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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 82.1
edited by Mora Zhou
on 2024/10/08 15:16
Change comment: There is no comment for this version

Summary

Details

Page properties
Content
... ... @@ -40,20 +40,20 @@
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
43 +(% style="margin-left:auto; margin-right:auto; width:761.198px" %)
44 +|(% colspan="1" rowspan="4" %)①Product Series|(% style="width:204.976px" %)VD2|(% colspan="1" rowspan="2" style="width:190.024px" %)③Voltage level|S: 220V
45 +|(% style="width:204.976px" %)VD2F|T: 380V
46 +|(% style="width:204.976px" %)VD2L
47 +|(% style="width:204.976px" %)VD3E
48 +|(% colspan="1" rowspan="9" %)②Maximum output current|(% style="width:204.976px" %)010: 10A|(% colspan="1" rowspan="2" style="width:190.024px" %)④Encoder type|A1: Absolute
49 +|(% style="width:204.976px" %)014: 14A|E1: Incremental
50 +|(% style="width:204.976px" %)016: 16A
51 +|(% style="width:204.976px" %)019: 19A
52 +|(% style="width:204.976px" %)021: 21A|(% colspan="1" rowspan="5" style="width:190.024px" %)⑤Function|P: Basic pulse control
53 +|(% style="width:204.976px" %)025: 25A|G: General(Analog control, full-closed loop)
54 +|(% style="width:204.976px" %)030: 30A|H: High speed DO(Collector signal feedback)
55 +|(% style="width:204.976px" %)040: 40A|R: Support external PID function
56 +|(% style="width:204.976px" %)050: 50A|D: Support dynamic braking function
57 57  
58 58  (% style="text-align:center" %)
59 59  (((
... ... @@ -63,6 +63,7 @@
63 63  
64 64  = VD2 Servo Drive Parameter Table =
65 65  
66 +(% style="margin-left:auto; margin-right:auto; width:1200px" %)
66 66  |(% colspan="3" %)(((
67 67  **General type**
68 68  )))|(((
... ... @@ -128,15 +128,15 @@
128 128  )))|(((
129 129  **Auto-tuning**
130 130  )))|(% colspan="3" rowspan="1" %)(((
131 -Automatic load inertia identification, automatic rigidity self-tuning
132 +Automatic load inertia identification, automatic rigidity self-tuning (SCTool)
132 132  )))
133 133  |(% colspan="1" rowspan="2" %)(((
134 134  **Waveform**
135 135  )))|(% colspan="3" rowspan="1" %)(((
136 -4 channels waveform monitoring
137 +4 channels waveform monitoring (SCTool)
137 137  )))
138 138  |(% colspan="3" rowspan="1" %)(((
139 -10s waveform data recording
140 +10s waveform data recording (SCTool)
140 140  )))
141 141  |(((
142 142  **Parameter management**
... ... @@ -235,14 +235,12 @@
235 235  Velocity limit under torque mode
236 236  )))
237 237  
238 -= (% id="cke_bm_7897S" style="display:none" %) (%%) =
239 -
240 240  = **VD2F/VD2L servo driver parameter table** =
241 241  
242 -(% style="width:1005px" %)
243 -|(% colspan="6" rowspan="1" style="width:312px" %)(((
241 +(% style="margin-left:auto; margin-right:auto; width:1200px" %)
242 +|(% colspan="6" rowspan="1" style="width:537px" %)(((
244 244  **General type**
245 -)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
244 +)))|(% colspan="1" rowspan="1" style="width:503px" %)(((
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" %)(((
251 +|(% colspan="6" rowspan="1" style="width:537px" %)**Model**|(% colspan="1" rowspan="1" style="width:503px" %)(((
253 253  **VD2F**
254 254  )))|(% rowspan="1" style="width:364px" %)(((
255 255  **VD2L**
... ... @@ -256,58 +256,54 @@
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" %)(((
258 +)))|(% colspan="3" style="width:277px" %)**Power supply**|(% colspan="1" rowspan="1" style="width:503px" %)(((
260 260  220V
261 261  )))|(% rowspan="1" style="width:364px" %)(((
262 262  220V
263 263  )))
264 -|(% colspan="3" style="width:198px" %)(((
263 +|(% colspan="3" style="width:277px" %)(((
265 265  **Control method**
266 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
265 +)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
267 267  IGBT PWM control sine wave current drive
268 268  )))
269 -|(% colspan="3" style="width:198px" %)(((
268 +|(% colspan="3" style="width:277px" %)(((
270 270  **Encoder**
271 -)))|(% colspan="2" rowspan="1" style="width:680px" %)17bit, 23bit absolute value encoder
272 -|(% colspan="3" style="width:198px" %)(((
270 +)))|(% colspan="2" rowspan="1" style="width:867px" %)17bit, 23bit absolute value encoder
271 +|(% colspan="3" style="width:277px" %)(((
273 273  **Control signal input**
274 -)))|(% colspan="2" rowspan="1" style="width:680px" %)4DI
275 -|(% colspan="3" style="width:198px" %)(((
273 +)))|(% colspan="2" rowspan="1" style="width:867px" %)4DI
274 +|(% colspan="3" style="width:277px" %)(((
276 276  **Control signal output**
277 -)))|(% colspan="2" rowspan="1" style="width:680px" %)4DO
278 -|(% colspan="3" style="width:198px" %)(((
276 +)))|(% colspan="2" rowspan="1" style="width:867px" %)4DO
277 +|(% colspan="3" style="width:277px" %)(((
279 279  **Pulse frequency division output**
280 -)))|(% colspan="1" rowspan="1" style="width:325px" %)—|(% rowspan="1" style="width:364px" %)(((
279 +)))|(% colspan="1" rowspan="1" style="width:503px" %)—|(% rowspan="1" style="width:364px" %)(((
281 281  Support
282 282  )))
283 -|(% colspan="3" style="width:198px" %)(((
282 +|(% colspan="3" style="width:277px" %)(((
284 284  **Pulse signal input**
285 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
284 +)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
286 286  Open collector or differential input
287 287  )))
288 -|(% colspan="3" style="width:198px" %)(((
287 +|(% colspan="3" style="width:277px" %)(((
289 289  **Pulse feedback output**
290 -)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
289 +)))|(% colspan="1" rowspan="1" style="width:503px" %)(((
291 291  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" %)(((
291 +)))|(% rowspan="1" style="width:364px" %)ABZ phase pulse output or pulse+direction output
292 +|(% colspan="3" style="width:277px" %)(% style="background-color:transparent" %)**Internal Command**|(% colspan="2" rowspan="1" style="width:867px" %)(((
298 298  8 segment internal speed command, 16 segment internal position command
299 299  )))
300 -|(% colspan="3" style="width:198px" %)(((
295 +|(% colspan="3" style="width:277px" %)(((
301 301  **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" %)(((
297 +)))|(% rowspan="1" style="width:867px" %)(((
298 +MODBUS RS485 and MODBUS RS422(SCTool)
299 +)))|(% rowspan="1" style="width:867px" %)MODBUS RS485 and Type-C(SCTool)
300 +|(% colspan="3" rowspan="2" style="width:277px" %)(((
306 306  **Braking resistor**
307 -)))|(% colspan="4" rowspan="1" style="width:680px" %)(((
302 +)))|(% colspan="4" rowspan="1" style="width:867px" %)(((
308 308  750W built-in braking resistor; 400W without built-in;
309 309  )))
310 -|(% colspan="4" style="width:680px" %)(((
305 +|(% colspan="4" style="width:867px" %)(((
311 311  Both can support external braking resistors.
