iMotion Software

Operational Manual
2nd Edition

Weihong Electronic Technology Co., Ltd.

 The copyright of this manual belongs to Weihong Electronic Technology Co., Ltd. (hereinafter referred to as
Weihong Company). This manual and any image, table, data or other information contained in this manual may
not be reproduced, transferred, or translated without any prior written permission of Weihong Company.

The information contained in this manual is constantly being updated. You can login to the official website of
Weihong Company www.weihong.com.cn/en/ to download the latest PDF edition for free.
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Preface

About This manual

iMotion software needs to be run in Windows operating system, and communication between the
computer and WSDV series driver is required, which is realized by USB cable.
With iMotion software, driver parameter setting, monitoring control as well as trial running and the like,
can be accessed. Please refer to the operational manual and be careful in use.
With four chapters, this manual can be divided into four parts, as follows:
1) Part 1: preface, briefly introducing this manual and iMotion software.
2) Part 2: introduction to software installation and initialization. Refer to chapter 1 for installing
environment requirements, operations, uninstalling as well as software startup.
3) Part 3: introduction to each function, see chapter 2 to 10. Detailed description about each function
and corresponding windows, operation steps are introduced in this part.
4) Part 4: appendix. See chapter 11. You can get the software license agreement.

Applicable Product Model

This manual is applicable to WSDV series WISE servo driver. Refer to the table below for details.

Product Model Remarks

Abbreviated as “维智” or WISE.
Without further explanation, the driver to in this manual refers to
WISE (维智) servo driver.
WISE (维智) Servo Driver
At present, there are six models: WSDV-1R2 (0.1kW), WSDV-2R8
(0.4kW), WSDV-5R0 (0.75kW), WSDV-6R8 (1.0kW), WSDV-110
(1.5kW) and WSDV-140 (2.5kW).

Contact Us

You can contact us by the following info for technical support and pre-sales / after-sales service:
Company Name: Weihong Electronic Technology Co., Ltd.
Headquarters Address: No.1590, Huhang Rd., Fengxian, Shanghai 201401
Tel: +86-21-33587550
Fax: +86-21-33587519
Website: http://weihong.com.cn/en/

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Revision History

You can refer to the following table for the revision records of each edition.

Date Edition Revision

Main revisions in this edition are:
1) Info about WSDV-1R2 (0.1kW) and WSDV-140 (2.5kW) added.
2) Software uninstallation and startup in Section 1.1.3 and 1.2
updated.
3) Parameter loading method and editing in Chapter 3 updated.
4) Introduction to waveform window and waveform acquisition in
2016.11 R2 Chapter 4 updated.
5) Operation related with gain tuning in Chapter 5 updated.
6) Operation related with trial run in Section 6.2 updated.
7) Pin definition setting in Chapter 8 updated.
8) Axis setting in case of bus-type servo driver in Chapter 9 updated.
9) Hardware updating operation in Section 10.2 updated.
10) Introduction to driver registration window in Section 10.3 updated.
2016.04 R1 Released for the first time.

Precautions

Precautions can be divided into caution and warning according to the degree of possible loss or injury in
case of negligence or omission of precautions stipulated in this manual.

CAUTION
: general info, mainly for informing, such as supplementary instructions and
conditions to enable a function. In case of negligence or omission of this kind of precautions, you may
not activate a function. Note that in some circumstances, negligence or omission of this kind of
precautions could cause physical injury or machine damage.

WARNING
: warning info requiring special attention. In case of negligence or omission of this
kind of precautions, you may suffer physical injury, or even death, machine damage or other losses.

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Contents
1 Software Installation and Startup .................................................................................... 1

1.1 Software Installation and Uninstallation ............................................................................................... 1

1.1.1 Installation Environment Requirements .................................................................................................... 1
1.1.2 Installation of iMotion ............................................................................................................................... 1
1.1.3 Uninstallation of iMotion ........................................................................................................................... 4

1.2 Initialization of iMotion ........................................................................................................................ 4

1.3 Accessing Software Functions ............................................................................................................... 5

2 Monitor........................................................................................................................... 7

3 Parameter ..................................................................................................................... 10

3.1 Parameter Editing............................................................................................................................... 11

3.2 Parameter Editing Operation .............................................................................................................. 12

3.2.1 Parameter Reading, Saving, Transferring and Restoring .......................................................................... 12
3.2.2 Parameter Comparison ............................................................................................................................ 13
3.2.3 Version Conversion .................................................................................................................................. 14
3.2.4 Writing Parameter to EEPROM ................................................................................................................ 15

4 Waveform ..................................................................................................................... 16

4.1 Waveform Collection Operation.......................................................................................................... 18

4.1.1 Trigger Prohibit ........................................................................................................................................ 18
4.1.2 Enable Trigger .......................................................................................................................................... 18

4.2 Waveform Operation .......................................................................................................................... 21

5 Gain Tuning ................................................................................................................... 23

5.1 Real-time Auto Gain Tuning ................................................................................................................ 24

5.2 Vibration Resistance .......................................................................................................................... 25

6 Trial Run ........................................................................................................................ 29

6.1 Operation Related with Running Range Setting ................................................................................... 30

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6.2 Operation Related with Trial Run ........................................................................................................ 31

7 Alarm ............................................................................................................................ 33

8 Pin Definition Setting .................................................................................................... 35

9 Axis Setting ................................................................................................................... 38

10 Others ........................................................................................................................... 39

10.1 Absolute Encoder Initialization ........................................................................................................... 39

10.2 Hardware Updating ............................................................................................................................ 40

10.3 Driver Registration ............................................................................................................................. 42

10.4 Language Selection............................................................................................................................. 43

11 Software License Agreement ......................................................................................... 44

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1 Software Installation and Startup

1.1 Software Installation and Uninstallation

iMotion software is used together with WSDV series servo driver of WEIHONG Company, and it is not
applicable to drivers of other brands, for your information.

