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:130px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:123px" %)**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:130px" %)10000|(% style="text-align:center; vertical-align:middle; width:123px" %)(((

-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:130px" %)100|(% style="text-align:center; vertical-align:middle; width:123px" %)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:130px" %)100|(% style="text-align:center; vertical-align:middle; width:123px" %)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:130px" %)100|(% style="text-align:center; vertical-align:middle; width:123px" %)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:image-20220611152020-6.png]]

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

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

1039

[[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]]

1040

1041

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

1042

1043

1044

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.

1045

1046

(% class="table-bordered" %)

1047

|(% 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" %)(((

1048

**Setting method**

1049

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

1050

**Effective time**

1051

)))|(% style="text-align:center; vertical-align:middle; width:142px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:94px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:311px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**

1052

|(% 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" %)(((

1053

Shutdown setting

1054

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

1055

Effective immediately

1056

)))|(% style="text-align:center; vertical-align:middle; width:142px" %)10000|(% style="text-align:center; vertical-align:middle; width:94px" %)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" %)(((

1066

Effective immediately

1067

)))|(% style="text-align:center; vertical-align:middle; width:142px" %)1|(% style="text-align:center; vertical-align:middle; width:94px" %)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" %)-

1068

|(% 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" %)(((

1073

Operation setting

1074

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

1075

Effective immediately

1076

)))|(% style="text-align:center; vertical-align:middle; width:142px" %)1|(% style="text-align:center; vertical-align:middle; width:94px" %)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" %)-

1077

|(% 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" %)(((

1082

Effective immediately

1083

)))|(% style="text-align:center; vertical-align:middle; width:142px" %)1|(% style="text-align:center; vertical-align:middle; width:94px" %)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" %)-

1084

|(% 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" %)(((

1089

Effective immediately

1090

)))|(% style="text-align:center; vertical-align:middle; width:142px" %)1|(% style="text-align:center; vertical-align:middle; width:94px" %)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" %)-

1091

1092

Table 6-20 Electronic gear ratio function code

1093

1094

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.

1095

1096

(% class="table-bordered" %)

1097

|(% 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**

1098

|(% 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" %)(((

1099

DI port logic invalid: electronic gear ratio 1

1100

1101

DI port logic valid: electronic gear ratio 2

1102

)))

1103

1104

Table 6-21 Switching conditions of electronic gear ratio group

1105

1106

|(% 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]]

1107

|(% 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]]

1108

|(% 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]]

1109

|(% 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]]

1110

1111

Table 6-22 Application of electronic gear ratio

1112

1113

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.

1114

1115

== **Position instruction filtering** ==

1116

1117

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.

1118

1119

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

1120

1121

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

1122

1. The pulse instruction frequency is low;

1123

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

1124

1125

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.

1126

1127

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

1128

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

1129

1130

Figure 6-25 Position instruction filtering diagram

1131

1132

(% class="table-bordered" %)

1133

|(% 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" %)(((

1134

**Setting method**

1135

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

1136

**Effective time**

1137

)))|(% style="text-align:center; vertical-align:middle; width:123px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:104px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:253px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:72px" %)**Unit**

1138

|(% 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" %)(((

1139

Shutdown setting

1140

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

1141

Effective immediately

1142

)))|(% style="text-align:center; vertical-align:middle; width:123px" %)0|(% style="text-align:center; vertical-align:middle; width:104px" %)0 to 1|(% style="width:253px" %)(((

1143

0: 1st-order low-pass filtering

1144

1145

1: average filtering

1146

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

1147

|(% 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" %)(((

1148

Effective immediately

1149

)))|(% style="text-align:center; vertical-align:middle; width:123px" %)0|(% style="text-align:center; vertical-align:middle; width:104px" %)0 to 1000|(% style="width:253px" %)Position instruction first-order low-pass filtering time constant|(% style="text-align:center; vertical-align:middle; width:72px" %)ms

1150

|(% 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" %)(((

1151

Effective immediately

1152

)))|(% style="text-align:center; vertical-align:middle; width:123px" %)0|(% style="text-align:center; vertical-align:middle; width:104px" %)0 to 128|(% style="width:253px" %)Position instruction average filtering time constant|(% style="text-align:center; vertical-align:middle; width:72px" %)ms

1153

1154

Table 6-23 Position instruction filter function code

1155

1156

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

1157

1158

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;

1159

1160

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

1161

1162

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

1163

1164

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

1165

1166

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

1167

**Positioning completion/positioning approach output**

1168

1169

(% class="wikigeneratedid" %)

1170

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.

