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Changes for page 05 Servo Product Manual

Last modified by Jim(Forgotten) on 2025/03/20 10:19
From version 42.1
edited by Jim(Forgotten)
on 2024/09/14 15:04
Change comment: There is no comment for this version
To version 31.1
edited by Molly
on 2024/09/13 14:26
Change comment: There is no comment for this version

Summary

Details

Page properties
Author
... ... @@ -1,1 +1,1 @@
1 -XWiki.Jim
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**
... ... @@ -235,12 +235,14 @@
235 235  Velocity limit under torque mode
236 236  )))
237 237  
229 += (% id="cke_bm_7897S" style="display:none" %) (%%) =
230 +
238 238  = **VD2F/VD2L servo driver parameter table** =
239 239  
240 -(% style="width:1406px" %)
241 -|(% colspan="6" rowspan="1" style="width:537px" %)(((
233 +(% style="width:1005px" %)
234 +|(% colspan="6" rowspan="1" style="width:312px" %)(((
242 242  **General type**
243 -)))|(% colspan="1" rowspan="1" style="width:503px" %)(((
236 +)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
244 244  (% style="text-align:center" %)
245 245  [[image:1726190862910-426.png]]
246 246  )))|(% rowspan="1" style="width:364px" %)(((
... ... @@ -247,7 +247,7 @@
247 247  (% style="text-align:center" %)
248 248  [[image:1726190785664-427.png]]
249 249  )))
250 -|(% colspan="6" rowspan="1" style="width:537px" %)**Model**|(% colspan="1" rowspan="1" style="width:503px" %)(((
243 +|(% colspan="6" rowspan="1" style="width:312px" %)**Model**|(% colspan="1" rowspan="1" style="width:325px" %)(((
251 251  **VD2F**
252 252  )))|(% rowspan="1" style="width:364px" %)(((
253 253  **VD2L**
... ... @@ -254,38 +254,40 @@
254 254  )))
255 255  |(% colspan="3" rowspan="12" %)(((
256 256  **Basic Specifications**
257 -)))|(% colspan="3" style="width:277px" %)**Power supply**|(% colspan="1" rowspan="1" style="width:503px" %)(((
250 +)))|(% colspan="3" style="width:198px" %)**Power supply**|(% colspan="1" rowspan="1" style="width:325px" %)(((
258 258  220V
259 259  )))|(% rowspan="1" style="width:364px" %)(((
260 260  220V
261 261  )))
262 -|(% colspan="3" style="width:277px" %)(((
255 +|(% colspan="3" style="width:198px" %)(((
263 263  **Control method**
264 -)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
257 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
265 265  IGBT PWM control sine wave current drive
266 266  )))
267 -|(% colspan="3" style="width:277px" %)(((
260 +|(% colspan="3" style="width:198px" %)(((
268 268  **Encoder**
269 -)))|(% colspan="2" rowspan="1" style="width:867px" %)17bit, 23bit absolute value encoder
270 -|(% colspan="3" style="width:277px" %)(((
262 +)))|(% colspan="2" rowspan="1" style="width:680px" %)17bit, 23bit absolute value encoder
263 +|(% colspan="3" style="width:198px" %)(((
271 271  **Control signal input**
272 -)))|(% colspan="2" rowspan="1" style="width:867px" %)4DI
273 -|(% colspan="3" style="width:277px" %)(((
265 +)))|(% colspan="2" rowspan="1" style="width:680px" %)4DI
266 +|(% colspan="3" style="width:198px" %)(((
274 274  **Control signal output**
275 -)))|(% colspan="2" rowspan="1" style="width:867px" %)4DO
276 -|(% colspan="3" style="width:277px" %)(((
268 +)))|(% colspan="2" rowspan="1" style="width:680px" %)4DO
269 +|(% colspan="3" style="width:198px" %)(((
277 277  **Pulse frequency division output**
278 -)))|(% colspan="1" rowspan="1" style="width:503px" %)—|(% rowspan="1" style="width:364px" %)(((
271 +)))|(% colspan="1" rowspan="1" style="width:325px" %)—|(% rowspan="1" style="width:364px" %)(((
279 279  Support
280 280  )))
281 -|(% colspan="3" style="width:277px" %)(((
274 +|(% colspan="3" style="width:198px" %)(((
282 282  **Pulse signal input**
283 -)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
