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Wiki source code of 05 Servo Product Manual

Version 28.1 by Jim(Forgotten) on 2024/09/13 11:15
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1 = Servo Drive Naming Rules =
2
3 (% class="table-striped" style="margin-left:auto; margin-right:auto; width:20px" %)
4 |(((
5 (% class="wikigeneratedid" id="HVD2" %)
6 __VD2__
7 )))|(((
8 (% class="wikigeneratedid" id="H-" %)
9 -
10 )))|(((
11 (% class="wikigeneratedid" id="H021" %)
12 __021__
13 )))|(((
14 (% class="wikigeneratedid" id="HS" %)
15 __S__
16 )))|(((
17 (% class="wikigeneratedid" id="HA1" %)
18 __A1__
19 )))|(((
20 (% class="wikigeneratedid" id="HG" %)
21 __G__
22 )))
23 |(((
24 (% class="wikigeneratedid" id="H2460" %)
25 ①
26 )))|(((
27 (% class="wikigeneratedid" id="H" %)
28
29 )))|(((
30 (% class="wikigeneratedid" id="H2461" %)
31 ②
32 )))|(((
33 (% class="wikigeneratedid" id="H2462" %)
34 ③
35 )))|(((
36 (% class="wikigeneratedid" id="H2463" %)
37 ④
38 )))|(((
39 (% class="wikigeneratedid" id="H2464" %)
40 ⑤
41 )))
42
43 |(% colspan="1" rowspan="4" %)①Product Series|VD2|(% rowspan="14" %) |(% colspan="1" rowspan="2" %)③Voltage level|S: 220V
44 |VD2F|T: 380V
45 |VD2L|(% colspan="2" rowspan="3" %)
46 |VD3E
47 |(% colspan="2" rowspan="1" %)
48 |(% colspan="1" rowspan="9" %)②Maximum output current|010: 10A|(% colspan="1" rowspan="2" %)④Encoder type|A1: Absolute
49 |014: 14A|E1: Incremental
50 |016: 16A|(% colspan="2" rowspan="2" %)
51 |019: 19A
52 |021: 21A|(% colspan="1" rowspan="5" %)⑤Function|P: Basic pulse control
53 |025: 25A|G: General(Analog control, full-closed loop)
54 |030: 30A|H: High speed DO(Collector signal feedback)
55 |040: 40A|R: Support external PID function
56 |050: 50A|D: Support dynamic braking function
57
58 (% style="text-align:center" %)
59 (((
60 (% style="display:inline-block" %)
61 [[Drive Nameplate>>image:1726038660755-332.png||_mstalt="294567"]]
62 )))
63
64 = VD2 Servo Drive Parameter Table =
65
66 |(% colspan="3" %)(((
67 **General type**
68 )))|[[image:1726038778533-997.png||_mstalt="300053"]]|[[image:1726038786193-560.png||_mstalt="296309"]]|[[image:1726038790641-417.png||_mstalt="295087"]]
69 |(% colspan="3" %)**Model**|**VD2(A type)**|**VD2(B type)**|**VD2(C type)**
70 |(% colspan="1" rowspan="11" %)(((
71 **Basic Specifications**
72 )))|(% colspan="2" %)**Power supply**|220V|220V/380V|380V
73 |(% colspan="2" %)(((
74 **Control method**
75 )))|(% colspan="3" rowspan="1" %)(((
76 IGBT PWM control sine wave current drive
77 )))
78 |(% colspan="2" %)(((
79 **Encoder**
80 )))|(% colspan="3" rowspan="1" %)(((
81 2500-line incremental encoder, 17-bit/23-bit absolute encoder
82 )))
83 |(% colspan="2" %)(((
84 **Control signal input**
85 )))|(% colspan="3" rowspan="1" %)8DI
86 |(% colspan="2" %)(((
87 **Control signal output**
88 )))|(% colspan="3" rowspan="1" %)4DO
89 |(% colspan="2" %)(((
90 **Analog signal input**
91 )))|(% colspan="3" rowspan="1" %)(((
92 2 AI(-10V to +10V)
93 )))
94 |(% colspan="2" %)(((
95 **Pulse signal input**
96 )))|(% colspan="3" rowspan="1" %)(((
97 Open collector or differential input
98 )))
99 |(% colspan="2" %)(((
100 **Pulse feedback output**
101 )))|(% colspan="3" rowspan="1" %)ABZ differential output(VD2-XXXXXXH series support collector signal feedback)
102 |(% colspan="2" %)(% style="background-color:transparent" %)**Internal Command**|(% colspan="3" rowspan="1" %)(((
103 8 segment internal speed command, 16 segment internal position command
104 )))
105 |(% colspan="2" %)(((
106 **Communication**
107 )))|(% colspan="3" rowspan="1" %)(((
108 MODBUS RS485 or MODBUS RS422(SCTool)
109 )))
110 |(% colspan="2" %)(((
111 **Braking resistor**
112 )))|(% colspan="3" rowspan="1" %)(((
113 Internal braking resistor(also support external braking resistor)
114 )))
