Wecon VD2 SA Series User manual

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

Wecon VD2 SA Series Servo Drives User Manual (Full V1.0)
1 WECON technology Co., Ltd.
Preface
This manual is applicable to Wecon VD2 SA series servo drives.
In order to use this series of servo drives correctly, please read this manual carefully in advance
and save it for later use.
During use, if you have any doubts about the function and performance of this equipment, please
contact our technicians for relevant assistance to use this equipment smoothly.
The company's products are constantly being improved and upgraded, and the contents of this
manual are subject to change without notice.
This manual is suitable for introductory and use reference books for elementary and intermediate
readers. At the same time, all interpretation rights of this manual belong to our company.
The danger caused by failure to operate as required may result in serious injuries or
even death.
The danger caused by failure to operate as required may result in moderate or
minor injuries, and equipment damage.

Wecon VD2 SA Series Servo Drives User Manual (Full V1.0)
2WECON technology Co., Ltd.
User manual change record
Date
Changed version
Change content
October 2021
V1.0
The first edition is released.

Wecon VD2 SA Series Servo Drives User Manual (Full V1.0)
3WECON technology Co., Ltd.
Contents
Chapter 1 Safety reminder.......................................................................................................... 1
1.1 Safety precautions.................................................................................................................. 1
1.2 Precautions for storage and transportation........................................................................... 2
1.3 Precautions during installation...............................................................................................2
1.4 Precautions during wiring.......................................................................................................3
1.5 Precautions during operation.................................................................................................3
1.6 Precautions during maintenance and inspection...................................................................4
Chapter 2 Product Information..................................................................................................... 5
2.1 Servo drive products...............................................................................................................5
2.1.1 Servo drive model naming...........................................................................................5
2.1.2 The composition of the servo drives........................................................................... 6
2.1.3 Electrical specifications of the servo drive.................................................................. 7
2.2 Servo motor products.............................................................................................................8
2.2.1 Servo motor model naming.........................................................................................8
2.2.2 Composition of Servo motor....................................................................................... 8
2.2.3 Electrical specifications of the servo motor................................................................ 9
Chapter 3 Installation of servo drive and motor......................................................................... 10
3.1 Installation of servo drive..................................................................................................... 10
3.1.1 Dimensions (Unit: mm)..............................................................................................10
3.1.2 Installation site.......................................................................................................... 10
3.1.3 Installation environment........................................................................................... 11
3.1.4 Installation matters....................................................................................................11
3.2 Installation of servo motor................................................................................................... 13
3.2.1 Dimensions (unit: mm).............................................................................................. 13
3.2.2 Installation site.......................................................................................................... 16
3.2.3 Installation environment........................................................................................... 16
3.2.4 Installation precautions............................................................................................. 16
Chapter 4 Wiring..........................................................................................................................18
4.1 Main circuit wiring................................................................................................................18
4.1.1 Main circuit terminals................................................................................................18
4.1.2 Power wiring example............................................................................................... 20
4.1.3 Precautions for main circuit wiring............................................................................22
4.2 Power line connection of servo driver and servo motor......................................................23
4.2.1 Power cable............................................................................................................... 23
4.2.2 Brake device cable..................................................................................................... 23
4.3 Encoder cable connection of servo drive and servo motor......................................... 24
4.4 Drive input and output control terminal CN2 connection................................................... 27
4.4.1 CN2 pin distribution diagram............................................................................................ 27
4.4.2 Wiring diagram of each pulse mode......................................................................... 28
4.4.3 Position instruction input signal................................................................................29
4.4.4 Analog input signal.................................................................................................... 30
4.4.5 Digital input and output signals.................................................................................30
4.5 Communication signal wiring............................................................................................... 33
4.5.1 Communication signal connector..............................................................................33
4.5.2 Host computer communication connection..............................................................34
4.5.3 PLC communication connection................................................................................ 35

