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Changes for page 05 Servo Product Manual

Last modified by Jim(Forgotten) on 2025/03/20 10:19
From version 20.1
edited by Jim(Forgotten)
on 2024/09/11 16:30
Change comment: There is no comment for this version
To version 32.1
edited by Molly
on 2024/09/14 14:36
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.Molly
Content
... ... @@ -58,7 +58,7 @@
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 =
... ... @@ -65,53 +65,53 @@
65 65  
66 66  |(% colspan="3" %)(((
67 67  **General type**
68 -)))|[[image:1726038778533-997.png]]|[[image:1726038786193-560.png]]|[[image:1726038790641-417.png]]|
69 -|(% colspan="3" %)**Model**|**VD2(A type)**|**VD2(B type)**|**VD2(C type)**|
68 +)))|[[image:1726038778533-997.png||_mstalt="300053"]]|[[image:1726038786193-560.png||_mstalt="296309"]]|[[image:1726038790641-417.png||_mstalt="295087"]]
69 +|(% colspan="3" %)**Model**|**VD2(A type)**|**VD2(B type)**|**VD2(C type)**
70 70  |(% colspan="1" rowspan="11" %)(((
71 71  **Basic Specifications**
72 -)))|(% colspan="2" %)**Power supply**|220V|220V/380V|380V|
72 +)))|(% colspan="2" %)**Power supply**|220V|220V/380V|380V
73 73  |(% colspan="2" %)(((
74 74  **Control method**
75 75  )))|(% colspan="3" rowspan="1" %)(((
76 76  IGBT PWM control sine wave current drive
77 -)))|(% rowspan="1" %)
77 +)))
78 78  |(% colspan="2" %)(((
79 79  **Encoder**
80 80  )))|(% colspan="3" rowspan="1" %)(((
81 81  2500-line incremental encoder, 17-bit/23-bit absolute encoder
82 -)))|(% rowspan="1" %)
82 +)))
83 83  |(% colspan="2" %)(((
84 84  **Control signal input**
85 -)))|(% colspan="3" rowspan="1" %)8DI|(% rowspan="1" %)
85 +)))|(% colspan="3" rowspan="1" %)8DI
86 86  |(% colspan="2" %)(((
87 87  **Control signal output**
88 -)))|(% colspan="3" rowspan="1" %)4DO|(% rowspan="1" %)
88 +)))|(% colspan="3" rowspan="1" %)4DO
89 89  |(% colspan="2" %)(((
90 90  **Analog signal input**
91 91  )))|(% colspan="3" rowspan="1" %)(((
92 92  2 AI(-10V to +10V)
93 -)))|(% rowspan="1" %)
93 +)))
94 94  |(% colspan="2" %)(((
95 95  **Pulse signal input**
96 96  )))|(% colspan="3" rowspan="1" %)(((
97 97  Open collector or differential input
98 -)))|(% rowspan="1" %)
98 +)))
99 99  |(% colspan="2" %)(((
100 100  **Pulse feedback output**
101 -)))| | | |
101 +)))|(% colspan="3" rowspan="1" %)ABZ differential output(VD2-XXXXXXH series support collector signal feedback)
102 102  |(% colspan="2" %)(% style="background-color:transparent" %)**Internal Command**|(% colspan="3" rowspan="1" %)(((
103 103  8 segment internal speed command, 16 segment internal position command
104 -)))|(% rowspan="1" %)
104 +)))
105 105  |(% colspan="2" %)(((
106 106  **Communication**
107 107  )))|(% colspan="3" rowspan="1" %)(((
108 108  MODBUS RS485 or MODBUS RS422(SCTool)
109 -)))|(% rowspan="1" %)
109 +)))
110 110  |(% colspan="2" %)(((
111 111  **Braking resistor**
112 112  )))|(% colspan="3" rowspan="1" %)(((
113 113  Internal braking resistor(also support external braking resistor)
114 -)))|(% rowspan="1" %)
114 +)))
115 115  |(% colspan="1" rowspan="19" %)(((
116 116  **Function setting**
117 117  )))|(% colspan="1" rowspan="9" %)(((
... ... @@ -120,86 +120,464 @@
120 120  **Auto-tuning**
121 121  )))|(% colspan="3" rowspan="1" %)(((
