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Changes for page 05 Servo Product Manual

Last modified by Jim(Forgotten) on 2025/03/20 10:19
From version 36.1
edited by Molly
on 2024/09/14 14:43
Change comment: There is no comment for this version
To version 11.1
edited by Jim(Forgotten)
on 2024/09/11 14:28
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.Molly
1 +XWiki.Jim
Content
... ... @@ -1,24 +1,25 @@
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" %)
6 -__VD2__
7 +VD2
7 7  )))|(((
8 8  (% class="wikigeneratedid" id="H-" %)
9 9  -
10 10  )))|(((
11 11  (% class="wikigeneratedid" id="H021" %)
12 -__021__
13 +021
13 13  )))|(((
14 14  (% class="wikigeneratedid" id="HS" %)
15 -__S__
16 +S
16 16  )))|(((
17 17  (% class="wikigeneratedid" id="HA1" %)
18 -__A1__
19 +A1
19 19  )))|(((
20 20  (% class="wikigeneratedid" id="HG" %)
21 -__G__
22 +G
22 22  )))
23 23  |(((
24 24  (% class="wikigeneratedid" id="H2460" %)
... ... @@ -40,559 +40,18 @@
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
44 +(% class="table-bordered" %)
45 +|VD2|(% style="width:302px" %)VD2F|(% style="width:554px" %)VD3E
46 +|VD2-010SA1G|VD2F-003SA1P|VD3E-010SA1G
47 +|VD2-014SA1G|VD2F-010SA1P|VD3E-014SA1G
48 +|VD2-016SA1G|VD2F-014SA1P|VD3E-016SA1G
49 +|VD2-016SE1G| |VD3E-019SA1G
50 +|VD2-019SA1G| |VD3E-021SA1G
51 +|VD2-019SE1G| |VD3E-025SA1G
52 +|VD2-021SA1G| |VD3E-030SA1G
53 +|VD2-021SE1G| |
54 +|VD2-025SA1G| |
55 +|VD2-030SA1G| |
56 +|VD2-021TA1G| |
57 57  
58 -(% style="text-align:center" %)
59 -(((
60 -(% style="display:inline-block" %)
61 -[[Drive Nameplate>>image:1726038660755-332.png||_mstalt="294567"]]
62 -)))
63 -
64 -= VD2 Servo Drive Parameter Table =
65 -
66 -|(% colspan="3" %)(((
67 -**General type**
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 -)))
78 -|(% colspan="3" %)**Model**|**VD2(A type)**|**VD2(B type)**|**VD2(C type)**
79 -|(% colspan="1" rowspan="11" %)(((
80 -**Basic Specifications**
81 -)))|(% colspan="2" %)**Power supply**|220V|220V/380V|380V
82 -|(% colspan="2" %)(((
83 -**Control method**
84 -)))|(% colspan="3" rowspan="1" %)(((
85 -IGBT PWM control sine wave current drive
86 -)))
87 -|(% colspan="2" %)(((
88 -**Encoder**
89 -)))|(% colspan="3" rowspan="1" %)(((
90 -2500-line incremental encoder, 17-bit/23-bit absolute encoder
91 -)))
92 -|(% colspan="2" %)(((
93 -**Control signal input**
94 -)))|(% colspan="3" rowspan="1" %)8DI
95 -|(% colspan="2" %)(((
96 -**Control signal output**
97 -)))|(% colspan="3" rowspan="1" %)4DO
98 -|(% colspan="2" %)(((
99 -**Analog signal input**
100 -)))|(% colspan="3" rowspan="1" %)(((
101 -2 AI(-10V to +10V)
102 -)))
103 -|(% colspan="2" %)(((
104 -**Pulse signal input**
105 -)))|(% colspan="3" rowspan="1" %)(((
106 -Open collector or differential input
107 -)))
108 -|(% colspan="2" %)(((
109 -**Pulse feedback output**
110 -)))|(% colspan="3" rowspan="1" %)ABZ differential output(VD2-XXXXXXH series support collector signal feedback)
111 -|(% colspan="2" %)(% style="background-color:transparent" %)**Internal Command**|(% colspan="3" rowspan="1" %)(((
112 -8 segment internal speed command, 16 segment internal position command
113 -)))
114 -|(% colspan="2" %)(((
115 -**Communication**
116 -)))|(% colspan="3" rowspan="1" %)(((
117 -MODBUS RS485 or MODBUS RS422(SCTool)
118 -)))
119 -|(% colspan="2" %)(((
