Changes for page 05 Servo Product Manual

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Author

...	...	@@ -1,1 +1,1 @@
1		-XWiki.Molly
	1	+XWiki.Mora

Content

...	...	@@ -40,20 +40,20 @@
40	40	⑤
41	41	)))
42	42
43		-|(% colspan="1" rowspan="4" %)①Product Series|VD2|(% rowspan="14" %) |(% colspan="1" rowspan="2" %)③Voltage level|S: 220V
44		-|VD2F|T: 380V
45		-|VD2L|(% colspan="2" rowspan="3" %)
46		-|VD3E
47		-|(% colspan="2" rowspan="1" %)
48		-|(% colspan="1" rowspan="9" %)②Maximum output current|010: 10A|(% colspan="1" rowspan="2" %)④Encoder type|A1: Absolute
49		-|014: 14A|E1: Incremental
50		-|016: 16A|(% colspan="2" rowspan="2" %)
51		-|019: 19A
52		-|021: 21A|(% colspan="1" rowspan="5" %)⑤Function|P: Basic pulse control
53		-|025: 25A|G: General(Analog control, full-closed loop)
54		-|030: 30A|H: High speed DO(Collector signal feedback)
55		-|040: 40A|R: Support external PID function
56		-|050: 50A|D: Support dynamic braking function
	43	+(% style="margin-left:auto; margin-right:auto; width:761.198px" %)
	44	+|(% colspan="1" rowspan="4" %)①Product Series|(% style="width:204.976px" %)VD2|(% colspan="1" rowspan="2" style="width:190.024px" %)③Voltage level|S: 220V
	45	+|(% style="width:204.976px" %)VD2F|T: 380V
	46	+|(% style="width:204.976px" %)VD2L
	47	+|(% style="width:204.976px" %)VD3E
	48	+|(% colspan="1" rowspan="9" %)②Maximum output current|(% style="width:204.976px" %)010: 10A|(% colspan="1" rowspan="2" style="width:190.024px" %)④Encoder type|A1: Absolute
	49	+|(% style="width:204.976px" %)014: 14A|E1: Incremental
	50	+|(% style="width:204.976px" %)016: 16A
	51	+|(% style="width:204.976px" %)019: 19A
	52	+|(% style="width:204.976px" %)021: 21A|(% colspan="1" rowspan="5" style="width:190.024px" %)⑤Function|P: Basic pulse control
	53	+|(% style="width:204.976px" %)025: 25A|G: General(Analog control, full-closed loop)
	54	+|(% style="width:204.976px" %)030: 30A|H: High speed DO(Collector signal feedback)
	55	+|(% style="width:204.976px" %)040: 40A|R: Support external PID function
	56	+|(% style="width:204.976px" %)050: 50A|D: Support dynamic braking function
57	57
58	58	(% style="text-align:center" %)
59	59	(((
...	...	@@ -63,9 +63,19 @@
63	63
64	64	= VD2 Servo Drive Parameter Table =
65	65
	66	+(% style="margin-left:auto; margin-right:auto; width:1200px" %)
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"]]
	69	+)))|(((
	70	+(% style="text-align:center" %)
	71	+[[image:1726038778533-997.png||_mstalt="300053"]]
	72	+)))|(((
	73	+(% style="text-align:center" %)
	74	+[[image:1726038786193-560.png||_mstalt="296309"]]
	75	+)))|(((
	76	+(% style="text-align:center" %)
	77	+[[image:1726038790641-417.png||_mstalt="295087"]]
	78	+)))
69	69	|(% colspan="3" %)**Model**|**VD2(A type)**|**VD2(B type)**|**VD2(C type)**
70	70	|(% colspan="1" rowspan="11" %)(((
71	71	**Basic Specifications**
...	...	@@ -119,15 +119,15 @@
119	119	)))|(((
120	120	**Auto-tuning**
121	121	)))|(% colspan="3" rowspan="1" %)(((
122		-Automatic load inertia identification, automatic rigidity self-tuning
	132	+Automatic load inertia identification, automatic rigidity self-tuning (SCTool)
123	123	)))
124	124	|(% colspan="1" rowspan="2" %)(((
125	125	**Waveform**
126	126	)))|(% colspan="3" rowspan="1" %)(((
127		-4 channels waveform monitoring
	137	+4 channels waveform monitoring (SCTool)
128	128	)))
129	129	|(% colspan="3" rowspan="1" %)(((
130		-10s waveform data recording
	140	+10s waveform data recording (SCTool)
131	131	)))
132	132	|(((
133	133	**Parameter management**
...	...	@@ -226,14 +226,12 @@
226	226	Velocity limit under torque mode
227	227	)))
228	228
229		-= (% id="cke_bm_7897S" style="display:none" %) (%%) =
230		-
231	231	= **VD2F/VD2L servo driver parameter table** =
232	232
233		-(% style="width:1004px" %)
234		-|(% colspan="6" rowspan="1" %)(((
	241	+(% style="margin-left:auto; margin-right:auto; width:1200px" %)
	242	+|(% colspan="6" rowspan="1" style="width:537px" %)(((
235	235	**General type**
236		-)))|(% colspan="1" rowspan="1" style="width:221px" %)(((
	244	+)))|(% colspan="1" rowspan="1" style="width:503px" %)(((
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" %)(((
	251	+|(% colspan="6" rowspan="1" style="width:537px" %)**Model**|(% colspan="1" rowspan="1" style="width:503px" %)(((
244	244	**VD2F**
245	245	)))|(% rowspan="1" style="width:364px" %)(((
246	246	**VD2L**
...	...	@@ -247,64 +247,54 @@
247	247	)))
248	248	|(% colspan="3" rowspan="12" %)(((
249	249	**Basic Specifications**
250		-)))|(% colspan="3" %)**Power supply**|(% colspan="1" rowspan="1" style="width:221px" %)(((
	258	+)))|(% colspan="3" style="width:277px" %)**Power supply**|(% colspan="1" rowspan="1" style="width:503px" %)(((
251	251	220V
252	252	)))|(% rowspan="1" style="width:364px" %)(((
253	253	220V
254	254	)))
255		-|(% colspan="3" %)(((
	263	+|(% colspan="3" style="width:277px" %)(((
256	256	**Control method**
257		-)))|(% colspan="2" rowspan="1" style="width:585px" %)(((
	265	+)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
258	258	IGBT PWM control sine wave current drive
259	259	)))
260		-|(% colspan="3" %)(((
	268	+|(% colspan="3" style="width:277px" %)(((
261	261	**Encoder**
262		-)))|(% colspan="2" rowspan="1" style="width:585px" %)17bit, 23bit absolute value encoder
263		-|(% colspan="3" %)(((
	270	+)))|(% colspan="2" rowspan="1" style="width:867px" %)17bit, 23bit absolute value encoder
	271	+|(% colspan="3" style="width:277px" %)(((
264	264	**Control signal input**
265		-)))|(% colspan="2" rowspan="1" style="width:585px" %)4DI
266		-|(% colspan="3" %)(((
	273	+)))|(% colspan="2" rowspan="1" style="width:867px" %)4DI
	274	+|(% colspan="3" style="width:277px" %)(((
267	267	**Control signal output**
268		-)))|(% colspan="2" rowspan="1" style="width:585px" %)4DO
269		-|(% colspan="3" %)(((
	276	+)))|(% colspan="2" rowspan="1" style="width:867px" %)4DO
