Wiki source code of VD2 SA Series
Last modified by Iris on 2026/04/15 09:18
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| author | version | line-number | content |
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1.1 | 1 | = **Preface** = |
| 2 | |||
| 3 | This manual is applicable to Wecon VD2 Series absolute value servo drives (**VD2 SA series**). | ||
| 4 | |||
| 5 | In order to use this series of servo drives correctly, please read this manual carefully in advance and save it for later use. | ||
| 6 | |||
| 7 | 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. | ||
| 8 | |||
| 9 | The company's products are constantly being improved and upgraded, and the contents of this manual are subject to change without notice. | ||
| 10 | |||
| 11 | 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. | ||
| 12 | |||
| 13 | (% class="warning" %)|((( | ||
| 14 | (% style="text-align:center" %) | ||
| 15 | [[image:image-20220923133747-1.png]] | ||
| 16 | ))) | ||
| 17 | |The danger caused by failure to operate as required may result in serious injuries or even death. | ||
| 18 | |||
| 19 | (% class="warning" %)|((( | ||
| 20 | (% style="text-align:center" %) | ||
| 21 | [[image:image-20220923133747-2.png||height="34" width="130"]] | ||
| 22 | ))) | ||
| 23 | |The danger caused by failure to operate as required may result in moderate or minor injuries, and equipment damage. | ||
| 24 | |||
| 25 | = **User Manual Version History** = | ||
| 26 | |||
| 27 | |||
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3.1 | 28 | |**Date**|**Version**|**Changes**|**Applicable models and firmware reversions** |
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1.1 | 29 | |2021.12|A1.0|First release version|((( |
| 30 | VD2-0□□SA1G model: V1.10, V1.12 | ||
| 31 | |||
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3.1 | 32 | VD2F-0□□SA1P model: V1.00 |
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1.1 | 33 | ))) |
| 34 | |2022.03|A1.1|((( | ||
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3.1 | 35 | Chapter 2 |
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1.1 | 36 | |
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3.1 | 37 | Updating the servo driver naming. |
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1.1 | 38 | |
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3.1 | 39 | Updating motor model table. |
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1.1 | 40 | |
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3.1 | 41 | Chapter 3 |
| 42 | |||
| 43 | Updating motor dimension drawing and dimension table | ||
| 44 | |||
| 45 | Chapter 6 | ||
| 46 | |||
| 47 | Add new section 6.4.4 "Speed limit in speed mode", updating relevant parameter content for firmware upgrade | ||
| 48 | |||
| 49 | Chapter 11 | ||
| 50 | |||
| 51 | Add the description of the scope of application of the cable | ||
| |
1.1 | 52 | )))|((( |
| 53 | VD2-0□□SA1G model: Add V1.13 | ||
| 54 | |||
| 55 | VD2F-0□□SA1P model: Add V1.01 and V1.02 | ||
| 56 | ))) | ||
| 57 | |2022.04|A1.2|((( | ||
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3.1 | 58 | Chapter 2 |
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1.1 | 59 | |
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3.1 | 60 | Updating section 2.1.3 “Servo drive specifications” |
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1.1 | 61 | |
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3.1 | 62 | Chapter 4 |
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1.1 | 63 | |
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3.1 | 64 | Updating section 4.1 “Main circuit wiring”. |
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1.1 | 65 | |
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3.1 | 66 | Updating section 4.5 “Communication signal wiring” |
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1.1 | 67 | |
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3.1 | 68 | Chapter 5 |
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1.1 | 69 | |
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3.1 | 70 | Updating section 5.3.3 “Restore factory settings” process and instructions |
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1.1 | 71 | |
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3.1 | 72 | Chapter 6 |
| 73 | |||
| 74 | Updating section 6.6 “Absolute value system” | ||
| 75 | |||
| 76 | Chapter 7 | ||
| 77 | |||
