Skip to Content

Wiki source code of 06 Operation

Version 51.26 by Stone Wu on 2022/07/07 10:44
Show last authors
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 |[[image:image-20220707092316-1.png]]|[[image:image-20220707092322-2.png]]
556 |VD2A and VD2B servo drives|VD2F servo drive
557 |(% colspan="2" %)Figure 6-7 Position instruction input setting
558
559 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]]__.
560
561 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.
562
563
564 |**Pulse method**|**Maximum frequency**|**Voltage**
565 |Open collector input|200K|24V
566 |Differential input|500K|5V
567
568 Table 6-12 Pulse input specifications
569
570 1.Differential input
571
572 Take VD2A and VD2B drive as examples, the connection of differential input is shown as below.
573
574 (% style="text-align:center" %)
575 [[image:image-20220707092615-5.jpeg]]
576
577 Figure 6-8 Differential input connection
578
579 ✎**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]]__”
580
581 2.Open collector input
582
583 Take VD2A and VD2B drive as examples, the connection of differential input is shown as below.
584
585 (% style="text-align:center" %)
586 [[image:image-20220707092401-3.jpeg||height="530" width="834"]]
587
588 Figure 6-9 Open collector input connection
589
590 ✎**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]]__”
591
592 2) Position pulse frequency and anti-interference level
593
594 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.
595
596 (% style="text-align:center" %)
597 [[image:image-20220608163952-8.png]]
598
599 Figure 6-10 Example of filtered signal waveform
600
601 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.
602
603
604 |=(% scope="row" %)**Function code**|=**Name**|=(((
605 **Setting method**
606 )))|=(((
607 **Effective time**
608 )))|=**Default value**|=**Range**|=(% colspan="2" %)**Definition**|=**Unit**
609 |=P00-13|Maximum position pulse frequency|(((
610 Shutdown setting
611 )))|(((
612 Effective immediately
613 )))|300|1 to 500|(% colspan="2" %)Set the maximum frequency of external pulse instruction|KHz
614 |=(% rowspan="3" %)P00-14|(% rowspan="3" %)Position pulse anti-interference level|(% rowspan="3" %)(((
615 Operation setting
616 )))|(% rowspan="3" %)(((
617 Power-on again
618 )))|(% rowspan="3" %)2|(% rowspan="3" %)0 to 9|(% colspan="2" %)(((
619 Set the anti-interference level of external pulse instruction.
620
621 0: no filtering;
622
623 1: Filtering time 128ns
624
625 2: Filtering time 256ns
626
627 3: Filtering time 512ns
628
629 4: Filtering time 1.024us
630
631 5: Filtering time 2.048us
632
633 6: Filtering time 4.096us
634
635 7: Filtering time 8.192us
636
637 8: Filtering time 16.384us
638 )))|(% rowspan="3" %)-
639 |=(% rowspan="2" %)9|VD2: Filtering time 25.5us
640 |=VD2F: Filtering time 25.5us
641
642 Table 6-13 Position pulse frequency and anti-interference level parameters
643
644 3) Position pulse type selection
645
646 In VD2 series servo drives, there are three types of input pulse instructions, and the related function codes are shown in the table below.
647
648
649 |=(% scope="row" %)**Function code**|=**Name**|=(((
650 **Setting method**
651 )))|=(((
652 **Effective time**
653 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
654 |=P00-12|Position pulse type selection|(((
655 Operation setting
656 )))|(((
657 Power-on again
658 )))|0|0 to 5|(((
659 0: direction + pulse (positive logic)
660
661 1: CW/CCW
662
663 2: A, B phase quadrature pulse (4 times frequency)
664
665 3: Direction + pulse (negative logic)
666
667 4: CW/CCW (negative logic)
668
669 5: A, B phase quadrature pulse (4 times frequency negative logic)
670 )))|-
671
672 Table 6-14 Position pulse type selection parameter
673
674 |=(% scope="row" %)**Pulse type selection**|=**Pulse type**|=**Signal**|=**Schematic diagram of forward pulse**|=**Schematic diagram of negative pulse**
675 |=0|(((
676 Direction + pulse
677
678 (Positive logic)
679 )))|(((
680 PULSE
681
682 SIGN
683 )))|[[image:image-20220707094340-6.jpeg]]|[[image:image-20220707094345-7.jpeg]]
684 |=1|CW/CCW|(((
685 PULSE (CW)
686
687 SIGN (CCW)
688 )))|(% colspan="2" %)[[image:image-20220707094351-8.jpeg]]
689 |=2|(((
690 AB phase orthogonal
691
692 pulse (4 times frequency)
693 )))|(((
694 PULSE (Phase A)
695
696 SIGN (Phase B)
697 )))|(((
698
699
700 [[image:image-20220707094358-9.jpeg]]
701
702 Phase A is 90° ahead of Phase B
703 )))|(((
704
705
706 [[image:image-20220707094407-10.jpeg]]
707
708 Phase B is 90° ahead of Phase A
709 )))
710 |=3|(((
711 Direction + pulse
712
713 (Negative logic)
714 )))|(((
715 PULSE
716
717 SIGN
718 )))|[[image:image-20220707094414-11.jpeg]]|[[image:image-20220707094418-12.jpeg]]
719 |=4|(((
720 CW/CCW
721
722 (Negative logic)
723 )))|(((
724 PULSE (CW)
725
726 SIGN (CCW)
727 )))|(% colspan="2" %)[[image:image-20220707094423-13.jpeg]]
728 |=5|(((
729 AB phase orthogonal
730
731 pulse (4 times frequency negative logic)
732 )))|(((
733 PULSE (Phase A)
734
735 SIGN (Phase B)
736 )))|(((
737
738
739 [[image:image-20220707094429-14.jpeg]]
740
741 Phase B is ahead of A phase by 90°
742 )))|(((
743
744
745 [[image:image-20220707094437-15.jpeg]]
746
747 Phase A is ahead of B phase by 90°
748 )))
749
750 Table 6-15 Pulse description
751
752 **(2) The source of position instruction is internal position instruction (P01-06=1)**
753
754 The VD2 series servo drive has a multi-segment position operation function, which supports maximum 16-segment instructions. The displacement, maximum operating speed (steady-state operating speed) and acceleration/deceleration time of each segment could be set separately. The waiting time between positions could also be set according to actual needs. The setting process of multi-segment position is shown in __[[Figure 6-11>>https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/image-20220608164116-9.png?rev=1.1]]__.
755
756 The servo drive completely runs the multi-segment position instruction set by P07-01 once, and the total number of positions is called completing one round of operation.