122 122  Automatic load inertia identification, automatic rigidity self-tuning
123 -)))|
123 +)))
124 124  |(% colspan="1" rowspan="2" %)(((
125 125  **Waveform**
126 126  )))|(% colspan="3" rowspan="1" %)(((
127 127  4 channels waveform monitoring
128 -)))|
128 +)))
129 129  |(% colspan="3" rowspan="1" %)(((
130 130  10s waveform data recording
131 -)))|
131 +)))
132 132  |(((
133 133  **Parameter management**
134 134  )))|(% colspan="3" rowspan="1" %)(((
135 135  Support batch parameter import and export
136 -)))|
136 +)))
137 137  |(((
138 138  **Vibration suppression**
139 139  )))|(% colspan="3" rowspan="1" %)(((
140 140  Support mechanical vibration suppression
141 -)))|
141 +)))
142 142  |(((
143 143  **Protection**
144 144  )))|(% colspan="3" rowspan="1" %)(((
145 145  Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
146 -)))|
146 +)))
147 147  |(((
148 148  **Brake device**
149 -)))| | | |
149 +)))|(% colspan="3" rowspan="1" %)(((
150 +Support brake signal output
151 +)))
150 150  |(((
151 151  **DI function**
152 -)))| | | |
154 +)))|(% colspan="3" rowspan="1" %)(((
155 +Servo enable((% _mstmutation="1" %)**S-ON**(%%)), Error/alarm clear((% _mstmutation="1" %)**A-CLR**(%%)), Forward rotation prohibited((% _mstmutation="1" %)**POT**(%%))
156 +
157 +Backward rotation prohibited((% _mstmutation="1" %)**NOT**(%%)), Command direction((% _mstmutation="1" %)**C-SIGN**(%%)), Emergency stop((% _mstmutation="1" %)**E-STOP**(%%))
158 +
159 +Gain switch((% _mstmutation="1" %)**GAIN-5EL**(%%)), Internal speed selection((% _mstmutation="1" %)**INSPD1, INSPD2, INSPD3**(%%))
160 +
161 +Internal position selection and enable((% _mstmutation="1" %)**INPO51, INPO52, INPO53, INPO54, ENINPOS**(%%))
162 +)))
153 153  |(((
154 154  **DO function**
155 -)))| | | |
165 +)))|(% colspan="3" rowspan="1" %)(((
166 +Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
167 +
168 +Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
169 +
170 +Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), ABZ pulse feedback output
171 +)))
156 156  |(% colspan="1" rowspan="4" %)(((
157 157  **Position mode**
158 158  )))|(((
159 159  **Pulse frequency**
160 -)))| | | |
176 +)))|(% colspan="3" rowspan="1" %)(((
177 +Max to 500KHz
178 +)))
161 161  |(((
162 162  **Pulse type**
163 -)))| | | |
181 +)))|(% colspan="3" rowspan="1" %)(((
182 +Direction + Pulse, CW/CCW, Orthogonal coding
183 +)))
164 164  |(((
165 165  **Pulse filter**
166 -)))| | | |
186 +)))|(% colspan="3" rowspan="1" %)(((
187 +First-order low-pass filter or smoothing filter
188 +)))
167 167  |(((
168 168  **Pulse output**
169 -)))| | | |
191 +)))|(% colspan="3" rowspan="1" %)(((
192 +A, B, Z differential output
193 +)))
170 170  |(% colspan="1" rowspan="3" %)(((
171 171  **Speed mode**
172 172  )))|(((
173 173  **Command input**
174 -)))| | | |
198 +)))|(% colspan="3" rowspan="1" %)(((
199 +Analog input(-10V to +10V), Internal command(8 segments)
200 +)))
175 175  |(((
176 176  **Zero speed clamp**
177 -)))| | | |
203 +)))|(% colspan="3" rowspan="1" %)(((
204 +Support
205 +)))
178 178  |(((
179 179  **Torque limit**
180 -)))| | | |
208 +)))|(% colspan="3" rowspan="1" %)(((
209 +Torque limit under speed mode
210 +)))
181 181  |(% colspan="1" rowspan="3" %)(((
182 182  **Torque mode**
183 183  )))|(((
184 184  **Command input**
185 -)))| | | |
