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Changes for page 05 Servo Product Manual

Last modified by Jim(Forgotten) on 2025/03/20 10:19
From version 29.1
edited by Molly
on 2024/09/13 11:17
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**
... ... @@ -230,10 +230,10 @@
230 230  
231 231  = **VD2F/VD2L servo driver parameter table** =
232 232  
233 -(% style="width:1004px" %)
234 -|(% colspan="6" rowspan="1" %)(((
242 +(% style="width:1005px" %)
243 +|(% colspan="6" rowspan="1" style="width:312px" %)(((
235 235  **General type**
236 -)))|(% colspan="1" rowspan="1" style="width:221px" %)(((
245 +)))|(% 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" %)(((
252 +|(% 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" %)(((
259 +)))|(% 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" %)(((
264 +|(% colspan="3" style="width:198px" %)(((
256 256  **Control method**
257 -)))|(% colspan="2" rowspan="1" style="width:585px" %)(((
266 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
258 258  IGBT PWM control sine wave current drive
259 259  )))
260 -|(% colspan="3" %)(((
269 +|(% colspan="3" style="width:198px" %)(((
261 261  **Encoder**
262 -)))|(% colspan="2" rowspan="1" style="width:585px" %)17bit, 23bit absolute value encoder
263 -|(% colspan="3" %)(((
271 +)))|(% colspan="2" rowspan="1" style="width:680px" %)17bit, 23bit absolute value encoder
272 +|(% colspan="3" style="width:198px" %)(((
264 264  **Control signal input**
265 -)))|(% colspan="2" rowspan="1" style="width:585px" %)4DI
266 -|(% colspan="3" %)(((
274 +)))|(% colspan="2" rowspan="1" style="width:680px" %)4DI
275 +|(% colspan="3" style="width:198px" %)(((
267 267  **Control signal output**
268 -)))|(% colspan="2" rowspan="1" style="width:585px" %)4DO
269 -|(% colspan="3" %)(((
277 +)))|(% colspan="2" rowspan="1" style="width:680px" %)4DO
278 +|(% colspan="3" style="width:198px" %)(((
270 270  **Pulse frequency division output**
271 -)))|(% colspan="1" rowspan="1" style="width:221px" %)—|(% rowspan="1" style="width:364px" %)(((
280 +)))|(% colspan="1" rowspan="1" style="width:325px" %)—|(% rowspan="1" style="width:364px" %)(((
272 272  Support
273 273  )))
274 -|(% colspan="3" %)(((
283 +|(% colspan="3" style="width:198px" %)(((
275 275  **Pulse signal input**
276 -)))|(% colspan="2" rowspan="1" style="width:585px" %)(((
285 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
277 277  Open collector or differential input
278 -
279 -
280 280  )))
281 -|(% colspan="3" %)(((
288 +|(% colspan="3" style="width:198px" %)(((
282 282  **Pulse feedback output**
283 -)))|(% colspan="1" rowspan="1" style="width:221px" %)(((
290 +)))|(% 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
... ... @@ -287,24 +287,20 @@
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" %)(((
297 +|(% 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" %)(((
300 +|(% colspan="3" style="width:198px" %)(((
294 294  **Communication**
295 -)))|(% colspan="2" rowspan="1" style="width:585px" %)(((
302 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
296 296  MODBUS RS485 or MODBUS RS422(SCTool)
297 297  )))
298 -|(% colspan="3" rowspan="2" %)(((
305 +|(% colspan="3" rowspan="2" style="width:198px" %)(((
299 299  **Braking resistor**
300 -)))|(% colspan="4" rowspan="1" %)(((
301 -
302 -
307 +)))|(% 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" %)(((
310 +|(% colspan="4" style="width:680px" %)(((
308 308  Both can support external braking resistors.
