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Wecon VD2 Series Manual

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Wecon VD2 Series
Servo Drive Manual
 
 
http://www.we-con.com.cn/en
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Phone: +86‐0591‐8786886
Date: June 25, 2023
(Full V2.4)
Wecon VD2 Series Servo Drives Manual (Full V2.4)
1
`` WECON technology Co., Ltd

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  • Page 1 Wecon VD2 Series Servo Drives Manual (Full V2.4) Wecon VD2 Series Servo Drive Manual (Full V2.4)     http://www.we-con.com.cn/en Website: Phone: +86‐0591‐8786886 Date: June 25, 2023 `` WECON technology Co., Ltd...
  • Page 2   Preface This manual is applicable to Wecon VD2 Series absolute value servo drives (VD2 SA series). 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 Series Servo Drives Manual (Full V2.4) User manual version history Applicable models and  Date  Version  Changes  firmware versions  VD2‐0□□SA1G model: V1.10, V1.12 2021.12 A1.0 First release version VD2F‐0□□SA1P model: V1.00 Chapter 2 Updating the servo driver naming, updating motor model table. Chapter 3 Updating motor dimension drawing and dimension VD2‐0□□SA1G model: Add V1.13...
  • Page 4 Wecon VD2 Series Servo Drives Manual (Full V2.4) VD2C Drive Appearance" Add 2.1.3 "Electrical Specifications for VD2L Drives" and "Electrical Specifications for VD2C Drives" Add 2.2.2 "Motor (Wire Type) Composition Diagram" Chapter 3 Add 3.1.1 "VD2L Drive Installation Dimension Diagram" and "VD2C Drive Installation Dimension Diagram"...
  • Page 5 Wecon VD2 Series Servo Drives Manual (Full V2.4) Add U0‐49 motor overload internal count Chapter 10 Add the function introduction of ER.45 drive stall over temperature protection. Revise ER.27 Not clearable properties; Chapter 6, added section 6.8 “Home Return Mode (HM)”;...

  • Page 6: Table Of Contents

    Wecon VD2 Series Servo Drives Manual (Full V2.4) Contents Safety .............................  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 Product Information .......................  5 2.1 Servo drives ........................... 5 2.2 Servo motors ........................15 Installation of servo drive and motor  ..................  1 8 3.1 Installation of servo drive ....................
  • Page 7 Wecon VD2 Series Servo Drives Manual (Full V2.4) Parameters .........................  2 10 Group P00 Basic settings ....................... 210 Group P01 Control parameters ..................... 215 Group P02 Gain adjustment ....................221 Group P03 Self‐adjusting parameters ................. 227 Group P04 Vibration suppression ..................229 Group P05 Signal input and output ..................233 Group P06 DI/DO configuration ................... 237 Group P07 multi‐segment position ..................240 Group P10 Accessibility ......................248 Group P12 Communication parameters ................251 Group P13 Communication input and output terminal ............

  • Page 8: Safety

    Wecon VD2 Series Servo Drives Manual (Full V2.4) 1. Safety 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 Series Servo Drives Manual (Full V2.4) 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 Series Servo Drives Manual (Full V2.4) 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; ✎Please connect the output U, V, W of the servo drive and the U, V, W of the servo motor directly.

  • Page 11: Precautions During Maintenance And Inspection

    Wecon VD2 Series Servo Drives Manual (Full V2.4) ✎When an alarm occurs, reset the alarm after removing the cause and ensuring safety, and restart the operation, otherwise it may cause injury. ✎Except for special purposes, do not change the maximum speed value (P1‐10). If you change it carelessly, it may damage the machine or cause injury.

  • Page 12: Product Information

    2.1.1 Servo drive model naming Figure 2‐1 Servo drive model Figure 2‐2 (VD2A) and Figure 2‐3 (VD2B) show the exterior and nameplate of the VD2 series absolute value servo drive. Figure 2‐ shows the exterior and nameplate of the VD2F series absolute value servo drive.
  • Page 13 Wecon VD2 Series Servo Drives Manual (Full V2.4) WECON Technology Co.,Ltd. Servo model Model: VD2-019SA1G Rated input Input: 1PH/3PH AC 200~240V 50/60Hz Rated output Output: 3PH AC 0~240V 0~400Hz 19A V1.0.0 Manufacture number D141312008281XXXXXXX MADE IN CHINA WARNING Please operate according to the manual Danger and connect PE well in case of accident.
  • Page 14 Wecon VD2 Series Servo Drives Manual (Full V2.4) WECON Technology Co.,Ltd. Servo model Model: VD2F-014SA1G Rated input Input: 1PH/3PH AC 200~240V 50/60Hz Rated output Output: 3PH AC 0~240V 0~400Hz 14A MAX V1.0.0 Manufacture number D141312008281XXXXXXX MADE IN CHINA WARNING Please operate according to the manual Danger and connect PE well in case of accident.

  • Page 15: Installation Of Servo Drive And Motor

    Wecon VD2 Series Servo Drives Manual (Full V2.4) 2.1.2 The composition of servo drive C 6: RS485 communication port C 5: RS485 communication port Operation panel High voltage indicator Power input connector Power input Motor output connector Braking resistor CN3:RS422 communication port wiring Motor power wire...

  • Page 16: Operation

    Wecon VD2 Series Servo Drives Manual (Full V2.4) The 220V power supply specifications and 380V power supply specifications of the VD2B drive have Servo Drive Composition the same appearance and composition. CN6: RS485 Communication port CN5：RS485 communication port Operation panel...

  • Page 17: Parameters

    Wecon VD2 Series Servo Drives Manual (Full V2.4) C 4: H ost com puter RS422 com m unica on port or RS485 com m unica on port C 3: Host com puter RS422 com m unica on port or RS485 com m unica on port...
  • Page 18 Wecon VD2 Series Servo Drives Manual (Full V2.4) Figure 2‐11 Composition of VD2L servo drive Figure 2‐12 Short connection of braking resistor  `` WECON technology Co., Ltd...
  • Page 19 Wecon VD2 Series Servo Drives Manual (Full V2.4) 2.1.3 Spacifications of servo drive Electrical specifications  Table 2‐1 Electrical specifications of single phase 220V Servo drive Item VD2A  VD2B    Model VD2‐010SA1G VD2‐014SA1G VD2‐016SA1G VD2‐019SA1G Maximum output current Control power Single‐phase AC 198 to 242V ‐...
  • Page 20 Wecon VD2 Series Servo Drives Manual (Full V2.4) Control power Single‐phase AC 198 to 242V, 50/60Hz supply Power supply Three‐phase AC 198 to 242V, 50/60Hz Braking resistor Built‐in and external Table 2‐6 Electrical specification of three‐phase 220V servo drive Item ...
  • Page 21 Wecon VD2 Series Servo Drives Manual (Full V2.4) metal powder. Up to 8 DI channels supported (only 4 DI channels for VD2F model). The supported DI functions are servo enable, fault clear and alarm, forward drive prohibition, reverse drive prohibition, zero speed bit, deviation...

  • Page 22: Servo Motors

    Wecon VD2 Series Servo Drives Manual (Full V2.4) 2.2 Servo motors 2.2.1 Servo motor model naming Figure 2‐13 Servo motor naming N am e p late AC SERVO MOTOR W D80M ‐07530S‐D2G M o d e l Pn: 0.75KW In: 4.4A Serial number Pa ram eter QR code IN S: Tn: 2.39Nm...

  • Page 23: Mounting Hole

    Wecon VD2 Series Servo Drives Manual (Full V2.4) 2.2.2 Composition of Servo motor Power cable connector Encoder connector Mounting hole Motor shaft Motor housing Figure 2‐15 Motor (Wire type) composition of 40/60/80 flange Encoder socket Motor power cable socket Flange Mounting hole*4） Motor axis Motor housing Figure 2‐16 Motor (Connector type) composition of 40/60/80 flange...

  • Page 24: Specifications Of Servo Motor

    Wecon VD2 Series Servo Drives Manual (Full V2.4) Encoder socket Motor power cable socket Flange Encoder Motor shaft Motor housing Figure 2‐17 Motor composition of 110, 130 and 180 flange 2.2.3 Specifications of servo motor Rated  Rated  Rated  Motor  Voltage  Flange  power  torque  speed ...

  • Page 25: Installation Of Servo Drive

    Wecon VD2 Series Servo Drives Manual (Full V2.4) 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 VD2A servo drive Figure 3‐2 Installation dimensions of VD2B servo drive `` WECON technology Co., Ltd...
  • Page 26 Wecon VD2 Series Servo Drives Manual (Full V2.4) Figure 3‐3 Installation dimensions of VD2C servo drive Figure 3‐4 Installation dimensions of VD2F servo drive `` WECON technology Co., Ltd...

  • Page 27: Installation Site

    Wecon VD2 Series Servo Drives Manual (Full V2.4) Figure 3‐5 Installation dimensions of VD2L servo drive 3.1.2 Installation site ① Please install it in an installation cabinet free from sunlight and rain; ② In a place without vibration; ③ Please do not install in the environment of high temperature, humidity, dust and metal dust;...
  • Page 28 Wecon VD2 Series Servo Drives Manual (Full V2.4) 3.1.4 Installation matters (1) Installation specifications  In order to achieve a good cooling cycle effect, ensure that there is enough ventilation space around it when installing the servo drive, and be sure to comply with the installation standards in the control cabinet shown in the figure below, otherwise it may cause the drive to malfunction.
  • Page 29 Wecon VD2 Series Servo Drives Manual (Full V2.4) (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‐...
  • Page 30 Wecon VD2 Series Servo Drives Manual (Full V2.4) Figure 3‐8 Parallel installation dimensions of multiple VD2B drive Figure 3‐9 Parallel installation dimensions of multiple VD2C drive `` WECON technology Co., Ltd...
  • Page 31 Wecon VD2 Series Servo Drives Manual (Full V2.4) >100mm >100mm >100mm >40mm >40mm >20mm >20mm Charge Charge Charge >100mm >100mm >100mm Figure 3‐10 Parallel installation dimensions of multiple VD2F drive `` WECON technology Co., Ltd...
  • Page 32 Wecon VD2 Series Servo Drives Manual (Full V2.4) Figure 3‐11 Parallel installation dimensions of multiple VD2L drive (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 33: Installation Of Servo Motor

    Wecon VD2 Series Servo Drives Manual (Full V2.4) 3.2 Installation of servo motor 3.2.1 Installation dimensions (Unit: mm) (1) Installation dimensions of WD series 40 flange servo motor  Specification  WD series 40 flange motor  Rated torque (N.m) 0.318 LA without brake (mm) 74.8 LA with brake (mm) 25±0.5 LA±1 2- 4.30 9.20 M3 6 Radio 1 1 : Encoder line...
  • Page 34 Wecon VD2 Series Servo Drives Manual (Full V2.4) (3) Installation dimensions of 80 flange servo motor  1) WD series motor Specification  WD series 80 flange motor  Rated torque (N.m) 2.39 LA without brake (mm) 98.5 LA with brake (mm) 132.5 35 ±0.5 ± 1 4- 6 .40 Standard oil seal 21.50...
  • Page 35 Wecon VD2 Series Servo Drives Manual (Full V2.4) (4) Installation dimensions of WE series 110 flange servo motor  Specification  WE series 110 flange motor  Rated torque (N.m) LA without brake (mm) LA with brake (mm) M6 L25 × 4- 9 15.5 -0.1 Figure 3‐16 Installation dimension of WE series 110 flange servo motor (5) Installation dimensions of the 130‐flange servo motor ...
  • Page 36 Wecon VD2 Series Servo Drives Manual (Full V2.4) (6) Installation dimensions of the 180‐flange servo motor  Specification  WE series 130 flange motor  Rated torque (N.m) 21.5 LA without brake (mm) LA with brake (mm) 65.0 18.0 4- 13.5 51.0 38.0 30.0 -0.2 180.5 -0.016 Figure 3‐18 Installation dimension of WE series 180 flange servo motor 3.2.2 Installation site...

  • Page 37: Installation Precautions

    Wecon VD2 Series Servo Drives Manual (Full V2.4) 3.2.4 Installation precautions Item  Specification  Before installation, please wipe clean the “rust inhibitor” on the shaft extension Rust inhibitor end of the servo motor, and then do the relevant anti‐rust treatment. ✎When installing a pulley on a servo motor shaft with a keyway, use a screw hole at the shaft end.

  • Page 38: Main Circuit Wiring

    Wecon VD2 Series Servo Drives Manual (Full V2.4) 4. Wiring 4.1 Main circuit wiring 4.1.1 Main circuit terminals (1) VD2A servo drive main circuit terminal distribution  Figure 4‐1 VD2A servo drive main circuit terminal distribution Terminal  Terminal name  Terminal function  number  Power input Single‐phase 220V AC input is connected to L1 and L3. terminal Use internal braking resistor: short‐circuit C and D.
  • Page 39 Wecon VD2 Series Servo Drives Manual (Full V2.4) (2) VD2B servo drive (220V) main circuit terminal distribution  Figure 4‐2 VD2B servo drive (220V) main circuit terminal distribution Terminal  Terminal name  Terminal function  number  Power input Three‐phase 220V AC input is connected to L1, L2, L3; terminal Single‐phase 220V AC input is connected to L1 and L3.
  • Page 40 Wecon VD2 Series Servo Drives Manual (Full V2.4) (3) VD2B servo drive (380V) main circuit terminal distribution    Figure 4‐3 VD2B servo drive (380V) main circuit terminal distribution Terminal  Terminal name  Terminal function  number  Power input Three‐phase 380V AC input is connected to L1, L2, L3; terminal Control power Single‐phase 380V AC input is connected to L1C and L2C.
  • Page 41 Wecon VD2 Series Servo Drives Manual (Full V2.4) (4) VD2C servo drive (380V) main circuit terminal distribution  Figure 4‐4 VD2C servo drive (380V) main circuit terminal distribution Terminal  Terminal name  Terminal function  number  Power input Three‐phase 380V AC input is connected to L1, L2, L3; terminal Control power Single‐phase 380V AC input is connected to L1C and L2C.
  • Page 42 Wecon VD2 Series Servo Drives Manual (Full V2.4) Ground Ground Grounding treatment of servo drive. terminal terminal Table 4‐4 The name and function of VD2C servo drive (380V) main circuit terminal   (5) VD2F servo drive main circuit terminal distribution  Charge Figure 4‐5 VD2F servo drive main circuit terminal distribution Terminal ...
  • Page 43 Wecon VD2 Series Servo Drives Manual (Full V2.4) Figure 4‐6 VD2L servo drive main circuit terminal distribution Terminal  Terminal name  Terminal function  number  Power input Connect single‐phase 220V input power terminal Use internal braking resistor: short‐circuit C and D. Braking resistor Use external braking resistor: Please disconnect the short wire...

