WEIHONG WISE WSDV-2R820PSB User manual

WISE Servo Driver and Motor
Selection Guide
Weihong Electronic Technology Co., Ltd.
(For WSDV series)
(2nd Edition)

The copyright of this manual belongs to Weihong Electronic Technology Co., Ltd. (hereinafter referred to as
Weihong Company). This manual and any image, table, data or other information contained in this manual may
not be reproduced, transferred, or translated without any prior written permission of Weihong Company.
The information contained in this manual is constantly being updated. You can login to the official website of
Weihong Company http://en.weihong.com.cn to download the latest PDF edition for free.

Specialized Concentrated Focused
Preface「I」
Preface
About This Manual
This manual is intended for manufacturers. If you use the system for the first time, you need to read
through the manual. If you are experienced with the system, you can search for the desired info via the
contents.
With 3 chapters, this manual can be divided into 4 parts, as follows:
1) Part 1: preface, introducing general information of this manual as well as contact information of
some driver manufacturers.
2) Part 2: overview of product. Chapter 1 mainly introduces product features, combination of drivers
and motors, and typical examples of wiring diagrams.
3) Part 3: introductions to driver, including chapter 2, introducing naming rules of the driver, and its
specifications as well as dimensions.
4) Part 4: introductions to motor, including chapter 3, introducing naming rules of the motor, its
specifications and dimensions, pin dispositions of motor side connector as well as calculations for
motor selection.
Applicable Product Models
This manual is applicable to WISE (维智) servo driver. Refer to the table below for details:
Product Model
Remarks
WISE (维智) servo driver
At present, there are four models, including WSDV-2R8(0.4kW)；
WSDV-5R0(0.75kW)；WSDV-6R8(1.0kW)；WSDV-110(1.5kW).
It is herein abbreviated as WISE (维智).
For your information, without any special explanations, driver
hereinafter in this manual refers to WISE (维智) servo driver.
Contact Us
You can contact us by the following info for technical support and pre-sales/after-sales service:
Company Name: Weihong Electronic Technology Co., Ltd.
HeadquartersAddress: No. 29, 2338 Duhui Rd., Minhang, Shanghai 201108
Tel: [phone]
Fax: [phone]
E-mail: [e-mail]
Website: http://www.en.weihong.com.cn

Specialized Concentrated Focused
「II」Preface
Revision History
You can refer to the following table for the revision records of each edition.
Date
Edition
Revision Contents
2015.02
R1
Released for the first time.
2015.06
R2
Add parameter “Recommended load moment of inertia (as much as the
moment of inertia)”in the table of motor specifications in chapter 3.2.
Precautions
Precautions can be divided into caution and warning according to the degree of possible loss or injury in
case of negligence or omission of precautions stipulated in this manual.
CAUTION
: general info, mainly for informing, such as supplementary instructions and
conditions to enable a function. In case of negligence or omission of this kind of precautions, you may
not activate a function. Note that in some circumstances, negligence or omission of even this kind of
precautions could cause physical injury or machine damage.
WARNING
: warning info requiring special attention. In case of negligence or omission of this
kind of precautions, you may suffer physical injury, or even death, machine damage or other losses.

Specialized Concentrated Focused
Contents「III」
Content
1OVERVIEW......................................................................................................................................1
1.1 Features.................................................................................................................................................. 1
1.1.1 Outstanding Positioning Precision and Low-speed Smoothness ............................................................... 1
1.1.2 Ease of Use................................................................................................................................................. 1
1.1.3 Powerful Support Software........................................................................................................................ 2
1.1.4 Time Registration Function........................................................................................................................ 3
1.1.5 Widely Applied in Various Industries ......................................................................................................... 4
1.2 Table of Combination of Servo Driver and Motor.................................................................................... 4
1.3 Typical Example of Wiring Diagram ........................................................................................................ 5
2WISE (维智) DRIVER....................................................................................................................6
2.1 Ordering Information of the WISE (维智) Servo Driver ........................................................................... 6
2.2 Technical Specification............................................................................................................................ 6
2.3 Dimensions............................................................................................................................................. 9
3SERVO MOTOR............................................................................................................................ 11
3.1 Ordering Information of Servomotor Model ..........................................................................................11
3.2 Technical Specifications and Dimensions ...............................................................................................11
3.2.1 MHMD Series........................................................................................................................................... 11
3.2.2 MDME/ MHME Series.............................................................................................................................. 15
3.3 MHMD Series Motor Side Connector .....................................................................................................17
3.3.1 Pin Disposition of Connector for Encoder Cable...................................................................................... 18
3.3.2 Pin Disposition of Connector for Motor Cable and Brake Cable .............................................................. 19
3.4 Pin Disposition of Connector for MDME/ MHME Motor Side Connector................................................19
3.4.1 Pin Disposition of Connector for Encoder Cable...................................................................................... 19
3.4.2 Pin Disposition of Connector for Motor/Brake Cables............................................................................. 20
3.5 Calculations for Motor Selection............................................................................................................21
3.5.1 Select Motor Capacity.............................................................................................................................. 21

