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Changes for page 05 Servo Product Manual

Last modified by Jim(Forgotten) on 2025/03/20 10:19
From version 69.1
edited by Molly
on 2024/09/18 17:55
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**
... ... @@ -235,691 +235,21 @@
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" %)ABZ phase pulse output or pulse+direction output
291 -|(% colspan="3" style="width:277px" %)(% style="background-color:transparent" %)**Internal Command**|(% colspan="2" rowspan="1" style="width:867px" %)(((
292 -8 segment internal speed command, 16 segment internal position command
293 -)))
294 -|(% colspan="3" style="width:277px" %)(((
295 -**Communication**
296 -)))|(% rowspan="1" style="width:867px" %)(((
297 -MODBUS RS485 and MODBUS RS422(SCTool)
298 -)))|(% rowspan="1" style="width:867px" %)MODBUS RS485 and Type-C(SCTool)
299 -|(% colspan="3" rowspan="2" style="width:277px" %)(((
300 -**Braking resistor**
301 -)))|(% colspan="4" rowspan="1" style="width:867px" %)(((
302 -750W built-in braking resistor; 400W without built-in;
303 -)))
304 -|(% colspan="4" style="width:867px" %)(((
305 -Both can support external braking resistors.
306 -)))
307 -|(% colspan="3" rowspan="22" %)(((
308 -**Function setting**
309 -)))|(% colspan="1" rowspan="12" %)(((
310 -**General functions**
311 -)))|(% colspan="2" style="width:39px" %)(((
312 -**Auto-tuning**
313 -)))|(% colspan="1" rowspan="1" style="width:503px" %)(((
314 -Automatic load inertia identification,automatic rigidity self-tuning
315 -)))|(% rowspan="1" style="width:364px" %)-
316 -|(% colspan="2" style="width:39px" %)(((
317 -**Blend mode**
318 -)))|(% colspan="1" rowspan="1" style="width:503px" %)(((
319 -YES
320 -)))|(% rowspan="1" style="width:364px" %)-
321 -|(% colspan="2" style="width:39px" %)(((
322 -**Advanced control algorithms**
323 -)))|(% colspan="1" style="width:503px" %)(((
324 -YES
325 -)))|(% style="width:364px" %)-
326 -|(% colspan="2" rowspan="2" style="width:39px" %)(((
327 -**Waveform**
328 -)))|(% colspan="2" style="width:867px" %)4 channels waveform monitoring
329 -|(% colspan="2" style="width:867px" %)10s waveform data recording
330 -|(% colspan="2" style="width:39px" %)(((
331 -**Parameter management**
332 -)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
333 -Support batch parameter import and export
334 -)))
335 -|(% colspan="2" style="width:39px" %)(((
336 -**Vibration suppression**
337 -)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
338 -Support mechanical vibration suppression
339 -)))
340 -|(% colspan="2" style="width:39px" %)(((
341 -**Protection**
342 -)))|(% colspan="2" style="width:867px" %)(((
343 -Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
344 -)))
345 -|(% colspan="2" style="width:39px" %)(((
346 -**Dynamic braking**
347 -)))|(% colspan="1" style="width:503px" %)-|(% style="width:364px" %)(((
348 -Optional
349 -)))
350 -|(% colspan="2" style="width:39px" %)(((
351 -**Brake device**
352 -)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
353 -Support brake signal output
354 -)))
355 -|(% colspan="2" style="width:39px" %)(((
356 -**DI function**
357 -)))|(% colspan="2" rowspan="1" style="width:867px" %)(((
358 -Servo enable((% _mstmutation="1" %)**S-ON**(%%)), Error/alarm clear((% _mstmutation="1" %)**A-CLR**(%%)), Forward rotation prohibited((% _mstmutation="1" %)**POT**(%%))
359 -
360 -Backward rotation prohibited((% _mstmutation="1" %)**NOT**(%%)), Command direction((% _mstmutation="1" %)**C-SIGN**(%%)), Emergency stop((% _mstmutation="1" %)**E-STOP**(%%))
361 -
362 -Gain switch((% _mstmutation="1" %)**GAIN-5EL**(%%)), Internal speed selection((% _mstmutation="1" %)**INSPD1, INSPD2, INSPD3**(%%))
363 -
364 -Internal position selection and enable((% _mstmutation="1" %)**INPO51, INPO52, INPO53, INPO54, ENINPOS**(%%))
365 -)))
366 -|(% colspan="2" style="width:39px" %)(((
367 -**DO function**
368 -)))|(% colspan="1" rowspan="1" style="width:503px" %)(((
369 -Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
370 -
371 -Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
372 -
373 -Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), Z pulse feedback output
