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Wiki source code of 06 Operation

Version 3.1 by Iris on 2026/04/17 11:26
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1 = **Basic settings** =
2
3 == **Check before operation** ==
4
5 |=(% scope="row" style="width: 79px;" %)**No.**|=(% style="width: 996px;" %)**Content**
6 |=(% colspan="2" %)Wiring
7 |=(% style="width: 79px;" %)1|(% style="width:996px" %)The main circuit input terminals (L1, L2 and L3) of servo drive must be properly connected.
8 |=(% style="width: 79px;" %)2|(% style="width:996px" %)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.
9 |=(% style="width: 79px;" %)3|(% style="width:996px" %)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.
10 |=(% style="width: 79px;" %)4|(% style="width:996px" %)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.
11 |=(% style="width: 79px;" %)5|(% style="width:996px" %)Servo drive and servo motor must be grounded reliably.
12 |=(% style="width: 79px;" %)6|(% style="width:996px" %)When using an external braking resistor, the short wiring between drive C and D must be removed.
13 |=(% style="width: 79px;" %)7|(% style="width:996px" %)The force of all cables is within the specified range.
14 |=(% style="width: 79px;" %)8|(% style="width:996px" %)The wiring terminals have been insulated.
15 |=(% colspan="2" %)Environment and Machinery
16 |=(% style="width: 79px;" %)1|(% style="width:996px" %)There is no iron filings, metal, etc. that can cause short circuits inside or outside the servo drive.
17 |=(% style="width: 79px;" %)2|(% style="width:996px" %)The servo drive and external braking resistor are not placed on combustible objects.
18 |=(% style="width: 79px;" %)3|(% style="width:996px" %)The installation, shaft and mechanical structure of the servo motor have been firmly connected.
19
20 Table 6-1 Check contents before operation
21
22 == Power-on ==
23
24 **Connect the main circuit power supply**
25
26 After powering 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.
27
28 If the drive panel displays other fault codes, please refer to __[[“10 Malfunctions">>doc:Servo.Manual.02 VD2 SA Series.10 Malfunctions.WebHome]]__” to analyze and eliminate the cause of the fault.
29
30 **Set the servo drive enable (S-ON) to invalid (OFF)**
31
32 == Jog operation ==
33
34 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.
35
36 **Panel jog operation**
37
38 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">>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/05%20Panel/#HJogoperation]]__.
39
40 **Jog operation of servo debugging platform**
41
42 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.
43
44 |=(% scope="row" %)**Function code**|=**Name**|=(((
45 **Setting method**
46 )))|=(((
47 **Effective time**
48 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
49 |=(((
50 P10-01
51 )))|(((
52 JOG speed
53 )))|(((
54 Operation setting
55 )))|(((
56 Effective immediately
57 )))|(((
58 100
59 )))|(((
60 0 to 3000
61 )))|(((
62 JOG speed
63 )))|(((
64 rpm
65 )))
66
67 Table 6-2 JOG speed parameter
68
69 == **Rotation direction selection** ==
70
71 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.
72
73 (% class="table-bordered" style="margin-left:auto; margin-right:auto" %)
74 |=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=Effective time|=**Default value**|=**Range**|=**Definition**|=**Unit**
75 |=(((
76 P00-04
77 )))|(((
78 Rotation direction
79 )))|(((
80 Shutdown setting
81 )))|(((
82 Effective immediately
83 )))|(((
84 0
85 )))|(((
86 0 to 2
87 )))|(((
88 Forward rotation: Face the motor shaft to watch
89
90 0: standard setting (CW is forward rotation)
91
92 1: reverse mode (CCW is forward rotation)
93
94 2:reverse mode (CCW is forward rotation),set P1-12,P1-17 to limit the speed in CCW direction; set P1-13,P1-18 to limit the speed in CCW direction.
95
96 **✎Note: VD2L driver P0-04 setting range: 0~~1, P00-4=2 is not supported!**
97 )))|-
98
99 Table 6-3 Rotation direction parameters** **
100
101 == **Braking resistor** ==
102
103 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.
104
105 The basis for judging whether the braking resistor is built-in or external.
106
107 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.
108 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.
109
110 |=(% scope="row" %)**Function code**|=**Name**|=(% style="width: 118px;" %)(((
111 **Setting method**
112 )))|=(% style="width: 126px;" %)(((
113 **Effective time**
114 )))|=**Default**|=**Range**|=**Definition**|=**Unit**
115 |=P00-09|Braking resistor setting|(% style="width:118px" %)(((
116 Operation setting
117 )))|(% style="width:126px" %)(((
118 Effective immediately
119 )))|0|0 to 3|(((
120 0: use built-in braking resistor
121
122 1: use external braking resistor and natural cooling
123
124 2: use external braking resistor and forced air cooling; (cannot be set)
125
126 3: No braking resistor is used, it is all absorbed by capacitor.
127 )))|-
128 (% class="info" %)|(% colspan="8" scope="row" %)✎**Note: **VD2-010SA1G、VD2F-003SA1P、VD2F-010SA1P、VD2L-003SA1P、VD2L-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).
129 |=P00-10|External braking resistor value|(% style="width:118px" %)(((
130 Operation setting
131 )))|(% style="width:126px" %)(((
132 Effective immediately
133 )))|50|0 to 65535|It is used to set the external braking resistor value of a certain type of drive.|Ω
134 |=P00-11|External braking resistor power|(% style="width:118px" %)(((
135 Operation setting
136 )))|(% style="width:126px" %)(((
137 Effective immediately
138 )))|100|0 to 65535|It is used to set the external braking resistor power of a certain type of drive.|W
139
140 Table 6-4 Braking resistor parameters
141
142 == **Servo operation** ==
143
144 **Set the servo enable (S-ON) to valid (ON)**
145
146 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.
147
148 S-ON can be configured and selected by the DI terminal function selection of the function code "DIDO configuration".
149
150 **Input the instruction and the motor rotates**
151
152 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"__>>doc:Servo.Manual.02 VD2 SA Series.07 Adjustments.WebHome]], the motor could work as expected.
153
154 **Timing diagram of power on**
155
156 (% style="text-align:center" %)
157 (((
158 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
159 [[**Figure 6-1 Timing diagram of power on**>>image:image-20220608163014-1.png||id="Iimage-20220608163014-1.png"]]
160 )))
161
162 == Servo shutdown ==
163
164 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__. According to the shutdown status, it could be divided into free running state and position locked, as shown in __Table 6-6__.
165
166 |=(% scope="row" style="width: 150px;" %)Shutdown mode|=(% style="width: 532px;" %)Shutdown description|=(% style="width: 393px;" %)Shutdown characteristics
167 |=(% style="width: 150px;" %)Free stop|(% style="width:532px" %)Servo motor is not energized and decelerates freely to 0. The deceleration time is affected by factors such as mechanical inertia and mechanical friction.|(% style="width:393px" %)Smooth deceleration, small mechanical shock, but slow deceleration process.
168 |=(% style="width: 150px;" %)Zero-speed shutdown|(% style="width:532px" %)The servo drive outputs reverse braking torque, and the motor quickly decelerates to zero-speed.|(% style="width:393px" %)Rapid deceleration with mechanical shock, but fast deceleration process.
169
170 Table 6-5 Comparison of two shutdown modes
171
172 |=(% scope="row" style="width: 151px;" %)**Shutdown status**|=(% style="width: 532px;" %)**Free operation status**|=(% style="width: 392px;" %)**Position locked**
173 |=(% style="width: 151px;" %)Characteristics|(% style="width:532px" %)After the motor stops rotating, it is power-off, and the motor shaft can rotate freely.|(% style="width:392px" %)After the motor stops rotating, the motor shaft is locked and could not rotate freely.
174
175 Table 6-6 Comparison of two shutdown status
176
177 **Servo enable (S-ON) OFF shutdown**
178
179 The related parameters of the servo OFF shutdown mode are shown in the table below.
180
181 |=(% scope="row" style="width: 94px;" %)**Function code**|=(% style="width: 180px;" %)**Name**|=(% style="width: 119px;" %)(((
182 **Setting method**
183 )))|=(% style="width: 134px;" %)(((
184 **Effective time**
185 )))|=(% style="width: 86px;" %)(((
186 **Default value**
187 )))|=(% style="width: 70px;" %)**Range**|=(% style="width: 347px;" %)**Definition**|=**Unit**
188 |=(% style="width: 94px;" %)P00-05|(% style="width:180px" %)Servo OFF shutdown|(% style="width:119px" %)(((
189 Shutdown
190
191 setting
192 )))|(% style="width:134px" %)(((
193 Effective
194
195 immediately
196 )))|(% style="width:86px" %)0|(% style="width:70px" %)0 to 1|(% style="width:347px" %)(((
197 0: Free stop, and the motor shaft remains free status.
198
199 1: Zero-speed stop, and the motor axis remains free status.
200 )))|-
201
202 Table 6-7 Servo OFF shutdown mode parameters details
203
204 **Emergency shutdown**
205
206 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". The V1.18 firmware version adds the Estop stop time setting function. In some occasions where the servo needs to control the emergency stop of the motor, it is necessary to control the emergency stop time of the DI. Therefore, the P01-05 shutdown deceleration time function is added to deal with this situation.
207
208 Estop mode 1 (deceleration stop):
209
210 ~1. Configurate DI function code: 8 [ESTOP]
211
212 2. Set P1-5 shutdown deceleration time.
213
214 3. Trigger DI emergency shutdown.
215
216 4. Servo emergency shutdown and deceleration to zero speed.
217
218 Estop mode 2:
219
220 ~1. Configurate DI function code: 1 [Servo enable SON]
221
222 2. Set P1-05 shutdown deceleration time.
223
224 3. Set P0-05 Servo OFF shutdown mode: zero speed stop.
225
226 4. Trigger DI to turn off servo enable SON.
227
228 5.Servo enable turns off and stops and decelerates to zero speed.
229
230 |Function code|Name|(((
231 Setting
232
233 method
234 )))|(((
235 Effective
236
237 time
238 )))|Default|Range|Definition|Unit
239 |P01-05|Shutdown deceleration time|(((
240 Shutdown
241
242 setting
243 )))|(((
244 immediately
245
246 Effective
247 )))|50|0 to 65535|The time for the speed command to decelerate from 1000rpm to 0|ms
248
249 Table 6-8 Downtime deceleration time parameter details
250
251 **Overtravel shutdown**
252
253 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.
254
255 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.
256
257 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.
258
259 |=(% scope="row" style="width: 89px;" %)**Function code**|=(% style="width: 135px;" %)**Name**|=(% style="width: 122px;" %)(((
260 **Setting method**
261 )))|=(% style="width: 114px;" %)(((
262 **Effective time**
263 )))|=(% style="width: 106px;" %)**Default value**|=(% style="width: 84px;" %)**Range**|=(% style="width: 380px;" %)**Definition**|=**Unit**
264 |=(% style="width: 89px;" %)P06-08|(% style="width:135px" %)DI_3 channel function selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)Power-on again|(% style="width:106px" %)3|(% style="width:84px" %)0 to 32|(% style="width:380px" %)(((
265 0: OFF (not used)
266
267 01: S-ON servo enable
268
269 02: A-CLR fault and Warning Clear
270
271 03: POT forward drive prohibition
272
273 04: NOT Reverse drive prohibition
274
275 05: ZCLAMP Zero speed
276
277 06: CL Clear deviation counter
278
279 07: C-SIGN Inverted instruction
280
281 08: E-STOP Emergency stop
282
283 09: GEAR-SEL Electronic Gear Switch 1
284
285 10: GAIN-SEL gain switch
286
287 11: INH Instruction pulse prohibited input
288
289 12: VSSEL Vibration control switch input
290
291 13: INSPD1 Internal speed instruction selection 1
292
293 14: INSPD2 Internal speed instruction selection 2
294
295 15: INSPD3 Internal speedinstruction selection 3
296
297 16: J-SEL inertia ratio switch (not implemented yet)
298
299 17: MixModesel mixed mode selection
300
301 20: Internal multi-segment position enable signal
302
303 21: Internal multi-segment position selection 1
304
305 22: Internal multi-segment position selection 2
306
307 23: Internal multi-segment position selection 3
308
309 24: Internal multi-segment position selection 4
310
311 Others: reserved
312 )))|-
313 |=(% style="width: 89px;" %)P06-09|(% style="width:135px" %)DI_3 channel logic selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
314 Effective immediately
315 )))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
316 DI port input logic validity function selection.
317
318 0: Normally open input. Low level valid (switch on);
319
320 1: Normally closed input. High level valid (switch off);
321 )))|-
322 |=(% style="width: 89px;" %)P06-10|(% style="width:135px" %)DI_3 input source selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
323 Effective immediately
324 )))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
325 Select the DI_3 port type to enable
326
327 0: Hardware DI_3 input terminal
328
329 1: Virtual VDI_3 input terminal
330 )))|-
331 |=(% style="width: 89px;" %)P06-11|(% style="width:135px" %)DI_4 channel function selection|(% style="width:122px" %)(((
332 Operation setting
333 )))|(% style="width:114px" %)(((
334 Power-on again
335 )))|(% style="width:106px" %)4|(% style="width:84px" %)0 to 32|(% style="width:380px" %)(((
336 0: OFF (not used)
337
338 01: SON Servo enable
339
340 02: A-CLR Fault and Warning Clear
341
342 03: POT Forward drive prohibition
343
344 04: NOT Reverse drive prohibition
345
346 05: ZCLAMP Zero speed
347
348 06: CL Clear deviation counter
349
350 07: C-SIGN Inverted instruction
351
352 08: E-STOP Emergency shutdown
353
354 09: GEAR-SEL Electronic Gear Switch 1
355
356 10: GAIN-SEL gain switch
357
358 11: INH Instruction pulse prohibited input
359
360 12: VSSEL Vibration control switch input
361
362 13: INSPD1 Internal speed instruction selection 1
363
364 14: INSPD2 Internal speed instruction selection 2
365
366 15: INSPD3 Internal speed instruction selection 3
367
368 16: J-SEL inertia ratio switch (not implemented yet)
369
370 17: MixModesel mixed mode selection
371
372 20: Internal multi-segment position enable signal
373
374 21: Internal multi-segment position selection 1
375
376 22: Internal multi-segment position selection 2
377
378 23: Internal multi-segment position selection 3
379
380 24: Internal multi-segment position selection 4
381
382 Others: reserved
383 )))|-
384 |=(% style="width: 89px;" %)P06-12|(% style="width:135px" %)DI_4 channel logic selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
385 Effective immediately
386 )))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
387 DI port input logic validity function selection.
388
389 0: Normally open input. Low level valid (switch on);
390
391 1: Normally closed input. High level valid (switch off);
392 )))|-
393 |=(% style="width: 89px;" %)P06-13|(% style="width:135px" %)DI_4 input source selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
394 Effective immediately
395 )))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
396 Select the DI_4 port type to enable
397
398 0: Hardware DI_4 input terminal
399
400 1: Virtual VDI_4 input terminal
401 )))|-
402
403 Table 6-9 DI3 and DI4 channel parameters
404
405 **(4) Malfunction shutdown**
406
407 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.
408
409 == Brake device ==
410
411 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.
412
413 (% class="warning" %)|(((
414 (% style="text-align:center" %)
415 [[image:image-20220611151617-1.png]]
416 )))
417 |(((
418 ✎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;
419
420 ✎ After the servo motor stops, turn off the servo enable (S-ON) in time;
421
422 ✎The brake coil has no polarity;
423
424 ✎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!
425
426 ✎When the motor with built-in brake is in operation, the brake device may make a clicking sound, which does not affect the function.
427 )))
428
429 **Wiring of brake device**
430
431 The brake input signal has no polarity. User 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)
432
433
434 (% style="text-align:center" %)
435 (((
436 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
437 [[**Figure 6-2 VD2B servo drive brake wiring**>>image:image-20220608163136-2.png||id="Iimage-20220608163136-2.png"]]
438 )))
439
440 (% class="warning" %)|(((
441 (% style="text-align:center" %)
442 [[image:image-20220611151642-2.png]]
443 )))
444 |(((
445 ✎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.
446
447 ✎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.
448
449 ✎It is recommended to use cables above 0.5 mm².
450 )))
451
452 **Brake software setting**
453
454 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.
455
456 Related function code is as below.
457
458 |=(% scope="row" %)**DO function code**|=(% style="width: 241px;" %)**Function name**|=(% style="width: 458px;" %)**Function**|=(% style="width: 191px;" %)(((
459 **Effective time**
460 )))
461 |=141|(% style="width:241px" %)(((
462 BRK-OFF Brake output
463 )))|(% style="width:458px" %)Output the signal indicates the servo motor brake release|(% style="width:191px" %)Power-on again
464
465 |=(% scope="row" %)**Function code**|=**Name**|=(((
466 **Setting method**
467 )))|=(((
468 **Effective time**
469 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
470 |=P1-30|Delay from brake output to instruction reception|(((
471 Operation setting
472 )))|Effective immediately|250|0 to 500|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.|ms
473 |=P1-31|In static state, delay from brake output OFF to the motor is power off|(((
474 Operation setting
475 )))|Effective immediately|150|1 to 1000|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.|ms
476 |=P1-32|Rotation status, when the brake output OFF, the speed threshold|(((
477 Operation setting
478 )))|Effective immediately|30|0 to 3000|(((
479 When the motor rotates, the motor speed threshold when the brake (BRK-OFF) is allowed to output OFF.
480
481 When the brake output (BRK-OFF) is not allocated, this function code has no effect.
482 )))|rpm
483 |=P1-33|Rotation status, Delay from servo enable OFF to brake output OFF|(((
484 Operation setting
485 )))|Effective immediately|500|1 to 1000|(((
486 When the motor rotates, the delay time from the servo enable (S-ON) OFF to the brake (BRK-OFF) output OFF is allowed.
487
488 When brake output (BRK-OFF) is not allocated, this function code has no effect.
489 )))|ms
490
491 Table 6-10 Relevant function codes for brake setting
492
493 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.
494
495 **Servo drive brake timing in normal state**
496
497 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).
498
499 * Brake timing when servo motor is stationary
500
501 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__
502
503 (% class="warning" %)|(((
504 (% style="text-align:center" %)
505 [[image:image-20220611151705-3.png]]
506 )))
507 |(((
508 ✎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.
