Changes for page 05 Servo Product Manual

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...	...	@@ -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**
...	...	@@ -226,14 +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:1005px" %)
234		-|(% colspan="6" rowspan="1" style="width:312px" %)(((
	240	+(% style="width:1406px" %)
	241	+|(% colspan="6" rowspan="1" style="width:537px" %)(((
235	235	**General type**
236		-)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
	243	+)))|(% 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" style="width:312px" %)**Model**|(% colspan="1" rowspan="1" style="width:325px" %)(((
	250	+|(% 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**
...	...	@@ -247,40 +247,38 @@
247	247	)))
248	248	|(% colspan="3" rowspan="12" %)(((
249	249	**Basic Specifications**
250		-)))|(% colspan="3" style="width:198px" %)**Power supply**|(% colspan="1" rowspan="1" style="width:325px" %)(((
	257	+)))|(% 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" style="width:198px" %)(((
	262	+|(% colspan="3" style="width:277px" %)(((
256	256	**Control method**
257		-)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
	264	+)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
258	258	IGBT PWM control sine wave current drive
259	259	)))
260		-|(% colspan="3" style="width:198px" %)(((
	267	+|(% colspan="3" style="width:277px" %)(((
261	261	**Encoder**
262		-)))|(% colspan="2" rowspan="1" style="width:680px" %)17bit, 23bit absolute value encoder
263		-|(% colspan="3" style="width:198px" %)(((
	269	+)))|(% colspan="2" rowspan="1" style="width:867px" %)17bit, 23bit absolute value encoder
	270	+|(% colspan="3" style="width:277px" %)(((
264	264	**Control signal input**
265		-)))|(% colspan="2" rowspan="1" style="width:680px" %)4DI
266		-|(% colspan="3" style="width:198px" %)(((
	272	+)))|(% colspan="2" rowspan="1" style="width:867px" %)4DI
	273	+|(% colspan="3" style="width:277px" %)(((
267	267	**Control signal output**
268		-)))|(% colspan="2" rowspan="1" style="width:680px" %)4DO
269		-|(% colspan="3" style="width:198px" %)(((
	275	+)))|(% colspan="2" rowspan="1" style="width:867px" %)4DO
	276	+|(% colspan="3" style="width:277px" %)(((
270	270	**Pulse frequency division output**
271		-)))|(% colspan="1" rowspan="1" style="width:325px" %)—|(% rowspan="1" style="width:364px" %)(((
	278	+)))|(% colspan="1" rowspan="1" style="width:503px" %)—|(% rowspan="1" style="width:364px" %)(((
272	272	Support
273	273	)))
274		-|(% colspan="3" style="width:198px" %)(((
	281	+|(% colspan="3" style="width:277px" %)(((
275	275	**Pulse signal input**
276		-)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
	283	+)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
277	277	Open collector or differential input
278		-
279		-
280	280	)))
281		-|(% colspan="3" style="width:198px" %)(((
	286	+|(% colspan="3" style="width:277px" %)(((
282	282	**Pulse feedback output**
283		-)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
	288	+)))|(% colspan="1" rowspan="1" style="width:503px" %)(((
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="width:198px" %)(% style="background-color:transparent" %)**Internal Command**|(% colspan="2" rowspan="1" style="width:680px" %)(((
	295	+|(% 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" style="width:198px" %)(((
	298	+|(% colspan="3" style="width:277px" %)(((
294	294	**Communication**
295		-)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
	300	+)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
296	296	MODBUS RS485 or MODBUS RS422(SCTool)
297	297	)))
298		-|(% colspan="3" rowspan="2" style="width:198px" %)(((
	303	+|(% colspan="3" rowspan="2" style="width:277px" %)(((
299	299	**Braking resistor**
300		-)))|(% colspan="4" rowspan="1" style="width:680px" %)(((
301		-
302		-
	305	+)))|(% 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" style="width:680px" %)(((
	308	+|(% colspan="4" style="width:867px" %)(((
308	308	Both can support external braking resistors.