| 78 | Updating section 7.3 “Gain adjustment” renderings | ||
| 79 | |||
| 80 | Chapter 8 | ||
| 81 | |||
| 82 | Updating section 8.2.5 “Communication example” | ||
| 83 | |||
| 84 | Chapter 10 | ||
| 85 | |||
| 86 | Updating section 10.2.2 “Fault and warning code table”. | ||
| 87 | |||
| 88 | Add section 10.3 “Troubleshooting” | ||
| 89 | |||
| 90 | Chapters 9 and 11 | ||
| 91 | |||
| 92 | Adjust relevant parameters for firmware upgrades | ||
| |
1.1 | 93 | )))|((( |
| 94 | VD2-0□□SA1G model： | ||
| 95 | |||
| 96 | Add V1.14 | ||
| 97 | |||
| 98 | VD2F-0□□SA1P model: | ||
| 99 | |||
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3.1 | 100 | V1.01, V1.02 |
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1.1 | 101 | |
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3.1 | 102 | Add VD2-021TA1G model:V1.01 |
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1.1 | 103 | ))) |
| 104 | |2022.11|V2.0|((( | ||
| 105 | Chapter 4 | ||
| 106 | |||
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3.1 | 107 | Modify section 4.4.1 “VD2A, VD2F pin wiring diagram” |
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1.1 | 108 | |
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3.1 | 109 | Add section 4.4.1 “vVD2-0xxsa1h driver dido pin distribution”. Add section 4.4.2 “VD2-0xxSA1H mode wiring diagram” |
| 110 | |||
| 111 | Add section 4.4.5 “VD2-0xxSA1H dido signal” | ||
| 112 | |||
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1.1 | 113 | Chapter 7 |
| 114 | |||
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3.1 | 115 | Updating section 7.3.4 “Model tracking control function” Updating section 7.3.5 “Gain switching function” |
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1.1 | 116 | |
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3.1 | 117 | Updating section 7.4.3 “Low frequency vibration suppression function” |
| 118 | |||
| 119 | Updating section 7.4.4 “Type a vibration suppression function” | ||
| 120 | |||
| 121 | Chapters 9 and 11 | ||
| 122 | |||
| 123 | Adjust relevant parameters for new functions such as “Model tracking control” | ||
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1.1 | 124 | )))|((( |
| 125 | VD2-0□□SA1H model： | ||
| 126 | |||
| 127 | Add V1.17 firmware | ||
| 128 | ))) | ||
| 129 | |2023.05|V2.1|((( | ||
| 130 | Chapter 6 | ||
| 131 | |||
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3.1 | 132 | Updating section 6.17 “Shutdown deceleration time” Setting feature. |
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1.1 | 133 | |
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3.1 | 134 | Updating section 6.63 “P10-6 multi-turn absolute encoder reset” And “P10-8: Multi-turn absolute encoder origin offset compensation” |
| 135 | |||
| 136 | Updating section 6.64 "P00-31 encoder read and write verification abnormal threshold setting" | ||
| 137 | |||
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1.1 | 138 | Chapter 10 |
| 139 | |||
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3.1 | 140 | Add “Er.43 drive overload fail” And parameter content. |
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1.1 | 141 | |
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3.1 | 142 | Add “A80 drive overpower warning” |
| 143 | |||
| 144 | Modify “A91 parameter modification too frequent warning” Trigger condition. | ||
| 145 | |||
| 146 | Add temporary solution for "A93 encoder read and write verification abnormal frequency is too high" | ||
| 147 | |||
| 148 | Chapters 9 and 11 | ||
| 149 | |||
| 150 | Adjust relevant parameters for new functions such as “Estop shutdown deceleration time” | ||
| 151 | )))|((( | ||
| 152 | Add V1.18 firmware | ||
| 153 | ))) | ||
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1.1 | 154 | |2024.01|V2.2|((( |
| 155 | Chapter 2 | ||
| 156 | |||
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3.1 | 157 | Update 2.1.1 "Servo drive model naming rules" |
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1.1 | 158 | |
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3.1 | 159 | Add 2.1.1 "Vd2l drive appearance and nameplate" And "VD2C drive appearance and nameplate" |
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1.1 | 160 | |
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3.1 | 161 | Add 2.1.2 "Composition of VD2L drive" And "Composition of VD2C drive appearance" |
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1.1 | 162 | |
