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Changes for page 05 Servo Product Manual

Last modified by Jim(Forgotten) on 2025/03/20 10:19
From version 31.1
edited by Molly
on 2024/09/13 14:26
Change comment: There is no comment for this version
To version 71.1
edited by Jim(Forgotten)
on 2024/09/24 11:09
Change comment: There is no comment for this version

Summary

Details

Page properties
Author
... ... @@ -1,1 +1,1 @@
1 -XWiki.Molly
1 +XWiki.Jim
Content
... ... @@ -65,7 +65,16 @@
65 65  
66 66  |(% colspan="3" %)(((
67 67  **General type**
68 -)))|[[image:1726038778533-997.png||_mstalt="300053"]]|[[image:1726038786193-560.png||_mstalt="296309"]]|[[image:1726038790641-417.png||_mstalt="295087"]]
68 +)))|(((
69 +(% style="text-align:center" %)
70 +[[image:1726038778533-997.png||_mstalt="300053"]]
71 +)))|(((
72 +(% style="text-align:center" %)
73 +[[image:1726038786193-560.png||_mstalt="296309"]]
74 +)))|(((
75 +(% style="text-align:center" %)
76 +[[image:1726038790641-417.png||_mstalt="295087"]]
77 +)))
69 69  |(% colspan="3" %)**Model**|**VD2(A type)**|**VD2(B type)**|**VD2(C type)**
70 70  |(% colspan="1" rowspan="11" %)(((
71 71  **Basic Specifications**
... ... @@ -226,14 +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**
... ... @@ -247,64 +247,54 @@
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 -)))|(% rowspan="1" style="width:364px" %)(((
286 -ABZ differential output(VD2-XXXXXXH
287 -
288 -series support collector signal feedback)
289 -)))
290 -|(% colspan="3" style="width:198px" %)(% style="background-color:transparent" %)**Internal Command**|(% colspan="2" rowspan="1" style="width:680px" %)(((
290 +)))|(% rowspan="1" style="width:364px" %)ABZ phase pulse output or pulse+direction output
291 +|(% 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" %)(((
294 +|(% colspan="3" style="width:277px" %)(((
294 294  **Communication**
295 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
296 -MODBUS RS485 or MODBUS RS422(SCTool)
297 -)))
298 -|(% colspan="3" rowspan="2" style="width:198px" %)(((
296 +)))|(% rowspan="1" style="width:867px" %)(((
297 +MODBUS RS485 and MODBUS RS422(SCTool)
298 +)))|(% rowspan="1" style="width:867px" %)MODBUS RS485 and Type-C(SCTool)
299 +|(% colspan="3" rowspan="2" style="width:277px" %)(((
299 299  **Braking resistor**
300 -)))|(% colspan="4" rowspan="1" style="width:680px" %)(((
301 -
302 -
301 +)))|(% 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" %)(((
304 +|(% 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" %)(((
311 +)))|(% colspan="2" style="width:39px" %)(((
315 315  **Auto-tuning**
316 -)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
317 -Automatic load inertia identification,automatic rigidity self-tuning
318 -)))|(% rowspan="1" style="width:364px" %)-
319 -|(% colspan="2" style="width:115px" %)(((
320 -**Blend mode**
321 -)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
313 +)))|(% colspan="1" rowspan="1" style="width:503px" %)(((
314 +Automatic load inertia identification, automatic rigidity self-tuning
315 +)))|(% rowspan="1" style="width:364px" %)Automatic load inertia identification
316 +|(% colspan="2" style="width:39px" %)(((
317 +**Mix control**
318 +)))|(% colspan="1" rowspan="1" style="width:503px" %)(((
322 322  YES
323 323  )))|(% rowspan="1" style="width:364px" %)-
324 -|(% colspan="2" style="width:115px" %)(((
321 +|(% colspan="2" style="width:39px" %)(((
325 325  **Advanced control algorithms**
326 -)))|(% colspan="1" style="width:325px" %)(((
323 +)))|(% colspan="1" style="width:503px" %)(((
327 327  YES
328 328  )))|(% style="width:364px" %)-
329 -|(% colspan="2" rowspan="2" style="width:115px" %)(((
326 +|(% 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" %)(((
328 +)))|(% colspan="2" style="width:867px" %)4 channels waveform monitoring
329 +|(% colspan="2" style="width:867px" %)10s waveform data recording
330 +|(% colspan="2" style="width:39px" %)(((
334 334  **Parameter management**
335 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
332 +)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
336 336  Support batch parameter import and export
337 337  )))
338 -|(% colspan="2" style="width:115px" %)(((
335 +|(% colspan="2" style="width:39px" %)(((
339 339  **Vibration suppression**
340 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
337 +)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
