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" %)-

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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.

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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

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110

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

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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" %)

143

[[image:image-20220608163014-1.png]]

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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.

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|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**

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|(% 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" %)

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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" %)(((

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.

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)))|(% 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

297

298

07: C-SIGN Inverted instruction

299

300

08: E-STOP Emergency shutdown

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302

09: GEAR-SEL Electronic Gear Switch 1

303

304

10: GAIN-SEL gain switch

305

306

11: INH Instruction pulse prohibited input

307

308

12: VSSEL Vibration control switch input

309

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

315

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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369

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

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371

✎The brake coil has no polarity;

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373

✎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

)))

377

378

**(1) Wiring of brake device**

379

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

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

383

[[image:image-20220608163136-2.png]]

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Figure 6-2 VD2B servo drive brake wiring

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387

(% class="table-bordered" %)

388

|(((

389

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

390

[[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"]]

391

)))

392

|(((

393

✎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.

394

395

✎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.

396

397

✎It is recommended to use cables above 0.5 mm².

398

)))

399

400

**(2) Brake software setting**

401

402

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.

403

404

Related function code is as below.

405

406

(% class="table-bordered" %)

407

|(% 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" %)(((

408

**Effective time**

409

)))

410

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

411

BRK-OFF Brake output

412

)))|(% 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

413

414

Table 6-2 Relevant function codes for brake setting

415

416

(% class="table-bordered" %)

417

|(% 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" %)(((

418

**Setting method**

419

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

420

**Effective time**

421

)))|(% 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**

422

|(% 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" %)(((

423

Operation setting

424

)))|(% 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

425

|(% 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" %)(((

426

Operation setting

427

)))|(% 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

428

|(% 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" %)(((

429

Operation setting

430

)))|(% 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" %)(((

431

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

432

433

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

434

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

435

|(% 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" %)(((

436

Operation setting

437

)))|(% 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" %)(((

438

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

439

440

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

441

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

442

443

Table 6-9 Brake setting function codes

444

445

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.

446

447

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

448

449

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).

450

451

1) Brake timing when servo motor is stationary

452

453

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]]__

454

455

(% class="table-bordered" %)

456

|(((

457

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

458

[[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"]]

459

)))

460

|(((

461

✎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.

462

463

✎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.

464

)))

465

466

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

467

[[image:image-20220608163304-3.png]]

468

469

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

470

471

✎**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.

472

473

2) The brake timing when servo motor rotates

474

475

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]]__.

476

477

(% class="table-bordered" %)

478

|(((

479

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

480

[[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"]]

481

)))

482

|(((

483

✎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.

484

485

✎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:

486

487

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

488

489

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

490

491

✎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.

492

)))

493

494

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

495

[[image:image-20220608163425-4.png]]

496

497

Figure 6-4 Brake timing when the motor rotates

498

499

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

500

501

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

502

503

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

504

[[image:image-20220608163541-5.png]]

505

506

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

507

508

= **Position control mode** =

509

510

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.

511

512

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

513

[[image:image-20220608163643-6.png]]

514

515

Figure 6-6 Position control diagram

516

517

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

518

519

(% class="table-bordered" %)

520

|(% 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" %)(((

521

**Setting method**

522

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

523

**Effective time**

524

)))|(% 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**

525

|(% 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" %)(((

526

Operation setting

527

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

528

immediately Effective

529

)))|(% 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

537

538

5: position/torque mix control

539

540

6: speed /torque mix control

541

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

542

543

Table 6-10 Control mode parameters

544

545

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

546

547

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

548

549

(% class="table-bordered" %)

550

|(% 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" %)(((

551

**Setting method**

552

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

553

**Effective time**

554

)))|(% 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**

555

|(% 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" %)(((

556

Operation setting

557

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

558

immediately Effective

559

)))|(% 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" %)(((

560

0: pulse instruction

561

562

1: internal position instruction

563

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

564

565

Table 6-11 Position instruction source parameter

566

567

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

568

569

1) Low-speed pulse instruction input

570

571

(% class="table-bordered" %)

572

|(% style="text-align:center; vertical-align:middle" %)[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/22.jpg?rev=1.1]]|(% style="text-align:center; vertical-align:middle" %)[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/23.jpg?rev=1.1]]

573

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

574

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

575

576

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]]__.

577

578

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.

579

580

(% class="table-bordered" %)

581

|(% 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**

582

|(% 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

583

|(% 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

584

585

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.

590

591

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

592

[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/24.jpg?rev=1.1]]

593

594

Figure 6-8 Differential input connection

595

596

✎**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]]__”

597

598

2.Open collector input

599

600

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

601

602

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

603

[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/25.jpg?rev=1.1]]

604

605

Figure 6-9 Open collector input connection

606

607

✎**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]]__”

608

609

2) Position pulse frequency and anti-interference level

610

611

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.

612

613

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

614

[[image:image-20220608163952-8.png]]

615

616

Figure 6-10 Example of filtered signal waveform

617

618

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.

