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Changes for page 05 Servo Product Manual

Last modified by Jim(Forgotten) on 2025/03/20 10:19
From version 45.1
edited by Molly
on 2024/09/14 15:17
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
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 -= **VD2F/VD2L servo driver parameter table** =
239 -
240 -(% style="width:1406px" %)
241 -|(% colspan="6" rowspan="1" style="width:537px" %)(((
242 -**General type**
243 -)))|(% colspan="1" rowspan="1" style="width:503px" %)(((
244 -(% style="text-align:center" %)
245 -[[image:1726190862910-426.png]]
246 -)))|(% rowspan="1" style="width:364px" %)(((
247 -(% style="text-align:center" %)
248 -[[image:1726190785664-427.png]]
249 -)))
250 -|(% colspan="6" rowspan="1" style="width:537px" %)**Model**|(% colspan="1" rowspan="1" style="width:503px" %)(((
251 -**VD2F**
252 -)))|(% rowspan="1" style="width:364px" %)(((
253 -**VD2L**
254 -)))
255 -|(% colspan="3" rowspan="12" %)(((
256 -**Basic Specifications**
257 -)))|(% colspan="3" style="width:277px" %)**Power supply**|(% colspan="1" rowspan="1" style="width:503px" %)(((
258 -220V
259 -)))|(% rowspan="1" style="width:364px" %)(((
260 -220V
261 -)))
262 -|(% colspan="3" style="width:277px" %)(((
263 -**Control method**
264 -)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
265 -IGBT PWM control sine wave current drive
266 -)))
267 -|(% colspan="3" style="width:277px" %)(((
268 -**Encoder**
269 -)))|(% colspan="2" rowspan="1" style="width:867px" %)17bit, 23bit absolute value encoder
270 -|(% colspan="3" style="width:277px" %)(((
271 -**Control signal input**
272 -)))|(% colspan="2" rowspan="1" style="width:867px" %)4DI
273 -|(% colspan="3" style="width:277px" %)(((
274 -**Control signal output**
275 -)))|(% colspan="2" rowspan="1" style="width:867px" %)4DO
276 -|(% colspan="3" style="width:277px" %)(((
277 -**Pulse frequency division output**
278 -)))|(% colspan="1" rowspan="1" style="width:503px" %)—|(% rowspan="1" style="width:364px" %)(((
279 -Support
280 -)))
281 -|(% colspan="3" style="width:277px" %)(((
282 -**Pulse signal input**
283 -)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
284 -Open collector or differential input
285 -)))
286 -|(% colspan="3" style="width:277px" %)(((
287 -**Pulse feedback output**
288 -)))|(% colspan="1" rowspan="1" style="width:503px" %)(((
289 -Z signal open collector output
290 -)))|(% rowspan="1" style="width:364px" %)(((
291 -ABZ differential output(VD2-XXXXXXH
292 -
293 -series support collector signal feedback)
294 -)))
295 -|(% colspan="3" style="width:277px" %)(% style="background-color:transparent" %)**Internal Command**|(% colspan="2" rowspan="1" style="width:867px" %)(((
296 -8 segment internal speed command, 16 segment internal position command
297 -)))
298 -|(% colspan="3" style="width:277px" %)(((
299 -**Communication**
300 -)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
301 -MODBUS RS485 or MODBUS RS422(SCTool)
302 -)))
303 -|(% colspan="3" rowspan="2" style="width:277px" %)(((
304 -**Braking resistor**
305 -)))|(% colspan="4" rowspan="1" style="width:867px" %)(((
306 -750W built-in braking resistor; 400W without built-in;
307 -)))
308 -|(% colspan="4" style="width:867px" %)(((
309 -Both can support external braking resistors.
