Welcon WE2S D024 FS0057 Series User manual

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WELCON
Servo Drive
Hardware Manual
WE2S_D024_xx_FS0057_x

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Precautions
- Please read this manual carefully before installing and commissioning.
- WELCON SYSTEMS assumes no responsibility whatsoever for any loss or damage arising
out of use for any purpose.
Copyright Notice
© 2022 WELCON Systems. All rights reserved.
Copyright in this document is reserved exclusively by WELCON SYSTEMS. That is, the
owner of the text, images, and all other materials listed in this document is WELCON
SYSTEMS. Therefore, the unauthorized distribution, transfer, or duplication of the text,
images, and other materials in this document without the written permission of the
copyright holder, WELCON SYSTEMS, is prohibited.

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CONTENTS
Precautions ..................................................................................................................................................................... 2
Copyright Notice ......................................................................................................................................................... 2
CONTENTS................................................................................................................................................ 4
1. Safety Information ......................................................................................................................... 5
Use environment ......................................................................................................................................................... 6
2. Technical Information .................................................................................................................... 7
2.1. Mechanical Data .................................................................................................................................................. 7
2.1.1. Drive ...................................................................................................................................................................... 7
2.1.2. Extension Board ............................................................................................................................................... 8
2.2. Electrical Data ....................................................................................................................................................... 9
3. Precautions for Installation ........................................................................................................ 12
4. Wiring ............................................................................................................................................. 13
4.1. Tools ....................................................................................................................................................................... 13
4.2. Connections ........................................................................................................................................................ 13
4.3. Motor Power....................................................................................................................................................... 14
4.4. Digital Encoder .................................................................................................................................................. 15
4.5. Analog Position Sensor ................................................................................................................................. 16
4.6. Additional Incremental Encoder ................................................................................................................ 17
4.7. FFC Connectors for Motor and Encoder ............................................................................................... 18
4.8. USB .......................................................................................................................................................................... 19
4.9. Main Power ......................................................................................................................................................... 20
4.10.EtherCAT ............................................................................................................................................................. 21
4.11.Digital I/O .......................................................................................................................................................... 23
Question : www.welconsystems.com

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1. Safety Information
 Safety accidents and damage to the product may occur, so be sure to read the safety
instructions before use and use it correctly.
⚠ Warnings
- 전원이 켜진 상태에서 서보 드라이브 주 전원을 연결/분리하지 마십시오.
Do not connect/disconnect the main power of the servo drive while the power is on.
- 전원이 켜진 상태에서 서보 드라이브 엔코더 케이블 및 I/O를 연결/분리하지 마십시오.
모터 및 서보 드라이브의 고장 원인이 될 수 있습니다.
Do not connect/disconnect the servo drive encoder cable and I/O while the power is
on. Motor and servo drive may be damaged.
- 전원 케이블은 모터가 움직이지 않을 때도 고전압을 전달할 수 있습니다.
The power cable can carry high voltage even when the motor is not moving.
- 서보 드라이브의 메인 전원은 드라이브 사양에 맞춰 정확히 입력되어야 합니다.
드라이브 파손 및 고장의 원인이 될 수 있습니다.
The main power of the servo drive must be accurately input according to the drive
specifications. It may cause damage to the drive
- 서보 드라이브 U, V, W 출력 단자에 전원을 직접 접속하지 마십시오.
Do not connect power directly to the servo drive U, V, W output terminals.
- 서보 드라이브 전원을 차단 한 후 캐패시터가 완전히 방전된 후 전원을 분리해 주십시
오.
After turning off the servo drive power, disconnect the power after the capacitor is
completely discharged.