  • Page 44: Power Wiring

    Wecon VD2 Series Servo Drives Manual (Full V2.4) 4.1.2 Power wiring Use single‐phase 220V power supply model: VD2‐010SA1G and VD2‐014SA1G   Figure 4‐7 VD2A drive single‐phase 220V main circuit wiring `` WECON technology Co., Ltd...
  • Page 45 Wecon VD2 Series Servo Drives Manual (Full V2.4) (2) Use single‐phase 220V power supply model: VD2‐016SA1G, VD2‐019SA1G, VD2‐016SA1H,  VD2‐019SA1H  External brake resistor Internal temperature control switch Inductive surge absorber MCCB (Single-phase) Power input AC220V,50Hz Incoming line reactor N o ise filter Control power input External brake resistor Short wire...
  • Page 46 Wecon VD2 Series Servo Drives Manual (Full V2.4) (3) Use three‐phase 220V power supply model: VD2‐021SA1G, VD2‐025SA1G, VD2‐030SA1G,  VD2‐021SA1H  External brake resistor Internal temperature control switch Inductive surge absorber MCCB (Three-phase) Power input AC220V,50Hz Incoming line reactor N oise filter Control power input External brake resistor Short wire...
  • Page 47 Wecon VD2 Series Servo Drives Manual (Full V2.4) (4) Use single‐phase 220V power supply model: VD2F‐003SA1P、VD2F‐010SA1P、VD2F‐014SA1P  External brake resistor Internal temperature control switch Inductive surge absorber MCCB Power Power input (Single-phase) AC220V 50Hz Incoming line reactor External brake resistor Short wire Motor output Yellow Blue Yellow-green...
  • Page 48 Wecon VD2 Series Servo Drives Manual (Full V2.4) (5) Use three‐phase 380V power supply model: VD2‐021TA1G  External brake resistor Internal temperature control switch O FF A LM Inductive surge absorber M CC B Power (Three-phase) Power input AC220V 50H z Incoming line N oise filter Control power input...

  • Page 49: Power Cable Connection Of Servo Drive And Servo Motor

    Wecon VD2 Series Servo Drives Manual (Full V2.4) 4.2 Power cable connection of servo drive and servo motor 4.2.1 Power cable Wecon VD2 series servo drive has 3 kinds of interface power cables: rectangular plug, aviation plug and in‐cable type. Motor  Terminal pin  Connector exterior  Pin description  distribution  flange  Rectangular plug Pin number  Signal name  Color ...

  • Page 50: Encoder Cable Connection Of Servo Drive And Servo Motor

    Wecon VD2 Series Servo Drives Manual (Full V2.4) 4.3 Encoder cable connection of servo drive and servo motor Figure 4‐12 Encoder connection cable wiring Connector exterior  Terminal pin distribution  Pin description  Pin number  Signal name  ‐ ‐ SD‐ Table 4‐8 Encoder cable servo drive side connector `` WECON technology Co., Ltd...
  • Page 51 Wecon VD2 Series Servo Drives Manual (Full V2.4) Motor  Connector exterior and terminal pin distribution  flange  Encoder pinout View from here View from here Pin number  Signal name  SD‐ Shield Battery+ Battery‐ Table 4‐9 Absolute value encoder cable connector (Rectangular plug) Drive side J1394  Motor side  Description  Rectangular plug  Pin number  Signal name ...
  • Page 52 Wecon VD2 Series Servo Drives Manual (Full V2.4) Connector shape and terminal pin distribution  Motor flange  Encoder connected to a socket Pin number  Signal name  SD‐ Shield Battery+ Battery‐ Table 4‐11 Absolute value encoder cable connector (Aviation connector) Drive side J1394  Motor side  Description  Aviation plug  Pin number  Signal name  Cable color  pin number  Encoder +5v power...
  • Page 53 Wecon VD2 Series Servo Drives Manual (Full V2.4) Motor  Connector shape and terminal pin distribution  flange  Encoder socket Connector of encoder pinout Connect servo drive Pin number  Signal name  SD‐ Shield Battery+ Battery‐ Table 4‐13 Absolute encoder cable connector (in‐cable type)   Drive side J1394  Motor side  Description  In‐cable plug  Pin number ...
  • Page 54 Wecon VD2 Series Servo Drives Manual (Full V2.4) Connector shape and terminal pin distribution  Motor flange  Pin number  Signal name  SD‐ Shield Battery+ Battery‐ Table 4‐15 Absolute encoder cable connector (in‐cable type)   Drive side J1396  Motor side  Description  In‐cable plug  Pin number  Signal name  Cable color  pin number  Encoder +5V power White Encoder power ground...

  • Page 55: Servo Drive Control Input And Output Wiring

    Wecon VD2 Series Servo Drives Manual (Full V2.4) 4.4 Servo drive control input and output wiring 4.4.1 CN2 pin distribution (1) VD2A, VD2B and VD2C servo drive control input and output pin distribution (CN2 interface)  AI_1+ AI_2+ AI_2- AI_1- DO3- DO1- DO3+ DO1+ DO4- DO2- DO4+ DO2+ SIGN- SIGN+ PULS- PAO+ PAO- PULS+ PBO+ PBO- PZO+ PZO- Figure 4‐13 VD2A, VD2B and VD2C servo drive control input and output pin distribution Pin number ...
  • Page 56 Wecon VD2 Series Servo Drives Manual (Full V2.4) (2) VD2‐0xxSA1H drive control input and output pin distribution (CN2 interface)  DOCOM DOCOM DO3+ DO1+ DOCOM DOCOM DOCOM DO4+ DO2+ SIGN- SIGN+ PULS- PULS+ Figure 4‐14 VD2‐0xxSA1H servo drive control input and output pin distribution Pin number  Signal name  Pin number  Signal name  Pin number  Signal name ...
  • Page 57 Wecon VD2 Series Servo Drives Manual (Full V2.4) (3) VD2F and VD2L servo drive control input and output pin distribution (CN2 interface)  Figure 4‐15 VD2F and VD2L servo drive control input and output pin distribution Pin number  Signal name  Pin number  Signal name  Pin number  Signal name  PULS+ DOCOM PULS‐ SIGN+ SIGN‐ Table 4‐19 CN2 interface definition of VD2F and VD2L servo drive...
  • Page 58 Wecon VD2 Series Servo Drives Manual (Full V2.4) 4.4.2 Wiring diagram of each mode (1) VD2A, VD2B and VD2C servo drive  Analog torque mode wiring Analog torque mode wiring Analog speed mode wiring AI_1+ AI_1+ Analog torque Analog torque AI_1- AI_1- AI_2+ AI_2+ Analog external Analog external speed limit speed limit...
  • Page 59 Wecon VD2 Series Servo Drives Manual (Full V2.4) (2) VD2‐0xxSA1H servo drive  Position pulse mode wiring External +24V 2.2K 2.2K 100R PULS+ Pulse input PULS- 100R 2.2K 2.2K 100R SIGN+ Direction input 100R SIGN- DO1+ DOCOM External +24V DO2+ DOCOM DO3+ DOCOM...
  • Page 60 Wecon VD2 Series Servo Drives Manual (Full V2.4) (3) VD2F servo drive  Position pulse mode wiring External +24V 2.2k 2.2k 100R PULS+ Pulse input 100R P LS- 2.2k 2.2k 100R SIGN+ Direction input 100R SIGN- External +24V DOCOM Ground terminal is connected to connector shell Figure 4‐18 Position pulse mode wiring...
  • Page 61 Wecon VD2 Series Servo Drives Manual (Full V2.4) (4) VD2L servo drive  Figure 4‐19 Position pulse mode wiring ✎Note: Please refer to "4.4.1 Table 4‐19 CN2 interface definition of VD2F and VD2L servo drive" for the pin numbers in the figure. `` WECON technology Co., Ltd...
  • Page 62 Wecon VD2 Series Servo Drives Manual (Full V2.4) 4.4.3 Position instruction input signal Pin number  Signal  Functions  name  VD2A  VD2B  VD2C  VD2F  VD2L  Low‐speed pulse input modes: differential PULS+ input, open collector. There are three types of input pulse: PULS‐ Direction + pulse (positive logic)
  • Page 63 Wecon VD2 Series Servo Drives Manual (Full V2.4) Figure 4‐21 VD2F and VD2L servo drive differential input connection (2) Open collector input  1) Open collector input connection Figure 4‐22 VD2A, VD2B and VD2C servo drive open collector input connection Figure 4‐5 VD2F and VD2L servo drive open collector input connection...

  • Page 64: Analog Input Signal

    Wecon VD2 Series Servo Drives Manual (Full V2.4) 2) NPN and PNP wiring Servo drive External +24V Servo drive External +24V 2.2k 100R PULS+ 100R PULS+ 100R 100R PULS- PULS- 2.4K Figure 4‐24 Triode wiring 4.4.4 Analog input signal The analog input signal is only supported by VD2A, VD2B and VD2C servo drives.
  • Page 65 Wecon VD2 Series Servo Drives Manual (Full V2.4) 4.4.5 Digital input and output signals (1) VD2A, VD2B and VD2C servo drives  Pin number  Signal name  Default function  Servo enable Faults and alarms clearance Forward drive prohibited Reverse drive prohibited Inverted instruction Instruction pulse prohibited input Not used Not used Power input (24V) DO1‐...
  • Page 66 Wecon VD2 Series Servo Drives Manual (Full V2.4) 1) Digital input circuit ① When the control device (HMI/PLC) is relay output Figure 4‐26 Relay output ② When the control device (HMI/PLC) is open collector output Figure 4‐27 Open collector output `` WECON technology Co., Ltd...
  • Page 67 Wecon VD2 Series Servo Drives Manual (Full V2.4) 2) Digital output circuit  ① When the control device (HMI/PLC) is relay input Figure 4‐28 Relay input ② When the control device (HMI/PLC) is optocoupler input Figure 4‐29 Optocoupler input `` WECON technology Co., Ltd...
  • Page 68 Wecon VD2 Series Servo Drives Manual (Full V2.4) (2) VD2‐0xxSA1H servo drives  Pin number Signal name Default function Servo enable Fault and alarm clearance Forward drive prohibited Reverse drive prohibited Inverted command command pulse prohibited input Not used Not used Power input (24V) DO1+ Fault signal...
  • Page 69 Wecon VD2 Series Servo Drives Manual (Full V2.4) Servo Drive External +24V DO Power input 2.2K （Note 1） Optocoupler DO1+ 4/6/19/21/35 DOCOM （Note：Maximum current should less than 750mA） Figure 4‐31 Optocoupler input 2) The digital output circuit wiring of VD2‐0xxSA1H Servo Drive is different from that of VD2A and VD2F servo drives.
  • Page 70 Wecon VD2 Series Servo Drives Manual (Full V2.4) 1) Digital input circuit  ① When the control device (HMI/PLC) is relay output Figure 4‐32 Relay output `` WECON technology Co., Ltd...
  • Page 71 Wecon VD2 Series Servo Drives Manual (Full V2.4) ② When the control device (HMI/PLC) is open collector output   Figure 4‐33 Open collector output 2) Digital output circuit  ① When the control device (HMI/PLC) is relay input Figure 4‐34 Relay output `` WECON technology Co., Ltd...

  • Page 72: Brake Wiring

    Wecon VD2 Series Servo Drives Manual (Full V2.4) ② When the control device (HMI/PLC) is optocoupler input Figure 4‐35 Optocoupler input 4.4.6 Brake wiring The brake is a mechanism that prevents the servo motor shaft from moving when the servo drive is in a non‐running state, so that the motor remains in position lock, so that the moving part of the...
  • Page 73 Wecon VD2 Series Servo Drives Manual (Full V2.4) Motor Encoder Servo drive Brake DO Power input DO1+ +24V 0V Brake power DOCOM Figure 4‐37 Brake wiring of VD2‐0xxSA1H Motor Encoder Servo drive Brake +24V +24V 0V DOCOM Brake power Figure 4‐38 Brake wiring of VD2F and VD2L...

  • Page 74: Communication Signal Wiring

    Wecon VD2 Series Servo Drives Manual (Full V2.4) 4.5 Communication signal wiring Wecon VD2 series servo drive supports two communication modes: RS‐422 and RS‐485. The communication port is RJ45 socket. The exterior of communication terminal is shown in Figure 4‐. Figure 4‐39 Pin number of an RJ45 socket The communication modes supported by the driver communication ports are in the following table.
  • Page 75 Wecon VD2 Series Servo Drives Manual (Full V2.4) 4.5.1 Communication connection with servo host computer (RS422) Servo drives communicate with the host computer via RS422 communication. A USB to RS422 (RJ45 connector) cable is required for communication, and you need to equip it by yourselves. (1) VD2A&VD2B ...
  • Page 76 Wecon VD2 Series Servo Drives Manual (Full V2.4) (2) VD2F  VD2F servo drive communicates with the host computer via the CN3 or CN4 interface byRS422 communication. The communication diagrams of VD2F servo drive and host computer are shown in Figure 4-38.
  • Page 77 Wecon VD2 Series Servo Drives Manual (Full V2.4) 4.5.2 Communication connection with PLC and other device (RS485) VD2A, VD2B and VD2C servo drives communicate with PLC and other devices for Modbus via CN5 or CN6 interface (located on the top of servo drive) by RS485 communication. CN5&CN6  Pin ...

