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Wiki source code of 05 Servo Product Manual

Version 86.1 by Jim(Forgotten) on 2025/01/09 16:51
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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 JOG(**JOGU, JOGD**)
368 )))
369 |(% colspan="2" style="width:39px" %)(((
370 **DO function**
371 )))|(% colspan="1" rowspan="1" style="width:503px" %)(((
372 Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
373
374 Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
375
376 Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), Z pulse feedback output
377 )))|(% rowspan="1" style="width:364px" %)(((
378 Servo ready(**RDY**)、Error signal(**ALM**), Alarm signal(**WARN**), Rotation detection(**TGON**)
379
380 Zero speed signal(**ZSP**), Torque limited(**T-LIMIT**), Velocity limited(**V-LIMIT**)
381
382 Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), ABZ pulse feedback output
383 )))
384 |(% colspan="1" rowspan="4" %)**Position mode**|**Pulse frequency**|(% colspan="3" rowspan="1" %)(((
385 Max to 500KHz
386 )))
387 |(% colspan="2" rowspan="1" style="width:39px" %)**Pulse type**|(% rowspan="1" style="width:503px" %)(((
388 Direction + pulse; Orthogonal coding:
389 V1.21 and above support CW/CCW
390 )))|(% rowspan="1" style="width:337px" %)Direction + Pulse, Orthogonal coding
391 |(% colspan="2" rowspan="1" style="width:39px" %)**Pulse filter**|(% colspan="2" rowspan="1" style="width:867px" %)First-order low-pass filter or smoothing filter
392 |(% colspan="2" rowspan="1" style="width:39px" %)(((
393 **Pulse output**
394 )))|(% rowspan="1" style="width:503px" %)-|(% rowspan="1" style="width:337px" %)A, B, Z differential output
395 |(% colspan="1" rowspan="3" %)(((
396 **Speed mode**
397 )))|(% colspan="2" style="width:39px" %)**Command input**|(% colspan="2" rowspan="1" style="width:867px" %)Internal command(8 segments)
398 |(% colspan="2" style="width:39px" %)**Zero speed clamp**|(% colspan="2" rowspan="1" style="width:867px" %)Support
399 |(% colspan="2" style="width:39px" %)**Torque limit**|(% colspan="2" rowspan="1" style="width:867px" %)Torque limit under speed mode
400 |(% colspan="1" rowspan="3" %)**Torque mode**|(% colspan="2" style="width:39px" %)**Command input**|(% colspan="2" rowspan="1" style="width:867px" %)(((
401 Internal command
402 )))
403 |(% colspan="2" style="width:39px" %)**Torque reach**|(% colspan="2" rowspan="1" style="width:867px" %)(((
404 Torque reach signal output
405 )))
406 |(% colspan="2" style="width:39px" %)**Velocity limit**|(% colspan="2" rowspan="1" style="width:867px" %)(((
407 Velocity limit under torque mode
408 )))
409
410 = (% style="color:inherit; font-family:inherit; font-size:max(23px, min(29px, 12.3333px + 1.38889vw))" %)VD3E/VD5L Servo Drive Parameter Table(%%) =
411
412 |(% colspan="3" %)**Bus type**|(((
413 (% style="text-align:center" %)
414 [[image:1726295827531-129.png]]
415 )))|(((
416 (% style="text-align:center" %)
417 [[image:1726295883786-742.png]]
418 )))|(((
419 (% style="text-align:center" %)
420 [[image:1726295894302-137.png]]
421 )))|(((
422 [[image:1734332155668-307.png||height="128" width="40"]]
423 )))
424 |(% colspan="3" %)**Model**|**VD3E(A type)**|**VD3E(B type)**|**VD3E(C type)**|**VD5L**
425 |(% colspan="1" rowspan="7" %)**Basic Specifications**|(% colspan="2" %)**Power supply**|220V|220/380V|380V|220V
426 |(% colspan="2" %)**Control method**|(% colspan="4" rowspan="1" %)IGBT PWM control sine wave current drive
427 |(% colspan="2" %)**Encoder**|(% colspan="4" rowspan="1" %)17bit, 23bit absolute value encoder
428 |(% 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
429 |(% colspan="2" %)**Control signal output**|(% colspan="4" rowspan="1" %)3DO, Select the output function according to the function code configuration
430 |**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.