312 312  )))
313 313  |(% colspan="3" rowspan="22" %)(((
... ... @@ -314,53 +314,53 @@
314 314  **Function setting**
315 315  )))|(% colspan="1" rowspan="12" %)(((
316 316  **General functions**
317 -)))|(% colspan="2" style="width:115px" %)(((
312 +)))|(% colspan="2" style="width:39px" %)(((
318 318  **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" %)(((
314 +)))|(% colspan="1" rowspan="1" style="width:503px" %)(((
315 +Automatic load inertia identification, automatic rigidity self-tuning
316 +)))|(% rowspan="1" style="width:364px" %)Automatic load inertia identification
317 +|(% colspan="2" style="width:39px" %)(((
318 +**Mix control**
319 +)))|(% colspan="1" rowspan="1" style="width:503px" %)(((
325 325  YES
326 326  )))|(% rowspan="1" style="width:364px" %)-
327 -|(% colspan="2" style="width:115px" %)(((
322 +|(% colspan="2" style="width:39px" %)(((
328 328  **Advanced control algorithms**
329 -)))|(% colspan="1" style="width:325px" %)(((
324 +)))|(% colspan="1" style="width:503px" %)(((
330 330  YES
331 331  )))|(% style="width:364px" %)-
332 -|(% colspan="2" rowspan="2" style="width:115px" %)(((
327 +|(% colspan="2" rowspan="2" style="width:39px" %)(((
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" %)(((
329 +)))|(% colspan="2" style="width:867px" %)4 channels waveform monitoring
330 +|(% colspan="2" style="width:867px" %)10s waveform data recording
331 +|(% colspan="2" style="width:39px" %)(((
337 337  **Parameter management**
338 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
333 +)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
339 339  Support batch parameter import and export
340 340  )))
341 -|(% colspan="2" style="width:115px" %)(((
336 +|(% colspan="2" style="width:39px" %)(((
342 342  **Vibration suppression**
343 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
338 +)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
344 344  Support mechanical vibration suppression
345 345  )))
346 -|(% colspan="2" style="width:115px" %)(((
341 +|(% colspan="2" style="width:39px" %)(((
347 347  **Protection**
348 -)))|(% colspan="2" style="width:680px" %)(((
343 +)))|(% colspan="2" style="width:867px" %)(((
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" %)(((
346 +|(% colspan="2" style="width:39px" %)(((
352 352  **Dynamic braking**
353 -)))|(% colspan="1" style="width:325px" %)-|(% style="width:364px" %)(((
348 +)))|(% colspan="1" style="width:503px" %)-|(% style="width:364px" %)(((
354 354  Optional
355 355  )))
356 -|(% colspan="2" style="width:115px" %)(((
351 +|(% colspan="2" style="width:39px" %)(((
357 357  **Brake device**
358 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
353 +)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
359 359  Support brake signal output
360 360  )))
361 -|(% colspan="2" style="width:115px" %)(((
356 +|(% colspan="2" style="width:39px" %)(((
362 362  **DI function**
363 -)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
358 +)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
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" %)(((
367 +|(% colspan="2" style="width:39px" %)(((
373 373  **DO function**
374 -)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
369 +)))|(% colspan="1" rowspan="1" style="width:503px" %)(((
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**(%%))
... ... @@ -387,35 +387,35 @@
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" %)(((
385 +|(% colspan="2" rowspan="1" style="width:39px" %)**Pulse type**|(% rowspan="1" style="width:503px" %)(((
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" %)(((
389 +|(% colspan="2" rowspan="1" style="width:39px" %)**Pulse filter**|(% colspan="2" rowspan="1" style="width:867px" %)First-order low-pass filter or smoothing filter
390 +|(% colspan="2" rowspan="1" style="width:39px" %)(((
396 396  **Pulse output**
397 -)))|(% rowspan="1" style="width:325px" %)-|(% rowspan="1" style="width:337px" %)A, B, Z differential output
392 +)))|(% rowspan="1" style="width:503px" %)-|(% rowspan="1" style="width:337px" %)A, B, Z differential output
398 398  |(% colspan="1" rowspan="3" %)(((
399 399  **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" %)(((
395 +)))|(% colspan="2" style="width:39px" %)**Command input**|(% colspan="2" rowspan="1" style="width:867px" %)Internal command(8 segments)
396 +|(% colspan="2" style="width:39px" %)**Zero speed clamp**|(% colspan="2" rowspan="1" style="width:867px" %)Support
397 +|(% colspan="2" style="width:39px" %)**Torque limit**|(% colspan="2" rowspan="1" style="width:867px" %)Torque limit under speed mode
398 +|(% colspan="1" rowspan="3" %)**Torque mode**|(% colspan="2" style="width:39px" %)**Command input**|(% colspan="2" rowspan="1" style="width:867px" %)(((
404 404  Internal command
405 405  )))
406 -|(% colspan="2" style="width:115px" %)**Torque reach**|(% colspan="2" rowspan="1" style="width:325px" %)(((
401 +|(% colspan="2" style="width:39px" %)**Torque reach**|(% colspan="2" rowspan="1" style="width:867px" %)(((
407 407  Torque reach signal output
408 408  )))
409 -|(% colspan="2" style="width:115px" %)**Velocity limit**|(% colspan="2" rowspan="1" style="width:325px" %)(((
404 +|(% colspan="2" style="width:39px" %)**Velocity limit**|(% colspan="2" rowspan="1" style="width:867px" %)(((
410 410  Velocity limit under torque mode
411 411  )))
412 412  
413 413  = VD3E servo driver parameter table =
414 414  
415 -(% style="margin-left:auto; margin-right:auto; width:1230px" %)
416 -|(% colspan="3" rowspan="1" style="width:464px" %)(((
410 +(% style="margin-left:auto; margin-right:auto; width:1149.22px" %)
411 +|(% colspan="3" rowspan="1" style="width:445px" %)(((
417 417  **Bus type**
418 -)))|(% style="width:309px" %)(((
413 +)))|(% style="width:327px" %)(((
419 419  (% style="text-align:center" %)
420 420  [[image:1726295827531-129.png]]
421 421  
... ... @@ -433,7 +433,7 @@
433 433  (% style="text-align:center" %)
434 434  [[image:1726295894302-137.png]]
435 435  )))
436 -|(% colspan="3" rowspan="1" style="width:464px" %)**Model**|(% style="width:309px" %)(((
431 +|(% colspan="3" rowspan="1" style="width:445px" %)**Model**|(% style="width:327px" %)(((
437 437  **VD3E(A type)**
438 438  )))|(((
439 439  **VD3E(B type)**
... ... @@ -442,53 +442,49 @@
442 442  )))
443 443  |(% colspan="1" rowspan="7" style="width:166px" %)(((
444 444  **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
440 +)))|(% colspan="2" style="width:279px" %)**Power supply**|(% style="width:327px" %)220V|220V/380V|380V
441 +|(% colspan="2" style="width:279px" %)**Control method**|(% colspan="3" rowspan="1" style="width:672px" %)IGBT PWM control sine wave current drive
442 +|(% colspan="2" style="width:279px" %)**Encoder**|(% colspan="3" rowspan="1" style="width:672px" %)17bit, 23bit absolute value encoder
443 +|(% colspan="2" style="width:279px" %)**Control signal input**|(% colspan="3" rowspan="1" style="width:672px" %)(((
444 +6DI, Select the output function according to the function code configuration
452 452  )))
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
446 +|(% colspan="2" style="width:279px" %)**Control signal output**|(% colspan="3" rowspan="1" style="width:672px" %)(((
447 +3DO, Select the output function according to the function code configuration
457 457  )))
458 458  |(% style="width:147px" %)(((
459 459  **Communication function**
460 -)))|(% style="width:155px" %)(((
451 +)))|(% style="width:133px" %)(((
461 461  **Host computer communication**
462 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
453 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
463 463  The USB interface can be used to set function code parameters, monitor status, and view waveforms through a computer host computer.
