Ver. 2.2

Table of Contents
Table of Contents ............................................................................................................... 2
1. About this Guide............................................................................................................. 5
1.1 Safety Information ......................................................................................................5
1.1.1 Symbols ............................................................................................................ 5
1.1.2 Disclaimer ........................................................................................................ 6
1.2 Revision History ...........................................................................................................7
1.3 Ordering Information .................................................................................................8
1.4 Contact Us ..................................................................................................................9
1.5 How to use this guide...............................................................................................10
2. Features ......................................................................................................................... 11
2.1 Driver Description ..................................................................................................... 11
2.2 Current Loop............................................................................................................. 11
2.3 Auto Phase ............................................................................................................... 11
2.4 Velocity Loop .......................................................................................................... 11
2.5 Position Loop ............................................................................................................12
2.6 Command ................................................................................................................12
2.7 Gain Switch ...............................................................................................................12
2.8 Homing ......................................................................................................................12
2.9 Filter ...........................................................................................................................122.10 Scripts ......................................................................................................................12
2.11 Motor Temperature Detection ..............................................................................13
3. Installation...................................................................................................................... 15
3.1 Parts of the Drive ......................................................................................................15
3.2 Dimensions ................................................................................................................193.2.1 3A-type Will1-B Driver .................................................................................... 192

Will1-B Installation Guide –V2.2

3.2.2 9A-type Will1-B Driver .................................................................................... 19
3.2.3 21A-type Will1-B Driver .................................................................................. 20
3.3 Mounting ...................................................................................................................21
3.3.1 3A-type Will1-B Driver .................................................................................... 21
3.3.2 9A-type Will1-B Driver .................................................................................... 22
3.3.3 21A-type Will1-B Driver .................................................................................. 23
3.4 Mechanical and Electrical Specifications .............................................................24
3.5 Recommended Wiring Selection ...........................................................................29
3.6 Driver Power Wiring ..................................................................................................31
3.6.1 AC Power Wiring ........................................................................................... 31
3.6.2 24V DC Auxiliary Power Wiring ..................................................................... 33
3.7 Motor Power Wiring ..................................................................................................34
3.8 Communication Port Wiring ....................................................................................36
3.8.1 RS232 Cable .................................................................................................. 36
3.8.2 CANopen Standard Communicatoin Cable ............................................. 37
3.8.3 USB Cable ...................................................................................................... 38
3.8.4 EtherCAT In/Out (Optional).......................................................................... 39
3.9 General Port Wiring ..................................................................................................39
3.10 Controller Port Wiring .............................................................................................41
3.11 Feedback Port Wiring ............................................................................................43
3.12 I/O Pin Electrical Characteristics...........................................................................45
3.12.1 Differential Input Equivalent Circuit of Feedback Port (A/B/Z Mode) ... 45
3.12.2 Differential Input Equivalent Circuit of Controller Port (RA/RB/RZ) ......... 46
3.12.3 Digital Input up to 24V ................................................................................ 49
3.12.4 Digital Output (Open-Collector) ............................................................... 51
4. Status Panel ................................................................................................................... 52
4.1 Indicating Lights .......................................................................................................52
3

Will1-B Installation Guide –V2.2

4.1.1 Driver Indicating Lights ................................................................................. 52
4.1.1.1 Flashing rate of Driver Indicating Lights ............................................ 52
4.1.1.2 Driver Indicating Lights Defined ........................................................ 54
4.1.2 EtherCAT Indicating Lights (Optional) ......................................................... 54
4.1.2.1 Flashing rate of EtherCAT Indicating Lights ...................................... 54
4.1.2.2 RUN Indicator ...................................................................................... 56
4.1.2.3 ERROR Indicator .................................................................................. 57
4.2 Buttons and Status Display ......................................................................................59
5. Maintenance ................................................................................................................ 61
5.1 General .....................................................................................................................61
5.2 Troubleshooting ........................................................................................................62
6. Model Variations ........................................................................................................... 65
6.1 P: Extended Peak Current (for 9A-type Will1-B Driver only)..................................66
6.2 Heatsink (for 9A-type Will1-B Driver only) ...............................................................66
6.2.1 H: Passive heatsink (for 9A-type Will1-B Driver only)................................... 66
6.2.1.1 Dimensions of H-heatsink ................................................................... 67
6.2.2 F: Heatsink with fan (for 9A-type Will1-B Driver) .......................................... 68
6.2.2.1 Dimensions of F-heatsink .................................................................... 68
6.3 R: Regenerative Resistor ..........................................................................................69
6.3.1 Dimensions of Regenerative Resistor .......................................................... 70
6.4 E: EtherCAT................................................................................................................71
7. Optional Accessories.................................................................................................... 72
7.1 AC Power Filter .........................................................................................................72
7.2 Noise Filter Board for Will1-B Driver ..........................................................................73
7.2.1 Dimensions of NF Board (stand-alone/assembled) ................................... 73
7.2.2 Install Orientation and Steps ........................................................................ 75
7.3 Ferrite Choke ............................................................................................................75
4

Will1-B Installation Guide –V2.2

About this Guide
1.1. Safety Information
Please take the time to read this guide carefully to operate the Will1-B Drivercorrectly and safely. The information here helps you prevent serious
accidents and ensures safety while operating.
Please read this section carefully before installation.
Make sure all parts are grounded properly and ensure the electricalresistance with ground is low. Only qualified personnel are to proceed with
the installation. Professional knowledge of electronics, installation, testing,and motor operations are required for qualified persons.
There are sensitive and precision electrical parts inside the Will1-B Driver. If theinstallation fails, or the Driver is heavily impacted or dropped, the parts will bedamaged. The Will1-B Driver should be kept away from highly-polluted
environments or electrically conductive objects. Make sure that the
installation personnel is free of static electricity and is not carrying objects
that may conduct or generate static electricity. To prevent accidents, makesure that all parts are properly tightened and that both the limit switch andsafety switch is functional. Keep the floor clean and the motor operation
area clutter free.

1.1.1. Symbols

CAUTION

Protective Ground Connection

ISO 7000-0434 (2004-01)

IEC 60417-5019 (2006-08)

Warning: High Voltage

Caution: Hot Surface

IEC 60417-5036 (2002-10)

IEC 60417-5041 (2000-10)

5Will1-B Installation Guide –V2.2

1.1.2. Disclaimer
1.

2.

3.

