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Changes for page 05 Servo Product Manual

Last modified by Jim(Forgotten) on 2025/03/20 10:19
From version 26.1
edited by Molly
on 2024/09/12 17:51
Change comment: There is no comment for this version
To version 35.1
edited by Mora Zhou
on 2024/09/14 14:41
Change comment: There is no comment for this version

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1 -XWiki.Molly
1 +XWiki.Mora
Content
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226 226  Velocity limit under torque mode
227 227  )))
228 228  
229 += (% id="cke_bm_7897S" style="display:none" %) (%%) =
230 +
231 += **VD2F/VD2L servo driver parameter table** =
232 +
233 +(% style="width:1005px" %)
234 +|(% colspan="6" rowspan="1" style="width:312px" %)(((
235 +**General type**
236 +)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
237 +(% style="text-align:center" %)
238 +[[image:1726190862910-426.png]]
239 +)))|(% rowspan="1" style="width:364px" %)(((
240 +(% style="text-align:center" %)
241 +[[image:1726190785664-427.png]]
242 +)))
243 +|(% colspan="6" rowspan="1" style="width:312px" %)**Model**|(% colspan="1" rowspan="1" style="width:325px" %)(((
244 +**VD2F**
245 +)))|(% rowspan="1" style="width:364px" %)(((
246 +**VD2L**
247 +)))
248 +|(% colspan="3" rowspan="12" %)(((
249 +**Basic Specifications**
250 +)))|(% colspan="3" style="width:198px" %)**Power supply**|(% colspan="1" rowspan="1" style="width:325px" %)(((
251 +220V
252 +)))|(% rowspan="1" style="width:364px" %)(((
253 +220V
254 +)))
255 +|(% colspan="3" style="width:198px" %)(((
256 +**Control method**
257 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
258 +IGBT PWM control sine wave current drive
259 +)))
260 +|(% colspan="3" style="width:198px" %)(((
261 +**Encoder**
262 +)))|(% colspan="2" rowspan="1" style="width:680px" %)17bit, 23bit absolute value encoder
263 +|(% colspan="3" style="width:198px" %)(((
264 +**Control signal input**
265 +)))|(% colspan="2" rowspan="1" style="width:680px" %)4DI
266 +|(% colspan="3" style="width:198px" %)(((
267 +**Control signal output**
268 +)))|(% colspan="2" rowspan="1" style="width:680px" %)4DO
269 +|(% colspan="3" style="width:198px" %)(((
270 +**Pulse frequency division output**
271 +)))|(% colspan="1" rowspan="1" style="width:325px" %)—|(% rowspan="1" style="width:364px" %)(((
272 +Support
273 +)))
274 +|(% colspan="3" style="width:198px" %)(((
275 +**Pulse signal input**
276 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
277 +Open collector or differential input
278 +)))
279 +|(% colspan="3" style="width:198px" %)(((
280 +**Pulse feedback output**
281 +)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
282 +Z signal open collector output
283 +)))|(% rowspan="1" style="width:364px" %)(((
284 +ABZ differential output(VD2-XXXXXXH
285 +
286 +series support collector signal feedback)
287 +)))
288 +|(% colspan="3" style="width:198px" %)(% style="background-color:transparent" %)**Internal Command**|(% colspan="2" rowspan="1" style="width:680px" %)(((
289 +8 segment internal speed command, 16 segment internal position command
290 +)))
291 +|(% colspan="3" style="width:198px" %)(((
292 +**Communication**
293 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
294 +MODBUS RS485 or MODBUS RS422(SCTool)
295 +)))
296 +|(% colspan="3" rowspan="2" style="width:198px" %)(((
297 +**Braking resistor**
298 +)))|(% colspan="4" rowspan="1" style="width:680px" %)(((
299 +750W built-in braking resistor; 400W without built-in;
300 +)))
301 +|(% colspan="4" style="width:680px" %)(((
302 +Both can support external braking resistors.
