06 Operation

1

= **Basic settings** =

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3

== **Check before operation** ==

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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.

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Table 6-1 Check contents before operation

== **Power-on** ==

**(1) Connect the main circuit power supply**

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After power on the main circuit, the bus voltage indicator shows no abnormality, and the panel display "rdy", indicating that the servo drive is in an operational state, waiting for the host computer to give the servo enable signal.

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If the drive panel displays other fault codes, please refer to __[[“10 Faults>>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.

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**(2) Set the servo drive enable (S-ON) to invalid (OFF)**

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== **Jog operation** ==

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Jog operation is used to judge whether the servo motor can rotate normally, and whether there is abnormal vibration and abnormal sound during rotation. Jog operation can be realized in two ways, one is panel jog operation, which can be realized by pressing the buttons on the servo panel. The other is jog operation through the host computer debugging platform.

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**(1) Panel jog operation**

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Enter “P10-01” by pressing the key on the panel. After pressing “OK”, the panel will display the current jog speed. At this time, you can adjust the jog speed by pressing the "up" or "down" keys; After adjusting the moving speed, press "OK", and the panel displays "JOG" and is in a flashing state. Press "OK" again to enter the jog operation mode (the motor is now powered on!). Long press the "up" and "down" keys to achieve the forward and reverse rotation of the motor. Press "Mode" key to exit the jog operation mode. For operation and display, please refer to __[["5.3.2. Jog operation">>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]]__.

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**(2) Jog operation of servo debugging platform**

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Open the jog operation interface of the software “Wecon SCTool”, set the jog speed value in the "set speed" in the "manual operation", click the "servo on" button on the interface, and then achieve the jog forward and reverse function through the "forward rotation" or "Reverse" button on the interface. After clicking the "Servo off" button, the jog operation mode is exited. The related function codes are shown below.

|=(% scope="row" %)**Function code**|=**Name**|=(((

**Setting method**

)))|=(((

**Effective time**

)))|=**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

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Table 6-2 JOG speed parameter

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== **Rotation direction selection** ==

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By setting the “P00-04” rotation direction, you could change the rotation direction of the motor without changing the polarity of the input instruction. The function code is shown in below.

|=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

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0: standard setting (CW is forward rotation)

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1: reverse mode (CCW is forward rotation)

75

)))|-

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Table 6-3 Rotation direction parameters** **

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== **Braking resistor** ==

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The servo motor is in the generator state when decelerating or stopping, the motor will transfer energy back to the drive, which will increase the bus voltage. When the bus voltage exceeds the braking point, The drive can consume the feedback energy in the form of thermal energy through the braking resistor. The braking resistor can be built-in or externally connected, but it cannot be used at the same time. When selecting an external braking resistor, it is necessary to remove the short link on the servo drive.

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The basis for judging whether the braking resistor is built-in or external.

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1. the maximum brake energy calculated value > the maximum brake energy absorbed by capacitor, and the brake power calculated value ≤ the built-in braking resistor power, use the built-in braking resistor.

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.

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88

|=(% scope="row" %)**Function code**|=**Name**|=(((

**Setting method**

)))|=(((

**Effective time**

)))|=**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

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100

1: use external braking resistor and natural cooling

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2: use external braking resistor and forced air cooling; (cannot be set)

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3: No braking resistor is used, it is all absorbed by capacitor.

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

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Table 6-4 Braking resistor parameters

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== **Servo operation** ==

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**(1) Set the servo enable (S-ON) to valid (ON)**

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The servo drive is in a running state and displays "run", but because there is no instruction input at this time, the servo motor does not rotate and is locked.

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S-ON can be configured and selected by the DI terminal function selection of the function code "DIDO configuration".

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**(2) Input the instruction and the motor rotates**

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Input appropriate instructions during operation, first run the motor at a low speed, and observe the rotation to see if it conforms to the set rotation direction. Observe the actual running speed, bus voltage and other parameters of the motor through the host computer debugging platform. According to [[__"7 Adjustment"__>>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.

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**(3) Timing diagram of power on**

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[[image:image-20220608163014-1.png]]

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Figure 6-1 Timing diagram of power on

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== **Servo shutdown** ==

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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]]__.

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|=(% 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.

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148

Table 6-5 Comparison of two shutdown modes

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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.

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Table 6-6 Comparison of two shutdown status

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**(1) Servo enable (S-ON) OFF shutdown**

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The related parameters of the servo OFF shutdown mode are shown in the table below.

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161

|=(% scope="row" %)**Function code**|=**Name**|=(((

**Setting method**

)))|=(((

**Effective time**

)))|=(((

**Default value**

)))|=**Range**|=**Definition**|=**Unit**

168

|=P00-05|Servo OFF shutdown|(((

Shutdown

setting

)))|(((

Effective

immediately

)))|0|0 to 1|(((

0: Free shutdown, and the motor shaft remains free status.

178

179

1: Zero-speed shutdown, and the motor shaft remains free status.

180

)))|-

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182

Table 6-7Table 6-1 Servo OFF shutdown mode parameters details

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184

**(2) Emergency shutdown**

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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".

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**(3) Overtravel shutdown**

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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.

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Once the servo drive detects the action of the limit switch signal, it will immediately force the speed in the current direction of rotation to 0 to prevent it from continuing, and it will not be affected for reverse rotation. The overtravel shutdonw is fixed at zero speed and the motor shaft remains locked.

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The corresponding configuration and selection could be selected through the DI terminal function of the function code "DIDO configuration". The default function of DI3 is POT and DI4 is NOT, as shown in the table below.

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|=(% scope="row" %)**Function code**|=**Name**|=(((

**Setting method**

)))|=(((

**Effective time**

)))|=**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)

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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

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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

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235

16: J-SEL inertia ratio switch (not implemented yet)

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237

17: MixModesel mixed mode selection

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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

Others: reserved

)))|-

|=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.

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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|(((

Operation setting

)))|(((

again Power-on

)))|4|0 to 32|(((

0 off (not used)

01: SON Servo enable

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

Others: reserved

)))|-

|=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

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343

**(4) Malfunction shutdown**

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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.

