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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 29.1
edited by Molly
on 2024/09/13 11:17
Change comment: There is no comment for this version

Summary

Details

Page properties
Content
... ... @@ -65,16 +65,7 @@
65 65  
66 66  |(% colspan="3" %)(((
67 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 -)))
68 +)))|[[image:1726038778533-997.png||_mstalt="300053"]]|[[image:1726038786193-560.png||_mstalt="296309"]]|[[image:1726038790641-417.png||_mstalt="295087"]]
78 78  |(% colspan="3" %)**Model**|**VD2(A type)**|**VD2(B type)**|**VD2(C type)**
79 79  |(% colspan="1" rowspan="11" %)(((
80 80  **Basic Specifications**
... ... @@ -239,10 +239,10 @@
239 239  
240 240  = **VD2F/VD2L servo driver parameter table** =
241 241  
242 -(% style="width:1005px" %)
243 -|(% colspan="6" rowspan="1" style="width:312px" %)(((
233 +(% style="width:1004px" %)
234 +|(% colspan="6" rowspan="1" %)(((
244 244  **General type**
245 -)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
236 +)))|(% colspan="1" rowspan="1" style="width:221px" %)(((
246 246  (% style="text-align:center" %)
247 247  [[image:1726190862910-426.png]]
248 248  )))|(% rowspan="1" style="width:364px" %)(((
... ... @@ -249,7 +249,7 @@
249 249  (% style="text-align:center" %)
250 250  [[image:1726190785664-427.png]]
251 251  )))
252 -|(% 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" %)(((
253 253  **VD2F**
254 254  )))|(% rowspan="1" style="width:364px" %)(((
255 255  **VD2L**
... ... @@ -256,38 +256,40 @@
256 256  )))
257 257  |(% colspan="3" rowspan="12" %)(((
258 258  **Basic Specifications**
259 -)))|(% 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" %)(((
260 260  220V
261 261  )))|(% rowspan="1" style="width:364px" %)(((
262 262  220V
263 263  )))
264 -|(% colspan="3" style="width:198px" %)(((
255 +|(% colspan="3" %)(((
265 265  **Control method**
266 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
257 +)))|(% colspan="2" rowspan="1" style="width:585px" %)(((
267 267  IGBT PWM control sine wave current drive
268 268  )))
269 -|(% colspan="3" style="width:198px" %)(((
260 +|(% colspan="3" %)(((
270 270  **Encoder**
271 -)))|(% colspan="2" rowspan="1" style="width:680px" %)17bit, 23bit absolute value encoder
272 -|(% colspan="3" style="width:198px" %)(((
262 +)))|(% colspan="2" rowspan="1" style="width:585px" %)17bit, 23bit absolute value encoder
263 +|(% colspan="3" %)(((
273 273  **Control signal input**
274 -)))|(% colspan="2" rowspan="1" style="width:680px" %)4DI
275 -|(% colspan="3" style="width:198px" %)(((
265 +)))|(% colspan="2" rowspan="1" style="width:585px" %)4DI
266 +|(% colspan="3" %)(((
276 276  **Control signal output**
277 -)))|(% colspan="2" rowspan="1" style="width:680px" %)4DO
278 -|(% colspan="3" style="width:198px" %)(((
268 +)))|(% colspan="2" rowspan="1" style="width:585px" %)4DO
269 +|(% colspan="3" %)(((
279 279  **Pulse frequency division output**
280 -)))|(% 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" %)(((
281 281  Support
282 282  )))
283 -|(% colspan="3" style="width:198px" %)(((
274 +|(% colspan="3" %)(((
284 284  **Pulse signal input**
285 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
276 +)))|(% colspan="2" rowspan="1" style="width:585px" %)(((
286 286  Open collector or differential input
278 +
279 +
287 287  )))
288 -|(% colspan="3" style="width:198px" %)(((
281 +|(% colspan="3" %)(((
289 289  **Pulse feedback output**
290 -)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
283 +)))|(% colspan="1" rowspan="1" style="width:221px" %)(((
291 291  Z signal open collector output
292 292  )))|(% rowspan="1" style="width:364px" %)(((
293 293  ABZ differential output(VD2-XXXXXXH
... ... @@ -294,20 +294,24 @@
294 294  
295 295  series support collector signal feedback)
296 296  )))
297 -|(% 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" %)(((
298 298  8 segment internal speed command, 16 segment internal position command
299 299  )))
300 -|(% colspan="3" style="width:198px" %)(((
293 +|(% colspan="3" %)(((
301 301  **Communication**
302 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
295 +)))|(% colspan="2" rowspan="1" style="width:585px" %)(((
303 303  MODBUS RS485 or MODBUS RS422(SCTool)
304 304  )))
305 -|(% colspan="3" rowspan="2" style="width:198px" %)(((
298 +|(% colspan="3" rowspan="2" %)(((
306 306  **Braking resistor**
307 -)))|(% colspan="4" rowspan="1" style="width:680px" %)(((
300 +)))|(% colspan="4" rowspan="1" %)(((
301 +
302 +
308 308  750W built-in braking resistor; 400W without built-in;
304 +
305 +
309 309  )))
310 -|(% colspan="4" style="width:680px" %)(((
307 +|(% colspan="4" %)(((
311 311  Both can support external braking resistors.
312 312  )))
