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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... ... @@ -40,32 +40,42 @@ 40 40 ⑤ 41 41 ))) 42 42 43 - |(%colspan="1" rowspan="4" %)①ProductSeries|VD2|(%rowspan="14" %) |(% colspan="1"rowspan="2"%)③Voltage level|S: 220V44 -|VD2 F|T:380V45 -| VD2L|(%colspan="2" rowspan="3"%)46 -|VD 3E47 -|(% colspan="2" rowspan="1"%)48 -|(% colspan="1" rowspan="9" %)②Maximum output current|010: 10A|(% colspan="1" rowspan="2" %)④Encoder type|A1: Absolute 49 -|014: 14A|E1: Incremental 50 -| 016: 16A|(%colspan="2" rowspan="2"%)51 -|019: 19A 52 -|021: 21A|(% colspan="1" rowspan="5" %)⑤Function|P: Basic pulse control 53 -|025: 25A|G: General(Analog control, full-closed loop) 54 -|030: 30A|H: High speed DO(Collector signal feedback) 55 -|040: 40A|R: Support external PID function 56 -|050: 50A|D: Support dynamic braking function 43 +(% style="margin-left:auto; margin-right:auto; width:761.198px" %) 44 +|(% colspan="1" rowspan="4" %)①Product Series|(% style="width:204.976px" %)VD2|(% colspan="1" rowspan="2" style="width:190.024px" %)③Voltage level|S: 220V 45 +|(% style="width:204.976px" %)VD2F|T: 380V 46 +|(% style="width:204.976px" %)VD2L 47 +|(% style="width:204.976px" %)VD3E 48 +|(% colspan="1" rowspan="9" %)②Maximum output current|(% style="width:204.976px" %)010: 10A|(% colspan="1" rowspan="2" style="width:190.024px" %)④Encoder type|A1: Absolute 49 +|(% style="width:204.976px" %)014: 14A|E1: Incremental 50 +|(% style="width:204.976px" %)016: 16A 51 +|(% style="width:204.976px" %)019: 19A 52 +|(% style="width:204.976px" %)021: 21A|(% colspan="1" rowspan="5" style="width:190.024px" %)⑤Function|P: Basic pulse control 53 +|(% style="width:204.976px" %)025: 25A|G: General(Analog control, full-closed loop) 54 +|(% style="width:204.976px" %)030: 30A|H: High speed DO(Collector signal feedback) 55 +|(% style="width:204.976px" %)040: 40A|R: Support external PID function 56 +|(% style="width:204.976px" %)050: 50A|D: Support dynamic braking function 57 57 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 +(% style="margin-left:auto; margin-right:auto; width:1200px" %) 66 66 |(% colspan="3" %)((( 67 67 **General type** 68 -)))|[[image:1726038778533-997.png]]|[[image:1726038786193-560.png]]|[[image:1726038790641-417.png]] 69 +)))|((( 70 +(% style="text-align:center" %) 71 +[[image:1726038778533-997.png||_mstalt="300053"]] 72 +)))|((( 73 +(% style="text-align:center" %) 74 +[[image:1726038786193-560.png||_mstalt="296309"]] 75 +)))|((( 76 +(% style="text-align:center" %) 77 +[[image:1726038790641-417.png||_mstalt="295087"]] 78 +))) 69 69 |(% colspan="3" %)**Model**|**VD2(A type)**|**VD2(B type)**|**VD2(C type)** 70 70 |(% colspan="1" rowspan="11" %)((( 71 71 **Basic Specifications** ... ... @@ -119,15 +119,15 @@ 119 119 )))|((( 120 120 **Auto-tuning** 121 121 )))|(% colspan="3" rowspan="1" %)((( 122 -Automatic load inertia identification, automatic rigidity self-tuning 132 +Automatic load inertia identification, automatic rigidity self-tuning (SCTool) 123 123 ))) 124 124 |(% colspan="1" rowspan="2" %)((( 125 125 **Waveform** 126 126 )))|(% colspan="3" rowspan="1" %)((( 127 -4 channels waveform monitoring 137 +4 channels waveform monitoring (SCTool) 128 128 ))) 129 129 |(% colspan="3" rowspan="1" %)((( 130 -10s waveform data recording 140 +10s waveform data recording (SCTool) 131 131 ))) 132 132 |((( 133 133 **Parameter management** ... ... @@ -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**) 165 +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**) 167 +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**) 169 +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**) 171 +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**) 176 +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**) 178 +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 ))) ... ... @@ -226,29 +226,734 @@ 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" %) | | | 239 += **VD2F/VD2L servo driver parameter table** = 235 235 241 +(% style="margin-left:auto; margin-right:auto; width:1200px" %) 242 +|(% colspan="6" rowspan="1" style="width:537px" %)((( 243 +**General type** 244 +)))|(% colspan="1" rowspan="1" style="width:503px" %)((( 245 +(% style="text-align:center" %) 246 +[[image:1726190862910-426.png]] 247 +)))|(% rowspan="1" style="width:364px" %)((( 248 +(% style="text-align:center" %) 249 +[[image:1726190785664-427.png]] 250 +))) 251 +|(% colspan="6" rowspan="1" style="width:537px" %)**Model**|(% colspan="1" rowspan="1" style="width:503px" %)((( 252 +**VD2F** 253 +)))|(% rowspan="1" style="width:364px" %)((( 254 +**VD2L** 255 +))) 256 +|(% colspan="3" rowspan="12" %)((( 257 +**Basic Specifications** 258 +)))|(% colspan="3" style="width:277px" %)**Power supply**|(% colspan="1" rowspan="1" style="width:503px" %)((( 259 +220V 260 +)))|(% rowspan="1" style="width:364px" %)((( 261 +220V 262 +))) 263 +|(% colspan="3" style="width:277px" %)((( 264 +**Control method** 265 +)))|(% colspan="2" rowspan="1" style="width:867px" %)((( 266 +IGBT PWM control sine wave current drive 267 +))) 268 +|(% colspan="3" style="width:277px" %)((( 269 +**Encoder** 270 +)))|(% colspan="2" rowspan="1" style="width:867px" %)17bit, 23bit absolute value encoder 271 +|(% colspan="3" style="width:277px" %)((( 272 +**Control signal input** 273 +)))|(% colspan="2" rowspan="1" style="width:867px" %)4DI 274 +|(% colspan="3" style="width:277px" %)((( 275 +**Control signal output** 276 +)))|(% colspan="2" rowspan="1" style="width:867px" %)4DO 277 +|(% colspan="3" style="width:277px" %)((( 278 +**Pulse frequency division output** 279 +)))|(% colspan="1" rowspan="1" style="width:503px" %)—|(% rowspan="1" style="width:364px" %)((( 280 +Support 281 +))) 282 +|(% colspan="3" style="width:277px" %)((( 283 +**Pulse signal input** 284 +)))|(% colspan="2" rowspan="1" style="width:867px" %)((( 285 +Open collector or differential input 286 +))) 287 +|(% colspan="3" style="width:277px" %)((( 288 +**Pulse feedback output** 289 +)))|(% colspan="1" rowspan="1" style="width:503px" %)((( 290 +Z signal open collector output 291 +)))|(% rowspan="1" style="width:364px" %)ABZ phase pulse output or pulse+direction output 292 +|(% colspan="3" style="width:277px" %)(% style="background-color:transparent" %)**Internal Command**|(% colspan="2" rowspan="1" style="width:867px" %)((( 293 +8 segment internal speed command, 16 segment internal position command 294 +))) 295 +|(% colspan="3" style="width:277px" %)((( 296 +**Communication** 297 +)))|(% rowspan="1" style="width:867px" %)((( 298 +MODBUS RS485 and MODBUS RS422(SCTool) 299 +)))|(% rowspan="1" style="width:867px" %)MODBUS RS485 and Type-C(SCTool) 300 +|(% colspan="3" rowspan="2" style="width:277px" %)((( 301 +**Braking resistor** 302 +)))|(% colspan="4" rowspan="1" style="width:867px" %)((( 303 +750W built-in braking resistor; 400W without built-in; 304 +))) 305 +|(% colspan="4" style="width:867px" %)((( 306 +Both can support external braking resistors. 307 +))) 308 +|(% colspan="3" rowspan="22" %)((( 309 +**Function setting** 310 +)))|(% colspan="1" rowspan="12" %)((( 311 +**General functions** 312 +)))|(% colspan="2" style="width:39px" %)((( 313 +**Auto-tuning** 314 +)))|(% colspan="1" rowspan="1" style="width:503px" %)((( 315 +Automatic load inertia identification, automatic rigidity self-tuning 316 +)))|(% rowspan="1" style="width:364px" %)Automatic load inertia identification 317 +|(% colspan="2" style="width:39px" %)((( 318 +**Mix control** 319 +)))|(% colspan="1" rowspan="1" style="width:503px" %)((( 320 +YES 321 +)))|(% rowspan="1" style="width:364px" %)- 322 +|(% colspan="2" style="width:39px" %)((( 323 +**Advanced control algorithms** 324 +)))|(% colspan="1" style="width:503px" %)((( 325 +YES 326 +)))|(% style="width:364px" %)- 327 +|(% colspan="2" rowspan="2" style="width:39px" %)((( 328 +**Waveform** 329 +)))|(% colspan="2" style="width:867px" %)4 channels waveform monitoring 330 +|(% colspan="2" style="width:867px" %)10s waveform data recording 331 +|(% colspan="2" style="width:39px" %)((( 332 +**Parameter management** 333 +)))|(% colspan="2" rowspan="1" style="width:867px" %)((( 334 +Support batch parameter import and export 335 +))) 336 +|(% colspan="2" style="width:39px" %)((( 337 +**Vibration suppression** 338 +)))|(% colspan="2" rowspan="1" style="width:867px" %)((( 339 +Support mechanical vibration suppression 340 +))) 341 +|(% colspan="2" style="width:39px" %)((( 342 +**Protection** 343 +)))|(% colspan="2" style="width:867px" %)((( 344 +Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc. 345 +))) 346 +|(% colspan="2" style="width:39px" %)((( 347 +**Dynamic braking** 348 +)))|(% colspan="1" style="width:503px" %)-|(% style="width:364px" %)((( 349 +Optional 350 +))) 351 +|(% colspan="2" style="width:39px" %)((( 352 +**Brake device** 353 +)))|(% colspan="2" rowspan="1" style="width:867px" %)((( 354 +Support