Wiki source code of 05 Servo Product Manual

Version 51.2 by Molly on 2024/09/18 09:22

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
47.1	603	Motor nameplate
48.1	604
50.1	605	= Servo Drive and Motor Matching Table =
	606
	607	Note: The red-marked combination is not recommended.
	608
	609	\|Control type\|Voltage level\|Drive series\|Drive model\|Support motor
	610	\|(% rowspan="18" %)Pulse type\|(% rowspan="12" %)220V\|(% rowspan="3" %)VD2F\|VD2F-003SA1P\|(0.1-0.2)kW
	611	\|VD2F-010SA1P\|(0.2-0.4)kW
	612	\|VD2F-014SA1P\|(((
	613	(0.6-0.75)kW
	614
	615	(0.85-1.0)kW
	616	)))
	617	\|(% rowspan="2" %)VD2L\|VD2L-010SA1P\|(0.2-0.4)kW
	618	\|VD2L-014SA1P/D\|(((
	619	(0.6-0.75)kW
	620
	621	(0.85-1.0)kW
	622	)))
	623	\|(% rowspan="2" %)VD2 A型\|VD2-010SA1G/R/H\|(0.2-0.4)kW
	624	\|VD2-014SA1G/R/H\|(((
	625	(0.6-0.75)kW
	626
	627	(0.85-1.0)kW
	628	)))
	629	\|(% rowspan="8" %)VD2 B型\|VD2-016SA1G/R/H\|(0.85-1.5)kW
	630	\|VD2-019SA1G/R/H\|(1.5-2.0)kW
	631	\|VD2-021SA1G/R/H\|(2.0-2.5)kW
	632	\|VD2-025SA1G\|(2.5-3.0)kW
	633	\|VD2-030SA1G\|(3.0-4.0)kW
	634	\|(% rowspan="6" %)380V\|VD2-016TA1G\|(0.85-1.5)kW
	635	\|VD2-019TA1G\|(1.5-2.0)kW
	636	\|VD2-021TA1G\|(2.0-3.0)kW
	637	\|(% rowspan="3" %)VD2 C型\|VD2-030TA1G\|(3.0-5.0)kW
	638	\|VD2-040TA1G\|(5.0-6.0)kW
	639	\|VD2-050TA1G\|(7.5)kW
	640	\|(% rowspan="14" %)EtherCAT type\|(% rowspan="8" %)220V\|(% rowspan="3" %)VD3E A型\|VD3E-003SA1G\|(0.1-0.2)kW
	641	\|VD3E-010SA1G\|(0.2-0.4)kW
	642	\|VD3E-014SA1G\|(((
	643	(0.6-0.75)kW
	644
	645	(0.85-1.0)kW
	646	)))
	647	\|(% rowspan="8" %)VD3E B型\|VD3E-016SA1G\|(0.85-1.5)kW
	648	\|VD3E-019SA1G\|(1.5-2.0)kW
	649	\|VD3E-021SA1G\|(2.0-2.5)kW
	650	\|VD3E-025SA1G\|(2.5-3.0)kW
	651	\|VD3E-030SA1G\|(3.0-4.0)kW
	652	\|(% rowspan="6" %)380V\|VD3E-016TA1G\|(0.85-1.5)kW
	653	\|VD3E-019TA1G\|(1.5-2.0)kW
	654	\|VD3E-021TA1G\|(2.0-3.0)kW
	655	\|(% rowspan="3" %)VD3E C型\|VD3E-030TA1G\|(3.0-5.0)kW
	656	\|VD3E-040TA1G\|(5.0-6.0)kW
	657	\|VD3E-050TA1G\|(7.5)kW
	658
	659	= Servo Cable Naming Rules =
	660
	661
	662	(% style="margin-left:auto; margin-right:auto; width:140px" %)
	663	\|E\|-\|J1394\|-\|R9M\|-\|3M\|X7\|-\|A1\|-\|2
	664	\|①\| \|②\| \|③\| \|④\|⑤\| \|⑥\| \|⑦
	665
	666	\|①Cable type\|E: Encoder adapter cable\| \|(% rowspan="4" %)④Cable length\|3M: 3m
	667	\| \| \| \|5M: 5m
	668	\|(% rowspan="2" %)②Drive side connector\|J1394: 1394 connector\| \|7M: 7m
	669	\|D15G: DB15 male connector\| \|...
	670	\| \| \| \| \|
	671	\|(% rowspan="7" %)③Motor side connector\|R9M: 9-core rectangular female connector\| \|(% rowspan="3" %)⑤Number of cores\|X5: 5 cores
	672	\|MC7S: 7-core straight female connector\| \|X7: 7 cores
	673	\|H28K7M: 7-core 28mm aviation female connector\| \|...
