VD2 SA Series

= **Preface** =

This manual is applicable to Wecon VD2 Series absolute value servo drives (**VD2 SA series**).

In order to use this series of servo drives correctly, please read this manual carefully in advance and save it for later use.

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During use, if you have any doubts about the function and performance of this equipment, please contact our technicians for relevant assistance to use this equipment smoothly.

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The company's products are constantly being improved and upgraded, and the contents of this manual are subject to change without notice.

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This manual is suitable for introductory and use reference books for elementary and intermediate readers. At the same time, all interpretation rights of this manual belong to our company.

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[[image:image-20220923133747-1.png]]

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|The danger caused by failure to operate as required may result in serious injuries or even death.

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[[image:image-20220923133747-2.png||height="34" width="130"]]

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|The danger caused by failure to operate as required may result in moderate or minor injuries, and equipment damage.

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= **User Manual Version History** =

|=Date|=(((

Changed

Version

)))|=Change content|=Applicable models and firmware versions

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|2021.12|A1.0|First release version|(((

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VD2-0□□SA1G model: V1.10, V1.12

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VD2F-0□□SA1P model: V1.00

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|2022.03|A1.1|(((

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Chapter 2 Updating the servo driver naming, updating motor model table.

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Chapter 3 Updating motor dimension drawing and dimension table

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Chapter 6 Add new section 6.6.4 "Speed Limit in Speed Mode", updating relevant parameter content for firmware upgrade

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Chapter 11 Add the description of the scope of application of the cable

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VD2-0□□SA1G model: Add V1.13

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VD2F-0□□SA1P model: Add V1.01 and V1.02

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|2022.04|A1.2|(((

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Chapter 2 Updating section 2.1 “Servo Drive Specifications”

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Chapter 4 Updating section 4.1 “Main Circuit Wiring”, updating section 4.5 “Communication signal wiring”

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Chapter 5 Updating section 5.3.3 “Restore Factory Settings” process and instructions

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Chapter 6 Updating section 6.6 “Absolute value system”

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Chapter 7 Updating section 7.3 “Gain adjustment” renderings

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Chapter 8 Updating section 8.2.5 “Communication Example”

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Chapter 10 Updating section 10.2.2 “Fault and Warning Code Table”, 10.2.3 add section 10.3 “Troubleshooting”

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Chapters 9 and 11 adjust relevant parameters for firmware upgrades

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VD2-0□□SA1G model：

Add V1.14

VD2F-0□□SA1P model:

V1.01, V1.02

Add VD2-021TA1G model:

V1.01

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|2022.11|V2.0|(((

Chapter 4

Modify section 4.4.1 “VD2A, VD2F pin wiring diagram” Add section 4.4.1 “VD2-0xxSA1H driver DIDO pin distribution”. Add section 4.4.2 “VD2-0xxSA1H mode wiring diagram” Add section 4.4.5 “VD2-0xxSA1H DIDO signal”

Chapter 7

Updating section 7.3.4 “Model Tracking Control Function” Updating section 7.3.5 “Gain Switching Function” Updating section 7.4.3 “Low Frequency Vibration Suppression Function” Updating section 7.4.4 “Type A Vibration Suppression Function”

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Chapters 9 and 11 adjust relevant parameters for new functions such as “model tracking control”

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VD2-0□□SA1H model：

Add V1.17 firmware

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|2023.05|V2.1|(((

Chapter 6

Updating section 6.17 “Shutdown deceleration time” setting feature. Updating section 6.63 “P10-6 Multi-turn Absolute Encoder Reset” and “P10-8: Multi-turn Absolute Encoder Origin Offset Compensation” Updating section 6.64 "P00-31 Encoder Read and Write Verification Abnormal Threshold Setting"

Chapter 10

Add “Er.43 Drive Overload Fail” and parameter content. Add “A80 Drive Overload Alarm” Modify “A91 Parameter Modification too Frequent Warning” trigger condition. Add temporary solution for "A93 encoder read and write verification abnormal frequency is too high"

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Chapters 9 and 11 adjust relevant parameters for new functions such as “Estop shutdown deceleration time”

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)))|Add V1.18 firmware

|2024.01|V2.2|(((

Chapter 2

Update 2.1.1 "Servo Drive Model Naming Rules"

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Add 2.1.1 "VD2L Drive Appearance and Nameplate" and "VD2C Drive Appearance and Nameplate"

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Add 2.1.2 "Composition of VD2L Drive" and "Composition of VD2C Drive Appearance"

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Add 2.1.3 "Electrical Specifications for VD2L Drives" and "Electrical Specifications for VD2C Drives"

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Add 2.2.2 "Motor (Wire Type) Composition Diagram"

Chapter 3

Add 3.1.1 "VD2L Drive Installation Dimension Diagram" and "VD2C Drive Installation Dimension Diagram"

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Add 3.1.4 "VD2L Drive Minimum Installation Dimension Diagram" and "VD2C Drive Minimum Installation Dimension Diagram"

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Add 3.1.4 "VD2L Drive Parallel Installation Dimension Diagram" and "VD2C Drive Parallel Installation Dimension Diagram"