464 464  Parameter self-tuning, etc.
465 465  )))
466 -|(% colspan="2" style="width:301px" %)**Braking resistor**|(% colspan="3" rowspan="1" style="width:470px" %)(((
457 +|(% colspan="2" style="width:279px" %)**Braking resistor**|(% colspan="3" rowspan="1" style="width:672px" %)(((
467 467  Built-in braking resistor, supports external braking resistor
468 468  )))
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" %)(((
460 +|(% colspan="1" rowspan="9" style="width:166px" %)**General functions**|(% colspan="2" style="width:279px" %)**Auto-tuning**|(% colspan="3" rowspan="1" style="width:672px" %)Automatic load inertia identification,automatic rigidity self-tuning
461 +|(% colspan="2" style="width:279px" %)(((
471 471  **Waveform viewing**
472 -)))|(% colspan="3" rowspan="1" style="width:470px" %)4 channels waveform monitoring
473 -|(% colspan="2" style="width:301px" %)(((
463 +)))|(% colspan="3" rowspan="1" style="width:672px" %)4 channels waveform monitoring
464 +|(% colspan="2" style="width:279px" %)(((
474 474  **Waveform storage**
475 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
466 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
476 476  Waveform acquisition frequency 1K Hz,(% style="background-color:transparent" %)10s waveform data recording
477 477  )))
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" %)(((
469 +|(% colspan="2" style="width:279px" %)**Parameter management**|(% colspan="3" rowspan="1" style="width:672px" %)Support batch parameter import and export
470 +|(% colspan="2" style="width:279px" %)(((
480 480  **Vibration suppression**
481 -)))|(% colspan="3" rowspan="1" style="width:470px" %)Support mechanical vibration suppression
482 -|(% colspan="2" style="width:301px" %)(((
472 +)))|(% colspan="3" rowspan="1" style="width:672px" %)Support mechanical vibration suppression
473 +|(% colspan="2" style="width:279px" %)(((
483 483  
484 484  
485 485  **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" %)(((
477 +)))|(% colspan="3" rowspan="1" style="width:672px" %)Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
478 +|(% colspan="2" style="width:279px" %)**Brake device**|(% colspan="3" rowspan="1" style="width:672px" %)Support brake signal output
479 +|(% colspan="2" style="width:279px" %)**DI function**|(% colspan="3" rowspan="1" style="width:672px" %)(((
489 489  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**(%%))
490 490  )))
491 -|(% colspan="2" style="width:301px" %)**DO function**|(% colspan="3" rowspan="1" style="width:470px" %)(((
482 +|(% colspan="2" style="width:279px" %)**DO function**|(% colspan="3" rowspan="1" style="width:672px" %)(((
492 492  Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
493 493  
494 494  Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
... ... @@ -499,100 +499,480 @@
499 499  **EtherCAT related**
500 500  )))|(% rowspan="14" style="width:147px" %)(((
501 501  **EtherCAT related**
502 -)))|(% style="width:155px" %)(((
493 +)))|(% style="width:133px" %)(((
503 503  **Communication protocol**
504 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
495 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
505 505  EtherCAT protocol
506 506  )))
507 -|(% style="width:155px" %)(((
498 +|(% style="width:133px" %)(((
508 508  **Support services**
509 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
500 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
510 510  CoE(PDO,SDO)
511 511  )))
512 -|(% style="width:155px" %)(((
503 +|(% style="width:133px" %)(((
513 513  **Sync mode**
514 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
505 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
515 515  DC-Distributed Clock
516 516  )))
517 -|(% style="width:155px" %)(((
508 +|(% style="width:133px" %)(((
518 518  **Physical layer**
519 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
510 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
520 520  100BASE-TX
521 521  )))
522 -|(% style="width:155px" %)(((
513 +|(% style="width:133px" %)(((
523 523  **Baud rate**
524 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
515 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
525 525  100 Mbit/s(100Base-TX)
526 526  )))
527 -|(% style="width:155px" %)(((
518 +|(% style="width:133px" %)(((
528 528  **Duplex mode**
529 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
520 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
530 530  Full duplex
531 531  )))
532 -|(% style="width:155px" %)(((
523 +|(% style="width:133px" %)(((
533 533  **Topology**
534 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
525 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
535 535  Circular, linear
536 536  )))
537 -|(% style="width:155px" %)(((
528 +|(% style="width:133px" %)(((
538 538  **Transmission medium**
539 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
530 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
540 540  Shielded Category 5e or better network cable
541 541  )))
542 -|(% style="width:155px" %)(((
533 +|(% style="width:133px" %)(((
543 543  **Transmission distance**
544 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
535 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
545 545  Less than 100M between two nodes (good environment, good cables)
546 546  )))
547 -|(% style="width:155px" %)(((
538 +|(% style="width:133px" %)(((
548 548  **Frame length**
549 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
