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Changes for page 05 Servo Product Manual

Last modified by Jim(Forgotten) on 2025/03/20 10:19
From version 64.1
edited by Molly
on 2024/09/18 15:26
Change comment: There is no comment for this version
To version 66.1
edited by Molly
on 2024/09/18 15:38
Change comment: There is no comment for this version

Summary

Details

Page properties
Content
... ... @@ -410,10 +410,10 @@
410 410  
411 411  = VD3E servo driver parameter table =
412 412  
413 -(% style="margin-left:auto; margin-right:auto; width:1230px" %)
414 -|(% colspan="3" rowspan="1" style="width:568px" %)(((
413 +(% style="margin-left:auto; margin-right:auto; width:1149.22px" %)
414 +|(% colspan="3" rowspan="1" style="width:445px" %)(((
415 415  **Bus type**
416 -)))|(% style="width:206px" %)(((
416 +)))|(% style="width:327px" %)(((
417 417  (% style="text-align:center" %)
418 418  [[image:1726295827531-129.png]]
419 419  
... ... @@ -431,7 +431,7 @@
431 431  (% style="text-align:center" %)
432 432  [[image:1726295894302-137.png]]
433 433  )))
434 -|(% colspan="3" rowspan="1" style="width:568px" %)**Model**|(% style="width:206px" %)(((
434 +|(% colspan="3" rowspan="1" style="width:445px" %)**Model**|(% style="width:327px" %)(((
435 435  **VD3E(A type)**
436 436  )))|(((
437 437  **VD3E(B type)**
... ... @@ -440,49 +440,49 @@
440 440  )))
441 441  |(% colspan="1" rowspan="7" style="width:166px" %)(((
442 442  **Basic Specifications**
443 -)))|(% colspan="2" style="width:402px" %)**Power supply**|(% style="width:206px" %)220V|220V/380V|380V
444 -|(% colspan="2" style="width:402px" %)**Control method**|(% colspan="3" rowspan="1" style="width:549px" %)IGBT PWM control sine wave current drive
445 -|(% colspan="2" style="width:402px" %)**Encoder**|(% colspan="3" rowspan="1" style="width:549px" %)17bit, 23bit absolute value encoder
446 -|(% colspan="2" style="width:402px" %)**Control signal input**|(% colspan="3" rowspan="1" style="width:549px" %)(((
443 +)))|(% colspan="2" style="width:279px" %)**Power supply**|(% style="width:327px" %)220V|220V/380V|380V
444 +|(% colspan="2" style="width:279px" %)**Control method**|(% colspan="3" rowspan="1" style="width:672px" %)IGBT PWM control sine wave current drive
445 +|(% colspan="2" style="width:279px" %)**Encoder**|(% colspan="3" rowspan="1" style="width:672px" %)17bit, 23bit absolute value encoder
446 +|(% colspan="2" style="width:279px" %)**Control signal input**|(% colspan="3" rowspan="1" style="width:672px" %)(((
447 447  6DI, Select the output function according to the function code configuration
448 448  )))
449 -|(% colspan="2" style="width:402px" %)**Control signal output**|(% colspan="3" rowspan="1" style="width:549px" %)(((
449 +|(% colspan="2" style="width:279px" %)**Control signal output**|(% colspan="3" rowspan="1" style="width:672px" %)(((
450 450  3DO, Select the output function according to the function code configuration
451 451  )))
452 452  |(% style="width:147px" %)(((
453 453  **Communication function**
454 -)))|(% style="width:255px" %)(((
454 +)))|(% style="width:133px" %)(((
455 455  **Host computer communication**
456 -)))|(% colspan="3" rowspan="1" style="width:549px" %)(((
456 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
457 457  The USB interface can be used to set function code parameters, monitor status, and view waveforms through a computer host computer.
458 458  Parameter self-tuning, etc.