309	309	)))
310	310	|(% colspan="3" rowspan="22" %)(((
...	...	@@ -311,53 +311,53 @@
311	311	**Function setting**
312	312	)))|(% colspan="1" rowspan="12" %)(((
313	313	**General functions**
314		-)))|(% colspan="2" style="width:115px" %)(((
	315	+)))|(% colspan="2" style="width:39px" %)(((
315	315	**Auto-tuning**
316		-)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
	317	+)))|(% colspan="1" rowspan="1" style="width:503px" %)(((
317	317	Automatic load inertia identification,automatic rigidity self-tuning
318	318	)))|(% rowspan="1" style="width:364px" %)-
319		-|(% colspan="2" style="width:115px" %)(((
	320	+|(% colspan="2" style="width:39px" %)(((
320	320	**Blend mode**
321		-)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
	322	+)))|(% colspan="1" rowspan="1" style="width:503px" %)(((
322	322	YES
323	323	)))|(% rowspan="1" style="width:364px" %)-
324		-|(% colspan="2" style="width:115px" %)(((
	325	+|(% colspan="2" style="width:39px" %)(((
325	325	**Advanced control algorithms**
326		-)))|(% colspan="1" style="width:325px" %)(((
	327	+)))|(% colspan="1" style="width:503px" %)(((
327	327	YES
328	328	)))|(% style="width:364px" %)-
329		-|(% colspan="2" rowspan="2" style="width:115px" %)(((
	330	+|(% colspan="2" rowspan="2" style="width:39px" %)(((
330	330	**Waveform**
331		-)))|(% colspan="2" style="width:680px" %)4 channels waveform monitoring
332		-|(% colspan="2" style="width:680px" %)10s waveform data recording
333		-|(% colspan="2" style="width:115px" %)(((
	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" %)(((
334	334	**Parameter management**
335		-)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
	336	+)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
336	336	Support batch parameter import and export
337	337	)))
338		-|(% colspan="2" style="width:115px" %)(((
	339	+|(% colspan="2" style="width:39px" %)(((
339	339	**Vibration suppression**
340		-)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
	341	+)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
341	341	Support mechanical vibration suppression
342	342	)))
343		-|(% colspan="2" style="width:115px" %)(((
	344	+|(% colspan="2" style="width:39px" %)(((
344	344	**Protection**
345		-)))|(% colspan="2" style="width:680px" %)(((
	346	+)))|(% colspan="2" style="width:867px" %)(((
346	346	Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
347	347	)))
348		-|(% colspan="2" style="width:115px" %)(((
	349	+|(% colspan="2" style="width:39px" %)(((
349	349	**Dynamic braking**
350		-)))|(% colspan="1" style="width:325px" %)-|(% style="width:364px" %)(((
	351	+)))|(% colspan="1" style="width:503px" %)-|(% style="width:364px" %)(((
351	351	Optional
352	352	)))
353		-|(% colspan="2" style="width:115px" %)(((
	354	+|(% colspan="2" style="width:39px" %)(((
354	354	**Brake device**
355		-)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
	356	+)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
356	356	Support brake signal output
357	357	)))
358		-|(% colspan="2" style="width:115px" %)(((
	359	+|(% colspan="2" style="width:39px" %)(((
359	359	**DI function**
360		-)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
	361	+)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
361	361	Servo enable((% _mstmutation="1" %)**S-ON**(%%)), Error/alarm clear((% _mstmutation="1" %)**A-CLR**(%%)), Forward rotation prohibited((% _mstmutation="1" %)**POT**(%%))
362	362
363	363	Backward rotation prohibited((% _mstmutation="1" %)**NOT**(%%)), Command direction((% _mstmutation="1" %)**C-SIGN**(%%)), Emergency stop((% _mstmutation="1" %)**E-STOP**(%%))
...	...	@@ -366,9 +366,9 @@
366	366
367	367	Internal position selection and enable((% _mstmutation="1" %)**INPO51, INPO52, INPO53, INPO54, ENINPOS**(%%))
368	368	)))
369		-|(% colspan="2" style="width:115px" %)(((
	370	+|(% colspan="2" style="width:39px" %)(((
