Welcon WEC-D048/08-FS0025-E User manual

(15434) Room 812, 555, Byeolmang-ro, Danwon-gu, Ansan-si, Gyeonggi-do, Republic of Korea PHONE [phone] FAX [phone]
www.welconsystems.com
WELCON
Circle Servo Drive
Hardware Manual
WEC-D048/08-FS0025-E

WELCON Servo Drive Hardware Manual
2 / 21
© 2022 WELCON Systems. All rights reserved.
www.welconsystems.com
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.

WELCON Servo Drive Hardware Manual
3 / 21
© 2022 WELCON Systems. All rights reserved.
www.welconsystems.com

WELCON Servo Drive Hardware Manual
4 / 21
© 2022 WELCON Systems. All rights reserved.
www.welconsystems.com
CONTENTS
Precautions ..................................................................................................................................................................... 1
Copyright Notice ......................................................................................................................................................... 2
CONTENTS................................................................................................................................................ 4
1. Safety Information ......................................................................................................................... 5
Use environment ......................................................................................................................................................... 6
2. Technical Information .................................................................................................................... 7
2.1. Mechanical Data .................................................................................................................................................. 7
2.2. Electrical Data ....................................................................................................................................................... 8
3. Wiring ............................................................................................................................................. 10
3.1. Tools ....................................................................................................................................................................... 10
3.2. Connections ........................................................................................................................................................ 10
3.3. Main Power ......................................................................................................................................................... 11
3.4. EtherCAT IN/OUT ............................................................................................................................................. 12
3.5. Analog Input ....................................................................................................................................................... 13
3.6. Digital Encoder .................................................................................................................................................. 14
3.7. HALL ....................................................................................................................................................................... 15
3.8. Serial Encoder .................................................................................................................................................... 16
3.9. Motor Power....................................................................................................................................................... 17
3.10.BRAKE ................................................................................................................................................................... 18
3.11.USB ........................................................................................................................................................................ 19
3.12.Heatsink .............................................................................................................................................................. 20
Question : www.welconsystems.com

WELCON Servo Drive Hardware Manual
5 / 21
© 2022 WELCON Systems. All rights reserved.
www.welconsystems.com
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.

WELCON Servo Drive Hardware Manual
6 / 21
© 2022 WELCON Systems. All rights reserved.
www.welconsystems.com
⚠ 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.

WELCON Servo Drive Hardware Manual
7 / 21
© 2022 WELCON Systems. All rights reserved.
www.welconsystems.com
2. Technical Information
2.1. Mechanical Data
Item Unit Description
Weight g 51
Diameter
Outer mm 70
Inner mm 15
Height mm 27.5
Fastener M3
*For details, please refer to the 3D Modelling on the hompage.

WELCON Servo Drive Hardware Manual
8 / 21
© 2022 WELCON Systems. All rights reserved.
www.welconsystems.com
2.2. Electrical Data
WEC-D048/08-FS0025-E
Ratings 8
Continuous Output Current A rms 8
Peak Output Current A rms 18
Basic Specifications
Feature Specification
Motors DC/BLDC/PMSM/VCM Rotary servo motors, Linear servo motors
Current(Torque)
Control
Control Periodic 24KHz
Control Loop PI + Feed-forward
Velocity & Position
Control
Control Periodic 2KHz
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 EtherCAT(CoE, FoE) + USB
Auto Tuning Method
Automatic self-configuration and
optimization of motor phasing, wires,
current loop, velocity control loop.
Brake Method Control stops : Several Dynamic brake and
Active disable options
GUI User Interface WELSS(WelconServoStudio), Setting, Drive,
Motor, Feedback, I/O, Motion
Input Voltage Motor Voltage: 12~48VDC, Control Voltage: 24VDC
Protective Functions Under- and over-voltage, Over-current, Over-load(with I
2
T), Drive over-
temperature
Compliance Standard CE, KC
Environment
Ambient temperature: Operation 0-50℃, Storage 0-70℃
Humidity: 10-90%
Vibration: 1.0g

WELCON Servo Drive Hardware Manual
9 / 21
© 2022 WELCON Systems. All rights reserved.
www.welconsystems.com
Communication
Feature Specification
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 1
Voltage Range Analog ±10 VDC differential
Input Resolution 14 bit
Motor Feedback
General Supply Voltage 5VDC
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
Serial Encoder Type SSI, Biss-C
Bite rate 0.5Mbps, 1Mbps, 2Mbps, 2.5Mbps, 5Mbps

