Wiki source code of 05 Servo Product Manual

Version 32.1 by Molly on 2024/09/14 14:36

version	line-number	content
5.1	1	= Servo Drive Naming Rules =
	2
11.1	3	(% class="table-striped" style="margin-left:auto; margin-right:auto; width:20px" %)
7.1	4	\|(((
9.1	5	(% class="wikigeneratedid" id="HVD2" %)
14.1	6	__VD2__
7.1	7	)))\|(((
9.1	8	(% class="wikigeneratedid" id="H-" %)
	9	-
7.1	10	)))\|(((
9.1	11	(% class="wikigeneratedid" id="H021" %)
14.1	12	__021__
7.1	13	)))\|(((
9.1	14	(% class="wikigeneratedid" id="HS" %)
14.1	15	__S__
7.1	16	)))\|(((
9.1	17	(% class="wikigeneratedid" id="HA1" %)
14.1	18	__A1__
7.1	19	)))\|(((
9.1	20	(% class="wikigeneratedid" id="HG" %)
14.1	21	__G__
7.1	22	)))
	23	\|(((
9.1	24	(% class="wikigeneratedid" id="H2460" %)
	25	①
7.1	26	)))\|(((
9.1	27	(% class="wikigeneratedid" id="H" %)
	28
7.1	29	)))\|(((
9.1	30	(% class="wikigeneratedid" id="H2461" %)
	31	②
7.1	32	)))\|(((
9.1	33	(% class="wikigeneratedid" id="H2462" %)
	34	③
7.1	35	)))\|(((
9.1	36	(% class="wikigeneratedid" id="H2463" %)
	37	④
7.1	38	)))\|(((
9.1	39	(% class="wikigeneratedid" id="H2464" %)
	40	⑤
7.1	41	)))
5.1	42
12.1	43	\|(% colspan="1" rowspan="4" %)①Product Series\|VD2\|(% rowspan="14" %) \|(% colspan="1" rowspan="2" %)③Voltage level\|S: 220V
	44	\|VD2F\|T: 380V
13.1	45	\|VD2L\|(% colspan="2" rowspan="3" %)
	46	\|VD3E
	47	\|(% colspan="2" rowspan="1" %)
12.1	48	\|(% colspan="1" rowspan="9" %)②Maximum output current\|010: 10A\|(% colspan="1" rowspan="2" %)④Encoder type\|A1: Absolute
	49	\|014: 14A\|E1: Incremental
13.1	50	\|016: 16A\|(% colspan="2" rowspan="2" %)
	51	\|019: 19A
12.1	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
16.1	58	(% style="text-align:center" %)
	59	(((
	60	(% style="display:inline-block" %)
26.1	61	[[Drive Nameplate>>image:1726038660755-332.png\|\|_mstalt="294567"]]
16.1	62	)))
	63
18.1	64	= VD2 Servo Drive Parameter Table =
17.1	65
19.1	66	\|(% colspan="3" %)(((
17.1	67	General type
26.1	68	)))\|[[image:1726038778533-997.png\|\|_mstalt="300053"]]\|[[image:1726038786193-560.png\|\|_mstalt="296309"]]\|[[image:1726038790641-417.png\|\|_mstalt="295087"]]
21.1	69	\|(% colspan="3" %)Model\|VD2(A type)\|VD2(B type)\|VD2(C type)
18.1	70	\|(% colspan="1" rowspan="11" %)(((
	71	Basic Specifications
21.1	72	)))\|(% colspan="2" %)Power supply\|220V\|220V/380V\|380V
19.1	73	\|(% colspan="2" %)(((
18.1	74	Control method
19.1	75	)))\|(% colspan="3" rowspan="1" %)(((
	76	IGBT PWM control sine wave current drive
21.1	77	)))
19.1	78	\|(% colspan="2" %)(((
18.1	79	Encoder
19.1	80	)))\|(% colspan="3" rowspan="1" %)(((
	81	2500-line incremental encoder, 17-bit/23-bit absolute encoder
21.1	82	)))
19.1	83	\|(% colspan="2" %)(((
