Wiki source code of 05 Servo Product Manual
Last modified by Theodore Xu on 2026/03/18 11:44
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| author | version | line-number | content |
|---|---|---|---|
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1.1 | 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 | |||
| |
3.1 | 415 | |(% colspan="3" rowspan="8" %)**Bus type**|(% rowspan="8" %)((( |
| |
1.1 | 416 | (% style="text-align:center" %) |
| 417 | [[image:1726295827531-129.png]] | ||
| |
1.2 | 418 | |
| |
3.1 | 419 | |
| 420 | )))|(% rowspan="8" %)((( | ||
| |
1.1 | 421 | (% style="text-align:center" %) |
| 422 | [[image:1726295883786-742.png]] | ||
| |
1.2 | 423 | |
| |
3.1 | 424 | |
| 425 | )))|(% rowspan="8" %)((( | ||
| |
1.1 | 426 | (% style="text-align:center" %) |
| 427 | [[image:1726295894302-137.png]] | ||
| |
1.2 | 428 | |
| |
3.1 | 429 | |
| 430 | )))|(% rowspan="8" %) [[image:1734332155668-307.png||height="128" width="40"]] | ||
| |
4.1 | 431 | | |
| 432 | | | ||
| 433 | | | ||
| 434 | | | ||
| 435 | | | ||
| 436 | | | ||
| 437 | | | ||
| |
2.1 | 438 | |(% colspan="3" %)**Model**|**VD3E(A type)**|**VD3E(B type)**|**VD3E(C type)**|**VD5L** |
| |
1.2 | 439 | |(% rowspan="7" %)**Basic Specifications**|(% colspan="2" %)**Power supply**|220V|220/380V|380V|220V |
| 440 | |(% colspan="2" %)**Control method**|(% colspan="4" %)IGBT PWM control sine wave current drive | ||
| 441 | |(% colspan="2" %)**Encoder**|(% colspan="4" %)17bit, 23bit absolute value encoder | ||
| 442 | |(% colspan="2" %)**Control signal input**|(% colspan="3" %)6DI, Select the input function according to the function code configuration|4DI, Select the inputfunction according to the function code configuration | ||
| 443 | |(% colspan="2" %)**Control signal output**|(% colspan="4" %)3DO, Select the output function according to the function code configuration | ||
| 444 | |**Communication function**|**Host computer communication**|(% colspan="4" %)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. | ||
| 445 | |(% colspan="2" %)**Braking resistor**|(% colspan="4" %)Built-in braking resistor, supports external braking resistor | ||
| 446 | |(% colspan="2" rowspan="9" %)**General functions**|**Auto-tuning**|(% colspan="3" %)Automatic load inertia identification, automatic rigidity self-tuning|Do not support automatic rigidity self-tuning | ||
| 447 | |**Waveform viewing**|(% colspan="4" %)4 channels waveform monitoring | ||
| 448 | |**Waveform storage**|(% colspan="4" %)Waveform acquisition frequency 1K Hz,10s waveform data recording | ||
| 449 | |**Parameter management**|(% colspan="4" %)Support batch parameter import and export; Support SDO modification | ||
| 450 | |**Vibration suppression**|(% colspan="4" %)By setting the notch filter parameters | ||
| 451 | |**Protection**|(% colspan="4" %)Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc. | ||
| 452 | |**Brake device**|(% colspan="4" %)Support brake signal output | ||
| 453 | |**DI function**|(% colspan="4" %)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**(%%)) | ||
| 454 | |**DO function**|(% colspan="4" %)((( | ||
