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Wiki source code of 06 Operation

Version 51.2 by Stone Wu on 2022/07/07 09:18
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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**|=**Setting method**|=Effective time|=**Default value**|=**Range**|=**Definition**|=**Unit**
65 |=P00-04|Rotation direction|(((
66 Shutdown setting
67 )))|(((
68 Effective immediately
69 )))|0|0 to 1|(((
70 Forward rotation: Face the motor shaft to watch
71
72 0: standard setting (CW is forward rotation)
73
74 1: reverse mode (CCW is forward rotation)
75 )))|-
76
77 Table 6-3 Rotation direction parameters** **
78
79 == **Braking resistor** ==
80
81 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.
82
83 The basis for judging whether the braking resistor is built-in or external.
84
85 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.
86 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.
87
88 |=(% scope="row" %)**Function code**|=**Name**|=(((
89 **Setting method**
90 )))|=(((
91 **Effective time**
92 )))|=**Default**|=**Range**|=**Definition**|=**Unit**
93 |=P00-09|Braking resistor setting|(((
94 Operation setting
95 )))|(((
96 Effective immediately
97 )))|0|0 to 3|(((
98 0: use built-in braking resistor
99
100 1: use external braking resistor and natural cooling
101
102 2: use external braking resistor and forced air cooling; (cannot be set)
103
104 3: No braking resistor is used, it is all absorbed by capacitor.
105 )))|-
106 |=(% 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).
107 |=P00-10|External braking resistor value|(((
108 Operation setting
109 )))|(((
110 Effective immediately
111 )))|50|0 to 65535|It is used to set the external braking resistor value of a certain type of drive.|Ω
112 |=P00-11|External braking resistor power|(((
113 Operation setting
114 )))|(((
115 Effective immediately
116 )))|100|0 to 65535|It is used to set the external braking resistor power of a certain type of drive.|W
117
118 Table 6-4 Braking resistor parameters
119
120 == **Servo operation** ==
121
122 **(1) Set the servo enable (S-ON) to valid (ON)**
123
124 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.
125
126 S-ON can be configured and selected by the DI terminal function selection of the function code "DIDO configuration".
127
128 **(2) Input the instruction and the motor rotates**
129
130 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.
131
132 **(3) Timing diagram of power on**
133
134
135 [[image:image-20220608163014-1.png]]
136
137 Figure 6-1 Timing diagram of power on
138
139 == **Servo shutdown** ==
140
141 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]]__.
142
143
144 |=(% scope="row" %)Shutdown mode|=Shutdown description|=Shutdown characteristics
145 |=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.
146 |=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.
147
148 Table 6-5 Comparison of two shutdown modes
149
150
151 |=(% scope="row" %)**Shutdown status**|=**Free operation status**|=**Position locked**
152 |=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.
153
154 Table 6-6 Comparison of two shutdown status
155
156 **(1) Servo enable (S-ON) OFF shutdown**
157
158 The related parameters of the servo OFF shutdown mode are shown in the table below.
159
160
161 |=(% scope="row" %)**Function code**|=**Name**|=(((
162 **Setting method**
163 )))|=(((
164 **Effective time**
165 )))|=(((
166 **Default value**
167 )))|=**Range**|=**Definition**|=**Unit**
168 |=P00-05|Servo OFF shutdown|(((
169 Shutdown
170
171 setting
172 )))|(((
173 Effective
174
175 immediately
176 )))|0|0 to 1|(((
177 0: Free shutdown, and the motor shaft remains free status.
178
179 1: Zero-speed shutdown, and the motor shaft remains free status.
180 )))|-
181
182 Table 6-7Table 6-1 Servo OFF shutdown mode parameters details
183
184 **(2) Emergency shutdown**
185
186 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".
187
188 **(3) Overtravel shutdown**
189
190 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.
191
192 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.
193
194 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.
195
196
197 |=(% scope="row" %)**Function code**|=**Name**|=(((
198 **Setting method**
199 )))|=(((
200 **Effective time**
201 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
202 |=P06-08|DI_3 channel function selection|Operation setting|Power-on again|3|0 to 32|(((
203 0: OFF (not used)
204
205 01: S-ON servo enable
206
207 02: A-CLR fault and Warning Clear
208
209 03: POT forward drive prohibition
210
211 04: NOT Reverse drive prohibition
212
213 05: ZCLAMP Zero speed
214
215 06: CL Clear deviation counter
216
217 07: C-SIGN Inverted instruction
218
219 08: E-STOP Emergency stop
220
221 09: GEAR-SEL Electronic Gear Switch 1
222
223 10: GAIN-SEL gain switch
224
225 11: INH Instruction pulse prohibited input
226
227 12: VSSEL Vibration control switch input
228
229 13: INSPD1 Internal speed instruction selection 1
230
231 14: INSPD2 Internal speed instruction selection 2
232
233 15: INSPD3 Internal speedinstruction selection 3
234
235 16: J-SEL inertia ratio switch (not implemented yet)
236
237 17: MixModesel mixed mode selection
238
239 20: Internal multi-segment position enable signal
240
241 21: Internal multi-segment position selection 1
242
243 22: Internal multi-segment position selection 2
244
245 23: Internal multi-segment position selection 3
246
247 24: Internal multi-segment position selection 4
248
249 Others: reserved
250 )))|-
251 |=P06-09|DI_3 channel logic selection|Operation setting|(((
252 Effective immediately
253 )))|0|0 to 1|(((
254 DI port input logic validity function selection.
255
256 0: Normally open input. Active low level (switch on);
257
258 1: Normally closed input. Active high level (switch off);
259 )))|-
260 |=P06-10|DI_3 input source selection|Operation setting|(((
261 Effective immediately
262 )))|0|0 to 1|(((
263 Select the DI_3 port type to enable
264
265 0: Hardware DI_3 input terminal
266
267 1: virtual VDI_3 input terminal
268 )))|-
269 |=P06-11|DI_4 channel function selection|(((
270 Operation setting
271 )))|(((
272 again Power-on
273 )))|4|0 to 32|(((
274 0 off (not used)
275
276 01: SON Servo enable
277
278 02: A-CLR Fault and Warning Clear
279
280 03: POT Forward drive prohibition
281
282 04: NOT Reverse drive prohibition
283
284 05: ZCLAMP Zero speed
285
286 06: CL Clear deviation counter
287
288 07: C-SIGN Inverted instruction
289
290 08: E-STOP Emergency shutdown
291
292 09: GEAR-SEL Electronic Gear Switch 1
293
294 10: GAIN-SEL gain switch
295
296 11: INH Instruction pulse prohibited input
297
298 12: VSSEL Vibration control switch input
299
300 13: INSPD1 Internal speed instruction selection 1
301
302 14: INSPD2 Internal speed instruction selection 2
303
304 15: INSPD3 Internal speed instruction selection 3
305
306 16: J-SEL inertia ratio switch (not implemented yet)
307
308 17: MixModesel mixed mode selection
309
310 20: Internal multi-segment position enable signal
311
312 21: Internal multi-segment position selection 1
313
314 22: Internal multi-segment position selection 2
315
316 23: Internal multi-segment position selection 3
317
318 24: Internal multi-segment position selection 4
319
320 Others: reserved
321 )))|-
322 |=P06-12|DI_4 channel logic selection|Operation setting|(((
323 Effective immediately
324 )))|0|0 to 1|(((
325 DI port input logic validity function selection.
326
327 0: Normally open input. Active low level (switch on);
328
329 1: Normally closed input. Active high level (switch off);
330 )))|-
331 |=P06-13|DI_4 input source selection|Operation setting|(((
332 Effective immediately
333 )))|0|0 to 1|(((
334 Select the DI_4 port type to enable
335
336 0: Hardware DI_4 input terminal
337
338 1: virtual VDI_4 input terminal
339 )))|-
340
341 Table 6-8 DI3 and DI4 channel parameters
342
343 **(4) Malfunction shutdown**
344
345 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.
346
347 == **Brake device** ==
348
349 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.
350
351
352 |(((
353 [[image:image-20220611151617-1.png]]
354 )))
355 |(((
356 ✎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;
357
358 ✎ After the servo motor stops, turn off the servo enable (S-ON) in time;
359
360 ✎The brake coil has no polarity;
361
362 ✎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!
363
364 ✎When the motor with built-in brake is in operation, the brake device may make a clicking sound, which does not affect the function.
365 )))
366
367 **(1) Wiring of brake device**
368
369 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)
370
371
372 [[image:image-20220608163136-2.png]]
373
374 Figure 6-2 VD2B servo drive brake wiring
375
376
377 |(((
378 [[image:image-20220611151642-2.png]]
379 )))
380 |(((
381 ✎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.