374 -)))|(% rowspan="1" style="width:364px" %)(((
375 -Servo ready(**RDY**)、Error signal(**ALM**), Alarm signal(**WARN**), Rotation detection(**TGON**)
376 -
377 -Zero speed signal(**ZSP**), Torque limited(**T-LIMIT**), Velocity limited(**V-LIMIT**)
378 -
379 -Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), ABZ pulse feedback output
380 -)))
381 -|(% colspan="1" rowspan="4" %)**Position mode**|**Pulse frequency**|(% colspan="3" rowspan="1" %)(((
382 -Max to 500KHz
383 -)))
384 -|(% colspan="2" rowspan="1" style="width:39px" %)**Pulse type**|(% rowspan="1" style="width:503px" %)(((
385 -Direction + pulse; Orthogonal coding:
386 -V1.21 and above support CW/CCW
387 -)))|(% rowspan="1" style="width:337px" %)Direction + Pulse, Orthogonal coding
388 -|(% colspan="2" rowspan="1" style="width:39px" %)**Pulse filter**|(% colspan="2" rowspan="1" style="width:867px" %)First-order low-pass filter or smoothing filter
389 -|(% colspan="2" rowspan="1" style="width:39px" %)(((
390 -**Pulse output**
391 -)))|(% rowspan="1" style="width:503px" %)-|(% rowspan="1" style="width:337px" %)A, B, Z differential output
392 -|(% colspan="1" rowspan="3" %)(((
393 -**Speed mode**
394 -)))|(% colspan="2" style="width:39px" %)**Command input**|(% colspan="2" rowspan="1" style="width:867px" %)Internal command(8 segments)
395 -|(% colspan="2" style="width:39px" %)**Zero speed clamp**|(% colspan="2" rowspan="1" style="width:867px" %)Support
396 -|(% colspan="2" style="width:39px" %)**Torque limit**|(% colspan="2" rowspan="1" style="width:867px" %)Torque limit under speed mode
397 -|(% colspan="1" rowspan="3" %)**Torque mode**|(% colspan="2" style="width:39px" %)**Command input**|(% colspan="2" rowspan="1" style="width:867px" %)(((
398 -Internal command
399 -)))
400 -|(% colspan="2" style="width:39px" %)**Torque reach**|(% colspan="2" rowspan="1" style="width:867px" %)(((
401 -Torque reach signal output
402 -)))
403 -|(% colspan="2" style="width:39px" %)**Velocity limit**|(% colspan="2" rowspan="1" style="width:867px" %)(((
404 -Velocity limit under torque mode
405 -)))
406 -
407 -= VD3E servo driver parameter table =
408 -
409 -(% style="margin-left:auto; margin-right:auto; width:1149.22px" %)
410 -|(% colspan="3" rowspan="1" style="width:445px" %)(((
411 -**Bus type**
412 -)))|(% style="width:327px" %)(((
413 -(% style="text-align:center" %)
414 -[[image:1726295827531-129.png]]
415 -
416 -(((
417 -
418 -)))
419 -)))|(((
420 -(% style="text-align:center" %)
421 -[[image:1726295883786-742.png]]
422 -
423 -(((
424 -
425 -)))
426 -)))|(((
427 -(% style="text-align:center" %)
428 -[[image:1726295894302-137.png]]
429 -)))
430 -|(% colspan="3" rowspan="1" style="width:445px" %)**Model**|(% style="width:327px" %)(((
431 -**VD3E(A type)**
432 -)))|(((
433 -**VD3E(B type)**
434 -)))|(((
435 -**VD3E(C type)**
436 -)))
437 -|(% colspan="1" rowspan="7" style="width:166px" %)(((
438 -**Basic Specifications**
439 -)))|(% colspan="2" style="width:279px" %)**Power supply**|(% style="width:327px" %)220V|220V/380V|380V
440 -|(% colspan="2" style="width:279px" %)**Control method**|(% colspan="3" rowspan="1" style="width:672px" %)IGBT PWM control sine wave current drive
441 -|(% colspan="2" style="width:279px" %)**Encoder**|(% colspan="3" rowspan="1" style="width:672px" %)17bit, 23bit absolute value encoder
442 -|(% colspan="2" style="width:279px" %)**Control signal input**|(% colspan="3" rowspan="1" style="width:672px" %)(((
443 -6DI, Select the output function according to the function code configuration
444 -)))
445 -|(% colspan="2" style="width:279px" %)**Control signal output**|(% colspan="3" rowspan="1" style="width:672px" %)(((
446 -3DO, Select the output function according to the function code configuration
447 -)))
448 -|(% style="width:147px" %)(((
449 -**Communication function**
450 -)))|(% style="width:133px" %)(((
451 -**Host computer communication**
452 -)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
453 -The USB interface can be used to set function code parameters, monitor status, and view waveforms through a computer host computer.
454 -Parameter self-tuning, etc.