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347

== **Brake device** ==

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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.

|(((

[[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;

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358

✎ After the servo motor stops, turn off the servo enable (S-ON) in time;

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360

✎The brake coil has no polarity;

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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**

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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]]

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374

Figure 6-2 VD2B servo drive brake wiring

|(((

[[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**|=(((

**Effective time**

)))

|=144|(((

BRK-OFF Brake output

)))|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**|=(((

**Setting method**

)))|=(((

**Effective time**

)))|=**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]]__

|(((

[[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]]__.

|(((

[[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**|=(((

**Setting method**

)))|=(((

**Effective time**

)))|=**Default value**|=**Range**|=**Definition**|=**Unit**

509

|=P01-01|Control mode|(((

510

Operation setting

511

)))|(((

512

immediately Effective

)))|0|0 to 6|(((

0: position control

2: speed control

3: torque control

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**|=(((

**Setting method**

)))|=(((

**Effective time**

)))|=**Default value**|=**Range**|=**Definition**|=**Unit**

539

|=P01-06|Position instruction source|(((

540

Operation setting

541

)))|(((

542

immediately Effective

)))|0|0 to 1|(((

0: pulse instruction

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

1.Differential input

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

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**|=(((

**Setting method**

)))|=(((

**Effective time**

)))|=**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.

0: no filtering;

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**|=(((

**Setting method**

)))|=(((

**Effective time**

)))|=**Default value**|=**Range**|=**Definition**|=**Unit**

654

|=P00-12|Position pulse type selection|(((

Operation setting

)))|(((

Power-on again

)))|0|0 to 5|(((

0: direction + pulse (positive logic)

1: CW/CCW

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

|=0|(((

Direction + pulse

(Positive logic)

)))|(((

PULSE

SIGN

)))|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/21.jpg?rev=1.1]]|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/26.jpg?rev=1.1]]

|=1|CW/CCW|(((

PULSE (CW)

SIGN (CCW)

)))|(% colspan="2" %)[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/27.jpg?rev=1.1]]

|=2|(((

AB phase orthogonal

pulse (4 times frequency)

)))|(((

PULSE (Phase A)

SIGN (Phase B)

)))|(((

[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/28.jpg?rev=1.1]]

700

701

Phase A is 90° ahead of Phase B

702

)))|(((

703

[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/29.jpg?rev=1.1]]

704

705

Phase B is 90° ahead of Phase A

)))

|=3|(((

Direction + pulse

(Negative logic)

)))|(((

PULSE

SIGN

)))|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/30.jpg?rev=1.1]]|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/31.jpg?rev=1.1]]

|=4|(((

CW/CCW

(Negative logic)

)))|(((

PULSE (CW)

SIGN (CCW)

)))|(% colspan="2" %)[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/32.jpg?rev=1.1]]

|=5|(((

AB phase orthogonal

pulse (4 times frequency negative logic)

)))|(((

PULSE (Phase A)

SIGN (Phase B)

)))|(((

[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/33.jpg?rev=1.1]]

735

736

B phase is ahead of A phase by 90°

737

)))|(((

738

[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/34.jpg?rev=1.1]]

739

740

A phase is ahead of B phase by 90°

741

)))

742

743

Table 6-15 Pulse description

744

745

**(2) The source of position instruction is internal position instruction (P01-06=1)**

746

747

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]]__.

748

749

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.

750

751

752

[[image:image-20220608164116-9.png]]

753

754

Figure 6-11 The setting process of multi-segment position

755

756

1) Set multi-segment position running mode

757

758

759

|=(% scope="row" %)**Function code**|=**Name**|=(((

**Setting method**

)))|=(((

**Effective time**

)))|=**Default value**|=**Range**|=**Definition**|=**Unit**

764

|=P07-01|Multi-segment position running mode|(((

765

Shutdown setting

766

)))|(((

767

Effective immediately

)))|0|0 to 2|(((

0: Single running

1: Cycle running

2: DI switching running

774

)))|-

775

|=P07-02|Start segment number|(((

776

Shutdown setting

777

)))|(((

778

Effective immediately

779

)))|1|1 to 16|1st segment NO. in non-DI switching mode|-

780

|=P07-03|End segment number|(((

781

Shutdown setting

782

)))|(((

783

Effective immediately

784

)))|1|1 to 16|last segment NO. in non-DI switching mode|-

785

|=P07-04|Margin processing method|(((

786

Shutdown setting

787

)))|(((

788

Effective immediately

789

)))|0|0 to 1|(((

790

0: Run the remaining segments

791

792

1: Run again from the start segment

793

)))|-

794

|=P07-05|Displacement instruction type|(((

795

Shutdown setting

796

)))|(((

797

Effective immediately

798

)))|0|0 to 1|(((

799

0: Relative position instruction

800

801

1: Absolute position instruction

802

)))|-

803

804

Table 6-16 multi-segment position running mode parameters

805

806

VD2 series servo drive has three multi-segment position running modes, and you could select the best running mode according to the site requirements.

~1. Single running

In this running mode, the segment number is automatically incremented and switched, and the servo drive only operates for one round (the servo drive runs completely once for the total number of multi-segment position instructions set by P07-02 and P07-03). The single running curve is shown in __[[Figure 6-12>>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

811

812

813

[[image:image-20220608164226-10.png]]

814

815

Figure 6-12 Single running curve (P07-02=1, P07-03=2)

2. Cycle running

In this running mode, the position number is automatically incremented and switched, and the servo drive repeatedly runs the total number of multi-segment position instructions set by P07-02 and P07-03. The waiting time could be set between each segment. The cycle running curve is shown in __[[Figure 6-13>>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.

820

821

822

[[image:image-20220608164327-11.png]]

823

824

Figure 6-13 Cycle running curve (P07-02=1, P07-03=4)

825

826

|[[image:image-20220611151917-5.png]]

827

|In single running and cycle running mode, the setting value of P07-03 needs to be greater than the setting value of P07-02.

828

829

3. DI switching running

830

831

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.

832

833

834

|=(% scope="row" %)**DI function code**|=**Function name**|=**Function**

835

|=21|INPOS1: Internal multi-segment position segment selection 1|Form internal multi-segment position running segment number

836

|=22|INPOS2: Internal multi-segment position segment selection 2|Form internal multi-segment position running segment number

837

|=23|INPOS3: Internal multi-segment position segment selection 3|Form internal multi-segment position running segment number

838

|=24|INPOS4: Internal multi-segment position segment selection 4|Form internal multi-segment position running segment number

839

840

Table 6-17 DI function code

841

842

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.

|=0|0|0|0|1

|=0|0|0|1|2

|=0|0|1|0|3

|=(% colspan="5" %)…………

850

|=1|1|1|1|16

851

852

Table 6-18 INPOS corresponds to running segment number

853

854

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]]__.

855

856

857

[[image:image-20220608164545-12.png]]

858

859

Figure 6-14 DI switching running curve

860

861

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.

862

863

**A. Run the remaining segments**

864

865

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.

