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Wiki source code of 05 Servo Product Manual

Version 89.1 by Jim(Forgotten) on 2025/02/13 18:26
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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:764px" %)
44 |(% colspan="1" rowspan="5" %)①Product Series|(% style="width:205px" %)VD2|(% colspan="1" rowspan="2" style="width:189px" %)③Voltage level|S: 220V
45 |(% style="width:205px" %)VD2F|T: 380V
46 |(% style="width:205px" %)VD2L
47 |(% style="width:205px" %)VD3E
48 |(% style="width:205px" %)VD5L
49 |(% colspan="1" rowspan="11" %)②Maximum output current|(% style="width:205px" %)003: 3A|(% colspan="1" rowspan="2" style="width:189px" %)④Encoder type|A1: Absolute
50 |(% style="width:205px" %)010: 10A|E1: Incremental
51 |(% style="width:205px" %)014: 14A
52 |(% style="width:205px" %)015: 15A
53 |(% style="width:205px" %)016: 16A
54 |(% style="width:205px" %)019: 19A
55 |(% style="width:205px" %)021: 21A|(% colspan="1" rowspan="5" style="width:189px" %)⑤Function|P: Basic pulse control
56 |(% style="width:205px" %)025: 25A|G: General(Analog control, full-closed loop)
57 |(% style="width:205px" %)030: 30A|H: High speed DO(Collector signal feedback)
58 |(% style="width:205px" %)040: 40A|R: Support external PID function
59 |(% style="width:205px" %)050: 50A|D: Support dynamic braking function
60
61 (% style="text-align:center" %)
62 (((
63 (% style="display:inline-block" %)
64 [[Drive Nameplate>>image:1726038660755-332.png||_mstalt="294567"]]
65 )))
66
67 = VD2 Servo Drive Parameter Table =
68
69 (% style="margin-left:auto; margin-right:auto; width:1200px" %)
70 |(% colspan="3" %)(((
71 **General type**
72 )))|(((
73 (% style="text-align:center" %)
74 [[image:1726038778533-997.png||_mstalt="300053"]]
75 )))|(((
76 (% style="text-align:center" %)
77 [[image:1726038786193-560.png||_mstalt="296309"]]
78 )))|(((
79 (% style="text-align:center" %)
80 [[image:1726038790641-417.png||_mstalt="295087"]]
81 )))
82 |(% colspan="3" %)**Model**|**VD2(A type)**|**VD2(B type)**|**VD2(C type)**
83 |(% colspan="1" rowspan="11" %)(((
84 **Basic Specifications**
85 )))|(% colspan="2" %)**Power supply**|220V|220V/380V|380V
86 |(% colspan="2" %)(((
87 **Control method**
88 )))|(% colspan="3" rowspan="1" %)(((
89 IGBT PWM control sine wave current drive
90 )))
91 |(% colspan="2" %)(((
92 **Encoder**
93 )))|(% colspan="3" rowspan="1" %)(((
94 2500-line incremental encoder, 17-bit/23-bit absolute encoder
95 )))
96 |(% colspan="2" %)(((
97 **Control signal input**
98 )))|(% colspan="3" rowspan="1" %)8DI
99 |(% colspan="2" %)(((
100 **Control signal output**
101 )))|(% colspan="3" rowspan="1" %)4DO
102 |(% colspan="2" %)(((
103 **Analog signal input**
104 )))|(% colspan="3" rowspan="1" %)(((
105 2 AI(-10V to +10V)
106 )))
107 |(% colspan="2" %)(((
108 **Pulse signal input**
109 )))|(% colspan="3" rowspan="1" %)(((
110 Open collector or differential input
111 )))
112 |(% colspan="2" %)(((
113 **Pulse feedback output**
114 )))|(% colspan="3" rowspan="1" %)ABZ differential output(VD2-XXXXXXH series support collector signal feedback)
115 |(% colspan="2" %)(% style="background-color:transparent" %)**Internal Command**|(% colspan="3" rowspan="1" %)(((
116 8 segment internal speed command, 16 segment internal position command
117 )))
118 |(% colspan="2" %)(((
119 **Communication**
120 )))|(% colspan="3" rowspan="1" %)(((
121 MODBUS RS485 or MODBUS RS422(SCTool)
122 )))
123 |(% colspan="2" %)(((
124 **Braking resistor**
125 )))|(% colspan="3" rowspan="1" %)(((
126 Internal braking resistor(also support external braking resistor)
127 )))
128 |(% colspan="1" rowspan="19" %)(((
129 **Function setting**
130 )))|(% colspan="1" rowspan="9" %)(((
131 **General functions**
132 )))|(((
133 **Auto-tuning**
134 )))|(% colspan="3" rowspan="1" %)(((
135 Automatic load inertia identification, automatic rigidity self-tuning (SCTool)
136 )))
137 |(% colspan="1" rowspan="2" %)(((
138 **Waveform**
139 )))|(% colspan="3" rowspan="1" %)(((
140 4 channels waveform monitoring (SCTool)
141 )))
142 |(% colspan="3" rowspan="1" %)(((
143 10s waveform data recording (SCTool)
144 )))
145 |(((
146 **Parameter management**
147 )))|(% colspan="3" rowspan="1" %)(((
148 Support batch parameter import and export
149 )))
150 |(((
151 **Vibration suppression**
152 )))|(% colspan="3" rowspan="1" %)(((
153 Support mechanical vibration suppression
154 )))
155 |(((
156 **Protection**
157 )))|(% colspan="3" rowspan="1" %)(((
158 Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
159 )))
160 |(((
161 **Brake device**
162 )))|(% colspan="3" rowspan="1" %)(((
163 Support brake signal output
164 )))
165 |(((
166 **DI function**
167 )))|(% colspan="3" rowspan="1" %)(((
168 Servo enable((% _mstmutation="1" %)**S-ON**(%%)), Error/alarm clear((% _mstmutation="1" %)**A-CLR**(%%)), Forward rotation prohibited((% _mstmutation="1" %)**POT**(%%))
169
