Wiki source code of 06 Operation
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| author | version | line-number | content |
|---|---|---|---|
| 1 | = **Basic settings** = | ||
| 2 | |||
| 3 | == **Check before operation** == | ||
| 4 | |||
| 5 | |=(% scope="row" style="width: 79px;" %)**No.**|=(% style="width: 996px;" %)**Content** | ||
| 6 | |=(% colspan="2" %)Wiring | ||
| 7 | |=(% style="width: 79px;" %)1|(% style="width:996px" %)The main circuit input terminals (L1, L2 and L3) of servo drive must be properly connected. | ||
| 8 | |=(% style="width: 79px;" %)2|(% style="width:996px" %)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 | |=(% style="width: 79px;" %)3|(% style="width:996px" %)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 | |=(% style="width: 79px;" %)4|(% style="width:996px" %)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 | |=(% style="width: 79px;" %)5|(% style="width:996px" %)Servo drive and servo motor must be grounded reliably. | ||
| 12 | |=(% style="width: 79px;" %)6|(% style="width:996px" %)When using an external braking resistor, the short wiring between drive C and D must be removed. | ||
| 13 | |=(% style="width: 79px;" %)7|(% style="width:996px" %)The force of all cables is within the specified range. | ||
| 14 | |=(% style="width: 79px;" %)8|(% style="width:996px" %)The wiring terminals have been insulated. | ||
| 15 | |=(% colspan="2" %)Environment and Machinery | ||
| 16 | |=(% style="width: 79px;" %)1|(% style="width:996px" %)There is no iron filings, metal, etc. that can cause short circuits inside or outside the servo drive. | ||
| 17 | |=(% style="width: 79px;" %)2|(% style="width:996px" %)The servo drive and external braking resistor are not placed on combustible objects. | ||
| 18 | |=(% style="width: 79px;" %)3|(% style="width:996px" %)The installation, shaft and mechanical structure of the servo motor have been firmly connected. | ||
| 19 | |||
| 20 | Table 6-1 Check contents before operation | ||
| 21 | |||
| 22 | == Power-on == | ||
| 23 | |||
| 24 | **Connect the main circuit power supply** | ||
| 25 | |||
| 26 | After power on the main circuit, the bus voltage indicator shows no abnormality, and the panel display "rdy", indicating that the servo drive is in an operational state, waiting for the host computer to give the servo enable signal. | ||
| 27 | |||
| 28 | If the drive panel displays other fault codes, please refer to __[[“10 Malfunctions">>doc:Servo.Manual.02 VD2 SA Series.10 Malfunctions.WebHome]]__” to analyze and eliminate the cause of the fault. | ||
| 29 | |||
| 30 | **Set the servo drive enable (S-ON) to invalid (OFF)** | ||
| 31 | |||
| 32 | == Jog operation == | ||
| 33 | |||
| 34 | Jog operation is used to judge whether the servo motor can rotate normally, and whether there is abnormal vibration and abnormal sound during rotation. Jog operation can be realized in two ways, one is panel jog operation, which can be realized by pressing the buttons on the servo panel. The other is jog operation through the host computer debugging platform. | ||
| 35 | |||
| 36 | **Panel jog operation** | ||
| 37 | |||
| 38 | Enter “P10-01” by pressing the key on the panel. After pressing “OK”, the panel will display the current jog speed. At this time, you can adjust the jog speed by pressing the "up" or "down" keys; After adjusting the moving speed, press "OK", and the panel displays "JOG" and is in a flashing state. Press "OK" again to enter the jog operation mode (the motor is now powered on!). Long press the "up" and "down" keys to achieve the forward and reverse rotation of the motor. Press "Mode" key to exit the jog operation mode. For operation and display, please refer to __[["5.3.2. Jog operation">>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/05%20Panel/#HJogoperation]]__. | ||
| 39 | |||
| 40 | **Jog operation of servo debugging platform** | ||
| 41 | |||
| 42 | Open the jog operation interface of the software “Wecon SCTool”, set the jog speed value in the "set speed" in the "manual operation", click the "servo on" button on the interface, and then achieve the jog forward and reverse function through the "forward rotation" or "Reverse" button on the interface. After clicking the "Servo off" button, the jog operation mode is exited. The related function codes are shown below. | ||
| 43 | |||
| 44 | |=(% scope="row" %)**Function code**|=**Name**|=((( | ||
| 45 | **Setting method** | ||
| 46 | )))|=((( | ||
| 47 | **Effective time** | ||
| 48 | )))|=**Default value**|=**Range**|=**Definition**|=**Unit** | ||
| 49 | |=((( | ||
| 50 | P10-01 | ||
| 51 | )))|((( | ||
| 52 | JOG speed | ||
| 53 | )))|((( | ||
| 54 | Operation setting | ||
| 55 | )))|((( | ||
| 56 | Effective immediately | ||
| 57 | )))|((( | ||
| 58 | 100 | ||
| 59 | )))|((( | ||
| 60 | 0 to 3000 | ||
| 61 | )))|((( | ||
| 62 | JOG speed | ||
| 63 | )))|((( | ||
| 64 | rpm | ||
| 65 | ))) | ||
| 66 | |||
| 67 | Table 6-2 JOG speed parameter | ||
| 68 | |||
| 69 | == **Rotation direction selection** == | ||
| 70 | |||
| 71 | 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. | ||
| 72 | |||
| 73 | |=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=Effective time|=**Default value**|=**Range**|=**Definition**|=**Unit** | ||
| 74 | |=((( | ||
| 75 | P00-04 | ||
| 76 | )))|((( | ||
| 77 | Rotation direction | ||
| 78 | )))|((( | ||
| 79 | Shutdown setting | ||
| 80 | )))|((( | ||
| 81 | Effective immediately | ||
| 82 | )))|((( | ||
| 83 | 0 | ||
| 84 | )))|((( | ||
| 85 | 0 to 1 | ||
| 86 | )))|((( | ||
| 87 | Forward rotation: Face the motor shaft to watch | ||
| 88 | |||
| 89 | * 0: standard setting (CW is forward rotation) | ||
| 90 | * 1: reverse mode (CCW is forward rotation) | ||
| 91 | )))|- | ||
| 92 | |||
| 93 | Table 6-3 Rotation direction parameters** ** | ||
| 94 | |||
| 95 | == **Braking resistor** == | ||
| 96 | |||
| 97 | 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. | ||
| 98 | |||
| 99 | The basis for judging whether the braking resistor is built-in or external. | ||
| 100 | |||
| 101 | 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. | ||
| 102 | 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. | ||
| 103 | |||
| 104 | |=(% scope="row" %)**Function code**|=**Name**|=(% style="width: 118px;" %)((( | ||
| 105 | **Setting method** | ||
| 106 | )))|=(% style="width: 126px;" %)((( | ||
| 107 | **Effective time** | ||
| 108 | )))|=**Default**|=**Range**|=**Definition**|=**Unit** | ||
| 109 | |=P00-09|Braking resistor setting|(% style="width:118px" %)((( | ||
| 110 | Operation setting | ||
| 111 | )))|(% style="width:126px" %)((( | ||
| 112 | Effective immediately | ||
| 113 | )))|0|0 to 3|((( | ||
| 114 | * 0: use built-in braking resistor | ||
| 115 | * 1: use external braking resistor and natural cooling | ||
| 116 | * 2: use external braking resistor and forced air cooling; (cannot be set) | ||
| 117 | * 3: No braking resistor is used, it is all absorbed by capacitor. | ||
| 118 | )))|- | ||
| 119 | (% class="info" %)|(% colspan="8" scope="row" %)✎**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). | ||
| 120 | |=P00-10|External braking resistor value|(% style="width:118px" %)((( | ||
| 121 | Operation setting | ||
| 122 | )))|(% style="width:126px" %)((( | ||
| 123 | Effective immediately | ||
| 124 | )))|50|0 to 65535|It is used to set the external braking resistor value of a certain type of drive.|Ω | ||
| 125 | |=P00-11|External braking resistor power|(% style="width:118px" %)((( | ||
| 126 | Operation setting | ||
| 127 | )))|(% style="width:126px" %)((( | ||
| 128 | Effective immediately | ||
| 129 | )))|100|0 to 65535|It is used to set the external braking resistor power of a certain type of drive.|W | ||
| 130 | |||
| 131 | Table 6-4 Braking resistor parameters | ||
| 132 | |||
| 133 | == **Servo operation** == | ||
| 134 | |||
| 135 | **Set the servo enable (S-ON) to valid (ON)** | ||
| 136 | |||
| 137 | 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. | ||
| 138 | |||
| 139 | S-ON can be configured and selected by the DI terminal function selection of the function code "DIDO configuration". | ||
| 140 | |||
| 141 | **Input the instruction and the motor rotates** | ||
| 142 | |||
| 143 | 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"__>>doc:Servo.Manual.02 VD2 SA Series.07 Adjustments.WebHome]], the motor could work as expected. | ||
| 144 | |||
| 145 | **Timing diagram of power on** | ||
| 146 | |||
| 147 | (% style="text-align:center" %) | ||
| 148 | ((( | ||
| 149 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) | ||
| 150 | [[**Figure 6-1 Timing diagram of power on**>>image:image-20220608163014-1.png||id="Iimage-20220608163014-1.png"]] | ||
| 151 | ))) | ||
| 152 | |||
| 153 | == Servo shutdown == | ||
| 154 | |||
| 155 | 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__. According to the shutdown status, it could be divided into free running state and position locked, as shown in __Table 6-6__. | ||
| 156 | |||
| 157 | |=(% scope="row" style="width: 150px;" %)Shutdown mode|=(% style="width: 532px;" %)Shutdown description|=(% style="width: 393px;" %)Shutdown characteristics | ||
| 158 | |=(% style="width: 150px;" %)Free shutdown|(% style="width:532px" %)Servo motor is not energized and decelerates freely to 0. The deceleration time is affected by factors such as mechanical inertia and mechanical friction.|(% style="width:393px" %)Smooth deceleration, small mechanical shock, but slow deceleration process. | ||
| 159 | |=(% style="width: 150px;" %)Zero-speed shutdown|(% style="width:532px" %)The servo drive outputs reverse braking torque, and the motor quickly decelerates to zero-speed.|(% style="width:393px" %)Rapid deceleration with mechanical shock, but fast deceleration process. | ||
| 160 | |||
| 161 | Table 6-5 Comparison of two shutdown modes | ||
| 162 | |||
| 163 | |=(% scope="row" style="width: 151px;" %)**Shutdown status**|=(% style="width: 532px;" %)**Free operation status**|=(% style="width: 392px;" %)**Position locked** | ||
| 164 | |=(% style="width: 151px;" %)Characteristics|(% style="width:532px" %)After the motor stops rotating, it is power-off, and the motor shaft can rotate freely.|(% style="width:392px" %)After the motor stops rotating, the motor shaft is locked and could not rotate freely. | ||
| 165 | |||
| 166 | Table 6-6 Comparison of two shutdown status | ||
| 167 | |||
| 168 | **Servo enable (S-ON) OFF shutdown** | ||
| 169 | |||
| 170 | The related parameters of the servo OFF shutdown mode are shown in the table below. | ||
| 171 | |||
| 172 | |=(% scope="row" style="width: 94px;" %)**Function code**|=(% style="width: 180px;" %)**Name**|=(% style="width: 119px;" %)((( | ||
| 173 | **Setting method** | ||
| 174 | )))|=(% style="width: 134px;" %)((( | ||
| 175 | **Effective time** | ||
| 176 | )))|=(% style="width: 86px;" %)((( | ||
| 177 | **Default value** | ||
| 178 | )))|=(% style="width: 70px;" %)**Range**|=(% style="width: 347px;" %)**Definition**|=**Unit** | ||
| 179 | |=(% style="width: 94px;" %)P00-05|(% style="width:180px" %)Servo OFF shutdown|(% style="width:119px" %)((( | ||
| 180 | Shutdown | ||
| 181 | |||
| 182 | setting | ||
| 183 | )))|(% style="width:134px" %)((( | ||
| 184 | Effective | ||
| 185 | |||
| 186 | immediately | ||
| 187 | )))|(% style="width:86px" %)0|(% style="width:70px" %)0 to 1|(% style="width:347px" %)((( | ||
| 188 | * 0: Free shutdown, and the motor shaft remains free status. | ||
| 189 | * 1: Zero-speed shutdown, and the motor shaft remains free status. | ||
| 190 | )))|- | ||
| 191 | |||
| 192 | Table 6-7 Servo OFF shutdown mode parameters details | ||
| 193 | |||
| 194 | **Emergency shutdown** | ||
| 195 | |||
| 196 | 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". The V1.18 firmware version adds the Estop stop time setting function. In some occasions where the servo needs to control the emergency stop of the motor, it is necessary to control the emergency stop time of the DI. Therefore, the P01-05 shutdown deceleration time function is added to deal with this situation. | ||
| 197 | |||
| 198 | Estop mode 1 (deceleration stop): | ||
| 199 | |||
| 200 | ~1. Configurate DI function code: 8 [ESTOP] | ||
| 201 | |||
| 202 | 2. Set P1-5 shutdown deceleration time. | ||
| 203 | |||
| 204 | 3. Trigger DI emergency shutdown. | ||
| 205 | |||
| 206 | 4. Servo emergency shutdown and deceleration to zero speed. | ||
| 207 | |||
| 208 | Estop mode 2: | ||
| 209 | |||
| 210 | ~1. Configurate DI function code: 1 [Servo enable SON] | ||
| 211 | |||
| 212 | 2. Set P1-05 shutdown deceleration time. | ||
| 213 | |||
| 214 | 3. Set P0-05 Servo OFF shutdown mode: zero speed stop. | ||
| 215 | |||
| 216 | 4. Trigger DI to turn off servo enable SON. | ||
| 217 | |||
| 218 | |Function code|Name|((( | ||
| 219 | Setting | ||
| 220 | |||
| 221 | method | ||
| 222 | )))|((( | ||
| 223 | Effective | ||
| 224 | |||
| 225 | time | ||
| 226 | )))|Default|Range|Definition|Unit | ||
| 227 | |P01-05|Shutdown deceleration time|((( | ||
| 228 | Shutdown | ||
| 229 | |||
| 230 | setting | ||
| 231 | )))|((( | ||
| 232 | immediately | ||
| 233 | |||
| 234 | Effective | ||
| 235 | )))|50|0 to 65535|The time for the speed command to decelerate from 1000rpm to 0|ms | ||
| 236 | |||
| 237 | **Overtravel shutdown** | ||
| 238 | |||
| 239 | 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. | ||
| 240 | |||
| 241 | 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. | ||
| 242 | |||
| 243 | 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. | ||
| 244 | |||
| 245 | |=(% scope="row" style="width: 89px;" %)**Function code**|=(% style="width: 135px;" %)**Name**|=(% style="width: 122px;" %)((( | ||
| 246 | **Setting method** | ||
| 247 | )))|=(% style="width: 114px;" %)((( | ||
| 248 | **Effective time** | ||
| 249 | )))|=(% style="width: 106px;" %)**Default value**|=(% style="width: 84px;" %)**Range**|=(% style="width: 380px;" %)**Definition**|=**Unit** | ||
| 250 | |=(% style="width: 89px;" %)P06-08|(% style="width:135px" %)DI_3 channel function selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)Power-on again|(% style="width:106px" %)3|(% style="width:84px" %)0 to 32|(% style="width:380px" %)((( | ||
| 251 | * 0: OFF (not used) | ||
| 252 | * 01: S-ON servo enable | ||
| 253 | * 02: A-CLR fault and Warning Clear | ||
| 254 | * 03: POT forward drive prohibition | ||
| 255 | * 04: NOT Reverse drive prohibition | ||
| 256 | * 05: ZCLAMP Zero speed | ||
| 257 | * 06: CL Clear deviation counter | ||
| 258 | * 07: C-SIGN Inverted instruction | ||
| 259 | * 08: E-STOP Emergency stop | ||
| 260 | * 09: GEAR-SEL Electronic Gear Switch 1 | ||
| 261 | * 10: GAIN-SEL gain switch | ||
| 262 | * 11: INH Instruction pulse prohibited input | ||
| 263 | * 12: VSSEL Vibration control switch input | ||
| 264 | * 13: INSPD1 Internal speed instruction selection 1 | ||
| 265 | * 14: INSPD2 Internal speed instruction selection 2 | ||
| 266 | * 15: INSPD3 Internal speedinstruction selection 3 | ||
| 267 | * 16: J-SEL inertia ratio switch (not implemented yet) | ||
| 268 | * 17: MixModesel mixed mode selection | ||
| 269 | * 20: Internal multi-segment position enable signal | ||
| 270 | * 21: Internal multi-segment position selection 1 | ||
| 271 | * 22: Internal multi-segment position selection 2 | ||
| 272 | * 23: Internal multi-segment position selection 3 | ||
| 273 | * 24: Internal multi-segment position selection 4 | ||
| 274 | * Others: reserved | ||
| 275 | )))|- | ||
| 276 | |=(% style="width: 89px;" %)P06-09|(% style="width:135px" %)DI_3 channel logic selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)((( | ||
| 277 | Effective immediately | ||
| 278 | )))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)((( | ||
| 279 | DI port input logic validity function selection. | ||
| 280 | |||
| 281 | * 0: Normally open input. Active low level (switch on); | ||
| 282 | * 1: Normally closed input. Active high level (switch off); | ||
| 283 | )))|- | ||
| 284 | |=(% style="width: 89px;" %)P06-10|(% style="width:135px" %)DI_3 input source selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)((( | ||
| 285 | Effective immediately | ||
| 286 | )))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)((( | ||
| 287 | Select the DI_3 port type to enable | ||
| 288 | |||
| 289 | * 0: Hardware DI_3 input terminal | ||
| 290 | * 1: virtual VDI_3 input terminal | ||
| 291 | )))|- | ||
| 292 | |=(% style="width: 89px;" %)P06-11|(% style="width:135px" %)DI_4 channel function selection|(% style="width:122px" %)((( | ||
| 293 | Operation setting | ||
| 294 | )))|(% style="width:114px" %)((( | ||
| 295 | again Power-on | ||
| 296 | )))|(% style="width:106px" %)4|(% style="width:84px" %)0 to 32|(% style="width:380px" %)((( | ||
| 297 | * 0: OFF (not used) | ||
| 298 | * 01: SON Servo enable | ||
| 299 | * 02: A-CLR Fault and Warning Clear | ||
| 300 | * 03: POT Forward drive prohibition | ||
| 301 | * 04: NOT Reverse drive prohibition | ||
| 302 | * 05: ZCLAMP Zero speed | ||
| 303 | * 06: CL Clear deviation counter | ||
| 304 | * 07: C-SIGN Inverted instruction | ||
| 305 | * 08: E-STOP Emergency shutdown | ||
| 306 | * 09: GEAR-SEL Electronic Gear Switch 1 | ||
| 307 | * 10: GAIN-SEL gain switch | ||
| 308 | * 11: INH Instruction pulse prohibited input | ||
| 309 | * 12: VSSEL Vibration control switch input | ||
| 310 | * 13: INSPD1 Internal speed instruction selection 1 | ||
| 311 | * 14: INSPD2 Internal speed instruction selection 2 | ||
| 312 | * 15: INSPD3 Internal speed instruction selection 3 | ||