619

620

(% class="table-bordered" %)

621

|(% 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" %)(((

622

**Setting method**

623

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

624

**Effective time**

625

)))|(% 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**

626

|(% 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" %)(((

627

Shutdown setting

628

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

629

Effective immediately

630

)))|(% 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

631

|(% 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" %)(((

632

Operation setting

633

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

634

Power-on again

635

)))|(% 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" %)(((

636

Set the anti-interference level of external pulse instruction.

0: no filtering;

1: Filtering time 128ns

641

642

2: Filtering time 256ns

643

644

3: Filtering time 512ns

645

646

4: Filtering time 1.024us

647

648

5: Filtering time 2.048us

649

650

6: Filtering time 4.096us

651

652

7: Filtering time 8.192us

653

654

8: Filtering time 16.384us

655

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

656

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

657

|VD2F: Filtering time 25.5us

658

659

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

660

661

3) Position pulse type selection

662

663

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

664

665

(% class="table-bordered" %)

666

|(% 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" %)(((

667

**Setting method**

668

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

669

**Effective time**

670

)))|(% 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**

671

|(% 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" %)(((

672

Operation setting

673

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

674

Power-on again

675

)))|(% 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" %)(((

676

0: direction + pulse (positive logic)

1: CW/CCW

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

681

682

3: Direction + pulse (negative logic)

683

684

4: CW/CCW (negative logic)

685

686

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

687

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

688

689

Table 6-14 Position pulse type selection parameter

690

691

(% class="table-bordered" %)

692

|(% 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**

693

|(% 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:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/21.jpg?rev=1.1]]|(% style="text-align:center; vertical-align:middle" %)[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/26.jpg?rev=1.1]]

702

|(% 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:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/27.jpg?rev=1.1]]

707

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

708

AB phase orthogonal

709

710

pulse (4 times frequency)

711

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

PULSE (Phase A)

SIGN (Phase B)

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

716

[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/28.jpg?rev=1.1]]

717

718

Phase A is 90° ahead of Phase B

719

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

720

[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/29.jpg?rev=1.1]]

721

722

Phase B is 90° ahead of Phase A

723

)))

724

|(% 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:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/30.jpg?rev=1.1]]|(% style="text-align:center; vertical-align:middle" %)[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/31.jpg?rev=1.1]]

733

|(% 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:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/32.jpg?rev=1.1]]

742

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

743

AB phase orthogonal

744

745

pulse (4 times frequency negative logic)

746

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

PULSE (Phase A)

SIGN (Phase B)

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

751

[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/33.jpg?rev=1.1]]

752

753

B phase is ahead of A phase by 90°

754

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

755

[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/34.jpg?rev=1.1]]

756

757

A phase is ahead of B phase by 90°

758

)))

759

760

Table 6-15 Pulse description

761

762

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

763

764

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]]__.

765

766

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.

767

768

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

769

[[image:image-20220608164116-9.png]]

770

771

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

772

773

1) Set multi-segment position running mode

774

775

(% class="table-bordered" %)

776

|(% 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" %)(((

777

**Setting method**

778

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

779

**Effective time**

780

)))|(% 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**

781

|(% 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" %)(((

782

Shutdown setting

783

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

784

Effective immediately

785

)))|(% 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

791

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

792

|(% 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" %)(((

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

797

|(% 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" %)(((

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" %)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" %)-

802

|(% 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" %)(((

803

Shutdown setting

804

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

805

Effective immediately

806

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

807

0: Run the remaining segments

808

809

1: Run again from the start segment

810

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

811

|(% 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" %)(((

812

Shutdown setting

813

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

814

Effective immediately

815

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

816

0: Relative position instruction

817

818

1: Absolute position instruction

819

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

820

821

Table 6-16 multi-segment position running mode parameters

822

823

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 S1 and S2 are the displacements of the 1st segment and the 2nd segment respectively

828

829

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

830

[[image:image-20220608164226-10.png]]

831

832

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 S1,S2,S3 and S4 are the displacements of the 1st, 2nd, 3rd and 4th segment respectively.

837

838

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

839

[[image:image-20220608164327-11.png]]

840

841

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

842

843

|(% 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_6db94f5d0421f97a.png?rev=1.1||alt="Wecon VD2 SA Series Servo Drives Manual (Full V1.1)_html_6db94f5d0421f97a.png"]]

844

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

845

846

3. DI switching running

847

848

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.

849

850

(% class="table-bordered" %)

851

|(% 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**

852

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

853

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

854

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

855

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

856

857

Table 6-17 DI function code

858

859

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.

860

861

(% class="table-bordered" %)

862

|(% 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**

863

|(% 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

864

|(% 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

865

|(% 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

866

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

867

|(% 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

868

869

Table 6-18 INPOS corresponds to running segment number

870

871

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]]__.

872

873

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

874

[[image:image-20220608164545-12.png]]

875

876

Figure 6-14 DI switching running curve

877

878

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.

879

880

**A. Run the remaining segments**

881

882

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.