115 |(% colspan="1" rowspan="19" %)(((
116 **Function setting**
117 )))|(% colspan="1" rowspan="9" %)(((
118 **General functions**
119 )))|(((
120 **Auto-tuning**
121 )))|(% colspan="3" rowspan="1" %)(((
122 Automatic load inertia identification, automatic rigidity self-tuning
123 )))
124 |(% colspan="1" rowspan="2" %)(((
125 **Waveform**
126 )))|(% colspan="3" rowspan="1" %)(((
127 4 channels waveform monitoring
128 )))
129 |(% colspan="3" rowspan="1" %)(((
130 10s waveform data recording
131 )))
132 |(((
133 **Parameter management**
134 )))|(% colspan="3" rowspan="1" %)(((
135 Support batch parameter import and export
136 )))
137 |(((
138 **Vibration suppression**
139 )))|(% colspan="3" rowspan="1" %)(((
140 Support mechanical vibration suppression
141 )))
142 |(((
143 **Protection**
144 )))|(% colspan="3" rowspan="1" %)(((
145 Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
146 )))
147 |(((
148 **Brake device**
149 )))|(% colspan="3" rowspan="1" %)(((
150 Support brake signal output
151 )))
152 |(((
153 **DI function**
154 )))|(% colspan="3" rowspan="1" %)(((
155 Servo enable((% _mstmutation="1" %)**S-ON**(%%)), Error/alarm clear((% _mstmutation="1" %)**A-CLR**(%%)), Forward rotation prohibited((% _mstmutation="1" %)**POT**(%%))
156
157 Backward rotation prohibited((% _mstmutation="1" %)**NOT**(%%)), Command direction((% _mstmutation="1" %)**C-SIGN**(%%)), Emergency stop((% _mstmutation="1" %)**E-STOP**(%%))
158
159 Gain switch((% _mstmutation="1" %)**GAIN-5EL**(%%)), Internal speed selection((% _mstmutation="1" %)**INSPD1, INSPD2, INSPD3**(%%))
160
161 Internal position selection and enable((% _mstmutation="1" %)**INPO51, INPO52, INPO53, INPO54, ENINPOS**(%%))
162 )))
163 |(((
164 **DO function**
165 )))|(% colspan="3" rowspan="1" %)(((
166 Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
167
168 Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
169
170 Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), ABZ pulse feedback output
171 )))
172 |(% colspan="1" rowspan="4" %)(((
173 **Position mode**
174 )))|(((
175 **Pulse frequency**
176 )))|(% colspan="3" rowspan="1" %)(((
177 Max to 500KHz
178 )))
179 |(((
180 **Pulse type**
181 )))|(% colspan="3" rowspan="1" %)(((
182 Direction + Pulse, CW/CCW, Orthogonal coding
183 )))
184 |(((
185 **Pulse filter**
186 )))|(% colspan="3" rowspan="1" %)(((
187 First-order low-pass filter or smoothing filter
188 )))
189 |(((
190 **Pulse output**
191 )))|(% colspan="3" rowspan="1" %)(((
192 A, B, Z differential output
193 )))
194 |(% colspan="1" rowspan="3" %)(((
195 **Speed mode**
196 )))|(((
197 **Command input**
198 )))|(% colspan="3" rowspan="1" %)(((
199 Analog input(-10V to +10V), Internal command(8 segments)
200 )))
201 |(((
202 **Zero speed clamp**
203 )))|(% colspan="3" rowspan="1" %)(((
204 Support
205 )))
206 |(((
207 **Torque limit**
208 )))|(% colspan="3" rowspan="1" %)(((
209 Torque limit under speed mode
210 )))
211 |(% colspan="1" rowspan="3" %)(((
212 **Torque mode**
213 )))|(((
214 **Command input**
215 )))|(% colspan="3" rowspan="1" %)(((
216 Analog input(-10V to +10V), Internal command
217 )))
218 |(((
219 **Torque reach**
220 )))|(% colspan="3" rowspan="1" %)(((
221 Torque reach signal output
222 )))
223 |(((
224 **Velocity limit**
225 )))|(% colspan="3" rowspan="1" %)(((
226 Velocity limit under torque mode
227 )))
228
229 = (% id="cke_bm_7897S" style="display:none" %) (%%) =
230
231 = **VD2F/VD2L servo driver parameter table** =
232
233 (% style="width:1050.4px" %)
234 |(% colspan="6" rowspan="1" %)(((
235 **General type**
236 )))|(% colspan="1" rowspan="1" style="width:221px" %)(((
237 (% style="text-align:center" %)
238 [[image:1726190862910-426.png]]
239 )))|(% rowspan="1" style="width:364px" %)(((
240 (% style="text-align:center" %)
