Changes for page 05 Servo Product Manual
Last modified by Jim(Forgotten) on 2025/03/20 10:19
From version 25.1
edited by Jim(Forgotten)
on 2024/09/12 10:52
on 2024/09/12 10:52
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... ... @@ -1,1 +1,1 @@ 1 -XWiki. Jim1 +XWiki.Molly - Content
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... ... @@ -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 = ... ... @@ -65,7 +65,16 @@ 65 65 66 66 |(% colspan="3" %)((( 67 67 **General type** 68 -)))|[[image:1726038778533-997.png]]|[[image:1726038786193-560.png]]|[[image:1726038790641-417.png]] 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 +))) 69 69 |(% colspan="3" %)**Model**|**VD2(A type)**|**VD2(B type)**|**VD2(C type)** 70 70 |(% colspan="1" rowspan="11" %)((( 71 71 **Basic Specifications** ... ... @@ -152,20 +152,20 @@ 152 152 |((( 153 153 **DI function** 154 154 )))|(% colspan="3" rowspan="1" %)((( 155 -Servo enable(**S-ON**), Error/alarm clear(**A-CLR**), Forward rotation prohibited(**POT**) 164 +Servo enable((% _mstmutation="1" %)**S-ON**(%%)), Error/alarm clear((% _mstmutation="1" %)**A-CLR**(%%)), Forward rotation prohibited((% _mstmutation="1" %)**POT**(%%)) 156 156 157 -Backward rotation prohibited(**NOT**), Command direction(**C-SIGN**), Emergency stop(**E-STOP**) 166 +Backward rotation prohibited((% _mstmutation="1" %)**NOT**(%%)), Command direction((% _mstmutation="1" %)**C-SIGN**(%%)), Emergency stop((% _mstmutation="1" %)**E-STOP**(%%)) 158 158 159 -Gain switch(**GAIN-5EL**), Internal speed selection(**INSPD1, INSPD2, INSPD3**) 168 +Gain switch((% _mstmutation="1" %)**GAIN-5EL**(%%)), Internal speed selection((% _mstmutation="1" %)**INSPD1, INSPD2, INSPD3**(%%)) 160 160 161 -Internal position selection and enable(**INPO51, INPO52, INPO53, INPO54, ENINPOS**) 170 +Internal position selection and enable((% _mstmutation="1" %)**INPO51, INPO52, INPO53, INPO54, ENINPOS**(%%)) 162 162 ))) 163 163 |((( 164 164 **DO function** 165 165 )))|(% colspan="3" rowspan="1" %)((( 166 -Servo ready(**RDY**)、Error signal(**ALM**), Alarm signal(**WARN**), Rotation detection(**TGON**) 175 +Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%)) 167 167 168 -Zero speed signal(**ZSP**), Torque limited(**T-LIMIT**), Velocity limited(**V-LIMIT**) 177 +Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%)) 169 169 170 170 Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), ABZ pulse feedback output 171 171 ))) ... ... @@ -226,18 +226,349 @@ 226 226 Velocity limit under torque mode 227 227 ))) 228 228 229 -|(% colspan="2" %) | |(% colspan="2" rowspan="1" %) | 230 -| | |(% rowspan="2" %) |(% rowspan="2" %) |(% rowspan="2" %) |(% rowspan="2" %) 231 -|(% colspan="2" %) 232 -|(% colspan="2" %) | | | | 233 -|(% colspan="2" %) | |(% colspan="1" rowspan="2" %) | | 234 -|(% colspan="2" %) | | | 238 += **VD2F/VD2L servo driver parameter table** = 235 235 240 +(% style="width:1406px" %) 241 +|(% colspan="6" rowspan="1" style="width:537px" %)((( 242 +**General type** 243 +)))|(% colspan="1" rowspan="1" style="width:503px" %)((( 244 +(% style="text-align:center" %) 245 +[[image:1726190862910-426.png]] 246 +)))|(% rowspan="1" style="width:364px" %)((( 247 +(% style="text-align:center" %) 248 +[[image:1726190785664-427.png]] 249 +))) 250 +|(% colspan="6" rowspan="1" style="width:537px" %)**Model**|(% colspan="1" rowspan="1" style="width:503px" %)((( 251 +**VD2F** 252 +)))|(% rowspan="1" style="width:364px" %)((( 253 +**VD2L** 254 +))) 255 +|(% colspan="3" rowspan="12" %)((( 256 +**Basic Specifications** 257 +)))|(% colspan="3" style="width:277px" %)**Power supply**|(% colspan="1" rowspan="1" style="width:503px" %)((( 258 +220V 259 +)))|(% rowspan="1" style="width:364px" %)((( 260 +220V 261 +))) 262 +|(% colspan="3" style="width:277px" %)((( 263 +**Control method** 264 +)))|(% colspan="2" rowspan="1" style="width:867px" %)((( 265 +IGBT PWM control sine wave current drive 266 +))) 267 +|(% colspan="3" style="width:277px" %)((( 268 +**Encoder** 269 +)))|(% colspan="2" rowspan="1" style="width:867px" %)17bit, 23bit absolute value encoder 270 +|(% colspan="3" style="width:277px" %)((( 271 +**Control signal input** 272 +)))|(% colspan="2" rowspan="1" style="width:867px" %)4DI 273 +|(% colspan="3" style="width:277px" %)((( 274 +**Control signal output** 275 +)))|(% colspan="2" rowspan="1" style="width:867px" %)4DO 276 +|(% colspan="3" style="width:277px" %)((( 277 +**Pulse frequency division output** 278 +)))|(% colspan="1" rowspan="1" style="width:503px" %)—|(% rowspan="1" style="width:364px" %)((( 279 +Support 280 +))) 281 +|(% colspan="3" style="width:277px" %)((( 282 +**Pulse signal input** 283 +)))|(% colspan="2" rowspan="1" style="width:867px" %)((( 284 +Open collector or differential input 285 +))) 286 +|(% colspan="3" style="width:277px" %)((( 287 +**Pulse feedback output** 288 +)))|(% colspan="1" rowspan="1" style="width:503px" %)((( 289 +Z signal open collector output 290 +)))|(% rowspan="1" style="width:364px" %)((( 291 +ABZ differential output(VD2-XXXXXXH 292 + 293 +series support collector signal feedback) 294 +))) 295 +|(% colspan="3" style="width:277px" %)(% style="background-color:transparent" %)**Internal Command**|(% colspan="2" rowspan="1" style="width:867px" %)((( 296 +8 segment internal speed command, 16 segment internal position command 297 +))) 298 +|(% colspan="3" style="width:277px" %)((( 299 +**Communication** 300 +)))|(% colspan="2" rowspan="1" style="width:867px" %)((( 301 +MODBUS RS485 or MODBUS RS422(SCTool) 302 +))) 303 +|(% colspan="3" rowspan="2" style="width:277px" %)((( 304 +**Braking resistor** 305 +)))|(% colspan="4" rowspan="1" style="width:867px" %)((( 306 +750W built-in braking resistor; 400W without built-in; 307 +))) 308 +|(% colspan="4" style="width:867px" %)((( 309 +Both can support external braking resistors. 