brake signal output 355 +))) 356 +|(% colspan="2" style="width:39px" %)((( 357 +**DI function** 358 +)))|(% colspan="2" rowspan="1" style="width:867px" %)((( 359 +Servo enable((% _mstmutation="1" %)**S-ON**(%%)), Error/alarm clear((% _mstmutation="1" %)**A-CLR**(%%)), Forward rotation prohibited((% _mstmutation="1" %)**POT**(%%)) 360 + 361 +Backward rotation prohibited((% _mstmutation="1" %)**NOT**(%%)), Command direction((% _mstmutation="1" %)**C-SIGN**(%%)), Emergency stop((% _mstmutation="1" %)**E-STOP**(%%)) 362 + 363 +Gain switch((% _mstmutation="1" %)**GAIN-5EL**(%%)), Internal speed selection((% _mstmutation="1" %)**INSPD1, INSPD2, INSPD3**(%%)) 364 + 365 +Internal position selection and enable((% _mstmutation="1" %)**INPO51, INPO52, INPO53, INPO54, ENINPOS**(%%)) 366 +))) 367 +|(% colspan="2" style="width:39px" %)((( 368 +**DO function** 369 +)))|(% colspan="1" rowspan="1" style="width:503px" %)((( 370 +Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%)) 371 + 372 +Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%)) 373 + 374 +Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), Z pulse feedback output 375 +)))|(% rowspan="1" style="width:364px" %)((( 376 +Servo ready(**RDY**)、Error signal(**ALM**), Alarm signal(**WARN**), Rotation detection(**TGON**) 377 + 378 +Zero speed signal(**ZSP**), Torque limited(**T-LIMIT**), Velocity limited(**V-LIMIT**) 379 + 380 +Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), ABZ pulse feedback output 381 +))) 382 +|(% colspan="1" rowspan="4" %)**Position mode**|**Pulse frequency**|(% colspan="3" rowspan="1" %)((( 383 +Max to 500KHz 384 +))) 385 +|(% colspan="2" rowspan="1" style="width:39px" %)**Pulse type**|(% rowspan="1" style="width:503px" %)((( 386 +Direction + pulse; Orthogonal coding: 387 +V1.21 and above support CW/CCW 388 +)))|(% rowspan="1" style="width:337px" %)Direction + Pulse, Orthogonal coding 389 +|(% colspan="2" rowspan="1" style="width:39px" %)**Pulse filter**|(% colspan="2" rowspan="1" style="width:867px" %)First-order low-pass filter or smoothing filter 390 +|(% colspan="2" rowspan="1" style="width:39px" %)((( 391 +**Pulse output** 392 +)))|(% rowspan="1" style="width:503px" %)-|(% rowspan="1" style="width:337px" %)A, B, Z differential output 393 +|(% colspan="1" rowspan="3" %)((( 394 +**Speed mode** 395 +)))|(% colspan="2" style="width:39px" %)**Command input**|(% colspan="2" rowspan="1" style="width:867px" %)Internal command(8 segments) 396 +|(% colspan="2" style="width:39px" %)**Zero speed clamp**|(% colspan="2" rowspan="1" style="width:867px" %)Support 397 +|(% colspan="2" style="width:39px" %)**Torque limit**|(% colspan="2" rowspan="1" style="width:867px" %)Torque limit under speed mode 398 +|(% colspan="1" rowspan="3" %)**Torque mode**|(% colspan="2" style="width:39px" %)**Command input**|(% colspan="2" rowspan="1" style="width:867px" %)((( 399 +Internal command 400 +))) 401 +|(% colspan="2" style="width:39px" %)**Torque reach**|(% colspan="2" rowspan="1" style="width:867px" %)((( 402 +Torque reach signal output 403 +))) 404 +|(% colspan="2" style="width:39px" %)**Velocity limit**|(% colspan="2" rowspan="1" style="width:867px" %)((( 405 +Velocity limit under torque mode 406 +))) 407 + 408 += VD3E servo driver parameter table = 409 + 410 +(% style="margin-left:auto; margin-right:auto; width:1149.22px" %) 411 +|(% colspan="3" rowspan="1" style="width:445px" %)((( 412 +**Bus type** 413 +)))|(% style="width:327px" %)((( 414 +(% style="text-align:center" %) 415 +[[image:1726295827531-129.png]] 416 + 417 +((( 418 + 419 +))) 420 +)))|((( 421 +(% style="text-align:center" %) 422 +[[image:1726295883786-742.png]] 423 + 424 +((( 425 + 426 +))) 427 +)))|((( 428 +(% style="text-align:center" %) 429 +[[image:1726295894302-137.png]] 430 +))) 431 +|(% colspan="3" rowspan="1" style="width:445px" %)**Model**|(% style="width:327px" %)((( 432 +**VD3E(A type)** 433 +)))|((( 434 +**VD3E(B type)** 435 +)))|((( 436 +**VD3E(C type)** 437 +))) 438 +|(% colspan="1" rowspan="7" style="width:166px" %)((( 439 +**Basic Specifications** 440 +)))|(% colspan="2" style="width:279px" %)**Power supply**|(% style="width:327px" %)220V|220V/380V|380V 441 +|(% colspan="2" style="width:279px" %)**Control method**|(% colspan="3" rowspan="1" style="width:672px" %)IGBT PWM control sine wave current drive 442 +|(% colspan="2" style="width:279px" %)**Encoder**|(% colspan="3" rowspan="1" style="width:672px" %)17bit, 23bit absolute value