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Wiki source code of 05 Servo Product Manual

Version 85.1 by Jim(Forgotten) on 2024/12/16 14:56
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1 = Servo Drive Naming Rules =
2
3 (% class="table-striped" style="margin-left:auto; margin-right:auto; width:20px" %)
4 |(((
5 (% class="wikigeneratedid" id="HVD2" %)
6 __VD2__
7 )))|(((
8 (% class="wikigeneratedid" id="H-" %)
9 -
10 )))|(((
11 (% class="wikigeneratedid" id="H021" %)
12 __021__
13 )))|(((
14 (% class="wikigeneratedid" id="HS" %)
15 __S__
16 )))|(((
17 (% class="wikigeneratedid" id="HA1" %)
18 __A1__
19 )))|(((
20 (% class="wikigeneratedid" id="HG" %)
21 __G__
22 )))
23 |(((
24 (% class="wikigeneratedid" id="H2460" %)
25 ①
26 )))|(((
27 (% class="wikigeneratedid" id="H" %)
28
29 )))|(((
30 (% class="wikigeneratedid" id="H2461" %)
31 ②
32 )))|(((
33 (% class="wikigeneratedid" id="H2462" %)
34 ③
35 )))|(((
36 (% class="wikigeneratedid" id="H2463" %)
37 ④
38 )))|(((
39 (% class="wikigeneratedid" id="H2464" %)
40 ⑤
41 )))
42
43 (% 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
57
58 (% style="text-align:center" %)
59 (((
60 (% style="display:inline-block" %)
61 [[Drive Nameplate>>image:1726038660755-332.png||_mstalt="294567"]]
62 )))
63
64 = VD2 Servo Drive Parameter Table =
65
66 (% style="margin-left:auto; margin-right:auto; width:1200px" %)
67 |(% colspan="3" %)(((
68 **General type**
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 )))
79 |(% colspan="3" %)**Model**|**VD2(A type)**|**VD2(B type)**|**VD2(C type)**
80 |(% colspan="1" rowspan="11" %)(((
81 **Basic Specifications**
82 )))|(% colspan="2" %)**Power supply**|220V|220V/380V|380V
83 |(% colspan="2" %)(((
84 **Control method**
85 )))|(% colspan="3" rowspan="1" %)(((
86 IGBT PWM control sine wave current drive
87 )))
88 |(% colspan="2" %)(((
89 **Encoder**
90 )))|(% colspan="3" rowspan="1" %)(((
91 2500-line incremental encoder, 17-bit/23-bit absolute encoder
92 )))
93 |(% colspan="2" %)(((
94 **Control signal input**
95 )))|(% colspan="3" rowspan="1" %)8DI
96 |(% colspan="2" %)(((
97 **Control signal output**
98 )))|(% colspan="3" rowspan="1" %)4DO
99 |(% colspan="2" %)(((
100 **Analog signal input**
101 )))|(% colspan="3" rowspan="1" %)(((
102 2 AI(-10V to +10V)
103 )))
104 |(% colspan="2" %)(((
105 **Pulse signal input**
106 )))|(% colspan="3" rowspan="1" %)(((
107 Open collector or differential input
108 )))
109 |(% colspan="2" %)(((
110 **Pulse feedback output**
111 )))|(% colspan="3" rowspan="1" %)ABZ differential output(VD2-XXXXXXH series support collector signal feedback)
112 |(% colspan="2" %)(% style="background-color:transparent" %)**Internal Command**|(% colspan="3" rowspan="1" %)(((
113 8 segment internal speed command, 16 segment internal position command
114 )))
115 |(% colspan="2" %)(((
116 **Communication**
117 )))|(% colspan="3" rowspan="1" %)(((
118 MODBUS RS485 or MODBUS RS422(SCTool)
119 )))
120 |(% colspan="2" %)(((
121 **Braking resistor**
122 )))|(% colspan="3" rowspan="1" %)(((
123 Internal braking resistor(also support external braking resistor)
124 )))
125 |(% colspan="1" rowspan="19" %)(((
126 **Function setting**
127 )))|(% colspan="1" rowspan="9" %)(((
128 **General functions**
129 )))|(((
130 **Auto-tuning**
131 )))|(% colspan="3" rowspan="1" %)(((
132 Automatic load inertia identification, automatic rigidity self-tuning (SCTool)
133 )))
134 |(% colspan="1" rowspan="2" %)(((
135 **Waveform**
136 )))|(% colspan="3" rowspan="1" %)(((
137 4 channels waveform monitoring (SCTool)
138 )))
139 |(% colspan="3" rowspan="1" %)(((
140 10s waveform data recording (SCTool)
141 )))
142 |(((
143 **Parameter management**
144 )))|(% colspan="3" rowspan="1" %)(((
145 Support batch parameter import and export
146 )))
147 |(((
148 **Vibration suppression**
149 )))|(% colspan="3" rowspan="1" %)(((
150 Support mechanical vibration suppression
151 )))
152 |(((
153 **Protection**
154 )))|(% colspan="3" rowspan="1" %)(((
155 Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
156 )))
157 |(((
158 **Brake device**
159 )))|(% colspan="3" rowspan="1" %)(((
160 Support brake signal output
161 )))
162 |(((
163 **DI function**
164 )))|(% colspan="3" rowspan="1" %)(((
165 Servo enable((% _mstmutation="1" %)**S-ON**(%%)), Error/alarm clear((% _mstmutation="1" %)**A-CLR**(%%)), Forward rotation prohibited((% _mstmutation="1" %)**POT**(%%))
166
167 Backward rotation prohibited((% _mstmutation="1" %)**NOT**(%%)), Command direction((% _mstmutation="1" %)**C-SIGN**(%%)), Emergency stop((% _mstmutation="1" %)**E-STOP**(%%))