| 313 | * 16: J-SEL inertia ratio switch (not implemented yet) | ||
| 314 | * 17: MixModesel mixed mode selection | ||
| 315 | * 20: Internal multi-segment position enable signal | ||
| 316 | * 21: Internal multi-segment position selection 1 | ||
| 317 | * 22: Internal multi-segment position selection 2 | ||
| 318 | * 23: Internal multi-segment position selection 3 | ||
| 319 | * 24: Internal multi-segment position selection 4 | ||
| 320 | * Others: reserved | ||
| 321 | )))|- | ||
| 322 | |=(% style="width: 89px;" %)P06-12|(% style="width:135px" %)DI_4 channel logic selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)((( | ||
| 323 | Effective immediately | ||
| 324 | )))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)((( | ||
| 325 | DI port input logic validity function selection. | ||
| 326 | |||
| 327 | * 0: Normally open input. Active low level (switch on); | ||
| 328 | * 1: Normally closed input. Active high level (switch off); | ||
| 329 | )))|- | ||
| 330 | |=(% style="width: 89px;" %)P06-13|(% style="width:135px" %)DI_4 input source selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)((( | ||
| 331 | Effective immediately | ||
| 332 | )))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)((( | ||
| 333 | Select the DI_4 port type to enable | ||
| 334 | |||
| 335 | * 0: Hardware DI_4 input terminal | ||
| 336 | * 1: virtual VDI_4 input terminal | ||
| 337 | )))|- | ||
| 338 | |||
| 339 | Table 6-8 DI3 and DI4 channel parameters | ||
| 340 | |||
| 341 | **(4) Malfunction shutdown** | ||
| 342 | |||
| 343 | 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. | ||
| 344 | |||
| 345 | == Brake device == | ||
| 346 | |||
| 347 | 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. | ||
| 348 | |||
| 349 | (% class="warning" %)|((( | ||
| 350 | (% style="text-align:center" %) | ||
| 351 | [[image:image-20220611151617-1.png]] | ||
| 352 | ))) | ||
| 353 | |((( | ||
| 354 | ✎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; | ||
| 355 | |||
| 356 | ✎ After the servo motor stops, turn off the servo enable (S-ON) in time; | ||
| 357 | |||
| 358 | ✎The brake coil has no polarity; | ||
| 359 | |||
| 360 | ✎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! | ||
| 361 | |||
| 362 | ✎When the motor with built-in brake is in operation, the brake device may make a clicking sound, which does not affect the function. | ||
| 363 | ))) | ||
| 364 | |||
| 365 | **Wiring of brake device** | ||
| 366 | |||
| 367 | The brake input signal has no polarity. User 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) | ||
| 368 | |||
| 369 | |||
| 370 | (% style="text-align:center" %) | ||
| 371 | ((( | ||
| 372 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) | ||
| 373 | [[**Figure 6-2 VD2B servo drive brake wiring**>>image:image-20220608163136-2.png||id="Iimage-20220608163136-2.png"]] | ||
| 374 | ))) | ||
| 375 | |||
| 376 | (% class="warning" %)|((( | ||
| 377 | (% style="text-align:center" %) | ||
| 378 | [[image:image-20220611151642-2.png]] | ||
| 379 | ))) | ||
| 380 | |((( | ||
| 381 | ✎The length of the motor brake cable needs to fully consider the voltage drop caused by the cable resistance, and the brake operation needs to ensure that the voltage input is 24V. | ||
| 382 | |||
| 383 | ✎It is recommended to use the power supply alone for the brake device. If the power supply is shared with other electrical device, the voltage or current may decrease due to the operation of other electrical device, which may cause the brake to malfunction. | ||
| 384 | |||
| 385 | ✎It is recommended to use cables above 0.5 mm². | ||
| 386 | ))) | ||
| 387 | |||
| 388 | **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 | |=(% scope="row" %)**DO function code**|=(% style="width: 241px;" %)**Function name**|=(% style="width: 458px;" %)**Function**|=(% style="width: 191px;" %)((( | ||
| 395 | **Effective time** | ||
| 396 | ))) | ||
| 397 | |=141|(% style="width:241px" %)((( | ||
| 398 | BRK-OFF Brake output | ||
| 399 | )))|(% style="width:458px" %)Output the signal indicates the servo motor brake release|(% style="width:191px" %)Power-on again | ||
| 400 | |||
| 401 | Table 6-2 Relevant function codes for brake setting | ||
| 402 | |||
| 403 | |=(% scope="row" %)**Function code**|=**Name**|=((( | ||
| 404 | **Setting method** | ||
| 405 | )))|=((( | ||
| 406 | **Effective time** | ||
| 407 | )))|=**Default value**|=**Range**|=**Definition**|=**Unit** | ||
| 408 | |=P1-30|Delay from brake output to instruction reception|((( | ||
| 409 | Operation setting | ||
| 410 | )))|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 | ||
| 411 | |=P1-31|In static state, delay from brake output OFF to the motor is power off|((( | ||
| 412 | Operation setting | ||
| 413 | )))|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 | ||
| 414 | |=P1-32|Rotation status, when the brake output OFF, the speed threshold|((( | ||
| 415 | Operation setting | ||
| 416 | )))|Effective immediately|30|0 to 3000|((( | ||
| 417 | When the motor rotates, the motor speed threshold when the brake (BRK-OFF) is allowed to output OFF. | ||
| 418 | |||
| 419 | When the brake output (BRK-OFF) is not allocated, this function code has no effect. | ||
| 420 | )))|rpm | ||
| 421 | |=P1-33|Rotation status, Delay from servo enable OFF to brake output OFF|((( | ||
| 422 | Operation setting | ||
| 423 | )))|Effective immediately|500|1 to 1000|((( | ||
| 424 | When the motor rotates, the delay time from the servo enable (S-ON) OFF to the brake (BRK-OFF) output OFF is allowed. | ||
| 425 | |||
| 426 | When brake output (BRK-OFF) is not allocated, this function code has no effect. | ||
| 427 | )))|ms | ||
| 428 | |||
| 429 | Table 6-9 Brake setting function codes | ||
| 430 | |||
| 431 | 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. | ||
| 432 | |||
| 433 | **Servo drive brake timing in normal state** | ||
| 434 | |||
| 435 | 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). | ||
| 436 | |||
| 437 | * Brake timing when servo motor is stationary | ||
| 438 | |||
| 439 | 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__ | ||
| 440 | |||
| 441 | (% class="warning" %)|((( | ||
| 442 | (% style="text-align:center" %) | ||
| 443 | [[image:image-20220611151705-3.png]] | ||
| 444 | ))) | ||
| 445 | |((( | ||
| 446 | ✎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. | ||
| 447 | |||
| 448 | ✎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. | ||
| 449 | ))) | ||
| 450 | |||
| 451 | (% style="text-align:center" %) | ||
| 452 | ((( | ||
| 453 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) | ||
| 454 | [[**Figure 6-3 Brake Timing of when the motor is stationary**>>image:image-20220608163304-3.png||id="Iimage-20220608163304-3.png"]] | ||
| 455 | ))) | ||
| 456 | |||
| 457 | (% class="box infomessage" %) | ||
| 458 | ((( | ||
| 459 | ✎**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. | ||
| 460 | ))) | ||
| 461 | |||
| 462 | * The brake timing when servo motor rotates | ||
| 463 | |||
| 464 | 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__. | ||
| 465 | |||
| 466 | (% class="warning" %)|((( | ||
| 467 | (% style="text-align:center" %) | ||
| 468 | [[image:image-20220611151719-4.png]] | ||
| 469 | ))) | ||
| 470 | |((( | ||
| 471 | ✎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. | ||
| 472 | |||
| 473 | ✎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: | ||
| 474 | |||
| 475 | P01-33 time has not arrived, but the motor has decelerated to the speed set by P01-32; | ||
| 476 | |||
| 477 | P01-33 time is up, but the motor speed is still higher than the set value of P01-32. | ||
| 478 | |||
| 479 | ✎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. | ||
| 480 | ))) | ||
| 481 | |||
| 482 | (% style="text-align:center" %) | ||
| 483 | ((( | ||
| 484 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) | ||
| 485 | [[**Figure 6-4 Brake timing when the motor rotates**>>image:image-20220608163425-4.png||id="Iimage-20220608163425-4.png"]] | ||
| 486 | ))) | ||
| 487 | |||
| 488 | **Brake timing when the servo drive fails** | ||
| 489 | |||
| 490 | The brake timing (free shutdown) in the fault status is as follows. | ||
| 491 | |||
| 492 | (% style="text-align:center" %) | ||
| 493 | ((( | ||
| 494 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) | ||
| 495 | [[**~~ Figure 6-5 The brake timing (free shutdown) in the fault state**>>image:image-20220608163541-5.png||id="Iimage-20220608163541-5.png"]] | ||
| 496 | ))) | ||
| 497 | |||
| 498 | = **Position control mode** = | ||
| 499 | |||
| 500 | Position control is the most important and commonly used control mode of the servo system. Position control refers to controlling the position of the motor through position instructions, and determining the target position of the motor by the total number of position instructions. The frequency of the position instruction determines the motor rotation speed. The servo drive can achieve fast and accurate control of the position and speed of the machine. Therefore, the position control mode is mainly used for occasions that require positioning control, such as manipulators, mounter, engraving machines, CNC machine tools, etc. The position control block diagram is shown in the figure below. | ||
| 501 | |||
| 502 | (% style="text-align:center" %) | ||
| 503 | ((( | ||
| 504 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) | ||
| 505 | [[**Figure 6-6 Position control diagram**>>image:image-20220608163643-6.png||id="Iimage-20220608163643-6.png"]] | ||
| 506 | ))) | ||
| 507 | |||
| 508 | Set “P00-01” to 1 by the software “Wecon SCTool”, and the servo drive is in position control mode. | ||
| 509 | |||
| 510 | |=(% scope="row" style="width: 123px;" %)**Function code**|=(% style="width: 134px;" %)**Name**|=((( | ||
| 511 | **Setting method** | ||
| 512 | )))|=((( | ||
| 513 | **Effective time** | ||
| 514 | )))|=(% style="width: 116px;" %)**Default value**|=(% style="width: 118px;" %)**Range**|=(% style="width: 389px;" %)**Definition**|=(% style="width: 151px;" %)**Unit** | ||
| 515 | |=(% style="width: 123px;" %)P00-01|(% style="width:134px" %)Control mode|((( | ||
| 516 | Operation setting | ||
| 517 | )))|((( | ||
| 518 | immediately Effective | ||
| 519 | )))|(% style="width:116px" %)1|(% style="width:118px" %)1 to 6|(% style="width:389px" %)((( | ||
| 520 | 1: position control | ||
| 521 | |||
| 522 | 2: speed control | ||
| 523 | |||
| 524 | 3: torque control | ||
| 525 | |||
| 526 | 4: position/speed mix control | ||
| 527 | |||
| 528 | 5: position/torque mix control | ||
| 529 | |||
| 530 | 6: speed /torque mix control | ||
| 531 | |||
| 532 | VD2L drive P00-01 setting range: 1-3, not supprt mix mode | ||
| 533 | )))|(% style="width:151px" %)- | ||
| 534 | |||
| 535 | Table 6-10 Control mode parameters | ||
| 536 | |||
| 537 | == Position instruction input setting == | ||
| 538 | |||
| 539 | When the VD2 series servo drive is in position control mode, firstly set the position instruction source through the function code “P01-06”. | ||
| 540 | |||
| 541 | |=(% scope="row" %)**Function code**|=**Name**|=((( | ||
| 542 | **Setting method** | ||
| 543 | )))|=((( | ||
| 544 | **Effective time** | ||
| 545 | )))|=**Default value**|=**Range**|=**Definition**|=**Unit** | ||
| 546 | |=P01-06|Position instruction source|((( | ||
| 547 | Operation setting | ||
| 548 | )))|((( | ||
| 549 | immediately Effective | ||
| 550 | )))|0|0 to 1|((( | ||
| 551 | 0: pulse instruction | ||
| 552 | |||
| 553 | 1: internal position instruction | ||
| 554 | )))|- | ||
| 555 | |||
| 556 | Table 6-12 Position instruction source parameter | ||
| 557 | |||
| 558 | **The source of position instruction is pulse instruction (P01-06=0)** | ||
| 559 | |||
| 560 | Low-speed pulse instruction input | ||
| 561 | |||
| 562 | |(% style="text-align:center" %)((( | ||
| 563 | (% class="wikigeneratedid" %) | ||
| 564 | [[VD2A, VD2B and VD2C servo drives>>image:image-20220804160519-1.jpeg||id="Iimage-20220804160519-1.jpeg"]] | ||
| 565 | )))|(% style="text-align:center" %)((( | ||
| 566 | (% class="wikigeneratedid" %) | ||
| 567 | [[VD2F and VD2L servo drive>>image:image-20220804160624-2.jpeg||id="Iimage-20220804160624-2.jpeg"]] | ||
| 568 | ))) | ||
| 569 | |(% colspan="2" %)Figure 6-7 Position instruction input setting | ||
| 570 | |||
| 571 | 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__. | ||
| 572 | |||
| 573 | 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. | ||
| 574 | |||
| 575 | |=(% scope="row" %)**Pulse method**|=(% style="width: 372px;" %)**Maximum frequency**|=(% style="width: 260px;" %)**Voltage** | ||
| 576 | |=Open collector input|(% style="width:372px" %)200K|(% style="width:260px" %)24V | ||
| 577 | |=Differential input|(% style="width:372px" %)500K|(% style="width:260px" %)5V | ||
| 578 | |||
| 579 | Table 6-13 Pulse input specifications | ||
| 580 | |||
| 581 | * Differential 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 | ((( | ||
| 587 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:583px;" %) | ||
| 588 | [[**Figure 6-8 Differential input connection**>>image:image-20220707092615-5.jpeg||height="306" id="Iimage-20220707092615-5.jpeg" width="583"]] | ||
| 589 | ))) | ||
| 590 | |||
| 591 | (% class="box infomessage" %) | ||
| 592 | ((( | ||
| 593 | ✎**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/Manual/02%20VD2%20SA%20Series/04%20Wiring/#HPositioninstructioninputsignal]]__” | ||
| 594 | ))) | ||
| 595 | |||
| 596 | * Open collector input | ||
| 597 | |||
| 598 | Take VD2A and VD2B drive as examples, the connection of differential input is shown as below. | ||
| 599 | |||
| 600 | (% style="text-align:center" %) | ||
| 601 | ((( | ||
| 602 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:679px;" %) | ||
| 603 | [[**Figure 6-9 Open collector input connection**>>image:image-20220707092401-3.jpeg||height="432" id="Iimage-20220707092401-3.jpeg" width="679"]] | ||
| 604 | ))) | ||
| 605 | |||
| 606 | |||
| 607 | (% class="box infomessage" %) | ||
| 608 | ((( | ||
| 609 | ✎**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/Manual/02%20VD2%20SA%20Series/04%20Wiring/#HPositioninstructioninputsignal]]__” | ||
| 610 | ))) | ||
| 611 | |||
| 612 | * Position pulse frequency and anti-interference level | ||
| 613 | |||
| 614 | 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. | ||
| 615 | |||
| 616 | (% style="text-align:center" %) | ||
| 617 | ((( | ||
| 618 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) | ||
| 619 | [[**Figure 6-10 Example of filtered signal waveform**>>image:image-20220608163952-8.png||id="Iimage-20220608163952-8.png"]] | ||
| 620 | ))) | ||
| 621 | |||
| 622 | 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. | ||
| 623 | |||
| 624 | |=**Function code**|=(% style="width: 169px;" %)**Name**|=(% style="width: 146px;" %)((( | ||
| 625 | **Setting method** | ||
| 626 | )))|=((( | ||
| 627 | **Effective time** | ||
| 628 | )))|=**Default value**|=(% style="width: 87px;" %)**Range**|=(% colspan="2" style="width: 296px;" %)**Definition**|=**Unit** | ||
| 629 | |(% rowspan="3" %)P00-14|(% rowspan="3" style="width:169px" %)Position pulse anti-interference level|(% rowspan="3" style="width:146px" %)((( | ||
| 630 | Operation setting | ||
| 631 | )))|(% rowspan="3" %)((( | ||
| 632 | Power-on again | ||
| 633 | )))|(% rowspan="3" %)2|(% rowspan="3" style="width:87px" %)0 to 9|(% colspan="2" style="width:296px" %)((( | ||
| 634 | Set the anti-interference level of external pulse instruction. | ||
| 635 | |||
| 636 | * 0: no filtering; | ||
| 637 | * 1: Filtering time 128ns | ||
| 638 | * 2: Filtering time 256ns | ||
| 639 | * 3: Filtering time 512ns | ||
| 640 | * 4: Filtering time 1.024us | ||
| 641 | * 5: Filtering time 2.048us | ||
| 642 | * 6: Filtering time 4.096us | ||
| 643 | * 7: Filtering time 8.192us | ||
| 644 | * 8: Filtering time 16.384us | ||
| 645 | * 9: | ||
| 646 | ** VD2: Filtering time 25.5us | ||
| 647 | ** VD2F: Filtering time 25.5us | ||
| 648 | )))|(% rowspan="3" %)- | ||
| 649 | |||
| 650 | Table 6-14 Position pulse frequency and anti-interference level parameters | ||
| 651 | |||
| 652 | |**Function code**|**Name**|((( | ||
| 653 | **Setting** | ||
| 654 | |||
| 655 | **method** | ||
| 656 | )))|((( | ||
| 657 | **Effective** | ||
| 658 | |||
| 659 | **time** | ||
| 660 | )))|**Default value**|**Range**|**Definition**|**Unit** | ||
| 661 | |P00-14|Position pulse anti-interference level|((( | ||
| 662 | Operation | ||
| 663 | |||
| 664 | setting | ||
| 665 | )))|((( | ||
| 666 | Power-on | ||
| 667 | |||
| 668 | again | ||
| 669 | )))|2|0 to 8|((( | ||
| 670 | VD2L drive set the anti-interference level of external pulse instruction. | ||
| 671 | |||
| 672 | 0: no filtering; | ||
| 673 | |||
| 674 | 1: Filtering time 111.1ns | ||
| 675 | |||
| 676 | 2: Filtering time 222.2ns | ||
| 677 | |||
| 678 | 3: Filtering time 444.4ns | ||
| 679 | |||
| 680 | 4: Filtering time 888.8ns | ||
| 681 | |||
| 682 | 5: Filtering time 1777.7ns | ||
| 683 | |||
| 684 | 6: Filtering time 3555.5ns | ||
| 685 | |||
| 686 | 7: Filtering time 7111.7ns | ||
| 687 | |||
| 688 | 8: Filtering time 14222.2ns | ||
| 689 | |||
| 690 | |||
| 691 | )))|- | ||
| 692 | |||
| 693 | Table 6-15 VD2L Position pulse frequency and anti-interference level parameters | ||
| 694 | |||
| 695 | |||
| 696 | * Position pulse type selection | ||
| 697 | |||
| 698 | In VD2 series servo drives, there are three types of input pulse instructions, and the related function codes are shown in the table below. | ||
