Home

D2 Drive User Manual

image

Contents

1.
2. EF mu 4 Y EN UJ MV M UY AN NT o T al PS Iw 12 Q LI E 2 em g E ag e UQ G Ble E s NO n Lic O 5j P LC2 Q a CN2 pet Q TN 5 g Len SG onnanngann T S 2 H c Hox B AmS TE EEEE E 4 g UDa HAE AEH EAE G a d H SS DOOUUOGU JULUU 3 Fig 2 5 Dimensions of C Frame 15 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 2 Overview of the Specifications 2 4 Installation of the drive Fix the drive in the electric cabinet using conductive screws All in
3. _ 138 2 20 5 E TP TN 5 mege fabs ll LO n E es N L _ DIO al N O E es E BN E iB W 6 Nr e 2 s RO L S ell DITE Lagi LAC QH EN2 pe de Fie 2 E ESI JE AA BOG 1A 16 N 2 042 EE S re NI ESTE AR I 3 exe D JUR s Oo Fig 2 3 Dimensions of A Frame 138 2 20 5 z m 15 20 1 EB s FN S MIND 11 HF Fh AN OOGO CNT o d eo als O WM E a z E wile EI Ek E W wO OL Ko Al RIO 6 Ke RO Fi LCD LIEN Sy 20 OQ d od cI Be ql E A EN A CN 9 id 39 RU lau LL mE 2 242 _ 6 i amp Jr D I i FM FULLE VL HIWIN Mikrosystem Corp Fig 2 4 Dimensions of B Frame 14 D2 Drive User Guide v1 2 2 Overview of the Specifications 184 1 0 5 amp 5 28401 i 165 8 0 1 1 5 i lj 413201 12 7
4. arrnanrnnnrnanrnannnannnanvnnnnnannnannnannnannnannnannnannnnnnnnnennnen 16 2 5 Computer FEQUIFEMEMS cccecccceeececececeeeeceeeeseueeeseeeeseaeeeseeeeseueesseeesaaees 17 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 2 Overview of the Specifications 2 1 Safety certification The product complies with the requirements of the following safety standards CE Compliance Table 2 1 EN55011 EN61000 6 2 EN61800 3 EB61800 5 1 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 2 Overview of the Specifications 2 1 1 Nameplate information Model no Model No D2 0423 5 80 mega fabs S N C T C Input output voltage INPUT OUTPUT Voltage 100 240V 0 373V Phases 1 phase 1 3 3 Rated input output current F L C 41A 3 2A Freq 50 60Hz 0 333Hz HIWIN MIKROSYSTEM CORP MADE IN TAIWAN Input output frequency Fig 2 1 2 1 2 Model number Column 123 4 8 8 7 89104 12 Example D2 01503 5402 18 418 BGO Item number D2 drive HE D2 Rated output BOW 1OOW HRK HMM RRRe 01 200W A400W mHmRee HIHIH HMeHnmmnHeHeHIHeHee 04 750W 1 000W Qus ute CERE NE MEE Oa EN MERE EN dE 1 0 AG voltage Single phase EEE EE n 1 Three phase EEE EEE EEE GE EE E cee 2 AG voltage range 110 000 V EET AE ES Control interface Pulse type for position control RRRRRAEHAERAREHAERRRHHREZRRRHAERZAREHERZARRET P Full function RRARARRRARRAERAERSAHRAHRSAHRSAHRSAHRSAHSA
5. 173 D2 Drive User Guide v1 2 6 Tuning 3 Automatic resonance suppression filter f3 The completion of the auto gain tuning will also start the f3 filter However when user drives the motor and finds that system vibration is not effectively suppressed by f3 filter user can uncheck the Activate f3 option the red frame in Fig 6 27 in the Filter tab of the Advanced Gains and manually set up Filter 1 and Filter 2 to suppress resonance effectively Advanced gains Acc Schedule Analog current Friction i feedforward Gains vpg input loop Compens Bode Filter 1 Filter 2 fifr 200 000 f2fr 8 888080 fixi 8 787187 f2 xi 8 787888 f1 k1 8 800800 f2k1 8 n k2 4 668808 f2k2 4 666006 Low pass filter cut off frequncy 266 Low pass filter cut off frequncy 266 Notch filter Notch frequncy 288 Notch filter Notch frequncy 288 Disable filter Disable filter Generate filter Generate filter lv Activate f3 Fig 6 27 f3 filter 174 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 6 Tuning 6 6 2 Acceleration feedforward The position error is usually more significant during acceleration and deceleration especially when a higher moving mass or moment of inertia is applied Setting the acc feedforward parameter can effectively reduce the position error during acceleration and deceleration Z Advanced gains oe Schedule Analog VSF feedforward Gains vpg input Compens Acc
6. rrrnrrrnrrrrnrrrrnrrrnrrernrrrnnrernrrenneennn 91 4 5 Ineposrol SET IG anbe 95 25 10 FUNCION NEVE ee 95 1 LS MN 95 4 6 Parameter overview and configuration of mOde rrarrnnrnanrnnrnanrnnrnnnnnnrnnnnnn 97 4 61 POSION MOOG svarar 97 4 5 2 Velocity MOOG aS 101 4 65 3 Force torque MOOG sa 104 4 6 4 Stand alone mode ccccccccscccecccueccueccueccueecueccueecueeeeeeeueseueeeueeaaes 107 ANN SNE 10 Flas ve 109 SEDER 111 5 12 EG D DANG HOCSCHDUON are 112 So MO Sa 113 SJ FOU LOD PAIS 115 5 9 T HOME page munnen saa quebuuao qua podeo que butep qua pow eo dub aeo gne 117 5 3 2 Display parameters page Jaa Ge Je 118 5 3 3 Change parameters page rrrnnrnnnnnvanrrnnnrnnnrnvanrnnnnrnnrnnanennnnnnnsennnne 120 BS T ACMONS OAC MP 130 54 EG D configuration OY MOOG scs osa PARR 136 SAL POSTA MOTE EE 136 54 2 Velocity MOTE saue 142 SS FO NE NOE SS 145 5 4 4 Stand alone mode ssr E 148 HE 151 6 1 Status display and quick VIEW rrrranrnnnrrnnnrnranrrnnrennnrnrarernnrnrnnennnrennsennnsennn 152 Bl SES USA ere 152 JE QUICK VIEW EE 153 6 1 3 Basic common physical value rrrnnrrnnrrnnrrvnrrnnrrnnrrnnernnernnrnnrnnnnnnn 154 621 4 Software SNOMCUIS ua GA 154 6 2 Performance COMER socie brc bsec Pru bine vun Pneu bcne Bp bine Pa 155 SES 610 9 gt NEMORE COM MR rr rm 159 sy mB u teecieie m M 161 65 PO VEW reel te Ead 162 6 5 1 Graphical display mode rronnnnnnrnnnnrnnnnnnnnennnnnnnnrnn
7. 2 Drag the slider bar to move the motor in SM mode The arrow in the watch had better remains within green range during motion HW HIWIN Amplifier 8 teme ax Controller tamuz 0 Axis X Motor type Torque Model TM5 3 Ads is cofigured to Stan a Hardware Enable Input af Software Enabled Ser ready Last error Phase initializa t 1 Lm 3 Direction necessary press TO to toggle direction definition 4 Frequency analysis Freq analyzer Use simple version 5 SW method 5 Current 8 01 A amp Max pos err during phase init 117936 count mw MSW method 5 is tuned 6 Phase initialization Step 1 Click Tuning QUICK Yew Position Units count vj 38 fictual Current Time 4 8 msec 1 Feedback Position Communication ok 239 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 9 Troubleshooting 9 4 Warning codes and actions Left SW limit WO1SWLL Software left limit is triggered Right SW limit WO2SWRL Software right limit is triggered Hardware right limit is triggered If the erroneous triggers occur without any connection 3 Left HW limit WO3HWLL from hardware limit to the drive It is recommended to deactivate the hardware limit enabling the hardware limit enabling state Refer to 9 4 1 for more information Hardware right limit is triggered If there is no connection from the hardware limit to the 4
8. 6l ALV y LE mL 8l LE ci 4 ee PIE 9 9c AL PET 4 Wd Sl 8d 44v 88 LEE PM V il ALPE g uy EL c ve e 106 Xv o c a ce NOD Fig 3 28 43 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 3 Wiring 3 6 1 1 High speed pulse command Wiring for the host controller with differential signal example High speed pulse User can define the command 4 Mpps or less mega fabs SE d D2 Series Drive output Host controller High speed pulse input Signal output CN6 Photo Coupler Ee wiring 38 Relay Twisted pair AN Aphase Dae 48 i B phase Lo User can define the fa AY output function for each z lsk Fm Z phase input me d iz 24 vs output Vce 40V Max Z output open collector Ha ov O OHN Ic 0 6A Max 44 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 3 Wiring 3 6 1 2 Host controller is Sink NPN with current limiting resistance Wiring for the host controller with single ended signal example User can define the Low speed pulse command AN mega fabs function for each pps or less D2 Series Drive snu Host controller 127 env DO CN6 RDY oe ne E Photo n B Q 4 CWL am Coupler p Enim nm uh fib 2 fps ee Hs fom E d C OV PLS CW A A p Relay Twisted pair T
9. Fig 5 14 Operation of excitation de excitation ENA DI 132 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 5 LCD 5 3 4 3 JOG The following operation shows the JOG setting procedure Please refer to Fig 5 15 for an illustrated description of the procedure 1 Press the Enter key to enter the JOG mode A solid flashing cursor appears on the left side of the second line 2 Use the Up or Down key to allow the motor to rotate normally or inversely motion The feedback position will display on the LCD when the motor is in motion The motor stops immediately when the key is released EE EE EE i Press and hold the Up key 4 JOG JOG the Down key Ni gt 01FBPO Feedback E position Feedback position Fig 5 15 Continuous motion JOG operation 133 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 5 LCD 5 3 4 4 Move to position The following operation shows the setting procedure for movement to an absolute coordinate position Please refer to Fig 5 16 for an illustrated description of the procedure An absolute coordinate position of destination 2000 is used as an example below 1 Use the Up or Down key to enter the MOV2PO setting page Please refer to the parameter edit function in 5 3 3 2 for the input method In this example the coordinate position of destination will be set to 2 000 2 Move to the
10. rrrrarrvnnnnrnnnrrennnrrnnnrrennnnennnerennnrennnrrnnnsennneennn 136 GA e FO UON MO 136 oae Welobply 10 0 EEE E 142 5 4 3 Force torque mode rrnnnrnrnnnnvnnnennnnsnvnnnrnnnnrnvnnnnnnnnsnvnnsnnnnnennnnsennnnene 145 5 4 4 Stand alone mode ararnnnennnrnnnnennnrrnnnrnnnnennnrnnnnennnsennnennnnennnsennssnnnne 148 111 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 5 LCD 5 1 LCD panel description Display Cursor Up key Enter key Down key Function key Fig 5 1 LCD panel Table 5 1 Display For displaying changes in values statuses parameters and actions Up key For the selection and setting of parameter values or jogging For the selection and setting of parameter values or jogging Fun are For switching among the four LCD page and switching the edit modes when setting parameter values Eniark For entering the status display options saving parameter settings and confirming d input actions Static cursor A flashing underscore means that a parameter can be edited C Dynamic cursor A solid flashing box means that parameters are being ursor ae AE edited motion is in progress jogging No cursor Parameters can only be displayed not edited Note Pressing and holding the Up or Down keys enables users to quickly switch between pages 112 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 5 LCD 5 2 Motor set The following example shows the actions necessary to select the model numbe
11. Fig 6 35 Digital encoder 6 7 2 Encoder reading confirmation The signal of the digital encoder is comprised of two digital pulses with a phase difference of 90 Users of the D2 drive can use this function to check the encoder for correct readings by for example rotating at a given angle and confirming whether the position reading is same as the angle value 6 7 3 Index signal confirmation The Index lamp in Fig 6 35 can be used to confirm the reception of the Z phase signal lt flashes green once when the drive reads the Z phase signal 188 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 6 Tuning 6 8 Loop constructor The Loop Constructor function allows users to confirm the stability of the control system It provides spectrum analysis tools such as Nyquist Nichols and Bode In addition to adjusting the filters and gain values vpg vig ppg and CG users can use this function to change the parameters directly and observe the frequency response of the control system To enter the Loop Constructor screen open the Lightening main screen and select Tools gt Loop constructor as shown in Fig 6 36 Fig 6 37 shows the Loop constructor interface LIGHTENING version 0 172 com USB 115200 Conf Tune BGS Language About LCD Password e e Communication setup Cte Firmware version Open plot view Ctrl G 926 Data collection Scope Ctrl P Encoder test tune PDL Loop constru
12. Physical value display area 3 W X ref pos 50000 iw X enc ps Wl gt 12 Jan 2013 07 01 50 Graphical frame area Fig 6 9 Plot view introduction A 6 5 1 Graphical display mode The graphical frame displays the number of channels The graphical frame area is mainly for displaying the graph of physical values When the graphs of physical values are collected in the Scope or Data Collection window all physical values selected by the scope are shown in the Plot View Users can adjust the number of the channels for the graphical frame within an upper limit of 8 The icons in the main function keys area are described below Set the maximum number of channels L Display a single channel To observe the graphs of 2 physical values click and select 2 graphs to set the number of channels to 2 To observe the graph of 1 physical value click S and select graphs to set the number of the channels to 1 The Fig 6 10 shows the situation in which only two physical values are selected in the Scope or Data Collection windows 162 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 6 Tuning av MEGA FABS Motion Systems Plot view Yer 8 47 File View Tools Plots BSaBre S ii i le eta x WISSEN dEUS f mo r KS i E v Only graph 1 Only graph 2 Only graph 3 Only graph 4 12 Jani2013 07 01 50 Q Time sec Fig 6 10 Plot view introduction B 1 Display or hide physi
13. cccceccecseeeeeeeeeeeeeeseeeeesees 38 HOEN 39 3 5 1 CNG I O signal function description rrarrrrnnrerranrrrnnnerrnnrnrnnnernnnennnn 39 SESS M Beli LT eg Oo ER T T 40 3 5 3 Digital output wiring rrennrennrrnnrrrnrnrnnnrarnrnrernnrnnnennnennnnnnnennnennnennnennnen 42 3 6 Wiring examples by mode esses 43 3 6 1 Master wiring diagram for pulse command input 43 3 6 2 Master wiring diagram for analog command input 50 3 6 3 Master wiring diagram for PWM command input 53 19 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 3 Wiring 3 1 System configuration and wiring This chapter introduces the drive configuration and functions of each part The following figure shows the details of drive configuration 3 1 1 Master wiring diagram Breaker MCCB Filter Optional LCD display Two lines of dot matrix strings Display messages and parameters Magnetic contactor Reactor L Status LED Rapid indication of Ready Error To PC Lightening ARNE Regenerative resistor Optional Free Download from www hiwfnmikro com tw p A ee IPLE To connector Connector 50 pin SCSI Std accessory Brake power I I L DC24V i external I I I I i I To encoder e Encoder cable e optional no Servo motor Ilf the motor with a brake brake
14. 82 X cmd ex M Denominator of the electronic gear ratio input PITT Dead band for the velocity command the velocity omo 84 X cmd ext v dz command is 0 when the input voltage is lower than this Volt setting 126 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 5 LCD S Current command ratio ir d the rotational speed of Dead band for the current command the velocity 86 X cmd ext i dz command is 0 when the input voltage is lower than this Volt setting X vel err warn Wim Velocity error warning count s X vel stop Brake starting speed count s X delMaxEnToBrk Brake starting delay time 66 6748 4 X delBrkToDis 66 6718 X_index_offs count X new sm fac X pulse mode X pulse dir X fall rise X cmd pwm mode Command input format in the velocity and current modes out config 0 out config 1 out config 2 out config 3 out config 4 out config 5 out config 6 out config 7 out config 8 out config 9 out config 10 out config 1 1 out config 12 out config 13 out config 14 out config 15 129 130 131 132 133 O4 output signal setting O1 output signal setting 140 141 142 143 144 145 146 147 148 O2 output signal setting O3 output signal setting NIN Iiu CO CO Oi CO N O DODIN ODJOT RA OT 149 150 151 The homing okay command from the host controller 154 155 156 157 158 159 160 162 163 164 count 165 count Hz 127 HIWIN Mikrosystem Corp D2 Drive User Gu
15. A Axis Enable Setting P nXIS Enable Setting EEE EN 247 A 1 Axis enable via the host controller esee 248 A 2 Temporary hardware enable esses 248 A 3 Confirmation of the enabled state eee 249 A 4 HMI control of axis enable ssesesesemm HR 249 247 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 A Axis Enable Setting A 1 Axis enable via the host controller Usually the host controller must send a command to the drive via its input port to enable the motor The Axis Enable function is usually set to the digital input I3 as shown in Fig A 1 A 2 Temporary hardware enable If users do not have a host controller and cannot input a Hardware Enable signal to the drive the Hardware Enable can be provided temporarily after completion of the following settings Click Er IO set test in the main function keys area to open the window in Fig A 1 Confirm that the status indicator of the Axis Enable lights green 11 is usually used for the Hardware Enable signal Since the Invert function is available for each input point it can provide a cheating Hardware Enable signal by inverse the logic value of the signal The drive receives a Hardware Enable signal when the indicator in the State column lights green LIGHTENING version 0 172 com3 USB 115200 b Conf Tune Tools Language About Advanced Omm amp l
16. Invert Command Hardware interface Parameter settings area amp High Speed Pulse Input CN6 pin 44 45 46 47 C Low Speed Pulse Input CN6 pin 1 3 4 2 5 6 Control Input C Pulse and Direction C Pulse Up Pulse Down E Quadrature AqB Increment Position on c Secondary Operation Mode C Velocity Mode C Torque Mode None buttons for Cancel parameters Fig 4 18 Operation mode settings 4 2 3 1 Position mode principles The host controller sends a pulse to the drive and this pulse is equivalent to a position control command Thus the drive moves a corresponding distance every time it receives a pulse The host controller is responsible for route planning The pulse is sent more frequently when the motor is accelerating and is sent at a fixed frequency when the motor moves at a constant speed As shown in the following figure the pulse is generated in three formats Pulse Dir Pulse Up Pulse Down or CW CCW and AqB phase Quadrature square wave The electronic gear can be set in the pulse mode One input pulse normally corresponds to one encoder count A gear ratio of 2 3 for example means 2 input pulses correspond to 3 encoder counts The pulse signal is classified into T TL differential and single ended signals according to the wiring method of the hardware HIWIN Mikrosystem Corp 70 D2 Drive User Guide v1 2 4 Settings Pulse input JUUL TUUUL Dir in
17. X amp amp x RRRRRRERREK Electronic Gear Select lt DIV1 gt Electronic Gear Select lt DIU2 gt Fig 4 27 Input function settings Status indicator The corresponding input pin has been enabled if the status indicator is lit green The input pin has not been enabled if the indicator remains off Logic inversion setting Invert When Invert is checked the trigger condition will be inverted 78 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 4 Settings Table 4 2 Excitation de excitation for I3 by default Level Me EN with edge trigger as the activating condition Trigger Left Limit Switch Hardware left limit for 16 by default id Trigger Level Right Limit Switch Hardware right limit for I9 by default di Trigger The homi k f he h E Home OK Start Err Map e homing okay command from the host dge controller Trigger Trigger Trigger Trigger INVC men Inversion of the analog voltage command in Level velocity or force torque mode Trigger Level Switch to Secondary CG Switch to secondary common grain Trigger Level JSEL Switch to Secondary VPG Switch to secondary VPG gain Tren nput runction D SVN LL RL MAP RST OG CE GNS When this signal is received in velocity mode and the speed is lower than the Level ZSC Zero Speed Clamp Trigger setting value the motor servo will be locked in a fixed position INH Inhibit Pulse Command Inhibit pulse command Trigger l Le
18. 3 Check the UVW line line resistance ere separately and confirm that the resistance is same between lines 4 Check whether the motor wires are too old 244 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 9 Troubleshooting 1 Confirm that the continuous current and peak current of the motor conforms to the specifications of the motor The equivalent current 2 The acceleration command for the output from the drive EO5SWHOT route planning exceeds the rated exceeds the continuous W12 I2T value of the motor current limit of the motor 3 The motion of the motor is obstructed 4 The drive is reset and re enabled 5 Check if the model number or current parameter of the motor is set incorrectly The PC cannot None Check that the BPS and Port are set communicate with the drive correctly When the drive is set to use emulated encoder Because the emulated encoder output function does not work during operation of the save to flash X function If the motor moves by different reasons when operator the save to flash function on the main screen The host controller may lose the position signal The host controller receives an incorrect position signal when the emulated encoder function is used 245 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 9 Troubleshooting This page is intentionally left blank 246 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 A Axis Enable Setting
19. CCW Velocity mode Stand Alone Velocity mode mode Instructions for use In velocity mode enter the I O Center and set the Zero Speed Clamp as the input function Please refer to the figure below with I1 as an example Inputs Outputs om Bek a 1 Not Configured 2 Not Configured Motor Over Temperature 4 Hone OK start err ma g Reset Anplifier witch HI LO Pulse In 5 Clear Position Error v ing 7 Electronic Gear Select DIU15 Electronic Gear Select DIU2 gt hud ann 89 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 4 Settings Next enter the Protection Center and set the brake starting speed vel stop to a suitable value 500 count s by default Please refer to the figure below Protection center Protection HW limit protection Position Units Dec kill Velocity 1 41 869e 7 countis vel_stop 566 666 counts Brake output delRelsBrk Drive enable g delBrkToDis 56 6 Brake is configured to CN2_BRK Zero Speed Clamp will be activated when State of 11 is on unction Default Input Circuit Mone diagram Pero 397 Function description This allows resetting the Position Error value back to 0 Instructions for use The Position Error value will be reset to 0 when the input state of the Clear Position Error is on Green is on and dark is off unction Default Input Circuit
20. D2 Drive User Guide v1 2 8 Applications Table 8 2 D Initial motion Left Search the left side first direction Right search the right side first None Not to use the left side condition End Stop Search the End Stop on the left side Search the limit switch on the left side Not to use the right side condition Mh sonipes Search the End Stop on the right side Right Limit Switch Search the limit switch on the right side Select one of the following for the left or right side conditions 1 None Non search 2 End Stop Search the End Stop 3 Limit Switch Search the limit switch Left side condition Left side condition To Search End Stop should be carried out with parameter and parameter Parameter is used to set the force needed for searching the End Stop and parameter is to set the time for the force If the time is too short an End Stop may be mistaken before it is found If the time is too long the force pressing the End Stop will increase or it well reach the soft thermal threshold You can search the current of End Stop by following the steps below otep 1 Turn on the scope Fig 8 6 scope and observe the physical of the Actual Current diagram otep 2 Use the slower Speed to move all strokes Step 3 Observe the change in the Actual Current diagram and record the maximum value In the figure below the maximum value is about 0 2A therefore the current of searching End Stop can be set to be slightly
21. Iter The value ranges from O to 1 E PID filter Gain Phase Phase deg Nyquist Nichols 9 Points Hertz Radisec Full screen XI k1 K2 amp Gain db eeeeeteespetete e LT OE SOOT C Phase Gain 1 0 5 c 100 000 1 Hertz 7588 Step 6 05 First Second 268 r8 9 707187 x 8 787 Set default 4 1 B Disable filter x Help HIWIN Mikrosystem Corp Fig 6 25 Low pass filter 172 D2 Drive User Guide v1 2 2 Notch Filter When there is an improper resonate frequency in the mechanical system e g 6 Tuning 10 250Hz and the resonance cannot be eliminated through mechanical correction or design a notch filter can be used to solve this problem The setting of a notch filter is usually configured with reference result of the frequency analysis A setting of a typical notch filter is set as follows Fr Cutoff frequency The unit is Hz xi Damping ratio of the filter The value ranges from 0 to 1 The band of the filter becomes narrower when the ratio is closer to 0 It becomes wider when the ratio is closer to 1 k1 0 k2 1 C Gain Gainfdb C Phase C Phasefdeg C Nyquist C Phase Gain Nichols iv Points Hertz C Rad sec Full screen Filter coffiecents First t 288 X 8 1 ki A k2 1 HIWIN Mikrosystem Corp Fig 6 26 Notch filter Update from Cont Send to Cont Set default Disable filter Help
22. The Statistics of the Errors and Warnings Log is shown in Fig 9 6 The numbers of the errors or warnings Frequency that have happened to the drive are recorded in this window With this information users can understand the errors or warnings that happened most frequently and take appropriate actions Errors and Warnings Log Time Log Errors E01 Motor short E02 Over voltage E03 Position error too big E04 Encoder Error E05 Soft thermal threshold reached E06 Motor may be disconnect E07 Amplifier over temperature E08 Motor over temperature E09 Under voltage E10 SV for encoder card fail E11 Phase init error E12 Serial encoder communication error D D O ODO O fb oS O amp Type of warning W01 Left SW limit W02 Right SW limit WOJ Left HW limit WO4 Right HW limit WoS Servo voltage big WO6 Position error warning WD Velocity error warning WOB8 Current Limited WIS Acceleration Limited W10 Velocity Limited W11 Both HW limits are active W12 I2T Warning Double Clicking atthe error or warning message i E will show help text for trouble shooting Cipar History Gave to be Me D 0O G O oo amp 6 oS amp Fig 9 6 Statistics of the Errors and Warnings Log 235 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 9 Troubleshooting Users can double click the type name of an error or warning to show Help tips dialog box Fig 9 7 and view the contents of the message In this example click E06 Mo
23. Z output open collector b 54 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 3 Wiring 3 6 3 3 Velocity torque mode PWM 50 input Host controller is 5V TTL mega fabs General output PWM 50 command D2 Series Drive Definited by user Controller 5vpc RDY 5V TTL type Photo PWM A E A Coupler I wiring LT dw COWL oa 6 CCWL Relay wiring 24V a Twisted pair A phase output B phase General input output Definited by user Z phase output Ic 0 6A Max Vce 40V Max AV Z output open collector GE se s E 55 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 3 Wiring 3 6 3 4 Velocity torque mode PWM 100 input Host controller is 5V TTL mega fabs General output PWM 100 command D2 Series Drive Definited by user Controller 5vpc CN6 Velocity Torque mode Signal output CN6 5V TTL type M kuppe ew he cs RDY Photo Coupler ew wiring F m ee Es com amp Relay 7 Y wiring am ray 24V OV IFE Twisted pair FE A hase A EI output General input B 48 B phase Definited by user 7 4 output or fe J output Ic 0 6A Max Vce 40V Max AV Z output open collector M se m N I INI 56 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 4 Settings 4 Settings AUN E 57 4 1 Installation and connection EEE 58 0 og EE eee ee eee eee eee 58 4 1 2 Communication setup
24. cccccccsececeseeccneeeceueeceueeecsusecsueeecageessueessaas 59 REE ST ao EE 61 4 2 Configuration center rrrrrrrarrrrannerranrrrnrennnnrnnnnrennnnennnsrennnnennnnsennnnennnssnnnnne 63 4 2 1 Motor configuration rrnrnnnrrnnnnrnnnnnnnrnnnnnnnrnnnnnnnnnnnnnnennnennnnnnnnnnsennnen 64 4 2 2 Encoder configuration arrrrarrrnnnrvnrrnrnnrrnnrnranrrranennnrnnanennnsnnaennnnennn 65 4 2 3 NEMNT 70 4 2 4 Completion of the configuration procedure 74 4 3 Auto phase center rrrnrrnnrrnnnrvnnrvnnrvnnevnnnvnnnvnnnnnnnnnnnnnnnnnnnnnnennnnnnnennnennnennnen 75 4 3 1 Method overview rrrnrrnarnnarrranrnnnnnannnannnannnannnnnnnannnannnannnannnannnnnnnnsnnn 75 4 3 2 Pre operation for auto phase initialization 76 4 3 3 Auto phase initialization setup ProCedure r rnrrrnrrrnnrrnnevnnernrernnennnnn 76 4 3 4 Troubleshooting for auto phase initialization 77 4A VO CONOR EEE 78 4 4 1 Digital inputs and their functions arrrnnrrnnnrernvrnnnrrnnvrernrennnrernerrnneennn 78 4 4 2 Digital outputs and their functions rrrarrrnrrernrrrrnrrrnrrernrrrnnrernvrrnneenn 91 4 5 SIT SEM ruinen 95 2 SN MN SNR ele OW CNV IG EEE 95 BDO VON OS EEE iuis M ocu Migne i mOUE 95 4 6 Parameter overview and configuration of mode eessesses 97 4 6 TOSIHOR IUOS EEE 97 4
25. in the Tools menu to change the communication setup The shortcut for this task is Ctrl N 2 LIGHTENING version 0 172 com8 USB 115200 Conf Tune Tools Language About e e Communication setup Ctrl N LCD Password HIW HT Open plot view Ctrl G Data collection Scope Ctrl P Encoder test tune PDL Ctrl U Loop constructor Reset Amplifier Upgrade Downgrade firmware Fig 4 6 Communication setup The communication setup screen is shown below The D2 drive supports USB connections BPS field shows the transmission rate and the default value is 115 200 bps this should not be changed The communication port is set in Port field The field will display the existing port on your PC Select the port that drive is actually connected 59 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 4 Settings to Use default values in the remaining fields and the Lightening can be successfully communicated with drive Communication Setup BPS C RS485 EE e RS333USB C Ethernet CAN Tr id fe Standart EE Ty en 4o 300 Kanes Scan rate IP port 10000 No delay v Show message window Protocol TCP Net Close gt Fig 4 7 Connection and transfer rate settings 60 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 4 Settings 4 1 3 Main HMI window The main HMI after the connection is shown in the following The function of ea
26. D2 Drive User Guide v1 2 5 LCD Press the Enter key to enter the setting state Press the Down key three times to select the option for force torque mode Press the Enter key to confirm the setting Step 2 Setting the command input format The force mode is another application of the host controller that can output analog commands or PWM commands Only the ratio scaling between the analog command and current for the force torque mode Is needed to be set The unit shows the corresponding relationship of 1 V with the amp or between the Full PWM and the maximum amp value of the current dead band can be set for the current command The current output will be 0 when the highest amp value of the current dead band can be set for the current command This will be 0 when the input voltage or PWM is lower than this setting Please refer to the figure below Output Dead band Fig 5 20 The steps for setting the command input format on the LCD are described below Use the last setting screen from Step 1 above Press and hold the Up key to move to Page with LCD No 85 This is the page for selecting the current command ratio Please refer to Note 1 for more information about LCD number 85 146 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 5 LCD Press the Enter key and set the required current command ratio Please refer to the parameter n ad edit function in 5 3 3 2 for the BELA setting method T
27. HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 4 Settings Table 4 5 D2 Drive Output default settings Specified signal input Inversion Signal Siam OAR Position mode Velocity mode po que end E 34 35 Of Servo Servo Ready Servo Servo Ready Servo Servo Ready Servo Servo Ready 36 87 tee tae ont oe 38 39 08 InPoston Poston No 10 11 O4 Zero Speed Zero Speed Zero Speed Zero Speed No Detected Detected Detected Detected CN2 F Input Zero Speed Detected Operation mode unction Default Input Circuit EE Mic diagram O er to Hes Function description The signal is outputted when the motor speed is approaching zero Instructions for use The speed approaching zero means that the movement speed of the motor is lower than the threshold value set by the vel stop parameter This function provides a 12 rom delay to avoid ZSPD output signal bouncing For more information about vel_ stop please refer to 7 3 2 Speed vel_stop 93 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 Input Symbol ALM sd Ul O2 Circuit Refer to 3 5 3 NO diagram Function description This provides an error output status for users 4 Settings Instructions for use Users can set the availability of Errors in the Outputs tab of the I O Center O2 by default Logical Value Output State Servo Ready Configure O1 Invert State Errors Configure 02 Invert
28. Left SW Limit w Servo Ready M Over voltage 1 F Right SW Limit Axis Disable Position error too big Left HW Limit In Position Encoder Error Right HW Limit Moving Soft thermal threshold reached Servo Voltage Big Homed Motor may be disconnect Position Error Warning M Emulated Index Amplifier over temperature M Velocity Error Warning Zero Speed Detected Motor over temperature Current Limited Under voltage Acceleration Limited SVfor encoder card fail Velocity Limited Phase init error Both HW limits are active Serial encoder communication error 12T Warming Hall sensor error Apoly Cancel Not Configured Fig 4 29 Output function settings Table 4 4 Symbol Output unction Statuses Brake signal This setting is exclusive No other Brake options in Statuses Errors or Warnings can be at after this is checked mov sevo Ready Sevoimea DIS Axis Disable Sevoiof Errors All errors are normally checked by clicking the Set all ALM Errors error button but users can change the error combinations to meet their actual requirements Warnings CUL Current Limited Current has been saturated motor peak current specification value ACL Acceleration Limited Motor operation has reached the acceleration protection setting VL Velocity Limited Motor operation has reached the velocity protection setting BOHL sold UG ee Both left and right hardware limits have been triggered 92
29. Current Limited WO8CUR L Acceleration Limited WO9ACC L Velocity Limited W10VEL L Both left and right hardware limits have been triggered If the erroneous triggers occur without any connection Both HW limits P i from hardware limit to the drive It is recommended to active W11BOTH deactivate the hardware limit enabling the hardware limit enabling state Refer to 9 4 1 for more information 240 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 9 Troubleshooting 9 4 1 W03 HWLL and W04 HWRL supplementation If the erroneous trigger occurs without any connection from hardware limit to the drive It is recommended to deactivate the hardware limit function LIGHTENING version 0 172 com3 USB 115200 hl ts Cont Tune Tools Language About OQ Z HAV HIMIN An Protection center E ioa 1 PE Protection HW limit Brake protection Position Units count enable HW limit HU left lt gt limit is not configured HU right lt gt limit is configured to I Communication Fig 9 10 9 4 2 W09 ACC L and W10VEL L supplementation The W09 ACC L warning message shows and the acceleration is limited if the Acc and Dec settings in the Performance Center are less than the command setting This problem can be solved by increasing the Acc and Dec settings It is recommended to increase the Acc and Dec settings to 10 times the current speed So LIGHTENING
30. La e 4 46 CCWH p I IH AT CCWH E Lu r LL 25 SG 4 50 FG AE CN6 s T Twisted pair Fig 3 35 50 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 3 Wiring 3 6 2 1 Velocity mode Wiring for the host controller with a voltage of 10V to 10V example mega fabs User can define the D2 Series Drive function for each Host controller stipe Velocity mode input Signal output CN6 34 Photo f ONG 10K 10 2K EI Coupler Voltage range p EG 10V 10V Relay wiring ae 24V OV Awistea pair A phase ME je m output 48 B phase ER SS Z 23 Z phase User can define uz a ED output the function for r each input Ic 0 6A Max Vce 40V Max Z output open collector hu se ss P D2 ENE06A 51 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 3 Wiring 3 6 2 2 Force Torque mode Wiring for the host controller with a voltage of 10V to 10V example User can define the mega fabs function for each Host controller D2 Series Drive output p CN6 p 10K 10 2K 1 O 15 ADCO Vcmd NU ETEN TA 10 2K Voltage range p 10V 10V Photo Eam Coupler ew wiring Ex il 38 Relay 24V T ga ae Af output I MONET een NU output User can define the function for REA EEEN Z phase each input output Ic 0 6A Max Vce 40V Max Z output open collector vu 1 ss ss iy 52 HIWIN Mikrosystem
31. Refer to Chapter 9 Errors and Warnings for more information j 1 0 0190705 C mega tabsidc eghtening dce gt 420 C mega fabsidceid 7v Fig 6 1 Status display 152 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 6 Tuning 6 1 2 Quick view There is a Quick View area at the bottom of the GUI main screen It provides users to better understand the details of the system status The interface provides 3 physical values for display Users can select the physical values to be observed These values will be updated at real time for users to observe and analyze the system status Fig 6 2 LIGHTENING version 0 172 comb USB 115200 A X OQ A BE a eJ lene WW HIWIN Amplfser oa r Controller d2 0 Axis X Firmware version 6 826 Motor type AC servo thet 4 Lad Lad 1 Feedback Position 2 Reference Position Position Mode 3 Target Position 4 Position Error eedha Velocity 11 Reference Velocity 12 Velocity Error M erenc cce lerat ion 31 Command Current og 41 Bus voltage 42 Servo Uoltage Percentage 43 SIN finalog Encoder 44 COS fnalog Encoder 45 PVM command 6 Digit t of t t herna ccumulator 38 fictual Current 0 000000 A amp 1 Feedback Position j 1 count 10 Feedback Velocity 0 0190705 counts Communication ok Cimega_fabsidcevightening dce gt d2 0 C mega fabsidceid 2v Fig 6 2 Quick view physical value setting menu Unit sett
32. Right HW limit WO4HWRL drive and erroneous triggers may occur it is recommended to remove the hardware limit enabling state Refer to 9 4 1 for more information The PWM output switch of the drive has exceeded the limit and the current output cannot be increased any more The error code E03 PEBIG will show if this warning occurs repeatedly under the position control 1 Change the power source to 220V if 110V is used currently 2 Reduce the speed acceleration or deceleration Position error The position error is greater than the warning setting WO6PE warning value Velocity error The velocity error is greater than the warning setting WO7VE warning value The current has been saturated and reached the peak current value of the motor Repeated occurrence of this warning may bring about E05 SWHOT and power blackout or W12 12T 1 Reduce the speed acceleration or deceleration 2 Reduce the load The motor has reached the acceleration protection setting value when it operates in the torque or velocity mode To increase the acceleration set a higher protection setting value for the acceleration and deceleration Refer to 9 4 2 for more information The motor has reached the velocity protection setting value when it operates in the torque or velocity mode To increase the velocity set a higher protection setting value for the velocity Refer to 9 4 2 for more information Servo voltage WO5SVBIG big
