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Wiki source code of 06 Operation

Version 84.1 by Mora Zhou on 2025/04/28 14:11
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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 )))|Forward: facing the motor axis.
87 0: Standard setting (CW is forward);
88 1: Reverse mode (CCW is forward);
89 2: Reverse mode (CCW is forward), set P1-12,
90 P1-17 to limit the CCW direction speed; set
91 P1-13, P1-18 to limit the CW direction speed.
92 **Note:VD2L driver P0-04 setting range: 0~~1, not support P00-4=2!**|-
93
94 Table 6-3 Rotation direction parameters** **
95
96 == **Braking resistor** ==
97
98 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.
99
100 The basis for judging whether the braking resistor is built-in or external.
101
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 the built-in braking resistor.
103 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.
104
105 |=(% scope="row" %)**Function code**|=**Name**|=(% style="width: 118px;" %)(((
106 **Setting method**
107 )))|=(% style="width: 126px;" %)(((
108 **Effective time**
109 )))|=**Default**|=**Range**|=**Definition**|=**Unit**
110 |=P00-09|Braking resistor setting|(% style="width:118px" %)(((
111 Operation setting
112 )))|(% style="width:126px" %)(((
113 Effective immediately
114 )))|0|0 to 3|(((
115 0: use built-in braking resistor
116
117 1: use external braking resistor and natural cooling
118
119 2: use external braking resistor and forced air cooling; (cannot be set)
120
121 3: No braking resistor is used, it is all absorbed by capacitor.
122 )))|-
123 (% 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).
124 |=P00-10|External braking resistor value|(% style="width:118px" %)(((
125 Operation setting
126 )))|(% style="width:126px" %)(((
127 Effective immediately
128 )))|50|0 to 65535|It is used to set the external braking resistor value of a certain type of drive.|Ω
129 |=P00-11|External braking resistor power|(% style="width:118px" %)(((
130 Operation setting
131 )))|(% style="width:126px" %)(((
132 Effective immediately
133 )))|100|0 to 65535|It is used to set the external braking resistor power of a certain type of drive.|W
134
135 Table 6-4 Braking resistor parameters
136
137 == **Servo operation** ==
138
139 **Set the servo enable (S-ON) to valid (ON)**
140
141 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.
142
143 S-ON can be configured and selected by the DI terminal function selection of the function code "DIDO configuration".
144
145 **Input the instruction and the motor rotates**
146
147 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.
148
149 **Timing diagram of power on**
150
151 (% style="text-align:center" %)
152 (((
153 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
154 [[**Figure 6-1 Timing diagram of power on**>>image:image-20220608163014-1.png||id="Iimage-20220608163014-1.png"]]
155 )))
156
157 == Servo shutdown ==
158
159 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__.
160
161 |=(% scope="row" style="width: 150px;" %)Shutdown mode|=(% style="width: 532px;" %)Shutdown description|=(% style="width: 393px;" %)Shutdown characteristics
162 |=(% 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.
163 |=(% 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.
164
165 Table 6-5 Comparison of two shutdown modes
166
167 |=(% scope="row" style="width: 151px;" %)**Shutdown status**|=(% style="width: 532px;" %)**Free operation status**|=(% style="width: 392px;" %)**Position locked**
168 |=(% 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.
169
170 Table 6-6 Comparison of two shutdown status
171
172 **Servo enable (S-ON) OFF shutdown**
173
174 The related parameters of the servo OFF shutdown mode are shown in the table below.
175
176 |=(% scope="row" style="width: 94px;" %)**Function code**|=(% style="width: 180px;" %)**Name**|=(% style="width: 119px;" %)(((
177 **Setting method**
178 )))|=(% style="width: 134px;" %)(((
179 **Effective time**
180 )))|=(% style="width: 86px;" %)(((
181 **Default value**
182 )))|=(% style="width: 70px;" %)**Range**|=(% style="width: 347px;" %)**Definition**|=**Unit**
183 |=(% style="width: 94px;" %)P00-05|(% style="width:180px" %)Servo OFF shutdown|(% style="width:119px" %)(((
184 Shutdown
185
186 setting
187 )))|(% style="width:134px" %)(((
188 Effective
189
190 immediately
191 )))|(% style="width:86px" %)0|(% style="width:70px" %)0 to 1|(% style="width:347px" %)(((
192 * 0: Free shutdown, and the motor shaft remains free status.
193 * 1: Zero-speed shutdown, and the motor shaft remains free status.
194 )))|-
195
196 Table 6-7 Servo OFF shutdown mode parameters details
197
198 **Emergency shutdown**
199
200 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.
201
202 Estop mode 1 (deceleration stop):
203
204 ~1. Configurate DI function code: 8 [ESTOP]
205
206 2. Set P1-5 shutdown deceleration time.
207
208 3. Trigger DI emergency shutdown.
209
210 4. Servo emergency shutdown and deceleration to zero speed.
211
212 Estop mode 2:
213
214 ~1. Configurate DI function code: 1 [Servo enable SON]
215
216 2. Set P1-05 shutdown deceleration time.
217
218 3. Set P0-05 Servo OFF shutdown mode: zero speed stop.
219
220 4. Trigger DI to turn off servo enable SON.
221
222 |Function code|Name|(((
223 Setting
224
225 method
226 )))|(((
227 Effective
228
229 time
230 )))|Default|Range|Definition|Unit
231 |P01-05|Shutdown deceleration time|(((
232 Shutdown
233
234 setting
235 )))|(((
236 immediately
237
238 Effective
239 )))|50|0 to 65535|The time for the speed command to decelerate from 1000rpm to 0|ms
240
241 **Overtravel shutdown**
242
243 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.
244
245 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.
246
247 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.
248
249 |=(% scope="row" style="width: 89px;" %)**Function code**|=(% style="width: 135px;" %)**Name**|=(% style="width: 122px;" %)(((
250 **Setting method**
251 )))|=(% style="width: 114px;" %)(((
252 **Effective time**
253 )))|=(% style="width: 106px;" %)**Default value**|=(% style="width: 84px;" %)**Range**|=(% style="width: 380px;" %)**Definition**|=**Unit**
254 |=(% 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" %)(((
255 * 0: OFF (not used)
256 * 01: S-ON servo enable
257 * 02: A-CLR fault and Warning Clear
258 * 03: POT forward drive prohibition
259 * 04: NOT Reverse drive prohibition
260 * 05: ZCLAMP Zero speed
261 * 06: CL Clear deviation counter
262 * 07: C-SIGN Inverted instruction
263 * 08: E-STOP Emergency stop
264 * 09: GEAR-SEL Electronic Gear Switch 1
265 * 10: GAIN-SEL gain switch
266 * 11: INH Instruction pulse prohibited input
267 * 12: VSSEL Vibration control switch input
268 * 13: INSPD1 Internal speed instruction selection 1
269 * 14: INSPD2 Internal speed instruction selection 2
270 * 15: INSPD3 Internal speedinstruction selection 3
271 * 16: J-SEL inertia ratio switch (not implemented yet)
272 * 17: MixModesel mixed mode selection
273 * 20: Internal multi-segment position enable signal
274 * 21: Internal multi-segment position selection 1
275 * 22: Internal multi-segment position selection 2
276 * 23: Internal multi-segment position selection 3
277 * 24: Internal multi-segment position selection 4
278 * Others: reserved
279 )))|-
280 |=(% style="width: 89px;" %)P06-09|(% style="width:135px" %)DI_3 channel logic selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
281 Effective immediately
282 )))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
283 DI port input logic validity function selection.
284
285 * 0: Normally open input. Active low level (switch on);
286 * 1: Normally closed input. Active high level (switch off);
287 )))|-
288 |=(% style="width: 89px;" %)P06-10|(% style="width:135px" %)DI_3 input source selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
289 Effective immediately
290 )))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
291 Select the DI_3 port type to enable
292
293 * 0: Hardware DI_3 input terminal
294 * 1: virtual VDI_3 input terminal
295 )))|-
296 |=(% style="width: 89px;" %)P06-11|(% style="width:135px" %)DI_4 channel function selection|(% style="width:122px" %)(((
297 Operation setting
298 )))|(% style="width:114px" %)(((
299 again Power-on
300 )))|(% style="width:106px" %)4|(% style="width:84px" %)0 to 32|(% style="width:380px" %)(((
301 * 0: OFF (not used)
302 * 01: SON Servo enable
303 * 02: A-CLR Fault and Warning Clear
304 * 03: POT Forward drive prohibition
305 * 04: NOT Reverse drive prohibition
306 * 05: ZCLAMP Zero speed
307 * 06: CL Clear deviation counter
308 * 07: C-SIGN Inverted instruction
309 * 08: E-STOP Emergency shutdown
310 * 09: GEAR-SEL Electronic Gear Switch 1
311 * 10: GAIN-SEL gain switch
312 * 11: INH Instruction pulse prohibited input
313 * 12: VSSEL Vibration control switch input
314 * 13: INSPD1 Internal speed instruction selection 1
315 * 14: INSPD2 Internal speed instruction selection 2
316 * 15: INSPD3 Internal speed instruction selection 3
317 * 16: J-SEL inertia ratio switch (not implemented yet)
318 * 17: MixModesel mixed mode selection
319 * 20: Internal multi-segment position enable signal
320 * 21: Internal multi-segment position selection 1
321 * 22: Internal multi-segment position selection 2
322 * 23: Internal multi-segment position selection 3
323 * 24: Internal multi-segment position selection 4
324 * Others: reserved
325 )))|-
326 |=(% style="width: 89px;" %)P06-12|(% style="width:135px" %)DI_4 channel logic selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
327 Effective immediately
328 )))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
329 DI port input logic validity function selection.
330
331 * 0: Normally open input. Active low level (switch on);
332 * 1: Normally closed input. Active high level (switch off);
333 )))|-
334 |=(% style="width: 89px;" %)P06-13|(% style="width:135px" %)DI_4 input source selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
335 Effective immediately
336 )))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
337 Select the DI_4 port type to enable
338
339 * 0: Hardware DI_4 input terminal
340 * 1: virtual VDI_4 input terminal
341 )))|-
342
343 Table 6-8 DI3 and DI4 channel parameters
344
345 **(4) Malfunction shutdown**
346
347 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.
348
349 == Brake device ==
350
351 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.
352
353 (% class="warning" %)|(((
354 (% style="text-align:center" %)
355 [[image:image-20220611151617-1.png]]
356 )))
357 |(((
358 ✎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;
359
360 ✎ After the servo motor stops, turn off the servo enable (S-ON) in time;
361
362 ✎The brake coil has no polarity;
363
364 ✎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!
365
366 ✎When the motor with built-in brake is in operation, the brake device may make a clicking sound, which does not affect the function.
367 )))
368
369 **Wiring of brake device**
370
371 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)
372
373
374 (% style="text-align:center" %)
375 (((
376 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
377 [[**Figure 6-2 VD2B servo drive brake wiring**>>image:image-20220608163136-2.png||id="Iimage-20220608163136-2.png"]]
378 )))
379
380 (% class="warning" %)|(((
381 (% style="text-align:center" %)
382 [[image:image-20220611151642-2.png]]
383 )))
384 |(((
385 ✎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.
386
387 ✎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.
388
389 ✎It is recommended to use cables above 0.5 mm².
390 )))
391
392 **Brake software setting**
393
394 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.