757
758 (% style="text-align:center" %)
759 [[image:image-20220608164116-9.png]]
760
761 Figure 6-11 The setting process of multi-segment position
762
763 1) Set multi-segment position running mode
764
765 |=(% scope="row" %)**Function code**|=**Name**|=(((
766 **Setting method**
767 )))|=(((
768 **Effective time**
769 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
770 |=P07-01|Multi-segment position running mode|(((
771 Shutdown setting
772 )))|(((
773 Effective immediately
774 )))|0|0 to 2|(((
775 0: Single running
776
777 1: Cycle running
778
779 2: DI switching running
780 )))|-
781 |=P07-02|Start segment number|(((
782 Shutdown setting
783 )))|(((
784 Effective immediately
785 )))|1|1 to 16|1st segment NO. in non-DI switching mode|-
786 |=P07-03|End segment number|(((
787 Shutdown setting
788 )))|(((
789 Effective immediately
790 )))|1|1 to 16|last segment NO. in non-DI switching mode|-
791 |=P07-04|Margin processing method|(((
792 Shutdown setting
793 )))|(((
794 Effective immediately
795 )))|0|0 to 1|(((
796 0: Run the remaining segments
797
798 1: Run again from the start segment
799 )))|-
800 |=P07-05|Displacement instruction type|(((
801 Shutdown setting
802 )))|(((
803 Effective immediately
804 )))|0|0 to 1|(((
805 0: Relative position instruction
806
807 1: Absolute position instruction
808 )))|-
809
810 Table 6-16 multi-segment position running mode parameters
811
812 VD2 series servo drive has three multi-segment position running modes, and you could select the best running mode according to the site requirements.
813
814 ~1. Single running
815
816 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
817
818
819 (% style="text-align:center" %)
820 [[image:image-20220608164226-10.png]]
821
822 Figure 6-12 Single running curve (P07-02=1, P07-03=2)
823
824 2. Cycle running
825
826 In this running mode, the position number is automatically incremented and switched, and the servo drive repeatedly runs the total number of multi-segment position instructions set by P07-02 and P07-03. The waiting time could be set between each segment. The cycle running curve is shown in __[[Figure 6-13>>https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/image-20220608164327-11.png?rev=1.1]]__, and S1,S2,S3 and S4 are the displacements of the 1st, 2nd, 3rd and 4th segment respectively.
827
828
829 (% style="text-align:center" %)
830 [[image:image-20220608164327-11.png]]
831
832 Figure 6-13 Cycle running curve (P07-02=1, P07-03=4)
833
834 |[[image:image-20220611151917-5.png]]
835 |In single running and cycle running mode, the setting value of P07-03 needs to be greater than the setting value of P07-02.
836
837 3. DI switching running
838
839 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.
840
841 |=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
842 |=21|INPOS1: Internal multi-segment position segment selection 1|Form internal multi-segment position running segment number
843 |=22|INPOS2: Internal multi-segment position segment selection 2|Form internal multi-segment position running segment number
844 |=23|INPOS3: Internal multi-segment position segment selection 3|Form internal multi-segment position running segment number
845 |=24|INPOS4: Internal multi-segment position segment selection 4|Form internal multi-segment position running segment number
846
847 Table 6-17 DI function code
848
849 The multi-segment segment number is a 4-bit binary number, and the DI terminal logic is level valid. When the input level is valid, the segment selection bit value is 1, otherwise it is 0. Table 6-17 shows the correspondence between the position bits 1 to 4 of the internal multi-segment position and the position number.
850
851 |=(% scope="row" %)**INPOS4**|=**INPOS3**|=**INPOS2**|=**INPOS1**|=**Running position number**
852 |=0|0|0|0|1
853 |=0|0|0|1|2
854 |=0|0|1|0|3
855 |=(% colspan="5" %)…………
856 |=1|1|1|1|16
857
858 Table 6-18 INPOS corresponds to running segment number
859
860 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]]__.
861
862 (% style="text-align:center" %)
863 [[image:image-20220608164545-12.png]]
864
865 Figure 6-14 DI switching running curve
866
867 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.
868
869 **A. Run the remaining segments**
870
871 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.
872
873 (% style="text-align:center" %)
874 [[image:image-20220608164847-13.png]]
875
876 Figure 6-15 Single running-run the remaining segments (P07-02=1, P07-03=4)
877
878 (% style="text-align:center" %)
879 [[image:image-20220608165032-14.png]]
880
881 Figure 6-16 Cycle running-run the remaining segment (P07-02=1, P07-03=4)
882
883 **B. Run again from the start segment**
884
885 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.
886
887 (% style="text-align:center" %)
888 [[image:image-20220608165343-15.png]]
889
890 Figure 6-17 Single running-run from the start segment again (P07-02=1, P07-03=4)
891
892 (% style="text-align:center" %)
893 [[image:image-20220608165558-16.png]]
894
895 Figure 6-18 Cyclic running-run from the start segment again (P07-02=1, P07-03=4)
896
897 VD2 series servo drives have two types of displacement instructions: relative position instruction and absolute position instruction. The related function code is P07-05.
898
899 A. Relative position instruction
900
901 The relative position instruction takes the current stop position of the motor as the start point and specifies the amount of displacement.
902
903 |(((
904 [[image:image-20220608165710-17.png]]
905 )))|(((
906 [[image:image-20220608165749-18.png]]
907 )))
908 |Figure 6-19 Relative position diagram|Figure 6-20 Displacement diagram
909
910 B. Absolute position instruction
911
912 The absolute position instruction takes "reference origin" as the zero point of absolute positioning, and specifies the amount of displacement.
913
914 |(((
915 [[image:image-20220608165848-19.png]]
916 )))|(((
917 [[image:image-20220608170005-20.png]]
918 )))
919 |Figure 6-21 Absolute indication|Figure 6-22 Displacement
920
921 2) Multi-segment position running curve setting
922
923 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.
924
925 |=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit**
926 |=P07-09|(((
927 1st segment
928
929 displacement
930 )))|(((
931 Operation setting
932 )))|(((
933 Effective immediately
934 )))|10000|(((
935 -2147483647 to
936
937 2147483646
938 )))|Position instruction, positive and negative values could be set|-
939 |=P07-10|Maximum speed of the 1st displacement|(((
940 Operation setting
941 )))|(((
942 Effective immediately
943 )))|100|1 to 5000|Steady-state running speed of the 1st segment|rpm
944 |=P07-11|Acceleration and deceleration of 1st segment displacement|(((
945 Operation setting
946 )))|(((
947 Effective immediately
948 )))|100|1 to 65535|The time required for the acceleration and deceleration of the 1st segment|ms
949 |=P07-12|Waiting time after completion of the 1st segment displacement|(((
950 Operation setting
951 )))|(((
952 Effective immediately
953 )))|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
954
955 Table 6-19 The 1st position operation curve parameters table
956
957 After setting the above parameters, the actual operation curve of the motor is shown in Figure 6-23.
958
959 (% style="text-align:center" %)
960 [[image:image-20220608170149-21.png]]
961
962 Figure 6-23 The 1st segment running curve of motor
963
964 3) multi-segment position instruction enable
965
966 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.
967
968 |=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
969 |=20|ENINPOS: Internal multi-segment position enable signal|(((
970 DI port logic invalid: Does not affect the current operation of the servo motor.
971
972 DI port logic valid: Motor runs multi-segment position
973 )))
974
975 [[image:image-20220611152020-6.png]]
976
977 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!
978
979 == **Electronic gear ratio** ==
980
981 **(1) Definition of electronic gear ratio**
982
983 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.
984
985 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.