170 Backward rotation prohibited((% _mstmutation="1" %)**NOT**(%%)), Command direction((% _mstmutation="1" %)**C-SIGN**(%%)), Emergency stop((% _mstmutation="1" %)**E-STOP**(%%))
171
172 Gain switch((% _mstmutation="1" %)**GAIN-5EL**(%%)), Internal speed selection((% _mstmutation="1" %)**INSPD1, INSPD2, INSPD3**(%%))
173
174 Internal position selection and enable((% _mstmutation="1" %)**INPO51, INPO52, INPO53, INPO54, ENINPOS**(%%))
175 )))
176 |(((
177 **DO function**
178 )))|(% colspan="3" rowspan="1" %)(((
179 Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
180
181 Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
182
183 Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), ABZ pulse feedback output
184 )))
185 |(% colspan="1" rowspan="4" %)(((
186 **Position mode**
187 )))|(((
188 **Pulse frequency**
189 )))|(% colspan="3" rowspan="1" %)(((
190 Max to 500KHz
191 )))
192 |(((
193 **Pulse type**
194 )))|(% colspan="3" rowspan="1" %)(((
195 Direction + Pulse, CW/CCW, Orthogonal coding
196 )))
197 |(((
198 **Pulse filter**
199 )))|(% colspan="3" rowspan="1" %)(((
200 First-order low-pass filter or smoothing filter
201 )))
202 |(((
203 **Pulse output**
204 )))|(% colspan="3" rowspan="1" %)(((
205 A, B, Z differential output
206 )))
207 |(% colspan="1" rowspan="3" %)(((
208 **Speed mode**
209 )))|(((
210 **Command input**
211 )))|(% colspan="3" rowspan="1" %)(((
212 Analog input(-10V to +10V), Internal command(8 segments)
213 )))
214 |(((
215 **Zero speed clamp**
216 )))|(% colspan="3" rowspan="1" %)(((
217 Support
218 )))
219 |(((
220 **Torque limit**
221 )))|(% colspan="3" rowspan="1" %)(((
222 Torque limit under speed mode
223 )))
224 |(% colspan="1" rowspan="3" %)(((
225 **Torque mode**
226 )))|(((
227 **Command input**
228 )))|(% colspan="3" rowspan="1" %)(((
229 Analog input(-10V to +10V), Internal command
230 )))
231 |(((
232 **Torque reach**
233 )))|(% colspan="3" rowspan="1" %)(((
234 Torque reach signal output
235 )))
236 |(((
237 **Velocity limit**
238 )))|(% colspan="3" rowspan="1" %)(((
239 Velocity limit under torque mode
240 )))
241
242 = **VD2F/VD2L Servo Drive Parameter Table** =
243
244 (% style="margin-left:auto; margin-right:auto; width:1200px" %)
245 |(% colspan="6" rowspan="1" style="width:537px" %)(((
246 **General type**
247 )))|(% colspan="1" rowspan="1" style="width:503px" %)(((
248 (% style="text-align:center" %)
249 [[image:1726190862910-426.png]]
250 )))|(% rowspan="1" style="width:364px" %)(((
251 (% style="text-align:center" %)
252 [[image:1726190785664-427.png]]
253 )))
254 |(% colspan="6" rowspan="1" style="width:537px" %)**Model**|(% colspan="1" rowspan="1" style="width:503px" %)(((
255 **VD2F**
256 )))|(% rowspan="1" style="width:364px" %)(((
257 **VD2L**
258 )))
259 |(% colspan="3" rowspan="12" %)(((
260 **Basic Specifications**
261 )))|(% colspan="3" style="width:277px" %)**Power supply**|(% colspan="1" rowspan="1" style="width:503px" %)(((
262 220V
263 )))|(% rowspan="1" style="width:364px" %)(((
264 220V
265 )))
266 |(% colspan="3" style="width:277px" %)(((
267 **Control method**
268 )))|(% colspan="2" rowspan="1" style="width:867px" %)(((
269 IGBT PWM control sine wave current drive
270 )))
271 |(% colspan="3" style="width:277px" %)(((
272 **Encoder**
273 )))|(% colspan="2" rowspan="1" style="width:867px" %)17bit, 23bit absolute value encoder
274 |(% colspan="3" style="width:277px" %)(((
275 **Control signal input**
276 )))|(% colspan="2" rowspan="1" style="width:867px" %)4DI
277 |(% colspan="3" style="width:277px" %)(((
278 **Control signal output**
279 )))|(% colspan="2" rowspan="1" style="width:867px" %)4DO
280 |(% colspan="3" style="width:277px" %)(((
281 **Pulse frequency division output**
282 )))|(% colspan="1" rowspan="1" style="width:503px" %)—|(% rowspan="1" style="width:364px" %)(((
283 Support
284 )))
285 |(% colspan="3" style="width:277px" %)(((
286 **Pulse signal input**
287 )))|(% colspan="2" rowspan="1" style="width:867px" %)(((
288 Open collector or differential input
289 )))
290 |(% colspan="3" style="width:277px" %)(((
291 **Pulse feedback output**
292 )))|(% colspan="1" rowspan="1" style="width:503px" %)(((
293 Z signal open collector output
294 )))|(% rowspan="1" style="width:364px" %)ABZ phase pulse output or pulse+direction output
295 |(% colspan="3" style="width:277px" %)(% style="background-color:transparent" %)**Internal Command**|(% colspan="2" rowspan="1" style="width:867px" %)(((
296 8 segment internal speed command, 16 segment internal position command
297 )))
298 |(% colspan="3" style="width:277px" %)(((
299 **Communication**
300 )))|(% rowspan="1" style="width:867px" %)(((
301 MODBUS RS485 and MODBUS RS422(SCTool)
302 )))|(% rowspan="1" style="width:867px" %)MODBUS RS485 and Type-C(SCTool)
303 |(% colspan="3" rowspan="2" style="width:277px" %)(((
304 **Braking resistor**
305 )))|(% colspan="4" rowspan="1" style="width:867px" %)(((
306 750W built-in braking resistor; 400W without built-in;
307 )))