| |
1.1 | 455 | Servo ready((% _mstmutation="1" %)**RDY**(%%))、Error signal((% _mstmutation="1" %)**ALM**(%%)), Alarm signal((% _mstmutation="1" %)**WARN**(%%)), Rotation detection((% _mstmutation="1" %)**TGON**(%%)) |
| 456 | |||
| 457 | Zero speed signal((% _mstmutation="1" %)**ZSP**(%%)), Torque limited((% _mstmutation="1" %)**T-LIMIT**(%%)), Velocity limited((% _mstmutation="1" %)**V-LIMIT**(%%)) | ||
| 458 | |||
| 459 | Servo start(**SRV-ST**), Servo brake output(**BRK-OFF**), Communication VDO | ||
| 460 | ))) | ||
| |
1.2 | 461 | |(% colspan="2" rowspan="17" %)**EtherCAT related**|**Communication protocol**|(% colspan="4" %)EtherCAT protocol |
| 462 | |**Support services**|(% colspan="4" %)CoE(PDO,SDO) | ||
| 463 | |**Sync mode**|(% colspan="4" %)DC-Distributed Clock | ||
| 464 | |**Physical layer**|(% colspan="4" %)100BASE-TX | ||
| 465 | |**Baud rate**|(% colspan="4" %)100 Mbit/s(100Base-TX) | ||
| 466 | |**Duplex mode**|(% colspan="4" %)Full duplex | ||
| 467 | |**Topology**|(% colspan="4" %)Circular, linear | ||
| 468 | |**Transmission medium**|(% colspan="4" %)Shielded Category 5e or better network cable | ||
| 469 | |**Transmission distance**|(% colspan="4" %)Less than 100M between two nodes (good environment, good cables) | ||
| 470 | |**Frame length**|(% colspan="4" %)44 bytes to 1498 bytes | ||
| 471 | |**Excessive data**|(% colspan="4" %)Maximum size of a single Ethernet frame is 1486 bytes | ||
| 472 | |**Sync jitter**|(% colspan="4" %)<1μs | ||
| 473 | |**Distributed clock**|(% colspan="4" %)64 bit | ||
| 474 | |**EEPROM capacity**|(% colspan="4" %)8k bit initialization data is written through the EtherCAT master station | ||
| 475 | |**Control mode**|(% colspan="4" %)CSP, CSV, CST, PT, HM | ||
| 476 | |**Synchronization period**|(% colspan="4" %)125μs | ||
| 477 | |**Touch Probe**|(% colspan="3" %)DI5 and DI6|DI function code 18 and 19 | ||
| |
1.1 | 478 | |
| 479 | = **Servo Motor Naming Rules** = | ||
| 480 | |||
| 481 | (% style="margin-left:auto; margin-right:auto; width:50px" %) | ||
| 482 | |WD|80|M|-|075|30|S|-|A1|F|-|L | ||
| 483 | |①|②|③| |④|⑤|⑥| |⑦|⑧| |⑨ | ||
| 484 | |||
| 485 | (% style="margin-left:auto; margin-right:auto; width:1200px" %) | ||
| 486 | |(% 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 | ||
| 487 | |WE: 4|020：200W|C1：17bit multi-turn absolute magnetic encoder | ||
| 488 | |(% colspan="2" rowspan="1" %) |...|D2：23bit multi-turn absolute optical encoder | ||
| 489 | |(% rowspan="7" %)②Flange|40|500：5.0KW|E1: 2500-line incremental encoder | ||
| 490 | |60|550：5.5KW|(% colspan="2" rowspan="1" %) | ||
| 491 | |80|...|(% rowspan="2" %)⑧Motor structure|F：Oil seal | ||
| 492 | |110|(% colspan="2" rowspan="1" %) |G：Oil seal + Brake device | ||
| 493 | |130|(% rowspan="4" %)⑤Rated speed|15：1500rpm|(% colspan="2" rowspan="1" %) | ||
| 494 | |150|20：2000rpm|(% rowspan="3" %)⑨Others|L：60/80 flange connector | ||
| 495 | |180|25：2500rpm|(% rowspan="2" %)L2：60/80/130 flange connector | ||
| 496 | |(% colspan="2" rowspan="1" %) |30：3000rpm | ||
| 497 | |(% rowspan="3" %)③Inertia level|L: Low|(% colspan="2" rowspan="1" %) |(% colspan="2" rowspan="3" %) | ||
