Skip to Content

Wiki source code of 05 Servo Product Manual

Version 84.1 by Jim(Forgotten) on 2024/12/16 14:51
Hide last authors
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
Mora Zhou 80.1 43 (% style="margin-left:auto; margin-right:auto; width:761.198px" %)
44 |(% colspan="1" rowspan="4" %)①Product Series|(% style="width:204.976px" %)VD2|(% colspan="1" rowspan="2" style="width:190.024px" %)③Voltage level|S: 220V
45 |(% style="width:204.976px" %)VD2F|T: 380V
46 |(% style="width:204.976px" %)VD2L
47 |(% style="width:204.976px" %)VD3E
48 |(% colspan="1" rowspan="9" %)②Maximum output current|(% style="width:204.976px" %)010: 10A|(% colspan="1" rowspan="2" style="width:190.024px" %)④Encoder type|A1: Absolute
49 |(% style="width:204.976px" %)014: 14A|E1: Incremental
50 |(% style="width:204.976px" %)016: 16A
51 |(% style="width:204.976px" %)019: 19A
52 |(% style="width:204.976px" %)021: 21A|(% colspan="1" rowspan="5" style="width:190.024px" %)⑤Function|P: Basic pulse control
53 |(% style="width:204.976px" %)025: 25A|G: General(Analog control, full-closed loop)
54 |(% style="width:204.976px" %)030: 30A|H: High speed DO(Collector signal feedback)
55 |(% style="width:204.976px" %)040: 40A|R: Support external PID function
56 |(% style="width:204.976px" %)050: 50A|D: Support dynamic braking function
Jim(Forgotten) 12.1 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
Mora Zhou 80.1 66 (% style="margin-left:auto; margin-right:auto; width:1200px" %)
Jim(Forgotten) 19.1 67 |(% colspan="3" %)(((
Jim(Forgotten) 17.1 68 **General type**
Molly 36.1 69 )))|(((
70 (% style="text-align:center" %)
71 [[image:1726038778533-997.png||_mstalt="300053"]]
72 )))|(((
73 (% style="text-align:center" %)
74 [[image:1726038786193-560.png||_mstalt="296309"]]
75 )))|(((
76 (% style="text-align:center" %)
77 [[image:1726038790641-417.png||_mstalt="295087"]]
78 )))
Jim(Forgotten) 21.1 79 |(% colspan="3" %)**Model**|**VD2(A type)**|**VD2(B type)**|**VD2(C type)**
Jim(Forgotten) 18.1 80 |(% colspan="1" rowspan="11" %)(((
81 **Basic Specifications**
Jim(Forgotten) 21.1 82 )))|(% colspan="2" %)**Power supply**|220V|220V/380V|380V
Jim(Forgotten) 19.1 83 |(% colspan="2" %)(((
Jim(Forgotten) 18.1 84 **Control method**
Jim(Forgotten) 19.1 85 )))|(% colspan="3" rowspan="1" %)(((
86 IGBT PWM control sine wave current drive
Jim(Forgotten) 21.1 87 )))
Jim(Forgotten) 19.1 88 |(% colspan="2" %)(((
Jim(Forgotten) 18.1 89 **Encoder**
Jim(Forgotten) 19.1 90 )))|(% colspan="3" rowspan="1" %)(((
91 2500-line incremental encoder, 17-bit/23-bit absolute encoder
Jim(Forgotten) 21.1 92 )))
Jim(Forgotten) 19.1 93 |(% colspan="2" %)(((
Jim(Forgotten) 18.1 94 **Control signal input**
Jim(Forgotten) 21.1 95 )))|(% colspan="3" rowspan="1" %)8DI
Jim(Forgotten) 19.1 96 |(% colspan="2" %)(((
Jim(Forgotten) 18.1 97 **Control signal output**
Jim(Forgotten) 21.1 98 )))|(% colspan="3" rowspan="1" %)4DO
Jim(Forgotten) 19.1 99 |(% colspan="2" %)(((
Jim(Forgotten) 18.1 100 **Analog signal input**
Jim(Forgotten) 19.1 101 )))|(% colspan="3" rowspan="1" %)(((
102 2 AI(-10V to +10V)
Jim(Forgotten) 21.1 103 )))
Jim(Forgotten) 19.1 104 |(% colspan="2" %)(((
Jim(Forgotten) 18.1 105 **Pulse signal input**
Jim(Forgotten) 19.1 106 )))|(% colspan="3" rowspan="1" %)(((
107 Open collector or differential input
Jim(Forgotten) 21.1 108 )))
Jim(Forgotten) 19.1 109 |(% colspan="2" %)(((
Jim(Forgotten) 18.1 110 **Pulse feedback output**
Jim(Forgotten) 22.1 111 )))|(% colspan="3" rowspan="1" %)ABZ differential output(VD2-XXXXXXH series support collector signal feedback)
Jim(Forgotten) 19.1 112 |(% colspan="2" %)(% style="background-color:transparent" %)**Internal Command**|(% colspan="3" rowspan="1" %)(((
113 8 segment internal speed command, 16 segment internal position command
Jim(Forgotten) 21.1 114 )))
Jim(Forgotten) 19.1 115 |(% colspan="2" %)(((
Jim(Forgotten) 18.1 116 **Communication**
Jim(Forgotten) 19.1 117 )))|(% colspan="3" rowspan="1" %)(((
118 MODBUS RS485 or MODBUS RS422(SCTool)
Jim(Forgotten) 21.1 119 )))
Jim(Forgotten) 19.1 120 |(% colspan="2" %)(((
121 **Braking resistor**
122 )))|(% colspan="3" rowspan="1" %)(((
123 Internal braking resistor(also support external braking resistor)
Jim(Forgotten) 21.1 124 )))
Jim(Forgotten) 19.1 125 |(% colspan="1" rowspan="19" %)(((
126 **Function setting**
127 )))|(% colspan="1" rowspan="9" %)(((
128 **General functions**
129 )))|(((
130 **Auto-tuning**
Jim(Forgotten) 20.1 131 )))|(% colspan="3" rowspan="1" %)(((
Devin Chen 72.1 132 Automatic load inertia identification, automatic rigidity self-tuning (SCTool)
Jim(Forgotten) 21.1 133 )))
Jim(Forgotten) 19.1 134 |(% colspan="1" rowspan="2" %)(((
135 **Waveform**
Jim(Forgotten) 20.1 136 )))|(% colspan="3" rowspan="1" %)(((
Devin Chen 72.1 137 4 channels waveform monitoring (SCTool)
Jim(Forgotten) 21.1 138 )))
Jim(Forgotten) 20.1 139 |(% colspan="3" rowspan="1" %)(((
Devin Chen 72.1 140 10s waveform data recording (SCTool)
Jim(Forgotten) 21.1 141 )))
Jim(Forgotten) 18.1 142 |(((
Jim(Forgotten) 19.1 143 **Parameter management**
Jim(Forgotten) 20.1 144 )))|(% colspan="3" rowspan="1" %)(((
145 Support batch parameter import and export
Jim(Forgotten) 21.1 146 )))
Jim(Forgotten) 19.1 147 |(((
148 **Vibration suppression**
Jim(Forgotten) 20.1 149 )))|(% colspan="3" rowspan="1" %)(((
150 Support mechanical vibration suppression
Jim(Forgotten) 21.1 151 )))
Jim(Forgotten) 19.1 152 |(((
153 **Protection**
Jim(Forgotten) 20.1 154 )))|(% colspan="3" rowspan="1" %)(((
155 Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
Jim(Forgotten) 21.1 156 )))
Jim(Forgotten) 19.1 157 |(((
158 **Brake device**
Jim(Forgotten) 22.1 159 )))|(% colspan="3" rowspan="1" %)(((
160 Support brake signal output
161 )))
Jim(Forgotten) 19.1 162 |(((
163 **DI function**
Jim(Forgotten) 22.1 164 )))|(% colspan="3" rowspan="1" %)(((
Molly 26.1 165 Servo enable((% _mstmutation="1" %)**S-ON**(%%)), Error/alarm clear((% _mstmutation="1" %)**A-CLR**(%%)), Forward rotation prohibited((% _mstmutation="1" %)**POT**(%%))
Jim(Forgotten) 22.1 166
Molly 26.1 167 Backward rotation prohibited((% _mstmutation="1" %)**NOT**(%%)), Command direction((% _mstmutation="1" %)**C-SIGN**(%%)), Emergency stop((% _mstmutation="1" %)**E-STOP**(%%))