Wecon VD2 SA Series Servo Drives User Manual (Full V1.0)
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Chapter 5 Panel........................................................................................................................... 36
5.1 Panel composition................................................................................................................ 36
5.2 Panel display......................................................................................................................... 37
5.2.1 Display switching....................................................................................................... 37
5.2.2 Status display.............................................................................................................38
5.2.3 Parameter display......................................................................................................38
5.2.4 Fault display...............................................................................................................40
5.2.5 Monitor display..........................................................................................................40
5.3 Panel operation.................................................................................................................... 41
5.3.1 Parameter setting...................................................................................................... 41
5.3.2 Jog operation............................................................................................................. 42
5.3.3 Restore factory settings............................................................................................. 43
Chapter 6 Operation.................................................................................................................... 45
6.1 Basic settings........................................................................................................................ 45
6.1.1 Check before operation............................................................................................. 45
6.1.2 Power on....................................................................................................................45
6.1.3 Jog operation............................................................................................................. 45
6.1.4 Rotation direction selection...................................................................................... 46
6.1.5 Braking resistor..........................................................................................................46
6.1.6 Servo operation......................................................................................................... 47
6.1.7 Servo shutdown.........................................................................................................48
6.1.8 Brake device...............................................................................................................51
6.2 Position control mode.......................................................................................................... 55
6.2.1 Position instruction input setting.............................................................................. 56
6.2.2 Electronic gear ratio...................................................................................................66
6.2.3 Position instruction filtering...................................................................................... 68
6.2.4 Clearance of position deviation.................................................................................69
6.2.5 Position-related DO output function.........................................................................69
6.3 Speed control mode..................................................................................................... 71
6.3.1 Speed instruction input setting................................................................................. 72
6.3.2 Acceleration and deceleration time setting.............................................................. 74
6.3.3 Speed instruction limit.............................................................................................. 75
6.3.4 Zero-speed clamp function........................................................................................75
6.3.5 Speed-related DO output function............................................................................76
6.4 Torque control mode............................................................................................................ 80
6.4.1 Torque instruction input setting................................................................................ 81
6.4.2 Torque instruction filter.............................................................................................81
6.4.3 Torque instruction limit............................................................................................. 82
6.4.4 Torque DO output functions......................................................................................83
6.5 Mixed control mode............................................................................................................. 84
6.6 Absolute value system.......................................................................................................... 85
6.6.1 Overview....................................................................................................................85
6.6.2 Single-turn absolute value system.............................................................................85
6.6.3 Multi-turn absolute value system..............................................................................86
6.6.4 Encoder feedback data.............................................................................................. 87
6.6.5 Precautions for the use of the battery box of the absolute value system encoder.. 87
Chapter 7 Adjustments................................................................................................................89
7.1 Overview...............................................................................................................................89

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7.2 Inertia recognition................................................................................................................ 90
7.3 Gain adjustment................................................................................................................... 91
7.3.1 Automatic gain adjustment....................................................................................... 91
7.3.2 Manual gain adjustment............................................................................................93
7.3.3 Feedforward gain.......................................................................................................95
7.4 Mechanical resonance suppression..................................................................................... 96
7.4.1 Mechanical resonance suppression methods........................................................... 96
7.4.2 Notch filter.................................................................................................................96
Chapter 8 Communication...........................................................................................................99
8.1 Modbus communication.......................................................................................................99
8.1.1 Hardware wiring........................................................................................................ 99
8.2 Modbus communication protocol analysis........................................................................ 100
8.2.1 Modbus data frame format..................................................................................... 100
8.2.2 Description of supported function codes................................................................100
8.2.3 CRC check................................................................................................................ 101
8.2.4 Error response frame...............................................................................................102
8.2.5 Communication example.........................................................................................102
8.3 Servo communication parameter setting...........................................................................103
8.4 Modbus communication variable address and value description......................................104
8.4.1 Variable address description................................................................................... 104
8.4.2 Variable value type description............................................................................... 105
8.4.3 Numerical unit description...................................................................................... 105
Chapter 9 Parameters................................................................................................................106
9.1 Basic settings...................................................................................................................... 106
9.2 Control Setting....................................................................................................................109
9.3 Gain adjustment................................................................................................................. 113
9.4 Self-adjusting parameters...................................................................................................114
9.5 Vibration suppression.........................................................................................................115
9.6 Signal input and output...................................................................................................... 116
9.7 DI/DO configuration........................................................................................................... 119
9.8 Multi-position..................................................................................................................... 130
9.9 Accessibility........................................................................................................................ 136
9.10 Communication parameters.............................................................................................138
9.11 Virtual input terminal....................................................................................................... 138
9.12 Monitoring parameters.................................................................................................... 139
Chapter 10 Malfunctions...........................................................................................................142
10.1 Handling of faults and warnings at startup...................................................................... 142
10.1.1 Position control mode........................................................................................... 142
10.1.2 Speed control mode.............................................................................................. 143
10.1.3 Torque control mode............................................................................................. 144
10.2 Handling of faults and warnings during operation...........................................................145
10.2.1 Overview................................................................................................................145
10.2.2 Fault and warning code table................................................................................ 146
Chapter 11 Modbus Register Address....................................................................................... 154
11.1 Basic settings.................................................................................................................... 154
11.2 Control settings.................................................................................................................155
11.3 Gain parameters............................................................................................................... 156
11.4 Self-tuning parameters..................................................................................................... 156

