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Changes for page 11 Appendix

Last modified by Wecon on 2025/09/12 15:35
From version 1.2
edited by Iris
on 2025/09/08 11:46
Change comment: There is no comment for this version
To version 1.3
edited by Iris
on 2025/09/08 11:51
Change comment: There is no comment for this version

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... ... @@ -540,68 +540,68 @@
540 540  Valid DI port logic : reverse turns are allowed.
541 541  )))
542 542  
543 -(% style="width:1557px" %)
544 -|=(% colspan="6" style="text-align: center; vertical-align: middle; width: 1554px;" %)**DO channel function definition**
545 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)**Number**|(% style="text-align:center; vertical-align:middle; width:81px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:694px" %)**Function name**|(% style="text-align:center; vertical-align:middle; width:682px" %)**Content**|(% style="text-align:center; vertical-align:middle; width:682px" %)Note
546 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)128|(% style="text-align:center; vertical-align:middle; width:81px" %)~-~-|(% style="text-align:center; vertical-align:middle; width:694px" %)OFF (not used)|(% style="vertical-align:middle; width:682px" %)-|(% style="vertical-align:middle; width:682px" %) |-
543 +(% style="width:1211.67px" %)
544 +|=(% colspan="6" style="text-align: center; vertical-align: middle; width: 1063px;" %)**DO channel function definition**
545 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)**Number**|(% style="text-align:center; vertical-align:middle; width:81px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:694px" %)**Function name**|(% style="text-align:center; vertical-align:middle; width:682px" %)**Content**|(% style="text-align:center; vertical-align:middle; width:225px" %)Note
546 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)128|(% style="text-align:center; vertical-align:middle; width:81px" %)~-~-|(% style="text-align:center; vertical-align:middle; width:694px" %)OFF (not used)|(% style="vertical-align:middle; width:682px" %)-|(% style="vertical-align:middle; width:225px" %) |(% style="width:97px" %)
547 547  |(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)129|(% style="text-align:center; vertical-align:middle; width:81px" %)RDY|(% style="text-align:center; vertical-align:middle; width:694px" %)Servo is ready|(% style="vertical-align:middle; width:682px" %)(((
548 548  Servo is ready, and could receive S-ON signal.
549 549  
550 550  1. Invalid DO port logic: Servo is not ready
551 551  1. Valid DO port logic: Servo is ready
552 -)))|(% style="vertical-align:middle; width:682px" %) |-
553 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)130|(% style="text-align:center; vertical-align:middle; width:81px" %)ALM|(% style="text-align:center; vertical-align:middle; width:694px" %)Fault signal|(% style="vertical-align:middle; width:682px" %)Valid when the fault is detected|(% style="vertical-align:middle; width:682px" %) |-
554 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)131|(% style="text-align:center; vertical-align:middle; width:81px" %)WARN|(% style="text-align:center; vertical-align:middle; width:694px" %)Warning signal|(% style="vertical-align:middle; width:682px" %)Valid when warning signals are output|(% style="vertical-align:middle; width:682px" %) |-
552 +)))|(% style="vertical-align:middle; width:225px" %) |(% style="width:97px" %)
553 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)130|(% style="text-align:center; vertical-align:middle; width:81px" %)ALM|(% style="text-align:center; vertical-align:middle; width:694px" %)Fault signal|(% style="vertical-align:middle; width:682px" %)Valid when the fault is detected|(% style="vertical-align:middle; width:225px" %) |(% style="width:97px" %)-
554 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)131|(% style="text-align:center; vertical-align:middle; width:81px" %)WARN|(% style="text-align:center; vertical-align:middle; width:694px" %)Warning signal|(% style="vertical-align:middle; width:682px" %)Valid when warning signals are output|(% style="vertical-align:middle; width:225px" %) |(% style="width:97px" %)-
555 555  |(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)132|(% style="text-align:center; vertical-align:middle; width:81px" %)TGON|(% style="text-align:center; vertical-align:middle; width:694px" %)Rotation detection|(% style="vertical-align:middle; width:682px" %)(((
556 556  When the absolute value of servo motor speed is higher than P05-16 set value:
557 557  
558 558  * Invalid DO port logic: invalid motor rotation detection signal
559 559  * Valid DO port logic: valid motor rotation detection signal
560 -)))|(% style="vertical-align:middle; width:682px" %) |-
560 +)))|(% style="vertical-align:middle; width:225px" %) |(% style="width:97px" %)-
