Home

D1 Drive User Manual

1. 03031 Note Refer to figure 6 8 A to see procedure of numeric parameters Figure 6 8 A example of COMMON GAIN of flow chart of configure parameters 4 COMMON GAIN HIWIN Mikrosystem Corp 110 mega fabs D1 Drive User Guide LCD Operations Figure 6 9 Sequence of switch number in configure parameters 6 5 3 Non numeric Parameters Change It can be changed on operation mode of the drive and formats of the drive receiving pulse from the host controller via the function of non numeric parameters change Operation Mode Following is how to change operation mode and the operation procedures Hare shown as Figure 6 10 1 After pressing the ENTER key enter the change mode of non numeric parameters A flashing solid cursor is at left side of second line 2 Press the up or down key to select Position Velocity Force Torque Current or Stand Along mode 3 After selected press the ENTER key to complete the setting HIWIN Mikrosystem Corp 111 mega fabs D1 Drive User Guide LCD Operations MODE POSITION Position mode MODE VELOCITY i i Velocity mode Force Torque mode MODE STNDALON Stand Along mode Figure 6 10 Flow chart of operation mode Pulse Format Following is how to change pulse for
2. LEVEL TWO 01FB POS il 323088 Long press up key N uroje Sr E Long press down key M Feedback PIFB POS position E 65810 CCW Feedback L_______ y II position _________________ I Figure 6 16 Operation flow chart of Jog HIWIN Mikrosystem Corp 119 mega fabs D1 Drive User Guide LCD Operations 6 6 3 Absolute Motion MOV2POS Following is how to do moment to absolute target position and an example of setting the absolute position 20000 counts 1 First press the up or down key to select the item of setting absolute position MOV POS Please refer to section 6 5 2 to do the settings and target position should be set to 2000 After this go to the next step 2 Go to MOV2POS item After pressing the ENTER key enter activate motion Move to target position item There is a flashing solid cursor at left side of second line The operation procedures are shown in Figure 6 17 3 Press the up key to move motor to absolute position 2000 which is set in MOV_POS Feedback position 01FB POS is displayed on LCD panel during motor motion 4 Press the down key to move the motor to absolute zero position and the feedback position 01FB POS is displayed during motor motion 5 Press the ENTER key to go back to LEVEL ONE Note When the motor is moving and before to reach target position if the user presses the up or down key target position of the motor will be changed HIWIN Mikrosystem
3. 10 digital inputs Note I9 110 not for general purpose I O under pulse Programmable mode 0 3Adc max 40Vdc max Open Drain I O interface 3 digital outputs 01 gt 02 03 es Short Over voltage gt 404Vdc Position error too big alo Encoder error Motor cable lost connection Drive over temperature IGBT gt 80 C 3 C Motor over temperature Under voltage lt 60Vdc Established compensation table to compensate encoder error by linear interpolation Sica te nev Ee r Activated internally by home complete or activated Aviation externally by input signal Operation Temperature 0 50 C if over 55C air circulation is needed Storage Temperature 20 C 65 C Under 1000Meters Vibration 1G 10 to 500Hz SITE with U L Spec 94 V 0 Flammability ating HIWIN Mikrosystem Corp 3 mega fabs Drive User Guide Specifications 1 3 Drive Dimensions Drive dimensions and mounting holes positions are shown below The units for all dimensions are labeled mm and the diameter of mounting hole is 4mm 46 j K k yJ Bow J sqej e El E AB O NZO 2Z0 140 1 76 2 37 1 HIWIN Mikrosystem Corp 4 mega fabs Drive User Guide Specifications 1 4 Drive Installation Conductive screws should be used to secure the drive when embedded inside a controller The insulation material on the contact surface of the control box should be scraped for earth
4. button sets the scope to show corresponding values for corresponding scenario As shown in Figure 5 7 the user can also change the physical value selection as he wishes and the scope displays curves in real time HIWIN Mikrosystem Corp 76 mega fabs D1 Drive User Guide Drive Tuning e Wee 41 Feedback Position 2 Reference Position 3 Target Position gt 16 Feedback Velocity 11 Reference Velocity 36 Actual Current 31 Command Current 46 Analog Command 41 Bus voltage 42 Servo Voltage Percentage 43 SIN Analog Encoder 44 COS Analog Encoder 4 56 Amplifier Temperature 51 Soft thermal Accumulator count s 2 1 Feedback Position count E Time s 18 Figure 5 7 Scope Physical value list Click here to select physical value to observe 2 Display Unit Click here to select the unit for displaying physical value Number of Channels Clicking here to select number of channel of the scope Time Here user can specify the time that corresponds to horizontal axis of the scope The unit is second on A Description en ne a PageDown oe of scope Turning off and on scope will start logging from beginning g vv in paper mode Ctrl T Change display mode between Normal mode and paper EN mode Toggle scopes window PageUp Clicking this scope will display each channel one by one on a screen Fit graph to window Fit all physical values in proper scale acc
5. Run Figure 5 33 Fr equency response 5 6 3 4 Click the left mouse button on the plot of frequency response then a 20dB cursor line shows up Drag the cursor line by pressing the left mouse button to close as showing figure below When dragging the line the gain will also be recalculated in the meantime and display the value of vpg To drag the cursor line to the bottom of screen will increase the gain Otherwise the gain will be reduced HIWIN Mikrosystem Corp 93 mega fabs D1 Drive User Guide Drive Tuning EN Freq analyzer junior 1 11 si File Modes View r 10608 Step dco Debi bumser Vpg Automatically calcuated pla SETA Amplitute 18 6866 Signal offs Y Signal R_disturh Input R_command Output R_vel fb Load 9 57396e 6 Kg m 2 Run Send Set Fr V Odb cross Frequency analyzing ended successfuly Hertz C Rad sec Full scr SMenavie ilde Disable i Cursor line AjEnabled iA Phase Initialized i MSM mode E Frequceny response line sm_ampl 0 1 33 5876 Figure 5 34 Freq analyzer Click the sr lbutton to send Velocity Loop Gain to the drive In order to conserve it saving it into flash memory in the drive is necessary to be done 5 6 4 Analog Input Bias Correction In voltage mode voltage command is sent from controller and there may be DC bias containing This DC bias has deviation of command The D1 drive has a compensation function i
6. mega fabs D1 Drive User Guide HIWIN Mikrosystem Corp mega fabs D1 Drive User Guide Version 3 Nov 2011 HIWIN Mikrosystem Corp mega fabs D1 Drive User Guide ibA ZA HIWIN Mikrosystem Corp TABLE OF CONTENTS ADOut THIS MA a iv POUM iv REVISION THISTONY ssctidnratctnneluctcte usc netnmeun E a V 1 e o eee E EP Rye eee RE me ee ee Ee EEE er emo eee ete ene cree Cone me 1 Dl COMICAL An cathe daubs deviled cade de chad vvcsacadeh tea dd EET eee tata dis 2 T2 Dive BES DCCC AN ONS coli laze ause sdluesaaaeeteio Suge sab date ond R I ISS 2 tS DIYS DIMEN SION A dana ue alteeaces 4 Wee PPI SI STAN ONT BRENNER DSR PEN cr cake DERE RE teas mse cAcinSouecte ERE eda RET SEERE SE BESET teen Riba ae bare ota darnce emda outa cc EDEN SPORES DET TEN eouttene henna 5 15 Specification hequirements 0l Pitt A A A tes dee ned Ad e 6 2 MOTION BASICS ii a alene Anne 7 A a aaa e aE s e e e e E 8 PN POSIION MOJE earnan aen AAA AAA AA AAA 8 2 1 2 Modes that use voltage cCoOMMaN lante EDEL EL 9 2 159 Modes Mat US PWM CO MAA nadan 10 PTA Sand alone ModE ee Ea E 10 EPG e O O ES 10 A e E a Eee TEENS Trenet 10 A LS 11 2 3 Buffered Encoder and Encoder Emulator inn a 11 A Sense cise tec anicane na lale a a aacsatepobetraieruc a rele seas OY ERE e ERN 12 2A A A O O na omer oe ornare os ERE EDER 12 Zee NOOC ait hit NS oe Vested aa basta A A a AA A oe 12 2 Ais Sy ACC Sl Ore OI REE Stake RR EEN NT a SEERE SE SEER SEES E a om 13 2A A SIMOOUL
7. mega fabs D1 Drive User Guide Motion Concept Buffered encoder Emulated Signal encoder processor output 2 4 Path Planning The main purpose of the motion controller is the calculation of motion command as shown in the figure below according to the demands of distance velocity and acceleration These calculated motion commands such as pulses or V command are sent by motion controller to the drive The drive under stand alone operation mode can also calculate motion commands By itself the user can select between different configurations RC Be fa Ct AS Fal t 2 4 1 Position The motor position signal comes from the encoder For linear motion units of position are um mm and m For rotary motion encoder count is usually used the unit The reference position defined in the D1 drive software means command position calculated by profile generator The target position is the command which is indicated by the user or sent from the host controller The target position has been received by the drive the profile generator calculates the reference position then moves the motor to the specific position 2 4 2 Velocity Velocity is defined as change of position per unit time For linear motion the unit for velocity is um sec mm sec or m sec For rotary motion the unit of velocity is usually count sec rps or rpm HIWIN Mikrosystem Corp 12 mega fabs D1 Drive User Guide Motion Concept 2 4 3 Acceleration Ac
8. xi damping ratio The range is in between 0 and 1 k1 0 k2 0 HIWIN Mikrosystem Corp C iain SS Conde O Pha e O Phasoldoa TC Hou O Pha e Gain C Michele k Polina fa Herz O Radimir Full nonna m Update tram Cant Sond lo Cant Set doisuh Disable filter Halp Figure 5 25 Low pass filter 88 mega fabs D1 Drive User Guide Drive Tuning Notch Filter If the system has resonance frequency the range from 10 to 250 Hz and can t be improved by adjusting the mechanism The user can add a proper notch filter to eliminate the resonance and configure by the result of frequency analysis Please refer to 5 6 3 the frequency analysis A typical Notch filter setting described below Fr Cut off frequency and unit is Hz xi Damping ratio and range is in between O to 1 Damping ration closed to 0 comes to narrow bandwidth Damping ration closed to 1 comes to wide bandwidth k1 0 k2 1 FP Gain m Gain db Phase Phaseldeg C Myguisi l Phase Gain l Nichols k Paints m Heriz C Radite Full screen Po ie Update trom Cont Send to Cont Set default Disable filter ai Help Figure 5 26 Notch filter HIWIN Mikrosystem Corp 89 mega fabs D1 Drive User Guide Drive Tuning 5 6 2 Acc Feedforward In the servo control system the more moving mass rotation inertia will cause more position error during the section of acceleration and decelerat
9. HIWIN Mikrosystem Corp 19 3 WIRING This chapter mainly describes the wiring of the D1 drive Contents include Title Page neo tc o 21 AA PA A 21 3 1 2 Connector SOC CIIC AN OMS Ea Ea a a ouascaatveteane heeded OANE EE 23 sn A E EA 24 o e A 25 3 4 Connection or the Regen Resistor Opona esacoseanasisentasasadsiea calientan alilc tion 25 3 5 Connections of the Control Power Supply and Brake ooooooccccccnnnccccccccononononoccnnnnnnnnnnonononnnnnnnnnnnnnnnnnnnrrnnnnnnnnnnnrnnrnnnnnnrrrnnnnnnnnnas 26 3 6 RS232 communication CN1 rta d 27 ERE E EET E ee ee ee ee ee er ee 27 3 7 Connection of the Control Signal CN2 adria 28 3 7 1 Gomnection Schema of Digtal AD Ex amme En Ea E dt 29 3 72 Connection Schema ot Digital OUIPUL ali alle 31 3 7 3 Connection Schema of Pulse Command INPUTS ccccccnnnccccccccncnnnonncncnnnnnnnnnnononnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnrrnnnnnnnnnas 33 3 7 4 Connection Schema of Encoder Feedback OuUtpUt ococccccccccccccoononnccncnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnrnnnnnnnnnrnrnnnnnnnnnas 34 3 7 5 Connection Schema of Analog Command INPUt asnicar 35 3 7 6 Connction Schema of Digital Command PWM Command oocccncncnccncccnnnccccnonnnnnnncnnnnnnnnnnnnonononnnnnnnnnonnnnnnnnnnnnnnnanennnnos 35 3 8 Connection Schema of the Feedback Inputs CNS ooooccccnnccccccocccnnnncnononcccnnnnnononncnnnnononnnnnnnnnnnnnnnnnrnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnos 37 3 8 1 Connection Schema o
