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Wiki source code of 05 Servo Product Manual

Version 45.1 by Molly on 2024/09/14 15:17
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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 = **VD2F/VD2L servo driver parameter table** =
239
240 (% style="width:1406px" %)
241 |(% colspan="6" rowspan="1" style="width:537px" %)(((
242 **General type**
243 )))|(% colspan="1" rowspan="1" style="width:503px" %)(((
244 (% style="text-align:center" %)
245 [[image:1726190862910-426.png]]
246 )))|(% rowspan="1" style="width:364px" %)(((
247 (% style="text-align:center" %)
248 [[image:1726190785664-427.png]]
249 )))
250 |(% colspan="6" rowspan="1" style="width:537px" %)**Model**|(% colspan="1" rowspan="1" style="width:503px" %)(((
251 **VD2F**
252 )))|(% rowspan="1" style="width:364px" %)(((
253 **VD2L**
254 )))
255 |(% colspan="3" rowspan="12" %)(((
256 **Basic Specifications**
257 )))|(% colspan="3" style="width:277px" %)**Power supply**|(% colspan="1" rowspan="1" style="width:503px" %)(((
258 220V
259 )))|(% rowspan="1" style="width:364px" %)(((
260 220V
261 )))
262 |(% colspan="3" style="width:277px" %)(((
263 **Control method**
264 )))|(% colspan="2" rowspan="1" style="width:867px" %)(((
265 IGBT PWM control sine wave current drive
266 )))
267 |(% colspan="3" style="width:277px" %)(((
268 **Encoder**
269 )))|(% colspan="2" rowspan="1" style="width:867px" %)17bit, 23bit absolute value encoder
270 |(% colspan="3" style="width:277px" %)(((
271 **Control signal input**
272 )))|(% colspan="2" rowspan="1" style="width:867px" %)4DI
273 |(% colspan="3" style="width:277px" %)(((
274 **Control signal output**
275 )))|(% colspan="2" rowspan="1" style="width:867px" %)4DO
276 |(% colspan="3" style="width:277px" %)(((
277 **Pulse frequency division output**
278 )))|(% colspan="1" rowspan="1" style="width:503px" %)—|(% rowspan="1" style="width:364px" %)(((
279 Support
280 )))
281 |(% colspan="3" style="width:277px" %)(((
282 **Pulse signal input**
283 )))|(% colspan="2" rowspan="1" style="width:867px" %)(((
284 Open collector or differential input
285 )))
286 |(% colspan="3" style="width:277px" %)(((
287 **Pulse feedback output**
288 )))|(% colspan="1" rowspan="1" style="width:503px" %)(((
289 Z signal open collector output
290 )))|(% rowspan="1" style="width:364px" %)(((
291 ABZ differential output(VD2-XXXXXXH
292
293 series support collector signal feedback)
294 )))
295 |(% colspan="3" style="width:277px" %)(% style="background-color:transparent" %)**Internal Command**|(% colspan="2" rowspan="1" style="width:867px" %)(((
296 8 segment internal speed command, 16 segment internal position command
297 )))
298 |(% colspan="3" style="width:277px" %)(((
299 **Communication**
300 )))|(% colspan="2" rowspan="1" style="width:867px" %)(((
301 MODBUS RS485 or MODBUS RS422(SCTool)
302 )))
303 |(% colspan="3" rowspan="2" style="width:277px" %)(((
304 **Braking resistor**
305 )))|(% colspan="4" rowspan="1" style="width:867px" %)(((
306 750W built-in braking resistor; 400W without built-in;
307 )))