120 -**Braking resistor**
121 -)))|(% colspan="3" rowspan="1" %)(((
122 -Internal braking resistor(also support external braking resistor)
123 -)))
124 -|(% colspan="1" rowspan="19" %)(((
125 -**Function setting**
126 -)))|(% colspan="1" rowspan="9" %)(((
127 -**General functions**
128 -)))|(((
129 -**Auto-tuning**
130 -)))|(% colspan="3" rowspan="1" %)(((
131 -Automatic load inertia identification, automatic rigidity self-tuning
132 -)))
133 -|(% colspan="1" rowspan="2" %)(((
134 -**Waveform**
135 -)))|(% colspan="3" rowspan="1" %)(((
136 -4 channels waveform monitoring
137 -)))
138 -|(% colspan="3" rowspan="1" %)(((
139 -10s waveform data recording
140 -)))
141 -|(((
142 -**Parameter management**
143 -)))|(% colspan="3" rowspan="1" %)(((
144 -Support batch parameter import and export
145 -)))
146 -|(((
147 -**Vibration suppression**
148 -)))|(% colspan="3" rowspan="1" %)(((
149 -Support mechanical vibration suppression
150 -)))
151 -|(((
152 -**Protection**
153 -)))|(% colspan="3" rowspan="1" %)(((
154 -Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
155 -)))
156 -|(((
157 -**Brake device**
158 -)))|(% colspan="3" rowspan="1" %)(((
159 -Support brake signal output
160 -)))
161 -|(((
162 -**DI function**
163 -)))|(% colspan="3" rowspan="1" %)(((
164 -Servo enable((% _mstmutation="1" %)**S-ON**(%%)), Error/alarm clear((% _mstmutation="1" %)**A-CLR**(%%)), Forward rotation prohibited((% _mstmutation="1" %)**POT**(%%))
165 -
166 -Backward rotation prohibited((% _mstmutation="1" %)**NOT**(%%)), Command direction((% _mstmutation="1" %)**C-SIGN**(%%)), Emergency stop((% _mstmutation="1" %)**E-STOP**(%%))
167 -
168 -Gain switch((% _mstmutation="1" %)**GAIN-5EL**(%%)), Internal speed selection((% _mstmutation="1" %)**INSPD1, INSPD2, INSPD3**(%%))
169 -
170 -Internal position selection and enable((% _mstmutation="1" %)**INPO51, INPO52, INPO53, INPO54, ENINPOS**(%%))
171 -)))
172 -|(((
173 -**DO function**
174 -)))|(% colspan="3" rowspan="1" %)(((
175 -Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
176 -
177 -Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
178 -
179 -Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), ABZ pulse feedback output
180 -)))
181 -|(% colspan="1" rowspan="4" %)(((
182 -**Position mode**
183 -)))|(((
184 -**Pulse frequency**
185 -)))|(% colspan="3" rowspan="1" %)(((
186 -Max to 500KHz
187 -)))
188 -|(((
189 -**Pulse type**
190 -)))|(% colspan="3" rowspan="1" %)(((
191 -Direction + Pulse, CW/CCW, Orthogonal coding
192 -)))
193 -|(((
194 -**Pulse filter**
195 -)))|(% colspan="3" rowspan="1" %)(((
196 -First-order low-pass filter or smoothing filter
197 -)))
198 -|(((
199 -**Pulse output**
200 -)))|(% colspan="3" rowspan="1" %)(((
201 -A, B, Z differential output
202 -)))
203 -|(% colspan="1" rowspan="3" %)(((
204 -**Speed mode**
205 -)))|(((
206 -**Command input**
207 -)))|(% colspan="3" rowspan="1" %)(((
208 -Analog input(-10V to +10V), Internal command(8 segments)
209 -)))
210 -|(((
211 -**Zero speed clamp**
212 -)))|(% colspan="3" rowspan="1" %)(((
213 -Support
214 -)))
215 -|(((
216 -**Torque limit**
217 -)))|(% colspan="3" rowspan="1" %)(((
218 -Torque limit under speed mode
219 -)))
220 -|(% colspan="1" rowspan="3" %)(((
221 -**Torque mode**
222 -)))|(((
223 -**Command input**
224 -)))|(% colspan="3" rowspan="1" %)(((
