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Wiki source code of 06 Operation

Version 48.8 by Joey on 2022/06/15 14:41
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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>>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-20220608164545-12.png?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>>https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/image-20220608164847-13.png?rev=1.1]]__ and __[[Figure 6-16>>https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/image-20220608165032-14.png?rev=1.1]]__ respectively.
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>>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-20220608165343-15.png?rev=1.1]]__ and __[[Figure 6-18>>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-20220608165558-16.png?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>>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]]__ 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>>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/#HPosition-relatedDOoutputfunction]]__.
1162
1163 [[image:image-20220608170650-25.png]]
1164
1165 Figure 6-27 Positioning completion signal output with increased window filter time diagram
1166
1167
1168 |=(% scope="row" %)**Function code**|=**Name**|=(((
1169 **Setting method**
1170 )))|=(((
1171 **Effective time**
1172 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1173 |=P05-12|Positioning completion threshold|(((
1174 Operation setting
1175 )))|(((
1176 Effective immediately
1177 )))|800|1 to 65535|Positioning completion threshold|Equivalent pulse unit
1178 |=P05-13|Positioning approach threshold|(((
1179 Operation setting
1180 )))|(((
1181 Effective immediately
1182 )))|5000|1 to 65535|Positioning approach threshold|Equivalent pulse unit
1183 |=P05-14|Position detection window time|(((
1184 Operation setting
1185 )))|(((
1186 Effective immediately
1187 )))|10|0 to 20000|Set positioning completion detection window time|ms
1188 |=P05-15|Positioning signal hold time|(((
1189 Operation setting
1190 )))|(((
1191 Effective immediately
1192 )))|100|0 to 20000|Set positioning completion output hold time|ms
1193
1194 Table 6-24 Function code parameters of positioning completion
1195
1196
1197 |=(% scope="row" %)**DO function code**|=**Function name**|=**Function**
1198 |=134|P-COIN positioning complete|Output this signal indicates the servo drive position is complete.
1199 |=135|(((
1200 P-NEAR positioning close
1201 )))|(((
1202 Output this signal indicates that the servo drive position is close.
1203 )))
1204
1205 Table 6-25 Description of DO rotation detection function code
1206
1207 = **Speed control mode** =
1208
1209 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.
1210
1211
1212 [[image:6.28.jpg||height="260" width="806"]]
1213
1214 Figure 6-28 Speed control block diagram
1215
1216 == **Speed instruction input setting** ==
1217
1218 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.
1219
1220
1221 |**Function code**|**Name**|(((
1222 **Setting method**
1223 )))|(((
1224 **Effective time**
1225 )))|**Default value**|**Range**|**Definition**|**Unit**
1226 |P01-01|Speed instruction source|(((
1227 Shutdown setting
1228 )))|(((
1229 Effective immediately
1230 )))|1|1 to 6|(((
1231 0: internal speed instruction
1232
1233 1: AI_1 analog input (not supported by VD2F)
1234 )))|-
1235
1236 Table 6-26 Speed instruction source parameter
1237
1238 **(1) Speed instruction source is internal speed instruction (P01-01=0)**
1239
1240 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.
1241
1242
1243 |**Function code**|**Name**|(((
1244 **Setting method**
1245 )))|(((
1246 **Effective time**
1247 )))|**Default value**|**Range**|**Definition**|**Unit**
1248 |(% rowspan="2" %)P01-02|(% rowspan="2" %)(((
1249 Internal speed Instruction 0
1250 )))|(% rowspan="2" %)(((
1251 Operation setting
1252 )))|(% rowspan="2" %)(((
1253 Effective immediately
1254 )))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1255 Internal speed instruction 0
1256
1257 When DI input port:
1258
1259 15-INSPD3: 0
1260
1261 14-INSPD2: 0
1262
1263 13-INSPD1: 0,
1264
1265 select this speed instruction to be effective.
1266 )))|(% rowspan="2" %)rpm
1267 |-5000 to 5000*
1268 |(% rowspan="2" %)P01-23|(% rowspan="2" %)(((
1269 Internal speed Instruction 1
1270 )))|(% rowspan="2" %)(((
1271 Operation setting
1272 )))|(% rowspan="2" %)(((
1273 Effective immediately
1274 )))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1275 Internal speed instruction 1
1276
1277 When DI input port:
1278
1279 15-INSPD3: 0
1280
1281 14-INSPD2: 0
1282
1283 13-INSPD1: 1,
1284
1285 Select this speed instruction to be effective.
1286 )))|(% rowspan="2" %)rpm
1287 |-5000 to 5000*
1288 |(% rowspan="2" %)P01-24|(% rowspan="2" %)(((
1289 Internal speed Instruction 2
1290 )))|(% rowspan="2" %)(((
1291 Operation setting
1292 )))|(% rowspan="2" %)(((
1293 Effective immediately
1294 )))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1295 Internal speed instruction 2