  • Page 78: Panel Composition

    Figure 5‐1 The exterior of VD2 A servo drive panel 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 79: Display Switching

    Table 5‐2 Status display example 5.2.3 Parameter display VD2 series servo drive is divided into 13 groups of function codes according to different parameter functions, which could quickly locate the position of function codes according to the function code groups. For specific parameters refer to “9 Parameters".
  • Page 80 Wecon VD2 Series Servo Drives Manual (Full V2.4) The parameter display is the display of different function codes. The format of the function code is “PXX.YY”. “PXX” indicates the group number of function code, and “YY” indicates the number within the function code group.

  • Page 81: Fault Display

    Wecon VD2 Series Servo Drives Manual (Full V2.4) For example: ‐2147483647 is displayed as follows: Figure 5‐4 ‐2147483647 display operation (3) Decimal point display  The "." of the one‐digit indicates the decimal point, and it does not flash. The example is as follows.

  • Page 82: Monitor Display

    Wecon VD2 Series Servo Drives Manual (Full V2.4) 5.2.5 Monitor display After the servo drive is powered on or the servo enable is ON, you can press the "Mode" key to enter the monitor display mode. Monitoring  Display  Name  Unit  Meaning  volume ...

  • Page 83: Panel Operation

    Wecon VD2 Series Servo Drives Manual (Full V2.4) 5.3 Panel operation 5.3.1 Parameter setting Use the servo drive panel to set the parameters. For details about the parameters, please refer to " Parameters". Take P00.01 as an example to set the parameters to change the control mode of the servo drive from position control mode to speed control mode.

  • Page 84: Jog Operation

    Wecon VD2 Series Servo Drives Manual (Full V2.4) 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 5‐6. Illustrate:  ① Adjust the function code to P10.01 after power on.

  • Page 85: Factory Reset

    Wecon VD2 Series Servo Drives Manual (Full V2.4) 5.3.3 Factory reset The factory settings can be restored through the servo drive panel. The specific operation steps are shown in Figure 5‐7. Illustrate:  ① After power on, modify the function code to P10.02.

  • Page 86: Basic Settings

    Wecon VD2 Series Servo Drives Manual (Full V2.4) 6. Operation 6.1 Basic settings 6.1.1 Check before operation No.  Content  Wiring The main circuit input terminals (L1, L2 and L3) of servo drive must be properly connected. The main circuit output terminals (U, V and W) of servo drive and the main circuit cables (U, V and W) of servo motor must have the same phase and be properly connected.

  • Page 87: Rotation Direction Selection

    For operation and display, please refer to (2) Jog operation of servo debugging platform  Open the jog operation interface of the software “Wecon SCTool”, set the jog speed value in the "set speed" in the "manual operation", click the "servo on" button on the interface, and then achieve the jog forward and reverse function through the "forward rotation"...
  • Page 88 Wecon VD2 Series Servo Drives Manual (Full V2.4) and forced air cooling; (cannot be set) 3: No braking resistor is used; it is all absorbed by capacitor. ✎Note:  VD2‐010SA1G, VD2F‐003SA1P, VD2F‐010SA1P and VD2L‐010SA1P drives have no built‐in resistor by default, so the default value of the function code “P00‐09” is 3 (No braking resistor is used, it is all absorbed by capacitor).
  • Page 89 Wecon VD2 Series Servo Drives Manual (Full V2.4) 6.1.7 Servo shutdown According to the different shutdown modes, it could be divided into free shutdown and zero speed Table 6-5. According to the shutdown status, shutdown. The respective characteristics are shown in Table 6-6.
  • Page 90 Wecon VD2 Series Servo Drives Manual (Full V2.4) 5. Servo enable turns off and stops and decelerates to zero speed. Function  Setting  Effective  Name  Default  Range  Definition  Unit  code  method  time  The time for the speed Shutdown immediately P01‐05 Shutdown deceleration time...
  • Page 91 Wecon VD2 Series Servo Drives Manual (Full V2.4) Setting  Effective  Function  Default  Name  Range  Definition  Unit  code  value  method  time  0: OFF (not used) 01: S‐ON servo enable 02: A‐CLR fault and Warning Clear 03: POT forward drive prohibition 04: NOT Reverse drive...
  • Page 92 Wecon VD2 Series Servo Drives Manual (Full V2.4) 0 off (not used) 01: SON Servo enable 02: A‐CLR Fault and Warning Clear 03: POT Forward drive prohibition 04: NOT Reverse drive prohibition 05: ZCLAMP Zero speed 06: CL Clear deviation counter 07: C‐SIGN Inverted instruction...
  • Page 93 Wecon VD2 Series Servo Drives Manual (Full V2.4) 6.1.8 Brake device The brake is a mechanism that prevents the servo motor shaft from moving when the servo drive is in a non‐operating state, and keeps the motor locked in position, so that the moving part of the machine will not move due to its own weight or external force.
  • Page 94 Wecon VD2 Series Servo Drives Manual (Full V2.4) Effective  DO function  Function name  Function  code  time  BRK‐OFF Power‐on Output the signal indicates the servo motor brake release Brake output again Table 6‐10 Relevant function codes for brake setting Setting  Effective  Function  Default ...
  • Page 95 Wecon VD2 Series Servo Drives Manual (Full V2.4) 1) Brake timing when servo motor is stationary When the servo enables changes from ON to OFF, if the actual motor speed is lower than20 rpm, the servo drive will act according to the static brake sequence. The specific sequence action is Figure 6-3 ...
  • Page 96 Wecon VD2 Series Servo Drives Manual (Full V2.4) Servo enable ①Delay from servo enable OFF Motor power supply to brake output OFF 50ms ② Delay from brake signal ON/ Brake signal ① OFF to brake action ② ON（brake open） P01-33 ③...

  • Page 97: Position Control Mode

    Speed calculation Frequency division output Encoder frequency division output Encoder Figure 6‐6 Position control diagram Set “P00‐01” to 1 by the software “Wecon SCTool”, and the servo drive is in position control mode. Setting  Effective  Function  Default  Name  Range  Definition ...
  • Page 98 VD2F and VD2L servo drive Figure 6‐7 Position instruction input setting VD2 series servo drive has a set of pulse input terminals to receive the input of position pulse (via the CN2 terminal). The position pulse mode connection is shown in Figure 6‐7.
  • Page 99 Wecon VD2 Series Servo Drives Manual (Full V2.4) Figure 6‐9 Open collector input connection ✎Note:  The differential input connection of the VD2F and VD2L drive differs only from the signal pin number. Please refer to “4.4.3 position instruction input signal”...
  • Page 100 Table 6‐15 VD2L Position pulse frequency and anti‐interference level parameters 3) Position pulse type selection In VD2 series servo drives, there are three types of input pulse instructions, and the related function codes are shown in the table below. Setting ...
  • Page 101 Table 6‐17 Pulse description (2) The source of position instruction is internal position instruction (P01‐06=1)  The VD2 series servo drive has a multi‐segment position operation function, which supports maximum 16‐segment instructions. The displacement, maximum operating speed (steady‐state operating speed) and acceleration/deceleration time of each segment could be set separately. The waiting time between positions could also be set according to actual needs.
  • Page 102 1: Absolute position instruction Table 6‐18 multi‐segment position running mode parameters VD2 series servo drive has three multi‐segment position running modes, and you could select the best running mode according to the site requirements. ① Single run `` WECON technology Co., Ltd...
  • Page 103 Wecon VD2 Series Servo Drives Manual (Full V2.4) In this running mode, the segment number is automatically incremented and switched, and the servo drive only operates for one round (the servo drive runs completely once for the total number of multi‐segment position instructions set by P07‐02 and P07‐03). The single run curve is shown in...
  • Page 104 Note: INPOS is internal multi‐segment position segment selection Figure 6‐14 DI switching running curve VD2 series servo drives have two margin processing methods: run the remaining segments and run from the start segment again. The related function code is P07‐04. A. Run the remaining segments ...
  • Page 105 Wecon VD2 Series Servo Drives Manual (Full V2.4) In this processing way, the multi‐segment position instruction enable is OFF during running, the servo drive will abandon the unfinished displacement part and shutdown, and the positioning completion signal will be valid after the shutdown is complete. When the multi‐segment position enable is ON, and the servo drive will start to run from the next segment where the OFF occurs.

  • Page 106: Appendix

    Figure 6‐18 Cyclic running‐run from the start segment again (P07‐02=1, P07‐03=4) VD2 series servo drives have two types of displacement instructions: relative position instruction and absolute position instruction. The related function code is P07‐05. A. Relative position instruction The relative position instruction takes the current stop position of the motor as the start point and specifies the amount of displacement.
  • Page 107 Wecon VD2 Series Servo Drives Manual (Full V2.4) Speed Position Time Displacement Time Figure 6‐21 Absolute indication Figure 6‐22 Displacement 2) Multi‐segment position running curve setting The multi‐segment position running supports maximum 16 segments different position instructions. The displacement, maximum running speed (steady‐state running speed), acceleration and deceleration time of each position and the waiting time between segment could all be set.

  • Page 108: Electronic Gear Ratio

    Wecon VD2 Series Servo Drives Manual (Full V2.4) After setting the above parameters, the actual operation curve of the motor is shown in Figure 6‐23 Motor speed Displacement of 1st segment Maximum speed P7‐9 of 1st segment P7‐10 Time Acceleration and...
  • Page 109 Wecon VD2 Series Servo Drives Manual (Full V2.4) meet the formula (6‐2), setting range of the electronic gear ratio of 23‐bit encoder should meet the formula (6‐3) 0.01＜ ＜100 (6‐1) 0.001＜ ＜500 (6‐2) 0.001＜ 32000 (6‐3) Otherwise, the servo drive will report Er.35: "Electronic gear ratio setting exceeds the limit"! (2) Setting steps of electronic gear ratio ...
  • Page 110 Wecon VD2 Series Servo Drives Manual (Full V2.4) of one motor rotation is 0. VD2L: 1‐2147483647 Set the numerator of the 2nd group electronic gear ratio for position instruction frequency Electronic Operation Effective 1 to division or multiplication. P00‐19 gear 2 ‐...
  • Page 111 Wecon VD2 Series Servo Drives Manual (Full V2.4) Position Input position instruction instruction Average filtering 1st order filtering Time Figure 6‐25 Position instruction filtering diagram Setting  Effective  Function  Default  Name  Range  Definition  Unit  code  value  method  time  0: 1st‐order low‐pass...
  • Page 112 Wecon VD2 Series Servo Drives Manual (Full V2.4) Position Position feedback deviation Positioning completion signal P‐COIN OFF: DO signal is invalid ON: DO signal is valid Positioning completion threshold Time Figure 6‐26 Positioning completion signal output diagram When using the positioning completion or approach function, you could also set positioning completion, positioning approach conditions, window and hold time.
  • Page 113 PLC without conversion through differential to collector circuit board. However, the pulse frequency division output used by VD2 series is a differential signal, which needs to pass through differential to collector circuit board to be connected to the high‐speed pulse input of PLC.
  • Page 114 Wecon VD2 Series Servo Drives Manual (Full V2.4) Parameter  Setting  Set  Application  Effective time  Default  Unit  name  method  range  category  P06‐28  DO_2 channel Operation Effective function 128‐148 DI/DO ‐ setting immediately selection Used to set DO functions corresponding to hardware DO2. Refer to the following table for the functions corresponding to the set value: Setting ...
  • Page 115 Wecon VD2 Series Servo Drives Manual (Full V2.4) Setting  Set  Application  Parameter name  Effective time  Default  Unit  method  range  category  P06‐30  DO_3 channel Operation Effective 128‐148 DI/DO ‐ function selection setting immediately Used to set DO functions corresponding to hardware DO3. Refer to the following table for the functions corresponding to the set value: Setting ...
  • Page 116 Wecon VD2 Series Servo Drives Manual (Full V2.4) Setting  Effective  Application  Parameter name  Default  Set range  Unit  method  time  category  P06‐32  DO_4 channel function Operation Effective 128‐148 DI/DO ‐ selection setting immediately Used to set DO functions corresponding to hardware DO4. Refer to the following table for the functions corresponding to the set value: Setting ...

