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Wiki source code of 06 Operation

Last modified by Iris on 2026/04/17 16:03
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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 powering 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 (% class="table-bordered" style="margin-left:auto; margin-right:auto" %)
74 |=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=Effective time|=**Default value**|=**Range**|=**Definition**|=**Unit**
75 |=(((
76 P00-04
77 )))|(((
78 Rotation direction
79 )))|(((
80 Shutdown setting
81 )))|(((
82 Effective immediately
83 )))|(((
84 0
85 )))|(((
86 0 to 2
87 )))|(((
88 Forward rotation: Face the motor shaft to watch
89
90 0: standard setting (CW is forward rotation)
91
92 1: reverse mode (CCW is forward rotation)
93
94 2:reverse mode (CCW is forward rotation),set P1-12,P1-17 to limit the speed in CCW direction; set P1-13,P1-18 to limit the speed in CCW direction.
95
96 **✎Note: VD2L driver P0-04 setting range: 0~~1, P00-4=2 is not supported!**
97 )))|-
98
99 Table 6-3 Rotation direction parameters** **
100
101 == **Braking resistor** ==
102
103 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.
104
105 The basis for judging whether the braking resistor is built-in or external.
106
107 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.
108 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.
109
110 |=(% scope="row" %)**Function code**|=**Name**|=(% style="width: 118px;" %)(((
111 **Setting method**
112 )))|=(% style="width: 126px;" %)(((
113 **Effective time**
114 )))|=**Default**|=**Range**|=**Definition**|=**Unit**
115 |=P00-09|Braking resistor setting|(% style="width:118px" %)(((
116 Operation setting
117 )))|(% style="width:126px" %)(((
118 Effective immediately
119 )))|0|0 to 3|(((
120 0: use built-in braking resistor
121
122 1: use external braking resistor and natural cooling
123
124 2: use external braking resistor and forced air cooling; (cannot be set)
125
126 3: No braking resistor is used, it is all absorbed by capacitor.
127 )))|-
128 (% class="info" %)|(% colspan="8" scope="row" %)✎**Note: **VD2-010SA1G、VD2F-003SA1P、VD2F-010SA1P、VD2L-003SA1P、VD2L-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).
129 |=P00-10|External braking resistor value|(% style="width:118px" %)(((
130 Operation setting
131 )))|(% style="width:126px" %)(((
132 Effective immediately
133 )))|50|0 to 65535|It is used to set the external braking resistor value of a certain type of drive.|Ω
134 |=P00-11|External braking resistor power|(% style="width:118px" %)(((
135 Operation setting
136 )))|(% style="width:126px" %)(((
137 Effective immediately
138 )))|100|0 to 65535|It is used to set the external braking resistor power of a certain type of drive.|W
139
140 Table 6-4 Braking resistor parameters
141
142 == **Servo operation** ==
143
144 **Set the servo enable (S-ON) to valid (ON)**
145
146 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.
147
148 S-ON can be configured and selected by the DI terminal function selection of the function code "DIDO configuration".
149
150 **Input the instruction and the motor rotates**
151
152 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.
153
154 **Timing diagram of power on**
155
156 (% style="text-align:center" %)
157 (((
158 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
159 [[**Figure 6-1 Timing diagram of power on**>>image:image-20220608163014-1.png||id="Iimage-20220608163014-1.png"]]
160 )))
161
162 == Servo shutdown ==
163
164 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__.
165
166 |=(% scope="row" style="width: 150px;" %)Shutdown mode|=(% style="width: 532px;" %)Shutdown description|=(% style="width: 393px;" %)Shutdown characteristics
167 |=(% style="width: 150px;" %)Free stop|(% 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.
168 |=(% 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.
169
170 Table 6-5 Comparison of two shutdown modes
171
172 |=(% scope="row" style="width: 151px;" %)**Shutdown status**|=(% style="width: 532px;" %)**Free operation status**|=(% style="width: 392px;" %)**Position locked**
173 |=(% 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.
174
175 Table 6-6 Comparison of two shutdown status
176
177 **Servo enable (S-ON) OFF shutdown**
178
179 The related parameters of the servo OFF shutdown mode are shown in the table below.
180
181 |=(% scope="row" style="width: 94px;" %)**Function code**|=(% style="width: 180px;" %)**Name**|=(% style="width: 119px;" %)(((
182 **Setting method**
183 )))|=(% style="width: 134px;" %)(((
184 **Effective time**
185 )))|=(% style="width: 86px;" %)(((
186 **Default value**
187 )))|=(% style="width: 70px;" %)**Range**|=(% style="width: 347px;" %)**Definition**|=**Unit**
188 |=(% style="width: 94px;" %)P00-05|(% style="width:180px" %)Servo OFF shutdown|(% style="width:119px" %)(((
189 Shutdown
190
191 setting
192 )))|(% style="width:134px" %)(((
193 Effective
194
195 immediately
196 )))|(% style="width:86px" %)0|(% style="width:70px" %)0 to 1|(% style="width:347px" %)(((
197 0: Free stop, and the motor shaft remains free status.
198
199 1: Zero-speed stop, and the motor axis remains free status.
200 )))|-
201
202 Table 6-7 Servo OFF shutdown mode parameters details
203
204 **Emergency shutdown**
205
206 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.
207
208 Estop mode 1 (deceleration stop):
209
210 ~1. Configurate DI function code: 8 [ESTOP]
211
212 2. Set P1-5 shutdown deceleration time.
213
214 3. Trigger DI emergency shutdown.
215
216 4. Servo emergency shutdown and deceleration to zero speed.
217
218 Estop mode 2:
219
220 ~1. Configurate DI function code: 1 [Servo enable SON]
221
222 2. Set P1-05 shutdown deceleration time.
223
224 3. Set P0-05 Servo OFF shutdown mode: zero speed stop.
225
226 4. Trigger DI to turn off servo enable SON.
227
228 5.Servo enable turns off and stops and decelerates to zero speed.
229
230 |Function code|Name|(((
231 Setting
232
233 method
234 )))|(((
235 Effective
236
237 time
238 )))|Default|Range|Definition|Unit
239 |P01-05|Shutdown deceleration time|(((
240 Shutdown
241
242 setting
243 )))|(((
244 immediately
245
246 Effective
247 )))|50|0 to 65535|The time for the speed command to decelerate from 1000rpm to 0|ms
248
249 Table 6-8 Downtime deceleration time parameter details
250
251 **Overtravel shutdown**
252
253 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.
254
255 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.
256
257 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.
258
259 |=(% scope="row" style="width: 89px;" %)**Function code**|=(% style="width: 135px;" %)**Name**|=(% style="width: 122px;" %)(((
260 **Setting method**
261 )))|=(% style="width: 114px;" %)(((
262 **Effective time**
263 )))|=(% style="width: 106px;" %)**Default value**|=(% style="width: 84px;" %)**Range**|=(% style="width: 380px;" %)**Definition**|=**Unit**
264 |=(% 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" %)(((
265 0: OFF (not used)
266
267 01: S-ON servo enable
268
269 02: A-CLR fault and Warning Clear
270
271 03: POT forward drive prohibition
272
273 04: NOT Reverse drive prohibition
274
275 05: ZCLAMP Zero speed
276
277 06: CL Clear deviation counter
278
279 07: C-SIGN Inverted instruction
280
281 08: E-STOP Emergency stop
282
283 09: GEAR-SEL Electronic Gear Switch 1
284
285 10: GAIN-SEL gain switch
286
287 11: INH Instruction pulse prohibited input
288
289 12: VSSEL Vibration control switch input
290
291 13: INSPD1 Internal speed instruction selection 1
292
293 14: INSPD2 Internal speed instruction selection 2
294
295 15: INSPD3 Internal speedinstruction selection 3
296
297 16: J-SEL inertia ratio switch (not implemented yet)
298
299 17: MixModesel mixed mode selection
300
301 20: Internal multi-segment position enable signal
302
303 21: Internal multi-segment position selection 1
304
305 22: Internal multi-segment position selection 2
306
307 23: Internal multi-segment position selection 3
308
309 24: Internal multi-segment position selection 4
310
311 Others: reserved
312 )))|-
313 |=(% style="width: 89px;" %)P06-09|(% style="width:135px" %)DI_3 channel logic selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
314 Effective immediately
315 )))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
316 DI port input logic validity function selection.
317
318 0: Normally open input. Low level valid (switch on);
319
320 1: Normally closed input. High level valid (switch off);
321 )))|-
322 |=(% style="width: 89px;" %)P06-10|(% style="width:135px" %)DI_3 input source selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
323 Effective immediately
324 )))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
325 Select the DI_3 port type to enable
326
327 0: Hardware DI_3 input terminal
328
329 1: Virtual VDI_3 input terminal
330 )))|-
331 |=(% style="width: 89px;" %)P06-11|(% style="width:135px" %)DI_4 channel function selection|(% style="width:122px" %)(((
332 Operation setting
333 )))|(% style="width:114px" %)(((
334 Power-on again
335 )))|(% style="width:106px" %)4|(% style="width:84px" %)0 to 32|(% style="width:380px" %)(((
336 0: OFF (not used)
337
338 01: SON Servo enable
339
340 02: A-CLR Fault and Warning Clear
341
342 03: POT Forward drive prohibition
343
344 04: NOT Reverse drive prohibition
345
346 05: ZCLAMP Zero speed
347
348 06: CL Clear deviation counter
349
350 07: C-SIGN Inverted instruction
351
352 08: E-STOP Emergency shutdown
353
354 09: GEAR-SEL Electronic Gear Switch 1
355
356 10: GAIN-SEL gain switch
357
358 11: INH Instruction pulse prohibited input
359
360 12: VSSEL Vibration control switch input
361
362 13: INSPD1 Internal speed instruction selection 1
363
364 14: INSPD2 Internal speed instruction selection 2
365
366 15: INSPD3 Internal speed instruction selection 3
367
368 16: J-SEL inertia ratio switch (not implemented yet)
369
370 17: MixModesel mixed mode selection
371
372 20: Internal multi-segment position enable signal
373
374 21: Internal multi-segment position selection 1
375
376 22: Internal multi-segment position selection 2
377
378 23: Internal multi-segment position selection 3
379
380 24: Internal multi-segment position selection 4
381
382 Others: reserved
383 )))|-
384 |=(% style="width: 89px;" %)P06-12|(% style="width:135px" %)DI_4 channel logic selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
385 Effective immediately
386 )))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
387 DI port input logic validity function selection.
388
389 0: Normally open input. Low level valid (switch on);
390
391 1: Normally closed input. High level valid (switch off);
392 )))|-
393 |=(% style="width: 89px;" %)P06-13|(% style="width:135px" %)DI_4 input source selection|(% style="width:122px" %)Operation setting|(% style="width:114px" %)(((
394 Effective immediately
395 )))|(% style="width:106px" %)0|(% style="width:84px" %)0 to 1|(% style="width:380px" %)(((
396 Select the DI_4 port type to enable
397
398 0: Hardware DI_4 input terminal
399
400 1: Virtual VDI_4 input terminal
401 )))|-
402
403 Table 6-9 DI3 and DI4 channel parameters
404
405 **(4) Malfunction shutdown**
406
407 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.
408
409 == Brake device ==
410
411 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.
412
413 (% class="warning" %)|(((
414 (% style="text-align:center" %)
415 [[image:image-20220611151617-1.png]]
416 )))
417 |(((
418 ✎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;
419
420 ✎ After the servo motor stops, turn off the servo enable (S-ON) in time;
421
422 ✎The brake coil has no polarity;
423
424 ✎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!
425
426 ✎When the motor with built-in brake is in operation, the brake device may make a clicking sound, which does not affect the function.
427 )))
428
429 **Wiring of brake device**
430
431 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)
432
433
434 (% style="text-align:center" %)
435 (((
436 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
437 [[**Figure 6-2 VD2B servo drive brake wiring**>>image:image-20220608163136-2.png||id="Iimage-20220608163136-2.png"]]
438 )))
439
440 (% class="warning" %)|(((
441 (% style="text-align:center" %)
442 [[image:image-20220611151642-2.png]]
443 )))
444 |(((
445 ✎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.
446
447 ✎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.
448
449 ✎It is recommended to use cables above 0.5 mm².
450 )))
451
452 **Brake software setting**
453
454 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.
455
456 Related function code is as below.
457
458 |=(% scope="row" %)**DO function code**|=(% style="width: 241px;" %)**Function name**|=(% style="width: 458px;" %)**Function**|=(% style="width: 191px;" %)(((
459 **Effective time**
460 )))
461 |=141|(% style="width:241px" %)(((
462 BRK-OFF Brake output
463 )))|(% style="width:458px" %)Output the signal indicates the servo motor brake release|(% style="width:191px" %)Power-on again
464
465 |=(% scope="row" %)**Function code**|=**Name**|=(((
466 **Setting method**
467 )))|=(((
468 **Effective time**
469 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
470 |=P1-30|Delay from brake output to instruction reception|(((
471 Operation setting
472 )))|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
473 |=P1-31|In static state, delay from brake output OFF to the motor is power off|(((
474 Operation setting
475 )))|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
476 |=P1-32|Rotation status, when the brake output OFF, the speed threshold|(((
477 Operation setting
478 )))|Effective immediately|30|0 to 3000|(((
479 When the motor rotates, the motor speed threshold when the brake (BRK-OFF) is allowed to output OFF.
480
481 When the brake output (BRK-OFF) is not allocated, this function code has no effect.
482 )))|rpm
483 |=P1-33|Rotation status, Delay from servo enable OFF to brake output OFF|(((
484 Operation setting
485 )))|Effective immediately|500|1 to 1000|(((
486 When the motor rotates, the delay time from the servo enable (S-ON) OFF to the brake (BRK-OFF) output OFF is allowed.
487
488 When brake output (BRK-OFF) is not allocated, this function code has no effect.
489 )))|ms
490
491 Table 6-10 Relevant function codes for brake setting
492
493 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.
494
495 **Servo drive brake timing in normal state**
496
497 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).
498
499 * Brake timing when servo motor is stationary
500
501 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__
502
503 (% class="warning" %)|(((
504 (% style="text-align:center" %)
505 [[image:image-20220611151705-3.png]]
506 )))
507 |(((
508 ✎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.
509
510 ✎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.
511 )))
512
513 (% style="text-align:center" %)
514 (((
515 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
516 [[**Figure 6-3 Brake Timing of when the motor is stationary**>>image:image-20220608163304-3.png||id="Iimage-20220608163304-3.png"]]
517 )))
518
519 (% class="box infomessage" %)
520 (((
521 ✎**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.
522 )))
523
524 * The brake timing when servo motor rotates
525
526 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__.
527
528 (% class="warning" %)|(((
529 (% style="text-align:center" %)
530 [[image:image-20220611151719-4.png]]
531 )))
532 |(((
533 ✎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.
534
535 ✎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:
536
537 P01-33 time has not arrived, but the motor has decelerated to the speed set by P01-32;
538
539 P01-33 time is up, but the motor speed is still higher than the set value of P01-32.
540
541 ✎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.
542 )))
543
544 (% style="text-align:center" %)
545 (((
546 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
547 [[**Figure 6-4 Brake timing when the motor rotates**>>image:image-20220608163425-4.png||id="Iimage-20220608163425-4.png"]]
548 )))
549
550 **Brake timing when the servo drive fails**
551
552 The brake timing (free shutdown) in the fault status is as follows.
553
554 (% style="text-align:center" %)
555 (((
556 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
557 [[**~~ Figure 6-5 The brake timing (free shutdown) in the fault state**>>image:image-20220608163541-5.png||id="Iimage-20220608163541-5.png"]]
558 )))
559
560 **✎Note**: The "delay arrival" of the brake signal is about 20ms, and the actual parameter is subject to the motor manufacturer
561
562 = **Position control mode** =
563
564 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.
565
566 (% style="text-align:center" %)
567 (((
568 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
569 [[**Figure 6-6 Position control diagram**>>image:image-20220608163643-6.png||id="Iimage-20220608163643-6.png"]]
570 )))
571
572 Set “P00-01” to 1 by the software “Wecon SCTool”, and the servo drive is in position control mode.
573
574 |=(% scope="row" style="width: 123px;" %)**Function code**|=(% style="width: 134px;" %)**Name**|=(((
575 **Setting method**
576 )))|=(((
577 **Effective time**
578 )))|=(% style="width: 116px;" %)**Default value**|=(% style="width: 118px;" %)**Range**|=(% style="width: 389px;" %)**Definition**|=(% style="width: 151px;" %)**Unit**
579 |=(% style="width: 123px;" %)P00-01|(% style="width:134px" %)Control mode|(((
580 Operation setting
581 )))|(((
582 immediately Effective
583 )))|(% style="width:116px" %)1|(% style="width:118px" %)1 to 6|(% style="width:389px" %)(((
584 1: position control
585
586 2: speed control
587
588 3: torque control
589
590 4: position/speed mix control
591
592 5: position/torque mix control
593
594 6: speed /torque mix control
595
596 VD2L drive P00-01 setting range: 1-3, not supprt mix mode
597 )))|(% style="width:151px" %)-
598
599 Table 6-11 Control mode parameters
600
601 == Position instruction input setting ==
602
603 When the VD2 series servo drive is in position control mode, firstly set the position instruction source through the function code “P01-06”.