10. HR A N O OI BA O N O O HIWIN Mikrosystem Corp 11 mega fabs D1 Drive User Guide ENA DIS ENABLED a El Q eo Q l gt lt EJ E MOV2 POS 0 0 El T El T MOV POS 0 a LCD Operations Enable Disable Jog Activate absolute motion to move to the target position Velocity for Jog move to position Unit count s Assign target position of the function of move to target Figure 6 14 Flow chart of actions page 6 6 1 Enable Disable ENA DIS Following is how to select enable disable The operation procedures are shown in Figure 6 15 1 Press the ENTER key to enter ENA DIS page A flashing solid cursor is at left side of second line 2 Press the up or down key to select ENABLE or DISABLE 3 After selected press the ENTER key to complete settings HIWIN Mikrosystem Corp 118 mega fabs D1 Drive User Guide LCD Operations ENA DIS DISABLE ENA DIS ENABLED Or Figure 6 15 Operation flow chart of Eable Disable 6 6 2 JOG Following is how to do jog motion The operation procedures are shown as Figure 6 16 1 Press the ENTER Key to enter JOG mode A flashing solid cursor is at left side of second line 2 Press the up or down key to make the motor positive or negative rotation moment and feedback position is displayed at the same time When releasing the key the motor stops immediately
11. Setting time is the time required for position error to settle within target radius Then it is said to be In position The D1 drive provides a user s interface to set target radius and debounce time 4 5 2 Setting After clicking the icon on the main function tool bar to enter the Performance center the user interface of In Position displays in the upper part of Position tab If the user wants to capture motion curve user can click the Set scope _ button to open the scope This state can be sent out to the host controller via digital output ports and O2 is configured as default for this signal Please refer to section 4 2 2 about how to configure the digital output port Performance center ae NMA Position Velocity Ripple Target radius 8 002 mm E Debounce time 166 6 msec ER Move time 1286 5 msec Settling time 129 6 msec Total 1416 1 msec Time s 5 Figure 4 35 If the position error is less than this value the Target radius in position signal becomes true The default value is 100 times of encoder resolution The continuous time for the position error to remain within target radius to make in position true HIWIN Mikrosystem Corp 69 mega fabs D1 Drive User Guide Drive Setting 4 6 Homing Click the icon 4 on the main function tool bar to enter Application center Select the Homing page to show configuration wndow of Homing as shown in Figure 4 36 E Application center Protecti
12. Stand Alone mode is implemented when there is no host controller In this mode the drive takes all motion tasks HIWIN Mikrosystem Corp 59 mega fabs D1 Drive User Guide Drive Setting 4 2 5 The last step of configuration After completing configurations in previous configuration steps which are motor parameter encoder parameter hall sensor and operation mode click the OK button at the bottom of the window of Configuration center lt shows a window displaying comparison table of new and previous parameters as shown in Figure 4 26 Make sure that each parameter is correct then click Send to RAM button to send them to drive If the Cancel button is clicked it will be closed and return to window of Configuration center If the parameters need to be saved click the Fe Save to Flash button to save them to non volatile memory so that they are not lost when 24V is off Y Calculation Results and Present Controller Data Motor Data o New Paramete Parameters New Value Present Value Units Type AC servo AC servo Moment of Inertia 9e 5 9e 5 Kg m 2 Gear Ratio Load Mass Screw Pitch Peak Current Continuous Current si Ets Torque Constant 0 405999 0 405999 Nm A_rms Resistance 1 8 1 8 Ohm Inductance 27 Pi mH Pole Number 8 8 Encoder Data New Value Present Value Units Type Digital Digital Resolution 10000 Counts Rev New Value Present Value Operational Mode POSITION MODE POSITION MODE Pulse Mode Pulse and Direction
13. relative motion and jog motion Related motion parameters like velocity acceleration deceleration kill deceleration and smooth factor are also set in this window z Performance center a e Aea Position Velocity Ripple Target radius 166 OR Debounce time 166 6 Move time 8 Settling time 8 8 Total time 8 enable sw limit P1 a Disable F12 Motion Protection Common Gain Position Units Speed 566008 counts 0 500000 Zero count v Acc 3 6660Ge 7 countis 2 Dec 3 MBBBBe 7 countis 2 Stop motion Dec kill 1 5666Ge 7 countis 2 Smooth factor 300 Status HA Hardware Enable Input M Repeat P18 A Software Enabled Dwell time 1008 msec P2 360000 _GOMP2 J Servo ready MM Phase Initialized Relative move T ante BM Moving SM Homed M SM mode fon Home Figure 5 4 Performance center The following is an example of performing point to point motion P2P 5 2 1 Click the button to enable motor 5 2 2 Click the button 5 2 3 Set velocity acceleration and smooth factor in the fields of Motion Protection Please refer to 7 1 Motion Protection If there is no special requirements using default values is fine to start 5 2 4 Set the positions of P1 and P2 respectively If the enable SW limit box is checked set the positions between Lower SW limit and Upper SW limit 5 2 5 Click the S0MP1 button to move the motor to P1 position and conr to P2 If the user wants to execute point to point
14. 4 27 Auto phase center without hall sensor te Auto phase center Il Enabled BPhase initialized Phase initialization mode Use digital hall sensor Ml Servo ready SM mode M SMCL mode Current SM mode 2 00 A_amp Feedback position 452289 count 1 Enable axis in SM mode SM enable 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 Phase error Elec deg 3 Direction if necessary press TD to toggle direction definition 4 frequncy analysis Freq analyzer Hall test tune 6 Phase initialization 5 Hall Start phase initialization Figure 4 28 Auto phase center with hall sensor HIWIN Mikrosystem Corp 61 mega fabs D1 Drive User Guide Drive Setting 4 3 1 Pre steps of Auto Phase Center Confirm the connection of motor is ok Confirm the encoder signal is ok Confirm drive can receive the signal of Hardware Enable Please refer to Appendix C Enable Startup Configuration Confirm the connection of motor over temperature signal Confirm AC main power turned on Set confirm current In the Current SM mode field input current value The unit is ampere which is needed to move the motor under SM mode Do not set the current value too high Big enough value to move motor is recommended The default value is 95 of motor continuous current Current SmM mode 1 80 A 4 3 2 Configuration Steps of Auto Phase C
15. 5 7 4 Lissajous Circle When using an analog encoder it is observed encoder signal if it is normal by the quality of Lissajous circle shown on the screen In general the analog encoder signal should be displayed as a perfect circle which the radius between 977 4 and 1954 8 If the circle is too large or too small the signal needs to re adjust Using the adjusting function moving the motor is necessary to plot a complete Lissajous circle as showing Figure 5 38 Otherwise only a spot shown on the screen means the motor will not move In addition once the amplitudes of the analog encoder signals are different the Lissajous circle will be shown as a non perfect circle Further more zero level offset also causes the circle not locating at the origin of the chart in Figure 5 38 In these cases check the Tune button to adjust the amplitude of analog encoder signal and zero level offset Using this function it is necessary to make encoder output over 10 grating periods by motor move slowly HIWIN Mikrosystem Corp 96 Mega fabs D1 Drive User Guide Amplifier Tuning 9 9 Error Map The position accuracy of the linear motor is usually determined by encoder In general using the laser interferometer to measure and calibrate the position accuracy for making the position error table The D1 drive provides an error compensation function According to an error table which is input to the drive by GUI D1 drive calculates the compensation values by linear
16. Downgrade firmware M Servo ready Figure 6 12 Display and setting of password Encoder test tune HIWIN Mikrosystem Corp 113 LCD Operations mega fabs D1 Drive User Guide Input password and its default is 1005 Please refer to section Please refer to section 6 5 2 Configure Parameters to do parameter configuration ADVANCED 1005 ADVANCED LEVEL TWO LEVEL ONE Figure 6 13 Flow chart of advanced parameters settings 114 HIWIN Mikrosystem Corp mega fabs D1 Drive User Guide LCD Operations Tale 6 4 Table of advanced parameters 0 Xacc Maximum acceleration cunts A Xdeo Maximum deceleration counts 2 X dec kil Deceleration for emergency stop coumis2 count s 4 Xswipos Negative software limit count 6 X p2p_del Deweltimeinpointtopointmoment____ msee 8 X pep pos Position2 of point to point moment cout 12 X Aenc_sing Sin signal gain of analog encoder Je ooo o 13 X Aenc_cosg Cos signal gain of analog encoder bo ooo o 14 X Aenc_s_ofs DC offset of sin signal of analog encoder J Z o 15 X Aenccofs DC offset of cos signalofanalogencoder J o 17 X_sofxi Damping ratio of filtert for enable by SW method 18 X sofki Parameter of filtert for enable by SW method 1 19 X sof k2 Parameter of filter for enable by SW method 21 Xnfxi Damping ratio of filter for enable by SW method 1 22 Xnfki Parameter of filter2 for e
17. Pulse and Direction Input pulses Output counts Pulse Direction IncrementPosition New Value Present Value NONE NONE Confirmation of parameters sent to RAM Cancel Send to RAM Cancel Figure 4 26 If the user wants to save the parameters to disc of PC as a file click El Save Parameter from Amplifier RAM to File button The extension of the file name is PRM HIWIN Mikrosystem Corp 60 mega fabs D1 Drive User Guide Drive Setting 4 3 Auto phase center Click the icon amp on the tool bar of the main window or select Auto phase center item under pop up menu Conf Tune to open auto phase center Normally Auto phase center for phase initialization looks like Figure 4 27 However when a digital hall sensor is used it look like Figure 4 28 Auto phase center MlEnabled Hi Phase initialized Phase initialization mode SW method 1 Ml Servo ready ISM mode M SMCL mode Current SM mode 1 21 A amp Feedback position 2 count 1 Enable axis in SM mode SM enable 2 Drag the slider barto move the motor in SM mode The arrow in the watch had better remains within green range during motion i E Phase error Elec deg 3 Direction If necessary press TD to togale direction definition 4 frequncy analysis Freq analyzer 5 SW method 1 l Max pos err during phase init Offset 65 8 deg Start SMCL 476 count SMCL tool 6 Phase initialization Start phase initialization Figure
18. Test for Step Mode SMCL test After the advanced phase initialization is opened click on the button SMCL Tool in the window of Auto phase center to the tools of SMCL test as shown in Figure B 2 4 SMCL test Max position err during SMCL start K SMCL tools B f Start SMCL pointer 113763 uttons oftest mn 141 795 tools Bepi Filters st_cg 6 360008 parameter Offset 152 3 i ee A 4 Position Error count Monitoring window 31 Command Current 6 6 1 q Figure B 2 B 2 1 SMCL Parameters st_vpg A proportional gain of velocity loop under SMCL mode control The initial value is based on the calculation of the settings of physical parameters including move mass moment of inertia resistance and inductance etc section 4 2 1 If the initial value of st vpg is not able to make the system working well it is usually caused by the deviation of system parameters or mechanical stiffness of going down In this situation Freq analyzer is used to the test of frequency response to get bode plot of control system under SMCL mode According to the result of the bode plot proper value of st_vpg can be calculated st_cg A proportional gain of the control loop under SMCL mode The initial value is also given after motor configuration If the position error is too big to enable motor during executing SMCL mode the user can increase the proportional gain a little bit more It is usually needed to increase st_vpg when f
