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Changes for page 05 Servo Product Manual

Last modified by Jim(Forgotten) on 2025/03/20 10:19
From version 88.1
edited by Jim(Forgotten)
on 2025/02/13 18:25
Change comment: There is no comment for this version
To version 80.1
edited by Mora Zhou
on 2024/09/26 14:09
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
... ... @@ -40,23 +40,20 @@
40 40  ⑤
41 41  )))
42 42  
43 -(% style="margin-left:auto; margin-right:auto; width:764px" %)
44 -|(% colspan="1" rowspan="5" %)①Product Series|(% style="width:205px" %)VD2|(% colspan="1" rowspan="2" style="width:189px" %)③Voltage level|S: 220V
45 -|(% style="width:205px" %)VD2F|T: 380V
46 -|(% style="width:205px" %)VD2L
47 -|(% style="width:205px" %)VD3E
48 -|(% style="width:205px" %)VD5L
49 -|(% colspan="1" rowspan="11" %)②Maximum output current|(% style="width:205px" %)003: 3A|(% colspan="1" rowspan="2" style="width:189px" %)④Encoder type|A1: Absolute
50 -|(% style="width:205px" %)010: 10A|E1: Incremental
51 -|(% style="width:205px" %)014: 14A|(% colspan="2" rowspan="2" style="width:407px" %)
52 -|(% style="width:205px" %)015: 15A
53 -|(% style="width:205px" %)016: 16A
54 -|(% style="width:205px" %)019: 19A
55 -|(% style="width:205px" %)021: 21A|(% colspan="1" rowspan="5" style="width:189px" %)⑤Function|P: Basic pulse control
56 -|(% style="width:205px" %)025: 25A|G: General(Analog control, full-closed loop)
57 -|(% style="width:205px" %)030: 30A|H: High speed DO(Collector signal feedback)
58 -|(% style="width:205px" %)040: 40A|R: Support external PID function
59 -|(% style="width:205px" %)050: 50A|D: Support dynamic braking function
43 +(% style="margin-left:auto; margin-right:auto; width:761.198px" %)
44 +|(% colspan="1" rowspan="4" %)①Product Series|(% style="width:204.976px" %)VD2|(% colspan="1" rowspan="2" style="width:190.024px" %)③Voltage level|S: 220V
45 +|(% style="width:204.976px" %)VD2F|T: 380V
46 +|(% style="width:204.976px" %)VD2L
47 +|(% style="width:204.976px" %)VD3E
48 +|(% colspan="1" rowspan="9" %)②Maximum output current|(% style="width:204.976px" %)010: 10A|(% colspan="1" rowspan="2" style="width:190.024px" %)④Encoder type|A1: Absolute
49 +|(% style="width:204.976px" %)014: 14A|E1: Incremental
50 +|(% style="width:204.976px" %)016: 16A
51 +|(% style="width:204.976px" %)019: 19A
52 +|(% style="width:204.976px" %)021: 21A|(% colspan="1" rowspan="5" style="width:190.024px" %)⑤Function|P: Basic pulse control
53 +|(% style="width:204.976px" %)025: 25A|G: General(Analog control, full-closed loop)
54 +|(% style="width:204.976px" %)030: 30A|H: High speed DO(Collector signal feedback)
55 +|(% style="width:204.976px" %)040: 40A|R: Support external PID function
56 +|(% style="width:204.976px" %)050: 50A|D: Support dynamic braking function
60 60  
61 61  (% style="text-align:center" %)
62 62  (((
... ... @@ -239,7 +239,7 @@
239 239  Velocity limit under torque mode
240 240  )))
241 241  
242 -= **VD2F/VD2L Servo Drive Parameter Table** =
239 += **VD2F/VD2L servo driver parameter table** =
243 243  
244 244  (% style="margin-left:auto; margin-right:auto; width:1200px" %)
245 245  |(% colspan="6" rowspan="1" style="width:537px" %)(((
... ... @@ -366,8 +366,6 @@
366 366  Gain switch((% _mstmutation="1" %)**GAIN-5EL**(%%)), Internal speed selection((% _mstmutation="1" %)**INSPD1, INSPD2, INSPD3**(%%))
367 367  
368 368  Internal position selection and enable((% _mstmutation="1" %)**INPO51, INPO52, INPO53, INPO54, ENINPOS**(%%))
369 -
370 -JOG(**JOGU, JOGD**)
371 371  )))
372 372  |(% colspan="2" style="width:39px" %)(((
373 373  **DO function**
... ... @@ -410,61 +410,169 @@
410 410  Velocity limit under torque mode
411 411  )))
412 412  
413 -= (% 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 =
414 414  
415 -|(% 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" %)(((
416 416  (% style="text-align:center" %)
417 417  [[image:1726295827531-129.png]]
416 +
417 +(((
418 +
419 +)))
418 418  )))|(((
419 419  (% style="text-align:center" %)
420 420  [[image:1726295883786-742.png]]
423 +
424 +(((
425 +
426 +)))
421 421  )))|(((
422 422  (% style="text-align:center" %)
423 423  [[image:1726295894302-137.png]]
430 +)))
431 +|(% colspan="3" rowspan="1" style="width:445px" %)**Model**|(% style="width:327px" %)(((
432 +**VD3E(A type)**
424 424  )))|(((
425 -[[image:1734332155668-307.png||height="128" width="40"]]
434 +**VD3E(B type)**
435 +)))|(((
436 +**VD3E(C type)**
426 426  )))
427 -|(% colspan="3" %)**Model**|**VD3E(A type)**|**VD3E(B type)**|**VD3E(C type)**|**VD5L**
428 -|(% colspan="1" rowspan="7" %)**Basic Specifications**|(% colspan="2" %)**Power supply**|220V|220/380V|380V|220V
429 -|(% colspan="2" %)**Control method**|(% colspan="4" rowspan="1" %)IGBT PWM control sine wave current drive
430 -|(% colspan="2" %)**Encoder**|(% colspan="4" rowspan="1" %)17bit, 23bit absolute value encoder
431 -|(% 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
432 -|(% colspan="2" %)**Control signal output**|(% colspan="4" rowspan="1" %)3DO, Select the output function according to the function code configuration
433 -|**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.