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3.1 | 163 | Add 2.1.3 "Electrical specifications for vd2l drives" And "Electrical specifications for VD2C drives" |
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1.1 | 164 | |
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3.1 | 165 | Add 2.2.2 "Motor (wire type) composition diagram" |
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1.1 | 166 | |
| 167 | Chapter 3 | ||
| 168 | |||
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3.1 | 169 | Add 3.1.1 "VD2L drive installation dimension diagram" And "VD2C drive installation dimension diagram" |
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1.1 | 170 | |
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3.1 | 171 | Add 3.1.4 "VD2L drive minimum installation dimension diagram" And "VD2C drive minimum installation dimension diagram" |
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1.1 | 172 | |
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3.1 | 173 | Add 3.1.4 "VD2L drive parallel installation dimension diagram" and "VD2C drive parallel installation dimension diagram" |
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1.1 | 174 | |
| 175 | Chapter 4 | ||
| 176 | |||
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3.1 | 177 | Add 4.1.1 "VD2L servo drive main circuit terminal arrangement and VD2C servo drive main circuit terminal arrangement" |
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1.1 | 178 | |
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3.1 | 179 | Add 4.1.2 "VD2L drive single-phase 220v main circuit wiring" and "VD2C drive three-phase 380V main circuit wiring" |
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1.1 | 180 | |
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3.1 | 181 | Add 4.3 "Absolute encoder cable connector (connector type) pin-out and encoder cable pin connection" |
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1.1 | 182 | |
| 183 | Add 4.4.1 "Pin-out of VD2L servo drive control input and output (CN2 interface)" | ||
| 184 | |||
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3.1 | 185 | Add 4.4.1 "VD2L drive single-phase 220V main circuit wiring" |
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1.1 | 186 | |
| 187 | Add 4.4.2 "VD2L drive position pulse mode wiring" | ||
| 188 | |||
| 189 | Add 4.4.3 "VD2L drive differential method" | ||
| 190 | |||
| 191 | Add 4.4.3 "VD2L drive collector open circuit method" | ||
| 192 | |||
| 193 | Add 4.4.5 "VD2L drive digital input circuit" | ||
| 194 | |||
| 195 | Add 4.4.5 "VD2L drive digital output circuit" | ||
| 196 | |||
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3.1 | 197 | Add 4.5.1 "VD2L drive VD2L type and PC connection method" |
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1.1 | 198 | |
| 199 | Chapter 6 | ||
| 200 | |||
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3.1 | 201 | Revise 6.2 "P0-01 parameter table 6-11 control mode parameter details" |
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1.1 | 202 | |
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3.1 | 203 | Revise 6.2 "Table 6-16 position pulse type selection parameter details" |
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1.1 | 204 | |
| 205 | Revise 6.2 "Add VD2L P0-14 parameters" | ||
| 206 | |||
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3.1 | 207 | Add 6.2.6 "VD2L-0xxsa1p pulse signal do output function" |
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1.1 | 208 | |
| 209 | Revise 6.2.6 "Comments on P6-28, P6-30 and P6-32" | ||
| 210 | |||
| 211 | Revise 6.3.1 "Comments on supported models of P5-03, P5-04, P5-01 and P5-02" | ||
| 212 | |||
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3.1 | 213 | Revise 6.4.1 "Unsupported models for p1-07" |
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1.1 | 214 | |
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3.1 | 215 | Revise 6.4.1 "Table 6-46 AI_1 related parameter detail " |
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1.1 | 216 | |
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3.1 | 217 | Revise 6.4.3 "Comments on p1-14" |
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1.1 | 218 | |
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3.1 | 219 | Revise 6.4.3 "Comments on table 6-53 mixed control mode parameters" |
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1.1 | 220 | |
| 221 | Revise 6.6.4 "Functions of P0-30" | ||