308 |(% colspan="4" style="width:867px" %)(((
309 Both can support external braking resistors.
310 )))
311 |(% colspan="3" rowspan="22" %)(((
312 **Function setting**
313 )))|(% colspan="1" rowspan="12" %)(((
314 **General functions**
315 )))|(% colspan="2" style="width:39px" %)(((
316 **Auto-tuning**
317 )))|(% colspan="1" rowspan="1" style="width:503px" %)(((
318 Automatic load inertia identification,automatic rigidity self-tuning
319 )))|(% rowspan="1" style="width:364px" %)-
320 |(% colspan="2" style="width:39px" %)(((
321 **Blend mode**
322 )))|(% colspan="1" rowspan="1" style="width:503px" %)(((
323 YES
324 )))|(% rowspan="1" style="width:364px" %)-
325 |(% colspan="2" style="width:39px" %)(((
326 **Advanced control algorithms**
327 )))|(% colspan="1" style="width:503px" %)(((
328 YES
329 )))|(% style="width:364px" %)-
330 |(% colspan="2" rowspan="2" style="width:39px" %)(((
331 **Waveform**
332 )))|(% colspan="2" style="width:867px" %)4 channels waveform monitoring
333 |(% colspan="2" style="width:867px" %)10s waveform data recording
334 |(% colspan="2" style="width:39px" %)(((
335 **Parameter management**
336 )))|(% colspan="2" rowspan="1" style="width:867px" %)(((
337 Support batch parameter import and export
338 )))
339 |(% colspan="2" style="width:39px" %)(((
340 **Vibration suppression**
341 )))|(% colspan="2" rowspan="1" style="width:867px" %)(((
342 Support mechanical vibration suppression
343 )))
344 |(% colspan="2" style="width:39px" %)(((
345 **Protection**
346 )))|(% colspan="2" style="width:867px" %)(((
347 Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
348 )))
349 |(% colspan="2" style="width:39px" %)(((
350 **Dynamic braking**
351 )))|(% colspan="1" style="width:503px" %)-|(% style="width:364px" %)(((
352 Optional
353 )))
354 |(% colspan="2" style="width:39px" %)(((
355 **Brake device**
356 )))|(% colspan="2" rowspan="1" style="width:867px" %)(((
357 Support brake signal output
358 )))
359 |(% colspan="2" style="width:39px" %)(((
360 **DI function**
361 )))|(% colspan="2" rowspan="1" style="width:867px" %)(((
362 Servo enable((% _mstmutation="1" %)**S-ON**(%%)), Error/alarm clear((% _mstmutation="1" %)**A-CLR**(%%)), Forward rotation prohibited((% _mstmutation="1" %)**POT**(%%))
363
364 Backward rotation prohibited((% _mstmutation="1" %)**NOT**(%%)), Command direction((% _mstmutation="1" %)**C-SIGN**(%%)), Emergency stop((% _mstmutation="1" %)**E-STOP**(%%))
365
366 Gain switch((% _mstmutation="1" %)**GAIN-5EL**(%%)), Internal speed selection((% _mstmutation="1" %)**INSPD1, INSPD2, INSPD3**(%%))
367
368 Internal position selection and enable((% _mstmutation="1" %)**INPO51, INPO52, INPO53, INPO54, ENINPOS**(%%))
369 )))
370 |(% colspan="2" style="width:39px" %)(((
371 **DO function**
372 )))|(% colspan="1" rowspan="1" style="width:503px" %)(((
373 Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
374
375 Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
376
377 Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), Z pulse feedback output
378 )))|(% rowspan="1" style="width:364px" %)(((
379 Servo ready(**RDY**)、Error signal(**ALM**), Alarm signal(**WARN**), Rotation detection(**TGON**)
380
381 Zero speed signal(**ZSP**), Torque limited(**T-LIMIT**), Velocity limited(**V-LIMIT**)
382
383 Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), ABZ pulse feedback output
384 )))
385 |(% colspan="1" rowspan="4" %)**Position mode**|**Pulse frequency**|(% colspan="3" rowspan="1" %)(((
386 Max to 500KHz
387 )))
