Wecon VD2 SA Series User Manual
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Wecon VD2 SA Series User Manual

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Wecon VD2 SA Series Servo Drives User Manual (Full V1.0)
Wecon VD2 SA Series
Servo Drives User
Manual
(Full V1.0)
Website:
http://www.we-con.com.cn/en
Phone: 86-591-8786886

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  • Page 1 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Website: http://www.we-con.com.cn/en Phone: 86-591-8786886...
  • Page 2 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Preface This manual is applicable to Wecon VD2 SA series servo drives. In order to use this series of servo drives correctly, please read this manual carefully in advance and save it for later use.
  • Page 3 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) User manual change record Date Changed version Change content October 2021 V1.0 The first edition is released. WECON technology Co., Ltd.

  • Page 4: Table Of Contents

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Contents Chapter 1 Safety reminder......................1 1.1 Safety precautions........................1 1.2 Precautions for storage and transportation................2 1.3 Precautions during installation....................2 1.4 Precautions during wiring.......................3 1.5 Precautions during operation....................3 1.6 Precautions during maintenance and inspection..............4 Chapter 2 Product Information.....................
  • Page 5 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Chapter 5 Panel........................... 36 5.1 Panel composition........................ 36 5.2 Panel display......................... 37 5.2.1 Display switching....................... 37 5.2.2 Status display......................38 5.2.3 Parameter display...................... 38 5.2.4 Fault display.......................40 5.2.5 Monitor display......................40 5.3 Panel operation........................41 5.3.1 Parameter setting......................
  • Page 6 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) 7.2 Inertia recognition........................ 90 7.3 Gain adjustment........................91 7.3.1 Automatic gain adjustment..................91 7.3.2 Manual gain adjustment....................93 7.3.3 Feedforward gain.......................95 7.4 Mechanical resonance suppression..................96 7.4.1 Mechanical resonance suppression methods ............96 7.4.2 Notch filter.........................96...
  • Page 7 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) 11.5 Vibration suppression.......................156 11.6 Signal input and output....................157 11.7 DIDO configuration......................157 11.8 Multi-position........................158 11.9 Accessibility........................161 11.10 Communication parameters...................161 11.11 Virtual input terminal ..................... 161 11.12 Monitoring parameters....................162...

  • Page 8: Chapter 1 Safety Reminder

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Chapter 1 Safety reminder 1.1 Safety precautions This section describes the important items that users must observe, such as product confirmation, storage, transportation, installation, wiring, operation, inspection, and disposal. Please follow the steps required by this manual for trial operation.

  • Page 9: Precautions For Storage And Transportation

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) 1.2 Precautions for storage and transportation ✎Please keep and install in the following environment: ✎Places without direct sunlight; ✎Places where the ambient temperature does not exceed product specifications; ✎Places where the relative humidity does not exceed product specifications;...

  • Page 10: Precautions During Wiring

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) 1.4 Precautions during wiring ✎Do not connect the three-phase power supply to the output terminals U, V, W of the servo drive, otherwise it may damage the device or cause a fire;...

  • Page 11: Precautions During Maintenance And Inspection

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) system to become unstable, please never make settings, otherwise it may cause injury. ✎When an alarm occurs, reset the alarm after removing the cause and ensuring safety, and restart the operation, otherwise it may cause injury.

  • Page 12: Chapter 2 Product Information

    2.1.1 Servo drive model naming Figure 2-1 Servo drive model Wecon VD2 series servo drives are divided into Type A and Type B, and their appearances and nameplates are shown in Figure 2-2 and Figure 2-3 respectively. WECON Technology Co.,Ltd.

  • Page 13: The Composition Of The Servo Drives

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) WECON Technology Co.,Ltd. Model: VD2-014SE1G Servo model Input: 1PH/3PH AC 200240V 50/60Hz Rated input Rated output Output: 3PH AC 0240V 0400Hz 14A V1.0.0 Manufacture number D141312008281XXXXXXX MADE IN CHINA WARNING...

  • Page 14: Electrical Specifications Of The Servo Drive

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Figure 2-5 Composition of type B servo drive Figure 2-6 Short connection of braking resistor 2.1.3 Electrical specifications of the servo drive The electrical specifications of VD2 series servo drives are shown in Table 2-1.

  • Page 15: Servo Motor Products

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) ✎Note: Only type B drives support independent power supply for control power supply, and type A drives have no separate control power supply. 2.2 Servo motor products 2.2.1 Servo motor model naming...

  • Page 16: Electrical Specifications Of The Servo Motor

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Figure 2-10 400W-750W motor composition 2.2.3 Electrical specifications of the servo motor Rated Rated Voltage Rated speed Flange power torque Wecon motor model Encoder type size (rpm) (KW) (N.m) 17 bit absolute WD60M-04030S-A1X 1.27...

  • Page 17: Chapter 3 Installation Of Servo Drive And Motor

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Chapter 3 Installation of servo drive and motor 3.1 Installation of servo drive 3.1.1 Dimensions (Unit: mm) Figure 3-1 Installation dimensions of type A servo drive Figure 3-2 Installation dimensions of type B servo drive 3.1.2 Installation site...

  • Page 18: Installation Environment

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) 3.1.3 Installation environment The installation environment of the servo drive has a direct impact on the normal function of the drive and its service life. Therefore, the installation environment of the servo drive must meet the...
  • Page 19 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) (2) Parallel installation When multiple units are installed in parallel, the minimum distance between each other should be 20mm, and the distance between each other should be at least 100mm. Please refer to Figure 3-4 and Figure 3-5 for details.