509
510 ✎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.
511 )))
512
513 (% style="text-align:center" %)
514 (((
515 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
516 [[**Figure 6-3 Brake Timing of when the motor is stationary**>>image:image-20220608163304-3.png||id="Iimage-20220608163304-3.png"]]
517 )))
518
519 (% class="box infomessage" %)
520 (((
521 ✎**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.
522 )))
523
524 * The brake timing when servo motor rotates
525
526 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__.
527
528 (% class="warning" %)|(((
529 (% style="text-align:center" %)
530 [[image:image-20220611151719-4.png]]
531 )))
532 |(((
533 ✎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.
534
535 ✎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:
536
537 P01-33 time has not arrived, but the motor has decelerated to the speed set by P01-32;
538
539 P01-33 time is up, but the motor speed is still higher than the set value of P01-32.
540
541 ✎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.
542 )))
543
544 (% style="text-align:center" %)
545 (((
546 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
547 [[**Figure 6-4 Brake timing when the motor rotates**>>image:image-20220608163425-4.png||id="Iimage-20220608163425-4.png"]]
548 )))
549
550 **Brake timing when the servo drive fails**
551
552 The brake timing (free shutdown) in the fault status is as follows.
553
554 (% style="text-align:center" %)
555 (((
556 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
557 [[**~~ Figure 6-5 The brake timing (free shutdown) in the fault state**>>image:image-20220608163541-5.png||id="Iimage-20220608163541-5.png"]]
558 )))
559
560 **✎Note**: The "delay arrival" of the brake signal is about 20ms, and the actual parameter is subject to the motor manufacturer
561
562 = **Position control mode** =
563
564 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.
565
566 (% style="text-align:center" %)
567 (((
568 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
569 [[**Figure 6-6 Position control diagram**>>image:image-20220608163643-6.png||id="Iimage-20220608163643-6.png"]]
570 )))
571
572 Set “P00-01” to 1 by the software “Wecon SCTool”, and the servo drive is in position control mode.
573
574 |=(% scope="row" style="width: 123px;" %)**Function code**|=(% style="width: 134px;" %)**Name**|=(((
575 **Setting method**
576 )))|=(((
577 **Effective time**
578 )))|=(% style="width: 116px;" %)**Default value**|=(% style="width: 118px;" %)**Range**|=(% style="width: 389px;" %)**Definition**|=(% style="width: 151px;" %)**Unit**
579 |=(% style="width: 123px;" %)P00-01|(% style="width:134px" %)Control mode|(((
580 Operation setting
581 )))|(((
582 immediately Effective
583 )))|(% style="width:116px" %)1|(% style="width:118px" %)1 to 6|(% style="width:389px" %)(((
584 1: position control
585
586 2: speed control
587
588 3: torque control
589
590 4: position/speed mix control
591
592 5: position/torque mix control
593
594 6: speed /torque mix control
595
596 VD2L drive P00-01 setting range: 1-3, not supprt mix mode
597 )))|(% style="width:151px" %)-
598
599 Table 6-11 Control mode parameters
600
601 == Position instruction input setting ==
602
603 When the VD2 series servo drive is in position control mode, firstly set the position instruction source through the function code “P01-06”.
604
605 |=(% scope="row" %)**Function code**|=**Name**|=(((
606 **Setting method**
607 )))|=(((
608 **Effective time**
609 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
610 |=P01-06|Position instruction source|(((
611 Operation setting
612 )))|(((
613 immediately Effective
614 )))|0|0 to 1|(((
615 0: pulse instruction
616
617 1: internal position instruction
618 )))|-
619
620 Table 6-12 Position instruction source parameter
621
622 **The source of position instruction is pulse instruction (P01-06=0)**
623
624 Low-speed pulse instruction input
625
626 |(% style="text-align:center" %)(((
627 (% class="wikigeneratedid" %)
628 [[VD2A, VD2B and VD2C servo drives>>image:image-20220804160519-1.jpeg||id="Iimage-20220804160519-1.jpeg"]]
629 )))|(% style="text-align:center" %)(((
630 (% class="wikigeneratedid" %)
631 [[VD2F and VD2L servo drive>>image:image-20220804160624-2.jpeg||id="Iimage-20220804160624-2.jpeg"]]
632 )))
633 |(% colspan="2" %)Figure 6-7 Position instruction input setting
634
635 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__.
636
637 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.
638
639 |=(% scope="row" %)**Pulse method**|=(% style="width: 372px;" %)**Maximum frequency**|=(% style="width: 260px;" %)**Voltage**
640 |=Open collector input|(% style="width:372px" %)200K|(% style="width:260px" %)24V
641 |=Differential input|(% style="width:372px" %)500K|(% style="width:260px" %)5V
642
643 Table 6-13 Pulse input specifications
644
645 * Differential input
646
647 Take VD2A , VD2B and VD2C  drive as examples, the connection of differential input is shown as below.
648
649 (% style="text-align:center" %)
650 (((
651 (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:583px;" %)
652 [[**Figure 6-8 Differential input connection**>>image:image-20220707092615-5.jpeg||height="306" id="Iimage-20220707092615-5.jpeg" width="583"]]
653 )))
654
655 (% class="box infomessage" %)
656 (((
657 ✎**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>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/04%20Wiring/#HPositioninstructioninputsignal]]__”
658 )))
659
660 * Open collector input
661
662 Take VD2A, VD2B and VD2C drive as examples, the connection of differential input is shown as below.
663
664 (% style="text-align:center" %)
665 (((
666 (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:679px;" %)
667 [[**Figure 6-9 Open collector input connection**>>image:image-20220707092401-3.jpeg||height="432" id="Iimage-20220707092401-3.jpeg" width="679"]]
668 )))
669
670
671 (% class="box infomessage" %)
672 (((
673 ✎**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>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/04%20Wiring/#HPositioninstructioninputsignal]]__”
674 )))
675
676 * Position pulse frequency and anti-interference level
677
678 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.
679
680 (% style="text-align:center" %)
681 (((
682 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
683 [[**Figure 6-10 Example of filtered signal waveform**>>image:image-20220608163952-8.png||id="Iimage-20220608163952-8.png"]]
684 )))
685
686 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 in Table 6-14.
687
688 **✎Note:**The parameter of VD2L P00-14 is different from other models in the VD2 series.
689
690 |=**Function code**|=(% style="width: 169px;" %)**Name**|=(% style="width: 146px;" %)(((
691 **Setting method**
692 )))|=(((
693 **Effective time**
694 )))|=**Default value**|=(% style="width: 87px;" %)**Range**|=(% colspan="2" style="width: 296px;" %)**Definition**|=**Unit**
695 |(% rowspan="3" %)P00-14|(% rowspan="3" style="width:169px" %)Position pulse anti-interference level|(% rowspan="3" style="width:146px" %)(((
696 Operation setting
697 )))|(% rowspan="3" %)(((
698 Power-on again
699 )))|(% rowspan="3" %)2|(% rowspan="3" style="width:87px" %)0 to 9|(% colspan="2" style="width:296px" %)(((
700 Set the anti-interference level of external pulse instruction.
701
702 0: no filtering;
703
704 1: Filtering time 128ns
705
706 2: Filtering time 256ns
707
708 3: Filtering time 512ns
709
710 4: Filtering time 1.024us
711
712 5: Filtering time 2.048us
713
714 6: Filtering time 4.096us
715
716 7: Filtering time 8.192us
717
718 8: Filtering time 16.384us
719
720 9:
721
722 VD2: Filtering time 32.768us
723
724 VD2F: Filtering time 25.5us
725 )))|(% rowspan="3" %)-
726
727 Table 6-14 Position pulse frequency and anti-interference level parameters
728
729 |**Function code**|**Name**|(((
730 **Setting**
731
732 **method**
733 )))|(((
734 **Effective**
735
736 **time**
737 )))|**Default value**|**Range**|**Definition**|**Unit**
738 |P00-14|Position pulse anti-interference level|(((
739 Operation
740
741 setting
742 )))|(((
743 Power-on
744
745 again
746 )))|3|0 to 8|(((
747 VD2L drive set the anti-interference level of external pulse instruction.
748
749 0: no filtering;
750
751 1: Filtering time 111.1ns
752
753 2: Filtering time 222.2ns
754
755 3: Filtering time 444.4ns
756
757 4: Filtering time 888.8ns
758
759 5: Filtering time 1777.7ns
760
761 6: Filtering time 3555.5ns
762
763 7: Filtering time 7111.7ns
764
765 8: Filtering time 14222.2ns
766
767
768 )))|-
769
770 Table 6-15 VD2L Position pulse frequency and anti-interference level parameters
771
772
773 * Position pulse type selection
774
775 In VD2 series servo drives, there are three types of input pulse instructions, and the related function codes are shown in the table below.
776
777 |=(% scope="row" %)**Function code**|=(% style="width: 144px;" %)**Name**|=(% style="width: 110px;" %)(((
778 **Setting method**
779 )))|=(% style="width: 109px;" %)(((
780 **Effective time**
781 )))|=(% style="width: 77px;" %)**Default value**|=(% style="width: 74px;" %)**Range**|=(% style="width: 412px;" %)**Definition**|=**Unit**
782 |=P00-12|(% style="width:144px" %)Position pulse type selection|(% style="width:110px" %)(((
783 Operation setting
784 )))|(% style="width:109px" %)(((
785 Power-on again
786 )))|(% style="width:77px" %)0|(% style="width:74px" %)0 to 5|(% style="width:412px" %)(((
787 0: direction + pulse (positive logic)
788
789 1: CW/CCW
790
791 2: A, B phase quadrature pulse (4 times frequency)
792
793 3: Direction + pulse (negative logic)
794
795 4: CW/CCW (negative logic)
796
797 5: A, B phase quadrature pulse (4 times frequency negative logic)
798
799 **✎Note: VD2F and VD2L series drivers do not support the pulse form of CW/CCW! P0-12 parameter setting range of VD2L: 0, 2, 3, 5**
800 )))|-
801
802 Table 6-16 Position pulse type selection parameter
803
804 |=(% scope="row" %)**Pulse type selection**|=(% style="width: 200px;" %)**Pulse type**|=(% style="width: 161px;" %)**Signal**|=**Schematic diagram of forward pulse**|=**Schematic diagram of negative pulse**
805 |=0|(% style="width:200px" %)(((
806 Direction + pulse
807
808 (Positive logic)
809 )))|(% style="width:161px" %)(((
810 PULSE
811
812 SIGN
813 )))|[[image:image-20220707094340-6.jpeg]]|[[image:image-20220707094345-7.jpeg]]
814 |=1|(% style="width:200px" %)CW/CCW|(% style="width:161px" %)(((
815 PULSE (CW)
816
817 SIGN (CCW)
818 )))|(% colspan="2" %)[[image:image-20220707094351-8.jpeg]]
819 |=2|(% style="width:200px" %)(((
820 AB phase orthogonal
821
822 pulse (4 times frequency)
823 )))|(% style="width:161px" %)(((
824 PULSE (Phase A)
825
826 SIGN (Phase B)
827 )))|(((
828
829
830 [[image:image-20220707094358-9.jpeg]]
831
832 Phase A is 90° ahead of Phase B
833 )))|(((
834
835
836 [[image:image-20220707094407-10.jpeg]]
837
838 Phase B is 90° ahead of Phase A
839 )))
840 |=3|(% style="width:200px" %)(((
841 Direction + pulse
842
843 (Negative logic)
844 )))|(% style="width:161px" %)(((
845 PULSE
846
847 SIGN
848 )))|[[image:image-20220707094414-11.jpeg]]|[[image:image-20220707094418-12.jpeg]]
849 |=4|(% style="width:200px" %)(((
850 CW/CCW
851
852 (Negative logic)
853 )))|(% style="width:161px" %)(((
854 PULSE (CW)
855
856 SIGN (CCW)
857 )))|(% colspan="2" %)[[image:image-20220707094423-13.jpeg]]
858 |=5|(% style="width:200px" %)(((
859 AB phase orthogonal
860
861 pulse (4 times frequency negative logic)
862 )))|(% style="width:161px" %)(((
863 PULSE (Phase A)
864
865 SIGN (Phase B)
866 )))|(((
867
868
869 [[image:image-20220707094429-14.jpeg]]
870
871 Phase B is ahead of A phase by 90°
872 )))|(((
873
874
875 [[image:image-20220707094437-15.jpeg]]
876
877 Phase A is ahead of B phase by 90°
878 )))
879
880 Table 6-17 Pulse description
881
882 **The source of position instruction is internal position instruction (P01-06=1)**
883
884 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__.
885
886 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.
887
888 (% style="text-align:center" %)
889 (((
890 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
891 [[**Figure 6-11 The setting process of multi-segment position**>>image:image-20220608164116-9.png||id="Iimage-20220608164116-9.png"]]
892 )))
893
894
895 * Set multi-segment position running mode
896
897 |=(% scope="row" %)**Function code**|=**Name**|=(((
898 **Setting method**
899 )))|=(((
900 **Effective time**
901 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
902 |=P07-01|Multi-segment position running mode|(((
903 Shutdown setting
904 )))|(((
905 Effective immediately
906 )))|0|0 to 2|(((
907 0: Single running
908
909 1: Cycle running
910
911 2: DI switching running
912
913 3: Run continuously
914 )))|-
915 |=P07-02|Start segment number|(((
916 Shutdown setting
917 )))|(((
918 Effective immediately
919 )))|1|1 to 16|1st segment NO. in non-DI switching mode|-
920 |=P07-03|End segment number|(((
921 Shutdown setting
922 )))|(((
923 Effective immediately
924 )))|1|1 to 16|last segment NO. in non-DI switching mode|-
925 |=P07-04|Remaining segment handling method|(((
926 Shutdown setting
927 )))|(((
928 Effective immediately
929 )))|0|0 to 1|(((
930 0: Run the remaining segments
931
932 1: Run again from the start segment
933 )))|-
934 |=P07-05|Displacement instruction type|(((
935 Shutdown setting
936 )))|(((
937 Effective immediately
938 )))|0|0 to 1|(((
939 (% id="cke_bm_79356S" style="display:none" %) (%%)0: Relative position instruction
940
941 1: Absolute position instruction(% id="cke_bm_79356E" style="display:none" %)
942 )))|-
943
944 Table 6-18 multi-segment position running mode parameters
945
946 VD2 series servo drive has three multi-segment position running modes, and you could select the best running mode according to the site requirements.
947
948 1. Single running
949
950 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__, and S1 and S2 are the displacements of the 1st segment and the 2nd segment respectively
951
952 (% style="text-align:center" %)
953 (((
954 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
955 [[**Figure 6-12 Single running curve (P07-02=1, P07-03=2)**>>image:image-20220608164226-10.png||id="Iimage-20220608164226-10.png"]]
956 )))
957
958 * 2. Cycle running
959
960 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>>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/image-20220608164327-11.png?rev=1.1]]__, and S1,S2,S3 and S4 are the displacements of the 1st, 2nd, 3rd and 4th segment respectively.
961
962 (% style="text-align:center" %)
963 (((
964 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
965 [[**Figure 6-13 Cycle running curve (P07-02=1, P07-03=4)**>>image:image-20220608164327-11.png||id="Iimage-20220608164327-11.png"]]
966 )))
967
968 (% class="warning" %)|(((
969 (% style="text-align:center" %)
970 [[image:image-20220611151917-5.png]]
971 )))
972 |In single running and cycle running mode, the setting value of P07-03 needs to be greater than the setting value of P07-02.
973
974 (% start="3" %)
975 1. DI switching running
976
977 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.
978
979 |=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
980 |=21|INPOS1: Internal multi-segment position segment selection 1|Form internal multi-segment position running segment number
981 |=22|INPOS2: Internal multi-segment position segment selection 2|Form internal multi-segment position running segment number
982 |=23|INPOS3: Internal multi-segment position segment selection 3|Form internal multi-segment position running segment number
983 |=24|INPOS4: Internal multi-segment position segment selection 4|Form internal multi-segment position running segment number
984
985 Table 6-19 DI function code
986
987 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.
988
989 |=(% scope="row" %)**INPOS4**|=**INPOS3**|=**INPOS2**|=**INPOS1**|=**Running position number**
990 |=0|0|0|0|1
991 |=0|0|0|1|2
992 |=0|0|1|0|3
993 |=0|0|1|1|4
994 |=0|1|0|0|5
995 |=0|1|0|1|6
996 |=0|1|1|0|7
997 |=0|1|1|1|8
998 |=1|0|0|0|9
999 |=1|0|0|1|10
1000 |=1|0|1|0|11
1001 |=1|0|1|1|12
1002 |=1|1|0|0|13
1003 |=1|1|0|1|14
1004 |=1|1|1|0|15
1005 |=1|1|1|1|16
1006
1007 Table 6-20 INPOS corresponds to running segment number
1008
1009 The operating curve in this running mode is shown in __Figure 6-14__.
1010
1011 (% style="text-align:center" %)
1012 (((
1013 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1014 [[**Figure 6-14 DI switching running curve**>>image:image-20220608164545-12.png||id="Iimage-20220608164545-12.png"]]
1015 )))
1016
1017 VD2 series servo drives have two remaining segment handling method: run the remaining segments and run from the start segment again. The related function code is P07-04.
1018
1019 **Run the remaining segments**
1020
1021 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>>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/image-20220608164847-13.png?rev=1.1]]__ and __[[Figure 6-16>>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/image-20220608165032-14.png?rev=1.1]]__ respectively.
1022
1023 (% style="text-align:center" %)
1024 (((
1025 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1026 [[**Figure 6-15 Single running-run the remaining segments (P07-02=1, P07-03=4)**>>image:image-20220608164847-13.png||id="Iimage-20220608164847-13.png"]]
1027 )))
1028
1029 (% style="text-align:center" %)
1030 (((
1031 (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:734px;" %)
1032 [[**Figure 6-16 Cycle running-run the remaining segment (P07-02=1, P07-03=4)**>>image:image-20220608165032-14.png||height="285" id="Iimage-20220608165032-14.png" width="734"]]
1033 )))
1034
1035 **Run again from the start segment**
1036
1037 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__ and __Figure 6-18__ respectively.