370	370	**DO function**
371		-)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
	372	+)))|(% colspan="1" rowspan="1" style="width:503px" %)(((
372	372	Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
373	373
374	374	Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
...	...	@@ -384,29 +384,195 @@
384	384	|(% colspan="1" rowspan="4" %)**Position mode**|**Pulse frequency**|(% colspan="3" rowspan="1" %)(((
385	385	Max to 500KHz
386	386	)))
387		-|(% colspan="2" rowspan="1" style="width:115px" %)**Pulse type**|(% rowspan="1" style="width:325px" %)(((
	388	+|(% colspan="2" rowspan="1" style="width:39px" %)**Pulse type**|(% rowspan="1" style="width:503px" %)(((
388	388	Direction + pulse; Orthogonal coding:
389	389	V1.21 and above support CW/CCW
390	390	)))|(% rowspan="1" style="width:337px" %)Direction + Pulse, Orthogonal coding
391		-|(% colspan="2" rowspan="1" style="width:115px" %)**Pulse filter**|(% colspan="2" rowspan="1" style="width:680px" %)First-order low-pass filter or smoothing filter
392		-|(% colspan="2" rowspan="1" style="width:115px" %)(((
	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" %)(((
393	393	**Pulse output**
394		-)))|(% rowspan="1" style="width:325px" %)-|(% rowspan="1" style="width:337px" %)A, B, Z differential output
	395	+)))|(% rowspan="1" style="width:503px" %)-|(% rowspan="1" style="width:337px" %)A, B, Z differential output
395	395	|(% colspan="1" rowspan="3" %)(((
396	396	**Speed mode**
397		-)))|(% colspan="2" style="width:115px" %)**Command input**|(% colspan="2" rowspan="1" style="width:325px" %)Internal command(8 segments)
398		-|(% colspan="2" style="width:115px" %)**Zero speed clamp**|(% colspan="2" rowspan="1" style="width:325px" %)Support
399		-|(% colspan="2" style="width:115px" %)**Torque limit**|(% colspan="2" rowspan="1" style="width:325px" %)Torque limit under speed mode
400		-|(% colspan="1" rowspan="3" %)**Torque mode**|(% colspan="2" style="width:115px" %)**Command input**|(% colspan="2" rowspan="1" style="width:325px" %)(((
	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" %)(((
401	401	Internal command
402	402	)))
403		-|(% colspan="2" style="width:115px" %)**Torque reach**|(% colspan="2" rowspan="1" style="width:325px" %)(((
	404	+|(% colspan="2" style="width:39px" %)**Torque reach**|(% colspan="2" rowspan="1" style="width:867px" %)(((
404	404	Torque reach signal output
405	405	)))
406		-|(% colspan="2" style="width:115px" %)**Velocity limit**|(% colspan="2" rowspan="1" style="width:325px" %)(((
	407	+|(% colspan="2" style="width:39px" %)**Velocity limit**|(% colspan="2" rowspan="1" style="width:867px" %)(((
407	407	Velocity limit under torque mode
408	408	)))
409	409
	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, Select the output function according to the function code configuration
	448	+)))
	449	+|(% colspan="2" style="width:301px" %)**Control signal output**|(% colspan="3" rowspan="1" style="width:470px" %)(((
	450	+3DO, Select the output function according to the function code configuration
	451	+)))
	452	+|(% style="width:147px" %)(((
	453	+**Communication function**
	454	+)))|(% style="width:155px" %)(((
	455	+**Host computer communication**
	456	+)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
	457	+The USB interface can be used to set function code parameters, monitor status, and view waveforms through a computer host computer.
	458	+Parameter self-tuning, etc.
	459	+)))
	460	+|(% colspan="2" style="width:301px" %)**Braking resistor**|(% colspan="3" rowspan="1" style="width:470px" %)(((
	461	+Built-in braking resistor, supports external braking resistor
	462	+)))
	463	+|(% 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
	464	+|(% colspan="2" style="width:301px" %)(((
	465	+**Waveform viewing**
	466	+)))|(% colspan="3" rowspan="1" style="width:470px" %)4 channels waveform monitoring