1296
1297 When DI input port:
1298
1299 15-INSPD3: 0
1300
1301 14-INSPD2: 1
1302
1303 13-INSPD1: 0,
1304
1305 Select this speed instruction to be effective.
1306 )))|(% rowspan="2" %)rpm
1307 |-5000 to 5000*
1308 |(% rowspan="2" %)P01-25|(% rowspan="2" %)(((
1309 Internal speed Instruction 3
1310 )))|(% rowspan="2" %)(((
1311 Operation setting
1312 )))|(% rowspan="2" %)(((
1313 Effective immediately
1314 )))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1315 Internal speed instruction 3
1316
1317 When DI input port:
1318
1319 15-INSPD3: 0
1320
1321 14-INSPD2: 1
1322
1323 13-INSPD1: 1,
1324
1325 Select this speed instruction to be effective.
1326 )))|(% rowspan="2" %)rpm
1327 |-5000 to 5000*
1328
1329 |(% rowspan="2" %)P01-26|(% rowspan="2" %)(((
1330 Internal speed Instruction 4
1331 )))|(% rowspan="2" %)(((
1332 Operation setting
1333 )))|(% rowspan="2" %)(((
1334 Effective immediately
1335 )))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1336 Internal speed instruction 4
1337
1338 When DI input port:
1339
1340 15-INSPD3: 1
1341
1342 14-INSPD2: 0
1343
1344 13-INSPD1: 0,
1345
1346 Select this speed instruction to be effective.
1347 )))|(% rowspan="2" %)rpm
1348 |-5000 to 5000*
1349 |(% rowspan="2" %)P01-27|(% rowspan="2" %)(((
1350 Internal speed Instruction 5
1351 )))|(% rowspan="2" %)(((
1352 Operation setting
1353 )))|(% rowspan="2" %)(((
1354 Effective immediately
1355 )))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1356 Internal speed instruction 5
1357
1358 When DI input port:
1359
1360 15-INSPD3: 1
1361
1362 14-INSPD2: 0
1363
1364 13-INSPD1: 1,
1365
1366 Select this speed instruction to be effective.
1367 )))|(% rowspan="2" %)rpm
1368 |-5000 to 5000*
1369 |(% rowspan="2" %)P01-28|(% rowspan="2" %)(((
1370 Internal speed Instruction 6
1371 )))|(% rowspan="2" %)(((
1372 Operation setting
1373 )))|(% rowspan="2" %)(((
1374 Effective immediately
1375 )))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1376 Internal speed instruction 6
1377
1378 When DI input port:
1379
1380 15-INSPD3: 1
1381
1382 14-INSPD2: 1
1383
1384 13-INSPD1: 0,
1385
1386 Select this speed instruction to be effective.
1387 )))|(% rowspan="2" %)rpm
1388 |-5000 to 5000*
1389 |(% rowspan="2" %)P01-29|(% rowspan="2" %)(((
1390 Internal speed Instruction 7
1391 )))|(% rowspan="2" %)(((
1392 Operation setting
1393 )))|(% rowspan="2" %)(((
1394 Effective immediately
1395 )))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1396 Internal speed instruction 7
1397
1398 When DI input port:
1399
1400 15-INSPD3: 1
1401
1402 14-INSPD2: 1
1403
1404 13-INSPD1: 1,
1405
1406 Select this speed instruction to be effective.
1407 )))|(% rowspan="2" %)rpm
1408 |-5000 to 5000*
1409
1410 Table 6-27 Internal speed instruction parameters
1411
1412 ✎**Note: **“*” means the set range of VD2F servo drive.
1413
1414
1415 |**DI function code**|**function name**|**Function**
1416 |13|INSPD1 internal speed instruction selection 1|Form internal multi-speed running segment number
1417 |14|INSPD2 internal speed instruction selection 2|Form internal multi-speed running segment number
1418 |15|INSPD3 internal speed instruction selection 3|Form internal multi-speed running segment number
1419
1420 Table 6-28 DI multi-speed function code description
1421
1422 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.
1423
1424
1425 |**INSPD3**|**INSPD2**|**INSPD1**|**Running segment number**|**Internal speed instruction number**
1426 |0|0|0|1|0
1427 |0|0|1|2|1
1428 |0|1|0|3|2
1429 |(% colspan="5" %)......
1430 |1|1|1|8|7
1431
1432 Table 6-29 Correspondence between INSPD bits and segment numbers
1433
1434
1435 [[image:image-20220608170845-26.png]]
1436
1437 Figure 6-29 Multi-segment speed running curve
1438
1439 **(2) Speed instruction source is internal speed instruction (P01-01=0)**
1440
1441 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.
