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Changes for page 05 Servo Product Manual

Last modified by Jim(Forgotten) on 2025/03/20 10:19
From version 18.1
edited by Jim(Forgotten)
on 2024/09/11 15:40
Change comment: There is no comment for this version
To version 38.1
edited by Mora Zhou
on 2024/09/14 14:45
Change comment: There is no comment for this version

Summary

Details

Page properties
Title
... ... @@ -1,1 +1,1 @@
1 -05 Servo Production Manual
1 +05 Servo Product Manual
Author
... ... @@ -1,1 +1,1 @@
1 -XWiki.Jim
1 +XWiki.Mora
Content
... ... @@ -58,84 +58,541 @@
58 58  (% style="text-align:center" %)
59 59  (((
60 60  (% style="display:inline-block" %)
61 -[[Drive Nameplate>>image:1726038660755-332.png]]
61 +[[Drive Nameplate>>image:1726038660755-332.png||_mstalt="294567"]]
62 62  )))
63 63  
64 64  = VD2 Servo Drive Parameter Table =
65 65  
66 -|(% colspan="2" %)(((
66 +|(% colspan="3" %)(((
67 67  **General type**
68 -)))|[[image:1726038778533-997.png]]|[[image:1726038786193-560.png]]|[[image:1726038790641-417.png]]
69 -|(% colspan="2" %)**Model**|**VD2(A type)**|**VD2(B type)**|**VD2(C type)**
68 +)))|(((
69 +(% style="text-align:center" %)
70 +[[image:1726038778533-997.png||_mstalt="300053"]]
71 +)))|(((
72 +(% style="text-align:center" %)
73 +[[image:1726038786193-560.png||_mstalt="296309"]]
74 +)))|(((
75 +(% style="text-align:center" %)
76 +[[image:1726038790641-417.png||_mstalt="295087"]]
77 +)))
78 +|(% colspan="3" %)**Model**|**VD2(A type)**|**VD2(B type)**|**VD2(C type)**
70 70  |(% colspan="1" rowspan="11" %)(((
71 71  **Basic Specifications**
72 -)))|**Power supply**|220V|220V/380V|380V
73 -|(((
81 +)))|(% colspan="2" %)**Power supply**|220V|220V/380V|380V
82 +|(% colspan="2" %)(((
74 74  **Control method**
75 -)))| | |
76 -|(((
84 +)))|(% colspan="3" rowspan="1" %)(((
85 +IGBT PWM control sine wave current drive
86 +)))
87 +|(% colspan="2" %)(((
77 77  **Encoder**
78 -)))| | |
79 -|(((
89 +)))|(% colspan="3" rowspan="1" %)(((
90 +2500-line incremental encoder, 17-bit/23-bit absolute encoder
91 +)))
92 +|(% colspan="2" %)(((
80 80  **Control signal input**
81 -)))| | |
82 -|(((
94 +)))|(% colspan="3" rowspan="1" %)8DI
95 +|(% colspan="2" %)(((
83 83  **Control signal output**
84 -)))| | |
85 -|(((
97 +)))|(% colspan="3" rowspan="1" %)4DO
98 +|(% colspan="2" %)(((
86 86  **Analog signal input**
87 -)))| | |
88 -|(((
100 +)))|(% colspan="3" rowspan="1" %)(((
101 +2 AI(-10V to +10V)
102 +)))
103 +|(% colspan="2" %)(((
89 89  **Pulse signal input**
90 -)))| | |
91 -|(((
105 +)))|(% colspan="3" rowspan="1" %)(((
106 +Open collector or differential input
107 +)))
108 +|(% colspan="2" %)(((
92 92  **Pulse feedback output**
93 -)))| | |
94 -|(%%)(% style="background-color:transparent" %)**Internal Command**| | |
95 -|(((
110 +)))|(% colspan="3" rowspan="1" %)ABZ differential output(VD2-XXXXXXH series support collector signal feedback)
111 +|(% colspan="2" %)(% style="background-color:transparent" %)**Internal Command**|(% colspan="3" rowspan="1" %)(((
112 +8 segment internal speed command, 16 segment internal position command
113 +)))
114 +|(% colspan="2" %)(((
96 96  **Communication**
97 -)))| | |
116 +)))|(% colspan="3" rowspan="1" %)(((
117 +MODBUS RS485 or MODBUS RS422(SCTool)
118 +)))
119 +|(% colspan="2" %)(((
120 +**Braking resistor**
121 +)))|(% colspan="3" rowspan="1" %)(((
122 +Internal braking resistor(also support external braking resistor)
123 +)))
124 +|(% colspan="1" rowspan="19" %)(((
125 +**Function setting**
126 +)))|(% colspan="1" rowspan="9" %)(((
127 +**General functions**
128 +)))|(((
