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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 43.1
edited by Molly
on 2024/09/14 15:05
Change comment: There is no comment for this version

Summary

Details

Page properties
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**
... ... @@ -247,38 +247,38 @@
247 247  )))
248 248  |(% colspan="3" rowspan="12" %)(((
249 249  **Basic Specifications**
250 -)))|(% colspan="3" style="width:198px" %)**Power supply**|(% colspan="1" rowspan="1" style="width:325px" %)(((
257 +)))|(% colspan="3" style="width:277px" %)**Power supply**|(% colspan="1" rowspan="1" style="width:503px" %)(((
251 251  220V
252 252  )))|(% rowspan="1" style="width:364px" %)(((
253 253  220V
254 254  )))
255 -|(% colspan="3" style="width:198px" %)(((
262 +|(% colspan="3" style="width:277px" %)(((
256 256  **Control method**
257 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
264 +)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
258 258  IGBT PWM control sine wave current drive
259 259  )))
260 -|(% colspan="3" style="width:198px" %)(((
267 +|(% colspan="3" style="width:277px" %)(((
261 261  **Encoder**
262 -)))|(% colspan="2" rowspan="1" style="width:680px" %)17bit, 23bit absolute value encoder
263 -|(% colspan="3" style="width:198px" %)(((
269 +)))|(% colspan="2" rowspan="1" style="width:867px" %)17bit, 23bit absolute value encoder
270 +|(% colspan="3" style="width:277px" %)(((
264 264  **Control signal input**
265 -)))|(% colspan="2" rowspan="1" style="width:680px" %)4DI
266 -|(% colspan="3" style="width:198px" %)(((
272 +)))|(% colspan="2" rowspan="1" style="width:867px" %)4DI
273 +|(% colspan="3" style="width:277px" %)(((
267 267  **Control signal output**
268 -)))|(% colspan="2" rowspan="1" style="width:680px" %)4DO
269 -|(% colspan="3" style="width:198px" %)(((
275 +)))|(% colspan="2" rowspan="1" style="width:867px" %)4DO
276 +|(% colspan="3" style="width:277px" %)(((
270 270  **Pulse frequency division output**
271 -)))|(% colspan="1" rowspan="1" style="width:325px" %)—|(% rowspan="1" style="width:364px" %)(((
278 +)))|(% colspan="1" rowspan="1" style="width:503px" %)—|(% rowspan="1" style="width:364px" %)(((
272 272  Support
273 273  )))
274 -|(% colspan="3" style="width:198px" %)(((
281 +|(% colspan="3" style="width:277px" %)(((
275 275  **Pulse signal input**
276 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
283 +)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
277 277  Open collector or differential input
278 278  )))
279 -|(% colspan="3" style="width:198px" %)(((
286 +|(% colspan="3" style="width:277px" %)(((
280 280  **Pulse feedback output**
281 -)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
288 +)))|(% colspan="1" rowspan="1" style="width:503px" %)(((
282 282  Z signal open collector output
283 283  )))|(% rowspan="1" style="width:364px" %)(((
284 284  ABZ differential output(VD2-XXXXXXH
... ... @@ -285,20 +285,20 @@
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" %)(((
295 +|(% 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" %)(((
298 +|(% colspan="3" style="width:277px" %)(((
292 292  **Communication**
293 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
300 +)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
294 294  MODBUS RS485 or MODBUS RS422(SCTool)
295 295  )))
296 -|(% colspan="3" rowspan="2" style="width:198px" %)(((
303 +|(% colspan="3" rowspan="2" style="width:277px" %)(((
297 297  **Braking resistor**
298 -)))|(% colspan="4" rowspan="1" style="width:680px" %)(((
305 +)))|(% 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" %)(((
308 +|(% 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" %)(((
315 +)))|(% colspan="2" style="width:39px" %)(((
309 309  **Auto-tuning**
310 -)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
317 +)))|(% colspan="1" rowspan="1" style="width:503px" %)(((
311 311  Automatic load inertia identification,automatic rigidity self-tuning
312 312  )))|(% rowspan="1" style="width:364px" %)-
313 -|(% colspan="2" style="width:115px" %)(((
320 +|(% colspan="2" style="width:39px" %)(((
314 314  **Blend mode**
315 -)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
322 +)))|(% colspan="1" rowspan="1" style="width:503px" %)(((
316 316  YES