308 |(% colspan="4" style="width:867px" %)(((
309 Both can support external braking resistors.
310 )))
311 |(% colspan="3" rowspan="22" %)(((
312 **Function setting**
313 )))|(% colspan="1" rowspan="12" %)(((
314 **General functions**
315 )))|(% colspan="2" style="width:39px" %)(((
316 **Auto-tuning**
317 )))|(% colspan="1" rowspan="1" style="width:503px" %)(((
318 Automatic load inertia identification, automatic rigidity self-tuning
319 )))|(% rowspan="1" style="width:364px" %)Automatic load inertia identification
320 |(% colspan="2" style="width:39px" %)(((
321 **Mix control**
322 )))|(% colspan="1" rowspan="1" style="width:503px" %)(((
323 YES
324 )))|(% rowspan="1" style="width:364px" %)-
325 |(% colspan="2" style="width:39px" %)(((
326 **Advanced control algorithms**
327 )))|(% colspan="1" style="width:503px" %)(((
328 YES
329 )))|(% style="width:364px" %)-
330 |(% colspan="2" rowspan="2" style="width:39px" %)(((
331 **Waveform**
332 )))|(% colspan="2" style="width:867px" %)4 channels waveform monitoring
333 |(% colspan="2" style="width:867px" %)10s waveform data recording
334 |(% colspan="2" style="width:39px" %)(((
335 **Parameter management**
336 )))|(% colspan="2" rowspan="1" style="width:867px" %)(((
337 Support batch parameter import and export
338 )))
339 |(% colspan="2" style="width:39px" %)(((
340 **Vibration suppression**
341 )))|(% colspan="2" rowspan="1" style="width:867px" %)(((
342 Support mechanical vibration suppression
343 )))
344 |(% colspan="2" style="width:39px" %)(((
345 **Protection**
346 )))|(% colspan="2" style="width:867px" %)(((
347 Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
348 )))
349 |(% colspan="2" style="width:39px" %)(((
350 **Dynamic braking**
351 )))|(% colspan="1" style="width:503px" %)-|(% style="width:364px" %)(((
352 Optional
353 )))
354 |(% colspan="2" style="width:39px" %)(((
355 **Brake device**
356 )))|(% colspan="2" rowspan="1" style="width:867px" %)(((
357 Support brake signal output
358 )))
359 |(% colspan="2" style="width:39px" %)(((
360 **DI function**
361 )))|(% colspan="2" rowspan="1" style="width:867px" %)(((
362 Servo enable((% _mstmutation="1" %)**S-ON**(%%)), Error/alarm clear((% _mstmutation="1" %)**A-CLR**(%%)), Forward rotation prohibited((% _mstmutation="1" %)**POT**(%%))
363
364 Backward rotation prohibited((% _mstmutation="1" %)**NOT**(%%)), Command direction((% _mstmutation="1" %)**C-SIGN**(%%)), Emergency stop((% _mstmutation="1" %)**E-STOP**(%%))
365
366 Gain switch((% _mstmutation="1" %)**GAIN-5EL**(%%)), Internal speed selection((% _mstmutation="1" %)**INSPD1, INSPD2, INSPD3**(%%))
367
368 Internal position selection and enable((% _mstmutation="1" %)**INPO51, INPO52, INPO53, INPO54, ENINPOS**(%%))
369
370 JOG(**JOGU, JOGD**)
371 )))
372 |(% colspan="2" style="width:39px" %)(((
373 **DO function**
374 )))|(% colspan="1" rowspan="1" style="width:503px" %)(((
375 Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
376
377 Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
378
379 Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), Z pulse feedback output
380 )))|(% rowspan="1" style="width:364px" %)(((
381 Servo ready(**RDY**)、Error signal(**ALM**), Alarm signal(**WARN**), Rotation detection(**TGON**)
382
383 Zero speed signal(**ZSP**), Torque limited(**T-LIMIT**), Velocity limited(**V-LIMIT**)
384
385 Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), ABZ pulse feedback output
386 )))
387 |(% colspan="1" rowspan="4" %)**Position mode**|**Pulse frequency**|(% colspan="3" rowspan="1" %)(((
388 Max to 500KHz
389 )))
390 |(% colspan="2" rowspan="1" style="width:39px" %)**Pulse type**|(% rowspan="1" style="width:503px" %)(((
391 Direction + pulse; Orthogonal coding:
392 V1.21 and above support CW/CCW
393 )))|(% rowspan="1" style="width:337px" %)Direction + Pulse, Orthogonal coding
394 |(% colspan="2" rowspan="1" style="width:39px" %)**Pulse filter**|(% colspan="2" rowspan="1" style="width:867px" %)First-order low-pass filter or smoothing filter
395 |(% colspan="2" rowspan="1" style="width:39px" %)(((
396 **Pulse output**
397 )))|(% rowspan="1" style="width:503px" %)-|(% rowspan="1" style="width:337px" %)A, B, Z differential output
398 |(% colspan="1" rowspan="3" %)(((
399 **Speed mode**
400 )))|(% colspan="2" style="width:39px" %)**Command input**|(% colspan="2" rowspan="1" style="width:867px" %)Internal command(8 segments)
401 |(% colspan="2" style="width:39px" %)**Zero speed clamp**|(% colspan="2" rowspan="1" style="width:867px" %)Support
402 |(% colspan="2" style="width:39px" %)**Torque limit**|(% colspan="2" rowspan="1" style="width:867px" %)Torque limit under speed mode
403 |(% colspan="1" rowspan="3" %)**Torque mode**|(% colspan="2" style="width:39px" %)**Command input**|(% colspan="2" rowspan="1" style="width:867px" %)(((
404 Internal command
405 )))
406 |(% colspan="2" style="width:39px" %)**Torque reach**|(% colspan="2" rowspan="1" style="width:867px" %)(((
407 Torque reach signal output
408 )))
409 |(% colspan="2" style="width:39px" %)**Velocity limit**|(% colspan="2" rowspan="1" style="width:867px" %)(((