129 +**Auto-tuning**
130 +)))|(% colspan="3" rowspan="1" %)(((
131 +Automatic load inertia identification, automatic rigidity self-tuning
132 +)))
133 +|(% colspan="1" rowspan="2" %)(((
134 +**Waveform**
135 +)))|(% colspan="3" rowspan="1" %)(((
136 +4 channels waveform monitoring
137 +)))
138 +|(% colspan="3" rowspan="1" %)(((
139 +10s waveform data recording
140 +)))
98 98  |(((
142 +**Parameter management**
143 +)))|(% colspan="3" rowspan="1" %)(((
144 +Support batch parameter import and export
145 +)))
146 +|(((
147 +**Vibration suppression**
148 +)))|(% colspan="3" rowspan="1" %)(((
149 +Support mechanical vibration suppression
150 +)))
151 +|(((
152 +**Protection**
153 +)))|(% colspan="3" rowspan="1" %)(((
154 +Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
155 +)))
156 +|(((
157 +**Brake device**
158 +)))|(% colspan="3" rowspan="1" %)(((
159 +Support brake signal output
160 +)))
161 +|(((
162 +**DI function**
163 +)))|(% colspan="3" rowspan="1" %)(((
164 +Servo enable((% _mstmutation="1" %)**S-ON**(%%)), Error/alarm clear((% _mstmutation="1" %)**A-CLR**(%%)), Forward rotation prohibited((% _mstmutation="1" %)**POT**(%%))
165 +
166 +Backward rotation prohibited((% _mstmutation="1" %)**NOT**(%%)), Command direction((% _mstmutation="1" %)**C-SIGN**(%%)), Emergency stop((% _mstmutation="1" %)**E-STOP**(%%))
167 +
168 +Gain switch((% _mstmutation="1" %)**GAIN-5EL**(%%)), Internal speed selection((% _mstmutation="1" %)**INSPD1, INSPD2, INSPD3**(%%))
169 +
170 +Internal position selection and enable((% _mstmutation="1" %)**INPO51, INPO52, INPO53, INPO54, ENINPOS**(%%))
171 +)))
172 +|(((
173 +**DO function**
174 +)))|(% colspan="3" rowspan="1" %)(((
175 +Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
176 +
177 +Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
178 +
179 +Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), ABZ pulse feedback output
180 +)))
181 +|(% colspan="1" rowspan="4" %)(((
182 +**Position mode**
183 +)))|(((
184 +**Pulse frequency**
185 +)))|(% colspan="3" rowspan="1" %)(((
186 +Max to 500KHz
187 +)))
188 +|(((
189 +**Pulse type**
190 +)))|(% colspan="3" rowspan="1" %)(((
191 +Direction + Pulse, CW/CCW, Orthogonal coding
192 +)))
193 +|(((
194 +**Pulse filter**
195 +)))|(% colspan="3" rowspan="1" %)(((
196 +First-order low-pass filter or smoothing filter
197 +)))
198 +|(((
199 +**Pulse output**
200 +)))|(% colspan="3" rowspan="1" %)(((
201 +A, B, Z differential output
202 +)))
203 +|(% colspan="1" rowspan="3" %)(((
204 +**Speed mode**
205 +)))|(((
206 +**Command input**
207 +)))|(% colspan="3" rowspan="1" %)(((
208 +Analog input(-10V to +10V), Internal command(8 segments)
209 +)))
210 +|(((
211 +**Zero speed clamp**
212 +)))|(% colspan="3" rowspan="1" %)(((
213 +Support
214 +)))
215 +|(((
216 +**Torque limit**
217 +)))|(% colspan="3" rowspan="1" %)(((
218 +Torque limit under speed mode
219 +)))
220 +|(% colspan="1" rowspan="3" %)(((
221 +**Torque mode**
222 +)))|(((
223 +**Command input**
224 +)))|(% colspan="3" rowspan="1" %)(((
225 +Analog input(-10V to +10V), Internal command
226 +)))
227 +|(((
228 +**Torque reach**
229 +)))|(% colspan="3" rowspan="1" %)(((
230 +Torque reach signal output
231 +)))
232 +|(((
233 +**Velocity limit**
234 +)))|(% colspan="3" rowspan="1" %)(((
235 +Velocity limit under torque mode
236 +)))
237 +
238 += (% id="cke_bm_7897S" style="display:none" %) (%%) =
239 +
240 += **VD2F/VD2L servo driver parameter table** =
241 +
242 +(% style="width:1005px" %)
243 +|(% colspan="6" rowspan="1" style="width:312px" %)(((
244 +**General type**
245 +)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
