Servo Drive

WPC-EDrive-SRV is a single-axis servo motor integrated driver with a network interface. Through the Servo Drive panel, users can intuitively configure driver parameters, execute motor auto-tuning procedures, and perform motion control tests.

System Configuration

Provides driver configuration file management and firmware update functions.

Button Function	Description
Import file	Import previous driver configuration file (*.ini).
Export file	Export and backup current driver parameters.
Restore default	Reset driver parameters to factory default values.
Update firmware	Update the firmware inside the driver.

tip

Note: The update here is for the driver itself; if it is an update for the WPC Device Manager software interface, please proceed through the general software update process.

Control Tuning

To obtain the best motor control performance, it is recommended to execute the following tuning steps in order when installing for the first time or replacing the motor:

Step 1. Select Motor Model

Please select your motor model from the Model No. drop-down menu. The system will automatically fill in the corresponding rated specifications (torque, current, frequency, speed, etc.). If your model is not in the menu, please manually enter the parameters according to the motor Nameplate.

info

The model number of Panasonic series motors is usually marked on the sticker on the side of the motor.

Step 2. Confirm Electrical Parameters

Displays detailed electrical parameters of the motor (such as phase resistance, phase inductance). If the model was selected correctly in the previous step, modification is usually not required here. Click Next to continue.

Step 3. Release Brake

If your motor is equipped with a Brake mechanism, please follow the instructions to release the brake to ensure the motor shaft can rotate freely. For detailed wiring, please refer to the WPC-EDrive-SRV Hardware User Manual.

Step 4. System Identification - Electrical Characteristics (Electrical ID)

Automatically measure the actual phase resistance and inductance values of the motor.

1. Set Target Current (Recommended at least 0.5A).
2. Press Run.
3. The motor will rotate slightly and lock. After about 2 seconds, a long "beep" sound is emitted, and a check mark is displayed in the detection status, indicating success.

caution

Note: The Target Current setting must not exceed the maximum allowable current of the motor to avoid damaging the motor.

Step 5. System Identification - Mechanical Characteristics Description

This page is an introduction page, please click Next to continue.

Step 6. System Identification - Execute Mechanical ID

Automatically measure mechanical parameters such as load inertia and viscous coefficient.

Operation Steps:

1. Press Servo On to excite the motor.
2. Manually test and set a Torque value that can make the motor rotate.
3. Use buttons to move the motor to the Start Position.
4. Use buttons to move the motor to the End Position. ⚠️ Please ensure there is no mechanical interference within the movement range.
5. Press Start identification.
6. The motor will test back and forth between the start and end points and automatically adjust the output.

Result Interpretation:

• Fitting Curve (Top Right Chart): The orange dashed line should be close to the blue solid line. If it drifts significantly, it may indicate unbalanced mechanical weight distribution (gravity effect).
• R Square (Left Data): Goodness of fit index. If it is greater than 80%, it can be considered successful. Please press Next to continue.

Step 7. Set Controller Bandwidth

Adjust the response bandwidth of the motor.

• Higher Bandwidth: Faster response, stronger rigidity, more precise positioning.
• Bandwidth Too High: May cause mechanical resonance and noise.

After setting, press Next. The system will ask whether to save. Select Yes to write parameters to the driver and backup the configuration file to (WDM Path)\data\ServoTune\data\Configs\.

Advanced Functions

Friction Compensation

For short-stroke, high-precision movement requirements, this function can be enabled to eliminate the "Stick-Slip" phenomenon caused by static friction (i.e., lag at start or pause at turning points).

Setting Steps:

1. Round Trip Test: Set Amplitude and Frequency, execute Round trip.
2. Enable Compensation: Set Pos bound (Recommended 1/10 of amplitude) and Switching gain (Default 0.95).
3. Fine-tuning: Enable Enable, observe the error curve. If there is still influence, fine-tune Pos bound or increase control bandwidth.

Adaptive Notch Filter

Used to suppress mechanical resonance. When the motor drives a belt or cantilever structure, if a humming sound of a specific frequency is generated, this function can be used.

Operation Steps:

1. Let the motor perform Round trip movement to induce resonance sound.
2. Click Enable ANF to turn on the filter.
3. Click Frequency estimator to start detecting resonance frequency. Observe the chart on the bottom right, the frequency should converge to a certain value.
4. Click Suppress vibration to execute suppression. The resonance sound should become significantly smaller or disappear.
5. If the sound disappears, close the estimator and save the settings.

Other Protection Settings

Current Protection

Set overcurrent protection mechanism to prevent the motor from burning out due to stalling or collision.

Parameter	Description
Peak current limit	The maximum allowable instantaneous current value.
Continuous current limit	The maximum allowable continuous current (average).
Saturation current	The absolute saturation current limit of the driver output.

In-Position

Define the trigger condition for the "In-Position" signal.

Parameter	Description
In range [deg]	Allowable position error range.
In range time [sec]	The duration the position error needs to remain within the range to be considered truly in position.