382
383 ✎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.
384
385 ✎It is recommended to use cables above 0.5 mm².
386 )))
387
388 **(2) Brake software setting**
389
390 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.
391
392 Related function code is as below.
393
394
395 |=(% scope="row" %)**DO function code**|=**Function name**|=**Function**|=(((
396 **Effective time**
397 )))
398 |=144|(((
399 BRK-OFF Brake output
400 )))|Output the signal indicates the servo motor brake release|Power-on again
401
402 Table 6-2 Relevant function codes for brake setting
403
404
405 |=(% scope="row" %)**Function code**|=**Name**|=(((
406 **Setting method**
407 )))|=(((
408 **Effective time**
409 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
410 |=P1-30|Delay from brake output to instruction reception|(((
411 Operation setting
412 )))|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
413 |=P1-31|In static state, delay from brake output OFF to the motor is power off|(((
414 Operation setting
415 )))|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
416 |=P1-32|Rotation status, when the brake output OFF, the speed threshold|(((
417 Operation setting
418 )))|Effective immediately|30|0 to 3000|(((
419 When the motor rotates, the motor speed threshold when the brake (BRK-OFF) is allowed to output OFF.
420
421 When the brake output (BRK-OFF) is not allocated, this function code has no effect.
422 )))|rpm
423 |=P1-33|Rotation status, Delay from servo enable OFF to brake output OFF|(((
424 Operation setting
425 )))|Effective immediately|500|1 to 1000|(((
426 When the motor rotates, the delay time from the servo enable (S-ON) OFF to the brake (BRK-OFF) output OFF is allowed.
427
428 When brake output (BRK-OFF) is not allocated, this function code has no effect.
429 )))|ms
430
431 Table 6-9 Brake setting function codes
432
433 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.
434
435 **(3) Servo drive brake timing in normal state**
436
437 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).
438
439 1) Brake timing when servo motor is stationary
440
441 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]]__
442
443
444 |(((
445 [[image:image-20220611151705-3.png]]
446 )))
447 |(((
448 ✎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.
449
450 ✎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.
451 )))
452
453 [[image:image-20220608163304-3.png]]
454
455 Figure 6-3 Brake Timing of when the motor is stationary
456
457 ✎**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.
458
459 2) The brake timing when servo motor rotates
460
461 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]]__.
462
463
464 |(((
465 [[image:image-20220611151719-4.png]]
466 )))
467 |(((
468 ✎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.
469
470 ✎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:
471
472 P01-33 time has not arrived, but the motor has decelerated to the speed set by P01-32;
473
474 P01-33 time is up, but the motor speed is still higher than the set value of P01-32.
475
476 ✎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.
477 )))
478
479 [[image:image-20220608163425-4.png]]
480
481 Figure 6-4 Brake timing when the motor rotates
482
483 **(4) Brake timing when the servo drive fails**
484
485 The brake timing (free shutdown) in the fault status is as follows.
486
487
488 [[image:image-20220608163541-5.png]]
489
490 Figure 6-5 The brake timing (free shutdown) in the fault state
491
492 = **Position control mode** =
493
494 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.
495
496
497 [[image:image-20220608163643-6.png]]
498
499 Figure 6-6 Position control diagram
500
501 Set “P00-01” to 1 by the software “Wecon SCTool”, and the servo drive is in position control mode.
502
503
504 |=(% scope="row" %)**Function code**|=**Name**|=(((
505 **Setting method**
506 )))|=(((
507 **Effective time**
508 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
509 |=P01-01|Control mode|(((
510 Operation setting
511 )))|(((
512 immediately Effective
513 )))|0|0 to 6|(((
514 0: position control
515
516 2: speed control
517
518 3: torque control
519
520 4: position/speed mix control
521
522 5: position/torque mix control
523
524 6: speed /torque mix control
525 )))|-
526
527 Table 6-10 Control mode parameters
528
529 == **Position instruction input setting** ==
530
531 When the VD2 series servo drive is in position control mode, firstly set the position instruction source through the function code “P01-06”.
532
533
534 |=(% scope="row" %)**Function code**|=**Name**|=(((
535 **Setting method**
536 )))|=(((
537 **Effective time**
538 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
539 |=P01-06|Position instruction source|(((
540 Operation setting
541 )))|(((
542 immediately Effective
543 )))|0|0 to 1|(((
544 0: pulse instruction
545
546 1: internal position instruction
547 )))|-
548
549 Table 6-11 Position instruction source parameter
550
551 **(1) The source of position instruction is pulse instruction (P01-06=0)**
552
553 1) Low-speed pulse instruction input
554
555
556 |[[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]]
557 |VD2A and VD2B servo drives|VD2F servo drive
558 |(% colspan="2" %)Figure 6-7 Position instruction input setting
559
560 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]]__.
561
562 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.
563
564
565 |**Pulse method**|**Maximum frequency**|**Voltage**
566 |Open collector input|200K|24V
567 |Differential input|500K|5V
568
569 Table 6-12 Pulse input specifications
570
571 1.Differential input
572
573 Take VD2A and VD2B drive as examples, the connection of differential input is shown as below.
574
575
576 [[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]]
577
578 Figure 6-8 Differential input connection
579
580 ✎**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]]__”
581
582 2.Open collector input
583
584 Take VD2A and VD2B drive as examples, the connection of differential input is shown as below.
585
586
587 [[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]]
588
589 Figure 6-9 Open collector input connection
590
591 ✎**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]]__”
592
593 2) Position pulse frequency and anti-interference level
594
595 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.
596
597
598 [[image:image-20220608163952-8.png]]
599
600 Figure 6-10 Example of filtered signal waveform
601
602 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.
603
604
605 |=(% scope="row" %)**Function code**|=**Name**|=(((
606 **Setting method**
607 )))|=(((
608 **Effective time**
609 )))|=**Default value**|=**Range**|=(% colspan="2" %)**Definition**|=**Unit**
610 |=P00-13|Maximum position pulse frequency|(((
611 Shutdown setting
612 )))|(((
613 Effective immediately
614 )))|300|1 to 500|(% colspan="2" %)Set the maximum frequency of external pulse instruction|KHz
615 |=(% rowspan="3" %)P00-14|(% rowspan="3" %)Position pulse anti-interference level|(% rowspan="3" %)(((
616 Operation setting
617 )))|(% rowspan="3" %)(((
618 Power-on again
619 )))|(% rowspan="3" %)2|(% rowspan="3" %)0 to 9|(% colspan="2" %)(((
620 Set the anti-interference level of external pulse instruction.
621
622 0: no filtering;
623
624 1: Filtering time 128ns
625
626 2: Filtering time 256ns
627
628 3: Filtering time 512ns
629
630 4: Filtering time 1.024us
631
632 5: Filtering time 2.048us
633
634 6: Filtering time 4.096us
635
636 7: Filtering time 8.192us
637
638 8: Filtering time 16.384us
639 )))|(% rowspan="3" %)-
640 |=(% rowspan="2" %)9|VD2: Filtering time 25.5us
641 |=VD2F: Filtering time 25.5us
642
643 Table 6-13 Position pulse frequency and anti-interference level parameters
644
645 3) Position pulse type selection
646
647 In VD2 series servo drives, there are three types of input pulse instructions, and the related function codes are shown in the table below.
648
649
650 |=(% scope="row" %)**Function code**|=**Name**|=(((
651 **Setting method**
652 )))|=(((
653 **Effective time**
654 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
655 |=P00-12|Position pulse type selection|(((
656 Operation setting
657 )))|(((
658 Power-on again
659 )))|0|0 to 5|(((
660 0: direction + pulse (positive logic)
661
662 1: CW/CCW
663
664 2: A, B phase quadrature pulse (4 times frequency)
665
666 3: Direction + pulse (negative logic)
667
668 4: CW/CCW (negative logic)
669
670 5: A, B phase quadrature pulse (4 times frequency negative logic)
671 )))|-
672
673 Table 6-14 Position pulse type selection parameter
674
675
676 |=(% scope="row" %)**Pulse type selection**|=**Pulse type**|=**Signal**|=**Schematic diagram of forward pulse**|=**Schematic diagram of negative pulse**
677 |=0|(((
678 Direction + pulse
679
680 (Positive logic)
681 )))|(((
682 PULSE
683
684 SIGN
685 )))|[[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]]
686 |=1|CW/CCW|(((
687 PULSE (CW)
688
689 SIGN (CCW)
690 )))|(% 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]]
691 |=2|(((
692 AB phase orthogonal
693
694 pulse (4 times frequency)
695 )))|(((
696 PULSE (Phase A)
697
698 SIGN (Phase B)
699 )))|(((
700 [[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]]
701
702 Phase A is 90° ahead of Phase B
703 )))|(((
704 [[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]]
705
706 Phase B is 90° ahead of Phase A
707 )))
708 |=3|(((
709 Direction + pulse
710
711 (Negative logic)
712 )))|(((
713 PULSE
714
715 SIGN
716 )))|[[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]]
717 |=4|(((
718 CW/CCW
719
720 (Negative logic)
721 )))|(((
722 PULSE (CW)
723
724 SIGN (CCW)
725 )))|(% 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]]
726 |=5|(((
727 AB phase orthogonal
728
729 pulse (4 times frequency negative logic)
730 )))|(((
731 PULSE (Phase A)
732
733 SIGN (Phase B)
734 )))|(((
735 [[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]]
736
737 B phase is ahead of A phase by 90°
738 )))|(((
739 [[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]]
740
741 A phase is ahead of B phase by 90°
742 )))
743
744 Table 6-15 Pulse description
745
746 **(2) The source of position instruction is internal position instruction (P01-06=1)**
747
748 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]]__.