276 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
284 284  Open collector or differential input
278 +
279 +
285 285  )))
286 -|(% colspan="3" style="width:277px" %)(((
281 +|(% colspan="3" style="width:198px" %)(((
287 287  **Pulse feedback output**
288 -)))|(% colspan="1" rowspan="1" style="width:503px" %)(((
283 +)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
289 289  Z signal open collector output
290 290  )))|(% rowspan="1" style="width:364px" %)(((
291 291  ABZ differential output(VD2-XXXXXXH
... ... @@ -292,20 +292,24 @@
292 292  
293 293  series support collector signal feedback)
294 294  )))
295 -|(% colspan="3" style="width:277px" %)(% style="background-color:transparent" %)**Internal Command**|(% colspan="2" rowspan="1" style="width:867px" %)(((
290 +|(% colspan="3" style="width:198px" %)(% style="background-color:transparent" %)**Internal Command**|(% colspan="2" rowspan="1" style="width:680px" %)(((
296 296  8 segment internal speed command, 16 segment internal position command
297 297  )))
298 -|(% colspan="3" style="width:277px" %)(((
293 +|(% colspan="3" style="width:198px" %)(((
299 299  **Communication**
300 -)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
295 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
301 301  MODBUS RS485 or MODBUS RS422(SCTool)
302 302  )))
303 -|(% colspan="3" rowspan="2" style="width:277px" %)(((
298 +|(% colspan="3" rowspan="2" style="width:198px" %)(((
304 304  **Braking resistor**
305 -)))|(% colspan="4" rowspan="1" style="width:867px" %)(((
300 +)))|(% colspan="4" rowspan="1" style="width:680px" %)(((
301 +
302 +
306 306  750W built-in braking resistor; 400W without built-in;
304 +
305 +
307 307  )))
308 -|(% colspan="4" style="width:867px" %)(((
307 +|(% colspan="4" style="width:680px" %)(((
309 309  Both can support external braking resistors.
310 310  )))
311 311  |(% colspan="3" rowspan="22" %)(((
... ... @@ -312,53 +312,53 @@
312 312  **Function setting**
313 313  )))|(% colspan="1" rowspan="12" %)(((
314 314  **General functions**
315 -)))|(% colspan="2" style="width:39px" %)(((
314 +)))|(% colspan="2" style="width:115px" %)(((
316 316  **Auto-tuning**
317 -)))|(% colspan="1" rowspan="1" style="width:503px" %)(((
316 +)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
318 318  Automatic load inertia identification,automatic rigidity self-tuning
319 319  )))|(% rowspan="1" style="width:364px" %)-
320 -|(% colspan="2" style="width:39px" %)(((
319 +|(% colspan="2" style="width:115px" %)(((
321 321  **Blend mode**
322 -)))|(% colspan="1" rowspan="1" style="width:503px" %)(((
321 +)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
323 323  YES
324 324  )))|(% rowspan="1" style="width:364px" %)-
325 -|(% colspan="2" style="width:39px" %)(((
324 +|(% colspan="2" style="width:115px" %)(((
326 326  **Advanced control algorithms**
327 -)))|(% colspan="1" style="width:503px" %)(((
326 +)))|(% colspan="1" style="width:325px" %)(((
328 328  YES
329 329  )))|(% style="width:364px" %)-
330 -|(% colspan="2" rowspan="2" style="width:39px" %)(((
329 +|(% colspan="2" rowspan="2" style="width:115px" %)(((
331 331  **Waveform**
332 -)))|(% colspan="2" style="width:867px" %)4 channels waveform monitoring
333 -|(% colspan="2" style="width:867px" %)10s waveform data recording
334 -|(% colspan="2" style="width:39px" %)(((
331 +)))|(% colspan="2" style="width:680px" %)4 channels waveform monitoring
332 +|(% colspan="2" style="width:680px" %)10s waveform data recording
333 +|(% colspan="2" style="width:115px" %)(((
335 335  **Parameter management**
336 -)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
335 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
337 337  Support batch parameter import and export