561 561  |(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)133|(% style="text-align:center; vertical-align:middle; width:81px" %)ZSP|(% style="text-align:center; vertical-align:middle; width:694px" %)Zero speed signal|(% style="vertical-align:middle; width:682px" %)(((
562 562  The signal output by the servo motor when it stops:
563 563  
564 564  * Invalid DO port logic: invalid motor zero-speed signal
565 565  * Valid DO port logic: valid motor zero-speed signal
566 -)))|(% style="vertical-align:middle; width:682px" %) |-
567 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)134|(% style="text-align:center; vertical-align:middle; width:81px" %)P-COIN|(% style="text-align:center; vertical-align:middle; width:694px" %)Positioning complete|(% style="vertical-align:middle; width:682px" %)Output this signal indicates that the servo drive positioning is complete|(% style="vertical-align:middle; width:682px" %) |-
568 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)135|(% style="text-align:center; vertical-align:middle; width:81px" %)P-NEAR|(% style="text-align:center; vertical-align:middle; width:694px" %)Positioning approach|(% style="vertical-align:middle; width:682px" %)Output this signal indicates that the servo drive positioning is approach|(% style="vertical-align:middle; width:682px" %) |-
569 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)136|(% style="text-align:center; vertical-align:middle; width:81px" %)V-COIN|(% style="text-align:center; vertical-align:middle; width:694px" %)Consistent speed|(% style="vertical-align:middle; width:682px" %)In speed mode, when the absolute value of the difference between motor speed and speed instruction is less than the set value of P05-17, the signal is valid|(% style="vertical-align:middle; width:682px" %) |-
566 +)))|(% style="vertical-align:middle; width:225px" %) |(% style="width:97px" %)-
567 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)134|(% style="text-align:center; vertical-align:middle; width:81px" %)P-COIN|(% style="text-align:center; vertical-align:middle; width:694px" %)Positioning complete|(% style="vertical-align:middle; width:682px" %)Output this signal indicates that the servo drive positioning is complete|(% style="vertical-align:middle; width:225px" %) |(% style="width:97px" %)-
568 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)135|(% style="text-align:center; vertical-align:middle; width:81px" %)P-NEAR|(% style="text-align:center; vertical-align:middle; width:694px" %)Positioning approach|(% style="vertical-align:middle; width:682px" %)Output this signal indicates that the servo drive positioning is approach|(% style="vertical-align:middle; width:225px" %) |(% style="width:97px" %)-
569 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)136|(% style="text-align:center; vertical-align:middle; width:81px" %)V-COIN|(% style="text-align:center; vertical-align:middle; width:694px" %)Consistent speed|(% style="vertical-align:middle; width:682px" %)In speed mode, when the absolute value of the difference between motor speed and speed instruction is less than the set value of P05-17, the signal is valid|(% style="vertical-align:middle; width:225px" %) |(% style="width:97px" %)-
570 570  |(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)137|(% style="text-align:center; vertical-align:middle; width:81px" %)V-NEAR|(% style="text-align:center; vertical-align:middle; width:694px" %)Speed approach|(% style="vertical-align:middle; width:682px" %)(((
571 571  * Invalid DO port logic: The absolute value of motor speed feedback after filtering is greater than the set value of P05-18
572 572  * Valid DO port logic: The absolute value of motor speed feedback after filtering is less than the set value of P05-18
573 -)))|(% style="vertical-align:middle; width:682px" %) |-
573 +)))|(% style="vertical-align:middle; width:225px" %) |(% style="width:97px" %)-
574 574  |(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)138|(% style="text-align:center; vertical-align:middle; width:81px" %)T-COIN|(% style="text-align:center; vertical-align:middle; width:694px" %)Torque arrival|(% style="vertical-align:middle; width:682px" %)(((
575 575  * Invalid DO port logic: The absolute value of torque instruction is smaller than the set value.
576 576  * Valid DO port logic: The absolute value of torque instruction reaches the set value.
577 -)))|(% style="vertical-align:middle; width:682px" %) |-
577 +)))|(% style="vertical-align:middle; width:225px" %) |(% style="width:97px" %)-
578 578  |(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)139|(% style="text-align:center; vertical-align:middle; width:81px" %)T-LIMIT|(% style="text-align:center; vertical-align:middle; width:694px" %)Torque limit|(% style="vertical-align:middle; width:682px" %)(((
579 579  The confirmation signal of torque limit.
