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Wiki source code of 05 Servo Product Manual

Version 59.1 by Molly on 2024/09/18 09:33
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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 Naming Rules** =
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 Motor nameplate
604
605 = =
606
607 = =
608
609 = =
610
611 = =
612
613 =
614 =
615
616 = **Servo Cable Matching Table** =
617
618 |**Motor model**|**Matching drive**|**Power cable/brake cable**|**Encoder cable**
619 |(% rowspan="6" %)(((
620 WD40M-○○○-☐☐☐
621
622 WD60M-○○○-☐☐☐
623
624 WD60H-○○○-☐☐☐
625
626 WE60M-○○○-☐☐☐
627
628 WD80M-○○○-☐☐☐
629
630 WD80H-○○○-☐☐☐
631
632 WE80M-○○○-☐☐☐
633 )))|(% rowspan="2" %)VD2/VD3E A type|Power cable：P-Z3O1-R4M-*MX4|(% rowspan="3" %)Single-turn：E-J1394-R9M-*MX5-A
634 |(((
635 Power cable：P-Z3O1-R4M-*MX4
636
637 Brake cable：P-O2-R2M-3MX2-D
638 )))
639 |(% rowspan="2" %)(((
640 VD2/VD3E B type
641
642 VD2/VD3E C type
643 )))|Power cable：P-U3O1-R4M-*MX4
644 |(((
645 Power cable：P-U3O1-R4M-*MX4
646
647 Brake cable：P-O2-R2M-3MX2-D
648 )))|(% rowspan="3" %)Multi-turn：E-J1394-R9M-*MX7-A1
649 |(% rowspan="2" %)VD2F/VD2L|Power cable：P-Z4-R4M-*MX4
650 |(((
651 Power cable：P-Z4-R4M-*MX4
652
653 Brake cable：P-O2-R2M-3MX2-D
654 )))
655 |(% rowspan="6" %)(((
656 WD60M-○○○-☐☐☐-L
657
658 WD80M-○○○-☐☐☐-L
659 )))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4S-*MX4|(% rowspan="3" %)Single-turn：E-J1394-MC7S-*MX5-A
660 |With brake：P-Z3O3-MC6S-*MX6
661 |(% rowspan="2" %)(((
662 VD2/VD3E B type
663
664 VD2/VD3E C type
665 )))|Without brake：P-U3O1-MC4S-*MX4
666 |With brake：P-U3O3-MC6S-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7S-*MX7-A1
667 |(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4S-*MX4
668 |With brake：P-Z4O2-MC6S-*MX6
669 |(% rowspan="6" %)(((
670 WD60M-○○○-☐☐☐-L2
671
672 WD80M-○○○-☐☐☐-L2
673 )))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4S-*MX4|(% rowspan="3" %)Single-turn：E-J1394-MC7P-*MX5-A
674 |With brake：P-Z3O3-MC6S-*MX6
675 |(% rowspan="2" %)(((
676 VD2/VD3E B type
677
678 VD2/VD3E C type
679 )))|Without brake：P-U3O1-MC4S-*MX4
680 |With brake：P-U3O3-MC6S-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7P-*MX7-A1
681 |(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4S-*MX4
682 |With brake：P-Z4O2-MC6S-*MX6
683 |(% rowspan="4" %)(((
684 WD60H-○○○-☐☐☐-L2
685
686 WD80H-○○○-☐☐☐-L2
687 )))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4H-*MX4|(% rowspan="2" %)Single-turn：E-J1394-MC7P-*MX5-A
688 |With brake：P-Z3O3-MC6H-*MX6
689 |(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4H-*MX4|(% rowspan="2" %)Multi-turn：E-J1394-MC7P-*MX7-A1
690 |With brake：P-Z4O2-MC6H-*MX6
691 |(% rowspan="6" %)(((
692 WE110M-○○○-☐☐☐
693
694 WE130M-○○○-☐☐☐
695 )))|(% rowspan="2" %)VD2/VD3E A type|Power cable：P-Z3O1-H28J4M-*MX4|(% rowspan="3" %)Single-turn：E-J1394-H28K7M-*MX5-A
696 |Brake cable：No need
697 |(% rowspan="2" %)(((
698 VD2/VD3E B type
699
700 VD2/VD3E C type
701 )))|Power cable：P-U3O1-H28J4M-*MX4
702 |Brake cable：No need|(% rowspan="3" %)Multi-turn：E-J1394-H28K7M-*MX7-A1
703 |(% rowspan="2" %)VD2F/VD2L|Power cable：P-Z4-H28J4M-*MX4
704 |Brake cable：No need
705 |(% rowspan="6" %)(((
706 WD130M-○○○-☐☐☐
707
708 WD130H-○○○-☐☐☐
709 )))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-18A6-*MX4|(% rowspan="3" %)Single-turn：E-J1394-CM10-*MX5-A
710 |With brake：P-Z3O3-18A6-*MX6
711 |(% rowspan="2" %)(((
712 VD2/VD3E B type
713
714 VD2/VD3E C type
715 )))|Without brake：P-U3O1-18A6-*MX4