4.
5.

6.

Information furnished by cpc is believed to be accurate and reliable.
However, no responsibility is assumed by cpc for its use, nor for any
infringements of patents or other rights of third parties which may result fromits use. cpc does not grant any license under its patent rights, nor the rights ofothers.
Furthermore, cpc assumes no responsibility for any errors that may appear inthis document and for any claims or damages resulting from information
contained in this document.
The product specified in this document has been developed, tested,
documented and produced in accordance with the relevant standards. cpc
is not responsible for damages, accidents, or injuries caused by any deviationfrom the configuration and installation described in this guide.
Additionally, cpc is not responsible for the performance of new
measurements or ensuring that regulatory requirements are met.
The product specified in this document is not designed or intended for use in,but not limited to, medical, automotive, aerospace and nuclear, marine,
power plants, as well as disaster and crime prevention applications, or any
safety-critical applications where a failure of the product could cause severe
environmental or property damage, personal injury or death.
We reserve the right to modify our products, including its hardware andsoftware design, in order to improve its design and/or performance. The

information in this document is subject to change without notice and does
not represent a commitment by cpc.
7. Specifications are subject to change without notice.
8. Performance specification beyond those specified by safety regulations areguaranteed by design and not subject to production tests.
9. Customers should obtain the latest relevant information before placing orders
and should verify that such information is current and complete.
10. cpc assumes no liability for applications assistance or customer productdesign. Customers are responsible for their products and applications using
cpc products.

6

Will1-B Installation Guide –V2.2

1.2. Revision History
VersionDate

Description

Remarks

1.0

September 2017

Initial release

--

1.1

October 2017

First revision

Amended and revised
Specifications data (3.4)

2.0

July 2018

Secondrevision

1. Changed electrical circuitdesigns (3.12)
2. Changed pin-definitions of

3.
4.

5.
6.

General (3.9), Controller(3.10), and Feedback Ports(3.11)
Added feedback
mechanism: Resolver
More detailed circuit
diagram of Thermistor(2.11)
Added the section “Partsof the Drive”
Added a picture indicating

location of nameplate(3.1)
7. Added pin-definitions of
CANopen and EtherCAT
ports (3.8)
2.1

June 2019

Third revision

1. Added data for 21A Driver
2. Changed model namefrom “TC” to “Will”

2.2

February 2020

Fourth revision

English version

7

Will1-B Installation Guide –V2.2

1.3. Ordering Information
Will1-

B

9

P

/230-

H

R

E
None: CANopen
E: EtherCAT

None: No resistor
R: Brake resistor
None: No heatsink
H: Passive heatsink
F: Heatsink with fan
AC Supply: 230VAC
None: Normal
P: Extended peak current Note
Continuous current (Amps): 3, 9, 21
None: A-type

B: B-type

Servo Driver
Note: Current sensor with a wide input range is used at the cost ofadditional signal noise and reduced resolution. This setup is suitable
for applications where the motor mostly operates in short, highcurrent bursts. (H/R types for 3A/9A series only)

8

Will1-B Installation Guide –V2.2

1.4. Contact Us
Headquarters
Chieftek Precision Co., Ltd.
NO.3, Dali 1st Rd., Xinshi Dist., Southern Taiwan Science Park,
Tainan City. 741-45, Taiwan (R.O.C.)
TEL: +886-6-505-5858
FAX: +886-6-505-5959
Email: service@mail.chieftek.com

China
Chieftek Machinery Kunshan Co., Ltd.
No.1188, Hongqiao Rd, Kunshan, Jiangsu, P.R. China
Tel: +86-512-55252831
Fax: +86-512-55252851
Email: cn.service@mail.chieftek.com

Europecpc Europa GmbH
Industriepark 314, D-78244 Gottmadingen, Germany
Tel: +49-7731-59130-38
Fax: +49-7731-59130-28
Email: info@cpc-europa.deUSA
Chieftek Precision USA Co., Ltd.
2280 E. Locust Court. Ontario, CA 91761, USA
TEL: +1-909-773-1200
FAX: +1-909-773-1202
Email: info@usa.chieftek.com

9

Will1-B Installation Guide –V2.2

1.5. How to use this guideTo install and operate the cpc Will1-B drive correctly, please reference thisguide together with other cpc documents. This Installation Guide is your firststep; please read the Safety Information in the first chapter carefully then theremaining chapters pertaining to Installation and Specifications as seen
below:- Chapter 3, Installation, provides step-by-step instructions for installing,
connecting and powering up the Will1-B Driver.
- Chapter 4, Technical Specifications, lists all Driver ratings and specifications.
Upon completing the installation according to the instructions in this guide,
the Will1-B driver should be successfully mounted and installed. Next, consult
the cpc GUI Software User Guide to configure and fine-tune the system for
optimal performance.

10

Will1-B Installation Guide –V2.2

2. Features
2.1. Driver Description
The Will1-Bxx/230 series Servo Driver is optimized for operating with linear
Permanent Magnet Synchronous Motors (PMSM). It can operate instandalone configuration using an internal virtual scripting engine, supports
external analog or pulse commands, and compatible with industry standard
fieldbus systems by conforming to CANopen DS402 specifications.

2.2. Current Loop•

Fully digital•••

12-bit current loop resolution
20 kHz working frequency
Automatic and manual gain-tuning, to compensate for variations in the
Servo Motor
Frequency response and time response testing
Automatic Phasing••

2.3. Auto Phase••

Sensor-lessDigital Hall Sensor — up to 20 kHz

2.4. Velocity Loop
•
•
•
•
•
•

Fully digital
10 kHz working frequency
Automatic and manual gain-tuning, to compensate for variations in the
Servo Motor
Frequency response and time response testing
Gain switch by condition of digital input, demand, feedback, error andreach of target
3 sets of notch or low-pass filters

11

Will1-B Installation Guide –V2.2

2.5. Position Loop••

Incremental Encoder — up to 20 Mega counts/s
Position Count Range — -231 ~ 231

2.6. Command••••

A/B Incremental command — up to 4 MHz
Pulse-direction command — up to 4 MHz
Up-down command — up to 2 MHz
Analog ±10V command to current, velocity or position

2.7. Gain Switch•••

3 sets of gain switch groups
Switching per digital input, demand, feedback, error and reach of target
Controllable switching time

