Welcon WER-D048/25-FS0005-C User manual

(15434) Room 812, 555, Byeolmang-ro, Danwon-gu, Ansan-si, Gyeonggi-do, Republic of Korea PHONE +82 31 417 6735 FAX +82 417 6736

www.welconsystems.com

WELCON

Servo Drive

Hardware Manual

Rectangle Type Drive

<WER-D048/25-FS0005-C>

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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.

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

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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

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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 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.

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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 80[%] RH

Operating Place A place free of iron, flammable gas, dust, etc.

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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.

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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

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

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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

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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

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