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Wiki source code of 06 Operation

Version 48.7 by Joey on 2022/06/15 14:36
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1 = **Basic settings** =
2
3 == **Check before operation** ==
4
5 |=(% scope="row" %)**No.**|=**Content**
6 |=(% colspan="2" %)Wiring
7 |=1|The main circuit input terminals (L1, L2 and L3) of servo drive must be properly connected.
8 |=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.
9 |=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.
10 |=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.
11 |=5|Servo drive and servo motor must be grounded reliably.
12 |=6|When using an external braking resistor, the short wiring between drive C and D must be removed.
13 |=7|The force of all cables is within the specified range.
14 |=8|The wiring terminals have been insulated.
15 |=(% colspan="2" %)Environment and Machinery
16 |=1|There is no iron filings, metal, etc. that can cause short circuits inside or outside the servo drive.
17 |=2|The servo drive and external braking resistor are not placed on combustible objects.
18 |=3|The installation, shaft and mechanical structure of the servo motor have been firmly connected.
19
20 Table 6-1 Check contents before operation
21
22 == **Power-on** ==
23
24 **(1) Connect the main circuit power supply**
25
26 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.
27
28 If the drive panel displays other fault codes, please refer to __[[“10 Faults>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/10%20Malfunctions/]]__” to analyze and eliminate the cause of the fault.
29
30 **(2) Set the servo drive enable (S-ON) to invalid (OFF)**
31
32 == **Jog operation** ==
33
34 Jog operation is used to judge whether the servo motor can rotate normally, and whether there is abnormal vibration and abnormal sound during rotation. Jog operation can be realized in two ways, one is panel jog operation, which can be realized by pressing the buttons on the servo panel. The other is jog operation through the host computer debugging platform.
35
36 **(1) Panel jog operation**
37
38 Enter “P10-01” by pressing the key on the panel. After pressing “OK”, the panel will display the current jog speed. At this time, you can adjust the jog speed by pressing the "up" or "down" keys; After adjusting the moving speed, press "OK", and the panel displays "JOG" and is in a flashing state. Press "OK" again to enter the jog operation mode (the motor is now powered on!). Long press the "up" and "down" keys to achieve the forward and reverse rotation of the motor. Press "Mode" key to exit the jog operation mode. For operation and display, please refer to __[["5.3.2. Jog operation">>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/05%20Panel/#HJogoperation]]__.
39
40 **(2) Jog operation of servo debugging platform**
41
42 Open the jog operation interface of the software “Wecon SCTool”, set the jog speed value in the "set speed" in the "manual operation", click the "servo on" button on the interface, and then achieve the jog forward and reverse function through the "forward rotation" or "Reverse" button on the interface. After clicking the "Servo off" button, the jog operation mode is exited. The related function codes are shown below.
43
44
45
46 |=(% scope="row" %)**Function code**|=**Name**|=(((
47 **Setting method**
48 )))|=(((
49 **Effective time**
50 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
51 |=P10-01|JOG speed|(((
52 Operation setting
53 )))|(((
54 Effective immediately
55 )))|100|0 to 3000|JOG speed|rpm
56
57 Table 6-2 JOG speed parameter
58
59 == **Rotation direction selection** ==
60
61 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.
62
63
64 |=(% scope="row" %)**Function code**|=**Name**|=(((
65 **Setting method**
66 )))|=(((
67 **Effective time**
68 )))|=(((
69 **Default value**
70 )))|=**Range**|=**Definition**|=**Unit**
71 |=P00-04|Rotation direction|(((
72 Shutdown setting
73 )))|(((
74 Effective immediately
75 )))|0|0 to 1|(((
76 Forward rotation: Face the motor shaft to watch
77
78 0: standard setting (CW is forward rotation)
79
80 1: reverse mode (CCW is forward rotation)
81 )))|-
82
83 Table 6-3 Rotation direction parameters** **
84
85 == **Braking resistor** ==
86
87 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.
88
89 The basis for judging whether the braking resistor is built-in or external.
90
91 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.
92 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.
93
94 |=(% scope="row" %)**Function code**|=**Name**|=(((
95 **Setting method**
96 )))|=(((
97 **Effective time**
98 )))|=**Default**|=**Range**|=**Definition**|=**Unit**
99 |=P00-09|Braking resistor setting|(((
100 Operation setting
101 )))|(((
102 Effective immediately
103 )))|0|0 to 3|(((
104 0: use built-in braking resistor
105
106 1: use external braking resistor and natural cooling
107
108 2: use external braking resistor and forced air cooling; (cannot be set)
109
110 3: No braking resistor is used, it is all absorbed by capacitor.
111 )))|-
112 |=(% 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).
113 |=P00-10|External braking resistor value|(((
114 Operation setting
115 )))|(((
116 Effective immediately
117 )))|50|0 to 65535|It is used to set the external braking resistor value of a certain type of drive.|Ω
118 |=P00-11|External braking resistor power|(((
119 Operation setting
120 )))|(((
121 Effective immediately
122 )))|100|0 to 65535|It is used to set the external braking resistor power of a certain type of drive.|W
123
124 Table 6-4 Braking resistor parameters
125
126 == **Servo operation** ==
127
128 **(1) Set the servo enable (S-ON) to valid (ON)**
129
130 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.
131
132 S-ON can be configured and selected by the DI terminal function selection of the function code "DIDO configuration".
133
134 **(2) Input the instruction and the motor rotates**
135
136 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"__>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/07%20Adjustments/]], the motor could work as expected.
137
138 **(3) Timing diagram of power on**
139
140
141 [[image:image-20220608163014-1.png]]
142
143 Figure 6-1 Timing diagram of power on
144
145 == **Servo shutdown** ==
146
147 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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HServoshutdown]]__. According to the shutdown status, it could be divided into free running state and position locked, as shown in __[[Table 6-6>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HServoshutdown]]__.
148
149
150 |=(% scope="row" %)Shutdown mode|=Shutdown description|=Shutdown characteristics
151 |=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.
152 |=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.
153
154 Table 6-5 Comparison of two shutdown modes
155
156
157 |=(% scope="row" %)**Shutdown status**|=**Free operation status**|=**Position locked**
158 |=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.
159
160 Table 6-6 Comparison of two shutdown status
161
162 **(1) Servo enable (S-ON) OFF shutdown**
163
164 The related parameters of the servo OFF shutdown mode are shown in the table below.
165
166
167 |=(% scope="row" %)**Function code**|=**Name**|=(((
168 **Setting method**
169 )))|=(((
170 **Effective time**
171 )))|=(((
172 **Default value**
173 )))|=**Range**|=**Definition**|=**Unit**
174 |=P00-05|Servo OFF shutdown|(((
175 Shutdown
176
177 setting
178 )))|(((
179 Effective
180
181 immediately
182 )))|0|0 to 1|(((
183 0: Free shutdown, and the motor shaft remains free status.
184
185 1: Zero-speed shutdown, and the motor shaft remains free status.
186 )))|-
187
188 Table 6-7Table 6-1 Servo OFF shutdown mode parameters details
189
190 **(2) Emergency shutdown**
191
192 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".
193
194 **(3) Overtravel shutdown**
195
196 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.
197
198 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.
199
200 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.
201
202
203 |=(% scope="row" %)**Function code**|=**Name**|=(((
204 **Setting method**
205 )))|=(((
206 **Effective time**
207 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
208 |=P06-08|DI_3 channel function selection|Operation setting|Power-on again|3|0 to 32|(((
209 0: OFF (not used)
210
211 01: S-ON servo enable
212
213 02: A-CLR fault and Warning Clear
214
215 03: POT forward drive prohibition
216
217 04: NOT Reverse drive prohibition
218
219 05: ZCLAMP Zero speed
220
221 06: CL Clear deviation counter
222
223 07: C-SIGN Inverted instruction
224
225 08: E-STOP Emergency stop
226
227 09: GEAR-SEL Electronic Gear Switch 1
228
229 10: GAIN-SEL gain switch
230
231 11: INH Instruction pulse prohibited input
232
233 12: VSSEL Vibration control switch input
234
235 13: INSPD1 Internal speed instruction selection 1
236
237 14: INSPD2 Internal speed instruction selection 2
238
239 15: INSPD3 Internal speedinstruction selection 3
240
241 16: J-SEL inertia ratio switch (not implemented yet)