459 459  )))
460 -|(% colspan="2" style="width:402px" %)**Braking resistor**|(% colspan="3" rowspan="1" style="width:549px" %)(((
460 +|(% colspan="2" style="width:279px" %)**Braking resistor**|(% colspan="3" rowspan="1" style="width:672px" %)(((
461 461  Built-in braking resistor, supports external braking resistor
462 462  )))
463 -|(% colspan="1" rowspan="9" style="width:166px" %)**General functions**|(% colspan="2" style="width:402px" %)**Auto-tuning**|(% colspan="3" rowspan="1" style="width:549px" %)Automatic load inertia identification,automatic rigidity self-tuning
464 -|(% colspan="2" style="width:402px" %)(((
463 +|(% 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
464 +|(% colspan="2" style="width:279px" %)(((
465 465  **Waveform viewing**
466 -)))|(% colspan="3" rowspan="1" style="width:549px" %)4 channels waveform monitoring
467 -|(% colspan="2" style="width:402px" %)(((
466 +)))|(% colspan="3" rowspan="1" style="width:672px" %)4 channels waveform monitoring
467 +|(% colspan="2" style="width:279px" %)(((
468 468  **Waveform storage**
469 -)))|(% colspan="3" rowspan="1" style="width:549px" %)(((
469 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
470 470  Waveform acquisition frequency 1K Hz,(% style="background-color:transparent" %)10s waveform data recording
471 471  )))
472 -|(% colspan="2" style="width:402px" %)**Parameter management**|(% colspan="3" rowspan="1" style="width:549px" %)Support batch parameter import and export
473 -|(% colspan="2" style="width:402px" %)(((
472 +|(% colspan="2" style="width:279px" %)**Parameter management**|(% colspan="3" rowspan="1" style="width:672px" %)Support batch parameter import and export
473 +|(% colspan="2" style="width:279px" %)(((
474 474  **Vibration suppression**
475 -)))|(% colspan="3" rowspan="1" style="width:549px" %)Support mechanical vibration suppression
476 -|(% colspan="2" style="width:402px" %)(((
475 +)))|(% colspan="3" rowspan="1" style="width:672px" %)Support mechanical vibration suppression
476 +|(% colspan="2" style="width:279px" %)(((
477 477  
478 478  
479 479  **Protection**
480 -)))|(% colspan="3" rowspan="1" style="width:549px" %)Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
481 -|(% colspan="2" style="width:402px" %)**Brake device**|(% colspan="3" rowspan="1" style="width:549px" %)Support brake signal output
482 -|(% colspan="2" style="width:402px" %)**DI function**|(% colspan="3" rowspan="1" style="width:549px" %)(((
480 +)))|(% colspan="3" rowspan="1" style="width:672px" %)Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
481 +|(% colspan="2" style="width:279px" %)**Brake device**|(% colspan="3" rowspan="1" style="width:672px" %)Support brake signal output
482 +|(% colspan="2" style="width:279px" %)**DI function**|(% colspan="3" rowspan="1" style="width:672px" %)(((
483 483  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**(%%))
484 484  )))
485 -|(% colspan="2" style="width:402px" %)**DO function**|(% colspan="3" rowspan="1" style="width:549px" %)(((
485 +|(% colspan="2" style="width:279px" %)**DO function**|(% colspan="3" rowspan="1" style="width:672px" %)(((
486 486  Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
487 487  
488 488  Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
... ... @@ -493,82 +493,82 @@
493 493  **EtherCAT related**
494 494  )))|(% rowspan="14" style="width:147px" %)(((
495 495  **EtherCAT related**
496 -)))|(% style="width:255px" %)(((
496 +)))|(% style="width:133px" %)(((
497 497  **Communication protocol**
498 -)))|(% colspan="3" rowspan="1" style="width:549px" %)(((
498 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
499 499  EtherCAT protocol
500 500  )))
501 -|(% style="width:255px" %)(((
501 +|(% style="width:133px" %)(((
502 502  **Support services**
503 -)))|(% colspan="3" rowspan="1" style="width:549px" %)(((
503 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
504 504  CoE(PDO,SDO)
505 505  )))
506 -|(% style="width:255px" %)(((
506 +|(% style="width:133px" %)(((
507 507  **Sync mode**
508 -)))|(% colspan="3" rowspan="1" style="width:549px" %)(((
508 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
509 509  DC-Distributed Clock
510 510  )))
511 -|(% style="width:255px" %)(((
511 +|(% style="width:133px" %)(((
512 512  **Physical layer**
513 -)))|(% colspan="3" rowspan="1" style="width:549px" %)(((
513 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
514 514  100BASE-TX
515 515  )))
516 -|(% style="width:255px" %)(((
516 +|(% style="width:133px" %)(((
517 517  **Baud rate**
518 -)))|(% colspan="3" rowspan="1" style="width:549px" %)(((
518 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
519 519  100 Mbit/s(100Base-TX)
520 520  )))
521 -|(% style="width:255px" %)(((
521 +|(% style="width:133px" %)(((
522 522  **Duplex mode**
523 -)))|(% colspan="3" rowspan="1" style="width:549px" %)(((
523 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
524 524  Full duplex
525 525  )))