	674	\|CM10: 11-core 11mm aviation female connector\| \| \|
	675	\|MC7P: 7-core straight female connector (L2)\| \|(% rowspan="2" %)⑥Wire size\|A: 0.2mm/0.14mm
	676	\|R15M: 15-core rectangular female connector\| \|A1: 0.2mm/0.14mm with battery box
	677	\|H28J15M: 15-core 28mm aviation female connector\| \| \|
	678	\| \| \| \|(% rowspan="2" %)⑦Others\|1: Ordinary cable
	679	\| \| \| \|2: High flex cable
	680
	681	(% style="margin-left:auto; margin-right:auto; width:140px" %)
	682	\|P\|-\|U3O1\|-\|H28J4M\|-\|5M\|X4\|-\|C\|-\|1
	683	\|①\| \|②\| \|③\| \|④\|⑤\| \|⑥\| \|⑦
	684
	685	\|①Cable type\|P: Power adapter cable/brake cable\| \|(% rowspan="6" %)④Cable length\|3M: 3m
	686	\| \| \| \|5M: 5m
	687	\|(% rowspan="8" %)②Drive side connector\|Z3O1: 3-core pin-type cold-pressed terminal and 1-core O-type cold-pressed terminal\| \|6D5M: 6.5m
	688	\|Z3O3: 3-core pin-type cold-pressed terminal and 3-core O-type cold-pressed terminal\| \|7M: 7m
	689	\|Z4: 4-core pin-type cold-pressed terminal\| \|10M: 10m
	690	\|Z4O2: 4-core pin-type cold-pressed terminal and 2-core O-type cold-pressed terminal\| \|...
	691	\|U3O1: 3-core U-type cold-pressed terminal and 1-core O-type cold-pressed terminal\| \| \|
	692	\|U3O3: 3-core U-type cold-pressed terminal and 3-core O-type cold-pressed terminal\| \|(% rowspan="4" %)⑤Number of cores\|X2: 2 cores
	693	\|Z6: 6-core pin-type cold-pressed terminal\| \|X4: 4 cores
	694	\|O2: 2-core O-type cold-pressed terminal\| \|X6: 6 cores
	695	\| \| \| \|...
	696	\|(% rowspan="9" %)③Motor side connector\|18A6: 6-core 23mm aviation female connector\| \| \|
	697	\|R4M: 4-core rectangular female connector\| \|(% rowspan="5" %)⑥Wire size\|D: 0.5mm
	698	\|MC4S: 4-core straight female connector\| \|E: 0.75mm
	699	\|MC6S: 6-core straight female connector\| \|B: 1.0mm
	700	\|H28J4M: 4-core 28mm aviation female connector\| \|F: 1.5mm
	701	\|H32J4M: 4-core 32mm aviation female connector\| \|C: 2.5mm
	702	\|R2M: 2-core rectangular female connector\| \| \|
	703	\|MC4H: 4-core H-type straight female connector\| \|(% rowspan="2" %)⑦Others\|1: Ordinary cable
	704	\|MC6H: 6-core H-type straight female connector\| \|2: High flex cable
	705
	706	= Servo Cable Naming Rules =
	707
	708	(% style="margin-left:auto; margin-right:auto; width:140px" %)
	709	\|E\|-\|J1394\|-\|R9M\|-\|3M\|X7\|-\|A1\|-\|2
	710	\|①\| \|②\| \|③\| \|④\|⑤\| \|⑥\| \|⑦
	711
	712	\|①Cable type\|E: Encoder adapter cable\| \|(% rowspan="4" %)④Cable length\|3M: 3m
	713	\| \| \| \|5M: 5m
	714	\|(% rowspan="2" %)②Drive side connector\|J1394: 1394 connector\| \|7M: 7m
	715	\|D15G: DB15 male connector\| \|...
	716	\| \| \| \| \|
	717	\|(% rowspan="7" %)③Motor side connector\|R9M: 9-core rectangular female connector\| \|(% rowspan="3" %)⑤Number of cores\|X5: 5 cores
	718	\|MC7S: 7-core straight female connector\| \|X7: 7 cores
	719	\|H28K7M: 7-core 28mm aviation female connector\| \|...
	720	\|CM10: 11-core 11mm aviation female connector\| \| \|
	721	\|MC7P: 7-core straight female connector (L2)\| \|(% rowspan="2" %)⑥Wire size\|A: 0.2mm/0.14mm
	722	\|R15M: 15-core rectangular female connector\| \|A1: 0.2mm/0.14mm with battery box
	723	\|H28J15M: 15-core 28mm aviation female connector\| \| \|
	724	\| \| \| \|(% rowspan="2" %)⑦Others\|1: Ordinary cable
	725	\| \| \| \|2: High flex cable
	726
	727	(% style="margin-left:auto; margin-right:auto; width:140px" %)
	728	\|P\|-\|U3O1\|-\|H28J4M\|-\|5M\|X4\|-\|C\|-\|1
	729	\|①\| \|②\| \|③\| \|④\|⑤\| \|⑥\| \|⑦
	730
	731	\|①Cable type\|P: Power adapter cable/brake cable\| \|(% rowspan="6" %)④Cable length\|3M: 3m
	732	\| \| \| \|5M: 5m
	733	\|(% rowspan="8" %)②Drive side connector\|Z3O1: 3-core pin-type cold-pressed terminal and 1-core O-type cold-pressed terminal\| \|6D5M: 6.5m
	734	\|Z3O3: 3-core pin-type cold-pressed terminal and 3-core O-type cold-pressed terminal\| \|7M: 7m
	735	\|Z4: 4-core pin-type cold-pressed terminal\| \|10M: 10m
	736	\|Z4O2: 4-core pin-type cold-pressed terminal and 2-core O-type cold-pressed terminal\| \|...