242
243 17: MixModesel mixed mode selection
244
245 20: Internal multi-segment position enable signal
246
247 21: Internal multi-segment position selection 1
248
249 22: Internal multi-segment position selection 2
250
251 23: Internal multi-segment position selection 3
252
253 24: Internal multi-segment position selection 4
254
255 Others: reserved
256 )))|-
257 |=P06-09|DI_3 channel logic selection|Operation setting|(((
258 Effective immediately
259 )))|0|0 to 1|(((
260 DI port input logic validity function selection.
261
262 0: Normally open input. Active low level (switch on);
263
264 1: Normally closed input. Active high level (switch off);
265 )))|-
266 |=P06-10|DI_3 input source selection|Operation setting|(((
267 Effective immediately
268 )))|0|0 to 1|(((
269 Select the DI_3 port type to enable
270
271 0: Hardware DI_3 input terminal
272
273 1: virtual VDI_3 input terminal
274 )))|-
275 |=P06-11|DI_4 channel function selection|(((
276 Operation setting
277 )))|(((
278 again Power-on
279 )))|4|0 to 32|(((
280 0 off (not used)
281
282 01: SON Servo enable
283
284 02: A-CLR Fault and Warning Clear
285
286 03: POT Forward drive prohibition
287
288 04: NOT Reverse drive prohibition
289
290 05: ZCLAMP Zero speed
291
292 06: CL Clear deviation counter
293
294 07: C-SIGN Inverted instruction
295
296 08: E-STOP Emergency shutdown
297
298 09: GEAR-SEL Electronic Gear Switch 1
299
300 10: GAIN-SEL gain switch
301
302 11: INH Instruction pulse prohibited input
303
304 12: VSSEL Vibration control switch input
305
306 13: INSPD1 Internal speed instruction selection 1
307
308 14: INSPD2 Internal speed instruction selection 2
309
310 15: INSPD3 Internal speed instruction selection 3
311
312 16: J-SEL inertia ratio switch (not implemented yet)
313
314 17: MixModesel mixed mode selection
315
316 20: Internal multi-segment position enable signal
317
318 21: Internal multi-segment position selection 1
319
320 22: Internal multi-segment position selection 2
321
322 23: Internal multi-segment position selection 3
323
324 24: Internal multi-segment position selection 4
325
326 Others: reserved
327 )))|-
328 |=P06-12|DI_4 channel logic selection|Operation setting|(((
329 Effective immediately
330 )))|0|0 to 1|(((
331 DI port input logic validity function selection.
332
333 0: Normally open input. Active low level (switch on);
334
335 1: Normally closed input. Active high level (switch off);
336 )))|-
337 |=P06-13|DI_4 input source selection|Operation setting|(((
338 Effective immediately
339 )))|0|0 to 1|(((
340 Select the DI_4 port type to enable
341
342 0: Hardware DI_4 input terminal
343
344 1: virtual VDI_4 input terminal
345 )))|-
346
347 Table 6-8 DI3 and DI4 channel parameters
348
349 **(4) Malfunction shutdown**
350
351 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.
352
353 == **Brake device** ==
354
355 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.
356
357
358 |(((
359 [[image:image-20220611151617-1.png]]
360 )))
361 |(((
362 ✎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;
363
364 ✎ After the servo motor stops, turn off the servo enable (S-ON) in time;
365
366 ✎The brake coil has no polarity;
367
368 ✎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!
369
370 ✎When the motor with built-in brake is in operation, the brake device may make a clicking sound, which does not affect the function.
371 )))
372
373 **(1) Wiring of brake device**
374
375 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)
376
377
378 [[image:image-20220608163136-2.png]]
379
380 Figure 6-2 VD2B servo drive brake wiring
381
382
383 |(((
384 [[image:image-20220611151642-2.png]]
385 )))
386 |(((
387 ✎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.
388
389 ✎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.
390
391 ✎It is recommended to use cables above 0.5 mm².
392 )))
393
394 **(2) Brake software setting**
395
396 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.
397
398 Related function code is as below.
399
400
401 |=(% scope="row" %)**DO function code**|=**Function name**|=**Function**|=(((
402 **Effective time**
403 )))
404 |=144|(((
405 BRK-OFF Brake output
406 )))|Output the signal indicates the servo motor brake release|Power-on again
407
408 Table 6-2 Relevant function codes for brake setting
409
410
411 |=(% scope="row" %)**Function code**|=**Name**|=(((
412 **Setting method**
413 )))|=(((
414 **Effective time**
415 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
416 |=P1-30|Delay from brake output to instruction reception|(((
417 Operation setting
418 )))|Effective immediately|250|0 to 500|Set delay that from the brake (BRK-OFF) output is ON to servo drive allows to receive input instruction. When brake output (BRK-OFF) is not allocated, the function code has no effect.|ms
419 |=P1-31|In static state, delay from brake output OFF to the motor is power off|(((
420 Operation setting
421 )))|Effective immediately|150|1 to 1000|When the motor is in a static state, set the delay time from brake (BRK-OFF) output OFF to servo drive enters the non-channel state. When the brake output (BRK-OFF) is not allocated, this function code has no effect.|ms
422 |=P1-32|Rotation status, when the brake output OFF, the speed threshold|(((
423 Operation setting
424 )))|Effective immediately|30|0 to 3000|(((
425 When the motor rotates, the motor speed threshold when the brake (BRK-OFF) is allowed to output OFF.
426
427 When the brake output (BRK-OFF) is not allocated, this function code has no effect.
428 )))|rpm
429 |=P1-33|Rotation status, Delay from servo enable OFF to brake output OFF|(((
430 Operation setting
431 )))|Effective immediately|500|1 to 1000|(((
432 When the motor rotates, the delay time from the servo enable (S-ON) OFF to the brake (BRK-OFF) output OFF is allowed.
433
434 When brake output (BRK-OFF) is not allocated, this function code has no effect.
435 )))|ms
436
437 Table 6-9 Brake setting function codes
438
439 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.
440
441 **(3) Servo drive brake timing in normal state**
442
443 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).
444
445 1) Brake timing when servo motor is stationary
446
447 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>>https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/image-20220608163304-3.png?rev=1.1]]__
448
449
450 |(((
451 [[image:image-20220611151705-3.png]]
452 )))
453 |(((
454 ✎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.
455
456 ✎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.
457 )))
458
459 [[image:image-20220608163304-3.png]]
460
461 Figure 6-3 Brake Timing of when the motor is stationary
462
463 ✎**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.
464
465 2) The brake timing when servo motor rotates
466
467 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>>https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/image-20220608163425-4.png?rev=1.1]]__.
468
469
470 |(((
471 [[image:image-20220611151719-4.png]]
472 )))
473 |(((
474 ✎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.
475
476 ✎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:
477
478 P01-33 time has not arrived, but the motor has decelerated to the speed set by P01-32;
479
480 P01-33 time is up, but the motor speed is still higher than the set value of P01-32.
481
482 ✎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.
483 )))
484
485 [[image:image-20220608163425-4.png]]
486
487 Figure 6-4 Brake timing when the motor rotates
488
489 **(4) Brake timing when the servo drive fails**
490
491 The brake timing (free shutdown) in the fault status is as follows.
492
493
494 [[image:image-20220608163541-5.png]]
495
496 Figure 6-5 The brake timing (free shutdown) in the fault state
497
498 = **Position control mode** =
499
500 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.
501
502
503 [[image:image-20220608163643-6.png]]
504
505 Figure 6-6 Position control diagram
506
507 Set “P00-01” to 1 by the software “Wecon SCTool”, and the servo drive is in position control mode.
508
509
510 |=(% scope="row" %)**Function code**|=**Name**|=(((
511 **Setting method**
512 )))|=(((
513 **Effective time**
514 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
515 |=P01-01|Control mode|(((
516 Operation setting
517 )))|(((
518 immediately Effective
519 )))|0|0 to 1|(((
520 0: position control
521
522 2: speed control
523
524 3: torque control
525
526 4: position/speed mix control
527
528 5: position/torque mix control
529
530 6: speed /torque mix control
531 )))|-
532
533 Table 6-10 Control mode parameters
534
535 == **Position instruction input setting** ==
536
537 When the VD2 series servo drive is in position control mode, firstly set the position instruction source through the function code “P01-06”.
538
539
540 |=(% scope="row" %)**Function code**|=**Name**|=(((
541 **Setting method**
542 )))|=(((
543 **Effective time**
544 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
545 |=P01-06|Position instruction source|(((
546 Operation setting
547 )))|(((
548 immediately Effective
549 )))|0|0 to 1|(((
550 0: pulse instruction
551
552 1: internal position instruction
553 )))|-
554
555 Table 6-11 Position instruction source parameter
556
557 **(1) The source of position instruction is pulse instruction (P01-06=0)**
558
559 1) Low-speed pulse instruction input
560
561
562 |[[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]]|[[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]]
563 |VD2A and VD2B servo drives|VD2F servo drive
564 |(% colspan="2" %)Figure 6-7 Position instruction input setting
565
566 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>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HPositioninstructioninputsetting]]__.
567
568 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.
569
570
571 |**Pulse method**|**Maximum frequency**|**Voltage**
572 |Open collector input|200K|24V
573 |Differential input|500K|5V
574
575 Table 6-12 Pulse input specifications
576
577 1.Differential input
578
579 Take VD2A and VD2B drive as examples, the connection of differential input is shown as below.
580
581
582 [[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]]
583
584 Figure 6-8 Differential input connection
585
586 ✎**Note: **The differential input connection of the VD2F drive differs only from the signal pin number. Please refer to “__[[4.4.3 position instruction input signal>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/04%20Wiring/#HPositioninstructioninputsignal]]__”
587
588 2.Open collector input
589
590 Take VD2A and VD2B drive as examples, the connection of differential input is shown as below.
591
592
593 [[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]]
594
595 Figure 6-9 Open collector input connection
596
597 ✎**Note:** The differential input connection of the VD2F drive differs only from the signal pin number. Please refer to “__[[4.4.3 position instruction input signal>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/04%20Wiring/#HPositioninstructioninputsignal]]__”
598
599 2) Position pulse frequency and anti-interference level
600
601 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.
