General type

Basic Specifications

Control method

IGBT PWM control sine wave current drive

Encoder

2500-line incremental encoder, 17-bit/23-bit absolute encoder

Control signal input

Control signal output

Analog signal input

2 AI(-10V to +10V)

Pulse signal input

Open collector or differential input

Pulse feedback output

8 segment internal speed command, 16 segment internal position command

Communication

MODBUS RS485 or MODBUS RS422(SCTool)

Braking resistor

Internal braking resistor(also support external braking resistor)

Function setting

General functions

Auto-tuning

Automatic load inertia identification, automatic rigidity self-tuning

Waveform

4 channels waveform monitoring

10s waveform data recording

Parameter management

Support batch parameter import and export

Vibration suppression

Support mechanical vibration suppression

Protection

Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.

Brake device

Support brake signal output

DI function

Servo enable(S-ON), Error/alarm clear(A-CLR), Forward rotation prohibited(POT)

Backward rotation prohibited(NOT), Command direction(C-SIGN), Emergency stop(E-STOP)

Gain switch(GAIN-5EL), Internal speed selection(INSPD1, INSPD2, INSPD3)

Internal position selection and enable(INPO51, INPO52, INPO53, INPO54, ENINPOS)

DO function

Servo ready(RDY)、Error signal(ALM), Alarm signal(WARN), Rotation detection(TGON)

Zero speed signal(ZSP), Torque limited(T-LIMIT), Velocity limited(V-LIMIT)

Servo start(SRV-ST), Servo brake output(BRK-OFF), ABZ pulse feedback output

Position mode

Pulse frequency

Max to 500KHz

Pulse type

Direction + Pulse, CW/CCW, Orthogonal coding

Pulse filter

First-order low-pass filter or smoothing filter

Pulse output

A, B, Z differential output

Speed mode

Command input

Analog input(-10V to +10V), Internal command(8 segments)

Zero speed clamp

Support

Torque limit

Torque limit under speed mode

Torque mode

Command input

Analog input(-10V to +10V), Internal command

Torque reach

Torque reach signal output

Velocity limit

Velocity limit under torque mode

General type

VD2F

VD2L

Basic Specifications

220V

220V

Control method

IGBT PWM control sine wave current drive

Encoder

Control signal input

Control signal output

Pulse frequency division output

Support

Pulse signal input

Open collector or differential input

Pulse feedback output

Z signal open collector output

ABZ differential output(VD2-XXXXXXH

series support collector signal feedback)

8 segment internal speed command, 16 segment internal position command

Communication

MODBUS RS485 or MODBUS RS422(SCTool)

Braking resistor

750W built-in braking resistor; 400W without built-in;

Both can support external braking resistors.

Function setting

General functions

Auto-tuning

Automatic load inertia identification,automatic rigidity self-tuning

Blend mode

YES

Advanced control algorithms

YES

Waveform

Parameter management

Support batch parameter import and export

Vibration suppression

Support mechanical vibration suppression

Protection

Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.

Dynamic braking

Optional

Brake device

Support brake signal output

DI function

Servo enable(S-ON), Error/alarm clear(A-CLR), Forward rotation prohibited(POT)

Backward rotation prohibited(NOT), Command direction(C-SIGN), Emergency stop(E-STOP)

Gain switch(GAIN-5EL), Internal speed selection(INSPD1, INSPD2, INSPD3)

Internal position selection and enable(INPO51, INPO52, INPO53, INPO54, ENINPOS)

DO function

Servo ready(RDY)、Error signal(ALM), Alarm signal(WARN), Rotation detection(TGON)

Zero speed signal(ZSP), Torque limited(T-LIMIT), Velocity limited(V-LIMIT)

Servo start(SRV-ST), Servo brake output(BRK-OFF), Z pulse feedback output

Servo ready(RDY)、Error signal(ALM), Alarm signal(WARN), Rotation detection(TGON)

Zero speed signal(ZSP), Torque limited(T-LIMIT), Velocity limited(V-LIMIT)

Servo start(SRV-ST), Servo brake output(BRK-OFF), ABZ pulse feedback output

Max to 500KHz

Direction + pulse; Orthogonal coding:
V1.21 and above support CW/CCW

Pulse output

Speed mode

Internal command

Torque reach signal output

Velocity limit under torque mode

Bus type

VD3E(A type)

VD3E(B type)

VD3E(C type)

Basic Specifications

6DI,

Select the output function according to the function code configuration

3DO,

Select the output function according to the function code configuration

Communication function

Host computer communication

The USB interface can be used to set function code parameters, monitor status, and view waveforms through a computer host computer.
Parameter self-tuning, etc.

Built-in braking resistor, supports external braking resistor

Waveform viewing

Waveform storage

Waveform acquisition frequency 1K Hz,10s waveform data recording

Vibration suppression

Protection

Servo enable(S-ON), Error/alarm clear(A-CLR), Forward rotation prohibited(POT)Backward rotation prohibited(NOT), Emergency stop(E-STOP)

Servo ready(RDY)、Error signal(ALM), Alarm signal(WARN), Rotation detection(TGON)

Zero speed signal(ZSP), Torque limited(T-LIMIT), Velocity limited(V-LIMIT)

Servo start(SRV-ST), Servo brake output(BRK-OFF),CommunicationVDO

EtherCAT related

EtherCAT related

Communication protocol

EtherCAT protocol

Support services

CoE(PDO,SDO)

Sync mode

DC-Distributed Clock

Physical layer

100BASE-TX

Baud rate

100 Mbit/s(100Base-TX)

Duplex mode

Full duplex

Topology

Circular, linear

Transmission medium

Shielded Category 5e or better network cable

Transmission distance

Less than 100M between two nodes (good environment, good cables)

Frame length

44 bytes~1498 bytes

Excessive data

Sync jitter

<1μs

Distributed clock

64 bit

EEPROM capacity

8k bit initialization data is written through the EtherCAT master station

Control mode and performance

Control mode

CSP、HM

125μs