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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 28.1
edited by Jim(Forgotten)
on 2024/09/13 11:15
Change comment: There is no comment for this version

Summary

Details

Page properties
Author
... ... @@ -1,1 +1,1 @@
1 -XWiki.Mora
1 +XWiki.Jim
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:1050.4px" %)
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
... ... @@ -285,73 +285,79 @@
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 -|(% colspan="3" rowspan="22" %)(((
310 +|(% colspan="3" rowspan="16" %)(((
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**(%%))
... ... @@ -378,197 +378,19 @@
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
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 -)))
396 +)))|(% rowspan="1" style="width:337px" %)-|(% rowspan="1" style="width:337px" %)A, B, Z differential output
397 +|(% colspan="3" %) |(% colspan="1" %) |(% colspan="2" style="width:337px" %) |(% style="width:337px" %) |(% style="width:337px" %)
398 +|(% colspan="3" %) |(% colspan="1" %) |(% colspan="2" style="width:337px" %) |(% style="width:337px" %) |(% style="width:337px" %)
399 +|(% colspan="3" %) |(% colspan="1" %) |(% colspan="2" style="width:337px" %) |(% style="width:337px" %) |(% style="width:337px" %)
403 403  
404 -= VD3E servo driver parameter table =
405 405  
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 -
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 -
572 572  (% style="margin-left:auto; margin-right:auto; width:50px" %)
573 573  |WD|80|M|-|075|30|S|-|A1|F|-|L
574 574  |①|②|③| |④|⑤|⑥| |⑦|⑧| |⑨
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