215 +)))|(% colspan="3" rowspan="1" %)(((
216 +Analog input(-10V to +10V), Internal command
217 +)))
186 186  |(((
187 187  **Torque reach**
188 -)))| | | |
220 +)))|(% colspan="3" rowspan="1" %)(((
221 +Torque reach signal output
222 +)))
189 189  |(((
190 190  **Velocity limit**
191 -)))| | | |
225 +)))|(% colspan="3" rowspan="1" %)(((
226 +Velocity limit under torque mode
227 +)))
192 192  
193 -(% class="table-bordered" %)
194 -|VD2|(% style="width:302px" %)VD2F|(% style="width:554px" %)VD3E
195 -|VD2-010SA1G|VD2F-003SA1P|VD3E-010SA1G
196 -|VD2-014SA1G|VD2F-010SA1P|VD3E-014SA1G
197 -|VD2-016SA1G|VD2F-014SA1P|VD3E-016SA1G
198 -|VD2-016SE1G| |VD3E-019SA1G
199 -|VD2-019SA1G| |VD3E-021SA1G
200 -|VD2-019SE1G| |VD3E-025SA1G
201 -|VD2-021SA1G| |VD3E-030SA1G
202 -|VD2-021SE1G| |
203 -|VD2-025SA1G| |
204 -|VD2-030SA1G| |
205 -|VD2-021TA1G| |
229 += (% id="cke_bm_7897S" style="display:none" %) (%%) =
230 +
231 += **VD2F/VD2L servo driver parameter table** =
232 +
233 +(% style="width:1005px" %)
234 +|(% colspan="6" rowspan="1" style="width:312px" %)(((
235 +**General type**
236 +)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
237 +(% style="text-align:center" %)
238 +[[image:1726190862910-426.png]]
239 +)))|(% rowspan="1" style="width:364px" %)(((
240 +(% style="text-align:center" %)
241 +[[image:1726190785664-427.png]]
242 +)))
243 +|(% colspan="6" rowspan="1" style="width:312px" %)**Model**|(% colspan="1" rowspan="1" style="width:325px" %)(((
244 +**VD2F**
245 +)))|(% rowspan="1" style="width:364px" %)(((
246 +**VD2L**
247 +)))
248 +|(% colspan="3" rowspan="12" %)(((
249 +**Basic Specifications**
250 +)))|(% colspan="3" style="width:198px" %)**Power supply**|(% colspan="1" rowspan="1" style="width:325px" %)(((
251 +220V
252 +)))|(% rowspan="1" style="width:364px" %)(((
253 +220V
254 +)))
255 +|(% colspan="3" style="width:198px" %)(((
256 +**Control method**
257 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
258 +IGBT PWM control sine wave current drive
259 +)))
260 +|(% colspan="3" style="width:198px" %)(((
261 +**Encoder**
262 +)))|(% colspan="2" rowspan="1" style="width:680px" %)17bit, 23bit absolute value encoder
263 +|(% colspan="3" style="width:198px" %)(((
264 +**Control signal input**
265 +)))|(% colspan="2" rowspan="1" style="width:680px" %)4DI
266 +|(% colspan="3" style="width:198px" %)(((
267 +**Control signal output**
268 +)))|(% colspan="2" rowspan="1" style="width:680px" %)4DO
269 +|(% colspan="3" style="width:198px" %)(((
270 +**Pulse frequency division output**
271 +)))|(% colspan="1" rowspan="1" style="width:325px" %)—|(% rowspan="1" style="width:364px" %)(((
272 +Support
273 +)))
274 +|(% colspan="3" style="width:198px" %)(((
275 +**Pulse signal input**
276 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
277 +Open collector or differential input
278 +)))
279 +|(% colspan="3" style="width:198px" %)(((
280 +**Pulse feedback output**
281 +)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
282 +Z signal open collector output
283 +)))|(% rowspan="1" style="width:364px" %)(((
284 +ABZ differential output(VD2-XXXXXXH
285 +
286 +series support collector signal feedback)
287 +)))
288 +|(% colspan="3" style="width:198px" %)(% style="background-color:transparent" %)**Internal Command**|(% colspan="2" rowspan="1" style="width:680px" %)(((