602
603
604 [[image:image-20220608163952-8.png]]
605
606 Figure 6-10 Example of filtered signal waveform
607
608 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.
609
610
611 |=(% scope="row" %)**Function code**|=**Name**|=(((
612 **Setting method**
613 )))|=(((
614 **Effective time**
615 )))|=**Default value**|=**Range**|=(% colspan="2" %)**Definition**|=**Unit**
616 |=P00-13|Maximum position pulse frequency|(((
617 Shutdown setting
618 )))|(((
619 Effective immediately
620 )))|300|1 to 500|(% colspan="2" %)Set the maximum frequency of external pulse instruction|KHz
621 |=(% rowspan="3" %)P00-14|(% rowspan="3" %)Position pulse anti-interference level|(% rowspan="3" %)(((
622 Operation setting
623 )))|(% rowspan="3" %)(((
624 Power-on again
625 )))|(% rowspan="3" %)2|(% rowspan="3" %)0 to 9|(% colspan="2" %)(((
626 Set the anti-interference level of external pulse instruction.
627
628 0: no filtering;
629
630 1: Filtering time 128ns
631
632 2: Filtering time 256ns
633
634 3: Filtering time 512ns
635
636 4: Filtering time 1.024us
637
638 5: Filtering time 2.048us
639
640 6: Filtering time 4.096us
641
642 7: Filtering time 8.192us
643
644 8: Filtering time 16.384us
645 )))|(% rowspan="3" %)-
646 |=(% rowspan="2" %)9|VD2: Filtering time 25.5us
647 |=VD2F: Filtering time 25.5us
648
649 Table 6-13 Position pulse frequency and anti-interference level parameters
650
651 3) Position pulse type selection
652
653 In VD2 series servo drives, there are three types of input pulse instructions, and the related function codes are shown in the table below.
654
655
656 |=(% scope="row" %)**Function code**|=**Name**|=(((
657 **Setting method**
658 )))|=(((
659 **Effective time**
660 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
661 |=P00-12|Position pulse type selection|(((
662 Operation setting
663 )))|(((
664 Power-on again
665 )))|0|0 to 5|(((
666 0: direction + pulse (positive logic)
667
668 1: CW/CCW
669
670 2: A, B phase quadrature pulse (4 times frequency)
671
672 3: Direction + pulse (negative logic)
673
674 4: CW/CCW (negative logic)
675
676 5: A, B phase quadrature pulse (4 times frequency negative logic)
677 )))|-
678
679 Table 6-14 Position pulse type selection parameter
680
681
682 |=(% scope="row" %)**Pulse type selection**|=**Pulse type**|=**Signal**|=**Schematic diagram of forward pulse**|=**Schematic diagram of negative pulse**
683 |=0|(((
684 Direction + pulse
685
686 (Positive logic)
687 )))|(((
688 PULSE
689
690 SIGN
691 )))|[[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]]|[[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]]
692 |=1|CW/CCW|(((
693 PULSE (CW)
694
695 SIGN (CCW)
696 )))|(% colspan="2" %)[[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]]
697 |=2|(((
698 AB phase orthogonal
699
700 pulse (4 times frequency)
701 )))|(((
702 PULSE (Phase A)
703
704 SIGN (Phase B)
705 )))|(((
706 [[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]]
707
708 Phase A is 90° ahead of Phase B
709 )))|(((
710 [[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]]
711
712 Phase B is 90° ahead of Phase A
713 )))
714 |=3|(((
715 Direction + pulse
716
717 (Negative logic)
718 )))|(((
719 PULSE
720
721 SIGN
722 )))|[[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]]|[[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]]
723 |=4|(((
724 CW/CCW
725
726 (Negative logic)
727 )))|(((
728 PULSE (CW)
729
730 SIGN (CCW)
731 )))|(% colspan="2" %)[[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]]
732 |=5|(((
733 AB phase orthogonal
734
735 pulse (4 times frequency negative logic)
736 )))|(((
737 PULSE (Phase A)
738
739 SIGN (Phase B)
740 )))|(((
741 [[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]]
742
743 B phase is ahead of A phase by 90°
744 )))|(((
745 [[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]]
746
747 A phase is ahead of B phase by 90°
748 )))
749
750 Table 6-15 Pulse description
751
752 **(2) The source of position instruction is internal position instruction (P01-06=1)**
753
754 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>>https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/image-20220608164116-9.png?rev=1.1]]__.
755
756 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.
757
758
759 [[image:image-20220608164116-9.png]]
760
761 Figure 6-11 The setting process of multi-segment position
762
763 1) Set multi-segment position running mode
764
765
766 |=(% scope="row" %)**Function code**|=**Name**|=(((
767 **Setting method**
768 )))|=(((
769 **Effective time**
770 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
771 |=P07-01|Multi-segment position running mode|(((
772 Shutdown setting
773 )))|(((
774 Effective immediately
775 )))|0|0 to 2|(((
776 0: Single running
777
778 1: Cycle running
779
780 2: DI switching running
781 )))|-
782 |=P07-02|Start segment number|(((
783 Shutdown setting
784 )))|(((
785 Effective immediately
786 )))|1|1 to 16|1st segment NO. in non-DI switching mode|-
787 |=P07-03|End segment number|(((
788 Shutdown setting
789 )))|(((
790 Effective immediately
791 )))|1|1 to 16|last segment NO. in non-DI switching mode|-
792 |=P07-04|Margin processing method|(((
793 Shutdown setting
794 )))|(((
795 Effective immediately
796 )))|0|0 to 1|(((
797 0: Run the remaining segments
798
799 1: Run again from the start segment
800 )))|-
801 |=P07-05|Displacement instruction type|(((
802 Shutdown setting
803 )))|(((
804 Effective immediately
805 )))|0|0 to 1|(((
806 0: Relative position instruction
807
808 1: Absolute position instruction
809 )))|-
810
811 Table 6-16 multi-segment position running mode parameters
812
813 VD2 series servo drive has three multi-segment position running modes, and you could select the best running mode according to the site requirements.
814
815 ~1. Single running
816
817 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>>https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/image-20220608164226-10.png?rev=1.1]]__, and S1 and S2 are the displacements of the 1st segment and the 2nd segment respectively
818
819
820 [[image:image-20220608164226-10.png]]
821
822 Figure 6-12 Single running curve (P07-02=1, P07-03=2)
823
824 2. Cycle running
825
826 In this running mode, the position number is automatically incremented and switched, and the servo drive repeatedly runs the total number of multi-segment position instructions set by P07-02 and P07-03. The waiting time could be set between each segment. The cycle running curve is shown in __[[Figure 6-13>>https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/image-20220608164327-11.png?rev=1.1]]__, and S1,S2,S3 and S4 are the displacements of the 1st, 2nd, 3rd and 4th segment respectively.
827
828
829 [[image:image-20220608164327-11.png]]
830
831 Figure 6-13 Cycle running curve (P07-02=1, P07-03=4)
832
833 |[[image:image-20220611151917-5.png]]
834 |In single running and cycle running mode, the setting value of P07-03 needs to be greater than the setting value of P07-02.
835
836 3. DI switching running
837
838 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.
839
840
841 |=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
842 |=21|INPOS1: Internal multi-segment position segment selection 1|Form internal multi-segment position running segment number
843 |=22|INPOS2: Internal multi-segment position segment selection 2|Form internal multi-segment position running segment number
844 |=23|INPOS3: Internal multi-segment position segment selection 3|Form internal multi-segment position running segment number
845 |=24|INPOS4: Internal multi-segment position segment selection 4|Form internal multi-segment position running segment number
846
847 Table 6-17 DI function code
848
849 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.
850
851
852 |=(% scope="row" %)**INPOS4**|=**INPOS3**|=**INPOS2**|=**INPOS1**|=**Running position number**
853 |=0|0|0|0|1
854 |=0|0|0|1|2
855 |=0|0|1|0|3
856 |=(% colspan="5" %)…………
857 |=1|1|1|1|16
858
859 Table 6-18 INPOS corresponds to running segment number
860
861 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]]__.
862
863
864 [[image:image-20220608164545-12.png]]
865
866 Figure 6-14 DI switching running curve
867
868 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.
869
870 **A. Run the remaining segments**
871
872 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.
873
874
875 [[image:image-20220608164847-13.png]]
876
877 Figure 6-15 Single running-run the remaining segments (P07-02=1, P07-03=4)
878
879
880 [[image:image-20220608165032-14.png]]
881
882 Figure 6-16 Cycle running-run the remaining segment (P07-02=1, P07-03=4)
883
884 **B. Run again from the start segment**
885
886 In this processing mode, when the multi-segment position instruction enable is OFF during running, the servo drive will abandon the uncompleted displacement part and shutdown. After the shutdown is completed, the positioning completion signal is valid. When the multi-segment position enable is ON, and the servo drive will start to operate from the next position set by P07-02. The curves of single running and cycle running are shown in __[[Figure 6-17>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_2328499c9613af49.gif?rev=1.1]]__ and __[[Figure 6-18>>http://docs.we-con.com.cn/wiki/servo/download/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/WebHome/Wecon%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29_html_1f2e35174b1afd3c.gif?rev=1.1]]__ respectively.
