Wecon VD2 SA Series Servo Drives User Manual (Full V1.0)
84
WECON technology Co., Ltd
To use the torque arrival function, a DO terminal of the servo drive should be assigned to function
138 (T-COIN, torque arrival). The function code parameters and related DO function codes are
shown in Table 6-43 and
Function
code
Name
Setting
method
Effective
time
Defaults Range
Definition
Unit
P05-20
Torque
arrival
Threshold
Operation
setting
Effective
immediately
100
0~300
The torque arrival threshold
must be used with [Torque
arrival hysteresis value]:
When the actual torque reaches
[Torque Arrival Threshold] +
[Torque Arrival Hysteresis Value],
the torque arrival DO is valid;
When
the
actual
torque
decreases below [Torque Arrival
Threshold]-[Torque
Arrival
Hysteresis Value], the torque
arrival DO is invalid
%
P05-21
Torque
arrival
Hysteresis
Operation
setting
Effective
immediately
10
0~20
[Torque arrival the hysteresis
value] must be used with [Torque
arrival threshold]
%
Table 6-43 Torque arrival parameter details
DO function code
Function name
Function
138
T-COIN, torque
arrival
Valid, the absolute value of the torque instruction reaches
the set value
Invalid, the absolute value of the torque instruction is less
than the set value
Table 6-44 DO Torque Arrival Function Code
6.5 Mixed control mode
Mixed control mode means that when the servo enable is ON and the status of the servo drive is
"run", the mode of the servo drive can be switched between different modes. The VD2 series servo
drives have the following 3 mixed control modes:
Position mode
Speed mode
Position mode
Torque mode
Speed mode
Torque mode
Set the function code [P00-01] through the Wecon servo debugging platform or the servo drive
panel, and the servo drive will operate in mixed mode.
Function
code
Name
Setting
method
Effective
time
Defaults
Range
Definition
Unit
P00-01
Control
mode
Shutdown
setting
Power-on
again
1
1~6
1: Position control mode
2: Speed control mode
3: Torque control mode
4: Position/speed mixed
control mode
5: Position/torque mixed
control mode
6: Speed/torque mixed control
mode
-
Table 6-45 Mixed control mode parameters
