(% style="text-align:center; vertical-align:middle; width:115px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:243px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:156px" %)(((

1667

**Setting method**

1668

)))|(% style="text-align:center; vertical-align:middle; width:169px" %)(((

1669

**Effective time**

1670

)))|(% style="text-align:center; vertical-align:middle; width:105px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:76px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:288px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**

1671

|(% style="text-align:center; vertical-align:middle; width:115px" %)P05-17|(% style="text-align:center; vertical-align:middle; width:243px" %)Speed consistent signal threshold|(% style="text-align:center; vertical-align:middle; width:156px" %)(((

1672

Operationsetting

1673

)))|(% style="text-align:center; vertical-align:middle; width:169px" %)(((

1674

Effective immediately

1675

)))|(% style="text-align:center; vertical-align:middle; width:105px" %)10|(% style="text-align:center; vertical-align:middle; width:76px" %)0 to 100|(% style="text-align:center; vertical-align:middle; width:288px" %)Set speed consistent signal threshold|(% style="text-align:center; vertical-align:middle" %)rpm

1676

1677

Table 6-38 Speed consistent signal threshold parameters

1678

1679

(% class="table-bordered" %)

1680

|(% style="text-align:center; vertical-align:middle; width:193px" %)**DO Function code**|(% style="text-align:center; vertical-align:middle; width:340px" %)**Function name**|(% style="text-align:center; vertical-align:middle; width:672px" %)**Function**

1681

|(% style="text-align:center; vertical-align:middle; width:193px" %)136|(% style="text-align:center; vertical-align:middle; width:340px" %)(((

1682

U-COIN consistent speed

1683

)))|(% style="text-align:center; vertical-align:middle; width:672px" %)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

1684

1685

Table 6-39 DO speed consistent function code

1686

1687

**(4) Speed approach signal**

1688

1689

After filtering, the absolute value of the actual speed of the servo motor exceeds a certain threshold [P05-17], and it is considered that the actual speed of the servo motor has reached the expected value. At this time, the servo drive can output a speed close signal (V-NEAR) through the DO terminal. Conversely, if the absolute value of the actual speed of the servo motor after filtering is not greater than this value, the speed approach signal is invalid.

1690

1691

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_46c88547b24e8a4b.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_46c88547b24e8a4b.gif"]]

1692

1693

Figure 6-38 Speed approaching signal diagram

1694

1695

To use the motor speed approach function, a DO terminal of the servo drive should be assigned to function 137 (V-NEAR, speed approach). The function code parameters and related DO function codes are shown in __[[Table 6-40>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HZero-speedclampfunction]]__ and __[[Table 6-40>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HZero-speedclampfunction]]__.

1696

1697

(% class="table-bordered" %)

1698

|(% style="text-align:center; vertical-align:middle; width:114px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:238px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:153px" %)(((

1699

**Setting method**

1700

)))|(% style="text-align:center; vertical-align:middle; width:180px" %)(((

1701

**Effective time**

1702

)))|(% style="text-align:center; vertical-align:middle; width:115px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:89px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:263px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**

1703

|(% style="text-align:center; vertical-align:middle; width:114px" %)P05-18|(% style="text-align:center; vertical-align:middle; width:238px" %)Speed approach signal threshold|(% style="text-align:center; vertical-align:middle; width:153px" %)(((

1704

Operation setting

1705

)))|(% style="text-align:center; vertical-align:middle; width:180px" %)(((

1706

Effective immediately

1707

)))|(% style="text-align:center; vertical-align:middle; width:115px" %)100|(% style="text-align:center; vertical-align:middle; width:89px" %)10 to 6000|(% style="text-align:center; vertical-align:middle; width:263px" %)Set speed approach signal threshold|(% style="text-align:center; vertical-align:middle" %)rpm

1708

1709

Table 6-40 Speed approaching signal threshold parameters

1710

1711

(% class="table-bordered" %)

1712

|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle; width:314px" %)**Function name**|(% style="text-align:center; vertical-align:middle; width:719px" %)**Function**

1713

|(% style="text-align:center; vertical-align:middle" %)137|(% style="text-align:center; vertical-align:middle; width:314px" %)(((

1714

V-NEAR speed approach

1715

)))|(% style="text-align:center; vertical-align:middle; width:719px" %)The output signal indicates that the actual speed of the servo motor has reached the expected value

1716

1717

Table 6-41 DO speed approach function code

1718

1719

= **Torque control mode** =

1720

1721

The current of the servo motor has a linear relationship with the torque. Therefore, the control of the current can realize the control of the torque. Torque control refers to controlling the output torque of the motor through torque instructions. Torque instruction could be given by internal instruction and analog voltage.

1722

1723

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_fa7e410ad05cf1a6.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_fa7e410ad05cf1a6.gif"]]

1724

1725

Figure 6-39 Torque mode diagram

1726

1727

== **Torque instruction input setting** ==

1728

1729

In torque instruction, VD2A and VD2B servo drives have two instruction source: internal torque instruction and analog torque instruction. VD2F drive only has internal torque instruction. The torque instruction source is set by the function code P01-07.

1730

1731

(% class="table-bordered" %)

1732

|(% style="text-align:center; vertical-align:middle; width:110px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:186px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:136px" %)(((

1733

**Setting method**

1734

)))|(% style="text-align:center; vertical-align:middle; width:162px" %)(((

1735

**Effective time**

1736

)))|(% style="text-align:center; vertical-align:middle; width:112px" %)**Default value**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**

1737

|(% style="text-align:center; vertical-align:middle; width:110px" %)P01-08|(% style="text-align:center; vertical-align:middle; width:186px" %)Torque instruction source|(% style="text-align:center; vertical-align:middle; width:136px" %)(((

1738

Shutdown setting

1739

)))|(% style="text-align:center; vertical-align:middle; width:162px" %)(((

1740

Effective immediately

1741

)))|(% style="text-align:center; vertical-align:middle; width:112px" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(% style="text-align:center; vertical-align:middle" %)(((

1742

0: internal torque instruction

1743

1744

1: AI_1 analog input(not supported by VD2F)

1745

)))|(% style="text-align:center; vertical-align:middle" %)-

1746

1747

Table 6-42 Torque instruction source parameter

1748

1749

**(1) Torque instruction source is internal torque instruction (P01-07=0)**

1750

1751

Torque instruction source is from inside, the value is set by function code P01-08.

