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Changes for page 05 Servo Product Manual

Last modified by Jim(Forgotten) on 2025/03/20 10:19
From version 33.1
edited by Molly
on 2024/09/14 14:38
Change comment: There is no comment for this version
To version 29.1
edited by Molly
on 2024/09/13 11:17
Change comment: There is no comment for this version

Summary

Details

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Content
... ... @@ -230,10 +230,10 @@
230 230  
231 231  = **VD2F/VD2L servo driver parameter table** =
232 232  
233 -(% style="width:1005px" %)
234 -|(% colspan="6" rowspan="1" style="width:312px" %)(((
233 +(% style="width:1004px" %)
234 +|(% colspan="6" rowspan="1" %)(((
235 235  **General type**
236 -)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
236 +)))|(% colspan="1" rowspan="1" style="width:221px" %)(((
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" %)(((
243 +|(% colspan="6" rowspan="1" %)**Model**|(% colspan="1" rowspan="1" style="width:221px" %)(((
244 244  **VD2F**
245 245  )))|(% rowspan="1" style="width:364px" %)(((
246 246  **VD2L**
... ... @@ -247,38 +247,40 @@
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" %)(((
250 +)))|(% colspan="3" %)**Power supply**|(% colspan="1" rowspan="1" style="width:221px" %)(((
251 251  220V
252 252  )))|(% rowspan="1" style="width:364px" %)(((
253 253  220V
254 254  )))
255 -|(% colspan="3" style="width:198px" %)(((
255 +|(% colspan="3" %)(((
256 256  **Control method**
257 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
257 +)))|(% colspan="2" rowspan="1" style="width:585px" %)(((
258 258  IGBT PWM control sine wave current drive
259 259  )))
260 -|(% colspan="3" style="width:198px" %)(((
260 +|(% colspan="3" %)(((
261 261  **Encoder**
262 -)))|(% colspan="2" rowspan="1" style="width:680px" %)17bit, 23bit absolute value encoder
263 -|(% colspan="3" style="width:198px" %)(((
262 +)))|(% colspan="2" rowspan="1" style="width:585px" %)17bit, 23bit absolute value encoder
263 +|(% colspan="3" %)(((
264 264  **Control signal input**
265 -)))|(% colspan="2" rowspan="1" style="width:680px" %)4DI
266 -|(% colspan="3" style="width:198px" %)(((
265 +)))|(% colspan="2" rowspan="1" style="width:585px" %)4DI
266 +|(% colspan="3" %)(((
267 267  **Control signal output**
268 -)))|(% colspan="2" rowspan="1" style="width:680px" %)4DO
269 -|(% colspan="3" style="width:198px" %)(((
268 +)))|(% colspan="2" rowspan="1" style="width:585px" %)4DO
269 +|(% colspan="3" %)(((
270 270  **Pulse frequency division output**
271 -)))|(% colspan="1" rowspan="1" style="width:325px" %)—|(% rowspan="1" style="width:364px" %)(((
271 +)))|(% colspan="1" rowspan="1" style="width:221px" %)—|(% rowspan="1" style="width:364px" %)(((
272 272  Support
273 273  )))
274 -|(% colspan="3" style="width:198px" %)(((
274 +|(% colspan="3" %)(((
275 275  **Pulse signal input**
276 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
276 +)))|(% colspan="2" rowspan="1" style="width:585px" %)(((
277 277  Open collector or differential input
278 +
279 +
278 278  )))
279 -|(% colspan="3" style="width:198px" %)(((
281 +|(% colspan="3" %)(((
280 280  **Pulse feedback output**
281 -)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
283 +)))|(% colspan="1" rowspan="1" style="width:221px" %)(((
282 282  Z signal open collector output
283 283  )))|(% rowspan="1" style="width:364px" %)(((
284 284  ABZ differential output(VD2-XXXXXXH
... ... @@ -285,20 +285,24 @@
285 285  
286 286  series support collector signal feedback)
287 287  )))
288 -|(% colspan="3" style="width:198px" %)(% style="background-color:transparent" %)**Internal Command**|(% colspan="2" rowspan="1" style="width:680px" %)(((
290 +|(% colspan="3" %)(% style="background-color:transparent" %)**Internal Command**|(% colspan="2" rowspan="1" style="width:585px" %)(((
289 289  8 segment internal speed command, 16 segment internal position command
290 290  )))
291 -|(% colspan="3" style="width:198px" %)(((
293 +|(% colspan="3" %)(((
292 292  **Communication**
293 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
295 +)))|(% colspan="2" rowspan="1" style="width:585px" %)(((
294 294  MODBUS RS485 or MODBUS RS422(SCTool)
295 295  )))
296 -|(% colspan="3" rowspan="2" style="width:198px" %)(((
298 +|(% colspan="3" rowspan="2" %)(((
297 297  **Braking resistor**
298 -)))|(% colspan="4" rowspan="1" style="width:680px" %)(((
300 +)))|(% colspan="4" rowspan="1" %)(((
301 +
302 +
299 299  750W built-in braking resistor; 400W without built-in;
304 +
305 +
300 300  )))
301 -|(% colspan="4" style="width:680px" %)(((
307 +|(% colspan="4" %)(((
302 302  Both can support external braking resistors.