341 341  Support mechanical vibration suppression
342 342  )))
343 -|(% colspan="2" style="width:115px" %)(((
340 +|(% colspan="2" style="width:39px" %)(((
344 344  **Protection**
345 -)))|(% colspan="2" style="width:680px" %)(((
342 +)))|(% 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" %)(((
345 +|(% colspan="2" style="width:39px" %)(((
349 349  **Dynamic braking**
350 -)))|(% colspan="1" style="width:325px" %)-|(% style="width:364px" %)(((
347 +)))|(% colspan="1" style="width:503px" %)-|(% style="width:364px" %)(((
351 351  Optional
352 352  )))
353 -|(% colspan="2" style="width:115px" %)(((
350 +|(% colspan="2" style="width:39px" %)(((
354 354  **Brake device**
355 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
352 +)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
356 356  Support brake signal output
357 357  )))
358 -|(% colspan="2" style="width:115px" %)(((
355 +|(% colspan="2" style="width:39px" %)(((
359 359  **DI function**
360 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
357 +)))|(% 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" %)(((
366 +|(% colspan="2" style="width:39px" %)(((
370 370  **DO function**
371 -)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
368 +)))|(% 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**(%%))
... ... @@ -384,44 +384,545 @@
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" %)(((
384 +|(% 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" %)(((
388 +|(% colspan="2" rowspan="1" style="width:39px" %)**Pulse filter**|(% colspan="2" rowspan="1" style="width:867px" %)First-order low-pass filter or smoothing filter
389 +|(% 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
391 +)))|(% 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" %)(((
394 +)))|(% colspan="2" style="width:39px" %)**Command input**|(% colspan="2" rowspan="1" style="width:867px" %)Internal command(8 segments)
395 +|(% colspan="2" style="width:39px" %)**Zero speed clamp**|(% colspan="2" rowspan="1" style="width:867px" %)Support
396 +|(% colspan="2" style="width:39px" %)**Torque limit**|(% colspan="2" rowspan="1" style="width:867px" %)Torque limit under speed mode
397 +|(% 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" %)(((
400 +|(% 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" %)(((
403 +|(% 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  
407 += VD3E servo driver parameter table =
408 +
409 +(% style="margin-left:auto; margin-right:auto; width:1149.22px" %)
410 +|(% colspan="3" rowspan="1" style="width:445px" %)(((
411 +**Bus type**
412 +)))|(% style="width:327px" %)(((
413 +(% style="text-align:center" %)
414 +[[image:1726295827531-129.png]]
415 +
416 +(((
417 +
418 +)))
419 +)))|(((
420 +(% style="text-align:center" %)
421 +[[image:1726295883786-742.png]]
422 +
423 +(((
424 +
425 +)))
426 +)))|(((
427 +(% style="text-align:center" %)
428 +[[image:1726295894302-137.png]]
429 +)))
430 +|(% colspan="3" rowspan="1" style="width:445px" %)**Model**|(% style="width:327px" %)(((
431 +**VD3E(A type)**
432 +)))|(((
433 +**VD3E(B type)**
434 +)))|(((
435 +**VD3E(C type)**
436 +)))
437 +|(% colspan="1" rowspan="7" style="width:166px" %)(((
438 +**Basic Specifications**
439 +)))|(% colspan="2" style="width:279px" %)**Power supply**|(% style="width:327px" %)220V|220V/380V|380V
440 +|(% colspan="2" style="width:279px" %)**Control method**|(% colspan="3" rowspan="1" style="width:672px" %)IGBT PWM control sine wave current drive
441 +|(% colspan="2" style="width:279px" %)**Encoder**|(% colspan="3" rowspan="1" style="width:672px" %)17bit, 23bit absolute value encoder
442 +|(% colspan="2" style="width:279px" %)**Control signal input**|(% colspan="3" rowspan="1" style="width:672px" %)(((
443 +6DI, Select the output function according to the function code configuration
444 +)))
445 +|(% colspan="2" style="width:279px" %)**Control signal output**|(% colspan="3" rowspan="1" style="width:672px" %)(((
446 +3DO, Select the output function according to the function code configuration
447 +)))
448 +|(% style="width:147px" %)(((
449 +**Communication function**
450 +)))|(% style="width:133px" %)(((
451 +**Host computer communication**
452 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
453 +The USB interface can be used to set function code parameters, monitor status, and view waveforms through a computer host computer.