168
169 Gain switch((% _mstmutation="1" %)**GAIN-5EL**(%%)), Internal speed selection((% _mstmutation="1" %)**INSPD1, INSPD2, INSPD3**(%%))
170
171 Internal position selection and enable((% _mstmutation="1" %)**INPO51, INPO52, INPO53, INPO54, ENINPOS**(%%))
172 )))
173 |(((
174 **DO function**
175 )))|(% colspan="3" rowspan="1" %)(((
176 Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
177
178 Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
179
180 Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), ABZ pulse feedback output
181 )))
182 |(% colspan="1" rowspan="4" %)(((
183 **Position mode**
184 )))|(((
185 **Pulse frequency**
186 )))|(% colspan="3" rowspan="1" %)(((
187 Max to 500KHz
188 )))
189 |(((
190 **Pulse type**
191 )))|(% colspan="3" rowspan="1" %)(((
192 Direction + Pulse, CW/CCW, Orthogonal coding
193 )))
194 |(((
195 **Pulse filter**
196 )))|(% colspan="3" rowspan="1" %)(((
197 First-order low-pass filter or smoothing filter
198 )))
199 |(((
200 **Pulse output**
201 )))|(% colspan="3" rowspan="1" %)(((
202 A, B, Z differential output
203 )))
204 |(% colspan="1" rowspan="3" %)(((
205 **Speed mode**
206 )))|(((
207 **Command input**
208 )))|(% colspan="3" rowspan="1" %)(((
209 Analog input(-10V to +10V), Internal command(8 segments)
210 )))
211 |(((
212 **Zero speed clamp**
213 )))|(% colspan="3" rowspan="1" %)(((
214 Support
215 )))
216 |(((
217 **Torque limit**
218 )))|(% colspan="3" rowspan="1" %)(((
219 Torque limit under speed mode
220 )))
221 |(% colspan="1" rowspan="3" %)(((
222 **Torque mode**
223 )))|(((
224 **Command input**
225 )))|(% colspan="3" rowspan="1" %)(((
226 Analog input(-10V to +10V), Internal command
227 )))
228 |(((
229 **Torque reach**
230 )))|(% colspan="3" rowspan="1" %)(((
231 Torque reach signal output
232 )))
233 |(((
234 **Velocity limit**
235 )))|(% colspan="3" rowspan="1" %)(((
236 Velocity limit under torque mode
237 )))
238
239 = **VD2F/VD2L Servo Drive Parameter Table** =
240
241 (% style="margin-left:auto; margin-right:auto; width:1200px" %)
242 |(% colspan="6" rowspan="1" style="width:537px" %)(((
243 **General type**
244 )))|(% colspan="1" rowspan="1" style="width:503px" %)(((
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 )))
251 |(% colspan="6" rowspan="1" style="width:537px" %)**Model**|(% colspan="1" rowspan="1" style="width:503px" %)(((
252 **VD2F**
253 )))|(% rowspan="1" style="width:364px" %)(((
254 **VD2L**
255 )))
256 |(% colspan="3" rowspan="12" %)(((
257 **Basic Specifications**
258 )))|(% colspan="3" style="width:277px" %)**Power supply**|(% colspan="1" rowspan="1" style="width:503px" %)(((
259 220V
260 )))|(% rowspan="1" style="width:364px" %)(((
261 220V
262 )))
263 |(% colspan="3" style="width:277px" %)(((
264 **Control method**
265 )))|(% colspan="2" rowspan="1" style="width:867px" %)(((
266 IGBT PWM control sine wave current drive
267 )))
268 |(% colspan="3" style="width:277px" %)(((
269 **Encoder**
270 )))|(% colspan="2" rowspan="1" style="width:867px" %)17bit, 23bit absolute value encoder
271 |(% colspan="3" style="width:277px" %)(((
272 **Control signal input**
273 )))|(% colspan="2" rowspan="1" style="width:867px" %)4DI
274 |(% colspan="3" style="width:277px" %)(((
275 **Control signal output**
276 )))|(% colspan="2" rowspan="1" style="width:867px" %)4DO
277 |(% colspan="3" style="width:277px" %)(((
278 **Pulse frequency division output**
279 )))|(% colspan="1" rowspan="1" style="width:503px" %)—|(% rowspan="1" style="width:364px" %)(((
280 Support
281 )))
282 |(% colspan="3" style="width:277px" %)(((
283 **Pulse signal input**
284 )))|(% colspan="2" rowspan="1" style="width:867px" %)(((
285 Open collector or differential input
286 )))
287 |(% colspan="3" style="width:277px" %)(((
288 **Pulse feedback output**
289 )))|(% colspan="1" rowspan="1" style="width:503px" %)(((
290 Z signal open collector output
291 )))|(% rowspan="1" style="width:364px" %)ABZ phase pulse output or pulse+direction output
292 |(% colspan="3" style="width:277px" %)(% style="background-color:transparent" %)**Internal Command**|(% colspan="2" rowspan="1" style="width:867px" %)(((
293 8 segment internal speed command, 16 segment internal position command
294 )))
295 |(% colspan="3" style="width:277px" %)(((
296 **Communication**
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)
300 |(% colspan="3" rowspan="2" style="width:277px" %)(((
301 **Braking resistor**
302 )))|(% colspan="4" rowspan="1" style="width:867px" %)(((
303 750W built-in braking resistor; 400W without built-in;
304 )))
