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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 80.1
edited by Mora Zhou
on 2024/09/26 14:09
Change comment: There is no comment for this version

Summary

Details

Page properties
Author
... ... @@ -1,1 +1,1 @@
1 -XWiki.Molly
1 +XWiki.Mora
Content
... ... @@ -40,20 +40,20 @@
40 40  ⑤
41 41  )))
42 42  
43 -|(% colspan="1" rowspan="4" %)①Product Series|VD2|(% rowspan="14" %) |(% colspan="1" rowspan="2" %)③Voltage level|S: 220V
44 -|VD2F|T: 380V
45 -|VD2L|(% colspan="2" rowspan="3" %)
46 -|VD3E
47 -|(% colspan="2" rowspan="1" %)
48 -|(% colspan="1" rowspan="9" %)②Maximum output current|010: 10A|(% colspan="1" rowspan="2" %)④Encoder type|A1: Absolute
49 -|014: 14A|E1: Incremental
50 -|016: 16A|(% colspan="2" rowspan="2" %)
51 -|019: 19A
52 -|021: 21A|(% colspan="1" rowspan="5" %)⑤Function|P: Basic pulse control
53 -|025: 25A|G: General(Analog control, full-closed loop)
54 -|030: 30A|H: High speed DO(Collector signal feedback)
55 -|040: 40A|R: Support external PID function
56 -|050: 50A|D: Support dynamic braking function
43 +(% style="margin-left:auto; margin-right:auto; width:761.198px" %)
44 +|(% colspan="1" rowspan="4" %)①Product Series|(% style="width:204.976px" %)VD2|(% colspan="1" rowspan="2" style="width:190.024px" %)③Voltage level|S: 220V
45 +|(% style="width:204.976px" %)VD2F|T: 380V
46 +|(% style="width:204.976px" %)VD2L
47 +|(% style="width:204.976px" %)VD3E
48 +|(% colspan="1" rowspan="9" %)②Maximum output current|(% style="width:204.976px" %)010: 10A|(% colspan="1" rowspan="2" style="width:190.024px" %)④Encoder type|A1: Absolute
49 +|(% style="width:204.976px" %)014: 14A|E1: Incremental
50 +|(% style="width:204.976px" %)016: 16A
51 +|(% style="width:204.976px" %)019: 19A
52 +|(% style="width:204.976px" %)021: 21A|(% colspan="1" rowspan="5" style="width:190.024px" %)⑤Function|P: Basic pulse control
53 +|(% style="width:204.976px" %)025: 25A|G: General(Analog control, full-closed loop)
54 +|(% style="width:204.976px" %)030: 30A|H: High speed DO(Collector signal feedback)
55 +|(% style="width:204.976px" %)040: 40A|R: Support external PID function
56 +|(% style="width:204.976px" %)050: 50A|D: Support dynamic braking function
57 57  
58 58  (% style="text-align:center" %)
59 59  (((
... ... @@ -63,9 +63,19 @@
63 63  
64 64  = VD2 Servo Drive Parameter Table =
65 65  
66 +(% style="margin-left:auto; margin-right:auto; width:1200px" %)
66 66  |(% colspan="3" %)(((
67 67  **General type**
68 -)))|[[image:1726038778533-997.png||_mstalt="300053"]]|[[image:1726038786193-560.png||_mstalt="296309"]]|[[image:1726038790641-417.png||_mstalt="295087"]]
69 +)))|(((
70 +(% style="text-align:center" %)
71 +[[image:1726038778533-997.png||_mstalt="300053"]]
72 +)))|(((
73 +(% style="text-align:center" %)
74 +[[image:1726038786193-560.png||_mstalt="296309"]]
75 +)))|(((
76 +(% style="text-align:center" %)
77 +[[image:1726038790641-417.png||_mstalt="295087"]]
78 +)))
69 69  |(% colspan="3" %)**Model**|**VD2(A type)**|**VD2(B type)**|**VD2(C type)**
70 70  |(% colspan="1" rowspan="11" %)(((
71 71  **Basic Specifications**
... ... @@ -119,15 +119,15 @@
119 119  )))|(((
120 120  **Auto-tuning**
121 121  )))|(% colspan="3" rowspan="1" %)(((
122 -Automatic load inertia identification, automatic rigidity self-tuning
132 +Automatic load inertia identification, automatic rigidity self-tuning (SCTool)
123 123  )))
124 124  |(% colspan="1" rowspan="2" %)(((
125 125  **Waveform**
126 126  )))|(% colspan="3" rowspan="1" %)(((
127 -4 channels waveform monitoring
137 +4 channels waveform monitoring (SCTool)
128 128  )))
129 129  |(% colspan="3" rowspan="1" %)(((
130 -10s waveform data recording
140 +10s waveform data recording (SCTool)
131 131  )))
132 132  |(((
133 133  **Parameter management**
... ... @@ -226,14 +226,12 @@
226 226  Velocity limit under torque mode
227 227  )))
228 228  
229 -= (% id="cke_bm_7897S" style="display:none" %) (%%) =
230 -
231 231  = **VD2F/VD2L servo driver parameter table** =
232 232  
233 -(% style="width:1005px" %)
234 -|(% colspan="6" rowspan="1" style="width:312px" %)(((
241 +(% style="margin-left:auto; margin-right:auto; width:1200px" %)
242 +|(% colspan="6" rowspan="1" style="width:537px" %)(((
235 235  **General type**
236 -)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
244 +)))|(% colspan="1" rowspan="1" style="width:503px" %)(((
237 237  (% style="text-align:center" %)
238 238  [[image:1726190862910-426.png]]
239 239  )))|(% rowspan="1" style="width:364px" %)(((
... ... @@ -240,7 +240,7 @@
240 240  (% style="text-align:center" %)
241 241  [[image:1726190785664-427.png]]
242 242  )))
243 -|(% colspan="6" rowspan="1" style="width:312px" %)**Model**|(% colspan="1" rowspan="1" style="width:325px" %)(((
251 +|(% colspan="6" rowspan="1" style="width:537px" %)**Model**|(% colspan="1" rowspan="1" style="width:503px" %)(((
244 244  **VD2F**
245 245  )))|(% rowspan="1" style="width:364px" %)(((
246 246  **VD2L**
... ... @@ -247,58 +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" %)(((
258 +)))|(% colspan="3" style="width:277px" %)**Power supply**|(% colspan="1" rowspan="1" style="width:503px" %)(((
251 251  220V
252 252  )))|(% rowspan="1" style="width:364px" %)(((
253 253  220V
254 254  )))
255 -|(% colspan="3" style="width:198px" %)(((
263 +|(% colspan="3" style="width:277px" %)(((
256 256  **Control method**
257 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
265 +)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
258 258  IGBT PWM control sine wave current drive
259 259  )))
260 -|(% colspan="3" style="width:198px" %)(((
268 +|(% 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" %)(((
270 +)))|(% colspan="2" rowspan="1" style="width:867px" %)17bit, 23bit absolute value encoder
271 +|(% colspan="3" style="width:277px" %)(((
264 264  **Control signal input**
265 -)))|(% colspan="2" rowspan="1" style="width:680px" %)4DI
266 -|(% colspan="3" style="width:198px" %)(((
273 +)))|(% colspan="2" rowspan="1" style="width:867px" %)4DI
274 +|(% colspan="3" style="width:277px" %)(((
267 267  **Control signal output**
268 -)))|(% colspan="2" rowspan="1" style="width:680px" %)4DO
269 -|(% colspan="3" style="width:198px" %)(((
276 +)))|(% colspan="2" rowspan="1" style="width:867px" %)4DO
277 +|(% colspan="3" style="width:277px" %)(((
270 270  **Pulse frequency division output**
271 -)))|(% colspan="1" rowspan="1" style="width:325px" %)—|(% rowspan="1" style="width:364px" %)(((
279 +)))|(% colspan="1" rowspan="1" style="width:503px" %)—|(% rowspan="1" style="width:364px" %)(((
272 272  Support
273 273  )))
274 -|(% colspan="3" style="width:198px" %)(((
282 +|(% colspan="3" style="width:277px" %)(((
275 275  **Pulse signal input**
276 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
284 +)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
277 277  Open collector or differential input
278 278  )))
279 -|(% colspan="3" style="width:198px" %)(((
287 +|(% colspan="3" style="width:277px" %)(((
280 280  **Pulse feedback output**
281 -)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
289 +)))|(% colspan="1" rowspan="1" style="width:503px" %)(((
282 282  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" %)(((
291 +)))|(% rowspan="1" style="width:364px" %)ABZ phase pulse output or pulse+direction output
292 +|(% colspan="3" style="width:277px" %)(% style="background-color:transparent" %)**Internal Command**|(% colspan="2" rowspan="1" style="width:867px" %)(((
289 289  8 segment internal speed command, 16 segment internal position command
290 290  )))
291 -|(% colspan="3" style="width:198px" %)(((
295 +|(% colspan="3" style="width:277px" %)(((
292 292  **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 +)))|(% rowspan="1" style="width:867px" %)(((
298 +MODBUS RS485 and MODBUS RS422(SCTool)
299 +)))|(% rowspan="1" style="width:867px" %)MODBUS RS485 and Type-C(SCTool)
300 +|(% colspan="3" rowspan="2" style="width:277px" %)(((
297 297  **Braking resistor**
298 -)))|(% colspan="4" rowspan="1" style="width:680px" %)(((
302 +)))|(% colspan="4" rowspan="1" style="width:867px" %)(((
299 299  750W built-in braking resistor; 400W without built-in;
300 300  )))
301 -|(% colspan="4" style="width:680px" %)(((
305 +|(% colspan="4" style="width:867px" %)(((
302 302  Both can support external braking resistors.