454 +Parameter self-tuning, etc.
455 +)))
456 +|(% colspan="2" style="width:279px" %)**Braking resistor**|(% colspan="3" rowspan="1" style="width:672px" %)(((
457 +Built-in braking resistor, supports external braking resistor
458 +)))
459 +|(% 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
460 +|(% colspan="2" style="width:279px" %)(((
461 +**Waveform viewing**
462 +)))|(% colspan="3" rowspan="1" style="width:672px" %)4 channels waveform monitoring
463 +|(% colspan="2" style="width:279px" %)(((
464 +**Waveform storage**
465 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
466 +Waveform acquisition frequency 1K Hz,(% style="background-color:transparent" %)10s waveform data recording
467 +)))
468 +|(% colspan="2" style="width:279px" %)**Parameter management**|(% colspan="3" rowspan="1" style="width:672px" %)Support batch parameter import and export
469 +|(% colspan="2" style="width:279px" %)(((
470 +**Vibration suppression**
471 +)))|(% colspan="3" rowspan="1" style="width:672px" %)Support mechanical vibration suppression
472 +|(% colspan="2" style="width:279px" %)(((
473 +
474 +
475 +**Protection**
476 +)))|(% colspan="3" rowspan="1" style="width:672px" %)Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
477 +|(% colspan="2" style="width:279px" %)**Brake device**|(% colspan="3" rowspan="1" style="width:672px" %)Support brake signal output
478 +|(% colspan="2" style="width:279px" %)**DI function**|(% colspan="3" rowspan="1" style="width:672px" %)(((
479 +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**(%%))
480 +)))
481 +|(% colspan="2" style="width:279px" %)**DO function**|(% colspan="3" rowspan="1" style="width:672px" %)(((
482 +Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
483 +
484 +Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
485 +
486 +Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**),CommunicationVDO
487 +)))
488 +|(% colspan="1" rowspan="16" style="width:166px" %)(((
489 +**EtherCAT related**
490 +)))|(% rowspan="14" style="width:147px" %)(((
491 +**EtherCAT related**
492 +)))|(% style="width:133px" %)(((
493 +**Communication protocol**
494 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
495 +EtherCAT protocol
496 +)))
497 +|(% style="width:133px" %)(((
498 +**Support services**
499 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
500 +CoE(PDO,SDO)
501 +)))
502 +|(% style="width:133px" %)(((
503 +**Sync mode**
504 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
505 +DC-Distributed Clock
506 +)))
507 +|(% style="width:133px" %)(((
508 +**Physical layer**
509 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
510 +100BASE-TX
511 +)))
512 +|(% style="width:133px" %)(((
513 +**Baud rate**
514 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
515 +100 Mbit/s(100Base-TX)
516 +)))
517 +|(% style="width:133px" %)(((
518 +**Duplex mode**
519 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
520 +Full duplex
521 +)))
522 +|(% style="width:133px" %)(((
523 +**Topology**
524 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
525 +Circular, linear
526 +)))
527 +|(% style="width:133px" %)(((
528 +**Transmission medium**
529 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
530 +Shielded Category 5e or better network cable
531 +)))
532 +|(% style="width:133px" %)(((
533 +**Transmission distance**
534 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
535 +Less than 100M between two nodes (good environment, good cables)
536 +)))
537 +|(% style="width:133px" %)(((
538 +**Frame length**
539 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
540 +44 bytes~~1498 bytes
541 +)))
542 +|(% style="width:133px" %)(((
543 +**Excessive data**
544 +)))|(% colspan="5" rowspan="1" style="width:672px" %)Maximum size of a single Ethernet frame is 1486 bytes
545 +|(% style="width:133px" %)(((
546 +**Sync jitter**
547 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
548 +<1μs
549 +)))
550 +|(% style="width:133px" %)(((
551 +**Distributed clock**
552 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
553 +64 bit
554 +)))
555 +|(% style="width:133px" %)(((
