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Changes for page 05 Servo Product Manual

Last modified by Jim(Forgotten) on 2025/03/20 10:19
From version 27.1
edited by Molly
on 2024/09/13 11:10
Change comment: There is no comment for this version
To version 33.1
edited by Molly
on 2024/09/14 14:38
Change comment: There is no comment for this version

Summary

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Content
... ... @@ -230,10 +230,10 @@
230 230  
231 231  = **VD2F/VD2L servo driver parameter table** =
232 232  
233 -(% style="width:1017px" %)
234 -|(% colspan="6" rowspan="1" %)(((
233 +(% style="width:1005px" %)
234 +|(% colspan="6" rowspan="1" style="width:312px" %)(((
235 235  **General type**
236 -)))|(% colspan="1" rowspan="1" style="width:221px" %)(((
236 +)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
237 237  (% style="text-align:center" %)
238 238  [[image:1726190862910-426.png]]
239 239  )))|(% rowspan="1" style="width:364px" %)(((
... ... @@ -240,7 +240,7 @@
240 240  (% style="text-align:center" %)
241 241  [[image:1726190785664-427.png]]
242 242  )))
243 -|(% colspan="6" rowspan="1" %)**Model**|(% colspan="1" rowspan="1" style="width:221px" %)(((
243 +|(% colspan="6" rowspan="1" style="width:312px" %)**Model**|(% colspan="1" rowspan="1" style="width:325px" %)(((
244 244  **VD2F**
245 245  )))|(% rowspan="1" style="width:364px" %)(((
246 246  **VD2L**
... ... @@ -247,40 +247,38 @@
247 247  )))
248 248  |(% colspan="3" rowspan="12" %)(((
249 249  **Basic Specifications**
250 -)))|(% colspan="3" %)**Power supply**|(% colspan="1" rowspan="1" style="width:221px" %)(((
250 +)))|(% colspan="3" style="width:198px" %)**Power supply**|(% colspan="1" rowspan="1" style="width:325px" %)(((
251 251  220V
252 252  )))|(% rowspan="1" style="width:364px" %)(((
253 253  220V
254 254  )))
255 -|(% colspan="3" %)(((
255 +|(% colspan="3" style="width:198px" %)(((
256 256  **Control method**
257 -)))|(% colspan="2" rowspan="1" style="width:585px" %)(((
257 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
258 258  IGBT PWM control sine wave current drive
259 259  )))
260 -|(% colspan="3" %)(((
260 +|(% colspan="3" style="width:198px" %)(((
261 261  **Encoder**
262 -)))|(% colspan="2" rowspan="1" style="width:585px" %)17bit, 23bit absolute value encoder
263 -|(% colspan="3" %)(((
262 +)))|(% colspan="2" rowspan="1" style="width:680px" %)17bit, 23bit absolute value encoder
263 +|(% colspan="3" style="width:198px" %)(((
264 264  **Control signal input**
265 -)))|(% colspan="2" rowspan="1" style="width:585px" %)4DI
266 -|(% colspan="3" %)(((
265 +)))|(% colspan="2" rowspan="1" style="width:680px" %)4DI
266 +|(% colspan="3" style="width:198px" %)(((
267 267  **Control signal output**
268 -)))|(% colspan="2" rowspan="1" style="width:585px" %)4DO
269 -|(% colspan="3" %)(((
268 +)))|(% colspan="2" rowspan="1" style="width:680px" %)4DO
269 +|(% colspan="3" style="width:198px" %)(((
270 270  **Pulse frequency division output**
271 -)))|(% colspan="1" rowspan="1" style="width:221px" %)—|(% rowspan="1" style="width:364px" %)(((
271 +)))|(% colspan="1" rowspan="1" style="width:325px" %)—|(% rowspan="1" style="width:364px" %)(((
272 272  Support
273 273  )))
274 -|(% colspan="3" %)(((
274 +|(% colspan="3" style="width:198px" %)(((
275 275  **Pulse signal input**
