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Changes for page 11 Appendix

Last modified by Theodore Xu on 2025/04/27 11:22
From version 74.1
edited by Karen
on 2023/05/17 13:48
Change comment: There is no comment for this version
To version 73.1
edited by Karen
on 2023/05/17 13:42
Change comment: There is no comment for this version

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... ... @@ -492,89 +492,87 @@
492 492  
493 493  |=(% 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: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" %)(((
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" %)(((
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: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" %)(((
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" %)(((
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: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" %)(((
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" %)(((
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: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" %)(((
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" %)(((
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 -
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" %)(((
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" %)(((
525 525  * Invalid DO port logic: The absolute value of torque instruction is greater than the set value.
526 526  * Valid DO port logic: The absolute value of torque instruction reaches the set value.
527 527  )))
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" %)(((
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" %)(((
529 529  The confirmation signal of torque limit.
530 530  
531 531  * Invalid DO port logic: The torque of motor is not limited
532 532  * Valid DO port logic: The torque of motor is limited
533 533  )))
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" %)(((
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" %)(((
535 535  The confirmation signal of speed limit in torque mode.
536 536  
537 537  * Invalid DO port logic: The motor speed is not limited
538 538  * Valid DO port logic: The motor speed is limited
539 539  )))
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" %)(((
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" %)(((
541 541  Output brake signal
542 542  
543 543  * Invalid DO port logic: The brake device does not operate
544 544  * Valid DO port logic: The brake device operates
545 545  )))
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" %)(((
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" %)(((
547 547  * Invalid DO port logic: Servo motor is not operate
548 548  * Valid DO port logic: Servo motor is in operation
549 549  )))
550 -|(% rowspan="2" style="text-align:center; vertical-align:middle" %)143|(% style="text-align:center; vertical-align:middle" %)(((
549 +|(% rowspan="2" style="text-align:center; vertical-align:middle" %)143|(% style="text-align:center; vertical-align:middle; width:177px" %)(((
551 551  VD2A
552 552  
553 553  VD2B
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" %)(((
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" %)(((
558 558  Communication
559 559  
560 560  VDO1 output
561 561  )))|(% style="vertical-align:middle; width:1470px" %)Use communication VDO
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" %)(((
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" %)(((
563 563  Communication
564 564  
565 565  VDO2 output
566 566  )))|(% style="vertical-align:middle; width:1470px" %)Use communication VDO
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" %)(((
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" %)(((
568 568  Communication
569 569  
570 570  VDO3 output
571 571  )))|(% style="vertical-align:middle; width:1470px" %)Use communication VDO
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" %)(((
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" %)(((
573 573  Communication
574 574  
575 575  VDO4 output
576 576  )))|(% style="vertical-align:middle; width:1470px" %)Use communication VDO
577 -)))
578 578  
579 579  == **Group U0 Monitoring parameters** ==
580 580