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Changes for page 05 Servo Product Manual

Last modified by Jim(Forgotten) on 2025/03/20 10:19
From version 86.1
edited by Jim(Forgotten)
on 2025/01/09 16:51
Change comment: There is no comment for this version
To version 82.1
edited by Mora Zhou
on 2024/10/08 15:16
Change comment: There is no comment for this version

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Author
... ... @@ -1,1 +1,1 @@
1 -XWiki.Jim
1 +XWiki.Mora
Content
... ... @@ -236,7 +236,7 @@
236 236  Velocity limit under torque mode
237 237  )))
238 238  
239 -= **VD2F/VD2L Servo Drive Parameter Table** =
239 += **VD2F/VD2L servo driver parameter table** =
240 240  
241 241  (% style="margin-left:auto; margin-right:auto; width:1200px" %)
242 242  |(% colspan="6" rowspan="1" style="width:537px" %)(((
... ... @@ -363,8 +363,6 @@
363 363  Gain switch((% _mstmutation="1" %)**GAIN-5EL**(%%)), Internal speed selection((% _mstmutation="1" %)**INSPD1, INSPD2, INSPD3**(%%))
364 364  
365 365  Internal position selection and enable((% _mstmutation="1" %)**INPO51, INPO52, INPO53, INPO54, ENINPOS**(%%))
366 -
367 -JOG(**JOGU, JOGD**)
368 368  )))
369 369  |(% colspan="2" style="width:39px" %)(((
370 370  **DO function**
... ... @@ -407,61 +407,169 @@
407 407  Velocity limit under torque mode
408 408  )))
409 409  
410 -= (% style="color:inherit; font-family:inherit; font-size:max(23px, min(29px, 12.3333px + 1.38889vw))" %)VD3E/VD5L Servo Drive Parameter Table(%%) =
408 += VD3E servo driver parameter table =
411 411  
412 -|(% colspan="3" %)**Bus type**|(((
410 +(% style="margin-left:auto; margin-right:auto; width:1149.22px" %)
411 +|(% colspan="3" rowspan="1" style="width:445px" %)(((
412 +**Bus type**
413 +)))|(% style="width:327px" %)(((
413 413  (% style="text-align:center" %)
414 414  [[image:1726295827531-129.png]]
416 +
417 +(((
418 +
419 +)))
415 415  )))|(((
416 416  (% style="text-align:center" %)
417 417  [[image:1726295883786-742.png]]
423 +
424 +(((
425 +
426 +)))
418 418  )))|(((
419 419  (% style="text-align:center" %)
420 420  [[image:1726295894302-137.png]]
430 +)))
431 +|(% colspan="3" rowspan="1" style="width:445px" %)**Model**|(% style="width:327px" %)(((
432 +**VD3E(A type)**
421 421  )))|(((
422 -[[image:1734332155668-307.png||height="128" width="40"]]
434 +**VD3E(B type)**
435 +)))|(((
436 +**VD3E(C type)**
423 423  )))
424 -|(% colspan="3" %)**Model**|**VD3E(A type)**|**VD3E(B type)**|**VD3E(C type)**|**VD5L**
425 -|(% colspan="1" rowspan="7" %)**Basic Specifications**|(% colspan="2" %)**Power supply**|220V|220/380V|380V|220V
426 -|(% colspan="2" %)**Control method**|(% colspan="4" rowspan="1" %)IGBT PWM control sine wave current drive
427 -|(% colspan="2" %)**Encoder**|(% colspan="4" rowspan="1" %)17bit, 23bit absolute value encoder
428 -|(% colspan="2" %)**Control signal input**|(% colspan="3" rowspan="1" %)6DI, Select the output function according to the function code configuration|4DI, Select the output function according to the function code configuration
429 -|(% colspan="2" %)**Control signal output**|(% colspan="4" rowspan="1" %)3DO, Select the output function according to the function code configuration
430 -|**Communication function**|**Host computer communication**|(% colspan="4" rowspan="1" %)The USB interface can be used to set function code parameters, monitor status, and view waveforms through a computer host computer.
