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Changes for page 05 Servo Product Manual

Last modified by Jim(Forgotten) on 2025/03/20 10:19
From version 32.1
edited by Molly
on 2024/09/14 14:36
Change comment: There is no comment for this version
To version 26.1
edited by Molly
on 2024/09/12 17:51
Change comment: There is no comment for this version

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Details

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Content
... ... @@ -226,343 +226,6 @@
226 226  Velocity limit under torque mode
227 227  )))
228 228  
229 -= (% id="cke_bm_7897S" style="display:none" %) (%%) =
230 -
231 -= **VD2F/VD2L servo driver parameter table** =
232 -
233 -(% style="width:1005px" %)
234 -|(% colspan="6" rowspan="1" style="width:312px" %)(((
235 -**General type**
236 -)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
237 -(% style="text-align:center" %)
238 -[[image:1726190862910-426.png]]
239 -)))|(% rowspan="1" style="width:364px" %)(((
240 -(% style="text-align:center" %)
241 -[[image:1726190785664-427.png]]
242 -)))
243 -|(% colspan="6" rowspan="1" style="width:312px" %)**Model**|(% colspan="1" rowspan="1" style="width:325px" %)(((
244 -**VD2F**
245 -)))|(% rowspan="1" style="width:364px" %)(((
246 -**VD2L**
247 -)))
248 -|(% colspan="3" rowspan="12" %)(((
249 -**Basic Specifications**
250 -)))|(% colspan="3" style="width:198px" %)**Power supply**|(% colspan="1" rowspan="1" style="width:325px" %)(((
251 -220V
252 -)))|(% rowspan="1" style="width:364px" %)(((
253 -220V
254 -)))
255 -|(% colspan="3" style="width:198px" %)(((
256 -**Control method**
257 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
258 -IGBT PWM control sine wave current drive
259 -)))
260 -|(% colspan="3" style="width:198px" %)(((
261 -**Encoder**
262 -)))|(% colspan="2" rowspan="1" style="width:680px" %)17bit, 23bit absolute value encoder
263 -|(% colspan="3" style="width:198px" %)(((
264 -**Control signal input**
265 -)))|(% colspan="2" rowspan="1" style="width:680px" %)4DI
266 -|(% colspan="3" style="width:198px" %)(((
267 -**Control signal output**
268 -)))|(% colspan="2" rowspan="1" style="width:680px" %)4DO
269 -|(% colspan="3" style="width:198px" %)(((
270 -**Pulse frequency division output**
271 -)))|(% colspan="1" rowspan="1" style="width:325px" %)—|(% rowspan="1" style="width:364px" %)(((
272 -Support
273 -)))
274 -|(% colspan="3" style="width:198px" %)(((
275 -**Pulse signal input**
276 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
277 -Open collector or differential input
278 -)))
279 -|(% colspan="3" style="width:198px" %)(((
280 -**Pulse feedback output**
281 -)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
282 -Z signal open collector output
283 -)))|(% rowspan="1" style="width:364px" %)(((
284 -ABZ differential output(VD2-XXXXXXH
285 -
286 -series support collector signal feedback)
287 -)))
288 -|(% colspan="3" style="width:198px" %)(% style="background-color:transparent" %)**Internal Command**|(% colspan="2" rowspan="1" style="width:680px" %)(((
289 -8 segment internal speed command, 16 segment internal position command
290 -)))
291 -|(% colspan="3" style="width:198px" %)(((
292 -**Communication**
293 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
294 -MODBUS RS485 or MODBUS RS422(SCTool)
295 -)))
296 -|(% colspan="3" rowspan="2" style="width:198px" %)(((
297 -**Braking resistor**
298 -)))|(% colspan="4" rowspan="1" style="width:680px" %)(((
299 -750W built-in braking resistor; 400W without built-in;
300 -)))
301 -|(% colspan="4" style="width:680px" %)(((
302 -Both can support external braking resistors.