	467	+|(% colspan="2" style="width:301px" %)(((
	468	+**Waveform storage**
	469	+)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
	470	+Waveform acquisition frequency 1K Hz,(% style="background-color:transparent" %)10s waveform data recording
	471	+)))
	472	+|(% colspan="2" style="width:301px" %)**Parameter management**|(% colspan="3" rowspan="1" style="width:470px" %)Support batch parameter import and export
	473	+|(% colspan="2" style="width:301px" %)(((
	474	+**Vibration suppression**
	475	+)))|(% colspan="3" rowspan="1" style="width:470px" %)Support mechanical vibration suppression
	476	+|(% colspan="2" style="width:301px" %)(((
	477	+
	478	+
	479	+**Protection**
	480	+)))|(% colspan="3" rowspan="1" style="width:470px" %)Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
	481	+|(% colspan="2" style="width:301px" %)**Brake device**|(% colspan="3" rowspan="1" style="width:470px" %)Support brake signal output
	482	+|(% colspan="2" style="width:301px" %)**DI function**|(% colspan="3" rowspan="1" style="width:470px" %)(((
	483	+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**(%%))
	484	+)))
	485	+|(% colspan="2" style="width:301px" %)**DO function**|(% colspan="3" rowspan="1" style="width:470px" %)(((
	486	+Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
	487	+
	488	+Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
	489	+
	490	+Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**),CommunicationVDO
	491	+)))
	492	+|(% colspan="1" rowspan="16" style="width:166px" %)(((
	493	+**EtherCAT related**
	494	+)))|(% rowspan="14" style="width:147px" %)(((
	495	+**EtherCAT related**
	496	+)))|(% style="width:155px" %)(((
	497	+**Communication protocol**
	498	+)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
	499	+EtherCAT protocol
	500	+)))
	501	+|(% style="width:155px" %)(((
	502	+**Support services**
	503	+)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
	504	+CoE(PDO,SDO)
	505	+)))
	506	+|(% style="width:155px" %)(((
	507	+**Sync mode**
	508	+)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
	509	+DC-Distributed Clock
	510	+)))
	511	+|(% style="width:155px" %)(((
	512	+**Physical layer**
	513	+)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
	514	+100BASE-TX
	515	+)))
	516	+|(% style="width:155px" %)(((
	517	+**Baud rate**
	518	+)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
	519	+100 Mbit/s(100Base-TX)
	520	+)))
	521	+|(% style="width:155px" %)(((
	522	+**Duplex mode**
	523	+)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
	524	+Full duplex
	525	+)))
	526	+|(% style="width:155px" %)(((
	527	+**Topology**
	528	+)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
	529	+Circular, linear
	530	+)))
	531	+|(% style="width:155px" %)(((
	532	+**Transmission medium**
	533	+)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
	534	+Shielded Category 5e or better network cable
	535	+)))
	536	+|(% style="width:155px" %)(((
	537	+**Transmission distance**
	538	+)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
	539	+Less than 100M between two nodes (good environment, good cables)
	540	+)))
	541	+|(% style="width:155px" %)(((
	542	+**Frame length**
	543	+)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
	544	+44 bytes~~1498 bytes
	545	+)))
	546	+|(% style="width:155px" %)(((
	547	+**Excessive data**
	548	+)))|(% colspan="5" rowspan="1" style="width:470px" %)Maximum size of a single Ethernet frame is 1486 bytes
	549	+|(% style="width:155px" %)(((
	550	+**Sync jitter**
	551	+)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
	552	+<1μs
	553	+)))
	554	+|(% style="width:155px" %)(((
	555	+**Distributed clock**
	556	+)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
	557	+64 bit
	558	+)))
	559	+|(% style="width:155px" %)(((
	560	+**EEPROM capacity**
	561	+)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