19. The first page of Configuration center is motor type configuration There are three categories of motor type below the icon EHW Motos In each category of motor is a group of HIWIN motor models for user s selection For example HIWIN LMC LMS and TMS series motors AC Servo Motor Configuration 1 Motor parameters Select HIWIN AC servo motor model to display the parameters and set 2 Operation parameters Screw Moment of Inertia Moment of inertia of screw itself which is used and the unit is Kg m2 Load Mass The mass of payload and the unit is Kg Screw Pitch The lead of ball screw or Acme screw that is the distance moved after making a turn The unit is mm Gear Ratio The ratio of number of gear teeth between load side and drive side Providing correct operation parameters guarantees more reasonable calculated parameters for servo loop control to drive motor smoothly Configuration center Encoder Hall Sensor E HiW Motors 8 4 AC servo e FJ Customized AC servo FRACXX1011 mot FRACXX1022 mot FRACXX2011 mot Peak Current Load Mass FRACXX2022 mot 6 A_rms 1 8 Kg li E A Continuous Current Screw Pitch a FRACXX4022 mot 2 Ae FRACKX7022 mot Gear Ratio 1 Motor type AC servo Motor Model Name FRAC 4622 Manufacturer HIWIN Screw Moment of Inertia 003 Kg m 2 E E5 Linear Torque Constant P Torque 0 649999 Nm A_ems Resistance Line Line 4 7 Ohm Inductance Line Line mH Motor Pol
20. a ae aoe C pull up 16 Motor Over Temperature C pull down D 19 Not Configured pull up 110 Not Configured pull down 111 Not Configured nuE u uu uul a a Le e 112 Not Configured Set Default Figure C 1 C 3 Confirmation of Hardware Enable State When the hardware enable is activated the indicator of Hardware Enable Input in the main window of the user s interface is turned on as shown in Figure C 2 amp LIGHTENING version 0 108 comi 115200 File ConfTune Tools About Hi A T Sl a Hi FE z NY HIWIN LMDS Amplifier Controller tamuz 0 Axis X Firmware version MN m0 8 163 x Motortype AC servo Axis is cofigured to Stand alone Position Mode Status M Enabled A Hardware Enable Input Last error Figure C 2 HIWIN Mikrosystem Corp 147 mega fabs D1 Drive User Guide Settings of Enable Activation C 4 Externally Activated Enable When connecting to the drive via Lightening it means that the user is master to have capability of make capable of making the drive enable To enable the drive first connect all hardware and then click on the Enable button in the Performance center of Lightening When the host controller is connected to the drive the communication between the PC and the drive has to be terminated For example close the user s interface or disconnect the connection cable to the drive in order to make the host controller have control of the drive At this mom
21. and Vmin the minimum feedback velocity during constant velocity section As shown below picture a shows bigger velocity ripple meaning worse stability and picture b a better one Sonstant py lt Constant velocity velocity section section 2 10 Enabling Motor After enabling the drive can receive motion command from the host controller 2 10 1 SM Mode SM mode is open loop control In this mode the drive controls the motor as a stepping motor and encoder feedback is not used It can be used to check the direction of current output to motor and direction of encoder feedback and see if their directions are matching If the directions are different it is not proper for phase initialization for servo control 2 10 2 Phase Initialization The first step after drive control power has been turned on is phase initialization The HIWIN D1 drive is capable of doing this process without motor motion In addition using hall sensor to do phase initialization is another option Normally the host controller sends a signal to the D1 digital input port For example 11 to let the drive do the enabling procedures HIWIN Mikrosystem Corp 16 mega fabs D1 Drive User Guide Motion Concept 2 11 Some Terms in Motor Specifications 2 11 1 Continuous Current Continuous current is the current output to motor coils to continuously produce force or torque Normally when the continuous current flows through the motor coils the
22. encoder or Use emulated encoder in Encoder output area The resolution of output encoder signal will be displayed in the field named Output Resolution for the encoder output type selected Motor type LINEAR Encoder type DIGITAL Encoder Model Name RGH418 Manufacturer Renishaw Encoder Resolution 1 um Count Encoder output Output Resolution A Z um Count Encoder Output f Use buffered encode Configuration Use buffered encoder Area E f Use emulated encoder Scalling 1 encoder count 5 emulated encoder output Figure 4 18 4 2 2 9 Buffered encoder output When the user configures the encoder output as buffered encoder output the drive sends the encoder feedback signal received from the motor encoder directly to the host controller In addition when Invert box is checked the drive inverts the encoder signal then sends it out The resolution of output will be also displayed in the window for reference HIWIN Mikrosystem Corp 55 mega fabs D1 Drive User Guide Drive Setting Motor type LINEAR Encoder type DIGITAL Encoder Model Name RGH41 XA Manu Encoder Resolution 1 um Count Encoder output Output Resolution 1 um Count Invert Figure 4 19 4 2 2 10 Emulated encoder output When the user configures the encoder output as emulated encoder output the drive sends the encoder signal after scaling to the host controller In general the drive sends the encoder signal with 1 1 scaling In some c
23. m if if Bae 112 Not Configured Set Default Figure 5 41 Home I O Set Homing in Stand Along Mode Open the window of the Performance Center and click the En Home button do homing Please refer to section 5 2 Confirmation of Error Map Activation There is a status indicator to show if the error map function is activatived in the window of Error map The light of Error map active Error map active showing light green means map activation error HIWIN Mikrosystem Corp 99 mega fabs D1 Drive User Guide LCD Operations 5 8 3 Save and load Error Map Values The error map values can be saved into the disk and loaded from the disk as shown in Figure 5 42 below According to step 5 8 1 4 in section 5 8 1 the user can select Send table to flash to save the error table to flash memory But this function is different from Save to flash in main window Using Save to flash in main window cannot save error table to flash Error map File C mega_fabs error map emp eses x ESED mega fabs v O e Ely y ZE 521888 y i 2010 12 3 EF 11 36 E Y ESE mine Ade eo 3010 12 16 k 08 1 Ai RE Me CAN Els a Hale m p BRABOD error map X Rimka 0 4 m b BRAAM feror map z BRAD Error map files Kemp v EA TFHBSBRY 1 Error map files Kemp v ELA Figure 5 42 5 8 4 Error Map Value and Encoder Resolution The error map values i
24. motion repeatedly the check Repeat box and input dwell time then click _GOMPI or S0P2 button to start motion The Performance center provides a tool for measuring settling time Along with the setting of Target radius and Debounce time Please refer to section 4 5 In Position Configuration During motion adjust common gain to reach the demanded settling time Higher common gain brings shorter settling time The Performance center updates Move time settling time and Total time continuously for each motion See also section 2 7 A software scope can be opened by clicking the FE button lt can also be used for observing setting time and related motion curves HIWIN Mikrosystem Corp 74 mega fabs D1 Drive User Guide Drive Tuning The Performance center also provides velocity ripple measurement tool lt can be used to observe the motion smoothness by initiating a point to point motion Vmax Vmin and Vavg mean respectively maximum minimum and average velocity during the constant speed section of motion Click the ster button to open software scope to show curves related to velocity ripple measurement In addition to P2P motion function there is relative move function where move distance can be set And jog motion function provides possibility to move in positive or negative direction by pressing the al or La button The settings of velocity acceleration deceleration and smooth factor in the Motion Protection are also used for g
25. motors 4 2 2 1 Linear digital type For example using HIWIN standard magnetic encoder PM B XX XD S XX or Renishaw RGH41X series digital encoder the user only has to select Digital 1um in the encoder selection area as shown in Figure 4 13 For different encoders the user also can select the correct type according to the encoder resolution from the list If there is no corresponding resolution configure it in the window of customized encoder Please see the section 4 2 2 5 4 2 2 2 Linear analog type For example using Renishaw RGH41B analog encoder with grating period of 40um interpolated to 1um resolution the user could select Linear then Analog 40um 1um item in the encoder selection area as shown in Figure 4 13 to complete configuration To use different multiplier factor or resolution user has to select default item or configure it in the window of customized the encoder parameter Please see the section 4 2 2 6 4 2 2 3 Rotary digital type For example using HIWIN FACXX4001 AC servo motor with encoder of 10000 count rev resolution the user can select Rotary then Digital 1000 count rev item in the encoder selection area as shown in Figure 4 13 to complete configuration For other HIWIN FRAC series AC servo motors please refer to table 4 1 If no corresponding resolution could be found configure it in the window of customized encoder parameter Please see the section 4 2 2 7 Table 4 1 Digital encoder resolution of HIWIN FRAC series AC ser
26. o O o A A 97 A A A A A 99 58 3 Save andload Error Map V ACS eiii ii ica 100 5 8 4 Error Map Value and Encoder ResolutiON oooccccccocncnnccconcnnccnoncnncnnoncnnnnnnnrnnnnnnnrnnnnnnnnrnnnonnncnnnrnnnrnnnnnanrnnnenanrnnnnnns 100 LCD OGL AL ONS os 101 CIS Display Panel IAIOGUCHOING scr canenessteatecxesnskteceacedduezansbs oredaadenuGeinbl sienenceniGaabraledendsaugershtasicasasuuaunsbe diran 102 6 2 Four Modes of EGD 23 A AA AAA AA AAA A enkes 102 A omnia nelstantadaeeanutsceamarands eg iencedsratn ide Abreut lceasanaade amsaeaceaaretd ioe Anat a a a a 103 6 45 Display Parameters Pla E AA A E AAA RAE ales nated da nade ea ected es ere eed aoe 105 6 5 Change Parameters PAGE 05 or oda AIROSO ricota taa 107 OS SAVE TO LAS tt aa a E ei atan 108 6 5 2 GOntgure Paramete S ca A AAA Ai 109 60 37 Non numero Parameters CHANGE tuna ais tibias 111 65 4 Advanced Parameters elit dll iaa 113 626 ACHONS PATO roo Ii iaa 117 6 0 1 Enable Disable ENANA ad 118 A O A O O 119 626 3 AOSOluiie MONON MOV AROS anr e cin cados 120 PROLCCU ON IEA A A A RISE E 123 LAS MOON Rre NON kesra eae peassanoneansaenseaueaennea aan a a 124 El gi fee 8 fe 119 3 oere ar a E aa ia 124 7 1 2 Max Velocity Max Acceleration Max Deceleration Setup ooocccccccoononcccnnccnonnnoncnnnnnnnnnnncnnnnononnnnrcnnnnnnnnannrnnnnnnnnanecs 124 7 1 3 Cancellation of protections of velocity acceleration and deceleration cccccccseeeeeeeeeeceaeeeeeeeeeeeaeeeeeee
27. of PWM command One is based on 50 duty cycle namely PWM 50 and the other based on 100 duty cycle namely PWM 100 For PWM 50 when duty cycle in lower than 50 the drive moves the motor toward the reverse direction Otherwise the drive motor will move in the positive direction For PWM 100 one more pin is necessary to receive direction command to move the motor toward the specific direction Velocity mode The drive transforms the PWM command to the velocity command for directly controlling motor velocity It can be setup to scale full PWM to corresponding maximum speed Force torque mode The drive transforms PWM command to the current command and controls the motor force torque It can be setup to scale full PWM to corresponding maximum current 2 1 4 Stand alone Mode There is a high speed computing DSP inside the drive to perform calculation of motion profile Without motion controller integration the drive can execute the motion program to the drive motor independently 2 2 Encoders The encoder is a key component used in the motor under servo loop control It provides position or angle depending on the motor type to drive for servo loop control Optical and magnetic encoders are commonly used in servo loop control Both optical and magnetic encoder output two types of signal One is digital signal and the other is analog one 2 2 1 Digital Normally the digital encoder Incremental encoder outputs TTL RS422 differenti
