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Changes for page 11 Appendix

Last modified by Theodore Xu on 2025/04/27 11:22
From version 72.1
edited by Karen
on 2023/05/17 13:39
Change comment: There is no comment for this version
To version 74.1
edited by Karen
on 2023/05/17 13:48
Change comment: There is no comment for this version

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... ... @@ -490,89 +490,91 @@
490 490  |(% 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
491 491  |(% 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
492 492  
493 -|=(% colspan="5" style="text-align: center; vertical-align: middle; width: 1879px;" %)**DO channel function definition**
493 +|=(% colspan="5" style="text-align: center; vertical-align: middle" %)**DO channel function definition**
494 494  |(% colspan="2" style="text-align:center; vertical-align:middle; width:222px" %)**Number**|(% style="text-align:center; vertical-align:middle; width:266px" %)**Name**|(% style="text-align:center; vertical-align:middle; width:492px" %)**Function name**|(% style="text-align:center; vertical-align:middle; width:510px" %)**Content**
495 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:218px" %)128|(% style="text-align:center; vertical-align:middle; width:84px" %)~-~-|(% style="text-align:center; vertical-align:middle" %)OFF (not used)|(% style="vertical-align:middle; width:1470px" %)-
496 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:218px" %)129|(% style="text-align:center; vertical-align:middle; width:84px" %)RDY|(% style="text-align:center; vertical-align:middle" %)Servo is ready|(% style="vertical-align:middle; width:1470px" %)(((
495 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:222px" %)128|(% style="text-align:center; vertical-align:middle; width:266px" %)~-~-|(% style="text-align:center; vertical-align:middle" %)OFF (not used)|(% style="vertical-align:middle; width:510px" %)-
496 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:222px" %)129|(% style="text-align:center; vertical-align:middle; width:266px" %)RDY|(% style="text-align:center; vertical-align:middle" %)Servo is ready|(% style="vertical-align:middle; width:510px" %)(((
497 497  Servo is ready, and could receive S-ON signal.
498 498  
499 499  1. Invalid DO port logic: Servo is not ready
500 500  1. Valid DO port logic: Servo is ready
501 501  )))
502 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:218px" %)130|(% style="text-align:center; vertical-align:middle; width:84px" %)ALM|(% style="text-align:center; vertical-align:middle" %)Fault signal|(% style="vertical-align:middle; width:1470px" %)Valid when the fault is detected
503 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:218px" %)131|(% style="text-align:center; vertical-align:middle; width:84px" %)WARN|(% style="text-align:center; vertical-align:middle" %)Warning signal|(% style="vertical-align:middle; width:1470px" %)Valid when warning signals are output
504 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:218px" %)132|(% style="text-align:center; vertical-align:middle; width:84px" %)TGON|(% style="text-align:center; vertical-align:middle" %)Rotation detection|(% style="vertical-align:middle; width:1470px" %)(((
502 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:222px" %)130|(% style="text-align:center; vertical-align:middle; width:266px" %)ALM|(% style="text-align:center; vertical-align:middle" %)Fault signal|(% style="vertical-align:middle; width:510px" %)Valid when the fault is detected
503 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:222px" %)131|(% style="text-align:center; vertical-align:middle; width:266px" %)WARN|(% style="text-align:center; vertical-align:middle" %)Warning signal|(% style="vertical-align:middle; width:510px" %)Valid when warning signals are output
504 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:222px" %)132|(% style="text-align:center; vertical-align:middle; width:266px" %)TGON|(% style="text-align:center; vertical-align:middle" %)Rotation detection|(% style="vertical-align:middle; width:510px" %)(((
505 505  When the absolute value of servo motor speed is higher than P05-16 set value:
506 506  
507 -* Invalid DO port logic:invalid motor rotation detection signal
507 +* Invalid DO port logic: invalid motor rotation detection signal
508 508  * Valid DO port logic: valid motor rotation detection signal
509 509  )))
510 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:218px" %)133|(% style="text-align:center; vertical-align:middle; width:84px" %)ZSP|(% style="text-align:center; vertical-align:middle" %)Zero speed signal|(% style="vertical-align:middle; width:1470px" %)(((
510 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:222px" %)133|(% style="text-align:center; vertical-align:middle; width:266px" %)ZSP|(% style="text-align:center; vertical-align:middle" %)Zero speed signal|(% style="vertical-align:middle; width:510px" %)(((
511 511  The signal output by the servo motor when it stops:
512 512  
513 -* Invalid DO port logic:invalid motor zero-speed signal