Jim(Forgotten) 22.1 168
Molly 26.1 169 Gain switch((% _mstmutation="1" %)**GAIN-5EL**(%%)), Internal speed selection((% _mstmutation="1" %)**INSPD1, INSPD2, INSPD3**(%%))
Jim(Forgotten) 22.1 170
Molly 26.1 171 Internal position selection and enable((% _mstmutation="1" %)**INPO51, INPO52, INPO53, INPO54, ENINPOS**(%%))
Jim(Forgotten) 22.1 172 )))
Jim(Forgotten) 19.1 173 |(((
174 **DO function**
Jim(Forgotten) 22.1 175 )))|(% colspan="3" rowspan="1" %)(((
Molly 26.1 176 Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
Jim(Forgotten) 22.1 177
Molly 26.1 178 Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
Jim(Forgotten) 22.1 179
180 Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), ABZ pulse feedback output
181 )))
Jim(Forgotten) 19.1 182 |(% colspan="1" rowspan="4" %)(((
183 **Position mode**
184 )))|(((
185 **Pulse frequency**
Jim(Forgotten) 22.1 186 )))|(% colspan="3" rowspan="1" %)(((
187 Max to 500KHz
188 )))
Jim(Forgotten) 19.1 189 |(((
190 **Pulse type**
Jim(Forgotten) 22.1 191 )))|(% colspan="3" rowspan="1" %)(((
192 Direction + Pulse, CW/CCW, Orthogonal coding
193 )))
Jim(Forgotten) 19.1 194 |(((
195 **Pulse filter**
Jim(Forgotten) 22.1 196 )))|(% colspan="3" rowspan="1" %)(((
197 First-order low-pass filter or smoothing filter
198 )))
Jim(Forgotten) 19.1 199 |(((
200 **Pulse output**
Jim(Forgotten) 22.1 201 )))|(% colspan="3" rowspan="1" %)(((
202 A, B, Z differential output
203 )))
Jim(Forgotten) 19.1 204 |(% colspan="1" rowspan="3" %)(((
205 **Speed mode**
206 )))|(((
207 **Command input**
Jim(Forgotten) 22.1 208 )))|(% colspan="3" rowspan="1" %)(((
209 Analog input(-10V to +10V), Internal command(8 segments)
210 )))
Jim(Forgotten) 19.1 211 |(((
212 **Zero speed clamp**
Jim(Forgotten) 22.1 213 )))|(% colspan="3" rowspan="1" %)(((
214 Support
215 )))
Jim(Forgotten) 19.1 216 |(((
217 **Torque limit**
Jim(Forgotten) 22.1 218 )))|(% colspan="3" rowspan="1" %)(((
219 Torque limit under speed mode
220 )))
Jim(Forgotten) 19.1 221 |(% colspan="1" rowspan="3" %)(((
222 **Torque mode**
223 )))|(((
224 **Command input**
Jim(Forgotten) 22.1 225 )))|(% colspan="3" rowspan="1" %)(((
226 Analog input(-10V to +10V), Internal command
227 )))
Jim(Forgotten) 19.1 228 |(((
229 **Torque reach**
Jim(Forgotten) 22.1 230 )))|(% colspan="3" rowspan="1" %)(((
231 Torque reach signal output
232 )))
Jim(Forgotten) 19.1 233 |(((
234 **Velocity limit**
Jim(Forgotten) 22.1 235 )))|(% colspan="3" rowspan="1" %)(((
236 Velocity limit under torque mode
237 )))
Jim(Forgotten) 23.1 238
Jim(Forgotten) 83.1 239 = **VD2F/VD2L Servo Drive Parameter Table** =
Molly 27.1 240
Mora Zhou 80.1 241 (% style="margin-left:auto; margin-right:auto; width:1200px" %)
Jim(Forgotten) 42.1 242 |(% colspan="6" rowspan="1" style="width:537px" %)(((
Molly 27.1 243 **General type**
Jim(Forgotten) 42.1 244 )))|(% colspan="1" rowspan="1" style="width:503px" %)(((
Molly 27.1 245 (% style="text-align:center" %)
246 [[image:1726190862910-426.png]]
247 )))|(% rowspan="1" style="width:364px" %)(((
248 (% style="text-align:center" %)
249 [[image:1726190785664-427.png]]
250 )))
Jim(Forgotten) 42.1 251 |(% colspan="6" rowspan="1" style="width:537px" %)**Model**|(% colspan="1" rowspan="1" style="width:503px" %)(((
Molly 27.1 252 **VD2F**
253 )))|(% rowspan="1" style="width:364px" %)(((
254 **VD2L**
255 )))
256 |(% colspan="3" rowspan="12" %)(((
257 **Basic Specifications**
Jim(Forgotten) 42.1 258 )))|(% colspan="3" style="width:277px" %)**Power supply**|(% colspan="1" rowspan="1" style="width:503px" %)(((
Molly 27.1 259 220V
260 )))|(% rowspan="1" style="width:364px" %)(((
261 220V
262 )))
Jim(Forgotten) 42.1 263 |(% colspan="3" style="width:277px" %)(((
Molly 27.1 264 **Control method**
Jim(Forgotten) 42.1 265 )))|(% colspan="2" rowspan="1" style="width:867px" %)(((
Molly 27.1 266 IGBT PWM control sine wave current drive
267 )))
Jim(Forgotten) 42.1 268 |(% colspan="3" style="width:277px" %)(((
Molly 27.1 269 **Encoder**
Jim(Forgotten) 42.1 270 )))|(% colspan="2" rowspan="1" style="width:867px" %)17bit, 23bit absolute value encoder
271 |(% colspan="3" style="width:277px" %)(((
Molly 27.1 272 **Control signal input**
Jim(Forgotten) 42.1 273 )))|(% colspan="2" rowspan="1" style="width:867px" %)4DI
274 |(% colspan="3" style="width:277px" %)(((
Molly 27.1 275 **Control signal output**
Jim(Forgotten) 42.1 276 )))|(% colspan="2" rowspan="1" style="width:867px" %)4DO
277 |(% colspan="3" style="width:277px" %)(((
Molly 27.1 278 **Pulse frequency division output**
Jim(Forgotten) 42.1 279 )))|(% colspan="1" rowspan="1" style="width:503px" %)—|(% rowspan="1" style="width:364px" %)(((
Molly 27.1 280 Support
281 )))
Jim(Forgotten) 42.1 282 |(% colspan="3" style="width:277px" %)(((
Molly 27.1 283 **Pulse signal input**
Jim(Forgotten) 42.1 284 )))|(% colspan="2" rowspan="1" style="width:867px" %)(((
Molly 27.1 285 Open collector or differential input
286 )))
Jim(Forgotten) 42.1 287 |(% colspan="3" style="width:277px" %)(((
Molly 27.1 288 **Pulse feedback output**
Jim(Forgotten) 42.1 289 )))|(% colspan="1" rowspan="1" style="width:503px" %)(((
Molly 27.1 290 Z signal open collector output
Molly 69.1 291 )))|(% rowspan="1" style="width:364px" %)ABZ phase pulse output or pulse+direction output
Jim(Forgotten) 42.1 292 |(% colspan="3" style="width:277px" %)(% style="background-color:transparent" %)**Internal Command**|(% colspan="2" rowspan="1" style="width:867px" %)(((
Molly 27.1 293 8 segment internal speed command, 16 segment internal position command
294 )))
Jim(Forgotten) 42.1 295 |(% colspan="3" style="width:277px" %)(((
Molly 27.1 296 **Communication**
Molly 69.1 297 )))|(% rowspan="1" style="width:867px" %)(((
298 MODBUS RS485 and MODBUS RS422(SCTool)
299 )))|(% rowspan="1" style="width:867px" %)MODBUS RS485 and Type-C(SCTool)
Jim(Forgotten) 42.1 300 |(% colspan="3" rowspan="2" style="width:277px" %)(((
Molly 27.1 301 **Braking resistor**
Jim(Forgotten) 42.1 302 )))|(% colspan="4" rowspan="1" style="width:867px" %)(((
Molly 27.1 303 750W built-in braking resistor; 400W without built-in;
304 )))
Jim(Forgotten) 42.1 305 |(% colspan="4" style="width:867px" %)(((
Molly 27.1 306 Both can support external braking resistors.