716 |With brake：P-U3O3-18A6-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-CM10-*MX7-A1
717 |(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-18A6-*MX4
718 |With brake：P-Z4O2-18A6-*MX4
719 |(% 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
720 |With brake：P-Z3O3-18A6-*MX6
721 |(% rowspan="2" %)(((
722 VD2/VD3E B type
723
724 VD2/VD3E C type
725 )))|Without brake：P-U3O1-18A6-*MX4
726 |With brake：P-U3O3-18A6-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7P-*MX7-A1
727 |(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-18A6-*MX4
728 |With brake：P-Z4O2-18A6-*MX4
729 |(% rowspan="2" %)(((
730 WE180M-○○○-☐☐☐
731
732 WD180M-○○○-☐☐☐
733 )))|(% rowspan="2" %)(((
734 VD2/VD3E B type
735
736 VD2/VD3E C type
737 )))|Power cable：P-U3O1-H32J4M-*MX4|Single-turn：E-J1394-H28K7M-*MX5-A
738 |Brake cable：No need|Multi-turn：E-J1394-H28K7M-*MX7-A1
739
740 = **Servo Motor Parameter** =
741
742 |(% 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 N*m**|(% style="width:115px" %)**Rated current A**|(% style="width:162px" %)**Allowable overload multiple**|**Pole pairs**|**Inertia level**
743 |(% 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
744 |(% style="width:172px" %) |(% style="width:78px" %) |(% style="width:86px" %) |(% style="width:100px" %) |(% style="width:115px" %) |(% style="width:115px" %) |(% style="width:162px" %) | |
745 |(% 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
746 |(% 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
747 |(% 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
748 |(% style="width:172px" %) |(% style="width:78px" %) |(% style="width:86px" %) |(% style="width:100px" %) |(% style="width:115px" %) |(% style="width:115px" %) |(% style="width:162px" %) | |
749 |(% 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
750 |(% 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
751 |(% 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
752 |(% style="width:172px" %) |(% style="width:78px" %) |(% style="width:86px" %) |(% style="width:100px" %) |(% style="width:115px" %) |(% style="width:115px" %) |(% style="width:162px" %) | |
753 |(% 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
754 |(% 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
755 |(% 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
756 |(% 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
757 |(% 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
758 |(% 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
759 |(% 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
760 |(% 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
761 |(% 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
762 |(% 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
763
764 |**220V motor model**|**Flange mm**|**Power kW**|**Rated speed rpm**|**Rated torque N*m**|**Rated current A**|**Allowable overload multiple**|(((
765 **Pole pairs**
766 )))|(((
767 **Inertia level**
768 )))
769 |WD60H-02030S-☐☐☐|60|0.2|3000|0.64|1.8|3.5|5|(% colspan="1" rowspan="3" %)(((
770 High
771 )))
772 |WD60H-04030S-☐☐☐|60|0.4|3000|1.27|2.8|3.5|5
773 |WD60H-06030S-☐☐☐|60|0.6|3000|1.91|4.0|3.0|5
774 | | | | | | | | |
775 |WD80H-07530S-☐☐☐|80|0.75|3000|2.39|4.8|3.0|5|(% colspan="1" rowspan="4" %)(((
776 High
777 )))
778 |WD80H-10020S-☐☐☐|80|1|2000|4.77|4.8|3.0|5
779 |WD80H-10025S-☐☐☐|80|1|2500|3.82|4.8|3.0|5
780 |WD80H-10030S-☐☐☐|80|1|3000|3.2|4.8|3.0|5
781 | | | | | | | | |
782 |WD130H-15030S-☐☐☐|130|1.5|3000|4.8|6.0|3.0|5|(((
783 High
784 )))
785