1.1.1 Installation Environment Requirements

Please firstly make sure that your computer meets the following requirements before installing the
software. Incorrect environment may lead to abnormal installation or usage of the software. Refer to
following table for details.

Specifications
OS Windows XP SP3 Chinese Version (32bit)
CPU Pentium 41.0GHz or above
Memory 512M or above
Hardware 512M or above
Communication Interface USB2.0
Display
Resolution 1024*768 or above
Color Quality 24bpp (True Color) or above
Environment for the Software
Installing Environment Windows Installer 3.1 or above
Running Environment .Net Framework 4.0 or above

CAUTION
It cannot be guaranteed that the software operates well in other installation environment than that of the above
table. And note that the software cannot be applied to several displays.

1.1.2 Installation of iMotion

Following is the installation package of the software.

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Fig. 1-1 Installation package

1) Double click on application “Setup.exe” to start installation.

2) The application depends on Microsoft .Net Framework 4.0, therefore, if Microsoft .Net Framework
4.0 has not been installed in the computer, it will be installed before software installation starts.
Please follow tips to properly install it. While if Microsoft .Net Framework 4.0 has already been
installed before, it begins from the next step.
3) After Microsoft .Net Framework 4.0 has been well installed, start installation of the iMotion software.
Click “Next” to continue, see Fig. 1-2.

Fig. 1-2 iMotion setup wizard

4) Specify the path, and click “Next” to continue.

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Fig. 1-3 Specify the path

5) A confirmation dialog box will appear. Click “Next” to continue, see Fig. 1-4.

Fig. 1-4 Installation confirmation

6) During installing progress, compatible driver which is used for communication between PC and the
servo driver is required to be installed, see Fig. 1-5.

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Fig. 1-5 Installation of drive

7) Click “Install” to start installation of the drive application. After successful installation of this drive
application, installing of iMotion will continue.

Fig. 1-6 Installation complete

8) As shown in Fig. 1-6, click “Close” to complete installation of iMotion software.

1.1.3 Uninstallation of iMotion

To uninstall the software: click on “Start” → “All” → “iMotion” → “Uninstall.exe”.

1.2 Initialization of iMotion

Here are two methods to start the software:

a) Double click on the icon in desktop.

b) Click on “Start” -> “All” -> -> .

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After the software is started, communication setting with the driver is required, see Fig. 1-7.

Fig. 1-7 Communication setting dialog box

 Connect to the driver

When this item is selected, all software functions can be used normally.

Fig. 1-8 Function preview (connected to the driver)

 Disconnect to the driver

When this item is selected, that is, the driver is disconnected, only few functions such as parameter
viewing, loading waveform and help context can be accessed on PC. Other functions are disabled.

Fig. 1-9 Function preview (disconnected to the driver)

1.3 Accessing Software Functions

iMotion software features following functions: monitoring, parameter editing, waveform collecting, gain
adjusting, trial running, alarming, pin allocation, axis setting in bus system, etc.
Here are two ways to access each function:
1) Start iMotion, click on tab “Function” to open up a function list, where you can enable corresponding
function. See Fig. 1-10.

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Fig. 1-10 Function list

2) Start iMotion, and directly select the function on the toolbar under “Function preview”, see Fig. 1-11.

Fig. 1-11 Function preview

CAUTION
“Axis Setting” function is exclusively in bus type servo driver. That is, when iMotion software is connected to a
pulse type servo driver, the function is unavailable.

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2 Monitor
In monitoring window, the user can obtain and check information such as running state of the driver or
the motor, I/O signals as well as internal status, etc. See Fig. 2-1 for the window.
Sampling interval
To set the sampling interval,
namely, the time period for current Start/Stop
data refreshing. To start or stop sampling or refreshing.

Electrical level monitor

1.Click “Stop” and select the input or output signal to be monitored under “Pin No.”.
2.Set the sampling interval, and click “Start”. After sampling starts, electrical level changes of
signals will be displayed on the right.

Fig. 2-1 Monitor window (in case of M-II bus type driver)

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 Input Signal Status Monitor

Physical input Logic input
Send status of the input signal to It represents internal signal status
the driver. of the driver.

Red background: connects to COM

Pink background: represents Open

Pink background: represents Inactive

Red background: represents Active

 Output Signal Status Monitor

Red background：the output transistor is ON

Pink background：the output transistor is OFF
Physical output： Note：
Signals fed out from the driver. Checked item represents the signal which
needs to be forced fed out.

