Will
AC Linear Motor Servo Driver
cpc reserves the right to revise any information(technical details) any time without notice,for printing mistakes or any other incidental mistakes. We take no responsibility.

No.3, Dali 1st Rd., Xinshi Dist., Southern Taiwan
Science Park, Tainan City .741-45, Taiwan (R.O.C)

2280 E. Locust Court.
Ontario, CA 91761, USA
Tel:+1-909-773-1200
Fax:+1-909-773-1202
2022.03.14 Printed in Taiwan

Will-01-V31-EN

Will- Auto Tuning- Auto Phasing- Filter- Response Bode plot
- Time response plot

WizardAC Servo DriverAutotune
Step by step setup interface

01

WillAC Servo Driver

Auto tune

Auto tune(position)- Auto tuning- Visualized control loop

- Fast control loop up to 5k Hz- User-friendly interface- Can test 3 groups of gain set- Highly efficient tuning algorithm- Feedforward signal path

- Short tuning time

- Easy to fine tune

- Can tune for stable or fast system
response

Auto phasing- Input response with profile position

Gain switch- 3 groups of position and velocity gains
can be switched- Hall sensor or forcecommutation- Gain-switch rule:Demand, Feedback, Error, Target, andDigital input-Step by step phasing progress prompt- Easy to fine tune for different application- Auto phasing

Auto tune(velocity)

Gain switch Test

- Distance:0.6m- Velocity:3m/s- Acceleration:3g- Deceleration:3g- Fast control loop up to 10k Hz- Can test 3 groups of gain set- Easy to fine tune
- Feedforward signal path
- Response Bode plot
- Bandwidth label- Input response test with step/sine/triangle- 3 filters on force output

02

Performance without Gain-switch
Yellow: velocity profile
Red: Position Error [+- 35 count]

03

WillGain switch Test

AC Servo Driver- Dis tan ce :0 .6m- V e locity :3m/s- A cce le r ation :3 g
- D e ce le r ation :3 g

Scripting

Performance with Gain-switch
Script could program motor motion
with user-friendly interface.

Yellow: velocity profile
Red: Position Error [± 11 count]

Scope

Ordering Information

Will1-B

9P/230 -H

RE
Ō：CANopen(Note1)
E ：EtherCAT- Scope provides a real time monitor ofdriver information.

Ō: No Resistor(Note1)
R: Brake Resistor- User could inspect motion detail without
an oscilloscope.

Ō: No heatsink(Note1)
H : Passive heatsink
F : Heatsink with fanHoming

AC supply: 230VAC
Ō: Normal
P : Extended peak current(Note2)
Continuous current (Amps):
3, 9, 21 (B-type only)
B: B-type
Servo Driver- Setup interface provides 35 kinds ofhoming methods.
- Also, the vivid animations explain how ahoming method is performed.

0405

Will

AC Servo Driver
Specification

Will1-B

Product Overview

ModelVoltage and Phase

Fieldbus
LM-Ironcore

USB Serial port11253375> 0.5

Current (A)
1.3

4.4

6.6

13.2

Peak current output (A)92030(Note2)

63Cont. current output (A)

39(Note3)9(Note3)

21

Regenerativeresistor

Resistance (Ohm)

60 (option)

20

Continuous dissipation (Watt)

100 (option)

250

5000 (option)
CANopen20

EtherCAT

CANopen

RS232
Linear/Rotary PMSM

Analog(sin / cos)

24V control logic supply
Motor power output /External regen. resistor

Absolute

Current control

Velocity control

12.5

12.5

24V

Yes
20 KHzPWM modulation

SVPWM

Command input

Serial, Fieldbus, ±10 V Analog, internal software

Loop Frequency

10 KHzCommand input

Serial, Fieldbus, ±10 V Analog, internal software

Output filter

x3 (Low-pass or Notch)