33. position error setting period or setting time is needed for the motor to enter the target radius when it moves to the target position The D2 drive provides an In Position settings interface This enables users to observe if the motor reaches the target position by setting the target radius and debounce time This status can be sent to the host controller in the form of a digital signal 4 5 2 Settings Click to enter the Performance Center The In Position settings screen is displayed in the Position tab Users can click the Set scope sets button to capture the waveform if needed from the scope window The in position signal is used by O2 by default Please refer to 4 4 2 for digital output settings r Performance center xX N EIE ET zs 9 OI i Position Velocity Ripple Target radius 160 count Debounce time 1080 8 msec Move time 8 8 msec Settling time 8 8 msec Total time msec Time s 5 Fig 4 30 Scope window 95 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 4 Settings Table 4 6 In Position is confirmed if the error is within the target Target radius radius setting The default value is 100 times the resolution of the encoder In Position is not confirmed until the error keep under Debounce time target radius for a preset debounce time after entering the In Position target radius Settling time Settling time Total time move time settling
34. 4 Completion of the configuration procedure After completing four parameter setting steps above for the motor encoder hall sensor and operation mode click OK at the bottom of the screen A window as shown in Fig 4 24 shows the parameters before and after the settings for comparison After confirming the settings click Send to RAM to send the parameters to the drive The screen returns to the Configuration Center if Cancel is clicked To retain this set of parameters click 29 Save to Flash in the main HMI window to save the parameters in the flash memory Parameters saved in the flash memory will be retained even if the drive is turned off Calculation Results and Present Controller Data Motor New Value Present Value Units Type AC servo AC servo Moment of Inertia 2e 5 2e 5 Kg m 2 Gear Ratio 1 Load Mass 2 Kg S Screw Pitch 1 mm Peak Current 0 A rms Continuous Current 0 rms Torque Constant 42 Nm A rms Resistance 5 Ohm Inductance 20 mH Pole Number 2 Rotor Inertia 0 Kg m 2 Model Name FRLS05XX1 Manufacturer HIWIN Encoder New Value Present Value Type Digital Digital Resolution 10000 100000 Model Name 020503300004 Manufacturer Operational Mode1 Operational Mode2 HIWIN Mode New Value STANDALONE MODE STANDALONE MODE Present Value STANDALONE MODE STANDALONE MODE The parameters are Send to RAM sent to the drive or cancelled
35. 4 4 Table 3 17 Pin Signal Function O O O Low speed 500 Kpps pulse command Channel 1 Pulse CW A phase 2 CCWL Low speed 500 Kpps pulse command CCWL Channel 2 Dir CCW B phase 6 COWL 18 16 NN Digital signal ground reference Output pulse of feedback buffered encoder or emulated encoder Analog command input Velocity Torque High speed 4 Mpps pulse command Channel 1 Pulse CW A phase High speed 4 Mpps pulse command Channel 2 DIR CCW B phase Common port for general purpose input signal can be either 7 COM Sink or Source MM General purpose input signal Hardware Enable by default General purpose input signal programmable function General purpose input signal programmable function 39 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 3 Wiring 3 5 2 Digital input wiring The D2 general purpose input pins use an optical coupler input interface that is suitable for 12 24V DC voltage systems There are a total of 9 general purpose inputs with a COM port suitable for Sink and Source connections I3 uses Axis Enable control by default and others are available for users to define HM functions based on their requirements 3 5 2 1 Sink input wiring example Input via a switch or relay Sink connection gt 4 7K Current Input via a transistor Sink connection a REAREA SE ENa Current 40 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 3 Wir
36. 6294 63 Fig 6 47 Loop constructor P margin and G margin 197 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 6 Tuning 6 8 5 1 Gain margin and phase margin of Nyquist The gain margin is the loop gains dB that can be added before the close loop system becomes unsteady The phase margin is the amount of the phase delay that can be added before the close loop system becomes unsteady 1 Gain margin The relative distance from the intersection of Nyquist with the negative real axis to the 1 JO point is represented by G jo and p stands for the frequency at the phase crossover Fig 6 48 shows 2G 180 For the transfer function G S in a loop system 1 T _ 20log 34 20log G ja dB Gain margin GM Go GU0 m J p The following results are derived from Fig 6 48 the characteristics of Nyquist 1 If G o does not intersect with the negative real axis then GU 0 ang GM dB If Nyquist does not intersect with the negative real axis at any finite frequency then GM 0 dB Theoretically the loop gain can be magnified infinitely before the insteadbility occurs 2 If G o intersects with the negative real axis between 0 and 1 then 0 GUo 1 GM gt 04B it Nyquist intersects with the negative real axis between 0 and 1 at any frequency the gain increases and the system is steady 3 If the G o is at the 1 jO point then GU GM 0 dB it Nyquist G jo is at the 1 JO poin
37. 9 160608 mm s _ Smooth factor 188 1 Time out 25 8 second Home offset 0 808 O Go Left and Right for Homing This mode will use the Slower speed to let motor goto Left side then oppsite side and then stop at the middle where itis defined as home If you select to use Search index signal the home point wiil be at index position Left side condition Right side condition None I Searchindex signal None Search end stop current 8 AA A amp Time MA amp Use Near Home Sensor Index for Homing 1 Go Left firstly Use Slower speed 2 Serach Index signal only Fig 8 1 Application Center The first tab in the Application Center is the Homing setting page Fig 8 2 Homing settings Application center Backlash Error Map Resolver Position Units Slower Speed 8 8588888 mmis La Faster Speed 08 180888 mm s Smooth factor 1AA Time out 25 8 second Home offset A ANAA C Go Left and Right for Homing This mode will use the Slower speed to let motor goto Left side then oppsite side and then stop at the middle where it is defined as home If you select to use Search index signal the home point will be at index position Left side condition Right side condition None Searchindex signal None Search end stop current 8 88 A amp Time 8 8 amp Use Near Home Sensor Index for Homing 1 Go Left firstly Use Slowe
38. 9pA Mo suogeoywad m4 lt OPA y E ozzl ij i 774 x X 10 SIS 1 euJ8jxe ue INOYNM Jewod Avg Buisn qNd S 181 0J1U09 JSOY eu y TI It M G c v JOJSISOJ euJ8 xa ue uj UONDUN UOD ul Jamod ApZ AZ 1 Duisn qNd SI 18 041U09 Jsoy eu JOISIS9I UJ9 xo ue MOIM JeMod Avg Buisn NdN S 19 041U09 JSOY AU Z gt h CO CJ 10 SIS 1 euJ81xe ue uj uonounfuoo ul Jamod ApZ AZ I Bursn NdN S 4e o41uoo Jsoy eu yc AOL Indu eBeyoA san lt gt y 14019809 uedo 1ndino eseud Z gt Jed pajsim l i pl 0OQdV 000V 6L GC Nr Ne T E a I I e IT AN E Q 5 o o e LU 1 DN Q LI i oO o oO a c D LLI jndjinoeseudo e P i Vc TI jndino eseud g iE 6V sp BITT 164 indino eseud y e i HU 4 H ARI 9 j Y j G C HB f Uv L 3c La AZ HMOO wl HMOO HMO OS YO 70 O 50 CO cO LO LO
39. AC servo Moment of Inertia 2e 5 2e 5 Gear Ratio 1 1 Load Mass 2 2 Screw Pitch 1 1 Peak Current 27 0 Continuous Current 0 9 0 Torque Constant 0 178 page set the electronic gear radio on Electronic Gear for the requirement as show a on the left figure In the Mode operation page select the pulse command invert on Invert Command for the requirement as show b on the left figure In the Mode operation page depending on the hardware wiring method select high low command pulse input on Hardware Interface as show c on the left figure After finishing all the setting click the OK button as show on the left figure The parameter confirmation screen appear click the Send to RAM as show on the left figure Click the Save to Flash button in the HMI main function tool bar to save the parameters in the flash memory This will retain the parameters 99 D2 Drive User Guide v1 2 4 Settings even if the drive is turned off Step 4 Smooth factor Rapid increases or decreases in acceleration in a short period of time mean that the force on an object in motion can suddenly increase or decrease Application of the smooth motion technique to the motion control loop is helpful for maintaining performance and reducing such impacts The D2 drive uses a smooth factor to determine the S curve or T curve track and the adjustment range is 0 500 The track is closer to an S curve
40. Center as shown in the figure below i E e TET dines J WE MEME C am Vis Mode Motor Encoder Position Mode Velocity Mode Force Torque Mode Stand Alone Mode Position Mode Analog Invert Command Velocity Mode C PWM 5056 Scaling 1 Torque Mode C PWM 100 3 Dead Band 5 C None Cancel When the input point State indicates off Primary Operation Mode is activated When the input point State indicates on Secondary Operation Mode is activated The green light is on 83 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 4 Settings Input Electronic Gear DIV1 fal Md Circuit Function description This enables users to switch between four sets of electronic gear ratios Instructions for use The following two figures show the settings for electronic gear selections There are four gear ratios that can be set User can use input points to select the desired gear ratio according to the DIVO and DIV1 input states a Configuration center Encoder Primary Operation Mode Electronic Gear Invert Command zn Hardware Intertace Position Mode m Input pulses n Output counts N etat Velocity Mode DIV2 DIVI G High Speed Pulse Input CNS pin 44 45 48 47 00 Low Speed Pulse Input CNB pin 1 3 4 2 5 6 Force Torque Mode x entro Input Stand Alone Mode 0 1 Pulse and Direction Pulse Up Pulse Down Quadrature
41. EE WOON ERR 191 EE EEE EEE EEE 194 5 95 TN 196 6 8 5 Spectrum analysis rrrarrrrnnnrrrnnrrranrrrnnnerranrrnnnnennanrnnnnnennanennnssennnnen 197 6 8 6 BMI NR 200 151 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 6 Tuning 6 1 Status display and quick view In the Lightening GUI status display tool and Quick view tool are indispensable assistant tools for adjustment of the machine They help users understand the system of the drive and display many important values for the motion control 6 1 1 Status display There are 2 status display tools as shown in Fig 6 1 below The left figure shows the Status area on the main screen while the right figure shows the Status area in the Performance Center The status display provides the status and error warning messages for users to know the system status 1 Status Hardware Enable Input To indicate whether the hardware enable signal is on or off Software Enabled To indicate whether the software enable is on or off Servo Ready To indicate whether the motor is enabled Servo Ready To indicate whether the motor is excited Phase Initialized To indicate whether the phase initialization of the motor is completed Moving To indicate whether the motor Is in motion Homed To indicate whether the homing of the motor is completed SM mode Motor enabled in the SM mode 2 Errors and warnings Last error The latest error message Last warning The latest warning
42. JOG MOV PO v Set Velocity JOG M CN2BRK Phase Init k one level a A Move to previous udin Moving WV Move to next Target Position 10000 w Set desired destinat Homed A Move to previous Go back one level WV Move to next keg ERR MAP Set Encoder fest Position to Zero VERSION Move to previous W Move to next gr A YES YES 3 Auto Tune eyes no Change Go back one level SAVEFL M Parameters Page A Sa to previous NO ave to Flas ove to next MOTRSE v w Choose motor type 2820 Xacc Motor Set Go back one level 001 2000 X dcc 003 X vel max X Afr 028 X fofr UIO Jo fo ON Jo eo o or jo eo 243 Invert of input point 3 al 280 Invert of CN2 brake output 1 340 Zero tune level E co Advanced parameters setting area Fig 5 3 LCD operation structure HIWIN Mikrosystem Corp 5 LCD OV PO ion position 116 D2 Drive User Guide v1 2 5 LCD 5 3 1 Home page When the drive is powered on the servo state of the drive is first displayed on the LCD The servo state codes are described as follows Table 5 3 SV RDY Servo is ready SVNRDY Servo is not ready When the D2 drive detects errors an error or warning message will appear on the second line as shown in Fig 5 4 Definitions of these error and warning codes are shown in Table 5 4 and Table 5 5 respectively Error ll J warning 1 SVNRDY 1 SV RDY HOM BS 0 51 WO1 HWLL Fig 5 4 Err
43. Te FUNCION OVE EN usos dantsave sau aa a 202 7 1 2 Velocity acceleration and deceleration limits 202 7 1 3 Cancelation of velocity acceleration and deceleration limits 203 7 1 4 Applicability of emergency stop deceleration Dec kill 203 TS STOR NON RR 204 7 2 Position and velocity error PrOoteCtiOn cccccccsecseeeceeeseeeseeeseeesseeneeeneeenes 205 Tel FOSION ETON INNS ne 205 7 2 2 Position and velocity error warning rrnnrnnnrnnnrnnnrvnnrnnnrvnernnernnrnnernnn 205 PANNE 206 SPION NNN careening eta 206 7 3 2 Br ke Stop Sequence nu 206 FG Oe MIMO EEE EEE R NE eaten 206 7 4 Hardware limit Protection ccccscccsccceecceeeceeeceeecseeseeeceeecseeceeecseesseeneeenes 208 T FUNGION OVervieW vanene east esi tenda 208 rg aerae Suet 208 7 5 Software limit protection sorserien nennen 209 SJEL NEMNE ACT 209 192 SMP 209 150 OO NENN aA sessi RR EE P EUN E teas ra uo EA DM MM RARE E ean ER RI UEM 210 7 7 Drive over temperature protection ccccccscccsceceeecseeceeeceeeceeesseeseeeneeenes 211 7 8 Drive overvoltage protection regenerative resistor 212 JAN 0 6 ors 1 em I TL D ULL OUR Enn 215 SL o Homing Seting saadan un 216 8 1 1 Determine home by searching the left and right side conditions 218 8 1 2 Searching near home sensor or encoder index signals 221 OS HOME
44. X StldStartHome Homing a X StldDiv1 Electronic gear select DIV1 2 r 1 X StldDiv2 Electronic gear select DIV2 mE TEN out config 16 CN2BRK brake output signal setting me out eonfgfi7 eee E E DE NG EE NR 85 p out config HA 212 X oper modei Primaryoperatonmode 213 X oper mode Secondary operation mode 214 Xsecondeg SecondayCG 1 217 LCDbuffinv Bufferedencoderinvet 218 LCD emu or buff Switch buffered encoder emulated encoder output 219 LCD ow cow inv Switch positive negative logic of CW CCW pulse NEC ONE out config 18 LCD I1 inv Invert of input point 1 LCD I2 inv Invert of input point 2 me 128 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 5 LCD Invert of input point 9 283 1CDO3 nv InvertofoutputpointS 284 1CDO4 inv Wwetofouputpont4 340 XZTloadV Zerotumeleve gt 129 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 5 LCD 5 3 4 Actions page In the action mode users can perform enable disable JOG and absolute coordination motion and SETZER functions The velocity and target coordinates for motions can also be set or press the Up or Down key to switch the actions to be performed Please refer to Fig 5 12 for an illustrated description of the procedure The detailed operating procedure is described in the next section Servo E
45. and Velocity Ripple page to display related physical values As shown in Fig 6 7 users can observe the real time waveform of the physical value after selection of the parameter 4 Position Error 1 Feedhack Position 2 Reference Position 3 Target Position 4 Position Error 18 Feedback Velocity 11 Reference Uelocity 12 Velocity Error 24 Reference Acceleration 3 Actual Current 48 Analog Command 41 Bus voltage 42 Servo Voltage Percentage 43 SIN Analog Encoder 44 C0S Analog Encoder 45 PWM command 46 Digital hall hits 58 Amplifier Temperature 51 Soft thernal Accunulator count s 2 1 Feedback Position count Time s 18 Fig 6 7 Scope Physical value Click 1 directly to select the physical value to be observed 2 Unit Click to select the unit for the physical value 3 Number of channels Click 3 to select the number of channels 1 8 to be displayed simultaneously 4 Time range of the scope Set the time length for a screen on the horizontal axis Unit Seconds 159 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 6 Tuning Table 6 2 The switch of the scope When the switch Scope On Off PageDown is turned OFF and turned ON again the scope will re retrieve data Change of the display waveform mode View in paper mode Ctrl T The Normal and Paper modes are available Display of all selected physical values ona single screen Click to
46. axis application of AC servo motor if no brake is built in clicking on Toggle may make axis falling Toggle Cancel 4 3 4 Troubleshooting for auto phase initialization Make sure that the motor power line and the feedback signal line of the encoder has been correctly connected Make sure that the settings of the encoder and parameter settings of the motor are correct such as the resolution of the encoder or the pole pair counts of the motor Make sure that the encoder uses a differential signal Make sure that the grounding system is suitable Make sure that the exciting signal of the host controller has been triggered Make sure that the drive software excitation has been executed Make sure that there is no mechanical interference Make sure the power line of the motor is connected correctly Make sure that the resistance of the motor is correct 1 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 4 Settings 4 4 VO center 4 4 1 Digital inputs and their functions Click in the main function keys area in the main screen to open the I O Center Click the dropdown button 1 in the input function menu to select the digital input pin and its function as shown in Fig 4 27 State Invert I1 Start Honing I2 Abort Motion I3 fixis Enable l Switch to secondary CG 15 Not Conf igured gt Motor Over Tenperature 16 Hone Aaplies err Invert Connand Switch to secondary vpg peed anp
47. be set in the drive 2 PWM command The PWM command is converted to a velocity command to directly control the operation speed of the motor The velocity to which the Full PWM corresponds can be set in the drive The basic setting of the velocity mode is described below Step 1 Mode selection The steps for selecting velocity mode via HMI are described below Graphical r description Execute the Lightening HMI program Click the Configuration Center icon as show on the left figure in the main function tool bar of the HMI or select the Configuration Center option from Conf Tune in the function menu In the Configuration Center select the Mode tab as Configurati t 2 onfiguration center shown on the left gt In the Motor Encoder Configuration Center select the Mode tab as show on the left figure 101 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 4 Settings 2 Configuration center Motor Encoder Primary Operation Mode eC a Command Types ei Analog select Velocity Mode as shown on the left figure C PWM 5096 C Force Torque Mode C PWM 10096 In the mode operation page C Stand Alone Mode Step 2 Setting the command input format Velocity mode can be selected if the host controller used can send analog command or PWM command Only the Scaling between the external command and current has to be set for the force torque mode The unit shows the corresponding relationsh
48. cis cc ee diagram dai Function description This allows error states to be cleared Instructions for use Error messages will be cleared when the input state of Clear Error is on Green is on and dark is off 90 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 4 Settings 4 4 2 Digital outputs and their functions The drive provides five sets of programmable digital outputs Four of them 01 04 are general purpose outputs CN6 connector and the fifth output CN2BRK is specially designed as a brake output or used as a general purpose output Logical value Output state Invert output state Output function Configure button Default function setting Fig 4 28 Digital output 1 Logical value The logical value of each output signal is displayed here The value is indicated as True or False 2 Output function When any item in the configuration function menu is checked the name of the item will be displayed in the status display field If two or more items are checked Customized will be displayed If all error items are checked as shown in Fig 4 28 All Errors will be displayed If no items are checked PDL usage General Purpose will be displayed for general purpose output and the output function can then be controlled by PDL program language 3 Output state The output pin state of the drive is displayed here as CLOSE or OPEN transistor conducting or non conducting In this
49. diagram 23 3 1 5 CN2 brake CONNECHOM ccceccceeecceeeceecceeeceuceceueceueecaueeseeecsueenseeseas 25 3 1 6 Mini USB communication CN3 rrennnrennnnrnnnnnennnrrrnnnrennnnrnnnerennnernnn 28 Sole A 9 NO COMING COI REE 29 TENT 31 3 2 D2 drive accessories rrvnrrnnrrvnnrvnnrvnnrvnnrvnnrvnnevnnnnnnennnnnnnnnnnennnennnennnennnennne 32 3 2 1 Motor power cable rrranrrnnrennnrnranennnrnrnnrnnnnennnrnnnnennnnnnnnennanennsennnsennn 32 3 2 2 Feedback signal cable esee 32 9 2 9 Control signal 6ablO ues actio tno tee omtuka EEE aen PON Ub ar RU HUE E 32 3 2 4 USB communication cable rrrranrrnnnrorrannrnnnnerranrrrnnnenranennnnnennnnennnn 32 S2 ACCOSSOD KIDIBODHIG caeso ion IPIE ATI RR O IM MM MEE S 33 320 EMO NNN 33 3 2 7 Regenerative resiStor rrrrrrrrnrnnnrnrnrrrnrrrnrrrnnrrnnennnennnennnennnennnennnnnnnen 33 3 2 8 Connector specifications rrrrrarrrrnnrerranrrrnnnerranrrrnnrenranrnnnnnennnnennnn 34 3 3 Standard main power circuit wiring eeeseeeseseeeeeennnnen 35 3 3 1 AC power wiring diagram single phase eeesseeeeeess 35 3 3 2 AC power wiring diagram three phase sessseeeessssesss 36 3 4 Multiple drive connection example ccceeceseeeceeeeceeeeseeceeeseeeeseeesaneesaees 37 3 4 1 Selection of no fuse breakers NFBS
50. is dragged upward Click the Send button to save vpg value to the RAM of the drive 180 D2 Drive User Guide v1 2 6 Tuning 6 6 4 Analog input When in current velocity mode the voltage command transmitted from the host controller may have a bias for many reasons This may bring about distortion of the command and affect the performance In this case the analog input function can be used for bias correction and compensation User only needs to click the Set Offset some button for system to execute the auto measurement and modify the offset Advanced gains Filter Acc Schedule Analog Friction feedforward Gains vpg input Compens 2 4 6 8 16 12 14 16 18 20 EE 46 finalog Command 17 038 mU DSP rate 15000Hz Rate 374 8Hz Time s 18 Offs et Analog input offset 000 Sei Offset Fig 6 31 Analog input 181 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 6 Tuning 6 6 5 Current loop The gain values Ki and Kp of current loop are basically calculated by using the parameters of motor which is selected in the Configuration center and No adjustment is needed normally But they can be adjusted by using this function if the parameters of motor were not set correctly Noise might be generated if the gain of current loop is set too high Filter Schedule Analog current VSF feedforward Gains vpg input loop Friction l Compens Ki 946 746 PI paramet
51. less than 50 while normal motion occurs when the duty cycle is more than 50 The two wire PWM 100 type needs one more pin to control the operation direction of the motor The PWM command is converted to a current command to directly control the current output and thus the force and torque of the motor The current to which the Full PWM corresponds can be set in the drive 4 2 3 6 Setting force torque mode Force mode is another application of the host controller that can send analog commands or PWM commands Only the ratio scaling between the external command and the current has to be set for the force torque mode The unit shows the corresponding relationship of 1V with the ampere or between the Full PWM and the highest ampere value of the current Primary Operation Mode a Command Types Position Mode r amp Analog Invert Command Velocity Mode PWM 50 PE 5 Force Torque Mode i SEE a n PWM 100 Stand Alone Mode Dead Band B mv Fig 4 22 Setting force torque mode 4 2 3 7 Stand Alone mode otand Alone mode can be selected for drives that will be tested alone or used without any host controller e g only the servo end and drive end are used This model allows the drive to handle all loop controls 73 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 4 Settings Operation Modes C Position Mode C Velocity Mode C Force Torque Mode Stand Alone Mode Fig 4 23 Stand Alone mode 4 2
52. limits 202 7 1 3 Cancelation of velocity acceleration and deceleration limits 203 7 1 4 Applicability of emergency stop deceleration Dec kill 203 15 SOON ON ein 204 7 2 Position and velocity error protection sees 205 FRAME oiilelg delitiis 205 7 2 2 Position and velocity error warning ccccccseccneceneceseeeneeeneeeneeeneeenes 205 new cH T 206 7 3 1 Function overview essssssessssseseseneennee nennen mnnera nnns 206 7 3 2 Brake stop sequence rrararnnnrranrrnnnevnnrrvanennnrennnrnnnnennnrnnaennnsennssnnnee 206 TN 206 7 4 Hardware limit ProteCtion cccccecccececeeeseeeseeeseeeseeeseeeseeeseeeseeeneeeneeeneeenes 208 TINN 208 7 4 2 SENGS sabi co cscctscewie sche eustinsthwace sed nadenedenaguctsuneivets vacenstdantesseencguctsentiegts 208 7 5 Software limit protection sernu anaiei 209 7 5 1 Function overview eessessssssessesseen nennen nennen nnne nnn nna nnns 209 ESSO Ugo cft EEE EE 209 VEM Se MITT 210 7 7 Drive over temperature protection ccccccscccseeceeeceeeceeecseeceeesseeseeeseeenes 211 7 8 Drive overvoltage protection regenerative resistor 212 201 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 7 Protection 7 1 Motion protection 7 1 1 Function overview It is mainly for restricting or des
53. margin 89 6 49 4Hz P margin 97 5 5 142 wpg 8 00215158 Vel open loop O Pos open loop G margin 25 5 690 1H7 G margin 34 9 196 447 vig 314 i Or bandwidth 190 3Hz bandwidth 9 5Hz Filter Filter Galn 1 12 Gain db nir e C Phase j Axi 8 787 ph geg T fr Nyquist 08 a ka cdr ph gain gt fl k2 Nichols ps J 6 v Points 0 5 ppg 314 X Odb cut i OG 8 3 fe Herz o 13 C Ra EN f 1 dise war Fullscr 01 0 1 Fu 0 2 0 3 T J hv n DE j 0 5 X X X i 0 6 T 0 7 Q n pii d P d 0 c lie aE Let 1 VE ag Step v B 1 1 0 Of 04 t2 0 0 04 0 08 1 5 6294 63 Fig 6 41 Nyquist plot of the velocity open loop 192 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 6 Tuning 6 8 2 3 Bode The Vel controller Vel open loop Vel close loop Pos controller Pos open loop and Pos close loop of the emulated control system can be analyzed on the ph gain plot for their frequency responses You can analyze the emulated velocity or position loop by checking the Bode plot Analyzing six loops simultaneously is also possible Fig 6 42 shows the Bode plot of the velocity open loop When you move the cursor over the curve on the Bode plot the frequency response value will be displayed for analysis of the control system 1 Vel controller Velocity controller The frequency response of the velocity controller 2 Ve
54. may occur if the back electromotive force exceeds the voltage limit A regenerative resistor can be used to solve this problem and the selected regenerative resistor must conform to the load and motion specifications The position error is bigger than the maximum pos error value defined in the Motion Protection 1 The gain is tuned inappropriately 2 Confirm that Application center gt Protection gt maximum pos error is set appropriately Refer to 9 3 1 for more information 3 The motion of the motor is obstructed 4 Check if the load is too high 5 The guideway has not been maintained for a long time 6 The cable trays are too tight 7 W05 SVBIG happens continuously before E03 Occurs Encoder signal error Digital encoder AB phase sequence error 1 Make sure that all connectors of the encoder are connected firmly Check that the encoder is wired correctly 2 The error may be brought about by external interference if a digital encoder is used Check that the encoder has an anti interference twisted wire and shield or is equipped with an iron core The motor is overloaded The software detects over temperature of the motor 1 Confirm that the continuous current and peak current of the motor conforms to the specifications of the motor during the motion 2 The motion of the motor is obstructed 3 This error can be eliminated by resetting and E02 OVERV Over voltage detected E
55. more than 0 2A 0 23A in this case 219 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 8 Applications Jn 36 Actual Current T eo ooo 0000o 8 85 7 tat m a UE OSSE Heme NRO OOM ND AO e M ME IH P ul 5008 1000A B Ed E e 15000 2000A 250008 11 Reference Velocity count s Time s 2 Fig 8 6 Scope Exception When the Left Side Condition is set to None i e not to use the left side condition the Right Side Condition is set to End Stop or Right Limit Switch and the initial motion direction parameter D is set to left it will be determined that homing fails and the Homed status indicator will light red Fig 8 7 in homing and vice versa Go Left and Right for Homing This mode will use the Slower speed to let motor goto Left side then oppsite side and then stop at the middle where it is defined as home If you select to use Search index signal the home point wiil be at index position Left side condition Right side condition None Search index signal Right Limit Switch Search end stop current 8 868 A amp Time 8 8 msec Fig 8 7 If users checks Search Index Signal but there are multiple indexes in strokes e g the Z phase signal of the AC encoder of servo motor the drive will choose the index closest to End Stop or Right Limit Switch as the home The Homing example In the settings of Fig 8 8 the motor will move at the slow homing velocity in the
56. motion occurs when the duty cycle is more than 50 The two wire type PWM 100 type needs one more pin to control the operation direction of the motor 1 Vcommand The analog voltage signal is converted to a velocity command such that the drive can control the motor velocity The higher the voltage value the higher the output speed but it will not exceed the maximum limit set by the drive Conversely the lower the voltage value the lower the output speed When the voltage value is negative the output speed becomes negative too and the motor operates inversely The command speed corresponds to how many unit voltages can be set in the drive 2 PWM command The PWM command is converted to a velocity command to directly control the operation speed of the motor The velocity corresponds to how many Full PWM can be set in the drive The basic setting of velocity mode is described below Step 1 Mode selection The steps for selecting velocity mode on the LCD are described below 1 SVNRDY T T TS When the drive is powered on x the enable state of the drive is inn m first displayed on the LCD 3 SAVEFL ri rr Press the Function key twice to 2 NO move to the parameter change mode Press and hold the Down key to move to the operation mode setting screen 142 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 5 LCD Press the Enter key to enter the setting state Press the Down key to select the option for
57. of dt 1 dt and dSamp will appear at the bottom of the graphical frame area dt refers to the time in the area and dSamp refers to the sampling numbers in the area 5 Display one physical value in different channels To move the physical value to another channel for display click the physical value to form a box of dashed line and drag the box to the specified channel 166 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 6 Tuning 6 Physical value display When the blue solid line moves to a specific time point a figure that shows the amount of the physical value at this time point will appear below the physical value The figure is displayed decimally or hexadecimally The icons in the main function keys area are as follows Hex Display the value hexadecimally D Display the value decimally 6 5 2 Save open files In the Plot View the types of the files which can be saved are text files txt picture files bmp and special Plot View files gpp The txt file is used for saving the figures of all physical values within the retrieving time while the bmp file is used for saving the graphs of all physical values as pictures The gpp file is the only file which is allowed to be opened in the Plot View Therefore if User needs to open a file in the Plot View remember to save it as a gpp file Click the following icons in the main function keys area to save the files as the txt and bmp files Save the figures of t
58. ok HIWIN Mikrosystem Corp a Performance center gt fz a EA Position Velocity Ripple Targetradius 4 616 Debounce time 166 6 Move tme 8 8 Settling tme 8 8 Total me 8 8 Set scope M enable sw limit tie fazaga mn Protecti Speed 144 866 mmis Jotor is Position Units Zero nn gt Acc SHY 34 m Dec 588 345 mmis Dec kill 1416 69 mmvs 2 Smooth factor 188 EL P1 4 4648 GOPI msec P2 8 858 GOAP mi Servo ready Phase initialized C Relatve move Distance m Moving mi omed m5M mode vare crise IND mi Software Enabled 242 D2 Drive User Guide v1 2 9 Troubleshooting 9 5 Troubleshooting of common errors limited when the motion the pulse or voltage command pulse commands for the movement The motion direction of the motor is opposite to the direction defined by the customer Enable the error map 4 The motor moves by itself after enabled The motor does not move according to the command after enabled The pulse has been transmitted but the motor does not operate HIWIN Mikrosystem Corp The speed or acceleration is command is transmitted via If the motor moves slowly to the destination after the host controller has transmitted all Check if the Speed Acc and Dec values in the Motion Protection of the Performance Center are set too low Check Invert in the mode setting Open the Conf Tune Error Map
59. switch between physical values Adjustment of all physical values to a Fit graph to window su be window Fit graph to window dynamically Same as the above but the range on the vertical axis can only be increased Show last data with plot view Drawing using the plot view tools based on zl mns the data of the scope Reset scope The scope will re retrieve data All physical values are drawn on the same Show all plots in same window screen and share the same vertical axis Connecting the physical value set in the Open recorder window Scope window to the Data Collection function Fit graph to window Dynamical adjustment of all physical dynamically values to a suitable scale 160 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 6 Tuning 6 4 Data collection In addition to the Scope function for observation of the physical values there is a tool that offers more setting options for data collection and more advanced graphical display and processing functions The Data Collection function allows users to set shorter or longer sampling time and provides a conditional trigger mechanism for activation and deactivation of data collection In the open recorder window Fig 6 8 the program automatically picks up the physical value selected on the Scope page for future data collection The main function is described as follows Data collection ver 2 093 File Tools Slaves D Start event fl Samples gt 9
60. the LCD number 81 Press the Enter key and change the parameter from 1 to 3 Please refer to the parameter edit function in 5 3 3 2 for the parameter change method in this example a gear ratio of 2 3 is used 138 D2 Drive User Guide v1 2 NOG 3 SAVEFL _ NO 3 SAVEFL EM no 3 SAVEFL B YES HIWIN Mikrosystem Corp 5 LCD Press the Enter key to finish setting the encoder count Press the Up key once to move to Page with LCD No 82 This is the page for selecting the denominator input of the electronic gear ratio Please refer to Note 1 for more information about LCD number 82 Press the Enter key and change the parameter from 1 to 2 Please refer to the parameter edit function in 5 3 3 2 for the parameter change method Press the Enter key to finish setting the input pulse Press and hold the Up key to move to Page with LCD No 130 This is the page for selecting the inverse pulse command Please refer to Note 2 for more information about LCD number 130 Press the Enter key to select the inverse pulse command in this example no inverse pulse command is selected Press the Enter key to finish the setting Press and hold the Up key to move to the SAVEFL page Here the parameters can be saved to the flash This will retain the parameters even if the drive is turned off Press the Enter key to enter the setting state Press the Up key to se
61. time 96 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 4 Settings 4 6 Parameter overview and configuration of mode 4 6 1 Position mode The host controller sends a pulse to the drive and this pulse is similar to position command thus the drive moves a corresponding distance when it receives a pulse The host controller is responsible for planning the route The pulse is sent more quickly on acceleration and is sent at a fixed frequency on constant speed The basic setting of the position mode is described below Step 1 Mode selection The steps for selecting the position mode via HMI are described below Execute the Lightening HMI Program Click the Configuration Center icon as shown on the left in the main function tool bar of the HMI or select the Configuration Center option from Conf Tune in the function menu Configuration center In the Configuration Center select the Mode tab as Motor Encod ncoder shown in the left figure 2 Configuration center Motor Encoder Primary Operation Mode Electronic Gear m Input pulses mn Output counts l C Velocity Mode i p e In the mode operation page C Force Torque Mode select Position Mode as C Stand Alone Mode 1 01 show on the left figure 1 10 11 97 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 Step 2 Selecting the pulse format 4 Settings The pulse is generated in three formats Pulse Dir Pulse Up Pulse Down
62. to avoid fire Ensure that the drive and motor are grounded appropriately Wiring must be conducted after installation of the drive and motor to avoid electric shock Do not damage pull or squeeze the wire so as to avoid electric shock The drive may interfere with the operation of nearby electronic equipment noise filter can be used to reduce such electromagnetic interference Do not attempt to modify the drive Do not put the main circuit cable I O signal cable or encoder cable in the same duct or bind them together A distance of more than 30 cm must be maintained between the cables The following instructions must be observed for wiring the main circuit terminals Do not insert more than one wire in the same socket X Check there is no short circuit with any nearby wires after inserting the wire X Ensure the specified power voltage is used to avoid fire or damage If the drive is to be used under poor or significantly fluctuating power conditions ensure power is supplied within the specified voltage fluctuation range so as to avoid damage Install a breaker or other safety devices to prevent external short circuits from damaging the drive Appropriate isolating and sheltering measures must be taken if the drive is used in the following places to avoid adverse operation Places exposed to static interference x Places exposed to strong electrical or magnetic fields Places exposed to radiation 24 HIWIN M