410 Velocity limit under torque mode
411 )))
412
413 = (% style="color:inherit; font-family:inherit; font-size:max(23px, min(29px, 12.3333px + 1.38889vw))" %)VD3E/VD5L Servo Drive Parameter Table(%%) =
414
415 |(% colspan="3" %)**Bus type**|(((
416 (% style="text-align:center" %)
417 [[image:1726295827531-129.png]]
418 )))|(((
419 (% style="text-align:center" %)
420 [[image:1726295883786-742.png]]
421 )))|(((
422 (% style="text-align:center" %)
423 [[image:1726295894302-137.png]]
424 )))|(((
425 [[image:1734332155668-307.png||height="128" width="40"]]
426 )))
427 |(% colspan="3" %)**Model**|**VD3E(A type)**|**VD3E(B type)**|**VD3E(C type)**|**VD5L**
428 |(% colspan="1" rowspan="7" %)**Basic Specifications**|(% colspan="2" %)**Power supply**|220V|220/380V|380V|220V
429 |(% colspan="2" %)**Control method**|(% colspan="4" rowspan="1" %)IGBT PWM control sine wave current drive
430 |(% colspan="2" %)**Encoder**|(% colspan="4" rowspan="1" %)17bit, 23bit absolute value encoder
431 |(% 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
432 |(% colspan="2" %)**Control signal output**|(% colspan="4" rowspan="1" %)3DO, Select the output function according to the function code configuration
433 |**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.
434 Parameter self-tuning, etc.
435 |(% colspan="2" %)**Braking resistor**|(% colspan="4" rowspan="1" %)Built-in braking resistor, supports external braking resistor
436 |(% colspan="2" rowspan="9" %)**General functions**|**Auto-tuning**|(% colspan="4" rowspan="1" %)Automatic load inertia identification, automatic rigidity self-tuning
437 |**Waveform viewing**|(% colspan="4" rowspan="1" %)4 channels waveform monitoring
438 |**Waveform storage**|(% colspan="4" rowspan="1" %)Waveform acquisition frequency 1K Hz,(% style="background-color:transparent" %)10s waveform data recording
439 |**Parameter management**|(% colspan="4" rowspan="1" %)Support batch parameter import and export; Support SDO modification
440 |**Vibration suppression**|(% colspan="4" rowspan="1" %)By setting the notch filter parameters
441 |**Protection**|(% colspan="4" rowspan="1" %)Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
442 |**Brake device**|(% colspan="4" rowspan="1" %)Support brake signal output
443 |**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**(%%))
444 |**DO function**|(% colspan="4" rowspan="1" %)(((
445 Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
446
447 Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
448
449 Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), Communication VDO
450 )))
451 |(% colspan="2" rowspan="17" %)**EtherCAT related**|**Communication protocol**|(% colspan="4" rowspan="1" %)EtherCAT protocol
452 |**Support services**|(% colspan="4" rowspan="1" %)CoE(PDO,SDO)
453 |**Sync mode**|(% colspan="4" rowspan="1" %)DC-Distributed Clock
454 |**Physical layer**|(% colspan="4" rowspan="1" %)100BASE-TX
455 |**Baud rate**|(% colspan="4" rowspan="1" %)100 Mbit/s(100Base-TX)
456 |**Duplex mode**|(% colspan="4" rowspan="1" %)Full duplex
457 |**Topology**|(% colspan="4" rowspan="1" %)Circular, linear
458 |**Transmission medium**|(% colspan="4" rowspan="1" %)Shielded Category 5e or better network cable
459 |**Transmission distance**|(% colspan="4" rowspan="1" %)Less than 100M between two nodes (good environment, good cables)
460 |**Frame length**|(% colspan="4" rowspan="1" %)44 bytes to 1498 bytes
461 |**Excessive data**|(% colspan="4" rowspan="1" %)Maximum size of a single Ethernet frame is 1486 bytes
462 |**Sync jitter**|(% colspan="4" rowspan="1" %)<1μs
463 |**Distributed clock**|(% colspan="4" rowspan="1" %)64 bit
464 |**EEPROM capacity**|(% colspan="4" rowspan="1" %)8k bit initialization data is written through the EtherCAT master station
465 |**Control mode**|(% colspan="4" rowspan="1" %)CSP, CSV, CST, PT, HM
466 |**Synchronization period**|(% colspan="4" rowspan="1" %)125μs
467 |**Touch Probe**|(% colspan="3" rowspan="1" %)DI5 and DI6|DI function code 18 and 19
468
469 = **Servo Motor Naming Rules** =
470
471 (% style="margin-left:auto; margin-right:auto; width:50px" %)
472 |WD|80|M|-|075|30|S|-|A1|F|-|L
473 |①|②|③| |④|⑤|⑥| |⑦|⑧| |⑨
474
475 (% style="margin-left:auto; margin-right:auto; width:1200px" %)
476 |(% 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
477 |WE: 4|020：200W|C1：17bit multi-turn absolute magnetic encoder
478 |(% colspan="2" rowspan="1" %) |...|D2：23bit multi-turn absolute optical encoder
479 |(% rowspan="7" %)②Flange|40|500：5.0KW|E1: 2500-line incremental encoder
480 |60|550：5.5KW|(% colspan="2" rowspan="1" %)
481 |80|...|(% rowspan="2" %)⑧Motor structure|F：Oil seal
482 |110|(% colspan="2" rowspan="1" %) |G：Oil seal + Brake device
483 |130|(% rowspan="4" %)⑤Rated speed|15：1500rpm|(% colspan="2" rowspan="1" %)
484 |150|20：2000rpm|(% rowspan="3" %)⑨Others|L：60/80 flange connector
485 |180|25：2500rpm|(% rowspan="2" %)L2：60/80/130 flange connector
486 |(% colspan="2" rowspan="1" %) |30：3000rpm