Force output：
With this clicked, displaying of the front Force cancelled：
panel of the driver will be fixed to the Click the button or restart the driver to exit
current output signal status. the monitoring state.

Logic output：
Status of the driver internal signal.

Red background：represent Active

Pink background：represents Inactive

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 Driver Status Monitor

Position command deviation：It refers to the It shows the sum of command pulse
positional deviation of specified position and received by the encoder and the
feedback position (command unit). encoder pulse sum.
Actual speed：It refers to actual speed of the
motor.
Torque command：It refers to the currently
active torque command.
Overload rate：It refers to actual overload factor
of the motor (the value must NOT exceed 100%
when adjusting the motor).
Over-regenerative rate：It refers to the level
rate when over-regenerative protection alarm
occurs. Note that at this time, over-regenerative
rate shown on the monitor is not equal to the
regenerative energy.
Power voltage：It refers to the voltage across P-
N of the driver.
Encoder position deviation：It refers to the It shows error or alarm information
positional deviation of specified position and of the encoder.
feedback position (encoder unit).

CAUTION
1) Because the driver and PC is communicated via a USB, there may be slightly difference or delay between the
displaying value on the window and that on the front panel.
2) The monitor doesn’t equal to a measuring unit, therefore, displaying value on the monitor window only
serves as estimation reference.

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3 Parameter
Click on “Parameter” to open a dialog box, where you can select the way to loading parameters.

Fig. 3-1 Parameter loading method

 Decide How Parameter Loaded

There are three ways available to load parameters, as shown in Fig. 3-1.
 Load from the driver
It refers to reading driver parameters. With this method selected, modifications or changes to parameters
will be passed to the driver.
 Load from file
It refers to loading parameter settings in file. With this method selected, once command “Send to the
driver” is not executed, modifications or changes to parameters will not be passed to the driver.
 Load factory setting
If the driver has not been connected, it loads standard driver parameter settings when the software is
installed; while if the driver has been connected, it loads parameter settings in initialization area.
With this method selected, once command “Send to the driver” is not executed, modifications or changes
will not be passed to the driver.

CAUTION
1) Driver parameter saved in initialization area refers to the parameter settings after “Restore to factory setting”
is executed. For different drivers, some parameter setting may be varied. Please refer to Users’ Manual of
WISE Servo Driver for details.
2) If the driver software version is too low, when “Load factory setting” is checked, parameter setting in
initialization area cannot be loaded; instead, factory setting will be loaded when iMotion software is installed.

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3.1 Parameter Editing

In this area, source information of parameters will be shown, together with the software version No. and hardware
version No. (“D” refers to software version No., and “F” refers to hardware version No.) When “Load from file”
is selected for parameter loading, software version No. and hardware No. at file saving will be displayed.

Parameter setting：
Click on the input box, enter a desired
value and press Enter to validate the
modification or press Esc to cancel it.

Parameter attribute：
Different background colors indicate
different parameter attributes.

Parameter description：
Detailed description will be shown
once a parameter is selected.

Fig. 3-2 Parameter editing window

 Parameter Attribute

In this area, varied background colors represent different parameter attributes.

1) : General parameters, whose modification will be effective immediately. Note that if you want to

save the parameter, write it into EEPROM.

2) : Parameters whose modification takes effect after restart, namely, write it to EEPROM and

re-power on the driver.

3) : Parameters which are read-only.

Show description of setting value: With this checked, possible pull-down information box will appear
when certain parameters are selected.

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3.2 Parameter Editing Operation

3.2.1 Parameter Reading, Saving, Transferring and Restoring

Reading parameters from the file (*.pm). Note that the imported parameters will
not be sent to the driver. Only “Transfer” is enabled, parameter settings in the
driver will be changed correspondingly.
1) When loading method of “Load from the driver” is selected, and the file to
be imported is compatible with the current software version, following
dialog box will appear once “Import” is clicked. Click “OK” for confirmation.

Fig. 3-3

2) If the file to be imported is incompatible with the current software version,

following warning will appear. You need to get a compatible version first via
function of “Version Conversion” before transferring.

Fig. 3-4

Exporting parameters to the file (*.pm).

Receiving parameters from the driver.

If parameters have been modified on windows such as “Trial Run”, “Pin
Definition” or “Gain”, etc., parameter values shown on editing window may be
inconsistent with the actual values in the driver. At this time, you need to click
“Transfer” to read the latest values from the driver.
Sending current parameters to the driver.
When parameter loading method of “Load from file” or “Load factory setting” is
selected, parameter modifications are not sent to the driver directly. You need to
click “Transfer” further to change the value in the driver.
Making all driver’s parameters restore to default leaving-factory settings.

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3.2.2 Parameter Comparison

Click “Parameter Comparison” on the toolbar to open parameter comparison diglog box (see Fig. 3-5) →
select loading method for parameter group 1/2→ click “OK” to show comparison results (see Fig. 3-6).
If the software version is too low, it will be unable to read parameter values from the initialization area of
the driver. That is, “Read from initialization area of the driver” function will be unavailable.

Fig. 3-5 Parameter comparison dialog box

Fig. 3-6 Parameter comparison result window

Here are different parameter change types.

