Wiki source code of 05 Servo Product Manual

Version 47.1 by Molly on 2024/09/14 15:18

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
36.1	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	)))
21.1	78	\|(% colspan="3" %)Model\|VD2(A type)\|VD2(B type)\|VD2(C type)
18.1	79	\|(% colspan="1" rowspan="11" %)(((
	80	Basic Specifications
21.1	81	)))\|(% colspan="2" %)Power supply\|220V\|220V/380V\|380V
19.1	82	\|(% colspan="2" %)(((
18.1	83	Control method
19.1	84	)))\|(% colspan="3" rowspan="1" %)(((
	85	IGBT PWM control sine wave current drive
21.1	86	)))
19.1	87	\|(% colspan="2" %)(((
18.1	88	Encoder
19.1	89	)))\|(% colspan="3" rowspan="1" %)(((
	90	2500-line incremental encoder, 17-bit/23-bit absolute encoder
21.1	91	)))
19.1	92	\|(% colspan="2" %)(((
18.1	93	Control signal input
21.1	94	)))\|(% colspan="3" rowspan="1" %)8DI
19.1	95	\|(% colspan="2" %)(((
18.1	96	Control signal output
21.1	97	)))\|(% colspan="3" rowspan="1" %)4DO
19.1	98	\|(% colspan="2" %)(((
18.1	99	Analog signal input
19.1	100	)))\|(% colspan="3" rowspan="1" %)(((
	101	2 AI(-10V to +10V)
21.1	102	)))
19.1	103	\|(% colspan="2" %)(((
18.1	104	Pulse signal input
19.1	105	)))\|(% colspan="3" rowspan="1" %)(((
	106	Open collector or differential input
21.1	107	)))
19.1	108	\|(% colspan="2" %)(((
18.1	109	Pulse feedback output
22.1	110	)))\|(% colspan="3" rowspan="1" %)ABZ differential output(VD2-XXXXXXH series support collector signal feedback)
19.1	111	\|(% colspan="2" %)(% style="background-color:transparent" %)Internal Command\|(% colspan="3" rowspan="1" %)(((
	112	8 segment internal speed command, 16 segment internal position command
21.1	113	)))
19.1	114	\|(% colspan="2" %)(((
18.1	115	Communication
19.1	116	)))\|(% colspan="3" rowspan="1" %)(((
	117	MODBUS RS485 or MODBUS RS422(SCTool)
21.1	118	)))
19.1	119	\|(% colspan="2" %)(((
	120	Braking resistor
	121	)))\|(% colspan="3" rowspan="1" %)(((
	122	Internal braking resistor(also support external braking resistor)
21.1	123	)))
19.1	124	\|(% colspan="1" rowspan="19" %)(((
	125	Function setting
	126	)))\|(% colspan="1" rowspan="9" %)(((
	127	General functions
	128	)))\|(((
	129	Auto-tuning
20.1	130	)))\|(% colspan="3" rowspan="1" %)(((
	131	Automatic load inertia identification, automatic rigidity self-tuning
21.1	132	)))
19.1	133	\|(% colspan="1" rowspan="2" %)(((
	134	Waveform
20.1	135	)))\|(% colspan="3" rowspan="1" %)(((
	136	4 channels waveform monitoring
21.1	137	)))
20.1	138	\|(% colspan="3" rowspan="1" %)(((
	139	10s waveform data recording
21.1	140	)))
18.1	141	\|(((
19.1	142	Parameter management
20.1	143	)))\|(% colspan="3" rowspan="1" %)(((
	144	Support batch parameter import and export
21.1	145	)))
19.1	146	\|(((
	147	Vibration suppression
20.1	148	)))\|(% colspan="3" rowspan="1" %)(((
	149	Support mechanical vibration suppression
21.1	150	)))
19.1	151	\|(((
	152	Protection
20.1	153	)))\|(% colspan="3" rowspan="1" %)(((