	277	+|(% colspan="3" style="width:277px" %)(((
270	270	**Pulse frequency division output**
271		-)))|(% colspan="1" rowspan="1" style="width:221px" %)—|(% rowspan="1" style="width:364px" %)(((
	279	+)))|(% colspan="1" rowspan="1" style="width:503px" %)—|(% rowspan="1" style="width:364px" %)(((
272	272	Support
273	273	)))
274		-|(% colspan="3" %)(((
	282	+|(% colspan="3" style="width:277px" %)(((
275	275	**Pulse signal input**
276		-)))|(% colspan="2" rowspan="1" style="width:585px" %)(((
	284	+)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
277	277	Open collector or differential input
278		-
279		-
280	280	)))
281		-|(% colspan="3" %)(((
	287	+|(% colspan="3" style="width:277px" %)(((
282	282	**Pulse feedback output**
283		-)))|(% colspan="1" rowspan="1" style="width:221px" %)(((
	289	+)))|(% colspan="1" rowspan="1" style="width:503px" %)(((
284	284	Z signal open collector output
285		-)))|(% rowspan="1" style="width:364px" %)(((
286		-ABZ differential output(VD2-XXXXXXH
287		-
288		-series support collector signal feedback)
289		-)))
290		-|(% colspan="3" %)(% style="background-color:transparent" %)**Internal Command**|(% colspan="2" rowspan="1" style="width:585px" %)(((
	291	+)))|(% rowspan="1" style="width:364px" %)ABZ phase pulse output or pulse+direction output
	292	+|(% colspan="3" style="width:277px" %)(% style="background-color:transparent" %)**Internal Command**|(% colspan="2" rowspan="1" style="width:867px" %)(((
291	291	8 segment internal speed command, 16 segment internal position command
292	292	)))
293		-|(% colspan="3" %)(((
	295	+|(% colspan="3" style="width:277px" %)(((
294	294	**Communication**
295		-)))|(% colspan="2" rowspan="1" style="width:585px" %)(((
296		-MODBUS RS485 or MODBUS RS422(SCTool)
297		-)))
298		-|(% colspan="3" rowspan="2" %)(((
	297	+)))|(% rowspan="1" style="width:867px" %)(((
	298	+MODBUS RS485 and MODBUS RS422(SCTool)
	299	+)))|(% rowspan="1" style="width:867px" %)MODBUS RS485 and Type-C(SCTool)
	300	+|(% colspan="3" rowspan="2" style="width:277px" %)(((
299	299	**Braking resistor**
300		-)))|(% colspan="4" rowspan="1" %)(((
301		-
302		-
	302	+)))|(% colspan="4" rowspan="1" style="width:867px" %)(((
303	303	750W built-in braking resistor; 400W without built-in;
304		-
305		-
306	306	)))
307		-|(% colspan="4" %)(((
	305	+|(% colspan="4" style="width:867px" %)(((
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" %)(((
	312	+)))|(% colspan="2" style="width:39px" %)(((
315	315	**Auto-tuning**
316		-)))|(% colspan="1" rowspan="1" style="width:221px" %)(((
317		-Automatic load inertia identification,
318		-
319		-automatic rigidity self-tuning
320		-)))|(% rowspan="1" style="width:364px" %)-
321		-|(% colspan="2" %)(((
322		-**Blend mode**
323		-)))|(% colspan="1" rowspan="1" style="width:221px" %)(((
	314	+)))|(% colspan="1" rowspan="1" style="width:503px" %)(((
	315	+Automatic load inertia identification, automatic rigidity self-tuning
	316	+)))|(% rowspan="1" style="width:364px" %)Automatic load inertia identification
	317	+|(% colspan="2" style="width:39px" %)(((
	318	+**Mix control**
	319	+)))|(% colspan="1" rowspan="1" style="width:503px" %)(((
324	324	YES
325	325	)))|(% rowspan="1" style="width:364px" %)-
326		-|(% colspan="2" %)(((
	322	+|(% colspan="2" style="width:39px" %)(((
327	327	**Advanced control algorithms**
328		-)))|(% colspan="1" style="width:221px" %)(((
	324	+)))|(% colspan="1" style="width:503px" %)(((
329	329	YES
330	330	)))|(% style="width:364px" %)-
331		-|(% colspan="2" rowspan="2" %)(((
	327	+|(% colspan="2" rowspan="2" style="width:39px" %)(((
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" %)(((
	329	+)))|(% colspan="2" style="width:867px" %)4 channels waveform monitoring
	330	+|(% colspan="2" style="width:867px" %)10s waveform data recording
	331	+|(% colspan="2" style="width:39px" %)(((
336	336	**Parameter management**
337		-)))|(% colspan="2" rowspan="1" style="width:585px" %)(((
	333	+)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
338	338	Support batch parameter import and export
339	339	)))
340		-|(% colspan="2" %)(((
	336	+|(% colspan="2" style="width:39px" %)(((
341	341	**Vibration suppression**
342		-)))|(% colspan="2" rowspan="1" style="width:585px" %)(((
	338	+)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
343	343	Support mechanical vibration suppression
344	344	)))
345		-|(% colspan="2" %)(((
	341	+|(% colspan="2" style="width:39px" %)(((
346	346	**Protection**
347		-)))|(% colspan="2" style="width:585px" %)(((
	343	+)))|(% colspan="2" style="width:867px" %)(((
348	348	Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
349	349	)))
350		-|(% colspan="2" %)(((
	346	+|(% colspan="2" style="width:39px" %)(((
351	351	**Dynamic braking**
352		-)))|(% colspan="1" style="width:221px" %)-|(% style="width:364px" %)(((
	348	+)))|(% colspan="1" style="width:503px" %)-|(% style="width:364px" %)(((
353	353	Optional
354	354	)))
355		-|(% colspan="2" %)(((
	351	+|(% colspan="2" style="width:39px" %)(((
356	356	**Brake device**
357		-)))|(% colspan="2" rowspan="1" style="width:585px" %)(((
	353	+)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
358	358	Support brake signal output
359	359	)))
360		-|(% colspan="2" %)(((
	356	+|(% colspan="2" style="width:39px" %)(((
361	361	**DI function**
362		-)))|(% colspan="2" rowspan="1" style="width:585px" %)(((
	358	+)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
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" %)(((
	367	+|(% colspan="2" style="width:39px" %)(((
372	372	**DO function**
373		-)))|(% colspan="1" rowspan="1" style="width:221px" %)(((
	369	+)))|(% colspan="1" rowspan="1" style="width:503px" %)(((
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**(%%))
...	...	@@ -386,38 +386,588 @@
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" %)(((
	385	+|(% colspan="2" rowspan="1" style="width:39px" %)**Pulse type**|(% rowspan="1" style="width:503px" %)(((