883

884

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

885

[[image:image-20220608164847-13.png]]

886

887

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

888

889

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

890

[[image:image-20220608165032-14.png]]

891

892

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

893

894

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

895

896

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.

897

898

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

899

[[image:image-20220608165343-15.png]]

900

901

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

902

903

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

904

[[image:image-20220608165558-16.png]]

905

906

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

907

908

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

909

910

A. Relative position instruction

911

912

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

913

914

|(((

915

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

916

[[image:image-20220608165710-17.png]]

917

)))|(((

918

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

919

[[image:image-20220608165749-18.png]]

920

)))

921

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

922

923

B. Absolute position instruction

924

925

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

926

927

|(((

928

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

929

[[image:image-20220608165848-19.png]]

930

)))|(((

931

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

932

[[image:image-20220608170005-20.png]]

933

)))

934

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

935

936

2) Multi-segment position running curve setting

937

938

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.

939

940

(% class="table-bordered" %)

941

|(% 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" %)(((

942

**Setting method**

943

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

944

**Effective time**

945

)))|(% 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**

946

|(% 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" %)(((

951

Operation setting

952

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

953

Effective immediately

954

)))|(% 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" %)-

959

|(% 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" %)(((

960

Operation setting

961

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

962

Effective immediately

963

)))|(% 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

964

|(% 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" %)(((

965

Operation setting

966

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

967

Effective immediately

968

)))|(% 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

969

|(% 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" %)(((

970

Operation setting

971

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

972

Effective immediately

973

)))|(% 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

974

975

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

976

977

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

978

979

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

980

[[image:image-20220608170149-21.png]]

981

982

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

983

984

3) multi-segment position instruction enable

985

986

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.

987

988

(% class="table-bordered" %)

989

|(% 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**

990

|(% 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" %)(((

991

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

992

993

DI port logic valid: Motor runs multi-segment position

994

)))

995

996

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

997

[[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"]]

998

999

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!

1000

1001

== **Electronic gear ratio** ==

1002

1003

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

1004

1005

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.

1006

1007

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.

1008

1009

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)

1010

1011

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

1012

[[image:image-20220610150133-1.png]]

(6-1)

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

1017

[[image:image-20220610150145-2.png]]

(6-2)

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

1022

[[image:image-20220610150156-3.png]]

(6-3)

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

1027

1028

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

1029

1030

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

1031

[[image:image-20220608170320-22.png]]

1032

1033

Figure 6-24 Setting steps of electronic gear ratio

1034

1035

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.

1036

1037

Step2: Confirm the resolution of servo motor encoder.

1038

1039

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.

1040

1041

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.

1042

1043

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

1044

1045

[[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"]]

1046

1047

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

1048

1049

1050

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.

1051

1052

(% class="table-bordered" %)

1053

|(% 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" %)(((

1054

**Setting method**

1055

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

1056

**Effective time**

1057

)))|(% 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**

1058

|(% 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" %)(((

1059

Shutdown setting

1060

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

1061

Effective immediately

1062

)))|(% 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" %)(((

1072

Effective immediately

1073

)))|(% 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" %)-

1074

|(% 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" %)(((

1079

Operation setting

1080

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

1081

Effective immediately

1082

)))|(% 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" %)-

1083

|(% 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" %)(((

1088

Effective immediately

1089

)))|(% 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" %)-

1090

|(% 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" %)(((

1095

Effective immediately

1096

)))|(% 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" %)-

1097

1098

Table 6-20 Electronic gear ratio function code

1099

1100

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.

1101

1102

(% class="table-bordered" %)

1103

|(% 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**

1104

|(% 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" %)(((

1105

DI port logic invalid: electronic gear ratio 1

1106

1107

DI port logic valid: electronic gear ratio 2

1108

)))

1109

1110

Table 6-21 Switching conditions of electronic gear ratio group

1111

1112

|(% 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"]]

1113

|(% 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"]]

1114

|(% 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"]]

1115

|(% 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"]]

1116

1117

Table 6-22 Application of electronic gear ratio

1118

1119

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.

1120

1121

== **Position instruction filtering** ==

1122

1123

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.

1124

1125

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

1126

1127

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

1128

1. The pulse instruction frequency is low;

1129

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

1130

1131

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.

1132

1133

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

1134

[[image:image-20220608170455-23.png]]

1135

1136

Figure 6-25 Position instruction filtering diagram

1137

1138

(% class="table-bordered" %)

1139

|(% 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" %)(((

1140

**Setting method**

1141

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

1142

**Effective time**

1143

)))|(% 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**

1144

|(% 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" %)(((

1145

Shutdown setting

1146

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

1147

Effective immediately

1148

)))|(% 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" %)(((

1149

0: 1st-order low-pass filtering

1150

1151

1: average filtering

1152

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

1153

|(% 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" %)(((

1154

Effective immediately

1155

)))|(% 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

1156

|(% 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" %)(((

1157

Effective immediately

1158

)))|(% 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

1159

1160

Table 6-23 Position instruction filter function code

1161

1162

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

1163

1164

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;

1165

1166

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

1167

1168

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

1169

1170

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

1171

1172

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

1173

**Positioning completion/positioning approach output**

1174

1175

(% class="wikigeneratedid" %)

1176

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.