317 317  )))|(% rowspan="1" style="width:364px" %)-
318 -|(% colspan="2" style="width:115px" %)(((
325 +|(% colspan="2" style="width:39px" %)(((
319 319  **Advanced control algorithms**
320 -)))|(% colspan="1" style="width:325px" %)(((
327 +)))|(% colspan="1" style="width:503px" %)(((
321 321  YES
322 322  )))|(% style="width:364px" %)-
323 -|(% colspan="2" rowspan="2" style="width:115px" %)(((
330 +|(% 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" %)(((
332 +)))|(% colspan="2" style="width:867px" %)4 channels waveform monitoring
333 +|(% colspan="2" style="width:867px" %)10s waveform data recording
334 +|(% colspan="2" style="width:39px" %)(((
328 328  **Parameter management**
329 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
336 +)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
330 330  Support batch parameter import and export
331 331  )))
332 -|(% colspan="2" style="width:115px" %)(((
339 +|(% colspan="2" style="width:39px" %)(((
333 333  **Vibration suppression**
334 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
341 +)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
335 335  Support mechanical vibration suppression
336 336  )))
337 -|(% colspan="2" style="width:115px" %)(((
344 +|(% colspan="2" style="width:39px" %)(((
338 338  **Protection**
339 -)))|(% colspan="2" style="width:680px" %)(((
346 +)))|(% 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" %)(((
349 +|(% colspan="2" style="width:39px" %)(((
343 343  **Dynamic braking**
344 -)))|(% colspan="1" style="width:325px" %)-|(% style="width:364px" %)(((
351 +)))|(% colspan="1" style="width:503px" %)-|(% style="width:364px" %)(((
345 345  Optional
346 346  )))
347 -|(% colspan="2" style="width:115px" %)(((
354 +|(% colspan="2" style="width:39px" %)(((
348 348  **Brake device**
349 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
356 +)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
350 350  Support brake signal output
351 351  )))
352 -|(% colspan="2" style="width:115px" %)(((
359 +|(% colspan="2" style="width:39px" %)(((
353 353  **DI function**
354 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
361 +)))|(% 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" %)(((
370 +|(% colspan="2" style="width:39px" %)(((
364 364  **DO function**
365 -)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
372 +)))|(% 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**(%%))
... ... @@ -378,32 +378,32 @@
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" %)(((
388 +|(% 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" %)(((
392 +|(% colspan="2" rowspan="1" style="width:39px" %)**Pulse filter**|(% colspan="2" rowspan="1" style="width:867px" %)First-order low-pass filter or smoothing filter
393 +|(% colspan="2" rowspan="1" style="width:39px" %)(((
387 387  **Pulse output**
388 -)))|(% rowspan="1" style="width:325px" %)-|(% rowspan="1" style="width:337px" %)A, B, Z differential output
395 +)))|(% rowspan="1" style="width:503px" %)-|(% rowspan="1" style="width:337px" %)A, B, Z differential output
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" %)(((
398 +)))|(% colspan="2" style="width:39px" %)**Command input**|(% colspan="2" rowspan="1" style="width:867px" %)Internal command(8 segments)
399 +|(% colspan="2" style="width:39px" %)**Zero speed clamp**|(% colspan="2" rowspan="1" style="width:867px" %)Support
400 +|(% colspan="2" style="width:39px" %)**Torque limit**|(% colspan="2" rowspan="1" style="width:867px" %)Torque limit under speed mode
401 +|(% colspan="1" rowspan="3" %)**Torque mode**|(% colspan="2" style="width:39px" %)**Command input**|(% colspan="2" rowspan="1" style="width:867px" %)(((
395 395  Internal command
396 396  )))
397 -|(% colspan="2" style="width:115px" %)**Torque reach**|(% colspan="2" rowspan="1" style="width:325px" %)(((
404 +|(% colspan="2" style="width:39px" %)**Torque reach**|(% colspan="2" rowspan="1" style="width:867px" %)(((
398 398  Torque reach signal output
399 399  )))
400 -|(% colspan="2" style="width:115px" %)**Velocity limit**|(% colspan="2" rowspan="1" style="width:325px" %)(((
407 +|(% colspan="2" style="width:39px" %)**Velocity limit**|(% colspan="2" rowspan="1" style="width:867px" %)(((
401 401  Velocity limit under torque mode