986
987 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)
988
989 (% style="text-align:center" %)
990 [[image:image-20220707094901-16.png]]
991
992
993
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 [[image:image-20220707100850-20.jpeg]]
1000
1001 Figure 6-24 Setting steps of electronic gear ratio
1002
1003 **(3) lectronic gear ratio switch setting**
1004
1005
1006 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.
1007
1008
1009 |=(% scope="row" %)**Function code**|=**Name**|=(((
1010 **Setting method**
1011 )))|=(((
1012 **Effective time**
1013 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1014 |=P00-16|Number of instruction pulses when the motor rotates one circle|(((
1015 Shutdown setting
1016 )))|(((
1017 Effective immediately
1018 )))|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.|(((
1019 Instruction pulse
1020
1021 unit
1022 )))
1023 |=P00-17|(((
1024 Electronic gear 1
1025
1026 numerator
1027 )))|Operation setting|(((
1028 Effective immediately
1029 )))|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.|-
1030 |=P00-18|(((
1031 Electronic gear 1
1032
1033 denominator
1034 )))|(((
1035 Operation setting
1036 )))|(((
1037 Effective immediately
1038 )))|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.|-
1039 |=P00-19|(((
1040 Electronic gear 2
1041
1042 numerator
1043 )))|Operation setting|(((
1044 Effective immediately
1045 )))|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.|-
1046 |=P00-20|(((
1047 Electronic gear 2
1048
1049 denominator
1050 )))|Operation setting|(((
1051 Effective immediately
1052 )))|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.|-
1053
1054 Table 6-20 Electronic gear ratio function code
1055
1056 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.
1057
1058
1059 |=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
1060 |=09|GEAR-SEL electronic gear switch 1|(((
1061 DI port logic invalid: electronic gear ratio 1
1062
1063 DI port logic valid: electronic gear ratio 2
1064 )))
1065
1066 Table 6-21 Switching conditions of electronic gear ratio group
1067
1068 |=(% scope="row" %)**P00-16 value**|=(% style="width: 510px;" %)**DI terminal level corresponding to DI port function 9**|=(% style="width: 400px;" %)**Electronic gear ratio** [[image:image-20220707101503-24.png]]
1069 |=(% rowspan="2" %)0|(% style="width:510px" %)DI port logic invalid|(% style="width:400px" %)[[image:image-20220707101328-21.png]]
1070 |=(% style="width: 510px;" %)DI port logic valid|(% style="width:400px" %)[[image:image-20220707101336-22.png]]
1071 |=1 to 131072|(% style="width:510px" %)~-~-|(% style="width:400px" %)[[image:image-20220707101341-23.png]]
1072
1073 Table 6-22 Application of electronic gear ratio
1074
1075 When the function code P00-16 is not 0, the electronic gear ratio [[image:image-20220707101509-25.png]] is invalid.
1076
1077 == **Position instruction filtering** ==
1078
1079 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.
1080
1081 In the following situations, position instruction filtering should be added.
1082
1083 1. The position instruction output by host computer has not been processed with acceleration or deceleration;
1084 1. The pulse instruction frequency is low;
1085 1. When the electronic gear ratio is 10 times or more.
1086
1087 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.
1088
1089 (% style="text-align:center" %)
1090 [[image:image-20220608170455-23.png]]
1091
1092 Figure 6-25 Position instruction filtering diagram
1093
1094 |=(% scope="row" %)**Function code**|=**Name**|=(((
1095 **Setting method**
1096 )))|=(((
1097 **Effective time**
1098 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1099 |=P04-01|Pulse instruction filtering method|(((
1100 Shutdown setting
1101 )))|(((
1102 Effective immediately
1103 )))|0|0 to 1|(((
1104 0: 1st-order low-pass filtering
1105
1106 1: average filtering
1107 )))|-
1108 |=P04-02|Position instruction 1st-order low-pass filtering time constant|Shutdown setting|(((
1109 Effective immediately
1110 )))|0|0 to 1000|Position instruction first-order low-pass filtering time constant|ms
1111 |=P04-03|Position instruction average filtering time constant|Shutdown setting|(((
1112 Effective immediately
1113 )))|0|0 to 128|Position instruction average filtering time constant|ms
1114
1115 Table 6-23 Position instruction filter function code
1116
1117 == **Clearance of position deviation** ==
1118
1119 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;
1120
1121 Position deviation = (position instruction-position feedback) (encoder unit)
1122
1123 == **Position-related DO output function** ==
1124
1125 The feedback value of position instruction is compared with different thresholds, and output DO signal for host computer use.
1126
1127 (% class="wikigeneratedid" id="HPositioningcompletion2Fpositioningapproachoutput" %)
1128 **Positioning completion/positioning approach output**
1129
1130 (% class="wikigeneratedid" %)
1131 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.
1132
1133 (% style="text-align:center" %)
1134 [[image:image-20220608170550-24.png]]
1135
1136 Figure 6-26 Positioning completion signal output diagram
1137
1138 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.
1139
1140 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]]__.
1141
1142 (% style="text-align:center" %)
1143 [[image:image-20220608170650-25.png]]
1144
1145 Figure 6-27 Positioning completion signal output with increased window filter time diagram
1146
1147 |=(% scope="row" %)**Function code**|=**Name**|=(((
1148 **Setting method**
1149 )))|=(((
1150 **Effective time**
1151 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1152 |=P05-12|Positioning completion threshold|(((
1153 Operation setting
1154 )))|(((
1155 Effective immediately
1156 )))|800|1 to 65535|Positioning completion threshold|Equivalent pulse unit
1157 |=P05-13|Positioning approach threshold|(((
1158 Operation setting
1159 )))|(((
1160 Effective immediately
1161 )))|5000|1 to 65535|Positioning approach threshold|Equivalent pulse unit
1162 |=P05-14|Position detection window time|(((
1163 Operation setting
1164 )))|(((
1165 Effective immediately
1166 )))|10|0 to 20000|Set positioning completion detection window time|ms
1167 |=P05-15|Positioning signal hold time|(((
1168 Operation setting
1169 )))|(((
1170 Effective immediately
1171 )))|100|0 to 20000|Set positioning completion output hold time|ms
1172
1173 Table 6-24 Function code parameters of positioning completion
1174
1175 |=(% scope="row" %)**DO function code**|=**Function name**|=**Function**
1176 |=134|P-COIN positioning complete|Output this signal indicates the servo drive position is complete.
1177 |=135|(((
1178 P-NEAR positioning close
1179 )))|(((
1180 Output this signal indicates that the servo drive position is close.
1181 )))
1182
1183 Table 6-25 Description of DO rotation detection function code
1184
1185 = **Speed control mode** =
1186
1187 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.
1188
1189 (% style="text-align:center" %)
1190 [[image:6.28.jpg||height="260" width="806"]]
1191
1192 Figure 6-28 Speed control block diagram
1193
1194 == **Speed instruction input setting** ==
1195
1196 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.