303 -)))
304 -|(% colspan="3" rowspan="22" %)(((
305 -**Function setting**
306 -)))|(% colspan="1" rowspan="12" %)(((
307 -**General functions**
308 -)))|(% colspan="2" style="width:115px" %)(((
309 -**Auto-tuning**
310 -)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
311 -Automatic load inertia identification,automatic rigidity self-tuning
312 -)))|(% rowspan="1" style="width:364px" %)-
313 -|(% colspan="2" style="width:115px" %)(((
314 -**Blend mode**
315 -)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
316 -YES
317 -)))|(% rowspan="1" style="width:364px" %)-
318 -|(% colspan="2" style="width:115px" %)(((
319 -**Advanced control algorithms**
320 -)))|(% colspan="1" style="width:325px" %)(((
321 -YES
322 -)))|(% style="width:364px" %)-
323 -|(% colspan="2" rowspan="2" style="width:115px" %)(((
324 -**Waveform**
325 -)))|(% colspan="2" style="width:680px" %)4 channels waveform monitoring
326 -|(% colspan="2" style="width:680px" %)10s waveform data recording
327 -|(% colspan="2" style="width:115px" %)(((
328 -**Parameter management**
329 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
330 -Support batch parameter import and export
331 -)))
332 -|(% colspan="2" style="width:115px" %)(((
333 -**Vibration suppression**
334 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
335 -Support mechanical vibration suppression
336 -)))
337 -|(% colspan="2" style="width:115px" %)(((
338 -**Protection**
339 -)))|(% colspan="2" style="width:680px" %)(((
340 -Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
341 -)))
342 -|(% colspan="2" style="width:115px" %)(((
343 -**Dynamic braking**
344 -)))|(% colspan="1" style="width:325px" %)-|(% style="width:364px" %)(((
345 -Optional
346 -)))
347 -|(% colspan="2" style="width:115px" %)(((
348 -**Brake device**
349 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
350 -Support brake signal output
351 -)))
352 -|(% colspan="2" style="width:115px" %)(((
353 -**DI function**
354 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
355 -Servo enable((% _mstmutation="1" %)**S-ON**(%%)), Error/alarm clear((% _mstmutation="1" %)**A-CLR**(%%)), Forward rotation prohibited((% _mstmutation="1" %)**POT**(%%))
356 -
357 -Backward rotation prohibited((% _mstmutation="1" %)**NOT**(%%)), Command direction((% _mstmutation="1" %)**C-SIGN**(%%)), Emergency stop((% _mstmutation="1" %)**E-STOP**(%%))
358 -
359 -Gain switch((% _mstmutation="1" %)**GAIN-5EL**(%%)), Internal speed selection((% _mstmutation="1" %)**INSPD1, INSPD2, INSPD3**(%%))
360 -
361 -Internal position selection and enable((% _mstmutation="1" %)**INPO51, INPO52, INPO53, INPO54, ENINPOS**(%%))
362 -)))
363 -|(% colspan="2" style="width:115px" %)(((
364 -**DO function**
365 -)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
366 -Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
367 -
368 -Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
369 -
370 -Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), Z pulse feedback output
371 -)))|(% rowspan="1" style="width:364px" %)(((
372 -Servo ready(**RDY**)、Error signal(**ALM**), Alarm signal(**WARN**), Rotation detection(**TGON**)
373 -
374 -Zero speed signal(**ZSP**), Torque limited(**T-LIMIT**), Velocity limited(**V-LIMIT**)
375 -
376 -Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), ABZ pulse feedback output
377 -)))
378 -|(% colspan="1" rowspan="4" %)**Position mode**|**Pulse frequency**|(% colspan="3" rowspan="1" %)(((
379 -Max to 500KHz
380 -)))
