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Wiki source code of 05 Servo Product Manual

Last modified by Jim(Forgotten) on 2025/03/20 10:19
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Jim(Forgotten) 5.1 1 = Servo Drive Naming Rules =
2
Jim(Forgotten) 11.1 3 (% class="table-striped" style="margin-left:auto; margin-right:auto; width:20px" %)
Jim(Forgotten) 7.1 4 |(((
Jim(Forgotten) 9.1 5 (% class="wikigeneratedid" id="HVD2" %)
Jim(Forgotten) 14.1 6 __VD2__
Jim(Forgotten) 7.1 7 )))|(((
Jim(Forgotten) 9.1 8 (% class="wikigeneratedid" id="H-" %)
9 -
Jim(Forgotten) 7.1 10 )))|(((
Jim(Forgotten) 9.1 11 (% class="wikigeneratedid" id="H021" %)
Jim(Forgotten) 14.1 12 __021__
Jim(Forgotten) 7.1 13 )))|(((
Jim(Forgotten) 9.1 14 (% class="wikigeneratedid" id="HS" %)
Jim(Forgotten) 14.1 15 __S__
Jim(Forgotten) 7.1 16 )))|(((
Jim(Forgotten) 9.1 17 (% class="wikigeneratedid" id="HA1" %)
Jim(Forgotten) 14.1 18 __A1__
Jim(Forgotten) 7.1 19 )))|(((
Jim(Forgotten) 9.1 20 (% class="wikigeneratedid" id="HG" %)
Jim(Forgotten) 14.1 21 __G__
Jim(Forgotten) 7.1 22 )))
23 |(((
Jim(Forgotten) 9.1 24 (% class="wikigeneratedid" id="H2460" %)
25 ①
Jim(Forgotten) 7.1 26 )))|(((
Jim(Forgotten) 9.1 27 (% class="wikigeneratedid" id="H" %)
28
Jim(Forgotten) 7.1 29 )))|(((
Jim(Forgotten) 9.1 30 (% class="wikigeneratedid" id="H2461" %)
31 ②
Jim(Forgotten) 7.1 32 )))|(((
Jim(Forgotten) 9.1 33 (% class="wikigeneratedid" id="H2462" %)
34 ③
Jim(Forgotten) 7.1 35 )))|(((
Jim(Forgotten) 9.1 36 (% class="wikigeneratedid" id="H2463" %)
37 ④
Jim(Forgotten) 7.1 38 )))|(((
Jim(Forgotten) 9.1 39 (% class="wikigeneratedid" id="H2464" %)
40 ⑤
Jim(Forgotten) 7.1 41 )))
Jim(Forgotten) 5.1 42
Jim(Forgotten) 88.1 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
Jim(Forgotten) 89.1 51 |(% style="width:205px" %)014: 14A
52 |(% style="width:205px" %)015: 15A
Jim(Forgotten) 88.1 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
Jim(Forgotten) 12.1 60
Jim(Forgotten) 16.1 61 (% style="text-align:center" %)
62 (((
63 (% style="display:inline-block" %)
Molly 26.1 64 [[Drive Nameplate>>image:1726038660755-332.png||_mstalt="294567"]]
Jim(Forgotten) 16.1 65 )))
66
Jim(Forgotten) 18.1 67 = VD2 Servo Drive Parameter Table =
Jim(Forgotten) 17.1 68
Mora Zhou 80.1 69 (% style="margin-left:auto; margin-right:auto; width:1200px" %)
Jim(Forgotten) 19.1 70 |(% colspan="3" %)(((
Jim(Forgotten) 17.1 71 **General type**
Molly 36.1 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 )))
Jim(Forgotten) 21.1 82 |(% colspan="3" %)**Model**|**VD2(A type)**|**VD2(B type)**|**VD2(C type)**
Jim(Forgotten) 18.1 83 |(% colspan="1" rowspan="11" %)(((
84 **Basic Specifications**
Jim(Forgotten) 21.1 85 )))|(% colspan="2" %)**Power supply**|220V|220V/380V|380V
Jim(Forgotten) 19.1 86 |(% colspan="2" %)(((
Jim(Forgotten) 18.1 87 **Control method**
Jim(Forgotten) 19.1 88 )))|(% colspan="3" rowspan="1" %)(((
89 IGBT PWM control sine wave current drive
Jim(Forgotten) 21.1 90 )))
Jim(Forgotten) 19.1 91 |(% colspan="2" %)(((
Jim(Forgotten) 18.1 92 **Encoder**
Jim(Forgotten) 19.1 93 )))|(% colspan="3" rowspan="1" %)(((
94 2500-line incremental encoder, 17-bit/23-bit absolute encoder
Jim(Forgotten) 21.1 95 )))
Jim(Forgotten) 19.1 96 |(% colspan="2" %)(((
Jim(Forgotten) 18.1 97 **Control signal input**
Jim(Forgotten) 21.1 98 )))|(% colspan="3" rowspan="1" %)8DI
Jim(Forgotten) 19.1 99 |(% colspan="2" %)(((
Jim(Forgotten) 18.1 100 **Control signal output**
Jim(Forgotten) 21.1 101 )))|(% colspan="3" rowspan="1" %)4DO
Jim(Forgotten) 19.1 102 |(% colspan="2" %)(((
Jim(Forgotten) 18.1 103 **Analog signal input**
Jim(Forgotten) 19.1 104 )))|(% colspan="3" rowspan="1" %)(((
105 2 AI(-10V to +10V)
Jim(Forgotten) 21.1 106 )))
Jim(Forgotten) 19.1 107 |(% colspan="2" %)(((
Jim(Forgotten) 18.1 108 **Pulse signal input**
Jim(Forgotten) 19.1 109 )))|(% colspan="3" rowspan="1" %)(((
110 Open collector or differential input
Jim(Forgotten) 21.1 111 )))
Jim(Forgotten) 19.1 112 |(% colspan="2" %)(((
Jim(Forgotten) 18.1 113 **Pulse feedback output**
Jim(Forgotten) 22.1 114 )))|(% colspan="3" rowspan="1" %)ABZ differential output(VD2-XXXXXXH series support collector signal feedback)
Jim(Forgotten) 19.1 115 |(% colspan="2" %)(% style="background-color:transparent" %)**Internal Command**|(% colspan="3" rowspan="1" %)(((
116 8 segment internal speed command, 16 segment internal position command
Jim(Forgotten) 21.1 117 )))
Jim(Forgotten) 19.1 118 |(% colspan="2" %)(((
Jim(Forgotten) 18.1 119 **Communication**
Jim(Forgotten) 19.1 120 )))|(% colspan="3" rowspan="1" %)(((
121 MODBUS RS485 or MODBUS RS422(SCTool)
Jim(Forgotten) 21.1 122 )))
Jim(Forgotten) 19.1 123 |(% colspan="2" %)(((
124 **Braking resistor**
125 )))|(% colspan="3" rowspan="1" %)(((
126 Internal braking resistor(also support external braking resistor)
Jim(Forgotten) 21.1 127 )))
Jim(Forgotten) 19.1 128 |(% colspan="1" rowspan="19" %)(((
129 **Function setting**
130 )))|(% colspan="1" rowspan="9" %)(((