18.1	84	Control signal input
21.1	85	)))\|(% colspan="3" rowspan="1" %)8DI
19.1	86	\|(% colspan="2" %)(((
18.1	87	Control signal output
21.1	88	)))\|(% colspan="3" rowspan="1" %)4DO
19.1	89	\|(% colspan="2" %)(((
18.1	90	Analog signal input
19.1	91	)))\|(% colspan="3" rowspan="1" %)(((
	92	2 AI(-10V to +10V)
21.1	93	)))
19.1	94	\|(% colspan="2" %)(((
18.1	95	Pulse signal input
19.1	96	)))\|(% colspan="3" rowspan="1" %)(((
	97	Open collector or differential input
21.1	98	)))
19.1	99	\|(% colspan="2" %)(((
18.1	100	Pulse feedback output
22.1	101	)))\|(% colspan="3" rowspan="1" %)ABZ differential output(VD2-XXXXXXH series support collector signal feedback)
19.1	102	\|(% colspan="2" %)(% style="background-color:transparent" %)Internal Command\|(% colspan="3" rowspan="1" %)(((
	103	8 segment internal speed command, 16 segment internal position command
21.1	104	)))
19.1	105	\|(% colspan="2" %)(((
18.1	106	Communication
19.1	107	)))\|(% colspan="3" rowspan="1" %)(((
	108	MODBUS RS485 or MODBUS RS422(SCTool)
21.1	109	)))
19.1	110	\|(% colspan="2" %)(((
	111	Braking resistor
	112	)))\|(% colspan="3" rowspan="1" %)(((
	113	Internal braking resistor(also support external braking resistor)
21.1	114	)))
19.1	115	\|(% colspan="1" rowspan="19" %)(((
	116	Function setting
	117	)))\|(% colspan="1" rowspan="9" %)(((
	118	General functions
	119	)))\|(((
	120	Auto-tuning
20.1	121	)))\|(% colspan="3" rowspan="1" %)(((
	122	Automatic load inertia identification, automatic rigidity self-tuning
21.1	123	)))
19.1	124	\|(% colspan="1" rowspan="2" %)(((
	125	Waveform
20.1	126	)))\|(% colspan="3" rowspan="1" %)(((
	127	4 channels waveform monitoring
21.1	128	)))
20.1	129	\|(% colspan="3" rowspan="1" %)(((
	130	10s waveform data recording
21.1	131	)))
18.1	132	\|(((
19.1	133	Parameter management
20.1	134	)))\|(% colspan="3" rowspan="1" %)(((
	135	Support batch parameter import and export
21.1	136	)))
19.1	137	\|(((
	138	Vibration suppression
20.1	139	)))\|(% colspan="3" rowspan="1" %)(((
	140	Support mechanical vibration suppression
21.1	141	)))
19.1	142	\|(((
	143	Protection
20.1	144	)))\|(% colspan="3" rowspan="1" %)(((
	145	Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
21.1	146	)))
19.1	147	\|(((
	148	Brake device
22.1	149	)))\|(% colspan="3" rowspan="1" %)(((
	150	Support brake signal output
	151	)))
19.1	152	\|(((
	153	DI function
22.1	154	)))\|(% colspan="3" rowspan="1" %)(((
26.1	155	Servo enable((% _mstmutation="1" %)S-ON(%%)), Error/alarm clear((% _mstmutation="1" %)A-CLR(%%)), Forward rotation prohibited((% _mstmutation="1" %)POT(%%))
22.1	156
26.1	157	Backward rotation prohibited((% _mstmutation="1" %)NOT(%%)), Command direction((% _mstmutation="1" %)C-SIGN(%%)), Emergency stop((% _mstmutation="1" %)E-STOP(%%))
