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Changes for page 05 Servo Product Manual

Last modified by Jim(Forgotten) on 2025/03/20 10:19
From version 20.2
edited by Jim(Forgotten)
on 2024/09/11 16:30
Change comment: Update document after refactoring.
To version 28.1
edited by Jim(Forgotten)
on 2024/09/13 11:15
Change comment: There is no comment for this version

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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 +120,300 @@
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:1050.4px" %)
234 +|(% colspan="6" rowspan="1" %)(((
235 +**General type**
236 +)))|(% colspan="1" rowspan="1" style="width:221px" %)(((
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" %)**Model**|(% colspan="1" rowspan="1" style="width:221px" %)(((
244 +**VD2F**
245 +)))|(% rowspan="1" style="width:364px" %)(((
246 +**VD2L**
247 +)))
248 +|(% colspan="3" rowspan="12" %)(((
249 +**Basic Specifications**
250 +)))|(% colspan="3" %)**Power supply**|(% colspan="1" rowspan="1" style="width:221px" %)(((
251 +220V
252 +)))|(% rowspan="1" style="width:364px" %)(((
253 +220V
254 +)))
255 +|(% colspan="3" %)(((
256 +**Control method**
257 +)))|(% colspan="2" rowspan="1" style="width:585px" %)(((
258 +IGBT PWM control sine wave current drive
259 +)))
260 +|(% colspan="3" %)(((
261 +**Encoder**
262 +)))|(% colspan="2" rowspan="1" style="width:585px" %)17bit, 23bit absolute value encoder
263 +|(% colspan="3" %)(((
264 +**Control signal input**
265 +)))|(% colspan="2" rowspan="1" style="width:585px" %)4DI
266 +|(% colspan="3" %)(((
267 +**Control signal output**
268 +)))|(% colspan="2" rowspan="1" style="width:585px" %)4DO
269 +|(% colspan="3" %)(((
270 +**Pulse frequency division output**
271 +)))|(% colspan="1" rowspan="1" style="width:221px" %)—|(% rowspan="1" style="width:364px" %)(((
272 +Support
273 +)))
274 +|(% colspan="3" %)(((
275 +**Pulse signal input**
276 +)))|(% colspan="2" rowspan="1" style="width:585px" %)(((
277 +Open collector or differential input
278 +
279 +
280 +)))
281 +|(% colspan="3" %)(((
282 +**Pulse feedback output**
283 +)))|(% colspan="1" rowspan="1" style="width:221px" %)(((
284 +Z signal open collector output
285 +)))|(% rowspan="1" style="width:364px" %)(((
286 +ABZ differential output(VD2-XXXXXXH
287 +
288 +series support collector signal feedback)
289 +)))
290 +|(% colspan="3" %)(% style="background-color:transparent" %)**Internal Command**|(% colspan="2" rowspan="1" style="width:585px" %)(((
291 +8 segment internal speed command, 16 segment internal position command
292 +)))
293 +|(% colspan="3" %)(((
294 +**Communication**
295 +)))|(% colspan="2" rowspan="1" style="width:585px" %)(((
296 +MODBUS RS485 or MODBUS RS422(SCTool)
297 +)))
298 +|(% colspan="3" rowspan="2" %)(((
299 +**Braking resistor**
300 +)))|(% colspan="4" rowspan="1" %)(((
301 +
302 +
303 +750W built-in braking resistor; 400W without built-in;
304 +
305 +
306 +)))
307 +|(% colspan="4" %)(((
308 +Both can support external braking resistors.
309 +)))
310 +|(% colspan="3" rowspan="16" %)(((
311 +**Function setting**
312 +)))|(% colspan="1" rowspan="12" %)(((
313 +**General functions**
314 +)))|(% colspan="2" %)(((
315 +**Auto-tuning**
316 +)))|(% colspan="1" rowspan="1" style="width:221px" %)(((
317 +Automatic load inertia identification,
318 +
319 +automatic rigidity self-tuning
320 +)))|(% rowspan="1" style="width:364px" %)-
321 +|(% colspan="2" %)(((
322 +**Blend mode**
323 +)))|(% colspan="1" rowspan="1" style="width:221px" %)(((
324 +YES
325 +)))|(% rowspan="1" style="width:364px" %)-
326 +|(% colspan="2" %)(((
327 +**Advanced control algorithms**
328 +)))|(% colspan="1" style="width:221px" %)(((
329 +YES
330 +)))|(% style="width:364px" %)-
331 +|(% colspan="2" rowspan="2" %)(((
332 +**Waveform**
333 +)))|(% colspan="2" style="width:585px" %)4 channels waveform monitoring
334 +|(% colspan="2" style="width:585px" %)10s waveform data recording
335 +|(% colspan="2" %)(((
336 +**Parameter management**
337 +)))|(% colspan="2" rowspan="1" style="width:585px" %)(((
338 +Support batch parameter import and export
339 +)))
340 +|(% colspan="2" %)(((
341 +**Vibration suppression**
342 +)))|(% colspan="2" rowspan="1" style="width:585px" %)(((