225 -Analog input(-10V to +10V), Internal command
226 -)))
227 -|(((
228 -**Torque reach**
229 -)))|(% colspan="3" rowspan="1" %)(((
230 -Torque reach signal output
231 -)))
232 -|(((
233 -**Velocity limit**
234 -)))|(% colspan="3" rowspan="1" %)(((
235 -Velocity limit under torque mode
236 -)))
237 -
238 -= (% id="cke_bm_7897S" style="display:none" %) (%%) =
239 -
240 -= **VD2F/VD2L servo driver parameter table** =
241 -
242 -(% style="width:1005px" %)
243 -|(% colspan="6" rowspan="1" style="width:312px" %)(((
244 -**General type**
245 -)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
246 -(% style="text-align:center" %)
247 -[[image:1726190862910-426.png]]
248 -)))|(% rowspan="1" style="width:364px" %)(((
249 -(% style="text-align:center" %)
250 -[[image:1726190785664-427.png]]
251 -)))
252 -|(% colspan="6" rowspan="1" style="width:312px" %)**Model**|(% colspan="1" rowspan="1" style="width:325px" %)(((
253 -**VD2F**
254 -)))|(% rowspan="1" style="width:364px" %)(((
255 -**VD2L**
256 -)))
257 -|(% colspan="3" rowspan="12" %)(((
258 -**Basic Specifications**
259 -)))|(% colspan="3" style="width:198px" %)**Power supply**|(% colspan="1" rowspan="1" style="width:325px" %)(((
260 -220V
261 -)))|(% rowspan="1" style="width:364px" %)(((
262 -220V
263 -)))
264 -|(% colspan="3" style="width:198px" %)(((
265 -**Control method**
266 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
267 -IGBT PWM control sine wave current drive
268 -)))
269 -|(% colspan="3" style="width:198px" %)(((
270 -**Encoder**
271 -)))|(% colspan="2" rowspan="1" style="width:680px" %)17bit, 23bit absolute value encoder
272 -|(% colspan="3" style="width:198px" %)(((
273 -**Control signal input**
274 -)))|(% colspan="2" rowspan="1" style="width:680px" %)4DI
275 -|(% colspan="3" style="width:198px" %)(((
276 -**Control signal output**
277 -)))|(% colspan="2" rowspan="1" style="width:680px" %)4DO
278 -|(% colspan="3" style="width:198px" %)(((
279 -**Pulse frequency division output**
280 -)))|(% colspan="1" rowspan="1" style="width:325px" %)—|(% rowspan="1" style="width:364px" %)(((
281 -Support
282 -)))
283 -|(% colspan="3" style="width:198px" %)(((
284 -**Pulse signal input**
285 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
286 -Open collector or differential input
287 -)))
288 -|(% colspan="3" style="width:198px" %)(((
289 -**Pulse feedback output**
290 -)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
291 -Z signal open collector output
292 -)))|(% rowspan="1" style="width:364px" %)(((
293 -ABZ differential output(VD2-XXXXXXH
294 -
295 -series support collector signal feedback)
296 -)))
297 -|(% colspan="3" style="width:198px" %)(% style="background-color:transparent" %)**Internal Command**|(% colspan="2" rowspan="1" style="width:680px" %)(((
298 -8 segment internal speed command, 16 segment internal position command
299 -)))
300 -|(% colspan="3" style="width:198px" %)(((
301 -**Communication**
302 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
303 -MODBUS RS485 or MODBUS RS422(SCTool)
304 -)))
305 -|(% colspan="3" rowspan="2" style="width:198px" %)(((
306 -**Braking resistor**
307 -)))|(% colspan="4" rowspan="1" style="width:680px" %)(((
308 -750W built-in braking resistor; 400W without built-in;
309 -)))
310 -|(% colspan="4" style="width:680px" %)(((
311 -Both can support external braking resistors.