63. version 0 172 com3 USB 115200 ES Cont Tune Tools Language About OT Aw gl El E HIW HIWIN Amplifier r Performance center m A goda x Ripple Targetradius 9 910 mm Set scope Debounce time 160 6 msec en Move time 0 8 msec Settling time 8 8 msec Total time 8 msec M enable sw limit 0 081 a P2 ae a aun STEVNENE MEN LL a NT OE Primary CG Position Units AB ant mass B 900006 Zero nn gt Acc 500 345 mmis 2 Dec 580 345 anys Dec kill 141 69 mmis 2 Smooth factor 199 J Hardware Enable Input cp t OBL CORPI i Software Enabled Dwell time msec P2 8 058 GO P W Servo ready a Phase initialized C istance Relative move z 2 Bl Moving p PrE mHomed i A amp m SM mode C Home Am tinm Communication ok i e 241 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 9 Troubleshooting The W10 VEL L warning message shows and the velocity is limited if the Speed setting in the Performance Center is less than the command setting This problem can be solved by increasing the Speed setting For example W10 VEL L appears if the required speed is 500mm s and the Speed setting is 100mm s This problem can be eliminated by increasing the Speed setting to a value higher than the target value e g 600mm s LIGHTENING version 0 172 com3 USB 115200 Conf Tune Tools Language About OQ ae B HiW HIWIN Amplifier oa e x Communication
64. 0 type refers to the duty cycle of 50 An inverse motion occurs when the duty cycle is less than 50 while normal motion occurs when the duty cycle Is more than 50 The two wire PWM 100 type needs one more pin to control the operation direction of the motor 1 Vcommand The analog voltage signal is converted to a current command to directly control the current output of the drive and thus the force and torque of the motor The higher the voltage value the higher the output current but it will not exceed the maximum limit set by the drive Conversely the lower the voltage value the lower the output current When the voltage value is negative the output current becomes negative too and the motor operates inversely The current correspond to how many unit voltages can be set in the drive 2 PWM command The PWM command is converted to a current command to directly control the current output and thus the force and torque of the motor The current to which the Full PWM corresponds can be set in the drive The basic setting of force torque mode is described below Step 1 Mode selection The steps for selecting the force torque mode on the LCD are described below When the drive is powered on the enable state of the drive is first displayed on the LCD Press the Function key twice to move to the parameter change mode Press and hold the Down key to move to the operation mode setting screen 145 HIWIN Mikrosystem Corp
65. 0 15 201211122 08 29 11 Working Dir Amplifier Ver 0 026 C mega fabsydcevd2 2012411422 08 29 11 Fig C 2 Upgrade Down grade firmware window HIWIN Mikrosystem Corp Amplifier 256 D2 Drive User Guide v1 2 C How to Update the Firmware of the Drive The firmware is updated in the Upgrade Downgrade firmware window according to the following steps Left click the firmware version to the updated and highlight it with white letters on a blue background Click File at the left corner of the window and select Update selected firmware to amplifier to open a dialog box Fig C 3 Click OK to open the Auto load programs window The firmware will be loaded in the drive automatically Fig C 4 Update new firmware to amplifier Do You want to update the amplifier A by firmware version in C mega_fabs dce db_firm d2 ver_0_026 In Working Directory firmware version 0 026 d2 Test if PDL need complilation _No need PDL compilation x Go to boot mode I 4 S1 id 8 amp 8 d2 DELFINO335 File C mega fabsvdcevd2ypdl1 yNmain pdl Clear page paged start address 328888 Addrsses 883280880 Write 24398 words 257 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 D2 Drive User Guide v1 2 HIWIN Mikrosystem Corp 258 HIWIN Mikrosystem Corp
66. 00 188 1588 956 1e 8 12 A 33 566 r EU EU fl PISOS i i em m mm vel err varn vin vel stop 4 64663e 6 00126634 volt warn win R vpg 4 usf fr vsf xi X usf en in xor led password out configI81 out configlil out configI2 1 out configl31 out configl4 1 out configl51 out configl 6 out configl 71 out configl8 1 out configl91 out configl1 out configl11 1 out configl121 out configl131 out configl141 out configl15 1 out configl16 1 out config 171 out conf ig 18 out configl1i91 out xor So Seececsereann a ies J io 2 co X S I 32708 E00 0 0 0 0 0 n amp 0 amp 6 0 0 9 0 n vm uU m m mm mm HS oSoN SSEAS aSN w Fig B 3 7 Redo Cancel the previous Undo action for the selected parameter 254 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 C How to Update the Firmware of the Drive C How to Update the Firmware of the Drive C How to Update the Firmware of the Drive cccceccessececeseeteeeeeseeeetaneeeeeeeeneness 255 C 1 Update the firmware of the drive rrrrrrrrrrnrrrrnrrerrnrerrnrrernnrerranrnnnnnennnnennnn 256 255 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 C 1 Update the firmware of the drive To update the firmware of the drive click Tools on the main screen and select Upgrade Down grade firmware Fig C 1 Click Upgrade Down grade firmware to open the Upgrade Down grade fi
67. 00kg 750W 1KW 20kg 50kg 80kg 110kg 140kg Note LV1 LV5 is the load level Different motor power and load level will display the corresponding reference mass 113 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 4 MOTRSE LS05XX5 AT _LV5 100 3 MODE STNDALON 3 SAVEFL NO LEVEL TWO i 4 MOTRSE Dios e 6 e 4 MOTRSE L 402X5 Use the Up or Down key to select the motor model name l Please refer to Table 5 2 and use the Up or Down key to select the load level of the Zero Tune Please refer to 5 3 3 3 change of non numeric parameters for setting the operation modes Please refer to 5 3 3 1 SAVE TO FLASH for saving the parameters to flash LO z O a a Fig 5 2 Operation of MOTRSE HIWIN Mikrosystem Corp 114 D2 Drive User Guide v1 2 5 LCD 5 3 Four LCD pages There are four LCD pages on the display panel Home Page Display Parameters Page Change Parameters Page and Actions Page Press the Function key to switch between pages The operation structure of the LCD is shown in Fig 5 3 1 Home page Displays the servo state error messages warnings and motor state phase initialization motor movement homing and error mapping 2 Display parameters page Displays the motor feedback position position command position error feedback velocity velocity command I O state and other parameters
68. 03 PEBIG Position error too big Encoder E04 error ENCOD Soft thermal E05 SWHOT threshold reached l i re enabling the drive but it may recur if the current output exceeds the specified value due to load and motion parameter settings 4 Reduce the speed acceleration or deceleration 5 The model number or current parameter of the 237 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 9 Troubleshooting motor is set incorrectly 1 The power line of the motor is not connected to the drive correctly Motor may b E06 1 Check that the UVW power line connector is UVWCN 2 Check that the model number of the motor is set correctly The drive sustains over temperature 1 Check that the position where the drive is installed is well ventilated 2 Check that the ambient temperature is not too high 3 Wait for reduction of the temperature inside the drive 4 The error may be brought about by the high load or frequent operation cycle of the drive A cooling fin can be mounted if needed The voltage of the DC bus in the drive is too low Confirm that the drive L1 L2 is connected to a 100 or 220Vac power source Use a multimeter to make sure that there is a 100 or 220Vac power input The 5V power supply for the encoder card is abnormal 1 Remove the CN6 and CN7 connection of D2 as well as the power line connector of the motor Confirm whether E10V5ERR still occurs If yes ple
69. 2 Position error is 90 counts 4 Position Error 1 count DSP rate 15000Hz Rate 211 6Hz Time s 18 Fig 6 29 Motion track of the motor 177 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 6 Tuning 6 6 3 Schedule gains and velocity loop gain 1 Schedule gains A complete motion control can be divided to three stages Move From the start to the end of trajectory planning Settling From the end of trajectory planning to the in position stage In position Completion of the position settling The purpose of the schedule gain is to adjust the servo stiffness to be output at each motion stage Move Settling In position based on the common gain Adjustment of the gain at each stage is conducted proportionally The original common gain Is used when the setting value is 1 and the gains are reduced when the setting value is less than 1 The corresponding parameters at each stage Move sg run Settling sg stop In position sg idle If common gain 0 5 and sg run 1 2 the common gain that is practically used at the Move stage is changed to 0 5 1 2 0 6 The same is applicable at the Settling and In position stages The constant common gain is changed appropriately by using the schedule gain to meet the requirements at different stages Advanced gains Filter ACC Schedule Analog current feedforward Gains vpg input loop Compens Schedule Gains vpg Veloci Velocity loop gain Primary vpg 8 880532455 Freq analy
70. 2 xxxx x B F For D2 xxxx x 0 DC24V mega fabs D2 Series Drive 1 lt 600mA B I I 1 4 I I 1 I I 1 I ES HIWIN Motor Fig 3 13 Brake wiring without a relay for D2 xxxx x 0 For wiring without a relay the dynamic or electromagnetic brake on the motor is activated directly using the open drain switch on D2 The brake output BRK is open drain and can sustain a maximum of 40V voltage and 1A current Use this in conjunction with the Brake BRK output of the HMI I O center 27 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 3 Wiring 3 1 6 Mini USB communication CN3 Mini USB and a PC can be used as links for monitoring drive test runs or writing parameters Refer to Chapter 4 for the operation 3 1 6 1 Mini USB communication wiring diagram Refer to HIWIN with a USB 2 0 Type A to mini B 5 pin 1 8M cable mega fabs D2 Series drive N C 3 USB_D 5 GND 2 USB D 1 USB VBUS Fig 3 15 28 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 3 1 7 CN6 connector Pinl Pin26 Pin50 SCSI 50PIN Female Pin25 HIWIN Mikrosystem Corp 3 Wiring Fig 3 16 SCSI 50PIN Male 29 D2 Drive User Guide v1 2 3 Wiring 3 1 7 1 CN6 pin definition Table 3 2 Pin Signal Fumetion O Low speed 500 Kpps pulse command Channel 1 Pulse CW
71. 3 Change parameters page Allows changing the common gain CG velocity loop gain VPG phase initialization gain ST CG operation mode and pulse format save the parameters from RAM to the flash memory and provide settings for 200 advanced parameters 4 Actions page Allows the servo to perform enable disable jogging and moving to an absolute target position 115 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 Common Parameters Feedback Position 02RFPO Reference 0 Position O4POSE Position 0 Error Feedback Velocity Reference Velocity Velocity Error Actual Current Command Current C Analog 0 0202 Command Bus Voltage Soft Th guis a Notes for HOME Page Display Status 1 It shows on the first line ENABLE or DISABLE 2 If there is a warning it shows on 2nd line the warning message 3 If there is an error the 2nd line will show error message 2 1 Examples Display HOME Page Parameters Page DISABLE ENABLE DISABLE EO9UND V ENABLE W03 HWLL ENA DIS Enable Enable Disable ENABLE W Disable Move to previous Go back one level WV Move to next J JOG A Positive jog og D w Negative jog 02 4 Move to previous Go back one level 03 Actions Page V Move to next Moving to desired A Move to target O4 destination position 0 w Backto Home D Go back one level Move to previous VW Move to next Velocity Ea A
72. 4 flash This will retain the parameters even if the drive is turned off i SAVEFL Welet Press the Enter key to enter the C BE di setting state 3 SAVEFL Wee M E ves A M Press the Up key to select YES 3 SAVEFL Hew ic J Press the Enter key to save the ee 401 SS MB P parameters to the flash ow ea No keys will respond when pressed sender B _ while the PROCESS is message i E T displayed No keys will respond when pressed while the FINISH is message displayed 3 SAVEFL FINISH Note 1 The settings are performed using the following parameters Deiinilon iialvalue uU GNI velocity command ratio indicating the corresponding relationship of 1V with 83 X cmd ext v sc count s or between the Full PWM and the 1000 highest speed Unit count s 1V or count s Full PWM HIWIN Mikrosystem Corp 144 D2 Drive User Guide v1 2 5 LCD 5 4 3 Force torque mode The drive can receive commands from the host controller by voltage V commands The input voltage ranges from 10V to 10V The drive makes the received 10V to 10V input voltage correspond to the current control to drive the motor In addition to the voltage the host controller can send commands by PWM signals PWM commands The PWM command converts to different velocity current commands depending on the duty cycle It is classified into single wire PWM 50 and two wire PWM 100 types The single wire PWM 5
73. 5 The value in the Output Resolution field will be updated for the selected output mode Using AC servo motors with a 17 bit encoder users can use the emulated encoder Fig 4 17 Emulated Index Output in every revolution to output the Z phase signal to the host controller a Configuration center Ej HiU Encoders Bee Rotary E Customized Rotary Digital a Digital 10000 cnt enc Motor type AC servo Encoder type DIGITAL Encoder Model Name 020503300004 Encoder Resolution 16666 Counts Rev Linear Resolution 8 1 um Counts Save Load enc files a a Encoder output Output Resolution 16608 Counts Rev Use buffered encoder Invert C Use emulated encoder Scalling 1 encoder count 1 Emulated index radius 168 OK DATA from last SELECTED file Manufacturer HIWIN Power on Time 266 Emulated Index Output in every revolution emulated encoder output counts Emulated index jitter filter 1 Le JL EI J S J ms Encoder output settings area 4 counts Cancel Fig 4 15 Encoder output settings Buffered encoder output When this setting is selected the drive will forward the signal sent by the encoder to the host controller The Invert function can also be checked if needed It allows the drive to inverse and then sends it The resolution of the signal outputted is displayed on the screen for reference Encoder output
74. 6 2 Velocity MOE rrnnrnnanrnnnnnnnnrnnnnrnnnrnvanennnnnnnnrnnnnennnrnnanennnnnnnnennnnennnene 101 4 6 3 Force torque mode rrrnnnnnanrnnnnrnnnrnvanennnnnnanrnnnnennnrnnanennnnnnnsennnsennnene 104 4 6 4 Stand alone mode anrrnnnnnnnnnnnnnnrnnnrnnnrnnnrnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnne 107 LM MUI Red PTT 109 57 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 4 Settings 4 1 Installation and connection The human machine interface HMI that D2 drives use is called Lightening The communication between drive and PC is a USB connection The Lightening graphical HMI on your PC can perform the functions including motor initialization motor configurations motion control motor test runs and the corresponding parameter saving This section describes how to install the product and connect it to your PC 4 1 1 Setup file The setup folder of the Lightening graphical HMI contains among others an auto execution file setup exe and a firmware folder dce as shown in Fig 4 1 V NS all driverlist txt firmupd bat MYFONT BMM myFontl bmm myFontm bmm setup exe short txt Fig 4 1 Setup file Please log in and download the setup file from the Internet The path to the file is http www hiwinmikro com tw hiwintree Product SubType aspx type D2 Execute setup exe directly after completing downloads The installation screen is shown in Fig 4 2 The preset destination f
75. 66 Signal offs Signal E disturb e Click the Rm button to activate the eg frequency analyzer Disati Motor vibrates from p EG LF to HF you may SM mode head the HF sound at the end Then a frequency response diagram appears on the screen Close loop dcbl gain 179 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 F Freq analyzer junior 1 11 sl 0 File Modes View C Gain Gain db C Phase C ph deg C Nyquist C ph gain C Nichols lv Points V Odb cross Hertz Full ser delete all Idle time 6 1 Data time 8 1 Min cycles 1 tep 1 Fr eee StepJdcbl Debl Current plant plant Amplitute 38 6866 Mision Tid aun Signal offs vpg 0 00121515 Signal disturb Load 2 78937e 5 Kg m 2 Input 4 command Output X vel fb Acquired from auto computation Frequency analyzing ended successfuly Enable SM enable mi Enabled Phase Initialized m SM mode Frequency respornse DOGe diagram HIWIN Mikrosystem Corp 6 Tuning Left click on the frequency response diagram and a line of 20dB appears on the screen Press and hold left key to drag the line to the position close to the bode diagram as shown in the figure below The Gain is re computed during the movement of line and vpg value is displayed on the screen The Gain is increased when the cursor line is dragged downward and decreased when the cursor line
76. 7 2 1 Position error limits The position error exists in the servo control When motor moves the position error becomes bigger And some external factors may make the position error abnormally big such as the high friction caused by bearings or linear guide ways on machinery for lack of lubricators winding or overly tight chains in the case tray foreign objects in the motor stroke motor clashing foreign objects or stops the abnormal position encoder or interference For all abnormalities that lead to bigger position errors an Error Window is configured in the D2 drive When the position error exceeds the Window the drive will generate an error message of Position Error Too Big start the emergency stop procedure send the brake signal and disable the motor Refer to the Maximum Pos Error Settings in 7 2 2 for more information 7 2 2 Position and velocity error warning In addition to the above mentioned settings of the position error limits the D2 drive also has the pre warning function When the Position Error and Velocity Error exceed the setting in the Warning Windows the warning will show in the Status column on the main screen to remind users of the abnormality E Protection center Protection HW limit Brake protection Error windows Position Units ET alet count x maximum pos error 26214 count Warning windows Position error 13187 count Velocity error 1 888088e 8 count s Fig 7 3 Table 7 3 Parameter nam
77. 8m Shielded Brake connector CN2 Note 1 Accessories include CN1 CN2 CN6 with 733 130 fixture tool connectors HIWIN P N 051800200070 Note 2 When wiring the product turn off all power sources and use the fixture to avoid electric shock 34 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 3 Wiring 3 3 Standard main power circuit wiring Wiring and inspection must be conducted by professional technicians Turn off the power before wiring or inspection to avoid electric shock or other dangers High voltage may remain in the drive after the power is turned off Wait a while up to five minutes before touching the power terminal Perform the wiring appropriately and reliably to ensure stable operation and to avoid injury damage or other accidents Do not attempt to modify the drive 3 3 1 AC power wiring diagram single phase lt is recommended to use the FN2090 6 06 single phase filter Emergency e OFF Stop S oO alo olo i KM KM d ui SK e mega fabs D2 Series drive Filter NFB KM 1 phase 6 5 e e y t 100 240VAC AS e dose 50 60Hz F 9 T mr Earth i Fig 3 18 Table 3 14 FN2090 10 06 filter Maximum continuous operating 250V AC 50 60Hz voltage Operating frequency DC to 400Hz Rated current 10A 40 C 11 2A 25 C Surge pulse protection 2kV IEC 61000 4 5 35 HIWIN Mikrosystem Corp D2 Dr
78. 900 f Circular v Upd vars Rate 1 Stop event Fr 15800 rate 15808 Hz dt 1 Fr 8 0666667 msec samples dt 3 33333 sec comi 115288 tamuz lt gt 4 pos err l 4 vel fbf 2 4 ref pos 1 enc pos B words sample 16 bytes gt Fig 6 8 Data collection 1 Automatic collection by condition For setting the start and stop conditions for data collection For example to capture the graph of the motion cycle check Start Event to set to X run and check Stop Event to set to X stop After the setting is completed click Start to bring Data Collection to the standby state When the motion of the motor starts collection of the data begins when the motion ends the collection of data stops When the data collection is completed click Graph to plot the graph of the motion cycle For example to retrieve the graph of the velocity cycle check Start Event to set to X vel fb gt 0 and check Stop Event to set to X vel fb lt 0 After the setting is completed click Start to bring data collection to the standby state When the motion speed is more than 0 the collection of the data begins when the speed is less than 0 the collection of the data stops When the data collection is completed click Graph to plot the graph of the velocity cycle 2 Manual collection button Click the Start button to start the collection and click the Stop button to stop the collection Click the Graph button to open the Plot V
79. A phase Low speed 500Kpps pulse command Channel 2 Dir CCW B phase IG eow 13 SG Digital signal groundreference 2 JA gt 22 A 48 Output pulse of feedback buffered encoder or emulated 24 zZ 25 SG Digital signal ground reference gt 19 CZ Zphaseoutut opencolleto n aon Analog command input Velocity Torque Mu High speed 4 Mpps pulse command Channel 1 Pulse CW A phase High speed 4 Mpps pulse command Channel 2 DIR CCW B phase 7 COM Common port for general purpose input signal can be either Sink or Source General purpose input signal Hardware Enable by default GE 12 N A AGND Analog signal ground reference Frame ground reference 30 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 3 Wiring 3 1 8 CN7 connector A Press and Pinl IE pull these Pin2 clamps to remove CN7 connector Pin9 Pin10 SCR connector 10PIN male SCR connector 10PIN female Fig 3 17 Table 3 3 Bs DC Encoder power output 5Vdc Signal ground and 5Vdc ground Serial encoder input EE EEE Digital incremental encoder input 9 7 O 31 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 3 Wiring 3 2 D2 drive accessories 3 2 1 Motor power cable Table 3 4 HVPS04AAncnMA Not flex resistant Without brake signal F HVPSO4AAGcMB Flexresistant OtO ower cable Lpo HVPSOGAAGGMA Not flex resistant With brake signal l HVPSO6AAcaMB F
80. Aga econdary Operation Mode Velocity Mode C Torque Mode None ad Configuration center Motor Encoder Primary Operation Mode C Position Mode C Velocity Mode Force Torque Mode Stand Alone Moda Electronic Gear Invert Command cias ase alon Mode m inputpulses n Output counts Hardware interface Position Mode DIV2 DIVI amp High Speed Pulse Input CN6 pin 44 45 46 47 C Velocity Mode 8 0 0 C Low Speed Pulse Input CNB pin 1 3 4 2 5 6 C Torque Mode E Control Input m C Pulse and Direction C Pulse Up f Pulse Down Quadrature AqB C None Cancel Electronic gear settings screen Secondary Operation Mode 84 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 4 Settings The desired electronic gear ratios are selected from different combinations of DIV1 and DIV2 The corresponding combinations are shown in the table below t T inhibit Pulse Command Operation mode fee unction Symbol INH Default Input 1 Circuit Refer to 3 5 2 No diagram Function description This enables users to inhibit the reception of pulse commands from the host controller by triggering the input signal Instructions for use When a user specifies Inhibit Pulse Command as the input function in pulse mode reception of pulse commands from the host controller will be prohibited when a true signal is received The drive will receive pulse commands from the host controller to drive t
81. Company does not take any responsibility for product damage or personal injury resulting from incorrect power use Do not use the product over the rated load The Company does not take any responsibility for damage or injury caused by such misuse of the product Do not use the product in an environment where shocks may occur The company does not take any responsibility for damage accidents or injuries of any kind attributable to such shocks Do not try to repair any product malfunctions The product can only be repaired by qualified technicians The warranty period is one year from the ex factory date The Company does not take any responsibility for product replacement or repair caused by inappropriate use or natural disasters Please refer to the notes and installation instructions in the Operation Manual HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 1 About the User Guide 1 2 Safety instructions Please read this Operation Manual carefully before installation transportation maintenance and inspection and ensure the product is used appropriately Users should read the EM information safety information and all related instructions before using the product The safety instructions in the Operation Manual are categorized under the Warning Attention Prohibited and Required sections AN Warning Inappropriate operation may bring about danger or result in serious injury or death Inap
82. Corp D2 Drive User Guide v1 2 3 Wiring 3 6 3 Master wiring diagram for PWM command input In addition to the analog command D2 drives can receive PWM commands in the velocity and force torque modes The PWM command is classified into single wire PWM 50 and two wire PWM 100 types For more information please refer to the velocity and force torque modes in 4 6 2 and 4 6 3 3 6 3 1 Velocity torque mode PWM 50 input Host controller is NPN User can define the mega fabs function for each PWM 50 command D2 Series Drive output Host controller 12 24VDC NPN type O O RDY Photo El Coupler rwr wiring m p i Relay m Twisted pair SY Aphase Ga aa LA output B phase ee ae OC spa 24V User can define Z phase the function for o map re output each input A Ic 0 6A Max Vce 40V Max Z output open collector 53 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 3 Wiring 3 6 3 2 Velocity torque mode PWM 100 input Host controller is NPN User can define the mega fabs function for each PWM 100 command D2 Series Drive output 12 24VDC Host controller NPN type RDY Photo Coupler l am PWM wiring I d e Relay T 0 wiring EN RH 24V ov a I Twisted pair 6 Aphase a 22 Af output 48 B ph NTT ues i O6 Z Z ph User can define EA ERR NE phase the function for fa ps output each input A Ic 0 6A Max Vce 40V Max
83. D2 Drive User Guide v1 2 D2 Drive User Guide Ww M WX MS WN Wiss NN tan Boe VANN GN AA AN NN 4644666666666 Version 1 2 May 2014 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 Table of Contents Table of Contents PADOU TE ISON UIC ee 1 1 1 Instructions before use rrrrnrrrnrrrranrrnnnrvnrrnranrnnnnrnanrnnanennnsnnnnsnnnnennnnnnnnennnsenne 2 1 2 al eb WISUUCHONG 125 edo tte cineeh cat ited tenes eae ice SA 3 2 Overview of the Specifications seeesssesssssssseeeeeee nennen nn nnns 7 21 54 COMIN CANON eee 8 2 1 1 Nameplate information arrnnnrnnnrnnnrnnnrvnnvnnnrnnnrnnnvnnnennnrnnnrnnnennnennnennne 9 21 22 Modelmmbek sa pes 9 2 2 Servo drive specifications esseeesssessssessseeee nennen nnns 10 2 2 1 Servo drive specifications full function seeesssssse 10 2 2 2 Servo drive specifications pulse tyPe ccseeeeeseeeeeeeeeeeeeesseeeenees 12 2 3 DIMENSIONS or NE ANE HR 14 2 4 Installation of the drive eid aa a a a 16 2 5 Computer FEQUIFEMEMS ccceeccceececeececeeeeeceeeesseeeeseueeseueesseeeeseueesaeeesauees 17 EA ERE cup adobe RE CU e pecu apu NN 19 3 1 System configuration and WITING ccccceececeeeeceeeceeeeceeeeseeeseueeseueeseeesaeeeseees 20 3 41 Master VING GEGEN Gaddi 20 9S 1 2 CNI POE CONNOR 21 3 1 3 erem Wiring AEA NS 23 3 1 4 Regenerative resistor optional wiring
84. DE 1 HIWIN Mikrosystem Corp Present Value STANDALONE MODE Units mmis Full PWM Send to RAM Cancel pes i Fol erd 9 di Scalin ra Full PV Position Mode Torque Mode None 4 Settings In the mode operation page set the scaling between external command and velocity for requirement The unit shows the corresponding relationship of 1V with the mm s or rpm or between the Full PWM and the highest speed as shown in a on the left figure Set the Dead Band for the current command as shown in b on the left figure Select Invert Command to invert voltage or PWM command for requirement Select Invert Command to invert voltage or PWM command for requirement The parameter confirmation screen appears click the Send to RAM button as shown on the left Click the Save to Flash button in the HMI main function tool bar to save the parameters in the flash memory This will retain the parameters even if the drive is turned off 103 D2 Drive User Guide v1 2 4 Settings 4 6 3 Force torque mode The drive can receive commands from the host controller via voltage known as V commands The input voltage ranges from 10V to 10V The drive makes the received 10V to 10V input voltage correspond to the velocity or current control to drive the motor In addition to the voltage the host controller can send commands via PWM signals known as PWM commands The PWM command co
85. Ea 223 9 2 Backlash COMPCHSANION Vee 224 9 9 Eror 0 EE bas bandera tob s Bon oir EA o D US Bi 225 8 31 Op ratiob Ol error NAN ae 226 9 9 2 Activation OF error MAD asse ssie ien EATER 228 8 3 3 Save and open the error table file rrrrrnrrrrnnrrrnnrrrrarrernnrrnrnnernnnen 229 8 3 4 Error map value and encoder resolution 230 9 Troubleshooting t RP 231 9 1 Status indicators of the drive rrrrrarrrnnnrnnnrnvanrvnnnrvarrnranrnnnrnvanennnnnnnrnnnnennn 232 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 Table of Contents 9 2 Errors and warnings of the Crive ccccseccceeceseeeeeeeeseeeseeeeeeeeeseeseeeesseeeaes 233 9 2 1 Status display area on Lightening HMI main screen 233 92 20 P TEU S 233 9 2 3 Error and warning 1096 iccustrasasusenrccausteasesusondecaustraseaendetaustaaseau benders 234 9 S Error COGES ANG ANS 237 9 3 1 Supplements to E03 PEBIG error elimination 238 9 3 2 Supplements to E11 PHINI error elimination 239 9 4 Warning codes and actions ccccceecceeccceeecceeeceuceceeeceusesueeseeecsusesseesaes 240 9 4 1 W03 HWLL and W04 HWRL supplementation 241 9 4 2 W09 ACC L and W10VEL L supplementation 241 9 5 Troubleshooting of common errors esseesseesssesseeeenee
86. Fig 4 24 Completion of the configuration procedure To save the parameters to a file on your PC click Tl Save Parameters from Amplifier RAM to File to save the parameters to a file The file extension is prm HIWIN Mikrosystem Corp 74 D2 Drive User Guide v1 2 4 Settings 4 3 Auto phase center 4 3 1 Method overview Click amp in the main function tool bar to open the auto phase center The drive provides the following two phase initialization methods LSWIR SW method 4 This method features a hall sensor built in with the wire saving incremental encoder No additional wiring is needed for a successful phase initialization This method is used in conjunction with drives that have 0 in the 9 th bit of the model number and with motors that have 5 in the 9 th bit of the model number such as the drive D2 0423 S BO and motor FRLS4020506A Auto phase center H ES View Details WiEnabled Phase Initialized E Servo ready Phase initialization mode LSWIR 1 Auto gain tuning Execute Fig 4 25 Auto phase center screen for LSWIR STABS SW method 3 This mode is used in the phase initialization of 17 bit serial encoders This mode is used in conjunction with drives that have 4 in the 9 th bit of the model number and with motors that have 3 in the 9 th bit of the model number such as the drive D2 0423 5 B4 and motor FRLS4020306A Em A WEnabled Phase Initialized E Servo ready Phase i
87. HRSAHSAHRSAHSAHRSAHRHAHRHAHRSAHRAN S Frame NOZZE A B Frame e HH hne nn B C Frame nennen nnn EC Encoder type 13 bit standard and wiring saving incremental encoders n 0 17 bit serial incremental encoder EE EE EE EE EE EE RUNS R RI NI EE 4 Fig 2 2 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 2 Overview of the Specifications 2 2 Servo drive specifications 2 2 1 Servo drive specifications full function Table 2 2 rames Power input 220V ail E Single phase 200 240V 50 60Hz Operating temperature 0 45 Air circulation must be available when the ambient temperature is higher Temperature than 55 C Storage temperature 20 C to 65 C Ambient conditions Humidity 0 to 90 RH non condensing Altitude Elevation less than 1 000 meters Protection against 6 105004 Main circuit control mode IGBT PWM space vector control PWM space vector control 13 bit 10 000 count rev standard incremental encoder 9 line and wiring saving incremental Encoder feedback resolution encoder 17 bit 131 072 count rev serial incremental encoder 5 line Control signal ACE Output 4 general purpose i l 1 12 bit A D I O signal Analog signal al connector Output 2 analog monitoring 2 outputs 2 low speed channel high speed channel Pulse signal Outout 4 differential line driver with 3 outputs open collector B with 1 output Brake Used for direct connection to the brake It ca
88. Interval 166 Total points 11 Set the Interval and Total Reminder that Index Position points If you have a the revised an preferred unit system mapping value click the field below Position to set the has not been i suitable unit Then enter saved to the drive Flash the error map value to the error table 226 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 8 Applications Check I Error map enable interval 18 mm Emor map activo to activate the error map Total points 11 Data different from flash The drive has the general servo parameter and error map parameter Click Send table to flash in Flash on the function menu If the general servo parameter was Compare parameters RAM in FLASH revised but not saved to 1 parameters are detected to be changed in RAM from Flash Flash the window will Send error map will reset controller and parameter new values will be lost Consider to do save parameters to flash before you do send error map table to flash show a reminder left Press Continue to send error map table to flash anyway figure It is suggested Fm that users should click Cancel to return to the main screen and save the general servo parameter to Flash After general servo parameter is saved the error map parameter If clicked Continue in the above mentioned step the drive will force it to Same as above Reset and save the Error Map parameter Yet the revision on the general serv
89. MOV2PO option and press the Enter key A solid flashing cursor appears on the left side of the second line The current position is displayed but the motion has not yet started 3 Press the Up key to start the motion The motor moves to the destination MOV2PO at the speed as set in VEL LC The feedback position 01FBPO information is displayed on the second line on the LCD during the movement To stop the motion during movement simply press the Enter key to stop the motor To resume the motion press the Up key and the motor will move to the preset destination 4 Press the Enter key to return to LEVEL ONE 8 c o ETTE M M K M M LEVEL ONE 20 value is displayed on the LCD during the movement 4 MOV2PO 2 O1FBPO a 20 E 178 The coordinate position 2000 is displayed on the LCD when the motor reaches the destination I MEE I ks 4 JOG The position feedback I I I Fig 5 16 Absolute coordinate motion MOV2PO operation 134 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 5 LCD 5 3 4 5 Set zero The following operation shows the steps for setting th
90. Mikrosystem Corp D2 Drive User Guide v1 2 1 About the User Guide 1 1 Instructions before use This document is suitable for both HIWIN D2 drive and mega fabs D2 drive Read the Operation Manual carefully before using the product mega fabs Motion System the Company will not take any responsibility for damage accidents or injuries caused by installation or use that is not performed according to these instructions Do not dismantle or modify the product The product has been subject to structural calculations computer simulation and physical testing to verify its design Do not dismantle or modify the product without the consent of the Company s professional technicians The Company does not take any responsibility for accidents or damage resulting from such dismantling or modifications Before installing or using the product check the external appearance and ensure there is no damage on the surface of the product If any damage is identified please contact the Company or one of the Company s dealers immediately Please refer to the performance specifications on the product label or manufacturer s document before using the product Only install the product with reference to these performance limits and in accordance with the installation instructions Please read the power voltage specifications and labeling before using the product and confirm that the power supply to be used meets the product requirements The
91. O O O O O O O O A A EA EA EA ELE EA EA E EE EA Fig 3 3 CN1 installation and removal steps 21 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 3 Wiring For D2 xxxx x B G and D2 xxxx x BO Connector to the extended line Wago 721 112 026 000 female Fig 3 4 CN1 connector Fig 3 5 Installation and removal steps 22 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 3 Wiring 3 1 3 Motor wiring diagram Well grounding is needed between the drive and the motor mega fabs D2 Series drive Fig 3 6 3 1 4 Regenerative resistor optional wiring diagram The regenerative resistor is mounted optionally according to the actual application design mega fabs D2 Series drive SN P d Fuse P ud o 9 d o o Fig 3 7 23 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 3 Wiring Wiring and inspection must be conducted by professional technicians Turn off the power before wiring or inspection to avoid electric shock and other dangers High voltage may remain in the drive after the power is turned off Wait for a while up to five minutes before touching the power terminal Perform the wiring appropriately and reliably to ensure stable operation and avoid injury damage or other accidents Do not connect the motor U V or W terminal to the power source The motor power terminal must be securely connected to the power source
92. Output Resolution 18888 Counts Rev Use buffered encoder Invert C Use emulated encoder Emulated Index Output in every revolution Scalling 1 encoder count 1 emulated encoder output Emulated index radius 18 counts Emulated index jitter filter 1 counts Fig 4 16 Buffered encoder output 68 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 4 Settings Emulated encoder output When this setting is selected the drive will multiply the position signal received from the encoder by a ratio scaling and send the result to the host controller If the ratio is 1 1 the drive will directly output the encoder signal based on the encoder and the resolution that has been set Sometimes the host controller cannot receive an encoder signal set at higher frequency In this case a different ratio e g 5 encoder count 1 emulated encoder output can be used If an analog signal from an analog encoder is divided into very small segments scaling might be needed to reduce the output resolution of the encoder The output direction can be changed when the ratio is set to 1 encoder count 1 emulated encoder output In Fig 4 17 for example the encoder resolution is 10 000 counts rev and the scaling for the emulated encoder output is 5 encoder count 1 emulated encoder output so the Output Resolution becomes 2 000 counts rev Output Resolution 2888 Counts Rev C Use buffered encoder f Use emulated encoder Emulat