  • Page 117: Speed Control Mode

    Speed instruction comes from internal instruction, and the internal speed instruction is given by a number. VD2 series servo drive has internal multi‐segment speed running function. There are 8 segments speed instructions stored in servo drive, and the speed of each segment could be set individually.
  • Page 118 Wecon VD2 Series Servo Drives Manual (Full V2.4) Setting  Effective  Function  Default  Name  Range  Definition  Unit  code  value  method  time  Internal speed instruction 0 When DI input port: Internal 15‐INSPD3: 0 speed Operation Effective ‐5000 P01‐02 14‐INSPD2: 0 Instruction setting...
  • Page 119 Wecon VD2 Series Servo Drives Manual (Full V2.4) 13‐INSPD1: 1, Select this speed instruction to be effective. Table 6‐29 Internal speed instruction parameters DI function  Function  function name  code  Form internal multi‐speed running segment INSPD1 internal speed instruction selection 1 number Form internal multi‐speed running segment...
  • Page 120 Wecon VD2 Series Servo Drives Manual (Full V2.4) (2) Speed instruction source is internal speed instruction (P01‐01=1)  The servo drive processes the analog voltage signal output by the host computer or other equipment as a speed instruction. VD2A and VD2B series servo drives have 2 analog input channels: AI_1 and AI_2.
  • Page 121 Wecon VD2 Series Servo Drives Manual (Full V2.4) Speed Speed instruction curve without bias Speed instruction curve after bias Speed value corresponding to +10V -10V +10V Voltage Dead zone Bias Figure 6‐32 AI_1 diagram before and after bias Function  Setting ...
  • Page 122 Wecon VD2 Series Servo Drives Manual (Full V2.4) Motor actual speed Speed Time Actual acceleration time Actual deceleration time Figure 6‐33 of acceleration and deceleration time diagram speed instructio  accelerati on time Actual acceleration time T1 = 1000 speed instructio ...
  • Page 123 Wecon VD2 Series Servo Drives Manual (Full V2.4) 6.3.4 Zero‐speed clamp function The zero speed clamp function refers to the speed control mode, when the zero speed clamp signal (ZCLAMP) is valid, and the absolute value of the speed instruction is lower than the zero speed clamp speed threshold (P01‐22), the servo motor is at In locked state, the servo drive is in position...
  • Page 124 Wecon VD2 Series Servo Drives Manual (Full V2.4) actual rotation speed of the servo motor is less than P05‐16, it is considered that the motor is not rotating. Speed Motor actual speed Rotation detection Signal TGON Rotation detection threshold (CW)
  • Page 125 Wecon VD2 Series Servo Drives Manual (Full V2.4) Motor actual speed Speed Zero speed output signal ZSP Zero speed detection threshold (CW) Time Zero speed detection threshold (CCW) Figure 6‐36 Zero‐speed signal diagram To use the motor zero‐speed signal output function, a DO terminal of servo drive should be assigned to function 133 (ZSP, zero‐speed signal).
  • Page 126 Wecon VD2 Series Servo Drives Manual (Full V2.4) 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 Table 6-38...

  • Page 127: Torque Control Mode

    Wecon VD2 Series Servo Drives Manual (Full V2.4) 6.4 Torque control mode The current of the servo motor has a cablear relationship with the torque. Therefore, the control of the current can realize the control of the torque. Torque control refers to controlling the output torque of the motor through torque instructions.
  • Page 128 Wecon VD2 Series Servo Drives Manual (Full V2.4) AI_1+ A n a lo g to rq u e in p u t AI_1- A /D AI_2+ A n a lo g to rq u e lim it AI_2- Figure 6‐40 Analog input circuit Taking AI_1 as an example, the method of setting torque instruction of analog voltage is as below.
  • Page 129 Wecon VD2 Series Servo Drives Manual (Full V2.4) Function  Setting  Effective  Default  Name  Range  Definition  Unit  code  method  time  value  AI_1 input Operation Effective Set AI_1 channel ★ ‐5000 to 5000 P05‐01 bias setting immediately analog bias value AI_1 input...
  • Page 130 Wecon VD2 Series Servo Drives Manual (Full V2.4) limit value of torque instruction. Otherwise, it is equal to the torque instruction value input by host computer. At any time, there is only one valid torque limit value. And the positive and negative torque limit values do not exceed the maximum torque of drive and motor and ±300.0% of the rated torque.
  • Page 131 Wecon VD2 Series Servo Drives Manual (Full V2.4) (2) Set torque limit DO signal output  When torque instruction reaches the torque limit value, the drive outputs a torque limit signal (T‐LIMIT) for the host computer use. At this time, one DO terminal of the drive should be assigned to function 139 (T‐LIMIT, in torque limit) , and confirm that the terminal logic is valid.
  • Page 132 Wecon VD2 Series Servo Drives Manual (Full V2.4) Torque Actual torque Torque reaches the reference value Time Hysteresis difference Negative torque reaches the reference value Figure 6‐47 Torque arrival output diagram To use the torque arrival function, a DO terminal of the servo drive should be assigned to function 138 (T‐COIN, torque arrival).

  • Page 133: Mixed Control Mode

    Mixed control mode means that when the servo enable is ON and the status of the servo drive is "run", the mode of the servo drive could be switched between different modes. The VD2 series servo drives have the following 3 mixed control modes: Position mode ...

  • Page 134: Absolute System

    At this time, the absolute encoder is only as a single‐turn system function and does not need to be connected to the battery. The types and information of encoders adapted to VD2 series servo drives are shown as below. Encoder type ...
  • Page 135 The types and information of encoders adapted to VD2 series servo drives are shown as below. Encoder type ...
  • Page 136 Table 6‐57 Encoder feedback data (2) Shielded multi‐turn absolute encoder battery fault VD2 series absolute value servo drive provides shielded multi‐turn absolute encoder battery fault function to shield under voltage and low‐voltage fault. You could set by setting the function code P00‐30.
  • Page 137 Wecon VD2 Series Servo Drives Manual (Full V2.4) low voltage failure and multi‐turn absolute value encoder battery under temperature failure are very likely to cause mechanical failure, please use it carefully! This function is permitted when a multi‐turn absolute encoder motor is used as a single‐turn absolute and when it is confirmed that no mechanical failure will occur.
  • Page 138 Wecon VD2 Series Servo Drives Manual (Full V2.4) ① Step1 Push open the buckles on both ends of the outer cover of the battery compartment and open the outer cover. ② Step2 Remove the old battery. ③ Step3 Embed the new battery, and the battery plug wire according to the anti‐dull port on the battery box for placement.
  • Page 139 Wecon VD2 Series Servo Drives Manual (Full V2.4)  After the replacement of the battery, please dispose of it according to local laws and regulations. `` WECON technology Co., Ltd...

  • Page 140: Other Functions

    Wecon VD2 Series Servo Drives Manual (Full V2.4) 6.7 Other functions 6.7.1 VDI VDI (Virtual Digital Signal Input Port) is similar to hardware DI terminal. The DI function could also be assigned for use. ✎Note: If multiple VDI terminals are configured with the same non‐zero DI function, servo drive  will occur an error “A‐89” (DI port configuration is duplicate).  Take the VDI_1 terminal assignment forward drive prohibition (03‐POT) as an example, and the use steps of VDI are as the figure below.
  • Page 141 Wecon VD2 Series Servo Drives Manual (Full V2.4) When P06‐16 is set to 1, DI_5 channel logic is control by this Virtual Operation Effective function code. P13‐05 ★ VDI_5 0 to 1 ‐ setting immediately VDI_5 input level: input value...
  • Page 142 Wecon VD2 Series Servo Drives Manual (Full V2.4) 6.7.3 VDO In addition to being an internal hardware output port, DO terminal is also used as a communication VDO. The communication control DO function could help you to achieve communication control DO output on the servo drive.

  • Page 143: Motor Overload Protection

    Wecon VD2 Series Servo Drives Manual (Full V2.4) 6.7.4 Motor overload protection VD2 Series absolute encoder (VD2SA) servo drive provides motor overload protection to prevent motor burning due to high temperature. By setting function code P10‐04 to modify motor overload alarm (A‐82) and motor overload protection fault time (Er.34). The default value of P10‐04 is 100%.

  • Page 144: Homing Mode (Hm)

    Wecon VD2 Series Servo Drives Manual (Full V2.4) 6.8 Homing Mode (HM) The homing mode is used to find the mechanical origin and locate the positional relationship between the mechanical origin and the mechanical zero. Mechanical origin: A fixed position on the machine can correspond to a certain origin switch or motor Z signal.

  • Page 145: Introduction To Homing Mode

    Wecon VD2 Series Servo Drives Manual (Full V2.4) The speed of the high‐speed Homing Operation Effective 1 to P01‐41 search deceleration point high speed setting immediately 3000 signal in the homing mode The speed of the low‐speed Homing Operation Effective 1 to P01‐42...
  • Page 146 Wecon VD2 Series Servo Drives Manual (Full V2.4) When the motor starts to move, NOT=0, the servo motor run in the high‐speed in reverse direction until it meets the rising edge of NOT, it decelerates and reverses the direction, runs at a low speed in the forward direction, and stops at the first Z signal after encountering the falling edge of NOT.
  • Page 147 Wecon VD2 Series Servo Drives Manual (Full V2.4) When the motor starts to move and POT = 0, the servo motor run in the high‐speed ins forward direction until it meets the rising edge of POT, it decelerates and reverses, runs at a reverse low speed, and stops at the first Z signal after encountering the falling edge of POT.
  • Page 148 Wecon VD2 Series Servo Drives Manual (Full V2.4) reverse low speed. After encountering the falling edge of HW, it continues to run, and then stops when encountering the first Z signal. ② The deceleration point signal is valid when starting homing When the motor starts to home and HW=1, it directly starts to move at low speed in the reverse direction, and stops at the first Z signal after encountering the falling edge of HW.
  • Page 149 Wecon VD2 Series Servo Drives Manual (Full V2.4) ② The deceleration point signal is valid when starting homing The motor starts to move and HW = 1, It starts to move at a high speed in the reverse direction. After encountering the falling edge of HW, It decelerates and reverses, runs at a low speed in the forward direction, and stops at the first Z signal after encountering the rising edge of HW.
  • Page 150 Wecon VD2 Series Servo Drives Manual (Full V2.4) ② The deceleration point signal is valid when starting homing When the motor starts to home and HW=1, it directly starts to move at low speed in the forward direction, and stops at the first Z signal after encountering the falling edge of HW.
  • Page 151 Wecon VD2 Series Servo Drives Manual (Full V2.4) ② The deceleration point signal is valid when starting homing When the motor starts to home and HW = 1, it starts to move at a forward high speed. After encountering the falling edge of HW, it decelerates and reverses the direction, runs at a reverse low speed, and stops at the first Z signal after encountering the rising edge of HW.
  • Page 152 Wecon VD2 Series Servo Drives Manual (Full V2.4) and reverses the direction, and runs at a reverse low speed, and stops at the first Z signal after encountering the rising edge of HW. ②When homing, the deceleration point signal is invalid and the forward limit switch is encountered When the motor starts to home and HW = 0, it starts to move at a forward high speed.
  • Page 153 Wecon VD2 Series Servo Drives Manual (Full V2.4) When the motor starts to home and HW=1, it directly starts to move at low speed in the reverse direction, and stops at the first Z signal after encountering the falling edge of HW.
  • Page 154 Wecon VD2 Series Servo Drives Manual (Full V2.4) When the motor starts to home and HW = 0, it starts to move at a forward high speed. If the limit switch is encountered, it will reverse and run at a reverse high speed. After encountering the rising edge of HW, it decelerates and runs at a reverse low speed.
  • Page 155 Wecon VD2 Series Servo Drives Manual (Full V2.4) (9) P01‐40=9  Mechanical origin: Motor Z signal Deceleration point: Home switch (HW) ① The deceleration point signal is invalid when starting homing, the forward limit switch is not encountered When the motor starts to home and HW = 0, it starts to move at a forward high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and runs at a forward low speed.
  • Page 156 Wecon VD2 Series Servo Drives Manual (Full V2.4) When the motor starts to home and HW = 0, it starts to move at a forward high speed. If the limit switch is encountered, it will reverse and run at a reverse high speed. After encountering the rising edge of HW, it decelerates and runs at a forward low speed.
  • Page 157 Wecon VD2 Series Servo Drives Manual (Full V2.4) When the motor starts to home and HW=1, it directly starts to move at low speed in the forward direction. After encountering the falling edge of HW, it reverses and runs at a reverse low speed, and stops at the first Z signal after encountering the rising edge of HW;...
  • Page 158 Wecon VD2 Series Servo Drives Manual (Full V2.4) When the motor starts to home and HW = 0, it starts to move at a forward high speed. If the limit switch is encountered, it will reverse and run at a reverse high speed. After encountering the rising edge of HW, it decelerates and runs at a forward low speed.
  • Page 159 Wecon VD2 Series Servo Drives Manual (Full V2.4) (11) P01‐40=11  Mechanical origin: Motor Z signal Deceleration point: Home switch (HW) ① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered When the motor starts to home and HW = 0, it starts to move at a reverse high speed. If...
  • Page 160 Wecon VD2 Series Servo Drives Manual (Full V2.4) When the motor starts to home and HW = 0, it starts to move at a reverse high speed. If the limit switch is encountered, it will reverse and run at a forward high speed. After encountering the rising edge of HW, it decelerates and runs at a forward low speed, and stops at the first Z signal after encountering the falling edge of HW.
  • Page 161 Wecon VD2 Series Servo Drives Manual (Full V2.4) (12) P01‐40=12  Mechanical origin: Motor Z signal Deceleration point: Home switch (HW) ① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered When the motor starts to home and HW = 0, it starts to move at a reverse high speed. If...
  • Page 162 Wecon VD2 Series Servo Drives Manual (Full V2.4) When the motor starts to home and HW = 0, it starts to move at a reverse high speed. If the limit switch is encountered, it will reverse and run at a forward high speed. After encountering the rising edge of HW, it decelerates and runs at a forward low speed.
  • Page 163 Wecon VD2 Series Servo Drives Manual (Full V2.4) When the motor starts to home and HW=1, it directly starts to move at low speed in the forward direction. After encountering the falling edge of HW, it reverses and runs at a reverse low speed, and stops at the first Z signal after encountering the rising edge of HW.
  • Page 164 Wecon VD2 Series Servo Drives Manual (Full V2.4) When the motor starts to home and HW = 0, it starts to move at a reverse high speed. If the limit switch is encountered, it will reverse and run at a forward high speed. After encountering the rising edge of HW, it decelerates and runs at a reverse low speed.
  • Page 165 Wecon VD2 Series Servo Drives Manual (Full V2.4) When the motor starts to home and HW=1, it directly starts to move at low speed in the reverse direction. After encountering the falling edge of HW, it reverses and runs at a forward low speed, and stops at the first Z signal after encountering the rising edge of HW.
  • Page 166 Wecon VD2 Series Servo Drives Manual (Full V2.4) When the motor starts to home and HW = 0, it starts to move at a reverse high speed. If the limit switch is encountered, it will reverse and run at a forward high speed. After encountering the rising edge of HW, it decelerates and runs at a reverse low speed, and stops at the first Z signal after encountering the falling edge of HW.
  • Page 167 Wecon VD2 Series Servo Drives Manual (Full V2.4) (15) P01‐40=17  Mechanical origin: Negative overtravel switch (NOT) Deceleration point: Negative overtravel switch (NOT) ① The deceleration point signal is invalid when starting homing When the motor starts to home and NOT = 0, it starts to move at a reverse high speed.
  • Page 168 Wecon VD2 Series Servo Drives Manual (Full V2.4) When the motor starts to home and POT = 0, it starts to move at a forward high speed. After encountering the rising edge of POT, it decelerates and runs at a reverse low speed, and stops after encountering the falling edge of POT.
  • Page 169 Wecon VD2 Series Servo Drives Manual (Full V2.4) When the motor starts to home and HW = 0, it starts to move at a forward high speed. After encountering the rising edge of HW, it decelerates and runs at a reverse low speed, and stops after encountering the falling edge of HW.
  • Page 170 Wecon VD2 Series Servo Drives Manual (Full V2.4) When the motor starts to home and HW =0, it directly starts to move at low speed in the forward direction, and stops after encountering the rising edge of HW. ② The deceleration point signal is valid when starting homing When the motor starts to home and HW = 1, it starts to move at a reverse high speed.
  • Page 171 Wecon VD2 Series Servo Drives Manual (Full V2.4) When the motor starts to home and HW = 0, it starts to move at a reverse high speed. After encountering the rising edge of HW, it decelerates and runs at a forward low speed, and stops after encountering the falling edge of HW.
  • Page 172 Wecon VD2 Series Servo Drives Manual (Full V2.4) When the motor starts to home and HW =0, it directly starts to move at low speed in the reverse direction, and stops after encountering the rising edge of HW. ②Deceleration point signal is valid when homing start When the motor starts to home and HW = 1, it starts to move at a forward high speed.
  • Page 173 Wecon VD2 Series Servo Drives Manual (Full V2.4) When the motor starts to home and HW = 0, it starts to move at a forward high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and runs at a reverse low speed, and stops after encountering the falling edge of HW.
  • Page 174 Wecon VD2 Series Servo Drives Manual (Full V2.4) When the motor starts to home and HW = 0, it starts to move at a forward high speed. If the limit switch is encountered, it will reverse and run at a reverse high speed. After encountering the rising edge of HW, it decelerates and runs at a reverse low speed, and stops after encountering the falling edge of HW.
  • Page 175 Wecon VD2 Series Servo Drives Manual (Full V2.4) and runs at a reverse low speed After encountering the falling edge of HW, it reverses and runs at a forward low speed, and stops after encountering the rising edge of HW.
  • Page 176 Wecon VD2 Series Servo Drives Manual (Full V2.4) When the motor starts to home and HW=1, it directly starts to move at low speed in the reverse direction. After encountering the falling edge of HW, it reverses and runs at a forward low speed, and stops after encountering the rising edge of HW.
  • Page 177 Wecon VD2 Series Servo Drives Manual (Full V2.4) When the motor starts to home and HW = 0, it starts to move at a forward high speed. If the limit switch is encountered, it will reverse and run at a reverse high speed. After encountering the rising edge of HW, it decelerates and runs at a forward low speed.
  • Page 178 Wecon VD2 Series Servo Drives Manual (Full V2.4) When the motor starts to home and HW = 0, it starts to move at a forward high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and runs at a forward low speed, and stops after encountering the falling edge of HW.
  • Page 179 Wecon VD2 Series Servo Drives Manual (Full V2.4) (25) P01‐40=27  Mechanical origin: Home switch (HW) Deceleration point: Home switch (HW) ① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered When the motor starts to home and HW = 0, it starts to move at a reverse high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and runs at a forward low speed, and stops after encountering the falling edge of HW.
  • Page 180 Wecon VD2 Series Servo Drives Manual (Full V2.4) encountering the rising edge of HW, it decelerates and runs at a forward low speed, and stops after encountering the falling edge of HW. ③ The deceleration point signal is valid when starting homing When the motor starts to home, HW=1, it directly starts to move at low speed in the forward direction, and stops after encountering the falling edge of HW.
  • Page 181 Wecon VD2 Series Servo Drives Manual (Full V2.4) When the motor starts to home and HW = 0, it starts to move at a reverse high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and runs at a forward low speed.
  • Page 182 Wecon VD2 Series Servo Drives Manual (Full V2.4) When the motor starts to home and HW=1, it directly starts to move at low speed in the forward direction. After encountering the falling edge of HW, it reverses and runs at a reverse low speed, and stops after encountering the rising edge of HW.
  • Page 183 Wecon VD2 Series Servo Drives Manual (Full V2.4) When the motor starts to home and HW = 0, it starts to move at a reverse high speed. If the limit switch is encountered, it will reverse and run at a forward high speed. After encountering the rising edge of HW, it decelerates and runs at a reverse low speed.
  • Page 184 Wecon VD2 Series Servo Drives Manual (Full V2.4) (28) P01‐40=30  Mechanical origin: Home switch (HW) Deceleration point: Home switch (HW) ① The deceleration point signal is invalid when starting homing, the reverse limit switch is not encountered When the motor starts to home and HW = 0, it starts to move at a reverse high speed. If the limit switch is not encountered, after encountering the rising edge of HW, it decelerates and runs at a reverse low speed, and stops after encountering the falling edge of HW.
  • Page 185 Wecon VD2 Series Servo Drives Manual (Full V2.4) When the motor starts to home and HW = 0, it starts to move at a reverse high speed. If the limit switch is encountered, it will reverse and run at a forward high speed. After encountering the rising edge of HW, it decelerates and runs at a reverse low speed, and stops after encountering the falling edge of HW.