ECER
ERRORM

13.5

ïWRFRXQWVVHFRQG

Loop Frequency

5 KHz

Command input

Pulse command (A/B, Step/Dir, CW/CCW), Serial, Fieldbus, ±10 V Analog, internal software

Trajectory generator

Trapezoidal with S-curve filter

Counter rangeïWRFRXQWV

Input typex1 (±10 V differential) , x1 (±10 V Single-end)

ADC resolution

12 bit

RS422

Max. 10 MHz

5V single-end

Max. 1 MHz

24V single-endMax. 50 KHz

Autotunerx12 ( 5~24 V )x3 ( 24V, 400 mA ), x3 ( 24 V, 200 mA )x1 (RS422)
Current/Velocity/Position loop gain, motor phasing setup, sin/cos encoder calibration
Yes

Gain switch function

164 (9A)
134 (3A)x1 ( 8 digit character LCD )Control panel
OUT

IN

RS232

53

IN

116

CANopen
RS232

Dynamic brake, motor over-current, over/under-position, over-velocity.
Virtual/physical position limit switch, missing hall signal, externa fault trigger

Hardware protection

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

646

Weight (Kg)
14.5

15x4 push buttons

Software protection

Dimensions (LxHxW)(mm)

CANopen06

BiSS-C, Tamagawa, EnDat 2.2, SSI

High speed Position compare output

201

OUT

Type

Total Digital Outputs (open-collector)

+U

V

W

R+R-

L3

L2M

Pulse command
frequency

65100 kHz, 4096 Cnt/Period Interpolation

Total Digital Inputs

11.5

L1

Analog Input

Generalmotion

RUN

Feedback

General.330

Controller

Feedback

R3ECERUSB

5350116

R3ECRN

612ERROR

11.5

200

Controllermotion

USB

ECRN
RUN

Position control

3A / 9A
121VP-PWork Frequency

Counter range
220

EtherCAT±231counts

Amplitude

Loop Frequency

R is registered trademark and patented technology,
EtherCATO
licensed by Beckhoff Automation GmbH, Germany.

CANopenMax. 20 Mega counts/s

Feedback position error mapping
AC power input

EtherCAT

A/B Incremental (RS422 signaling)

Work Frequency
Count Rage

Encoder Input

12.5

CANopen

Motor typeType

Dimension

EtherCAT

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

Serial bus

Digital

21A

12500

10DS402 Operation modes

Linear motor Stage

7875

Peak power output (kW)Fieldbus (DS402 V3.0)

RS232 Serial port

Will1-B
21/230-E

24 VDC

Pulse Braking Energy

DD Motor

Will1-B
21/230390

Regenerative resistor switch cont. current (A)LM-Ironless

Will1-B
Will1-B
9P/230
9P/230-EƷ9$&50 to 60

Voltage Range (VDC)

Control Logi Power

General port:
2x ±10V Analog input
1x Pulse trigger output
3x Digital inputs
2x Digital outputs

Will1-B
9/230-E

Frequency (Hz)Power Rating (W)Feedback port:
6x Digital inputs
1x Digital output
Encoder input
1x 0~5V analog inputWill1-B
9/230

DC Bus Peak Voltage (VDC)

Input Power

Controller port:
3x Digital inputs
3x Digital outputs
Pulse Cmd. Input
Encoder buffered output

Will1-B
Will1-B
3/230
3/230-EƷ9$&

Operating temperature

200 x 134 x 53

200 x 164 x 53 (excluding optional heatsink)

220 x 201 x 116

1.2

1.6 (excluding optional heatsink)

3.6

10~40 oC

Note 1: Only applicable for the Will1-B series.
Note 2: Only applicable for the Will1-B series. Current sensor with a wider input range is used at the cost of additional signal noise and reduced resolution. This
arrangement is suitable for applications where the motor mostly operates in short, high current bursts.
Note 3: Additional heatsink required to ensure continuous operation at rated output.

07