Icon Meaning Remarks

Compared with parameter group 2, the newly added parameters
Parameter adding
in group 1.
Compared with parameter group 2, the newly deleted parameters
Parameter deleting
in group 1.
Compared with parameter group 2, parameters in group 1 whose
Parameter modifying
attributes have been changed.

Operation: in this area, click “OK” to exit the window; click “Back” to return to previous window; and
switch to tab “Operation result” to import or export the comparison result.

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3.2.3 Version Conversion

If the imported parameter file is unmatched with current version of driver software, you can make a
compatible version by using “Version conversion” function. Note that parameters after conversion will
only reflect on operational window, but not saved into the file. If you want to save to the file, you can
execute “Export” function.
Click “Version conversion” in the toolbar to open “Version conversion” window. See Fig. 3-7.
Displaying area of custom parameters
Description of version conversion

Parameter description Operational buttons

Fig. 3-7 Version conversion window

Name/Range It refers to the name or setting range after conversion.

Unit It is the unit in target version.
File setting value It refers to the parameter setting value after conversion. For newly-added
parameters in target version, default value is 0.
Custom setting value It refers to setting value self-defined by the user, and it will be the preset
value in target version.
Use default value If checked, reset value will be used and it is unable to be modified.
All use default value If checked, all parameters will use preset settings.
OK/Cancel Click “OK” to execute version conversion, after which, “Transfer” function
can be enabled. Click “Cancel” to give up the conversion.

 Comments on Version Conversion

1) When there is new parameter in target version, it will be added directly, with preset value as

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parameter setting value. In addition, this value will be prompted.

2) When the parameter is absent in target version, it will be deleted directly.
3) After conversion, if setting range of target version changes and the value in original file exceeds the
range specified in target version, a prompt will appear asking the user to set new value for it.
4) If you don’t want to enter parameter value one by one, you can check in the checkbox of “All use
default value”. In this way, those which need to be self-defined will use preset values in target
version.

3.2.4 Writing Parameter to EEPROM

Operation steps: click to send setting value to the driver→ check the confirmation information
(see Fig. 3-8) → click “OK”. The parameter change will be written to EEP. Click “Cancel” to cancel the
operation.

Fig. 3-8 Parameter modification confirmation dialog box

 Comments on Writing to EEPROM

On condition that parameter value has been modified while not written into EEPROM, confirmation
dialog box will appear when parameter editing window is being closed.
During writing to EEPROM, please don’t power off the driver. If power interruption occurs, writing
operation failed.
Reading or loading parameters from file, or loading factory settings cannot make parameter setting send
to the driver. Only after “Transfer” is executed, parameter settings in the driver will be changed. At this
time, if “EEP” is executed, correct parameter change will be shown.

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4 Waveform
Or called waveform acquisition or waveform collection.
To access waveform window: in the software, click “Waveform” in the menu list under “Function” or on
the toolbar under “Function preview”. The waveform windows at “Trigger prohited” and “Trigger enabled”
are different, see Fig. 4-1 and Fig. 4-2 respectively.
Waveform representing motor actions is shown in “Waveform” window. The user can save waveform
result to a file or read waveform data from a file.

Fig. 4-1 Waveform window at “Trigger prohibited”

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Tool bar

Waveform
attribute area

Waveform
displaying area

Fig. 4-2 Waveform window at “Enable trigger”

 Toolbar

To start waveform collection. To save waveform to a file.

To stop waveform collection. To load waveform from a

file.
To restore waveform curve to To set triggering condition
original view. for waveform collection.
To magnify waveform curve. To set prohibition condition
for waveform collection.
To shrink waveform curve. To set colors for waveform
curves.

 Waveform Attribute Area

General Set general triggering condition or information when “Trigger

enabled”.
Child condition A Set child condition A for waveform collection. Available when “Trigger
enabled”.
Child condition B Set child condition B for waveform collection. Available when “Trigger
enabled”.
Sampling period It specifies the time interval of two adjacent points in waveform
collection.
Smoothness It specified the smoothness of waveform curve.
Item to be monitored Select the waveform to be monitored.

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4.1 Waveform Collection Operation

4.1.1 Trigger Prohibit

During waveform collection, if is activated, the driver will ignore the possible

triggering condition, namely, the moment is clicked, collection starts; and the moment

collection stops, regardless of the possible triggering condition.

5 Click “Stop” to stop 1 Choose “Trigger

waveform collection. prohibit”.

4 Click “Start”
to start waveform
collection.

3 Set the
sampling period.

2 Choose the
waveforms to be
monitored.
(At most 64-bit data
can be captured,
that is, bit sum of
the selected
waveforms cannot
exceed 64. )

4.1.2 Enable Trigger

If is activated, the driver will make judgement of the triggering condition, and only the

condition is met, waveform will be displayed the moment is clicked. When triggering condition
is met, collection stops automatically.

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7 Click “Stop” to stop 1 Choose “ Trigger enable”.

waveform collection.

6 Click “Start”
to start waveform
collection.

2 Set “General”
attribute.

3 If triggering condition
in “General” relates
with Child condition A,
you need to set this
item; otherwise, this
item can be ignored.
So as the Child
condition B.