Specialized Concentrated Focused
「IV」Contents
3.5.2 Example of Motor Selection .................................................................................................................... 25

Specialized Concentrated Focused
Overview「1」
1 Overview
1.1 Features
WISE (Chinese name as "维智", “维”is one character in Chinese company name “维宏”, and “智”is for
intelligence and wisdom. Besides, pronunciation of “维智”sounds like that of English word “wise”) series
servo driver is another expansion in motion control industry chain of Weihong Company. It boasts such
functions as real-time auto-gain tuning, adaptive mechanical resonance suppression, friction torque
compensation, external disturbance observer, gain switching and time register, to name but a few.
Thanks to its precise positioning, quick response and ease of use, it has been proven to be an excellent
and reliable solution provider when it is used together with Weihong CNC system. Chain-like product
combination can effectively reduce components number and type for machine tool builders and facilitate
daily maintenance for machines.
1.1.1 Outstanding Positioning Precision and Low-speed
Smoothness
It supports encoder with high resolution, reducing variation of torque, improving positioning precision of
motor and enhancing smoothness of low-speed motion.
Fig. 1-1 When there is stiffness difference, WISE servo driver can keep motor un-oscillated via gain switching function.
1.1.2 Ease of Use
It features auto calculation of inertia ratio, real-time auto-gain tuning and auto suppression to mechanical
resonance.

Specialized Concentrated Focused
「2」Overview
Fig. 1-2 Comparison between counterparts and WISE servo driver
1.1.3 Powerful Support Software
WISE servo driver can be used with the setup support software, “iMotion”, which is user-friendly in HMI,
and features functions such as real-time I/O monitoring and auto capture and analysis of waves.
Fig. 1-3 Example of iMotion
With the “iMotion”, you can execute the followings.
Parameters Management
Editing, transmission, receipt, import, export and initialization of parameters can be realized, which is
very convenient for operators.
Real-time Monitoring
Monitoring of I/O, existing alarms and history alarms, as well as system running status.

Specialized Concentrated Focused
Overview「3」
Real-time/Triggered Sampling
Main data waves in running will be captured with Real-time/Triggered Sampling function, for debugging
and analysis.
Debugging
Rapidly adjust the servo driver stiffness, automatic calculation of inertia ratio.
Mechanical Analysis
Through FFT algorithm, quickly analyze and find the mechanical resonance point, and automatically
setup notch filter to suppress vibration.
Trial Run
With versatile Trial Run interfaces, various application situations in real practices can be simulated.
Fig. 1-4 Parameter management interface (left) and real-time sampling interface (right)
1.1.4 Time Registration Function
Double encryption from CNC system and servo driver is supported, which will safeguard manufacturers’
legal rights to the greatest degree.
Fig. 1-5 Time registration function which will be released soon

Specialized Concentrated Focused
「4」Overview
1.1.5 Widely Applied in Various Industries
WISE (维智) servo driver adopts advanced control algorithm and can realize digital control of torque,
rotational speed and position with the help of IPM intelligent module. It features excellent positioning
precision and low-speed smoothness, on-line/off-line inertia recognition and real-time auto-gain tuning.
Operations are easy and concise. It can be widely applied in industries including milling and engraving,
water jet cutting, laser cutting, glass cutting, metal cutting, robot manipulator and textile industry, etc.
Fig. 1-6 Examples of applicable industries
1.2 Table of Combination of Servo Driver and
Motor
Table 1 Combinations of WISE (维智) AC servo drivers and applicable motors
Driver
Model of Applicable Motor
Rated
Power(kW)
Inertia
WSDV-2R820PSB
MHMD042G1□
0.4
High inertia
WSDV-5R020PSB
MHMD082G1□
0.75
High inertia
WSDV-6R820PSB
MDME102GC□M/ MHME102GC□
M
1.0
Middle/High
inertia
WSDV-11020PSB
MDME152GC□M/ MHME152GC□
M
1.5
Middle/High
inertia
NOTE
Symbol “□” represents the motor structure. Please refer to naming rules of the
motor model in following pages.