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" %)(((
	389	+|(% colspan="2" rowspan="1" style="width:39px" %)**Pulse filter**|(% colspan="2" rowspan="1" style="width:867px" %)First-order low-pass filter or smoothing filter
	390	+|(% colspan="2" rowspan="1" style="width:39px" %)(((
395	395	**Pulse output**
396		-)))|(% rowspan="1" style="width:337px" %)-|(% rowspan="1" style="width:337px" %)A, B, Z differential output
	392	+)))|(% rowspan="1" style="width:503px" %)-|(% rowspan="1" style="width:337px" %)A, B, Z differential output
397	397	|(% colspan="1" rowspan="3" %)(((
	394	+**Speed mode**
	395	+)))|(% colspan="2" style="width:39px" %)**Command input**|(% colspan="2" rowspan="1" style="width:867px" %)Internal command(8 segments)
	396	+|(% colspan="2" style="width:39px" %)**Zero speed clamp**|(% colspan="2" rowspan="1" style="width:867px" %)Support
	397	+|(% colspan="2" style="width:39px" %)**Torque limit**|(% colspan="2" rowspan="1" style="width:867px" %)Torque limit under speed mode
	398	+|(% colspan="1" rowspan="3" %)**Torque mode**|(% colspan="2" style="width:39px" %)**Command input**|(% colspan="2" rowspan="1" style="width:867px" %)(((
	399	+Internal command
	400	+)))
	401	+|(% colspan="2" style="width:39px" %)**Torque reach**|(% colspan="2" rowspan="1" style="width:867px" %)(((
	402	+Torque reach signal output
	403	+)))
	404	+|(% colspan="2" style="width:39px" %)**Velocity limit**|(% colspan="2" rowspan="1" style="width:867px" %)(((
	405	+Velocity limit under torque mode
	406	+)))
	407	+
	408	+= VD3E servo driver parameter table =
	409	+
	410	+(% style="margin-left:auto; margin-right:auto; width:1149.22px" %)
	411	+|(% colspan="3" rowspan="1" style="width:445px" %)(((
	412	+**Bus type**
	413	+)))|(% style="width:327px" %)(((
	414	+(% style="text-align:center" %)
	415	+[[image:1726295827531-129.png]]
	416	+
	417	+(((
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" %)
	419	+)))
	420	+)))|(((
	421	+(% style="text-align:center" %)
	422	+[[image:1726295883786-742.png]]
405	405
	424	+(((
	425	+
	426	+)))
	427	+)))|(((
	428	+(% style="text-align:center" %)
	429	+[[image:1726295894302-137.png]]
	430	+)))
	431	+|(% colspan="3" rowspan="1" style="width:445px" %)**Model**|(% style="width:327px" %)(((
	432	+**VD3E(A type)**
	433	+)))|(((
	434	+**VD3E(B type)**
	435	+)))|(((
	436	+**VD3E(C type)**
	437	+)))
	438	+|(% colspan="1" rowspan="7" style="width:166px" %)(((
	439	+**Basic Specifications**
	440	+)))|(% colspan="2" style="width:279px" %)**Power supply**|(% style="width:327px" %)220V|220V/380V|380V
	441	+|(% colspan="2" style="width:279px" %)**Control method**|(% colspan="3" rowspan="1" style="width:672px" %)IGBT PWM control sine wave current drive
	442	+|(% colspan="2" style="width:279px" %)**Encoder**|(% colspan="3" rowspan="1" style="width:672px" %)17bit, 23bit absolute value encoder
	443	+|(% colspan="2" style="width:279px" %)**Control signal input**|(% colspan="3" rowspan="1" style="width:672px" %)(((
	444	+6DI, Select the output function according to the function code configuration
	445	+)))
	446	+|(% colspan="2" style="width:279px" %)**Control signal output**|(% colspan="3" rowspan="1" style="width:672px" %)(((
	447	+3DO, Select the output function according to the function code configuration
	448	+)))
	449	+|(% style="width:147px" %)(((
	450	+**Communication function**
	451	+)))|(% style="width:133px" %)(((
	452	+**Host computer communication**
	453	+)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
	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:279px" %)**Braking resistor**|(% colspan="3" rowspan="1" style="width:672px" %)(((
	458	+Built-in braking resistor, supports external braking resistor
	459	+)))
	460	+|(% colspan="1" rowspan="9" style="width:166px" %)**General functions**|(% colspan="2" style="width:279px" %)**Auto-tuning**|(% colspan="3" rowspan="1" style="width:672px" %)Automatic load inertia identification,automatic rigidity self-tuning
	461	+|(% colspan="2" style="width:279px" %)(((
	462	+**Waveform viewing**
	463	+)))|(% colspan="3" rowspan="1" style="width:672px" %)4 channels waveform monitoring
	464	+|(% colspan="2" style="width:279px" %)(((
	465	+**Waveform storage**
	466	+)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
	467	+Waveform acquisition frequency 1K Hz,(% style="background-color:transparent" %)10s waveform data recording
	468	+)))
	469	+|(% colspan="2" style="width:279px" %)**Parameter management**|(% colspan="3" rowspan="1" style="width:672px" %)Support batch parameter import and export
	470	+|(% colspan="2" style="width:279px" %)(((
	471	+**Vibration suppression**
	472	+)))|(% colspan="3" rowspan="1" style="width:672px" %)Support mechanical vibration suppression
	473	+|(% colspan="2" style="width:279px" %)(((
	474	+
	475	+
	476	+**Protection**
	477	+)))|(% colspan="3" rowspan="1" style="width:672px" %)Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
	478	+|(% colspan="2" style="width:279px" %)**Brake device**|(% colspan="3" rowspan="1" style="width:672px" %)Support brake signal output
	479	+|(% colspan="2" style="width:279px" %)**DI function**|(% colspan="3" rowspan="1" style="width:672px" %)(((
	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:279px" %)**DO function**|(% colspan="3" rowspan="1" style="width:672px" %)(((
	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:133px" %)(((
	494	+**Communication protocol**
	495	+)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
	496	+EtherCAT protocol
	497	+)))
	498	+|(% style="width:133px" %)(((
	499	+**Support services**
	500	+)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
	501	+CoE(PDO,SDO)
	502	+)))
	503	+|(% style="width:133px" %)(((
	504	+**Sync mode**
	505	+)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
	506	+DC-Distributed Clock
	507	+)))
	508	+|(% style="width:133px" %)(((