| 699 | |||
| 700 | |=(% scope="row" %)**Function code**|=(% style="width: 144px;" %)**Name**|=(% style="width: 110px;" %)((( | ||
| 701 | **Setting method** | ||
| 702 | )))|=(% style="width: 109px;" %)((( | ||
| 703 | **Effective time** | ||
| 704 | )))|=(% style="width: 77px;" %)**Default value**|=(% style="width: 74px;" %)**Range**|=(% style="width: 412px;" %)**Definition**|=**Unit** | ||
| 705 | |=P00-12|(% style="width:144px" %)Position pulse type selection|(% style="width:110px" %)((( | ||
| 706 | Operation setting | ||
| 707 | )))|(% style="width:109px" %)((( | ||
| 708 | Power-on again | ||
| 709 | )))|(% style="width:77px" %)0|(% style="width:74px" %)0 to 5|(% style="width:412px" %)((( | ||
| 710 | * 0: direction + pulse (positive logic) | ||
| 711 | * 1: CW/CCW | ||
| 712 | * 2: A, B phase quadrature pulse (4 times frequency) | ||
| 713 | * 3: Direction + pulse (negative logic) | ||
| 714 | * 4: CW/CCW (negative logic) | ||
| 715 | * 5: A, B phase quadrature pulse (4 times frequency negative logic) | ||
| 716 | |||
| 717 | **✎Note: VD2F and VD2L series drivers do not support the pulse form of CW/CCW! P0-12 parameter setting range of VD2L: 0, 2, 3, 5** | ||
| 718 | )))|- | ||
| 719 | |||
| 720 | Table 6-15 Position pulse type selection parameter | ||
| 721 | |||
| 722 | |=(% scope="row" %)**Pulse type selection**|=(% style="width: 200px;" %)**Pulse type**|=(% style="width: 161px;" %)**Signal**|=**Schematic diagram of forward pulse**|=**Schematic diagram of negative pulse** | ||
| 723 | |=0|(% style="width:200px" %)((( | ||
| 724 | Direction + pulse | ||
| 725 | |||
| 726 | (Positive logic) | ||
| 727 | )))|(% style="width:161px" %)((( | ||
| 728 | PULSE | ||
| 729 | |||
| 730 | SIGN | ||
| 731 | )))|[[image:image-20220707094340-6.jpeg]]|[[image:image-20220707094345-7.jpeg]] | ||
| 732 | |=1|(% style="width:200px" %)CW/CCW|(% style="width:161px" %)((( | ||
| 733 | PULSE (CW) | ||
| 734 | |||
| 735 | SIGN (CCW) | ||
| 736 | )))|(% colspan="2" %)[[image:image-20220707094351-8.jpeg]] | ||
| 737 | |=2|(% style="width:200px" %)((( | ||
| 738 | AB phase orthogonal | ||
| 739 | |||
| 740 | pulse (4 times frequency) | ||
| 741 | )))|(% style="width:161px" %)((( | ||
| 742 | PULSE (Phase A) | ||
| 743 | |||
| 744 | SIGN (Phase B) | ||
| 745 | )))|((( | ||
| 746 | |||
| 747 | |||
| 748 | [[image:image-20220707094358-9.jpeg]] | ||
| 749 | |||
| 750 | Phase A is 90° ahead of Phase B | ||
| 751 | )))|((( | ||
| 752 | |||
| 753 | |||
| 754 | [[image:image-20220707094407-10.jpeg]] | ||
| 755 | |||
| 756 | Phase B is 90° ahead of Phase A | ||
| 757 | ))) | ||
| 758 | |=3|(% style="width:200px" %)((( | ||
| 759 | Direction + pulse | ||
| 760 | |||
| 761 | (Negative logic) | ||
| 762 | )))|(% style="width:161px" %)((( | ||
| 763 | PULSE | ||
| 764 | |||
| 765 | SIGN | ||
| 766 | )))|[[image:image-20220707094414-11.jpeg]]|[[image:image-20220707094418-12.jpeg]] | ||
| 767 | |=4|(% style="width:200px" %)((( | ||
| 768 | CW/CCW | ||
| 769 | |||
| 770 | (Negative logic) | ||
| 771 | )))|(% style="width:161px" %)((( | ||
| 772 | PULSE (CW) | ||
| 773 | |||
| 774 | SIGN (CCW) | ||
| 775 | )))|(% colspan="2" %)[[image:image-20220707094423-13.jpeg]] | ||
| 776 | |=5|(% style="width:200px" %)((( | ||
| 777 | AB phase orthogonal | ||
| 778 | |||
| 779 | pulse (4 times frequency negative logic) | ||
| 780 | )))|(% style="width:161px" %)((( | ||
| 781 | PULSE (Phase A) | ||
| 782 | |||
| 783 | SIGN (Phase B) | ||
| 784 | )))|((( | ||
| 785 | |||
| 786 | |||
| 787 | [[image:image-20220707094429-14.jpeg]] | ||
| 788 | |||
| 789 | Phase B is ahead of A phase by 90° | ||
| 790 | )))|((( | ||
| 791 | |||
| 792 | |||
| 793 | [[image:image-20220707094437-15.jpeg]] | ||
| 794 | |||
| 795 | Phase A is ahead of B phase by 90° | ||
| 796 | ))) | ||
| 797 | |||
| 798 | Table 6-16 Pulse description | ||
| 799 | |||
| 800 | **The source of position instruction is internal position instruction (P01-06=1)** | ||
| 801 | |||
| 802 | 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__. | ||
| 803 | |||
| 804 | 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. | ||
| 805 | |||
| 806 | (% style="text-align:center" %) | ||
| 807 | ((( | ||
| 808 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) | ||
| 809 | [[**Figure 6-11 The setting process of multi-segment position**>>image:image-20220608164116-9.png||id="Iimage-20220608164116-9.png"]] | ||
| 810 | ))) | ||
| 811 | |||
| 812 | |||
| 813 | * Set multi-segment position running mode | ||
| 814 | |||
| 815 | |=(% scope="row" %)**Function code**|=**Name**|=((( | ||
| 816 | **Setting method** | ||
| 817 | )))|=((( | ||
| 818 | **Effective time** | ||
| 819 | )))|=**Default value**|=**Range**|=**Definition**|=**Unit** | ||
| 820 | |=P07-01|Multi-segment position running mode|((( | ||
| 821 | Shutdown setting | ||
| 822 | )))|((( | ||
| 823 | Effective immediately | ||
| 824 | )))|0|0 to 2|((( | ||
| 825 | 0: Single running | ||
| 826 | |||
| 827 | 1: Cycle running | ||
| 828 | |||
| 829 | 2: DI switching running | ||
| 830 | )))|- | ||
| 831 | |=P07-02|Start segment number|((( | ||
| 832 | Shutdown setting | ||
| 833 | )))|((( | ||
| 834 | Effective immediately | ||
| 835 | )))|1|1 to 16|1st segment NO. in non-DI switching mode|- | ||
| 836 | |=P07-03|End segment number|((( | ||
| 837 | Shutdown setting | ||
| 838 | )))|((( | ||
| 839 | Effective immediately | ||
| 840 | )))|1|1 to 16|last segment NO. in non-DI switching mode|- | ||
| 841 | |=P07-04|Margin processing method|((( | ||
| 842 | Shutdown setting | ||
| 843 | )))|((( | ||
| 844 | Effective immediately | ||
| 845 | )))|0|0 to 1|((( | ||
| 846 | 0: Run the remaining segments | ||
| 847 | |||
| 848 | 1: Run again from the start segment | ||
| 849 | )))|- | ||
| 850 | |=P07-05|Displacement instruction type|((( | ||
| 851 | Shutdown setting | ||
| 852 | )))|((( | ||
| 853 | Effective immediately | ||
| 854 | )))|0|0 to 1|((( | ||
| 855 | (% id="cke_bm_79356S" style="display:none" %) (%%)0: Relative position instruction | ||
| 856 | |||
| 857 | 1: Absolute position instruction(% id="cke_bm_79356E" style="display:none" %) | ||
| 858 | )))|- | ||
| 859 | |||
| 860 | Table 6-17 multi-segment position running mode parameters | ||
| 861 | |||
| 862 | VD2 series servo drive has three multi-segment position running modes, and you could select the best running mode according to the site requirements. | ||
| 863 | |||
| 864 | 1. Single running | ||
| 865 | |||
| 866 | 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__, and S1 and S2 are the displacements of the 1st segment and the 2nd segment respectively | ||
| 867 | |||
| 868 | (% style="text-align:center" %) | ||
| 869 | ((( | ||
| 870 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) | ||
| 871 | [[**Figure 6-12 Single running curve (P07-02=1, P07-03=2)**>>image:image-20220608164226-10.png||id="Iimage-20220608164226-10.png"]] | ||
| 872 | ))) | ||
| 873 | |||
| 874 | * 2. Cycle running | ||
| 875 | |||
| 876 | 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. | ||
| 877 | |||
| 878 | (% style="text-align:center" %) | ||
| 879 | ((( | ||
| 880 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) | ||
| 881 | [[**Figure 6-13 Cycle running curve (P07-02=1, P07-03=4)**>>image:image-20220608164327-11.png||id="Iimage-20220608164327-11.png"]] | ||
| 882 | ))) | ||
| 883 | |||
| 884 | (% class="warning" %)|((( | ||
| 885 | (% style="text-align:center" %) | ||
| 886 | [[image:image-20220611151917-5.png]] | ||
| 887 | ))) | ||
| 888 | |In single running and cycle running mode, the setting value of P07-03 needs to be greater than the setting value of P07-02. | ||
| 889 | |||
| 890 | (% start="3" %) | ||
| 891 | 1. DI switching running | ||
| 892 | |||
| 893 | 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. | ||
| 894 | |||
| 895 | |=(% scope="row" %)**DI function code**|=**Function name**|=**Function** | ||
| 896 | |=21|INPOS1: Internal multi-segment position segment selection 1|Form internal multi-segment position running segment number | ||
| 897 | |=22|INPOS2: Internal multi-segment position segment selection 2|Form internal multi-segment position running segment number | ||
| 898 | |=23|INPOS3: Internal multi-segment position segment selection 3|Form internal multi-segment position running segment number | ||
| 899 | |=24|INPOS4: Internal multi-segment position segment selection 4|Form internal multi-segment position running segment number | ||
| 900 | |||
| 901 | Table 6-18 DI function code | ||
| 902 | |||
| 903 | 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. | ||
| 904 | |||
| 905 | |=(% scope="row" %)**INPOS4**|=**INPOS3**|=**INPOS2**|=**INPOS1**|=**Running position number** | ||
| 906 | |=0|0|0|0|1 | ||
| 907 | |=0|0|0|1|2 | ||
| 908 | |=0|0|1|0|3 | ||
| 909 | |=0|0|1|1|4 | ||
| 910 | |=0|1|0|0|5 | ||
| 911 | |=0|1|0|1|6 | ||
| 912 | |=0|1|1|0|7 | ||
| 913 | |=0|1|1|1|8 | ||
| 914 | |=1|0|0|0|9 | ||
| 915 | |=1|0|0|1|10 | ||
| 916 | |=1|0|1|0|11 | ||
| 917 | |=1|0|1|1|12 | ||
| 918 | |=1|1|0|0|13 | ||
| 919 | |=1|1|0|1|14 | ||
| 920 | |=1|1|1|0|15 | ||
| 921 | |=1|1|1|1|16 | ||
| 922 | |||
| 923 | Table 6-20 INPOS corresponds to running segment number | ||
| 924 | |||
| 925 | The operating curve in this running mode is shown in __Figure 6-14__. | ||
| 926 | |||
| 927 | (% style="text-align:center" %) | ||
| 928 | ((( | ||
| 929 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) | ||
| 930 | [[**Figure 6-14 DI switching running curve**>>image:image-20220608164545-12.png||id="Iimage-20220608164545-12.png"]] | ||
| 931 | ))) | ||
| 932 | |||
| 933 | 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. | ||
| 934 | |||
| 935 | **Run the remaining segments** | ||
| 936 | |||
| 937 | 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. | ||
| 938 | |||
| 939 | (% style="text-align:center" %) | ||
| 940 | ((( | ||
| 941 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) | ||
| 942 | [[**Figure 6-15 Single running-run the remaining segments (P07-02=1, P07-03=4)**>>image:image-20220608164847-13.png||id="Iimage-20220608164847-13.png"]] | ||
| 943 | ))) | ||
| 944 | |||
| 945 | (% style="text-align:center" %) | ||
| 946 | ((( | ||
| 947 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:734px;" %) | ||
| 948 | [[**Figure 6-16 Cycle running-run the remaining segment (P07-02=1, P07-03=4)**>>image:image-20220608165032-14.png||height="285" id="Iimage-20220608165032-14.png" width="734"]] | ||
| 949 | ))) | ||
| 950 | |||
| 951 | **Run again from the start segment** | ||
| 952 | |||
| 953 | 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__ and __Figure 6-18__ respectively. | ||
| 954 | |||
| 955 | (% style="text-align:center" %) | ||
| 956 | ((( | ||
| 957 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) | ||
| 958 | [[**Figure 6-17 Single running-run from the start segment again (P07-02=1, P07-03=4)**>>image:image-20220608165343-15.png||id="Iimage-20220608165343-15.png"]] | ||
| 959 | ))) | ||
| 960 | |||
| 961 | (% style="text-align:center" %) | ||
| 962 | ((( | ||
| 963 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) | ||
| 964 | [[**Figure 6-18 Cyclic running-run from the start segment again (P07-02=1, P07-03=4)**>>image:image-20220608165558-16.png||id="Iimage-20220608165558-16.png"]] | ||
| 965 | ))) | ||
| 966 | |||
| 967 | VD2 series servo drives have two types of displacement instructions: relative position instruction and absolute position instruction. The related function code is P07-05. | ||
| 968 | |||
| 969 | * Relative position instruction | ||
| 970 | |||
| 971 | The relative position instruction takes the current stop position of the motor as the start point and specifies the amount of displacement. | ||
| 972 | |||
| 973 | |((( | ||
| 974 | (% style="text-align:center" %) | ||
| 975 | ((( | ||
| 976 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) | ||
| 977 | [[**Figure 6-19 Relative position diagram**>>image:image-20220608165710-17.png||id="Iimage-20220608165710-17.png"]] | ||
| 978 | ))) | ||
| 979 | )))|((( | ||
| 980 | (% style="text-align:center" %) | ||
| 981 | ((( | ||
| 982 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) | ||
| 983 | [[**Figure 6-20 Displacement diagram**>>image:image-20220608165749-18.png||id="Iimage-20220608165749-18.png"]] | ||
| 984 | ))) | ||
| 985 | ))) | ||
| 986 | |||
| 987 | * Absolute position instruction | ||
| 988 | |||
| 989 | The absolute position instruction takes "reference origin" as the zero point of absolute positioning, and specifies the amount of displacement. | ||
| 990 | |||
| 991 | |((( | ||
| 992 | (% style="text-align:center" %) | ||
| 993 | ((( | ||
| 994 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) | ||
| 995 | [[**Figure 6-21 Absolute indication**>>image:image-20220608165848-19.png||id="Iimage-20220608165848-19.png"]] | ||
| 996 | ))) | ||
| 997 | )))|((( | ||
| 998 | (% style="text-align:center" %) | ||
| 999 | ((( | ||
| 1000 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) | ||
| 1001 | [[**Figure 6-22 Displacement**>>image:image-20220608170005-20.png||id="Iimage-20220608170005-20.png"]] | ||
| 1002 | ))) | ||
| 1003 | ))) | ||
| 1004 | |||
| 1005 | * Multi-segment position running curve setting | ||
| 1006 | |||
| 1007 | 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. | ||
| 1008 | |||
| 1009 | |=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit** | ||
| 1010 | |=P07-09|((( | ||
| 1011 | 1st segment | ||
| 1012 | |||
| 1013 | displacement | ||
| 1014 | )))|((( | ||
| 1015 | Operation setting | ||
| 1016 | )))|((( | ||
| 1017 | Effective immediately | ||
| 1018 | )))|10000|((( | ||
| 1019 | -2147483647 to | ||
| 1020 | |||
| 1021 | 2147483646 | ||
| 1022 | )))|Position instruction, positive and negative values could be set|- | ||
| 1023 | |=P07-10|Maximum speed of the 1st displacement|((( | ||
| 1024 | Operation setting | ||
| 1025 | )))|((( | ||
| 1026 | Effective immediately | ||
| 1027 | )))|100|1 to 5000|Steady-state running speed of the 1st segment|rpm | ||
| 1028 | |=P07-11|Acceleration and deceleration of 1st segment displacement|((( | ||
| 1029 | Operation setting | ||
| 1030 | )))|((( | ||
| 1031 | Effective immediately | ||
| 1032 | )))|100|1 to 65535|The time required for the acceleration and deceleration of the 1st segment|ms | ||
| 1033 | |=P07-12|Waiting time after completion of the 1st segment displacement|((( | ||
| 1034 | Operation setting | ||
| 1035 | )))|((( | ||
| 1036 | Effective immediately | ||
| 1037 | )))|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 | ||
| 1038 | |||
| 1039 | Table 6-21 The 1st position operation curve parameters table | ||
| 1040 | |||
| 1041 | After setting the above parameters, the actual operation curve of the motor is shown in Figure 6-23. | ||
| 1042 | |||
| 1043 | (% style="text-align:center" %) | ||
| 1044 | ((( | ||
| 1045 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) | ||
| 1046 | [[**Figure 6-23 The 1st segment running curve of motor**>>image:image-20220608170149-21.png||id="Iimage-20220608170149-21.png"]] | ||
| 1047 | ))) | ||
| 1048 | |||
| 1049 | |||
| 1050 | * multi-segment position instruction enable | ||
| 1051 | |||
| 1052 | 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. | ||
| 1053 | |||
| 1054 | |=(% scope="row" %)**DI function code**|=**Function name**|=**Function** | ||
| 1055 | |=20|ENINPOS: Internal multi-segment position enable signal|((( | ||
| 1056 | DI port logic invalid: Does not affect the current operation of the servo motor. | ||
| 1057 | |||
| 1058 | DI port logic valid: Motor runs multi-segment position | ||
| 1059 | ))) | ||
| 1060 | |||
| 1061 | (% style="text-align:center" %) | ||
| 1062 | [[image:image-20220611152020-6.png||class="img-thumbnail"]] | ||
| 1063 | |||
| 1064 | 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! | ||
| 1065 | |||
| 1066 | == Electronic gear ratio == | ||
| 1067 | |||
| 1068 | **Definition of electronic gear ratio** | ||
| 1069 | |||
| 1070 | 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. | ||
| 1071 | |||
| 1072 | 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. | ||
| 1073 | |||
| 1074 | 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) | ||
| 1075 | |||
| 1076 | (% style="text-align:center" %) | ||
| 1077 | [[image:image-20220707094901-16.png||class="img-thumbnail"]] | ||
| 1078 | |||
| 1079 | Otherwise, the servo drive will report Er.35: "Electronic gear ratio setting exceeds the limit"! | ||
| 1080 | |||
| 1081 | **Setting steps of electronic gear ratio** | ||
| 1082 | |||
| 1083 | (% style="text-align:center" %) | ||
| 1084 | ((( | ||
| 1085 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:1021px;" %) | ||
| 1086 | [[**Figure 6-24 Setting steps of electronic gear ratio**>>image:image-20220707100850-20.jpeg||height="458" id="Iimage-20220707100850-20.jpeg" width="1021"]] | ||
| 1087 | ))) | ||
| 1088 | |||
| 1089 | **lectronic gear ratio switch setting** | ||
| 1090 | |||
| 1091 | 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. | ||
| 1092 | |||
| 1093 | |=(% scope="row" %)**Function code**|=**Name**|=((( | ||
| 1094 | **Setting method** | ||
| 1095 | )))|=((( | ||
| 1096 | **Effective time** | ||
| 1097 | )))|=**Default value**|=**Range**|=**Definition**|=**Unit** | ||
| 1098 | |=P00-16|Number of instruction pulses when the motor rotates one circle|((( | ||
| 1099 | Shutdown setting | ||
| 1100 | )))|((( | ||
| 1101 | Effective immediately | ||
| 1102 | )))|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.|((( | ||
| 1103 | Instruction pulse | ||
| 1104 | |||