887
888
889 [[image:image-20220608165343-15.png]]
890
891 Figure 6-17 Single running-run from the start segment again (P07-02=1, P07-03=4)
892
893
894 [[image:image-20220608165558-16.png]]
895
896 Figure 6-18 Cyclic running-run from the start segment again (P07-02=1, P07-03=4)
897
898 VD2 series servo drives have two types of displacement instructions: relative position instruction and absolute position instruction. The related function code is P07-05.
899
900 A. Relative position instruction
901
902 The relative position instruction takes the current stop position of the motor as the start point and specifies the amount of displacement.
903
904 |(((
905 [[image:image-20220608165710-17.png]]
906 )))|(((
907 [[image:image-20220608165749-18.png]]
908 )))
909 |Figure 6-19 Relative position diagram|Figure 6-20 Displacement diagram
910
911 B. Absolute position instruction
912
913 The absolute position instruction takes "reference origin" as the zero point of absolute positioning, and specifies the amount of displacement.
914
915 |(((
916 [[image:image-20220608165848-19.png]]
917 )))|(((
918 [[image:image-20220608170005-20.png]]
919 )))
920 |Figure 6-21 Absolute indication|Figure 6-22 Displacement
921
922 2) Multi-segment position running curve setting
923
924 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.
925
926
927 |=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit**
928 |=P07-09|(((
929 1st segment
930
931 displacement
932 )))|(((
933 Operation setting
934 )))|(((
935 Effective immediately
936 )))|10000|(((
937 -2147483647 to
938
939 2147483646
940 )))|Position instruction, positive and negative values could be set|-
941 |=P07-10|Maximum speed of the 1st displacement|(((
942 Operation setting
943 )))|(((
944 Effective immediately
945 )))|100|1 to 5000|Steady-state running speed of the 1st segment|rpm
946 |=P07-11|Acceleration and deceleration of 1st segment displacement|(((
947 Operation setting
948 )))|(((
949 Effective immediately
950 )))|100|1 to 65535|The time required for the acceleration and deceleration of the 1st segment|ms
951 |=P07-12|Waiting time after completion of the 1st segment displacement|(((
952 Operation setting
953 )))|(((
954 Effective immediately
955 )))|100|1 to 65535|Delayed waiting time from the completion of the 1st segment to the start of the next segment|Set by P07-06
956
957 Table 6-19 The 1st position operation curve parameters table
958
959 After setting the above parameters, the actual operation curve of the motor is shown in Figure 6-23.
960
961
962 [[image:image-20220608170149-21.png]]
963
964 Figure 6-23 The 1st segment running curve of motor
965
966 3) multi-segment position instruction enable
967
968 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.
969
970
971 |=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
972 |=20|ENINPOS: Internal multi-segment position enable signal|(((
973 DI port logic invalid: Does not affect the current operation of the servo motor.
974
975 DI port logic valid: Motor runs multi-segment position
976 )))
977
978 [[image:image-20220611152020-6.png]]
979
980 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!
981
982 == **Electronic gear ratio** ==
983
984 **(1) Definition of electronic gear ratio**
985
986 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.
987
988 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.
989
990 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)
991
992
993 [[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]]
994
995
996 [[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]]
997
998
999 [[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]]
1000
1001 Otherwise, the servo drive will report Er.35: "Electronic gear ratio setting exceeds the limit"!
1002
1003 **(2) Setting steps of electronic gear ratio**
1004
1005
1006 [[image:image-20220608170320-22.png]]
1007
1008 Figure 6-24 Setting steps of electronic gear ratio
1009
1010 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.
1011
1012 Step2: Confirm the resolution of servo motor encoder.
1013
1014 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.
1015
1016 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.
1017
1018 Step5: Calculate the value of electronic gear ratio according to formula below.
1019
1020
1021 [[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]]
1022
1023 **(3) lectronic gear ratio switch setting**
1024
1025
1026 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.
1027
1028
1029 |=(% scope="row" %)**Function code**|=**Name**|=(((
1030 **Setting method**
1031 )))|=(((
1032 **Effective time**
1033 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1034 |=P00-16|Number of instruction pulses when the motor rotates one circle|(((
1035 Shutdown setting
1036 )))|(((
1037 Effective immediately
1038 )))|10000|0 to 131072|Set the number of position command pulses required for each turn of the motor. When the setting value is 0, [P00-17]/[P00-19] Electronic gear 1/2 numerator, [P00-18]/[P00-20] Electronic gear 1/2 denominator is valid.|(((
1039 Instruction pulse
1040
1041 unit
1042 )))
1043 |=P00-17|(((
1044 Electronic gear 1
1045
1046 numerator
1047 )))|Operation setting|(((
1048 Effective immediately
1049 )))|1|1 to 4294967294|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.|-
1050 |=P00-18|(((
1051 Electronic gear 1
1052
1053 denominator
1054 )))|(((
1055 Operation setting
1056 )))|(((
1057 Effective immediately
1058 )))|1|1 to 4294967294|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.|-
1059 |=P00-19|(((
1060 Electronic gear 2
1061
1062 numerator
1063 )))|Operation setting|(((
1064 Effective immediately
1065 )))|1|1 to 4294967294|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.|-
1066 |=P00-20|(((
1067 Electronic gear 2
1068
1069 denominator
1070 )))|Operation setting|(((
1071 Effective immediately
1072 )))|1|1 to 4294967294|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.|-
1073
1074 Table 6-20 Electronic gear ratio function code
1075
1076 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.
1077
1078
1079 |=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
1080 |=09|GEAR-SEL electronic gear switch 1|(((
1081 DI port logic invalid: electronic gear ratio 1
1082
1083 DI port logic valid: electronic gear ratio 2
1084 )))
1085
1086 Table 6-21 Switching conditions of electronic gear ratio group
1087
1088 |=(% scope="row" %)**P00-16 value**|=**DI terminal level corresponding to DI port function 9**|=**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]]
1089 |=(% rowspan="2" %)0|DI port logic invalid|[[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]]
1090 |=DI port logic valid|[[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]]
1091 |=1 to 131072|~-~-|[[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]]
1092
1093 Table 6-22 Application of electronic gear ratio
1094
1095 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.
1096
1097 == **Position instruction filtering** ==
1098
1099 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.
1100
1101 In the following situations, position instruction filtering should be added.
1102
1103 1. The position instruction output by host computer has not been processed with acceleration or deceleration;
1104 1. The pulse instruction frequency is low;
1105 1. When the electronic gear ratio is 10 times or more.
1106
1107 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.
1108
1109
1110 [[image:image-20220608170455-23.png]]
1111
1112 Figure 6-25 Position instruction filtering diagram
1113
1114
1115 |=(% scope="row" %)**Function code**|=**Name**|=(((
1116 **Setting method**
1117 )))|=(((
1118 **Effective time**
1119 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1120 |=P04-01|Pulse instruction filtering method|(((
1121 Shutdown setting
1122 )))|(((
1123 Effective immediately
1124 )))|0|0 to 1|(((
1125 0: 1st-order low-pass filtering
1126
1127 1: average filtering
1128 )))|-
1129 |=P04-02|Position instruction 1st-order low-pass filtering time constant|Shutdown setting|(((
1130 Effective immediately
1131 )))|0|0 to 1000|Position instruction first-order low-pass filtering time constant|ms
1132 |=P04-03|Position instruction average filtering time constant|Shutdown setting|(((
1133 Effective immediately
1134 )))|0|0 to 128|Position instruction average filtering time constant|ms
1135
1136 Table 6-23 Position instruction filter function code
1137
1138 == **Clearance of position deviation** ==
1139
1140 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;
1141
1142 Position deviation = (position instruction-position feedback) (encoder unit)
1143
1144 == **Position-related DO output function** ==
1145
1146 The feedback value of position instruction is compared with different thresholds, and output DO signal for host computer use.
1147
1148 (% class="wikigeneratedid" id="HPositioningcompletion2Fpositioningapproachoutput" %)
1149 **Positioning completion/positioning approach output**
1150
1151 (% class="wikigeneratedid" %)
1152 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.
1153
1154
1155 [[image:image-20220608170550-24.png]]
1156
1157 Figure 6-26 Positioning completion signal output diagram
1158
1159 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.
1160
1161 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]]__.
1162
1163
1164 [[image:image-20220608170650-25.png]]
1165
1166 Figure 6-27 Positioning completion signal output with increased window filter time diagram
1167
1168
1169 |=(% scope="row" %)**Function code**|=**Name**|=(((
1170 **Setting method**
1171 )))|=(((
1172 **Effective time**
1173 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1174 |=P05-12|Positioning completion threshold|(((
1175 Operation setting
1176 )))|(((
1177 Effective immediately
1178 )))|800|1 to 65535|Positioning completion threshold|Equivalent pulse unit
1179 |=P05-13|Positioning approach threshold|(((
1180 Operation setting
1181 )))|(((
1182 Effective immediately
1183 )))|5000|1 to 65535|Positioning approach threshold|Equivalent pulse unit
1184 |=P05-14|Position detection window time|(((
1185 Operation setting
1186 )))|(((
1187 Effective immediately
1188 )))|10|0 to 20000|Set positioning completion detection window time|ms
1189 |=P05-15|Positioning signal hold time|(((
1190 Operation setting
1191 )))|(((
1192 Effective immediately
1193 )))|100|0 to 20000|Set positioning completion output hold time|ms
1194
1195 Table 6-24 Function code parameters of positioning completion
1196
1197
1198 |=(% scope="row" %)**DO function code**|=**Function name**|=**Function**
1199 |=134|P-COIN positioning complete|Output this signal indicates the servo drive position is complete.