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⚠ Cautions
- U, V, W 케이블과 Encoder 케이블은 반드시 분리하여 배선해 주십시오.
Be sure to separate U, V, W cables and encoder cables before wiring.
- 전원 차단 후 U, V, W 케이블과 Encoder 케이블 배선작업을 진행하십시오.
After turning off the power, proceed with wiring the U, V, W cables and encoder cables.
- 떨어뜨리거나 강한 충격을 가하지 마십시오.
Do not drop it or subject it to strong impact.
- 가연성 물질, 물 근처는 설치를 하지 말아주십시오.
Do not install near flammable substances or water.
- 서보 드라이브 내부에 피복이나 구리선 등이 들어가지 않도록 해 주십시오.
Make sure that no sheath or copper wire gets inside the servo drive.
- Encoder 케이블은 쉴드 케이블 사용을 권장합니다.
It is recommended to use shielded cables for encoder cables.
- EtherCat 케이블은 CAT.7 이상의 케이블 사용을 권장합니다.
For EtherCat cables, it is recommended to use CAT.7 cables.
- 초기 전원 투입 전 모터의 U, V, W 및 Encoder 케이블 등을 확인하여 주십시오.
Check the U, V, W and encoder cables of the motor before turning on the power.
- 노이즈 방지를 위해 Encoder 케이블 및 U, V, W 및 전원 FG 접속을 권장합니다.
It is recommended to connect the encoder cable and U, V, W and power FG to prevent
noise.
Use environment
환경 조건
Operating Temperature 0 °C to 50 °C
Maximum Humidity 90[%] RH
Operating Place A place free of iron, flammable gas, dust, etc.

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2. Technical Information
2.1. Mechanical Data
2.1.1. Drive
Item Unit Description
Weight g 92
SIZE (L x W x H) mm 100 * 65 * 10.4
Fastener M3
*For details, please refer to the 3D Modelling on the homepage.

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2.1.2. Extension Board
< 16 Axes Extension Board >
 16 Axes Extension Board
(WEX-16E)
 12 Axes Extension Board
(WEX-12E)
 8 Axes Extension Board
(WEX-8E)
- Board size : 185mm×125mm
- Number of slots/boards : 8/16
- Number of DIO connectors : 16
- Board size : 155mm×125mm
- Number of slots/boards : 6/12
- Number of DIO connectors : 12
- Board size : 105mm×125mm
- Number of slots/boards : 4/8
- Number of DIO connectors : 8

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2.2. Electrical Data
WE2S-D024/xx-FS0057-x
Ratings P5 01
Continuous Output Current A rms 0.5 1
Peak Output Current A rms 1.5 3
Basic Specifications
Feature Specification
Number of control axes 2
Motors DC/BLDC/PMSM/VCM Rotary servo motors, Linear servo motors
Current(Torque) Control
Control Periodic 20KHz
Control Loop PI + Feed-forward
Velocity & Position
Control
Control Periodic 4KHz
Control Loop Cascade P/PI + Feed-forward
Filters
First order low pass filter, Four notch
filters,
First order adaptive windowing filters.
Reference Command Current/Velocity/Position USB + CANopen + EtherCAT(CoE, FoE)
Auto Tuning Method
Automatic self-configuration and
optimization of motor phasing, wires,
current loop, velocity control loop.
GUI User Interface WELSS(WelconServoStudio), Setting, Drive,
Motor, Feedback, I/O, Motion
Input Voltage 12~24VDC
Protective Functions Under- and over-voltage, Over-current, Over-load(with I
2
T), Drive
over-temperature
Environment
Ambient temperature: Operation 0-50℃, Storage 0-70℃
Humidity: 10-90%
Vibration: 1.0g

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Communication
Feature Specification
CAN*
CANopen – CiA 301 application layer and CiA 402 device profile for
drives and motion control.
Bit rate : 125kbps ~ 1Mbps
EtherCAT*
CiA 301 application layer and CiA 402 device profile for drives and
motion control
Communication cycle time: up to 500μs(CSV, CSP mode), up to
250us(CST mode)
USB Baud rate : up to 3Mbps
Maximum cable length 3m
I/O
Feature Specification
Analog Input
Quantity 1x2
Voltage Range Analog ±10 VDC differential
Input Resolution 14 bit
Digital Inputs
Quantity (4(with STO) + 2(Optional))x2
Signal Configurable, Opto-isolated(4) + LVTTL(2).
Voltage 24V
Digital Outputs
Quantity 2x2
Signal Configurable, Opto-isolated, Open collector.
Voltage 24V
Max. Output Current 35mA
* Optional