	154	Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
21.1	155	)))
19.1	156	\|(((
	157	Brake device
22.1	158	)))\|(% colspan="3" rowspan="1" %)(((
	159	Support brake signal output
	160	)))
19.1	161	\|(((
	162	DI function
22.1	163	)))\|(% colspan="3" rowspan="1" %)(((
26.1	164	Servo enable((% _mstmutation="1" %)S-ON(%%)), Error/alarm clear((% _mstmutation="1" %)A-CLR(%%)), Forward rotation prohibited((% _mstmutation="1" %)POT(%%))
22.1	165
26.1	166	Backward rotation prohibited((% _mstmutation="1" %)NOT(%%)), Command direction((% _mstmutation="1" %)C-SIGN(%%)), Emergency stop((% _mstmutation="1" %)E-STOP(%%))
22.1	167
26.1	168	Gain switch((% _mstmutation="1" %)GAIN-5EL(%%)), Internal speed selection((% _mstmutation="1" %)INSPD1, INSPD2, INSPD3(%%))
22.1	169
26.1	170	Internal position selection and enable((% _mstmutation="1" %)INPO51, INPO52, INPO53, INPO54, ENINPOS(%%))
22.1	171	)))
19.1	172	\|(((
	173	DO function
22.1	174	)))\|(% colspan="3" rowspan="1" %)(((
26.1	175	Servo ready((% _mstmutation="1" %)RDY(%%))、Error signal((% _mstmutation="1" %)ALM(%%)), Alarm signal((% _mstmutation="1" %)WARN(%%)), Rotation detection((% _mstmutation="1" %)TGON(%%))
22.1	176
26.1	177	Zero speed signal((% _mstmutation="1" %)ZSP(%%)), Torque limited((% _mstmutation="1" %)T-LIMIT(%%)), Velocity limited((% _mstmutation="1" %)V-LIMIT(%%))
22.1	178
	179	Servo start(SRV-ST), Servo brake output(BRK-OFF), ABZ pulse feedback output
	180	)))
19.1	181	\|(% colspan="1" rowspan="4" %)(((
	182	Position mode
	183	)))\|(((
	184	Pulse frequency
22.1	185	)))\|(% colspan="3" rowspan="1" %)(((
	186	Max to 500KHz
	187	)))
19.1	188	\|(((
	189	Pulse type
22.1	190	)))\|(% colspan="3" rowspan="1" %)(((
	191	Direction + Pulse, CW/CCW, Orthogonal coding
	192	)))
19.1	193	\|(((
	194	Pulse filter
22.1	195	)))\|(% colspan="3" rowspan="1" %)(((
	196	First-order low-pass filter or smoothing filter
	197	)))
19.1	198	\|(((
	199	Pulse output
22.1	200	)))\|(% colspan="3" rowspan="1" %)(((
	201	A, B, Z differential output
	202	)))
19.1	203	\|(% colspan="1" rowspan="3" %)(((
	204	Speed mode
	205	)))\|(((
	206	Command input
22.1	207	)))\|(% colspan="3" rowspan="1" %)(((
	208	Analog input(-10V to +10V), Internal command(8 segments)
	209	)))
19.1	210	\|(((
	211	Zero speed clamp
22.1	212	)))\|(% colspan="3" rowspan="1" %)(((
	213	Support
	214	)))
19.1	215	\|(((
	216	Torque limit
22.1	217	)))\|(% colspan="3" rowspan="1" %)(((
	218	Torque limit under speed mode
	219	)))
19.1	220	\|(% colspan="1" rowspan="3" %)(((
	221	Torque mode
	222	)))\|(((
	223	Command input
22.1	224	)))\|(% colspan="3" rowspan="1" %)(((
	225	Analog input(-10V to +10V), Internal command
	226	)))
19.1	227	\|(((
	228	Torque reach
22.1	229	)))\|(% colspan="3" rowspan="1" %)(((
	230	Torque reach signal output
	231	)))
19.1	232	\|(((
	233	Velocity limit
22.1	234	)))\|(% colspan="3" rowspan="1" %)(((
	235	Velocity limit under torque mode