1200 |=135|(((
1201 P-NEAR positioning close
1202 )))|(((
1203 Output this signal indicates that the servo drive position is close.
1204 )))
1205
1206 Table 6-25 Description of DO rotation detection function code
1207
1208 = **Speed control mode** =
1209
1210 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.
1211
1212
1213 [[image:6.28.jpg||height="260" width="806"]]
1214
1215 Figure 6-28 Speed control block diagram
1216
1217 == **Speed instruction input setting** ==
1218
1219 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.
1220
1221
1222 |**Function code**|**Name**|(((
1223 **Setting method**
1224 )))|(((
1225 **Effective time**
1226 )))|**Default value**|**Range**|**Definition**|**Unit**
1227 |P01-01|Speed instruction source|(((
1228 Shutdown setting
1229 )))|(((
1230 Effective immediately
1231 )))|1|1 to 6|(((
1232 0: internal speed instruction
1233
1234 1: AI_1 analog input (not supported by VD2F)
1235 )))|-
1236
1237 Table 6-26 Speed instruction source parameter
1238
1239 **(1) Speed instruction source is internal speed instruction (P01-01=0)**
1240
1241 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.
1242
1243
1244 |**Function code**|**Name**|(((
1245 **Setting method**
1246 )))|(((
1247 **Effective time**
1248 )))|**Default value**|**Range**|**Definition**|**Unit**
1249 |(% rowspan="2" %)P01-02|(% rowspan="2" %)(((
1250 Internal speed Instruction 0
1251 )))|(% rowspan="2" %)(((
1252 Operation setting
1253 )))|(% rowspan="2" %)(((
1254 Effective immediately
1255 )))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1256 Internal speed instruction 0
1257
1258 When DI input port:
1259
1260 15-INSPD3: 0
1261
1262 14-INSPD2: 0
1263
1264 13-INSPD1: 0,
1265
1266 select this speed instruction to be effective.
1267 )))|(% rowspan="2" %)rpm
1268 |-5000 to 5000*
1269 |(% rowspan="2" %)P01-23|(% rowspan="2" %)(((
1270 Internal speed Instruction 1
1271 )))|(% rowspan="2" %)(((
1272 Operation setting
1273 )))|(% rowspan="2" %)(((
1274 Effective immediately
1275 )))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1276 Internal speed instruction 1
1277
1278 When DI input port:
1279
1280 15-INSPD3: 0
1281
1282 14-INSPD2: 0
1283
1284 13-INSPD1: 1,
1285
1286 Select this speed instruction to be effective.
1287 )))|(% rowspan="2" %)rpm
1288 |-5000 to 5000*
1289 |(% rowspan="2" %)P01-24|(% rowspan="2" %)(((
1290 Internal speed Instruction 2
1291 )))|(% rowspan="2" %)(((
1292 Operation setting
1293 )))|(% rowspan="2" %)(((
1294 Effective immediately
1295 )))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1296 Internal speed instruction 2
1297
1298 When DI input port:
1299
1300 15-INSPD3: 0
1301
1302 14-INSPD2: 1
1303
1304 13-INSPD1: 0,
1305
1306 Select this speed instruction to be effective.
1307 )))|(% rowspan="2" %)rpm
1308 |-5000 to 5000*
1309 |(% rowspan="2" %)P01-25|(% rowspan="2" %)(((
1310 Internal speed Instruction 3
1311 )))|(% rowspan="2" %)(((
1312 Operation setting
1313 )))|(% rowspan="2" %)(((
1314 Effective immediately
1315 )))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1316 Internal speed instruction 3
1317
1318 When DI input port:
1319
1320 15-INSPD3: 0
1321
1322 14-INSPD2: 1
1323
1324 13-INSPD1: 1,
1325
1326 Select this speed instruction to be effective.
1327 )))|(% rowspan="2" %)rpm
1328 |-5000 to 5000*
1329
1330 |(% rowspan="2" %)P01-26|(% rowspan="2" %)(((
1331 Internal speed Instruction 4
1332 )))|(% rowspan="2" %)(((
1333 Operation setting
1334 )))|(% rowspan="2" %)(((
1335 Effective immediately
1336 )))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1337 Internal speed instruction 4
1338
1339 When DI input port:
1340
1341 15-INSPD3: 1
1342
1343 14-INSPD2: 0
1344
1345 13-INSPD1: 0,
1346
1347 Select this speed instruction to be effective.
1348 )))|(% rowspan="2" %)rpm
1349 |-5000 to 5000*
1350 |(% rowspan="2" %)P01-27|(% rowspan="2" %)(((
1351 Internal speed Instruction 5
1352 )))|(% rowspan="2" %)(((
1353 Operation setting
1354 )))|(% rowspan="2" %)(((
1355 Effective immediately
1356 )))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1357 Internal speed instruction 5
1358
1359 When DI input port:
1360
1361 15-INSPD3: 1
1362
1363 14-INSPD2: 0
1364
1365 13-INSPD1: 1,
1366
1367 Select this speed instruction to be effective.
1368 )))|(% rowspan="2" %)rpm
1369 |-5000 to 5000*
1370 |(% rowspan="2" %)P01-28|(% rowspan="2" %)(((
1371 Internal speed Instruction 6
1372 )))|(% rowspan="2" %)(((
1373 Operation setting
1374 )))|(% rowspan="2" %)(((
1375 Effective immediately
1376 )))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1377 Internal speed instruction 6
1378
1379 When DI input port:
1380
1381 15-INSPD3: 1
1382
1383 14-INSPD2: 1
1384
1385 13-INSPD1: 0,
1386
1387 Select this speed instruction to be effective.
1388 )))|(% rowspan="2" %)rpm
1389 |-5000 to 5000*
1390 |(% rowspan="2" %)P01-29|(% rowspan="2" %)(((
1391 Internal speed Instruction 7
1392 )))|(% rowspan="2" %)(((
1393 Operation setting
1394 )))|(% rowspan="2" %)(((
1395 Effective immediately
1396 )))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1397 Internal speed instruction 7
1398
1399 When DI input port:
1400
1401 15-INSPD3: 1
1402
1403 14-INSPD2: 1
1404
1405 13-INSPD1: 1,
1406
1407 Select this speed instruction to be effective.
1408 )))|(% rowspan="2" %)rpm
1409 |-5000 to 5000*
1410
1411 Table 6-27 Internal speed instruction parameters
1412
1413 ✎**Note: **“*” means the set range of VD2F servo drive.
1414
1415
1416 |**DI function code**|**function name**|**Function**
1417 |13|INSPD1 internal speed instruction selection 1|Form internal multi-speed running segment number
1418 |14|INSPD2 internal speed instruction selection 2|Form internal multi-speed running segment number
1419 |15|INSPD3 internal speed instruction selection 3|Form internal multi-speed running segment number
1420
1421 Table 6-28 DI multi-speed function code description
1422
1423 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.
1424
1425
1426 |**INSPD3**|**INSPD2**|**INSPD1**|**Running segment number**|**Internal speed instruction number**
1427 |0|0|0|1|0
1428 |0|0|1|2|1
1429 |0|1|0|3|2
1430 |(% colspan="5" %)......
1431 |1|1|1|8|7
1432
1433 Table 6-29 Correspondence between INSPD bits and segment numbers
1434
1435
1436 [[image:image-20220608170845-26.png]]
1437
1438 Figure 6-29 Multi-segment speed running curve
1439
1440 **(2) Speed instruction source is internal speed instruction (P01-01=0)**
1441
1442 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.
1443
1444
1445 [[image:image-20220608153341-5.png]]
1446
1447 Figure 6-30 Analog input circuit
1448
1449 Taking AI_1 as an example, the method of setting the speed instruction of analog voltage is illustrated as below.
1450
1451
1452 [[image:image-20220608170955-27.png]]
1453
1454 Figure 6-31 Analog voltage speed instruction setting steps
1455
1456 Explanation of related terms:
1457
1458 Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
1459
1460 Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
1461
1462 Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1463
1464
1465 [[image:image-20220608171124-28.png]]
1466
1467 Figure 6-32 AI_1 diagram before and after bias
1468
1469
1470 |**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
1471 |P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1472 |P05-02☆|AI_1 input filter time constant|Operation setting|Effective immediately|200|0 to 60000|AI_1 channel input first-order low-pass filtering time constant|0.01ms
1473 |P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel quantity dead zone value|mV
1474 |P05-04☆|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV
1475
1476 Table 6-30 AI_1 parameters
1477
1478 ✎**Note: **“☆” means VD2F servo drive does not support the function code .
1479
1480 == **Acceleration and deceleration time setting** ==
1481
1482 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.
1483
1484 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.