487 |(% rowspan="3" %)③Inertia level|L: Low|(% colspan="2" rowspan="1" %) |(% colspan="2" rowspan="3" %)
488 |M: Middle|(% rowspan="2" %)⑥Voltage level|S: 220V
489 |H: High|T: 380V
490
491 (% style="text-align:center" %)
492 [[image:Servo.Manual.02 VD2 SA Series.test.WebHome@image-20220611113846-8.jpeg]]
493
494 Motor nameplate
495
496 = (% style="color:inherit; font-family:inherit; font-size:max(23px, min(29px, 12.3333px + 1.38889vw))" %)**Servo Motor Parameter**(%%) =
497
498 (% style="margin-left:auto; margin-right:auto; width:1200px" %)
499 |=(% 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**
500 |(% 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
501 |(% colspan="9" style="width:172px" %)
502 |(% 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
503 |(% 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
504 |(% 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
505 |(% colspan="9" style="width:172px" %)
506 |(% 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
507 |(% 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
508 |(% 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
509 |(% colspan="9" style="width:172px" %)
510 |(% 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
511 |(% 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
512 |(% 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
513 |(% 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
514 |(% 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
515 |(% 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
516 |(% 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
517 |(% 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
518 |(% 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
519 |(% 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
520
521 (% style="margin-left:auto; margin-right:auto; width:1200px" %)
522 |=**220V motor model**|=**Flange mm**|=**Power kW**|=**Rated speed rpm**|=**Rated torque N*m**|=**Rated current A**|=**Allowable overload multiple**|=(((
523 **Pole pairs**
524 )))|=(((
525 **Inertia level**
526 )))
527 |WD60H-02030S-☐☐☐|60|0.2|3000|0.64|1.8|3.5|5|(% colspan="1" rowspan="3" %)(((
528 High
529 )))
530 |WD60H-04030S-☐☐☐|60|0.4|3000|1.27|2.8|3.5|5
531 |WD60H-06030S-☐☐☐|60|0.6|3000|1.91|4.0|3.0|5
532 |(% colspan="9" %)
533 |WD80H-07530S-☐☐☐|80|0.75|3000|2.39|4.8|3.0|5|(% colspan="1" rowspan="4" %)(((
534 High
535 )))
536 |WD80H-10020S-☐☐☐|80|1|2000|4.77|4.8|3.0|5
537 |WD80H-10025S-☐☐☐|80|1|2500|3.82|4.8|3.0|5
538 |WD80H-10030S-☐☐☐|80|1|3000|3.2|4.8|3.0|5
539 |(% colspan="9" %)
540 |WD130H-15030S-☐☐☐|130|1.5|3000|4.8|6.0|3.0|5|(((
541 High
542 )))
543
544 |(% 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**
545 |(% 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
546 |(% colspan="9" style="width:174px" %)
547 |(% 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
548 |(% 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
549 |(% 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
550 |(% 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
551 |(% 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
552 |(% colspan="9" style="width:174px" %)
553 |(% 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
554 |(% 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
555 |(% 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
556 |(% colspan="9" style="width:174px" %)
557 |(% 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
558 |(% 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
559 |(% 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
560 |(% 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
561 |(% 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
562 |(% 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
563 |(% 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
564 |(% 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
565
566 |**380V motor model**|**Flange mm**|**Power kW**|**Rated speed rpm**|**Rated torque N*m**|**Rated current A**|**Allowable overload multiple**|**Pole pairs**|**Inertia level**
567 |WD130M-08515T-☐☐☐|130|0.85|1500|5.41|3.1|3.0|5|(% colspan="1" rowspan="5" %)Middle
568 |WD130M-13015T-☐☐☐|130|1.3|1500|8.28|5.1|3.0|5
569 |WD130M-18015T-☐☐☐|130|1.8|1500|11.46|6.3|3.0|5
570 |WD130M-23015T-☐☐☐|130|2.3|1500|14.64|8.5|3.0|5
571 |WD180M-29015T-☐☐☐|180|2.9|1500|18.6|11.8|3.0|5
572
573 |**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**
574 |WE130M-20025T-☐☐☐|130|2.0|2500|7.7|7.5|2.8|(% style="width:78px" %)4|(% rowspan="6" style="width:68px" %)Middle
575 |WE130M-26025T-☐☐☐|130|2.6|2500|10|6.0|2.5|(% style="width:78px" %)4
576 |WE130M-31015T-☐☐☐|130|3.1|1500|20|11.5|2.5|(% style="width:78px" %)4
577 |WE130M-38025T-☐☐☐|130|3.8|2500|15|8.8|2.0|(% style="width:78px" %)4
578 |WE130M-42020T-☐☐☐|130|4.2|2000|20|8.5|2.0|(% style="width:78px" %)4
579 |WE130M-53030T-☐☐☐|130|5.3|3000|17|11|2.0|(% style="width:78px" %)4
580 |(% colspan="9" %)
581 |WE180M-30015T-☐☐☐|180|3.0|1500|19|7.5|2.5|(% style="width:78px" %)4|(% rowspan="4" style="width:68px" %)Middle