540 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
550 550  44 bytes~~1498 bytes
551 551  )))
552 -|(% style="width:155px" %)(((
543 +|(% style="width:133px" %)(((
553 553  **Excessive data**
554 -)))|(% colspan="5" rowspan="1" style="width:470px" %)Maximum size of a single Ethernet frame is 1486 bytes
555 -|(% style="width:155px" %)(((
545 +)))|(% colspan="5" rowspan="1" style="width:672px" %)Maximum size of a single Ethernet frame is 1486 bytes
546 +|(% style="width:133px" %)(((
556 556  **Sync jitter**
557 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
548 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
558 558  <1μs
559 559  )))
560 -|(% style="width:155px" %)(((
551 +|(% style="width:133px" %)(((
561 561  **Distributed clock**
562 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
553 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
563 563  64 bit
564 564  )))
565 -|(% style="width:155px" %)(((
556 +|(% style="width:133px" %)(((
566 566  **EEPROM capacity**
567 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
558 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
568 568  8k bit initialization data is written through the EtherCAT master station
569 569  )))
570 570  |(% rowspan="2" style="width:147px" %)(((
571 571  **Control mode and performance**
572 -)))|(% style="width:155px" %)(((
563 +)))|(% style="width:133px" %)(((
573 573  **Control mode**
574 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
565 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
575 575  CSP、HM
576 576  )))
577 -|(% style="width:155px" %)**Synchronization period**|(% colspan="3" rowspan="1" style="width:470px" %)(((
568 +|(% style="width:133px" %)**Synchronization period**|(% colspan="3" rowspan="1" style="width:672px" %)(((
578 578  125μs
579 579  )))
580 580  
572 += **Servo Motor Naming Rules** =
573 +
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
584 584  
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" %)
578 +(% style="margin-left:auto; margin-right:auto; width:1200px" %)
579 +|(% rowspan="2" %)①Pole pairs|WD: 5|(% rowspan="14" %) |(% rowspan="6" %)④Rated power|010：100W|(% rowspan="14" %) |(% rowspan="4" %)⑦Encoder type|A1: 17bit single-turn absolute magnetic encoder
580 +|WE: 4|020：200W|C1：17bit multi-turn absolute magnetic encoder
581 +|(% colspan="2" rowspan="1" %) |...|D2：23bit multi-turn absolute optical encoder
582 +|(% rowspan="7" %)②Flange|40|500：5.0KW|E1: 2500-line incremental encoder
583 +|60|550：5.5KW|(% colspan="2" rowspan="1" %)
584 +|80|...|(% rowspan="2" %)⑧Motor structure|F：Oil seal
585 +|110|(% colspan="2" rowspan="1" %) |G：Oil seal + Brake device
586 +|130|(% rowspan="4" %)⑤Rated speed|15：1500rpm|(% colspan="2" rowspan="1" %)
587 +|150|20：2000rpm|(% rowspan="3" %)⑨Others|L：60/80 flange connector
588 +|180|25：2500rpm|(% rowspan="2" %)L2：60/80/130 flange connector
589 +|(% colspan="2" rowspan="1" %) |30：3000rpm
590 +|(% rowspan="3" %)③Inertia level|L: Low|(% colspan="2" rowspan="1" %) |(% colspan="2" rowspan="3" %)
591 +|M: Middle|(% rowspan="2" %)⑥Voltage level|S: 220V
592 +|H: High|T: 380V
593 +
594 +(% style="text-align:center" %)
595 +[[image:Servo.Manual.02 VD2 SA Series.test.WebHome@image-20220611113846-8.jpeg]]
596 +
597 + Motor nameplate
598 +
599 += (% style="color:inherit; font-family:inherit; font-size:max(23px, min(29px, 12.3333px + 1.38889vw))" %)**Servo Motor Parameter**(%%) =
600 +
601 +(% style="margin-left:auto; margin-right:auto; width:1200px" %)
602 +|=(% style="width: 172px;" %)**220V motor model**|=(% style="width: 111px;" %)**Flange mm**|=(% style="width: 109px;" %)**Power kW**|=(% style="width: 132px;" %)**Rated speed rpm**|=(% style="width: 149px;" %)**Rated torque N*m**|=(% style="width: 137px;" %)**Rated current A**|=(% style="width: 172px;" %)**Allowable overload multiple**|=(% style="width: 91px;" %)**Pole pairs**|=(% style="width: 125px;" %)**Inertia level**
603 +|(% style="width:172px" %)WD40M-01030S-☐☐☐|(% style="width:111px" %)40|(% style="width:109px" %)0.1|(% style="width:132px" %)3000|(% style="width:149px" %)0.318|(% style="width:137px" %)1.0|(% style="width:172px" %)3.0|(% style="width:91px" %)5|(% style="width:125px" %)Middle
604 +|(% colspan="9" style="width:172px" %)
605 +|(% style="width:172px" %)WD60M-02030S-☐☐☐|(% style="width:111px" %)60|(% style="width:109px" %)0.2|(% style="width:132px" %)3000|(% style="width:149px" %)0.64|(% style="width:137px" %)1.7|(% style="width:172px" %)3.0|(% style="width:91px" %)5|(% rowspan="3" style="width:125px" %)Middle
606 +|(% style="width:172px" %)WD60M-04030S-☐☐☐|(% style="width:111px" %)60|(% style="width:109px" %)0.4|(% style="width:132px" %)3000|(% style="width:149px" %)1.27|(% style="width:137px" %)2.5|(% style="width:172px" %)3.0|(% style="width:91px" %)5
607 +|(% style="width:172px" %)WD60M-06030S-☐☐☐|(% style="width:111px" %)60|(% style="width:109px" %)0.6|(% style="width:132px" %)3000|(% style="width:149px" %)1.91|(% style="width:137px" %)3.6|(% style="width:172px" %)3.0|(% style="width:91px" %)5
608 +|(% colspan="9" style="width:172px" %)
609 +|(% style="width:172px" %)WD80M-07530S-☐☐☐|(% style="width:111px" %)80|(% style="width:109px" %)0.75|(% style="width:132px" %)3000|(% style="width:149px" %)2.39|(% style="width:137px" %)4.4|(% style="width:172px" %)3.0|(% style="width:91px" %)5|(% rowspan="3" style="width:125px" %)Middle
