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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 36.1
edited by Molly
on 2024/09/14 14:43
Change comment: There is no comment for this version

Summary

Details

Page properties
Content
... ... @@ -65,7 +65,16 @@
65 65  
66 66  |(% colspan="3" %)(((
67 67  **General type**
68 -)))|[[image:1726038778533-997.png||_mstalt="300053"]]|[[image:1726038786193-560.png||_mstalt="296309"]]|[[image:1726038790641-417.png||_mstalt="295087"]]
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**
... ... @@ -226,6 +226,349 @@
226 226  Velocity limit under torque mode
227 227  )))
228 228  
238 += (% id="cke_bm_7897S" style="display:none" %) (%%) =
239 +
240 += **VD2F/VD2L servo driver parameter table** =
241 +
242 +(% style="width:1005px" %)
243 +|(% colspan="6" rowspan="1" style="width:312px" %)(((
244 +**General type**
245 +)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
246 +(% style="text-align:center" %)
247 +[[image:1726190862910-426.png]]
248 +)))|(% rowspan="1" style="width:364px" %)(((
249 +(% style="text-align:center" %)
250 +[[image:1726190785664-427.png]]
251 +)))
252 +|(% colspan="6" rowspan="1" style="width:312px" %)**Model**|(% colspan="1" rowspan="1" style="width:325px" %)(((
253 +**VD2F**
254 +)))|(% rowspan="1" style="width:364px" %)(((
255 +**VD2L**
256 +)))
257 +|(% colspan="3" rowspan="12" %)(((
258 +**Basic Specifications**
259 +)))|(% colspan="3" style="width:198px" %)**Power supply**|(% colspan="1" rowspan="1" style="width:325px" %)(((
260 +220V
261 +)))|(% rowspan="1" style="width:364px" %)(((
262 +220V
263 +)))
264 +|(% colspan="3" style="width:198px" %)(((
265 +**Control method**
266 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
267 +IGBT PWM control sine wave current drive
268 +)))
269 +|(% colspan="3" style="width:198px" %)(((
270 +**Encoder**
271 +)))|(% colspan="2" rowspan="1" style="width:680px" %)17bit, 23bit absolute value encoder
272 +|(% colspan="3" style="width:198px" %)(((
273 +**Control signal input**
274 +)))|(% colspan="2" rowspan="1" style="width:680px" %)4DI
275 +|(% colspan="3" style="width:198px" %)(((
276 +**Control signal output**
277 +)))|(% colspan="2" rowspan="1" style="width:680px" %)4DO
278 +|(% colspan="3" style="width:198px" %)(((
279 +**Pulse frequency division output**
280 +)))|(% colspan="1" rowspan="1" style="width:325px" %)—|(% rowspan="1" style="width:364px" %)(((
281 +Support
282 +)))
283 +|(% colspan="3" style="width:198px" %)(((
284 +**Pulse signal input**
285 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
286 +Open collector or differential input
287 +)))
288 +|(% colspan="3" style="width:198px" %)(((
289 +**Pulse feedback output**
290 +)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
291 +Z signal open collector output
292 +)))|(% rowspan="1" style="width:364px" %)(((
293 +ABZ differential output(VD2-XXXXXXH
294 +
295 +series support collector signal feedback)
296 +)))
297 +|(% colspan="3" style="width:198px" %)(% style="background-color:transparent" %)**Internal Command**|(% colspan="2" rowspan="1" style="width:680px" %)(((
298 +8 segment internal speed command, 16 segment internal position command
299 +)))
300 +|(% colspan="3" style="width:198px" %)(((
301 +**Communication**
302 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
303 +MODBUS RS485 or MODBUS RS422(SCTool)
304 +)))
305 +|(% colspan="3" rowspan="2" style="width:198px" %)(((
306 +**Braking resistor**
307 +)))|(% colspan="4" rowspan="1" style="width:680px" %)(((
308 +750W built-in braking resistor; 400W without built-in;
309 +)))
310 +|(% colspan="4" style="width:680px" %)(((
311 +Both can support external braking resistors.