580 580  
581 581  * Invalid DO port logic: The torque of motor is not limited
582 582  * Valid DO port logic: The torque of motor is limited
583 -)))|(% style="vertical-align:middle; width:682px" %) |-
583 +)))|(% style="vertical-align:middle; width:225px" %) |(% style="width:97px" %)-
584 584  |(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)140|(% style="text-align:center; vertical-align:middle; width:81px" %)V-LIMIT|(% style="text-align:center; vertical-align:middle; width:694px" %)Speed limited|(% style="vertical-align:middle; width:682px" %)(((
585 585  The confirmation signal of speed limit in torque mode.
586 586  
587 587  * Invalid DO port logic: The motor speed is not limited
588 588  * Valid DO port logic: The motor speed is limited
589 -)))|(% style="vertical-align:middle; width:682px" %) |-
589 +)))|(% style="vertical-align:middle; width:225px" %) |(% style="width:97px" %)-
590 590  |(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)141|(% style="text-align:center; vertical-align:middle; width:81px" %)BRK-OFF|(% style="text-align:center; vertical-align:middle; width:694px" %)Brake output|(% style="vertical-align:middle; width:682px" %)(((
591 591  Output brake signal
592 592  
593 593  * Invalid DO port logic: The brake device does not operate
594 594  * Valid DO port logic: The brake device operates
595 -)))|(% style="vertical-align:middle; width:682px" %) |Re-powering is required using this DO feature
595 +)))|(% style="vertical-align:middle; width:225px" %)Re-powering is required using this DO feature|(% style="width:97px" %)
596 596  |(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)142|(% style="text-align:center; vertical-align:middle; width:81px" %)SRV-ST|(% style="text-align:center; vertical-align:middle; width:694px" %)Servo on state output|(% style="vertical-align:middle; width:682px" %)(((
597 597  * Invalid DO port logic: Servo motor is not operate
598 598  * Valid DO port logic: Servo motor is in operation
599 -)))|(% style="vertical-align:middle; width:682px" %) |
599 +)))|(% style="vertical-align:middle; width:225px" %) |(% style="width:97px" %)
600 600  |(% colspan="1" rowspan="4" style="text-align:center; vertical-align:middle; width:126px" %)143|(% style="text-align:center; vertical-align:middle; width:119px" %)(((
601 601  VD2A
602 602  
603 603  VD2B
604 -)))|(% style="text-align:center; vertical-align:middle; width:81px" %)None|(% style="text-align:center; vertical-align:middle; width:694px" %)-|(% style="vertical-align:middle; width:682px" %)-|
604 +)))|(% style="text-align:center; vertical-align:middle; width:81px" %)None|(% style="text-align:center; vertical-align:middle; width:694px" %)-|(% style="vertical-align:middle; width:682px" %)-|(% style="width:225px" %)
605 605  |(% style="text-align:center; vertical-align:middle; width:119px" %)(((
606 606  VD2-0xxSA1H
607 607  )))|(% style="text-align:center; vertical-align:middle; width:81px" %)(((
... ... @@ -612,8 +612,12 @@
612 612  DO3 set to 143 output A pulse signal
613 613  
614 614  DO4 set to 143 output B pulse signal
615 -)))|(% style="vertical-align:middle; width:682px" %) |(((
616 --
615 +)))|(% style="vertical-align:middle; width:225px" %)(((
616 +Different DO ports output different pulse signals (see
617 +
618 +【6.2.6 Chapters 】Instructions)
619 +)))|(% style="width:97px" %)(((
620 +
617 617  )))
618 618  |(% style="text-align:center; vertical-align:middle; width:119px" %)(((
619 619  VD2L
... ... @@ -625,43 +625,41 @@
625 625  DO3 set to 143 output pulse signal
626 626  
627 627  DO4 set to 143 output direction signal
628 -)))|(% style="vertical-align:middle; width:682px" %)
632 +)))|(% style="vertical-align:middle; width:225px" %)
629 629  |(% style="text-align:center; vertical-align:middle; width:119px" %)(((
630 630  VD2F
631 631  )))|(% style="text-align:center; vertical-align:middle; width:81px" %)(((
632 632  OZ
633 -)))|(% style="text-align:center; vertical-align:middle; width:694px" %)Z pulse output|(% style="vertical-align:middle; width:682px" %) |(% style="vertical-align:middle; width:682px" %)
634 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)144|(% style="text-align:center; vertical-align:middle; width:81px" %)None|(% style="text-align:center; vertical-align:middle; width:694px" %)-|(% style="vertical-align:middle; width:682px" %)-|(% style="vertical-align:middle; width:682px" %) |-