| 498 | |M: Middle|(% rowspan="2" %)⑥Voltage level|S: 220V | ||
| 499 | |H: High|T: 380V | ||
| 500 | |||
| 501 | (% style="text-align:center" %) | ||
| 502 | [[image:Servo.Manual.02 VD2 SA Series.test.WebHome@image-20220611113846-8.jpeg]] | ||
| 503 | |||
| 504 | Motor nameplate | ||
| 505 | |||
| 506 | = (% style="color:inherit; font-family:inherit; font-size:max(23px, min(29px, 12.3333px + 1.38889vw))" %)**Servo Motor Parameter**(%%) = | ||
| 507 | |||
| 508 | (% style="margin-left:auto; margin-right:auto; width:1200px" %) | ||
| 509 | |=(% 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** | ||
| 510 | |(% 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 | ||
| 511 | |(% colspan="9" style="width:172px" %) | ||
| 512 | |(% 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 | ||
| 513 | |(% 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 | ||
| 514 | |(% 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 | ||
| 515 | |(% colspan="9" style="width:172px" %) | ||
| 516 | |(% 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 | ||
| 517 | |(% 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 | ||
| 518 | |(% 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 | ||
| 519 | |(% colspan="9" style="width:172px" %) | ||
| 520 | |(% 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 | ||
| 521 | |(% 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 | ||
| 522 | |(% 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 | ||
| 523 | |(% 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 | ||
| 524 | |(% 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 | ||
| 525 | |(% 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 | ||
| 526 | |(% 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 | ||
| 527 | |(% 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 | ||
| 528 | |(% 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 | ||
| 529 | |(% 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 | ||
| 530 | |||
| 531 | (% style="margin-left:auto; margin-right:auto; width:1200px" %) | ||
| 532 | |=**220V motor model**|=**Flange mm**|=**Power kW**|=**Rated speed rpm**|=**Rated torque N*m**|=**Rated current A**|=**Allowable overload multiple**|=((( | ||
| 533 | **Pole pairs** | ||
| 534 | )))|=((( | ||
| 535 | **Inertia level** | ||
| 536 | ))) | ||
| 537 | |WD60H-02030S-☐☐☐|60|0.2|3000|0.64|1.8|3.5|5|(% colspan="1" rowspan="3" %)((( | ||
| 538 | High | ||
| 539 | ))) | ||
| 540 | |WD60H-04030S-☐☐☐|60|0.4|3000|1.27|2.8|3.5|5 | ||
| 541 | |WD60H-06030S-☐☐☐|60|0.6|3000|1.91|4.0|3.0|5 | ||
| 542 | |(% colspan="9" %) | ||
| 543 | |WD80H-07530S-☐☐☐|80|0.75|3000|2.39|4.8|3.0|5|(% colspan="1" rowspan="4" %)((( | ||
| 544 | High | ||
| 545 | ))) | ||
| 546 | |WD80H-10020S-☐☐☐|80|1|2000|4.77|4.8|3.0|5 | ||
| 547 | |WD80H-10025S-☐☐☐|80|1|2500|3.82|4.8|3.0|5 | ||
| 548 | |WD80H-10030S-☐☐☐|80|1|3000|3.2|4.8|3.0|5 | ||
| 549 | |(% colspan="9" %) | ||
| 550 | |WD130H-15030S-☐☐☐|130|1.5|3000|4.8|6.0|3.0|5|((( | ||
| 551 | High | ||
| 552 | ))) | ||
| 553 | |||
| 554 | |(% 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** | ||