encoder 443 +|(% colspan="2" style="width:279px" %)**Control signal input**|(% colspan="3" rowspan="1" style="width:672px" %)((( 444 +6DI, Select the output function according to the function code configuration 445 +))) 446 +|(% colspan="2" style="width:279px" %)**Control signal output**|(% colspan="3" rowspan="1" style="width:672px" %)((( 447 +3DO, Select the output function according to the function code configuration 448 +))) 449 +|(% style="width:147px" %)((( 450 +**Communication function** 451 +)))|(% style="width:133px" %)((( 452 +**Host computer communication** 453 +)))|(% colspan="3" rowspan="1" style="width:672px" %)((( 454 +The USB interface can be used to set function code parameters, monitor status, and view waveforms through a computer host computer. 455 +Parameter self-tuning, etc. 456 +))) 457 +|(% colspan="2" style="width:279px" %)**Braking resistor**|(% colspan="3" rowspan="1" style="width:672px" %)((( 458 +Built-in braking resistor, supports external braking resistor 459 +))) 460 +|(% colspan="1" rowspan="9" style="width:166px" %)**General functions**|(% colspan="2" style="width:279px" %)**Auto-tuning**|(% colspan="3" rowspan="1" style="width:672px" %)Automatic load inertia identification,automatic rigidity self-tuning 461 +|(% colspan="2" style="width:279px" %)((( 462 +**Waveform viewing** 463 +)))|(% colspan="3" rowspan="1" style="width:672px" %)4 channels waveform monitoring 464 +|(% colspan="2" style="width:279px" %)((( 465 +**Waveform storage** 466 +)))|(% colspan="3" rowspan="1" style="width:672px" %)((( 467 +Waveform acquisition frequency 1K Hz,(% style="background-color:transparent" %)10s waveform data recording 468 +))) 469 +|(% colspan="2" style="width:279px" %)**Parameter management**|(% colspan="3" rowspan="1" style="width:672px" %)Support batch parameter import and export 470 +|(% colspan="2" style="width:279px" %)((( 471 +**Vibration suppression** 472 +)))|(% colspan="3" rowspan="1" style="width:672px" %)Support mechanical vibration suppression 473 +|(% colspan="2" style="width:279px" %)((( 474 + 475 + 476 +**Protection** 477 +)))|(% colspan="3" rowspan="1" style="width:672px" %)Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc. 478 +|(% colspan="2" style="width:279px" %)**Brake device**|(% colspan="3" rowspan="1" style="width:672px" %)Support brake signal output 479 +|(% colspan="2" style="width:279px" %)**DI function**|(% colspan="3" rowspan="1" style="width:672px" %)((( 480 +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**(%%)) 481 +))) 482 +|(% colspan="2" style="width:279px" %)**DO function**|(% colspan="3" rowspan="1" style="width:672px" %)((( 483 +Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%)) 484 + 485 +Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%)) 486 + 487 +Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**),CommunicationVDO 488 +))) 489 +|(% colspan="1" rowspan="16" style="width:166px" %)((( 490 +**EtherCAT related** 491 +)))|(% rowspan="14" style="width:147px" %)((( 492 +**EtherCAT related** 493 +)))|(% style="width:133px" %)((( 494 +**Communication protocol** 495 +)))|(% colspan="3" rowspan="1" style="width:672px" %)((( 496 +EtherCAT protocol 497 +))) 498 +|(% style="width:133px" %)((( 499 +**Support services** 500 +)))|(% colspan="3" rowspan="1" style="width:672px" %)((( 501 +CoE(PDO,SDO) 502 +))) 503 +|(% style="width:133px" %)((( 504 +**Sync mode** 505 +)))|(% colspan="3" rowspan="1" style="width:672px" %)((( 506 +DC-Distributed Clock 507 +))) 508 +|(% style="width:133px" %)((( 509 +**Physical layer** 510 +)))|(% colspan="3" rowspan="1" style="width:672px" %)((( 511 +100BASE-TX 512 +))) 513 +|(% style="width:133px" %)((( 514 +**Baud rate** 515 +)))|(% colspan="3" rowspan="1" style="width:672px" %)((( 516 +100 Mbit/s(100Base-TX) 517 +))) 518 +|(% style="width:133px" %)((( 519 +**Duplex mode** 520 +)))|(% colspan="3" rowspan="1" style="width:672px" %)((( 521 +Full duplex 522 +))) 523 +|(% style="width:133px" %)((( 524 +**Topology** 525 +)))|(% colspan="3" rowspan="1" style="width:672px" %)((( 526 +Circular, linear 527 +))) 528 +|(% style="width:133px" %)((( 529 +**Transmission medium** 530 +)))|(% colspan="3" rowspan="1" style="width:672px" %)((( 531 +Shielded Category 5e or better network cable 532 +))) 533 +|(% style="width:133px" %)((( 534 +**Transmission distance** 535 +)))|(% colspan="3" rowspan="1" style="width:672px" %)((( 536 +Less than 100M between two nodes (good environment, good