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Wiki source code of 05 Servo Product Manual

Version 38.1 by Mora Zhou on 2024/09/14 14:45
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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 )))|(((
69 (% style="text-align:center" %)
70 [[image:1726038778533-997.png||_mstalt="300053"]]
71 )))|(((
72 (% style="text-align:center" %)
73 [[image:1726038786193-560.png||_mstalt="296309"]]
74 )))|(((
75 (% style="text-align:center" %)
76 [[image:1726038790641-417.png||_mstalt="295087"]]
77 )))
78 |(% colspan="3" %)**Model**|**VD2(A type)**|**VD2(B type)**|**VD2(C type)**
79 |(% colspan="1" rowspan="11" %)(((
80 **Basic Specifications**
81 )))|(% colspan="2" %)**Power supply**|220V|220V/380V|380V
82 |(% colspan="2" %)(((
83 **Control method**
84 )))|(% colspan="3" rowspan="1" %)(((
85 IGBT PWM control sine wave current drive
86 )))
87 |(% colspan="2" %)(((
88 **Encoder**
89 )))|(% colspan="3" rowspan="1" %)(((
90 2500-line incremental encoder, 17-bit/23-bit absolute encoder
91 )))
92 |(% colspan="2" %)(((
93 **Control signal input**
94 )))|(% colspan="3" rowspan="1" %)8DI
95 |(% colspan="2" %)(((
96 **Control signal output**
97 )))|(% colspan="3" rowspan="1" %)4DO
98 |(% colspan="2" %)(((
99 **Analog signal input**
100 )))|(% colspan="3" rowspan="1" %)(((
101 2 AI(-10V to +10V)
102 )))
103 |(% colspan="2" %)(((
104 **Pulse signal input**
105 )))|(% colspan="3" rowspan="1" %)(((
106 Open collector or differential input
107 )))
108 |(% colspan="2" %)(((
109 **Pulse feedback output**
110 )))|(% colspan="3" rowspan="1" %)ABZ differential output(VD2-XXXXXXH series support collector signal feedback)
111 |(% colspan="2" %)(% style="background-color:transparent" %)**Internal Command**|(% colspan="3" rowspan="1" %)(((
112 8 segment internal speed command, 16 segment internal position command
113 )))
114 |(% colspan="2" %)(((
115 **Communication**
116 )))|(% colspan="3" rowspan="1" %)(((
117 MODBUS RS485 or MODBUS RS422(SCTool)
118 )))
119 |(% colspan="2" %)(((
120 **Braking resistor**
121 )))|(% colspan="3" rowspan="1" %)(((
122 Internal braking resistor(also support external braking resistor)
123 )))
124 |(% colspan="1" rowspan="19" %)(((
125 **Function setting**
126 )))|(% colspan="1" rowspan="9" %)(((
127 **General functions**
128 )))|(((
129 **Auto-tuning**
130 )))|(% colspan="3" rowspan="1" %)(((
131 Automatic load inertia identification, automatic rigidity self-tuning
132 )))
133 |(% colspan="1" rowspan="2" %)(((
134 **Waveform**
135 )))|(% colspan="3" rowspan="1" %)(((
136 4 channels waveform monitoring
137 )))
138 |(% colspan="3" rowspan="1" %)(((
139 10s waveform data recording
140 )))
141 |(((
142 **Parameter management**
143 )))|(% colspan="3" rowspan="1" %)(((
144 Support batch parameter import and export
145 )))
146 |(((
147 **Vibration suppression**
148 )))|(% colspan="3" rowspan="1" %)(((
149 Support mechanical vibration suppression
150 )))
151 |(((
152 **Protection**
153 )))|(% colspan="3" rowspan="1" %)(((
154 Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
155 )))
156 |(((
157 **Brake device**
158 )))|(% colspan="3" rowspan="1" %)(((
159 Support brake signal output
160 )))
161 |(((
162 **DI function**
163 )))|(% colspan="3" rowspan="1" %)(((
164 Servo enable((% _mstmutation="1" %)**S-ON**(%%)), Error/alarm clear((% _mstmutation="1" %)**A-CLR**(%%)), Forward rotation prohibited((% _mstmutation="1" %)**POT**(%%))
165