749
750 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.
751
752
753 [[image:image-20220608164116-9.png]]
754
755 Figure 6-11 The setting process of multi-segment position
756
757 1) Set multi-segment position running mode
758
759
760 |=(% scope="row" %)**Function code**|=**Name**|=(((
761 **Setting method**
762 )))|=(((
763 **Effective time**
764 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
765 |=P07-01|Multi-segment position running mode|(((
766 Shutdown setting
767 )))|(((
768 Effective immediately
769 )))|0|0 to 2|(((
770 0: Single running
771
772 1: Cycle running
773
774 2: DI switching running
775 )))|-
776 |=P07-02|Start segment number|(((
777 Shutdown setting
778 )))|(((
779 Effective immediately
780 )))|1|1 to 16|1st segment NO. in non-DI switching mode|-
781 |=P07-03|End segment number|(((
782 Shutdown setting
783 )))|(((
784 Effective immediately
785 )))|1|1 to 16|last segment NO. in non-DI switching mode|-
786 |=P07-04|Margin processing method|(((
787 Shutdown setting
788 )))|(((
789 Effective immediately
790 )))|0|0 to 1|(((
791 0: Run the remaining segments
792
793 1: Run again from the start segment
794 )))|-
795 |=P07-05|Displacement instruction type|(((
796 Shutdown setting
797 )))|(((
798 Effective immediately
799 )))|0|0 to 1|(((
800 0: Relative position instruction
801
802 1: Absolute position instruction
803 )))|-
804
805 Table 6-16 multi-segment position running mode parameters
806
807 VD2 series servo drive has three multi-segment position running modes, and you could select the best running mode according to the site requirements.
808
809 ~1. Single running
810
811 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
812
813
814 [[image:image-20220608164226-10.png]]
815
816 Figure 6-12 Single running curve (P07-02=1, P07-03=2)
817
818 2. Cycle running
819
820 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.
821
822
823 [[image:image-20220608164327-11.png]]
824
825 Figure 6-13 Cycle running curve (P07-02=1, P07-03=4)
826
827 |[[image:image-20220611151917-5.png]]
828 |In single running and cycle running mode, the setting value of P07-03 needs to be greater than the setting value of P07-02.
829
830 3. DI switching running
831
832 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.
833
834
835 |=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
836 |=21|INPOS1: Internal multi-segment position segment selection 1|Form internal multi-segment position running segment number
837 |=22|INPOS2: Internal multi-segment position segment selection 2|Form internal multi-segment position running segment number
838 |=23|INPOS3: Internal multi-segment position segment selection 3|Form internal multi-segment position running segment number
839 |=24|INPOS4: Internal multi-segment position segment selection 4|Form internal multi-segment position running segment number
840
841 Table 6-17 DI function code
842
843 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.
844
845
846 |=(% scope="row" %)**INPOS4**|=**INPOS3**|=**INPOS2**|=**INPOS1**|=**Running position number**
847 |=0|0|0|0|1
848 |=0|0|0|1|2
849 |=0|0|1|0|3
850 |=(% colspan="5" %)…………
851 |=1|1|1|1|16
852
853 Table 6-18 INPOS corresponds to running segment number
854
855 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]]__.
856
857
858 [[image:image-20220608164545-12.png]]
859
860 Figure 6-14 DI switching running curve
861
862 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.
863
864 **A. Run the remaining segments**
865
866 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.
867
868
869 [[image:image-20220608164847-13.png]]
870
871 Figure 6-15 Single running-run the remaining segments (P07-02=1, P07-03=4)
872
873
874 [[image:image-20220608165032-14.png]]
875
876 Figure 6-16 Cycle running-run the remaining segment (P07-02=1, P07-03=4)
877
878 **B. Run again from the start segment**
879
880 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.
881
882
883 [[image:image-20220608165343-15.png]]
884
885 Figure 6-17 Single running-run from the start segment again (P07-02=1, P07-03=4)
886
887
888 [[image:image-20220608165558-16.png]]
889
890 Figure 6-18 Cyclic running-run from the start segment again (P07-02=1, P07-03=4)
891
892 VD2 series servo drives have two types of displacement instructions: relative position instruction and absolute position instruction. The related function code is P07-05.
893
894 A. Relative position instruction
895
896 The relative position instruction takes the current stop position of the motor as the start point and specifies the amount of displacement.
897
898 |(((
899 [[image:image-20220608165710-17.png]]
900 )))|(((
901 [[image:image-20220608165749-18.png]]
902 )))
903 |Figure 6-19 Relative position diagram|Figure 6-20 Displacement diagram
904
905 B. Absolute position instruction
906
907 The absolute position instruction takes "reference origin" as the zero point of absolute positioning, and specifies the amount of displacement.
908
909 |(((
910 [[image:image-20220608165848-19.png]]
911 )))|(((
912 [[image:image-20220608170005-20.png]]
913 )))
914 |Figure 6-21 Absolute indication|Figure 6-22 Displacement
915
916 2) Multi-segment position running curve setting
917
918 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.
919
920
921 |=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit**
922 |=P07-09|(((
923 1st segment
924
925 displacement
926 )))|(((
927 Operation setting
928 )))|(((
929 Effective immediately
930 )))|10000|(((
931 -2147483647 to
932
933 2147483646
934 )))|Position instruction, positive and negative values could be set|-
935 |=P07-10|Maximum speed of the 1st displacement|(((
936 Operation setting
937 )))|(((
938 Effective immediately
939 )))|100|1 to 5000|Steady-state running speed of the 1st segment|rpm
940 |=P07-11|Acceleration and deceleration of 1st segment displacement|(((
941 Operation setting
942 )))|(((
943 Effective immediately
944 )))|100|1 to 65535|The time required for the acceleration and deceleration of the 1st segment|ms
945 |=P07-12|Waiting time after completion of the 1st segment displacement|(((
946 Operation setting
947 )))|(((
948 Effective immediately
949 )))|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
950
951 Table 6-19 The 1st position operation curve parameters table
952
953 After setting the above parameters, the actual operation curve of the motor is shown in Figure 6-23.
954
955
956 [[image:image-20220608170149-21.png]]
957
958 Figure 6-23 The 1st segment running curve of motor
959
960 3) multi-segment position instruction enable
961
962 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.
963
964
965 |=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
966 |=20|ENINPOS: Internal multi-segment position enable signal|(((
967 DI port logic invalid: Does not affect the current operation of the servo motor.
968
969 DI port logic valid: Motor runs multi-segment position
970 )))
971
972 [[image:image-20220611152020-6.png]]
973
974 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!
975
976 == **Electronic gear ratio** ==
977
978 **(1) Definition of electronic gear ratio**
979
980 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.
981
982 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.
983
984 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)
985
986
987 [[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]]
988
989
990 [[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]]
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/37.png?rev=1.1]]
994
995 Otherwise, the servo drive will report Er.35: "Electronic gear ratio setting exceeds the limit"!
996
997 **(2) Setting steps of electronic gear ratio**
998
999
1000 [[image:image-20220608170320-22.png]]
1001
1002 Figure 6-24 Setting steps of electronic gear ratio
1003
1004 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.
1005
1006 Step2: Confirm the resolution of servo motor encoder.
1007
1008 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.
1009
1010 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.
1011
1012 Step5: Calculate the value of electronic gear ratio according to formula below.
1013
1014
1015 [[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]]
1016
1017 **(3) lectronic gear ratio switch setting**
1018
1019
1020 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.