526 -|(% style="width:255px" %)(((
526 +|(% style="width:133px" %)(((
527 527  **Topology**
528 -)))|(% colspan="3" rowspan="1" style="width:549px" %)(((
528 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
529 529  Circular, linear
530 530  )))
531 -|(% style="width:255px" %)(((
531 +|(% style="width:133px" %)(((
532 532  **Transmission medium**
533 -)))|(% colspan="3" rowspan="1" style="width:549px" %)(((
533 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
534 534  Shielded Category 5e or better network cable
535 535  )))
536 -|(% style="width:255px" %)(((
536 +|(% style="width:133px" %)(((
537 537  **Transmission distance**
538 -)))|(% colspan="3" rowspan="1" style="width:549px" %)(((
538 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
539 539  Less than 100M between two nodes (good environment, good cables)
540 540  )))
541 -|(% style="width:255px" %)(((
541 +|(% style="width:133px" %)(((
542 542  **Frame length**
543 -)))|(% colspan="3" rowspan="1" style="width:549px" %)(((
543 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
544 544  44 bytes~~1498 bytes
545 545  )))
546 -|(% style="width:255px" %)(((
546 +|(% style="width:133px" %)(((
547 547  **Excessive data**
548 -)))|(% colspan="5" rowspan="1" style="width:549px" %)Maximum size of a single Ethernet frame is 1486 bytes
549 -|(% style="width:255px" %)(((
548 +)))|(% colspan="5" rowspan="1" style="width:672px" %)Maximum size of a single Ethernet frame is 1486 bytes
549 +|(% style="width:133px" %)(((
550 550  **Sync jitter**
551 -)))|(% colspan="3" rowspan="1" style="width:549px" %)(((
551 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
552 552  <1μs
553 553  )))
554 -|(% style="width:255px" %)(((
554 +|(% style="width:133px" %)(((
555 555  **Distributed clock**
556 -)))|(% colspan="3" rowspan="1" style="width:549px" %)(((
556 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
557 557  64 bit
558 558  )))
559 -|(% style="width:255px" %)(((
559 +|(% style="width:133px" %)(((
560 560  **EEPROM capacity**
561 -)))|(% colspan="3" rowspan="1" style="width:549px" %)(((
561 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
562 562  8k bit initialization data is written through the EtherCAT master station
563 563  )))
564 564  |(% rowspan="2" style="width:147px" %)(((
565 565  **Control mode and performance**
566 -)))|(% style="width:255px" %)(((
566 +)))|(% style="width:133px" %)(((
567 567  **Control mode**
568 -)))|(% colspan="3" rowspan="1" style="width:549px" %)(((
568 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
569 569  CSP、HM
570 570  )))
571 -|(% style="width:255px" %)**Synchronization period**|(% colspan="3" rowspan="1" style="width:549px" %)(((
571 +|(% style="width:133px" %)**Synchronization period**|(% colspan="3" rowspan="1" style="width:672px" %)(((
572 572  125μs
573 573  )))
574 574  
... ... @@ -578,20 +578,20 @@
578 578  |WD|80|M|-|075|30|S|-|A1|F|-|L
579 579  |①|②|③| |④|⑤|⑥| |⑦|⑧| |⑨
580 580  
581 -|(% rowspan="2" %)①Pole pairs|WD: 5| |(% rowspan="6" %)④Rated power|010：100W| |(% rowspan="4" %)⑦Encoder type|A1: 17bit single-turn absolute magnetic encoder
582 -|WE: 4| |020：200W| |C1：17bit multi-turn absolute magnetic encoder
583 -| | | |...| |D2：23bit multi-turn absolute optical encoder
584 -|(% rowspan="7" %)②Flange|40| |500：5.0KW| |E1: 2500-line incremental encoder
585 -|60| |550：5.5KW| | |
586 -|80| |...| |(% rowspan="2" %)⑧Motor structure|F：Oil seal
587 -|110| | | | |G：Oil seal + Brake device
588 -|130| |(% rowspan="4" %)⑤Rated speed|15：1500rpm| | |
589 -|150| |20：2000rpm| |(% rowspan="3" %)⑨Others|L：60/80 flange connector
590 -|180| |25：2500rpm| |(% rowspan="2" %)L2：60/80/130 flange connector
591 -| | | |30：3000rpm|
592 -|(% rowspan="3" %)③Inertia level|L: Low| | | | |(% colspan="2" %)
593 -|M: Middle| |(% rowspan="2" %)⑥Voltage level|S: 220V| |(% colspan="2" %)
594 -|H: High| |T: 380V| |(% colspan="2" %)
581 +|(% 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
582 +|WE: 4|020：200W|C1：17bit multi-turn absolute magnetic encoder
583 +|(% colspan="2" rowspan="1" %) |...|D2：23bit multi-turn absolute optical encoder
584 +|(% rowspan="7" %)②Flange|40|500：5.0KW|E1: 2500-line incremental encoder
585 +|60|550：5.5KW|(% colspan="2" rowspan="1" %)
586 +|80|...|(% rowspan="2" %)⑧Motor structure|F：Oil seal
587 +|110|(% colspan="2" rowspan="1" %) |G：Oil seal + Brake device
588 +|130|(% rowspan="4" %)⑤Rated speed|15：1500rpm|(% colspan="2" rowspan="1" %)
589 +|150|20：2000rpm|(% rowspan="3" %)⑨Others|L：60/80 flange connector
590 +|180|25：2500rpm|(% rowspan="2" %)L2：60/80/130 flange connector
591 +|(% colspan="2" rowspan="1" %) |30：3000rpm
592 +|(% rowspan="3" %)③Inertia level|L: Low|(% colspan="2" rowspan="1" %) |(% colspan="2" rowspan="3" %)
593 +|M: Middle|(% rowspan="2" %)⑥Voltage level|S: 220V
594 +|H: High|T: 380V
595 595  
596 596  (% style="text-align:center" %)
597 597  [[image:Servo.Manual.02 VD2 SA Series.test.WebHome@image-20220611113846-8.jpeg]]