582 |WE180M-43015T-☐☐☐|180|4.3|1500|27|10|2.5|(% style="width:78px" %)4
583 |WE180M-55015T-☐☐☐|180|5.5|1500|35|12|2.0|(% style="width:78px" %)4
584 |WE180M-75015T-☐☐☐|180|7.5|1500|48|20|2.0|(% style="width:78px" %)4
585
586 **Note**: ☐☐☐ Not all motor models include the following categories
587
588 A1F：17-bit single-turn absolute magnetic encoder without brake.
589
590 A1G：17-bit single-turn absolute magnetic encoder with brake.
591
592 C1F：17-bit multi-turn absolute magnetic encoder without brake
593
594 C1G：17-bit multi-turn absolute magnetic encoder with brake.
595
596 D2F：23-bit multi-turn absolute Optical encoder without brake.
597
598 D2G：23-bit multi-turn absolute Optical encoder with brake.
599
600 = **Servo Drive and Motor Matching Table** =
601
602 **Note**: The **red-marked** combination is not recommended.
603
604 |=**Control type**|=**Voltage level**|=**Drive series**|=**Drive model**|=**Support motor**
605 |(% rowspan="18" %)Pulse type|(% rowspan="12" %)220V|(% rowspan="3" %)VD2F|VD2F-003SA1P|(0.1-0.2)kW
606 |VD2F-010SA1P|(0.2-0.4)kW
607 |VD2F-014SA1P|(((
608 (0.6-0.75)kW
609
610 **(0.85-1.0)kW**
611 )))
612 |(% rowspan="2" %)VD2L|VD2L-010SA1P|(0.2-0.4)kW
613 |VD2L-014SA1P/D|(((
614 (0.6-0.75)kW
615
616 **(0.85-1.0)kW**
617 )))
618 |(% rowspan="2" %)(((
619 VD2 Type A
620 )))|VD2-010SA1G/R/H|(0.2-0.4)kW
621 |VD2-014SA1G/R/H|(((
622 (0.6-0.75)kW
623
624 **(0.85-1.0)kW**
625 )))
626 |(% rowspan="8" %)(((
627 VD2 Type B
628 )))|VD2-016SA1G/R/H|(0.85-1.5)kW
629 |VD2-019SA1G/R/H|(1.5-2.0)kW
630 |VD2-021SA1G/R/H|(2.0-2.5)kW
631 |VD2-025SA1G|(2.5-3.0)kW
632 |VD2-030SA1G|(3.0-4.0)kW
633 |(% rowspan="6" %)380V|VD2-016TA1G|(0.85-1.5)kW
634 |VD2-019TA1G|(1.5-2.0)kW
635 |VD2-021TA1G|(2.0-3.0)kW
636 |(% rowspan="3" %)VD2 Type C|VD2-030TA1G|(3.0-5.0)kW
637 |VD2-040TA1G|(5.0-6.0)kW
638 |VD2-050TA1G|(7.5)kW
639 |(% rowspan="14" %)EtherCAT type|(% rowspan="8" %)220V|(% rowspan="3" %)VD3E Type A|VD3E-003SA1G|(0.1-0.2)kW
640 |VD3E-010SA1G|(0.2-0.4)kW
641 |VD3E-014SA1G|(((
642 (0.6-0.75)kW
643
644 **(0.85-1.0)kW**
645 )))
646 |(% rowspan="8" %)VD3E Type B|VD3E-016SA1G|(0.85-1.5)kW
647 |VD3E-019SA1G|(1.5-2.0)kW
648 |VD3E-021SA1G|(2.0-2.5)kW
649 |VD3E-025SA1G|(2.5-3.0)kW
650 |VD3E-030SA1G|(3.0-4.0)kW
651 |(% rowspan="6" %)380V|VD3E-016TA1G|(0.85-1.5)kW
652 |VD3E-019TA1G|(1.5-2.0)kW
653 |VD3E-021TA1G|(2.0-3.0)kW
654 |(% rowspan="3" %)VD3E Type C|VD3E-030TA1G|(3.0-5.0)kW
655 |VD3E-040TA1G|(5.0-6.0)kW
656 |VD3E-050TA1G|(7.5)kW
657
658 = **Servo Cable Naming Rules** =
659
660 (% style="margin-left:auto; margin-right:auto; width:120px" %)
661 |E|-|J1394|-|R9M|-|3M|X7|-|A1|-|2
662 |①| |②| |③| |④|⑤| |⑥| |⑦
663
664 (% style="margin-left:auto; margin-right:auto; width:1200px" %)
665 |①Cable type|E: Encoder adapter cable|(% rowspan="14" %) |(% rowspan="4" %)④Cable length|3M: 3m
666 |(% colspan="2" rowspan="1" %) |5M: 5m
667 |(% rowspan="2" %)②Drive side connector|J1394: 1394 connector|7M: 7m
668 |D15G: DB15 male connector|...