312 -)))
313 -|(% colspan="3" rowspan="22" %)(((
314 -**Function setting**
315 -)))|(% colspan="1" rowspan="12" %)(((
316 -**General functions**
317 -)))|(% colspan="2" style="width:115px" %)(((
318 -**Auto-tuning**
319 -)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
320 -Automatic load inertia identification,automatic rigidity self-tuning
321 -)))|(% rowspan="1" style="width:364px" %)-
322 -|(% colspan="2" style="width:115px" %)(((
323 -**Blend mode**
324 -)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
325 -YES
326 -)))|(% rowspan="1" style="width:364px" %)-
327 -|(% colspan="2" style="width:115px" %)(((
328 -**Advanced control algorithms**
329 -)))|(% colspan="1" style="width:325px" %)(((
330 -YES
331 -)))|(% style="width:364px" %)-
332 -|(% colspan="2" rowspan="2" style="width:115px" %)(((
333 -**Waveform**
334 -)))|(% colspan="2" style="width:680px" %)4 channels waveform monitoring
335 -|(% colspan="2" style="width:680px" %)10s waveform data recording
336 -|(% colspan="2" style="width:115px" %)(((
337 -**Parameter management**
338 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
339 -Support batch parameter import and export
340 -)))
341 -|(% colspan="2" style="width:115px" %)(((
342 -**Vibration suppression**
343 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
344 -Support mechanical vibration suppression
345 -)))
346 -|(% colspan="2" style="width:115px" %)(((
347 -**Protection**
348 -)))|(% colspan="2" style="width:680px" %)(((
349 -Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
350 -)))
351 -|(% colspan="2" style="width:115px" %)(((
352 -**Dynamic braking**
353 -)))|(% colspan="1" style="width:325px" %)-|(% style="width:364px" %)(((
354 -Optional
355 -)))
356 -|(% colspan="2" style="width:115px" %)(((
357 -**Brake device**
358 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
359 -Support brake signal output
360 -)))
361 -|(% colspan="2" style="width:115px" %)(((
362 -**DI function**
363 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
364 -Servo enable((% _mstmutation="1" %)**S-ON**(%%)), Error/alarm clear((% _mstmutation="1" %)**A-CLR**(%%)), Forward rotation prohibited((% _mstmutation="1" %)**POT**(%%))
365 -
366 -Backward rotation prohibited((% _mstmutation="1" %)**NOT**(%%)), Command direction((% _mstmutation="1" %)**C-SIGN**(%%)), Emergency stop((% _mstmutation="1" %)**E-STOP**(%%))
367 -
368 -Gain switch((% _mstmutation="1" %)**GAIN-5EL**(%%)), Internal speed selection((% _mstmutation="1" %)**INSPD1, INSPD2, INSPD3**(%%))
369 -
370 -Internal position selection and enable((% _mstmutation="1" %)**INPO51, INPO52, INPO53, INPO54, ENINPOS**(%%))
371 -)))
372 -|(% colspan="2" style="width:115px" %)(((
373 -**DO function**
374 -)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
375 -Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
376 -
377 -Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
378 -
379 -Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), Z pulse feedback output
380 -)))|(% rowspan="1" style="width:364px" %)(((
381 -Servo ready(**RDY**)、Error signal(**ALM**), Alarm signal(**WARN**), Rotation detection(**TGON**)
382 -
383 -Zero speed signal(**ZSP**), Torque limited(**T-LIMIT**), Velocity limited(**V-LIMIT**)
384 -
385 -Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), ABZ pulse feedback output
386 -)))
387 -|(% colspan="1" rowspan="4" %)**Position mode**|**Pulse frequency**|(% colspan="3" rowspan="1" %)(((
388 -Max to 500KHz
389 -)))
390 -|(% colspan="2" rowspan="1" style="width:115px" %)**Pulse type**|(% rowspan="1" style="width:325px" %)(((
391 -Direction + pulse; Orthogonal coding:
392 -V1.21 and above support CW/CCW
393 -)))|(% rowspan="1" style="width:337px" %)Direction + Pulse, Orthogonal coding
394 -|(% colspan="2" rowspan="1" style="width:115px" %)**Pulse filter**|(% colspan="2" rowspan="1" style="width:680px" %)First-order low-pass filter or smoothing filter
395 -|(% colspan="2" rowspan="1" style="width:115px" %)(((
396 -**Pulse output**
397 -)))|(% rowspan="1" style="width:325px" %)-|(% rowspan="1" style="width:337px" %)A, B, Z differential output
398 -|(% colspan="1" rowspan="3" %)(((
399 -**Speed mode**
400 -)))|(% colspan="2" style="width:115px" %)**Command input**|(% colspan="2" rowspan="1" style="width:325px" %)Internal command(8 segments)