131 **General functions**
132 )))|(((
133 **Auto-tuning**
Jim(Forgotten) 20.1 134 )))|(% colspan="3" rowspan="1" %)(((
Devin Chen 72.1 135 Automatic load inertia identification, automatic rigidity self-tuning (SCTool)
Jim(Forgotten) 21.1 136 )))
Jim(Forgotten) 19.1 137 |(% colspan="1" rowspan="2" %)(((
138 **Waveform**
Jim(Forgotten) 20.1 139 )))|(% colspan="3" rowspan="1" %)(((
Devin Chen 72.1 140 4 channels waveform monitoring (SCTool)
Jim(Forgotten) 21.1 141 )))
Jim(Forgotten) 20.1 142 |(% colspan="3" rowspan="1" %)(((
Devin Chen 72.1 143 10s waveform data recording (SCTool)
Jim(Forgotten) 21.1 144 )))
Jim(Forgotten) 18.1 145 |(((
Jim(Forgotten) 19.1 146 **Parameter management**
Jim(Forgotten) 20.1 147 )))|(% colspan="3" rowspan="1" %)(((
148 Support batch parameter import and export
Jim(Forgotten) 21.1 149 )))
Jim(Forgotten) 19.1 150 |(((
151 **Vibration suppression**
Jim(Forgotten) 20.1 152 )))|(% colspan="3" rowspan="1" %)(((
153 Support mechanical vibration suppression
Jim(Forgotten) 21.1 154 )))
Jim(Forgotten) 19.1 155 |(((
156 **Protection**
Jim(Forgotten) 20.1 157 )))|(% colspan="3" rowspan="1" %)(((
158 Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
Jim(Forgotten) 21.1 159 )))
Jim(Forgotten) 19.1 160 |(((
161 **Brake device**
Jim(Forgotten) 22.1 162 )))|(% colspan="3" rowspan="1" %)(((
163 Support brake signal output
164 )))
Jim(Forgotten) 19.1 165 |(((
166 **DI function**
Jim(Forgotten) 22.1 167 )))|(% colspan="3" rowspan="1" %)(((
Molly 26.1 168 Servo enable((% _mstmutation="1" %)**S-ON**(%%)), Error/alarm clear((% _mstmutation="1" %)**A-CLR**(%%)), Forward rotation prohibited((% _mstmutation="1" %)**POT**(%%))
Jim(Forgotten) 22.1 169
Molly 26.1 170 Backward rotation prohibited((% _mstmutation="1" %)**NOT**(%%)), Command direction((% _mstmutation="1" %)**C-SIGN**(%%)), Emergency stop((% _mstmutation="1" %)**E-STOP**(%%))
Jim(Forgotten) 22.1 171
Molly 26.1 172 Gain switch((% _mstmutation="1" %)**GAIN-5EL**(%%)), Internal speed selection((% _mstmutation="1" %)**INSPD1, INSPD2, INSPD3**(%%))
Jim(Forgotten) 22.1 173
Molly 26.1 174 Internal position selection and enable((% _mstmutation="1" %)**INPO51, INPO52, INPO53, INPO54, ENINPOS**(%%))
Jim(Forgotten) 22.1 175 )))
Jim(Forgotten) 19.1 176 |(((
177 **DO function**
Jim(Forgotten) 22.1 178 )))|(% colspan="3" rowspan="1" %)(((
Molly 26.1 179 Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
Jim(Forgotten) 22.1 180
Molly 26.1 181 Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
Jim(Forgotten) 22.1 182
183 Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), ABZ pulse feedback output
184 )))
Jim(Forgotten) 19.1 185 |(% colspan="1" rowspan="4" %)(((
186 **Position mode**
187 )))|(((
188 **Pulse frequency**
Jim(Forgotten) 22.1 189 )))|(% colspan="3" rowspan="1" %)(((
190 Max to 500KHz
191 )))
Jim(Forgotten) 19.1 192 |(((
193 **Pulse type**
Jim(Forgotten) 22.1 194 )))|(% colspan="3" rowspan="1" %)(((
195 Direction + Pulse, CW/CCW, Orthogonal coding
196 )))
Jim(Forgotten) 19.1 197 |(((
198 **Pulse filter**
Jim(Forgotten) 22.1 199 )))|(% colspan="3" rowspan="1" %)(((
200 First-order low-pass filter or smoothing filter
201 )))
Jim(Forgotten) 19.1 202 |(((
203 **Pulse output**
Jim(Forgotten) 22.1 204 )))|(% colspan="3" rowspan="1" %)(((
205 A, B, Z differential output
206 )))
Jim(Forgotten) 19.1 207 |(% colspan="1" rowspan="3" %)(((
208 **Speed mode**
209 )))|(((
210 **Command input**
Jim(Forgotten) 22.1 211 )))|(% colspan="3" rowspan="1" %)(((
212 Analog input(-10V to +10V), Internal command(8 segments)
213 )))
Jim(Forgotten) 19.1 214 |(((
215 **Zero speed clamp**
Jim(Forgotten) 22.1 216 )))|(% colspan="3" rowspan="1" %)(((
217 Support
218 )))
Jim(Forgotten) 19.1 219 |(((
220 **Torque limit**
Jim(Forgotten) 22.1 221 )))|(% colspan="3" rowspan="1" %)(((
222 Torque limit under speed mode
223 )))
Jim(Forgotten) 19.1 224 |(% colspan="1" rowspan="3" %)(((
225 **Torque mode**
226 )))|(((
227 **Command input**
Jim(Forgotten) 22.1 228 )))|(% colspan="3" rowspan="1" %)(((
229 Analog input(-10V to +10V), Internal command
230 )))
Jim(Forgotten) 19.1 231 |(((
232 **Torque reach**
Jim(Forgotten) 22.1 233 )))|(% colspan="3" rowspan="1" %)(((
234 Torque reach signal output
235 )))
Jim(Forgotten) 19.1 236 |(((
237 **Velocity limit**
Jim(Forgotten) 22.1 238 )))|(% colspan="3" rowspan="1" %)(((
239 Velocity limit under torque mode
240 )))
Jim(Forgotten) 23.1 241
Jim(Forgotten) 83.1 242 = **VD2F/VD2L Servo Drive Parameter Table** =
Molly 27.1 243
Mora Zhou 80.1 244 (% style="margin-left:auto; margin-right:auto; width:1200px" %)
Jim(Forgotten) 42.1 245 |(% colspan="6" rowspan="1" style="width:537px" %)(((
Molly 27.1 246 **General type**
Jim(Forgotten) 42.1 247 )))|(% colspan="1" rowspan="1" style="width:503px" %)(((
Molly 27.1 248 (% 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 )))
Jim(Forgotten) 42.1 254 |(% colspan="6" rowspan="1" style="width:537px" %)**Model**|(% colspan="1" rowspan="1" style="width:503px" %)(((