1197
1198
1199 |**Function code**|**Name**|(((
1200 **Setting method**
1201 )))|(((
1202 **Effective time**
1203 )))|**Default value**|**Range**|**Definition**|**Unit**
1204 |P01-01|Speed instruction source|(((
1205 Shutdown setting
1206 )))|(((
1207 Effective immediately
1208 )))|1|1 to 1|(((
1209 0: internal speed instruction
1210
1211 1: AI_1 analog input (not supported by VD2F)
1212 )))|-
1213
1214 Table 6-26 Speed instruction source parameter
1215
1216 **(1) Speed instruction source is internal speed instruction (P01-01=0)**
1217
1218 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 belo
1219
1220 (% style="width:1141px" %)
1221 |(% colspan="1" %)**Function code**|(% colspan="2" %)**Name**|(% colspan="2" %)(((
1222 **Setting**
1223
1224 **method**
1225 )))|(% colspan="2" %)(((
1226 **Effective**
1227
1228 **time**
1229 )))|(% colspan="2" %)**Default value**|(% colspan="2" %)**Range**|(% colspan="2" %)**Definition**|(% colspan="2" %)**Unit**
1230 |(% colspan="1" %)P01-02|(% colspan="2" %)(((
1231 Internal speed
1232
1233 Instruction 0
1234 )))|(% colspan="2" %)(((
1235 Operation
1236
1237 setting
1238 )))|(% colspan="2" %)(((
1239 Effective
1240
1241 immediately
1242 )))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1243 Internal speed instruction 0
1244
1245 When DI input port:
1246
1247 15-INSPD3: 0
1248
1249 14-INSPD2: 0
1250
1251 13-INSPD1: 0,
1252
1253 select this speed instruction to be effective.
1254 )))|(% colspan="2" %)rpm
1255 |(% colspan="1" %)P01-23|(% colspan="2" %)(((
1256 Internal speed
1257
1258 Instruction 1
1259 )))|(% colspan="2" %)(((
1260 Operation
1261
1262 setting
1263 )))|(% colspan="2" %)(((
1264 Effective
1265
1266 immediately
1267 )))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1268 Internal speed instruction 1
1269
1270 When DI input port:
1271
1272 15-INSPD3: 0
1273
1274 14-INSPD2: 0
1275
1276 13-INSPD1: 1,
1277
1278 Select this speed instruction to be effective.
1279 )))|(% colspan="2" %)rpm
1280 |(% colspan="1" %)P01-24|(% colspan="2" %)(((
1281 Internal speed
1282
1283 Instruction 2
1284 )))|(% colspan="2" %)(((
1285 Operation
1286
1287 setting
1288 )))|(% colspan="2" %)(((
1289 Effective
1290
1291 immediately
1292 )))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1293 Internal speed instruction 2
1294
1295 When DI input port:
1296
1297 15-INSPD3: 0
1298
1299 14-INSPD2: 1
1300
1301 13-INSPD1: 0,
1302
1303 Select this speed instruction to be effective.
1304 )))|(% colspan="2" %)rpm
1305 |(% colspan="1" %)P01-25|(% colspan="2" %)(((
1306 Internal speed
1307
1308 Instruction 3
1309 )))|(% colspan="2" %)(((
1310 Operation
1311
1312 setting
1313 )))|(% colspan="2" %)(((
1314 Effective
1315
1316 immediately
1317 )))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1318 Internal speed instruction 3
1319
1320 When DI input port:
1321
1322 15-INSPD3: 0
1323
1324 14-INSPD2: 1
1325
1326 13-INSPD1: 1,
1327
1328 Select this speed instruction to be effective.
1329 )))|(% colspan="2" %)rpm
1330 |P01-26|(% colspan="2" %)(((
1331 Internal speed
1332
1333 Instruction 4
1334 )))|(% colspan="2" %)(((
1335 Operation
1336
1337 setting
1338 )))|(% colspan="2" %)(((
1339 Effective
1340
1341 immediately
1342 )))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1343 Internal speed instruction 4
1344
1345 When DI input port:
1346
1347 15-INSPD3: 1
1348
1349 14-INSPD2: 0
1350
1351 13-INSPD1: 0,
1352
1353 Select this speed instruction to be effective.
1354 )))|(% colspan="1" %)rpm
1355 |P01-27|(% colspan="2" %)(((
1356 Internal speed
1357
1358 Instruction 5
1359 )))|(% colspan="2" %)(((
1360 Operation
1361
1362 setting
1363 )))|(% colspan="2" %)(((
1364 Effective
1365
1366 immediately
1367 )))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1368 Internal speed instruction 5
1369
1370 When DI input port:
1371
1372 15-INSPD3: 1
1373
1374 14-INSPD2: 0
1375
1376 13-INSPD1: 1,
1377
1378 Select this speed instruction to be effective.
1379 )))|(% colspan="1" %)rpm
1380 |P01-28|(% colspan="2" %)(((
1381 Internal speed
1382
1383 Instruction 6
1384 )))|(% colspan="2" %)(((
1385 Operation
1386
1387 setting
1388 )))|(% colspan="2" %)(((
1389 Effective
1390
1391 immediately
1392 )))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1393 Internal speed instruction 6
1394
1395 When DI input port:
1396
1397 15-INSPD3: 1
1398
1399 14-INSPD2: 1
1400
1401 13-INSPD1: 0,
1402
1403 Select this speed instruction to be effective.
1404 )))|(% colspan="1" %)rpm
1405 |P01-29|(% colspan="2" %)(((
1406 Internal speed
1407
1408 Instruction 7
1409 )))|(% colspan="2" %)(((
1410 Operation
1411
1412 setting
1413 )))|(% colspan="2" %)(((
1414 Effective
1415
1416 immediately
1417 )))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1418 Internal speed instruction 7
1419
1420 When DI input port:
1421
1422 15-INSPD3: 1
1423
1424 14-INSPD2: 1
1425
1426 13-INSPD1: 1,
1427
1428 Select this speed instruction to be effective.
1429 )))|(% colspan="1" %)rpm
1430
1431 Table 6-27 Internal speed instruction parameters
1432
1433 |**DI function code**|**function name**|**Function**
1434 |13|INSPD1 internal speed instruction selection 1|Form internal multi-speed running segment number
1435 |14|INSPD2 internal speed instruction selection 2|Form internal multi-speed running segment number
1436 |15|INSPD3 internal speed instruction selection 3|Form internal multi-speed running segment number
1437
1438 Table 6-28 DI multi-speed function code description
1439
1440 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.
1441
1442
1443 |**INSPD3**|**INSPD2**|**INSPD1**|**Running segment number**|**Internal speed instruction number**
1444 |0|0|0|1|0
1445 |0|0|1|2|1
1446 |0|1|0|3|2
1447 |(% colspan="5" %)......
1448 |1|1|1|8|7
1449
1450 Table 6-29 Correspondence between INSPD bits and segment numbers
1451
1452 [[image:image-20220608170845-26.png]]
1453
1454 Figure 6-29 Multi-segment speed running curve
1455
1456 **(2) Speed instruction source is internal speed instruction (P01-01=1)**
1457
1458 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.