276 -)))|(% colspan="2" rowspan="1" style="width:585px" %)(((
276 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
277 277  Open collector or differential input
278 -
279 -
280 280  )))
281 -|(% colspan="3" %)(((
279 +|(% colspan="3" style="width:198px" %)(((
282 282  **Pulse feedback output**
283 -)))|(% colspan="1" rowspan="1" style="width:221px" %)(((
281 +)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
284 284  Z signal open collector output
285 285  )))|(% rowspan="1" style="width:364px" %)(((
286 286  ABZ differential output(VD2-XXXXXXH
... ... @@ -287,79 +287,73 @@
287 287  
288 288  series support collector signal feedback)
289 289  )))
290 -|(% colspan="3" %)(% style="background-color:transparent" %)**Internal Command**|(% colspan="2" rowspan="1" style="width:585px" %)(((
288 +|(% colspan="3" style="width:198px" %)(% style="background-color:transparent" %)**Internal Command**|(% colspan="2" rowspan="1" style="width:680px" %)(((
291 291  8 segment internal speed command, 16 segment internal position command
292 292  )))
293 -|(% colspan="3" %)(((
291 +|(% colspan="3" style="width:198px" %)(((
294 294  **Communication**
295 -)))|(% colspan="2" rowspan="1" style="width:585px" %)(((
293 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
296 296  MODBUS RS485 or MODBUS RS422(SCTool)
297 297  )))
298 -|(% colspan="3" rowspan="2" %)(((
296 +|(% colspan="3" rowspan="2" style="width:198px" %)(((
299 299  **Braking resistor**
300 -)))|(% colspan="4" rowspan="1" %)(((
301 -
302 -
298 +)))|(% colspan="4" rowspan="1" style="width:680px" %)(((
303 303  750W built-in braking resistor; 400W without built-in;
304 -
305 -
306 306  )))
307 -|(% colspan="4" %)(((
301 +|(% colspan="4" style="width:680px" %)(((
308 308  Both can support external braking resistors.
309 309  )))
310 -|(% colspan="3" rowspan="16" %)(((
304 +|(% colspan="3" rowspan="22" %)(((
311 311  **Function setting**
312 312  )))|(% colspan="1" rowspan="12" %)(((
313 313  **General functions**
314 -)))|(% colspan="2" %)(((
308 +)))|(% colspan="2" style="width:115px" %)(((
315 315  **Auto-tuning**
316 -)))|(% colspan="1" rowspan="1" style="width:221px" %)(((
317 -Automatic load inertia identification,
318 -
319 -automatic rigidity self-tuning
310 +)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
311 +Automatic load inertia identification,automatic rigidity self-tuning
320 320  )))|(% rowspan="1" style="width:364px" %)-
321 -|(% colspan="2" %)(((
313 +|(% colspan="2" style="width:115px" %)(((
322 322  **Blend mode**
323 -)))|(% colspan="1" rowspan="1" style="width:221px" %)(((
315 +)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
324 324  YES
325 325  )))|(% rowspan="1" style="width:364px" %)-
326 -|(% colspan="2" %)(((
318 +|(% colspan="2" style="width:115px" %)(((
327 327  **Advanced control algorithms**
328 -)))|(% colspan="1" style="width:221px" %)(((
320 +)))|(% colspan="1" style="width:325px" %)(((
329 329  YES
330 330  )))|(% style="width:364px" %)-
331 -|(% colspan="2" rowspan="2" %)(((
323 +|(% colspan="2" rowspan="2" style="width:115px" %)(((
332 332  **Waveform**
333 -)))|(% colspan="2" style="width:585px" %)4 channels waveform monitoring
334 -|(% colspan="2" style="width:585px" %)10s waveform data recording
335 -|(% colspan="2" %)(((
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" %)(((
336 336  **Parameter management**