| 555 | |(% 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 | ||
| 556 | |(% colspan="9" style="width:174px" %) | ||
| 557 | |(% 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 | ||
| 558 | |(% 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 | ||
| 559 | |(% 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 | ||
| 560 | |(% 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 | ||
| 561 | |(% 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 | ||
| 562 | |(% colspan="9" style="width:174px" %) | ||
| 563 | |(% 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 | ||
| 564 | |(% 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 | ||
| 565 | |(% 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 | ||
| 566 | |(% colspan="9" style="width:174px" %) | ||
| 567 | |(% 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 | ||
| 568 | |(% 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 | ||
| 569 | |(% 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 | ||
| 570 | |(% 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 | ||
| 571 | |(% 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 | ||
| 572 | |(% 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 | ||
| 573 | |(% 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 | ||
| 574 | |(% 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 | ||
| 575 | |||
| 576 | |**380V motor model**|**Flange mm**|**Power kW**|**Rated speed rpm**|**Rated torque N*m**|**Rated current A**|**Allowable overload multiple**|**Pole pairs**|**Inertia level** | ||
| 577 | |WD130M-08515T-☐☐☐|130|0.85|1500|5.41|3.1|3.0|5|(% colspan="1" rowspan="5" %)Middle | ||
| 578 | |WD130M-13015T-☐☐☐|130|1.3|1500|8.28|5.1|3.0|5 | ||
| 579 | |WD130M-18015T-☐☐☐|130|1.8|1500|11.46|6.3|3.0|5 | ||
| 580 | |WD130M-23015T-☐☐☐|130|2.3|1500|14.64|8.5|3.0|5 | ||
| 581 | |WD180M-29015T-☐☐☐|180|2.9|1500|18.6|11.8|3.0|5 | ||
| 582 | |||
| 583 | |**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** | ||
| 584 | |WE130M-20025T-☐☐☐|130|2.0|2500|7.7|7.5|2.8|(% style="width:78px" %)4|(% rowspan="6" style="width:68px" %)Middle | ||
| 585 | |WE130M-26025T-☐☐☐|130|2.6|2500|10|6.0|2.5|(% style="width:78px" %)4 | ||
| 586 | |WE130M-31015T-☐☐☐|130|3.1|1500|20|11.5|2.5|(% style="width:78px" %)4 | ||
| 587 | |WE130M-38025T-☐☐☐|130|3.8|2500|15|8.8|2.0|(% style="width:78px" %)4 | ||
| 588 | |WE130M-42020T-☐☐☐|130|4.2|2000|20|8.5|2.0|(% style="width:78px" %)4 | ||
| 589 | |WE130M-53030T-☐☐☐|130|5.3|3000|17|11|2.0|(% style="width:78px" %)4 | ||
| 590 | |(% colspan="9" %) | ||
| 591 | |WE180M-30015T-☐☐☐|180|3.0|1500|19|7.5|2.5|(% style="width:78px" %)4|(% rowspan="4" style="width:68px" %)Middle | ||
| 592 | |WE180M-43015T-☐☐☐|180|4.3|1500|27|10|2.5|(% style="width:78px" %)4 | ||
| 593 | |WE180M-55015T-☐☐☐|180|5.5|1500|35|12|2.0|(% style="width:78px" %)4 | ||
| 594 | |WE180M-75015T-☐☐☐|180|7.5|1500|48|20|2.0|(% style="width:78px" %)4 | ||
| 595 | |||
| 596 | **Note**: ☐☐☐ Not all motor models include the following categories | ||
| 597 | |||
| 598 | A1F：17-bit single-turn absolute magnetic encoder without brake. | ||
| 599 | |||