Wecon VD2 SA Series Servo Drives User Manual (Full V1.0)
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11.5 Vibration suppression.......................................................................................................156
11.6 Signal input and output.................................................................................................... 157
11.7 DIDO configuration........................................................................................................... 157
11.8 Multi-position................................................................................................................... 158
11.9 Accessibility...................................................................................................................... 161
11.10 Communication parameters...........................................................................................161
11.11 Virtual input terminal..................................................................................................... 161
11.12 Monitoring parameters.................................................................................................. 162

Wecon VD2 SA Series Servo Drives User Manual (Full V1.0)
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Chapter 1 Safety reminder
1.1 Safety precautions
This section describes the important items that users must observe, such as product confirmation,
storage, transportation, installation, wiring, operation, inspection, and disposal. Please follow the
steps required by this manual for trial operation.
✎After the power is turned off for more than 5 minutes and the power indicator is off,
use a multimeter to confirm that the voltage across the high-voltage capacitor has
dropped to a safe voltage, and then proceed with the disassembly and assembly of the
drive, otherwise the residual voltage may cause electric shock.
✎Please never touch the inside of the servo drive, otherwise it may cause electric shock.
✎Please insulate the connection part of the power terminal, otherwise it may cause
electric shock.
✎The grounding terminal of the servo drive must be grounded, otherwise it may cause
electric shock.
✎Please install the servo drive, servo motor, and external braking resistor on
non-combustible materials, otherwise it may cause a fire.
✎Be sure to connect an electromagnetic contactor and a non-fuse circuit breaker
between the power supply and the main circuit power supply of the servo drive.
Otherwise, when the equipment fails, it may cause fire because it cannot cut off the large
current.
✎In the servo drive and servo motor, please do not mix with oil, grease and other
flammable foreign objects and screws, metal pieces and other conductive foreign objects,
otherwise it may cause a fire.
✎When the servo motor is connected to the machine, if an operation error occurs, it will
not only cause damage to the machine, but also sometimes cause personal safety
accidents.
✎Do not damage or pull the cable forcefully, do not subject the cable to excessive force,
or place heavy objects underneath, otherwise electric shock may occur, causing the
product to stop operating or burn out.
✎Do not use the brake of the brake motor for normal braking, otherwise it may cause a
malfunction.
✎Except for the designated operator, please do not set up, disassemble and repair the
equipment, otherwise it may cause electric shock or injury.
✎Do not remove the cover, cables, connectors and optional accessories while the power
is on, otherwise it may cause electric shock.
✎Please install a stop device on the machine side to ensure safety.
✎Please take measures to ensure that your personal safety will not be endangered when
restarting, otherwise it may cause injury.
✎Do not modify this product, otherwise it may cause personal injury or mechanical
damage.