28. or disable motor JOG motion and move to absolute target position HIWIN Mikrosystem Corp 102 mega fabs D1 Drive User Guide LCD Operations Feedback Position Reference Position 02RF POS Position Error Feedback Velocity 04POSERR m o o ny f j w w s f o orliic O on Reference Velocity E of Velocity Error 30ACTCUR Actual Current H N lt bl E PI o lo Command Current w Q on Analog Command gt o DE o N o N Notes for HOME Page Display Staus 1 It shows on the first line ENABLED or DISABLED 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 Examples a DISABLED ENABLED NA DISABLED A EO9UND V Display ENABLED HAS N Parameters Page W03 HWLL Phase Init TON Bus Voltage de H o on ow oc nu Amplifier Temperature i w oH ak 61 Il O o N H N j tj rj o frj 63 13 3 64 14 A Move to previous 14 Y Move to next 65 15 HOME Page pa Moving OFF 15 A Move to previous Press fed Go back one level W Move to next HOMED sea Homed OFF o f j a A Move to previous Y Move to next ERR MAP Err Map active OFF 67 19 OF A Move to previous a W Move to next 110 A Enable Enable Disable ENABLED o y Disable Go back one level 111 112 A Move to previous Y Move
29. port 19 to receive PWM command 110 is not used The connection is as below mega fabs Host controller D1 Amplifier HIWIN Mikrosystem Corp 35 mega fabs Drive User Guide Wiring Example of Double Line Double line PWM 100 is using digital input ports 19 to receive PWM command and 110 to receive direction The connection is as below mega fabs Host controller D1 Amplifier HIWIN Mikrosystem Corp 36 mega fabs Drive User Guide Wiring 3 8 Connection Schema of Feedback Inputs CN3 Function Frame ground pin for cable shield connection 2 SG Signal ground and 5v dc ground This pin is for inner shielding when dual shielding is applied in feedback wire Encoder and hall sensor 5V dc power supply Total load current should not exceed 400 mA A Digital incremental encoder input B Z D PZ Signal ground and 5v dc ground 11 Hall sensor signal input 14 I5 Default configuration is motor ei temperature switch input It also can tos O NO be configured as other functions p p Signal ground and 5v de ground S Signal ground and 5v dc ground Analog incremental encoder input Signal ground and 5v dc ground This pin is for inner shielding when dual shielding is applied in feedback wire CN3 Pin layout HIWIN Mikrosystem Corp 37 mega fabs Drive User Guide Wiring 3 8 1 Connection Schema of Digital Incremental Encoder mega fabs D1 Amplifier MAX3096EEE TZ Encoder Power 2 Tso PO
30. qualit 1 Check the settings of motor peak current and continuous current fulfils with the motor specifications 2 Check the acceleration of path planning overs motor rated capability 3 Check if the motor moves smoothly 4 Reset the drive and then enable motor again 5 Check if the motor type or currents are configured to be incorrect 1 Check the transmitter of USB to RS232 is available to use 2 Check the baud rate BPS and communication port are set correctly Please refer to section 4 1 3 Check if the pin assignment of RS232 cable is correct 137 A DRIVE THERMAL CURVE Title Page A 1 Operation temperature and Cooling Strategy ooooooonnccnnnnnnccnnncccnnnnnnnnnnnnnnnnnnnnnnnnn nana RR ELLE 139 Pe e A Pe P P P PP ree 140 138 HIWIN Mikrosystem Corp mega fabs D1 Drive User Guide Drive Thermal Curve Operation temperature and cooling strategy Figure A 1 and Figure A 2 shows operating conditions of the D1 drive with different cooling strategies under maximum working temperature The cooling strategies include no heat sink installed D1 H1 heat sink installed D1 H2 heat sink installed no fan installed and fan installed The operation conditions include the ranges of output current under input voltage120VAC and 240VAC MD 36 S Input voltage 120VAC Temperature C ay TAN AAN AA MA L M No Heatsink D1 H1 Heatsink D1 H2 Heatsink D1 H1 He
31. to next JOG A Positive jog o a Fg oien Move to previous e Go back one level 02 Actions Page Y Move to next Moving to desired Moy2pPoS A Move to target 03 destination position 0 y Back to Home e E Go back one level co co o o o w N H o o o o H H H w pu H H H omffllor foo o o y rj rj tj j j trj o z A Move to previous D o D o z 04 W Move to next O e m Parameters Page i f Go back one level ave to Flash a A Move to previous CG 5 V Move to next 5 Common Gain Target Position 10000 Set desired destination position VPG Velocity VPG k Go back one level 8800221 Loop Gain er NS ST_CG o w st_cg MODE POSITION Operation Mode PULSMODE Pulse Format SH _liP D CW CCW AqB Motion Protection Acceleration i a a c 5e 06 L MAX Motion Protection 5e 05 Speed ADVANCED Advanced Change OlParameter Here users can select the variable that they like to change via variable number wid Figure 6 1 LCD Operation Structure 6 3 Home Page The display panel firstly displays enable status of the drive when the drive power is on When the D1 drive detects occurrence of an error error messages or warning messages will be displayed on the second line as shown in Figure 6 2 The definitions of the display labels are listed in table 6 1 and 6 2 DISABLED ENABLED Occurance of error Occurance of warning DISABLED ENABLED E01SHO
32. up On the other hand the type of input port in the D1 should be configured as low level Pull down if the signal type of output in the host controller is source for example PNP transistor output The section 4 4 1 describes how to configure the input of the D1 as Pull up Pull down mega fabs D1 Amplifier Pull up Pulldown MM74HC14 19 110 R 1 3K other R 10K The connection is different depending on the output type of the host controller The following descriptions show the connection ways for output types of PNP NPN and relay interface on the host controller Two examples of Wiring for General Purpose Input Host controller uses sink type output such as NPN transistor The input group should be configured as pull up mode mega fabs Host controller D1 Amplifier MM74HC14 HIWIN Mikrosystem Corp 29 mega fabs Drive User Guide Wiring mega fabs Host controller D1 Amplifier MM74HC14 An example of Wiring for General Purpose Input the Host controller uses source type output such as the input group should be configured as pull down mode A wiring example of the interface of the host controller or optical switch as PNP transistor mega fabs Host controller D1 Amplifier Pull down Note If the power of the external optical switch is 5V it can be connected to pin22 in connector CN2 But total current cannot exceed 400 mA HIWIN Mikrosystem Corp 30 mega fabs Drive User Guide Wiring 3 7 2 C
33. 0mm and total points 11 points The error values come from the position accuracy measurement by laser interferometer and each value calculated by the positioning error of HIWIN Mikrosystem Corp 97 mega fabs D1 Drive User Guide LCD Operations target position Such as target position is 100mm and 100 002mm measured from laser interferometer to come up with the error value 0 002mm Map Attributes Start position B rir interwal 106 mr Total points 11 Data different from flash lg eae Index Position Errar mm mm 0 0 ll 100 882 a 200 A 61 al 300 8 664 4 400 B 886 5 500 0 614 El BOO 6 064 E TOO a 200 84 664 aL 900 B 686 10 1000 10 862 Figure 5 40 Configurations of Error Map Parameters 5 8 1 3 Click M Error map enable make the error map to work 5 8 1 4 Select Flash gt Send table to flash on Error map window of menu The message window will spring up when parameters modified or not saved in flash yet Otherwise go to the step 5 8 1 6 Compare parameters RAM to FLASH Send error map will reset controller and parameter new values will be lost 1 parameters are detected to be changed in RAM from Flash Consider to do save parameters to flash before you do send error map table to flash Press Continue to send error map table to flash anyway Press Cancel to cancel Cancel Details Error map value in RAM is different from Flash now If cl
34. 1 Drive User Guide Trouble Shooting command 3 Check the connection of OV and ground or shielding is short 4 Check the drive and machine are grounded 5 If necessary add core on the control cable to filter the noise 1 Check the unit of pulse command is correct 2 Check if the velocity or acceleration is not zero in the The motor enabled column of Motion Protection cannot move after the 3 Check if the software limit is enabled If yes also command has been check if the value of the Upper limit and the Lower limit sent is correct 4 After disabled check if the motor moves smoothly while pushing it by hand 1 Using Quick View or Scope to check if the Target Position is received from the pulse command 2 Check the connection of the pulse signal cable 3 Check if the electronic gear ratio is set too small The motor doesn t 1 Using Quick View or Scope to check if the Target move after the voltage Position is received from voltage command command has been 2 Set voltage offset in Analog input in the window of sent Advanced gains The noise is too loud 1 Decrease the value of the Common Gain while the motor is 2 Configure Filter in the window of Advanced gains running Please refer to the section 5 6 1 Check the placement of drive with good ventilation 2 Check if the environment temperature is too high The drive temperature Drive over 3 Wait for the temperature inside the drive to cool is too high temp
35. 1 is configured to all errors in the Error group O2 to In Position signal and O4 to brake Logical Value Output Voltage FALSE LOW v The Outputs Configuration will be Configure 01 7 01 Select all errors Q2 In Position 03 PDL usage General Purpose Invert Voltage In Position Configure 02 M Invert Voltage PDL usageCGeneral Purpose Configure 03 Invert Voltage Brake Configure 04 M Invert Voltage Set Default Status Display When one of the items in the Configuration is selected message Configured will be displayed in the StatusDisplay column Otherwise Not Configured will be displayed when no item selected Logical State It shows the logical values of each configured output The values are TRUE and FALSE Logical Invert When using host controller this function is used to invert voltage polarity that depends on usage The logical values inside drive are not affected by this function Output Voltage It shows output voltage The user should check if the controller is receiving the correct signal HIWIN Mikrosystem Corp 68 mega fabs D1 Drive User Guide Drive Setting 4 5 In Position Configuration 4 5 1 Introduction Position Error is defined as the difference between command position and encoder feedback position under servo control system lt takes a short time for motor to stabilize Its position after the motor moved to its target position
36. 6 bytes gt Figure 5 8 Data collection Sampling rate and samples In the input field of Samples it is to input the total number of samples In the input field of Rate it is to input the Sampling rate Different rate results in different sampling frequency For example if sampling rate is set to 1 it means a sampling frequency of 15000Hz and 2 means 7500Hz The maximum frequency is 15000Hz Too high frequency will result in too much data to collect within specific time so it may come to a sudden stop of data capturing earlier than expected This is due to limited communication bandwidth In such case reduce the number of physical variables to capture can possibly solve this problem In the window the symbol dt means sampling time Total sampling time is calculated from Samples dt Increase samples also increase total sampling time 2 Variable name for physical values Click Start button to start capturing Stop button to terminate it and Graph button to plot captured data in the window of Plot view Automatic capturing The user can set start and stop condition for data capturing Example 1 If the user wants to capture a motion cycle and plot it click to check Start event box and set the condition to X_run then click to check Stop event box and set to X_stop Then click the Start button to make it ready for data collection It will start to capture as soon as the motor starts to move and stop capturing when motor stops Cl