1177

1178

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

1179

[[image:image-20220608170550-24.png]]

1180

1181

Figure 6-26 Positioning completion signal output diagram

1182

1183

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.

1184

1185

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]]__.

1186

1187

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

1188

[[image:image-20220608170650-25.png]]

1189

1190

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

1191

1192

(% class="table-bordered" %)

1193

|(% 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" %)(((

1194

**Setting method**

1195

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

1196

**Effective time**

1197

)))|(% 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**

1198

|(% 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" %)(((

1199

Operation setting

1200

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

1201

Effective immediately

1202

)))|(% 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

1203

|(% 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" %)(((

1204

Operation setting

1205

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

1206

Effective immediately

1207

)))|(% 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

1208

|(% 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" %)(((

1209

Operation setting

1210

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

1211

Effective immediately

1212

)))|(% 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

1213

|(% 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" %)(((

1214

Operation setting

1215

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

1216

Effective immediately

1217

)))|(% 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

1218

1219

Table 6-24 Function code parameters of positioning completion

1220

1221

(% class="table-bordered" %)

1222

|(% 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**

1223

|(% 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.

1224

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

1225

P-NEAR positioning close

1226

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

1227

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

1228

)))

1229

1230

Table 6-25 Description of DO rotation detection function code

1231

1232

= **Speed control mode** =

1233

1234

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.

1235

1236

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

1237

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

1238

1239

Figure 6-28 Speed control block diagram

1240

1241

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

1242

1243

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 P01-01.

1244

1245

(% class="table-bordered" %)

1246

|(% 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" %)(((

1247

**Setting method**

1248

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

1249

**Effective time**

1250

)))|(% 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**

1251

|(% style="text-align:center; vertical-align:middle" %)P01-01|(% style="text-align:center; vertical-align:middle; width:180px" %)Speed instruction source|(% style="text-align:center; vertical-align:middle; width:140px" %)(((

1252

Shutdown setting

1253

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

1254

Effective immediately

1255

)))|(% 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" %)(((

1256

0: internal speed instruction

1257

1258

1: AI_1 analog input (not supported by VD2F)

1259

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

1260

1261

Table 6-26 Speed instruction source parameter

1262

1263

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

1264

1265

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.

1266

1267

(% class="table-bordered" %)

1268

|(% 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" %)(((

1269

**Setting method**

1270

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

1271

**Effective time**

1272

)))|(% 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**

1273

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

1274

Internal speed Instruction 0

1275

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

1276

Operation setting

1277

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

1278

Effective immediately

1279

)))|(% 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" %)(((

1280

Internal speed instruction 0

When DI input port:

15-INSPD3: 0

14-INSPD2: 0

13-INSPD1: 0,

select this speed instruction to be effective.

1291

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

1292

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

1293

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

1294

Internal speed Instruction 1

1295

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

1296

Operation setting

1297

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

1298

Effective immediately

1299

)))|(% 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" %)(((

1300

Internal speed instruction 1

When DI input port:

15-INSPD3: 0

14-INSPD2: 0

13-INSPD1: 1,

Select this speed instruction to be effective.

1311

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

1312

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

1313

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

1314

Internal speed Instruction 2

1315

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

1316

Operation setting

1317

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

1318

Effective immediately

1319

)))|(% 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" %)(((

1320

Internal speed instruction 2

When DI input port:

15-INSPD3: 0

14-INSPD2: 1

13-INSPD1: 0,

Select this speed instruction to be effective.

1331

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

1332

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

1333

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

1334

Internal speed Instruction 3

1335

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

1336

Operation setting

1337

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

1338

Effective immediately

1339

)))|(% 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" %)(((

1340

Internal speed instruction 3

When DI input port:

15-INSPD3: 0

14-INSPD2: 1

13-INSPD1: 1,

Select this speed instruction to be effective.

1351

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

1352

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

1353

1354

(% class="table-bordered" %)

1355

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

1356

Internal speed Instruction 4

1357

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

1358

Operation setting

1359

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

1360

Effective immediately

1361

)))|(% 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" %)(((

1362

Internal speed instruction 4

When DI input port:

15-INSPD3: 1

14-INSPD2: 0

13-INSPD1: 0,

Select this speed instruction to be effective.

1373

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

1374

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

1375

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

1376

Internal speed Instruction 5

1377

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

1378

Operation setting

1379

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

1380

Effective immediately

1381

)))|(% 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" %)(((

1382

Internal speed instruction 5

When DI input port:

15-INSPD3: 1

14-INSPD2: 0

13-INSPD1: 1,

Select this speed instruction to be effective.