| 222 | |||
| 223 | Chapter 7 | ||
| 224 | |||
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3.1 | 225 | Revise 7.4.3 "Applicable models for related parameters of low frequency vibration suppression function" |
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1.1 | 226 | |
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3.1 | 227 | Revise 7.4.4 "Applicable models for related parameters of type a vibration suppression function" |
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1.1 | 228 | |
| 229 | Chapter 9 | ||
| 230 | |||
| 231 | Revise the function introduction for P0-30, and add the function of shielding encoder over temperature function, etc. | ||
| 232 | |||
| 233 | Revise the value range of P10-4 and cancel the shielding overload protection function | ||
| 234 | |||
| 235 | Add P10-11 function, enabling function of motor stall over temperature protection | ||
| 236 | |||
| 237 | Add a note about the VD2L model not supporting some parameters. | ||
| 238 | |||
| 239 | Add U0-49 motor overload internal count | ||
| 240 | |||
| 241 | Chapter 10 | ||
| 242 | |||
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3.1 | 243 | Add the function introduction of Er.45 drive stall over temperature protection. |
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1.1 | 244 | |
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3.1 | 245 | Revise er.27 not clearable properties; |
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1.1 | 246 | )))|((( |
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3.1 | 247 | |
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1.1 | 248 | |
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3.1 | 249 | Update V1.20 firmware |
| 250 | |||
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1.1 | 251 | Add VD2L series model |
| 252 | |||
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3.1 | 253 | Add VD2C series model |
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1.1 | 254 | ))) |
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3.1 | 255 | |2024.09|V2.3|((( |
| 256 | Chapter 2 | ||
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1.1 | 257 | |
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3.1 | 258 | Amend subsection 2.13 “Basic specifications” |
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1.1 | 259 | |
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3.1 | 260 | |
| 261 | Chapter 3 | ||
| 262 | |||
| 263 | Add a new subsection 3.13 “Installation environment for servo drives” | ||
| 264 | |||
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1.1 | 265 | Addition of subsection 3.23 “Installation environment for servomotors” |
| 266 | )))|((( | ||
| 267 | New changes to the description of environmental conditions | ||
| 268 | ))) | ||
| 269 | |2024.12|V2.4|((( | ||
| 270 | Chapter 6 | ||
| 271 | |||
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3.1 | 272 | Added section 6.8 “Home return mode (HM)” |
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1.1 | 273 | |
| 274 | Chapter 9 | ||
| 275 | |||
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3.1 | 276 | Revised the content of "P00-04 function code" |
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1.1 | 277 | |
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3.1 | 278 | Added "Group p01: P01-39; P01-40; P01-41; P01-42; P01-43; P01-44 " |
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1.1 | 279 | |
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3.1 | 280 | Added "U0 group: U0-59 bus voltage historical maximum and u0-60 average power historical maximum |
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1.1 | 281 | |
| 282 | Chapter 10 | ||
| 283 | |||
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3.1 | 284 | Section 10.3, added “Er.19 software overcurrent” |
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1.1 | 285 | )))|((( |
| 286 | Added VD2 series V1.22 firmware | ||
| 287 | |||
| 288 | Added VD2L V1.02 firmware | ||
| 289 | ))) | ||
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2.1 | 290 | |2026.01|V3.0|((( |
| 291 | Chapter 9: | ||
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1.1 | 292 | |
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2.1 | 293 | Add [P01-20] Software overcurrent detection window |
| 294 | |||
| 295 | [P0-33] Multi-turn encoder undervoltage fault auto clear | ||
| 296 | |||