| 1105 | unit | ||
| 1106 | ))) | ||
| 1107 | |=P00-17|((( | ||
| 1108 | Electronic gear 1 | ||
| 1109 | |||
| 1110 | numerator | ||
| 1111 | )))|Operation setting|((( | ||
| 1112 | Effective immediately | ||
| 1113 | )))|1|1 to 4294967294|((( | ||
| 1114 | 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. | ||
| 1115 | |||
| 1116 | **VD2L: 1-2147483647** | ||
| 1117 | )))|- | ||
| 1118 | |=P00-18|((( | ||
| 1119 | Electronic gear 1 | ||
| 1120 | |||
| 1121 | denominator | ||
| 1122 | )))|((( | ||
| 1123 | Operation setting | ||
| 1124 | )))|((( | ||
| 1125 | Effective immediately | ||
| 1126 | )))|1|1 to 4294967294|((( | ||
| 1127 | 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. | ||
| 1128 | |||
| 1129 | **VD2L: 1-2147483647** | ||
| 1130 | )))|- | ||
| 1131 | |=P00-19|((( | ||
| 1132 | Electronic gear 2 | ||
| 1133 | |||
| 1134 | numerator | ||
| 1135 | )))|Operation setting|((( | ||
| 1136 | Effective immediately | ||
| 1137 | )))|1|1 to 4294967294|((( | ||
| 1138 | 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. | ||
| 1139 | |||
| 1140 | **VD2L: 1-2147483647** | ||
| 1141 | )))|- | ||
| 1142 | |=P00-20|((( | ||
| 1143 | Electronic gear 2 | ||
| 1144 | |||
| 1145 | denominator | ||
| 1146 | )))|Operation setting|((( | ||
| 1147 | Effective immediately | ||
| 1148 | )))|1|1 to 4294967294|((( | ||
| 1149 | 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. | ||
| 1150 | |||
| 1151 | **VD2L: 1-2147483647** | ||
| 1152 | )))|- | ||
| 1153 | |||
| 1154 | Table 6-20 Electronic gear ratio function code | ||
| 1155 | |||
| 1156 | 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. | ||
| 1157 | |||
| 1158 | |=(% scope="row" %)**DI function code**|=**Function name**|=**Function** | ||
| 1159 | |=09|GEAR-SEL electronic gear switch 1|((( | ||
| 1160 | DI port logic invalid: electronic gear ratio 1 | ||
| 1161 | |||
| 1162 | DI port logic valid: electronic gear ratio 2 | ||
| 1163 | ))) | ||
| 1164 | |||
| 1165 | Table 6-21 Switching conditions of electronic gear ratio group | ||
| 1166 | |||
| 1167 | |=**P00-16 value**|=(% style="width: 510px;" %)**DI terminal level corresponding to DI port function 9**|=(% style="width: 400px;" %)**Electronic gear ratio** | ||
| 1168 | |(% rowspan="2" %)0|(% style="width:510px" %)DI port logic invalid|(% style="width:400px" %)((( | ||
| 1169 | (% style="text-align:center" %) | ||
| 1170 | [[image:image-20220707101328-21.png]] | ||
| 1171 | ))) | ||
| 1172 | |(% style="width:510px" %)DI port logic valid|(% style="width:400px" %)((( | ||
| 1173 | (% style="text-align:center" %) | ||
| 1174 | [[image:image-20220707101336-22.png]] | ||
| 1175 | ))) | ||
| 1176 | |1 to 131072|(% style="width:510px" %)~-~-|(% style="width:400px" %)((( | ||
| 1177 | (% style="text-align:center" %) | ||
| 1178 | [[image:image-20220707101341-23.png]] | ||
| 1179 | ))) | ||
| 1180 | |||
| 1181 | Table 6-22 Application of electronic gear ratio | ||
| 1182 | |||
| 1183 | When the function code P00-16 is not 0, the electronic gear ratio [[image:image-20220707101509-25.png]] is invalid. | ||
| 1184 | |||
| 1185 | == Position instruction filtering == | ||
| 1186 | |||
| 1187 | 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. | ||
| 1188 | |||
| 1189 | In the following situations, position instruction filtering should be added. | ||
| 1190 | |||
| 1191 | 1. The position instruction output by host computer has not been processed with acceleration or deceleration; | ||
| 1192 | 1. The pulse instruction frequency is low; | ||
| 1193 | 1. When the electronic gear ratio is 10 times or more. | ||
| 1194 | |||
| 1195 | 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. | ||
| 1196 | |||
| 1197 | (% style="text-align:center" %) | ||
| 1198 | ((( | ||
| 1199 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:514px;" %) | ||
| 1200 | [[**Figure 6-25 Position instruction filtering diagram**>>image:image-20220608170455-23.png||height="230" id="Iimage-20220608170455-23.png" width="514"]] | ||
| 1201 | ))) | ||
| 1202 | |||
| 1203 | |=(% scope="row" %)**Function code**|=**Name**|=((( | ||
| 1204 | **Setting method** | ||
| 1205 | )))|=((( | ||
| 1206 | **Effective time** | ||
| 1207 | )))|=**Default value**|=**Range**|=**Definition**|=**Unit** | ||
| 1208 | |=P04-01|Pulse instruction filtering method|((( | ||
| 1209 | Shutdown setting | ||
| 1210 | )))|((( | ||
| 1211 | Effective immediately | ||
| 1212 | )))|0|0 to 1|((( | ||
| 1213 | * 0: 1st-order low-pass filtering | ||
| 1214 | * 1: average filtering | ||
| 1215 | )))|- | ||
| 1216 | |=P04-02|Position instruction 1st-order low-pass filtering time constant|Shutdown setting|((( | ||
| 1217 | Effective immediately | ||
| 1218 | )))|0|0 to 1000|Position instruction first-order low-pass filtering time constant|ms | ||
| 1219 | |=P04-03|Position instruction average filtering time constant|Shutdown setting|((( | ||
| 1220 | Effective immediately | ||
| 1221 | )))|0|0 to 128|Position instruction average filtering time constant|ms | ||
| 1222 | |||
| 1223 | Table 6-25 Position instruction filter function code | ||
| 1224 | |||
| 1225 | == Clearance of position deviation == | ||
| 1226 | |||
| 1227 | 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; | ||
| 1228 | |||
| 1229 | Position deviation = (position instruction-position feedback) (encoder unit) | ||
| 1230 | |||
| 1231 | == Position-related DO output function == | ||
| 1232 | |||
| 1233 | The feedback value of position instruction is compared with different thresholds, and output DO signal for host computer use. | ||
| 1234 | |||
| 1235 | (% class="wikigeneratedid" id="HPositioningcompletion2Fpositioningapproachoutput" %) | ||
| 1236 | **Positioning completion/positioning approach output** | ||
| 1237 | |||
| 1238 | (% class="wikigeneratedid" %) | ||
| 1239 | 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. | ||
| 1240 | |||
| 1241 | (% style="text-align:center" %) | ||
| 1242 | ((( | ||
| 1243 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) | ||
| 1244 | [[**Figure 6-26 Positioning completion signal output diagram**>>image:image-20220608170550-24.png||id="Iimage-20220608170550-24.png"]] | ||
| 1245 | ))) | ||
| 1246 | |||
| 1247 | 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. | ||
| 1248 | |||
| 1249 | 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]]__. | ||
| 1250 | |||
| 1251 | (% style="text-align:center" %) | ||
| 1252 | ((( | ||
| 1253 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:709px;" %) | ||
| 1254 | [[**Figure 6-27 Positioning completion signal output with increased window filter time diagram**>>image:image-20220608170650-25.png||height="331" id="Iimage-20220608170650-25.png" width="709"]] | ||
| 1255 | ))) | ||
| 1256 | |||
| 1257 | |=(% scope="row" %)**Function code**|=**Name**|=((( | ||
| 1258 | **Setting method** | ||
| 1259 | )))|=(% style="width: 129px;" %)((( | ||
| 1260 | **Effective time** | ||
| 1261 | )))|=(% style="width: 95px;" %)**Default value**|=**Range**|=**Definition**|=**Unit** | ||
| 1262 | |=P05-12|Positioning completion threshold|((( | ||
| 1263 | Operation setting | ||
| 1264 | )))|(% style="width:129px" %)((( | ||
| 1265 | Effective immediately | ||
| 1266 | )))|(% style="width:95px" %)800|1 to 65535|Positioning completion threshold|Equivalent pulse unit | ||
| 1267 | |=P05-13|Positioning approach threshold|((( | ||
| 1268 | Operation setting | ||
| 1269 | )))|(% style="width:129px" %)((( | ||
| 1270 | Effective immediately | ||
| 1271 | )))|(% style="width:95px" %)5000|1 to 65535|Positioning approach threshold|Equivalent pulse unit | ||
| 1272 | |=P05-14|Position detection window time|((( | ||
| 1273 | Operation setting | ||
| 1274 | )))|(% style="width:129px" %)((( | ||
| 1275 | Effective immediately | ||
| 1276 | )))|(% style="width:95px" %)10|0 to 20000|Set positioning completion detection window time|ms | ||
| 1277 | |=P05-15|Positioning signal hold time|((( | ||
| 1278 | Operation setting | ||
| 1279 | )))|(% style="width:129px" %)((( | ||
| 1280 | Effective immediately | ||
| 1281 | )))|(% style="width:95px" %)100|0 to 20000|Set positioning completion output hold time|ms | ||
| 1282 | |||
| 1283 | Table 6-26 Function code parameters of positioning completion | ||
| 1284 | |||
| 1285 | |=(% scope="row" %)**DO function code**|=**Function name**|=**Function** | ||
| 1286 | |=134|P-COIN positioning complete|Output this signal indicates the servo drive position is complete. | ||
| 1287 | |=135|((( | ||
| 1288 | P-NEAR positioning close | ||
| 1289 | )))|((( | ||
| 1290 | Output this signal indicates that the servo drive position is close. | ||
| 1291 | ))) | ||
| 1292 | |||
| 1293 | Table 6-27 Description of DO rotation detection function code | ||
| 1294 | |||
| 1295 | == **VD2-0xxSA1H collector pulse signal DO Function and VD2L pulse signal DO output function** == | ||
| 1296 | |||
| 1297 | **(1) VD2-0xxSA1H collector pulse signal DO Function** | ||
| 1298 | |||
| 1299 | The pulse signal of VD2-0xxSA1H is a collector signal output through DO, which can be connected to the high-speed pulse input of PLC without conversion through differential to collector circuit board. However, the pulse frequency division output used by VD2 series is a differential signal, which needs to pass through differential to collector circuit board to be connected to the high-speed pulse input of PLC. | ||
| 1300 | |||
| 1301 | **(2) Pulse signal DO output function of VD2L-0xxSA1P** | ||
| 1302 | |||
| 1303 | The pulse signal of VD2L-0xxSA1P is the collector signal output by DO, and it can be connected to the high-speed pulse input of PLC without the conversion of differential to collector circuit board. | ||
| 1304 | |||
| 1305 | **(3) The difference of collector pulse signal DO Function of VD2-0xxSA1H and DO output function of pulse signal of VD2L-0xxSA1P** | ||
| 1306 | |||
| 1307 | The pulse signal of VD2-0xxSA1H is the collector signal output through DO, and it is a 4 times frequency pulse signal of Phase A/B. DO signal of VD2L is a pulse+direction signal. | ||
| 1308 | |||
| 1309 | DO2, DO3, and DO4 respectively correspond to the pulse frequency division outputs of the Z-axis, A-axis, and B-axis of the pulse output, as shown in the following table. | ||
| 1310 | |||
| 1311 | |||
| 1312 | |(% rowspan="2" %)P06-28|Parameter name|Setting method|Effective time|Default|Set range|Application category|Unit | ||
| 1313 | |DO_2 channel function selection|Operation setting|Effective immediately|143|128-148|DI/DO|- | ||
| 1314 | |(% colspan="8" %)((( | ||
| 1315 | Used to set DO functions corresponding to hardware DO2. Refer to the following table for the functions corresponding to the set value: | ||
| 1316 | |||
| 1317 | |Setting value|DO channel function| |Setting value|DO channel function | ||
| 1318 | |128|OFF (not used)| |139|T-LIMIT (Torque limit) | ||
| 1319 | |129|RDY (Servo ready)| |140|V-LIMIT (speed limited) | ||
| 1320 | |130|ALM (fault signal)| |141|BRK-OFF (Brake Output)^^ Note1^^ | ||
| 1321 | |131|WARN (warning signal)| |142|SRV-ST (Servo start status output) | ||
| 1322 | |132|TGON (rotation detection)| |143|OZ (Z pulse output)^^ Note2^^ | ||
| 1323 | |133|ZSP (zero speed signal)| |144|N/A | ||
| 1324 | |134|P-COIN (Positioning completed)| |145|COM_VDO1 (communication VDO1 output) | ||
| 1325 | |135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output) | ||
| 1326 | |136|V-COIN (consistent speed)| |147|COM_VDO1(communication VDO3 output) | ||
| 1327 | |137|V-NEAR (speed approach)| |148|COM_VDO1(communication VDO4 output) | ||
| 1328 | |138|T-COIN (torque arrival)| | | | ||
| 1329 | |||
| 1330 | When P06-28 is set to a value other than the above table, it is considered to not use DO port function. | ||
| 1331 | |||
| 1332 | The same DO channel function is not allowed to be assigned to multiple DO ports, otherwise the servo driver will report A-90 (DO port configuration duplicate). | ||
| 1333 | |||
| 1334 | Note 1: To use the BRK-OFF function code, you need to repower to take effect. | ||
| 1335 | |||
| 1336 | Note 2: | ||
| 1337 | |||
| 1338 | ① Only VD2L and VD2F support function code 143. The code for this function of VD2-0xxSA1G model is empty! | ||
| 1339 | |||
| 1340 | ② Only in the VD2-0xxSA1H model, the default function code for the DO_1 channel function selection is 130ALM (fault signal)! In the VD2-0xxSA1H model, the function code for the DO_2, DO_3, and DO_4 channels are 143 OZ (Z/A/B pulse output), and these 3 channels correspond to the Z-axis, A-axis, and B-axis of the pulse output respectively! | ||
| 1341 | |||
| 1342 | ③ The function selection code of DO_2, DO_3 and DO_4 channels in the VD2L-0xxSA1P model are 143 OZ (Z pulse output), and these 3 channels correspond to Z axis, pulse axis, and direction axis of the pulse output respectively! | ||
| 1343 | ))) | ||
| 1344 | |||
| 1345 | |(% rowspan="2" %)P06-30|Parameter name|Setting method|Effective time|Default|Set range|Application category|Unit | ||
| 1346 | |DO_3 channel function selection|Operation setting|Effective immediately|143|128-148|DI/DO|- | ||
| 1347 | |(% colspan="8" %)((( | ||
| 1348 | Used to set DO functions corresponding to hardware DO3. Refer to the following table for the functions corresponding to the set value: | ||
| 1349 | |||
| 1350 | |Setting value|DO channel function| |Setting value|DO channel function | ||
| 1351 | |128|OFF (not used)| |139|T-LIMIT (torque limit) | ||
| 1352 | |129|RDY (Servo ready)| |140|V-LIMIT (speed limited) | ||
| 1353 | |130|ALM (fault signal)| |141|BRK-OFF (Brake Output)^^ Note1^^ | ||
| 1354 | |131|WARN (warning signal)| |142|SRV-ST (Servo start status output) | ||
| 1355 | |132|TGON (rotation detection)| |143|OA (A pulse output)^^ Note2^^ | ||
| 1356 | |133|ZSP (zero speed signal)| |144|None | ||
| 1357 | |134|P-COIN (Positioning completed)| |145|COM_VDO1 (communication VDO1 output) | ||
| 1358 | |135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output) | ||
| 1359 | |136|V-COIN (consistent speed)| |147|COM_VDO1(communication VDO3 output) | ||
| 1360 | |137|V-NEAR (speed approach)| |148|COM_VDO1(communication VDO4 output) | ||
| 1361 | |138|T-COIN (torque arrival)| | | | ||
| 1362 | |||
| 1363 | When P06-30 is set to a value other than the above table, it is considered to not use DO port function. | ||
| 1364 | |||
| 1365 | The same DO channel function is not allowed to be assigned to multiple DO ports, otherwise the servo driver will report A-90 (DO port configuration duplicate). | ||
| 1366 | |||
| 1367 | **Note 1:** To use the BRK-OFF function code, you need to repower to take effect. | ||
| 1368 | |||
| 1369 | **Note 2:** | ||
| 1370 | |||
| 1371 | ① Only VD2L and VD2F support function code 143. The code for this function of VD2-0xxSA1G model is empty! | ||
| 1372 | |||
| 1373 | ② Only in the VD2-0xxSA1H model, the default function code for the DO_1 channel function selection is 130ALM (fault signal)! In the VD2-0xxSA1H model, the function code for the DO_2, DO_3, and DO_4 channels are 143 OZ (Z/A/B pulse output), and these 3 channels correspond to the Z-axis, A-axis, and B-axis of the pulse output respectively! | ||
| 1374 | |||
| 1375 | ③ The function selection code of DO_2, DO_3 and DO_4 channels in the VD2L-0xxSA1P model are 143 OZ (Z pulse output), and these 3 channels correspond to Z axis, pulse axis, and direction axis of the pulse output respectively! | ||
| 1376 | ))) | ||
| 1377 | |||
| 1378 | |(% rowspan="2" %)P06-32|Parameter name|Setting method|Effective time|Default|Set range|Application category|Unit | ||
| 1379 | |DO_4 channel function selection|Operation setting|Effective immediately|143|128-148|DI/DO|- | ||
| 1380 | |(% colspan="8" %)((( | ||
| 1381 | Used to set DO functions corresponding to hardware DO4. Refer to the following table for the functions corresponding to the set value: | ||
| 1382 | |||
| 1383 | |Setting value|DO channel function| |Setting value|DO channel function | ||
| 1384 | |128|OFF (not used)| |139|T-LIMIT (Torque limit) | ||
| 1385 | |129|RDY (Servo ready)| |140|V-LIMIT (speed limited) | ||
| 1386 | |130|ALM (fault signal)| |141|BRK-OFF (Brake Output)^^ Note1^^ | ||
| 1387 | |131|WARN (warning signal)| |142|SRV-ST (Servo start status output) | ||
| 1388 | |132|TGON (rotation detection)| |143|OB (B pulse output)^^ Note2^^ | ||
| 1389 | |133|ZSP (zero speed signal)| |144|None | ||
| 1390 | |134|P-COIN (Positioning completed)| |145|COM_VDO1 (communication VDO1 output) | ||
| 1391 | |135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output) | ||
| 1392 | |136|V-COIN (consistent speed)| |147|COM_VDO1(communication VDO3 output) | ||
| 1393 | |137|V-NEAR (speed approach)| |148|COM_VDO1(communication VDO4 output) | ||
| 1394 | |138|T-COIN (torque arrival)| | | | ||
| 1395 | |||
| 1396 | When P06-32 is set to a value other than the above table, it is considered to not use DO port function. | ||
| 1397 | |||
| 1398 | The same DO channel function is not allowed to be assigned to multiple DO ports, otherwise the servo drive will report A-90 (DO port configuration duplicate). | ||
| 1399 | |||
| 1400 | **Note 1:** To use the BRK-OFF function code, you need to repower to take effect. | ||
| 1401 | |||
| 1402 | **Note 2:** | ||
| 1403 | |||
| 1404 | ① Only VD2L and VD2F support function code 143. The code for this function of VD2-0xxSA1G model is empty! | ||
| 1405 | |||
| 1406 | ② Only in the VD2-0xxSA1H model, the default function code for the DO_1 channel function selection is 130ALM (fault signal)! In the VD2-0xxSA1H model, the function code for the DO_2, DO_3, and DO_4 channels are 143 OZ (Z/A/B pulse output), and these 3 channels correspond to the Z-axis, A-axis, and B-axis of the pulse output respectively! | ||