1038
1039 (% style="text-align:center" %)
1040 (((
1041 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1042 [[**Figure 6-17 Single running-run from the start segment again (P07-02=1, P07-03=4)**>>image:image-20220608165343-15.png||id="Iimage-20220608165343-15.png"]]
1043 )))
1044
1045 (% style="text-align:center" %)
1046 (((
1047 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1048 [[**Figure 6-18 Cyclic running-run from the start segment again (P07-02=1, P07-03=4)**>>image:image-20220608165558-16.png||id="Iimage-20220608165558-16.png"]]
1049 )))
1050
1051 VD2 series servo drives have two types of displacement instructions: relative position instruction and absolute position instruction. The related function code is P07-05.
1052
1053 * Relative position instruction
1054
1055 The relative position instruction takes the current stop position of the motor as the start point and specifies the amount of displacement.
1056
1057 |(((
1058 (% style="text-align:center" %)
1059 (((
1060 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1061 [[**Figure 6-19 Relative position diagram**>>image:image-20220608165710-17.png||id="Iimage-20220608165710-17.png"]]
1062 )))
1063 )))|(((
1064 (% style="text-align:center" %)
1065 (((
1066 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1067 [[**Figure 6-20 Displacement diagram**>>image:image-20220608165749-18.png||id="Iimage-20220608165749-18.png"]]
1068 )))
1069 )))
1070
1071 * Absolute position instruction
1072
1073 The absolute position instruction takes "reference origin" as the zero point of absolute positioning, and specifies the amount of displacement.
1074
1075 |(((
1076 (% style="text-align:center" %)
1077 (((
1078 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1079 [[**Figure 6-21 Absolute indication**>>image:image-20220608165848-19.png||id="Iimage-20220608165848-19.png"]]
1080 )))
1081 )))|(((
1082 (% style="text-align:center" %)
1083 (((
1084 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1085 [[**Figure 6-22 Displacement**>>image:image-20220608170005-20.png||id="Iimage-20220608170005-20.png"]]
1086 )))
1087 )))
1088
1089 * Multi-segment position running curve setting
1090
1091 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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HPositioninstructioninputsetting]]-21__ are the related function codes of the 1st segment running curve.
1092
1093 |=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit**
1094 |=P07-09|(((
1095 1st segment
1096
1097 displacement
1098 )))|(((
1099 Operation setting
1100 )))|(((
1101 Effective immediately
1102 )))|10000|(((
1103 -2147483647 to
1104
1105 2147483646
1106 )))|Position instruction, positive and negative values could be set|-
1107 |=P07-10|Maximum speed of the 1st displacement|(((
1108 Operation setting
1109 )))|(((
1110 Effective immediately
1111 )))|100|1 to 5000|Steady-state running speed of the 1st segment|rpm
1112 |=P07-11|Acceleration and deceleration of 1st segment displacement|(((
1113 Operation setting
1114 )))|(((
1115 Effective immediately
1116 )))|100|1 to 65535|The time required for the acceleration and deceleration of the 1st segment|ms
1117 |=P07-12|Waiting time after completion of the 1st segment displacement|(((
1118 Operation setting
1119 )))|(((
1120 Effective immediately
1121 )))|100|1 to 65535|Delayed waiting time from the completion of the 1st segment to the start of the next segment|Set by P07-06
1122
1123 Table 6-21 The 1st position operation curve parameters table
1124
1125 After setting the above parameters, the actual operation curve of the motor is shown in Figure 6-23.
1126
1127 (% style="text-align:center" %)
1128 (((
1129 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1130 [[**Figure 6-23 The 1st segment running curve of motor**>>image:image-20220608170149-21.png||id="Iimage-20220608170149-21.png"]]
1131 )))
1132
1133
1134 * multi-segment position instruction enable
1135
1136 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.
1137
1138 |=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
1139 |=20|ENINPOS: Internal multi-segment position enable signal|(((
1140 DI port logic invalid: Does not affect the current operation of the servo motor.
1141
1142 DI port logic valid: Motor runs multi-segment position
1143 )))
1144
1145 (% style="text-align:center" %)
1146 [[image:image-20220611152020-6.png||class="img-thumbnail"]]
1147
1148 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!
1149
1150 == Electronic gear ratio ==
1151
1152 **Definition of electronic gear ratio**
1153
1154 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.
1155
1156 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.
1157
1158 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)
1159
1160 (% style="text-align:center" %)
1161 [[image:企业微信截图_17543857797694.png||alt="企业微信截图_17543857797694" class="img-thumbnail"]]
1162
1163 Otherwise, the servo drive will report Er.35: "Electronic gear ratio setting exceeds the limit"!
1164
1165 **Setting steps of electronic gear ratio**
1166
1167 (% style="text-align:center" %)
1168 (((
1169 (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:1021px;" %)
1170 [[**Figure 6-24 Setting steps of electronic gear ratio**>>image:image-20220707100850-20.jpeg||height="458" id="Iimage-20220707100850-20.jpeg" width="1021"]]
1171 )))
1172
1173 **lectronic gear ratio switch setting**
1174
1175 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.
1176
1177 |=(% scope="row" %)**Function code**|=**Name**|=(((
1178 **Setting method**
1179 )))|=(((
1180 **Effective time**
1181 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1182 |=P00-16|Number of instruction pulses when the motor rotates one circle|(((
1183 Shutdown setting
1184 )))|(((
1185 Effective immediately
1186 )))|10000|0 to 131072|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.|(((
1187 Instruction pulse
1188
1189 unit
1190 )))
1191 |=P00-17|(((
1192 Electronic gear 1
1193
1194 numerator
1195 )))|Operation setting|(((
1196 Effective immediately
1197 )))|1|1 to 4294967294|(((
1198 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.
1199
1200 **✎Note:**The setting range of VD2L is inconsistent with other models in the VD2 series.
1201 )))|-
1202 |=P00-18|(((
1203 Electronic gear 1
1204
1205 denominator
1206 )))|(((
1207 Operation setting
1208 )))|(((
1209 Effective immediately
1210 )))|1|1 to 4294967294|(((
1211 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.
1212
1213 **✎Note:**The setting range of VD2L is inconsistent with other models in the VD2 series.
1214 )))|-
1215 |=P00-19|(((
1216 Electronic gear 2
1217
1218 numerator
1219 )))|Operation setting|(((
1220 Effective immediately
1221 )))|1|1 to 4294967294|(((
1222 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.
1223
1224 **✎Note**:The setting range of VD2L is inconsistent with other models in the VD2 series.
1225
1226 For:1~~2147483647.
1227 )))|-
1228 |=P00-20|(((
1229 Electronic gear 2
1230
1231 denominator
1232 )))|Operation setting|(((
1233 Effective immediately
1234 )))|1|1 to 4294967294|(((
1235 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.
1236
1237 **✎Note:**The setting range of VD2L is inconsistent with other models in the VD2 series.
1238
1239 For:1~~2147483647.
1240 )))|-
1241
1242 Table 6-22 Electronic gear ratio function code
1243
1244 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.
1245
1246 |=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
1247 |=09|GEAR-SEL electronic gear switch 1|(((
1248 DI port logic invalid: electronic gear ratio 1
1249
1250 DI port logic valid: electronic gear ratio 2
1251 )))
1252
1253 Table 6-23. Switching conditions of electronic gear ratio group
1254
1255 |=(% style="width: 123px;" %)**P00-16 value**|=(% style="width: 351px;" %)**DI terminal level corresponding to DI port function 9**|=(% style="width: 400px;" %)**Electronic gear ratio**
1256 |(% rowspan="2" style="width:123px" %) 0|(% style="width:351px" %)DI port logic invalid|(% style="width:400px" %)(((
1257 (% style="text-align:center" %)
1258 [[image:image-20220707101328-21.png]]
1259 )))
1260 |(% style="width:351px" %)DI port logic valid|(% style="width:400px" %)(((
1261 (% style="text-align:center" %)
1262 [[image:image-20220707101336-22.png]]
1263 )))
1264 |(% style="width:123px" %)1 to 131072|(% style="width:351px" %)~-~-|(% style="width:400px" %)(((
1265 (% style="text-align:center" %)
1266 [[image:image-20220707101341-23.png]]
1267 )))
1268
1269 Table 6-24 Application of electronic gear ratio
1270
1271 When the function code P00-16 is not 0, the electronic gear ratio [[image:image-20220707101509-25.png]] is invalid.
1272
1273 == Position instruction filtering ==
1274
1275 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.
1276
1277 In the following situations, position instruction filtering should be added.
1278
1279 1. The position instruction output by host computer has not been processed with acceleration or deceleration;
1280 1. The pulse instruction frequency is low;
1281 1. When the electronic gear ratio is 10 times or more.
1282
1283 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.
1284
1285 (% style="text-align:center" %)
1286 (((
1287 (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:514px;" %)
1288 [[**Figure 6-25 Position instruction filtering diagram**>>image:image-20220608170455-23.png||height="230" id="Iimage-20220608170455-23.png" width="514"]]
1289 )))
1290
1291 |=(% scope="row" %)**Function code**|=**Name**|=(((
1292 **Setting method**
1293 )))|=(((
1294 **Effective time**
1295 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1296 |=P04-01|Pulse instruction filtering method|(((
1297 Shutdown setting
1298 )))|(((
1299 Effective immediately
1300 )))|0|0 to 1|(((
1301 0: 1st-order low-pass filtering
1302
1303 1: average filtering
1304 )))|-
1305 |=P04-02|Position instruction 1st-order low-pass filtering time constant|Shutdown setting|(((
1306 Effective immediately
1307 )))|0|0 to 1000|Position instruction first-order low-pass filtering time constant|ms
1308 |=P04-03|Position instruction average filtering time constant|Shutdown setting|(((
1309 Effective immediately
1310 )))|0|0 to 128|Position instruction average filtering time constant|ms
1311
1312 Table 6-25 Position instruction filter function code
1313
1314 == Clearance of position deviation ==
1315
1316 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;
1317
1318 Position deviation = (position instruction-position feedback) (encoder unit)
1319
1320 == Position-related DO output function ==
1321
1322 The feedback value of position instruction is compared with different thresholds, and output DO signal for host computer use.
1323
1324 (% class="wikigeneratedid" id="HPositioningcompletion2Fpositioningapproachoutput" %)
1325 **Positioning completion/positioning approach output**
1326
1327 (% class="wikigeneratedid" %)
1328 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.
1329
1330 (% style="text-align:center" %)
1331 (((
1332 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1333 [[**Figure 6-26 Positioning completion signal output diagram**>>image:image-20220608170550-24.png||id="Iimage-20220608170550-24.png"]]
1334 )))
1335
1336 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.
1337
1338 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 6-26.
1339
1340 (% style="text-align:center" %)
1341 (((
1342 (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:709px;" %)
1343 [[**Figure 6-27 Positioning completion signal output with increased window filter time diagram**>>image:image-20220608170650-25.png||height="331" id="Iimage-20220608170650-25.png" width="709"]]
1344 )))
1345
1346 |=(% scope="row" %)**Function code**|=**Name**|=(((
1347 **Setting method**
1348 )))|=(% style="width: 129px;" %)(((
1349 **Effective time**
1350 )))|=(% style="width: 95px;" %)**Default value**|=**Range**|=**Definition**|=**Unit**
1351 |=P05-12|Positioning completion threshold|(((
1352 Operation setting
1353 )))|(% style="width:129px" %)(((
1354 Effective immediately
1355 )))|(% style="width:95px" %)800|1 to 65535|Positioning completion threshold|Equivalent pulse unit
1356 |=P05-13|Positioning approach threshold|(((
1357 Operation setting
1358 )))|(% style="width:129px" %)(((
1359 Effective immediately
1360 )))|(% style="width:95px" %)5000|1 to 65535|Positioning approach threshold|Equivalent pulse unit
1361 |=P05-14|Position detection window time|(((
1362 Operation setting
1363 )))|(% style="width:129px" %)(((
1364 Effective immediately
1365 )))|(% style="width:95px" %)10|0 to 20000|Set positioning completion detection window time|ms
1366 |=P05-15|Positioning signal hold time|(((
1367 Operation setting
1368 )))|(% style="width:129px" %)(((
1369 Effective immediately
1370 )))|(% style="width:95px" %)100|0 to 20000|Set positioning completion output hold time|ms
1371
1372 Table 6-26 Function code parameters of positioning completion
1373
1374 |=(% scope="row" %)**DO function code**|=**Function name**|=**Function**
1375 |=134|P-COIN positioning complete|Output this signal indicates the servo drive position is complete.
1376 |=135|(((
1377 P-NEAR positioning close
1378 )))|(((
1379 Output this signal indicates that the servo drive position is close.
1380 )))
1381
1382 Table 6-27 Description of DO rotation detection function code
1383
1384 == **VD2-0xxSA1H collector pulse signal DO Function and VD2L pulse signal DO output function** ==
1385
1386 **(1) VD2-0xxSA1H collector pulse signal DO Function**
1387
1388 The pulse signal of VD2-0xxSA1H is a collector signal output through DO, which can be connected to the high-speed pulse input of PLC without conversion through differential to collector circuit board. However, the pulse frequency division output used by VD2 series is a differential signal, which needs to pass through differential to collector circuit board to be connected to the high-speed pulse input of PLC.
1389
1390 **(2) Pulse signal DO output function of VD2L-0xxSA1P**
1391
1392 The pulse signal of VD2L-0xxSA1P is the collector signal output by DO, and it can be connected to the high-speed pulse input of PLC without the conversion of differential to collector circuit board.
1393
1394 **(3) The difference of collector pulse signal DO Function of VD2-0xxSA1H and DO output function of pulse signal of VD2L-0xxSA1P**
1395
1396 The pulse signal of VD2-0xxSA1H is the collector signal output through DO, and it is a 4 times frequency pulse signal of Phase A/B. DO signal of VD2L is a pulse+direction signal.
1397
1398 DO2, DO3, and DO4 respectively correspond to the pulse frequency division outputs of the Z-axis, A-axis, and B-axis of the pulse output, as shown in the following table.
1399
1400
1401 |(% rowspan="2" %)P06-28|Parameter name|Setting method|Effective time|Default|Set range|Application category|Unit
1402 |DO_2 channel function selection|Operation setting|Effective immediately|130|128-149|DI/DO|-
1403 |(% colspan="8" %)(((
1404 Used to set DO functions corresponding to hardware DO2. Refer to the following table for the functions corresponding to the set value:
1405
1406 |Setting value|DO channel function| |Setting value|DO channel function
1407 |128|OFF (not used)| |139|T-LIMIT (Torque limit)
1408 |129|RDY (Servo ready)| |140|V-LIMIT (speed limited)
1409 |130|ALM (fault signal)| |141|BRK-OFF (Brake Output)^^ Note1^^
1410 |131|WARN (warning signal)| |142|SRV-ST (Servo start status output)
1411 |132|TGON (rotation detection)| |143|OZ (Z pulse output)^^ Note2^^
1412 |133|ZSP (zero speed signal)| |144|N/A
1413 |134|P-COIN (Positioning completed)| |145|COM_VDO1 (communication VDO1 output)
1414 |135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output)
1415 |136|V-COIN (consistent speed)| |147|COM_VDO1(communication VDO3 output)
1416 |137|V-NEAR (speed approach)| |148|COM_VDO1(communication VDO4 output)
1417 |138|T-COIN (torque arrival)| |149|(((
1418 HOME_ATTAIN(original arrival)
1419 )))
1420
1421 When P06-28 is set to a value other than the above table, it is considered to not use DO port function.
1422
1423 The same DO channel function is not allowed to be assigned to multiple DO ports, otherwise the servo driver will report A-90 (DO port configuration duplicate).
1424
1425 Note 1: To use the BRK-OFF function code, you need to repower to take effect.
1426
1427 Note 2:
1428
1429 ① Only VD2L and VD2F support function code 143. The code for this function of VD2-0xxSA1G model is empty!
1430
1431 ② Only in the VD2-0xxSA1H model, the default function code for the DO_1 channel function selection is 130ALM (fault signal)! In the VD2-0xxSA1H model, the function code for the DO_2, DO_3, and DO_4 channels are 143 OZ (Z/A/B pulse output), and these 3 channels correspond to the Z-axis, A-axis, and B-axis of the pulse output respectively!
1432
1433 ③ The function selection code of DO_2, DO_3 and DO_4 channels in the VD2L-0xxSA1P model are 143 OZ (Z pulse output), and these 3 channels correspond to Z axis, pulse axis, and direction axis of the pulse output respectively!
1434
1435 ④ VD2L does not support 149 function code at this time.
1436 )))
1437
1438 |(% rowspan="2" %)P06-30|Parameter name|Setting method|Effective time|Default|Set range|Application category|Unit
1439 |DO_3 channel function selection|Operation setting|Effective immediately|129|128-149|DI/DO|-
1440 |(% colspan="8" %)(((
1441 Used to set DO functions corresponding to hardware DO3. Refer to the following table for the functions corresponding to the set value:
1442
1443 |Setting value|DO channel function| |Setting value|DO channel function
1444 |128|OFF (not used)| |139|T-LIMIT (torque limit)
1445 |129|RDY (Servo ready)| |140|V-LIMIT (speed limited)
1446 |130|ALM (fault signal)| |141|BRK-OFF (Brake Output)^^ Note1^^
1447 |131|WARN (warning signal)| |142|SRV-ST (Servo start status output)
1448 |132|TGON (rotation detection)| |143|OA (A pulse output)^^ Note2^^
1449 |133|ZSP (zero speed signal)| |144|None
1450 |134|P-COIN (Positioning completed)| |145|COM_VDO1 (communication VDO1 output)
1451 |135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output)
1452 |136|V-COIN (consistent speed)| |147|COM_VDO1(communication VDO3 output)
1453 |137|V-NEAR (speed approach)| |148|COM_VDO1(communication VDO4 output)
1454 |138|T-COIN (torque arrival)| |149|(((
1455 HOME_ATTAIN (original arrival)
1456 )))
1457
1458 When P06-30 is set to a value other than the above table, it is considered to not use DO port function.
1459
1460 The same DO channel function is not allowed to be assigned to multiple DO ports, otherwise the servo driver will report A-90 (DO port configuration duplicate).
