06 Operation

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= **Basic settings** =

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== **Check before operation** ==

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

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

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

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

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

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

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

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

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

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|8|The wiring terminals have been insulated.

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

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

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

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

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Table 6-1 Check contents before operation

== **Power-on** ==

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

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

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

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

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== **Jog operation** ==

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

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**(1) Panel jog operation**

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

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

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

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(% class="table-bordered" %)

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

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**Setting method**

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

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**Effective time**

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

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

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Operation setting

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

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Effective immediately

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

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Table 6-2 JOG speed parameter

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== **Rotation direction selection** ==

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

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(% class="table-bordered" %)

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

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**Setting method**

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

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**Effective time**

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

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**Default value**

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

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

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Shutdown setting

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

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Effective immediately

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

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Forward rotation: Face the motor shaft to watch

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0: standard setting (CW is forward rotation)

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1: reverse mode (CCW is forward rotation)

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

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Table 6-3 Rotation direction parameters** **

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== **Braking resistor** ==

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

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

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

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

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(% class="table-bordered" %)

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

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**Setting method**

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

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**Effective time**

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

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

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Operation setting

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

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Effective immediately

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

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0: use built-in braking resistor

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1: use external braking resistor and natural cooling

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

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

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

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

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

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Operation setting

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

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Effective immediately

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

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

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Operation setting

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

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Effective immediately

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

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Table 6-4 Braking resistor parameters

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== **Servo operation** ==

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

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

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

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

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

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

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

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

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Figure 6-1 Timing diagram of power on

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== **Servo shutdown** ==

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

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(% class="table-bordered" %)

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|Shutdown mode|Shutdown description|Shutdown characteristics

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

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

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Table 6-5 Comparison of two shutdown modes

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(% class="table-bordered" %)

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

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

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Table 6-6 Comparison of two shutdown status

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

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

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(% class="table-bordered" %)

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

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**Setting method**

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

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**Effective time**

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

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**Default value**

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

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

Shutdown

setting

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

Effective

immediately

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

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

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

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

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

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**(2) Emergency shutdown**

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

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**(3) Overtravel shutdown**

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

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

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

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(% class="table-bordered" %)

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

205

**Setting method**

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

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**Effective time**

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

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

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0: OFF (not used)

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01: S-ON servo enable

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02: A-CLR fault and Warning Clear

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03: POT forward drive prohibition

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04: NOT Reverse drive prohibition

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05: ZCLAMP Zero speed

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222

06: CL Clear deviation counter

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07: C-SIGN Inverted instruction

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08: E-STOP Emergency stop

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09: GEAR-SEL Electronic Gear Switch 1

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230

10: GAIN-SEL gain switch

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232

11: INH Instruction pulse prohibited input

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234

12: VSSEL Vibration control switch input

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236

13: INSPD1 Internal speed instruction selection 1

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14: INSPD2 Internal speed instruction selection 2

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15: INSPD3 Internal speedinstruction selection 3

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242

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

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17: MixModesel mixed mode selection

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20: Internal multi-segment position enable signal

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21: Internal multi-segment position selection 1

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22: Internal multi-segment position selection 2

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23: Internal multi-segment position selection 3

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24: Internal multi-segment position selection 4

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Others: reserved

257

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

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

259

Effective immediately

260

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

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DI port input logic validity function selection.

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

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

266

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

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

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Effective immediately

269

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

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Select the DI_3 port type to enable

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0: Hardware DI_3 input terminal

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1: virtual VDI_3 input terminal

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

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(% class="table-bordered" %)

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

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Operation setting

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

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again Power-on

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

0 off (not used)

01: SON Servo enable

02: A-CLR Fault and Warning Clear

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03: POT Forward drive prohibition

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04: NOT Reverse drive prohibition

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05: ZCLAMP Zero speed

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06: CL Clear deviation counter

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07: C-SIGN Inverted instruction

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08: E-STOP Emergency shutdown

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09: GEAR-SEL Electronic Gear Switch 1

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10: GAIN-SEL gain switch

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11: INH Instruction pulse prohibited input

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12: VSSEL Vibration control switch input

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13: INSPD1 Internal speed instruction selection 1

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14: INSPD2 Internal speed instruction selection 2

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15: INSPD3 Internal speed instruction selection 3

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

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17: MixModesel mixed mode selection

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20: Internal multi-segment position enable signal

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21: Internal multi-segment position selection 1

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323

22: Internal multi-segment position selection 2

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23: Internal multi-segment position selection 3

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24: Internal multi-segment position selection 4

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Others: reserved

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

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

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Effective immediately

333

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

334

DI port input logic validity function selection.

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

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

339

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

340

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

341

Effective immediately

342

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

343

Select the DI_4 port type to enable

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0: Hardware DI_4 input terminal

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1: virtual VDI_4 input terminal

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

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Table 6-8 DI3 and DI4 channel parameters

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**(4) Malfunction shutdown**

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

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== **Brake device** ==

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

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(% class="table-bordered" %)

361

|(((

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

363

[[image:image-20220611151617-1.png]]

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)))

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|(((

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

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

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✎The brake coil has no polarity;

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

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

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)))

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**(1) Wiring of brake device**

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

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

382

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

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Figure 6-2 VD2B servo drive brake wiring

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(% class="table-bordered" %)

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|(((

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

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[[image:image-20220611151642-2.png]]

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)))

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|(((

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✎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.

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✎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.

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✎It is recommended to use cables above 0.5 mm².

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)))

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**(2) Brake software setting**

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401

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

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Related function code is as below.