	236	)))
23.1	237
27.1	238	= VD2F/VD2L servo driver parameter table =
	239
42.1	240	(% style="width:1406px" %)
	241	\|(% colspan="6" rowspan="1" style="width:537px" %)(((
27.1	242	General type
42.1	243	)))\|(% colspan="1" rowspan="1" style="width:503px" %)(((
27.1	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	)))
42.1	250	\|(% colspan="6" rowspan="1" style="width:537px" %)Model\|(% colspan="1" rowspan="1" style="width:503px" %)(((
27.1	251	VD2F
	252	)))\|(% rowspan="1" style="width:364px" %)(((
	253	VD2L
	254	)))
	255	\|(% colspan="3" rowspan="12" %)(((
	256	Basic Specifications
42.1	257	)))\|(% colspan="3" style="width:277px" %)Power supply\|(% colspan="1" rowspan="1" style="width:503px" %)(((
27.1	258	220V
	259	)))\|(% rowspan="1" style="width:364px" %)(((
	260	220V
	261	)))
42.1	262	\|(% colspan="3" style="width:277px" %)(((
27.1	263	Control method
42.1	264	)))\|(% colspan="2" rowspan="1" style="width:867px" %)(((
27.1	265	IGBT PWM control sine wave current drive
	266	)))
42.1	267	\|(% colspan="3" style="width:277px" %)(((
27.1	268	Encoder
42.1	269	)))\|(% colspan="2" rowspan="1" style="width:867px" %)17bit, 23bit absolute value encoder
	270	\|(% colspan="3" style="width:277px" %)(((
27.1	271	Control signal input
42.1	272	)))\|(% colspan="2" rowspan="1" style="width:867px" %)4DI
	273	\|(% colspan="3" style="width:277px" %)(((
27.1	274	Control signal output
42.1	275	)))\|(% colspan="2" rowspan="1" style="width:867px" %)4DO
	276	\|(% colspan="3" style="width:277px" %)(((
27.1	277	Pulse frequency division output
42.1	278	)))\|(% colspan="1" rowspan="1" style="width:503px" %)—\|(% rowspan="1" style="width:364px" %)(((
27.1	279	Support
	280	)))
42.1	281	\|(% colspan="3" style="width:277px" %)(((
27.1	282	Pulse signal input
42.1	283	)))\|(% colspan="2" rowspan="1" style="width:867px" %)(((
27.1	284	Open collector or differential input
	285	)))
42.1	286	\|(% colspan="3" style="width:277px" %)(((
27.1	287	Pulse feedback output
42.1	288	)))\|(% colspan="1" rowspan="1" style="width:503px" %)(((
27.1	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	)))
42.1	295	\|(% colspan="3" style="width:277px" %)(% style="background-color:transparent" %)Internal Command\|(% colspan="2" rowspan="1" style="width:867px" %)(((
27.1	296	8 segment internal speed command, 16 segment internal position command
	297	)))
42.1	298	\|(% colspan="3" style="width:277px" %)(((
27.1	299	Communication
42.1	300	)))\|(% colspan="2" rowspan="1" style="width:867px" %)(((
27.1	301	MODBUS RS485 or MODBUS RS422(SCTool)
	302	)))
42.1	303	\|(% colspan="3" rowspan="2" style="width:277px" %)(((
27.1	304	Braking resistor
42.1	305	)))\|(% colspan="4" rowspan="1" style="width:867px" %)(((
27.1	306	750W built-in braking resistor; 400W without built-in;
	307	)))
42.1	308	\|(% colspan="4" style="width:867px" %)(((
27.1	309	Both can support external braking resistors.
