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Wiki source code of 05 Servo Product Manual

Version 65.1 by Molly on 2024/09/18 15:27
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Jim(Forgotten) 5.1 1 = Servo Drive Naming Rules =
2
Jim(Forgotten) 11.1 3 (% class="table-striped" style="margin-left:auto; margin-right:auto; width:20px" %)
Jim(Forgotten) 7.1 4 |(((
Jim(Forgotten) 9.1 5 (% class="wikigeneratedid" id="HVD2" %)
Jim(Forgotten) 14.1 6 __VD2__
Jim(Forgotten) 7.1 7 )))|(((
Jim(Forgotten) 9.1 8 (% class="wikigeneratedid" id="H-" %)
9 -
Jim(Forgotten) 7.1 10 )))|(((
Jim(Forgotten) 9.1 11 (% class="wikigeneratedid" id="H021" %)
Jim(Forgotten) 14.1 12 __021__
Jim(Forgotten) 7.1 13 )))|(((
Jim(Forgotten) 9.1 14 (% class="wikigeneratedid" id="HS" %)
Jim(Forgotten) 14.1 15 __S__
Jim(Forgotten) 7.1 16 )))|(((
Jim(Forgotten) 9.1 17 (% class="wikigeneratedid" id="HA1" %)
Jim(Forgotten) 14.1 18 __A1__
Jim(Forgotten) 7.1 19 )))|(((
Jim(Forgotten) 9.1 20 (% class="wikigeneratedid" id="HG" %)
Jim(Forgotten) 14.1 21 __G__
Jim(Forgotten) 7.1 22 )))
23 |(((
Jim(Forgotten) 9.1 24 (% class="wikigeneratedid" id="H2460" %)
25 ①
Jim(Forgotten) 7.1 26 )))|(((
Jim(Forgotten) 9.1 27 (% class="wikigeneratedid" id="H" %)
28
Jim(Forgotten) 7.1 29 )))|(((
Jim(Forgotten) 9.1 30 (% class="wikigeneratedid" id="H2461" %)
31 ②
Jim(Forgotten) 7.1 32 )))|(((
Jim(Forgotten) 9.1 33 (% class="wikigeneratedid" id="H2462" %)
34 ③
Jim(Forgotten) 7.1 35 )))|(((
Jim(Forgotten) 9.1 36 (% class="wikigeneratedid" id="H2463" %)
37 ④
Jim(Forgotten) 7.1 38 )))|(((
Jim(Forgotten) 9.1 39 (% class="wikigeneratedid" id="H2464" %)
40 ⑤
Jim(Forgotten) 7.1 41 )))
Jim(Forgotten) 5.1 42
Jim(Forgotten) 12.1 43 |(% colspan="1" rowspan="4" %)①Product Series|VD2|(% rowspan="14" %) |(% colspan="1" rowspan="2" %)③Voltage level|S: 220V
44 |VD2F|T: 380V
Jim(Forgotten) 13.1 45 |VD2L|(% colspan="2" rowspan="3" %)
46 |VD3E
47 |(% colspan="2" rowspan="1" %)
Jim(Forgotten) 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
Jim(Forgotten) 13.1 50 |016: 16A|(% colspan="2" rowspan="2" %)
51 |019: 19A
Jim(Forgotten) 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
Jim(Forgotten) 16.1 58 (% style="text-align:center" %)
59 (((
60 (% style="display:inline-block" %)
Molly 26.1 61 [[Drive Nameplate>>image:1726038660755-332.png||_mstalt="294567"]]
Jim(Forgotten) 16.1 62 )))
63
Jim(Forgotten) 18.1 64 = VD2 Servo Drive Parameter Table =
Jim(Forgotten) 17.1 65
Jim(Forgotten) 19.1 66 |(% colspan="3" %)(((
Jim(Forgotten) 17.1 67 **General type**
Molly 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 )))
Jim(Forgotten) 21.1 78 |(% colspan="3" %)**Model**|**VD2(A type)**|**VD2(B type)**|**VD2(C type)**
Jim(Forgotten) 18.1 79 |(% colspan="1" rowspan="11" %)(((
80 **Basic Specifications**
Jim(Forgotten) 21.1 81 )))|(% colspan="2" %)**Power supply**|220V|220V/380V|380V
Jim(Forgotten) 19.1 82 |(% colspan="2" %)(((
Jim(Forgotten) 18.1 83 **Control method**
Jim(Forgotten) 19.1 84 )))|(% colspan="3" rowspan="1" %)(((
85 IGBT PWM control sine wave current drive
Jim(Forgotten) 21.1 86 )))
Jim(Forgotten) 19.1 87 |(% colspan="2" %)(((
Jim(Forgotten) 18.1 88 **Encoder**
Jim(Forgotten) 19.1 89 )))|(% colspan="3" rowspan="1" %)(((
90 2500-line incremental encoder, 17-bit/23-bit absolute encoder
Jim(Forgotten) 21.1 91 )))
Jim(Forgotten) 19.1 92 |(% colspan="2" %)(((
Jim(Forgotten) 18.1 93 **Control signal input**
Jim(Forgotten) 21.1 94 )))|(% colspan="3" rowspan="1" %)8DI
Jim(Forgotten) 19.1 95 |(% colspan="2" %)(((
Jim(Forgotten) 18.1 96 **Control signal output**
Jim(Forgotten) 21.1 97 )))|(% colspan="3" rowspan="1" %)4DO
Jim(Forgotten) 19.1 98 |(% colspan="2" %)(((
Jim(Forgotten) 18.1 99 **Analog signal input**
Jim(Forgotten) 19.1 100 )))|(% colspan="3" rowspan="1" %)(((
101 2 AI(-10V to +10V)
Jim(Forgotten) 21.1 102 )))
Jim(Forgotten) 19.1 103 |(% colspan="2" %)(((
Jim(Forgotten) 18.1 104 **Pulse signal input**
Jim(Forgotten) 19.1 105 )))|(% colspan="3" rowspan="1" %)(((
106 Open collector or differential input
Jim(Forgotten) 21.1 107 )))
Jim(Forgotten) 19.1 108 |(% colspan="2" %)(((
Jim(Forgotten) 18.1 109 **Pulse feedback output**
Jim(Forgotten) 22.1 110 )))|(% colspan="3" rowspan="1" %)ABZ differential output(VD2-XXXXXXH series support collector signal feedback)
Jim(Forgotten) 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
Jim(Forgotten) 21.1 113 )))
Jim(Forgotten) 19.1 114 |(% colspan="2" %)(((
Jim(Forgotten) 18.1 115 **Communication**
Jim(Forgotten) 19.1 116 )))|(% colspan="3" rowspan="1" %)(((
117 MODBUS RS485 or MODBUS RS422(SCTool)
Jim(Forgotten) 21.1 118 )))