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405

(% class="table-bordered" %)

406

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

407

**Effective time**

408

)))

409

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

410

BRK-OFF Brake output

411

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

412

413

Table 6-2 Relevant function codes for brake setting

414

415

(% class="table-bordered" %)

416

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

417

**Setting method**

418

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

419

**Effective time**

420

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

421

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

422

Operation setting

423

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

424

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

425

Operation setting

426

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

427

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

428

Operation setting

429

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

430

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

431

432

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

433

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

434

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

435

Operation setting

436

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

437

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

438

439

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

440

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

441

442

Table 6-9 Brake setting function codes

443

444

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

445

446

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

447

448

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

449

450

1) Brake timing when servo motor is stationary

451

452

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

453

454

(% class="table-bordered" %)

455

|(((

456

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

457

[[image:image-20220611151705-3.png]]

458

)))

459

|(((

460

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

461

462

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

463

)))

464

465

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

466

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

467

468

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

469

470

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

471

472

2) The brake timing when servo motor rotates

473

474

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

475

476

(% class="table-bordered" %)

477

|(((

478

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

479

[[image:image-20220611151719-4.png]]

480

)))

481

|(((

482

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

483

484

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

485

486

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

487

488

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

489

490

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

491

)))

492

493

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

494

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

495

496

Figure 6-4 Brake timing when the motor rotates

497

498

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

499

500

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

501

502

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

503

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

504

505

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

506

507

= **Position control mode** =

508

509

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

510

511

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

512

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

513

514

Figure 6-6 Position control diagram

515

516

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

517

518

(% class="table-bordered" %)

519

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

520

**Setting method**

521

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

522

**Effective time**

523

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

524

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

525

Operation setting

526

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

527

immediately Effective

528

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

0: position control

2: speed control

3: torque control

4: position/speed mix control

536

537

5: position/torque mix control

538

539

6: speed /torque mix control

540

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

541

542

Table 6-10 Control mode parameters

543

544

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

545

546

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

547

548

(% class="table-bordered" %)

549

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

550

**Setting method**

551

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

552

**Effective time**

553

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

554

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

555

Operation setting

556

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

557

immediately Effective

558

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

559

0: pulse instruction

560

561

1: internal position instruction

562

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

563

564

Table 6-11 Position instruction source parameter

565

566

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

567

568

1) Low-speed pulse instruction input

569

570

(% class="table-bordered" %)

571

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

572

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

573

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

574

575

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

576

577

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

578

579

(% class="table-bordered" %)

580

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

581

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

582

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

583

584

Table 6-12 Pulse input specifications

1.Differential input

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

589

590

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

591

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

592

593

Figure 6-8 Differential input connection

594

595

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

596

597

2.Open collector input

598

599

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

600

601

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

602

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

603

604

Figure 6-9 Open collector input connection

605

606

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

607

608

2) Position pulse frequency and anti-interference level

609

610

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.

611

612

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

613

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

614

615

Figure 6-10 Example of filtered signal waveform

616

617

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

618

619

(% class="table-bordered" %)

620

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

621

**Setting method**

622

)))|(% style="text-align:center; vertical-align:middle; width:176px" %)(((

623

**Effective time**

624

)))|(% style="text-align:center; vertical-align:middle; width:121px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:87px" %)**Range**|(% colspan="2" style="text-align:center; vertical-align:middle; width:538px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**

625

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

626

Shutdown setting

627

)))|(% style="text-align:center; vertical-align:middle; width:176px" %)(((

628

Effective immediately

629

)))|(% style="text-align:center; vertical-align:middle; width:121px" %)300|(% style="text-align:center; vertical-align:middle; width:87px" %)1 to 500|(% colspan="2" style="width:538px" %)Set the maximum frequency of external pulse instruction|KHz

630

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

631

Operation setting

632

)))|(% rowspan="3" style="text-align:center; vertical-align:middle; width:176px" %)(((

633

Power-on again

634

)))|(% rowspan="3" style="text-align:center; vertical-align:middle; width:121px" %)2|(% rowspan="3" style="text-align:center; vertical-align:middle; width:87px" %)0 to 9|(% colspan="2" style="width:538px" %)(((

635

Set the anti-interference level of external pulse instruction.

0: no filtering;

1: Filtering time 128ns

640

641

2: Filtering time 256ns

642

643

3: Filtering time 512ns

644

645

4: Filtering time 1.024us

646

647

5: Filtering time 2.048us

648

649

6: Filtering time 4.096us

650

651

7: Filtering time 8.192us

652

653

8: Filtering time 16.384us

654

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

655

|(% rowspan="2" style="width:4px" %)9|VD2: Filtering time 25.5us

656

|VD2F: Filtering time 25.5us

657

658

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

659

660

3) Position pulse type selection

661

662

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

663

664

(% class="table-bordered" %)

665

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

666

**Setting method**

667

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

668

**Effective time**

669

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

670

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

671

Operation setting

672

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

673

Power-on again

674

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

675

0: direction + pulse (positive logic)

1: CW/CCW

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

680

681

3: Direction + pulse (negative logic)

682

683

4: CW/CCW (negative logic)

684

685

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

686

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

687

688

Table 6-14 Position pulse type selection parameter

689

690

(% class="table-bordered" %)

691

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

692

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

Direction + pulse

(Positive logic)

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

PULSE

SIGN

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

701

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

PULSE (CW)

SIGN (CCW)

)))|(% colspan="2" style="text-align:center; vertical-align:middle" %)[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/27.jpg?rev=1.1]]

706

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

707

AB phase orthogonal

708

709

pulse (4 times frequency)

710

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

PULSE (Phase A)

SIGN (Phase B)

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

715

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

716

717

Phase A is 90° ahead of Phase B

718

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

719

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

720

721

Phase B is 90° ahead of Phase A

722

)))

723

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

Direction + pulse

(Negative logic)

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

PULSE

SIGN

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

732

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

CW/CCW

(Negative logic)

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

PULSE (CW)

SIGN (CCW)

)))|(% colspan="2" style="text-align:center; vertical-align:middle" %)[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/32.jpg?rev=1.1]]

741

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

742

AB phase orthogonal

743

744

pulse (4 times frequency negative logic)

745

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

PULSE (Phase A)

SIGN (Phase B)

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

750

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

751

752

B phase is ahead of A phase by 90°

753

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

754

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

755

756

A phase is ahead of B phase by 90°

757

)))

758

759

Table 6-15 Pulse description

760

761

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

762

763

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

764

765

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.