604
605 |=(% scope="row" %)**Function code**|=**Name**|=(((
606 **Setting method**
607 )))|=(((
608 **Effective time**
609 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
610 |=P01-06|Position instruction source|(((
611 Operation setting
612 )))|(((
613 immediately Effective
614 )))|0|0 to 1|(((
615 0: pulse instruction
616
617 1: internal position instruction
618 )))|-
619
620 Table 6-12 Position instruction source parameter
621
622 **The source of position instruction is pulse instruction (P01-06=0)**
623
624 Low-speed pulse instruction input
625
626 |(% style="text-align:center" %)(((
627 (% class="wikigeneratedid" %)
628 [[VD2A, VD2B and VD2C servo drives>>image:image-20220804160519-1.jpeg||id="Iimage-20220804160519-1.jpeg"]]
629 )))|(% style="text-align:center" %)(((
630 (% class="wikigeneratedid" %)
631 [[VD2F and VD2L servo drive>>image:image-20220804160624-2.jpeg||id="Iimage-20220804160624-2.jpeg"]]
632 )))
633 |(% colspan="2" %)Figure 6-7 Position instruction input setting
634
635 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__.
636
637 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.
638
639 |=(% scope="row" %)**Pulse method**|=(% style="width: 372px;" %)**Maximum frequency**|=(% style="width: 260px;" %)**Voltage**
640 |=Open collector input|(% style="width:372px" %)200K|(% style="width:260px" %)24V
641 |=Differential input|(% style="width:372px" %)500K|(% style="width:260px" %)5V
642
643 Table 6-13 Pulse input specifications
644
645 * Differential input
646
647 Take VD2A , VD2B and VD2C  drive as examples, the connection of differential input is shown as below.
648
649 (% style="text-align:center" %)
650 (((
651 (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:583px;" %)
652 [[**Figure 6-8 Differential input connection**>>image:image-20220707092615-5.jpeg||height="306" id="Iimage-20220707092615-5.jpeg" width="583"]]
653 )))
654
655 (% class="box infomessage" %)
656 (((
657 ✎**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]]__”
658 )))
659
660 * Open collector input
661
662 Take VD2A, VD2B and VD2C drive as examples, the connection of differential input is shown as below.
663
664 (% style="text-align:center" %)
665 (((
666 (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:679px;" %)
667 [[**Figure 6-9 Open collector input connection**>>image:image-20220707092401-3.jpeg||height="432" id="Iimage-20220707092401-3.jpeg" width="679"]]
668 )))
669
670
671 (% class="box infomessage" %)
672 (((
673 ✎**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]]__”
674 )))
675
676 * Position pulse frequency and anti-interference level
677
678 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.
679
680 (% style="text-align:center" %)
681 (((
682 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
683 [[**Figure 6-10 Example of filtered signal waveform**>>image:image-20220608163952-8.png||id="Iimage-20220608163952-8.png"]]
684 )))
685
686 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 in Table 6-14.
687
688 **✎Note:**The parameter of VD2L P00-14 is different from other models in the VD2 series.
689
690 |=**Function code**|=(% style="width: 169px;" %)**Name**|=(% style="width: 146px;" %)(((
691 **Setting method**
692 )))|=(((
693 **Effective time**
694 )))|=**Default value**|=(% style="width: 87px;" %)**Range**|=(% colspan="2" style="width: 296px;" %)**Definition**|=**Unit**
695 |(% rowspan="3" %)P00-14|(% rowspan="3" style="width:169px" %)Position pulse anti-interference level|(% rowspan="3" style="width:146px" %)(((
696 Operation setting
697 )))|(% rowspan="3" %)(((
698 Power-on again
699 )))|(% rowspan="3" %)2|(% rowspan="3" style="width:87px" %)0 to 9|(% colspan="2" style="width:296px" %)(((
700 Set the anti-interference level of external pulse instruction.
701
702 0: no filtering;
703
704 1: Filtering time 128ns
705
706 2: Filtering time 256ns
707
708 3: Filtering time 512ns
709
710 4: Filtering time 1.024us
711
712 5: Filtering time 2.048us
713
714 6: Filtering time 4.096us
715
716 7: Filtering time 8.192us
717
718 8: Filtering time 16.384us
719
720 9:
721
722 VD2: Filtering time 32.768us
723
724 VD2F: Filtering time 25.5us
725 )))|(% rowspan="3" %)-
726
727 Table 6-14 Position pulse frequency and anti-interference level parameters
728
729 |**Function code**|**Name**|(((
730 **Setting**
731
732 **method**
733 )))|(((
734 **Effective**
735
736 **time**
737 )))|**Default value**|**Range**|**Definition**|**Unit**
738 |P00-14|Position pulse anti-interference level|(((
739 Operation
740
741 setting
742 )))|(((
743 Power-on
744
745 again
746 )))|3|0 to 8|(((
747 VD2L drive set the anti-interference level of external pulse instruction.
748
749 0: no filtering;
750
751 1: Filtering time 111.1ns
752
753 2: Filtering time 222.2ns
754
755 3: Filtering time 444.4ns
756
757 4: Filtering time 888.8ns
758
759 5: Filtering time 1777.7ns
760
761 6: Filtering time 3555.5ns
762
763 7: Filtering time 7111.7ns
764
765 8: Filtering time 14222.2ns
766
767
768 )))|-
769
770 Table 6-15 VD2L Position pulse frequency and anti-interference level parameters
771
772
773 * Position pulse type selection
774
775 In VD2 series servo drives, there are three types of input pulse instructions, and the related function codes are shown in the table below.
776
777 |=(% scope="row" %)**Function code**|=(% style="width: 144px;" %)**Name**|=(% style="width: 110px;" %)(((
778 **Setting method**
779 )))|=(% style="width: 109px;" %)(((
780 **Effective time**
781 )))|=(% style="width: 77px;" %)**Default value**|=(% style="width: 74px;" %)**Range**|=(% style="width: 412px;" %)**Definition**|=**Unit**
782 |=P00-12|(% style="width:144px" %)Position pulse type selection|(% style="width:110px" %)(((
783 Operation setting
784 )))|(% style="width:109px" %)(((
785 Power-on again
786 )))|(% style="width:77px" %)0|(% style="width:74px" %)0 to 5|(% style="width:412px" %)(((
787 0: direction + pulse (positive logic)
788
789 1: CW/CCW
790
791 2: A, B phase quadrature pulse (4 times frequency)
792
793 3: Direction + pulse (negative logic)
794
795 4: CW/CCW (negative logic)
796
797 5: A, B phase quadrature pulse (4 times frequency negative logic)
798
799 **✎Note: **VD2L series drivers do not support the pulse form of CW/CCW! P0-12 parameter setting range of VD2L: 0, 2, 3, 5
800 )))|-
801
802 Table 6-16 Position pulse type selection parameter
803
804 |=(% scope="row" %)**Pulse type selection**|=(% style="width: 200px;" %)**Pulse type**|=(% style="width: 161px;" %)**Signal**|=**Schematic diagram of forward pulse**|=**Schematic diagram of negative pulse**
805 |=0|(% style="width:200px" %)(((
806 Direction + pulse
807
808 (Positive logic)
809 )))|(% style="width:161px" %)(((
810 PULSE
811
812 SIGN
813 )))|[[image:image-20220707094340-6.jpeg]]|[[image:image-20220707094345-7.jpeg]]
814 |=1|(% style="width:200px" %)CW/CCW|(% style="width:161px" %)(((
815 PULSE (CW)
816
817 SIGN (CCW)
818 )))|(% colspan="2" %)[[image:image-20220707094351-8.jpeg]]
819 |=2|(% style="width:200px" %)(((
820 AB phase orthogonal
821
822 pulse (4 times frequency)
823 )))|(% style="width:161px" %)(((
824 PULSE (Phase A)
825
826 SIGN (Phase B)
827 )))|(((
828
829
830 [[image:image-20220707094358-9.jpeg]]
831
832 Phase A is 90° ahead of Phase B
833 )))|(((
834
835
836 [[image:image-20220707094407-10.jpeg]]
837
838 Phase B is 90° ahead of Phase A
839 )))
840 |=3|(% style="width:200px" %)(((
841 Direction + pulse
842
843 (Negative logic)
844 )))|(% style="width:161px" %)(((
845 PULSE
846
847 SIGN
848 )))|[[image:image-20220707094414-11.jpeg]]|[[image:image-20220707094418-12.jpeg]]
849 |=4|(% style="width:200px" %)(((
850 CW/CCW
851
852 (Negative logic)
853 )))|(% style="width:161px" %)(((
854 PULSE (CW)
855
856 SIGN (CCW)
857 )))|(% colspan="2" %)[[image:image-20220707094423-13.jpeg]]
858 |=5|(% style="width:200px" %)(((
859 AB phase orthogonal
860
861 pulse (4 times frequency negative logic)
862 )))|(% style="width:161px" %)(((
863 PULSE (Phase A)
864
865 SIGN (Phase B)
866 )))|(((
867
868
869 [[image:image-20220707094429-14.jpeg]]
870
871 Phase B is ahead of A phase by 90°
872 )))|(((
873
874
875 [[image:image-20220707094437-15.jpeg]]
876
877 Phase A is ahead of B phase by 90°
878 )))
879
880 Table 6-17 Pulse description
881
882 **The source of position instruction is internal position instruction (P01-06=1)**
883
884 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__.
885
886 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.
887
888 (% style="text-align:center" %)
889 (((
890 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
891 [[**Figure 6-11 The setting process of multi-segment position**>>image:image-20220608164116-9.png||id="Iimage-20220608164116-9.png"]]
892 )))
893
894
895 * Set multi-segment position running mode
896
897 |**Function code**|**Name**|(((
898 **Setting**
899
900 **method**
901 )))|(((
902 **Effective**
903
904 **time**
905 )))|**Default value**|**Range**|**Definition**
906 |P07-01|Multi-segment position running mode|(((
907 Shutdown
908
909 setting
910 )))|(((
911 Effective
912
913 immediately
914 )))|0|0 to 3|(((
915 0: Single running
916
917 1: Cycle running
918
919 2: DI switching running
920
921 3: Run continuously
922 )))
923 |P07-02|Start segment number|(((
924 Shutdown
925
926 setting
927 )))|(((
928 Effective
929
930 immediately
931 )))|1|1 to 16|1st segment NO. in non-DI switching mode
932 |P07-03|End segment number|(((
933 Shutdown
934
935 setting
936 )))|(((
937 Effective
938
939 immediately
940 )))|1|1 to 16|last segment NO. in non-DI switching mode
941 |P07-04|Remaining segment handling method|(((
942 Shutdown
943
944 setting
945 )))|(((
946 Effective
947
948 immediately
949 )))|0|0 to 1|(((
950 0: Run the remaining segments
951
952 1: Run again from the start segment
953 )))
954 |P07-05|Displacement instruction type|(((
955 Shutdown
956
957 setting
958 )))|(((
959 Effective
960
961 immediately
962 )))|0|0 to 1|(((
963 0: Relative position instruction
964
965 1: Absolute position instruction
966 )))
967 |P07-07|Pulse remainder processing method|(((
968 Shutdown
969
970 setting
971 )))|(((
972 Effective
973
974 immediately
975 )))|0|0 to 1|(((
976 0: Discard remaining pulses
977
978 1: Execute remaining pulses
979 )))
980
981 Table 6-18 multi-segment position running mode parameters
982
983 VD2 series servo drive has three multi-segment position running modes, and you could select the best running mode according to the site requirements.
984
985 1. Single running
986
987 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
988
989 (% style="text-align:center" %)
990 (((
991 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
992 [[**Figure 6-12 Single running curve (P07-02=1, P07-03=2)**>>image:image-20220608164226-10.png||id="Iimage-20220608164226-10.png"]]
993 )))
994
995 * 2. Cycle running
996
997 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.
998
999 (% style="text-align:center" %)
1000 (((
1001 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1002 [[**Figure 6-13 Cycle running curve (P07-02=1, P07-03=4)**>>image:image-20220608164327-11.png||id="Iimage-20220608164327-11.png"]]
1003 )))
1004
1005 (% class="warning" %)|(((
1006 (% style="text-align:center" %)
1007 [[image:image-20220611151917-5.png]]
1008 )))
1009 |In single running and cycle running mode, the setting value of P07-03 needs to be greater than the setting value of P07-02.
1010
1011 (% start="3" %)
1012 1. DI switching running
1013
1014 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.
1015
1016 |=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
1017 |=21|INPOS1: Internal multi-segment position segment selection 1|Form internal multi-segment position running segment number
1018 |=22|INPOS2: Internal multi-segment position segment selection 2|Form internal multi-segment position running segment number
1019 |=23|INPOS3: Internal multi-segment position segment selection 3|Form internal multi-segment position running segment number
1020 |=24|INPOS4: Internal multi-segment position segment selection 4|Form internal multi-segment position running segment number
1021
1022 Table 6-19 DI function code
1023
1024 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.
1025
1026 |=(% scope="row" %)**INPOS4**|=**INPOS3**|=**INPOS2**|=**INPOS1**|=**Running position number**
1027 |=0|0|0|0|1
1028 |=0|0|0|1|2
1029 |=0|0|1|0|3
1030 |=0|0|1|1|4
1031 |=0|1|0|0|5
1032 |=0|1|0|1|6
1033 |=0|1|1|0|7
1034 |=0|1|1|1|8
1035 |=1|0|0|0|9
1036 |=1|0|0|1|10
1037 |=1|0|1|0|11
1038 |=1|0|1|1|12
1039 |=1|1|0|0|13
1040 |=1|1|0|1|14
1041 |=1|1|1|0|15
1042 |=1|1|1|1|16
1043
1044 Table 6-20 INPOS corresponds to running segment number
1045
1046 The operating curve in this running mode is shown in __Figure 6-14__.
1047
1048 4. Continuous operation
1049
1050 In this mode, the segment number switches automatically in ascending order. The servo driver runs repeatedly according to the total number of multi-segment position commands set by P07-02 and P07-03. All segments operate continuously without any waiting time in between. The cyclic operation curve is shown in Figure 6-15, where S1, S2, S3, and S4 indicate the displacements of Segment 1, Segment 2, Segment 3, and Segment 4 respectively.
1051
1052 (% style="text-align:center" %)
1053 (((
1054 (% style="display:inline-block" %)
1055 [[Figure 6-15 Single running-run the remaining segments (P07-02=1, P07-03=4)>>image:1776396988490-710.png]]
1056 )))
1057
1058 VD2 series servo drives have two remaining segment handling methods running the remaining segments and run from the start segment again. The related function code is P07-04.
1059
1060 **Run the remaining segments**
1061
1062 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.
1063
1064 (% style="text-align:center" %)
1065 (((
1066 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1067 [[**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"]]
1068 )))
1069
1070 (% style="text-align:center" %)
1071 (((
1072 (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:734px;" %)
1073 [[**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"]]
1074 )))
1075
1076 **Run again from the start segment**
1077
1078 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.
1079
1080 (% style="text-align:center" %)
1081 (((
1082 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1083 [[**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"]]
1084 )))
1085
1086 (% style="text-align:center" %)
1087 (((
1088 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1089 [[**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"]]
1090 )))
1091
1092 VD2 series servo drives have two types of displacement instructions: relative position instruction and absolute position instruction. The related function code is P07-05.
1093
1094 * Relative position instruction
1095
1096 The relative position instruction takes the current stop position of the motor as the start point and specifies the amount of displacement.
1097
1098 |(((
1099 (% style="text-align:center" %)
1100 (((
1101 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1102 [[**Figure 6-19 Relative position diagram**>>image:image-20220608165710-17.png||id="Iimage-20220608165710-17.png"]]
1103 )))
1104 )))|(((
1105 (% style="text-align:center" %)
1106 (((
1107 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1108 [[**Figure 6-20 Displacement diagram**>>image:image-20220608165749-18.png||id="Iimage-20220608165749-18.png"]]
1109 )))
1110 )))
1111
1112 * Absolute position instruction
1113
1114 The absolute position instruction takes "reference origin" as the zero point of absolute positioning, and specifies the amount of displacement.
1115
1116 |(((
1117 (% style="text-align:center" %)
1118 (((
1119 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1120 [[**Figure 6-21 Absolute indication**>>image:image-20220608165848-19.png||id="Iimage-20220608165848-19.png"]]
1121 )))
1122 )))|(((
1123 (% style="text-align:center" %)
1124 (((
1125 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1126 [[**Figure 6-22 Displacement**>>image:image-20220608170005-20.png||id="Iimage-20220608170005-20.png"]]
1127 )))
1128 )))
1129
1130 * Multi-segment position running curve setting
1131
1132 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>>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]]-21__ are the related function codes of the 1st segment running curve.