305 |(% colspan="4" style="width:867px" %)(((
306 Both can support external braking resistors.
307 )))
308 |(% colspan="3" rowspan="22" %)(((
309 **Function setting**
310 )))|(% colspan="1" rowspan="12" %)(((
311 **General functions**
312 )))|(% colspan="2" style="width:39px" %)(((
313 **Auto-tuning**
314 )))|(% colspan="1" rowspan="1" style="width:503px" %)(((
315 Automatic load inertia identification, automatic rigidity self-tuning
316 )))|(% rowspan="1" style="width:364px" %)Automatic load inertia identification
317 |(% colspan="2" style="width:39px" %)(((
318 **Mix control**
319 )))|(% colspan="1" rowspan="1" style="width:503px" %)(((
320 YES
321 )))|(% rowspan="1" style="width:364px" %)-
322 |(% colspan="2" style="width:39px" %)(((
323 **Advanced control algorithms**
324 )))|(% colspan="1" style="width:503px" %)(((
325 YES
326 )))|(% style="width:364px" %)-
327 |(% colspan="2" rowspan="2" style="width:39px" %)(((
328 **Waveform**
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" %)(((
332 **Parameter management**
333 )))|(% colspan="2" rowspan="1" style="width:867px" %)(((
334 Support batch parameter import and export
335 )))
336 |(% colspan="2" style="width:39px" %)(((
337 **Vibration suppression**
338 )))|(% colspan="2" rowspan="1" style="width:867px" %)(((
339 Support mechanical vibration suppression
340 )))
341 |(% colspan="2" style="width:39px" %)(((
342 **Protection**
343 )))|(% colspan="2" style="width:867px" %)(((
344 Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
345 )))
346 |(% colspan="2" style="width:39px" %)(((
347 **Dynamic braking**
348 )))|(% colspan="1" style="width:503px" %)-|(% style="width:364px" %)(((
349 Optional
350 )))
351 |(% colspan="2" style="width:39px" %)(((
352 **Brake device**
353 )))|(% colspan="2" rowspan="1" style="width:867px" %)(((
354 Support brake signal output
355 )))
356 |(% colspan="2" style="width:39px" %)(((
357 **DI function**
358 )))|(% colspan="2" rowspan="1" style="width:867px" %)(((
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 )))
367 |(% colspan="2" style="width:39px" %)(((
368 **DO function**
369 )))|(% colspan="1" rowspan="1" style="width:503px" %)(((
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 )))
385 |(% colspan="2" rowspan="1" style="width:39px" %)**Pulse type**|(% rowspan="1" style="width:503px" %)(((
386 Direction + pulse; Orthogonal coding:
387 V1.21 and above support CW/CCW
388 )))|(% rowspan="1" style="width:337px" %)Direction + Pulse, Orthogonal coding
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" %)(((
391 **Pulse output**
392 )))|(% rowspan="1" style="width:503px" %)-|(% rowspan="1" style="width:337px" %)A, B, Z differential output
393 |(% colspan="1" rowspan="3" %)(((
394 **Speed mode**
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" %)(((
399 Internal command
400 )))
401 |(% colspan="2" style="width:39px" %)**Torque reach**|(% colspan="2" rowspan="1" style="width:867px" %)(((
402 Torque reach signal output
403 )))
404 |(% colspan="2" style="width:39px" %)**Velocity limit**|(% colspan="2" rowspan="1" style="width:867px" %)(((
405 Velocity limit under torque mode
406 )))
407
408 = (% style="color:inherit; font-family:inherit; font-size:max(23px, min(29px, 12.3333px + 1.38889vw))" %)VD3E/VD5L Servo Drive Parameter Table(%%) =
409
410 |(% colspan="3" %)**Bus type**|(((
411 (% style="text-align:center" %)
412 [[image:1726295827531-129.png]]
413 )))|(((
414 (% style="text-align:center" %)
415 [[image:1726295883786-742.png]]
416 )))|(((
417 (% style="text-align:center" %)
418 [[image:1726295894302-137.png]]
419 )))|(((
420 [[image:1734332155668-307.png||height="128" width="40"]]
421 )))
422 |(% colspan="3" %)**Model**|**VD3E(A type)**|**VD3E(B type)**|**VD3E(C type)**|**VD5L**
423 |(% colspan="1" rowspan="7" %)**Basic Specifications**|(% colspan="2" %)**Power supply**|220V|220/380V|380V|220V
424 |(% colspan="2" %)**Control method**|(% colspan="4" rowspan="1" %)IGBT PWM control sine wave current drive
425 |(% colspan="2" %)**Encoder**|(% colspan="4" rowspan="1" %)17bit, 23bit absolute value encoder
426 |(% 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
427 |(% colspan="2" %)**Control signal output**|(% colspan="4" rowspan="1" %)3DO, Select the output function according to the function code configuration
428 |**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.