431 Parameter self-tuning, etc.
432 |(% colspan="2" %)**Braking resistor**|(% colspan="4" rowspan="1" %)Built-in braking resistor, supports external braking resistor
433 |(% colspan="2" rowspan="9" %)**General functions**|**Auto-tuning**|(% colspan="4" rowspan="1" %)Automatic load inertia identification, automatic rigidity self-tuning
434 |**Waveform viewing**|(% colspan="4" rowspan="1" %)4 channels waveform monitoring
435 |**Waveform storage**|(% colspan="4" rowspan="1" %)Waveform acquisition frequency 1K Hz,(% style="background-color:transparent" %)10s waveform data recording
436 |**Parameter management**|(% colspan="4" rowspan="1" %)Support batch parameter import and export; Support SDO modification
437 |**Vibration suppression**|(% colspan="4" rowspan="1" %)By setting the notch filter parameters
438 |**Protection**|(% colspan="4" rowspan="1" %)Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
439 |**Brake device**|(% colspan="4" rowspan="1" %)Support brake signal output
440 |**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**(%%))
441 |**DO function**|(% colspan="4" rowspan="1" %)(((
442 Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
443
444 Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
445
446 Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), Communication VDO
447 )))
448 |(% colspan="2" rowspan="17" %)**EtherCAT related**|**Communication protocol**|(% colspan="4" rowspan="1" %)EtherCAT protocol
449 |**Support services**|(% colspan="4" rowspan="1" %)CoE(PDO,SDO)
450 |**Sync mode**|(% colspan="4" rowspan="1" %)DC-Distributed Clock
451 |**Physical layer**|(% colspan="4" rowspan="1" %)100BASE-TX
452 |**Baud rate**|(% colspan="4" rowspan="1" %)100 Mbit/s(100Base-TX)
453 |**Duplex mode**|(% colspan="4" rowspan="1" %)Full duplex
454 |**Topology**|(% colspan="4" rowspan="1" %)Circular, linear
455 |**Transmission medium**|(% colspan="4" rowspan="1" %)Shielded Category 5e or better network cable
456 |**Transmission distance**|(% colspan="4" rowspan="1" %)Less than 100M between two nodes (good environment, good cables)
457 |**Frame length**|(% colspan="4" rowspan="1" %)44 bytes to 1498 bytes
458 |**Excessive data**|(% colspan="4" rowspan="1" %)Maximum size of a single Ethernet frame is 1486 bytes
459 |**Sync jitter**|(% colspan="4" rowspan="1" %)<1μs
460 |**Distributed clock**|(% colspan="4" rowspan="1" %)64 bit
461 |**EEPROM capacity**|(% colspan="4" rowspan="1" %)8k bit initialization data is written through the EtherCAT master station
462 |**Control mode**|(% colspan="4" rowspan="1" %)CSP, CSV, CST, PT, HM
463 |**Synchronization period**|(% colspan="4" rowspan="1" %)125μs
464 |**Touch Probe**|(% colspan="3" rowspan="1" %)DI5 and DI6|DI function code 18 and 19
465
466 = **Servo Motor Naming Rules** =
467
468 (% style="margin-left:auto; margin-right:auto; width:50px" %)
469 |WD|80|M|-|075|30|S|-|A1|F|-|L
470 |①|②|③| |④|⑤|⑥| |⑦|⑧| |⑨
471
472 (% style="margin-left:auto; margin-right:auto; width:1200px" %)
473 |(% 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
474 |WE: 4|020：200W|C1：17bit multi-turn absolute magnetic encoder
475 |(% colspan="2" rowspan="1" %) |...|D2：23bit multi-turn absolute optical encoder
476 |(% rowspan="7" %)②Flange|40|500：5.0KW|E1: 2500-line incremental encoder
477 |60|550：5.5KW|(% colspan="2" rowspan="1" %)
478 |80|...|(% rowspan="2" %)⑧Motor structure|F：Oil seal