cables) 537 +))) 538 +|(% style="width:133px" %)((( 539 +**Frame length** 540 +)))|(% colspan="3" rowspan="1" style="width:672px" %)((( 541 +44 bytes~~1498 bytes 542 +))) 543 +|(% style="width:133px" %)((( 544 +**Excessive data** 545 +)))|(% colspan="5" rowspan="1" style="width:672px" %)Maximum size of a single Ethernet frame is 1486 bytes 546 +|(% style="width:133px" %)((( 547 +**Sync jitter** 548 +)))|(% colspan="3" rowspan="1" style="width:672px" %)((( 549 +<1μs 550 +))) 551 +|(% style="width:133px" %)((( 552 +**Distributed clock** 553 +)))|(% colspan="3" rowspan="1" style="width:672px" %)((( 554 +64 bit 555 +))) 556 +|(% style="width:133px" %)((( 557 +**EEPROM capacity** 558 +)))|(% colspan="3" rowspan="1" style="width:672px" %)((( 559 +8k bit initialization data is written through the EtherCAT master station 560 +))) 561 +|(% rowspan="2" style="width:147px" %)((( 562 +**Control mode and performance** 563 +)))|(% style="width:133px" %)((( 564 +**Control mode** 565 +)))|(% colspan="3" rowspan="1" style="width:672px" %)((( 566 +CSP、HM 567 +))) 568 +|(% style="width:133px" %)**Synchronization period**|(% colspan="3" rowspan="1" style="width:672px" %)((( 569 +125μs 570 +))) 571 + 572 += **Servo Motor Naming Rules** = 573 + 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| |⑨ 239 239 578 +(% style="margin-left:auto; margin-right:auto; width:1200px" %) 579 +|(% rowspan="2" %)①Pole pairs|WD: 5|(% rowspan="14" %) |(% rowspan="6" %)④Rated power|010：100W|(% rowspan="14" %) |(% rowspan="4" %)⑦Encoder type|A1: 17bit single-turn absolute magnetic encoder 580 +|WE: 4|020：200W|C1：17bit multi-turn absolute magnetic encoder 581 +|(% colspan="2" rowspan="1" %) |...|D2：23bit multi-turn absolute optical encoder 582 +|(% rowspan="7" %)②Flange|40|500：5.0KW|E1: 2500-line incremental encoder 583 +|60|550：5.5KW|(% colspan="2" rowspan="1" %) 584 +|80|...|(% rowspan="2" %)⑧Motor structure|F：Oil seal 585 +|110|(% colspan="2" rowspan="1" %) |G：Oil seal + Brake device 586 +|130|(% rowspan="4" %)⑤Rated speed|15：1500rpm|(% colspan="2" rowspan="1" %) 587 +|150|20：2000rpm|(% rowspan="3" %)⑨Others|L：60/80 flange connector 588 +|180|25：2500rpm|(% rowspan="2" %)L2：60/80/130 flange connector 589 +|(% colspan="2" rowspan="1" %) |30：3000rpm 590 +|(% rowspan="3" %)③Inertia level|L: Low|(% colspan="2" rowspan="1" %) |(% colspan="2" rowspan="3" %) 591 +|M: Middle|(% rowspan="2" %)⑥Voltage level|S: 220V 592 +|H: High|T: 380V 240 240 241 -|(% rowspan="2" %)①Pole pairs|WD: 5| |(% rowspan="6" %)④Rated power|010：100W| |(% rowspan="4" %)⑦Encoder type|A1: 17bit single-turn absolute magnetic encoder 242 -|WE: 4| |020：200W| |C1：17bit multi-turn absolute magnetic encoder 243 -| | | |...| |D2：23bit multi-turn absolute optical encoder 244 -|(% rowspan="7" %)②Flange|40| |500：5.0KW| |E1: 2500-line incremental encoder 245 -|60| |550：5.5KW| | | 246 -|80| |...| |(% rowspan="2" %)⑧Motor structure|F：Oil seal 247 -|110| | | | |G：Oil seal + Brake device 248 -|130| |(% rowspan="4" %)⑤Rated speed|15：1500rpm| | | 249 -|150| |20：2000rpm| |(% rowspan="3" %)⑨Others|L：60/80 flange connector 250 -|180| |25：2500rpm| |(% rowspan="2" %)L2：60/80/130 flange connector 251 -| | | |30：3000rpm| 252 -|(% rowspan="3" %)③Inertia level|L: Low| | | | |(% colspan="2" %) 253 -|M: Middle| |(% rowspan="2" %)⑥Voltage level|S: 220V| |(% colspan="2" %) 254 -|H: High| |T: 380V| |(% colspan="2" %) 594 +(% style="text-align:center" %) 595 +[[image:Servo.Manual.02 VD2 SA Series.test.WebHome@image-20220611113846-8.jpeg]] 596 + 597 + Motor nameplate 598 + 599 += (% style="color:inherit; font-family:inherit; font-size:max(23px, min(29px, 12.3333px + 1.38889vw))" %)**Servo Motor Parameter**(%%) = 600 + 601 +(% style="margin-left:auto; margin-right:auto; width:1200px" %) 602 +|=(% style="width: 172px;" %)**220V motor model**|=(% style="width: 111px;" %)**Flange mm**|=(% style="width: 109px;" %)**Power kW**|=(% style="width: 132px;" %)**Rated speed rpm**|=(% style="width: 149px;" %)**Rated torque N*m**|=(% style="width: 137px;" %)**Rated current A**|=(% style="width: 172px;" %)**Allowable overload multiple**|=(% style="width: 91px;" %)**Pole pairs**|=(% style="width: 125px;" %)**Inertia level** 603 +|(% style="width:172px" %)WD40M-01030S-☐☐☐|(% style="width:111px" %)40|(% style="width:109px" %)0.1|(% style="width:132px" %)3000|(% style="width:149px" %)0.318|(% style="width:137px" %)1.0|(% style="width:172px" %)3.0|(% style="width:91px" %)5|(% style="width:125px" %)Middle 