313 313  |(% colspan="3" rowspan="22" %)(((
... ... @@ -314,53 +314,55 @@
314 314  **Function setting**
315 315  )))|(% colspan="1" rowspan="12" %)(((
316 316  **General functions**
317 -)))|(% colspan="2" style="width:115px" %)(((
314 +)))|(% colspan="2" %)(((
318 318  **Auto-tuning**
319 -)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
320 -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
321 321  )))|(% rowspan="1" style="width:364px" %)-
322 -|(% colspan="2" style="width:115px" %)(((
321 +|(% colspan="2" %)(((
323 323  **Blend mode**
324 -)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
323 +)))|(% colspan="1" rowspan="1" style="width:221px" %)(((
325 325  YES
326 326  )))|(% rowspan="1" style="width:364px" %)-
327 -|(% colspan="2" style="width:115px" %)(((
326 +|(% colspan="2" %)(((
328 328  **Advanced control algorithms**
329 -)))|(% colspan="1" style="width:325px" %)(((
328 +)))|(% colspan="1" style="width:221px" %)(((
330 330  YES
331 331  )))|(% style="width:364px" %)-
332 -|(% colspan="2" rowspan="2" style="width:115px" %)(((
331 +|(% colspan="2" rowspan="2" %)(((
333 333  **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" %)(((
333 +)))|(% colspan="2" style="width:585px" %)4 channels waveform monitoring
334 +|(% colspan="2" style="width:585px" %)10s waveform data recording
335 +|(% colspan="2" %)(((
337 337  **Parameter management**
338 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
337 +)))|(% colspan="2" rowspan="1" style="width:585px" %)(((
339 339  Support batch parameter import and export
340 340  )))
341 -|(% colspan="2" style="width:115px" %)(((
340 +|(% colspan="2" %)(((
342 342  **Vibration suppression**
343 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
342 +)))|(% colspan="2" rowspan="1" style="width:585px" %)(((
344 344  Support mechanical vibration suppression
345 345  )))
346 -|(% colspan="2" style="width:115px" %)(((
345 +|(% colspan="2" %)(((
347 347  **Protection**
348 -)))|(% colspan="2" style="width:680px" %)(((
347 +)))|(% colspan="2" style="width:585px" %)(((
349 349  Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
350 350  )))
351 -|(% colspan="2" style="width:115px" %)(((
350 +|(% colspan="2" %)(((
352 352  **Dynamic braking**
353 -)))|(% colspan="1" style="width:325px" %)-|(% style="width:364px" %)(((
352 +)))|(% colspan="1" style="width:221px" %)-|(% style="width:364px" %)(((
354 354  Optional
355 355  )))
356 -|(% colspan="2" style="width:115px" %)(((
355 +|(% colspan="2" %)(((
357 357  **Brake device**
358 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
357 +)))|(% colspan="2" rowspan="1" style="width:585px" %)(((
359 359  Support brake signal output
360 360  )))
361 -|(% colspan="2" style="width:115px" %)(((
360 +|(% colspan="2" %)(((
362 362  **DI function**
363 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
362 +)))|(% colspan="2" rowspan="1" style="width:585px" %)(((
364 364  Servo enable((% _mstmutation="1" %)**S-ON**(%%)), Error/alarm clear((% _mstmutation="1" %)**A-CLR**(%%)), Forward rotation prohibited((% _mstmutation="1" %)**POT**(%%))
365 365  
366 366  Backward rotation prohibited((% _mstmutation="1" %)**NOT**(%%)), Command direction((% _mstmutation="1" %)**C-SIGN**(%%)), Emergency stop((% _mstmutation="1" %)**E-STOP**(%%))
... ... @@ -369,9 +369,9 @@
369 369  
370 370  Internal position selection and enable((% _mstmutation="1" %)**INPO51, INPO52, INPO53, INPO54, ENINPOS**(%%))
371 371  )))
372 -|(% colspan="2" style="width:115px" %)(((
371 +|(% colspan="2" %)(((
373 373  **DO function**
374 -)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
373 +)))|(% colspan="1" rowspan="1" style="width:221px" %)(((
375 375  Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
376 376  
377 377  Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
... ... @@ -387,197 +387,23 @@
387 387  |(% colspan="1" rowspan="4" %)**Position mode**|**Pulse frequency**|(% colspan="3" rowspan="1" %)(((
388 388  Max to 500KHz
389 389  )))
390 -|(% 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" %)(((
391 391  Direction + pulse; Orthogonal coding:
392 392  V1.21 and above support CW/CCW
393 393  )))|(% 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" %)(((
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" %)(((
396 396  **Pulse output**
397 -)))|(% 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
398 398  |(% 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]]
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" %)
428 428  
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 -
581 581  (% style="margin-left:auto; margin-right:auto; width:50px" %)
582 582  |WD|80|M|-|075|30|S|-|A1|F|-|L
583 583  |①|②|③| |④|⑤|⑥| |⑦|⑧| |⑨
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