22.1	158
26.1	159	Gain switch((% _mstmutation="1" %)GAIN-5EL(%%)), Internal speed selection((% _mstmutation="1" %)INSPD1, INSPD2, INSPD3(%%))
22.1	160
26.1	161	Internal position selection and enable((% _mstmutation="1" %)INPO51, INPO52, INPO53, INPO54, ENINPOS(%%))
22.1	162	)))
19.1	163	\|(((
	164	DO function
22.1	165	)))\|(% colspan="3" rowspan="1" %)(((
26.1	166	Servo ready((% _mstmutation="1" %)RDY(%%))、Error signal((% _mstmutation="1" %)ALM(%%)), Alarm signal((% _mstmutation="1" %)WARN(%%)), Rotation detection((% _mstmutation="1" %)TGON(%%))
22.1	167
26.1	168	Zero speed signal((% _mstmutation="1" %)ZSP(%%)), Torque limited((% _mstmutation="1" %)T-LIMIT(%%)), Velocity limited((% _mstmutation="1" %)V-LIMIT(%%))
22.1	169
	170	Servo start(SRV-ST), Servo brake output(BRK-OFF), ABZ pulse feedback output
	171	)))
19.1	172	\|(% colspan="1" rowspan="4" %)(((
	173	Position mode
	174	)))\|(((
	175	Pulse frequency
22.1	176	)))\|(% colspan="3" rowspan="1" %)(((
	177	Max to 500KHz
	178	)))
19.1	179	\|(((
	180	Pulse type
22.1	181	)))\|(% colspan="3" rowspan="1" %)(((
	182	Direction + Pulse, CW/CCW, Orthogonal coding
	183	)))
19.1	184	\|(((
	185	Pulse filter
22.1	186	)))\|(% colspan="3" rowspan="1" %)(((
	187	First-order low-pass filter or smoothing filter
	188	)))
19.1	189	\|(((
	190	Pulse output
22.1	191	)))\|(% colspan="3" rowspan="1" %)(((
	192	A, B, Z differential output
	193	)))
19.1	194	\|(% colspan="1" rowspan="3" %)(((
	195	Speed mode
	196	)))\|(((
	197	Command input
22.1	198	)))\|(% colspan="3" rowspan="1" %)(((
	199	Analog input(-10V to +10V), Internal command(8 segments)
	200	)))
19.1	201	\|(((
	202	Zero speed clamp
22.1	203	)))\|(% colspan="3" rowspan="1" %)(((
	204	Support
	205	)))
19.1	206	\|(((
	207	Torque limit
22.1	208	)))\|(% colspan="3" rowspan="1" %)(((
	209	Torque limit under speed mode
	210	)))
19.1	211	\|(% colspan="1" rowspan="3" %)(((
	212	Torque mode
	213	)))\|(((
	214	Command input
22.1	215	)))\|(% colspan="3" rowspan="1" %)(((
	216	Analog input(-10V to +10V), Internal command
	217	)))
19.1	218	\|(((
	219	Torque reach
22.1	220	)))\|(% colspan="3" rowspan="1" %)(((
	221	Torque reach signal output
	222	)))
19.1	223	\|(((
	224	Velocity limit
22.1	225	)))\|(% colspan="3" rowspan="1" %)(((
	226	Velocity limit under torque mode
	227	)))
23.1	228
27.1	229	= (% id="cke_bm_7897S" style="display:none" %) (%%) =
	230
	231	= VD2F/VD2L servo driver parameter table =
	232
30.1	233	(% style="width:1005px" %)
	234	\|(% colspan="6" rowspan="1" style="width:312px" %)(((
27.1	235	General type
30.1	236	)))\|(% colspan="1" rowspan="1" style="width:325px" %)(((
27.1	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	)))