	562	+8k bit initialization data is written through the EtherCAT master station
	563	+)))
	564	+|(% rowspan="2" style="width:147px" %)(((
	565	+**Control mode and performance**
	566	+)))|(% style="width:155px" %)(((
	567	+**Control mode**
	568	+)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
	569	+CSP、HM
	570	+)))
	571	+|(% style="width:155px" %)**Synchronization period**|(% colspan="3" rowspan="1" style="width:470px" %)(((
	572	+125μs
	573	+)))
	574	+
	575	+= **Servo Motor Naming Rules** =
	576	+
410	410	(% style="margin-left:auto; margin-right:auto; width:50px" %)
411	411	|WD|80|M|-|075|30|S|-|A1|F|-|L
412	412	|①|②|③| |④|⑤|⑥| |⑦|⑧| |⑨
...	...	@@ -425,3 +425,338 @@
425	425	|(% rowspan="3" %)③Inertia level|L: Low| | | | |(% colspan="2" %)
426	426	|M: Middle| |(% rowspan="2" %)⑥Voltage level|S: 220V| |(% colspan="2" %)
427	427	|H: High| |T: 380V| |(% colspan="2" %)
	595	+
	596	+(% style="text-align:center" %)
	597	+[[image:Servo.Manual.02 VD2 SA Series.test.WebHome@image-20220611113846-8.jpeg]]
	598	+
	599	+ Motor nameplate
	600	+
	601	+= (% style="color:inherit; font-family:inherit; font-size:max(23px, min(29px, 12.3333px + 1.38889vw))" %)**Servo Motor Parameter**(%%) =
	602	+
	603	+|(% style="width:172px" %)**220V motor model**|(% style="width:78px" %)**Flange mm**|(% style="width:86px" %)**Power kW**|(% style="width:100px" %)**Rated speed rpm**|(% style="width:115px" %)**Rated torque N*m**|(% style="width:115px" %)**Rated current A**|(% style="width:162px" %)**Allowable overload multiple**|**Pole pairs**|**Inertia level**
	604	+|(% style="width:172px" %)WD40M-01030S-☐☐☐|(% style="width:78px" %)40|(% style="width:86px" %)0.1|(% style="width:100px" %)3000|(% style="width:115px" %)0.318|(% style="width:115px" %)1.0|(% style="width:162px" %)3.0|5|Middle
	605	+|(% style="width:172px" %) |(% style="width:78px" %) |(% style="width:86px" %) |(% style="width:100px" %) |(% style="width:115px" %) |(% style="width:115px" %) |(% style="width:162px" %) | |
	606	+|(% style="width:172px" %)WD60M-02030S-☐☐☐|(% style="width:78px" %)60|(% style="width:86px" %)0.2|(% style="width:100px" %)3000|(% style="width:115px" %)0.64|(% style="width:115px" %)1.7|(% style="width:162px" %)3.0|5|(% rowspan="3" %)Middle
	607	+|(% style="width:172px" %)WD60M-04030S-☐☐☐|(% style="width:78px" %)60|(% style="width:86px" %)0.4|(% style="width:100px" %)3000|(% style="width:115px" %)1.27|(% style="width:115px" %)2.5|(% style="width:162px" %)3.0|5
	608	+|(% style="width:172px" %)WD60M-06030S-☐☐☐|(% style="width:78px" %)60|(% style="width:86px" %)0.6|(% style="width:100px" %)3000|(% style="width:115px" %)1.91|(% style="width:115px" %)3.6|(% style="width:162px" %)3.0|5
	609	+|(% style="width:172px" %) |(% style="width:78px" %) |(% style="width:86px" %) |(% style="width:100px" %) |(% style="width:115px" %) |(% style="width:115px" %) |(% style="width:162px" %) | |
	610	+|(% style="width:172px" %)WD80M-07530S-☐☐☐|(% style="width:78px" %)80|(% style="width:86px" %)0.75|(% style="width:100px" %)3000|(% style="width:115px" %)2.39|(% style="width:115px" %)4.4|(% style="width:162px" %)3.0|5|(% rowspan="3" %)Middle
	611	+|(% style="width:172px" %)WD80M-10025S-☐☐☐|(% style="width:78px" %)80|(% style="width:86px" %)1|(% style="width:100px" %)2500|(% style="width:115px" %)3.82|(% style="width:115px" %)4.6|(% style="width:162px" %)3.0|5
	612	+|(% style="width:172px" %)WD80M-10030S-☐☐☐|(% style="width:78px" %)80|(% style="width:86px" %)1|(% style="width:100px" %)3000|(% style="width:115px" %)3.18|(% style="width:115px" %)5.8|(% style="width:162px" %)3.0|5
	613	+|(% style="width:172px" %) |(% style="width:78px" %) |(% style="width:86px" %) |(% style="width:100px" %) |(% style="width:115px" %) |(% style="width:115px" %) |(% style="width:162px" %) | |