1461
1462 **Note 1:** To use the BRK-OFF function code, you need to repower to take effect.
1463
1464 **Note 2:**
1465
1466 ① Only VD2L and VD2F support function code 143. The code for this function of VD2-0xxSA1G model is empty!
1467
1468 ② Only in the VD2-0xxSA1H model, the default function code for the DO_1 channel function selection is 130ALM (fault signal)! In the VD2-0xxSA1H model, the function code for the DO_2, DO_3, and DO_4 channels are 143 OZ (Z/A/B pulse output), and these 3 channels correspond to the Z-axis, A-axis, and B-axis of the pulse output respectively!
1469
1470 ③ The function selection code of DO_2, DO_3 and DO_4 channels in the VD2L-0xxSA1P model are 143 OZ (Z pulse output), and these 3 channels correspond to Z axis, pulse axis, and direction axis of the pulse output respectively!
1471
1472 ④ VD2L does not support 149 function code at this time.
1473 )))
1474
1475 |(% rowspan="2" %)P06-32|Parameter name|Setting method|Effective time|Default|Set range|Application category|Unit
1476 |DO_4 channel function selection|Operation setting|Effective immediately|134|128-149|DI/DO|-
1477 |(% colspan="8" %)(((
1478 Used to set DO functions corresponding to hardware DO4. Refer to the following table for the functions corresponding to the set value:
1479
1480 |Setting value|DO channel function| |Setting value|DO channel function
1481 |128|OFF (not used)| |139|T-LIMIT (Torque limit)
1482 |129|RDY (Servo ready)| |140|V-LIMIT (speed limited)
1483 |130|ALM (fault signal)| |141|BRK-OFF (Brake Output)^^ Note1^^
1484 |131|WARN (warning signal)| |142|SRV-ST (Servo start status output)
1485 |132|TGON (rotation detection)| |143|OB (B pulse output)^^ Note2^^
1486 |133|ZSP (zero speed signal)| |144|None
1487 |134|P-COIN (Positioning completed)| |145|COM_VDO1 (communication VDO1 output)
1488 |135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output)
1489 |136|V-COIN (consistent speed)| |147|COM_VDO1(communication VDO3 output)
1490 |137|V-NEAR (speed approach)| |148|COM_VDO1(communication VDO4 output)
1491 |138|T-COIN (torque arrival)| |149|(((
1492 HOME_ATTAIN (original arrival)
1493 )))
1494
1495 When P06-32 is set to a value other than the above table, it is considered to not use DO port function.
1496
1497 The same DO channel function is not allowed to be assigned to multiple DO ports, otherwise the servo drive will report A-90 (DO port configuration duplicate).
1498
1499 **Note 1:** To use the BRK-OFF function code, you need to repower to take effect.
1500
1501 **Note 2:**
1502
1503 ① Only VD2L and VD2F support function code 143. The code for this function of VD2-0xxSA1G model is empty!
1504
1505 ② Only in the VD2-0xxSA1H model, the default function code for the DO_1 channel function selection is 130ALM (fault signal)! In the VD2-0xxSA1H model, the function code for the DO_2, DO_3, and DO_4 channels are 143 OZ (Z/A/B pulse output), and these 3 channels correspond to the Z-axis, A-axis, and B-axis of the pulse output respectively!
1506
1507 ③ The function selection code of DO_2, DO_3 and DO_4 channels in the VD2L-0xxSA1P model are 143 OZ (Z pulse output), and these 3 channels correspond to Z axis, pulse axis, and direction axis of the pulse output respectively!
1508
1509 ④ VD2L does not support 149 function code at this time.
1510 )))
1511
1512 = **Speed control mode** =
1513
1514 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: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/6.28.jpg?width=806&height=260&rev=1.1]] is the speed control block diagram.
1515
1516 (% style="text-align:center" %)
1517 (((
1518 (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:806px;" %)
1519 [[**Figure 6-28 Speed control block diagram**>>image:6.28.jpg||height="260" id="I6.28.jpg" width="806"]]
1520 )))
1521
1522 == Speed instruction input setting ==
1523
1524 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.
1525
1526 |=(% scope="row" style="width: 121px;" %)**Function code**|=(% style="width: 186px;" %)**Name**|=(% style="width: 128px;" %)(((
1527 **Setting method**
1528 )))|=(% style="width: 125px;" %)(((
1529 **Effective time**
1530 )))|=(% style="width: 85px;" %)**Default value**|=(% style="width: 75px;" %)**Range**|=(% style="width: 310px;" %)**Definition**|=**Unit**
1531 |=(% style="width: 121px;" %)P01-01|(% style="width:186px" %)Speed instruction source|(% style="width:128px" %)(((
1532 Shutdown setting
1533 )))|(% style="width:125px" %)(((
1534 Effective immediately
1535 )))|(% style="width:85px" %)0|(% style="width:75px" %)0 to 1|(% style="width:310px" %)(((
1536 0: internal speed instruction
1537
1538 1: AI_1 analog input (not supported by **VD2F and VD2L**)
1539 )))|-
1540
1541 Table 6-28 Speed instruction source parameter
1542
1543 **Speed instruction source is internal speed instruction (P01-01=0)**
1544
1545 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.
1546
1547 (% style="width:1141px" %)
1548 |=(% colspan="1" scope="row" %)**Function code**|=(% colspan="2" %)**Name**|=(% colspan="2" %)(((
1549 **Setting**
1550
1551 **method**
1552 )))|=(% colspan="2" %)(((
1553 **Effective**
1554
1555 **time**
1556 )))|=(% colspan="2" %)**Default value**|=(% colspan="2" %)**Range**|=(% colspan="2" %)**Definition**|=(% colspan="2" %)**Unit**
1557 |=(% colspan="1" %)P01-02|(% colspan="2" %)(((
1558 Internal speed
1559
1560 Instruction 0
1561 )))|(% colspan="2" %)(((
1562 Operation
1563
1564 setting
1565 )))|(% colspan="2" %)(((
1566 Effective
1567
1568 immediately
1569 )))|(% colspan="2" %)0|(% colspan="2" %)(((
1570 -6000 to 6000
1571 )))|(% colspan="2" %)(((
1572 Internal speed instruction 0
1573
1574 When DI input port:
1575
1576 15-INSPD3: 0
1577
1578 14-INSPD2: 0
1579
1580 13-INSPD1: 0,
1581
1582 select this speed instruction to be effective.
1583 )))|(% colspan="2" %)rpm
1584 |=(% colspan="1" %)P01-23|(% colspan="2" %)(((
1585 Internal speed
1586
1587 Instruction 1
1588 )))|(% colspan="2" %)(((
1589 Operation
1590
1591 setting
1592 )))|(% colspan="2" %)(((
1593 Effective
1594
1595 immediately
1596 )))|(% colspan="2" %)0|(% colspan="2" %)(((
1597 ~-~-6000 to 6000
1598 )))|(% colspan="2" %)(((
1599 Internal speed instruction 1
1600
1601 When DI input port:
1602
1603 15-INSPD3: 0
1604
1605 14-INSPD2: 0
1606
1607 13-INSPD1: 1,
1608
1609 Select this speed instruction to be effective.
1610 )))|(% colspan="2" %)rpm
1611 |=(% colspan="1" %)P01-24|(% colspan="2" %)(((
1612 Internal speed
1613
1614 Instruction 2
1615 )))|(% colspan="2" %)(((
1616 Operation
1617
1618 setting
1619 )))|(% colspan="2" %)(((
1620 Effective
1621
1622 immediately
1623 )))|(% colspan="2" %)0|(% colspan="2" %)(((
1624 -6000 to 6000
1625 )))|(% colspan="2" %)(((
1626 Internal speed instruction 2
1627
1628 When DI input port:
1629
1630 15-INSPD3: 0
1631
1632 14-INSPD2: 1
1633
1634 13-INSPD1: 0,
1635
1636 Select this speed instruction to be effective.
1637 )))|(% colspan="2" %)rpm
1638 |=(% colspan="1" %)P01-25|(% colspan="2" %)(((
1639 Internal speed
1640
1641 Instruction 3
1642 )))|(% colspan="2" %)(((
1643 Operation
1644
1645 setting
1646 )))|(% colspan="2" %)(((
1647 Effective
1648
1649 immediately
1650 )))|(% colspan="2" %)0|(% colspan="2" %)(((
1651 -6000 to 6000
1652 )))|(% colspan="2" %)(((
1653 Internal speed instruction 3
1654
1655 When DI input port:
1656
1657 15-INSPD3: 0
1658
1659 14-INSPD2: 1
1660
1661 13-INSPD1: 1,
1662
1663 Select this speed instruction to be effective.
1664 )))|(% colspan="2" %)rpm
1665 |=P01-26|(% colspan="2" %)(((
1666 Internal speed
1667
1668 Instruction 4
1669 )))|(% colspan="2" %)(((
1670 Operation
1671
1672 setting
1673 )))|(% colspan="2" %)(((
1674 Effective
1675
1676 immediately
1677 )))|(% colspan="2" %)0|(% colspan="2" %)(((
1678 -6000 to 6000
1679 )))|(% colspan="2" %)(((
1680 Internal speed instruction 4
1681
1682 When DI input port:
1683
1684 15-INSPD3: 1
1685
1686 14-INSPD2: 0
1687
1688 13-INSPD1: 0,
1689
1690 Select this speed instruction to be effective.
1691 )))|(% colspan="1" %)rpm
1692 |=P01-27|(% colspan="2" %)(((
1693 Internal speed
1694
1695 Instruction 5
1696 )))|(% colspan="2" %)(((
1697 Operation
1698
1699 setting
1700 )))|(% colspan="2" %)(((
1701 Effective
1702
1703 immediately
1704 )))|(% colspan="2" %)0|(% colspan="2" %)(((
1705 -6000 to 6000
1706 )))|(% colspan="2" %)(((
1707 Internal speed instruction 5
1708
1709 When DI input port:
1710
1711 15-INSPD3: 1
1712
1713 14-INSPD2: 0
1714
1715 13-INSPD1: 1,
1716
1717 Select this speed instruction to be effective.
1718 )))|(% colspan="1" %)rpm
1719 |=P01-28|(% colspan="2" %)(((
1720 Internal speed
1721
1722 Instruction 6
1723 )))|(% colspan="2" %)(((
1724 Operation
1725
1726 setting
1727 )))|(% colspan="2" %)(((
1728 Effective
1729
1730 immediately
1731 )))|(% colspan="2" %)0|(% colspan="2" %)(((
1732 -6000 to 6000
1733 )))|(% colspan="2" %)(((
1734 Internal speed instruction 6
1735
1736 When DI input port:
1737
1738 15-INSPD3: 1
1739
1740 14-INSPD2: 1
1741
1742 13-INSPD1: 0,
1743
1744 Select this speed instruction to be effective.
1745 )))|(% colspan="1" %)rpm
1746 |=P01-29|(% colspan="2" %)(((
1747 Internal speed
1748
1749 Instruction 7
1750 )))|(% colspan="2" %)(((
1751 Operation
1752
1753 setting
1754 )))|(% colspan="2" %)(((
1755 Effective
1756
1757 immediately
1758 )))|(% colspan="2" %)0|(% colspan="2" %)(((
1759 -6000 to 6000
1760 )))|(% colspan="2" %)(((
1761 Internal speed instruction 7
1762
1763 When DI input port:
1764
1765 15-INSPD3: 1
1766
1767 14-INSPD2: 1
1768
1769 13-INSPD1: 1,
1770
1771 Select this speed instruction to be effective.
1772 )))|(% colspan="1" %)rpm
1773
1774 Table 6-29 Internal speed instruction parameters
1775
1776 |=(% scope="row" %)**DI function code**|=**function name**|=**Function**
1777 |=13|INSPD1 internal speed instruction selection 1|Form internal multi-speed running segment number
1778 |=14|INSPD2 internal speed instruction selection 2|Form internal multi-speed running segment number
1779 |=15|INSPD3 internal speed instruction selection 3|Form internal multi-speed running segment number
1780
1781 Table 6-30 DI multi-speed function code description
1782
1783 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.
1784
1785
1786 (% style="margin-left:auto; margin-right:auto" %)
1787 |=(% 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**
1788 |(% 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
1789 |(% 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
1790 |(% 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
1791 |(% colspan="5" style="text-align:center; vertical-align:middle" %)......
1792 |(% 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
1793
1794 Table 6-31 Correspondence between INSPD bits and segment numbers
1795
1796 (% style="text-align:center" %)
1797 (((
1798 (% style="display:inline-block" %)
1799 [[Figure 6-29 Multi-segment speed running curve>>image:企业微信截图_17544722176825.png]]
1800 )))
1801
1802 **Speed instruction source is internal speed instruction (P01-01=1)**
1803
1804 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.
1805
1806 (% style="text-align:center" %)
1807 (((
1808 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1809 [[**Figure 6-30 Analog input circuit**>>image:image-20220608153341-5.png||id="Iimage-20220608153341-5.png"]]
1810 )))
1811
1812 Taking AI_1 as an example, the method of setting the speed instruction of analog voltage is illustrated as below.
1813
1814 (% style="text-align:center" %)
1815 (((
1816 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1817 [[**Figure 6-31 Analog voltage speed instruction setting steps**>>image:image-20220608170955-27.png||id="Iimage-20220608170955-27.png"]]
1818 )))
1819
1820 Explanation of related terms:
1821
1822 * Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
1823 * Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
1824 * Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1825
1826 (% style="text-align:center" %)
1827 (((
1828 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1829 [[**Figure 6-32 AI_1 diagram before and after bias**>>image:image-20220608171124-28.png||id="Iimage-20220608171124-28.png"]]
1830 )))
1831
1832 |=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit**
1833 |=P05-01(((
1834 ★
1835 )))|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1836 |=P05-02(((
1837 ★
1838 )))|AI_1 input filter time constant|Operation setting|Effective immediately|200|0 to 60000|AI_1 channel input first-order low-pass filtering time constant|0.01ms
1839 |=P05-03(((
1840 ★
1841 )))|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel quantity dead zone value|mV
1842 |=P05-04(((
1843 ★
1844 )))|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV
1845
1846 Table 6-32 AI_1 parameter
1847
1848 (% class="box infomessage" %)
1849 (((
1850 ✎**Note: **
1851
1852 ☆: Indicates that the VD2F servo drive does not support this function code
1853
1854 〇: Indicates that the VD2F servo drive does not support this function code
1855
1856 ★: Indicates that VD2F and VD2L servo drives do not support this function code
1857
1858
1859 )))
1860
1861 == Acceleration and deceleration time setting ==
1862
1863 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.
1864
1865 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.
1866
1867 (% style="text-align:center" %)
1868 (((
1869 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1870 [[**Figure 6-33 of acceleration and deceleration time diagram**>>image:image-20220608171314-29.png||id="Iimage-20220608171314-29.png"]]
1871 )))
1872
1873 (% style="text-align:center" %)
1874 [[image:image-20220707103616-27.png||class="img-thumbnail"]]
1875
1876 |=(% scope="row" %)**Function code**|=**Name**|=(((
1877 **Setting method**
1878 )))|=(((
1879 **Effective time**
1880 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1881 |=P01-03|Acceleration time|(((
1882 Operation setting
1883 )))|(((
1884 Effective immediately
1885 )))|50|0 to 65535|The time for the speed instruction to accelerate from 0 to 1000rpm|ms
1886 |=P01-04|Deceleration time|(((
1887 Operation setting
1888 )))|(((
1889 Effective immediately
1890 )))|50|0 to 65535|The time for the speed instruction to decelerate from 1000rpm to 0|ms
1891
1892 Table 6-33 Acceleration and deceleration time parameters
1893
1894 == Speed instruction limit ==
1895
1896 In speed mode, the servo drive could limit the size of the speed instruction. The sources of speed instruction limit include:
1897
1898 1. P01-10: Set the maximum speed limit value
1899 1. P01-12: Set forward speed limit value
1900 1. P01-13: Set reverse speed limit value
1901 1. The maximum speed of the motor: determined by motor model
1902
1903 The actual motor speed limit interval satisfies the following relationship:
1904
1905 The amplitude of forward speed instruction ≤ min (Maximum motor speed, P01-10, P01-12)
1906
1907 The amplitude of negative speed command ≤ min (Maximum motor speed, P01-10, P01-13)
1908
1909 |=(% scope="row" %)**Function code**|=**Name**|=(((
1910 **Setting method**
1911 )))|=(((
1912 **Effective time**
1913 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1914 |=P01-10|Maximum speed threshold|(((
1915 Operation setting
1916 )))|(((
1917 Effective immediately
1918 )))|3600|0 to 8000|Set the maximum speed limit value, if exceeds this value, an overspeed fault will be reported|rpm
1919 |=P01-12|Forward speed threshold|(((
1920 Operation setting
1921 )))|(((
1922 Effective immediately
1923 )))|3000|0 to 6000|Set forward speed limit value|rpm
1924 |=P01-13|Reverse speed threshold|(((
1925 Operation setting
1926 )))|(((
1927 Effective immediately
1928 )))|3000|0 to 6000|Set reverse speed limit value|rpm
1929
1930 Table 6-34 Rotation speed related function codes
1931
1932 == Zero-speed clamp function ==
1933
1934 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.
1935
1936 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.
1937
1938 |=(% scope="row" %)**Function code**|=**Name**|=(((
1939 **Setting method**
1940 )))|=(((
1941 **Effective time**
1942 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1943 |=P01-21|(((
1944 Zero-speed clamp function selection
1945 )))|(((
1946 Operation setting
1947 )))|(((
1948 Effective immediately
1949 )))|0|0 to 3|(((
1950 Set the zero-speed clamp function. In speed mode:
1951
1952 0: Force the speed to 0;
1953
1954 1: Force the speed to 0, and keep the position locked when the actual speed is less than P01-22
1955
1956 2: When speed instruction is less than P01-22, force the speed to 0 and keep the position locked
1957
1958 3: Invalid, ignore zero-speed clamp input
1959 )))|-
1960 |=P01-22|(((
1961 Zero-speed clamp speed threshold
1962 )))|(((
1963 Operation setting
1964 )))|(((
1965 Effective immediately
1966 )))|20|0 to 1000|Set the speed threshold of zero-speed clamp function|rpm
1967
1968 Table 6-35 Zero-speed clamp related parameters
1969
1970 (% style="text-align:center" %)
1971 (((
1972 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1973 [[**Figure 6-34 Zero-speed clamp diagram**>>image:image-20220608171549-30.png||id="Iimage-20220608171549-30.png"]]
1974 )))
1975
1976 == Speed-related DO output function ==
1977
1978 The feedback value of the position instruction is compared with different thresholds, and could output DO signal for host computer use.