310 -)))
311 -|(% colspan="3" rowspan="22" %)(((
312 -**Function setting**
313 -)))|(% colspan="1" rowspan="12" %)(((
314 -**General functions**
315 -)))|(% colspan="2" style="width:39px" %)(((
316 -**Auto-tuning**
317 -)))|(% colspan="1" rowspan="1" style="width:503px" %)(((
318 -Automatic load inertia identification,automatic rigidity self-tuning
319 -)))|(% rowspan="1" style="width:364px" %)-
320 -|(% colspan="2" style="width:39px" %)(((
321 -**Blend mode**
322 -)))|(% colspan="1" rowspan="1" style="width:503px" %)(((
323 -YES
324 -)))|(% rowspan="1" style="width:364px" %)-
325 -|(% colspan="2" style="width:39px" %)(((
326 -**Advanced control algorithms**
327 -)))|(% colspan="1" style="width:503px" %)(((
328 -YES
329 -)))|(% style="width:364px" %)-
330 -|(% colspan="2" rowspan="2" style="width:39px" %)(((
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" %)(((
335 -**Parameter management**
336 -)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
337 -Support batch parameter import and export
338 -)))
339 -|(% colspan="2" style="width:39px" %)(((
340 -**Vibration suppression**
341 -)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
342 -Support mechanical vibration suppression
343 -)))
344 -|(% colspan="2" style="width:39px" %)(((
345 -**Protection**
346 -)))|(% colspan="2" style="width:867px" %)(((
347 -Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
348 -)))
349 -|(% colspan="2" style="width:39px" %)(((
350 -**Dynamic braking**
351 -)))|(% colspan="1" style="width:503px" %)-|(% style="width:364px" %)(((
352 -Optional
353 -)))
354 -|(% colspan="2" style="width:39px" %)(((
355 -**Brake device**
356 -)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
357 -Support brake signal output
358 -)))
359 -|(% colspan="2" style="width:39px" %)(((
360 -**DI function**
361 -)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
362 -Servo enable((% _mstmutation="1" %)**S-ON**(%%)), Error/alarm clear((% _mstmutation="1" %)**A-CLR**(%%)), Forward rotation prohibited((% _mstmutation="1" %)**POT**(%%))
363 -
364 -Backward rotation prohibited((% _mstmutation="1" %)**NOT**(%%)), Command direction((% _mstmutation="1" %)**C-SIGN**(%%)), Emergency stop((% _mstmutation="1" %)**E-STOP**(%%))
365 -
366 -Gain switch((% _mstmutation="1" %)**GAIN-5EL**(%%)), Internal speed selection((% _mstmutation="1" %)**INSPD1, INSPD2, INSPD3**(%%))
367 -
368 -Internal position selection and enable((% _mstmutation="1" %)**INPO51, INPO52, INPO53, INPO54, ENINPOS**(%%))
369 -)))
370 -|(% colspan="2" style="width:39px" %)(((
371 -**DO function**
372 -)))|(% colspan="1" rowspan="1" style="width:503px" %)(((
373 -Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
374 -
375 -Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
376 -
377 -Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), Z pulse feedback output
378 -)))|(% rowspan="1" style="width:364px" %)(((
379 -Servo ready(**RDY**)、Error signal(**ALM**), Alarm signal(**WARN**), Rotation detection(**TGON**)
380 -
381 -Zero speed signal(**ZSP**), Torque limited(**T-LIMIT**), Velocity limited(**V-LIMIT**)
382 -
383 -Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), ABZ pulse feedback output
384 -)))
385 -|(% colspan="1" rowspan="4" %)**Position mode**|**Pulse frequency**|(% colspan="3" rowspan="1" %)(((
386 -Max to 500KHz
387 -)))
388 -|(% colspan="2" rowspan="1" style="width:39px" %)**Pulse type**|(% rowspan="1" style="width:503px" %)(((
389 -Direction + pulse; Orthogonal coding:
390 -V1.21 and above support CW/CCW
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" %)(((
394 -**Pulse output**
395 -)))|(% rowspan="1" style="width:503px" %)-|(% rowspan="1" style="width:337px" %)A, B, Z differential output
396 -|(% colspan="1" rowspan="3" %)(((
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" %)(((
402 -Internal command
403 -)))
404 -|(% colspan="2" style="width:39px" %)**Torque reach**|(% colspan="2" rowspan="1" style="width:867px" %)(((
405 -Torque reach signal output
406 -)))
407 -|(% colspan="2" style="width:39px" %)**Velocity limit**|(% colspan="2" rowspan="1" style="width:867px" %)(((
408 -Velocity limit under torque mode
409 -)))
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
... ... @@ -596,9 +596,3 @@
596 596  |(% rowspan="3" %)③Inertia level|L: Low| | | | |(% colspan="2" %)
597 597  |M: Middle| |(% rowspan="2" %)⑥Voltage level|S: 220V| |(% colspan="2" %)
598 598  |H: High| |T: 380V| |(% colspan="2" %)
599 -
600 -(% style="text-align:center" %)
601 -[[image:Servo.Manual.02 VD2 SA Series.test.WebHome@image-20220611113846-8.jpeg]]
602 -
603 -
604 - Motor nameplate
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