604 +|(% colspan="9" style="width:172px" %) 605 +|(% style="width:172px" %)WD60M-02030S-☐☐☐|(% style="width:111px" %)60|(% style="width:109px" %)0.2|(% style="width:132px" %)3000|(% style="width:149px" %)0.64|(% style="width:137px" %)1.7|(% style="width:172px" %)3.0|(% style="width:91px" %)5|(% rowspan="3" style="width:125px" %)Middle 606 +|(% style="width:172px" %)WD60M-04030S-☐☐☐|(% style="width:111px" %)60|(% style="width:109px" %)0.4|(% style="width:132px" %)3000|(% style="width:149px" %)1.27|(% style="width:137px" %)2.5|(% style="width:172px" %)3.0|(% style="width:91px" %)5 607 +|(% style="width:172px" %)WD60M-06030S-☐☐☐|(% style="width:111px" %)60|(% style="width:109px" %)0.6|(% style="width:132px" %)3000|(% style="width:149px" %)1.91|(% style="width:137px" %)3.6|(% style="width:172px" %)3.0|(% style="width:91px" %)5 608 +|(% colspan="9" style="width:172px" %) 609 +|(% style="width:172px" %)WD80M-07530S-☐☐☐|(% style="width:111px" %)80|(% style="width:109px" %)0.75|(% style="width:132px" %)3000|(% style="width:149px" %)2.39|(% style="width:137px" %)4.4|(% style="width:172px" %)3.0|(% style="width:91px" %)5|(% rowspan="3" style="width:125px" %)Middle 610 +|(% style="width:172px" %)WD80M-10025S-☐☐☐|(% style="width:111px" %)80|(% style="width:109px" %)1|(% style="width:132px" %)2500|(% style="width:149px" %)3.82|(% style="width:137px" %)4.6|(% style="width:172px" %)3.0|(% style="width:91px" %)5 611 +|(% style="width:172px" %)WD80M-10030S-☐☐☐|(% style="width:111px" %)80|(% style="width:109px" %)1|(% style="width:132px" %)3000|(% style="width:149px" %)3.18|(% style="width:137px" %)5.8|(% style="width:172px" %)3.0|(% style="width:91px" %)5 612 +|(% colspan="9" style="width:172px" %) 613 +|(% style="width:172px" %)WD130M-08515S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)0.85|(% style="width:132px" %)1500|(% style="width:149px" %)5.41|(% style="width:137px" %)4.6|(% style="width:172px" %)3.0|(% style="width:91px" %)5|(% rowspan="10" style="width:125px" %)Middle 614 +|(% style="width:172px" %)WD130M-13015S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)1.3|(% style="width:132px" %)1500|(% style="width:149px" %)8.28|(% style="width:137px" %)7.7|(% style="width:172px" %)3.0|(% style="width:91px" %)5 615 +|(% style="width:172px" %)WD130M-18015S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)1.8|(% style="width:132px" %)1500|(% style="width:149px" %)11.46|(% style="width:137px" %)9.8|(% style="width:172px" %)3.0|(% style="width:91px" %)5 616 +|(% style="width:172px" %)WD130M-23015S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)2.3|(% style="width:132px" %)1500|(% style="width:149px" %)14.64|(% style="width:137px" %)12.4|(% style="width:172px" %)3.0|(% style="width:91px" %)5 617 +|(% style="width:172px" %)WD130M-10020S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)1|(% style="width:132px" %)2000|(% style="width:149px" %)4.8|(% style="width:137px" %)6.0|(% style="width:172px" %)3.5|(% style="width:91px" %)5 618 +|(% style="width:172px" %)WD130M-15020S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)1.5|(% style="width:132px" %)2000|(% style="width:149px" %)7.2|(% style="width:137px" %)8.5|(% style="width:172px" %)3.5|(% style="width:91px" %)5 619 +|(% style="width:172px" %)WD130M-20020S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)2|(% style="width:132px" %)2000|(% style="width:149px" %)9.55|(% style="width:137px" %)10|(% style="width:172px" %)3.0|(% style="width:91px" %)5 620 +|(% style="width:172px" %)WD130M-15025S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)1.5|(% style="width:132px" %)2500|(% style="width:149px" %)5.73|(% style="width:137px" %)6.0|(% style="width:172px" %)3.0|(% style="width:91px" %)5 621 +|(% style="width:172px" %)WD130M-26025S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)2.6|(% style="width:132px" %)2500|(% style="width:149px" %)9.93|(% style="width:137px" %)10.5|(% style="width:172px" %)3.0|(% style="width:91px" %)5 622 +|(% style="width:172px" %)WD130M-38025S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)3.8|(% style="width:132px" %)2500|(% style="width:149px" %)14.5|(% style="width:137px" %)16|(% style="width:172px" %)3.0|(% style="width:91px" %)5 623 + 624 +(% style="margin-left:auto; margin-right:auto; width:1200px" %) 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 +|(% colspan="9" %) 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 +|(% colspan="9" %) 