303 +)))
304 +|(% colspan="3" rowspan="22" %)(((
305 +**Function setting**
306 +)))|(% colspan="1" rowspan="12" %)(((
307 +**General functions**
308 +)))|(% colspan="2" style="width:115px" %)(((
309 +**Auto-tuning**
310 +)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
311 +Automatic load inertia identification,automatic rigidity self-tuning
312 +)))|(% rowspan="1" style="width:364px" %)-
313 +|(% colspan="2" style="width:115px" %)(((
314 +**Blend mode**
315 +)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
316 +YES
317 +)))|(% rowspan="1" style="width:364px" %)-
318 +|(% colspan="2" style="width:115px" %)(((
319 +**Advanced control algorithms**
320 +)))|(% colspan="1" style="width:325px" %)(((
321 +YES
322 +)))|(% style="width:364px" %)-
323 +|(% colspan="2" rowspan="2" style="width:115px" %)(((
324 +**Waveform**
325 +)))|(% colspan="2" style="width:680px" %)4 channels waveform monitoring
326 +|(% colspan="2" style="width:680px" %)10s waveform data recording
327 +|(% colspan="2" style="width:115px" %)(((
328 +**Parameter management**
329 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
330 +Support batch parameter import and export
331 +)))
332 +|(% colspan="2" style="width:115px" %)(((
333 +**Vibration suppression**
334 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
335 +Support mechanical vibration suppression
336 +)))
337 +|(% colspan="2" style="width:115px" %)(((
338 +**Protection**
339 +)))|(% colspan="2" style="width:680px" %)(((
340 +Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
341 +)))
342 +|(% colspan="2" style="width:115px" %)(((
343 +**Dynamic braking**
344 +)))|(% colspan="1" style="width:325px" %)-|(% style="width:364px" %)(((
345 +Optional
346 +)))
347 +|(% colspan="2" style="width:115px" %)(((
348 +**Brake device**
349 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
350 +Support brake signal output
351 +)))
352 +|(% colspan="2" style="width:115px" %)(((
353 +**DI function**
354 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
355 +Servo enable((% _mstmutation="1" %)**S-ON**(%%)), Error/alarm clear((% _mstmutation="1" %)**A-CLR**(%%)), Forward rotation prohibited((% _mstmutation="1" %)**POT**(%%))
356 +
357 +Backward rotation prohibited((% _mstmutation="1" %)**NOT**(%%)), Command direction((% _mstmutation="1" %)**C-SIGN**(%%)), Emergency stop((% _mstmutation="1" %)**E-STOP**(%%))
358 +
359 +Gain switch((% _mstmutation="1" %)**GAIN-5EL**(%%)), Internal speed selection((% _mstmutation="1" %)**INSPD1, INSPD2, INSPD3**(%%))
360 +
361 +Internal position selection and enable((% _mstmutation="1" %)**INPO51, INPO52, INPO53, INPO54, ENINPOS**(%%))
362 +)))
363 +|(% colspan="2" style="width:115px" %)(((
364 +**DO function**
365 +)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
366 +Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
367 +
368 +Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
369 +
370 +Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), Z pulse feedback output
371 +)))|(% rowspan="1" style="width:364px" %)(((
372 +Servo ready(**RDY**)、Error signal(**ALM**), Alarm signal(**WARN**), Rotation detection(**TGON**)
373 +
374 +Zero speed signal(**ZSP**), Torque limited(**T-LIMIT**), Velocity limited(**V-LIMIT**)
375 +
376 +Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), ABZ pulse feedback output
377 +)))
378 +|(% colspan="1" rowspan="4" %)**Position mode**|**Pulse frequency**|(% colspan="3" rowspan="1" %)(((
379 +Max to 500KHz
380 +)))
381 +|(% colspan="2" rowspan="1" style="width:115px" %)**Pulse type**|(% rowspan="1" style="width:325px" %)(((
382 +Direction + pulse; Orthogonal coding:
383 +V1.21 and above support CW/CCW
384 +)))|(% rowspan="1" style="width:337px" %)Direction + Pulse, Orthogonal coding