455 -)))
456 -|(% colspan="2" style="width:279px" %)**Braking resistor**|(% colspan="3" rowspan="1" style="width:672px" %)(((
457 -Built-in braking resistor, supports external braking resistor
458 -)))
459 -|(% 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
460 -|(% colspan="2" style="width:279px" %)(((
461 -**Waveform viewing**
462 -)))|(% colspan="3" rowspan="1" style="width:672px" %)4 channels waveform monitoring
463 -|(% colspan="2" style="width:279px" %)(((
464 -**Waveform storage**
465 -)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
466 -Waveform acquisition frequency 1K Hz,(% style="background-color:transparent" %)10s waveform data recording
467 -)))
468 -|(% colspan="2" style="width:279px" %)**Parameter management**|(% colspan="3" rowspan="1" style="width:672px" %)Support batch parameter import and export
469 -|(% colspan="2" style="width:279px" %)(((
470 -**Vibration suppression**
471 -)))|(% colspan="3" rowspan="1" style="width:672px" %)Support mechanical vibration suppression
472 -|(% colspan="2" style="width:279px" %)(((
473 -
474 -
475 -**Protection**
476 -)))|(% colspan="3" rowspan="1" style="width:672px" %)Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
477 -|(% colspan="2" style="width:279px" %)**Brake device**|(% colspan="3" rowspan="1" style="width:672px" %)Support brake signal output
478 -|(% colspan="2" style="width:279px" %)**DI function**|(% colspan="3" rowspan="1" style="width:672px" %)(((
479 -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**(%%))
480 -)))
481 -|(% colspan="2" style="width:279px" %)**DO function**|(% colspan="3" rowspan="1" style="width:672px" %)(((
482 -Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
483 -
484 -Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
485 -
486 -Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**),CommunicationVDO
487 -)))
488 -|(% colspan="1" rowspan="16" style="width:166px" %)(((
489 -**EtherCAT related**
490 -)))|(% rowspan="14" style="width:147px" %)(((
491 -**EtherCAT related**
492 -)))|(% style="width:133px" %)(((
493 -**Communication protocol**
494 -)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
495 -EtherCAT protocol
496 -)))
497 -|(% style="width:133px" %)(((
498 -**Support services**
499 -)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
500 -CoE(PDO,SDO)
501 -)))
502 -|(% style="width:133px" %)(((
503 -**Sync mode**
504 -)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
505 -DC-Distributed Clock
506 -)))
507 -|(% style="width:133px" %)(((
508 -**Physical layer**
509 -)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
510 -100BASE-TX
511 -)))
512 -|(% style="width:133px" %)(((
513 -**Baud rate**
514 -)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
515 -100 Mbit/s(100Base-TX)
516 -)))
517 -|(% style="width:133px" %)(((
518 -**Duplex mode**
519 -)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
520 -Full duplex
521 -)))
522 -|(% style="width:133px" %)(((
523 -**Topology**
524 -)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
525 -Circular, linear
526 -)))
527 -|(% style="width:133px" %)(((
528 -**Transmission medium**
529 -)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
530 -Shielded Category 5e or better network cable
531 -)))
532 -|(% style="width:133px" %)(((
533 -**Transmission distance**
534 -)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
535 -Less than 100M between two nodes (good environment, good cables)
536 -)))
537 -|(% style="width:133px" %)(((
538 -**Frame length**
539 -)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
540 -44 bytes~~1498 bytes
541 -)))
542 -|(% style="width:133px" %)(((
543 -**Excessive data**
544 -)))|(% colspan="5" rowspan="1" style="width:672px" %)Maximum size of a single Ethernet frame is 1486 bytes
545 -|(% style="width:133px" %)(((
546 -**Sync jitter**
547 -)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
548 -<1μs
549 -)))
550 -|(% style="width:133px" %)(((
551 -**Distributed clock**
552 -)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
553 -64 bit
554 -)))
555 -|(% style="width:133px" %)(((
556 -**EEPROM capacity**
557 -)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
558 -8k bit initialization data is written through the EtherCAT master station
559 -)))
560 -|(% rowspan="2" style="width:147px" %)(((
561 -**Control mode and performance**
562 -)))|(% style="width:133px" %)(((
563 -**Control mode**
564 -)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
565 -CSP、HM
566 -)))
567 -|(% style="width:133px" %)**Synchronization period**|(% colspan="3" rowspan="1" style="width:672px" %)(((
568 -125μs
569 -)))
570 -
571 -= **Servo Motor Naming Rules** =
572 -