303 303  )))
304 304  |(% colspan="3" rowspan="22" %)(((
... ... @@ -305,53 +305,53 @@
305 305  **Function setting**
306 306  )))|(% colspan="1" rowspan="12" %)(((
307 307  **General functions**
308 -)))|(% colspan="2" style="width:115px" %)(((
312 +)))|(% colspan="2" style="width:39px" %)(((
309 309  **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" %)(((
314 +)))|(% colspan="1" rowspan="1" style="width:503px" %)(((
315 +Automatic load inertia identification, automatic rigidity self-tuning
316 +)))|(% rowspan="1" style="width:364px" %)Automatic load inertia identification
317 +|(% colspan="2" style="width:39px" %)(((
318 +**Mix control**
319 +)))|(% colspan="1" rowspan="1" style="width:503px" %)(((
316 316  YES
317 317  )))|(% rowspan="1" style="width:364px" %)-
318 -|(% colspan="2" style="width:115px" %)(((
322 +|(% colspan="2" style="width:39px" %)(((
319 319  **Advanced control algorithms**
320 -)))|(% colspan="1" style="width:325px" %)(((
324 +)))|(% colspan="1" style="width:503px" %)(((
321 321  YES
322 322  )))|(% style="width:364px" %)-
323 -|(% colspan="2" rowspan="2" style="width:115px" %)(((
327 +|(% colspan="2" rowspan="2" style="width:39px" %)(((
324 324  **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" %)(((
329 +)))|(% colspan="2" style="width:867px" %)4 channels waveform monitoring
330 +|(% colspan="2" style="width:867px" %)10s waveform data recording
331 +|(% colspan="2" style="width:39px" %)(((
328 328  **Parameter management**
329 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
333 +)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
330 330  Support batch parameter import and export
331 331  )))
332 -|(% colspan="2" style="width:115px" %)(((
336 +|(% colspan="2" style="width:39px" %)(((
333 333  **Vibration suppression**
334 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
338 +)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
335 335  Support mechanical vibration suppression
336 336  )))
337 -|(% colspan="2" style="width:115px" %)(((
341 +|(% colspan="2" style="width:39px" %)(((
338 338  **Protection**
339 -)))|(% colspan="2" style="width:680px" %)(((
343 +)))|(% colspan="2" style="width:867px" %)(((
340 340  Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
341 341  )))
342 -|(% colspan="2" style="width:115px" %)(((
346 +|(% colspan="2" style="width:39px" %)(((
343 343  **Dynamic braking**
344 -)))|(% colspan="1" style="width:325px" %)-|(% style="width:364px" %)(((
348 +)))|(% colspan="1" style="width:503px" %)-|(% style="width:364px" %)(((
345 345  Optional
346 346  )))
347 -|(% colspan="2" style="width:115px" %)(((
351 +|(% colspan="2" style="width:39px" %)(((
348 348  **Brake device**
349 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
353 +)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
350 350  Support brake signal output
351 351  )))
352 -|(% colspan="2" style="width:115px" %)(((
356 +|(% colspan="2" style="width:39px" %)(((
353 353  **DI function**
354 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
358 +)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
355 355  Servo enable((% _mstmutation="1" %)**S-ON**(%%)), Error/alarm clear((% _mstmutation="1" %)**A-CLR**(%%)), Forward rotation prohibited((% _mstmutation="1" %)**POT**(%%))
356 356  
357 357  Backward rotation prohibited((% _mstmutation="1" %)**NOT**(%%)), Command direction((% _mstmutation="1" %)**C-SIGN**(%%)), Emergency stop((% _mstmutation="1" %)**E-STOP**(%%))
... ... @@ -360,9 +360,9 @@
360 360  
361 361  Internal position selection and enable((% _mstmutation="1" %)**INPO51, INPO52, INPO53, INPO54, ENINPOS**(%%))
362 362  )))
363 -|(% colspan="2" style="width:115px" %)(((
367 +|(% colspan="2" style="width:39px" %)(((
364 364  **DO function**
365 -)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
369 +)))|(% colspan="1" rowspan="1" style="width:503px" %)(((
366 366  Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
367 367  
368 368  Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
... ... @@ -378,46 +378,53 @@
378 378  |(% colspan="1" rowspan="4" %)**Position mode**|**Pulse frequency**|(% colspan="3" rowspan="1" %)(((
379 379  Max to 500KHz
380 380  )))
381 -|(% colspan="2" rowspan="1" style="width:115px" %)**Pulse type**|(% rowspan="1" style="width:325px" %)(((
385 +|(% colspan="2" rowspan="1" style="width:39px" %)**Pulse type**|(% rowspan="1" style="width:503px" %)(((
382 382  Direction + pulse; Orthogonal coding:
383 383  V1.21 and above support CW/CCW
384 384  )))|(% 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" %)(((
389 +|(% colspan="2" rowspan="1" style="width:39px" %)**Pulse filter**|(% colspan="2" rowspan="1" style="width:867px" %)First-order low-pass filter or smoothing filter
390 +|(% colspan="2" rowspan="1" style="width:39px" %)(((
387 387  **Pulse output**
388 -)))|(% rowspan="1" style="width:325px" %)-|(% rowspan="1" style="width:337px" %)A, B, Z differential output
392 +)))|(% rowspan="1" style="width:503px" %)-|(% rowspan="1" style="width:337px" %)A, B, Z differential output
389 389  |(% colspan="1" rowspan="3" %)(((
390 390  **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 +)))|(% colspan="2" style="width:39px" %)**Command input**|(% colspan="2" rowspan="1" style="width:867px" %)Internal command(8 segments)
396 +|(% colspan="2" style="width:39px" %)**Zero speed clamp**|(% colspan="2" rowspan="1" style="width:867px" %)Support
397 +|(% colspan="2" style="width:39px" %)**Torque limit**|(% colspan="2" rowspan="1" style="width:867px" %)Torque limit under speed mode
398 +|(% colspan="1" rowspan="3" %)**Torque mode**|(% colspan="2" style="width:39px" %)**Command input**|(% colspan="2" rowspan="1" style="width:867px" %)(((
395 395  Internal command
396 396  )))
397 -|(% colspan="2" style="width:115px" %)**Torque reach**|(% colspan="2" rowspan="1" style="width:325px" %)(((
401 +|(% colspan="2" style="width:39px" %)**Torque reach**|(% colspan="2" rowspan="1" style="width:867px" %)(((
398 398  Torque reach signal output
399 399  )))
400 -|(% colspan="2" style="width:115px" %)**Velocity limit**|(% colspan="2" rowspan="1" style="width:325px" %)(((
404 +|(% colspan="2" style="width:39px" %)**Velocity limit**|(% colspan="2" rowspan="1" style="width:867px" %)(((
401 401  Velocity limit under torque mode
402 402  )))
403 403  
404 -