556 +**EEPROM capacity**
557 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
558 +8k bit initialization data is written through the EtherCAT master station
559 +)))
560 +|(% rowspan="2" style="width:147px" %)(((
561 +**Control mode and performance**
562 +)))|(% style="width:133px" %)(((
563 +**Control mode**
564 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
565 +CSP、HM
566 +)))
567 +|(% style="width:133px" %)**Synchronization period**|(% colspan="3" rowspan="1" style="width:672px" %)(((
568 +125μs
569 +)))
570 +
571 += **Servo Motor Naming Rules** =
572 +
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
413 413  
414 -|(% rowspan="2" %)①Pole pairs|WD: 5| |(% rowspan="6" %)④Rated power|010：100W| |(% rowspan="4" %)⑦Encoder type|A1: 17bit single-turn absolute magnetic encoder
415 -|WE: 4| |020：200W| |C1：17bit multi-turn absolute magnetic encoder
416 -| | | |...| |D2：23bit multi-turn absolute optical encoder
417 -|(% rowspan="7" %)②Flange|40| |500：5.0KW| |E1: 2500-line incremental encoder
418 -|60| |550：5.5KW| | |
419 -|80| |...| |(% rowspan="2" %)⑧Motor structure|F：Oil seal
420 -|110| | | | |G：Oil seal + Brake device
421 -|130| |(% rowspan="4" %)⑤Rated speed|15：1500rpm| | |
422 -|150| |20：2000rpm| |(% rowspan="3" %)⑨Others|L：60/80 flange connector
423 -|180| |25：2500rpm| |(% rowspan="2" %)L2：60/80/130 flange connector
424 -| | | |30：3000rpm|
425 -|(% rowspan="3" %)③Inertia level|L: Low| | | | |(% colspan="2" %)
426 -|M: Middle| |(% rowspan="2" %)⑥Voltage level|S: 220V| |(% colspan="2" %)
427 -|H: High| |T: 380V| |(% colspan="2" %)
577 +|(% 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
578 +|WE: 4|020：200W|C1：17bit multi-turn absolute magnetic encoder
579 +|(% colspan="2" rowspan="1" %) |...|D2：23bit multi-turn absolute optical encoder
580 +|(% rowspan="7" %)②Flange|40|500：5.0KW|E1: 2500-line incremental encoder
581 +|60|550：5.5KW|(% colspan="2" rowspan="1" %)
582 +|80|...|(% rowspan="2" %)⑧Motor structure|F：Oil seal
583 +|110|(% colspan="2" rowspan="1" %) |G：Oil seal + Brake device
584 +|130|(% rowspan="4" %)⑤Rated speed|15：1500rpm|(% colspan="2" rowspan="1" %)
585 +|150|20：2000rpm|(% rowspan="3" %)⑨Others|L：60/80 flange connector
586 +|180|25：2500rpm|(% rowspan="2" %)L2：60/80/130 flange connector
587 +|(% colspan="2" rowspan="1" %) |30：3000rpm
588 +|(% rowspan="3" %)③Inertia level|L: Low|(% colspan="2" rowspan="1" %) |(% colspan="2" rowspan="3" %)
589 +|M: Middle|(% rowspan="2" %)⑥Voltage level|S: 220V
590 +|H: High|T: 380V
591 +
592 +(% style="text-align:center" %)
593 +[[image:Servo.Manual.02 VD2 SA Series.test.WebHome@image-20220611113846-8.jpeg]]
594 +
595 + Motor nameplate
596 +
597 += (% style="color:inherit; font-family:inherit; font-size:max(23px, min(29px, 12.3333px + 1.38889vw))" %)**Servo Motor Parameter**(%%) =
598 +
599 +|(% 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**
600 +|(% 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
601 +|(% colspan="9" style="width:172px" %)
602 +|(% 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
603 +|(% 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
604 +|(% 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
605 +|(% colspan="9" style="width:172px" %)
606 +|(% 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
607 +|(% 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
608 +|(% 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
609 +|(% colspan="9" style="width:172px" %)
610 +|(% 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
611 +|(% 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
612 +|(% 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
613 +|(% 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
614 +|(% 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
615 +|(% 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
616 +|(% 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
617 +|(% 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
618 +|(% 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
619 +|(% 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
620 +
