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Changes for page 05 Servo Product Manual

Last modified by Jim(Forgotten) on 2025/03/20 10:19
From version 38.1
edited by Mora Zhou
on 2024/09/14 14:45
Change comment: There is no comment for this version
To version 26.1
edited by Molly
on 2024/09/12 17:51
Change comment: There is no comment for this version

Summary

Details

Page properties
Author
... ... @@ -1,1 +1,1 @@
1 -XWiki.Mora
1 +XWiki.Molly
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**
... ... @@ -235,349 +235,6 @@
235 235  Velocity limit under torque mode
236 236  )))
237 237  
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 -
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 -
581 581  (% 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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