37. 823 The LCD panel displays feedback position during move a MOV2 POS El 2000 Move to target position set in MOV POS Move to absolute 0 Figure 6 18 Operation flow chart of move to target position HIWIN Mikrosystem Corp Yee MOV2POS Mm 122 7 PROTECTION This chapter mainly describes protections of D1 drive Contents include Title Page lo lo a Bag de isle Lo 0 PP A A e o A 124 AN nn PP E reen 124 7 1 2 Max Velocity Max Acceleration Max Deceleration Setup oooccccccccconnncccnncconnnonccnnnnnnnnnnccnnnnnonnnnnnrnnnnnnnnnnnrinnnonnnanens 124 7 1 3 Cancellation of protections of velocity acceleration and declerati0N oooooooononnccnncccnnnonccononononnnnccnnnnononancnnnnnnnnnnnnnos 125 PA OO NON e O rener 125 1 2 Position and Velocity Emor Protec rosssoripinno ms isaac 125 TEA ed go Lilo la iON ENN o a PAPA CEA e e O A A 125 7 2 2 Warnings of Position Error and Velocity Error sra a 126 AO A e e a NU o eee eee ee eer 126 A once E A E E A E A E 126 Ro 2 BRE UO Se qUe E EE E A N E E A E E I AN A E A N E E E A E E E 126 V EEG e Aeon Ae 127 TA Limit SwWiteh SetihgS A O 127 TAT I C AA e E E ei E A 127 TAER Se MINS E o e OO A EE A EAE 127 E ON CILMI POTS OM AP A oo E EE E E E 128 A a a a OI A E E E T o o o E E E E E E E 128 PE EEE A E E E E E E E E ueseare 128 7 6 Motor Over Temperature Protection ccccccceeeseceeecceeeeeeeeeeeeeeeeseeeeeeeeaesaeeeeeeeseaaaeee
38. Arms e bc Continuous Current TMS12 mot 4 iene TMS14 mot TMS16 mot Torque Constant TMS18 mot 1 25 Nm A_rms hd Resistance Line Line M otor TMS34 mot 2 6 Ohm E TMS38 mot Parameters E TMS76 mot Pole Number 22 EL TMX Figure 4 11 Customized Motor Configuration The parameters of motors that are not HIWIN standard products can be configured in the page of customized motor for example using AC servo motor as in Figure 4 12 Select the category AC servo then the item Customized AC servo for opening the page of the motor parameter configuration According to motor specifications input the parameters in this page to complete the motor configuration The user also can save the configured motor parameters as a parameter file mot for loading it later 1 Motor Parameters Peak Current Max current input to motor for a short time and the unit could be A_amp or A rms Continuous Current Current that can be fed to motor continuously and unit could be A_amp or A_rms Force Torque Constant One of motor coil property defines force or torque that can be generated per unit current The unit can be N A_amp N A_rms Nm A_amp and Nm A_rms HIWIN Mikrosystem Corp 50 mega fabs D1 Drive User Guide Drive Setting Resistance Line Line One of motor coil properties that defines the resistance between coil leads and unit is Ohm Inductance Line Line One of motor coil properties that defines the inductance between coil lead and
39. Corp 120 mega fabs D1 Drive User Guide LCD Operations v MOV POS 20M l Press twice continuously to move cursor by 2 spaces MOV POS p MOV POS HQ Let up down key to do switch numbers Let up down ke to do switch numbers MOV POS 20M Continuously press 4 times until 2 then release it Space gt spacd gt 0 gt 1 gt 2 Continuously press twice until O then release it Space gt Space gt 0 2 l MOV POS i 200 l l MOV POS Let up down ke to do switch 20 _ a a Let up down key numbers to do switch numbers MOV POS 20 MOV POS 200 According to the procedures above Press F key gt continuously press up key twice until 0 then release it MOV POS MOV POS Aj 2000 200 A A A A A e a Figure 6 17 Operation flow chart of MOV POS v Press once to move cursor 1 space rightward HIWIN Mikrosystem Corp 121 mega fabs D1 Drive User Guide LEVEL ONE LEVEL TWO LCD Operations a EC Ee eo OO CO Se ee ee eo Ce ere ee ee ee OO CO ee ee OO eC ee ee Oo The LCD panel displays feedback position during the move O1FB POS Mi 1788 IN MOV2POS El 20 Q1FB POS a
40. Gain cannot reach performance requirements the D1 drive also provides advanced gain adjustment functions Advanced Gains including Filter Acc feedforward Gain Schedule Analog input and Current loop for user to fine tune 5 6 1 Filter The filter is embedded into the servo control loop The main purpose is to eliminate system high frequency vibration and restrict improper resonance frequency of system So using the filter can improve system performance The D1 drive provides two filters which can be used at the same time and configured as low pass filter and notch filter Frequency analysis is usually used to analyze system characteristics for filter design Click the ote button as shown in Figure 5 24 to open the window of bode plot simulation for filter design The settings of the two common used filters are below HIWIN Mikrosystem Corp 87 mega fabs D1 Drive User Guide Low Pass Filter Advanced gains Acc Gain feedforward schedule Filter 1 fi fr 668608 fl xi 1900 08 f1 k1 6 686008 f1 k2 6 668088 Bode Analog current input loop Filter 2 f2 fr 686808 xi 566 608 f2 k1 O BABAHA f2 k2 668088 Figure 5 24 Filter A typical setting of low pass filter is shown below Drive Tuning Fr Cut off frequency and the unit is Hz In general 500Hz of setting Fr usually makes good effect In another condition it could be lowered but may come to worse performance due to Fr being too low
41. H NV Digital Case a Encoder Ground 3 8 2 Connection Schema of Analog Incremental Encoder mega fabs D1 Amplifier CN3 A Ap sin lt 4 o py l Sin SERR i med DE TX 3 lt et TE Encoder Power ATA HEE V V Analog Case O Encoder Ground HIWIN Mikrosystem Corp 38 mega fabs Drive User Guide Wiring 3 8 3 Connection Schema of Motor Over Temperature Input When using the HIWIN motor 15 and group B should be configured as pull up to the make motor over temperature protection work mega fabs D1 Amplifier Pull up Pull down o Motor Over Temp I5 gt p Output Boyt NS Motor Over Case 3 8 4 Connection Schema of Digital Hall Sensor mega fabs D1 Amplifier Hall A Hall B Hall C Hall Power V Case Ground HIWIN Mikrosystem Corp 39 mega fabs Drive User Guide Wiring 3 9 Accessories of the D1 Drive 3 9 1 Motor Power Cable AC Servo motor cable HVO4FRACP A No brake signal included Motor cable HVO6FRACP J A Brake signal included IL JRepresents cable length as the following Cable N 10 Linear and torque motor cable Description For LMS series linear motor and motor OT cable Motor cable For LMC series linear motor and motor OT cable LMACS UK included LMACS _ IL F For TMS series torque motor IL JRepresents cable length as the following oo 04 fo Cable 3 4 5 temgo O 3 9 2 Feedback Signal Cables Feedback signal cable
42. IPACION nin nr E ES 13 PR RE o O A A STETIRU REESE eer 13 ES O A date FEER 13 A eat eet ee ree eee tee fe ent eee Ree eee eee ne cence eee ee A 13 2 OVER a A he ace ee sates Aig ae ones been ee Soe 14 PAT f POSO CMON tanatorio raa aea dilo 14 257 22 Tage rro ici 14 2 Kor Tal UME A O Se FE ESSEN re 14 20 EMO VIII rt nina aiii SOE LENE NEDRE 15 SS VEICI PIDO aorta 16 BO o ING MOOS so mee a a a o MADE RODEN 16 2 TON SM MOJE SENSE SE RENSES SEE SER SERENE REE ES EET a a a EO a a a SERENE 16 21022 FAASAINA a A 16 211 SOme Tamsi Motor SpeciiCaiONS mankissa i ii A ARa aa R RE RARS 17 2 y AA a a SSB SENERE e a a a SENERE E E e a ENERET SE NNE 17 2NA SAK OUNEN 0 O CCA 17 A SES REESE BO RRC Dn Ew FEER SEERE SETE RES KERSTEN 17 2 12 50me Terms Drive Special onsa ii AS AAA AS 17 212 le DIVE Voltage INP airada in 17 218 FAIS AMG AIM DIIGO a dai 18 oe SAI A A AA 18 3 diain iii 20 SE Bro Taj rele es lie agter VINO NER RENE rs Ree e cd ed 21 3 Ey Oo o AAA SEEREN eases cen as Seok ES EEREEESS SEES eae ae nea a etn nas eos eas ak eat ne gee ee ae ae atte ERE 21 3 122 CONNECTION SUSCINIGALONS cas 23 32 WMA POWGE WINO corso stan tin eo BEES RE SRA RO E AR RRE PEDER SERENE nce ENE SER SENE PETE SENE SERENE PER ERE 24 A WWII Gatien ice e e E E bain Eee a E e ENNS 25 3 4 Connection of the Regen Resistor OpllONAl coononiin in 25 3 5 Connections of the Control Power Supply and Brake ooooooccccccnnnccccccccoconononocccnnnnnnnnnonononnnnnnnnnnn
43. LSH No reaction for pressing FINISH any key in the duration of FINISH displaying Penner anecnrenindnnsaciatienpenanncnacncers Wait 2 seconds Figure 6 6 Flow chart of SAVE TO FLASH When the motor is disabled HIWIN Mikrosystem Corp 108 mega fabs D1 Drive User Guide LCD Operations SAVEFLSH _ NO SAVEFLSH SAVEFLSH E yes DO DISBL Displaying DO DISPLAY message to represent motor currently ehabled a Wait 2 seconds 2nd couldn t save parameters to flash Disable motor should ba done i first than save to flash Figure 6 7 Flow chart of SAVE TO FLASH When motor enabled 6 5 2 Configure Parameters The configurable parameters in the drive like CG VPG and ST CG etc which is assigned a number as its value could be configured using configure parameters function of LCD In configure parameters page up and down keys are used to move cursor or switch numbers Press the F key to switch this function The coming introduction is for the operation procedure of the Common gain CG modification Any configurable parameter could be operated as this procedure to do modification First the common gain will be changed from 0 5 to 1 2 For example after entering the COMMON GAIN menu follow the below sequence To do parameter modification and operation the procedure is shown in Figure 6 8 1 Press ENTER to enter CG configuration mode A flashing solid cursor w
44. Modes Control Input Increment Position on Position Mode Pulse and Direction Rising Edge p E Velocity Mode C Pulse Up Pulse Down Falling Edge C ForceTorque Mode f Quadrature 4qB C Stand Alone Mode Scaling Electronic Gear 1 Input pulses 1 Output counts Invert Command Figure 4 23 HIWIN Mikrosystem Corp 58 mega fabs D1 Drive User Guide Drive Setting Velocity Mode To work with the host controller sending analog or PWM velocity command the drive should be set to velocity mode Then it is required only to configure the scaling of external command and velocity The scale is mm sec V or the maximum velocity which corresponds to full PWM Scaling 4 mints 1 Operation Modes Dead band definition e ER Dead Band 5 Position Mode Velocity Mode M Invert Command Output C ForceTorgue Mode f Stand Alone Mode Command Types C Pv hd 50 Pra 100 Figure 4 24 Force Torque Mode A similar mode to the above mode is force torque for drive that works with the host controller sending analog or PWM force torque commands Then it is required only configure the scaling of external command and current The scale is A V or the maximum current which corresponds to full PWM Scaling 5 A Full Pr Operation Modes eine Dead Band 5 PY C Velocity Mode Invert Command Force Torque Mode f Stand Alone Mode Command Types C Analog CO Phd 100 Figure 4 25 Stand Alone Mode
45. Parameter name RAM value Flash value a name 6 1 1 88 A name 1 1 1 5 A name 2 1 H Aa new sm Fac CAR a nf fr f 5 a nf ki f 5 a _nf k2 f A a nf xl f 4 787 5 H Rover mode r Kp pdel 2 A_pp posi 1 168 5 A_p p_posZ2 1 3006 2568 Aa pa l f DAH api dl f 5 A_ pig f 157 Figure D 3 advanced compare RAM to flash HIWIN Mikrosystem Corp 151 mega fabs D1 Drive User Guide All Rights Reserved HIWIN Mikrosystem Corp 153
46. Phase Initialized 1 Feedback Position TEE m Moving stante 1 mMHormed 5A Amplifier Temperature k e po r A SM mode Figure 5 1 Status Display Communication ok Cimega_fabsidceltamuzi 5 1 2 Quick view At the bottom of the main window there is a frame named Quick view It helps the user to get more details running inside the drive It provides three channels for displaying physical values for the user These three values are continuously updated for the convenience of the user s observation and they provide the possibility for analysis of the status of the system See Figure 5 2 HIWIN Mikrosystem Corp 72 mega fabs D1 Drive User Guide LIGHTENING version 0 133 comi 115200 Conf Tune Tools Language About HiW HIWIN Amplifier aR ETS Firmware version i 8 183 w paa Motor type AC servo 9 z Model FRAC XX10XX 1 Feedback Position 2 Reference Position P sition Mode 3 Target Position 4 Position Error 16 Feedback Velocity 11 Reference Velocity 12 Velocity Error 26 Reference Acceleration 36 Actual Current 46 Analog Command 41 Bus voltage 42 Servo Voltage Percentage 43 SIN Analog Encoder 44 COS Analog Encoder 45 PWM command 46 Digital hall hits 56 Amplifier Temperature 51 Soft thermal Accumulator 61 11 16 Feedback Velocity counts 56 Amplifier Temperature 1 E 2 000000 countis Communication ok Ciimega_fabsidceltamuzl Position Unit Drive Tuning For displaying phy