310 +))) 311 +|(% colspan="3" rowspan="22" %)((( 312 +**Function setting** 313 +)))|(% colspan="1" rowspan="12" %)((( 314 +**General functions** 315 +)))|(% colspan="2" style="width:39px" %)((( 316 +**Auto-tuning** 317 +)))|(% colspan="1" rowspan="1" style="width:503px" %)((( 318 +Automatic load inertia identification,automatic rigidity self-tuning 319 +)))|(% rowspan="1" style="width:364px" %)- 320 +|(% colspan="2" style="width:39px" %)((( 321 +**Blend mode** 322 +)))|(% colspan="1" rowspan="1" style="width:503px" %)((( 323 +YES 324 +)))|(% rowspan="1" style="width:364px" %)- 325 +|(% colspan="2" style="width:39px" %)((( 326 +**Advanced control algorithms** 327 +)))|(% colspan="1" style="width:503px" %)((( 328 +YES 329 +)))|(% style="width:364px" %)- 330 +|(% colspan="2" rowspan="2" style="width:39px" %)((( 331 +**Waveform** 332 +)))|(% colspan="2" style="width:867px" %)4 channels waveform monitoring 333 +|(% colspan="2" style="width:867px" %)10s waveform data recording 334 +|(% colspan="2" style="width:39px" %)((( 335 +**Parameter management** 336 +)))|(% colspan="2" rowspan="1" style="width:867px" %)((( 337 +Support batch parameter import and export 338 +))) 339 +|(% colspan="2" style="width:39px" %)((( 340 +**Vibration suppression** 341 +)))|(% colspan="2" rowspan="1" style="width:867px" %)((( 342 +Support mechanical vibration suppression 343 +))) 344 +|(% colspan="2" style="width:39px" %)((( 345 +**Protection** 346 +)))|(% colspan="2" style="width:867px" %)((( 347 +Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc. 348 +))) 349 +|(% colspan="2" style="width:39px" %)((( 350 +**Dynamic braking** 351 +)))|(% colspan="1" style="width:503px" %)-|(% style="width:364px" %)((( 352 +Optional 353 +))) 354 +|(% colspan="2" style="width:39px" %)((( 355 +**Brake device** 356 +)))|(% colspan="2" rowspan="1" style="width:867px" %)((( 357 +Support brake signal output 358 +))) 359 +|(% colspan="2" style="width:39px" %)((( 360 +**DI function** 361 +)))|(% colspan="2" rowspan="1" style="width:867px" %)((( 362 +Servo enable((% _mstmutation="1" %)**S-ON**(%%)), Error/alarm clear((% _mstmutation="1" %)**A-CLR**(%%)), Forward rotation prohibited((% _mstmutation="1" %)**POT**(%%)) 363 + 364 +Backward rotation prohibited((% _mstmutation="1" %)**NOT**(%%)), Command direction((% _mstmutation="1" %)**C-SIGN**(%%)), Emergency stop((% _mstmutation="1" %)**E-STOP**(%%)) 365 + 366 +Gain switch((% _mstmutation="1" %)**GAIN-5EL**(%%)), Internal speed selection((% _mstmutation="1" %)**INSPD1, INSPD2, INSPD3**(%%)) 367 + 368 +Internal position selection and enable((% _mstmutation="1" %)**INPO51, INPO52, INPO53, INPO54, ENINPOS**(%%)) 369 +))) 370 +|(% colspan="2" style="width:39px" %)((( 371 +**DO function** 372 +)))|(% colspan="1" rowspan="1" style="width:503px" %)((( 373 +Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%)) 374 + 375 +Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%)) 376 + 377 +Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), Z pulse feedback output 378 +)))|(% rowspan="1" style="width:364px" %)((( 379 +Servo ready(**RDY**)、Error signal(**ALM**), Alarm signal(**WARN**), Rotation detection(**TGON**) 380 + 381 +Zero speed signal(**ZSP**), Torque limited(**T-LIMIT**), Velocity limited(**V-LIMIT**) 382 + 383 +Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), ABZ pulse feedback output 384 +))) 385 +|(% colspan="1" rowspan="4" %)**Position mode**|**Pulse frequency**|(% colspan="3" rowspan="1" %)((( 386 +Max to 500KHz 387 +))) 388 +|(% colspan="2" rowspan="1" style="width:39px" %)**Pulse type**|(% rowspan="1" style="width:503px" %)((( 389 +Direction + pulse; Orthogonal coding: 390 +V1.21 and above support CW/CCW 391 +)))|(% rowspan="1" style="width:337px" %)Direction + Pulse, Orthogonal coding 392 +|(% colspan="2" rowspan="1" style="width:39px" %)**Pulse filter**|(% colspan="2" rowspan="1" style="width:867px" %)First-order low-pass filter or smoothing filter 393 +|(% colspan="2" rowspan="1" style="width:39px" %)((( 394 +**Pulse output** 395 +)))|(% rowspan="1" style="width:503px" %)-|(% rowspan="1" style="width:337px" %)A, B, Z differential output 396 +|(% colspan="1" rowspan="3" %)((( 397 +**Speed mode** 398 +)))|(% colspan="2" style="width:39px" %)**Command input**|(% colspan="2" rowspan="1" style="width:867px" %)Internal command(8 segments) 399 +|(% colspan="2" style="width:39px" %)**Zero speed clamp**|(% colspan="2" rowspan="1" style="width:867px" %)Support 400 +|(% colspan="2" style="width:39px" %)**Torque limit**|(% colspan="2" rowspan="1" style="width:867px" %)Torque limit under speed mode 401 +|(% colspan="1" rowspan="3" %)**Torque mode**|(% colspan="2" style="width:39px" %)**Command input**|(% colspan="2" rowspan="1" style="width:867px" %)((( 402 +Internal command 403 +))) 404 +|(% colspan="2" style="width:39px" %)**Torque reach**|(% colspan="2" rowspan="1" style="width:867px" %)((( 405 +Torque reach signal output 406 +))) 407 +|(% colspan="2" style="width:39px" %)**Velocity limit**|(% colspan="2" rowspan="1" style="width:867px" %)((( 408 +Velocity limit under torque mode 409 +))) 410 + 411 += VD3E servo driver parameter table = 412 + 413 +(% style="margin-left:auto; margin-right:auto; width:1230px" %) 414 +|(% colspan="3" rowspan="1" style="width:464px" %)((( 415 +**Bus type** 416 +)))|(% style="width:309px" %)((( 417 +(% style="text-align:center" %) 418 +[[image:1726295827531-129.png]] 419 + 420 +((( 421 + 422 +))) 423 +)))|((( 424 +(% style="text-align:center" %) 425 +[[image:1726295883786-742.png]] 426 + 427 +((( 428 + 429 +))) 430 +)))|((( 431 +(% style="text-align:center" %) 432 +[[image:1726295894302-137.png]] 433 +))) 434 +|(% colspan="3" rowspan="1" style="width:464px" %)**Model**|(% style="width:309px" %)((( 435 +**VD3E(A type)** 436 +)))|((( 437 +**VD3E(B type)** 438 +)))|((( 439 +**VD3E(C type)** 440 +))) 441 +|(% colspan="1" rowspan="7" style="width:166px" %)((( 442 +**Basic Specifications** 443 +)))|(% colspan="2" style="width:301px" %)**Power supply**|(% style="width:309px" %)220V|220V/380V|380V 444 +|(% colspan="2" style="width:301px" %)**Control method**|(% colspan="3" rowspan="1" style="width:470px" %)IGBT PWM control sine wave current drive 445 +|(% colspan="2" style="width:301px" %)**Encoder**|(% colspan="3" rowspan="1" style="width:470px" %)17bit, 23bit absolute value encoder 446 +|(% colspan="2" style="width:301px" %)**Control signal input**|(% colspan="3" rowspan="1" style="width:470px" %)((( 447 +6DI, Select the output function according to the function code configuration 448 +))) 449 +|(% colspan="2" style="width:301px" %)**Control signal output**|(% colspan="3" rowspan="1" style="width:470px" %)((( 450 +3DO, Select the output function according to the function code configuration 451 +))) 452 +|(% style="width:147px" %)((( 453 +**Communication function** 454 +)))|(% style="width:155px" %)((( 455 +**Host computer communication** 456 +)))|(% colspan="3" rowspan="1" style="width:470px" %)((( 457 +The USB interface can be used to set function code parameters, monitor status, and view waveforms through a computer host computer. 458 +Parameter self-tuning, etc. 459 +))) 460 +|(% colspan="2" style="width:301px" %)**Braking resistor**|(% colspan="3" rowspan="1" style="width:470px" %)((( 461 +Built-in braking resistor, supports external braking resistor 462 +))) 463 +|(% 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 464 +|(% colspan="2" style="width:301px" %)((( 465 +**Waveform viewing** 466 +)))|(% colspan="3" rowspan="1" style="width:470px" %)4 channels waveform monitoring 467 +|(% colspan="2" style="width:301px" %)((( 468 +**Waveform storage** 469 +)))|(% colspan="3" rowspan="1" style="width:470px" %)((( 470 +Waveform acquisition frequency 1K Hz,(% style="background-color:transparent" %)10s waveform data recording 471 +))) 472 +|(% colspan="2" style="width:301px" %)**Parameter management**|(% colspan="3" rowspan="1" style="width:470px" %)Support batch parameter import and export 473 +|(% colspan="2" style="width:301px" %)((( 474 +**Vibration suppression** 475 +)))|(% colspan="3" rowspan="1" style="width:470px" %)Support mechanical vibration suppression 476 +|(% colspan="2" style="width:301px" %)((( 477 + 478 + 479 +**Protection** 480 +)))|(% colspan="3" rowspan="1" style="width:470px" %)Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc. 481 +|(% colspan="2" style="width:301px" %)**Brake device**|(% colspan="3" rowspan="1" style="width:470px" %)Support brake signal output 482 +|(% colspan="2" style="width:301px" %)**DI function**|(% colspan="3" rowspan="1" style="width:470px" %)((( 483 +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**(%%)) 484 +))) 485 +|(% colspan="2" style="width:301px" %)**DO function**|(% colspan="3" rowspan="1" style="width:470px" %)((( 486 +Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%)) 487 + 488 +Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%)) 489 + 490 +Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**),CommunicationVDO 491 +))) 492 +|(% colspan="1" rowspan="16" style="width:166px" %)((( 493 +**EtherCAT related** 494 +)))|(% rowspan="14" style="width:147px" %)((( 495 +**EtherCAT related** 496 +)))|(% style="width:155px" %)((( 497 +**Communication protocol** 498 +)))|(% colspan="3" rowspan="1" style="width:470px" %)((( 499 +EtherCAT protocol 500 +))) 501 +|(% style="width:155px" %)((( 502 +**Support services** 503 +)))|(% colspan="3" rowspan="1" style="width:470px" %)((( 