  • Page 20: Installation Of Servo Motor

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Figure 3-5 Parallel installation dimensions of multiple type B drives (3) Installation direction When installing the servo drive, please face the front of the servo drive (panel control interface) to the operator so that the servo drive is perpendicular to the wall.
  • Page 21 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Figure 3-6 Installation dimension drawing of 60 flange servo motor (2) Installation dimensions of 80 flange servo motor ①Motor series 1 Specification 80 flange series motor Rated torque (N.m) 1.27 LA without brake (mm) 98.5...
  • Page 22 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Figure 3-8 Installation dimension drawing of 80 flange servo motor (3) Installation dimensions of 110 flange servo motor Specification 110 flange series motor Rated torque (N.m) LA without brake (mm)

  • Page 23: Installation Site

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) 2 .5 M 6 L2 2 × 18.5 - 0.1 Figure 3-10 Installation dimension drawing of 130 flange servo motor 3.2.2 Installation site ①Do not use the motor near corrosive, flammable gas environment, combustible materials such as hydrogen sulfide, chlorine, ammonia, sulfur, chlorinated gas, acid, alkali, salt, etc.;...
  • Page 24 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) ✎For shafts without keyway, friction coupling or similar methods are used; ✎When removing the pulley, use a pulley remover to prevent the bearing from being strongly impacted by the load;...

  • Page 25: Chapter 4 Wiring

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Chapter 4 Wiring 4.1 Main circuit wiring 4.1.1 Main circuit terminals (1) Terminal distribution of the main circuit of type A servo drive Figure 4-1 A schematic diagram of the main circuit terminals of the type A servo drive...
  • Page 26 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) (2) Terminal distribution of type B servo drive main circuit Figure 4-2 Terminal distribution of main circuit of type B servo drive Terminal Terminal Terminal function number name Main power Three-phase 220V AC input is connected to L1, L2, L3;...

  • Page 27: Power Wiring Example

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) 4.1.2 Power wiring example (1) Wiring of type A drive Single-phase 220V power supply Figure 4-3 Wiring of type A drive Single-phase 220V main circuit (2) Wiring of type B drive Single-phase 220V power supply...
  • Page 28 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Figure 4-4 Wiring of type B drive Single-phase 220V main circuit (3) Wiring of type B drive three-phase 220V main circuit WECON technology Co., Ltd.

  • Page 29: Precautions For Main Circuit Wiring

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Figure 4-5Wiring of type B drive three-phase 220V main circuit 4.1.3 Precautions for main circuit wiring ①Do not connect the input power cord to the output terminals U, V, W, otherwise the servo drive will be damaged.

  • Page 30: Power Line Connection Of Servo Driver And Servo Motor

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) 4.2 Power line connection of servo driver and servo motor 4.2.1 Power cable Wecon VD2 series servo drives have 3 kinds of interface power cables: rectangular plug (4Pin), aviation plug and in-line type. Adapted...

  • Page 31: Encoder Cable Connection Of Servo Drive And Servo Motor

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) 4.3 Encoder cable connection of servo drive and servo motor Figure 4-6 Encoder signal wiring example Connector shape Terminal pin distribution Pin description number name number name Table 4-4 Encoder cable servo drive side connector...
  • Page 32 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) wire pink Blue Shielded Orange wire Green Shield Brown Table 4-5 Absolute encoder cable connector (9Pin connector) ✎ Note: The color of the cable is subject to the actual product. The cables described in this...
  • Page 33 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) ✎ Note: The color of the cable is subject to the actual product. The cables described in this manual are all cables of Wecon! Adapted motor Connector shape and terminal pin distribution...

  • Page 34: Drive Input And Output Control Terminal Cn2 Connection

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) 4.4 Drive input and output control terminal CN2 connection 4.4.1 CN2 pin distribution diagram 485_+ 485_- 485_- 485_+ AI_1+ AI_2+ AI_2+ AI_1+ AI_1- AI_2- AI_2- AI_1- DO3- DO1- DO3+ DO1+...

  • Page 35: Wiring Diagram Of Each Pulse Mode

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) 4.4.2 Wiring diagram of each pulse mode Figure 4-8 Wiring of each mode ✎Note: Please refer to [4.4.1 Table 4-7: CN2 Definition] for the pin numbers in the figure. WECON technology Co., Ltd...

  • Page 36: Position Instruction Input Signal

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) 4.4.3 Position instruction input signal Pin number Pin name Function PULS+ Low-speed pulse input modes: differential input, open collector. There are three types of input pulse: PULS- ① Direction + pulse (positive logic);...

  • Page 37: Analog Input Signal

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) ②NPN, PNP wiring method (a) NPN (b) PNP Figure 4-11 Triode Wiring 4.4.4 Analog input signal Pin number Pin name Function AI_1+ AI_1 analog input signal, resolution 12 bits, input voltage range: -10V-+10V.
  • Page 38 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) DICOM Power input terminal (12-24V) DO1- Rotation detection DO1+ DO2- Alarm DO2+ DO3- Servo ready DO3+ DO4- Positioning completed DO4+ (1) Digital input circuit ①When the upper device is relay output Figure 4-13 Relay output ②When the upper device is open collector output...
  • Page 39 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) (2) Digital output circuit ①When the upper device is relay input Figure 4-15 Relay input ②When the upper device is optocoupler input Figure 4-16 Optocoupler input WECON technology Co., Ltd...