Specialized Concentrated Focused
Overview「5」
1.3 Typical Example of Wiring Diagram
CHARGE
L1
L2
L3
L1C
L2C
B1
B2
B3
1
2
U
V
W
C
N
1
C
N
2
C
N
3
C
N
4
Noise Filter
Circuit Breaker PC
WISE servo driver
Magnetic Contactor
Regenerative Resistor
Protect the power line by shutting
the circuit OFF when over-current
is detected.
Used to eliminate external noise
from the power line and noise
disturbance form the driver.
Turn the servo ON and OFF.
Install a surge suppressor on
the magnetic contactor.
Note:
Used to start/stop the
rotation of motor is
PROHIBITED.
Contactor B1、B2、B3:
§ Keep short-circuit wiring
between B2-B3 contactors.
§ When a regenerative resistor is
equipped, break the short-circuit
wiring between B2-B3
contactors, and externally
connect regenerative resistor to
B1-B2 contactors, together set
Pr016 to 1.
Motor Main
Circuit Cable
Encoder Cable
Weihong CNC system
NK300BX
NcStudio V9
仿真
俯视图 X：
Y：
Z：
-1.978
6.248
5.000
X
Y
Z
内存：2M/8M 提示：方向键可调整视图位置（详细请按“G”键）
-10 0 10 20 30 40 50
-
2
0
-
1
0
0
1
0
2
0
3
0
4
0
自行车.dxf 08:58:06
空闲：正常结束
仿真
加工
模拟仿真
F1 图形调整 F2 加工统计 F3 F4 加工范围 F5 F6 工件计数范围 F7 F8
已加工时间：
完成百分比：
预计剩余时间：
当前程序行：
当前刀具号：
完成工件数：
00:00:00
0%
00:04:08
0
1
0
F ：
S ：
0%
50%
0 mm/min
0 RPM
02300 G0 X-11.3589 Y6.6469 Z5.0000
02301 G1 Z0.0000
02302 G1 X-11.3589 Y6.6469
02303 G1 Z0.0000
02304 G1 X-12.2148 Y6.9251
02305 G1 Z0.0000
02306 G1 X-12.2148 Y6.9251
02307 G1 Z0.0000
02308 G1 X-11.9367 Y7.7810
02309 G1 Z0.0000
02310 G1 X-11.9367 Y7.7810
F1 F2 F3 F4 F5 F6 F8F7
Fig. 1-7 Typical example of wiring diagram
WARNING
When externally wiring to a regenerative resistor, over-temperature protection
MUST be provided.
Install over-temperature protection fuse and thermostat in the regenerative
resistor. And once fuse action occurs, it cannot restore to previous state.
Please install the regenerative resistor on non-combustion substances.

Specialized Concentrated Focused
「6」WISE (维智) Driver
2 WISE (维智) Driver
2.1 Ordering Information of the WISE (维智)
Servo Driver
Contents of nameplate of WISE (维智) series servo driver, as shown Fig. 2-1, consists of series name +
permissible current specification + voltage specification + contactor specification + encoder feedback
type + control mode.
Symbol Type
WSDV WISE series
2
Symbol Rated output
power
2R8 0.4kW
W S D V 2R8 2 0P S B
Current specification
5R0 0.75kW
6R8 1.0kW
110 1.5kW
Symbol Specification
2 200V
4 400V
Voltage
specification
Symbol Specification
0P Pulse train command
0C High -speed communication command
Contactor Specification
AP Analog voltage·pulse train command
Symbol Specification
P Parallel 2500-wire incremental encoder
S Serial communication encoder
Encoder feedback type
Symbol Specification
B Position/Velocity/Torque
P Exclusive for position control
Control mode
Fig. 2-1 WISE ordering options
2.2 Technical Specification
Table 2 Table of technical specifications
Basic specifications
Main-circuit
power
WSDV-2R8
WSDV-5R0
WSDV-6R8
Single/3-phase 200V～240V
10%
15%


50/60Hz
WSDV-110
3-phase 200V～240V
10%
15%


50/60Hz
Control
circuit power
Signle phase 200V～240V
10%
15%


50/60Hz
Encoder
feedback
17-bit(131072 resolution)7-wire serial absolute encoder;
20-bit(1048576 resolution)5-wire serial incremental encoder;
2500-wire(10000 resolution)ABZ incremental encoder.

