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| Type | Voltage and Current |
| VD3E-016SA1G | Input voltage: 220V, Maximum output current: 16A |
| VD3E-019SA1G | Input voltage: 220V, Maximum output current: 19A |
| VD3E-021SA1G | Input voltage: 220V, Maximum output current: 21A |
| VD3E-025SA1G | Input voltage: 220V, Maximum output current: 25A |
| VD3E-030SA1G | Input voltage: 220V, Maximum output current: 30A |
| VD3E-016TA1G | Input voltage: 380V, Maximum output current: 16A |
| VD3E-019TA1G | Input voltage: 380V, Maximum output current: 19A |
| VD3E-021TA1G | Input voltage: 380V, Maximum output current: 21A |
| Specifications | VD3E (B Type) | ||
| Basic Specifications | Power supply | 220V/380V | |
| Control method | IGBT PWM control sine wave current drive | ||
| Encoder | 17bit, 23bit absolute value encoder | ||
| Control signal input | 6DI, Select the input function according to the function code configuration | ||
| Control signal output | 3DO, Select the output function according to the function code configuration | ||
| Communication | Host computer communication | The USB interface can be used to set function code parameters, monitor status, view waveforms, and perform parameter self-tuning, etc. via a computer host. | |
| Braking resistor | Internal braking resistor(also support external braking resistor) | ||
| General functions | Auto-tuning | Automatic load inertia identification, automatic rigidity self-tuning (SCTool) | |
| Waveform monitoring | Monitor real-time speed/torque/position(SCTool) | ||
| Waveform recording | Waveform acquisition frequency 1K Hz,10s waveform data recording | ||
| Parameter management | Support batch parameter import and export; Support SDO modification | ||
| Vibration suppression | Support mechanical vibration suppression | ||
| Protection | Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc. | ||
| Brake device | Support brake signal output | ||
| DI function | Error/alarm clear(A-CLR), Forward rotation prohibited(POT)Backward rotation prohibited(NOT), Emergency stop(E-STOP) | ||
| DO function | Servo ready(RDY)、Error signal(ALM), Alarm signal(WARN), Rotation detection(TGON) Zero speed signal(ZSP), Torque limited(T-LIMIT), Velocity limited(V-LIMIT) Servo start(SRV-ST), Servo brake output(BRK-OFF), Communication VDO |
||
| EtherCAT related | EtherCAT related | Communication protocol | EtherCAT protocol |
| Support services | CoE(PDO,SDO) | ||
| Sync mode | DC-Distributed Clock | ||
| Physical layer | 100BASE-TX | ||
| Baud rate | 100 Mbit/s(100Base-TX) | ||
| Duplex mode | Full duplex | ||
| Topology | Circular, linear | ||
| Transmission medium | Shielded Category 5e or better network cable | ||
| Transmission distance | Less than 100M between two nodes (good environment, good cables) | ||
| Frame length | 44 bytes to1498 bytes | ||
| Excessive data | Maximum size of a single Ethernet frame is 1486 bytes | ||
| Sync jitter | <1μs | ||
| Distributed clock | 64 bit | ||
| EEPROM capacity | 8k bit initialization data is written through the EtherCAT master station | ||
| Control mode and performance | Control mode | CSP、HM、CSV、CST、PT | |
| Sync period | 125μs | ||
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