1171

1172

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

1173

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

1174

1175

Figure 6-26 Positioning completion signal output diagram

1176

1177

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.

1178

1179

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]]__.

1180

1181

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

1182

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

1183

1184

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

1185

1186

(% class="table-bordered" %)

1187

|(% 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" %)(((

1188

**Setting method**

1189

)))|(% style="text-align:center; vertical-align:middle; width:224px" %)(((

1190

**Effective time**

1191

)))|(% style="text-align:center; vertical-align:middle; width:114px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:103px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:377px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:272px" %)**Unit**

1192

|(% 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" %)(((

1193

Operation setting

1194

)))|(% style="text-align:center; vertical-align:middle; width:224px" %)(((

1195

Effective immediately

1196

)))|(% style="text-align:center; vertical-align:middle; width:114px" %)800|(% style="text-align:center; vertical-align:middle; width:103px" %)1 to 65535|(% style="text-align:center; vertical-align:middle; width:377px" %)Positioning completion threshold|(% style="text-align:center; vertical-align:middle; width:272px" %)Equivalent pulse unit

1197

|(% 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" %)(((

1198

Operation setting

1199

)))|(% style="text-align:center; vertical-align:middle; width:224px" %)(((

1200

Effective immediately

1201

)))|(% style="text-align:center; vertical-align:middle; width:114px" %)5000|(% style="text-align:center; vertical-align:middle; width:103px" %)1 to 65535|(% style="text-align:center; vertical-align:middle; width:377px" %)Positioning approach threshold|(% style="text-align:center; vertical-align:middle; width:272px" %)Equivalent pulse unit

1202

|(% 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" %)(((

1203

Operation setting

1204

)))|(% style="text-align:center; vertical-align:middle; width:224px" %)(((

1205

Effective immediately

1206

)))|(% style="text-align:center; vertical-align:middle; width:114px" %)10|(% style="text-align:center; vertical-align:middle; width:103px" %)0 to 20000|(% style="text-align:center; vertical-align:middle; width:377px" %)Set positioning completion detection window time|(% style="text-align:center; vertical-align:middle; width:272px" %)ms

1207

|(% 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" %)(((

1208

Operation setting

1209

)))|(% style="text-align:center; vertical-align:middle; width:224px" %)(((

1210

Effective immediately

1211

)))|(% style="text-align:center; vertical-align:middle; width:114px" %)100|(% style="text-align:center; vertical-align:middle; width:103px" %)0 to 20000|(% style="text-align:center; vertical-align:middle; width:377px" %)Set positioning completion output hold time|(% style="text-align:center; vertical-align:middle; width:272px" %)ms

1212

1213

Table 6-24 Function code parameters of positioning completion

1214

1215

(% class="table-bordered" %)

1216

|(% 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**

1217

|(% 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.

1218

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

1219

P-NEAR positioning close

1220

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

1221

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

1222

)))

1223

1224

Table 6-25 Description of DO rotation detection function code

1225

1226

= **Speed control mode** =

1227

1228

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.

1229

1230

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

1231

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

1232

1233

Figure 6-28 Speed control block diagram

1234

1235

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

1236

1237

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.

1238

1239

(% class="table-bordered" %)

1240

|(% 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" %)(((

1241

**Setting method**

1242

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

1243

**Effective time**

1244

)))|(% 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**

1245

|(% 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" %)(((

1246

Shutdown setting

1247

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

1248

Effective immediately

1249

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

1250

0: internal speed instruction

1251

1252

1: AI_1 analog input (not supported by VD2F)

1253

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

1254

1255

Table 6-26 Speed instruction source parameter

1256

1257

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

1258

1259

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.

