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Wiki source code of 05 Servo Product Manual

Version 34.1 by Molly on 2024/09/14 14:39
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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:1005px" %)
234 |(% colspan="6" rowspan="1" style="width:312px" %)(((
235 **General type**
236 )))|(% colspan="1" rowspan="1" style="width:325px" %)(((
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" style="width:312px" %)**Model**|(% colspan="1" rowspan="1" style="width:325px" %)(((
244 **VD2F**
245 )))|(% rowspan="1" style="width:364px" %)(((
246 **VD2L**
247 )))
248 |(% colspan="3" rowspan="12" %)(((
249 **Basic Specifications**
250 )))|(% colspan="3" style="width:198px" %)**Power supply**|(% colspan="1" rowspan="1" style="width:325px" %)(((
251 220V
252 )))|(% rowspan="1" style="width:364px" %)(((
253 220V
254 )))
255 |(% colspan="3" style="width:198px" %)(((
256 **Control method**
257 )))|(% colspan="2" rowspan="1" style="width:680px" %)(((
258 IGBT PWM control sine wave current drive
259 )))
260 |(% colspan="3" style="width:198px" %)(((
261 **Encoder**
262 )))|(% colspan="2" rowspan="1" style="width:680px" %)17bit, 23bit absolute value encoder
263 |(% colspan="3" style="width:198px" %)(((
264 **Control signal input**
265 )))|(% colspan="2" rowspan="1" style="width:680px" %)4DI
266 |(% colspan="3" style="width:198px" %)(((
267 **Control signal output**
268 )))|(% colspan="2" rowspan="1" style="width:680px" %)4DO
269 |(% colspan="3" style="width:198px" %)(((
270 **Pulse frequency division output**
271 )))|(% colspan="1" rowspan="1" style="width:325px" %)—|(% rowspan="1" style="width:364px" %)(((
272 Support
273 )))
274 |(% colspan="3" style="width:198px" %)(((
275 **Pulse signal input**
276 )))|(% colspan="2" rowspan="1" style="width:680px" %)(((
277 Open collector or differential input
278 )))
279 |(% colspan="3" style="width:198px" %)(((
280 **Pulse feedback output**
281 )))|(% colspan="1" rowspan="1" style="width:325px" %)(((
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 )))
288 |(% colspan="3" style="width:198px" %)(% style="background-color:transparent" %)**Internal Command**|(% colspan="2" rowspan="1" style="width:680px" %)(((
289 8 segment internal speed command, 16 segment internal position command
290 )))
291 |(% colspan="3" style="width:198px" %)(((
292 **Communication**
293 )))|(% colspan="2" rowspan="1" style="width:680px" %)(((
294 MODBUS RS485 or MODBUS RS422(SCTool)
295 )))
296 |(% colspan="3" rowspan="2" style="width:198px" %)(((
297 **Braking resistor**
298 )))|(% colspan="4" rowspan="1" style="width:680px" %)(((
299 750W built-in braking resistor; 400W without built-in;
300 )))