Jim(Forgotten) 19.1 119 |(% colspan="2" %)(((
120 **Braking resistor**
121 )))|(% colspan="3" rowspan="1" %)(((
122 Internal braking resistor(also support external braking resistor)
Jim(Forgotten) 21.1 123 )))
Jim(Forgotten) 19.1 124 |(% colspan="1" rowspan="19" %)(((
125 **Function setting**
126 )))|(% colspan="1" rowspan="9" %)(((
127 **General functions**
128 )))|(((
129 **Auto-tuning**
Jim(Forgotten) 20.1 130 )))|(% colspan="3" rowspan="1" %)(((
131 Automatic load inertia identification, automatic rigidity self-tuning
Jim(Forgotten) 21.1 132 )))
Jim(Forgotten) 19.1 133 |(% colspan="1" rowspan="2" %)(((
134 **Waveform**
Jim(Forgotten) 20.1 135 )))|(% colspan="3" rowspan="1" %)(((
136 4 channels waveform monitoring
Jim(Forgotten) 21.1 137 )))
Jim(Forgotten) 20.1 138 |(% colspan="3" rowspan="1" %)(((
139 10s waveform data recording
Jim(Forgotten) 21.1 140 )))
Jim(Forgotten) 18.1 141 |(((
Jim(Forgotten) 19.1 142 **Parameter management**
Jim(Forgotten) 20.1 143 )))|(% colspan="3" rowspan="1" %)(((
144 Support batch parameter import and export
Jim(Forgotten) 21.1 145 )))
Jim(Forgotten) 19.1 146 |(((
147 **Vibration suppression**
Jim(Forgotten) 20.1 148 )))|(% colspan="3" rowspan="1" %)(((
149 Support mechanical vibration suppression
Jim(Forgotten) 21.1 150 )))
Jim(Forgotten) 19.1 151 |(((
152 **Protection**
Jim(Forgotten) 20.1 153 )))|(% colspan="3" rowspan="1" %)(((
154 Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
Jim(Forgotten) 21.1 155 )))
Jim(Forgotten) 19.1 156 |(((
157 **Brake device**
Jim(Forgotten) 22.1 158 )))|(% colspan="3" rowspan="1" %)(((
159 Support brake signal output
160 )))
Jim(Forgotten) 19.1 161 |(((
162 **DI function**
Jim(Forgotten) 22.1 163 )))|(% colspan="3" rowspan="1" %)(((
Molly 26.1 164 Servo enable((% _mstmutation="1" %)**S-ON**(%%)), Error/alarm clear((% _mstmutation="1" %)**A-CLR**(%%)), Forward rotation prohibited((% _mstmutation="1" %)**POT**(%%))
Jim(Forgotten) 22.1 165
Molly 26.1 166 Backward rotation prohibited((% _mstmutation="1" %)**NOT**(%%)), Command direction((% _mstmutation="1" %)**C-SIGN**(%%)), Emergency stop((% _mstmutation="1" %)**E-STOP**(%%))
Jim(Forgotten) 22.1 167
Molly 26.1 168 Gain switch((% _mstmutation="1" %)**GAIN-5EL**(%%)), Internal speed selection((% _mstmutation="1" %)**INSPD1, INSPD2, INSPD3**(%%))
Jim(Forgotten) 22.1 169
Molly 26.1 170 Internal position selection and enable((% _mstmutation="1" %)**INPO51, INPO52, INPO53, INPO54, ENINPOS**(%%))
Jim(Forgotten) 22.1 171 )))
Jim(Forgotten) 19.1 172 |(((
173 **DO function**
Jim(Forgotten) 22.1 174 )))|(% colspan="3" rowspan="1" %)(((
Molly 26.1 175 Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
Jim(Forgotten) 22.1 176
Molly 26.1 177 Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
Jim(Forgotten) 22.1 178
179 Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), ABZ pulse feedback output
180 )))
Jim(Forgotten) 19.1 181 |(% colspan="1" rowspan="4" %)(((
182 **Position mode**
183 )))|(((
184 **Pulse frequency**
Jim(Forgotten) 22.1 185 )))|(% colspan="3" rowspan="1" %)(((
186 Max to 500KHz
187 )))
Jim(Forgotten) 19.1 188 |(((
189 **Pulse type**
Jim(Forgotten) 22.1 190 )))|(% colspan="3" rowspan="1" %)(((
191 Direction + Pulse, CW/CCW, Orthogonal coding
192 )))
Jim(Forgotten) 19.1 193 |(((
194 **Pulse filter**
Jim(Forgotten) 22.1 195 )))|(% colspan="3" rowspan="1" %)(((
196 First-order low-pass filter or smoothing filter
197 )))
Jim(Forgotten) 19.1 198 |(((
199 **Pulse output**
Jim(Forgotten) 22.1 200 )))|(% colspan="3" rowspan="1" %)(((
201 A, B, Z differential output
202 )))
Jim(Forgotten) 19.1 203 |(% colspan="1" rowspan="3" %)(((
204 **Speed mode**
205 )))|(((
206 **Command input**
Jim(Forgotten) 22.1 207 )))|(% colspan="3" rowspan="1" %)(((
208 Analog input(-10V to +10V), Internal command(8 segments)
209 )))
Jim(Forgotten) 19.1 210 |(((
211 **Zero speed clamp**
Jim(Forgotten) 22.1 212 )))|(% colspan="3" rowspan="1" %)(((
213 Support
214 )))
Jim(Forgotten) 19.1 215 |(((
216 **Torque limit**
Jim(Forgotten) 22.1 217 )))|(% colspan="3" rowspan="1" %)(((
218 Torque limit under speed mode
219 )))
Jim(Forgotten) 19.1 220 |(% colspan="1" rowspan="3" %)(((
221 **Torque mode**
222 )))|(((
223 **Command input**
Jim(Forgotten) 22.1 224 )))|(% colspan="3" rowspan="1" %)(((
225 Analog input(-10V to +10V), Internal command
226 )))
Jim(Forgotten) 19.1 227 |(((
228 **Torque reach**
Jim(Forgotten) 22.1 229 )))|(% colspan="3" rowspan="1" %)(((
230 Torque reach signal output
231 )))
Jim(Forgotten) 19.1 232 |(((
233 **Velocity limit**
Jim(Forgotten) 22.1 234 )))|(% colspan="3" rowspan="1" %)(((
235 Velocity limit under torque mode
236 )))