166 Backward rotation prohibited((% _mstmutation="1" %)**NOT**(%%)), Command direction((% _mstmutation="1" %)**C-SIGN**(%%)), Emergency stop((% _mstmutation="1" %)**E-STOP**(%%))
167
168 Gain switch((% _mstmutation="1" %)**GAIN-5EL**(%%)), Internal speed selection((% _mstmutation="1" %)**INSPD1, INSPD2, INSPD3**(%%))
169
170 Internal position selection and enable((% _mstmutation="1" %)**INPO51, INPO52, INPO53, INPO54, ENINPOS**(%%))
171 )))
172 |(((
173 **DO function**
174 )))|(% colspan="3" rowspan="1" %)(((
175 Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
176
177 Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
178
179 Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), ABZ pulse feedback output
180 )))
181 |(% colspan="1" rowspan="4" %)(((
182 **Position mode**
183 )))|(((
184 **Pulse frequency**
185 )))|(% colspan="3" rowspan="1" %)(((
186 Max to 500KHz
187 )))
188 |(((
189 **Pulse type**
190 )))|(% colspan="3" rowspan="1" %)(((
191 Direction + Pulse, CW/CCW, Orthogonal coding
192 )))
193 |(((
194 **Pulse filter**
195 )))|(% colspan="3" rowspan="1" %)(((
196 First-order low-pass filter or smoothing filter
197 )))
198 |(((
199 **Pulse output**
200 )))|(% colspan="3" rowspan="1" %)(((
201 A, B, Z differential output
202 )))
203 |(% colspan="1" rowspan="3" %)(((
204 **Speed mode**
205 )))|(((
206 **Command input**
207 )))|(% colspan="3" rowspan="1" %)(((
208 Analog input(-10V to +10V), Internal command(8 segments)
209 )))
210 |(((
211 **Zero speed clamp**
212 )))|(% colspan="3" rowspan="1" %)(((
213 Support
214 )))
215 |(((
216 **Torque limit**
217 )))|(% colspan="3" rowspan="1" %)(((
218 Torque limit under speed mode
219 )))
220 |(% colspan="1" rowspan="3" %)(((
221 **Torque mode**
222 )))|(((
223 **Command input**
224 )))|(% colspan="3" rowspan="1" %)(((
225 Analog input(-10V to +10V), Internal command
226 )))
227 |(((
228 **Torque reach**
229 )))|(% colspan="3" rowspan="1" %)(((
230 Torque reach signal output
231 )))
232 |(((
233 **Velocity limit**
234 )))|(% colspan="3" rowspan="1" %)(((
235 Velocity limit under torque mode
236 )))
237
238 = (% id="cke_bm_7897S" style="display:none" %) (%%) =
239
240 = **VD2F/VD2L servo driver parameter table** =
241
242 (% style="width:1005px" %)
243 |(% colspan="6" rowspan="1" style="width:312px" %)(((
244 **General type**
245 )))|(% colspan="1" rowspan="1" style="width:325px" %)(((
246 (% style="text-align:center" %)
247 [[image:1726190862910-426.png]]
248 )))|(% rowspan="1" style="width:364px" %)(((
249 (% style="text-align:center" %)
250 [[image:1726190785664-427.png]]
251 )))
252 |(% colspan="6" rowspan="1" style="width:312px" %)**Model**|(% colspan="1" rowspan="1" style="width:325px" %)(((
253 **VD2F**
254 )))|(% rowspan="1" style="width:364px" %)(((
255 **VD2L**
256 )))
257 |(% colspan="3" rowspan="12" %)(((
258 **Basic Specifications**
259 )))|(% colspan="3" style="width:198px" %)**Power supply**|(% colspan="1" rowspan="1" style="width:325px" %)(((
260 220V
261 )))|(% rowspan="1" style="width:364px" %)(((
262 220V
263 )))
264 |(% colspan="3" style="width:198px" %)(((
265 **Control method**
266 )))|(% colspan="2" rowspan="1" style="width:680px" %)(((
267 IGBT PWM control sine wave current drive
268 )))
269 |(% colspan="3" style="width:198px" %)(((
270 **Encoder**
271 )))|(% colspan="2" rowspan="1" style="width:680px" %)17bit, 23bit absolute value encoder
272 |(% colspan="3" style="width:198px" %)(((
273 **Control signal input**
274 )))|(% colspan="2" rowspan="1" style="width:680px" %)4DI
275 |(% colspan="3" style="width:198px" %)(((
276 **Control signal output**