	310	)))
29.1	311	\|(% colspan="3" rowspan="22" %)(((
27.1	312	Function setting
	313	)))\|(% colspan="1" rowspan="12" %)(((
	314	General functions
42.1	315	)))\|(% colspan="2" style="width:39px" %)(((
27.1	316	Auto-tuning
42.1	317	)))\|(% colspan="1" rowspan="1" style="width:503px" %)(((
30.1	318	Automatic load inertia identification,automatic rigidity self-tuning
27.1	319	)))\|(% rowspan="1" style="width:364px" %)-
42.1	320	\|(% colspan="2" style="width:39px" %)(((
27.1	321	Blend mode
42.1	322	)))\|(% colspan="1" rowspan="1" style="width:503px" %)(((
27.1	323	YES
	324	)))\|(% rowspan="1" style="width:364px" %)-
42.1	325	\|(% colspan="2" style="width:39px" %)(((
27.1	326	Advanced control algorithms
42.1	327	)))\|(% colspan="1" style="width:503px" %)(((
27.1	328	YES
	329	)))\|(% style="width:364px" %)-
42.1	330	\|(% colspan="2" rowspan="2" style="width:39px" %)(((
27.1	331	Waveform
42.1	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" %)(((
27.1	335	Parameter management
42.1	336	)))\|(% colspan="2" rowspan="1" style="width:867px" %)(((
27.1	337	Support batch parameter import and export
	338	)))
42.1	339	\|(% colspan="2" style="width:39px" %)(((
27.1	340	Vibration suppression
42.1	341	)))\|(% colspan="2" rowspan="1" style="width:867px" %)(((
27.1	342	Support mechanical vibration suppression
	343	)))
42.1	344	\|(% colspan="2" style="width:39px" %)(((
27.1	345	Protection
42.1	346	)))\|(% colspan="2" style="width:867px" %)(((
27.1	347	Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
	348	)))
42.1	349	\|(% colspan="2" style="width:39px" %)(((
27.1	350	Dynamic braking
42.1	351	)))\|(% colspan="1" style="width:503px" %)-\|(% style="width:364px" %)(((
27.1	352	Optional
	353	)))
42.1	354	\|(% colspan="2" style="width:39px" %)(((
27.1	355	Brake device
42.1	356	)))\|(% colspan="2" rowspan="1" style="width:867px" %)(((
27.1	357	Support brake signal output
	358	)))
42.1	359	\|(% colspan="2" style="width:39px" %)(((
27.1	360	DI function
42.1	361	)))\|(% colspan="2" rowspan="1" style="width:867px" %)(((
27.1	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	)))
42.1	370	\|(% colspan="2" style="width:39px" %)(((
27.1	371	DO function
42.1	372	)))\|(% colspan="1" rowspan="1" style="width:503px" %)(((
27.1	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	)))
42.1	388	\|(% colspan="2" rowspan="1" style="width:39px" %)Pulse type\|(% rowspan="1" style="width:503px" %)(((
27.1	389	Direction + pulse; Orthogonal coding:
	390	V1.21 and above support CW/CCW
	391	)))\|(% rowspan="1" style="width:337px" %)Direction + Pulse, Orthogonal coding
42.1	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" %)(((
27.1	394	Pulse output
42.1	395	)))\|(% rowspan="1" style="width:503px" %)-\|(% rowspan="1" style="width:337px" %)A, B, Z differential output
29.1	396	\|(% colspan="1" rowspan="3" %)(((
30.1	397	Speed mode
42.1	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" %)(((
30.1	402	Internal command
	403	)))
42.1	404	\|(% colspan="2" style="width:39px" %)Torque reach\|(% colspan="2" rowspan="1" style="width:867px" %)(((
30.1	405	Torque reach signal output
	406	)))
42.1	407	\|(% colspan="2" style="width:39px" %)Velocity limit\|(% colspan="2" rowspan="1" style="width:867px" %)(((
30.1	408	Velocity limit under torque mode
	409	)))
27.1	410
32.1	411	= VD3E servo driver parameter table =
	412
35.1	413	(% style="margin-left:auto; margin-right:auto; width:1230px" %)