2.8. Homing•

31 types of standard CiA402 methods•

5 methods for Home positioning with mechanical hard stop

2.9. Filters•••

Current Filter
Velocity Filter
Auxiliary Command Filter

2.10. Scripts••••

Point to point instructions up to 128 steps
16KB FLASH memory
User friendly interface
Modular instructions

12

Will1-B Installation Guide –V2.2

2.11. Motor Temperature Detection
1.

To more accurately detect the motor temperature*, the Will1-B series includes
a 0~5V analog input to connect with the thermistor on the motor so as toknow the voltage on the drive input. The UI will show users this monitored
voltage. Due to variations of different thermistors, users will need to calculate
the resistance (ohm) according to the voltage and then derive thecorresponding temperature. Please see the circuit diagram and calculation
formula below.
(* The Will1 series only displays temperatures as either High or Low)
<Equivalent Circuit Diagram>

Acquisition formula for Resistance (ohm) of position :(The voltage of position
is known and monitored by the UI)

V=

5R
1000V
， R=
R + 1000
5−V

13Will1-B Installation Guide –V2.2

2.

A preferred temperature curve can be chosen in the UI.

<Thermistor — Diagram of Temperature & Resistance>

14

Will1-B Installation Guide –V2.2

3. Installation
3.1. Parts of the Drive
Front side (3A/9A)

Status Panel(see ch. 4)

AC Power Port
Controller Port

Motor Power Port

Feedback Port

(incl. Regenerative Resistor)

DC Power Port

General Port

(Auxiliary Power)

15

Will1-B Installation Guide –V2.2

Front side (21A)

Status Panel(see ch. 4)

Controller PortAC Power Port

Feedback Port
Motor Power Port
(incl. Regenerative Resistor)

General PortDC Power Port
(Auxiliary Power)

16

Will1-B Installation Guide –V2.2

Lateral side (3A/9A)
RS232 Port(UI communications)

Industrial Communication Port
(EtherCAT or CANopen)

Lateral side (21A)
RS232 Port(UI communications)

Industrial Communication Port
(EtherCAT or CANopen)

17

Will1-B Installation Guide –V2.2

The location of nameplate sticker is shown below. Confirm the product nameunder “Model Description” on sticker.

(3A/9A)(21A)

18

Will1-B Installation Guide –V2.2

3.2. Dimensions
All units of measurement for dimensions in this manual are in millimeters(mm).

3.2.1. 3A-type Will1-B Driver

3.2.2. 9A-type Will1-B Driver

19

Will1-B Installation Guide –V2.2

3.2.3. 21A-type Will1-B Driver

20

Will1-B Installation Guide –V2.2

3.3. Mounting
3.3.1. 3A-type Will1-B Driver

21

Will1-B Installation Guide –V2.2

3.3.2. 9A-type Will1-B Driver↑ The dimensions of this side are the same for both 3A-type and 9A-type Will1B Drivers.

22

Will1-B Installation Guide –V2.2

3.3.3. 21A-type Will1-B Driver23

Will1-B Installation Guide –V2.2

3.4. Mechanical and Electrical Specifications
Specifications
Will1B3/230

Model
Voltage and Phase
Input
Power

Will1-B Series
Will1B9/230

Will1B9P/230

100 to 230
VAC 1 Ø100 to 230 VAC
1 Ø or 3 Ø

DC Bus Peak Voltage
(VDC)

390

Frequency (Hz)Power Rating (W)50 to 60
1125

3375

Control

Voltage Range (VDC)

24

Logic
Power

Current (A)>0.5

Continuous Current(A)

3 (2.12 RMS)

Peak Current (A)9 (6.36 RMS) 20 (14.14 RMS)

OutputPeak Current Time

Power

(sec)
Peak Power Output(kW)

Digital7875

9 (6.36 RMS)

9 (6.36 RMS)

*Note 2

*Note 230 (21.22 RMS)
*Note 121 (14.85 RMS)
63 (44.54 RMS)

2.5
1.3

4.4

5V Supply Current
Output (A)Encoder
Input

Will1B21/230

6.6

13.2

0.5

Signal TypeA/B Incremental (RS-422 signaling)Work
Frequency

20 Mega counts/sec max

Count Rage

±231 counts max

24

Will1-B Installation Guide –V2.2

Specifications

Will1-B Series

Model

Will1- Will1- Will1Will1B3/230 B9/230 B9P/230 B21/230

Encoder Input

Analog(sin/cos)

Amplitude

1 VP-P

Operating Frequency

Absolute Signal Type
Encoder

Signal Type

OutputOperating Frequency

Max 100 kHz, 4096 count/period
Interpolation
BiSS-C, Tamagawa, EnDat 2.2, SSI
RS-422
Max: 20 Mega counts/sec

Feedback Position Error Mapping

Regenerative
Resistor

Yes

Active Voltage (VDC)

Default: 360

Stop Voltage (VDC)

Default: 350

Resistance (Ohm)

60 (optional)

20

Continuous Dissipation (Watt)

100 (optional)

250

1350

2240

DC Bus Capacitance (uF)540

Pulse Braking Energy (Joule)
Peak Switch Current (A)PositionControl

5000 (optional)
10

Loop Frequency
Control Loop

1350

12500
20

5 kHz

Trajectory Generator

Trapezoidal with S-curve filter

Count Range−2,147,483,648 to 2,147,483,647
counts/sec

25

Will1-B Installation Guide –V2.2

Specifications

Will1-B Series
Will1B3/230

Model
Loop Frequency
Velocity
Control

Will1- Will1Will1B9/230 B9P/230 B21/230
10 kHzOutput Filter

x3 (Low-pass or Notch)

Count Range−2,147,483,648 to 2,147,483,647
pulses/sec

Current

Loop Frequency

20 kHzControl

Modules

SVPWM

Control Loop

Position
Mode
Auxiliary
Command Input
Velocity
Mode
Current
Mode

A/B Incremental

4 Mega counts/sec max

Pulse/Direction

4 Mega counts/sec max

CW/CCW

2 Mega counts/sec max

Analog Voltage±10 V

Analog Voltage±10 V

Analog Voltage±10 V

DS 402 Operating Modes

PP, PV, PT, HM, CST, CSV, CSP

Serial Bus

RS232
RS422

10 MHz max

Pulse Command
5V Single-end
Frequency

1 MHz max

24V Single-end

50 kHz max

Total Digital Inputs

x12 (5~24 V)