| 297 | [P02-40], [P02-41], [P02-42], [P02-43] Gravity compensation related function codes | ||
| 298 | |||
| 299 | [P02-47], [P02-48, ], [P02-49], [P02-50] Quadrant protrusion compensation related function codes | ||
| 300 | |||
| 301 | [P07] Group Multi-position function code updates & Adjustments | ||
| 302 | )))|((( | ||
| 303 | Added VD2 series V1.24 firmware | ||
| 304 | |||
| 305 | Added VD2L V1.03 firmware | ||
| 306 | ))) | ||
| 307 | |||
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1.1 | 308 | The following table lists the servo driver models and supported firmware. |
| 309 | |||
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2.1 | 310 | |(% style="width:199px" %) |(% style="width:264px" %)**Supported models**|(% style="width:300px" %)**Corresponding model**|**Voltage**|**Supported firmware** |
| 311 | |(% rowspan="18" style="width:199px" %)**Wecon VD2SA series servo drives manual**|(% style="width:264px" %)VD2-010SA1G|(% rowspan="2" style="width:300px" %)VD2A type|(% rowspan="12" %)220V|(% rowspan="7" %)((( | ||
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1.1 | 312 | V1.10 |
| 313 | |||
| 314 | V1.12 | ||
| 315 | |||
| 316 | V1.13 | ||
| 317 | |||
| 318 | V1.14 | ||
| 319 | |||
| 320 | V1.15 | ||
| 321 | |||
| 322 | V1.16 | ||
| 323 | |||
| 324 | V1.17 | ||
| 325 | |||
| 326 | V1.18 | ||
| 327 | |||
| 328 | V1.19 | ||
| 329 | |||
| 330 | V1.20 | ||
| 331 | |||
| 332 | V1.21 | ||
| 333 | |||
| 334 | V1.22 | ||
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2.1 | 335 | |
| 336 | V1.23 | ||
| 337 | |||
| 338 | V1.24 | ||
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1.1 | 339 | ))) |
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2.1 | 340 | |(% style="width:264px" %)VD2-014SA1G |
| 341 | |(% style="width:264px" %)VD2-016SA1G|(% rowspan="5" style="width:300px" %)VD2B type | ||
| 342 | |(% style="width:264px" %)VD2-019SA1G | ||
| 343 | |(% style="width:264px" %)VD2-021SA1G | ||
| 344 | |(% style="width:264px" %)VD2-025SA1GF | ||
| 345 | |(% style="width:264px" %)VD2-030SA1G | ||
| 346 | |(% style="width:264px" %)VD2F-003SA1P|(% rowspan="3" style="width:300px" %)VD2F|(% rowspan="3" %)((( | ||
| |
1.1 | 347 | V1.00 |
| 348 | |||
| 349 | V1.01 | ||
| 350 | |||
| 351 | V1.02 | ||
| 352 | |||
| 353 | V1.16 | ||
| 354 | |||
| 355 | V1.17 | ||
| 356 | |||
| 357 | V1.18 | ||
| 358 | |||
| 359 | V1.19 | ||
| 360 | |||
| 361 | V1.20 | ||
| 362 | |||
| 363 | V1.21 | ||
| 364 | |||
| 365 | V1.22 | ||
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2.1 | 366 | |
| 367 | V1.23 | ||
| 368 | |||
| 369 | V1.24 | ||
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1.1 | 370 | ))) |
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2.1 | 371 | |(% style="width:264px" %)VD2F-010SA1P |
| 372 | |(% style="width:264px" %)VD2F-014SA1P | ||
| 373 | |(% style="width:264px" %)VD2L-010SA1P|(% rowspan="2" style="width:300px" %)VD2L|(% rowspan="2" %)((( | ||
| |
1.1 | 374 | V1.00 |
| 375 | |||
| 376 | V1.01 | ||
| 377 | |||
| 378 | V1.02 | ||
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2.1 | 379 | |
| 380 | V1.03 | ||
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1.1 | 381 | ))) |
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2.1 | 382 | |(% style="width:264px" %)VD2L-014SA1P |
| 383 | |(% style="width:264px" %)VD2-016TA1G|(% rowspan="3" style="width:300px" %)VD2B type|(% rowspan="6" %)380V|(% rowspan="3" %)((( | ||
| |
1.1 | 384 | V1.01 |
| 385 | |||
| 386 | V1.17 | ||
| 387 | |||
| 388 | V1.18 | ||
| 389 | |||
| 390 | V1.19 | ||
| 391 | |||
| 392 | V1.20 | ||
| 393 | |||
| 394 | V1.21 | ||
| 395 | |||
| 396 | V1.22 | ||
| |
2.1 | 397 | |
| 398 | V1.23 | ||
| 399 | |||
| 400 | V1.24 | ||
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1.1 | 401 | ))) |
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2.1 | 402 | |(% style="width:264px" %)VD2-019TA1G |
| 403 | |(% style="width:264px" %)VD2-021TA1G | ||
| 404 | |(% style="width:264px" %)VD2-030TA1G|(% rowspan="3" style="width:300px" %)VD2C type|(% rowspan="3" %)((( | ||
| |
1.1 | 405 | V1.20 |
| 406 | |||
| 407 | V1.21 | ||
| 408 | |||
| 409 | V1.22 | ||
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2.1 | 410 | |
| 411 | V1.23 | ||
| 412 | |||
| 413 | V1.24 | ||
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1.1 | 414 | ))) |
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2.1 | 415 | |(% style="width:264px" %)VD2-040TA1G |
| 416 | |(% style="width:264px" %)VD2-050TA1G |