438 +|(% colspan="1" rowspan="7" style="width:166px" %)(((
439 +**Basic Specifications**
440 +)))|(% colspan="2" style="width:279px" %)**Power supply**|(% style="width:327px" %)220V|220V/380V|380V
441 +|(% colspan="2" style="width:279px" %)**Control method**|(% colspan="3" rowspan="1" style="width:672px" %)IGBT PWM control sine wave current drive
442 +|(% colspan="2" style="width:279px" %)**Encoder**|(% colspan="3" rowspan="1" style="width:672px" %)17bit, 23bit absolute value encoder
443 +|(% colspan="2" style="width:279px" %)**Control signal input**|(% colspan="3" rowspan="1" style="width:672px" %)(((
444 +6DI, Select the output function according to the function code configuration
445 +)))
446 +|(% colspan="2" style="width:279px" %)**Control signal output**|(% colspan="3" rowspan="1" style="width:672px" %)(((
447 +3DO, Select the output function according to the function code configuration
448 +)))
449 +|(% style="width:147px" %)(((
450 +**Communication function**
451 +)))|(% style="width:133px" %)(((
452 +**Host computer communication**
453 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
454 +The USB interface can be used to set function code parameters, monitor status, and view waveforms through a computer host computer.
431 431  Parameter self-tuning, etc.
432 -|(% colspan="2" %)**Braking resistor**|(% colspan="4" rowspan="1" %)Built-in braking resistor, supports external braking resistor
433 -|(% colspan="2" rowspan="9" %)**General functions**|**Auto-tuning**|(% colspan="4" rowspan="1" %)Automatic load inertia identification, automatic rigidity self-tuning
434 -|**Waveform viewing**|(% colspan="4" rowspan="1" %)4 channels waveform monitoring
435 -|**Waveform storage**|(% colspan="4" rowspan="1" %)Waveform acquisition frequency 1K Hz,(% style="background-color:transparent" %)10s waveform data recording
436 -|**Parameter management**|(% colspan="4" rowspan="1" %)Support batch parameter import and export; Support SDO modification
437 -|**Vibration suppression**|(% colspan="4" rowspan="1" %)By setting the notch filter parameters
438 -|**Protection**|(% colspan="4" rowspan="1" %)Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
439 -|**Brake device**|(% colspan="4" rowspan="1" %)Support brake signal output
440 -|**DI function**|(% colspan="4" rowspan="1" %)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**(%%))
441 -|**DO function**|(% colspan="4" rowspan="1" %)(((
456 +)))
457 +|(% colspan="2" style="width:279px" %)**Braking resistor**|(% colspan="3" rowspan="1" style="width:672px" %)(((
458 +Built-in braking resistor, supports external braking resistor
459 +)))
460 +|(% 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
461 +|(% colspan="2" style="width:279px" %)(((
462 +**Waveform viewing**
463 +)))|(% colspan="3" rowspan="1" style="width:672px" %)4 channels waveform monitoring
464 +|(% colspan="2" style="width:279px" %)(((
465 +**Waveform storage**
466 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
467 +Waveform acquisition frequency 1K Hz,(% style="background-color:transparent" %)10s waveform data recording
468 +)))
469 +|(% colspan="2" style="width:279px" %)**Parameter management**|(% colspan="3" rowspan="1" style="width:672px" %)Support batch parameter import and export
470 +|(% colspan="2" style="width:279px" %)(((
471 +**Vibration suppression**
472 +)))|(% colspan="3" rowspan="1" style="width:672px" %)Support mechanical vibration suppression
473 +|(% colspan="2" style="width:279px" %)(((
474 +
475 +
476 +**Protection**
477 +)))|(% colspan="3" rowspan="1" style="width:672px" %)Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
478 +|(% colspan="2" style="width:279px" %)**Brake device**|(% colspan="3" rowspan="1" style="width:672px" %)Support brake signal output
479 +|(% colspan="2" style="width:279px" %)**DI function**|(% colspan="3" rowspan="1" style="width:672px" %)(((
480 +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**(%%))
481 +)))
482 +|(% colspan="2" style="width:279px" %)**DO function**|(% colspan="3" rowspan="1" style="width:672px" %)(((
442 442  Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
443 443  
444 444  Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
445 445  
446 -Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), Communication VDO