395
396 Related function code is as below.
397
398 |=(% scope="row" %)**DO function code**|=(% style="width: 241px;" %)**Function name**|=(% style="width: 458px;" %)**Function**|=(% style="width: 191px;" %)(((
399 **Effective time**
400 )))
401 |=141|(% style="width:241px" %)(((
402 BRK-OFF Brake output
403 )))|(% style="width:458px" %)Output the signal indicates the servo motor brake release|(% style="width:191px" %)Power-on again
404
405 Table 6-2 Relevant function codes for brake setting
406
407 |=(% scope="row" %)**Function code**|=**Name**|=(((
408 **Setting method**
409 )))|=(((
410 **Effective time**
411 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
412 |=P1-30|Delay from brake output to instruction reception|(((
413 Operation setting
414 )))|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
415 |=P1-31|In static state, delay from brake output OFF to the motor is power off|(((
416 Operation setting
417 )))|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
418 |=P1-32|Rotation status, when the brake output OFF, the speed threshold|(((
419 Operation setting
420 )))|Effective immediately|30|0 to 3000|(((
421 When the motor rotates, the motor speed threshold when the brake (BRK-OFF) is allowed to output OFF.
422
423 When the brake output (BRK-OFF) is not allocated, this function code has no effect.
424 )))|rpm
425 |=P1-33|Rotation status, Delay from servo enable OFF to brake output OFF|(((
426 Operation setting
427 )))|Effective immediately|500|1 to 1000|(((
428 When the motor rotates, the delay time from the servo enable (S-ON) OFF to the brake (BRK-OFF) output OFF is allowed.
429
430 When brake output (BRK-OFF) is not allocated, this function code has no effect.
431 )))|ms
432
433 Table 6-9 Brake setting function codes
434
435 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.
436
437 **Servo drive brake timing in normal state**
438
439 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).
440
441 * Brake timing when servo motor is stationary
442
443 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__
444
445 (% class="warning" %)|(((
446 (% style="text-align:center" %)
447 [[image:image-20220611151705-3.png]]
448 )))
449 |(((
450 ✎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.
451
452 ✎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.
453 )))
454
455 (% style="text-align:center" %)
456 (((
457 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
458 [[**Figure 6-3 Brake Timing of when the motor is stationary**>>image:image-20220608163304-3.png||id="Iimage-20220608163304-3.png"]]
459 )))
460
461 (% class="box infomessage" %)
462 (((
463 ✎**Note: **For the delay time of the contact part of the brake at ② in the figure, please refer to the relevant specifications of motor.
464 )))
465
466 * The brake timing when servo motor rotates
467
468 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__.
469
470 (% class="warning" %)|(((
471 (% style="text-align:center" %)
472 [[image:image-20220611151719-4.png]]
473 )))
474 |(((
475 ✎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.
476
477 ✎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:
478
479 P01-33 time has not arrived, but the motor has decelerated to the speed set by P01-32;
480
481 P01-33 time is up, but the motor speed is still higher than the set value of P01-32.
482
483 ✎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.
484 )))
485
486 (% style="text-align:center" %)
487 (((
488 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
489 [[**Figure 6-4 Brake timing when the motor rotates**>>image:image-20220608163425-4.png||id="Iimage-20220608163425-4.png"]]
490 )))
491
492 **Brake timing when the servo drive fails**
493
494 The brake timing (free shutdown) in the fault status is as follows.
495
496 (% style="text-align:center" %)
497 (((
498 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
499 [[**~~ Figure 6-5 The brake timing (free shutdown) in the fault state**>>image:image-20220608163541-5.png||id="Iimage-20220608163541-5.png"]]
500 )))
501
502 = **Position control mode** =
503
504 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.
505
506 (% style="text-align:center" %)
507 (((
508 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
509 [[**Figure 6-6 Position control diagram**>>image:image-20220608163643-6.png||id="Iimage-20220608163643-6.png"]]
510 )))
511
512 Set “P00-01” to 1 by the software “Wecon SCTool”, and the servo drive is in position control mode.
513
514 |=(% scope="row" style="width: 123px;" %)**Function code**|=(% style="width: 134px;" %)**Name**|=(((
515 **Setting method**
516 )))|=(((
517 **Effective time**
518 )))|=(% style="width: 116px;" %)**Default value**|=(% style="width: 118px;" %)**Range**|=(% style="width: 389px;" %)**Definition**|=(% style="width: 151px;" %)**Unit**
519 |=(% style="width: 123px;" %)P00-01|(% style="width:134px" %)Control mode|(((
520 Operation setting
521 )))|(((
522 immediately Effective
523 )))|(% style="width:116px" %)1|(% style="width:118px" %)1 to 6|(% style="width:389px" %)(((
524 1: position control
525
526 2: speed control
527
528 3: torque control
529
530 4: position/speed mix control
531
532 5: position/torque mix control
533
534 6: speed /torque mix control
535
536 VD2L drive P00-01 setting range: 1-3, not supprt mix mode
537 )))|(% style="width:151px" %)-
538
539 Table 6-10 Control mode parameters
540
541 == Position instruction input setting ==
542
543 When the VD2 series servo drive is in position control mode, firstly set the position instruction source through the function code “P01-06”.
544
545 |=(% scope="row" %)**Function code**|=**Name**|=(((
546 **Setting method**
547 )))|=(((
548 **Effective time**
549 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
550 |=P01-06|Position instruction source|(((
551 Operation setting
552 )))|(((
553 immediately Effective
554 )))|0|0 to 1|(((
555 0: pulse instruction
556
557 1: internal position instruction
558 )))|-
559
560 Table 6-12 Position instruction source parameter
561
562 **The source of position instruction is pulse instruction (P01-06=0)**
563
564 Low-speed pulse instruction input
565
566 |(% style="text-align:center" %)(((
567 (% class="wikigeneratedid" %)
568 [[VD2A, VD2B and VD2C servo drives>>image:image-20220804160519-1.jpeg||id="Iimage-20220804160519-1.jpeg"]]
569 )))|(% style="text-align:center" %)(((
570 (% class="wikigeneratedid" %)
571 [[VD2F and VD2L servo drive>>image:image-20220804160624-2.jpeg||id="Iimage-20220804160624-2.jpeg"]]
572 )))
573 |(% colspan="2" %)Figure 6-7 Position instruction input setting
574
575 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__.
576
577 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.
578
579 |=(% scope="row" %)**Pulse method**|=(% style="width: 372px;" %)**Maximum frequency**|=(% style="width: 260px;" %)**Voltage**
580 |=Open collector input|(% style="width:372px" %)200K|(% style="width:260px" %)24V
581 |=Differential input|(% style="width:372px" %)500K|(% style="width:260px" %)5V
582
583 Table 6-13 Pulse input specifications
584
585 * Differential input
586
587 Take VD2A and VD2B drive as examples, the connection of differential input is shown as below.
588
589 (% style="text-align:center" %)
590 (((
591 (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:583px;" %)
592 [[**Figure 6-8 Differential input connection**>>image:image-20220707092615-5.jpeg||height="306" id="Iimage-20220707092615-5.jpeg" width="583"]]
593 )))
594
595 (% class="box infomessage" %)
596 (((
597 ✎**Note: **The differential input connection of the VD2F drive differs only from the signal pin number. Please refer to “__[[4.4.3 position instruction input signal>>https://docs.we-con.com.cn/bin/view/Servo/Manual/02%20VD2%20SA%20Series/04%20Wiring/#HPositioninstructioninputsignal]]__”
598 )))
599
600 * Open collector input
601
602 Take VD2A and VD2B drive as examples, the connection of differential input is shown as below.
603
604 (% style="text-align:center" %)
605 (((
606 (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:679px;" %)
607 [[**Figure 6-9 Open collector input connection**>>image:image-20220707092401-3.jpeg||height="432" id="Iimage-20220707092401-3.jpeg" width="679"]]
608 )))
609
610
611 (% class="box infomessage" %)
612 (((
613 ✎**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]]__”
614 )))
615
616 * Position pulse frequency and anti-interference level
617
618 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.
619
620 (% style="text-align:center" %)
621 (((
622 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
623 [[**Figure 6-10 Example of filtered signal waveform**>>image:image-20220608163952-8.png||id="Iimage-20220608163952-8.png"]]
624 )))
625
626 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.
627
628 |=**Function code**|=(% style="width: 169px;" %)**Name**|=(% style="width: 146px;" %)(((
629 **Setting method**
630 )))|=(((
631 **Effective time**
632 )))|=**Default value**|=(% style="width: 87px;" %)**Range**|=(% colspan="2" style="width: 296px;" %)**Definition**|=**Unit**
633 |(% rowspan="3" %)P00-14|(% rowspan="3" style="width:169px" %)Position pulse anti-interference level|(% rowspan="3" style="width:146px" %)(((
634 Operation setting
635 )))|(% rowspan="3" %)(((
636 Power-on again
637 )))|(% rowspan="3" %)2|(% rowspan="3" style="width:87px" %)0 to 9|(% colspan="2" style="width:296px" %)(((
638 Set the anti-interference level of external pulse instruction.
639
640 * 0: no filtering;
641 * 1: Filtering time 128ns
642 * 2: Filtering time 256ns
643 * 3: Filtering time 512ns
644 * 4: Filtering time 1.024us
645 * 5: Filtering time 2.048us
646 * 6: Filtering time 4.096us
647 * 7: Filtering time 8.192us
648 * 8: Filtering time 16.384us
649 * 9:
650 ** VD2: Filtering time 25.5us
651 ** VD2F: Filtering time 25.5us
652 )))|(% rowspan="3" %)-
653
654 Table 6-14 Position pulse frequency and anti-interference level parameters
655
656 |**Function code**|**Name**|(((
657 **Setting**
658
659 **method**
660 )))|(((
661 **Effective**
662
663 **time**
664 )))|**Default value**|**Range**|**Definition**|**Unit**
665 |P00-14|Position pulse anti-interference level|(((
666 Operation
667
668 setting
669 )))|(((
670 Power-on
671
672 again
673 )))|2|0 to 8|(((
674 VD2L drive set the anti-interference level of external pulse instruction.
675
676 0: no filtering;
677
678 1: Filtering time 111.1ns
679
680 2: Filtering time 222.2ns
681
682 3: Filtering time 444.4ns
683
684 4: Filtering time 888.8ns
685
686 5: Filtering time 1777.7ns
687
688 6: Filtering time 3555.5ns
689
690 7: Filtering time 7111.7ns
691
692 8: Filtering time 14222.2ns
693
694
695 )))|-
696
697 Table 6-15 VD2L Position pulse frequency and anti-interference level parameters
698
699
700 * Position pulse type selection
701
702 In VD2 series servo drives, there are three types of input pulse instructions, and the related function codes are shown in the table below.