303 303  )))
304 304  |(% colspan="3" rowspan="22" %)(((
... ... @@ -305,53 +305,55 @@
305 305  **Function setting**
306 306  )))|(% colspan="1" rowspan="12" %)(((
307 307  **General functions**
308 -)))|(% colspan="2" style="width:115px" %)(((
314 +)))|(% colspan="2" %)(((
309 309  **Auto-tuning**
310 -)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
311 -Automatic load inertia identification,automatic rigidity self-tuning
316 +)))|(% colspan="1" rowspan="1" style="width:221px" %)(((
317 +Automatic load inertia identification,
318 +
319 +automatic rigidity self-tuning
312 312  )))|(% rowspan="1" style="width:364px" %)-
313 -|(% colspan="2" style="width:115px" %)(((
321 +|(% colspan="2" %)(((
314 314  **Blend mode**
315 -)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
323 +)))|(% colspan="1" rowspan="1" style="width:221px" %)(((
316 316  YES
317 317  )))|(% rowspan="1" style="width:364px" %)-
318 -|(% colspan="2" style="width:115px" %)(((
326 +|(% colspan="2" %)(((
319 319  **Advanced control algorithms**
320 -)))|(% colspan="1" style="width:325px" %)(((
328 +)))|(% colspan="1" style="width:221px" %)(((
321 321  YES
322 322  )))|(% style="width:364px" %)-
323 -|(% colspan="2" rowspan="2" style="width:115px" %)(((
331 +|(% colspan="2" rowspan="2" %)(((
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" %)(((
333 +)))|(% colspan="2" style="width:585px" %)4 channels waveform monitoring
334 +|(% colspan="2" style="width:585px" %)10s waveform data recording
335 +|(% colspan="2" %)(((
328 328  **Parameter management**
329 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
337 +)))|(% colspan="2" rowspan="1" style="width:585px" %)(((
330 330  Support batch parameter import and export
331 331  )))
332 -|(% colspan="2" style="width:115px" %)(((
340 +|(% colspan="2" %)(((
333 333  **Vibration suppression**
334 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
342 +)))|(% colspan="2" rowspan="1" style="width:585px" %)(((
335 335  Support mechanical vibration suppression
336 336  )))
337 -|(% colspan="2" style="width:115px" %)(((
345 +|(% colspan="2" %)(((
338 338  **Protection**
339 -)))|(% colspan="2" style="width:680px" %)(((
347 +)))|(% colspan="2" style="width:585px" %)(((
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" %)(((
350 +|(% colspan="2" %)(((
343 343  **Dynamic braking**
344 -)))|(% colspan="1" style="width:325px" %)-|(% style="width:364px" %)(((
352 +)))|(% colspan="1" style="width:221px" %)-|(% style="width:364px" %)(((
345 345  Optional
346 346  )))
347 -|(% colspan="2" style="width:115px" %)(((
355 +|(% colspan="2" %)(((
348 348  **Brake device**
349 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
357 +)))|(% colspan="2" rowspan="1" style="width:585px" %)(((
350 350  Support brake signal output
351 351  )))
352 -|(% colspan="2" style="width:115px" %)(((
360 +|(% colspan="2" %)(((
353 353  **DI function**
354 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
362 +)))|(% colspan="2" rowspan="1" style="width:585px" %)(((
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" %)(((
371 +|(% colspan="2" %)(((
364 364  **DO function**
365 -)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
373 +)))|(% colspan="1" rowspan="1" style="width:221px" %)(((
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**(%%))