1393

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

1394

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

1395

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

1396

Internal speed Instruction 6

1397

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

1398

Operation setting

1399

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

1400

Effective immediately

1401

)))|(% 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" %)(((

1402

Internal speed instruction 6

When DI input port:

15-INSPD3: 1

14-INSPD2: 1

13-INSPD1: 0,

Select this speed instruction to be effective.

1413

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

1414

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

1415

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

1416

Internal speed Instruction 7

1417

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

1418

Operation setting

1419

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

1420

Effective immediately

1421

)))|(% 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" %)(((

1422

Internal speed instruction 7

When DI input port:

15-INSPD3: 1

14-INSPD2: 1

13-INSPD1: 1,

Select this speed instruction to be effective.

1433

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

1434

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

1435

1436

Table 6-27 Internal speed instruction parameters

1437

1438

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

1439

1440

(% class="table-bordered" %)

1441

|(% 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**

1442

|(% 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

1443

|(% 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

1444

|(% 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

1445

1446

Table 6-28 DI multi-speed function code description

1447

1448

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.

1449

1450

(% class="table-bordered" %)

1451

|(% 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**

1452

|(% 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

1453

|(% 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

1454

|(% 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

1455

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

1456

|(% 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

1457

1458

Table 6-29 Correspondence between INSPD bits and segment numbers

1459

1460

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

1461

[[image:image-20220608170845-26.png]]

1462

1463

Figure 6-29 Multi-segment speed running curve

1464

1465

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

1466

1467

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.

1468

1469

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

1470

[[image:image-20220608153341-5.png]]

1471

1472

Figure 6-30 Analog input circuit

1473

1474

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

1475

1476

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

1477

[[image:image-20220608170955-27.png]]

1478

1479

Figure 6-31 Analog voltage speed instruction setting steps

1480

1481

Explanation of related terms:

1482

1483

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

1484

1485

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

1486

1487

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

1488

1489

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

1490

[[image:image-20220608171124-28.png]]

1491

1492

Figure 6-32 AI_1 diagram before and after bias

1493

1494

(% class="table-bordered" %)

1495

|(% 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**

1496

|(% 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

1497

|(% 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

1498

|(% 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

1499

|(% 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

1500

1501

Table 6-30 AI_1 parameters

1502

1503

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

1504

1505

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

1506

1507

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.

1508

1509

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.

1510

1511

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

1512

[[image:image-20220608171314-29.png]]

1513

1514

Figure 6-33 of acceleration and deceleration time diagram

1515

1516

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]][[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]][[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]],,

1517

1518

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]][[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]][[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]],,

1519

1520

(% class="table-bordered" %)

1521

|(% 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" %)(((

1522

**Setting method**

1523

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

1524

**Effective time**

1525

)))|(% 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**

1526

|(% 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" %)(((

1527

Operation setting

1528

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

1529

Effective immediately

1530

)))|(% 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

1531

|(% 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" %)(((

1532

Operation setting

1533

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

1534

Effective immediately

1535

)))|(% 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

1536

1537

Table 6-31 Acceleration and deceleration time parameters

1538

1539

== **Speed instruction limit** ==

1540

1541

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

1542

1543

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

1544

1. P01-12: Set forward speed limit value

1545

1. P01-13: Set reverse speed limit value

1546

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

1547

1548

The actual motor speed limit interval satisfies the following relationship:

1549

1550

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

1551

1552

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

1553

1554

(% class="table-bordered" %)

1555

|(% 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" %)(((

1556

**Setting method**

1557

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

1558

**Effective time**

1559

)))|(% 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**

1560

|(% 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" %)(((

1561

Operation setting

1562

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

1563

Effective immediately

1564

)))|(% 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

1565

|(% 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" %)(((

1566

Operation setting

1567

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

1568

Effective immediately

1569

)))|(% 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

1570

|(% 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" %)(((

1571

Operation setting

1572

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

1573

Effective immediately

1574

)))|(% 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

1575

1576

Table 6-32 Rotation speed related function codes

1577

1578

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

1579

1580

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.

1581

1582

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.

1583

1584

(% class="table-bordered" %)

1585

|(% 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" %)(((

1586

**Setting method**

1587

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

1588

**Effective time**

1589

)))|(% 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**

1590

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

1591

Zero-speed clamp function selection

1592

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

1593

Operation setting

1594

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

1595

Effective immediately

1596

)))|(% 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" %)(((

1597

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

1598

1599

0: Force the speed to 0;

1600

1601

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

1602

1603

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

1604

1605

3: Invalid, ignore zero-speed clamp input

1606

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

1607

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

1608

Zero-speed clamp speed threshold

1609

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

1610

Operation setting

1611

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

1612

Effective immediately

1613

)))|(% 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

1614

1615

Table 6-33 Zero-speed clamp related parameters

1616

1617

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

1618

[[image:image-20220608171549-30.png]]

1619

1620

Figure 6-34 Zero-speed clamp diagram

1621

1622

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

1623

1624

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

1625

1626

**(1) Rotation detection signal**

1627

1628

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.

1629

1630

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

1631

[[image:image-20220608171625-31.png]]

1632

1633

Figure 6-35 Rotation detection signal diagram

1634

1635

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]]__.