1485
1486
1487 [[image:image-20220608171314-29.png]]
1488
1489 Figure 6-33 of acceleration and deceleration time diagram
1490
1491 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]]
1492
1493 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]]
1494
1495
1496 |**Function code**|**Name**|(((
1497 **Setting method**
1498 )))|(((
1499 **Effective time**
1500 )))|**Default value**|**Range**|**Definition**|**Unit**
1501 |P01-03|Acceleration time|(((
1502 Operation setting
1503 )))|(((
1504 Effective immediately
1505 )))|50|0 to 65535|The time for the speed instruction to accelerate from 0 to 1000rpm|ms
1506 |P01-04|Deceleration time|(((
1507 Operation setting
1508 )))|(((
1509 Effective immediately
1510 )))|50|0 to 65535|The time for the speed instruction to decelerate from 1000rpm to 0|ms
1511
1512 Table 6-31 Acceleration and deceleration time parameters
1513
1514 == **Speed instruction limit** ==
1515
1516 In speed mode, the servo drive could limit the size of the speed instruction. The sources of speed instruction limit include:
1517
1518 1. P01-10: Set the maximum speed limit value
1519 1. P01-12: Set forward speed limit value
1520 1. P01-13: Set reverse speed limit value
1521 1. The maximum speed of the motor: determined by motor model
1522
1523 The actual motor speed limit interval satisfies the following relationship:
1524
1525 The amplitude of forward speed instruction ≤ min (Maximum motor speed, P01-10, P01-12)
1526
1527 The amplitude of negative speed command ≤ min (Maximum motor speed, P01-10, P01-13)
1528
1529
1530 |**Function code**|**Name**|(((
1531 **Setting method**
1532 )))|(((
1533 **Effective time**
1534 )))|**Default value**|**Range**|**Definition**|**Unit**
1535 |P01-10|Maximum speed threshold|(((
1536 Operation setting
1537 )))|(((
1538 Effective immediately
1539 )))|3600|0 to 5000|Set the maximum speed limit value, if exceeds this value, an overspeed fault will be reported|rpm
1540 |P01-12|Forward speed threshold|(((
1541 Operation setting
1542 )))|(((
1543 Effective immediately
1544 )))|3000|0 to 5000|Set forward speed limit value|rpm
1545 |P01-13|Reverse speed threshold|(((
1546 Operation setting
1547 )))|(((
1548 Effective immediately
1549 )))|3000|0 to 5000|Set reverse speed limit value|rpm
1550
1551 Table 6-32 Rotation speed related function codes
1552
1553 == **Zero-speed clamp function** ==
1554
1555 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.
1556
1557 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.
1558
1559
1560 |**Function code**|**Name**|(((
1561 **Setting method**
1562 )))|(((
1563 **Effective time**
1564 )))|**Default value**|**Range**|**Definition**|**Unit**
1565 |P01-21|(((
1566 Zero-speed clamp function selection
1567 )))|(((
1568 Operation setting
1569 )))|(((
1570 Effective immediately
1571 )))|0|0 to 3|(((
1572 Set the zero-speed clamp function. In speed mode:
1573
1574 0: Force the speed to 0;
1575
1576 1: Force the speed to 0, and keep the position locked when the actual speed is less than P01-22
1577
1578 2: When speed instruction is less than P01-22, force the speed to 0 and keep the position locked
1579
1580 3: Invalid, ignore zero-speed clamp input
1581 )))|-
1582 |P01-22|(((
1583 Zero-speed clamp speed threshold
1584 )))|(((
1585 Operation setting
1586 )))|(((
1587 Effective immediately
1588 )))|20|0 to 1000|Set the speed threshold of zero-speed clamp function|rpm
1589
1590 Table 6-33 Zero-speed clamp related parameters
1591
1592
1593 [[image:image-20220608171549-30.png]]
1594
1595 Figure 6-34 Zero-speed clamp diagram
1596
1597 == **Speed-related DO output function** ==
1598
1599 The feedback value of the position instruction is compared with different thresholds, and could output DO signal for host computer use.
1600
1601 **(1) Rotation detection signal**
1602
1603 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.
1604
1605
1606 [[image:image-20220608171625-31.png]]
1607
1608 Figure 6-35 Rotation detection signal diagram
1609
1610 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]]__.
1611
1612
1613 |**Function code**|**Name**|(((
1614 **Setting method**
1615 )))|(((
1616 **Effective time**
1617 )))|**Default value**|**Range**|**Definition**|**Unit**
1618 |P05-16|(((
1619 Rotation detection
1620
1621 speed threshold
1622 )))|(((
1623 Operation setting
1624 )))|(((
1625 Effective immediately
1626 )))|20|0 to 1000|Set the motor rotation signal judgment threshold|rpm
1627
1628 Table 6-34 Rotation detection speed threshold parameters
1629
1630
1631 |**DO function code**|**Function name**|**Function**
1632 |132|(((
1633 T-COIN rotation detection
1634 )))|(((
1635 Valid: when the absolute value of motor speed after filtering is greater than or equal to the set value of function code P05-16
1636
1637 Invalid, when the absolute value of motor speed after filtering is less than set value of function code P05-16
1638 )))
1639
1640 Table 6-35 DO rotation detection function code
1641
1642 **(2) Zero-speed signal**
1643
1644 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.
1645
1646
1647 [[image:image-20220608171904-32.png]]
1648
1649 Figure 6-36 Zero-speed signal diagram
1650
1651 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]]__.
1652
1653
1654 |**Function code**|**Name**|(((
1655 **Setting method**
1656 )))|(((
1657 **Effective time**
1658 )))|**Default value**|**Range**|**Definition**|**Unit**
1659 |P05-19|Zero speed output signal threshold|(((
1660 Operation setting
1661 )))|(((
1662 Effective immediately
1663 )))|10|0 to 6000|Set zero-speed output signal judgment threshold|rpm
1664
1665 Table 6-36 Zero-speed output signal threshold parameter
1666
1667
1668 |**DO function code**|**Function name**|**Function**
1669 |133|(((
1670 ZSP zero speed signal
1671 )))|Output this signal indicates that the servo motor is stopping rotation
1672
1673 Table 6-37 DO zero-speed signal function code
1674
1675 **(3) Speed consistent signal**
1676
1677 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.
1678
1679
1680 [[image:image-20220608172053-33.png]]
1681
1682 Figure 6-37 Speed consistent signal diagram
1683
1684 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]]__.
1685
1686
1687 |**Function code**|**Name**|(((
1688 **Setting method**
1689 )))|(((
1690 **Effective time**
1691 )))|**Default value**|**Range**|**Definition**|**Unit**
1692 |P05-17|Speed consistent signal threshold|(((
1693 Operationsetting
1694 )))|(((
1695 Effective immediately
1696 )))|10|0 to 100|Set speed consistent signal threshold|rpm
1697
1698 Table 6-38 Speed consistent signal threshold parameters
1699
1700
1701 |**DO Function code**|**Function name**|**Function**
1702 |136|(((
1703 U-COIN consistent speed
1704 )))|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
1705
1706 Table 6-39 DO speed consistent function code
1707
1708 **(4) Speed approach signal**
1709
1710 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.
1711
1712
1713 [[image:image-20220608172207-34.png]]
1714
1715 Figure 6-38 Speed approaching signal diagram
1716
1717 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]]__.
1718
1719
1720 |**Function code**|**Name**|(((
1721 **Setting method**
1722 )))|(((
1723 **Effective time**
1724 )))|**Default value**|**Range**|**Definition**|**Unit**
1725 |P05-18|Speed approach signal threshold|(((
1726 Operation setting
1727 )))|(((
1728 Effective immediately
1729 )))|100|10 to 6000|Set speed approach signal threshold|rpm
1730
1731 Table 6-40 Speed approaching signal threshold parameters
1732
1733
1734 |**DO function code**|**Function name**|**Function**
1735 |137|(((
1736 V-NEAR speed approach
1737 )))|The output signal indicates that the actual speed of the servo motor has reached the expected value
1738
1739 Table 6-41 DO speed approach function code
1740
1741 = **Torque control mode** =
1742
1743 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.
1744
1745
1746 [[image:image-20220608172405-35.png]]
1747
1748 Figure 6-39 Torque mode diagram
1749
1750 == **Torque instruction input setting** ==
1751
1752 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.
1753
1754
1755 |**Function code**|**Name**|(((
1756 **Setting method**
1757 )))|(((
1758 **Effective time**
1759 )))|**Default value**|**Range**|**Definition**|**Unit**
1760 |P01-08|Torque instruction source|(((
1761 Shutdown setting
1762 )))|(((
1763 Effective immediately
1764 )))|0|0 to 1|(((
1765 0: internal torque instruction
1766
1767 1: AI_1 analog input(not supported by VD2F)
1768 )))|-
1769
1770 Table 6-42 Torque instruction source parameter
1771
1772 **(1) Torque instruction source is internal torque instruction (P01-07=0)**
1773
1774 Torque instruction source is from inside, the value is set by function code P01-08.
1775
1776
1777 |**Function code**|**Name**|(((
1778 **Setting method**
1779 )))|(((
1780 **Effective time**
1781 )))|**Default value**|**Range**|**Definition**|**Unit**
1782 |P01-08|Torque instruction keyboard set value|(((
1783 Operation setting
1784 )))|(((
1785 Effective immediately
1786 )))|0|-3000 to 3000|-300.0% to 300.0%|0.1%
1787
1788 Table 6-43 Torque instruction keyboard set value
1789
1790 **(2) Torque instruction source is internal torque instruction (P01-07=1)**
1791
1792 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.