479 |110|(% colspan="2" rowspan="1" %) |G：Oil seal + Brake device
480 |130|(% rowspan="4" %)⑤Rated speed|15：1500rpm|(% colspan="2" rowspan="1" %)
481 |150|20：2000rpm|(% rowspan="3" %)⑨Others|L：60/80 flange connector
482 |180|25：2500rpm|(% rowspan="2" %)L2：60/80/130 flange connector
483 |(% colspan="2" rowspan="1" %) |30：3000rpm
484 |(% rowspan="3" %)③Inertia level|L: Low|(% colspan="2" rowspan="1" %) |(% colspan="2" rowspan="3" %)
485 |M: Middle|(% rowspan="2" %)⑥Voltage level|S: 220V
486 |H: High|T: 380V
487
488 (% style="text-align:center" %)
489 [[image:Servo.Manual.02 VD2 SA Series.test.WebHome@image-20220611113846-8.jpeg]]
490
491 Motor nameplate
492
493 = (% style="color:inherit; font-family:inherit; font-size:max(23px, min(29px, 12.3333px + 1.38889vw))" %)**Servo Motor Parameter**(%%) =
494
495 (% style="margin-left:auto; margin-right:auto; width:1200px" %)
496 |=(% 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**
497 |(% 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
498 |(% colspan="9" style="width:172px" %)
499 |(% 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
500 |(% 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
501 |(% 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
502 |(% colspan="9" style="width:172px" %)
503 |(% 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
504 |(% 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
505 |(% 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
506 |(% colspan="9" style="width:172px" %)
507 |(% 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
508 |(% 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
509 |(% 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
510 |(% 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
511 |(% 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
512 |(% 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
513 |(% 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
514 |(% 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
515 |(% 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
516 |(% 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
517
518 (% style="margin-left:auto; margin-right:auto; width:1200px" %)
519 |=**220V motor model**|=**Flange mm**|=**Power kW**|=**Rated speed rpm**|=**Rated torque N*m**|=**Rated current A**|=**Allowable overload multiple**|=(((
520 **Pole pairs**
521 )))|=(((
522 **Inertia level**
523 )))
524 |WD60H-02030S-☐☐☐|60|0.2|3000|0.64|1.8|3.5|5|(% colspan="1" rowspan="3" %)(((
525 High
526 )))
527 |WD60H-04030S-☐☐☐|60|0.4|3000|1.27|2.8|3.5|5
528 |WD60H-06030S-☐☐☐|60|0.6|3000|1.91|4.0|3.0|5
529 |(% colspan="9" %)
530 |WD80H-07530S-☐☐☐|80|0.75|3000|2.39|4.8|3.0|5|(% colspan="1" rowspan="4" %)(((
531 High
532 )))
533 |WD80H-10020S-☐☐☐|80|1|2000|4.77|4.8|3.0|5
534 |WD80H-10025S-☐☐☐|80|1|2500|3.82|4.8|3.0|5
535 |WD80H-10030S-☐☐☐|80|1|3000|3.2|4.8|3.0|5
536 |(% colspan="9" %)
537 |WD130H-15030S-☐☐☐|130|1.5|3000|4.8|6.0|3.0|5|(((
538 High
539 )))
540
541 |(% 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**
542 |(% 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
543 |(% colspan="9" style="width:174px" %)
544 |(% 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
545 |(% 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
546 |(% 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
547 |(% 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
548 |(% 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