637 +)))|(% style="text-align:center; vertical-align:middle; width:694px" %)Z pulse output|(% style="vertical-align:middle; width:682px" %) |(% style="vertical-align:middle; width:225px" %)
638 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)144|(% style="text-align:center; vertical-align:middle; width:81px" %)None|(% style="text-align:center; vertical-align:middle; width:694px" %)-|(% style="vertical-align:middle; width:682px" %)-|(% style="vertical-align:middle; width:225px" %) |(% style="width:97px" %)
635 635  |(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)145|(% style="text-align:center; vertical-align:middle; width:81px" %)COM_VDO1|(% style="text-align:center; vertical-align:middle; width:694px" %)(((
636 636  Communication
637 637  
638 638  VDO1 output
639 -)))|(% style="vertical-align:middle; width:682px" %)Use communication VDO|(% style="vertical-align:middle; width:682px" %) |(% colspan="1" rowspan="7" %)(((
640 -VD2-0xxSA1G
641 -
642 -V1.12 firmware support
643 -)))
643 +)))|(% style="vertical-align:middle; width:682px" %)Use communication VDO|(% style="vertical-align:middle; width:225px" %) |(% colspan="1" rowspan="7" style="width:97px" %)
644 644  |(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)146|(% style="text-align:center; vertical-align:middle; width:81px" %)COM_VDO2|(% style="text-align:center; vertical-align:middle; width:694px" %)(((
645 645  Communication
646 646  
647 647  VDO2 output
648 -)))|(% style="vertical-align:middle; width:682px" %)Use communication VDO|(% style="vertical-align:middle; width:682px" %)
648 +)))|(% style="vertical-align:middle; width:682px" %)Use communication VDO|(% style="vertical-align:middle; width:225px" %)
649 649  |(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)147|(% style="text-align:center; vertical-align:middle; width:81px" %)COM_VDO3|(% style="text-align:center; vertical-align:middle; width:694px" %)(((
650 650  Communication
651 651  
652 652  VDO3 output
653 -)))|(% style="vertical-align:middle; width:682px" %)Use communication VDO|(% style="vertical-align:middle; width:682px" %)
653 +)))|(% style="vertical-align:middle; width:682px" %)Use communication VDO|(% style="vertical-align:middle; width:225px" %)
654 654  |(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)148|(% style="text-align:center; vertical-align:middle; width:81px" %)COM_VDO4|(% style="text-align:center; vertical-align:middle; width:694px" %)(((
655 655  Communication
656 656  
657 657  VDO4 output
658 -)))|(% style="vertical-align:middle; width:682px" %)Use communication VDO|(% style="vertical-align:middle; width:682px" %)
658 +)))|(% style="vertical-align:middle; width:682px" %)Use communication VDO|(% style="vertical-align:middle; width:225px" %)
659 659  |(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)149|(% style="text-align:center; vertical-align:middle; width:81px" %)(((
660 660  HOME_ATTAIN
661 -)))|(% style="text-align:center; vertical-align:middle; width:694px" %) |(% style="vertical-align:middle; width:682px" %) |(% style="vertical-align:middle; width:682px" %)
662 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %) |(% style="text-align:center; vertical-align:middle; width:81px" %) |(% style="text-align:center; vertical-align:middle; width:694px" %) |(% style="vertical-align:middle; width:682px" %) |(% style="vertical-align:middle; width:682px" %)
663 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %) |(% style="text-align:center; vertical-align:middle; width:81px" %) |(% style="text-align:center; vertical-align:middle; width:694px" %) |(% style="vertical-align:middle; width:682px" %) |(% style="vertical-align:middle; width:682px" %)
661 +)))|(% style="text-align:center; vertical-align:middle; width:694px" %) |(% style="vertical-align:middle; width:682px" %)(((
662 +Invalid DO port logic: origin regression is not compete
664 664  
664 +Valid DO port logic: origin
665 +)))|(% style="vertical-align:middle; width:225px" %)
666 +
665 665  == **Group U0 Monitoring parameters** ==
666 666  
667 667  |=(% rowspan="2" scope="row" style="text-align: center; vertical-align: middle; width: 95px;" %)**Function code**|=(% rowspan="2" style="text-align: center; vertical-align: middle; width: 223px;" %)**Name**|=(% rowspan="2" style="text-align:center; vertical-align:middle" %)**Category**|=(% rowspan="2" style="text-align:center; vertical-align:middle" %)**Unit**|=(% colspan="2" style="text-align:center; vertical-align:middle" %)**Modbus address**|=(% rowspan="2" style="text-align:center; vertical-align:middle" %)**Data type**