766

767

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

768

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

769

770

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

771

772

1) Set multi-segment position running mode

773

774

(% class="table-bordered" %)

775

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

776

**Setting method**

777

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

778

**Effective time**

779

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

780

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

781

Shutdown setting

782

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

783

Effective immediately

784

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

0: Single running

1: Cycle running

2: DI switching running

790

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

791

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

792

Shutdown setting

793

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

794

Effective immediately

795

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

796

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

797

Shutdown setting

798

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

799

Effective immediately

800

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

801

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

802

Shutdown setting

803

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

804

Effective immediately

805

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

806

0: Run the remaining segments

807

808

1: Run again from the start segment

809

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

810

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

811

Shutdown setting

812

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

813

Effective immediately

814

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

815

0: Relative position instruction

816

817

1: Absolute position instruction

818

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

819

820

Table 6-16 multi-segment position running mode parameters

821

822

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

~1. Single running

In this running mode, the segment number is automatically incremented and switched, and the servo drive only operates for one round (the servo drive runs completely once for the total number of multi-segment position instructions set by P07-02 and P07-03). The single running curve is shown in __[[Figure 6-12>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_669701d67ab2f246.gif?rev=1.1]]__, and S1 and S2 are the displacements of the 1st segment and the 2nd segment respectively

827

828

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

829

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

830

831

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

2. Cycle running

In this running mode, the position number is automatically incremented and switched, and the servo drive repeatedly runs the total number of multi-segment position instructions set by P07-02 and P07-03. The waiting time could be set between each segment. The cycle running curve is shown in __[[Figure 6-13>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_80b358d07288f7b4.gif?rev=1.1]]__, and S1,S2,S3 and S4 are the displacements of the 1st, 2nd, 3rd and 4th segment respectively.

836

837

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

838

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

839

840

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

841

842

|(% style="text-align:center; vertical-align:middle" %)[[image:image-20220611151917-5.png]]

843

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

844

845

3. DI switching running

846

847

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.

848

849

(% class="table-bordered" %)

850

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

851

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

852

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

853

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

854

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

855

856

Table 6-17 DI function code

857

858

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.

859

860

(% class="table-bordered" %)

861

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

862

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

863

|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)2

864

|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)3

865

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

866

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

867

868

Table 6-18 INPOS corresponds to running segment number

869

870

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

871

872

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

873

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

874

875

Figure 6-14 DI switching running curve

876

877

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

878

879

**A. Run the remaining segments**

880

881

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

882

883

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

884

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

885

886

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

887

888

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

889

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

890

891

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

892

893

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

894

895

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

896

897

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

898

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

899

900

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

901

902

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

903

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

904

905

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

906

907

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

908

909

A. Relative position instruction

910

911

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

912

913

|(((

914

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

915

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

916

)))|(((

917

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

918

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

919

)))

920

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

921

922

B. Absolute position instruction

923

924

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

925

926

|(((

927

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

928

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

929

)))|(((

930

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

931

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

932

)))

933

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

934

935

2) Multi-segment position running curve setting

936

937

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

938

939

(% class="table-bordered" %)

940

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

941

**Setting method**

942

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

943

**Effective time**

944

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

945

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

1st segment

displacement

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

950

Operation setting

951

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

952

Effective immediately

953

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

-2147483647 to

2147483646

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

958

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

959

Operation setting

960

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

961

Effective immediately

962

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

963

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

964

Operation setting

965

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

966

Effective immediately

967

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

968

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

969

Operation setting

970

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

971

Effective immediately

972

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

973

974

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

975

976

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

977

978

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

979

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

980

981

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

982

983

3) multi-segment position instruction enable

984

985

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.

986

987

(% class="table-bordered" %)

988

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

989

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

990

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

991

992

DI port logic valid: Motor runs multi-segment position

993

)))

994

995

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

996

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

997

998

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!

999

1000

== **Electronic gear ratio** ==

1001

1002

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

1003

1004

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.

1005

1006

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.

1007

1008

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)

1009

1010

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

1011

[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/35.png?rev=1.1]]

1012

1013

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

1014

[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/36.png?rev=1.1]]

1015

1016

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

1017

[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/37.png?rev=1.1]]

1018

1019

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

1020

1021

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

1022

1023

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

1024

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

1025

1026

Figure 6-24 Setting steps of electronic gear ratio

1027

1028

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

1029

1030

Step2: Confirm the resolution of servo motor encoder.

1031

1032

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

1033

1034

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

1035

1036

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

1037

1038

[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/38.png?rev=1.1]]

1039

1040

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

1041

1042

1043

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.

1044

1045

(% class="table-bordered" %)

1046

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

1047

**Setting method**

1048

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

1049

**Effective time**

1050

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

1051

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

1052

Shutdown setting

1053

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

1054

Effective immediately

1055

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

Instruction pulse

unit

)))

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

Electronic gear 1

numerator

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

1065

Effective immediately

1066

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

1067

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

Electronic gear 1

denominator

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

1072

Operation setting

1073

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

1074

Effective immediately

1075

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

1076

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

Electronic gear 2

numerator

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

1081

Effective immediately

1082

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

1083

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

Electronic gear 2

denominator

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

1088

Effective immediately

1089

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

1090

1091

Table 6-20 Electronic gear ratio function code

1092

1093

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.