	614	+|(% style="width:172px" %)WD130M-08515S-☐☐☐|(% style="width:78px" %)130|(% style="width:86px" %)0.85|(% style="width:100px" %)1500|(% style="width:115px" %)5.41|(% style="width:115px" %)4.6|(% style="width:162px" %)3.0|5|(% rowspan="10" %)Middle
	615	+|(% style="width:172px" %)WD130M-13015S-☐☐☐|(% style="width:78px" %)130|(% style="width:86px" %)1.3|(% style="width:100px" %)1500|(% style="width:115px" %)8.28|(% style="width:115px" %)7.7|(% style="width:162px" %)3.0|5
	616	+|(% style="width:172px" %)WD130M-18015S-☐☐☐|(% style="width:78px" %)130|(% style="width:86px" %)1.8|(% style="width:100px" %)1500|(% style="width:115px" %)11.46|(% style="width:115px" %)9.8|(% style="width:162px" %)3.0|5
	617	+|(% style="width:172px" %)WD130M-23015S-☐☐☐|(% style="width:78px" %)130|(% style="width:86px" %)2.3|(% style="width:100px" %)1500|(% style="width:115px" %)14.64|(% style="width:115px" %)12.4|(% style="width:162px" %)3.0|5
	618	+|(% style="width:172px" %)WD130M-10020S-☐☐☐|(% style="width:78px" %)130|(% style="width:86px" %)1|(% style="width:100px" %)2000|(% style="width:115px" %)4.8|(% style="width:115px" %)6.0|(% style="width:162px" %)3.5|5
	619	+|(% style="width:172px" %)WD130M-15020S-☐☐☐|(% style="width:78px" %)130|(% style="width:86px" %)1.5|(% style="width:100px" %)2000|(% style="width:115px" %)7.2|(% style="width:115px" %)8.5|(% style="width:162px" %)3.5|5
	620	+|(% style="width:172px" %)WD130M-20020S-☐☐☐|(% style="width:78px" %)130|(% style="width:86px" %)2|(% style="width:100px" %)2000|(% style="width:115px" %)9.55|(% style="width:115px" %)10|(% style="width:162px" %)3.0|5
	621	+|(% style="width:172px" %)WD130M-15025S-☐☐☐|(% style="width:78px" %)130|(% style="width:86px" %)1.5|(% style="width:100px" %)2500|(% style="width:115px" %)5.73|(% style="width:115px" %)6.0|(% style="width:162px" %)3.0|5
	622	+|(% style="width:172px" %)WD130M-26025S-☐☐☐|(% style="width:78px" %)130|(% style="width:86px" %)2.6|(% style="width:100px" %)2500|(% style="width:115px" %)9.93|(% style="width:115px" %)10.5|(% style="width:162px" %)3.0|5
	623	+|(% style="width:172px" %)WD130M-38025S-☐☐☐|(% style="width:78px" %)130|(% style="width:86px" %)3.8|(% style="width:100px" %)2500|(% style="width:115px" %)14.5|(% style="width:115px" %)16|(% style="width:162px" %)3.0|5
	624	+
	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	+| | | | | | | | |
	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	+| | | | | | | | |
	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	+|(% style="width:174px" %) |(% style="width:69px" %) |(% style="width:86px" %) |(% style="width:125px" %) |(% style="width:110px" %) |(% style="width:136px" %) |(% style="width:156px" %) |(% style="width:55px" %) |(% style="width:82px" %)
	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	+|(% style="width:174px" %) |(% style="width:69px" %) |(% style="width:86px" %) |(% style="width:125px" %) |(% style="width:110px" %) |(% style="width:136px" %) |(% style="width:156px" %) |(% style="width:55px" %) |(% style="width:82px" %)
	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	+|(% style="width:174px" %) |(% style="width:69px" %) |(% style="width:86px" %) |(% style="width:125px" %) |(% style="width:110px" %) |(% style="width:136px" %) |(% style="width:156px" %) |(% style="width:55px" %) |(% style="width:82px" %)
	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	+| | | | | | | |(% style="width:78px" %) |(% style="width:68px" %)
	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	+|①Cable type|E: Encoder adapter cable| |(% rowspan="4" %)④Cable length|3M: 3m
	768	+| | | |5M: 5m
	769	+|(% rowspan="2" %)②Drive side connector|J1394: 1394 connector| |7M: 7m
	770	+|D15G: DB15 male connector| |...
	771	+| | | | |
	772	+|(% rowspan="7" %)③Motor side connector|R9M: 9-core rectangular female connector| |(% rowspan="3" %)⑤Number of cores|X5: 5 cores
	773	+|MC7S: 7-core straight female connector| |X7: 7 cores
	774	+|H28K7M: 7-core 28mm aviation female connector| |...