Molly 27.1 255 **VD2F**
256 )))|(% rowspan="1" style="width:364px" %)(((
257 **VD2L**
258 )))
259 |(% colspan="3" rowspan="12" %)(((
260 **Basic Specifications**
Jim(Forgotten) 42.1 261 )))|(% colspan="3" style="width:277px" %)**Power supply**|(% colspan="1" rowspan="1" style="width:503px" %)(((
Molly 27.1 262 220V
263 )))|(% rowspan="1" style="width:364px" %)(((
264 220V
265 )))
Jim(Forgotten) 42.1 266 |(% colspan="3" style="width:277px" %)(((
Molly 27.1 267 **Control method**
Jim(Forgotten) 42.1 268 )))|(% colspan="2" rowspan="1" style="width:867px" %)(((
Molly 27.1 269 IGBT PWM control sine wave current drive
270 )))
Jim(Forgotten) 42.1 271 |(% colspan="3" style="width:277px" %)(((
Molly 27.1 272 **Encoder**
Jim(Forgotten) 42.1 273 )))|(% colspan="2" rowspan="1" style="width:867px" %)17bit, 23bit absolute value encoder
274 |(% colspan="3" style="width:277px" %)(((
Molly 27.1 275 **Control signal input**
Jim(Forgotten) 42.1 276 )))|(% colspan="2" rowspan="1" style="width:867px" %)4DI
277 |(% colspan="3" style="width:277px" %)(((
Molly 27.1 278 **Control signal output**
Jim(Forgotten) 42.1 279 )))|(% colspan="2" rowspan="1" style="width:867px" %)4DO
280 |(% colspan="3" style="width:277px" %)(((
Molly 27.1 281 **Pulse frequency division output**
Jim(Forgotten) 42.1 282 )))|(% colspan="1" rowspan="1" style="width:503px" %)—|(% rowspan="1" style="width:364px" %)(((
Molly 27.1 283 Support
284 )))
Jim(Forgotten) 42.1 285 |(% colspan="3" style="width:277px" %)(((
Molly 27.1 286 **Pulse signal input**
Jim(Forgotten) 42.1 287 )))|(% colspan="2" rowspan="1" style="width:867px" %)(((
Molly 27.1 288 Open collector or differential input
289 )))
Jim(Forgotten) 42.1 290 |(% colspan="3" style="width:277px" %)(((
Molly 27.1 291 **Pulse feedback output**
Jim(Forgotten) 42.1 292 )))|(% colspan="1" rowspan="1" style="width:503px" %)(((
Molly 27.1 293 Z signal open collector output
Molly 69.1 294 )))|(% rowspan="1" style="width:364px" %)ABZ phase pulse output or pulse+direction output
Jim(Forgotten) 42.1 295 |(% colspan="3" style="width:277px" %)(% style="background-color:transparent" %)**Internal Command**|(% colspan="2" rowspan="1" style="width:867px" %)(((
Molly 27.1 296 8 segment internal speed command, 16 segment internal position command
297 )))
Jim(Forgotten) 42.1 298 |(% colspan="3" style="width:277px" %)(((
Molly 27.1 299 **Communication**
Molly 69.1 300 )))|(% rowspan="1" style="width:867px" %)(((
301 MODBUS RS485 and MODBUS RS422(SCTool)
302 )))|(% rowspan="1" style="width:867px" %)MODBUS RS485 and Type-C(SCTool)
Jim(Forgotten) 42.1 303 |(% colspan="3" rowspan="2" style="width:277px" %)(((
Molly 27.1 304 **Braking resistor**
Jim(Forgotten) 42.1 305 )))|(% colspan="4" rowspan="1" style="width:867px" %)(((
Molly 27.1 306 750W built-in braking resistor; 400W without built-in;
307 )))
Jim(Forgotten) 42.1 308 |(% colspan="4" style="width:867px" %)(((
Molly 27.1 309 Both can support external braking resistors.
310 )))
Molly 29.1 311 |(% colspan="3" rowspan="22" %)(((
Molly 27.1 312 **Function setting**
313 )))|(% colspan="1" rowspan="12" %)(((
314 **General functions**
Jim(Forgotten) 42.1 315 )))|(% colspan="2" style="width:39px" %)(((
Molly 27.1 316 **Auto-tuning**
Jim(Forgotten) 42.1 317 )))|(% colspan="1" rowspan="1" style="width:503px" %)(((
Jim(Forgotten) 71.1 318 Automatic load inertia identification, automatic rigidity self-tuning
319 )))|(% rowspan="1" style="width:364px" %)Automatic load inertia identification
Jim(Forgotten) 42.1 320 |(% colspan="2" style="width:39px" %)(((
Jim(Forgotten) 70.1 321 **Mix control**
Jim(Forgotten) 42.1 322 )))|(% colspan="1" rowspan="1" style="width:503px" %)(((
Molly 27.1 323 YES
324 )))|(% rowspan="1" style="width:364px" %)-
Jim(Forgotten) 42.1 325 |(% colspan="2" style="width:39px" %)(((
Molly 27.1 326 **Advanced control algorithms**
Jim(Forgotten) 42.1 327 )))|(% colspan="1" style="width:503px" %)(((
Molly 27.1 328 YES
329 )))|(% style="width:364px" %)-
Jim(Forgotten) 42.1 330 |(% colspan="2" rowspan="2" style="width:39px" %)(((
Molly 27.1 331 **Waveform**
Jim(Forgotten) 42.1 332 )))|(% colspan="2" style="width:867px" %)4 channels waveform monitoring
333 |(% colspan="2" style="width:867px" %)10s waveform data recording
334 |(% colspan="2" style="width:39px" %)(((
Molly 27.1 335 **Parameter management**
Jim(Forgotten) 42.1 336 )))|(% colspan="2" rowspan="1" style="width:867px" %)(((
Molly 27.1 337 Support batch parameter import and export
338 )))
Jim(Forgotten) 42.1 339 |(% colspan="2" style="width:39px" %)(((
Molly 27.1 340 **Vibration suppression**
Jim(Forgotten) 42.1 341 )))|(% colspan="2" rowspan="1" style="width:867px" %)(((
Molly 27.1 342 Support mechanical vibration suppression
343 )))
Jim(Forgotten) 42.1 344 |(% colspan="2" style="width:39px" %)(((
Molly 27.1 345 **Protection**
Jim(Forgotten) 42.1 346 )))|(% colspan="2" style="width:867px" %)(((
Molly 27.1 347 Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