Wecon VD2 SA Series Servo Drives User Manual (Full V1.0)
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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;
✎Places where condensation will not occur due to rapid changes in temperature;
✎Places free of corrosive gas and flammable gas;
✎Places without combustible materials nearby;
✎Places with less dust, salt and metal powder;
✎Places where there is no splash of water, oil, medicine, etc.;
✎Places where vibration or shock will not affect the product (places that exceed product
specifications);
✎Places that will not be exposed to radiation;
✎Storage or installation in environments other than the above may cause product failure
or damage:
✎Please use the correct method for handling according to the weight of the product;
✎Do not hold the motor cable or motor shaft for transportation;
✎When operating the servo unit and servo motor, please pay attention to sharp parts
such as the corners of the device.
1.3 Precautions during installation
✎Do not install this product in a place where water will be splashed or in an environment
prone to corrosion;
✎Please be sure to comply with the devices of the installation direction, otherwise it may
cause device failure;
✎When installing, please make sure to keep the specified distance between the servo
drive and the inner surface of the electric cabinet and other machines, otherwise it may
cause fire or device failure;
✎Do not apply excessive impact, otherwise it may cause equipment failure;
✎Do not sit on the product or place heavy objects on it, otherwise it may cause personal
injury;
✎Do not use this product near flammable gases and combustibles, otherwise there may
be a risk of electric shock or fire;
✎Do not block the suction and exhaust ports, and do not allow foreign objects to enter
the product, otherwise it may cause device failure or fire due to the aging of internal
components.

Wecon VD2 SA Series Servo Drives User Manual (Full V1.0)
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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. Do not use the electromagnetic contactor during the connection, otherwise it may
cause abnormal operation or malfunction of the device;
✎When the DO output terminal is connected to the relay, please pay attention to the
polarity of the freewheeling diode, otherwise the drive may be damaged and the signal
cannot be output normally;
✎Please fix the power terminal and the motor terminal firmly, otherwise it may cause a
fire hazard;
✎Do not connect the 220V servo unit directly to the 380V power supply;
✎Do not pass the power line and signal line through the same pipe or bundle them
together. When wiring, the power line and signal line should be separated by more than
30cm;
✎Use twisted-pair shielded cables for signal cables and encoder cables, and the shielding
layer should be grounded at both ends;
✎The wiring length of the signal input line is recommended to be within 3M, and the
wiring length of the encoder is recommended to be within 15M;
✎When using in the following places, please take adequate shielding measures:
✎When interference occurs due to static electricity;
✎Places where strong electric or magnetic fields are generated;
✎Places where there may be radiation;
✎When checking the job, please make sure that the CHARGE indicator is off.
1.5 Precautions during operation
✎During trial operation, in order to prevent accidents, please run the servo motor without
load (not connected to the drive shaft), otherwise it may cause injury.
✎When the servo motor is running, do not touch its rotating parts, otherwise it may cause
injury.
✎Be sure to set the correct moment of inertia ratio, otherwise it may cause vibration.
✎When it is installed on the supporting machine and starts to run, please set the user
parameters in accordance with the machine in advance. If you start running without
setting parameters, it may cause the machine to lose control or malfunction.
✎When installing on the supporting machinery and starting to run, please put the servo
motor in a state where it can be stopped in an emergency at any time, otherwise you may
get injured.
✎When using a servo motor on a vertical axis, please install a safety device to prevent the
workpiece from falling under alarm, overtravel, etc. states. In addition, please set the servo
lock stop setting when the overtravel occurs, otherwise the workpiece may fall in the
overtravel state.
✎Since extreme user parameter adjustments and setting changes will cause the servo