1094

1095

(% class="table-bordered" %)

1096

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

1097

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

1098

DI port logic invalid: electronic gear ratio 1

1099

1100

DI port logic valid: electronic gear ratio 2

1101

)))

1102

1103

Table 6-21 Switching conditions of electronic gear ratio group

1104

1105

|(% style="text-align:center; vertical-align:middle" %)**P00-16 value**|(% style="text-align:center; vertical-align:middle" %)**DI terminal level corresponding to DI port function 9**|(% style="text-align:center; vertical-align:middle" %)**Electronic gear ratio**[[image: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/39.png?rev=1.1]]

1106

|(% rowspan="2" style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)DI port logic invalid|(% style="text-align:center; vertical-align:middle" %)[[image: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/40.png?rev=1.1]]

1107

|(% style="text-align:center; vertical-align:middle" %)DI port logic valid|(% style="text-align:center; vertical-align:middle" %)[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/41.png?rev=1.1]]

1108

|(% style="text-align:center; vertical-align:middle" %)1 to 131072|(% style="text-align:center; vertical-align:middle" %)~-~-|(% style="text-align:center; vertical-align:middle" %)[[image: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/42.png?rev=1.1]]

1109

1110

Table 6-22 Application of electronic gear ratio

1111

1112

When the function code P00-16 is not 0, the electronic gear ratio [[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/39.png?rev=1.1]] is invalid.

1113

1114

== **Position instruction filtering** ==

1115

1116

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.

1117

1118

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

1119

1120

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

1121

1. The pulse instruction frequency is low;

1122

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

1123

1124

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.

1125

1126

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

1127

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

1128

1129

Figure 6-25 Position instruction filtering diagram

1130

1131

(% class="table-bordered" %)

1132

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

1133

**Setting method**

1134

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

1135

**Effective time**

1136

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

1137

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

1138

Shutdown setting

1139

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

1140

Effective immediately

1141

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

1142

0: 1st-order low-pass filtering

1143

1144

1: average filtering

1145

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

1146

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

1147

Effective immediately

1148

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

1149

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

1150

Effective immediately

1151

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

1152

1153

Table 6-23 Position instruction filter function code

1154

1155

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

1156

1157

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;

1158

1159

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

1160

1161

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

1162

1163

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

1164

1165

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

1166

**Positioning completion/positioning approach output**

1167

1168

(% class="wikigeneratedid" %)

1169

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.

1170

1171

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

1172

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

1173

1174

Figure 6-26 Positioning completion signal output diagram

1175

1176

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.

1177

1178

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

1179

1180

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

1181

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

1182

1183

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

1184

1185

(% class="table-bordered" %)

1186

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

1187

**Setting method**

1188

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

1189

**Effective time**

1190

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

1191

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

1192

Operation setting

1193

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

1194

Effective immediately

1195

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

1196

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

1197

Operation setting

1198

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

1199

Effective immediately

1200

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

1201

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

1202

Operation setting

1203

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

1204

Effective immediately

1205

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

1206

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

1207

Operation setting

1208

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

1209

Effective immediately

1210

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

1211

1212

Table 6-24 Function code parameters of positioning completion

1213

1214

(% class="table-bordered" %)

1215

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

1216

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

1217

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

1218

P-NEAR positioning close

1219

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

1220

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

1221

)))

1222

1223

Table 6-25 Description of DO rotation detection function code

1224

1225

= **Speed control mode** =

1226

1227

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

1228

1229

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

1230

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

1231

1232

Figure 6-28 Speed control block diagram

1233

1234

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

1235

1236

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.

1237

1238

(% class="table-bordered" %)

1239

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

1240

**Setting method**

1241

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

1242

**Effective time**

1243

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

1244

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

1245

Shutdown setting

1246

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

1247

Effective immediately

1248

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

1249

0: internal speed instruction

1250

1251

1: AI_1 analog input (not supported by VD2F)

1252

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

1253

1254

Table 6-26 Speed instruction source parameter

1255

1256

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

1257

1258

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.

1259

1260

(% class="table-bordered" %)

1261

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

1262

**Setting method**

1263

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

1264

**Effective time**

1265

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

1266

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

1267

Internal speed Instruction 0

1268

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

1269

Operation setting

1270

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

1271

Effective immediately

1272

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

1273

Internal speed instruction 0

When DI input port:

15-INSPD3: 0

14-INSPD2: 0

13-INSPD1: 0,

select this speed instruction to be effective.

1284

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

1285

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

1286

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

1287

Internal speed Instruction 1

1288

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

1289

Operation setting

1290

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

1291

Effective immediately

1292

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

1293

Internal speed instruction 1

When DI input port:

15-INSPD3: 0

14-INSPD2: 0

13-INSPD1: 1,

Select this speed instruction to be effective.

1304

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

1305

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

1306

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

1307

Internal speed Instruction 2

1308

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

1309

Operation setting

1310

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

1311

Effective immediately

1312

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

1313

Internal speed instruction 2

When DI input port:

15-INSPD3: 0

14-INSPD2: 1

13-INSPD1: 0,

Select this speed instruction to be effective.

1324

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

1325

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

1326

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

1327

Internal speed Instruction 3

1328

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

1329

Operation setting

1330

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

1331

Effective immediately

1332

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

1333

Internal speed instruction 3

When DI input port:

15-INSPD3: 0

14-INSPD2: 1

13-INSPD1: 1,

Select this speed instruction to be effective.

1344

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

1345

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

1346

1347

(% class="table-bordered" %)

1348

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

1349

Internal speed Instruction 4

1350

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

1351

Operation setting

1352

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

1353

Effective immediately

1354

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

1355

Internal speed instruction 4

When DI input port:

15-INSPD3: 1

14-INSPD2: 0

13-INSPD1: 0,

Select this speed instruction to be effective.

1366

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

1367

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

1368

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

1369

Internal speed Instruction 5

1370

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

1371

Operation setting

1372

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

1373

Effective immediately

1374

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

1375

Internal speed instruction 5

When DI input port:

15-INSPD3: 1

14-INSPD2: 0

13-INSPD1: 1,

Select this speed instruction to be effective.

1386

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

1387

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

1388

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

1389

Internal speed Instruction 6

1390

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

1391

Operation setting

1392

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

1393

Effective immediately

1394

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

1395

Internal speed instruction 6

When DI input port:

15-INSPD3: 1

14-INSPD2: 1

13-INSPD1: 0,

Select this speed instruction to be effective.