1459
1460 (% style="text-align:center" %)
1461 [[image:image-20220608153341-5.png]]
1462
1463 Figure 6-30 Analog input circuit
1464
1465 Taking AI_1 as an example, the method of setting the speed instruction of analog voltage is illustrated as below.
1466
1467 (% style="text-align:center" %)
1468 [[image:image-20220608170955-27.png]]
1469
1470 Figure 6-31 Analog voltage speed instruction setting steps
1471
1472 Explanation of related terms:
1473
1474 * Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
1475 * Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
1476 * Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1477
1478 (% style="text-align:center" %)
1479 [[image:image-20220608171124-28.png]]
1480
1481 Figure 6-32 AI_1 diagram before and after bias
1482
1483 |**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
1484 |P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1485 |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
1486 |P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel quantity dead zone value|mV
1487 |P05-04☆|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV
1488
1489 Table 6-30 AI_1 parameters
1490
1491 ✎**Note: **“☆” means VD2F servo drive does not support the function code .
1492
1493 == **Acceleration and deceleration time setting** ==
1494
1495 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.
1496
1497 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.
1498
1499 (% style="text-align:center" %)
1500 [[image:image-20220608171314-29.png]]
1501
1502 Figure 6-33 of acceleration and deceleration time diagram
1503
1504 (% style="text-align:center" %)
1505 [[image:image-20220707103616-27.png]]
1506
1507 |**Function code**|**Name**|(((
1508 **Setting method**
1509 )))|(((
1510 **Effective time**
1511 )))|**Default value**|**Range**|**Definition**|**Unit**
1512 |P01-03|Acceleration time|(((
1513 Operation setting
1514 )))|(((
1515 Effective immediately
1516 )))|50|0 to 65535|The time for the speed instruction to accelerate from 0 to 1000rpm|ms
1517 |P01-04|Deceleration time|(((
1518 Operation setting
1519 )))|(((
1520 Effective immediately
1521 )))|50|0 to 65535|The time for the speed instruction to decelerate from 1000rpm to 0|ms
1522
1523 Table 6-31 Acceleration and deceleration time parameters
1524
1525 == **Speed instruction limit** ==
1526
1527 In speed mode, the servo drive could limit the size of the speed instruction. The sources of speed instruction limit include:
1528
1529 1. P01-10: Set the maximum speed limit value
1530 1. P01-12: Set forward speed limit value
1531 1. P01-13: Set reverse speed limit value
1532 1. The maximum speed of the motor: determined by motor model
1533
1534 The actual motor speed limit interval satisfies the following relationship:
1535
1536 The amplitude of forward speed instruction ≤ min (Maximum motor speed, P01-10, P01-12)
1537
1538 The amplitude of negative speed command ≤ min (Maximum motor speed, P01-10, P01-13)
1539
1540
1541 |**Function code**|**Name**|(((
1542 **Setting method**
1543 )))|(((
1544 **Effective time**
1545 )))|**Default value**|**Range**|**Definition**|**Unit**
1546 |P01-10|Maximum speed threshold|(((
1547 Operation setting
1548 )))|(((
1549 Effective immediately
1550 )))|3600|0 to 5000|Set the maximum speed limit value, if exceeds this value, an overspeed fault will be reported|rpm
1551 |P01-12|Forward speed threshold|(((
1552 Operation setting
1553 )))|(((
1554 Effective immediately
1555 )))|3000|0 to 5000|Set forward speed limit value|rpm
1556 |P01-13|Reverse speed threshold|(((
1557 Operation setting
1558 )))|(((
1559 Effective immediately
1560 )))|3000|0 to 5000|Set reverse speed limit value|rpm
1561
1562 Table 6-32 Rotation speed related function codes
1563
1564 == **Zero-speed clamp function** ==
1565
1566 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.
1567
1568 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.
1569
1570
1571 |**Function code**|**Name**|(((
1572 **Setting method**
1573 )))|(((
1574 **Effective time**
1575 )))|**Default value**|**Range**|**Definition**|**Unit**
1576 |P01-21|(((
1577 Zero-speed clamp function selection
1578 )))|(((
1579 Operation setting
1580 )))|(((
1581 Effective immediately
1582 )))|0|0 to 3|(((
1583 Set the zero-speed clamp function. In speed mode:
1584
1585 0: Force the speed to 0;
1586
1587 1: Force the speed to 0, and keep the position locked when the actual speed is less than P01-22
1588
1589 2: When speed instruction is less than P01-22, force the speed to 0 and keep the position locked
1590
1591 3: Invalid, ignore zero-speed clamp input
1592 )))|-
1593 |P01-22|(((
1594 Zero-speed clamp speed threshold
1595 )))|(((
1596 Operation setting
1597 )))|(((
1598 Effective immediately
1599 )))|20|0 to 1000|Set the speed threshold of zero-speed clamp function|rpm
1600
1601 Table 6-33 Zero-speed clamp related parameters
1602
1603
1604 [[image:image-20220608171549-30.png]]
1605
1606 Figure 6-34 Zero-speed clamp diagram
1607
1608 == **Speed-related DO output function** ==
1609
1610 The feedback value of the position instruction is compared with different thresholds, and could output DO signal for host computer use.
1611
1612 **(1) Rotation detection signal**
1613
1614 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.
1615
1616
1617 [[image:image-20220608171625-31.png]]
1618
1619 Figure 6-35 Rotation detection signal diagram
1620
1621 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]]__.
1622
1623
1624 |**Function code**|**Name**|(((
1625 **Setting method**
1626 )))|(((
1627 **Effective time**
1628 )))|**Default value**|**Range**|**Definition**|**Unit**
1629 |P05-16|(((
1630 Rotation detection
1631
1632 speed threshold
1633 )))|(((
1634 Operation setting
1635 )))|(((
1636 Effective immediately
1637 )))|20|0 to 1000|Set the motor rotation signal judgment threshold|rpm
1638
1639 Table 6-34 Rotation detection speed threshold parameters
1640
1641 |**DO function code**|**Function name**|**Function**
1642 |132|(((
1643 T-COIN rotation detection
1644 )))|(((
1645 Valid: when the absolute value of motor speed after filtering is greater than or equal to the set value of function code P05-16
1646
1647 Invalid, when the absolute value of motor speed after filtering is less than set value of function code P05-16
1648 )))
1649
1650 Table 6-35 DO rotation detection function code
1651
1652 **(2) Zero-speed signal**
1653
1654 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.
1655
1656 [[image:image-20220608171904-32.png]]
1657
1658 Figure 6-36 Zero-speed signal diagram
1659
1660 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]]__.
1661
1662 |**Function code**|**Name**|(((
1663 **Setting method**
1664 )))|(((
1665 **Effective time**
1666 )))|**Default value**|**Range**|**Definition**|**Unit**
1667 |P05-19|Zero speed output signal threshold|(((
1668 Operation setting
1669 )))|(((
1670 Effective immediately
1671 )))|10|0 to 6000|Set zero-speed output signal judgment threshold|rpm
1672
1673 Table 6-36 Zero-speed output signal threshold parameter
1674
1675
1676 |**DO function code**|**Function name**|**Function**
1677 |133|(((
1678 ZSP zero speed signal
1679 )))|Output this signal indicates that the servo motor is stopping rotation
1680
1681 Table 6-37 DO zero-speed signal function code
1682
1683 **(3) Speed consistent signal**
1684
1685 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.