301 |(% colspan="4" style="width:680px" %)(((
302 Both can support external braking resistors.
303 )))
304 |(% colspan="3" rowspan="22" %)(((
305 **Function setting**
306 )))|(% colspan="1" rowspan="12" %)(((
307 **General functions**
308 )))|(% colspan="2" style="width:115px" %)(((
309 **Auto-tuning**
310 )))|(% colspan="1" rowspan="1" style="width:325px" %)(((
311 Automatic load inertia identification,automatic rigidity self-tuning
312 )))|(% rowspan="1" style="width:364px" %)-
313 |(% colspan="2" style="width:115px" %)(((
314 **Blend mode**
315 )))|(% colspan="1" rowspan="1" style="width:325px" %)(((
316 YES
317 )))|(% rowspan="1" style="width:364px" %)-
318 |(% colspan="2" style="width:115px" %)(((
319 **Advanced control algorithms**
320 )))|(% colspan="1" style="width:325px" %)(((
321 YES
322 )))|(% style="width:364px" %)-
323 |(% colspan="2" rowspan="2" style="width:115px" %)(((
324 **Waveform**
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" %)(((
328 **Parameter management**
329 )))|(% colspan="2" rowspan="1" style="width:680px" %)(((
330 Support batch parameter import and export
331 )))
332 |(% colspan="2" style="width:115px" %)(((
333 **Vibration suppression**
334 )))|(% colspan="2" rowspan="1" style="width:680px" %)(((
335 Support mechanical vibration suppression
336 )))
337 |(% colspan="2" style="width:115px" %)(((
338 **Protection**
339 )))|(% colspan="2" style="width:680px" %)(((
340 Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
341 )))
342 |(% colspan="2" style="width:115px" %)(((
343 **Dynamic braking**
344 )))|(% colspan="1" style="width:325px" %)-|(% style="width:364px" %)(((
345 Optional
346 )))
347 |(% colspan="2" style="width:115px" %)(((
348 **Brake device**
349 )))|(% colspan="2" rowspan="1" style="width:680px" %)(((
350 Support brake signal output
351 )))
352 |(% colspan="2" style="width:115px" %)(((
353 **DI function**
354 )))|(% colspan="2" rowspan="1" style="width:680px" %)(((
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 )))
363 |(% colspan="2" style="width:115px" %)(((
364 **DO function**
365 )))|(% colspan="1" rowspan="1" style="width:325px" %)(((
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 )))
381 |(% colspan="2" rowspan="1" style="width:115px" %)**Pulse type**|(% rowspan="1" style="width:325px" %)(((
382 Direction + pulse; Orthogonal coding:
383 V1.21 and above support CW/CCW
384 )))|(% rowspan="1" style="width:337px" %)Direction + Pulse, Orthogonal coding
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" %)(((
387 **Pulse output**
388 )))|(% rowspan="1" style="width:325px" %)-|(% rowspan="1" style="width:337px" %)A, B, Z differential output
389 |(% colspan="1" rowspan="3" %)(((
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 )))
403
404 = VD3E servo driver parameter table =
405
406 (% style="width:835px" %)
407 |(% colspan="3" rowspan="1" style="width:464px" %)(((
408 **Bus type**
409 )))|(% style="width:309px" %)(((
410 (% style="text-align:center" %)
411 [[image:1726295827531-129.png]]
412
413 (((
414
415 )))
416 )))|[[image:1726295883786-742.png]](((
417
418 )))|(((
419 [[image:1726295894302-137.png]]
420 )))
421 |(% colspan="3" rowspan="1" style="width:464px" %)**Model**|(% style="width:309px" %)(((
422 **VD3E(A type)**
423 )))|(((
424 **VD3E(B type)**
425 )))|(((
426 **VD3E(C type)**
427 )))
428 |(% colspan="1" rowspan="7" style="width:166px" %)(((
429 **Basic Specifications**
430 )))|(% colspan="2" style="width:301px" %)**Power supply**|(% style="width:309px" %)220V|220V/380V|380V
431 |(% colspan="2" style="width:301px" %)**Control method**|(% colspan="3" rowspan="1" style="width:470px" %)IGBT PWM control sine wave current drive
432 |(% colspan="2" style="width:301px" %)**Encoder**|(% colspan="3" rowspan="1" style="width:470px" %)17bit, 23bit absolute value encoder
433 |(% colspan="2" style="width:301px" %)**Control signal input**|(% colspan="3" rowspan="1" style="width:470px" %)(((
434 6DI,
435
436 Select the output function according to the function code configuration
437 )))
438 |(% colspan="2" style="width:301px" %)**Control signal output**|(% colspan="3" rowspan="1" style="width:470px" %)(((
439 3DO,
440
441 Select the output function according to the function code configuration
442 )))
443 |(% style="width:147px" %)(((
444 **Communication function**
445 )))|(% style="width:155px" %)(((
446 **Host computer communication**
447 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
448 The USB interface can be used to set function code parameters, monitor status, and view waveforms through a computer host computer.