504 +CoE(PDO,SDO) 505 +))) 506 +|(% style="width:155px" %)((( 507 +**Sync mode** 508 +)))|(% colspan="3" rowspan="1" style="width:470px" %)((( 509 +DC-Distributed Clock 510 +))) 511 +|(% style="width:155px" %)((( 512 +**Physical layer** 513 +)))|(% colspan="3" rowspan="1" style="width:470px" %)((( 514 +100BASE-TX 515 +))) 516 +|(% style="width:155px" %)((( 517 +**Baud rate** 518 +)))|(% colspan="3" rowspan="1" style="width:470px" %)((( 519 +100 Mbit/s(100Base-TX) 520 +))) 521 +|(% style="width:155px" %)((( 522 +**Duplex mode** 523 +)))|(% colspan="3" rowspan="1" style="width:470px" %)((( 524 +Full duplex 525 +))) 526 +|(% style="width:155px" %)((( 527 +**Topology** 528 +)))|(% colspan="3" rowspan="1" style="width:470px" %)((( 529 +Circular, linear 530 +))) 531 +|(% style="width:155px" %)((( 532 +**Transmission medium** 533 +)))|(% colspan="3" rowspan="1" style="width:470px" %)((( 534 +Shielded Category 5e or better network cable 535 +))) 536 +|(% style="width:155px" %)((( 537 +**Transmission distance** 538 +)))|(% colspan="3" rowspan="1" style="width:470px" %)((( 539 +Less than 100M between two nodes (good environment, good cables) 540 +))) 541 +|(% style="width:155px" %)((( 542 +**Frame length** 543 +)))|(% colspan="3" rowspan="1" style="width:470px" %)((( 544 +44 bytes~~1498 bytes 545 +))) 546 +|(% style="width:155px" %)((( 547 +**Excessive data** 548 +)))|(% colspan="5" rowspan="1" style="width:470px" %)Maximum size of a single Ethernet frame is 1486 bytes 549 +|(% style="width:155px" %)((( 550 +**Sync jitter** 551 +)))|(% colspan="3" rowspan="1" style="width:470px" %)((( 552 +<1μs 553 +))) 554 +|(% style="width:155px" %)((( 555 +**Distributed clock** 556 +)))|(% colspan="3" rowspan="1" style="width:470px" %)((( 557 +64 bit 558 +))) 559 +|(% style="width:155px" %)((( 560 +**EEPROM capacity** 561 +)))|(% colspan="3" rowspan="1" style="width:470px" %)((( 562 +8k bit initialization data is written through the EtherCAT master station 563 +))) 564 +|(% rowspan="2" style="width:147px" %)((( 565 +**Control mode and performance** 566 +)))|(% style="width:155px" %)((( 567 +**Control mode** 568 +)))|(% colspan="3" rowspan="1" style="width:470px" %)((( 569 +CSP、HM 570 +))) 571 +|(% style="width:155px" %)**Synchronization period**|(% colspan="3" rowspan="1" style="width:470px" %)((( 572 +125μs 573 +))) 574 + 575 += **Servo Motor Naming Rules** = 576 + 236 236 (% style="margin-left:auto; margin-right:auto; width:50px" %) 237 237 |WD|80|M|-|075|30|S|-|A1|F|-|L 238 238 |①|②|③| |④|⑤|⑥| |⑦|⑧| |⑨ 239 239 240 - 241 241 |(% rowspan="2" %)①Pole pairs|WD: 5| |(% rowspan="6" %)④Rated power|010：100W| |(% rowspan="4" %)⑦Encoder type|A1: 17bit single-turn absolute magnetic encoder 242 242 |WE: 4| |020：200W| |C1：17bit multi-turn absolute magnetic encoder 243 243 | | | |...| |D2：23bit multi-turn absolute optical encoder ... ... @@ -252,3 +252,338 @@ 252 252 |(% rowspan="3" %)③Inertia level|L: Low| | | | |(% colspan="2" %) 253 253 |M: Middle| |(% rowspan="2" %)⑥Voltage level|S: 220V| |(% colspan="2" %) 254 254 |H: High| |T: 380V| |(% colspan="2" %) 595 + 596 +(% style="text-align:center" %) 597 +[[image:Servo.Manual.02 VD2 SA Series.test.WebHome@image-20220611113846-8.jpeg]] 598 + 599 + Motor nameplate 600 + 601 += (% style="color:inherit; font-family:inherit; font-size:max(23px, min(29px, 12.3333px + 1.38889vw))" %)**Servo Motor Parameter**(%%) = 602 + 603 +|(% style="width:172px" %)**220V motor model**|(% style="width:78px" %)**Flange mm**|(% style="width:86px" %)**Power kW**|(% style="width:100px" %)**Rated speed rpm**|(% style="width:115px" %)**Rated torque N*m**|(% style="width:115px" %)**Rated current A**|(% style="width:162px" %)**Allowable overload multiple**|**Pole pairs**|**Inertia level** 604 +|(% style="width:172px" %)WD40M-01030S-☐☐☐|(% style="width:78px" %)40|(% style="width:86px" %)0.1|(% style="width:100px" %)3000|(% style="width:115px" %)0.318|(% style="width:115px" %)1.0|(% style="width:162px" %)3.0|5|Middle 605 +|(% style="width:172px" %) |(% style="width:78px" %) |(% style="width:86px" %) |(% style="width:100px" %) |(% style="width:115px" %) |(% style="width:115px" %) |(% style="width:162px" %) | | 606 +|(% style="width:172px" %)WD60M-02030S-☐☐☐|(% style="width:78px" %)60|(% style="width:86px" %)0.2|(% style="width:100px" %)3000|(% style="width:115px" %)0.64|(% style="width:115px" %)1.7|(% style="width:162px" %)3.0|5|(% rowspan="3" %)Middle 607 +|(% style="width:172px" %)WD60M-04030S-☐☐☐|(% style="width:78px" %)60|(% style="width:86px" %)0.4|(% style="width:100px" %)3000|(% style="width:115px" %)1.27|(% style="width:115px" %)2.5|(% style="width:162px" %)3.0|5 608 +|(% style="width:172px" %)WD60M-06030S-☐☐☐|(% style="width:78px" %)60|(% style="width:86px" %)0.6|(% style="width:100px" %)3000|(% style="width:115px" %)1.91|(% style="width:115px" %)3.6|(% style="width:162px" %)3.0|5 609 +|(% style="width:172px" %) |(% style="width:78px" %) |(% style="width:86px" %) |(% style="width:100px" %) |(% style="width:115px" %) |(% style="width:115px" %) |(% style="width:162px" %) | | 610 +|(% style="width:172px" %)WD80M-07530S-☐☐☐|(% style="width:78px" %)80|(% style="width:86px" %)0.75|(% style="width:100px" %)3000|(% style="width:115px" %)2.39|(% style="width:115px" %)4.4|(% style="width:162px" %)3.0|5|(% rowspan="3" %)Middle 611 +|(% style="width:172px" %)WD80M-10025S-☐☐☐|(% style="width:78px" %)80|(% style="width:86px" %)1|(% style="width:100px" %)2500|(% style="width:115px" %)3.82|(% style="width:115px" %)4.6|(% style="width:162px" %)3.0|5 612 +|(% style="width:172px" %)WD80M-10030S-☐☐☐|(% style="width:78px" %)80|(% style="width:86px" %)1|(% style="width:100px" %)3000|(% style="width:115px" %)3.18|(% style="width:115px" %)5.8|(% style="width:162px" %)3.0|5 613 +|(% style="width:172px" %) |(% style="width:78px" %) |(% style="width:86px" %) |(% style="width:100px" %) |(% style="width:115px" %) |(% style="width:115px" %) |(% style="width:162px" %) | | 614 +|(% style="width:172px" %)WD130M-08515S-☐☐☐|(% style="width:78px" %)130|(% style="width:86px" %)0.85|(% style="width:100px" %)1500|(% style="width:115px" %)5.41|(% style="width:115px" %)4.6|(% style="width:162px" %)3.0|5|(% rowspan="10" %)Middle 615 +|(% style="width:172px" %)WD130M-13015S-☐☐☐|(% style="width:78px" %)130|(% style="width:86px" %)1.3|(% style="width:100px" %)1500|(% style="width:115px" %)8.28|(% style="width:115px" %)7.7|(% style="width:162px" %)3.0|5 616 +|(% style="width:172px" %)WD130M-18015S-☐☐☐|(% style="width:78px" %)130|(% style="width:86px" %)1.8|(% style="width:100px" %)1500|(% style="width:115px" %)11.46|(% style="width:115px" %)9.8|(% style="width:162px" %)3.0|5 617 +|(% style="width:172px" %)WD130M-23015S-☐☐☐|(% style="width:78px" %)130|(% style="width:86px" %)2.3|(% style="width:100px" %)1500|(% style="width:115px" %)14.64|(% style="width:115px" %)12.4|(% style="width:162px" %)3.0|5 618 +|(% style="width:172px" %)WD130M-10020S-☐☐☐|(% style="width:78px" %)130|(% style="width:86px" %)1|(% style="width:100px" %)2000|(% style="width:115px" %)4.8|(% style="width:115px" %)6.0|(% style="width:162px" %)3.5|5 619 +|(% style="width:172px" %)WD130M-15020S-☐☐☐|(% style="width:78px" %)130|(% style="width:86px" %)1.5|(% style="width:100px" %)2000|(% style="width:115px" %)7.2|(% style="width:115px" %)8.5|(% style="width:162px" %)3.5|5 620 +|(% style="width:172px" %)WD130M-20020S-☐☐☐|(% style="width:78px" %)130|(% style="width:86px" %)2|(% style="width:100px" %)2000|(% style="width:115px" %)9.55|(% style="width:115px" %)10|(% style="width:162px" %)3.0|5 621 +|(% style="width:172px" %)WD130M-15025S-☐☐☐|(% style="width:78px" %)130|(% style="width:86px" %)1.5|(% style="width:100px" %)2500|(% style="width:115px" %)5.73|(% style="width:115px" %)6.0|(% style="width:162px" %)3.0|5 622 +|(% style="width:172px" %)WD130M-26025S-☐☐☐|(% style="width:78px" %)130|(% style="width:86px" %)2.6|(% style="width:100px" %)2500|(% style="width:115px" %)9.93|(% style="width:115px" %)10.5|(% style="width:162px" %)3.0|5 623 +|(% style="width:172px" %)WD130M-38025S-☐☐☐|(% style="width:78px" %)130|(% style="width:86px" %)3.8|(% style="width:100px" %)2500|(% style="width:115px" %)14.5|(% style="width:115px" %)16|(% style="width:162px" %)3.0|5 624 + 625 +|**220V motor model**|**Flange mm**|**Power kW**|**Rated speed rpm**|**Rated torque N*m**|**Rated current A**|**Allowable overload multiple**|((( 626 +**Pole pairs** 627 +)))|((( 628 +**Inertia level** 629 +))) 630 +|WD60H-02030S-☐☐☐|60|0.2|3000|0.64|1.8|3.5|5|(% colspan="1" rowspan="3" %)((( 631 +High 632 +))) 633 +|WD60H-04030S-☐☐☐|60|0.4|3000|1.27|2.8|3.5|5 634 +|WD60H-06030S-☐☐☐|60|0.6|3000|1.91|4.0|3.0|5 635 +| | | | | | | | | 636 +|WD80H-07530S-☐☐☐|80|0.75|3000|2.39|4.8|3.0|5|(% colspan="1" rowspan="4" %)((( 637 +High 638 +))) 639 +|WD80H-10020S-☐☐☐|80|1|2000|4.77|4.8|3.0|5 640 +|WD80H-10025S-☐☐☐|80|1|2500|3.82|4.8|3.0|5 641 +|WD80H-10030S-☐☐☐|80|1|3000|3.2|4.8|3.0|5 642 +| | | | | | | | | 643 +|WD130H-15030S-☐☐☐|130|1.5|3000|4.8|6.0|3.0|5|((( 644 +High 645 +))) 646 + 647 +|(% style="width:174px" %)**220V motor model**|(% style="width:69px" %)**Flange mm**|(% style="width:86px" %)**Power kW**|(% style="width:125px" %)**Rated speed rpm**|(% style="width:110px" %)**Rated torque N*m**|(% style="width:136px" %)**Rated current A**|(% style="width:156px" %)**Allowable overload multiple**|(% style="width:55px" %)**Pole pairs**|(% style="width:82px" %)**Inertia level** 648 +|(% style="width:174px" %)WE60M-04030S-☐☐☐|(% style="width:69px" %)60|(% style="width:86px" %)0.4|(% style="width:125px" %)3000|(% style="width:110px" %)1.27|(% style="width:136px" %)2.6|(% style="width:156px" %)3.0|(% style="width:55px" %)4|(% style="width:82px" %)Middle 649 +|(% style="width:174px" %) |(% style="width:69px" %) |(% style="width:86px" %) |(% style="width:125px" %) |(% style="width:110px" %) |(% style="width:136px" %) |(% style="width:156px" %) |(% style="width:55px" %) |(% style="width:82px" %) 650 +|(% style="width:174px" %)WE80M-07320S-☐☐☐|(% style="width:69px" %)80|(% style="width:86px" %)0.73|(% style="width:125px" %)2000|(% style="width:110px" %)3.5|(% style="width:136px" %)3.0|(% style="width:156px" %)3.0|(% style="width:55px" %)4|(% rowspan="5" style="width:82px" %)Middle 