703
704 |=(% scope="row" %)**Function code**|=(% style="width: 144px;" %)**Name**|=(% style="width: 110px;" %)(((
705 **Setting method**
706 )))|=(% style="width: 109px;" %)(((
707 **Effective time**
708 )))|=(% style="width: 77px;" %)**Default value**|=(% style="width: 74px;" %)**Range**|=(% style="width: 412px;" %)**Definition**|=**Unit**
709 |=P00-12|(% style="width:144px" %)Position pulse type selection|(% style="width:110px" %)(((
710 Operation setting
711 )))|(% style="width:109px" %)(((
712 Power-on again
713 )))|(% style="width:77px" %)0|(% style="width:74px" %)0 to 5|(% style="width:412px" %)(((
714 * 0: direction + pulse (positive logic)
715 * 1: CW/CCW
716 * 2: A, B phase quadrature pulse (4 times frequency)
717 * 3: Direction + pulse (negative logic)
718 * 4: CW/CCW (negative logic)
719 * 5: A, B phase quadrature pulse (4 times frequency negative logic)
720
721 **✎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**
722 )))|-
723
724 Table 6-15 Position pulse type selection parameter
725
726 |=(% scope="row" %)**Pulse type selection**|=(% style="width: 200px;" %)**Pulse type**|=(% style="width: 161px;" %)**Signal**|=**Schematic diagram of forward pulse**|=**Schematic diagram of negative pulse**
727 |=0|(% style="width:200px" %)(((
728 Direction + pulse
729
730 (Positive logic)
731 )))|(% style="width:161px" %)(((
732 PULSE
733
734 SIGN
735 )))|[[image:image-20220707094340-6.jpeg]]|[[image:image-20220707094345-7.jpeg]]
736 |=1|(% style="width:200px" %)CW/CCW|(% style="width:161px" %)(((
737 PULSE (CW)
738
739 SIGN (CCW)
740 )))|(% colspan="2" %)[[image:image-20220707094351-8.jpeg]]
741 |=2|(% style="width:200px" %)(((
742 AB phase orthogonal
743
744 pulse (4 times frequency)
745 )))|(% style="width:161px" %)(((
746 PULSE (Phase A)
747
748 SIGN (Phase B)
749 )))|(((
750
751
752 [[image:image-20220707094358-9.jpeg]]
753
754 Phase A is 90° ahead of Phase B
755 )))|(((
756
757
758 [[image:image-20220707094407-10.jpeg]]
759
760 Phase B is 90° ahead of Phase A
761 )))
762 |=3|(% style="width:200px" %)(((
763 Direction + pulse
764
765 (Negative logic)
766 )))|(% style="width:161px" %)(((
767 PULSE
768
769 SIGN
770 )))|[[image:image-20220707094414-11.jpeg]]|[[image:image-20220707094418-12.jpeg]]
771 |=4|(% style="width:200px" %)(((
772 CW/CCW
773
774 (Negative logic)
775 )))|(% style="width:161px" %)(((
776 PULSE (CW)
777
778 SIGN (CCW)
779 )))|(% colspan="2" %)[[image:image-20220707094423-13.jpeg]]
780 |=5|(% style="width:200px" %)(((
781 AB phase orthogonal
782
783 pulse (4 times frequency negative logic)
784 )))|(% style="width:161px" %)(((
785 PULSE (Phase A)
786
787 SIGN (Phase B)
788 )))|(((
789
790
791 [[image:image-20220707094429-14.jpeg]]
792
793 Phase B is ahead of A phase by 90°
794 )))|(((
795
796
797 [[image:image-20220707094437-15.jpeg]]
798
799 Phase A is ahead of B phase by 90°
800 )))
801
802 Table 6-16 Pulse description
803
804 **The source of position instruction is internal position instruction (P01-06=1)**
805
806 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__.
807
808 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.
809
810 (% style="text-align:center" %)
811 (((
812 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
813 [[**Figure 6-11 The setting process of multi-segment position**>>image:image-20220608164116-9.png||id="Iimage-20220608164116-9.png"]]
814 )))
815
816
817 * Set multi-segment position running mode
818
819 |=(% scope="row" %)**Function code**|=**Name**|=(((
820 **Setting method**
821 )))|=(((
822 **Effective time**
823 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
824 |=P07-01|Multi-segment position running mode|(((
825 Shutdown setting
826 )))|(((
827 Effective immediately
828 )))|0|0 to 2|(((
829 0: Single running
830
831 1: Cycle running
832
833 2: DI switching running
834 )))|-
835 |=P07-02|Start segment number|(((
836 Shutdown setting
837 )))|(((
838 Effective immediately
839 )))|1|1 to 16|1st segment NO. in non-DI switching mode|-
840 |=P07-03|End segment number|(((
841 Shutdown setting
842 )))|(((
843 Effective immediately
844 )))|1|1 to 16|last segment NO. in non-DI switching mode|-
845 |=P07-04|Margin processing method|(((
846 Shutdown setting
847 )))|(((
848 Effective immediately
849 )))|0|0 to 1|(((
850 0: Run the remaining segments
851
852 1: Run again from the start segment
853 )))|-
854 |=P07-05|Displacement instruction type|(((
855 Shutdown setting
856 )))|(((
857 Effective immediately
858 )))|0|0 to 1|(((
859 (% id="cke_bm_79356S" style="display:none" %) (%%)0: Relative position instruction
860
861 1: Absolute position instruction(% id="cke_bm_79356E" style="display:none" %)
862 )))|-
863
864 Table 6-17 multi-segment position running mode parameters
865
866 VD2 series servo drive has three multi-segment position running modes, and you could select the best running mode according to the site requirements.
867
868 1. Single running
869
870 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
871
872 (% style="text-align:center" %)
873 (((
874 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
875 [[**Figure 6-12 Single running curve (P07-02=1, P07-03=2)**>>image:image-20220608164226-10.png||id="Iimage-20220608164226-10.png"]]
876 )))
877
878 * 2. Cycle running
879
880 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.
881
882 (% style="text-align:center" %)
883 (((
884 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
885 [[**Figure 6-13 Cycle running curve (P07-02=1, P07-03=4)**>>image:image-20220608164327-11.png||id="Iimage-20220608164327-11.png"]]
886 )))
887
888 (% class="warning" %)|(((
889 (% style="text-align:center" %)
890 [[image:image-20220611151917-5.png]]
891 )))
892 |In single running and cycle running mode, the setting value of P07-03 needs to be greater than the setting value of P07-02.
893
894 (% start="3" %)
895 1. DI switching running
896
897 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.
898
899 |=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
900 |=21|INPOS1: Internal multi-segment position segment selection 1|Form internal multi-segment position running segment number
901 |=22|INPOS2: Internal multi-segment position segment selection 2|Form internal multi-segment position running segment number
902 |=23|INPOS3: Internal multi-segment position segment selection 3|Form internal multi-segment position running segment number
903 |=24|INPOS4: Internal multi-segment position segment selection 4|Form internal multi-segment position running segment number
904
905 Table 6-18 DI function code
906
907 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.
908
909 |=(% scope="row" %)**INPOS4**|=**INPOS3**|=**INPOS2**|=**INPOS1**|=**Running position number**
910 |=0|0|0|0|1
911 |=0|0|0|1|2
912 |=0|0|1|0|3
913 |=0|0|1|1|4
914 |=0|1|0|0|5
915 |=0|1|0|1|6
916 |=0|1|1|0|7
917 |=0|1|1|1|8
918 |=1|0|0|0|9
919 |=1|0|0|1|10
920 |=1|0|1|0|11
921 |=1|0|1|1|12
922 |=1|1|0|0|13
923 |=1|1|0|1|14
924 |=1|1|1|0|15
925 |=1|1|1|1|16
926
927 Table 6-20 INPOS corresponds to running segment number
928
929 The operating curve in this running mode is shown in __Figure 6-14__.
930
931 (% style="text-align:center" %)
932 (((
933 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
934 [[**Figure 6-14 DI switching running curve**>>image:image-20220608164545-12.png||id="Iimage-20220608164545-12.png"]]
935 )))
936
937 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.
938
939 **Run the remaining segments**
940
941 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.
942
943 (% style="text-align:center" %)
944 (((
945 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
946 [[**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"]]
947 )))
948
949 (% style="text-align:center" %)
950 (((
951 (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:734px;" %)
952 [[**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"]]
953 )))
954
955 **Run again from the start segment**
956
957 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.
958
959 (% style="text-align:center" %)
960 (((
961 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
962 [[**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"]]
963 )))
964
965 (% style="text-align:center" %)
966 (((
967 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
968 [[**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"]]
969 )))
970
971 VD2 series servo drives have two types of displacement instructions: relative position instruction and absolute position instruction. The related function code is P07-05.
972
973 * Relative position instruction
974
975 The relative position instruction takes the current stop position of the motor as the start point and specifies the amount of displacement.
976
977 |(((
978 (% style="text-align:center" %)
979 (((
980 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
981 [[**Figure 6-19 Relative position diagram**>>image:image-20220608165710-17.png||id="Iimage-20220608165710-17.png"]]
982 )))
983 )))|(((
984 (% style="text-align:center" %)
985 (((
986 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
987 [[**Figure 6-20 Displacement diagram**>>image:image-20220608165749-18.png||id="Iimage-20220608165749-18.png"]]
988 )))
989 )))
990
991 * Absolute position instruction
992
993 The absolute position instruction takes "reference origin" as the zero point of absolute positioning, and specifies the amount of displacement.
994
995 |(((
996 (% style="text-align:center" %)
997 (((
998 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
999 [[**Figure 6-21 Absolute indication**>>image:image-20220608165848-19.png||id="Iimage-20220608165848-19.png"]]
1000 )))
1001 )))|(((
1002 (% style="text-align:center" %)
1003 (((
1004 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1005 [[**Figure 6-22 Displacement**>>image:image-20220608170005-20.png||id="Iimage-20220608170005-20.png"]]
1006 )))
1007 )))
1008
1009 * Multi-segment position running curve setting
1010
1011 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.
1012
1013 |=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit**
1014 |=P07-09|(((
1015 1st segment
1016
1017 displacement
1018 )))|(((
1019 Operation setting
1020 )))|(((
1021 Effective immediately
1022 )))|10000|(((
1023 -2147483647 to
1024
1025 2147483646
1026 )))|Position instruction, positive and negative values could be set|-
1027 |=P07-10|Maximum speed of the 1st displacement|(((
1028 Operation setting
1029 )))|(((
1030 Effective immediately
1031 )))|100|1 to 5000|Steady-state running speed of the 1st segment|rpm
1032 |=P07-11|Acceleration and deceleration of 1st segment displacement|(((
1033 Operation setting
1034 )))|(((
1035 Effective immediately
1036 )))|100|1 to 65535|The time required for the acceleration and deceleration of the 1st segment|ms
1037 |=P07-12|Waiting time after completion of the 1st segment displacement|(((
1038 Operation setting
1039 )))|(((
1040 Effective immediately
1041 )))|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
1042
1043 Table 6-21 The 1st position operation curve parameters table
1044
1045 After setting the above parameters, the actual operation curve of the motor is shown in Figure 6-23.
1046
1047 (% style="text-align:center" %)
1048 (((
1049 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1050 [[**Figure 6-23 The 1st segment running curve of motor**>>image:image-20220608170149-21.png||id="Iimage-20220608170149-21.png"]]
1051 )))
1052
1053
1054 * multi-segment position instruction enable
1055
1056 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.
1057
1058 |=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
1059 |=20|ENINPOS: Internal multi-segment position enable signal|(((
1060 DI port logic invalid: Does not affect the current operation of the servo motor.
1061
1062 DI port logic valid: Motor runs multi-segment position
1063 )))
1064
1065 (% style="text-align:center" %)
1066 [[image:image-20220611152020-6.png||class="img-thumbnail"]]
1067
1068 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!
1069
1070 == Electronic gear ratio ==
1071
1072 **Definition of electronic gear ratio**
1073
1074 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.
1075
1076 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.
1077
1078 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)
1079
1080 (% style="text-align:center" %)
1081 [[image:image-20220707094901-16.png||class="img-thumbnail"]]
1082
1083 Otherwise, the servo drive will report Er.35: "Electronic gear ratio setting exceeds the limit"!
1084
1085 **Setting steps of electronic gear ratio**
1086
1087 (% style="text-align:center" %)
1088 (((
1089 (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:1021px;" %)
1090 [[**Figure 6-24 Setting steps of electronic gear ratio**>>image:image-20220707100850-20.jpeg||height="458" id="Iimage-20220707100850-20.jpeg" width="1021"]]
1091 )))
1092
1093 **lectronic gear ratio switch setting**
1094
1095 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.