388 |(% colspan="2" rowspan="1" style="width:39px" %)**Pulse type**|(% rowspan="1" style="width:503px" %)(((
389 Direction + pulse; Orthogonal coding:
390 V1.21 and above support CW/CCW
391 )))|(% rowspan="1" style="width:337px" %)Direction + Pulse, Orthogonal coding
392 |(% colspan="2" rowspan="1" style="width:39px" %)**Pulse filter**|(% colspan="2" rowspan="1" style="width:867px" %)First-order low-pass filter or smoothing filter
393 |(% colspan="2" rowspan="1" style="width:39px" %)(((
394 **Pulse output**
395 )))|(% rowspan="1" style="width:503px" %)-|(% rowspan="1" style="width:337px" %)A, B, Z differential output
396 |(% colspan="1" rowspan="3" %)(((
397 **Speed mode**
398 )))|(% colspan="2" style="width:39px" %)**Command input**|(% colspan="2" rowspan="1" style="width:867px" %)Internal command(8 segments)
399 |(% colspan="2" style="width:39px" %)**Zero speed clamp**|(% colspan="2" rowspan="1" style="width:867px" %)Support
400 |(% colspan="2" style="width:39px" %)**Torque limit**|(% colspan="2" rowspan="1" style="width:867px" %)Torque limit under speed mode
401 |(% colspan="1" rowspan="3" %)**Torque mode**|(% colspan="2" style="width:39px" %)**Command input**|(% colspan="2" rowspan="1" style="width:867px" %)(((
402 Internal command
403 )))
404 |(% colspan="2" style="width:39px" %)**Torque reach**|(% colspan="2" rowspan="1" style="width:867px" %)(((
405 Torque reach signal output
406 )))
407 |(% colspan="2" style="width:39px" %)**Velocity limit**|(% colspan="2" rowspan="1" style="width:867px" %)(((
408 Velocity limit under torque mode
409 )))
410
411 = VD3E servo driver parameter table =
412
413 (% style="margin-left:auto; margin-right:auto; width:1230px" %)
414 |(% colspan="3" rowspan="1" style="width:464px" %)(((
415 **Bus type**
416 )))|(% style="width:309px" %)(((
417 (% style="text-align:center" %)
418 [[image:1726295827531-129.png]]
419
420 (((
421
422 )))
423 )))|(((
424 (% style="text-align:center" %)
425 [[image:1726295883786-742.png]]
426
427 (((
428
429 )))
430 )))|(((
431 (% style="text-align:center" %)
432 [[image:1726295894302-137.png]]
433 )))
434 |(% colspan="3" rowspan="1" style="width:464px" %)**Model**|(% style="width:309px" %)(((
435 **VD3E(A type)**
436 )))|(((
437 **VD3E(B type)**
438 )))|(((
439 **VD3E(C type)**
440 )))
441 |(% colspan="1" rowspan="7" style="width:166px" %)(((
442 **Basic Specifications**
443 )))|(% colspan="2" style="width:301px" %)**Power supply**|(% style="width:309px" %)220V|220V/380V|380V
444 |(% colspan="2" style="width:301px" %)**Control method**|(% colspan="3" rowspan="1" style="width:470px" %)IGBT PWM control sine wave current drive
445 |(% colspan="2" style="width:301px" %)**Encoder**|(% colspan="3" rowspan="1" style="width:470px" %)17bit, 23bit absolute value encoder
446 |(% colspan="2" style="width:301px" %)**Control signal input**|(% colspan="3" rowspan="1" style="width:470px" %)(((
447 6DI,
448
449 Select the output function according to the function code configuration
450 )))
451 |(% colspan="2" style="width:301px" %)**Control signal output**|(% colspan="3" rowspan="1" style="width:470px" %)(((
452 3DO,
453
454 Select the output function according to the function code configuration
455 )))
456 |(% style="width:147px" %)(((
457 **Communication function**
458 )))|(% style="width:155px" %)(((
459 **Host computer communication**
460 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
461 The USB interface can be used to set function code parameters, monitor status, and view waveforms through a computer host computer.