Total Digital Outputs (Open-Collector)

x3 (24 V, 400 mA); x3 (24 V, 200 mA)

High Speed Position Comparator Output

x1 (RS422)
26

Will1-B Installation Guide –V2.2

Specifications
Model

Will1-B Series
Will1B3/230

Will1B9/230

Will1B9P/230

Will1B21/230

x1 (±10V single-end)
Analog
Input

Input Typex1 (±10V differential)
ADC
Resolution

Autotuning

12-bitTorque/Velocity/Position loop gain, motor phasing setup,sin/cos encoder calibration

Gain Switch Function

Yes

Control Panelx1 (8-digit LCD), x4 (push buttons)

Dynamic brake, motor over-current,
Software Protection

over/under-position, over-velocity,
virtual/physical position limit switch,Hall Signal loss, external fault trigger, tracking error

Hardware Protection

Drive over-temperature (analog), 5V output short circuit,motor over-temperature (analog)

Dimensions (LxHxW) [mm]200 x 134 x 53

200 x 164 x 53

220 x 201 x 116

1.2

1.6
(without optionalheatsink)

3.6

Weight (Kg)27

Will1-B Installation Guide –V2.2

Specifications

Will1-B Series
Will1B3/230

Model

Application
Conditions

Will1Will1Will1B9/230 B9P/230 B21/230

Operating Temperature

0°C ~ 40°C

Storage Temperature-20°C ~ 85°C

Ambient Humidity

0~95%

Altitude0~2000 m

Vibration

1G

IP Protection ClassIP20

1. Linear AC Servo Motor or Rotary AC Servo Motor
Motor
Selection

2. Protective Class 1 with IEC60034-1compliance
3. Refer to the Output Power mentioned previously for your selection ofServo Driver

Remarks

Note 1:
Current sensor with a wide input range is used at the cost of additionalsignal noise and reduced resolution. This setup is suitable forapplications where the motor mostly operates in short, high current
bursts.
Note 2:
Additional heatsink is required to ensure continuous operation at rated
output.

28

Will1-B Installation Guide –V2.2

3.5. Recommended Wiring Selection
The recommended wire gauges are as follows:
Wiring forConnection

Wire Diameter mm² (AWG)AC Input

L1, L2, L3

0.5 to 5 mm2, 20 to 10 AWG

DC Input(Auxiliary Power)

24V+, 24V-

0.12 to 0.2 mm2, 26 to 24
AWG

Motor

U, V, W
0.5 to 5 mm2, 20 to 10 AWG

Protective GroundPE

Regenerative Resistor

R+, R-

0.5 to 2 mm2, 20 to 14 AWG

The metal casing or any grounded wiring may conduct electricity. To prevent
direct or indirect contact while using RCD (Residual Current Device) or RCM(Residual Current Monitoring), only Type B (IEC 60755) RCD or RCM should be
used at the power supply side.
◆ Recommended connection method:(a) A fixed connection and:⚫
protective ground conductor with a cross-section of at least 10 mm2
Cu or 16 mm2 Al, or⚫
automatic disconnection of the power supply in case of discontinuityof the protective ground conductor; or⚫
provision an additional terminal for a second protective ground
conductor of the same cross-sectional area as the original protective
ground conductor,
OR(b) Connection with an industrial connector in accordance with IEC 60309
and a minimum protective ground. Appropriate wire protection sleeves shallbe used.

29

Will1-B Installation Guide –V2.2

◆Powertrain System Labeling

DANGER: Where an isolating device is not intended to interrupt load current,a warning shall state: DO NOT OPEN WHILE UNDER LOAD.
The following requirements apply to any emergency power cut-off system(power isolation device) which does not disconnect all sources of power.
⚫
If the power isolator/disconnector device is mounted in an equipment
enclosure with the operating handle externally operable, a warning label
shall be posted close to the operating handle stating that it does notdisconnect all power to the Driver.
⚫
Where a control circuit disconnector can be confused with power circuit
disconnectors due to size or location, a warning label shall be posted
close to the operating handle of the control circuit disconnector statingthat it does not disconnect all power to the Driver.

30

Will1-B Installation Guide –V2.2

3.6. Driver Power Wiring

Ports on Driver

3A-type
Will1-B Driver

AC power

9A-type
Will1-B Driver

21A-type Will1-B Driver

4-pin with 5.0mm pitch

4-pin with 7.62mm pitch(DECA ME060-50004);(DINKLE EC762VM-04P);

matching male connector:

matching male connector:

DECA MC101-50004

DINKLE ECH762RM-04P

Power
Port(s)24V DC
auxiliary

2-pin with 5.0mm pitch

power

matching male connector: DECA MC100-50002

Motor Power Port

(DECA ME030-50002);

6-pin with 5.0mm pitch

6-pin with 7.62mm pitch(DECA ME060-50006);(DINKLE EC762VM-06P);

matching male connector:

matching male connector:

DECA MC101-50006

DINKLE ECH762RM-06P

3.6.1. AC Power Wiring⚫

3A-type & 9A-type Driver side female connector: DECA ME060-50004

31

Will1-B Installation Guide –V2.2

For the single-phase model such as Will1-B3/230, L3 is internally notconnected. Connect Live and Ground to L and N respectively.
⚫

3A-type & 9A-type matching male connector: DECA MC101-50004

VendorModel number

DECA

MC101-50004⚫

21A-type Driver side female connector: DINKLE ECH762RM-04P⚫

21A-type matching male connector: DINKLE EC762VM-04P

32

Will1-B Installation Guide –V2.2

VendorModel number

DINKLEDINKLE EC762VM-04P

If screw flange is not needed at both sides of the connector, most 5.0 (7.62)mm pitch EU standard male connectors can also be used.

3.6.2. 24V DC Auxiliary Power Wiring⚫

Driver side female connector: DECA ME030-50002⚫

Matching male connector: DECA MC100-50002

VendorModel number

DECA

MC100-50002

Most 5.0mm pitch EU standard male connectors can also be used.

33

Will1-B Installation Guide –V2.2

3.7. Motor Power Wiring⚫

3A-type & 9A-type Driver side female connector: DECA ME060-50006⚫

3A-type & 9A-type matching male connector:⚫

VendorModel number

DECA

MC101-50006

21A-type Driver side female connector: DINKLE ECH762RM-06P

34

Will1-B Installation Guide –V2.2

⚫

21A-type matching male connector: DINKLE EC762VM-06P

VendorModel number

DINKLEDINKLE EC762VM-06P

If screw flange is not needed at both sides of the connector, most 5.0 (7.62)mm pitch EU standard male connectors can also be used.