1979
1980 **Rotation detection signal**
1981
1982 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.
1983
1984 (% style="text-align:center" %)
1985 (((
1986 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1987 [[**Figure 6-35 Rotation detection signal diagram**>>image:image-20220608171625-31.png||id="Iimage-20220608171625-31.png"]]
1988 )))
1989
1990 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 6-36__and __Table 6-37__.
1991
1992 |=(% scope="row" %)**Function code**|=**Name**|=(((
1993 **Setting method**
1994 )))|=(((
1995 **Effective time**
1996 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1997 |=P05-16|(((
1998 Rotation detection
1999
2000 speed threshold
2001 )))|(((
2002 Operation setting
2003 )))|(((
2004 Effective immediately
2005 )))|20|0 to 1000|Set the motor rotation signal judgment threshold|rpm
2006
2007 Table 6-36 Rotation detection speed threshold parameters
2008
2009 |=(% scope="row" %)**DO function code**|=(% style="width: 247px;" %)**Function name**|=(% style="width: 695px;" %)**Function**
2010 |=132|(% style="width:247px" %)(((
2011 T-GON rotation detection
2012 )))|(% style="width:695px" %)(((
2013 Valid: when the absolute value of motor speed after filtering is greater than or equal to the set value of function code P05-16
2014
2015 Invalid, when the absolute value of motor speed after filtering is less than set value of function code P05-16
2016 )))
2017
2018 Table 6-37 DO rotation detection function code
2019
2020 **Zero-speed signal**
2021
2022 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.
2023
2024 (% style="text-align:center" %)
2025 (((
2026 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2027 [[**Figure 6-36 Zero-speed signal diagram**>>image:image-20220608171904-32.png||id="Iimage-20220608171904-32.png"]]
2028 )))
2029
2030 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 6-38__ and __Table 6-39__.
2031
2032 |=(% scope="row" %)**Function code**|=**Name**|=(((
2033 **Setting method**
2034 )))|=(((
2035 **Effective time**
2036 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2037 |=P05-19|Zero speed output signal threshold|(((
2038 Operation setting
2039 )))|(((
2040 Effective immediately
2041 )))|10|0 to 6000|Set zero-speed output signal judgment threshold|rpm
2042
2043 Table 6-38 Zero-speed output signal threshold parameter
2044
2045 |=(% scope="row" %)**DO function code**|=**Function name**|=**Function**
2046 |=133|(((
2047 ZSP zero speed signal
2048 )))|Output this signal indicates that the servo motor is stopping rotation
2049
2050 Table 6-39 DO zero-speed signal function code
2051
2052 **Speed consistent signal**
2053
2054 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.
2055
2056 (% style="text-align:center" %)
2057 (((
2058 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2059 [[**Figure 6-37 Speed consistent signal diagram**>>image:image-20220608172053-33.png||id="Iimage-20220608172053-33.png"]]
2060 )))
2061
2062 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 6-40__and __Table 6-41__.
2063
2064 |=(% scope="row" %)**Function code**|=**Name**|=(((
2065 **Setting method**
2066 )))|=(((
2067 **Effective time**
2068 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2069 |=P05-17|Speed consistent signal threshold|(((
2070 Operation setting
2071 )))|(((
2072 Effective immediately
2073 )))|10|0 to 100|Set speed consistent signal threshold|rpm
2074
2075 Table 6-40 Speed consistent signal threshold parameters
2076
2077 |=(% scope="row" %)**DO Function code**|=(% style="width: 262px;" %)**Function name**|=(% style="width: 684px;" %)**Function**
2078 |=136|(% style="width:262px" %)(((
2079 V-COIN consistent speed
2080 )))|(% style="width:684px" %)The output signal indicates that the absolute deviation of the actual speed of servo motor and the speed instruction meets the P05-17 set value
2081
2082 Table 6-41 DO speed consistent function code
2083
2084 **Speed approach signal**
2085
2086 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.
2087
2088 (% style="text-align:center" %)
2089 (((
2090 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2091 [[**Figure 6-38 Speed approaching signal diagram**>>image:image-20220608172207-34.png||id="Iimage-20220608172207-34.png"]]
2092 )))
2093
2094 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 6-42__ and __Table 6-43__
2095
2096 |=(% scope="row" style="width: 147px;" %)**Function code**|=(% style="width: 184px;" %)**Name**|=(((
2097 **Setting method**
2098 )))|=(((
2099 **Effective time**
2100 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2101 |=(% style="width: 147px;" %)P05-18|(% style="width:184px" %)Speed approach signal threshold|(((
2102 Operation setting
2103 )))|(((
2104 Effective immediately
2105 )))|100|10 to 6000|Set speed approach signal threshold|rpm
2106
2107 Table 6-42 Speed approaching signal threshold parameters
2108
2109 |=(% scope="row" %)**DO function code**|=**Function name**|=**Function**
2110 |=137|(((
2111 V-NEAR speed approach
2112 )))|The output signal indicates that the actual speed of the servo motor has reached the expected value
2113
2114 Table 6-43 DO speed approach function code
2115
2116 = **Torque control mode** =
2117
2118 The current of the servo motor has a cablear 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.
2119
2120 (% style="text-align:center" %)
2121 (((
2122 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2123 [[**Figure 6-39 Torque mode diagram**>>image:image-20220608172405-35.png||id="Iimage-20220608172405-35.png"]]
2124 )))
2125
2126 == **Torque instruction input setting** ==
2127
2128 In torque instruction, VD2A and VD2B servo drives have two instruction source: internal torque instruction and analog torque instruction. VD2F and VD2L  drive only has internal torque instruction. The torque instruction source is set by the function code P01-07.
2129
2130 |=(% scope="row" %)**Function code**|=**Name**|=(((
2131 **Setting method**
2132 )))|=(((
2133 **Effective time**
2134 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2135 |=P01-07|Torque instruction source|(((
2136 Shutdown setting
2137 )))|(((
2138 Effective immediately
2139 )))|0|0 to 1|(((
2140 0: internal torque instruction
2141
2142 1: AI_1 analog input(not supported by VD2F and VD2L)
2143 )))|-
2144
2145 Table 6-44 Torque instruction source parameter
2146
2147 **Torque instruction source is internal torque instruction (P01-07=0)**
2148
2149 Torque instruction source is from inside, the value is set by function code P01-08.
2150
2151 |=(% scope="row" %)**Function code**|=**Name**|=(((
2152 **Setting method**
2153 )))|=(((
2154 **Effective time**
2155 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2156 |=P01-08|Torque instruction keyboard set value|(((
2157 Operation setting
2158 )))|(((
2159 Effective immediately
2160 )))|0|-3000 to 3000|-300.0% to 300.0%|0.1%
2161
2162 Table 6-45 Torque instruction keyboard set value
2163
2164 **Torque instruction source is AI_1 analog input (P01-07=1)**
2165
2166 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.
2167
2168 (% style="text-align:center" %)
2169 (((
2170 (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:408px;" %)
2171 [[**Figure 6-40 Analog input circuit**>>image:image-20220608153646-7.png||height="213" id="Iimage-20220608153646-7.png" width="408"]]
2172 )))
2173
2174 Taking AI_1 as an example, the method of setting torque instruction of analog voltage is as below.
2175
2176 (% style="text-align:center" %)
2177 (((
2178 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2179 [[**Figure 6-41 Analog voltage torque instruction setting steps**>>image:image-20220608172502-36.png||id="Iimage-20220608172502-36.png"]]
2180 )))
2181
2182 Explanation of related terms:
2183
2184 * Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
2185 * Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
2186 * Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
2187
2188 (% style="text-align:center" %)
2189 (((
2190 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2191 [[**Figure 6-42 AI_1 diagram before and after bias**>>image:image-20220608172611-37.png||id="Iimage-20220608172611-37.png"]]
2192 )))
2193
2194 |=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit**
2195 |=P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
2196 |=P05-02☆|AI_1 input filter time constant|Operation setting|Effective immediately|200|0 to 60000|AI_1 channel input first-order low-pass filtering time constant|0.01ms
2197 |=P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel dead zone value|mV
2198 |=P05-04☆|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV
2199
2200 Table 6-46 AI_1 parameters
2201
2202 (% class="box infomessage" %)
2203 (((
2204 ✎**Note: **
2205
2206
2207 ☆: Indicates that the VD2F servo drive does not support this function code
2208
2209 〇: Indicates that the VD2F servo drive does not support this function code
2210
2211 ★: Indicates that VD2F and VD2L servo drives do not support this function code
2212 )))
2213
2214 == Torque instruction filtering ==
2215
2216 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__.
2217
2218 |=(% scope="row" %)**Function code**|=**Name**|=(((
2219 **Setting method**
2220 )))|=(((
2221 **Effective time**
2222 )))|=**Default value**|=(% style="width: 83px;" %)**Range**|=(% style="width: 369px;" %)**Definition**|=**Unit**
2223 |=P04-04|Torque filtering time constant|(((
2224 Operation setting
2225 )))|(((
2226 Effective immediately
2227 )))|50|(% style="width:83px" %)10 to 2500|(% style="width:369px" %)This parameter is automatically set when “self-adjustment mode selection” is selected as 0|0.01ms
2228
2229 Table 6-47 Torque filtering time constant parameter details
2230
2231 (% class="box infomessage" %)
2232 (((
2233 ✎**Note: **If the filter time constant is set too large, the responsiveness will be reduced. Please set it while confirming the responsiveness.
2234 )))
2235
2236 (% style="text-align:center" %)
2237 (((
2238 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2239 [[**Figure 6-43 Torque instruction-first-order filtering diagram**>>image:image-20220608172646-38.png||id="Iimage-20220608172646-38.png"]]
2240 )))
2241
2242 == Torque instruction limit ==
2243
2244 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.
2245
2246 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.
2247
2248 (% style="text-align:center" %)
2249 (((
2250 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2251 [[**Figure 6-44 Torque instruction limit diagram**>>image:image-20220608172806-39.png||id="Iimage-20220608172806-39.png"]]
2252 )))
2253
2254 **Set torque limit source**
2255
2256 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.
2257
2258 |=(% scope="row" %)**Function code**|=**Name**|=(((
2259 **Setting method**
2260 )))|=(((
2261 **Effective time**
2262 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2263 |=P01-14|(((
2264 Torque limit source
2265 )))|(((
2266 Shutdown setting
2267 )))|(((
2268 Effective immediately
2269 )))|0|0 to 1|(((
2270 0: internal value
2271
2272 1: AI_1 analog input (not supported by VD2F and VD2L)
2273 )))|-
2274
2275 * Torque limit source is internal torque instruction (P01-14=0)
2276
2277 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.
2278
2279 |=(% scope="row" %)**Function code**|=**Name**|=(((
2280 **Setting method**
2281 )))|=(((
2282 **Effective time**
2283 )))|=**Default value**|=(% style="width: 106px;" %)**Range**|=(% style="width: 363px;" %)**Definition**|=**Unit**
2284 |=P01-15|(((
2285 Forward torque limit
2286 )))|(((
2287 Operation setting
2288 )))|(((
2289 Effective immediately
2290 )))|3000|(% style="width:106px" %)0 to 3000|(% style="width:363px" %)When P01-14 is set to 0, the value of this function code is forward torque limit value|0.1%
2291 |=P01-16|(((
2292 Reverse torque limit
2293 )))|(((
2294 Operation setting
2295 )))|(((
2296 Effective immediately
2297 )))|3000|(% style="width:106px" %)0 to 3000|(% style="width:363px" %)When P01-14 is set to 0, the value of this function code is reverse torque limit value|0.1%
2298
2299 Table 6-48 Torque limit parameter details
2300
2301 * Torque limit source is external (P01-14=1)
2302
2303 Torque limit source is from external analog channel. The limit value is determined by the torque value corresponding to external AI_2 terminal.
2304
2305 **Set torque limit DO signal output**
2306
2307 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.
2308
2309 |=(% scope="row" %)**DO function code**|=**Function name**|=**Function**
2310 |=139|(((
2311 T-LIMIT in torque limit
2312 )))|Output of this signal indicates that the servo motor torque is limited
2313
2314 Table 6-49 DO torque limit function codes
2315
2316 == **Speed limit in torque mode** ==
2317
2318 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.
2319
2320 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__ and __Figure 6-46__.
2321
2322 |(((
2323 (% style="text-align:center" %)
2324 (((
2325 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2326 [[**Figure 6-45 Forward running curve**>>image:image-20220608172910-40.png||id="Iimage-20220608172910-40.png"]]
2327 )))
2328 )))|(((
2329 (% style="text-align:center" %)
2330 (((
2331 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2332 [[Figure 6-46 Reverse running curve>>image:image-20220608173155-41.png||id="Iimage-20220608173155-41.png"]]
2333 )))
2334 )))
2335
2336 |=(% scope="row" %)**Function code**|=**Name**|=(((
2337 **Setting method**
2338 )))|=(((
2339 **Effective time**
2340 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2341 |=P01-17|(((
2342 Forward speed
2343
2344 limit in torque mode
2345 )))|(((
2346 Operation setting
2347 )))|(((
2348 Effective immediately
2349 )))|3000|0 to 6000|(((
2350 Forward torque
2351
2352 limit in torque mode
2353 )))|rpm
2354 |=P01-18|(((
2355 Reverse speed
2356
2357 limit in torque mode
2358 )))|(((
2359 Operation setting
2360 )))|(((
2361 Effective immediately
2362 )))|3000|0 to 6000|(((
2363 Reverse torque
2364
2365 limit in torque mode
2366 )))|rpm
2367
2368 Table 6-48 Speed limit parameters in torque mode
2369
2370 ✎**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>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/06%20Operation/#HSpeedinstructionlimit]]__.
2371
2372 == Torque-related DO output functions ==
2373
2374 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.
2375
2376 **Torque arrival**
2377
2378 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.
2379
2380 (% style="text-align:center" %)
2381 (((
2382 (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:705px;" %)
2383 [[**Figure 6-47 Torque arrival output diagram**>>image:image-20220608173541-42.png||height="342" id="Iimage-20220608173541-42.png" width="705"]]
2384 )))
2385
2386 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 6-47__ and __Table 6-48__.
2387
2388 |=(% scope="row" %)**Function code**|=(% style="width: 113px;" %)**Name**|=(% style="width: 100px;" %)(((
2389 **Setting method**
2390 )))|=(% style="width: 124px;" %)(((
2391 **Effective time**
2392 )))|=(% style="width: 83px;" %)**Default value**|=(% style="width: 94px;" %)**Range**|=(% style="width: 421px;" %)**Definition**|=**Unit**
2393 |=P05-20|(% style="width:113px" %)(((
2394 Torque arrival
2395
2396 threshold
2397 )))|(% style="width:100px" %)(((
2398 Operation setting
2399 )))|(% style="width:124px" %)(((
2400 Effective immediately
2401 )))|(% style="width:83px" %)100|(% style="width:94px" %)0 to 300|(% style="width:421px" %)(((
2402 The torque arrival threshold must be used with “Torque arrival hysteresis value”:
2403
2404 When the actual torque reaches Torque arrival threshold + Torque arrival hysteresis Value, the torque arrival DO is valid;
2405
2406 When the actual torque decreases below torque arrival threshold-torque arrival hysteresis value, the torque arrival DO is invalid
2407 )))|%
2408 |=P05-21|(% style="width:113px" %)(((
2409 Torque arrival
2410
2411 hysteresis
2412 )))|(% style="width:100px" %)(((
2413 Operation setting
2414 )))|(% style="width:124px" %)(((
2415 Effective immediately
2416 )))|(% style="width:83px" %)10|(% style="width:94px" %)0 to 20|(% style="width:421px" %)Torque arrival the hysteresis value must be used with Torque arrival threshold|%
2417
2418 Table 6-49 Torque arrival parameters
2419
2420 |=(% scope="row" %)**DO function code**|=**Function name**|=**Function**
2421 |=138|(((
2422 T-COIN torque arrival
2423 )))|Used to determine whether the actual torque instruction has reached the set range
2424
2425 Table 6-50 DO Torque Arrival Function Code
2426
2427 = **Mixed control mode** =
2428
2429 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:
2430
2431 * Position mode⇔ Speed mode
2432 * Position mode ⇔Torque mode
2433 * Speed mode ⇔Torque mode
2434
2435 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.
2436
2437 |=(% scope="row" %)**Function code**|=**Name**|=(((
2438 **Setting method**
2439 )))|=(((
2440 **Effective time**
2441 )))|=**Default value**|=(% style="width: 90px;" %)**Range**|=(% style="width: 273px;" %)**Definition**|=**Unit**
2442 |=P00-01|Control mode|(((
2443 Shutdown setting
2444 )))|(((
2445 Shutdown setting
2446 )))|1|(% style="width:90px" %)1 to 6|(% style="width:273px" %)(((
2447 1: Position control
2448
2449 2: Speed control
2450
2451 3: Torque control
2452
2453 4: Position/speed mixed control
2454
2455 5: Position/torque mixed control
2456
2457 6: Speed/torque mixed control
2458
2459 **VD2L drive P0-01 setting range: 1-3, not support mixed mode**
2460 )))|-
2461
2462 Table 6-51 Mixed control mode parameters
2463
2464 Please set the servo drive parameters in different control modes according to the mechanical structure and indicators. The setting method refer to [[__“Parameters”__>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/09%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.