1133
1134 |=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit**
1135 |=P07-09|(((
1136 1st segment
1137
1138 displacement
1139 )))|(((
1140 Operation setting
1141 )))|(((
1142 Effective immediately
1143 )))|10000|(((
1144 -2147483647 to
1145
1146 2147483646
1147 )))|Position instruction, positive and negative values could be set|-
1148 |=P07-10|Maximum speed of the 1st displacement|(((
1149 Operation setting
1150 )))|(((
1151 Effective immediately
1152 )))|100|1 to 5000|Steady-state running speed of the 1st segment|rpm
1153 |=P07-11|Acceleration and deceleration of 1st segment displacement|(((
1154 Operation setting
1155 )))|(((
1156 Effective immediately
1157 )))|100|1 to 65535|The time required for the acceleration and deceleration of the 1st segment|ms
1158 |=P07-12|Waiting time after completion of the 1st segment displacement|(((
1159 Operation setting
1160 )))|(((
1161 Effective immediately
1162 )))|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
1163
1164 Table 6-21 The 1st position operation curve parameters table
1165
1166 After setting the above parameters, the actual operation curve of the motor is shown in Figure 6-23.
1167
1168 (% style="text-align:center" %)
1169 (((
1170 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1171 [[**Figure 6-23 The 1st segment running curve of motor**>>image:image-20220608170149-21.png||id="Iimage-20220608170149-21.png"]]
1172 )))
1173
1174
1175 * multi-segment position instruction enable
1176
1177 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.
1178
1179 |=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
1180 |=20|ENINPOS: Internal multi-segment position enable signal|(((
1181 DI port logic invalid: Does not affect the current operation of the servo motor.
1182
1183 DI port logic valid: Motor runs multi-segment position
1184 )))
1185
1186 (% style="text-align:center" %)
1187 [[image:image-20220611152020-6.png||class="img-thumbnail"]]
1188
1189 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!
1190
1191 == Electronic gear ratio ==
1192
1193 **Definition of electronic gear ratio**
1194
1195 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.
1196
1197 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.
1198
1199 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)
1200
1201 (% style="text-align:center" %)
1202 [[image:企业微信截图_17543857797694.png||alt="企业微信截图_17543857797694" class="img-thumbnail"]]
1203
1204 Otherwise, the servo drive will report Er.35: "Electronic gear ratio setting exceeds the limit"!
1205
1206 **Setting steps of electronic gear ratio**
1207
1208 (% style="text-align:center" %)
1209 (((
1210 (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:1021px;" %)
1211 [[**Figure 6-24 Setting steps of electronic gear ratio**>>image:image-20220707100850-20.jpeg||height="458" id="Iimage-20220707100850-20.jpeg" width="1021"]]
1212 )))
1213
1214 **lectronic gear ratio switch setting**
1215
1216 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.
1217
1218 |=(% scope="row" %)**Function code**|=**Name**|=(((
1219 **Setting method**
1220 )))|=(((
1221 **Effective time**
1222 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1223 |=P00-16|Number of instruction pulses when the motor rotates one circle|(((
1224 Shutdown setting
1225 )))|(((
1226 Effective immediately
1227 )))|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.|(((
1228 Instruction pulse
1229
1230 unit
1231 )))
1232 |=P00-17|(((
1233 Electronic gear 1
1234
1235 numerator
1236 )))|Operation setting|(((
1237 Effective immediately
1238 )))|1|1 to 4294967294|(((
1239 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.
1240
1241 **✎Note:**The setting range of VD2L is inconsistent with other models in the VD2 series.
1242 )))|-
1243 |=P00-18|(((
1244 Electronic gear 1
1245
1246 denominator
1247 )))|(((
1248 Operation setting
1249 )))|(((
1250 Effective immediately
1251 )))|1|1 to 4294967294|(((
1252 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.
1253
1254 **✎Note:**The setting range of VD2L is inconsistent with other models in the VD2 series.
1255 )))|-
1256 |=P00-19|(((
1257 Electronic gear 2
1258
1259 numerator
1260 )))|Operation setting|(((
1261 Effective immediately
1262 )))|1|1 to 4294967294|(((
1263 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.
1264
1265 **✎Note**:The setting range of VD2L is inconsistent with other models in the VD2 series.
1266
1267 For:1~~2147483647.
1268 )))|-
1269 |=P00-20|(((
1270 Electronic gear 2
1271
1272 denominator
1273 )))|Operation setting|(((
1274 Effective immediately
1275 )))|1|1 to 4294967294|(((
1276 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.
1277
1278 **✎Note:**The setting range of VD2L is inconsistent with other models in the VD2 series.
1279
1280 For:1~~2147483647.
1281 )))|-
1282
1283 Table 6-22 Electronic gear ratio function code
1284
1285 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.
1286
1287 |=(% scope="row" %)**DI function code**|=**Function name**|=**Function**
1288 |=09|GEAR-SEL electronic gear switch 1|(((
1289 DI port logic invalid: electronic gear ratio 1
1290
1291 DI port logic valid: electronic gear ratio 2
1292 )))
1293
1294 Table 6-23. Switching conditions of electronic gear ratio group
1295
1296 |=(% style="width: 123px;" %)**P00-16 value**|=(% style="width: 351px;" %)**DI terminal level corresponding to DI port function 9**|=(% style="width: 400px;" %)**Electronic gear ratio**
1297 |(% rowspan="2" style="width:123px" %) 0|(% style="width:351px" %)DI port logic invalid|(% style="width:400px" %)(((
1298 (% style="text-align:center" %)
1299 [[image:image-20220707101328-21.png]]
1300 )))
1301 |(% style="width:351px" %)DI port logic valid|(% style="width:400px" %)(((
1302 (% style="text-align:center" %)
1303 [[image:image-20220707101336-22.png]]
1304 )))
1305 |(% style="width:123px" %)1 to 131072|(% style="width:351px" %)~-~-|(% style="width:400px" %)(((
1306 (% style="text-align:center" %)
1307 [[image:image-20220707101341-23.png]]
1308 )))
1309
1310 Table 6-24 Application of electronic gear ratio
1311
1312 When the function code P00-16 is not 0, the electronic gear ratio [[image:image-20220707101509-25.png]] is invalid.
1313
1314 == Position instruction filtering ==
1315
1316 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.
1317
1318 In the following situations, position instruction filtering should be added.
1319
1320 1. The position instruction output by host computer has not been processed with acceleration or deceleration;
1321 1. The pulse instruction frequency is low;
1322 1. When the electronic gear ratio is 10 times or more.
1323
1324 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.
1325
1326 (% style="text-align:center" %)
1327 (((
1328 (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:514px;" %)
1329 [[**Figure 6-25 Position instruction filtering diagram**>>image:image-20220608170455-23.png||height="230" id="Iimage-20220608170455-23.png" width="514"]]
1330 )))
1331
1332 |=(% scope="row" %)**Function code**|=**Name**|=(((
1333 **Setting method**
1334 )))|=(((
1335 **Effective time**
1336 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1337 |=P04-01|Pulse instruction filtering method|(((
1338 Shutdown setting
1339 )))|(((
1340 Effective immediately
1341 )))|0|0 to 1|(((
1342 0: 1st-order low-pass filtering
1343
1344 1: average filtering
1345 )))|-
1346 |=P04-02|Position instruction 1st-order low-pass filtering time constant|Shutdown setting|(((
1347 Effective immediately
1348 )))|0|0 to 1000|Position instruction first-order low-pass filtering time constant|ms
1349 |=P04-03|Position instruction average filtering time constant|Shutdown setting|(((
1350 Effective immediately
1351 )))|0|0 to 128|Position instruction average filtering time constant|ms
1352
1353 Table 6-25 Position instruction filter function code
1354
1355 == Clearance of position deviation ==
1356
1357 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;
1358
1359 Position deviation = (position instruction-position feedback) (encoder unit)
1360
1361 == Position-related DO output function ==
1362
1363 The feedback value of position instruction is compared with different thresholds, and output DO signal for host computer use.
1364
1365 (% class="wikigeneratedid" id="HPositioningcompletion2Fpositioningapproachoutput" %)
1366 **Positioning completion/positioning approach output**
1367
1368 (% class="wikigeneratedid" %)
1369 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.
1370
1371 (% style="text-align:center" %)
1372 (((
1373 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1374 [[**Figure 6-26 Positioning completion signal output diagram**>>image:image-20220608170550-24.png||id="Iimage-20220608170550-24.png"]]
1375 )))
1376
1377 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.
1378
1379 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 6-26.
1380
1381 (% style="text-align:center" %)
1382 (((
1383 (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:709px;" %)
1384 [[**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"]]
1385 )))
1386
1387 |=(% scope="row" %)**Function code**|=**Name**|=(((
1388 **Setting method**
1389 )))|=(% style="width: 129px;" %)(((
1390 **Effective time**
1391 )))|=(% style="width: 95px;" %)**Default value**|=**Range**|=**Definition**|=**Unit**
1392 |=P05-12|Positioning completion threshold|(((
1393 Operation setting
1394 )))|(% style="width:129px" %)(((
1395 Effective immediately
1396 )))|(% style="width:95px" %)800|1 to 65535|Positioning completion threshold|Equivalent pulse unit
1397 |=P05-13|Positioning approach threshold|(((
1398 Operation setting
1399 )))|(% style="width:129px" %)(((
1400 Effective immediately
1401 )))|(% style="width:95px" %)5000|1 to 65535|Positioning approach threshold|Equivalent pulse unit
1402 |=P05-14|Position detection window time|(((
1403 Operation setting
1404 )))|(% style="width:129px" %)(((
1405 Effective immediately
1406 )))|(% style="width:95px" %)10|0 to 20000|Set positioning completion detection window time|ms
1407 |=P05-15|Positioning signal hold time|(((
1408 Operation setting
1409 )))|(% style="width:129px" %)(((
1410 Effective immediately
1411 )))|(% style="width:95px" %)100|0 to 20000|Set positioning completion output hold time|ms
1412
1413 Table 6-26 Function code parameters of positioning completion
1414
1415 |=(% scope="row" %)**DO function code**|=**Function name**|=**Function**
1416 |=134|P-COIN positioning complete|Output this signal indicates the servo drive position is complete.
1417 |=135|(((
1418 P-NEAR positioning close
1419 )))|(((
1420 Output this signal indicates that the servo drive position is close.
1421 )))
1422
1423 Table 6-27 Description of DO rotation detection function code
1424
1425 == **VD2-0xxSA1H collector pulse signal DO Function and VD2L pulse signal DO output function** ==
1426
1427 **(1) VD2-0xxSA1H collector pulse signal DO Function**
1428
1429 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.
1430
1431 **(2) Pulse signal DO output function of VD2L-0xxSA1P**
1432
1433 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.
1434
1435 **(3) The difference of collector pulse signal DO Function of VD2-0xxSA1H and DO output function of pulse signal of VD2L-0xxSA1P**
1436
1437 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.
1438
1439 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.
1440
1441
1442 |(% rowspan="2" %)P06-28|Parameter name|Setting method|Effective time|Default|Set range|Application category|Unit
1443 |DO_2 channel function selection|Operation setting|Effective immediately|130|128-149|DI/DO|-
1444 |(% colspan="8" %)(((
1445 Used to set DO functions corresponding to hardware DO2. Refer to the following table for the functions corresponding to the set value:
1446
1447 |Setting value|DO channel function| |Setting value|DO channel function
1448 |128|OFF (not used)| |139|T-LIMIT (Torque limit)
1449 |129|RDY (Servo ready)| |140|V-LIMIT (speed limited)
1450 |130|ALM (fault signal)| |141|BRK-OFF (Brake Output)^^ Note1^^
1451 |131|WARN (warning signal)| |142|SRV-ST (Servo start status output)
1452 |132|TGON (rotation detection)| |143|OZ (Z pulse output)^^ Note2^^
1453 |133|ZSP (zero speed signal)| |144|N/A
1454 |134|P-COIN (Positioning completed)| |145|COM_VDO1 (communication VDO1 output)
1455 |135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output)
1456 |136|V-COIN (consistent speed)| |147|COM_VDO1(communication VDO3 output)
1457 |137|V-NEAR (speed approach)| |148|COM_VDO1(communication VDO4 output)
1458 |138|T-COIN (torque arrival)| |149|(((
1459 HOME_ATTAIN(original arrival)
1460 )))
1461
1462 When P06-28 is set to a value other than the above table, it is considered to not use DO port function.
1463
1464 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).
1465
1466 Note 1: To use the BRK-OFF function code, you need to repower to take effect.
1467
1468 Note 2:
1469
1470 ① Only VD2L and VD2F support function code 143. The code for this function of VD2-0xxSA1G model is empty!
1471
1472 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!
1473
1474 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!
1475
1476 ④ VD2L does not support 149 function code at this time.
1477 )))
1478
1479 |(% rowspan="2" %)P06-30|Parameter name|Setting method|Effective time|Default|Set range|Application category|Unit
1480 |DO_3 channel function selection|Operation setting|Effective immediately|129|128-149|DI/DO|-
1481 |(% colspan="8" %)(((
1482 Used to set DO functions corresponding to hardware DO3. Refer to the following table for the functions corresponding to the set value:
1483
1484 |Setting value|DO channel function| |Setting value|DO channel function
1485 |128|OFF (not used)| |139|T-LIMIT (torque limit)
1486 |129|RDY (Servo ready)| |140|V-LIMIT (speed limited)
1487 |130|ALM (fault signal)| |141|BRK-OFF (Brake Output)^^ Note1^^
1488 |131|WARN (warning signal)| |142|SRV-ST (Servo start status output)
1489 |132|TGON (rotation detection)| |143|OA (A pulse output)^^ Note2^^
1490 |133|ZSP (zero speed signal)| |144|None
1491 |134|P-COIN (Positioning completed)| |145|COM_VDO1 (communication VDO1 output)
1492 |135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output)
1493 |136|V-COIN (consistent speed)| |147|COM_VDO1(communication VDO3 output)
1494 |137|V-NEAR (speed approach)| |148|COM_VDO1(communication VDO4 output)
1495 |138|T-COIN (torque arrival)| |149|(((
1496 HOME_ATTAIN (original arrival)
1497 )))
1498
1499 When P06-30 is set to a value other than the above table, it is considered to not use DO port function.
1500
1501 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).
1502
1503 **Note 1:** To use the BRK-OFF function code, you need to repower to take effect.
1504
1505 **Note 2:**
1506
1507 ① Only VD2L and VD2F support function code 143. The code for this function of VD2-0xxSA1G model is empty!
1508
1509 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!
1510
1511 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!
1512
1513 ④ VD2L does not support 149 function code at this time.
1514 )))
1515
1516 |(% rowspan="2" %)P06-32|Parameter name|Setting method|Effective time|Default|Set range|Application category|Unit
1517 |DO_4 channel function selection|Operation setting|Effective immediately|134|128-149|DI/DO|-
1518 |(% colspan="8" %)(((
1519 Used to set DO functions corresponding to hardware DO4. Refer to the following table for the functions corresponding to the set value:
1520
1521 |Setting value|DO channel function| |Setting value|DO channel function
1522 |128|OFF (not used)| |139|T-LIMIT (Torque limit)
1523 |129|RDY (Servo ready)| |140|V-LIMIT (speed limited)
1524 |130|ALM (fault signal)| |141|BRK-OFF (Brake Output)^^ Note1^^
1525 |131|WARN (warning signal)| |142|SRV-ST (Servo start status output)
1526 |132|TGON (rotation detection)| |143|OB (B pulse output)^^ Note2^^
1527 |133|ZSP (zero speed signal)| |144|None
1528 |134|P-COIN (Positioning completed)| |145|COM_VDO1 (communication VDO1 output)
1529 |135|P-NEAR (positioning approach)| |146|COM_VDO1(Communication VDO2 output)
1530 |136|V-COIN (consistent speed)| |147|COM_VDO1(communication VDO3 output)
1531 |137|V-NEAR (speed approach)| |148|COM_VDO1(communication VDO4 output)
1532 |138|T-COIN (torque arrival)| |149|(((
1533 HOME_ATTAIN (original arrival)
1534 )))
1535
1536 When P06-32 is set to a value other than the above table, it is considered to not use DO port function.
1537
1538 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).
1539
1540 **Note 1:** To use the BRK-OFF function code, you need to repower to take effect.
1541
1542 **Note 2:**
1543
1544 ① Only VD2L and VD2F support function code 143. The code for this function of VD2-0xxSA1G model is empty!
1545
1546 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!
1547
1548 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!
1549
1550 ④ VD2L does not support 149 function code at this time.
1551 )))
1552
1553 = **Speed control mode** =
1554
1555 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.
1556
1557 (% style="text-align:center" %)
1558 (((
1559 (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:806px;" %)
1560 [[**Figure 6-28 Speed control block diagram**>>image:6.28.jpg||height="260" id="I6.28.jpg" width="806"]]
1561 )))
1562
1563 == Speed instruction input setting ==
1564
1565 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.