	737	\|U3O1: 3-core U-type cold-pressed terminal and 1-core O-type cold-pressed terminal\| \| \|
	738	\|U3O3: 3-core U-type cold-pressed terminal and 3-core O-type cold-pressed terminal\| \|(% rowspan="4" %)⑤Number of cores\|X2: 2 cores
	739	\|Z6: 6-core pin-type cold-pressed terminal\| \|X4: 4 cores
	740	\|O2: 2-core O-type cold-pressed terminal\| \|X6: 6 cores
	741	\| \| \| \|...
	742	\|(% rowspan="9" %)③Motor side connector\|18A6: 6-core 23mm aviation female connector\| \| \|
	743	\|R4M: 4-core rectangular female connector\| \|(% rowspan="5" %)⑥Wire size\|D: 0.5mm
	744	\|MC4S: 4-core straight female connector\| \|E: 0.75mm
	745	\|MC6S: 6-core straight female connector\| \|B: 1.0mm
	746	\|H28J4M: 4-core 28mm aviation female connector\| \|F: 1.5mm
	747	\|H32J4M: 4-core 32mm aviation female connector\| \|C: 2.5mm
	748	\|R2M: 2-core rectangular female connector\| \| \|
	749	\|MC4H: 4-core H-type straight female connector\| \|(% rowspan="2" %)⑦Others\|1: Ordinary cable
	750	\|MC6H: 6-core H-type straight female connector\| \|2: High flex cable
	751
	752	= Servo Cable Naming Rules =
	753
	754	(% style="margin-left:auto; margin-right:auto; width:140px" %)
	755	\|E\|-\|J1394\|-\|R9M\|-\|3M\|X7\|-\|A1\|-\|2
	756	\|①\| \|②\| \|③\| \|④\|⑤\| \|⑥\| \|⑦
	757
	758	\|①Cable type\|E: Encoder adapter cable\| \|(% rowspan="4" %)④Cable length\|3M: 3m
	759	\| \| \| \|5M: 5m
	760	\|(% rowspan="2" %)②Drive side connector\|J1394: 1394 connector\| \|7M: 7m
	761	\|D15G: DB15 male connector\| \|...
	762	\| \| \| \| \|
	763	\|(% rowspan="7" %)③Motor side connector\|R9M: 9-core rectangular female connector\| \|(% rowspan="3" %)⑤Number of cores\|X5: 5 cores
	764	\|MC7S: 7-core straight female connector\| \|X7: 7 cores
	765	\|H28K7M: 7-core 28mm aviation female connector\| \|...
	766	\|CM10: 11-core 11mm aviation female connector\| \| \|
	767	\|MC7P: 7-core straight female connector (L2)\| \|(% rowspan="2" %)⑥Wire size\|A: 0.2mm/0.14mm
	768	\|R15M: 15-core rectangular female connector\| \|A1: 0.2mm/0.14mm with battery box
	769	\|H28J15M: 15-core 28mm aviation female connector\| \| \|
	770	\| \| \| \|(% rowspan="2" %)⑦Others\|1: Ordinary cable
	771	\| \| \| \|2: High flex cable
	772
	773	(% style="margin-left:auto; margin-right:auto; width:140px" %)
	774	\|P\|-\|U3O1\|-\|H28J4M\|-\|5M\|X4\|-\|C\|-\|1
	775	\|①\| \|②\| \|③\| \|④\|⑤\| \|⑥\| \|⑦
	776
	777	\|①Cable type\|P: Power adapter cable/brake cable\| \|(% rowspan="6" %)④Cable length\|3M: 3m
	778	\| \| \| \|5M: 5m
	779	\|(% rowspan="8" %)②Drive side connector\|Z3O1: 3-core pin-type cold-pressed terminal and 1-core O-type cold-pressed terminal\| \|6D5M: 6.5m
	780	\|Z3O3: 3-core pin-type cold-pressed terminal and 3-core O-type cold-pressed terminal\| \|7M: 7m
	781	\|Z4: 4-core pin-type cold-pressed terminal\| \|10M: 10m
	782	\|Z4O2: 4-core pin-type cold-pressed terminal and 2-core O-type cold-pressed terminal\| \|...
	783	\|U3O1: 3-core U-type cold-pressed terminal and 1-core O-type cold-pressed terminal\| \| \|
	784	\|U3O3: 3-core U-type cold-pressed terminal and 3-core O-type cold-pressed terminal\| \|(% rowspan="4" %)⑤Number of cores\|X2: 2 cores
	785	\|Z6: 6-core pin-type cold-pressed terminal\| \|X4: 4 cores
	786	\|O2: 2-core O-type cold-pressed terminal\| \|X6: 6 cores
	787	\| \| \| \|...