... ... @@ -378,191 +378,23 @@
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" %)(((
389 +|(% colspan="2" rowspan="1" style="width:337px" %)**Pulse type**|(% rowspan="1" style="width:337px" %)(((
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" %)(((
393 +|(% colspan="2" rowspan="1" style="width:337px" %)**Pulse filter**|(% colspan="2" rowspan="1" style="width:337px" %)First-order low-pass filter or smoothing filter
394 +|(% colspan="2" rowspan="1" style="width:337px" %)(((
387 387  **Pulse output**
388 -)))|(% rowspan="1" style="width:325px" %)-|(% rowspan="1" style="width:337px" %)A, B, Z differential output
396 +)))|(% rowspan="1" style="width:337px" %)-|(% rowspan="1" style="width:337px" %)A, B, Z differential output
389 389  |(% 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 -= VD3E servo driver parameter table =
405 -
406 -(% style="width:888px" %)
407 -|(% colspan="3" rowspan="1" style="width:464px" %)(((
408 -**Bus type**
409 -)))|(% style="width:309px" %)(((
410 -(% style="text-align:center" %)
411 -[[image:1726295827531-129.png]]
412 -
413 -(((
414 414  
415 -)))
416 -)))|[[image:1726295883786-742.png]](((
417 -
418 -)))|(((
419 -[[image:1726295894302-137.png]]
420 -)))
421 -|(% colspan="3" rowspan="1" style="width:464px" %)**Model**|(% style="width:309px" %)(((
422 -**VD3E(A type)**
423 -)))|(((
424 -**VD3E(B type)**
425 -)))|(((
426 -**VD3E(C type)**
427 -)))
428 -|(% colspan="1" rowspan="7" style="width:166px" %)(((
429 -**Basic Specifications**
430 -)))|(% colspan="2" style="width:301px" %)**Power supply**|(% style="width:309px" %)220V|220V/380V|380V
431 -|(% colspan="2" style="width:301px" %)**Control method**|(% colspan="3" rowspan="1" style="width:470px" %)IGBT PWM control sine wave current drive
432 -|(% colspan="2" style="width:301px" %)**Encoder**|(% colspan="3" rowspan="1" style="width:470px" %)17bit, 23bit absolute value encoder
433 -|(% colspan="2" style="width:301px" %)**Control signal input**|(% colspan="3" rowspan="1" style="width:470px" %)(((
434 -6DI,
399 +)))|(% colspan="2" style="width:337px" %) |(% style="width:337px" %) |(% style="width:337px" %)
400 +|(% colspan="2" style="width:337px" %) |(% style="width:337px" %) |(% style="width:337px" %)
401 +|(% colspan="2" style="width:337px" %) |(% style="width:337px" %) |(% style="width:337px" %)
402 +|(% colspan="1" rowspan="3" %) |(% colspan="2" style="width:337px" %) |(% style="width:337px" %) |(% style="width:337px" %)
403 +|(% colspan="2" style="width:337px" %) |(% style="width:337px" %) |(% style="width:337px" %)
404 +|(% colspan="2" style="width:337px" %) |(% style="width:337px" %) |(% style="width:337px" %)
435 435  
436 -Select the output function according to the function code configuration
437 -)))
438 -|(% colspan="2" style="width:301px" %)**Control signal output**|(% colspan="3" rowspan="1" style="width:470px" %)(((
439 -3DO,
440 -
441 -Select the output function according to the function code configuration
442 -)))
443 -|(% style="width:147px" %)(((
444 -**Communication function**
445 -)))|(% style="width:155px" %)(((
446 -**Host computer communication**
447 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
448 -The USB interface can be used to set function code parameters, monitor status, and view waveforms through a computer host computer.
449 -Parameter self-tuning, etc.