Jim(Forgotten) 23.1 237
Molly 27.1 238 = **VD2F/VD2L servo driver parameter table** =
239
Jim(Forgotten) 42.1 240 (% style="width:1406px" %)
241 |(% colspan="6" rowspan="1" style="width:537px" %)(((
Molly 27.1 242 **General type**
Jim(Forgotten) 42.1 243 )))|(% colspan="1" rowspan="1" style="width:503px" %)(((
Molly 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 )))
Jim(Forgotten) 42.1 250 |(% colspan="6" rowspan="1" style="width:537px" %)**Model**|(% colspan="1" rowspan="1" style="width:503px" %)(((
Molly 27.1 251 **VD2F**
252 )))|(% rowspan="1" style="width:364px" %)(((
253 **VD2L**
254 )))
255 |(% colspan="3" rowspan="12" %)(((
256 **Basic Specifications**
Jim(Forgotten) 42.1 257 )))|(% colspan="3" style="width:277px" %)**Power supply**|(% colspan="1" rowspan="1" style="width:503px" %)(((
Molly 27.1 258 220V
259 )))|(% rowspan="1" style="width:364px" %)(((
260 220V
261 )))
Jim(Forgotten) 42.1 262 |(% colspan="3" style="width:277px" %)(((
Molly 27.1 263 **Control method**
Jim(Forgotten) 42.1 264 )))|(% colspan="2" rowspan="1" style="width:867px" %)(((
Molly 27.1 265 IGBT PWM control sine wave current drive
266 )))
Jim(Forgotten) 42.1 267 |(% colspan="3" style="width:277px" %)(((
Molly 27.1 268 **Encoder**
Jim(Forgotten) 42.1 269 )))|(% colspan="2" rowspan="1" style="width:867px" %)17bit, 23bit absolute value encoder
270 |(% colspan="3" style="width:277px" %)(((
Molly 27.1 271 **Control signal input**
Jim(Forgotten) 42.1 272 )))|(% colspan="2" rowspan="1" style="width:867px" %)4DI
273 |(% colspan="3" style="width:277px" %)(((
Molly 27.1 274 **Control signal output**
Jim(Forgotten) 42.1 275 )))|(% colspan="2" rowspan="1" style="width:867px" %)4DO
276 |(% colspan="3" style="width:277px" %)(((
Molly 27.1 277 **Pulse frequency division output**
Jim(Forgotten) 42.1 278 )))|(% colspan="1" rowspan="1" style="width:503px" %)—|(% rowspan="1" style="width:364px" %)(((
Molly 27.1 279 Support
280 )))
Jim(Forgotten) 42.1 281 |(% colspan="3" style="width:277px" %)(((
Molly 27.1 282 **Pulse signal input**
Jim(Forgotten) 42.1 283 )))|(% colspan="2" rowspan="1" style="width:867px" %)(((
Molly 27.1 284 Open collector or differential input
285 )))
Jim(Forgotten) 42.1 286 |(% colspan="3" style="width:277px" %)(((
Molly 27.1 287 **Pulse feedback output**
Jim(Forgotten) 42.1 288 )))|(% colspan="1" rowspan="1" style="width:503px" %)(((
Molly 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 )))
Jim(Forgotten) 42.1 295 |(% colspan="3" style="width:277px" %)(% style="background-color:transparent" %)**Internal Command**|(% colspan="2" rowspan="1" style="width:867px" %)(((
Molly 27.1 296 8 segment internal speed command, 16 segment internal position command
297 )))
Jim(Forgotten) 42.1 298 |(% colspan="3" style="width:277px" %)(((
Molly 27.1 299 **Communication**
Jim(Forgotten) 42.1 300 )))|(% colspan="2" rowspan="1" style="width:867px" %)(((
Molly 27.1 301 MODBUS RS485 or MODBUS RS422(SCTool)
302 )))
Jim(Forgotten) 42.1 303 |(% colspan="3" rowspan="2" style="width:277px" %)(((
Molly 27.1 304 **Braking resistor**
Jim(Forgotten) 42.1 305 )))|(% colspan="4" rowspan="1" style="width:867px" %)(((
Molly 27.1 306 750W built-in braking resistor; 400W without built-in;
307 )))
Jim(Forgotten) 42.1 308 |(% colspan="4" style="width:867px" %)(((
Molly 27.1 309 Both can support external braking resistors.
310 )))
Molly 29.1 311 |(% colspan="3" rowspan="22" %)(((
Molly 27.1 312 **Function setting**
313 )))|(% colspan="1" rowspan="12" %)(((
314 **General functions**
Jim(Forgotten) 42.1 315 )))|(% colspan="2" style="width:39px" %)(((
Molly 27.1 316 **Auto-tuning**
Jim(Forgotten) 42.1 317 )))|(% colspan="1" rowspan="1" style="width:503px" %)(((
Molly 30.1 318 Automatic load inertia identification,automatic rigidity self-tuning
Molly 27.1 319 )))|(% rowspan="1" style="width:364px" %)-
Jim(Forgotten) 42.1 320 |(% colspan="2" style="width:39px" %)(((
Molly 27.1 321 **Blend mode**
Jim(Forgotten) 42.1 322 )))|(% colspan="1" rowspan="1" style="width:503px" %)(((
Molly 27.1 323 YES
324 )))|(% rowspan="1" style="width:364px" %)-
Jim(Forgotten) 42.1 325 |(% colspan="2" style="width:39px" %)(((
Molly 27.1 326 **Advanced control algorithms**
Jim(Forgotten) 42.1 327 )))|(% colspan="1" style="width:503px" %)(((
Molly 27.1 328 YES
329 )))|(% style="width:364px" %)-
Jim(Forgotten) 42.1 330 |(% colspan="2" rowspan="2" style="width:39px" %)(((
Molly 27.1 331 **Waveform**
Jim(Forgotten) 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" %)(((
Molly 27.1 335 **Parameter management**
Jim(Forgotten) 42.1 336 )))|(% colspan="2" rowspan="1" style="width:867px" %)(((