1566
1567 |=(% scope="row" style="width: 121px;" %)**Function code**|=(% style="width: 186px;" %)**Name**|=(% style="width: 128px;" %)(((
1568 **Setting method**
1569 )))|=(% style="width: 125px;" %)(((
1570 **Effective time**
1571 )))|=(% style="width: 85px;" %)**Default value**|=(% style="width: 75px;" %)**Range**|=(% style="width: 310px;" %)**Definition**|=**Unit**
1572 |=(% style="width: 121px;" %)P01-01|(% style="width:186px" %)Speed instruction source|(% style="width:128px" %)(((
1573 Shutdown setting
1574 )))|(% style="width:125px" %)(((
1575 Effective immediately
1576 )))|(% style="width:85px" %)0|(% style="width:75px" %)0 to 1|(% style="width:310px" %)(((
1577 0: internal speed instruction
1578
1579 1: AI_1 analog input (not supported by **VD2F and VD2L**)
1580 )))|-
1581
1582 Table 6-28 Speed instruction source parameter
1583
1584 **Speed instruction source is internal speed instruction (P01-01=0)**
1585
1586 Speed instruction comes from internal instruction, and the internal speed instruction is given by a number. The VD2 series servo drive has internal multi-segment speed running function. There are 8 segments speed instructions stored in servo drive, and the speed of each segment could be set individually. The servo drive uses the 1st segment internal speed by default. To use the 2nd to 8th segment internal speed, the corresponding number of DI terminals must be configured as functions 13, 14, and 15. The detailed parameters and function codes are shown as below.
1587
1588 (% style="width:1141px" %)
1589 |=(% colspan="1" scope="row" %)**Function code**|=(% colspan="2" %)**Name**|=(% colspan="2" %)(((
1590 **Setting**
1591
1592 **method**
1593 )))|=(% colspan="2" %)(((
1594 **Effective**
1595
1596 **time**
1597 )))|=(% colspan="2" %)**Default value**|=(% colspan="2" %)**Range**|=(% colspan="2" %)**Definition**|=(% colspan="2" %)**Unit**
1598 |=(% colspan="1" %)P01-02|(% colspan="2" %)(((
1599 Internal speed
1600
1601 Instruction 0
1602 )))|(% colspan="2" %)(((
1603 Operation
1604
1605 setting
1606 )))|(% colspan="2" %)(((
1607 Effective
1608
1609 immediately
1610 )))|(% colspan="2" %)0|(% colspan="2" %)(((
1611 -6000 to 6000
1612 )))|(% colspan="2" %)(((
1613 Internal speed instruction 0
1614
1615 When DI input port:
1616
1617 15-INSPD3: 0
1618
1619 14-INSPD2: 0
1620
1621 13-INSPD1: 0,
1622
1623 select this speed instruction to be effective.
1624 )))|(% colspan="2" %)rpm
1625 |=(% colspan="1" %)P01-23|(% colspan="2" %)(((
1626 Internal speed
1627
1628 Instruction 1
1629 )))|(% colspan="2" %)(((
1630 Operation
1631
1632 setting
1633 )))|(% colspan="2" %)(((
1634 Effective
1635
1636 immediately
1637 )))|(% colspan="2" %)0|(% colspan="2" %)(((
1638 ~-~-6000 to 6000
1639 )))|(% colspan="2" %)(((
1640 Internal speed instruction 1
1641
1642 When DI input port:
1643
1644 15-INSPD3: 0
1645
1646 14-INSPD2: 0
1647
1648 13-INSPD1: 1,
1649
1650 Select this speed instruction to be effective.
1651 )))|(% colspan="2" %)rpm
1652 |=(% colspan="1" %)P01-24|(% colspan="2" %)(((
1653 Internal speed
1654
1655 Instruction 2
1656 )))|(% colspan="2" %)(((
1657 Operation
1658
1659 setting
1660 )))|(% colspan="2" %)(((
1661 Effective
1662
1663 immediately
1664 )))|(% colspan="2" %)0|(% colspan="2" %)(((
1665 -6000 to 6000
1666 )))|(% colspan="2" %)(((
1667 Internal speed instruction 2
1668
1669 When DI input port:
1670
1671 15-INSPD3: 0
1672
1673 14-INSPD2: 1
1674
1675 13-INSPD1: 0,
1676
1677 Select this speed instruction to be effective.
1678 )))|(% colspan="2" %)rpm
1679 |=(% colspan="1" %)P01-25|(% colspan="2" %)(((
1680 Internal speed
1681
1682 Instruction 3
1683 )))|(% colspan="2" %)(((
1684 Operation
1685
1686 setting
1687 )))|(% colspan="2" %)(((
1688 Effective
1689
1690 immediately
1691 )))|(% colspan="2" %)0|(% colspan="2" %)(((
1692 -6000 to 6000
1693 )))|(% colspan="2" %)(((
1694 Internal speed instruction 3
1695
1696 When DI input port:
1697
1698 15-INSPD3: 0
1699
1700 14-INSPD2: 1
1701
1702 13-INSPD1: 1,
1703
1704 Select this speed instruction to be effective.
1705 )))|(% colspan="2" %)rpm
1706 |=P01-26|(% colspan="2" %)(((
1707 Internal speed
1708
1709 Instruction 4
1710 )))|(% colspan="2" %)(((
1711 Operation
1712
1713 setting
1714 )))|(% colspan="2" %)(((
1715 Effective
1716
1717 immediately
1718 )))|(% colspan="2" %)0|(% colspan="2" %)(((
1719 -6000 to 6000
1720 )))|(% colspan="2" %)(((
1721 Internal speed instruction 4
1722
1723 When DI input port:
1724
1725 15-INSPD3: 1
1726
1727 14-INSPD2: 0
1728
1729 13-INSPD1: 0,
1730
1731 Select this speed instruction to be effective.
1732 )))|(% colspan="1" %)rpm
1733 |=P01-27|(% colspan="2" %)(((
1734 Internal speed
1735
1736 Instruction 5
1737 )))|(% colspan="2" %)(((
1738 Operation
1739
1740 setting
1741 )))|(% colspan="2" %)(((
1742 Effective
1743
1744 immediately
1745 )))|(% colspan="2" %)0|(% colspan="2" %)(((
1746 -6000 to 6000
1747 )))|(% colspan="2" %)(((
1748 Internal speed instruction 5
1749
1750 When DI input port:
1751
1752 15-INSPD3: 1
1753
1754 14-INSPD2: 0
1755
1756 13-INSPD1: 1,
1757
1758 Select this speed instruction to be effective.
1759 )))|(% colspan="1" %)rpm
1760 |=P01-28|(% colspan="2" %)(((
1761 Internal speed
1762
1763 Instruction 6
1764 )))|(% colspan="2" %)(((
1765 Operation
1766
1767 setting
1768 )))|(% colspan="2" %)(((
1769 Effective
1770
1771 immediately
1772 )))|(% colspan="2" %)0|(% colspan="2" %)(((
1773 -6000 to 6000
1774 )))|(% colspan="2" %)(((
1775 Internal speed instruction 6
1776
1777 When DI input port:
1778
1779 15-INSPD3: 1
1780
1781 14-INSPD2: 1
1782
1783 13-INSPD1: 0,
1784
1785 Select this speed instruction to be effective.
1786 )))|(% colspan="1" %)rpm
1787 |=P01-29|(% colspan="2" %)(((
1788 Internal speed
1789
1790 Instruction 7
1791 )))|(% colspan="2" %)(((
1792 Operation
1793
1794 setting
1795 )))|(% colspan="2" %)(((
1796 Effective
1797
1798 immediately
1799 )))|(% colspan="2" %)0|(% colspan="2" %)(((
1800 -6000 to 6000
1801 )))|(% colspan="2" %)(((
1802 Internal speed instruction 7
1803
1804 When DI input port:
1805
1806 15-INSPD3: 1
1807
1808 14-INSPD2: 1
1809
1810 13-INSPD1: 1,
1811
1812 Select this speed instruction to be effective.
1813 )))|(% colspan="1" %)rpm
1814
1815 Table 6-29 Internal speed instruction parameters
1816
1817 |=(% scope="row" %)**DI function code**|=**function name**|=**Function**
1818 |=13|INSPD1 internal speed instruction selection 1|Form internal multi-speed running segment number
1819 |=14|INSPD2 internal speed instruction selection 2|Form internal multi-speed running segment number
1820 |=15|INSPD3 internal speed instruction selection 3|Form internal multi-speed running segment number
1821
1822 Table 6-30 DI multi-speed function code description
1823
1824 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.
1825
1826
1827 (% style="margin-left:auto; margin-right:auto" %)
1828 |=(% style="text-align: center; vertical-align: middle;" %)**INSPD3**|=(% style="text-align: center; vertical-align: middle;" %)**INSPD2**|=(% style="text-align: center; vertical-align: middle;" %)**INSPD1**|=(% style="text-align: center; vertical-align: middle;" %)**Running segment number**|=(% style="text-align: center; vertical-align: middle;" %)**Internal speed instruction number**
1829 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)0
1830 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)2|(% style="text-align:center; vertical-align:middle" %)1
1831 |(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)0|(% style="text-align:center; vertical-align:middle" %)3|(% style="text-align:center; vertical-align:middle" %)2
1832 |(% colspan="5" style="text-align:center; vertical-align:middle" %)......
1833 |(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)1|(% style="text-align:center; vertical-align:middle" %)8|(% style="text-align:center; vertical-align:middle" %)7
1834
1835 Table 6-31 Correspondence between INSPD bits and segment numbers
1836
1837 (% style="text-align:center" %)
1838 (((
1839 (% style="display:inline-block" %)
1840 [[Figure 6-29 Multi-segment speed running curve>>image:企业微信截图_17544722176825.png]]
1841 )))
1842
1843 **Speed instruction source is internal speed instruction (P01-01=1)**
1844
1845 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.
1846
1847 (% style="text-align:center" %)
1848 (((
1849 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1850 [[**Figure 6-30 Analog input circuit**>>image:image-20220608153341-5.png||id="Iimage-20220608153341-5.png"]]
1851 )))
1852
1853 Taking AI_1 as an example, the method of setting the speed instruction of analog voltage is illustrated as below.
1854
1855 (% style="text-align:center" %)
1856 (((
1857 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1858 [[**Figure 6-31 Analog voltage speed instruction setting steps**>>image:image-20220608170955-27.png||id="Iimage-20220608170955-27.png"]]
1859 )))
1860
1861 Explanation of related terms:
1862
1863 * Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
1864 * Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
1865 * Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
1866
1867 (% style="text-align:center" %)
1868 (((
1869 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1870 [[**Figure 6-32 AI_1 diagram before and after bias**>>image:image-20220608171124-28.png||id="Iimage-20220608171124-28.png"]]
1871 )))
1872
1873 |=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit**
1874 |=P05-01(((
1875 ★
1876 )))|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
1877 |=P05-02(((
1878 ★
1879 )))|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
1880 |=P05-03(((
1881 ★
1882 )))|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel quantity dead zone value|mV
1883 |=P05-04(((
1884 ★
1885 )))|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV
1886
1887 Table 6-32 AI_1 parameter
1888
1889 (% class="box infomessage" %)
1890 (((
1891 ✎**Note: **
1892
1893 ☆: Indicates that the VD2F servo drive does not support this function code
1894
1895 〇: Indicates that the VD2F servo drive does not support this function code
1896
1897 ★: Indicates that VD2F and VD2L servo drives do not support this function code
1898
1899
1900 )))
1901
1902 == Acceleration and deceleration time setting ==
1903
1904 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.
1905
1906 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.
1907
1908 (% style="text-align:center" %)
1909 (((
1910 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
1911 [[**Figure 6-33 of acceleration and deceleration time diagram**>>image:image-20220608171314-29.png||id="Iimage-20220608171314-29.png"]]
1912 )))
1913
1914 (% style="text-align:center" %)
1915 [[image:image-20220707103616-27.png||class="img-thumbnail"]]
1916
1917 |=(% scope="row" %)**Function code**|=**Name**|=(((
1918 **Setting method**
1919 )))|=(((
1920 **Effective time**
1921 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1922 |=P01-03|Acceleration time|(((
1923 Operation setting
1924 )))|(((
1925 Effective immediately
1926 )))|50|0 to 65535|The time for the speed instruction to accelerate from 0 to 1000rpm|ms
1927 |=P01-04|Deceleration time|(((
1928 Operation setting
1929 )))|(((
1930 Effective immediately
1931 )))|50|0 to 65535|The time for the speed instruction to decelerate from 1000rpm to 0|ms
1932
1933 Table 6-33 Acceleration and deceleration time parameters
1934
1935 == Speed instruction limit ==
1936
1937 In speed mode, the servo drive could limit the size of the speed instruction. The sources of speed instruction limit include:
1938
1939 1. P01-10: Set the maximum speed limit value
1940 1. P01-12: Set forward speed limit value
1941 1. P01-13: Set reverse speed limit value
1942 1. The maximum speed of the motor: determined by motor model
1943
1944 The actual motor speed limit interval satisfies the following relationship:
1945
1946 The amplitude of forward speed instruction ≤ min (Maximum motor speed, P01-10, P01-12)
1947
1948 The amplitude of negative speed command ≤ min (Maximum motor speed, P01-10, P01-13)
1949
1950 |=(% scope="row" %)**Function code**|=**Name**|=(((
1951 **Setting method**
1952 )))|=(((
1953 **Effective time**
1954 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1955 |=P01-10|Maximum speed threshold|(((
1956 Operation setting
1957 )))|(((
1958 Effective immediately
1959 )))|3600|0 to 8000|Set the maximum speed limit value, if exceeds this value, an overspeed fault will be reported|rpm
1960 |=P01-12|Forward speed threshold|(((
1961 Operation setting
1962 )))|(((
1963 Effective immediately
1964 )))|3000|0 to 6000|Set forward speed limit value|rpm
1965 |=P01-13|Reverse speed threshold|(((
1966 Operation setting
1967 )))|(((
1968 Effective immediately
1969 )))|3000|0 to 6000|Set reverse speed limit value|rpm
1970
1971 Table 6-34 Rotation speed related function codes
1972
1973 == Zero-speed clamp function ==
1974
1975 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.
1976
1977 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.
1978
1979 |=(% scope="row" %)**Function code**|=**Name**|=(((
1980 **Setting method**
1981 )))|=(((
1982 **Effective time**
1983 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
1984 |=P01-21|(((
1985 Zero-speed clamp function selection
1986 )))|(((
1987 Operation setting
1988 )))|(((
1989 Effective immediately
1990 )))|0|0 to 3|(((
1991 Set the zero-speed clamp function. In speed mode:
1992
1993 0: Force the speed to 0;
1994
1995 1: Force the speed to 0, and keep the position locked when the actual speed is less than P01-22
1996
1997 2: When speed instruction is less than P01-22, force the speed to 0 and keep the position locked
1998
1999 3: Invalid, ignore zero-speed clamp input
2000 )))|-
2001 |=P01-22|(((
2002 Zero-speed clamp speed threshold
2003 )))|(((
2004 Operation setting
2005 )))|(((
2006 Effective immediately
2007 )))|20|0 to 1000|Set the speed threshold of zero-speed clamp function|rpm
2008
2009 Table 6-35 Zero-speed clamp related parameters
2010
2011 (% style="text-align:center" %)
2012 (((
2013 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2014 [[**Figure 6-34 Zero-speed clamp diagram**>>image:image-20220608171549-30.png||id="Iimage-20220608171549-30.png"]]
2015 )))
2016
2017 == Speed-related DO output function ==
2018
2019 The feedback value of the position instruction is compared with different thresholds, and could output DO signal for host computer use.
2020
2021 **Rotation detection signal**
2022
2023 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.
2024
2025 (% style="text-align:center" %)
2026 (((
2027 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2028 [[**Figure 6-35 Rotation detection signal diagram**>>image:image-20220608171625-31.png||id="Iimage-20220608171625-31.png"]]
2029 )))
2030
2031 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 6-36__and __Table 6-37__.
2032
2033 |=(% scope="row" %)**Function code**|=**Name**|=(((
2034 **Setting method**
2035 )))|=(((
2036 **Effective time**
2037 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2038 |=P05-16|(((
2039 Rotation detection
2040
2041 speed threshold
2042 )))|(((
2043 Operation setting
2044 )))|(((
2045 Effective immediately
2046 )))|20|0 to 1000|Set the motor rotation signal judgment threshold|rpm
2047
2048 Table 6-36 Rotation detection speed threshold parameters
2049
2050 |=(% scope="row" %)**DO function code**|=(% style="width: 247px;" %)**Function name**|=(% style="width: 695px;" %)**Function**
2051 |=132|(% style="width:247px" %)(((
2052 T-GON rotation detection
2053 )))|(% style="width:695px" %)(((
2054 Valid: when the absolute value of motor speed after filtering is greater than or equal to the set value of function code P05-16
2055
2056 Invalid, when the absolute value of motor speed after filtering is less than set value of function code P05-16
2057 )))
2058
2059 Table 6-37 DO rotation detection function code
2060
2061 **Zero-speed signal**
2062
2063 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.
2064
2065 (% style="text-align:center" %)
2066 (((
2067 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2068 [[**Figure 6-36 Zero-speed signal diagram**>>image:image-20220608171904-32.png||id="Iimage-20220608171904-32.png"]]
2069 )))
2070
2071 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 6-38__ and __Table 6-39__.