669 |(% colspan="2" rowspan="1" %) |(% colspan="2" rowspan="1" %)
670 |(% rowspan="7" %)③Motor side connector|R9M: 9-core rectangular female connector|(% rowspan="3" %)⑤Number of cores|X5: 5 cores
671 |MC7S: 7-core straight female connector|X7: 7 cores
672 |H28K7M: 7-core 28mm aviation female connector|...
673 |CM10: 11-core 11mm aviation female connector|(% colspan="2" rowspan="1" %)
674 |MC7P: 7-core straight female connector (L2)|(% rowspan="2" %)⑥Wire size|A: 0.2mm/0.14mm
675 |R15M: 15-core rectangular female connector|A1: 0.2mm/0.14mm with battery box
676 |H28J15M: 15-core 28mm aviation female connector|(% colspan="2" rowspan="1" %)
677 |(% colspan="2" rowspan="2" %) |(% rowspan="2" %)⑦Others|1: Ordinary cable
678 |2: High flex cable
679
680 (% style="margin-left:auto; margin-right:auto; width:120px" %)
681 |P|-|U3O1|-|H28J4M|-|5M|X4|-|C|-|1
682 |①| |②| |③| |④|⑤| |⑥| |⑦
683
684 (% style="margin-left:auto; margin-right:auto; width:1200px" %)
685 |①Cable type|P: Power adapter cable/brake cable|(% rowspan="20" %) |(% rowspan="6" %)④Cable length|3M: 3m
686 |(% colspan="2" rowspan="1" %) |5M: 5m
687 |(% rowspan="8" %)②Drive side connector|Z3O1: 3-core pin-type cold-pressed terminal and 1-core O-type cold-pressed terminal|6D5M: 6.5m
688 |Z3O3: 3-core pin-type cold-pressed terminal and 3-core O-type cold-pressed terminal|7M: 7m
689 |Z4: 4-core pin-type cold-pressed terminal|10M: 10m
690 |Z4O2: 4-core pin-type cold-pressed terminal and 2-core O-type cold-pressed terminal|...
691 |U3O1: 3-core U-type cold-pressed terminal and 1-core O-type cold-pressed terminal|(% colspan="2" rowspan="1" %)
692 |U3O3: 3-core U-type cold-pressed terminal and 3-core O-type cold-pressed terminal|(% rowspan="4" %)⑤Number of cores|X2: 2 cores
693 |Z6: 6-core pin-type cold-pressed terminal|X4: 4 cores
694 |O2: 2-core O-type cold-pressed terminal|X6: 6 cores
695 |(% colspan="2" rowspan="1" %) |...
696 |(% rowspan="9" %)③Motor side connector|18A6: 6-core 23mm aviation female connector|(% colspan="2" rowspan="1" %)
697 |R4M: 4-core rectangular female connector|(% rowspan="5" %)⑥Wire size|D: 0.5mm
698 |MC4S: 4-core straight female connector|E: 0.75mm
699 |MC6S: 6-core straight female connector|B: 1.0mm
700 |H28J4M: 4-core 28mm aviation female connector|F: 1.5mm
701 |H32J4M: 4-core 32mm aviation female connector|C: 2.5mm
702 |R2M: 2-core rectangular female connector|(% colspan="2" rowspan="1" %)
703 |MC4H: 4-core H-type straight female connector|(% rowspan="2" %)⑦Others|1: Ordinary cable
704 |MC6H: 6-core H-type straight female connector|2: High flex cable
705
706 = **Servo Cable Matching Table** =
707
708 (% style="margin-left:auto; margin-right:auto; width:1200px" %)
709 |=**Motor model**|=**Matching drive**|=**Power cable/brake cable**|=**Encoder cable**
710 |(% rowspan="6" %)(((
711 WD40M-○○○-☐☐☐
712
713 WD60M-○○○-☐☐☐
714
715 WD60H-○○○-☐☐☐
716
717 WE60M-○○○-☐☐☐
718
719 WD80M-○○○-☐☐☐
720
721 WD80H-○○○-☐☐☐
722
723 WE80M-○○○-☐☐☐
724 )))|(% rowspan="2" %)VD2/VD3E A type|Power cable：P-Z3O1-R4M-*MX4|(% rowspan="3" %)Single-turn：E-J1394-R9M-*MX5-A
725 |(((
726 Power cable：P-Z3O1-R4M-*MX4
727
728 Brake cable：P-O2-R2M-3MX2-D
729 )))
730 |(% rowspan="2" %)(((
731 VD2/VD3E B type
732
733 VD2/VD3E C type
734 )))|Power cable：P-U3O1-R4M-*MX4
735 |(((
736 Power cable：P-U3O1-R4M-*MX4
737
738 Brake cable：P-O2-R2M-3MX2-D
739 )))|(% rowspan="3" %)Multi-turn：E-J1394-R9M-*MX7-A1
740 |(% rowspan="2" %)VD2F/VD2L|Power cable：P-Z4-R4M-*MX4
741 |(((
742 Power cable：P-Z4-R4M-*MX4
743
744 Brake cable：P-O2-R2M-3MX2-D
745 )))
746 |(% rowspan="6" %)(((
747 WD60M-○○○-☐☐☐-L
748
749 WD80M-○○○-☐☐☐-L
750 )))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4S-*MX4|(% rowspan="3" %)Single-turn：E-J1394-MC7S-*MX5-A
751 |With brake：P-Z3O3-MC6S-*MX6
752 |(% rowspan="2" %)(((
753 VD2/VD3E B type
754
755 VD2/VD3E C type
756 )))|Without brake：P-U3O1-MC4S-*MX4