651 +|(% style="width:174px" %)WE80M-07530S-☐☐☐|(% style="width:69px" %)80|(% style="width:86px" %)0.75|(% style="width:125px" %)3000|(% style="width:110px" %)2.39|(% style="width:136px" %)3.0|(% style="width:156px" %)3.0|(% style="width:55px" %)4 652 +|(% style="width:174px" %)WE80M-10025S-☐☐☐|(% style="width:69px" %)80|(% style="width:86px" %)1|(% style="width:125px" %)2500|(% style="width:110px" %)4.0|(% style="width:136px" %)4.4|(% style="width:156px" %)3.0|(% style="width:55px" %)4 653 +|(% style="width:174px" %)WE80M-11030S-☐☐☐|(% style="width:69px" %)80|(% style="width:86px" %)1.1|(% style="width:125px" %)3000|(% style="width:110px" %)3.5|(% style="width:136px" %)4.5|(% style="width:156px" %)3.0|(% style="width:55px" %)4 654 +|(% style="width:174px" %)WE80M-12030S-☐☐☐|(% style="width:69px" %)80|(% style="width:86px" %)1.2|(% style="width:125px" %)3000|(% style="width:110px" %)4.0|(% style="width:136px" %)4.5|(% style="width:156px" %)3.0|(% style="width:55px" %)4 655 +|(% style="width:174px" %) |(% style="width:69px" %) |(% style="width:86px" %) |(% style="width:125px" %) |(% style="width:110px" %) |(% style="width:136px" %) |(% style="width:156px" %) |(% style="width:55px" %) |(% style="width:82px" %) 656 +|(% style="width:174px" %)WE110M-12030S-☐☐☐|(% style="width:69px" %)110|(% style="width:86px" %)1.2|(% style="width:125px" %)3000|(% style="width:110px" %)4.0|(% style="width:136px" %)5.0|(% style="width:156px" %)3.0|(% style="width:55px" %)4|(% rowspan="3" style="width:82px" %)Middle 657 +|(% style="width:174px" %)WE110M-15030S-☐☐☐|(% style="width:69px" %)110|(% style="width:86px" %)1.5|(% style="width:125px" %)3000|(% style="width:110px" %)5.0|(% style="width:136px" %)6.0|(% style="width:156px" %)3.0|(% style="width:55px" %)4 658 +|(% style="width:174px" %)WE110M-18030S-☐☐☐|(% style="width:69px" %)110|(% style="width:86px" %)1.8|(% style="width:125px" %)3000|(% style="width:110px" %)6.0|(% style="width:136px" %)6.0|(% style="width:156px" %)3.0|(% style="width:55px" %)4 659 +|(% style="width:174px" %) |(% style="width:69px" %) |(% style="width:86px" %) |(% style="width:125px" %) |(% style="width:110px" %) |(% style="width:136px" %) |(% style="width:156px" %) |(% style="width:55px" %) |(% style="width:82px" %) 660 +|(% style="width:174px" %)WE130M-15015S-☐☐☐|(% style="width:69px" %)130|(% style="width:86px" %)1.5|(% style="width:125px" %)1500|(% style="width:110px" %)10|(% style="width:136px" %)6.0|(% style="width:156px" %)2.5|(% style="width:55px" %)4|(% rowspan="8" style="width:82px" %)Middle 661 +|(% style="width:174px" %)WE130M-23015S-☐☐☐|(% style="width:69px" %)130|(% style="width:86px" %)2.3|(% style="width:125px" %)1500|(% style="width:110px" %)15|(% style="width:136px" %)9.5|(% style="width:156px" %)2.0|(% style="width:55px" %)4 662 +|(% style="width:174px" %)WE130M-10025S-☐☐☐|(% style="width:69px" %)130|(% style="width:86px" %)1|(% style="width:125px" %)2500|(% style="width:110px" %)4.0|(% style="width:136px" %)4.0|(% style="width:156px" %)3.0|(% style="width:55px" %)4 663 +|(% style="width:174px" %)WE130M-13025S-☐☐☐|(% style="width:69px" %)130|(% style="width:86px" %)1.3|(% style="width:125px" %)2500|(% style="width:110px" %)5.0|(% style="width:136px" %)5.0|(% style="width:156px" %)3.0|(% style="width:55px" %)4 664 +|(% style="width:174px" %)WE130M-15025S-☐☐☐|(% style="width:69px" %)130|(% style="width:86px" %)1.5|(% style="width:125px" %)2500|(% style="width:110px" %)6.0|(% style="width:136px" %)6.0|(% style="width:156px" %)3.0|(% style="width:55px" %)4 665 +|(% style="width:174px" %)WE130M-20025S-☐☐☐|(% style="width:69px" %)130|(% style="width:86px" %)2|(% style="width:125px" %)2500|(% style="width:110px" %)7.7|(% style="width:136px" %)7.5|(% style="width:156px" %)2.9|(% style="width:55px" %)4 666 +|(% style="width:174px" %)WE130M-26025S-☐☐☐|(% style="width:69px" %)130|(% style="width:86px" %)2.6|(% style="width:125px" %)2500|(% style="width:110px" %)10|(% style="width:136px" %)10|(% style="width:156px" %)2.5|(% style="width:55px" %)4 667 +|(% style="width:174px" %)WE130M-38025S-☐☐☐|(% style="width:69px" %)130|(% style="width:86px" %)3.8|(% style="width:125px" %)2500|(% style="width:110px" %)15|(% style="width:136px" %)13.5|(% style="width:156px" %)2.0|(% style="width:55px" %)4 668 + 669 +|**380V motor model**|**Flange mm**|**Power kW**|**Rated speed rpm**|**Rated torque N*m**|**Rated current A**|**Allowable overload multiple**|**Pole pairs**|**Inertia level** 670 +|WD130M-08515T-☐☐☐|130|0.85|1500|5.41|3.1|3.0|5|(% colspan="1" rowspan="5" %)Middle 671 +|WD130M-13015T-☐☐☐|130|1.3|1500|8.28|5.1|3.0|5 672 +|WD130M-18015T-☐☐☐|130|1.8|1500|11.46|6.3|3.0|5 673 +|WD130M-23015T-☐☐☐|130|2.3|1500|14.64|8.5|3.0|5 674 +|WD180M-29015T-☐☐☐|180|2.9|1500|18.6|11.8|3.0|5 675 + 676 +|**380V motor model**|**Flange mm**|**Power kW**|**Rated speed rpm**|**Rated torque N*m**|**Rated current A**|**Allowable overload multiple**|(% style="width:78px" %)**Pole pairs**|(% style="width:68px" %)**Inertia level** 677 +|WE130M-20025T-☐☐☐|130|2.0|2500|7.7|7.5|2.8|(% style="width:78px" %)4|(% rowspan="6" style="width:68px" %)Middle 678 +|WE130M-26025T-☐☐☐|130|2.6|2500|10|6.0|2.5|(% style="width:78px" %)4 679 +|WE130M-31015T-☐☐☐|130|3.1|1500|20|11.5|2.5|(% style="width:78px" %)4 680 +|WE130M-38025T-☐☐☐|130|3.8|2500|15|8.8|2.0|(% style="width:78px" %)4 681 +|WE130M-42020T-☐☐☐|130|4.2|2000|20|8.5|2.0|(% style="width:78px" %)4 682 +|WE130M-53030T-☐☐☐|130|5.3|3000|17|11|2.0|(% style="width:78px" %)4 683 +| | | | | | | |(% style="width:78px" %) |(% style="width:68px" %) 684 +|WE180M-30015T-☐☐☐|180|3.0|1500|19|7.5|2.5|(% style="width:78px" %)4|(% rowspan="4" style="width:68px" %)Middle 685 +|WE180M-43015T-☐☐☐|180|4.3|1500|27|10|2.5|(% style="width:78px" %)4 686 +|WE180M-55015T-☐☐☐|180|5.5|1500|35|12|2.0|(% style="width:78px" %)4 687 +|WE180M-75015T-☐☐☐|180|7.5|1500|48|20|2.0|(% style="width:78px" %)4 688 + 689 +**Note**: ☐☐☐ Not all motor models include the following categories 690 + 691 +A1F：17-bit single-turn absolute magnetic encoder without brake. 692 + 693 +A1G：17-bit single-turn absolute magnetic encoder with brake. 694 + 695 +C1F：17-bit multi-turn absolute magnetic encoder without brake 696 + 697 +C1G：17-bit multi-turn absolute magnetic encoder with brake. 698 + 699 +D2F：23-bit multi-turn absolute Optical encoder without brake. 700 + 701 +D2G：23-bit multi-turn absolute Optical encoder with brake. 702 + 703 += **Servo Drive and Motor Matching Table** = 704 + 705 +**Note**: The **red-marked** combination is not recommended. 706 + 707 +|**Control type**|**Voltage level**|**Drive series**|**Drive model**|**Support motor** 708 +|(% rowspan="18" %)Pulse type|(% rowspan="12" %)220V|(% rowspan="3" %)VD2F|VD2F-003SA1P|(0.1-0.2)kW 709 +|VD2F-010SA1P|(0.2-0.4)kW 710 +|VD2F-014SA1P|((( 711 +(0.6-0.75)kW 712 + 713 +**(0.85-1.0)kW** 714 +))) 715 +|(% rowspan="2" %)VD2L|VD2L-010SA1P|(0.2-0.4)kW 716 +|VD2L-014SA1P/D|((( 717 +(0.6-0.75)kW 718 + 719 +**(0.85-1.0)kW** 720 +))) 721 +|(% rowspan="2" %)((( 722 +VD2 Type A 723 +)))|VD2-010SA1G/R/H|(0.2-0.4)kW 724 +|VD2-014SA1G/R/H|((( 725 +(0.6-0.75)kW 726 + 727 +**(0.85-1.0)kW** 728 +))) 729 +|(% rowspan="8" %)((( 730 +VD2 Type B 731 +)))|VD2-016SA1G/R/H|(0.85-1.5)kW 732 +|VD2-019SA1G/R/H|(1.5-2.0)kW 733 +|VD2-021SA1G/R/H|(2.0-2.5)kW 734 +|VD2-025SA1G|(2.5-3.0)kW 735 +|VD2-030SA1G|(3.0-4.0)kW 736 +|(% rowspan="6" %)380V|VD2-016TA1G|(0.85-1.5)kW 737 +|VD2-019TA1G|(1.5-2.0)kW 738 +|VD2-021TA1G|(2.0-3.0)kW 739 +|(% rowspan="3" %)VD2 Type C|VD2-030TA1G|(3.0-5.0)kW 740 +|VD2-040TA1G|(5.0-6.0)kW 741 +|VD2-050TA1G|(7.5)kW 742 +|(% rowspan="14" %)EtherCAT type|(% rowspan="8" %)220V|(% rowspan="3" %)VD3E Type A|VD3E-003SA1G|(0.1-0.2)kW 743 +|VD3E-010SA1G|(0.2-0.4)kW 744 +|VD3E-014SA1G|((( 745 +(0.6-0.75)kW 746 + 747 +**(0.85-1.0)kW** 748 +))) 749 +|(% rowspan="8" %)VD3E Type B|VD3E-016SA1G|(0.85-1.5)kW 750 +|VD3E-019SA1G|(1.5-2.0)kW 751 +|VD3E-021SA1G|(2.0-2.5)kW 752 +|VD3E-025SA1G|(2.5-3.0)kW 753 +|VD3E-030SA1G|(3.0-4.0)kW 754 +|(% rowspan="6" %)380V|VD3E-016TA1G|(0.85-1.5)kW 755 +|VD3E-019TA1G|(1.5-2.0)kW 756 +|VD3E-021TA1G|(2.0-3.0)kW 757 +|(% rowspan="3" %)VD3E Type C|VD3E-030TA1G|(3.0-5.0)kW 758 +|VD3E-040TA1G|(5.0-6.0)kW 759 +|VD3E-050TA1G|(7.5)kW 760 + 761 += **Servo Cable Naming Rules** = 762 + 763 +(% style="margin-left:auto; margin-right:auto; width:120px" %) 764 +|E|-|J1394|-|R9M|-|3M|X7|-|A1|-|2 765 +|①| |②| |③| |④|⑤| |⑥| |⑦ 766 + 767 +|①Cable type|E: Encoder adapter cable| |(% rowspan="4" %)④Cable length|3M: 3m 768 +| | | |5M: 5m 769 +|(% rowspan="2" %)②Drive side connector|J1394: 1394 connector| |7M: 7m 770 +|D15G: DB15 male connector| |... 771 +| | | | | 772 +|(% rowspan="7" %)③Motor side connector|R9M: 9-core rectangular female connector| |(% rowspan="3" %)⑤Number of cores|X5: 5 cores 773 +|MC7S: 7-core straight female connector| |X7: 7 cores 774 +|H28K7M: 7-core 28mm aviation female connector| |... 775 +|CM10: 11-core 11mm aviation female connector| | | 776 +|MC7P: 7-core straight female connector (L2)| |(% rowspan="2" %)⑥Wire size|A: 0.2mm/0.14mm 777 +|R15M: 15-core rectangular female connector| |A1: 0.2mm/0.14mm with battery box 778 +|H28J15M: 15-core 28mm aviation female connector| | | 779 +| | | |(% rowspan="2" %)⑦Others|1: Ordinary cable 780 +| | | |2: High flex cable 781 + 782 +(% style="margin-left:auto; margin-right:auto; width:120px" %) 783 +|P|-|U3O1|-|H28J4M|-|5M|X4|-|C|-|1 784 +|①| |②| |③| |④|⑤| |⑥| |⑦ 785 + 786 +|①Cable type|P: Power adapter cable/brake cable| |(% rowspan="6" %)④Cable length|3M: 3m 787 +| | | |5M: 5m 788 +|(% rowspan="8" %)②Drive side connector|Z3O1: 3-core pin-type cold-pressed terminal and 1-core O-type cold-pressed terminal| |6D5M: 6.5m 789 +|Z3O3: 3-core pin-type cold-pressed terminal and 3-core O-type cold-pressed terminal| |7M: 7m 790 +|Z4: 4-core pin-type cold-pressed terminal| |10M: 10m 791 +|Z4O2: 4-core pin-type cold-pressed terminal and 2-core O-type cold-pressed terminal| |... 792 +|U3O1: 3-core U-type cold-pressed terminal and 1-core O-type cold-pressed terminal| | | 793 +|U3O3: 3-core U-type cold-pressed terminal and 3-core O-type cold-pressed terminal| |(% rowspan="4" %)⑤Number of cores|X2: 2 cores 794 +|Z6: 6-core pin-type cold-pressed terminal| |X4: 4 cores 795 +|O2: 2-core O-type cold-pressed terminal| |X6: 6 cores 796 +| | | |... 