	509	+**Physical layer**
	510	+)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
	511	+100BASE-TX
	512	+)))
	513	+|(% style="width:133px" %)(((
	514	+**Baud rate**
	515	+)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
	516	+100 Mbit/s(100Base-TX)
	517	+)))
	518	+|(% style="width:133px" %)(((
	519	+**Duplex mode**
	520	+)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
	521	+Full duplex
	522	+)))
	523	+|(% style="width:133px" %)(((
	524	+**Topology**
	525	+)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
	526	+Circular, linear
	527	+)))
	528	+|(% style="width:133px" %)(((
	529	+**Transmission medium**
	530	+)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
	531	+Shielded Category 5e or better network cable
	532	+)))
	533	+|(% style="width:133px" %)(((
	534	+**Transmission distance**
	535	+)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
	536	+Less than 100M between two nodes (good environment, good cables)
	537	+)))
	538	+|(% style="width:133px" %)(((
	539	+**Frame length**
	540	+)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
	541	+44 bytes~~1498 bytes
	542	+)))
	543	+|(% style="width:133px" %)(((
	544	+**Excessive data**
	545	+)))|(% colspan="5" rowspan="1" style="width:672px" %)Maximum size of a single Ethernet frame is 1486 bytes
	546	+|(% style="width:133px" %)(((
	547	+**Sync jitter**
	548	+)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
	549	+<1μs
	550	+)))
	551	+|(% style="width:133px" %)(((
	552	+**Distributed clock**
	553	+)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
	554	+64 bit
	555	+)))
	556	+|(% style="width:133px" %)(((
	557	+**EEPROM capacity**
	558	+)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
	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:133px" %)(((
	564	+**Control mode**
	565	+)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
	566	+CSP、HM
	567	+)))
	568	+|(% style="width:133px" %)**Synchronization period**|(% colspan="3" rowspan="1" style="width:672px" %)(((
	569	+125μs
	570	+)))
	571	+
	572	+= **Servo Motor Naming Rules** =
	573	+
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
409	409
410		-|(% rowspan="2" %)①Pole pairs|WD: 5| |(% rowspan="6" %)④Rated power|010：100W| |(% rowspan="4" %)⑦Encoder type|A1: 17bit single-turn absolute magnetic encoder
411		-|WE: 4| |020：200W| |C1：17bit multi-turn absolute magnetic encoder
412		-| | | |...| |D2：23bit multi-turn absolute optical encoder
413		-|(% rowspan="7" %)②Flange|40| |500：5.0KW| |E1: 2500-line incremental encoder
414		-|60| |550：5.5KW| | |
415		-|80| |...| |(% rowspan="2" %)⑧Motor structure|F：Oil seal
416		-|110| | | | |G：Oil seal + Brake device
417		-|130| |(% rowspan="4" %)⑤Rated speed|15：1500rpm| | |
418		-|150| |20：2000rpm| |(% rowspan="3" %)⑨Others|L：60/80 flange connector
419		-|180| |25：2500rpm| |(% rowspan="2" %)L2：60/80/130 flange connector
420		-| | | |30：3000rpm|
421		-|(% rowspan="3" %)③Inertia level|L: Low| | | | |(% colspan="2" %)
422		-|M: Middle| |(% rowspan="2" %)⑥Voltage level|S: 220V| |(% colspan="2" %)
423		-|H: High| |T: 380V| |(% colspan="2" %)
	578	+(% style="margin-left:auto; margin-right:auto; width:1200px" %)
	579	+|(% rowspan="2" %)①Pole pairs|WD: 5|(% rowspan="14" %) |(% rowspan="6" %)④Rated power|010：100W|(% rowspan="14" %) |(% rowspan="4" %)⑦Encoder type|A1: 17bit single-turn absolute magnetic encoder
	580	+|WE: 4|020：200W|C1：17bit multi-turn absolute magnetic encoder
	581	+|(% colspan="2" rowspan="1" %) |...|D2：23bit multi-turn absolute optical encoder
	582	+|(% rowspan="7" %)②Flange|40|500：5.0KW|E1: 2500-line incremental encoder
	583	+|60|550：5.5KW|(% colspan="2" rowspan="1" %)
	584	+|80|...|(% rowspan="2" %)⑧Motor structure|F：Oil seal
	585	+|110|(% colspan="2" rowspan="1" %) |G：Oil seal + Brake device
	586	+|130|(% rowspan="4" %)⑤Rated speed|15：1500rpm|(% colspan="2" rowspan="1" %)
	587	+|150|20：2000rpm|(% rowspan="3" %)⑨Others|L：60/80 flange connector
	588	+|180|25：2500rpm|(% rowspan="2" %)L2：60/80/130 flange connector
	589	+|(% colspan="2" rowspan="1" %) |30：3000rpm
	590	+|(% rowspan="3" %)③Inertia level|L: Low|(% colspan="2" rowspan="1" %) |(% colspan="2" rowspan="3" %)
	591	+|M: Middle|(% rowspan="2" %)⑥Voltage level|S: 220V
	592	+|H: High|T: 380V
	593	+
	594	+(% style="text-align:center" %)
	595	+[[image:Servo.Manual.02 VD2 SA Series.test.WebHome@image-20220611113846-8.jpeg]]
	596	+
	597	+ Motor nameplate
	598	+
	599	+= (% style="color:inherit; font-family:inherit; font-size:max(23px, min(29px, 12.3333px + 1.38889vw))" %)**Servo Motor Parameter**(%%) =
	600	+
	601	+(% style="margin-left:auto; margin-right:auto; width:1200px" %)
	602	+|=(% style="width: 172px;" %)**220V motor model**|=(% style="width: 111px;" %)**Flange mm**|=(% style="width: 109px;" %)**Power kW**|=(% style="width: 132px;" %)**Rated speed rpm**|=(% style="width: 149px;" %)**Rated torque N*m**|=(% style="width: 137px;" %)**Rated current A**|=(% style="width: 172px;" %)**Allowable overload multiple**|=(% style="width: 91px;" %)**Pole pairs**|=(% style="width: 125px;" %)**Inertia level**
	603	+|(% style="width:172px" %)WD40M-01030S-☐☐☐|(% style="width:111px" %)40|(% style="width:109px" %)0.1|(% style="width:132px" %)3000|(% style="width:149px" %)0.318|(% style="width:137px" %)1.0|(% style="width:172px" %)3.0|(% style="width:91px" %)5|(% style="width:125px" %)Middle
	604	+|(% colspan="9" style="width:172px" %)
	605	+|(% style="width:172px" %)WD60M-02030S-☐☐☐|(% style="width:111px" %)60|(% style="width:109px" %)0.2|(% style="width:132px" %)3000|(% style="width:149px" %)0.64|(% style="width:137px" %)1.7|(% style="width:172px" %)3.0|(% style="width:91px" %)5|(% rowspan="3" style="width:125px" %)Middle
	606	+|(% style="width:172px" %)WD60M-04030S-☐☐☐|(% style="width:111px" %)60|(% style="width:109px" %)0.4|(% style="width:132px" %)3000|(% style="width:149px" %)1.27|(% style="width:137px" %)2.5|(% style="width:172px" %)3.0|(% style="width:91px" %)5