1406

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

1407

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

1408

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

1409

Internal speed Instruction 7

1410

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

1411

Operation setting

1412

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

1413

Effective immediately

1414

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

1415

Internal speed instruction 7

When DI input port:

15-INSPD3: 1

14-INSPD2: 1

13-INSPD1: 1,

Select this speed instruction to be effective.

1426

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

1427

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

1428

1429

Table 6-27 Internal speed instruction parameters

1430

1431

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

1432

1433

(% class="table-bordered" %)

1434

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

1435

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

1436

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

1437

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

1438

1439

Table 6-28 DI multi-speed function code description

1440

1441

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.

1442

1443

(% class="table-bordered" %)

1444

|(% 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**

1445

|(% 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

1446

|(% 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

1447

|(% 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

1448

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

1449

|(% 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

1450

1451

Table 6-29 Correspondence between INSPD bits and segment numbers

1452

1453

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

1454

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

1455

1456

Figure 6-29 Multi-segment speed running curve

1457

1458

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

1459

1460

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.

1461

1462

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

1463

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

1464

1465

Figure 6-30 Analog input circuit

1466

1467

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

1468

1469

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

1470

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

1471

1472

Figure 6-31 Analog voltage speed instruction setting steps

1473

1474

Explanation of related terms:

1475

1476

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

1477

1478

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

1479

1480

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

1481

1482

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

1483

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

1484

1485

Figure 6-32 AI_1 diagram before and after bias

1486

1487

(% class="table-bordered" %)

1488

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

1489

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

1490

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

1491

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

1492

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

1493

1494

Table 6-30 AI_1 parameters

1495

1496

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

1497

1498

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

1499

1500

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.

1501

1502

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.

1503

1504

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

1505

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

1506

1507

Figure 6-33 of acceleration and deceleration time diagram

1508

1509

Actual acceleration time T1 =[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/43.jpg?rev=1.1]]

1510

1511

Actual deceleration time T2 =[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/44.jpg?rev=1.1]]

1512

1513

(% class="table-bordered" %)

1514

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

1515

**Setting method**

1516

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

1517

**Effective time**

1518

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

1519

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

1520

Operation setting

1521

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

1522

Effective immediately

1523

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

1524

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

1525

Operation setting

1526

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

1527

Effective immediately

1528

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

1529

1530

Table 6-31 Acceleration and deceleration time parameters

1531

1532

== **Speed instruction limit** ==

1533

1534

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

1535

1536

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

1537

1. P01-12: Set forward speed limit value

1538

1. P01-13: Set reverse speed limit value

1539

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

1540

1541

The actual motor speed limit interval satisfies the following relationship:

1542

1543

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

1544

1545

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

1546

1547

(% class="table-bordered" %)

1548

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

1549

**Setting method**

1550

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

1551

**Effective time**

1552

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

1553

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

1554

Operation setting

1555

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

1556

Effective immediately

1557

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

1558

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

1559

Operation setting

1560

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

1561

Effective immediately

1562

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

1563

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

1564

Operation setting

1565

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

1566

Effective immediately

1567

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

1568

1569

Table 6-32 Rotation speed related function codes

1570

1571

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

1572

1573

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.

1574

1575

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.

1576

1577

(% class="table-bordered" %)

1578

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

1579

**Setting method**

1580

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

1581

**Effective time**

1582

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

1583

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

1584

Zero-speed clamp function selection

1585

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

1586

Operation setting

1587

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

1588

Effective immediately

1589

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

1590

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

1591

1592

0: Force the speed to 0;

1593

1594

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

1595

1596

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

1597

1598

3: Invalid, ignore zero-speed clamp input

1599

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

1600

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

1601

Zero-speed clamp speed threshold

1602

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

1603

Operation setting

1604

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

1605

Effective immediately

1606

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

1607

1608

Table 6-33 Zero-speed clamp related parameters

1609

1610

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

1611

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

1612

1613

Figure 6-34 Zero-speed clamp diagram

1614

1615

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

1616

1617

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

1618

1619

**(1) Rotation detection signal**

1620

1621

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.

1622

1623

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

1624

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

1625

1626

Figure 6-35 Rotation detection signal diagram

1627

1628

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

1629

1630

(% class="table-bordered" %)

1631

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

1632

**Setting method**

1633

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

1634

**Effective time**

1635

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

1636

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

Rotation detection

speed threshold

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

1641

Operation setting

1642

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

1643

Effective immediately

1644

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

1645

1646

Table 6-34 Rotation detection speed threshold parameters

1647

1648

(% class="table-bordered" %)

1649

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

1650

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

T-COIN

rotation detection

)))|(((

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

1656

1657

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

1658

)))

1659

1660

Table 6-35 DO rotation detection function code

1661

1662

**(2) Zero-speed signal**

1663

1664

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.

1665

1666

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

1667

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

1668

1669

Figure 6-36 Zero-speed signal diagram

1670

1671

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

1672

1673

(% class="table-bordered" %)

1674

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

1675

**Setting method**

1676

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

1677

**Effective time**

1678

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

1679

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

1680

Operation setting

1681

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

1682

Effective immediately

1683

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

1684

1685

Table 6-36 Zero-speed output signal threshold parameter

1686

1687

(% class="table-bordered" %)

1688

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

1689

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

1690

ZSP zero speed signal

1691

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

1692

1693

Table 6-37 DO zero-speed signal function code

1694

1695

**(3) Speed consistent signal**

1696

1697

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.

1698

1699

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

1700

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

1701

1702

Figure 6-37 Speed consistent signal diagram

1703

1704

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

1705

1706

(% class="table-bordered" %)

1707

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

1708

**Setting method**

1709

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

1710

**Effective time**

1711

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

1712

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

1713

Operationsetting

1714

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

1715

Effective immediately

1716

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

1717

1718

Table 6-38 Speed consistent signal threshold parameters

1719

1720

(% class="table-bordered" %)

1721

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

1722

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

1723

U-COIN consistent speed

1724

)))|(% style="text-align:center; vertical-align:middle; width:672px" %)The output signal indicates that the absolute deviation of the actual speed of servo motor and the speed instruction meets the P05-17 set value

1725

1726

Table 6-39 DO speed consistent function code

1727

1728

**(4) Speed approach signal**

1729

1730

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.