1096
1097 |=(% scope="row" %)**Function code**|=**Name**|=(((
1098 **Setting method**
1099 )))|=(((
1100 **Effective time**
1101 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1102 |=P00-16|Number of instruction pulses when the motor rotates one circle|(((
1103 Shutdown setting
1104 )))|(((
1105 Effective immediately
1106 )))|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.|(((
1107 Instruction pulse
1108
1109 unit
1110 )))
1111 |=P00-17|(((
1112 Electronic gear 1
1113
1114 numerator
1115 )))|Operation setting|(((
1116 Effective immediately
1117 )))|1|1 to 4294967294|(((
1118 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.
1119
1120 **VD2L: 1-2147483647**
1121 )))|-
1122 |=P00-18|(((
1123 Electronic gear 1
1124
1125 denominator
1126 )))|(((
1127 Operation setting
1128 )))|(((
1129 Effective immediately
1130 )))|1|1 to 4294967294|(((
1131 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.
1132
1133 **VD2L: 1-2147483647**
1134 )))|-
1135 |=P00-19|(((
1136 Electronic gear 2
1137
1138 numerator
1139 )))|Operation setting|(((
1140 Effective immediately
1141 )))|1|1 to 4294967294|(((
1142 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.
1143
1144 **VD2L: 1-2147483647**
1145 )))|-
1146 |=P00-20|(((
1147 Electronic gear 2
1148
1149 denominator
1150 )))|Operation setting|(((
1151 Effective immediately
1152 )))|1|1 to 4294967294|(((
1153 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.
1154
1155 **VD2L: 1-2147483647**
1156 )))|-
1157
1158 Table 6-20 Electronic gear ratio function code
1159
1160 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.
1161
1162 |=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
1163 |=09|GEAR-SEL electronic gear switch 1|(((
1164 DI port logic invalid: electronic gear ratio 1
1165
1166 DI port logic valid: electronic gear ratio 2
1167 )))
1168
1169 Table 6-21 Switching conditions of electronic gear ratio group
1170
1171 |=**P00-16 value**|=(% style="width: 510px;" %)**DI terminal level corresponding to DI port function 9**|=(% style="width: 400px;" %)**Electronic gear ratio**
1172 |(% rowspan="2" %)0|(% style="width:510px" %)DI port logic invalid|(% style="width:400px" %)(((
1173 (% style="text-align:center" %)
1174 [[image:image-20220707101328-21.png]]
1175 )))
1176 |(% style="width:510px" %)DI port logic valid|(% style="width:400px" %)(((
1177 (% style="text-align:center" %)
1178 [[image:image-20220707101336-22.png]]
1179 )))
1180 |1 to 131072|(% style="width:510px" %)~-~-|(% style="width:400px" %)(((
1181 (% style="text-align:center" %)
1182 [[image:image-20220707101341-23.png]]
1183 )))
1184
1185 Table 6-22 Application of electronic gear ratio
1186
1187 When the function code P00-16 is not 0, the electronic gear ratio [[image:image-20220707101509-25.png]] is invalid.
1188
1189 == Position instruction filtering ==
1190
1191 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.
1192
1193 In the following situations, position instruction filtering should be added.
1194
1195 1. The position instruction output by host computer has not been processed with acceleration or deceleration;
1196 1. The pulse instruction frequency is low;
1197 1. When the electronic gear ratio is 10 times or more.
1198
1199 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.
1200
1201 (% style="text-align:center" %)
1202 (((
1203 (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:514px;" %)
1204 [[**Figure 6-25 Position instruction filtering diagram**>>image:image-20220608170455-23.png||height="230" id="Iimage-20220608170455-23.png" width="514"]]
1205 )))
1206
1207 |=(% scope="row" %)**Function code**|=**Name**|=(((
1208 **Setting method**
1209 )))|=(((
1210 **Effective time**
1211 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1212 |=P04-01|Pulse instruction filtering method|(((
1213 Shutdown setting
1214 )))|(((
1215 Effective immediately
1216 )))|0|0 to 1|(((
1217 * 0: 1st-order low-pass filtering
1218 * 1: average filtering
1219 )))|-
1220 |=P04-02|Position instruction 1st-order low-pass filtering time constant|Shutdown setting|(((
1221 Effective immediately
1222 )))|0|0 to 1000|Position instruction first-order low-pass filtering time constant|ms
1223 |=P04-03|Position instruction average filtering time constant|Shutdown setting|(((
1224 Effective immediately
1225 )))|0|0 to 128|Position instruction average filtering time constant|ms
1226
1227 Table 6-25 Position instruction filter function code
1228
1229 == Clearance of position deviation ==
1230
1231 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;
1232
1233 Position deviation = (position instruction-position feedback) (encoder unit)
1234
1235 == Position-related DO output function ==
1236
1237 The feedback value of position instruction is compared with different thresholds, and output DO signal for host computer use.
1238
1239 (% class="wikigeneratedid" id="HPositioningcompletion2Fpositioningapproachoutput" %)
1240 **Positioning completion/positioning approach output**
1241
1242 (% class="wikigeneratedid" %)
1243 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.
1244
1245 (% style="text-align:center" %)
1246 (((
1247 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1248 [[**Figure 6-26 Positioning completion signal output diagram**>>image:image-20220608170550-24.png||id="Iimage-20220608170550-24.png"]]
1249 )))
1250
1251 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.
1252
1253 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]]__.
1254
1255 (% style="text-align:center" %)
1256 (((
1257 (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:709px;" %)
1258 [[**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"]]
1259 )))
1260
1261 |=(% scope="row" %)**Function code**|=**Name**|=(((
1262 **Setting method**
1263 )))|=(% style="width: 129px;" %)(((
1264 **Effective time**
1265 )))|=(% style="width: 95px;" %)**Default value**|=**Range**|=**Definition**|=**Unit**
1266 |=P05-12|Positioning completion threshold|(((
1267 Operation setting
1268 )))|(% style="width:129px" %)(((
1269 Effective immediately
1270 )))|(% style="width:95px" %)800|1 to 65535|Positioning completion threshold|Equivalent pulse unit
1271 |=P05-13|Positioning approach threshold|(((
1272 Operation setting
1273 )))|(% style="width:129px" %)(((
1274 Effective immediately
1275 )))|(% style="width:95px" %)5000|1 to 65535|Positioning approach threshold|Equivalent pulse unit
1276 |=P05-14|Position detection window time|(((
1277 Operation setting
1278 )))|(% style="width:129px" %)(((
1279 Effective immediately
1280 )))|(% style="width:95px" %)10|0 to 20000|Set positioning completion detection window time|ms
1281 |=P05-15|Positioning signal hold time|(((
1282 Operation setting
1283 )))|(% style="width:129px" %)(((
1284 Effective immediately
1285 )))|(% style="width:95px" %)100|0 to 20000|Set positioning completion output hold time|ms
1286
1287 Table 6-26 Function code parameters of positioning completion
1288
1289 |=(% scope="row" %)**DO function code**|=**Function name**|=**Function**
1290 |=134|P-COIN positioning complete|Output this signal indicates the servo drive position is complete.
1291 |=135|(((
1292 P-NEAR positioning close
1293 )))|(((
1294 Output this signal indicates that the servo drive position is close.
1295 )))
1296
1297 Table 6-27 Description of DO rotation detection function code
1298
1299 == **VD2-0xxSA1H collector pulse signal DO Function and VD2L pulse signal DO output function** ==
1300
1301 **(1) VD2-0xxSA1H collector pulse signal DO Function**
1302
1303 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.
1304
1305 **(2) Pulse signal DO output function of VD2L-0xxSA1P**
1306
1307 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.
1308
1309 **(3) The difference of collector pulse signal DO Function of VD2-0xxSA1H and DO output function of pulse signal of VD2L-0xxSA1P**
1310
1311 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.
1312
1313 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.
1314
1315
1316 |(% rowspan="2" %)P06-28|Parameter name|Setting method|Effective time|Default|Set range|Application category|Unit
1317 |DO_2 channel function selection|Operation setting|Effective immediately|143|128-148|DI/DO|-
1318 |(% colspan="8" %)(((
1319 Used to set DO functions corresponding to hardware DO2. Refer to the following table for the functions corresponding to the set value:
1320
1321 |Setting value|DO channel function| |Setting value|DO channel function
1322 |128|OFF (not used)| |139|T-LIMIT (Torque limit)
1323 |129|RDY (Servo ready)| |140|V-LIMIT (speed limited)
1324 |130|ALM (fault signal)| |141|BRK-OFF (Brake Output)^^ Note1^^
1325 |131|WARN (warning signal)| |142|SRV-ST (Servo start status output)
1326 |132|TGON (rotation detection)| |143|OZ (Z pulse output)^^ Note2^^
1327 |133|ZSP (zero speed signal)| |144|N/A
1328 |134|P-COIN (Positioning completed)| |145|COM_VDO1 (communication VDO1 output)
1329 |135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output)
1330 |136|V-COIN (consistent speed)| |147|COM_VDO1(communication VDO3 output)
1331 |137|V-NEAR (speed approach)| |148|COM_VDO1(communication VDO4 output)
1332 |138|T-COIN (torque arrival)| | |
1333
1334 When P06-28 is set to a value other than the above table, it is considered to not use DO port function.
1335
1336 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).
1337
1338 Note 1: To use the BRK-OFF function code, you need to repower to take effect.
1339
1340 Note 2:
1341
1342 ① Only VD2L and VD2F support function code 143. The code for this function of VD2-0xxSA1G model is empty!
1343
1344 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!
1345
1346 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!
1347 )))
1348
1349 |(% rowspan="2" %)P06-30|Parameter name|Setting method|Effective time|Default|Set range|Application category|Unit
1350 |DO_3 channel function selection|Operation setting|Effective immediately|143|128-148|DI/DO|-
1351 |(% colspan="8" %)(((
1352 Used to set DO functions corresponding to hardware DO3. Refer to the following table for the functions corresponding to the set value:
1353
1354 |Setting value|DO channel function| |Setting value|DO channel function
1355 |128|OFF (not used)| |139|T-LIMIT (torque limit)
1356 |129|RDY (Servo ready)| |140|V-LIMIT (speed limited)
1357 |130|ALM (fault signal)| |141|BRK-OFF (Brake Output)^^ Note1^^
1358 |131|WARN (warning signal)| |142|SRV-ST (Servo start status output)
1359 |132|TGON (rotation detection)| |143|OA (A pulse output)^^ Note2^^
1360 |133|ZSP (zero speed signal)| |144|None
1361 |134|P-COIN (Positioning completed)| |145|COM_VDO1 (communication VDO1 output)
1362 |135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output)
1363 |136|V-COIN (consistent speed)| |147|COM_VDO1(communication VDO3 output)
1364 |137|V-NEAR (speed approach)| |148|COM_VDO1(communication VDO4 output)
1365 |138|T-COIN (torque arrival)| | |
1366
1367 When P06-30 is set to a value other than the above table, it is considered to not use DO port function.
1368
1369 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).
1370
1371 **Note 1:** To use the BRK-OFF function code, you need to repower to take effect.
1372
1373 **Note 2:**
1374
1375 ① Only VD2L and VD2F support function code 143. The code for this function of VD2-0xxSA1G model is empty!
1376
1377 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!
1378
1379 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!
