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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 1.4
edited by Iris
on 2025/09/08 14:01
Change comment: There is no comment for this version

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... ... @@ -519,149 +519,152 @@
519 519  |(% style="text-align:center; vertical-align:middle; width:222px" %)22|(% style="text-align:center; vertical-align:middle; width:266px" %)INPOS2|(% style="vertical-align:middle; width:492px" %)Internal multi-segment position selection 2|(% style="vertical-align:middle; width:510px" %)Constitutes an internal multi-segment position running segment number
520 520  |(% style="text-align:center; vertical-align:middle; width:222px" %)23|(% style="text-align:center; vertical-align:middle; width:266px" %)INPOS3|(% style="vertical-align:middle; width:492px" %)Internal multi-segment position selection 3|(% style="vertical-align:middle; width:510px" %)Constitutes an internal multi-segment position running segment number
521 521  |(% style="text-align:center; vertical-align:middle; width:222px" %)24|(% style="text-align:center; vertical-align:middle; width:266px" %)INPOS4|(% style="vertical-align:middle; width:492px" %)Internal multi-segment position selection 4|(% style="vertical-align:middle; width:510px" %)Constitutes an internal multi-segment position running segment number
522 -|25|HOME_START|Origin regression initiated|(((
522 +| 25| HOME_START|Origin regression initiated|(((
523 523  Invalid DI port logic : turn off return-to-origin mode;
524 524  
525 525  Valid DI port logic : turn on the return mode.
526 526  )))
527 -|26|HOME_ORG|Origin signal|(((
527 +| 26| HOME_ORG|Origin signal|(((
528 528  Invalid DI port logic : the origin signal is invalid;
529 529  
530 530  Valid DI port logic : the origin signal works.
531 531  )))
532 -|27|JOGU|DI forward jog|(((
532 +| 27| JOGU|DI forward jog|(((
533 533  Invalid DI port logic : unable to turn forward;
534 534  
535 535  Valid DI port logic : forward turning is allowed.
536 536  )))
537 -|28|JOGD|DI reverse jog|(((
537 +| 28| JOGD|DI reverse jog|(((
538 538  Invalid DI port logic : cannot be turned in reverse;
539 539  
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" %) |-
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" %)(((
543 +(% style="margin-left:auto; margin-right:auto" %)
544 +|(% colspan="6" %)** DO channel function definition**
545 +|(% colspan="2" %)** Channel function code**|**Name**|**Function name**|**Content**|**Note**
546 +|(% colspan="2" %) 128|~-~-|OFF (not used)|-|-
547 +|(% colspan="2" %) 129|RDY|Servo is ready|(((
548 548  Servo is ready, and could receive S-ON signal.
549 549  
550 -1. Invalid DO port logic: Servo is not ready
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" %) |-
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" %)(((
550 +Invalid DO port logic: Servo is not ready
551 +
552 +Valid DO port logic: Servo is ready
553 +)))|-
554 +|(% colspan="2" %) 130|ALM|Fault signal|Valid when the fault is detected|-
555 +|(% colspan="2" %) 131|WARN|Warning signal|Valid when warning signals are output|-
556 +|(% colspan="2" %) 132|TGON|Rotation detection|(((
556 556  When the absolute value of servo motor speed is higher than P05-16 set value:
557 557  
558 -* Invalid DO port logic: invalid motor rotation detection signal
559 -* Valid DO port logic: valid motor rotation detection signal
560 -)))|(% style="vertical-align:middle; width:682px" %) |-
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" %)(((
559 +Invalid DO port logic:invalid motor rotation detection signal
560 +
561 +Valid DO port logic: valid motor rotation detection signal
562 +)))|-
563 +|(% colspan="2" %) 133|ZSP|Zero speed signal|(((
562 562  The signal output by the servo motor when it stops:
563 563  
564 -* Invalid DO port logic: invalid motor zero-speed signal
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" %) |-
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 -* Invalid DO port logic: The absolute value of motor speed feedback after filtering is greater than the set value of P05-18
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" %) |-
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 -* Invalid DO port logic: The absolute value of torque instruction is smaller than the set value.
576 -* Valid DO port logic: The absolute value of torque instruction reaches the set value.
577 -)))|(% style="vertical-align:middle; width:682px" %) |-
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" %)(((
566 +Invalid DO port logic:invalid motor zero-speed signal
567 +
568 +Valid DO port logic: valid motor zero-speed signal
569 +)))|-
570 +|(% colspan="2" %) 134|P-COIN|Positioning complete|Output this signal indicates that the servo drive positioning is complete|-
571 +|(% colspan="2" %) 135|P-NEAR|Positioning approach|Output this signal indicates that the servo drive positioning is approach|-
572 +|(% colspan="2" %) 136|V-COIN|Consistent speed|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|-
573 +|(% colspan="2" %) 137|V-NEAR|Speed approach|(((
574 +Invalid DO port logic: The absolute value of motor speed feedback after filtering is greater than the set value of P05-18
575 +
576 +Valid DO port logic: The absolute value of motor speed feedback after filtering is less than the set value of P05-18
577 +)))|-
578 +|(% colspan="2" %) 138|T-COIN|Torque arrival|(((
579 +Invalid DO port logic: The absolute value of torque instruction is greater than the set value.