| 600 | A1G：17-bit single-turn absolute magnetic encoder with brake. | ||
| 601 | |||
| 602 | C1F：17-bit multi-turn absolute magnetic encoder without brake | ||
| 603 | |||
| 604 | C1G：17-bit multi-turn absolute magnetic encoder with brake. | ||
| 605 | |||
| 606 | D2F：23-bit multi-turn absolute Optical encoder without brake. | ||
| 607 | |||
| 608 | D2G：23-bit multi-turn absolute Optical encoder with brake. | ||
| 609 | |||
| 610 | = **Servo Drive and Motor Matching Table** = | ||
| 611 | |||
| 612 | **Note**: The **red-marked** combination is not recommended. | ||
| 613 | |||
| 614 | |=**Control type**|=**Voltage level**|=**Drive series**|=**Drive model**|=**Support motor** | ||
| 615 | |(% rowspan="18" %)Pulse type|(% rowspan="12" %)220V|(% rowspan="3" %)VD2F|VD2F-003SA1P|(0.1-0.2)kW | ||
| 616 | |VD2F-010SA1P|(0.2-0.4)kW | ||
| 617 | |VD2F-014SA1P|((( | ||
| 618 | (0.6-0.75)kW | ||
| 619 | |||
| 620 | **(0.85-1.0)kW** | ||
| 621 | ))) | ||
| 622 | |(% rowspan="2" %)VD2L|VD2L-010SA1P|(0.2-0.4)kW | ||
| 623 | |VD2L-014SA1P/D|((( | ||
| 624 | (0.6-0.75)kW | ||
| 625 | |||
| 626 | **(0.85-1.0)kW** | ||
| 627 | ))) | ||
| 628 | |(% rowspan="2" %)((( | ||
| 629 | VD2 Type A | ||
| 630 | )))|VD2-010SA1G/R/H|(0.2-0.4)kW | ||
| 631 | |VD2-014SA1G/R/H|((( | ||
| 632 | (0.6-0.75)kW | ||
| 633 | |||
| 634 | **(0.85-1.0)kW** | ||
| 635 | ))) | ||
| 636 | |(% rowspan="8" %)((( | ||
| 637 | VD2 Type B | ||
| 638 | )))|VD2-016SA1G/R/H|(0.85-1.5)kW | ||
| 639 | |VD2-019SA1G/R/H|(1.5-2.0)kW | ||
| 640 | |VD2-021SA1G/R/H|(2.0-2.5)kW | ||
| 641 | |VD2-025SA1G|(2.5-3.0)kW | ||
| 642 | |VD2-030SA1G|(3.0-4.0)kW | ||
| 643 | |(% rowspan="6" %)380V|VD2-016TA1G|(0.85-1.5)kW | ||
| 644 | |VD2-019TA1G|(1.5-2.0)kW | ||
| 645 | |VD2-021TA1G|(2.0-3.0)kW | ||
| 646 | |(% rowspan="3" %)VD2 Type C|VD2-030TA1G|(3.0-5.0)kW | ||
| 647 | |VD2-040TA1G|(5.0-6.0)kW | ||
| 648 | |VD2-050TA1G|(7.5)kW | ||
| 649 | |(% rowspan="14" %)EtherCAT type|(% rowspan="8" %)220V|(% rowspan="3" %)VD3E Type A|VD3E-003SA1G|(0.1-0.2)kW | ||
| 650 | |VD3E-010SA1G|(0.2-0.4)kW | ||
| 651 | |VD3E-014SA1G|((( | ||
| 652 | (0.6-0.75)kW | ||
| 653 | |||
| 654 | **(0.85-1.0)kW** | ||
| 655 | ))) | ||
| 656 | |(% rowspan="8" %)VD3E Type B|VD3E-016SA1G|(0.85-1.5)kW | ||
| 657 | |VD3E-019SA1G|(1.5-2.0)kW | ||
| 658 | |VD3E-021SA1G|(2.0-2.5)kW | ||
| 659 | |VD3E-025SA1G|(2.5-3.0)kW | ||
| 660 | |VD3E-030SA1G|(3.0-4.0)kW | ||
| 661 | |(% rowspan="6" %)380V|VD3E-016TA1G|(0.85-1.5)kW | ||
| 662 | |VD3E-019TA1G|(1.5-2.0)kW | ||
| 663 | |VD3E-021TA1G|(2.0-3.0)kW | ||
| 664 | |(% rowspan="3" %)VD3E Type C|VD3E-030TA1G|(3.0-5.0)kW | ||
| 665 | |VD3E-040TA1G|(5.0-6.0)kW | ||
| 666 | |VD3E-050TA1G|(7.5)kW | ||
| 667 | |||
| 668 | = **Servo Cable Naming Rules** = | ||
| 669 | |||
| 670 | (% style="margin-left:auto; margin-right:auto; width:120px" %) | ||
| 671 | |E|-|J1394|-|R9M|-|3M|X7|-|A1|-|2 | ||
| 672 | |①| |②| |③| |④|⑤| |⑥| |⑦ | ||
| 673 | |||
| 674 | (% style="margin-left:auto; margin-right:auto; width:1200px" %) | ||
| 675 | |①Cable type|E: Encoder adapter cable|(% rowspan="14" %) |(% rowspan="4" %)④Cable length|3M: 3m | ||
| 676 | |(% colspan="2" rowspan="1" %) |5M: 5m | ||