	788	\|(% rowspan="9" %)③Motor side connector\|18A6: 6-core 23mm aviation female connector\| \| \|
	789	\|R4M: 4-core rectangular female connector\| \|(% rowspan="5" %)⑥Wire size\|D: 0.5mm
	790	\|MC4S: 4-core straight female connector\| \|E: 0.75mm
	791	\|MC6S: 6-core straight female connector\| \|B: 1.0mm
	792	\|H28J4M: 4-core 28mm aviation female connector\| \|F: 1.5mm
	793	\|H32J4M: 4-core 32mm aviation female connector\| \|C: 2.5mm
	794	\|R2M: 2-core rectangular female connector\| \| \|
	795	\|MC4H: 4-core H-type straight female connector\| \|(% rowspan="2" %)⑦Others\|1: Ordinary cable
	796	\|MC6H: 6-core H-type straight female connector\| \|2: High flex cable
	797
	798	= Servo Cable Matching Table =
	799
	800	\|Motor model\|Matching drive\|Power cable/brake cable\|Encoder cable
	801	\|(% rowspan="6" %)(((
	802	WD40M-○○○-☐☐☐
	803
	804	WD60M-○○○-☐☐☐
	805
	806	WD60H-○○○-☐☐☐
	807
	808	WE60M-○○○-☐☐☐
	809
	810	WD80M-○○○-☐☐☐
	811
	812	WD80H-○○○-☐☐☐
	813
	814	WE80M-○○○-☐☐☐
	815	)))\|(% rowspan="2" %)VD2/VD3E A type\|Power cable：P-Z3O1-R4M-MX4\|(% rowspan="3" %)Single-turn：E-J1394-R9M-MX5-A
	816	\|(((
	817	Power cable：P-Z3O1-R4M-*MX4
	818
	819	Brake cable：P-O2-R2M-3MX2-D
	820	)))
	821	\|(% rowspan="2" %)(((
	822	VD2/VD3E B type
	823
	824	VD2/VD3E C type
	825	)))\|Power cable：P-U3O1-R4M-*MX4
	826	\|(((
	827	Power cable：P-U3O1-R4M-*MX4
	828
	829	Brake cable：P-O2-R2M-3MX2-D
	830	)))\|(% rowspan="3" %)Multi-turn：E-J1394-R9M-*MX7-A1
	831	\|(% rowspan="2" %)VD2F/VD2L\|Power cable：P-Z4-R4M-*MX4
	832	\|(((
	833	Power cable：P-Z4-R4M-*MX4
	834
	835	Brake cable：P-O2-R2M-3MX2-D
	836	)))
	837	\|(% rowspan="6" %)(((
	838	WD60M-○○○-☐☐☐-L
	839
	840	WD80M-○○○-☐☐☐-L
	841	)))\|(% rowspan="2" %)VD2/VD3E A type\|Without brake：P-Z3O1-MC4S-MX4\|(% rowspan="3" %)Single-turn：E-J1394-MC7S-MX5-A
	842	\|With brake：P-Z3O3-MC6S-*MX6
	843	\|(% rowspan="2" %)(((
	844	VD2/VD3E B type
	845
	846	VD2/VD3E C type
	847	)))\|Without brake：P-U3O1-MC4S-*MX4
	848	\|With brake：P-U3O3-MC6S-MX6\|(% rowspan="3" %)Multi-turn：E-J1394-MC7S-MX7-A1
	849	\|(% rowspan="2" %)VD2F/VD2L\|Without brake：P-Z4-MC4S-*MX4
	850	\|With brake：P-Z4O2-MC6S-*MX6
	851	\|(% rowspan="6" %)(((
	852	WD60M-○○○-☐☐☐-L2
	853
	854	WD80M-○○○-☐☐☐-L2
	855	)))\|(% rowspan="2" %)VD2/VD3E A type\|Without brake：P-Z3O1-MC4S-MX4\|(% rowspan="3" %)Single-turn：E-J1394-MC7P-MX5-A
	856	\|With brake：P-Z3O3-MC6S-*MX6
	857	\|(% rowspan="2" %)(((
	858	VD2/VD3E B type
	859
	860	VD2/VD3E C type
	861	)))\|Without brake：P-U3O1-MC4S-*MX4
	862	\|With brake：P-U3O3-MC6S-MX6\|(% rowspan="3" %)Multi-turn：E-J1394-MC7P-MX7-A1
	863	\|(% rowspan="2" %)VD2F/VD2L\|Without brake：P-Z4-MC4S-*MX4
	864	\|With brake：P-Z4O2-MC6S-*MX6
	865	\|(% rowspan="4" %)(((
	866	WD60H-○○○-☐☐☐-L2
	867
	868	WD80H-○○○-☐☐☐-L2
	869	)))\|(% rowspan="2" %)VD2/VD3E A type\|Without brake：P-Z3O1-MC4H-MX4\|(% rowspan="2" %)Single-turn：E-J1394-MC7P-MX5-A
	870	\|With brake：P-Z3O3-MC6H-*MX6
	871	\|(% rowspan="2" %)VD2F/VD2L\|Without brake：P-Z4-MC4H-MX4\|(% rowspan="2" %)Multi-turn：E-J1394-MC7P-MX7-A1
	872	\|With brake：P-Z4O2-MC6H-*MX6
	873	\|(% rowspan="6" %)(((
	874	WE110M-○○○-☐☐☐
	875
	876	WE130M-○○○-☐☐☐
	877	)))\|(% rowspan="2" %)VD2/VD3E A type\|Power cable：P-Z3O1-H28J4M-MX4\|(% rowspan="3" %)Single-turn：E-J1394-H28K7M-MX5-A
	878	\|Brake cable：No need
	879	\|(% rowspan="2" %)(((
	880	VD2/VD3E B type
	881
	882	VD2/VD3E C type
	883	)))\|Power cable：P-U3O1-H28J4M-*MX4
	884	\|Brake cable：No need\|(% rowspan="3" %)Multi-turn：E-J1394-H28K7M-*MX7-A1
	885	\|(% rowspan="2" %)VD2F/VD2L\|Power cable：P-Z4-H28J4M-*MX4
	886	\|Brake cable：No need
	887	\|(% rowspan="6" %)(((
	888	WD130M-○○○-☐☐☐
	889
	890	WD130H-○○○-☐☐☐
	891	)))\|(% rowspan="2" %)VD2/VD3E A type\|Without brake：P-Z3O1-18A6-MX4\|(% rowspan="3" %)Single-turn：E-J1394-CM10-MX5-A
