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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 43.1
edited by Molly
on 2024/09/14 15:05
Change comment: There is no comment for this version

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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 += **VD2F/VD2L servo driver parameter table** =
239 +
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,
448 +
449 +Select the output function according to the function code configuration
450 +)))
451 +|(% colspan="2" style="width:301px" %)**Control signal output**|(% colspan="3" rowspan="1" style="width:470px" %)(((
452 +3DO,
453 +
454 +Select the output function according to the function code configuration
455 +)))
456 +|(% style="width:147px" %)(((
457 +**Communication function**
458 +)))|(% style="width:155px" %)(((
459 +**Host computer communication**
460 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
461 +The USB interface can be used to set function code parameters, monitor status, and view waveforms through a computer host computer.
462 +Parameter self-tuning, etc.
463 +)))
464 +|(% colspan="2" style="width:301px" %)**Braking resistor**|(% colspan="3" rowspan="1" style="width:470px" %)(((
465 +Built-in braking resistor, supports external braking resistor
466 +)))
467 +|(% 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
468 +|(% colspan="2" style="width:301px" %)(((
469 +**Waveform viewing**
470 +)))|(% colspan="3" rowspan="1" style="width:470px" %)4 channels waveform monitoring
471 +|(% colspan="2" style="width:301px" %)(((
472 +**Waveform storage**
473 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
474 +Waveform acquisition frequency 1K Hz,(% style="background-color:transparent" %)10s waveform data recording
475 +)))
476 +|(% colspan="2" style="width:301px" %)**Parameter management**|(% colspan="3" rowspan="1" style="width:470px" %)Support batch parameter import and export
477 +|(% colspan="2" style="width:301px" %)(((
478 +**Vibration suppression**
479 +)))|(% colspan="3" rowspan="1" style="width:470px" %)Support mechanical vibration suppression
480 +|(% colspan="2" style="width:301px" %)(((
481 +
482 +
483 +**Protection**
484 +)))|(% colspan="3" rowspan="1" style="width:470px" %)Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
485 +|(% colspan="2" style="width:301px" %)**Brake device**|(% colspan="3" rowspan="1" style="width:470px" %)Support brake signal output
486 +|(% colspan="2" style="width:301px" %)**DI function**|(% colspan="3" rowspan="1" style="width:470px" %)(((
487 +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**(%%))
488 +)))
489 +|(% colspan="2" style="width:301px" %)**DO function**|(% colspan="3" rowspan="1" style="width:470px" %)(((
490 +Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
491 +
492 +Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
493 +
494 +Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**),CommunicationVDO
495 +)))
496 +|(% colspan="1" rowspan="16" style="width:166px" %)(((
497 +**EtherCAT related**
498 +)))|(% rowspan="14" style="width:147px" %)(((
499 +**EtherCAT related**
500 +)))|(% style="width:155px" %)(((
501 +**Communication protocol**
502 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
503 +EtherCAT protocol
504 +)))
505 +|(% style="width:155px" %)(((
506 +**Support services**
507 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
508 +CoE(PDO,SDO)
509 +)))
510 +|(% style="width:155px" %)(((
511 +**Sync mode**
512 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
513 +DC-Distributed Clock
514 +)))
515 +|(% style="width:155px" %)(((
516 +**Physical layer**
517 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
518 +100BASE-TX
519 +)))
520 +|(% style="width:155px" %)(((
521 +**Baud rate**
522 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
523 +100 Mbit/s(100Base-TX)
524 +)))
525 +|(% style="width:155px" %)(((
526 +**Duplex mode**
527 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
528 +Full duplex
529 +)))
530 +|(% style="width:155px" %)(((
531 +**Topology**
532 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
533 +Circular, linear
534 +)))
535 +|(% style="width:155px" %)(((
536 +**Transmission medium**
537 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
538 +Shielded Category 5e or better network cable
539 +)))
540 +|(% style="width:155px" %)(((
541 +**Transmission distance**
542 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
543 +Less than 100M between two nodes (good environment, good cables)
544 +)))
545 +|(% style="width:155px" %)(((
546 +**Frame length**
547 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
548 +44 bytes~~1498 bytes
549 +)))
550 +|(% style="width:155px" %)(((
551 +**Excessive data**
552 +)))|(% colspan="5" rowspan="1" style="width:470px" %)Maximum size of a single Ethernet frame is 1486 bytes
553 +|(% style="width:155px" %)(((
554 +**Sync jitter**
555 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
556 +<1μs
557 +)))
558 +|(% style="width:155px" %)(((
559 +**Distributed clock**
560 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
561 +64 bit
562 +)))
563 +|(% style="width:155px" %)(((
564 +**EEPROM capacity**
565 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
566 +8k bit initialization data is written through the EtherCAT master station
567 +)))
568 +|(% rowspan="2" style="width:147px" %)(((
569 +**Control mode and performance**
570 +)))|(% style="width:155px" %)(((
571 +**Control mode**
572 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
573 +CSP、HM
574 +)))
575 +|(% style="width:155px" %)**Synchronization period**|(% colspan="3" rowspan="1" style="width:470px" %)(((
576 +125μs
577 +)))
578 +
579 += Servo motor model description =
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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