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Motor Feedback
General Supply Voltage 5VDC
Incremental Encoder
(1 Additional
Incremental Encoder)*
Signal A-quad-B with or without index, RS422,
Differential
A-quad-B Max Input
Frequency 10MHz (before quadrature)
Digital Hall Sensor
Signal Single-ended
Type Separated hall sensor
Analog Hall Sensor**
Signal 0~5V, Single-ended
Sampling Frequency 20KHz
Interpolation 14 bit
Sin/Cos Encoder**
Signal -0.7~+0.7V at 2.5V, Differential
Sampling Frequency 20KHz
Interpolation 14 bit
* 2nd axis only
** Optional (Request which analog sensor to use for each axis)

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3. Precautions for Installation
1. When the drive is installed in the slot of the extension board, check that the holes of
the heatsink and the extension board are exactly the same and fasten them with bolts.
2. In order to prevent the drives from shaking due to external vibration, the heatsink of the drive is
designed to be connected and fixed with each other. When fastening them with bolts, be sure to
proceed in a tilted state as dust particles may adhere to the drive.

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4. Wiring
4.1. Tools
Tool Manufacturer Part Number
Hand crimp Tool MOLEX 638190500
Hand crimp Tool MOLEX 2002180300
Hand crimp Tool MOLEX 2002187100
4.2. Connections
CN1 → Motor UVW
CN2 → Digital Encoder
CN3 → FFC Connectors for Motor and Encoder
CN4 → Analog Encoder
CN5 → Additional Incremental Encoder
CN6 → USB

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4.3. Motor UVW
MOLEX_35507-0400 MOLEX_50212-8000
MOLEX_35363-0460 J823, J923
Pin Signal
1 U (VCM or DC Motor : +)
2 V (VCM or DC Motor : -)
3 W
4 FG

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4.4. Digital Encoder
MOLEX_505565-1301 MOLEX_505431-1100
MOLEX_505567-1381 J824, J924
Pin Signal
1 5V
2 GND
3 ENC_A+
4 ENC_A-
5 ENC_B+
6 ENC_B-
7 ENC_I+
8 ENC_I-
9 HALL_U
10 HALL_V
11 HALL_W
12 5V
13 GND

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4.5. Analog Position Sensor
MOLEX_505565-1001 MOLEX_505431-1100
MOLEX_505567-1081 J820, J920
Pin Signal
1 Analog Position Sensor0 +
2 Analog Position Sensor0 -
3 Analog Position Sensor1 +
4 Analog Position Sensor1 -
5 Analog Position Sensor2 +
6 Analog Position Sensor2 -
7 5V
8 GND
9 Analog Input +
10 Analog Input -

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4.6. Additional Incremental Encoder
MOLEX_505565-0801 MOLEX_505431-1100
MOLEX 505567-0881 J925
Pin Signal
1 5V
2 ENC_A+
3 ENC_A-
4 ENC_B+
5 ENC_B-
6 ENC_I+
7 ENC_I-
8 GND

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4.7. FFC Connectors for Motor and Encoder
Premo-Flex FFC Cable
(MOLEX_15166)
MOLEX_52437-2433 J822, J922
Pin Signal
1 HALL_W
2 HALL_V
3 HALL_U
4 ENC_I-
5 ENC_I+
6 ENC_B-
7 ENC_B+
8 ENC_A-
9 ENC_A+
10 GND
11 5V
12 FG
13, 14, 15, 16 MOTOR_W
17, 18, 19, 20 MOTOR_V
21, 22, 23, 24 MOTOR_U

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4.8. USB
USB-Mini Type B (Keystone Model:937) J101
Pin Signal
1 VBUS
2 DM
3 DP
4 ID
5 GND
6 SHIELD

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4.9. Main Power
⚠
 Do not connect/disconnect the servo drive while the power is on.
 Before applying power, make sure that the DC supply is within the specified range.
 make sure the proper plus and minus connections are in order.
Pheonix Contact_1991105 J23, J24
Pin Signal
1 VCC
2 GND
3 FG