35

Will1-B Installation Guide –V2.2

3.8. Communication Port Wiring
3.8.1. RS232 Cable

DB9 female connector pin-definitions
Pin#

SignalFunction

1

N/C

-

2

Tx

Transmit

3

Rx

Receive

4

N/C

-

5

GND

Ground7, 8, 9

N/C

-

36

Will1-B Installation Guide –V2.2

RJ-45 connector pin-definitions
Pin#

SignalFunction

1, 2

N/C

-

3

Tx

Transmit

4

N/C

-

5

GND

Ground6

Rx

Receive

7, 8

N/C

-

3.8.2. CANopen Standard Communication Cable
RJ-45 connectors on both ends of cable.
1
2
3

1
2
3

7

7

RJ-45
(Port on driver)

RJ-45(Cable)CANopen IN
1
CAN_H
2
CAN_L
3
CAN_GND
4
-5
-6
-7
-8
--

CANopen OUT
1
CAN_H
2
CAN_L
3
CAN_GND
4
-5
-6
-7
-8
--

37

Will1-B Installation Guide –V2.2

3.8.3. USB Cable

Mini USB
Mini USB
Pin#

SignalFunction

1

VBUS

Power

2

D-

Data- Signal Line

3

D+

Data+ Signal Line

4

----

----

5

GND

Ground38

Will1-B Installation Guide –V2.2

3.8.4. EtherCAT In/Out (Optional)
RJ-45 connectors on both ends of cable.

1
2
3

1
2
3

6

6

RJ-45
(Port on driver)

RJ-45(Cable)EtherCAT IN
1
TX+
2
TX3
RX+
4
-5
-6
RX7
-8
--

EtherCAT OUT
1
TX+
2
TX3
RX+
4
-5
-6
RX7
-8
--

3.9. General Port Wiring
5

1

15

11

DB15 female connector on the Driver

39

Will1-B Installation Guide –V2.2

Pin#

SignalFunction

1

AI-0-

Analog input 0 LOW Input

25V

5V supply output

3

TrigOut+

Position trigger HIGH output

4

DO-A1

General purpose digital output

5

DI-A0

General purpose digital input

6

AI-0+

Analog Input 0 HIGH Input

7

AGnd

Analog ground8

TrigOut-

Position trigger LOW output

9

DO-A0

General purpose digital output

10

DI-A1

General purpose digital input

11

AI-1

±10V analog input 1

12

Gnd

Ground13

DOACOM

Digital output common

14

DIACOM

Digital input common

15

DI-A2

General purpose digital input

40

Will1-B Installation Guide –V2.2

3.10. Controller Port Wiring
The pin-definitions of the controller port may vary according to the mode inuse. The different modes are: A/B mode, Step/Dir mode, and CW/CCW
mode.
1

9

19

26

DB25 MALE connector of the Driver

Function
Pin#

Signal
A/B/Z Mode

Step/Dir Mode

CW/CCW Mode

1

DI-C0

General purpose digital input

2

DI-C1

General purpose digital input

3

DI-C2

General purpose digital input

4

DI-CCOM

Digital input common

5

RZ+

----

6

RZ-

----

7

OZ+

Buffered RZ/EZ signal HIGH output

8

OZ-

Buffered RZ/EZ signal LOW output

9

Gnd

Ground10

DO-C0+

General purpose digital output (collector)

11

DO-C1+

General purpose digital output (collector)

41

Will1-B Installation Guide –V2.2

Function
Pin#

Signal
A/B/Z Mode

Step/Dir Mode

CW/CCW Mode

12

DO-C2+

General purpose digital output (collector)

13

RA+

Reference A HIGH
input

STEP+
STEP HIGH input

CCW+
CCW HIGH input

14

RA-

Reference A LOW
input

STEPSTEP LOW input

CCWCCW LOW input

15

RCOM24V

Reference input 24V Common

16

OB+

Buffered RB/EB signal HIGH output

17

OB-

Buffered RB/EB signal LOW output

18

Gnd

Ground19

DO-C0-

General purpose digital output (emitter)20

DO-C1-

General purpose digital output (emitter)21

DO-C2-

General purpose digital output (emitter)

22

RB+

Reference B HIGH
input

DIR+
DIR HIGH input

CW+
CW HIGH input

23

RB-

Reference B LOW
input

DIRDIR LOW input

CWCW LOW input

24

OA+

Buffered RA/EA signal HIGH output

25

OA-

Buffered RA/EA signal LOW output

26

5V

5V supply output

42

Will1-B Installation Guide –V2.2

3.11. Feedback Port Wiring
The feedback cable is used to transfer data from the Encoder to the Driver.
The Will1-B series can accept the following types of feedback devices:
⚫
⚫
⚫

⚫

A/B/Z-type Encoder
Analog sin/cos Encoder
Absolute Encoder (EnDat encoder, BiSS-C encoder, Tamagawa, andNikon encoder)
ResolverPin-definitions may vary when wiring with different types of feedback device;see subsequent chapters for further information.

9

1

26

19

DB26 FEMALE connector on the Driver

Function
Pin#

Signal

A/B/Z-type
Encoder

EnDat or
BiSS-C
Encoder

Sin/Cos
Encoder

ResolverTamagawa /Nikon Encoder

1

DI-B4

General purpose digital input

2

DI-BCOM

Digital input common

3

DI-B1

General purpose digital input (or Hall Sensor B) (non-isolated)

MTP
4

5V Analog input(Motor Temp.
Protection)

43

Will1-B Installation Guide –V2.2

Function
Pin#

Signal

A/B/Z-type
Encoder

EnDat or
BiSS-C
Encoder

Sin/Cos
Encoder

ResolverTamagawa /Nikon Encoder

5, 6

Gnd

Ground7

EZ+

Encoder Z+ Encoder Z+

8EB+

Encoder B+

SIN+

9

EA+

Encoder
A+

COS+

10

DI-B5

General purpose digital input

11

DI-B3

General purpose digital input

12

DI-B2

General purpose digital input (or Hall Sensor C) [non-isolated]

13

DI-B0

General purpose digital input (or Hall Sensor A) [non-isolated]