405 405  = VD3E servo driver parameter table =
406 406  
407 -(% style="width:887px" %)
408 -|(% colspan="3" rowspan="1" style="width:464px" %)(((
410 +(% style="margin-left:auto; margin-right:auto; width:1149.22px" %)
411 +|(% colspan="3" rowspan="1" style="width:445px" %)(((
409 409  **Bus type**
410 -)))|(% style="width:309px" %)(((
413 +)))|(% style="width:327px" %)(((
411 411  (% style="text-align:center" %)
412 -[[image:1726277302418-624.png]]
415 +[[image:1726295827531-129.png]]
416 +
417 +(((
418 +
419 +)))
413 413  )))|(((
414 414  (% style="text-align:center" %)
415 -[[image:1726277309267-133.png]]
422 +[[image:1726295883786-742.png]]
423 +
424 +(((
425 +
426 +)))
416 416  )))|(((
417 417  (% style="text-align:center" %)
418 -[[image:1726277316197-586.png]]
429 +[[image:1726295894302-137.png]]
419 419  )))
420 -|(% colspan="3" rowspan="1" style="width:464px" %)**Model**|(% style="width:309px" %)(((
431 +|(% colspan="3" rowspan="1" style="width:445px" %)**Model**|(% style="width:327px" %)(((
421 421  **VD3E(A type)**
422 422  )))|(((
423 423  **VD3E(B type)**
... ... @@ -426,53 +426,49 @@
426 426  )))
427 427  |(% colspan="1" rowspan="7" style="width:166px" %)(((
428 428  **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
440 +)))|(% colspan="2" style="width:279px" %)**Power supply**|(% style="width:327px" %)220V|220V/380V|380V
441 +|(% colspan="2" style="width:279px" %)**Control method**|(% colspan="3" rowspan="1" style="width:672px" %)IGBT PWM control sine wave current drive
442 +|(% colspan="2" style="width:279px" %)**Encoder**|(% colspan="3" rowspan="1" style="width:672px" %)17bit, 23bit absolute value encoder
443 +|(% colspan="2" style="width:279px" %)**Control signal input**|(% colspan="3" rowspan="1" style="width:672px" %)(((
444 +6DI, Select the output function according to the function code configuration
436 436  )))
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
446 +|(% colspan="2" style="width:279px" %)**Control signal output**|(% colspan="3" rowspan="1" style="width:672px" %)(((
447 +3DO, Select the output function according to the function code configuration
441 441  )))
442 442  |(% style="width:147px" %)(((
443 443  **Communication function**
444 -)))|(% style="width:155px" %)(((
451 +)))|(% style="width:133px" %)(((
445 445  **Host computer communication**
446 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
453 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
447 447  The USB interface can be used to set function code parameters, monitor status, and view waveforms through a computer host computer.
448 448  Parameter self-tuning, etc.
449 449  )))
450 -|(% colspan="2" style="width:301px" %)**Braking resistor**|(% colspan="3" rowspan="1" style="width:470px" %)(((
457 +|(% colspan="2" style="width:279px" %)**Braking resistor**|(% colspan="3" rowspan="1" style="width:672px" %)(((
451 451  Built-in braking resistor, supports external braking resistor
452 452  )))
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" %)(((
460 +|(% colspan="1" rowspan="9" style="width:166px" %)**General functions**|(% colspan="2" style="width:279px" %)**Auto-tuning**|(% colspan="3" rowspan="1" style="width:672px" %)Automatic load inertia identification,automatic rigidity self-tuning
461 +|(% colspan="2" style="width:279px" %)(((
455 455  **Waveform viewing**
456 -)))|(% colspan="3" rowspan="1" style="width:470px" %)4 channels waveform monitoring
457 -|(% colspan="2" style="width:301px" %)(((
463 +)))|(% colspan="3" rowspan="1" style="width:672px" %)4 channels waveform monitoring
464 +|(% colspan="2" style="width:279px" %)(((
458 458  **Waveform storage**
459 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
466 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
460 460  Waveform acquisition frequency 1K Hz,(% style="background-color:transparent" %)10s waveform data recording
461 461  )))
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" %)(((
469 +|(% colspan="2" style="width:279px" %)**Parameter management**|(% colspan="3" rowspan="1" style="width:672px" %)Support batch parameter import and export
470 +|(% colspan="2" style="width:279px" %)(((
464 464  **Vibration suppression**
465 -)))|(% colspan="3" rowspan="1" style="width:470px" %)Support mechanical vibration suppression
466 -|(% colspan="2" style="width:301px" %)(((
472 +)))|(% colspan="3" rowspan="1" style="width:672px" %)Support mechanical vibration suppression
473 +|(% colspan="2" style="width:279px" %)(((
467 467  
468 468  
469 469  **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" %)(((
477 +)))|(% colspan="3" rowspan="1" style="width:672px" %)Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
478 +|(% colspan="2" style="width:279px" %)**Brake device**|(% colspan="3" rowspan="1" style="width:672px" %)Support brake signal output
479 +|(% colspan="2" style="width:279px" %)**DI function**|(% colspan="3" rowspan="1" style="width:672px" %)(((
473 473  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**(%%))
474 474  )))
475 -|(% colspan="2" style="width:301px" %)**DO function**|(% colspan="3" rowspan="1" style="width:470px" %)(((
482 +|(% colspan="2" style="width:279px" %)**DO function**|(% colspan="3" rowspan="1" style="width:672px" %)(((
476 476  Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
477 477  
478 478  Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
... ... @@ -483,101 +483,480 @@
483 483  **EtherCAT related**
484 484  )))|(% rowspan="14" style="width:147px" %)(((
485 485  **EtherCAT related**
486 -)))|(% style="width:155px" %)(((
487 -Communication protocol
488 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
493 +)))|(% style="width:133px" %)(((
494 +**Communication protocol**
495 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
489 489  EtherCAT protocol
490 490  )))
491 -|(% style="width:155px" %)(((
492 -Support services
493 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
498 +|(% style="width:133px" %)(((
499 +**Support services**
500 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
494 494  CoE(PDO,SDO)
495 495  )))
496 -|(% style="width:155px" %)(((
497 -Sync mode
498 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
503 +|(% style="width:133px" %)(((
504 +**Sync mode**
505 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
499 499  DC-Distributed Clock