449 Parameter self-tuning, etc.
450 )))
451 |(% colspan="2" style="width:301px" %)**Braking resistor**|(% colspan="3" rowspan="1" style="width:470px" %)(((
452 Built-in braking resistor, supports external braking resistor
453 )))
454 |(% 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
455 |(% colspan="2" style="width:301px" %)(((
456 **Waveform viewing**
457 )))|(% colspan="3" rowspan="1" style="width:470px" %)4 channels waveform monitoring
458 |(% colspan="2" style="width:301px" %)(((
459 **Waveform storage**
460 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
461 Waveform acquisition frequency 1K Hz,(% style="background-color:transparent" %)10s waveform data recording
462 )))
463 |(% colspan="2" style="width:301px" %)**Parameter management**|(% colspan="3" rowspan="1" style="width:470px" %)Support batch parameter import and export
464 |(% colspan="2" style="width:301px" %)(((
465 **Vibration suppression**
466 )))|(% colspan="3" rowspan="1" style="width:470px" %)Support mechanical vibration suppression
467 |(% colspan="2" style="width:301px" %)(((
468
469
470 **Protection**
471 )))|(% colspan="3" rowspan="1" style="width:470px" %)Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
472 |(% colspan="2" style="width:301px" %)**Brake device**|(% colspan="3" rowspan="1" style="width:470px" %)Support brake signal output
473 |(% colspan="2" style="width:301px" %)**DI function**|(% colspan="3" rowspan="1" style="width:470px" %)(((
474 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**(%%))
475 )))
476 |(% colspan="2" style="width:301px" %)**DO function**|(% colspan="3" rowspan="1" style="width:470px" %)(((
477 Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
478
479 Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
480
481 Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**),CommunicationVDO
482 )))
483 |(% colspan="1" rowspan="16" style="width:166px" %)(((
484 **EtherCAT related**
485 )))|(% rowspan="14" style="width:147px" %)(((
486 **EtherCAT related**
487 )))|(% style="width:155px" %)(((
488 Communication protocol
489 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
490 EtherCAT protocol
491 )))
492 |(% style="width:155px" %)(((
493 Support services
494 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
495 CoE(PDO,SDO)
496 )))
497 |(% style="width:155px" %)(((
498 Sync mode
499 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
500 DC-Distributed Clock
501 )))
502 |(% style="width:155px" %)(((
503 Physical layer
504 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
505 100BASE-TX
506 )))
507 |(% style="width:155px" %)(((
508 Baud rate
509 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
510 100 Mbit/s(100Base-TX)
511 )))
512 |(% style="width:155px" %)(((
513 Duplex mode
514 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
515 Full duplex
516 )))
517 |(% style="width:155px" %)(((
518 Topology
519 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
520 Circular, linear
521 )))
522 |(% style="width:155px" %)(((
523 Transmission medium
524 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
525 Shielded Category 5e or better network cable
526 )))
527 |(% style="width:155px" %)(((
528 Transmission distance
529 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
530 Less than 100M between two nodes (good environment, good cables)
531 )))
532 |(% style="width:155px" %)(((
533 Frame length
534 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
535 44 bytes~~1498 bytes
536 )))
537 |(% style="width:155px" %)(((
538 Excessive data
539 )))|(% colspan="5" rowspan="1" style="width:470px" %)Maximum size of a single Ethernet frame is 1486 bytes
540 |(% style="width:155px" %)(((
541 Sync jitter
542 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
543 <1μs
544 )))
545 |(% style="width:155px" %)(((
546 Distributed clock
547 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
548 64 bit
549 )))
550 |(% style="width:155px" %)(((
551 EEPROM capacity
552 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
553 8k bit initialization data is written through the EtherCAT master station
554 )))
555 |(% rowspan="2" style="width:147px" %)(((
556 **Control mode and performance**
557 )))|(% style="width:155px" %)(((
558 control mode
559 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
560 CSP、HM
561 )))
562 |(% style="width:155px" %)Synchronization period|(% colspan="3" rowspan="1" style="width:470px" %)(((
563 125μs
564 )))
565
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" %)