30.1	243	\|(% colspan="6" rowspan="1" style="width:312px" %)Model\|(% colspan="1" rowspan="1" style="width:325px" %)(((
27.1	244	VD2F
	245	)))\|(% rowspan="1" style="width:364px" %)(((
	246	VD2L
	247	)))
	248	\|(% colspan="3" rowspan="12" %)(((
	249	Basic Specifications
30.1	250	)))\|(% colspan="3" style="width:198px" %)Power supply\|(% colspan="1" rowspan="1" style="width:325px" %)(((
27.1	251	220V
	252	)))\|(% rowspan="1" style="width:364px" %)(((
	253	220V
	254	)))
30.1	255	\|(% colspan="3" style="width:198px" %)(((
27.1	256	Control method
30.1	257	)))\|(% colspan="2" rowspan="1" style="width:680px" %)(((
27.1	258	IGBT PWM control sine wave current drive
	259	)))
30.1	260	\|(% colspan="3" style="width:198px" %)(((
27.1	261	Encoder
30.1	262	)))\|(% colspan="2" rowspan="1" style="width:680px" %)17bit, 23bit absolute value encoder
	263	\|(% colspan="3" style="width:198px" %)(((
27.1	264	Control signal input
30.1	265	)))\|(% colspan="2" rowspan="1" style="width:680px" %)4DI
	266	\|(% colspan="3" style="width:198px" %)(((
27.1	267	Control signal output
30.1	268	)))\|(% colspan="2" rowspan="1" style="width:680px" %)4DO
	269	\|(% colspan="3" style="width:198px" %)(((
27.1	270	Pulse frequency division output
30.1	271	)))\|(% colspan="1" rowspan="1" style="width:325px" %)—\|(% rowspan="1" style="width:364px" %)(((
27.1	272	Support
	273	)))
30.1	274	\|(% colspan="3" style="width:198px" %)(((
27.1	275	Pulse signal input
30.1	276	)))\|(% colspan="2" rowspan="1" style="width:680px" %)(((
27.1	277	Open collector or differential input
	278	)))
30.1	279	\|(% colspan="3" style="width:198px" %)(((
27.1	280	Pulse feedback output
30.1	281	)))\|(% colspan="1" rowspan="1" style="width:325px" %)(((
27.1	282	Z signal open collector output
	283	)))\|(% rowspan="1" style="width:364px" %)(((
	284	ABZ differential output(VD2-XXXXXXH
	285
	286	series support collector signal feedback)
	287	)))
30.1	288	\|(% colspan="3" style="width:198px" %)(% style="background-color:transparent" %)Internal Command\|(% colspan="2" rowspan="1" style="width:680px" %)(((
27.1	289	8 segment internal speed command, 16 segment internal position command
	290	)))
30.1	291	\|(% colspan="3" style="width:198px" %)(((
27.1	292	Communication
30.1	293	)))\|(% colspan="2" rowspan="1" style="width:680px" %)(((
27.1	294	MODBUS RS485 or MODBUS RS422(SCTool)
	295	)))
30.1	296	\|(% colspan="3" rowspan="2" style="width:198px" %)(((
27.1	297	Braking resistor
30.1	298	)))\|(% colspan="4" rowspan="1" style="width:680px" %)(((
27.1	299	750W built-in braking resistor; 400W without built-in;
	300	)))
30.1	301	\|(% colspan="4" style="width:680px" %)(((
27.1	302	Both can support external braking resistors.