434 434  Parameter self-tuning, etc.
435 -|(% colspan="2" %)**Braking resistor**|(% colspan="4" rowspan="1" %)Built-in braking resistor, supports external braking resistor
436 -|(% colspan="2" rowspan="9" %)**General functions**|**Auto-tuning**|(% colspan="4" rowspan="1" %)Automatic load inertia identification, automatic rigidity self-tuning
437 -|**Waveform viewing**|(% colspan="4" rowspan="1" %)4 channels waveform monitoring
438 -|**Waveform storage**|(% colspan="4" rowspan="1" %)Waveform acquisition frequency 1K Hz,(% style="background-color:transparent" %)10s waveform data recording
439 -|**Parameter management**|(% colspan="4" rowspan="1" %)Support batch parameter import and export; Support SDO modification
440 -|**Vibration suppression**|(% colspan="4" rowspan="1" %)By setting the notch filter parameters
441 -|**Protection**|(% colspan="4" rowspan="1" %)Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
442 -|**Brake device**|(% colspan="4" rowspan="1" %)Support brake signal output
443 -|**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**(%%))
444 -|**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" %)(((
445 445  Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
446 446  
447 447  Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
448 448  
449 -Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), Communication VDO
487 +Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**),CommunicationVDO
450 450  )))
451 -|(% colspan="2" rowspan="17" %)**EtherCAT related**|**Communication protocol**|(% colspan="4" rowspan="1" %)EtherCAT protocol
452 -|**Support services**|(% colspan="4" rowspan="1" %)CoE(PDO,SDO)
453 -|**Sync mode**|(% colspan="4" rowspan="1" %)DC-Distributed Clock
454 -|**Physical layer**|(% colspan="4" rowspan="1" %)100BASE-TX
455 -|**Baud rate**|(% colspan="4" rowspan="1" %)100 Mbit/s(100Base-TX)
456 -|**Duplex mode**|(% colspan="4" rowspan="1" %)Full duplex
457 -|**Topology**|(% colspan="4" rowspan="1" %)Circular, linear
458 -|**Transmission medium**|(% colspan="4" rowspan="1" %)Shielded Category 5e or better network cable
459 -|**Transmission distance**|(% colspan="4" rowspan="1" %)Less than 100M between two nodes (good environment, good cables)
460 -|**Frame length**|(% colspan="4" rowspan="1" %)44 bytes to 1498 bytes
461 -|**Excessive data**|(% colspan="4" rowspan="1" %)Maximum size of a single Ethernet frame is 1486 bytes
462 -|**Sync jitter**|(% colspan="4" rowspan="1" %)<1μs
463 -|**Distributed clock**|(% colspan="4" rowspan="1" %)64 bit
464 -|**EEPROM capacity**|(% colspan="4" rowspan="1" %)8k bit initialization data is written through the EtherCAT master station
465 -|**Control mode**|(% colspan="4" rowspan="1" %)CSP, CSV, CST, PT, HM
466 -|**Synchronization period**|(% colspan="4" rowspan="1" %)125μs
467 -|**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 +)))
468 468  
469 469  = **Servo Motor Naming Rules** =
470 470  
... ... @@ -601,7 +601,7 @@
601 601  
602 602  **Note**: The **red-marked** combination is not recommended.
603 603  
604 -|=**Control type**|=**Voltage level**|=**Drive series**|=**Drive model**|=**Support motor**
707 +|**Control type**|**Voltage level**|**Drive series**|**Drive model**|**Support motor**
605 605  |(% rowspan="18" %)Pulse type|(% rowspan="12" %)220V|(% rowspan="3" %)VD2F|VD2F-003SA1P|(0.1-0.2)kW
606 606  |VD2F-010SA1P|(0.2-0.4)kW
607 607  |VD2F-014SA1P|(((
... ... @@ -828,7 +828,7 @@
828 828  )))|Power cable：P-U3O1-H32J4M-*MX4|Single-turn：E-J1394-H28K7M-*MX5-A
829 829  |Brake cable：No need|Multi-turn：E-J1394-H28K7M-*MX7-A1
830 830  
831 -= **Servo **Input Current Parameter =
934 += **Servo **Input Current Parameter Table =
832 832  
833 833  (% style="margin-left:auto; margin-right:auto; width:1200px" %)
834 834  |=Servo Drive Output Current (A)|=Servo Drive Output Voltage (V)|=Servo Drive Output Power (W)|=Efficiency|=Power factor|=Input current
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