	607	+|(% style="width:172px" %)WD60M-06030S-☐☐☐|(% style="width:111px" %)60|(% style="width:109px" %)0.6|(% style="width:132px" %)3000|(% style="width:149px" %)1.91|(% style="width:137px" %)3.6|(% style="width:172px" %)3.0|(% style="width:91px" %)5
	608	+|(% colspan="9" style="width:172px" %)
	609	+|(% style="width:172px" %)WD80M-07530S-☐☐☐|(% style="width:111px" %)80|(% style="width:109px" %)0.75|(% style="width:132px" %)3000|(% style="width:149px" %)2.39|(% style="width:137px" %)4.4|(% style="width:172px" %)3.0|(% style="width:91px" %)5|(% rowspan="3" style="width:125px" %)Middle
	610	+|(% style="width:172px" %)WD80M-10025S-☐☐☐|(% style="width:111px" %)80|(% style="width:109px" %)1|(% style="width:132px" %)2500|(% style="width:149px" %)3.82|(% style="width:137px" %)4.6|(% style="width:172px" %)3.0|(% style="width:91px" %)5
	611	+|(% style="width:172px" %)WD80M-10030S-☐☐☐|(% style="width:111px" %)80|(% style="width:109px" %)1|(% style="width:132px" %)3000|(% style="width:149px" %)3.18|(% style="width:137px" %)5.8|(% style="width:172px" %)3.0|(% style="width:91px" %)5
	612	+|(% colspan="9" style="width:172px" %)
	613	+|(% style="width:172px" %)WD130M-08515S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)0.85|(% style="width:132px" %)1500|(% style="width:149px" %)5.41|(% style="width:137px" %)4.6|(% style="width:172px" %)3.0|(% style="width:91px" %)5|(% rowspan="10" style="width:125px" %)Middle
	614	+|(% style="width:172px" %)WD130M-13015S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)1.3|(% style="width:132px" %)1500|(% style="width:149px" %)8.28|(% style="width:137px" %)7.7|(% style="width:172px" %)3.0|(% style="width:91px" %)5
	615	+|(% style="width:172px" %)WD130M-18015S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)1.8|(% style="width:132px" %)1500|(% style="width:149px" %)11.46|(% style="width:137px" %)9.8|(% style="width:172px" %)3.0|(% style="width:91px" %)5
	616	+|(% style="width:172px" %)WD130M-23015S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)2.3|(% style="width:132px" %)1500|(% style="width:149px" %)14.64|(% style="width:137px" %)12.4|(% style="width:172px" %)3.0|(% style="width:91px" %)5
	617	+|(% style="width:172px" %)WD130M-10020S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)1|(% style="width:132px" %)2000|(% style="width:149px" %)4.8|(% style="width:137px" %)6.0|(% style="width:172px" %)3.5|(% style="width:91px" %)5
	618	+|(% style="width:172px" %)WD130M-15020S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)1.5|(% style="width:132px" %)2000|(% style="width:149px" %)7.2|(% style="width:137px" %)8.5|(% style="width:172px" %)3.5|(% style="width:91px" %)5
	619	+|(% style="width:172px" %)WD130M-20020S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)2|(% style="width:132px" %)2000|(% style="width:149px" %)9.55|(% style="width:137px" %)10|(% style="width:172px" %)3.0|(% style="width:91px" %)5
	620	+|(% style="width:172px" %)WD130M-15025S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)1.5|(% style="width:132px" %)2500|(% style="width:149px" %)5.73|(% style="width:137px" %)6.0|(% style="width:172px" %)3.0|(% style="width:91px" %)5
	621	+|(% style="width:172px" %)WD130M-26025S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)2.6|(% style="width:132px" %)2500|(% style="width:149px" %)9.93|(% style="width:137px" %)10.5|(% style="width:172px" %)3.0|(% style="width:91px" %)5
	622	+|(% style="width:172px" %)WD130M-38025S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)3.8|(% style="width:132px" %)2500|(% style="width:149px" %)14.5|(% style="width:137px" %)16|(% style="width:172px" %)3.0|(% style="width:91px" %)5
	623	+
	624	+(% style="margin-left:auto; margin-right:auto; width:1200px" %)
	625	+|=**220V motor model**|=**Flange mm**|=**Power kW**|=**Rated speed rpm**|=**Rated torque N*m**|=**Rated current A**|=**Allowable overload multiple**|=(((
	626	+**Pole pairs**
	627	+)))|=(((
	628	+**Inertia level**
	629	+)))
	630	+|WD60H-02030S-☐☐☐|60|0.2|3000|0.64|1.8|3.5|5|(% colspan="1" rowspan="3" %)(((
	631	+High
	632	+)))
	633	+|WD60H-04030S-☐☐☐|60|0.4|3000|1.27|2.8|3.5|5
	634	+|WD60H-06030S-☐☐☐|60|0.6|3000|1.91|4.0|3.0|5
	635	+|(% colspan="9" %)
	636	+|WD80H-07530S-☐☐☐|80|0.75|3000|2.39|4.8|3.0|5|(% colspan="1" rowspan="4" %)(((
	637	+High
	638	+)))
	639	+|WD80H-10020S-☐☐☐|80|1|2000|4.77|4.8|3.0|5
	640	+|WD80H-10025S-☐☐☐|80|1|2500|3.82|4.8|3.0|5
	641	+|WD80H-10030S-☐☐☐|80|1|3000|3.2|4.8|3.0|5
	642	+|(% colspan="9" %)
	643	+|WD130H-15030S-☐☐☐|130|1.5|3000|4.8|6.0|3.0|5|(((
	644	+High
	645	+)))
	646	+
	647	+|(% style="width:174px" %)**220V motor model**|(% style="width:69px" %)**Flange mm**|(% style="width:86px" %)**Power kW**|(% style="width:125px" %)**Rated speed rpm**|(% style="width:110px" %)**Rated torque N*m**|(% style="width:136px" %)**Rated current A**|(% style="width:156px" %)**Allowable overload multiple**|(% style="width:55px" %)**Pole pairs**|(% style="width:82px" %)**Inertia level**
	648	+|(% style="width:174px" %)WE60M-04030S-☐☐☐|(% style="width:69px" %)60|(% style="width:86px" %)0.4|(% style="width:125px" %)3000|(% style="width:110px" %)1.27|(% style="width:136px" %)2.6|(% style="width:156px" %)3.0|(% style="width:55px" %)4|(% style="width:82px" %)Middle
	649	+|(% colspan="9" style="width:174px" %)
	650	+|(% style="width:174px" %)WE80M-07320S-☐☐☐|(% style="width:69px" %)80|(% style="width:86px" %)0.73|(% style="width:125px" %)2000|(% style="width:110px" %)3.5|(% style="width:136px" %)3.0|(% style="width:156px" %)3.0|(% style="width:55px" %)4|(% rowspan="5" style="width:82px" %)Middle
	651	+|(% style="width:174px" %)WE80M-07530S-☐☐☐|(% style="width:69px" %)80|(% style="width:86px" %)0.75|(% style="width:125px" %)3000|(% style="width:110px" %)2.39|(% style="width:136px" %)3.0|(% style="width:156px" %)3.0|(% style="width:55px" %)4