307 )))
Molly 29.1 308 |(% colspan="3" rowspan="22" %)(((
Molly 27.1 309 **Function setting**
310 )))|(% colspan="1" rowspan="12" %)(((
311 **General functions**
Jim(Forgotten) 42.1 312 )))|(% colspan="2" style="width:39px" %)(((
Molly 27.1 313 **Auto-tuning**
Jim(Forgotten) 42.1 314 )))|(% colspan="1" rowspan="1" style="width:503px" %)(((
Jim(Forgotten) 71.1 315 Automatic load inertia identification, automatic rigidity self-tuning
316 )))|(% rowspan="1" style="width:364px" %)Automatic load inertia identification
Jim(Forgotten) 42.1 317 |(% colspan="2" style="width:39px" %)(((
Jim(Forgotten) 70.1 318 **Mix control**
Jim(Forgotten) 42.1 319 )))|(% colspan="1" rowspan="1" style="width:503px" %)(((
Molly 27.1 320 YES
321 )))|(% rowspan="1" style="width:364px" %)-
Jim(Forgotten) 42.1 322 |(% colspan="2" style="width:39px" %)(((
Molly 27.1 323 **Advanced control algorithms**
Jim(Forgotten) 42.1 324 )))|(% colspan="1" style="width:503px" %)(((
Molly 27.1 325 YES
326 )))|(% style="width:364px" %)-
Jim(Forgotten) 42.1 327 |(% colspan="2" rowspan="2" style="width:39px" %)(((
Molly 27.1 328 **Waveform**
Jim(Forgotten) 42.1 329 )))|(% colspan="2" style="width:867px" %)4 channels waveform monitoring
330 |(% colspan="2" style="width:867px" %)10s waveform data recording
331 |(% colspan="2" style="width:39px" %)(((
Molly 27.1 332 **Parameter management**
Jim(Forgotten) 42.1 333 )))|(% colspan="2" rowspan="1" style="width:867px" %)(((
Molly 27.1 334 Support batch parameter import and export
335 )))
Jim(Forgotten) 42.1 336 |(% colspan="2" style="width:39px" %)(((
Molly 27.1 337 **Vibration suppression**
Jim(Forgotten) 42.1 338 )))|(% colspan="2" rowspan="1" style="width:867px" %)(((
Molly 27.1 339 Support mechanical vibration suppression
340 )))
Jim(Forgotten) 42.1 341 |(% colspan="2" style="width:39px" %)(((
Molly 27.1 342 **Protection**
Jim(Forgotten) 42.1 343 )))|(% colspan="2" style="width:867px" %)(((
Molly 27.1 344 Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
345 )))
Jim(Forgotten) 42.1 346 |(% colspan="2" style="width:39px" %)(((
Molly 27.1 347 **Dynamic braking**
Jim(Forgotten) 42.1 348 )))|(% colspan="1" style="width:503px" %)-|(% style="width:364px" %)(((
Molly 27.1 349 Optional
350 )))
Jim(Forgotten) 42.1 351 |(% colspan="2" style="width:39px" %)(((
Molly 27.1 352 **Brake device**
Jim(Forgotten) 42.1 353 )))|(% colspan="2" rowspan="1" style="width:867px" %)(((
Molly 27.1 354 Support brake signal output
355 )))
Jim(Forgotten) 42.1 356 |(% colspan="2" style="width:39px" %)(((
Molly 27.1 357 **DI function**
Jim(Forgotten) 42.1 358 )))|(% colspan="2" rowspan="1" style="width:867px" %)(((
Molly 27.1 359 Servo enable((% _mstmutation="1" %)**S-ON**(%%)), Error/alarm clear((% _mstmutation="1" %)**A-CLR**(%%)), Forward rotation prohibited((% _mstmutation="1" %)**POT**(%%))
360
361 Backward rotation prohibited((% _mstmutation="1" %)**NOT**(%%)), Command direction((% _mstmutation="1" %)**C-SIGN**(%%)), Emergency stop((% _mstmutation="1" %)**E-STOP**(%%))
362
363 Gain switch((% _mstmutation="1" %)**GAIN-5EL**(%%)), Internal speed selection((% _mstmutation="1" %)**INSPD1, INSPD2, INSPD3**(%%))
364
365 Internal position selection and enable((% _mstmutation="1" %)**INPO51, INPO52, INPO53, INPO54, ENINPOS**(%%))
366 )))
Jim(Forgotten) 42.1 367 |(% colspan="2" style="width:39px" %)(((
Molly 27.1 368 **DO function**
Jim(Forgotten) 42.1 369 )))|(% colspan="1" rowspan="1" style="width:503px" %)(((
Molly 27.1 370 Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
371
372 Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
373
374 Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), Z pulse feedback output
375 )))|(% rowspan="1" style="width:364px" %)(((
376 Servo ready(**RDY**)、Error signal(**ALM**), Alarm signal(**WARN**), Rotation detection(**TGON**)
377
378 Zero speed signal(**ZSP**), Torque limited(**T-LIMIT**), Velocity limited(**V-LIMIT**)
379
380 Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), ABZ pulse feedback output
381 )))
382 |(% colspan="1" rowspan="4" %)**Position mode**|**Pulse frequency**|(% colspan="3" rowspan="1" %)(((
383 Max to 500KHz
384 )))
Jim(Forgotten) 42.1 385 |(% colspan="2" rowspan="1" style="width:39px" %)**Pulse type**|(% rowspan="1" style="width:503px" %)(((
Molly 27.1 386 Direction + pulse; Orthogonal coding:
387 V1.21 and above support CW/CCW
388 )))|(% rowspan="1" style="width:337px" %)Direction + Pulse, Orthogonal coding
Jim(Forgotten) 42.1 389 |(% colspan="2" rowspan="1" style="width:39px" %)**Pulse filter**|(% colspan="2" rowspan="1" style="width:867px" %)First-order low-pass filter or smoothing filter
390 |(% colspan="2" rowspan="1" style="width:39px" %)(((
Molly 27.1 391 **Pulse output**
Jim(Forgotten) 42.1 392 )))|(% rowspan="1" style="width:503px" %)-|(% rowspan="1" style="width:337px" %)A, B, Z differential output
Molly 29.1 393 |(% colspan="1" rowspan="3" %)(((
Molly 30.1 394 **Speed mode**
Jim(Forgotten) 42.1 395 )))|(% colspan="2" style="width:39px" %)**Command input**|(% colspan="2" rowspan="1" style="width:867px" %)Internal command(8 segments)
396 |(% colspan="2" style="width:39px" %)**Zero speed clamp**|(% colspan="2" rowspan="1" style="width:867px" %)Support
397 |(% colspan="2" style="width:39px" %)**Torque limit**|(% colspan="2" rowspan="1" style="width:867px" %)Torque limit under speed mode