	303	)))
29.1	304	\|(% colspan="3" rowspan="22" %)(((
27.1	305	Function setting
	306	)))\|(% colspan="1" rowspan="12" %)(((
	307	General functions
30.1	308	)))\|(% colspan="2" style="width:115px" %)(((
27.1	309	Auto-tuning
30.1	310	)))\|(% colspan="1" rowspan="1" style="width:325px" %)(((
	311	Automatic load inertia identification,automatic rigidity self-tuning
27.1	312	)))\|(% rowspan="1" style="width:364px" %)-
30.1	313	\|(% colspan="2" style="width:115px" %)(((
27.1	314	Blend mode
30.1	315	)))\|(% colspan="1" rowspan="1" style="width:325px" %)(((
27.1	316	YES
	317	)))\|(% rowspan="1" style="width:364px" %)-
30.1	318	\|(% colspan="2" style="width:115px" %)(((
27.1	319	Advanced control algorithms
30.1	320	)))\|(% colspan="1" style="width:325px" %)(((
27.1	321	YES
	322	)))\|(% style="width:364px" %)-
30.1	323	\|(% colspan="2" rowspan="2" style="width:115px" %)(((
27.1	324	Waveform
30.1	325	)))\|(% colspan="2" style="width:680px" %)4 channels waveform monitoring
	326	\|(% colspan="2" style="width:680px" %)10s waveform data recording
	327	\|(% colspan="2" style="width:115px" %)(((
27.1	328	Parameter management
30.1	329	)))\|(% colspan="2" rowspan="1" style="width:680px" %)(((
27.1	330	Support batch parameter import and export
	331	)))
30.1	332	\|(% colspan="2" style="width:115px" %)(((
27.1	333	Vibration suppression
30.1	334	)))\|(% colspan="2" rowspan="1" style="width:680px" %)(((
27.1	335	Support mechanical vibration suppression
	336	)))
30.1	337	\|(% colspan="2" style="width:115px" %)(((
27.1	338	Protection
30.1	339	)))\|(% colspan="2" style="width:680px" %)(((
27.1	340	Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
	341	)))
30.1	342	\|(% colspan="2" style="width:115px" %)(((
27.1	343	Dynamic braking
30.1	344	)))\|(% colspan="1" style="width:325px" %)-\|(% style="width:364px" %)(((
27.1	345	Optional
	346	)))
30.1	347	\|(% colspan="2" style="width:115px" %)(((
27.1	348	Brake device
30.1	349	)))\|(% colspan="2" rowspan="1" style="width:680px" %)(((
27.1	350	Support brake signal output
	351	)))
30.1	352	\|(% colspan="2" style="width:115px" %)(((
27.1	353	DI function
30.1	354	)))\|(% colspan="2" rowspan="1" style="width:680px" %)(((
27.1	355	Servo enable((% _mstmutation="1" %)S-ON(%%)), Error/alarm clear((% _mstmutation="1" %)A-CLR(%%)), Forward rotation prohibited((% _mstmutation="1" %)POT(%%))
	356
	357	Backward rotation prohibited((% _mstmutation="1" %)NOT(%%)), Command direction((% _mstmutation="1" %)C-SIGN(%%)), Emergency stop((% _mstmutation="1" %)E-STOP(%%))
	358
	359	Gain switch((% _mstmutation="1" %)GAIN-5EL(%%)), Internal speed selection((% _mstmutation="1" %)INSPD1, INSPD2, INSPD3(%%))
	360
	361	Internal position selection and enable((% _mstmutation="1" %)INPO51, INPO52, INPO53, INPO54, ENINPOS(%%))
	362	)))
30.1	363	\|(% colspan="2" style="width:115px" %)(((
27.1	364	DO function
30.1	365	)))\|(% colspan="1" rowspan="1" style="width:325px" %)(((
27.1	366	Servo ready((% _mstmutation="1" %)RDY(%%))、Error signal((% _mstmutation="1" %)ALM(%%)), Alarm signal((% _mstmutation="1" %)WARN(%%)), Rotation detection((% _mstmutation="1" %)TGON(%%))
	367
	368	Zero speed signal((% _mstmutation="1" %)ZSP(%%)), Torque limited((% _mstmutation="1" %)T-LIMIT(%%)), Velocity limited((% _mstmutation="1" %)V-LIMIT(%%))
	369
	370	Servo start(SRV-ST), Servo brake output(BRK-OFF), Z pulse feedback output
	371	)))\|(% rowspan="1" style="width:364px" %)(((
	372	Servo ready(RDY)、Error signal(ALM), Alarm signal(WARN), Rotation detection(TGON)
	373
	374	Zero speed signal(ZSP), Torque limited(T-LIMIT), Velocity limited(V-LIMIT)
	375
	376	Servo start(SRV-ST), Servo brake output(BRK-OFF), ABZ pulse feedback output