450 -)))
451 -|(% colspan="2" style="width:301px" %)**Braking resistor**|(% colspan="3" rowspan="1" style="width:470px" %)(((
452 -Built-in braking resistor, supports external braking resistor
453 -)))
454 -|(% 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
455 -|(% colspan="2" style="width:301px" %)(((
456 -**Waveform viewing**
457 -)))|(% colspan="3" rowspan="1" style="width:470px" %)4 channels waveform monitoring
458 -|(% colspan="2" style="width:301px" %)(((
459 -**Waveform storage**
460 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
461 -Waveform acquisition frequency 1K Hz,(% style="background-color:transparent" %)10s waveform data recording
462 -)))
463 -|(% colspan="2" style="width:301px" %)**Parameter management**|(% colspan="3" rowspan="1" style="width:470px" %)Support batch parameter import and export
464 -|(% colspan="2" style="width:301px" %)(((
465 -**Vibration suppression**
466 -)))|(% colspan="3" rowspan="1" style="width:470px" %)Support mechanical vibration suppression
467 -|(% colspan="2" style="width:301px" %)(((
468 -
469 -
470 -**Protection**
471 -)))|(% colspan="3" rowspan="1" style="width:470px" %)Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
472 -|(% colspan="2" style="width:301px" %)**Brake device**|(% colspan="3" rowspan="1" style="width:470px" %)Support brake signal output
473 -|(% colspan="2" style="width:301px" %)**DI function**|(% colspan="3" rowspan="1" style="width:470px" %)(((
474 -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**(%%))
475 -)))
476 -|(% colspan="2" style="width:301px" %)**DO function**|(% colspan="3" rowspan="1" style="width:470px" %)(((
477 -Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
478 -
479 -Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
480 -
481 -Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**),CommunicationVDO
482 -)))
483 -|(% colspan="1" rowspan="16" style="width:166px" %)(((
484 -**EtherCAT related**
485 -)))|(% rowspan="14" style="width:147px" %)(((
486 -**EtherCAT related**
487 -)))|(% style="width:155px" %)(((
488 -Communication protocol
489 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
490 -EtherCAT protocol
491 -)))
492 -|(% style="width:155px" %)(((
493 -Support services
494 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
495 -CoE(PDO,SDO)
496 -)))
497 -|(% style="width:155px" %)(((
498 -Sync mode
499 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
500 -DC-Distributed Clock
501 -)))
502 -|(% style="width:155px" %)(((
503 -Physical layer
504 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
505 -100BASE-TX
506 -)))
507 -|(% style="width:155px" %)(((
508 -Baud rate
509 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
510 -100 Mbit/s(100Base-TX)
511 -)))
512 -|(% style="width:155px" %)(((
513 -Duplex mode
514 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
515 -Full duplex
516 -)))
517 -|(% style="width:155px" %)(((
518 -Topology
519 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
520 -Circular, linear
521 -)))
522 -|(% style="width:155px" %)(((
523 -Transmission medium
524 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
525 -Shielded Category 5e or better network cable
526 -)))
527 -|(% style="width:155px" %)(((
528 -Transmission distance
529 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
530 -Less than 100M between two nodes (good environment, good cables)
531 -)))
532 -|(% style="width:155px" %)(((
533 -Frame length
534 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
535 -44 bytes~~1498 bytes
536 -)))
537 -|(% style="width:155px" %)(((
538 -Excessive data
539 -)))|(% colspan="5" rowspan="1" style="width:470px" %)Maximum size of a single Ethernet frame is 1486 bytes
540 -|(% style="width:155px" %)(((
541 -Sync jitter
542 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
543 -<1μs
544 -)))
545 -|(% style="width:155px" %)(((
546 -Distributed clock
547 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
548 -64 bit
549 -)))
550 -|(% style="width:155px" %)(((
551 -EEPROM capacity
552 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
553 -8k bit initialization data is written through the EtherCAT master station
554 -)))
555 -|(% rowspan="2" style="width:147px" %)(((
556 -**Control mode and performance**
557 -)))|(% style="width:155px" %)(((
558 -control mode
559 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
560 -CSP、HM
561 -)))
562 -|(% style="width:155px" %)Synchronization period|(% colspan="3" rowspan="1" style="width:470px" %)(((
563 -125μs
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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