277 )))|(% colspan="2" rowspan="1" style="width:680px" %)4DO
278 |(% colspan="3" style="width:198px" %)(((
279 **Pulse frequency division output**
280 )))|(% colspan="1" rowspan="1" style="width:325px" %)—|(% rowspan="1" style="width:364px" %)(((
281 Support
282 )))
283 |(% colspan="3" style="width:198px" %)(((
284 **Pulse signal input**
285 )))|(% colspan="2" rowspan="1" style="width:680px" %)(((
286 Open collector or differential input
287 )))
288 |(% colspan="3" style="width:198px" %)(((
289 **Pulse feedback output**
290 )))|(% colspan="1" rowspan="1" style="width:325px" %)(((
291 Z signal open collector output
292 )))|(% rowspan="1" style="width:364px" %)(((
293 ABZ differential output(VD2-XXXXXXH
294
295 series support collector signal feedback)
296 )))
297 |(% colspan="3" style="width:198px" %)(% style="background-color:transparent" %)**Internal Command**|(% colspan="2" rowspan="1" style="width:680px" %)(((
298 8 segment internal speed command, 16 segment internal position command
299 )))
300 |(% colspan="3" style="width:198px" %)(((
301 **Communication**
302 )))|(% colspan="2" rowspan="1" style="width:680px" %)(((
303 MODBUS RS485 or MODBUS RS422(SCTool)
304 )))
305 |(% colspan="3" rowspan="2" style="width:198px" %)(((
306 **Braking resistor**
307 )))|(% colspan="4" rowspan="1" style="width:680px" %)(((
308 750W built-in braking resistor; 400W without built-in;
309 )))
310 |(% colspan="4" style="width:680px" %)(((
311 Both can support external braking resistors.
312 )))
313 |(% colspan="3" rowspan="22" %)(((
314 **Function setting**
315 )))|(% colspan="1" rowspan="12" %)(((
316 **General functions**
317 )))|(% colspan="2" style="width:115px" %)(((
318 **Auto-tuning**
319 )))|(% colspan="1" rowspan="1" style="width:325px" %)(((
320 Automatic load inertia identification,automatic rigidity self-tuning
321 )))|(% rowspan="1" style="width:364px" %)-
322 |(% colspan="2" style="width:115px" %)(((
323 **Blend mode**
324 )))|(% colspan="1" rowspan="1" style="width:325px" %)(((
325 YES
326 )))|(% rowspan="1" style="width:364px" %)-
327 |(% colspan="2" style="width:115px" %)(((
328 **Advanced control algorithms**
329 )))|(% colspan="1" style="width:325px" %)(((
330 YES
331 )))|(% style="width:364px" %)-
332 |(% colspan="2" rowspan="2" style="width:115px" %)(((
333 **Waveform**
334 )))|(% colspan="2" style="width:680px" %)4 channels waveform monitoring
335 |(% colspan="2" style="width:680px" %)10s waveform data recording
336 |(% colspan="2" style="width:115px" %)(((
337 **Parameter management**
338 )))|(% colspan="2" rowspan="1" style="width:680px" %)(((
339 Support batch parameter import and export
340 )))
341 |(% colspan="2" style="width:115px" %)(((
342 **Vibration suppression**
343 )))|(% colspan="2" rowspan="1" style="width:680px" %)(((
344 Support mechanical vibration suppression
345 )))
346 |(% colspan="2" style="width:115px" %)(((
347 **Protection**
348 )))|(% colspan="2" style="width:680px" %)(((
349 Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
350 )))
351 |(% colspan="2" style="width:115px" %)(((
352 **Dynamic braking**
353 )))|(% colspan="1" style="width:325px" %)-|(% style="width:364px" %)(((
354 Optional
355 )))
356 |(% colspan="2" style="width:115px" %)(((
357 **Brake device**
358 )))|(% colspan="2" rowspan="1" style="width:680px" %)(((
359 Support brake signal output
360 )))
361 |(% colspan="2" style="width:115px" %)(((
362 **DI function**
363 )))|(% colspan="2" rowspan="1" style="width:680px" %)(((