1442
1443
1444 [[image:image-20220608153341-5.png]]
1445
1446 Figure 6-30 Analog input circuit
1447
1448 Taking AI_1 as an example, the method of setting the speed instruction of analog voltage is illustrated as below.
1449
1450
1451 [[image:image-20220608170955-27.png]]
1452
1453 Figure 6-31 Analog voltage speed instruction setting steps
1454
1455 Explanation of related terms:
1456
1457 Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
1458
1459 Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
1460
1461 Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1462
1463
1464 [[image:image-20220608171124-28.png]]
1465
1466 Figure 6-32 AI_1 diagram before and after bias
1467
1468
1469 |**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
1470 |P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1471 |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
1472 |P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel quantity dead zone value|mV
1473 |P05-04☆|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV
1474
1475 Table 6-30 AI_1 parameters
1476
1477 ✎**Note: **“☆” means VD2F servo drive does not support the function code .
1478
1479 == **Acceleration and deceleration time setting** ==
1480
1481 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.
1482
1483 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.
1484
1485
1486 [[image:image-20220608171314-29.png]]
1487
1488 Figure 6-33 of acceleration and deceleration time diagram
1489
1490 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]]
1491
1492 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]]
1493
1494
1495 |**Function code**|**Name**|(((
1496 **Setting method**
1497 )))|(((
1498 **Effective time**
1499 )))|**Default value**|**Range**|**Definition**|**Unit**
1500 |P01-03|Acceleration time|(((
1501 Operation setting
1502 )))|(((
1503 Effective immediately
1504 )))|50|0 to 65535|The time for the speed instruction to accelerate from 0 to 1000rpm|ms
1505 |P01-04|Deceleration time|(((
1506 Operation setting
1507 )))|(((
1508 Effective immediately
1509 )))|50|0 to 65535|The time for the speed instruction to decelerate from 1000rpm to 0|ms
1510
1511 Table 6-31 Acceleration and deceleration time parameters
1512
1513 == **Speed instruction limit** ==
1514
1515 In speed mode, the servo drive could limit the size of the speed instruction. The sources of speed instruction limit include:
1516
1517 1. P01-10: Set the maximum speed limit value
1518 1. P01-12: Set forward speed limit value
1519 1. P01-13: Set reverse speed limit value
1520 1. The maximum speed of the motor: determined by motor model
1521
1522 The actual motor speed limit interval satisfies the following relationship:
1523
1524 The amplitude of forward speed instruction ≤ min (Maximum motor speed, P01-10, P01-12)
1525
1526 The amplitude of negative speed command ≤ min (Maximum motor speed, P01-10, P01-13)
1527
1528
1529 |**Function code**|**Name**|(((
1530 **Setting method**
1531 )))|(((
1532 **Effective time**
1533 )))|**Default value**|**Range**|**Definition**|**Unit**
1534 |P01-10|Maximum speed threshold|(((
1535 Operation setting
1536 )))|(((
1537 Effective immediately
1538 )))|3600|0 to 5000|Set the maximum speed limit value, if exceeds this value, an overspeed fault will be reported|rpm
1539 |P01-12|Forward speed threshold|(((
1540 Operation setting
1541 )))|(((
1542 Effective immediately
1543 )))|3000|0 to 5000|Set forward speed limit value|rpm
1544 |P01-13|Reverse speed threshold|(((
1545 Operation setting
1546 )))|(((
1547 Effective immediately
1548 )))|3000|0 to 5000|Set reverse speed limit value|rpm
1549
1550 Table 6-32 Rotation speed related function codes
1551
1552 == **Zero-speed clamp function** ==
1553
1554 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.
1555
1556 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.
1557
1558
1559 |**Function code**|**Name**|(((
1560 **Setting method**
1561 )))|(((
1562 **Effective time**
1563 )))|**Default value**|**Range**|**Definition**|**Unit**
1564 |P01-21|(((
1565 Zero-speed clamp function selection
1566 )))|(((
1567 Operation setting
1568 )))|(((
1569 Effective immediately
1570 )))|0|0 to 3|(((
1571 Set the zero-speed clamp function. In speed mode:
1572
1573 0: Force the speed to 0;
1574
1575 1: Force the speed to 0, and keep the position locked when the actual speed is less than P01-22
1576
1577 2: When speed instruction is less than P01-22, force the speed to 0 and keep the position locked
1578
1579 3: Invalid, ignore zero-speed clamp input
1580 )))|-
1581 |P01-22|(((
1582 Zero-speed clamp speed threshold
1583 )))|(((
1584 Operation setting
1585 )))|(((
1586 Effective immediately
1587 )))|20|0 to 1000|Set the speed threshold of zero-speed clamp function|rpm
1588
1589 Table 6-33 Zero-speed clamp related parameters
1590
1591
1592 [[image:image-20220608171549-30.png]]
1593
1594 Figure 6-34 Zero-speed clamp diagram
1595
1596 == **Speed-related DO output function** ==
1597
1598 The feedback value of the position instruction is compared with different thresholds, and could output DO signal for host computer use.