610 +|(% style="width:172px" %)WD80M-10025S-☐☐☐|(% style="width:111px" %)80|(% style="width:109px" %)1|(% style="width:132px" %)2500|(% style="width:149px" %)3.82|(% style="width:137px" %)4.6|(% style="width:172px" %)3.0|(% style="width:91px" %)5
611 +|(% style="width:172px" %)WD80M-10030S-☐☐☐|(% style="width:111px" %)80|(% style="width:109px" %)1|(% style="width:132px" %)3000|(% style="width:149px" %)3.18|(% style="width:137px" %)5.8|(% style="width:172px" %)3.0|(% style="width:91px" %)5
612 +|(% colspan="9" style="width:172px" %)
613 +|(% style="width:172px" %)WD130M-08515S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)0.85|(% style="width:132px" %)1500|(% style="width:149px" %)5.41|(% style="width:137px" %)4.6|(% style="width:172px" %)3.0|(% style="width:91px" %)5|(% rowspan="10" style="width:125px" %)Middle
614 +|(% style="width:172px" %)WD130M-13015S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)1.3|(% style="width:132px" %)1500|(% style="width:149px" %)8.28|(% style="width:137px" %)7.7|(% style="width:172px" %)3.0|(% style="width:91px" %)5
615 +|(% style="width:172px" %)WD130M-18015S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)1.8|(% style="width:132px" %)1500|(% style="width:149px" %)11.46|(% style="width:137px" %)9.8|(% style="width:172px" %)3.0|(% style="width:91px" %)5
616 +|(% style="width:172px" %)WD130M-23015S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)2.3|(% style="width:132px" %)1500|(% style="width:149px" %)14.64|(% style="width:137px" %)12.4|(% style="width:172px" %)3.0|(% style="width:91px" %)5
617 +|(% style="width:172px" %)WD130M-10020S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)1|(% style="width:132px" %)2000|(% style="width:149px" %)4.8|(% style="width:137px" %)6.0|(% style="width:172px" %)3.5|(% style="width:91px" %)5
618 +|(% style="width:172px" %)WD130M-15020S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)1.5|(% style="width:132px" %)2000|(% style="width:149px" %)7.2|(% style="width:137px" %)8.5|(% style="width:172px" %)3.5|(% style="width:91px" %)5
619 +|(% style="width:172px" %)WD130M-20020S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)2|(% style="width:132px" %)2000|(% style="width:149px" %)9.55|(% style="width:137px" %)10|(% style="width:172px" %)3.0|(% style="width:91px" %)5
620 +|(% style="width:172px" %)WD130M-15025S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)1.5|(% style="width:132px" %)2500|(% style="width:149px" %)5.73|(% style="width:137px" %)6.0|(% style="width:172px" %)3.0|(% style="width:91px" %)5
621 +|(% style="width:172px" %)WD130M-26025S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)2.6|(% style="width:132px" %)2500|(% style="width:149px" %)9.93|(% style="width:137px" %)10.5|(% style="width:172px" %)3.0|(% style="width:91px" %)5
622 +|(% style="width:172px" %)WD130M-38025S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)3.8|(% style="width:132px" %)2500|(% style="width:149px" %)14.5|(% style="width:137px" %)16|(% style="width:172px" %)3.0|(% style="width:91px" %)5
623 +
624 +(% style="margin-left:auto; margin-right:auto; width:1200px" %)
625 +|=**220V motor model**|=**Flange mm**|=**Power kW**|=**Rated speed rpm**|=**Rated torque N*m**|=**Rated current A**|=**Allowable overload multiple**|=(((
626 +**Pole pairs**
627 +)))|=(((
628 +**Inertia level**
629 +)))
630 +|WD60H-02030S-☐☐☐|60|0.2|3000|0.64|1.8|3.5|5|(% colspan="1" rowspan="3" %)(((
631 +High
632 +)))
633 +|WD60H-04030S-☐☐☐|60|0.4|3000|1.27|2.8|3.5|5
634 +|WD60H-06030S-☐☐☐|60|0.6|3000|1.91|4.0|3.0|5
635 +|(% colspan="9" %)
636 +|WD80H-07530S-☐☐☐|80|0.75|3000|2.39|4.8|3.0|5|(% colspan="1" rowspan="4" %)(((
637 +High
638 +)))
639 +|WD80H-10020S-☐☐☐|80|1|2000|4.77|4.8|3.0|5
640 +|WD80H-10025S-☐☐☐|80|1|2500|3.82|4.8|3.0|5
641 +|WD80H-10030S-☐☐☐|80|1|3000|3.2|4.8|3.0|5
642 +|(% colspan="9" %)
643 +|WD130H-15030S-☐☐☐|130|1.5|3000|4.8|6.0|3.0|5|(((
644 +High
645 +)))
646 +
647 +|(% style="width:174px" %)**220V motor model**|(% style="width:69px" %)**Flange mm**|(% style="width:86px" %)**Power kW**|(% style="width:125px" %)**Rated speed rpm**|(% style="width:110px" %)**Rated torque N*m**|(% style="width:136px" %)**Rated current A**|(% style="width:156px" %)**Allowable overload multiple**|(% style="width:55px" %)**Pole pairs**|(% style="width:82px" %)**Inertia level**
648 +|(% style="width:174px" %)WE60M-04030S-☐☐☐|(% style="width:69px" %)60|(% style="width:86px" %)0.4|(% style="width:125px" %)3000|(% style="width:110px" %)1.27|(% style="width:136px" %)2.6|(% style="width:156px" %)3.0|(% style="width:55px" %)4|(% style="width:82px" %)Middle
649 +|(% colspan="9" style="width:174px" %)
650 +|(% style="width:174px" %)WE80M-07320S-☐☐☐|(% style="width:69px" %)80|(% style="width:86px" %)0.73|(% style="width:125px" %)2000|(% style="width:110px" %)3.5|(% style="width:136px" %)3.0|(% style="width:156px" %)3.0|(% style="width:55px" %)4|(% rowspan="5" style="width:82px" %)Middle
651 +|(% style="width:174px" %)WE80M-07530S-☐☐☐|(% style="width:69px" %)80|(% style="width:86px" %)0.75|(% style="width:125px" %)3000|(% style="width:110px" %)2.39|(% style="width:136px" %)3.0|(% style="width:156px" %)3.0|(% style="width:55px" %)4
652 +|(% style="width:174px" %)WE80M-10025S-☐☐☐|(% style="width:69px" %)80|(% style="width:86px" %)1|(% style="width:125px" %)2500|(% style="width:110px" %)4.0|(% style="width:136px" %)4.4|(% style="width:156px" %)3.0|(% style="width:55px" %)4
653 +|(% style="width:174px" %)WE80M-11030S-☐☐☐|(% style="width:69px" %)80|(% style="width:86px" %)1.1|(% style="width:125px" %)3000|(% style="width:110px" %)3.5|(% style="width:136px" %)4.5|(% style="width:156px" %)3.0|(% style="width:55px" %)4