348 )))
Jim(Forgotten) 42.1 349 |(% colspan="2" style="width:39px" %)(((
Molly 27.1 350 **Dynamic braking**
Jim(Forgotten) 42.1 351 )))|(% colspan="1" style="width:503px" %)-|(% style="width:364px" %)(((
Molly 27.1 352 Optional
353 )))
Jim(Forgotten) 42.1 354 |(% colspan="2" style="width:39px" %)(((
Molly 27.1 355 **Brake device**
Jim(Forgotten) 42.1 356 )))|(% colspan="2" rowspan="1" style="width:867px" %)(((
Molly 27.1 357 Support brake signal output
358 )))
Jim(Forgotten) 42.1 359 |(% colspan="2" style="width:39px" %)(((
Molly 27.1 360 **DI function**
Jim(Forgotten) 42.1 361 )))|(% colspan="2" rowspan="1" style="width:867px" %)(((
Molly 27.1 362 Servo enable((% _mstmutation="1" %)**S-ON**(%%)), Error/alarm clear((% _mstmutation="1" %)**A-CLR**(%%)), Forward rotation prohibited((% _mstmutation="1" %)**POT**(%%))
363
364 Backward rotation prohibited((% _mstmutation="1" %)**NOT**(%%)), Command direction((% _mstmutation="1" %)**C-SIGN**(%%)), Emergency stop((% _mstmutation="1" %)**E-STOP**(%%))
365
366 Gain switch((% _mstmutation="1" %)**GAIN-5EL**(%%)), Internal speed selection((% _mstmutation="1" %)**INSPD1, INSPD2, INSPD3**(%%))
367
368 Internal position selection and enable((% _mstmutation="1" %)**INPO51, INPO52, INPO53, INPO54, ENINPOS**(%%))
Jim(Forgotten) 86.1 369
370 JOG(**JOGU, JOGD**)
Molly 27.1 371 )))
Jim(Forgotten) 42.1 372 |(% colspan="2" style="width:39px" %)(((
Molly 27.1 373 **DO function**
Jim(Forgotten) 42.1 374 )))|(% colspan="1" rowspan="1" style="width:503px" %)(((
Molly 27.1 375 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 )))
Jim(Forgotten) 42.1 390 |(% colspan="2" rowspan="1" style="width:39px" %)**Pulse type**|(% rowspan="1" style="width:503px" %)(((
Molly 27.1 391 Direction + pulse; Orthogonal coding:
392 V1.21 and above support CW/CCW
393 )))|(% rowspan="1" style="width:337px" %)Direction + Pulse, Orthogonal coding
Jim(Forgotten) 42.1 394 |(% 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" %)(((
Molly 27.1 396 **Pulse output**
Jim(Forgotten) 42.1 397 )))|(% rowspan="1" style="width:503px" %)-|(% rowspan="1" style="width:337px" %)A, B, Z differential output
Molly 29.1 398 |(% colspan="1" rowspan="3" %)(((
Molly 30.1 399 **Speed mode**
Jim(Forgotten) 42.1 400 )))|(% 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" %)(((
Molly 30.1 404 Internal command
405 )))
Jim(Forgotten) 42.1 406 |(% colspan="2" style="width:39px" %)**Torque reach**|(% colspan="2" rowspan="1" style="width:867px" %)(((
Molly 30.1 407 Torque reach signal output
408 )))
Jim(Forgotten) 42.1 409 |(% colspan="2" style="width:39px" %)**Velocity limit**|(% colspan="2" rowspan="1" style="width:867px" %)(((
Molly 30.1 410 Velocity limit under torque mode
411 )))
Molly 27.1 412
Jim(Forgotten) 84.1 413 = (% style="color:inherit; font-family:inherit; font-size:max(23px, min(29px, 12.3333px + 1.38889vw))" %)VD3E/VD5L Servo Drive Parameter Table(%%) =
Molly 32.1 414
Jim(Forgotten) 83.1 415 |(% colspan="3" %)**Bus type**|(((
Molly 32.1 416 (% style="text-align:center" %)
Molly 33.1 417 [[image:1726295827531-129.png]]
Mora Zhou 35.1 418 )))|(((
419 (% style="text-align:center" %)
420 [[image:1726295883786-742.png]]
Molly 32.1 421 )))|(((
Mora Zhou 35.1 422 (% style="text-align:center" %)
Molly 33.1 423 [[image:1726295894302-137.png]]
Molly 32.1 424 )))|(((
Jim(Forgotten) 85.1 425 [[image:1734332155668-307.png||height="128" width="40"]]
Molly 32.1 426 )))
Jim(Forgotten) 83.1 427 |(% 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
Jim(Forgotten) 90.1 431 |(% colspan="2" %)**Control signal input**|(% colspan="3" rowspan="1" %)6DI, Select the input function according to the function code configuration|4DI, Select the inputfunction according to the function code configuration
Jim(Forgotten) 83.1 432 |(% colspan="2" %)**Control signal output**|(% colspan="4" rowspan="1" %)3DO, Select the output function according to the function code configuration
Jim(Forgotten) 90.1 433 |**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. Parameter self-tuning, etc.
Jim(Forgotten) 83.1 434 |(% colspan="2" %)**Braking resistor**|(% colspan="4" rowspan="1" %)Built-in braking resistor, supports external braking resistor
435 |(% colspan="2" rowspan="9" %)**General functions**|**Auto-tuning**|(% colspan="4" rowspan="1" %)Automatic load inertia identification, automatic rigidity self-tuning
436 |**Waveform viewing**|(% colspan="4" rowspan="1" %)4 channels waveform monitoring
437 |**Waveform storage**|(% colspan="4" rowspan="1" %)Waveform acquisition frequency 1K Hz,(% style="background-color:transparent" %)10s waveform data recording
438 |**Parameter management**|(% colspan="4" rowspan="1" %)Support batch parameter import and export; Support SDO modification
439 |**Vibration suppression**|(% colspan="4" rowspan="1" %)By setting the notch filter parameters
440 |**Protection**|(% colspan="4" rowspan="1" %)Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.