1731

1732

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

1733

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

1734

1735

Figure 6-38 Speed approaching signal diagram

1736

1737

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

1738

1739

(% class="table-bordered" %)

1740

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

1741

**Setting method**

1742

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

1743

**Effective time**

1744

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

1745

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

1746

Operation setting

1747

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

1748

Effective immediately

1749

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

1750

1751

Table 6-40 Speed approaching signal threshold parameters

1752

1753

(% class="table-bordered" %)

1754

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

1755

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

1756

V-NEAR speed approach

1757

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

1758

1759

Table 6-41 DO speed approach function code

1760

1761

= **Torque control mode** =

1762

1763

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

1764

1765

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

1766

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

1767

1768

Figure 6-39 Torque mode diagram

1769

1770

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

1771

1772

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

1773

1774

(% class="table-bordered" %)

1775

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

1776

**Setting method**

1777

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

1778

**Effective time**

1779

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

1780

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

1781

Shutdown setting

1782

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

1783

Effective immediately

1784

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

1785

0: internal torque instruction

1786

1787

1: AI_1 analog input(not supported by VD2F)

1788

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

1789

1790

Table 6-42 Torque instruction source parameter

1791

1792

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

1793

1794

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

1795

1796

(% class="table-bordered" %)

1797

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

1798

**Setting method**

1799

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

1800

**Effective time**

1801

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

1802

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

1803

Operation setting

1804

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

1805

Effective immediately

1806

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

1807

1808

Table 6-43 Torque instruction keyboard set value

1809

1810

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

1811

1812

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.

1813

1814

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

1815

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

1816

1817

Figure 6-40 Analog input circuit

1818

1819

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

1820

1821

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

1822

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

1823

1824

Figure 6-41 Analog voltage torque instruction setting steps

1825

1826

Explanation of related terms:

1827

1828

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

1829

1830

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

1831

1832

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

1833

1834

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

1835

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

1836

1837

Figure 6-42 AI_1 diagram before and after bias

1838

1839

(% class="table-bordered" %)

1840

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

1841

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

1842

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

1843

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

1844

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

1845

1846

Table 6-44 AI_1 parameters

1847

1848

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

1849

1850

== **Torque instruction filtering** ==

1851

1852

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

1853

1854

(% class="table-bordered" %)

1855

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

1856

**Setting method**

1857

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

1858

**Effective time**

1859

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

1860

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

1861

Operation setting

1862

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

1863

Effective immediately

1864

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

1865

1866

Table 6-45 Torque filtering time constant parameter details

1867

1868

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

1869

1870

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

1871

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

1872

1873

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

1874

1875

== **Torque instruction limit** ==

1876

1877

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.

1878

1879

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.

1880

1881

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

1882

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

1883

1884

Figure 6-44 Torque instruction limit diagram

1885

1886

**(1) Set torque limit source**

1887

1888

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.

1889

1890

(% class="table-bordered" %)

1891

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

1892

**Setting method**

1893

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

1894

**Effective time**

1895

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

1896

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

1897

Torque limit source

1898

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

1899

Shutdown setting

1900

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

1901

Effective immediately

1902

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

0: internal value

1: AI_1 analog input

(not supported by VD2F)

1908

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

1909

1910

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

1911

1912

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.

1913

1914

(% class="table-bordered" %)

1915

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

1916

**Setting method**

1917

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

1918

**Effective time**

1919

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

1920

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

1921

Forward torque limit

1922

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

1923

Operation setting

1924

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

1925

Effective immediately

1926

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

1927

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

1928

Reverse torque limit

1929

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

1930

Operation setting

1931

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

1932

Effective immediately

1933

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

1934

1935

Table 6-46 Torque limit parameter details

1936

1937

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

1938

1939

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

1940

1941

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

1942

1943

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.

1944

1945

(% class="table-bordered" %)

1946

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

1947

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

1948

T-LIMIT in torque limit

1949

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

1950

1951

Table 6-47 DO torque limit function codes

1952

1953

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

1954

1955

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.

1956

1957

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

1958

1959

|(((

1960

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

1961

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

1962

)))|(((

1963

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

1964

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

1965

)))

1966

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

1967

1968

(% class="table-bordered" %)

1969

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

1970

**Setting method**

1971

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

1972

**Effective time**

1973

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

1974

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

Forward torque

limit in torque mode

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

1979

Operation setting

1980

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

1981

Effective immediately

1982

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

Forward torque

limit in torque mode

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

1987

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

Reverse torque

limit in torque mode

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

1992

Operation setting

1993

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

1994

Effective immediately

1995

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

Reverse torque

limit in torque mode

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

2000

2001

Table 6-48 Speed limit parameters in torque mode

2002

2003

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

2004

2005

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

2006

2007

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

**Torque arrival**

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

2012

2013

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

2014

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

2015

2016

Figure 6-47 Torque arrival output diagram

2017

2018

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

2019

2020

(% class="table-bordered" %)

2021

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

2022

**Setting method**

2023

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

2024

**Effective time**

2025

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

2026

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

Torque arrival

threshold

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

2031

Operation setting

2032

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

2033

Effective immediately

2034

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

2035

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

2036

2037

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

2038

2039

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

2040

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

2041

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

Torque arrival

hysteresis

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

2046

Operation setting

2047

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

2048

Effective immediately

2049

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

2050

2051

Table 6-49 Torque arrival parameters

2052

2053

(% class="table-bordered" %)

2054

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

2055

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

2056

T-COIN torque arrival

2057

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

2058

2059

Table 6-50 DO Torque Arrival Function Code

2060

2061

= **Mixed control mode** =

2062

2063

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:

2064

2065

Position mode  Speed mode

2066

2067

Position mode  Torque mode

2068

2069

Speed mode  Torque mode

2070

2071

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.