797 +|(% rowspan="9" %)③Motor side connector|18A6: 6-core 23mm aviation female connector| | | 798 +|R4M: 4-core rectangular female connector| |(% rowspan="5" %)⑥Wire size|D: 0.5mm 799 +|MC4S: 4-core straight female connector| |E: 0.75mm 800 +|MC6S: 6-core straight female connector| |B: 1.0mm 801 +|H28J4M: 4-core 28mm aviation female connector| |F: 1.5mm 802 +|H32J4M: 4-core 32mm aviation female connector| |C: 2.5mm 803 +|R2M: 2-core rectangular female connector| | | 804 +|MC4H: 4-core H-type straight female connector| |(% rowspan="2" %)⑦Others|1: Ordinary cable 805 +|MC6H: 6-core H-type straight female connector| |2: High flex cable 806 + 807 += **Servo Cable Matching Table** = 808 + 809 +|**Motor model**|**Matching drive**|**Power cable/brake cable**|**Encoder cable** 810 +|(% rowspan="6" %)((( 811 +WD40M-○○○-☐☐☐ 812 + 813 +WD60M-○○○-☐☐☐ 814 + 815 +WD60H-○○○-☐☐☐ 816 + 817 +WE60M-○○○-☐☐☐ 818 + 819 +WD80M-○○○-☐☐☐ 820 + 821 +WD80H-○○○-☐☐☐ 822 + 823 +WE80M-○○○-☐☐☐ 824 +)))|(% rowspan="2" %)VD2/VD3E A type|Power cable：P-Z3O1-R4M-*MX4|(% rowspan="3" %)Single-turn：E-J1394-R9M-*MX5-A 825 +|((( 826 +Power cable：P-Z3O1-R4M-*MX4 827 + 828 +Brake cable：P-O2-R2M-3MX2-D 829 +))) 830 +|(% rowspan="2" %)((( 831 +VD2/VD3E B type 832 + 833 +VD2/VD3E C type 834 +)))|Power cable：P-U3O1-R4M-*MX4 835 +|((( 836 +Power cable：P-U3O1-R4M-*MX4 837 + 838 +Brake cable：P-O2-R2M-3MX2-D 839 +)))|(% rowspan="3" %)Multi-turn：E-J1394-R9M-*MX7-A1 840 +|(% rowspan="2" %)VD2F/VD2L|Power cable：P-Z4-R4M-*MX4 841 +|((( 842 +Power cable：P-Z4-R4M-*MX4 843 + 844 +Brake cable：P-O2-R2M-3MX2-D 845 +))) 846 +|(% rowspan="6" %)((( 847 +WD60M-○○○-☐☐☐-L 848 + 849 +WD80M-○○○-☐☐☐-L 850 +)))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4S-*MX4|(% rowspan="3" %)Single-turn：E-J1394-MC7S-*MX5-A 851 +|With brake：P-Z3O3-MC6S-*MX6 852 +|(% rowspan="2" %)((( 853 +VD2/VD3E B type 854 + 855 +VD2/VD3E C type 856 +)))|Without brake：P-U3O1-MC4S-*MX4 857 +|With brake：P-U3O3-MC6S-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7S-*MX7-A1 858 +|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4S-*MX4 859 +|With brake：P-Z4O2-MC6S-*MX6 860 +|(% rowspan="6" %)((( 861 +WD60M-○○○-☐☐☐-L2 862 + 863 +WD80M-○○○-☐☐☐-L2 864 +)))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4S-*MX4|(% rowspan="3" %)Single-turn：E-J1394-MC7P-*MX5-A 865 +|With brake：P-Z3O3-MC6S-*MX6 866 +|(% rowspan="2" %)((( 867 +VD2/VD3E B type 868 + 869 +VD2/VD3E C type 870 +)))|Without brake：P-U3O1-MC4S-*MX4 871 +|With brake：P-U3O3-MC6S-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7P-*MX7-A1 872 +|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4S-*MX4 873 +|With brake：P-Z4O2-MC6S-*MX6 874 +|(% rowspan="4" %)((( 875 +WD60H-○○○-☐☐☐-L2 876 + 877 +WD80H-○○○-☐☐☐-L2 878 +)))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4H-*MX4|(% rowspan="2" %)Single-turn：E-J1394-MC7P-*MX5-A 879 +|With brake：P-Z3O3-MC6H-*MX6 880 +|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4H-*MX4|(% rowspan="2" %)Multi-turn：E-J1394-MC7P-*MX7-A1 881 +|With brake：P-Z4O2-MC6H-*MX6 882 +|(% rowspan="6" %)((( 883 +WE110M-○○○-☐☐☐ 884 + 885 +WE130M-○○○-☐☐☐ 886 +)))|(% rowspan="2" %)VD2/VD3E A type|Power cable：P-Z3O1-H28J4M-*MX4|(% rowspan="3" %)Single-turn：E-J1394-H28K7M-*MX5-A 887 +|Brake cable：No need 888 +|(% rowspan="2" %)((( 889 +VD2/VD3E B type 890 + 891 +VD2/VD3E C type 892 +)))|Power cable：P-U3O1-H28J4M-*MX4 893 +|Brake cable：No need|(% rowspan="3" %)Multi-turn：E-J1394-H28K7M-*MX7-A1 894 +|(% rowspan="2" %)VD2F/VD2L|Power cable：P-Z4-H28J4M-*MX4 895 +|Brake cable：No need 896 +|(% rowspan="6" %)((( 897 +WD130M-○○○-☐☐☐ 898 + 899 +WD130H-○○○-☐☐☐ 900 +)))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-18A6-*MX4|(% rowspan="3" %)Single-turn：E-J1394-CM10-*MX5-A 901 +|With brake：P-Z3O3-18A6-*MX6 902 +|(% rowspan="2" %)((( 903 +VD2/VD3E B type 904 + 905 +VD2/VD3E C type 906 +)))|Without brake：P-U3O1-18A6-*MX4 907 +|With brake：P-U3O3-18A6-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-CM10-*MX7-A1 908 +|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-18A6-*MX4 909 +|With brake：P-Z4O2-18A6-*MX4 910 +|(% rowspan="6" %)WD130M-○○○-☐☐☐-L2|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-18A6-*MX4|(% rowspan="3" %)Single-turn：E-J1394-MC7P-*MX5-A 911 +|With brake：P-Z3O3-18A6-*MX6 912 +|(% rowspan="2" %)((( 913 +VD2/VD3E B type 914 + 915 +VD2/VD3E C type 916 +)))|Without brake：P-U3O1-18A6-*MX4 917 +|With brake：P-U3O3-18A6-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7P-*MX7-A1 918 +|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-18A6-*MX4 919 +|With brake：P-Z4O2-18A6-*MX4 920 +|(% rowspan="2" %)((( 921 +WE180M-○○○-☐☐☐ 922 + 923 +WD180M-○○○-☐☐☐ 924 +)))|(% rowspan="2" %)((( 925 +VD2/VD3E B type 926 + 927 +VD2/VD3E C type 928 +)))|Power cable：P-U3O1-H32J4M-*MX4|Single-turn：E-J1394-H28K7M-*MX5-A 929 +|Brake cable：No need|Multi-turn：E-J1394-H28K7M-*MX7-A1
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