2465
2466 |=(% scope="row" %)**DI function code**|=**Name**|=(% style="width: 187px;" %)**Function name**|=(% style="width: 662px;" %)**Function**
2467 |=17|MixModeSel|(% style="width:187px" %)Mixed mode selection|(% style="width:662px" %)Used in mixed control mode, when the servo status is "run", set the current control mode of the servo drive(((
2468 (% style="margin-left:auto; margin-right:auto; width:585px" %)
2469 |=**P00-01**|=(% style="width: 243px;" %)**MixModeSel terminal logic**|=(% style="width: 220px;" %)**Control mode**
2470 |(% rowspan="2" %)4|(% style="width:243px" %)Valid|(% style="width:220px" %)Speed mode
2471 |(% style="width:243px" %)invalid|(% style="width:220px" %)Position mode
2472 |(% rowspan="2" %)5|(% style="width:243px" %)Valid|(% style="width:220px" %)Torque mode
2473 |(% style="width:243px" %)invalid|(% style="width:220px" %)Position mode
2474 |(% rowspan="2" %)6|(% style="width:243px" %)Valid|(% style="width:220px" %)Torque mode
2475 |(% style="width:243px" %)invalid|(% style="width:220px" %)Speed mode
2476 )))
2477
2478 Table 6-52 Description of DI function codes in control mode
2479
2480 (% class="box infomessage" %)
2481 (((
2482 ✎**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.
2483 )))
2484
2485 = **Absolute system** =
2486
2487 == Overview ==
2488
2489 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.
2490
2491 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.
2492
2493 == Single-turn absolute value system ==
2494
2495 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.
2496
2497 |=**Encoder type**|=**Encoder resolution (bits)**|=**Data range**
2498 |A1 (single-turn magnetic encoder)|17|0 to 131071
2499
2500 Table 6-53 Single-turn absolute encoder information
2501
2502 The relationship between encoder feedback position and rotating load position is shown in the figure below. (take a 17-bit encoder as an example).
2503
2504 (% style="text-align:center" %)
2505 (((
2506 (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:629px;" %)
2507 [[**Figure 6-48 Diagram of relationship between encoder feedback position and rotating load position**>>image:image-20220608173618-43.png||height="307" id="Iimage-20220608173618-43.png" width="629"]]
2508 )))
2509
2510 == Multi-turn absolute value system ==
2511
2512 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.
2513
2514 |=(% scope="row" %)**Encoder type**|=**Encoder resolution (bits)**|=**Data range**
2515 |=C1 (multi-turn magnetic encoder)|17|0 to 131071
2516 |=D2 (multi-turn Optical encoder)|23|0 to 8388607
2517
2518 Table 6-54 Multi-turn absolute encoder information
2519
2520 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).
2521
2522 (% style="text-align:center" %)
2523 (((
2524 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2525 [[**Figure 6-49 The relationship between encoder feedback position and rotating load position**>>image:image-20220608173701-44.png||id="Iimage-20220608173701-44.png"]]
2526 )))
2527
2528 (% class="wikigeneratedid" %)
2529 (((
2530 Multi-turn absolute value position U0-56 origin setting (only for multi-turn encoders)
2531 Under the following two working conditions: 1. The current physical position of the motor cannot reach the
2532 absolute zero point (U0-56). The value of U0-56 can be calibrated by moving the motor to the target position and setting the offset value of P10-8. 2. Move the motor to a known position on the machine and use this function to determine the position of U0-56.
2533 P10-08 multi-turn absolute encoder origin offset compensation is used in conjunction with U0-56 multi-turn absolute encoder current position. When setting P10-06=1, the value of U0-56 is updated to the value of P10-8 multi-turn absolute value encoder origin offset compensation at the reset time.
2534
2535 |**Function code**|**Name**|(((
2536 **Setting**
2537
2538 **method**
2539 )))|(((
2540 **Effective**
2541
2542 **time**
2543 )))|**Default**|**Range**|**Definition**|**Unit**
2544 |P10-06|Multi-turn absolute encoder reset|(((
2545 Shutdown
2546
2547 setting
2548 )))|Effective immediately|0|0 to 1|(((
2549 0: No operation
2550
2551 1: Clear rotation number of multi-turn absolute encoder, multi-turn absolute encoder current position and encoder fault alarms.
2552
2553 **✎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.
2554 )))|-
2555
2556 (% style="background-color:#ffffff" %)
2557 |**Function code**|**Name**|(((
2558 **Setting**
2559
2560 **method**
2561 )))|(((
2562 **Effective**
2563
2564 **time**
2565 )))|**Default**|**Range**|**Definition**|**Unit**
2566 |P10-08|Multi-turn absolute encoder origin offset compensation|(((
2567 Operation
2568
2569 setting
2570 )))|Effective immediately|0|-2147483647 to 2147483646|P10-08 multi-turn absolute encoder origin offset compensation is used in conjunction with U0-56 multi-turn absolute encoder current position. When P10-6 is set to 1, the value of U0-56 is updated to P10-8.|-
2571 )))
2572
2573 == Related functions and parameters ==
2574
2575 **Encoder feedback data**
2576
2577 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.
2578
2579 |=(% scope="row" %)**Monitoring number**|=**Category**|=**Name**|=**Unit**|=**Data type**
2580 |=U0-54|Universal|Absolute encoder position within 1 turn|Encoder unit|32-bit
2581 |=U0-55|Universal|Rotations number of absolute encoder|circle|32-bit
2582 |=U0-56|Universal|Multi-turn absolute value encoder current position|Instruction unit|32-bit
2583
2584 Table 6-55 Encoder feedback data
2585
2586 **Shield multi-turn absolute encoder battery fault**
2587
2588 The VD2 series absolute value servo drive provides shielded multi-turn absolute encoder battery fault function to shield under voltage and low-voltage fault. You could set by setting the function code P00-30.
2589
2590 |=(% scope="row" %)**Function code**|=**Name**|=(((
2591 **Setting**
2592
2593 **method**
2594 )))|=(((
2595 **Effective**
2596
2597 **time**
2598 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2599 |=P00-30|Shield multi-turn absolute encoder battery fault|Operation setting|Power on again|0|0 to 3|(((
2600 0: Detect multi-turn absolute encoder battery under voltage, and battery low voltage fault
2601
2602 1: **[Not recommended]** Shield multi-turn absolute motor battery failure alarm. Multi-turn absolute application may cause mechanical fault, only multi-turn absolute encoder motors is used as single-turn absolute
2603
2604 2: **[Not recommended]** Shield multi-turn absolute value encoder battery under temperature fault, which is very likely to cause mechanical failure. Please use it carefully!
2605
2606 3: **[Not recommended]** Shield absolute value encoder battery undervoltage and low voltage failure and multi-turn absolute value encoder battery under temperature failure are very likely to cause mechanical failure, please use it carefully!
2607 )))|-
2608
2609 This function is permitted when a multi-turn absolute encoder motor is used as a single-turn absolute and when it is confirmed that no mechanical failure will occur.
2610
2611 **A93 warning solution**
2612
2613 Check the encoder communication wire and its placement, reduce the abnormal frequency, and eliminate A93. In this way, the A93 warning problem can be completely solved, and the operation of the motor will not be affected after the A93 warning is released.
2614 Increase the threshold for encoder read-write check exceptions is only suitable as a temporary solution. Eliminate A93 warning by increasing exception threshold. The disadvantage is that the motor may run in an unstable state.
2615
2616 |**Function code**|**Name**|(((
2617 **Setting**
2618
2619 **method**
2620 )))|(((
2621 **Effective**
2622
2623 **time**
2624 )))|**Default**|**Range**|**Definition**|**Unit**
2625 |P00-31|Encoder read-write check abnormal frequency|(((
2626 Operation
2627
2628 setting
2629 )))|(((
2630 immediately
2631
2632 Effective
2633 )))|20|0 to100|(((
2634 The setting of the alarm threshold for the abnormal frequency of the encoder read-write
2635
2636 0: no alarm
2637
2638 Others: When this setting value is exceeded, report A93.
2639 )))|-
2640
2641 (% class="box infomessage" %)
2642 (((
2643 **✎Note: **Be sure to use the shield multi-turn absolute encoder battery fault function carefully, otherwise it may cause data loss, mechanical failure, or even personal injury or death.
2644 )))
2645
2646 == Absolute value system encoder battery box use precautions. ==
2647
2648 **Cautions**
2649
2650 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.
2651
2652 (% style="text-align:center" %)
2653 (((
2654 (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:975px;" %)
2655 [[**Figure 6-50 the encoder battery box**>>image:image-20220707111333-28.png||height="390" id="Iimage-20220707111333-28.png" width="975"]]
2656 )))
2657
2658 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.
2659
2660 **Replace the battery**
2661
2662 Please replace the battery while keeping the servo drive and motor well connected and the power on.
2663
2664 The specific replacement method is as follows:
2665
2666 * Step1 Push open the buckles on both ends of the outer cover of the battery compartment and open the outer cover.
2667 * Step2 Remove the old battery.
2668 * Step3 Embed the new battery, and the battery plug wire according to the anti-dull port on the battery box for placement.
2669 * Step4 Close the outer cover of the battery box, please be careful not to pinch the connector wiring when closing.
2670
2671 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.
2672
2673 |=(% scope="row" %)**Function code**|=**Name**|=(((
2674 **Setting method**
2675 )))|=(((
2676 **Effective time**
2677 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2678 |=P10-06|Multi-turn absolute encoder reset|(((
2679 Shutdown setting
2680 )))|(((
2681 Effective immediately
2682 )))|0|0 to 1|(((
2683 * 0: No operation
2684 * 1: Clear rotation number of multi-turn absolute encoder, multi-turn absolute encoder current position and encoder fault alarms.
2685
2686 (% class="box infomessage" %)
2687 (((
2688 ✎**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.
2689 )))
2690 )))|-
2691
2692 Table 6-56 Absolute encoder reset enable parameter
2693
2694 **Battery selection**
2695
2696 |=(% scope="row" style="width: 361px;" %)**Battery selection specification**|=(% style="width: 496px;" %)**Item**|=(% style="width: 219px;" %)**Value**
2697 |(% rowspan="4" style="width:361px" %)(((
2698 Nominal Voltage: 3.6V
2699
2700 Nominal capacity: 2700mAh
2701 )))|(% style="width:496px" %)Standard battery voltage (V)|(% style="width:219px" %)3.6
2702 |(% style="width:496px" %)Standard cell voltage (V)|(% style="width:219px" %)3.1
2703 |(% style="width:496px" %)Battery ambient temperature range|(% style="width:219px" %)0 to 40
2704 |(% style="width:496px" %)Battery storage ambient temperature range|(% style="width:219px" %)-20 to 60
2705
2706 Table 6-57 Absolute value encoder battery information
2707
2708 **✎Note: **
2709
2710 If the battery is replaced when the servo drive is powered off, the encoder data will be lost.
2711
2712 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.
2713
2714 Correct placement of batteries +, - direction
2715
2716 1. Do not disassemble the battery or put the battery into the fire! If the battery is put into the fire or heated, there is a risk of explosion!
2717 1. This battery cannot be charged.
2718 1. If the battery is left inside the machine after a long period of use or the battery is no longer usable, liquid may leak out, etc. Please replace it as soon as possible! (Recommended to replace every 2 years, you can contact the manufacturer's technical staff for replacement)
2719 1. Do not allow the battery to short-circuit or peel the battery skin! Otherwise, there may be a one-time outflow of high current, making the battery's power weakened, or even rupture.
2720 1. After the replacement of the battery, please dispose of it according to local laws and regulations.
2721
2722 = **Other functions** =
2723
2724 == VDI ==
2725
2726 VDI (Virtual Digital Signal Input Port) is similar to hardware DI terminal. The DI function could also be assigned for use.
2727
2728 (% class="box infomessage" %)
2729 (((
2730 ✎**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).
2731 )))
2732
2733 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.
2734
2735 (% style="text-align:center" %)
2736 (((
2737 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2738 [[**Figure 6-51 VDI_1 setting steps**>>image:image-20220608173804-46.png||id="Iimage-20220608173804-46.png"]]
2739 )))
2740
2741 |=(% scope="row" %)**Function code**|=**Name**|=(((
2742 **Setting method**
2743 )))|=(((
2744 **Effective time**
2745 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2746 |=P13-1|Virtual VDI_1 input value|Operation setting|Effective immediately|0|0 to 1|(((
2747 When P06-04 is set to 1, DI_1 channel logic is control by this function code.
2748
2749 VDI_1 input level:
2750
2751 0: Low level
2752
2753 1: High level
2754 )))|-
2755 |=P13-2|Virtual VDI_2 input value|Operation setting|Effective immediately|0|0 to 1|(((
2756 When P06-07 is set to 1, DI_2 channel logic is control by this function code.
2757
2758 VDI_2 input level:
2759
2760 0: Low level
2761
2762 1: High level
2763 )))|-
2764 |=P13-3|Virtual VDI_3 input value|Operation setting|Effective immediately|0|0 to 1|(((
2765 When P06-10 is set to 1, DI_3 channel logic is control by this function code.
2766
2767 VDI_3 input level:
2768
2769 0: Low level
2770
2771 1: High level
2772 )))|-
2773 |=P13-4|Virtual VDI_4 input value|Operation setting|Effective immediately|0|0 to 1|(((
2774 When P06-13 is set to 1, DI_4 channel logic is control by this function code.
2775
2776 VDI_4 input level:
2777
2778 0: Low level
2779
2780 1: High level
2781 )))|-
2782 |=P13-05(((
2783 ★
2784 )))|Virtual VDI_5 input value|Operation setting|Effective immediately|0|0 to 1|(((
2785 When P06-16 is set to 1, DI_5 channel logic is control by this function code.
2786
2787 VDI_5 input level:
2788
2789 0: Low level
2790
2791 1: High level
2792 )))|-
2793 |=P13-06(((
2794 ★
2795 )))|Virtual VDI_6 input value|Operation setting|Effective immediately|0|0 to 1|(((
2796 When P06-19 is set to 1, DI_6 channel logic is control by this function code.
2797
2798 VDI_6 input level:
2799
2800 0: Low level
2801
2802 1: High level
2803 )))|-
2804 |=P13-07(((
2805 ★
2806 )))|Virtual VDI_7 input value|Operation setting|Effective immediately|0|0 to 1|(((
2807 When P06-22 is set to 1, DI_7 channel logic is control by this function code.
2808
2809 VDI_7 input level:
2810
2811 0: Low level
2812
2813 1: High level
2814 )))|-
2815 |=P13-08(((
2816 ★
2817 )))|Virtual VDI_8 input value|Operation setting|Effective immediately|0|0 to 1|(((
2818 When P06-25 is set to 1, DI_8 channel logic is control by this function code.
2819
2820 VDI_8 input level:
2821
2822 0: Low level
2823
2824 1: High level
2825 )))|-
2826
2827 Table 6-58 Virtual VDI parameters
2828
2829 (% class="box infomessage" %)
2830 (((
2831 ✎**Note: **“★” means VD2F and VD2L servo drive does not support the function code .
2832 )))
2833
2834 == Port filtering time ==
2835
2836 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.
2837
2838 |=(% scope="row" style="width: 204px;" %)**Setting value**|=(% style="width: 235px;" %)**DI channel logic selection**|=(% style="width: 637px;" %)**Illustration**
2839 |=(% style="width: 204px;" %)0|(% style="width:235px" %)Active high level|(% style="width:637px" %)[[image:image-20220707113050-31.jpeg]]
2840 |=(% style="width: 204px;" %)1|(% style="width:235px" %)Active low level|(% style="width:637px" %)[[image:image-20220707113205-33.jpeg||height="166" width="526"]]
2841
2842 Table 6-59 DI terminal channel logic selection
2843
2844 == **VDO** ==
2845
2846 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.
2847
2848 Take the DO_2 terminal as communication VDO, and the use steps of VDI are as the figure below.
2849
2850 (% style="text-align:center" %)
2851 (((
2852 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2853 [[**Figure 6-52 VDO_2 setting steps**>>image:image-20220608173957-48.png||id="Iimage-20220608173957-48.png"]]
2854 )))
2855
2856
2857 |=(% scope="row" %)**Function code**|=**Name**|=(((
2858 **Setting method**
2859 )))|=(((
2860 **Effective time**
2861 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2862 |=P13-11|Communication VDO_1 output value|Operation setting|Effective immediately|0|0 to 1|(((
2863 VDO_1 output level：
2864
2865 0: Low level
2866
2867 1: High level
2868 )))|-
2869 |=P13-12|Communication VDO_2 output value|Operation setting|Effective immediately|0|0 to 1|(((
2870 VDO_2 output level：
2871
2872 0: Low level
2873
2874 1: High level
2875 )))|-
2876 |=P13-13|Communication VDO_3 output value|Operation setting|Effective immediately|0|0 to 1|(((
2877 VDO_3 output level：
2878
2879 0: Low level
2880
2881 1: High level
2882 )))|-
2883 |=P13-14|Communication VDO_4 output value|Operation setting|Effective immediately|0|0 to 1|(((
2884 VDO_4 output level：
2885
2886 0: Low level
2887
2888 1: High level
2889 )))|-
2890
2891 Table 6-60 Communication control DO function parameters
2892
2893 |=(% scope="row" %)**DO function number**|=**Function name**|=**Function**
2894 |=145|COM_VDO1 communication VDO1 output|Use communication VDO
2895 |=146|COM_VDO1 communication VDO2 output|Use communication VDO
2896 |=147|COM_VDO1 communication VDO3 output|Use communication VDO
2897 |=148|COM_VDO1 communication VDO4output|Use communication VDO
2898
2899 Table 6-61 VDO function number
2900
2901 ✎**Note:** You are advised to configure function codes for DO terminals in sequence to avoid errors during DO signal observation
2902
2903 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).
2904
2905 == Motor overload protection ==
2906
2907 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%.
2908
2909 |=(% scope="row" %)**Function code**|=**Name**|=(((
2910 **Setting method**
2911 )))|=(((
2912 **Effective time**
2913 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2914 |=P10-04|motor overload protection time coefficient|Operation setting|Effective immediately|100|0 to 800|(((
2915 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.
2916
2917 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
2918 )))|%
2919
2920 In the following cases, it could be modified according to the actual heat generation of the motor
2921
2922 1. The motor works in a place with high ambient temperature
2923 1. The motor runs in cycle circulates, and the single running cycle is short and the acceleration and deceleration is frequent.
2924
2925 = Homing mode =
2926
2927 The homing mode is used to find the mechanical origin and locate the positional relationship between the mechanical origin and the mechanical zero.
2928
2929 Mechanical homing: A mechanically fixed position may correspond to a certain defined homing switch, or may correspond to the motor Z signal.