580 +
581 +Valid DO port logic: The absolute value of torque instruction reaches the set value.
582 +)))|-
583 +|(% colspan="2" %) 139|T-LIMIT|Torque limit|(((
579 579  The confirmation signal of torque limit.
580 580  
581 -* Invalid DO port logic: The torque of motor is not limited
582 -* Valid DO port logic: The torque of motor is limited
583 -)))|(% style="vertical-align:middle; width:682px" %) |-
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" %)(((
586 +Invalid DO port logic: The torque of motor is not limited
587 +
588 +Valid DO port logic: The torque of motor is limited
589 +)))|-
590 +|(% colspan="2" %) 140|V-LIMIT|Speed limited|(((
585 585  The confirmation signal of speed limit in torque mode.
586 586  
587 -* Invalid DO port logic: The motor speed is not limited
588 -* Valid DO port logic: The motor speed is limited
589 -)))|(% style="vertical-align:middle; width:682px" %) |-
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" %)(((
593 +Invalid DO port logic: The motor speed is not limited
594 +
595 +Valid DO port logic: The motor speed is limited
596 +)))|-
597 +|(% colspan="2" %) 141|BRK-OFF|Brake output|(((
591 591  Output brake signal
592 592  
593 -* Invalid DO port logic: The brake device does not operate
594 -* Valid DO port logic: The brake device operates
595 -)))|(% style="vertical-align:middle; width:682px" %) |Re-powering is required using this DO feature
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 -* Invalid DO port logic: Servo motor is not operate
598 -* Valid DO port logic: Servo motor is in operation
599 -)))|(% style="vertical-align:middle; width:682px" %) |
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 -VD2A
600 +Invalid DO port logic: The brake device does not operate
602 602  
602 +Valid DO port logic: The brake device operates
603 +)))|Re-powering is required using this DO feature
604 +|(% colspan="2" %) 142|SRV-ST|Servo on state output|(((
605 +Invalid DO port logic: Servo motor is not operate
606 +
607 +Valid DO port logic: Servo motor is in operation
608 +)))|
609 +|143|(((
610 +VD2A 、
611 +
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" %)-|
605 -|(% style="text-align:center; vertical-align:middle; width:119px" %)(((
606 -VD2-0xxSA1H
607 -)))|(% style="text-align:center; vertical-align:middle; width:81px" %)(((
608 -OZ/OA/OB
609 -)))|(% style="text-align:center; vertical-align:middle; width:694px" %)Z/A/B pulse output|(% style="vertical-align:middle; width:682px" %)(((
613 +)))|None|-|-|
614 +|143|VD2-0xxSA1H|OZ/OA/OB|Z/A/B pulse output-|(((
610 610  DO2 set to 143 output Z pulse signal
611 611  
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 --
620 +
621 +
622 +)))|(((
623 +Different DO ports output different pulse signals (see
624 +
625 +【6.2.6 Chapters 】Instructions)
617 617  )))
618 -|(% style="text-align:center; vertical-align:middle; width:119px" %)(((
619 -VD2L
620 -)))|(% style="text-align:center; vertical-align:middle; width:81px" %)(((
621 -OZ/OA/OB
622 -)))|(% style="text-align:center; vertical-align:middle; width:694px" %)Z/A/B pulse output|(% style="vertical-align:middle; width:682px" %)(((
627 +|143|VD2L|OZ/OA/OB|Z/A/B pulse output-|(((
623 623  DO2 set to 143 output Z pulse signal
624 624  
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" %)
629 -|(% style="text-align:center; vertical-align:middle; width:119px" %)(((
630 -VD2F
631 -)))|(% style="text-align:center; vertical-align:middle; width:81px" %)(((
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" %) |-
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" %)(((
633 +
634 +
635 +)))|
636 +|143|VD2F|OZ|Z pulse outpu|Output is the signal to indicate that the servo drive rotates1 revalution|
637 +|(% colspan="2" %) 144|None|-|-|
638 +|(% colspan="2" %) 145|COM_VDO1|(((
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 -)))
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" %)(((
642 +)))|Use communication VDO|
643 +|(% colspan="2" %) 146|COM_VDO2|(((
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" %)
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" %)(((
647 +)))|Use communication VDO|
648 +|(% colspan="2" %) 147|COM_VDO3|(((
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" %)
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" %)(((
652 +)))|Use communication VDO|
653 +|(% colspan="2" %) 148|COM_VDO4|(((
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" %)
659 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:226px" %)149|(% style="text-align:center; vertical-align:middle; width:81px" %)(((
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" %)
657 +)))|Use communication VDO|
658 +|(% colspan="2" %) 149|HOME_ATTAIN| |(((
659 +Invalid DO port logic: origin regression is not compete
664 664  
661 +Valid DO port logic: origin regression is not compete
662 +)))|(((
663 +VD2-0xxSA1G
664 +
665 +V1.12 firmware support
666 +)))
667 +
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**