1636

1637

(% class="table-bordered" %)

1638

|(% 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" %)(((

1639

**Setting method**

1640

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

1641

**Effective time**

1642

)))|(% 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**

1643

|(% 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" %)(((

1648

Operation setting

1649

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

1650

Effective immediately

1651

)))|(% 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

1652

1653

Table 6-34 Rotation detection speed threshold parameters

1654

1655

(% class="table-bordered" %)

1656

|(% 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**

1657

|(% 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

1663

1664

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

1665

)))

1666

1667

Table 6-35 DO rotation detection function code

1668

1669

**(2) Zero-speed signal**

1670

1671

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.

1672

1673

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

1674

[[image:image-20220608171904-32.png]]

1675

1676

Figure 6-36 Zero-speed signal diagram

1677

1678

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]]__.

1679

1680

(% class="table-bordered" %)

1681

|(% 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" %)(((

1682

**Setting method**

1683

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

1684

**Effective time**

1685

)))|(% 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**

1686

|(% 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" %)(((

1687

Operation setting

1688

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

1689

Effective immediately

1690

)))|(% 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

1691

1692

Table 6-36 Zero-speed output signal threshold parameter

1693

1694

(% class="table-bordered" %)

1695

|(% 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**

1696

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

1697

ZSP zero speed signal

1698

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

1699

1700

Table 6-37 DO zero-speed signal function code

1701

1702

**(3) Speed consistent signal**

1703

1704

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.

1705

1706

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

1707

[[image:image-20220608172053-33.png]]

1708

1709

Figure 6-37 Speed consistent signal diagram

1710

1711

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]]__.

1712

1713

(% class="table-bordered" %)

1714

|(% 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" %)(((

1715

**Setting method**

1716

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

1717

**Effective time**

1718

)))|(% 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**

1719

|(% 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" %)(((

1720

Operationsetting

1721

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

1722

Effective immediately

1723

)))|(% 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

1724

1725

Table 6-38 Speed consistent signal threshold parameters

1726

1727

(% class="table-bordered" %)

1728

|(% 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**

1729

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

1730

U-COIN consistent speed

1731

)))|(% 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

1732

1733

Table 6-39 DO speed consistent function code

1734

1735

**(4) Speed approach signal**

1736

1737

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.

1738

1739

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

1740

[[image:image-20220608172207-34.png]]

1741

1742

Figure 6-38 Speed approaching signal diagram

1743

1744

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]]__.

1745

1746

(% class="table-bordered" %)

1747

|(% 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" %)(((

1748

**Setting method**

1749

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

1750

**Effective time**

1751

)))|(% 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**

1752

|(% 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" %)(((

1753

Operation setting

1754

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

1755

Effective immediately

1756

)))|(% 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

1757

1758

Table 6-40 Speed approaching signal threshold parameters

1759

1760

(% class="table-bordered" %)

1761

|(% 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**

1762

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

1763

V-NEAR speed approach

1764

)))|(% 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

1765

1766

Table 6-41 DO speed approach function code

1767

1768

= **Torque control mode** =

1769

1770

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.

1771

1772

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

1773

[[image:image-20220608172405-35.png]]

1774

1775

Figure 6-39 Torque mode diagram

1776

1777

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

1778

1779

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.

1780

1781

(% class="table-bordered" %)

1782

|(% 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" %)(((

1783

**Setting method**

1784

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

1785

**Effective time**

1786

)))|(% 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**

1787

|(% 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" %)(((

1788

Shutdown setting

1789

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

1790

Effective immediately

1791

)))|(% 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" %)(((

1792

0: internal torque instruction

1793

1794

1: AI_1 analog input(not supported by VD2F)

1795

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

1796

1797

Table 6-42 Torque instruction source parameter

1798

1799

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

1800

1801

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

1802

1803

(% class="table-bordered" %)

1804

|(% 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" %)(((

1805

**Setting method**

1806

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

1807

**Effective time**

1808

)))|(% 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**

1809

|(% 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" %)(((

1810

Operation setting

1811

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

1812

Effective immediately

1813

)))|(% 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%

1814

1815

Table 6-43 Torque instruction keyboard set value

1816

1817

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

1818

1819

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.

1820

1821

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

1822

[[image:image-20220608153646-7.png||height="213" width="408"]]

1823

1824

Figure 6-40 Analog input circuit

1825

1826

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

1827

1828

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

1829

[[image:image-20220608172502-36.png]]

1830

1831

Figure 6-41 Analog voltage torque instruction setting steps

1832

1833

Explanation of related terms:

1834

1835

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

1836

1837

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

1838

1839

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

1840

1841

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

1842

[[image:image-20220608172611-37.png]]

1843

1844

Figure 6-42 AI_1 diagram before and after bias

1845

1846

(% class="table-bordered" %)

1847

|(% 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**

1848

|(% 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

1849

|(% 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

1850

|(% 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

1851

|(% 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

1852

1853

Table 6-44 AI_1 parameters

1854

1855

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

1856

1857

== **Torque instruction filtering** ==

1858

1859

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]]__.