866

867

868

[[image:image-20220608164847-13.png]]

869

870

Figure 6-15 Single running-run the remaining segments (P07-02=1, P07-03=4)

871

872

873

[[image:image-20220608165032-14.png]]

874

875

Figure 6-16 Cycle running-run the remaining segment (P07-02=1, P07-03=4)

876

877

**B. Run again from the start segment**

878

879

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.

880

881

882

[[image:image-20220608165343-15.png]]

883

884

Figure 6-17 Single running-run from the start segment again (P07-02=1, P07-03=4)

885

886

887

[[image:image-20220608165558-16.png]]

888

889

Figure 6-18 Cyclic running-run from the start segment again (P07-02=1, P07-03=4)

890

891

VD2 series servo drives have two types of displacement instructions: relative position instruction and absolute position instruction. The related function code is P07-05.

892

893

A. Relative position instruction

894

895

The relative position instruction takes the current stop position of the motor as the start point and specifies the amount of displacement.

896

897

|(((

898

[[image:image-20220608165710-17.png]]

899

)))|(((

900

[[image:image-20220608165749-18.png]]

901

)))

902

|Figure 6-19 Relative position diagram|Figure 6-20 Displacement diagram

903

904

B. Absolute position instruction

905

906

The absolute position instruction takes "reference origin" as the zero point of absolute positioning, and specifies the amount of displacement.

907

908

|(((

909

[[image:image-20220608165848-19.png]]

910

)))|(((

911

[[image:image-20220608170005-20.png]]

912

)))

913

|Figure 6-21 Absolute indication|Figure 6-22 Displacement

914

915

2) Multi-segment position running curve setting

916

917

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.

|=P07-09|(((

1st segment

displacement

)))|(((

Operation setting

)))|(((

Effective immediately

)))|10000|(((

-2147483647 to

2147483646

)))|Position instruction, positive and negative values could be set|-

934

|=P07-10|Maximum speed of the 1st displacement|(((

935

Operation setting

936

)))|(((

937

Effective immediately

938

)))|100|1 to 5000|Steady-state running speed of the 1st segment|rpm

939

|=P07-11|Acceleration and deceleration of 1st segment displacement|(((

940

Operation setting

941

)))|(((

942

Effective immediately

943

)))|100|1 to 65535|The time required for the acceleration and deceleration of the 1st segment|ms

944

|=P07-12|Waiting time after completion of the 1st segment displacement|(((

945

Operation setting

946

)))|(((

947

Effective immediately

948

)))|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

949

950

Table 6-19 The 1st position operation curve parameters table

951

952

After setting the above parameters, the actual operation curve of the motor is shown in Figure 6-23.

953

954

955

[[image:image-20220608170149-21.png]]

956

957

Figure 6-23 The 1st segment running curve of motor

958

959

3) multi-segment position instruction enable

960

961

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.

962

963

964

|=(% scope="row" %)**DI function code**|=**Function name**|=**Function**

965

|=20|ENINPOS: Internal multi-segment position enable signal|(((

966

DI port logic invalid: Does not affect the current operation of the servo motor.

967

968

DI port logic valid: Motor runs multi-segment position

969

)))

970

971

[[image:image-20220611152020-6.png]]

972

973

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!

974

975

== **Electronic gear ratio** ==

976

977

**(1) Definition of electronic gear ratio**

978

979

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.

980

981

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.

982

983

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)

984

985

986

[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/35.png?rev=1.1]]

987

988

989

[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/36.png?rev=1.1]]

990

991

992

[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/37.png?rev=1.1]]

993

994

Otherwise, the servo drive will report Er.35: "Electronic gear ratio setting exceeds the limit"!

995

996

**(2) Setting steps of electronic gear ratio**

997

998

999

[[image:image-20220608170320-22.png]]

1000

1001

Figure 6-24 Setting steps of electronic gear ratio

1002

1003

Step1: Confirm the mechanical parameters including the reduction ratio, the ball screw lead, gear diameter in the gear drive, and pulley diameter in the pulley drive.

1004

1005

Step2: Confirm the resolution of servo motor encoder.

1006

1007

Step3: Confirm the parameters such as mechanical specifications, positioning accuracy, etc, and determine the load displacement corresponding to one position instruction output by the host computer.

1008

1009

Step4: Combine the mechanical parameters and the load displacement corresponding to one position instruction, calculate the position instruction value required for one rotation of the load shaft.

1010

1011

Step5: Calculate the value of electronic gear ratio according to formula below.

1012

1013

1014

[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/38.png?rev=1.1]]

1015

1016

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

1017

1018

1019

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.

1020

1021

1022

|=(% scope="row" %)**Function code**|=**Name**|=(((

**Setting method**

)))|=(((

**Effective time**

)))|=**Default value**|=**Range**|=**Definition**|=**Unit**

1027

|=P00-16|Number of instruction pulses when the motor rotates one circle|(((

1028

Shutdown setting

1029

)))|(((

1030

Effective immediately

1031

)))|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.|(((

Instruction pulse

unit

)))

|=P00-17|(((

Electronic gear 1

numerator

)))|Operation setting|(((

1041

Effective immediately

1042

)))|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.|-

|=P00-18|(((

Electronic gear 1

denominator

)))|(((

Operation setting

)))|(((

Effective immediately

1051

)))|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.|-

|=P00-19|(((

Electronic gear 2

numerator

)))|Operation setting|(((

1057

Effective immediately

1058

)))|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.|-

|=P00-20|(((

Electronic gear 2

denominator

)))|Operation setting|(((

1064

Effective immediately

1065

)))|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.|-

1066

1067

Table 6-20 Electronic gear ratio function code

1068

1069

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.

1070

1071

1072

|=(% scope="row" %)**DI function code**|=**Function name**|=**Function**

1073

|=09|GEAR-SEL electronic gear switch 1|(((

1074

DI port logic invalid: electronic gear ratio 1

1075

1076

DI port logic valid: electronic gear ratio 2

1077

)))

1078

1079

Table 6-21 Switching conditions of electronic gear ratio group

1080

1081

|=(% scope="row" %)**P00-16 value**|=**DI terminal level corresponding to DI port function 9**|=**Electronic gear ratio**[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/39.png?rev=1.1]]

1082

|=(% rowspan="2" %)0|DI port logic invalid|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/40.png?rev=1.1]]

1083

|=DI port logic valid|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/41.png?rev=1.1]]

1084

|=1 to 131072|~-~-|[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/42.png?rev=1.1]]

1085

1086

Table 6-22 Application of electronic gear ratio

1087

1088

When the function code P00-16 is not 0, the electronic gear ratio [[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/39.png?rev=1.1]] is invalid.

1089

1090

== **Position instruction filtering** ==

1091

1092

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.

1093

1094

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

1095

1096

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

1097

1. The pulse instruction frequency is low;

1098

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

1099

1100

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.