338 338  )))
339 -|(% colspan="2" style="width:39px" %)(((
338 +|(% colspan="2" style="width:115px" %)(((
340 340  **Vibration suppression**
341 -)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
340 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
342 342  Support mechanical vibration suppression
343 343  )))
344 -|(% colspan="2" style="width:39px" %)(((
343 +|(% colspan="2" style="width:115px" %)(((
345 345  **Protection**
346 -)))|(% colspan="2" style="width:867px" %)(((
345 +)))|(% colspan="2" style="width:680px" %)(((
347 347  Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
348 348  )))
349 -|(% colspan="2" style="width:39px" %)(((
348 +|(% colspan="2" style="width:115px" %)(((
350 350  **Dynamic braking**
351 -)))|(% colspan="1" style="width:503px" %)-|(% style="width:364px" %)(((
350 +)))|(% colspan="1" style="width:325px" %)-|(% style="width:364px" %)(((
352 352  Optional
353 353  )))
354 -|(% colspan="2" style="width:39px" %)(((
353 +|(% colspan="2" style="width:115px" %)(((
355 355  **Brake device**
356 -)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
355 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
357 357  Support brake signal output
358 358  )))
359 -|(% colspan="2" style="width:39px" %)(((
358 +|(% colspan="2" style="width:115px" %)(((
360 360  **DI function**
361 -)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
360 +)))|(% colspan="2" rowspan="1" style="width:680px" %)(((
362 362  Servo enable((% _mstmutation="1" %)**S-ON**(%%)), Error/alarm clear((% _mstmutation="1" %)**A-CLR**(%%)), Forward rotation prohibited((% _mstmutation="1" %)**POT**(%%))
363 363  
364 364  Backward rotation prohibited((% _mstmutation="1" %)**NOT**(%%)), Command direction((% _mstmutation="1" %)**C-SIGN**(%%)), Emergency stop((% _mstmutation="1" %)**E-STOP**(%%))
... ... @@ -367,9 +367,9 @@
367 367  
368 368  Internal position selection and enable((% _mstmutation="1" %)**INPO51, INPO52, INPO53, INPO54, ENINPOS**(%%))
369 369  )))
370 -|(% colspan="2" style="width:39px" %)(((
369 +|(% colspan="2" style="width:115px" %)(((
371 371  **DO function**
372 -)))|(% colspan="1" rowspan="1" style="width:503px" %)(((
371 +)))|(% colspan="1" rowspan="1" style="width:325px" %)(((
373 373  Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
374 374  
375 375  Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
... ... @@ -385,199 +385,29 @@
385 385  |(% colspan="1" rowspan="4" %)**Position mode**|**Pulse frequency**|(% colspan="3" rowspan="1" %)(((
386 386  Max to 500KHz
387 387  )))
388 -|(% colspan="2" rowspan="1" style="width:39px" %)**Pulse type**|(% rowspan="1" style="width:503px" %)(((
387 +|(% colspan="2" rowspan="1" style="width:115px" %)**Pulse type**|(% rowspan="1" style="width:325px" %)(((
389 389  Direction + pulse; Orthogonal coding:
390 390  V1.21 and above support CW/CCW
391 391  )))|(% rowspan="1" style="width:337px" %)Direction + Pulse, Orthogonal coding
392 -|(% colspan="2" rowspan="1" style="width:39px" %)**Pulse filter**|(% colspan="2" rowspan="1" style="width:867px" %)First-order low-pass filter or smoothing filter
393 -|(% colspan="2" rowspan="1" style="width:39px" %)(((
391 +|(% colspan="2" rowspan="1" style="width:115px" %)**Pulse filter**|(% colspan="2" rowspan="1" style="width:680px" %)First-order low-pass filter or smoothing filter
392 +|(% colspan="2" rowspan="1" style="width:115px" %)(((
394 394  **Pulse output**
395 -)))|(% rowspan="1" style="width:503px" %)-|(% rowspan="1" style="width:337px" %)A, B, Z differential output
394 +)))|(% rowspan="1" style="width:325px" %)-|(% rowspan="1" style="width:337px" %)A, B, Z differential output
396 396  |(% colspan="1" rowspan="3" %)(((
397 397  **Speed mode**