312 +)))
313 +|(% colspan="3" rowspan="22" %)(((
314 +**Function setting**
315 +)))|(% colspan="1" rowspan="12" %)(((
316 +**General functions**
317 +)))|(% colspan="2" style="width:115px" %)(((
318 +**Auto-tuning**
319 +)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
320 +Automatic load inertia identification,automatic rigidity self-tuning
321 +)))|(% rowspan="1" style="width:364px" %)-
322 +|(% colspan="2" style="width:115px" %)(((
323 +**Blend mode**
324 +)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
325 +YES
326 +)))|(% rowspan="1" style="width:364px" %)-
327 +|(% colspan="2" style="width:115px" %)(((
328 +**Advanced control algorithms**
329 +)))|(% colspan="1" style="width:325px" %)(((
330 +YES
331 +)))|(% style="width:364px" %)-
332 +|(% colspan="2" rowspan="2" style="width:115px" %)(((
333 +**Waveform**
334 +)))|(% colspan="2" style="width:680px" %)4 channels waveform monitoring
335 +|(% colspan="2" style="width:680px" %)10s waveform data recording
336 +|(% colspan="2" style="width:115px" %)(((
337 +**Parameter management**
338 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
339 +Support batch parameter import and export
340 +)))
341 +|(% colspan="2" style="width:115px" %)(((
342 +**Vibration suppression**
343 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
344 +Support mechanical vibration suppression
345 +)))
346 +|(% colspan="2" style="width:115px" %)(((
347 +**Protection**
348 +)))|(% colspan="2" style="width:680px" %)(((
349 +Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
350 +)))
351 +|(% colspan="2" style="width:115px" %)(((
352 +**Dynamic braking**
353 +)))|(% colspan="1" style="width:325px" %)-|(% style="width:364px" %)(((
354 +Optional
355 +)))
356 +|(% colspan="2" style="width:115px" %)(((
357 +**Brake device**
358 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
359 +Support brake signal output
360 +)))
361 +|(% colspan="2" style="width:115px" %)(((
362 +**DI function**
363 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
364 +Servo enable((% _mstmutation="1" %)**S-ON**(%%)), Error/alarm clear((% _mstmutation="1" %)**A-CLR**(%%)), Forward rotation prohibited((% _mstmutation="1" %)**POT**(%%))
365 +
366 +Backward rotation prohibited((% _mstmutation="1" %)**NOT**(%%)), Command direction((% _mstmutation="1" %)**C-SIGN**(%%)), Emergency stop((% _mstmutation="1" %)**E-STOP**(%%))
367 +
368 +Gain switch((% _mstmutation="1" %)**GAIN-5EL**(%%)), Internal speed selection((% _mstmutation="1" %)**INSPD1, INSPD2, INSPD3**(%%))
369 +
370 +Internal position selection and enable((% _mstmutation="1" %)**INPO51, INPO52, INPO53, INPO54, ENINPOS**(%%))
371 +)))
372 +|(% colspan="2" style="width:115px" %)(((
373 +**DO function**
374 +)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
375 +Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
376 +
377 +Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
378 +
379 +Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), Z pulse feedback output
380 +)))|(% rowspan="1" style="width:364px" %)(((
381 +Servo ready(**RDY**)、Error signal(**ALM**), Alarm signal(**WARN**), Rotation detection(**TGON**)
382 +
383 +Zero speed signal(**ZSP**), Torque limited(**T-LIMIT**), Velocity limited(**V-LIMIT**)
384 +
385 +Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), ABZ pulse feedback output
386 +)))
387 +|(% colspan="1" rowspan="4" %)**Position mode**|**Pulse frequency**|(% colspan="3" rowspan="1" %)(((
388 +Max to 500KHz
389 +)))
390 +|(% colspan="2" rowspan="1" style="width:115px" %)**Pulse type**|(% rowspan="1" style="width:325px" %)(((