398 |(% colspan="1" rowspan="3" %)**Torque mode**|(% colspan="2" style="width:39px" %)**Command input**|(% colspan="2" rowspan="1" style="width:867px" %)(((
Molly 30.1 399 Internal command
400 )))
Jim(Forgotten) 42.1 401 |(% colspan="2" style="width:39px" %)**Torque reach**|(% colspan="2" rowspan="1" style="width:867px" %)(((
Molly 30.1 402 Torque reach signal output
403 )))
Jim(Forgotten) 42.1 404 |(% colspan="2" style="width:39px" %)**Velocity limit**|(% colspan="2" rowspan="1" style="width:867px" %)(((
Molly 30.1 405 Velocity limit under torque mode
406 )))
Molly 27.1 407
Jim(Forgotten) 84.1 408 = (% style="color:inherit; font-family:inherit; font-size:max(23px, min(29px, 12.3333px + 1.38889vw))" %)VD3E/VD5L Servo Drive Parameter Table(%%) =
Molly 32.1 409
Jim(Forgotten) 83.1 410 |(% colspan="3" %)**Bus type**|(((
Molly 32.1 411 (% style="text-align:center" %)
Molly 33.1 412 [[image:1726295827531-129.png]]
Mora Zhou 35.1 413 )))|(((
414 (% style="text-align:center" %)
415 [[image:1726295883786-742.png]]
Molly 32.1 416 )))|(((
Mora Zhou 35.1 417 (% style="text-align:center" %)
Molly 33.1 418 [[image:1726295894302-137.png]]
Molly 32.1 419 )))|(((
Jim(Forgotten) 83.1 420 (% style="text-align:center" %)
421 [[image:1726295827531-129.png]]
Molly 32.1 422 )))
Jim(Forgotten) 83.1 423 |(% colspan="3" %)**Model**|**VD3E(A type)**|**VD3E(B type)**|**VD3E(C type)**|**VD5L**
424 |(% colspan="1" rowspan="7" %)**Basic Specifications**|(% colspan="2" %)**Power supply**|220V|220/380V|380V|220V
425 |(% colspan="2" %)**Control method**|(% colspan="4" rowspan="1" %)IGBT PWM control sine wave current drive
426 |(% colspan="2" %)**Encoder**|(% colspan="4" rowspan="1" %)17bit, 23bit absolute value encoder
427 |(% colspan="2" %)**Control signal input**|(% colspan="3" rowspan="1" %)6DI, Select the output function according to the function code configuration|4DI, Select the output function according to the function code configuration
428 |(% colspan="2" %)**Control signal output**|(% colspan="4" rowspan="1" %)3DO, Select the output function according to the function code configuration
429 |**Communication function**|**Host computer communication**|(% colspan="4" rowspan="1" %)The USB interface can be used to set function code parameters, monitor status, and view waveforms through a computer host computer.
Molly 32.1 430 Parameter self-tuning, etc.
Jim(Forgotten) 83.1 431 |(% colspan="2" %)**Braking resistor**|(% colspan="4" rowspan="1" %)Built-in braking resistor, supports external braking resistor
432 |(% colspan="2" rowspan="9" %)**General functions**|**Auto-tuning**|(% colspan="4" rowspan="1" %)Automatic load inertia identification, automatic rigidity self-tuning
433 |**Waveform viewing**|(% colspan="4" rowspan="1" %)4 channels waveform monitoring
434 |**Waveform storage**|(% colspan="4" rowspan="1" %)Waveform acquisition frequency 1K Hz,(% style="background-color:transparent" %)10s waveform data recording
435 |**Parameter management**|(% colspan="4" rowspan="1" %)Support batch parameter import and export; Support SDO modification
436 |**Vibration suppression**|(% colspan="4" rowspan="1" %)By setting the notch filter parameters
437 |**Protection**|(% colspan="4" rowspan="1" %)Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
438 |**Brake device**|(% colspan="4" rowspan="1" %)Support brake signal output
439 |**DI function**|(% colspan="4" rowspan="1" %)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**(%%))
440 |**DO function**|(% colspan="4" rowspan="1" %)(((
Molly 32.1 441 Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
442
443 Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
444
Jim(Forgotten) 83.1 445 Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), Communication VDO
Molly 32.1 446 )))
Jim(Forgotten) 83.1 447 |(% colspan="2" rowspan="17" %)**EtherCAT related**|**Communication protocol**|(% colspan="4" rowspan="1" %)EtherCAT protocol
448 |**Support services**|(% colspan="4" rowspan="1" %)CoE(PDO,SDO)
449 |**Sync mode**|(% colspan="4" rowspan="1" %)DC-Distributed Clock
450 |**Physical layer**|(% colspan="4" rowspan="1" %)100BASE-TX
451 |**Baud rate**|(% colspan="4" rowspan="1" %)100 Mbit/s(100Base-TX)
452 |**Duplex mode**|(% colspan="4" rowspan="1" %)Full duplex
453 |**Topology**|(% colspan="4" rowspan="1" %)Circular, linear
454 |**Transmission medium**|(% colspan="4" rowspan="1" %)Shielded Category 5e or better network cable
455 |**Transmission distance**|(% colspan="4" rowspan="1" %)Less than 100M between two nodes (good environment, good cables)
456 |**Frame length**|(% colspan="4" rowspan="1" %)44 bytes to 1498 bytes
457 |**Excessive data**|(% colspan="4" rowspan="1" %)Maximum size of a single Ethernet frame is 1486 bytes
458 |**Sync jitter**|(% colspan="4" rowspan="1" %)<1μs
459 |**Distributed clock**|(% colspan="4" rowspan="1" %)64 bit
460 |**EEPROM capacity**|(% colspan="4" rowspan="1" %)8k bit initialization data is written through the EtherCAT master station
461 |**Control mode**|(% colspan="4" rowspan="1" %)CSP, CSV, CST, PT, HM
462 |**Synchronization period**|(% colspan="4" rowspan="1" %)125μs
463 |**Touch Probe**|(% colspan="3" rowspan="1" %)DI5 and DI6|DI function code 18 and 19
Molly 32.1 464
Molly 57.1 465 = **Servo Motor Naming Rules** =
Molly 41.1 466
Jim(Forgotten) 25.1 467 (% style="margin-left:auto; margin-right:auto; width:50px" %)
468 |WD|80|M|-|075|30|S|-|A1|F|-|L
469 |①|②|③| |④|⑤|⑥| |⑦|⑧| |⑨
470
Mora Zhou 80.1 471 (% style="margin-left:auto; margin-right:auto; width:1200px" %)