93. R f output I Vance E 1 output I X d TT Zphase i output A Vce 40V Max Z output open collector p 1 sa s n Resistor R 24V 12V 1KQ 0 5W 24V 2KQ 0 5W User can define the function for each input Ic 0 6A Max 45 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 3 Wiring 3 6 1 3 Host controller is Sink NPN without current limiting resistance Wiring for the host controller with single ended signal example User can define the Low speed pulse command mega fabs function for each 500 Kpps or less D2 Series Drive output Host controller 12 24VDC NPN type Photo O Coupler CW A l Q DIR wiring 24V p Twisted pair A phase output B phase output User can define the function for each input Z phase output Ic 0 6A Max Vce 40V Max AV Z output open collector 46 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 3 Wiring 3 6 1 4 Host controller is Source PNP with current limiting resistance Wiring for the host controller with single ended signal example Low speed pulse command 500 Kpps or less User can define the Host controller mega fabs function for each Low speed pulse input Signal output CN6 FRU GA an z a Tee ly Coupl Coupler CCW B stem 3 p ly Resistor R ov a Relay wiring 24V E Twisted pair A phase output B phase User can define the output
94. Sensor E m m mw m m z m L l Left lt gt Linit Switch j Left lt gt Limit Switch e eke eke 7 Switch to secondary mode Switch to secondary mode 18 Switch HI LO Pulse Input gt I8 Switch HILO Pulse Input v v 19 Right lt Limit Switch IB Right lt gt Limit Switch 4 External signal is not triggered and External signal is triggered and remains a high speed pulse channel becomes a low speed pulse channel Note 1 arning Input is set to Switch HI LO Pulse HW interface for pulse input depends on digital input state Warning Input is setto Switch HI LO Pulse HW interface for pulse input depends on digital input state Set Default Set Default High speed channel of pulse input is engaged when the input point signal is off Low speed channel of pulse input is engaged when the input point signal is on Green is on and dark is off X Note If any one of the input points 1119 is configured as Switch HI LO Pulse Input the settings for hardware interface in Configuration center will be irrelevant Switch HI LO Pulse Input Command is Switch HI LO Pulse Input Command is mm not selected High low speed pulse selected High low speed pulse input v input channel can be set in the km Channel cannot be set in the Configuration Center Configuration Center 86 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 4 Settings Input Switch to Secondary VPG Operation mode Symbo
95. State Click Configure O2 to open the Configuration of O2 settings window Click Set all errors to check all the options in the Errors as shown highlighted in red in the figure below In this example the output currently indicates all available errors If users do not select all error options but only part of them the output currently used indicates Customized Configuration of 02 The output signal represent Logic OR of Selected States below Brake V Motor short Set all errors Left SW Limit Servo Ready W Over voltage i Right SW Limit f Axis Disable in Position m Moving Homed Emulated Index Zero Speed Detected iv Position error too big Left HW Limit i Encoder Error lv Soft thermal threshold reached Iv Motor may be disconnect lw Amplifier over temperature Right HW Limit Servo Voltage Big Position Error Warning Velocity Error Warning Current Limited r W Under voltage Acceleration Limited W 5V for encoder card fail Velocity Limited iv Phase init error Both HW limits are active IV Serial encoder communication error 127 Waming lv Hall sensor error Pulse and home conflict Cancel Not Configured Trigger method Level trigger 94 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 4 Settings 4 5 In position setting 4 5 1 Function overview In the servo system both the target position and encoder feedback position have a
96. The rotational inertia of the screw used Unit Kg m2 Load Mass The mass to be loaded Unit Kg Screw Pitch The pitch of the ball screw i e the linear movement amount of the screw in a revolution Unit mm Gear Ratio The ratio of the gear teeth number at the load end to the gear teeth number at the drive end Correct motor operation parameter values can help the drive to calculate the suitable values for the driving parameters and thus successfully drive the motor _ amp Configuration center Encoder Hit E HiW Motors Motor type AC servo Ed AC sevo Motor Model Name FRLS1 XX5 Manufacturer HI WIN FRLS05XX5 mot FRLS10XX5 mot j FRLS202X5 mot FRLS402X5 mot Peak Current Load Mass l E FRMM1K2X5 mot i A_ems 2 Kg Operation met Continuous Current Screw Pitch parameter E FRMS402X5 mot 8 9 rns 1 setup area FRMS752X5 mot Screw Moment of Inertia 2 Kg m 2 Torque Constant Gear Ratio 8 356 Nn A_rms i Resistance Line Line Motor 8 Ohm parameter Induct Line Line S s setup area mH Pole Number 8 Motor Peak Time sec 12 Moment of Inertia 3 6e 6 8 Cancel Fig 4 11 Motor parameter settings 64 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 4 Settings 4 2 2 Encoder configuration The drive normally receives a feedback signal from the position encoder to perform servo control The encoder setup page is shown in Fig 4 12 Please select o
97. Types as shown on the left 105 HIWIN Mikrosystem Corp D2 Drive User Guide Postion Mode Velocity Mode Force Torque Mode Stand Alone Mode Velodly Mode Force Torque Mode Stand Alone Mode v1 2 j Type Analog PWM 50 PWM 100 Dead Band ua Scaling Dead Band A inert Comma V command PWM command nd 301030 amp Full PYM Cancel o Calculation Results and Present Con troller Data Type Moment of Inertia Gear Ratio Load Mass Screw Pitch Peak Current Continuous Current Torque Constant Resistance Inductance Pole Number Rotor Inertia Model Name Manufacturer Type Resolution Model Name Manufacturer Operational Mode 1 PWM Mode Scaling Configuration cente ncode Secondary Operation Mode C Posilion Mode C Velocity Mode None Motor New Value Present Value AC servo AC servo 2e 5 2e 5 1 1 E 0 259999 1 74 10 1 7e 005 FRLS201X1 HIWIN oN UA ooh Encoder New Value Present Value Digital Digital 10000 100000 020503300004 HIWIN Mode New Value Present Value FORCE TORQUE MODE STANDALONE MODE ANALOG_MODE 1 06066 HIWIN Mikrosystem Corp Units Kg m 2 Kg mm A rms A rms Nm A rms Ohm mH Kg m 2 Units Counts Rev Send to RAM Cancel 4 Settings In the mode operation page set the scaling between external command and current fo
98. Y s System output Here it stands for a position feedback from the encoder 191 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 6 Tuning Plant PL s represents the relationship between the drive command and feedback position This Plant contains the mechanical platform motor and feedback system Controller P s is the position loop controller V s is the velocity loop controller and C s is the current loop controller Open loop The transfer function of the open loop system is G s P s V s C s PL s meaning to ignore all feedback signals Close loop The transfer function of the close loop is T s P s V s C s PL s d dt P s V s C s PL P s V s C s PL s 6 8 2 2 Nyquist The Vel open loop velocity open loop and Pos open loop positionopen loop of the emulated control system can be analyzed on the Nyquist plot for their frequency responses You can analyze the emulated velocity or position open loop by checking the Nyquist plot Analyzing two loops simultaneously is also possible Fig 6 41 shows the Nyquist plot of the velocity open loop When you click the curve on the Nyquist plot the frequency response value will be displayed for analysis of the control system 1 Vel open loop The frequency response of the velocity open loop 2 Pos open loop The frequency response of the position open loop L Loop constructor 0 21 File Vw Graph selection Vel loop Pos loor pg tools ba zs P
99. Y T T When the drive is powered on E V JG Fossil SVNRDY the enable state of the drive is m s first displayed on the LCD 3 SAVEFL Te Press the Function key twice to NO J move to the parameter change i L d mode Press and hold the Down key to move to the operation mode setting screen Press the Enter key to enter the setting state The operation mode is set to the Stand Alone mode by default It is no need for selection Press the Enter key to confirm the setting Press and hold the Up key to move to the SAVEFL page Here the parameters can be saved to the flash memory This will retain the parameters even if the drive is turned off 148 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 3 SAVEFL PROCESS 3 SAVEFL FINISH HIWIN Mikrosystem Corp 5 LCD Press the Enter key to enter the setting state Press the Up key to select YES Press the Enter key to save the parameters to the flash memory No keys will respond when pressed while the PROCESS is message displayed No keys will respond when pressed while the FINISH is message displayed 149 D2 Drive User Guide v1 2 5 LCD This page is intentionally left blank 150 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 6 Tuning 6 Tuning ET 151 6 1 Status display and QUICK VIEW sann ieneer 152 SRM PE 0 0 ee eee ees en eens sees ees 152 bl UR VEN den 153 6 1 3 Basic common physical V LE saamssorm
100. active MError map active on the Error Map window lights green which status at means error map Is active 8 3 3 Save and open the error table file The established error map value can be saved to the disk and load directly from the disk also Click File on the tool bar in the following figure to access As mentioned in 8 3 1 the Send Table to Flash in Flash on the function menu can be used to save the error table to the flash memory of the drive Please pay attention to the Save the Flash button on the main screen the error table mentioned in this section will not be saved to Flash through this button 229 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 8 Applications iB Error map File las File C mega fabslerror map emp agm E FURE 5 2010 12 3 F 11 36 PEE c l 2010 12 3 EF 11 36 or A iamiam in brt 2010 12 16 F 08 2010 12 16 F 08 i a ror i n BG BO MG BE BEG mA EA AA sat LS 4 R In 4 m TRE ES QD fror mep v ferror map X FARE 710 FRED Enor map files emp 7 Ru Error map files emp v EE Fig 8 20 8 3 4 Error map value and encoder resolution When the error map value is entered to the table the value will be rounded up or down to integer or its multiple of the encoder resolution For example if the encoder resolution is 2um and th
101. am for pulse command input 43 3 6 2 Master wiring diagram for analog command input 50 3 6 3 Master wiring diagram for PWM command input 53 ANOO RN EN ERN nate EE M eet Rechte heh the a NA RES 57 4 1 Installation and connection ccccccceecceeeeceececeeeceucecsueeceeecsueeseeeeeeeecsueenaees 58 mme mec m 58 4 1 2 Communication setup resna nennen nennen nennen nnns 59 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 Table of Contents 4 1 3 Main HMI window srrnnnnreonnnnrnnnnennannvvnnnrnnannnnnnnrnnansnnnnnrnnansnnnnnnnnnnennnn 61 4 2 GONIA CENE 2 eiecit dE EEUU MUI 63 4 2 MMOL COMMOUNALION opidi lecce oV OE a Do AUC Voc MAU eMe Do DA MD dA EMO put 64 4 2 2 Encoder COMING 65 423 Mode COMGU EON sa 70 4 2 4 Completion of the configuration procedure 74 43 AUO PHASE CE re 75 4 3 1 Method OVE EN 3 9 be tino e ou erc eva ue a evnene 75 4 3 2 Pre operation for auto phase initialization 76 4 3 3 Auto phase initialization setup PrOCECUIE ccceeeeeeeeeeeeeeeeeeeeeees 76 4 3 4 Troubleshooting for auto phase initialization 77 22 1 OCS 78 4 4 1 Digital inputs and their functions arrernrrrnnrernvrrnnrrrnvrernerrnnrernvrenneenn 78 4 4 2 Digital outputs and their functions
102. ameter file enc that can be loaded at any time in the future Fig 4 13 65 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 4 Settings m 3 R HV Encod O E Motor type AC servo DATA from last SELECTED file O E amp Rotary Encoder type DIGITAL o Encoder Model Name 820583388804 Manufacturer HIWIN Resolution Digital 10000 cnt e E Encoder Resolution Power on Time 4 setti ng S 10000 Counts Rev 200 ms D Linear Resolution area D 0 1 um Counts e O m Save Load encoder parameters Encoder output Output Resolution 18088 Counts Rev Use buffered encoder invert Use emulated encoder Emulated Index Output in every revolution Scalling i encoder count 1 emulated encoder output Emulated index radius 18 counts Emulated index jitter filter 1 counts OK Cancel Fig 4 13 Customized encoder settings interface The D2 drive can be used with a digital rotary encoder To work with the host controller the D2 drive can transmit an encoder signal in addition to receiving a signal from an encoder The drive can provide buffered encoder output or emulated encoder output When using the emulated encoder output the resolution can be changed for the output via the scaling settings Please refer to Section 4 2 2 3 for more information 4 2 2 1 Digital incremental encoder If a HIWIN series AC servo motor is used users just need to select the motor model name The program wi
103. ant from file Load the fgr file This file contains the control system 3 Load gains from file Load the gns file This file contains the control gains F Loop constructox 0 21 Load Load plant gams from file vel loop Pos loop AT Pos controller P margin P margin pave Load plant from file 9r G margin G margin get game from controller dnave Load gains from file Or bandwidth bandwidth Set gams to default Gain Gain dk Gain db tita Phase fi d su fi ki 8 Bios send gains to controller d rive ph gain f1 k2 Nichols Show filter 1 i Points i 2 Win f Odb cut OG A fe Hertz C Rad sec Full ser I i 1000 lias elie ppg 1000 2000 Fig 6 38 Loop constructor load data from file When it is needed to save the control system and gain parameters is needed after the loop constructor analysis users can save them by selecting File gt Save from the Loop Construction interface There are three kinds of files can be saved such as 1 Save plant gains to file 2 Save plant to file 3 Save gains to file as shown in Fig 6 39 1 Save plant gains to file Save the lop file This file contains the control system and gain parameters 2 Save plant to file Save the fgr file This file contains the control system 3 Save gains to file Save the gns file This file contains the control gain 190 HIWIN Mikrosystem Corp D2 Drive User Gu
104. are limits In addition you can check Enable Sw Limit enable sw limit enable swlimit in the Performance Center to activate the software limit protection H Protection center Protection HW limit protection Position Units Error windows count maximum pos error 26214 count Warning windaws Position error 13107 count Velocity error 1 G GHHe 8 counts Limits enable sw limit MW enable sw limit eal Lower SW limit 18888 Upper SW limit 18888 Motion Protection Speed 6 55368e 6 counts Acc 1 1291 e 16 count s 2 Dec 1 1291 e 1 count s 2 Dec kill 2 25821e 1 count s 2 Smooth factor 166 Error type setting W Latch Amnlifier over temperature error Latch Under voltage error Fig 7 6 Table 7 5 Parameter name Description enable sw limit For activating the software limit Check to activate Lower SW limit Lower SW limit position Upper SW limit Upper SW limit position 209 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 7 Protection 7 6 Soft thermal The D2 series drive also has the software to estimate the motor temperature in addition to the motor over temperature protection The current output is used to calculate the motor power that is used to estimate the motor temperature When reaching the drive default value the drive will send error messages Error Soft thermal threshold reached begin the emergency stop procedure and disabled Select Soft thermal Accumulator in the Qui
105. as long as motor homing is completed drive activates error map immediately There are two ways for the D2 drive to complete homing 1 Homing in conjunction with the host controller First Set the Home OK and Start err map input functions at I O Set test Fig 8 19 Take I2 input in the following figure is an example The setting is shown in Fig 8 19 After the host controller sends the motion commands to the drive via the pulse or voltage commands to move the motor to the home and stop motion The host controller should send signals to 12 via the digital control output If the drive receives the signal which means homing is completed and error map is activated 228 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 8 Applications IO set test Inputs Outputs State Invert 11 ARIS Enable F Kl I2 Home OK start err map bd m E I3 Not Configured m E l4 Right Limit Switch hd m r 15 Not Configured m 16 Left Limit Switch f I7 Not Configured mi r I8 Not Configured Dd Zz I9 Not Configured m a Fig 8 19 Host controller sending signals to notify of homing completion and Activation of error map 2 Stand Alone homing Open the Performance Center window to run homing Home After homing is completed the error map will be activated automatically 3 How to confirm whether the error map is activated Any time users wants to confirm whether error map is active they can observe whether the error map
106. ase contact the manufacturer to repair and check If not please check if short circuit happens and modify the wiring 2 If applicable do not hot plug the CN6 and CN7 connection of D2 Initialization of the motor fails The trunk line of a 17 bit encoder is connected to the motor of a 13 bit encoder 1 Check that the UVW three phase motor wire of the drive is connected 2 Check that the encoder is connected 3 The phase initialization parameter is not set appropriately Refer to 9 3 2 for more information about the setting The serial encoder has a communication error Check that the encoder is connected Amplifier over temperature E07 D HOT Under voltage detected E09 UND V 5V for encoder card fail E10 V5ERR Phase initialization error E11 PHINI Serial Encoder Communicati on Error Hall sensor error HAL E 9 3 1 Supplements to E03 PEBIG error elimination E12SER 1 2 Check that the extended line of the encoder conforms to the specifications of the motor The signal output of the Hall sensor is abnormal Check that the encoder is connected correctly s m T m 1 The max position error can be modified according to the steps as shown in Fig 9 8 2 Itis not recommended to set the position error higher than the default setting Adjust the servo stiffness if E03 PEBIG appears with the default setting in use 3 If no Hall sensor is u
107. bes 177 r wv mf pos ues a i i Observe the position 2b error value and you will it is E find it decreases from 581 550 to 523 495 counts during the acceleration t tjarv2013 08 30 59 Maximum Hinisen 166 086 Aur 49 935 Long lt 32 bit samp 11 278 samp Rip 87 4215 Rms 43654 6 Rip 200 2587 ref vel 360688 380808080 Avr 5 31275 Float lt 32 bit gt samp 6 397 samp 21 237 Rip 3 9176e 6 Rms 164258 RipA 1 12936e 7 55 157 55 7395 Avr 8 537013 Float lt 32 bit samp 124143 samp 79 785 Rip 5122 49 Rms 27 5084 RipA 28658 67 pos_err Aur 8 Long lt 32 bit gt samp 6 866 samp 79 777 Rip 66733 5z Rms 251 385 Ripf 276327 Range 8 147 869 delta 147 87 total 147 878 Ts 6 66667e5 187 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 6 Tuning 6 7 Encoder signal confirmation The encoder plays an important role in the servo motor control It provides the drive with the position or angle information to ensure the servo loop control In D2 drives the functionality of the encoder output signal can be checked via the HM interface 6 7 1 Encoder signal confirmation function Click amp on the Performance Center screen or select Tools gt Encoder test tune in the function menu to open the function window and check the reading or signal of the encoder for anomalies The function window is shown in Fig 6 35 Encodertype Digital Ber Position 26 878
108. ble 3 16 Rated current of the D2 Series drives When NFB is used for motor shunts the rated capacitance is usually 1 5 2 5 times the rated current of the motor The selection is described below One motor Ip Cxl Two or more motors that are started one at a time Ip 2In Inmax XK Cmax Inmax Two or more motors that are started simultaneously Ip C1In1 C2In2 CNinn Note lg NFB rated current value la Motor rated current value Inmax The maximum rated current value among different motors specifications C Multiple of the rated current usually 1 5 2 5 or 1 5 if the final multiple cannot be determined Cmax The multiple of the rated current based on the maximum rated current among the motors K Demand rate 1 is recommended if the final value cannot be determined Calculation example If five D2 0123 O An and one D2 0423 0 Bn drives are used assuming that C and Cmax are doubled Started one at a time lg 1 5 5 4 1 4 1 1 4 1 2 15 7A Started simultaneously lg 2 1 5 2 1 5 2 1 5 2 1 5 2 1 5 2 4 1 23 2A 38 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 3 Wiring 3 5 I O signal connection The D2 drive provides 9 general purpose inputs and 4 general purpose outputs on its CN6 connector for use Users can define the function of each I O point using the software 3 5 1 CN6 I O signal function description For more information on the function of CN6 I O signal pins please refer to Section
109. c kill is used for high deceleration Thus it is suggested using the maximum capacity of the motor to set Dec kill The formula is described as follows Peak current min motor peak current drive peak current Linear Dec kill peak current x force constant Total mass of a moving objects Rotation Dec kill peak current x torque constant load inertia 7 1 5 Smooth motion The smooth motion is used to lower the impact of motor force on load in the acceleration and deceleration segment during motion The purpose can be met by setting the smooth factor The value of a smooth factor is between 0 and 500 The higher the value the less the impact A value of 1 means that the smooth function is not active When a higher smooth factor is used in some cases the reduced output force of the motor is helpful for the final settings during the positioning process However the move time will unavoidably increase when the motion becomes smoother Henceforth tests on the machine are needed to adjust the smooth factor and reach a balance The motion protection function of the drive can be disabled when the smooth factor is set to 0 Moreover the smooth factor is only effective and can only be set when the drive is operated in the Position and Stand Alone Mode The factor is ineffective and the velocity mode and the Force Torque Mode 204 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 7 Protection 7 2 Position and velocity error protection
110. cal values If users uncheck a physical value the graph of the physical value will be hidden in the graphical frame area Fig 6 11 shows that 2 physical values are unchecked To uncheck all physical values click the icon in the main function keys area D 1 Uncheck all physical values Or click the Delete button Y MEGA FABS Motion Systems Plot view Ver 8 47 File View Tools Plots BBE li I x Hr oR GG tH a se D r YEE X poser X ref pos Iv X vel fbf 200000 0 200000 x X ent pos 400000 200000 0 23iJam2013 02 23 51 6 Time sec Fig 6 11 Plot view introduction C 163 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 6 Tuning 2 Zoom in out To observe the subtle change of a certain segment closely use the solid line and dashed line borders to select the area to be zoomed in The Plot View allows users to zoom in out the X and Y axes The followings are the icons and operations in the main function menu Zoom in the graph between the blue solid line and dashed line on the X Ze axis zT Undo zoom i Redo zoom X Cancel all zoom in displays Zoom in the graph between the red solid line and dashed line on the Y axis 3 Zoon in out on the X axis To zoom in on the physical value graph ranging from 6 to 10 seconds use the left key to move the blue solid line or use the right key to move the dashed line to frame this segment Then click Ie to zo
111. ccumulator v 0 022422 18 Feedback Velocity 937 500 countis Communication ok CAmega fabsidceVightening dce gt d2 0 C mega fabsidceld2W Fig 9 2 Status display area of the drive 9 2 2 LCD status The servo status is displayed in the first line on the home page of the panel Fig 9 3 SV NORDY Servo disabled servo off motor is not powered oV RDY Servo enabled servo on motor is powered The error or warning code is displayed in the second line on the homepage when an error or warning occurs For LCD error codes refer to 9 3 and 9 4 about the error warning codes and solutions 233 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 9 Troubleshooting SV NORDY SV RDY Error TI u Warning SV NORDY SV RDY EO1SHORT WO1 HWLL Servo status Error warning message Fig 9 3 9 2 3 Error and warning logs When D2 drive detects the identified error or warning it will store them in the Errors and Warnings Log in addition to displaying in the error warning status display area on the main screen Fig 9 2 The steps to open the Errors and Warnings Log window is shown in Fig 9 4 Lightening provides this function to prevent the displayed error or warning message that the D2 drive reports from being lost by users All errors and warnings messages occurring after the drive is powered and the numbers of the occurrences are recorded in the Errors and Warnings Log The Time Log of the Errors and Warnings Log is s
112. ch button in the main toolbar is described as below ul Save parameters in the RAM to file el Load parameters in the file to RAM Save parameters in the RAM to FLASH reset Reset the drive 89 LIGHTENING version 0 172 com8 USB 115200 DC OQ AEE aa roa HM HMM pl Controller d2 0 Axis X Firmware version Drive E Motor type AC servo mnes connection Dd Model FRLS SXX1 Axis is cofigured to Stand alone Position Mode SES Status message ann display area Error message display area Peston Un Quick View signal iiic iS rt ba me monitoring area 1 Feedback Position gt 1 count Connection 18 Feedback Velocity 0 0190705 cda status display Communication ok C imega_fabs dceVightening dce gt d2 0 CAmega_fabs dce d2 r area i Fig 4 8 Main HMI window Status message display There are three indicators for displaying the status message Lf Servo ready The green light is on when the drive is enabled and goes out when the drive is disabled Hardware Enable Input The green light is on when the hardware is enabled The drive cannot enable the motor if hardware is not enabled Please refer to Appendix B for more information to enable hardware by using external input Lf Software Enabled The green light is on when the software is enabled Both hardware and software must be enabled for driving the motor Click the Enable button in the Performance Center to enable the sof
113. cheduled Gains according to VO Secondary CG Secondary vpg 6 300008 Copy from Primary CG 8 88253268 Copy from Primary vpg When the input point state is on Secondary CG is used When off Primary CG is used unction Default Circuit ai Input No diagram De Function description This allows the execution of the homing action Instructions for use The homing action will be executed using the homing method set in the Application Center when the input state of Start Homing is changed from off to on Green is on and dark is off 88 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 4 Settings Input Function Zero Speed Clamp Operation mode Pos Gel Tg Sta Symbol ZSC Pee NN 1 Circuit Refer to 3 5 2 No diagram Function description This input function is only applicable to velocity mode and is level triggered This input function is only applicable to velocity mode and is level triggered When the input point state is on motor will be immediately servo locked when the velocity command decreased below the vel_ stop threshold If the velocity command becomes above the threshold it starts running again according to the command Please refer to the figure below The brake starting speed vel_stop is not related to the rotation direction of the motor It is ow applicable to CW and CCW CW directions vel stop 4 Motor speed Analog input voltage Dead band vel stop KG Fie T
114. ck View to see the current estimated motor temperature 210 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 7 Protection 7 7 Drive over temperature protection The D2 series drive has a protection function to detect drive over temperature When the drive temperature reaches 80 C an error message will appears Error Amplifier over temperature and the motor stops running Select Amplifier Temperature in the Quick View to see the current drive temperature 211 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 7 Protection 7 8 Drive overvoltage protection regenerative resistor When the motor decelerates the kinetic energy is converted to thermal energy for consumption The remaining energy will be used for drive capacitor charging However if the energy exceeds the capacity of the drive capacitor the energy must be consumed on the regenerative resistor in the regenerative circuit in order to protect the drive The turn on voltage of the D2 drive regenerative resistor is 370Vdc while the turn off voltage is 360Vdc Users can refer to the following characteristics figure of motor specifications to determine whether the regenerative resistor is necessary Take 200W as an example If users operate at the maximum velocity of 3000rpm and the load inertia exceeds 0 00032Kg m a regenerative resistor is necessary Refer to Table 7 6 for the selecting the model number of a suitable regenerative resistor 0 0005 5 go Regenera
115. converted to a positive logic CW CCW signal using the wiring below mega fabs D2 0423 S B F Controller D2 0423 S B G Low speed mode pulse command D2 ENEOSA 7 OV Twisted pair Fig 3 34 Wiring for conversion from a single ended negative to positive logic CW CCW signal 49 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 3 Wiring 3 6 2 Master wiring diagram for analog command input The drive can receive voltage commands from the host controller known as V command The input voltage ranges from 10V to 10V The drive can control velocity or current of the motor corresponding to the external voltage commands from 10V to 10V i 7 COM 33 1 ml 4 30 12 frere 29 13 fe 27 14 R 28 15 le 26 16 te 32 7 El L Ww 4 7k IN A 21 HI gt gt Aphase 31 18 SEP He 3 Fr fa 4 7k y All JA 22 output IO T EE B a F3 Fp gt gt B phase o im E I output KI 34 gt LI T 4 T gt outpy nD 37 O2 f Neu I SG 25 Z output open Collector iz B6 02 Lit CZ 19 D 39 O3 VU key t lt 38 03 ifn a 1 1 04 Mg lt E Ta AD E Voltage input 10V 40 04 HAN Bpi 15 13 SG pw 44 CWH pr Ex da AY 45 CWH
116. ctor Enable Input nabled any Reset Amplifier Upgrade Downgrade firmware Last error Last warning Quick view Position Units count v 38 fictual Current 0 0178231 A amp 1 Feedback Position v 3 count 18 Feedback Velocity E 17 5367 counts Communication ok CAmega fabsidceWightening dce gt d2 0 CYmega fabsidceldZ Fig 6 36 Tools gt Loop constructor N Loop constructor 0 21 Graph selection Vel loop Pos loop Gain vpatools j velcontroler 4 Pos controller P margin P margin Ypg G margin G margin tuning vig bandwidth bandwidth ag Ali d TT Filter ontrol loop gain margin and phase margin fl fr f1 xi nie foan Spectrum analysis fi k2 8 Show filter 1 Gain tuning C Rad sec Full scr D 1 1000 h se deg 1000 2008 Fig 6 37 Loop constructor interface 189 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 6 Tuning 6 8 1 File load save When using the Loop constructor function to analyze the control system users need to load the control system and gain parameters by selecting File gt Load from the Loop Construction interface There are three kinds of files can be loaded such as 1 Load plant gains from file 2 Load plant from file 3 Load gains from file as shown in Fig 6 38 1 Load plant gains from file Load the lop file This file contains the control system and gain parameters 2 Load pl
117. cy during motion Vibration suppression function VSF and suppress vibrations generated due to the system OE to improve the machine productivity DES speed clamp Se between first and second gain Control input Left limit switch Switch between primary and secondary mode Clear error Right limit switch etc Servo ready Control output In speed output 4 Zero speed detection um velocity command can be provided via the PWM PWM input Velocity command input input duty cycle Parameters can be set for the ratio and command direction The velocity command can be provided via the Analog input Velocity command input analog voltage Parameters can be set for the ratio and command direction Zero speed clamp Zero speed clamp input is possible n Servo on 2 Switch between first and second gain Left limit switch Switch between primary and secondary mode Clear error Right limit switch etc Servo ready Error In speed output 4 Zero speed detection opouu 0JJUOD LDOJSN Control input Control output opouu 04juoo enbJo The torque command can be provided via the PWM PWM input Torque command input input duty cycle Parameters can be set for the ratio and command direction The torque command can be provided via the analog Analog input Torque command input voltage Parameters can be set for the ratio and command direction Velocity limitation function Setting the velocity limitation is possibl
118. d definition Output Command Types Analog Invert Command C PWM 50 Scaling 1 nn s PWM 100 Dead Band A Dead band Fig 4 21 Setting velocity mode 72 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 4 Settings 4 2 3 5 Force torque mode principles 1 V command The drive can receive commands from the host controller via voltage known as V commands The input voltage ranges from 10V to 10V The drive makes the received 10V to 10V input voltage correspond to the current control to drive the motor The analog voltage signal is converted to a current command to directly control the current output of the drive and thus the force and torque of the motor The higher the voltage value the higher the output current but it will not exceed the upper limit set by the drive Conversely the lower the voltage value the lower the output speed When the voltage value is negative the output speed becomes negative too and the motor operates inversely The current to which the unit voltage corresponds can be set in the drive 2 PWM command In addition to the voltage the host controller can send commands via PWM signals known as PWM commands The PWM command converts to different velocity or current commands depending on the duty cycle It is classified into single wire PWM 50 and two wire PWM 100 types The single wire PWM 50 type refers to the duty cycle of 50 An inverse motion occurs when the duty cycle is
119. d to Plot View 169 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 6 Tuning 2 Fast Fourier Transform FFT Click EET in the main function keys area to open the window as shown in Fig 6 21 Select a physical value e g pos err for implementation of FFT Click Run FFT to generate the transformed graph as shown in Fig 6 22 Users can click to cancel FTT The icons of the main function keys are shown below p Implement FFT for a physical value UE Cancel FFT n FFT ver 1 0 E m poser Samples 456 928 pos er Neer Power 2 524 288 nos err C Extend to Power2 9961 472 steps C Extend to Power2 hy zeros 9 961 472 steps C Extend to Power cycly 9 961 472 steps Direct FFT 111 633 564 steps Run FFT Cancel steps ax Fig 6 21 FFT settings 8 MEGA FABS Motion Systems Plot view Ver 8 47 Ta dt Safe oF AE Frequency Hz FFT X pos err Fig 6 22 FFT Plot View 3 Natural logarithm The natural logarithm function to express the X axis in logarithmic form and it is only applicable after FFT is completed Main function icon is as follows Express the X axis in logarithmic form It is only available after FFT is completed 170 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 6 Tuning 6 6 Advanced gains Important tasks of the servo drive include the time it takes for the motor to move from start point to the specified position of Move amp Settle the posi
120. de Mode a e Gearcnor Giearemor Clear Eror Giearemor No Right 4 Right 4 Right 4 Right 4 Ke Limit Switch Limit Switch Limit Switch Limit Switch 80 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 4 Settings Input Symbol EMG DEIA neu 2 Circuit Refer to 3 5 2 No diagram Function description A user can use his host controller to trigger this input signal of D2 under position velocity or Stand Alone mode The drive will decelerate the motor to stop as a result of the emergency stop function The deceleration value for the emergency stop can be set in the Dec kill field in the Performance Center Instructions for use A users select Abort Motion 12 by default in the Inputs tab of the I O Center The signal is triggered externally to immediately decelerate the motor to a full stop Outputs State Invert H Start Homing gt r I Ahort Motion Y I3 Axis Enable 1 Start Honing 12 Abort Motion 3 Axis Enable Svitch to secondary CG M Switch to secondary CG Near Home Sensor I5 Near Hone Sensor 5 Left lt gt Limit Switch IG Left Limit Switch T Switch to secondary mode EF Switch to secondary node Switch HI LO Pulse Input IG Switch HI LO Pulse Input Right lt gt Limit Switch I9 Right lt gt Limit Switch b Ej I j fr E mi m I 9 I I In The signal is triggered externally and the motor immediately decelerates to a full stop Set De
121. defined as home If you select to use Search index signal the home point wiil be at index position Left side condition Right side condition Left Limit Switch Search index signal None Search end stop current A BA A amp Time 8 8 Use Near Home Sensor Index for Homing 1 Go Left firstly Use Faster speed 2 Serach Near Home Sensor then change to lower speed move left search index Fig 8 12 Faster speed Slower speed i O o D 3 Fig 8 13 8 1 3 Home offset If the Home Offset is set to a non zero value a new home will be set by being moved from the original home by a distance Take the left and right side conditions are not set to None the drive will move the original home by a distance to become the new home Fig 8 14 If the Home Offset value is positive the new home will be on the right side of the original home If the Home Offset value is negative the new home will be on the left side of the original home Home offset Original home found according Home to the original conditions Fig 8 14 Left border Right border 223 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 8 Applications 8 2 Backlash compensation The backlash error is a platform that moves along a fixed axis and stops and when it begins to move in the opposite direction the platform does not move immediately but stays in the same position and waits for the motion command to accumulate to a c