  • Page 40: Communication Signal Wiring

    ③Brake output wiring Figure 4-17 Brake output wiring 4.5 Communication signal wiring Wecon VD2 series servo drives support two communication modes: RS-422 and RS-485. The communication terminals all use RJ45 communication ports. The appearance is shown in Figure 4-18. Figure 4-18 RJ45 communication port appearance and pin definition 4.5.1 Communication signal connector...

  • Page 41: Host Computer Communication Connection

    Not used Table 4-9 The pin definition of CN3 interface The communication diagrams of Wecon VD2 series servo drives and upper computer are shown in and Figure 4-20 and Figure 4-21 respectively. Figure 4-20The Connection between type A drive and PC Figure 4-21 The connection between type B drive and PC WECON technology Co., Ltd...

  • Page 42: Plc Communication Connection

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) 4.5.3 PLC communication connection The servo drive communicates with the PLC in RS-485 mode through the CN5 or CN6 interface (on the top of the servo drive). Name Function description...

  • Page 43: Chapter 5 Panel

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Chapter 5 Panel 5.1 Panel composition The panel composition of the VD2 series servo drive is shown in and Figure 5-1 and Figure 5-2. Figure 5-1 The appearance of the type A servo drive panel Figure 5-2 The appearance of the type B servo drive panel WECON technology Co., Ltd...

  • Page 44: Panel Display

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) The panel of the VD2 series servo drive consists of a display (5-digit LED nixie tube) and keys, which can be used for the execution of various displays, parameter settings and other functions of the servo drive.

  • Page 45: Status Display

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Illustrate: ① The power is turned on, and the panel display of the servo drive enters [Status Display Mode]. ②After an operation failure occurs, the panel immediately switches to the bit failure display mode.
  • Page 46 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) (2) Display of different length data ①Data display of four bits and below Using single page display, if it is a signed number, the highest bit of the data is "-". For example:...

  • Page 47: Fault Display

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) When using the P.Init The servo drive is in the system parameter Parameter restore process of parameter initialization to factory restoration to factory function setting value settings (P10-02=1) The parameter...

  • Page 48: Panel Operation

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Represents the voltage U0-31 value , the DC bus voltage voltage between P+ and - of the drive Indicates the level status corresponding to the 8 DI Input terminals. The upper half of...

  • Page 49: Jog Operation

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Figure 5-6 Schematic diagram of parameter setting steps 5.3.2 Jog operation In order to test run the servo motor and the servo drive, you can use the jog running function. The operation steps are shown in Figure 5-7.

  • Page 50: Restore Factory Settings

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Figure 5-7 Jog operation setting steps 5.3.3 Restore factory settings The factory settings can be restored through the servo drive panel. The specific operation steps are shown in Figure 5-8.
  • Page 51 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Figure 5-8 Steps for restoring factory settings WECON technology Co., Ltd...

  • Page 52: Chapter 6 Operation

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Chapter 6 Operation 6.1 Basic settings 6.1.1 Check before operation Serial Content number Wiring The main circuit input terminals (L1, L2) of the servo drive must be connected correctly. The main circuit output terminals (U, V, W) of the servo drive and the main circuit cables (U, V, W) of the servo motor must have the same phase and be connected correctly.

  • Page 53: Rotation Direction Selection

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) (1) Panel jog operation Enter [P10-01] by pressing the key on the panel. After pressing the confirm key, the panel will display the current jog speed. At this time, you can adjust the jog speed by pressing the "up" or "down"...

  • Page 54: Servo Operation

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) (1) When the maximum braking energy calculated value is greater than the maximum braking energy absorbed by capacitor, and the braking power calculated value is less than or equal to the built-in braking resistor power, use the built-in braking resistor.

  • Page 55: Servo Shutdown

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) (3) Timing diagram of power on Figure 6-1 Timing diagram of power on 6.1.7 Servo shutdown According to the different shutdown modes, it can be divided into free shutdown and zero speed shutdown.
  • Page 56 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) (2) Emergency shutdown It is fixed to the free stop mode at present, and the motor shaft remains in a free state. The corresponding configuration and selection can be selected through the DI terminal function of the function code "DIDO configuration".
  • Page 57 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) 22: Internal multi-position selection 2 23: Internal multi-position selection 3 24: Internal multi-position selection 4 Others: reserved DI port input logic validity DI_3 function selection. channel Operation Effective 0: Normally open input. Active...

  • Page 58: Brake Device

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) 24: Internal multi-position selection 4 Others: reserved DI port input logic validity DI_4 function selection. channel Operation Effective 0: Normally open input. Active P06-12 logic setting immediately low level (switch closed);...
  • Page 59 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Figure 6-2 Brake wiring ✎The length of the motor brake cable needs to fully consider the voltage drop caused by the cable resistance, and the brake operation needs to ensure that the voltage input is 24V.
  • Page 60 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) motor is not the non-channel state. energized. When the brake output (BRK-OFF) is not allocated, this function code has no effect. When the motor is rotating, the motor speed Rotation...
  • Page 61 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Figure 6-3 Brake Timing of when the motor is stationary 2) The brake timing when the servo motor is rotating When the servo enable is turned from ON to OFF, if the actual motor speed is greater than or equal to 20 rpm, the drive will act in accordance with the rotation brake sequence.

  • Page 62: Position Control Mode

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Figure 6-4 Brake timing when the motor is rotating (4) Brake timing when the servo drive fails The brake sequence (free shutdown) in the fault state is as follows: Figure 6-5 The brake sequence (free shutdown) in the fault state 6.2 Position control mode...