1752

1753

(% class="table-bordered" %)

1754

|(% style="text-align:center; vertical-align:middle; width:112px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:274px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:132px" %)(((

1755

**Setting method**

1756

)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((

1757

**Effective time**

1758

)))|(% style="text-align:center; vertical-align:middle; width:120px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:129px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:211px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**

1759

|(% style="text-align:center; vertical-align:middle; width:112px" %)P01-08|(% style="text-align:center; vertical-align:middle; width:274px" %)Torque instruction keyboard set value|(% style="text-align:center; vertical-align:middle; width:132px" %)(((

1760

Operation setting

1761

)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((

1762

Effective immediately

1763

)))|(% style="text-align:center; vertical-align:middle; width:120px" %)0|(% style="text-align:center; vertical-align:middle; width:129px" %)-3000 to 3000|(% style="text-align:center; vertical-align:middle; width:211px" %)-300.0% to 300.0%|(% style="text-align:center; vertical-align:middle" %)0.1%

1764

1765

Table 6-43 Torque instruction keyboard set value

1766

1767

**(2) Torque instruction source is internal torque instruction (P01-07=1)**

1768

1769

The servo drive processes the analog voltage signal output by host computer or other equipment as torque instruction. VD2A and VD2B series servo drives have 2 analog input channels: AI_1 and AI_2. AI_1 is analog torque input, and AI_2 is analog torque limit.

1770

1771

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_bd6a9cba37c8c87e.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_bd6a9cba37c8c87e.gif"]]

1772

1773

Figure 6-40 Analog input circuit

1774

1775

Taking AI_1 as an example, the method of setting torque instruction of analog voltage is as below.

1776

1777

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_186332b32f148c60.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_186332b32f148c60.gif"]]

1778

1779

Figure 6-41 Analog voltage torque instruction setting steps

1780

1781

Explanation of related terms:

1782

1783

Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.

1784

1785

Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.

1786

1787

Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.

1788

1789

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_9e37dbf27a47694a.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_9e37dbf27a47694a.gif"]]

1790

1791

Figure 6-42 AI_1 diagram before and after bias

1792

1793

(% class="table-bordered" %)

1794

|(% style="text-align:center; vertical-align:middle; width:127px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:148px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:144px" %)**Setting method**|(% style="text-align:center; vertical-align:middle; width:162px" %)**Effective time**|(% style="text-align:center; vertical-align:middle; width:85px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:134px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:340px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**

1795

|(% style="text-align:center; vertical-align:middle; width:127px" %)P05-01☆|(% style="text-align:center; vertical-align:middle; width:148px" %)AI_1 input bias|(% style="text-align:center; vertical-align:middle; width:144px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:85px" %)0|(% style="text-align:center; vertical-align:middle; width:134px" %)-5000 to 5000|(% style="text-align:center; vertical-align:middle; width:340px" %)Set AI_1 channel analog bias value|(% style="text-align:center; vertical-align:middle" %)mV

1796

|(% style="text-align:center; vertical-align:middle; width:127px" %)P05-02☆|(% style="text-align:center; vertical-align:middle; width:148px" %)AI_1 input filter time constant|(% style="text-align:center; vertical-align:middle; width:144px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:85px" %)200|(% style="text-align:center; vertical-align:middle; width:134px" %)0 to 60000|(% style="text-align:center; vertical-align:middle; width:340px" %)AI_1 channel input first-order low-pass filtering time constant|(% style="text-align:center; vertical-align:middle" %)0.01ms

1797

|(% style="text-align:center; vertical-align:middle; width:127px" %)P05-03☆|(% style="text-align:center; vertical-align:middle; width:148px" %)AI_1 dead zone|(% style="text-align:center; vertical-align:middle; width:144px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:85px" %)20|(% style="text-align:center; vertical-align:middle; width:134px" %)0 to 1000|(% style="text-align:center; vertical-align:middle; width:340px" %)Set AI_1 channel dead zone value|(% style="text-align:center; vertical-align:middle" %)mV

1798

|(% style="text-align:center; vertical-align:middle; width:127px" %)P05-04☆|(% style="text-align:center; vertical-align:middle; width:148px" %)AI_1 zero drift|(% style="text-align:center; vertical-align:middle; width:144px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:162px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:85px" %)0|(% style="text-align:center; vertical-align:middle; width:134px" %)-500 to 500|(% style="text-align:center; vertical-align:middle; width:340px" %)Automatic calibration of zero drift inside the drive|(% style="text-align:center; vertical-align:middle" %)mV

1799

1800

Table 6-44 AI_1 parameters

1801

1802

✎**Note: **“☆” means VD2F servo drive does not support the function code .

1803

1804

== **Torque instruction filtering** ==

1805

1806

In torque mode, the servo drive could realize low-pass filtering of torque instruction, making the instruction smoother and reducing the vibration of servo motor. The first-order filtering is shown in __[[Figure 6-43>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_205df0eae349c586.gif?rev=1.1]]__.