32.1	414	\|(% colspan="3" rowspan="1" style="width:464px" %)(((
	415	Bus type
	416	)))\|(% style="width:309px" %)(((
	417	(% style="text-align:center" %)
33.1	418	[[image:1726295827531-129.png]]
	419
	420	(((
	421
	422	)))
35.1	423	)))\|(((
	424	(% style="text-align:center" %)
	425	[[image:1726295883786-742.png]]
	426
	427	(((
33.1	428
35.1	429	)))
32.1	430	)))\|(((
35.1	431	(% style="text-align:center" %)
33.1	432	[[image:1726295894302-137.png]]
32.1	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" %)(((
37.1	501	Communication protocol
32.1	502	)))\|(% colspan="3" rowspan="1" style="width:470px" %)(((
	503	EtherCAT protocol
	504	)))
	505	\|(% style="width:155px" %)(((
37.1	506	Support services
32.1	507	)))\|(% colspan="3" rowspan="1" style="width:470px" %)(((
	508	CoE(PDO,SDO)
	509	)))
	510	\|(% style="width:155px" %)(((
37.1	511	Sync mode
32.1	512	)))\|(% colspan="3" rowspan="1" style="width:470px" %)(((
	513	DC-Distributed Clock
	514	)))
	515	\|(% style="width:155px" %)(((
37.1	516	Physical layer
32.1	517	)))\|(% colspan="3" rowspan="1" style="width:470px" %)(((
	518	100BASE-TX
	519	)))
	520	\|(% style="width:155px" %)(((
37.1	521	Baud rate
32.1	522	)))\|(% colspan="3" rowspan="1" style="width:470px" %)(((
	523	100 Mbit/s(100Base-TX)
	524	)))
	525	\|(% style="width:155px" %)(((
37.1	526	Duplex mode
32.1	527	)))\|(% colspan="3" rowspan="1" style="width:470px" %)(((
	528	Full duplex
	529	)))
	530	\|(% style="width:155px" %)(((
37.1	531	Topology
32.1	532	)))\|(% colspan="3" rowspan="1" style="width:470px" %)(((
	533	Circular, linear
	534	)))
	535	\|(% style="width:155px" %)(((
37.1	536	Transmission medium
32.1	537	)))\|(% colspan="3" rowspan="1" style="width:470px" %)(((
	538	Shielded Category 5e or better network cable
	539	)))
	540	\|(% style="width:155px" %)(((
37.1	541	Transmission distance
32.1	542	)))\|(% colspan="3" rowspan="1" style="width:470px" %)(((
	543	Less than 100M between two nodes (good environment, good cables)
	544	)))
	545	\|(% style="width:155px" %)(((
37.1	546	Frame length
32.1	547	)))\|(% colspan="3" rowspan="1" style="width:470px" %)(((
	548	44 bytes~~1498 bytes
	549	)))
	550	\|(% style="width:155px" %)(((
37.1	551	Excessive data
32.1	552	)))\|(% colspan="5" rowspan="1" style="width:470px" %)Maximum size of a single Ethernet frame is 1486 bytes
	553	\|(% style="width:155px" %)(((
37.1	554	Sync jitter
32.1	555	)))\|(% colspan="3" rowspan="1" style="width:470px" %)(((
	556	<1μs
	557	)))
	558	\|(% style="width:155px" %)(((
37.1	559	Distributed clock
32.1	560	)))\|(% colspan="3" rowspan="1" style="width:470px" %)(((
	561	64 bit
	562	)))
	563	\|(% style="width:155px" %)(((
37.1	564	EEPROM capacity
32.1	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" %)(((
37.1	571	Control mode
32.1	572	)))\|(% colspan="3" rowspan="1" style="width:470px" %)(((
	573	CSP、HM
	574	)))
37.1	575	\|(% style="width:155px" %)Synchronization period\|(% colspan="3" rowspan="1" style="width:470px" %)(((
32.1	576	125μs
	577	)))
	578
41.1	579	= Servo motor model description =
	580
25.1	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" %)
44.1	599
	600	(% style="text-align:center" %)
45.1	601	[[image:Servo.Manual.02 VD2 SA Series.test.WebHome@image-20220611113846-8.jpeg]]
44.1	602
	603
47.1	604	Motor nameplate

Wiki source code of 05 Servo Product Manual

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