1380 )))
1381
1382 |(% rowspan="2" %)P06-32|Parameter name|Setting method|Effective time|Default|Set range|Application category|Unit
1383 |DO_4 channel function selection|Operation setting|Effective immediately|143|128-148|DI/DO|-
1384 |(% colspan="8" %)(((
1385 Used to set DO functions corresponding to hardware DO4. Refer to the following table for the functions corresponding to the set value:
1386
1387 |Setting value|DO channel function| |Setting value|DO channel function
1388 |128|OFF (not used)| |139|T-LIMIT (Torque limit)
1389 |129|RDY (Servo ready)| |140|V-LIMIT (speed limited)
1390 |130|ALM (fault signal)| |141|BRK-OFF (Brake Output)^^ Note1^^
1391 |131|WARN (warning signal)| |142|SRV-ST (Servo start status output)
1392 |132|TGON (rotation detection)| |143|OB (B pulse output)^^ Note2^^
1393 |133|ZSP (zero speed signal)| |144|None
1394 |134|P-COIN (Positioning completed)| |145|COM_VDO1 (communication VDO1 output)
1395 |135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output)
1396 |136|V-COIN (consistent speed)| |147|COM_VDO1(communication VDO3 output)
1397 |137|V-NEAR (speed approach)| |148|COM_VDO1(communication VDO4 output)
1398 |138|T-COIN (torque arrival)| | |
1399
1400 When P06-32 is set to a value other than the above table, it is considered to not use DO port function.
1401
1402 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).
1403
1404 **Note 1:** To use the BRK-OFF function code, you need to repower to take effect.
1405
1406 **Note 2:**
1407
1408 ① Only VD2L and VD2F support function code 143. The code for this function of VD2-0xxSA1G model is empty!
1409
1410 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!
1411
1412 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!
1413 )))
1414
1415 = **Speed control mode** =
1416
1417 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.
1418
1419 (% style="text-align:center" %)
1420 (((
1421 (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:806px;" %)
1422 [[**Figure 6-28 Speed control block diagram**>>image:6.28.jpg||height="260" id="I6.28.jpg" width="806"]]
1423 )))
1424
1425 == Speed instruction input setting ==
1426
1427 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.
1428
1429 |=(% scope="row" style="width: 121px;" %)**Function code**|=(% style="width: 186px;" %)**Name**|=(% style="width: 128px;" %)(((
1430 **Setting method**
1431 )))|=(% style="width: 125px;" %)(((
1432 **Effective time**
1433 )))|=(% style="width: 85px;" %)**Default value**|=(% style="width: 75px;" %)**Range**|=(% style="width: 310px;" %)**Definition**|=**Unit**
1434 |=(% style="width: 121px;" %)P01-01|(% style="width:186px" %)Speed instruction source|(% style="width:128px" %)(((
1435 Shutdown setting
1436 )))|(% style="width:125px" %)(((
1437 Effective immediately
1438 )))|(% style="width:85px" %)0|(% style="width:75px" %)0 to 1|(% style="width:310px" %)(((
1439 * 0: internal speed instruction
1440 * 1: AI_1 analog input (not supported by VD2F)
1441 )))|-
1442
1443 Table 6-26 Speed instruction source parameter
1444
1445 **Speed instruction source is internal speed instruction (P01-01=0)**
1446
1447 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
1448
1449 (% style="width:1141px" %)
1450 |=(% colspan="1" scope="row" %)**Function code**|=(% colspan="2" %)**Name**|=(% colspan="2" %)(((
1451 **Setting**
1452
1453 **method**
1454 )))|=(% colspan="2" %)(((
1455 **Effective**
1456
1457 **time**
1458 )))|=(% colspan="2" %)**Default value**|=(% colspan="2" %)**Range**|=(% colspan="2" %)**Definition**|=(% colspan="2" %)**Unit**
1459 |=(% colspan="1" %)P01-02|(% colspan="2" %)(((
1460 Internal speed
1461
1462 Instruction 0
1463 )))|(% colspan="2" %)(((
1464 Operation
1465
1466 setting
1467 )))|(% colspan="2" %)(((
1468 Effective
1469
1470 immediately
1471 )))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1472 Internal speed instruction 0
1473
1474 When DI input port:
1475
1476 * 15-INSPD3: 0
1477 * 14-INSPD2: 0
1478 * 13-INSPD1: 0,
1479
1480 select this speed instruction to be effective.
1481 )))|(% colspan="2" %)rpm
1482 |=(% colspan="1" %)P01-23|(% colspan="2" %)(((
1483 Internal speed
1484
1485 Instruction 1
1486 )))|(% colspan="2" %)(((
1487 Operation
1488
1489 setting
1490 )))|(% colspan="2" %)(((
1491 Effective
1492
1493 immediately
1494 )))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1495 Internal speed instruction 1
1496
1497 When DI input port:
1498
1499 * 15-INSPD3: 0
1500 * 14-INSPD2: 0
1501 * 13-INSPD1: 1,
1502
1503 Select this speed instruction to be effective.
1504 )))|(% colspan="2" %)rpm
1505 |=(% colspan="1" %)P01-24|(% colspan="2" %)(((
1506 Internal speed
1507
1508 Instruction 2
1509 )))|(% colspan="2" %)(((
1510 Operation
1511
1512 setting
1513 )))|(% colspan="2" %)(((
1514 Effective
1515
1516 immediately
1517 )))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1518 Internal speed instruction 2
1519
1520 When DI input port:
1521
1522 * 15-INSPD3: 0
1523 * 14-INSPD2: 1
1524 * 13-INSPD1: 0,
1525
1526 Select this speed instruction to be effective.
1527 )))|(% colspan="2" %)rpm
1528 |=(% colspan="1" %)P01-25|(% colspan="2" %)(((
1529 Internal speed
1530
1531 Instruction 3
1532 )))|(% colspan="2" %)(((
1533 Operation
1534
1535 setting
1536 )))|(% colspan="2" %)(((
1537 Effective
1538
1539 immediately
1540 )))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1541 Internal speed instruction 3
1542
1543 When DI input port:
1544
1545 * 15-INSPD3: 0
1546 * 14-INSPD2: 1
1547 * 13-INSPD1: 1,
1548
1549 Select this speed instruction to be effective.
1550 )))|(% colspan="2" %)rpm
1551 |=P01-26|(% colspan="2" %)(((
1552 Internal speed
1553
1554 Instruction 4
1555 )))|(% colspan="2" %)(((
1556 Operation
1557
1558 setting
1559 )))|(% colspan="2" %)(((
1560 Effective
1561
1562 immediately
1563 )))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1564 Internal speed instruction 4
1565
1566 When DI input port:
1567
1568 * 15-INSPD3: 1
1569 * 14-INSPD2: 0
1570 * 13-INSPD1: 0,
1571
1572 Select this speed instruction to be effective.
1573 )))|(% colspan="1" %)rpm
1574 |=P01-27|(% colspan="2" %)(((
1575 Internal speed
1576
1577 Instruction 5
1578 )))|(% colspan="2" %)(((
1579 Operation
1580
1581 setting
1582 )))|(% colspan="2" %)(((
1583 Effective
1584
1585 immediately
1586 )))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1587 Internal speed instruction 5
1588
1589 When DI input port:
1590
1591 * 15-INSPD3: 1
1592 * 14-INSPD2: 0
1593 * 13-INSPD1: 1,
1594
1595 Select this speed instruction to be effective.
1596 )))|(% colspan="1" %)rpm
1597 |=P01-28|(% colspan="2" %)(((
1598 Internal speed
1599
1600 Instruction 6
1601 )))|(% colspan="2" %)(((
1602 Operation
1603
1604 setting
1605 )))|(% colspan="2" %)(((
1606 Effective
1607
1608 immediately
1609 )))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1610 Internal speed instruction 6
1611
1612 When DI input port:
1613
1614 * 15-INSPD3: 1
1615 * 14-INSPD2: 1
1616 * 13-INSPD1: 0,
1617
1618 Select this speed instruction to be effective.
1619 )))|(% colspan="1" %)rpm
1620 |=P01-29|(% colspan="2" %)(((
1621 Internal speed
1622
1623 Instruction 7
1624 )))|(% colspan="2" %)(((
1625 Operation
1626
1627 setting
1628 )))|(% colspan="2" %)(((
1629 Effective
1630
1631 immediately
1632 )))|(% colspan="2" %)0|(% colspan="2" %)-5000 to 5000|(% colspan="2" %)(((
1633 Internal speed instruction 7
1634
1635 When DI input port:
1636
1637 * 15-INSPD3: 1
1638 * 14-INSPD2: 1
1639 * 13-INSPD1: 1,
1640
1641 Select this speed instruction to be effective.
1642 )))|(% colspan="1" %)rpm
1643
1644 Table 6-27 Internal speed instruction parameters
1645
1646 |=(% scope="row" %)**DI function code**|=**function name**|=**Function**
1647 |=13|INSPD1 internal speed instruction selection 1|Form internal multi-speed running segment number
1648 |=14|INSPD2 internal speed instruction selection 2|Form internal multi-speed running segment number
1649 |=15|INSPD3 internal speed instruction selection 3|Form internal multi-speed running segment number
1650
1651 Table 6-28 DI multi-speed function code description
1652
1653 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.
1654
1655
1656 |=**INSPD3**|=**INSPD2**|=**INSPD1**|=**Running segment number**|=**Internal speed instruction number**
1657 |0|0|0|1|0
1658 |0|0|1|2|1
1659 |0|1|0|3|2
1660 |(% colspan="5" %)......
1661 |1|1|1|8|7
1662
1663 Table 6-29 Correspondence between INSPD bits and segment numbers
1664
1665 (% style="text-align:center" %)
1666 (((
1667 (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:814px;" %)
1668 [[**Figure 6-29 Multi-segment speed running curve**>>image:image-20220608170845-26.png||height="524" id="Iimage-20220608170845-26.png" width="814"]]
1669 )))
1670
1671 **Speed instruction source is internal speed instruction (P01-01=1)**
1672
1673 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.
1674
1675 (% style="text-align:center" %)
1676 (((
1677 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1678 [[**Figure 6-30 Analog input circuit**>>image:image-20220608153341-5.png||id="Iimage-20220608153341-5.png"]]
1679 )))
1680
1681 Taking AI_1 as an example, the method of setting the speed instruction of analog voltage is illustrated as below.
1682
1683 (% style="text-align:center" %)
1684 (((
1685 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1686 [[**Figure 6-31 Analog voltage speed instruction setting steps**>>image:image-20220608170955-27.png||id="Iimage-20220608170955-27.png"]]
1687 )))
1688
1689 Explanation of related terms:
1690
1691 * Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
1692 * Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
1693 * Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1694
1695 (% style="text-align:center" %)
1696 (((
1697 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1698 [[**Figure 6-32 AI_1 diagram before and after bias**>>image:image-20220608171124-28.png||id="Iimage-20220608171124-28.png"]]
1699 )))
1700
1701 |=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit**
1702 |=P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1703 |=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
1704 |=P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel quantity dead zone value|mV
1705 |=P05-04☆|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV
1706
1707 Table 6-30 AI_1 parameters
1708
1709 (% class="box infomessage" %)
1710 (((
1711 ✎**Note: **“☆” means VD2F servo drive does not support the function code .
1712 )))
1713
1714 == Acceleration and deceleration time setting ==
1715
1716 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.
1717
1718 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.