1807

1808

(% class="table-bordered" %)

1809

|(% style="text-align:center; vertical-align:middle; width:115px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:129px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:144px" %)(((

1810

**Setting method**

1811

)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((

1812

**Effective time**

1813

)))|(% style="text-align:center; vertical-align:middle; width:109px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:89px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:398px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**

1814

|(% style="text-align:center; vertical-align:middle; width:115px" %)P04-04|(% style="text-align:center; vertical-align:middle; width:129px" %)Torque filtering time constant|(% style="text-align:center; vertical-align:middle; width:144px" %)(((

1815

Operation setting

1816

)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((

1817

Effective immediately

1818

)))|(% style="text-align:center; vertical-align:middle; width:109px" %)50|(% style="text-align:center; vertical-align:middle; width:89px" %)10 to 2500|(% style="text-align:center; vertical-align:middle; width:398px" %)This parameter is automatically set when “self-adjustment mode selection” is selected as 0|(% style="text-align:center; vertical-align:middle" %)0.01ms

1819

1820

Table 6-45 Torque filtering time constant parameter details

1821

1822

✎**Note: **If the filter time constant is set too large, the responsiveness will be reduced. Please set it while confirming the responsiveness.

1823

1824

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_205df0eae349c586.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_205df0eae349c586.gif"]]

1825

1826

Figure 6-43 Torque instruction-first-order filtering diagram

1827

1828

== **Torque instruction limit** ==

1829

1830

When the absolute value of torque instruction input by host computer is greater than the absolute value of torque instruction limit, the drive's actual torque instruction is limited and equal to the limit value of torque instruction. Otherwise, it is equal to the torque instruction value input by host computer.

1831

1832

At any time, there is only one valid torque limit value. And the positive and negative torque limit values do not exceed the maximum torque of drive and motor and ±300.0% of the rated torque.

1833

1834

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_5150cab591eac5bc.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_5150cab591eac5bc.gif"]]

1835

1836

Figure 6-44 Torque instruction limit diagram

1837

1838

**(1) Set torque limit source**

1839

1840

You need to set the torque limit source by function code P01-14. After the setting, the drive torque instruction will be limited within the torque limit value. When the torque limit value is reached, the motor will operate with the torque limit value as the torque instruction. The torque limit value should be set according to the load operation requirements. If the setting is too small, the motor's acceleration and deceleration capacity may be weakened. During constant torque operation, the actual motor speed cannot reach the required value.

1841

1842

(% class="table-bordered" %)

1843

|(% style="text-align:center; vertical-align:middle; width:116px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:145px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:134px" %)(((

1844

**Setting method**

1845

)))|(% style="text-align:center; vertical-align:middle; width:167px" %)(((

1846

**Effective time**

1847

)))|(% style="text-align:center; vertical-align:middle; width:133px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:96px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:344px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**

1848

|(% style="text-align:center; vertical-align:middle; width:116px" %)P01-14|(% style="text-align:center; vertical-align:middle; width:145px" %)(((

1849

Torque limit source

1850

)))|(% style="text-align:center; vertical-align:middle; width:134px" %)(((

1851

Shutdown setting

1852

)))|(% style="text-align:center; vertical-align:middle; width:167px" %)(((

1853

Effective immediately

1854

)))|(% style="text-align:center; vertical-align:middle; width:133px" %)0|(% style="text-align:center; vertical-align:middle; width:96px" %)0 to 1|(% style="text-align:center; vertical-align:middle; width:344px" %)(((

0: internal value

1: AI_1 analog input

(not supported by VD2F)

1860

)))|(% style="text-align:center; vertical-align:middle" %)-

1861

1862

1) Torque limit source is internal torque instruction (P01-14=0)

1863

1864

Torque limit source is from inside, you need to set torque limit, and the value is set by function code P01-15 and P01-16.

1865

1866

(% class="table-bordered" %)

1867

|(% style="text-align:center; vertical-align:middle; width:117px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:154px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:136px" %)(((

1868

**Setting method**

1869

)))|(% style="text-align:center; vertical-align:middle; width:169px" %)(((

1870

**Effective time**

1871

)))|(% style="text-align:center; vertical-align:middle; width:118px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:95px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:353px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:63px" %)**Unit**

1872

|(% style="text-align:center; vertical-align:middle; width:117px" %)P01-15|(% style="text-align:center; vertical-align:middle; width:154px" %)(((

1873

Forward torque limit

1874

)))|(% style="text-align:center; vertical-align:middle; width:136px" %)(((

1875

Operation setting

1876

)))|(% style="text-align:center; vertical-align:middle; width:169px" %)(((

1877

Effective immediately

1878

)))|(% style="text-align:center; vertical-align:middle; width:118px" %)3000|(% style="text-align:center; vertical-align:middle; width:95px" %)0 to 3000|(% style="text-align:center; vertical-align:middle; width:353px" %)When P01-14 is set to 0, the value of this function code is forward torque limit value|(% style="text-align:center; vertical-align:middle; width:63px" %)0.1%

1879

|(% style="text-align:center; vertical-align:middle; width:117px" %)P01-16|(% style="text-align:center; vertical-align:middle; width:154px" %)(((

1880

Reverse torque limit

1881

)))|(% style="text-align:center; vertical-align:middle; width:136px" %)(((

1882

Operation setting

1883

)))|(% style="text-align:center; vertical-align:middle; width:169px" %)(((

1884

Effective immediately

1885

)))|(% style="text-align:center; vertical-align:middle; width:118px" %)3000|(% style="text-align:center; vertical-align:middle; width:95px" %)0 to 3000|(% style="text-align:center; vertical-align:middle; width:353px" %)When P01-14 is set to 0, the value of this function code is reverse torque limit value|(% style="text-align:center; vertical-align:middle; width:63px" %)0.1%

1886

1887

Table 6-46 Torque limit parameter details

1888

1889

2) Torque limit source is external (P01-14=1)

1890

1891

Torque limit source is from external analog channel. The limit value is determined by the torque value corresponding to external AI_2 terminal.

1892

1893

**(2) Set torque limit DO signal output**

1894

1895

When torque instruction reaches the torque limit value, the drive outputs a torque limit signal (T-LIMIT) for the host computer use. At this time, one DO terminal of the drive should be assigned to function 139 (T-LIMIT, in torque limit) , and confirm that the terminal logic is valid.