14, 155V

5V supply output

16

EZ-

Encoder Z- Encoder Z-

17

EB-

Encoder B-

SIN-

18

EA-

Encoder A-

COS-

19

DO-B0+

General purpose digital output (collector)

20

DO-B0-

General purpose digital output (emitter)

21, 22

Gnd

Ground

23

DAT+

Data+

Not usedS2

Not usedS1

Not usedNot usedS4

Not usedS3

Not usedNot usedNot usedNot used

24

DAT-

Data-

25

CLK-

Clock-

R2

26

CLK+

Clock+

R1

SD+ (Serial Data
HIGH)
SD- (Serial Data
LOW)
Not used

DI-B0~B2 can be used as Hall Signal sensor input when Hall Signal Source is set
to “Feedback Port” in the UI.
44

Will1-B Installation Guide –V2.2

3.12. I/O Pin Electrical Characteristics
3.12.1. Differential Input Equivalent Circuit of Feedback Port (A/B/Z
Mode)

X: (X+, X-)
X = EZ, EB, EA
EA: (9, 18)
EB: (8, 17)
EZ: (7, 16)

45

Will1-B Installation Guide –V2.2

3.12.2. Differential Input Equivalent Circuit of Controller Port (RA/RB/RZ)
There are 4 connection methods corresponding to different types of externalsignals.
When connecting with:(1) External 5V differential signal

Rx: (Rx+, Rx-)
x = A, B, Z
RA: (13, 14)
RB: (22, 23)
RZ: (5, 6)

46

Will1-B Installation Guide –V2.2

(2) External 5V single-end signal

Rx: (Rx+, Rx-)
x = A, B, Z
RA: (13, 14)
RB: (22, 23)
RZ: (5, 6)(3) External 5V open-collector (NPN) signal

Rx: (Rx+, Rx-)
x = A, B, Z
RA: (13, 14)
RB: (22, 23)
RZ: (5, 6)

47

Will1-B Installation Guide –V2.2

(4) External 24V open-collector (NPN) signal

Rx: (Rx+, Rx-)
x = A, B, Z
RA: (13, 14)
RB: (22, 23)
RZ: (5, 6)

48

Will1-B Installation Guide –V2.2

3.12.3. Digital Input up to 24V
All digital input pins of the Will1-B Driver series can accept digital commands
up to 24V, whereas Will1 series can only accept up to 5V.

(1) Isolated Connection↑ DI-xCOM, DI-xα/xβ/xγ:
x = A, B, C
α / β / γ: serial numbers
General Port ➔ x = A; α / β / γ = 0, 1, 2 (ex: ACOM, A0, A1, A2)
Feedback Port ➔ x = B; α / β / γ = 3, 4, 5
Controller Port ➔ x = C; α / β / γ = 0, 1, 2

49

Will1-B Installation Guide –V2.2

↑DI-xCOM, DI-xα/xβ/xγ:
x = A, B, C
α / β / γ: serial numbers
General Port ➔ x = A; α / β / γ = 0, 1, 2 (ex: ACOM, A0, A1, A2)
Feedback Port ➔ x = B; α / β / γ = 3, 4, 5
Controller Port ➔ x = C; α / β / γ = 0, 1, 2

50

Will1-B Installation Guide –V2.2

(2) Non-isolated Connection
Mainly for Hall Sensor use.

3.12.4. Digital Output (Open-Collector)
Maximum current allowed for DO: 100 mA.

↑Pin pairs:
DO-p

DO-n

DO-A0, A1

DO-ACOM

DO-B0+

DO-B0-

DO-C0+

DO-C0-

DO-C1+

DO-C1-

DO-C2+

DO-C2-

51

Will1-B Installation Guide –V2.2

4. Status Panel
Status Display

Buttons
EtherCAT Indicating Lights
Driver Indicating Lights

4.1. Indicating Lights
4.1.1. Driver Indicating Lights
When observing the Driver Indicating Lights, look for the green light first.

4.1.1.1. Flashing rate of Driver Indicating Lights
There are three possible states to the flashing of Driver Indicating Lights, theseare: blink, flash or alternate blinking.
A. Blink:

The lights are on for 64 ms and off for 64 ms.
B.

Flash:The lights are on for 480 ms and off for 32 ms.

C. Alternate blinking:The green and red lights takes turns flashing alternatively, on for
200 ms and off for 200 ms.

52

Will1-B Installation Guide –V2.2

<Flashing Rate of Driver Indicating Lights>
on

64 64

Blink

ms ms

off

32
ms

on

Flash
off

on
Green

200 200

ms ms

off

AlternateblinkingonRed

200 200

ms ms

off

53

Will1-B Installation Guide –V2.2

4.1.1.2. Driver Indicating Lights Defined

Green (Run)

Off

On

Blinking

Flashing

Red (Fault)

Description

OffPowered off

Blink

Fault detectedOn

Fault cleared (need reset)

OffStandbyOn

Motor is off, waiting for manual power on

Off

Motor is on

Flash

Executing phase-find or in powerup delay
time*

Off

Motor is off and dynamic brake is engaged

Blink

Fault detected and dynamic brake isengagedFlash

Motor is off, waiting for manual power on,
dynamic brake is engaged

On

Fault cleared (need reset), and dynamic
brake is engaged■ Saving parameters to flash memory

Green/Red
Alternate Blinking

OR■ Updating Driver firmware(Will1-B series only)* Motor powerup delay time: 100 ms.

4.1.2. EtherCAT Indicating Lights (Optional)
We are compliant with regulations written in “Document: ETG.1300 S (R)V1.1.1” by EtherCAT Technology Group.

4.1.2.1. Flashing rate of EtherCAT Indicating Lights
The indicating lights (or “indicator”) states are defined in Table 1 and the
flashing rates in Figure 1. The times listed are met with a tolerance of less than+/-20%.
54

Will1-B Installation Guide –V2.2

<Table>Indicator states
Definition
DefinitionOn

The indicator shall be constantly on

OffThe indicator shall be constantly off

Flickering

The indicator shall turn on and off with a frequency of 10 Hz:
on for 50 ms and off for 50 ms

Blinking

The indicator shall turn on and off with a frequency of 2.5 Hz:
on for 200 ms followed by off for 200 ms

Single flash

The indicator shall show one short flash (200 ms) followed by a longoff phase (1000 ms)

Double flash

The indicator shall show a sequence of two short flashes (200 ms),
separated by an off phase (200 ms), and followed by a long offphase (1000 ms)

The indicator shall show a sequence of two short off flashes (200Inverted doublems), separated by an on phase (200 ms), and followed by a long
flash
on phase (1000 ms)
Triple flash

The indicator shall show a sequence of three short flashes (200 ms),
separated by an off phase (200 ms), and followed by a long offphase (1000 ms)<Figure 1: EtherCAT Indicator flashing rate>

55

Will1-B Installation Guide –V2.2

4.1.2.2. RUN Indicator
The RUN indicator shows the status of the ESM.
1.
2.
3.

LED: The color of the RUN indicator is green.
Labeling: The RUN indicator is labeled “ECRN”.
States: The RUN indicator states are specified in Table 2.