621 +|**220V motor model**|**Flange mm**|**Power kW**|**Rated speed rpm**|**Rated torque N*m**|**Rated current A**|**Allowable overload multiple**|(((
622 +**Pole pairs**
623 +)))|(((
624 +**Inertia level**
625 +)))
626 +|WD60H-02030S-☐☐☐|60|0.2|3000|0.64|1.8|3.5|5|(% colspan="1" rowspan="3" %)(((
627 +High
628 +)))
629 +|WD60H-04030S-☐☐☐|60|0.4|3000|1.27|2.8|3.5|5
630 +|WD60H-06030S-☐☐☐|60|0.6|3000|1.91|4.0|3.0|5
631 +|(% colspan="9" %)
632 +|WD80H-07530S-☐☐☐|80|0.75|3000|2.39|4.8|3.0|5|(% colspan="1" rowspan="4" %)(((
633 +High
634 +)))
635 +|WD80H-10020S-☐☐☐|80|1|2000|4.77|4.8|3.0|5
636 +|WD80H-10025S-☐☐☐|80|1|2500|3.82|4.8|3.0|5
637 +|WD80H-10030S-☐☐☐|80|1|3000|3.2|4.8|3.0|5
638 +|(% colspan="9" %)
639 +|WD130H-15030S-☐☐☐|130|1.5|3000|4.8|6.0|3.0|5|(((
640 +High
641 +)))
642 +
643 +|(% 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**
644 +|(% 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
645 +|(% colspan="9" style="width:174px" %)
646 +|(% 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
647 +|(% 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
648 +|(% 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
649 +|(% 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
650 +|(% 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
651 +|(% colspan="9" style="width:174px" %)
652 +|(% 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
653 +|(% 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
654 +|(% 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
655 +|(% colspan="9" style="width:174px" %)
656 +|(% 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
657 +|(% 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
658 +|(% 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
659 +|(% 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
660 +|(% 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
661 +|(% 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
662 +|(% 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
663 +|(% 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
664 +
665 +|**380V motor model**|**Flange mm**|**Power kW**|**Rated speed rpm**|**Rated torque N*m**|**Rated current A**|**Allowable overload multiple**|**Pole pairs**|**Inertia level**
666 +|WD130M-08515T-☐☐☐|130|0.85|1500|5.41|3.1|3.0|5|(% colspan="1" rowspan="5" %)Middle
667 +|WD130M-13015T-☐☐☐|130|1.3|1500|8.28|5.1|3.0|5
668 +|WD130M-18015T-☐☐☐|130|1.8|1500|11.46|6.3|3.0|5
669 +|WD130M-23015T-☐☐☐|130|2.3|1500|14.64|8.5|3.0|5
670 +|WD180M-29015T-☐☐☐|180|2.9|1500|18.6|11.8|3.0|5
671 +
672 +|**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**
673 +|WE130M-20025T-☐☐☐|130|2.0|2500|7.7|7.5|2.8|(% style="width:78px" %)4|(% rowspan="6" style="width:68px" %)Middle
674 +|WE130M-26025T-☐☐☐|130|2.6|2500|10|6.0|2.5|(% style="width:78px" %)4
675 +|WE130M-31015T-☐☐☐|130|3.1|1500|20|11.5|2.5|(% style="width:78px" %)4
676 +|WE130M-38025T-☐☐☐|130|3.8|2500|15|8.8|2.0|(% style="width:78px" %)4
677 +|WE130M-42020T-☐☐☐|130|4.2|2000|20|8.5|2.0|(% style="width:78px" %)4
678 +|WE130M-53030T-☐☐☐|130|5.3|3000|17|11|2.0|(% style="width:78px" %)4
679 +|(% colspan="9" %)
680 +|WE180M-30015T-☐☐☐|180|3.0|1500|19|7.5|2.5|(% style="width:78px" %)4|(% rowspan="4" style="width:68px" %)Middle
681 +|WE180M-43015T-☐☐☐|180|4.3|1500|27|10|2.5|(% style="width:78px" %)4
682 +|WE180M-55015T-☐☐☐|180|5.5|1500|35|12|2.0|(% style="width:78px" %)4
683 +|WE180M-75015T-☐☐☐|180|7.5|1500|48|20|2.0|(% style="width:78px" %)4
684 +
685 +**Note**: ☐☐☐ Not all motor models include the following categories
686 +
687 +A1F：17-bit single-turn absolute magnetic encoder without brake.
688 +
689 +A1G：17-bit single-turn absolute magnetic encoder with brake.
690 +
691 +C1F：17-bit multi-turn absolute magnetic encoder without brake
692 +
693 +C1G：17-bit multi-turn absolute magnetic encoder with brake.
694 +
695 +D2F：23-bit multi-turn absolute Optical encoder without brake.
696 +
697 +D2G：23-bit multi-turn absolute Optical encoder with brake.
698 +
699 += **Servo Drive and Motor Matching Table** =
700 +
701 +**Note**: The **red-marked** combination is not recommended.