	377	)))
	378	\|(% colspan="1" rowspan="4" %)Position mode\|Pulse frequency\|(% colspan="3" rowspan="1" %)(((
	379	Max to 500KHz
	380	)))
30.1	381	\|(% colspan="2" rowspan="1" style="width:115px" %)Pulse type\|(% rowspan="1" style="width:325px" %)(((
27.1	382	Direction + pulse; Orthogonal coding:
	383	V1.21 and above support CW/CCW
	384	)))\|(% rowspan="1" style="width:337px" %)Direction + Pulse, Orthogonal coding
30.1	385	\|(% colspan="2" rowspan="1" style="width:115px" %)Pulse filter\|(% colspan="2" rowspan="1" style="width:680px" %)First-order low-pass filter or smoothing filter
	386	\|(% colspan="2" rowspan="1" style="width:115px" %)(((
27.1	387	Pulse output
30.1	388	)))\|(% rowspan="1" style="width:325px" %)-\|(% rowspan="1" style="width:337px" %)A, B, Z differential output
29.1	389	\|(% colspan="1" rowspan="3" %)(((
30.1	390	Speed mode
	391	)))\|(% colspan="2" style="width:115px" %)Command input\|(% colspan="2" rowspan="1" style="width:325px" %)Internal command(8 segments)
	392	\|(% colspan="2" style="width:115px" %)Zero speed clamp\|(% colspan="2" rowspan="1" style="width:325px" %)Support
	393	\|(% colspan="2" style="width:115px" %)Torque limit\|(% colspan="2" rowspan="1" style="width:325px" %)Torque limit under speed mode
	394	\|(% colspan="1" rowspan="3" %)Torque mode\|(% colspan="2" style="width:115px" %)Command input\|(% colspan="2" rowspan="1" style="width:325px" %)(((
	395	Internal command
	396	)))
	397	\|(% colspan="2" style="width:115px" %)Torque reach\|(% colspan="2" rowspan="1" style="width:325px" %)(((
	398	Torque reach signal output
	399	)))
	400	\|(% colspan="2" style="width:115px" %)Velocity limit\|(% colspan="2" rowspan="1" style="width:325px" %)(((
	401	Velocity limit under torque mode
	402	)))
27.1	403
32.1	404
	405	= VD3E servo driver parameter table =
	406
	407	(% style="width:887px" %)
	408	\|(% colspan="3" rowspan="1" style="width:464px" %)(((
	409	Bus type
	410	)))\|(% style="width:309px" %)(((
	411	(% style="text-align:center" %)
	412	[[image:1726277302418-624.png]]
	413	)))\|(((
	414	(% style="text-align:center" %)
	415	[[image:1726277309267-133.png]]
	416	)))\|(((
	417	(% style="text-align:center" %)
	418	[[image:1726277316197-586.png]]
	419	)))
	420	\|(% colspan="3" rowspan="1" style="width:464px" %)Model\|(% style="width:309px" %)(((
	421	VD3E(A type)
	422	)))\|(((
	423	VD3E(B type)
	424	)))\|(((
	425	VD3E(C type)
	426	)))
	427	\|(% colspan="1" rowspan="7" style="width:166px" %)(((
	428	Basic Specifications
	429	)))\|(% colspan="2" style="width:301px" %)Power supply\|(% style="width:309px" %)220V\|220V/380V\|380V
	430	\|(% colspan="2" style="width:301px" %)Control method\|(% colspan="3" rowspan="1" style="width:470px" %)IGBT PWM control sine wave current drive
	431	\|(% colspan="2" style="width:301px" %)Encoder\|(% colspan="3" rowspan="1" style="width:470px" %)17bit, 23bit absolute value encoder
	432	\|(% colspan="2" style="width:301px" %)Control signal input\|(% colspan="3" rowspan="1" style="width:470px" %)(((
	433	6DI,
	434
	435	Select the output function according to the function code configuration
	436	)))
	437	\|(% colspan="2" style="width:301px" %)Control signal output\|(% colspan="3" rowspan="1" style="width:470px" %)(((
	438	3DO,
	439
	440	Select the output function according to the function code configuration
	441	)))
	442	\|(% style="width:147px" %)(((
	443	Communication function
	444	)))\|(% style="width:155px" %)(((
	445	Host computer communication
	446	)))\|(% colspan="3" rowspan="1" style="width:470px" %)(((
	447	The USB interface can be used to set function code parameters, monitor status, and view waveforms through a computer host computer.