1896

1897

(% class="table-bordered" %)

1898

|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle; width:222px" %)**Function name**|(% style="text-align:center; vertical-align:middle; width:758px" %)**Function**

1899

|(% style="text-align:center; vertical-align:middle" %)139|(% style="text-align:center; vertical-align:middle; width:222px" %)(((

1900

T-LIMIT in torque limit

1901

)))|(% style="text-align:center; vertical-align:middle; width:758px" %)Output of this signal indicates that the servo motor torque is limited

1902

1903

Table 6-47 DO torque limit function codes

1904

1905

== **Speed limit in torque mode** ==

1906

1907

In torque mode, if the given torque instruction is too large to exceed the load torque of the mechanical side. This would cause the servo motor to continuously accelerate and overspeed. In order to protect the machinery, the speed of the motor must be limited.

1908

1909

In torque mode, the actual motor speed would be in the limited speed. After the speed limit is reached, the motor runs at a constant speed at the speed limit. The running curves are shown as __[[Figure 6-45>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_e1eced3568bc22d7.gif?rev=1.1]]__ and __[[Figure 6-46>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_79d479af8534745f.gif?rev=1.1]]__.

1910

1911

|[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_e1eced3568bc22d7.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_e1eced3568bc22d7.gif"]]|[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_79d479af8534745f.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_79d479af8534745f.gif"]]

1912

|Figure 6-45 Forward running curve|Figure 6-46 Reverse running curve

1913

1914

(% class="table-bordered" %)

1915

|(% style="text-align:center; vertical-align:middle; width:117px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:157px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:140px" %)(((

1916

**Setting method**

1917

)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((

1918

**Effective time**

1919

)))|(% style="text-align:center; vertical-align:middle; width:171px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:166px" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**

1920

|(% style="text-align:center; vertical-align:middle; width:117px" %)P01-17|(% style="text-align:center; vertical-align:middle; width:157px" %)(((

Forward torque

limit in torque mode

)))|(% style="text-align:center; vertical-align:middle; width:140px" %)(((

1925

Operation setting

1926

)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((

1927

Effective immediately

1928

)))|(% style="text-align:center; vertical-align:middle; width:171px" %)3000|(% style="text-align:center; vertical-align:middle; width:166px" %)0 to 5000|(% style="text-align:center; vertical-align:middle" %)(((

Forward torque

limit in torque mode

)))|(% style="text-align:center; vertical-align:middle" %)0.1%

1933

|(% style="text-align:center; vertical-align:middle; width:117px" %)P01-18|(% style="text-align:center; vertical-align:middle; width:157px" %)(((

Reverse torque

limit in torque mode

)))|(% style="text-align:center; vertical-align:middle; width:140px" %)(((

1938

Operation setting

1939

)))|(% style="text-align:center; vertical-align:middle; width:161px" %)(((

1940

Effective immediately

1941

)))|(% style="text-align:center; vertical-align:middle; width:171px" %)3000|(% style="text-align:center; vertical-align:middle; width:166px" %)0 to 5000|(% style="text-align:center; vertical-align:middle" %)(((

Reverse torque

limit in torque mode

)))|(% style="text-align:center; vertical-align:middle" %)0.1%

1946

1947

Table 6-48 Speed limit parameters in torque mode

1948

1949

✎**Note:** Function codes P01-17 and P01-18 are only effective in limiting motor speed under the torque mode. The speed limit value is set according to load requirements. To set speed limit in speed mode or position mode, please refer to __[[6.3.3 Speed instruction limit>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HSpeedinstructionlimit]]__.

1950

1951

== **Torque-related DO output functions** ==

1952

1953

The feedback value of torque instruction is compared with different thresholds, and could output the DO signal for the host computer use. The DO terminal of the servo drive is assigned to different functions and determine the logic to be valid.

**Torque arrival**

The torque arrival function is used to determine whether the actual torque instruction reaches the set interval. When the actual torque instruction reaches the torque instruction threshold, the servo drive outputs a torque arrival signal (T-COIN) for the host computer use.

1958

1959

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_c5aa33a1ea3666a9.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_c5aa33a1ea3666a9.gif"]]

1960

1961

Figure 6-47 Torque arrival output diagram

1962

1963

To use the torque arrival function, a DO terminal of the servo drive should be assigned to function 138 (T-COIN, torque arrival). The function code parameters and related DO function codes are shown in __[[Table 6-49>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HTorque-relatedDOoutputfunctions]]__ and __[[Table 6-50>>http://13.229.109.52:8080/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20(Full%20V1.1)/06%20Operation/#HTorque-relatedDOoutputfunctions]]__.

1964

1965

(% class="table-bordered" %)

1966

|(% style="text-align:center; vertical-align:middle; width:126px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:115px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:137px" %)(((

1967

**Setting method**

1968

)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((

1969

**Effective time**

1970

)))|(% style="text-align:center; vertical-align:middle; width:115px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:77px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:417px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**

1971

|(% style="text-align:center; vertical-align:middle; width:126px" %)P05-20|(% style="text-align:center; vertical-align:middle; width:115px" %)(((

Torque arrival

threshold

)))|(% style="text-align:center; vertical-align:middle; width:137px" %)(((

1976

Operation setting

1977

)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((

1978

Effective immediately

1979

)))|(% style="text-align:center; vertical-align:middle; width:115px" %)100|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 300|(% style="text-align:center; vertical-align:middle; width:417px" %)(((

1980

The torque arrival threshold must be used with “Torque arrival hysteresis value”:

1981

1982

When the actual torque reaches Torque arrival threshold + Torque arrival hysteresis Value, the torque arrival DO is valid;

1983

1984

When the actual torque decreases below torque arrival threshold-torque arrival hysteresis value, the torque arrival DO is invalid