1101

1102

1103

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

1104

1105

Figure 6-25 Position instruction filtering diagram

1106

1107

1108

|=(% scope="row" %)**Function code**|=**Name**|=(((

**Setting method**

)))|=(((

**Effective time**

)))|=**Default value**|=**Range**|=**Definition**|=**Unit**

1113

|=P04-01|Pulse instruction filtering method|(((

1114

Shutdown setting

1115

)))|(((

1116

Effective immediately

1117

)))|0|0 to 1|(((

1118

0: 1st-order low-pass filtering

1: average filtering

)))|-

|=P04-02|Position instruction 1st-order low-pass filtering time constant|Shutdown setting|(((

1123

Effective immediately

1124

)))|0|0 to 1000|Position instruction first-order low-pass filtering time constant|ms

1125

|=P04-03|Position instruction average filtering time constant|Shutdown setting|(((

1126

Effective immediately

1127

)))|0|0 to 128|Position instruction average filtering time constant|ms

1128

1129

Table 6-23 Position instruction filter function code

1130

1131

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

1132

1133

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;

1134

1135

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

1136

1137

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

1138

1139

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

1140

1141

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

1142

**Positioning completion/positioning approach output**

1143

1144

(% class="wikigeneratedid" %)

1145

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.

1146

1147

1148

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

1149

1150

Figure 6-26 Positioning completion signal output diagram

1151

1152

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.

1153

1154

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]]__.

1155

1156

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

1157

1158

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

1159

1160

1161

|=(% scope="row" %)**Function code**|=**Name**|=(((

**Setting method**

)))|=(((

**Effective time**

)))|=**Default value**|=**Range**|=**Definition**|=**Unit**

1166

|=P05-12|Positioning completion threshold|(((

1167

Operation setting

1168

)))|(((

1169

Effective immediately

1170

)))|800|1 to 65535|Positioning completion threshold|Equivalent pulse unit

1171

|=P05-13|Positioning approach threshold|(((

1172

Operation setting

1173

)))|(((

1174

Effective immediately

1175

)))|5000|1 to 65535|Positioning approach threshold|Equivalent pulse unit

1176

|=P05-14|Position detection window time|(((

1177

Operation setting

1178

)))|(((

1179

Effective immediately

1180

)))|10|0 to 20000|Set positioning completion detection window time|ms

1181

|=P05-15|Positioning signal hold time|(((

1182

Operation setting

1183

)))|(((

1184

Effective immediately

1185

)))|100|0 to 20000|Set positioning completion output hold time|ms

1186

1187

Table 6-24 Function code parameters of positioning completion

1188

1189

1190

|=(% scope="row" %)**DO function code**|=**Function name**|=**Function**

1191

|=134|P-COIN positioning complete|Output this signal indicates the servo drive position is complete.

1192

|=135|(((

1193

P-NEAR positioning close

1194

)))|(((

1195

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

1196

)))

1197

1198

Table 6-25 Description of DO rotation detection function code

1199

1200

= **Speed control mode** =

1201

1202

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.

1203

1204

1205

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

1206

1207

Figure 6-28 Speed control block diagram

1208

1209

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

1210

1211

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.

1212

1213

1214

|**Function code**|**Name**|(((

**Setting method**

)))|(((

**Effective time**

)))|**Default value**|**Range**|**Definition**|**Unit**

1219

|P01-01|Speed instruction source|(((

1220

Shutdown setting

1221

)))|(((

1222

Effective immediately

1223

)))|1|1 to 6|(((

1224

0: internal speed instruction

1225

1226

1: AI_1 analog input (not supported by VD2F)

1227

)))|-

1228

1229

Table 6-26 Speed instruction source parameter

1230

1231

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

1232

1233

Speed instruction comes from internal instruction, and the internal speed instruction is given by a number. The VD2 series servo drive has internal multi-segment speed running function. There are 8 segments speed instructions stored in servo drive, and the speed of each segment could be set individually. The servo drive uses the 1st segment internal speed by default. To use the 2nd to 8th segment internal speed, the corresponding number of DI terminals must be configured as functions 13, 14, and 15. The detailed parameters and function codes are shown as below.

1234

1235

1236

|**Function code**|**Name**|(((

**Setting method**

)))|(((

**Effective time**

)))|**Default value**|**Range**|**Definition**|**Unit**

1241

|(% rowspan="2" %)P01-02|(% rowspan="2" %)(((

1242

Internal speed Instruction 0

1243

)))|(% rowspan="2" %)(((

1244

Operation setting

1245

)))|(% rowspan="2" %)(((

1246

Effective immediately

1247

)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((

1248

Internal speed instruction 0

When DI input port:

15-INSPD3: 0

14-INSPD2: 0

13-INSPD1: 0,

select this speed instruction to be effective.

1259

)))|(% rowspan="2" %)rpm

1260

|-5000 to 5000*

1261

|(% rowspan="2" %)P01-23|(% rowspan="2" %)(((

1262

Internal speed Instruction 1

1263

)))|(% rowspan="2" %)(((

1264

Operation setting

1265

)))|(% rowspan="2" %)(((

1266

Effective immediately

1267

)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((

1268

Internal speed instruction 1

When DI input port:

15-INSPD3: 0

14-INSPD2: 0

13-INSPD1: 1,

Select this speed instruction to be effective.

1279

)))|(% rowspan="2" %)rpm

1280

|-5000 to 5000*

1281

|(% rowspan="2" %)P01-24|(% rowspan="2" %)(((

1282

Internal speed Instruction 2

1283

)))|(% rowspan="2" %)(((

1284

Operation setting

1285

)))|(% rowspan="2" %)(((

1286

Effective immediately

1287

)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((

1288

Internal speed instruction 2

When DI input port:

15-INSPD3: 0

14-INSPD2: 1

13-INSPD1: 0,

Select this speed instruction to be effective.

1299

)))|(% rowspan="2" %)rpm

1300

|-5000 to 5000*

1301

|(% rowspan="2" %)P01-25|(% rowspan="2" %)(((

1302

Internal speed Instruction 3

1303

)))|(% rowspan="2" %)(((

1304

Operation setting

1305

)))|(% rowspan="2" %)(((

1306

Effective immediately

1307

)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((

1308

Internal speed instruction 3

When DI input port:

15-INSPD3: 0

14-INSPD2: 1

13-INSPD1: 1,

Select this speed instruction to be effective.