1599
1600 **(1) Rotation detection signal**
1601
1602 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.
1603
1604
1605 [[image:image-20220608171625-31.png]]
1606
1607 Figure 6-35 Rotation detection signal diagram
1608
1609 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]]__.
1610
1611
1612 |**Function code**|**Name**|(((
1613 **Setting method**
1614 )))|(((
1615 **Effective time**
1616 )))|**Default value**|**Range**|**Definition**|**Unit**
1617 |P05-16|(((
1618 Rotation detection
1619
1620 speed threshold
1621 )))|(((
1622 Operation setting
1623 )))|(((
1624 Effective immediately
1625 )))|20|0 to 1000|Set the motor rotation signal judgment threshold|rpm
1626
1627 Table 6-34 Rotation detection speed threshold parameters
1628
1629
1630 |**DO function code**|**Function name**|**Function**
1631 |132|(((
1632 T-COIN rotation detection
1633 )))|(((
1634 Valid: when the absolute value of motor speed after filtering is greater than or equal to the set value of function code P05-16
1635
1636 Invalid, when the absolute value of motor speed after filtering is less than set value of function code P05-16
1637 )))
1638
1639 Table 6-35 DO rotation detection function code
1640
1641 **(2) Zero-speed signal**
1642
1643 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.
1644
1645
1646 [[image:image-20220608171904-32.png]]
1647
1648 Figure 6-36 Zero-speed signal diagram
1649
1650 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]]__.
1651
1652
1653 |**Function code**|**Name**|(((
1654 **Setting method**
1655 )))|(((
1656 **Effective time**
1657 )))|**Default value**|**Range**|**Definition**|**Unit**
1658 |P05-19|Zero speed output signal threshold|(((
1659 Operation setting
1660 )))|(((
1661 Effective immediately
1662 )))|10|0 to 6000|Set zero-speed output signal judgment threshold|rpm
1663
1664 Table 6-36 Zero-speed output signal threshold parameter
1665
1666
1667 |**DO function code**|**Function name**|**Function**
1668 |133|(((
1669 ZSP zero speed signal
1670 )))|Output this signal indicates that the servo motor is stopping rotation
1671
1672 Table 6-37 DO zero-speed signal function code
1673
1674 **(3) Speed consistent signal**
1675
1676 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.
1677
1678
1679 [[image:image-20220608172053-33.png]]
1680
1681 Figure 6-37 Speed consistent signal diagram
1682
1683 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]]__.
1684
1685
1686 |**Function code**|**Name**|(((
1687 **Setting method**
1688 )))|(((
1689 **Effective time**
1690 )))|**Default value**|**Range**|**Definition**|**Unit**
1691 |P05-17|Speed consistent signal threshold|(((
1692 Operationsetting
1693 )))|(((
1694 Effective immediately
1695 )))|10|0 to 100|Set speed consistent signal threshold|rpm
1696
1697 Table 6-38 Speed consistent signal threshold parameters
1698
1699
1700 |**DO Function code**|**Function name**|**Function**
1701 |136|(((
1702 U-COIN consistent speed
1703 )))|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
1704
1705 Table 6-39 DO speed consistent function code
1706
1707 **(4) Speed approach signal**
1708
1709 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.
1710
1711
1712 [[image:image-20220608172207-34.png]]
1713
1714 Figure 6-38 Speed approaching signal diagram
1715
1716 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]]__.
1717
1718
1719 |**Function code**|**Name**|(((
1720 **Setting method**
1721 )))|(((
1722 **Effective time**
1723 )))|**Default value**|**Range**|**Definition**|**Unit**
1724 |P05-18|Speed approach signal threshold|(((
1725 Operation setting
1726 )))|(((
1727 Effective immediately
1728 )))|100|10 to 6000|Set speed approach signal threshold|rpm
1729
1730 Table 6-40 Speed approaching signal threshold parameters
1731
1732
1733 |**DO function code**|**Function name**|**Function**
1734 |137|(((
1735 V-NEAR speed approach
1736 )))|The output signal indicates that the actual speed of the servo motor has reached the expected value
1737
1738 Table 6-41 DO speed approach function code
1739
1740 = **Torque control mode** =
1741
1742 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.
1743
1744
1745 [[image:image-20220608172405-35.png]]
1746
1747 Figure 6-39 Torque mode diagram
1748
1749 == **Torque instruction input setting** ==
1750
1751 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.