573 573  (% style="margin-left:auto; margin-right:auto; width:50px" %)
574 574  |WD|80|M|-|075|30|S|-|A1|F|-|L
575 575  |①|②|③| |④|⑤|⑥| |⑦|⑧| |⑨
576 576  
577 -|(% 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
578 -|WE: 4|020：200W|C1：17bit multi-turn absolute magnetic encoder
579 -|(% colspan="2" rowspan="1" %) |...|D2：23bit multi-turn absolute optical encoder
580 -|(% rowspan="7" %)②Flange|40|500：5.0KW|E1: 2500-line incremental encoder
581 -|60|550：5.5KW|(% colspan="2" rowspan="1" %)
582 -|80|...|(% rowspan="2" %)⑧Motor structure|F：Oil seal
583 -|110|(% colspan="2" rowspan="1" %) |G：Oil seal + Brake device
584 -|130|(% rowspan="4" %)⑤Rated speed|15：1500rpm|(% colspan="2" rowspan="1" %)
585 -|150|20：2000rpm|(% rowspan="3" %)⑨Others|L：60/80 flange connector
586 -|180|25：2500rpm|(% rowspan="2" %)L2：60/80/130 flange connector
587 -|(% colspan="2" rowspan="1" %) |30：3000rpm
588 -|(% rowspan="3" %)③Inertia level|L: Low|(% colspan="2" rowspan="1" %) |(% colspan="2" rowspan="3" %)
589 -|M: Middle|(% rowspan="2" %)⑥Voltage level|S: 220V
590 -|H: High|T: 380V
591 -
592 -(% style="text-align:center" %)
593 -[[image:Servo.Manual.02 VD2 SA Series.test.WebHome@image-20220611113846-8.jpeg]]
594 -
595 - Motor nameplate
596 -
597 -= (% style="color:inherit; font-family:inherit; font-size:max(23px, min(29px, 12.3333px + 1.38889vw))" %)**Servo Motor Parameter**(%%) =
598 -
599 -|(% style="width:172px" %)**220V motor model**|(% style="width:78px" %)**Flange mm**|(% style="width:86px" %)**Power kW**|(% style="width:100px" %)**Rated speed rpm**|(% style="width:115px" %)**Rated torque N*m**|(% style="width:115px" %)**Rated current A**|(% style="width:162px" %)**Allowable overload multiple**|**Pole pairs**|**Inertia level**
600 -|(% style="width:172px" %)WD40M-01030S-☐☐☐|(% style="width:78px" %)40|(% style="width:86px" %)0.1|(% style="width:100px" %)3000|(% style="width:115px" %)0.318|(% style="width:115px" %)1.0|(% style="width:162px" %)3.0|5|Middle
601 -|(% colspan="9" style="width:172px" %)
602 -|(% style="width:172px" %)WD60M-02030S-☐☐☐|(% style="width:78px" %)60|(% style="width:86px" %)0.2|(% style="width:100px" %)3000|(% style="width:115px" %)0.64|(% style="width:115px" %)1.7|(% style="width:162px" %)3.0|5|(% rowspan="3" %)Middle
603 -|(% style="width:172px" %)WD60M-04030S-☐☐☐|(% style="width:78px" %)60|(% style="width:86px" %)0.4|(% style="width:100px" %)3000|(% style="width:115px" %)1.27|(% style="width:115px" %)2.5|(% style="width:162px" %)3.0|5
604 -|(% style="width:172px" %)WD60M-06030S-☐☐☐|(% style="width:78px" %)60|(% style="width:86px" %)0.6|(% style="width:100px" %)3000|(% style="width:115px" %)1.91|(% style="width:115px" %)3.6|(% style="width:162px" %)3.0|5
605 -|(% colspan="9" style="width:172px" %)
606 -|(% style="width:172px" %)WD80M-07530S-☐☐☐|(% style="width:78px" %)80|(% style="width:86px" %)0.75|(% style="width:100px" %)3000|(% style="width:115px" %)2.39|(% style="width:115px" %)4.4|(% style="width:162px" %)3.0|5|(% rowspan="3" %)Middle
607 -|(% style="width:172px" %)WD80M-10025S-☐☐☐|(% style="width:78px" %)80|(% style="width:86px" %)1|(% style="width:100px" %)2500|(% style="width:115px" %)3.82|(% style="width:115px" %)4.6|(% style="width:162px" %)3.0|5
608 -|(% style="width:172px" %)WD80M-10030S-☐☐☐|(% style="width:78px" %)80|(% style="width:86px" %)1|(% style="width:100px" %)3000|(% style="width:115px" %)3.18|(% style="width:115px" %)5.8|(% style="width:162px" %)3.0|5
609 -|(% colspan="9" style="width:172px" %)
610 -|(% style="width:172px" %)WD130M-08515S-☐☐☐|(% style="width:78px" %)130|(% style="width:86px" %)0.85|(% style="width:100px" %)1500|(% style="width:115px" %)5.41|(% style="width:115px" %)4.6|(% style="width:162px" %)3.0|5|(% rowspan="10" %)Middle
611 -|(% style="width:172px" %)WD130M-13015S-☐☐☐|(% style="width:78px" %)130|(% style="width:86px" %)1.3|(% style="width:100px" %)1500|(% style="width:115px" %)8.28|(% style="width:115px" %)7.7|(% style="width:162px" %)3.0|5
612 -|(% style="width:172px" %)WD130M-18015S-☐☐☐|(% style="width:78px" %)130|(% style="width:86px" %)1.8|(% style="width:100px" %)1500|(% style="width:115px" %)11.46|(% style="width:115px" %)9.8|(% style="width:162px" %)3.0|5
613 -|(% style="width:172px" %)WD130M-23015S-☐☐☐|(% style="width:78px" %)130|(% style="width:86px" %)2.3|(% style="width:100px" %)1500|(% style="width:115px" %)14.64|(% style="width:115px" %)12.4|(% style="width:162px" %)3.0|5
614 -|(% style="width:172px" %)WD130M-10020S-☐☐☐|(% style="width:78px" %)130|(% style="width:86px" %)1|(% style="width:100px" %)2000|(% style="width:115px" %)4.8|(% style="width:115px" %)6.0|(% style="width:162px" %)3.5|5