241 [[image:1726190785664-427.png]]
242 )))
243 |(% colspan="6" rowspan="1" %)**Model**|(% colspan="1" rowspan="1" style="width:221px" %)(((
244 **VD2F**
245 )))|(% rowspan="1" style="width:364px" %)(((
246 **VD2L**
247 )))
248 |(% colspan="3" rowspan="12" %)(((
249 **Basic Specifications**
250 )))|(% colspan="3" %)**Power supply**|(% colspan="1" rowspan="1" style="width:221px" %)(((
251 220V
252 )))|(% rowspan="1" style="width:364px" %)(((
253 220V
254 )))
255 |(% colspan="3" %)(((
256 **Control method**
257 )))|(% colspan="2" rowspan="1" style="width:585px" %)(((
258 IGBT PWM control sine wave current drive
259 )))
260 |(% colspan="3" %)(((
261 **Encoder**
262 )))|(% colspan="2" rowspan="1" style="width:585px" %)17bit, 23bit absolute value encoder
263 |(% colspan="3" %)(((
264 **Control signal input**
265 )))|(% colspan="2" rowspan="1" style="width:585px" %)4DI
266 |(% colspan="3" %)(((
267 **Control signal output**
268 )))|(% colspan="2" rowspan="1" style="width:585px" %)4DO
269 |(% colspan="3" %)(((
270 **Pulse frequency division output**
271 )))|(% colspan="1" rowspan="1" style="width:221px" %)—|(% rowspan="1" style="width:364px" %)(((
272 Support
273 )))
274 |(% colspan="3" %)(((
275 **Pulse signal input**
276 )))|(% colspan="2" rowspan="1" style="width:585px" %)(((
277 Open collector or differential input
278
279
280 )))
281 |(% colspan="3" %)(((
282 **Pulse feedback output**
283 )))|(% colspan="1" rowspan="1" style="width:221px" %)(((
284 Z signal open collector output
285 )))|(% rowspan="1" style="width:364px" %)(((
286 ABZ differential output(VD2-XXXXXXH
287
288 series support collector signal feedback)
289 )))
290 |(% colspan="3" %)(% style="background-color:transparent" %)**Internal Command**|(% colspan="2" rowspan="1" style="width:585px" %)(((
291 8 segment internal speed command, 16 segment internal position command
292 )))
293 |(% colspan="3" %)(((
294 **Communication**
295 )))|(% colspan="2" rowspan="1" style="width:585px" %)(((
296 MODBUS RS485 or MODBUS RS422(SCTool)
297 )))
298 |(% colspan="3" rowspan="2" %)(((
299 **Braking resistor**
300 )))|(% colspan="4" rowspan="1" %)(((
301
302
303 750W built-in braking resistor; 400W without built-in;
304
305
306 )))
307 |(% colspan="4" %)(((
308 Both can support external braking resistors.
309 )))
310 |(% colspan="3" rowspan="16" %)(((
311 **Function setting**
312 )))|(% colspan="1" rowspan="12" %)(((
313 **General functions**
314 )))|(% colspan="2" %)(((
315 **Auto-tuning**
316 )))|(% colspan="1" rowspan="1" style="width:221px" %)(((
317 Automatic load inertia identification,
318
319 automatic rigidity self-tuning
320 )))|(% rowspan="1" style="width:364px" %)-
321 |(% colspan="2" %)(((
322 **Blend mode**
323 )))|(% colspan="1" rowspan="1" style="width:221px" %)(((
324 YES
325 )))|(% rowspan="1" style="width:364px" %)-
326 |(% colspan="2" %)(((
327 **Advanced control algorithms**
328 )))|(% colspan="1" style="width:221px" %)(((
329 YES
330 )))|(% style="width:364px" %)-
331 |(% colspan="2" rowspan="2" %)(((
332 **Waveform**
333 )))|(% colspan="2" style="width:585px" %)4 channels waveform monitoring
334 |(% colspan="2" style="width:585px" %)10s waveform data recording
335 |(% colspan="2" %)(((
336 **Parameter management**
337 )))|(% colspan="2" rowspan="1" style="width:585px" %)(((
338 Support batch parameter import and export
339 )))
340 |(% colspan="2" %)(((
341 **Vibration suppression**
342 )))|(% colspan="2" rowspan="1" style="width:585px" %)(((
343 Support mechanical vibration suppression
344 )))
345 |(% colspan="2" %)(((
346 **Protection**
347 )))|(% colspan="2" style="width:585px" %)(((
348 Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
349 )))
350 |(% colspan="2" %)(((
351 **Dynamic braking**
352 )))|(% colspan="1" style="width:221px" %)-|(% style="width:364px" %)(((
