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Changes for page 11 Appendix

Last modified by Wecon on 2025/09/12 15:35
From version 1.5
edited by Iris
on 2025/09/08 14:01
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

Summary

Details

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Content
... ... @@ -519,152 +519,151 @@
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="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|(((
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 +|(% 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 -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|(((
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: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 +|(% 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" %)(((
557 557  When the absolute value of servo motor speed is higher than P05-16 set value:
558 558  
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|(((
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:225px" %) |(% style="width:97px" %)-
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" %)(((
564 564  The signal output by the servo motor when it stops:
565 565  
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|(((
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: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 +|(% 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:225px" %) |(% style="width:97px" %)-
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:225px" %) |(% style="width:97px" %)-
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" %)(((
584 584  The confirmation signal of torque limit.
585 585  
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|(((
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:225px" %) |(% style="width:97px" %)-
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" %)(((
591 591  The confirmation signal of speed limit in torque mode.
592 592  
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|(((
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:225px" %) |(% style="width:97px" %)-
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" %)(((
598 598  Output brake signal
599 599  
600 -Invalid DO port logic: The brake device does not operate
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:225px" %)Re-powering is required using this DO feature|(% style="width:97px" %)
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:225px" %) |(% style="width:97px" %)
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
601 601  
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 -
612 612  VD2B
613 -)))|None|-|-|
614 -|143|VD2-0xxSA1H|OZ/OA/OB|Z/A/B pulse output-|(((
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 +|(% 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" %)(((
615 615  DO2 set to 143 output Z pulse signal
616 616  
617 617  DO3 set to 143 output A pulse signal
618 618  
619 619  DO4 set to 143 output B pulse signal
620 -
621 -
622 -)))|(((
615 +)))|(% style="vertical-align:middle; width:225px" %)(((
623 623  Different DO ports output different pulse signals (see
624 624  
625 625  【6.2.6 Chapters 】Instructions)
619 +)))|(% style="width:97px" %)(((
620 +
626 626  )))
627 -|143|VD2L|OZ/OA/OB|Z/A/B pulse output-|(((
622 +|(% style="text-align:center; vertical-align:middle; width:119px" %)(((
623 +VD2L
624 +)))|(% style="text-align:center; vertical-align:middle; width:81px" %)(((
625 +OZ/OA/OB
626 +)))|(% style="text-align:center; vertical-align:middle; width:694px" %)Z/A/B pulse output|(% style="vertical-align:middle; width:682px" %)(((
628 628  DO2 set to 143 output Z pulse signal
629 629  
630 630  DO3 set to 143 output pulse signal
631 631  
632 632  DO4 set to 143 output direction signal
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|(((
632 +)))|(% style="vertical-align:middle; width:225px" %)
633 +|(% style="text-align:center; vertical-align:middle; width:119px" %)(((
634 +VD2F
635 +)))|(% style="text-align:center; vertical-align:middle; width:81px" %)(((
636 +OZ
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" %)
639 +|(% 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" %)(((
639 639  Communication
640 640  
641 641  VDO1 output
642 -)))|Use communication VDO|
643 -|(% colspan="2" %) 146|COM_VDO2|(((
643 +)))|(% style="vertical-align:middle; width:682px" %)Use communication VDO|(% style="vertical-align:middle; width:225px" %) |(% colspan="1" rowspan="7" style="width:97px" %)
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" %)(((
644 644  Communication
645 645  
646 646  VDO2 output
647 -)))|Use communication VDO|
648 -|(% colspan="2" %) 147|COM_VDO3|(((
648 +)))|(% style="vertical-align:middle; width:682px" %)Use communication VDO|(% style="vertical-align:middle; width:225px" %)
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" %)(((
649 649  Communication
650 650  
651 651  VDO3 output
652 -)))|Use communication VDO|
653 -|(% colspan="2" %) 148|COM_VDO4|(((
653 +)))|(% style="vertical-align:middle; width:682px" %)Use communication VDO|(% style="vertical-align:middle; width:225px" %)
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" %)(((
654 654  Communication
655 655  
656 656  VDO4 output
657 -)))|Use communication VDO|
658 -|(% colspan="2" %) 149|HOME_ATTAIN| |(((
658 +)))|(% style="vertical-align:middle; width:682px" %)Use communication VDO|(% style="vertical-align:middle; width:225px" %)
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" %)(((
659 659  Invalid DO port logic: origin regression is not compete
660 660  
661 -Valid DO port logic: origin regression is not compete
662 -)))|(((
663 -VD2-0xxSA1G
664 +Valid DO port logic: origin
665 +)))|(% style="vertical-align:middle; width:225px" %)
664 664  
665 -V1.12 firmware support
666 -)))
667 -
668 668  == **Group U0 Monitoring parameters** ==
669 669  
670 670  |=(% 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**