1260

1261

(% class="table-bordered" %)

1262

|(% 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" %)(((

1263

**Setting method**

1264

)))|(% style="text-align:center; vertical-align:middle; width:191px" %)(((

1265

**Effective time**

1266

)))|(% style="text-align:center; vertical-align:middle; width:142px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:144px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:287px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:259px" %)**Unit**

1267

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

1268

Internal speed Instruction 0

1269

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

1270

Operation setting

1271

)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:191px" %)(((

1272

Effective immediately

1273

)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:142px" %)0|(% style="text-align:center; vertical-align:middle; width:144px" %)-3000 to 3000|(% rowspan="2" style="width:287px" %)(((

1274

Internal speed instruction 0

When DI input port:

15-INSPD3: 0

14-INSPD2: 0

13-INSPD1: 0,

select this speed instruction to be effective.

1285

)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:259px" %)rpm

1286

|(% style="text-align:center; vertical-align:middle; width:144px" %)-5000 to 5000*

1287

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

1288

Internal speed Instruction 1

1289

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

1290

Operation setting

1291

)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:191px" %)(((

1292

Effective immediately

1293

)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:142px" %)0|(% style="text-align:center; vertical-align:middle; width:144px" %)-3000 to 3000|(% rowspan="2" style="width:287px" %)(((

1294

Internal speed instruction 1

When DI input port:

15-INSPD3: 0

14-INSPD2: 0

13-INSPD1: 1,

Select this speed instruction to be effective.

1305

)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:259px" %)rpm

1306

|(% style="text-align:center; vertical-align:middle; width:144px" %)-5000 to 5000*

1307

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

1308

Internal speed Instruction 2

1309

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

1310

Operation setting

1311

)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:191px" %)(((

1312

Effective immediately

1313

)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:142px" %)0|(% style="text-align:center; vertical-align:middle; width:144px" %)-3000 to 3000|(% rowspan="2" style="width:287px" %)(((

1314

Internal speed instruction 2

When DI input port:

15-INSPD3: 0

14-INSPD2: 1

13-INSPD1: 0,

Select this speed instruction to be effective.

1325

)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:259px" %)rpm

1326

|(% style="text-align:center; vertical-align:middle; width:144px" %)-5000 to 5000*

1327

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

1328

Internal speed Instruction 3

1329

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

1330

Operation setting

1331

)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:191px" %)(((

1332

Effective immediately

1333

)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:142px" %)0|(% style="text-align:center; vertical-align:middle; width:144px" %)-3000 to 3000|(% rowspan="2" style="width:287px" %)(((

1334

Internal speed instruction 3

When DI input port:

15-INSPD3: 0

14-INSPD2: 1

13-INSPD1: 1,

Select this speed instruction to be effective.

1345

)))|(% rowspan="2" style="text-align:center; vertical-align:middle; width:259px" %)rpm

1346

|(% style="text-align:center; vertical-align:middle; width:144px" %)-5000 to 5000*

1347

1348

(% class="table-bordered" %)

1349

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

1350

Internal speed Instruction 4

1351

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

1352

Operation setting

1353

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

1354

Effective immediately

1355

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

1356

Internal speed instruction 4

When DI input port:

15-INSPD3: 1

14-INSPD2: 0

13-INSPD1: 0,

Select this speed instruction to be effective.

1367

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

1368

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

1369

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

1370

Internal speed Instruction 5

1371

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

1372

Operation setting

1373

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

1374

Effective immediately

1375

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

1376

Internal speed instruction 5

When DI input port:

15-INSPD3: 1

14-INSPD2: 0

13-INSPD1: 1,

Select this speed instruction to be effective.

1387

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

1388

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

1389

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

1390

Internal speed Instruction 6

1391

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

1392

Operation setting

1393

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

1394

Effective immediately

1395

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

1396

Internal speed instruction 6

When DI input port:

15-INSPD3: 1

14-INSPD2: 1

13-INSPD1: 0,

Select this speed instruction to be effective.