1686
1687 [[image:image-20220608172053-33.png]]
1688
1689 Figure 6-37 Speed consistent signal diagram
1690
1691 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]]__.
1692
1693 |**Function code**|**Name**|(((
1694 **Setting method**
1695 )))|(((
1696 **Effective time**
1697 )))|**Default value**|**Range**|**Definition**|**Unit**
1698 |P05-17|Speed consistent signal threshold|(((
1699 Operationsetting
1700 )))|(((
1701 Effective immediately
1702 )))|10|0 to 100|Set speed consistent signal threshold|rpm
1703
1704 Table 6-38 Speed consistent signal threshold parameters
1705
1706
1707 |**DO Function code**|**Function name**|**Function**
1708 |136|(((
1709 U-COIN consistent speed
1710 )))|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
1711
1712 Table 6-39 DO speed consistent function code
1713
1714 **(4) Speed approach signal**
1715
1716 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.
1717
1718 [[image:image-20220608172207-34.png]]
1719
1720 Figure 6-38 Speed approaching signal diagram
1721
1722 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 6-41>>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]]__.
1723
1724 |**Function code**|**Name**|(((
1725 **Setting method**
1726 )))|(((
1727 **Effective time**
1728 )))|**Default value**|**Range**|**Definition**|**Unit**
1729 |P05-18|Speed approach signal threshold|(((
1730 Operation setting
1731 )))|(((
1732 Effective immediately
1733 )))|100|10 to 6000|Set speed approach signal threshold|rpm
1734
1735 Table 6-40 Speed approaching signal threshold parameters
1736
1737 |**DO function code**|**Function name**|**Function**
1738 |137|(((
1739 V-NEAR speed approach
1740 )))|The output signal indicates that the actual speed of the servo motor has reached the expected value
1741
1742 Table 6-41 DO speed approach function code
1743
1744 = **Torque control mode** =
1745
1746 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.
1747
1748
1749 [[image:image-20220608172405-35.png]]
1750
1751 Figure 6-39 Torque mode diagram
1752
1753 == **Torque instruction input setting** ==
1754
1755 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.
1756
1757
1758 |**Function code**|**Name**|(((
1759 **Setting method**
1760 )))|(((
1761 **Effective time**
1762 )))|**Default value**|**Range**|**Definition**|**Unit**
1763 |P01-08|Torque instruction source|(((
1764 Shutdown setting
1765 )))|(((
1766 Effective immediately
1767 )))|0|0 to 1|(((
1768 0: internal torque instruction
1769
1770 1: AI_1 analog input(not supported by VD2F)
1771 )))|-
1772
1773 Table 6-42 Torque instruction source parameter
1774
1775 **(1) Torque instruction source is internal torque instruction (P01-07=0)**
1776
1777 Torque instruction source is from inside, the value is set by function code P01-08.
1778
1779
1780 |**Function code**|**Name**|(((
1781 **Setting method**
1782 )))|(((
1783 **Effective time**
1784 )))|**Default value**|**Range**|**Definition**|**Unit**
1785 |P01-08|Torque instruction keyboard set value|(((
1786 Operation setting
1787 )))|(((
1788 Effective immediately
1789 )))|0|-3000 to 3000|-300.0% to 300.0%|0.1%
1790
1791 Table 6-43 Torque instruction keyboard set value
1792
1793 **(2) Torque instruction source is internal torque instruction (P01-07=1)**
1794
1795 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.
1796
1797
1798 [[image:image-20220608153646-7.png||height="213" width="408"]]
1799
1800 Figure 6-40 Analog input circuit
1801
1802 Taking AI_1 as an example, the method of setting torque instruction of analog voltage is as below.
1803
1804
1805 [[image:image-20220608172502-36.png]]
1806
1807 Figure 6-41 Analog voltage torque instruction setting steps
1808
1809 Explanation of related terms:
1810
1811 Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
1812
1813 Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
1814
1815 Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1816
1817
1818 [[image:image-20220608172611-37.png]]
1819
1820 Figure 6-42 AI_1 diagram before and after bias
1821
1822
1823 |**Function code**|**Name**|**Setting method**|**Effective time**|**Default value**|**Range**|**Definition**|**Unit**
1824 |P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1825 |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
1826 |P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel dead zone value|mV
1827 |P05-04☆|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV
1828
1829 Table 6-44 AI_1 parameters
1830
1831 ✎**Note: **“☆” means VD2F servo drive does not support the function code .
1832
1833 == **Torque instruction filtering** ==
1834
1835 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]]__.
1836
1837
1838 |**Function code**|**Name**|(((
1839 **Setting method**
1840 )))|(((
1841 **Effective time**
1842 )))|**Default value**|**Range**|**Definition**|**Unit**
1843 |P04-04|Torque filtering time constant|(((
1844 Operation setting
1845 )))|(((
1846 Effective immediately
1847 )))|50|10 to 2500|This parameter is automatically set when “self-adjustment mode selection” is selected as 0|0.01ms
1848
1849 Table 6-45 Torque filtering time constant parameter details
1850
1851 ✎**Note: **If the filter time constant is set too large, the responsiveness will be reduced. Please set it while confirming the responsiveness.
1852
1853
1854 [[image:image-20220608172646-38.png]]
1855
1856 Figure 6-43 Torque instruction-first-order filtering diagram
1857
1858 == **Torque instruction limit** ==
1859
1860 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.
1861
1862 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.
1863
1864
1865 [[image:image-20220608172806-39.png]]
1866
1867 Figure 6-44 Torque instruction limit diagram
1868
1869 **(1) Set torque limit source**
1870
1871 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.
1872
1873
1874 |**Function code**|**Name**|(((
1875 **Setting method**
1876 )))|(((
1877 **Effective time**
1878 )))|**Default value**|**Range**|**Definition**|**Unit**
1879 |P01-14|(((
1880 Torque limit source
1881 )))|(((
1882 Shutdown setting
1883 )))|(((
1884 Effective immediately
1885 )))|0|0 to 1|(((
1886 0: internal value
1887
1888 1: AI_1 analog input
1889
1890 (not supported by VD2F)
1891 )))|-
1892
1893 1) Torque limit source is internal torque instruction (P01-14=0)
1894
1895 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.
1896
1897
1898 |**Function code**|**Name**|(((
1899 **Setting method**
1900 )))|(((
1901 **Effective time**
1902 )))|**Default value**|**Range**|**Definition**|**Unit**
1903 |P01-15|(((
1904 Forward torque limit
1905 )))|(((
1906 Operation setting
1907 )))|(((
1908 Effective immediately
1909 )))|3000|0 to 3000|When P01-14 is set to 0, the value of this function code is forward torque limit value|0.1%
1910 |P01-16|(((
1911 Reverse torque limit
1912 )))|(((
1913 Operation setting
1914 )))|(((
1915 Effective immediately
1916 )))|3000|0 to 3000|When P01-14 is set to 0, the value of this function code is reverse torque limit value|0.1%
1917
1918 Table 6-46 Torque limit parameter details
1919
1920 2) Torque limit source is external (P01-14=1)
1921
1922 Torque limit source is from external analog channel. The limit value is determined by the torque value corresponding to external AI_2 terminal.