WELCON Servo Drive Hardware Manual
10 / 21
© 2022 WELCON Systems. All rights reserved.
www.welconsystems.com
3. Wiring
3.1. Tools
Tool Manufacturer Part Number
Hand crimp Tool MOLEX 638190000
Hand crimp Tool MOLEX 638190500
3.2. Connections
WEC10 → Motor UVW
WEC1 → EtherCAT IN
WEC2 → EtherCAT OUT
WEC3 → Serial Encoder
WEC4 → Analog Input
WEC5 → Power
WEC6 → USB
WEC7 → HALL Sensor
WEC8 → Digital Encoder
WEC9 → Brake

WELCON Servo Drive Hardware Manual
11 / 21
© 2022 WELCON Systems. All rights reserved.
www.welconsystems.com
3.3. Power
Weidmuller 1825650000 J802, J803
Pin Signal Input Power
1 VCC(Motor Power) 12~48VDC
2 24V(Control Power) 24VDC * Over voltage Caution (Only 24V)
3 GND GND

WELCON Servo Drive Hardware Manual
12 / 21
© 2022 WELCON Systems. All rights reserved.
www.welconsystems.com
3.4. EtherCAT IN/OUT
MOLEX_35507_0500 502128000
MOLEX_35362-0550 J301, J401
Pin Signal
ECAT IN
1 EtherCAT_RX0-
2 EtherCAT_RX0+
3 EtherCAT_TX0-
4 EtherCAT_TX0+
5 FG
ECAT OUT
1 EtherCAT_RX1-
2 EtherCAT_RX1+
3 EtherCAT_TX1-
4 EtherCAT_TX1+
5 FG

WELCON Servo Drive Hardware Manual
13 / 21
© 2022 WELCON Systems. All rights reserved.
www.welconsystems.com
3.5. Analog Input
MOLEX_35507_0200 502128000
MOLEX_35362-0250 J102
Pin Signal
1 AIN0+
2 AIN0-

WELCON Servo Drive Hardware Manual
14 / 21
© 2022 WELCON Systems. All rights reserved.
www.welconsystems.com
3.6. Digital Encoder
MOLEX_35507_0800 502128000
MOLEX_35362-0850 J501
Pin Signal
1 5V
2 GND
3 ENC_A+
4 ENC_A-
5 ENC_B+
6 ENC_B-
7 ENC_I+
8 ENC_I-

WELCON Servo Drive Hardware Manual
15 / 21
© 2022 WELCON Systems. All rights reserved.
www.welconsystems.com
3.7. HALL
MOLEX_35507_0500 502128000
MOLEX_35362-0550 J502
Pin Signal
1 5V
2 GND
3 HALL_U
4 HALL_V
5 HALL_W

WELCON Servo Drive Hardware Manual
16 / 21
© 2022 WELCON Systems. All rights reserved.
www.welconsystems.com
3.8. Serial Encoder
MOLEX_35507_0600 502128000
MOLEX_35362-0650 J604
Pin Signal
1 5V
2 GND
3 BISS DATA+
4 BISS DATA-
5 BISS CLK+
6 BISS CLK-

WELCON Servo Drive Hardware Manual
17 / 21
© 2022 WELCON Systems. All rights reserved.
www.welconsystems.com
3.9. Motor UVW
MOLEX_43645_0300 430300001
MOLEX_43650-0315 J801
Pin Signal
1 U (VCM or DC Motor : +)
2 V (VCM or DC Motor : -)
3 W

WELCON Servo Drive Hardware Manual
18 / 21
© 2022 WELCON Systems. All rights reserved.
www.welconsystems.com
3.10. BRAKE
MOLEX_35507_0200 502128000
MOLEX_35362-0260 J7
Pin Signal
1 24V
2 GND

WELCON Servo Drive Hardware Manual
19 / 21
© 2022 WELCON Systems. All rights reserved.
www.welconsystems.com
3.11. USB
USB-Mini Type B (10119313-301TLF)
Pin Signal
1 VBUS
2 DM
3 DP
4 ID
5 GND
6 SHIELD

WELCON Servo Drive Hardware Manual
20 / 21
© 2022 WELCON Systems. All rights reserved.
www.welconsystems.com
3.12. Heatsink
Attach the thermal pad (5mm) to the marked location.