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Changes for page 05 Servo Product Manual

Last modified by Jim(Forgotten) on 2025/03/20 10:19
From version 35.1
edited by Mora Zhou
on 2024/09/14 14:41
Change comment: There is no comment for this version
To version 14.1
edited by Jim(Forgotten)
on 2024/09/11 14:34
Change comment: There is no comment for this version

Summary

Details

Page properties
Title
... ... @@ -1,1 +1,1 @@
1 -05 Servo Product Manual
1 +05 Servo Production Manual
Author
... ... @@ -1,1 +1,1 @@
1 -XWiki.Mora
1 +XWiki.Jim
Content
... ... @@ -1,5 +1,6 @@
1 1  = Servo Drive Naming Rules =
2 2  
3 +
3 3  (% class="table-striped" style="margin-left:auto; margin-right:auto; width:20px" %)
4 4  |(((
5 5  (% class="wikigeneratedid" id="HVD2" %)
... ... @@ -55,535 +55,18 @@
55 55  |040: 40A|R: Support external PID function
56 56  |050: 50A|D: Support dynamic braking function
57 57  
58 -(% style="text-align:center" %)
59 -(((
60 -(% style="display:inline-block" %)
61 -[[Drive Nameplate>>image:1726038660755-332.png||_mstalt="294567"]]
62 -)))
59 +(% class="table-bordered" %)
60 +|VD2|(% style="width:302px" %)VD2F|(% style="width:554px" %)VD3E
61 +|VD2-010SA1G|VD2F-003SA1P|VD3E-010SA1G
62 +|VD2-014SA1G|VD2F-010SA1P|VD3E-014SA1G
63 +|VD2-016SA1G|VD2F-014SA1P|VD3E-016SA1G
64 +|VD2-016SE1G| |VD3E-019SA1G
65 +|VD2-019SA1G| |VD3E-021SA1G
66 +|VD2-019SE1G| |VD3E-025SA1G
67 +|VD2-021SA1G| |VD3E-030SA1G
68 +|VD2-021SE1G| |
69 +|VD2-025SA1G| |
70 +|VD2-030SA1G| |
71 +|VD2-021TA1G| |
63 63  
64 -= VD2 Servo Drive Parameter Table =
65 -
66 -|(% colspan="3" %)(((
67 -**General type**
68 -)))|[[image:1726038778533-997.png||_mstalt="300053"]]|[[image:1726038786193-560.png||_mstalt="296309"]]|[[image:1726038790641-417.png||_mstalt="295087"]]
69 -|(% colspan="3" %)**Model**|**VD2(A type)**|**VD2(B type)**|**VD2(C type)**
70 -|(% colspan="1" rowspan="11" %)(((
71 -**Basic Specifications**
72 -)))|(% colspan="2" %)**Power supply**|220V|220V/380V|380V
73 -|(% colspan="2" %)(((
74 -**Control method**
75 -)))|(% colspan="3" rowspan="1" %)(((
76 -IGBT PWM control sine wave current drive
77 -)))
78 -|(% colspan="2" %)(((
79 -**Encoder**
80 -)))|(% colspan="3" rowspan="1" %)(((
81 -2500-line incremental encoder, 17-bit/23-bit absolute encoder
82 -)))
83 -|(% colspan="2" %)(((
84 -**Control signal input**
85 -)))|(% colspan="3" rowspan="1" %)8DI
86 -|(% colspan="2" %)(((
87 -**Control signal output**
88 -)))|(% colspan="3" rowspan="1" %)4DO
89 -|(% colspan="2" %)(((
90 -**Analog signal input**
91 -)))|(% colspan="3" rowspan="1" %)(((
92 -2 AI(-10V to +10V)
93 -)))
94 -|(% colspan="2" %)(((
95 -**Pulse signal input**
96 -)))|(% colspan="3" rowspan="1" %)(((
97 -Open collector or differential input
98 -)))
99 -|(% colspan="2" %)(((
100 -**Pulse feedback output**
101 -)))|(% colspan="3" rowspan="1" %)ABZ differential output(VD2-XXXXXXH series support collector signal feedback)
102 -|(% colspan="2" %)(% style="background-color:transparent" %)**Internal Command**|(% colspan="3" rowspan="1" %)(((
103 -8 segment internal speed command, 16 segment internal position command
104 -)))
105 -|(% colspan="2" %)(((
106 -**Communication**
107 -)))|(% colspan="3" rowspan="1" %)(((
108 -MODBUS RS485 or MODBUS RS422(SCTool)
109 -)))
110 -|(% colspan="2" %)(((
111 -**Braking resistor**