381 -|(% colspan="2" rowspan="1" style="width:115px" %)**Pulse type**|(% rowspan="1" style="width:325px" %)(((
382 -Direction + pulse; Orthogonal coding:
383 -V1.21 and above support CW/CCW
384 -)))|(% rowspan="1" style="width:337px" %)Direction + Pulse, Orthogonal coding
385 -|(% colspan="2" rowspan="1" style="width:115px" %)**Pulse filter**|(% colspan="2" rowspan="1" style="width:680px" %)First-order low-pass filter or smoothing filter
386 -|(% colspan="2" rowspan="1" style="width:115px" %)(((
387 -**Pulse output**
388 -)))|(% rowspan="1" style="width:325px" %)-|(% rowspan="1" style="width:337px" %)A, B, Z differential output
389 -|(% colspan="1" rowspan="3" %)(((
390 -**Speed mode**
391 -)))|(% colspan="2" style="width:115px" %)**Command input**|(% colspan="2" rowspan="1" style="width:325px" %)Internal command(8 segments)
392 -|(% colspan="2" style="width:115px" %)**Zero speed clamp**|(% colspan="2" rowspan="1" style="width:325px" %)Support
393 -|(% colspan="2" style="width:115px" %)**Torque limit**|(% colspan="2" rowspan="1" style="width:325px" %)Torque limit under speed mode
394 -|(% colspan="1" rowspan="3" %)**Torque mode**|(% colspan="2" style="width:115px" %)**Command input**|(% colspan="2" rowspan="1" style="width:325px" %)(((
395 -Internal command
396 -)))
397 -|(% colspan="2" style="width:115px" %)**Torque reach**|(% colspan="2" rowspan="1" style="width:325px" %)(((
398 -Torque reach signal output
399 -)))
400 -|(% colspan="2" style="width:115px" %)**Velocity limit**|(% colspan="2" rowspan="1" style="width:325px" %)(((
401 -Velocity limit under torque mode
402 -)))
403 -
404 -
405 -= VD3E servo driver parameter table =
406 -
407 -(% style="width:887px" %)
408 -|(% colspan="3" rowspan="1" style="width:464px" %)(((
409 -**Bus type**
410 -)))|(% style="width:309px" %)(((
411 -(% style="text-align:center" %)
412 -[[image:1726277302418-624.png]]
413 -)))|(((
414 -(% style="text-align:center" %)
415 -[[image:1726277309267-133.png]]
416 -)))|(((
417 -(% style="text-align:center" %)
418 -[[image:1726277316197-586.png]]
419 -)))
420 -|(% colspan="3" rowspan="1" style="width:464px" %)**Model**|(% style="width:309px" %)(((
421 -**VD3E(A type)**
422 -)))|(((
423 -**VD3E(B type)**
424 -)))|(((
425 -**VD3E(C type)**
426 -)))
427 -|(% colspan="1" rowspan="7" style="width:166px" %)(((
428 -**Basic Specifications**
429 -)))|(% colspan="2" style="width:301px" %)**Power supply**|(% style="width:309px" %)220V|220V/380V|380V
430 -|(% colspan="2" style="width:301px" %)**Control method**|(% colspan="3" rowspan="1" style="width:470px" %)IGBT PWM control sine wave current drive
431 -|(% colspan="2" style="width:301px" %)**Encoder**|(% colspan="3" rowspan="1" style="width:470px" %)17bit, 23bit absolute value encoder
432 -|(% colspan="2" style="width:301px" %)**Control signal input**|(% colspan="3" rowspan="1" style="width:470px" %)(((
433 -6DI,
434 -
435 -Select the output function according to the function code configuration
436 -)))
437 -|(% colspan="2" style="width:301px" %)**Control signal output**|(% colspan="3" rowspan="1" style="width:470px" %)(((
438 -3DO,
439 -
440 -Select the output function according to the function code configuration
441 -)))
442 -|(% style="width:147px" %)(((
443 -**Communication function**
444 -)))|(% style="width:155px" %)(((
445 -**Host computer communication**
446 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
447 -The USB interface can be used to set function code parameters, monitor status, and view waveforms through a computer host computer.
448 -Parameter self-tuning, etc.