1985

)))|(% style="text-align:center; vertical-align:middle" %)%

1986

|(% style="text-align:center; vertical-align:middle; width:126px" %)P05-21|(% style="text-align:center; vertical-align:middle; width:115px" %)(((

Torque arrival

hysteresis

)))|(% style="text-align:center; vertical-align:middle; width:137px" %)(((

1991

Operation setting

1992

)))|(% style="text-align:center; vertical-align:middle; width:174px" %)(((

1993

Effective immediately

1994

)))|(% style="text-align:center; vertical-align:middle; width:115px" %)10|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 20|(% style="text-align:center; vertical-align:middle; width:417px" %)Torque arrival the hysteresis value must be used with Torque arrival threshold|(% style="text-align:center; vertical-align:middle" %)%

1995

1996

Table 6-49 Torque arrival parameters

1997

1998

(% class="table-bordered" %)

1999

|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle; width:205px" %)**Function name**|(% style="text-align:center; vertical-align:middle; width:803px" %)**Function**

2000

|(% style="text-align:center; vertical-align:middle" %)138|(% style="text-align:center; vertical-align:middle; width:205px" %)(((

2001

T-COIN torque arrival

2002

)))|(% style="text-align:center; vertical-align:middle; width:803px" %)Used to determine whether the actual torque instruction has reached the set range

2003

2004

Table 6-50 DO Torque Arrival Function Code

2005

2006

= **Mixed control mode** =

2007

2008

Mixed control mode means that when the servo enable is ON and the status of the servo drive is "run", the mode of the servo drive could be switched between different modes. The VD2 series servo drives have the following 3 mixed control modes:

2009

2010

Position mode  Speed mode

2011

2012

Position mode  Torque mode

2013

2014

Speed mode  Torque mode

2015

2016

Set the function code P00-01 through the software of Wecon “SCTool” or servo drive panel, and the servo drive will run in mixed mode.

2017

2018

(% class="table-bordered" %)

2019

|(% style="text-align:center; vertical-align:middle; width:118px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:122px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:136px" %)(((

2020

**Setting method**

2021

)))|(% style="text-align:center; vertical-align:middle; width:142px" %)(((

2022

**Effective time**

2023

)))|(% style="text-align:center; vertical-align:middle; width:106px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:72px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:443px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**

2024

|(% style="text-align:center; vertical-align:middle; width:118px" %)P00-01|(% style="text-align:center; vertical-align:middle; width:122px" %)Control mode|(% style="text-align:center; vertical-align:middle; width:136px" %)(((

2025

Shutdown setting

2026

)))|(% style="text-align:center; vertical-align:middle; width:142px" %)(((

2027

Shutdown setting

2028

)))|(% style="text-align:center; vertical-align:middle; width:106px" %)1|(% style="text-align:center; vertical-align:middle; width:72px" %)1 to 6|(% style="width:443px" %)(((

1: Position control

2: Speed control

3: Torque control

4: Position/speed mixed control

2036

2037

5: Position/torque mixed control

2038

2039

6: Speed/torque mixed control

2040

)))|(% style="text-align:center; vertical-align:middle" %)-

2041

2042

Table 6-51 Mixed control mode parameters

2043

2044

Please set the servo drive parameters in different control modes according to the mechanical structure and indicators. The setting method refer to [[__“Parameters”__>>url:http://docs.we-con.com.cn/wiki/servo/view/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/#_Chapter%209%20Parameters]]. When function code P00-01=4/5/6 (that is, in mixed mode), a DI terminal of the servo drive needs to be assigned to function 17 (MixModeSel, mixed mode selection), and the DI terminal logic is determined to be valid.

2045

2046

(% class="table-bordered" %)

2047

|(% style="text-align:center; vertical-align:middle" %)**DI function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**

2048

|(% style="text-align:center; vertical-align:middle" %)17|(% style="text-align:center; vertical-align:middle" %)MixModeSel|(% style="text-align:center; vertical-align:middle" %)Mixed mode selection|(% style="text-align:center; vertical-align:middle" %)Used in mixed control mode, when the servo status is "run", set the current control mode of the servo drive(((

2049

(% class="table-bordered" %)

2050

|(% style="text-align:center; vertical-align:middle" %)**P00-01**|(% style="text-align:center; vertical-align:middle" %)**MixModeSel terminal logic**|(% style="text-align:center; vertical-align:middle" %)**Control mode**

2051

|(% rowspan="2" style="text-align:center; vertical-align:middle" %)4|(% style="text-align:center; vertical-align:middle" %)Valid|(% style="text-align:center; vertical-align:middle" %)Speed mode

2052

|(% style="text-align:center; vertical-align:middle" %)invalid|(% style="text-align:center; vertical-align:middle" %)Position mode

2053

|(% rowspan="2" style="text-align:center; vertical-align:middle" %)5|(% style="text-align:center; vertical-align:middle" %)Valid|(% style="text-align:center; vertical-align:middle" %)Torque mode

2054

|(% style="text-align:center; vertical-align:middle" %)invalid|(% style="text-align:center; vertical-align:middle" %)Position mode

2055

|(% rowspan="2" style="text-align:center; vertical-align:middle" %)6|(% style="text-align:center; vertical-align:middle" %)Valid|(% style="text-align:center; vertical-align:middle" %)Torque mode

2056

|(% style="text-align:center; vertical-align:middle" %)invalid|(% style="text-align:center; vertical-align:middle" %)Speed mode

2057

)))

2058

2059

Table 6-52 Description of DI function codes in control mode

2060

2061

✎**Note:** In mixed control mode, it is recommended to switch the mode at zero speed or low speed, and the switching process will be smoother.