289 +8 segment internal speed command, 16 segment internal position command
290 +)))
291 +|(% colspan="3" style="width:198px" %)(((
292 +**Communication**
293 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
294 +MODBUS RS485 or MODBUS RS422(SCTool)
295 +)))
296 +|(% colspan="3" rowspan="2" style="width:198px" %)(((
297 +**Braking resistor**
298 +)))|(% colspan="4" rowspan="1" style="width:680px" %)(((
299 +750W built-in braking resistor; 400W without built-in;
300 +)))
301 +|(% colspan="4" style="width:680px" %)(((
302 +Both can support external braking resistors.
303 +)))
304 +|(% colspan="3" rowspan="22" %)(((
305 +**Function setting**
306 +)))|(% colspan="1" rowspan="12" %)(((
307 +**General functions**
308 +)))|(% colspan="2" style="width:115px" %)(((
309 +**Auto-tuning**
310 +)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
311 +Automatic load inertia identification,automatic rigidity self-tuning
312 +)))|(% rowspan="1" style="width:364px" %)-
313 +|(% colspan="2" style="width:115px" %)(((
314 +**Blend mode**
315 +)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
316 +YES
317 +)))|(% rowspan="1" style="width:364px" %)-
318 +|(% colspan="2" style="width:115px" %)(((
319 +**Advanced control algorithms**
320 +)))|(% colspan="1" style="width:325px" %)(((
321 +YES
322 +)))|(% style="width:364px" %)-
323 +|(% colspan="2" rowspan="2" style="width:115px" %)(((
324 +**Waveform**
325 +)))|(% colspan="2" style="width:680px" %)4 channels waveform monitoring
326 +|(% colspan="2" style="width:680px" %)10s waveform data recording
327 +|(% colspan="2" style="width:115px" %)(((
328 +**Parameter management**
329 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
330 +Support batch parameter import and export
331 +)))
332 +|(% colspan="2" style="width:115px" %)(((
333 +**Vibration suppression**
334 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
335 +Support mechanical vibration suppression
336 +)))
337 +|(% colspan="2" style="width:115px" %)(((
338 +**Protection**
339 +)))|(% colspan="2" style="width:680px" %)(((
340 +Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
341 +)))
342 +|(% colspan="2" style="width:115px" %)(((
343 +**Dynamic braking**
344 +)))|(% colspan="1" style="width:325px" %)-|(% style="width:364px" %)(((
345 +Optional
346 +)))
347 +|(% colspan="2" style="width:115px" %)(((
348 +**Brake device**
349 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
350 +Support brake signal output
351 +)))
352 +|(% colspan="2" style="width:115px" %)(((
353 +**DI function**
354 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
355 +Servo enable((% _mstmutation="1" %)**S-ON**(%%)), Error/alarm clear((% _mstmutation="1" %)**A-CLR**(%%)), Forward rotation prohibited((% _mstmutation="1" %)**POT**(%%))
356 +
357 +Backward rotation prohibited((% _mstmutation="1" %)**NOT**(%%)), Command direction((% _mstmutation="1" %)**C-SIGN**(%%)), Emergency stop((% _mstmutation="1" %)**E-STOP**(%%))
358 +
359 +Gain switch((% _mstmutation="1" %)**GAIN-5EL**(%%)), Internal speed selection((% _mstmutation="1" %)**INSPD1, INSPD2, INSPD3**(%%))
360 +
361 +Internal position selection and enable((% _mstmutation="1" %)**INPO51, INPO52, INPO53, INPO54, ENINPOS**(%%))
362 +)))
363 +|(% colspan="2" style="width:115px" %)(((
364 +**DO function**
365 +)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