| 1407 | |||
| 1408 | ③ The function selection code of DO_2, DO_3 and DO_4 channels in the VD2L-0xxSA1P model are 143 OZ (Z pulse output), and these 3 channels correspond to Z axis, pulse axis, and direction axis of the pulse output respectively! | ||
| 1409 | ))) | ||
| 1410 | |||
| 1411 | == **VD2-0xxSA1H collector pulse signal DO Function and VD2L pulse signal DO output function** == | ||
| 1412 | |||
| 1413 | **(1) VD2-0xxSA1H collector pulse signal DO Function** | ||
| 1414 | |||
| 1415 | The pulse signal of VD2-0xxSA1H is a collector signal output through DO, which can be connected to the high-speed pulse input of PLC without conversion through differential to collector circuit board. However, the pulse frequency division output used by VD2 series is a differential signal, which needs to pass through differential to collector circuit board to be connected to the high-speed pulse input of PLC. | ||
| 1416 | |||
| 1417 | **(2) Pulse signal DO output function of VD2L-0xxSA1P** | ||
| 1418 | |||
| 1419 | The pulse signal of VD2L-0xxSA1P is the collector signal output by DO, and it can be connected to the high-speed pulse input of PLC without the conversion of differential to collector circuit board. | ||
| 1420 | |||
| 1421 | **(3) The difference of collector pulse signal DO Function of VD2-0xxSA1H and DO output function of pulse signal of VD2L-0xxSA1P** | ||
| 1422 | |||
| 1423 | The pulse signal of VD2-0xxSA1H is the collector signal output through DO, and it is a 4 times frequency pulse signal of Phase A/B. DO signal of VD2L is a pulse+direction signal. | ||
| 1424 | |||
| 1425 | DO2, DO3, and DO4 respectively correspond to the pulse frequency division outputs of the Z-axis, A-axis, and B-axis of the pulse output, as shown in the following table. | ||
| 1426 | |||
| 1427 | |||
| 1428 | |(% rowspan="2" %)P06-28|Parameter name|Setting method|Effective time|Default|Set range|Application category|Unit | ||
| 1429 | |DO_2 channel function selection|Operation setting|Effective immediately|143|128-148|DI/DO|- | ||
| 1430 | |(% colspan="8" %)((( | ||
| 1431 | Used to set DO functions corresponding to hardware DO2. Refer to the following table for the functions corresponding to the set value: | ||
| 1432 | |||
| 1433 | |Setting value|DO channel function| |Setting value|DO channel function | ||
| 1434 | |128|OFF (not used)| |139|T-LIMIT (Torque limit) | ||
| 1435 | |129|RDY (Servo ready)| |140|V-LIMIT (speed limited) | ||
| 1436 | |130|ALM (fault signal)| |141|BRK-OFF (Brake Output)^^ Note1^^ | ||
| 1437 | |131|WARN (warning signal)| |142|SRV-ST (Servo start status output) | ||
| 1438 | |132|TGON (rotation detection)| |143|OZ (Z pulse output)^^ Note2^^ | ||
| 1439 | |133|ZSP (zero speed signal)| |144|N/A | ||
| 1440 | |134|P-COIN (Positioning completed)| |145|COM_VDO1 (communication VDO1 output) | ||
| 1441 | |135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output) | ||
| 1442 | |136|V-COIN (consistent speed)| |147|COM_VDO1(communication VDO3 output) | ||
| 1443 | |137|V-NEAR (speed approach)| |148|COM_VDO1(communication VDO4 output) | ||
| 1444 | |138|T-COIN (torque arrival)| | | | ||
| 1445 | |||
| 1446 | When P06-28 is set to a value other than the above table, it is considered to not use DO port function. | ||
| 1447 | |||
| 1448 | The same DO channel function is not allowed to be assigned to multiple DO ports, otherwise the servo driver will report A-90 (DO port configuration duplicate). | ||
| 1449 | |||
| 1450 | Note 1: To use the BRK-OFF function code, you need to repower to take effect. | ||
| 1451 | |||
| 1452 | Note 2: | ||
| 1453 | |||
| 1454 | ① Only VD2L and VD2F support function code 143. The code for this function of VD2-0xxSA1G model is empty! | ||
| 1455 | |||
| 1456 | ② Only in the VD2-0xxSA1H model, the default function code for the DO_1 channel function selection is 130ALM (fault signal)! In the VD2-0xxSA1H model, the function code for the DO_2, DO_3, and DO_4 channels are 143 OZ (Z/A/B pulse output), and these 3 channels correspond to the Z-axis, A-axis, and B-axis of the pulse output respectively! | ||
| 1457 | |||
| 1458 | ③ The function selection code of DO_2, DO_3 and DO_4 channels in the VD2L-0xxSA1P model are 143 OZ (Z pulse output), and these 3 channels correspond to Z axis, pulse axis, and direction axis of the pulse output respectively! | ||
| 1459 | ))) | ||
| 1460 | |||
| 1461 | |(% rowspan="2" %)P06-30|Parameter name|Setting method|Effective time|Default|Set range|Application category|Unit | ||
| 1462 | |DO_3 channel function selection|Operation setting|Effective immediately|143|128-148|DI/DO|- | ||
| 1463 | |(% colspan="8" %)((( | ||
| 1464 | Used to set DO functions corresponding to hardware DO3. Refer to the following table for the functions corresponding to the set value: | ||
| 1465 | |||
| 1466 | |Setting value|DO channel function| |Setting value|DO channel function | ||
| 1467 | |128|OFF (not used)| |139|T-LIMIT (torque limit) | ||
| 1468 | |129|RDY (Servo ready)| |140|V-LIMIT (speed limited) | ||
| 1469 | |130|ALM (fault signal)| |141|BRK-OFF (Brake Output)^^ Note1^^ | ||
| 1470 | |131|WARN (warning signal)| |142|SRV-ST (Servo start status output) | ||
| 1471 | |132|TGON (rotation detection)| |143|OA (A pulse output)^^ Note2^^ | ||
| 1472 | |133|ZSP (zero speed signal)| |144|None | ||
| 1473 | |134|P-COIN (Positioning completed)| |145|COM_VDO1 (communication VDO1 output) | ||
| 1474 | |135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output) | ||
| 1475 | |136|V-COIN (consistent speed)| |147|COM_VDO1(communication VDO3 output) | ||
| 1476 | |137|V-NEAR (speed approach)| |148|COM_VDO1(communication VDO4 output) | ||
| 1477 | |138|T-COIN (torque arrival)| | | | ||
| 1478 | |||
| 1479 | When P06-30 is set to a value other than the above table, it is considered to not use DO port function. | ||
| 1480 | |||
| 1481 | The same DO channel function is not allowed to be assigned to multiple DO ports, otherwise the servo driver will report A-90 (DO port configuration duplicate). | ||
| 1482 | |||
| 1483 | **Note 1:** To use the BRK-OFF function code, you need to repower to take effect. | ||
| 1484 | |||
| 1485 | **Note 2:** | ||
| 1486 | |||
| 1487 | ① Only VD2L and VD2F support function code 143. The code for this function of VD2-0xxSA1G model is empty! | ||
| 1488 | |||
| 1489 | ② Only in the VD2-0xxSA1H model, the default function code for the DO_1 channel function selection is 130ALM (fault signal)! In the VD2-0xxSA1H model, the function code for the DO_2, DO_3, and DO_4 channels are 143 OZ (Z/A/B pulse output), and these 3 channels correspond to the Z-axis, A-axis, and B-axis of the pulse output respectively! | ||
| 1490 | |||
| 1491 | ③ The function selection code of DO_2, DO_3 and DO_4 channels in the VD2L-0xxSA1P model are 143 OZ (Z pulse output), and these 3 channels correspond to Z axis, pulse axis, and direction axis of the pulse output respectively! | ||
| 1492 | ))) | ||
| 1493 | |||
| 1494 | |(% rowspan="2" %)P06-32|Parameter name|Setting method|Effective time|Default|Set range|Application category|Unit | ||
| 1495 | |DO_4 channel function selection|Operation setting|Effective immediately|143|128-148|DI/DO|- | ||
| 1496 | |(% colspan="8" %)((( | ||
| 1497 | Used to set DO functions corresponding to hardware DO4. Refer to the following table for the functions corresponding to the set value: | ||
| 1498 | |||
| 1499 | |Setting value|DO channel function| |Setting value|DO channel function | ||
| 1500 | |128|OFF (not used)| |139|T-LIMIT (Torque limit) | ||
| 1501 | |129|RDY (Servo ready)| |140|V-LIMIT (speed limited) | ||
| 1502 | |130|ALM (fault signal)| |141|BRK-OFF (Brake Output)^^ Note1^^ | ||
| 1503 | |131|WARN (warning signal)| |142|SRV-ST (Servo start status output) | ||
| 1504 | |132|TGON (rotation detection)| |143|OB (B pulse output)^^ Note2^^ | ||
| 1505 | |133|ZSP (zero speed signal)| |144|None | ||
| 1506 | |134|P-COIN (Positioning completed)| |145|COM_VDO1 (communication VDO1 output) | ||
| 1507 | |135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output) | ||
| 1508 | |136|V-COIN (consistent speed)| |147|COM_VDO1(communication VDO3 output) | ||
| 1509 | |137|V-NEAR (speed approach)| |148|COM_VDO1(communication VDO4 output) | ||
| 1510 | |138|T-COIN (torque arrival)| | | | ||
| 1511 | |||
| 1512 | When P06-32 is set to a value other than the above table, it is considered to not use DO port function. | ||
| 1513 | |||
| 1514 | The same DO channel function is not allowed to be assigned to multiple DO ports, otherwise the servo drive will report A-90 (DO port configuration duplicate). | ||
| 1515 | |||
| 1516 | **Note 1:** To use the BRK-OFF function code, you need to repower to take effect. | ||
| 1517 | |||
| 1518 | **Note 2:** | ||
| 1519 | |||
| 1520 | ① Only VD2L and VD2F support function code 143. The code for this function of VD2-0xxSA1G model is empty! | ||
| 1521 | |||
| 1522 | ② Only in the VD2-0xxSA1H model, the default function code for the DO_1 channel function selection is 130ALM (fault signal)! In the VD2-0xxSA1H model, the function code for the DO_2, DO_3, and DO_4 channels are 143 OZ (Z/A/B pulse output), and these 3 channels correspond to the Z-axis, A-axis, and B-axis of the pulse output respectively! | ||
| 1523 | |||
| 1524 | ③ The function selection code of DO_2, DO_3 and DO_4 channels in the VD2L-0xxSA1P model are 143 OZ (Z pulse output), and these 3 channels correspond to Z axis, pulse axis, and direction axis of the pulse output respectively! | ||
| 1525 | ))) | ||
| 1526 | |||
| 1527 | = **Speed control mode** = | ||
| 1528 | |||
| 1529 | 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. | ||
| 1530 | |||
| 1531 | (% style="text-align:center" %) | ||
| 1532 | ((( | ||
| 1533 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:806px;" %) | ||
| 1534 | [[**Figure 6-28 Speed control block diagram**>>image:6.28.jpg||height="260" id="I6.28.jpg" width="806"]] | ||
| 1535 | ))) | ||
| 1536 | |||
| 1537 | == Speed instruction input setting == | ||
| 1538 | |||
| 1539 | 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. | ||
| 1540 | |||
| 1541 | |=(% scope="row" style="width: 121px;" %)**Function code**|=(% style="width: 186px;" %)**Name**|=(% style="width: 128px;" %)((( | ||
| 1542 | **Setting method** | ||
| 1543 | )))|=(% style="width: 125px;" %)((( | ||
| 1544 | **Effective time** | ||
| 1545 | )))|=(% style="width: 85px;" %)**Default value**|=(% style="width: 75px;" %)**Range**|=(% style="width: 310px;" %)**Definition**|=**Unit** | ||
| 1546 | |=(% style="width: 121px;" %)P01-01|(% style="width:186px" %)Speed instruction source|(% style="width:128px" %)((( | ||
| 1547 | Shutdown setting | ||
| 1548 | )))|(% style="width:125px" %)((( | ||
| 1549 | Effective immediately | ||
| 1550 | )))|(% style="width:85px" %)0|(% style="width:75px" %)0 to 1|(% style="width:310px" %)((( | ||
| 1551 | * 0: internal speed instruction | ||
| 1552 | * 1: AI_1 analog input (not supported by VD2F) | ||
| 1553 | )))|- | ||
| 1554 | |||
| 1555 | Table 6-26 Speed instruction source parameter | ||
| 1556 | |||
| 1557 | **Speed instruction source is internal speed instruction (P01-01=0)** | ||
| 1558 | |||
| 1559 | Speed instruction comes from internal instruction, and the internal speed instruction is given by a number. The VD2 series servo drive has internal multi-segment speed running function. There are 8 segments speed instructions stored in servo drive, and the speed of each segment could be set individually. The servo drive uses the 1st segment internal speed by default. To use the 2nd to 8th segment internal speed, the corresponding number of DI terminals must be configured as functions 13, 14, and 15. The detailed parameters and function codes are shown as belo | ||
| 1560 | |||
| 1561 | (% style="width:1141px" %) | ||
| 1562 | |=(% colspan="1" scope="row" %)**Function code**|=(% colspan="2" %)**Name**|=(% colspan="2" %)((( | ||
| 1563 | **Setting** | ||
| 1564 | |||
| 1565 | **method** | ||
| 1566 | )))|=(% colspan="2" %)((( | ||
| 1567 | **Effective** | ||
| 1568 | |||
| 1569 | **time** | ||
| 1570 | )))|=(% colspan="2" %)**Default value**|=(% colspan="2" %)**Range**|=(% colspan="2" %)**Definition**|=(% colspan="2" %)**Unit** | ||
| 1571 | |=(% colspan="1" %)P01-02|(% colspan="2" %)((( | ||
| 1572 | Internal speed | ||
| 1573 | |||
| 1574 | Instruction 0 | ||
| 1575 | )))|(% colspan="2" %)((( | ||
| 1576 | Operation | ||
| 1577 | |||
| 1578 | setting | ||
| 1579 | )))|(% colspan="2" %)((( | ||
| 1580 | Effective | ||
| 1581 | |||
| 1582 | immediately | ||
| 1583 | )))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)((( | ||
| 1584 | Internal speed instruction 0 | ||
| 1585 | |||
| 1586 | When DI input port: | ||
| 1587 | |||
| 1588 | * 15-INSPD3: 0 | ||
| 1589 | * 14-INSPD2: 0 | ||
| 1590 | * 13-INSPD1: 0, | ||
| 1591 | |||
| 1592 | select this speed instruction to be effective. | ||
| 1593 | )))|(% colspan="2" %)rpm | ||
| 1594 | |=(% colspan="1" %)P01-23|(% colspan="2" %)((( | ||
| 1595 | Internal speed | ||
| 1596 | |||
| 1597 | Instruction 1 | ||
| 1598 | )))|(% colspan="2" %)((( | ||
| 1599 | Operation | ||
| 1600 | |||
| 1601 | setting | ||
| 1602 | )))|(% colspan="2" %)((( | ||
| 1603 | Effective | ||
| 1604 | |||
| 1605 | immediately | ||
| 1606 | )))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)((( | ||
| 1607 | Internal speed instruction 1 | ||
| 1608 | |||
| 1609 | When DI input port: | ||
| 1610 | |||
| 1611 | * 15-INSPD3: 0 | ||
| 1612 | * 14-INSPD2: 0 | ||
| 1613 | * 13-INSPD1: 1, | ||
| 1614 | |||
| 1615 | Select this speed instruction to be effective. | ||
| 1616 | )))|(% colspan="2" %)rpm | ||
| 1617 | |=(% colspan="1" %)P01-24|(% colspan="2" %)((( | ||
| 1618 | Internal speed | ||
| 1619 | |||
| 1620 | Instruction 2 | ||
| 1621 | )))|(% colspan="2" %)((( | ||
| 1622 | Operation | ||
| 1623 | |||
| 1624 | setting | ||
| 1625 | )))|(% colspan="2" %)((( | ||
| 1626 | Effective | ||
| 1627 | |||
| 1628 | immediately | ||
| 1629 | )))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)((( | ||
| 1630 | Internal speed instruction 2 | ||
| 1631 | |||
| 1632 | When DI input port: | ||
| 1633 | |||
| 1634 | * 15-INSPD3: 0 | ||
| 1635 | * 14-INSPD2: 1 | ||
| 1636 | * 13-INSPD1: 0, | ||
| 1637 | |||
| 1638 | Select this speed instruction to be effective. | ||
| 1639 | )))|(% colspan="2" %)rpm | ||
| 1640 | |=(% colspan="1" %)P01-25|(% colspan="2" %)((( | ||
| 1641 | Internal speed | ||
| 1642 | |||
| 1643 | Instruction 3 | ||
| 1644 | )))|(% colspan="2" %)((( | ||
| 1645 | Operation | ||
| 1646 | |||
| 1647 | setting | ||
| 1648 | )))|(% colspan="2" %)((( | ||
| 1649 | Effective | ||
| 1650 | |||
| 1651 | immediately | ||
| 1652 | )))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)((( | ||
| 1653 | Internal speed instruction 3 | ||
| 1654 | |||
| 1655 | When DI input port: | ||
| 1656 | |||
| 1657 | * 15-INSPD3: 0 | ||
| 1658 | * 14-INSPD2: 1 | ||
| 1659 | * 13-INSPD1: 1, | ||
| 1660 | |||
| 1661 | Select this speed instruction to be effective. | ||
| 1662 | )))|(% colspan="2" %)rpm | ||
| 1663 | |=P01-26|(% colspan="2" %)((( | ||
| 1664 | Internal speed | ||
| 1665 | |||
| 1666 | Instruction 4 | ||
| 1667 | )))|(% colspan="2" %)((( | ||
| 1668 | Operation | ||
| 1669 | |||
| 1670 | setting | ||
| 1671 | )))|(% colspan="2" %)((( | ||
| 1672 | Effective | ||
| 1673 | |||
| 1674 | immediately | ||
| 1675 | )))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)((( | ||
| 1676 | Internal speed instruction 4 | ||
| 1677 | |||
| 1678 | When DI input port: | ||
| 1679 | |||
| 1680 | * 15-INSPD3: 1 | ||
| 1681 | * 14-INSPD2: 0 | ||
| 1682 | * 13-INSPD1: 0, | ||
| 1683 | |||
| 1684 | Select this speed instruction to be effective. | ||
| 1685 | )))|(% colspan="1" %)rpm | ||
| 1686 | |=P01-27|(% colspan="2" %)((( | ||
| 1687 | Internal speed | ||
| 1688 | |||
| 1689 | Instruction 5 | ||
| 1690 | )))|(% colspan="2" %)((( | ||
| 1691 | Operation | ||
| 1692 | |||
| 1693 | setting | ||
| 1694 | )))|(% colspan="2" %)((( | ||
| 1695 | Effective | ||
| 1696 | |||
| 1697 | immediately | ||
| 1698 | )))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)((( | ||
| 1699 | Internal speed instruction 5 | ||
| 1700 | |||
| 1701 | When DI input port: | ||
| 1702 | |||
| 1703 | * 15-INSPD3: 1 | ||
| 1704 | * 14-INSPD2: 0 | ||
| 1705 | * 13-INSPD1: 1, | ||
| 1706 | |||
| 1707 | Select this speed instruction to be effective. | ||
| 1708 | )))|(% colspan="1" %)rpm | ||
| 1709 | |=P01-28|(% colspan="2" %)((( | ||
| 1710 | Internal speed | ||
| 1711 | |||
| 1712 | Instruction 6 | ||
| 1713 | )))|(% colspan="2" %)((( | ||
| 1714 | Operation | ||
| 1715 | |||
| 1716 | setting | ||
| 1717 | )))|(% colspan="2" %)((( | ||
| 1718 | Effective | ||
| 1719 | |||
| 1720 | immediately | ||
| 1721 | )))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)((( | ||
| 1722 | Internal speed instruction 6 | ||
| 1723 | |||
| 1724 | When DI input port: | ||
| 1725 | |||
| 1726 | * 15-INSPD3: 1 | ||
| 1727 | * 14-INSPD2: 1 | ||
| 1728 | * 13-INSPD1: 0, | ||
| 1729 | |||
| 1730 | Select this speed instruction to be effective. | ||
| 1731 | )))|(% colspan="1" %)rpm | ||
| 1732 | |=P01-29|(% colspan="2" %)((( | ||
| 1733 | Internal speed | ||
| 1734 | |||
| 1735 | Instruction 7 | ||
| 1736 | )))|(% colspan="2" %)((( | ||
| 1737 | Operation | ||
| 1738 | |||
| 1739 | setting | ||
| 1740 | )))|(% colspan="2" %)((( | ||
| 1741 | Effective | ||