549 |(% colspan="9" style="width:174px" %)
550 |(% 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
551 |(% 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
552 |(% 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
553 |(% colspan="9" style="width:174px" %)
554 |(% 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
555 |(% 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
556 |(% 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
557 |(% 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
558 |(% 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
559 |(% 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
560 |(% 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
561 |(% 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
562
563 |**380V motor model**|**Flange mm**|**Power kW**|**Rated speed rpm**|**Rated torque N*m**|**Rated current A**|**Allowable overload multiple**|**Pole pairs**|**Inertia level**
564 |WD130M-08515T-☐☐☐|130|0.85|1500|5.41|3.1|3.0|5|(% colspan="1" rowspan="5" %)Middle
565 |WD130M-13015T-☐☐☐|130|1.3|1500|8.28|5.1|3.0|5
566 |WD130M-18015T-☐☐☐|130|1.8|1500|11.46|6.3|3.0|5
567 |WD130M-23015T-☐☐☐|130|2.3|1500|14.64|8.5|3.0|5
568 |WD180M-29015T-☐☐☐|180|2.9|1500|18.6|11.8|3.0|5
569
570 |**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**
571 |WE130M-20025T-☐☐☐|130|2.0|2500|7.7|7.5|2.8|(% style="width:78px" %)4|(% rowspan="6" style="width:68px" %)Middle
572 |WE130M-26025T-☐☐☐|130|2.6|2500|10|6.0|2.5|(% style="width:78px" %)4
573 |WE130M-31015T-☐☐☐|130|3.1|1500|20|11.5|2.5|(% style="width:78px" %)4
574 |WE130M-38025T-☐☐☐|130|3.8|2500|15|8.8|2.0|(% style="width:78px" %)4
575 |WE130M-42020T-☐☐☐|130|4.2|2000|20|8.5|2.0|(% style="width:78px" %)4
576 |WE130M-53030T-☐☐☐|130|5.3|3000|17|11|2.0|(% style="width:78px" %)4
577 |(% colspan="9" %)
578 |WE180M-30015T-☐☐☐|180|3.0|1500|19|7.5|2.5|(% style="width:78px" %)4|(% rowspan="4" style="width:68px" %)Middle
579 |WE180M-43015T-☐☐☐|180|4.3|1500|27|10|2.5|(% style="width:78px" %)4
580 |WE180M-55015T-☐☐☐|180|5.5|1500|35|12|2.0|(% style="width:78px" %)4
581 |WE180M-75015T-☐☐☐|180|7.5|1500|48|20|2.0|(% style="width:78px" %)4
582
583 **Note**: ☐☐☐ Not all motor models include the following categories
584
585 A1F：17-bit single-turn absolute magnetic encoder without brake.
586
587 A1G：17-bit single-turn absolute magnetic encoder with brake.
588
589 C1F：17-bit multi-turn absolute magnetic encoder without brake
590
591 C1G：17-bit multi-turn absolute magnetic encoder with brake.
592
593 D2F：23-bit multi-turn absolute Optical encoder without brake.
594
595 D2G：23-bit multi-turn absolute Optical encoder with brake.
596
597 = **Servo Drive and Motor Matching Table** =
598
599 **Note**: The **red-marked** combination is not recommended.
600
601 |=**Control type**|=**Voltage level**|=**Drive series**|=**Drive model**|=**Support motor**
602 |(% rowspan="18" %)Pulse type|(% rowspan="12" %)220V|(% rowspan="3" %)VD2F|VD2F-003SA1P|(0.1-0.2)kW
603 |VD2F-010SA1P|(0.2-0.4)kW
604 |VD2F-014SA1P|(((
605 (0.6-0.75)kW
606
607 **(0.85-1.0)kW**
608 )))
609 |(% rowspan="2" %)VD2L|VD2L-010SA1P|(0.2-0.4)kW
610 |VD2L-014SA1P/D|(((
611 (0.6-0.75)kW
612
613 **(0.85-1.0)kW**
614 )))
615 |(% rowspan="2" %)(((
616 VD2 Type A
617 )))|VD2-010SA1G/R/H|(0.2-0.4)kW
618 |VD2-014SA1G/R/H|(((
619 (0.6-0.75)kW
620
621 **(0.85-1.0)kW**
622 )))
623 |(% rowspan="8" %)(((
624 VD2 Type B