2072
2073 |=(% scope="row" %)**Function code**|=**Name**|=(((
2074 **Setting method**
2075 )))|=(((
2076 **Effective time**
2077 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2078 |=P05-19|Zero speed output signal threshold|(((
2079 Operation setting
2080 )))|(((
2081 Effective immediately
2082 )))|10|0 to 6000|Set zero-speed output signal judgment threshold|rpm
2083
2084 Table 6-38 Zero-speed output signal threshold parameter
2085
2086 |=(% scope="row" %)**DO function code**|=**Function name**|=**Function**
2087 |=133|(((
2088 ZSP zero speed signal
2089 )))|Output this signal indicates that the servo motor is stopping rotation
2090
2091 Table 6-39 DO zero-speed signal function code
2092
2093 **Speed consistent signal**
2094
2095 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.
2096
2097 (% style="text-align:center" %)
2098 (((
2099 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2100 [[**Figure 6-37 Speed consistent signal diagram**>>image:image-20220608172053-33.png||id="Iimage-20220608172053-33.png"]]
2101 )))
2102
2103 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 6-40__and __Table 6-41__.
2104
2105 |=(% scope="row" %)**Function code**|=**Name**|=(((
2106 **Setting method**
2107 )))|=(((
2108 **Effective time**
2109 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2110 |=P05-17|Speed consistent signal threshold|(((
2111 Operation setting
2112 )))|(((
2113 Effective immediately
2114 )))|10|0 to 100|Set speed consistent signal threshold|rpm
2115
2116 Table 6-40 Speed consistent signal threshold parameters
2117
2118 |=(% scope="row" %)**DO Function code**|=(% style="width: 262px;" %)**Function name**|=(% style="width: 684px;" %)**Function**
2119 |=136|(% style="width:262px" %)(((
2120 V-COIN consistent speed
2121 )))|(% 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
2122
2123 Table 6-41 DO speed consistent function code
2124
2125 **Speed approach signal**
2126
2127 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.
2128
2129 (% style="text-align:center" %)
2130 (((
2131 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2132 [[**Figure 6-38 Speed approaching signal diagram**>>image:image-20220608172207-34.png||id="Iimage-20220608172207-34.png"]]
2133 )))
2134
2135 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 6-42__ and __Table 6-43__
2136
2137 |=(% scope="row" style="width: 147px;" %)**Function code**|=(% style="width: 184px;" %)**Name**|=(((
2138 **Setting method**
2139 )))|=(((
2140 **Effective time**
2141 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2142 |=(% style="width: 147px;" %)P05-18|(% style="width:184px" %)Speed approach signal threshold|(((
2143 Operation setting
2144 )))|(((
2145 Effective immediately
2146 )))|100|10 to 6000|Set speed approach signal threshold|rpm
2147
2148 Table 6-42 Speed approaching signal threshold parameters
2149
2150 |=(% scope="row" %)**DO function code**|=**Function name**|=**Function**
2151 |=137|(((
2152 V-NEAR speed approach
2153 )))|The output signal indicates that the actual speed of the servo motor has reached the expected value
2154
2155 Table 6-43 DO speed approach function code
2156
2157 = **Torque control mode** =
2158
2159 The current of the servo motor has a cablear 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.
2160
2161 (% style="text-align:center" %)
2162 (((
2163 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2164 [[**Figure 6-39 Torque mode diagram**>>image:image-20220608172405-35.png||id="Iimage-20220608172405-35.png"]]
2165 )))
2166
2167 == **Torque instruction input setting** ==
2168
2169 In torque instruction, VD2A and VD2B servo drives have two instruction source: internal torque instruction and analog torque instruction. VD2F and VD2L  drive only has internal torque instruction. The torque instruction source is set by the function code P01-07.
2170
2171 |=(% scope="row" %)**Function code**|=**Name**|=(((
2172 **Setting method**
2173 )))|=(((
2174 **Effective time**
2175 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2176 |=P01-07|Torque instruction source|(((
2177 Shutdown setting
2178 )))|(((
2179 Effective immediately
2180 )))|0|0 to 1|(((
2181 0: internal torque instruction
2182
2183 1: AI_1 analog input(not supported by VD2F and VD2L)
2184 )))|-
2185
2186 Table 6-44 Torque instruction source parameter
2187
2188 **Torque instruction source is internal torque instruction (P01-07=0)**
2189
2190 Torque instruction source is from inside, the value is set by function code P01-08.
2191
2192 |=(% scope="row" %)**Function code**|=**Name**|=(((
2193 **Setting method**
2194 )))|=(((
2195 **Effective time**
2196 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2197 |=P01-08|Torque instruction keyboard set value|(((
2198 Operation setting
2199 )))|(((
2200 Effective immediately
2201 )))|0|-3000 to 3000|-300.0% to 300.0%|0.1%
2202
2203 Table 6-45 Torque instruction keyboard set value
2204
2205 **Torque instruction source is AI_1 analog input (P01-07=1)**
2206
2207 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.
2208
2209 (% style="text-align:center" %)
2210 (((
2211 (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:408px;" %)
2212 [[**Figure 6-40 Analog input circuit**>>image:image-20220608153646-7.png||height="213" id="Iimage-20220608153646-7.png" width="408"]]
2213 )))
2214
2215 Taking AI_1 as an example, the method of setting torque instruction of analog voltage is as below.
2216
2217 (% style="text-align:center" %)
2218 (((
2219 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2220 [[**Figure 6-41 Analog voltage torque instruction setting steps**>>image:image-20220608172502-36.png||id="Iimage-20220608172502-36.png"]]
2221 )))
2222
2223 Explanation of related terms:
2224
2225 * Zero drift: When analog input voltage is 0, the servo drive sample voltage value relative to the value of GND.
2226 * Bias: After zero drift correction, the corresponding analog input voltage when the sample voltage is 0.
2227 * Dead zone: It is the corresponding analog input voltage interval when the sample voltage is 0.
2228
2229 (% style="text-align:center" %)
2230 (((
2231 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2232 [[**Figure 6-42 AI_1 diagram before and after bias**>>image:image-20220608172611-37.png||id="Iimage-20220608172611-37.png"]]
2233 )))
2234
2235 |=(% scope="row" %)**Function code**|=**Name**|=**Setting method**|=**Effective time**|=**Default value**|=**Range**|=**Definition**|=**Unit**
2236 |=P05-01☆|AI_1 input bias|Operation setting|Effective immediately|0|-5000 to 5000|Set AI_1 channel analog bias value|mV
2237 |=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
2238 |=P05-03☆|AI_1 dead zone|Operation setting|Effective immediately|20|0 to 1000|Set AI_1 channel dead zone value|mV
2239 |=P05-04☆|AI_1 zero drift|Operation setting|Effective immediately|0|-500 to 500|Automatic calibration of zero drift inside the drive|mV
2240
2241 Table 6-46 AI_1 parameters
2242
2243 (% class="box infomessage" %)
2244 (((
2245 ✎**Note: **
2246
2247
2248 ☆: Indicates that the VD2F servo drive does not support this function code
2249
2250 〇: Indicates that the VD2F servo drive does not support this function code
2251
2252 ★: Indicates that VD2F and VD2L servo drives do not support this function code
2253 )))
2254
2255 == Torque instruction filtering ==
2256
2257 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__.
2258
2259 |=(% scope="row" %)**Function code**|=**Name**|=(((
2260 **Setting method**
2261 )))|=(((
2262 **Effective time**
2263 )))|=**Default value**|=(% style="width: 83px;" %)**Range**|=(% style="width: 369px;" %)**Definition**|=**Unit**
2264 |=P04-04|Torque filtering time constant|(((
2265 Operation setting
2266 )))|(((
2267 Effective immediately
2268 )))|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
2269
2270 Table 6-47 Torque filtering time constant parameter details
2271
2272 (% class="box infomessage" %)
2273 (((
2274 ✎**Note: **If the filter time constant is set too large, the responsiveness will be reduced. Please set it while confirming the responsiveness.
2275 )))
2276
2277 (% style="text-align:center" %)
2278 (((
2279 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2280 [[**Figure 6-43 Torque instruction-first-order filtering diagram**>>image:image-20220608172646-38.png||id="Iimage-20220608172646-38.png"]]
2281 )))
2282
2283 == Torque instruction limit ==
2284
2285 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.
2286
2287 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.
2288
2289 (% style="text-align:center" %)
2290 (((
2291 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2292 [[**Figure 6-44 Torque instruction limit diagram**>>image:image-20220608172806-39.png||id="Iimage-20220608172806-39.png"]]
2293 )))
2294
2295 **Set torque limit source**
2296
2297 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.
2298
2299 |=(% scope="row" %)**Function code**|=**Name**|=(((
2300 **Setting method**
2301 )))|=(((
2302 **Effective time**
2303 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2304 |=P01-14|(((
2305 Torque limit source
2306 )))|(((
2307 Shutdown setting
2308 )))|(((
2309 Effective immediately
2310 )))|0|0 to 1|(((
2311 0: internal value
2312
2313 1: AI_1 analog input (not supported by VD2F and VD2L)
2314 )))|-
2315
2316 * Torque limit source is internal torque instruction (P01-14=0)
2317
2318 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.
2319
2320 |=(% scope="row" %)**Function code**|=**Name**|=(((
2321 **Setting method**
2322 )))|=(((
2323 **Effective time**
2324 )))|=**Default value**|=(% style="width: 106px;" %)**Range**|=(% style="width: 363px;" %)**Definition**|=**Unit**
2325 |=P01-15|(((
2326 Forward torque limit
2327 )))|(((
2328 Operation setting
2329 )))|(((
2330 Effective immediately
2331 )))|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%
2332 |=P01-16|(((
2333 Reverse torque limit
2334 )))|(((
2335 Operation setting
2336 )))|(((
2337 Effective immediately
2338 )))|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%
2339
2340 Table 6-48 Torque limit parameter details
2341
2342 * Torque limit source is external (P01-14=1)
2343
2344 Torque limit source is from external analog channel. The limit value is determined by the torque value corresponding to external AI_2 terminal.
2345
2346 **Set torque limit DO signal output**
2347
2348 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.
2349
2350 |=(% scope="row" %)**DO function code**|=**Function name**|=**Function**
2351 |=139|(((
2352 T-LIMIT in torque limit
2353 )))|Output of this signal indicates that the servo motor torque is limited
2354
2355 Table 6-49 DO torque limit function codes
2356
2357 == **Speed limit in torque mode** ==
2358
2359 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.
2360
2361 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__.
2362
2363 |(((
2364 (% style="text-align:center" %)
2365 (((
2366 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2367 [[**Figure 6-45 Forward running curve**>>image:image-20220608172910-40.png||id="Iimage-20220608172910-40.png"]]
2368 )))
2369 )))|(((
2370 (% style="text-align:center" %)
2371 (((
2372 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2373 [[Figure 6-46 Reverse running curve>>image:image-20220608173155-41.png||id="Iimage-20220608173155-41.png"]]
2374 )))
2375 )))
2376
2377 |=(% scope="row" %)**Function code**|=**Name**|=(((
2378 **Setting method**
2379 )))|=(((
2380 **Effective time**
2381 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2382 |=P01-17|(((
2383 Forward speed
2384
2385 limit in torque mode
2386 )))|(((
2387 Operation setting
2388 )))|(((
2389 Effective immediately
2390 )))|3000|0 to 6000|(((
2391 Forward torque
2392
2393 limit in torque mode
2394 )))|rpm
2395 |=P01-18|(((
2396 Reverse speed
2397
2398 limit in torque mode
2399 )))|(((
2400 Operation setting
2401 )))|(((
2402 Effective immediately
2403 )))|3000|0 to 6000|(((
2404 Reverse torque
2405
2406 limit in torque mode
2407 )))|rpm
2408
2409 Table 6-48 Speed limit parameters in torque mode
2410
2411 ✎**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]]__.
2412
2413 == Torque-related DO output functions ==
2414
2415 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.
2416
2417 **Torque arrival**
2418
2419 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.
2420
2421 (% style="text-align:center" %)
2422 (((
2423 (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:705px;" %)
2424 [[**Figure 6-47 Torque arrival output diagram**>>image:image-20220608173541-42.png||height="342" id="Iimage-20220608173541-42.png" width="705"]]
2425 )))
2426
2427 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 6-47__ and __Table 6-48__.
2428
2429 |=(% scope="row" %)**Function code**|=(% style="width: 113px;" %)**Name**|=(% style="width: 100px;" %)(((
2430 **Setting method**
2431 )))|=(% style="width: 124px;" %)(((
2432 **Effective time**
2433 )))|=(% style="width: 83px;" %)**Default value**|=(% style="width: 94px;" %)**Range**|=(% style="width: 421px;" %)**Definition**|=**Unit**
2434 |=P05-20|(% style="width:113px" %)(((
2435 Torque arrival
2436
2437 threshold
2438 )))|(% style="width:100px" %)(((
2439 Operation setting
2440 )))|(% style="width:124px" %)(((
2441 Effective immediately
2442 )))|(% style="width:83px" %)100|(% style="width:94px" %)0 to 300|(% style="width:421px" %)(((
2443 The torque arrival threshold must be used with “Torque arrival hysteresis value”:
2444
2445 When the actual torque reaches Torque arrival threshold + Torque arrival hysteresis Value, the torque arrival DO is valid;
2446
2447 When the actual torque decreases below torque arrival threshold-torque arrival hysteresis value, the torque arrival DO is invalid
2448 )))|%
2449 |=P05-21|(% style="width:113px" %)(((
2450 Torque arrival
2451
2452 hysteresis
2453 )))|(% style="width:100px" %)(((
2454 Operation setting
2455 )))|(% style="width:124px" %)(((
2456 Effective immediately
2457 )))|(% 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|%
2458
2459 Table 6-49 Torque arrival parameters
2460
2461 |=(% scope="row" %)**DO function code**|=**Function name**|=**Function**
2462 |=138|(((
2463 T-COIN torque arrival
2464 )))|Used to determine whether the actual torque instruction has reached the set range
2465
2466 Table 6-50 DO Torque Arrival Function Code
2467
2468 = **Mixed control mode** =
2469
2470 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:
2471
2472 * Position mode⇔ Speed mode
2473 * Position mode ⇔Torque mode
2474 * Speed mode ⇔Torque mode
2475
2476 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.
2477
2478 |=(% scope="row" %)**Function code**|=**Name**|=(((
2479 **Setting method**
2480 )))|=(((
2481 **Effective time**
2482 )))|=**Default value**|=(% style="width: 90px;" %)**Range**|=(% style="width: 273px;" %)**Definition**|=**Unit**
2483 |=P00-01|Control mode|(((
2484 Shutdown setting
2485 )))|(((
2486 Shutdown setting
2487 )))|1|(% style="width:90px" %)1 to 6|(% style="width:273px" %)(((
2488 1: Position control
2489
2490 2: Speed control
2491
2492 3: Torque control
2493
2494 4: Position/speed mixed control
2495
2496 5: Position/torque mixed control
2497
2498 6: Speed/torque mixed control
2499
2500 **VD2L drive P0-01 setting range: 1-3, not support mixed mode**
2501 )))|-
2502
2503 Table 6-51 Mixed control mode parameters
2504
2505 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.
2506
2507 |=(% scope="row" %)**DI function code**|=**Name**|=(% style="width: 187px;" %)**Function name**|=(% style="width: 662px;" %)**Function**
2508 |=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(((
2509 (% style="margin-left:auto; margin-right:auto; width:585px" %)
2510 |=**P00-01**|=(% style="width: 243px;" %)**MixModeSel terminal logic**|=(% style="width: 220px;" %)**Control mode**
2511 |(% rowspan="2" %)4|(% style="width:243px" %)Valid|(% style="width:220px" %)Speed mode
2512 |(% style="width:243px" %)invalid|(% style="width:220px" %)Position mode
2513 |(% rowspan="2" %)5|(% style="width:243px" %)Valid|(% style="width:220px" %)Torque mode
2514 |(% style="width:243px" %)invalid|(% style="width:220px" %)Position mode
2515 |(% rowspan="2" %)6|(% style="width:243px" %)Valid|(% style="width:220px" %)Torque mode
2516 |(% style="width:243px" %)invalid|(% style="width:220px" %)Speed mode
2517 )))
2518
2519 Table 6-52 Description of DI function codes in control mode
2520
2521 (% class="box infomessage" %)
2522 (((
2523 ✎**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.
2524 )))
2525
2526 = **Absolute system** =
2527
2528 == Overview ==
2529
2530 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.
2531
2532 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.
2533
2534 == Single-turn absolute value system ==
2535
2536 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.
2537
2538 |=**Encoder type**|=**Encoder resolution (bits)**|=**Data range**
2539 |A1 (single-turn magnetic encoder)|17|0 to 131071
2540
2541 Table 6-53 Single-turn absolute encoder information
2542
2543 The relationship between encoder feedback position and rotating load position is shown in the figure below. (take a 17-bit encoder as an example).
2544
2545 (% style="text-align:center" %)
2546 (((
2547 (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:629px;" %)
2548 [[**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"]]
2549 )))
2550
2551 == Multi-turn absolute value system ==
2552
2553 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.
2554
2555 |=(% scope="row" %)**Encoder type**|=**Encoder resolution (bits)**|=**Data range**
2556 |=C1 (multi-turn magnetic encoder)|17|0 to 131071
2557 |=D2 (multi-turn Optical encoder)|23|0 to 8388607
2558
2559 Table 6-54 Multi-turn absolute encoder information
2560
2561 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).