402 402  )))
403 403  
404 404  = VD3E servo driver parameter table =
405 405  
406 -(% style="width:888px" %)
413 +(% style="margin-left:auto; margin-right:auto; width:1230px" %)
407 407  |(% colspan="3" rowspan="1" style="width:464px" %)(((
408 408  **Bus type**
409 409  )))|(% style="width:309px" %)(((
... ... @@ -413,9 +413,15 @@
413 413  (((
414 414  
415 415  )))
416 -)))|[[image:1726295883786-742.png]](((
423 +)))|(((
424 +(% style="text-align:center" %)
425 +[[image:1726295883786-742.png]]
426 +
427 +(((
417 417  
429 +)))
418 418  )))|(((
431 +(% style="text-align:center" %)
419 419  [[image:1726295894302-137.png]]
420 420  )))
421 421  |(% colspan="3" rowspan="1" style="width:464px" %)**Model**|(% style="width:309px" %)(((
... ... @@ -485,70 +485,70 @@
485 485  )))|(% rowspan="14" style="width:147px" %)(((
486 486  **EtherCAT related**
487 487  )))|(% style="width:155px" %)(((
488 -Communication protocol
501 +**Communication protocol**
489 489  )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
490 490  EtherCAT protocol
491 491  )))
492 492  |(% style="width:155px" %)(((
493 -Support services
506 +**Support services**
494 494  )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
495 495  CoE(PDO,SDO)
496 496  )))
497 497  |(% style="width:155px" %)(((
498 -Sync mode
511 +**Sync mode**
499 499  )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
500 500  DC-Distributed Clock
501 501  )))
502 502  |(% style="width:155px" %)(((
503 -Physical layer
516 +**Physical layer**
504 504  )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
505 505  100BASE-TX
506 506  )))
507 507  |(% style="width:155px" %)(((
508 -Baud rate
521 +**Baud rate**
509 509  )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
510 510  100 Mbit/s(100Base-TX)
511 511  )))
512 512  |(% style="width:155px" %)(((
513 -Duplex mode
526 +**Duplex mode**
514 514  )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
515 515  Full duplex
516 516  )))
517 517  |(% style="width:155px" %)(((
518 -Topology
531 +**Topology**
519 519  )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
520 520  Circular, linear
521 521  )))
522 522  |(% style="width:155px" %)(((
523 -Transmission medium
536 +**Transmission medium**
524 524  )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
525 525  Shielded Category 5e or better network cable
526 526  )))
527 527  |(% style="width:155px" %)(((
528 -Transmission distance
541 +**Transmission distance**
529 529  )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
530 530  Less than 100M between two nodes (good environment, good cables)
531 531  )))
532 532  |(% style="width:155px" %)(((
533 -Frame length
546 +**Frame length**
534 534  )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
535 535  44 bytes~~1498 bytes
536 536  )))
537 537  |(% style="width:155px" %)(((
538 -Excessive data
551 +**Excessive data**
539 539  )))|(% colspan="5" rowspan="1" style="width:470px" %)Maximum size of a single Ethernet frame is 1486 bytes
540 540  |(% style="width:155px" %)(((
541 -Sync jitter
554 +**Sync jitter**
542 542  )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
543 543  <1μs
544 544  )))
545 545  |(% style="width:155px" %)(((
546 -Distributed clock
559 +**Distributed clock**
547 547  )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
548 548  64 bit
549 549  )))
550 550  |(% style="width:155px" %)(((
551 -EEPROM capacity
564 +**EEPROM capacity**
552 552  )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
553 553  8k bit initialization data is written through the EtherCAT master station
554 554  )))
... ... @@ -555,14 +555,16 @@
555 555  |(% rowspan="2" style="width:147px" %)(((
556 556  **Control mode and performance**
557 557  )))|(% style="width:155px" %)(((
558 -control mode
571 +**Control mode**
559 559  )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
560 560  CSP、HM
561 561  )))
562 -|(% style="width:155px" %)Synchronization period|(% colspan="3" rowspan="1" style="width:470px" %)(((
575 +|(% style="width:155px" %)**Synchronization period**|(% colspan="3" rowspan="1" style="width:470px" %)(((
563 563  125μs
564 564  )))
565 565  
579 += Servo motor model description =
580 +
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