337 -)))|(% colspan="2" rowspan="1" style="width:585px" %)(((
329 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
338 338  Support batch parameter import and export
339 339  )))
340 -|(% colspan="2" %)(((
332 +|(% colspan="2" style="width:115px" %)(((
341 341  **Vibration suppression**
342 -)))|(% colspan="2" rowspan="1" style="width:585px" %)(((
334 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
343 343  Support mechanical vibration suppression
344 344  )))
345 -|(% colspan="2" %)(((
337 +|(% colspan="2" style="width:115px" %)(((
346 346  **Protection**
347 -)))|(% colspan="2" style="width:585px" %)(((
339 +)))|(% colspan="2" style="width:680px" %)(((
348 348  Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
349 349  )))
350 -|(% colspan="2" %)(((
342 +|(% colspan="2" style="width:115px" %)(((
351 351  **Dynamic braking**
352 -)))|(% colspan="1" style="width:221px" %)-|(% style="width:364px" %)(((
344 +)))|(% colspan="1" style="width:325px" %)-|(% style="width:364px" %)(((
353 353  Optional
354 354  )))
355 -|(% colspan="2" %)(((
347 +|(% colspan="2" style="width:115px" %)(((
356 356  **Brake device**
357 -)))|(% colspan="2" rowspan="1" style="width:585px" %)(((
349 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
358 358  Support brake signal output
359 359  )))
360 -|(% colspan="2" %)(((
352 +|(% colspan="2" style="width:115px" %)(((
361 361  **DI function**
362 -)))|(% colspan="2" rowspan="1" style="width:585px" %)(((
354 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
363 363  Servo enable((% _mstmutation="1" %)**S-ON**(%%)), Error/alarm clear((% _mstmutation="1" %)**A-CLR**(%%)), Forward rotation prohibited((% _mstmutation="1" %)**POT**(%%))
364 364  
365 365  Backward rotation prohibited((% _mstmutation="1" %)**NOT**(%%)), Command direction((% _mstmutation="1" %)**C-SIGN**(%%)), Emergency stop((% _mstmutation="1" %)**E-STOP**(%%))
... ... @@ -368,9 +368,9 @@
368 368  
369 369  Internal position selection and enable((% _mstmutation="1" %)**INPO51, INPO52, INPO53, INPO54, ENINPOS**(%%))
370 370  )))
371 -|(% colspan="2" %)(((
363 +|(% colspan="2" style="width:115px" %)(((
372 372  **DO function**
373 -)))|(% colspan="1" rowspan="1" style="width:221px" %)(((
365 +)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
374 374  Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
375 375  
376 376  Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
... ... @@ -386,49 +386,191 @@
386 386  |(% colspan="1" rowspan="4" %)**Position mode**|**Pulse frequency**|(% colspan="3" rowspan="1" %)(((
387 387  Max to 500KHz
388 388  )))
389 -|(% colspan="2" rowspan="1" style="width:337px" %)**Pulse type**|(% rowspan="1" style="width:337px" %)(((
381 +|(% colspan="2" rowspan="1" style="width:115px" %)**Pulse type**|(% rowspan="1" style="width:325px" %)(((
390 390  Direction + pulse; Orthogonal coding:
391 391  V1.21 and above support CW/CCW
392 392  )))|(% rowspan="1" style="width:337px" %)Direction + Pulse, Orthogonal coding
393 -|(% colspan="2" rowspan="1" style="width:337px" %)**Pulse filter**|(% colspan="2" rowspan="1" style="width:337px" %)First-order low-pass filter or smoothing filter
394 -|(% colspan="2" rowspan="1" style="width:337px" %)(((
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" %)(((
395 395  **Pulse output**