1860

1861

(% class="table-bordered" %)

1862

|(% 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" %)(((

1863

**Setting method**

1864

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

1865

**Effective time**

1866

)))|(% 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**

1867

|(% 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" %)(((

1868

Operation setting

1869

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

1870

Effective immediately

1871

)))|(% 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

1872

1873

Table 6-45 Torque filtering time constant parameter details

1874

1875

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

1876

1877

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

1878

[[image:image-20220608172646-38.png]]

1879

1880

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

1881

1882

== **Torque instruction limit** ==

1883

1884

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.

1885

1886

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.

1887

1888

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

1889

[[image:image-20220608172806-39.png]]

1890

1891

Figure 6-44 Torque instruction limit diagram

1892

1893

**(1) Set torque limit source**

1894

1895

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.

1896

1897

(% class="table-bordered" %)

1898

|(% 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" %)(((

1899

**Setting method**

1900

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

1901

**Effective time**

1902

)))|(% 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**

1903

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

1904

Torque limit source

1905

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

1906

Shutdown setting

1907

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

1908

Effective immediately

1909

)))|(% 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)

1915

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

1916

1917

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

1918

1919

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.

1920

1921

(% class="table-bordered" %)

1922

|(% 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" %)(((

1923

**Setting method**

1924

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

1925

**Effective time**

1926

)))|(% 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**

1927

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

1928

Forward torque limit

1929

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

1930

Operation setting

1931

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

1932

Effective immediately

1933

)))|(% 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%

1934

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

1935

Reverse torque limit

1936

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

1937

Operation setting

1938

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

1939

Effective immediately

1940

)))|(% 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%

1941

1942

Table 6-46 Torque limit parameter details

1943

1944

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

1945

1946

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

1947

1948

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

1949

1950

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.

1951

1952

(% class="table-bordered" %)

1953

|(% 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**

1954

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

1955

T-LIMIT in torque limit

1956

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

1957

1958

Table 6-47 DO torque limit function codes

1959

1960

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

1961

1962

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.

1963

1964

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]]__.

1965

1966

|(((

1967

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

1968

[[image:image-20220608172910-40.png]]

1969

)))|(((

1970

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

1971

[[image:image-20220608173155-41.png]]

1972

)))

1973

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

1974

1975

(% class="table-bordered" %)

1976

|(% 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" %)(((

1977

**Setting method**

1978

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

1979

**Effective time**

1980

)))|(% 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**

1981

|(% 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" %)(((

1986

Operation setting

1987

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

1988

Effective immediately

1989

)))|(% 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%

1994

|(% 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" %)(((

1999

Operation setting

2000

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

2001

Effective immediately

2002

)))|(% 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%

2007

2008

Table 6-48 Speed limit parameters in torque mode

2009

2010

✎**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]]__.

2011

2012

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

2013

2014

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.

2019

2020

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

2021

[[image:image-20220608173541-42.png]]

2022

2023

Figure 6-47 Torque arrival output diagram

2024

2025

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]]__.

2026

2027

(% class="table-bordered" %)

2028

|(% 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" %)(((

2029

**Setting method**

2030

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

2031

**Effective time**

2032

)))|(% 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**

2033

|(% 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" %)(((

2038

Operation setting

2039

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

2040

Effective immediately

2041

)))|(% 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" %)(((

2042

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

2043

2044

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

2045

2046

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

2047

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

2048

|(% 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" %)(((

2053

Operation setting

2054

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

2055

Effective immediately

2056

)))|(% 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" %)%

2057

2058

Table 6-49 Torque arrival parameters

2059

2060

(% class="table-bordered" %)

2061

|(% 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**

2062

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

2063

T-COIN torque arrival

2064

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

2065

2066

Table 6-50 DO Torque Arrival Function Code

2067

2068

= **Mixed control mode** =

2069

2070

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:

2071

2072

Position mode  Speed mode

2073

2074

Position mode  Torque mode

2075

2076

Speed mode  Torque mode

2077

2078

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.

2079

2080

(% class="table-bordered" %)

2081

|(% 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" %)(((

2082

**Setting method**

2083

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

2084

**Effective time**

2085

)))|(% 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**

2086

|(% 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" %)(((

2087

Shutdown setting

2088

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

2089

Shutdown setting

2090

)))|(% 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

2098

2099

5: Position/torque mixed control

2100

2101

6: Speed/torque mixed control

2102

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

2103

2104

Table 6-51 Mixed control mode parameters

2105

2106

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.

2107

2108

(% class="table-bordered" %)

2109

|(% 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**

2110

|(% 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(((

2111

(% class="table-bordered" %)

2112

|(% 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**

2113

|(% 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

2114

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

2115

|(% 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

2116

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

2117

|(% 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

2118

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

2119

)))

2120

2121

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

2122

2123

✎**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.

2124

2125

= **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.

2130

2131

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.

2132

2133

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

2134

2135

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.