786 |(% 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 N*m**|(% style="width:136px" %)**Rated current A**|(% style="width:156px" %)**Allowable overload multiple**|(% style="width:55px" %)**Pole pairs**|(% style="width:82px" %)**Inertia level**
787 |(% 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
788 |(% 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" %)
789 |(% 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
790 |(% 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
791 |(% 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
792 |(% 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
793 |(% 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
794 |(% 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" %)
795 |(% 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
796 |(% 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
797 |(% 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
798 |(% 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" %)
799 |(% 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
800 |(% 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
801 |(% 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
802 |(% 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
803 |(% 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
804 |(% 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
805 |(% 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
806 |(% 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
807
808 |**380V motor model**|**Flange mm**|**Power kW**|**Rated speed rpm**|**Rated torque N*m**|**Rated current A**|**Allowable overload multiple**|**Pole pairs**|**Inertia level**
809 |WD130M-08515T-☐☐☐|130|0.85|1500|5.41|3.1|3.0|5|(% colspan="1" rowspan="5" %)Middle
810 |WD130M-13015T-☐☐☐|130|1.3|1500|8.28|5.1|3.0|5
811 |WD130M-18015T-☐☐☐|130|1.8|1500|11.46|6.3|3.0|5
812 |WD130M-23015T-☐☐☐|130|2.3|1500|14.64|8.5|3.0|5
813 |WD180M-29015T-☐☐☐|180|2.9|1500|18.6|11.8|3.0|5
814
815 |**380V motor model**|**Flange mm**|**Power kW**|**Rated speed rpm**|**Rated torque N*m**|**Rated current A**|**Allowable overload multiple**|(% style="width:78px" %)**Pole pairs**|(% style="width:68px" %)**Inertia level**
816 |WE130M-20025T-☐☐☐|130|2.0|2500|7.7|7.5|2.8|(% style="width:78px" %)4|(% rowspan="6" style="width:68px" %)Middle
817 |WE130M-26025T-☐☐☐|130|2.6|2500|10|6.0|2.5|(% style="width:78px" %)4
818 |WE130M-31015T-☐☐☐|130|3.1|1500|20|11.5|2.5|(% style="width:78px" %)4
819 |WE130M-38025T-☐☐☐|130|3.8|2500|15|8.8|2.0|(% style="width:78px" %)4
820 |WE130M-42020T-☐☐☐|130|4.2|2000|20|8.5|2.0|(% style="width:78px" %)4
821 |WE130M-53030T-☐☐☐|130|5.3|3000|17|11|2.0|(% style="width:78px" %)4
822 | | | | | | | |(% style="width:78px" %) |(% style="width:68px" %)
823 |WE180M-30015T-☐☐☐|180|3.0|1500|19|7.5|2.5|(% style="width:78px" %)4|(% rowspan="4" style="width:68px" %)Middle
824 |WE180M-43015T-☐☐☐|180|4.3|1500|27|10|2.5|(% style="width:78px" %)4
825 |WE180M-55015T-☐☐☐|180|5.5|1500|35|12|2.0|(% style="width:78px" %)4
826 |WE180M-75015T-☐☐☐|180|7.5|1500|48|20|2.0|(% style="width:78px" %)4
827
828 **Note**: ☐☐☐ Not all motor models include the following categories
829
830 A1F：17-bit single-turn absolute magnetic encoder without brake.
831
832 A1G：17-bit single-turn absolute magnetic encoder with brake.
833
834 C1F：17-bit multi-turn absolute magnetic encoder without brake
835
836 C1G：17-bit multi-turn absolute magnetic encoder with brake.
837
838 D2F：23-bit multi-turn absolute Optical encoder without brake.
839
840 D2G：23-bit multi-turn absolute Optical encoder with brake.