1752
1753
1754 |**Function code**|**Name**|(((
1755 **Setting method**
1756 )))|(((
1757 **Effective time**
1758 )))|**Default value**|**Range**|**Definition**|**Unit**
1759 |P01-08|Torque instruction source|(((
1760 Shutdown setting
1761 )))|(((
1762 Effective immediately
1763 )))|0|0 to 1|(((
1764 0: internal torque instruction
1765
1766 1: AI_1 analog input(not supported by VD2F)
1767 )))|-
1768
1769 Table 6-42 Torque instruction source parameter
1770
1771 **(1) Torque instruction source is internal torque instruction (P01-07=0)**
1772
1773 Torque instruction source is from inside, the value is set by function code P01-08.
1774
1775
1776 |**Function code**|**Name**|(((
1777 **Setting method**
1778 )))|(((
1779 **Effective time**
1780 )))|**Default value**|**Range**|**Definition**|**Unit**
1781 |P01-08|Torque instruction keyboard set value|(((
1782 Operation setting
1783 )))|(((
1784 Effective immediately
1785 )))|0|-3000 to 3000|-300.0% to 300.0%|0.1%
1786
1787 Table 6-43 Torque instruction keyboard set value
1788
1789 **(2) Torque instruction source is internal torque instruction (P01-07=1)**
1790
1791 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.
1792
1793
1794 [[image:image-20220608153646-7.png||height="213" width="408"]]
1795
1796 Figure 6-40 Analog input circuit
1797
1798 Taking AI_1 as an example, the method of setting torque instruction of analog voltage is as below.
1799
1800
1801 [[image:image-20220608172502-36.png]]
1802
1803 Figure 6-41 Analog voltage torque instruction setting steps
1804
1805 Explanation of related terms:
1806
1807 Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
1808
1809 Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
1810
1811 Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1812
1813
1814 [[image:image-20220608172611-37.png]]
1815
1816 Figure 6-42 AI_1 diagram before and after bias
1817
1818
1819 |**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
1820 |P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1821 |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
1822 |P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel dead zone value|mV
1823 |P05-04☆|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV
1824
1825 Table 6-44 AI_1 parameters
1826
1827 ✎**Note: **“☆” means VD2F servo drive does not support the function code .
1828
1829 == **Torque instruction filtering** ==
1830
1831 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]]__.
1832
1833
1834 |**Function code**|**Name**|(((
1835 **Setting method**
1836 )))|(((
1837 **Effective time**
1838 )))|**Default value**|**Range**|**Definition**|**Unit**
1839 |P04-04|Torque filtering time constant|(((
1840 Operation setting
1841 )))|(((
1842 Effective immediately
1843 )))|50|10 to 2500|This parameter is automatically set when “self-adjustment mode selection” is selected as 0|0.01ms
1844
1845 Table 6-45 Torque filtering time constant parameter details
1846
1847 ✎**Note: **If the filter time constant is set too large, the responsiveness will be reduced. Please set it while confirming the responsiveness.
1848
1849
1850 [[image:image-20220608172646-38.png]]
1851
1852 Figure 6-43 Torque instruction-first-order filtering diagram
1853
1854 == **Torque instruction limit** ==
1855
1856 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.
1857
1858 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.
1859
1860
1861 [[image:image-20220608172806-39.png]]
1862
1863 Figure 6-44 Torque instruction limit diagram
1864
1865 **(1) Set torque limit source**
1866
1867 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.
1868
1869
1870 |**Function code**|**Name**|(((
1871 **Setting method**
1872 )))|(((
1873 **Effective time**
1874 )))|**Default value**|**Range**|**Definition**|**Unit**
1875 |P01-14|(((
1876 Torque limit source
1877 )))|(((
1878 Shutdown setting
1879 )))|(((
1880 Effective immediately
1881 )))|0|0 to 1|(((
1882 0: internal value
1883
1884 1: AI_1 analog input
1885
1886 (not supported by VD2F)
1887 )))|-
1888
1889 1) Torque limit source is internal torque instruction (P01-14=0)
1890
1891 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.
1892
1893
1894 |**Function code**|**Name**|(((
1895 **Setting method**
1896 )))|(((
1897 **Effective time**
1898 )))|**Default value**|**Range**|**Definition**|**Unit**
1899 |P01-15|(((
1900 Forward torque limit
1901 )))|(((
1902 Operation setting
1903 )))|(((
1904 Effective immediately
1905 )))|3000|0 to 3000|When P01-14 is set to 0, the value of this function code is forward torque limit value|0.1%
1906 |P01-16|(((
1907 Reverse torque limit
1908 )))|(((
1909 Operation setting
1910 )))|(((
1911 Effective immediately
1912 )))|3000|0 to 3000|When P01-14 is set to 0, the value of this function code is reverse torque limit value|0.1%
1913
1914 Table 6-46 Torque limit parameter details
1915
1916 2) Torque limit source is external (P01-14=1)
1917
1918 Torque limit source is from external analog channel. The limit value is determined by the torque value corresponding to external AI_2 terminal.