2930
2931 Mechanical zero point: Mechanically absolute 0 position.
2932
2933 After the homing, the stop position of the motor is the mechanical homing. By setting P10-08, the relationship between the mechanical homing and the mechanical zero can be set:
2934
2935 Mechanical homing = Mechanical zero +P10-08 (homing offset)
2936
2937 When P10-08=0, the mechanical homing coincides with the mechanical zero.
2938
2939 == Control block diagram ==
2940
2941 (% style="text-align:center" %)
2942 (((
2943 (% style="display:inline-block" %)
2944 [[Figure 6-53 Homing mode control block diagram>>image:企业微信截图_17531688812839.png]]
2945 )))
2946
2947 === Homing mode related function codes ===
2948
2949 |Function code|Name|(((
2950 Setting
2951
2952 method
2953 )))|(((
2954 Effective
2955
2956 time
2957 )))|Default|Range|Definition|Unit
2958 |P01-39|Homing start mode|(((
2959 Stop
2960
2961 settings
2962 )))|(((
2963 Effective immediately
2964 )))|0|0 to 2|(((
2965 0: Close
2966
2967 1: The servo is powered ON and started after the first ON
2968
2969 2: DI enable
2970 )))|-
2971 |P01-40|Homing mode|(((
2972 Stop
2973
2974 settings
2975 )))|(((
2976 Effective immediately
2977 )))|0|0 to 35|(((
2978 0 ~~ 35 Homing mode;
2979
2980 ✎Note: VD2 currently does not support 15, 16, 31, 32 modes
2981 )))|-
2982 |(% style="width:89px" %)P01-41|(% style="width:90px" %)High-speed search deceleration point signal velocity|(% style="width:74px" %)(((
2983 Operation setting
2984 )))|(% style="width:90px" %)(((
2985 Effective immediately
2986 )))|(% style="width:61px" %)300|(% style="width:50px" %)1 to 3000|(% style="width:242px" %)High-speed search deceleration point signal velocity in homing mode|rpm
2987 |P01-42|Low speed search homing signal speed|(((
2988 Operation setting
2989 )))|(((
2990 Effective immediately
2991 )))|60|1 to 300|Low-speed search origin signal velocity in homing mode|rpm
2992 |P01-43|Homing acceleration and deceleration|(((
2993 Operation setting
2994 )))|(((
2995 Effective immediately
2996 )))|50|1to1000|(((
2997 Acceleration and deceleration in homing mode
2998
2999 Time for speed acceleration from 0 to 1000rpm
3000 )))|ms
3001 |P01-44|Homing timeout limited time|(((
3002 Operation setting
3003 )))|(((
3004 Effective immediately
3005 )))|65535|100 to 65535|Homing timeout limited time|ms
3006 |P10-08|Multi-turn absolute encoder homing offset compensation|(((
3007 Operation setting
3008 )))|(((
3009 Effective immediately
3010 )))|0|(((
3011 -2147483647~~
3012
3013 2147483646
3014 )))|(((
3015 P10-08 multi-turn absolute encoder homing offset compensation is used in conjunction with U0-56 multi-turn absolute encoder current position.
3016
3017 When P10-6 is set to 1, the value of U0-56 is updated to P10-8.
3018 )))|-
3019
3020 (% style="color:inherit; font-family:inherit; font-size:max(20px, min(24px, 12.8889px + 0.925926vw))" %)Introduction to homing mode
3021
3022 In the following figure, "H" represents P01-41 (high-speed search deceleration point signal speed), and "L" represents P01-42 (low-speed search homing signal speed).
3023
3024
3025 (1) P01-40 =1
3026
3027 Mechanical homing: Motor Z signal
3028
3029 Deceleration point: Reverse limit switch (NOT)
3030
3031 ① The deceleration point signal is invalid when starting homing
3032
3033 (% style="text-align:center" %)
3034 [[image:1748221916083-747.jpg||height="347" width="600"]]
3035
3036 When the motor starts to move, NOT=0, the servo motor runs in the high-speed in reverse direction until it meets the rising edge of NOT, it decelerates and reverses the direction, runs at a low speed in the forward direction, and stops at the first Z signal after encountering the falling edge of NOT.
3037
3038
3039 ② The deceleration point signal is valid when starting homing
3040
3041 (% style="text-align:center" %)
3042 [[image:1748222134730-241.jpg||height="341" width="600"]]
3043
3044 When the motor starts to move when NOT=1, it directly run in low speed in the forward direction, and stops at the first Z signal after encountering the falling edge of NOT.
3045
3046
3047 (2) P01-40=2
3048
3049 Mechanical homing: Motor Z signal
3050
3051 Deceleration point: Positive Limit Switch (POT)
3052
3053 ① The deceleration point signal is invalid when starting homing
3054
3055 (% style="text-align:center" %)
3056 [[image:1748222168627-745.jpg||height="334" width="600"]]
3057
3058
3059 When the motor starts to move and POT = 0, the servo motor runs in the high-speed in forward direction until it meets the rising edge of POT, it decelerates and reverses, runs at a reverse low speed, and stops at the first Z signal after encountering the falling edge of POT.
3060
3061
3062 ② The deceleration point signal is valid when starting homing
3063
3064 (% style="text-align:center" %)
3065 [[image:1748222190794-857.jpg||height="337" width="600"]]
3066
3067 When the motor starts to home and POT=1, it directly starts to move at low speed in the reverse direction, and stops at the first Z signal after encountering the falling edge of NOT.
3068
3069
3070 (3) P01-40=3
3071
3072 Mechanical homing: Motor Z signal
3073
3074 Deceleration point: Home switch (HW)
3075
3076 ① The deceleration point signal is invalid when starting homing
3077
3078 (% style="text-align:center" %)
3079 [[image:1748226127686-390.jpg||height="337" width="600"]]
3080
3081
3082 The motor starts to move and HW = 0. It starts to move at a forward high speed. After encountering the rising edge of HW, it decelerates and reverses the direction. It runs at a reverse low speed. After encountering the falling edge of HW, it continues to run, and then stops when encountering the first Z signal.
3083
3084
3085 ② The deceleration point signal is valid when starting homing
3086
3087 (% style="text-align:center" %)
3088 [[image:1748226169150-834.jpg||height="337" width="600"]]
3089
3090 When the motor starts to home and HW=1, it directly starts to move at low speed in the reverse direction, and stops at the first Z signal after encountering the falling edge of HW.
3091
3092
3093 (4) P01-40=4
3094
3095 Mechanical homing: Motor Z signal
3096
3097 Deceleration point: Home switch (HW)
3098
3099 ① The deceleration point signal is invalid when starting homing
3100
3101 (% style="text-align:center" %)
3102 [[image:1748226182842-731.jpg||height="337" width="600"]]
3103
3104 When the motor starts to home and HW=0, it directly starts to move at low speed in the forward direction, and stops at the first Z signal after encountering the rising edge of HW.
3105
3106
3107 ② The deceleration point signal is valid when starting homing
3108
3109 (% style="text-align:center" %)
3110 [[image:1748226201716-810.jpg||height="338" width="600"]]
3111
3112
3113 The motor starts to move and HW = 1, It starts to move at a high speed in the reverse direction. After encountering the falling edge of HW, It decelerates and reverses, runs at a low speed in the forward direction, and stops at the first Z signal after encountering the rising edge of HW.
3114
3115
3116 (5) P01-40=5
3117
3118 Mechanical homing: Motor Z signal
3119
3120 Deceleration point: Home switch (HW)
3121
3122 ① The deceleration point signal is invalid when starting homing
3123
3124 (% style="text-align:center" %)
3125 [[image:1748226251451-548.jpg||height="337" width="600"]]
3126
3127 When the motor start to move and HW = 0, and it starts to move at a reverse high speed. After encountering the rising edge of HW, it decelerates and reverses the direction, runs at a low speed in the forward direction, and stops at the first Z signal after encountering the falling edge of HW.
3128
3129
3130 ② The deceleration point signal is valid when starting homing
3131
3132 (% style="text-align:center" %)
3133 [[image:1748226264724-999.jpg||height="337" width="600"]]
3134
3135 When the motor starts to home and HW=1, it directly starts to move at low speed in the forward direction, and stops at the first Z signal after encountering the falling edge of HW.
3136
3137
3138 (6) P01-40=6
3139
3140 Mechanical homing: Motor Z signal
3141
3142 Deceleration point: Home switch (HW)
3143
3144 ① The deceleration point signal is invalid when starting homing
3145
3146 (% style="text-align:center" %)
3147 [[image:1748226277996-278.jpg||height="337" width="600"]]
3148
3149 When the motor starts to home and HW=0, it directly starts to move at low speed in the reverse direction, and stops at the first Z signal after encountering the rising edge of HW.
3150
3151
3152 ② The deceleration point signal is valid when starting homing
3153
3154 (% style="text-align:center" %)
3155 [[image:1748226309059-457.jpg||height="337" width="600"]]
3156
3157 When starting to homing, HW = 1, start to homing at a forward high speed, after encountering the falling edge of HW, decelerate and reverse, run at a reverse low speed, and stop at the first Z signal after encountering the rising edge of HW.
3158
3159
3160 (7) P01-40=7
3161
3162 Mechanical homing: Motor Z signal
3163
3164 Deceleration point: Home switch (HW)
3165
3166 ① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3167
3168 (% style="text-align:center" %)
3169 [[image:1748226329690-925.jpg||height="405" width="600"]]
3170
3171 When the motor starts to home and HW = 0, it starts to move at a forward high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and reverses the direction, and runs at a reverse low speed, and stops at the first Z signal after encountering the rising edge of HW.
3172
3173
3174 ②When homing, the deceleration point signal is invalid and the forward limit switch is encountered
3175
3176 (% style="text-align:center" %)
3177 [[image:企业微信截图_17531707793586.png]]
3178
3179 When the motor starts to home and HW = 0, it starts to move at a forward high speed. If the limit switch is encountered, it will reverse and run at a reverse high speed. After encountering the rising edge of HW, it decelerates and runs at a reverse low speed, and stops at the first Z signal after encountering the rising edge of HW.
3180
3181
3182 ③ The deceleration point signal is valid when starting homing
3183
3184 (% style="text-align:center" %)
3185 [[image:1748226362415-253.jpg||height="406" width="600"]]
3186
3187 When starting homing, HW=1, then directly reverse the low speed to start homing, and stop the first Z signal after encountering the falling edge of HW;
3188
3189
3190 (8) P01-40=8
3191
3192 Mechanical homing: Motor Z signal
3193
3194 Deceleration point: Home switch (HW)
3195
3196 ① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3197
3198 (% style="text-align:center" %)
3199 [[image:1748226377919-294.jpg||height="425" width="600"]]
3200
3201 When it starts to home and HW = 0, it starts to move at a forward high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and reverses the direction, and runs at a reverse low speed. After encountering the falling edge of HW, it reverses and runs at a forward low speed, and stops at the first Z signal after encountering the rising edge of HW.
3202
3203
3204 ② The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
3205
3206 (% style="text-align:center" %)
3207 [[image:1748226441814-616.jpg||height="460" width="600"]]
3208
3209 When the motor starts to home and HW = 0, it starts to move at a forward high speed. If the limit switch is encountered, it will reverse and run at a reverse high speed. After encountering the rising edge of HW, it decelerates and runs at a reverse low speed. After encountering the falling edge of HW, it reverses and runs at a forward low speed, and stops at the first Z signal after encountering the rising edge of HW.
3210
3211
3212 ③ The deceleration point signal is valid when starting homing
3213
3214 (% style="text-align:center" %)
3215 [[image:1748226458987-236.jpg||height="403" width="600"]]
3216
3217 When the motor starts to home and HW=1, it directly starts to move at low speed in the reverse direction. After encountering the falling edge of HW, it reverses and runs at a forward low speed, and stops at the first Z signal after encountering the rising edge of HW.
3218
3219
3220 (9) P01-40=9
3221
3222 Mechanical homing: Motor Z signal
3223
3224 Deceleration point: Home switch (HW)
3225
3226 ① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3227
3228 (% style="text-align:center" %)
3229 [[image:1748226475073-462.jpg||height="407" width="600"]]
3230
3231 When the motor starts to home and HW = 0, it starts to move at a forward high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and runs at a forward low speed. After encountering the falling edge of HW, it reverses and runs at a reverse low speed, and stops at the first Z signal after encountering the rising edge of HW.
3232
3233
3234 ② The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
3235
3236 (% style="text-align:center" %)
3237 [[image:1748226491294-972.jpg||height="473" width="600"]]
3238
3239 When the motor starts to home and HW = 0, it starts to move at a forward high speed. If the limit switch is encountered, it will reverse and run at a reverse high speed. After encountering the rising edge of HW, it decelerates and runs at a forward low speed. After encountering the falling edge of HW, it reverses and runs at a reverse low speed, and stops at the first Z signal after encountering the rising edge of HW.
3240
3241 ③ The deceleration point signal is valid when starting homing
3242
3243 (% style="text-align:center" %)
3244 [[image:1748226509824-146.jpg||height="406" width="600"]]
3245
3246 When the motor starts to home and HW=1, it directly starts to move at low speed in the forward direction. After encountering the falling edge of HW, it reverses and runs at a reverse low speed, and stops at the first Z signal after encountering the rising edge of HW;
3247
3248
3249 (10) P01-40=10
3250
3251 Mechanical homing: Motor Z signal
3252
3253 Deceleration point: Home switch (HW)
3254
3255 ① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3256
3257 (% style="text-align:center" %)
3258 [[image:1748226583138-561.jpg||height="403" width="600"]]
3259
3260 When the motor starts to home and HW = 0, it starts to move at a forward high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and runs at a forward low speed, and stops at the first Z signal after encountering the falling edge of HW.
3261
3262 ② When homing, the deceleration point signal is invalid and the forward limit switch is encountered
3263
3264 (% style="text-align:center" %)
3265 [[image:1748226640407-712.jpg||height="474" width="600"]]
3266
3267 When the motor starts to home and HW = 0, it starts to move at a forward high speed. If the limit switch is encountered, it will reverse and run at a reverse high speed. After encountering the rising edge of HW, it decelerates and runs at a forward low speed. After encountering the falling edge of HW, it reverses and runs at a forward low speed, and stops at the first Z signal after encountering the falling edge of HW.
3268
3269
3270 ③ The deceleration point signal is valid when starting homing
3271
3272 (% style="text-align:center" %)
3273 [[image:1748226662455-861.jpg||height="392" width="600"]]
3274
3275 When the motor starts to home and HW=1, it directly starts to move at low speed in the forward direction, and stops at the first Z signal after encountering the falling edge of HW.
3276
3277
3278 (11) P01-40=11
3279
3280 Mechanical homing: Motor Z signal
3281
3282 Deceleration point: Home switch (HW)
3283
3284 ① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3285
3286 (% style="text-align:center" %)
3287 [[image:1748226681272-116.jpg||height="406" width="600"]]
3288
3289 When the motor starts to home and HW = 0, it starts to move at a reverse high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and runs at a forward low speed, and stops at the first Z signal after encountering the falling edge of HW.
3290
3291
3292 ② The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3293
3294 (% style="text-align:center" %)
3295 [[image:1748226729793-833.jpg||height="484" width="600"]]
3296
3297 When the motor starts to home and HW = 0, it starts to move at a reverse high speed. If the limit switch is encountered, it will reverse and run at a forward high speed. After encountering the rising edge of HW, it decelerates and runs at a forward low speed, and stops at the first Z signal after encountering the falling edge of HW.
3298
3299 ③ The deceleration point signal is valid when starting homing
3300
3301 (% style="text-align:center" %)
3302 [[image:1748226803530-631.jpg||height="414" width="600"]]
3303
3304 When the motor starts to home and HW=1, it directly starts to move at low speed in the forward direction, and stops at the first Z signal after encountering the falling edge of HW.
3305
3306
3307 (12) P01-40=12
3308
3309 Mechanical homing: Motor Z signal
3310
3311 Deceleration point: Home switch (HW)
3312
3313 ① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3314
3315 (% style="text-align:center" %)
3316 [[image:1748226829420-255.jpg||height="406" width="600"]]
3317
3318
3319 When the motor starts to home and HW = 0, it starts to move at a reverse high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and runs at a forward low speed After encountering the falling edge of HW, it reverses and runs at a reverse low speed, and stops at the first Z signal after encountering the rising edge of HW.
3320
3321
3322 ② The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3323
3324 (% style="text-align:center" %)
3325 [[image:1748226863974-673.jpg||height="484" width="600"]]
3326
3327 When the motor starts to home and HW = 0, it starts to move at a reverse high speed. If the limit switch is encountered, it will reverse and run at a forward high speed. After encountering the rising edge of HW, it decelerates and runs at a forward low speed. After encountering the falling edge of HW, it reverses and runs at a reverse low speed, and stops at the first Z signal after encountering the rising edge of HW.
3328
3329
3330 ③ The deceleration point signal is valid when starting homing
3331
3332 (% style="text-align:center" %)
3333 [[image:1748226879060-830.jpg||height="414" width="600"]]
3334
3335 When starting to homing, HW = 1, it will directly start to homing at a forward low speed. After encountering the falling edge of HW, it will reverse and run at a reverse low speed. The first Z signal after encountering the rising edge of HW will stop.
3336
3337 (13) P01-40=13
3338
3339 Mechanical homing: Motor Z signal
3340
3341 Deceleration point: Home switch (HW)
3342
3343 ① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3344
3345 (% style="text-align:center" %)
3346 [[image:1748227007116-603.jpg||height="443" width="600"]]
3347
3348 When the motor starts to home and HW = 0, it starts to move at a reverse high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and runs at a reverse low speed. After encountering the falling edge of HW, it reverses and runs at a forward low speed, and stops at the first Z signal after encountering the rising edge of HW.
3349
3350
3351 ① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3352
3353 (% style="text-align:center" %)
3354 [[image:1748227023585-740.jpg||height="472" width="600"]]
3355
3356 When the motor starts to home and HW = 0, it starts to move at a reverse high speed. If the limit switch is encountered, it will reverse and run at a forward high speed. After encountering the rising edge of HW, it decelerates and runs at a reverse low speed. After encountering the falling edge of HW, it reverses and runs at a forward low speed, and stops at the first Z signal after encountering the rising edge of HW.