429 Parameter self-tuning, etc.
430 |(% colspan="2" %)**Braking resistor**|(% colspan="4" rowspan="1" %)Built-in braking resistor, supports external braking resistor
431 |(% colspan="2" rowspan="9" %)**General functions**|**Auto-tuning**|(% colspan="4" rowspan="1" %)Automatic load inertia identification, automatic rigidity self-tuning
432 |**Waveform viewing**|(% colspan="4" rowspan="1" %)4 channels waveform monitoring
433 |**Waveform storage**|(% colspan="4" rowspan="1" %)Waveform acquisition frequency 1K Hz,(% style="background-color:transparent" %)10s waveform data recording
434 |**Parameter management**|(% colspan="4" rowspan="1" %)Support batch parameter import and export; Support SDO modification
435 |**Vibration suppression**|(% colspan="4" rowspan="1" %)By setting the notch filter parameters
436 |**Protection**|(% colspan="4" rowspan="1" %)Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
437 |**Brake device**|(% colspan="4" rowspan="1" %)Support brake signal output
438 |**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**(%%))
439 |**DO function**|(% colspan="4" rowspan="1" %)(((
440 Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
441
442 Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
443
444 Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), Communication VDO
445 )))
446 |(% colspan="2" rowspan="17" %)**EtherCAT related**|**Communication protocol**|(% colspan="4" rowspan="1" %)EtherCAT protocol
447 |**Support services**|(% colspan="4" rowspan="1" %)CoE(PDO,SDO)
448 |**Sync mode**|(% colspan="4" rowspan="1" %)DC-Distributed Clock
449 |**Physical layer**|(% colspan="4" rowspan="1" %)100BASE-TX
450 |**Baud rate**|(% colspan="4" rowspan="1" %)100 Mbit/s(100Base-TX)
451 |**Duplex mode**|(% colspan="4" rowspan="1" %)Full duplex
452 |**Topology**|(% colspan="4" rowspan="1" %)Circular, linear
453 |**Transmission medium**|(% colspan="4" rowspan="1" %)Shielded Category 5e or better network cable
454 |**Transmission distance**|(% colspan="4" rowspan="1" %)Less than 100M between two nodes (good environment, good cables)
455 |**Frame length**|(% colspan="4" rowspan="1" %)44 bytes to 1498 bytes
456 |**Excessive data**|(% colspan="4" rowspan="1" %)Maximum size of a single Ethernet frame is 1486 bytes
457 |**Sync jitter**|(% colspan="4" rowspan="1" %)<1μs
458 |**Distributed clock**|(% colspan="4" rowspan="1" %)64 bit
459 |**EEPROM capacity**|(% colspan="4" rowspan="1" %)8k bit initialization data is written through the EtherCAT master station
460 |**Control mode**|(% colspan="4" rowspan="1" %)CSP, CSV, CST, PT, HM
461 |**Synchronization period**|(% colspan="4" rowspan="1" %)125μs
462 |**Touch Probe**|(% colspan="3" rowspan="1" %)DI5 and DI6|DI function code 18 and 19
463
464 = **Servo Motor Naming Rules** =
465
466 (% style="margin-left:auto; margin-right:auto; width:50px" %)
467 |WD|80|M|-|075|30|S|-|A1|F|-|L
468 |①|②|③| |④|⑤|⑥| |⑦|⑧| |⑨
469
470 (% style="margin-left:auto; margin-right:auto; width:1200px" %)
471 |(% 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
472 |WE: 4|020：200W|C1：17bit multi-turn absolute magnetic encoder
473 |(% colspan="2" rowspan="1" %) |...|D2：23bit multi-turn absolute optical encoder
474 |(% rowspan="7" %)②Flange|40|500：5.0KW|E1: 2500-line incremental encoder
475 |60|550：5.5KW|(% colspan="2" rowspan="1" %)
476 |80|...|(% rowspan="2" %)⑧Motor structure|F：Oil seal
477 |110|(% colspan="2" rowspan="1" %) |G：Oil seal + Brake device
478 |130|(% rowspan="4" %)⑤Rated speed|15：1500rpm|(% colspan="2" rowspan="1" %)
479 |150|20：2000rpm|(% rowspan="3" %)⑨Others|L：60/80 flange connector
480 |180|25：2500rpm|(% rowspan="2" %)L2：60/80/130 flange connector
481 |(% colspan="2" rowspan="1" %) |30：3000rpm
482 |(% rowspan="3" %)③Inertia level|L: Low|(% colspan="2" rowspan="1" %) |(% colspan="2" rowspan="3" %)
483 |M: Middle|(% rowspan="2" %)⑥Voltage level|S: 220V
484 |H: High|T: 380V
485
486 (% style="text-align:center" %)
487 [[image:Servo.Manual.02 VD2 SA Series.test.WebHome@image-20220611113846-8.jpeg]]
488
489 Motor nameplate
490
491 = (% style="color:inherit; font-family:inherit; font-size:max(23px, min(29px, 12.3333px + 1.38889vw))" %)**Servo Motor Parameter**(%%) =
492
493 (% style="margin-left:auto; margin-right:auto; width:1200px" %)
494 |=(% 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**
495 |(% 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
496 |(% colspan="9" style="width:172px" %)
497 |(% 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
498 |(% 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
499 |(% 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
500 |(% colspan="9" style="width:172px" %)
501 |(% 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
502 |(% 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