	892	\|With brake：P-Z3O3-18A6-*MX6
	893	\|(% rowspan="2" %)(((
	894	VD2/VD3E B type
	895
	896	VD2/VD3E C type
	897	)))\|Without brake：P-U3O1-18A6-*MX4
	898	\|With brake：P-U3O3-18A6-MX6\|(% rowspan="3" %)Multi-turn：E-J1394-CM10-MX7-A1
	899	\|(% rowspan="2" %)VD2F/VD2L\|Without brake：P-Z4-18A6-*MX4
	900	\|With brake：P-Z4O2-18A6-*MX4
	901	\|(% rowspan="6" %)WD130M-○○○-☐☐☐-L2\|(% rowspan="2" %)VD2/VD3E A type\|Without brake：P-Z3O1-18A6-MX4\|(% rowspan="3" %)Single-turn：E-J1394-MC7P-MX5-A
	902	\|With brake：P-Z3O3-18A6-*MX6
	903	\|(% rowspan="2" %)(((
	904	VD2/VD3E B type
	905
	906	VD2/VD3E C type
	907	)))\|Without brake：P-U3O1-18A6-*MX4
	908	\|With brake：P-U3O3-18A6-MX6\|(% rowspan="3" %)Multi-turn：E-J1394-MC7P-MX7-A1
	909	\|(% rowspan="2" %)VD2F/VD2L\|Without brake：P-Z4-18A6-*MX4
	910	\|With brake：P-Z4O2-18A6-*MX4
	911	\|(% rowspan="2" %)(((
	912	WE180M-○○○-☐☐☐
	913
	914	WD180M-○○○-☐☐☐
	915	)))\|(% rowspan="2" %)(((
	916	VD2/VD3E B type
	917
	918	VD2/VD3E C type
	919	)))\|Power cable：P-U3O1-H32J4M-MX4\|Single-turn：E-J1394-H28K7M-MX5-A
	920	\|Brake cable：No need\|Multi-turn：E-J1394-H28K7M-*MX7-A1
	921
49.1	922	= Servo Motor Parameter =
	923
	924	\|(% style="width:172px" %)220V motor model\|(% style="width:78px" %)Flange mm\|(% style="width:86px" %)Power kW\|(% style="width:100px" %)Rated speed rpm\|(% style="width:115px" %)*Rated torque Nm\|(% style="width:115px" %)Rated current A\|(% style="width:162px" %)Allowable overload multiple\|Pole pairs\|Inertia level**
	925	\|(% style="width:172px" %)WD40M-01030S-☐☐☐\|(% style="width:78px" %)40\|(% style="width:86px" %)0.1\|(% style="width:100px" %)3000\|(% style="width:115px" %)0.318\|(% style="width:115px" %)1.0\|(% style="width:162px" %)3.0\|5\|Middle
	926	\|(% style="width:172px" %) \|(% style="width:78px" %) \|(% style="width:86px" %) \|(% style="width:100px" %) \|(% style="width:115px" %) \|(% style="width:115px" %) \|(% style="width:162px" %) \| \|
	927	\|(% style="width:172px" %)WD60M-02030S-☐☐☐\|(% style="width:78px" %)60\|(% style="width:86px" %)0.2\|(% style="width:100px" %)3000\|(% style="width:115px" %)0.64\|(% style="width:115px" %)1.7\|(% style="width:162px" %)3.0\|5\|(% rowspan="3" %)Middle
	928	\|(% style="width:172px" %)WD60M-04030S-☐☐☐\|(% style="width:78px" %)60\|(% style="width:86px" %)0.4\|(% style="width:100px" %)3000\|(% style="width:115px" %)1.27\|(% style="width:115px" %)2.5\|(% style="width:162px" %)3.0\|5
	929	\|(% style="width:172px" %)WD60M-06030S-☐☐☐\|(% style="width:78px" %)60\|(% style="width:86px" %)0.6\|(% style="width:100px" %)3000\|(% style="width:115px" %)1.91\|(% style="width:115px" %)3.6\|(% style="width:162px" %)3.0\|5
	930	\|(% style="width:172px" %) \|(% style="width:78px" %) \|(% style="width:86px" %) \|(% style="width:100px" %) \|(% style="width:115px" %) \|(% style="width:115px" %) \|(% style="width:162px" %) \| \|
	931	\|(% style="width:172px" %)WD80M-07530S-☐☐☐\|(% style="width:78px" %)80\|(% style="width:86px" %)0.75\|(% style="width:100px" %)3000\|(% style="width:115px" %)2.39\|(% style="width:115px" %)4.4\|(% style="width:162px" %)3.0\|5\|(% rowspan="3" %)Middle
	932	\|(% style="width:172px" %)WD80M-10025S-☐☐☐\|(% style="width:78px" %)80\|(% style="width:86px" %)1\|(% style="width:100px" %)2500\|(% style="width:115px" %)3.82\|(% style="width:115px" %)4.6\|(% style="width:162px" %)3.0\|5
	933	\|(% style="width:172px" %)WD80M-10030S-☐☐☐\|(% style="width:78px" %)80\|(% style="width:86px" %)1\|(% style="width:100px" %)3000\|(% style="width:115px" %)3.18\|(% style="width:115px" %)5.8\|(% style="width:162px" %)3.0\|5
	934	\|(% style="width:172px" %) \|(% style="width:78px" %) \|(% style="width:86px" %) \|(% style="width:100px" %) \|(% style="width:115px" %) \|(% style="width:115px" %) \|(% style="width:162px" %) \| \|