364 Servo enable((% _mstmutation="1" %)**S-ON**(%%)), Error/alarm clear((% _mstmutation="1" %)**A-CLR**(%%)), Forward rotation prohibited((% _mstmutation="1" %)**POT**(%%))
365
366 Backward rotation prohibited((% _mstmutation="1" %)**NOT**(%%)), Command direction((% _mstmutation="1" %)**C-SIGN**(%%)), Emergency stop((% _mstmutation="1" %)**E-STOP**(%%))
367
368 Gain switch((% _mstmutation="1" %)**GAIN-5EL**(%%)), Internal speed selection((% _mstmutation="1" %)**INSPD1, INSPD2, INSPD3**(%%))
369
370 Internal position selection and enable((% _mstmutation="1" %)**INPO51, INPO52, INPO53, INPO54, ENINPOS**(%%))
371 )))
372 |(% colspan="2" style="width:115px" %)(((
373 **DO function**
374 )))|(% colspan="1" rowspan="1" style="width:325px" %)(((
375 Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
376
377 Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
378
379 Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), Z pulse feedback output
380 )))|(% rowspan="1" style="width:364px" %)(((
381 Servo ready(**RDY**)、Error signal(**ALM**), Alarm signal(**WARN**), Rotation detection(**TGON**)
382
383 Zero speed signal(**ZSP**), Torque limited(**T-LIMIT**), Velocity limited(**V-LIMIT**)
384
385 Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), ABZ pulse feedback output
386 )))
387 |(% colspan="1" rowspan="4" %)**Position mode**|**Pulse frequency**|(% colspan="3" rowspan="1" %)(((
388 Max to 500KHz
389 )))
390 |(% colspan="2" rowspan="1" style="width:115px" %)**Pulse type**|(% rowspan="1" style="width:325px" %)(((
391 Direction + pulse; Orthogonal coding:
392 V1.21 and above support CW/CCW
393 )))|(% rowspan="1" style="width:337px" %)Direction + Pulse, Orthogonal coding
394 |(% colspan="2" rowspan="1" style="width:115px" %)**Pulse filter**|(% colspan="2" rowspan="1" style="width:680px" %)First-order low-pass filter or smoothing filter
395 |(% colspan="2" rowspan="1" style="width:115px" %)(((
396 **Pulse output**
397 )))|(% rowspan="1" style="width:325px" %)-|(% rowspan="1" style="width:337px" %)A, B, Z differential output
398 |(% colspan="1" rowspan="3" %)(((
399 **Speed mode**
400 )))|(% colspan="2" style="width:115px" %)**Command input**|(% colspan="2" rowspan="1" style="width:325px" %)Internal command(8 segments)
401 |(% colspan="2" style="width:115px" %)**Zero speed clamp**|(% colspan="2" rowspan="1" style="width:325px" %)Support
402 |(% colspan="2" style="width:115px" %)**Torque limit**|(% colspan="2" rowspan="1" style="width:325px" %)Torque limit under speed mode
403 |(% colspan="1" rowspan="3" %)**Torque mode**|(% colspan="2" style="width:115px" %)**Command input**|(% colspan="2" rowspan="1" style="width:325px" %)(((
404 Internal command
405 )))
406 |(% colspan="2" style="width:115px" %)**Torque reach**|(% colspan="2" rowspan="1" style="width:325px" %)(((
407 Torque reach signal output
408 )))
409 |(% colspan="2" style="width:115px" %)**Velocity limit**|(% colspan="2" rowspan="1" style="width:325px" %)(((
410 Velocity limit under torque mode
411 )))
412
413 = VD3E servo driver parameter table =
414
415 (% style="margin-left:auto; margin-right:auto; width:1230px" %)
416 |(% colspan="3" rowspan="1" style="width:464px" %)(((
417 **Bus type**
418 )))|(% style="width:309px" %)(((
419 (% style="text-align:center" %)
420 [[image:1726295827531-129.png]]
421
422 (((
423
424 )))
425 )))|(((
426 (% style="text-align:center" %)
427 [[image:1726295883786-742.png]]
428
429 (((
430
431 )))
432 )))|(((
433 (% style="text-align:center" %)
434 [[image:1726295894302-137.png]]