513 +* Invalid DO port logic: invalid motor zero-speed signal
514 514  * Valid DO port logic: valid motor zero-speed signal
515 515  )))
516 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:218px" %)134|(% style="text-align:center; vertical-align:middle; width:84px" %)P-COIN|(% style="text-align:center; vertical-align:middle" %)Positioning complete|(% style="vertical-align:middle; width:1470px" %)Output this signal indicates that the servo drive positioning is complete
517 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:218px" %)135|(% style="text-align:center; vertical-align:middle; width:84px" %)P-NEAR|(% style="text-align:center; vertical-align:middle" %)Positioning approach|(% style="vertical-align:middle; width:1470px" %)Output this signal indicates that the servo drive positioning is approach
518 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:218px" %)136|(% style="text-align:center; vertical-align:middle; width:84px" %)V-COIN|(% style="text-align:center; vertical-align:middle" %)Consistent speed|(% style="vertical-align:middle; width:1470px" %)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
519 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:218px" %)137|(% style="text-align:center; vertical-align:middle; width:84px" %)V-NEAR|(% style="text-align:center; vertical-align:middle" %)Speed approach|(% style="vertical-align:middle; width:1470px" %)(((
516 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:222px" %)134|(% style="text-align:center; vertical-align:middle; width:226px" %)P-COIN|(% style="text-align:center; vertical-align:middle" %)Positioning complete|(% style="vertical-align:middle; width:510px" %)Output this signal indicates that the servo drive positioning is complete
517 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:222px" %)135|(% style="text-align:center; vertical-align:middle; width:266px" %)P-NEAR|(% style="text-align:center; vertical-align:middle" %)Positioning approach|(% style="vertical-align:middle; width:510px" %)Output this signal indicates that the servo drive positioning is approach
518 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:222px" %)136|(% style="text-align:center; vertical-align:middle; width:266px" %)V-COIN|(% style="text-align:center; vertical-align:middle" %)Consistent speed|(% style="vertical-align:middle; width:510px" %)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
519 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:222px" %)137|(% style="text-align:center; vertical-align:middle; width:84px" %)V-NEAR|(% style="text-align:center; vertical-align:middle" %)Speed approach|(% style="vertical-align:middle; width:510px" %)(((
520 520  * Invalid DO port logic: The absolute value of motor speed feedback after filtering is greater than the set value of P05-18
521 521  * Valid DO port logic: The absolute value of motor speed feedback after filtering is less than the set value of P05-18
522 -)))
523 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:218px" %)138|(% style="text-align:center; vertical-align:middle; width:84px" %)T-COIN|(% style="text-align:center; vertical-align:middle" %)Torque arrival|(% style="vertical-align:middle; width:1470px" %)(((
522 +))
523 +
524 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:222px" %)138|(% style="text-align:center; vertical-align:middle; width:266px" %)T-COIN|(% style="text-align:center; vertical-align:middle" %)Torque arrival|(% style="vertical-align:middle; width:1470px" %)(((
524 524  * Invalid DO port logic: The absolute value of torque instruction is greater than the set value.
525 525  * Valid DO port logic: The absolute value of torque instruction reaches the set value.
526 526  )))
527 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:218px" %)139|(% style="text-align:center; vertical-align:middle; width:84px" %)T-LIMIT|(% style="text-align:center; vertical-align:middle" %)Torque limit|(% style="vertical-align:middle; width:1470px" %)(((
528 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:222px" %)139|(% style="text-align:center; vertical-align:middle; width:266px" %)T-LIMIT|(% style="text-align:center; vertical-align:middle" %)Torque limit|(% style="vertical-align:middle; width:510px" %)(((
528 528  The confirmation signal of torque limit.
529 529  
530 530  * Invalid DO port logic: The torque of motor is not limited
531 531  * Valid DO port logic: The torque of motor is limited
532 532  )))
533 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:218px" %)140|(% style="text-align:center; vertical-align:middle; width:84px" %)V-LIMIT|(% style="text-align:center; vertical-align:middle" %)Speed limited|(% style="vertical-align:middle; width:1470px" %)(((
534 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:222px" %)140|(% style="text-align:center; vertical-align:middle; width:84px" %)V-LIMIT|(% style="text-align:center; vertical-align:middle" %)Speed limited|(% style="vertical-align:middle; width:510px" %)(((
534 534  The confirmation signal of speed limit in torque mode.