366 +Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
367 +
368 +Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
369 +
370 +Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), Z pulse feedback output
371 +)))|(% rowspan="1" style="width:364px" %)(((
372 +Servo ready(**RDY**)、Error signal(**ALM**), Alarm signal(**WARN**), Rotation detection(**TGON**)
373 +
374 +Zero speed signal(**ZSP**), Torque limited(**T-LIMIT**), Velocity limited(**V-LIMIT**)
375 +
376 +Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), ABZ pulse feedback output
377 +)))
378 +|(% colspan="1" rowspan="4" %)**Position mode**|**Pulse frequency**|(% colspan="3" rowspan="1" %)(((
379 +Max to 500KHz
380 +)))
381 +|(% colspan="2" rowspan="1" style="width:115px" %)**Pulse type**|(% rowspan="1" style="width:325px" %)(((
382 +Direction + pulse; Orthogonal coding:
383 +V1.21 and above support CW/CCW
384 +)))|(% rowspan="1" style="width:337px" %)Direction + Pulse, Orthogonal coding
385 +|(% colspan="2" rowspan="1" style="width:115px" %)**Pulse filter**|(% colspan="2" rowspan="1" style="width:680px" %)First-order low-pass filter or smoothing filter
386 +|(% colspan="2" rowspan="1" style="width:115px" %)(((
387 +**Pulse output**
388 +)))|(% rowspan="1" style="width:325px" %)-|(% rowspan="1" style="width:337px" %)A, B, Z differential output
389 +|(% colspan="1" rowspan="3" %)(((
390 +**Speed mode**
391 +)))|(% colspan="2" style="width:115px" %)**Command input**|(% colspan="2" rowspan="1" style="width:325px" %)Internal command(8 segments)
392 +|(% colspan="2" style="width:115px" %)**Zero speed clamp**|(% colspan="2" rowspan="1" style="width:325px" %)Support
393 +|(% colspan="2" style="width:115px" %)**Torque limit**|(% colspan="2" rowspan="1" style="width:325px" %)Torque limit under speed mode
394 +|(% colspan="1" rowspan="3" %)**Torque mode**|(% colspan="2" style="width:115px" %)**Command input**|(% colspan="2" rowspan="1" style="width:325px" %)(((
395 +Internal command
396 +)))
397 +|(% colspan="2" style="width:115px" %)**Torque reach**|(% colspan="2" rowspan="1" style="width:325px" %)(((
398 +Torque reach signal output
399 +)))
400 +|(% colspan="2" style="width:115px" %)**Velocity limit**|(% colspan="2" rowspan="1" style="width:325px" %)(((
401 +Velocity limit under torque mode
402 +)))
403 +
404 +
405 += VD3E servo driver parameter table =
406 +
407 +(% style="width:887px" %)
408 +|(% colspan="3" rowspan="1" style="width:464px" %)(((
409 +**Bus type**
410 +)))|(% style="width:309px" %)(((
411 +(% style="text-align:center" %)
412 +[[image:1726277302418-624.png]]
413 +)))|(((
414 +(% style="text-align:center" %)
415 +[[image:1726277309267-133.png]]
416 +)))|(((
417 +(% style="text-align:center" %)
418 +[[image:1726277316197-586.png]]
419 +)))
420 +|(% colspan="3" rowspan="1" style="width:464px" %)**Model**|(% style="width:309px" %)(((
421 +**VD3E(A type)**
422 +)))|(((
423 +**VD3E(B type)**
424 +)))|(((
425 +**VD3E(C type)**
426 +)))
427 +|(% colspan="1" rowspan="7" style="width:166px" %)(((
428 +**Basic Specifications**
429 +)))|(% colspan="2" style="width:301px" %)**Power supply**|(% style="width:309px" %)220V|220V/380V|380V
430 +|(% colspan="2" style="width:301px" %)**Control method**|(% colspan="3" rowspan="1" style="width:470px" %)IGBT PWM control sine wave current drive