503 |(% 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
504 |(% colspan="9" style="width:172px" %)
505 |(% 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
506 |(% 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
507 |(% 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
508 |(% 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
509 |(% 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
510 |(% 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
511 |(% 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
512 |(% 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
513 |(% 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
514 |(% 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
515
516 (% style="margin-left:auto; margin-right:auto; width:1200px" %)
517 |=**220V motor model**|=**Flange mm**|=**Power kW**|=**Rated speed rpm**|=**Rated torque N*m**|=**Rated current A**|=**Allowable overload multiple**|=(((
518 **Pole pairs**
519 )))|=(((
520 **Inertia level**
521 )))
522 |WD60H-02030S-☐☐☐|60|0.2|3000|0.64|1.8|3.5|5|(% colspan="1" rowspan="3" %)(((
523 High
524 )))
525 |WD60H-04030S-☐☐☐|60|0.4|3000|1.27|2.8|3.5|5
526 |WD60H-06030S-☐☐☐|60|0.6|3000|1.91|4.0|3.0|5
527 |(% colspan="9" %)
528 |WD80H-07530S-☐☐☐|80|0.75|3000|2.39|4.8|3.0|5|(% colspan="1" rowspan="4" %)(((
529 High
530 )))
531 |WD80H-10020S-☐☐☐|80|1|2000|4.77|4.8|3.0|5
532 |WD80H-10025S-☐☐☐|80|1|2500|3.82|4.8|3.0|5
533 |WD80H-10030S-☐☐☐|80|1|3000|3.2|4.8|3.0|5
534 |(% colspan="9" %)
535 |WD130H-15030S-☐☐☐|130|1.5|3000|4.8|6.0|3.0|5|(((
536 High
537 )))
538
539 |(% 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**
540 |(% 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
541 |(% colspan="9" style="width:174px" %)
542 |(% 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
543 |(% 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
544 |(% 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
545 |(% 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
546 |(% 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
547 |(% colspan="9" style="width:174px" %)
548 |(% 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
549 |(% 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
550 |(% 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
551 |(% colspan="9" style="width:174px" %)
552 |(% 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
553 |(% 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
554 |(% 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
555 |(% 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
556 |(% 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
557 |(% 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
558 |(% 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
559 |(% 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
560
561 |**380V motor model**|**Flange mm**|**Power kW**|**Rated speed rpm**|**Rated torque N*m**|**Rated current A**|**Allowable overload multiple**|**Pole pairs**|**Inertia level**
562 |WD130M-08515T-☐☐☐|130|0.85|1500|5.41|3.1|3.0|5|(% colspan="1" rowspan="5" %)Middle
563 |WD130M-13015T-☐☐☐|130|1.3|1500|8.28|5.1|3.0|5
564 |WD130M-18015T-☐☐☐|130|1.8|1500|11.46|6.3|3.0|5
565 |WD130M-23015T-☐☐☐|130|2.3|1500|14.64|8.5|3.0|5
566 |WD180M-29015T-☐☐☐|180|2.9|1500|18.6|11.8|3.0|5
567
568 |**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**
569 |WE130M-20025T-☐☐☐|130|2.0|2500|7.7|7.5|2.8|(% style="width:78px" %)4|(% rowspan="6" style="width:68px" %)Middle
570 |WE130M-26025T-☐☐☐|130|2.6|2500|10|6.0|2.5|(% style="width:78px" %)4
571 |WE130M-31015T-☐☐☐|130|3.1|1500|20|11.5|2.5|(% style="width:78px" %)4
572 |WE130M-38025T-☐☐☐|130|3.8|2500|15|8.8|2.0|(% style="width:78px" %)4
573 |WE130M-42020T-☐☐☐|130|4.2|2000|20|8.5|2.0|(% style="width:78px" %)4
574 |WE130M-53030T-☐☐☐|130|5.3|3000|17|11|2.0|(% style="width:78px" %)4
575 |(% colspan="9" %)
576 |WE180M-30015T-☐☐☐|180|3.0|1500|19|7.5|2.5|(% style="width:78px" %)4|(% rowspan="4" style="width:68px" %)Middle
577 |WE180M-43015T-☐☐☐|180|4.3|1500|27|10|2.5|(% style="width:78px" %)4
578 |WE180M-55015T-☐☐☐|180|5.5|1500|35|12|2.0|(% style="width:78px" %)4
579 |WE180M-75015T-☐☐☐|180|7.5|1500|48|20|2.0|(% style="width:78px" %)4
580
581 **Note**: ☐☐☐ Not all motor models include the following categories
582
583 A1F：17-bit single-turn absolute magnetic encoder without brake.
584
585 A1G：17-bit single-turn absolute magnetic encoder with brake.
586
587 C1F：17-bit multi-turn absolute magnetic encoder without brake
588
589 C1G：17-bit multi-turn absolute magnetic encoder with brake.
590
591 D2F：23-bit multi-turn absolute Optical encoder without brake.
592
593 D2G：23-bit multi-turn absolute Optical encoder with brake.
594
595 = **Servo Drive and Motor Matching Table** =
596
597 **Note**: The **red-marked** combination is not recommended.