<Table 2>
Indicator
StatesSlave State

Description

Off

INIT

The device is in Init state

Blinking

PRE-OP

The device is in Pre-Operational state

Single FlashSAFE-OP

The device is in Safe-Operational stateOn

OP

The device is in Operational state
The device is booting and has not yet entered

Flickering

INIT or BOOTSTRAP

INIT state or the device is in BOOTSTRAP Mode(firmware download in progress)

56

Will1-B Installation Guide –V2.2

4.1.2.3. Error Indicator
The Error Indicator shows errors resulting from local errors (i.e. input errors) suchas timeouts and unsolicited state changes.
1. LED: The color of the Error Indicator is red.
2. Labeling: The Error Indicator is labeled “ECER”.
3. States: The Error Indicator states are specified in Table 3.

57

Will1-B Installation Guide –V2.2

<Table 3>
ERR State

Description

ExampleOn

Application controller
failureA critical communication
or application controller
error has occurred

Application controller is
not responding any more
(PDI Watchdog Timeout
detected by ESC)

Double Flash

Process Data Watchdog
Timeout / EtherCAT
Watchdog TIMEOUT

An application watchdog
timeout has occurred

Sync Manager /Watchdog timeout

Local Error

Slave device application
has changed the
EtherCAT state
autonomously, due tolocal error (see ETG. 1000
part 6 EtherCAT State
Machine). Error Indicator
bit is set to 1 in AL Status
registerDevice changes its
EtherCAT stater from Op to
SafeOpError due to asynchronization error

Invalid Configuration

General Configuration
Error

State changecommanded by master is
impossible due to registeror object settings, orinvalid hardware
configuration (pin sharing
violation detected by
ESC)

Booting Error

Booting Error was
detected. INIT statereached, but Error
Indicator bit is set to 1 in
AL Status register

Checksum error in
Application controller flash
memoryNo error

The EtherCAT
communication of thedevice is in working
condition-

Single FlashBlinking

Flickering

Off

Error Name

58

Will1-B Installation Guide –V2.2

4.2. Buttons and Status Display
D.

Buttons
Item

Description
Menu
Enter
Switch data source
Switch data source

E.

Status Display
Data Source

Description

Unit

Script Step Number-

Current Auxiliary Command

0.1A

Current Reference

0.1A

Current Feedback

0.1A

Velocity Auxiliary Command

cnt/s/1000

Velocity Reference

cnt/s/1000

Velocity Feedback

cnt/s/1000

Position Auxiliary Command

cnt/1000

Position Reference

cnt/1000

Position Feedback (default)

cnt/1000

59

Will1-B Installation Guide –V2.2

Position Error

cnt

cpc internal use only

60

Will1-B Installation Guide –V2.2

5. Maintenance5.1. General
DANGER: To prevent electrical shock, disconnect the power cable before
doing maintenance or repair work.
CAUTION: Excessive adjustments could lead to a hazardous state of the Servo
Driver.
Do not open this device for any inspections or repairs. Contact cpc Customer
Service for servicing requirements.
When the Will1-B Driver encounters errors such as over temperature,protection threshold exceeded, incorrect wiring, signal accessing errors, etc.
the “Error Log” will record the date/time and error codes as they occur. If
Will1-B Driver shuts down due to errors, users can trace the cause of themalfunction by checking the error logs.
When the Will1-B Driver detects multiple errors, it will only display the error
code of the last found error. Prior errors can be checked through the UI.

61

Will1-B Installation Guide –V2.2

5.2. Troubleshooting
Error
Code

2220

2310

Error Message

Description

A short-circuit in
Driver’s internalContinuousOverCurrent_DeviceInternal
power module isdetectedContinuousOverCurrent_MotorSide

Motor current
exceeds limit

Action Required
Check forunstable current
loop gain
Check forunstable current
loop gain
1. Check external

E3210

3220

4310

DCLinkOverVoltage

DCLinkUnderVoltage

Internal DC
Check AC power
capacitor undersourcelimit (default: 48V)

ExcessTemperatureDrive

Driver’s internal

Improvetemperature
exceeded safe
limit

environment
cooling
conditions
Contact
Customer Service
Reload Driver
settings from file

5520

ROM_EPROM

Factory
calibration
settings lost

5530

EEPROMStoredparameters lost

MotorBlocked

Motor stuck
detected

7121

7122

AC power source
2. Consider
addingadditional
regenerative
braking resistor

Internal DC
capacitor
exceeded limit(default: 375V)

MotorErrorOrCommutationMalfunc

62

Failure during
Phase Find

Check motor
stuck settings or if
the block is stuck
Check
1. Motor wiring
2. Execute“Phase Find”
again

Will1-B Installation Guide –V2.2

Error
Code
7305

7306

8481

8611

8682

Error Message

Description

Action Required

IncrementalSensor1Fault

EncoderCheck Encoder
Feedback Signal wiring or improveerror
system noise

IncrementalSensor2Fault

External Auxiliary Check Controller
Command Signal wiring or improveerror
system noise

OverVelocityAbsolute

FollowingError

PositionLimitMinimum

Motor Velocity
Feedback
exceeded
Velocity

Check motor
operation or
Over-Velocity
Protection

Protection Limit

settings

Motor Position
error exceededtolerance

Check
1. Motor
operation
2. The settings for“Following Error
Window/Timeout”