  • Page 63: Position Instruction Input Setting

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Figure 6-6 Position control block diagram 6.2.1 Position instruction input setting When the VD2 series servo drive is in position control mode, firstly set the position instruction source through the function code [P01-06].
  • Page 64 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) ①Differential input The connection of the differential input is shown in Figure 6-8. Figure 6-8 Differential input connection ②Open collector input The connection of the open collector input is shown in Figure 6-9.
  • Page 65 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) The input pulse frequency refers to the frequency of the input signal, which can be modified through the function code [P00-13]. If the actual input frequency is greater than the set value of [P00-13], it may cause pulse loss or alarm.
  • Page 66 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) PULSE (CW) CW/CCW SIGN (CCW) AB phase orthogonal PULSE (Phase A) Pulse (4 times SIGN (Phase B) B phase is ahead of A phase A phase is ahead of B phase frequency) by 90°...
  • Page 67 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) 1) Set multi-position operation mode Setting Effective Function Name Defaults Range Definition Unit code method time 0: single operation Multi-position Shutdown Effective P07-01 1: Cycle operation operation mode setting immediately...
  • Page 68 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Figure 6-13Cycle operation curve (P07-02=1, P07-03=4) In single operation and cycle operation mode, the setting value of P07-03 needs to be greater than the setting value of P07-02! ③ DI switching operation In this operation mode, the next operation position number can be set when operating the current position number.
  • Page 69 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) The operating curve in this operation mode is shown in Figure 6-14. Figure 6-14 DI switching operation curve VD2 series servo drives have two margin processing methods: operate the remaining position and operate from the start position again.
  • Page 70 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Figure 6-16 Cycle operation-operate the remaining position (P07-02=1, P07-03=4) ②Run again from the starting position In this processing mode, when the multi-position instruction enable is OFF during operation, the servo drive will abandon the uncompleted displacement part and shutdown. After the shutdown is completed, the positioning completion signal is valid.
  • Page 71 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) VD2 series servo drives have two types of displacement instructions, which are relative position instructions and absolute position instructions. The related function code is [P07-05] ① Relative position instruction The relative position instruction takes the current stop position of the motor as the starting point and specifies the amount of displacement.
  • Page 72 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) acceleration The time required for Operation Effective the acceleration and P07-11 deceleration 1~65535 setting immediately deceleration of the 1st of 1st position position displacement Waiting time Delayed waiting time after...

  • Page 73: Electronic Gear Ratio

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) 6.2.2 Electronic gear ratio (1) Definition of electronic gear ratio In the position control mode, the input position instruction (instruction unit) is to set the load displacement, and the motor position instruction (encoder unit) is to set the motor displacement, in order to establish the proportional relationship between the motor position instruction and the input position instruction, electronic gear ratio function is used.
  • Page 74 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Step1. Confirm the mechanical parameters including the reduction ratio, the ball screw lead, gear diameter in the gear drive, and pulley diameter in the pulley drive. Step2. Confirm the resolution of the servo motor encoder.

  • Page 75: Position Instruction Filtering

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Set the nominator of electronic gear ratio of the 1st group for position Electronic gear instruction Operation Effective 1~429496 P00-19 division/multiplication. setting immediately 7294 numerator [P00-16] It is effective when...

  • Page 76: Clearance Of Position Deviation

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) effect on the number of instruction pulses. The filter time is not as long as possible. If the filter time is longer, the delay time will be longer too, and the response time will be correspondingly longer.
  • Page 77 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) completion signal (P-COIN), and the host computer can confirm the completion of the servo drive internal multi-position instruction transmission after receiving the signal. The positioning completion function means that when the position deviation meets the value set by the user [P05-12], it can be considered that the positioning is completed in the position control mode.

  • Page 78: Speed Control Mode

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Setting Effective Function Name Defaults Range Definition Unit code method time Positioning The positioning Operation Effective Equivalent P05-12 completion 1~65535 completion setting immediately pulse unit threshold threshold. Positioning Positioning Operation...

  • Page 79: Speed Instruction Input Setting

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Set [P00-01] to 2 through the panel or We-con servo debugging platform to make the servo drive work in speed control mode. Setting Effective Function Name Defaults Range Definition Unit...
  • Page 80 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Select this speed instruction to be effective. Internal speed instruction 4 When DI input port: Internal 15-INSPD3: 1 speed Operation Effective -3000~ P01-26 14-INSPD2: 0 Instruction setting immediately 3000 13-INSPD1: 0, Select this speed instruction to be effective.

  • Page 81: Acceleration And Deceleration Time Setting

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) gure 6-29 Example of multi-speed operation curve 6.3.2 Acceleration and deceleration time setting The acceleration and deceleration time setting can achieve the expectation of controlling acceleration by converting the speed instruction with higher acceleration into the speed instruction with gentle acceleration.

  • Page 82: Speed Instruction Limit

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Setting Effective Function Name Defaults Range Definition Unit code method time The time for the speed acceleration Operation Effective P01-03 0~65535 instruction to accelerate time setting immediately from 0 to 1000rpm...