  • Page 186: Overview

    Wecon VD2 Series Servo Drives Manual (Full V2.4) 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 187: Inertia Recognition

    Wecon VD2 Series Servo Drives Manual (Full V2.4) The gain adjustment process description is shown in the table below. Detailed  Gain adjustment process  Function  chapter  Use the host computer debugging platform software matched with the drive to automatically identify the load Oncable inertia recognition inertia ratio.
  • Page 188 Wecon VD2 Series Servo Drives Manual (Full V2.4) number of inertia recognition circles P03‐05, otherwise the maximum speed of inertia recognition P03‐06 should be appropriately reduced. During the automatic load inertia recognition process, if vibration occurs, the load inertia recognition should be stopped immediately.

  • Page 189: Gain Adjustment

    Wecon VD2 Series Servo Drives Manual (Full V2.4) The related function codes are shown in the table below. Setting  Effective  Function  Default  Name  Range  Definition  Unit  code  value  method  time  Load inertia Operation Effective 100 to Set load inertia ratio, 0.00 P03‐01...
  • Page 190 ① Confirm that the servo is in the ready state, the panel displays “rdy”, and the communication cable is connected; ② Open the Wecon SCTool, go to the "Debugging" interface, enter the trial run interface, set the corresponding parameters, and click "Servo on";...

  • Page 191: Manual Gain Adjustment

    Wecon VD2 Series Servo Drives Manual (Full V2.4) parameter setting 2: Oncable automatic parameter self‐adjusting mode (Not implemented yet) Table 7‐4 Details of self‐adjusting mode selection parameters 7.3.2 Manual gain adjustment When the servo automatic gain adjustment fails to achieve the desired result, you can manually fine‐tune the gain to achieve better results.
  • Page 192 Wecon VD2 Series Servo Drives Manual (Full V2.4) Setting  Effective  Function  Default  Name  Range  Definition  Unit  code  value  method  time  Set speed loop proportional Operation Effective 0 to P02‐02 speed gain to determine the 0.1Hz setting immediately 35000 loop gain responsiveness of speed loop.
  • Page 193 Wecon VD2 Series Servo Drives Manual (Full V2.4) Set position loop proportional Operation Effective 0 to gain to determine the P02‐01 position 0.1Hz setting immediately 6200 responsiveness of position loop gain control system. Set position loop proportional Operation Effective 0 to gain to determine the P02‐04...
  • Page 194 Wecon VD2 Series Servo Drives Manual (Full V2.4) Actual speed Speed instruction Increase P02‐02 Increase P02‐09 Increase P02‐01 Figure 7‐6 Speed feedforward parameters effect illustration Function  Name  Adjustment description code  Torque feedforward Increase the torque feedforward gain because the position deviation can P02‐11...
  • Page 195 Wecon VD2 Series Servo Drives Manual (Full V2.4) 4. Adjust the P2‐21 model tracking control gain from small to large, and gradually increase in steps of 1000 until the responsiveness of the system meets the actual demand. The responsiveness of the system is mainly determined by this parameter.

  • Page 196: Gain Switching

    Wecon VD2 Series Servo Drives Manual (Full V2.4) The size of the Model tracking speed control speed Operation Effective 0 to P2‐25 1000 feedforward 0.10% feedforward setting immediately 10000 under model compensation tracking control Please refer to the following for an example of the procedure of adjusting servo gain.
  • Page 197 Wecon VD2 Series Servo Drives Manual (Full V2.4) Figure 7‐8 ② When P02‐07=1 The switching conditions can be set through parameter P02‐08 to realize switching between the first gain (P02‐01~P02‐03) and the second gain (P02‐04~P02‐06). Figure 7‐9 Flow chart of gain switching when P02‐07=1...
  • Page 198 Wecon VD2 Series Servo Drives Manual (Full V2.4) P02‐08 Content Diagram  Fixed use of the first ‐‐ gain Switching with DI ‐‐ Large torque command Large actual torque Large speed command (Continued on next page) `` WECON technology Co., Ltd...
  • Page 199 Wecon VD2 Series Servo Drives Manual (Full V2.4) P02‐08  Content  Diagram  Fast actual speed Speed command change rate is large Large position deviation Position command (Continued on next page) `` WECON technology Co., Ltd...
  • Page 200 Wecon VD2 Series Servo Drives Manual (Full V2.4) Positioning completed Position command + Refer to the chart below actual speed Pulse Second gain First gain(Stationary state) command (Operation state) No pulse command |Actual speed| < (switching grade- Duration delay time switching hysteresis）...
  • Page 201 Wecon VD2 Series Servo Drives Manual (Full V2.4) Parameter  Setting  Set  Application  Effective time Default Unit name method range category P02‐08 Gain switching Operation Effective condition 0 to 10 Gain control setting immediately selection Set the conditions for gain switching. Setting...
  • Page 202 Wecon VD2 Series Servo Drives Manual (Full V2.4) In the previous first gain, when the absolute value of position deviation is greater than (grade + hysteresis), the second gain is switched; Large position In the previous second gain, switch to the first gain when the...
  • Page 203 Wecon VD2 Series Servo Drives Manual (Full V2.4) two conditions of grade and hysteresis. Parameter  Setting  Effective  Set  Application  Default  Unit  name  method  time  range  category  P02‐15  Gain According to Operation Effective 0 to switching Gain control the switching setting...

  • Page 204: Mechanical Resonance Suppression

    Figure 7‐11. 7.4.2 Notch filter The VD2 series servo drives have 2 sets of notch filters, each of which has 3 parameters, namely notch frequency, width grade and depth grade. (1) Width grade of notch filter  The notch width grade is used to express the ratio of the notch width to the center frequency of the...
  • Page 205 Wecon VD2 Series Servo Drives Manual (Full V2.4) Amplitude‐frequency features of mechanical system Frequency Notch features Notch width Notch depth Center frequency Frequency Figure 7‐11 Notch characteristics, notch width, and notch depth Figure 7‐12 Frequency characteristics of notch filter Setting ...

  • Page 206: Low Frequency Vibration Suppression

    Wecon VD2 Series Servo Drives Manual (Full V2.4) Set the center frequency of 2nd notch Operation Effective 250 to the 2nd notch filter. When the P04‐08 filter setting immediately 5000 set value is 5000, the function frequency of the notch filter is invalid.
  • Page 207 Wecon VD2 Series Servo Drives Manual (Full V2.4) ☆ : Indicates that VD2F servo drive does not support this function code 〇 : Indicates that VD2L servo drive does not support this function code ★ : Indicates that VD2F and VD2L servo drives do not support this function code (1) Vibration frequency detection: ...
  • Page 208 Wecon VD2 Series Servo Drives Manual (Full V2.4) function the type A suppression function. Type A Set the frequency Operation Effective P4‐20 〇 suppression 1000 100 to 20000 of Type A 0.1HZ setting immediately frequency suppression. Type A suppression Operation...

  • Page 209: Modbus Communication

    Wecon VD2 Series Servo Drives Manual (Full V2.4) 8. Communication VD2 series servo drive has Modbus communication function, which could cooperate with the host computer for parameter modification, parameter query, monitoring volume servo status query and control. The servo drive is used as a slave device.

  • Page 210: Modbus Communication Protocol Analysis

    If the drive capacity is insufficient, a repeater is needed. 8.2 Modbus communication protocol analysis 8.2.1 Modbus data frame format The VD2 series servo drives currently support the RTU communication format. The typical data frame format is shown in the table. There should be a message interval not  Address Function code...

  • Page 211: Error Response Frame

    Wecon VD2 Series Servo Drives Manual (Full V2.4) 8.2.3 CRC check The servo uses a 16‐bit CRC check, and the host computer must also use the same check rule, otherwise the CRC check will make mistake. When transmitting, the low bit is in the front and the high bit is at the back.
  • Page 212 Wecon VD2 Series Servo Drives Manual (Full V2.4) Request format: Register address Data CRC check  Address Function code code high byte low byte high byte low byte C2 29 The slave responds normally: Data Function  Address Number of bytes CRC high byte code high byte low byte FC B0 The value read is 0x0C4F, which means that the voltage is 315.1V.

