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Changes for page 05 Servo Product Manual

Last modified by Jim(Forgotten) on 2025/03/20 10:19
From version 65.1
edited by Molly
on 2024/09/18 15:27
Change comment: There is no comment for this version
To version 60.1
edited by Molly
on 2024/09/18 09:39
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:1149.22px" %)
414 -|(% colspan="3" rowspan="1" style="width:445px" %)(((
413 +(% style="margin-left:auto; margin-right:auto; width:1230px" %)
414 +|(% colspan="3" rowspan="1" style="width:464px" %)(((
415 415  **Bus type**
416 -)))|(% style="width:327px" %)(((
416 +)))|(% style="width:309px" %)(((
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:445px" %)**Model**|(% style="width:327px" %)(((
434 +|(% colspan="3" rowspan="1" style="width:464px" %)**Model**|(% style="width:309px" %)(((
435 435  **VD3E(A type)**
436 436  )))|(((
437 437  **VD3E(B type)**
... ... @@ -440,49 +440,53 @@
440 440  )))
441 441  |(% colspan="1" rowspan="7" style="width:166px" %)(((
442 442  **Basic Specifications**
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 -6DI, Select the output function according to the function code configuration
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
448 448  )))
449 -|(% colspan="2" style="width:279px" %)**Control signal output**|(% colspan="3" rowspan="1" style="width:672px" %)(((
450 -3DO, Select the output function according to the function code configuration
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
451 451  )))
452 452  |(% style="width:147px" %)(((
453 453  **Communication function**
454 -)))|(% style="width:133px" %)(((
458 +)))|(% style="width:155px" %)(((
455 455  **Host computer communication**
456 -)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
460 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
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:279px" %)**Braking resistor**|(% colspan="3" rowspan="1" style="width:672px" %)(((
464 +|(% colspan="2" style="width:301px" %)**Braking resistor**|(% colspan="3" rowspan="1" style="width:470px" %)(((
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:279px" %)**Auto-tuning**|(% colspan="3" rowspan="1" style="width:672px" %)Automatic load inertia identification,automatic rigidity self-tuning
464 -|(% colspan="2" style="width:279px" %)(((
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" %)(((
465 465  **Waveform viewing**
466 -)))|(% colspan="3" rowspan="1" style="width:672px" %)4 channels waveform monitoring
467 -|(% colspan="2" style="width:279px" %)(((
470 +)))|(% colspan="3" rowspan="1" style="width:470px" %)4 channels waveform monitoring
471 +|(% colspan="2" style="width:301px" %)(((
468 468  **Waveform storage**
469 -)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
473 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
470 470  Waveform acquisition frequency 1K Hz,(% style="background-color:transparent" %)10s waveform data recording
471 471  )))
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" %)(((
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" %)(((
474 474  **Vibration suppression**
475 -)))|(% colspan="3" rowspan="1" style="width:672px" %)Support mechanical vibration suppression
476 -|(% colspan="2" style="width:279px" %)(((
479 +)))|(% colspan="3" rowspan="1" style="width:470px" %)Support mechanical vibration suppression
480 +|(% colspan="2" style="width:301px" %)(((
477 477  
478 478  
479 479  **Protection**
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" %)(((
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" %)(((
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:279px" %)**DO function**|(% colspan="3" rowspan="1" style="width:672px" %)(((
489 +|(% colspan="2" style="width:301px" %)**DO function**|(% colspan="3" rowspan="1" style="width:470px" %)(((
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:133px" %)(((
500 +)))|(% style="width:155px" %)(((
497 497  **Communication protocol**
498 -)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
502 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
499 499  EtherCAT protocol
500 500  )))
501 -|(% style="width:133px" %)(((
505 +|(% style="width:155px" %)(((
502 502  **Support services**
503 -)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
507 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
504 504  CoE(PDO,SDO)
