Welcon WER-D048/25-FS0005-C 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
Servo Drive
Hardware Manual
Rectangle Type Drive
<WER-D048/25-FS0005-C>

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. Regenerative resistance ................................................................................................................................. 11
3.4. Main Power ......................................................................................................................................................... 12
3.5. UVW........................................................................................................................................................................ 13
3.6. Digital Encoder .................................................................................................................................................. 14
3.7. GPIO ....................................................................................................................................................................... 17
3.8. CAN ......................................................................................................................................................................... 19
3.9. USB .......................................................................................................................................................................... 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 차단한 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 80[%] 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 434
SIZE (L x W x H) mm 115 * 86 * 36
Fastener M3
*For details, please refer to the 3D Modelling on the homepage.

WELCON Servo Drive Hardware Manual
8 / 21
© 2022 WELCON Systems. All rights reserved.
www.welconsystems.com
2.2. Electrical Data
WER-D048/25-FS0005-C
Ratings 25
Continuous Output Current A rms 25
Peak Output Current A rms 58
Basic Specifications
Feature Specification
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 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 USB + CANopen or 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
Protective Functions Under- and over-voltage, Over-current, Over-load(with I
2
T), Drive over-
temperature
Environment
Ambient temperature: Operation 0-45℃, Storage 0-70℃
Humidity: 10-90%
Vibration: 1.0g
Communication
Feature Specification
CAN
CANopen – CiA 301 application layer and CiA 402 device profile for
drives and motion control.
Bit rate : 125kbps ~ 1Mbps
USB Baud rate : up to 2Mbps
Maximum cable length 3m

WELCON Servo Drive Hardware Manual
9 / 21
© 2022 WELCON Systems. All rights reserved.
www.welconsystems.com
I/O
Feature Specification
Digital Input
Quantity 6 (with STO)
Signal Configurable. Opto-isolated
Voltage 24V
Digital Output
Quantity 2
Signal Configurable. Opto-isolated. Open collector
Voltage 24V
Max. Output Current 45mA
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 Differential-ended
Type Separated hall sensor

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 63811-6300
3.2. Connections
CN1 → Regenerative resistance
CN2 → Main Power
CN3 → Motor Power
CN4 → Digital Encoder
CN5 → GPIO
CN6 → USB
CN7 → CAN

WELCON Servo Drive Hardware Manual
11 / 21
© 2022 WELCON Systems. All rights reserved.
www.welconsystems.com
3.3. Regenerative resistance
EC350V-2P
ECH350R-02P J702
Pin Input Power
1 R+
2 R-
⚠
- Use a regenerative resistor with a resistance value higher than 15 ohms.
- Be sure to connect the regenerative resistor after changing the regen clamp cut-off
voltage value(Object Index : 0x4601) using WELSS UI.
- On systems with large inertia, do not make large speed changes all at once.

WELCON Servo Drive Hardware Manual
12 / 21
© 2022 WELCON Systems. All rights reserved.
www.welconsystems.com
3.4. Main Power
EHK750V-03P J801
Pin Signal Input Power
1 VCC 12V ~ 60V DC
2 GND GND
3 FG FG
⚠
- 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.

WELCON Servo Drive Hardware Manual
13 / 21
© 2022 WELCON Systems. All rights reserved.
www.welconsystems.com
3.5. UVW
EHK750V-02P J701
Pin Signal
1 U (VCM or DC Motor : +)
2 V (VCM or DC Motor : -)
3 W
4 FG

WELCON Servo Drive Hardware Manual
14 / 21
© 2022 WELCON Systems. All rights reserved.
www.welconsystems.com
3.6. Digital Encoder
Molex_51353-1600 Molex 561349000
Molex 55959-1630 J201
Pin Signal
1 5V
2 GND
3 Encoder A+
4 Encoder A-
5 Encoder B+
6 Encoder B-
7 Encoder I+
8 Encoder I-
9 HALL U+
10 HALL U-
11 HALL V+
12 HALL V-
13 HALL W+
14 HALL W-
15 FG
16 GND

WELCON Servo Drive Hardware Manual
15 / 21
© 2022 WELCON Systems. All rights reserved.
www.welconsystems.com
 Hall Sensor/Digital Encoder signal conversion board
- Converts single ended Hall sensor signal and Digital encoder to differential.
Dinkle_EC350V-10P
Dinkle ECH350R-10P J1
Pin Signal
1 5V
2 GND
3 Encoder A
4 Encoder B
5 Encoder I
6 5V
7 GND
8 HALL U
9 HALL V
10 HALL W
The connector and pin map on the drive side are the same as those of the Digital Encoder.

WELCON Servo Drive Hardware Manual
16 / 21
© 2022 WELCON Systems. All rights reserved.
www.welconsystems.com
 Hall Sensor signal conversion board
- Converts single ended Hall sensor signal to differential.
Dinkle_EC350V-14P
Dinkle ECH350R-14P J3
Pin Signal
1 5V
2 Encoder A+
3 Encoder A-
4 Encoder B+
5 Encoder B-
6 Encoder I+
7 Encoder I-
8 GND
9 5V
10 HALL U
11 HALL V
12 HALL W
13 GND
14 F.G
The connector and pin map on the drive side are the same as those of the Digital Encoder.

WELCON Servo Drive Hardware Manual
17 / 21
© 2022 WELCON Systems. All rights reserved.
www.welconsystems.com
3.7. GPIO
Molex_51353-1000 Molex 561349000
Molex 55959-1030 J901
Pin Signal
1 STO
2 NEGATIVE_LIMIT
3 POSITIVE_LIMIT
4 HOME
5 GPI 0
6 GPI 1
7 GPI_COMMON
8 GPO 0
9 GPO 1
10 GPO_COMMON

WELCON Servo Drive Hardware Manual
18 / 21
© 2022 WELCON Systems. All rights reserved.
www.welconsystems.com
<Digital Input Circuit>
<Digital Output Circuit>

WELCON Servo Drive Hardware Manual
19 / 21
© 2022 WELCON Systems. All rights reserved.
www.welconsystems.com
3.8. CAN
 종단 저항 설정 스위치를 이용하여 CAN 신호선의 양 끝단에 종단 저항 연결
- Connect the terminating resistor to both ends of the CAN signal line using the
terminating resistor setting switch.
[CAN Communication]
8pin RJ45
Pin Signal
1 HIGH
2 LOW
3 GND
4 NC
5 NC
6 NC
7 GND
8 NC

WELCON Servo Drive Hardware Manual
20 / 21
© 2022 WELCON Systems. All rights reserved.
www.welconsystems.com
3.9. USB
USB-Mini Type B (Keystone Model:934)
Pin Signal
1 VBUS
2 DM
3 DP
4 ID
5 GND
6 SHIELD