3357
3358 ③ The deceleration point signal is valid when starting homing
3359
3360 (% style="text-align:center" %)
3361 [[image:1748227043041-279.jpg||height="414" width="600"]]
3362
3363 When starting homing, HW=1 starts homing directly at reverse low speed. After encountering the falling edge of HW, the first Z signal after encountering the rising edge of HW stops in reverse and forward low speed operation;
3364
3365
3366 (14) P01-40=14
3367
3368 Mechanical homing: Motor Z signal
3369
3370 Deceleration point: Home switch (HW)
3371
3372 ① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3373
3374 (% style="text-align:center" %)
3375 [[image:1748227060842-543.jpg||height="416" width="600"]]
3376
3377 When the motor starts to home and HW = 0, it starts to move at a reverse high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and runs at a reverse low speed, and stops at the first Z signal after encountering the falling edge of HW.
3378
3379
3380 ① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3381
3382 (% style="text-align:center" %)
3383 [[image:1748227079908-302.jpg||height="445" width="600"]]
3384
3385 When it starts to homing, HW = 0, it starts to homing at a reverse high speed, encounters a limit switch, automatically reverses, runs at a forward high speed, encounters a rising edge of HW, decelerates and runs in a reverse direction, and stops the first Z signal after encountering a falling edge of HW at a reverse low speed.
3386
3387
3388 ③ The deceleration point signal is valid when starting homing
3389
3390 (% style="text-align:center" %)
3391 [[image:1748227101511-101.jpg||height="414" width="600"]]
3392
3393 When starting homing, HW=1, then directly reverse the low speed to start homing, and stop the first Z signal after encountering the falling edge of HW;
3394
3395
3396 (15) P01-40=17
3397
3398 Mechanical homing: Negative overtravel switch (NOT)
3399
3400 Deceleration point: Negative overtravel switch (NOT)
3401
3402 ① The deceleration point signal is invalid when starting homing
3403
3404 (% style="text-align:center" %)
3405 [[image:1748227125161-655.jpg||height="295" width="600"]]
3406
3407 When the motor starts to home and NOT = 0, it starts to move at a reverse high speed. After encountering the rising edge of NOT, it decelerates and runs at a forward low speed, and stops after encountering the falling edge of NOT.
3408
3409
3410 ② The deceleration point signal is valid when starting homing
3411
3412 (% style="text-align:center" %)
3413 [[image:1748227138852-942.jpg||height="324" width="600"]]
3414
3415 When the motor starts to home and NOT=1, it directly starts to move at low speed in the forward direction, and stops after encountering the falling edge of NOT.
3416
3417
3418 (16) P01-40=18
3419
3420 Mechanical homing: Positive overtravel switch (POT)
3421
3422 Deceleration point: Positive overtravel switch (POT)
3423
3424 ① The deceleration point signal is invalid when starting homing
3425
3426 (% style="text-align:center" %)
3427 [[image:1748227153999-626.jpg||height="300" width="600"]]
3428
3429 When the motor starts to home and POT = 0, it starts to move at a forward high speed. After encountering the rising edge of POT, it decelerates and runs at a reverse low speed, and stops after encountering the falling edge of POT.
3430
3431
3432 ② The deceleration point signal is valid when starting homing
3433
3434 (% style="text-align:center" %)
3435 [[image:1748227169369-310.jpg||height="267" width="600"]]
3436
3437 When starting homing, POT=1, start homing at low speed in reverse directly, and stop when encountering POT falling edge;
3438
3439
3440 (17) P01-40=19
3441
3442 Mechanical homing: Home switch (HW)
3443
3444 Deceleration point: Home switch (HW)
3445
3446 ① The deceleration point signal is invalid when starting homing
3447
3448 (% style="text-align:center" %)
3449 [[image:1748227186962-656.jpg||height="313" width="600"]]
3450
3451 When the motor starts to home and HW = 0, it starts to move at a forward high speed. After encountering the rising edge of HW, it decelerates and runs at a reverse low speed, and stops after encountering the falling edge of HW.
3452
3453
3454 ② The deceleration point signal is valid when starting homing
3455
3456 (% style="text-align:center" %)
3457 [[image:1748227202174-768.jpg||height="313" width="600"]]
3458
3459 When the motor starts to home and HW =1, it directly starts to move at low speed in the reverse direction, and stops after encountering the falling edge of HW.
3460
3461
3462 (18) P01-40=20
3463
3464 Mechanical homing: Home switch (HW)
3465
3466 Deceleration point: Home switch (HW)
3467
3468 ① The deceleration point signal is invalid when starting homing
3469
3470 (% style="text-align:center" %)
3471 [[image:1748227247408-755.jpg||height="314" width="600"]]
3472
3473 When the motor starts to home and HW =0, it directly starts to move at low speed in the forward direction, and stops after encountering the rising edge of HW.
3474
3475
3476 ② The deceleration point signal is valid when starting homing
3477
3478 (% style="text-align:center" %)
3479 [[image:1748227263354-495.jpg||height="313" width="600"]]
3480
3481 When the motor starts to home and HW = 1, it starts to move at a reverse high speed. After encountering the falling edge of HW, it decelerates and runs at a forward low speed, and stops after encountering the rising edge of HW.
3482
3483
3484 (19) P01-40=21
3485
3486 Mechanical homing: Home switch (HW)
3487
3488 Deceleration point: Home switch (HW)
3489
3490 ① The deceleration point signal is invalid when starting homing
3491
3492 (% style="text-align:center" %)
3493 [[image:1748227279599-847.jpg||height="314" width="600"]]
3494
3495 When the motor starts to home and HW = 0, it starts to move at a reverse high speed. After encountering the rising edge of HW, it decelerates and runs at a forward low speed, and stops after encountering the falling edge of HW.
3496
3497
3498 ② The deceleration point signal is valid when starting homing
3499
3500 (% style="text-align:center" %)
3501 [[image:1748227292762-413.jpg||height="313" width="600"]]
3502
3503 When the motor starts to home and HW =1, it directly starts to move at low speed in the forward direction, and stops after encountering the falling edge of HW.
3504
3505
3506 (20) P01-40=22
3507
3508 Mechanical homing: Home switch (HW)
3509
3510 Deceleration point: Home switch (HW)
3511
3512 ① The deceleration point signal is invalid when starting homing
3513
3514 (% style="text-align:center" %)
3515 [[image:1748227358104-464.jpg||height="314" width="600"]]
3516
3517 When the motor starts to home and HW =0, it directly starts to move at low speed in the reverse direction, and stops after encountering the rising edge of HW.
3518
3519
3520 ② Deceleration point signal is valid when homing start
3521
3522 (% style="text-align:center" %)
3523 [[image:1748227380961-172.jpg||height="343" width="600"]]
3524
3525 When the motor starts to home and HW = 1, it starts to move at a forward high speed. After encountering the falling edge of HW, it decelerates and runs at a reverse low speed, and stops after encountering the rising edge of HW.
3526
3527
3528 (21) P01-40=23
3529
3530 Mechanical homing: Home switch (HW)
3531
3532 Deceleration point: Home switch (HW)
3533
3534 ① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3535
3536 (% style="text-align:center" %)
3537 [[image:1748227395851-339.jpg||height="387" width="600"]]
3538
3539 When the motor starts to home and HW = 0, it starts to move at a forward high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and runs at a reverse low speed, and stops after encountering the falling edge of HW.
3540
3541
3542 ② The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
3543
3544 (% style="text-align:center" %)
3545 [[image:1748227414217-295.jpg||height="385" width="600"]]
3546
3547 When the motor starts to home and HW = 0, it starts to move at a forward high speed. If the limit switch is encountered, it will reverse and run at a reverse high speed. After encountering the rising edge of HW, it decelerates and runs at a reverse low speed, and stops after encountering the falling edge of HW.
3548
3549
3550 ③ The deceleration point signal is valid when starting homing
3551
3552 (% style="text-align:center" %)
3553 [[image:1748227429391-234.jpg||height="385" width="600"]]
3554
3555 When the motor starts to home and HW = 0, it starts to move at a forward high speed. If the limit switch is encountered, it will reverse and run at a reverse high speed. After encountering the rising edge of HW, it decelerates and runs at a reverse low speed, and stops after encountering the falling edge of HW.
3556
3557
3558 (22) P01-40=24
3559
3560 Mechanical homing: Home switch (HW)
3561
3562 Deceleration point: Home switch (HW)
3563
3564 ① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3565
3566 (% style="text-align:center" %)
3567 [[image:1748227484547-328.jpg||height="385" width="600"]]
3568
3569 When the motor starts to home and HW = 0, it starts to move at a forward high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and runs at a reverse low speed After encountering the falling edge of HW, it reverses and runs at a forward low speed, and stops after encountering the rising edge of HW.
3570
3571
3572 ② The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
3573
3574 (% style="text-align:center" %)
3575 [[image:1748227532124-334.jpg||height="385" width="600"]]
3576
3577 When the motor starts to home and HW = 0, it starts to move at a forward high speed. If the limit switch is encountered, it will reverse and run at a reverse high speed. After encountering the rising edge of HW, it decelerates and runs at a reverse low speed. After encountering the falling edge of HW, it reverses and runs at a forward low speed, and stops after encountering the rising edge of HW.
3578
3579
3580 ③ The deceleration point signal is valid when starting homing
3581
3582 (% style="text-align:center" %)
3583 [[image:1748227548455-494.jpg||height="387" width="600"]]
3584
3585 When the motor starts to home and HW=1, it directly starts to move at low speed in the reverse direction. After encountering the falling edge of HW, it reverses and runs at a forward low speed, and stops after encountering the rising edge of HW.
3586
3587
3588 (23) P01-40=25
3589
3590 Mechanical homing: Home switch (HW)
3591
3592 Deceleration point: Home switch (HW)
3593
3594 ① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3595
3596 (% style="text-align:center" %)
3597 [[image:1748227564603-199.jpg||height="385" width="600"]]
3598
3599 When the motor starts to home and HW = 0, it starts to move at a forward high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and runs at a forward low speed. After encountering the falling edge of HW, it reverses and runs at a reverse low speed, and stops after encountering the rising edge of HW.
3600
3601
3602 ②The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
3603
3604 (% style="text-align:center" %)
3605 [[image:1748227581797-586.jpg||height="385" width="600"]]
3606
3607 When the motor starts to home and HW = 0, it starts to move at a forward high speed. If the limit switch is encountered, it will reverse and run at a reverse high speed. After encountering the rising edge of HW, it decelerates and runs at a forward low speed. After encountering the falling edge of HW, it reverses and runs at a reverse low speed, and stops after encountering the rising edge of HW.
3608
3609
3610 ③ The deceleration point signal is valid when starting homing
3611
3612 (% style="text-align:center" %)
3613 [[image:1748227596969-949.jpg||height="385" width="600"]]
3614
3615 When the motor starts to home and HW=1, it directly starts to move at low speed in the forward direction. After encountering the falling edge of HW, it reverses and runs at a reverse low speed, and stops after encountering the rising edge of HW.
3616
3617
3618 (24) P01-40=26
3619
3620 Mechanical homing: Home switch (HW)
3621
3622 Deceleration point: Home switch (HW)
3623
3624 ① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3625
3626 (% style="text-align:center" %)
3627 [[image:1748227611517-496.jpg||height="349" width="600"]]
3628
3629 When the motor starts to home and HW = 0, it starts to move at a forward high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and runs at a forward low speed, and stops after encountering the falling edge of HW.
3630
3631
3632 ②The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
3633
3634 (% style="text-align:center" %)
3635 [[image:1748227628144-968.jpg||height="385" width="600"]]
3636
3637 When the motor starts to home and HW = 0, it starts to move at a forward high speed. If the limit switch is encountered, it will reverse and run at a reverse high speed. After encountering the rising edge of HW, it decelerates and runs at a forward low speed, and stops after encountering the falling edge of HW.
3638
3639
3640 ③ The deceleration point signal is valid when starting homing
3641
3642 (% style="text-align:center" %)
3643 [[image:1748227641046-963.jpg||height="343" width="600"]]
3644
3645 When the motor starts to home and HW=1, it directly starts to move at low speed in the forward direction, and stops after encountering the falling edge of HW.
3646
3647
3648 (25) P01-40=27
3649
3650 Mechanical homing: Home switch (HW)
3651
3652 Deceleration point: Home switch (HW)
3653
3654 ① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3655
3656 (% style="text-align:center" %)
3657 [[image:1748227660426-173.jpg||height="362" width="600"]]
3658
3659 When the motor starts to home and HW = 0, it starts to move at a reverse high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and runs at a forward low speed, and stops after encountering the falling edge of HW.
3660
3661
3662 ②The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3663
3664 (% style="text-align:center" %)
3665 [[image:1748227698028-549.jpg||height="392" width="600"]]
3666
3667 When the motor starts to home and HW = 0, it starts to move at a reverse high speed. If the limit switch is encountered, it will reverse and run at a forward high speed. After encountering the rising edge of HW, it decelerates and runs at a forward low speed, and stops after encountering the falling edge of HW.
3668
3669
3670 ③ The deceleration point signal is valid when starting homing
3671
3672 (% style="text-align:center" %)
3673 [[image:1748227728238-666.jpg||height="394" width="600"]]
3674
3675 When the motor starts to home, HW=1, it directly starts to move at low speed in the forward direction, and stops after encountering the falling edge of HW.
3676
3677
3678 (26) P01-40=28
3679
3680 Mechanical homing: Home switch (HW)
3681
3682 Deceleration point: Home switch (HW)
3683
3684 ① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3685
3686 (% style="text-align:center" %)
3687 [[image:1748227742531-619.jpg||height="437" width="600"]]
3688
3689 When the motor starts to home and HW = 0, it starts to move at a reverse high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and runs at a forward low speed. After encountering the falling edge of HW, it reverses and runs at a reverse low speed, and stops after encountering the rising edge of HW.
3690
3691
3692 ②The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3693
3694 (% style="text-align:center" %)
3695 [[image:1751361620036-469.png||height="389" width="600"]]
3696
3697 When the motor starts to home and HW = 0, it starts to move at a reverse high speed. If the limit switch is encountered, it will reverse and run at a forward high speed. After encountering the rising edge of HW, it decelerates and runs at a forward low speed. After encountering the falling edge of HW, it reverses and runs at a reverse low speed, and stops after encountering the rising edge of HW.
3698
3699
3700 ③ The deceleration point signal is valid when starting homing
3701
3702 (% style="text-align:center" %)
3703 [[image:1748227779034-947.jpg||height="394" width="600"]]
3704
3705 When the motor starts to home and HW=1, it directly starts to move at low speed in the forward direction. After encountering the falling edge of HW, it reverses and runs at a reverse low speed, and stops after encountering the rising edge of HW.
3706
3707
3708 (27) P01-40=29
3709
3710 Mechanical homing: Home switch (HW)
3711
3712 Deceleration point: Home switch (HW)
3713
3714 ① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3715
3716 (% style="text-align:center" %)
3717 [[image:1748227795620-564.jpg||height="432" width="600"]]
3718
3719 When it starts to homing, HW = 0, it starts to homing at a reverse high speed, and does not encounter a limit switch. After encountering the rising edge of HW, it decelerates and runs at a reverse low speed. After encountering the falling edge of HW, it reverses and runs at a forward low speed, and stops when encountering the rising edge of HW.
3720
3721
3722 ② The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3723
3724 (% style="text-align:center" %)
3725 [[image:1748227810884-219.jpg||height="395" width="600"]]
3726
3727 When the motor starts to home and HW = 0, it starts to move at a reverse high speed. If the limit switch is encountered, it will reverse and run at a forward high speed. After encountering the rising edge of HW, it decelerates and runs at a reverse low speed. After encountering the falling edge of HW, it reverses and runs at a forward low speed, and stops after encountering the rising edge of HW.
3728
3729 ③ The deceleration point signal is valid when starting homing
3730
3731 (% style="text-align:center" %)
3732 [[image:1748227826652-200.jpg||height="392" width="600"]]
3733
3734 When the motor starts to home and HW=1, it directly starts to move at low speed in the reverse direction. After encountering the falling edge of HW, it reverses and runs at a forward low speed, and stops after encountering the rising edge of HW.
3735
3736
3737 (28) P01-40=30
3738
3739 Mechanical homing: Home switch (HW)
3740
3741 Deceleration point: Home switch (HW)
3742
3743 ① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3744
3745 (% style="text-align:center" %)
3746 [[image:1748227844268-953.jpg||height="437" width="600"]]
3747
3748 When the motor starts to home and HW = 0, it starts to move at a reverse high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and runs at a reverse low speed, and stops after encountering the falling edge of HW.
3749
3750
3751 ② The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3752
3753 (% style="text-align:center" %)
3754 [[image:1748227859385-295.jpg||height="394" width="600"]]
3755
3756 When the motor starts to home and HW = 0, it starts to move at a reverse high speed. If the limit switch is encountered, it will reverse and run at a forward high speed. After encountering the rising edge of HW, it decelerates and runs at a reverse low speed, and stops after encountering the falling edge of HW.
3757
3758
3759 ③ The deceleration point signal is valid when starting homing
3760
3761 (% style="text-align:center" %)
3762 [[image:1748227876370-835.jpg||height="395" width="600"]]
3763
3764 When the motor starts to home and HW=1, it directly starts to move at low speed in the reverse direction, and stops after encountering the falling edge of HW.
3765
3766
3767 (29) P01-40=33 and P01-40=34
3768
3769 Mechanical homing: Z signal.
3770
3771 Deceleration point: None
3772
3773 Homing mode 33: Reverse low speed operation, stop the first Z signal encountered
3774
3775 Homing mode 34: running at low speed in forward direction, stopping the first Z signal encountered
3776
3777 (% style="text-align:center" %)
3778 [[image:1748227893108-875.jpg||height="161" width="600"]]
3779
3780
3781 (30) P01-40=35
3782
3783 Homing mode 35: When the motor starts to home, it sets the current position as the mechanical origin (P01-39: 0x00→0x01/0x00 → 0x02). After the homing is completed, it executes P10-06 (encoder multi-turn reset operation) according to the setting value of P10-08 (origin offset compensation)
3784
3785
3786