Molly 66.1 472 |(% rowspan="2" %)①Pole pairs|WD: 5|(% rowspan="14" %) |(% rowspan="6" %)④Rated power|010：100W|(% rowspan="14" %) |(% rowspan="4" %)⑦Encoder type|A1: 17bit single-turn absolute magnetic encoder
473 |WE: 4|020：200W|C1：17bit multi-turn absolute magnetic encoder
474 |(% colspan="2" rowspan="1" %) |...|D2：23bit multi-turn absolute optical encoder
475 |(% rowspan="7" %)②Flange|40|500：5.0KW|E1: 2500-line incremental encoder
476 |60|550：5.5KW|(% colspan="2" rowspan="1" %)
477 |80|...|(% rowspan="2" %)⑧Motor structure|F：Oil seal
478 |110|(% colspan="2" rowspan="1" %) |G：Oil seal + Brake device
479 |130|(% rowspan="4" %)⑤Rated speed|15：1500rpm|(% colspan="2" rowspan="1" %)
480 |150|20：2000rpm|(% rowspan="3" %)⑨Others|L：60/80 flange connector
481 |180|25：2500rpm|(% rowspan="2" %)L2：60/80/130 flange connector
482 |(% colspan="2" rowspan="1" %) |30：3000rpm
483 |(% rowspan="3" %)③Inertia level|L: Low|(% colspan="2" rowspan="1" %) |(% colspan="2" rowspan="3" %)
484 |M: Middle|(% rowspan="2" %)⑥Voltage level|S: 220V
485 |H: High|T: 380V
Molly 44.1 486
487 (% style="text-align:center" %)
Molly 45.1 488 [[image:Servo.Manual.02 VD2 SA Series.test.WebHome@image-20220611113846-8.jpeg]]
Molly 44.1 489
Molly 54.1 490 Motor nameplate
Molly 48.1 491
Molly 60.1 492 = (% style="color:inherit; font-family:inherit; font-size:max(23px, min(29px, 12.3333px + 1.38889vw))" %)**Servo Motor Parameter**(%%) =
Molly 50.1 493
Mora Zhou 80.1 494 (% style="margin-left:auto; margin-right:auto; width:1200px" %)
495 |=(% style="width: 172px;" %)**220V motor model**|=(% style="width: 111px;" %)**Flange mm**|=(% style="width: 109px;" %)**Power kW**|=(% style="width: 132px;" %)**Rated speed rpm**|=(% style="width: 149px;" %)**Rated torque N*m**|=(% style="width: 137px;" %)**Rated current A**|=(% style="width: 172px;" %)**Allowable overload multiple**|=(% style="width: 91px;" %)**Pole pairs**|=(% style="width: 125px;" %)**Inertia level**
496 |(% style="width:172px" %)WD40M-01030S-☐☐☐|(% style="width:111px" %)40|(% style="width:109px" %)0.1|(% style="width:132px" %)3000|(% style="width:149px" %)0.318|(% style="width:137px" %)1.0|(% style="width:172px" %)3.0|(% style="width:91px" %)5|(% style="width:125px" %)Middle
Molly 67.1 497 |(% colspan="9" style="width:172px" %)
Mora Zhou 80.1 498 |(% style="width:172px" %)WD60M-02030S-☐☐☐|(% style="width:111px" %)60|(% style="width:109px" %)0.2|(% style="width:132px" %)3000|(% style="width:149px" %)0.64|(% style="width:137px" %)1.7|(% style="width:172px" %)3.0|(% style="width:91px" %)5|(% rowspan="3" style="width:125px" %)Middle
499 |(% style="width:172px" %)WD60M-04030S-☐☐☐|(% style="width:111px" %)60|(% style="width:109px" %)0.4|(% style="width:132px" %)3000|(% style="width:149px" %)1.27|(% style="width:137px" %)2.5|(% style="width:172px" %)3.0|(% style="width:91px" %)5
500 |(% style="width:172px" %)WD60M-06030S-☐☐☐|(% style="width:111px" %)60|(% style="width:109px" %)0.6|(% style="width:132px" %)3000|(% style="width:149px" %)1.91|(% style="width:137px" %)3.6|(% style="width:172px" %)3.0|(% style="width:91px" %)5
Molly 67.1 501 |(% colspan="9" style="width:172px" %)
Mora Zhou 80.1 502 |(% style="width:172px" %)WD80M-07530S-☐☐☐|(% style="width:111px" %)80|(% style="width:109px" %)0.75|(% style="width:132px" %)3000|(% style="width:149px" %)2.39|(% style="width:137px" %)4.4|(% style="width:172px" %)3.0|(% style="width:91px" %)5|(% rowspan="3" style="width:125px" %)Middle
503 |(% style="width:172px" %)WD80M-10025S-☐☐☐|(% style="width:111px" %)80|(% style="width:109px" %)1|(% style="width:132px" %)2500|(% style="width:149px" %)3.82|(% style="width:137px" %)4.6|(% style="width:172px" %)3.0|(% style="width:91px" %)5
504 |(% style="width:172px" %)WD80M-10030S-☐☐☐|(% style="width:111px" %)80|(% style="width:109px" %)1|(% style="width:132px" %)3000|(% style="width:149px" %)3.18|(% style="width:137px" %)5.8|(% style="width:172px" %)3.0|(% style="width:91px" %)5
Molly 67.1 505 |(% colspan="9" style="width:172px" %)
Mora Zhou 80.1 506 |(% style="width:172px" %)WD130M-08515S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)0.85|(% style="width:132px" %)1500|(% style="width:149px" %)5.41|(% style="width:137px" %)4.6|(% style="width:172px" %)3.0|(% style="width:91px" %)5|(% rowspan="10" style="width:125px" %)Middle
507 |(% style="width:172px" %)WD130M-13015S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)1.3|(% style="width:132px" %)1500|(% style="width:149px" %)8.28|(% style="width:137px" %)7.7|(% style="width:172px" %)3.0|(% style="width:91px" %)5
508 |(% style="width:172px" %)WD130M-18015S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)1.8|(% style="width:132px" %)1500|(% style="width:149px" %)11.46|(% style="width:137px" %)9.8|(% style="width:172px" %)3.0|(% style="width:91px" %)5
509 |(% style="width:172px" %)WD130M-23015S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)2.3|(% style="width:132px" %)1500|(% style="width:149px" %)14.64|(% style="width:137px" %)12.4|(% style="width:172px" %)3.0|(% style="width:91px" %)5
510 |(% style="width:172px" %)WD130M-10020S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)1|(% style="width:132px" %)2000|(% style="width:149px" %)4.8|(% style="width:137px" %)6.0|(% style="width:172px" %)3.5|(% style="width:91px" %)5