1021
1022
1023 |=(% scope="row" %)**Function code**|=**Name**|=(((
1024 **Setting method**
1025 )))|=(((
1026 **Effective time**
1027 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1028 |=P00-16|Number of instruction pulses when the motor rotates one circle|(((
1029 Shutdown setting
1030 )))|(((
1031 Effective immediately
1032 )))|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.|(((
1033 Instruction pulse
1034
1035 unit
1036 )))
1037 |=P00-17|(((
1038 Electronic gear 1
1039
1040 numerator
1041 )))|Operation setting|(((
1042 Effective immediately
1043 )))|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.|-
1044 |=P00-18|(((
1045 Electronic gear 1
1046
1047 denominator
1048 )))|(((
1049 Operation setting
1050 )))|(((
1051 Effective immediately
1052 )))|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.|-
1053 |=P00-19|(((
1054 Electronic gear 2
1055
1056 numerator
1057 )))|Operation setting|(((
1058 Effective immediately
1059 )))|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.|-
1060 |=P00-20|(((
1061 Electronic gear 2
1062
1063 denominator
1064 )))|Operation setting|(((
1065 Effective immediately
1066 )))|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.|-
1067
1068 Table 6-20 Electronic gear ratio function code
1069
1070 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.
1071
1072
1073 |=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
1074 |=09|GEAR-SEL electronic gear switch 1|(((
1075 DI port logic invalid: electronic gear ratio 1
1076
1077 DI port logic valid: electronic gear ratio 2
1078 )))
1079
1080 Table 6-21 Switching conditions of electronic gear ratio group
1081
1082 |=(% 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]]
1083 |=(% 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]]
1084 |=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]]
1085 |=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]]
1086
1087 Table 6-22 Application of electronic gear ratio
1088
1089 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.
1090
1091 == **Position instruction filtering** ==
1092
1093 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.
1094
1095 In the following situations, position instruction filtering should be added.
1096
1097 1. The position instruction output by host computer has not been processed with acceleration or deceleration;
1098 1. The pulse instruction frequency is low;
1099 1. When the electronic gear ratio is 10 times or more.
1100
1101 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.
1102
1103
1104 [[image:image-20220608170455-23.png]]
1105
1106 Figure 6-25 Position instruction filtering diagram
1107
1108
1109 |=(% scope="row" %)**Function code**|=**Name**|=(((
1110 **Setting method**
1111 )))|=(((
1112 **Effective time**
1113 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1114 |=P04-01|Pulse instruction filtering method|(((
1115 Shutdown setting
1116 )))|(((
1117 Effective immediately
1118 )))|0|0 to 1|(((
1119 0: 1st-order low-pass filtering
1120
1121 1: average filtering
1122 )))|-
1123 |=P04-02|Position instruction 1st-order low-pass filtering time constant|Shutdown setting|(((
1124 Effective immediately
1125 )))|0|0 to 1000|Position instruction first-order low-pass filtering time constant|ms
1126 |=P04-03|Position instruction average filtering time constant|Shutdown setting|(((
1127 Effective immediately
1128 )))|0|0 to 128|Position instruction average filtering time constant|ms
1129
1130 Table 6-23 Position instruction filter function code
1131
1132 == **Clearance of position deviation** ==
1133
1134 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;
1135
1136 Position deviation = (position instruction-position feedback) (encoder unit)
1137
1138 == **Position-related DO output function** ==
1139
1140 The feedback value of position instruction is compared with different thresholds, and output DO signal for host computer use.
1141
1142 (% class="wikigeneratedid" id="HPositioningcompletion2Fpositioningapproachoutput" %)
1143 **Positioning completion/positioning approach output**
1144
1145 (% class="wikigeneratedid" %)
1146 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.
1147
1148
1149 [[image:image-20220608170550-24.png]]
1150
1151 Figure 6-26 Positioning completion signal output diagram
1152
1153 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.
1154
1155 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]]__.
1156
1157 [[image:image-20220608170650-25.png]]
1158
1159 Figure 6-27 Positioning completion signal output with increased window filter time diagram
1160
1161
1162 |=(% scope="row" %)**Function code**|=**Name**|=(((
1163 **Setting method**
1164 )))|=(((
1165 **Effective time**
1166 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1167 |=P05-12|Positioning completion threshold|(((
1168 Operation setting
1169 )))|(((
1170 Effective immediately
1171 )))|800|1 to 65535|Positioning completion threshold|Equivalent pulse unit
1172 |=P05-13|Positioning approach threshold|(((
1173 Operation setting
1174 )))|(((
1175 Effective immediately
1176 )))|5000|1 to 65535|Positioning approach threshold|Equivalent pulse unit
1177 |=P05-14|Position detection window time|(((
1178 Operation setting
1179 )))|(((
1180 Effective immediately
1181 )))|10|0 to 20000|Set positioning completion detection window time|ms
1182 |=P05-15|Positioning signal hold time|(((
1183 Operation setting
1184 )))|(((
1185 Effective immediately
1186 )))|100|0 to 20000|Set positioning completion output hold time|ms
1187
1188 Table 6-24 Function code parameters of positioning completion
1189
1190
1191 |=(% scope="row" %)**DO function code**|=**Function name**|=**Function**
1192 |=134|P-COIN positioning complete|Output this signal indicates the servo drive position is complete.
1193 |=135|(((
1194 P-NEAR positioning close
1195 )))|(((
1196 Output this signal indicates that the servo drive position is close.
1197 )))
1198
1199 Table 6-25 Description of DO rotation detection function code
1200
1201 = **Speed control mode** =
1202
1203 Speed control refers to controlling the speed of the machine through speed instructions. Given the speed instruction by digital voltage or communication, the servo drive can control the mechanical speed fast and precisely. Therefore, the speed control mode is mainly used to control the rotation speed such as analog CNC engraving and milling machine. [[Figure 6-28>>path:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/6.28.jpg?width=806&height=260&rev=1.1]] is the speed control block diagram.
1204
1205
1206 [[image:6.28.jpg||height="260" width="806"]]
1207
1208 Figure 6-28 Speed control block diagram
1209
1210 == **Speed instruction input setting** ==
1211
1212 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.
1213
1214
1215 |**Function code**|**Name**|(((
1216 **Setting method**
1217 )))|(((
1218 **Effective time**
1219 )))|**Default value**|**Range**|**Definition**|**Unit**
1220 |P01-01|Speed instruction source|(((
1221 Shutdown setting
1222 )))|(((
1223 Effective immediately
1224 )))|1|1 to 6|(((
1225 0: internal speed instruction
1226
1227 1: AI_1 analog input (not supported by VD2F)
1228 )))|-
1229
1230 Table 6-26 Speed instruction source parameter
1231
1232 **(1) Speed instruction source is internal speed instruction (P01-01=0)**
1233
1234 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.
1235
1236
1237 |**Function code**|**Name**|(((
1238 **Setting method**
1239 )))|(((
1240 **Effective time**
1241 )))|**Default value**|**Range**|**Definition**|**Unit**
1242 |(% rowspan="2" %)P01-02|(% rowspan="2" %)(((
1243 Internal speed Instruction 0
1244 )))|(% rowspan="2" %)(((
1245 Operation setting
1246 )))|(% rowspan="2" %)(((
1247 Effective immediately
1248 )))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1249 Internal speed instruction 0
1250
1251 When DI input port:
1252
1253 15-INSPD3: 0
1254
1255 14-INSPD2: 0
1256
1257 13-INSPD1: 0,
1258
1259 select this speed instruction to be effective.