47. RT W01 HWLL HIWIN Mikrosystem Corp 103 mega fabs D1 Drive User Guide LCD Operations Figure 6 2 Error and warning display Table 6 1 Descriptions of error display label Motor short over current detected 6 EQ6UVWCN Motor maybe disconnected 8 E08M HOT__ Motor over temperature sensor activated 9 EOQUND V Under voltage detected __ Table 6 2 Descriptios of error display label 6 WOGPE Position error warning lt 8 WO8CUR L Current Limited _ 9 WO9ACCL Acceleration Limited __ In addition pressing the key on the first page of the display panel can enter display servo status Press the up or down key to switch different display status The operation procedure is shown in Figure 6 3 For example OFF displayed in the page of PHAS INI means incomplete phase initialization and ON is displayed to represent complete phase initialization HIWIN Mikrosystem Corp 104 mega fabs D1 Drive User Guide LCD Operations PHAS INI Phase initialigation OFF status MOVING Motor in mdtion OFF Homing cormplete Error mapping Figure 6 3 Flow chart of status display mode 6 4 Display Parameters Page In the display parameters page press the up or down key to switch different parameters which will change their values The operation procedure is shown in Figure 6 4 Each displayed label definition is listed in the table 6 3 The first column is the parameter name and the second one
48. S A 74 lt lt AA nen nn S E 76 E PP o A e e o UU E E a 78 S sd LOU SA ee POPE Oo ES E A alesis geass eat 79 oes ela 2 619 64 DIS maana 79 AS O A i rede TE 83 A eens NAE E EE E ET E AET 84 Eoee fel eSEE a eee A E to 87 ERS DEA E EAE PE Ao ea 87 AA FICE AAA EEEE E A A 90 5 6 3 Schedule Gains and velocity loop gain VQ scroll 92 Som Anado input Ba CONO UOT rE E E E 94 As gt ae E E A N E A E E E O E E A ee A E E 95 Our Encoder Signal ENCON SEER ESENDENEsEe 95 NE MICOS ES WUC EP e UU e o OO EE Rn EEN DAEERRER 95 5 7 2 Encoder Feedback Position Check asias 96 aho oa ONE An a E aa E 96 rE o TE e isa 96 SREE MM EPE E E I E A A N 97 5 5 1 ENO Ma ite AUN I ee otitis 97 220 2 EEND ACI Ol e E E E E aa 99 5 8 3 Save and load Error Map UN costras rtnes iia EEEren 100 5 8 4 Error Map Value and Encoder Resolution oocccccccocccnncccnnconocnnncnnonnoncnnonnoncnnnonnnrnnnnnnnnnnnnnnnnrnnnonnnrnnnonanrnnnnnanrnnnnnos 100 HIWIN Mikrosystem Corp 71 mega fabs D1 Drive User Guide Drive Tuning 5 1 Status Display and Quick view In Lightening the user s interface Status display and Quick view are two important tools for motor tuning The two functions help the user to monitor the status of the drive at any time and display important values during motion 5 1 1 Status Display There are two separate Status displays as shown At the left side it is showing the Status display in the main window and at the right side is the St
49. WIN Mikrosystem Corp 23 mega fabs Drive User Guide Wiring 3 2 Main Power Wiring Before connecting AC main power to the D1 drive please make sure if the connection of the drive is well grounded Connection schema of the AC main power signal phase 10 It is suggested to use single phase line filter Schaffner FN2090 10 06 Not to exceed 1 Meter Cable length should be less than 1m mega fabs D1 Amplifier Earth Single phase Ground 90 60HZ L222 100 240VAC L1 Earth Ground Earth Ground Connection schema of the AC main wiring three phase 30 Not to exceed 1 Meter Cable length should be less than 1m mega fabs D1 Amplifier NFB L3 ET Three phase 50 60HZ L2 Palle 100 240VAC L1 e Earth Ground ma 7 Ground Earth Ground It is suggested to use three phase line filter Schaffner FN3258 7 45 gt HIWIN Mikrosystem Corp 24 mega fabs Drive User Guide 3 3 Motor Power Wiring Connection Schema of the Motor mega fabs D1 Amplifier Earth Ground 3 4 Connection of the Regen Resistor optional Connection Schema of the Regen Resistor mega fabs D1 Amplifier Regen resistor case _ DC BUS No ea ae __ fuses S EA Earth Ground HIWIN Mikrosystem Corp Wiring 25 mega fabs Drive User Guide Wiring 3 5 Connections of Control Power Supply and Brake Please refer to the connection schema of control power su
50. al signal which is composed of two pulse signals with 90 phase shift The resolution is shown below A resolution of 1um is very often needed in the field application HIWIN Mikrosystem Corp 10 mega fabs D1 Drive User Guide Motion Concept A lt Resolution 2 2 2 Analog The analog encoder outputs two sinusoidal signals with 90 shifted and amplitude is 1Vp p The specification of the analog encoder is its grating period For example a grating period of 40um is very often used in the field The D1 drive is featured to divide the grating period of the analog encoder to a resolution as fine as 1 nanometer Cos Sin Grating period 2 3 Buffered Encoder and Encoder Emulator The encoder feedback signal is needed for the drive to implement servo loop control For some applications the host controller may also need to receive encoder feedback from the drive In this case the drive transmits position or angle signal to the host controller Based on the signals received from the controller in the D1 drive two options are available Buffered Encoder The function of the buffered encoder is to transmit encoder signal received te from the host controller when the digital encoder is used Encoder Emulator The encoder emulator provides the function that transmits the emulated encoder signal to the host controller The emulated encoder signal is emulated from the interpolated signal inside drive HIWIN Mikrosystem Corp 11
51. ar and operations are explained as followed X axis zoom in between area specified by blue solid and dashed line cursors zt Undo zoom z Redo zoom Cancel all zooming actions on X axis HIWIN Mikrosystem Corp 80 mega fabs D1 Drive User Guide Drive Tuning EN Y axis zoom in between area specified by red solid and dashed line cursors CE Cancel all zooming actions on Y axis X axis Zoom in out In Figure 5 12 it shows an example of zooming in on time interval between 6 10 seconds Use the left mouse key to drag blue solid line and mouse right key to drag blue dashed line for specifying aot this area Then click to zoom in Figure 5 13 shows picture after zooming in To zoom in further on time interval of 7 9 seconds repeat the similar sequence mentioned above If user wants zt to return the zoom area of the interval 6 10 seconds click the button If the user clicks the button it shows again interval 7 9 seconds Clicking the A button will cancel all zoom actions on X axis and return to the picture like Figure 5 12 tay Lal She oo Se ete A 5 18 1 dt 8 249281Hz Figure 5 13 Y axis Zoom in out lf the user wants to zoom in on Y axis keep Ctrl key pressed and click mouse left button to drag red solid line cursor and Ctrl key with mouse right button to drag red dashed line cursor to specify the area as the showing Figure 5 14 After that click t
52. ases the host controller cannot receive encoder signal with too high frequency The user can use different scaling ratio such as 10 encoder count 1 emulated encoder output to lower the frequency of the encoder signal so that host controller will have no problem receiving Figure 4 20 shows an example grating period of analog encoder is 20 um and the resolution of encoder signal interpolated with multiplier factor of 200 is 0 1um count In addition the scaling ratio is configured as 10 encoder counts corresponding to 1 emulated encoder output Thus the resolution of output encoder is enlarged to 1um count Motor type LINEAR Encoder type ANALOG Encoder Model Name RGH2 2A B Manufacturer Renishaw Grating period 24 um Multiplier factor Interpolated Resolution 200 E A i um Count Encoder output Output Resolution 1 um Count f Use buffered encoder iw Use emulated encoder calling encoder count 1 emulated encoder output Figure 4 20 HIWIN Mikrosystem Corp S6 mega fabs D1 Drive User Guide Drive Setting 4 2 3 Hall Sensors Normally the D1 drive can do phase initialization without using hall sensor Thus configuration of hall sensors is in most cases is configured to none Using hall sensor depends on the user s requirement The configuration page of hall sensor is shown in Figure 4 21 The D1 drive support digital and analog hall sensors The user has to do the configuration according to whether hall
53. atsink with D1 H2 Heatsink with Current Adc Input voltage 240VAC Temperature C No Heatsink D1 H1 Heatsink D1 H2 Heatsink D1 H1 Heatsink with D1 H2 Heatsink with 77 T J TADA 7777 TLL TTT Current Adc Figure 2 HIWIN Mikrosystem Corp 139 mega fabs D1 Drive User Guide Drive Thermal Curve Fan specifications Airflow 153 CFM Static pressure 0 43 Inch H20 A 2 Heat Sink Displacement Appearance of heat sink D1 H1 as shown in Figure A 3 Figure 3 Appearance of heat sink D1 H2 as shown in Figure A 4 Figure 4 HIWIN Mikrosystem Corp 140 B AUTO PHASE INITIALIZATION AND FREQ ANALYZER Title Page B 1 Frequency Analyzer Window of the Auto Phase Center cc cccsecseceececeeeeeeeeeeeeeaeeeeeeeeeeeaeaaeeeeeeeeaaaaeeeeseseaaegeeeeeeeesaneeeees 142 B 2 Close Loop Test for Step Mode SMCL test oooooooooococccocoooococcononononnnnnnnonononnnnnnnnnnnnnonono nono nono nn nnnnnn nono nn nnnnnnnnnnnn nn nn nnnnnnnnnnnnnss 143 Bra lo NOEP aane O an E A E E rra 143 B22 10 Use Fred ANIZO emee a ee ee eee eer eer 143 Bi RANEE rito 144 HIWIN Mikrosystem Corp 141 mega fabs D1 Drive User Guide Advanced Phase Initialization B 1 Frequency Analyzer Window of Auto Phase Center Checking Advanced view in the pop up menu of the Auto phase center can open the window of advanced phase initialization as shown in Figure B 1 Step 4 is the test of clo
54. atus display in Performance center The Status display helps the user to monitor the system status and review error warning messages Status Display Enable indicates whether the motor is enabled or disabled Hardware Enable Input it shows the hardware enable signal from the host controller Phase Initialized it shows whether the motor is already phase initialized Moving it shows that the motor is moving Homed it shows that the motor completed homing SM mode indicates that the motor is enabled under SM mode Error and Warning Last error Displays the latest error message Last warning Displays the latest warning message Please refer to chapter 8 Error and Warning to see more details amp LIGHTENING version 0 105 coml 115200 File Conf Tune Tools About 2 el gt iti velocity Ripple Hi HIWIN LMDS Amplifier Controller tamuz 0 Axis Firmware version Target radius 5 Motor type AC servo Debounce time 3 3 Move time 8 8 Ay Settling time 8 8 Status Total _fenabied Lower test bound Upper test bound A Hardware Enable Input 2000000 2000000 Last error Disable F12 ion Common Gain Speed 100008 8 counts 6 380080 Acc 6 32299e 6 countis 2 Dec 6 32299e 6 countis 2 Stop motion Dec kill 6 32299e 7 countis 2 Smooth factor S G Position Units count Zero Soler TTEN Status Position Units te mi Repeat P1 125000 GOMPI SEnabled count hd Delay time T N E TT msec P2 1580000 ONA
55. ced Phase Initialization Display area of simulation of frequency domain Function tools 145 C SETTING OF ENABLE ACTIVATION Title Page C 1 Hardware Enable wcisccsiccsccceacedsasntenntanadesaceoaieetancecebheecseendansdechacboddandewnesenisepdasasonsdeebdchaagewbentasendeeuise eine edcebscheigeeienadcenaoewssnebens 147 Si A o A EEE 147 C 3 Confirmation of the Hardware Enable State L ERE REEL ERE LER LEE EE LEE REEL ERR E TERRE LERET EET ERR L NERE LEE E REEL EN 147 CA Eels ACIE ENADE tar id iia 148 HIWIN Mikrosystem Corp 146 mega fabs D1 Drive User Guide Settings of Enable Activation C 1 Hardware Enable The Hardware enable is activated by the host controller triggering Axis enable input in drive or internally triggering it by the user s interface It is usually configured to digital input port 11 Please see also section 4 1 4 1 as shown in Figure C 1 C 2 Internally Trigger Enable When the drive is operated in stand along mode it cannot be triggered to enable motor by external hardware signal thus it has to be triggered internally Open the window of IO set test to confirm 11 is set to AXIS Enable If the indicator of 11 is off check Invert checking box to make it turned on At this moment the motor is enabled to operate Outputs State Invert M AXIS Enable pull up 12 pull down xl Not Configured 138 Not Configured B pull up C pull down 15 Not Configured 14 Not Configured