511 |(% style="width:172px" %)WD130M-15020S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)1.5|(% style="width:132px" %)2000|(% style="width:149px" %)7.2|(% style="width:137px" %)8.5|(% style="width:172px" %)3.5|(% style="width:91px" %)5
512 |(% style="width:172px" %)WD130M-20020S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)2|(% style="width:132px" %)2000|(% style="width:149px" %)9.55|(% style="width:137px" %)10|(% style="width:172px" %)3.0|(% style="width:91px" %)5
513 |(% style="width:172px" %)WD130M-15025S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)1.5|(% style="width:132px" %)2500|(% style="width:149px" %)5.73|(% style="width:137px" %)6.0|(% style="width:172px" %)3.0|(% style="width:91px" %)5
514 |(% style="width:172px" %)WD130M-26025S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)2.6|(% style="width:132px" %)2500|(% style="width:149px" %)9.93|(% style="width:137px" %)10.5|(% style="width:172px" %)3.0|(% style="width:91px" %)5
515 |(% style="width:172px" %)WD130M-38025S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)3.8|(% style="width:132px" %)2500|(% style="width:149px" %)14.5|(% style="width:137px" %)16|(% style="width:172px" %)3.0|(% style="width:91px" %)5
Molly 49.1 516
Mora Zhou 80.1 517 (% style="margin-left:auto; margin-right:auto; width:1200px" %)
518 |=**220V motor model**|=**Flange mm**|=**Power kW**|=**Rated speed rpm**|=**Rated torque N*m**|=**Rated current A**|=**Allowable overload multiple**|=(((
Molly 49.1 519 **Pole pairs**
Mora Zhou 80.1 520 )))|=(((
Molly 49.1 521 **Inertia level**
522 )))
523 |WD60H-02030S-☐☐☐|60|0.2|3000|0.64|1.8|3.5|5|(% colspan="1" rowspan="3" %)(((
524 High
525 )))
526 |WD60H-04030S-☐☐☐|60|0.4|3000|1.27|2.8|3.5|5
527 |WD60H-06030S-☐☐☐|60|0.6|3000|1.91|4.0|3.0|5
Molly 67.1 528 |(% colspan="9" %)
Molly 49.1 529 |WD80H-07530S-☐☐☐|80|0.75|3000|2.39|4.8|3.0|5|(% colspan="1" rowspan="4" %)(((
530 High
531 )))
532 |WD80H-10020S-☐☐☐|80|1|2000|4.77|4.8|3.0|5
533 |WD80H-10025S-☐☐☐|80|1|2500|3.82|4.8|3.0|5
534 |WD80H-10030S-☐☐☐|80|1|3000|3.2|4.8|3.0|5
Molly 67.1 535 |(% colspan="9" %)
Molly 49.1 536 |WD130H-15030S-☐☐☐|130|1.5|3000|4.8|6.0|3.0|5|(((
537 High
538 )))
539
540 |(% 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**
541 |(% 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
Molly 67.1 542 |(% colspan="9" style="width:174px" %)
Molly 49.1 543 |(% 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
544 |(% 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
545 |(% 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
546 |(% 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
547 |(% 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
Molly 67.1 548 |(% colspan="9" style="width:174px" %)
Molly 49.1 549 |(% 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
550 |(% 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
551 |(% 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
Molly 67.1 552 |(% colspan="9" style="width:174px" %)
Molly 49.1 553 |(% 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
554 |(% 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
555 |(% 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
556 |(% 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
557 |(% 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
558 |(% 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
559 |(% 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
560 |(% 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
561
562 |**380V motor model**|**Flange mm**|**Power kW**|**Rated speed rpm**|**Rated torque N*m**|**Rated current A**|**Allowable overload multiple**|**Pole pairs**|**Inertia level**
563 |WD130M-08515T-☐☐☐|130|0.85|1500|5.41|3.1|3.0|5|(% colspan="1" rowspan="5" %)Middle
564 |WD130M-13015T-☐☐☐|130|1.3|1500|8.28|5.1|3.0|5
565 |WD130M-18015T-☐☐☐|130|1.8|1500|11.46|6.3|3.0|5
566 |WD130M-23015T-☐☐☐|130|2.3|1500|14.64|8.5|3.0|5
567 |WD180M-29015T-☐☐☐|180|2.9|1500|18.6|11.8|3.0|5
568
569 |**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**
570 |WE130M-20025T-☐☐☐|130|2.0|2500|7.7|7.5|2.8|(% style="width:78px" %)4|(% rowspan="6" style="width:68px" %)Middle
571 |WE130M-26025T-☐☐☐|130|2.6|2500|10|6.0|2.5|(% style="width:78px" %)4
572 |WE130M-31015T-☐☐☐|130|3.1|1500|20|11.5|2.5|(% style="width:78px" %)4
573 |WE130M-38025T-☐☐☐|130|3.8|2500|15|8.8|2.0|(% style="width:78px" %)4
574 |WE130M-42020T-☐☐☐|130|4.2|2000|20|8.5|2.0|(% style="width:78px" %)4
575 |WE130M-53030T-☐☐☐|130|5.3|3000|17|11|2.0|(% style="width:78px" %)4
Molly 67.1 576 |(% colspan="9" %)
Molly 49.1 577 |WE180M-30015T-☐☐☐|180|3.0|1500|19|7.5|2.5|(% style="width:78px" %)4|(% rowspan="4" style="width:68px" %)Middle
578 |WE180M-43015T-☐☐☐|180|4.3|1500|27|10|2.5|(% style="width:78px" %)4
579 |WE180M-55015T-☐☐☐|180|5.5|1500|35|12|2.0|(% style="width:78px" %)4
580 |WE180M-75015T-☐☐☐|180|7.5|1500|48|20|2.0|(% style="width:78px" %)4
581
582 **Note**: ☐☐☐ Not all motor models include the following categories
583
584 A1F：17-bit single-turn absolute magnetic encoder without brake.
585
586 A1G：17-bit single-turn absolute magnetic encoder with brake.
587
588 C1F：17-bit multi-turn absolute magnetic encoder without brake
589
590 C1G：17-bit multi-turn absolute magnetic encoder with brake.
591
592 D2F：23-bit multi-turn absolute Optical encoder without brake.
593
594 D2G：23-bit multi-turn absolute Optical encoder with brake.
Molly 60.1 595
596 = **Servo Drive and Motor Matching Table** =
597
598 **Note**: The **red-marked** combination is not recommended.