1719
1720 (% style="text-align:center" %)
1721 (((
1722 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1723 [[**Figure 6-33 of acceleration and deceleration time diagram**>>image:image-20220608171314-29.png||id="Iimage-20220608171314-29.png"]]
1724 )))
1725
1726 (% style="text-align:center" %)
1727 [[image:image-20220707103616-27.png||class="img-thumbnail"]]
1728
1729 |=(% scope="row" %)**Function code**|=**Name**|=(((
1730 **Setting method**
1731 )))|=(((
1732 **Effective time**
1733 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1734 |=P01-03|Acceleration time|(((
1735 Operation setting
1736 )))|(((
1737 Effective immediately
1738 )))|50|0 to 65535|The time for the speed instruction to accelerate from 0 to 1000rpm|ms
1739 |=P01-04|Deceleration time|(((
1740 Operation setting
1741 )))|(((
1742 Effective immediately
1743 )))|50|0 to 65535|The time for the speed instruction to decelerate from 1000rpm to 0|ms
1744
1745 Table 6-31 Acceleration and deceleration time parameters
1746
1747 == Speed instruction limit ==
1748
1749 In speed mode, the servo drive could limit the size of the speed instruction. The sources of speed instruction limit include:
1750
1751 1. P01-10: Set the maximum speed limit value
1752 1. P01-12: Set forward speed limit value
1753 1. P01-13: Set reverse speed limit value
1754 1. The maximum speed of the motor: determined by motor model
1755
1756 The actual motor speed limit interval satisfies the following relationship:
1757
1758 The amplitude of forward speed instruction ≤ min (Maximum motor speed, P01-10, P01-12)
1759
1760 The amplitude of negative speed command ≤ min (Maximum motor speed, P01-10, P01-13)
1761
1762 |=(% scope="row" %)**Function code**|=**Name**|=(((
1763 **Setting method**
1764 )))|=(((
1765 **Effective time**
1766 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1767 |=P01-10|Maximum speed threshold|(((
1768 Operation setting
1769 )))|(((
1770 Effective immediately
1771 )))|3600|0 to 5000|Set the maximum speed limit value, if exceeds this value, an overspeed fault will be reported|rpm
1772 |=P01-12|Forward speed threshold|(((
1773 Operation setting
1774 )))|(((
1775 Effective immediately
1776 )))|3000|0 to 5000|Set forward speed limit value|rpm
1777 |=P01-13|Reverse speed threshold|(((
1778 Operation setting
1779 )))|(((
1780 Effective immediately
1781 )))|3000|0 to 5000|Set reverse speed limit value|rpm
1782
1783 Table 6-32 Rotation speed related function codes
1784
1785 == Zero-speed clamp function ==
1786
1787 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.
1788
1789 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.
1790
1791 |=(% scope="row" %)**Function code**|=**Name**|=(((
1792 **Setting method**
1793 )))|=(((
1794 **Effective time**
1795 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1796 |=P01-21|(((
1797 Zero-speed clamp function selection
1798 )))|(((
1799 Operation setting
1800 )))|(((
1801 Effective immediately
1802 )))|0|0 to 3|(((
1803 Set the zero-speed clamp function. In speed mode:
1804
1805 * 0: Force the speed to 0;
1806 * 1: Force the speed to 0, and keep the position locked when the actual speed is less than P01-22
1807 * 2: When speed instruction is less than P01-22, force the speed to 0 and keep the position locked
1808 * 3: Invalid, ignore zero-speed clamp input
1809 )))|-
1810 |=P01-22|(((
1811 Zero-speed clamp speed threshold
1812 )))|(((
1813 Operation setting
1814 )))|(((
1815 Effective immediately
1816 )))|20|0 to 1000|Set the speed threshold of zero-speed clamp function|rpm
1817
1818 Table 6-33 Zero-speed clamp related parameters
1819
1820 (% style="text-align:center" %)
1821 (((
1822 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1823 [[**Figure 6-34 Zero-speed clamp diagram**>>image:image-20220608171549-30.png||id="Iimage-20220608171549-30.png"]]
1824 )))
1825
1826 == Speed-related DO output function ==
1827
1828 The feedback value of the position instruction is compared with different thresholds, and could output DO signal for host computer use.
1829
1830 **Rotation detection signal**
1831
1832 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.
1833
1834 (% style="text-align:center" %)
1835 (((
1836 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1837 [[**Figure 6-35 Rotation detection signal diagram**>>image:image-20220608171625-31.png||id="Iimage-20220608171625-31.png"]]
1838 )))
1839
1840 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__.
1841
1842 |=(% scope="row" %)**Function code**|=**Name**|=(((
1843 **Setting method**
1844 )))|=(((
1845 **Effective time**
1846 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1847 |=P05-16|(((
1848 Rotation detection
1849
1850 speed threshold
1851 )))|(((
1852 Operation setting
1853 )))|(((
1854 Effective immediately
1855 )))|20|0 to 1000|Set the motor rotation signal judgment threshold|rpm
1856
1857 Table 6-34 Rotation detection speed threshold parameters
1858
1859 |=(% scope="row" %)**DO function code**|=(% style="width: 247px;" %)**Function name**|=(% style="width: 695px;" %)**Function**
1860 |=132|(% style="width:247px" %)(((
1861 T-COIN rotation detection
1862 )))|(% style="width:695px" %)(((
1863 Valid: when the absolute value of motor speed after filtering is greater than or equal to the set value of function code P05-16
1864
1865 Invalid, when the absolute value of motor speed after filtering is less than set value of function code P05-16
1866 )))
1867
1868 Table 6-35 DO rotation detection function code
1869
1870 **Zero-speed signal**
1871
1872 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.
1873
1874 (% style="text-align:center" %)
1875 (((
1876 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1877 [[**Figure 6-36 Zero-speed signal diagram**>>image:image-20220608171904-32.png||id="Iimage-20220608171904-32.png"]]
1878 )))
1879
1880 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__.
1881
1882 |=(% scope="row" %)**Function code**|=**Name**|=(((
1883 **Setting method**
1884 )))|=(((
1885 **Effective time**
1886 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1887 |=P05-19|Zero speed output signal threshold|(((
1888 Operation setting
1889 )))|(((
1890 Effective immediately
1891 )))|10|0 to 6000|Set zero-speed output signal judgment threshold|rpm
1892
1893 Table 6-36 Zero-speed output signal threshold parameter
1894
1895 |=(% scope="row" %)**DO function code**|=**Function name**|=**Function**
1896 |=133|(((
1897 ZSP zero speed signal
1898 )))|Output this signal indicates that the servo motor is stopping rotation
1899
1900 Table 6-37 DO zero-speed signal function code
1901
1902 **Speed consistent signal**
1903
1904 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.
1905
1906 (% style="text-align:center" %)
1907 (((
1908 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1909 [[**Figure 6-37 Speed consistent signal diagram**>>image:image-20220608172053-33.png||id="Iimage-20220608172053-33.png"]]
1910 )))
1911
1912 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__.
1913
1914 |=(% scope="row" %)**Function code**|=**Name**|=(((
1915 **Setting method**
1916 )))|=(((
1917 **Effective time**
1918 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1919 |=P05-17|Speed consistent signal threshold|(((
1920 Operationsetting
1921 )))|(((
1922 Effective immediately
1923 )))|10|0 to 100|Set speed consistent signal threshold|rpm
1924
1925 Table 6-38 Speed consistent signal threshold parameters
1926
1927 |=(% scope="row" %)**DO Function code**|=(% style="width: 262px;" %)**Function name**|=(% style="width: 684px;" %)**Function**
1928 |=136|(% style="width:262px" %)(((
1929 U-COIN consistent speed
1930 )))|(% 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
1931
1932 Table 6-39 DO speed consistent function code
1933
1934 **Speed approach signal**
1935
1936 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.
1937
1938 (% style="text-align:center" %)
1939 (((
1940 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1941 [[**Figure 6-38 Speed approaching signal diagram**>>image:image-20220608172207-34.png||id="Iimage-20220608172207-34.png"]]
1942 )))
1943
1944 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__.
1945
1946 |=(% scope="row" style="width: 147px;" %)**Function code**|=(% style="width: 184px;" %)**Name**|=(((
1947 **Setting method**
1948 )))|=(((
1949 **Effective time**
1950 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1951 |=(% style="width: 147px;" %)P05-18|(% style="width:184px" %)Speed approach signal threshold|(((
1952 Operation setting
1953 )))|(((
1954 Effective immediately
1955 )))|100|10 to 6000|Set speed approach signal threshold|rpm
1956
1957 Table 6-40 Speed approaching signal threshold parameters
1958
1959 |=(% scope="row" %)**DO function code**|=**Function name**|=**Function**
1960 |=137|(((
1961 V-NEAR speed approach
1962 )))|The output signal indicates that the actual speed of the servo motor has reached the expected value
1963
1964 Table 6-41 DO speed approach function code
1965
1966 = **Torque control mode** =
1967
1968 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.
1969
1970 (% style="text-align:center" %)
1971 (((
1972 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1973 [[**Figure 6-39 Torque mode diagram**>>image:image-20220608172405-35.png||id="Iimage-20220608172405-35.png"]]
1974 )))
1975
1976 == **Torque instruction input setting** ==
1977
1978 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.
1979
1980 |=(% scope="row" %)**Function code**|=**Name**|=(((
1981 **Setting method**
1982 )))|=(((
1983 **Effective time**
1984 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1985 |=P01-07|Torque instruction source|(((
1986 Shutdown setting
1987 )))|(((
1988 Effective immediately
1989 )))|0|0 to 1|(((
1990 0: internal torque instruction
1991
1992 1: AI_1 analog input(not supported by VD2F and VD2L)
1993 )))|-
1994
1995 Table 6-42 Torque instruction source parameter
1996
1997 **Torque instruction source is internal torque instruction (P01-07=0)**
1998
1999 Torque instruction source is from inside, the value is set by function code P01-08.
2000
2001 |=(% scope="row" %)**Function code**|=**Name**|=(((
2002 **Setting method**
2003 )))|=(((
2004 **Effective time**
2005 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2006 |=P01-08|Torque instruction keyboard set value|(((
2007 Operation setting
2008 )))|(((
2009 Effective immediately
2010 )))|0|-3000 to 3000|-300.0% to 300.0%|0.1%
2011
2012 Table 6-43 Torque instruction keyboard set value
2013
2014 **Torque instruction source is AI_1 analog input (P01-07=1)**
2015
2016 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.
2017
2018 (% style="text-align:center" %)
2019 (((
2020 (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:408px;" %)
2021 [[**Figure 6-40 Analog input circuit**>>image:image-20220608153646-7.png||height="213" id="Iimage-20220608153646-7.png" width="408"]]
2022 )))
2023
2024 Taking AI_1 as an example, the method of setting torque instruction of analog voltage is as below.
2025
2026 (% style="text-align:center" %)
2027 (((
2028 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2029 [[**Figure 6-41 Analog voltage torque instruction setting steps**>>image:image-20220608172502-36.png||id="Iimage-20220608172502-36.png"]]
2030 )))
2031
2032 Explanation of related terms:
2033
2034 * Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
2035 * Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
2036 * Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
2037
2038 (% style="text-align:center" %)
2039 (((
2040 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2041 [[**Figure 6-42 AI_1 diagram before and after bias**>>image:image-20220608172611-37.png||id="Iimage-20220608172611-37.png"]]
2042 )))
2043
2044 |=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit**
2045 |=P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
2046 |=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
2047 |=P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel dead zone value|mV
2048 |=P05-04☆|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV
2049
2050 Table 6-44 AI_1 parameters
2051
2052 (% class="box infomessage" %)
2053 (((
2054 ✎**Note: **“☆” means VD2F servo drive does not support the function code .
2055 )))
2056
2057 == Torque instruction filtering ==
2058
2059 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__.
2060
2061 |=(% scope="row" %)**Function code**|=**Name**|=(((
2062 **Setting method**
2063 )))|=(((
2064 **Effective time**
2065 )))|=**Default value**|=(% style="width: 83px;" %)**Range**|=(% style="width: 369px;" %)**Definition**|=**Unit**
2066 |=P04-04|Torque filtering time constant|(((
2067 Operation setting
2068 )))|(((
2069 Effective immediately
2070 )))|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
2071
2072 Table 6-45 Torque filtering time constant parameter details
2073
2074 (% class="box infomessage" %)
2075 (((
2076 ✎**Note: **If the filter time constant is set too large, the responsiveness will be reduced. Please set it while confirming the responsiveness.