500 500  )))
501 -|(% style="width:155px" %)(((
502 -Physical layer
503 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
508 +|(% style="width:133px" %)(((
509 +**Physical layer**
510 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
504 504  100BASE-TX
505 505  )))
506 -|(% style="width:155px" %)(((
507 -Baud rate
508 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
513 +|(% style="width:133px" %)(((
514 +**Baud rate**
515 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
509 509  100 Mbit/s(100Base-TX)
510 510  )))
511 -|(% style="width:155px" %)(((
512 -Duplex mode
513 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
518 +|(% style="width:133px" %)(((
519 +**Duplex mode**
520 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
514 514  Full duplex
515 515  )))
516 -|(% style="width:155px" %)(((
517 -Topology
518 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
523 +|(% style="width:133px" %)(((
524 +**Topology**
525 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
519 519  Circular, linear
520 520  )))
521 -|(% style="width:155px" %)(((
522 -Transmission medium
523 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
528 +|(% style="width:133px" %)(((
529 +**Transmission medium**
530 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
524 524  Shielded Category 5e or better network cable
525 525  )))
526 -|(% style="width:155px" %)(((
527 -Transmission distance
528 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
533 +|(% style="width:133px" %)(((
534 +**Transmission distance**
535 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
529 529  Less than 100M between two nodes (good environment, good cables)
530 530  )))
531 -|(% style="width:155px" %)(((
532 -Frame length
533 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
538 +|(% style="width:133px" %)(((
539 +**Frame length**
540 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
534 534  44 bytes~~1498 bytes
535 535  )))
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" %)(((
543 +|(% style="width:133px" %)(((
544 +**Excessive data**
545 +)))|(% colspan="5" rowspan="1" style="width:672px" %)Maximum size of a single Ethernet frame is 1486 bytes
546 +|(% style="width:133px" %)(((
547 +**Sync jitter**
548 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
542 542  <1μs
543 543  )))
544 -|(% style="width:155px" %)(((
545 -Distributed clock
546 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
551 +|(% style="width:133px" %)(((
552 +**Distributed clock**
553 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
547 547  64 bit
548 548  )))
549 -|(% style="width:155px" %)(((
550 -EEPROM capacity
551 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
556 +|(% style="width:133px" %)(((
557 +**EEPROM capacity**
558 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
552 552  8k bit initialization data is written through the EtherCAT master station
553 553  )))
554 554  |(% rowspan="2" style="width:147px" %)(((
555 555  **Control mode and performance**
556 -)))|(% style="width:155px" %)(((
557 -control mode
558 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
563 +)))|(% style="width:133px" %)(((
564 +**Control mode**
565 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
559 559  CSP、HM
560 560  )))
561 -|(% style="width:155px" %)Synchronization period|(% colspan="3" rowspan="1" style="width:470px" %)(((
568 +|(% style="width:133px" %)**Synchronization period**|(% colspan="3" rowspan="1" style="width:672px" %)(((
562 562  125μs
563 563  )))
564 564  
572 += **Servo Motor Naming Rules** =
565 565  
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
569 569  
570 -|(% rowspan="2" %)①Pole pairs|WD: 5| |(% rowspan="6" %)④Rated power|010：100W| |(% rowspan="4" %)⑦Encoder type|A1: 17bit single-turn absolute magnetic encoder
571 -|WE: 4| |020：200W| |C1：17bit multi-turn absolute magnetic encoder
572 -| | | |...| |D2：23bit multi-turn absolute optical encoder
573 -|(% rowspan="7" %)②Flange|40| |500：5.0KW| |E1: 2500-line incremental encoder
574 -|60| |550：5.5KW| | |
575 -|80| |...| |(% rowspan="2" %)⑧Motor structure|F：Oil seal
576 -|110| | | | |G：Oil seal + Brake device
577 -|130| |(% rowspan="4" %)⑤Rated speed|15：1500rpm| | |
578 -|150| |20：2000rpm| |(% rowspan="3" %)⑨Others|L：60/80 flange connector
579 -|180| |25：2500rpm| |(% rowspan="2" %)L2：60/80/130 flange connector
580 -| | | |30：3000rpm|
581 -|(% rowspan="3" %)③Inertia level|L: Low| | | | |(% colspan="2" %)
582 -|M: Middle| |(% rowspan="2" %)⑥Voltage level|S: 220V| |(% colspan="2" %)
583 -|H: High| |T: 380V| |(% colspan="2" %)
578 +(% style="margin-left:auto; margin-right:auto; width:1200px" %)
579 +|(% rowspan="2" %)①Pole pairs|WD: 5|(% rowspan="14" %) |(% rowspan="6" %)④Rated power|010：100W|(% rowspan="14" %) |(% rowspan="4" %)⑦Encoder type|A1: 17bit single-turn absolute magnetic encoder
580 +|WE: 4|020：200W|C1：17bit multi-turn absolute magnetic encoder
581 +|(% colspan="2" rowspan="1" %) |...|D2：23bit multi-turn absolute optical encoder
582 +|(% rowspan="7" %)②Flange|40|500：5.0KW|E1: 2500-line incremental encoder
583 +|60|550：5.5KW|(% colspan="2" rowspan="1" %)
584 +|80|...|(% rowspan="2" %)⑧Motor structure|F：Oil seal
585 +|110|(% colspan="2" rowspan="1" %) |G：Oil seal + Brake device
586 +|130|(% rowspan="4" %)⑤Rated speed|15：1500rpm|(% colspan="2" rowspan="1" %)
587 +|150|20：2000rpm|(% rowspan="3" %)⑨Others|L：60/80 flange connector
588 +|180|25：2500rpm|(% rowspan="2" %)L2：60/80/130 flange connector
589 +|(% colspan="2" rowspan="1" %) |30：3000rpm
590 +|(% rowspan="3" %)③Inertia level|L: Low|(% colspan="2" rowspan="1" %) |(% colspan="2" rowspan="3" %)
591 +|M: Middle|(% rowspan="2" %)⑥Voltage level|S: 220V
592 +|H: High|T: 380V
593 +
594 +(% style="text-align:center" %)
595 +[[image:Servo.Manual.02 VD2 SA Series.test.WebHome@image-20220611113846-8.jpeg]]
596 +
597 + Motor nameplate
598 +
599 += (% style="color:inherit; font-family:inherit; font-size:max(23px, min(29px, 12.3333px + 1.38889vw))" %)**Servo Motor Parameter**(%%) =
600 +
601 +(% style="margin-left:auto; margin-right:auto; width:1200px" %)
602 +|=(% style="width: 172px;" %)**220V motor model**|=(% style="width: 111px;" %)**Flange mm**|=(% style="width: 109px;" %)**Power kW**|=(% style="width: 132px;" %)**Rated speed rpm**|=(% style="width: 149px;" %)**Rated torque N*m**|=(% style="width: 137px;" %)**Rated current A**|=(% style="width: 172px;" %)**Allowable overload multiple**|=(% style="width: 91px;" %)**Pole pairs**|=(% style="width: 125px;" %)**Inertia level**