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 +|(% colspan="9" style="width:174px" %) 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 +|(% colspan="9" style="width:174px" %) 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 +|(% colspan="9" style="width:174px" %) 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 +|(% colspan="9" %) 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 +(% style="margin-left:auto; margin-right:auto; width:1200px" %) 768 +|①Cable type|E: Encoder adapter cable|(% rowspan="14" %) |(% rowspan="4" %)④Cable length|3M: 3m 769 +|(% colspan="2" rowspan="1" %) |5M: 5m 770 +|(% rowspan="2" %)②Drive side connector|J1394: 1394 connector|7M: 7m 771 +|D15G: DB15 male connector|... 772 +|(% colspan="2" rowspan="1" %) |(% colspan="2" rowspan="1" %) 773 +|(% rowspan="7" %)③Motor side connector|R9M: 9-core rectangular female connector|(% rowspan="3" %)⑤Number of cores|X5: 5 cores 774 +|MC7S: 7-core straight female connector|X7: 7 cores 775 +|H28K7M: 7-core 28mm aviation female connector|... 776 +|CM10: 11-core 11mm aviation female connector|(% colspan="2" rowspan="1" %) 777 +|MC7P: 7-core straight female connector (L2)|(% rowspan="2" %)⑥Wire size|A: 0.2mm/0.14mm 778 +|R15M: 15-core rectangular female connector|A1: 0.2mm/0.14mm with battery box 779 +|H28J15M: 15-core 28mm aviation female connector|(% colspan="2" rowspan="1" %) 780 +|(% colspan="2" rowspan="2" %) |(% rowspan="2" %)⑦Others|1: Ordinary cable 781 +|2: High flex cable 782 + 783 +(% style="margin-left:auto; margin-right:auto; width:120px" %) 784 +|P|-|U3O1|-|H28J4M|-|5M|X4|-|C|-|1 785 +|①| |②| |③| |④|⑤| |⑥| |⑦ 786 + 787 +(% style="margin-left:auto; margin-right:auto; width:1200px" %) 788 +|①Cable type|P: Power adapter cable/brake cable|(% rowspan="20" %) |(% rowspan="6" %)④Cable length|3M: 3m 789 +|(% colspan="2" rowspan="1" %) |5M: 5m 790 +|(% rowspan="8" %)②Drive side connector|Z3O1: 3-core pin-type cold-pressed terminal and 1-core O-type cold-pressed terminal|6D5M: 6.5m 791 +|Z3O3: 3-core pin-type cold-pressed terminal and 3-core O-type cold-pressed terminal|7M: 7m 792 +|Z4: 4-core pin-type cold-pressed terminal|10M: 10m 793 +|Z4O2: 4-core pin-type cold-pressed terminal and 2-core O-type cold-pressed terminal|... 794 +|U3O1: 3-core U-type cold-pressed terminal and 1-core O-type cold-pressed terminal|(% colspan="2" rowspan="1" %) 795 +|U3O3: 3-core U-type cold-pressed terminal and 3-core O-type cold-pressed terminal|(% rowspan="4" %)⑤Number of cores|X2: 2 cores 796 +|Z6: 6-core pin-type cold-pressed terminal|X4: 4 cores 797 +|O2: 2-core O-type cold-pressed terminal|X6: 6 cores 798 +|(% colspan="2" rowspan="1" %) |... 799 +|(% rowspan="9" %)③Motor side connector|18A6: 6-core 23mm aviation female connector|(% colspan="2" rowspan="1" %) 800 +|R4M: 4-core rectangular female connector|(% rowspan="5" %)⑥Wire size|D: 0.5mm 801 +|MC4S: 4-core straight female connector|E: 0.75mm 802 +|MC6S: 6-core straight female connector|B: 1.0mm 803 +|H28J4M: 4-core 28mm aviation female connector|F: 1.5mm 804 +|H32J4M: 4-core 32mm aviation female connector|C: 2.5mm 805 +|R2M: 2-core rectangular female connector|(% colspan="2" rowspan="1" %) 806 +|MC4H: 4-core H-type straight female connector|(% rowspan="2" %)⑦Others|1: Ordinary cable 807 +|MC6H: 6-core H-type straight female connector|2: High flex cable 808 + 809 += **Servo Cable Matching Table** = 810 + 811 +(% style="margin-left:auto; margin-right:auto; width:1200px" %) 812 +|=**Motor model**|=**Matching drive**|=**Power cable/brake cable**|=**Encoder cable** 813 +|(% rowspan="6" %)((( 814 +WD40M-○○○-☐☐☐ 815 + 816 +WD60M-○○○-☐☐☐ 817 + 818 +WD60H-○○○-☐☐☐ 819 + 820 +WE60M-○○○-☐☐☐ 821 + 822 +WD80M-○○○-☐☐☐ 823 + 824 +WD80H-○○○-☐☐☐ 825 + 826 +WE80M-○○○-☐☐☐ 827 +)))|(% rowspan="2" %)VD2/VD3E A type|Power cable：P-Z3O1-R4M-*MX4|(% rowspan="3" %)Single-turn：E-J1394-R9M-*MX5-A 828 +|((( 829 +Power cable：P-Z3O1-R4M-*MX4 830 + 831 +Brake cable：P-O2-R2M-3MX2-D 832 +))) 833 +|(% rowspan="2" %)((( 834 +VD2/VD3E B type 835 + 836 +VD2/VD3E C type 837 +)))|Power cable：P-U3O1-R4M-*MX4 838 +|((( 839 +Power cable：P-U3O1-R4M-*MX4 840 + 841 +Brake cable：P-O2-R2M-3MX2-D 842 +)))|(% rowspan="3" %)Multi-turn：E-J1394-R9M-*MX7-A1 843 +|(% rowspan="2" %)VD2F/VD2L|Power cable：P-Z4-R4M-*MX4 844 +|((( 845 +Power cable：P-Z4-R4M-*MX4 846 + 847 +Brake cable：P-O2-R2M-3MX2-D 848 +))) 849 +|(% rowspan="6" %)((( 850 +WD60M-○○○-☐☐☐-L 851 + 852 +WD80M-○○○-☐☐☐-L 853 +)))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4S-*MX4|(% rowspan="3" %)Single-turn：E-J1394-MC7S-*MX5-A 854 +|With brake：P-Z3O3-MC6S-*MX6 855 +|(% rowspan="2" %)((( 856 +VD2/VD3E B type 857 + 858 +VD2/VD3E C type 859 +)))|Without brake：P-U3O1-MC4S-*MX4 860 +|With brake：P-U3O3-MC6S-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7S-*MX7-A1 861 +|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4S-*MX4 862 +|With brake：P-Z4O2-MC6S-*MX6 863 +|(% rowspan="6" %)((( 864 +WD60M-○○○-☐☐☐-L2 865 + 866 +WD80M-○○○-☐☐☐-L2 867 +)))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4S-*MX4|(% rowspan="3" %)Single-turn：E-J1394-MC7P-*MX5-A 868 +|With brake：P-Z3O3-MC6S-*MX6 869 +|(% rowspan="2" %)((( 870 +VD2/VD3E B type 871 + 872 +VD2/VD3E C type 873 +)))|Without brake：P-U3O1-MC4S-*MX4 874 +|With brake：P-U3O3-MC6S-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7P-*MX7-A1 875 +|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4S-*MX4 876 +|With brake：P-Z4O2-MC6S-*MX6 877 +|(% rowspan="4" %)((( 878 +WD60H-○○○-☐☐☐-L2 879 + 880 +WD80H-○○○-☐☐☐-L2 881 +)))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4H-*MX4|(% rowspan="2" %)Single-turn：E-J1394-MC7P-*MX5-A 882 +|With brake：P-Z3O3-MC6H-*MX6 883 +|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4H-*MX4|(% rowspan="2" %)Multi-turn：E-J1394-MC7P-*MX7-A1 884 +|With brake：P-Z4O2-MC6H-*MX6 885 +|(% rowspan="6" %)((( 886 +WE110M-○○○-☐☐☐ 887 + 888 +WE130M-○○○-☐☐☐ 889 +)))|(% rowspan="2" %)VD2/VD3E A type|Power cable：P-Z3O1-H28J4M-*MX4|(% rowspan="3" %)Single-turn：E-J1394-H28K7M-*MX5-A 890 +|Brake cable：No need 891 +|(% rowspan="2" %)((( 892 +VD2/VD3E B type 893 + 894 +VD2/VD3E C type 895 +)))|Power cable：P-U3O1-H28J4M-*MX4 896 +|Brake cable：No need|(% rowspan="3" %)Multi-turn：E-J1394-H28K7M-*MX7-A1 897 +|(% rowspan="2" %)VD2F/VD2L|Power cable：P-Z4-H28J4M-*MX4 898 +|Brake cable：No need 899 +|(% rowspan="6" %)((( 900 +WD130M-○○○-☐☐☐ 901 + 902 +WD130H-○○○-☐☐☐ 903 +)))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-18A6-*MX4|(% rowspan="3" %)Single-turn：E-J1394-CM10-*MX5-A 904 +|With brake：P-Z3O3-18A6-*MX6 905 +|(% rowspan="2" %)((( 906 +VD2/VD3E B type 907 + 908 +VD2/VD3E C type 909 +)))|Without brake：P-U3O1-18A6-*MX4 910 +|With brake：P-U3O3-18A6-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-CM10-*MX7-A1 911 +|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-18A6-*MX4 912 +|With brake：P-Z4O2-18A6-*MX4 913 +|(% 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 914 +|With brake：P-Z3O3-18A6-*MX6 915 +|(% rowspan="2" %)((( 916 +VD2/VD3E B type 917 + 918 +VD2/VD3E C type 919 +)))|Without brake：P-U3O1-18A6-*MX4 920 +|With brake：P-U3O3-18A6-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7P-*MX7-A1 921 +|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-18A6-*MX4 922 +|With brake：P-Z4O2-18A6-*MX4 923 +|(% rowspan="2" %)((( 924 +WE180M-○○○-☐☐☐ 925 + 926 +WD180M-○○○-☐☐☐ 927 +)))|(% rowspan="2" %)((( 928 +VD2/VD3E B type 929 + 930 +VD2/VD3E C type 931 +)))|Power cable：P-U3O1-H32J4M-*MX4|Single-turn：E-J1394-H28K7M-*MX5-A 932 +|Brake cable：No need|Multi-turn：E-J1394-H28K7M-*MX7-A1 933 + 934 += **Servo **Input Current Parameter Table = 935 + 936 +(% style="margin-left:auto; margin-right:auto; width:1200px" %) 937 +|=Servo Drive Output Current (A)|=Servo Drive Output Voltage (V)|=Servo Drive Output Power (W)|=Efficiency|=Power factor|=Input current 938 +(single phase) (A)|=Input current 939 +(three phase) (A)|=Recommended power cable 940 +diameter（mm²） 941 +|3|(% colspan="1" rowspan="7" %)220|100|(% colspan="1" rowspan="11" %)0.7|(% rowspan="11" %)0.8|0.90|0.52|0.5 942 +|10|400|3.61|2.08|0.75 943 +|14|750|6.76|3.91|((( 944 +1.5 (For single phase) 945 + 946 +1 (For three phase) 947 +))) 948 +|16|1800|16.23|9.37|((( 949 +4 (For single phase) 950 + 951 +2 (For three phase) 952 +))) 953 +|21|2200|19.84|11.46|((( 954 +4 (For single phase) 955 + 956 +2.5 (For three phase) 957 +))) 958 +|25|2600|23.45|13.40|(% colspan="1" rowspan="2" %)((( 959 +6 (For single phase) 960 + 961 +4 (For three phase) 962 +))) 963 +|30|3000|26.79|15.46 964 +|21|(% colspan="1" rowspan="4" %)380|3000| |9.04|2 965 +|30|4500| |13.57|4 966 +|40|6000| |18.09|(% colspan="1" rowspan="2" %)6 967 +|50|7500| |22.61 968 + 969 +>For more motor application scenarios, please refer to this [[link>>https://docs.we-con.com.cn/bin/view/Servo/FAQ/How%20to%20estimate%20the%20maximum%20input%20current%20of%20a%20servo%20drive]].
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