702 +
703 +|**Control type**|**Voltage level**|**Drive series**|**Drive model**|**Support motor**
704 +|(% rowspan="18" %)Pulse type|(% rowspan="12" %)220V|(% rowspan="3" %)VD2F|VD2F-003SA1P|(0.1-0.2)kW
705 +|VD2F-010SA1P|(0.2-0.4)kW
706 +|VD2F-014SA1P|(((
707 +(0.6-0.75)kW
708 +
709 +**(0.85-1.0)kW**
710 +)))
711 +|(% rowspan="2" %)VD2L|VD2L-010SA1P|(0.2-0.4)kW
712 +|VD2L-014SA1P/D|(((
713 +(0.6-0.75)kW
714 +
715 +**(0.85-1.0)kW**
716 +)))
717 +|(% rowspan="2" %)(((
718 +VD2 Type A
719 +)))|VD2-010SA1G/R/H|(0.2-0.4)kW
720 +|VD2-014SA1G/R/H|(((
721 +(0.6-0.75)kW
722 +
723 +**(0.85-1.0)kW**
724 +)))
725 +|(% rowspan="8" %)(((
726 +VD2 Type B
727 +)))|VD2-016SA1G/R/H|(0.85-1.5)kW
728 +|VD2-019SA1G/R/H|(1.5-2.0)kW
729 +|VD2-021SA1G/R/H|(2.0-2.5)kW
730 +|VD2-025SA1G|(2.5-3.0)kW
731 +|VD2-030SA1G|(3.0-4.0)kW
732 +|(% rowspan="6" %)380V|VD2-016TA1G|(0.85-1.5)kW
733 +|VD2-019TA1G|(1.5-2.0)kW
734 +|VD2-021TA1G|(2.0-3.0)kW
735 +|(% rowspan="3" %)VD2 Type C|VD2-030TA1G|(3.0-5.0)kW
736 +|VD2-040TA1G|(5.0-6.0)kW
737 +|VD2-050TA1G|(7.5)kW
738 +|(% rowspan="14" %)EtherCAT type|(% rowspan="8" %)220V|(% rowspan="3" %)VD3E Type A|VD3E-003SA1G|(0.1-0.2)kW
739 +|VD3E-010SA1G|(0.2-0.4)kW
740 +|VD3E-014SA1G|(((
741 +(0.6-0.75)kW
742 +
743 +**(0.85-1.0)kW**
744 +)))
745 +|(% rowspan="8" %)VD3E Type B|VD3E-016SA1G|(0.85-1.5)kW
746 +|VD3E-019SA1G|(1.5-2.0)kW
747 +|VD3E-021SA1G|(2.0-2.5)kW
748 +|VD3E-025SA1G|(2.5-3.0)kW
749 +|VD3E-030SA1G|(3.0-4.0)kW
750 +|(% rowspan="6" %)380V|VD3E-016TA1G|(0.85-1.5)kW
751 +|VD3E-019TA1G|(1.5-2.0)kW
752 +|VD3E-021TA1G|(2.0-3.0)kW
753 +|(% rowspan="3" %)VD3E Type C|VD3E-030TA1G|(3.0-5.0)kW
754 +|VD3E-040TA1G|(5.0-6.0)kW
755 +|VD3E-050TA1G|(7.5)kW
756 +
757 += **Servo Cable Naming Rules** =
758 +
759 +(% style="margin-left:auto; margin-right:auto; width:120px" %)
760 +|E|-|J1394|-|R9M|-|3M|X7|-|A1|-|2
761 +|①| |②| |③| |④|⑤| |⑥| |⑦
762 +
763 +|①Cable type|E: Encoder adapter cable|(% rowspan="14" %) |(% rowspan="4" %)④Cable length|3M: 3m
764 +|(% colspan="2" rowspan="1" %) |5M: 5m
765 +|(% rowspan="2" %)②Drive side connector|J1394: 1394 connector|7M: 7m
766 +|D15G: DB15 male connector|...
767 +|(% colspan="2" rowspan="1" %) |(% colspan="2" rowspan="1" %)
768 +|(% rowspan="7" %)③Motor side connector|R9M: 9-core rectangular female connector|(% rowspan="3" %)⑤Number of cores|X5: 5 cores
769 +|MC7S: 7-core straight female connector|X7: 7 cores
770 +|H28K7M: 7-core 28mm aviation female connector|...