2062

2063

= **Absolute system** =

== **Overview** ==

Absolute encoder could detect the position of the servo motor within one turn, and could count the number of turns of the motor. This series of servo drives are equipped with a maximum of 23-bit encoders and could memorize 16-bit multi-turn data, and position, speed, torque control modes could be used. Especially in position control, the absolute value encoder does not need to count, could achieve direct internal high-speed reading and external output, and could significantly reduce the subsequent calculation tasks of the receiving device controller. When the drive is powered off, the encoder uses battery backup data. After power on, the drive uses the encoder's absolute position to calculate the absolute mechanical position, eliminating the need for repeated mechanical origin reset operations.

2068

2069

The absolute value encoder is determined by the mechanical position of the photoelectric code disc, and is not affected by power failure or interference. Each position of the absolute encoder determined by the mechanical position is unique, and no external sensor is required to assist in memorizing position.

2070

2071

== **Single-turn absolute value system** ==

2072

2073

The single-turn absolute value system is applicable for the equipment load stroke within the single-turn range of the encoder. At this time, the absolute encoder is only as a single-turn system function and does not need to be connected to the battery. The types and information of encoders adapted to VD2 series servo drives are shown as below.

2074

2075

(% class="table-bordered" %)

2076

|(% style="text-align:center; vertical-align:middle" %)**Encoder type**|(% style="text-align:center; vertical-align:middle" %)**Encoder resolution (bits)**|(% style="text-align:center; vertical-align:middle" %)**Data range**

2077

|(% style="text-align:center; vertical-align:middle" %)A1 (single-turn magnetic encoder)|(% style="text-align:center; vertical-align:middle" %)17|(% style="text-align:center; vertical-align:middle" %)0 to 131071

2078

2079

Table 6-53 Single-turn absolute encoder information

2080

2081

The relationship between encoder feedback position and rotating load position is shown in the figure below. (take a 17-bit encoder as an example).

2082

2083

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_f1dd9e5d93d026de.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_f1dd9e5d93d026de.gif"]]

2084

2085

Figure 6-48 Diagram of relationship between encoder feedback position and rotating load position

2086

2087

== **Multi-turn absolute value system** ==

2088

2089

The encoder adapted to the multi-turn absolute value system is equipped with 16-bit RAM memory. Compared with the single-turn absolute value, it can additionally memorize the number of turns of the 16-bit encoder. The multi-turn absolute encoder is equipped with a battery (the battery is installed on the encoder cable with a battery unit), which can achieve direct internal high-speed readings and external output without the need for external sensors to assist memory positions. The types and information of encoders adapted to VD2 series servo drives are shown as below.

2090

2091

(% class="table-bordered" %)

2092

|(% style="text-align:center; vertical-align:middle" %)**Encoder type**|(% style="text-align:center; vertical-align:middle" %)**Encoder resolution (bits)**|(% style="text-align:center; vertical-align:middle" %)**Data range**

2093

|(% style="text-align:center; vertical-align:middle" %)C1 (multi-turn magnetic encoder)|(% style="text-align:center; vertical-align:middle" %)17|(% style="text-align:center; vertical-align:middle" %)0 to 131071

2094

|(% style="text-align:center; vertical-align:middle" %)D2 (multi-turn Optical encoder)|(% style="text-align:center; vertical-align:middle" %)23|(% style="text-align:center; vertical-align:middle" %)0 to 8388607

2095

2096

Table 6-54 Multi-turn absolute encoder information

2097

2098

The relationship between encoder feedback position and rotating load multi-turn is shown in the figure below (take a 23-bit encoder as an example).

2099

2100

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_e6f0ac4930ba15b8.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_e6f0ac4930ba15b8.gif"]]

2101

2102

Figure 6-49 The relationship between encoder feedback position and rotating load position

2103

2104

== **Encoder feedback data** ==

2105

2106

The feedback data of the absolute value encoder can be divided into the position within 1 turn of the absolute value encoder and the number of rotations of the absolute value encoder. The related information of the two feedback data is shown in the table below.

2107

2108

(% class="table-bordered" %)

2109

|(% style="text-align:center; vertical-align:middle" %)**Monitoring number**|(% style="text-align:center; vertical-align:middle" %)**Category**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)**Unit**|(% style="text-align:center; vertical-align:middle" %)**Data type**

2110

|(% style="text-align:center; vertical-align:middle" %)U0-54|(% style="text-align:center; vertical-align:middle" %)Universal|(% style="text-align:center; vertical-align:middle" %)Absolute encoder position within 1 turn|(% style="text-align:center; vertical-align:middle" %)Encoder unit|(% style="text-align:center; vertical-align:middle" %)32-bit

2111

|(% style="text-align:center; vertical-align:middle" %)U0-55|(% style="text-align:center; vertical-align:middle" %)Universal|(% style="text-align:center; vertical-align:middle" %)Rotations number of absolute encoder|(% style="text-align:center; vertical-align:middle" %)circle|(% style="text-align:center; vertical-align:middle" %)16-bit

2112

|(% style="text-align:center; vertical-align:middle" %)U0-56|(% style="text-align:center; vertical-align:middle" %)Universal|(% style="text-align:center; vertical-align:middle" %)Multi-turn absolute value encoder current position|(% style="text-align:center; vertical-align:middle" %)Instruction unit|(% style="text-align:center; vertical-align:middle" %)32-bit

2113

2114

Table 6-55 Encoder feedback data

2115

2116

== **Absolute value system encoder battery box use precautions** ==

2117

2118

Er.40 (Encoder battery failure) will occur when the battery is turned on for the first time, and the function code P10-03 must be set to 1 to clear the encoder fault to operate the absolute value system again.