353 Optional
354 )))
355 |(% colspan="2" %)(((
356 **Brake device**
357 )))|(% colspan="2" rowspan="1" style="width:585px" %)(((
358 Support brake signal output
359 )))
360 |(% colspan="2" %)(((
361 **DI function**
362 )))|(% colspan="2" rowspan="1" style="width:585px" %)(((
363 Servo enable((% _mstmutation="1" %)**S-ON**(%%)), Error/alarm clear((% _mstmutation="1" %)**A-CLR**(%%)), Forward rotation prohibited((% _mstmutation="1" %)**POT**(%%))
364
365 Backward rotation prohibited((% _mstmutation="1" %)**NOT**(%%)), Command direction((% _mstmutation="1" %)**C-SIGN**(%%)), Emergency stop((% _mstmutation="1" %)**E-STOP**(%%))
366
367 Gain switch((% _mstmutation="1" %)**GAIN-5EL**(%%)), Internal speed selection((% _mstmutation="1" %)**INSPD1, INSPD2, INSPD3**(%%))
368
369 Internal position selection and enable((% _mstmutation="1" %)**INPO51, INPO52, INPO53, INPO54, ENINPOS**(%%))
370 )))
371 |(% colspan="2" %)(((
372 **DO function**
373 )))|(% colspan="1" rowspan="1" style="width:221px" %)(((
374 Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
375
376 Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
377
378 Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), Z pulse feedback output
379 )))|(% rowspan="1" style="width:364px" %)(((
380 Servo ready(**RDY**)、Error signal(**ALM**), Alarm signal(**WARN**), Rotation detection(**TGON**)
381
382 Zero speed signal(**ZSP**), Torque limited(**T-LIMIT**), Velocity limited(**V-LIMIT**)
383
384 Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), ABZ pulse feedback output
385 )))
386 |(% colspan="1" rowspan="4" %)**Position mode**|**Pulse frequency**|(% colspan="3" rowspan="1" %)(((
387 Max to 500KHz
388 )))
389 |(% colspan="2" rowspan="1" style="width:337px" %)**Pulse type**|(% rowspan="1" style="width:337px" %)(((
390 Direction + pulse; Orthogonal coding:
391 V1.21 and above support CW/CCW
392 )))|(% rowspan="1" style="width:337px" %)Direction + Pulse, Orthogonal coding
393 |(% colspan="2" rowspan="1" style="width:337px" %)**Pulse filter**|(% colspan="2" rowspan="1" style="width:337px" %)First-order low-pass filter or smoothing filter
394 |(% colspan="2" rowspan="1" style="width:337px" %)(((
395 **Pulse output**
396 )))|(% rowspan="1" style="width:337px" %)-|(% rowspan="1" style="width:337px" %)A, B, Z differential output
397 |(% colspan="3" %) |(% colspan="1" %) |(% colspan="2" style="width:337px" %) |(% style="width:337px" %) |(% style="width:337px" %)
398 |(% colspan="3" %) |(% colspan="1" %) |(% colspan="2" style="width:337px" %) |(% style="width:337px" %) |(% style="width:337px" %)
399 |(% colspan="3" %) |(% colspan="1" %) |(% colspan="2" style="width:337px" %) |(% style="width:337px" %) |(% style="width:337px" %)
400
401
402 (% style="margin-left:auto; margin-right:auto; width:50px" %)
403 |WD|80|M|-|075|30|S|-|A1|F|-|L
404 |①|②|③| |④|⑤|⑥| |⑦|⑧| |⑨
405
406 |(% rowspan="2" %)①Pole pairs|WD: 5| |(% rowspan="6" %)④Rated power|010：100W| |(% rowspan="4" %)⑦Encoder type|A1: 17bit single-turn absolute magnetic encoder
407 |WE: 4| |020：200W| |C1：17bit multi-turn absolute magnetic encoder
408 | | | |...| |D2：23bit multi-turn absolute optical encoder
409 |(% rowspan="7" %)②Flange|40| |500：5.0KW| |E1: 2500-line incremental encoder
410 |60| |550：5.5KW| | |
411 |80| |...| |(% rowspan="2" %)⑧Motor structure|F：Oil seal
412 |110| | | | |G：Oil seal + Brake device
413 |130| |(% rowspan="4" %)⑤Rated speed|15：1500rpm| | |
414 |150| |20：2000rpm| |(% rowspan="3" %)⑨Others|L：60/80 flange connector
415 |180| |25：2500rpm| |(% rowspan="2" %)L2：60/80/130 flange connector
416 | | | |30：3000rpm|
417 |(% rowspan="3" %)③Inertia level|L: Low| | | | |(% colspan="2" %)
418 |M: Middle| |(% rowspan="2" %)⑥Voltage level|S: 220V| |(% colspan="2" %)
419 |H: High| |T: 380V| |(% colspan="2" %)