2072

2073

(% class="table-bordered" %)

2074

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

2075

**Setting method**

2076

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

2077

**Effective time**

2078

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

2079

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

2080

Shutdown setting

2081

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

2082

Shutdown setting

2083

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

1: Position control

2: Speed control

3: Torque control

4: Position/speed mixed control

2091

2092

5: Position/torque mixed control

2093

2094

6: Speed/torque mixed control

2095

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

2096

2097

Table 6-51 Mixed control mode parameters

2098

2099

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

2100

2101

(% class="table-bordered" %)

2102

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

2103

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

2104

(% class="table-bordered" %)

2105

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

2106

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

2107

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

2108

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

2109

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

2110

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

2111

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

2112

)))

2113

2114

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

2115

2116

✎**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.

2117

2118

= **Absolute system** =

== **Overview** ==

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

2123

2124

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.

2125

2126

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

2127

2128

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.

2129

2130

(% class="table-bordered" %)

2131

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

2132

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

2133

2134

Table 6-53 Single-turn absolute encoder information

2135

2136

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

2137

2138

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

2139

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

2140

2141

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

2142

2143

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

2144

2145

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.

2146

2147

(% class="table-bordered" %)

2148

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

2149

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

2150

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

2151

2152

Table 6-54 Multi-turn absolute encoder information

2153

2154

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).

2155

2156

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

2157

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

2158

2159

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

2160

2161

== **Encoder feedback data** ==

2162

2163

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.

2164

2165

(% class="table-bordered" %)

2166

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

2167

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

2168

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

2169

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

2170

2171

Table 6-55 Encoder feedback data

2172

2173

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

2174

2175

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.

2176

2177

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

2178

[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/45.jpg?rev=1.1||height="303" width="750"]]

2179

2180

Figure 6-50 the encoder battery box

2181

2182

When it is detected that the battery voltage is less than 3.1V, A-92 (Encoder battery low voltage warning) will occur. Please replace the battery in time. The specific replacement method is as follows:

2183

2184

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

2185

1. Step2 Replace the battery;

2186

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

2187

2188

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.

2189

2190

(% class="table-bordered" %)

2191

|(% style="text-align:center; vertical-align:middle; width:110px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:144px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:135px" %)(((

2192

**Setting method**

2193

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

2194

**Effective time**

2195

)))|(% style="text-align:center; vertical-align:middle; width:106px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:61px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:438px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**

2196

|(% style="text-align:center; vertical-align:middle; width:110px" %)P10-06|(% style="text-align:center; vertical-align:middle; width:144px" %)Multi-turn absolute encoder reset|(% style="text-align:center; vertical-align:middle; width:135px" %)(((

2197

Shutdown setting

2198

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

2199

Effective immediately

2200

)))|(% style="text-align:center; vertical-align:middle; width:106px" %)0|(% style="text-align:center; vertical-align:middle; width:61px" %)0 to 1|(% style="width:438px" %)(((

2201

0: No operation

2202

2203

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

2204

2205

✎**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.

2206

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

2207

2208

Table 6-56 Absolute encoder reset enable parameter

2209

2210

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

2211

2212

When the servo drive is powered off, please ensure that the maximum speed of motor does not exceed 3000 rpm to ensure that the encoder position information is accurately recorded. Please store the storage device according to the specified ambient temperature, and ensure that the encoder battery has reliable contact and sufficient power, otherwise the encoder position information may be lost.

= **Overview** =

== **VDI** ==

VDI (Virtual Digital Signal Input Port) is similar to hardware DI terminal. The DI function could also be assigned for use.

2219

2220

✎**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).

2221

2222

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.

2223

2224

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

2225

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

2226

2227

Figure 6-51 VDI_1 setting steps

2228

2229

(% class="table-bordered" %)

2230

|(% style="text-align:center; vertical-align:middle; width:131px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:183px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:147px" %)(((

2231

**Setting method**

2232

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

2233

**Effective time**

2234

)))|(% style="text-align:center; vertical-align:middle; width:143px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:77px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:266px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**

2235

|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-1|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_1 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((

2236

When P06-04 is set to 1, DI_1 channel logic is control by this function code.

VDI_1 input level:

0: low level

1: high level

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

2244

|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-2|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_2 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((

2245

When P06-07 is set to 1, DI_2 channel logic is control by this function code.

VDI_2 input level:

0: low level

1: high level

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

2253

|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-3|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_3 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((

2254

When P06-10 is set to 1, DI_3 channel logic is control by this function code.

VDI_3 input level:

0: low level

1: high level

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

2262

|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-4|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_4 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((

2263

When P06-13 is set to 1, DI_4 channel logic is control by this function code.

VDI_4 input level:

0: low level

1: high level

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

2271

|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-05☆|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_5 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((

2272

When P06-16 is set to 1, DI_5 channel logic is control by this function code.

VDI_5 input level:

0: low level

1: high level

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

2280

|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-06☆|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_6 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((

2281

When P06-19 is set to 1, DI_6 channel logic is control by this function code.

VDI_6 input level:

0: low level

1: high level

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

2289

|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-07☆|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_7 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((

2290

When P06-22 is set to 1, DI_7 channel logic is control by this function code.

VDI_7 input level:

0: low level

1: high level

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

2298

|(% style="text-align:center; vertical-align:middle; width:131px" %)P13-08☆|(% style="text-align:center; vertical-align:middle; width:183px" %)Virtual VDI_8 input value|(% style="text-align:center; vertical-align:middle; width:147px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:213px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:143px" %)0|(% style="text-align:center; vertical-align:middle; width:77px" %)0 to 1|(% style="width:266px" %)(((

2299

When P06-25 is set to 1, DI_8 channel logic is control by this function code.