441 |**Brake device**|(% colspan="4" rowspan="1" %)Support brake signal output
442 |**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**(%%))
443 |**DO function**|(% colspan="4" rowspan="1" %)(((
Molly 32.1 444 Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%))
445
446 Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%))
447
Jim(Forgotten) 83.1 448 Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), Communication VDO
Molly 32.1 449 )))
Jim(Forgotten) 83.1 450 |(% colspan="2" rowspan="17" %)**EtherCAT related**|**Communication protocol**|(% colspan="4" rowspan="1" %)EtherCAT protocol
451 |**Support services**|(% colspan="4" rowspan="1" %)CoE(PDO,SDO)
452 |**Sync mode**|(% colspan="4" rowspan="1" %)DC-Distributed Clock
453 |**Physical layer**|(% colspan="4" rowspan="1" %)100BASE-TX
454 |**Baud rate**|(% colspan="4" rowspan="1" %)100 Mbit/s(100Base-TX)
455 |**Duplex mode**|(% colspan="4" rowspan="1" %)Full duplex
456 |**Topology**|(% colspan="4" rowspan="1" %)Circular, linear
457 |**Transmission medium**|(% colspan="4" rowspan="1" %)Shielded Category 5e or better network cable
458 |**Transmission distance**|(% colspan="4" rowspan="1" %)Less than 100M between two nodes (good environment, good cables)
459 |**Frame length**|(% colspan="4" rowspan="1" %)44 bytes to 1498 bytes
460 |**Excessive data**|(% colspan="4" rowspan="1" %)Maximum size of a single Ethernet frame is 1486 bytes
461 |**Sync jitter**|(% colspan="4" rowspan="1" %)<1μs
462 |**Distributed clock**|(% colspan="4" rowspan="1" %)64 bit
463 |**EEPROM capacity**|(% colspan="4" rowspan="1" %)8k bit initialization data is written through the EtherCAT master station
464 |**Control mode**|(% colspan="4" rowspan="1" %)CSP, CSV, CST, PT, HM
465 |**Synchronization period**|(% colspan="4" rowspan="1" %)125μs
466 |**Touch Probe**|(% colspan="3" rowspan="1" %)DI5 and DI6|DI function code 18 and 19
Molly 32.1 467
Molly 57.1 468 = **Servo Motor Naming Rules** =
Molly 41.1 469
Jim(Forgotten) 25.1 470 (% style="margin-left:auto; margin-right:auto; width:50px" %)
471 |WD|80|M|-|075|30|S|-|A1|F|-|L
472 |①|②|③| |④|⑤|⑥| |⑦|⑧| |⑨
473
Mora Zhou 80.1 474 (% style="margin-left:auto; margin-right:auto; width:1200px" %)
Molly 66.1 475 |(% 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
476 |WE: 4|020：200W|C1：17bit multi-turn absolute magnetic encoder
477 |(% colspan="2" rowspan="1" %) |...|D2：23bit multi-turn absolute optical encoder
478 |(% rowspan="7" %)②Flange|40|500：5.0KW|E1: 2500-line incremental encoder
479 |60|550：5.5KW|(% colspan="2" rowspan="1" %)
480 |80|...|(% rowspan="2" %)⑧Motor structure|F：Oil seal
481 |110|(% colspan="2" rowspan="1" %) |G：Oil seal + Brake device
482 |130|(% rowspan="4" %)⑤Rated speed|15：1500rpm|(% colspan="2" rowspan="1" %)
483 |150|20：2000rpm|(% rowspan="3" %)⑨Others|L：60/80 flange connector
484 |180|25：2500rpm|(% rowspan="2" %)L2：60/80/130 flange connector
485 |(% colspan="2" rowspan="1" %) |30：3000rpm
486 |(% rowspan="3" %)③Inertia level|L: Low|(% colspan="2" rowspan="1" %) |(% colspan="2" rowspan="3" %)
487 |M: Middle|(% rowspan="2" %)⑥Voltage level|S: 220V
488 |H: High|T: 380V
Molly 44.1 489
490 (% style="text-align:center" %)
Molly 45.1 491 [[image:Servo.Manual.02 VD2 SA Series.test.WebHome@image-20220611113846-8.jpeg]]
Molly 44.1 492
Molly 54.1 493 Motor nameplate
Molly 48.1 494
Molly 60.1 495 = (% style="color:inherit; font-family:inherit; font-size:max(23px, min(29px, 12.3333px + 1.38889vw))" %)**Servo Motor Parameter**(%%) =
Molly 50.1 496
Mora Zhou 80.1 497 (% style="margin-left:auto; margin-right:auto; width:1200px" %)
498 |=(% 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**
499 |(% style="width:172px" %)WD40M-01030S-☐☐☐|(% style="width:111px" %)40|(% style="width:109px" %)0.1|(% style="width:132px" %)3000|(% style="width:149px" %)0.318|(% style="width:137px" %)1.0|(% style="width:172px" %)3.0|(% style="width:91px" %)5|(% style="width:125px" %)Middle
Molly 67.1 500 |(% colspan="9" style="width:172px" %)
Mora Zhou 80.1 501 |(% 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
502 |(% 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
503 |(% style="width:172px" %)WD60M-06030S-☐☐☐|(% style="width:111px" %)60|(% style="width:109px" %)0.6|(% style="width:132px" %)3000|(% style="width:149px" %)1.91|(% style="width:137px" %)3.6|(% style="width:172px" %)3.0|(% style="width:91px" %)5
Molly 67.1 504 |(% colspan="9" style="width:172px" %)
Mora Zhou 80.1 505 |(% 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
506 |(% 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
507 |(% style="width:172px" %)WD80M-10030S-☐☐☐|(% style="width:111px" %)80|(% style="width:109px" %)1|(% style="width:132px" %)3000|(% style="width:149px" %)3.18|(% style="width:137px" %)5.8|(% style="width:172px" %)3.0|(% style="width:91px" %)5
Molly 67.1 508 |(% colspan="9" style="width:172px" %)
Mora Zhou 80.1 509 |(% 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
510 |(% 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
511 |(% 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
512 |(% 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
513 |(% 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
514 |(% 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
515 |(% 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