	775	+|CM10: 11-core 11mm aviation female connector| | |
	776	+|MC7P: 7-core straight female connector (L2)| |(% rowspan="2" %)⑥Wire size|A: 0.2mm/0.14mm
	777	+|R15M: 15-core rectangular female connector| |A1: 0.2mm/0.14mm with battery box
	778	+|H28J15M: 15-core 28mm aviation female connector| | |
	779	+| | | |(% rowspan="2" %)⑦Others|1: Ordinary cable
	780	+| | | |2: High flex cable
	781	+
	782	+(% style="margin-left:auto; margin-right:auto; width:120px" %)
	783	+|P|-|U3O1|-|H28J4M|-|5M|X4|-|C|-|1
	784	+|①| |②| |③| |④|⑤| |⑥| |⑦
	785	+
	786	+|①Cable type|P: Power adapter cable/brake cable| |(% rowspan="6" %)④Cable length|3M: 3m
	787	+| | | |5M: 5m
	788	+|(% rowspan="8" %)②Drive side connector|Z3O1: 3-core pin-type cold-pressed terminal and 1-core O-type cold-pressed terminal| |6D5M: 6.5m
	789	+|Z3O3: 3-core pin-type cold-pressed terminal and 3-core O-type cold-pressed terminal| |7M: 7m
	790	+|Z4: 4-core pin-type cold-pressed terminal| |10M: 10m
	791	+|Z4O2: 4-core pin-type cold-pressed terminal and 2-core O-type cold-pressed terminal| |...
	792	+|U3O1: 3-core U-type cold-pressed terminal and 1-core O-type cold-pressed terminal| | |
	793	+|U3O3: 3-core U-type cold-pressed terminal and 3-core O-type cold-pressed terminal| |(% rowspan="4" %)⑤Number of cores|X2: 2 cores
	794	+|Z6: 6-core pin-type cold-pressed terminal| |X4: 4 cores
	795	+|O2: 2-core O-type cold-pressed terminal| |X6: 6 cores
	796	+| | | |...
	797	+|(% rowspan="9" %)③Motor side connector|18A6: 6-core 23mm aviation female connector| | |
	798	+|R4M: 4-core rectangular female connector| |(% rowspan="5" %)⑥Wire size|D: 0.5mm
	799	+|MC4S: 4-core straight female connector| |E: 0.75mm
	800	+|MC6S: 6-core straight female connector| |B: 1.0mm
	801	+|H28J4M: 4-core 28mm aviation female connector| |F: 1.5mm
	802	+|H32J4M: 4-core 32mm aviation female connector| |C: 2.5mm
	803	+|R2M: 2-core rectangular female connector| | |
	804	+|MC4H: 4-core H-type straight female connector| |(% rowspan="2" %)⑦Others|1: Ordinary cable
	805	+|MC6H: 6-core H-type straight female connector| |2: High flex cable
	806	+
	807	+= **Servo Cable Matching Table** =
	808	+
	809	+|**Motor model**|**Matching drive**|**Power cable/brake cable**|**Encoder cable**
	810	+|(% rowspan="6" %)(((
	811	+WD40M-○○○-☐☐☐
	812	+
	813	+WD60M-○○○-☐☐☐
	814	+
	815	+WD60H-○○○-☐☐☐
	816	+
	817	+WE60M-○○○-☐☐☐
	818	+
	819	+WD80M-○○○-☐☐☐
	820	+
	821	+WD80H-○○○-☐☐☐
	822	+
	823	+WE80M-○○○-☐☐☐
	824	+)))|(% rowspan="2" %)VD2/VD3E A type|Power cable：P-Z3O1-R4M-*MX4|(% rowspan="3" %)Single-turn：E-J1394-R9M-*MX5-A
	825	+|(((
	826	+Power cable：P-Z3O1-R4M-*MX4
	827	+
	828	+Brake cable：P-O2-R2M-3MX2-D
	829	+)))
	830	+|(% rowspan="2" %)(((
	831	+VD2/VD3E B type
	832	+
	833	+VD2/VD3E C type
	834	+)))|Power cable：P-U3O1-R4M-*MX4
	835	+|(((
	836	+Power cable：P-U3O1-R4M-*MX4
	837	+
	838	+Brake cable：P-O2-R2M-3MX2-D
	839	+)))|(% rowspan="3" %)Multi-turn：E-J1394-R9M-*MX7-A1
	840	+|(% rowspan="2" %)VD2F/VD2L|Power cable：P-Z4-R4M-*MX4
	841	+|(((
	842	+Power cable：P-Z4-R4M-*MX4
	843	+
	844	+Brake cable：P-O2-R2M-3MX2-D
	845	+)))
	846	+|(% rowspan="6" %)(((
	847	+WD60M-○○○-☐☐☐-L
	848	+
	849	+WD80M-○○○-☐☐☐-L