1260 )))|(% rowspan="2" %)rpm
1261 |-5000 to 5000*
1262 |(% rowspan="2" %)P01-23|(% rowspan="2" %)(((
1263 Internal speed Instruction 1
1264 )))|(% rowspan="2" %)(((
1265 Operation setting
1266 )))|(% rowspan="2" %)(((
1267 Effective immediately
1268 )))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1269 Internal speed instruction 1
1270
1271 When DI input port:
1272
1273 15-INSPD3: 0
1274
1275 14-INSPD2: 0
1276
1277 13-INSPD1: 1,
1278
1279 Select this speed instruction to be effective.
1280 )))|(% rowspan="2" %)rpm
1281 |-5000 to 5000*
1282 |(% rowspan="2" %)P01-24|(% rowspan="2" %)(((
1283 Internal speed Instruction 2
1284 )))|(% rowspan="2" %)(((
1285 Operation setting
1286 )))|(% rowspan="2" %)(((
1287 Effective immediately
1288 )))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1289 Internal speed instruction 2
1290
1291 When DI input port:
1292
1293 15-INSPD3: 0
1294
1295 14-INSPD2: 1
1296
1297 13-INSPD1: 0,
1298
1299 Select this speed instruction to be effective.
1300 )))|(% rowspan="2" %)rpm
1301 |-5000 to 5000*
1302 |(% rowspan="2" %)P01-25|(% rowspan="2" %)(((
1303 Internal speed Instruction 3
1304 )))|(% rowspan="2" %)(((
1305 Operation setting
1306 )))|(% rowspan="2" %)(((
1307 Effective immediately
1308 )))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1309 Internal speed instruction 3
1310
1311 When DI input port:
1312
1313 15-INSPD3: 0
1314
1315 14-INSPD2: 1
1316
1317 13-INSPD1: 1,
1318
1319 Select this speed instruction to be effective.
1320 )))|(% rowspan="2" %)rpm
1321 |-5000 to 5000*
1322
1323 |(% rowspan="2" %)P01-26|(% rowspan="2" %)(((
1324 Internal speed Instruction 4
1325 )))|(% rowspan="2" %)(((
1326 Operation setting
1327 )))|(% rowspan="2" %)(((
1328 Effective immediately
1329 )))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1330 Internal speed instruction 4
1331
1332 When DI input port:
1333
1334 15-INSPD3: 1
1335
1336 14-INSPD2: 0
1337
1338 13-INSPD1: 0,
1339
1340 Select this speed instruction to be effective.
1341 )))|(% rowspan="2" %)rpm
1342 |-5000 to 5000*
1343 |(% rowspan="2" %)P01-27|(% rowspan="2" %)(((
1344 Internal speed Instruction 5
1345 )))|(% rowspan="2" %)(((
1346 Operation setting
1347 )))|(% rowspan="2" %)(((
1348 Effective immediately
1349 )))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1350 Internal speed instruction 5
1351
1352 When DI input port:
1353
1354 15-INSPD3: 1
1355
1356 14-INSPD2: 0
1357
1358 13-INSPD1: 1,
1359
1360 Select this speed instruction to be effective.
1361 )))|(% rowspan="2" %)rpm
1362 |-5000 to 5000*
1363 |(% rowspan="2" %)P01-28|(% rowspan="2" %)(((
1364 Internal speed Instruction 6
1365 )))|(% rowspan="2" %)(((
1366 Operation setting
1367 )))|(% rowspan="2" %)(((
1368 Effective immediately
1369 )))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1370 Internal speed instruction 6
1371
1372 When DI input port:
1373
1374 15-INSPD3: 1
1375
1376 14-INSPD2: 1
1377
1378 13-INSPD1: 0,
1379
1380 Select this speed instruction to be effective.
1381 )))|(% rowspan="2" %)rpm
1382 |-5000 to 5000*
1383 |(% rowspan="2" %)P01-29|(% rowspan="2" %)(((
1384 Internal speed Instruction 7
1385 )))|(% rowspan="2" %)(((
1386 Operation setting
1387 )))|(% rowspan="2" %)(((
1388 Effective immediately
1389 )))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((
1390 Internal speed instruction 7
1391
1392 When DI input port:
1393
1394 15-INSPD3: 1
1395
1396 14-INSPD2: 1
1397
1398 13-INSPD1: 1,
1399
1400 Select this speed instruction to be effective.
1401 )))|(% rowspan="2" %)rpm
1402 |-5000 to 5000*
1403
1404 Table 6-27 Internal speed instruction parameters
1405
1406 ✎**Note: **“*” means the set range of VD2F servo drive.
1407
1408
1409 |**DI function code**|**function name**|**Function**
1410 |13|INSPD1 internal speed instruction selection 1|Form internal multi-speed running segment number
1411 |14|INSPD2 internal speed instruction selection 2|Form internal multi-speed running segment number
1412 |15|INSPD3 internal speed instruction selection 3|Form internal multi-speed running segment number
1413
1414 Table 6-28 DI multi-speed function code description
1415
1416 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.
1417
1418
1419 |**INSPD3**|**INSPD2**|**INSPD1**|**Running segment number**|**Internal speed instruction number**
1420 |0|0|0|1|0
1421 |0|0|1|2|1
1422 |0|1|0|3|2
1423 |(% colspan="5" %)......
1424 |1|1|1|8|7
1425
1426 Table 6-29 Correspondence between INSPD bits and segment numbers
1427
1428
1429 [[image:image-20220608170845-26.png]]
1430
1431 Figure 6-29 Multi-segment speed running curve
1432
1433 **(2) Speed instruction source is internal speed instruction (P01-01=0)**
1434
1435 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.
1436
1437
1438 [[image:image-20220608153341-5.png]]
1439
1440 Figure 6-30 Analog input circuit
1441
1442 Taking AI_1 as an example, the method of setting the speed instruction of analog voltage is illustrated as below.
1443
1444
1445 [[image:image-20220608170955-27.png]]
1446
1447 Figure 6-31 Analog voltage speed instruction setting steps
1448
1449 Explanation of related terms:
1450
1451 Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
1452
1453 Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
1454
1455 Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1456
1457
1458 [[image:image-20220608171124-28.png]]
1459
1460 Figure 6-32 AI_1 diagram before and after bias
1461
1462
1463 |**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
1464 |P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1465 |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
1466 |P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel quantity dead zone value|mV
1467 |P05-04☆|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV
1468
1469 Table 6-30 AI_1 parameters
1470
1471 ✎**Note: **“☆” means VD2F servo drive does not support the function code .
1472
1473 == **Acceleration and deceleration time setting** ==
1474
1475 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.
1476
1477 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.
1478
1479
1480 [[image:image-20220608171314-29.png]]
1481
1482 Figure 6-33 of acceleration and deceleration time diagram
1483
1484 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]]
1485
1486 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]]
1487
1488
1489 |**Function code**|**Name**|(((
1490 **Setting method**
1491 )))|(((
1492 **Effective time**
1493 )))|**Default value**|**Range**|**Definition**|**Unit**
1494 |P01-03|Acceleration time|(((
1495 Operation setting
1496 )))|(((
1497 Effective immediately
1498 )))|50|0 to 65535|The time for the speed instruction to accelerate from 0 to 1000rpm|ms
1499 |P01-04|Deceleration time|(((
1500 Operation setting
1501 )))|(((
1502 Effective immediately
1503 )))|50|0 to 65535|The time for the speed instruction to decelerate from 1000rpm to 0|ms
1504
1505 Table 6-31 Acceleration and deceleration time parameters
1506
1507 == **Speed instruction limit** ==
1508
1509 In speed mode, the servo drive could limit the size of the speed instruction. The sources of speed instruction limit include:
1510
1511 1. P01-10: Set the maximum speed limit value
1512 1. P01-12: Set forward speed limit value
1513 1. P01-13: Set reverse speed limit value
1514 1. The maximum speed of the motor: determined by motor model
1515
1516 The actual motor speed limit interval satisfies the following relationship:
1517
1518 The amplitude of forward speed instruction ≤ min (Maximum motor speed, P01-10, P01-12)
1519
1520 The amplitude of negative speed command ≤ min (Maximum motor speed, P01-10, P01-13)
1521
1522
1523 |**Function code**|**Name**|(((
1524 **Setting method**
1525 )))|(((
1526 **Effective time**
1527 )))|**Default value**|**Range**|**Definition**|**Unit**
1528 |P01-10|Maximum speed threshold|(((
1529 Operation setting
1530 )))|(((
1531 Effective immediately
1532 )))|3600|0 to 5000|Set the maximum speed limit value, if exceeds this value, an overspeed fault will be reported|rpm
1533 |P01-12|Forward speed threshold|(((
1534 Operation setting
1535 )))|(((
1536 Effective immediately
1537 )))|3000|0 to 5000|Set forward speed limit value|rpm
1538 |P01-13|Reverse speed threshold|(((
1539 Operation setting
1540 )))|(((
1541 Effective immediately
1542 )))|3000|0 to 5000|Set reverse speed limit value|rpm
1543
1544 Table 6-32 Rotation speed related function codes
1545
1546 == **Zero-speed clamp function** ==
1547
1548 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.
1549
1550 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.