603 +|(% style="width:172px" %)WD40M-01030S-☐☐☐|(% style="width:111px" %)40|(% style="width:109px" %)0.1|(% style="width:132px" %)3000|(% style="width:149px" %)0.318|(% style="width:137px" %)1.0|(% style="width:172px" %)3.0|(% style="width:91px" %)5|(% style="width:125px" %)Middle
604 +|(% colspan="9" style="width:172px" %)
605 +|(% style="width:172px" %)WD60M-02030S-☐☐☐|(% style="width:111px" %)60|(% style="width:109px" %)0.2|(% style="width:132px" %)3000|(% style="width:149px" %)0.64|(% style="width:137px" %)1.7|(% style="width:172px" %)3.0|(% style="width:91px" %)5|(% rowspan="3" style="width:125px" %)Middle
606 +|(% style="width:172px" %)WD60M-04030S-☐☐☐|(% style="width:111px" %)60|(% style="width:109px" %)0.4|(% style="width:132px" %)3000|(% style="width:149px" %)1.27|(% style="width:137px" %)2.5|(% style="width:172px" %)3.0|(% style="width:91px" %)5
607 +|(% style="width:172px" %)WD60M-06030S-☐☐☐|(% style="width:111px" %)60|(% style="width:109px" %)0.6|(% style="width:132px" %)3000|(% style="width:149px" %)1.91|(% style="width:137px" %)3.6|(% style="width:172px" %)3.0|(% style="width:91px" %)5
608 +|(% colspan="9" style="width:172px" %)
609 +|(% style="width:172px" %)WD80M-07530S-☐☐☐|(% style="width:111px" %)80|(% style="width:109px" %)0.75|(% style="width:132px" %)3000|(% style="width:149px" %)2.39|(% style="width:137px" %)4.4|(% style="width:172px" %)3.0|(% style="width:91px" %)5|(% rowspan="3" style="width:125px" %)Middle
610 +|(% style="width:172px" %)WD80M-10025S-☐☐☐|(% style="width:111px" %)80|(% style="width:109px" %)1|(% style="width:132px" %)2500|(% style="width:149px" %)3.82|(% style="width:137px" %)4.6|(% style="width:172px" %)3.0|(% style="width:91px" %)5
611 +|(% style="width:172px" %)WD80M-10030S-☐☐☐|(% style="width:111px" %)80|(% style="width:109px" %)1|(% style="width:132px" %)3000|(% style="width:149px" %)3.18|(% style="width:137px" %)5.8|(% style="width:172px" %)3.0|(% style="width:91px" %)5
612 +|(% colspan="9" style="width:172px" %)
613 +|(% style="width:172px" %)WD130M-08515S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)0.85|(% style="width:132px" %)1500|(% style="width:149px" %)5.41|(% style="width:137px" %)4.6|(% style="width:172px" %)3.0|(% style="width:91px" %)5|(% rowspan="10" style="width:125px" %)Middle
614 +|(% style="width:172px" %)WD130M-13015S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)1.3|(% style="width:132px" %)1500|(% style="width:149px" %)8.28|(% style="width:137px" %)7.7|(% style="width:172px" %)3.0|(% style="width:91px" %)5
615 +|(% style="width:172px" %)WD130M-18015S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)1.8|(% style="width:132px" %)1500|(% style="width:149px" %)11.46|(% style="width:137px" %)9.8|(% style="width:172px" %)3.0|(% style="width:91px" %)5
616 +|(% style="width:172px" %)WD130M-23015S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)2.3|(% style="width:132px" %)1500|(% style="width:149px" %)14.64|(% style="width:137px" %)12.4|(% style="width:172px" %)3.0|(% style="width:91px" %)5
617 +|(% style="width:172px" %)WD130M-10020S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)1|(% style="width:132px" %)2000|(% style="width:149px" %)4.8|(% style="width:137px" %)6.0|(% style="width:172px" %)3.5|(% style="width:91px" %)5
618 +|(% style="width:172px" %)WD130M-15020S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)1.5|(% style="width:132px" %)2000|(% style="width:149px" %)7.2|(% style="width:137px" %)8.5|(% style="width:172px" %)3.5|(% style="width:91px" %)5
619 +|(% style="width:172px" %)WD130M-20020S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)2|(% style="width:132px" %)2000|(% style="width:149px" %)9.55|(% style="width:137px" %)10|(% style="width:172px" %)3.0|(% style="width:91px" %)5
620 +|(% style="width:172px" %)WD130M-15025S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)1.5|(% style="width:132px" %)2500|(% style="width:149px" %)5.73|(% style="width:137px" %)6.0|(% style="width:172px" %)3.0|(% style="width:91px" %)5
621 +|(% style="width:172px" %)WD130M-26025S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)2.6|(% style="width:132px" %)2500|(% style="width:149px" %)9.93|(% style="width:137px" %)10.5|(% style="width:172px" %)3.0|(% style="width:91px" %)5
622 +|(% style="width:172px" %)WD130M-38025S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)3.8|(% style="width:132px" %)2500|(% style="width:149px" %)14.5|(% style="width:137px" %)16|(% style="width:172px" %)3.0|(% style="width:91px" %)5
623 +
624 +(% style="margin-left:auto; margin-right:auto; width:1200px" %)
625 +|=**220V motor model**|=**Flange mm**|=**Power kW**|=**Rated speed rpm**|=**Rated torque N*m**|=**Rated current A**|=**Allowable overload multiple**|=(((
626 +**Pole pairs**
627 +)))|=(((
628 +**Inertia level**
629 +)))
630 +|WD60H-02030S-☐☐☐|60|0.2|3000|0.64|1.8|3.5|5|(% colspan="1" rowspan="3" %)(((
631 +High
632 +)))
633 +|WD60H-04030S-☐☐☐|60|0.4|3000|1.27|2.8|3.5|5
634 +|WD60H-06030S-☐☐☐|60|0.6|3000|1.91|4.0|3.0|5
635 +|(% colspan="9" %)
636 +|WD80H-07530S-☐☐☐|80|0.75|3000|2.39|4.8|3.0|5|(% colspan="1" rowspan="4" %)(((
637 +High
638 +)))
639 +|WD80H-10020S-☐☐☐|80|1|2000|4.77|4.8|3.0|5
640 +|WD80H-10025S-☐☐☐|80|1|2500|3.82|4.8|3.0|5
641 +|WD80H-10030S-☐☐☐|80|1|3000|3.2|4.8|3.0|5
642 +|(% colspan="9" %)
643 +|WD130H-15030S-☐☐☐|130|1.5|3000|4.8|6.0|3.0|5|(((
644 +High
645 +)))
646 +
647 +|(% style="width:174px" %)**220V motor model**|(% style="width:69px" %)**Flange mm**|(% style="width:86px" %)**Power kW**|(% style="width:125px" %)**Rated speed rpm**|(% style="width:110px" %)**Rated torque N*m**|(% style="width:136px" %)**Rated current A**|(% style="width:156px" %)**Allowable overload multiple**|(% style="width:55px" %)**Pole pairs**|(% style="width:82px" %)**Inertia level**
648 +|(% style="width:174px" %)WE60M-04030S-☐☐☐|(% style="width:69px" %)60|(% style="width:86px" %)0.4|(% style="width:125px" %)3000|(% style="width:110px" %)1.27|(% style="width:136px" %)2.6|(% style="width:156px" %)3.0|(% style="width:55px" %)4|(% style="width:82px" %)Middle
649 +|(% colspan="9" style="width:174px" %)