2119

2120

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_e9fac7759607dce6.png?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_e9fac7759607dce6.png"]]

2121

2122

Figure 6-50 the encoder battery box

2123

2124

When it is detected that the battery voltage is less than 3.1V, A-92 (Encoder battery low voltage warning) will occur. Please replace the battery in time. The specific replacement method is as follows:

2125

2126

1. Step1 The servo drive is powered on and is in a non-operational state;

2127

1. Step2 Replace the battery;

2128

1. Step3 Set P10-03 to 1, and the drive will release A-92. It will run normally without other abnormal warnings.

2129

2130

When the servo drive is powered off, if the battery is replaced and powered on again, Er.40 (encoder battery failure) will occur, and the multi-turn data will change suddenly. Please set the function code P10-03 or P10-06 to 1 to clear the encoder fault alarms and perform the origin return function operation again.

2131

2132

(% class="table-bordered" %)

2133

|(% style="text-align:center; vertical-align:middle; width:110px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:144px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:135px" %)(((

2134

**Setting method**

2135

)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((

2136

**Effective time**

2137

)))|(% style="text-align:center; vertical-align:middle; width:106px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:61px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:438px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**

2138

|(% style="text-align:center; vertical-align:middle; width:110px" %)P10-06|(% style="text-align:center; vertical-align:middle; width:144px" %)Multi-turn absolute encoder reset|(% style="text-align:center; vertical-align:middle; width:135px" %)(((

2139

Shutdown setting

2140

)))|(% style="text-align:center; vertical-align:middle; width:165px" %)(((

2141

Effective immediately

2142

)))|(% style="text-align:center; vertical-align:middle; width:106px" %)0|(% style="text-align:center; vertical-align:middle; width:61px" %)0 to 1|(% style="width:438px" %)(((

2143

0: No operation

2144

2145

1: Clear rotation number of multi-turn absolute encoder, multi-turn absolute encoder current position and encoder fault alarms.

2146

2147

✎**Note: **After resetting the multi-turn data of the encoder, the encoder absolute position will change suddenly, and the mechanical origin return operation is required.

2148

)))|(% style="text-align:center; vertical-align:middle" %)-

2149

2150

Table 6-56 Absolute encoder reset enable parameter

2151

2152

✎**Note: **If the battery is replaced when the servo drive is powered off, the encoder data will be lost.

2153

2154

When the servo drive is powered off, please ensure that the maximum speed of motor does not exceed 3000 rpm to ensure that the encoder position information is accurately recorded. Please store the storage device according to the specified ambient temperature, and ensure that the encoder battery has reliable contact and sufficient power, otherwise the encoder position information may be lost.

= **Overview** =

== **VDI** ==

VDI (Virtual Digital Signal Input Port) is similar to hardware DI terminal. The DI function could also be assigned for use.

2161

2162

✎**Note: **If multiple VDI terminals are configured with the same non-zero DI function, servo drive will occur an error “A-89” (DI port configuration is duplicate).

2163

2164

Take the VDI_1 terminal assignment forward drive prohibition (03-POT) as an example, and the use steps of VDI are as the figure below.

2165

2166

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_d237b43521f07beb.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_d237b43521f07beb.gif"]]

2167

2168

Figure 6-51 VDI_1 setting steps

2169

2170

(% class="table-bordered" %)

2171

|(% style="text-align:center; vertical-align:middle; width:131px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:183px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:147px" %)(((

2172

**Setting method**

2173

)))|(% style="text-align:center; vertical-align:middle; width:213px" %)(((

2174

**Effective time**

2175

)))|(% style="text-align:center; vertical-align:middle; width:143px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:77px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:266px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**

2176

|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-1|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_1 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((

2177

When P06-04 is set to 1, DI_1 channel logic is control by this function code.

VDI_1 input level:

0: low level

1: high level

)))|(% style="text-align:center; vertical-align:middle" %)-

2185

|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-2|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_2 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((

2186

When P06-07 is set to 1, DI_2 channel logic is control by this function code.

VDI_2 input level:

0: low level

1: high level

)))|(% style="text-align:center; vertical-align:middle" %)-

2194

|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-3|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_3 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((

2195

When P06-10 is set to 1, DI_3 channel logic is control by this function code.

VDI_3 input level:

0: low level

1: high level

)))|(% style="text-align:center; vertical-align:middle" %)-

2203

|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-4|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_4 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((

2204

When P06-13 is set to 1, DI_4 channel logic is control by this function code.

VDI_4 input level:

0: low level

1: high level

)))|(% style="text-align:center; vertical-align:middle" %)-

2212

|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-05☆|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_5 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((

2213

When P06-16 is set to 1, DI_5 channel logic is control by this function code.

VDI_5 input level:

0: low level

1: high level

)))|(% style="text-align:center; vertical-align:middle" %)-

2221

|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-06☆|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_6 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((

2222

When P06-19 is set to 1, DI_6 channel logic is control by this function code.

VDI_6 input level:

0: low level

1: high level

)))|(% style="text-align:center; vertical-align:middle" %)-

2230

|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-07☆|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_7 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((

2231

When P06-22 is set to 1, DI_7 channel logic is control by this function code.

VDI_7 input level:

0: low level

1: high level

)))|(% style="text-align:center; vertical-align:middle" %)-

2239

|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-08☆|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_8 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((

2240

When P06-25 is set to 1, DI_8 channel logic is control by this function code.

VDI_8 input level:

0: low level

1: high level

)))|(% style="text-align:center; vertical-align:middle" %)-

2248

2249

Table 6-57 Virtual VDI parameters

2250

2251

✎**Note: **“☆” means VD2F servo drive does not support the function code .

2252

2253

== **Port filtering time** ==

2254

2255

VD2A and VD2B servo drives have 8 hardware DI terminals (DI_1 to DI_8) , and VD2F servo drive has 4 hardware DI terminals (DI_1 to DI_4) . All the DI terminals are normal terminals.