654 +|(% style="width:174px" %)WE80M-12030S-☐☐☐|(% style="width:69px" %)80|(% style="width:86px" %)1.2|(% style="width:125px" %)3000|(% style="width:110px" %)4.0|(% style="width:136px" %)4.5|(% style="width:156px" %)3.0|(% style="width:55px" %)4
655 +|(% colspan="9" style="width:174px" %)
656 +|(% style="width:174px" %)WE110M-12030S-☐☐☐|(% style="width:69px" %)110|(% style="width:86px" %)1.2|(% style="width:125px" %)3000|(% style="width:110px" %)4.0|(% style="width:136px" %)5.0|(% style="width:156px" %)3.0|(% style="width:55px" %)4|(% rowspan="3" style="width:82px" %)Middle
657 +|(% style="width:174px" %)WE110M-15030S-☐☐☐|(% style="width:69px" %)110|(% style="width:86px" %)1.5|(% style="width:125px" %)3000|(% style="width:110px" %)5.0|(% style="width:136px" %)6.0|(% style="width:156px" %)3.0|(% style="width:55px" %)4
658 +|(% style="width:174px" %)WE110M-18030S-☐☐☐|(% style="width:69px" %)110|(% style="width:86px" %)1.8|(% style="width:125px" %)3000|(% style="width:110px" %)6.0|(% style="width:136px" %)6.0|(% style="width:156px" %)3.0|(% style="width:55px" %)4
659 +|(% colspan="9" style="width:174px" %)
660 +|(% style="width:174px" %)WE130M-15015S-☐☐☐|(% style="width:69px" %)130|(% style="width:86px" %)1.5|(% style="width:125px" %)1500|(% style="width:110px" %)10|(% style="width:136px" %)6.0|(% style="width:156px" %)2.5|(% style="width:55px" %)4|(% rowspan="8" style="width:82px" %)Middle
661 +|(% style="width:174px" %)WE130M-23015S-☐☐☐|(% style="width:69px" %)130|(% style="width:86px" %)2.3|(% style="width:125px" %)1500|(% style="width:110px" %)15|(% style="width:136px" %)9.5|(% style="width:156px" %)2.0|(% style="width:55px" %)4
662 +|(% style="width:174px" %)WE130M-10025S-☐☐☐|(% style="width:69px" %)130|(% style="width:86px" %)1|(% style="width:125px" %)2500|(% style="width:110px" %)4.0|(% style="width:136px" %)4.0|(% style="width:156px" %)3.0|(% style="width:55px" %)4
663 +|(% style="width:174px" %)WE130M-13025S-☐☐☐|(% style="width:69px" %)130|(% style="width:86px" %)1.3|(% style="width:125px" %)2500|(% style="width:110px" %)5.0|(% style="width:136px" %)5.0|(% style="width:156px" %)3.0|(% style="width:55px" %)4
664 +|(% style="width:174px" %)WE130M-15025S-☐☐☐|(% style="width:69px" %)130|(% style="width:86px" %)1.5|(% style="width:125px" %)2500|(% style="width:110px" %)6.0|(% style="width:136px" %)6.0|(% style="width:156px" %)3.0|(% style="width:55px" %)4
665 +|(% style="width:174px" %)WE130M-20025S-☐☐☐|(% style="width:69px" %)130|(% style="width:86px" %)2|(% style="width:125px" %)2500|(% style="width:110px" %)7.7|(% style="width:136px" %)7.5|(% style="width:156px" %)2.9|(% style="width:55px" %)4
666 +|(% style="width:174px" %)WE130M-26025S-☐☐☐|(% style="width:69px" %)130|(% style="width:86px" %)2.6|(% style="width:125px" %)2500|(% style="width:110px" %)10|(% style="width:136px" %)10|(% style="width:156px" %)2.5|(% style="width:55px" %)4
667 +|(% style="width:174px" %)WE130M-38025S-☐☐☐|(% style="width:69px" %)130|(% style="width:86px" %)3.8|(% style="width:125px" %)2500|(% style="width:110px" %)15|(% style="width:136px" %)13.5|(% style="width:156px" %)2.0|(% style="width:55px" %)4
668 +
669 +|**380V motor model**|**Flange mm**|**Power kW**|**Rated speed rpm**|**Rated torque N*m**|**Rated current A**|**Allowable overload multiple**|**Pole pairs**|**Inertia level**
670 +|WD130M-08515T-☐☐☐|130|0.85|1500|5.41|3.1|3.0|5|(% colspan="1" rowspan="5" %)Middle
671 +|WD130M-13015T-☐☐☐|130|1.3|1500|8.28|5.1|3.0|5
672 +|WD130M-18015T-☐☐☐|130|1.8|1500|11.46|6.3|3.0|5
673 +|WD130M-23015T-☐☐☐|130|2.3|1500|14.64|8.5|3.0|5
674 +|WD180M-29015T-☐☐☐|180|2.9|1500|18.6|11.8|3.0|5
675 +
676 +|**380V motor model**|**Flange mm**|**Power kW**|**Rated speed rpm**|**Rated torque N*m**|**Rated current A**|**Allowable overload multiple**|(% style="width:78px" %)**Pole pairs**|(% style="width:68px" %)**Inertia level**
677 +|WE130M-20025T-☐☐☐|130|2.0|2500|7.7|7.5|2.8|(% style="width:78px" %)4|(% rowspan="6" style="width:68px" %)Middle
678 +|WE130M-26025T-☐☐☐|130|2.6|2500|10|6.0|2.5|(% style="width:78px" %)4
679 +|WE130M-31015T-☐☐☐|130|3.1|1500|20|11.5|2.5|(% style="width:78px" %)4
680 +|WE130M-38025T-☐☐☐|130|3.8|2500|15|8.8|2.0|(% style="width:78px" %)4
681 +|WE130M-42020T-☐☐☐|130|4.2|2000|20|8.5|2.0|(% style="width:78px" %)4
682 +|WE130M-53030T-☐☐☐|130|5.3|3000|17|11|2.0|(% style="width:78px" %)4
683 +|(% colspan="9" %)
684 +|WE180M-30015T-☐☐☐|180|3.0|1500|19|7.5|2.5|(% style="width:78px" %)4|(% rowspan="4" style="width:68px" %)Middle
685 +|WE180M-43015T-☐☐☐|180|4.3|1500|27|10|2.5|(% style="width:78px" %)4
686 +|WE180M-55015T-☐☐☐|180|5.5|1500|35|12|2.0|(% style="width:78px" %)4
687 +|WE180M-75015T-☐☐☐|180|7.5|1500|48|20|2.0|(% style="width:78px" %)4
688 +
689 +**Note**: ☐☐☐ Not all motor models include the following categories
690 +
691 +A1F：17-bit single-turn absolute magnetic encoder without brake.
692 +
693 +A1G：17-bit single-turn absolute magnetic encoder with brake.
694 +
695 +C1F：17-bit multi-turn absolute magnetic encoder without brake
696 +
697 +C1G：17-bit multi-turn absolute magnetic encoder with brake.
698 +
699 +D2F：23-bit multi-turn absolute Optical encoder without brake.
700 +
701 +D2G：23-bit multi-turn absolute Optical encoder with brake.
702 +
703 += **Servo Drive and Motor Matching Table** =
704 +
705 +**Note**: The **red-marked** combination is not recommended.