122. description of the procedure 1 Press the Enter key to enter the CG edit mode A solid flashing cursor will appear on the left side of the second line 2 Press the Down key and the flashing cursor will move to the 0 position Press the Function key This allows the Up and Down keys to change parameter values 4 Press the Up key twice and stop when the number turns to 1 5 Press the Function key This allows the Up and Down keys to move the cursor 6 7 Press the Down key twice to move the flashing cursor to the 5 position Press the Function key This allows the Up and Down keys to change parameter values 8 Press the Down key three times and stop when the number turns to 2 9 Press the Enter key and the CG changes to 1 2 Note The following instructions are for the Function key when using the LCD parameter edit function 1 When pressing the Function key for less than one second the operation function switches the Up and Down keys between moving the cursor and changing parameter values 2 When pressing and holding the Function key for more than two seconds the screen will return to LEVEL ONE and any changes will be discarded 122 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 5 LCD 065 5 Press the key twice to move the cursor Use the Up and two steps to the right Down keys to change the values Use the F keys to change the values Use th
123. diagram 23 Dalton ONE BAKE COMET e t 25 3 1 6 Mini USB communication CN3 rrernnnrnnnnrennnrennnrrennnrennnrrnnnrennnnrnnn 28 Ser ONO ONE 29 SONNE 31 32 D2 drive ACCESSONIES avanse 32 3 2 1 Motor power Cable Larssen Seeds 32 3 2 2 Feedback signal Cable ue Siret eo ere Susa oe ae 32 3 2 3 Gontrol signal cable oiii e Ere En Deor Eun Cu elec i eve tius 32 2924 USB COMMURICATION CAD 6 ceca eo nta eR qeu penu 32 3 2 5 Accessory kit module 2 33 3 26 EMC ACCESSON Kleen 33 3 2 7 Regenerative FeSISTOM cccsccceecceeeceeeseeeseeeceeeceeeseeeseeeseeeseeeseeeseeees 33 3 2 8 Connector specifications eeseeessseessseeeneen nenne 34 3 3 Standard main power circuit wiring eeeeseeeeseeeeeeennnnn n 35 3 3 1 AC power wiring diagram single phase eseseeeeseesss 35 3 3 2 AC power wiring diagram three phase rrrrrnrrnnnnnvnnnnrnnnnrennnnrnnnn 36 3 4 Multiple drive connection example ccceeceseeeceeeceeeeneeesaeeeseeeseeesseeessees 37 3 4 1 Selection of no fuse breakers NFBS cccccccecseeeeeeeeeeeeeesaeeeesees 38 3 5 VO Signal FOM 39 3 5 1 CN6 I O signal function description rrarrrrnnrerrarrrrnnnerranenrnnnennnnennnn 39 3 52 DIGG NST WIFIPIG eden duene 40 3 5 3 Digital OUtput WING 2i ios uuo Eo Rd E Sep rear eske 42 9 5 WVrngexambples Dy MOE sa 43 3 6 1 Master wiring diagr
124. dity or flying dust iron powder or metal fragments Install the product in a place where the ambient temperature meets the requirements of the Operation Manual Use a cooling fan in case of potential high temperatures Do not install the product in a place exposed to direct sunlight Since the product does not have a waterproof or moisture proof case do not use it outdoors or install it in a place where water or other liquids exist Install the product in a place vibrations are as low as possible Depending on the frequency of use heat is generated when the motor is used continuously Use a cooling fan or set the product to standby if it stops in order to lower the ambient temperature of the product so it does not exceed the specified value D2 Drive User Guide v1 2 1 About the User Guide Installation N Attention 1 Do not place any heavy objects on the product to avoid damage 2 Do not mix with foreign matter or debris to avoid fire 3 Ensure that the product is oriented and installed in the specified direction to avoid fire 4 Protect the product from high impact shocks to avoid damage or injury 5 The product weight must be taken into account during installation Inappropriate installation may cause damage or injury 6 Install the product on a metal or similar noncombustible rack to avoid fire Wiring Attention 1 Correct and reliable wiring must be used to ensure stable opera
125. e The auto tune procedure starts automatically after execution The load inertia is automatically Auto tune determined without the need to set it manually All required gain values are set using a key on the LCD display Emulated encoder output Can be set freely maximum frequency 18M cnt s 1 Motor short circuit detection 2 Overvoltage 3 Position error too big 4 Encoder error b Soft thermal protection Protection function 6 Motor disconnection detection 7 8 9 10 Amplifier overheating Under voltage Abnormal 5V encoder power source Phase initialization error 11 Abnormal serial encoder communication Error log feature Errors and warnings can be logged and reviewed Method Establish error mapping using linear interpolation encoder error compensation Sampling maximum 16 000 points sid maximum Sampling maximum 16 000 points sid 000 points Error mapping Storage Flash ROM hard drive file Flash Storage Flash ROM hard drive file hard drive file Unit um count um Unit um count Activation After internal Si M CR MN or activated by external input Si M CR MN Miscellany Friction compensation backlash compensation O 3 3 5 11 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 2 Overview of the Specifications 2 2 2 Servo drive specifications pulse type Tape 2 3 n Single phase 200 240V 50 60Hz Power input 220V p C Frame Frame C Fra
126. e 58 E HilV HIWIN Amplifier S g oa PX O center Outputs State Invert 11 Start Homing EN Li I2 Abort Motion 13 Axis Enable i4 Suitch to secondary CG E 4 15 Near Home Sensor 16 Left lt gt Limit Switch I7 Switch to secondary mode 8 Glear Error 9 Right gt Limit Switch sau gass Communication ok Set Default Fig A 1 248 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 A Axis Enable Setting A 3 Confirmation of the enabled state The drive receives the enabling signal from the host controller when the state indictor of the Hardware Enable Input lights green Fig A 2 LIGHTENING version 0 172 com3 USB 115200 Conf Tune Tools Language About Advanced SI ES HiW N Vo litt i i HAVEN Amplifier Controller d2 0 Axis X Firmware version E oa 6 026 Motor type RC servo s Model FRMS48251 Axis is cofigured to Stand alone Position Mode Status Hardware Enable Input J software Enabled Servo ready Last error L t Quick view Position Units count 36 Actual Current gt 0 0680510 amp 1 Feedback Position 5050 count 18 Feedback Velocity v 18 4477 countis Communication ok C mega_fabs dce ightening dce gt d2 0 C mega_fabs dce d2 r Fig A 2 A 4 HMI control of axis enable Usually the Axis Enable signal that the host controller sends through the input por
127. e button to enter the scope screen Set the Friction Compensation to O Set the desired acceleration Set the Dwell Time to 500msec Use the P2P function to move the motor back and forth 185 D2 Drive User Guide v1 2 6 Tuning Coutroller 470 Anis an j ad aad it y yor It Command Current 1 0715 1 peak 4 lesition Error DEP rates 15000 Fab 172 282 Toned 19 aT OA PEE E As the figure shows the e NEL Fy average of the 5 ao eres a pn command current is Ier prr p ro 0 61 and the position error is 581 550 counts av Plot statssthes Plot Min iran ref pos Long 32 bit sanp 12 305 ref vel 10000 300008 Float lt 32 bit samp 22 152 sanp 7 437 connand 57 5174 59 2126 Float lt 32 bit sanp 118288 sanp 36 317 oui s 29 6869 19192 5 Long 32 bit samp 21 792 samp 36 472 ip 2652 69x 284 965 10528 3x Range 8 156 904 delta 156 9 5 total 156 985 13 Advanced pains Acc Schedule Analog current feedforward Gaing vpg input loop Enter the average command current of friction compensation 4 618008 0 1 drive peak cur Step 5 in the Friction compensation Compensation field 1 Press Sat scope 186 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 6 Tuning MUNN TE WI CHE TU 2 Reference Position 11 Reference Velocity E A Command Current 2 60594 8 1 peak 4 Position Error OG rates S000Hz a
128. e Description Maximum position error Maximum pos error dur limit value Position error warnin Position Error g value Velocity error warnin Velocity error y g value 205 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 7 Protection 7 3 Brake output 7 3 1 Function overview In order to protect the motor and the system structure the D2 series drive provides a brake signal output for actuating the external electromagnetic brake It is commonly used in the actuation of motor in Z direction There are some sequential motion issues in this application For example when motor moving in Z direction at great speed receives disable command from drive and activates brake directly it will cause huge vibration and damage in machinery Moreover if disabling motor too early the machinery and motor may slide down The D2 drive has the exclusive brake parameter to reduce the aforesaid risks 7 3 2 Brake stop sequence After the drive receives the hardware input signal or the software disables the following sequential actions will begin Step 1 In counted the brake will be activated after the delay time delMaxEnToBrk which starts from receiving the disable command by the drive However if the motor decelerates to the brake starting velocity vel_stop the brake will be activated first Step 2 The post stage power will be shut down and the motor will be disabled after the setting brake time delBrkToDis which is counted f
129. e F keys to change the values Press the key yg three times and y stop when 2 appears in the sequence of 353433 gt 32 Press the key twice and stop when 1 appears in the sequence of 203031 Fig 5 9 Operation of CG parameter LCD No 065 change example 123 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 5 LCD B I B v M n Fig 5 10 Number switching sequence in parameter edit mode 124 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 5 LCD 5 3 3 3 Changes of non numeric parameters The drive operation mode and the pulse format of the host controller allow for changing non numeric parameters Operation Mode Follow the operation steps below to change the operation mode settings Please refer to Fig 5 12 for an illustrated description of the procedure 1 Press the Enter key to enter the non numeric parameter change mode A solid flashing cursor appears on the left side of the second line 2 Press the Up or Down key to select the Position Velocity Force Torque Current or Stand Alone mode 3 Press the Enter key to confirm the setting change 3 MODE POSITION CES 0 VELOCITY 3 MODE i POSITION Position mode Force Torque mode Or 3 MODE MODE Stand Alone 3 STNDALON mode STNDALON Fig 5 11 Changing the operation modes 125 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 5 LCD 5 3 3 4 Sett
130. e F1 2 Motion Protection Common Gain Position Units Speed 48000 8 counts 0 988000 count vj Acc 588000 caunt s 7 Dec 588888 count s z Stop motion Dec kill 5 80008e 6 caunt s 2 Smooth factor 258 Status id Hardware Enable Input C P2P MT Repeat P1 GOMPI Jj Software Enabled Dwell time d 1000 msec P2 25008 che py J Servo ready iA Phase Initialized 1 amp fmi Home Fig 6 5 Performance Center Position page Relative move Distance 1 count S 2 OA OM Enable Motor excitation Disable Motor de excitation Zero Set the current position to zero otop motion Stop the motor Position Units Set the unit that the use prefers for the operation This has the same effect as the setting function in Quick View on the main screen Motion Protection The motion protection parameters of the motor are also the velocity acceleration deceleration emergency stop deceleration and smooth factor for the test run Users can use the smooth factor to determine the S curve or T curve track and the adjustment range is 1 500 The track is closer to an S curve with a higher adjustment value and is closer to a T curve with a lower adjustment value Refer to 7 1 for more information Position Units Setting the unit that users prefers for the operation This has the same effect as the setting function in Quick View on the main screen P2P Point to Point Helative move Relative motion Jog This stands for a contin
131. e Position Mode Velocity Mode or Force Torque Mode it is strongly suggested that users set Acc and Dec to 10 times the value of expected acceleration or deceleration to avoid the restriction of motion protection If you ignore the action and use the host controller to send motion commands the expected acceleration or deceleration may be not reached 7 1 3 Cancelation of velocity acceleration and deceleration limits In the Position Mode the velocity acceleration and deceleration fields in the Motion Protection of the Performance Center will be greyed out to show that the velocity acceleration and deceleration are cancelled when the Smooth Factor is set to O At this time the motor moves completely according to the pulse command of route planning from the host controller and users can decide whether to cancel the drive limit function based on needs 7 1 4 Applicability of emergency stop deceleration Dec kill The emergency stop deceleration Dec kill will be activated in the following situations In the Position and Velocity Mode the rotating motor will stop emergently at Dec kill deceleration when being disabled 2 After users chooses P2P and Relative Move motion on the Performance Center tab and presses Stop Motion 3 After home is found during homing procedure the motor will stop at home 4 The motor will stop in the JOG motion 203 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 7 Protection De
132. e current position to zero Please refer to Fig 5 17 for an illustrated description of the procedure Press the Up or Down key to enter the SETZER setting Press the Enter key to set the current position to zero Fig 5 17 Operation of set to zero SETZER 135 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 5 LCD 5 4 LCD configuration by mode 5 4 1 Position mode The host controller sends a pulse to the drive This pulse is the same as position command and the drive moves a corresponding distance each time it receives a pulse The host controller is responsible for trajectory planning The pulse is sent more quickly when the host controller is on acceleration motion and is sent at a fixed frequency when the host controller transmits the signal at a constant speed motion The basic setting of position mode is described below Step 1 Mode selection The steps for selecting position mode on the LCD are described below When the drive is powered on the enable state of the drive is first displayed on the LCD Press the Function key twice to move to the parameter change mode Press and hold the Down key 3 to move to the operation mode setting screen Press the Enter key to enter the setting state Press the Down key to select the option for position mode Press the Enter key to confirm the setting 136 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 5 LCD Step 2 Pulse format select
133. e entered error value is 1um the program will forcibly convert 230 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 9 Troubleshooting 9 Troubleshooting 9 HEOUDIGSHIODHFIGI EEE EE EE 231 SAS NE NNN 232 9 2 Errors and warnings of the drive rrrrrrrrarrvrnrrvnrrrrarrrrarernrrnranevnnrennnrnnnsennn 233 9 2 1 Status display area on Lightening HMI main screen 233 SEA EE DEEE I TT 233 9 2 3 Error and warning IOGS cccseccsececeeeneeeneeeneeeneeeneeeneeeseeeneeeneeeneeenes 234 9 3 Error codes and actions rrrnnnrnnnrnrannnnnnnvanrnnnnrnnnrnnanennnnnnnnrnnnnrnnnsenanennnsennn 237 9 3 1 Supplements to E03 PEBIG error elimination 238 9 3 2 Supplements to E11 PHINI error elimination 239 9 4 Warning codes and actions rrrrnnnrnnnnnnnnnvnnnnnnnnrnnnnnnnnrnnnnrnnnnnnnnennsnrnnsennn 240 9 4 1 W03 HWLL and W04 HWRL supplementation 241 9 4 2 W09 ACC L and W10VEL L supplementation 241 9 5 Troubleshooting of common ErfOrS rrranarannnranernnrerarrrranernrnvanennanenanennanennn 243 231 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 9 Troubleshooting 9 1 Status indicators of the drive The status indicator of the drive is a LED lamp on the front panel to display the current status of the drive The statuses are describ
134. ed Index Output in every revolution Scalling 5 encoder count 1 emulated encoder output Emulated index radius 1 counts Emulated index jitter filter 1 counts Fig 4 17 Emulated encoder output Transmission of Z phase signal to the host controller When an AC servo motor with a 17 bit encoder is used and the encoder output mode is set to emulated encoder output the Z phase signal can be sent to the host controller The option for this setting is the Emulated Index Output in every revolution in Fig 4 17 Transmission of Z phase signal 1 If the Emulated Index Output in every revolution option is not checked the drive sends the Z phase signal only when it reaches the index position for the first time 2 If the Emulated Index Output in every revolution option is checked the drive sends the Z phase signal every time when it reaches the index position 69 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 4 2 3 Mode configuration 4 Settings The settings screen for the operation mode is shown in Fig 4 18 After the parameters of the previous three steps have been set the operation mode parameters of the drive must be set Configuration center Motor Encoder Mode Primary Operation Mode Electronic Gear selection area m Input pulses n Output counts DIV2 DIV1 1 00 Position Mode C Velocity Mode C Force Torque Mode C Stand Alone Mode t 0 1 1 10 11
135. ed in the table below L Status indicator Status indicator Status of the drive Off The drive is not connected to the power source Both red and green lamps flash The drive is booting T d LId ME zO ozo P00000000666 ll Flash green The motor is not powered Light green The motor is active The motor is not powered and an Flash green and light red error occurs Note The status indicators look orange when both the red and green are on Fig 9 1 232 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 9 Troubleshooting 9 2 Errors and warnings of the drive 9 2 1 Status display area on Lightening HMI main screen When an error is identified the D2 drive will activate the protection mechanism and display the description of the last error in the Last error area Fig 9 2 Users can use this description to adjust and confirm the error of the drive When any incident which needs to be warned occurs during the operation the drive will display the incident in the Last warning area 29 LIGHTENING version 0 154 com USB 115200 Conf Tune Tools Language About HW X iW HIWIN Amplifier Controller d2 0 Axis X Firmware version om 6 668 il Motor type AC servo og Model FRACKK4622 Axis is cofigured to Stand alone Position Mode Status A Hardware Enable Input A Software Enabled LA Seno ready Quick view Position Units count v 1 Feedback Position v 4605 51 Soft thermal A
136. ennennn 243 A Axis Enable Seng avse seer 247 A 1 Axis enable via the host controller eee 248 A 2 Temporary hardware enable ccccceccseccseecceeeseeeeeeeseeeseeeeueeeueeseeeaeeeaaes 248 A 3 Confirmation of the enabled state us eoe Svo EET eme EPM IP EPANS 249 A HM Control OT axis enable sagaene 249 B Parameter Comparison Function ccccccceceeeeceeeeeceeeeseeeeeseeeeseaeesseeeesseeesaeeesees 251 B 1 Compare parameter RAM to Flash rrrrannrnnnnonnnnnnnnnnennnnrnnnnnennnnennnnnennnnen 252 C How to Update the Firmware of the Drive ccccccccssececesceteeeeseseetseeeeeeeeensness 255 C 1 Update the firmware of the drive HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 Table of Contents Revision History 1 0 2012 06 05 Frist Release Renew Figure 2 1 and Figure 2 2 hl Uere Henew CN6 connector part number 1 Update the description of LCD operation 2 Update the description according to motor model 1 2 2014 05 15 D2 series Drive HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 1 About the User Guide 1 About the User Guide 1 About the User Guide cc cece cece cccccccccccecececcccccecececcacacecececcaeaceteteceaeaueteteneaeanenenes 1 1 1 Instructions before use cccccccccccccccecccccccccaceceaceceneccenecceteaesueatateneaneneaeanes 2 1 2 Safety sellos acetum ere ee eee ee eee ee ee eee eee eee 3 1 HIWIN
137. ers ad Kp 1327 32 Frequency 8 888808 Hz Damping factor xi 8 787888 Freq analyzer Fig 6 32 Current loop Current filter 182 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 6 Tuning 6 6 6 Vibration suppression function VSF The VSF is used to suppress the vibration generated by the motor in motion The vibration is significant when a cantilever beam is used as the loading mechanism User can use a scope to measure the vibration frequency at the location where vibration is obvious and enter the measured value in the Frequency column The enable VSF must be checked to enable the VSF User then needs to move the motor for verification of the effectiveness When the motor is moving user can use the VSF factor value 1 0 by default to adjust the effect of the suppression The allowable range is 0 7 1 5 13 Advanced gains Acc Schedule Analog current feedforward Gains vpg input loop enable VSF Frequency 8 808088 Hz 0 1 200 VSF factor 1 000808 0 7 1 5 VSF Vibration Suppression Function is feature which may help to eliminate low frequency vibration during motion 1 Use scope or data collection tool to review the frequency of vibration during motion 2 Set VSF factor to the range recommended above a value of 1 will be good in most cases Fig 6 33 Vibration suppression function VSF 183 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 6 Tuning 6 6 7 Friction c
138. ertain degrees The setting page is shown on the Backlash tab As it is shown the backlash compensation setting can be used for backlash compensation to improve bidirectional repeatability A Application center Homing Backlash Error Map Resolver Position Units count v Backlash 8 count Fig 8 15 Backlash compensation settings Backlash setting method Enter the measured backlash value in the settings to complete the backlash compensation setting 224 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 8 Applications 8 3 Error map A systematic error in the machinery often exists in the positioning system of the AC servo motor driving screw A laser interferometer is generally used to measure the positioning accuracy The positioning error table obtained from the measurement coupled with error map can improve the accuracy The error table is entered to the drive via the HMI input and saves The drive applies the information in motion to calculate the error value through the linear interpolation in certain distances in order to improve the positioning accuracy When using the laser interferometer in measurement users can use the integer multiple of the screw pitch as the sampling distance of laser measurement to measure the error value of every stop point and obtain the systematic error of screws The values will be entered to the drive for the improvement of accuracy After obtaining the error table from the
139. f the values on the Y axis in the graphical frame are locked and shows red the vertical display range will not be dynamically adjusted when you drag the horizontal scroll bar Fig 6 15 If you click the 1 icon at the upper right corner of the screen the original graph on the Y axis before the zoom in will be displayed Refer to Fig 6 16 for the illustrated description ES MEGA FABS Motion Systems Plot view Yer 8 47 Ele View Tools Plots 203266 v Kref ace e E X enc pus 58 239 40000 20000 U 23 Jan 2013 02 27 05 52 Time sec Fig 6 14 Plot view introduction F 165 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 6 Tuning ES MEGA FABS Motion Systems Plot view Yer 8 47 File Yew Tools Plots E ES Ed v I v X pos er 2 150 100 283266 0 2UDUUU 1e 6 0 lv X enc pos 60000 50 239 40000 20000 23 Jan 2013 02 27 05 Time sec Fig 6 15 Plot view introduction G ES MEGA FABS Motion Systems Plot view Ver 8 47 File View Tools Plots BEBE Vv zt z x ETR SA EI HH s ML wer D i p 3 2 The parameters are not 150 adjusted automatically to match with the graph 100 Iw X vel fof 200000 263266 0 200000 6 1e 6 0 58239 97 23 Jan 2013 02 27 05 z j 5 6 5 8 6 Time sec Fig 6 16 Plot view introduction H Slider moving direction When the area is framed using the blue solid and dashed lines the value
140. fault Sat Default enable sw limil P1 8 Disable F1 2 Motion Protection 363 0 Primary CG Position Units Speed 1 i counts 8 390808 Zaro count bd Acc 1AAPA A countis 2 Dec 18808 4 countis 2 Dec kill 580990 8 countis 2 Smooth factor 584 When the input point of the Abort Motion is true indicator on the external pulse command is ignored and the drive decelerates the motor as a result of the emergency stop function Dec kill 81 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 4 Settings Input Symbol INVC input None Circuit Refer to 3 5 2 O diagram Function description This inverts the command from the host controller Instructions for use Specify the Invert Command as the input function in velocity or force torque mode When Invert checkbox is not ticked positive voltage means forward motion and negative voltage means backward motion When Invert checkbox is ticked voltages have opposite meaning Analog Command 0 10V 0 10V Whether Invert checkbox is ticked Forward Backward Forward Backward 82 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 4 Settings Input NE Switch to Secondary Mode Operation mode Symbol MOD PORN pm I7 Circuit Refer to 3 5 2 No diagram Function description This enables users to switch the mode using the I O signal from the host controller Instructions for use User can set the modes in the Mode tab of the Configuration
141. feedforward gain r Tune acc feedforward gain 1 Press Set scope 2 Set Acc feedforward gain to 0 3 Let motor move at the desired high acceleration 4 Write down the maximum Command Current during acceleration from the scope 5 Write down the according maximum Reference Acceleration from the scope 6 Calculate max Command max Reference Acceleration 7 Put the result into Acc feedforward gain 8 See the position error reduced Fig 6 28 Acceleration feedforward Acc feedforward The procedures for adjusting the acceleration feedforward are described below 1 Set scope Click the Set scope button to ii show the scope screen Acc Schedule Analog feedioward Gains wpg input Set Acc feed forward gain to 0 Acc feedforward gain 6 686808 Motion Protection Speed 588888 Acc 1 76691e 6 Set the maximum acceleration MILL as required Dec kill 1 76691e 7 Smooth factor 588 wil as ok Use the P2P function to move 1908 msec P2 50900 the motor back and forth 175 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 6 Tuning Record the command value of the maximum current in the acceleration segment You can see the Command Current is 16 in the acceleration segment in this example Z4 BINE 0 1 peak Hecord the maximum reference acceleration value in p the acceleration segment The reference acceleration is 950 000 count s 2 in this 20 Refe
142. flash memory The FINISH message will appear after completing the save Please refer to Fig 5 8 for an illustrated description of the procedure LEVEL ONE LEVEL TWO 3 cun H 3 SAVEFL W No No keys will respond when El pressed while the PROCESS nd is message displayed Dynamic 3 SAVEFL 3 SAVEFL E YES PROCESS i Wait 2 seconds l l l l No keys will respond when 3 SAVEFL pressed while the FINISH is FINISH d message displayed Wait 2 seconds Fig 5 8 Operation of Save to flash 121 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 5 LCD 5 3 3 2 Parameter edit function The editable parameters of the drive such as CG VPG ST CG MODE PULSMODE ACC VEL_MAX advanced parameters are variables which can be used to set values The parameter edit function on the LCD can be used for setting values or use the Up and Down keys to move the cursor or switch the values based on users needs Press the Function key to switch between functions The following example is used to perform how to change the CG LCD No 065 parameter and the changes of all other parameters can be referred to this example If the CG needs to be changed from 0 5 to 1 2 enter the CG editing page and follow the below setting procedure to change the parameter Please refer to Fig 5 9 for an illustrated
143. fter completing the search of Near Home Sensor users can search the index signal of encoders on left or right sides for better accuracy Homing action is described as follows The motor will move in the setting initial motion direction parameter at the initial motion velocity parameter 2 to search the Near Home Sensor or the index or 6 Home Sensor Index for Homing Parameter Parameter Left firstly Use Slower speed Serach Index signal only Parameter 8 Fig 8 10 221 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 8 Applications Table 8 3 Initial motion Set to search the left side first den Right Set to search the right side first Search at the low homing velocity Set the Slower speed n Initial motion velocity in the Slower Speed area Fig 4 36 velocity Search at the fast homing velocity Set the Faster speed Ws velocity in the faster Speed area Fig 4 36 Index signal only Search the index signal of encoders only Near Home Sensor only Search the Near Home Sensor only Near Home Sensor then After the Near Home Sensor is found switch Searching change to lower speed move to search the index signal of encoders on the homes method left search index left side at low homing velocity Near Home Sensor then After the Near Home Sensor is found switch change to lower speed move to search the index signal of encoders on the right search index right side at low homing velocity If use
144. function for each input Z phase output Ic 0 6A Max Vce 40V Max Z output open collector ov 47 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 3 Wiring 3 6 1 5 Host controller is Source PNP without current limiting resistance Wiring for the host controller with single ended signal example Low speed pulse command 500 Kpps or less Host troll fab Users can define the eran iene 12 24VDC mega tabs function for each PNP type D2 Series Drive output A p PLS Low speed pulse input Signal output CN6 CW A A NN COW B C Photo 34 E aml Coupler x Ue Relay wiring Twisted pair A e Aphase BE output B 48 B phase rag AJ A output 24V User can define the Eje Z phase function for each o Ka EE MEET E output input Ic 0 6A Max Vce 40V Max Z output open collector ov 48 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 3 Wiring x Note The signal logic of the pulse command received by the D2 drives D2 0423 S B F and D2 0423 S B G is shown below Table 3 18 Pulse Positive logic Negative logic Pulse gt PLE LI LI LI LI e Dir She If the host controller has a single ended negative logic CW CCW signal it can be
145. gher the output speed but it will not exceed the upper limit set by the drive Conversely the lower the voltage value the lower the output speed When the voltage value is negative the output speed also becomes negative and the motor operates inversely The command speed to which the unit voltage corresponds can be set in the drive 2 PWM command In addition to the voltage the host controller can send commands via PWM signals known as PWM commands he PWM command converts to different velocity or current commands depending on the duty cycle It is classified into single wire PWM 50 and two wire PWM 100 types The single wire PWM 50 type refers to the duty cycle of 50 An inverse motion occurs when the duty cycle is less than 50 while normal motion occurs when the duty cycle is more than 50 The two wire PWM 100 type needs one more pin to control the operation direction of the motor The PWM command is converted to a velocity command to directly control the operation speed of the motor The velocity to which the Full PWM corresponds can be set in the drive 4 2 3 4 Setting velocity mode Velocity mode can be selected if the host controller is used to send analog commands or PWM commands Only the ratio scaling between the external command and velocity has to be set for the velocity mode The unit shows the corresponding relationship between 1V and mm s or rpm or between the Full PWM and the highest speed Dead ban
146. h button in the HMI main function tool bar to save the parameters in the flash memory This will retain the parameters even if the drive is turned off 108 D2 Drive User Guide v1 2 4 Settings 4 7 Save to Flash Click the 23 Save to Flash button in the main HMI window to save the current parameters in the flash memory Parameters saved in the flash memory will be retained even if the drive is turned off 1 The emulated encoder output function will temporarily fail when the parameters are saved If the host controller is connecting to the emulated encoder output signal the encoder information that the host controller receives may be lost 2 The compensation table of the error mapping function will not be saved A save action must be executed on the Error Map page to save the compensation table 109 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 4 Settings This page is intentionally left blank 110 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 5 LCD eo 111 EN TEN 112 He MT 113 53 POUR eDEo E 115 6 1 PG AROME 01210 ETT RE EA 117 5 3 2 Display parameters page rrrnrrrnrrernvrrnnrennvrennrrrnnrennerennernnnrennerenne 118 5 3 3 Change parameters page rrrnnrnnnnrnnnrnnnnennnrnnnnrrnnnrnnnrnnnnennnrennsennnne 120 0 94 FACIIONS DOO Lanser aimer ERARE vd ad eras uia 130 5 4 LCD configuration by MOE
147. he home Users can choose the Left Right Limit Switch on the IO oet test page or search the End Stop that is search left and right side conditions through the current generated by motor touches the mechanic stop If you want to search the single index in the stroke and define it as the home check the Search Index Signal Homing in this mode is described as follows The motor will move at the slow homing velocity in the initial motion direction set at the beginning parameter D For example assume that parameter is Left the motor will search the left side first and then the right side and stop at the middle point will be considered as the home of both sides If users checks the Search Index Signal the index closest to the left side condition in the motion will be set the home The searching conditions of left and right side are determined by the settings parameter and parameter 3 Go Left and Right for Homing Parameter D This mode will use the Slower speed to let motor goto Left side then oppsite side and then stop atthe middle where itis defined as home If you selectto use Search index signal the home point wiil be at index position Parameter 2 Leftside condition Parameter 3 Right side condition Mone Search index signal None Search end stop current 4 48 A amp Time B B msec Parameter 4 Parameter 5 Fig 8 5 Determine home by searching the left and right side conditions 218 HIWIN Mikrosystem Corp
148. he motor is in motion to perform the emergency stop or click F12 to servo off the motor 154 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 6 Tuning 6 2 Performance center Most of stage turning are performed by using the functions in Performance Center You can perform a trial run after the auto phase initialization of the motor is completed Chapter 4 The Performance Center allows users to perform the trail run so that they can make tuning and observe the motion performance by assistant tools There are three motion modes in the Performance Center for the trial run The motion related parameters such as velocity acceleration deceleration emergency stop deceleration and smooth factors are also set here The 3 motion modes are 1 Point to Point P2P 2 Relative motion 3 Continuous motion Jog Performance center as ER Al gl A Position Velocity Ripple Target radius 100 Set scope Debounce time 146 6 Move time 25652 3 Settling time 99 9 Total time 25152 1 enable sw limit P1 12 Disable F12 OR CUD Primary CG Speed 2568 06 counts 8 388888 Acc 250006 9 count s 2 Dec 25888 H count s 2 Stop motion Dec kill 3 6000Ge 7 counbs 2 Smooth factor 198 Position Units Zero count Status WM Hardware Enable Input mi Repeat GOMPI Ji Software Enabled Dwell time 1900 GOmP id Servo ready aM Phase Initialized mi Moving mMHomed MSM mode Fig 6 4 Perfor
149. he motor when a false signal is received 4 4 1 Inhibit Pulse Command i 11 Inhibit Pulse Command B 2 Home OK start err map 4 i2 Home OK start err map 3 Axis Enable 13 fixis Enable Switch to secondary CG l4 Switch to secondary CG 5 Near Hone Sensor I5 Near Home Sensor 6 Left lt gt Limit Switch IG Left gt Limit Switch Switch to secondary mode 7 Switch to secondary node 8 Clear Error i8 Clear Error i a gamma BiB KEKE D x Ux Ix 18 Ex E KK Us 1x s eee ee ee 5 Right lt Limit Switch 19 Right lt gt Limit Switch External signal is triggered and the motor stops Set Default Set Default 85 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 4 Settings unction Default Input Circuit Symbol PSEL None diagram Refer to 3 5 2 Function description This enables users to trigger the input signal via the host controller to switch high low speed pulse input channels Instructions for use Users can select Switch HI LO Pulse Input Command as in the figure below in the Inputs tab of the I O Center 11 to 19 are selectable the following figures show 18 as an example The high low speed pulse input channel is switched by an external trigger signal I O center i I O center Outputs Outputs 1 Start Homing Start Homing I2 Abort Motion 2 fihort Motion 13 Axis Enable 3 Axis Enable 14 Switch to secondary CG Switch ta secondary CG 15 Near Home Sensor Near Hone
150. he physical values as a txt file zs Save the graphs of physical values as a bmp file Select Save Open in the File function menu to save or read the Plot view gpp file Fig 6 17 SY MEGA FABS Motion Systems Plot view Ver 8 47 EEK File View Tools Plots Open zt x eet L bd w fl He r Dj Save Open single plot 2 X Seve to TXT file Save to TXT file with Time 1 Save to BMP file 1 Print 200000 AK Reset plots a z 2 w E X ref acc 2e 6 P 1e 6 fl 3 LTT fT TG C E X enc pos 58 239 23 Jan 2013 02 27 05 Fig 6 17 Save as gpp file 167 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 6 Tuning 6 5 3 Mathematical operation The Plot View also provides the operational function of physical values such as integration differentiation addition and multiplication It allows User to operate in the Plot View and observe the operational result directly It also provides the maximum minimum of the physical value ripple calculation and spectrum analysis functions 1 Statistics table Click to show the table in Fig 6 18 The table shows the maximum minimum average standard deviation rms Rip and RipA of the physical value in the selected segment Among them Rip standard deviation average RipA maximum minimum average Main function icons are as follows The maximum minimum standard deviation rms and ripple calculation of the p