1919
1920 **(2) Set torque limit DO signal output**
1921
1922 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.
1923
1924
1925 |**DO function code**|**Function name**|**Function**
1926 |139|(((
1927 T-LIMIT in torque limit
1928 )))|Output of this signal indicates that the servo motor torque is limited
1929
1930 Table 6-47 DO torque limit function codes
1931
1932 == **Speed limit in torque mode** ==
1933
1934 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.
1935
1936 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]]__.
1937
1938 |(((
1939 [[image:image-20220608172910-40.png]]
1940 )))|(((
1941 [[image:image-20220608173155-41.png]]
1942 )))
1943 |Figure 6-45 Forward running curve|Figure 6-46 Reverse running curve
1944
1945 |**Function code**|**Name**|(((
1946 **Setting method**
1947 )))|(((
1948 **Effective time**
1949 )))|**Default value**|**Range**|**Definition**|**Unit**
1950 |P01-17|(((
1951 Forward torque
1952
1953 limit in torque mode
1954 )))|(((
1955 Operation setting
1956 )))|(((
1957 Effective immediately
1958 )))|3000|0 to 5000|(((
1959 Forward torque
1960
1961 limit in torque mode
1962 )))|0.1%
1963 |P01-18|(((
1964 Reverse torque
1965
1966 limit in torque mode
1967 )))|(((
1968 Operation setting
1969 )))|(((
1970 Effective immediately
1971 )))|3000|0 to 5000|(((
1972 Reverse torque
1973
1974 limit in torque mode
1975 )))|0.1%
1976
1977 Table 6-48 Speed limit parameters in torque mode
1978
1979 ✎**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]]__.
1980
1981 == **Torque-related DO output functions** ==
1982
1983 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.
1984
1985 **Torque arrival**
1986
1987 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.
1988
1989
1990 [[image:image-20220608173541-42.png]]
1991
1992 Figure 6-47 Torque arrival output diagram
1993
1994 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]]__.
1995
1996
1997 |**Function code**|**Name**|(((
1998 **Setting method**
1999 )))|(((
2000 **Effective time**
2001 )))|**Default value**|**Range**|**Definition**|**Unit**
2002 |P05-20|(((
2003 Torque arrival
2004
2005 threshold
2006 )))|(((
2007 Operation setting
2008 )))|(((
2009 Effective immediately
2010 )))|100|0 to 300|(((
2011 The torque arrival threshold must be used with “Torque arrival hysteresis value”:
2012
2013 When the actual torque reaches Torque arrival threshold + Torque arrival hysteresis Value, the torque arrival DO is valid;
2014
2015 When the actual torque decreases below torque arrival threshold-torque arrival hysteresis value, the torque arrival DO is invalid
2016 )))|%
2017 |P05-21|(((
2018 Torque arrival
2019
2020 hysteresis
2021 )))|(((
2022 Operation setting
2023 )))|(((
2024 Effective immediately
2025 )))|10|0 to 20|Torque arrival the hysteresis value must be used with Torque arrival threshold|%
2026
2027 Table 6-49 Torque arrival parameters
2028
2029
2030 |**DO function code**|**Function name**|**Function**
2031 |138|(((
2032 T-COIN torque arrival
2033 )))|Used to determine whether the actual torque instruction has reached the set range
2034
2035 Table 6-50 DO Torque Arrival Function Code
2036
2037 = **Mixed control mode** =
2038
2039 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:
2040
2041 Position mode  Speed mode
2042
2043 Position mode  Torque mode
2044
2045 Speed mode  Torque mode
2046
2047 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.
2048
2049
2050 |**Function code**|**Name**|(((
2051 **Setting method**
2052 )))|(((
2053 **Effective time**
2054 )))|**Default value**|**Range**|**Definition**|**Unit**
2055 |P00-01|Control mode|(((
2056 Shutdown setting
2057 )))|(((
2058 Shutdown setting
2059 )))|1|1 to 6|(((
2060 1: Position control
2061
2062 2: Speed control
2063
2064 3: Torque control
2065
2066 4: Position/speed mixed control
2067
2068 5: Position/torque mixed control
2069
2070 6: Speed/torque mixed control
2071 )))|-
2072
2073 Table 6-51 Mixed control mode parameters
2074
2075 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.
2076
2077
2078 |**DI function code**|**Name**|**Function name**|**Function**
2079 |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(((
2080 |**P00-01**|**MixModeSel terminal logic**|**Control mode**
2081 |(% rowspan="2" %)4|Valid|Speed mode
2082 |invalid|Position mode
2083 |(% rowspan="2" %)5|Valid|Torque mode
2084 |invalid|Position mode
2085 |(% rowspan="2" %)6|Valid|Torque mode
2086 |invalid|Speed mode
2087 )))
2088
2089 Table 6-52 Description of DI function codes in control mode
2090
2091 ✎**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.