	652	+|(% style="width:174px" %)WE80M-10025S-☐☐☐|(% style="width:69px" %)80|(% style="width:86px" %)1|(% style="width:125px" %)2500|(% style="width:110px" %)4.0|(% style="width:136px" %)4.4|(% style="width:156px" %)3.0|(% style="width:55px" %)4
	653	+|(% style="width:174px" %)WE80M-11030S-☐☐☐|(% style="width:69px" %)80|(% style="width:86px" %)1.1|(% style="width:125px" %)3000|(% style="width:110px" %)3.5|(% style="width:136px" %)4.5|(% style="width:156px" %)3.0|(% style="width:55px" %)4
	654	+|(% style="width:174px" %)WE80M-12030S-☐☐☐|(% style="width:69px" %)80|(% style="width:86px" %)1.2|(% style="width:125px" %)3000|(% style="width:110px" %)4.0|(% style="width:136px" %)4.5|(% style="width:156px" %)3.0|(% style="width:55px" %)4
	655	+|(% colspan="9" style="width:174px" %)
	656	+|(% style="width:174px" %)WE110M-12030S-☐☐☐|(% style="width:69px" %)110|(% style="width:86px" %)1.2|(% style="width:125px" %)3000|(% style="width:110px" %)4.0|(% style="width:136px" %)5.0|(% style="width:156px" %)3.0|(% style="width:55px" %)4|(% rowspan="3" style="width:82px" %)Middle
	657	+|(% style="width:174px" %)WE110M-15030S-☐☐☐|(% style="width:69px" %)110|(% style="width:86px" %)1.5|(% style="width:125px" %)3000|(% style="width:110px" %)5.0|(% style="width:136px" %)6.0|(% style="width:156px" %)3.0|(% style="width:55px" %)4
	658	+|(% style="width:174px" %)WE110M-18030S-☐☐☐|(% style="width:69px" %)110|(% style="width:86px" %)1.8|(% style="width:125px" %)3000|(% style="width:110px" %)6.0|(% style="width:136px" %)6.0|(% style="width:156px" %)3.0|(% style="width:55px" %)4
	659	+|(% colspan="9" style="width:174px" %)
	660	+|(% style="width:174px" %)WE130M-15015S-☐☐☐|(% style="width:69px" %)130|(% style="width:86px" %)1.5|(% style="width:125px" %)1500|(% style="width:110px" %)10|(% style="width:136px" %)6.0|(% style="width:156px" %)2.5|(% style="width:55px" %)4|(% rowspan="8" style="width:82px" %)Middle
	661	+|(% style="width:174px" %)WE130M-23015S-☐☐☐|(% style="width:69px" %)130|(% style="width:86px" %)2.3|(% style="width:125px" %)1500|(% style="width:110px" %)15|(% style="width:136px" %)9.5|(% style="width:156px" %)2.0|(% style="width:55px" %)4
	662	+|(% style="width:174px" %)WE130M-10025S-☐☐☐|(% style="width:69px" %)130|(% style="width:86px" %)1|(% style="width:125px" %)2500|(% style="width:110px" %)4.0|(% style="width:136px" %)4.0|(% style="width:156px" %)3.0|(% style="width:55px" %)4
	663	+|(% style="width:174px" %)WE130M-13025S-☐☐☐|(% style="width:69px" %)130|(% style="width:86px" %)1.3|(% style="width:125px" %)2500|(% style="width:110px" %)5.0|(% style="width:136px" %)5.0|(% style="width:156px" %)3.0|(% style="width:55px" %)4
	664	+|(% style="width:174px" %)WE130M-15025S-☐☐☐|(% style="width:69px" %)130|(% style="width:86px" %)1.5|(% style="width:125px" %)2500|(% style="width:110px" %)6.0|(% style="width:136px" %)6.0|(% style="width:156px" %)3.0|(% style="width:55px" %)4
	665	+|(% style="width:174px" %)WE130M-20025S-☐☐☐|(% style="width:69px" %)130|(% style="width:86px" %)2|(% style="width:125px" %)2500|(% style="width:110px" %)7.7|(% style="width:136px" %)7.5|(% style="width:156px" %)2.9|(% style="width:55px" %)4
	666	+|(% style="width:174px" %)WE130M-26025S-☐☐☐|(% style="width:69px" %)130|(% style="width:86px" %)2.6|(% style="width:125px" %)2500|(% style="width:110px" %)10|(% style="width:136px" %)10|(% style="width:156px" %)2.5|(% style="width:55px" %)4
	667	+|(% style="width:174px" %)WE130M-38025S-☐☐☐|(% style="width:69px" %)130|(% style="width:86px" %)3.8|(% style="width:125px" %)2500|(% style="width:110px" %)15|(% style="width:136px" %)13.5|(% style="width:156px" %)2.0|(% style="width:55px" %)4
	668	+
	669	+|**380V motor model**|**Flange mm**|**Power kW**|**Rated speed rpm**|**Rated torque N*m**|**Rated current A**|**Allowable overload multiple**|**Pole pairs**|**Inertia level**
	670	+|WD130M-08515T-☐☐☐|130|0.85|1500|5.41|3.1|3.0|5|(% colspan="1" rowspan="5" %)Middle
	671	+|WD130M-13015T-☐☐☐|130|1.3|1500|8.28|5.1|3.0|5
	672	+|WD130M-18015T-☐☐☐|130|1.8|1500|11.46|6.3|3.0|5
	673	+|WD130M-23015T-☐☐☐|130|2.3|1500|14.64|8.5|3.0|5
	674	+|WD180M-29015T-☐☐☐|180|2.9|1500|18.6|11.8|3.0|5
	675	+
	676	+|**380V motor model**|**Flange mm**|**Power kW**|**Rated speed rpm**|**Rated torque N*m**|**Rated current A**|**Allowable overload multiple**|(% style="width:78px" %)**Pole pairs**|(% style="width:68px" %)**Inertia level**
	677	+|WE130M-20025T-☐☐☐|130|2.0|2500|7.7|7.5|2.8|(% style="width:78px" %)4|(% rowspan="6" style="width:68px" %)Middle
	678	+|WE130M-26025T-☐☐☐|130|2.6|2500|10|6.0|2.5|(% style="width:78px" %)4
	679	+|WE130M-31015T-☐☐☐|130|3.1|1500|20|11.5|2.5|(% style="width:78px" %)4
	680	+|WE130M-38025T-☐☐☐|130|3.8|2500|15|8.8|2.0|(% style="width:78px" %)4
	681	+|WE130M-42020T-☐☐☐|130|4.2|2000|20|8.5|2.0|(% style="width:78px" %)4
	682	+|WE130M-53030T-☐☐☐|130|5.3|3000|17|11|2.0|(% style="width:78px" %)4
	683	+|(% colspan="9" %)
	684	+|WE180M-30015T-☐☐☐|180|3.0|1500|19|7.5|2.5|(% style="width:78px" %)4|(% rowspan="4" style="width:68px" %)Middle
	685	+|WE180M-43015T-☐☐☐|180|4.3|1500|27|10|2.5|(% style="width:78px" %)4
	686	+|WE180M-55015T-☐☐☐|180|5.5|1500|35|12|2.0|(% style="width:78px" %)4
	687	+|WE180M-75015T-☐☐☐|180|7.5|1500|48|20|2.0|(% style="width:78px" %)4
	688	+
	689	+**Note**: ☐☐☐ Not all motor models include the following categories
	690	+
	691	+A1F：17-bit single-turn absolute magnetic encoder without brake.
	692	+
	693	+A1G：17-bit single-turn absolute magnetic encoder with brake.
	694	+
	695	+C1F：17-bit multi-turn absolute magnetic encoder without brake
	696	+
	697	+C1G：17-bit multi-turn absolute magnetic encoder with brake.
	698	+
	699	+D2F：23-bit multi-turn absolute Optical encoder without brake.
	700	+
	701	+D2G：23-bit multi-turn absolute Optical encoder with brake.
	702	+
	703	+= **Servo Drive and Motor Matching Table** =
	704	+
	705	+**Note**: The **red-marked** combination is not recommended.