112 -)))|(% colspan="3" rowspan="1" %)(((
113 -Internal braking resistor(also support external braking resistor)
114 -)))
115 -|(% colspan="1" rowspan="19" %)(((
116 -**Function setting**
117 -)))|(% colspan="1" rowspan="9" %)(((
118 -**General functions**
119 -)))|(((
120 -**Auto-tuning**
121 -)))|(% colspan="3" rowspan="1" %)(((
122 -Automatic load inertia identification, automatic rigidity self-tuning
123 -)))
124 -|(% colspan="1" rowspan="2" %)(((
125 -**Waveform**
126 -)))|(% colspan="3" rowspan="1" %)(((
127 -4 channels waveform monitoring
128 -)))
129 -|(% colspan="3" rowspan="1" %)(((
130 -10s waveform data recording
131 -)))
132 -|(((
133 -**Parameter management**
134 -)))|(% colspan="3" rowspan="1" %)(((
135 -Support batch parameter import and export
136 -)))
137 -|(((
138 -**Vibration suppression**
139 -)))|(% colspan="3" rowspan="1" %)(((
140 -Support mechanical vibration suppression
141 -)))
142 -|(((
143 -**Protection**
144 -)))|(% colspan="3" rowspan="1" %)(((
145 -Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
146 -)))
147 -|(((
148 -**Brake device**
149 -)))|(% colspan="3" rowspan="1" %)(((
150 -Support brake signal output
151 -)))
152 -|(((
153 -**DI function**
154 -)))|(% colspan="3" rowspan="1" %)(((
155 -Servo enable((% _mstmutation="1" %)**S-ON**(%%)), Error/alarm clear((% _mstmutation="1" %)**A-CLR**(%%)), Forward rotation prohibited((% _mstmutation="1" %)**POT**(%%))
156 -
157 -Backward rotation prohibited((% _mstmutation="1" %)**NOT**(%%)), Command direction((% _mstmutation="1" %)**C-SIGN**(%%)), Emergency stop((% _mstmutation="1" %)**E-STOP**(%%))
158 -
159 -Gain switch((% _mstmutation="1" %)**GAIN-5EL**(%%)), Internal speed selection((% _mstmutation="1" %)**INSPD1, INSPD2, INSPD3**(%%))
160 -
161 -Internal position selection and enable((% _mstmutation="1" %)**INPO51, INPO52, INPO53, INPO54, ENINPOS**(%%))
162 -)))
163 -|(((
164 -**DO function**
165 -)))|(% colspan="3" rowspan="1" %)(((
166 -Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
167 -
168 -Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
169 -
170 -Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), ABZ pulse feedback output
171 -)))
172 -|(% colspan="1" rowspan="4" %)(((
173 -**Position mode**
174 -)))|(((
175 -**Pulse frequency**
176 -)))|(% colspan="3" rowspan="1" %)(((
177 -Max to 500KHz
178 -)))
179 -|(((
180 -**Pulse type**
181 -)))|(% colspan="3" rowspan="1" %)(((
182 -Direction + Pulse, CW/CCW, Orthogonal coding
183 -)))
184 -|(((
185 -**Pulse filter**
186 -)))|(% colspan="3" rowspan="1" %)(((
187 -First-order low-pass filter or smoothing filter
188 -)))
189 -|(((
190 -**Pulse output**
191 -)))|(% colspan="3" rowspan="1" %)(((
192 -A, B, Z differential output
193 -)))
194 -|(% colspan="1" rowspan="3" %)(((
195 -**Speed mode**
196 -)))|(((
197 -**Command input**
198 -)))|(% colspan="3" rowspan="1" %)(((
199 -Analog input(-10V to +10V), Internal command(8 segments)
200 -)))
201 -|(((
202 -**Zero speed clamp**
203 -)))|(% colspan="3" rowspan="1" %)(((
204 -Support
205 -)))
206 -|(((
207 -**Torque limit**
208 -)))|(% colspan="3" rowspan="1" %)(((
209 -Torque limit under speed mode
210 -)))
211 -|(% colspan="1" rowspan="3" %)(((
212 -**Torque mode**
213 -)))|(((
214 -**Command input**
215 -)))|(% colspan="3" rowspan="1" %)(((
216 -Analog input(-10V to +10V), Internal command