396 -)))|(% rowspan="1" style="width:337px" %)-|(% rowspan="1" style="width:337px" %)A, B, Z differential output
397 -|(% rowspan="3" %) JJJJJJJJJJJJ|(% colspan="1" rowspan="3" %)(((
388 +)))|(% rowspan="1" style="width:325px" %)-|(% rowspan="1" style="width:337px" %)A, B, Z differential output
389 +|(% colspan="1" rowspan="3" %)(((
398 398  **Speed mode**
399 -)))|(((
400 -**Command input**
401 -)))|(% colspan="3" rowspan="1" style="width:585px" %)(((
402 -Analog input(-10V to +10V), Internal command(8 segments)
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
403 403  )))
404 -|(((
405 -**Zero speed clamp**
406 -)))|(% colspan="3" rowspan="1" style="width:585px" %)(((
407 -Support
397 +|(% colspan="2" style="width:115px" %)**Torque reach**|(% colspan="2" rowspan="1" style="width:325px" %)(((
398 +Torque reach signal output
408 408  )))
409 -|(((
410 -**Torque limit**
411 -)))|(% colspan="3" rowspan="1" style="width:585px" %)(((
412 -Torque limit under speed mode
400 +|(% colspan="2" style="width:115px" %)**Velocity limit**|(% colspan="2" rowspan="1" style="width:325px" %)(((
401 +Velocity limit under torque mode
413 413  )))
414 -|(% rowspan="3" %) |(% colspan="1" rowspan="3" %)(((
415 -**Torque mode**
403 +
404 += VD3E servo driver parameter table =
405 +
406 +(% style="width:888px" %)
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 +)))|[[image:1726295883786-742.png]](((
417 +
416 416  )))|(((
417 -**Command input**
418 -)))|(% colspan="3" rowspan="1" style="width:585px" %)(((
419 -Analog input(-10V to +10V), Internal command
419 +[[image:1726295894302-137.png]]
420 420  )))
421 -|(((
422 -**Torque reach**
423 -)))|(% colspan="3" rowspan="1" style="width:585px" %)(((
424 -Torque reach signal output
421 +|(% colspan="3" rowspan="1" style="width:464px" %)**Model**|(% style="width:309px" %)(((
422 +**VD3E(A type)**
423 +)))|(((
424 +**VD3E(B type)**
425 +)))|(((
426 +**VD3E(C type)**
425 425  )))
426 -|(((
427 -**Velocity limit**
428 -)))|(% colspan="3" rowspan="1" style="width:585px" %)(((
429 -Velocity limit under torque mode
428 +|(% colspan="1" rowspan="7" style="width:166px" %)(((
429 +**Basic Specifications**
430 +)))|(% colspan="2" style="width:301px" %)**Power supply**|(% style="width:309px" %)220V|220V/380V|380V
431 +|(% colspan="2" style="width:301px" %)**Control method**|(% colspan="3" rowspan="1" style="width:470px" %)IGBT PWM control sine wave current drive
432 +|(% colspan="2" style="width:301px" %)**Encoder**|(% colspan="3" rowspan="1" style="width:470px" %)17bit, 23bit absolute value encoder
433 +|(% colspan="2" style="width:301px" %)**Control signal input**|(% colspan="3" rowspan="1" style="width:470px" %)(((
434 +6DI,
435 +
436 +Select the output function according to the function code configuration
430 430  )))
438 +|(% colspan="2" style="width:301px" %)**Control signal output**|(% colspan="3" rowspan="1" style="width:470px" %)(((
439 +3DO,
431 431  
441 +Select the output function according to the function code configuration
442 +)))
443 +|(% style="width:147px" %)(((
444 +**Communication function**
445 +)))|(% style="width:155px" %)(((
446 +**Host computer communication**
447 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
448 +The USB interface can be used to set function code parameters, monitor status, and view waveforms through a computer host computer.
449 +Parameter self-tuning, etc.