398 -)))|(% colspan="2" style="width:39px" %)**Command input**|(% colspan="2" rowspan="1" style="width:867px" %)Internal command(8 segments)
399 -|(% colspan="2" style="width:39px" %)**Zero speed clamp**|(% colspan="2" rowspan="1" style="width:867px" %)Support
400 -|(% colspan="2" style="width:39px" %)**Torque limit**|(% colspan="2" rowspan="1" style="width:867px" %)Torque limit under speed mode
401 -|(% colspan="1" rowspan="3" %)**Torque mode**|(% colspan="2" style="width:39px" %)**Command input**|(% colspan="2" rowspan="1" style="width:867px" %)(((
397 +)))|(% colspan="2" style="width:115px" %)**Command input**|(% colspan="2" rowspan="1" style="width:325px" %)Internal command(8 segments)
398 +|(% colspan="2" style="width:115px" %)**Zero speed clamp**|(% colspan="2" rowspan="1" style="width:325px" %)Support
399 +|(% colspan="2" style="width:115px" %)**Torque limit**|(% colspan="2" rowspan="1" style="width:325px" %)Torque limit under speed mode
400 +|(% colspan="1" rowspan="3" %)**Torque mode**|(% colspan="2" style="width:115px" %)**Command input**|(% colspan="2" rowspan="1" style="width:325px" %)(((
402 402  Internal command
403 403  )))
404 -|(% colspan="2" style="width:39px" %)**Torque reach**|(% colspan="2" rowspan="1" style="width:867px" %)(((
403 +|(% colspan="2" style="width:115px" %)**Torque reach**|(% colspan="2" rowspan="1" style="width:325px" %)(((
405 405  Torque reach signal output
406 406  )))
407 -|(% colspan="2" style="width:39px" %)**Velocity limit**|(% colspan="2" rowspan="1" style="width:867px" %)(((
406 +|(% colspan="2" style="width:115px" %)**Velocity limit**|(% colspan="2" rowspan="1" style="width:325px" %)(((
408 408  Velocity limit under torque mode
409 409  )))
410 410  
411 -= VD3E servo driver parameter table =
412 -
413 -(% style="margin-left:auto; margin-right:auto; width:1230px" %)
414 -|(% colspan="3" rowspan="1" style="width:464px" %)(((
415 -**Bus type**
416 -)))|(% style="width:309px" %)(((
417 -(% style="text-align:center" %)
418 -[[image:1726295827531-129.png]]
419 -
420 -(((
421 -
422 -)))
423 -)))|(((
424 -(% style="text-align:center" %)
425 -[[image:1726295883786-742.png]]
426 -
427 -(((
428 -
429 -)))
430 -)))|(((
431 -(% style="text-align:center" %)
432 -[[image:1726295894302-137.png]]
433 -)))
434 -|(% colspan="3" rowspan="1" style="width:464px" %)**Model**|(% style="width:309px" %)(((
435 -**VD3E(A type)**
436 -)))|(((
437 -**VD3E(B type)**
438 -)))|(((
439 -**VD3E(C type)**
440 -)))
441 -|(% colspan="1" rowspan="7" style="width:166px" %)(((
442 -**Basic Specifications**
443 -)))|(% colspan="2" style="width:301px" %)**Power supply**|(% style="width:309px" %)220V|220V/380V|380V
444 -|(% colspan="2" style="width:301px" %)**Control method**|(% colspan="3" rowspan="1" style="width:470px" %)IGBT PWM control sine wave current drive
445 -|(% colspan="2" style="width:301px" %)**Encoder**|(% colspan="3" rowspan="1" style="width:470px" %)17bit, 23bit absolute value encoder
446 -|(% colspan="2" style="width:301px" %)**Control signal input**|(% colspan="3" rowspan="1" style="width:470px" %)(((
447 -6DI,
448 -
449 -Select the output function according to the function code configuration
450 -)))
451 -|(% colspan="2" style="width:301px" %)**Control signal output**|(% colspan="3" rowspan="1" style="width:470px" %)(((
452 -3DO,
453 -
454 -Select the output function according to the function code configuration
455 -)))
456 -|(% style="width:147px" %)(((
457 -**Communication function**
458 -)))|(% style="width:155px" %)(((
459 -**Host computer communication**
460 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
461 -The USB interface can be used to set function code parameters, monitor status, and view waveforms through a computer host computer.
462 -Parameter self-tuning, etc.