706 +
707 +|=**Control type**|=**Voltage level**|=**Drive series**|=**Drive model**|=**Support motor**
708 +|(% rowspan="18" %)Pulse type|(% rowspan="12" %)220V|(% rowspan="3" %)VD2F|VD2F-003SA1P|(0.1-0.2)kW
709 +|VD2F-010SA1P|(0.2-0.4)kW
710 +|VD2F-014SA1P|(((
711 +(0.6-0.75)kW
712 +
713 +**(0.85-1.0)kW**
714 +)))
715 +|(% rowspan="2" %)VD2L|VD2L-010SA1P|(0.2-0.4)kW
716 +|VD2L-014SA1P/D|(((
717 +(0.6-0.75)kW
718 +
719 +**(0.85-1.0)kW**
720 +)))
721 +|(% rowspan="2" %)(((
722 +VD2 Type A
723 +)))|VD2-010SA1G/R/H|(0.2-0.4)kW
724 +|VD2-014SA1G/R/H|(((
725 +(0.6-0.75)kW
726 +
727 +**(0.85-1.0)kW**
728 +)))
729 +|(% rowspan="8" %)(((
730 +VD2 Type B
731 +)))|VD2-016SA1G/R/H|(0.85-1.5)kW
732 +|VD2-019SA1G/R/H|(1.5-2.0)kW
733 +|VD2-021SA1G/R/H|(2.0-2.5)kW
734 +|VD2-025SA1G|(2.5-3.0)kW
735 +|VD2-030SA1G|(3.0-4.0)kW
736 +|(% rowspan="6" %)380V|VD2-016TA1G|(0.85-1.5)kW
737 +|VD2-019TA1G|(1.5-2.0)kW
738 +|VD2-021TA1G|(2.0-3.0)kW
739 +|(% rowspan="3" %)VD2 Type C|VD2-030TA1G|(3.0-5.0)kW
740 +|VD2-040TA1G|(5.0-6.0)kW
741 +|VD2-050TA1G|(7.5)kW
742 +|(% rowspan="14" %)EtherCAT type|(% rowspan="8" %)220V|(% rowspan="3" %)VD3E Type A|VD3E-003SA1G|(0.1-0.2)kW
743 +|VD3E-010SA1G|(0.2-0.4)kW
744 +|VD3E-014SA1G|(((
745 +(0.6-0.75)kW
746 +
747 +**(0.85-1.0)kW**
748 +)))
749 +|(% rowspan="8" %)VD3E Type B|VD3E-016SA1G|(0.85-1.5)kW
750 +|VD3E-019SA1G|(1.5-2.0)kW
751 +|VD3E-021SA1G|(2.0-2.5)kW
752 +|VD3E-025SA1G|(2.5-3.0)kW
753 +|VD3E-030SA1G|(3.0-4.0)kW
754 +|(% rowspan="6" %)380V|VD3E-016TA1G|(0.85-1.5)kW
755 +|VD3E-019TA1G|(1.5-2.0)kW
756 +|VD3E-021TA1G|(2.0-3.0)kW
757 +|(% rowspan="3" %)VD3E Type C|VD3E-030TA1G|(3.0-5.0)kW
758 +|VD3E-040TA1G|(5.0-6.0)kW
759 +|VD3E-050TA1G|(7.5)kW
760 +
761 += **Servo Cable Naming Rules** =
762 +
763 +(% style="margin-left:auto; margin-right:auto; width:120px" %)
764 +|E|-|J1394|-|R9M|-|3M|X7|-|A1|-|2
765 +|①| |②| |③| |④|⑤| |⑥| |⑦
766 +
767 +(% style="margin-left:auto; margin-right:auto; width:1200px" %)
768 +|①Cable type|E: Encoder adapter cable|(% rowspan="14" %) |(% rowspan="4" %)④Cable length|3M: 3m
769 +|(% colspan="2" rowspan="1" %) |5M: 5m
770 +|(% rowspan="2" %)②Drive side connector|J1394: 1394 connector|7M: 7m
771 +|D15G: DB15 male connector|...
772 +|(% colspan="2" rowspan="1" %) |(% colspan="2" rowspan="1" %)
773 +|(% rowspan="7" %)③Motor side connector|R9M: 9-core rectangular female connector|(% rowspan="3" %)⑤Number of cores|X5: 5 cores
774 +|MC7S: 7-core straight female connector|X7: 7 cores
775 +|H28K7M: 7-core 28mm aviation female connector|...
776 +|CM10: 11-core 11mm aviation female connector|(% colspan="2" rowspan="1" %)
777 +|MC7P: 7-core straight female connector (L2)|(% rowspan="2" %)⑥Wire size|A: 0.2mm/0.14mm
778 +|R15M: 15-core rectangular female connector|A1: 0.2mm/0.14mm with battery box
779 +|H28J15M: 15-core 28mm aviation female connector|(% colspan="2" rowspan="1" %)
780 +|(% colspan="2" rowspan="2" %) |(% rowspan="2" %)⑦Others|1: Ordinary cable
781 +|2: High flex cable
782 +
783 +(% style="margin-left:auto; margin-right:auto; width:120px" %)
784 +|P|-|U3O1|-|H28J4M|-|5M|X4|-|C|-|1
785 +|①| |②| |③| |④|⑤| |⑥| |⑦
786 +
787 +(% style="margin-left:auto; margin-right:auto; width:1200px" %)
788 +|①Cable type|P: Power adapter cable/brake cable|(% rowspan="20" %) |(% rowspan="6" %)④Cable length|3M: 3m
789 +|(% colspan="2" rowspan="1" %) |5M: 5m
790 +|(% rowspan="8" %)②Drive side connector|Z3O1: 3-core pin-type cold-pressed terminal and 1-core O-type cold-pressed terminal|6D5M: 6.5m
791 +|Z3O3: 3-core pin-type cold-pressed terminal and 3-core O-type cold-pressed terminal|7M: 7m
792 +|Z4: 4-core pin-type cold-pressed terminal|10M: 10m
793 +|Z4O2: 4-core pin-type cold-pressed terminal and 2-core O-type cold-pressed terminal|...
794 +|U3O1: 3-core U-type cold-pressed terminal and 1-core O-type cold-pressed terminal|(% colspan="2" rowspan="1" %)
795 +|U3O3: 3-core U-type cold-pressed terminal and 3-core O-type cold-pressed terminal|(% rowspan="4" %)⑤Number of cores|X2: 2 cores
796 +|Z6: 6-core pin-type cold-pressed terminal|X4: 4 cores
797 +|O2: 2-core O-type cold-pressed terminal|X6: 6 cores
798 +|(% colspan="2" rowspan="1" %) |...