| 1742 | |||
| 1743 | immediately | ||
| 1744 | )))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)((( | ||
| 1745 | Internal speed instruction 7 | ||
| 1746 | |||
| 1747 | When DI input port: | ||
| 1748 | |||
| 1749 | * 15-INSPD3: 1 | ||
| 1750 | * 14-INSPD2: 1 | ||
| 1751 | * 13-INSPD1: 1, | ||
| 1752 | |||
| 1753 | Select this speed instruction to be effective. | ||
| 1754 | )))|(% colspan="1" %)rpm | ||
| 1755 | |||
| 1756 | Table 6-27 Internal speed instruction parameters | ||
| 1757 | |||
| 1758 | |=(% scope="row" %)**DI function code**|=**function name**|=**Function** | ||
| 1759 | |=13|INSPD1 internal speed instruction selection 1|Form internal multi-speed running segment number | ||
| 1760 | |=14|INSPD2 internal speed instruction selection 2|Form internal multi-speed running segment number | ||
| 1761 | |=15|INSPD3 internal speed instruction selection 3|Form internal multi-speed running segment number | ||
| 1762 | |||
| 1763 | Table 6-28 DI multi-speed function code description | ||
| 1764 | |||
| 1765 | 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. | ||
| 1766 | |||
| 1767 | |||
| 1768 | |=**INSPD3**|=**INSPD2**|=**INSPD1**|=**Running segment number**|=**Internal speed instruction number** | ||
| 1769 | |0|0|0|1|0 | ||
| 1770 | |0|0|1|2|1 | ||
| 1771 | |0|1|0|3|2 | ||
| 1772 | |(% colspan="5" %)...... | ||
| 1773 | |1|1|1|8|7 | ||
| 1774 | |||
| 1775 | Table 6-29 Correspondence between INSPD bits and segment numbers | ||
| 1776 | |||
| 1777 | (% style="text-align:center" %) | ||
| 1778 | ((( | ||
| 1779 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:814px;" %) | ||
| 1780 | [[**Figure 6-29 Multi-segment speed running curve**>>image:image-20220608170845-26.png||height="524" id="Iimage-20220608170845-26.png" width="814"]] | ||
| 1781 | ))) | ||
| 1782 | |||
| 1783 | **Speed instruction source is internal speed instruction (P01-01=1)** | ||
| 1784 | |||
| 1785 | 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. | ||
| 1786 | |||
| 1787 | (% style="text-align:center" %) | ||
| 1788 | ((( | ||
| 1789 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) | ||
| 1790 | [[**Figure 6-30 Analog input circuit**>>image:image-20220608153341-5.png||id="Iimage-20220608153341-5.png"]] | ||
| 1791 | ))) | ||
| 1792 | |||
| 1793 | Taking AI_1 as an example, the method of setting the speed instruction of analog voltage is illustrated as below. | ||
| 1794 | |||
| 1795 | (% style="text-align:center" %) | ||
| 1796 | ((( | ||
| 1797 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) | ||
| 1798 | [[**Figure 6-31 Analog voltage speed instruction setting steps**>>image:image-20220608170955-27.png||id="Iimage-20220608170955-27.png"]] | ||
| 1799 | ))) | ||
| 1800 | |||
| 1801 | Explanation of related terms: | ||
| 1802 | |||
| 1803 | * Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND. | ||
| 1804 | * Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0. | ||
| 1805 | * Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0. | ||
| 1806 | |||
| 1807 | (% style="text-align:center" %) | ||
| 1808 | ((( | ||
| 1809 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) | ||
| 1810 | [[**Figure 6-32 AI_1 diagram before and after bias**>>image:image-20220608171124-28.png||id="Iimage-20220608171124-28.png"]] | ||
| 1811 | ))) | ||
| 1812 | |||
| 1813 | |=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit** | ||
| 1814 | |=P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV | ||
| 1815 | |=P05-02☆|AI_1 input filter time constant|Operation setting|Effective immediately|200|0 to 60000|AI_1 channel input first-order low-pass filtering time constant|0.01ms | ||
| 1816 | |=P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel quantity dead zone value|mV | ||
| 1817 | |=P05-04☆|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV | ||
| 1818 | |||
| 1819 | Table 6-30 AI_1 parameters | ||
| 1820 | |||
| 1821 | (% class="box infomessage" %) | ||
| 1822 | ((( | ||
| 1823 | ✎**Note: **“☆” means VD2F servo drive does not support the function code . | ||
| 1824 | ))) | ||
| 1825 | |||
| 1826 | == Acceleration and deceleration time setting == | ||
| 1827 | |||
| 1828 | 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. | ||
| 1829 | |||
| 1830 | 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. | ||
| 1831 | |||
| 1832 | (% style="text-align:center" %) | ||
| 1833 | ((( | ||
| 1834 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) | ||
| 1835 | [[**Figure 6-33 of acceleration and deceleration time diagram**>>image:image-20220608171314-29.png||id="Iimage-20220608171314-29.png"]] | ||
| 1836 | ))) | ||
| 1837 | |||
| 1838 | (% style="text-align:center" %) | ||
| 1839 | [[image:image-20220707103616-27.png||class="img-thumbnail"]] | ||
| 1840 | |||
| 1841 | |=(% scope="row" %)**Function code**|=**Name**|=((( | ||
| 1842 | **Setting method** | ||
| 1843 | )))|=((( | ||
| 1844 | **Effective time** | ||
| 1845 | )))|=**Default value**|=**Range**|=**Definition**|=**Unit** | ||
| 1846 | |=P01-03|Acceleration time|((( | ||
| 1847 | Operation setting | ||
| 1848 | )))|((( | ||
| 1849 | Effective immediately | ||
| 1850 | )))|50|0 to 65535|The time for the speed instruction to accelerate from 0 to 1000rpm|ms | ||
| 1851 | |=P01-04|Deceleration time|((( | ||
| 1852 | Operation setting | ||
| 1853 | )))|((( | ||
| 1854 | Effective immediately | ||
| 1855 | )))|50|0 to 65535|The time for the speed instruction to decelerate from 1000rpm to 0|ms | ||
| 1856 | |||
| 1857 | Table 6-31 Acceleration and deceleration time parameters | ||
| 1858 | |||
| 1859 | == Speed instruction limit == | ||
| 1860 | |||
| 1861 | In speed mode, the servo drive could limit the size of the speed instruction. The sources of speed instruction limit include: | ||
| 1862 | |||
| 1863 | 1. P01-10: Set the maximum speed limit value | ||
| 1864 | 1. P01-12: Set forward speed limit value | ||
| 1865 | 1. P01-13: Set reverse speed limit value | ||
| 1866 | 1. The maximum speed of the motor: determined by motor model | ||
| 1867 | |||
| 1868 | The actual motor speed limit interval satisfies the following relationship: | ||
| 1869 | |||
| 1870 | The amplitude of forward speed instruction ≤ min (Maximum motor speed, P01-10, P01-12) | ||
| 1871 | |||
| 1872 | The amplitude of negative speed command ≤ min (Maximum motor speed, P01-10, P01-13) | ||
| 1873 | |||
| 1874 | |=(% scope="row" %)**Function code**|=**Name**|=((( | ||
| 1875 | **Setting method** | ||
| 1876 | )))|=((( | ||
| 1877 | **Effective time** | ||
| 1878 | )))|=**Default value**|=**Range**|=**Definition**|=**Unit** | ||
| 1879 | |=P01-10|Maximum speed threshold|((( | ||
| 1880 | Operation setting | ||
| 1881 | )))|((( | ||
| 1882 | Effective immediately | ||
| 1883 | )))|3600|0 to 5000|Set the maximum speed limit value, if exceeds this value, an overspeed fault will be reported|rpm | ||
| 1884 | |=P01-12|Forward speed threshold|((( | ||
| 1885 | Operation setting | ||
| 1886 | )))|((( | ||
| 1887 | Effective immediately | ||
| 1888 | )))|3000|0 to 5000|Set forward speed limit value|rpm | ||
| 1889 | |=P01-13|Reverse speed threshold|((( | ||
| 1890 | Operation setting | ||
| 1891 | )))|((( | ||
| 1892 | Effective immediately | ||
| 1893 | )))|3000|0 to 5000|Set reverse speed limit value|rpm | ||
| 1894 | |||
| 1895 | Table 6-32 Rotation speed related function codes | ||
| 1896 | |||
| 1897 | == Zero-speed clamp function == | ||
| 1898 | |||
| 1899 | 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. | ||
| 1900 | |||
| 1901 | 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. | ||
| 1902 | |||
| 1903 | |=(% scope="row" %)**Function code**|=**Name**|=((( | ||
| 1904 | **Setting method** | ||
| 1905 | )))|=((( | ||
| 1906 | **Effective time** | ||
| 1907 | )))|=**Default value**|=**Range**|=**Definition**|=**Unit** | ||
| 1908 | |=P01-21|((( | ||
| 1909 | Zero-speed clamp function selection | ||
| 1910 | )))|((( | ||
| 1911 | Operation setting | ||
| 1912 | )))|((( | ||
| 1913 | Effective immediately | ||
| 1914 | )))|0|0 to 3|((( | ||
| 1915 | Set the zero-speed clamp function. In speed mode: | ||
| 1916 | |||
| 1917 | * 0: Force the speed to 0; | ||
| 1918 | * 1: Force the speed to 0, and keep the position locked when the actual speed is less than P01-22 | ||
| 1919 | * 2: When speed instruction is less than P01-22, force the speed to 0 and keep the position locked | ||
| 1920 | * 3: Invalid, ignore zero-speed clamp input | ||
| 1921 | )))|- | ||
| 1922 | |=P01-22|((( | ||
| 1923 | Zero-speed clamp speed threshold | ||
| 1924 | )))|((( | ||
| 1925 | Operation setting | ||
| 1926 | )))|((( | ||
| 1927 | Effective immediately | ||
| 1928 | )))|20|0 to 1000|Set the speed threshold of zero-speed clamp function|rpm | ||
| 1929 | |||
| 1930 | Table 6-33 Zero-speed clamp related parameters | ||
| 1931 | |||
| 1932 | (% style="text-align:center" %) | ||
| 1933 | ((( | ||
| 1934 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) | ||
| 1935 | [[**Figure 6-34 Zero-speed clamp diagram**>>image:image-20220608171549-30.png||id="Iimage-20220608171549-30.png"]] | ||
| 1936 | ))) | ||
| 1937 | |||
| 1938 | == Speed-related DO output function == | ||
| 1939 | |||
| 1940 | The feedback value of the position instruction is compared with different thresholds, and could output DO signal for host computer use. | ||
| 1941 | |||
| 1942 | **Rotation detection signal** | ||
| 1943 | |||
| 1944 | 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. | ||
| 1945 | |||
| 1946 | (% style="text-align:center" %) | ||
| 1947 | ((( | ||
| 1948 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) | ||
| 1949 | [[**Figure 6-35 Rotation detection signal diagram**>>image:image-20220608171625-31.png||id="Iimage-20220608171625-31.png"]] | ||
| 1950 | ))) | ||
| 1951 | |||
| 1952 | 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__ and __Table 6-35__. | ||
| 1953 | |||
| 1954 | |=(% scope="row" %)**Function code**|=**Name**|=((( | ||
| 1955 | **Setting method** | ||
| 1956 | )))|=((( | ||
| 1957 | **Effective time** | ||
| 1958 | )))|=**Default value**|=**Range**|=**Definition**|=**Unit** | ||
| 1959 | |=P05-16|((( | ||
| 1960 | Rotation detection | ||
| 1961 | |||
| 1962 | speed threshold | ||
| 1963 | )))|((( | ||
| 1964 | Operation setting | ||
| 1965 | )))|((( | ||
| 1966 | Effective immediately | ||
| 1967 | )))|20|0 to 1000|Set the motor rotation signal judgment threshold|rpm | ||
| 1968 | |||
| 1969 | Table 6-34 Rotation detection speed threshold parameters | ||
| 1970 | |||
| 1971 | |=(% scope="row" %)**DO function code**|=(% style="width: 247px;" %)**Function name**|=(% style="width: 695px;" %)**Function** | ||
| 1972 | |=132|(% style="width:247px" %)((( | ||
| 1973 | T-COIN rotation detection | ||
| 1974 | )))|(% style="width:695px" %)((( | ||
| 1975 | Valid: when the absolute value of motor speed after filtering is greater than or equal to the set value of function code P05-16 | ||
| 1976 | |||
| 1977 | Invalid, when the absolute value of motor speed after filtering is less than set value of function code P05-16 | ||
| 1978 | ))) | ||
| 1979 | |||
| 1980 | Table 6-35 DO rotation detection function code | ||
| 1981 | |||
| 1982 | **Zero-speed signal** | ||
| 1983 | |||
| 1984 | 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. | ||
| 1985 | |||
| 1986 | (% style="text-align:center" %) | ||
| 1987 | ((( | ||
| 1988 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) | ||
| 1989 | [[**Figure 6-36 Zero-speed signal diagram**>>image:image-20220608171904-32.png||id="Iimage-20220608171904-32.png"]] | ||
| 1990 | ))) | ||
| 1991 | |||
| 1992 | 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__ and __Table 6-37__. | ||
| 1993 | |||
| 1994 | |=(% scope="row" %)**Function code**|=**Name**|=((( | ||
| 1995 | **Setting method** | ||
| 1996 | )))|=((( | ||
| 1997 | **Effective time** | ||
| 1998 | )))|=**Default value**|=**Range**|=**Definition**|=**Unit** | ||
| 1999 | |=P05-19|Zero speed output signal threshold|((( | ||
| 2000 | Operation setting | ||
| 2001 | )))|((( | ||
| 2002 | Effective immediately | ||
| 2003 | )))|10|0 to 6000|Set zero-speed output signal judgment threshold|rpm | ||
| 2004 | |||
| 2005 | Table 6-36 Zero-speed output signal threshold parameter | ||
| 2006 | |||
| 2007 | |=(% scope="row" %)**DO function code**|=**Function name**|=**Function** | ||
| 2008 | |=133|((( | ||
| 2009 | ZSP zero speed signal | ||
| 2010 | )))|Output this signal indicates that the servo motor is stopping rotation | ||
| 2011 | |||
| 2012 | Table 6-37 DO zero-speed signal function code | ||
| 2013 | |||
| 2014 | **Speed consistent signal** | ||
| 2015 | |||
| 2016 | 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. | ||
| 2017 | |||
| 2018 | (% style="text-align:center" %) | ||
| 2019 | ((( | ||
| 2020 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) | ||
| 2021 | [[**Figure 6-37 Speed consistent signal diagram**>>image:image-20220608172053-33.png||id="Iimage-20220608172053-33.png"]] | ||
| 2022 | ))) | ||
| 2023 | |||
| 2024 | 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__ and __Table 6-39__. | ||
| 2025 | |||
| 2026 | |=(% scope="row" %)**Function code**|=**Name**|=((( | ||
| 2027 | **Setting method** | ||
| 2028 | )))|=((( | ||
| 2029 | **Effective time** | ||
| 2030 | )))|=**Default value**|=**Range**|=**Definition**|=**Unit** | ||
| 2031 | |=P05-17|Speed consistent signal threshold|((( | ||
| 2032 | Operationsetting | ||
| 2033 | )))|((( | ||
| 2034 | Effective immediately | ||
| 2035 | )))|10|0 to 100|Set speed consistent signal threshold|rpm | ||
| 2036 | |||
| 2037 | Table 6-38 Speed consistent signal threshold parameters | ||
| 2038 | |||
| 2039 | |=(% scope="row" %)**DO Function code**|=(% style="width: 262px;" %)**Function name**|=(% style="width: 684px;" %)**Function** | ||
| 2040 | |=136|(% style="width:262px" %)((( | ||
| 2041 | U-COIN consistent speed | ||
| 2042 | )))|(% style="width:684px" %)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 | ||
| 2043 | |||
| 2044 | Table 6-39 DO speed consistent function code | ||
| 2045 | |||
| 2046 | **Speed approach signal** | ||
| 2047 | |||
| 2048 | 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. | ||
| 2049 | |||
| 2050 | (% style="text-align:center" %) | ||
| 2051 | ((( | ||
| 2052 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) | ||
| 2053 | [[**Figure 6-38 Speed approaching signal diagram**>>image:image-20220608172207-34.png||id="Iimage-20220608172207-34.png"]] | ||
| 2054 | ))) | ||
| 2055 | |||
| 2056 | 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__ and __Table 6-41__. | ||
| 2057 | |||
| 2058 | |=(% scope="row" style="width: 147px;" %)**Function code**|=(% style="width: 184px;" %)**Name**|=((( | ||
| 2059 | **Setting method** | ||
| 2060 | )))|=((( | ||
| 2061 | **Effective time** | ||
| 2062 | )))|=**Default value**|=**Range**|=**Definition**|=**Unit** | ||
| 2063 | |=(% style="width: 147px;" %)P05-18|(% style="width:184px" %)Speed approach signal threshold|((( | ||
| 2064 | Operation setting | ||
| 2065 | )))|((( | ||
| 2066 | Effective immediately | ||
| 2067 | )))|100|10 to 6000|Set speed approach signal threshold|rpm | ||
| 2068 | |||
| 2069 | Table 6-40 Speed approaching signal threshold parameters | ||
| 2070 | |||
| 2071 | |=(% scope="row" %)**DO function code**|=**Function name**|=**Function** | ||
| 2072 | |=137|((( | ||
| 2073 | V-NEAR speed approach | ||
| 2074 | )))|The output signal indicates that the actual speed of the servo motor has reached the expected value | ||
| 2075 | |||
| 2076 | Table 6-41 DO speed approach function code | ||
| 2077 | |||
| 2078 | = **Torque control mode** = | ||
| 2079 | |||
| 2080 | 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. | ||
| 2081 | |||
| 2082 | (% style="text-align:center" %) | ||
| 2083 | ((( | ||
| 2084 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) | ||
| 2085 | [[**Figure 6-39 Torque mode diagram**>>image:image-20220608172405-35.png||id="Iimage-20220608172405-35.png"]] | ||
| 2086 | ))) | ||
| 2087 | |||
| 2088 | == **Torque instruction input setting** == | ||
| 2089 | |||
| 2090 | 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. | ||
| 2091 | |||
| 2092 | |=(% scope="row" %)**Function code**|=**Name**|=((( | ||
| 2093 | **Setting method** | ||
| 2094 | )))|=((( | ||
| 2095 | **Effective time** | ||
| 2096 | )))|=**Default value**|=**Range**|=**Definition**|=**Unit** | ||
| 2097 | |=P01-07|Torque instruction source|((( | ||
| 2098 | Shutdown setting | ||
| 2099 | )))|((( | ||
| 2100 | Effective immediately | ||
| 2101 | )))|0|0 to 1|((( | ||
| 2102 | 0: internal torque instruction | ||
| 2103 | |||
| 2104 | 1: AI_1 analog input(not supported by VD2F) | ||
| 2105 | )))|- | ||
| 2106 | |||
| 2107 | Table 6-42 Torque instruction source parameter | ||
| 2108 | |||
| 2109 | **Torque instruction source is internal torque instruction (P01-07=0)** | ||
| 2110 | |||
| 2111 | Torque instruction source is from inside, the value is set by function code P01-08. | ||
| 2112 | |||
| 2113 | |=(% scope="row" %)**Function code**|=**Name**|=((( | ||
| 2114 | **Setting method** | ||
| 2115 | )))|=((( | ||
| 2116 | **Effective time** | ||
| 2117 | )))|=**Default value**|=**Range**|=**Definition**|=**Unit** | ||
| 2118 | |=P01-08|Torque instruction keyboard set value|((( | ||
| 2119 | Operation setting | ||
| 2120 | )))|((( | ||
| 2121 | Effective immediately | ||
| 2122 | )))|0|-3000 to 3000|-300.0% to 300.0%|0.1% | ||
| 2123 | |||
| 2124 | Table 6-43 Torque instruction keyboard set value | ||
| 2125 | |||