217 -)))
218 -|(((
219 -**Torque reach**
220 -)))|(% colspan="3" rowspan="1" %)(((
221 -Torque reach signal output
222 -)))
223 -|(((
224 -**Velocity limit**
225 -)))|(% colspan="3" rowspan="1" %)(((
226 -Velocity limit under torque mode
227 -)))
228 -
229 -= (% id="cke_bm_7897S" style="display:none" %) (%%) =
230 -
231 -= **VD2F/VD2L servo driver parameter table** =
232 -
233 -(% style="width:1005px" %)
234 -|(% colspan="6" rowspan="1" style="width:312px" %)(((
235 -**General type**
236 -)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
237 -(% style="text-align:center" %)
238 -[[image:1726190862910-426.png]]
239 -)))|(% rowspan="1" style="width:364px" %)(((
240 -(% style="text-align:center" %)
241 -[[image:1726190785664-427.png]]
242 -)))
243 -|(% colspan="6" rowspan="1" style="width:312px" %)**Model**|(% colspan="1" rowspan="1" style="width:325px" %)(((
244 -**VD2F**
245 -)))|(% rowspan="1" style="width:364px" %)(((
246 -**VD2L**
247 -)))
248 -|(% colspan="3" rowspan="12" %)(((
249 -**Basic Specifications**
250 -)))|(% colspan="3" style="width:198px" %)**Power supply**|(% colspan="1" rowspan="1" style="width:325px" %)(((
251 -220V
252 -)))|(% rowspan="1" style="width:364px" %)(((
253 -220V
254 -)))
255 -|(% colspan="3" style="width:198px" %)(((
256 -**Control method**
257 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
258 -IGBT PWM control sine wave current drive
259 -)))
260 -|(% colspan="3" style="width:198px" %)(((
261 -**Encoder**
262 -)))|(% colspan="2" rowspan="1" style="width:680px" %)17bit, 23bit absolute value encoder
263 -|(% colspan="3" style="width:198px" %)(((
264 -**Control signal input**
265 -)))|(% colspan="2" rowspan="1" style="width:680px" %)4DI
266 -|(% colspan="3" style="width:198px" %)(((
267 -**Control signal output**
268 -)))|(% colspan="2" rowspan="1" style="width:680px" %)4DO
269 -|(% colspan="3" style="width:198px" %)(((
270 -**Pulse frequency division output**
271 -)))|(% colspan="1" rowspan="1" style="width:325px" %)—|(% rowspan="1" style="width:364px" %)(((
272 -Support
273 -)))
274 -|(% colspan="3" style="width:198px" %)(((
275 -**Pulse signal input**
276 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
277 -Open collector or differential input
278 -)))
279 -|(% colspan="3" style="width:198px" %)(((
280 -**Pulse feedback output**
281 -)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
282 -Z signal open collector output
283 -)))|(% rowspan="1" style="width:364px" %)(((
284 -ABZ differential output(VD2-XXXXXXH
285 -
286 -series support collector signal feedback)
287 -)))
288 -|(% colspan="3" style="width:198px" %)(% style="background-color:transparent" %)**Internal Command**|(% colspan="2" rowspan="1" style="width:680px" %)(((
289 -8 segment internal speed command, 16 segment internal position command
290 -)))
291 -|(% colspan="3" style="width:198px" %)(((
292 -**Communication**
293 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
294 -MODBUS RS485 or MODBUS RS422(SCTool)
295 -)))
296 -|(% colspan="3" rowspan="2" style="width:198px" %)(((
297 -**Braking resistor**
298 -)))|(% colspan="4" rowspan="1" style="width:680px" %)(((
299 -750W built-in braking resistor; 400W without built-in;
300 -)))
301 -|(% colspan="4" style="width:680px" %)(((
302 -Both can support external braking resistors.