	448	Parameter self-tuning, etc.
	449	)))
	450	\|(% colspan="2" style="width:301px" %)Braking resistor\|(% colspan="3" rowspan="1" style="width:470px" %)(((
	451	Built-in braking resistor, supports external braking resistor
	452	)))
	453	\|(% 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
	454	\|(% colspan="2" style="width:301px" %)(((
	455	Waveform viewing
	456	)))\|(% colspan="3" rowspan="1" style="width:470px" %)4 channels waveform monitoring
	457	\|(% colspan="2" style="width:301px" %)(((
	458	Waveform storage
	459	)))\|(% colspan="3" rowspan="1" style="width:470px" %)(((
	460	Waveform acquisition frequency 1K Hz,(% style="background-color:transparent" %)10s waveform data recording
	461	)))
	462	\|(% colspan="2" style="width:301px" %)Parameter management\|(% colspan="3" rowspan="1" style="width:470px" %)Support batch parameter import and export
	463	\|(% colspan="2" style="width:301px" %)(((
	464	Vibration suppression
	465	)))\|(% colspan="3" rowspan="1" style="width:470px" %)Support mechanical vibration suppression
	466	\|(% colspan="2" style="width:301px" %)(((
	467
	468
	469	Protection
	470	)))\|(% colspan="3" rowspan="1" style="width:470px" %)Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
	471	\|(% colspan="2" style="width:301px" %)Brake device\|(% colspan="3" rowspan="1" style="width:470px" %)Support brake signal output
	472	\|(% colspan="2" style="width:301px" %)DI function\|(% colspan="3" rowspan="1" style="width:470px" %)(((
	473	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(%%))
	474	)))
	475	\|(% colspan="2" style="width:301px" %)DO function\|(% colspan="3" rowspan="1" style="width:470px" %)(((
	476	Servo ready((% _mstmutation="1" %)RDY(%%))、Error signal((% _mstmutation="1" %)ALM(%%)), Alarm signal((% _mstmutation="1" %)WARN(%%)), Rotation detection((% _mstmutation="1" %)TGON(%%))
	477
	478	Zero speed signal((% _mstmutation="1" %)ZSP(%%)), Torque limited((% _mstmutation="1" %)T-LIMIT(%%)), Velocity limited((% _mstmutation="1" %)V-LIMIT(%%))
	479
	480	Servo start(SRV-ST), Servo brake output(BRK-OFF),CommunicationVDO
	481	)))
	482	\|(% colspan="1" rowspan="16" style="width:166px" %)(((
	483	EtherCAT related
	484	)))\|(% rowspan="14" style="width:147px" %)(((
	485	EtherCAT related
	486	)))\|(% style="width:155px" %)(((
	487	Communication protocol
	488	)))\|(% colspan="3" rowspan="1" style="width:470px" %)(((
	489	EtherCAT protocol
	490	)))
	491	\|(% style="width:155px" %)(((
	492	Support services
	493	)))\|(% colspan="3" rowspan="1" style="width:470px" %)(((
	494	CoE(PDO,SDO)
	495	)))
	496	\|(% style="width:155px" %)(((
	497	Sync mode
	498	)))\|(% colspan="3" rowspan="1" style="width:470px" %)(((
	499	DC-Distributed Clock
	500	)))
	501	\|(% style="width:155px" %)(((
	502	Physical layer
	503	)))\|(% colspan="3" rowspan="1" style="width:470px" %)(((
	504	100BASE-TX
	505	)))
	506	\|(% style="width:155px" %)(((
	507	Baud rate
	508	)))\|(% colspan="3" rowspan="1" style="width:470px" %)(((
	509	100 Mbit/s(100Base-TX)
	510	)))
	511	\|(% style="width:155px" %)(((