| 2126 | **Torque instruction source is AI_1 analog input (P01-07=1)** | ||
| 2127 | |||
| 2128 | 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. | ||
| 2129 | |||
| 2130 | (% style="text-align:center" %) | ||
| 2131 | ((( | ||
| 2132 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:408px;" %) | ||
| 2133 | [[**Figure 6-40 Analog input circuit**>>image:image-20220608153646-7.png||height="213" id="Iimage-20220608153646-7.png" width="408"]] | ||
| 2134 | ))) | ||
| 2135 | |||
| 2136 | Taking AI_1 as an example, the method of setting torque instruction of analog voltage is as below. | ||
| 2137 | |||
| 2138 | (% style="text-align:center" %) | ||
| 2139 | ((( | ||
| 2140 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) | ||
| 2141 | [[**Figure 6-41 Analog voltage torque instruction setting steps**>>image:image-20220608172502-36.png||id="Iimage-20220608172502-36.png"]] | ||
| 2142 | ))) | ||
| 2143 | |||
| 2144 | Explanation of related terms: | ||
| 2145 | |||
| 2146 | * Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND. | ||
| 2147 | * Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0. | ||
| 2148 | * Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0. | ||
| 2149 | |||
| 2150 | (% style="text-align:center" %) | ||
| 2151 | ((( | ||
| 2152 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) | ||
| 2153 | [[**Figure 6-42 AI_1 diagram before and after bias**>>image:image-20220608172611-37.png||id="Iimage-20220608172611-37.png"]] | ||
| 2154 | ))) | ||
| 2155 | |||
| 2156 | |=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit** | ||
| 2157 | |=P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV | ||
| 2158 | |=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 | ||
| 2159 | |=P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel dead zone value|mV | ||
| 2160 | |=P05-04☆|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV | ||
| 2161 | |||
| 2162 | Table 6-44 AI_1 parameters | ||
| 2163 | |||
| 2164 | (% class="box infomessage" %) | ||
| 2165 | ((( | ||
| 2166 | ✎**Note: **“☆” means VD2F servo drive does not support the function code . | ||
| 2167 | ))) | ||
| 2168 | |||
| 2169 | == Torque instruction filtering == | ||
| 2170 | |||
| 2171 | 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__. | ||
| 2172 | |||
| 2173 | |=(% scope="row" %)**Function code**|=**Name**|=((( | ||
| 2174 | **Setting method** | ||
| 2175 | )))|=((( | ||
| 2176 | **Effective time** | ||
| 2177 | )))|=**Default value**|=(% style="width: 83px;" %)**Range**|=(% style="width: 369px;" %)**Definition**|=**Unit** | ||
| 2178 | |=P04-04|Torque filtering time constant|((( | ||
| 2179 | Operation setting | ||
| 2180 | )))|((( | ||
| 2181 | Effective immediately | ||
| 2182 | )))|50|(% style="width:83px" %)10 to 2500|(% style="width:369px" %)This parameter is automatically set when “self-adjustment mode selection” is selected as 0|0.01ms | ||
| 2183 | |||
| 2184 | Table 6-45 Torque filtering time constant parameter details | ||
| 2185 | |||
| 2186 | (% class="box infomessage" %) | ||
| 2187 | ((( | ||
| 2188 | ✎**Note: **If the filter time constant is set too large, the responsiveness will be reduced. Please set it while confirming the responsiveness. | ||
| 2189 | ))) | ||
| 2190 | |||
| 2191 | (% style="text-align:center" %) | ||
| 2192 | ((( | ||
| 2193 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) | ||
| 2194 | [[**Figure 6-43 Torque instruction-first-order filtering diagram**>>image:image-20220608172646-38.png||id="Iimage-20220608172646-38.png"]] | ||
| 2195 | ))) | ||
| 2196 | |||
| 2197 | == Torque instruction limit == | ||
| 2198 | |||
| 2199 | 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. | ||
| 2200 | |||
| 2201 | 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. | ||
| 2202 | |||
| 2203 | (% style="text-align:center" %) | ||
| 2204 | ((( | ||
| 2205 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) | ||
| 2206 | [[**Figure 6-44 Torque instruction limit diagram**>>image:image-20220608172806-39.png||id="Iimage-20220608172806-39.png"]] | ||
| 2207 | ))) | ||
| 2208 | |||
| 2209 | **Set torque limit source** | ||
| 2210 | |||
| 2211 | 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. | ||
| 2212 | |||
| 2213 | |=(% scope="row" %)**Function code**|=**Name**|=((( | ||
| 2214 | **Setting method** | ||
| 2215 | )))|=((( | ||
| 2216 | **Effective time** | ||
| 2217 | )))|=**Default value**|=**Range**|=**Definition**|=**Unit** | ||
| 2218 | |=P01-14|((( | ||
| 2219 | Torque limit source | ||
| 2220 | )))|((( | ||
| 2221 | Shutdown setting | ||
| 2222 | )))|((( | ||
| 2223 | Effective immediately | ||
| 2224 | )))|0|0 to 1|((( | ||
| 2225 | * 0: internal value | ||
| 2226 | * 1: AI_1 analog input (not supported by VD2F) | ||
| 2227 | )))|- | ||
| 2228 | |||
| 2229 | * Torque limit source is internal torque instruction (P01-14=0) | ||
| 2230 | |||
| 2231 | 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. | ||
| 2232 | |||
| 2233 | |=(% scope="row" %)**Function code**|=**Name**|=((( | ||
| 2234 | **Setting method** | ||
| 2235 | )))|=((( | ||
| 2236 | **Effective time** | ||
| 2237 | )))|=**Default value**|=(% style="width: 106px;" %)**Range**|=(% style="width: 363px;" %)**Definition**|=**Unit** | ||
| 2238 | |=P01-15|((( | ||
| 2239 | Forward torque limit | ||
| 2240 | )))|((( | ||
| 2241 | Operation setting | ||
| 2242 | )))|((( | ||
| 2243 | Effective immediately | ||
| 2244 | )))|3000|(% style="width:106px" %)0 to 3000|(% style="width:363px" %)When P01-14 is set to 0, the value of this function code is forward torque limit value|0.1% | ||
| 2245 | |=P01-16|((( | ||
| 2246 | Reverse torque limit | ||
| 2247 | )))|((( | ||
| 2248 | Operation setting | ||
| 2249 | )))|((( | ||
| 2250 | Effective immediately | ||
| 2251 | )))|3000|(% style="width:106px" %)0 to 3000|(% style="width:363px" %)When P01-14 is set to 0, the value of this function code is reverse torque limit value|0.1% | ||
| 2252 | |||
| 2253 | Table 6-46 Torque limit parameter details | ||
| 2254 | |||
| 2255 | * Torque limit source is external (P01-14=1) | ||
| 2256 | |||
| 2257 | Torque limit source is from external analog channel. The limit value is determined by the torque value corresponding to external AI_2 terminal. | ||
| 2258 | |||
| 2259 | **Set torque limit DO signal output** | ||
| 2260 | |||
| 2261 | 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. | ||
| 2262 | |||
| 2263 | |=(% scope="row" %)**DO function code**|=**Function name**|=**Function** | ||
| 2264 | |=139|((( | ||
| 2265 | T-LIMIT in torque limit | ||
| 2266 | )))|Output of this signal indicates that the servo motor torque is limited | ||
| 2267 | |||
| 2268 | Table 6-47 DO torque limit function codes | ||
| 2269 | |||
| 2270 | == **Speed limit in torque mode** == | ||
| 2271 | |||
| 2272 | 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. | ||
| 2273 | |||
| 2274 | 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__ and __Figure 6-46__. | ||
| 2275 | |||
| 2276 | |((( | ||
| 2277 | (% style="text-align:center" %) | ||
| 2278 | ((( | ||
| 2279 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) | ||
| 2280 | [[**Figure 6-45 Forward running curve**>>image:image-20220608172910-40.png||id="Iimage-20220608172910-40.png"]] | ||
| 2281 | ))) | ||
| 2282 | )))|((( | ||
| 2283 | (% style="text-align:center" %) | ||
| 2284 | ((( | ||
| 2285 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) | ||
| 2286 | [[Figure 6-46 Reverse running curve>>image:image-20220608173155-41.png||id="Iimage-20220608173155-41.png"]] | ||
| 2287 | ))) | ||
| 2288 | ))) | ||
| 2289 | |||
| 2290 | |=(% scope="row" %)**Function code**|=**Name**|=((( | ||
| 2291 | **Setting method** | ||
| 2292 | )))|=((( | ||
| 2293 | **Effective time** | ||
| 2294 | )))|=**Default value**|=**Range**|=**Definition**|=**Unit** | ||
| 2295 | |=P01-17|((( | ||
| 2296 | Forward torque | ||
| 2297 | |||
| 2298 | limit in torque mode | ||
| 2299 | )))|((( | ||
| 2300 | Operation setting | ||
| 2301 | )))|((( | ||
| 2302 | Effective immediately | ||
| 2303 | )))|3000|0 to 5000|((( | ||
| 2304 | Forward torque | ||
| 2305 | |||
| 2306 | limit in torque mode | ||
| 2307 | )))|0.1% | ||
| 2308 | |=P01-18|((( | ||
| 2309 | Reverse torque | ||
| 2310 | |||
| 2311 | limit in torque mode | ||
| 2312 | )))|((( | ||
| 2313 | Operation setting | ||
| 2314 | )))|((( | ||
| 2315 | Effective immediately | ||
| 2316 | )))|3000|0 to 5000|((( | ||
| 2317 | Reverse torque | ||
| 2318 | |||
| 2319 | limit in torque mode | ||
| 2320 | )))|0.1% | ||
| 2321 | |||
| 2322 | Table 6-48 Speed limit parameters in torque mode | ||
| 2323 | |||
| 2324 | ✎**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/Manual/02%20VD2%20SA%20Series/06%20Operation/#HSpeedinstructionlimit]]__. | ||
| 2325 | |||
| 2326 | == Torque-related DO output functions == | ||
| 2327 | |||
| 2328 | 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. | ||
| 2329 | |||
| 2330 | **Torque arrival** | ||
| 2331 | |||
| 2332 | 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. | ||
| 2333 | |||
| 2334 | (% style="text-align:center" %) | ||
| 2335 | ((( | ||
| 2336 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:705px;" %) | ||
| 2337 | [[**Figure 6-47 Torque arrival output diagram**>>image:image-20220608173541-42.png||height="342" id="Iimage-20220608173541-42.png" width="705"]] | ||
| 2338 | ))) | ||
| 2339 | |||
| 2340 | 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__ and __Table 6-50__. | ||
| 2341 | |||
| 2342 | |=(% scope="row" %)**Function code**|=(% style="width: 113px;" %)**Name**|=(% style="width: 100px;" %)((( | ||
| 2343 | **Setting method** | ||
| 2344 | )))|=(% style="width: 124px;" %)((( | ||
| 2345 | **Effective time** | ||
| 2346 | )))|=(% style="width: 83px;" %)**Default value**|=(% style="width: 94px;" %)**Range**|=(% style="width: 421px;" %)**Definition**|=**Unit** | ||
| 2347 | |=P05-20|(% style="width:113px" %)((( | ||
| 2348 | Torque arrival | ||
| 2349 | |||
| 2350 | threshold | ||
| 2351 | )))|(% style="width:100px" %)((( | ||
| 2352 | Operation setting | ||
| 2353 | )))|(% style="width:124px" %)((( | ||
| 2354 | Effective immediately | ||
| 2355 | )))|(% style="width:83px" %)100|(% style="width:94px" %)0 to 300|(% style="width:421px" %)((( | ||
| 2356 | The torque arrival threshold must be used with “Torque arrival hysteresis value”: | ||
| 2357 | |||
| 2358 | When the actual torque reaches Torque arrival threshold + Torque arrival hysteresis Value, the torque arrival DO is valid; | ||
| 2359 | |||
| 2360 | When the actual torque decreases below torque arrival threshold-torque arrival hysteresis value, the torque arrival DO is invalid | ||
| 2361 | )))|% | ||
| 2362 | |=P05-21|(% style="width:113px" %)((( | ||
| 2363 | Torque arrival | ||
| 2364 | |||
| 2365 | hysteresis | ||
| 2366 | )))|(% style="width:100px" %)((( | ||
| 2367 | Operation setting | ||
| 2368 | )))|(% style="width:124px" %)((( | ||
| 2369 | Effective immediately | ||
| 2370 | )))|(% style="width:83px" %)10|(% style="width:94px" %)0 to 20|(% style="width:421px" %)Torque arrival the hysteresis value must be used with Torque arrival threshold|% | ||
| 2371 | |||
| 2372 | Table 6-49 Torque arrival parameters | ||
| 2373 | |||
| 2374 | |=(% scope="row" %)**DO function code**|=**Function name**|=**Function** | ||
| 2375 | |=138|((( | ||
| 2376 | T-COIN torque arrival | ||
| 2377 | )))|Used to determine whether the actual torque instruction has reached the set range | ||
| 2378 | |||
| 2379 | Table 6-50 DO Torque Arrival Function Code | ||
| 2380 | |||
| 2381 | = **Mixed control mode** = | ||
| 2382 | |||
| 2383 | 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: | ||
| 2384 | |||
| 2385 | * Position mode⇔ Speed mode | ||
| 2386 | * Position mode ⇔Torque mode | ||
| 2387 | * Speed mode ⇔Torque mode | ||
| 2388 | |||
| 2389 | 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. | ||
| 2390 | |||
| 2391 | |=(% scope="row" %)**Function code**|=**Name**|=((( | ||
| 2392 | **Setting method** | ||
| 2393 | )))|=((( | ||
| 2394 | **Effective time** | ||
| 2395 | )))|=**Default value**|=(% style="width: 90px;" %)**Range**|=(% style="width: 273px;" %)**Definition**|=**Unit** | ||
| 2396 | |=P00-01|Control mode|((( | ||
| 2397 | Shutdown setting | ||
| 2398 | )))|((( | ||
| 2399 | Shutdown setting | ||
| 2400 | )))|1|(% style="width:90px" %)1 to 6|(% style="width:273px" %)((( | ||
| 2401 | * 1: Position control | ||
| 2402 | * 2: Speed control | ||
| 2403 | * 3: Torque control | ||
| 2404 | * 4: Position/speed mixed control | ||
| 2405 | * 5: Position/torque mixed control | ||
| 2406 | * 6: Speed/torque mixed control | ||
| 2407 | )))|- | ||
| 2408 | |||
| 2409 | Table 6-51 Mixed control mode parameters | ||
| 2410 | |||
| 2411 | 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. | ||
| 2412 | |||
| 2413 | |=(% scope="row" %)**DI function code**|=**Name**|=(% style="width: 187px;" %)**Function name**|=(% style="width: 662px;" %)**Function** | ||
| 2414 | |=17|MixModeSel|(% style="width:187px" %)Mixed mode selection|(% style="width:662px" %)Used in mixed control mode, when the servo status is "run", set the current control mode of the servo drive((( | ||
| 2415 | (% style="margin-left:auto; margin-right:auto; width:585px" %) | ||
| 2416 | |=**P00-01**|=(% style="width: 243px;" %)**MixModeSel terminal logic**|=(% style="width: 220px;" %)**Control mode** | ||
| 2417 | |(% rowspan="2" %)4|(% style="width:243px" %)Valid|(% style="width:220px" %)Speed mode | ||
| 2418 | |(% style="width:243px" %)invalid|(% style="width:220px" %)Position mode | ||
| 2419 | |(% rowspan="2" %)5|(% style="width:243px" %)Valid|(% style="width:220px" %)Torque mode | ||
| 2420 | |(% style="width:243px" %)invalid|(% style="width:220px" %)Position mode | ||
| 2421 | |(% rowspan="2" %)6|(% style="width:243px" %)Valid|(% style="width:220px" %)Torque mode | ||
| 2422 | |(% style="width:243px" %)invalid|(% style="width:220px" %)Speed mode | ||
| 2423 | ))) | ||
| 2424 | |||
| 2425 | Table 6-52 Description of DI function codes in control mode | ||
| 2426 | |||
| 2427 | (% class="box infomessage" %) | ||
| 2428 | ((( | ||
| 2429 | ✎**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. | ||
| 2430 | ))) | ||
| 2431 | |||
| 2432 | = **Absolute system** = | ||
| 2433 | |||
| 2434 | == Overview == | ||
| 2435 | |||
| 2436 | 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. | ||
| 2437 | |||
| 2438 | 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. | ||
| 2439 | |||
| 2440 | == Single-turn absolute value system == | ||
| 2441 | |||
| 2442 | 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. | ||
| 2443 | |||
| 2444 | |=**Encoder type**|=**Encoder resolution (bits)**|=**Data range** | ||
| 2445 | |A1 (single-turn magnetic encoder)|17|0 to 131071 | ||
| 2446 | |||
| 2447 | Table 6-53 Single-turn absolute encoder information | ||
| 2448 | |||
| 2449 | The relationship between encoder feedback position and rotating load position is shown in the figure below. (take a 17-bit encoder as an example). | ||
| 2450 | |||
| 2451 | (% style="text-align:center" %) | ||
| 2452 | ((( | ||
| 2453 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:629px;" %) | ||
| 2454 | [[**Figure 6-48 Diagram of relationship between encoder feedback position and rotating load position**>>image:image-20220608173618-43.png||height="307" id="Iimage-20220608173618-43.png" width="629"]] | ||
| 2455 | ))) | ||
| 2456 | |||
| 2457 | == Multi-turn absolute value system == | ||
| 2458 | |||
| 2459 | 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. | ||
| 2460 | |||
| 2461 | |=(% scope="row" %)**Encoder type**|=**Encoder resolution (bits)**|=**Data range** | ||
| 2462 | |=C1 (multi-turn magnetic encoder)|17|0 to 131071 | ||
| 2463 | |=D2 (multi-turn Optical encoder)|23|0 to 8388607 | ||
| 2464 | |||
| 2465 | Table 6-54 Multi-turn absolute encoder information | ||
| 2466 | |||
| 2467 | 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). | ||
| 2468 | |||
| 2469 | (% style="text-align:center" %) | ||
| 2470 | ((( | ||
| 2471 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) | ||
| 2472 | [[**Figure 6-49 The relationship between encoder feedback position and rotating load position**>>image:image-20220608173701-44.png||id="Iimage-20220608173701-44.png"]] | ||
| 2473 | ))) | ||
| 2474 | |||
| 2475 | (% class="wikigeneratedid" %) | ||
| 2476 | ((( | ||
| 2477 | Multi-turn absolute value position U0-56 origin setting (only for multi-turn encoders) | ||
| 2478 | Under the following two working conditions: 1. The current physical position of the motor cannot reach the | ||
| 2479 | absolute zero point (U0-56). The value of U0-56 can be calibrated by moving the motor to the target position and setting the offset value of P10-8. 2. Move the motor to a known position on the machine and use this function to determine the position of U0-56. | ||
| 2480 | P10-08 multi-turn absolute encoder origin offset compensation is used in conjunction with U0-56 multi-turn absolute encoder current position. When setting P10-06=1, the value of U0-56 is updated to the value of P10-8 multi-turn absolute value encoder origin offset compensation at the reset time. | ||
| 2481 | |||
| 2482 | |**Function code**|**Name**|((( | ||
| 2483 | **Setting** | ||
| 2484 | |||
| 2485 | **method** | ||
| 2486 | )))|((( | ||
| 2487 | **Effective** | ||
| 2488 | |||
| 2489 | **time** | ||
| 2490 | )))|**Default**|**Range**|**Definition**|**Unit** | ||
| 2491 | |P10-06|Multi-turn absolute encoder reset|((( | ||
| 2492 | Shutdown | ||
| 2493 | |||
| 2494 | setting | ||