Molly 27.1 337 Support batch parameter import and export
338 )))
Jim(Forgotten) 42.1 339 |(% colspan="2" style="width:39px" %)(((
Molly 27.1 340 **Vibration suppression**
Jim(Forgotten) 42.1 341 )))|(% colspan="2" rowspan="1" style="width:867px" %)(((
Molly 27.1 342 Support mechanical vibration suppression
343 )))
Jim(Forgotten) 42.1 344 |(% colspan="2" style="width:39px" %)(((
Molly 27.1 345 **Protection**
Jim(Forgotten) 42.1 346 )))|(% colspan="2" style="width:867px" %)(((
Molly 27.1 347 Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
348 )))
Jim(Forgotten) 42.1 349 |(% colspan="2" style="width:39px" %)(((
Molly 27.1 350 **Dynamic braking**
Jim(Forgotten) 42.1 351 )))|(% colspan="1" style="width:503px" %)-|(% style="width:364px" %)(((
Molly 27.1 352 Optional
353 )))
Jim(Forgotten) 42.1 354 |(% colspan="2" style="width:39px" %)(((
Molly 27.1 355 **Brake device**
Jim(Forgotten) 42.1 356 )))|(% colspan="2" rowspan="1" style="width:867px" %)(((
Molly 27.1 357 Support brake signal output
358 )))
Jim(Forgotten) 42.1 359 |(% colspan="2" style="width:39px" %)(((
Molly 27.1 360 **DI function**
Jim(Forgotten) 42.1 361 )))|(% colspan="2" rowspan="1" style="width:867px" %)(((
Molly 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 )))
Jim(Forgotten) 42.1 370 |(% colspan="2" style="width:39px" %)(((
Molly 27.1 371 **DO function**
Jim(Forgotten) 42.1 372 )))|(% colspan="1" rowspan="1" style="width:503px" %)(((
Molly 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 )))
Jim(Forgotten) 42.1 388 |(% colspan="2" rowspan="1" style="width:39px" %)**Pulse type**|(% rowspan="1" style="width:503px" %)(((
Molly 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
Jim(Forgotten) 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" %)(((
Molly 27.1 394 **Pulse output**
Jim(Forgotten) 42.1 395 )))|(% rowspan="1" style="width:503px" %)-|(% rowspan="1" style="width:337px" %)A, B, Z differential output
Molly 29.1 396 |(% colspan="1" rowspan="3" %)(((
Molly 30.1 397 **Speed mode**
Jim(Forgotten) 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" %)(((
Molly 30.1 402 Internal command
403 )))
Jim(Forgotten) 42.1 404 |(% colspan="2" style="width:39px" %)**Torque reach**|(% colspan="2" rowspan="1" style="width:867px" %)(((
Molly 30.1 405 Torque reach signal output
406 )))
Jim(Forgotten) 42.1 407 |(% colspan="2" style="width:39px" %)**Velocity limit**|(% colspan="2" rowspan="1" style="width:867px" %)(((
Molly 30.1 408 Velocity limit under torque mode
409 )))
Molly 27.1 410
Molly 32.1 411 = VD3E servo driver parameter table =
412
Molly 65.1 413 (% style="margin-left:auto; margin-right:auto; width:1149.22px" %)
414 |(% colspan="3" rowspan="1" style="width:445px" %)(((
Molly 32.1 415 **Bus type**
Molly 65.1 416 )))|(% style="width:327px" %)(((
Molly 32.1 417 (% style="text-align:center" %)
Molly 33.1 418 [[image:1726295827531-129.png]]
419
420 (((
421
422 )))
Mora Zhou 35.1 423 )))|(((
424 (% style="text-align:center" %)
425 [[image:1726295883786-742.png]]
426
427 (((
Molly 33.1 428
Mora Zhou 35.1 429 )))
Molly 32.1 430 )))|(((
Mora Zhou 35.1 431 (% style="text-align:center" %)
Molly 33.1 432 [[image:1726295894302-137.png]]
Molly 32.1 433 )))
Molly 65.1 434 |(% colspan="3" rowspan="1" style="width:445px" %)**Model**|(% style="width:327px" %)(((
Molly 32.1 435 **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**
Molly 65.1 443 )))|(% colspan="2" style="width:279px" %)**Power supply**|(% style="width:327px" %)220V|220V/380V|380V
444 |(% colspan="2" style="width:279px" %)**Control method**|(% colspan="3" rowspan="1" style="width:672px" %)IGBT PWM control sine wave current drive
445 |(% colspan="2" style="width:279px" %)**Encoder**|(% colspan="3" rowspan="1" style="width:672px" %)17bit, 23bit absolute value encoder
446 |(% colspan="2" style="width:279px" %)**Control signal input**|(% colspan="3" rowspan="1" style="width:672px" %)(((
Molly 63.1 447 6DI, Select the output function according to the function code configuration
Molly 32.1 448 )))
Molly 65.1 449 |(% colspan="2" style="width:279px" %)**Control signal output**|(% colspan="3" rowspan="1" style="width:672px" %)(((
Molly 63.1 450 3DO, Select the output function according to the function code configuration
Molly 32.1 451 )))
452 |(% style="width:147px" %)(((
453 **Communication function**
Molly 65.1 454 )))|(% style="width:133px" %)(((
Molly 32.1 455 **Host computer communication**
Molly 65.1 456 )))|(% colspan="3" rowspan="1" style="width:672px" %)(((
Molly 32.1 457 The USB interface can be used to set function code parameters, monitor status, and view waveforms through a computer host computer.