4 Set sampling period.

5 Choose waveforms to
be monitored.

CAUTION
1) At most 64 bit data can be acquired at the same time for monitored items, namely, bit sum of selected
waveforms cannot exceed 64 bits.
2) If triggering condition in “General” is set to “No trigger”, data of any item in “Monitored item” can be
acquired on condition that sum bits are less then 64.
3) Waveforms in “Monitored item” can be chosen at will, regardless of “Trigger object” in child condition A
and child condition B.

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 Setting Triggering Condition

1) As shown in Fig. 4-3, set triggering position, times and condition in “General” condition setting dialog
box.

Fig. 4-3 General condition setting dialog box

Trigger position: it refers to the horizontal coordinate (X-axis) of the point when triggering condition is
met.
Single trigger: ON refers to only one triggering; OFF refers to multiple repeated triggering.
Condition: Child condition A/B can be selected, or logic combination of both A and B.

2) If “Null” is selected in “General”, there is no need to set Child condition A and B; while if triggering
condition relates with A or B, corresponding setting is required. Following takes setting of Child
condition A as an example.

Fig. 4-4 Child condition A setting dialog box

Trigger object: Select one waveform in waveform items as the object.

Trigger level: It specifies the triggering level.
Slope: It refers to the method of triggering object judging triggering level.

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4.2 Waveform Operation

 Waveform Zoom in/out

As shown in Fig. 4-5, you can operate the waveform by dragging the override slides.
1) With left mouse button pressed at the same time, selecting one part of the waveform can enlarge
the selected portion.
2) Double clicking the waveform can restore it to original size.
Y-axis: The value of monitored waveform

X-axis: Time

Waveform name

Slide for position：

Move the slide vertically,
waveform of different value
range will be displayed.
Move the slide horizontally,
waveform of different time will
be displayed.

Slide for override：

Scaling in horizontal or
vertical axis.

Fig. 4-5 Operation on waveform

 Waveform Smoothness

Fig. 4-6 Smoothness slide

By taking advantage of smoothness adjustment, the waveform can be smoother. However, please note
that the adjustment can only make waveform looks like smoother with no change to actual waveform
data collected.

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 Waveform Color Setting

Fig. 4-7 Waveform color setting dialog box

As shown in Fig. 4-7, you can custom the color for waveform displaying. Click directly on the color box,
make your own decision and click “OK” to save the setting.

 Import/Export of Waveform

Click and type in the waveform name to save it to the file; click , and select a
waveform file to show it in iMotion software.

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5 Gain Tuning
Through gain tuning, auto adjustment of the driver can be realized.
To access gain tuning window: click “Gain” in the menu list under “Function” or on the toolbar under
“Function preview”. The “Gain tuning” window is shown as Fig. 5-1.

Fig. 5-1 Gain tuning window

CAUTION
1) Please refer to the Users’ Manual of WISE Servo Driver for applicable range or cautions before making gain
adjustment in this window.
2) All parameters in “Gain tuning” window are parameters in the driver, and iMotion cannot save the values.
Therefore, please save the results to EEPROM after tuning.
3) “Gain tuning” window, “Parameter editing” window and “Pin allocation” window cannot be opened at the
same time.

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5.1 Real-time Auto Gain Tuning

Mode selection/Characteristics：
Select different mode and
characteristics according to the
machine.

Custom gain setting：

When the mode is set to “6:
Setting value：
Custom setting”, click
1) Click “Edit” first and input
box next, to change the value. “Custom setting”to open
2) After modification, click the dialog box.
“Send” to validate the
parameter modification.
3) After modification, click Estimated value：
“Monitor” which is “Edit” 1) “Trial run” function or external command can be used to
previously to cancel the update. run the motor, and during motor running, estimated value of load
characteristic can be shown.
2) Confirm the action through waveform, and adjust the rigidity.

Fig. 5-2 Gain tuning window

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5.2 Vibration Resistance

As shown in Fig. 5-3, when the button is displayed as “Edit”, it means the current window is in monitoring
mode; while when the button is displayed as “Monitor”, it means the current window is in editing mode.

 Self-adaptive Filter Setting

Fig. 5-3 Vibration resistance window

1) When “Filter mode” is set to “0: Invalid”, self-adaptive filter is disabled.

2) When “Filter mode” is set to “1: 1 valid”, values corresponding to resonance frequency≤5000Hz can
be shown when there is motor speed fluctuation. The 3rd filter can be automatically set, while the 1st,
2nd and 4th filters needs manual input on basis of “FFT analysis”.
3) When “Filter mode” is set to “2: 2 valid”, values corresponding to resonance frequency≤5000Hz can
be shown when there is motor speed fluctuation. The 3rd and 4th filters can be automatically set,
while the 1st and 2nd filters needs manual input on basis of “FFT analysis”.
4) When “Filter mode” is set to “4: Applicable result clear”, the result can be cleared.

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Following is illustration of operations.

1 Set the filter

mode.

2 Click “Edit” to enter editing

interface.

3 Click the box in

“Frequency” column, modify
the value, click “Set” and click
“OK” in the pop-up dialog
box. In this way, frequency for
each filter can be set.
Directly click “Set” box, the
current frequency will be set as
the resonant frequency.

After setting, click “Send” to

validate the setting, or click
“Monitor” to cancel it.