151. hown in Fig 9 5 The messages of all error and warning that have happened to the drive are recorded in the Type of error warning column and the time of each occurrence is recorded in the Time seconds column LIGHTENING version 0 172 com5 TSB 115200 Conf Tune ooh Language About Configuration center Anio phase center 1 0 m Performance center Advanced gains Controller d2 0 Axis X Appkeation center Motortype AC servo Protection center Model FRLS2 2X1 LO center Errors and Warnings Log Firmware version 8 822 Axis is cofigured to Stand alone Position Mode Status Da Hardware Enable Input Wl Software Enabled Mi Servo ready Last error Last warming Quick view Position Units count 38 Actual Current gt 0 000000 A amp 1 Feedback Position gt 160000 count 10 Feedback Velocity 0 000000 counts Communication ok CAmega fabsidceVightening dce d2 0 C mega_fabsidceld2tc Fig 9 4 Open the Errors and Warnings Log 234 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 9 Troubleshooting Errors and Warnings Log E BK Time Log Statistics NOTE The time shown below is calculated fram the beginning of a reset ar 24vdc turning on of the amplifier Type of error warning Time seconds E06 Motor may be disconnect WIS Servo voltage big Double Clicking atthe error or warning message will show help test for trouble shooting AEE EIER Besse um Fig 9 5 Errors and Warnings Log
152. hysical value Maximum Minimum 619 169 19 Long lt 32 bit samp 125 226 samp 168 652 ip 493 287 96 9867 4668 067 54375 53437 5 6888 48 Float lt 32 bit samp 128 169 samp 164 266 ip 572 95z 39467 5 1565 112 ref_acc 187507 18981 6 Float lt 32 bit samp 104 975 ip 392 3457 74473 4 1975 687 enc_pos 38 467 40 035 16 738 Long lt 32 bit samp 149 856 samp 112 487 ip 142 373 23828 3 469 2083 Range 91 238 149 85B8 delta 58 621 total 456 928 Ts 6 66667e 5 Fig 6 18 Statistics table Select Tools Math Operation from the function menu or click to open the window Fig 6 19 Then select a suitable mathematical operation In the case of addition for example click Linear and select pos err and vel fbf from the drop down list Then name the new physical value in the New plot name field and set the color Click Create to generate a physical value lin 1 by adding the pos err and vel fbf Fig 6 20 Other mathematical operations are same as the addition in the operation method The icon in the main function keys is as follows Mathematical operation 168 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 6 Tuning NON linear peng 0 0 2 1 Int Q we S s E LPI Fig 6 19 Math operation S4 MEGA FABS Motion Systems Plot view Ver 9 47 ATT LI LL fA 1 TT Fig 6 20 Math operation connecte
153. ide v1 2 5 LCD e VSF switch MEE NER X cmd ext N2 Numerator of the electronic gear ratio second output set mm X cmd ext N3 Numerator of the electronic gear ratio third output set X cmd ext N4 Numerator of the electronic gear ratio fourth output set oo 0 196 curr dr 78 X fric comp up Friction compensation v peak A amp Fast homing velocity Faster Speed X home option Homing mode o X home DIR Homing start direction D ww PERS pe Homing mode 1 index searching setting mm X home left SW Left condition for homing Eoo X home right SW Right condition for homing mm Aampx1000 X home wall Curr Current threshold of hitting the hard stop curr drv pe Thrshld ak ind aa Duration time of hitting the hard stop EE ud Homing mode 2 initial speed selection oe a Search homing method option 2 me 191 X StldNearHome Nearhomesensor 192 xStdCiEr Gle remos 193 X Stdmvomd Invertcommand 194 X Stldand OG SwithtosecondayCG 195 X StldandVPG Switch to secondary VPGgains 196 XSt dzSC Zerospeedcamp 197 X S diNH Imhibitpulse command gt 198 XS dPS Switch HI LO pulse input 199 XStldAbot Abortmoton gt 200 XStldCIPE Clear position error X S d2ndOperode Switehtosecondarymode Start the built in homing procedure of the drive Start
154. ide v1 2 6 Tuning BR Loop constructor 0 21 ff E IM View Load Vel ca p Pos loop i Save plant gains to file W POS controller P margin 63 1 83 3Hz P margin 53 3 56 2Hz p Tf Pos open loop G margin 15 0 637 1Hz G margin 18 7 205 0Hz get gains from controller d rive Save plant to file op D Pos close loop bandwidth 143 0 Hz bandwidth 92 2Hz Set gains to default Save gains to file Send gains to contollerdnve Gaintdb muda p d an n fi fr 988 Phase ttl 140l fi xil 8 797 s M Nyquis A Show filter 1 v Points 314 v 2Win Bu ppg M Odb cut N N tr OG 9 Hertz gt Rad sec i Full scr 10 0n Eam 1 Phase deg 7 54 Ai LL FT z 1 x a 21f i w Step Nel 8 1 10 100 1000 5 Hertz 6294 63 Fig 6 39 Loop constructor save data to file The spectrum analysis provided by the Loop Constructor function can analyze the Nyquist Bode and Nichols plots of the emulated control system and generate frequency responses 6 8 2 1 Frequency response function The frequency response can be represented by the transfer function of a dynamic system and indicates the relative relationship between the input and output signals of that system Fig 6 40 shows the control structure of the drive U s Y s Current feedback Velocity feedback Position feedback Fig 6 40 Control structure of the drive U s System input Here it stands for a command from the drive
155. iew and draw a graph based on the collected data 3 Sampling frequency Rate and the number of the samples Samples The sampling counts Rate determines the sampling frequency For example when Rate is set to 1 the sampling frequency is 15000Hz and when it is set to 2 the sampling frequency is 7500Hz The maximum sampling frequency is 15000Hz If too many data are collected early finish of the collection may happen due to the limit of the bandwidth Users can reduce the number of the physical values to be collected to solve this problem dt is the sampling time Samples dt is the total collection time of the data Users can increase the total collection time by increasing the Samples 4 The internal variables corresponding to the physical values of the collected data 161 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 6 Tuning 6 5 Plot view The Plot View is a function of the Data Collection It allows graphs can be drawn based on the data collected in the Data Collection and provides powerful analysis function for different measurements and operations There are 4 areas function menu area main function key area physical value display area graphical frame area and a timeline scroll bar in the Plot View as shown in Fig 6 9 Fu nctio n menu av MEG A FABS Motion Systems Plot view Ver 8 47 File View Tools Plots Main function keys area BBB S FET BG 57 EJ BH men Dr 5 iV X pos etr
156. ignating the maximum velocity maximum acceleration deceleration and emergency stop deceleration of motor output in motor motion When the host controller is used the protection function will be activated and the motion features will be restricted within the set limit value if the responding velocity and acceleration of the pulse or voltage commands sent by the host controller is too big The drive has different protection functions for different operation modes The followings are the suitable parameters for all modes Table 7 1 Velocity Acceleration Deceleration Emergency stop deceleration Limit parameter Operation mode Position Mode o jo gt Velocity Mode o 10 o o Force Torque Mode o X 0x L x Stand Alone Mode o 10 10 10 gt Note means active and X means inactive 7 1 2 Velocity acceleration and deceleration limits Click to enter Performance Center which shows the settings of motion protection enable sw limit 1 F1 J PZ yu sas ale ais ov Sava Hepat NT 56666 dk dh Disable F12 Motion Protection Common Gain Position Units Speed 1 B8BBBHe 6 counts 0 308880 Zero count v Acc 764899 countis 2 Dec 764899 countis 2 Dec kill 7 64899e 6 count s 2 Smooth factor 588 Fig 7 1 Table 7 2 Parameter name Description Set the maximum velocity of the motor in the motion A Set the maximum acceleration that the motor CC outputs in the motion D Set the maximum deceleration tha
157. iguration Center icon as shown on the left in the main function tool bar of the main HMI window or select the Configuration Center option from Conf Tune in the function menu In the Configuration Center select the Mode Motor Encoder tab as shown on the left figure 2 Configuration center 104 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 4 Settings n 29 Configuration center Encoder Primary Operation Mode Position Mode In the mode operation Analog Invert Command C Velocity Mode EE page select Bm ui Force Torque Mode as C PWM 10096 C Stand Alone Mode excisa la mv shown on the left figure Step 2 Setting the command input format The force mode is another application of the host controller that can send analog commands or PWM commands Only the Scaling between the external command and current has to be set for the force torque mode The unit shows the corresponding relationship of 1 V with the amp or between the Full PWM and the highest amp value of the current dead band can be set for the current command This will be zero when the input voltage or PWM is lower than this setting Please refer to the figure below Output Dead band Fig 4 33 The steps for setting the command input format via HMI are described below In the mode operation OE page key in the required Seating 106066 Ann command input format ala be v from the Command
158. ikrosystem Corp D2 Drive User Guide v1 2 3 Wiring 3 1 5 CN2 brake connector The brake can be wired with or without a relay Refer to the wiring diagram for connection to the 24V DC brake 3 1 5 1 CN2 connector For D2 xxxx x B G and D2 xxxx x B F Connector to the line WAGO 733 103 WAGO 733 103 om BRK DO RTN DO k Wire diameter 20 28AWG Fig 3 8 For D2 xxxx x BO Connector to the line WAGO 734 104 WAGO 734 104 24V a B x B z RTN Fig 3 9 25 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 3 Wiring 3 1 5 2 Brake wiring with a relay For D2 xxxx x B G and D2 xxxx x B F DC24V power mega fabs D2 series drive uolle osj Motor Fig 3 10 Brake wiring with a relay for D2 xxxx x B G and D2 xxxx x B F For D2 xxxx x B0 Dc24v Power 1 1 meaa fabs Relav D2 Series B ie 6 G poo 1 24V T AA zu d 2 R O S 3 B 180 4 RTN m LE i m MEME Motor Fig 3 11 Brake wiring with a relay for D2 xxxx x BO 26 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 3 Wiring 3 1 5 3 Brake wiring without a relay Direct mounting to the HIWIN motor is allowed For D2 xxxx x B G and D2 xxxx x B F mega fabs DC24V power D2 Series drive Current lt 600mA uolle osj HIWIN Motor Fig 3 12 Brake wiring without a relay for D2 xxxx x B G and D
159. in Fig 4 10 LIGHTENING version 0 172 com8 USB 115200 oj les Cont Tune Took anguage About Firmware version lifi Hv HIMN Ampliar Controller d2 0 Axis X 0 026 ed Motor type AC servo s Model Axis is cofiguredto Stand alone Position Mode Status Bi Hardware Enable Input E Software Enabled Bl Servo ready Last error Last waming Current limited QUICK view Position Units count 4i Bus voltage 148 079 V 1 Feedback Position v 1 count 1 Feedback Velocity gt Q 190705 countis Communication ok C mega_fabs dce lightening dce gt d2 0 C mega_fabs dce d2 r Fig 4 10 Main functions screen The following steps must be finished when using D2 drive to drive a motor 1 Motor type Set the type and all related parameters of the motor 2 Encoder parameters Set the type and the resolution of the encoder 3 Operation mode Set the operation mode of the drive The setup procedure is described step by step in 4 2 1 63 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 4 Settings 4 2 1 Motor configuration D2 drive supports AC servo motors The motor configuration page is at the first page of the Configuration Center The options are listed below B HiW Motors AC servo motor settings 1 Motor parameters Click on a HIWIN AC servo motor model The parameters for the selected motor are displayed and can be set 2 Operation parameters Screw Moment of Inertia
160. ing 3 5 2 2 Source input wiring example Wiring for input via switches or relays Source connection 4 7K Current Wiring for input via transistors Source connection 4 7K Current Fig 3 24 41 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 3 Wiring 3 5 3 Digital output wiring The D2 general purpose output pins use an optical coupler Darlington output interface that is suitable for a voltage system of less than 24V DC There are 4 general purpose outputs Each output has an independent Darlington open collector circuit The maximum allowable current is 100 mA Users can define the function of each D2 output using the software O1 35 IS T 35 O1 02 37 EN cL O2 S i O3 3 O3 O4 11 IS T 44 O4 Fig 3 25 3 5 3 1 Wiring for output via relays example Fig 3 26 3 5 3 2 Wiring for output via optical couplers example EL l 24VDC EUM ror ul x gt Fig 3 27 42 HIWIN Mikrosystem Corp 3 Wiring D2 Drive User Guide v1 2 les by mode 3 6 1 Master wiring diagram for pulse command input iring examp W 3 6 The host controller sends a pulse to the drive which drives the motor to move a corresponding distance every time it receives a pulse This pulse has a similar function to a position control command The position mode P Command receives host controller commands in three modes PLS DIR CW CCW and A B Phase MZ wyo MIL WYO xL ZL
161. ing advanced parameters There are over 100 variables to change in LEVEL ONE The variable codes are shown inTable 5 8 Here the symbol means that the variable is inapplicable to Drive with Pulse Only function Table 5 8 Advanced parameters 0 Xa Maximum acceleration of the motor output in motion 6 Xp2pde PointtoPoint P2P delaytime msec Point to Point P2P position 1 8 Xp2ppos2 Point to Point P2P position 2 Frequency of the closed loop filter 1 25 X Xftx X Damping ratio of the closed loop filter 1 gt 26 Xfik Parameterofclosed loopfitert gt 27 Xf Kk Parameterofclosed loopfiltert 29 xXfxi Dampingratioofclosed oopfiter2 30 Xf2kl Parameterofclosed loopfiter2 gt 31 Xf2k Parameterofclsedloopfiler 2 gt 32 XUpikp GCurentloop proportional gains D axis 33 XUpik Current loop integral gains Daxis gt 46 X sm ampl Current for Phase initialization 1000 curr d rv peak X max err 59 X Xwpg X GClosed loop velocity proportional gains gt 64 Xafg GClosed loop acc feedforward gains 65 XOG 2 JCommongans o J 66 Xsgrn Schedulegaininmovemen J 67 Xsgide Scheddeganinlnposion 68 Xsgstp Schedulegaininsetting 79 XgearRatyio Reductiongearrato Jooo o o 81 Xomdext N Numerator of the electronic gear ratio output gt
162. ings Position Units For the change of the position unit users can select the preferred unit to display the related physical value position and velocity as shown in Fig 6 3 LIGHTENING vermon 0 172 com6 USB 115200 PA ATT ad t1 HM HIWIN Amplifier Controller d2 0 Axis X ra adt version 6 ou Motor type RC servo e Model FRACXX SKK Axis is cofigured to Stand alone Position Mode Status Hardware Enable Input Wsotware Enabled i Servo ready Quick view Position Units vj 0 000000 amp mi count 0 0190705 countis Communication ok rad C vnega fabsidcevightening dee gt d2 0 C mega_fabsidceid 2 ht 7 Fig 6 3 Unit setting menu 153 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 6 Tuning 6 1 3 Basic common physical value Table 6 1 No 3 _ Target Position l Targetpositon 4 Position Error JPosiionemr 10 Feedback Velocity Feedbackvelocty gt Torque force velocity command from the host PA e controller 66 6 nputpoit6 72 8 inputpoint L J 67 9 inputpoint G 6 1 4 Software shortcuts There are 2 shortcuts F6 and F12 on the GUI of the D2 drive The function is effective only when the Lightening GUI is active in the Windows operating system F6 Move the main window of the Lightening GUI to the top F12 Emergency stop For example click F12 when t
163. ion The pulse is generated in three formats Pulse Dir Pulse Up Pulse Down or CW CCW and AqB phase Quadrature square wave as shown in the figure below Dir input Forward Backward Forward Backward A phase input EJ TUE B phase input TUIL TETTE Forward Backward Fig 5 18 The steps selecting the pulse format on the LCD are described below Use the last setting screen from Step 1 above Press the Down key twice to move to the pulse format setting screen Press the Enter key to enter the setting screen 137 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 AVF Step 3 Electronic gear setting 5 LCD Press the Up or Down key to select the required pulse format for the Control Input Press the Enter key to finish the pulse setting The electronic gear can be set in Pulse Mode One input pulse normally corresponds to one encoder count A gear ratio of 2 3 for example means two input pulses correspond to three encoder counts A total of four sets of electronic gear ratios can be set They can be switched using two I Os DIV1 and DIV2 The steps for setting the electronic gear ratio on the LCD are described below HIWIN Mikrosystem Corp Use the last setting screen from Step 2 above Press and hold the Down key to move to Page with LCD No 81 This is the page for selecting the numerator output of the electronic gear ratio Please refer to Note 1 for more information about
164. ion Protection function Motor disconnection detection Amplifier overheating Under voltage Abnormal 5V encoder power source Phase initialization error 11 Abnormal serial encoder communication Error log feature Errors and warnings can be logged and reviewed Method Establish error mapping using linear cR d encoder error compensation E maximum 16 000 points Error mapping nu Flash ROM hard drive file Unit um count um count Activation After internal heec iie n gies or activated by external input heec iie n gies Miscellany Friction compensation backlash compensation O 3 3 5 13 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 2 Overview of the Specifications 2 3 Dimensions of the drive The drive dimensions and location of the holes are shown in the following figures The dimension units are in mm and the diameter of the mounting hole is 4 mm
165. ip of 1V with mm s or between the Full PWM and the highest speed A dead band can be set for the velocity command This will be zero when the input voltage or PWM is lower than this setting Please refer to the figure below Output Dead band Fig 4 32 The steps for setting the command input format via HMI are described below m In the mode operation 9 e SE E I invert Command page key in the Velocity Mode C Force Torque Mode P and sw f s required command input E 8 format from the Command Types as shown on the left figure 102 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 Posmon Mode i Types P andi V command PWM 50 a oc alin ns m PWM 100 l Stand Alone Mode Dead Band a MN i C Analog v PYM 50 PAN 100 2 Calculation Results and Present Controller Data Motor New Value Present Value Type AC servo AC servo Moment of Inertia 28 5 20 5 Gear Ratio 1 1 Load Mass 2 2 Screw Pitch 1 1 Peak Current 27 27 Continuous Current 09 09 Torque Constant 0 178 0 178 Resistance 47 47 inductance 47 47 Pole Number 8 8 Rotor Inertia 2e 006 2e 006 Model Name FRLS05XX1 FRLS05XX1 Manufacturer HIWIN HIWIN Encoder New Value Present Value Units Type Digital Digital Resolution 10000 10000 Counts Rev Model Name 020503300004 020503300004 Manufacturer HIWIN HIWIN Operational Mode 1 PWM Mode Scaling Mode New Value VELOCITY MODE PWM50 MO
166. ive User Guide v1 2 3 Wiring 3 3 2 AC power wiring diagram three phase It is recommended to use the FN3258 7 45 three phase filter Emergency OFF Stop X o T p KM of SK e ON e O q KM _ O C mega fabs D2 Series drive NFB Filter 3 phase gt e e O 200 240VAC 3 e M 50 60Hz ie aa 3 Earth e Fig 3 19 Table 3 15 MaXImUm CoRHDHOHS OBEFSET as 48007 LACHENAZSB voltage Operating frequency DC to 60Hz Rated current 7A 50 C 7 7A 40 C Current leakage 2400V AC 50Hz OR Surge pulse protection 2kV IEC61000 4 5 36 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 3 Wiring 3 4 Multiple drive connection example Caution Do not use the drive power connector for parallel connection with other drives Emergency OFF Stop ON ee TN O o e o o o o KM oO O IN T mega fabs D2 Series drive NES Filter KM 3 phase S D e e o gt 200 240VAC Por denn PR 50 60Hz Kowal e e O Earth e e Terminal e mega fabs D2 Series drive e Terminal e e e Terminal mega fabs D2 Series drive Fig 3 20 37 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 3 Wiring 3 4 1 Selection of no fuse breakers NFBs Ta
167. l JSEL ee None Circuit Refer to 3 5 2 No diagram Function description This enables users to switch between velocity loop gains Instructions for use Users can set the input function in the Schedule Gains vpg tab in Advanced gains as shown in the figure below Advanced gains Acc Schedule Analog current Friction feedforward Gains vpg input loop Compens pg Velocity loop gain Primary vpg 6 68253268 Freq analyzer sg run sg idle 1 000 1 606 svpg run svpg idle svpg smooth ms Moving Settling In position Scheduled Gains according to 1 0 Secondary CG Secondary vpg 6 368608 Copy from Primary CG B 88253268 Copy from Primary vpg When the input point State is on Secondary vpg is used When off Primary vpg is used 87 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 4 Settings Input Default Input Circuit Mone diagram Oer to 994 Function description This enables users to switch between CGs Instructions for use Users can set the input function in the Schedule Gains vpg tab in Advanced gains as shown in the figure below B Advanced gains MICI Filter Acc Schedule Analog current VSF Friction feedforward Gains vpg input loop Compens pg Velocity loop gain Primary vpg 48253268 Freq analyzer Time sg stop isg idle 1 000 1 068 1 606 svpg run svpg stop svpg idle svpg smooth ms Moving Settling In position S
168. l open loop Velocity open loop The frequency response of the velocity open loop in the control system 3 Vel close loop Velocity close loop The frequency response of the velocity close loop in the control system 4 Pos controller Position controller The frequency response of the position controller 5 Pos open loop Position open loop The frequency response of the position open loop in the control system 6 Pos close loop Position close loop The frequency response of the position close loop in the control system F Loop constractor 0 21 Fie View Sraph selection Vel loop Pos loop yng tools VelPlant 477 velcontroller 47 Pos controller P margin 90 0 49 8Hz P margin 97 5 5 1Hz vpo 8 80215158 velopenloop Pos open loop G margin 25 1 690 1Hz G margin 34 9 196 7H2 vig 314 W Velrloseloop Ov Pos close loop bancwidth 191 1Hz bandwidth 9 6Hz Filter Filter C Gain 1 2 Gaini k n i f Phase fix 8 707 b phideg EE T td TT Nyquist fk Ee LU IP 41 9 H H H Pga ph gain n2 C Nichols ef Show filter 1 lv Points lw 2 Win oe 3 4 Odb cut OG 8 3 Hertz h e 163 7 deg Radisec Pos close loop Full ser 10 100 1000 5 Hertz 6294 63 Fig 6 42 Bode plot of the velocity and position close loops 193 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 6 Tuning 6 8 2 4 Nichols The Vel open loop and Pos open lo
169. lect YES 139 D2 Drive User Guide v1 2 5 LCD Press the Enter key to save the parameters to the flash No keys will respond when pressed while the PROCESS is message displayed No keys will respond when pressed while the FINISH is message displayed Note1 The electronic gear and inverse pulse commands are set using the following parameters initial value Xcmd ext N Numerator of the electronic gear ratio output EE Xcmd ext M Denominator of i gear ratio un X pulse dir Inverse pulse command LL U Step 4 Smooth factor Rapid increasing or decreasing the acceleration in a short time means that the force for an object can suddenly increase or decrease Application of the smooth motion technique to the motion control loop is helpful for enhancing the performance and reducing such impacts The D2 drive uses a smooth factor to determine the S curve or T curve track and the adjustment range is 0 500 The track is closer to an S curve with a higher adjustment value and is closer to a T curve with a lower adjustment value A value of 1 means no smooth function is enabled When a higher smooth factor is used in some cases the reduced output force of the motor is helpful for the final setting time during the positioning process However the move time will unavoidably increase when the motion becomes smoother Henceforth tests on the machine are needed to adjust the smooth factor and reach a balance The motion protec
170. lex resistant oo Represents cable length as the following Table 3 5 03 Wire length m 3 2 2 Feedback signal cable Table 3 6 13bit HVE131ABooMA Not flex resistant i Feedback signal HVE131ABooMB Flex resistant cable 17bit HVE171ABaocMA Not flex resistant HVE171ABooMB Flex resistant ooRepresents cable length as the following Table 3 7 Wire length m 3 2 3 Control signal cable Table 3 8 2m in length and connected to the host controller The wire at the controller end of the signal cable is free and can be soldered depending on the host controller connector Control signal cable LMACKO2D 3 2 4 USB communication cable Table 3 9 D 1 8m in I h with ini B USB communication cable USB 2 0 Type A to mini B 5 pin sa ed i Uis connector at the drive end 32 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 3 Wiring 3 2 5 Accessory kit module Table 3 10 D2 xxxx x B G CN6 Control signal connector 50 pins solder type 3M 10150 3000PE 10350 52A0 008 CN1 AC power motor power Regenerative resistor and control power connector 12 pins pitch 5mm Wago 721 112 026 000 CN2 Brake connector 3 pins pitch 2 5mm Wago 734 104 D2 CK1 CN1 connector fixture Wago 231 131 CN2 connector fixture Wago 733 103 CN6 Control signal connector 50 pins solder type 3M 10150 3000PE 10350 52A0 008 CN2 connector fixture Wago 733 103 CN1 AC power motor power Regenerative resistor and co
171. ll automatically create a link to the encoder parameters applicable to the motor no other encoder settings are required For HIWIN motors the ninth digit of the model is 1 or 5 which means that the motor uses a 13 bit digital incremental rotary encoder with a resolution of 10 000 counts rev The ninth digit of the model is 3 means that the motor uses a 17 bit digital incremental rotary encoder with a resolution of 131 072 counts rev If the resolution parameter needs to be set for a customized digital incremental rotary encoder please refer to Section 4 2 2 2 Table 4 1 shows the digital rotary encoders that can be used with HIWIN AC servo motor FRLS FRMS and FRMM series 66 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 4 Settings Table 4 1 AG servo motor model Count rev EBD Cease FRLSO5XX5 FRLS10XX5 FRLS202X5 FRLS402X5 13 bit Incremental FRMS series FRMS202X5 FRMS402X5 FRMS752X5 10 000 counts rev FRMM series FRMM1K2X5 FRLS series FRLS05XX3 FRLS10XX3 FRLS201X3 FRLS202X3 FRLS401X3 FRLS402X3 17 bit Incremental FRMS series FRMS201X3 FRMS202X3 FRMS401X3 131 072 counts rev FRMS402X3 FRMS752X3 FRMM series FRMM1K2X3 4 2 2 2 Customized digital incremental encoder If the resolution for a customized encoder e g digital rotary encoder needs to be set open Rotary and select Customized Rotary Digital Enter the resolution parameters according to the specifications of the encoder I
172. lter 1 lv Points 125 w 2Win ppg 314 l om an 130 OG 8 3 Hertz Em Rad sec tt t I e 40 Full ser C ase deg 40444404 a 4 E f Te LE P 1 ha m i Step at 4 83 1 Tm Tm 5 Hertz 6294 63 Fig 6 44 Low pass filter 6 8 3 2 Notch filter The notch filter is used when a resonant frequency exists in a system and cannot be eliminated by modifying the system mechanism Fig 6 45 shows the Bode plot of a notch filter Modification of the filter parameters fr xi may affect the frequency response used for the control loop analysis The emulated control system in combination with the frequency response of the notch filter is very helpful in real applications 1 fr The cutoff frequency of the filter unit Hz 2 xi The damping ratio of the filter The value ranges from 0 to 1 The band of the filter becomes narrower when the ratio is closer to O It becomes wider when the ratio is closer to 1 3 k1 Notch filter 0 4 k2 Notch filter 1 195 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 6 Tuning pen Loop constructor 0 21 File View Graph selection vel loop Pos loop wpgtools VelPlant AT Vel controller amp Pos controller P margin 76 5 49 2H2 P margin 96 6 5 1 Hz vog 66215158 velopen loop 9f Pos open loop G margin 27 3 748 0H2 G margin 23 3 83 7Hz vig 314 Sr Velclose loop Of Pos close loop bandwidth I 30 1Hz bandwidth 9 6Hz Fitter C Gain 3ai
173. mance Center 155 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 6 Tuning The Point to Point P2P is used as an example for the following description Graphical HM description Operation Click Enable to enable the motor Select dd Set P1 and P2 positions if oW limits are used set the position between Lower SW limit and Upper SW limit oet in the Motion Protection 25 000 area velocity acceleration ie a Common Gain and smooth factor Refer to opesc counts 6 998988 i oo 7 1 for more information The Dec hill 5 000000 6 counts default value can be used if Smooth factor 258 users do not have any special requirements Click _GOmPi to move P1 position and click Gomip2 P2 position If you want to perform a point to point motion check the enter delay time Dwell time and click GOMP1 or GOMP2 button to perform the Point to Point motion 592 469 The Performance Center provides a settling time measuring function Users can use Target Radius to set the error target radius and debounce time Refer to 4 5 for more information User can also adjust the Common Gain during motion to meet requirements of settling time The higher the Common Gain the faster the response and the shorter the settling time Further user can using the Move Time Settling Time and Total Time fields to observe the time needed from moving to entering the radius Click setseore to open the scope window which can be used
174. me Single three phase 200 240V 50 60Hz Control AC single phase 200 240V 50 60Hz Power Frames Operating temperature 0 45 Air circulation must be available when the ambient es is higher Temperature than 55 C Storage temperature 20 C to 65 C Ambient conditions Humidity 0 to 90 RH non condensing Altitude Elevation less than 1 000 meters Protection against 1G 10 500Hz vibration Main circuit control mode IGBT PWM space vector control ssid PWM IGBT PWM space vector control vector control 13 bit 10 000 count rev standard incremental encoder 9 line and wiring saving incremental Encoder feedback resolution encoder 17 bit 131 072 count rev serial incremental encoder 5 line Samasona 9 general purpose I O signal i 4 general purpose de 2 low speed channel high speed channel Pulse signal Output 4 differential line driver with 3 outputs open collector p drive with 1 output Brake Conitelsiahal Output Used for direct connection to the brake It can also be connector g p used for programmable general purpose output Communication function For PC connection 115 200 bps SE 4 key dot matrix 8 2 character LCD status display With LED status indicator green red NE EE External connection is needed as no built in 9 regenerative resistor is available Control mode 1 Pulse inhibit command Clear position error Servo on Switch between first and second gain Electronic gear ratio selection Lef
175. mssoeasnenmavsmvhasnenansaeehaagnn 154 bl 4 SME No vedde 154 6 2 Performance Ea ebnsbsebnsbsebrpinknkiet 155 SOME 6 ODS EE TERT 159 6 4 Data CONC CU ON EE EE UU MM 161 DFU 162 6 5 1 Graphical display mode rronnnnnnrnnnnnnnnnnnnnennnnnnnnrnnnnennnnnnnnennnnennnennnne 162 ES Eve 167 6 5 3 Mathematical oper Allon scissiacsncossanseidasstonessnetaorssumhancessansetiniatanceanswac 168 6 6 Advanced Qalis cccccccesccceeecceeeceuccceeeceuceceueesueeceusessuessuseseueesueessusenseesaes 171 SE JM WOM EEE EEE ENE 172 6 6 2 Acceleration feedforward cccccccseccceeecseeeeaeeeseeeeeueesueeseeesaeeesaes 175 6 6 3 Schedule gains and velocity loop gain 178 eon ge Lee MOU MEO 181 ob ea G1 1108 91 0 same eee een eee 182 6 6 6 Vibration suppression function VSF ccceecceseeeeceeeeeeeeeeseeeeeeeeeees 183 6 6 7 Friction compensation rrnrrrnnrrnnnrrnnvrennvrnnnrennvrennernnerennernnnrennerennee 184 6 7 Encoder signal con RYallODLsuoeesouo sonas expen xoa eati ic Deva eR va aU DUIS PU kane 188 6 7 1 Encoder signal confirmation function eueeseeesseeseesss 188 6 7 2 Encoder reading confirmation seeeeeseesee eene 188 6 7 3 Index signal confirmation rarrrnnrrnnrrennrrnnnrernvrrnnrrnnerennernnnrennerenne 188 oo OOD CONG IUICION d E 189 6 8 1 File 1090 HE ee 190 OE
176. n motor will stop urgently at Dec kill deceleration After that the drive can only accept the motion command in the opposite direction 7 4 2 Settings After clicking to enter Protection Center and select the HW Limit Protection tab to open the hardware limit setting page If you want to activate the hardware limit check Enable HW Limit s Users can use the button on this page to set the hardware limit output pin Click the button to open the IO Set test setting window Refer to 4 4 2 for the information about the settings Protection center Protection HW limit Brake protection Position Units count iv enable HW limit HY left lt gt limit is configured to IG HU right lt limit is configured to I Fig 7 5 208 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 7 Protection 7 5 Software limit protection 7 5 1 Function overview Except for the hardware limit protection users of the D2 series drive can also select the software limit protection which serves as the same function of protecting the stroke When the motor stops at the coordinate of the software limit the drive can only accept the command to move in the opposite direction 7 5 2 Settings After clicking to enter Protection Center select the Limits menu on the Protection tab to show the software limit setting screen Users must check the enable SW limit s swimt option before setting the upper and lower softw
177. n also be Senter signal Output used for programmable general purpose output Communication function For PC connection 115 200 bps ere 4 key dot matrix 8 2 character LCD status display Panel indicator with LED status indicator green red l External connection is needed as no built in Regenerative function regenerative resistor is available The control mode is switchable 1 Position mode dM suoleoijioeds oiseg Control mode Torque mode Position velocity mode Position torque mode Velocity torque mode Pulse inhibit command Clear position error Switch between first and second gain Control input Electronic gear ratio selection Left limit switch Switch between primary and secondary mode Clear error Right limit switch etc Servo ready Control output In position output Zero speed detection For optical coupler interface single ended input 500 Maximum input pulse kpps frequency For line driver interface differential input 4 Mpps 16M cnt s at AqB Pulse input 1 Pulse direction Pulse Dir Input re 2 Clockwise counterclockwise CW CCW 3 A B phase AaB Gear ratio pulses counts Electronic gear Bulges 1 2147483647 counts 1 2147483647 10 suomneouioeds uonounJ opouu 011U09 UOIISOd HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 2 Overview of the Specifications PG Smeetliini ter ne filter coefficient 1 500 0 no smoothing VSF can eliminate vibration frequen
178. n db 1 2 C Oain db ae e e reet StHmmy n 200 Phase ha fixi 8 5 L d Nyquis fale EE BER EBA fi ki 8 phegain M kK2 1 Nichols Show filter 1 Points MEN Ip Sp S IEEPE 40 iv 2 Win Em 314 Odb cut OG 8 3 Hertz C Rad sec Full scr 20 10 _ I hoo hoog T Phase dpo OA E JR HEIHE 1 JAN a an l 1 LILINM E Stap v 8 03 10 100 1000 5 Hertz 6274 63 Fig 6 45 Notch filter 6 8 4 Gain tuning Loop constructor provides gain values and common gains CGs for the velocity loop vpg vig and position loop ppg Please refer to 6 6 for more information about VPG and CG These parameters can be used for gain tuning to emulate the stability of the system after the tuning Fig 6 46 mS Loop constructor 0 21 Graph selection i Velloop Pos loop V VelPlant Velcontroller 4 Pos controller P margin 63 1 93 3Hz P margin 53 3 56 2Hz Ti IDOL UIS valopenloop 9f Posopen oop G margin 15 0 637 1H2 G margin 18 7 205 0Hz vig 314 W Velcloseloop Of Pos close loop bandwidth 143 0Hz bandwidth 92 2Hz Filler Filter C Gain 1 012 Gainidb fl fr 968 C Phase fixi 8 797 C Rider C Nyquist f1 k1 phegain nk2 a C Nichols Show filter 1 ppg 314 OG 8 9 le Fig 6 46 Loop constructor gains 196 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 6 Tuning 6 8 4 1 Velocity loop vpg is the proportional gain a
179. n the Encoder Resolution field shown in Fig 4 14 enter the total number of encoder position signals after one revolution of the motor The unit is counts rev The software will automatically calculate the Linear Resolution according to the screw pitch and the resolution of the encoder The unit is um counts Configuration center cJ tJ Motor Encoder Mode HIW EHiW Encoders Motor type AC servo DATA from last SELECTED file El amp Rotary Encoder type DIGITAL ES Customized Rotary Digital Encoder Model Name 020503300004 Manufacturer HI WIN Resolution Beene Digital 10000 cnt enc Encoder Resolution Power on Time 1880808 208 settings area 4 Counts Rev ms Linear Resolution 6 1 um Counts Encoder output Output Resolution 16668 Counts Rev Use buffered encoder Invert C Use emulated encoder Emulated Index Output in every revolution Scalling al encoder count 1 emulated encoder output Emulated index radius 1 counts Emulated index jitter filter 1 counts OK Cancel Fig 4 14 Customized resolution parameter settings 67 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 4 2 2 3 Encoder output settings 4 Settings The D2 drive transmits an A amp B square wave encoder signal via CN2 This can be connected to the host controller if needed Check the Use buffered encoder or Use emulated encoder in the encoder output area accordingly Fig 4 1
180. nable Disable Eoas Seta target position for MOV2PO Unit count Start absolute coordinate motion and move to the target position 4 AUTOTU NO Auto tune Velocity for the motion JOG MOV2PO Unit rpm Fig 5 12 Operation modes example 130 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 5 LCD 5 3 4 1 Auto Tune The following operation shows the steps to select whether to execute the AUTOTU setting Please refer to Fig 5 13 for an illustrated description of the procedure 1 Press the Enter key to enter the AUTOTU option A solid flashing cursor appears on the left side of the second line 2 Press the Up or Down key to select whether to execute AUTOTU 3 The drive will execute AUTOTU when AUTOTU YES is selected and the Enter key pressed AUTOTU do not be executed if AUTOTU NO is selected rm i EE EE 4 AUTOTU Execute AUTOTU 4 AUTOTU Fig 5 13 Operation of AUTOTU 131 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 5 LCD 5 3 4 2 Enable Disable The following operation shows the ENA DI setting steps Please refer to Fig 5 14 for an illustrated description of the procedure 1 Press the Enter key to enter the ENA DI setting A solid flashing cursor appears on the left side of the second line 2 Use the Up or Down key to select ENABLE or DISABLE 3 Press the Enter key after selecting to finish the setting 4 ENA DI Disable DISABLE 4 ENA DI ENABLE ENDE
181. nd vig is the integral gain Both are the gains for the velocity loop vpg Adjustment of the vpg value many affect the transient response of the velocity loop and increase its bandwidth vig Adjustment of the vig value may affect the steady state error of the velocity loop and excessive adjustment may affect the stability of the system 6 8 4 2 Position loop ppg is the proportional gain for the position loop ppg Adjustment of the vpg value many affect the transient response of the position loop and increase its bandwidth 6 8 5 Spectrum analysis Loop constructor provides gain margin phase margin and bandwidth settings for the velocity and position loops These parameters can be used for gain tuning to emulate the stability of the system after the tuning In Fig 6 47 P margin means phase margin and G margin means gain margin F Loop constructor 0 21 Fie View vel loop Pos Graph sele selection 05 1000 vpg tools eV vel Plant Velcontroller 4 Pos controller P margin 63 1 93 3Hz P margin 53 3 56 2Hz vpg 8 00401434 Velopenloop Pos open loop G margin 15 0 637 1HZ G margin 18 7 205 0H2 vig 314 Velcloseloop Of Pos close loop bandwidth 143 0Hz bandwidth 92 2Hz Filter Filter C Gain 1 2 C Galn db fif 900 Phase fixi 8 787 EDD Nyquist fiki ph gain fi k2 8 C Nichols Show filler 1 iv Points jv 2Win M Odb cut OG 9 Hertz C Radsec Full ser ppg 314 1000