505 505  )))
506 -|(% style="width:133px" %)(((
510 +|(% style="width:155px" %)(((
507 507  **Sync mode**
508 -)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
512 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
509 509  DC-Distributed Clock
510 510  )))
511 -|(% style="width:133px" %)(((
515 +|(% style="width:155px" %)(((
512 512  **Physical layer**
513 -)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
517 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
514 514  100BASE-TX
515 515  )))
516 -|(% style="width:133px" %)(((
520 +|(% style="width:155px" %)(((
517 517  **Baud rate**
518 -)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
522 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
519 519  100 Mbit/s(100Base-TX)
520 520  )))
521 -|(% style="width:133px" %)(((
525 +|(% style="width:155px" %)(((
522 522  **Duplex mode**
523 -)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
527 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
524 524  Full duplex
525 525  )))
526 -|(% style="width:133px" %)(((
530 +|(% style="width:155px" %)(((
527 527  **Topology**
528 -)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
532 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
529 529  Circular, linear
530 530  )))
531 -|(% style="width:133px" %)(((
535 +|(% style="width:155px" %)(((
532 532  **Transmission medium**
533 -)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
537 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
534 534  Shielded Category 5e or better network cable
535 535  )))
536 -|(% style="width:133px" %)(((
540 +|(% style="width:155px" %)(((
537 537  **Transmission distance**
538 -)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
542 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
539 539  Less than 100M between two nodes (good environment, good cables)
540 540  )))
541 -|(% style="width:133px" %)(((
545 +|(% style="width:155px" %)(((
542 542  **Frame length**
543 -)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
547 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
544 544  44 bytes~~1498 bytes
545 545  )))
546 -|(% style="width:133px" %)(((
550 +|(% style="width:155px" %)(((
547 547  **Excessive data**
548 -)))|(% colspan="5" rowspan="1" style="width:672px" %)Maximum size of a single Ethernet frame is 1486 bytes
549 -|(% style="width:133px" %)(((
552 +)))|(% colspan="5" rowspan="1" style="width:470px" %)Maximum size of a single Ethernet frame is 1486 bytes
553 +|(% style="width:155px" %)(((
550 550  **Sync jitter**
551 -)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
555 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
552 552  <1μs
553 553  )))
554 -|(% style="width:133px" %)(((
558 +|(% style="width:155px" %)(((
555 555  **Distributed clock**
556 -)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
560 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
557 557  64 bit
558 558  )))
559 -|(% style="width:133px" %)(((
563 +|(% style="width:155px" %)(((
560 560  **EEPROM capacity**
561 -)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
565 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
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:133px" %)(((
570 +)))|(% style="width:155px" %)(((
567 567  **Control mode**
568 -)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
572 +)))|(% colspan="3" rowspan="1" style="width:470px" %)(((
569 569  CSP、HM
570 570  )))
571 -|(% style="width:133px" %)**Synchronization period**|(% colspan="3" rowspan="1" style="width:672px" %)(((
575 +|(% style="width:155px" %)**Synchronization period**|(% colspan="3" rowspan="1" style="width:470px" %)(((
572 572  125μs
573 573  )))
574 574  
... ... @@ -757,173 +757,3 @@
757 757  |(% rowspan="3" %)VD3E Type C|VD3E-030TA1G|(3.0-5.0)kW
758 758  |VD3E-040TA1G|(5.0-6.0)kW
759 759  |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 -|①Cable type|E: Encoder adapter cable| |(% rowspan="4" %)④Cable length|3M: 3m
768 -| | | |5M: 5m
769 -|(% rowspan="2" %)②Drive side connector|J1394: 1394 connector| |7M: 7m
770 -|D15G: DB15 male connector| |...
771 -| | | | |
772 -|(% rowspan="7" %)③Motor side connector|R9M: 9-core rectangular female connector| |(% rowspan="3" %)⑤Number of cores|X5: 5 cores
773 -|MC7S: 7-core straight female connector| |X7: 7 cores
774 -|H28K7M: 7-core 28mm aviation female connector| |...