1793
1794
1795 [[image:image-20220608153646-7.png||height="213" width="408"]]
1796
1797 Figure 6-40 Analog input circuit
1798
1799 Taking AI_1 as an example, the method of setting torque instruction of analog voltage is as below.
1800
1801
1802 [[image:image-20220608172502-36.png]]
1803
1804 Figure 6-41 Analog voltage torque instruction setting steps
1805
1806 Explanation of related terms:
1807
1808 Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
1809
1810 Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
1811
1812 Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1813
1814
1815 [[image:image-20220608172611-37.png]]
1816
1817 Figure 6-42 AI_1 diagram before and after bias
1818
1819
1820 |**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
1821 |P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1822 |P05-02☆|AI_1 input filter time constant|Operation setting|Effective immediately|200|0 to 60000|AI_1 channel input first-order low-pass filtering time constant|0.01ms
1823 |P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel dead zone value|mV
1824 |P05-04☆|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV
1825
1826 Table 6-44 AI_1 parameters
1827
1828 ✎**Note: **“☆” means VD2F servo drive does not support the function code .
1829
1830 == **Torque instruction filtering** ==
1831
1832 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]]__.
1833
1834
1835 |**Function code**|**Name**|(((
1836 **Setting method**
1837 )))|(((
1838 **Effective time**
1839 )))|**Default value**|**Range**|**Definition**|**Unit**
1840 |P04-04|Torque filtering time constant|(((
1841 Operation setting
1842 )))|(((
1843 Effective immediately
1844 )))|50|10 to 2500|This parameter is automatically set when “self-adjustment mode selection” is selected as 0|0.01ms
1845
1846 Table 6-45 Torque filtering time constant parameter details
1847
1848 ✎**Note: **If the filter time constant is set too large, the responsiveness will be reduced. Please set it while confirming the responsiveness.
1849
1850
1851 [[image:image-20220608172646-38.png]]
1852
1853 Figure 6-43 Torque instruction-first-order filtering diagram
1854
1855 == **Torque instruction limit** ==
1856
1857 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.
1858
1859 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.
1860
1861
1862 [[image:image-20220608172806-39.png]]
1863
1864 Figure 6-44 Torque instruction limit diagram
1865
1866 **(1) Set torque limit source**
1867
1868 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.
1869
1870
1871 |**Function code**|**Name**|(((
1872 **Setting method**
1873 )))|(((
1874 **Effective time**
1875 )))|**Default value**|**Range**|**Definition**|**Unit**
1876 |P01-14|(((
1877 Torque limit source
1878 )))|(((
1879 Shutdown setting
1880 )))|(((
1881 Effective immediately
1882 )))|0|0 to 1|(((
1883 0: internal value
1884
1885 1: AI_1 analog input
1886
1887 (not supported by VD2F)
1888 )))|-
1889
1890 1) Torque limit source is internal torque instruction (P01-14=0)
1891
1892 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.
1893
1894
1895 |**Function code**|**Name**|(((
1896 **Setting method**
1897 )))|(((
1898 **Effective time**
1899 )))|**Default value**|**Range**|**Definition**|**Unit**
1900 |P01-15|(((
1901 Forward torque limit
1902 )))|(((
1903 Operation setting
1904 )))|(((
1905 Effective immediately
1906 )))|3000|0 to 3000|When P01-14 is set to 0, the value of this function code is forward torque limit value|0.1%
1907 |P01-16|(((
1908 Reverse torque limit
1909 )))|(((
1910 Operation setting
1911 )))|(((
1912 Effective immediately
1913 )))|3000|0 to 3000|When P01-14 is set to 0, the value of this function code is reverse torque limit value|0.1%
1914
1915 Table 6-46 Torque limit parameter details
1916
1917 2) Torque limit source is external (P01-14=1)
1918
1919 Torque limit source is from external analog channel. The limit value is determined by the torque value corresponding to external AI_2 terminal.
1920
1921 **(2) Set torque limit DO signal output**
1922
1923 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.
1924
1925
1926 |**DO function code**|**Function name**|**Function**
1927 |139|(((
1928 T-LIMIT in torque limit
1929 )))|Output of this signal indicates that the servo motor torque is limited
1930
1931 Table 6-47 DO torque limit function codes
1932
1933 == **Speed limit in torque mode** ==
1934
1935 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.
1936
1937 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]]__.
1938
1939 |(((
1940 [[image:image-20220608172910-40.png]]
1941 )))|(((
1942 [[image:image-20220608173155-41.png]]
1943 )))
1944 |Figure 6-45 Forward running curve|Figure 6-46 Reverse running curve
1945
1946 |**Function code**|**Name**|(((
1947 **Setting method**
1948 )))|(((
1949 **Effective time**
1950 )))|**Default value**|**Range**|**Definition**|**Unit**
1951 |P01-17|(((
1952 Forward torque
1953
1954 limit in torque mode
1955 )))|(((
1956 Operation setting
1957 )))|(((
1958 Effective immediately
1959 )))|3000|0 to 5000|(((
1960 Forward torque
1961
1962 limit in torque mode
1963 )))|0.1%
1964 |P01-18|(((
1965 Reverse torque
1966
1967 limit in torque mode
1968 )))|(((
1969 Operation setting
1970 )))|(((
1971 Effective immediately
1972 )))|3000|0 to 5000|(((
1973 Reverse torque
1974
1975 limit in torque mode
1976 )))|0.1%
1977
1978 Table 6-48 Speed limit parameters in torque mode
1979
1980 ✎**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]]__.
1981
1982 == **Torque-related DO output functions** ==
1983
1984 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.
1985
1986 **Torque arrival**
1987
1988 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.
1989
1990
1991 [[image:image-20220608173541-42.png]]
1992
1993 Figure 6-47 Torque arrival output diagram
1994
1995 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]]__.
1996
1997
1998 |**Function code**|**Name**|(((
1999 **Setting method**
2000 )))|(((
2001 **Effective time**
2002 )))|**Default value**|**Range**|**Definition**|**Unit**
2003 |P05-20|(((
2004 Torque arrival
2005
2006 threshold
2007 )))|(((
2008 Operation setting
2009 )))|(((
2010 Effective immediately
2011 )))|100|0 to 300|(((
2012 The torque arrival threshold must be used with “Torque arrival hysteresis value”:
2013
2014 When the actual torque reaches Torque arrival threshold + Torque arrival hysteresis Value, the torque arrival DO is valid;
2015
2016 When the actual torque decreases below torque arrival threshold-torque arrival hysteresis value, the torque arrival DO is invalid
2017 )))|%
2018 |P05-21|(((
2019 Torque arrival
2020
2021 hysteresis
2022 )))|(((
2023 Operation setting
2024 )))|(((
2025 Effective immediately
2026 )))|10|0 to 20|Torque arrival the hysteresis value must be used with Torque arrival threshold|%
2027
2028 Table 6-49 Torque arrival parameters
2029
2030
2031 |**DO function code**|**Function name**|**Function**
2032 |138|(((
2033 T-COIN torque arrival
2034 )))|Used to determine whether the actual torque instruction has reached the set range
2035
2036 Table 6-50 DO Torque Arrival Function Code
2037
2038 = **Mixed control mode** =
2039
2040 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:
2041
2042 Position mode  Speed mode
2043
2044 Position mode  Torque mode
2045
2046 Speed mode  Torque mode
2047
2048 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.
2049
2050
2051 |**Function code**|**Name**|(((
2052 **Setting method**
2053 )))|(((
2054 **Effective time**
2055 )))|**Default value**|**Range**|**Definition**|**Unit**
2056 |P00-01|Control mode|(((
2057 Shutdown setting
2058 )))|(((
2059 Shutdown setting
2060 )))|1|1 to 6|(((
2061 1: Position control
2062
2063 2: Speed control
2064
2065 3: Torque control
2066
2067 4: Position/speed mixed control
2068
2069 5: Position/torque mixed control
2070
2071 6: Speed/torque mixed control
2072 )))|-
2073
2074 Table 6-51 Mixed control mode parameters
2075
2076 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.
2077
2078
2079 |**DI function code**|**Name**|**Function name**|**Function**
2080 |17|MixModeSel|Mixed mode selection|Used in mixed control mode, when the servo status is "run", set the current control mode of the servo drive(((
2081 |**P00-01**|**MixModeSel terminal logic**|**Control mode**
2082 |(% rowspan="2" %)4|Valid|Speed mode
2083 |invalid|Position mode
2084 |(% rowspan="2" %)5|Valid|Torque mode
2085 |invalid|Position mode
2086 |(% rowspan="2" %)6|Valid|Torque mode
2087 |invalid|Speed mode
2088 )))
2089
2090 Table 6-52 Description of DI function codes in control mode
2091
2092 ✎**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.
2093
2094 = **Absolute system** =
2095
2096 == **Overview** ==
2097
2098 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.
2099
2100 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.
2101
2102 == **Single-turn absolute value system** ==
2103
2104 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.