4 Click “Clear” box and

“OK” on the popup dialog
box, to remove the set resonant
frequency.

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 Resonance Frequency Testing

If self-adaptive filter is not used, and resonance frequency needs to be measured, please set “Filter
mode” to “3: Resonance frequency test mode”.
When there is motor speed fluctuation, values corresponding to resonance frequency≤5000Hz can be
shown.

1 Set the filter mode to “3:

Resonance frequency testing”.

2 Click “Edit” to enter editing

interface.

3 Click the box in

“Frequency” column, modify
the value, click the box in
“Set” column, and click
“OK” in the popup dialog box.
Frequency for each filter can be
set in this way.
Directly click “Set” box to set
the current frequency as the
resonance frequency.

After setting, click “Send” to

validate the modification, or
“Monitor” to cancel the
modification.

4 Click “Clear” box and

“OK” in the popup dialog box,
to remove the set resonance
frequency.

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 Direct Setting of Self-adaptive Filter

1) Click “Other” →”FFT analysis” under “Function preview”, as shown in Fig. 5-4.

Fig. 5-4 FFT analysis

2) Set “Filter mode” to “1 valid” “2 valid” or “Resonance frequency test mode”. With external control,
use “Trial run” function to make the motor run. Click “Start” button on the toolbar of “FFT analysis”
window to display motor speed spectrum, as shown in Fig. 5-5.

Fig. 5-5 Motor speed spectrum

3) Resonance frequency can be read according to the motor speed spectrum, and can be set in
self-adaptive filter.
4) Open “Vibration resistance” window and click “Edit” to enter into monitor mode. In “Frequency”
column, resonance frequency value can be set. After setting, please click “Send” to validate it.

CAUTION
In “Vibration resistance” window, “Edit” button will turn to “Monitor” once it is clicked. When “Edit” showing,
current window is in monitoring mode; when “Monitor” showing, current window is in editing mode.

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6 Trial Run
WSDV series servo driver is connected to PC via USB. “Trial run” function in iMotion can be used to
make the motor run.
To access trial run window: in the software, click “Trial run” in the menu list under “Function” or on the
toolbar under “Function preview”. Trial run windows can be opened, as shown in Fig. 6-1 and Fig. 6-2.

① MAX (pulse): the maximum position when the motor rotates to the left;
② MIN (pulse): the maximum position when the motor rotates to the right;
③ MOTOR (pulse): the current position of the motor;
④ JOG(+): with the button clicked, the motor rotates in positive direction;
⑤ JOG(-): with the button clicked, the motor rotates in negative direction.

Fig. 6-1 Trial run window-initial

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6.1 Operation Related with Running Range

Setting

1 Click “Start”

2 Click “Servo ON”.

If there is no alarm or
error, it means the
motor is powered up; if
there is any alarm or
error, please fix it first
and then repeat the
step 1 and 2.

3 Set parameters in this

area.
4 After parameters well set,
click “JOG”, and make sure
the motor works normally.

5 Set the MAX and MIN 6 Click “Jump” or “Trial

value of the motor running Run” to switch to trial run
range. window. Refer to Section 6.2 and
conduct operations.

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6.2 Operation Related with Trial Run

Fig. 6-2 Trial run window-running

1) At servo OFF, clicking button turns the servo ON. While if it is in PAUSE state or during
the execution of ZERO (returning to the origin), JOG (“CONT.” can be checked), STEP (“CONT.”
can be checked), clicking this button makes stop.

2) When trial run has been set, clicking button invalidates the trial running range setting.
3) When executing ZERO (returning to the origin), JOG (“CONT.” can be checked), STEP (“CONT.”

can be checked), clicking button makes the motor decelerate and stop; at this time, the

button turns to ; further clicking makes the motor continue the interrupted action.

4) Executing ZERO (returning to the origin) makes the motor rotate to the position whose coordinate is
0.

5) With or clicked, the motor rotates in positive direction or negative direction

respectively.

If is checked, once or is clicked, the motor will speed up to specified speed

with set time; if there is soft limit, the motor will stop at the soft limit, otherwise, the motor keeps
running.

If is not checked, once or is clicked, the motor speeds up to the specified

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speed with set time and keeps running at the speed; releasing the button makes the motor slow
down to 0 within set time.

6) With or clicked, the motor rotates in positive direction or negative direction

respectively.

If is checked, once or is clicked, the motor moves forward and backward

repeatedly with the current position as datum.

If is not checked, the motor moves to the set distance. If button is clicked or trial

run window is closed during running, the motor stops immediately. If button is clicked

during running, the motor slows down and stop within the set time, and clicking button
again makes the motor keep running to the target position and stop.

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7 Alarm
Clicking “Alarm” in the menu list under “Function” or on the toolbar under “Function preview” can open
the alarm window, which is composed of two windows, “Current alarm” and “Alarm history”.

Fig. 7-1 Alarm window

Alarm「33」
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Fig. 7-2 Alarm history

1) In alarm window, currently active alarm or alarm history as well as their possible causes and
countermeasures will be shown.
2) Once alarm window is opened, alarm records will be displayed. Besides, when there is active alarm
or warning, the window will pop up automatically. After alarm occurrence, you can clear the alarm as
offered countermeasures; if not, the alarm will be active all the time.