516 |(% 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
517 |(% 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
518 |(% style="width:172px" %)WD130M-38025S-☐☐☐|(% style="width:111px" %)130|(% style="width:109px" %)3.8|(% style="width:132px" %)2500|(% style="width:149px" %)14.5|(% style="width:137px" %)16|(% style="width:172px" %)3.0|(% style="width:91px" %)5
Molly 49.1 519
Mora Zhou 80.1 520 (% style="margin-left:auto; margin-right:auto; width:1200px" %)
521 |=**220V motor model**|=**Flange mm**|=**Power kW**|=**Rated speed rpm**|=**Rated torque N*m**|=**Rated current A**|=**Allowable overload multiple**|=(((
Molly 49.1 522 **Pole pairs**
Mora Zhou 80.1 523 )))|=(((
Molly 49.1 524 **Inertia level**
525 )))
526 |WD60H-02030S-☐☐☐|60|0.2|3000|0.64|1.8|3.5|5|(% colspan="1" rowspan="3" %)(((
527 High
528 )))
529 |WD60H-04030S-☐☐☐|60|0.4|3000|1.27|2.8|3.5|5
530 |WD60H-06030S-☐☐☐|60|0.6|3000|1.91|4.0|3.0|5
Molly 67.1 531 |(% colspan="9" %)
Molly 49.1 532 |WD80H-07530S-☐☐☐|80|0.75|3000|2.39|4.8|3.0|5|(% colspan="1" rowspan="4" %)(((
533 High
534 )))
535 |WD80H-10020S-☐☐☐|80|1|2000|4.77|4.8|3.0|5
536 |WD80H-10025S-☐☐☐|80|1|2500|3.82|4.8|3.0|5
537 |WD80H-10030S-☐☐☐|80|1|3000|3.2|4.8|3.0|5
Molly 67.1 538 |(% colspan="9" %)
Molly 49.1 539 |WD130H-15030S-☐☐☐|130|1.5|3000|4.8|6.0|3.0|5|(((
540 High
541 )))
542
543 |(% 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**
544 |(% style="width:174px" %)WE60M-04030S-☐☐☐|(% style="width:69px" %)60|(% style="width:86px" %)0.4|(% style="width:125px" %)3000|(% style="width:110px" %)1.27|(% style="width:136px" %)2.6|(% style="width:156px" %)3.0|(% style="width:55px" %)4|(% style="width:82px" %)Middle
Molly 67.1 545 |(% colspan="9" style="width:174px" %)
Molly 49.1 546 |(% 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
547 |(% 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
548 |(% 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
549 |(% 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
550 |(% style="width:174px" %)WE80M-12030S-☐☐☐|(% style="width:69px" %)80|(% style="width:86px" %)1.2|(% style="width:125px" %)3000|(% style="width:110px" %)4.0|(% style="width:136px" %)4.5|(% style="width:156px" %)3.0|(% style="width:55px" %)4
Molly 67.1 551 |(% colspan="9" style="width:174px" %)
Molly 49.1 552 |(% 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
553 |(% 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
554 |(% style="width:174px" %)WE110M-18030S-☐☐☐|(% style="width:69px" %)110|(% style="width:86px" %)1.8|(% style="width:125px" %)3000|(% style="width:110px" %)6.0|(% style="width:136px" %)6.0|(% style="width:156px" %)3.0|(% style="width:55px" %)4
Molly 67.1 555 |(% colspan="9" style="width:174px" %)
Molly 49.1 556 |(% 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
557 |(% 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
558 |(% 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
559 |(% 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
560 |(% 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
561 |(% 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
562 |(% 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
563 |(% 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
564
565 |**380V motor model**|**Flange mm**|**Power kW**|**Rated speed rpm**|**Rated torque N*m**|**Rated current A**|**Allowable overload multiple**|**Pole pairs**|**Inertia level**
566 |WD130M-08515T-☐☐☐|130|0.85|1500|5.41|3.1|3.0|5|(% colspan="1" rowspan="5" %)Middle
567 |WD130M-13015T-☐☐☐|130|1.3|1500|8.28|5.1|3.0|5
568 |WD130M-18015T-☐☐☐|130|1.8|1500|11.46|6.3|3.0|5
569 |WD130M-23015T-☐☐☐|130|2.3|1500|14.64|8.5|3.0|5
570 |WD180M-29015T-☐☐☐|180|2.9|1500|18.6|11.8|3.0|5
571
572 |**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**
573 |WE130M-20025T-☐☐☐|130|2.0|2500|7.7|7.5|2.8|(% style="width:78px" %)4|(% rowspan="6" style="width:68px" %)Middle
574 |WE130M-26025T-☐☐☐|130|2.6|2500|10|6.0|2.5|(% style="width:78px" %)4
575 |WE130M-31015T-☐☐☐|130|3.1|1500|20|11.5|2.5|(% style="width:78px" %)4
576 |WE130M-38025T-☐☐☐|130|3.8|2500|15|8.8|2.0|(% style="width:78px" %)4
577 |WE130M-42020T-☐☐☐|130|4.2|2000|20|8.5|2.0|(% style="width:78px" %)4
578 |WE130M-53030T-☐☐☐|130|5.3|3000|17|11|2.0|(% style="width:78px" %)4
Molly 67.1 579 |(% colspan="9" %)
Molly 49.1 580 |WE180M-30015T-☐☐☐|180|3.0|1500|19|7.5|2.5|(% style="width:78px" %)4|(% rowspan="4" style="width:68px" %)Middle
581 |WE180M-43015T-☐☐☐|180|4.3|1500|27|10|2.5|(% style="width:78px" %)4
582 |WE180M-55015T-☐☐☐|180|5.5|1500|35|12|2.0|(% style="width:78px" %)4
583 |WE180M-75015T-☐☐☐|180|7.5|1500|48|20|2.0|(% style="width:78px" %)4
584
585 **Note**: ☐☐☐ Not all motor models include the following categories
586
587 A1F：17-bit single-turn absolute magnetic encoder without brake.
588
589 A1G：17-bit single-turn absolute magnetic encoder with brake.
590
591 C1F：17-bit multi-turn absolute magnetic encoder without brake
592
593 C1G：17-bit multi-turn absolute magnetic encoder with brake.
594
595 D2F：23-bit multi-turn absolute Optical encoder without brake.
596
597 D2G：23-bit multi-turn absolute Optical encoder with brake.
Molly 60.1 598
599 = **Servo Drive and Motor Matching Table** =
600
601 **Note**: The **red-marked** combination is not recommended.