391 +Direction + pulse; Orthogonal coding:
392 +V1.21 and above support CW/CCW
393 +)))|(% rowspan="1" style="width:337px" %)Direction + Pulse, Orthogonal coding
394 +|(% colspan="2" rowspan="1" style="width:115px" %)**Pulse filter**|(% colspan="2" rowspan="1" style="width:680px" %)First-order low-pass filter or smoothing filter
395 +|(% colspan="2" rowspan="1" style="width:115px" %)(((
396 +**Pulse output**
397 +)))|(% rowspan="1" style="width:325px" %)-|(% rowspan="1" style="width:337px" %)A, B, Z differential output
398 +|(% colspan="1" rowspan="3" %)(((
399 +**Speed mode**
400 +)))|(% colspan="2" style="width:115px" %)**Command input**|(% colspan="2" rowspan="1" style="width:325px" %)Internal command(8 segments)
401 +|(% colspan="2" style="width:115px" %)**Zero speed clamp**|(% colspan="2" rowspan="1" style="width:325px" %)Support
402 +|(% colspan="2" style="width:115px" %)**Torque limit**|(% colspan="2" rowspan="1" style="width:325px" %)Torque limit under speed mode
403 +|(% colspan="1" rowspan="3" %)**Torque mode**|(% colspan="2" style="width:115px" %)**Command input**|(% colspan="2" rowspan="1" style="width:325px" %)(((
404 +Internal command
405 +)))
406 +|(% colspan="2" style="width:115px" %)**Torque reach**|(% colspan="2" rowspan="1" style="width:325px" %)(((
407 +Torque reach signal output
408 +)))
409 +|(% colspan="2" style="width:115px" %)**Velocity limit**|(% colspan="2" rowspan="1" style="width:325px" %)(((
410 +Velocity limit under torque mode
411 +)))
412 +
413 += VD3E servo driver parameter table =
414 +
415 +(% style="margin-left:auto; margin-right:auto; width:1230px" %)
416 +|(% colspan="3" rowspan="1" style="width:464px" %)(((
417 +**Bus type**
418 +)))|(% style="width:309px" %)(((
419 +(% style="text-align:center" %)
420 +[[image:1726295827531-129.png]]
421 +
422 +(((
423 +
424 +)))
425 +)))|(((
426 +(% style="text-align:center" %)
427 +[[image:1726295883786-742.png]]
428 +
429 +(((
430 +
431 +)))
432 +)))|(((
433 +(% style="text-align:center" %)
434 +[[image:1726295894302-137.png]]
435 +)))
436 +|(% colspan="3" rowspan="1" style="width:464px" %)**Model**|(% style="width:309px" %)(((
437 +**VD3E(A type)**
438 +)))|(((
439 +**VD3E(B type)**
440 +)))|(((
441 +**VD3E(C type)**
442 +)))
443 +|(% colspan="1" rowspan="7" style="width:166px" %)(((
444 +**Basic Specifications**
445 +)))|(% colspan="2" style="width:301px" %)**Power supply**|(% style="width:309px" %)220V|220V/380V|380V
446 +|(% colspan="2" style="width:301px" %)**Control method**|(% colspan="3" rowspan="1" style="width:470px" %)IGBT PWM control sine wave current drive
447 +|(% colspan="2" style="width:301px" %)**Encoder**|(% colspan="3" rowspan="1" style="width:470px" %)17bit, 23bit absolute value encoder
448 +|(% colspan="2" style="width:301px" %)**Control signal input**|(% colspan="3" rowspan="1" style="width:470px" %)(((
449 +6DI,
450 +
451 +Select the output function according to the function code configuration
452 +)))
453 +|(% colspan="2" style="width:301px" %)**Control signal output**|(% colspan="3" rowspan="1" style="width:470px" %)(((
454 +3DO,
455 +
456 +Select the output function according to the function code configuration
457 +)))
458 +|(% style="width:147px" %)(((
459 +**Communication function**
460 +)))|(% style="width:155px" %)(((
461 +**Host computer communication**
462 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
463 +The USB interface can be used to set function code parameters, monitor status, and view waveforms through a computer host computer.
464 +Parameter self-tuning, etc.