771 +|CM10: 11-core 11mm aviation female connector|(% colspan="2" rowspan="1" %)
772 +|MC7P: 7-core straight female connector (L2)|(% rowspan="2" %)⑥Wire size|A: 0.2mm/0.14mm
773 +|R15M: 15-core rectangular female connector|A1: 0.2mm/0.14mm with battery box
774 +|H28J15M: 15-core 28mm aviation female connector|(% colspan="2" rowspan="1" %)
775 +|(% colspan="2" rowspan="2" %) |(% rowspan="2" %)⑦Others|1: Ordinary cable
776 +|2: High flex cable
777 +
778 +(% style="margin-left:auto; margin-right:auto; width:120px" %)
779 +|P|-|U3O1|-|H28J4M|-|5M|X4|-|C|-|1
780 +|①| |②| |③| |④|⑤| |⑥| |⑦
781 +
782 +|①Cable type|P: Power adapter cable/brake cable|(% rowspan="20" %) |(% rowspan="6" %)④Cable length|3M: 3m
783 +|(% colspan="2" rowspan="1" %) |5M: 5m
784 +|(% rowspan="8" %)②Drive side connector|Z3O1: 3-core pin-type cold-pressed terminal and 1-core O-type cold-pressed terminal|6D5M: 6.5m
785 +|Z3O3: 3-core pin-type cold-pressed terminal and 3-core O-type cold-pressed terminal|7M: 7m
786 +|Z4: 4-core pin-type cold-pressed terminal|10M: 10m
787 +|Z4O2: 4-core pin-type cold-pressed terminal and 2-core O-type cold-pressed terminal|...
788 +|U3O1: 3-core U-type cold-pressed terminal and 1-core O-type cold-pressed terminal|(% colspan="2" rowspan="1" %)
789 +|U3O3: 3-core U-type cold-pressed terminal and 3-core O-type cold-pressed terminal|(% rowspan="4" %)⑤Number of cores|X2: 2 cores
790 +|Z6: 6-core pin-type cold-pressed terminal|X4: 4 cores
791 +|O2: 2-core O-type cold-pressed terminal|X6: 6 cores
792 +|(% colspan="2" rowspan="1" %) |...
793 +|(% rowspan="9" %)③Motor side connector|18A6: 6-core 23mm aviation female connector|(% colspan="2" rowspan="1" %)
794 +|R4M: 4-core rectangular female connector|(% rowspan="5" %)⑥Wire size|D: 0.5mm
795 +|MC4S: 4-core straight female connector|E: 0.75mm
796 +|MC6S: 6-core straight female connector|B: 1.0mm
797 +|H28J4M: 4-core 28mm aviation female connector|F: 1.5mm
798 +|H32J4M: 4-core 32mm aviation female connector|C: 2.5mm
799 +|R2M: 2-core rectangular female connector|(% colspan="2" rowspan="1" %)
800 +|MC4H: 4-core H-type straight female connector|(% rowspan="2" %)⑦Others|1: Ordinary cable
801 +|MC6H: 6-core H-type straight female connector|2: High flex cable
802 +
803 += **Servo Cable Matching Table** =
804 +
805 +|**Motor model**|**Matching drive**|**Power cable/brake cable**|**Encoder cable**
806 +|(% rowspan="6" %)(((
807 +WD40M-○○○-☐☐☐
808 +
809 +WD60M-○○○-☐☐☐
810 +
811 +WD60H-○○○-☐☐☐
812 +
813 +WE60M-○○○-☐☐☐
814 +
815 +WD80M-○○○-☐☐☐
816 +
817 +WD80H-○○○-☐☐☐
818 +
819 +WE80M-○○○-☐☐☐
820 +)))|(% rowspan="2" %)VD2/VD3E A type|Power cable：P-Z3O1-R4M-*MX4|(% rowspan="3" %)Single-turn：E-J1394-R9M-*MX5-A
821 +|(((
822 +Power cable：P-Z3O1-R4M-*MX4
823 +
824 +Brake cable：P-O2-R2M-3MX2-D
825 +)))
826 +|(% rowspan="2" %)(((
827 +VD2/VD3E B type
828 +
829 +VD2/VD3E C type
830 +)))|Power cable：P-U3O1-R4M-*MX4
831 +|(((
832 +Power cable：P-U3O1-R4M-*MX4
833 +
834 +Brake cable：P-O2-R2M-3MX2-D
835 +)))|(% rowspan="3" %)Multi-turn：E-J1394-R9M-*MX7-A1
836 +|(% rowspan="2" %)VD2F/VD2L|Power cable：P-Z4-R4M-*MX4
837 +|(((
838 +Power cable：P-Z4-R4M-*MX4
839 +
840 +Brake cable：P-O2-R2M-3MX2-D
841 +)))
842 +|(% rowspan="6" %)(((