Chapter 4

Add 4.1.1 "VD2L Servo Drive Main Circuit Terminal Arrangement and VD2C Servo Drive Main Circuit Terminal Arrangement"

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Add 4.1.2 "VD2L drive single-phase 220V main circuit wiring" and "VD2C drive single-phase 220V main circuit wiring"

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Add 4.3 "Absolute Encoder Cable Connector (Connector Type) Pin-out and Encoder Cable Pin Connection"

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Add 4.4.1 "Pin-out of VD2L servo drive control input and output (CN2 interface)"

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Add 4.4.1 "VD2L drive single phase 220V main circuit wiring"

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Add 4.4.2 "VD2L drive position pulse mode wiring"

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Add 4.4.3 "VD2L drive differential method"

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Add 4.4.3 "VD2L drive collector open circuit method"

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Add 4.4.5 "VD2L drive digital input circuit"

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Add 4.4.5 "VD2L drive digital output circuit"

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Add 4.5.1 "VD2L drive VD2L type and PC connection method"

Chapter 6

Revise 6.2 "P0-01 Parameter Table 6-11 Control Mode Parameter Details"

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Revise 6.2 "Table 6-15 Position Pulse Type Selection Parameter Details"

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Revise 6.2 "Add VD2L P0-14 parameters"

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Add 6.2.6 "VD2L-0xxSA1P pulse signal DO output function"

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Revise 6.2.6 "Comments on P6-28, P6-30 and P6-32"

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Revise 6.3.1 "Comments on supported models of P5-03, P5-04, P5-01 and P5-02"

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Revise 6.4.1 "Unsupported models for P1-07"

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Revise 6.4.1 "Table 6-45 AI_1 related parameter detail "

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Revise 6.4.3 "Comments on P1-14"

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Revise 6.4.3 "Comments on Table 6-52 Mixed Control Mode Parameters"

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Revise 6.6.4 "Functions of P0-30"

Chapter 7

Revise 7.4.3 "Applicable Models for Related Parameters of Low Frequency Vibration Suppression Function"

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Revise 7.4.4 "Applicable models for Related Parameters of Type A Vibration Suppression Function"

Chapter 9

Revise the function introduction for P0-30, and add the function of shielding encoder over temperature function, etc.

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Revise the value range of P10-4 and cancel the shielding overload protection function

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Add P10-11 function, enabling function of motor stall over temperature protection

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Add a note about the VD2L model not supporting some parameters.

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Add U0-49 motor overload internal count

Chapter 10

Add the function introduction of ER.45 drive stall over temperature protection.

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Revise ER.27 Not clearable properties;

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Update V1.20 firmware

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Add VD2L series model

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Add VD2-050TA1G model

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2024.09

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V2.3

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Chapter 2 Amend subsection 2.13 “Basic specifications”

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Chapter 3 Add a new subsection 3.13 “Installation environment for servo drives”

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Addition of subsection 3.23 “Installation environment for servomotors”

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New changes to the description of environmental conditions

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|2024.12|V2.4|(((

Chapter 6

Added section 6.8 “Home Return Mode (HM)”;

Chapter 9

Revised the content of "P00-04 Function Code";

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Added "Group P01: P01-39; P01-40; P01-41; P01-42; P01-43; P01-44 ";

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Added "U0 Group: U0-59 bus voltage historical maximum and U0-60 average power historical maximum;

Chapter 10

Section 10.3, added ER.19 Software Overcurrent;

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Added VD2 series V1.22 firmware

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Added VD2L V1.02 firmware

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The following table lists the servo driver models and supported firmware.

V1.10

V1.12

V1.13

V1.14

V1.15

V1.16

V1.17

V1.18

V1.19

V1.20

V1.21

V1.22

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|VD2-014SA1G

|VD2-016SA1G|(% rowspan="5" %)VD2 B type

|VD2-019SA1G

|VD2-021SA1G

|VD2-025SA1GF

|VD2-030SA1G

|VD2F-003SA1P|(% rowspan="3" %)VD2F|(% rowspan="3" %)(((

V1.00

V1.01

V1.02

V1.16

V1.17

V1.18

V1.19

V1.20

V1.21

V1.22

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|VD2F-010SA1P

|VD2F-014SA1P

|VD2L-010SA1P|(% rowspan="2" %)VD2L|(% rowspan="2" %)(((

V1.00

V1.01

V1.02

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|VD2L-014SA1P

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VD2-016TA1G

)))|(% colspan="1" rowspan="3" %)VD2 B type|(% colspan="1" rowspan="6" %)380V|(% colspan="1" rowspan="3" %)(((

V1.01

V1.17

V1.18

V1.19

V1.20

V1.21

V1.22

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|(((

VD2-019TA1G

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|VD2-021TA1G

|VD2-030TA1G|(% rowspan="3" %)VD2 C type|(% rowspan="3" %)(((

V1.20

V1.21

V1.22

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|VD2-040TA1G

|VD2-050TA1G

Wiki source code of VD2 SA Series