1407

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

1408

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

1409

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

1410

Internal speed Instruction 7

1411

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

1412

Operation setting

1413

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

1414

Effective immediately

1415

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

1416

Internal speed instruction 7

When DI input port:

15-INSPD3: 1

14-INSPD2: 1

13-INSPD1: 1,

Select this speed instruction to be effective.

1427

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

1428

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

1429

1430

Table 6-27 Internal speed instruction parameters

1431

1432

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

1433

1434

(% class="table-bordered" %)

1435

|(% 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**

1436

|(% 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

1437

|(% 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

1438

|(% 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

1439

1440

Table 6-28 DI multi-speed function code description

1441

1442

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.

1443

1444

(% class="table-bordered" %)

1445

|(% 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**

1446

|(% 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

1447

|(% 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

1448

|(% 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

1449

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

1450

|(% 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

1451

1452

Table 6-29 Correspondence between INSPD bits and segment numbers

1453

1454

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

1455

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

1456

1457

Figure 6-29 Multi-segment speed running curve

1458

1459

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

1460

1461

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.

1462

1463

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

1464

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

1465

1466

Figure 6-30 Analog input circuit

1467

1468

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

1469

1470

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

1471

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

1472

1473

Figure 6-31 Analog voltage speed instruction setting steps

1474

1475

Explanation of related terms:

1476

1477

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

1478

1479

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

1480

1481

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

1482

1483

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

1484

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

1485

1486

Figure 6-32 AI_1 diagram before and after bias

1487

1488

(% class="table-bordered" %)

1489

|(% 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**

1490

|(% 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

1491

|(% 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

1492

|(% 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

1493

|(% 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

1494

1495

Table 6-30 AI_1 parameters

1496

1497

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

1498

1499

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

1500

1501

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.

1502

1503

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.

1504

1505

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

1506

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

1507

1508

Figure 6-33 of acceleration and deceleration time diagram

1509

1510

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]]

1511

1512

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]]

1513

1514

(% class="table-bordered" %)

1515

|(% 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" %)(((

1516

**Setting method**

1517

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

1518

**Effective time**

1519

)))|(% 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**

1520

|(% 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" %)(((

1521

Operation setting

1522

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

1523

Effective immediately

1524

)))|(% 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

1525

|(% 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" %)(((

1526

Operation setting

1527

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

1528

Effective immediately

1529

)))|(% 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

1530

1531

Table 6-31 Acceleration and deceleration time parameters

1532

1533

== **Speed instruction limit** ==

1534

1535

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

1536

1537

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

1538

1. P01-12: Set forward speed limit value

1539

1. P01-13: Set reverse speed limit value

1540

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

1541

1542

The actual motor speed limit interval satisfies the following relationship:

1543

1544

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

1545

1546

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

1547

1548

(% class="table-bordered" %)

1549

|(% 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" %)(((

1550

**Setting method**

1551

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

1552

**Effective time**

1553

)))|(% 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**

1554

|(% 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" %)(((

1555

Operation setting

1556

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

1557

Effective immediately

1558

)))|(% 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

1559

|(% 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" %)(((

1560

Operation setting

1561

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

1562

Effective immediately

1563

)))|(% 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

1564

|(% 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" %)(((

1565

Operation setting

1566

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

1567

Effective immediately

1568

)))|(% 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

1569

1570

Table 6-32 Rotation speed related function codes

1571

1572

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

1573

1574

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.

1575

1576

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.

1577

1578

(% class="table-bordered" %)

1579

|(% 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" %)(((

1580

**Setting method**

1581

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

1582

**Effective time**

1583

)))|(% 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**

1584

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

1585

Zero-speed clamp function selection

1586

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

1587

Operation setting

1588

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

1589

Effective immediately

1590

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

1591

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

1592

1593

0: Force the speed to 0;

1594

1595

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

1596

1597

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

1598

1599

3: Invalid, ignore zero-speed clamp input

1600

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

1601

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

1602

Zero-speed clamp speed threshold

1603

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

1604

Operation setting

1605

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

1606

Effective immediately

1607

)))|(% 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

1608

1609

Table 6-33 Zero-speed clamp related parameters

1610

1611

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

1612

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

1613

1614

Figure 6-34 Zero-speed clamp diagram

1615

1616

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

1617

1618

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

1619

1620

**(1) Rotation detection signal**

1621

1622

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.