775 -|CM10: 11-core 11mm aviation female connector| | |
776 -|MC7P: 7-core straight female connector (L2)| |(% rowspan="2" %)⑥Wire size|A: 0.2mm/0.14mm
777 -|R15M: 15-core rectangular female connector| |A1: 0.2mm/0.14mm with battery box
778 -|H28J15M: 15-core 28mm aviation female connector| | |
779 -| | | |(% rowspan="2" %)⑦Others|1: Ordinary cable
780 -| | | |2: High flex cable
781 -
782 -(% style="margin-left:auto; margin-right:auto; width:120px" %)
783 -|P|-|U3O1|-|H28J4M|-|5M|X4|-|C|-|1
784 -|①| |②| |③| |④|⑤| |⑥| |⑦
785 -
786 -|①Cable type|P: Power adapter cable/brake cable| |(% rowspan="6" %)④Cable length|3M: 3m
787 -| | | |5M: 5m
788 -|(% rowspan="8" %)②Drive side connector|Z3O1: 3-core pin-type cold-pressed terminal and 1-core O-type cold-pressed terminal| |6D5M: 6.5m
789 -|Z3O3: 3-core pin-type cold-pressed terminal and 3-core O-type cold-pressed terminal| |7M: 7m
790 -|Z4: 4-core pin-type cold-pressed terminal| |10M: 10m
791 -|Z4O2: 4-core pin-type cold-pressed terminal and 2-core O-type cold-pressed terminal| |...
792 -|U3O1: 3-core U-type cold-pressed terminal and 1-core O-type cold-pressed terminal| | |
793 -|U3O3: 3-core U-type cold-pressed terminal and 3-core O-type cold-pressed terminal| |(% rowspan="4" %)⑤Number of cores|X2: 2 cores
794 -|Z6: 6-core pin-type cold-pressed terminal| |X4: 4 cores
795 -|O2: 2-core O-type cold-pressed terminal| |X6: 6 cores
796 -| | | |...
797 -|(% rowspan="9" %)③Motor side connector|18A6: 6-core 23mm aviation female connector| | |
798 -|R4M: 4-core rectangular female connector| |(% rowspan="5" %)⑥Wire size|D: 0.5mm
799 -|MC4S: 4-core straight female connector| |E: 0.75mm
800 -|MC6S: 6-core straight female connector| |B: 1.0mm
801 -|H28J4M: 4-core 28mm aviation female connector| |F: 1.5mm
802 -|H32J4M: 4-core 32mm aviation female connector| |C: 2.5mm
803 -|R2M: 2-core rectangular female connector| | |
804 -|MC4H: 4-core H-type straight female connector| |(% rowspan="2" %)⑦Others|1: Ordinary cable
805 -|MC6H: 6-core H-type straight female connector| |2: High flex cable
806 -
807 -= **Servo Cable Matching Table** =
808 -
809 -|**Motor model**|**Matching drive**|**Power cable/brake cable**|**Encoder cable**
810 -|(% rowspan="6" %)(((
811 -WD40M-○○○-☐☐☐
812 -
813 -WD60M-○○○-☐☐☐
814 -
815 -WD60H-○○○-☐☐☐
816 -
817 -WE60M-○○○-☐☐☐
818 -
819 -WD80M-○○○-☐☐☐
820 -
821 -WD80H-○○○-☐☐☐
822 -
823 -WE80M-○○○-☐☐☐
824 -)))|(% rowspan="2" %)VD2/VD3E A type|Power cable：P-Z3O1-R4M-*MX4|(% rowspan="3" %)Single-turn：E-J1394-R9M-*MX5-A
825 -|(((
826 -Power cable：P-Z3O1-R4M-*MX4
827 -
828 -Brake cable：P-O2-R2M-3MX2-D
829 -)))
830 -|(% rowspan="2" %)(((
831 -VD2/VD3E B type
832 -
833 -VD2/VD3E C type
834 -)))|Power cable：P-U3O1-R4M-*MX4
835 -|(((
836 -Power cable：P-U3O1-R4M-*MX4
837 -
838 -Brake cable：P-O2-R2M-3MX2-D
839 -)))|(% rowspan="3" %)Multi-turn：E-J1394-R9M-*MX7-A1
840 -|(% rowspan="2" %)VD2F/VD2L|Power cable：P-Z4-R4M-*MX4
841 -|(((
842 -Power cable：P-Z4-R4M-*MX4
843 -
844 -Brake cable：P-O2-R2M-3MX2-D
845 -)))
846 -|(% rowspan="6" %)(((
847 -WD60M-○○○-☐☐☐-L
848 -
849 -WD80M-○○○-☐☐☐-L