599
Mora Zhou 81.1 600 |=**Control type**|=**Voltage level**|=**Drive series**|=**Drive model**|=**Support motor**
Molly 60.1 601 |(% rowspan="18" %)Pulse type|(% rowspan="12" %)220V|(% rowspan="3" %)VD2F|VD2F-003SA1P|(0.1-0.2)kW
602 |VD2F-010SA1P|(0.2-0.4)kW
603 |VD2F-014SA1P|(((
604 (0.6-0.75)kW
605
606 **(0.85-1.0)kW**
607 )))
608 |(% rowspan="2" %)VD2L|VD2L-010SA1P|(0.2-0.4)kW
609 |VD2L-014SA1P/D|(((
610 (0.6-0.75)kW
611
612 **(0.85-1.0)kW**
613 )))
614 |(% rowspan="2" %)(((
615 VD2 Type A
616 )))|VD2-010SA1G/R/H|(0.2-0.4)kW
617 |VD2-014SA1G/R/H|(((
618 (0.6-0.75)kW
619
620 **(0.85-1.0)kW**
621 )))
622 |(% rowspan="8" %)(((
623 VD2 Type B
624 )))|VD2-016SA1G/R/H|(0.85-1.5)kW
625 |VD2-019SA1G/R/H|(1.5-2.0)kW
626 |VD2-021SA1G/R/H|(2.0-2.5)kW
627 |VD2-025SA1G|(2.5-3.0)kW
628 |VD2-030SA1G|(3.0-4.0)kW
629 |(% rowspan="6" %)380V|VD2-016TA1G|(0.85-1.5)kW
630 |VD2-019TA1G|(1.5-2.0)kW
631 |VD2-021TA1G|(2.0-3.0)kW
632 |(% rowspan="3" %)VD2 Type C|VD2-030TA1G|(3.0-5.0)kW
633 |VD2-040TA1G|(5.0-6.0)kW
634 |VD2-050TA1G|(7.5)kW
635 |(% rowspan="14" %)EtherCAT type|(% rowspan="8" %)220V|(% rowspan="3" %)VD3E Type A|VD3E-003SA1G|(0.1-0.2)kW
636 |VD3E-010SA1G|(0.2-0.4)kW
637 |VD3E-014SA1G|(((
638 (0.6-0.75)kW
639
640 **(0.85-1.0)kW**
641 )))
642 |(% rowspan="8" %)VD3E Type B|VD3E-016SA1G|(0.85-1.5)kW
643 |VD3E-019SA1G|(1.5-2.0)kW
644 |VD3E-021SA1G|(2.0-2.5)kW
645 |VD3E-025SA1G|(2.5-3.0)kW
646 |VD3E-030SA1G|(3.0-4.0)kW
647 |(% rowspan="6" %)380V|VD3E-016TA1G|(0.85-1.5)kW
648 |VD3E-019TA1G|(1.5-2.0)kW
649 |VD3E-021TA1G|(2.0-3.0)kW
650 |(% rowspan="3" %)VD3E Type C|VD3E-030TA1G|(3.0-5.0)kW
651 |VD3E-040TA1G|(5.0-6.0)kW
652 |VD3E-050TA1G|(7.5)kW
Molly 61.1 653
654 = **Servo Cable Naming Rules** =
655
656 (% style="margin-left:auto; margin-right:auto; width:120px" %)
657 |E|-|J1394|-|R9M|-|3M|X7|-|A1|-|2
658 |①| |②| |③| |④|⑤| |⑥| |⑦
659
Mora Zhou 80.1 660 (% style="margin-left:auto; margin-right:auto; width:1200px" %)
Molly 68.1 661 |①Cable type|E: Encoder adapter cable|(% rowspan="14" %) |(% rowspan="4" %)④Cable length|3M: 3m
662 |(% colspan="2" rowspan="1" %) |5M: 5m
663 |(% rowspan="2" %)②Drive side connector|J1394: 1394 connector|7M: 7m
664 |D15G: DB15 male connector|...
665 |(% colspan="2" rowspan="1" %) |(% colspan="2" rowspan="1" %)
666 |(% rowspan="7" %)③Motor side connector|R9M: 9-core rectangular female connector|(% rowspan="3" %)⑤Number of cores|X5: 5 cores
667 |MC7S: 7-core straight female connector|X7: 7 cores
668 |H28K7M: 7-core 28mm aviation female connector|...
669 |CM10: 11-core 11mm aviation female connector|(% colspan="2" rowspan="1" %)
670 |MC7P: 7-core straight female connector (L2)|(% rowspan="2" %)⑥Wire size|A: 0.2mm/0.14mm
671 |R15M: 15-core rectangular female connector|A1: 0.2mm/0.14mm with battery box
672 |H28J15M: 15-core 28mm aviation female connector|(% colspan="2" rowspan="1" %)
673 |(% colspan="2" rowspan="2" %) |(% rowspan="2" %)⑦Others|1: Ordinary cable
674 |2: High flex cable
Molly 61.1 675
676 (% style="margin-left:auto; margin-right:auto; width:120px" %)
677 |P|-|U3O1|-|H28J4M|-|5M|X4|-|C|-|1
678 |①| |②| |③| |④|⑤| |⑥| |⑦
679
Mora Zhou 80.1 680 (% style="margin-left:auto; margin-right:auto; width:1200px" %)
Molly 68.1 681 |①Cable type|P: Power adapter cable/brake cable|(% rowspan="20" %) |(% rowspan="6" %)④Cable length|3M: 3m
682 |(% colspan="2" rowspan="1" %) |5M: 5m
683 |(% rowspan="8" %)②Drive side connector|Z3O1: 3-core pin-type cold-pressed terminal and 1-core O-type cold-pressed terminal|6D5M: 6.5m
684 |Z3O3: 3-core pin-type cold-pressed terminal and 3-core O-type cold-pressed terminal|7M: 7m
685 |Z4: 4-core pin-type cold-pressed terminal|10M: 10m
686 |Z4O2: 4-core pin-type cold-pressed terminal and 2-core O-type cold-pressed terminal|...
687 |U3O1: 3-core U-type cold-pressed terminal and 1-core O-type cold-pressed terminal|(% colspan="2" rowspan="1" %)
688 |U3O3: 3-core U-type cold-pressed terminal and 3-core O-type cold-pressed terminal|(% rowspan="4" %)⑤Number of cores|X2: 2 cores
689 |Z6: 6-core pin-type cold-pressed terminal|X4: 4 cores
690 |O2: 2-core O-type cold-pressed terminal|X6: 6 cores
691 |(% colspan="2" rowspan="1" %) |...