| 677 | |(% rowspan="2" %)②Drive side connector|J1394: 1394 connector|7M: 7m | ||
| 678 | |D15G: DB15 male connector|... | ||
| 679 | |(% colspan="2" rowspan="1" %) |(% colspan="2" rowspan="1" %) | ||
| 680 | |(% rowspan="7" %)③Motor side connector|R9M: 9-core rectangular female connector|(% rowspan="3" %)⑤Number of cores|X5: 5 cores | ||
| 681 | |MC7S: 7-core straight female connector|X7: 7 cores | ||
| 682 | |H28K7M: 7-core 28mm aviation female connector|... | ||
| 683 | |CM10: 11-core 11mm aviation female connector|(% colspan="2" rowspan="1" %) | ||
| 684 | |MC7P: 7-core straight female connector (L2)|(% rowspan="2" %)⑥Wire size|A: 0.2mm/0.14mm | ||
| 685 | |R15M: 15-core rectangular female connector|A1: 0.2mm/0.14mm with battery box | ||
| 686 | |H28J15M: 15-core 28mm aviation female connector|(% colspan="2" rowspan="1" %) | ||
| 687 | |(% colspan="2" rowspan="2" %) |(% rowspan="2" %)⑦Others|1: Ordinary cable | ||
| 688 | |2: High flex cable | ||
| 689 | |||
| 690 | (% style="margin-left:auto; margin-right:auto; width:120px" %) | ||
| 691 | |P|-|U3O1|-|H28J4M|-|5M|X4|-|C|-|1 | ||
| 692 | |①| |②| |③| |④|⑤| |⑥| |⑦ | ||
| 693 | |||
| 694 | (% style="margin-left:auto; margin-right:auto; width:1200px" %) | ||
| 695 | |①Cable type|P: Power adapter cable/brake cable|(% rowspan="20" %) |(% rowspan="6" %)④Cable length|3M: 3m | ||
| 696 | |(% colspan="2" rowspan="1" %) |5M: 5m | ||
| 697 | |(% rowspan="8" %)②Drive side connector|Z3O1: 3-core pin-type cold-pressed terminal and 1-core O-type cold-pressed terminal|6D5M: 6.5m | ||
| 698 | |Z3O3: 3-core pin-type cold-pressed terminal and 3-core O-type cold-pressed terminal|7M: 7m | ||
| 699 | |Z4: 4-core pin-type cold-pressed terminal|10M: 10m | ||
| 700 | |Z4O2: 4-core pin-type cold-pressed terminal and 2-core O-type cold-pressed terminal|... | ||
| 701 | |U3O1: 3-core U-type cold-pressed terminal and 1-core O-type cold-pressed terminal|(% colspan="2" rowspan="1" %) | ||
| 702 | |U3O3: 3-core U-type cold-pressed terminal and 3-core O-type cold-pressed terminal|(% rowspan="4" %)⑤Number of cores|X2: 2 cores | ||
| 703 | |Z6: 6-core pin-type cold-pressed terminal|X4: 4 cores | ||
| 704 | |O2: 2-core O-type cold-pressed terminal|X6: 6 cores | ||
| 705 | |(% colspan="2" rowspan="1" %) |... | ||
| 706 | |(% rowspan="9" %)③Motor side connector|18A6: 6-core 23mm aviation female connector|(% colspan="2" rowspan="1" %) | ||
| 707 | |R4M: 4-core rectangular female connector|(% rowspan="5" %)⑥Wire size|D: 0.5mm | ||
| 708 | |MC4S: 4-core straight female connector|E: 0.75mm | ||
| 709 | |MC6S: 6-core straight female connector|B: 1.0mm | ||
| 710 | |H28J4M: 4-core 28mm aviation female connector|F: 1.5mm | ||
| 711 | |H32J4M: 4-core 32mm aviation female connector|C: 2.5mm | ||
| 712 | |R2M: 2-core rectangular female connector|(% colspan="2" rowspan="1" %) | ||
| 713 | |MC4H: 4-core H-type straight female connector|(% rowspan="2" %)⑦Others|1: Ordinary cable | ||
| 714 | |MC6H: 6-core H-type straight female connector|2: High flex cable | ||
| 715 | |||
| 716 | = **Servo Cable Matching Table** = | ||
| 717 | |||