3) After alarm occurrence, clicking can clear the current alarm, while it is invalid for
those with unclearable attribute (refer to Users’ Manual of WISE Servo Driver for details). And for
alarms which are unable to be cleared, try the possible causes and countermeasures on the right
side.

4) Click to clear history alarms.

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8 Pin Definition Setting

Clicking “Pin definition” in the menu list under “Function” or on the toolbar under “Function preview” can
open pin definition setting window, see Fig. 8-1.

Fig. 8-1 Pin definition setting window (In case of pulse type servo driver)

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 Set Input Pin Definition

1 Double click the input pin to be set.

2 Set the contact method in different control

mode.

4 Click “Save” to write the parameter to EEPROM; or 3 Choose the function to be specified, and
click “Cancel” to cancel the writing. click “OK” to get to the previous pin
definition setting window.

 Set Output Pin Definition

1 Double click the output pin to be set.

2 This dialog box
will appear for output
pins which are
beyond allocation.

4 Click “Save” to write the parameter to EEPROM, or 3 Choose the function to be specified,
and click “OK” to get to the previous
click “Cancel” to cancel the writing.
pin definition setting window.

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Specialized Concentrated Focused

CAUTION
1) Windows of “Pin allocation setting”, “Parameter” and “Gain tuning” cannot be opened at the same time;
otherwise, pin allocation function is unavailable.
2) Pin connection way needs to be set when allocating input pins. Please refer to the Users’ Manual of WISE
Servo Driver for detailed information about input signals.
3) For input pins, one input signal cannot be allocated to different pin No., namely, repeated setting is
prohibited; while for output pins, repeated allocation is allowed.
4) Pin definition setting remains invalid before startup of the driver.

Pin Definition Setting「37」

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9 Axis Setting
“Axis Setting” function is a special function in bus-type servo driver. When iMotion software is connected
to pulse type servo driver, the function is disabled.
Clicking “Axis setting” to open the window, as shown in Fig. 9-1. Enter the axis address and click “Set”,
and then click “OK” in the pop-up dialog box to restart the driver and validate the setting.

Fig. 9-1 Axis setting window

Fig. 9-2 Axis setting dialog box

CAUTION
1) When the servo driver is connected to bus-type control system, it is recommended to set the axis address in
order (X-axis: 1; Y-axis: 2; Z-axis: 3……). 0 means disabling the communication function.
2) Within the same control system, axis address No. for the driver cannot be duplicated.

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10 Others
In the pull-down menu list of “Other”, functions such as encoder initialization, hardware update, language
selection can be accessed.

Fig. 10-1 Pull-down menu list under “Other”

10.1 Absolute Encoder Initialization

Absolute encoder initialization can be executed through the front panel or iMotion. After initialization,
revolutions of absolute encoder will be cleared to zero, and encoder alarm will be cleared as well.

 Operation

1) Click “Encoder clear” in the pull-down list of “Other”. A confirmation dialog box will pop up (see Fig.
10-2).

Fig. 10-2 Encoder initialization confirmation dialog box

2) Click “OK” to initialize the absolute encoder or click “Cancel” to cancel the operation.
3) Prompt dialog box showing successful operation or operation failure will pop up when initialization
completes. See Fig. 10-3 and Fig. 10-4 respectively.

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Fig. 10-3 Successful initialization prompt

Fig. 10-4 Initialization failure prompt

CAUTION
1) With servo ON, initialization of the absolute encoder is unavailable. Therefore, please turn servo OFF first
before executing absolute encoder initialization.
2) For bus type servo driver, there is no servo ON signal.

10.2 Hardware Updating

Click “Update hardware” in the pull-down list under “Other”, and the hardware updating window is as
shown in Fig. 10-5.

Fig. 10-5 Hardware updating window

 Auto Updating

1) As shown in Fig. 10-5, choose the driver type as the one you have used. Pulse type driver and bus
type driver are optional.
2) Select the hardware type to be updated (both “Update DSP version” and “Update FPGA version” are
checked by default). The moment “Start to update” is clicked, the system will update the DSP

「40」Others
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version first and FPGA version next automatically. After successful updating, there will be prompt,
see Fig. 10-6.
3) If only one type of the hardware is checked, the system will update the selected one.
4) After updating, you need to restart the driver to validate the newly updated hardware version.

Fig. 10-6 Successful updating (Auto updating)

 Manual Updating

Fig. 10-7 Manual updating window

1) As shown in Fig. 10-5, choose the driver type as the one you have used.
2) Click “Manual updating” to switch to manual updating window, see Fig. 10-7.
3) Select the hardware type in the pull-down list of “File type”.
4) Click “Select” to open the box where you can specify the target file.
5) Click “Update” to start updating. There will be prompt when it is completed.
6) For manual updating, only one type of the driver can be updated at one time. If other hardware
needs to be updated further, repeat steps 3~5 in Fig. 10-8.

Others「41」
 Specialized Concentrated Focused

7) After updating, you need to restart the driver to validate the newly updated hardware version.