	935	\|(% style="width:172px" %)WD130M-08515S-☐☐☐\|(% style="width:78px" %)130\|(% style="width:86px" %)0.85\|(% style="width:100px" %)1500\|(% style="width:115px" %)5.41\|(% style="width:115px" %)4.6\|(% style="width:162px" %)3.0\|5\|(% rowspan="10" %)Middle
	936	\|(% style="width:172px" %)WD130M-13015S-☐☐☐\|(% style="width:78px" %)130\|(% style="width:86px" %)1.3\|(% style="width:100px" %)1500\|(% style="width:115px" %)8.28\|(% style="width:115px" %)7.7\|(% style="width:162px" %)3.0\|5
	937	\|(% style="width:172px" %)WD130M-18015S-☐☐☐\|(% style="width:78px" %)130\|(% style="width:86px" %)1.8\|(% style="width:100px" %)1500\|(% style="width:115px" %)11.46\|(% style="width:115px" %)9.8\|(% style="width:162px" %)3.0\|5
	938	\|(% style="width:172px" %)WD130M-23015S-☐☐☐\|(% style="width:78px" %)130\|(% style="width:86px" %)2.3\|(% style="width:100px" %)1500\|(% style="width:115px" %)14.64\|(% style="width:115px" %)12.4\|(% style="width:162px" %)3.0\|5
	939	\|(% style="width:172px" %)WD130M-10020S-☐☐☐\|(% style="width:78px" %)130\|(% style="width:86px" %)1\|(% style="width:100px" %)2000\|(% style="width:115px" %)4.8\|(% style="width:115px" %)6.0\|(% style="width:162px" %)3.5\|5
	940	\|(% style="width:172px" %)WD130M-15020S-☐☐☐\|(% style="width:78px" %)130\|(% style="width:86px" %)1.5\|(% style="width:100px" %)2000\|(% style="width:115px" %)7.2\|(% style="width:115px" %)8.5\|(% style="width:162px" %)3.5\|5
	941	\|(% style="width:172px" %)WD130M-20020S-☐☐☐\|(% style="width:78px" %)130\|(% style="width:86px" %)2\|(% style="width:100px" %)2000\|(% style="width:115px" %)9.55\|(% style="width:115px" %)10\|(% style="width:162px" %)3.0\|5
	942	\|(% style="width:172px" %)WD130M-15025S-☐☐☐\|(% style="width:78px" %)130\|(% style="width:86px" %)1.5\|(% style="width:100px" %)2500\|(% style="width:115px" %)5.73\|(% style="width:115px" %)6.0\|(% style="width:162px" %)3.0\|5
	943	\|(% style="width:172px" %)WD130M-26025S-☐☐☐\|(% style="width:78px" %)130\|(% style="width:86px" %)2.6\|(% style="width:100px" %)2500\|(% style="width:115px" %)9.93\|(% style="width:115px" %)10.5\|(% style="width:162px" %)3.0\|5
	944	\|(% style="width:172px" %)WD130M-38025S-☐☐☐\|(% style="width:78px" %)130\|(% style="width:86px" %)3.8\|(% style="width:100px" %)2500\|(% style="width:115px" %)14.5\|(% style="width:115px" %)16\|(% style="width:162px" %)3.0\|5
	945
	946	\|220V motor model\|Flange mm\|Power kW\|Rated speed rpm\|*Rated torque Nm\|Rated current A\|Allowable overload multiple**\|(((
	947	Pole pairs
	948	)))\|(((
	949	Inertia level
	950	)))
	951	\|WD60H-02030S-☐☐☐\|60\|0.2\|3000\|0.64\|1.8\|3.5\|5\|(% colspan="1" rowspan="3" %)(((
	952	High
	953	)))
	954	\|WD60H-04030S-☐☐☐\|60\|0.4\|3000\|1.27\|2.8\|3.5\|5
	955	\|WD60H-06030S-☐☐☐\|60\|0.6\|3000\|1.91\|4.0\|3.0\|5
	956	\| \| \| \| \| \| \| \| \|
	957	\|WD80H-07530S-☐☐☐\|80\|0.75\|3000\|2.39\|4.8\|3.0\|5\|(% colspan="1" rowspan="4" %)(((
	958	High
	959	)))
	960	\|WD80H-10020S-☐☐☐\|80\|1\|2000\|4.77\|4.8\|3.0\|5
	961	\|WD80H-10025S-☐☐☐\|80\|1\|2500\|3.82\|4.8\|3.0\|5
	962	\|WD80H-10030S-☐☐☐\|80\|1\|3000\|3.2\|4.8\|3.0\|5
	963	\| \| \| \| \| \| \| \| \|
	964	\|WD130H-15030S-☐☐☐\|130\|1.5\|3000\|4.8\|6.0\|3.0\|5\|(((
	965	High
	966	)))
	967
	968	\|(% style="width:174px" %)220V motor model\|(% style="width:69px" %)Flange mm\|(% style="width:86px" %)Power kW\|(% style="width:125px" %)Rated speed rpm\|(% style="width:110px" %)*Rated torque Nm\|(% style="width:136px" %)Rated current A\|(% style="width:156px" %)Allowable overload multiple\|(% style="width:55px" %)Pole pairs\|(% style="width:82px" %)Inertia level**