1319

)))|(% rowspan="2" %)rpm

1320

|-5000 to 5000*

1321

1322

|(% rowspan="2" %)P01-26|(% rowspan="2" %)(((

1323

Internal speed Instruction 4

1324

)))|(% rowspan="2" %)(((

1325

Operation setting

1326

)))|(% rowspan="2" %)(((

1327

Effective immediately

1328

)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((

1329

Internal speed instruction 4

When DI input port:

15-INSPD3: 1

14-INSPD2: 0

13-INSPD1: 0,

Select this speed instruction to be effective.

1340

)))|(% rowspan="2" %)rpm

1341

|-5000 to 5000*

1342

|(% rowspan="2" %)P01-27|(% rowspan="2" %)(((

1343

Internal speed Instruction 5

1344

)))|(% rowspan="2" %)(((

1345

Operation setting

1346

)))|(% rowspan="2" %)(((

1347

Effective immediately

1348

)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((

1349

Internal speed instruction 5

When DI input port:

15-INSPD3: 1

14-INSPD2: 0

13-INSPD1: 1,

Select this speed instruction to be effective.

1360

)))|(% rowspan="2" %)rpm

1361

|-5000 to 5000*

1362

|(% rowspan="2" %)P01-28|(% rowspan="2" %)(((

1363

Internal speed Instruction 6

1364

)))|(% rowspan="2" %)(((

1365

Operation setting

1366

)))|(% rowspan="2" %)(((

1367

Effective immediately

1368

)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((

1369

Internal speed instruction 6

When DI input port:

15-INSPD3: 1

14-INSPD2: 1

13-INSPD1: 0,

Select this speed instruction to be effective.

1380

)))|(% rowspan="2" %)rpm

1381

|-5000 to 5000*

1382

|(% rowspan="2" %)P01-29|(% rowspan="2" %)(((

1383

Internal speed Instruction 7

1384

)))|(% rowspan="2" %)(((

1385

Operation setting

1386

)))|(% rowspan="2" %)(((

1387

Effective immediately

1388

)))|(% rowspan="2" %)0|-3000 to 3000|(% rowspan="2" %)(((

1389

Internal speed instruction 7

When DI input port:

15-INSPD3: 1

14-INSPD2: 1

13-INSPD1: 1,

Select this speed instruction to be effective.

1400

)))|(% rowspan="2" %)rpm

1401

|-5000 to 5000*

1402

1403

Table 6-27 Internal speed instruction parameters

1404

1405

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

1406

1407

1408

|**DI function code**|**function name**|**Function**

1409

|13|INSPD1 internal speed instruction selection 1|Form internal multi-speed running segment number

1410

|14|INSPD2 internal speed instruction selection 2|Form internal multi-speed running segment number

1411

|15|INSPD3 internal speed instruction selection 3|Form internal multi-speed running segment number

1412

1413

Table 6-28 DI multi-speed function code description

1414

1415

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.

|0|0|0|1|0

|0|0|1|2|1

|0|1|0|3|2

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

1423

|1|1|1|8|7

1424

1425

Table 6-29 Correspondence between INSPD bits and segment numbers

1426

1427

1428

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

1429

1430

Figure 6-29 Multi-segment speed running curve

1431

1432

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

1433

1434

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.

1435

1436

1437

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

1438

1439

Figure 6-30 Analog input circuit

1440

1441

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

1442

1443

1444

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

1445

1446

Figure 6-31 Analog voltage speed instruction setting steps

1447

1448

Explanation of related terms:

1449

1450

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

1451

1452

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

1453

1454

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

1455

1456

1457

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

1458

1459

Figure 6-32 AI_1 diagram before and after bias

|P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV

1464

|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

1465

|P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel quantity dead zone value|mV

1466

|P05-04☆|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV

1467

1468

Table 6-30 AI_1 parameters

1469

1470

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

1471

1472

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

1473

1474

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.

1475

1476

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.

1477

1478

1479

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

1480

1481

Figure 6-33 of acceleration and deceleration time diagram

1482

1483

Actual acceleration time T1 =[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/43.jpg?rev=1.1]]

1484

1485

Actual deceleration time T2 =[[image:https://docs.we-con.com.cn/bin/download/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/WebHome/44.jpg?rev=1.1]]

1486

1487

1488

|**Function code**|**Name**|(((

**Setting method**

)))|(((

**Effective time**

)))|**Default value**|**Range**|**Definition**|**Unit**

1493

|P01-03|Acceleration time|(((

1494

Operation setting

1495

)))|(((

1496

Effective immediately

1497

)))|50|0 to 65535|The time for the speed instruction to accelerate from 0 to 1000rpm|ms

1498

|P01-04|Deceleration time|(((

1499

Operation setting

1500

)))|(((

1501

Effective immediately

1502

)))|50|0 to 65535|The time for the speed instruction to decelerate from 1000rpm to 0|ms

1503

1504

Table 6-31 Acceleration and deceleration time parameters

1505

1506

== **Speed instruction limit** ==

1507

1508

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

1509

1510

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

1511

1. P01-12: Set forward speed limit value

1512

1. P01-13: Set reverse speed limit value

1513

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

1514

1515

The actual motor speed limit interval satisfies the following relationship:

1516

1517

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

1518

1519

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

1520

1521

1522

|**Function code**|**Name**|(((

**Setting method**

)))|(((

**Effective time**

)))|**Default value**|**Range**|**Definition**|**Unit**

1527

|P01-10|Maximum speed threshold|(((

1528

Operation setting

1529

)))|(((

1530

Effective immediately

1531

)))|3600|0 to 5000|Set the maximum speed limit value, if exceeds this value, an overspeed fault will be reported|rpm

1532

|P01-12|Forward speed threshold|(((

1533

Operation setting

1534

)))|(((

1535

Effective immediately

1536

)))|3000|0 to 5000|Set forward speed limit value|rpm

1537

|P01-13|Reverse speed threshold|(((

1538

Operation setting

1539

)))|(((

1540

Effective immediately

1541

)))|3000|0 to 5000|Set reverse speed limit value|rpm

1542

1543

Table 6-32 Rotation speed related function codes

1544

1545

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

1546

1547

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.

1548

1549

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.

1550

1551

1552

|**Function code**|**Name**|(((

**Setting method**

)))|(((

**Effective time**

)))|**Default value**|**Range**|**Definition**|**Unit**

1557

|P01-21|(((

1558

Zero-speed clamp function selection

)))|(((

Operation setting

)))|(((

Effective immediately

1563

)))|0|0 to 3|(((

1564

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

1565

1566

0: Force the speed to 0;

1567

1568

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

1569

1570

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

1571

1572

3: Invalid, ignore zero-speed clamp input

1573

)))|-

1574

|P01-22|(((

1575

Zero-speed clamp speed threshold

)))|(((

Operation setting

)))|(((

Effective immediately

1580

)))|20|0 to 1000|Set the speed threshold of zero-speed clamp function|rpm

1581

1582

Table 6-33 Zero-speed clamp related parameters

1583

1584

1585

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

1586

1587

Figure 6-34 Zero-speed clamp diagram

1588

1589

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

1590

1591

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

1592

1593

**(1) Rotation detection signal**

1594

1595

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.