2562
2563 (% style="text-align:center" %)
2564 (((
2565 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2566 [[**Figure 6-49 The relationship between encoder feedback position and rotating load position**>>image:image-20220608173701-44.png||id="Iimage-20220608173701-44.png"]]
2567 )))
2568
2569 (% class="wikigeneratedid" %)
2570 (((
2571 Multi-turn absolute value position U0-56 origin setting (only for multi-turn encoders)
2572 Under the following two working conditions: 1. The current physical position of the motor cannot reach the
2573 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.
2574 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.
2575
2576 |**Function code**|**Name**|(((
2577 **Setting**
2578
2579 **method**
2580 )))|(((
2581 **Effective**
2582
2583 **time**
2584 )))|**Default**|**Range**|**Definition**|**Unit**
2585 |P10-06|Multi-turn absolute encoder reset|(((
2586 Shutdown
2587
2588 setting
2589 )))|Effective immediately|0|0 to 1|(((
2590 0: No operation
2591
2592 1: Clear rotation number of multi-turn absolute encoder, multi-turn absolute encoder current position and encoder fault alarms.
2593
2594 **✎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.
2595 )))|-
2596
2597 (% style="background-color:#ffffff" %)
2598 |**Function code**|**Name**|(((
2599 **Setting**
2600
2601 **method**
2602 )))|(((
2603 **Effective**
2604
2605 **time**
2606 )))|**Default**|**Range**|**Definition**|**Unit**
2607 |P10-08|Multi-turn absolute encoder origin offset compensation|(((
2608 Operation
2609
2610 setting
2611 )))|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.|-
2612 )))
2613
2614 == Related functions and parameters ==
2615
2616 **Encoder feedback data**
2617
2618 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.
2619
2620 |=(% scope="row" %)**Monitoring number**|=**Category**|=**Name**|=**Unit**|=**Data type**
2621 |=U0-54|Universal|Absolute encoder position within 1 turn|Encoder unit|32-bit
2622 |=U0-55|Universal|Rotations number of absolute encoder|circle|32-bit
2623 |=U0-56|Universal|Multi-turn absolute value encoder current position|Instruction unit|32-bit
2624
2625 Table 6-55 Encoder feedback data
2626
2627 **Shield multi-turn absolute encoder battery fault**
2628
2629 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.
2630
2631 |=(% scope="row" %)**Function code**|=**Name**|=(((
2632 **Setting**
2633
2634 **method**
2635 )))|=(((
2636 **Effective**
2637
2638 **time**
2639 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2640 |=P00-30|Shield multi-turn absolute encoder battery fault|Operation setting|Power on again|0|0 to 3|(((
2641 0: Detect multi-turn absolute encoder battery under voltage, and battery low voltage fault
2642
2643 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
2644
2645 2: **[Not recommended]** Shield multi-turn absolute value encoder battery under temperature fault, which is very likely to cause mechanical failure. Please use it carefully!
2646
2647 3: **[Not recommended]** Shield absolute value encoder battery undervoltage and low voltage failure and multi-turn absolute value encoder battery under temperature failure are very likely to cause mechanical failure, please use it carefully!
2648 )))|-
2649
2650 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.
2651
2652 **A93 warning solution**
2653
2654 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.
2655 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.
2656
2657 |**Function code**|**Name**|(((
2658 **Setting**
2659
2660 **method**
2661 )))|(((
2662 **Effective**
2663
2664 **time**
2665 )))|**Default**|**Range**|**Definition**|**Unit**
2666 |P00-31|Encoder read-write check abnormal frequency|(((
2667 Operation
2668
2669 setting
2670 )))|(((
2671 immediately
2672
2673 Effective
2674 )))|20|0 to100|(((
2675 The setting of the alarm threshold for the abnormal frequency of the encoder read-write
2676
2677 0: no alarm
2678
2679 Others: When this setting value is exceeded, report A93.
2680 )))|-
2681
2682 (% class="box infomessage" %)
2683 (((
2684 **✎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.
2685 )))
2686
2687 == Absolute value system encoder battery box use precautions. ==
2688
2689 **Cautions**
2690
2691 When the battery is connected for the first time, Er.40 (Encoder battery failure) will occur. First, set function code P10-06 = 1 to reset the multi-turn encoder. After the reset, set function code P10-03 = 1 to clear the encoder fault, then perform the absolute value system operation again.
2692
2693 (% style="text-align:center" %)
2694 (((
2695 (% class="wikigeneratedid img-thumbnail" style="display:inline-block; width:975px;" %)
2696 [[**Figure 6-50 the encoder battery box**>>image:image-20220707111333-28.png||height="390" id="Iimage-20220707111333-28.png" width="975"]]
2697 )))
2698
2699 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.
2700
2701 **Replace the battery**
2702
2703 Please replace the battery while keeping the servo drive and motor well connected and the power on.
2704
2705 The specific replacement method is as follows:
2706
2707 * Step1 Push open the buckles on both ends of the outer cover of the battery compartment and open the outer cover.
2708 * Step2 Remove the old battery.
2709 * Step3 Embed the new battery, and the battery plug wire according to the anti-dull port on the battery box for placement.
2710 * Step4 Close the outer cover of the battery box, please be careful not to pinch the connector wiring when closing.
2711
2712 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.
2713
2714 |=(% scope="row" %)**Function code**|=**Name**|=(((
2715 **Setting method**
2716 )))|=(((
2717 **Effective time**
2718 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2719 |=P10-06|Multi-turn absolute encoder reset|(((
2720 Shutdown setting
2721 )))|(((
2722 Effective immediately
2723 )))|0|0 to 1|(((
2724 * 0: No operation
2725 * 1: Clear rotation number of multi-turn absolute encoder, multi-turn absolute encoder current position and encoder fault alarms.
2726
2727 (% class="box infomessage" %)
2728 (((
2729 ✎**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.
2730 )))
2731 )))|-
2732
2733 Table 6-56 Absolute encoder reset enable parameter
2734
2735 **Battery selection**
2736
2737 |=(% scope="row" style="width: 361px;" %)**Battery selection specification**|=(% style="width: 496px;" %)**Item**|=(% style="width: 219px;" %)**Value**
2738 |(% rowspan="4" style="width:361px" %)(((
2739 Nominal Voltage: 3.6V
2740
2741 Nominal capacity: 2700mAh
2742 )))|(% style="width:496px" %)Standard battery voltage (V)|(% style="width:219px" %)3.6
2743 |(% style="width:496px" %)Standard cell voltage (V)|(% style="width:219px" %)3.1
2744 |(% style="width:496px" %)Battery ambient temperature range|(% style="width:219px" %)0 to 40
2745 |(% style="width:496px" %)Battery storage ambient temperature range|(% style="width:219px" %)-20 to 60
2746
2747 Table 6-57 Absolute value encoder battery information
2748
2749 **✎Note: **
2750
2751 If the battery is replaced when the servo drive is powered off, the encoder data will be lost.
2752
2753 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.
2754
2755 Correct placement of batteries +, - direction
2756
2757 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!
2758 1. This battery cannot be charged.
2759 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)
2760 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.
2761 1. After the replacement of the battery, please dispose of it according to local laws and regulations.
2762
2763 = **Other functions** =
2764
2765 == VDI ==
2766
2767 VDI (Virtual Digital Signal Input Port) is similar to hardware DI terminal. The DI function could also be assigned for use.
2768
2769 (% class="box infomessage" %)
2770 (((
2771 ✎**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).
2772 )))
2773
2774 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.
2775
2776 (% style="text-align:center" %)
2777 (((
2778 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2779 [[**Figure 6-51 VDI_1 setting steps**>>image:image-20220608173804-46.png||id="Iimage-20220608173804-46.png"]]
2780 )))
2781
2782 |=(% scope="row" %)**Function code**|=**Name**|=(((
2783 **Setting method**
2784 )))|=(((
2785 **Effective time**
2786 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2787 |=P13-1|Virtual VDI_1 input value|Operation setting|Effective immediately|0|0 to 1|(((
2788 When P06-04 is set to 1, DI_1 channel logic is control by this function code.
2789
2790 VDI_1 input level:
2791
2792 0: Low level
2793
2794 1: High level
2795 )))|-
2796 |=P13-2|Virtual VDI_2 input value|Operation setting|Effective immediately|0|0 to 1|(((
2797 When P06-07 is set to 1, DI_2 channel logic is control by this function code.
2798
2799 VDI_2 input level:
2800
2801 0: Low level
2802
2803 1: High level
2804 )))|-
2805 |=P13-3|Virtual VDI_3 input value|Operation setting|Effective immediately|0|0 to 1|(((
2806 When P06-10 is set to 1, DI_3 channel logic is control by this function code.
2807
2808 VDI_3 input level:
2809
2810 0: Low level
2811
2812 1: High level
2813 )))|-
2814 |=P13-4|Virtual VDI_4 input value|Operation setting|Effective immediately|0|0 to 1|(((
2815 When P06-13 is set to 1, DI_4 channel logic is control by this function code.
2816
2817 VDI_4 input level:
2818
2819 0: Low level
2820
2821 1: High level
2822 )))|-
2823 |=P13-05(((
2824 ★
2825 )))|Virtual VDI_5 input value|Operation setting|Effective immediately|0|0 to 1|(((
2826 When P06-16 is set to 1, DI_5 channel logic is control by this function code.
2827
2828 VDI_5 input level:
2829
2830 0: Low level
2831
2832 1: High level
2833 )))|-
2834 |=P13-06(((
2835 ★
2836 )))|Virtual VDI_6 input value|Operation setting|Effective immediately|0|0 to 1|(((
2837 When P06-19 is set to 1, DI_6 channel logic is control by this function code.
2838
2839 VDI_6 input level:
2840
2841 0: Low level
2842
2843 1: High level
2844 )))|-
2845 |=P13-07(((
2846 ★
2847 )))|Virtual VDI_7 input value|Operation setting|Effective immediately|0|0 to 1|(((
2848 When P06-22 is set to 1, DI_7 channel logic is control by this function code.
2849
2850 VDI_7 input level:
2851
2852 0: Low level
2853
2854 1: High level
2855 )))|-
2856 |=P13-08(((
2857 ★
2858 )))|Virtual VDI_8 input value|Operation setting|Effective immediately|0|0 to 1|(((
2859 When P06-25 is set to 1, DI_8 channel logic is control by this function code.
2860
2861 VDI_8 input level:
2862
2863 0: Low level
2864
2865 1: High level
2866 )))|-
2867
2868 Table 6-58 Virtual VDI parameters
2869
2870 (% class="box infomessage" %)
2871 (((
2872 ✎**Note: **“★” means VD2F and VD2L servo drive does not support the function code .
2873 )))
2874
2875 == Port filtering time ==
2876
2877 VD2A, VD2B and VD2C servo drives have 8 hardware DI terminals (DI_1 to DI_8) , VD2F and VD2L servo drives have 4 hardware DI terminals (DI_1 to DI_4) . All the DI terminals are normal terminals.
2878
2879 |=(% scope="row" style="width: 204px;" %)**Setting value**|=(% style="width: 235px;" %)**DI channel logic selection**|=(% style="width: 637px;" %)**Illustration**
2880 |=(% style="width: 204px;" %)0|(% style="width:235px" %)Active high level|(% style="width:637px" %)[[image:image-20220707113050-31.jpeg]]
2881 |=(% style="width: 204px;" %)1|(% style="width:235px" %)Active low level|(% style="width:637px" %)[[image:image-20220707113205-33.jpeg||height="166" width="526"]]
2882
2883 Table 6-59 DI terminal channel logic selection
2884
2885 == **VDO** ==
2886
2887 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.
2888
2889 Take the DO_2 terminal as communication VDO, and the use steps of VDI are as the figure below.
2890
2891 (% style="text-align:center" %)
2892 (((
2893 (% class="wikigeneratedid img-thumbnail" style="display:inline-block" %)
2894 [[**Figure 6-52 VDO_2 setting steps**>>image:image-20220608173957-48.png||id="Iimage-20220608173957-48.png"]]
2895 )))
2896
2897
2898 |=(% scope="row" %)**Function code**|=**Name**|=(((
2899 **Setting method**
2900 )))|=(((
2901 **Effective time**
2902 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2903 |=P13-11|Communication VDO_1 output value|Operation setting|Effective immediately|0|0 to 1|(((
2904 VDO_1 output level：
2905
2906 0: Low level
2907
2908 1: High level
2909 )))|-
2910 |=P13-12|Communication VDO_2 output value|Operation setting|Effective immediately|0|0 to 1|(((
2911 VDO_2 output level：
2912
2913 0: Low level
2914
2915 1: High level
2916 )))|-
2917 |=P13-13|Communication VDO_3 output value|Operation setting|Effective immediately|0|0 to 1|(((
2918 VDO_3 output level：
2919
2920 0: Low level
2921
2922 1: High level
2923 )))|-
2924 |=P13-14|Communication VDO_4 output value|Operation setting|Effective immediately|0|0 to 1|(((
2925 VDO_4 output level：
2926
2927 0: Low level
2928
2929 1: High level
2930 )))|-
2931
2932 Table 6-60 Communication control DO function parameters
2933
2934 |=(% scope="row" %)**DO function number**|=**Function name**|=**Function**
2935 |=145|COM_VDO1 communication VDO1 output|Use communication VDO
2936 |=146|COM_VDO1 communication VDO2 output|Use communication VDO
2937 |=147|COM_VDO1 communication VDO3 output|Use communication VDO
2938 |=148|COM_VDO1 communication VDO4output|Use communication VDO
2939
2940 Table 6-61 VDO function number
2941
2942 ✎**Note:** You are advised to configure function codes for DO terminals in sequence to avoid errors during DO signal observation
2943
2944 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).
2945
2946 == Motor overload protection ==
2947
2948 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%.
2949
2950 |=(% scope="row" %)**Function code**|=**Name**|=(((
2951 **Setting method**
2952 )))|=(((
2953 **Effective time**
2954 )))|=**Default value**|=**Range**|=**Definition**|=**Unit**
2955 |=P10-04|motor overload protection time coefficient|Operation setting|Effective immediately|100|0 to 800|(((
2956 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.
2957
2958 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
2959 )))|%
2960
2961 In the following cases, it could be modified according to the actual heat generation of the motor
2962
2963 1. The motor works in a place with high ambient temperature
2964 1. The motor runs in cycle circulates, and the single running cycle is short and the acceleration and deceleration is frequent.
2965
2966 = Homing mode =
2967
2968 The homing mode is used to find the mechanical origin and locate the positional relationship between the mechanical origin and the mechanical zero.
2969
2970 Mechanical homing: A mechanically fixed position may correspond to a certain defined homing switch, or may correspond to the motor Z signal.
2971
2972 Mechanical zero point: Mechanically absolute 0 position.
2973
2974 After the homing, the stop position of the motor is the mechanical homing. By setting P10-08, the relationship between the mechanical homing and the mechanical zero can be set:
2975
2976 Mechanical homing = Mechanical zero +P10-08 (homing offset)
2977
2978 When P10-08=0, the mechanical homing coincides with the mechanical zero.
2979
2980 == Control block diagram ==
2981
2982 (% style="text-align:center" %)
2983 (((
2984 (% style="display:inline-block" %)
2985 [[Figure 6-53 Homing mode control block diagram>>image:企业微信截图_17531688812839.png]]
2986 )))
2987
2988 === Homing mode related function codes ===
2989
2990 |Function code|Name|(((
2991 Setting
2992
2993 method
2994 )))|(((
2995 Effective
2996
2997 time
2998 )))|Default|Range|Definition|Unit
2999 |P01-39|Homing start mode|(((
3000 Stop
3001
3002 settings
3003 )))|(((
3004 Effective immediately
3005 )))|0|0 to 2|(((
3006 0: Close
3007
3008 1: The servo is powered ON and started after the first ON
3009
3010 2: DI enable
3011 )))|-
3012 |P01-40|Homing mode|(((
3013 Stop
3014
3015 settings
3016 )))|(((
3017 Effective immediately
3018 )))|0|0 to 35|(((
3019 0 ~~ 35 Homing mode;
3020
3021 ✎Note: VD2 currently does not support 15, 16, 31, 32 modes
3022 )))|-
3023 |(% style="width:89px" %)P01-41|(% style="width:90px" %)High-speed search deceleration point signal velocity|(% style="width:74px" %)(((
3024 Operation setting
3025 )))|(% style="width:90px" %)(((
3026 Effective immediately
3027 )))|(% style="width:61px" %)300|(% style="width:50px" %)1 to 3000|(% style="width:242px" %)High-speed search deceleration point signal velocity in homing mode|rpm
3028 |P01-42|Low speed search homing signal speed|(((
3029 Operation setting
3030 )))|(((
3031 Effective immediately
3032 )))|60|1 to 300|Low-speed search origin signal velocity in homing mode|rpm
3033 |P01-43|Homing acceleration and deceleration|(((
3034 Operation setting
3035 )))|(((
3036 Effective immediately
3037 )))|50|1to1000|(((
3038 Acceleration and deceleration in homing mode
3039
3040 Time for speed acceleration from 0 to 1000rpm
3041 )))|ms
3042 |P01-44|Homing timeout limited time|(((
3043 Operation setting
3044 )))|(((
3045 Effective immediately
3046 )))|65535|100 to 65535|Homing timeout limited time|ms
3047 |P10-08|Multi-turn absolute encoder homing offset compensation|(((
3048 Operation setting
3049 )))|(((
3050 Effective immediately
3051 )))|0|(((
3052 -2147483647~~
3053
3054 2147483646
3055 )))|(((
3056 P10-08 multi-turn absolute encoder homing offset compensation is used in conjunction with U0-56 multi-turn absolute encoder current position.