385 +|(% colspan="2" rowspan="1" style="width:115px" %)**Pulse filter**|(% colspan="2" rowspan="1" style="width:680px" %)First-order low-pass filter or smoothing filter
386 +|(% colspan="2" rowspan="1" style="width:115px" %)(((
387 +**Pulse output**
388 +)))|(% rowspan="1" style="width:325px" %)-|(% rowspan="1" style="width:337px" %)A, B, Z differential output
389 +|(% colspan="1" rowspan="3" %)(((
390 +**Speed mode**
391 +)))|(% colspan="2" style="width:115px" %)**Command input**|(% colspan="2" rowspan="1" style="width:325px" %)Internal command(8 segments)
392 +|(% colspan="2" style="width:115px" %)**Zero speed clamp**|(% colspan="2" rowspan="1" style="width:325px" %)Support
393 +|(% colspan="2" style="width:115px" %)**Torque limit**|(% colspan="2" rowspan="1" style="width:325px" %)Torque limit under speed mode
394 +|(% colspan="1" rowspan="3" %)**Torque mode**|(% colspan="2" style="width:115px" %)**Command input**|(% colspan="2" rowspan="1" style="width:325px" %)(((
395 +Internal command
396 +)))
397 +|(% colspan="2" style="width:115px" %)**Torque reach**|(% colspan="2" rowspan="1" style="width:325px" %)(((
398 +Torque reach signal output
399 +)))
400 +|(% colspan="2" style="width:115px" %)**Velocity limit**|(% colspan="2" rowspan="1" style="width:325px" %)(((
401 +Velocity limit under torque mode
402 +)))
403 +
404 += VD3E servo driver parameter table =
405 +
406 +(% style="margin-left:auto; margin-right:auto; width:1230px" %)
407 +|(% colspan="3" rowspan="1" style="width:464px" %)(((
408 +**Bus type**
409 +)))|(% style="width:309px" %)(((
410 +(% style="text-align:center" %)
411 +[[image:1726295827531-129.png]]
412 +
413 +(((
414 +
415 +)))
416 +)))|(((
417 +(% style="text-align:center" %)
418 +[[image:1726295883786-742.png]]
419 +
420 +(((
421 +
422 +)))
423 +)))|(((
424 +(% style="text-align:center" %)
425 +[[image:1726295894302-137.png]]
426 +)))
427 +|(% colspan="3" rowspan="1" style="width:464px" %)**Model**|(% style="width:309px" %)(((
428 +**VD3E(A type)**
429 +)))|(((
430 +**VD3E(B type)**
431 +)))|(((
432 +**VD3E(C type)**
433 +)))
434 +|(% colspan="1" rowspan="7" style="width:166px" %)(((
435 +**Basic Specifications**
436 +)))|(% colspan="2" style="width:301px" %)**Power supply**|(% style="width:309px" %)220V|220V/380V|380V
437 +|(% colspan="2" style="width:301px" %)**Control method**|(% colspan="3" rowspan="1" style="width:470px" %)IGBT PWM control sine wave current drive
438 +|(% colspan="2" style="width:301px" %)**Encoder**|(% colspan="3" rowspan="1" style="width:470px" %)17bit, 23bit absolute value encoder
439 +|(% colspan="2" style="width:301px" %)**Control signal input**|(% colspan="3" rowspan="1" style="width:470px" %)(((
440 +6DI,
441 +
442 +Select the output function according to the function code configuration
443 +)))
444 +|(% colspan="2" style="width:301px" %)**Control signal output**|(% colspan="3" rowspan="1" style="width:470px" %)(((
445 +3DO,
446 +
447 +Select the output function according to the function code configuration
448 +)))
449 +|(% style="width:147px" %)(((
450 +**Communication function**
451 +)))|(% style="width:155px" %)(((
452 +**Host computer communication**
453 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
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:301px" %)**Braking resistor**|(% colspan="3" rowspan="1" style="width:470px" %)(((
458 +Built-in braking resistor, supports external braking resistor
459 +)))
460 +|(% 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
461 +|(% colspan="2" style="width:301px" %)(((
462 +**Waveform viewing**
463 +)))|(% colspan="3" rowspan="1" style="width:470px" %)4 channels waveform monitoring
464 +|(% colspan="2" style="width:301px" %)(((