650 +|(% style="width:174px" %)WE80M-07320S-☐☐☐|(% style="width:69px" %)80|(% style="width:86px" %)0.73|(% style="width:125px" %)2000|(% style="width:110px" %)3.5|(% style="width:136px" %)3.0|(% style="width:156px" %)3.0|(% style="width:55px" %)4|(% rowspan="5" style="width:82px" %)Middle
651 +|(% style="width:174px" %)WE80M-07530S-☐☐☐|(% style="width:69px" %)80|(% style="width:86px" %)0.75|(% style="width:125px" %)3000|(% style="width:110px" %)2.39|(% style="width:136px" %)3.0|(% style="width:156px" %)3.0|(% style="width:55px" %)4
652 +|(% style="width:174px" %)WE80M-10025S-☐☐☐|(% style="width:69px" %)80|(% style="width:86px" %)1|(% style="width:125px" %)2500|(% style="width:110px" %)4.0|(% style="width:136px" %)4.4|(% style="width:156px" %)3.0|(% style="width:55px" %)4
653 +|(% style="width:174px" %)WE80M-11030S-☐☐☐|(% style="width:69px" %)80|(% style="width:86px" %)1.1|(% style="width:125px" %)3000|(% style="width:110px" %)3.5|(% style="width:136px" %)4.5|(% style="width:156px" %)3.0|(% style="width:55px" %)4
654 +|(% style="width:174px" %)WE80M-12030S-☐☐☐|(% style="width:69px" %)80|(% style="width:86px" %)1.2|(% style="width:125px" %)3000|(% style="width:110px" %)4.0|(% style="width:136px" %)4.5|(% style="width:156px" %)3.0|(% style="width:55px" %)4
655 +|(% colspan="9" style="width:174px" %)
656 +|(% style="width:174px" %)WE110M-12030S-☐☐☐|(% style="width:69px" %)110|(% style="width:86px" %)1.2|(% style="width:125px" %)3000|(% style="width:110px" %)4.0|(% style="width:136px" %)5.0|(% style="width:156px" %)3.0|(% style="width:55px" %)4|(% rowspan="3" style="width:82px" %)Middle
657 +|(% style="width:174px" %)WE110M-15030S-☐☐☐|(% style="width:69px" %)110|(% style="width:86px" %)1.5|(% style="width:125px" %)3000|(% style="width:110px" %)5.0|(% style="width:136px" %)6.0|(% style="width:156px" %)3.0|(% style="width:55px" %)4
658 +|(% style="width:174px" %)WE110M-18030S-☐☐☐|(% style="width:69px" %)110|(% style="width:86px" %)1.8|(% style="width:125px" %)3000|(% style="width:110px" %)6.0|(% style="width:136px" %)6.0|(% style="width:156px" %)3.0|(% style="width:55px" %)4
659 +|(% colspan="9" style="width:174px" %)
660 +|(% style="width:174px" %)WE130M-15015S-☐☐☐|(% style="width:69px" %)130|(% style="width:86px" %)1.5|(% style="width:125px" %)1500|(% style="width:110px" %)10|(% style="width:136px" %)6.0|(% style="width:156px" %)2.5|(% style="width:55px" %)4|(% rowspan="8" style="width:82px" %)Middle
661 +|(% style="width:174px" %)WE130M-23015S-☐☐☐|(% style="width:69px" %)130|(% style="width:86px" %)2.3|(% style="width:125px" %)1500|(% style="width:110px" %)15|(% style="width:136px" %)9.5|(% style="width:156px" %)2.0|(% style="width:55px" %)4
662 +|(% style="width:174px" %)WE130M-10025S-☐☐☐|(% style="width:69px" %)130|(% style="width:86px" %)1|(% style="width:125px" %)2500|(% style="width:110px" %)4.0|(% style="width:136px" %)4.0|(% style="width:156px" %)3.0|(% style="width:55px" %)4
663 +|(% style="width:174px" %)WE130M-13025S-☐☐☐|(% style="width:69px" %)130|(% style="width:86px" %)1.3|(% style="width:125px" %)2500|(% style="width:110px" %)5.0|(% style="width:136px" %)5.0|(% style="width:156px" %)3.0|(% style="width:55px" %)4
664 +|(% style="width:174px" %)WE130M-15025S-☐☐☐|(% style="width:69px" %)130|(% style="width:86px" %)1.5|(% style="width:125px" %)2500|(% style="width:110px" %)6.0|(% style="width:136px" %)6.0|(% style="width:156px" %)3.0|(% style="width:55px" %)4
665 +|(% style="width:174px" %)WE130M-20025S-☐☐☐|(% style="width:69px" %)130|(% style="width:86px" %)2|(% style="width:125px" %)2500|(% style="width:110px" %)7.7|(% style="width:136px" %)7.5|(% style="width:156px" %)2.9|(% style="width:55px" %)4
666 +|(% style="width:174px" %)WE130M-26025S-☐☐☐|(% style="width:69px" %)130|(% style="width:86px" %)2.6|(% style="width:125px" %)2500|(% style="width:110px" %)10|(% style="width:136px" %)10|(% style="width:156px" %)2.5|(% style="width:55px" %)4
667 +|(% style="width:174px" %)WE130M-38025S-☐☐☐|(% style="width:69px" %)130|(% style="width:86px" %)3.8|(% style="width:125px" %)2500|(% style="width:110px" %)15|(% style="width:136px" %)13.5|(% style="width:156px" %)2.0|(% style="width:55px" %)4
668 +
669 +|**380V motor model**|**Flange mm**|**Power kW**|**Rated speed rpm**|**Rated torque N*m**|**Rated current A**|**Allowable overload multiple**|**Pole pairs**|**Inertia level**
670 +|WD130M-08515T-☐☐☐|130|0.85|1500|5.41|3.1|3.0|5|(% colspan="1" rowspan="5" %)Middle
671 +|WD130M-13015T-☐☐☐|130|1.3|1500|8.28|5.1|3.0|5
672 +|WD130M-18015T-☐☐☐|130|1.8|1500|11.46|6.3|3.0|5
673 +|WD130M-23015T-☐☐☐|130|2.3|1500|14.64|8.5|3.0|5
674 +|WD180M-29015T-☐☐☐|180|2.9|1500|18.6|11.8|3.0|5
675 +
676 +|**380V motor model**|**Flange mm**|**Power kW**|**Rated speed rpm**|**Rated torque N*m**|**Rated current A**|**Allowable overload multiple**|(% style="width:78px" %)**Pole pairs**|(% style="width:68px" %)**Inertia level**
677 +|WE130M-20025T-☐☐☐|130|2.0|2500|7.7|7.5|2.8|(% style="width:78px" %)4|(% rowspan="6" style="width:68px" %)Middle
678 +|WE130M-26025T-☐☐☐|130|2.6|2500|10|6.0|2.5|(% style="width:78px" %)4
679 +|WE130M-31015T-☐☐☐|130|3.1|1500|20|11.5|2.5|(% style="width:78px" %)4
680 +|WE130M-38025T-☐☐☐|130|3.8|2500|15|8.8|2.0|(% style="width:78px" %)4
681 +|WE130M-42020T-☐☐☐|130|4.2|2000|20|8.5|2.0|(% style="width:78px" %)4
682 +|WE130M-53030T-☐☐☐|130|5.3|3000|17|11|2.0|(% style="width:78px" %)4
683 +|(% colspan="9" %)
684 +|WE180M-30015T-☐☐☐|180|3.0|1500|19|7.5|2.5|(% style="width:78px" %)4|(% rowspan="4" style="width:68px" %)Middle
685 +|WE180M-43015T-☐☐☐|180|4.3|1500|27|10|2.5|(% style="width:78px" %)4
686 +|WE180M-55015T-☐☐☐|180|5.5|1500|35|12|2.0|(% style="width:78px" %)4
687 +|WE180M-75015T-☐☐☐|180|7.5|1500|48|20|2.0|(% style="width:78px" %)4
688 +
689 +**Note**: ☐☐☐ Not all motor models include the following categories
690 +
691 +A1F：17-bit single-turn absolute magnetic encoder without brake.
692 +
693 +A1G：17-bit single-turn absolute magnetic encoder with brake.
694 +
695 +C1F：17-bit multi-turn absolute magnetic encoder without brake
696 +
697 +C1G：17-bit multi-turn absolute magnetic encoder with brake.
698 +
699 +D2F：23-bit multi-turn absolute Optical encoder without brake.
700 +
701 +D2G：23-bit multi-turn absolute Optical encoder with brake.
702 +
703 += **Servo Drive and Motor Matching Table** =
704 +
705 +**Note**: The **red-marked** combination is not recommended.