598
599 |=**Control type**|=**Voltage level**|=**Drive series**|=**Drive model**|=**Support motor**
600 |(% rowspan="18" %)Pulse type|(% rowspan="12" %)220V|(% rowspan="3" %)VD2F|VD2F-003SA1P|(0.1-0.2)kW
601 |VD2F-010SA1P|(0.2-0.4)kW
602 |VD2F-014SA1P|(((
603 (0.6-0.75)kW
604
605 **(0.85-1.0)kW**
606 )))
607 |(% rowspan="2" %)VD2L|VD2L-010SA1P|(0.2-0.4)kW
608 |VD2L-014SA1P/D|(((
609 (0.6-0.75)kW
610
611 **(0.85-1.0)kW**
612 )))
613 |(% rowspan="2" %)(((
614 VD2 Type A
615 )))|VD2-010SA1G/R/H|(0.2-0.4)kW
616 |VD2-014SA1G/R/H|(((
617 (0.6-0.75)kW
618
619 **(0.85-1.0)kW**
620 )))
621 |(% rowspan="8" %)(((
622 VD2 Type B
623 )))|VD2-016SA1G/R/H|(0.85-1.5)kW
624 |VD2-019SA1G/R/H|(1.5-2.0)kW
625 |VD2-021SA1G/R/H|(2.0-2.5)kW
626 |VD2-025SA1G|(2.5-3.0)kW
627 |VD2-030SA1G|(3.0-4.0)kW
628 |(% rowspan="6" %)380V|VD2-016TA1G|(0.85-1.5)kW
629 |VD2-019TA1G|(1.5-2.0)kW
630 |VD2-021TA1G|(2.0-3.0)kW
631 |(% rowspan="3" %)VD2 Type C|VD2-030TA1G|(3.0-5.0)kW
632 |VD2-040TA1G|(5.0-6.0)kW
633 |VD2-050TA1G|(7.5)kW
634 |(% rowspan="14" %)EtherCAT type|(% rowspan="8" %)220V|(% rowspan="3" %)VD3E Type A|VD3E-003SA1G|(0.1-0.2)kW
635 |VD3E-010SA1G|(0.2-0.4)kW
636 |VD3E-014SA1G|(((
637 (0.6-0.75)kW
638
639 **(0.85-1.0)kW**
640 )))
641 |(% rowspan="8" %)VD3E Type B|VD3E-016SA1G|(0.85-1.5)kW
642 |VD3E-019SA1G|(1.5-2.0)kW
643 |VD3E-021SA1G|(2.0-2.5)kW
644 |VD3E-025SA1G|(2.5-3.0)kW
645 |VD3E-030SA1G|(3.0-4.0)kW
646 |(% rowspan="6" %)380V|VD3E-016TA1G|(0.85-1.5)kW
647 |VD3E-019TA1G|(1.5-2.0)kW
648 |VD3E-021TA1G|(2.0-3.0)kW
649 |(% rowspan="3" %)VD3E Type C|VD3E-030TA1G|(3.0-5.0)kW
650 |VD3E-040TA1G|(5.0-6.0)kW
651 |VD3E-050TA1G|(7.5)kW
652
653 = **Servo Cable Naming Rules** =
654
655 (% style="margin-left:auto; margin-right:auto; width:120px" %)
656 |E|-|J1394|-|R9M|-|3M|X7|-|A1|-|2
657 |①| |②| |③| |④|⑤| |⑥| |⑦
658
659 (% style="margin-left:auto; margin-right:auto; width:1200px" %)
660 |①Cable type|E: Encoder adapter cable|(% rowspan="14" %) |(% rowspan="4" %)④Cable length|3M: 3m
661 |(% colspan="2" rowspan="1" %) |5M: 5m
662 |(% rowspan="2" %)②Drive side connector|J1394: 1394 connector|7M: 7m
663 |D15G: DB15 male connector|...
664 |(% colspan="2" rowspan="1" %) |(% colspan="2" rowspan="1" %)
665 |(% rowspan="7" %)③Motor side connector|R9M: 9-core rectangular female connector|(% rowspan="3" %)⑤Number of cores|X5: 5 cores
666 |MC7S: 7-core straight female connector|X7: 7 cores
667 |H28K7M: 7-core 28mm aviation female connector|...