56. cel button Figure 4 12 HIWIN Mikrosystem Corp 51 mega fabs D1 Drive User Guide Drive Setting 4 2 2 Encoder Parameter Usually the drive receives encoder feedback position to perform servo control The window of the encoder parameter configuration is shown as Figure 4 13 and the user needs to select the correct type of encoder or set correct parameters In this configuration window there is not only a list that collects all commonly used encoders for the user but also provides a customized encoder configuration that the user can input parameters for different encoder manufacturer For example to use the linear encoder click Linear category on the list and select Customized Linear Analog to open the configuration area for input of the parameters of encoder for their specification After configured use save function to make an encoder parameter file enc in disc for later usage Y Configuration center Motor Encoder Hall Operation Type Parameter Sensors Mode Hi E AA Motor type LINEAR DATA from last SELECTED file a Linear Encoder type DIGITAL Encoder Boe omen ni Encoder Model Name RGH41X Manufacturer Renishaw he Bet ustomized Linear Digi selection ee Encoder Resolution Resolution Area Pott Analog 20um 0 5um enc 1 un Count El Analog 20um 1 25umenc ae Analog 40um 0 1um enc Configuration El Analog 40um 0 Sum ene Area i i Analog 40um 1um enc Digital 0 1 um enc Encoder output E Digital 0 Sumenc Dig
57. celeration is defined as change of velocity per unit time For linear motion the unit of acceleration is um sec2 mm sec2 or m sec2 and rps2 for rotary motion 2 4 4 Smooth Factor When acceleration is increasing or decreasing rapidly in short time the inertia force acts on the moving part will increase or decrease rapidly In order to eliminate the influence technology of smoothing motion is applied for an improvement of motion performance Smooth factor is a special technology developed in the D1 drive to reach this performance 2 4 5 Emergency Stop The drive provides a function for emergency stop When the enable signal to l1 is disabled the drive activates the function of emergency and stop motor by specified deceleration kill dec for safety aspect 2 5 Servo loops Currently velocity and position loops are included in the D1 drive for servo control The architecture is shown in the picture below The position velocity and current loop are cascaded for positioning the motor In velocity mode the velocity and current loop are combined for the control of motor velocity In current mode the current loop controls motor commutation and voltage command is sent from the host controller The D1 drive also simplifies the parameters of tuning Only one parameter the common gain is used to set and adjust performance of servo loop control Velocity Current Position Velocity Filter Current Filter Motor 8 Loop Loop Loop Encoder Feedback Ve
58. coder HIWIN Mikrosystem Corp 22 mega fabs Drive User Guide Wiring 3 1 2 Connector Specifications Specification Manufacturer P N Cable diameter female connector P N 721 204 026 000 12 AWG 600V is Wago 231 131 suggested Connector of the motor 4 pins 5 0mm pluggable Manufacturer dle o 12 AWG Tool a Connector of the regen 3 pins 7 5mm pluggable Manufacturer Wago A 14 AWG Tool ad main power Connector the control power SER 3 pins 5 0mm pluggable Manufacturer Wago 22 14 AWG Tool female connector P N 721 103 026 000 18 AWG is Wago 231 131 _ a Connector of RS232 6 pins RJ 11 connector communication Connector of control signal Connector of feedback signal the the 26 pins 050 Mini D A 3M 24 30 ame Ribbon MDR P N 10126 3000 connector P N 0543062619 26 pins Manufacturer Molex 28 AWG 050 Mini D connector P N 0523162619 Molded insulation displacement IDC type Back cover Manufacturer 3M P N 10326 52F0 008 aaa Molex aaa 0543310261 20 pins 24 30 AWG 050 Mini D Ribbon MDR P N 10120 3000 Standard solder type Manufacturer Molex 20 pins Manufacturer Molex 28 AWG 050 Mini D connector P N 0523162019 Molded insulation displacement IDC type Back cover Manufacturer 3M P N 10320 52F0 008 ae Molex ae 0543310201 Note In order to avoid electric shock tools are necessary to be used while wiring up HI
59. d Motor over temperature error by the calculation of drive software Soft thermal threshold i 5 reached Output current has been exceeded the protection value by the Calculation of drive software Motor maybe Motor power cable is not connected firmly with drive disconnected Amplifier over Drive over temperature 7 arian a temperature Amplifier s internal temperature exceeds specified temperature Motor over temperature sensor Motor over temperature switch is activated activated HIWIN Mikrosystem Corp 132 mega fabs D1 Drive User Guide Error and Warning Under voltage ES detected DC bus voltage is to low 5V for encoder card fail 5V DC power of encoder is abnormal to be supplied to encoder Motor short over current detected Motor short circuit is detected 5 Peston snor warmina Poston eror Ts bigger an e sein value overna ea ii Acceleration Limited Acceleration reached the value of acceleration protection in velocity mode Velocity Limited Motor speed reached the value of velocity protection in velocity mode Both HW limits are active Trigger right left hardware limit at the same time HIWIN Mikrosystem Corp 133 9 TROUBLE SHOOTING This chapter mainly describes the root causes of common errors and how to trouble shoot Title Page An AAA A 135 9 1 1 The Descrplions or Status INGICALON een 135 91 2 Error Descriptions and Troble NOOO mariano 135 HIWIN Mikrosystem Corp 134 mega fabs D1 Drive Use
60. dge triggered Left Limit Switch Hardware left limit Default port for this function is 14 It is edge triggered Right Limit Switch Hardware right limit Default port for this function is 16 It is edge triggered Motor over temperature Default port for this function is 15 It is Motor Over Temperature edge triggered Home OK start err map Homing completed notification from host controller Default Configuration Clicking the Set Default button StPeret will reset all configurations in I O function List to default After clicking this button a message window of Set Default Input States Configuration pops up Click the OK button gt to reset all configurations to default as Figure 4 31 Outputs AXIS Enable pull up C pull down Not Configured Not Configured Set Default Input States Configuration i n P The Inputs Configuration will be 6 11 AXIS Enable 14 Right Limit Switch I5 Motor Over Temperature B pull up C pull down Motor Over Temperature Right Limit Switch a ae ae Inc pull up Left Limit Switch 16 Left Limit Switch A B C D pull up I5 Invert C pull down D 19 Not Configured pull up 110 Not Configured C pull down 111 Not Configured i GG mecLc amp BLE Y Y 112 Not Configured Set Default Figure 4 State Indicator The State indicator shows green to indicate the configured function activated Otherwise it shows dark g
61. duces position mode to configure differential signal in the user s interface Lightening mega fabs Host controller D1 Amplifier Pull up 5V down OV Tar Tno h 9 TOM Example of Connection of Single end Signal from the Host Controller Please refer the section 4 2 4 which introduces position mode to configure differential signal in Lightening mega fabs Host controller D1 Amplifier 5V CN2 MAX3281EAU 1 Ul 3K 2 5V HIWIN Mikrosystem Corp 33 mega fabs Drive User Guide Wiring 3 7 4 Connection Schema of Encoder Feedback Output Wiring Example for the host controller with differential interface mega fabs Host controller D1 Amplifier MAX3030EEUE Wiring Example for the host controller with optical coupling interface mega fabs Host controller D1 Amplifier MAX3030EEUE HIWIN Mikrosystem Corp 34 mega fabs Drive User Guide Wiring 3 7 5 Connection Schema of the Analog Command Input The input impedance is 10KQ and range of voltage command 10V mega fabs Host controller D1 Amplifier R 3 7 6 Connection Schema of Digital Command PWM Command In velocity and torque modes besides receiving analog command the D1 drive also can receive digital command There are two types of digital command single line PWM 50 and double line PWM 100 Please see the descriptions of velocity and torque in section 4 2 4 Example of Single Line Single line PWM 50 is using digital input
62. e Number 8 HIWIN Mikrosystem Corp 48 mega fabs D1 Drive User Guide Drive Setting Linear Motor Configuration 1 Motor parameters Select HIWIN linear motor model to display the parameters and set 2 Operation parameters Moving Mass The mass of payload including forcer and housing of forcer and the unit is Kg Y Configuration center Motor fa l Sensor EHW a Motor type LINEAR H aed Motor Model Name LMCB3 Manufacturer HIWIN ES Customized Linear Moving Mass 1 8 Kg ME Parameters A LMCA2 mot a Current A_rms Continuous Current 2 A_rms Force Constant N A_rms Resistance Line Line est e Motor Parameters LMCB8 mot Inductance Line Line i 1 8 mH Magnetic Pole Pair Pitch 32 mm oK Cancel Figure 4 10 HIWIN Mikrosystem Corp 49 mega fabs D1 Drive User Guide Drive Setting Torque Motor Configuration 1 Motor Parameters Select HIWIN torque motor model to display the motor parameters and set 2 Operation Parameters Total Moment of Inertia The moment of inertia of torque motor includes inertia of forcer and payload and unit is Kg m2 Configuration center E TMS3C mot TMS74 mot Inductance Line Line 8 2 mH Encoder Hall Sensor Hi oe Motor type TORQUE M if ae Motor Model Name TMS12 Manufacturer HIWIN ig inear ration AY Torque Total Moment of Inertia Kg m 2 Ope al O E Customized Torque Parameters D TMS Peak Current B TMSO3 mot a8
63. e limit protection that is used with limit switches The limit switches are used to check the distance motor moved and Its signal are connected to specific digital input ports in the drive If the motor touches a limit switch the limit switch will trigger emergency stop which is using the deceleration Kill Dec to stop motor for protection At this moment the drive can only execute the motion command of opposite direction movement 7 4 2 Settings Click 4 con on the tool bar to enter the window of Application center In HW limit protection page there is a checking box enable HW limit meer to activate hardware limit protection The t button in the page is used for configuration of digital input ports for hardware limit protection Click this button to open the window of IO set test for configuration The detail of IO configuration is introduced in section 4 4 1 HIWIN Mikrosystem Corp 127 mega fabs D1 Drive User Guide Protection E Application center E EK Protection Homming i Position Units mm Y enable HW limit HW left limit is configured to I6 HW right limit is configured to 14 Figure 7 5 7 5 Software Limit Protection 7 5 1 Introduction The D1 drive not only provides digital input ports connected to hardware limit switches but also provides software limit for protection of motor Software limit protection brings the protection of motor over travel range When motor stop at the position defined in
64. e of these selected items is active The user can select Not Configured eones button to eliminate all selected items After selecting specific items user can click the Apply te button to complete configuration otherwise clicking the Cancel cana button to cancel There is a button named Set errors Sr It is suggested to click this button to select all items in the Errors group for the protection during operation HIWIN Mikrosystem Corp y Configuration of O1 The output signal represent Logic OR of Selected States below Statuses Brake Servo Ready M Axis Disable FT In Position Moving M Homed Errors Iv Motor short Iv Over voltage Y Position error too big V Encoder Error Iv Soft thermal threshold reached Iv Motor may be disconnect Iv Amplifier over temperature Set all errors Iv Motor over temperature Iv Under voltage Iv SV for encoder card fail Warnings Left SW Limit Right SW Limit Left HW Limit Right HW Limit Servo Voltage Big Position Error Warning Velocity Error Warning Current Limited Acceleration Limited Velocity Limited Apply Cancel Not Configured 67 mega fabs D1 Drive User Guide Drive Setting Default Configuration Clicking the Set Default Pet button will reset outputs to default A message window of Set Default Output Sates Configuration pops out after clicking this button See Figure 4 34 Further the default configuration of O