1596

1597

1598

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

1599

1600

Figure 6-35 Rotation detection signal diagram

1601

1602

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]]__.

1603

1604

1605

|**Function code**|**Name**|(((

**Setting method**

)))|(((

**Effective time**

)))|**Default value**|**Range**|**Definition**|**Unit**

|P05-16|(((

Rotation detection

speed threshold

)))|(((

Operation setting

)))|(((

Effective immediately

1618

)))|20|0 to 1000|Set the motor rotation signal judgment threshold|rpm

1619

1620

Table 6-34 Rotation detection speed threshold parameters

1621

1622

1623

|**DO function code**|**Function name**|**Function**

1624

|132|(((

1625

T-COIN rotation detection

1626

)))|(((

1627

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

1628

1629

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

1630

)))

1631

1632

Table 6-35 DO rotation detection function code

1633

1634

**(2) Zero-speed signal**

1635

1636

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.

1637

1638

1639

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

1640

1641

Figure 6-36 Zero-speed signal diagram

1642

1643

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]]__.

1644

1645

1646

|**Function code**|**Name**|(((

**Setting method**

)))|(((

**Effective time**

)))|**Default value**|**Range**|**Definition**|**Unit**

1651

|P05-19|Zero speed output signal threshold|(((

1652

Operation setting

1653

)))|(((

1654

Effective immediately

1655

)))|10|0 to 6000|Set zero-speed output signal judgment threshold|rpm

1656

1657

Table 6-36 Zero-speed output signal threshold parameter

1658

1659

1660

|**DO function code**|**Function name**|**Function**

1661

|133|(((

1662

ZSP zero speed signal

1663

)))|Output this signal indicates that the servo motor is stopping rotation

1664

1665

Table 6-37 DO zero-speed signal function code

1666

1667

**(3) Speed consistent signal**

1668

1669

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.

1670

1671

1672

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

1673

1674

Figure 6-37 Speed consistent signal diagram

1675

1676

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]]__.

1677

1678

1679

|**Function code**|**Name**|(((

**Setting method**

)))|(((

**Effective time**

)))|**Default value**|**Range**|**Definition**|**Unit**

1684

|P05-17|Speed consistent signal threshold|(((

1685

Operationsetting

1686

)))|(((

1687

Effective immediately

1688

)))|10|0 to 100|Set speed consistent signal threshold|rpm

1689

1690

Table 6-38 Speed consistent signal threshold parameters

1691

1692

1693

|**DO Function code**|**Function name**|**Function**

1694

|136|(((

1695

U-COIN consistent speed

1696

)))|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

1697

1698

Table 6-39 DO speed consistent function code

1699

1700

**(4) Speed approach signal**

1701

1702

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.

1703

1704

1705

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

1706

1707

Figure 6-38 Speed approaching signal diagram

1708

1709

To use the motor speed approach function, a DO terminal of the servo drive should be assigned to function 137 (V-NEAR, speed approach). The function code parameters and related DO function codes are shown in __[[Table 6-40>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__ and __[[Table 6-40>>https://docs.we-con.com.cn/bin/view/Servo/2.%20User%20Manual/06%20VD2%20SA%20Series%20Servo%20Drives%20Manual%20%28Full%20V1.1%29/06%20Operation/#HSpeed-relatedDOoutputfunction]]__.

1710

1711

1712

|**Function code**|**Name**|(((

**Setting method**

)))|(((

**Effective time**

)))|**Default value**|**Range**|**Definition**|**Unit**

1717

|P05-18|Speed approach signal threshold|(((

1718

Operation setting

1719

)))|(((

1720

Effective immediately

1721

)))|100|10 to 6000|Set speed approach signal threshold|rpm

1722

1723

Table 6-40 Speed approaching signal threshold parameters

1724

1725

1726

|**DO function code**|**Function name**|**Function**

1727

|137|(((

1728

V-NEAR speed approach

1729

)))|The output signal indicates that the actual speed of the servo motor has reached the expected value

1730

1731

Table 6-41 DO speed approach function code

1732

1733

= **Torque control mode** =

1734

1735

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.

1736

1737

1738

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

1739

1740

Figure 6-39 Torque mode diagram

1741

1742

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

1743

1744

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.

1745

1746

1747

|**Function code**|**Name**|(((

**Setting method**

)))|(((

**Effective time**

)))|**Default value**|**Range**|**Definition**|**Unit**

1752

|P01-08|Torque instruction source|(((

1753

Shutdown setting

1754

)))|(((

1755

Effective immediately

1756

)))|0|0 to 1|(((

1757

0: internal torque instruction

1758

1759

1: AI_1 analog input(not supported by VD2F)

1760

)))|-

1761

1762

Table 6-42 Torque instruction source parameter

1763

1764

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

1765

1766

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

1767

1768

1769

|**Function code**|**Name**|(((

**Setting method**

)))|(((

**Effective time**

)))|**Default value**|**Range**|**Definition**|**Unit**

1774

|P01-08|Torque instruction keyboard set value|(((

1775

Operation setting

1776

)))|(((

1777

Effective immediately

1778

)))|0|-3000 to 3000|-300.0% to 300.0%|0.1%

1779

1780

Table 6-43 Torque instruction keyboard set value

1781

1782

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

1783

1784

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.

1785

1786

1787

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

1788

1789

Figure 6-40 Analog input circuit

1790

1791

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

1792

1793

1794

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

1795

1796

Figure 6-41 Analog voltage torque instruction setting steps

1797

1798

Explanation of related terms:

1799

1800

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

1801

1802

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

1803

1804

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

1805

1806

1807

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

1808

1809

Figure 6-42 AI_1 diagram before and after bias

|P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV

1814

|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

1815

|P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel dead zone value|mV

1816

|P05-04☆|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV

1817

1818

Table 6-44 AI_1 parameters

1819

1820

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

1821

1822

== **Torque instruction filtering** ==

1823

1824

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]]__.

1825

1826

1827

|**Function code**|**Name**|(((

**Setting method**

)))|(((

**Effective time**

)))|**Default value**|**Range**|**Definition**|**Unit**

1832

|P04-04|Torque filtering time constant|(((

1833

Operation setting

1834

)))|(((

1835

Effective immediately

1836

)))|50|10 to 2500|This parameter is automatically set when “self-adjustment mode selection” is selected as 0|0.01ms

1837

1838

Table 6-45 Torque filtering time constant parameter details

1839

1840

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

1841

1842

1843

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

1844

1845

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

1846

1847

== **Torque instruction limit** ==

1848

1849

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.