246 +(% style="text-align:center" %)
247 +[[image:1726190862910-426.png]]
248 +)))|(% rowspan="1" style="width:364px" %)(((
249 +(% style="text-align:center" %)
250 +[[image:1726190785664-427.png]]
251 +)))
252 +|(% colspan="6" rowspan="1" style="width:312px" %)**Model**|(% colspan="1" rowspan="1" style="width:325px" %)(((
253 +**VD2F**
254 +)))|(% rowspan="1" style="width:364px" %)(((
255 +**VD2L**
256 +)))
257 +|(% colspan="3" rowspan="12" %)(((
258 +**Basic Specifications**
259 +)))|(% colspan="3" style="width:198px" %)**Power supply**|(% colspan="1" rowspan="1" style="width:325px" %)(((
260 +220V
261 +)))|(% rowspan="1" style="width:364px" %)(((
262 +220V
263 +)))
264 +|(% colspan="3" style="width:198px" %)(((
265 +**Control method**
266 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
267 +IGBT PWM control sine wave current drive
268 +)))
269 +|(% colspan="3" style="width:198px" %)(((
270 +**Encoder**
271 +)))|(% colspan="2" rowspan="1" style="width:680px" %)17bit, 23bit absolute value encoder
272 +|(% colspan="3" style="width:198px" %)(((
273 +**Control signal input**
274 +)))|(% colspan="2" rowspan="1" style="width:680px" %)4DI
275 +|(% colspan="3" style="width:198px" %)(((
276 +**Control signal output**
277 +)))|(% colspan="2" rowspan="1" style="width:680px" %)4DO
278 +|(% colspan="3" style="width:198px" %)(((
279 +**Pulse frequency division output**
280 +)))|(% colspan="1" rowspan="1" style="width:325px" %)—|(% rowspan="1" style="width:364px" %)(((
281 +Support
282 +)))
283 +|(% colspan="3" style="width:198px" %)(((
284 +**Pulse signal input**
285 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
286 +Open collector or differential input
287 +)))
288 +|(% colspan="3" style="width:198px" %)(((
289 +**Pulse feedback output**
290 +)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
291 +Z signal open collector output
292 +)))|(% rowspan="1" style="width:364px" %)(((
293 +ABZ differential output(VD2-XXXXXXH
294 +
295 +series support collector signal feedback)
296 +)))
297 +|(% colspan="3" style="width:198px" %)(% style="background-color:transparent" %)**Internal Command**|(% colspan="2" rowspan="1" style="width:680px" %)(((
298 +8 segment internal speed command, 16 segment internal position command
299 +)))
300 +|(% colspan="3" style="width:198px" %)(((
301 +**Communication**
302 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
303 +MODBUS RS485 or MODBUS RS422(SCTool)
304 +)))
305 +|(% colspan="3" rowspan="2" style="width:198px" %)(((
99 99  **Braking resistor**
100 -)))| | |
101 -|(% colspan="2" %) | | |
102 -|(% colspan="2" %) | | |
103 -|(% colspan="2" %) | | |
104 -|(% colspan="2" %) | | |
105 -|(% colspan="2" %) | | |
106 -|(% colspan="2" %) | | |
107 -|(% colspan="2" %) | | |
108 -|(% colspan="2" %) | | |
109 -|(% colspan="2" %) | | |
110 -|(% colspan="2" %) | | |
111 -|(% colspan="2" %) | | |
112 -|(% colspan="2" %) | | |
113 -|(% colspan="2" %) | | |
114 -|(% colspan="2" %) | | |
115 -|(% colspan="2" %) | | |
116 -|(% colspan="2" %) | | |
117 -|(% colspan="2" %) | | |
118 -|(% colspan="2" %) | | |
119 -|(% colspan="2" %) | | |
120 -|(% colspan="2" %) | | |
121 -|(% colspan="2" %) | | |
122 -|(% colspan="2" %) | | |
123 -|(% colspan="2" %) | | |
124 -|(% colspan="2" %) | | |
125 -|(% colspan="2" %) | | |
126 -|(% colspan="2" %) | | |
127 -|(% colspan="2" %) | | |
307 +)))|(% colspan="4" rowspan="1" style="width:680px" %)(((
308 +750W built-in braking resistor; 400W without built-in;
309 +)))
310 +|(% colspan="4" style="width:680px" %)(((
311 +Both can support external braking resistors.