| 2495 | )))|Effective immediately|0|0 to 1|((( | ||
| 2496 | 0: No operation | ||
| 2497 | |||
| 2498 | 1: Clear rotation number of multi-turn absolute encoder, multi-turn absolute encoder current position and encoder fault alarms. | ||
| 2499 | |||
| 2500 | **✎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. | ||
| 2501 | )))|- | ||
| 2502 | |||
| 2503 | (% style="background-color:#ffffff" %) | ||
| 2504 | |**Function code**|**Name**|((( | ||
| 2505 | **Setting** | ||
| 2506 | |||
| 2507 | **method** | ||
| 2508 | )))|((( | ||
| 2509 | **Effective** | ||
| 2510 | |||
| 2511 | **time** | ||
| 2512 | )))|**Default**|**Range**|**Definition**|**Unit** | ||
| 2513 | |P10-08|Multi-turn absolute encoder origin offset compensation|((( | ||
| 2514 | Operation | ||
| 2515 | |||
| 2516 | setting | ||
| 2517 | )))|Effective immediately|0|-2147483647 to 2147483646|P10-08 multi-turn absolute encoder origin offset compensation is used in conjunction with U0-56 multi-turn absolute encoder current position. When P10-6 is set to 1, the value of U0-56 is updated to P10-8.|- | ||
| 2518 | ))) | ||
| 2519 | |||
| 2520 | == Related functions and parameters == | ||
| 2521 | |||
| 2522 | **Encoder feedback data** | ||
| 2523 | |||
| 2524 | 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. | ||
| 2525 | |||
| 2526 | |=(% scope="row" %)**Monitoring number**|=**Category**|=**Name**|=**Unit**|=**Data type** | ||
| 2527 | |=U0-54|Universal|Absolute encoder position within 1 turn|Encoder unit|32-bit | ||
| 2528 | |=U0-55|Universal|Rotations number of absolute encoder|circle|16-bit | ||
| 2529 | |=U0-56|Universal|Multi-turn absolute value encoder current position|Instruction unit|32-bit | ||
| 2530 | |||
| 2531 | Table 6-55 Encoder feedback data | ||
| 2532 | |||
| 2533 | **Shield multi-turn absolute encoder battery fault** | ||
| 2534 | |||
| 2535 | The VD2 series absolute value servo drive provides shielded multi-turn absolute encoder battery fault function to shield under voltage and low-voltage fault. You could set by setting the function code P00-30. | ||
| 2536 | |||
| 2537 | |=(% scope="row" %)**Function code**|=**Name**|=((( | ||
| 2538 | **Setting** | ||
| 2539 | |||
| 2540 | **method** | ||
| 2541 | )))|=((( | ||
| 2542 | **Effective** | ||
| 2543 | |||
| 2544 | **time** | ||
| 2545 | )))|=**Default value**|=**Range**|=**Definition**|=**Unit** | ||
| 2546 | |=P00-30|Shield multi-turn absolute encoder battery fault|Operation setting|Power on again|0|0 to 1|((( | ||
| 2547 | * 0：Detect multi-turn absolute encoder battery under voltage, and battery low voltage fault | ||
| 2548 | * 1: (Not recommended) Shield multi-turn absolute motor battery failure alarm. Multi-turn absolute application may cause mechanical fault, only multi-turn absolute encoder motors is used as single-turn absolute | ||
| 2549 | )))|- | ||
| 2550 | |||
| 2551 | This function is permitted when a multi-turn absolute encoder motor is used as a single-turn absolute and when it is confirmed that no mechanical failure will occur. | ||
| 2552 | |||
| 2553 | **A93 warning solution** | ||
| 2554 | |||
| 2555 | Check the encoder communication wire and its placement, reduce the abnormal frequency, and eliminate A93. In this way, the A93 warning problem can be completely solved, and the operation of the motor will not be affected after the A93 warning is released. | ||
| 2556 | Increase the threshold for encoder read-write check exceptions is only suitable as a temporary solution. Eliminate A93 warning by increasing exception threshold. The disadvantage is that the motor may run in an unstable state. | ||
| 2557 | |||
| 2558 | |**Function code**|**Name**|((( | ||
| 2559 | **Setting** | ||
| 2560 | |||
| 2561 | **method** | ||
| 2562 | )))|((( | ||
| 2563 | **Effective** | ||
| 2564 | |||
| 2565 | **time** | ||
| 2566 | )))|**Default**|**Range**|**Definition**|**Unit** | ||
| 2567 | |P00-31|Encoder read-write check abnormal frequency|((( | ||
| 2568 | Operation | ||
| 2569 | |||
| 2570 | setting | ||
| 2571 | )))|((( | ||
| 2572 | immediately | ||
| 2573 | |||
| 2574 | Effective | ||
| 2575 | )))|20|0 to100|((( | ||
| 2576 | The setting of the alarm threshold for the abnormal frequency of the encoder read-write | ||
| 2577 | |||
| 2578 | 0: no alarm | ||
| 2579 | |||
| 2580 | Others: When this setting value is exceeded, report A93. | ||
| 2581 | )))|- | ||
| 2582 | |||
| 2583 | (% class="box infomessage" %) | ||
| 2584 | ((( | ||
| 2585 | **✎Note: **Be sure to use the shield multi-turn absolute encoder battery fault function carefully, otherwise it may cause data loss, mechanical failure, or even personal injury or death. | ||
| 2586 | ))) | ||
| 2587 | |||
| 2588 | == Absolute value system encoder battery box use precautions. == | ||
| 2589 | |||
| 2590 | **Cautions** | ||
| 2591 | |||
| 2592 | 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. | ||
| 2593 | |||
| 2594 | (% style="text-align:center" %) | ||
| 2595 | ((( | ||
| 2596 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:975px;" %) | ||
| 2597 | [[**Figure 6-50 the encoder battery box**>>image:image-20220707111333-28.png||height="390" id="Iimage-20220707111333-28.png" width="975"]] | ||
| 2598 | ))) | ||
| 2599 | |||
| 2600 | 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. | ||
| 2601 | |||
| 2602 | **Replace the battery** | ||
| 2603 | |||
| 2604 | Please replace the battery while keeping the servo drive and motor well connected and the power on. | ||
| 2605 | |||
| 2606 | The specific replacement method is as follows: | ||
| 2607 | |||
| 2608 | * Step1 Push open the buckles on both ends of the outer cover of the battery compartment and open the outer cover. | ||
| 2609 | * Step2 Remove the old battery. | ||
| 2610 | * Step3 Embed the new battery, and the battery plug wire according to the anti-dull port on the battery box for placement. | ||
| 2611 | * Step4 Close the outer cover of the battery box, please be careful not to pinch the connector wiring when closing. | ||
| 2612 | |||
| 2613 | 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. | ||
| 2614 | |||
| 2615 | |=(% scope="row" %)**Function code**|=**Name**|=((( | ||
| 2616 | **Setting method** | ||
| 2617 | )))|=((( | ||
| 2618 | **Effective time** | ||
| 2619 | )))|=**Default value**|=**Range**|=**Definition**|=**Unit** | ||
| 2620 | |=P10-06|Multi-turn absolute encoder reset|((( | ||
| 2621 | Shutdown setting | ||
| 2622 | )))|((( | ||
| 2623 | Effective immediately | ||
| 2624 | )))|0|0 to 1|((( | ||
| 2625 | * 0: No operation | ||
| 2626 | * 1: Clear rotation number of multi-turn absolute encoder, multi-turn absolute encoder current position and encoder fault alarms. | ||
| 2627 | |||
| 2628 | (% class="box infomessage" %) | ||
| 2629 | ((( | ||
| 2630 | ✎**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. | ||
| 2631 | ))) | ||
| 2632 | )))|- | ||
| 2633 | |||
| 2634 | Table 6-56 Absolute encoder reset enable parameter | ||
| 2635 | |||
| 2636 | **Battery selection** | ||
| 2637 | |||
| 2638 | |=(% scope="row" style="width: 361px;" %)**Battery selection specification**|=(% style="width: 496px;" %)**Item**|=(% style="width: 219px;" %)**Value** | ||
| 2639 | |(% rowspan="4" style="width:361px" %)((( | ||
| 2640 | Nominal Voltage: 3.6V | ||
| 2641 | |||
| 2642 | Nominal capacity: 2700mAh | ||
| 2643 | )))|(% style="width:496px" %)Standard battery voltage (V)|(% style="width:219px" %)3.6 | ||
| 2644 | |(% style="width:496px" %)Standard cell voltage (V)|(% style="width:219px" %)3.1 | ||
| 2645 | |(% style="width:496px" %)Battery ambient temperature range|(% style="width:219px" %)0 to 40 | ||
| 2646 | |(% style="width:496px" %)Battery storage ambient temperature range|(% style="width:219px" %)-20 to 60 | ||
| 2647 | |||
| 2648 | Table 6-57 Absolute value encoder battery information | ||
| 2649 | |||
| 2650 | **✎Note: ** | ||
| 2651 | |||
| 2652 | If the battery is replaced when the servo drive is powered off, the encoder data will be lost. | ||
| 2653 | |||
| 2654 | 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. | ||
| 2655 | |||
| 2656 | Correct placement of batteries +, - direction | ||
| 2657 | |||
| 2658 | 1. Do not disassemble the battery or put the battery into the fire! If the battery is put into the fire or heated, there is a risk of explosion! | ||
| 2659 | 1. This battery cannot be charged. | ||
| 2660 | 1. If the battery is left inside the machine after a long period of use or the battery is no longer usable, liquid may leak out, etc. Please replace it as soon as possible! (Recommended to replace every 2 years, you can contact the manufacturer's technical staff for replacement) | ||
| 2661 | 1. Do not allow the battery to short-circuit or peel the battery skin! Otherwise, there may be a one-time outflow of high current, making the battery's power weakened, or even rupture. | ||
| 2662 | 1. After the replacement of the battery, please dispose of it according to local laws and regulations. | ||
| 2663 | |||
| 2664 | = **Other functions** = | ||
| 2665 | |||
| 2666 | == VDI == | ||
| 2667 | |||
| 2668 | VDI (Virtual Digital Signal Input Port) is similar to hardware DI terminal. The DI function could also be assigned for use. | ||
| 2669 | |||
| 2670 | (% class="box infomessage" %) | ||
| 2671 | ((( | ||
| 2672 | ✎**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). | ||
| 2673 | ))) | ||
| 2674 | |||
| 2675 | 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. | ||
| 2676 | |||
| 2677 | (% style="text-align:center" %) | ||
| 2678 | ((( | ||
| 2679 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) | ||
| 2680 | [[**Figure 6-51 VDI_1 setting steps**>>image:image-20220608173804-46.png||id="Iimage-20220608173804-46.png"]] | ||
| 2681 | ))) | ||
| 2682 | |||
| 2683 | |=(% scope="row" %)**Function code**|=**Name**|=((( | ||
| 2684 | **Setting method** | ||
| 2685 | )))|=((( | ||
| 2686 | **Effective time** | ||
| 2687 | )))|=**Default value**|=**Range**|=**Definition**|=**Unit** | ||
| 2688 | |=P13-1|Virtual VDI_1 input value|Operation setting|Effective immediately|0|0 to 1|((( | ||
| 2689 | When P06-04 is set to 1, DI_1 channel logic is control by this function code. | ||
| 2690 | |||
| 2691 | VDI_1 input level: | ||
| 2692 | |||
| 2693 | * 0: low level | ||
| 2694 | * 1: high level | ||
| 2695 | )))|- | ||
| 2696 | |=P13-2|Virtual VDI_2 input value|Operation setting|Effective immediately|0|0 to 1|((( | ||
| 2697 | When P06-07 is set to 1, DI_2 channel logic is control by this function code. | ||
| 2698 | |||
| 2699 | VDI_2 input level: | ||
| 2700 | |||
| 2701 | * 0: low level | ||
| 2702 | * 1: high level | ||
| 2703 | )))|- | ||
| 2704 | |=P13-3|Virtual VDI_3 input value|Operation setting|Effective immediately|0|0 to 1|((( | ||
| 2705 | When P06-10 is set to 1, DI_3 channel logic is control by this function code. | ||
| 2706 | |||
| 2707 | VDI_3 input level: | ||
| 2708 | |||
| 2709 | * 0: low level | ||
| 2710 | * 1: high level | ||
| 2711 | )))|- | ||
| 2712 | |=P13-4|Virtual VDI_4 input value|Operation setting|Effective immediately|0|0 to 1|((( | ||
| 2713 | When P06-13 is set to 1, DI_4 channel logic is control by this function code. | ||
| 2714 | |||
| 2715 | VDI_4 input level: | ||
| 2716 | |||
| 2717 | * 0: low level | ||
| 2718 | * 1: high level | ||
| 2719 | )))|- | ||
| 2720 | |=P13-05☆|Virtual VDI_5 input value|Operation setting|Effective immediately|0|0 to 1|((( | ||
| 2721 | When P06-16 is set to 1, DI_5 channel logic is control by this function code. | ||
| 2722 | |||
| 2723 | VDI_5 input level: | ||
| 2724 | |||
| 2725 | * 0: low level | ||
| 2726 | * 1: high level | ||
| 2727 | )))|- | ||
| 2728 | |=P13-06☆|Virtual VDI_6 input value|Operation setting|Effective immediately|0|0 to 1|((( | ||
| 2729 | When P06-19 is set to 1, DI_6 channel logic is control by this function code. | ||
| 2730 | |||
| 2731 | VDI_6 input level: | ||
| 2732 | |||
| 2733 | * 0: low level | ||
| 2734 | * 1: high level | ||
| 2735 | )))|- | ||
| 2736 | |=P13-07☆|Virtual VDI_7 input value|Operation setting|Effective immediately|0|0 to 1|((( | ||
| 2737 | When P06-22 is set to 1, DI_7 channel logic is control by this function code. | ||
| 2738 | |||
| 2739 | VDI_7 input level: | ||
| 2740 | |||
| 2741 | * 0: low level | ||
| 2742 | * 1: high level | ||
| 2743 | )))|- | ||
| 2744 | |=P13-08☆|Virtual VDI_8 input value|Operation setting|Effective immediately|0|0 to 1|((( | ||
| 2745 | When P06-25 is set to 1, DI_8 channel logic is control by this function code. | ||
| 2746 | |||
| 2747 | VDI_8 input level: | ||
| 2748 | |||
| 2749 | * 0: low level | ||
| 2750 | * 1: high level | ||
| 2751 | )))|- | ||
| 2752 | |||
| 2753 | Table 6-57 Virtual VDI parameters | ||
| 2754 | |||
| 2755 | (% class="box infomessage" %) | ||
| 2756 | ((( | ||
| 2757 | ✎**Note: **“☆” means VD2F servo drive does not support the function code . | ||
| 2758 | ))) | ||
| 2759 | |||
| 2760 | == Port filtering time == | ||
| 2761 | |||
| 2762 | 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. | ||
| 2763 | |||
| 2764 | |=(% scope="row" style="width: 204px;" %)**Setting value**|=(% style="width: 235px;" %)**DI channel logic selection**|=(% style="width: 637px;" %)**Illustration** | ||
| 2765 | |=(% style="width: 204px;" %)0|(% style="width:235px" %)Active high level|(% style="width:637px" %)[[image:image-20220707113050-31.jpeg]] | ||
| 2766 | |=(% style="width: 204px;" %)1|(% style="width:235px" %)Active low level|(% style="width:637px" %)[[image:image-20220707113205-33.jpeg||height="166" width="526"]] | ||
| 2767 | |||
| 2768 | Table 6-58 DI terminal channel logic selection | ||
| 2769 | |||
| 2770 | == **VDO** == | ||
| 2771 | |||
| 2772 | 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. | ||
| 2773 | |||
| 2774 | Take the DO_2 terminal as communication VDO, and the use steps of VDI are as the figure below. | ||
| 2775 | |||
| 2776 | (% style="text-align:center" %) | ||
| 2777 | ((( | ||
| 2778 | (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %) | ||
| 2779 | [[**Figure 6-52 VDO_2 setting steps**>>image:image-20220608173957-48.png||id="Iimage-20220608173957-48.png"]] | ||
| 2780 | ))) | ||
| 2781 | |||
| 2782 | |||
| 2783 | |=(% scope="row" %)**Function code**|=**Name**|=((( | ||
| 2784 | **Setting method** | ||
| 2785 | )))|=((( | ||
| 2786 | **Effective time** | ||
| 2787 | )))|=**Default value**|=**Range**|=**Definition**|=**Unit** | ||
| 2788 | |=P13-11|Communication VDO_1 output value|Operation setting|Effective immediately|0|0 to 1|((( | ||
| 2789 | VDO_1 output level： | ||
| 2790 | |||
| 2791 | * 0: low level | ||
| 2792 | * 1: high level | ||
| 2793 | )))|- | ||
| 2794 | |=P13-12|Communication VDO_2 output value|Operation setting|Effective immediately|0|0 to 1|((( | ||
| 2795 | VDO_2 output level： | ||
| 2796 | |||
| 2797 | * 0: low level | ||
| 2798 | * 1: high level | ||
| 2799 | )))|- | ||
| 2800 | |=P13-13|Communication VDO_3 output value|Operation setting|Effective immediately|0|0 to 1|((( | ||
| 2801 | VDO_3 output level： | ||
| 2802 | |||
| 2803 | * 0: low level | ||
| 2804 | * 1: high level | ||
| 2805 | )))|- | ||
| 2806 | |=P13-14|Communication VDO_4 output value|Operation setting|Effective immediately|0|0 to 1|((( | ||
| 2807 | VDO_4 output level： | ||
| 2808 | |||
| 2809 | * 0: low level | ||
| 2810 | * 1: high level | ||
| 2811 | )))|- | ||
| 2812 | |||
| 2813 | Table 6-59 Communication control DO function parameters | ||
| 2814 | |||
| 2815 | |=(% scope="row" %)**DO function number**|=**Function name**|=**Function** | ||
| 2816 | |=145|COM_VDO1 communication VDO1 output|Use communication VDO | ||
| 2817 | |=146|COM_VDO1 communication VDO2 output|Use communication VDO | ||
| 2818 | |=147|COM_VDO1 communication VDO3 output|Use communication VDO | ||
| 2819 | |=148|COM_VDO1 communication VDO4output|Use communication VDO | ||
| 2820 | |||
| 2821 | Table 6-60 VDO function number | ||
| 2822 | |||
| 2823 | ✎**Note:** You are advised to configure function codes for DO terminals in sequence to avoid errors during DO signal observation | ||
| 2824 | |||
| 2825 | 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). | ||
| 2826 | |||
| 2827 | == Motor overload protection == | ||
| 2828 | |||
| 2829 | 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%. | ||
| 2830 | |||
| 2831 | |=(% scope="row" %)**Function code**|=**Name**|=((( | ||
| 2832 | **Setting method** | ||
| 2833 | )))|=((( | ||
| 2834 | **Effective time** | ||
| 2835 | )))|=**Default value**|=**Range**|=**Definition**|=**Unit** | ||
| 2836 | |=P10-04|motor overload protection time coefficient|Operation setting|Effective immediately|100|0 to 800|((( | ||
| 2837 | 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. | ||
| 2838 | |||
| 2839 | 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 | ||
| 2840 | )))|% | ||
| 2841 | |||
| 2842 | In the following cases, it could be modified according to the actual heat generation of the motor | ||
| 2843 | |||
| 2844 | 1. The motor works in a place with high ambient temperature | ||
| 2845 | 1. The motor runs in cycle circulates, and the single running cycle is short and the acceleration and deceleration is frequent. | ||
| 2846 | |||
| 2847 | 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). | ||
| 2848 | |||
| 2849 | (% class="box infomessage" %) | ||
| 2850 | ((( | ||
| 2851 | ✎**Note:** It is advised to configure function codes for DO terminals in sequence to avoid errors. Please use the shielded overload protection fault detection function with caution, otherwise it will cause burn out the motor. | ||
| 2852 | ))) |