343 +Support mechanical vibration suppression
344 +)))
345 +|(% colspan="2" %)(((
346 +**Protection**
347 +)))|(% colspan="2" style="width:585px" %)(((
348 +Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
349 +)))
350 +|(% colspan="2" %)(((
351 +**Dynamic braking**
352 +)))|(% colspan="1" style="width:221px" %)-|(% style="width:364px" %)(((
353 +Optional
354 +)))
355 +|(% colspan="2" %)(((
356 +**Brake device**
357 +)))|(% colspan="2" rowspan="1" style="width:585px" %)(((
358 +Support brake signal output
359 +)))
360 +|(% colspan="2" %)(((
361 +**DI function**
362 +)))|(% colspan="2" rowspan="1" style="width:585px" %)(((
363 +Servo enable((% _mstmutation="1" %)**S-ON**(%%)), Error/alarm clear((% _mstmutation="1" %)**A-CLR**(%%)), Forward rotation prohibited((% _mstmutation="1" %)**POT**(%%))
364 +
365 +Backward rotation prohibited((% _mstmutation="1" %)**NOT**(%%)), Command direction((% _mstmutation="1" %)**C-SIGN**(%%)), Emergency stop((% _mstmutation="1" %)**E-STOP**(%%))
366 +
367 +Gain switch((% _mstmutation="1" %)**GAIN-5EL**(%%)), Internal speed selection((% _mstmutation="1" %)**INSPD1, INSPD2, INSPD3**(%%))
368 +
369 +Internal position selection and enable((% _mstmutation="1" %)**INPO51, INPO52, INPO53, INPO54, ENINPOS**(%%))
370 +)))
371 +|(% colspan="2" %)(((
372 +**DO function**
373 +)))|(% colspan="1" rowspan="1" style="width:221px" %)(((
374 +Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
375 +
376 +Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
377 +
378 +Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), Z pulse feedback output
379 +)))|(% rowspan="1" style="width:364px" %)(((
380 +Servo ready(**RDY**)、Error signal(**ALM**), Alarm signal(**WARN**), Rotation detection(**TGON**)
381 +
382 +Zero speed signal(**ZSP**), Torque limited(**T-LIMIT**), Velocity limited(**V-LIMIT**)
383 +
384 +Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), ABZ pulse feedback output
385 +)))
386 +|(% colspan="1" rowspan="4" %)**Position mode**|**Pulse frequency**|(% colspan="3" rowspan="1" %)(((
387 +Max to 500KHz
388 +)))
389 +|(% colspan="2" rowspan="1" style="width:337px" %)**Pulse type**|(% rowspan="1" style="width:337px" %)(((
390 +Direction + pulse; Orthogonal coding:
391 +V1.21 and above support CW/CCW
392 +)))|(% rowspan="1" style="width:337px" %)Direction + Pulse, Orthogonal coding
393 +|(% colspan="2" rowspan="1" style="width:337px" %)**Pulse filter**|(% colspan="2" rowspan="1" style="width:337px" %)First-order low-pass filter or smoothing filter
394 +|(% colspan="2" rowspan="1" style="width:337px" %)(((
395 +**Pulse output**
396 +)))|(% rowspan="1" style="width:337px" %)-|(% rowspan="1" style="width:337px" %)A, B, Z differential output
397 +|(% colspan="3" %) |(% colspan="1" %) |(% colspan="2" style="width:337px" %) |(% style="width:337px" %) |(% style="width:337px" %)
398 +|(% colspan="3" %) |(% colspan="1" %) |(% colspan="2" style="width:337px" %) |(% style="width:337px" %) |(% style="width:337px" %)
399 +|(% colspan="3" %) |(% colspan="1" %) |(% colspan="2" style="width:337px" %) |(% style="width:337px" %) |(% style="width:337px" %)
400 +
401 +
402 +(% style="margin-left:auto; margin-right:auto; width:50px" %)
403 +|WD|80|M|-|075|30|S|-|A1|F|-|L
404 +|①|②|③| |④|⑤|⑥| |⑦|⑧| |⑨
405 +
406 +|(% rowspan="2" %)①Pole pairs|WD: 5| |(% rowspan="6" %)④Rated power|010：100W| |(% rowspan="4" %)⑦Encoder type|A1: 17bit single-turn absolute magnetic encoder
407 +|WE: 4| |020：200W| |C1：17bit multi-turn absolute magnetic encoder
408 +| | | |...| |D2：23bit multi-turn absolute optical encoder
409 +|(% rowspan="7" %)②Flange|40| |500：5.0KW| |E1: 2500-line incremental encoder
410 +|60| |550：5.5KW| | |
411 +|80| |...| |(% rowspan="2" %)⑧Motor structure|F：Oil seal
412 +|110| | | | |G：Oil seal + Brake device
413 +|130| |(% rowspan="4" %)⑤Rated speed|15：1500rpm| | |
414 +|150| |20：2000rpm| |(% rowspan="3" %)⑨Others|L：60/80 flange connector
415 +|180| |25：2500rpm| |(% rowspan="2" %)L2：60/80/130 flange connector
416 +| | | |30：3000rpm|
417 +|(% rowspan="3" %)③Inertia level|L: Low| | | | |(% colspan="2" %)
418 +|M: Middle| |(% rowspan="2" %)⑥Voltage level|S: 220V| |(% colspan="2" %)
419 +|H: High| |T: 380V| |(% colspan="2" %)
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