458 Parameter self-tuning, etc.
459 )))
Molly 65.1 460 |(% colspan="2" style="width:279px" %)**Braking resistor**|(% colspan="3" rowspan="1" style="width:672px" %)(((
Molly 32.1 461 Built-in braking resistor, supports external braking resistor
462 )))
Molly 65.1 463 |(% colspan="1" rowspan="9" style="width:166px" %)**General functions**|(% colspan="2" style="width:279px" %)**Auto-tuning**|(% colspan="3" rowspan="1" style="width:672px" %)Automatic load inertia identification,automatic rigidity self-tuning
464 |(% colspan="2" style="width:279px" %)(((
Molly 32.1 465 **Waveform viewing**
Molly 65.1 466 )))|(% colspan="3" rowspan="1" style="width:672px" %)4 channels waveform monitoring
467 |(% colspan="2" style="width:279px" %)(((
Molly 32.1 468 **Waveform storage**
Molly 65.1 469 )))|(% colspan="3" rowspan="1" style="width:672px" %)(((
Molly 32.1 470 Waveform acquisition frequency 1K Hz,(% style="background-color:transparent" %)10s waveform data recording
471 )))
Molly 65.1 472 |(% colspan="2" style="width:279px" %)**Parameter management**|(% colspan="3" rowspan="1" style="width:672px" %)Support batch parameter import and export
473 |(% colspan="2" style="width:279px" %)(((
Molly 32.1 474 **Vibration suppression**
Molly 65.1 475 )))|(% colspan="3" rowspan="1" style="width:672px" %)Support mechanical vibration suppression
476 |(% colspan="2" style="width:279px" %)(((
Molly 32.1 477
478
479 **Protection**
Molly 65.1 480 )))|(% colspan="3" rowspan="1" style="width:672px" %)Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
481 |(% colspan="2" style="width:279px" %)**Brake device**|(% colspan="3" rowspan="1" style="width:672px" %)Support brake signal output
482 |(% colspan="2" style="width:279px" %)**DI function**|(% colspan="3" rowspan="1" style="width:672px" %)(((
Molly 32.1 483 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**(%%))
484 )))
Molly 65.1 485 |(% colspan="2" style="width:279px" %)**DO function**|(% colspan="3" rowspan="1" style="width:672px" %)(((
Molly 32.1 486 Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
487
488 Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
489
490 Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**),CommunicationVDO
491 )))
492 |(% colspan="1" rowspan="16" style="width:166px" %)(((
493 **EtherCAT related**
494 )))|(% rowspan="14" style="width:147px" %)(((
495 **EtherCAT related**
Molly 65.1 496 )))|(% style="width:133px" %)(((
Molly 37.1 497 **Communication protocol**
Molly 65.1 498 )))|(% colspan="3" rowspan="1" style="width:672px" %)(((
Molly 32.1 499 EtherCAT protocol
500 )))
Molly 65.1 501 |(% style="width:133px" %)(((
Molly 37.1 502 **Support services**
Molly 65.1 503 )))|(% colspan="3" rowspan="1" style="width:672px" %)(((
Molly 32.1 504 CoE(PDO,SDO)
505 )))
Molly 65.1 506 |(% style="width:133px" %)(((
Molly 37.1 507 **Sync mode**
Molly 65.1 508 )))|(% colspan="3" rowspan="1" style="width:672px" %)(((
Molly 32.1 509 DC-Distributed Clock
510 )))
Molly 65.1 511 |(% style="width:133px" %)(((
Molly 37.1 512 **Physical layer**
Molly 65.1 513 )))|(% colspan="3" rowspan="1" style="width:672px" %)(((
Molly 32.1 514 100BASE-TX
515 )))
Molly 65.1 516 |(% style="width:133px" %)(((
Molly 37.1 517 **Baud rate**
Molly 65.1 518 )))|(% colspan="3" rowspan="1" style="width:672px" %)(((
Molly 32.1 519 100 Mbit/s(100Base-TX)
520 )))
Molly 65.1 521 |(% style="width:133px" %)(((
Molly 37.1 522 **Duplex mode**
Molly 65.1 523 )))|(% colspan="3" rowspan="1" style="width:672px" %)(((
Molly 32.1 524 Full duplex
525 )))
Molly 65.1 526 |(% style="width:133px" %)(((
Molly 37.1 527 **Topology**
Molly 65.1 528 )))|(% colspan="3" rowspan="1" style="width:672px" %)(((
Molly 32.1 529 Circular, linear
530 )))
Molly 65.1 531 |(% style="width:133px" %)(((
Molly 37.1 532 **Transmission medium**
Molly 65.1 533 )))|(% colspan="3" rowspan="1" style="width:672px" %)(((
Molly 32.1 534 Shielded Category 5e or better network cable
535 )))
Molly 65.1 536 |(% style="width:133px" %)(((
Molly 37.1 537 **Transmission distance**
Molly 65.1 538 )))|(% colspan="3" rowspan="1" style="width:672px" %)(((
Molly 32.1 539 Less than 100M between two nodes (good environment, good cables)
540 )))
Molly 65.1 541 |(% style="width:133px" %)(((
Molly 37.1 542 **Frame length**
Molly 65.1 543 )))|(% colspan="3" rowspan="1" style="width:672px" %)(((
Molly 32.1 544 44 bytes~~1498 bytes
545 )))
Molly 65.1 546 |(% style="width:133px" %)(((
Molly 37.1 547 **Excessive data**
Molly 65.1 548 )))|(% colspan="5" rowspan="1" style="width:672px" %)Maximum size of a single Ethernet frame is 1486 bytes
549 |(% style="width:133px" %)(((
Molly 37.1 550 **Sync jitter**
Molly 65.1 551 )))|(% colspan="3" rowspan="1" style="width:672px" %)(((
Molly 32.1 552 <1μs
553 )))
Molly 65.1 554 |(% style="width:133px" %)(((
Molly 37.1 555 **Distributed clock**
Molly 65.1 556 )))|(% colspan="3" rowspan="1" style="width:672px" %)(((
Molly 32.1 557 64 bit
558 )))
Molly 65.1 559 |(% style="width:133px" %)(((
Molly 37.1 560 **EEPROM capacity**
Molly 65.1 561 )))|(% colspan="3" rowspan="1" style="width:672px" %)(((
Molly 32.1 562 8k bit initialization data is written through the EtherCAT master station
563 )))
564 |(% rowspan="2" style="width:147px" %)(((
565 **Control mode and performance**
Molly 65.1 566 )))|(% style="width:133px" %)(((
Molly 37.1 567 **Control mode**
Molly 65.1 568 )))|(% colspan="3" rowspan="1" style="width:672px" %)(((
Molly 32.1 569 CSP、HM
570 )))
Molly 65.1 571 |(% style="width:133px" %)**Synchronization period**|(% colspan="3" rowspan="1" style="width:672px" %)(((
Molly 32.1 572 125μs
573 )))
574
Molly 57.1 575 = **Servo Motor Naming Rules** =
Molly 41.1 576
Jim(Forgotten) 25.1 577 (% style="margin-left:auto; margin-right:auto; width:50px" %)
578 |WD|80|M|-|075|30|S|-|A1|F|-|L
579 |①|②|③| |④|⑤|⑥| |⑦|⑧| |⑨
580
581 |(% rowspan="2" %)①Pole pairs|WD: 5| |(% rowspan="6" %)④Rated power|010：100W| |(% rowspan="4" %)⑦Encoder type|A1: 17bit single-turn absolute magnetic encoder
582 |WE: 4| |020：200W| |C1：17bit multi-turn absolute magnetic encoder
583 | | | |...| |D2：23bit multi-turn absolute optical encoder
584 |(% rowspan="7" %)②Flange|40| |500：5.0KW| |E1: 2500-line incremental encoder
585 |60| |550：5.5KW| | |
586 |80| |...| |(% rowspan="2" %)⑧Motor structure|F：Oil seal
587 |110| | | | |G：Oil seal + Brake device
588 |130| |(% rowspan="4" %)⑤Rated speed|15：1500rpm| | |
589 |150| |20：2000rpm| |(% rowspan="3" %)⑨Others|L：60/80 flange connector
590 |180| |25：2500rpm| |(% rowspan="2" %)L2：60/80/130 flange connector