VDI_8 input level:

0: low level

1: high level

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

2307

2308

Table 6-57 Virtual VDI parameters

2309

2310

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

2311

2312

== **Port filtering time** ==

2313

2314

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.

2315

2316

(% class="table-bordered" %)

2317

|(% style="text-align:center; vertical-align:middle" %)**Setting value**|(% style="text-align:center; vertical-align:middle" %)**DI channel logic selection**|(% style="text-align:center; vertical-align:middle" %)**Illustration**

2318

|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)Active high level|(% style="text-align:center; vertical-align:middle" %)[[image: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/46.jpg?rev=1.1||height="97" width="307"]]

2319

|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)Active low level|(% style="text-align:center; vertical-align:middle" %)[[image: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/47.jpg?rev=1.1||height="83" width="305"]]

2320

2321

Table 6-58 DI terminal channel logic selection

== **VDO** ==

In addition to being an internal hardware output port, DO terminal is also used as a communication VDO. The communication control DO function could help you to achieve communication control DO output on the servo drive.

2326

2327

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

2328

2329

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

2330

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

2331

2332

Figure 6-52 VDO_2 setting steps

2333

2334

(% class="table-bordered" %)

2335

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

2336

**Setting method**

2337

)))|(% style="text-align:center; vertical-align:middle" %)(((

2338

**Effective time**

2339

)))|(% style="text-align:center; vertical-align:middle" %)**Default value**|(% style="text-align:center; vertical-align:middle" %)**Range**|(% style="text-align:center; vertical-align:middle" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**

2340

|(% style="text-align:center; vertical-align:middle" %)P13-11|(% style="text-align:center; vertical-align:middle" %)Communication VDO_1 output value|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((

VDO_1 output level：

0: low level

1: high level

)))|(% style="text-align:center; vertical-align:middle" %)-

2347

|(% style="text-align:center; vertical-align:middle" %)P13-12|(% style="text-align:center; vertical-align:middle" %)Communication VDO_2 output value|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((

VDO_2 output level：

0: low level

1: high level

)))|(% style="text-align:center; vertical-align:middle" %)-

2354

|(% style="text-align:center; vertical-align:middle" %)P13-13|(% style="text-align:center; vertical-align:middle" %)Communication VDO_3 output value|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((

VDO_3 output level：

0: low level

1: high level

)))|(% style="text-align:center; vertical-align:middle" %)-

2361

|(% style="text-align:center; vertical-align:middle" %)P13-14|(% style="text-align:center; vertical-align:middle" %)Communication VDO_4 output value|(% style="text-align:center; vertical-align:middle" %)Operation setting|(% style="text-align:center; vertical-align:middle" %)Effective immediately|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0 to 1|(((

VDO_4 output level：

0: low level

1: high level

)))|(% style="text-align:center; vertical-align:middle" %)-

2368

2369

Table 6-59 Communication control DO function parameters

2370

2371

(% class="table-bordered" %)

2372

|(% style="text-align:center; vertical-align:middle" %)**DO function number**|(% style="text-align:center; vertical-align:middle" %)**Function name**|(% style="text-align:center; vertical-align:middle" %)**Function**

2373

|(% style="text-align:center; vertical-align:middle" %)145|(% style="text-align:center; vertical-align:middle" %)COM_VDO1 communication VDO1 output|(% style="text-align:center; vertical-align:middle" %)Use communication VDO

2374

|(% style="text-align:center; vertical-align:middle" %)146|(% style="text-align:center; vertical-align:middle" %)COM_VDO1 communication VDO2 output|(% style="text-align:center; vertical-align:middle" %)Use communication VDO

2375

|(% style="text-align:center; vertical-align:middle" %)147|(% style="text-align:center; vertical-align:middle" %)COM_VDO1 communication VDO3 output|(% style="text-align:center; vertical-align:middle" %)Use communication VDO

2376

|(% style="text-align:center; vertical-align:middle" %)148|(% style="text-align:center; vertical-align:middle" %)COM_VDO1 communication VDO4output|(% style="text-align:center; vertical-align:middle" %)Use communication VDO

2377

2378

Table 6-60 VDO function number

2379

2380

✎**Note:** You are advised to configure function codes for DO terminals in sequence to avoid errors during DO signal observation

2381

2382

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).

2383

2384

== **Motor overload protection** ==

2385

2386

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%.

2387

2388

(% class="table-bordered" %)

2389

|(% style="text-align:center; vertical-align:middle; width:122px" %)**Function code**|(% style="text-align:center; vertical-align:middle; width:99px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:150px" %)(((

2390

**Setting method**

2391

)))|(% style="text-align:center; vertical-align:middle; width:157px" %)(((

2392

**Effective time**

2393

)))|(% style="text-align:center; vertical-align:middle; width:116px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:72px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:445px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**

2394

|(% style="text-align:center; vertical-align:middle; width:122px" %)P10-04|(% style="text-align:center; vertical-align:middle; width:99px" %)motor overload protection time coefficient|(% style="text-align:center; vertical-align:middle; width:150px" %)Operation setting|(% style="text-align:center; vertical-align:middle; width:157px" %)Effective immediately|(% style="text-align:center; vertical-align:middle; width:116px" %)100|(% style="text-align:center; vertical-align:middle; width:72px" %)0 to 800|(% style="width:445px" %)(((

2395

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.

2396

2397

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

2398

)))|(% style="text-align:center; vertical-align:middle" %)%

2399

2400

In the following cases, it could be modified according to the actual heat generation of the motor

2401

2402

1. The motor works in a place with high ambient temperature

2403

1. The motor runs in cycle circulates, and the single running cycle is short and the acceleration and deceleration is frequent.

2404

2405

In the case of confirming that the motor will not burn out, it is also possible to shield the overload protection fault detection function (P10-04 set to 0).

2406

2407

✎**Note:** You are advised to configure function codes for DO terminals in sequence to avoid errors

2408

2409

Please use the shielded overload protection fault detection function with caution, otherwise it will cause burn out the motor.

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