	850	+)))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4S-*MX4|(% rowspan="3" %)Single-turn：E-J1394-MC7S-*MX5-A
	851	+|With brake：P-Z3O3-MC6S-*MX6
	852	+|(% rowspan="2" %)(((
	853	+VD2/VD3E B type
	854	+
	855	+VD2/VD3E C type
	856	+)))|Without brake：P-U3O1-MC4S-*MX4
	857	+|With brake：P-U3O3-MC6S-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7S-*MX7-A1
	858	+|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4S-*MX4
	859	+|With brake：P-Z4O2-MC6S-*MX6
	860	+|(% rowspan="6" %)(((
	861	+WD60M-○○○-☐☐☐-L2
	862	+
	863	+WD80M-○○○-☐☐☐-L2
	864	+)))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4S-*MX4|(% rowspan="3" %)Single-turn：E-J1394-MC7P-*MX5-A
	865	+|With brake：P-Z3O3-MC6S-*MX6
	866	+|(% rowspan="2" %)(((
	867	+VD2/VD3E B type
	868	+
	869	+VD2/VD3E C type
	870	+)))|Without brake：P-U3O1-MC4S-*MX4
	871	+|With brake：P-U3O3-MC6S-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7P-*MX7-A1
	872	+|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4S-*MX4
	873	+|With brake：P-Z4O2-MC6S-*MX6
	874	+|(% rowspan="4" %)(((
	875	+WD60H-○○○-☐☐☐-L2
	876	+
	877	+WD80H-○○○-☐☐☐-L2
	878	+)))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4H-*MX4|(% rowspan="2" %)Single-turn：E-J1394-MC7P-*MX5-A
	879	+|With brake：P-Z3O3-MC6H-*MX6
	880	+|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4H-*MX4|(% rowspan="2" %)Multi-turn：E-J1394-MC7P-*MX7-A1
	881	+|With brake：P-Z4O2-MC6H-*MX6
	882	+|(% rowspan="6" %)(((
	883	+WE110M-○○○-☐☐☐
	884	+
	885	+WE130M-○○○-☐☐☐
	886	+)))|(% rowspan="2" %)VD2/VD3E A type|Power cable：P-Z3O1-H28J4M-*MX4|(% rowspan="3" %)Single-turn：E-J1394-H28K7M-*MX5-A
	887	+|Brake cable：No need
	888	+|(% rowspan="2" %)(((
	889	+VD2/VD3E B type
	890	+
	891	+VD2/VD3E C type
	892	+)))|Power cable：P-U3O1-H28J4M-*MX4
	893	+|Brake cable：No need|(% rowspan="3" %)Multi-turn：E-J1394-H28K7M-*MX7-A1
	894	+|(% rowspan="2" %)VD2F/VD2L|Power cable：P-Z4-H28J4M-*MX4
	895	+|Brake cable：No need
	896	+|(% rowspan="6" %)(((
	897	+WD130M-○○○-☐☐☐
	898	+
	899	+WD130H-○○○-☐☐☐
	900	+)))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-18A6-*MX4|(% rowspan="3" %)Single-turn：E-J1394-CM10-*MX5-A
	901	+|With brake：P-Z3O3-18A6-*MX6
	902	+|(% rowspan="2" %)(((
	903	+VD2/VD3E B type
	904	+
	905	+VD2/VD3E C type
	906	+)))|Without brake：P-U3O1-18A6-*MX4
	907	+|With brake：P-U3O3-18A6-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-CM10-*MX7-A1
	908	+|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-18A6-*MX4
	909	+|With brake：P-Z4O2-18A6-*MX4
	910	+|(% 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
	911	+|With brake：P-Z3O3-18A6-*MX6
	912	+|(% rowspan="2" %)(((
	913	+VD2/VD3E B type
	914	+
	915	+VD2/VD3E C type
	916	+)))|Without brake：P-U3O1-18A6-*MX4
	917	+|With brake：P-U3O3-18A6-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7P-*MX7-A1
	918	+|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-18A6-*MX4
	919	+|With brake：P-Z4O2-18A6-*MX4
	920	+|(% rowspan="2" %)(((
	921	+WE180M-○○○-☐☐☐
	922	+
	923	+WD180M-○○○-☐☐☐
	924	+)))|(% rowspan="2" %)(((
	925	+VD2/VD3E B type
	926	+
	927	+VD2/VD3E C type
	928	+)))|Power cable：P-U3O1-H32J4M-*MX4|Single-turn：E-J1394-H28K7M-*MX5-A
	929	+|Brake cable：No need|Multi-turn：E-J1394-H28K7M-*MX7-A1

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