591 | | | |30：3000rpm|
592 |(% rowspan="3" %)③Inertia level|L: Low| | | | |(% colspan="2" %)
593 |M: Middle| |(% rowspan="2" %)⑥Voltage level|S: 220V| |(% colspan="2" %)
594 |H: High| |T: 380V| |(% colspan="2" %)
Molly 44.1 595
596 (% style="text-align:center" %)
Molly 45.1 597 [[image:Servo.Manual.02 VD2 SA Series.test.WebHome@image-20220611113846-8.jpeg]]
Molly 44.1 598
Molly 54.1 599 Motor nameplate
Molly 48.1 600
Molly 60.1 601 = (% style="color:inherit; font-family:inherit; font-size:max(23px, min(29px, 12.3333px + 1.38889vw))" %)**Servo Motor Parameter**(%%) =
Molly 50.1 602
Molly 49.1 603 |(% 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**
604 |(% 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
605 |(% style="width:172px" %) |(% style="width:78px" %) |(% style="width:86px" %) |(% style="width:100px" %) |(% style="width:115px" %) |(% style="width:115px" %) |(% style="width:162px" %) | |
606 |(% 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
607 |(% 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
608 |(% 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
609 |(% style="width:172px" %) |(% style="width:78px" %) |(% style="width:86px" %) |(% style="width:100px" %) |(% style="width:115px" %) |(% style="width:115px" %) |(% style="width:162px" %) | |
610 |(% 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
611 |(% 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
612 |(% 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
613 |(% style="width:172px" %) |(% style="width:78px" %) |(% style="width:86px" %) |(% style="width:100px" %) |(% style="width:115px" %) |(% style="width:115px" %) |(% style="width:162px" %) | |
614 |(% 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
615 |(% 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
616 |(% 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
617 |(% 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
618 |(% 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
619 |(% 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
620 |(% 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
621 |(% 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
622 |(% 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
623 |(% 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
624
625 |**220V motor model**|**Flange mm**|**Power kW**|**Rated speed rpm**|**Rated torque N*m**|**Rated current A**|**Allowable overload multiple**|(((
626 **Pole pairs**
627 )))|(((
628 **Inertia level**
629 )))
630 |WD60H-02030S-☐☐☐|60|0.2|3000|0.64|1.8|3.5|5|(% colspan="1" rowspan="3" %)(((
631 High
632 )))
633 |WD60H-04030S-☐☐☐|60|0.4|3000|1.27|2.8|3.5|5
634 |WD60H-06030S-☐☐☐|60|0.6|3000|1.91|4.0|3.0|5
635 | | | | | | | | |
636 |WD80H-07530S-☐☐☐|80|0.75|3000|2.39|4.8|3.0|5|(% colspan="1" rowspan="4" %)(((
637 High
638 )))
639 |WD80H-10020S-☐☐☐|80|1|2000|4.77|4.8|3.0|5
640 |WD80H-10025S-☐☐☐|80|1|2500|3.82|4.8|3.0|5
641 |WD80H-10030S-☐☐☐|80|1|3000|3.2|4.8|3.0|5
642 | | | | | | | | |
643 |WD130H-15030S-☐☐☐|130|1.5|3000|4.8|6.0|3.0|5|(((
644 High
645 )))
646
647 |(% 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**
648 |(% 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
649 |(% 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" %)
650 |(% 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
651 |(% 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
652 |(% 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
653 |(% 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
654 |(% 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
655 |(% 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" %)
656 |(% 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
657 |(% 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
658 |(% 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
659 |(% 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" %)
660 |(% 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
661 |(% 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
662 |(% 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
663 |(% 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
664 |(% 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
665 |(% 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
666 |(% 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
667 |(% 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
668
669 |**380V motor model**|**Flange mm**|**Power kW**|**Rated speed rpm**|**Rated torque N*m**|**Rated current A**|**Allowable overload multiple**|**Pole pairs**|**Inertia level**
670 |WD130M-08515T-☐☐☐|130|0.85|1500|5.41|3.1|3.0|5|(% colspan="1" rowspan="5" %)Middle
671 |WD130M-13015T-☐☐☐|130|1.3|1500|8.28|5.1|3.0|5
672 |WD130M-18015T-☐☐☐|130|1.8|1500|11.46|6.3|3.0|5
673 |WD130M-23015T-☐☐☐|130|2.3|1500|14.64|8.5|3.0|5
674 |WD180M-29015T-☐☐☐|180|2.9|1500|18.6|11.8|3.0|5
675
676 |**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**
677 |WE130M-20025T-☐☐☐|130|2.0|2500|7.7|7.5|2.8|(% style="width:78px" %)4|(% rowspan="6" style="width:68px" %)Middle
678 |WE130M-26025T-☐☐☐|130|2.6|2500|10|6.0|2.5|(% style="width:78px" %)4
679 |WE130M-31015T-☐☐☐|130|3.1|1500|20|11.5|2.5|(% style="width:78px" %)4
680 |WE130M-38025T-☐☐☐|130|3.8|2500|15|8.8|2.0|(% style="width:78px" %)4
681 |WE130M-42020T-☐☐☐|130|4.2|2000|20|8.5|2.0|(% style="width:78px" %)4
682 |WE130M-53030T-☐☐☐|130|5.3|3000|17|11|2.0|(% style="width:78px" %)4
683 | | | | | | | |(% style="width:78px" %) |(% style="width:68px" %)
684 |WE180M-30015T-☐☐☐|180|3.0|1500|19|7.5|2.5|(% style="width:78px" %)4|(% rowspan="4" style="width:68px" %)Middle
685 |WE180M-43015T-☐☐☐|180|4.3|1500|27|10|2.5|(% style="width:78px" %)4
686 |WE180M-55015T-☐☐☐|180|5.5|1500|35|12|2.0|(% style="width:78px" %)4
687 |WE180M-75015T-☐☐☐|180|7.5|1500|48|20|2.0|(% style="width:78px" %)4
688
689 **Note**: ☐☐☐ Not all motor models include the following categories
690
691 A1F：17-bit single-turn absolute magnetic encoder without brake.
692
693 A1G：17-bit single-turn absolute magnetic encoder with brake.
694
695 C1F：17-bit multi-turn absolute magnetic encoder without brake
696
697 C1G：17-bit multi-turn absolute magnetic encoder with brake.
698
699 D2F：23-bit multi-turn absolute Optical encoder without brake.
700
701 D2G：23-bit multi-turn absolute Optical encoder with brake.
Molly 60.1 702
703 = **Servo Drive and Motor Matching Table** =
704
705 **Note**: The **red-marked** combination is not recommended.