1850

1851

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.

1852

1853

1854

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

1855

1856

Figure 6-44 Torque instruction limit diagram

1857

1858

**(1) Set torque limit source**

1859

1860

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.

1861

1862

1863

|**Function code**|**Name**|(((

**Setting method**

)))|(((

**Effective time**

)))|**Default value**|**Range**|**Definition**|**Unit**

|P01-14|(((

Torque limit source

)))|(((

Shutdown setting

)))|(((

Effective immediately

)))|0|0 to 1|(((

0: internal value

1: AI_1 analog input

(not supported by VD2F)

1880

)))|-

1881

1882

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

1883

1884

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.

1885

1886

1887

|**Function code**|**Name**|(((

**Setting method**

)))|(((

**Effective time**

)))|**Default value**|**Range**|**Definition**|**Unit**

|P01-15|(((

Forward torque limit

)))|(((

Operation setting

)))|(((

Effective immediately

1898

)))|3000|0 to 3000|When P01-14 is set to 0, the value of this function code is forward torque limit value|0.1%

|P01-16|(((

Reverse torque limit

)))|(((

Operation setting

)))|(((

Effective immediately

1905

)))|3000|0 to 3000|When P01-14 is set to 0, the value of this function code is reverse torque limit value|0.1%

1906

1907

Table 6-46 Torque limit parameter details

1908

1909

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

1910

1911

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

1912

1913

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

1914

1915

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.

1916

1917

1918

|**DO function code**|**Function name**|**Function**

1919

|139|(((

1920

T-LIMIT in torque limit

1921

)))|Output of this signal indicates that the servo motor torque is limited

1922

1923

Table 6-47 DO torque limit function codes

1924

1925

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

1926

1927

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.

1928

1929

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]]__.

1930

1931

|(((

1932

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

1933

)))|(((

1934

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

1935

)))

1936

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

1937

1938

|**Function code**|**Name**|(((

**Setting method**

)))|(((

**Effective time**

)))|**Default value**|**Range**|**Definition**|**Unit**

|P01-17|(((

Forward torque

limit in torque mode

)))|(((

Operation setting

)))|(((

Effective immediately

1951

)))|3000|0 to 5000|(((

Forward torque

limit in torque mode

)))|0.1%

|P01-18|(((

Reverse torque

limit in torque mode

)))|(((

Operation setting

)))|(((

Effective immediately

1964

)))|3000|0 to 5000|(((

Reverse torque

limit in torque mode

)))|0.1%

Table 6-48 Speed limit parameters in torque mode

1971

1972

✎**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]]__.

1973

1974

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

1975

1976

The feedback value of torque instruction is compared with different thresholds, and could output the DO signal for the host computer use. The DO terminal of the servo drive is assigned to different functions and determine the logic to be valid.

**Torque arrival**

The torque arrival function is used to determine whether the actual torque instruction reaches the set interval. When the actual torque instruction reaches the torque instruction threshold, the servo drive outputs a torque arrival signal (T-COIN) for the host computer use.

1981

1982

1983

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

1984

1985

Figure 6-47 Torque arrival output diagram

1986

1987

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]]__.

1988

1989

1990

|**Function code**|**Name**|(((

**Setting method**

)))|(((

**Effective time**

)))|**Default value**|**Range**|**Definition**|**Unit**

|P05-20|(((

Torque arrival

threshold

)))|(((

Operation setting

)))|(((

Effective immediately

2003

)))|100|0 to 300|(((

2004

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

2005

2006

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

2007

2008

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

)))|%

|P05-21|(((

Torque arrival

hysteresis

)))|(((

Operation setting

)))|(((

Effective immediately

2018

)))|10|0 to 20|Torque arrival the hysteresis value must be used with Torque arrival threshold|%

2019

2020

Table 6-49 Torque arrival parameters

2021

2022

2023

|**DO function code**|**Function name**|**Function**

2024

|138|(((

2025

T-COIN torque arrival

2026

)))|Used to determine whether the actual torque instruction has reached the set range

2027

2028

Table 6-50 DO Torque Arrival Function Code

2029

2030

= **Mixed control mode** =

2031

2032

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:

2033

2034

Position mode  Speed mode

2035

2036

Position mode  Torque mode

2037

2038

Speed mode  Torque mode

2039

2040

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.

2041

2042

2043

|**Function code**|**Name**|(((

**Setting method**

)))|(((

**Effective time**

)))|**Default value**|**Range**|**Definition**|**Unit**

2048

|P00-01|Control mode|(((

Shutdown setting

)))|(((

Shutdown setting

)))|1|1 to 6|(((

1: Position control

2: Speed control

3: Torque control

4: Position/speed mixed control

2060

2061

5: Position/torque mixed control

2062

2063

6: Speed/torque mixed control

2064

)))|-

2065

2066

Table 6-51 Mixed control mode parameters

2067

2068

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.

2069

2070

2071

|**DI function code**|**Name**|**Function name**|**Function**

2072

|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(((

2073

|**P00-01**|**MixModeSel terminal logic**|**Control mode**

2074

|(% rowspan="2" %)4|Valid|Speed mode

2075

|invalid|Position mode

2076

|(% rowspan="2" %)5|Valid|Torque mode

2077

|invalid|Position mode

2078

|(% rowspan="2" %)6|Valid|Torque mode

|invalid|Speed mode

)))

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

2083

2084

✎**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.

2085

2086

= **Absolute system** =

== **Overview** ==

Absolute encoder could detect the position of the servo motor within one turn, and could count the number of turns of the motor. This series of servo drives are equipped with a maximum of 23-bit encoders and could memorize 16-bit multi-turn data, and position, speed, torque control modes could be used. Especially in position control, the absolute value encoder does not need to count, could achieve direct internal high-speed reading and external output, and could significantly reduce the subsequent calculation tasks of the receiving device controller. When the drive is powered off, the encoder uses battery backup data. After power on, the drive uses the encoder's absolute position to calculate the absolute mechanical position, eliminating the need for repeated mechanical origin reset operations.

2091

2092

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.

2093

2094

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

2095

2096

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.

2097

2098

2099

|**Encoder type**|**Encoder resolution (bits)**|**Data range**

2100

|A1 (single-turn magnetic encoder)|17|0 to 131071

2101

2102

Table 6-53 Single-turn absolute encoder information

2103

2104

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

2105

2106

2107

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

2108

2109

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

2110

2111

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

2112

2113

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.