602
Mora Zhou 81.1 603 |=**Control type**|=**Voltage level**|=**Drive series**|=**Drive model**|=**Support motor**
Molly 60.1 604 |(% rowspan="18" %)Pulse type|(% rowspan="12" %)220V|(% rowspan="3" %)VD2F|VD2F-003SA1P|(0.1-0.2)kW
605 |VD2F-010SA1P|(0.2-0.4)kW
606 |VD2F-014SA1P|(((
607 (0.6-0.75)kW
608
609 **(0.85-1.0)kW**
610 )))
611 |(% rowspan="2" %)VD2L|VD2L-010SA1P|(0.2-0.4)kW
612 |VD2L-014SA1P/D|(((
613 (0.6-0.75)kW
614
615 **(0.85-1.0)kW**
616 )))
617 |(% rowspan="2" %)(((
618 VD2 Type A
619 )))|VD2-010SA1G/R/H|(0.2-0.4)kW
620 |VD2-014SA1G/R/H|(((
621 (0.6-0.75)kW
622
623 **(0.85-1.0)kW**
624 )))
625 |(% rowspan="8" %)(((
626 VD2 Type B
627 )))|VD2-016SA1G/R/H|(0.85-1.5)kW
628 |VD2-019SA1G/R/H|(1.5-2.0)kW
629 |VD2-021SA1G/R/H|(2.0-2.5)kW
630 |VD2-025SA1G|(2.5-3.0)kW
631 |VD2-030SA1G|(3.0-4.0)kW
632 |(% rowspan="6" %)380V|VD2-016TA1G|(0.85-1.5)kW
633 |VD2-019TA1G|(1.5-2.0)kW
634 |VD2-021TA1G|(2.0-3.0)kW
635 |(% rowspan="3" %)VD2 Type C|VD2-030TA1G|(3.0-5.0)kW
636 |VD2-040TA1G|(5.0-6.0)kW
637 |VD2-050TA1G|(7.5)kW
638 |(% rowspan="14" %)EtherCAT type|(% rowspan="8" %)220V|(% rowspan="3" %)VD3E Type A|VD3E-003SA1G|(0.1-0.2)kW
639 |VD3E-010SA1G|(0.2-0.4)kW
640 |VD3E-014SA1G|(((
641 (0.6-0.75)kW
642
643 **(0.85-1.0)kW**
644 )))
645 |(% rowspan="8" %)VD3E Type B|VD3E-016SA1G|(0.85-1.5)kW
646 |VD3E-019SA1G|(1.5-2.0)kW
647 |VD3E-021SA1G|(2.0-2.5)kW
648 |VD3E-025SA1G|(2.5-3.0)kW
649 |VD3E-030SA1G|(3.0-4.0)kW
650 |(% rowspan="6" %)380V|VD3E-016TA1G|(0.85-1.5)kW
651 |VD3E-019TA1G|(1.5-2.0)kW
652 |VD3E-021TA1G|(2.0-3.0)kW
653 |(% rowspan="3" %)VD3E Type C|VD3E-030TA1G|(3.0-5.0)kW
654 |VD3E-040TA1G|(5.0-6.0)kW
655 |VD3E-050TA1G|(7.5)kW
Molly 61.1 656
657 = **Servo Cable Naming Rules** =
658
659 (% style="margin-left:auto; margin-right:auto; width:120px" %)
660 |E|-|J1394|-|R9M|-|3M|X7|-|A1|-|2
661 |①| |②| |③| |④|⑤| |⑥| |⑦
662
Mora Zhou 80.1 663 (% style="margin-left:auto; margin-right:auto; width:1200px" %)
Molly 68.1 664 |①Cable type|E: Encoder adapter cable|(% rowspan="14" %) |(% rowspan="4" %)④Cable length|3M: 3m
665 |(% colspan="2" rowspan="1" %) |5M: 5m
666 |(% rowspan="2" %)②Drive side connector|J1394: 1394 connector|7M: 7m
667 |D15G: DB15 male connector|...
668 |(% colspan="2" rowspan="1" %) |(% colspan="2" rowspan="1" %)
669 |(% rowspan="7" %)③Motor side connector|R9M: 9-core rectangular female connector|(% rowspan="3" %)⑤Number of cores|X5: 5 cores
670 |MC7S: 7-core straight female connector|X7: 7 cores
671 |H28K7M: 7-core 28mm aviation female connector|...
672 |CM10: 11-core 11mm aviation female connector|(% colspan="2" rowspan="1" %)
673 |MC7P: 7-core straight female connector (L2)|(% rowspan="2" %)⑥Wire size|A: 0.2mm/0.14mm
674 |R15M: 15-core rectangular female connector|A1: 0.2mm/0.14mm with battery box
675 |H28J15M: 15-core 28mm aviation female connector|(% colspan="2" rowspan="1" %)
676 |(% colspan="2" rowspan="2" %) |(% rowspan="2" %)⑦Others|1: Ordinary cable
677 |2: High flex cable
Molly 61.1 678
679 (% style="margin-left:auto; margin-right:auto; width:120px" %)
680 |P|-|U3O1|-|H28J4M|-|5M|X4|-|C|-|1
681 |①| |②| |③| |④|⑤| |⑥| |⑦
682
Mora Zhou 80.1 683 (% style="margin-left:auto; margin-right:auto; width:1200px" %)
Molly 68.1 684 |①Cable type|P: Power adapter cable/brake cable|(% rowspan="20" %) |(% rowspan="6" %)④Cable length|3M: 3m
685 |(% colspan="2" rowspan="1" %) |5M: 5m
686 |(% rowspan="8" %)②Drive side connector|Z3O1: 3-core pin-type cold-pressed terminal and 1-core O-type cold-pressed terminal|6D5M: 6.5m
687 |Z3O3: 3-core pin-type cold-pressed terminal and 3-core O-type cold-pressed terminal|7M: 7m
688 |Z4: 4-core pin-type cold-pressed terminal|10M: 10m
689 |Z4O2: 4-core pin-type cold-pressed terminal and 2-core O-type cold-pressed terminal|...
690 |U3O1: 3-core U-type cold-pressed terminal and 1-core O-type cold-pressed terminal|(% colspan="2" rowspan="1" %)
691 |U3O3: 3-core U-type cold-pressed terminal and 3-core O-type cold-pressed terminal|(% rowspan="4" %)⑤Number of cores|X2: 2 cores
692 |Z6: 6-core pin-type cold-pressed terminal|X4: 4 cores
693 |O2: 2-core O-type cold-pressed terminal|X6: 6 cores
694 |(% colspan="2" rowspan="1" %) |...
695 |(% rowspan="9" %)③Motor side connector|18A6: 6-core 23mm aviation female connector|(% colspan="2" rowspan="1" %)
696 |R4M: 4-core rectangular female connector|(% rowspan="5" %)⑥Wire size|D: 0.5mm
697 |MC4S: 4-core straight female connector|E: 0.75mm
698 |MC6S: 6-core straight female connector|B: 1.0mm
699 |H28J4M: 4-core 28mm aviation female connector|F: 1.5mm
700 |H32J4M: 4-core 32mm aviation female connector|C: 2.5mm
701 |R2M: 2-core rectangular female connector|(% colspan="2" rowspan="1" %)
702 |MC4H: 4-core H-type straight female connector|(% rowspan="2" %)⑦Others|1: Ordinary cable
703 |MC6H: 6-core H-type straight female connector|2: High flex cable
Molly 61.1 704
705 = **Servo Cable Matching Table** =
706
Mora Zhou 80.1 707 (% style="margin-left:auto; margin-right:auto; width:1200px" %)
708 |=**Motor model**|=**Matching drive**|=**Power cable/brake cable**|=**Encoder cable**
Molly 61.1 709 |(% rowspan="6" %)(((
710 WD40M-○○○-☐☐☐
711
712 WD60M-○○○-☐☐☐
713
714 WD60H-○○○-☐☐☐
715
716 WE60M-○○○-☐☐☐
717
718 WD80M-○○○-☐☐☐
719
720 WD80H-○○○-☐☐☐