	706	+
	707	+|**Control type**|**Voltage level**|**Drive series**|**Drive model**|**Support motor**
	708	+|(% rowspan="18" %)Pulse type|(% rowspan="12" %)220V|(% rowspan="3" %)VD2F|VD2F-003SA1P|(0.1-0.2)kW
	709	+|VD2F-010SA1P|(0.2-0.4)kW
	710	+|VD2F-014SA1P|(((
	711	+(0.6-0.75)kW
	712	+
	713	+**(0.85-1.0)kW**
	714	+)))
	715	+|(% rowspan="2" %)VD2L|VD2L-010SA1P|(0.2-0.4)kW
	716	+|VD2L-014SA1P/D|(((
	717	+(0.6-0.75)kW
	718	+
	719	+**(0.85-1.0)kW**
	720	+)))
	721	+|(% rowspan="2" %)(((
	722	+VD2 Type A
	723	+)))|VD2-010SA1G/R/H|(0.2-0.4)kW
	724	+|VD2-014SA1G/R/H|(((
	725	+(0.6-0.75)kW
	726	+
	727	+**(0.85-1.0)kW**
	728	+)))
	729	+|(% rowspan="8" %)(((
	730	+VD2 Type B
	731	+)))|VD2-016SA1G/R/H|(0.85-1.5)kW
	732	+|VD2-019SA1G/R/H|(1.5-2.0)kW
	733	+|VD2-021SA1G/R/H|(2.0-2.5)kW
	734	+|VD2-025SA1G|(2.5-3.0)kW
	735	+|VD2-030SA1G|(3.0-4.0)kW
	736	+|(% rowspan="6" %)380V|VD2-016TA1G|(0.85-1.5)kW
	737	+|VD2-019TA1G|(1.5-2.0)kW
	738	+|VD2-021TA1G|(2.0-3.0)kW
	739	+|(% rowspan="3" %)VD2 Type C|VD2-030TA1G|(3.0-5.0)kW
	740	+|VD2-040TA1G|(5.0-6.0)kW
	741	+|VD2-050TA1G|(7.5)kW
	742	+|(% rowspan="14" %)EtherCAT type|(% rowspan="8" %)220V|(% rowspan="3" %)VD3E Type A|VD3E-003SA1G|(0.1-0.2)kW
	743	+|VD3E-010SA1G|(0.2-0.4)kW
	744	+|VD3E-014SA1G|(((
	745	+(0.6-0.75)kW
	746	+
	747	+**(0.85-1.0)kW**
	748	+)))
	749	+|(% rowspan="8" %)VD3E Type B|VD3E-016SA1G|(0.85-1.5)kW
	750	+|VD3E-019SA1G|(1.5-2.0)kW
	751	+|VD3E-021SA1G|(2.0-2.5)kW
	752	+|VD3E-025SA1G|(2.5-3.0)kW
	753	+|VD3E-030SA1G|(3.0-4.0)kW
	754	+|(% rowspan="6" %)380V|VD3E-016TA1G|(0.85-1.5)kW
	755	+|VD3E-019TA1G|(1.5-2.0)kW
	756	+|VD3E-021TA1G|(2.0-3.0)kW
	757	+|(% rowspan="3" %)VD3E Type C|VD3E-030TA1G|(3.0-5.0)kW
	758	+|VD3E-040TA1G|(5.0-6.0)kW
	759	+|VD3E-050TA1G|(7.5)kW
	760	+
	761	+= **Servo Cable Naming Rules** =
	762	+
	763	+(% style="margin-left:auto; margin-right:auto; width:120px" %)
	764	+|E|-|J1394|-|R9M|-|3M|X7|-|A1|-|2
	765	+|①| |②| |③| |④|⑤| |⑥| |⑦
	766	+
	767	+(% style="margin-left:auto; margin-right:auto; width:1200px" %)
	768	+|①Cable type|E: Encoder adapter cable|(% rowspan="14" %) |(% rowspan="4" %)④Cable length|3M: 3m
	769	+|(% colspan="2" rowspan="1" %) |5M: 5m
	770	+|(% rowspan="2" %)②Drive side connector|J1394: 1394 connector|7M: 7m
	771	+|D15G: DB15 male connector|...
	772	+|(% colspan="2" rowspan="1" %) |(% colspan="2" rowspan="1" %)
	773	+|(% rowspan="7" %)③Motor side connector|R9M: 9-core rectangular female connector|(% rowspan="3" %)⑤Number of cores|X5: 5 cores
	774	+|MC7S: 7-core straight female connector|X7: 7 cores
	775	+|H28K7M: 7-core 28mm aviation female connector|...
	776	+|CM10: 11-core 11mm aviation female connector|(% colspan="2" rowspan="1" %)
	777	+|MC7P: 7-core straight female connector (L2)|(% rowspan="2" %)⑥Wire size|A: 0.2mm/0.14mm
	778	+|R15M: 15-core rectangular female connector|A1: 0.2mm/0.14mm with battery box
	779	+|H28J15M: 15-core 28mm aviation female connector|(% colspan="2" rowspan="1" %)
	780	+|(% colspan="2" rowspan="2" %) |(% rowspan="2" %)⑦Others|1: Ordinary cable
	781	+|2: High flex cable
	782	+
	783	+(% style="margin-left:auto; margin-right:auto; width:120px" %)
	784	+|P|-|U3O1|-|H28J4M|-|5M|X4|-|C|-|1
	785	+|①| |②| |③| |④|⑤| |⑥| |⑦
	786	+
	787	+(% style="margin-left:auto; margin-right:auto; width:1200px" %)
	788	+|①Cable type|P: Power adapter cable/brake cable|(% rowspan="20" %) |(% rowspan="6" %)④Cable length|3M: 3m
	789	+|(% colspan="2" rowspan="1" %) |5M: 5m
	790	+|(% rowspan="8" %)②Drive side connector|Z3O1: 3-core pin-type cold-pressed terminal and 1-core O-type cold-pressed terminal|6D5M: 6.5m
	791	+|Z3O3: 3-core pin-type cold-pressed terminal and 3-core O-type cold-pressed terminal|7M: 7m
	792	+|Z4: 4-core pin-type cold-pressed terminal|10M: 10m
	793	+|Z4O2: 4-core pin-type cold-pressed terminal and 2-core O-type cold-pressed terminal|...
	794	+|U3O1: 3-core U-type cold-pressed terminal and 1-core O-type cold-pressed terminal|(% colspan="2" rowspan="1" %)
	795	+|U3O3: 3-core U-type cold-pressed terminal and 3-core O-type cold-pressed terminal|(% rowspan="4" %)⑤Number of cores|X2: 2 cores
	796	+|Z6: 6-core pin-type cold-pressed terminal|X4: 4 cores
	797	+|O2: 2-core O-type cold-pressed terminal|X6: 6 cores
	798	+|(% colspan="2" rowspan="1" %) |...