449 -)))
450 -|(% colspan="2" style="width:301px" %)**Braking resistor**|(% colspan="3" rowspan="1" style="width:470px" %)(((
451 -Built-in braking resistor, supports external braking resistor
452 -)))
453 -|(% 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
454 -|(% colspan="2" style="width:301px" %)(((
455 -**Waveform viewing**
456 -)))|(% colspan="3" rowspan="1" style="width:470px" %)4 channels waveform monitoring
457 -|(% colspan="2" style="width:301px" %)(((
458 -**Waveform storage**
459 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
460 -Waveform acquisition frequency 1K Hz,(% style="background-color:transparent" %)10s waveform data recording
461 -)))
462 -|(% colspan="2" style="width:301px" %)**Parameter management**|(% colspan="3" rowspan="1" style="width:470px" %)Support batch parameter import and export
463 -|(% colspan="2" style="width:301px" %)(((
464 -**Vibration suppression**
465 -)))|(% colspan="3" rowspan="1" style="width:470px" %)Support mechanical vibration suppression
466 -|(% colspan="2" style="width:301px" %)(((
467 -
468 -
469 -**Protection**
470 -)))|(% colspan="3" rowspan="1" style="width:470px" %)Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
471 -|(% colspan="2" style="width:301px" %)**Brake device**|(% colspan="3" rowspan="1" style="width:470px" %)Support brake signal output
472 -|(% colspan="2" style="width:301px" %)**DI function**|(% colspan="3" rowspan="1" style="width:470px" %)(((
473 -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**(%%))
474 -)))
475 -|(% colspan="2" style="width:301px" %)**DO function**|(% colspan="3" rowspan="1" style="width:470px" %)(((
476 -Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
477 -
478 -Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
479 -
480 -Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**),CommunicationVDO
481 -)))
482 -|(% colspan="1" rowspan="16" style="width:166px" %)(((
483 -**EtherCAT related**
484 -)))|(% rowspan="14" style="width:147px" %)(((
485 -**EtherCAT related**
486 -)))|(% style="width:155px" %)(((
487 -Communication protocol
488 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
489 -EtherCAT protocol
490 -)))
491 -|(% style="width:155px" %)(((
492 -Support services
493 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
494 -CoE(PDO,SDO)
495 -)))
496 -|(% style="width:155px" %)(((
497 -Sync mode
498 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
499 -DC-Distributed Clock
500 -)))
501 -|(% style="width:155px" %)(((
502 -Physical layer
503 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
504 -100BASE-TX
505 -)))
506 -|(% style="width:155px" %)(((
507 -Baud rate
508 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
509 -100 Mbit/s(100Base-TX)
510 -)))
511 -|(% style="width:155px" %)(((
512 -Duplex mode
513 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
514 -Full duplex
515 -)))
516 -|(% style="width:155px" %)(((
517 -Topology
518 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
519 -Circular, linear
520 -)))
521 -|(% style="width:155px" %)(((
522 -Transmission medium
523 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
524 -Shielded Category 5e or better network cable
525 -)))
526 -|(% style="width:155px" %)(((
527 -Transmission distance
528 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
529 -Less than 100M between two nodes (good environment, good cables)
530 -)))
531 -|(% style="width:155px" %)(((
532 -Frame length
533 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
534 -44 bytes~~1498 bytes
535 -)))
536 -|(% style="width:155px" %)(((
537 -Excessive data
538 -)))|(% colspan="5" rowspan="1" style="width:470px" %)Maximum size of a single Ethernet frame is 1486 bytes
539 -|(% style="width:155px" %)(((
540 -Sync jitter
541 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
542 -<1μs
543 -)))
544 -|(% style="width:155px" %)(((
545 -Distributed clock
546 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
547 -64 bit
548 -)))
549 -|(% style="width:155px" %)(((
550 -EEPROM capacity
551 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
552 -8k bit initialization data is written through the EtherCAT master station
553 -)))
554 -|(% rowspan="2" style="width:147px" %)(((
555 -**Control mode and performance**
556 -)))|(% style="width:155px" %)(((
557 -control mode
558 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
559 -CSP、HM
560 -)))
561 -|(% style="width:155px" %)Synchronization period|(% colspan="3" rowspan="1" style="width:470px" %)(((
562 -125μs
563 -)))
564 -
565 -
566 566  (% style="margin-left:auto; margin-right:auto; width:50px" %)
567 567  |WD|80|M|-|075|30|S|-|A1|F|-|L
568 568  |①|②|③| |④|⑤|⑥| |⑦|⑧| |⑨
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