303 -)))
304 -|(% colspan="3" rowspan="22" %)(((
305 -**Function setting**
306 -)))|(% colspan="1" rowspan="12" %)(((
307 -**General functions**
308 -)))|(% colspan="2" style="width:115px" %)(((
309 -**Auto-tuning**
310 -)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
311 -Automatic load inertia identification,automatic rigidity self-tuning
312 -)))|(% rowspan="1" style="width:364px" %)-
313 -|(% colspan="2" style="width:115px" %)(((
314 -**Blend mode**
315 -)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
316 -YES
317 -)))|(% rowspan="1" style="width:364px" %)-
318 -|(% colspan="2" style="width:115px" %)(((
319 -**Advanced control algorithms**
320 -)))|(% colspan="1" style="width:325px" %)(((
321 -YES
322 -)))|(% style="width:364px" %)-
323 -|(% colspan="2" rowspan="2" style="width:115px" %)(((
324 -**Waveform**
325 -)))|(% colspan="2" style="width:680px" %)4 channels waveform monitoring
326 -|(% colspan="2" style="width:680px" %)10s waveform data recording
327 -|(% colspan="2" style="width:115px" %)(((
328 -**Parameter management**
329 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
330 -Support batch parameter import and export
331 -)))
332 -|(% colspan="2" style="width:115px" %)(((
333 -**Vibration suppression**
334 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
335 -Support mechanical vibration suppression
336 -)))
337 -|(% colspan="2" style="width:115px" %)(((
338 -**Protection**
339 -)))|(% colspan="2" style="width:680px" %)(((
340 -Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
341 -)))
342 -|(% colspan="2" style="width:115px" %)(((
343 -**Dynamic braking**
344 -)))|(% colspan="1" style="width:325px" %)-|(% style="width:364px" %)(((
345 -Optional
346 -)))
347 -|(% colspan="2" style="width:115px" %)(((
348 -**Brake device**
349 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
350 -Support brake signal output
351 -)))
352 -|(% colspan="2" style="width:115px" %)(((
353 -**DI function**
354 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
355 -Servo enable((% _mstmutation="1" %)**S-ON**(%%)), Error/alarm clear((% _mstmutation="1" %)**A-CLR**(%%)), Forward rotation prohibited((% _mstmutation="1" %)**POT**(%%))
356 -
357 -Backward rotation prohibited((% _mstmutation="1" %)**NOT**(%%)), Command direction((% _mstmutation="1" %)**C-SIGN**(%%)), Emergency stop((% _mstmutation="1" %)**E-STOP**(%%))
358 -
359 -Gain switch((% _mstmutation="1" %)**GAIN-5EL**(%%)), Internal speed selection((% _mstmutation="1" %)**INSPD1, INSPD2, INSPD3**(%%))
360 -
361 -Internal position selection and enable((% _mstmutation="1" %)**INPO51, INPO52, INPO53, INPO54, ENINPOS**(%%))
362 -)))
363 -|(% colspan="2" style="width:115px" %)(((
364 -**DO function**
365 -)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
366 -Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
367 -
368 -Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
369 -
370 -Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), Z pulse feedback output
371 -)))|(% rowspan="1" style="width:364px" %)(((
372 -Servo ready(**RDY**)、Error signal(**ALM**), Alarm signal(**WARN**), Rotation detection(**TGON**)
373 -
374 -Zero speed signal(**ZSP**), Torque limited(**T-LIMIT**), Velocity limited(**V-LIMIT**)
375 -
376 -Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), ABZ pulse feedback output
377 -)))
378 -|(% colspan="1" rowspan="4" %)**Position mode**|**Pulse frequency**|(% colspan="3" rowspan="1" %)(((
379 -Max to 500KHz
380 -)))
381 -|(% colspan="2" rowspan="1" style="width:115px" %)**Pulse type**|(% rowspan="1" style="width:325px" %)(((
382 -Direction + pulse; Orthogonal coding:
383 -V1.21 and above support CW/CCW
384 -)))|(% rowspan="1" style="width:337px" %)Direction + Pulse, Orthogonal coding
385 -|(% colspan="2" rowspan="1" style="width:115px" %)**Pulse filter**|(% colspan="2" rowspan="1" style="width:680px" %)First-order low-pass filter or smoothing filter
386 -|(% colspan="2" rowspan="1" style="width:115px" %)(((
387 -**Pulse output**
388 -)))|(% rowspan="1" style="width:325px" %)-|(% rowspan="1" style="width:337px" %)A, B, Z differential output
389 -|(% colspan="1" rowspan="3" %)(((
390 -**Speed mode**