431 +|(% colspan="2" style="width:301px" %)**Encoder**|(% colspan="3" rowspan="1" style="width:470px" %)17bit, 23bit absolute value encoder
432 +|(% colspan="2" style="width:301px" %)**Control signal input**|(% colspan="3" rowspan="1" style="width:470px" %)(((
433 +6DI,
434 +
435 +Select the output function according to the function code configuration
436 +)))
437 +|(% colspan="2" style="width:301px" %)**Control signal output**|(% colspan="3" rowspan="1" style="width:470px" %)(((
438 +3DO,
439 +
440 +Select the output function according to the function code configuration
441 +)))
442 +|(% style="width:147px" %)(((
443 +**Communication function**
444 +)))|(% style="width:155px" %)(((
445 +**Host computer communication**
446 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
447 +The USB interface can be used to set function code parameters, monitor status, and view waveforms through a computer host computer.
448 +Parameter self-tuning, etc.
449 +)))
450 +|(% colspan="2" style="width:301px" %)**Braking resistor**|(% colspan="3" rowspan="1" style="width:470px" %)(((
451 +Built-in braking resistor, supports external braking resistor
452 +)))
453 +|(% 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
454 +|(% colspan="2" style="width:301px" %)(((
455 +**Waveform viewing**
456 +)))|(% colspan="3" rowspan="1" style="width:470px" %)4 channels waveform monitoring
457 +|(% colspan="2" style="width:301px" %)(((
458 +**Waveform storage**
459 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
460 +Waveform acquisition frequency 1K Hz,(% style="background-color:transparent" %)10s waveform data recording
461 +)))
462 +|(% colspan="2" style="width:301px" %)**Parameter management**|(% colspan="3" rowspan="1" style="width:470px" %)Support batch parameter import and export
463 +|(% colspan="2" style="width:301px" %)(((
464 +**Vibration suppression**
465 +)))|(% colspan="3" rowspan="1" style="width:470px" %)Support mechanical vibration suppression
466 +|(% colspan="2" style="width:301px" %)(((
467 +
468 +
469 +**Protection**
470 +)))|(% colspan="3" rowspan="1" style="width:470px" %)Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
471 +|(% colspan="2" style="width:301px" %)**Brake device**|(% colspan="3" rowspan="1" style="width:470px" %)Support brake signal output
472 +|(% colspan="2" style="width:301px" %)**DI function**|(% colspan="3" rowspan="1" style="width:470px" %)(((
473 +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**(%%))
474 +)))
475 +|(% colspan="2" style="width:301px" %)**DO function**|(% colspan="3" rowspan="1" style="width:470px" %)(((
476 +Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
477 +
478 +Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
479 +
480 +Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**),CommunicationVDO
481 +)))
482 +|(% colspan="1" rowspan="16" style="width:166px" %)(((
483 +**EtherCAT related**
484 +)))|(% rowspan="14" style="width:147px" %)(((
485 +**EtherCAT related**
486 +)))|(% style="width:155px" %)(((
487 +Communication protocol
488 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
489 +EtherCAT protocol
490 +)))
491 +|(% style="width:155px" %)(((
492 +Support services
493 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
494 +CoE(PDO,SDO)
495 +)))
496 +|(% style="width:155px" %)(((