1623

1624

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

1625

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

1626

1627

Figure 6-35 Rotation detection signal diagram

1628

1629

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]]__.

1630

1631

(% class="table-bordered" %)

1632

|(% 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" %)(((

1633

**Setting method**

1634

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

1635

**Effective time**

1636

)))|(% style="text-align:center; vertical-align:middle; width:126px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:113px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:382px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:237px" %)**Unit**

1637

|(% 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" %)(((

1642

Operation setting

1643

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

1644

Effective immediately

1645

)))|(% style="text-align:center; vertical-align:middle; width:126px" %)20|(% style="text-align:center; vertical-align:middle; width:113px" %)0 to 1000|(% style="text-align:center; vertical-align:middle; width:382px" %)Set the motor rotation signal judgment threshold|(% style="text-align:center; vertical-align:middle; width:237px" %)rpm

1646

1647

Table 6-34 Rotation detection speed threshold parameters

1648

1649

(% class="table-bordered" %)

1650

|(% style="text-align:center; vertical-align:middle" %)**DO function code**|(% style="text-align:center; vertical-align:middle; width:421px" %)**Function name**|(% style="text-align:center; vertical-align:middle; width:879px" %)**Function**

1651

|(% style="text-align:center; vertical-align:middle" %)132|(% style="text-align:center; vertical-align:middle; width:421px" %)(((

1652

T-COIN rotation detection

1653

)))|(% style="width:879px" %)(((

1654

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

1655

1656

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

1657

)))

1658

1659

Table 6-35 DO rotation detection function code

1660

1661

**(2) Zero-speed signal**

1662

1663

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.

1664

1665

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

1666

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

1667

1668

Figure 6-36 Zero-speed signal diagram

1669

1670

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]]__.

1671

1672

(% class="table-bordered" %)

1673

|(% 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" %)(((

1674

**Setting method**

1675

)))|(% style="text-align:center; vertical-align:middle; width:194px" %)(((

1676

**Effective time**

1677

)))|(% style="text-align:center; vertical-align:middle; width:120px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:106px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:400px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:196px" %)**Unit**

1678

|(% 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" %)(((

1679

Operation setting

1680

)))|(% style="text-align:center; vertical-align:middle; width:194px" %)(((

1681

Effective immediately

1682

)))|(% style="text-align:center; vertical-align:middle; width:120px" %)10|(% style="text-align:center; vertical-align:middle; width:106px" %)0 to 6000|(% style="text-align:center; vertical-align:middle; width:400px" %)Set zero-speed output signal judgment threshold|(% style="text-align:center; vertical-align:middle; width:196px" %)rpm

1683

1684

Table 6-36 Zero-speed output signal threshold parameter

1685

1686

(% class="table-bordered" %)

1687

|(% 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**

1688

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

1689

ZSP zero speed signal

1690

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

1691

1692

Table 6-37 DO zero-speed signal function code

1693

1694

**(3) Speed consistent signal**

1695

1696

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.

1697

1698

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

1699

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

1700

1701

Figure 6-37 Speed consistent signal diagram

1702

1703

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]]__.

1704

1705

(% class="table-bordered" %)

1706

|(% 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" %)(((

1707

**Setting method**

1708

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

1709

**Effective time**

1710

)))|(% style="text-align:center; vertical-align:middle; width:143px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:103px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:347px" %)**Definition**|(% style="text-align:center; vertical-align:middle; width:209px" %)**Unit**

1711

|(% 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" %)(((

1712

Operationsetting

1713

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

1714

Effective immediately

1715

)))|(% style="text-align:center; vertical-align:middle; width:143px" %)10|(% style="text-align:center; vertical-align:middle; width:103px" %)0 to 100|(% style="text-align:center; vertical-align:middle; width:347px" %)Set speed consistent signal threshold|(% style="text-align:center; vertical-align:middle; width:209px" %)rpm

1716

1717

Table 6-38 Speed consistent signal threshold parameters

1718

1719

(% class="table-bordered" %)

1720

|(% 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**

1721

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

1722

U-COIN consistent speed

1723

)))|(% 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

1724

1725

Table 6-39 DO speed consistent function code

1726

1727

**(4) Speed approach signal**

1728

1729

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.