1551
1552
1553 |**Function code**|**Name**|(((
1554 **Setting method**
1555 )))|(((
1556 **Effective time**
1557 )))|**Default value**|**Range**|**Definition**|**Unit**
1558 |P01-21|(((
1559 Zero-speed clamp function selection
1560 )))|(((
1561 Operation setting
1562 )))|(((
1563 Effective immediately
1564 )))|0|0 to 3|(((
1565 Set the zero-speed clamp function. In speed mode:
1566
1567 0: Force the speed to 0;
1568
1569 1: Force the speed to 0, and keep the position locked when the actual speed is less than P01-22
1570
1571 2: When speed instruction is less than P01-22, force the speed to 0 and keep the position locked
1572
1573 3: Invalid, ignore zero-speed clamp input
1574 )))|-
1575 |P01-22|(((
1576 Zero-speed clamp speed threshold
1577 )))|(((
1578 Operation setting
1579 )))|(((
1580 Effective immediately
1581 )))|20|0 to 1000|Set the speed threshold of zero-speed clamp function|rpm
1582
1583 Table 6-33 Zero-speed clamp related parameters
1584
1585
1586 [[image:image-20220608171549-30.png]]
1587
1588 Figure 6-34 Zero-speed clamp diagram
1589
1590 == **Speed-related DO output function** ==
1591
1592 The feedback value of the position instruction is compared with different thresholds, and could output DO signal for host computer use.
1593
1594 **(1) Rotation detection signal**
1595
1596 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.
1597
1598
1599 [[image:image-20220608171625-31.png]]
1600
1601 Figure 6-35 Rotation detection signal diagram
1602
1603 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>>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/#HSpeed-relatedDOoutputfunction]]__ and __[[Table 6-35>>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/#HSpeed-relatedDOoutputfunction]]__.
1604
1605
1606 |**Function code**|**Name**|(((
1607 **Setting method**
1608 )))|(((
1609 **Effective time**
1610 )))|**Default value**|**Range**|**Definition**|**Unit**
1611 |P05-16|(((
1612 Rotation detection
1613
1614 speed threshold
1615 )))|(((
1616 Operation setting
1617 )))|(((
1618 Effective immediately
1619 )))|20|0 to 1000|Set the motor rotation signal judgment threshold|rpm
1620
1621 Table 6-34 Rotation detection speed threshold parameters
1622
1623
1624 |**DO function code**|**Function name**|**Function**
1625 |132|(((
1626 T-COIN rotation detection
1627 )))|(((
1628 Valid: when the absolute value of motor speed after filtering is greater than or equal to the set value of function code P05-16
1629
1630 Invalid, when the absolute value of motor speed after filtering is less than set value of function code P05-16
1631 )))
1632
1633 Table 6-35 DO rotation detection function code
1634
1635 **(2) Zero-speed signal**
1636
1637 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.
1638
1639
1640 [[image:image-20220608171904-32.png]]
1641
1642 Figure 6-36 Zero-speed signal diagram
1643
1644 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>>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/#HSpeed-relatedDOoutputfunction]]__ and __[[Table 6-37>>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/#HSpeed-relatedDOoutputfunction]]__.
1645
1646
1647 |**Function code**|**Name**|(((
1648 **Setting method**
1649 )))|(((
1650 **Effective time**
1651 )))|**Default value**|**Range**|**Definition**|**Unit**
1652 |P05-19|Zero speed output signal threshold|(((
1653 Operation setting
1654 )))|(((
1655 Effective immediately
1656 )))|10|0 to 6000|Set zero-speed output signal judgment threshold|rpm
1657
1658 Table 6-36 Zero-speed output signal threshold parameter
1659
1660
1661 |**DO function code**|**Function name**|**Function**
1662 |133|(((
1663 ZSP zero speed signal
1664 )))|Output this signal indicates that the servo motor is stopping rotation
1665
1666 Table 6-37 DO zero-speed signal function code
1667
1668 **(3) Speed consistent signal**
1669
1670 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.
1671
1672
1673 [[image:image-20220608172053-33.png]]
1674
1675 Figure 6-37 Speed consistent signal diagram
1676
1677 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>>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/#HSpeed-relatedDOoutputfunction]]__ and __[[Table 6-39>>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/#HSpeed-relatedDOoutputfunction]]__.
1678
1679
1680 |**Function code**|**Name**|(((
1681 **Setting method**
1682 )))|(((
1683 **Effective time**
1684 )))|**Default value**|**Range**|**Definition**|**Unit**
1685 |P05-17|Speed consistent signal threshold|(((
1686 Operationsetting
1687 )))|(((
1688 Effective immediately
1689 )))|10|0 to 100|Set speed consistent signal threshold|rpm
1690
1691 Table 6-38 Speed consistent signal threshold parameters
1692
1693
1694 |**DO Function code**|**Function name**|**Function**
1695 |136|(((
1696 U-COIN consistent speed
1697 )))|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
1698
1699 Table 6-39 DO speed consistent function code
1700
1701 **(4) Speed approach signal**
1702
1703 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.
1704
1705
1706 [[image:image-20220608172207-34.png]]
1707
1708 Figure 6-38 Speed approaching signal diagram
1709
1710 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>>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/#HSpeed-relatedDOoutputfunction]]__ and __[[Table 6-40>>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/#HSpeed-relatedDOoutputfunction]]__.
1711
1712
1713 |**Function code**|**Name**|(((
1714 **Setting method**
1715 )))|(((
1716 **Effective time**
1717 )))|**Default value**|**Range**|**Definition**|**Unit**
1718 |P05-18|Speed approach signal threshold|(((
1719 Operation setting
1720 )))|(((
1721 Effective immediately
1722 )))|100|10 to 6000|Set speed approach signal threshold|rpm
1723
1724 Table 6-40 Speed approaching signal threshold parameters
1725
1726
1727 |**DO function code**|**Function name**|**Function**
1728 |137|(((
1729 V-NEAR speed approach
1730 )))|The output signal indicates that the actual speed of the servo motor has reached the expected value
1731
1732 Table 6-41 DO speed approach function code
1733
1734 = **Torque control mode** =
1735
1736 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.
1737
1738
1739 [[image:image-20220608172405-35.png]]
1740
1741 Figure 6-39 Torque mode diagram
1742
1743 == **Torque instruction input setting** ==
1744
1745 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.
1746
1747
1748 |**Function code**|**Name**|(((
1749 **Setting method**
1750 )))|(((
1751 **Effective time**
1752 )))|**Default value**|**Range**|**Definition**|**Unit**
1753 |P01-08|Torque instruction source|(((
1754 Shutdown setting
1755 )))|(((
1756 Effective immediately
1757 )))|0|0 to 1|(((
1758 0: internal torque instruction
1759
1760 1: AI_1 analog input(not supported by VD2F)
1761 )))|-
1762
1763 Table 6-42 Torque instruction source parameter
1764
1765 **(1) Torque instruction source is internal torque instruction (P01-07=0)**
1766
1767 Torque instruction source is from inside, the value is set by function code P01-08.
1768
1769
1770 |**Function code**|**Name**|(((
1771 **Setting method**
1772 )))|(((
1773 **Effective time**
1774 )))|**Default value**|**Range**|**Definition**|**Unit**
1775 |P01-08|Torque instruction keyboard set value|(((
1776 Operation setting
1777 )))|(((
1778 Effective immediately
1779 )))|0|-3000 to 3000|-300.0% to 300.0%|0.1%
1780
1781 Table 6-43 Torque instruction keyboard set value
1782
1783 **(2) Torque instruction source is internal torque instruction (P01-07=1)**
1784
1785 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.
1786
1787
1788 [[image:image-20220608153646-7.png||height="213" width="408"]]
1789
1790 Figure 6-40 Analog input circuit
1791
1792 Taking AI_1 as an example, the method of setting torque instruction of analog voltage is as below.
1793
1794
1795 [[image:image-20220608172502-36.png]]
1796
1797 Figure 6-41 Analog voltage torque instruction setting steps
1798
1799 Explanation of related terms:
1800
1801 Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
1802
1803 Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
1804
1805 Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1806
1807
1808 [[image:image-20220608172611-37.png]]
1809
1810 Figure 6-42 AI_1 diagram before and after bias
1811
1812
1813 |**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
1814 |P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1815 |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
1816 |P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel dead zone value|mV
1817 |P05-04☆|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV
1818
1819 Table 6-44 AI_1 parameters
1820
1821 ✎**Note: **“☆” means VD2F servo drive does not support the function code .
1822
1823 == **Torque instruction filtering** ==
1824
1825 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]]__.
1826
1827
1828 |**Function code**|**Name**|(((
1829 **Setting method**
1830 )))|(((
1831 **Effective time**
1832 )))|**Default value**|**Range**|**Definition**|**Unit**
1833 |P04-04|Torque filtering time constant|(((
1834 Operation setting
1835 )))|(((
1836 Effective immediately
1837 )))|50|10 to 2500|This parameter is automatically set when “self-adjustment mode selection” is selected as 0|0.01ms
1838
1839 Table 6-45 Torque filtering time constant parameter details
1840
1841 ✎**Note: **If the filter time constant is set too large, the responsiveness will be reduced. Please set it while confirming the responsiveness.