615 -|(% style="width:172px" %)WD130M-15020S-☐☐☐|(% style="width:78px" %)130|(% style="width:86px" %)1.5|(% style="width:100px" %)2000|(% style="width:115px" %)7.2|(% style="width:115px" %)8.5|(% style="width:162px" %)3.5|5
616 -|(% style="width:172px" %)WD130M-20020S-☐☐☐|(% style="width:78px" %)130|(% style="width:86px" %)2|(% style="width:100px" %)2000|(% style="width:115px" %)9.55|(% style="width:115px" %)10|(% style="width:162px" %)3.0|5
617 -|(% style="width:172px" %)WD130M-15025S-☐☐☐|(% style="width:78px" %)130|(% style="width:86px" %)1.5|(% style="width:100px" %)2500|(% style="width:115px" %)5.73|(% style="width:115px" %)6.0|(% style="width:162px" %)3.0|5
618 -|(% style="width:172px" %)WD130M-26025S-☐☐☐|(% style="width:78px" %)130|(% style="width:86px" %)2.6|(% style="width:100px" %)2500|(% style="width:115px" %)9.93|(% style="width:115px" %)10.5|(% style="width:162px" %)3.0|5
619 -|(% style="width:172px" %)WD130M-38025S-☐☐☐|(% style="width:78px" %)130|(% style="width:86px" %)3.8|(% style="width:100px" %)2500|(% style="width:115px" %)14.5|(% style="width:115px" %)16|(% style="width:162px" %)3.0|5
620 -
621 -|**220V motor model**|**Flange mm**|**Power kW**|**Rated speed rpm**|**Rated torque N*m**|**Rated current A**|**Allowable overload multiple**|(((
622 -**Pole pairs**
623 -)))|(((
624 -**Inertia level**
625 -)))
626 -|WD60H-02030S-☐☐☐|60|0.2|3000|0.64|1.8|3.5|5|(% colspan="1" rowspan="3" %)(((
627 -High
628 -)))
629 -|WD60H-04030S-☐☐☐|60|0.4|3000|1.27|2.8|3.5|5
630 -|WD60H-06030S-☐☐☐|60|0.6|3000|1.91|4.0|3.0|5
631 -|(% colspan="9" %)
632 -|WD80H-07530S-☐☐☐|80|0.75|3000|2.39|4.8|3.0|5|(% colspan="1" rowspan="4" %)(((
633 -High
634 -)))
635 -|WD80H-10020S-☐☐☐|80|1|2000|4.77|4.8|3.0|5
636 -|WD80H-10025S-☐☐☐|80|1|2500|3.82|4.8|3.0|5
637 -|WD80H-10030S-☐☐☐|80|1|3000|3.2|4.8|3.0|5
638 -|(% colspan="9" %)
639 -|WD130H-15030S-☐☐☐|130|1.5|3000|4.8|6.0|3.0|5|(((
640 -High
641 -)))
642 -
643 -|(% 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**
644 -|(% 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
645 -|(% colspan="9" style="width:174px" %)
646 -|(% 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
647 -|(% 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
648 -|(% 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
649 -|(% 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
650 -|(% 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
651 -|(% colspan="9" style="width:174px" %)
652 -|(% 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
653 -|(% 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
654 -|(% 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
655 -|(% colspan="9" style="width:174px" %)
656 -|(% 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
657 -|(% 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
658 -|(% 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
659 -|(% 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
660 -|(% 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
661 -|(% 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
662 -|(% 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
663 -|(% 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
664 -
665 -|**380V motor model**|**Flange mm**|**Power kW**|**Rated speed rpm**|**Rated torque N*m**|**Rated current A**|**Allowable overload multiple**|**Pole pairs**|**Inertia level**
666 -|WD130M-08515T-☐☐☐|130|0.85|1500|5.41|3.1|3.0|5|(% colspan="1" rowspan="5" %)Middle
667 -|WD130M-13015T-☐☐☐|130|1.3|1500|8.28|5.1|3.0|5
668 -|WD130M-18015T-☐☐☐|130|1.8|1500|11.46|6.3|3.0|5
669 -|WD130M-23015T-☐☐☐|130|2.3|1500|14.64|8.5|3.0|5
670 -|WD180M-29015T-☐☐☐|180|2.9|1500|18.6|11.8|3.0|5
671 -
672 -|**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**
673 -|WE130M-20025T-☐☐☐|130|2.0|2500|7.7|7.5|2.8|(% style="width:78px" %)4|(% rowspan="6" style="width:68px" %)Middle
674 -|WE130M-26025T-☐☐☐|130|2.6|2500|10|6.0|2.5|(% style="width:78px" %)4
675 -|WE130M-31015T-☐☐☐|130|3.1|1500|20|11.5|2.5|(% style="width:78px" %)4
676 -|WE130M-38025T-☐☐☐|130|3.8|2500|15|8.8|2.0|(% style="width:78px" %)4
677 -|WE130M-42020T-☐☐☐|130|4.2|2000|20|8.5|2.0|(% style="width:78px" %)4
678 -|WE130M-53030T-☐☐☐|130|5.3|3000|17|11|2.0|(% style="width:78px" %)4
679 -|(% colspan="9" %)
680 -|WE180M-30015T-☐☐☐|180|3.0|1500|19|7.5|2.5|(% style="width:78px" %)4|(% rowspan="4" style="width:68px" %)Middle
681 -|WE180M-43015T-☐☐☐|180|4.3|1500|27|10|2.5|(% style="width:78px" %)4
682 -|WE180M-55015T-☐☐☐|180|5.5|1500|35|12|2.0|(% style="width:78px" %)4
683 -|WE180M-75015T-☐☐☐|180|7.5|1500|48|20|2.0|(% style="width:78px" %)4
684 -
685 -**Note**: ☐☐☐ Not all motor models include the following categories
686 -
687 -A1F：17-bit single-turn absolute magnetic encoder without brake.