2077 )))
2078
2079 (% style="text-align:center" %)
2080 (((
2081 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2082 [[**Figure 6-43 Torque instruction-first-order filtering diagram**>>image:image-20220608172646-38.png||id="Iimage-20220608172646-38.png"]]
2083 )))
2084
2085 == Torque instruction limit ==
2086
2087 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.
2088
2089 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.
2090
2091 (% style="text-align:center" %)
2092 (((
2093 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2094 [[**Figure 6-44 Torque instruction limit diagram**>>image:image-20220608172806-39.png||id="Iimage-20220608172806-39.png"]]
2095 )))
2096
2097 **Set torque limit source**
2098
2099 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.
2100
2101 |=(% scope="row" %)**Function code**|=**Name**|=(((
2102 **Setting method**
2103 )))|=(((
2104 **Effective time**
2105 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2106 |=P01-14|(((
2107 Torque limit source
2108 )))|(((
2109 Shutdown setting
2110 )))|(((
2111 Effective immediately
2112 )))|0|0 to 1|(((
2113 * 0: internal value
2114 * 1: AI_1 analog input (not supported by VD2F and VD2L)
2115 )))|-
2116
2117 * Torque limit source is internal torque instruction (P01-14=0)
2118
2119 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.
2120
2121 |=(% scope="row" %)**Function code**|=**Name**|=(((
2122 **Setting method**
2123 )))|=(((
2124 **Effective time**
2125 )))|=**Default value**|=(% style="width: 106px;" %)**Range**|=(% style="width: 363px;" %)**Definition**|=**Unit**
2126 |=P01-15|(((
2127 Forward torque limit
2128 )))|(((
2129 Operation setting
2130 )))|(((
2131 Effective immediately
2132 )))|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%
2133 |=P01-16|(((
2134 Reverse torque limit
2135 )))|(((
2136 Operation setting
2137 )))|(((
2138 Effective immediately
2139 )))|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%
2140
2141 Table 6-46 Torque limit parameter details
2142
2143 * Torque limit source is external (P01-14=1)
2144
2145 Torque limit source is from external analog channel. The limit value is determined by the torque value corresponding to external AI_2 terminal.
2146
2147 **Set torque limit DO signal output**
2148
2149 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.
2150
2151 |=(% scope="row" %)**DO function code**|=**Function name**|=**Function**
2152 |=139|(((
2153 T-LIMIT in torque limit
2154 )))|Output of this signal indicates that the servo motor torque is limited
2155
2156 Table 6-47 DO torque limit function codes
2157
2158 == **Speed limit in torque mode** ==
2159
2160 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.
2161
2162 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__.
2163
2164 |(((
2165 (% style="text-align:center" %)
2166 (((
2167 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2168 [[**Figure 6-45 Forward running curve**>>image:image-20220608172910-40.png||id="Iimage-20220608172910-40.png"]]
2169 )))
2170 )))|(((
2171 (% style="text-align:center" %)
2172 (((
2173 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2174 [[Figure 6-46 Reverse running curve>>image:image-20220608173155-41.png||id="Iimage-20220608173155-41.png"]]
2175 )))
2176 )))
2177
2178 |=(% scope="row" %)**Function code**|=**Name**|=(((
2179 **Setting method**
2180 )))|=(((
2181 **Effective time**
2182 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2183 |=P01-17|(((
2184 Forward speed
2185
2186 limit in torque mode
2187 )))|(((
2188 Operation setting
2189 )))|(((
2190 Effective immediately
2191 )))|3000|0 to 5000|(((
2192 Forward torque
2193
2194 limit in torque mode
2195 )))|rpm
2196 |=P01-18|(((
2197 Reverse speed
2198
2199 limit in torque mode
2200 )))|(((
2201 Operation setting
2202 )))|(((
2203 Effective immediately
2204 )))|3000|0 to 5000|(((
2205 Reverse torque
2206
2207 limit in torque mode
2208 )))|rpm
2209
2210 Table 6-48 Speed limit parameters in torque mode
2211
2212 ✎**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]]__.
2213
2214 == Torque-related DO output functions ==
2215
2216 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.
2217
2218 **Torque arrival**
2219
2220 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.
2221
2222 (% style="text-align:center" %)
2223 (((
2224 (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:705px;" %)
2225 [[**Figure 6-47 Torque arrival output diagram**>>image:image-20220608173541-42.png||height="342" id="Iimage-20220608173541-42.png" width="705"]]
2226 )))
2227
2228 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__.
2229
2230 |=(% scope="row" %)**Function code**|=(% style="width: 113px;" %)**Name**|=(% style="width: 100px;" %)(((
2231 **Setting method**
2232 )))|=(% style="width: 124px;" %)(((
2233 **Effective time**
2234 )))|=(% style="width: 83px;" %)**Default value**|=(% style="width: 94px;" %)**Range**|=(% style="width: 421px;" %)**Definition**|=**Unit**
2235 |=P05-20|(% style="width:113px" %)(((
2236 Torque arrival
2237
2238 threshold
2239 )))|(% style="width:100px" %)(((
2240 Operation setting
2241 )))|(% style="width:124px" %)(((
2242 Effective immediately
2243 )))|(% style="width:83px" %)100|(% style="width:94px" %)0 to 300|(% style="width:421px" %)(((
2244 The torque arrival threshold must be used with “Torque arrival hysteresis value”:
2245
2246 When the actual torque reaches Torque arrival threshold + Torque arrival hysteresis Value, the torque arrival DO is valid;
2247
2248 When the actual torque decreases below torque arrival threshold-torque arrival hysteresis value, the torque arrival DO is invalid
2249 )))|%
2250 |=P05-21|(% style="width:113px" %)(((
2251 Torque arrival
2252
2253 hysteresis
2254 )))|(% style="width:100px" %)(((
2255 Operation setting
2256 )))|(% style="width:124px" %)(((
2257 Effective immediately
2258 )))|(% 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|%
2259
2260 Table 6-49 Torque arrival parameters
2261
2262 |=(% scope="row" %)**DO function code**|=**Function name**|=**Function**
2263 |=138|(((
2264 T-COIN torque arrival
2265 )))|Used to determine whether the actual torque instruction has reached the set range
2266
2267 Table 6-50 DO Torque Arrival Function Code
2268
2269 = **Mixed control mode** =
2270
2271 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:
2272
2273 * Position mode⇔ Speed mode
2274 * Position mode ⇔Torque mode
2275 * Speed mode ⇔Torque mode
2276
2277 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.
2278
2279 |=(% scope="row" %)**Function code**|=**Name**|=(((
2280 **Setting method**
2281 )))|=(((
2282 **Effective time**
2283 )))|=**Default value**|=(% style="width: 90px;" %)**Range**|=(% style="width: 273px;" %)**Definition**|=**Unit**
2284 |=P00-01|Control mode|(((
2285 Shutdown setting
2286 )))|(((
2287 Shutdown setting
2288 )))|1|(% style="width:90px" %)1 to 6|(% style="width:273px" %)(((
2289 * 1: Position control
2290 * 2: Speed control
2291 * 3: Torque control
2292 * 4: Position/speed mixed control
2293 * 5: Position/torque mixed control
2294 * 6: Speed/torque mixed control
2295
2296 **VD2L drive P0-01 setting range: 1-3, not support mixed mode**
2297 )))|-
2298
2299 Table 6-51 Mixed control mode parameters
2300
2301 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.
2302
2303 |=(% scope="row" %)**DI function code**|=**Name**|=(% style="width: 187px;" %)**Function name**|=(% style="width: 662px;" %)**Function**
2304 |=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(((
2305 (% style="margin-left:auto; margin-right:auto; width:585px" %)
2306 |=**P00-01**|=(% style="width: 243px;" %)**MixModeSel terminal logic**|=(% style="width: 220px;" %)**Control mode**
2307 |(% rowspan="2" %)4|(% style="width:243px" %)Valid|(% style="width:220px" %)Speed mode
2308 |(% style="width:243px" %)invalid|(% style="width:220px" %)Position mode
2309 |(% rowspan="2" %)5|(% style="width:243px" %)Valid|(% style="width:220px" %)Torque mode
2310 |(% style="width:243px" %)invalid|(% style="width:220px" %)Position mode
2311 |(% rowspan="2" %)6|(% style="width:243px" %)Valid|(% style="width:220px" %)Torque mode
2312 |(% style="width:243px" %)invalid|(% style="width:220px" %)Speed mode
2313 )))
2314
2315 Table 6-52 Description of DI function codes in control mode
2316
2317 (% class="box infomessage" %)
2318 (((
2319 ✎**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.
2320 )))
2321
2322 = **Absolute system** =
2323
2324 == Overview ==
2325
2326 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.
2327
2328 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.
2329
2330 == Single-turn absolute value system ==
2331
2332 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.
2333
2334 |=**Encoder type**|=**Encoder resolution (bits)**|=**Data range**
2335 |A1 (single-turn magnetic encoder)|17|0 to 131071
2336
2337 Table 6-53 Single-turn absolute encoder information
2338
2339 The relationship between encoder feedback position and rotating load position is shown in the figure below. (take a 17-bit encoder as an example).
2340
2341 (% style="text-align:center" %)
2342 (((
2343 (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:629px;" %)
2344 [[**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"]]
2345 )))
2346
2347 == Multi-turn absolute value system ==
2348
2349 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.
2350
2351 |=(% scope="row" %)**Encoder type**|=**Encoder resolution (bits)**|=**Data range**
2352 |=C1 (multi-turn magnetic encoder)|17|0 to 131071
2353 |=D2 (multi-turn Optical encoder)|23|0 to 8388607
2354
2355 Table 6-54 Multi-turn absolute encoder information
2356
2357 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).
2358
2359 (% style="text-align:center" %)
2360 (((
2361 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2362 [[**Figure 6-49 The relationship between encoder feedback position and rotating load position**>>image:image-20220608173701-44.png||id="Iimage-20220608173701-44.png"]]
2363 )))
2364
2365 (% class="wikigeneratedid" %)
2366 (((
2367 Multi-turn absolute value position U0-56 origin setting (only for multi-turn encoders)
2368 Under the following two working conditions: 1. The current physical position of the motor cannot reach the
2369 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.
2370 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.
2371
2372 |**Function code**|**Name**|(((
2373 **Setting**
2374
2375 **method**
2376 )))|(((
2377 **Effective**
2378
2379 **time**
2380 )))|**Default**|**Range**|**Definition**|**Unit**
2381 |P10-06|Multi-turn absolute encoder reset|(((
2382 Shutdown
2383
2384 setting
2385 )))|Effective immediately|0|0 to 1|(((
2386 0: No operation
2387
2388 1: Clear rotation number of multi-turn absolute encoder, multi-turn absolute encoder current position and encoder fault alarms.
2389
2390 **✎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.
2391 )))|-
2392
2393 (% style="background-color:#ffffff" %)
2394 |**Function code**|**Name**|(((
2395 **Setting**
2396
2397 **method**
2398 )))|(((
2399 **Effective**
2400
2401 **time**
2402 )))|**Default**|**Range**|**Definition**|**Unit**
2403 |P10-08|Multi-turn absolute encoder origin offset compensation|(((
2404 Operation
2405
2406 setting
2407 )))|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.|-
2408 )))
2409
2410 == Related functions and parameters ==
2411
2412 **Encoder feedback data**
2413
2414 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.