1842
1843
1844 [[image:image-20220608172646-38.png]]
1845
1846 Figure 6-43 Torque instruction-first-order filtering diagram
1847
1848 == **Torque instruction limit** ==
1849
1850 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.
1851
1852 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.
1853
1854
1855 [[image:image-20220608172806-39.png]]
1856
1857 Figure 6-44 Torque instruction limit diagram
1858
1859 **(1) Set torque limit source**
1860
1861 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.
1862
1863
1864 |**Function code**|**Name**|(((
1865 **Setting method**
1866 )))|(((
1867 **Effective time**
1868 )))|**Default value**|**Range**|**Definition**|**Unit**
1869 |P01-14|(((
1870 Torque limit source
1871 )))|(((
1872 Shutdown setting
1873 )))|(((
1874 Effective immediately
1875 )))|0|0 to 1|(((
1876 0: internal value
1877
1878 1: AI_1 analog input
1879
1880 (not supported by VD2F)
1881 )))|-
1882
1883 1) Torque limit source is internal torque instruction (P01-14=0)
1884
1885 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.
1886
1887
1888 |**Function code**|**Name**|(((
1889 **Setting method**
1890 )))|(((
1891 **Effective time**
1892 )))|**Default value**|**Range**|**Definition**|**Unit**
1893 |P01-15|(((
1894 Forward torque limit
1895 )))|(((
1896 Operation setting
1897 )))|(((
1898 Effective immediately
1899 )))|3000|0 to 3000|When P01-14 is set to 0, the value of this function code is forward torque limit value|0.1%
1900 |P01-16|(((
1901 Reverse torque limit
1902 )))|(((
1903 Operation setting
1904 )))|(((
1905 Effective immediately
1906 )))|3000|0 to 3000|When P01-14 is set to 0, the value of this function code is reverse torque limit value|0.1%
1907
1908 Table 6-46 Torque limit parameter details
1909
1910 2) Torque limit source is external (P01-14=1)
1911
1912 Torque limit source is from external analog channel. The limit value is determined by the torque value corresponding to external AI_2 terminal.
1913
1914 **(2) Set torque limit DO signal output**
1915
1916 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.
1917
1918
1919 |**DO function code**|**Function name**|**Function**
1920 |139|(((
1921 T-LIMIT in torque limit
1922 )))|Output of this signal indicates that the servo motor torque is limited
1923
1924 Table 6-47 DO torque limit function codes
1925
1926 == **Speed limit in torque mode** ==
1927
1928 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.
1929
1930 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>>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/#HSpeedlimitintorquemode]]__ and __[[Figure 6-46>>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/#HSpeedlimitintorquemode]]__.
1931
1932 |(((
1933 [[image:image-20220608172910-40.png]]
1934 )))|(((
1935 [[image:image-20220608173155-41.png]]
1936 )))
1937 |Figure 6-45 Forward running curve|Figure 6-46 Reverse running curve
1938
1939 |**Function code**|**Name**|(((
1940 **Setting method**
1941 )))|(((
1942 **Effective time**
1943 )))|**Default value**|**Range**|**Definition**|**Unit**
1944 |P01-17|(((
1945 Forward torque
1946
1947 limit in torque mode
1948 )))|(((
1949 Operation setting
1950 )))|(((
1951 Effective immediately
1952 )))|3000|0 to 5000|(((
1953 Forward torque
1954
1955 limit in torque mode
1956 )))|0.1%
1957 |P01-18|(((
1958 Reverse torque
1959
1960 limit in torque mode
1961 )))|(((
1962 Operation setting
1963 )))|(((
1964 Effective immediately
1965 )))|3000|0 to 5000|(((
1966 Reverse torque
1967
1968 limit in torque mode
1969 )))|0.1%
1970
1971 Table 6-48 Speed limit parameters in torque mode
1972
1973 ✎**Note:** Function codes P01-17 and P01-18 are only effective in limiting motor speed under the torque mode. The speed limit value is set according to load requirements. To set speed limit in speed mode or position mode, please refer to __[[6.3.3 Speed instruction limit>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeedinstructionlimit]]__.
1974
1975 == **Torque-related DO output functions** ==
1976
1977 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.
1978
1979 **Torque arrival**
1980
1981 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.
1982
1983
1984 [[image:image-20220608173541-42.png]]
1985
1986 Figure 6-47 Torque arrival output diagram
1987
1988 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>>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/#HTorque-relatedDOoutputfunctions]]__ and __[[Table 6-50>>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/#HTorque-relatedDOoutputfunctions]]__.
1989
1990
1991 |**Function code**|**Name**|(((
1992 **Setting method**
1993 )))|(((
1994 **Effective time**
1995 )))|**Default value**|**Range**|**Definition**|**Unit**
1996 |P05-20|(((
1997 Torque arrival
1998
1999 threshold
2000 )))|(((
2001 Operation setting
2002 )))|(((
2003 Effective immediately
2004 )))|100|0 to 300|(((
2005 The torque arrival threshold must be used with “Torque arrival hysteresis value”:
2006
2007 When the actual torque reaches Torque arrival threshold + Torque arrival hysteresis Value, the torque arrival DO is valid;
2008
2009 When the actual torque decreases below torque arrival threshold-torque arrival hysteresis value, the torque arrival DO is invalid
2010 )))|%
2011 |P05-21|(((
2012 Torque arrival
2013
2014 hysteresis
2015 )))|(((
2016 Operation setting
2017 )))|(((
2018 Effective immediately
2019 )))|10|0 to 20|Torque arrival the hysteresis value must be used with Torque arrival threshold|%
2020
2021 Table 6-49 Torque arrival parameters
2022
2023
2024 |**DO function code**|**Function name**|**Function**
2025 |138|(((
2026 T-COIN torque arrival
2027 )))|Used to determine whether the actual torque instruction has reached the set range
2028
2029 Table 6-50 DO Torque Arrival Function Code
2030
2031 = **Mixed control mode** =
2032
2033 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:
2034
2035 Position mode  Speed mode
2036
2037 Position mode  Torque mode
2038
2039 Speed mode  Torque mode
2040
2041 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.
2042
2043
2044 |**Function code**|**Name**|(((
2045 **Setting method**
2046 )))|(((
2047 **Effective time**
2048 )))|**Default value**|**Range**|**Definition**|**Unit**
2049 |P00-01|Control mode|(((
2050 Shutdown setting
2051 )))|(((
2052 Shutdown setting
2053 )))|1|1 to 6|(((
2054 1: Position control
2055
2056 2: Speed control
2057
2058 3: Torque control
2059
2060 4: Position/speed mixed control
2061
2062 5: Position/torque mixed control
2063
2064 6: Speed/torque mixed control
2065 )))|-
2066
2067 Table 6-51 Mixed control mode parameters
2068
2069 Please set the servo drive parameters in different control modes according to the mechanical structure and indicators. The setting method refer to [[__“Parameters”__>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/09%20Parameters/]]. When function code P00-01=4/5/6 (that is, in mixed mode), a DI terminal of the servo drive needs to be assigned to function 17 (MixModeSel, mixed mode selection), and the DI terminal logic is determined to be valid.
2070
2071
2072 |**DI function code**|**Name**|**Function name**|**Function**
2073 |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(((
2074 |**P00-01**|**MixModeSel terminal logic**|**Control mode**
2075 |(% rowspan="2" %)4|Valid|Speed mode
2076 |invalid|Position mode
2077 |(% rowspan="2" %)5|Valid|Torque mode
2078 |invalid|Position mode
2079 |(% rowspan="2" %)6|Valid|Torque mode
2080 |invalid|Speed mode
2081 )))
2082
2083 Table 6-52 Description of DI function codes in control mode
2084
2085 ✎**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.
2086
2087 = **Absolute system** =
2088
2089 == **Overview** ==
2090
2091 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.
2092
2093 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.
2094
2095 == **Single-turn absolute value system** ==
2096
2097 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.
2098
2099
2100 |**Encoder type**|**Encoder resolution (bits)**|**Data range**
2101 |A1 (single-turn magnetic encoder)|17|0 to 131071
2102
2103 Table 6-53 Single-turn absolute encoder information
2104
2105 The relationship between encoder feedback position and rotating load position is shown in the figure below. (take a 17-bit encoder as an example).
2106
2107
2108 [[image:image-20220608173618-43.png]]
2109
2110 Figure 6-48 Diagram of relationship between encoder feedback position and rotating load position
2111
2112 == **Multi-turn absolute value system** ==
2113
2114 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.
