Wecon VD2 SA Series Servo Drives User Manual (Full V1.0)
85
WECON technology Co., Ltd
Please set the servo drive parameters in different control modes according to the mechanical
structure and indicators. The setting method refer to [Chapter 9 Parameters]. When function code
[P00-01]=4/5/6 (that is, in mixed mode), a DI terminal of the servo drive needs to be assigned to
function 17 (MixModeSel, mixed mode selection), and the DI terminal logic is determined to be
valid.
DI
function
code
Name
Function name
Function
17
MixModeSel
Mixed mode
selection
Used in mixed control mode, when the servo status is "run",
set the current control mode of the servo drive
P00-01
MixModeSel
Terminal logic
Control mode
4
Valid
Speed mode
invalid
Position mode
5
Valid
Torque mode
invalid
Position mode
6
Valid
Torque mode
invalid
Speed mode
Table 6-46 Description of DI function codes in control mode
In the mixed control mode, it is recommended to switch the mode at zero speed or low speed, and
the switching process will be smoother.
6.6 Absolute value system
6.6.1 Overview
Absolute encoder can detect the position of the servo motor within one turn, and can count the
number of turns of the motor. This series of servo drives are equipped with a maximum of 23-bit
encoders and can memorize 16-bit multi-turn data. , and positiion, speed, torque control modes
can be used. Especially in position control, the absolute value encoder does not need to count, can
achieve direct internal high-speed reading and external output, and can significantly reduce the
subsequent calculation tasks of the receiving device controller. When the drive is powered off, the
encoder uses battery backup data. After power on, the drive uses the encoder's absolute position
to calculate the absolute mechanical position, eliminating the need for repeated mechanical origin
reset operations.
The absolute value encoder is determined by the mechanical position of the photoelectric code
disc, and is not affected by power failure or interference. Each position of the absolute encoder
determined by the mechanical position is unique, and no external sensor is required to assist in
memorizing position.
6.6.2 Single-turn absolute value system
The single-turn absolute value system is applicable for the equipment load stroke within the
single-turn range of the encoder. At this time, the absolute encoder is only as a single-turn system
function and does not need to be connected to the battery. The types and information of encoders
adapted to VD2 series servo drives are shown in Table 6-47.