497 +Sync mode
498 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
499 +DC-Distributed Clock
500 +)))
501 +|(% style="width:155px" %)(((
502 +Physical layer
503 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
504 +100BASE-TX
505 +)))
506 +|(% style="width:155px" %)(((
507 +Baud rate
508 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
509 +100 Mbit/s(100Base-TX)
510 +)))
511 +|(% style="width:155px" %)(((
512 +Duplex mode
513 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
514 +Full duplex
515 +)))
516 +|(% style="width:155px" %)(((
517 +Topology
518 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
519 +Circular, linear
520 +)))
521 +|(% style="width:155px" %)(((
522 +Transmission medium
523 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
524 +Shielded Category 5e or better network cable
525 +)))
526 +|(% style="width:155px" %)(((
527 +Transmission distance
528 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
529 +Less than 100M between two nodes (good environment, good cables)
530 +)))
531 +|(% style="width:155px" %)(((
532 +Frame length
533 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
534 +44 bytes~~1498 bytes
535 +)))
536 +|(% style="width:155px" %)(((
537 +Excessive data
538 +)))|(% colspan="5" rowspan="1" style="width:470px" %)Maximum size of a single Ethernet frame is 1486 bytes
539 +|(% style="width:155px" %)(((
540 +Sync jitter
541 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
542 +<1μs
543 +)))
544 +|(% style="width:155px" %)(((
545 +Distributed clock
546 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
547 +64 bit
548 +)))
549 +|(% style="width:155px" %)(((
550 +EEPROM capacity
551 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
552 +8k bit initialization data is written through the EtherCAT master station
553 +)))
554 +|(% rowspan="2" style="width:147px" %)(((
555 +**Control mode and performance**
556 +)))|(% style="width:155px" %)(((
557 +control mode
558 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
559 +CSP、HM
560 +)))
561 +|(% style="width:155px" %)Synchronization period|(% colspan="3" rowspan="1" style="width:470px" %)(((
562 +125μs
563 +)))
564 +
565 +
566 +(% style="margin-left:auto; margin-right:auto; width:50px" %)
567 +|WD|80|M|-|075|30|S|-|A1|F|-|L
568 +|①|②|③| |④|⑤|⑥| |⑦|⑧| |⑨
569 +
570 +|(% rowspan="2" %)①Pole pairs|WD: 5| |(% rowspan="6" %)④Rated power|010：100W| |(% rowspan="4" %)⑦Encoder type|A1: 17bit single-turn absolute magnetic encoder
571 +|WE: 4| |020：200W| |C1：17bit multi-turn absolute magnetic encoder
572 +| | | |...| |D2：23bit multi-turn absolute optical encoder
573 +|(% rowspan="7" %)②Flange|40| |500：5.0KW| |E1: 2500-line incremental encoder
574 +|60| |550：5.5KW| | |
575 +|80| |...| |(% rowspan="2" %)⑧Motor structure|F：Oil seal
576 +|110| | | | |G：Oil seal + Brake device
577 +|130| |(% rowspan="4" %)⑤Rated speed|15：1500rpm| | |
578 +|150| |20：2000rpm| |(% rowspan="3" %)⑨Others|L：60/80 flange connector
579 +|180| |25：2500rpm| |(% rowspan="2" %)L2：60/80/130 flange connector
580 +| | | |30：3000rpm|
581 +|(% rowspan="3" %)③Inertia level|L: Low| | | | |(% colspan="2" %)
582 +|M: Middle| |(% rowspan="2" %)⑥Voltage level|S: 220V| |(% colspan="2" %)
583 +|H: High| |T: 380V| |(% colspan="2" %)
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