	512	Duplex mode
	513	)))\|(% colspan="3" rowspan="1" style="width:470px" %)(((
	514	Full duplex
	515	)))
	516	\|(% style="width:155px" %)(((
	517	Topology
	518	)))\|(% colspan="3" rowspan="1" style="width:470px" %)(((
	519	Circular, linear
	520	)))
	521	\|(% style="width:155px" %)(((
	522	Transmission medium
	523	)))\|(% colspan="3" rowspan="1" style="width:470px" %)(((
	524	Shielded Category 5e or better network cable
	525	)))
	526	\|(% style="width:155px" %)(((
	527	Transmission distance
	528	)))\|(% colspan="3" rowspan="1" style="width:470px" %)(((
	529	Less than 100M between two nodes (good environment, good cables)
	530	)))
	531	\|(% style="width:155px" %)(((
	532	Frame length
	533	)))\|(% colspan="3" rowspan="1" style="width:470px" %)(((
	534	44 bytes~~1498 bytes
	535	)))
	536	\|(% style="width:155px" %)(((
	537	Excessive data
	538	)))\|(% colspan="5" rowspan="1" style="width:470px" %)Maximum size of a single Ethernet frame is 1486 bytes
	539	\|(% style="width:155px" %)(((
	540	Sync jitter
	541	)))\|(% colspan="3" rowspan="1" style="width:470px" %)(((
	542	<1μs
	543	)))
	544	\|(% style="width:155px" %)(((
	545	Distributed clock
	546	)))\|(% colspan="3" rowspan="1" style="width:470px" %)(((
	547	64 bit
	548	)))
	549	\|(% style="width:155px" %)(((
	550	EEPROM capacity
	551	)))\|(% colspan="3" rowspan="1" style="width:470px" %)(((
	552	8k bit initialization data is written through the EtherCAT master station
	553	)))
	554	\|(% rowspan="2" style="width:147px" %)(((
	555	Control mode and performance
	556	)))\|(% style="width:155px" %)(((
	557	control mode
	558	)))\|(% colspan="3" rowspan="1" style="width:470px" %)(((
	559	CSP、HM
	560	)))
	561	\|(% style="width:155px" %)Synchronization period\|(% colspan="3" rowspan="1" style="width:470px" %)(((
	562	125μs
	563	)))
	564
	565
25.1	566	(% style="margin-left:auto; margin-right:auto; width:50px" %)
	567	\|WD\|80\|M\|-\|075\|30\|S\|-\|A1\|F\|-\|L
	568	\|①\|②\|③\| \|④\|⑤\|⑥\| \|⑦\|⑧\| \|⑨
	569
	570	\|(% rowspan="2" %)①Pole pairs\|WD: 5\| \|(% rowspan="6" %)④Rated power\|010：100W\| \|(% rowspan="4" %)⑦Encoder type\|A1: 17bit single-turn absolute magnetic encoder
	571	\|WE: 4\| \|020：200W\| \|C1：17bit multi-turn absolute magnetic encoder
	572	\| \| \| \|...\| \|D2：23bit multi-turn absolute optical encoder
	573	\|(% rowspan="7" %)②Flange\|40\| \|500：5.0KW\| \|E1: 2500-line incremental encoder
	574	\|60\| \|550：5.5KW\| \| \|
	575	\|80\| \|...\| \|(% rowspan="2" %)⑧Motor structure\|F：Oil seal
	576	\|110\| \| \| \| \|G：Oil seal + Brake device
	577	\|130\| \|(% rowspan="4" %)⑤Rated speed\|15：1500rpm\| \| \|
	578	\|150\| \|20：2000rpm\| \|(% rowspan="3" %)⑨Others\|L：60/80 flange connector
	579	\|180\| \|25：2500rpm\| \|(% rowspan="2" %)L2：60/80/130 flange connector
	580	\| \| \| \|30：3000rpm\|
	581	\|(% rowspan="3" %)③Inertia level\|L: Low\| \| \| \| \|(% colspan="2" %)
	582	\|M: Middle\| \|(% rowspan="2" %)⑥Voltage level\|S: 220V\| \|(% colspan="2" %)
	583	\|H: High\| \|T: 380V\| \|(% colspan="2" %)

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