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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 78.1
edited by Karen
on 2023/05/17 14:04
Change comment: There is no comment for this version

Summary

Details

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Content
... ... @@ -490,96 +490,95 @@
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" %)**DO channel function definition**
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" %)(((
493 +(% style="width:1557px" %)
494 +|=(% colspan="5" style="text-align: center; vertical-align: middle; width: 1554px;" %)**DI channel function definition**
495 +|(% 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**
496 +|(% 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" %)-
497 +|(% 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" %)(((
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" %)(((
503 +|(% 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
504 +|(% 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
505 +|(% 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" %)(((
505 505  When the absolute value of servo motor speed is higher than P05-16 set value:
506 506  
507 507  * 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" %)(((
511 +|(% 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" %)(((
511 511  The signal output by the servo motor when it stops:
512 512  
513 513  * 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" %)(((
517 +|(% 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
518 +|(% 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
519 +|(% 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
520 +|(% 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" %)(((
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" %)(((
523 +)))
524 +|(% 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" %)(((
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" %)(((
528 +|(% 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" %)(((
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" %)(((
534 +|(% 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" %)(((
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" %)(((
540 +|(% 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" %)(((
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" %)(((
546 +|(% 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" %)(((
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" %)(((
550 +|(% rowspan="2" style="text-align:center; vertical-align:middle; width:126px" %)143|(% style="text-align:center; vertical-align:middle; width:119px" %)(((
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" %)(((
554 +)))|(% 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" %)-
555 +|(% style="text-align:center; vertical-align:middle; width:119px" %)VD2F|(% style="text-align:center; vertical-align:middle; width:81px" %)OZ|(% style="text-align:center; vertical-align:middle; width:694px" %)Z pulse output|(% style="vertical-align:middle; width:682px" %)The output signal indicates that servo drive rotates 1 turn
556 +|(% 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" %)-
557 +|(% 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" %)(((
558 558  Communication
559 559  
560 560  VDO1 output
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 +)))|(% style="vertical-align:middle; width:682px" %)Use communication VDO
562 +|(% 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" %)(((
563 563  Communication
564 564  
565 565  VDO2 output
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 +)))|(% style="vertical-align:middle; width:682px" %)Use communication VDO
567 +|(% 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" %)(((
568 568  Communication
569 569  
570 570  VDO3 output
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 +)))|(% style="vertical-align:middle; width:682px" %)Use communication VDO
572 +|(% 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" %)(((
573 573  Communication
574 574  
575 575  VDO4 output
576 -)))|(% style="vertical-align:middle; width:1470px" %)Use communication VDO
577 -)))
576 +)))|(% style="vertical-align:middle; width:682px" %)Use communication VDO
578 578  
579 579  == **Group U0 Monitoring parameters** ==
580 580  
581 -|=(% rowspan="2" scope="row" style="text-align: center; vertical-align: middle;" %)**Function code**|(% rowspan="2" style="text-align:center; vertical-align:middle" %)**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**
582 -|=(% style="text-align: center; vertical-align: middle;" %)**Hexadecimal**|(% style="text-align:center; vertical-align:middle" %)**Decimal**
580 +|=(% rowspan="2" scope="row" style="text-align: center; vertical-align: middle;" %)**Function code**|=(% rowspan="2" style="text-align:center; vertical-align:middle" %)**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**
581 +|=(% style="text-align: center; vertical-align: middle;" %)**Hexadecimal**|=(% style="text-align:center; vertical-align:middle" %)**Decimal**
583 583  |=(% style="text-align: center; vertical-align: middle;" %)__U0-01__|(% style="text-align:center; vertical-align:middle" %)Servo Status|(% style="text-align:center; vertical-align:middle" %)Universal|(% style="text-align:center; vertical-align:middle" %)-|(% style="text-align:center; vertical-align:middle" %)0x1E01|(% style="text-align:center; vertical-align:middle" %)7681|(% style="text-align:center; vertical-align:middle" %)16-bit
584 584  |=(% style="text-align: center; vertical-align: middle;" %)__U0-02__|(% style="text-align:center; vertical-align:middle" %)Servo motor speed|(% style="text-align:center; vertical-align:middle" %)Universal|(% style="text-align:center; vertical-align:middle" %)rpm|(% style="text-align:center; vertical-align:middle" %)0x1E02|(% style="text-align:center; vertical-align:middle" %)7682|(% style="text-align:center; vertical-align:middle" %)16-bit
585 585  |=(% style="text-align: center; vertical-align: middle;" %)__U0-03__|(% style="text-align:center; vertical-align:middle" %)Input speed instruction|(% style="text-align:center; vertical-align:middle" %)Universal|(% style="text-align:center; vertical-align:middle" %)rpm|(% style="text-align:center; vertical-align:middle" %)0x1E03|(% style="text-align:center; vertical-align:middle" %)7683|(% style="text-align:center; vertical-align:middle" %)16-bit
... ... @@ -692,8 +692,8 @@
692 692  == **Group U2 Device monitoring** ==
693 693  
694 694  
695 -|=(% rowspan="2" scope="row" %)**Function code**|(% rowspan="2" %)**Name**|(% rowspan="2" %)**Category**|(% rowspan="2" %)**Unit**|(% colspan="2" %)**Modbus address**|(% rowspan="2" %)**Data type**
696 -|=**Hexadecimal**|**Decimal**
694 +|=(% rowspan="2" scope="row" style="text-align: center; vertical-align: middle; width: 159px;" %)**Function code**|=(% rowspan="2" style="text-align:center; vertical-align:middle; width:240px" %)**Name**|=(% rowspan="2" style="text-align:center; vertical-align:middle; width:189px" %)**Setting method**|=(% rowspan="2" style="text-align: center; vertical-align: middle; width: 210px;" %)**Effective time**|=(% rowspan="2" style="text-align: center; vertical-align: middle; width: 108px;" %)**Default**|=(% rowspan="2" style="text-align: center; vertical-align: middle; width: 157px;" %)**Range**|=(% rowspan="2" style="text-align: center; vertical-align: middle; width: 118px;" %)**Unit**|=(% colspan="2" style="text-align: center; vertical-align: middle; width: 187px;" %)**Modbus address**|=(% rowspan="2" style="text-align: center; vertical-align: middle; width: 130px;" %)**Data type**
695 +|=(% style="text-align: center; vertical-align: middle; width: 103px;" %)**Hexadecimal**|=(% style="text-align: center; vertical-align: middle; width: 85px;" %)**Decimal**
697 697  |=U2-01|Product Series|Device|-|0x2001|8193|16-bit
698 698  |=U2-02|Model|Device|-|0x2002|8194|16-bit
699 699  |=U2-03|Model|Device|-|0x2003|8195|16-bit