1923
1924 **(2) Set torque limit DO signal output**
1925
1926 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.
1927
1928
1929 |**DO function code**|**Function name**|**Function**
1930 |139|(((
1931 T-LIMIT in torque limit
1932 )))|Output of this signal indicates that the servo motor torque is limited
1933
1934 Table 6-47 DO torque limit function codes
1935
1936 == **Speed limit in torque mode** ==
1937
1938 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.
1939
1940 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]]__.
1941
1942 |(((
1943 [[image:image-20220608172910-40.png]]
1944 )))|(((
1945 [[image:image-20220608173155-41.png]]
1946 )))
1947 |Figure 6-45 Forward running curve|Figure 6-46 Reverse running curve
1948
1949 |**Function code**|**Name**|(((
1950 **Setting method**
1951 )))|(((
1952 **Effective time**
1953 )))|**Default value**|**Range**|**Definition**|**Unit**
1954 |P01-17|(((
1955 Forward torque
1956
1957 limit in torque mode
1958 )))|(((
1959 Operation setting
1960 )))|(((
1961 Effective immediately
1962 )))|3000|0 to 5000|(((
1963 Forward torque
1964
1965 limit in torque mode
1966 )))|0.1%
1967 |P01-18|(((
1968 Reverse torque
1969
1970 limit in torque mode
1971 )))|(((
1972 Operation setting
1973 )))|(((
1974 Effective immediately
1975 )))|3000|0 to 5000|(((
1976 Reverse torque
1977
1978 limit in torque mode
1979 )))|0.1%
1980
1981 Table 6-48 Speed limit parameters in torque mode
1982
1983 ✎**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]]__.
1984
1985 == **Torque-related DO output functions** ==
1986
1987 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.
1988
1989 **Torque arrival**
1990
1991 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.
1992
1993
1994 [[image:image-20220608173541-42.png]]
1995
1996 Figure 6-47 Torque arrival output diagram
1997
1998 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]]__.
1999
2000
2001 |**Function code**|**Name**|(((
2002 **Setting method**
2003 )))|(((
2004 **Effective time**
2005 )))|**Default value**|**Range**|**Definition**|**Unit**
2006 |P05-20|(((
2007 Torque arrival
2008
2009 threshold
2010 )))|(((
2011 Operation setting
2012 )))|(((
2013 Effective immediately
2014 )))|100|0 to 300|(((
2015 The torque arrival threshold must be used with “Torque arrival hysteresis value”:
2016
2017 When the actual torque reaches Torque arrival threshold + Torque arrival hysteresis Value, the torque arrival DO is valid;
2018
2019 When the actual torque decreases below torque arrival threshold-torque arrival hysteresis value, the torque arrival DO is invalid
2020 )))|%
2021 |P05-21|(((
2022 Torque arrival
2023
2024 hysteresis
2025 )))|(((
2026 Operation setting
2027 )))|(((
2028 Effective immediately
2029 )))|10|0 to 20|Torque arrival the hysteresis value must be used with Torque arrival threshold|%
2030
2031 Table 6-49 Torque arrival parameters
2032
2033
2034 |**DO function code**|**Function name**|**Function**
2035 |138|(((
2036 T-COIN torque arrival
2037 )))|Used to determine whether the actual torque instruction has reached the set range
2038
2039 Table 6-50 DO Torque Arrival Function Code
2040
2041 = **Mixed control mode** =
2042
2043 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:
2044
2045 Position mode  Speed mode
2046
2047 Position mode  Torque mode
2048
2049 Speed mode  Torque mode
2050
2051 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.
2052
2053
2054 |**Function code**|**Name**|(((
2055 **Setting method**
2056 )))|(((
2057 **Effective time**
2058 )))|**Default value**|**Range**|**Definition**|**Unit**
2059 |P00-01|Control mode|(((
2060 Shutdown setting
2061 )))|(((
2062 Shutdown setting
2063 )))|1|1 to 6|(((
2064 1: Position control
2065
2066 2: Speed control
2067
2068 3: Torque control
2069
2070 4: Position/speed mixed control
2071
2072 5: Position/torque mixed control
2073
2074 6: Speed/torque mixed control
2075 )))|-
2076
2077 Table 6-51 Mixed control mode parameters
2078
2079 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.
2080
2081
2082 |**DI function code**|**Name**|**Function name**|**Function**
2083 |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(((
2084 |**P00-01**|**MixModeSel terminal logic**|**Control mode**
2085 |(% rowspan="2" %)4|Valid|Speed mode
2086 |invalid|Position mode
2087 |(% rowspan="2" %)5|Valid|Torque mode
2088 |invalid|Position mode
2089 |(% rowspan="2" %)6|Valid|Torque mode
2090 |invalid|Speed mode
2091 )))
2092
2093 Table 6-52 Description of DI function codes in control mode
2094
2095 ✎**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.
2096
2097 = **Absolute system** =
2098
2099 == **Overview** ==
2100
2101 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.
2102
2103 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.
2104
2105 == **Single-turn absolute value system** ==
2106
2107 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.
2108
2109
2110 |**Encoder type**|**Encoder resolution (bits)**|**Data range**
2111 |A1 (single-turn magnetic encoder)|17|0 to 131071
2112
2113 Table 6-53 Single-turn absolute encoder information
2114
2115 The relationship between encoder feedback position and rotating load position is shown in the figure below. (take a 17-bit encoder as an example).
2116
2117
2118 [[image:image-20220608173618-43.png]]
2119
2120 Figure 6-48 Diagram of relationship between encoder feedback position and rotating load position
2121
2122 == **Multi-turn absolute value system** ==
2123
2124 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.
2125
2126
2127 |**Encoder type**|**Encoder resolution (bits)**|**Data range**
2128 |C1 (multi-turn magnetic encoder)|17|0 to 131071
2129 |D2 (multi-turn Optical encoder)|23|0 to 8388607
2130
2131 Table 6-54 Multi-turn absolute encoder information
2132
2133 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).
2134
2135
2136 [[image:image-20220608173701-44.png]]
2137
2138 Figure 6-49 The relationship between encoder feedback position and rotating load position
2139
2140 == **Encoder feedback data** ==
2141
2142 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.
2143
2144
2145 |**Monitoring number**|**Category**|**Name**|**Unit**|**Data type**
2146 |U0-54|Universal|Absolute encoder position within 1 turn|Encoder unit|32-bit
2147 |U0-55|Universal|Rotations number of absolute encoder|circle|16-bit
2148 |U0-56|Universal|Multi-turn absolute value encoder current position|Instruction unit|32-bit
2149
2150 Table 6-55 Encoder feedback data
2151
2152 == **Absolute value system encoder battery box use precautions** ==
2153
2154 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.
2155
2156
2157 [[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"]]
2158
2159 Figure 6-50 the encoder battery box
2160
2161 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:
2162
2163 1. Step1 The servo drive is powered on and is in a non-operational state;
2164 1. Step2 Replace the battery;
2165 1. Step3 Set P10-03 to 1, and the drive will release A-92. It will run normally without other abnormal warnings.
2166
2167 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.