| 718 | (% style="margin-left:auto; margin-right:auto; width:1200px" %) | ||
| 719 | |=**Motor model**|=**Matching drive**|=**Power cable/brake cable**|=**Encoder cable** | ||
| 720 | |(% rowspan="6" %)((( | ||
| 721 | WD40M-○○○-☐☐☐ | ||
| 722 | |||
| 723 | WD60M-○○○-☐☐☐ | ||
| 724 | |||
| 725 | WD60H-○○○-☐☐☐ | ||
| 726 | |||
| 727 | WE60M-○○○-☐☐☐ | ||
| 728 | |||
| 729 | WD80M-○○○-☐☐☐ | ||
| 730 | |||
| 731 | WD80H-○○○-☐☐☐ | ||
| 732 | |||
| 733 | WE80M-○○○-☐☐☐ | ||
| 734 | )))|(% rowspan="2" %)VD2/VD3E A type|Power cable：P-Z3O1-R4M-*MX4|(% rowspan="3" %)Single-turn：E-J1394-R9M-*MX5-A | ||
| 735 | |((( | ||
| 736 | Power cable：P-Z3O1-R4M-*MX4 | ||
| 737 | |||
| 738 | Brake cable：P-O2-R2M-3MX2-D | ||
| 739 | ))) | ||
| 740 | |(% rowspan="2" %)((( | ||
| 741 | VD2/VD3E B type | ||
| 742 | |||
| 743 | VD2/VD3E C type | ||
| 744 | )))|Power cable：P-U3O1-R4M-*MX4 | ||
| 745 | |((( | ||
| 746 | Power cable：P-U3O1-R4M-*MX4 | ||
| 747 | |||
| 748 | Brake cable：P-O2-R2M-3MX2-D | ||
| 749 | )))|(% rowspan="3" %)Multi-turn：E-J1394-R9M-*MX7-A1 | ||
| 750 | |(% rowspan="2" %)VD2F/VD2L|Power cable：P-Z4-R4M-*MX4 | ||
| 751 | |((( | ||
| 752 | Power cable：P-Z4-R4M-*MX4 | ||
| 753 | |||
| 754 | Brake cable：P-O2-R2M-3MX2-D | ||
| 755 | ))) | ||
| 756 | |(% rowspan="6" %)((( | ||
| 757 | WD60M-○○○-☐☐☐-L | ||
| 758 | |||
| 759 | WD80M-○○○-☐☐☐-L | ||
| 760 | )))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4S-*MX4|(% rowspan="3" %)Single-turn：E-J1394-MC7S-*MX5-A | ||
| 761 | |With brake：P-Z3O3-MC6S-*MX6 | ||
| 762 | |(% rowspan="2" %)((( | ||
| 763 | VD2/VD3E B type | ||
| 764 | |||
| 765 | VD2/VD3E C type | ||
| 766 | )))|Without brake：P-U3O1-MC4S-*MX4 | ||
| 767 | |With brake：P-U3O3-MC6S-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7S-*MX7-A1 | ||
| 768 | |(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4S-*MX4 | ||
| 769 | |With brake：P-Z4O2-MC6S-*MX6 | ||
| 770 | |(% rowspan="6" %)((( | ||
| 771 | WD60M-○○○-☐☐☐-L2 | ||
| 772 | |||
| 773 | WD80M-○○○-☐☐☐-L2 | ||
| 774 | )))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4S-*MX4|(% rowspan="3" %)Single-turn：E-J1394-MC7P-*MX5-A | ||
| 775 | |With brake：P-Z3O3-MC6S-*MX6 | ||
| 776 | |(% rowspan="2" %)((( | ||
| 777 | VD2/VD3E B type | ||
| 778 | |||
| 779 | VD2/VD3E C type | ||
| 780 | )))|Without brake：P-U3O1-MC4S-*MX4 | ||
| 781 | |With brake：P-U3O3-MC6S-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7P-*MX7-A1 | ||
| 782 | |(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4S-*MX4 | ||
| 783 | |With brake：P-Z4O2-MC6S-*MX6 | ||
| 784 | |(% rowspan="4" %)((( | ||
| 785 | WD60H-○○○-☐☐☐-L2 | ||
| 786 | |||
| 787 | WD80H-○○○-☐☐☐-L2 | ||
| 788 | )))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-MC4H-*MX4|(% rowspan="2" %)Single-turn：E-J1394-MC7P-*MX5-A | ||
| 789 | |With brake：P-Z3O3-MC6H-*MX6 | ||
| 790 | |(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-MC4H-*MX4|(% rowspan="2" %)Multi-turn：E-J1394-MC7P-*MX7-A1 | ||
| 791 | |With brake：P-Z4O2-MC6H-*MX6 | ||
| 792 | |(% rowspan="6" %)((( | ||
| 793 | WE110M-○○○-☐☐☐ | ||
| 794 | |||
| 795 | WE130M-○○○-☐☐☐ | ||
| 796 | )))|(% rowspan="2" %)VD2/VD3E A type|Power cable：P-Z3O1-H28J4M-*MX4|(% rowspan="3" %)Single-turn：E-J1394-H28K7M-*MX5-A | ||