625 )))|VD2-016SA1G/R/H|(0.85-1.5)kW
626 |VD2-019SA1G/R/H|(1.5-2.0)kW
627 |VD2-021SA1G/R/H|(2.0-2.5)kW
628 |VD2-025SA1G|(2.5-3.0)kW
629 |VD2-030SA1G|(3.0-4.0)kW
630 |(% rowspan="6" %)380V|VD2-016TA1G|(0.85-1.5)kW
631 |VD2-019TA1G|(1.5-2.0)kW
632 |VD2-021TA1G|(2.0-3.0)kW
633 |(% rowspan="3" %)VD2 Type C|VD2-030TA1G|(3.0-5.0)kW
634 |VD2-040TA1G|(5.0-6.0)kW
635 |VD2-050TA1G|(7.5)kW
636 |(% rowspan="14" %)EtherCAT type|(% rowspan="8" %)220V|(% rowspan="3" %)VD3E Type A|VD3E-003SA1G|(0.1-0.2)kW
637 |VD3E-010SA1G|(0.2-0.4)kW
638 |VD3E-014SA1G|(((
639 (0.6-0.75)kW
640
641 **(0.85-1.0)kW**
642 )))
643 |(% rowspan="8" %)VD3E Type B|VD3E-016SA1G|(0.85-1.5)kW
644 |VD3E-019SA1G|(1.5-2.0)kW
645 |VD3E-021SA1G|(2.0-2.5)kW
646 |VD3E-025SA1G|(2.5-3.0)kW
647 |VD3E-030SA1G|(3.0-4.0)kW
648 |(% rowspan="6" %)380V|VD3E-016TA1G|(0.85-1.5)kW
649 |VD3E-019TA1G|(1.5-2.0)kW
650 |VD3E-021TA1G|(2.0-3.0)kW
651 |(% rowspan="3" %)VD3E Type C|VD3E-030TA1G|(3.0-5.0)kW
652 |VD3E-040TA1G|(5.0-6.0)kW
653 |VD3E-050TA1G|(7.5)kW
654
655 = **Servo Cable Naming Rules** =
656
657 (% style="margin-left:auto; margin-right:auto; width:120px" %)
658 |E|-|J1394|-|R9M|-|3M|X7|-|A1|-|2
659 |①| |②| |③| |④|⑤| |⑥| |⑦
660
661 (% style="margin-left:auto; margin-right:auto; width:1200px" %)
662 |①Cable type|E: Encoder adapter cable|(% rowspan="14" %) |(% rowspan="4" %)④Cable length|3M: 3m
663 |(% colspan="2" rowspan="1" %) |5M: 5m
664 |(% rowspan="2" %)②Drive side connector|J1394: 1394 connector|7M: 7m
665 |D15G: DB15 male connector|...
666 |(% colspan="2" rowspan="1" %) |(% colspan="2" rowspan="1" %)
667 |(% rowspan="7" %)③Motor side connector|R9M: 9-core rectangular female connector|(% rowspan="3" %)⑤Number of cores|X5: 5 cores
668 |MC7S: 7-core straight female connector|X7: 7 cores
669 |H28K7M: 7-core 28mm aviation female connector|...
670 |CM10: 11-core 11mm aviation female connector|(% colspan="2" rowspan="1" %)
671 |MC7P: 7-core straight female connector (L2)|(% rowspan="2" %)⑥Wire size|A: 0.2mm/0.14mm
672 |R15M: 15-core rectangular female connector|A1: 0.2mm/0.14mm with battery box
673 |H28J15M: 15-core 28mm aviation female connector|(% colspan="2" rowspan="1" %)
674 |(% colspan="2" rowspan="2" %) |(% rowspan="2" %)⑦Others|1: Ordinary cable
675 |2: High flex cable
676
677 (% style="margin-left:auto; margin-right:auto; width:120px" %)
678 |P|-|U3O1|-|H28J4M|-|5M|X4|-|C|-|1
679 |①| |②| |③| |④|⑤| |⑥| |⑦
680
681 (% style="margin-left:auto; margin-right:auto; width:1200px" %)
682 |①Cable type|P: Power adapter cable/brake cable|(% rowspan="20" %) |(% rowspan="6" %)④Cable length|3M: 3m
683 |(% colspan="2" rowspan="1" %) |5M: 5m
684 |(% rowspan="8" %)②Drive side connector|Z3O1: 3-core pin-type cold-pressed terminal and 1-core O-type cold-pressed terminal|6D5M: 6.5m
685 |Z3O3: 3-core pin-type cold-pressed terminal and 3-core O-type cold-pressed terminal|7M: 7m
686 |Z4: 4-core pin-type cold-pressed terminal|10M: 10m
687 |Z4O2: 4-core pin-type cold-pressed terminal and 2-core O-type cold-pressed terminal|...
688 |U3O1: 3-core U-type cold-pressed terminal and 1-core O-type cold-pressed terminal|(% colspan="2" rowspan="1" %)
689 |U3O3: 3-core U-type cold-pressed terminal and 3-core O-type cold-pressed terminal|(% rowspan="4" %)⑤Number of cores|X2: 2 cores
690 |Z6: 6-core pin-type cold-pressed terminal|X4: 4 cores
691 |O2: 2-core O-type cold-pressed terminal|X6: 6 cores
692 |(% colspan="2" rowspan="1" %) |...