706 +
707 +|**Control type**|**Voltage level**|**Drive series**|**Drive model**|**Support motor**
708 +|(% rowspan="18" %)Pulse type|(% rowspan="12" %)220V|(% rowspan="3" %)VD2F|VD2F-003SA1P|(0.1-0.2)kW
709 +|VD2F-010SA1P|(0.2-0.4)kW
710 +|VD2F-014SA1P|(((
711 +(0.6-0.75)kW
712 +
713 +**(0.85-1.0)kW**
714 +)))
715 +|(% rowspan="2" %)VD2L|VD2L-010SA1P|(0.2-0.4)kW
716 +|VD2L-014SA1P/D|(((
717 +(0.6-0.75)kW
718 +
719 +**(0.85-1.0)kW**
720 +)))
721 +|(% rowspan="2" %)(((
722 +VD2 Type A
723 +)))|VD2-010SA1G/R/H|(0.2-0.4)kW
724 +|VD2-014SA1G/R/H|(((
725 +(0.6-0.75)kW
726 +
727 +**(0.85-1.0)kW**
728 +)))
729 +|(% rowspan="8" %)(((
730 +VD2 Type B
731 +)))|VD2-016SA1G/R/H|(0.85-1.5)kW
732 +|VD2-019SA1G/R/H|(1.5-2.0)kW
733 +|VD2-021SA1G/R/H|(2.0-2.5)kW
734 +|VD2-025SA1G|(2.5-3.0)kW
735 +|VD2-030SA1G|(3.0-4.0)kW
736 +|(% rowspan="6" %)380V|VD2-016TA1G|(0.85-1.5)kW
737 +|VD2-019TA1G|(1.5-2.0)kW
738 +|VD2-021TA1G|(2.0-3.0)kW
739 +|(% rowspan="3" %)VD2 Type C|VD2-030TA1G|(3.0-5.0)kW
740 +|VD2-040TA1G|(5.0-6.0)kW
741 +|VD2-050TA1G|(7.5)kW
742 +|(% rowspan="14" %)EtherCAT type|(% rowspan="8" %)220V|(% rowspan="3" %)VD3E Type A|VD3E-003SA1G|(0.1-0.2)kW
743 +|VD3E-010SA1G|(0.2-0.4)kW
744 +|VD3E-014SA1G|(((
745 +(0.6-0.75)kW
746 +
747 +**(0.85-1.0)kW**
748 +)))
749 +|(% rowspan="8" %)VD3E Type B|VD3E-016SA1G|(0.85-1.5)kW
750 +|VD3E-019SA1G|(1.5-2.0)kW
751 +|VD3E-021SA1G|(2.0-2.5)kW
752 +|VD3E-025SA1G|(2.5-3.0)kW
753 +|VD3E-030SA1G|(3.0-4.0)kW
754 +|(% rowspan="6" %)380V|VD3E-016TA1G|(0.85-1.5)kW
755 +|VD3E-019TA1G|(1.5-2.0)kW
756 +|VD3E-021TA1G|(2.0-3.0)kW
757 +|(% rowspan="3" %)VD3E Type C|VD3E-030TA1G|(3.0-5.0)kW
758 +|VD3E-040TA1G|(5.0-6.0)kW
759 +|VD3E-050TA1G|(7.5)kW
760 +
761 += **Servo Cable Naming Rules** =
762 +
763 +(% style="margin-left:auto; margin-right:auto; width:120px" %)
764 +|E|-|J1394|-|R9M|-|3M|X7|-|A1|-|2
765 +|①| |②| |③| |④|⑤| |⑥| |⑦
766 +
767 +(% style="margin-left:auto; margin-right:auto; width:1200px" %)
768 +|①Cable type|E: Encoder adapter cable|(% rowspan="14" %) |(% rowspan="4" %)④Cable length|3M: 3m
769 +|(% colspan="2" rowspan="1" %) |5M: 5m
770 +|(% rowspan="2" %)②Drive side connector|J1394: 1394 connector|7M: 7m
771 +|D15G: DB15 male connector|...
772 +|(% colspan="2" rowspan="1" %) |(% colspan="2" rowspan="1" %)
773 +|(% rowspan="7" %)③Motor side connector|R9M: 9-core rectangular female connector|(% rowspan="3" %)⑤Number of cores|X5: 5 cores
774 +|MC7S: 7-core straight female connector|X7: 7 cores
775 +|H28K7M: 7-core 28mm aviation female connector|...
776 +|CM10: 11-core 11mm aviation female connector|(% colspan="2" rowspan="1" %)
777 +|MC7P: 7-core straight female connector (L2)|(% rowspan="2" %)⑥Wire size|A: 0.2mm/0.14mm
778 +|R15M: 15-core rectangular female connector|A1: 0.2mm/0.14mm with battery box
779 +|H28J15M: 15-core 28mm aviation female connector|(% colspan="2" rowspan="1" %)
780 +|(% colspan="2" rowspan="2" %) |(% rowspan="2" %)⑦Others|1: Ordinary cable
781 +|2: High flex cable
782 +
783 +(% style="margin-left:auto; margin-right:auto; width:120px" %)
784 +|P|-|U3O1|-|H28J4M|-|5M|X4|-|C|-|1
785 +|①| |②| |③| |④|⑤| |⑥| |⑦
786 +
787 +(% style="margin-left:auto; margin-right:auto; width:1200px" %)
788 +|①Cable type|P: Power adapter cable/brake cable|(% rowspan="20" %) |(% rowspan="6" %)④Cable length|3M: 3m
789 +|(% colspan="2" rowspan="1" %) |5M: 5m
790 +|(% rowspan="8" %)②Drive side connector|Z3O1: 3-core pin-type cold-pressed terminal and 1-core O-type cold-pressed terminal|6D5M: 6.5m
791 +|Z3O3: 3-core pin-type cold-pressed terminal and 3-core O-type cold-pressed terminal|7M: 7m
792 +|Z4: 4-core pin-type cold-pressed terminal|10M: 10m
793 +|Z4O2: 4-core pin-type cold-pressed terminal and 2-core O-type cold-pressed terminal|...
794 +|U3O1: 3-core U-type cold-pressed terminal and 1-core O-type cold-pressed terminal|(% colspan="2" rowspan="1" %)
795 +|U3O3: 3-core U-type cold-pressed terminal and 3-core O-type cold-pressed terminal|(% rowspan="4" %)⑤Number of cores|X2: 2 cores
796 +|Z6: 6-core pin-type cold-pressed terminal|X4: 4 cores
797 +|O2: 2-core O-type cold-pressed terminal|X6: 6 cores
798 +|(% colspan="2" rowspan="1" %) |...