450 +)))
451 +|(% colspan="2" style="width:301px" %)**Braking resistor**|(% colspan="3" rowspan="1" style="width:470px" %)(((
452 +Built-in braking resistor, supports external braking resistor
453 +)))
454 +|(% 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
455 +|(% colspan="2" style="width:301px" %)(((
456 +**Waveform viewing**
457 +)))|(% colspan="3" rowspan="1" style="width:470px" %)4 channels waveform monitoring
458 +|(% colspan="2" style="width:301px" %)(((
459 +**Waveform storage**
460 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
461 +Waveform acquisition frequency 1K Hz,(% style="background-color:transparent" %)10s waveform data recording
462 +)))
463 +|(% colspan="2" style="width:301px" %)**Parameter management**|(% colspan="3" rowspan="1" style="width:470px" %)Support batch parameter import and export
464 +|(% colspan="2" style="width:301px" %)(((
465 +**Vibration suppression**
466 +)))|(% colspan="3" rowspan="1" style="width:470px" %)Support mechanical vibration suppression
467 +|(% colspan="2" style="width:301px" %)(((
468 +
469 +
470 +**Protection**
471 +)))|(% colspan="3" rowspan="1" style="width:470px" %)Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
472 +|(% colspan="2" style="width:301px" %)**Brake device**|(% colspan="3" rowspan="1" style="width:470px" %)Support brake signal output
473 +|(% colspan="2" style="width:301px" %)**DI function**|(% colspan="3" rowspan="1" style="width:470px" %)(((
474 +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**(%%))
475 +)))
476 +|(% colspan="2" style="width:301px" %)**DO function**|(% colspan="3" rowspan="1" style="width:470px" %)(((
477 +Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
478 +
479 +Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
480 +
481 +Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**),CommunicationVDO
482 +)))
483 +|(% colspan="1" rowspan="16" style="width:166px" %)(((
484 +**EtherCAT related**
485 +)))|(% rowspan="14" style="width:147px" %)(((
486 +**EtherCAT related**
487 +)))|(% style="width:155px" %)(((
488 +Communication protocol
489 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
490 +EtherCAT protocol
491 +)))
492 +|(% style="width:155px" %)(((
493 +Support services
494 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
495 +CoE(PDO,SDO)
496 +)))
497 +|(% style="width:155px" %)(((
498 +Sync mode
499 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
500 +DC-Distributed Clock
501 +)))
502 +|(% style="width:155px" %)(((
503 +Physical layer
504 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
505 +100BASE-TX
506 +)))
507 +|(% style="width:155px" %)(((
508 +Baud rate
509 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
510 +100 Mbit/s(100Base-TX)
511 +)))
512 +|(% style="width:155px" %)(((
513 +Duplex mode
514 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
515 +Full duplex
516 +)))
517 +|(% style="width:155px" %)(((
518 +Topology
519 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
520 +Circular, linear
521 +)))
522 +|(% style="width:155px" %)(((
523 +Transmission medium
524 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
525 +Shielded Category 5e or better network cable
526 +)))
527 +|(% style="width:155px" %)(((
528 +Transmission distance
529 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
530 +Less than 100M between two nodes (good environment, good cables)
531 +)))
532 +|(% style="width:155px" %)(((
533 +Frame length
534 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
535 +44 bytes~~1498 bytes
536 +)))
537 +|(% style="width:155px" %)(((
538 +Excessive data
539 +)))|(% colspan="5" rowspan="1" style="width:470px" %)Maximum size of a single Ethernet frame is 1486 bytes
540 +|(% style="width:155px" %)(((
541 +Sync jitter
542 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
543 +<1μs
544 +)))
545 +|(% style="width:155px" %)(((
546 +Distributed clock
547 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
548 +64 bit
549 +)))
550 +|(% style="width:155px" %)(((
551 +EEPROM capacity
552 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
553 +8k bit initialization data is written through the EtherCAT master station
554 +)))
555 +|(% rowspan="2" style="width:147px" %)(((
556 +**Control mode and performance**
557 +)))|(% style="width:155px" %)(((
558 +control mode
559 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
560 +CSP、HM
561 +)))
562 +|(% style="width:155px" %)Synchronization period|(% colspan="3" rowspan="1" style="width:470px" %)(((
563 +125μs
564 +)))
565 +
432 432  (% style="margin-left:auto; margin-right:auto; width:50px" %)
433 433  |WD|80|M|-|075|30|S|-|A1|F|-|L
434 434  |①|②|③| |④|⑤|⑥| |⑦|⑧| |⑨
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