401 -|(% colspan="2" style="width:115px" %)**Zero speed clamp**|(% colspan="2" rowspan="1" style="width:325px" %)Support
402 -|(% colspan="2" style="width:115px" %)**Torque limit**|(% colspan="2" rowspan="1" style="width:325px" %)Torque limit under speed mode
403 -|(% colspan="1" rowspan="3" %)**Torque mode**|(% colspan="2" style="width:115px" %)**Command input**|(% colspan="2" rowspan="1" style="width:325px" %)(((
404 -Internal command
405 -)))
406 -|(% colspan="2" style="width:115px" %)**Torque reach**|(% colspan="2" rowspan="1" style="width:325px" %)(((
407 -Torque reach signal output
408 -)))
409 -|(% colspan="2" style="width:115px" %)**Velocity limit**|(% colspan="2" rowspan="1" style="width:325px" %)(((
410 -Velocity limit under torque mode
411 -)))
412 -
413 -= VD3E servo driver parameter table =
414 -
415 -(% style="margin-left:auto; margin-right:auto; width:1230px" %)
416 -|(% colspan="3" rowspan="1" style="width:464px" %)(((
417 -**Bus type**
418 -)))|(% style="width:309px" %)(((
419 -(% style="text-align:center" %)
420 -[[image:1726295827531-129.png]]
421 -
422 -(((
423 423  
424 -)))
425 -)))|(((
426 -(% style="text-align:center" %)
427 -[[image:1726295883786-742.png]]
428 -
429 -(((
430 -
431 -)))
432 -)))|(((
433 -(% style="text-align:center" %)
434 -[[image:1726295894302-137.png]]
435 -)))
436 -|(% colspan="3" rowspan="1" style="width:464px" %)**Model**|(% style="width:309px" %)(((
437 -**VD3E(A type)**
438 -)))|(((
439 -**VD3E(B type)**
440 -)))|(((
441 -**VD3E(C type)**
442 -)))
443 -|(% colspan="1" rowspan="7" style="width:166px" %)(((
444 -**Basic Specifications**
445 -)))|(% colspan="2" style="width:301px" %)**Power supply**|(% style="width:309px" %)220V|220V/380V|380V
446 -|(% colspan="2" style="width:301px" %)**Control method**|(% colspan="3" rowspan="1" style="width:470px" %)IGBT PWM control sine wave current drive
447 -|(% colspan="2" style="width:301px" %)**Encoder**|(% colspan="3" rowspan="1" style="width:470px" %)17bit, 23bit absolute value encoder
448 -|(% colspan="2" style="width:301px" %)**Control signal input**|(% colspan="3" rowspan="1" style="width:470px" %)(((
449 -6DI,
450 -
451 -Select the output function according to the function code configuration
452 -)))
453 -|(% colspan="2" style="width:301px" %)**Control signal output**|(% colspan="3" rowspan="1" style="width:470px" %)(((
454 -3DO,
455 -
456 -Select the output function according to the function code configuration
457 -)))
458 -|(% style="width:147px" %)(((
459 -**Communication function**
460 -)))|(% style="width:155px" %)(((
461 -**Host computer communication**
462 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
463 -The USB interface can be used to set function code parameters, monitor status, and view waveforms through a computer host computer.
464 -Parameter self-tuning, etc.
465 -)))
466 -|(% colspan="2" style="width:301px" %)**Braking resistor**|(% colspan="3" rowspan="1" style="width:470px" %)(((
467 -Built-in braking resistor, supports external braking resistor
468 -)))
469 -|(% 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
470 -|(% colspan="2" style="width:301px" %)(((
471 -**Waveform viewing**
472 -)))|(% colspan="3" rowspan="1" style="width:470px" %)4 channels waveform monitoring
473 -|(% colspan="2" style="width:301px" %)(((
474 -**Waveform storage**
475 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
476 -Waveform acquisition frequency 1K Hz,(% style="background-color:transparent" %)10s waveform data recording
477 -)))
478 -|(% colspan="2" style="width:301px" %)**Parameter management**|(% colspan="3" rowspan="1" style="width:470px" %)Support batch parameter import and export
479 -|(% colspan="2" style="width:301px" %)(((
480 -**Vibration suppression**
481 -)))|(% colspan="3" rowspan="1" style="width:470px" %)Support mechanical vibration suppression
482 -|(% colspan="2" style="width:301px" %)(((
483 -
484 -
485 -**Protection**
486 -)))|(% colspan="3" rowspan="1" style="width:470px" %)Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
487 -|(% colspan="2" style="width:301px" %)**Brake device**|(% colspan="3" rowspan="1" style="width:470px" %)Support brake signal output