312 +)))
313 +|(% colspan="3" rowspan="22" %)(((
314 +**Function setting**
315 +)))|(% colspan="1" rowspan="12" %)(((
316 +**General functions**
317 +)))|(% colspan="2" style="width:115px" %)(((
318 +**Auto-tuning**
319 +)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
320 +Automatic load inertia identification,automatic rigidity self-tuning
321 +)))|(% rowspan="1" style="width:364px" %)-
322 +|(% colspan="2" style="width:115px" %)(((
323 +**Blend mode**
324 +)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
325 +YES
326 +)))|(% rowspan="1" style="width:364px" %)-
327 +|(% colspan="2" style="width:115px" %)(((
328 +**Advanced control algorithms**
329 +)))|(% colspan="1" style="width:325px" %)(((
330 +YES
331 +)))|(% style="width:364px" %)-
332 +|(% colspan="2" rowspan="2" style="width:115px" %)(((
333 +**Waveform**
334 +)))|(% colspan="2" style="width:680px" %)4 channels waveform monitoring
335 +|(% colspan="2" style="width:680px" %)10s waveform data recording
336 +|(% colspan="2" style="width:115px" %)(((
337 +**Parameter management**
338 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
339 +Support batch parameter import and export
340 +)))
341 +|(% colspan="2" style="width:115px" %)(((
342 +**Vibration suppression**
343 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
344 +Support mechanical vibration suppression
345 +)))
346 +|(% colspan="2" style="width:115px" %)(((
347 +**Protection**
348 +)))|(% colspan="2" style="width:680px" %)(((
349 +Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
350 +)))
351 +|(% colspan="2" style="width:115px" %)(((
352 +**Dynamic braking**
353 +)))|(% colspan="1" style="width:325px" %)-|(% style="width:364px" %)(((
354 +Optional
355 +)))
356 +|(% colspan="2" style="width:115px" %)(((
357 +**Brake device**
358 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
359 +Support brake signal output
360 +)))
361 +|(% colspan="2" style="width:115px" %)(((
362 +**DI function**
363 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
364 +Servo enable((% _mstmutation="1" %)**S-ON**(%%)), Error/alarm clear((% _mstmutation="1" %)**A-CLR**(%%)), Forward rotation prohibited((% _mstmutation="1" %)**POT**(%%))
128 128  
129 -(% class="table-bordered" %)
130 -|VD2|(% style="width:302px" %)VD2F|(% style="width:554px" %)VD3E
131 -|VD2-010SA1G|VD2F-003SA1P|VD3E-010SA1G
132 -|VD2-014SA1G|VD2F-010SA1P|VD3E-014SA1G
133 -|VD2-016SA1G|VD2F-014SA1P|VD3E-016SA1G
134 -|VD2-016SE1G| |VD3E-019SA1G
135 -|VD2-019SA1G| |VD3E-021SA1G
136 -|VD2-019SE1G| |VD3E-025SA1G
137 -|VD2-021SA1G| |VD3E-030SA1G
138 -|VD2-021SE1G| |
139 -|VD2-025SA1G| |
140 -|VD2-030SA1G| |
141 -|VD2-021TA1G| |
366 +Backward rotation prohibited((% _mstmutation="1" %)**NOT**(%%)), Command direction((% _mstmutation="1" %)**C-SIGN**(%%)), Emergency stop((% _mstmutation="1" %)**E-STOP**(%%))
367 +
368 +Gain switch((% _mstmutation="1" %)**GAIN-5EL**(%%)), Internal speed selection((% _mstmutation="1" %)**INSPD1, INSPD2, INSPD3**(%%))
369 +
370 +Internal position selection and enable((% _mstmutation="1" %)**INPO51, INPO52, INPO53, INPO54, ENINPOS**(%%))
371 +)))
372 +|(% colspan="2" style="width:115px" %)(((
373 +**DO function**
374 +)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
375 +Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
376 +
377 +Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
378 +
379 +Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), Z pulse feedback output