799 +|(% rowspan="9" %)③Motor side connector|18A6: 6-core 23mm aviation female connector|(% colspan="2" rowspan="1" %)
800 +|R4M: 4-core rectangular female connector|(% rowspan="5" %)⑥Wire size|D: 0.5mm
801 +|MC4S: 4-core straight female connector|E: 0.75mm
802 +|MC6S: 6-core straight female connector|B: 1.0mm
803 +|H28J4M: 4-core 28mm aviation female connector|F: 1.5mm
804 +|H32J4M: 4-core 32mm aviation female connector|C: 2.5mm
805 +|R2M: 2-core rectangular female connector|(% colspan="2" rowspan="1" %)
806 +|MC4H: 4-core H-type straight female connector|(% rowspan="2" %)⑦Others|1: Ordinary cable
807 +|MC6H: 6-core H-type straight female connector|2: High flex cable
808 +
809 += **Servo Cable Matching Table** =
810 +
811 +(% style="margin-left:auto; margin-right:auto; width:1200px" %)
812 +|=**Motor model**|=**Matching drive**|=**Power cable/brake cable**|=**Encoder cable**
813 +|(% rowspan="6" %)(((
814 +WD40M-○○○-☐☐☐
815 +
816 +WD60M-○○○-☐☐☐
817 +
818 +WD60H-○○○-☐☐☐
819 +
820 +WE60M-○○○-☐☐☐
821 +
822 +WD80M-○○○-☐☐☐
823 +
824 +WD80H-○○○-☐☐☐
825 +
826 +WE80M-○○○-☐☐☐
827 +)))|(% rowspan="2" %)VD2/VD3E A type|Power cable：P-Z3O1-R4M-*MX4|(% rowspan="3" %)Single-turn：E-J1394-R9M-*MX5-A
828 +|(((
829 +Power cable：P-Z3O1-R4M-*MX4
830 +
831 +Brake cable：P-O2-R2M-3MX2-D
832 +)))
833 +|(% rowspan="2" %)(((
834 +VD2/VD3E B type
835 +
836 +VD2/VD3E C type
837 +)))|Power cable：P-U3O1-R4M-*MX4
838 +|(((
839 +Power cable：P-U3O1-R4M-*MX4
840 +
841 +Brake cable：P-O2-R2M-3MX2-D
842 +)))|(% rowspan="3" %)Multi-turn：E-J1394-R9M-*MX7-A1
843 +|(% rowspan="2" %)VD2F/VD2L|Power cable：P-Z4-R4M-*MX4
844 +|(((
845 +Power cable：P-Z4-R4M-*MX4
846 +
847 +Brake cable：P-O2-R2M-3MX2-D
848 +)))
849 +|(% rowspan="6" %)(((
850 +WD60M-○○○-☐☐☐-L
851 +
852 +WD80M-○○○-☐☐☐-L
853 +)))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4S-*MX4|(% rowspan="3" %)Single-turn：E-J1394-MC7S-*MX5-A
854 +|With brake：P-Z3O3-MC6S-*MX6
855 +|(% rowspan="2" %)(((
856 +VD2/VD3E B type
857 +
858 +VD2/VD3E C type
859 +)))|Without brake：P-U3O1-MC4S-*MX4
860 +|With brake：P-U3O3-MC6S-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7S-*MX7-A1
861 +|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4S-*MX4
862 +|With brake：P-Z4O2-MC6S-*MX6
863 +|(% rowspan="6" %)(((
864 +WD60M-○○○-☐☐☐-L2
865 +
866 +WD80M-○○○-☐☐☐-L2
867 +)))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4S-*MX4|(% rowspan="3" %)Single-turn：E-J1394-MC7P-*MX5-A
868 +|With brake：P-Z3O3-MC6S-*MX6
869 +|(% rowspan="2" %)(((
870 +VD2/VD3E B type
871 +
872 +VD2/VD3E C type
873 +)))|Without brake：P-U3O1-MC4S-*MX4
874 +|With brake：P-U3O3-MC6S-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7P-*MX7-A1
875 +|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4S-*MX4
876 +|With brake：P-Z4O2-MC6S-*MX6
877 +|(% rowspan="4" %)(((
878 +WD60H-○○○-☐☐☐-L2
879 +
880 +WD80H-○○○-☐☐☐-L2
881 +)))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4H-*MX4|(% rowspan="2" %)Single-turn：E-J1394-MC7P-*MX5-A
882 +|With brake：P-Z3O3-MC6H-*MX6
883 +|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4H-*MX4|(% rowspan="2" %)Multi-turn：E-J1394-MC7P-*MX7-A1
884 +|With brake：P-Z4O2-MC6H-*MX6
885 +|(% rowspan="6" %)(((
886 +WE110M-○○○-☐☐☐
887 +
888 +WE130M-○○○-☐☐☐
889 +)))|(% rowspan="2" %)VD2/VD3E A type|Power cable：P-Z3O1-H28J4M-*MX4|(% rowspan="3" %)Single-turn：E-J1394-H28K7M-*MX5-A
890 +|Brake cable：No need
891 +|(% rowspan="2" %)(((
892 +VD2/VD3E B type
893 +
894 +VD2/VD3E C type
895 +)))|Power cable：P-U3O1-H28J4M-*MX4
896 +|Brake cable：No need|(% rowspan="3" %)Multi-turn：E-J1394-H28K7M-*MX7-A1
897 +|(% rowspan="2" %)VD2F/VD2L|Power cable：P-Z4-H28J4M-*MX4
898 +|Brake cable：No need
899 +|(% rowspan="6" %)(((
900 +WD130M-○○○-☐☐☐
901 +
902 +WD130H-○○○-☐☐☐
903 +)))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-18A6-*MX4|(% rowspan="3" %)Single-turn：E-J1394-CM10-*MX5-A
904 +|With brake：P-Z3O3-18A6-*MX6
905 +|(% rowspan="2" %)(((
906 +VD2/VD3E B type
907 +
908 +VD2/VD3E C type
909 +)))|Without brake：P-U3O1-18A6-*MX4
910 +|With brake：P-U3O3-18A6-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-CM10-*MX7-A1
911 +|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-18A6-*MX4
912 +|With brake：P-Z4O2-18A6-*MX4
913 +|(% rowspan="6" %)WD130M-○○○-☐☐☐-L2|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-18A6-*MX4|(% rowspan="3" %)Single-turn：E-J1394-MC7P-*MX5-A
914 +|With brake：P-Z3O3-18A6-*MX6
915 +|(% rowspan="2" %)(((
916 +VD2/VD3E B type
917 +
918 +VD2/VD3E C type
919 +)))|Without brake：P-U3O1-18A6-*MX4
920 +|With brake：P-U3O3-18A6-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7P-*MX7-A1
921 +|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-18A6-*MX4
922 +|With brake：P-Z4O2-18A6-*MX4
923 +|(% rowspan="2" %)(((
924 +WE180M-○○○-☐☐☐
925 +
926 +WD180M-○○○-☐☐☐
927 +)))|(% rowspan="2" %)(((
928 +VD2/VD3E B type
929 +
930 +VD2/VD3E C type
931 +)))|Power cable：P-U3O1-H32J4M-*MX4|Single-turn：E-J1394-H28K7M-*MX5-A
932 +|Brake cable：No need|Multi-turn：E-J1394-H28K7M-*MX7-A1
933 +
934 += **Servo **Input Current Parameter =
935 +
936 +(% style="margin-left:auto; margin-right:auto; width:1200px" %)
937 +|=Servo Drive Output Current (A)|=Servo Drive Output Voltage (V)|=Servo Drive Output Power (W)|=Efficiency|=Power factor|=Input current
938 +(single phase) (A)|=Input current
939 +(three phase) (A)|=Recommended power cable
940 +diameter（mm²）
941 +|3|(% colspan="1" rowspan="7" %)220|100|(% colspan="1" rowspan="11" %)0.7|(% rowspan="11" %)0.8|0.90|0.52|0.5
942 +|10|400|3.61|2.08|0.75
943 +|14|750|6.76|3.91|(((
944 +1.5 (For single phase)
945 +
946 +1 (For three phase)
947 +)))
948 +|16|1800|16.23|9.37|(((
949 +4 (For single phase)
950 +
951 +2 (For three phase)
952 +)))
953 +|21|2200|19.84|11.46|(((
954 +4 (For single phase)
955 +
956 +2.5 (For three phase)
957 +)))
958 +|25|2600|23.45|13.40|(% colspan="1" rowspan="2" %)(((
959 +6 (For single phase)
960 +
961 +4 (For three phase)
962 +)))
963 +|30|3000|26.79|15.46
964 +|21|(% colspan="1" rowspan="4" %)380|3000| |9.04|2
965 +|30|4500| |13.57|4
966 +|40|6000| |18.09|(% colspan="1" rowspan="2" %)6
967 +|50|7500| |22.61
968 +
969 +>For more motor application scenarios, please refer to this [[link>>https://docs.we-con.com.cn/bin/view/Servo/FAQ/How%20to%20estimate%20the%20maximum%20input%20current%20of%20a%20servo%20drive]].
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