Flange Size

Motor Model

Drive Model       

Rated Torque (N.m)

Rated Speed (rpm)

Voltage

40

WD40M-01030S-A1F

VD3E-010SA1G 

0.318

3000

220V

60

WD60M-02030S-A1F-L

VD3E-010SA1G

0.64

3000

220V

60

WD60M-04030S-A1F

VD3E-010SA1G

1.27

3000

220V

60

WD60M-04030S-A1F-L

VD3E-010SA1G

1.27

3000

220V

80

WD80M-07530S-A1F

VD3E-014SA1G

2.39

3000

220V

80

WD80M-07530S-A1F-L

VD3E-014SA1G

2.39

3000

220V

Flange Size

Motor Model

Drive Model

Rated Torque (N.m)

Rated Speed (rpm)

Voltage

60

WD60M-02030S-C1F-L

VD3E-010SA1G

0.64

3000

220V

60

WD60M-04030S-C1F

VD3E-010SA1G

1.27

3000

220V

60

WD60M-04030S-C1F-L

VD3E-010SA1G

1.27

3000

220V

80

WD80M-07530S-C1F

VD3E-014SA1G

2.39

3000

220V

80

WD80M-07530S-C1F-L

VD3E-014SA1G

2.39

3000

220V

Flange Size

Motor Model

Drive Model

Rated Torque (N.m)

Rated Speed (rpm)

Voltage

60

WD60M-02030S-D2F-L

VD3E-010SA1G

0.64

3000

220V

60

WD60M-04030S-D2F

VD3E-010SA1G

1.27

3000

220V

60

WD60M-04030S-D2F-L

VD3E-010SA1G

1.27

3000

220V

80

WD80M-07530S-D2F

VD3E-014SA1G

2.39

3000

220V

80

WD80M-07530S-D2F-L

VD3E-014SA1G

2.39

3000

220V

Basic Specifications

Control Method

IGBT PWM control sine wave current drive

Encoder Feedback

17bit/23bit absolute encoder

Control Signal Input

6 DI inputs, select the input function according to the function code configuration

Control Signal Output

3 DO outputs, select the output function according to the function code configuration

Communication

USB interface. Function code parameter setting, status monitoring, waveform viewing, parameter self-tuning, etc. can be performed through upper computer

Braking Resistor

Built-in braking resistor, support external braking resistor

General Function

Automatic Parameter Tuning

Automatic load inertia identification, automatic rigidity level and parameter self-tuning can be carried out through the cooperation of the upper computer

Waveform View

The waveform of data such as real-time speed/torque/position deviation can be observed through the host computer

Waveform Storage

The waveform acquisition frequency is 1KHz, and the original waveform data can be saved up to 10s

Parameter import and export

Support batch parameter import and export; support SDO download

Vbration Suppression

Mechanical vibration can be suppressed by setting vibration suppression parameters

Protective Function

Overvoltage, undervoltage, overcurrent, overspeed, overload, overheating, encoder failure, excessive position deviation, torque limit, speed limit, etc.

Brake

Support output control

Universal Control DI input

Servo enable (SON), fault and warning clear (A-CLR), forward drive prohibition (POT), reverse drive prohibition (NOT), emergency stop (E-STOP)

General Control DO Output

servo ready(RDY), fault signal (ALM), warning signal (WARN), rotation detection (TGON), zero speed signal (ZSP), torque limit (T-LIMIT), speed limit (V- LIMIT), servo open state output (SRV-ST), servo brake output (BRK-OFF), communication VDO

EtherCAT

Communication Protocol

EtherCAT protocol

Support Service

CoE（PDO，SDO）

Synchronously

DC-distributed clock

physical layer

100BASE-TX

Baud rate

100 Mbit/s（100Base-TX）

Duplex Mode

full duplex

Topology

circular, linear

Transmission medium

Shielded Cat 5e or better network cable.

Transmission distance

The distance between two nodes is less than 100M

 (the environment is good and the cable is good).

Number of Slave Stations

The protocol supports up to 65535, and the actual use does not exceed 100.

Frame Length

44 bytes~1498 bytes

Process Data

A single Ethernet frame is up to 1486 bytes.

Sync Jitter

<1us

Distributed Clock

64 bit

EEPROM Capacity

8kbit initialization data is written by the EtherCAT master station

Control Mode

CSP、HM

Sync Cycle

125μs