182. negative direction to search the Left Limit Switch and search the first Z phase index signal at the slow homing velocity in the positive direction when the homing procedure begins Refer to Fig 8 9 for action process 220 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 8 Applications Wl Application center ES Homing Backlash Error Map Resolver Position Units count Slower Speed 566 count s Faster Speed 1660 count s Smooth factor 166 Time out 25 8 second Home offset B count Go Left and Right for Homing This mode will use the Slower speed to let motor goto Left side then oppsite side and then stop atthe middle where itis defined as home If you select to use lt Search index signal gt the home point wiil be at index position Left side condition Right side condition Left Limit Switch V Search index sional None Search end stop current 8 08 A amp Time 6 8 msec C Use Near Home Sensor Index for Homing 1 Go Lett firstly Use Slower speed 2 Serach Index signal only Fig 8 8 mm Faster speed Slower speed Near home sensor EE Upper limit IL Z phase Fig 8 9 8 1 2 Searching near home sensor or encoder index signals Another multi functional homing method is to search the Near Home Sensor or the index signal of encoders The Near Home Sensor can be set on the IO set test page to digital input that allows the sensor to be triggered by an external switch A
183. nitialization mode STABS 1 Auto gain tuning Execute Fig 4 26 Auto phase center screen for STABS 75 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 4 Settings 4 3 2 Pre operation for auto phase initialization Confirm the connection to the motor is correct Confirm the encoder signal is correct Confirm the drive can receive the hardware excitation signal Hardware Enable Confirm if the motor overheat signal is connected Confirm the AC main power has been turned on 4 3 3 Auto phase initialization setup procedure In this subsection the operational flow of the LSWIR method is given As for the STABS method it can use the same flow of the LSWIR 7 Auto phase center View Details MEnabled Phase initialized Phase initialization mode LSUTR Phase initialization method If user selects that motor of model 1 Auto gain tuning number ninth digit is 5 Lightening Beate will automatically set LSWIR M Servo ready Phase initialization and auto tune Click the Execute button as in the left figure to start the phase initialization The auto tune window erano pops up when the initialization is Wj Phase Initialized Phase initialization mode LSWIR complete Use lt q and P to El Servo ready drive the motor and keep it operating VEE continuously Confirm that the motor has moved far from the stop After the motor has moved click the Proceed button to start the auto
184. nnennnnnnnnennnnennsennnne 162 052 Save OPEN ES dau usce uctus pieta tu ep oium ta tub Meo egene 167 6 5 3 Mathematical operation ccccecccecccecccececececeeecseeceeeceeesseeseeeneeenes 168 6 0 AVANT JANS PONTI 171 ox PER pel I EE KO KR MN 172 6 6 2 Acceleration feedforward rarrrnnrrnnnnnranevnnnnnnnrnrnnrnnnnnnnrnnnnennnennnne 175 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 Table of Contents 6 6 3 Schedule gains and velocity loop gain 178 6 6 4 Analog INPUT esscr aea a TEE REER EROE PERLER PENCEN RER EESE PERETE 181 6 6 5 Current IOOD EEE 182 6 6 6 Vibration suppression function VSFj rrrrrrrnrrvrnrevnnnrvnnrnnnnevnnrnnnne 183 6 0 GFRICHIONNCOMDCNS alo es 184 6 7 Encoder signal CONTMMNAUNON sssini e tte indo Eua Een IER ees 188 6 7 1 Encoder signal confirmation function cccceceeeeeeeeeeeeeeeeeeeeeeneees 188 6 7 2 Encoder reading confirmation eese 188 6 7 3 Index signal confirmation 52 ao reru rn to rec rh ro Eten t Eee sb To reru CE Fera De repa 188 6 9 LOOP CONSTRUCTION cute pct eo eoe abu seta Updates seta Us tetshiun eta lsa ebur ze ada 189 6 6 15 PING load SAV m 190 So 24 OOM KEENE NE Nc cR m 191 cr I HIO 194 6 84 GaN TUNING Hae edda add 196 685 sed ANS ee 197 60 BIN 200 RA MOLE CHOU EEE ER 201 7 1 MOON Protectio M Vavarv7v7vd4vjvemv ea arcte 202
185. ntrol power connector 12 pins pitch 5mm Wago 721 112 026 000 CN2 Brake connector 4 pins pitch 3 5mm D2 xxxxo BO D2 CK3 CN6 Control signal connector 50 pins solder type 3M 10150 3000PE 10350 52A0 008 CN2 connector fixture Wago 734 230 CN1 AC power motor power Regenerative resistor and control 1 power connector 12 pins pitch 5mm Wago 2092 1112 CN2 Brake connector 3 pins pitch 2 5mm D2 xxxx x B F D2 CK2 i 3 2 6 EMC accessory kit Table 3 11 single phase three phase D2 EMC2 FN8025HL 20 71 EMI core KCF 130 B 3 2 Regenerative resistor Table 3 12 Regenerative resistor 100W 500W Regenerative resistor 120 O 300W 1500W 33 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 3 Wiring 3 2 8 Connector specifications Table 3 13 AG main power cable connector CN1 Motor power cable connector CN1 EU 12 pin 5 0mm 051500400269 12 24AWG pluggable female WAGO Recommended Regenerative resistor connector 2092 1112 12AWG 600V connector CN1 Control power cable connector CN1 50 pin 050 Mini D kule Ribbon MDR standard 0919904002728GS1 54 soawe Note 1 connector CN6 50 pin male solder connector Feedback signal HIWIN standard encoder connector CN7 cable EU 3 pin 2 5mm 051500400251 Fixture tool pluggable female WAGO 20 28AWG 733 130 connector 733 103 Note 1 Mini USB USB 2 0 Type A to communication mini B 051700800366 Optional connector CN3 5 pin 1
186. nts 4 988888 Zero count Acc 7 45345e 6 counts 2 Dec 7 85345e 6 counls 2 Stop motion Dec kill 1 4166 e 7 counts 2 Smooth factor 188 al Hardware Enable Input M Repeat P18 GORgP1 Software Enabled Dwell time 1888 msec P2 544 GOP J Servo ready Phase Initialized Relative move Distance KG i count t Joq Jog curre ree A amp Fig 8 3 Homing succeeds 217 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 8 Applications Performance center t e rnm aeu lgmA Posibon Velocity Ripple Target radius 144 Debounce time 140 8 Move time 1054 9 Seting tima 99 9 Total tima 1154 0 Set scope enable sw limit 479 a P2 4 L I LJ J 546 MM d dd i Disable F12 Motion Protection Primary CG 1 Position Units Speed 1004 66 counts 8 909000 Zero count v Acc 7 05345e 6 counts 2 Dec 7 85345e 6 count s 2 Stop motion Dec kill 1 41869e count s 2 SSS Smooth factor 188 Status Hardware Enable Input M Repeat P18 GOMPI Software Enabled Dwell time 180808 msec P2 548 Servo ready Phase Initialized count s amp SM mode Fig 8 4 Homing fails C Relative move Dista nce 8 1 1 Determine home by searching the left and right side conditions This is a built in multi functional homing mode in the D2 drive The home position is determined by searching the left and right side conditions The midpoint between the two boundaries is t
187. nverts to different velocity or current commands depending on the duty cycle It is classified into single wire PWM 50 and two wire PWM 100 types The single wire PWM 50 type refers to the duty cycle of 50 An inverse motion occurs when the duty cycle is less than 50 while normal motion occurs when the duty cycle is more than 50 The two wire PWM 100 type needs one more pin to control the operation direction of the motor 1 V command The analog voltage signal is converted to a current command to directly control the current output of the drive and thus the force and torque of the motor The higher the voltage value the higher the controlled current output but it will not exceed the upper limit set for the motor The lower the voltage value the lower the controlled current output When the voltage value is negative the controlled current output becomes negative correspondingly and the motor operates inversely The current to which the unit voltage corresponds can be set in the drive 2 PWM Command The PWM command is converted to a current command to directly control the current output and thus the force and torque of the motor The current to which the Full PWM corresponds can be set in the drive The basic setting of force torque mode is described below Step 1 Mode selection The steps for selecting of force torque mode via HMI are described below Gene IN ose Execute the Lightening HMI program Click the Conf
188. o parameter will lose The confirm window appears Click Confirm to save the error map parameter to Flash and the drive will automatically Reset 227 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 8 Applications Notes For example the mapping range is between 0 1000mm The interval is 100mm and the total points are 11 The value in the Error field Fig 8 18 comes from the error measurement of laser interferometer Every value stands for the positioning error Error of every target position For example if the target position is 100mm and the laser measurement report 100 002mm then enter the 2um for error value Error map screen description Cont Tune Tools About Get table from flash Configuration center Send table to flash Auto phase center H Hall test t Compare table to flash sn Performance center Advanced gains Read Save to Flash Application center Error map L IO set test Read Save files Error map iri View File CAmega fabs error map emp Map Attributes Stalus Error map enable Open Wl Error map active miHomed Interval 168 mm Total points 11 Save Save as Data different from flash Index Position mm Error Map value yeya uns dey 10443 100 200 300 400 500 600 700 800 900 1000 Fig 8 18 8 3 2 Activation of error map After completing setting the aforesaid error map parameter will have the ability to error map the drive
189. o set an inverse voltage or PWM command add a minus sign to the current command ratio Press the Enter key to finish setting the current command ratio Press and hold the Up key to move to the SAVEFL page Here the parameters can be saved to the flash This will retain the parameters even if the drive is turned off Press the Enter key to enter the setting state Press the Up key to select YES 3 pn pu E323 J Press the Enter key to save the A parameters to the flash No keys will respond when pressed while the PROCESS is message displayed No keys will respond when pressed while the FINISH is message displayed Note 1 The settings are Le using the kai parameters The current command ratio DE E the corresponding relationship of 1V with ampere or between the Full PWM and ne the highest speed Unit A amp x 1000 36 1V or A amp x 1000 36 Full PWM HIWIN Mikrosystem Corp 147 D2 Drive User Guide v1 2 5 LCD 5 4 4 Stand alone mode Stand alone mode is a mode for independent operation The drive has a high speed DSP that can perform motion planning by itself With the support of the DSP the drive can execute the internal motion program and drive the motor independently without using the external motion control card The basic setting of Stand Alone mode is described below Step 1 Mode selection The steps for selecting Stand Alone mode on the LCD are described below
190. o the flash memory yet Compare parameters RAM to FLASH 2 parameters are detected to be changed in RAM from Flash Press Exit to exit Press Cancel to stay Consider to do save parameters to flash Cancel Details Fig B 1 An advanced comparison window will be opened when users clicks the Details button Users can see the different parameter settings Fig B 2 and Fig B 3 between the RAM and the Flash in this window The different parameter is indicated with blue color The following two states are displayed in the Flash value column The value stored in the flash memory is same as that in the RAM xx The parameter has performed Undo and the value in the RAM has been change to a parameter value in the flash memory Fig B 3 252 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 B Parameter Comparison Function E 1 RAM to flash ver 0 45 Slave lt d2 gt hex e 4 Comprae paramters RAM to FLASH 1 modified undo 227 variables errors Parameter name RAM value Flash value sof fr 588 8 sof ki a A sof k2 a sof xi 8 707 st cg st phase st upg swl pos sw2 pos sw pos prot en 1365 8 825528 1 6666 1808080 S rh eU je UD eje PI OD Hh Hs vel err varn win X vel stop R vffg B vig 3 volt varn vin 5 64063e 6 08 00126634 lcd password out conf ig 81 out conf ig 11 out conf ig 2 1 out conf ig 3 1 out conf ig 4 ou
191. om in Fig 6 12 To zoom in on a much smaller segment e g 7 9 seconds repeat the above steps To see the previous zoom in segment 6710 seconds click If 24 is clicked again the zoom in segment within 7 9 seconds will be displayed Regardless of how many times you zoom in use X to display the original graph Fig 6 13 Cancel the zoom in action on the Y axis Y MEGA FABS Motion Systems Plot view Ver 8 47 E BIK File Yew Tools Plots i gi EK ODA gml nr H h EE 200 i f I DX I 0 BA 1 I I v X vel fbf I 263266 I DX i m Jj 2 I un 2 X ref acc P iY X enc pos 58 239 23 Jan 2013 02 27 05 Time sac dt 1 716 1 dt 582751Hz dSamp 858 Fig 6 12 Plot view introduction D 164 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 6 Tuning 8 MEGA FABS Motion Systems Plot view Yer 8 47 File View Tools Plots x EFTA EK EH mim r OG E lv X vel fof 200000 203266 0 200000 2e 1e 6 0 58 239 40000 20000 23 Jan 2013 02 27 05 Time sec Fig 6 13 Plot view introduction E 4 Zoon in out on the Y axis To zoom in on the Y axis press and hold the Ctrl X and left keys to move the red solid line or the Ctrl X and right keys to move the red dashed line to select a suitable segment Fig 6 14 Then click 1 at the upper right corner of the screen to enlarge the graph within the selected segment on the Y axis Fig 6 15 I
192. ompensation The position error Is usually more significant in the period of acceleration and constant speed motion especially for the use in a higher moving mass or moment of inertia Setting the friction compensation parameter can effectively reduce the position error in the acceleration period Fig 6 34 shows the setting page of the friction compensation L Advanced gains Filter Acc Schedule Analog current Friction feedforward Gains vpg input loop Compens friction compensation 8 888888 0 1 drive peak cur Tune friction compensation Press Set scope Set Friction Compensation value to 0 Put Dwell time to 500ms Let motor move back and forth at the desired velacity Observe the command during constant speed motion and calculate average value Putthe average value into Friction Compensation values See the position error at the start of motion reduce Fig 6 34 Friction compensation 184 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 6 Tuning The operation steps of the friction compensation are described below Schedule Analog current VSF feedforward Gains vpg input loop friction compensation 8 0 1 drive peak cur Motion Protection Speed 388888 countis Acc 1 88888e 6 countis 2 Dec 1 88888e 6 count s 2 Dec kill 3 82449e 7 countis 2 Smooth factor 188 MT Repeat P1 Dwell time 500 msec P2100000 GOfiP2 HIWIN Mikrosystem Corp Click the Set scop
193. on and deficient structure rigidity 6 8 3 1 Low pass filter The low pass filter is used to deal with HF noise and machinery vibration Fig 6 44 shows the Bode plot of a low pass filter Modification of the filter parameters fr xi may affect the frequency response used for the control loop analysis The emulated control system in combination with the frequency response of the low pass filter is very helpful in real applications 1 fr The cutoff frequency of the filter unit Hz 500Hz can produce an excellent result in general applications and lower frequency can be considered in other applications However the control performance will be affected if the cutoff frequency is too low 2 xi The damping ratio of the filter The value ranges from 0 to 1 194 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 6 Tuning 3 k1 Low pass filter 0 4 k2 Low pass filter 0 Loop constractor 0 21 File V w Vel 16606 7 P P margin 7 7 7 49 8Hz 3ranh selection os loop vpq tools Vel Plant 4 Velcontroller amp Pos controller P margin 96 7 5 1 Hz pg 8 080215158 e Velopenloop F Pos open loop G margin 16 4 248 143 G margin 24 0 85 7 Hz vig 314 s Velcloseloop 07 Pos close loop bandwidth 204 1Hz bandwidth 9 6Hz Filter Filter C Gain i 1 2 Gain db z Phase im 5 n r 390 fixi 8 707 phideg m C Nyquist ARI e i ph gain I I 1151 n B C Nichols E efv Show fi
194. onfiguration Center option from Conf Tune in the function menu Configuration center In the Configuration Center select the Mode tab as shown on the left Encoder In the mode operation page select Stand Alone Mode a on the left figure After the settings are completed click the OK button b on the left 107 HIWIN Mikrosystem Corp 7 2 Calculation Results and Present Controller Data D2 Drive User Guide v1 2 Type Moment of Inertia Gear Ratio Load Mass Screw Pitch Peak Current Continuous Current Torque Constant Resistance Inductance Pole Number Rotor Inertia Model Name Manufacturer Type Resolution Model Name Manufacturer Operational Mode1 Operational Mode2 New Value AC servo 2e 5 1 2 1 27 0 9 0 356 8 8 45 8 3 6e 006 FRLS10XX1 HIWIN Encoder New Value Digital 10000 020503300004 HIWIN Mode New Value STANDALONE MODE STANDALONE MODE HIWIN Mikrosystem Corp Present Value AC servo 2e 5 1 2 1 27 09 0 356 8 8 45 8 3 68 006 FRLS10XX1 HIWIN Present Value Digital 10000 020503300004 HIWIN Present Value VELOCITY MODE STANDALONE MODE Units Kg m 2 mm A rms A rms Nm A rms Ohm mH Kg m 2 Units Counts Rev Send to RAM Cancel 4 Settings The parameter confirmation screen appears Click Send to RAM as shown on the left figure Click the Save to Flas
195. op of the emulated control system can be analyzed on the Nichols plot for their frequency responses You can analyze the emulated velocity or position open loop by checking the Nichols plot Analyzing two loops simultaneously is also possible Fig 6 43 shows the Nichols plot of the velocity open loop When you click the curve on the Nichols plot the frequency response value will be displayed for analysis of the control system 1 Vel open loop Velocity open loop The frequency response of the velocity open loop in the control system 2 Pos open loop Position open loop The frequency response of the position open loop in the control system F Loop constructor 1 21 ARR File View t ctio vel loop Fos lo op wpgtools P margin 63 1 93 3H2 P margin 53 3 56 2Hz Ypo H 88441434 SW velopenloop Xv Posopenloop G margin 15 0 637 1H2 G margin 18 7 205 0H2 vig 314 a nr bandwidth 143 0Hz bandwidth 32 2Hz Filler Filter 1 2 Gain db fl fr 980 C Phase fixi 8 797 2 sori C quist x18 I peu f1 k2 8 Nichols D lv Points BPG 314 Odb cut co 6 9 Hertz C Radisec Full scr eg Vel open loop BBE BEE 8 BB lg RE 225 35 B 4 Degree 6294 63 Fig 6 43 Nichols plot of the velocity and position open loops 6 8 3 Filter The control loop of the drive provides two filters to deal with HF noise machinery vibrati
196. optional needs connection to this wire Fig 3 1 Table 3 1 lemno Name gt Description D AC main power cable L1 L2 Single phase 110 240V AC 50 60Hz CN1 L1 L2 L3 Three phase 200 240V AC 50 60Hz Motor power cable CN1 Connection to motor three phase motor power U V W GB Regenerative resistor Connection to motor regenerative resistor optional mounted CN1 according to actual application design REG REG Control power cable For drive internal control and IO power L1C L2C CN1 L1C L2C Single phase 110 240V AC 50 60Hz Connection to brake optional mounted according to actual er application design Connection to PC for setting parameters to be removed after 6 Mini USB communication setting CN3 Mini USB and the PC are used as links for monitoring drive test runs or writing parameters Control signal CN6 Connection to the host controller Feedback signal CN7 Connection to the motor encoder 20 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 3 Wiring 3 1 2 CN1 power connector Ensure that the drive has been grounded appropriately before connecting the drive to the main circuit The CN1 power wiring description includes single three phase power input motor power output single phase control power input and regenerative resistor wiring For D2 xxxx x B F Connector to the extended line Wago 2092 1112 female WAGO 2092 1112 12P IN S lt c hOBHG O O O O
197. or CW CCW and AqB phase Quadrature square wave as shown in the figure below Pulse input Dir input Normal CW input CCW input Normal JUUUL TYDE Inverse JUUUL FU UU Inverse B phase input Normal The steps for selecting the pulse format via m inputpulses mn Output counts 00 01 10 11 Electronic Gear m Input pulses mn Output counts DIV2 DIV1 1 00 1 01 1 10 HIWIN Mikrosystem Corp DIV2 DIV1 Fig 4 31 Invert Command Hardware interface High Speed Pulse Input CN6 pin 44 45 46 47 C Low Speed Pulse Input CN6 pin 1 3 4 2 5 6 Control Input C Pulse and Direction C Pulse Up Pulse Down Quadrature AqB We Increment Position on t C Invert Command Hardware interlace High Speed Pulse Input CN6 pin 44 45 46 47 C Low Speed Pulse Input CN6 pin 1 3 4 2 5 6 Control Input Pulse and Direction C Pulse Up Pulse Down 7 C Quadrature AqB Increment Position on Falling Edge C Rising Edge UCUL Inverse HMI are described below In the Mode operation page select the pulse format on the Control Input for the requirement as shown on the left figure Select the pulse command trigger method on Increment Position On for the requirement as show on the left figure Note This setting is only needed when Pulse and Direction or Pulse Up Pulse Down i
198. or the installation is C mega_fabs for Lightening 0 177 or below and C HIWIN for Lightening 0 178 or above Do not try to change this path Press Start to perform the auto installation procedure When the setup procedure is completed a popup window appears to show successful installation of the software as shown in Fig 4 3 If the USB drive installation screen Fig 4 4 appears during the setup procedure click Install and OK to finish the setup procedure Fig 4 2 Installation screen of the software 58 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 4 Settings MEGA FABS software Installation ended successfuly ETE Fig 4 3 Successful installation of the software USB driver BS o Do you want to install now USB driver Em Z N Fig 4 4 Installation window for USB driver The execution shortcut of the Lightening HMI program Fig 4 5 will appear on your PC desktop after installation The path for this shortcut is C mega_fabs dce toolswin winkmi lightening exe for Lightening 0 177 or below C HIWIN dce toolswin winkmi lightening exe for Lightening 0 178 or above P Lightenmg Fig 4 5 Execution shortcut of the Lightening HMI program 4 1 2 Communication setup Connect the drive via USB and turn on the power before opening Lightening The drive will automatically connect to the Lightening HMI when it is opened If not click Communication setup
199. ors and warnings Table 5 4 Description of error codes No Code Lightening error messages Motor short over current detected Over voltage detected 6 EQO6UVWCN Motor maybe disconnected 9 HO9UND V Undervoltage detected _ HFLT inconsistent error Table 5 5 Description of warning codes Lightening warnings 13 eft SW li a Ea 4 WO4HWRL gt RightHWIimit 5 WOSSVBIG Servovoltagebig 6 WOGPE Positionerrorwarning 7 WO VE J Velocity error warning 8 WOCURL OCOurentlimted 9 WO9ACC L Acceleration limited 10 W1O0VELL Velocitylimited 11 W1i1BOTH Both HW limits are active 12 WialT I2T warning 13 W13HOME HominrFaill 14 W14HOMC Pulse command and homing conflict N 2 3 4 5 7 10 11 12 13 14 117 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 5 LCD 5 3 2 Display parameters page In the display parameters page press the Up or Down key to change the parameter to display Please refer to Fig 5 5 for an illustrated description of the procedure The definition of each parameter display code is shown in Table 5 6 The name of the parameter is shown on the first line and its value and status are show on the second line of the display 2 01FBPO Fig 5 5 Operation of the parameter display mode The status display of paramete
200. oving count C Jog og current a MiHomed A amp SSM mode 2i cu Home 100 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 4 Settings 4 6 2 Velocity mode The drive can receive commands from the host controller via voltage named V commands The input voltage ranges from 10V to 10V The drive makes the received 10V to 10V input voltage correspond to the velocity or current control to drive the motor In addition to the voltage the host controller can send commands via PWM signals named PWM commands The PWM command converts corresponding to different velocity commands depending on the duty cycle It is classified into single wire type PWM 50 and two wire PWM 100 type The single wire type PWM 50 type refers to the duty cycle of 50 An inverse motion occurs when the duty cycle is less than 50 while normal motion occurs when the duty cycle is more than 50 The two wire type PWM 100 needs one more pin to control the operation direction of the motor 1 V command The analog voltage signal is converted to a velocity command and the drive controls the motor to operate at that velocity The higher the voltage value but it will not exceed the maximum speed set by drive Conversely the lower the voltage value the lower the output speed When the voltage value is negative the output speed becomes negative correspondingly and the motor operates inversely The command speed to which the unit voltage corresponds can
201. positioning accuracy measurement you should set the Interval and Total Points and enter the error map value to the table one by one The effective range of the error map table is divided by index The area in the positive direction of the index is mapped while the area in the negative direction of the index is not mapped The effective ranges when users use the non zero Home Offset and zero Home Offset are the same Refer to the figure below Refer to the figure below The mapping effective area when Home Offset is set to 0 When Home Offset is set to 0 Mapping effective area MMM index Drive coordinate 0 Position Fig 8 16 When Home Offset is set to 100 100 Mapping effective area index Position Drive coordinate 400 Drive coordinate 0 Fig 8 17 225 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 8 Applications 8 3 1 Operation of error map The steps to activate the error map in D2 drive are described as follows File C mega_fabs error map emp Map Attributes Status Error map enable interval 188 Error map active WiHomed ind Click FX in the main function area or click the index Position error map option in the NNN Setting Adjustment NNN Conf Tune on the function menu to open the window as shown in the left figure Data different from flash 44 eee VE Ps Pe NA 0 100 200 300 400 500 600 700 800 900 1000 Encoder mm Map Attributes
202. propriate operation may bring about disability light injury or material damage N Attention Actions marked may have a serious consequence All such instructions are important and must be followed Q Prohibited Indicates that the action Is forbidden and must not be done o Required Indicates that the action is compulsory and must be done HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 Usage instructions AN Warning N Attention Storage Q Prohibited Handling N Attention Installation location HIWIN Mikrosystem Corp 1 2 1 About the User Guide Do not touch the terminal or the inside of the product when it is powered in order to avoid electric shock Do not cut the cable apply too much stress to it or place heavy objects on it Laying the cable between objects may increase the risk of fire or electric shock Do not install the product in a place exposed to moisture or erosion or in an environment containing ignitable gas Do not use the product close to any flammable objects Do not store the product in a place exposed to water moisture direct sunlight or harmful gas or liquids Be careful when handling the product to avoid damage Use appropriate handling methods and do not apply too much pressure to the case The product shall not be stacked to avoid instability or collapse The product shall not be installed in a place exposed to high temperatures high humi
203. put Normal Inverse Normal Inverse phase JUL TU Le input input Normal Inverse Fig 4 19 4 2 3 2 Setting the position mode If the host controller only sends pulse command the position mode must be selected to receive the external motion pulse command The close loop control is dealt with by the drive The D2 drive supports three pulse formats and the electronic gear ratio is also allowed to be set for the high speed application system Primary Operation Mode Electronic Gear Invert Command Hardware interface Position Mode m Input pulses n Output counts ardwa 3 C Velocity Mode DIV2DIV1 amp High Speed Pulse Input CN6 pin 44 45 46 47 1 00 Low Speed Pulse Input CN6 pin 1 3 4 2 5 6 C Force Torque Mode m 1 01 Contro Input M skalar 1 01 C Pulse and Direction C Pulse Up Pulse Down 1 10 Quadrature AqB Increment Position on 1 11 Fig 4 20 Position mode settings 71 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 4 Settings 4 2 3 3 Velocity mode principles 1 V command The drive can receive command from the host controller via voltage known as V commands The input voltage ranges from 10V to 10V The drive maps the received 10V to 10V input voltage to corresponding velocities The analog voltage signal is converted to a velocity command and the drive controls the operating velocity of the motor The higher the voltage value the hi
204. r requirement The unit shows the corresponding relationship of 1V with the amp or between the Full PWM and the highest amp value of the current as show a on the left figure Set the Dead Band for the current command as show b on the left figure Select Invert Command to invert voltage or PWM command for requirement as show c on the left figure After finishing all the setting click the OK button as show on the left figure The parameter confirmation screen appear click the Send to RAM as show on the left figure Click the Save to Flash button in the main function tool bar in the main HMI window to save the parameters in the flash memory This will retain the parameters even if the drive is turned off 106 D2 Drive User Guide v1 2 4 Settings 4 6 4 Stand alone mode Stand alone mode is a mode for independent operation The drive has a high speed DSP that can perform motion planning by itself With the support of the DSP the drive can execute the internal motion program and drive the motor independently without using the external motion control card The basic setting of Stand Alone mode is described below Step 1 Selection of the mode The steps for setting Stand Alone mode by via HMI are described below Execute the Lightening HMI program Click the Configuration Center icon as shown on the left in the main function tool bar in the main HMI window or select the C
205. r input the correct type and parameters of the encoder on this page X Note If a HIWIN series AC servo motor is adopted users just need to select the correct motor model The program will automatically create a link to the encoder parameters applicable to this motor after the motor model selection Motor Encoder Mode HiW Enco H a Motor type AC servo E e Rotary Encoder type DIGITAL Ej Customized Rotary Encoder Model Name 828583300004 Manufacturer HIMIN Digital 10000 cnt e Encoder Resolution Power on Time 16688 Counts Rev 288 Linear Resolution B 1 um Counts ncoder output Output Resolution 108808 Counts Rev Use buffered encoder Invert Use emulated encoder Emulated Index Output in every revolution Scalling i encodercount 1 emulated encoder output Emulated index radius 16 counts Emulated index jitter filter 1 counts OK Cancel Fig 4 12 Encoder settings interface There is a variety of resolution parameters commonly used with HIWIN motor on Encoder settings page Besides users can enter parameters for any third party encoder in the customized settings field on the same page For example for a digital rotary encoder open Rotary and select Customized Rotary Digital to enter the resolution parameter based on the specifications of the encoder Use the Save function to save the encoder parameters after the settings have been entered This will create an encoder par
206. r of the motor and perform the three initialization steps on the LCD to drive the motor Please refer to the following description for the procedure A motor with model number FRLS402X5 operating in the Stand Alone mode is used as an example below 1 Press the Enter key to enter the MOTRSE setting then press the Up or Down key to select a model number L5402X5 to which the drive is to be connected Press the Enter key to confirm the selection 2 The LCD screen automatically moves to the ZERO TUNE ZT page Press the Enter key to enter the ZT setting screen then press the Up or Down key to select the Load Level LV of the ZT Users can refer the Table 5 2 to select the Load Level corresponding to the reference mass Press the Enter key to confirm the ZT 3 The LCD screen next automatically moves to the MODE page Press the Enter key to enter the MODE setting screen Press the Up or Down key to select STNDALON then press the Enter key to confirm the selection 4 The LCD screen now automatically moves to the SAVE TO FLASH SAVEFL screen Press the Enter key to enter the SAVEFL setting screen then press the Up or Down key to select No Press the Enter key to confirm that no parameters will be saved to the flash memory Please refer to 5 3 3 1 for a detailed description of the procedure m Table 5 2 Selection bases for the Load Level of the Zero Tune Motor power LV2 50W 100W 15kg 30kg 45kg 60kg 200W 400W 10kg 25kg 50kg 75kg 1
207. r speed 2 Serach Index signal only Fig 8 2 Homing settings There are 5 basic parameter settings for homing 216 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 8 Applications Table 8 1 Parameter name Description Slower Speed Slow homing velocity Faster Speed Fast homing velocity Smooth factor The smooth parameter range between 1 and 500 Home offset Home offset There are 2 homing modes 1 Determining the home by searching the left and right side conditions Refer to 8 1 1 for more information 2 Determining the home by searching the Near Home Sensor or the index signal of encoders Refer to 8 1 2 for more information After completing the setting of homing mode you can click the Home button at the bottom of the Performance Center page to activate the homing procedure The Homed status indicator on the Performance Center page flashes green when homing is proceeding and the Homed status indicator lights green when homing is completed Fig 8 3 If no homes are found before Time Out the Homed status indicator lights red meaning homing fails Fig 8 4 Performance center Ss b RN et RI O A E Position Velocity Ripple Target radius 166 Debounce time 160 0 Move time 154 7 Settling time 99 9 Total time 254 5 Set scope enable sw limit P1 msn yt 4 ou pe Fra BRS SR ESS ES Gee MM dh Bisable F 12 Primary CG OICCLUOTn Position Units Speed 1804 88 cou
208. r uses the Near Home Sensor for homing Please connect the photoelectric and mechanical switches to the digital input of the drive For example set I2 to the Near Home Sensor on the IO set test page as shown in Fig 8 11 im 1 0 center Not Configured 2 Abort Motion Not Configured Left lt gt Limit Switch Right C Limit Switch Motor Over Temperature Home OK start err map 1 Invert Command Switch to secondary upg Zero Speed Clamp Inhibit Pulse Command Switch HI LO Pulse Input lear Position Error Switch to secondary mode Start Homing Electronic Gear Select CDIU1 gt Electronic Gear Select lt DIU2 gt Tee eee T g E M M NM MI Fig 8 11 The Homing example In the settings of Fig 8 12 the motor will move at the fast homing velocity in the negative direction to search the Near Home Sensor and search the first Z phase index signal at the slow homing velocity in the negative direction when the homing procedure begins Refer to Fig 8 13 for the action process 222 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 8 Applications Application center 9999 Homing Backlash Error Map Resolver Position Units count Slower Speed 588 count s Faster Speed 1888 counts Smooth factor 188 Time out 25 8 second Home offset 8 Go Left and Right for Homing This mode will use the Slower speedto let motor goto Left side then oppsite side and then stop at the middle where itis
209. rence focelorat example Divide the value in Step 5 by the value in Step 6 Acc feedforward gain Command DP BMC dre Current Reference Acceleration 16 950000 1 68 421e 5 eNO een Bee Schedule Enter the result acquired in ves ww pee Step 7 in the Acc feed forward Acc feedforward gain SM E Eg m E en MER E 2 E n 7 L 31 Command Curren 8 43693 1 peak Observe the position error value and you will find it decreases from 90 counts to 400000 65 counts in the acceleration 800008 6088008 40808008 200000 200000 800000 segment 20 Reference Accelerat Position Error is 65 counts 4 Position Error DSP rate 15000Hz Rate 202 8Hz Time s 18 176 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 6 Tuning x Notes When the motor begins to move the graph appears on the Scope Fig 6 29 You can use the Toggle scopes windows Page Up button to switch between the graphs of a single physical value Clicking this button repeatedly will toggle between the graphs of the command current reference acceleration and position error in sequence so that users can read the values of these graphs easily Scope Axis X X Command Current is 16 m m 18 Mul is Jo k PN hey Mammu PR 2 Ny M m aa Switch 31 Command Current 4 66865 F between Reference Acceleration is ax 950000count s 2 X Scope amp screens 26 Reference Accelerat gt count s
210. rmware window Fig C 2 39 LIGHTENING version 0 172 com3 USB 115200 Communication setup Ctrl N LCD Password Open plot view Ctri G Data collection Scope Ctrl P Encoder test tune PDL Ctrl U Loop constructor Reset Amplifier Upgrade Downgrade firmware Last warning Quick view Position Units count gt 38 Actual Current 1 Feedback Position 18 Feedback Velocity Firmware version 9 426 tand alone Position Mode J w 6 000000 JE 0 0325360 count s C How to Update the Firmware of the Drive Communication ok C mega fabsldceVightening dce gt d2 0 C mega_fabs dceld2 Fig C 1 g Upgrade Downgrade firmware Step2 reis Update selected firmware to amplifier Add working directory firmware to Archive U6 08 Refresh 5 mega fabs dceidd Timm ezwer U U 0 017 C mega_fabs dce db_firm d2 ver_0 017 0019 C mega fabsidceldb firm d2 ver_0 019 0 020 C mega_fabs dce db _firm d2 ver_0 020 0 021 C mega_fabs dce db_firm d2 ver_0_021 0 022 CImega fabsidceVdb firmld wer 0 022 0023 C mega_fabs dce db_firm d2 ver_0_023 0 024 C mega_fabs dce db_firm d2 ver_0_024 C mega fabsidceldb firmid2wer 0 026 Step1 4 201141120 14 18 25 2011412107 15 29 17 201210322 05 33 38 2012103123 02 36 28 2012103129 03 21 01 20120426 10 08 34 2012105122 13 04 16 2012107M7 10 37 25 201210940 03 38 29 20124018 03 51 03 201240126 05 4