435 )))
436 |(% colspan="3" rowspan="1" style="width:464px" %)**Model**|(% style="width:309px" %)(((
437 **VD3E(A type)**
438 )))|(((
439 **VD3E(B type)**
440 )))|(((
441 **VD3E(C type)**
442 )))
443 |(% colspan="1" rowspan="7" style="width:166px" %)(((
444 **Basic Specifications**
445 )))|(% colspan="2" style="width:301px" %)**Power supply**|(% style="width:309px" %)220V|220V/380V|380V
446 |(% colspan="2" style="width:301px" %)**Control method**|(% colspan="3" rowspan="1" style="width:470px" %)IGBT PWM control sine wave current drive
447 |(% colspan="2" style="width:301px" %)**Encoder**|(% colspan="3" rowspan="1" style="width:470px" %)17bit, 23bit absolute value encoder
448 |(% colspan="2" style="width:301px" %)**Control signal input**|(% colspan="3" rowspan="1" style="width:470px" %)(((
449 6DI,
450
451 Select the output function according to the function code configuration
452 )))
453 |(% colspan="2" style="width:301px" %)**Control signal output**|(% colspan="3" rowspan="1" style="width:470px" %)(((
454 3DO,
455
456 Select the output function according to the function code configuration
457 )))
458 |(% style="width:147px" %)(((
459 **Communication function**
460 )))|(% style="width:155px" %)(((
461 **Host computer communication**
462 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
463 The USB interface can be used to set function code parameters, monitor status, and view waveforms through a computer host computer.
464 Parameter self-tuning, etc.
465 )))
466 |(% colspan="2" style="width:301px" %)**Braking resistor**|(% colspan="3" rowspan="1" style="width:470px" %)(((
467 Built-in braking resistor, supports external braking resistor
468 )))
469 |(% 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
470 |(% colspan="2" style="width:301px" %)(((
471 **Waveform viewing**
472 )))|(% colspan="3" rowspan="1" style="width:470px" %)4 channels waveform monitoring
473 |(% colspan="2" style="width:301px" %)(((
474 **Waveform storage**
475 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
476 Waveform acquisition frequency 1K Hz,(% style="background-color:transparent" %)10s waveform data recording
477 )))
478 |(% colspan="2" style="width:301px" %)**Parameter management**|(% colspan="3" rowspan="1" style="width:470px" %)Support batch parameter import and export
479 |(% colspan="2" style="width:301px" %)(((
480 **Vibration suppression**
481 )))|(% colspan="3" rowspan="1" style="width:470px" %)Support mechanical vibration suppression
482 |(% colspan="2" style="width:301px" %)(((
483
484
485 **Protection**
486 )))|(% colspan="3" rowspan="1" style="width:470px" %)Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
487 |(% colspan="2" style="width:301px" %)**Brake device**|(% colspan="3" rowspan="1" style="width:470px" %)Support brake signal output
488 |(% colspan="2" style="width:301px" %)**DI function**|(% colspan="3" rowspan="1" style="width:470px" %)(((
489 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**(%%))
490 )))
491 |(% colspan="2" style="width:301px" %)**DO function**|(% colspan="3" rowspan="1" style="width:470px" %)(((
492 Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
493
494 Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
495
496 Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**),CommunicationVDO
497 )))
498 |(% colspan="1" rowspan="16" style="width:166px" %)(((
499 **EtherCAT related**
500 )))|(% rowspan="14" style="width:147px" %)(((
501 **EtherCAT related**
502 )))|(% style="width:155px" %)(((