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system to become unstable, please never make settings, otherwise it may cause injury.
✎When an alarm occurs, reset the alarm after removing the cause and ensuring safety,
and restart the operation, otherwise it may cause injury.
✎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.
✎When the power is turned on and within a period of time after the power is cut off, the
heat sink of the servo drive, the external braking resistor, the servo motor, etc. may
experience high temperature. Please do not touch it, otherwise it may cause burns.
✎If the power supply is restored after an instantaneous power failure occurs during
operation, the machine may restart suddenly, so please do not approach the machine, and
press the stop button when the power is off, and operate after the power supply is stable.
1.6 Precautions during maintenance and inspection
✎The power on and off operations should be carried out by professional operators.
✎When testing the insulation resistance of the drive, please cut off all the connections
with the drive first, otherwise it may cause the drive to malfunction.
✎Do not use gasoline, alcohol, acid and alkaline detergents to avoid discoloration or
damage to the casing.
✎When replacing the servo drive, please transfer the user parameters of the servo drive
to be replaced to the new servo drive before restarting operation, otherwise the machine
may be damaged.
✎Do not change the wiring when the power is on, otherwise it may cause electric shock
or injury.
✎Do not disassemble the servo motor, otherwise it may cause electric shock or injury.

Wecon VD2 SA Series Servo Drives User Manual (Full V1.0)
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Chapter 2 Product Information
2.1 Servo drive products
2.1.1 Servo drive model naming
Figure 2-1 Servo drive model
Wecon VD2 series servo drives are divided into Type A and Type B, and their appearances and
nameplates are shown in Figure 2-2 and Figure 2-3 respectively.
Servo model
Rated input
Rated output
Manufacture number
Please operate according to the manual
and connect PE well in case of accident.
Incorrect wiring may cause servo
overspeed and injury to the servo.
WARNING
Danger
Hot
Caution
Electric
D141312008281XXXXXXX
MADE IN CHINA
V1.0.0
WECON Technology Co.,Ltd.
Model:
Output:
VD2-014SA1G
3PH AC 0240V 0400Hz 14A
Input: 1PH/3PH AC 200240V 50/60Hz
Please operate according to the manual
and connect PE well in case of accident.
Incorrect wiring may cause servo
overspeed and injury to the servo.
or power failure within 15min to avoid
electric shock
Do not touch the radiator to avoid burns
WARNING
Danger
Hot
Caution
Electric
Figure 2-2 Appearance and nameplate of type A servo drive

Wecon VD2 SA Series Servo Drives User Manual (Full V1.0)
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Servo model
Rated input
Manufacture number
Please operate according to the manual
and connect PE well in case of accident.
Incorrect wiring may cause servo
overspeed and injury to the servo.
or power failure within 15min to avoid
electric shock
Do not touch the radiator to avoid burns
WARNING
Danger
Hot
Caution
Electric
D141312008281XXXXXXX
MADE IN CHINA
V1.0.0
WECON Technology Co.,Ltd.
Model:
Output:
VD2-014SE1G
3PH AC 0240V 0400Hz 14A
Input: 1PH/3PH AC 200240V 50/60Hz
Rated output
Figure 2-3 Appearance and nameplate of type B servo drive
2.1.2 The composition of the servo drives
Wecon VD2 series servo drives:
Figure 2-4 Composition of type A servo drive

Wecon VD2 SA Series Servo Drives User Manual (Full V1.0)
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Figure 2-5 Composition of type B servo drive
Figure 2-6 Short connection of braking resistor
2.1.3 Electrical specifications of the servo drive
The electrical specifications of VD2 series servo drives are shown in Table 2-1.
Drive model
VD2 series servo drive
Main circuit power
supply
Use single-phase 200V~240V AC 50/60Hz power supply below 750W;
1.0kW~2.6kW can use single-phase 220V AC or three-phase 220V AC;
It is recommended to use three-phase 220VAC power supply.
Control power
supply (Note)
Single-phase 200V~240V AC 50/60Hz.
Braking method
Built-in braking resistor, external braking resistor can be connected.
Table 2-1 Servo drive electrical specifications

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✎Note: Only type B drives support independent power supply for control power supply, and type
A drives have no separate control power supply.
2.2 Servo motor products
2.2.1 Servo motor model naming
Figure 2-7 Servo motor naming
Figure 2-8 Servo motor nameplate
2.2.2 Composition of Servo motor
Figure 2-9 1.0KW-2.3KW motor composition