693 |(% rowspan="9" %)③Motor side connector|18A6: 6-core 23mm aviation female connector|(% colspan="2" rowspan="1" %)
694 |R4M: 4-core rectangular female connector|(% rowspan="5" %)⑥Wire size|D: 0.5mm
695 |MC4S: 4-core straight female connector|E: 0.75mm
696 |MC6S: 6-core straight female connector|B: 1.0mm
697 |H28J4M: 4-core 28mm aviation female connector|F: 1.5mm
698 |H32J4M: 4-core 32mm aviation female connector|C: 2.5mm
699 |R2M: 2-core rectangular female connector|(% colspan="2" rowspan="1" %)
700 |MC4H: 4-core H-type straight female connector|(% rowspan="2" %)⑦Others|1: Ordinary cable
701 |MC6H: 6-core H-type straight female connector|2: High flex cable
702
703 = **Servo Cable Matching Table** =
704
705 (% style="margin-left:auto; margin-right:auto; width:1200px" %)
706 |=**Motor model**|=**Matching drive**|=**Power cable/brake cable**|=**Encoder cable**
707 |(% rowspan="6" %)(((
708 WD40M-○○○-☐☐☐
709
710 WD60M-○○○-☐☐☐
711
712 WD60H-○○○-☐☐☐
713
714 WE60M-○○○-☐☐☐
715
716 WD80M-○○○-☐☐☐
717
718 WD80H-○○○-☐☐☐
719
720 WE80M-○○○-☐☐☐
721 )))|(% rowspan="2" %)VD2/VD3E A type|Power cable：P-Z3O1-R4M-*MX4|(% rowspan="3" %)Single-turn：E-J1394-R9M-*MX5-A
722 |(((
723 Power cable：P-Z3O1-R4M-*MX4
724
725 Brake cable：P-O2-R2M-3MX2-D
726 )))
727 |(% rowspan="2" %)(((
728 VD2/VD3E B type
729
730 VD2/VD3E C type
731 )))|Power cable：P-U3O1-R4M-*MX4
732 |(((
733 Power cable：P-U3O1-R4M-*MX4
734
735 Brake cable：P-O2-R2M-3MX2-D
736 )))|(% rowspan="3" %)Multi-turn：E-J1394-R9M-*MX7-A1
737 |(% rowspan="2" %)VD2F/VD2L|Power cable：P-Z4-R4M-*MX4
738 |(((
739 Power cable：P-Z4-R4M-*MX4
740
741 Brake cable：P-O2-R2M-3MX2-D
742 )))
743 |(% rowspan="6" %)(((
744 WD60M-○○○-☐☐☐-L
745
746 WD80M-○○○-☐☐☐-L
747 )))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4S-*MX4|(% rowspan="3" %)Single-turn：E-J1394-MC7S-*MX5-A
748 |With brake：P-Z3O3-MC6S-*MX6
749 |(% rowspan="2" %)(((
750 VD2/VD3E B type
751
752 VD2/VD3E C type
753 )))|Without brake：P-U3O1-MC4S-*MX4
754 |With brake：P-U3O3-MC6S-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7S-*MX7-A1
755 |(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4S-*MX4
756 |With brake：P-Z4O2-MC6S-*MX6
757 |(% rowspan="6" %)(((
758 WD60M-○○○-☐☐☐-L2
759
760 WD80M-○○○-☐☐☐-L2
761 )))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4S-*MX4|(% rowspan="3" %)Single-turn：E-J1394-MC7P-*MX5-A
762 |With brake：P-Z3O3-MC6S-*MX6
763 |(% rowspan="2" %)(((
764 VD2/VD3E B type
765
766 VD2/VD3E C type
767 )))|Without brake：P-U3O1-MC4S-*MX4
768 |With brake：P-U3O3-MC6S-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7P-*MX7-A1
769 |(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4S-*MX4
770 |With brake：P-Z4O2-MC6S-*MX6
771 |(% rowspan="4" %)(((
772 WD60H-○○○-☐☐☐-L2
773
774 WD80H-○○○-☐☐☐-L2
775 )))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4H-*MX4|(% rowspan="2" %)Single-turn：E-J1394-MC7P-*MX5-A
776 |With brake：P-Z3O3-MC6H-*MX6