688 -
689 -A1G：17-bit single-turn absolute magnetic encoder with brake.
690 -
691 -C1F：17-bit multi-turn absolute magnetic encoder without brake
692 -
693 -C1G：17-bit multi-turn absolute magnetic encoder with brake.
694 -
695 -D2F：23-bit multi-turn absolute Optical encoder without brake.
696 -
697 -D2G：23-bit multi-turn absolute Optical encoder with brake.
698 -
699 -= **Servo Drive and Motor Matching Table** =
700 -
701 -**Note**: The **red-marked** combination is not recommended.
702 -
703 -|**Control type**|**Voltage level**|**Drive series**|**Drive model**|**Support motor**
704 -|(% rowspan="18" %)Pulse type|(% rowspan="12" %)220V|(% rowspan="3" %)VD2F|VD2F-003SA1P|(0.1-0.2)kW
705 -|VD2F-010SA1P|(0.2-0.4)kW
706 -|VD2F-014SA1P|(((
707 -(0.6-0.75)kW
708 -
709 -**(0.85-1.0)kW**
710 -)))
711 -|(% rowspan="2" %)VD2L|VD2L-010SA1P|(0.2-0.4)kW
712 -|VD2L-014SA1P/D|(((
713 -(0.6-0.75)kW
714 -
715 -**(0.85-1.0)kW**
716 -)))
717 -|(% rowspan="2" %)(((
718 -VD2 Type A
719 -)))|VD2-010SA1G/R/H|(0.2-0.4)kW
720 -|VD2-014SA1G/R/H|(((
721 -(0.6-0.75)kW
722 -
723 -**(0.85-1.0)kW**
724 -)))
725 -|(% rowspan="8" %)(((
726 -VD2 Type B
727 -)))|VD2-016SA1G/R/H|(0.85-1.5)kW
728 -|VD2-019SA1G/R/H|(1.5-2.0)kW
729 -|VD2-021SA1G/R/H|(2.0-2.5)kW
730 -|VD2-025SA1G|(2.5-3.0)kW
731 -|VD2-030SA1G|(3.0-4.0)kW
732 -|(% rowspan="6" %)380V|VD2-016TA1G|(0.85-1.5)kW
733 -|VD2-019TA1G|(1.5-2.0)kW
734 -|VD2-021TA1G|(2.0-3.0)kW
735 -|(% rowspan="3" %)VD2 Type C|VD2-030TA1G|(3.0-5.0)kW
736 -|VD2-040TA1G|(5.0-6.0)kW
737 -|VD2-050TA1G|(7.5)kW
738 -|(% rowspan="14" %)EtherCAT type|(% rowspan="8" %)220V|(% rowspan="3" %)VD3E Type A|VD3E-003SA1G|(0.1-0.2)kW
739 -|VD3E-010SA1G|(0.2-0.4)kW
740 -|VD3E-014SA1G|(((
741 -(0.6-0.75)kW
742 -
743 -**(0.85-1.0)kW**
744 -)))
745 -|(% rowspan="8" %)VD3E Type B|VD3E-016SA1G|(0.85-1.5)kW
746 -|VD3E-019SA1G|(1.5-2.0)kW
747 -|VD3E-021SA1G|(2.0-2.5)kW
748 -|VD3E-025SA1G|(2.5-3.0)kW
749 -|VD3E-030SA1G|(3.0-4.0)kW
750 -|(% rowspan="6" %)380V|VD3E-016TA1G|(0.85-1.5)kW
751 -|VD3E-019TA1G|(1.5-2.0)kW
752 -|VD3E-021TA1G|(2.0-3.0)kW
753 -|(% rowspan="3" %)VD3E Type C|VD3E-030TA1G|(3.0-5.0)kW
754 -|VD3E-040TA1G|(5.0-6.0)kW
755 -|VD3E-050TA1G|(7.5)kW
756 -
757 -= **Servo Cable Naming Rules** =
758 -
759 -(% style="margin-left:auto; margin-right:auto; width:120px" %)
760 -|E|-|J1394|-|R9M|-|3M|X7|-|A1|-|2
761 -|①| |②| |③| |④|⑤| |⑥| |⑦
762 -
763 -|①Cable type|E: Encoder adapter cable|(% rowspan="14" %) |(% rowspan="4" %)④Cable length|3M: 3m
764 -|(% colspan="2" rowspan="1" %) |5M: 5m
765 -|(% rowspan="2" %)②Drive side connector|J1394: 1394 connector|7M: 7m
766 -|D15G: DB15 male connector|...
767 -|(% colspan="2" rowspan="1" %) |(% colspan="2" rowspan="1" %)
768 -|(% rowspan="7" %)③Motor side connector|R9M: 9-core rectangular female connector|(% rowspan="3" %)⑤Number of cores|X5: 5 cores
769 -|MC7S: 7-core straight female connector|X7: 7 cores
770 -|H28K7M: 7-core 28mm aviation female connector|...