Wecon VD2 SA Series Servo Drives User Manual (Full V1.0)
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Figure 2-10 400W-750W motor composition
2.2.3 Electrical specifications of the servo motor
Wecon motor model
Flange
size
Rated
power
(KW)
Rated
torque
(N.m)
Voltage
(V)
Rated speed
(rpm)
Encoder type
WD60M-04030S-A1X
60
0.4
1.27
220
3000
17 bit absolute
value
WD80M-07530S-A1X
80
0.75
2.39
220
3000
17 bit absolute
value
WD80M-10025S-E1X
80
1.00
4
220
2500
2500 line
incremental
WD130M-10025S-E1X
130
1.00
4
220
2500
2500 line
incremental
WD130M-15015S-E1X
130
1.50
10
220
1500
2500 line
incremental
WD130M-15025S-E1X
130
1.50
6
220
2500
2500 line
incremental
WD130M-20025S-E1X
130
2.00
7.7
220
2500
2500 line
incremental
WD130M-23015S-E1X
130
2.30
15
220
1500
2500 line
incremental
Table 2-2 Wecon Motor Specifications
✎Note: Only part of the motor models are displayed, please refer to the [Model Selection Manual]
for details.

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Chapter 3 Installation of servo drive and motor
3.1 Installation of servo drive
3.1.1 Dimensions (Unit: mm)
43
160
156 33
152
5.2
Figure 3-1 Installation dimensions of type A servo drive
85
160
185 70
152
5.2
Figure 3-2 Installation dimensions of type B servo drive
3.1.2 Installation site
①Please install it in an installation cabinet free from sunlight and rain;
②In a place without vibration;
③Please do not install in the environment of high temperature, humidity, dust and metal dust;
④Do not use this product near corrosive and flammable gases such as hydrogen sulfide, chlorine,
ammonia, sulfur, chlorinated gas, acid, alkali, salt, etc., or combustible materials.

Wecon VD2 SA Series Servo Drives User Manual (Full V1.0)
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3.1.3 Installation environment
The installation environment of the servo drive has a direct impact on the normal function of the
drive and its service life. Therefore, the installation environment of the servo drive must meet the
following conditions:
Project
Illustrate
Ambient temperature
-10℃~40℃(no freezing)
Ambient humidity
-20%~90%RH (no condensation)
Storage temperature
-20℃~60℃
Storage humidity
-20%~90%RH (no condensation)
Protection grade
IP65
Vibration
Less than 0.5G (4.9m/s2), 10~60Hz (non-continuous operation)
Power Systems
TN system*
✎Note: The neutral point of the power system is directly connected to the ground, and the
exposed metal components are connected to the ground through a protective grounding
conductor.
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. For
typical minimum installation dimensions, Please refer to Figure 3-3.
>50mm
>50mm
>20mm
>20mm
>50mm
>50mm
>20mm >20mm
(A) Type A drive
(B) Type B drive
Figure 3-3 Minimum installation size

Wecon VD2 SA Series Servo Drives User Manual (Full V1.0)
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(2) Parallel installation
When multiple units are installed in parallel, the minimum distance between each other should be
20mm, and the distance between each other should be at least 100mm. Please refer to Figure 3-4
and Figure 3-5 for details. To prevent temperature rise, a cooling fan can be placed on the upper
part. If you need a smaller spacing installation, please consult us.
Figure 3-4 Parallel installation dimensions of multiple type A drives

Wecon VD2 SA Series Servo Drives User Manual (Full V1.0)
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Figure 3-5 Parallel installation dimensions of multiple type B drives
(3) Installation direction
When installing the servo drive, please face the front of the servo drive (panel control interface) to
the operator so that the servo drive is perpendicular to the wall.
3.2 Installation of servo motor
3.2.1 Dimensions (unit: mm)
(1) Installation dimensions of 60 flange servo motor
Specification
60 flange series motor
Rated torque (N.m)
0.64
1.27
LA without brake (mm)
75
92
LA with brake (mm)
99.5
116.5