309 309  )))
310 310  |(% colspan="3" rowspan="22" %)(((
... ... @@ -311,55 +311,53 @@
311 311  **Function setting**
312 312  )))|(% colspan="1" rowspan="12" %)(((
313 313  **General functions**
314 -)))|(% colspan="2" %)(((
317 +)))|(% 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
319 +)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
320 +Automatic load inertia identification,automatic rigidity self-tuning
320 320  )))|(% rowspan="1" style="width:364px" %)-
321 -|(% colspan="2" %)(((
322 +|(% colspan="2" style="width:115px" %)(((
322 322  **Blend mode**
323 -)))|(% colspan="1" rowspan="1" style="width:221px" %)(((
324 +)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
324 324  YES
325 325  )))|(% rowspan="1" style="width:364px" %)-
326 -|(% colspan="2" %)(((
327 +|(% colspan="2" style="width:115px" %)(((
327 327  **Advanced control algorithms**
328 -)))|(% colspan="1" style="width:221px" %)(((
329 +)))|(% colspan="1" style="width:325px" %)(((
329 329  YES
330 330  )))|(% style="width:364px" %)-
331 -|(% colspan="2" rowspan="2" %)(((
332 +|(% 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" %)(((
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" %)(((
336 336  **Parameter management**
337 -)))|(% colspan="2" rowspan="1" style="width:585px" %)(((
338 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
338 338  Support batch parameter import and export
339 339  )))
340 -|(% colspan="2" %)(((
341 +|(% colspan="2" style="width:115px" %)(((
341 341  **Vibration suppression**
342 -)))|(% colspan="2" rowspan="1" style="width:585px" %)(((
343 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
343 343  Support mechanical vibration suppression
344 344  )))
345 -|(% colspan="2" %)(((
346 +|(% colspan="2" style="width:115px" %)(((
346 346  **Protection**
347 -)))|(% colspan="2" style="width:585px" %)(((
348 +)))|(% 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" %)(((
351 +|(% colspan="2" style="width:115px" %)(((
351 351  **Dynamic braking**
352 -)))|(% colspan="1" style="width:221px" %)-|(% style="width:364px" %)(((
353 +)))|(% colspan="1" style="width:325px" %)-|(% style="width:364px" %)(((
353 353  Optional
354 354  )))
355 -|(% colspan="2" %)(((
356 +|(% colspan="2" style="width:115px" %)(((
356 356  **Brake device**
357 -)))|(% colspan="2" rowspan="1" style="width:585px" %)(((
358 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
358 358  Support brake signal output
359 359  )))
360 -|(% colspan="2" %)(((
361 +|(% colspan="2" style="width:115px" %)(((
361 361  **DI function**
362 -)))|(% colspan="2" rowspan="1" style="width:585px" %)(((
363 +)))|(% 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" %)(((
372 +|(% colspan="2" style="width:115px" %)(((
372 372  **DO function**
373 -)))|(% colspan="1" rowspan="1" style="width:221px" %)(((
374 +)))|(% 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**(%%))
... ... @@ -386,23 +386,197 @@
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" %)(((
390 +|(% 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" %)(((
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" %)(((
395 395  **Pulse output**
396 -)))|(% rowspan="1" style="width:337px" %)-|(% rowspan="1" style="width:337px" %)A, B, Z differential output
397 +)))|(% rowspan="1" style="width:325px" %)-|(% rowspan="1" style="width:337px" %)A, B, Z differential output
397 397  |(% 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 +(((
398 398  
399 -)))|(% colspan="2" style="width:337px" %) |(% style="width:337px" %) |(% style="width:337px" %)
400 -|(% colspan="2" style="width:337px" %) |(% style="width:337px" %) |(% style="width:337px" %)
401 -|(% colspan="2" style="width:337px" %) |(% style="width:337px" %) |(% style="width:337px" %)
402 -|(% colspan="1" rowspan="3" %) |(% colspan="2" style="width:337px" %) |(% style="width:337px" %) |(% style="width:337px" %)
403 -|(% colspan="2" style="width:337px" %) |(% style="width:337px" %) |(% style="width:337px" %)
404 -|(% colspan="2" style="width:337px" %) |(% style="width:337px" %) |(% style="width:337px" %)
424 +)))
425 +)))|(((
426 +(% style="text-align:center" %)
427 +[[image:1726295883786-742.png]]
405 405  
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 +
406 406  (% style="margin-left:auto; margin-right:auto; width:50px" %)
407 407  |WD|80|M|-|075|30|S|-|A1|F|-|L
408 408  |①|②|③| |④|⑤|⑥| |⑦|⑧| |⑨
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