843 +WD60M-○○○-☐☐☐-L
844 +
845 +WD80M-○○○-☐☐☐-L
846 +)))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4S-*MX4|(% rowspan="3" %)Single-turn：E-J1394-MC7S-*MX5-A
847 +|With brake：P-Z3O3-MC6S-*MX6
848 +|(% rowspan="2" %)(((
849 +VD2/VD3E B type
850 +
851 +VD2/VD3E C type
852 +)))|Without brake：P-U3O1-MC4S-*MX4
853 +|With brake：P-U3O3-MC6S-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7S-*MX7-A1
854 +|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4S-*MX4
855 +|With brake：P-Z4O2-MC6S-*MX6
856 +|(% rowspan="6" %)(((
857 +WD60M-○○○-☐☐☐-L2
858 +
859 +WD80M-○○○-☐☐☐-L2
860 +)))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4S-*MX4|(% rowspan="3" %)Single-turn：E-J1394-MC7P-*MX5-A
861 +|With brake：P-Z3O3-MC6S-*MX6
862 +|(% rowspan="2" %)(((
863 +VD2/VD3E B type
864 +
865 +VD2/VD3E C type
866 +)))|Without brake：P-U3O1-MC4S-*MX4
867 +|With brake：P-U3O3-MC6S-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7P-*MX7-A1
868 +|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4S-*MX4
869 +|With brake：P-Z4O2-MC6S-*MX6
870 +|(% rowspan="4" %)(((
871 +WD60H-○○○-☐☐☐-L2
872 +
873 +WD80H-○○○-☐☐☐-L2
874 +)))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4H-*MX4|(% rowspan="2" %)Single-turn：E-J1394-MC7P-*MX5-A
875 +|With brake：P-Z3O3-MC6H-*MX6
876 +|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4H-*MX4|(% rowspan="2" %)Multi-turn：E-J1394-MC7P-*MX7-A1
877 +|With brake：P-Z4O2-MC6H-*MX6
878 +|(% rowspan="6" %)(((
879 +WE110M-○○○-☐☐☐
880 +
881 +WE130M-○○○-☐☐☐
882 +)))|(% rowspan="2" %)VD2/VD3E A type|Power cable：P-Z3O1-H28J4M-*MX4|(% rowspan="3" %)Single-turn：E-J1394-H28K7M-*MX5-A
883 +|Brake cable：No need
884 +|(% rowspan="2" %)(((
885 +VD2/VD3E B type
886 +
887 +VD2/VD3E C type
888 +)))|Power cable：P-U3O1-H28J4M-*MX4
889 +|Brake cable：No need|(% rowspan="3" %)Multi-turn：E-J1394-H28K7M-*MX7-A1
890 +|(% rowspan="2" %)VD2F/VD2L|Power cable：P-Z4-H28J4M-*MX4
891 +|Brake cable：No need
892 +|(% rowspan="6" %)(((
893 +WD130M-○○○-☐☐☐
894 +
895 +WD130H-○○○-☐☐☐
896 +)))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-18A6-*MX4|(% rowspan="3" %)Single-turn：E-J1394-CM10-*MX5-A
897 +|With brake：P-Z3O3-18A6-*MX6
898 +|(% rowspan="2" %)(((
899 +VD2/VD3E B type
900 +
901 +VD2/VD3E C type
902 +)))|Without brake：P-U3O1-18A6-*MX4
903 +|With brake：P-U3O3-18A6-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-CM10-*MX7-A1
904 +|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-18A6-*MX4
905 +|With brake：P-Z4O2-18A6-*MX4
906 +|(% 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
907 +|With brake：P-Z3O3-18A6-*MX6
908 +|(% rowspan="2" %)(((
909 +VD2/VD3E B type
910 +
911 +VD2/VD3E C type
912 +)))|Without brake：P-U3O1-18A6-*MX4
913 +|With brake：P-U3O3-18A6-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7P-*MX7-A1
914 +|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-18A6-*MX4
915 +|With brake：P-Z4O2-18A6-*MX4
916 +|(% rowspan="2" %)(((
917 +WE180M-○○○-☐☐☐
918 +
919 +WD180M-○○○-☐☐☐
920 +)))|(% rowspan="2" %)(((
921 +VD2/VD3E B type
922 +
923 +VD2/VD3E C type
924 +)))|Power cable：P-U3O1-H32J4M-*MX4|Single-turn：E-J1394-H28K7M-*MX5-A
925 +|Brake cable：No need|Multi-turn：E-J1394-H28K7M-*MX7-A1
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