391 -)))|(% colspan="2" style="width:115px" %)**Command input**|(% colspan="2" rowspan="1" style="width:325px" %)Internal command(8 segments)
392 -|(% colspan="2" style="width:115px" %)**Zero speed clamp**|(% colspan="2" rowspan="1" style="width:325px" %)Support
393 -|(% colspan="2" style="width:115px" %)**Torque limit**|(% colspan="2" rowspan="1" style="width:325px" %)Torque limit under speed mode
394 -|(% colspan="1" rowspan="3" %)**Torque mode**|(% colspan="2" style="width:115px" %)**Command input**|(% colspan="2" rowspan="1" style="width:325px" %)(((
395 -Internal command
396 -)))
397 -|(% colspan="2" style="width:115px" %)**Torque reach**|(% colspan="2" rowspan="1" style="width:325px" %)(((
398 -Torque reach signal output
399 -)))
400 -|(% colspan="2" style="width:115px" %)**Velocity limit**|(% colspan="2" rowspan="1" style="width:325px" %)(((
401 -Velocity limit under torque mode
402 -)))
403 -
404 -= VD3E servo driver parameter table =
405 -
406 -(% style="margin-left:auto; margin-right:auto; width:1230px" %)
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 -)))|(((
417 -(% style="text-align:center" %)
418 -[[image:1726295883786-742.png]]
419 -
420 -(((
421 -
422 -)))
423 -)))|(((
424 -(% style="text-align:center" %)
425 -[[image:1726295894302-137.png]]
426 -)))
427 -|(% colspan="3" rowspan="1" style="width:464px" %)**Model**|(% style="width:309px" %)(((
428 -**VD3E(A type)**
429 -)))|(((
430 -**VD3E(B type)**
431 -)))|(((
432 -**VD3E(C type)**
433 -)))
434 -|(% colspan="1" rowspan="7" style="width:166px" %)(((
435 -**Basic Specifications**
436 -)))|(% colspan="2" style="width:301px" %)**Power supply**|(% style="width:309px" %)220V|220V/380V|380V
437 -|(% colspan="2" style="width:301px" %)**Control method**|(% colspan="3" rowspan="1" style="width:470px" %)IGBT PWM control sine wave current drive
438 -|(% colspan="2" style="width:301px" %)**Encoder**|(% colspan="3" rowspan="1" style="width:470px" %)17bit, 23bit absolute value encoder
439 -|(% colspan="2" style="width:301px" %)**Control signal input**|(% colspan="3" rowspan="1" style="width:470px" %)(((
440 -6DI,
441 -
442 -Select the output function according to the function code configuration
443 -)))
444 -|(% colspan="2" style="width:301px" %)**Control signal output**|(% colspan="3" rowspan="1" style="width:470px" %)(((
445 -3DO,
446 -
447 -Select the output function according to the function code configuration
448 -)))
449 -|(% style="width:147px" %)(((
450 -**Communication function**
451 -)))|(% style="width:155px" %)(((
452 -**Host computer communication**
453 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
454 -The USB interface can be used to set function code parameters, monitor status, and view waveforms through a computer host computer.
455 -Parameter self-tuning, etc.
456 -)))
457 -|(% colspan="2" style="width:301px" %)**Braking resistor**|(% colspan="3" rowspan="1" style="width:470px" %)(((
458 -Built-in braking resistor, supports external braking resistor
459 -)))
460 -|(% 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
461 -|(% colspan="2" style="width:301px" %)(((
462 -**Waveform viewing**
463 -)))|(% colspan="3" rowspan="1" style="width:470px" %)4 channels waveform monitoring
464 -|(% colspan="2" style="width:301px" %)(((
465 -**Waveform storage**
466 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
467 -Waveform acquisition frequency 1K Hz,(% style="background-color:transparent" %)10s waveform data recording
468 -)))
469 -|(% colspan="2" style="width:301px" %)**Parameter management**|(% colspan="3" rowspan="1" style="width:470px" %)Support batch parameter import and export
470 -|(% colspan="2" style="width:301px" %)(((
471 -**Vibration suppression**
472 -)))|(% colspan="3" rowspan="1" style="width:470px" %)Support mechanical vibration suppression
473 -|(% colspan="2" style="width:301px" %)(((
474 -
475 -
476 -**Protection**
477 -)))|(% colspan="3" rowspan="1" style="width:470px" %)Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
478 -|(% colspan="2" style="width:301px" %)**Brake device**|(% colspan="3" rowspan="1" style="width:470px" %)Support brake signal output
479 -|(% colspan="2" style="width:301px" %)**DI function**|(% colspan="3" rowspan="1" style="width:470px" %)(((
