The WSD-H3 Series High Performance Servo (ECAT Type) is designed for high-speed, high-precision motion control systems that require real-time communication. Supporting a power range from 50 W to 7.5 kW, it offers flexible single-phase and three-phase AC power options (220 V / 380 V) to suit various industrial environments.
With EtherCAT communication, this model enables fast data exchange, precise synchronization, and stable multi-axis control. High peak current capability ensures rapid response and smooth motion, while selected models feature a built-in brake resistor for improved braking performance and operational safety. It is ideal for robotics, CNC machinery, packaging, and complex automation systems.
Technical Specification
| Item | Contents | ||
|---|---|---|---|
| Physical layer | 100BASE-TX(IEEE802.3) | ||
| Baud rate | 100Mbps | ||
| Cable jumper | Twisted-pair cablingCAT5e | ||
| Communication protocol | CoE(CANopenover EtherCAT) CiA402 | ||
| Synchronization Manager | 4 | ||
| FMMU | 3 | ||
| Control mode | Position control | csp | Cyclic position control mode |
| pp | Porifle position control mode | ||
| hm | Origin reset position control mode | ||
| Speed control | csv | Cyclic speed control mode | |
| pv | Profilespeed control mode | ||
| Torque control | tq | Profile torque control mode | |
| cst | Cyclictorque control mode | ||
| Feeler pin | 2 channals | ||
| Synchronous mode | DC，SM2 | ||
| Communication cycle | Morn than 500us(An integer multiple of 125us) | ||
| Communication object | SDO、PDO | ||
| Dynamic Object dictionary | Support | ||
| Max PDO allocation | RxPDO:9 TxPDO：8 | ||
| Max PDO length | RxPDO:32Bytes TxPDO:32Bytes | ||
Interface Definition CN1-ECAT Type Upper Computer
| Item | Symbol | Pin code | Content |
|---|---|---|---|
| Control power supply signal | COM+ | 13 | Connect the positive terminal of an external DC power supply (12 ~ 24V) |
| Servo On input | SRV-ON | 10 | "ON" :servo On state, motor powered on "OFF" :servo Off state , motor is not powered |
| Bias clearance input | CL | 9 | Eliminate positional deviation |
| Command pulse prohibited input | INH | 8 | Prohibit the input of command pulses |
| Negative drive prohibited input | NOT | 7 | No negative torque when the input is OFF |
| Forward drive prohibited input | POT | 11 | No positive torque when the input is OFF |
| Servo ready output | S-RDY+,S-RDY- | 1,6 | Driver no abnormality ,can be enabled normally |
| Servo alarm output | ALM+,ALM- | 3,2 | The output signal indicating the status of the alarm occurrence |
| Positioning completed output | INP+,INP- | 5,4 | Output the positioning completion signal |
| Internal 24V power supply | 24V | 15 | Internal 24V power supply, maximum current 0.2A |
| COM | 14 | ||
| Shielding ground | FG | Housing | Enclosure shielding ground |
CN2-Encoder
| Item | Symbol | Pin code | Content |
|---|---|---|---|
| Encoder power supply | +5V | 1 | Encoder power supply |
| Encoder power supply ground | GND | 2 | Encoder power supply ground |
| Signal | PS+ | 6 | Serial signal positive |
| PS- | 5 | Serial signal negative | |
| Shielding ground | FG | Housing | Housing shielding ground |
CN3-ECAT Type
| Item | Symbol | Pin code | Content |
|---|---|---|---|
| Send signal + | TX+ | 1 | Adopt standard RJ45 interface; Please use shielded twisted-pair (STP) cables of category 5e or above applicable to the TIA/EIA-568 standard |
| Send signal- | TX- | 2 | |
| Received signal + | RX+ | 3 | |
| Received signal - | RX- | 6 | |
| Shielding ground | FG | Housing | Housing shielding ground |
CN5-ECAT Type STO
| Item | Symbol | Pin code | Content |
|---|---|---|---|
| STO Reference Site | COM | 1 | STO Reference Site |
| Internal 24V power supply | 24V | 2 | It is used when the bypass STO function is required |
| STO1 signal input | STO1 | 3 | When both STO1 and STO2 are at high levels, the driver operates normally; otherwise, the driver does not work |
| STO2 signal input | STO2 | 4 |
Power Interface
| Item | Symbol | Pin code | Content |
|---|---|---|---|
| Control power input | L1C, L2C | - | Single phase AC 220V/380V |
| Power supply input | L1,L2,L3(CDE type) | - | Single/three phase AC 220V Three phase AC 380V |
| Motor power output | U, V, W | - | Connected to the servo motor UVW |
| Busbar voltage | P+，N- | Dc bus voltage. Do not connect wires at will | |
| Regenerative resistor port | RB，BC | - | When using the built-in regeneration resistor, short-circuit RB and BC. When using an external regene-ration resistor, RB and BC are open-circuited, and the external resistor is connected between P+ and BC |
| Shielding ground | - | Shielding grounding treatment |
Application in Different Scenarios