2136

2137

(% class="table-bordered" %)

2138

|(% 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**

2139

|(% 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

2140

2141

Table 6-53 Single-turn absolute encoder information

2142

2143

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

2144

2145

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

2146

[[image:image-20220608173618-43.png]]

2147

2148

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

2149

2150

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

2151

2152

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.

2153

2154

(% class="table-bordered" %)

2155

|(% 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**

2156

|(% 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

2157

|(% 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

2158

2159

Table 6-54 Multi-turn absolute encoder information

2160

2161

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).

2162

2163

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

2164

[[image:image-20220608173701-44.png]]

2165

2166

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

2167

2168

== **Encoder feedback data** ==

2169

2170

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.

2171

2172

(% class="table-bordered" %)

2173

|(% 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**

2174

|(% 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

2175

|(% 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

2176

|(% 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

2177

2178

Table 6-55 Encoder feedback data

2179

2180

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

2181

2182

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.

2183

2184

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

2185

[[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"]]

2186

2187

Figure 6-50 the encoder battery box

2188

2189

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:

2190

2191

1. Step1 The servo drive is powered on and is in a non-operational state;

2192

1. Step2 Replace the battery;

2193

1. Step3 Set P10-03 to 1, and the drive will release A-92. It will run normally without other abnormal warnings.

2194

2195

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.

2196

2197

(% class="table-bordered" %)

2198

|(% 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" %)(((

2199

**Setting method**

2200

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

2201

**Effective time**

2202

)))|(% 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**

2203

|(% 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" %)(((

2204

Shutdown setting

2205

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

2206

Effective immediately

2207

)))|(% 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" %)(((

2208

0: No operation

2209

2210

1: Clear rotation number of multi-turn absolute encoder, multi-turn absolute encoder current position and encoder fault alarms.

2211

2212

✎**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.

2213

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

2214

2215

Table 6-56 Absolute encoder reset enable parameter

2216

2217

✎**Note: **If the battery is replaced when the servo drive is powered off, the encoder data will be lost.

2218

2219

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.

2226

2227

✎**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).

2228

2229

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.

2230

2231

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

2232

[[image:image-20220608173804-46.png]]

2233

2234

Figure 6-51 VDI_1 setting steps

2235

2236

(% class="table-bordered" %)

2237

|(% 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" %)(((

2238

**Setting method**

2239

)))|(% style="text-align:center; vertical-align:middle; width:213px" %)(((

2240

**Effective time**

2241

)))|(% 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**

2242

|(% 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" %)(((

2243

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" %)-

2251

|(% 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" %)(((

2252

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" %)-

2260

|(% 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" %)(((

2261

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" %)-

2269

|(% 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" %)(((

2270

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" %)-

2278

|(% 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" %)(((

2279

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" %)-

2287

|(% 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" %)(((

2288

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" %)-

2296

|(% 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" %)(((

2297

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" %)-

2305

|(% 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" %)(((

2306

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" %)-

2314

2315

Table 6-57 Virtual VDI parameters

2316

2317

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

2318

2319

== **Port filtering time** ==

2320

2321

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.

2322

2323

(% class="table-bordered" %)

2324

|(% 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**

2325

|(% 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"]]

2326

|(% 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"]]

2327

2328

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.

2333

2334

Take the DO_2 terminal as communication VDO, and the use steps of VDI are as the figure below.

2335

2336

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

2337

[[image:image-20220608173957-48.png]]

2338

2339

Figure 6-52 VDO_2 setting steps

2340

2341

(% class="table-bordered" %)

2342

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

2343

**Setting method**

2344

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

2345

**Effective time**

2346

)))|(% 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**

2347

|(% 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" %)-

2354

|(% 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" %)-

2361

|(% 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" %)-

2368

|(% 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" %)-

2375

2376

Table 6-59 Communication control DO function parameters

2377

2378

(% class="table-bordered" %)

2379

|(% 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**

2380

|(% 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

2381

|(% 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

2382

|(% 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

2383

|(% 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

2384

2385

Table 6-60 VDO function number

2386

2387

✎**Note:** You are advised to configure function codes for DO terminals in sequence to avoid errors during DO signal observation

2388

2389

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).

2390

2391

== **Motor overload protection** ==

2392

2393

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%.

2394

2395

(% class="table-bordered" %)

2396

|(% 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" %)(((

2397

**Setting method**

2398

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

2399

**Effective time**

2400

)))|(% 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**

2401

|(% 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" %)(((

2402

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.

2403

2404

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

2405

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

2406

2407

In the following cases, it could be modified according to the actual heat generation of the motor

2408

2409

1. The motor works in a place with high ambient temperature

2410

1. The motor runs in cycle circulates, and the single running cycle is short and the acceleration and deceleration is frequent.

2411

2412

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).

2413

2414

✎**Note:** You are advised to configure function codes for DO terminals in sequence to avoid errors

2415

2416

Please use the shielded overload protection fault detection function with caution, otherwise it will cause burn out the motor.

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