488 -|(% colspan="2" style="width:301px" %)**DI function**|(% colspan="3" rowspan="1" style="width:470px" %)(((
489 -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**(%%))
490 -)))
491 -|(% colspan="2" style="width:301px" %)**DO function**|(% colspan="3" rowspan="1" style="width:470px" %)(((
492 -Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
493 -
494 -Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
495 -
496 -Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**),CommunicationVDO
497 -)))
498 -|(% colspan="1" rowspan="16" style="width:166px" %)(((
499 -**EtherCAT related**
500 -)))|(% rowspan="14" style="width:147px" %)(((
501 -**EtherCAT related**
502 -)))|(% style="width:155px" %)(((
503 -Communication protocol
504 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
505 -EtherCAT protocol
506 -)))
507 -|(% style="width:155px" %)(((
508 -Support services
509 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
510 -CoE(PDO,SDO)
511 -)))
512 -|(% style="width:155px" %)(((
513 -Sync mode
514 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
515 -DC-Distributed Clock
516 -)))
517 -|(% style="width:155px" %)(((
518 -Physical layer
519 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
520 -100BASE-TX
521 -)))
522 -|(% style="width:155px" %)(((
523 -Baud rate
524 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
525 -100 Mbit/s(100Base-TX)
526 -)))
527 -|(% style="width:155px" %)(((
528 -Duplex mode
529 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
530 -Full duplex
531 -)))
532 -|(% style="width:155px" %)(((
533 -Topology
534 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
535 -Circular, linear
536 -)))
537 -|(% style="width:155px" %)(((
538 -Transmission medium
539 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
540 -Shielded Category 5e or better network cable
541 -)))
542 -|(% style="width:155px" %)(((
543 -Transmission distance
544 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
545 -Less than 100M between two nodes (good environment, good cables)
546 -)))
547 -|(% style="width:155px" %)(((
548 -Frame length
549 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
550 -44 bytes~~1498 bytes
551 -)))
552 -|(% style="width:155px" %)(((
553 -Excessive data
554 -)))|(% colspan="5" rowspan="1" style="width:470px" %)Maximum size of a single Ethernet frame is 1486 bytes
555 -|(% style="width:155px" %)(((
556 -Sync jitter
557 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
558 -<1μs
559 -)))
560 -|(% style="width:155px" %)(((
561 -Distributed clock
562 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
563 -64 bit
564 -)))
565 -|(% style="width:155px" %)(((
566 -EEPROM capacity
567 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
568 -8k bit initialization data is written through the EtherCAT master station
569 -)))
570 -|(% rowspan="2" style="width:147px" %)(((
571 -**Control mode and performance**
572 -)))|(% style="width:155px" %)(((
573 -control mode
574 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
575 -CSP、HM
576 -)))
577 -|(% style="width:155px" %)Synchronization period|(% colspan="3" rowspan="1" style="width:470px" %)(((
578 -125μs
579 -)))
580 -
581 -(% style="margin-left:auto; margin-right:auto; width:50px" %)
582 -|WD|80|M|-|075|30|S|-|A1|F|-|L
583 -|①|②|③| |④|⑤|⑥| |⑦|⑧| |⑨
584 -
585 -|(% rowspan="2" %)①Pole pairs|WD: 5| |(% rowspan="6" %)④Rated power|010：100W| |(% rowspan="4" %)⑦Encoder type|A1: 17bit single-turn absolute magnetic encoder
586 -|WE: 4| |020：200W| |C1：17bit multi-turn absolute magnetic encoder
587 -| | | |...| |D2：23bit multi-turn absolute optical encoder
588 -|(% rowspan="7" %)②Flange|40| |500：5.0KW| |E1: 2500-line incremental encoder
589 -|60| |550：5.5KW| | |
590 -|80| |...| |(% rowspan="2" %)⑧Motor structure|F：Oil seal
591 -|110| | | | |G：Oil seal + Brake device
592 -|130| |(% rowspan="4" %)⑤Rated speed|15：1500rpm| | |
593 -|150| |20：2000rpm| |(% rowspan="3" %)⑨Others|L：60/80 flange connector
594 -|180| |25：2500rpm| |(% rowspan="2" %)L2：60/80/130 flange connector
595 -| | | |30：3000rpm|
596 -|(% rowspan="3" %)③Inertia level|L: Low| | | | |(% colspan="2" %)
597 -|M: Middle| |(% rowspan="2" %)⑥Voltage level|S: 220V| |(% colspan="2" %)
598 -|H: High| |T: 380V| |(% colspan="2" %)
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