721
722 WE80M-○○○-☐☐☐
723 )))|(% rowspan="2" %)VD2/VD3E A type|Power cable：P-Z3O1-R4M-*MX4|(% rowspan="3" %)Single-turn：E-J1394-R9M-*MX5-A
724 |(((
725 Power cable：P-Z3O1-R4M-*MX4
726
727 Brake cable：P-O2-R2M-3MX2-D
728 )))
729 |(% rowspan="2" %)(((
730 VD2/VD3E B type
731
732 VD2/VD3E C type
733 )))|Power cable：P-U3O1-R4M-*MX4
734 |(((
735 Power cable：P-U3O1-R4M-*MX4
736
737 Brake cable：P-O2-R2M-3MX2-D
738 )))|(% rowspan="3" %)Multi-turn：E-J1394-R9M-*MX7-A1
739 |(% rowspan="2" %)VD2F/VD2L|Power cable：P-Z4-R4M-*MX4
740 |(((
741 Power cable：P-Z4-R4M-*MX4
742
743 Brake cable：P-O2-R2M-3MX2-D
744 )))
745 |(% rowspan="6" %)(((
746 WD60M-○○○-☐☐☐-L
747
748 WD80M-○○○-☐☐☐-L
749 )))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4S-*MX4|(% rowspan="3" %)Single-turn：E-J1394-MC7S-*MX5-A
750 |With brake：P-Z3O3-MC6S-*MX6
751 |(% rowspan="2" %)(((
752 VD2/VD3E B type
753
754 VD2/VD3E C type
755 )))|Without brake：P-U3O1-MC4S-*MX4
756 |With brake：P-U3O3-MC6S-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7S-*MX7-A1
757 |(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4S-*MX4
758 |With brake：P-Z4O2-MC6S-*MX6
759 |(% rowspan="6" %)(((
760 WD60M-○○○-☐☐☐-L2
761
762 WD80M-○○○-☐☐☐-L2
763 )))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4S-*MX4|(% rowspan="3" %)Single-turn：E-J1394-MC7P-*MX5-A
764 |With brake：P-Z3O3-MC6S-*MX6
765 |(% rowspan="2" %)(((
766 VD2/VD3E B type
767
768 VD2/VD3E C type
769 )))|Without brake：P-U3O1-MC4S-*MX4
770 |With brake：P-U3O3-MC6S-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7P-*MX7-A1
771 |(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4S-*MX4
772 |With brake：P-Z4O2-MC6S-*MX6
773 |(% rowspan="4" %)(((
774 WD60H-○○○-☐☐☐-L2
775
776 WD80H-○○○-☐☐☐-L2
777 )))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4H-*MX4|(% rowspan="2" %)Single-turn：E-J1394-MC7P-*MX5-A
778 |With brake：P-Z3O3-MC6H-*MX6
779 |(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4H-*MX4|(% rowspan="2" %)Multi-turn：E-J1394-MC7P-*MX7-A1
780 |With brake：P-Z4O2-MC6H-*MX6
781 |(% rowspan="6" %)(((
782 WE110M-○○○-☐☐☐
783
784 WE130M-○○○-☐☐☐
785 )))|(% rowspan="2" %)VD2/VD3E A type|Power cable：P-Z3O1-H28J4M-*MX4|(% rowspan="3" %)Single-turn：E-J1394-H28K7M-*MX5-A
786 |Brake cable：No need
787 |(% rowspan="2" %)(((
788 VD2/VD3E B type
789
790 VD2/VD3E C type
791 )))|Power cable：P-U3O1-H28J4M-*MX4
792 |Brake cable：No need|(% rowspan="3" %)Multi-turn：E-J1394-H28K7M-*MX7-A1
793 |(% rowspan="2" %)VD2F/VD2L|Power cable：P-Z4-H28J4M-*MX4
794 |Brake cable：No need
795 |(% rowspan="6" %)(((
796 WD130M-○○○-☐☐☐
797
798 WD130H-○○○-☐☐☐
799 )))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-18A6-*MX4|(% rowspan="3" %)Single-turn：E-J1394-CM10-*MX5-A
800 |With brake：P-Z3O3-18A6-*MX6
801 |(% rowspan="2" %)(((
802 VD2/VD3E B type
803
804 VD2/VD3E C type
805 )))|Without brake：P-U3O1-18A6-*MX4
806 |With brake：P-U3O3-18A6-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-CM10-*MX7-A1
807 |(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-18A6-*MX4
808 |With brake：P-Z4O2-18A6-*MX4
809 |(% 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
810 |With brake：P-Z3O3-18A6-*MX6
811 |(% rowspan="2" %)(((
812 VD2/VD3E B type
813
814 VD2/VD3E C type
815 )))|Without brake：P-U3O1-18A6-*MX4
816 |With brake：P-U3O3-18A6-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7P-*MX7-A1
817 |(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-18A6-*MX4
818 |With brake：P-Z4O2-18A6-*MX4
819 |(% rowspan="2" %)(((
820 WE180M-○○○-☐☐☐
821
822 WD180M-○○○-☐☐☐
823 )))|(% rowspan="2" %)(((
824 VD2/VD3E B type
825
826 VD2/VD3E C type
827 )))|Power cable：P-U3O1-H32J4M-*MX4|Single-turn：E-J1394-H28K7M-*MX5-A
828 |Brake cable：No need|Multi-turn：E-J1394-H28K7M-*MX7-A1
Devin Chen 73.1 829
Mora Zhou 82.1 830 = **Servo **Input Current Parameter =
Devin Chen 73.1 831
Mora Zhou 79.1 832 (% style="margin-left:auto; margin-right:auto; width:1200px" %)
Devin Chen 73.1 833 |=Servo Drive Output Current (A)|=Servo Drive Output Voltage (V)|=Servo Drive Output Power (W)|=Efficiency|=Power factor|=Input current
834 (single phase) (A)|=Input current
835 (three phase) (A)|=Recommended power cable
836 diameter（mm²）
837 |3|(% colspan="1" rowspan="7" %)220|100|(% colspan="1" rowspan="11" %)0.7|(% rowspan="11" %)0.8|0.90|0.52|0.5
838 |10|400|3.61|2.08|0.75
839 |14|750|6.76|3.91|(((
Devin Chen 77.1 840 1.5 (For single phase)
Devin Chen 73.1 841
Devin Chen 77.1 842 1 (For three phase)
Devin Chen 73.1 843 )))
844 |16|1800|16.23|9.37|(((
Devin Chen 77.1 845 4 (For single phase)
Devin Chen 73.1 846
Devin Chen 77.1 847 2 (For three phase)
Devin Chen 73.1 848 )))
849 |21|2200|19.84|11.46|(((
Devin Chen 77.1 850 4 (For single phase)
Devin Chen 73.1 851
Devin Chen 77.1 852 2.5 (For three phase)
Devin Chen 73.1 853 )))
854 |25|2600|23.45|13.40|(% colspan="1" rowspan="2" %)(((
Devin Chen 77.1 855 6 (For single phase)
Devin Chen 73.1 856
Devin Chen 77.1 857 4 (For three phase)
Devin Chen 73.1 858 )))
859 |30|3000|26.79|15.46
860 |21|(% colspan="1" rowspan="4" %)380|3000| |9.04|2
861 |30|4500| |13.57|4
862 |40|6000| |18.09|(% colspan="1" rowspan="2" %)6
863 |50|7500| |22.61
Devin Chen 74.1 864
865 >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]].