Specialized Concentrated Focused
WISE (维智) Driver「7」
Basic specifications
Pulse+Direct
ion input
signal
2 differential inputs (one for pulse differential input and the other for
direction differential input).
Pulse output
Feed out encoder feedback pulse(A,B and Z-phase)in line driver.
Communica-
tion function
Connection with PC (“iMotion”software) via USB.
Control
input
8 inputs for general purposes, signals are:
①Alarm clear input (A-CLR) ②Internal command velocity selection
(INTSPD1, INTSPD2, INTSPD3) ③Positive direction over-travel inhibition
input (POT) ④Negative direction over-travel inhibition input (NOT)
⑤Command pulse inhibition (INH) ⑥SRV-ON ⑦Zero-speed clamp
(ZEROSPD) ⑧Gain switching (GAIN) etc.
Control
output
7 outputs for general purposes, among which alarm output ALM is
designated to SO3, and the rest of 6 outputs are:
①External brake release signal (BRK-OFF) ②Servo-Ready output (S-RDY)
③Positioning complete signal (INP) ④Zero-speed clamp detection signal
(ZSP) ⑤Torque in-limit signal (TLC) ⑥Spped consistent (V-COIN) ⑦Speed
arrival (AT-SPEED) ⑧Warning (WARN1) ⑨Velocity in-limit (V-LIMIT).
Control
mode
① Position control ②Velocity control ③Torque control
Functions
Position
control
Control
input
①Deviation counter clear; ②Command pulse input
inhibition;
③Command dividing gradual increase switching; ④Gain
swithcing input, etc
Control
output
Positioning complete output.
Pulse input
Max. pulse input
frequency
Line drive: 1Mpps；
Photocoupler: 200kpps.
Pulse input mode
Differential input. Selectable with
parameter(①Positive/Negative；②
A and B-phase; ③Command and
direction)
Electronic gear
(Division/Multiplicati
on of command pulse)
Use the electronic gear ratio within
the range 1/1000times to 1000
times.
Filter
Command smoothing filter, FIR
type filter, primary delay filter
Pulse output
A, B and C-phase: line driver output.
Division pulse number: 1~1/4 of the encoder resolution
setup value.
Velocity
control
Control
input
①Internal command velocity selection 1;
②internal command velocity selection 2;
③internal command velocity selection 3;
④Zero-speed clamp
Control
output
Speed arrival
Internal
Switching the internal 8 speed is enabled by command

Specialized Concentrated Focused
「8」WISE (维智) Driver
Basic specifications
velocity
command
input.
Velocity
command
Acc./Dec.
adjustment
Individual setup of acceleration and deceleration is
enabled,with 0s/1000 r/min to 10s/1000 r/min. Sigmoid
acceleration/deceleration is also enabled.
Zero-speed
clamp
0-clamp of internal velocity command with speed zero
clamp input is enabled.
Torque
control
Control
input
Zero-speed clamp input.
Control
output
Speed arrival.
Velocity limit
Velocity limit can be enabled through parameter setting.
Toruqe
command
filter
One first-order low-pass filter, four notch filter.
Protective funcitons
Hardware
Protection
Over-voltage, under-voltage, over-current, under-current, over-speed,
over-load, over-load of brake resistor, over-heat of driver and encoder error
etc.
Software
protection
Register error, initialization failure, I/O allocation abonormal, too large
position variation, etc
Error history
Up to 14 alarm data can be traced.

Specialized Concentrated Focused
WISE (维智) Driver「9」
2.3 Dimensions
Fig. 2-2 Dimensional drawing of driver WSDV-2R8
Fig. 2-3 Dimensional drawing of driver WSDV-5R0 and WSDV-6R8

Specialized Concentrated Focused
「10」WISE (维智) Driver
Fig. 2-4 Dimensional drawing of driver WSDV-110