777 |(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4H-*MX4|(% rowspan="2" %)Multi-turn：E-J1394-MC7P-*MX7-A1
778 |With brake：P-Z4O2-MC6H-*MX6
779 |(% rowspan="6" %)(((
780 WE110M-○○○-☐☐☐
781
782 WE130M-○○○-☐☐☐
783 )))|(% rowspan="2" %)VD2/VD3E A type|Power cable：P-Z3O1-H28J4M-*MX4|(% rowspan="3" %)Single-turn：E-J1394-H28K7M-*MX5-A
784 |Brake cable：No need
785 |(% rowspan="2" %)(((
786 VD2/VD3E B type
787
788 VD2/VD3E C type
789 )))|Power cable：P-U3O1-H28J4M-*MX4
790 |Brake cable：No need|(% rowspan="3" %)Multi-turn：E-J1394-H28K7M-*MX7-A1
791 |(% rowspan="2" %)VD2F/VD2L|Power cable：P-Z4-H28J4M-*MX4
792 |Brake cable：No need
793 |(% rowspan="6" %)(((
794 WD130M-○○○-☐☐☐
795
796 WD130H-○○○-☐☐☐
797 )))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-18A6-*MX4|(% rowspan="3" %)Single-turn：E-J1394-CM10-*MX5-A
798 |With brake：P-Z3O3-18A6-*MX6
799 |(% rowspan="2" %)(((
800 VD2/VD3E B type
801
802 VD2/VD3E C type
803 )))|Without brake：P-U3O1-18A6-*MX4
804 |With brake：P-U3O3-18A6-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-CM10-*MX7-A1
805 |(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-18A6-*MX4
806 |With brake：P-Z4O2-18A6-*MX4
807 |(% 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
808 |With brake：P-Z3O3-18A6-*MX6
809 |(% rowspan="2" %)(((
810 VD2/VD3E B type
811
812 VD2/VD3E C type
813 )))|Without brake：P-U3O1-18A6-*MX4
814 |With brake：P-U3O3-18A6-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7P-*MX7-A1
815 |(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-18A6-*MX4
816 |With brake：P-Z4O2-18A6-*MX4
817 |(% rowspan="2" %)(((
818 WE180M-○○○-☐☐☐
819
820 WD180M-○○○-☐☐☐
821 )))|(% rowspan="2" %)(((
822 VD2/VD3E B type
823
824 VD2/VD3E C type
825 )))|Power cable：P-U3O1-H32J4M-*MX4|Single-turn：E-J1394-H28K7M-*MX5-A
826 |Brake cable：No need|Multi-turn：E-J1394-H28K7M-*MX7-A1
827
828 = **Servo **Input Current Parameter =
829
830 (% style="margin-left:auto; margin-right:auto; width:1200px" %)
831 |=Servo Drive Output Current (A)|=Servo Drive Output Voltage (V)|=Servo Drive Output Power (W)|=Efficiency|=Power factor|=Input current
832 (single phase) (A)|=Input current
833 (three phase) (A)|=Recommended power cable
834 diameter（mm²）
835 |3|(% colspan="1" rowspan="7" %)220|100|(% colspan="1" rowspan="11" %)0.7|(% rowspan="11" %)0.8|0.90|0.52|0.5
836 |10|400|3.61|2.08|0.75
837 |14|750|6.76|3.91|(((
838 1.5 (For single phase)
839
840 1 (For three phase)
841 )))
842 |16|1800|16.23|9.37|(((
843 4 (For single phase)
844
845 2 (For three phase)
846 )))
847 |21|2200|19.84|11.46|(((
848 4 (For single phase)
849
850 2.5 (For three phase)
851 )))
852 |25|2600|23.45|13.40|(% colspan="1" rowspan="2" %)(((
853 6 (For single phase)
854
855 4 (For three phase)
856 )))
857 |30|3000|26.79|15.46
858 |21|(% colspan="1" rowspan="4" %)380|3000| |9.04|2
859 |30|4500| |13.57|4
860 |40|6000| |18.09|(% colspan="1" rowspan="2" %)6
861 |50|7500| |22.61
862
863 >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]].