771 -|CM10: 11-core 11mm aviation female connector|(% colspan="2" rowspan="1" %)
772 -|MC7P: 7-core straight female connector (L2)|(% rowspan="2" %)⑥Wire size|A: 0.2mm/0.14mm
773 -|R15M: 15-core rectangular female connector|A1: 0.2mm/0.14mm with battery box
774 -|H28J15M: 15-core 28mm aviation female connector|(% colspan="2" rowspan="1" %)
775 -|(% colspan="2" rowspan="2" %) |(% rowspan="2" %)⑦Others|1: Ordinary cable
776 -|2: High flex cable
777 -
778 -(% style="margin-left:auto; margin-right:auto; width:120px" %)
779 -|P|-|U3O1|-|H28J4M|-|5M|X4|-|C|-|1
780 -|①| |②| |③| |④|⑤| |⑥| |⑦
781 -
782 -|①Cable type|P: Power adapter cable/brake cable|(% rowspan="20" %) |(% rowspan="6" %)④Cable length|3M: 3m
783 -|(% colspan="2" rowspan="1" %) |5M: 5m
784 -|(% rowspan="8" %)②Drive side connector|Z3O1: 3-core pin-type cold-pressed terminal and 1-core O-type cold-pressed terminal|6D5M: 6.5m
785 -|Z3O3: 3-core pin-type cold-pressed terminal and 3-core O-type cold-pressed terminal|7M: 7m
786 -|Z4: 4-core pin-type cold-pressed terminal|10M: 10m
787 -|Z4O2: 4-core pin-type cold-pressed terminal and 2-core O-type cold-pressed terminal|...
788 -|U3O1: 3-core U-type cold-pressed terminal and 1-core O-type cold-pressed terminal|(% colspan="2" rowspan="1" %)
789 -|U3O3: 3-core U-type cold-pressed terminal and 3-core O-type cold-pressed terminal|(% rowspan="4" %)⑤Number of cores|X2: 2 cores
790 -|Z6: 6-core pin-type cold-pressed terminal|X4: 4 cores
791 -|O2: 2-core O-type cold-pressed terminal|X6: 6 cores
792 -|(% colspan="2" rowspan="1" %) |...
793 -|(% rowspan="9" %)③Motor side connector|18A6: 6-core 23mm aviation female connector|(% colspan="2" rowspan="1" %)
794 -|R4M: 4-core rectangular female connector|(% rowspan="5" %)⑥Wire size|D: 0.5mm
795 -|MC4S: 4-core straight female connector|E: 0.75mm
796 -|MC6S: 6-core straight female connector|B: 1.0mm
797 -|H28J4M: 4-core 28mm aviation female connector|F: 1.5mm
798 -|H32J4M: 4-core 32mm aviation female connector|C: 2.5mm
799 -|R2M: 2-core rectangular female connector|(% colspan="2" rowspan="1" %)
800 -|MC4H: 4-core H-type straight female connector|(% rowspan="2" %)⑦Others|1: Ordinary cable
801 -|MC6H: 6-core H-type straight female connector|2: High flex cable
802 -
803 -= **Servo Cable Matching Table** =
804 -
805 -|**Motor model**|**Matching drive**|**Power cable/brake cable**|**Encoder cable**
806 -|(% rowspan="6" %)(((
807 -WD40M-○○○-☐☐☐
808 -
809 -WD60M-○○○-☐☐☐
810 -
811 -WD60H-○○○-☐☐☐
812 -
813 -WE60M-○○○-☐☐☐
814 -
815 -WD80M-○○○-☐☐☐
816 -
817 -WD80H-○○○-☐☐☐
818 -
819 -WE80M-○○○-☐☐☐
820 -)))|(% rowspan="2" %)VD2/VD3E A type|Power cable：P-Z3O1-R4M-*MX4|(% rowspan="3" %)Single-turn：E-J1394-R9M-*MX5-A
821 -|(((
822 -Power cable：P-Z3O1-R4M-*MX4
823 -
824 -Brake cable：P-O2-R2M-3MX2-D
825 -)))
826 -|(% rowspan="2" %)(((
827 -VD2/VD3E B type
828 -
829 -VD2/VD3E C type
830 -)))|Power cable：P-U3O1-R4M-*MX4
831 -|(((
832 -Power cable：P-U3O1-R4M-*MX4
833 -
834 -Brake cable：P-O2-R2M-3MX2-D
835 -)))|(% rowspan="3" %)Multi-turn：E-J1394-R9M-*MX7-A1
836 -|(% rowspan="2" %)VD2F/VD2L|Power cable：P-Z4-R4M-*MX4
837 -|(((
838 -Power cable：P-Z4-R4M-*MX4
839 -
840 -Brake cable：P-O2-R2M-3MX2-D
841 -)))
842 -|(% rowspan="6" %)(((
843 -WD60M-○○○-☐☐☐-L
844 -
845 -WD80M-○○○-☐☐☐-L
846 -)))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4S-*MX4|(% rowspan="3" %)Single-turn：E-J1394-MC7S-*MX5-A
847 -|With brake：P-Z3O3-MC6S-*MX6
848 -|(% rowspan="2" %)(((
849 -VD2/VD3E B type
850 -
851 -VD2/VD3E C type
852 -)))|Without brake：P-U3O1-MC4S-*MX4
853 -|With brake：P-U3O3-MC6S-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7S-*MX7-A1
854 -|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4S-*MX4