  • Page 83: Speed-Related Do Output Function

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Setting Effective Function Name Defaults Range Definition Unit code method time Set the zero-speed clamp function. In speed mode: 0: Force the speed to 0; 1: Force the speed to 0, and...
  • Page 84 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Figure 6-32 Rotation detection signal waveform To use the motor rotation detection signal output function, a DO terminal of the servo drive should be assigned to function 132 (T-COIN, rotation detection). The function code parameters and related DO function codes are shown in Table 6-31 and Table 6-32.
  • Page 85 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Figure 6-33 Zero-speed signal waveform To use the motor zero-speed signal output function, a DO terminal of the servo drive should be assigned to function 133 (ZSP, zero-speed signal). The function code parameters and related DO function codes are shown in Table 6-33 and Table 6-34.
  • Page 86 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Figure 6-34 Waveform diagram of speed consistent signal To use the motor speed consistent function, a DO terminal of the servo drive should be assigned to function 136 (V-COIN, consistent speed). The function code parameters and related DO function codes are shown in Table 6-35and Table 6-36.

  • Page 87: Torque Control Mode

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Figure 6-35 Waveform diagram of speed approaching signal To use the motor speed approach function, a DO terminal of the servo drive should be assigned to function 137 (V-NEAR, speed approach). The function code parameters and related DO function...

  • Page 88: Torque Instruction Input Setting

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Figure 6-36 System block diagram of torque mode 6.4.1 Torque instruction input setting The torque instruction comes from an internal instruction, and the internal torque instruction is given by number. The torque value is determined by the function code [P01-08]. The specific parameters are shown in the table below.

  • Page 89: Torque Instruction Limit

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Figure 6-37 Schematic diagram of first-order filtering of torque command 6.4.3 Torque instruction limit When the absolute value of the torque instruction input by the host computer is greater than the absolute value of the torque instruction limit, the actual drive's torque instruction is limited and equal to the limit value of the torque instruction.

  • Page 90: Torque Do Output Functions

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) too small, the motor's acceleration and deceleration capacity may be weakened. During constant torque operation, the actual motor speed cannot reach the required value. The torque command limit value is determined by the function code [P01-15] and [P01-16].

  • Page 91: Mixed Control Mode

    Position mode  Speed mode Position mode  Torque mode Speed mode  Torque mode Set the function code [P00-01] through the Wecon servo debugging platform or the servo drive panel, and the servo drive will operate in mixed mode. Setting...

  • Page 92: Absolute Value System

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Please set the servo drive parameters in different control modes according to the mechanical structure and indicators. The setting method refer to [Chapter 9 Parameters]. When function code [P00-01]=4/5/6 (that is, in mixed mode), a DI terminal of the servo drive needs to be assigned to function 17 (MixModeSel, mixed mode selection), and the DI terminal logic is determined to be valid.

  • Page 93: Multi-Turn Absolute Value System

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Encoder type Encoder resolution (digits) data range A1 (single-turn magnetic encoder) 0~131071 Table 6-47 Single-turn absolute encoder information The relationship between encoder feedback position and rotating load position is shown in Figure 6-40 (take a 17-bit encoder as an example).

  • Page 94: Encoder Feedback Data

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Figure 6-41 The relationship between encoder feedback position and rotating load position 6.6.4 Encoder feedback data The feedback data of the absolute value encoder can be divided into the position within 1 turn of the absolute value encoder and the number of rotations of the absolute value encoder.
  • Page 95 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) When it is detected that the battery voltage is less than 3.1V, A-92 (Encoder battery voltage low warning) will appear. Please replace the battery in time. The specific replacement method is as follows: Step1 The servo drive is powered on and is in a non-operational state;...

  • Page 96: Chapter 7 Adjustments

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Chapter 7 Adjustments 7.1 Overview The servo drive needs to make the motor faithfully operate in accordance with the instructions issued by the upper controller without delay as much as possible. In order to make the motor action closer to the instruction and maximize the mechanical performance, gain adjustment is required.

  • Page 97: Inertia Recognition

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) The gain adjustment process description is shown in Table 7-1. Detailed Gain adjustment process Function chapter Use the host computer debugging platform software matched with the driver to Online inertia recognition automatically identify the load inertia ratio.

  • Page 98: Gain Adjustment

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) of inertia recognition [P03-06] should be appropriately reduced. ✎During the automatic load inertia recognition process, if vibration occurs, the load inertia identification should be stopped immediately; The related function codes are shown in Table 7-2.
  • Page 99 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) The rigidity of the servo refers to the ability of the motor rotor to resist load inertia, that is, the self-locking ability of the motor rotor. The stronger the servo rigidity, the larger the corresponding position loop gain and speed loop gain, and the faster the response speed of the system.

  • Page 100: Manual Gain Adjustment

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) parameter settings are automatically adjusted according to the rigidity grade setting. 1: Manual setting; users need to manually set the position loop gain, speed loop gain, speed loop integral time constant,...
  • Page 101 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) P02-05 2nd speed loop gain P02-06 2nd speed loop integral time constant P04-04 Torque filter time constant (1) Speed loop gain In the case of no vibration or noise in the mechanical system, the larger the speed loop gain setting value, the better the response of the servo system and the better the speed followability.

  • Page 102: Feedforward Gain

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) of the position control system. Set the position loop Operation Effective proportional gain to P02-04 position 0~6200 0.1Hz setting immediately determine the responsiveness loop gain of the position control system.