380 +)))|(% rowspan="1" style="width:364px" %)(((
381 +Servo ready(**RDY**)、Error signal(**ALM**), Alarm signal(**WARN**), Rotation detection(**TGON**)
382 +
383 +Zero speed signal(**ZSP**), Torque limited(**T-LIMIT**), Velocity limited(**V-LIMIT**)
384 +
385 +Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), ABZ pulse feedback output
386 +)))
387 +|(% colspan="1" rowspan="4" %)**Position mode**|**Pulse frequency**|(% colspan="3" rowspan="1" %)(((
388 +Max to 500KHz
389 +)))
390 +|(% colspan="2" rowspan="1" style="width:115px" %)**Pulse type**|(% rowspan="1" style="width:325px" %)(((
391 +Direction + pulse; Orthogonal coding:
392 +V1.21 and above support CW/CCW
393 +)))|(% rowspan="1" style="width:337px" %)Direction + Pulse, Orthogonal coding
394 +|(% colspan="2" rowspan="1" style="width:115px" %)**Pulse filter**|(% colspan="2" rowspan="1" style="width:680px" %)First-order low-pass filter or smoothing filter
395 +|(% colspan="2" rowspan="1" style="width:115px" %)(((
396 +**Pulse output**
397 +)))|(% rowspan="1" style="width:325px" %)-|(% rowspan="1" style="width:337px" %)A, B, Z differential output
398 +|(% colspan="1" rowspan="3" %)(((
399 +**Speed mode**
400 +)))|(% colspan="2" style="width:115px" %)**Command input**|(% colspan="2" rowspan="1" style="width:325px" %)Internal command(8 segments)
401 +|(% colspan="2" style="width:115px" %)**Zero speed clamp**|(% colspan="2" rowspan="1" style="width:325px" %)Support
402 +|(% colspan="2" style="width:115px" %)**Torque limit**|(% colspan="2" rowspan="1" style="width:325px" %)Torque limit under speed mode
403 +|(% colspan="1" rowspan="3" %)**Torque mode**|(% colspan="2" style="width:115px" %)**Command input**|(% colspan="2" rowspan="1" style="width:325px" %)(((
404 +Internal command
405 +)))
406 +|(% colspan="2" style="width:115px" %)**Torque reach**|(% colspan="2" rowspan="1" style="width:325px" %)(((
407 +Torque reach signal output
408 +)))
409 +|(% colspan="2" style="width:115px" %)**Velocity limit**|(% colspan="2" rowspan="1" style="width:325px" %)(((
410 +Velocity limit under torque mode
411 +)))
412 +
413 += VD3E servo driver parameter table =
414 +
415 +(% style="margin-left:auto; margin-right:auto; width:1230px" %)
416 +|(% colspan="3" rowspan="1" style="width:464px" %)(((
417 +**Bus type**
418 +)))|(% style="width:309px" %)(((
419 +(% style="text-align:center" %)
420 +[[image:1726295827531-129.png]]
421 +
422 +(((
423 +
424 +)))
425 +)))|(((
426 +(% style="text-align:center" %)
427 +[[image:1726295883786-742.png]]
428 +
429 +(((
430 +
431 +)))
432 +)))|(((
433 +(% style="text-align:center" %)
434 +[[image:1726295894302-137.png]]
435 +)))
436 +|(% colspan="3" rowspan="1" style="width:464px" %)**Model**|(% style="width:309px" %)(((
437 +**VD3E(A type)**
438 +)))|(((
439 +**VD3E(B type)**
440 +)))|(((
441 +**VD3E(C type)**
442 +)))
443 +|(% colspan="1" rowspan="7" style="width:166px" %)(((
444 +**Basic Specifications**
445 +)))|(% colspan="2" style="width:301px" %)**Power supply**|(% style="width:309px" %)220V|220V/380V|380V
446 +|(% colspan="2" style="width:301px" %)**Control method**|(% colspan="3" rowspan="1" style="width:470px" %)IGBT PWM control sine wave current drive
447 +|(% colspan="2" style="width:301px" %)**Encoder**|(% colspan="3" rowspan="1" style="width:470px" %)17bit, 23bit absolute value encoder
448 +|(% colspan="2" style="width:301px" %)**Control signal input**|(% colspan="3" rowspan="1" style="width:470px" %)(((