2114

2115

2116

|**Encoder type**|**Encoder resolution (bits)**|**Data range**

2117

|C1 (multi-turn magnetic encoder)|17|0 to 131071

2118

|D2 (multi-turn Optical encoder)|23|0 to 8388607

2119

2120

Table 6-54 Multi-turn absolute encoder information

2121

2122

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).

2123

2124

2125

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

2126

2127

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

2128

2129

== **Encoder feedback data** ==

2130

2131

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.

Table 6-55 Encoder feedback data

2140

2141

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

2142

2143

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.

2144

2145

2146

[[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"]]

2147

2148

Figure 6-50 the encoder battery box

2149

2150

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:

2151

2152

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

2153

1. Step2 Replace the battery;

2154

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

2155

2156

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.

2157

2158

2159

|**Function code**|**Name**|(((

**Setting method**

)))|(((

**Effective time**

)))|**Default value**|**Range**|**Definition**|**Unit**

2164

|P10-06|Multi-turn absolute encoder reset|(((

2165

Shutdown setting

2166

)))|(((

2167

Effective immediately

)))|0|0 to 1|(((

0: No operation

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

2172

2173

✎**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.

2174

)))|-

2175

2176

Table 6-56 Absolute encoder reset enable parameter

2177

2178

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

2179

2180

When the servo drive is powered off, please ensure that the maximum speed of motor does not exceed 3000 rpm to ensure that the encoder position information is accurately recorded. Please store the storage device according to the specified ambient temperature, and ensure that the encoder battery has reliable contact and sufficient power, otherwise the encoder position information may be lost.

= **Overview** =

== **VDI** ==

VDI (Virtual Digital Signal Input Port) is similar to hardware DI terminal. The DI function could also be assigned for use.

2187

2188

✎**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).

2189

2190

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.

2191

2192

2193

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

2194

2195

Figure 6-51 VDI_1 setting steps

2196

2197

2198

|**Function code**|**Name**|(((

**Setting method**

)))|(((

**Effective time**

)))|**Default value**|**Range**|**Definition**|**Unit**

2203

|P13-1|Virtual VDI_1 input value|Operation setting|Effective immediately|0|0 to 1|(((

2204

When P06-04 is set to 1, DI_1 channel logic is control by this function code.

VDI_1 input level:

0: low level

1: high level

)))|-

|P13-2|Virtual VDI_2 input value|Operation setting|Effective immediately|0|0 to 1|(((

2213

When P06-07 is set to 1, DI_2 channel logic is control by this function code.

VDI_2 input level:

0: low level

1: high level

)))|-

|P13-3|Virtual VDI_3 input value|Operation setting|Effective immediately|0|0 to 1|(((

2222

When P06-10 is set to 1, DI_3 channel logic is control by this function code.

VDI_3 input level:

0: low level

1: high level

)))|-

|P13-4|Virtual VDI_4 input value|Operation setting|Effective immediately|0|0 to 1|(((

2231

When P06-13 is set to 1, DI_4 channel logic is control by this function code.

VDI_4 input level:

0: low level

1: high level

)))|-

|P13-05☆|Virtual VDI_5 input value|Operation setting|Effective immediately|0|0 to 1|(((

2240

When P06-16 is set to 1, DI_5 channel logic is control by this function code.

VDI_5 input level:

0: low level

1: high level

)))|-

|P13-06☆|Virtual VDI_6 input value|Operation setting|Effective immediately|0|0 to 1|(((

2249

When P06-19 is set to 1, DI_6 channel logic is control by this function code.

VDI_6 input level:

0: low level

1: high level

)))|-

|P13-07☆|Virtual VDI_7 input value|Operation setting|Effective immediately|0|0 to 1|(((

2258

When P06-22 is set to 1, DI_7 channel logic is control by this function code.

VDI_7 input level:

0: low level

1: high level

)))|-

|P13-08☆|Virtual VDI_8 input value|Operation setting|Effective immediately|0|0 to 1|(((

2267

When P06-25 is set to 1, DI_8 channel logic is control by this function code.

VDI_8 input level:

0: low level

1: high level

)))|-

Table 6-57 Virtual VDI parameters

2277

2278

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

2279

2280

== **Port filtering time** ==

2281

2282

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.

2283

2284

2285

|**Setting value**|**DI channel logic selection**|**Illustration**

2286

|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"]]

2287

|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"]]

2288

2289

Table 6-58 DI terminal channel logic selection

== **VDO** ==

In addition to being an internal hardware output port, DO terminal is also used as a communication VDO. The communication control DO function could help you to achieve communication control DO output on the servo drive.

2294

2295

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

2296

2297

2298

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

2299

2300

Figure 6-52 VDO_2 setting steps

2301

2302

2303

|**Function code**|**Name**|(((

**Setting method**

)))|(((

**Effective time**

)))|**Default value**|**Range**|**Definition**|**Unit**

2308

|P13-11|Communication VDO_1 output value|Operation setting|Effective immediately|0|0 to 1|(((

VDO_1 output level：

0: low level

1: high level

)))|-

|P13-12|Communication VDO_2 output value|Operation setting|Effective immediately|0|0 to 1|(((

VDO_2 output level：

0: low level

1: high level

)))|-

|P13-13|Communication VDO_3 output value|Operation setting|Effective immediately|0|0 to 1|(((

VDO_3 output level：

0: low level

1: high level

)))|-

|P13-14|Communication VDO_4 output value|Operation setting|Effective immediately|0|0 to 1|(((

VDO_4 output level：

0: low level

1: high level

)))|-

Table 6-59 Communication control DO function parameters

2338

2339

2340

|**DO function number**|**Function name**|**Function**

2341

|145|COM_VDO1 communication VDO1 output|Use communication VDO

2342

|146|COM_VDO1 communication VDO2 output|Use communication VDO

2343

|147|COM_VDO1 communication VDO3 output|Use communication VDO

2344

|148|COM_VDO1 communication VDO4output|Use communication VDO

2345

2346

Table 6-60 VDO function number

2347

2348

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

2349

2350

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).

2351

2352

== **Motor overload protection** ==

2353

2354

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%.

2355

2356

2357

|**Function code**|**Name**|(((

**Setting method**

)))|(((

**Effective time**

)))|**Default value**|**Range**|**Definition**|**Unit**

2362

|P10-04|motor overload protection time coefficient|Operation setting|Effective immediately|100|0 to 800|(((

2363

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.

2364

2365

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

2366

)))|%

2367

2368

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

2369

2370

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

2371

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

2372

2373

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).

2374

2375

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

2376

2377

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

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