  • Page 103: Mechanical Resonance Suppression

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) 7.4 Mechanical resonance suppression 7.4.1 Mechanical resonance suppression methods When the mechanical rigidity is low, vibration and noise may occur due to resonance caused by shaft twisting, and it may not be possible to increase the gain setting. In this case, by using a notch filter to reduce the gain at a specific frequency, after resonance is effectively suppressed, you can continue to increase the servo gain.
  • Page 104 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Figure 7-3 Notch characteristics, notch width, and notch depth Figure 7-4 Frequency characteristics of notch filter Setting Effective Function Name Defaults Range Definition Unit code method time Set the center frequency of 1st notch the 1st notch filter.
  • Page 105 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) 8: 2 times the bandwidth 12: 4 times the bandwidth Set the center frequency of 2nd notch the 2nd notch filter. When Operation Effective P04-08 filter 250~5000 the set value is 5000, the...

  • Page 106: Chapter 8 Communication

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Chapter 8 Communication The VD2 series servo drives have Modbus communication function, which can cooperate with the upper computer to communication software for parameter modification, parameter query, monitoring volume servo status query and control. The servo drive is used as a slave device.

  • Page 107: Modbus Communication Protocol Analysis

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Figure 8-2 Schematic diagram of RS485 communication network wiring The terminal of the RS485 network should use a terminating resistors of 120Ω to weaken the reflection of the signal. Intermediate networks cannot use terminating resistors.

  • Page 108: Crc Check

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Correct response format: Return data Register 1 Register 1 Address Function code … CRC check code Number of bytes high byte low byte 1 byte 1 byte 1 byte 1 byte …...

  • Page 109: Error Response Frame

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) 8.2.4 Error response frame Address Function code Error code CRC check code 1 byte Command code+0x80 Error code 2 bytes When an error occurs, set the function code bit7 issued by the host to 1, and return (for example, 0x03 returns 0x83, 0x06 returns 0x86);...

  • Page 110: Servo Communication Parameter Setting

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) 8.3 Servo communication parameter setting Figure 8-3 Modbus communication parameter setting process (1) Set the servo address [P12-1] When multiple servos are in network communication, each servo can only have a unique address, otherwise it will cause abnormal communication and fail to communicate.

  • Page 111: Modbus Communication Variable Address And Value Description

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) If the value of the function code only needs to be rewritten once, and the value is used later, the function of real-time writing of the function code to EEPROM can be enabled;...

  • Page 112: Variable Value Type Description

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) During servo communication, the communication address of the function code is a 16-bit address, which is composed of the function code group number (high 8 bits) + group bias (low 8 bits), for example, the modbus address corresponding to P12-1 (servo address) is 0x0C01.

  • Page 113: Chapter 9 Parameters

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Chapter 9 Parameters 9.1 Basic settings Setting Effective Function Name Defaults Range Definition Unit code method time 1: Position control 2: Speed control 3: Torque control 4: Position/speed mixed Control...
  • Page 114 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) (negative logic) 4: CW/CCW (negative logic) 5: A, B phase quadrature pulse (4 times frequency negative logic) Maximu Set the maximum position Shutdown Effective P00-13 1~500 frequency of external pulse...
  • Page 115 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) rotation is 0. Set the numerator of the 2nd group of electronic gear ratio for position Electroni 1~429 instruction frequency c Gear 2 Operation Effective P00-19 49672 division/multiplication. denomin setting...

  • Page 116: Control Setting

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) output. (This function code is valid when P00-22=0) Quadrature encoding Pulse output output (numerator/denominator frequenc Operation Power on 1~250 format) is used to set the P00-28 y division setting again...
  • Page 117 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Source of Effective 0: Internal forward and speed limit Shutdown P01-09 immediatel reverse limit in torque setting 1: AI_2 analog input mode Set the maximum speed Maximum Effective limit value, if this value...
  • Page 118 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) 2: When the speed instruction is less than [P01-22], the speed is forced to 0 and the position is kept locked; 3: Invalid, ignore the zero-speed clamp input; Zero speed...
  • Page 119 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Internal speed instruction 5 When DI input port: Internal Effective 15-INSPD3: 1 Operation -3000~ P01-27 speed immediatel 14-INSPD2: 0 setting 3000 Instruction 5 13-INSPD1:1 select the speed instruction to be effective.

  • Page 120: Gain Adjustment

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) The motor is rotating, the delay time from the brake Rotation (BRK-OFF) output OFF is status, delay allowed to the servo from servo Operation Effective P01-33 1~1000 enable (S-ON) OFF.

  • Page 121: Self-Adjusting Parameters

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) filter time to the speed constant feedforward input. Torque Operation Effective P02-11 feedforward 0~2000 0.0%~200.0% 0.1% setting immediately gain Torque Set the time constant of feedforward Operation the primary delay filter...

  • Page 122: Vibration Suppression

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) The faster the speed during inertia recognition, the more accurate the recognition result will be. Usually, you can keep the default value. 0: Forward and reverse Parameter reciprocating rotation recognition...

  • Page 123: Signal Input And Output

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) 8: 2 times the bandwidth 12: 4 times the bandwidth Set the center frequency of the 2nd 2nd notch Operation Effective notch filter. When the P04-08 filter 250~5000 setting immediately...
  • Page 124 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) value Judgment conditions for positioning completion and positioning approaching the output signal 0: The output is valid when the absolute value of the position deviation is less than the positioning...
  • Page 125 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) time is continued; Equival Positioning Positioning Operation Effective P05-12 completion 1~65535 completion setting immediately pulse threshold threshold unit Equival Positioning Operation Effective Positioning P05-13 approach 5000 1~65535 setting immediately approach threshold...