535 535  
536 536  * Invalid DO port logic: The motor speed is not limited
537 537  * Valid DO port logic: The motor speed is limited
538 538  )))
539 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:218px" %)141|(% style="text-align:center; vertical-align:middle; width:84px" %)BRK-OFF|(% style="text-align:center; vertical-align:middle" %)Brake output|(% style="vertical-align:middle; width:1470px" %)(((
540 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:222px" %)141|(% style="text-align:center; vertical-align:middle; width:84px" %)BRK-OFF|(% style="text-align:center; vertical-align:middle" %)Brake output|(% style="vertical-align:middle; width:510px" %)(((
540 540  Output brake signal
541 541  
542 542  * Invalid DO port logic: The brake device does not operate
543 543  * Valid DO port logic: The brake device operates
544 544  )))
545 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:218px" %)142|(% style="text-align:center; vertical-align:middle; width:84px" %)SRV-ST|(% style="text-align:center; vertical-align:middle" %)Servo on state output|(% style="vertical-align:middle; width:1470px" %)(((
546 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:222px" %)142|(% style="text-align:center; vertical-align:middle; width:84px" %)SRV-ST|(% style="text-align:center; vertical-align:middle" %)Servo on state output|(% style="vertical-align:middle; width:1470px" %)(((
546 546  * Invalid DO port logic: Servo motor is not operate
547 547  * Valid DO port logic: Servo motor is in operation
548 548  )))
549 -|(% rowspan="2" style="text-align:center; vertical-align:middle" %)143|(% style="text-align:center; vertical-align:middle; width:177px" %)(((
550 +|(% rowspan="2" style="text-align:center; vertical-align:middle" %)143|(% style="text-align:center; vertical-align:middle" %)(((
550 550  VD2A
551 551  
552 552  VD2B
553 -)))|(% style="text-align:center; vertical-align:middle; width:84px" %)None|(% style="text-align:center; vertical-align:middle" %)-|(% style="vertical-align:middle; width:1470px" %)-
554 -|(% style="text-align:center; vertical-align:middle; width:177px" %)VD2F|(% style="text-align:center; vertical-align:middle; width:84px" %)OZ|(% style="text-align:center; vertical-align:middle" %)Z pulse output|(% style="vertical-align:middle; width:1470px" %)The output signal indicates that servo drive rotates 1 turn
555 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:218px" %)144|(% style="text-align:center; vertical-align:middle; width:84px" %)None|(% style="text-align:center; vertical-align:middle" %)-|(% style="vertical-align:middle; width:1470px" %)-
556 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:218px" %)145|(% style="text-align:center; vertical-align:middle; width:84px" %)COM_VDO1|(% style="text-align:center; vertical-align:middle" %)(((
554 +)))|(% style="text-align:center; vertical-align:middle" %)None|(% style="text-align:center; vertical-align:middle" %)-|(% style="vertical-align:middle" %)-
555 +|(% style="text-align:center; vertical-align:middle; width:177px" %)VD2F|(% style="text-align:center; vertical-align:middle; width:266px" %)OZ|(% style="text-align:center; vertical-align:middle" %)Z pulse output|(% style="vertical-align:middle; width:51px" %)The output signal indicates that servo drive rotates 1 turn
556 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:222px" %)144|(% style="text-align:center; vertical-align:middle; width:266px" %)None|(% style="text-align:center; vertical-align:middle" %)-|(% style="vertical-align:middle; width:510px" %)-
557 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:222px" %)145|(% style="text-align:center; vertical-align:middle; width:266px" %)COM_VDO1|(% style="text-align:center; vertical-align:middle" %)(((
557 557  Communication
558 558  
559 559  VDO1 output
560 560  )))|(% style="vertical-align:middle; width:1470px" %)Use communication VDO
561 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:218px" %)146|(% style="text-align:center; vertical-align:middle; width:84px" %)COM_VDO2|(% style="text-align:center; vertical-align:middle" %)(((
562 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:222px" %)146|(% style="text-align:center; vertical-align:middle; width:266px" %)COM_VDO2|(% style="text-align:center; vertical-align:middle" %)(((
562 562  Communication
563 563  
564 564  VDO2 output
565 565  )))|(% style="vertical-align:middle; width:1470px" %)Use communication VDO
566 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:218px" %)147|(% style="text-align:center; vertical-align:middle; width:84px" %)COM_VDO3|(% style="text-align:center; vertical-align:middle" %)(((
567 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:222px" %)147|(% style="text-align:center; vertical-align:middle; width:266px" %)COM_VDO3|(% style="text-align:center; vertical-align:middle" %)(((
567 567  Communication
568 568  
569 569  VDO3 output
570 570  )))|(% style="vertical-align:middle; width:1470px" %)Use communication VDO
571 -|(% colspan="2" style="text-align:center; vertical-align:middle; width:218px" %)148|(% style="text-align:center; vertical-align:middle; width:84px" %)COM_VDO4|(% style="text-align:center; vertical-align:middle" %)(((
572 +|(% colspan="2" style="text-align:center; vertical-align:middle; width:222px" %)148|(% style="text-align:center; vertical-align:middle; width:266px" %)COM_VDO4|(% style="text-align:center; vertical-align:middle" %)(((
572 572  Communication
573 573  
574 574  VDO4 output
575 575  )))|(% style="vertical-align:middle; width:1470px" %)Use communication VDO
577 +)))
576 576  
577 577  == **Group U0 Monitoring parameters** ==
578 578