480 -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**(%%))
481 -)))
482 -|(% colspan="2" style="width:301px" %)**DO function**|(% colspan="3" rowspan="1" style="width:470px" %)(((
483 -Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
484 -
485 -Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
486 -
487 -Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**),CommunicationVDO
488 -)))
489 -|(% colspan="1" rowspan="16" style="width:166px" %)(((
490 -**EtherCAT related**
491 -)))|(% rowspan="14" style="width:147px" %)(((
492 -**EtherCAT related**
493 -)))|(% style="width:155px" %)(((
494 -Communication protocol
495 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
496 -EtherCAT protocol
497 -)))
498 -|(% style="width:155px" %)(((
499 -Support services
500 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
501 -CoE(PDO,SDO)
502 -)))
503 -|(% style="width:155px" %)(((
504 -Sync mode
505 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
506 -DC-Distributed Clock
507 -)))
508 -|(% style="width:155px" %)(((
509 -Physical layer
510 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
511 -100BASE-TX
512 -)))
513 -|(% style="width:155px" %)(((
514 -Baud rate
515 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
516 -100 Mbit/s(100Base-TX)
517 -)))
518 -|(% style="width:155px" %)(((
519 -Duplex mode
520 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
521 -Full duplex
522 -)))
523 -|(% style="width:155px" %)(((
524 -Topology
525 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
526 -Circular, linear
527 -)))
528 -|(% style="width:155px" %)(((
529 -Transmission medium
530 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
531 -Shielded Category 5e or better network cable
532 -)))
533 -|(% style="width:155px" %)(((
534 -Transmission distance
535 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
536 -Less than 100M between two nodes (good environment, good cables)
537 -)))
538 -|(% style="width:155px" %)(((
539 -Frame length
540 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
541 -44 bytes~~1498 bytes
542 -)))
543 -|(% style="width:155px" %)(((
544 -Excessive data
545 -)))|(% colspan="5" rowspan="1" style="width:470px" %)Maximum size of a single Ethernet frame is 1486 bytes
546 -|(% style="width:155px" %)(((
547 -Sync jitter
548 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
549 -<1μs
550 -)))
551 -|(% style="width:155px" %)(((
552 -Distributed clock
553 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
554 -64 bit
555 -)))
556 -|(% style="width:155px" %)(((
557 -EEPROM capacity
558 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
559 -8k bit initialization data is written through the EtherCAT master station
560 -)))
561 -|(% rowspan="2" style="width:147px" %)(((
562 -**Control mode and performance**
563 -)))|(% style="width:155px" %)(((
564 -control mode
565 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
566 -CSP、HM
567 -)))
568 -|(% style="width:155px" %)Synchronization period|(% colspan="3" rowspan="1" style="width:470px" %)(((
569 -125μs
570 -)))
571 -
572 -(% style="margin-left:auto; margin-right:auto; width:50px" %)
573 -|WD|80|M|-|075|30|S|-|A1|F|-|L
574 -|①|②|③| |④|⑤|⑥| |⑦|⑧| |⑨
575 -
576 -|(% rowspan="2" %)①Pole pairs|WD: 5| |(% rowspan="6" %)④Rated power|010：100W| |(% rowspan="4" %)⑦Encoder type|A1: 17bit single-turn absolute magnetic encoder
577 -|WE: 4| |020：200W| |C1：17bit multi-turn absolute magnetic encoder
578 -| | | |...| |D2：23bit multi-turn absolute optical encoder
579 -|(% rowspan="7" %)②Flange|40| |500：5.0KW| |E1: 2500-line incremental encoder
580 -|60| |550：5.5KW| | |
581 -|80| |...| |(% rowspan="2" %)⑧Motor structure|F：Oil seal
582 -|110| | | | |G：Oil seal + Brake device
583 -|130| |(% rowspan="4" %)⑤Rated speed|15：1500rpm| | |
584 -|150| |20：2000rpm| |(% rowspan="3" %)⑨Others|L：60/80 flange connector
585 -|180| |25：2500rpm| |(% rowspan="2" %)L2：60/80/130 flange connector
586 -| | | |30：3000rpm|
587 -|(% rowspan="3" %)③Inertia level|L: Low| | | | |(% colspan="2" %)
588 -|M: Middle| |(% rowspan="2" %)⑥Voltage level|S: 220V| |(% colspan="2" %)
589 -|H: High| |T: 380V| |(% colspan="2" %)
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