	799	+|(% rowspan="9" %)③Motor side connector|18A6: 6-core 23mm aviation female connector|(% colspan="2" rowspan="1" %)
	800	+|R4M: 4-core rectangular female connector|(% rowspan="5" %)⑥Wire size|D: 0.5mm
	801	+|MC4S: 4-core straight female connector|E: 0.75mm
	802	+|MC6S: 6-core straight female connector|B: 1.0mm
	803	+|H28J4M: 4-core 28mm aviation female connector|F: 1.5mm
	804	+|H32J4M: 4-core 32mm aviation female connector|C: 2.5mm
	805	+|R2M: 2-core rectangular female connector|(% colspan="2" rowspan="1" %)
	806	+|MC4H: 4-core H-type straight female connector|(% rowspan="2" %)⑦Others|1: Ordinary cable
	807	+|MC6H: 6-core H-type straight female connector|2: High flex cable
	808	+
	809	+= **Servo Cable Matching Table** =
	810	+
	811	+(% style="margin-left:auto; margin-right:auto; width:1200px" %)
	812	+|=**Motor model**|=**Matching drive**|=**Power cable/brake cable**|=**Encoder cable**
	813	+|(% rowspan="6" %)(((
	814	+WD40M-○○○-☐☐☐
	815	+
	816	+WD60M-○○○-☐☐☐
	817	+
	818	+WD60H-○○○-☐☐☐
	819	+
	820	+WE60M-○○○-☐☐☐
	821	+
	822	+WD80M-○○○-☐☐☐
	823	+
	824	+WD80H-○○○-☐☐☐
	825	+
	826	+WE80M-○○○-☐☐☐
	827	+)))|(% rowspan="2" %)VD2/VD3E A type|Power cable：P-Z3O1-R4M-*MX4|(% rowspan="3" %)Single-turn：E-J1394-R9M-*MX5-A
	828	+|(((
	829	+Power cable：P-Z3O1-R4M-*MX4
	830	+
	831	+Brake cable：P-O2-R2M-3MX2-D
	832	+)))
	833	+|(% rowspan="2" %)(((
	834	+VD2/VD3E B type
	835	+
	836	+VD2/VD3E C type
	837	+)))|Power cable：P-U3O1-R4M-*MX4
	838	+|(((
	839	+Power cable：P-U3O1-R4M-*MX4
	840	+
	841	+Brake cable：P-O2-R2M-3MX2-D
	842	+)))|(% rowspan="3" %)Multi-turn：E-J1394-R9M-*MX7-A1
	843	+|(% rowspan="2" %)VD2F/VD2L|Power cable：P-Z4-R4M-*MX4
	844	+|(((
	845	+Power cable：P-Z4-R4M-*MX4
	846	+
	847	+Brake cable：P-O2-R2M-3MX2-D
	848	+)))
	849	+|(% rowspan="6" %)(((
	850	+WD60M-○○○-☐☐☐-L
	851	+
	852	+WD80M-○○○-☐☐☐-L
	853	+)))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4S-*MX4|(% rowspan="3" %)Single-turn：E-J1394-MC7S-*MX5-A
	854	+|With brake：P-Z3O3-MC6S-*MX6
	855	+|(% rowspan="2" %)(((
	856	+VD2/VD3E B type
	857	+
	858	+VD2/VD3E C type
	859	+)))|Without brake：P-U3O1-MC4S-*MX4
	860	+|With brake：P-U3O3-MC6S-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7S-*MX7-A1
	861	+|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4S-*MX4
	862	+|With brake：P-Z4O2-MC6S-*MX6
	863	+|(% rowspan="6" %)(((
	864	+WD60M-○○○-☐☐☐-L2
	865	+
	866	+WD80M-○○○-☐☐☐-L2
	867	+)))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4S-*MX4|(% rowspan="3" %)Single-turn：E-J1394-MC7P-*MX5-A
	868	+|With brake：P-Z3O3-MC6S-*MX6
	869	+|(% rowspan="2" %)(((
	870	+VD2/VD3E B type
	871	+
	872	+VD2/VD3E C type
	873	+)))|Without brake：P-U3O1-MC4S-*MX4
	874	+|With brake：P-U3O3-MC6S-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7P-*MX7-A1
	875	+|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4S-*MX4
	876	+|With brake：P-Z4O2-MC6S-*MX6
	877	+|(% rowspan="4" %)(((
	878	+WD60H-○○○-☐☐☐-L2
	879	+
	880	+WD80H-○○○-☐☐☐-L2
	881	+)))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4H-*MX4|(% rowspan="2" %)Single-turn：E-J1394-MC7P-*MX5-A
	882	+|With brake：P-Z3O3-MC6H-*MX6
	883	+|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4H-*MX4|(% rowspan="2" %)Multi-turn：E-J1394-MC7P-*MX7-A1
	884	+|With brake：P-Z4O2-MC6H-*MX6
	885	+|(% rowspan="6" %)(((
	886	+WE110M-○○○-☐☐☐
	887	+
	888	+WE130M-○○○-☐☐☐
	889	+)))|(% rowspan="2" %)VD2/VD3E A type|Power cable：P-Z3O1-H28J4M-*MX4|(% rowspan="3" %)Single-turn：E-J1394-H28K7M-*MX5-A
	890	+|Brake cable：No need
	891	+|(% rowspan="2" %)(((
	892	+VD2/VD3E B type
	893	+
	894	+VD2/VD3E C type
	895	+)))|Power cable：P-U3O1-H28J4M-*MX4
	896	+|Brake cable：No need|(% rowspan="3" %)Multi-turn：E-J1394-H28K7M-*MX7-A1
	897	+|(% rowspan="2" %)VD2F/VD2L|Power cable：P-Z4-H28J4M-*MX4
	898	+|Brake cable：No need
	899	+|(% rowspan="6" %)(((
	900	+WD130M-○○○-☐☐☐
	901	+
	902	+WD130H-○○○-☐☐☐
	903	+)))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-18A6-*MX4|(% rowspan="3" %)Single-turn：E-J1394-CM10-*MX5-A
	904	+|With brake：P-Z3O3-18A6-*MX6
	905	+|(% rowspan="2" %)(((
	906	+VD2/VD3E B type
	907	+
	908	+VD2/VD3E C type
	909	+)))|Without brake：P-U3O1-18A6-*MX4
	910	+|With brake：P-U3O3-18A6-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-CM10-*MX7-A1
	911	+|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-18A6-*MX4
	912	+|With brake：P-Z4O2-18A6-*MX4
	913	+|(% rowspan="6" %)WD130M-○○○-☐☐☐-L2|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-18A6-*MX4|(% rowspan="3" %)Single-turn：E-J1394-MC7P-*MX5-A
	914	+|With brake：P-Z3O3-18A6-*MX6
	915	+|(% rowspan="2" %)(((
	916	+VD2/VD3E B type
	917	+
	918	+VD2/VD3E C type
	919	+)))|Without brake：P-U3O1-18A6-*MX4
	920	+|With brake：P-U3O3-18A6-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7P-*MX7-A1
	921	+|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-18A6-*MX4
	922	+|With brake：P-Z4O2-18A6-*MX4
	923	+|(% rowspan="2" %)(((
	924	+WE180M-○○○-☐☐☐
	925	+
	926	+WD180M-○○○-☐☐☐
	927	+)))|(% rowspan="2" %)(((
	928	+VD2/VD3E B type
	929	+
	930	+VD2/VD3E C type
	931	+)))|Power cable：P-U3O1-H32J4M-*MX4|Single-turn：E-J1394-H28K7M-*MX5-A
	932	+|Brake cable：No need|Multi-turn：E-J1394-H28K7M-*MX7-A1
	933	+
	934	+= **Servo **Input Current Parameter Table =
	935	+
	936	+(% style="margin-left:auto; margin-right:auto; width:1200px" %)
	937	+|=Servo Drive Output Current (A)|=Servo Drive Output Voltage (V)|=Servo Drive Output Power (W)|=Efficiency|=Power factor|=Input current
	938	+(single phase) (A)|=Input current
	939	+(three phase) (A)|=Recommended power cable
	940	+diameter（mm²）
	941	+|3|(% colspan="1" rowspan="7" %)220|100|(% colspan="1" rowspan="11" %)0.7|(% rowspan="11" %)0.8|0.90|0.52|0.5
	942	+|10|400|3.61|2.08|0.75
	943	+|14|750|6.76|3.91|(((
	944	+1.5 (For single phase)
	945	+
	946	+1 (For three phase)
	947	+)))
	948	+|16|1800|16.23|9.37|(((
	949	+4 (For single phase)
	950	+
	951	+2 (For three phase)
	952	+)))
	953	+|21|2200|19.84|11.46|(((
	954	+4 (For single phase)
	955	+
	956	+2.5 (For three phase)
	957	+)))
	958	+|25|2600|23.45|13.40|(% colspan="1" rowspan="2" %)(((
	959	+6 (For single phase)
	960	+
	961	+4 (For three phase)
	962	+)))
	963	+|30|3000|26.79|15.46
	964	+|21|(% colspan="1" rowspan="4" %)380|3000| |9.04|2
	965	+|30|4500| |13.57|4
	966	+|40|6000| |18.09|(% colspan="1" rowspan="2" %)6
	967	+|50|7500| |22.61
	968	+
	969	+>For more motor application scenarios, please refer to this [[link>>https://docs.we-con.com.cn/bin/view/Servo/FAQ/How%20to%20estimate%20the%20maximum%20input%20current%20of%20a%20servo%20drive]].

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