  • Page 213: Servo Communication Parameter Setting

    Wecon VD2 Series Servo Drives Manual (Full V2.4) 8.3 Servo communication parameter setting Start Set the servo address P12-01 Set the serial port baud rate P12-02 Set the serial port data format P12-03 Set Modbus communication data to write to EEPROM P12-04 Figure 8‐3 Modbus communication parameter setting process (1) Set the servo address P12‐1 ...
  • Page 214 Wecon VD2 Series Servo Drives Manual (Full V2.4) If you need to change the value of the function code frequently, it is recommended to turn off the function of real‐time writing to EERPOM of function code, otherwise the EEPROM will be shortened due to frequent erasing and writing of the EEPROM.

  • Page 215: Modbus Communication Variable Address And Value

    Wecon VD2 Series Servo Drives Manual (Full V2.4) 8.4 Modbus communication variable address and value 8.4.1 Variable address description Modbus registers are divided into two categories: ① The first category is servo function code parameters (address: 0x0001 to 0x0D08), this part of the register is readable and writable (that is, 0x03 and 0x06 are supported);...
  • Page 216 Wecon VD2 Series Servo Drives Manual (Full V2.4) ② When the unit is 0.01ms: 1 means 0.01ms, 50 means 0.5ms, 10000 means 100ms. Therefore, writing 1000 means setting to 10.00ms; on the contrary, if 1000 is read, it means 10.00ms;...

  • Page 217: Group P00 Basic Settings

    Wecon VD2 Series Servo Drives Manual (Full V2.4) 9. Parameters Group P00 Basic settings Parameter name  Setting method  Effective time  Default  Range  Category  Unit  P00‐01  Shutdown Effective Control mode 1 to 6 Basic setting ‐ setting immediately Used to set the control mode of servo drive Setting ...
  • Page 218 Wecon VD2 Series Servo Drives Manual (Full V2.4) Parameter name  Setting method  Effective time  Default  Range  Category  Unit  P00‐05  Servo OFF shutdown Shutdown Effective 0 to 1 Basic setting ‐ method setting immediately Set the forward rotation direction of the motor when looking at the motor axis.
  • Page 219 In position control mode, filter the input pulse. The larger the P00‐14 setting value, the greater the filter depth. ✎ Note: P0‐14 filtering time of the VD2L series drive is not consistent with that of other VD2 series models. VD2L ...
  • Page 220 2500 mode ✎Note:  In addition to VD2L models, every time the VD2 series motor rotates, Phase A and Phase B can each output up to 2,500 pulses, and the upper receiving device needs to support 4 times frequency analysis to obtain 10,000 pulses.
  • Page 221 Wecon VD2 Series Servo Drives Manual (Full V2.4) Setting  Effective  Application  Parameter name  Default  Set range  Unit  method  time  category  P00‐24  Z pulse output Operation Power on Position 1 to 200 width setting again mode Set Z pulse output width: 1: Pulse width 1ms 2: Pulse width 2ms ……...

  • Page 222: Group P01 Control Parameters

    Wecon VD2 Series Servo Drives Manual (Full V2.4) Used to set multi‐turn absolute encoder battery fault alarm setting function. (VD2‐SA V1.13 firmware added) Setting value  Function  Remarks  Detect multi‐turn absolute encoder battery under voltage 6.6 Absolute Not shield and battery low‐voltage fault. Please refer to system Shield multi‐turn absolute encoder battery under voltage...
  • Page 223 Wecon VD2 Series Servo Drives Manual (Full V2.4) Parameter name  Setting method  Effective time  Default  Range  Category  Unit  P01‐05 Shutdown Effective 0 to 65535 ‐ Shutdown setting deceleration time immediately The time for the speed command to decelerate from 1000rpm to 0 Parameter name ...
  • Page 224 Wecon VD2 Series Servo Drives Manual (Full V2.4) Parameter name  Setting method  Effective time  Default  Range  Category  Unit  P01‐08 Torque instruction Operation Effective ‐3000 to 0.1% keyboard setting value setting immediately 3000 Used to set the required torque instruction value when P01‐07 is set to 0 (internal torque instruction).
  • Page 225 Wecon VD2 Series Servo Drives Manual (Full V2.4) Parameter name  Setting method  Effective time  Default  Range  Category  Unit  P01‐17 Forward speed limit Operation Effective 0 to Protection and 3000 in torque mode setting immediately 5000 restriction 6.4.4 Speed limit in torque mode Used to set forward speed limit value in torque control mode. Please refer to Parameter name ...
  • Page 226 Wecon VD2 Series Servo Drives Manual (Full V2.4) Internal speed Operation Effective Speed ‐5000 to 5000 Instruction 3 setting immediately mode Used to set the speed value of internal speed instruction 3. Parameter name  Setting method  Effective time  Default  Range  Category  Unit  P01‐26...
  • Page 227 Wecon VD2 Series Servo Drives Manual (Full V2.4) Categor Parameter name  Setting method  Effective time  Default  Range  Unit  y  P01‐37  Operation Effective 1 to JOG acceleration time ‐ setting immediately 5000 The time for JOG instruction to accelerate from 0 to 1000rpm. ✎Note: VD2L does not support DI control JOG function for the time being, but the JOG function of VD2L ...

  • Page 228: Group P02 Gain Adjustment

    Wecon VD2 Series Servo Drives Manual (Full V2.4) Categor Parameter name  Setting method  Effective time  Default  Range  Unit  y    P01‐42 Operation Effective 1 to Homing low speed ‐ setting immediately Low‐speed search origin signal velocity in homing mode.   Categor Parameter name  Setting method  Effective time  Default  Range ...
  • Page 229 Wecon VD2 Series Servo Drives Manual (Full V2.4) Parameter name  Setting method  Effective time  Default  Range  Category  Unit  P02‐06 2nd speed loop Operation 100 to Gain Effective 1000 0.1ms integral time constant setting immediately 65535 control Set the 2nd speed loop integral constant. The smaller the set value, the stronger the integral effect.
  • Page 230 Wecon VD2 Series Servo Drives Manual (Full V2.4) speed is less than the value of (grade ‐ hysteresis) and the duration is greater than [P02‐13], the first gain is returned. In the previous first gain, when the absolute value of the rate of change in speed command is greater than (grade + hysteresis), the second gain is switched;...
  • Page 231 Wecon VD2 Series Servo Drives Manual (Full V2.4) Parameter name  Setting method  Effective time  Default  Range  Category  Unit  P02‐13 Delay Time for Gain Operation Effective 0 to Gain 0.1ms Switching setting immediately 10000 control The duration of the switching condition required for the second gain to switch back to the first gain.
  • Page 232 Wecon VD2 Series Servo Drives Manual (Full V2.4) Parameter name  Setting method  Effective time  Default  Range  Category  Unit  Position loop gain P02‐16 Operation Effective 0 to Gain 0.1ms switching time setting immediately 10000 control Set the time for switching from the first position loop (P02‐01) to the second position loop (P02‐04) in the position control mode.
  • Page 233 Wecon VD2 Series Servo Drives Manual (Full V2.4) Parameter name  Setting method  Effective time  Default  Range  Category  Unit  P02‐24 Model tracking control Operation Effective 0 to Gain 1000 0.10% reverses rotation bias setting immediately 10000 control Torque feedforward size in the reverse direction under model tracking control.

  • Page 234: Group P03 Self-Adjusting Parameters

    Wecon VD2 Series Servo Drives Manual (Full V2.4) Group P03 Self‐adjusting parameters Parameter name  Setting method  Effective time  Default  Range  Category  Unit  P03‐01 Operation 100 to Effective Load inertia ratio 300* Self‐tuning 0.01 setting immediately 10000 Set load inertia ratio: 0.00 to 100.00 times. “*” indicates that the factory defaults for different models may differ.
  • Page 235 Wecon VD2 Series Servo Drives Manual (Full V2.4) Parameter name  Setting method  Effective time  Default  Range  Category  Unit  P03‐08 Parameter recognition Shutdown 300 to Effective 1000 Self‐tuning immediately waiting time setting 10000 During offcable inertia recognition, the time interval between two consecutive speed instructions...

  • Page 236: Group P04 Vibration Suppression

    Wecon VD2 Series Servo Drives Manual (Full V2.4) Group P04 Vibration suppression Parameter name  Setting method  Effective time  Default  Range  Category  Unit  P04‐01 Pulse instruction Shutdown Position Effective 0 to 1 ‐ filtering method setting immediately mode Setting value  Filtering method  First‐order low‐pass filter Average filtering Parameter name  Setting method  Effective time  Default ...
  • Page 237 Wecon VD2 Series Servo Drives Manual (Full V2.4) Parameter name  Setting method  Effective time  Default  Range  Category  Unit  Position instruction P04‐03 Shutdown Position Effective average filtering time 0 to 128 immediately setting mode constant Used to set average filtering time constant. Input position instruction...
  • Page 238 Wecon VD2 Series Servo Drives Manual (Full V2.4) Parameter name  Setting method  Effective time  Default  Range  Category  Unit  P04‐09 2nd notch filter Operation Effective Vibration 0 to 100 ‐ depth setting immediately suppression Parameter name  Setting method  Effective time  Default  Range  Category  Unit  P04‐10 2nd notch filter...
  • Page 239 Wecon VD2 Series Servo Drives Manual (Full V2.4) Parameter name  Setting method  Effective time  Default  Range  Category  Unit  P04‐21 Type A Operation Effective Vibration 〇  suppression gain 0 to 1000 0.01 setting immediately suppression correction Correct the load inertia ratio size. Parameter name  Setting method  Effective time  Default ...

  • Page 240: Group P05 Signal Input And Output

    Wecon VD2 Series Servo Drives Manual (Full V2.4) Group P05 Signal input and output Parameter name  Setting method  Effective time  Default  Range  Category  Unit  P05‐01 Operation Effective ‐5000 to Analog ★ AI_1 input bias setting immediately 5000 input Set AI_1 channel analog bias value Sample voltage No bias...
  • Page 241 Wecon VD2 Series Servo Drives Manual (Full V2.4) Parameter name  Setting method  Effective time  Default  Range  Category  Unit  P05‐04 Operation Effective Analog ★ AI_1 zero drift ‐500 to 500 setting immediately input Set the zero drift of AI_1 channel analog. “zero drift” is the sample voltage co voltage relative to GND when analog channel voltage is 0.
  • Page 242 Wecon VD2 Series Servo Drives Manual (Full V2.4) Parameter name  Setting method  Effective time  Default  Range  Category  Unit  P05‐10 Analog 10V Shutdown Effective 0 to Analog ★ corresponds to the 1000 0.1% setting immediately 3000 input torque value Set the torque value corresponding to the analog 10V Mode ...
  • Page 243 Wecon VD2 Series Servo Drives Manual (Full V2.4) Parameter name  Setting method  Effective time  Default  Range  Category  Unit  P05‐14 Position detection Operation Effective Position 0 to 20000 window time setting immediately mode Set the detection window time for positioning completion Parameter name  Setting method  Effective time  Default ...

  • Page 244: Group P06 Di/Do Configuration

    Wecon VD2 Series Servo Drives Manual (Full V2.4) Group P06 DI/DO configuration Parameter name  Setting method  Effective time  Default  Range  Category  Unit  P06‐02  DI_1 channel Operation setting Power on again 0 to 32 DI/DO ‐ function selection Set DI functions corresponding to hardware DI_1. The related functions are as below.
  • Page 245 Wecon VD2 Series Servo Drives Manual (Full V2.4) Parameter name  Setting method  Effective time  Default  Range  Category  Unit  P06‐05  DI_2 channel Operation setting Power on again 0 to 32 DI/DO ‐ function selection Parameter name  Setting method  Effective time  Default  Range  Category  Unit  P06‐06  DI_2 channel...
  • Page 246 Wecon VD2 Series Servo Drives Manual (Full V2.4) Parameter name  Setting method  Effective time  Default  Range  Category  Unit  P06‐18 DI_6 channel ★  Operation setting Effective immediately 0 to 1 DI/DO ‐ logic selection Parameter name  Setting method  Effective time  Default  Range  Category  Unit  P06‐19 DI_6 input ★ ...

  • Page 247: Group P07 Multi-Segment Position

    Wecon VD2 Series Servo Drives Manual (Full V2.4) Parameter  Setting method  Effective time  Default  Range  Category  Unit  name  P06‐27  DO_1 channel Operation Effective 0 to 1 DI/DO ‐ logic selection setting immediately DO Port input logic validity function selection. Set  Content  value ...
  • Page 248 Wecon VD2 Series Servo Drives Manual (Full V2.4) Parameter name  Setting method  Effective time  Default  Range  Category  Unit  P07‐02  Starting position Effective Shutdown setting 1 to 16 ‐ ‐ number immediately Set the starting segment number in single running or cycle running. When P07‐01≠2, the segment number automatic increment switching.
  • Page 249 Wecon VD2 Series Servo Drives Manual (Full V2.4) Parameter name  Setting method  Effective time  Default  Range  Category  Unit  P07‐06  Waiting time Shutdown Effective 0 to 1 ‐ ‐ unit setting immediately Set the waiting unit of multi‐segment position function. “waiting time” is the interval between the end of this instruction and the start of the next instruction.
  • Page 250 Wecon VD2 Series Servo Drives Manual (Full V2.4) Parameter name  Setting method  Effective time  Default  Range  Category  Unit  Waiting time after P07‐16  Operation Effective 1 to Set by completion of the 2nd ‐ setting immediately 65535 P07‐06 segment displacement Setting  Effective  Parameter name  Default ...
  • Page 251 Wecon VD2 Series Servo Drives Manual (Full V2.4) Setting  Effective  Parameter name  Default  Range  Category  Unit  method  time  P07‐26  Maximum speed of the 5th Operation Effective 1 to 5000 ‐ segment displacement setting immediately Setting  Effective  Parameter name  Default  Range  Category  Unit ...
  • Page 252 Wecon VD2 Series Servo Drives Manual (Full V2.4) Parameter name  Setting method  Effective time  Default  Range  Category  Unit  Waiting time after P07‐36  Operation Effective 1 to Set by completion of the 7th ‐ setting immediately 65535 P07‐06 segment displacement Setting  Effective  Parameter name  Default ...
  • Page 253 Wecon VD2 Series Servo Drives Manual (Full V2.4) Setting  Effective  Parameter name  Default  Range  Category  Unit  method  time  P07‐46  Maximum speed of the 10th Operation Effective 1 to 5000 ‐ segment displacement setting immediately Setting  Effective  Parameter name  Default  Range  Category  Unit ...
  • Page 254 Wecon VD2 Series Servo Drives Manual (Full V2.4) Parameter name  Setting method  Effective time  Default  Range  Category  Unit  Waiting time after P07‐56  Operation Effective 1 to Set by completion of the 12th ‐ setting immediately 65535 P07‐06 segment displacement Setting  Effective  Parameter name  Default ...