  • Page 126: Di/Do Configuration

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) [Torque arrival hysteresis value]: When the actual torque reaches [Torque Arrival Threshold] + [Torque Arrival Hysteresis Value], the torque arrival DO is valid; When the actual torque decreases [Torque arrival...
  • Page 127 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) 15-INSPD3 Internal speed instruction selection 3 16-J-SEL Inertia ratio switch (not implemented yet) 17 MixModeSel Mix mode selection 20 Internal multi-position enable signal 21 Internal multi-position selection 1 22 Internal multi-position...
  • Page 128 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) instruction selection 3 16-J-SEL Inertia ratio switch (not implemented yet) 17-MixModeSel mix mode selection 20 Internal multi-position enable signal 21 Internal multi-position selection 1 22 Internal multi-position selection 2 23 Internal multi-position...
  • Page 129 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) 16-J-SEL Inertia ratio switch (not implemented yet) 17-MixModeSel mix mode selection 20 Internal multi-position enable signal 21 Internal multi-position selection 1 22 Internal multi-position selection 2 23 Internal multi-position selection 3...
  • Page 130 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) (not implemented yet) 17-MixModeSel mix mode selection 20 Internal multi-position enable signal 21 Internal multi-position selection 1 22 Internal multi-position selection 2 23 Internal multi-position selection 3 24 Internal multi-position...
  • Page 131 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) 17-MixModeSel mix mode selection 20 Internal multi-position enable signal 21 Internal multi-position selection 1 22 Internal multi-position selection 2 23 Internal multi-position selection 3 24 Internal multi-position selection 4 Other reserved DI port input logic validity function selection.
  • Page 132 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) selection 20 Internal multi-position enable signal 21 Internal multi-position selection 1 22 Internal multi-position selection 2 23 Internal multi-position selection 3 24 Internal multi-position selection 4 Other reserved DI port input logic validity function selection.
  • Page 133 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) 20 Internal multi-position enable signal 21 Internal multi-position selection 1 22 Internal multi-position selection 2 23 Internal multi-position selection 3 24 Internal multi-position selection 4 Other reserved DI port input logic validity function selection.
  • Page 134 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) enable signal 21 Internal multi-position selection 1 22 Internal multi-position selection 2 23 Internal multi-position selection 3 24 Internal multi-position selection 4 Other reserved DI port input logic validity function selection.
  • Page 135 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) 128 Close (not used) 129-RDY Servo ready 130-ALM Fault signal 131-WARN Warning signal 132-TGON Rotation detection 133-ZSP Zero speed signal 134-P-COIN Positioning completed DO_2 135-P-NEAR Positioning channel Operation Effective 130-...
  • Page 136 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) output Output logic function selection. ✎ 1. Set to 0: the output transistor is on when the DO_3 output is valid, and the channel Operation Effective output transistor is off when...

  • Page 137: Multi-Position

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) (2) If the function of P06-26 is selected as "positioning completed", it means: when the positioning of DO-1 is completed, the output transistor is turned on; when the positioning of DO-1 is not completed, the output transistor is turned off.
  • Page 138 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Acceleration The time required for the deceleration Operation Effective 1~6553 P07-11 acceleration and deceleration time of the 1st setting immediately of the 1st position position displacement Waiting time after Delayed waiting time from the...
  • Page 139 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) 3646 Maximum speed of the Operation Effective Steady-state operating speed P07-22 1~5000 4th position setting immediately of the 4th position displacement Acceleration The time required for the deceleration Operation Effective...
  • Page 140 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Waiting time after Delayed waiting time from the Determi completion of Operation Effective 1~6553 completion of the 6th position P07-32 ned by the 6th setting immediately to the beginning of the next...
  • Page 141 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Acceleration The time required for the deceleration Operation Effective 1~6553 P07-43 acceleration and deceleration time of the setting immediately of the 9th position 9th position displacement Waiting time after Delayed waiting time from the...
  • Page 142 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) -21474 The 12th Operation Effective 83647~ Position instruction, positive P07-53 position 10000 setting immediately 214748 and negative values can be set displacement 3646 Maximum speed of the Operation Effective Steady-state operating speed...

  • Page 143: Accessibility

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Waiting time after Delayed waiting time from the Determi completion of Operation Effective 1~6553 completion of the 14th P07-64 ned by the 14th setting immediately position to the beginning of...
  • Page 144 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) settings 0: No operation; 1: For clearable faults, after the cause of the fault is removed, and write 1 to the function code, the drive will stop the fault display and enter the Rdy (or RUN) state again.

  • Page 145: Communication Parameters

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) 9.10 Communication parameters Setting Effective Function Name Defaults Range Definition Unit code method time Set the modbus Operation Effective communication P12-1 Servo address 1~247 setting immediately address of the servo drive 0-2400bps;...

  • Page 146: Monitoring Parameters

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) VDI7 input level: Virtual VDI_7 Operation Effective P13-7 0: low level; input value setting immediately 1: high level; VDI8 input level: Virtual VDI_8 Operation Effective P13-8 0: low level; input value...
  • Page 147 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) U0-36 Reserved 16 bits U0-37 Universal Total operation time: minutes 16 bits U0-38 Universal Total operation time: seconds 16 bits U0-39 Universal Load torque percentage 16 bits U0-40 Universal Current operation time hours...
  • Page 148 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) U2-06 Device Date of manufacture year Year 16 bits U2-07 Device Date of manufacture month Month 16 bits U2-08 Device Date of manufacture day 16 bits U2-09 Device Device serial number 1...