465 +**Waveform storage**
466 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
467 +Waveform acquisition frequency 1K Hz,(% style="background-color:transparent" %)10s waveform data recording
468 +)))
469 +|(% colspan="2" style="width:301px" %)**Parameter management**|(% colspan="3" rowspan="1" style="width:470px" %)Support batch parameter import and export
470 +|(% colspan="2" style="width:301px" %)(((
471 +**Vibration suppression**
472 +)))|(% colspan="3" rowspan="1" style="width:470px" %)Support mechanical vibration suppression
473 +|(% colspan="2" style="width:301px" %)(((
474 +
475 +
476 +**Protection**
477 +)))|(% colspan="3" rowspan="1" style="width:470px" %)Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
478 +|(% colspan="2" style="width:301px" %)**Brake device**|(% colspan="3" rowspan="1" style="width:470px" %)Support brake signal output
479 +|(% colspan="2" style="width:301px" %)**DI function**|(% colspan="3" rowspan="1" style="width:470px" %)(((
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:301px" %)**DO function**|(% colspan="3" rowspan="1" style="width:470px" %)(((
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:155px" %)(((
494 +Communication protocol
495 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
496 +EtherCAT protocol
497 +)))
498 +|(% style="width:155px" %)(((
499 +Support services
500 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
501 +CoE(PDO,SDO)
502 +)))
503 +|(% style="width:155px" %)(((
504 +Sync mode
505 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
506 +DC-Distributed Clock
507 +)))
508 +|(% style="width:155px" %)(((
509 +Physical layer
510 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
511 +100BASE-TX
512 +)))
513 +|(% style="width:155px" %)(((
514 +Baud rate
515 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
516 +100 Mbit/s(100Base-TX)
517 +)))
518 +|(% style="width:155px" %)(((
519 +Duplex mode
520 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
521 +Full duplex
522 +)))
523 +|(% style="width:155px" %)(((
524 +Topology
525 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
526 +Circular, linear
527 +)))
528 +|(% style="width:155px" %)(((
529 +Transmission medium
530 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
531 +Shielded Category 5e or better network cable
532 +)))
533 +|(% style="width:155px" %)(((
534 +Transmission distance
535 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
536 +Less than 100M between two nodes (good environment, good cables)
537 +)))
538 +|(% style="width:155px" %)(((
539 +Frame length
540 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
541 +44 bytes~~1498 bytes
542 +)))
543 +|(% style="width:155px" %)(((
544 +Excessive data
545 +)))|(% colspan="5" rowspan="1" style="width:470px" %)Maximum size of a single Ethernet frame is 1486 bytes
546 +|(% style="width:155px" %)(((
547 +Sync jitter
548 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
549 +<1μs
550 +)))
551 +|(% style="width:155px" %)(((
552 +Distributed clock
553 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
554 +64 bit
555 +)))
556 +|(% style="width:155px" %)(((
557 +EEPROM capacity
558 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
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:155px" %)(((
564 +control mode
565 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
566 +CSP、HM
567 +)))
568 +|(% style="width:155px" %)Synchronization period|(% colspan="3" rowspan="1" style="width:470px" %)(((
569 +125μs
570 +)))
571 +
229 229  (% style="margin-left:auto; margin-right:auto; width:50px" %)
230 230  |WD|80|M|-|075|30|S|-|A1|F|-|L
231 231  |①|②|③| |④|⑤|⑥| |⑦|⑧| |⑨
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