3057
3058 When P10-6 is set to 1, the value of U0-56 is updated to P10-8.
3059 )))|-
3060
3061 (% style="color:inherit; font-family:inherit; font-size:max(20px, min(24px, 12.8889px + 0.925926vw))" %)Introduction to homing mode
3062
3063 In the following figure, "H" represents P01-41 (high-speed search deceleration point signal speed), and "L" represents P01-42 (low-speed search homing signal speed).
3064
3065
3066 (1) P01-40 =1
3067
3068 Mechanical homing: Motor Z signal
3069
3070 Deceleration point: Reverse limit switch (NOT)
3071
3072 ① The deceleration point signal is invalid when starting homing
3073
3074 (% style="text-align:center" %)
3075 [[image:1748221916083-747.jpg||height="347" width="600"]]
3076
3077 When the motor starts to move, NOT=0, the servo motor runs in the high-speed in reverse direction until it meets the rising edge of NOT, it decelerates and reverses the direction, runs at a low speed in the forward direction, and stops at the first Z signal after encountering the falling edge of NOT.
3078
3079
3080 ② The deceleration point signal is valid when starting homing
3081
3082 (% style="text-align:center" %)
3083 [[image:1748222134730-241.jpg||height="341" width="600"]]
3084
3085 When the motor starts to move when NOT=1, it directly run in low speed in the forward direction, and stops at the first Z signal after encountering the falling edge of NOT.
3086
3087
3088 (2) P01-40=2
3089
3090 Mechanical homing: Motor Z signal
3091
3092 Deceleration point: Positive Limit Switch (POT)
3093
3094 ① The deceleration point signal is invalid when starting homing
3095
3096 (% style="text-align:center" %)
3097 [[image:1748222168627-745.jpg||height="334" width="600"]]
3098
3099
3100 When the motor starts to move and POT = 0, the servo motor runs in the high-speed in forward direction until it meets the rising edge of POT, it decelerates and reverses, runs at a reverse low speed, and stops at the first Z signal after encountering the falling edge of POT.
3101
3102
3103 ② The deceleration point signal is valid when starting homing
3104
3105 (% style="text-align:center" %)
3106 [[image:1748222190794-857.jpg||height="337" width="600"]]
3107
3108 When the motor starts to home and POT=1, it directly starts to move at low speed in the reverse direction, and stops at the first Z signal after encountering the falling edge of NOT.
3109
3110
3111 (3) P01-40=3
3112
3113 Mechanical homing: Motor Z signal
3114
3115 Deceleration point: Home switch (HW)
3116
3117 ① The deceleration point signal is invalid when starting homing
3118
3119 (% style="text-align:center" %)
3120 [[image:1748226127686-390.jpg||height="337" width="600"]]
3121
3122
3123 The motor starts to move and HW = 0. It starts to move at a forward high speed. After encountering the rising edge of HW, it decelerates and reverses the direction. It runs at a reverse low speed. After encountering the falling edge of HW, it continues to run, and then stops when encountering the first Z signal.
3124
3125
3126 ② The deceleration point signal is valid when starting homing
3127
3128 (% style="text-align:center" %)
3129 [[image:1748226169150-834.jpg||height="337" width="600"]]
3130
3131 When the motor starts to home and HW=1, it directly starts to move at low speed in the reverse direction, and stops at the first Z signal after encountering the falling edge of HW.
3132
3133
3134 (4) P01-40=4
3135
3136 Mechanical homing: Motor Z signal
3137
3138 Deceleration point: Home switch (HW)
3139
3140 ① The deceleration point signal is invalid when starting homing
3141
3142 (% style="text-align:center" %)
3143 [[image:1748226182842-731.jpg||height="337" width="600"]]
3144
3145 When the motor starts to home and HW=0, it directly starts to move at low speed in the forward direction, and stops at the first Z signal after encountering the rising edge of HW.
3146
3147
3148 ② The deceleration point signal is valid when starting homing
3149
3150 (% style="text-align:center" %)
3151 [[image:1748226201716-810.jpg||height="338" width="600"]]
3152
3153
3154 The motor starts to move and HW = 1, It starts to move at a high speed in the reverse direction. After encountering the falling edge of HW, It decelerates and reverses, runs at a low speed in the forward direction, and stops at the first Z signal after encountering the rising edge of HW.
3155
3156
3157 (5) P01-40=5
3158
3159 Mechanical homing: Motor Z signal
3160
3161 Deceleration point: Home switch (HW)
3162
3163 ① The deceleration point signal is invalid when starting homing
3164
3165 (% style="text-align:center" %)
3166 [[image:1748226251451-548.jpg||height="337" width="600"]]
3167
3168 When the motor start to move and HW = 0, and it starts to move at a reverse high speed. After encountering the rising edge of HW, it decelerates and reverses the direction, runs at a low speed in the forward direction, and stops at the first Z signal after encountering the falling edge of HW.
3169
3170
3171 ② The deceleration point signal is valid when starting homing
3172
3173 (% style="text-align:center" %)
3174 [[image:1748226264724-999.jpg||height="337" width="600"]]
3175
3176 When the motor starts to home and HW=1, it directly starts to move at low speed in the forward direction, and stops at the first Z signal after encountering the falling edge of HW.
3177
3178
3179 (6) P01-40=6
3180
3181 Mechanical homing: Motor Z signal
3182
3183 Deceleration point: Home switch (HW)
3184
3185 ① The deceleration point signal is invalid when starting homing
3186
3187 (% style="text-align:center" %)
3188 [[image:1748226277996-278.jpg||height="337" width="600"]]
3189
3190 When the motor starts to home and HW=0, it directly starts to move at low speed in the reverse direction, and stops at the first Z signal after encountering the rising edge of HW.
3191
3192
3193 ② The deceleration point signal is valid when starting homing
3194
3195 (% style="text-align:center" %)
3196 [[image:1748226309059-457.jpg||height="337" width="600"]]
3197
3198 When starting to homing, HW = 1, start to homing at a forward high speed, after encountering the falling edge of HW, decelerate and reverse, run at a reverse low speed, and stop at the first Z signal after encountering the rising edge of HW.
3199
3200
3201 (7) P01-40=7
3202
3203 Mechanical homing: Motor Z signal
3204
3205 Deceleration point: Home switch (HW)
3206
3207 ① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3208
3209 (% style="text-align:center" %)
3210 [[image:1748226329690-925.jpg||height="405" width="600"]]
3211
3212 When the motor starts to home and HW = 0, it starts to move at a forward high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and reverses the direction, and runs at a reverse low speed, and stops at the first Z signal after encountering the rising edge of HW.
3213
3214
3215 ②When homing, the deceleration point signal is invalid and the forward limit switch is encountered
3216
3217 (% style="text-align:center" %)
3218 [[image:企业微信截图_17531707793586.png]]
3219
3220 When the motor starts to home and HW = 0, it starts to move at a forward high speed. If the limit switch is encountered, it will reverse and run at a reverse high speed. After encountering the rising edge of HW, it decelerates and runs at a reverse low speed, and stops at the first Z signal after encountering the rising edge of HW.
3221
3222
3223 ③ The deceleration point signal is valid when starting homing
3224
3225 (% style="text-align:center" %)
3226 [[image:1748226362415-253.jpg||height="406" width="600"]]
3227
3228 When starting homing, HW=1, then directly reverse the low speed to start homing, and stop the first Z signal after encountering the falling edge of HW;
3229
3230
3231 (8) P01-40=8
3232
3233 Mechanical homing: Motor Z signal
3234
3235 Deceleration point: Home switch (HW)
3236
3237 ① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3238
3239 (% style="text-align:center" %)
3240 [[image:1748226377919-294.jpg||height="425" width="600"]]
3241
3242 When it starts to home and HW = 0, it starts to move at a forward high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and reverses the direction, and runs at a reverse low speed. After encountering the falling edge of HW, it reverses and runs at a forward low speed, and stops at the first Z signal after encountering the rising edge of HW.
3243
3244
3245 ② The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
3246
3247 (% style="text-align:center" %)
3248 [[image:1748226441814-616.jpg||height="460" width="600"]]
3249
3250 When the motor starts to home and HW = 0, it starts to move at a forward high speed. If the limit switch is encountered, it will reverse and run at a reverse high speed. After encountering the rising edge of HW, it decelerates and runs at a reverse low speed. After encountering the falling edge of HW, it reverses and runs at a forward low speed, and stops at the first Z signal after encountering the rising edge of HW.
3251
3252
3253 ③ The deceleration point signal is valid when starting homing
3254
3255 (% style="text-align:center" %)
3256 [[image:1748226458987-236.jpg||height="403" width="600"]]
3257
3258 When the motor starts to home and HW=1, it directly starts to move at low speed in the reverse direction. After encountering the falling edge of HW, it reverses and runs at a forward low speed, and stops at the first Z signal after encountering the rising edge of HW.
3259
3260
3261 (9) P01-40=9
3262
3263 Mechanical homing: Motor Z signal
3264
3265 Deceleration point: Home switch (HW)
3266
3267 ① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3268
3269 (% style="text-align:center" %)
3270 [[image:1748226475073-462.jpg||height="407" width="600"]]
3271
3272 When the motor starts to home and HW = 0, it starts to move at a forward high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and runs at a forward low speed. After encountering the falling edge of HW, it reverses and runs at a reverse low speed, and stops at the first Z signal after encountering the rising edge of HW.
3273
3274
3275 ② The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
3276
3277 (% style="text-align:center" %)
3278 [[image:1748226491294-972.jpg||height="473" width="600"]]
3279
3280 When the motor starts to home and HW = 0, it starts to move at a forward high speed. If the limit switch is encountered, it will reverse and run at a reverse high speed. After encountering the rising edge of HW, it decelerates and runs at a forward low speed. After encountering the falling edge of HW, it reverses and runs at a reverse low speed, and stops at the first Z signal after encountering the rising edge of HW.
3281
3282 ③ The deceleration point signal is valid when starting homing
3283
3284 (% style="text-align:center" %)
3285 [[image:1748226509824-146.jpg||height="406" width="600"]]
3286
3287 When the motor starts to home and HW=1, it directly starts to move at low speed in the forward direction. After encountering the falling edge of HW, it reverses and runs at a reverse low speed, and stops at the first Z signal after encountering the rising edge of HW;
3288
3289
3290 (10) P01-40=10
3291
3292 Mechanical homing: Motor Z signal
3293
3294 Deceleration point: Home switch (HW)
3295
3296 ① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3297
3298 (% style="text-align:center" %)
3299 [[image:1748226583138-561.jpg||height="403" width="600"]]
3300
3301 When the motor starts to home and HW = 0, it starts to move at a forward high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and runs at a forward low speed, and stops at the first Z signal after encountering the falling edge of HW.
3302
3303 ② When homing, the deceleration point signal is invalid and the forward limit switch is encountered
3304
3305 (% style="text-align:center" %)
3306 [[image:1748226640407-712.jpg||height="474" width="600"]]
3307
3308 When the motor starts to home and HW = 0, it starts to move at a forward high speed. If the limit switch is encountered, it will reverse and run at a reverse high speed. After encountering the rising edge of HW, it decelerates and runs at a forward low speed. After encountering the falling edge of HW, it reverses and runs at a forward low speed, and stops at the first Z signal after encountering the falling edge of HW.
3309
3310
3311 ③ The deceleration point signal is valid when starting homing
3312
3313 (% style="text-align:center" %)
3314 [[image:1748226662455-861.jpg||height="392" width="600"]]
3315
3316 When the motor starts to home and HW=1, it directly starts to move at low speed in the forward direction, and stops at the first Z signal after encountering the falling edge of HW.
3317
3318
3319 (11) P01-40=11
3320
3321 Mechanical homing: Motor Z signal
3322
3323 Deceleration point: Home switch (HW)
3324
3325 ① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3326
3327 (% style="text-align:center" %)
3328 [[image:1748226681272-116.jpg||height="406" width="600"]]
3329
3330 When the motor starts to home and HW = 0, it starts to move at a reverse high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and runs at a forward low speed, and stops at the first Z signal after encountering the falling edge of HW.
3331
3332
3333 ② The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3334
3335 (% style="text-align:center" %)
3336 [[image:1748226729793-833.jpg||height="484" width="600"]]
3337
3338 When the motor starts to home and HW = 0, it starts to move at a reverse high speed. If the limit switch is encountered, it will reverse and run at a forward high speed. After encountering the rising edge of HW, it decelerates and runs at a forward low speed, and stops at the first Z signal after encountering the falling edge of HW.
3339
3340 ③ The deceleration point signal is valid when starting homing
3341
3342 (% style="text-align:center" %)
3343 [[image:1748226803530-631.jpg||height="414" width="600"]]
3344
3345 When the motor starts to home and HW=1, it directly starts to move at low speed in the forward direction, and stops at the first Z signal after encountering the falling edge of HW.
3346
3347
3348 (12) P01-40=12
3349
3350 Mechanical homing: Motor Z signal
3351
3352 Deceleration point: Home switch (HW)
3353
3354 ① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3355
3356 (% style="text-align:center" %)
3357 [[image:1748226829420-255.jpg||height="406" width="600"]]
3358
3359
3360 When the motor starts to home and HW = 0, it starts to move at a reverse high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and runs at a forward low speed After encountering the falling edge of HW, it reverses and runs at a reverse low speed, and stops at the first Z signal after encountering the rising edge of HW.
3361
3362
3363 ② The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3364
3365 (% style="text-align:center" %)
3366 [[image:1748226863974-673.jpg||height="484" width="600"]]
3367
3368 When the motor starts to home and HW = 0, it starts to move at a reverse high speed. If the limit switch is encountered, it will reverse and run at a forward high speed. After encountering the rising edge of HW, it decelerates and runs at a forward low speed. After encountering the falling edge of HW, it reverses and runs at a reverse low speed, and stops at the first Z signal after encountering the rising edge of HW.
3369
3370
3371 ③ The deceleration point signal is valid when starting homing
3372
3373 (% style="text-align:center" %)
3374 [[image:1748226879060-830.jpg||height="414" width="600"]]
3375
3376 When starting to homing, HW = 1, it will directly start to homing at a forward low speed. After encountering the falling edge of HW, it will reverse and run at a reverse low speed. The first Z signal after encountering the rising edge of HW will stop.
3377
3378 (13) P01-40=13
3379
3380 Mechanical homing: Motor Z signal
3381
3382 Deceleration point: Home switch (HW)
3383
3384 ① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3385
3386 (% style="text-align:center" %)
3387 [[image:1748227007116-603.jpg||height="443" width="600"]]
3388
3389 When the motor starts to home and HW = 0, it starts to move at a reverse high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and runs at a reverse low speed. After encountering the falling edge of HW, it reverses and runs at a forward low speed, and stops at the first Z signal after encountering the rising edge of HW.
3390
3391
3392 ① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3393
3394 (% style="text-align:center" %)
3395 [[image:1748227023585-740.jpg||height="472" width="600"]]
3396
3397 When the motor starts to home and HW = 0, it starts to move at a reverse high speed. If the limit switch is encountered, it will reverse and run at a forward high speed. After encountering the rising edge of HW, it decelerates and runs at a reverse low speed. After encountering the falling edge of HW, it reverses and runs at a forward low speed, and stops at the first Z signal after encountering the rising edge of HW.
3398
3399 ③ The deceleration point signal is valid when starting homing
3400
3401 (% style="text-align:center" %)
3402 [[image:1748227043041-279.jpg||height="414" width="600"]]
3403
3404 When starting homing, HW=1 starts homing directly at reverse low speed. After encountering the falling edge of HW, the first Z signal after encountering the rising edge of HW stops in reverse and forward low speed operation;
3405
3406
3407 (14) P01-40=14
3408
3409 Mechanical homing: Motor Z signal
3410
3411 Deceleration point: Home switch (HW)
3412
3413 ① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3414
3415 (% style="text-align:center" %)
3416 [[image:1748227060842-543.jpg||height="416" width="600"]]
3417
3418 When the motor starts to home and HW = 0, it starts to move at a reverse high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and runs at a reverse low speed, and stops at the first Z signal after encountering the falling edge of HW.
3419
3420
3421 ① The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3422
3423 (% style="text-align:center" %)
3424 [[image:1748227079908-302.jpg||height="445" width="600"]]
3425
3426 When it starts to homing, HW = 0, it starts to homing at a reverse high speed, encounters a limit switch, automatically reverses, runs at a forward high speed, encounters a rising edge of HW, decelerates and runs in a reverse direction, and stops the first Z signal after encountering a falling edge of HW at a reverse low speed.