449 +6DI,
450 +
451 +Select the output function according to the function code configuration
452 +)))
453 +|(% colspan="2" style="width:301px" %)**Control signal output**|(% colspan="3" rowspan="1" style="width:470px" %)(((
454 +3DO,
455 +
456 +Select the output function according to the function code configuration
457 +)))
458 +|(% style="width:147px" %)(((
459 +**Communication function**
460 +)))|(% style="width:155px" %)(((
461 +**Host computer communication**
462 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
463 +The USB interface can be used to set function code parameters, monitor status, and view waveforms through a computer host computer.
464 +Parameter self-tuning, etc.
465 +)))
466 +|(% colspan="2" style="width:301px" %)**Braking resistor**|(% colspan="3" rowspan="1" style="width:470px" %)(((
467 +Built-in braking resistor, supports external braking resistor
468 +)))
469 +|(% colspan="1" rowspan="9" style="width:166px" %)**General functions**|(% colspan="2" style="width:301px" %)**Auto-tuning**|(% colspan="3" rowspan="1" style="width:470px" %)Automatic load inertia identification,automatic rigidity self-tuning
470 +|(% colspan="2" style="width:301px" %)(((
471 +**Waveform viewing**
472 +)))|(% colspan="3" rowspan="1" style="width:470px" %)4 channels waveform monitoring
473 +|(% colspan="2" style="width:301px" %)(((
474 +**Waveform storage**
475 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
476 +Waveform acquisition frequency 1K Hz,(% style="background-color:transparent" %)10s waveform data recording
477 +)))
478 +|(% colspan="2" style="width:301px" %)**Parameter management**|(% colspan="3" rowspan="1" style="width:470px" %)Support batch parameter import and export
479 +|(% colspan="2" style="width:301px" %)(((
480 +**Vibration suppression**
481 +)))|(% colspan="3" rowspan="1" style="width:470px" %)Support mechanical vibration suppression
482 +|(% colspan="2" style="width:301px" %)(((
483 +
484 +
485 +**Protection**
486 +)))|(% colspan="3" rowspan="1" style="width:470px" %)Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
487 +|(% colspan="2" style="width:301px" %)**Brake device**|(% colspan="3" rowspan="1" style="width:470px" %)Support brake signal output
488 +|(% colspan="2" style="width:301px" %)**DI function**|(% colspan="3" rowspan="1" style="width:470px" %)(((
489 +Servo enable((% _mstmutation="1" %)**S-ON**(%%)), Error/alarm clear((% _mstmutation="1" %)**A-CLR**(%%)), Forward rotation prohibited((% _mstmutation="1" %)**POT**(%%))Backward rotation prohibited((% _mstmutation="1" %)**NOT**(%%)), Emergency stop((% _mstmutation="1" %)**E-STOP**(%%))
490 +)))
491 +|(% colspan="2" style="width:301px" %)**DO function**|(% colspan="3" rowspan="1" style="width:470px" %)(((
492 +Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
493 +
494 +Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
495 +
496 +Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**),CommunicationVDO
497 +)))
498 +|(% colspan="1" rowspan="16" style="width:166px" %)(((
499 +**EtherCAT related**
500 +)))|(% rowspan="14" style="width:147px" %)(((
501 +**EtherCAT related**
502 +)))|(% style="width:155px" %)(((
503 +**Communication protocol**
504 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
505 +EtherCAT protocol
506 +)))
507 +|(% style="width:155px" %)(((
508 +**Support services**
509 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