1730

1731

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

1732

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

1733

1734

Figure 6-38 Speed approaching signal diagram

1735

1736

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]]__.

1737

1738

(% class="table-bordered" %)

1739

|(% 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" %)(((

1740

**Setting method**

1741

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

1742

**Effective time**

1743

)))|(% 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**

1744

|(% 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" %)(((

1745

Operation setting

1746

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

1747

Effective immediately

1748

)))|(% 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

1749

1750

Table 6-40 Speed approaching signal threshold parameters

1751

1752

(% class="table-bordered" %)

1753

|(% 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**

1754

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

1755

V-NEAR speed approach

1756

)))|(% 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

1757

1758

Table 6-41 DO speed approach function code

1759

1760

= **Torque control mode** =

1761

1762

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.

1763

1764

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

1765

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

1766

1767

Figure 6-39 Torque mode diagram

1768

1769

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

1770

1771

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.

1772

1773

(% class="table-bordered" %)

1774

|(% 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" %)(((

1775

**Setting method**

1776

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

1777

**Effective time**

1778

)))|(% 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**

1779

|(% 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" %)(((

1780

Shutdown setting

1781

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

1782

Effective immediately

1783

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

1784

0: internal torque instruction

1785

1786

1: AI_1 analog input(not supported by VD2F)

1787

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

1788

1789

Table 6-42 Torque instruction source parameter

1790

1791

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

1792

1793

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

1794

1795

(% class="table-bordered" %)

1796

|(% 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" %)(((

1797

**Setting method**

1798

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

1799

**Effective time**

1800

)))|(% 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**

1801

|(% 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" %)(((

1802

Operation setting

1803

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

1804

Effective immediately

1805

)))|(% 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%

1806

1807

Table 6-43 Torque instruction keyboard set value

1808

1809

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

1810

1811

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.

1812

1813

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

1814

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

1815

1816

Figure 6-40 Analog input circuit

1817

1818

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

1819

1820

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

1821

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

1822

1823

Figure 6-41 Analog voltage torque instruction setting steps

1824

1825

Explanation of related terms:

1826

1827

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

1828

1829

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

1830

1831

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

1832

1833

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

1834

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

1835

1836

Figure 6-42 AI_1 diagram before and after bias

1837

1838

(% class="table-bordered" %)

1839

|(% 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**

1840

|(% 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

1841

|(% 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

1842

|(% 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

1843

|(% 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

1844

1845

Table 6-44 AI_1 parameters

1846

1847

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

1848

1849

== **Torque instruction filtering** ==

1850

1851

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]]__.

1852

1853

(% class="table-bordered" %)

1854

|(% 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" %)(((

1855

**Setting method**

1856

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

1857

**Effective time**

1858

)))|(% 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**

1859

|(% 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" %)(((

1860

Operation setting

1861

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

1862

Effective immediately

1863

)))|(% 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

1864

1865

Table 6-45 Torque filtering time constant parameter details

1866

1867

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

1868

1869

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

1870

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

1871

1872

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

1873

1874

== **Torque instruction limit** ==

1875

1876

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.

1877

1878

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.

1879

1880

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

1881

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

1882

1883

Figure 6-44 Torque instruction limit diagram

1884

1885

**(1) Set torque limit source**

1886

1887

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.

1888

1889

(% class="table-bordered" %)

1890

|(% 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" %)(((

1891

**Setting method**

1892

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

1893

**Effective time**

1894

)))|(% 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**

1895

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

1896

Torque limit source

1897

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

1898

Shutdown setting

1899

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

1900

Effective immediately

1901

)))|(% 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)

1907

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

1908

1909

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

1910

1911

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.