668 |CM10: 11-core 11mm aviation female connector|(% colspan="2" rowspan="1" %)
669 |MC7P: 7-core straight female connector (L2)|(% rowspan="2" %)⑥Wire size|A: 0.2mm/0.14mm
670 |R15M: 15-core rectangular female connector|A1: 0.2mm/0.14mm with battery box
671 |H28J15M: 15-core 28mm aviation female connector|(% colspan="2" rowspan="1" %)
672 |(% colspan="2" rowspan="2" %) |(% rowspan="2" %)⑦Others|1: Ordinary cable
673 |2: High flex cable
674
675 (% style="margin-left:auto; margin-right:auto; width:120px" %)
676 |P|-|U3O1|-|H28J4M|-|5M|X4|-|C|-|1
677 |①| |②| |③| |④|⑤| |⑥| |⑦
678
679 (% style="margin-left:auto; margin-right:auto; width:1200px" %)
680 |①Cable type|P: Power adapter cable/brake cable|(% rowspan="20" %) |(% rowspan="6" %)④Cable length|3M: 3m
681 |(% colspan="2" rowspan="1" %) |5M: 5m
682 |(% rowspan="8" %)②Drive side connector|Z3O1: 3-core pin-type cold-pressed terminal and 1-core O-type cold-pressed terminal|6D5M: 6.5m
683 |Z3O3: 3-core pin-type cold-pressed terminal and 3-core O-type cold-pressed terminal|7M: 7m
684 |Z4: 4-core pin-type cold-pressed terminal|10M: 10m
685 |Z4O2: 4-core pin-type cold-pressed terminal and 2-core O-type cold-pressed terminal|...
686 |U3O1: 3-core U-type cold-pressed terminal and 1-core O-type cold-pressed terminal|(% colspan="2" rowspan="1" %)
687 |U3O3: 3-core U-type cold-pressed terminal and 3-core O-type cold-pressed terminal|(% rowspan="4" %)⑤Number of cores|X2: 2 cores
688 |Z6: 6-core pin-type cold-pressed terminal|X4: 4 cores
689 |O2: 2-core O-type cold-pressed terminal|X6: 6 cores
690 |(% colspan="2" rowspan="1" %) |...
691 |(% rowspan="9" %)③Motor side connector|18A6: 6-core 23mm aviation female connector|(% colspan="2" rowspan="1" %)
692 |R4M: 4-core rectangular female connector|(% rowspan="5" %)⑥Wire size|D: 0.5mm
693 |MC4S: 4-core straight female connector|E: 0.75mm
694 |MC6S: 6-core straight female connector|B: 1.0mm
695 |H28J4M: 4-core 28mm aviation female connector|F: 1.5mm
696 |H32J4M: 4-core 32mm aviation female connector|C: 2.5mm
697 |R2M: 2-core rectangular female connector|(% colspan="2" rowspan="1" %)
698 |MC4H: 4-core H-type straight female connector|(% rowspan="2" %)⑦Others|1: Ordinary cable
699 |MC6H: 6-core H-type straight female connector|2: High flex cable
700
701 = **Servo Cable Matching Table** =
702
703 (% style="margin-left:auto; margin-right:auto; width:1200px" %)
704 |=**Motor model**|=**Matching drive**|=**Power cable/brake cable**|=**Encoder cable**
705 |(% rowspan="6" %)(((
706 WD40M-○○○-☐☐☐
707
708 WD60M-○○○-☐☐☐
709
710 WD60H-○○○-☐☐☐
711
712 WE60M-○○○-☐☐☐
713
714 WD80M-○○○-☐☐☐
715
716 WD80H-○○○-☐☐☐
717
718 WE80M-○○○-☐☐☐
719 )))|(% rowspan="2" %)VD2/VD3E A type|Power cable：P-Z3O1-R4M-*MX4|(% rowspan="3" %)Single-turn：E-J1394-R9M-*MX5-A
720 |(((
721 Power cable：P-Z3O1-R4M-*MX4
722
723 Brake cable：P-O2-R2M-3MX2-D
724 )))
725 |(% rowspan="2" %)(((
726 VD2/VD3E B type
727
728 VD2/VD3E C type
729 )))|Power cable：P-U3O1-R4M-*MX4
730 |(((
731 Power cable：P-U3O1-R4M-*MX4
732
733 Brake cable：P-O2-R2M-3MX2-D
734 )))|(% rowspan="3" %)Multi-turn：E-J1394-R9M-*MX7-A1
735 |(% rowspan="2" %)VD2F/VD2L|Power cable：P-Z4-R4M-*MX4
736 |(((
737 Power cable：P-Z4-R4M-*MX4
738
739 Brake cable：P-O2-R2M-3MX2-D
740 )))
741 |(% rowspan="6" %)(((
742 WD60M-○○○-☐☐☐-L
743
744 WD80M-○○○-☐☐☐-L
745 )))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4S-*MX4|(% rowspan="3" %)Single-turn：E-J1394-MC7S-*MX5-A
746 |With brake：P-Z3O3-MC6S-*MX6
747 |(% rowspan="2" %)(((
748 VD2/VD3E B type
749
750 VD2/VD3E C type
751 )))|Without brake：P-U3O1-MC4S-*MX4
752 |With brake：P-U3O3-MC6S-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7S-*MX7-A1
753 |(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4S-*MX4