Specialized Concentrated Focused
Servo Motor「11」
3 Servo Motor
3.1 Ordering Information of Servomotor
Model
Contents of servomotor nameplate consist of product series name + rated power + voltage specification
+ encoder specification + design order + motor structure, as shown below:
Symbol Specifications
MSME Low inertia（1.0kW）
Symbol Rated output power
04 0.4kW
M H M D 0 4 2 G 1 U
MDME Medium inertia
（1.0kW~1.5kW）
MHMD High inertia
（0.4kW~0.75kW）
MHME High inertia
（1.5kW）
Rated output power
08 0.75kW
10 1.0kW
15 1.5kW
Symbol Specification
2 200V
4 400V
Voltage
specification
Symbol Format
G Incremental
S Absolute
Pulse count
20-bit
17-bit
Resolution
1048576
131072
Wire count
5-wire
7-wire
Rotary encoder specification
Design order
1：Standard Symbol D-cut
A
B
Key way
Shaft Holding brake
Without With Oil seal Without With
C
D
S
T
U
V
Motor structure
MHMD
Symbol D-cut
C
D
Key way
Shaft Holding brake
Without With Oil seal Without With
G
H
MSME(1.0kW)
MDME、MHME
Fig. 3-1 Ordering options of servo driver
3.2 Technical Specifications and Dimensions
3.2.1 MHMD Series
Table 3 MHMD series servomotor specifications
Series
MHMD
Rated output power(kW)
0.4
0.75
Applicable driver model
WSDV-2R820PSB
WSDV-5R020PSB
Rated torque(N•m)
1.3
2.4
Max. torque(N•m)
3.8
7.1
Rated rotational speed/Max. rotational
speed(rpm)
3000/5000
3000/4500

Specialized Concentrated Focused
「12」Servo Motor
Series
MHMD
Motor inertia(×10-4kg•m2)
Without
brake
0.67
1.51
With
brake
0.7
1.61
Recommended the max. ratio of load
inertia against the rotor (of the motor)
inertia
30 times or less
20 times or less
Transformer capacity(KVA)
0.9
1.3
Encoder
20-bit incremental encoder or 17-bit
abosulte encoder
Mass(KG)(Brake: Without/With)
1.4/1.8
2.5/3.5
LL
Without
brake
118
127
With
brake
154.5
164
LR
30
35
S
14
19
LA
70
90
LB
50
70
LC
60
80
LE
3
3
LF
6.5
8
LH
43
53
LZ
4.5
6
Key (D-cut/Key-way)
LW
25
25
LK
22.5
22
KW
5h9
6h9
KH
5
6
RH
11
15.5
TP
M5 depth 10
M5 depth 10
CAUTION
When actual value of load rotating inertia is larger than the recommended value
listed in above table, please consult us.

Specialized Concentrated Focused
Servo Motor「13」
Dimensional Drawing
LW
LK
Shaft end
specification
KW
KH RH
TP
220
（7）
220
（7）
LR
LELF
Brake connector
Motor connector
LL
Encoder connector
Φsh6
ΦLBh7
4-ΦLZ LC
LH
ΦLA
Fig. 3-2 Dimensional drawing of MHMD series servomotor
Brake specifications (To remain braking state, exciting here represents releasing. It cannot
be used to brake when motor is rotating. )
Series
MHMD
Rated output
power(kW)
0.4
0.75
Static friction
torque(N·m)
1.27 or more
2.45 or more
Engaging time(ms)
50 or less
70 or less
Releasing time(ms)
15 or less
20 or less
Exciting current DC(A)
0.36
0.42
Releasing voltage DC(V)
1 or more
1 or more
Exciting voltage DC(V)
24±1.2
24±1.2
CAUTION
Releasing time values represents the ones with DC-cutoff using a varistor.

Specialized Concentrated Focused
「14」Servo Motor
Torque characteristics (Dotted line represents torque at 10% less voltage)
MHMD 0.4kW
Without
oil seal
0 10
50
100
403020
Ratio vs. rated torque
[%]
Ambient temp.[℃]
Speed[r/min]
01000 2000 3000 4000 5000
(3400) 3800
(1.7)
2.0
4.0
Continuous
running range
Peak running range
Torque
[N·m]
Continuous torque vs. ambient temp.
(1.3)
90
With oil
seal
0 10
50
100
403020
Ratio vs. rated torque
[%]
Ambient temp.[℃]
Speed[r/min]
01000 2000 3000 4000 5000
(3400) 3800
(1.7)
2.0
4.0
Continuous
running range
Peak running
range
Torque
[N·m]
Continuous torque vs. ambient temp.
(1.3)
75
MHMD 0.75kW
Without
oil seal
0 10
50
100
403020
Ratio vs. rated torque
[%]
Ambient temp.[℃]
Speed[r/min]
01000 2000 3000 4000 5000
(3200) (3600)
(3.0)
4.0
8.0
Continuous
running range
Peak running
range
Torque
[N·m]
Continuous torque vs. ambient temp.
With oil
seal
0 10
50
100
403020
Ratio vs. rated torque
[%]
Ambient temp.[℃]
Speed[r/min]
01000 2000 3000 4000 5000
(3200) (3600)
(3.0)
4.0
8.0
Continuous
running range
Peak running
range
Torque
[N·m]
Continuous torque vs. ambient temp.