757 |With brake：P-U3O3-MC6S-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7S-*MX7-A1
758 |(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4S-*MX4
759 |With brake：P-Z4O2-MC6S-*MX6
760 |(% rowspan="6" %)(((
761 WD60M-○○○-☐☐☐-L2
762
763 WD80M-○○○-☐☐☐-L2
764 )))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4S-*MX4|(% rowspan="3" %)Single-turn：E-J1394-MC7P-*MX5-A
765 |With brake：P-Z3O3-MC6S-*MX6
766 |(% rowspan="2" %)(((
767 VD2/VD3E B type
768
769 VD2/VD3E C type
770 )))|Without brake：P-U3O1-MC4S-*MX4
771 |With brake：P-U3O3-MC6S-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7P-*MX7-A1
772 |(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4S-*MX4
773 |With brake：P-Z4O2-MC6S-*MX6
774 |(% rowspan="4" %)(((
775 WD60H-○○○-☐☐☐-L2
776
777 WD80H-○○○-☐☐☐-L2
778 )))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4H-*MX4|(% rowspan="2" %)Single-turn：E-J1394-MC7P-*MX5-A
779 |With brake：P-Z3O3-MC6H-*MX6
780 |(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4H-*MX4|(% rowspan="2" %)Multi-turn：E-J1394-MC7P-*MX7-A1
781 |With brake：P-Z4O2-MC6H-*MX6
782 |(% rowspan="6" %)(((
783 WE110M-○○○-☐☐☐
784
785 WE130M-○○○-☐☐☐
786 )))|(% rowspan="2" %)VD2/VD3E A type|Power cable：P-Z3O1-H28J4M-*MX4|(% rowspan="3" %)Single-turn：E-J1394-H28K7M-*MX5-A
787 |Brake cable：No need
788 |(% rowspan="2" %)(((
789 VD2/VD3E B type
790
791 VD2/VD3E C type
792 )))|Power cable：P-U3O1-H28J4M-*MX4
793 |Brake cable：No need|(% rowspan="3" %)Multi-turn：E-J1394-H28K7M-*MX7-A1
794 |(% rowspan="2" %)VD2F/VD2L|Power cable：P-Z4-H28J4M-*MX4
795 |Brake cable：No need
796 |(% rowspan="6" %)(((
797 WD130M-○○○-☐☐☐
798
799 WD130H-○○○-☐☐☐
800 )))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-18A6-*MX4|(% rowspan="3" %)Single-turn：E-J1394-CM10-*MX5-A
801 |With brake：P-Z3O3-18A6-*MX6
802 |(% rowspan="2" %)(((
803 VD2/VD3E B type
804
805 VD2/VD3E C type
806 )))|Without brake：P-U3O1-18A6-*MX4
807 |With brake：P-U3O3-18A6-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-CM10-*MX7-A1
808 |(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-18A6-*MX4
809 |With brake：P-Z4O2-18A6-*MX4
810 |(% 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
811 |With brake：P-Z3O3-18A6-*MX6
812 |(% rowspan="2" %)(((
813 VD2/VD3E B type
814
815 VD2/VD3E C type
816 )))|Without brake：P-U3O1-18A6-*MX4
817 |With brake：P-U3O3-18A6-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7P-*MX7-A1
818 |(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-18A6-*MX4
819 |With brake：P-Z4O2-18A6-*MX4
820 |(% rowspan="2" %)(((
821 WE180M-○○○-☐☐☐
822
823 WD180M-○○○-☐☐☐
824 )))|(% rowspan="2" %)(((
825 VD2/VD3E B type
826
827 VD2/VD3E C type
828 )))|Power cable：P-U3O1-H32J4M-*MX4|Single-turn：E-J1394-H28K7M-*MX5-A
829 |Brake cable：No need|Multi-turn：E-J1394-H28K7M-*MX7-A1
830
831 = **Servo **Input Current Parameter =
832
833 (% style="margin-left:auto; margin-right:auto; width:1200px" %)
834 |=Servo Drive Output Current (A)|=Servo Drive Output Voltage (V)|=Servo Drive Output Power (W)|=Efficiency|=Power factor|=Input current
835 (single phase) (A)|=Input current
836 (three phase) (A)|=Recommended power cable
837 diameter（mm²）
838 |3|(% colspan="1" rowspan="7" %)220|100|(% colspan="1" rowspan="11" %)0.7|(% rowspan="11" %)0.8|0.90|0.52|0.5
839 |10|400|3.61|2.08|0.75
840 |14|750|6.76|3.91|(((
841 1.5 (For single phase)
842
843 1 (For three phase)
844 )))
845 |16|1800|16.23|9.37|(((
846 4 (For single phase)
847
848 2 (For three phase)
849 )))
850 |21|2200|19.84|11.46|(((
851 4 (For single phase)
852
853 2.5 (For three phase)
854 )))
855 |25|2600|23.45|13.40|(% colspan="1" rowspan="2" %)(((
856 6 (For single phase)
857
858 4 (For three phase)
859 )))
860 |30|3000|26.79|15.46
861 |21|(% colspan="1" rowspan="4" %)380|3000| |9.04|2
862 |30|4500| |13.57|4
863 |40|6000| |18.09|(% colspan="1" rowspan="2" %)6
864 |50|7500| |22.61
865
866 >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]].