	969	\|(% style="width:174px" %)WE60M-04030S-☐☐☐\|(% style="width:69px" %)60\|(% style="width:86px" %)0.4\|(% style="width:125px" %)3000\|(% style="width:110px" %)1.27\|(% style="width:136px" %)2.6\|(% style="width:156px" %)3.0\|(% style="width:55px" %)4\|(% style="width:82px" %)Middle
	970	\|(% style="width:174px" %) \|(% style="width:69px" %) \|(% style="width:86px" %) \|(% style="width:125px" %) \|(% style="width:110px" %) \|(% style="width:136px" %) \|(% style="width:156px" %) \|(% style="width:55px" %) \|(% style="width:82px" %)
	971	\|(% style="width:174px" %)WE80M-07320S-☐☐☐\|(% style="width:69px" %)80\|(% style="width:86px" %)0.73\|(% style="width:125px" %)2000\|(% style="width:110px" %)3.5\|(% style="width:136px" %)3.0\|(% style="width:156px" %)3.0\|(% style="width:55px" %)4\|(% rowspan="5" style="width:82px" %)Middle
	972	\|(% style="width:174px" %)WE80M-07530S-☐☐☐\|(% style="width:69px" %)80\|(% style="width:86px" %)0.75\|(% style="width:125px" %)3000\|(% style="width:110px" %)2.39\|(% style="width:136px" %)3.0\|(% style="width:156px" %)3.0\|(% style="width:55px" %)4
	973	\|(% style="width:174px" %)WE80M-10025S-☐☐☐\|(% style="width:69px" %)80\|(% style="width:86px" %)1\|(% style="width:125px" %)2500\|(% style="width:110px" %)4.0\|(% style="width:136px" %)4.4\|(% style="width:156px" %)3.0\|(% style="width:55px" %)4
	974	\|(% style="width:174px" %)WE80M-11030S-☐☐☐\|(% style="width:69px" %)80\|(% style="width:86px" %)1.1\|(% style="width:125px" %)3000\|(% style="width:110px" %)3.5\|(% style="width:136px" %)4.5\|(% style="width:156px" %)3.0\|(% style="width:55px" %)4
	975	\|(% style="width:174px" %)WE80M-12030S-☐☐☐\|(% style="width:69px" %)80\|(% style="width:86px" %)1.2\|(% style="width:125px" %)3000\|(% style="width:110px" %)4.0\|(% style="width:136px" %)4.5\|(% style="width:156px" %)3.0\|(% style="width:55px" %)4
	976	\|(% style="width:174px" %) \|(% style="width:69px" %) \|(% style="width:86px" %) \|(% style="width:125px" %) \|(% style="width:110px" %) \|(% style="width:136px" %) \|(% style="width:156px" %) \|(% style="width:55px" %) \|(% style="width:82px" %)
	977	\|(% style="width:174px" %)WE110M-12030S-☐☐☐\|(% style="width:69px" %)110\|(% style="width:86px" %)1.2\|(% style="width:125px" %)3000\|(% style="width:110px" %)4.0\|(% style="width:136px" %)5.0\|(% style="width:156px" %)3.0\|(% style="width:55px" %)4\|(% rowspan="3" style="width:82px" %)Middle
	978	\|(% style="width:174px" %)WE110M-15030S-☐☐☐\|(% style="width:69px" %)110\|(% style="width:86px" %)1.5\|(% style="width:125px" %)3000\|(% style="width:110px" %)5.0\|(% style="width:136px" %)6.0\|(% style="width:156px" %)3.0\|(% style="width:55px" %)4
	979	\|(% style="width:174px" %)WE110M-18030S-☐☐☐\|(% style="width:69px" %)110\|(% style="width:86px" %)1.8\|(% style="width:125px" %)3000\|(% style="width:110px" %)6.0\|(% style="width:136px" %)6.0\|(% style="width:156px" %)3.0\|(% style="width:55px" %)4
	980	\|(% style="width:174px" %) \|(% style="width:69px" %) \|(% style="width:86px" %) \|(% style="width:125px" %) \|(% style="width:110px" %) \|(% style="width:136px" %) \|(% style="width:156px" %) \|(% style="width:55px" %) \|(% style="width:82px" %)
	981	\|(% style="width:174px" %)WE130M-15015S-☐☐☐\|(% style="width:69px" %)130\|(% style="width:86px" %)1.5\|(% style="width:125px" %)1500\|(% style="width:110px" %)10\|(% style="width:136px" %)6.0\|(% style="width:156px" %)2.5\|(% style="width:55px" %)4\|(% rowspan="8" style="width:82px" %)Middle
	982	\|(% style="width:174px" %)WE130M-23015S-☐☐☐\|(% style="width:69px" %)130\|(% style="width:86px" %)2.3\|(% style="width:125px" %)1500\|(% style="width:110px" %)15\|(% style="width:136px" %)9.5\|(% style="width:156px" %)2.0\|(% style="width:55px" %)4