1912

1913

(% class="table-bordered" %)

1914

|(% 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" %)(((

1915

**Setting method**

1916

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

1917

**Effective time**

1918

)))|(% 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**

1919

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

1920

Forward torque limit

1921

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

1922

Operation setting

1923

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

1924

Effective immediately

1925

)))|(% 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%

1926

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

1927

Reverse torque limit

1928

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

1929

Operation setting

1930

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

1931

Effective immediately

1932

)))|(% 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%

1933

1934

Table 6-46 Torque limit parameter details

1935

1936

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

1937

1938

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

1939

1940

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

1941

1942

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.

1943

1944

(% class="table-bordered" %)

1945

|(% 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**

1946

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

1947

T-LIMIT in torque limit

1948

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

1949

1950

Table 6-47 DO torque limit function codes

1951

1952

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

1953

1954

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.

1955

1956

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]]__.

1957

1958

|(((

1959

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

1960

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

1961

)))|(((

1962

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

1963

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

1964

)))

1965

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

1966

1967

(% class="table-bordered" %)

1968

|(% 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" %)(((

1969

**Setting method**

1970

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

1971

**Effective time**

1972

)))|(% 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**

1973

|(% 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" %)(((

1978

Operation setting

1979

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

1980

Effective immediately

1981

)))|(% 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%

1986

|(% 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" %)(((

1991

Operation setting

1992

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

1993

Effective immediately

1994

)))|(% 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%

1999

2000

Table 6-48 Speed limit parameters in torque mode

2001

2002

✎**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]]__.

2003

2004

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

2005

2006

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.

2011

2012

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

2013

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

2014

2015

Figure 6-47 Torque arrival output diagram

2016

2017

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]]__.

2018

2019

(% class="table-bordered" %)

2020

|(% 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" %)(((

2021

**Setting method**

2022

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

2023

**Effective time**

2024

)))|(% 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**

2025

|(% 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" %)(((

2030

Operation setting

2031

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

2032

Effective immediately

2033

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

2034

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

2035

2036

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

2037

2038

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

2039

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

2040

|(% 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" %)(((

2045

Operation setting

2046

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

2047

Effective immediately

2048

)))|(% 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" %)%

2049

2050

Table 6-49 Torque arrival parameters

2051

2052

(% class="table-bordered" %)

2053

|(% 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**

2054

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

2055

T-COIN torque arrival

2056

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

2057

2058

Table 6-50 DO Torque Arrival Function Code

2059

2060

= **Mixed control mode** =

2061

2062

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:

2063

2064

Position mode  Speed mode

2065

2066

Position mode  Torque mode

2067

2068

Speed mode  Torque mode

2069

2070

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.

2071

2072

(% class="table-bordered" %)

2073

|(% 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" %)(((

2074

**Setting method**

2075

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

2076

**Effective time**

2077

)))|(% style="text-align:center; vertical-align:middle; width:144px" %)**Default value**|(% style="text-align:center; vertical-align:middle; width:97px" %)**Range**|(% style="text-align:center; vertical-align:middle; width:408px" %)**Definition**|(% style="text-align:center; vertical-align:middle" %)**Unit**

2078

|(% 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" %)(((

2079

Shutdown setting

2080

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

2081

Shutdown setting

2082

)))|(% style="text-align:center; vertical-align:middle; width:144px" %)1|(% style="text-align:center; vertical-align:middle; width:97px" %)1 to 6|(% style="width:408px" %)(((

1: Position control

2: Speed control

3: Torque control

4: Position/speed mixed control

2090

2091

5: Position/torque mixed control

2092

2093

6: Speed/torque mixed control

2094

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

2095

2096

Table 6-51 Mixed control mode parameters

2097

2098

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.

2099

2100

(% class="table-bordered" %)

2101

|(% 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**

2102

|(% 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(((

2103

(% class="table-bordered" %)

2104

|(% 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**

2105

|(% 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

2106

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

2107

|(% 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

2108

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

2109

|(% 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

2110

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

2111

)))

2112

2113

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

2114

2115

✎**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.