Motor Position
Feedback
exceeded
Position

Check motor
operation or
Over-Position

Protection Limit

Protection Setting

8683

PositionLimitMaximum

Motor Position
Feedback under
PositionProtection Limit

90F0

ExternalAlarmDigitalInput

External alarm
triggered

Check controller
operation

FF01

MainISROverload

CPU overload

Contact
Customer Service

FF02

CurrentSensorU

FF03

CurrentSensorV

Motor Current
Sensor error

FF05

HallSensorCodeInvalid

Invalid Hall Sensor Check Hall Sensor
code detectedconfiguration

Motor Current
Sensor error

63

Check motor
operation or
Under-Position
Protection Setting

Restart Driver
Restart Driver

Will1-B Installation Guide –V2.2

Error
Code
FF07

FF08

Error Message

Description

Action Required

MotorCtrlOpModeInvalid

Invalid Operation Check Operation
Mode code
Mode and wiring

CommutationRequired

Attempting to
1. Check “Phase
activate Motor
Find” settings
without
2. Execute
performing Phase “Phase Find”
Find first
again

64

Will1-B Installation Guide –V2.2

6. Model Variations⚫

Please refer to chapter 1.3 (Ordering Information) for model variations (P, H, F,
R and E) and also chapter 6 on choosing the correct model needed. In
addition, we offer optional accessories (chapter 7) such as EMI Board andFerrite Choke. When placing orders, please specify your requirements.
Note: The variations of P, H, and F are for the 9A-type Will1-B Driver ONLY.
Will-

B

9

P

/230-

H

R

E
None: CANopen
E: EtherCAT

None: Resistor
R: Brake resistor
None: No heatsink
H: Passive heatsink
F: Heatsink with fan
AC supply: 230VAC
None: Normal
P: Extended peak current (Note)
Continuous current (Amps): 3, 9, 21
None: A-type

B: B-type

Servo Driver⚫

A Summary Table is also provided below for easier reference.
<Summary Table>
Will-B3/230

Continuous
current
application

Corresponding
Heatsink
Types

3A

N/A

Will1-B9/230
3A

6A

Will1-B21/230
9A

H typeF typeFactory-installed

Factory-installed

N/A

21A

N/A

Optional

Optional

Standard
Factory-installed

Regenerative
Resistor

Installed byusers

Installed by users

65

N/A

Will1-B Installation Guide –V2.2

6.1. P: Extended Peak Current (for 9A-type Will1-B Driver
only)
The peak current feature is for 9A-type Will1-B Driver only and can be up to
30A.

Specifications
Model No.
Output Power

Will-B9/230

Will-B9P/230

Continuous Current

9 (6.36 RMS)

9 (6.36 RMS)

Peak Current

20 (14.14RMS)

30 (21.22RMS)

Peak current

2.5

6.2. Heatsink (for 9A-type Will1-B Driver only)
Note: Heatsink options are H and F types and are for the 9A type Driver only.

6.2.1. H: Passive heatsinks (for 9A-type Will1-B Driver only)
1.
2.
3.

For 9A-type Will1-B Driver only.
If a continuous current of 6A is needed, equipping this type of passive
heatsink is highly recommended.
The passive heatsink will be installed by cpc before shipment.

66

Will1-B Installation Guide –V2.2

6.2.1.1. Dimensions of H-heatsink(1) H-heatsink:Φ4.50, M4 x 10 mm
32

32

85

(2) H-heatsink installed on Driver

17

67

Will1-B Installation Guide –V2.2

6.2.2. F: Heatsink with fan (for 9A-type Will1-B Driver)
1. For 9A-type Will1-B Drivers only.
2. If a continuous current of 9A is needed, equipping this passive heatsink with
fan is highly recommended.
3. Passive heatsink with fan will be installed by cpc before shipment.

6.2.2.1. Dimensions of F-heatsink(1) F-heatsink:Φ10, M4 x 10 mm

32

68

Will1-B Installation Guide –V2.2

(2) F-heatsink installed on Driver

6.3. R: Regenerative Resistor
Both the 3A-type and the 9A-type Will1-B Driver can be fitted with regenerative
resistor.
A. Compatible with 3A-type Will1-B Driver
Users will need to install the regenerative resistor by themselves.
B. Compatible with 9A-type Will1-B Driver
1. Without heatsink
Users will need to install the regenerative resistor by themselves.
With heatsink(a) H-heatsink (to facilitate continuous current of 6A)
Users will need to install the regenerative resistor by themselves.
(b) F-heatsink (to facilitate continuous current of 9A)
The regenerative resistor will be embedded in the heatsink for the 9Atype Will1-B Driver and will be installed by cpc before shipment. See
Ch. 6.3.1 (2) for details.
Please refer to the Summary Table in chapter 6.
C. Compatible with 21A-type Will1-B Driver
Users will need to install the regenerative resistor by themselves.

69

Will1-B Installation Guide –V2.2

6.3.1. Dimensions of Regenerative Resistor

140

9

132

(1) Regenerative resistor

21

Wire length: 300±10 mm(2) Regenerative resistor embedded in the F-heatsink
Side view70

Will1-B Installation Guide –V2.2

Front view

6.4. E: EtherCATThe customer can choose to equip the Will1-B Drivers with either CANopen, thestandard option, or EtherCAT interfaces.

71

Will1-B Installation Guide –V2.2

7. Optional Accessories
7.1. AC Power Filter
The AC power filter optional accessory is made by SCHAFFNER.
Matching model information are below:(1) 3A & 9A-type Will1 Driver: Uses SCHAFFNER FN3258-7-45 (7 Amperes).
(2) 21A-type Will1 Driver: Uses SCHAFFNER FN3258-16-45 (16 Amperes).

7.1.1. Dimensions of AC Power Filter

For further product information please visit the SCHAFFNER official website.

72

Will1-B Installation Guide –V2.2

7.2. Noise Filter Board for Will1-B Driver Will1-B
The Noise Filter Board* (NF board) helps shield noise conducted from the signal
cables. Please insert the NF board to the proper corresponding port.
(* Current version: 0.3)

7.2.1. Dimensions of NF Board (stand-alone/assembled)73

Will1-B Installation Guide –V2.2

(3A/9A)

(21A)

74

Will1-B Installation Guide –V2.2

7.2.2. Install Orientation and Steps⚫

⚫

During installation, the Boards must be oriented correctly.

Installation Steps: (using Feedback as example)(1) Insert the NF Board for Feedback into the Feedback Port and tighten
the screws.
(2) Attach the signal cable.

7.3. Ferrite Choke
A Ferrite Choke helps shield external noises.

End of Document75

Will1-B Installation Guide –V2.2