462 Parameter self-tuning, etc.
463 )))
464 |(% colspan="2" style="width:301px" %)**Braking resistor**|(% colspan="3" rowspan="1" style="width:470px" %)(((
465 Built-in braking resistor, supports external braking resistor
466 )))
467 |(% 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
468 |(% colspan="2" style="width:301px" %)(((
469 **Waveform viewing**
470 )))|(% colspan="3" rowspan="1" style="width:470px" %)4 channels waveform monitoring
471 |(% colspan="2" style="width:301px" %)(((
472 **Waveform storage**
473 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
474 Waveform acquisition frequency 1K Hz,(% style="background-color:transparent" %)10s waveform data recording
475 )))
476 |(% colspan="2" style="width:301px" %)**Parameter management**|(% colspan="3" rowspan="1" style="width:470px" %)Support batch parameter import and export
477 |(% colspan="2" style="width:301px" %)(((
478 **Vibration suppression**
479 )))|(% colspan="3" rowspan="1" style="width:470px" %)Support mechanical vibration suppression
480 |(% colspan="2" style="width:301px" %)(((
481
482
483 **Protection**
484 )))|(% colspan="3" rowspan="1" style="width:470px" %)Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
485 |(% colspan="2" style="width:301px" %)**Brake device**|(% colspan="3" rowspan="1" style="width:470px" %)Support brake signal output
486 |(% colspan="2" style="width:301px" %)**DI function**|(% colspan="3" rowspan="1" style="width:470px" %)(((
487 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**(%%))
488 )))
489 |(% colspan="2" style="width:301px" %)**DO function**|(% colspan="3" rowspan="1" style="width:470px" %)(((
490 Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
491
492 Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
493
494 Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**),CommunicationVDO
495 )))
496 |(% colspan="1" rowspan="16" style="width:166px" %)(((
497 **EtherCAT related**
498 )))|(% rowspan="14" style="width:147px" %)(((
499 **EtherCAT related**
500 )))|(% style="width:155px" %)(((
501 **Communication protocol**
502 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
503 EtherCAT protocol
504 )))
505 |(% style="width:155px" %)(((
506 **Support services**
507 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
508 CoE(PDO,SDO)
509 )))
510 |(% style="width:155px" %)(((
511 **Sync mode**
512 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
513 DC-Distributed Clock
514 )))
515 |(% style="width:155px" %)(((
516 **Physical layer**
517 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
518 100BASE-TX
519 )))
520 |(% style="width:155px" %)(((
521 **Baud rate**
522 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
523 100 Mbit/s(100Base-TX)
524 )))
525 |(% style="width:155px" %)(((
526 **Duplex mode**
527 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
528 Full duplex
529 )))
530 |(% style="width:155px" %)(((
531 **Topology**
532 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
533 Circular, linear
534 )))
535 |(% style="width:155px" %)(((
536 **Transmission medium**
537 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
538 Shielded Category 5e or better network cable
539 )))
540 |(% style="width:155px" %)(((
541 **Transmission distance**
542 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
543 Less than 100M between two nodes (good environment, good cables)
544 )))
545 |(% style="width:155px" %)(((
546 **Frame length**
547 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
548 44 bytes~~1498 bytes
549 )))
550 |(% style="width:155px" %)(((
551 **Excessive data**
552 )))|(% colspan="5" rowspan="1" style="width:470px" %)Maximum size of a single Ethernet frame is 1486 bytes
553 |(% style="width:155px" %)(((
554 **Sync jitter**
555 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
556 <1μs
557 )))
558 |(% style="width:155px" %)(((
559 **Distributed clock**
560 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
561 64 bit
562 )))
563 |(% style="width:155px" %)(((
564 **EEPROM capacity**
565 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
566 8k bit initialization data is written through the EtherCAT master station
567 )))
568 |(% rowspan="2" style="width:147px" %)(((
569 **Control mode and performance**
570 )))|(% style="width:155px" %)(((
571 **Control mode**
572 )))|(% colspan="3" rowspan="1" style="width:470px" %)(((
573 CSP、HM
574 )))
575 |(% style="width:155px" %)**Synchronization period**|(% colspan="3" rowspan="1" style="width:470px" %)(((
576 125μs
577 )))
578
579 = Servo motor model description =
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" %)
599
600 (% style="text-align:center" %)
601 [[image:Servo.Manual.02 VD2 SA Series.test.WebHome@image-20220611113846-8.jpeg]]
602
603
604 Motor nameplate