  • Page 149: Chapter 10 Malfunctions

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Chapter 10 Malfunctions 10.1 Handling of faults and warnings at startup 10.1.1 Position control mode Boot process Fault phenomenon Reason Confirmation method The digital tube does not light up or the bus...

  • Page 150: Speed Control Mode

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) 10.1.2 Speed control mode Boot process Fault phenomenon Reason Confirmation method The digital tube does not light up or the bus Servo drive faults Contact agent or company customer service...

  • Page 151: Torque Control Mode

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) 10.1.3 Torque control mode Boot process Fault phenomenon Reason Confirmation method The digital tube does not light up or the bus Servo drive faults Contact agent or company customer service...

  • Page 152: Handling Of Faults And Warnings During Operation

    10.2 Handling of faults and warnings during operation 10.2.1 Overview The faults and warnings of Wecon VD2 series servo drives are graded according to their severity, which can be divided into four grades: Category 1, Category 2, Category 3, Category 4. Severity level: Category 1>...

  • Page 153: Fault And Warning Code Table

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) The current fault code can be viewed through the monitoring parameter U1-01, and the current warning code can be viewed through U1-02. The monitoring variables U1-16 to U1-25 can display the last 5 fault codes and warning codes.
  • Page 154 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Please re-power on to determine Internal Category whether the fault is eliminated; if software Torque loop error Er.61 there is still an abnormality, please Fault contact the manufacturer. Please re-power on to determine...
  • Page 155 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) motor power line is wrong; 4. The wiring of the motor encoder is wrong; The driver detects that the power device has overcurrent, the possible 1. Please check whether the wiring situations are: of the motor power line is correct;...
  • Page 156 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) 1. Check whether the wiring of the motor power line is loose, if Category Power line The motor power line is loose or it is loose, please tighten it; Er.31...
  • Page 157 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) unreasonable, and the interval is too small, resulting in abnormal heat dissipation; The drive detects that the motor is running overloaded. The 1. Check whether the load of the motor possible reasons are: is too large.
  • Page 158 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) 1. The load is too large, and the the maximum reverse torque limit to drive outputs with maximum appropriate values; torque, but it still cannot reach 3. Check whether the machine is the target speed within the blocked;...
  • Page 159 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) 1. Please confirm whether the load 1. When the braking resistor inertia is too large; is selected as the internal 2. Please confirm whether it starts Braking resistor is braking resistor, it means...
  • Page 160 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) low encoder Category Encoder battery voltage is battery voltage A-92 Replace with a new encoder battery; less than 3.1V Warning of Encoder read and write Category Encoder communication has Check whether the encoder wiring is...

  • Page 161: Chapter 11 Modbus Register Address

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Chapter 11 Modbus Register Address 11.1 Basic settings Modbus address Function Data Name Unit code width Hexadecimal Decimal P0-1 0x0001 Control mode 16 bits P0-4 0x0004 Rotation direction 16 bits...

  • Page 162: Control Settings

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) 11.2 Control settings Modbus address Function Data Name Unit code width Hexadecimal Decimal P1-1 0x0101 257 Speed instruction source 16 bits P1-2 0x0102 258 Internal speed instruction 0 rpm 16 bits...

  • Page 163: Gain Parameters

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) 11.3 Gain parameters Modbus address Function Name Unit Data width code Hexadecimal Decimal P2-1 0x0201 1st position loop gain 0.1Hz 16 bits P2-2 0x0202 1st speed loop gain 0.1Hz 16 bits...

  • Page 164: Signal Input And Output

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) 11.6 Signal input and output Modbus address Function Data Name Unit code width Hexadecimal Decimal P5-1 0x0501 1281 AI_1 input bias 16 bits P5-2 0x0502 1282 AI_1 input filter time constant 0.01ms...

  • Page 165: Multi-Position

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) P6-13 0x060D 1549 DI_4 input source selection 16 bits P6-14 0x060E 1550 DI_5 channel function selection 16 bits P6-15 0x060F 1551 DI_5 channel logic selection 16 bits P6-16 0x0610 1552...
  • Page 166 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Acceleration and deceleration time of the P7-15 0x0711 1809 16 bits 2nd position displacement Waiting time after completion of the 2nd Determined P7-16 0x0712 1810 16 bits position displacement by P7-6...
  • Page 167 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) P7-41 0x0731 1841 The 9th position displacement 32 bit Maximum speed of the 9th position P7-42 0x0733 1843 16 bits displacement Acceleration and deceleration time of the P7-43 0x0734 1844...

  • Page 168: Accessibility

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Acceleration and deceleration time of the P7-67 0x0752 1874 16 bits 15th position displacement Waiting time after completion of the 15th Determined P7-68 0x0753 1875 16 bits position displacement by P7-6...

  • Page 169: Monitoring Parameters

    Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) 11.12 Monitoring parameters Modbus address Monitor Type of Name Unit data number Hexadecimal Decimal U0-01 0x1E01 7681 Servo Status 16 bits U0-02 0x1E02 7682 Servo motor speed 16 bits U0-03...
  • Page 170 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) U0-36 0x1E29 7721 Reserved 16 bits U0-37 0x1E2A 7722 Total operation time: minutes 16 bits U0-38 0x1E2B 7723 Total operation time: seconds 16 bits U0-39 0x1E2C 7724 Load torque percentage...
  • Page 171 Wecon VD2 SA Series Servo Drives User Manual (Full V1.0) Total number of historical U1-15 0x1F10 7952 16 bits warnings The 1st fault code of the most U1-16 0x1F11 7953 16 bits recent The 2nd fault code of the most...

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