  • Page 255: Group P10 Accessibility

    Wecon VD2 Series Servo Drives Manual (Full V2.4) Setting  Effective  Parameter name  Default  Range  Category  Unit  method  time  P07‐66  Maximum speed of the 15th Operation Effective 1 to 5000 ‐ segment displacement setting immediately Setting  Effective  Parameter name  Default  Range  Category  Unit ...
  • Page 256 1, the motor code is read from the P10‐5 motor model. ✎ Note: VD2L manual setting machine code is inconsistent with other VD2 series drives: Used to modify the Motor Code of the servo drive.
  • Page 257 Wecon VD2 Series Servo Drives Manual (Full V2.4) Unit   Parameter name  Setting method  Effective time  Default  Range  Category  Multi‐turn absolute ‐2147483647 Effective P10‐08 Operation encoder origin Accessibility ‐ setting immediately offset 2147483646 compensation P10‐08 multi‐turn absolute encoder origin offset compensation is used in conjunction with U0‐56 multi‐turn absolute encoder current position.

  • Page 258: Group P12 Communication Parameters

    Wecon VD2 Series Servo Drives Manual (Full V2.4) Group P12 Communication parameters Parameter name  Setting method  Effective time  Default  Range  Category  Unit  P12‐01 Operation Effective Communication Servo address 1 to 247 ‐ setting immediately parameter Set the Modbus communication address of servo drive Parameter name  Setting method  Effective time  Default ...

  • Page 259: Group P13 Communication Input And Output Terminal

    Wecon VD2 Series Servo Drives Manual (Full V2.4) Parameter name  Setting method  Effective time  Default  Range  Category  Unit  Modbus 32‐bit P12‐06  Operation Effective Communication variable high and 0 to 1 ‐ setting immediately parameter low byte order Used to set the data communication format when the servo driver communicates with ModBus.
  • Page 260 Wecon VD2 Series Servo Drives Manual (Full V2.4) Parameter name  Setting method  Effective time  Default  Range  Category  Unit  P13‐08  Operation Effective ☆ Virtual VDI_8 input value 0 to 1 DI/DO ‐ setting immediately When P06‐25 is set to 1, DI_8 channel logic is controlled by this function code.
  • Page 261 Wecon VD2 Series Servo Drives Manual (Full V2.4) Parameter name  Setting method  Effective time  Default  Range  Category  Unit  P13‐12 Operation Effective Virtual VD0_2 input value 0 to 1 DI/DO ‐ setting immediately Parameter name  Setting method  Effective time  Default  Range  Category  Unit  P13‐13 Operation Effective Virtual VD0_3 input value...

  • Page 262: Group U0 Universal Monitoring

    Wecon VD2 Series Servo Drives Manual (Full V2.4) Group U0 Universal monitoring Monitoring name  Range  Category  Panel display  Unit  Data type  U0‐01  Servo status 1 to 4 Universal Decimal ‐ 16‐bit Display the status of servo drive. Display value  Status  Display value  Status  Initialization Rdy and JOG Fault Monitoring name ...
  • Page 263 Wecon VD2 Series Servo Drives Manual (Full V2.4) Monitoring name  Range  Category  Panel display  Unit  Data type  U0‐05  Equivalent pulse Pulse deviation ‐2 to 2 Universal Decimal 32‐bit deviation Display pulse deviation. If U0‐05 is set to 32768, the display of servo drive panel is as below.
  • Page 264 Take the DI1 to DI7 terminals as the high level and DI8 as the low level as an example. The corresponding binary code is "01111111", and Wecon servo control device debugging software U0‐17 displays the current binary value is 0b0111 1111. The panel of servo drive is displayed as below.
  • Page 265 Take the DO1, DO2 and DO3 terminals as the high level and DO2 as the low level as an example. The corresponding binary code is "1101", and Wecon servo upper computer debugging software U0‐17 displays the current binary value is 0b0000 1101. The panel of servo drive is displayed as below.
  • Page 266 Wecon VD2 Series Servo Drives Manual (Full V2.4) Monitoring name  Range  Category  Panel display  Unit  Data type  U0‐26  Reverse torque limit value 0 to 300 Universal Decimal 16‐bit Display the set value of P01‐16 (reverse torque limit) of servo drive. If U0‐26 is 300%, the panel of servo drive is displayed as below.
  • Page 267 Wecon VD2 Series Servo Drives Manual (Full V2.4) Monitoring name  Range  Category  Panel display  Unit  Data type  U0‐35  Total operation time (hour) ‐ Universal Decimal 16‐bit Monitoring name  Range  Category  Panel display  Unit  Data type  U0‐37  Total operation time (minutes) ‐ Universal Decimal 16‐bit Monitoring name  Range ...
  • Page 268 Wecon VD2 Series Servo Drives Manual (Full V2.4) Absolute encoder 0 to 2 ‐1 Universal Decimal Encoder unit 32‐bit position within 1 circle Display the single turn position feedback value of absolute encoder `` WECON technology Co., Ltd...

  • Page 269: Group U1 Warning Monitoring

    Wecon VD2 Series Servo Drives Manual (Full V2.4) Monitoring name  Range  Category  Panel display  Unit  Data type  U0‐55  Circle numbers of multi‐turn 0 to Universal Decimal Encoder unit 32‐bit absolute encoder 65535 Display the circle number of multi‐turn absolute encoder Monitoring name  Range  Category ...
  • Page 270 Wecon VD2 Series Servo Drives Manual (Full V2.4) Torque component when faults occur ‐ Warning Decimal 16‐bit Monitoring name  Range  Category  Panel display  Unit  Data type  U1‐08  Excitation component when faults occur ‐ Warning Decimal 16‐bit Monitoring name  Range  Category  Panel display  Unit  Data type  U1‐09 ...
  • Page 271 Wecon VD2 Series Servo Drives Manual (Full V2.4) Monitoring name  Range  Category  Panel display  Unit  Data type  U1‐10  The speed when faults occur ‐ Warning Decimal 16‐bit Monitoring name  Range  Category  Panel display  Unit  Data type  U1‐11  The time when faults occur ‐ Warning Decimal 16‐bit Monitoring name ...

  • Page 272: Group U2 Device Monitoring

    Wecon VD2 Series Servo Drives Manual (Full V2.4) Group U2 Device monitoring Monitoring name  Range  Category  Panel display  Unit  Data type  U2‐01  Product series ‐ Device Hexadecimal ‐ 16‐bit Display the product series code of servo drive. The code name of VD2 A and VD2 B servo drivers is 0x4432, and the code name of VD2F servo drivers is 0x3246; The VD2L servo driver is codenamed 0x324C.
  • Page 273 Wecon VD2 Series Servo Drives Manual (Full V2.4) Monitoring name  Range  Category  Panel display  Unit  Data type  Manufacture date (year) U2‐06  ‐ Device Decimal Year 16‐bit Firmware date (year) * Display the year of manufacture of the VD2F drive firmware. Monitoring name  Range  Category  Panel display ...

  • Page 274: Faults And Warnings Handling At Startup

    Wecon VD2 Series Servo Drives Manual (Full V2.4) 10. Malfunctions 10.1 Faults and warnings handling at startup 10.1.1 Position control mode Boot process  Fault phenomenon  Reason  Confirmation method  ✎ Rewiring Control terminal is ✎ L1C and L2C power cables are led ① Digital tube does disconnected separately from the socket not light up Power supply ②...
  • Page 275 Wecon VD2 Series Servo Drives Manual (Full V2.4) Not input position instruction ① Confirm whether DI terminal uses forward drive prohibited (DI function 3: POT) or reverse drive prohibited (DI function 4: NOT). ② Confirm whether DI terminal uses instruction pulse input prohibited (DI function 11: INH) ③...
  • Page 276 Wecon VD2 Series Servo Drives Manual (Full V2.4) Servo drive fault Contact the agent or customer service 10.2 Handling of faults and warnings during operation Panel display “Er.xx” Refer to After removing the fault, the servo drive panel should display "rdy"...
  • Page 277 Wecon VD2 Series Servo Drives Manual (Full V2.4) After troubleshooting, the servo motor should be able to rotate normally ✎Note:  VD2F does not support monitoring U0‐21 and U0‐22. 10.1.3 Torque control mode Boot process  Fault phenomenon  Reason  Confirmation method  ✎ Rewiring Control terminal is ✎ L1C and L2C power cables are led ①...

  • Page 278: Faults And Warnings Handling During Operation

    10.2 Faults and warnings handling 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> Category 2> Category 3 > Category 4, the specific classifications are as follows: Category 1: faults cannot be cleared;...
  • Page 279 DI port logic is valid, reset faults and warnings VD2 series servo drives have a fault recording function, which could record the last 5 faults and the last 5 warning names and the status parameters of servo drive when the fault or warning occurs.
  • Page 280 Wecon VD2 Series Servo Drives Manual (Full V2.4) Abnormal servo internal Stop Category 1 Internal software fault Er.63 software immediately Abnormal servo internal Stop Category 1 Internal software fault Er.64 software immediately Abnormal servo internal Stop Category 1 Internal software fault Er.65...
  • Page 281 Wecon VD2 Series Servo Drives Manual (Full V2.4) Stop Category 3 Torque saturation abnormal Er.37 Torque saturation abnormal Yes   immediately   Main circuit electricity Main circuit electricity Stop Category 3 Er.38 Yes   is lack of phase is lack of phase immediately  ...

  • Page 282: Troubleshooting

    Wecon VD2 Series Servo Drives Manual (Full V2.4) 10.3 Troubleshooting Er.01 Parameter destruction  Fault Servo drive panel display  Fault name  Parameter destruction Troubleshooting Reason  Troubleshooting methods  Handling  EEPROM could not be Factory reset the parameter (P10‐02=1) and power on again. If Please contact the read and written the servo drive still alarms after multiple operations, it is faulty.
  • Page 283 Wecon VD2 Series Servo Drives Manual (Full V2.4) Er.04 AD current sampling conversion error  Fault Servo drive panel display  Fault name  AD current sampling conversion error Troubleshooting Reason  Troubleshooting methods  Handling  Factory reset the parameter (P10‐02=1) and power If there is still alarm after Current sampling timeout on again. If the servo drive still alarms after multiple multiple power‐on, contact...
  • Page 284 Wecon VD2 Series Servo Drives Manual (Full V2.4) Er.07 Clock abnormal  Fault Servo drive panel display  Fault name  Clock abnormal Troubleshooting Reason  Troubleshooting methods  Handling  Eliminate nearby strong magnetic Check for strong magnetic fields nearby interference Separate strong and weak power as External interference Check whether there are sources of...
  • Page 285 Wecon VD2 Series Servo Drives Manual (Full V2.4) Remove the shorting cap between C and D, and reliably string the external Short‐circuit of the built‐in brake resistance: braking resistor of equal resistance Check whether the built‐in brake resistance is between P+ and C.
  • Page 286 Wecon VD2 Series Servo Drives Manual (Full V2.4) Motor power cables Check whether power cable UVW is Replace motor power cable are short‐circuited short‐circuited to PE The motor power Check whether the motor power cable Tighten the fixing screws of the motor...
  • Page 287 Wecon VD2 Series Servo Drives Manual (Full V2.4) Er.21 Main power supply undervoltage  Fault Servo drive panel display  Fault name  Main power supply undervoltage Reason: DC bus voltage is lower than the fault value. 220V drive: DC bus voltage normal value is 310V; DC bus voltage fault value is 200V.
  • Page 288 Wecon VD2 Series Servo Drives Manual (Full V2.4) 220V drive: DC bus voltage normal value is 310V; DC bus voltage fault value is 390V.  380V drive: DC bus voltage normal value is 540V; DC bus voltage fault value is 670V.
  • Page 289 Wecon VD2 Series Servo Drives Manual (Full V2.4) Internal brake When using an internal braking resistor, Check whether C, D are connected to resistance wiring reliably connect the shorting cap or shorting the short cap and the contact is normal...
  • Page 290 Wecon VD2 Series Servo Drives Manual (Full V2.4) Er.26 Braking resistor resistance is too large  Fault Servo drive panel display  Fault name  Braking resistor resistance is too large Troubleshooting Reason  Troubleshooting methods  Handling  Contact technical for suitable Servo drives do not Check whether the servo driver model recommendations of servo drive model or...
  • Page 291 Wecon VD2 Series Servo Drives Manual (Full V2.4) Eliminate nearby strong magnetic Check for strong magnetic fields nearby interference Separate strong and weak power as much External interference Check whether there are sources of as possible, with good ground contact...
  • Page 292 Wecon VD2 Series Servo Drives Manual (Full V2.4) Fault Servo drive panel display  Fault name  Exceeds motor maximum speed Troubleshooting Reason  Troubleshooting methods  Handling  The UVW phase Check whether the phase sequence of the motor Connect correctly according to sequence of motor power cable on the servo driver side and motor...
  • Page 293 Wecon VD2 Series Servo Drives Manual (Full V2.4) Motor overload protection Troubleshooting Reason  Troubleshooting methods  Handling  Connect them according to the correct Motor power cable, Check whether the motor power connection method. encoder cable wiring cable and encoder cable wiring are...
  • Page 294 Wecon VD2 Series Servo Drives Manual (Full V2.4) Check that the ratio of function codes P01‐17/P01‐18, The electronic gear P01‐19/P01‐20 is in the following range. After modifying the ratio setting is greater 17bit absolute encoder upper limit value: 500. corresponding function...
  • Page 295 Wecon VD2 Series Servo Drives Manual (Full V2.4) Er.37 Torque saturation abnormal  Fault Servo drive panel display  Fault name  Torque saturation abnormal Troubleshooting Reason  Troubleshooting methods  Handling  Motor power cable Check whether the phase sequence of the Connect correctly according to UVW cable UVW phase motor power cable on the servo driver side...
  • Page 296 Wecon VD2 Series Servo Drives Manual (Full V2.4) Fault Servo drive panel display  Fault name  Emergency stop Troubleshooting Reason  Troubleshooting methods  Handling  Check whether emergency stop protection is Power on the servo drive again triggered manually Check whether the servo drive has mistakenly Servo drive receives triggered the emergency stop signal.
  • Page 297 Wecon VD2 Series Servo Drives Manual (Full V2.4) Make sure that both ends of the Poor contact on adapter Check whether both ends of the rectangular connector are connected port (Rectangular rectangular connector are reliably reliably; Replace it with an encoder cable...
  • Page 298 Wecon VD2 Series Servo Drives Manual (Full V2.4) SCTool is greater than the maximum torque of the motor and the motor is stalled. Er.60 ADC conversion is not complete  Fault Servo drive panel display  Fault name  ADC conversion is not complete Troubleshooting Reason  Troubleshooting methods  Handling  Eliminate nearby strong magnetic...
  • Page 299 Wecon VD2 Series Servo Drives Manual (Full V2.4) Internal software fault Troubleshooting Reason  Troubleshooting methods  Handling  Factory reset the parameter (P10‐02=1) and If there is still alarm after multiple Servo drive fault power on again. If the servo drive still power‐on, contact the technician.
  • Page 300 Wecon VD2 Series Servo Drives Manual (Full V2.4) (2) Troubleshooting Reason  Troubleshooting  Handling  The average output power (U0‐34) Check whether the average output power Check whether the U0‐34 exceeds 110% of the exceeds the limit power of the (U0‐34) exceeds the limit (overload 110) The rated power of the driver.
  • Page 301 Wecon VD2 Series Servo Drives Manual (Full V2.4) Connect them according to the correct Motor power cable, connection method. Check whether the motor power cable encoder cable wiring Priority is given to the use of motor and encoder cable wiring are correct.
  • Page 302 Wecon VD2 Series Servo Drives Manual (Full V2.4) Reasonable setting of P00‐09 (braking resistor setting): When using an external braking P00‐09=1 (use external braking resistor and resistor, check the following natural cooling) parameters. Improper parameter P00‐09 = 3 (do not use the braking resistor, Whether P00‐09 (braking resistor...
  • Page 303 Wecon VD2 Series Servo Drives Manual (Full V2.4) Check whether the parameter value of Reset P01‐16 according to mechanical P01‐16 (number of instruction pulses for one requirements (number of instruction rotation of the motor) is greater than the pulses for one rotation of motor).
  • Page 304 Wecon VD2 Series Servo Drives Manual (Full V2.4) A‐91 Parameter modification is too frequent  Fault Servo drive panel  Fault name  display  Parameter modification is too frequent (modification frequency allowed of function code: 6 hours/150 times Note: 32‐bit function code: recorded as 2 times) Troubleshooting Reason  Troubleshooting  Handling  (1) During machine adjustment, A91...
  • Page 305 Wecon VD2 Series Servo Drives Manual (Full V2.4) Low encoder battery voltage warning Troubleshooting Reason  Troubleshooting methods  Handling  The encoder battery Measure the encoder Contact technician to replace a new encoder battery voltage is less than 3.1V battery voltage A‐93 Abnormal and frequency of encoder read and write check is too high  Fault Servo drive panel display ...