706
707 |**Control type**|**Voltage level**|**Drive series**|**Drive model**|**Support motor**
708 |(% rowspan="18" %)Pulse type|(% rowspan="12" %)220V|(% rowspan="3" %)VD2F|VD2F-003SA1P|(0.1-0.2)kW
709 |VD2F-010SA1P|(0.2-0.4)kW
710 |VD2F-014SA1P|(((
711 (0.6-0.75)kW
712
713 **(0.85-1.0)kW**
714 )))
715 |(% rowspan="2" %)VD2L|VD2L-010SA1P|(0.2-0.4)kW
716 |VD2L-014SA1P/D|(((
717 (0.6-0.75)kW
718
719 **(0.85-1.0)kW**
720 )))
721 |(% rowspan="2" %)(((
722 VD2 Type A
723 )))|VD2-010SA1G/R/H|(0.2-0.4)kW
724 |VD2-014SA1G/R/H|(((
725 (0.6-0.75)kW
726
727 **(0.85-1.0)kW**
728 )))
729 |(% rowspan="8" %)(((
730 VD2 Type B
731 )))|VD2-016SA1G/R/H|(0.85-1.5)kW
732 |VD2-019SA1G/R/H|(1.5-2.0)kW
733 |VD2-021SA1G/R/H|(2.0-2.5)kW
734 |VD2-025SA1G|(2.5-3.0)kW
735 |VD2-030SA1G|(3.0-4.0)kW
736 |(% rowspan="6" %)380V|VD2-016TA1G|(0.85-1.5)kW
737 |VD2-019TA1G|(1.5-2.0)kW
738 |VD2-021TA1G|(2.0-3.0)kW
739 |(% rowspan="3" %)VD2 Type C|VD2-030TA1G|(3.0-5.0)kW
740 |VD2-040TA1G|(5.0-6.0)kW
741 |VD2-050TA1G|(7.5)kW
742 |(% rowspan="14" %)EtherCAT type|(% rowspan="8" %)220V|(% rowspan="3" %)VD3E Type A|VD3E-003SA1G|(0.1-0.2)kW
743 |VD3E-010SA1G|(0.2-0.4)kW
744 |VD3E-014SA1G|(((
745 (0.6-0.75)kW
746
747 **(0.85-1.0)kW**
748 )))
749 |(% rowspan="8" %)VD3E Type B|VD3E-016SA1G|(0.85-1.5)kW
750 |VD3E-019SA1G|(1.5-2.0)kW
751 |VD3E-021SA1G|(2.0-2.5)kW
752 |VD3E-025SA1G|(2.5-3.0)kW
753 |VD3E-030SA1G|(3.0-4.0)kW
754 |(% rowspan="6" %)380V|VD3E-016TA1G|(0.85-1.5)kW
755 |VD3E-019TA1G|(1.5-2.0)kW
756 |VD3E-021TA1G|(2.0-3.0)kW
757 |(% rowspan="3" %)VD3E Type C|VD3E-030TA1G|(3.0-5.0)kW
758 |VD3E-040TA1G|(5.0-6.0)kW
759 |VD3E-050TA1G|(7.5)kW
Molly 61.1 760
761 = **Servo Cable Naming Rules** =
762
763 (% style="margin-left:auto; margin-right:auto; width:120px" %)
764 |E|-|J1394|-|R9M|-|3M|X7|-|A1|-|2
765 |①| |②| |③| |④|⑤| |⑥| |⑦
766
767 |①Cable type|E: Encoder adapter cable| |(% rowspan="4" %)④Cable length|3M: 3m
768 | | | |5M: 5m
769 |(% rowspan="2" %)②Drive side connector|J1394: 1394 connector| |7M: 7m
770 |D15G: DB15 male connector| |...
771 | | | | |
772 |(% rowspan="7" %)③Motor side connector|R9M: 9-core rectangular female connector| |(% rowspan="3" %)⑤Number of cores|X5: 5 cores
773 |MC7S: 7-core straight female connector| |X7: 7 cores
774 |H28K7M: 7-core 28mm aviation female connector| |...
775 |CM10: 11-core 11mm aviation female connector| | |
776 |MC7P: 7-core straight female connector (L2)| |(% rowspan="2" %)⑥Wire size|A: 0.2mm/0.14mm
777 |R15M: 15-core rectangular female connector| |A1: 0.2mm/0.14mm with battery box
778 |H28J15M: 15-core 28mm aviation female connector| | |
779 | | | |(% rowspan="2" %)⑦Others|1: Ordinary cable
780 | | | |2: High flex cable
781
782 (% style="margin-left:auto; margin-right:auto; width:120px" %)
783 |P|-|U3O1|-|H28J4M|-|5M|X4|-|C|-|1
784 |①| |②| |③| |④|⑤| |⑥| |⑦
785
786 |①Cable type|P: Power adapter cable/brake cable| |(% rowspan="6" %)④Cable length|3M: 3m
787 | | | |5M: 5m
788 |(% rowspan="8" %)②Drive side connector|Z3O1: 3-core pin-type cold-pressed terminal and 1-core O-type cold-pressed terminal| |6D5M: 6.5m
789 |Z3O3: 3-core pin-type cold-pressed terminal and 3-core O-type cold-pressed terminal| |7M: 7m
790 |Z4: 4-core pin-type cold-pressed terminal| |10M: 10m
791 |Z4O2: 4-core pin-type cold-pressed terminal and 2-core O-type cold-pressed terminal| |...
792 |U3O1: 3-core U-type cold-pressed terminal and 1-core O-type cold-pressed terminal| | |
793 |U3O3: 3-core U-type cold-pressed terminal and 3-core O-type cold-pressed terminal| |(% rowspan="4" %)⑤Number of cores|X2: 2 cores
794 |Z6: 6-core pin-type cold-pressed terminal| |X4: 4 cores
795 |O2: 2-core O-type cold-pressed terminal| |X6: 6 cores
796 | | | |...