487 +Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**),CommunicationVDO
447 447  )))
448 -|(% colspan="2" rowspan="17" %)**EtherCAT related**|**Communication protocol**|(% colspan="4" rowspan="1" %)EtherCAT protocol
449 -|**Support services**|(% colspan="4" rowspan="1" %)CoE(PDO,SDO)
450 -|**Sync mode**|(% colspan="4" rowspan="1" %)DC-Distributed Clock
451 -|**Physical layer**|(% colspan="4" rowspan="1" %)100BASE-TX
452 -|**Baud rate**|(% colspan="4" rowspan="1" %)100 Mbit/s(100Base-TX)
453 -|**Duplex mode**|(% colspan="4" rowspan="1" %)Full duplex
454 -|**Topology**|(% colspan="4" rowspan="1" %)Circular, linear
455 -|**Transmission medium**|(% colspan="4" rowspan="1" %)Shielded Category 5e or better network cable
456 -|**Transmission distance**|(% colspan="4" rowspan="1" %)Less than 100M between two nodes (good environment, good cables)
457 -|**Frame length**|(% colspan="4" rowspan="1" %)44 bytes to 1498 bytes
458 -|**Excessive data**|(% colspan="4" rowspan="1" %)Maximum size of a single Ethernet frame is 1486 bytes
459 -|**Sync jitter**|(% colspan="4" rowspan="1" %)<1μs
460 -|**Distributed clock**|(% colspan="4" rowspan="1" %)64 bit
461 -|**EEPROM capacity**|(% colspan="4" rowspan="1" %)8k bit initialization data is written through the EtherCAT master station
462 -|**Control mode**|(% colspan="4" rowspan="1" %)CSP, CSV, CST, PT, HM
463 -|**Synchronization period**|(% colspan="4" rowspan="1" %)125μs
464 -|**Touch Probe**|(% colspan="3" rowspan="1" %)DI5 and DI6|DI function code 18 and 19
489 +|(% colspan="1" rowspan="16" style="width:166px" %)(((
490 +**EtherCAT related**
491 +)))|(% rowspan="14" style="width:147px" %)(((
492 +**EtherCAT related**
493 +)))|(% style="width:133px" %)(((
494 +**Communication protocol**
495 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
496 +EtherCAT protocol
497 +)))
498 +|(% style="width:133px" %)(((
499 +**Support services**
500 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
501 +CoE(PDO,SDO)
502 +)))
503 +|(% style="width:133px" %)(((
504 +**Sync mode**
505 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
506 +DC-Distributed Clock
507 +)))
508 +|(% style="width:133px" %)(((
509 +**Physical layer**
510 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
511 +100BASE-TX
512 +)))
513 +|(% style="width:133px" %)(((
514 +**Baud rate**
515 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
516 +100 Mbit/s(100Base-TX)
517 +)))
518 +|(% style="width:133px" %)(((
519 +**Duplex mode**
520 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
521 +Full duplex
522 +)))
523 +|(% style="width:133px" %)(((
524 +**Topology**
525 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
526 +Circular, linear
527 +)))
528 +|(% style="width:133px" %)(((
529 +**Transmission medium**
530 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
531 +Shielded Category 5e or better network cable
532 +)))
533 +|(% style="width:133px" %)(((
534 +**Transmission distance**
535 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
536 +Less than 100M between two nodes (good environment, good cables)
537 +)))
538 +|(% style="width:133px" %)(((
539 +**Frame length**
540 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
541 +44 bytes~~1498 bytes
542 +)))
543 +|(% style="width:133px" %)(((
544 +**Excessive data**
545 +)))|(% colspan="5" rowspan="1" style="width:672px" %)Maximum size of a single Ethernet frame is 1486 bytes
546 +|(% style="width:133px" %)(((
547 +**Sync jitter**
548 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
549 +<1μs
550 +)))
551 +|(% style="width:133px" %)(((
552 +**Distributed clock**
553 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
554 +64 bit
555 +)))
556 +|(% style="width:133px" %)(((
557 +**EEPROM capacity**
558 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
559 +8k bit initialization data is written through the EtherCAT master station
560 +)))
561 +|(% rowspan="2" style="width:147px" %)(((
562 +**Control mode and performance**
563 +)))|(% style="width:133px" %)(((
564 +**Control mode**
565 +)))|(% colspan="3" rowspan="1" style="width:672px" %)(((
566 +CSP、HM
567 +)))
568 +|(% style="width:133px" %)**Synchronization period**|(% colspan="3" rowspan="1" style="width:672px" %)(((
569 +125μs
570 +)))
465 465  
466 466  = **Servo Motor Naming Rules** =
467 467  
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