02 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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(% class="warning" %)|[[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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(% class="warning" %)|[[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 Change Record** =

|=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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)))

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|2022.3|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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)))|(((

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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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|2022.4|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”

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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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|2023.06|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"

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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

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