510 +CoE(PDO,SDO)
511 +)))
512 +|(% style="width:155px" %)(((
513 +**Sync mode**
514 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
515 +DC-Distributed Clock
516 +)))
517 +|(% style="width:155px" %)(((
518 +**Physical layer**
519 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
520 +100BASE-TX
521 +)))
522 +|(% style="width:155px" %)(((
523 +**Baud rate**
524 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
525 +100 Mbit/s(100Base-TX)
526 +)))
527 +|(% style="width:155px" %)(((
528 +**Duplex mode**
529 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
530 +Full duplex
531 +)))
532 +|(% style="width:155px" %)(((
533 +**Topology**
534 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
535 +Circular, linear
536 +)))
537 +|(% style="width:155px" %)(((
538 +**Transmission medium**
539 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
540 +Shielded Category 5e or better network cable
541 +)))
542 +|(% style="width:155px" %)(((
543 +**Transmission distance**
544 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
545 +Less than 100M between two nodes (good environment, good cables)
546 +)))
547 +|(% style="width:155px" %)(((
548 +**Frame length**
549 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
550 +44 bytes~~1498 bytes
551 +)))
552 +|(% style="width:155px" %)(((
553 +**Excessive data**
554 +)))|(% colspan="5" rowspan="1" style="width:470px" %)Maximum size of a single Ethernet frame is 1486 bytes
555 +|(% style="width:155px" %)(((
556 +**Sync jitter**
557 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
558 +<1μs
559 +)))
560 +|(% style="width:155px" %)(((
561 +**Distributed clock**
562 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
563 +64 bit
564 +)))
565 +|(% style="width:155px" %)(((
566 +**EEPROM capacity**
567 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
568 +8k bit initialization data is written through the EtherCAT master station
569 +)))
570 +|(% rowspan="2" style="width:147px" %)(((
571 +**Control mode and performance**
572 +)))|(% style="width:155px" %)(((
573 +**Control mode**
574 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
575 +CSP、HM
576 +)))
577 +|(% style="width:155px" %)**Synchronization period**|(% colspan="3" rowspan="1" style="width:470px" %)(((
578 +125μs
579 +)))
580 +
581 +(% style="margin-left:auto; margin-right:auto; width:50px" %)
582 +|WD|80|M|-|075|30|S|-|A1|F|-|L
583 +|①|②|③| |④|⑤|⑥| |⑦|⑧| |⑨
584 +
585 +|(% rowspan="2" %)①Pole pairs|WD: 5| |(% rowspan="6" %)④Rated power|010：100W| |(% rowspan="4" %)⑦Encoder type|A1: 17bit single-turn absolute magnetic encoder
586 +|WE: 4| |020：200W| |C1：17bit multi-turn absolute magnetic encoder
587 +| | | |...| |D2：23bit multi-turn absolute optical encoder
588 +|(% rowspan="7" %)②Flange|40| |500：5.0KW| |E1: 2500-line incremental encoder
589 +|60| |550：5.5KW| | |
590 +|80| |...| |(% rowspan="2" %)⑧Motor structure|F：Oil seal
591 +|110| | | | |G：Oil seal + Brake device
592 +|130| |(% rowspan="4" %)⑤Rated speed|15：1500rpm| | |
593 +|150| |20：2000rpm| |(% rowspan="3" %)⑨Others|L：60/80 flange connector
594 +|180| |25：2500rpm| |(% rowspan="2" %)L2：60/80/130 flange connector
595 +| | | |30：3000rpm|
596 +|(% rowspan="3" %)③Inertia level|L: Low| | | | |(% colspan="2" %)
597 +|M: Middle| |(% rowspan="2" %)⑥Voltage level|S: 220V| |(% colspan="2" %)
598 +|H: High| |T: 380V| |(% colspan="2" %)
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