3427
3428
3429 ③ The deceleration point signal is valid when starting homing
3430
3431 (% style="text-align:center" %)
3432 [[image:1748227101511-101.jpg||height="414" width="600"]]
3433
3434 When starting homing, HW=1, then directly reverse the low speed to start homing, and stop the first Z signal after encountering the falling edge of HW;
3435
3436
3437 (15) P01-40=17
3438
3439 Mechanical homing: Negative overtravel switch (NOT)
3440
3441 Deceleration point: Negative overtravel switch (NOT)
3442
3443 ① The deceleration point signal is invalid when starting homing
3444
3445 (% style="text-align:center" %)
3446 [[image:1748227125161-655.jpg||height="295" width="600"]]
3447
3448 When the motor starts to home and NOT = 0, it starts to move at a reverse high speed. After encountering the rising edge of NOT, it decelerates and runs at a forward low speed, and stops after encountering the falling edge of NOT.
3449
3450
3451 ② The deceleration point signal is valid when starting homing
3452
3453 (% style="text-align:center" %)
3454 [[image:1748227138852-942.jpg||height="324" width="600"]]
3455
3456 When the motor starts to home and NOT=1, it directly starts to move at low speed in the forward direction, and stops after encountering the falling edge of NOT.
3457
3458
3459 (16) P01-40=18
3460
3461 Mechanical homing: Positive overtravel switch (POT)
3462
3463 Deceleration point: Positive overtravel switch (POT)
3464
3465 ① The deceleration point signal is invalid when starting homing
3466
3467 (% style="text-align:center" %)
3468 [[image:1748227153999-626.jpg||height="300" width="600"]]
3469
3470 When the motor starts to home and POT = 0, it starts to move at a forward high speed. After encountering the rising edge of POT, it decelerates and runs at a reverse low speed, and stops after encountering the falling edge of POT.
3471
3472
3473 ② The deceleration point signal is valid when starting homing
3474
3475 (% style="text-align:center" %)
3476 [[image:1748227169369-310.jpg||height="267" width="600"]]
3477
3478 When starting homing, POT=1, start homing at low speed in reverse directly, and stop when encountering POT falling edge;
3479
3480
3481 (17) P01-40=19
3482
3483 Mechanical homing: Home switch (HW)
3484
3485 Deceleration point: Home switch (HW)
3486
3487 ① The deceleration point signal is invalid when starting homing
3488
3489 (% style="text-align:center" %)
3490 [[image:1748227186962-656.jpg||height="313" width="600"]]
3491
3492 When the motor starts to home and HW = 0, it starts to move at a forward high speed. After encountering the rising edge of HW, it decelerates and runs at a reverse low speed, and stops after encountering the falling edge of HW.
3493
3494
3495 ② The deceleration point signal is valid when starting homing
3496
3497 (% style="text-align:center" %)
3498 [[image:1748227202174-768.jpg||height="313" width="600"]]
3499
3500 When the motor starts to home and HW =1, it directly starts to move at low speed in the reverse direction, and stops after encountering the falling edge of HW.
3501
3502
3503 (18) P01-40=20
3504
3505 Mechanical homing: Home switch (HW)
3506
3507 Deceleration point: Home switch (HW)
3508
3509 ① The deceleration point signal is invalid when starting homing
3510
3511 (% style="text-align:center" %)
3512 [[image:1748227247408-755.jpg||height="314" width="600"]]
3513
3514 When the motor starts to home and HW =0, it directly starts to move at low speed in the forward direction, and stops after encountering the rising edge of HW.
3515
3516
3517 ② The deceleration point signal is valid when starting homing
3518
3519 (% style="text-align:center" %)
3520 [[image:1748227263354-495.jpg||height="313" width="600"]]
3521
3522 When the motor starts to home and HW = 1, it starts to move at a reverse high speed. After encountering the falling edge of HW, it decelerates and runs at a forward low speed, and stops after encountering the rising edge of HW.
3523
3524
3525 (19) P01-40=21
3526
3527 Mechanical homing: Home switch (HW)
3528
3529 Deceleration point: Home switch (HW)
3530
3531 ① The deceleration point signal is invalid when starting homing
3532
3533 (% style="text-align:center" %)
3534 [[image:1748227279599-847.jpg||height="314" width="600"]]
3535
3536 When the motor starts to home and HW = 0, it starts to move at a reverse high speed. After encountering the rising edge of HW, it decelerates and runs at a forward low speed, and stops after encountering the falling edge of HW.
3537
3538
3539 ② The deceleration point signal is valid when starting homing
3540
3541 (% style="text-align:center" %)
3542 [[image:1748227292762-413.jpg||height="313" width="600"]]
3543
3544 When the motor starts to home and HW =1, it directly starts to move at low speed in the forward direction, and stops after encountering the falling edge of HW.
3545
3546
3547 (20) P01-40=22
3548
3549 Mechanical homing: Home switch (HW)
3550
3551 Deceleration point: Home switch (HW)
3552
3553 ① The deceleration point signal is invalid when starting homing
3554
3555 (% style="text-align:center" %)
3556 [[image:1748227358104-464.jpg||height="314" width="600"]]
3557
3558 When the motor starts to home and HW =0, it directly starts to move at low speed in the reverse direction, and stops after encountering the rising edge of HW.
3559
3560
3561 ② Deceleration point signal is valid when homing start
3562
3563 (% style="text-align:center" %)
3564 [[image:1748227380961-172.jpg||height="343" width="600"]]
3565
3566 When the motor starts to home and HW = 1, it starts to move at a forward high speed. After encountering the falling edge of HW, it decelerates and runs at a reverse low speed, and stops after encountering the rising edge of HW.
3567
3568
3569 (21) P01-40=23
3570
3571 Mechanical homing: Home switch (HW)
3572
3573 Deceleration point: Home switch (HW)
3574
3575 ① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3576
3577 (% style="text-align:center" %)
3578 [[image:1748227395851-339.jpg||height="387" width="600"]]
3579
3580 When the motor starts to home and HW = 0, it starts to move at a forward high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and runs at a reverse low speed, and stops after encountering the falling edge of HW.
3581
3582
3583 ② The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
3584
3585 (% style="text-align:center" %)
3586 [[image:1748227414217-295.jpg||height="385" width="600"]]
3587
3588 When the motor starts to home and HW = 0, it starts to move at a forward high speed. If the limit switch is encountered, it will reverse and run at a reverse high speed. After encountering the rising edge of HW, it decelerates and runs at a reverse low speed, and stops after encountering the falling edge of HW.
3589
3590
3591 ③ The deceleration point signal is valid when starting homing
3592
3593 (% style="text-align:center" %)
3594 [[image:1748227429391-234.jpg||height="385" width="600"]]
3595
3596 When the motor starts to home and HW = 0, it starts to move at a forward high speed. If the limit switch is encountered, it will reverse and run at a reverse high speed. After encountering the rising edge of HW, it decelerates and runs at a reverse low speed, and stops after encountering the falling edge of HW.
3597
3598
3599 (22) P01-40=24
3600
3601 Mechanical homing: Home switch (HW)
3602
3603 Deceleration point: Home switch (HW)
3604
3605 ① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3606
3607 (% style="text-align:center" %)
3608 [[image:1748227484547-328.jpg||height="385" width="600"]]
3609
3610 When the motor starts to home and HW = 0, it starts to move at a forward high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and runs at a reverse low speed After encountering the falling edge of HW, it reverses and runs at a forward low speed, and stops after encountering the rising edge of HW.
3611
3612
3613 ② The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
3614
3615 (% style="text-align:center" %)
3616 [[image:1748227532124-334.jpg||height="385" width="600"]]
3617
3618 When the motor starts to home and HW = 0, it starts to move at a forward high speed. If the limit switch is encountered, it will reverse and run at a reverse high speed. After encountering the rising edge of HW, it decelerates and runs at a reverse low speed. After encountering the falling edge of HW, it reverses and runs at a forward low speed, and stops after encountering the rising edge of HW.
3619
3620
3621 ③ The deceleration point signal is valid when starting homing
3622
3623 (% style="text-align:center" %)
3624 [[image:1748227548455-494.jpg||height="387" width="600"]]
3625
3626 When the motor starts to home and HW=1, it directly starts to move at low speed in the reverse direction. After encountering the falling edge of HW, it reverses and runs at a forward low speed, and stops after encountering the rising edge of HW.
3627
3628
3629 (23) P01-40=25
3630
3631 Mechanical homing: Home switch (HW)
3632
3633 Deceleration point: Home switch (HW)
3634
3635 ① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3636
3637 (% style="text-align:center" %)
3638 [[image:1748227564603-199.jpg||height="385" width="600"]]
3639
3640 When the motor starts to home and HW = 0, it starts to move at a forward high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and runs at a forward low speed. After encountering the falling edge of HW, it reverses and runs at a reverse low speed, and stops after encountering the rising edge of HW.
3641
3642
3643 ②The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
3644
3645 (% style="text-align:center" %)
3646 [[image:1748227581797-586.jpg||height="385" width="600"]]
3647
3648 When the motor starts to home and HW = 0, it starts to move at a forward high speed. If the limit switch is encountered, it will reverse and run at a reverse high speed. After encountering the rising edge of HW, it decelerates and runs at a forward low speed. After encountering the falling edge of HW, it reverses and runs at a reverse low speed, and stops after encountering the rising edge of HW.
3649
3650
3651 ③ The deceleration point signal is valid when starting homing
3652
3653 (% style="text-align:center" %)
3654 [[image:1748227596969-949.jpg||height="385" width="600"]]
3655
3656 When the motor starts to home and HW=1, it directly starts to move at low speed in the forward direction. After encountering the falling edge of HW, it reverses and runs at a reverse low speed, and stops after encountering the rising edge of HW.
3657
3658
3659 (24) P01-40=26
3660
3661 Mechanical homing: Home switch (HW)
3662
3663 Deceleration point: Home switch (HW)
3664
3665 ① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered
3666
3667 (% style="text-align:center" %)
3668 [[image:1748227611517-496.jpg||height="349" width="600"]]
3669
3670 When the motor starts to home and HW = 0, it starts to move at a forward high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and runs at a forward low speed, and stops after encountering the falling edge of HW.
3671
3672
3673 ②The deceleration point signal is invalid when starting homing, the forward limit switch is encountered
3674
3675 (% style="text-align:center" %)
3676 [[image:1748227628144-968.jpg||height="385" width="600"]]
3677
3678 When the motor starts to home and HW = 0, it starts to move at a forward high speed. If the limit switch is encountered, it will reverse and run at a reverse high speed. After encountering the rising edge of HW, it decelerates and runs at a forward low speed, and stops after encountering the falling edge of HW.
3679
3680
3681 ③ The deceleration point signal is valid when starting homing
3682
3683 (% style="text-align:center" %)
3684 [[image:1748227641046-963.jpg||height="343" width="600"]]
3685
3686 When the motor starts to home and HW=1, it directly starts to move at low speed in the forward direction, and stops after encountering the falling edge of HW.
3687
3688
3689 (25) P01-40=27
3690
3691 Mechanical homing: Home switch (HW)
3692
3693 Deceleration point: Home switch (HW)
3694
3695 ① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3696
3697 (% style="text-align:center" %)
3698 [[image:1748227660426-173.jpg||height="362" width="600"]]
3699
3700 When the motor starts to home and HW = 0, it starts to move at a reverse high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and runs at a forward low speed, and stops after encountering the falling edge of HW.
3701
3702
3703 ②The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3704
3705 (% style="text-align:center" %)
3706 [[image:1748227698028-549.jpg||height="392" width="600"]]
3707
3708 When the motor starts to home and HW = 0, it starts to move at a reverse high speed. If the limit switch is encountered, it will reverse and run at a forward high speed. After encountering the rising edge of HW, it decelerates and runs at a forward low speed, and stops after encountering the falling edge of HW.
3709
3710
3711 ③ The deceleration point signal is valid when starting homing
3712
3713 (% style="text-align:center" %)
3714 [[image:1748227728238-666.jpg||height="394" width="600"]]
3715
3716 When the motor starts to home, HW=1, it directly starts to move at low speed in the forward direction, and stops after encountering the falling edge of HW.
3717
3718
3719 (26) P01-40=28
3720
3721 Mechanical homing: Home switch (HW)
3722
3723 Deceleration point: Home switch (HW)
3724
3725 ① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3726
3727 (% style="text-align:center" %)
3728 [[image:1748227742531-619.jpg||height="437" width="600"]]
3729
3730 When the motor starts to home and HW = 0, it starts to move at a reverse high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and runs at a forward low speed. After encountering the falling edge of HW, it reverses and runs at a reverse low speed, and stops after encountering the rising edge of HW.
3731
3732
3733 ②The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3734
3735 (% style="text-align:center" %)
3736 [[image:1751361620036-469.png||height="389" width="600"]]
3737
3738 When the motor starts to home and HW = 0, it starts to move at a reverse high speed. If the limit switch is encountered, it will reverse and run at a forward high speed. After encountering the rising edge of HW, it decelerates and runs at a forward low speed. After encountering the falling edge of HW, it reverses and runs at a reverse low speed, and stops after encountering the rising edge of HW.
3739
3740
3741 ③ The deceleration point signal is valid when starting homing
3742
3743 (% style="text-align:center" %)
3744 [[image:1748227779034-947.jpg||height="394" width="600"]]
3745
3746 When the motor starts to home and HW=1, it directly starts to move at low speed in the forward direction. After encountering the falling edge of HW, it reverses and runs at a reverse low speed, and stops after encountering the rising edge of HW.
3747
3748
3749 (27) P01-40=29
3750
3751 Mechanical homing: Home switch (HW)
3752
3753 Deceleration point: Home switch (HW)
3754
3755 ① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3756
3757 (% style="text-align:center" %)
3758 [[image:1748227795620-564.jpg||height="432" width="600"]]
3759
3760 When it starts to homing, HW = 0, it starts to homing at a reverse high speed, and does not encounter a limit switch. After encountering the rising edge of HW, it decelerates and runs at a reverse low speed. After encountering the falling edge of HW, it reverses and runs at a forward low speed, and stops when encountering the rising edge of HW.
3761
3762
3763 ② The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3764
3765 (% style="text-align:center" %)
3766 [[image:1748227810884-219.jpg||height="395" width="600"]]
3767
3768 When the motor starts to home and HW = 0, it starts to move at a reverse high speed. If the limit switch is encountered, it will reverse and run at a forward high speed. After encountering the rising edge of HW, it decelerates and runs at a reverse low speed. After encountering the falling edge of HW, it reverses and runs at a forward low speed, and stops after encountering the rising edge of HW.
3769
3770 ③ The deceleration point signal is valid when starting homing
3771
3772 (% style="text-align:center" %)
3773 [[image:1748227826652-200.jpg||height="392" width="600"]]
3774
3775 When the motor starts to home and HW=1, it directly starts to move at low speed in the reverse direction. After encountering the falling edge of HW, it reverses and runs at a forward low speed, and stops after encountering the rising edge of HW.
3776
3777
3778 (28) P01-40=30
3779
3780 Mechanical homing: Home switch (HW)
3781
3782 Deceleration point: Home switch (HW)
3783
3784 ① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered
3785
3786 (% style="text-align:center" %)
3787 [[image:1748227844268-953.jpg||height="437" width="600"]]
3788
3789 When the motor starts to home and HW = 0, it starts to move at a reverse high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and runs at a reverse low speed, and stops after encountering the falling edge of HW.
3790
3791
3792 ② The deceleration point signal is invalid when starting homing, the reverse limit switch is encountered
3793
3794 (% style="text-align:center" %)
3795 [[image:1748227859385-295.jpg||height="394" width="600"]]
3796
3797 When the motor starts to home and HW = 0, it starts to move at a reverse high speed. If the limit switch is encountered, it will reverse and run at a forward high speed. After encountering the rising edge of HW, it decelerates and runs at a reverse low speed, and stops after encountering the falling edge of HW.
3798
3799
3800 ③ The deceleration point signal is valid when starting homing
3801
3802 (% style="text-align:center" %)
3803 [[image:1748227876370-835.jpg||height="395" width="600"]]
3804
3805 When the motor starts to home and HW=1, it directly starts to move at low speed in the reverse direction, and stops after encountering the falling edge of HW.
3806
3807
3808 (29) P01-40=33 and P01-40=34
3809
3810 Mechanical homing: Z signal.
3811
3812 Deceleration point: None
3813
3814 Homing mode 33: Reverse low speed operation, stop the first Z signal encountered
3815
3816 Homing mode 34: running at low speed in forward direction, stopping the first Z signal encountered
3817
3818 (% style="text-align:center" %)
3819 [[image:1748227893108-875.jpg||height="161" width="600"]]
3820
3821
3822 (30) P01-40=35
3823
3824 Homing mode 35: When the motor starts to home, it sets the current position as the mechanical origin (P01-39: 0x00→0x01/0x00 → 0x02). After the homing is completed, it executes P10-06 (encoder multi-turn reset operation) according to the setting value of P10-08 (origin offset compensation)
3825
3826
3827