465 +)))
466 +|(% colspan="2" style="width:301px" %)**Braking resistor**|(% colspan="3" rowspan="1" style="width:470px" %)(((
467 +Built-in braking resistor, supports external braking resistor
468 +)))
469 +|(% 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
470 +|(% colspan="2" style="width:301px" %)(((
471 +**Waveform viewing**
472 +)))|(% colspan="3" rowspan="1" style="width:470px" %)4 channels waveform monitoring
473 +|(% colspan="2" style="width:301px" %)(((
474 +**Waveform storage**
475 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
476 +Waveform acquisition frequency 1K Hz,(% style="background-color:transparent" %)10s waveform data recording
477 +)))
478 +|(% colspan="2" style="width:301px" %)**Parameter management**|(% colspan="3" rowspan="1" style="width:470px" %)Support batch parameter import and export
479 +|(% colspan="2" style="width:301px" %)(((
480 +**Vibration suppression**
481 +)))|(% colspan="3" rowspan="1" style="width:470px" %)Support mechanical vibration suppression
482 +|(% colspan="2" style="width:301px" %)(((
483 +
484 +
485 +**Protection**
486 +)))|(% colspan="3" rowspan="1" style="width:470px" %)Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
487 +|(% colspan="2" style="width:301px" %)**Brake device**|(% colspan="3" rowspan="1" style="width:470px" %)Support brake signal output
488 +|(% colspan="2" style="width:301px" %)**DI function**|(% colspan="3" rowspan="1" style="width:470px" %)(((
489 +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**(%%))
490 +)))
491 +|(% colspan="2" style="width:301px" %)**DO function**|(% colspan="3" rowspan="1" style="width:470px" %)(((
492 +Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
493 +
494 +Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
495 +
496 +Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**),CommunicationVDO
497 +)))
498 +|(% colspan="1" rowspan="16" style="width:166px" %)(((
499 +**EtherCAT related**
500 +)))|(% rowspan="14" style="width:147px" %)(((
501 +**EtherCAT related**
502 +)))|(% style="width:155px" %)(((
503 +Communication protocol
504 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
505 +EtherCAT protocol
506 +)))
507 +|(% style="width:155px" %)(((
508 +Support services
509 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
510 +CoE(PDO,SDO)
511 +)))
512 +|(% style="width:155px" %)(((
513 +Sync mode
514 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
515 +DC-Distributed Clock
516 +)))
517 +|(% style="width:155px" %)(((
518 +Physical layer
519 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
520 +100BASE-TX
521 +)))
522 +|(% style="width:155px" %)(((
523 +Baud rate
524 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
525 +100 Mbit/s(100Base-TX)
526 +)))
527 +|(% style="width:155px" %)(((
528 +Duplex mode
529 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
530 +Full duplex
531 +)))
532 +|(% style="width:155px" %)(((
533 +Topology
534 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
535 +Circular, linear
536 +)))
537 +|(% style="width:155px" %)(((
538 +Transmission medium
539 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
540 +Shielded Category 5e or better network cable
541 +)))
542 +|(% style="width:155px" %)(((
543 +Transmission distance
544 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
545 +Less than 100M between two nodes (good environment, good cables)
546 +)))
547 +|(% style="width:155px" %)(((
548 +Frame length
549 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
550 +44 bytes~~1498 bytes
551 +)))
552 +|(% style="width:155px" %)(((
553 +Excessive data
554 +)))|(% colspan="5" rowspan="1" style="width:470px" %)Maximum size of a single Ethernet frame is 1486 bytes
555 +|(% style="width:155px" %)(((
556 +Sync jitter
557 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
558 +<1μs
559 +)))
560 +|(% style="width:155px" %)(((
561 +Distributed clock
562 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
563 +64 bit
564 +)))
565 +|(% style="width:155px" %)(((
566 +EEPROM capacity
567 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
568 +8k bit initialization data is written through the EtherCAT master station
569 +)))
570 +|(% rowspan="2" style="width:147px" %)(((
571 +**Control mode and performance**
572 +)))|(% style="width:155px" %)(((
573 +control mode
574 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
575 +CSP、HM
576 +)))
577 +|(% style="width:155px" %)Synchronization period|(% colspan="3" rowspan="1" style="width:470px" %)(((
578 +125μs
579 +)))
580 +
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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