2105
2106
2107 |**Encoder type**|**Encoder resolution (bits)**|**Data range**
2108 |A1 (single-turn magnetic encoder)|17|0 to 131071
2109
2110 Table 6-53 Single-turn absolute encoder information
2111
2112 The relationship between encoder feedback position and rotating load position is shown in the figure below. (take a 17-bit encoder as an example).
2113
2114
2115 [[image:image-20220608173618-43.png]]
2116
2117 Figure 6-48 Diagram of relationship between encoder feedback position and rotating load position
2118
2119 == **Multi-turn absolute value system** ==
2120
2121 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.
2122
2123
2124 |**Encoder type**|**Encoder resolution (bits)**|**Data range**
2125 |C1 (multi-turn magnetic encoder)|17|0 to 131071
2126 |D2 (multi-turn Optical encoder)|23|0 to 8388607
2127
2128 Table 6-54 Multi-turn absolute encoder information
2129
2130 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).
2131
2132
2133 [[image:image-20220608173701-44.png]]
2134
2135 Figure 6-49 The relationship between encoder feedback position and rotating load position
2136
2137 == **Encoder feedback data** ==
2138
2139 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.
2140
2141
2142 |**Monitoring number**|**Category**|**Name**|**Unit**|**Data type**
2143 |U0-54|Universal|Absolute encoder position within 1 turn|Encoder unit|32-bit
2144 |U0-55|Universal|Rotations number of absolute encoder|circle|16-bit
2145 |U0-56|Universal|Multi-turn absolute value encoder current position|Instruction unit|32-bit
2146
2147 Table 6-55 Encoder feedback data
2148
2149 == **Absolute value system encoder battery box use precautions** ==
2150
2151 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.
2152
2153
2154 [[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"]]
2155
2156 Figure 6-50 the encoder battery box
2157
2158 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:
2159
2160 1. Step1 The servo drive is powered on and is in a non-operational state;
2161 1. Step2 Replace the battery;
2162 1. Step3 Set P10-03 to 1, and the drive will release A-92. It will run normally without other abnormal warnings.
2163
2164 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.
2165
2166
2167 |**Function code**|**Name**|(((
2168 **Setting method**
2169 )))|(((
2170 **Effective time**
2171 )))|**Default value**|**Range**|**Definition**|**Unit**
2172 |P10-06|Multi-turn absolute encoder reset|(((
2173 Shutdown setting
2174 )))|(((
2175 Effective immediately
2176 )))|0|0 to 1|(((
2177 0: No operation
2178
2179 1: Clear rotation number of multi-turn absolute encoder, multi-turn absolute encoder current position and encoder fault alarms.
2180
2181 ✎**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.
2182 )))|-
2183
2184 Table 6-56 Absolute encoder reset enable parameter
2185
2186 ✎**Note: **If the battery is replaced when the servo drive is powered off, the encoder data will be lost.
2187
2188 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.
2189
2190 = **Overview** =
2191
2192 == **VDI** ==
2193
2194 VDI (Virtual Digital Signal Input Port) is similar to hardware DI terminal. The DI function could also be assigned for use.
2195
2196 ✎**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).
2197
2198 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.
2199
2200
2201 [[image:image-20220608173804-46.png]]
2202
2203 Figure 6-51 VDI_1 setting steps
2204
2205
2206 |**Function code**|**Name**|(((
2207 **Setting method**
2208 )))|(((
2209 **Effective time**
2210 )))|**Default value**|**Range**|**Definition**|**Unit**
2211 |P13-1|Virtual VDI_1 input value|Operation setting|Effective immediately|0|0 to 1|(((
2212 When P06-04 is set to 1, DI_1 channel logic is control by this function code.
2213
2214 VDI_1 input level:
2215
2216 0: low level
2217
2218 1: high level
2219 )))|-
2220 |P13-2|Virtual VDI_2 input value|Operation setting|Effective immediately|0|0 to 1|(((
2221 When P06-07 is set to 1, DI_2 channel logic is control by this function code.
2222
2223 VDI_2 input level:
2224
2225 0: low level
2226
2227 1: high level
2228 )))|-
2229 |P13-3|Virtual VDI_3 input value|Operation setting|Effective immediately|0|0 to 1|(((
2230 When P06-10 is set to 1, DI_3 channel logic is control by this function code.
2231
2232 VDI_3 input level:
2233
2234 0: low level
2235
2236 1: high level
2237 )))|-
2238 |P13-4|Virtual VDI_4 input value|Operation setting|Effective immediately|0|0 to 1|(((
2239 When P06-13 is set to 1, DI_4 channel logic is control by this function code.
2240
2241 VDI_4 input level:
2242
2243 0: low level
2244
2245 1: high level
2246 )))|-
2247 |P13-05☆|Virtual VDI_5 input value|Operation setting|Effective immediately|0|0 to 1|(((
2248 When P06-16 is set to 1, DI_5 channel logic is control by this function code.
2249
2250 VDI_5 input level:
2251
2252 0: low level
2253
2254 1: high level
2255 )))|-
2256 |P13-06☆|Virtual VDI_6 input value|Operation setting|Effective immediately|0|0 to 1|(((
2257 When P06-19 is set to 1, DI_6 channel logic is control by this function code.
2258
2259 VDI_6 input level:
2260
2261 0: low level
2262
2263 1: high level
2264 )))|-
2265 |P13-07☆|Virtual VDI_7 input value|Operation setting|Effective immediately|0|0 to 1|(((
2266 When P06-22 is set to 1, DI_7 channel logic is control by this function code.
2267
2268 VDI_7 input level:
2269
2270 0: low level
2271
2272 1: high level
2273 )))|-
2274 |P13-08☆|Virtual VDI_8 input value|Operation setting|Effective immediately|0|0 to 1|(((
2275 When P06-25 is set to 1, DI_8 channel logic is control by this function code.
2276
2277 VDI_8 input level:
2278
2279 0: low level
2280
2281 1: high level
2282 )))|-
2283
2284 Table 6-57 Virtual VDI parameters
2285
2286 ✎**Note: **“☆” means VD2F servo drive does not support the function code .
2287
2288 == **Port filtering time** ==
2289
2290 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.
2291
2292
2293 |**Setting value**|**DI channel logic selection**|**Illustration**
2294 |0|Active high level|[[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"]]
2295 |1|Active low level|[[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"]]
2296
2297 Table 6-58 DI terminal channel logic selection
2298
2299 == **VDO** ==
2300
2301 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.
2302
2303 Take the DO_2 terminal as communication VDO, and the use steps of VDI are as the figure below.
2304
2305
2306 [[image:image-20220608173957-48.png]]
2307
2308 Figure 6-52 VDO_2 setting steps
2309
2310
2311 |**Function code**|**Name**|(((
2312 **Setting method**
2313 )))|(((
2314 **Effective time**
2315 )))|**Default value**|**Range**|**Definition**|**Unit**
2316 |P13-11|Communication VDO_1 output value|Operation setting|Effective immediately|0|0 to 1|(((
2317 VDO_1 output level：
2318
2319 0: low level
2320
2321 1: high level
2322 )))|-
2323 |P13-12|Communication VDO_2 output value|Operation setting|Effective immediately|0|0 to 1|(((
2324 VDO_2 output level：
2325
2326 0: low level
2327
2328 1: high level
2329 )))|-
2330 |P13-13|Communication VDO_3 output value|Operation setting|Effective immediately|0|0 to 1|(((
2331 VDO_3 output level：
2332
2333 0: low level
2334
2335 1: high level
2336 )))|-
2337 |P13-14|Communication VDO_4 output value|Operation setting|Effective immediately|0|0 to 1|(((
2338 VDO_4 output level：
2339
2340 0: low level
2341
2342 1: high level
2343 )))|-
2344
2345 Table 6-59 Communication control DO function parameters
2346
2347
2348 |**DO function number**|**Function name**|**Function**
2349 |145|COM_VDO1 communication VDO1 output|Use communication VDO
2350 |146|COM_VDO1 communication VDO2 output|Use communication VDO
2351 |147|COM_VDO1 communication VDO3 output|Use communication VDO
2352 |148|COM_VDO1 communication VDO4output|Use communication VDO
2353
2354 Table 6-60 VDO function number
2355
2356 ✎**Note:** You are advised to configure function codes for DO terminals in sequence to avoid errors during DO signal observation
2357
2358 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).
2359
2360 == **Motor overload protection** ==
2361
2362 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%.
2363
2364
2365 |**Function code**|**Name**|(((
2366 **Setting method**
2367 )))|(((
2368 **Effective time**
2369 )))|**Default value**|**Range**|**Definition**|**Unit**
2370 |P10-04|motor overload protection time coefficient|Operation setting|Effective immediately|100|0 to 800|(((
2371 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.
2372
2373 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
2374 )))|%
2375
2376 In the following cases, it could be modified according to the actual heat generation of the motor
2377
2378 1. The motor works in a place with high ambient temperature
2379 1. The motor runs in cycle circulates, and the single running cycle is short and the acceleration and deceleration is frequent.
2380
2381 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).
2382
2383 ✎**Note:** You are advised to configure function codes for DO terminals in sequence to avoid errors
2384
2385 Please use the shielded overload protection fault detection function with caution, otherwise it will cause burn out the motor.