855 -|With brake：P-Z4O2-MC6S-*MX6
856 -|(% rowspan="6" %)(((
857 -WD60M-○○○-☐☐☐-L2
858 -
859 -WD80M-○○○-☐☐☐-L2
860 -)))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4S-*MX4|(% rowspan="3" %)Single-turn：E-J1394-MC7P-*MX5-A
861 -|With brake：P-Z3O3-MC6S-*MX6
862 -|(% rowspan="2" %)(((
863 -VD2/VD3E B type
864 -
865 -VD2/VD3E C type
866 -)))|Without brake：P-U3O1-MC4S-*MX4
867 -|With brake：P-U3O3-MC6S-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7P-*MX7-A1
868 -|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4S-*MX4
869 -|With brake：P-Z4O2-MC6S-*MX6
870 -|(% rowspan="4" %)(((
871 -WD60H-○○○-☐☐☐-L2
872 -
873 -WD80H-○○○-☐☐☐-L2
874 -)))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4H-*MX4|(% rowspan="2" %)Single-turn：E-J1394-MC7P-*MX5-A
875 -|With brake：P-Z3O3-MC6H-*MX6
876 -|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4H-*MX4|(% rowspan="2" %)Multi-turn：E-J1394-MC7P-*MX7-A1
877 -|With brake：P-Z4O2-MC6H-*MX6
878 -|(% rowspan="6" %)(((
879 -WE110M-○○○-☐☐☐
880 -
881 -WE130M-○○○-☐☐☐
882 -)))|(% rowspan="2" %)VD2/VD3E A type|Power cable：P-Z3O1-H28J4M-*MX4|(% rowspan="3" %)Single-turn：E-J1394-H28K7M-*MX5-A
883 -|Brake cable：No need
884 -|(% rowspan="2" %)(((
885 -VD2/VD3E B type
886 -
887 -VD2/VD3E C type
888 -)))|Power cable：P-U3O1-H28J4M-*MX4
889 -|Brake cable：No need|(% rowspan="3" %)Multi-turn：E-J1394-H28K7M-*MX7-A1
890 -|(% rowspan="2" %)VD2F/VD2L|Power cable：P-Z4-H28J4M-*MX4
891 -|Brake cable：No need
892 -|(% rowspan="6" %)(((
893 -WD130M-○○○-☐☐☐
894 -
895 -WD130H-○○○-☐☐☐
896 -)))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-18A6-*MX4|(% rowspan="3" %)Single-turn：E-J1394-CM10-*MX5-A
897 -|With brake：P-Z3O3-18A6-*MX6
898 -|(% rowspan="2" %)(((
899 -VD2/VD3E B type
900 -
901 -VD2/VD3E C type
902 -)))|Without brake：P-U3O1-18A6-*MX4
903 -|With brake：P-U3O3-18A6-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-CM10-*MX7-A1
904 -|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-18A6-*MX4
905 -|With brake：P-Z4O2-18A6-*MX4
906 -|(% 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
907 -|With brake：P-Z3O3-18A6-*MX6
908 -|(% rowspan="2" %)(((
909 -VD2/VD3E B type
910 -
911 -VD2/VD3E C type
912 -)))|Without brake：P-U3O1-18A6-*MX4
913 -|With brake：P-U3O3-18A6-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7P-*MX7-A1
914 -|(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-18A6-*MX4
915 -|With brake：P-Z4O2-18A6-*MX4
916 -|(% rowspan="2" %)(((
917 -WE180M-○○○-☐☐☐
918 -
919 -WD180M-○○○-☐☐☐
920 -)))|(% rowspan="2" %)(((
921 -VD2/VD3E B type
922 -
923 -VD2/VD3E C type
924 -)))|Power cable：P-U3O1-H32J4M-*MX4|Single-turn：E-J1394-H28K7M-*MX5-A
925 -|Brake cable：No need|Multi-turn：E-J1394-H28K7M-*MX7-A1
233 +|(% rowspan="2" %)①Pole pairs|WD: 5| |(% rowspan="6" %)④Rated power|010：100W| |(% rowspan="4" %)⑦Encoder type|A1: 17bit single-turn absolute magnetic encoder
234 +|WE: 4| |020：200W| |C1：17bit multi-turn absolute magnetic encoder
235 +| | | |...| |D2：23bit multi-turn absolute optical encoder
236 +|(% rowspan="7" %)②Flange|40| |500：5.0KW| |E1: 2500-line incremental encoder
237 +|60| |550：5.5KW| | |
238 +|80| |...| |(% rowspan="2" %)⑧Motor structure|F：Oil seal
239 +|110| | | | |G：Oil seal + Brake device
240 +|130| |(% rowspan="4" %)⑤Rated speed|15：1500rpm| | |
241 +|150| |20：2000rpm| |(% rowspan="3" %)⑨Others|L：60/80 flange connector
242 +|180| |25：2500rpm| |(% rowspan="2" %)L2：60/80/130 flange connector
243 +| | | |30：3000rpm|
244 +|(% rowspan="3" %)③Inertia level|L: Low| | | | |(% colspan="2" %)
245 +|M: Middle| |(% rowspan="2" %)⑥Voltage level|S: 220V| |(% colspan="2" %)
246 +|H: High| |T: 380V| |(% colspan="2" %)
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