211. rom the activation of the brake The purposes are for the complete brake action counted Table 7 4 delMaxEnToBrk de excitation command to activate the brake kill emergency stop Refer to 7 1 4 The speed for activating the brake after the PASSE See ee disable command is need The brake acting time deBrkToDis The delay time from activating the brake to g shutting down the post stage current 7 3 3 Settings Click to enter Protection Center Select the Brake tab to open the brake setting page Users can use the button on this page to set the brake output pin The default pin is CN BRK and no modification is needed Click the button to show the IO Set test FA setting window Refer to 4 4 2 for the information about the settings 206 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 7 Protection El Protection center 327688 Dynamic Brake nae Fig 7 4 207 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 7 Protection 7 4 Hardware limit protection 7 4 1 Function overview The D2 drive has hardware limit protection The hard limit is usually the photoelectric switch or minor vibration switch installed on the positioning platform by users in order to identify the mechanic motion stroke When the motor collides with the hardware limit the protective measure of the emergency stop will be activated The hardware limit switch is usually the close sensor When the hardware limit switch is turned o
212. rs 01 04 is shown in Fig 5 6 and the status codes are described in Table 5 7 Input Voltage 2 81 O1 2 81 1 TRUE HI FLSE LO Output logical value Fig 5 6 Output status display 118 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 5 LCD Table 5 6 Definition of parameter display codes Gode Actual Value Deseipion Um Feedback Position Reference Postion Position Erro Feedback Velocity Reference Velocity Velocity Error Actual Current Command Current Analog voltage command SOUS k from the host controller Bus Voltage Amplifier Temperature 666 Input point 1 i NENNEN 2 Inputpoint2 gt gt 13 Imputpoint3 gt L WMpupont4 E InputpointS5 o Wpupont 7 Inputpoint7 Inputpoint8 Mpupont9 gt Oupuponti gt O OQutputpoint2 gt O OQutputpoint3 O OQutputpoint4 CN2 BRK Brake signal output gt Status Phase Initialized Phase initialized status Status Moving Movingstatus Status Homed Homedstatus 0 93ERRM Status Error Map Active Errormap active status 94 VER Status MDP Version MDP version status Ss 2 3 4 Table 5 7 Definition of output status codes Code Description TRUE FLSE High voltage Low voltage 119 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 5 3 3 Change parameters page 5 LCD Press the Up or Down key to
213. s selected 98 D2 Drive User Guide v1 2 4 Settings Step 3 Electronic gear setting The electronic gear can be set in the pulse mode One input pulse normally corresponds to one encoder count For example the gear ratio is 2 3 means two input pulses correspond to three encoder counts Total of four sets electronic gear radio can be set They can be switched using two I Os DIV1 and DIV2 They can be switched using two I Os DIV1 and DIV2 The steps for setting the electronic gear ratio via HMI are described below the Mode operation Poston Mode Velocity Mode Force Torque Mode Stanc Alone Mode velocity Mode Torque Mode None of Input Pulse anc Drecton Pulse Up Pulse Down Quadrature qB ncrement Position on Falling Edge Rising Eggs Resistance 47 Inductance 47 20 Pole Number 8 2 Rotor Inertia 22 006 0 Model Name FRLS05XX1 Manufacturer HIWIN Encoder New Value Present Value Type Digital Digital Resolution 10000 100000 Model Name 020503300004 Manufacturer HIWIN Mode Present Value STANDALONE MODE New Value POSITION MODE Quadrature AqB 4 Operational Mode 1 Pulse Mode Input pulses Units Kg m 2 Kg mm A rm A rm EI 5 Nm A rms Ohm mH Kg m 2 Units Counts Rev HIWIN Mikrosystem Corp Send to RAM Cancel gi Cane E 2 Calculation Results and Present Controller Data G p vi New Value Present Value Type AC servo
214. s not operate Advanced gains gt Analog input window Ne 1 Reduce the Common Gain value ii 9 None 2 The filter can be set in the Advanced Spera gains Filter window 1 Check that the position where the The temperature of the drive E07D HOT drive is at well ventilated is too high l 2 Check that the ambient temperature is not too high The position feedback l l Check that the drive machine and shield sensor reader transmits an E04ENCOD have been grounded incorrect signal 1 Check the drive is connected to a 100 or 240Vac power source or whether du oe TIO EIOS MS EO9UND V the power source is disconnected oe 2 Use a multimeter to check whether it is a 110 or 240 Vac power source 1 Confirm that the speed acceleration and load conform to the specifications 2 Check whether a regenerative resistor is needed for the motor 12 ME orem ole ts EOZOVERV operating at a high speed The go GN selected regenerative resistor must conform to the load and motion specifications 3 Check if the load is too high 4 Check if the speed is too high 1 Check whether the CG value and the The position error exceeds maximum position error value are set the maximum position error EOSPEBIG too low setting 2 Motor is obstructed when moving 3 Check if the load is too high 1 Solve the UVW short circuit and wiring problems 2 Solve the UVW and ground short circuit problem ine ee NE NER E01SHORT
215. sed and the max position error is to be modified by searching Lm d 238 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 9 Troubleshooting the motor angle repeat the startup test to make sure that no E03 PEBIG appears during the search LIGHTENING version 0 172 com3 USB 115200 Conf Tune Tools Language About PI Alte iz 38 ss Hite HIMIN Ampf i Protection center E 0 42 i ex Protection HW limit Brake protection Error windows Position Units s i count maximum pos error 20908 count r Warning windows Position error 1258 Velocity error 1 808080688e 8 Limits enable sw limit Motion Protection Speed 500000 count s Acc 7 5345e 6 count s 2 Dec 7 85345e 6 count s 2 Dec kill 1 41469e count s 2 Smooth factor 168 Error type setting v Latch Amplifier over temperature error Latch Under voltage error Communication ok Fig 9 8 9 3 2 Supplements to E11 PHINI error elimination If use SW5 to phase initialization E11PHINI may appear E11PHINI may appear if the current is not set appropriately In this case set the current again with reference to Fig 9 9 BlEnabled Phase initialized SiServo ready Phase iniBalizabon mode SM method 5 Jism mode BISMCL mode LIGHTENING version 0 172 com26 USB 115200 Current SM mode 2 69 amp Feedback position 60265 count 1 Enable axis in SM mode SM enable
216. sulating materials on the contact surface of the cabinet must be thoroughly removed so that the drive can connect to the ground through the machine The ground resistance must be less than 500 at 220V and less than 1000 at 110V If more than one drive Is installed a distance of more than 20 mm must be maintained between the drives to ensure heat dissipation Fans can be attached to the electric cabinet to facilitate heat dissipation 50 mm 20 mm 20 mm PR or more or more or more Ge or more NZ nl PA PD 1 3 a M EV m B RTN i 50 mm or more D2 ENT21A Fig 2 6 Distance between drives 16 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 2 Overview of the Specifications 2 5 Computer requirements Table 2 4 CPU 1 0 GHz or better RAM 512 MB or more Hard drive space 50 MB or more Communication port USB Operating system Windows 2000 Windows XP Windows 7 1024x768 pixels or more HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 2 Overview of the Specifications This page is intentionally left blank HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 3 Wiring 3 Wiring G VC EEE EE SE 19 3 1 System configuration and WING usanne 20 3 1 1 Master wiring diagram arnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnennnennnennnennnennnnnnen 20 3 1 2 0 NT power CONNGCION eee rr rant oo hrs ee ten epa antt uas 21 Seldon IIOIOL WINING GIACT AINA EE CO TT 23 3 1 4 Regenerative resistor optional wiring
217. switch the parameters to be changed in the change parameter page Please refer to Fig 5 7 for an illustrated description of the procedure The detailed operating procedure is described in the next section Static cursor Save the parameters from the drive RAM to the flash memory Acceleration setting Deceleration setting Velocity setting Common parameter change First filter frequency setting Secondary filter frequency setting Zero Tune Level v E Press Nm enter advanced parameter change m Advanced paramete change Note 1 Static cursor Parameters can be edited 2 Dynamic cursor Parameters are being edited or motor are jogging 3 No cursor Parameters can only be displayed not edited Fig 5 7 Operation of the parameter change mode HIWIN Mikrosystem Corp 120 D2 Drive User Guide v1 2 5 LCD 5 3 3 1 Save to Flash The following operation shows the steps to save the parameters from the drive RAM to the flash memory SAVEFL 1 Press the Enter key to enter the SAVEFL option A solid flashing cursor appears on the left side of the second line 2 Press the Up or Down key YES NO to select whether to save the parameters from the drive RAM to the flash memory Select YES to continue 3 When the servo is disable DI press the Enter key and the message PROCESS will appear on the screen indicating that the parameters are being saved to the
218. t controls the excitation of the motor The following instructions must be observed when the HMI is opened 1 When the HMI Lightening is the active window on the screen users can press F12 to disable the motor This function is usually used in the emergency situation 2 When the Performance Center is opened from the HMI Lightening users can click the Disable button same as F12 to disable the motor Click the Enable button if users need to enable the motor again In this case the status indicator of the Hardware Enable Input must remain green 249 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 A Axis Enable Setting This page is intentionally left blank 250 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 B Parameter Comparison Function B Parameter Comparison Function B rarameler TN 251 B 1 Compare parameter RAM to Flash rrrrannrnnnnennannrnnnnennnnnnnnnnennanennnnnennnnen 252 251 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 B Parameter Comparison Function B 1 Compare parameter RAM to Flash The Compare parameter RAM to flash window pops up Fig B 1 when users changes the motor parameters in the Lightening program and exits the program before saving them to the flash memory of the drive or when users performs the error map and does not save the parameters in the flash memory Refer to 8 3 3 This window is used to remind users that some parameters have been changed and not saved t
219. t then GM OdB This means that the system has become unsteady and the loop gain cannot be increased any more 4 If G o passes through the 1 jO point then Ge GM 04B t Nyquist G jo passes through the 1 jO point then GM is dB and the loop gain must be reduced by GM to ensure the steadiness jlmL L j Plane Phase crossover Fig 6 48 Gain margin of Nyquist 198 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 6 Tuning 2 Phase margin In Fig 6 49 the phase margin is the included angle form by the straight line passing through the phase crossover and the negative real axis on the G Jo plane Phase margin PM ZG jo 180 Fig 6 49 Phase margin of Nyquist 6 8 5 2 Gain margin and phase margin of Nyquist 40 O Gain crossover 20 gt 0 IG jo dB p Gain margin o rad sec 40 60 Phase margin 0 l 90 4GUe dehe 270 o rad sec 360 O Phase crossover Fig 6 50 Bode gain margin and phase margin 199 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 6 Tuning 6 8 6 Bandwidth The Bode bandwidth is defined to 3dB as shown in Fig 6 51 Gain dB 0 dB 3 dB Bandwidth Fig 6 51 Bandwidth 200 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 7 Protection 7 Protection VEN diei NN 201 Ts Eee Melee o 202 7 1 1 Function overview eessesssesseseeeeeen enne nnne nennen nnns nnns 202 7 1 2 Velocity acceleration and deceleration
220. t conf ig 5 1 out conf ig 6 I out configl 7 1 out conf ig 8 I out configl91 out config 18 1 out conf igl11 out conf ig 12 out conf igl131 out conf 1g 141 out config 15 out conf ig 16 out conf ig 17 out conf ig 18 out config 19 out xor pullupdn c G 205 9 06 09 09 0 0 P C2 c a e J o co 408 32708 m en annovnoavnn ovav v vnv vm nm m Mhhh h h mm mm eG co m o6 0 0 0 9 Co CS o Fig B 2 The function keys are described below 1 Save Save the parameter in the flash memory 2 Close Close the window 3 Up Move to the previous different parameter between the RAM and the flash memory 4 Down Move to the next different parameter between the RAM and the flash memory 5 Undo Restore the selected parameter that was stored in the RAM to a value in the flash memory 6 Refresh Re compare the parameters stored in RAM and the flash memory 253 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 B Parameter Comparison Function Compare RAM to flash ver 0 45 Refresh Stor Save Close Up Slave lt d2 gt hex D Down Comprae paranters RAM to FLASH 1 modified 1 undo 227 variables 8 errors RAM value Flash value 197 574 566 Parameter name sm ampl 8 sof fr R sof ki X sof k2 8 sof xi X st cg st phase 4 st vpg sui pos sw2 pos sw pos prot en z 8 0 707 8 3 1365 8 825528 188808 1980
221. t limit switch Switch between primary and secondary mode Clear error Right limit switch etc Servo ready Error In position output Zero speed detection For optical coupler interface single ended input 500 Maximum input pulse kpps frequency For line driver interface differential input 4 Mpps m cnt s at AqB Pulse direction Pulse Dir Pulse input Input pulse signal format Buc E us CW CCW Air phase AaB Elaciranic qas vm ratio pulses counts J Pulses 1 2147483647 counts 1 2147483647 Smoothing filter en Ug filter coefficient 1 500 0 no smoothing VSF can eliminate vibration frequency during motion Vibration suppression function VSF and suppress vibrations generated due to the system structure to improve the machine productivity 12 suoleoijioeds oiseg Control input Control output N M OONOABRWN 2 3 4 5 6 7 8 9 1 2 3 4 suomneouioeds uonounJ opouij 0J1uOo UOISOd HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 2 Overview of the Specifications The auto tune procedure starts automatically after execution The load inertia is automatically Auto tune determined without the need to set it manually All required gain values are set using a key on the LCD Emulated encoder output Can be set freely maximum frequency 18M cnt s Motor short circuit detection 2 Overvoltage Position error too big Encoder error Soft thermal protect
222. t the motor ec outputs in the motion Dec kill Set the deceleration that the motor emergency stop Smooth factor Smooth factor You can also click to enter Protection Center and observe the same group of motion protection settings in Motion Protection on the Protection tab The settings can only be displayed not written 202 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 7 Protection g Protechon center Protection HW limit Brake protection Position Units Error windows coun maximum pos error 26214 count Warning windows Position error 13167 count Velocity error 1 666 e 8 counts Lirnits enable sw limit Motion Protectior Speed 6 5536Ge 6 counts Acc 1 1291 e 1 counts Dec 1 1291 e 1 count s 2 Dec kill 2 2582ie 1 couns 2 Display only Cannot be iius factor 108 modified I Latch Amplifier over temperature error Latch Under voltage error Fig 7 2 In the Motion Protection area Fig 7 2 you can set the maximum velocity acceleration and deceleration for motion Click Position Unit to set units according to users preference These settings are used in motion protection and the parameter for the testing run Therefore users must confirm whether Motion Protection is set in accordance with users settings after using P2P Relative Move JOG and other motion functions in the Performance Center When using the host controller to send motion commands i e operating in th
223. tion and avoid damage fire or injury Operation and transportation N Attention 1 Ensure the power source specifications are correct to avoid fire or injury 2 The product may restart suddenly after power is restored Do not come too close to the product o Required 1 An external emergency stop line must be wired to cut power and stop the product at any time Maintenance Q Prohibited 1 Do not dismantle or modify the product 2 Do not attempt to repair any product malfunction Instead send the product back to the Company s professional technicians for repair HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 1 About the User Guide This page is intentionally left blank HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 2 Overview of the Specifications 2 Overview of the Specifications 2 Overview of the Specifications rrrrnnrrrrnnrrrnnnerranrrrnnnernnnrnrnnnennnnrnnannennnnennnssennnssnnnn 7 MESURE Rei g EEE EEE 8 2 1 1 Nameplate infoOrmation cccccccseccseceseeeseeeneeeneeeneeeseeeneeeaeeeaaeeaeeenaes 9 21 2 Model Bibel EE EE EE E 9 2 2 Servo drive specifications esseeessssssssessseeeen eene nennen nnns 10 2 2 1 Servo drive specifications full function sees 10 2 2 2 Servo drive specifications pulse tyPe cccseeceeseeeeeeeeeeeeeeseeeeenees 12 2 9 PS TEN 14 2 4 Installation of the drive
224. tion error and the velocity ripple The improvement of these performances Is to be achieved through tuning of gains and parameters Tuning common gain is the simplest way for the D2 drive to improve the motion performance of motor The higher common gain causes higher servo stiffness However if the servo stiffness is too high it will bring about system vibration or electric noise depending on the mechanical status Advance MF Performance center a Bk Target radius 148 n Debounce time 188 8 Move time 8 8 Sattling time 6 8 Total time 0 0 enable sw limit 2 P1 I a 1 LI 1 L LI L Disable F12 Motion Protect om Common Gain Position Units Speed 500880 counts 0 508080 v Acc 3 PANAAe 7 Common countis 2 Stop mation Dec kill 1 5AAAAe 7 countis 2 Smooth factor 388 Zero count Dec 3 00AAfe 7 countis 2 Status Hardware Enable Input m GOMPT ASoftware Enabled msec P2 300AAA GOfbP2 MServa ready Phase Initialized BiMoving gt miHomerd msm mode Fig 6 23 Performance center The system also provides advanced gain tuning functions in case that the common gain cannot fulfill required performance These functions include the Filter Acc feedforward Gain Schedule Analog input and current loop 171 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 6 6 1 Filter 6 Tuning The filter is located inside of servo control loop and mainly
225. tion function can be disabled when the smooth factor is set to O The steps for setting the smooth factor on the LCD are described below 3 SAVEFL mw E273 a Use the last setting screen from Step 3 above Press and hold the Down key to move to Page with LCD No 115 This is the page for setting the smooth factor Please refer to Note 2 for more information about LCD 140 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 5 LCD Press the Enter key and set the 3 115 rst V RE required smooth factor Please 100 n m GF refer to the parameter edit function in 5 3 3 2 for the setting method Press the Enter key to finish the setting Note 2 The smooth factor is set using the following parameters 141 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 5 LCD 5 4 2 Velocity mode The drive can receive commands from the host controller by voltage V commands The input voltage ranges from 10V to 10V The drive converts the received 10V to 10V input voltage to the corresponding velocity control to drive the motor In addition to the voltage the host controller can send commands by PWM signals PWM commands The PWM command converts to different velocity commands depending on the duty cycle It is classified into single wire type PWM 50 and two wire PWM 100 type The single wire type PWM 50 type refers to the duty cycle of 50 An inverse motion occurs when the duty cycle is less than 50 while normal
226. tive Q 0 0004 resistor is Q necessary 2 0 0003 dod x 0 0002 Regenerative resistor is not J Kg m necessary 0 0001 O O 500 1000 1500 2000 2500 3000 3500 4000 4500 Rotational speed w rpm Fig 7 7 FRMS202XXXXX motor regenerative curve 0 0008 o 0 0007 o Regenerative resistor Q 0 0006 is necessary 0 0005 D RG1 0 0004 0 0003 Regenerative resistor is not J Kg m necessary 0 0002 0 0001 O 500 1000 1500 2000 2500 3000 3500 4000 4500 Rotational speed w rpm Fig 7 8 FRMS402XXXXX motor regenerative curve 212 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 7 Protection 0 0025 0 002 0 0015 eau peo E OL 0 001 J Kg m 0 0005 0 014 0 012 0 01 0 008 Meul PEO EJOL el 0 006 Q J Kg m 0 002 Regenerative resistor is necessary RG2 Regenerative resistor is not necessary 500 1000 1500 2000 2500 3000 3500 4000 4500 Rotational speed w rpm Fig 7 9 FRMS752XXXXX motor regenerative curve Regenerative resistor is necessary RG2 Regenerative resistor is not necessary 500 1000 1500 2000 2500 3000 3500 4000 4500 Rotational speed w rpm Fig 7 10 FRMS1K2XXXXX motor regenerative curve 213 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 7 Protection Table 7 6 shows the model number of suitable regenerative resistors for each D2 drive Table 7 7 shows the model number of regenerative resistors for HIWIN products Users can choose to
227. to observe the motion waveform of the setting time The Performance Center provides a velocity ripple measuring function User can observe the performance of velocity ripple in P2P motion The Vmax Vmin Vavg and Velocity Ripple stand for the maximum velocity minimum velocity average velocity and velocity ripple in the uniform motion segment respectively Click st to open the scope which can be used to observe the motion waveform of the velocity ripple In addition to the P2P function the Relative Move is used for setting the distance of the movement and Jog is used for setting the normal or inverse jogging movement Users only needs to click the or button for the setting The velocity acceleration or deceleration and smooth factor set in the Motion Protection area are also used for motion protection Therefore if users forget to set the motion protection values after the test run the motor may not reach the expected velocity or acceleration when the host controller sends the motion command 156 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 6 Tuning Description of the operation functions on the screen OAONO OG Performance center DER Velocity Ripple Target radius 188 Debounce time 198 8 Move time 8 8 sec Settling time 4 msec 6 Total tima enable sw limit 592 469 F1 gt 25000 uer EDAM TAB AE dh Disabl
228. tor may be disconnected to open the dialog box and read the possible cause and solution for the error Enors and Warnings Log Time Log Statistics NOTE The time shown below is calculated from the beginning of a reset or 24Vcc turning on of the amplifier E06 Motor may be disconnect WoS Servo voltage big E06 Motor may be disconnect Help tips J Motor cable is not connected or improper connection Please check motor power cable is connected to drive corectly WEE Double Clicking at the error or warning message f wil show help text for trouble shooting Soldier dl se ee Fig 9 7 Help tips window of the Errors and Warnings Log 236 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 9 Troubleshooting 9 3 Error codes and actions A three phase short circuit is detected 1 Disconnect the drive remove the UVW connector at the drive end and check whether the short circuit happens between the UVW and ground Ter The motor might be burned out if short circuit over current ae occurs selected SHORT 2 Measure the motor UVW resistance to make sure it is close to the specifications The motor might be burned out if this resistance is much lower than the specifications 3 Separate the motor from the motor wire and use a multimeter to check the motor wire for shirt circuit The voltage of the DC bus in the drive is too high When the motor sustains a high load and operates at a high speed this error
229. tune Click the Close button to close the window after the tuning has been afEnabled completed Now the auto phase AfPhase initialized initialization is complete and test run Seno ready functions can be performed 7 Auto phase center x Note Hardware enable needs to be triggered for this step Now motor is already enabled X Note Observe whether the To avoid incorrect gain tuning please check if motor is far from hard stop Phase initialized ang MServo ready P 4 lights are green to check if the phase initialization was executed successfully and if the servo close loop control is readv W Gain is tuned X Note The Gain istuned status 2 EE indicator flashes green during the auto gain process The auto tuning is complete when it is continuously lit green or not continuously lit red In this case close the auto tune window and repeat Step 2 if Yes please proceed Auto tuning 76 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 4 Settings If in the previous step user finds that 7 Auto phase center View Details the positive moving direction is not according to expectation it is possible to reverse the direction definition Please use the Toggle Direction as shown in the left screen shots and then carry out the previous step again phase initialized PES e initialization mode LSWIR mf Servo ready m SM mode E SMCL mode itis about to disable motor For Z
230. tware or click the Disable button to disable the software If there is no connection between your PC and the drive the status of Software Enable is changed with the status of Hardware Enable If you close Lightening when PC is connecting with drive the Lightening HMI will query whether you want to enable or disable software after the window is closed 61 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 4 Settings When using Lightening 0 144 or older versions for connection to a D2 drive an installation error message as shown in Fig 4 9 appears after the connection This is because these HMI versions do not contain and thus cannot identify the firmware version e g v0 006 of the D2 drive Please click Do nothing and download the latest Lightening HMI software version from the HIWIN website LIGHTENING vernon 0 144 com6 USB 115200 WM HIWIN Ampifier m Firmware version tur Compatibie firmware in Archive database NOT detected The search ts finished Upgrade recommended firmware to amplifier Do nothing Fig 4 9 Firmware version installation error message 62 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 4 Settings 4 2 Configuration center When using a new drive or anew motor please set up all required options according to your actual needs through Configuration Center Click in the main function toolbar to enter the Configuration Center The position of the button is shown
231. uous motion Users can define a current value in the current mode to perform the continuous motion at a constant current Home Homing Common Gain The higher the common gain the higher the servo stiffness Users can use this value to adjust the servo stiffness However if the servo stiffness is too high the system may become unsteady and cause vibration and electric noise The stiffness value must be reduced in this case Status Display Display the status enable sw limit Enable the software limit The function will restrict the travel of the motor 157 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 6 Tuning z Performance center Set scope VelocRPRipple 8 562568 Vmax Vmin 2 Vavg 10096 Fig 6 6 Performance Center Velocity Ripple page V max The maximum peak value of the velocity ripple V min The minimum peak value of the velocity ripple V avg The average peak value of the velocity ripple b Velocity Ripple Velocity ripple 158 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 6 Tuning 6 3 Scope The D2 drive provides a Scope function for users to observe all physical values during the adjustment of the machine and determine the result of the adjustment It also allows users to find the cause of the error when the drive is unable to perform its task Click the window Click or s button in the Performance Center to enter the Scope sw ON the Position page
232. use series or parallel connection based on their needs Table 7 8 and Fig 7 11 show the appearance and size Table 7 6 Ma Table 7 7 CE 120Q 300W 1500W Table 7 8 16542mm 150 2mm 40 0 5mm 20 0 5mm 215 2mm 200 2mm 60 0 5mm 30 0 5mm l 1 L Line length L 500mm Fig 7 11 214 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 8 Applications 8 Applications 504219 6 6 11 og EEE ERE 215 Sele 6 101180 SEUN NN EEE ER EEE 216 8 1 1 Determine home by searching the left and right side conditions 218 8 1 2 Searching near home sensor or encoder index signals 221 Seldon REIS RTT oT 223 8 2 Backlash compensation arrnnnnnnnrnnnrnnnnnnnrnnnrnnnrnnrnnernnnrnnennnernnnnnnnnnnnnnnnnnn 224 6 addio EE 225 9 9 T Operation oi eror MAD save 226 8 3 2 Activation of error MADP ccceccseccseecseceseeeneeeeeeeeeeeneeeneeeeeeeaeeeaeeenaes 228 8 3 3 Save and open the error table file rrrrrrrrrnnrrrrnrrrrnrrernnnrrrnrennnnen 229 8 3 4 Error map value and encoder resolution 230 215 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 8 Applications 8 1 Homing settings Click a on the main page to enter Application Center as shown in Fig 8 1 A Application center aa _ Backlash Error Map Resolver Position Units nn Slower Speed 0 0500000 mm s Faster Speed
233. used to eliminate the problem caused by high frequency vibration of the system or deal with the resonant frequency of the mechanical system to improve the control performance of system The D2 drive has two filters that can be used c oncurrently and set as a low pass filter or a notch filter To design a filter is often done by analyzing the system characteristic in frequency domain User can click the amp button in Fig 6 24 to open the emulated interface of Bode plot The settings of two com monly used filters are described as follows Filter 1 Advanced gains l o E es Bode i fr 200 000 ff 8 668088 fix 0 707107 f2x 8 707080 k1 6 608088 12k1 8 e6B888 n x2 0 000008 12k2 8 888868 Low pass filter cutoff frequncy 288 Low pass filter cutoff frequncy 288 Notch filter Notch frequncy 2804 Noten finer Notch frequncy 248 Disable filter Disable filter Generate filter Generate filter v Activate f3 AC Schedule Analog current VSF feecronward Gains vpg input loop Compens Filter 2 1 Low pass filter Fig 6 24 Filter A setting of a typical low pass filter is set as follows Fr Cutoff frequency The unit is Hz 500Hz can produce an excellent result in general applications and reduction of the frequency can be considered in some cases However cont too low xi Damping ratio of the fi k1 0 k2 0 rol performance will be affected if the cutoff frequency is
234. vel PSEL Switch HI LO Pulse Input Switch high low speed pulse input channels Trigger The motor enters the emergency stop Abort Motion procedure after receiving this signal during operation Clear Position Error Clear position error s d Trigger itch from the primar h Level Switch te Secondary Mods Switc om the primary to the secondary eve operation mode Trigger h ilt i H Grutidoniino Start t e built in homing procedure of the Edge drive Trigger lecti f the el io i DIV Electronic Gear Select DIV1 Selection of the electronic gear ratio in Level pulse mode Trigger lecti f the el io i DIV Electronic Gear Select DIV2 Selection of the electronic gear ratio in Level pulse mode Trigger Level Trigger E C M MG PE OD OM I cO HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 4 Settings Table 4 3 D2 Drive Input default settings Specified signal input Inversion Signal i Stand Alone mode Velocity mode iei Inhibit Pulse Zero Speed Zero Speed 30 Clear Position Abort Motion os AxisEnable Enable Axis Enable Enable AxisEnable Enable Axis Enable Enable 27 Switch to er Switch to Switch to Switch to secondary CG secondary CG secondary CG Electronic Gear 28 I5 Near Home Sensor Select No lt DIV1 gt 26 Left Left Left Left No Limit Switch Limit Switch Limit Switch Limit Switch itch l Switch to Secondary ee Svene Switch to 32 I7 Secondary Secondary Secondary Mode Mode Mo
235. velocity mode Press the Enter key to confirm the setting Step 2 Setting the command input format Velocity mode can be used if the host controller can output analog commands or PWM commands Only the ratio scaling between the analog commands and the velocity needs to be set for velocity mode The unit shows the corresponding relationship of 1 V with mm s or between the Full PWM and the maximum speed The dead band can be set for the velocity command The velocity will be 0 when the input voltage or PWM is lower than this setting Please refer to the figure below Output Dead band Fig 5 19 The steps for setting the command input format on the LCD are described below Use the last setting screen from Step 1 above Press and hold the Down key to move to Page with LCD No 83 This is the page for selecting the velocity command ratio Please refer to Note 1 for more information about LCD number 83 143 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 5 LCD Press the Enter key and set the required velocity command ratio as l Please refer to the parameter edit n Iv GE function in 5 3 3 2 for the setting method To set an inverse voltage or PWM command add a minus sign to the velocity command ratio Press the Enter key to finish setting the velocity command ratio Press and hold the Up key to move to the SAVEFL page Here the 3 SAVEFL Y oy parameters can be saved to the NO aA G L
236. way users can understand the state of the hardware signal that the drive outputs and use this to identify wiring errors 4 Invert output state If required this option can be checked to invert the polarity of the output state Please note that the internal logical value of the drive will not be affected by the invert output setting 5 Output function setting Every output port 01 04 has a corresponding Configure Setting button Click the Configure O1 _ contiureo1_ button to open the Configuration Setting window This menu provides categories for Statuses Errors and Warnings Fig 4 29 If users select two or more items in the same configuration the output function works when one of the items is triggered Users can click the Not Configured _ 2c2 ses button to cancel all checked options After selecting the desired function users need to click 91 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 4 Settings Apply _ to save the settings or click Cancel to discard any changes As for the Set all errors seems button in the Errors category it is recommended to use this button to quickly select all errors This is helpful for users to finish the settings more quickly Configuration of O1 o amp 2s The output signal represent Logic OR of Selected States below Statuses Errors Warnings M Brake Motor short Setall errors
237. window to confirm the followings 1 Confirm that the Error map enable Mone has been checked Refer to 8 3 2 for more information 2 Confirm that the Home action has been performed or homing signal has been set in Input 1 Use Quick View or Scope to confirm that Target Position has received the input pulse signal 2 Confirm that the pulse signal cable is not disconnected or no poor contact None is identified 3 Confirm that the signal OV is connected to the shield or ground 4 Confirm that the drive and machine are well grounded 5 A core can be mounted to the pulse cable as a filter if needed 1 Confirm that the unit is correct 2 Confirm that the speed or acceleration is set to 0 3 Confirm whether the SW limit has None been enabled If yes check that the Upper or Lower limit is set correctly 4 Push the platform after the motor is disabled and confirm that it moves smoothly 1 Use Quick View or Scope to confirm that Target Position has received the input pulse signal Nowe 2 Check whether the pulse cable is connected disconnected or contacted poorly 3 Check whether the electronic gear is set to low 243 W10VELL WO9ACC L D2 Drive User Guide v1 2 9 Troubleshooting 1 Use Quick View or Scope to check The analog voltage V whether the analog command is input Command has been None successfully transmitted but the motor 2 The voltage offset can be set in the doe
238. with a higher adjustment value and is closer to a T curve with a lower adjustment value A value of 1 means no smooth function is enabled When a higher smooth factor is used in some cases the reduced output force of the motor is helpful for the final settings during the positioning process However the move time will unavoidably increase when the motion becomes smoother Tests on the machine are needed to adjust the smooth factor and reach a balance The motion protection function can be disabled when the smooth factor is set to 0 The steps for setting the smooth factor via HMI are described below Click the Performance Center icon as shown on the left in the main function tool bar of the main HMI window or select the Performance Center option from Conf Tune in the function menu Performance center Velocity Ripple Target radius 166 Set scope Debounce time 166 6 Move time 8 8 Settling time 8 8 Total time 8 8 enable sw limit 1 In the Performance cue D MI Center set Smooth Motion P MT factor for the otection Speed 500000 counts 90 388008 Position Units Zero count x Acc 6 94495e 6 countis 2 requirement as Dec 6 94495e 6 count s 2 Deckil1 38899e 7 countis 2 shown on the left figure Status mi Hardware Enable Input LA a Ow D p i Software Enabled ell time 1988 msec P2 500 GOMP2 mi Servo ready Phase Initialized C Relative move A stance Bu
239. zer sg run sg stop sg idle 1 8808 1 808 1 8808 svpg run svpg stop svpg idle svpg smooth ms Moving Settling In position Scheduled Gains according to VO Secondary CG Secondary vpg 388088 Copy from Primary CG 98 00205788 Copy from Primary vpg Fig 6 30 Schedule gains 178 HIWIN Mikrosystem Corp D2 Drive User Guide v1 2 6 Tuning 2 Velocity loop gain vpg The velocity loop gain vpg is an internal control parameter of the D2 drive The default value is computed by using the parameters user defined in the Configuration Center Modification of vpg is not needed in general condition but User can use the Freq analyzer to adjust its value The steps are as below Freq analyzer junior I 11 sl 0 File Modes View C Gain Fr Step dcbl Deb Current Oain db piant plant C Phase Amplitute 409 6 Close loop dcbl step gains C phideg Signal offs vpa C Nyquist Signal X ref pos ext st vpg C ph gain Input X ref pos ext Load C Nichols Output vel fb show also stepper bode Iv Points Run Click the Freq analyzer I Odb cross button on the page dise as shown in Fig C Rad sec eM enable 6 30 Then following screen appears MeEnabled if Phase Initialized mS mode sm_ampl 0 1 Clr inf 25 000A Data time 8 1 Min cycles Click the Enable Step cH 4 button 8 1 F Freq analyzer junior 1 11 s1 0 Fr ene Step dcbl Dcbl Current plant plant Amplitute 18 68

Download Pdf Manuals

image

Related Search

Related Contents

    do manual  Manuale d`uso e manutenzione  US E R M ANUAL  18_Ventajas del uso de la inyección .. para vehículos diesel    

Copyright © All rights reserved.
Failed to retrieve file