| 797 | |Brake cable：No need | ||
| 798 | |(% rowspan="2" %)((( | ||
| 799 | VD2/VD3E B type | ||
| 800 | |||
| 801 | VD2/VD3E C type | ||
| 802 | )))|Power cable：P-U3O1-H28J4M-*MX4 | ||
| 803 | |Brake cable：No need|(% rowspan="3" %)Multi-turn：E-J1394-H28K7M-*MX7-A1 | ||
| 804 | |(% rowspan="2" %)VD2F/VD2L|Power cable：P-Z4-H28J4M-*MX4 | ||
| 805 | |Brake cable：No need | ||
| 806 | |(% rowspan="6" %)((( | ||
| 807 | WD130M-○○○-☐☐☐ | ||
| 808 | |||
| 809 | WD130H-○○○-☐☐☐ | ||
| 810 | )))|(% rowspan="2" %)VD2/VD3E A type|Without brake：P-Z3O1-18A6-*MX4|(% rowspan="3" %)Single-turn：E-J1394-CM10-*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-CM10-*MX7-A1 | ||
| 818 | |(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-18A6-*MX4 | ||
| 819 | |With brake：P-Z4O2-18A6-*MX4 | ||
| 820 | |(% 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 | ||
| 821 | |With brake：P-Z3O3-18A6-*MX6 | ||
| 822 | |(% rowspan="2" %)((( | ||
| 823 | VD2/VD3E B type | ||
| 824 | |||
| 825 | VD2/VD3E C type | ||
| 826 | )))|Without brake：P-U3O1-18A6-*MX4 | ||
| 827 | |With brake：P-U3O3-18A6-*MX6|(% rowspan="3" %)Multi-turn：E-J1394-MC7P-*MX7-A1 | ||
| 828 | |(% rowspan="2" %)VD2F/VD2L|Without brake：P-Z4-18A6-*MX4 | ||
| 829 | |With brake：P-Z4O2-18A6-*MX4 | ||
| 830 | |(% rowspan="2" %)((( | ||
| 831 | WE180M-○○○-☐☐☐ | ||
| 832 | |||
| 833 | WD180M-○○○-☐☐☐ | ||
| 834 | )))|(% rowspan="2" %)((( | ||
| 835 | VD2/VD3E B type | ||
| 836 | |||
| 837 | VD2/VD3E C type | ||
| 838 | )))|Power cable：P-U3O1-H32J4M-*MX4|Single-turn：E-J1394-H28K7M-*MX5-A | ||
| 839 | |Brake cable：No need|Multi-turn：E-J1394-H28K7M-*MX7-A1 | ||
| 840 | |||
| 841 | = **Servo **Input Current Parameter = | ||
| 842 | |||
| 843 | (% style="margin-left:auto; margin-right:auto; width:1200px" %) | ||
| 844 | |=Servo Drive Output Current (A)|=Servo Drive Output Voltage (V)|=Servo Drive Output Power (W)|=Efficiency|=Power factor|=Input current | ||
| 845 | (single phase) (A)|=Input current | ||
| 846 | (three phase) (A)|=Recommended power cable | ||
| 847 | diameter（mm²） | ||
| 848 | |3|(% colspan="1" rowspan="7" %)220|100|(% colspan="1" rowspan="11" %)0.7|(% rowspan="11" %)0.8|0.90|0.52|0.5 | ||
| 849 | |10|400|3.61|2.08|0.75 | ||
| 850 | |14|750|6.76|3.91|((( | ||
| 851 | 1.5 (For single phase) | ||
| 852 | |||
| 853 | 1 (For three phase) | ||
| 854 | ))) | ||
| 855 | |16|1800|16.23|9.37|((( | ||
| 856 | 4 (For single phase) | ||
| 857 | |||
| 858 | 2 (For three phase) | ||
| 859 | ))) | ||
| 860 | |21|2200|19.84|11.46|((( | ||
| 861 | 4 (For single phase) | ||
| 862 | |||
| 863 | 2.5 (For three phase) | ||
| 864 | ))) | ||
| 865 | |25|2600|23.45|13.40|(% colspan="1" rowspan="2" %)((( | ||
| 866 | 6 (For single phase) | ||
| 867 | |||
| 868 | 4 (For three phase) | ||
| 869 | ))) | ||
| 870 | |30|3000|26.79|15.46 | ||
| 871 | |21|(% colspan="1" rowspan="4" %)380|3000| |9.04|2 | ||
| 872 | |30|4500| |13.57|4 | ||
| 873 | |40|6000| |18.09|(% colspan="1" rowspan="2" %)6 | ||
| 874 | |50|7500| |22.61 | ||
| 875 | |||
| 876 | >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]]. |