2415
2416 |=(% scope="row" %)**Monitoring number**|=**Category**|=**Name**|=**Unit**|=**Data type**
2417 |=U0-54|Universal|Absolute encoder position within 1 turn|Encoder unit|32-bit
2418 |=U0-55|Universal|Rotations number of absolute encoder|circle|16-bit
2419 |=U0-56|Universal|Multi-turn absolute value encoder current position|Instruction unit|32-bit
2420
2421 Table 6-55 Encoder feedback data
2422
2423 **Shield multi-turn absolute encoder battery fault**
2424
2425 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.
2426
2427 |=(% scope="row" %)**Function code**|=**Name**|=(((
2428 **Setting**
2429
2430 **method**
2431 )))|=(((
2432 **Effective**
2433
2434 **time**
2435 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2436 |=P00-30|Shield multi-turn absolute encoder battery fault|Operation setting|Power on again|0|0 to 1|(((
2437 * 0：Detect multi-turn absolute encoder battery under voltage, and battery low voltage fault
2438 * 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
2439 )))|-
2440
2441 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.
2442
2443 **A93 warning solution**
2444
2445 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.
2446 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.
2447
2448 |**Function code**|**Name**|(((
2449 **Setting**
2450
2451 **method**
2452 )))|(((
2453 **Effective**
2454
2455 **time**
2456 )))|**Default**|**Range**|**Definition**|**Unit**
2457 |P00-31|Encoder read-write check abnormal frequency|(((
2458 Operation
2459
2460 setting
2461 )))|(((
2462 immediately
2463
2464 Effective
2465 )))|20|0 to100|(((
2466 The setting of the alarm threshold for the abnormal frequency of the encoder read-write
2467
2468 0: no alarm
2469
2470 Others: When this setting value is exceeded, report A93.
2471 )))|-
2472
2473 (% class="box infomessage" %)
2474 (((
2475 **✎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.
2476 )))
2477
2478 == Absolute value system encoder battery box use precautions. ==
2479
2480 **Cautions**
2481
2482 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.
2483
2484 (% style="text-align:center" %)
2485 (((
2486 (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:975px;" %)
2487 [[**Figure 6-50 the encoder battery box**>>image:image-20220707111333-28.png||height="390" id="Iimage-20220707111333-28.png" width="975"]]
2488 )))
2489
2490 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.
2491
2492 **Replace the battery**
2493
2494 Please replace the battery while keeping the servo drive and motor well connected and the power on.
2495
2496 The specific replacement method is as follows:
2497
2498 * Step1 Push open the buckles on both ends of the outer cover of the battery compartment and open the outer cover.
2499 * Step2 Remove the old battery.
2500 * Step3 Embed the new battery, and the battery plug wire according to the anti-dull port on the battery box for placement.
2501 * Step4 Close the outer cover of the battery box, please be careful not to pinch the connector wiring when closing.
2502
2503 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.
2504
2505 |=(% scope="row" %)**Function code**|=**Name**|=(((
2506 **Setting method**
2507 )))|=(((
2508 **Effective time**
2509 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2510 |=P10-06|Multi-turn absolute encoder reset|(((
2511 Shutdown setting
2512 )))|(((
2513 Effective immediately
2514 )))|0|0 to 1|(((
2515 * 0: No operation
2516 * 1: Clear rotation number of multi-turn absolute encoder, multi-turn absolute encoder current position and encoder fault alarms.
2517
2518 (% class="box infomessage" %)
2519 (((
2520 ✎**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.
2521 )))
2522 )))|-
2523
2524 Table 6-56 Absolute encoder reset enable parameter
2525
2526 **Battery selection**
2527
2528 |=(% scope="row" style="width: 361px;" %)**Battery selection specification**|=(% style="width: 496px;" %)**Item**|=(% style="width: 219px;" %)**Value**
2529 |(% rowspan="4" style="width:361px" %)(((
2530 Nominal Voltage: 3.6V
2531
2532 Nominal capacity: 2700mAh
2533 )))|(% style="width:496px" %)Standard battery voltage (V)|(% style="width:219px" %)3.6
2534 |(% style="width:496px" %)Standard cell voltage (V)|(% style="width:219px" %)3.1
2535 |(% style="width:496px" %)Battery ambient temperature range|(% style="width:219px" %)0 to 40
2536 |(% style="width:496px" %)Battery storage ambient temperature range|(% style="width:219px" %)-20 to 60
2537
2538 Table 6-57 Absolute value encoder battery information
2539
2540 **✎Note: **
2541
2542 If the battery is replaced when the servo drive is powered off, the encoder data will be lost.
2543
2544 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.
2545
2546 Correct placement of batteries +, - direction
2547
2548 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!
2549 1. This battery cannot be charged.
2550 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)
2551 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.
2552 1. After the replacement of the battery, please dispose of it according to local laws and regulations.
2553
2554 = **Other functions** =
2555
2556 == VDI ==
2557
2558 VDI (Virtual Digital Signal Input Port) is similar to hardware DI terminal. The DI function could also be assigned for use.
2559
2560 (% class="box infomessage" %)
2561 (((
2562 ✎**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).
2563 )))
2564
2565 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.
2566
2567 (% style="text-align:center" %)
2568 (((
2569 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2570 [[**Figure 6-51 VDI_1 setting steps**>>image:image-20220608173804-46.png||id="Iimage-20220608173804-46.png"]]
2571 )))
2572
2573 |=(% scope="row" %)**Function code**|=**Name**|=(((
2574 **Setting method**
2575 )))|=(((
2576 **Effective time**
2577 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2578 |=P13-1|Virtual VDI_1 input value|Operation setting|Effective immediately|0|0 to 1|(((
2579 When P06-04 is set to 1, DI_1 channel logic is control by this function code.
2580
2581 VDI_1 input level:
2582
2583 * 0: low level
2584 * 1: high level
2585 )))|-
2586 |=P13-2|Virtual VDI_2 input value|Operation setting|Effective immediately|0|0 to 1|(((
2587 When P06-07 is set to 1, DI_2 channel logic is control by this function code.
2588
2589 VDI_2 input level:
2590
2591 * 0: low level
2592 * 1: high level
2593 )))|-
2594 |=P13-3|Virtual VDI_3 input value|Operation setting|Effective immediately|0|0 to 1|(((
2595 When P06-10 is set to 1, DI_3 channel logic is control by this function code.
2596
2597 VDI_3 input level:
2598
2599 * 0: low level
2600 * 1: high level
2601 )))|-
2602 |=P13-4|Virtual VDI_4 input value|Operation setting|Effective immediately|0|0 to 1|(((
2603 When P06-13 is set to 1, DI_4 channel logic is control by this function code.
2604
2605 VDI_4 input level:
2606
2607 * 0: low level
2608 * 1: high level
2609 )))|-
2610 |=P13-05☆|Virtual VDI_5 input value|Operation setting|Effective immediately|0|0 to 1|(((
2611 When P06-16 is set to 1, DI_5 channel logic is control by this function code.
2612
2613 VDI_5 input level:
2614
2615 * 0: low level
2616 * 1: high level
2617 )))|-
2618 |=P13-06☆|Virtual VDI_6 input value|Operation setting|Effective immediately|0|0 to 1|(((
2619 When P06-19 is set to 1, DI_6 channel logic is control by this function code.
2620
2621 VDI_6 input level:
2622
2623 * 0: low level
2624 * 1: high level
2625 )))|-
2626 |=P13-07☆|Virtual VDI_7 input value|Operation setting|Effective immediately|0|0 to 1|(((
2627 When P06-22 is set to 1, DI_7 channel logic is control by this function code.
2628
2629 VDI_7 input level:
2630
2631 * 0: low level
2632 * 1: high level
2633 )))|-
2634 |=P13-08☆|Virtual VDI_8 input value|Operation setting|Effective immediately|0|0 to 1|(((
2635 When P06-25 is set to 1, DI_8 channel logic is control by this function code.
2636
2637 VDI_8 input level:
2638
2639 * 0: low level
2640 * 1: high level
2641 )))|-
2642
2643 Table 6-57 Virtual VDI parameters
2644
2645 (% class="box infomessage" %)
2646 (((
2647 ✎**Note: **“☆” means VD2F servo drive does not support the function code .
2648 )))
2649
2650 == Port filtering time ==
2651
2652 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.
2653
2654 |=(% scope="row" style="width: 204px;" %)**Setting value**|=(% style="width: 235px;" %)**DI channel logic selection**|=(% style="width: 637px;" %)**Illustration**
2655 |=(% style="width: 204px;" %)0|(% style="width:235px" %)Active high level|(% style="width:637px" %)[[image:image-20220707113050-31.jpeg]]
2656 |=(% style="width: 204px;" %)1|(% style="width:235px" %)Active low level|(% style="width:637px" %)[[image:image-20220707113205-33.jpeg||height="166" width="526"]]
2657
2658 Table 6-58 DI terminal channel logic selection
2659
2660 == **VDO** ==
2661
2662 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.
2663
2664 Take the DO_2 terminal as communication VDO, and the use steps of VDI are as the figure below.
2665
2666 (% style="text-align:center" %)
2667 (((
2668 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2669 [[**Figure 6-52 VDO_2 setting steps**>>image:image-20220608173957-48.png||id="Iimage-20220608173957-48.png"]]
2670 )))
2671
2672
2673 |=(% scope="row" %)**Function code**|=**Name**|=(((
2674 **Setting method**
2675 )))|=(((
2676 **Effective time**
2677 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2678 |=P13-11|Communication VDO_1 output value|Operation setting|Effective immediately|0|0 to 1|(((
2679 VDO_1 output level：
2680
2681 * 0: low level
2682 * 1: high level
2683 )))|-
2684 |=P13-12|Communication VDO_2 output value|Operation setting|Effective immediately|0|0 to 1|(((
2685 VDO_2 output level：
2686
2687 * 0: low level
2688 * 1: high level
2689 )))|-
2690 |=P13-13|Communication VDO_3 output value|Operation setting|Effective immediately|0|0 to 1|(((
2691 VDO_3 output level：
2692
2693 * 0: low level
2694 * 1: high level
2695 )))|-
2696 |=P13-14|Communication VDO_4 output value|Operation setting|Effective immediately|0|0 to 1|(((
2697 VDO_4 output level：
2698
2699 * 0: low level
2700 * 1: high level
2701 )))|-
2702
2703 Table 6-59 Communication control DO function parameters
2704
2705 |=(% scope="row" %)**DO function number**|=**Function name**|=**Function**
2706 |=145|COM_VDO1 communication VDO1 output|Use communication VDO
2707 |=146|COM_VDO1 communication VDO2 output|Use communication VDO
2708 |=147|COM_VDO1 communication VDO3 output|Use communication VDO
2709 |=148|COM_VDO1 communication VDO4output|Use communication VDO
2710
2711 Table 6-60 VDO function number
2712
2713 ✎**Note:** You are advised to configure function codes for DO terminals in sequence to avoid errors during DO signal observation
2714
2715 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).
2716
2717 == Motor overload protection ==
2718
2719 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%.
2720
2721 |=(% scope="row" %)**Function code**|=**Name**|=(((
2722 **Setting method**
2723 )))|=(((
2724 **Effective time**
2725 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2726 |=P10-04|motor overload protection time coefficient|Operation setting|Effective immediately|100|0 to 800|(((
2727 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.
2728
2729 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
2730 )))|%
2731
2732 In the following cases, it could be modified according to the actual heat generation of the motor
2733
2734 1. The motor works in a place with high ambient temperature
2735 1. The motor runs in cycle circulates, and the single running cycle is short and the acceleration and deceleration is frequent.
2736
2737 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).
2738
2739 (% class="box infomessage" %)
2740 (((
2741 ✎**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.
2742 )))