2256

2257

(% class="table-bordered" %)

2258

|(% style="text-align:center; vertical-align:middle" %)**Setting value**|(% style="text-align:center; vertical-align:middle" %)**DI channel logic selection**|(% style="text-align:center; vertical-align:middle" %)**Illustration**

2259

|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)Active high level|(% style="text-align:center; vertical-align:middle" %)[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_2476a4a02e6f0760.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_2476a4a02e6f0760.gif"]]

2260

|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)Active low level|(% style="text-align:center; vertical-align:middle" %)[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_ad0a0d3f9b9908b1.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_ad0a0d3f9b9908b1.gif"]]

2261

2262

Table 6-58 DI terminal channel logic selection

== **VDO** ==

In addition to being an internal hardware output port, DO terminal is also used as a communication VDO. The communication control DO function could help you to achieve communication control DO output on the servo drive.

2267

2268

Take the DO_2 terminal as communication VDO, and the use steps of VDI are as the figure below.

2269

2270

[[image:http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_571b1f09b2ec0199.gif?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_571b1f09b2ec0199.gif"]]

2271

2272

Figure 6-52 VDO_2 setting steps

2273

2274

(% class="table-bordered" %)

2275

|(% style="text-align:center; vertical-align:middle" %)**Function code**|(% style="text-align:center; vertical-align:middle" %)**Name**|(% style="text-align:center; vertical-align:middle" %)(((

2276

**Setting method**

2277

)))|(% style="text-align:center; vertical-align:middle" %)(((

2278

**Effective time**

2279

)))|(% style="text-align:center; vertical-align:middle" %)**Default value**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**

2280

|(% style="text-align:center; vertical-align:middle" %)P13-11|(% style="text-align:center; vertical-align:middle" %)Communication VDO_1 output value|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((

VDO_1 output level：

0: low level

1: high level

)))|(% style="text-align:center; vertical-align:middle" %)-

2287

|(% style="text-align:center; vertical-align:middle" %)P13-12|(% style="text-align:center; vertical-align:middle" %)Communication VDO_2 output value|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((

VDO_2 output level：

0: low level

1: high level

)))|(% style="text-align:center; vertical-align:middle" %)-

2294

|(% style="text-align:center; vertical-align:middle" %)P13-13|(% style="text-align:center; vertical-align:middle" %)Communication VDO_3 output value|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((

VDO_3 output level：

0: low level

1: high level

)))|(% style="text-align:center; vertical-align:middle" %)-

2301

|(% style="text-align:center; vertical-align:middle" %)P13-14|(% style="text-align:center; vertical-align:middle" %)Communication VDO_4 output value|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((

VDO_4 output level：

0: low level

1: high level

)))|(% style="text-align:center; vertical-align:middle" %)-

2308

2309

Table 6-59 Communication control DO function parameters

2310

2311

(% class="table-bordered" %)

2312

|(% style="text-align:center; vertical-align:middle" %)**DO function number**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**

2313

|(% style="text-align:center; vertical-align:middle" %)145|(% style="text-align:center; vertical-align:middle" %)COM_VDO1 communication VDO1 output|(% style="text-align:center; vertical-align:middle" %)Use communication VDO

2314

|(% style="text-align:center; vertical-align:middle" %)146|(% style="text-align:center; vertical-align:middle" %)COM_VDO1 communication VDO2 output|(% style="text-align:center; vertical-align:middle" %)Use communication VDO

2315

|(% style="text-align:center; vertical-align:middle" %)147|(% style="text-align:center; vertical-align:middle" %)COM_VDO1 communication VDO3 output|(% style="text-align:center; vertical-align:middle" %)Use communication VDO

2316

|(% style="text-align:center; vertical-align:middle" %)148|(% style="text-align:center; vertical-align:middle" %)COM_VDO1 communication VDO4output|(% style="text-align:center; vertical-align:middle" %)Use communication VDO

2317

2318

Table 6-60 VDO function number

2319

2320

✎**Note:** You are advised to configure function codes for DO terminals in sequence to avoid errors during DO signal observation

2321

2322

If multiple DO terminals are configured with the same non-128 DI function, servo drive will occur an error “A-90” (DO port configuration is duplicate).

2323

2324

== **Motor overload protection** ==

2325

2326

VD2 Series absolute encoder (VD2SA) servo drive provides motor overload protection to prevent motor burning due to high temperature. By setting function code P10-04 to modify motor overload alarm (A-82) and motor overload protection fault time (Er.34). The default value of P10-04 is 100%.

2327

2328

(% class="table-bordered" %)

2329

|(% style="text-align:center; vertical-align:middle; width:122px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:99px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:150px" %)(((

2330

**Setting method**

2331

)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((

2332

**Effective time**

2333

)))|(% style="text-align:center; vertical-align:middle; width:116px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:72px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:445px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**

2334

|(% style="text-align:center; vertical-align:middle; width:122px" %)P10-04|(% style="text-align:center; vertical-align:middle; width:99px" %)motor overload protection time coefficient|(% style="text-align:center; vertical-align:middle; width:150px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:157px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:116px" %)100|(% style="text-align:center; vertical-align:middle; width:72px" %)0 to 800|(% style="width:445px" %)(((

2335

According to the heating condition of the motor, the value could be modified to make the overload protection time float up and down in the reference value.

2336

2337

50 corresponds to 50%, that is, the time is reduced by half. 300 corresponds to 300%, that is, the time extended to 3 times. When the value is set to 0, the overload protection fault detection function is disabled

2338

)))|(% style="text-align:center; vertical-align:middle" %)%

2339

2340

In the following cases, it could be modified according to the actual heat generation of the motor

2341

2342

1. The motor works in a place with high ambient temperature

2343

1. The motor runs in cycle circulates, and the single running cycle is short and the acceleration and deceleration is frequent.

2344

2345

In the case of confirming that the motor will not burn out, it is also possible to shield the overload protection fault detection function (P10-04 set to 0).

2346

2347

✎**Note:** You are advised to configure function codes for DO terminals in sequence to avoid errors

2348

2349

Please use the shielded overload protection fault detection function with caution, otherwise it will cause burn out the motor.

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