797 |(% rowspan="9" %)③Motor side connector|18A6: 6-core 23mm aviation female connector| | |
798 |R4M: 4-core rectangular female connector| |(% rowspan="5" %)⑥Wire size|D: 0.5mm
799 |MC4S: 4-core straight female connector| |E: 0.75mm
800 |MC6S: 6-core straight female connector| |B: 1.0mm
801 |H28J4M: 4-core 28mm aviation female connector| |F: 1.5mm
802 |H32J4M: 4-core 32mm aviation female connector| |C: 2.5mm
803 |R2M: 2-core rectangular female connector| | |
804 |MC4H: 4-core H-type straight female connector| |(% rowspan="2" %)⑦Others|1: Ordinary cable
805 |MC6H: 6-core H-type straight female connector| |2: High flex cable
806
807 = **Servo Cable Matching Table** =
808
809 |**Motor model**|**Matching drive**|**Power cable/brake cable**|**Encoder cable**
810 |(% rowspan="6" %)(((
811 WD40M-○○○-☐☐☐
812
813 WD60M-○○○-☐☐☐
814
815 WD60H-○○○-☐☐☐
816
817 WE60M-○○○-☐☐☐
818
819 WD80M-○○○-☐☐☐
820
821 WD80H-○○○-☐☐☐
822
823 WE80M-○○○-☐☐☐
824 )))|(% rowspan="2" %)VD2/VD3E A type|Power cable：P-Z3O1-R4M-*MX4|(% rowspan="3" %)Single-turn：E-J1394-R9M-*MX5-A
825 |(((
826 Power cable：P-Z3O1-R4M-*MX4
827
828 Brake cable：P-O2-R2M-3MX2-D
829 )))
830 |(% rowspan="2" %)(((
831 VD2/VD3E B type
832
833 VD2/VD3E C type
834 )))|Power cable：P-U3O1-R4M-*MX4
835 |(((
836 Power cable：P-U3O1-R4M-*MX4
837
838 Brake cable：P-O2-R2M-3MX2-D
839 )))|(% rowspan="3" %)Multi-turn：E-J1394-R9M-*MX7-A1
840 |(% rowspan="2" %)VD2F/VD2L|Power cable：P-Z4-R4M-*MX4
841 |(((
842 Power cable：P-Z4-R4M-*MX4
843
844 Brake cable：P-O2-R2M-3MX2-D
845 )))
846 |(% rowspan="6" %)(((
847 WD60M-○○○-☐☐☐-L
848
849 WD80M-○○○-☐☐☐-L
850 )))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4S-*MX4|(% rowspan="3" %)Single-turn：E-J1394-MC7S-*MX5-A
851 |With brake：P-Z3O3-MC6S-*MX6
852 |(% rowspan="2" %)(((
853 VD2/VD3E B type
854
855 VD2/VD3E C type
856 )))|Without brake：P-U3O1-MC4S-*MX4
857 |With brake：P-U3O3-MC6S-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7S-*MX7-A1
858 |(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4S-*MX4
859 |With brake：P-Z4O2-MC6S-*MX6
860 |(% rowspan="6" %)(((
861 WD60M-○○○-☐☐☐-L2
862
863 WD80M-○○○-☐☐☐-L2
864 )))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4S-*MX4|(% rowspan="3" %)Single-turn：E-J1394-MC7P-*MX5-A
865 |With brake：P-Z3O3-MC6S-*MX6
866 |(% rowspan="2" %)(((
867 VD2/VD3E B type
868
869 VD2/VD3E C type
870 )))|Without brake：P-U3O1-MC4S-*MX4
871 |With brake：P-U3O3-MC6S-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7P-*MX7-A1
872 |(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4S-*MX4
873 |With brake：P-Z4O2-MC6S-*MX6
874 |(% rowspan="4" %)(((
875 WD60H-○○○-☐☐☐-L2
876
877 WD80H-○○○-☐☐☐-L2
878 )))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4H-*MX4|(% rowspan="2" %)Single-turn：E-J1394-MC7P-*MX5-A
879 |With brake：P-Z3O3-MC6H-*MX6
880 |(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4H-*MX4|(% rowspan="2" %)Multi-turn：E-J1394-MC7P-*MX7-A1
881 |With brake：P-Z4O2-MC6H-*MX6
882 |(% rowspan="6" %)(((
883 WE110M-○○○-☐☐☐
884
885 WE130M-○○○-☐☐☐
886 )))|(% rowspan="2" %)VD2/VD3E A type|Power cable：P-Z3O1-H28J4M-*MX4|(% rowspan="3" %)Single-turn：E-J1394-H28K7M-*MX5-A
887 |Brake cable：No need
888 |(% rowspan="2" %)(((
889 VD2/VD3E B type
890
891 VD2/VD3E C type
892 )))|Power cable：P-U3O1-H28J4M-*MX4
893 |Brake cable：No need|(% rowspan="3" %)Multi-turn：E-J1394-H28K7M-*MX7-A1
894 |(% rowspan="2" %)VD2F/VD2L|Power cable：P-Z4-H28J4M-*MX4
895 |Brake cable：No need
896 |(% rowspan="6" %)(((
897 WD130M-○○○-☐☐☐
898
899 WD130H-○○○-☐☐☐
900 )))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-18A6-*MX4|(% rowspan="3" %)Single-turn：E-J1394-CM10-*MX5-A
901 |With brake：P-Z3O3-18A6-*MX6
902 |(% rowspan="2" %)(((
903 VD2/VD3E B type
904
905 VD2/VD3E C type
906 )))|Without brake：P-U3O1-18A6-*MX4
907 |With brake：P-U3O3-18A6-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-CM10-*MX7-A1
908 |(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-18A6-*MX4
909 |With brake：P-Z4O2-18A6-*MX4
910 |(% 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
911 |With brake：P-Z3O3-18A6-*MX6
912 |(% rowspan="2" %)(((
913 VD2/VD3E B type
914
915 VD2/VD3E C type
916 )))|Without brake：P-U3O1-18A6-*MX4
917 |With brake：P-U3O3-18A6-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7P-*MX7-A1
918 |(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-18A6-*MX4
919 |With brake：P-Z4O2-18A6-*MX4
920 |(% rowspan="2" %)(((
921 WE180M-○○○-☐☐☐
922
923 WD180M-○○○-☐☐☐
924 )))|(% rowspan="2" %)(((
925 VD2/VD3E B type
926
927 VD2/VD3E C type
928 )))|Power cable：P-U3O1-H32J4M-*MX4|Single-turn：E-J1394-H28K7M-*MX5-A
929 |Brake cable：No need|Multi-turn：E-J1394-H28K7M-*MX7-A1