692 |(% rowspan="9" %)③Motor side connector|18A6: 6-core 23mm aviation female connector|(% colspan="2" rowspan="1" %)
693 |R4M: 4-core rectangular female connector|(% rowspan="5" %)⑥Wire size|D: 0.5mm
694 |MC4S: 4-core straight female connector|E: 0.75mm
695 |MC6S: 6-core straight female connector|B: 1.0mm
696 |H28J4M: 4-core 28mm aviation female connector|F: 1.5mm
697 |H32J4M: 4-core 32mm aviation female connector|C: 2.5mm
698 |R2M: 2-core rectangular female connector|(% colspan="2" rowspan="1" %)
699 |MC4H: 4-core H-type straight female connector|(% rowspan="2" %)⑦Others|1: Ordinary cable
700 |MC6H: 6-core H-type straight female connector|2: High flex cable
Molly 61.1 701
702 = **Servo Cable Matching Table** =
703
Mora Zhou 80.1 704 (% style="margin-left:auto; margin-right:auto; width:1200px" %)
705 |=**Motor model**|=**Matching drive**|=**Power cable/brake cable**|=**Encoder cable**
Molly 61.1 706 |(% rowspan="6" %)(((
707 WD40M-○○○-☐☐☐
708
709 WD60M-○○○-☐☐☐
710
711 WD60H-○○○-☐☐☐
712
713 WE60M-○○○-☐☐☐
714
715 WD80M-○○○-☐☐☐
716
717 WD80H-○○○-☐☐☐
718
719 WE80M-○○○-☐☐☐
720 )))|(% rowspan="2" %)VD2/VD3E A type|Power cable：P-Z3O1-R4M-*MX4|(% rowspan="3" %)Single-turn：E-J1394-R9M-*MX5-A
721 |(((
722 Power cable：P-Z3O1-R4M-*MX4
723
724 Brake cable：P-O2-R2M-3MX2-D
725 )))
726 |(% rowspan="2" %)(((
727 VD2/VD3E B type
728
729 VD2/VD3E C type
730 )))|Power cable：P-U3O1-R4M-*MX4
731 |(((
732 Power cable：P-U3O1-R4M-*MX4
733
734 Brake cable：P-O2-R2M-3MX2-D
735 )))|(% rowspan="3" %)Multi-turn：E-J1394-R9M-*MX7-A1
736 |(% rowspan="2" %)VD2F/VD2L|Power cable：P-Z4-R4M-*MX4
737 |(((
738 Power cable：P-Z4-R4M-*MX4
739
740 Brake cable：P-O2-R2M-3MX2-D
741 )))
742 |(% rowspan="6" %)(((
743 WD60M-○○○-☐☐☐-L
744
745 WD80M-○○○-☐☐☐-L
746 )))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4S-*MX4|(% rowspan="3" %)Single-turn：E-J1394-MC7S-*MX5-A
747 |With brake：P-Z3O3-MC6S-*MX6
748 |(% rowspan="2" %)(((
749 VD2/VD3E B type
750
751 VD2/VD3E C type
752 )))|Without brake：P-U3O1-MC4S-*MX4
753 |With brake：P-U3O3-MC6S-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7S-*MX7-A1
754 |(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4S-*MX4
755 |With brake：P-Z4O2-MC6S-*MX6
756 |(% rowspan="6" %)(((
757 WD60M-○○○-☐☐☐-L2
758
759 WD80M-○○○-☐☐☐-L2
760 )))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4S-*MX4|(% rowspan="3" %)Single-turn：E-J1394-MC7P-*MX5-A
761 |With brake：P-Z3O3-MC6S-*MX6
762 |(% rowspan="2" %)(((
763 VD2/VD3E B type
764
765 VD2/VD3E C type
766 )))|Without brake：P-U3O1-MC4S-*MX4
767 |With brake：P-U3O3-MC6S-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7P-*MX7-A1
768 |(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4S-*MX4
769 |With brake：P-Z4O2-MC6S-*MX6
770 |(% rowspan="4" %)(((
771 WD60H-○○○-☐☐☐-L2
772
773 WD80H-○○○-☐☐☐-L2
774 )))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4H-*MX4|(% rowspan="2" %)Single-turn：E-J1394-MC7P-*MX5-A
775 |With brake：P-Z3O3-MC6H-*MX6
776 |(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4H-*MX4|(% rowspan="2" %)Multi-turn：E-J1394-MC7P-*MX7-A1
777 |With brake：P-Z4O2-MC6H-*MX6
778 |(% rowspan="6" %)(((
779 WE110M-○○○-☐☐☐
780
781 WE130M-○○○-☐☐☐
782 )))|(% rowspan="2" %)VD2/VD3E A type|Power cable：P-Z3O1-H28J4M-*MX4|(% rowspan="3" %)Single-turn：E-J1394-H28K7M-*MX5-A
783 |Brake cable：No need
784 |(% rowspan="2" %)(((
785 VD2/VD3E B type
786
787 VD2/VD3E C type
788 )))|Power cable：P-U3O1-H28J4M-*MX4
789 |Brake cable：No need|(% rowspan="3" %)Multi-turn：E-J1394-H28K7M-*MX7-A1
790 |(% rowspan="2" %)VD2F/VD2L|Power cable：P-Z4-H28J4M-*MX4
791 |Brake cable：No need
792 |(% rowspan="6" %)(((
793 WD130M-○○○-☐☐☐
794
795 WD130H-○○○-☐☐☐
796 )))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-18A6-*MX4|(% rowspan="3" %)Single-turn：E-J1394-CM10-*MX5-A
797 |With brake：P-Z3O3-18A6-*MX6
798 |(% rowspan="2" %)(((
799 VD2/VD3E B type
800
801 VD2/VD3E C type
802 )))|Without brake：P-U3O1-18A6-*MX4
803 |With brake：P-U3O3-18A6-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-CM10-*MX7-A1
804 |(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-18A6-*MX4
805 |With brake：P-Z4O2-18A6-*MX4
806 |(% 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
807 |With brake：P-Z3O3-18A6-*MX6
808 |(% rowspan="2" %)(((
809 VD2/VD3E B type
810
811 VD2/VD3E C type
812 )))|Without brake：P-U3O1-18A6-*MX4
813 |With brake：P-U3O3-18A6-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7P-*MX7-A1
814 |(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-18A6-*MX4
815 |With brake：P-Z4O2-18A6-*MX4
816 |(% rowspan="2" %)(((
817 WE180M-○○○-☐☐☐
818
819 WD180M-○○○-☐☐☐
820 )))|(% rowspan="2" %)(((
821 VD2/VD3E B type
822
823 VD2/VD3E C type
824 )))|Power cable：P-U3O1-H32J4M-*MX4|Single-turn：E-J1394-H28K7M-*MX5-A
825 |Brake cable：No need|Multi-turn：E-J1394-H28K7M-*MX7-A1
Devin Chen 73.1 826
Mora Zhou 82.1 827 = **Servo **Input Current Parameter =
Devin Chen 73.1 828
Mora Zhou 79.1 829 (% style="margin-left:auto; margin-right:auto; width:1200px" %)
Devin Chen 73.1 830 |=Servo Drive Output Current (A)|=Servo Drive Output Voltage (V)|=Servo Drive Output Power (W)|=Efficiency|=Power factor|=Input current
831 (single phase) (A)|=Input current
832 (three phase) (A)|=Recommended power cable
833 diameter（mm²）
834 |3|(% colspan="1" rowspan="7" %)220|100|(% colspan="1" rowspan="11" %)0.7|(% rowspan="11" %)0.8|0.90|0.52|0.5
835 |10|400|3.61|2.08|0.75
836 |14|750|6.76|3.91|(((
Devin Chen 77.1 837 1.5 (For single phase)
Devin Chen 73.1 838
Devin Chen 77.1 839 1 (For three phase)
Devin Chen 73.1 840 )))
841 |16|1800|16.23|9.37|(((
Devin Chen 77.1 842 4 (For single phase)
Devin Chen 73.1 843
Devin Chen 77.1 844 2 (For three phase)
Devin Chen 73.1 845 )))
846 |21|2200|19.84|11.46|(((
Devin Chen 77.1 847 4 (For single phase)
Devin Chen 73.1 848
Devin Chen 77.1 849 2.5 (For three phase)
Devin Chen 73.1 850 )))
851 |25|2600|23.45|13.40|(% colspan="1" rowspan="2" %)(((
Devin Chen 77.1 852 6 (For single phase)
Devin Chen 73.1 853
Devin Chen 77.1 854 4 (For three phase)
Devin Chen 73.1 855 )))
856 |30|3000|26.79|15.46
857 |21|(% colspan="1" rowspan="4" %)380|3000| |9.04|2
858 |30|4500| |13.57|4
859 |40|6000| |18.09|(% colspan="1" rowspan="2" %)6
860 |50|7500| |22.61
Devin Chen 74.1 861
862 >For more motor application scenarios, please refer to this [[link>>https://docs.we-con.com.cn/bin/view/Servo/FAQ/How%20to%20estimate%20the%20maximum%20input%20current%20of%20a%20servo%20drive]].