754 |With brake：P-Z4O2-MC6S-*MX6
755 |(% rowspan="6" %)(((
756 WD60M-○○○-☐☐☐-L2
757
758 WD80M-○○○-☐☐☐-L2
759 )))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4S-*MX4|(% rowspan="3" %)Single-turn：E-J1394-MC7P-*MX5-A
760 |With brake：P-Z3O3-MC6S-*MX6
761 |(% rowspan="2" %)(((
762 VD2/VD3E B type
763
764 VD2/VD3E C type
765 )))|Without brake：P-U3O1-MC4S-*MX4
766 |With brake：P-U3O3-MC6S-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7P-*MX7-A1
767 |(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4S-*MX4
768 |With brake：P-Z4O2-MC6S-*MX6
769 |(% rowspan="4" %)(((
770 WD60H-○○○-☐☐☐-L2
771
772 WD80H-○○○-☐☐☐-L2
773 )))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4H-*MX4|(% rowspan="2" %)Single-turn：E-J1394-MC7P-*MX5-A
774 |With brake：P-Z3O3-MC6H-*MX6
775 |(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4H-*MX4|(% rowspan="2" %)Multi-turn：E-J1394-MC7P-*MX7-A1
776 |With brake：P-Z4O2-MC6H-*MX6
777 |(% rowspan="6" %)(((
778 WE110M-○○○-☐☐☐
779
780 WE130M-○○○-☐☐☐
781 )))|(% rowspan="2" %)VD2/VD3E A type|Power cable：P-Z3O1-H28J4M-*MX4|(% rowspan="3" %)Single-turn：E-J1394-H28K7M-*MX5-A
782 |Brake cable：No need
783 |(% rowspan="2" %)(((
784 VD2/VD3E B type
785
786 VD2/VD3E C type
787 )))|Power cable：P-U3O1-H28J4M-*MX4
788 |Brake cable：No need|(% rowspan="3" %)Multi-turn：E-J1394-H28K7M-*MX7-A1
789 |(% rowspan="2" %)VD2F/VD2L|Power cable：P-Z4-H28J4M-*MX4
790 |Brake cable：No need
791 |(% rowspan="6" %)(((
792 WD130M-○○○-☐☐☐
793
794 WD130H-○○○-☐☐☐
795 )))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-18A6-*MX4|(% rowspan="3" %)Single-turn：E-J1394-CM10-*MX5-A
796 |With brake：P-Z3O3-18A6-*MX6
797 |(% rowspan="2" %)(((
798 VD2/VD3E B type
799
800 VD2/VD3E C type
801 )))|Without brake：P-U3O1-18A6-*MX4
802 |With brake：P-U3O3-18A6-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-CM10-*MX7-A1
803 |(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-18A6-*MX4
804 |With brake：P-Z4O2-18A6-*MX4
805 |(% 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
806 |With brake：P-Z3O3-18A6-*MX6
807 |(% rowspan="2" %)(((
808 VD2/VD3E B type
809
810 VD2/VD3E C type
811 )))|Without brake：P-U3O1-18A6-*MX4
812 |With brake：P-U3O3-18A6-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7P-*MX7-A1
813 |(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-18A6-*MX4
814 |With brake：P-Z4O2-18A6-*MX4
815 |(% rowspan="2" %)(((
816 WE180M-○○○-☐☐☐
817
818 WD180M-○○○-☐☐☐
819 )))|(% rowspan="2" %)(((
820 VD2/VD3E B type
821
822 VD2/VD3E C type
823 )))|Power cable：P-U3O1-H32J4M-*MX4|Single-turn：E-J1394-H28K7M-*MX5-A
824 |Brake cable：No need|Multi-turn：E-J1394-H28K7M-*MX7-A1
825
826 = **Servo **Input Current Parameter =
827
828 (% style="margin-left:auto; margin-right:auto; width:1200px" %)
829 |=Servo Drive Output Current (A)|=Servo Drive Output Voltage (V)|=Servo Drive Output Power (W)|=Efficiency|=Power factor|=Input current
830 (single phase) (A)|=Input current
831 (three phase) (A)|=Recommended power cable
832 diameter（mm²）
833 |3|(% colspan="1" rowspan="7" %)220|100|(% colspan="1" rowspan="11" %)0.7|(% rowspan="11" %)0.8|0.90|0.52|0.5
834 |10|400|3.61|2.08|0.75
835 |14|750|6.76|3.91|(((
836 1.5 (For single phase)
837
838 1 (For three phase)
839 )))
840 |16|1800|16.23|9.37|(((
841 4 (For single phase)
842
843 2 (For three phase)
844 )))
845 |21|2200|19.84|11.46|(((
846 4 (For single phase)
847
848 2.5 (For three phase)
849 )))
850 |25|2600|23.45|13.40|(% colspan="1" rowspan="2" %)(((
851 6 (For single phase)
852
853 4 (For three phase)
854 )))
855 |30|3000|26.79|15.46
856 |21|(% colspan="1" rowspan="4" %)380|3000| |9.04|2
857 |30|4500| |13.57|4
858 |40|6000| |18.09|(% colspan="1" rowspan="2" %)6
859 |50|7500| |22.61
860
861 >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]].