503 **Communication protocol**
504 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
505 EtherCAT protocol
506 )))
507 |(% style="width:155px" %)(((
508 **Support services**
509 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
510 CoE(PDO,SDO)
511 )))
512 |(% style="width:155px" %)(((
513 **Sync mode**
514 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
515 DC-Distributed Clock
516 )))
517 |(% style="width:155px" %)(((
518 **Physical layer**
519 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
520 100BASE-TX
521 )))
522 |(% style="width:155px" %)(((
523 **Baud rate**
524 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
525 100 Mbit/s(100Base-TX)
526 )))
527 |(% style="width:155px" %)(((
528 **Duplex mode**
529 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
530 Full duplex
531 )))
532 |(% style="width:155px" %)(((
533 **Topology**
534 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
535 Circular, linear
536 )))
537 |(% style="width:155px" %)(((
538 **Transmission medium**
539 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
540 Shielded Category 5e or better network cable
541 )))
542 |(% style="width:155px" %)(((
543 **Transmission distance**
544 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
545 Less than 100M between two nodes (good environment, good cables)
546 )))
547 |(% style="width:155px" %)(((
548 **Frame length**
549 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
550 44 bytes~~1498 bytes
551 )))
552 |(% style="width:155px" %)(((
553 **Excessive data**
554 )))|(% colspan="5" rowspan="1" style="width:470px" %)Maximum size of a single Ethernet frame is 1486 bytes
555 |(% style="width:155px" %)(((
556 **Sync jitter**
557 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
558 <1μs
559 )))
560 |(% style="width:155px" %)(((
561 **Distributed clock**
562 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
563 64 bit
564 )))
565 |(% style="width:155px" %)(((
566 **EEPROM capacity**
567 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
568 8k bit initialization data is written through the EtherCAT master station
569 )))
570 |(% rowspan="2" style="width:147px" %)(((
571 **Control mode and performance**
572 )))|(% style="width:155px" %)(((
573 **Control mode**
574 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
575 CSP、HM
576 )))
577 |(% style="width:155px" %)**Synchronization period**|(% colspan="3" rowspan="1" style="width:470px" %)(((
578 125μs
579 )))
580
581 (% style="margin-left:auto; margin-right:auto; width:50px" %)
582 |WD|80|M|-|075|30|S|-|A1|F|-|L
583 |①|②|③| |④|⑤|⑥| |⑦|⑧| |⑨
584
585 |(% rowspan="2" %)①Pole pairs|WD: 5| |(% rowspan="6" %)④Rated power|010：100W| |(% rowspan="4" %)⑦Encoder type|A1: 17bit single-turn absolute magnetic encoder
586 |WE: 4| |020：200W| |C1：17bit multi-turn absolute magnetic encoder
587 | | | |...| |D2：23bit multi-turn absolute optical encoder
588 |(% rowspan="7" %)②Flange|40| |500：5.0KW| |E1: 2500-line incremental encoder
589 |60| |550：5.5KW| | |
590 |80| |...| |(% rowspan="2" %)⑧Motor structure|F：Oil seal
591 |110| | | | |G：Oil seal + Brake device
592 |130| |(% rowspan="4" %)⑤Rated speed|15：1500rpm| | |
593 |150| |20：2000rpm| |(% rowspan="3" %)⑨Others|L：60/80 flange connector
594 |180| |25：2500rpm| |(% rowspan="2" %)L2：60/80/130 flange connector
595 | | | |30：3000rpm|
596 |(% rowspan="3" %)③Inertia level|L: Low| | | | |(% colspan="2" %)
597 |M: Middle| |(% rowspan="2" %)⑥Voltage level|S: 220V| |(% colspan="2" %)
598 |H: High| |T: 380V| |(% colspan="2" %)