799 +|(% rowspan="9" %)③Motor side connector|18A6: 6-core 23mm aviation female connector|(% colspan="2" rowspan="1" %)
800 +|R4M: 4-core rectangular female connector|(% rowspan="5" %)⑥Wire size|D: 0.5mm
801 +|MC4S: 4-core straight female connector|E: 0.75mm
802 +|MC6S: 6-core straight female connector|B: 1.0mm
803 +|H28J4M: 4-core 28mm aviation female connector|F: 1.5mm
804 +|H32J4M: 4-core 32mm aviation female connector|C: 2.5mm
805 +|R2M: 2-core rectangular female connector|(% colspan="2" rowspan="1" %)
806 +|MC4H: 4-core H-type straight female connector|(% rowspan="2" %)⑦Others|1: Ordinary cable
807 +|MC6H: 6-core H-type straight female connector|2: High flex cable
808 +
809 += **Servo Cable Matching Table** =
810 +
811 +(% style="margin-left:auto; margin-right:auto; width:1200px" %)
812 +|=**Motor model**|=**Matching drive**|=**Power cable/brake cable**|=**Encoder cable**
813 +|(% rowspan="6" %)(((
814 +WD40M-○○○-☐☐☐
815 +
816 +WD60M-○○○-☐☐☐
817 +
818 +WD60H-○○○-☐☐☐
819 +
820 +WE60M-○○○-☐☐☐
821 +
822 +WD80M-○○○-☐☐☐
823 +
824 +WD80H-○○○-☐☐☐
825 +
826 +WE80M-○○○-☐☐☐
827 +)))|(% rowspan="2" %)VD2/VD3E A type|Power cable：P-Z3O1-R4M-*MX4|(% rowspan="3" %)Single-turn：E-J1394-R9M-*MX5-A
828 +|(((
829 +Power cable：P-Z3O1-R4M-*MX4
830 +
831 +Brake cable：P-O2-R2M-3MX2-D
832 +)))
833 +|(% rowspan="2" %)(((
834 +VD2/VD3E B type
835 +
836 +VD2/VD3E C type
837 +)))|Power cable：P-U3O1-R4M-*MX4
838 +|(((
839 +Power cable：P-U3O1-R4M-*MX4
840 +
841 +Brake cable：P-O2-R2M-3MX2-D
842 +)))|(% rowspan="3" %)Multi-turn：E-J1394-R9M-*MX7-A1
843 +|(% rowspan="2" %)VD2F/VD2L|Power cable：P-Z4-R4M-*MX4
844 +|(((
845 +Power cable：P-Z4-R4M-*MX4
846 +
847 +Brake cable：P-O2-R2M-3MX2-D
848 +)))
849 +|(% rowspan="6" %)(((
850 +WD60M-○○○-☐☐☐-L
851 +
852 +WD80M-○○○-☐☐☐-L
853 +)))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4S-*MX4|(% rowspan="3" %)Single-turn：E-J1394-MC7S-*MX5-A
854 +|With brake：P-Z3O3-MC6S-*MX6
855 +|(% rowspan="2" %)(((
856 +VD2/VD3E B type
857 +
858 +VD2/VD3E C type
859 +)))|Without brake：P-U3O1-MC4S-*MX4
860 +|With brake：P-U3O3-MC6S-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7S-*MX7-A1
861 +|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4S-*MX4
862 +|With brake：P-Z4O2-MC6S-*MX6
863 +|(% rowspan="6" %)(((
864 +WD60M-○○○-☐☐☐-L2
865 +
866 +WD80M-○○○-☐☐☐-L2
867 +)))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4S-*MX4|(% rowspan="3" %)Single-turn：E-J1394-MC7P-*MX5-A
868 +|With brake：P-Z3O3-MC6S-*MX6
869 +|(% rowspan="2" %)(((
870 +VD2/VD3E B type
871 +
872 +VD2/VD3E C type
873 +)))|Without brake：P-U3O1-MC4S-*MX4
874 +|With brake：P-U3O3-MC6S-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7P-*MX7-A1
875 +|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4S-*MX4
876 +|With brake：P-Z4O2-MC6S-*MX6
877 +|(% rowspan="4" %)(((
878 +WD60H-○○○-☐☐☐-L2
879 +
880 +WD80H-○○○-☐☐☐-L2
881 +)))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4H-*MX4|(% rowspan="2" %)Single-turn：E-J1394-MC7P-*MX5-A
882 +|With brake：P-Z3O3-MC6H-*MX6
883 +|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4H-*MX4|(% rowspan="2" %)Multi-turn：E-J1394-MC7P-*MX7-A1
884 +|With brake：P-Z4O2-MC6H-*MX6
885 +|(% rowspan="6" %)(((
886 +WE110M-○○○-☐☐☐
887 +
888 +WE130M-○○○-☐☐☐
889 +)))|(% rowspan="2" %)VD2/VD3E A type|Power cable：P-Z3O1-H28J4M-*MX4|(% rowspan="3" %)Single-turn：E-J1394-H28K7M-*MX5-A
890 +|Brake cable：No need
891 +|(% rowspan="2" %)(((
892 +VD2/VD3E B type
893 +
894 +VD2/VD3E C type
895 +)))|Power cable：P-U3O1-H28J4M-*MX4
896 +|Brake cable：No need|(% rowspan="3" %)Multi-turn：E-J1394-H28K7M-*MX7-A1
897 +|(% rowspan="2" %)VD2F/VD2L|Power cable：P-Z4-H28J4M-*MX4
898 +|Brake cable：No need
899 +|(% rowspan="6" %)(((
900 +WD130M-○○○-☐☐☐
901 +
902 +WD130H-○○○-☐☐☐
903 +)))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-18A6-*MX4|(% rowspan="3" %)Single-turn：E-J1394-CM10-*MX5-A
904 +|With brake：P-Z3O3-18A6-*MX6
905 +|(% rowspan="2" %)(((
906 +VD2/VD3E B type
907 +
908 +VD2/VD3E C type
909 +)))|Without brake：P-U3O1-18A6-*MX4
910 +|With brake：P-U3O3-18A6-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-CM10-*MX7-A1
911 +|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-18A6-*MX4
912 +|With brake：P-Z4O2-18A6-*MX4
913 +|(% rowspan="6" %)WD130M-○○○-☐☐☐-L2|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-18A6-*MX4|(% rowspan="3" %)Single-turn：E-J1394-MC7P-*MX5-A
914 +|With brake：P-Z3O3-18A6-*MX6
915 +|(% rowspan="2" %)(((
916 +VD2/VD3E B type
917 +
918 +VD2/VD3E C type
919 +)))|Without brake：P-U3O1-18A6-*MX4
920 +|With brake：P-U3O3-18A6-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7P-*MX7-A1
921 +|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-18A6-*MX4
922 +|With brake：P-Z4O2-18A6-*MX4
923 +|(% rowspan="2" %)(((
924 +WE180M-○○○-☐☐☐
925 +
926 +WD180M-○○○-☐☐☐
927 +)))|(% rowspan="2" %)(((
928 +VD2/VD3E B type
929 +
930 +VD2/VD3E C type
931 +)))|Power cable：P-U3O1-H32J4M-*MX4|Single-turn：E-J1394-H28K7M-*MX5-A
932 +|Brake cable：No need|Multi-turn：E-J1394-H28K7M-*MX7-A1
933 +
934 += **Servo **Input Current Parameter Table =
935 +
936 +(% style="margin-left:auto; margin-right:auto; width:1200px" %)
937 +|=Servo Drive Output Current (A)|=Servo Drive Output Voltage (V)|=Servo Drive Output Power (W)|=Efficiency|=Power factor|=Input current
938 +(single phase) (A)|=Input current
939 +(three phase) (A)|=Recommended power cable
940 +diameter（mm²）
941 +|3|(% colspan="1" rowspan="7" %)220|100|(% colspan="1" rowspan="11" %)0.7|(% rowspan="11" %)0.8|0.90|0.52|0.5
942 +|10|400|3.61|2.08|0.75
943 +|14|750|6.76|3.91|(((
944 +1.5 (For single phase)
945 +
946 +1 (For three phase)
947 +)))
948 +|16|1800|16.23|9.37|(((
949 +4 (For single phase)
950 +
951 +2 (For three phase)
952 +)))
953 +|21|2200|19.84|11.46|(((
954 +4 (For single phase)
955 +
956 +2.5 (For three phase)
957 +)))
958 +|25|2600|23.45|13.40|(% colspan="1" rowspan="2" %)(((
959 +6 (For single phase)
960 +
961 +4 (For three phase)
962 +)))
963 +|30|3000|26.79|15.46
964 +|21|(% colspan="1" rowspan="4" %)380|3000| |9.04|2
965 +|30|4500| |13.57|4
966 +|40|6000| |18.09|(% colspan="1" rowspan="2" %)6
967 +|50|7500| |22.61
968 +
969 +>For more motor application scenarios, please refer to this [[link>>https://docs.we-con.com.cn/bin/view/Servo/FAQ/How%20to%20estimate%20the%20maximum%20input%20current%20of%20a%20servo%20drive]].
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