	983	\|(% style="width:174px" %)WE130M-10025S-☐☐☐\|(% style="width:69px" %)130\|(% style="width:86px" %)1\|(% style="width:125px" %)2500\|(% style="width:110px" %)4.0\|(% style="width:136px" %)4.0\|(% style="width:156px" %)3.0\|(% style="width:55px" %)4
	984	\|(% style="width:174px" %)WE130M-13025S-☐☐☐\|(% style="width:69px" %)130\|(% style="width:86px" %)1.3\|(% style="width:125px" %)2500\|(% style="width:110px" %)5.0\|(% style="width:136px" %)5.0\|(% style="width:156px" %)3.0\|(% style="width:55px" %)4
	985	\|(% style="width:174px" %)WE130M-15025S-☐☐☐\|(% style="width:69px" %)130\|(% style="width:86px" %)1.5\|(% style="width:125px" %)2500\|(% style="width:110px" %)6.0\|(% style="width:136px" %)6.0\|(% style="width:156px" %)3.0\|(% style="width:55px" %)4
	986	\|(% style="width:174px" %)WE130M-20025S-☐☐☐\|(% style="width:69px" %)130\|(% style="width:86px" %)2\|(% style="width:125px" %)2500\|(% style="width:110px" %)7.7\|(% style="width:136px" %)7.5\|(% style="width:156px" %)2.9\|(% style="width:55px" %)4
	987	\|(% style="width:174px" %)WE130M-26025S-☐☐☐\|(% style="width:69px" %)130\|(% style="width:86px" %)2.6\|(% style="width:125px" %)2500\|(% style="width:110px" %)10\|(% style="width:136px" %)10\|(% style="width:156px" %)2.5\|(% style="width:55px" %)4
	988	\|(% style="width:174px" %)WE130M-38025S-☐☐☐\|(% style="width:69px" %)130\|(% style="width:86px" %)3.8\|(% style="width:125px" %)2500\|(% style="width:110px" %)15\|(% style="width:136px" %)13.5\|(% style="width:156px" %)2.0\|(% style="width:55px" %)4
	989
	990	\|380V motor model\|Flange mm\|Power kW\|Rated speed rpm\|*Rated torque Nm\|Rated current A\|Allowable overload multiple\|Pole pairs\|Inertia level**
	991	\|WD130M-08515T-☐☐☐\|130\|0.85\|1500\|5.41\|3.1\|3.0\|5\|(% colspan="1" rowspan="5" %)Middle
	992	\|WD130M-13015T-☐☐☐\|130\|1.3\|1500\|8.28\|5.1\|3.0\|5
	993	\|WD130M-18015T-☐☐☐\|130\|1.8\|1500\|11.46\|6.3\|3.0\|5
	994	\|WD130M-23015T-☐☐☐\|130\|2.3\|1500\|14.64\|8.5\|3.0\|5
	995	\|WD180M-29015T-☐☐☐\|180\|2.9\|1500\|18.6\|11.8\|3.0\|5
	996
	997	\|380V motor model\|Flange mm\|Power kW\|Rated speed rpm\|*Rated torque Nm\|Rated current A\|Allowable overload multiple\|(% style="width:78px" %)Pole pairs\|(% style="width:68px" %)Inertia level**
	998	\|WE130M-20025T-☐☐☐\|130\|2.0\|2500\|7.7\|7.5\|2.8\|(% style="width:78px" %)4\|(% rowspan="6" style="width:68px" %)Middle
	999	\|WE130M-26025T-☐☐☐\|130\|2.6\|2500\|10\|6.0\|2.5\|(% style="width:78px" %)4
	1000	\|WE130M-31015T-☐☐☐\|130\|3.1\|1500\|20\|11.5\|2.5\|(% style="width:78px" %)4
	1001	\|WE130M-38025T-☐☐☐\|130\|3.8\|2500\|15\|8.8\|2.0\|(% style="width:78px" %)4
	1002	\|WE130M-42020T-☐☐☐\|130\|4.2\|2000\|20\|8.5\|2.0\|(% style="width:78px" %)4
	1003	\|WE130M-53030T-☐☐☐\|130\|5.3\|3000\|17\|11\|2.0\|(% style="width:78px" %)4
	1004	\| \| \| \| \| \| \| \|(% style="width:78px" %) \|(% style="width:68px" %)
	1005	\|WE180M-30015T-☐☐☐\|180\|3.0\|1500\|19\|7.5\|2.5\|(% style="width:78px" %)4\|(% rowspan="4" style="width:68px" %)Middle
	1006	\|WE180M-43015T-☐☐☐\|180\|4.3\|1500\|27\|10\|2.5\|(% style="width:78px" %)4
	1007	\|WE180M-55015T-☐☐☐\|180\|5.5\|1500\|35\|12\|2.0\|(% style="width:78px" %)4
	1008	\|WE180M-75015T-☐☐☐\|180\|7.5\|1500\|48\|20\|2.0\|(% style="width:78px" %)4
	1009
	1010	Note: ☐☐☐ Not all motor models include the following categories
	1011
	1012	A1F：17-bit single-turn absolute magnetic encoder without brake.
	1013
	1014	A1G：17-bit single-turn absolute magnetic encoder with brake.
	1015
	1016	C1F：17-bit multi-turn absolute magnetic encoder without brake
	1017
	1018	C1G：17-bit multi-turn absolute magnetic encoder with brake.
	1019
	1020	D2F：23-bit multi-turn absolute Optical encoder without brake.
	1021
	1022	D2G：23-bit multi-turn absolute Optical encoder with brake.

Wiki source code of 05 Servo Product Manual

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