2115
2116
2117 |**Encoder type**|**Encoder resolution (bits)**|**Data range**
2118 |C1 (multi-turn magnetic encoder)|17|0 to 131071
2119 |D2 (multi-turn Optical encoder)|23|0 to 8388607
2120
2121 Table 6-54 Multi-turn absolute encoder information
2122
2123 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).
2124
2125
2126 [[image:image-20220608173701-44.png]]
2127
2128 Figure 6-49 The relationship between encoder feedback position and rotating load position
2129
2130 == **Encoder feedback data** ==
2131
2132 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.
2133
2134
2135 |**Monitoring number**|**Category**|**Name**|**Unit**|**Data type**
2136 |U0-54|Universal|Absolute encoder position within 1 turn|Encoder unit|32-bit
2137 |U0-55|Universal|Rotations number of absolute encoder|circle|16-bit
2138 |U0-56|Universal|Multi-turn absolute value encoder current position|Instruction unit|32-bit
2139
2140 Table 6-55 Encoder feedback data
2141
2142 == **Absolute value system encoder battery box use precautions** ==
2143
2144 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.
2145
2146
2147 [[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"]]
2148
2149 Figure 6-50 the encoder battery box
2150
2151 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:
2152
2153 1. Step1 The servo drive is powered on and is in a non-operational state;
2154 1. Step2 Replace the battery;
2155 1. Step3 Set P10-03 to 1, and the drive will release A-92. It will run normally without other abnormal warnings.
2156
2157 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.
2158
2159
2160 |**Function code**|**Name**|(((
2161 **Setting method**
2162 )))|(((
2163 **Effective time**
2164 )))|**Default value**|**Range**|**Definition**|**Unit**
2165 |P10-06|Multi-turn absolute encoder reset|(((
2166 Shutdown setting
2167 )))|(((
2168 Effective immediately
2169 )))|0|0 to 1|(((
2170 0: No operation
2171
2172 1: Clear rotation number of multi-turn absolute encoder, multi-turn absolute encoder current position and encoder fault alarms.
2173
2174 ✎**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.
2175 )))|-
2176
2177 Table 6-56 Absolute encoder reset enable parameter
2178
2179 ✎**Note: **If the battery is replaced when the servo drive is powered off, the encoder data will be lost.
2180
2181 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.
2182
2183 = **Overview** =
2184
2185 == **VDI** ==
2186
2187 VDI (Virtual Digital Signal Input Port) is similar to hardware DI terminal. The DI function could also be assigned for use.
2188
2189 ✎**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).
2190
2191 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.
2192
2193
2194 [[image:image-20220608173804-46.png]]
2195
2196 Figure 6-51 VDI_1 setting steps
2197
2198
2199 |**Function code**|**Name**|(((
2200 **Setting method**
2201 )))|(((
2202 **Effective time**
2203 )))|**Default value**|**Range**|**Definition**|**Unit**
2204 |P13-1|Virtual VDI_1 input value|Operation setting|Effective immediately|0|0 to 1|(((
2205 When P06-04 is set to 1, DI_1 channel logic is control by this function code.
2206
2207 VDI_1 input level:
2208
2209 0: low level
2210
2211 1: high level
2212 )))|-
2213 |P13-2|Virtual VDI_2 input value|Operation setting|Effective immediately|0|0 to 1|(((
2214 When P06-07 is set to 1, DI_2 channel logic is control by this function code.
2215
2216 VDI_2 input level:
2217
2218 0: low level
2219
2220 1: high level
2221 )))|-
2222 |P13-3|Virtual VDI_3 input value|Operation setting|Effective immediately|0|0 to 1|(((
2223 When P06-10 is set to 1, DI_3 channel logic is control by this function code.
2224
2225 VDI_3 input level:
2226
2227 0: low level
2228
2229 1: high level
2230 )))|-
2231 |P13-4|Virtual VDI_4 input value|Operation setting|Effective immediately|0|0 to 1|(((
2232 When P06-13 is set to 1, DI_4 channel logic is control by this function code.
2233
2234 VDI_4 input level:
2235
2236 0: low level
2237
2238 1: high level
2239 )))|-
2240 |P13-05☆|Virtual VDI_5 input value|Operation setting|Effective immediately|0|0 to 1|(((
2241 When P06-16 is set to 1, DI_5 channel logic is control by this function code.
2242
2243 VDI_5 input level:
2244
2245 0: low level
2246
2247 1: high level
2248 )))|-
2249 |P13-06☆|Virtual VDI_6 input value|Operation setting|Effective immediately|0|0 to 1|(((
2250 When P06-19 is set to 1, DI_6 channel logic is control by this function code.
2251
2252 VDI_6 input level:
2253
2254 0: low level
2255
2256 1: high level
2257 )))|-
2258 |P13-07☆|Virtual VDI_7 input value|Operation setting|Effective immediately|0|0 to 1|(((
2259 When P06-22 is set to 1, DI_7 channel logic is control by this function code.
2260
2261 VDI_7 input level:
2262
2263 0: low level
2264
2265 1: high level
2266 )))|-
2267 |P13-08☆|Virtual VDI_8 input value|Operation setting|Effective immediately|0|0 to 1|(((
2268 When P06-25 is set to 1, DI_8 channel logic is control by this function code.
2269
2270 VDI_8 input level:
2271
2272 0: low level
2273
2274 1: high level
2275 )))|-
2276
2277 Table 6-57 Virtual VDI parameters
2278
2279 ✎**Note: **“☆” means VD2F servo drive does not support the function code .
2280
2281 == **Port filtering time** ==
2282
2283 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.
2284
2285
2286 |**Setting value**|**DI channel logic selection**|**Illustration**
2287 |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"]]
2288 |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"]]
2289
2290 Table 6-58 DI terminal channel logic selection
2291
2292 == **VDO** ==
2293
2294 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.
2295
2296 Take the DO_2 terminal as communication VDO, and the use steps of VDI are as the figure below.
2297
2298
2299 [[image:image-20220608173957-48.png]]
2300
2301 Figure 6-52 VDO_2 setting steps
2302
2303
2304 |**Function code**|**Name**|(((
2305 **Setting method**
2306 )))|(((
2307 **Effective time**
2308 )))|**Default value**|**Range**|**Definition**|**Unit**
2309 |P13-11|Communication VDO_1 output value|Operation setting|Effective immediately|0|0 to 1|(((
2310 VDO_1 output level：
2311
2312 0: low level
2313
2314 1: high level
2315 )))|-
2316 |P13-12|Communication VDO_2 output value|Operation setting|Effective immediately|0|0 to 1|(((
2317 VDO_2 output level：
2318
2319 0: low level
2320
2321 1: high level
2322 )))|-
2323 |P13-13|Communication VDO_3 output value|Operation setting|Effective immediately|0|0 to 1|(((
2324 VDO_3 output level：
2325
2326 0: low level
2327
2328 1: high level
2329 )))|-
2330 |P13-14|Communication VDO_4 output value|Operation setting|Effective immediately|0|0 to 1|(((
2331 VDO_4 output level：
2332
2333 0: low level
2334
2335 1: high level
2336 )))|-
2337
2338 Table 6-59 Communication control DO function parameters
2339
2340
2341 |**DO function number**|**Function name**|**Function**
2342 |145|COM_VDO1 communication VDO1 output|Use communication VDO
2343 |146|COM_VDO1 communication VDO2 output|Use communication VDO
2344 |147|COM_VDO1 communication VDO3 output|Use communication VDO
2345 |148|COM_VDO1 communication VDO4output|Use communication VDO
2346
2347 Table 6-60 VDO function number
2348
2349 ✎**Note:** You are advised to configure function codes for DO terminals in sequence to avoid errors during DO signal observation
2350
2351 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).
2352
2353 == **Motor overload protection** ==
2354
2355 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%.
2356
2357
2358 |**Function code**|**Name**|(((
2359 **Setting method**
2360 )))|(((
2361 **Effective time**
2362 )))|**Default value**|**Range**|**Definition**|**Unit**
2363 |P10-04|motor overload protection time coefficient|Operation setting|Effective immediately|100|0 to 800|(((
2364 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.
2365
2366 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
2367 )))|%
2368
2369 In the following cases, it could be modified according to the actual heat generation of the motor
2370
2371 1. The motor works in a place with high ambient temperature
2372 1. The motor runs in cycle circulates, and the single running cycle is short and the acceleration and deceleration is frequent.
2373
2374 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).
2375
2376 ✎**Note:** You are advised to configure function codes for DO terminals in sequence to avoid errors
2377
2378 Please use the shielded overload protection fault detection function with caution, otherwise it will cause burn out the motor.