Fig. 10-8 Successful updating (Manual updating)

CAUTION
If hardware is to be updated, “Boot” mode should be entered first. Pressing LEFT arrow key of the driver for
several seconds before power-up can access “Boot” mode.

10.3 Driver Registration

If registered time for the driver is overdue, alarm prompt “Driver registered time overdue” will occur, and
the driver stops working. At this time, valid registration code is required to re-activate the driver.

Fig. 10-9 Driver registration window

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Fig. 10-10 Registration complete prompt

1) Click “Driver registration” in the pull-down list of “Other” to open the driver registration window, see
Fig. 10-9.
2) Type in the registration code in “Register code” input box, and click “Register”.
3) If registration code is valid, a dialog box prompt successful registration will pop up, as shown in Fig.
10-10. After registration, re-power on the driver.
4) The registration code can be obtained via APP “NcStudio Generator”. Refer to Section “Driver
Registration” in Users’ Manual of WISE Servo Driver.

10.4 Language Selection

Multiple languages are supported in iMotion software. At present, Simplified Chinese, Traditional
Chinese and English are optional.
Operation steps: start iMotion→ click “Language selction” in the pull-down list of “Other”. Language
selection window is shown as below.

Fig. 10-11 Language selection

After your language decision, click “OK” and further confirm in the prompt dialog box. Target language
takes effect after restarting the software.

Fig. 10-12 Language switchover tip

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11 Software License Agreement

Important—Read Carefully before Using This Product:
The term “Software Product” includes all copies of the licensed software and its documentation. This
license agreement is a legal agreement between You (either an individual, a legal entity or any affiliated
companies or other entities) and Weihong Electronic Technology Co., Ltd. (hereinafter referred to as
Weihong Company). By installing, copying, or otherwise using the Software Product, you agree to be
bound by the terms and conditions of this license. Unless otherwise stated in this agreement, you shall
not use, copy, revise, rent, or transfer the Software product or any part of the Software Product for any
other purposes.

Description of Further Rights and Restrictions:

1) You may install for use one copy of the Software Product on a single machine;
2) You may make a copy of the Software Product for archive or backup purposes and the copy is to be
used on this machine only;
3) You may transfer the Software Product and the license agreement to a third party, provided that the
third party accepts the terms and conditions stated in this agreement, with prior express permission
from Weihong Company;
4) When transfer confirmed, you shall transfer all the copies of the original documents and the
supplementary documents to the third party or destroy all the copies un-transferred.
5) You can use the Software Product on a network server or intranet server only if it is stipulated in
explicit terms that you are allowed to use the Software Product on a network server or intranet
server, or you have purchased license for each node and terminal using the Software Product;
6) You may NOT sublicense, assign or transfer the license agreement;
7) You may NOT or direct any third party to reverse engineer, decompile or disassemble the Software
Product;
8) You may NOT copy or transfer the Software Product or any part of the Software Product unless
otherwise expressly stated in this agreement;
9) The license agreement shall be terminated automatically upon you transfer the Software Product or
copies of all or part of the Software Product to a third party.

Intellectual Property Rights Notice:

The Software Product and all intellectual property rights therein (including but not limited to any all
copyrights, patents, trademarks, and publicity rights) are owned by Weihong Company. The Software
Product is protected for Weihong Company on the basis of copyright law and international treaty
provisions as well as on the basis of other laws and agreements regarding intellectual property. You are
not allowed to remove the copyright statement made in the Software Product, and guarantee that you
shall copy the copyright statement in all copies of the Software Product or of any part of the Software
Product. You are obliged to stop any form of illegal copying of the Software Product and accompanying

「44」Software License Agreement

Specialized Concentrated Focused

materials.

After-sales Guarantee:
Weihong Company guarantees that for 90 days from the date of shipment the software carrier will be
free from defects in materials and workmanship. When such a defect has been confirmed, our only
responsibility is to replace the software carrier. This remedy is your exclusive remedy. This after-sales
guarantee is invalid for any carrier defect caused by accidents, abuses or maloperation. The replaced
software carrier enjoys the remaining guarantee time of the original software carrier or of a 30-day
guarantee time, whichever is longer.
Except as the after-sales guarantee made above, the Software Product does not enjoy any other form of
after-sale guarantee.

Limitation of Liability:
The above guarantee, whether made explicitly or by implication, constitutes the entire contents of the
guarantee, including guarantee for the commerciality and applicability of special application aim.
Whether you follow other terms in this agreement or not, Weihong Company, as well as its agents and
sales staff, will not be responsible for any profits loss, availability loss, business break-off or any forms of
indirect, special, accidental or inevitable damage or claim made by any third party, generated from the
using of the Software Product, even if Weihong Company has been informed of the possible occurrence
of such events in advance.

Termination:
This license may be terminated by Weihong Company at any time once you violate any terms or
conditions made in this agreement. Once the license is terminated, you are obliged to destroy all the
copies of the Software Product or return them to Weihong Company.

Applicable Law:
Copyright Law, Regulations for the Protection of Computer Software, Patent Law and other relevant laws
and regulations.
Now, we affirm that you have already read through this agreement and understood it thoroughly and
agreed to comply with all of the terms and conditions of this agreement strictly.

Weihong Electronic Technology Co., Ltd.

Software License Agreement「45」