2168
2169
2170 |**Function code**|**Name**|(((
2171 **Setting method**
2172 )))|(((
2173 **Effective time**
2174 )))|**Default value**|**Range**|**Definition**|**Unit**
2175 |P10-06|Multi-turn absolute encoder reset|(((
2176 Shutdown setting
2177 )))|(((
2178 Effective immediately
2179 )))|0|0 to 1|(((
2180 0: No operation
2181
2182 1: Clear rotation number of multi-turn absolute encoder, multi-turn absolute encoder current position and encoder fault alarms.
2183
2184 ✎**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.
2185 )))|-
2186
2187 Table 6-56 Absolute encoder reset enable parameter
2188
2189 ✎**Note: **If the battery is replaced when the servo drive is powered off, the encoder data will be lost.
2190
2191 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.
2192
2193 = **Overview** =
2194
2195 == **VDI** ==
2196
2197 VDI (Virtual Digital Signal Input Port) is similar to hardware DI terminal. The DI function could also be assigned for use.
2198
2199 ✎**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).
2200
2201 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.
2202
2203
2204 [[image:image-20220608173804-46.png]]
2205
2206 Figure 6-51 VDI_1 setting steps
2207
2208
2209 |**Function code**|**Name**|(((
2210 **Setting method**
2211 )))|(((
2212 **Effective time**
2213 )))|**Default value**|**Range**|**Definition**|**Unit**
2214 |P13-1|Virtual VDI_1 input value|Operation setting|Effective immediately|0|0 to 1|(((
2215 When P06-04 is set to 1, DI_1 channel logic is control by this function code.
2216
2217 VDI_1 input level:
2218
2219 0: low level
2220
2221 1: high level
2222 )))|-
2223 |P13-2|Virtual VDI_2 input value|Operation setting|Effective immediately|0|0 to 1|(((
2224 When P06-07 is set to 1, DI_2 channel logic is control by this function code.
2225
2226 VDI_2 input level:
2227
2228 0: low level
2229
2230 1: high level
2231 )))|-
2232 |P13-3|Virtual VDI_3 input value|Operation setting|Effective immediately|0|0 to 1|(((
2233 When P06-10 is set to 1, DI_3 channel logic is control by this function code.
2234
2235 VDI_3 input level:
2236
2237 0: low level
2238
2239 1: high level
2240 )))|-
2241 |P13-4|Virtual VDI_4 input value|Operation setting|Effective immediately|0|0 to 1|(((
2242 When P06-13 is set to 1, DI_4 channel logic is control by this function code.
2243
2244 VDI_4 input level:
2245
2246 0: low level
2247
2248 1: high level
2249 )))|-
2250 |P13-05☆|Virtual VDI_5 input value|Operation setting|Effective immediately|0|0 to 1|(((
2251 When P06-16 is set to 1, DI_5 channel logic is control by this function code.
2252
2253 VDI_5 input level:
2254
2255 0: low level
2256
2257 1: high level
2258 )))|-
2259 |P13-06☆|Virtual VDI_6 input value|Operation setting|Effective immediately|0|0 to 1|(((
2260 When P06-19 is set to 1, DI_6 channel logic is control by this function code.
2261
2262 VDI_6 input level:
2263
2264 0: low level
2265
2266 1: high level
2267 )))|-
2268 |P13-07☆|Virtual VDI_7 input value|Operation setting|Effective immediately|0|0 to 1|(((
2269 When P06-22 is set to 1, DI_7 channel logic is control by this function code.
2270
2271 VDI_7 input level:
2272
2273 0: low level
2274
2275 1: high level
2276 )))|-
2277 |P13-08☆|Virtual VDI_8 input value|Operation setting|Effective immediately|0|0 to 1|(((
2278 When P06-25 is set to 1, DI_8 channel logic is control by this function code.
2279
2280 VDI_8 input level:
2281
2282 0: low level
2283
2284 1: high level
2285 )))|-
2286
2287 Table 6-57 Virtual VDI parameters
2288
2289 ✎**Note: **“☆” means VD2F servo drive does not support the function code .
2290
2291 == **Port filtering time** ==
2292
2293 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.
2294
2295
2296 |**Setting value**|**DI channel logic selection**|**Illustration**
2297 |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"]]
2298 |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"]]
2299
2300 Table 6-58 DI terminal channel logic selection
2301
2302 == **VDO** ==
2303
2304 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.
2305
2306 Take the DO_2 terminal as communication VDO, and the use steps of VDI are as the figure below.
2307
2308
2309 [[image:image-20220608173957-48.png]]
2310
2311 Figure 6-52 VDO_2 setting steps
2312
2313
2314 |**Function code**|**Name**|(((
2315 **Setting method**
2316 )))|(((
2317 **Effective time**
2318 )))|**Default value**|**Range**|**Definition**|**Unit**
2319 |P13-11|Communication VDO_1 output value|Operation setting|Effective immediately|0|0 to 1|(((
2320 VDO_1 output level：
2321
2322 0: low level
2323
2324 1: high level
2325 )))|-
2326 |P13-12|Communication VDO_2 output value|Operation setting|Effective immediately|0|0 to 1|(((
2327 VDO_2 output level：
2328
2329 0: low level
2330
2331 1: high level
2332 )))|-
2333 |P13-13|Communication VDO_3 output value|Operation setting|Effective immediately|0|0 to 1|(((
2334 VDO_3 output level：
2335
2336 0: low level
2337
2338 1: high level
2339 )))|-
2340 |P13-14|Communication VDO_4 output value|Operation setting|Effective immediately|0|0 to 1|(((
2341 VDO_4 output level：
2342
2343 0: low level
2344
2345 1: high level
2346 )))|-
2347
2348 Table 6-59 Communication control DO function parameters
2349
2350
2351 |**DO function number**|**Function name**|**Function**
2352 |145|COM_VDO1 communication VDO1 output|Use communication VDO
2353 |146|COM_VDO1 communication VDO2 output|Use communication VDO
2354 |147|COM_VDO1 communication VDO3 output|Use communication VDO
2355 |148|COM_VDO1 communication VDO4output|Use communication VDO
2356
2357 Table 6-60 VDO function number
2358
2359 ✎**Note:** You are advised to configure function codes for DO terminals in sequence to avoid errors during DO signal observation
2360
2361 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).
2362
2363 == **Motor overload protection** ==
2364
2365 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%.
2366
2367
2368 |**Function code**|**Name**|(((
2369 **Setting method**
2370 )))|(((
2371 **Effective time**
2372 )))|**Default value**|**Range**|**Definition**|**Unit**
2373 |P10-04|motor overload protection time coefficient|Operation setting|Effective immediately|100|0 to 800|(((
2374 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.
2375
2376 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
2377 )))|%
2378
2379 In the following cases, it could be modified according to the actual heat generation of the motor
2380
2381 1. The motor works in a place with high ambient temperature
2382 1. The motor runs in cycle circulates, and the single running cycle is short and the acceleration and deceleration is frequent.
2383
2384 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).
2385
2386 ✎**Note:** You are advised to configure function codes for DO terminals in sequence to avoid errors
2387
2388 Please use the shielded overload protection fault detection function with caution, otherwise it will cause burn out the motor.