850 -)))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4S-*MX4|(% rowspan="3" %)Single-turn：E-J1394-MC7S-*MX5-A
851 -|With brake：P-Z3O3-MC6S-*MX6
852 -|(% rowspan="2" %)(((
853 -VD2/VD3E B type
854 -
855 -VD2/VD3E C type
856 -)))|Without brake：P-U3O1-MC4S-*MX4
857 -|With brake：P-U3O3-MC6S-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7S-*MX7-A1
858 -|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4S-*MX4
859 -|With brake：P-Z4O2-MC6S-*MX6
860 -|(% rowspan="6" %)(((
861 -WD60M-○○○-☐☐☐-L2
862 -
863 -WD80M-○○○-☐☐☐-L2
864 -)))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4S-*MX4|(% rowspan="3" %)Single-turn：E-J1394-MC7P-*MX5-A
865 -|With brake：P-Z3O3-MC6S-*MX6
866 -|(% rowspan="2" %)(((
867 -VD2/VD3E B type
868 -
869 -VD2/VD3E C type
870 -)))|Without brake：P-U3O1-MC4S-*MX4
871 -|With brake：P-U3O3-MC6S-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7P-*MX7-A1
872 -|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4S-*MX4
873 -|With brake：P-Z4O2-MC6S-*MX6
874 -|(% rowspan="4" %)(((
875 -WD60H-○○○-☐☐☐-L2
876 -
877 -WD80H-○○○-☐☐☐-L2
878 -)))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4H-*MX4|(% rowspan="2" %)Single-turn：E-J1394-MC7P-*MX5-A
879 -|With brake：P-Z3O3-MC6H-*MX6
880 -|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4H-*MX4|(% rowspan="2" %)Multi-turn：E-J1394-MC7P-*MX7-A1
881 -|With brake：P-Z4O2-MC6H-*MX6
882 -|(% rowspan="6" %)(((
883 -WE110M-○○○-☐☐☐
884 -
885 -WE130M-○○○-☐☐☐
886 -)))|(% rowspan="2" %)VD2/VD3E A type|Power cable：P-Z3O1-H28J4M-*MX4|(% rowspan="3" %)Single-turn：E-J1394-H28K7M-*MX5-A
887 -|Brake cable：No need
888 -|(% rowspan="2" %)(((
889 -VD2/VD3E B type
890 -
891 -VD2/VD3E C type
892 -)))|Power cable：P-U3O1-H28J4M-*MX4
893 -|Brake cable：No need|(% rowspan="3" %)Multi-turn：E-J1394-H28K7M-*MX7-A1
894 -|(% rowspan="2" %)VD2F/VD2L|Power cable：P-Z4-H28J4M-*MX4
895 -|Brake cable：No need
896 -|(% rowspan="6" %)(((
897 -WD130M-○○○-☐☐☐
898 -
899 -WD130H-○○○-☐☐☐
900 -)))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-18A6-*MX4|(% rowspan="3" %)Single-turn：E-J1394-CM10-*MX5-A
901 -|With brake：P-Z3O3-18A6-*MX6
902 -|(% rowspan="2" %)(((
903 -VD2/VD3E B type
904 -
905 -VD2/VD3E C type
906 -)))|Without brake：P-U3O1-18A6-*MX4
907 -|With brake：P-U3O3-18A6-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-CM10-*MX7-A1
908 -|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-18A6-*MX4
909 -|With brake：P-Z4O2-18A6-*MX4
910 -|(% 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
911 -|With brake：P-Z3O3-18A6-*MX6
912 -|(% rowspan="2" %)(((
913 -VD2/VD3E B type
914 -
915 -VD2/VD3E C type
916 -)))|Without brake：P-U3O1-18A6-*MX4
917 -|With brake：P-U3O3-18A6-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7P-*MX7-A1
918 -|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-18A6-*MX4
919 -|With brake：P-Z4O2-18A6-*MX4
920 -|(% rowspan="2" %)(((
921 -WE180M-○○○-☐☐☐
922 -
923 -WD180M-○○○-☐☐☐
924 -)))|(% rowspan="2" %)(((
925 -VD2/VD3E B type
926 -
927 -VD2/VD3E C type
928 -)))|Power cable：P-U3O1-H32J4M-*MX4|Single-turn：E-J1394-H28K7M-*MX5-A
929 -|Brake cable：No need|Multi-turn：E-J1394-H28K7M-*MX7-A1