2092
2093 = **Absolute system** =
2094
2095 == **Overview** ==
2096
2097 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.
2098
2099 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.
2100
2101 == **Single-turn absolute value system** ==
2102
2103 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.
2104
2105
2106 |**Encoder type**|**Encoder resolution (bits)**|**Data range**
2107 |A1 (single-turn magnetic encoder)|17|0 to 131071
2108
2109 Table 6-53 Single-turn absolute encoder information
2110
2111 The relationship between encoder feedback position and rotating load position is shown in the figure below. (take a 17-bit encoder as an example).
2112
2113
2114 [[image:image-20220608173618-43.png]]
2115
2116 Figure 6-48 Diagram of relationship between encoder feedback position and rotating load position
2117
2118 == **Multi-turn absolute value system** ==
2119
2120 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.
2121
2122
2123 |**Encoder type**|**Encoder resolution (bits)**|**Data range**
2124 |C1 (multi-turn magnetic encoder)|17|0 to 131071
2125 |D2 (multi-turn Optical encoder)|23|0 to 8388607
2126
2127 Table 6-54 Multi-turn absolute encoder information
2128
2129 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).
2130
2131
2132 [[image:image-20220608173701-44.png]]
2133
2134 Figure 6-49 The relationship between encoder feedback position and rotating load position
2135
2136 == **Encoder feedback data** ==
2137
2138 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.
2139
2140
2141 |**Monitoring number**|**Category**|**Name**|**Unit**|**Data type**
2142 |U0-54|Universal|Absolute encoder position within 1 turn|Encoder unit|32-bit
2143 |U0-55|Universal|Rotations number of absolute encoder|circle|16-bit
2144 |U0-56|Universal|Multi-turn absolute value encoder current position|Instruction unit|32-bit
2145
2146 Table 6-55 Encoder feedback data
2147
2148 == **Absolute value system encoder battery box use precautions** ==
2149
2150 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.
2151
2152
2153 [[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"]]
2154
2155 Figure 6-50 the encoder battery box
2156
2157 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:
2158
2159 1. Step1 The servo drive is powered on and is in a non-operational state;
2160 1. Step2 Replace the battery;
2161 1. Step3 Set P10-03 to 1, and the drive will release A-92. It will run normally without other abnormal warnings.
2162
2163 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.
2164
2165
2166 |**Function code**|**Name**|(((
2167 **Setting method**
2168 )))|(((
2169 **Effective time**
2170 )))|**Default value**|**Range**|**Definition**|**Unit**
2171 |P10-06|Multi-turn absolute encoder reset|(((
2172 Shutdown setting
2173 )))|(((
2174 Effective immediately
2175 )))|0|0 to 1|(((
2176 0: No operation
2177
2178 1: Clear rotation number of multi-turn absolute encoder, multi-turn absolute encoder current position and encoder fault alarms.
2179
2180 ✎**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.
2181 )))|-
2182
2183 Table 6-56 Absolute encoder reset enable parameter
2184
2185 ✎**Note: **If the battery is replaced when the servo drive is powered off, the encoder data will be lost.
2186
2187 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.
2188
2189 = **Overview** =
2190
2191 == **VDI** ==
2192
2193 VDI (Virtual Digital Signal Input Port) is similar to hardware DI terminal. The DI function could also be assigned for use.
2194
2195 ✎**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).
2196
2197 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.
2198
2199
2200 [[image:image-20220608173804-46.png]]
2201
2202 Figure 6-51 VDI_1 setting steps
2203
2204
2205 |**Function code**|**Name**|(((
2206 **Setting method**
2207 )))|(((
2208 **Effective time**
2209 )))|**Default value**|**Range**|**Definition**|**Unit**
2210 |P13-1|Virtual VDI_1 input value|Operation setting|Effective immediately|0|0 to 1|(((
2211 When P06-04 is set to 1, DI_1 channel logic is control by this function code.
2212
2213 VDI_1 input level:
2214
2215 0: low level
2216
2217 1: high level
2218 )))|-
2219 |P13-2|Virtual VDI_2 input value|Operation setting|Effective immediately|0|0 to 1|(((
2220 When P06-07 is set to 1, DI_2 channel logic is control by this function code.
2221
2222 VDI_2 input level:
2223
2224 0: low level
2225
2226 1: high level
2227 )))|-
2228 |P13-3|Virtual VDI_3 input value|Operation setting|Effective immediately|0|0 to 1|(((
2229 When P06-10 is set to 1, DI_3 channel logic is control by this function code.
2230
2231 VDI_3 input level:
2232
2233 0: low level
2234
2235 1: high level
2236 )))|-
2237 |P13-4|Virtual VDI_4 input value|Operation setting|Effective immediately|0|0 to 1|(((