463 -)))
464 -|(% colspan="2" style="width:301px" %)**Braking resistor**|(% colspan="3" rowspan="1" style="width:470px" %)(((
465 -Built-in braking resistor, supports external braking resistor
466 -)))
467 -|(% 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
468 -|(% colspan="2" style="width:301px" %)(((
469 -**Waveform viewing**
470 -)))|(% colspan="3" rowspan="1" style="width:470px" %)4 channels waveform monitoring
471 -|(% colspan="2" style="width:301px" %)(((
472 -**Waveform storage**
473 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
474 -Waveform acquisition frequency 1K Hz,(% style="background-color:transparent" %)10s waveform data recording
475 -)))
476 -|(% colspan="2" style="width:301px" %)**Parameter management**|(% colspan="3" rowspan="1" style="width:470px" %)Support batch parameter import and export
477 -|(% colspan="2" style="width:301px" %)(((
478 -**Vibration suppression**
479 -)))|(% colspan="3" rowspan="1" style="width:470px" %)Support mechanical vibration suppression
480 -|(% colspan="2" style="width:301px" %)(((
481 -
482 -
483 -**Protection**
484 -)))|(% colspan="3" rowspan="1" style="width:470px" %)Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
485 -|(% colspan="2" style="width:301px" %)**Brake device**|(% colspan="3" rowspan="1" style="width:470px" %)Support brake signal output
486 -|(% colspan="2" style="width:301px" %)**DI function**|(% colspan="3" rowspan="1" style="width:470px" %)(((
487 -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**(%%))
488 -)))
489 -|(% colspan="2" style="width:301px" %)**DO function**|(% colspan="3" rowspan="1" style="width:470px" %)(((
490 -Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
491 -
492 -Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
493 -
494 -Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**),CommunicationVDO
495 -)))
496 -|(% colspan="1" rowspan="16" style="width:166px" %)(((
497 -**EtherCAT related**
498 -)))|(% rowspan="14" style="width:147px" %)(((
499 -**EtherCAT related**
500 -)))|(% style="width:155px" %)(((
501 -**Communication protocol**
502 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
503 -EtherCAT protocol
504 -)))
505 -|(% style="width:155px" %)(((
506 -**Support services**
507 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
508 -CoE(PDO,SDO)
509 -)))
510 -|(% style="width:155px" %)(((
511 -**Sync mode**
512 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
513 -DC-Distributed Clock
514 -)))
515 -|(% style="width:155px" %)(((
516 -**Physical layer**
517 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
518 -100BASE-TX
519 -)))
520 -|(% style="width:155px" %)(((
521 -**Baud rate**
522 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
523 -100 Mbit/s(100Base-TX)
524 -)))
525 -|(% style="width:155px" %)(((
526 -**Duplex mode**
527 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
528 -Full duplex
529 -)))
530 -|(% style="width:155px" %)(((
531 -**Topology**
532 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
533 -Circular, linear
534 -)))
535 -|(% style="width:155px" %)(((
536 -**Transmission medium**
537 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
538 -Shielded Category 5e or better network cable
539 -)))
540 -|(% style="width:155px" %)(((
541 -**Transmission distance**
542 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
543 -Less than 100M between two nodes (good environment, good cables)
544 -)))
545 -|(% style="width:155px" %)(((
546 -**Frame length**
547 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
548 -44 bytes~~1498 bytes
549 -)))
550 -|(% style="width:155px" %)(((
551 -**Excessive data**
552 -)))|(% colspan="5" rowspan="1" style="width:470px" %)Maximum size of a single Ethernet frame is 1486 bytes
553 -|(% style="width:155px" %)(((
554 -**Sync jitter**
555 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
556 -<1μs
557 -)))
558 -|(% style="width:155px" %)(((
559 -**Distributed clock**
560 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
561 -64 bit
562 -)))
563 -|(% style="width:155px" %)(((
564 -**EEPROM capacity**
565 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
566 -8k bit initialization data is written through the EtherCAT master station
567 -)))
568 -|(% rowspan="2" style="width:147px" %)(((
569 -**Control mode and performance**
570 -)))|(% style="width:155px" %)(((
571 -**Control mode**
572 -)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
573 -CSP、HM
574 -)))
575 -|(% style="width:155px" %)**Synchronization period**|(% colspan="3" rowspan="1" style="width:470px" %)(((
576 -125μs
577 -)))
578 -
579 -= Servo motor model description =
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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