  • Page 306: Lists Of Parameters

    Wecon VD2 Series Servo Drives Manual (Full V2.4) 11. Appendix 11.1 Lists of parameters In order to facilitate your use, the VD2SA series provides monitoring display and setting display functions. The specification are as follows. Number  Parameter group name  Parameter group  Range  Basic settings Group P00 P00‐01 to P00‐30...
  • Page 307 Wecon VD2 Series Servo Drives Manual (Full V2.4) Group P00 Basic settings Modbus address  Function  Setting  Effective  Data  Name  Default  Range  Unit  code  method  time  type  Hexadecimal Decimal  Shutdown Effective P00‐01 Control mode 1 to 6 ‐ 0x0001 16‐bit setting immediately Shutdown Effective P00‐04 Rotation direction 0 to 1 ‐...
  • Page 308 Wecon VD2 Series Servo Drives Manual (Full V2.4) denominator Number of Shutdown Effective P00‐29 equivalent position 10000 0 to 131072 ‐ 0x0023 32‐bit setting immediately unit in a circle Shield multi‐turn Operation Power‐on P00‐30 absolute encoder 0 to 1 ‐...
  • Page 309 Wecon VD2 Series Servo Drives Manual (Full V2.4) Torque saturation timeout Operation Effective 0 to P01‐19 3000 0x0113 16‐bit period setting immediately 65535 Zero‐speed clamp function Operation Effective P01‐21 3000 0 to 3 rpm 0x0112 16‐bit selection setting immediately Zero speed clamp speed...
  • Page 310 Wecon VD2 Series Servo Drives Manual (Full V2.4) Group P02 Gain adjustment Modbus address  Function  Setting  Data  Name  Effective time  Default  Range  Unit  code  method  type  Hexadecimal Decimal  1st position loop Operation Effective 0 to P02‐01 0.1Hz 0x0201 16‐bit gain setting immediately 6200 Operation Effective 0 to P02‐02...
  • Page 311 Wecon VD2 Series Servo Drives Manual (Full V2.4) Model tracking control speed Shutdown Effective 0 to P02‐25 1000 0.10% 0x0219 16‐bit feedforward setting immediately 10000 compensation Group P03 Self‐adjustment parameters Modbus address  Function  Setting  Data  Name  Effective time  Default  Range  Unit  code  method  type  Hexadecimal Decimal ...
  • Page 312 Wecon VD2 Series Servo Drives Manual (Full V2.4) Group P04 Vibration suppression Modbus address  Function  Setting  Data  Name  Effective time Default  Range  Unit  code  method  type  Hexadecimal Decimal  Pulse instruction Shutdown Effective P04‐01 0 to 1 ‐ 0x0401 1025 16‐bit filtering method setting immediately Position instruction Shutdown...
  • Page 313 Wecon VD2 Series Servo Drives Manual (Full V2.4) Group P05 Signal input and output Modbus address  Function  Setting  Data  Name  Effective time Default  Range  Unit  code  method  type  Hexadecimal Decimal  Operation Effective ‐5000 P05‐01 AI_1 input bias 0x0501 1281 16‐bit setting immediately to 5000 AI_1 input filter Operation Effective 0 to P05‐02...
  • Page 314 Wecon VD2 Series Servo Drives Manual (Full V2.4) Group P06 DIDO configuration Modbus address  Function  Setting  Data  Name  Effective time  Default  Range  Unit  code  method  type  Hexadecimal Decimal  DI_1 channel Operation P06‐02 Power‐on again 0 to 32 ‐ 0x0602 1538 16‐bit function selection setting DI_1 channel logic...
  • Page 315 Wecon VD2 Series Servo Drives Manual (Full V2.4) function selection setting immediately DO_1 channel logic Operation Effective P06‐27 0 to 1 ‐ 0x061B 1563 16‐bit selection setting immediately DO_2 channel Operation Effective 128 to P06‐28 ‐ 0x061C 1564 16‐bit function selection...
  • Page 316 Wecon VD2 Series Servo Drives Manual (Full V2.4) Group P07 multi‐segment position Modbus address  Function  Setting  Effective  Data  Name  Default  Range  Unit  code  method  time  type  Hexadecimal Decimal  multi‐segment Shutdown Effective P07‐01 position operation 0 to 2 ‐ 0x0701 1793 16‐bit setting immediately mode Starting position...
  • Page 317 Wecon VD2 Series Servo Drives Manual (Full V2.4) Maximum speed of Operation Effective P07‐18 the 3rd position 1 to 5000 0x0715 1813 16‐bit setting immediately displacement Acceleration and deceleration time of Operation Effective P07‐19 1 to 65535 0x0716 1814 16‐bit...
  • Page 318 Wecon VD2 Series Servo Drives Manual (Full V2.4) 2147483646 Maximum speed of Operation Effective P07‐34 the 7th position 1 to 5000 0x0729 1833 16‐bit setting immediately displacement Acceleration and deceleration time of Operation Effective P07‐35 1 to 65535 0x072A 1834 16‐bit...
  • Page 319 Wecon VD2 Series Servo Drives Manual (Full V2.4) ‐2147483647 The 11th position Operation Effective P07‐49 10000 ‐ 0x073B 1851 32‐bit displacement setting immediately 2147483646 Maximum speed of Operation Effective P07‐50 the 11th position 1 to 5000 0x073D 1853 16‐bit setting...
  • Page 320 Wecon VD2 Series Servo Drives Manual (Full V2.4) displacement ‐2147483647 The 15th position Operation Effective P07‐65 10000 ‐ 0x074F 1871 32‐bit displacement setting immediately 2147483646 Maximum speed of Operation Effective P07‐66 the 15th position 1 to 5000 0x0751 1873 16‐bit...
  • Page 321 Wecon VD2 Series Servo Drives Manual (Full V2.4) compensation Motor stall Effective Operation P10‐11 over‐temperature 0 to 1 ‐ 0x0A0C 2572 16‐bit setting immediately enable WECON technology Co., Ltd.
  • Page 322 Wecon VD2 Series Servo Drives Manual (Full V2.4) Group P12 Communication parameters Modbus address  Function  Setting  Data  Name  Effective time  Default Range Unit  code  method  type  Hexadecimal Decimal  Operation Effective 1 to P12‐01 Servo address ‐ 0x0C01 3073 16‐bit setting immediately Operation Effective P12‐02 Baud rate 0 to 6 ‐...
  • Page 323 Wecon VD2 Series Servo Drives Manual (Full V2.4) DI/DO channel function definition DI channel function definition Name Function name Content ‐‐ Off (not used) ‐ Invalid DI port logic: Servo motor enable prohibited S‐ON Servo enable Valid DI port logic: Servo motor is enabled Invalid DI port logic: No reset fault or warning A‐CLR...
  • Page 324 Wecon VD2 Series Servo Drives Manual (Full V2.4) Name Function name Content ‐‐ OFF (not used) ‐ Servo is ready, and could receive S‐ON signal. Servo is ready Invalid DO port logic: Servo is not ready Valid DO port logic: Servo is ready...
  • Page 325 Wecon VD2 Series Servo Drives Manual (Full V2.4) Group U0 Monitoring parameters Modbus address  Function  Data  Name  Category  Unit  code  type  Hexadecimal  Decimal  U0‐01 Servo Status Universal ‐ 0x1E01 7681 16‐bit U0‐02 Servo motor speed Universal 0x1E02 7682 16‐bit U0‐03 Input speed instruction Universal...
  • Page 326 Wecon VD2 Series Servo Drives Manual (Full V2.4) U0‐40 Current operation time (hour) Universal 0x1E2D 7725 16‐bit U0‐41 Reserved ‐ ‐ 0x1E2E 7726 16‐bit U0‐42 Current operation time (minute) Universal 0x1E2F 7727 16‐bit U0‐43 Current operation time (second) Universal 0x1E30 7728 16‐bit...

  • Page 327: List Of Fault And Warning Codes

    Wecon VD2 Series Servo Drives Manual (Full V2.4) Group U2 Device monitoring Modbus address  Function  Name  Category  Unit  Data type  code  Hexadecimal  Decimal  U2‐01 Product Series Device ‐ 0x2001 8193 16‐bit U2‐02 Model Device ‐ 0x2002 8194 16‐bit U2‐03 Model Device ‐ 0x2003 8195 16‐bit U2‐04...

  • Page 328: Wire

    Wecon VD2 Series Servo Drives Manual (Full V2.4) ✔  Er.38 The main circuit is electrically deficient ✔  Er.39 Emergency stop ✔  Er.40 Encoder battery failure ✔  Er.41 Motor (encoder) over temperature ✔  Er.42 Encoder write failure ...
  • Page 329 Wecon VD2 Series Servo Drives Manual (Full V2.4) P‐Z4‐R4M‐3MX4 P‐Z4‐R4M‐5MX4 Label P‐Z4‐R4M‐10MX4 Suitable for VD2F drive connecting 40/60/80 flange lead wire motor P‐Z3O1‐H28J4M‐3MX4 xxxxxxxxxxxx P‐Z3O1‐H28J4M‐5MX4 P‐Z3O1‐H28J4M‐10MX4 Suitable for VD2A drive connecting 110/130 flange lead wire motor P‐U3O1‐H28J4M‐3MX4 Label P‐U3O1‐H28J4M‐5MX4 P‐U3O1‐H28J4M‐10MX4 Suitable for VD2B drive connecting 110/130 flange lead wire motor P‐Z4‐H28J4M‐3MX4...
  • Page 330 Wecon VD2 Series Servo Drives Manual (Full V2.4) E‐J1394‐R9M‐3MX7‐A1 E‐J1394‐R9M‐5MX7‐A1 Label Suitable for VD2/VD2F drives connecting 40/60/80 flange lead wire E‐J1394‐R9M‐10MX7‐A1 motor (multi‐turn encoder) E‐J1394‐MC7S‐3MX5‐A E‐J1394‐MC7S‐5MX5‐A Label E‐J1394‐MC7S‐10MX5‐A Suitable for VD2/VD2F drives connecting 60/80 flange lead wire motor (single‐turn encoder) E‐J1394‐MC7S‐3MX7‐A1...

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