2238 When P06-13 is set to 1, DI_4 channel logic is control by this function code.
2239
2240 VDI_4 input level:
2241
2242 0: low level
2243
2244 1: high level
2245 )))|-
2246 |P13-05☆|Virtual VDI_5 input value|Operation setting|Effective immediately|0|0 to 1|(((
2247 When P06-16 is set to 1, DI_5 channel logic is control by this function code.
2248
2249 VDI_5 input level:
2250
2251 0: low level
2252
2253 1: high level
2254 )))|-
2255 |P13-06☆|Virtual VDI_6 input value|Operation setting|Effective immediately|0|0 to 1|(((
2256 When P06-19 is set to 1, DI_6 channel logic is control by this function code.
2257
2258 VDI_6 input level:
2259
2260 0: low level
2261
2262 1: high level
2263 )))|-
2264 |P13-07☆|Virtual VDI_7 input value|Operation setting|Effective immediately|0|0 to 1|(((
2265 When P06-22 is set to 1, DI_7 channel logic is control by this function code.
2266
2267 VDI_7 input level:
2268
2269 0: low level
2270
2271 1: high level
2272 )))|-
2273 |P13-08☆|Virtual VDI_8 input value|Operation setting|Effective immediately|0|0 to 1|(((
2274 When P06-25 is set to 1, DI_8 channel logic is control by this function code.
2275
2276 VDI_8 input level:
2277
2278 0: low level
2279
2280 1: high level
2281 )))|-
2282
2283 Table 6-57 Virtual VDI parameters
2284
2285 ✎**Note: **“☆” means VD2F servo drive does not support the function code .
2286
2287 == **Port filtering time** ==
2288
2289 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.
2290
2291
2292 |**Setting value**|**DI channel logic selection**|**Illustration**
2293 |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"]]
2294 |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"]]
2295
2296 Table 6-58 DI terminal channel logic selection
2297
2298 == **VDO** ==
2299
2300 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.
2301
2302 Take the DO_2 terminal as communication VDO, and the use steps of VDI are as the figure below.
2303
2304
2305 [[image:image-20220608173957-48.png]]
2306
2307 Figure 6-52 VDO_2 setting steps
2308
2309
2310 |**Function code**|**Name**|(((
2311 **Setting method**
2312 )))|(((
2313 **Effective time**
2314 )))|**Default value**|**Range**|**Definition**|**Unit**
2315 |P13-11|Communication VDO_1 output value|Operation setting|Effective immediately|0|0 to 1|(((
2316 VDO_1 output level：
2317
2318 0: low level
2319
2320 1: high level
2321 )))|-
2322 |P13-12|Communication VDO_2 output value|Operation setting|Effective immediately|0|0 to 1|(((
2323 VDO_2 output level：
2324
2325 0: low level
2326
2327 1: high level
2328 )))|-
2329 |P13-13|Communication VDO_3 output value|Operation setting|Effective immediately|0|0 to 1|(((
2330 VDO_3 output level：
2331
2332 0: low level
2333
2334 1: high level
2335 )))|-
2336 |P13-14|Communication VDO_4 output value|Operation setting|Effective immediately|0|0 to 1|(((
2337 VDO_4 output level：
2338
2339 0: low level
2340
2341 1: high level
2342 )))|-
2343
2344 Table 6-59 Communication control DO function parameters
2345
2346
2347 |**DO function number**|**Function name**|**Function**
2348 |145|COM_VDO1 communication VDO1 output|Use communication VDO
2349 |146|COM_VDO1 communication VDO2 output|Use communication VDO
2350 |147|COM_VDO1 communication VDO3 output|Use communication VDO
2351 |148|COM_VDO1 communication VDO4output|Use communication VDO
2352
2353 Table 6-60 VDO function number
2354
2355 ✎**Note:** You are advised to configure function codes for DO terminals in sequence to avoid errors during DO signal observation
2356
2357 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).
2358
2359 == **Motor overload protection** ==
2360
2361 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%.
2362
2363
2364 |**Function code**|**Name**|(((
2365 **Setting method**
2366 )))|(((
2367 **Effective time**
2368 )))|**Default value**|**Range**|**Definition**|**Unit**
2369 |P10-04|motor overload protection time coefficient|Operation setting|Effective immediately|100|0 to 800|(((
2370 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.
2371
2372 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
2373 )))|%
2374
2375 In the following cases, it could be modified according to the actual heat generation of the motor
2376
2377 1. The motor works in a place with high ambient temperature
2378 1. The motor runs in cycle circulates, and the single running cycle is short and the acceleration and deceleration is frequent.
2379
2380 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).
2381
2382 ✎**Note:** You are advised to configure function codes for DO terminals in sequence to avoid errors
2383
2384 Please use the shielded overload protection fault detection function with caution, otherwise it will cause burn out the motor.