2116

2117

= **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.

2122

2123

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.

2124

2125

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

2126

2127

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.

2128

2129

(% class="table-bordered" %)

2130

|(% 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**

2131

|(% 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

2132

2133

Table 6-53 Single-turn absolute encoder information

2134

2135

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

2136

2137

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

2138

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

2139

2140

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

2141

2142

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

2143

2144

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.

2145

2146

(% class="table-bordered" %)

2147

|(% 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**

2148

|(% 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

2149

|(% 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

2150

2151

Table 6-54 Multi-turn absolute encoder information

2152

2153

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).

2154

2155

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

2156

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

2157

2158

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

2159

2160

== **Encoder feedback data** ==

2161

2162

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.

2163

2164

(% class="table-bordered" %)

2165

|(% 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**

2166

|(% 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

2167

|(% 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

2168

|(% 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

2169

2170

Table 6-55 Encoder feedback data

2171

2172

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

2173

2174

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.

2175

2176

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

2177

[[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"]]

2178

2179

Figure 6-50 the encoder battery box

2180

2181

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:

2182

2183

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

2184

1. Step2 Replace the battery;

2185

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

2186

2187

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.

2188

2189

(% class="table-bordered" %)

2190

|(% 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" %)(((

2191

**Setting method**

2192

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

2193

**Effective time**

2194

)))|(% 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**

2195

|(% 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" %)(((

2196

Shutdown setting

2197

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

2198

Effective immediately

2199

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

2200

0: No operation

2201

2202

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

2203

2204

✎**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.

2205

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

2206

2207

Table 6-56 Absolute encoder reset enable parameter

2208

2209

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

2210

2211

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.

2218

2219

✎**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).

2220

2221

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.

2222

2223

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

2224

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

2225

2226

Figure 6-51 VDI_1 setting steps

2227

2228

(% class="table-bordered" %)

2229

|(% 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" %)(((

2230

**Setting method**

2231

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

2232

**Effective time**

2233

)))|(% 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**

2234

|(% 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" %)(((

2235

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" %)-

2243

|(% 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" %)(((

2244

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" %)-

2252

|(% 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" %)(((

2253

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" %)-

2261

|(% 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" %)(((

2262

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" %)-

2270

|(% 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" %)(((

2271

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" %)-

2279

|(% 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" %)(((

2280

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" %)-

2288

|(% 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" %)(((

2289

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" %)-

2297

|(% 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" %)(((

2298

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" %)-

2306

2307

Table 6-57 Virtual VDI parameters

2308

2309

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

2310

2311

== **Port filtering time** ==

2312

2313

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.

2314

2315

(% class="table-bordered" %)

2316

|(% 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**

2317

|(% 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"]]

2318

|(% 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"]]

2319

2320

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.

2325

2326

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

2327

2328

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

2329

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

2330

2331

Figure 6-52 VDO_2 setting steps

2332

2333

(% class="table-bordered" %)

2334

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

2335

**Setting method**

2336

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

2337

**Effective time**

2338

)))|(% 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**

2339

|(% 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" %)-

2346

|(% 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" %)-

2353

|(% 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" %)-

2360

|(% 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" %)-

2367

2368

Table 6-59 Communication control DO function parameters

2369

2370

(% class="table-bordered" %)

2371

|(% 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**

2372

|(% 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

2373

|(% 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

2374

|(% 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

2375

|(% 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

2376

2377

Table 6-60 VDO function number

2378

2379

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

2380

2381

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).

2382

2383

== **Motor overload protection** ==

2384

2385

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%.

2386

2387

(% class="table-bordered" %)

2388

|(% 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" %)(((

2389

**Setting method**

2390

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

2391

**Effective time**

2392

)))|(% 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**

2393

|(% 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" %)(((

2394

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.

2395

2396

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

2397

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

2398

2399

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

2400

2401

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

2402

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

2403

2404

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).

2405

2406

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

2407

2408

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

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