65. ee reir ree eer ee 69 AT OMEN SA are os SE re een enn Es 70 AS o ene be ae Ena baren E 70 Drive TUNING pee sewn case acacia unwancsssacatecssncannsats ancacsawane stun ateacesuadesnace SERENE SEE SENSE DE SEES A SEERE SENE O SENSE atuacdsumeueisd aacacusuaedstisnateanassnedes 71 6 16 Status Display and QUEMA a 72 Di lie bs Salsa tia RAN 72 S2 QUICK VIEW case cs iar ete aati sade cee A 72 SAS Ol Wall COU ICY eat lidades 73 OZ mes gel imanco Elida cisco 74 Bt SCOPO PCR AA HO eso cate ga ae tacts gao a na eat gs ease eee 76 5a Daa ONE OM ite O RTE BIDE PRES ERR a ENES REESE EDR ERR ESSENS DSE BEDE EFTER EEN DENDE TE TEE SEE RES ERE TEDE 78 A SKOENE SEERE SEKS ben dae oa SERIES ESTERE SEES RE MEE nada te hes duc ES ater MEE SEER RE ED A ED HESS SERENE ER BOSSE SENSE 79 ERAS A A RO 79 a VO Read A o e 83 553 MAI ii 84 o o ats osm aoe na eats ecg sates EEN ea eee 87 S SPA We 57 acca seston o A mere bau SENER mete Dee NERE SS 87 56 2 ACC RECO O 90 5 6 3 Schedule Gains and velocity loop gain VOQ ccccccccccccccceeeeseeeeeeeeeeeeeeeeeeaaaaeescedeeeeseeeseeeeesaaaaaaseeeeeeeeeeeeeeeesauaaeaeess 92 5 6 4 Analog Input BlaS G Orme CON ii A A A eck te ee ete ae 94 Bs amp 5 44519 D E 28 A tacinos ET ATTE 95 ls O A 95 o AM O IA 95 5 7 2 Encoder FeedbackiPosition CASO card EE AS AA E A A AA AA 96 IMSS ina neck 96 NAS Sau ICO A IN as 96 O EMO MAD N a mee thetans atin suc tien vane anime ant fiia tana oiemesns N 97 BO EMO Map ODEA O aen E
66. eeeeaaeeeeees 125 A SIMO OU MOU O reeek a enpresen woes HESSEL SS SE E E E E a eedle tees tan SS bene ERE BESES NEN SEE 125 HIWIN Mikrosystem Corp 11 mega fabs D1 Drive User Guide Table of Contents 7 2 Position and Velocity Error PO A casta 125 o lA OA 125 1 232 Warnitigs ot Position Error and Velocity EME AAA SEE NER 126 T S Brake QUID ii A iaa 126 es eg aitvele A NN 126 ERAS AA A 126 A A A O A A NE EE PR 127 TA LIMP SWS ENGS e n llos 127 E a erm ts a orca clr a n eae aaa eE a a EE 127 TAL S 51 Ha 2 ea ANA 127 OSO Ware iii POLE CH OM uta ddr ar cece re Eaa SEES aE a Ea Ea a a aaa a RN 128 LO Fed INVOLUCRA a errr a ee reser et trey er rere 128 T52 SUMING S AAA AAA 128 7 6 Motor Over Temperature Protection icacsssceisceicncdncaiMavicanchssviedecinctaiaadunnd eee eee EDEL EL 129 FAN niTgee IN f j ON ERE E SK SR EK SSR SANNE SENE ETS SES tesla Bes eaitien eased eunlzads ERE tase E DERES a E REINER SE 129 Sol A Eee nace Neue OGE SEE EGE DERE coated ceca NED E TOGES TE SEE SEERE 129 Lf Ne Tali OGUC HOM SE EREES KORS FEDE NEDEN SORSE FRE SERENE ia 129 7 8 Drive Over Temp rature Prot lO i ii A AA AA aber Oates 129 OE INFO HEN ON os sr darla iasa 129 To Regen Restor Optio Mo o es 129 L S KIER AN 129 8 ESPON cll WV ARM NING las 131 8 1 Error and Warning Messages Of DADAS A nes hw aes 132 8 2 All of the Error and Warning Messages Ni A AAA 132 9 TFOUDIE SNOOUIMG cuicos dde 134 E OA 135 91 1 The Descr
67. eeeeeeasaeeeeeeesaaaeeeeseseaaaseeeeeesssasgeseeessas 129 TAN lla OCC a ny O T E E E AET 129 Tl 90h nn A 129 A nn A E E T E EE E E E E o EE E E eer A 129 7 8 Drive Over Temperature Protection oooooonnccconnnnncccnonococnnnnnncncnnnnnnnnnnnnon nen a EEEa AEEA R aE 129 Aseo A eo UA Oo EE 129 79 Regen Resistor Opti gt IEA ero ll En e Pe e Pi O O o 129 IA A A en o o OE ONE OE A A 129 HIWIN Mikrosystem Corp 123 mega fabs D1 Drive User Guide Protection 7 1 Motion Protection 7 1 1 Introduction The motion protections of the D1 drive are including max velocity limitation max acceleration limitation max deceleration limitation and kill deceleration of motion When the host controller sends motion commands as pulse or velocity bigger than the protection values set in the drive motion protections will be activated and limit the motion commands from host controller will not go over the protection values The D1 drive rests on the different operation modes to have the different protection The available parameters of each operation mode are below Position Mode DT Velocity Mode AAA Force Torque Mode ET X X X Stand Alone Mode OO Note Mark O means the parameters support the protection Mark X means the parameter is useless 7 1 2 Max Velocity Max Acceleration Max Deceleration Setup Click the icon to open the window of Performance center then the interfaces of motion protection will be shown as the figure belo
68. eleration deceleration kill deceleration and smooth factor Motion profiles like S curve or trapezoidal curve can be achieved by setting smooth factor with a range of 1 500 Bigger smooth factor makes motion smoother Smaller smooth factor makes motion profile closer to trapezoidal curve P2P Point to point motion 8 Relative move Relative motion HIWIN Mikrosystem Corp 75 mega fabs D1 Drive User Guide Drive Tuning 9 Jog Jog motion 0 Home Homing Y Common Gain A servo loop gain Bigger gain value makes servo stiffness higher Use the setting to adjust the servo stiffness Too high stiffness causes system instability with vibration and noisy In such case it should be lowered 2 Status Display Display motor status En Perbormanee Geni Set scope Velocity Ripple 8 562568 x miman pinag 100 Figure 5 6 Velocity Ripple measurement in Performance Center 3Vmax Maximum velocity during constant speed section Vmin Minimum velocity during constant speed section Vavg Average velocity during constant speed section 4Velocity Ripple shown in percent Refer section 2 9 5 3 Scope The D1 drive provides software scope to help the user observe important physical values during motion for tuning Scope is also a good tool for debugging how motor fails to work Click the FE icon or the sis button in the Performance center to open scope In the tab of Position and Velocity Ripple clicking the
69. eneral protection of motion Thus after motion test when the user starts to use host controller to send motion commands it may not reach the expected velocity or acceleration In such cases do not forget to change these Motion protection values back to reasonable values Ea Performance center DER SS eS T Position Velocity Ripple Target radius 168 count Set scope Debounce time 166 6 msec Move time msec Settling time 0 0 msec Total time 8 8 msec 2 enable sw limit P1 E A jen A Disable F12 Motion Protection Common Gain Position Units Speed gt 00998 countis Zero count v Acc 3 660Ge countis 2 Dec 3 800Ge 7 countis 2 Stop motion A Dec kill 1 5 e count s 2 aD P2 300900 Smooth factor 368 Status A Hardware Enable Input S 1 3D 6 6 fp E pap M N Repeat P1 GOMAP1 H Software Enabled Dwell time 1000 msec P2 300498 GoMP2 meSeno ready AM Phase Initialized Relative move Distance Bi Moving gt MHomed Jog MSM mode C Home fon Home Figure 5 5 Position tab in Performance center Enable Enable motor 2 Disable Disable motor Zero Set current position to zero Stop motion Stop motor movement Position Units Set preferred unit Its function is the same as that of Quick view in the main window 6 Motion Protection Motion protection parameters are parameters for motion test in Performance center lt includes velocity acc
70. ent the host controller can make the drive enable directly via input of Axis Enable For example 11 is set to Axis Enable and enable the motor by triggering 11 without communication with the drive It has to be noticed that the drive is powered on with the AC main power input to make this operation work HIWIN Mikrosystem Corp 148 D COMPARE PARAMETER RAM TO FLASH Title e D 1 Compare parameter RAM TO FlaS sodas 150 HIWIN Mikrosystem Corp 149 mega fabs D1 Drive User Guide Compare Parameters RAM to Flash D 1 Compare parameter RAM to Flash A window to Compare parameter RAM to FLASH will show up in the case of when the user closes the interface after modified motor parameters without saving it into flash memory or in the case of saving error compensation parameters into flash memory Refer to section 5 8 1 as shown in Figure D 1 It reminds user that parameters are modified but not save into flash yet Compare parameters RAM to FLASH 1 parameters are detected to be changed in RAM from Flash Press Exif to exit Press Cancel to stay Consider to do Save parameters to flash Cancel Details pare parameter RAM to flash prompt Click on the button Details to open advanced function window The user can look into the different values of parameters between RAM and FLASH as shown in Figure D 2 and Figure D 3 If the parameters are different in RAM and Flash respectively they and their values are displayed in bl
71. enter 4 3 2 1 SM enable Click SM enable button then the Enabled led is turned on Please pay attention when the motor is enabled the drive supplies current SM mode to motor continuously Thus do not keep motor in SM enable for a long time to avoid the motor from overheating Enabled Phase initialization by SMCL algorithm Phase Initialized Ml servo ready Current SM mode 1 21 A amp Feedback position 510 count 1 Enable axis in SM mode 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 Enable axis ended successfully i e Phase error Elec deg 4 3 2 2 Motion direction test under SM mode Drag the slider bar toward left or right to move motor Right direction in the window corresponds to positive move and left direction negative move Note The dial of Phase error should swing within green scales 30 30 during motor motion If it swings out of this range release and drag slider to move motor again A message Feedback detect ok will be shown in step2 in the window as shown in figure below if succeed Otherwise please confirm the connections of motor power cable and encoder feedback signal cable If it s still not working it means that the encoder or the motor parameter configuration is incorrect Please check the encoder resolution or pole pair pitch in the configuration center 1 Enable axis in SM mode 2 Drag the slider bar
72. erature down 4 Check if the duty cycle is too high Please add the heatsink if necessary The motor doesn t move after the pulse has been sent 1 Check if the encoder is powered on and the light is on If not please check the 5V power cable and if the signal cable is loose or short Otherwise check if the light is green If red light linear scale should be checked if it is clean 2 The gap between the encoder and linear scale must be 0 1 to 0 2 mm Please also check the signal cable is Th e loose and the linear scale should be away from the he feedback position magnetic field signabismoteonce 0 ene 3 Check if the settings of the reader are correct like encoder type is analog or digital resolution and part number etc 4 Check the AB phase signals of digital encoder are correct 5 Check the amplitude of sinusoidal signals of the analog encoder is possible too small 6 Check if the drive machine and shielding are grounded 1 Check if the connection of the motor over The motor The motor over temperature cable is connected or opened 2 Check if the motor temperature is too high 3 Check the settings of the motor peak current and continuous current are same with motor specifications 4 Check if the duty cycle of the motor operation is too high 1 Check if the connection of drive AC main power 100V a ple vonage pare D uaa or 240V is connected or opened 2 Measure the voltage of the AC power input is 100V
73. erformance center window or select Encoder test tune item in the pop up menu of Tools on the main menu Open the window for checking the encoder signal or feedback position value is ok or not By using digital or analog encoder will see different functional window as shown in Figure 5 37 and Figure 5 38 l Encoder type Digital Mle Position 26 878 Figure 5 37 Digital Encoder HIWIN Mikrosystem Corp 95 Mega fabs D1 Drive User Guide Amplifier Tuning Encoder bpe Analog men nc_cos y 1 80008 me sin g 1 88008 enc_c_ot 8 Bagana enc_s_ofs 8 ABBA mme jm Figure 5 38 Analog Encoder 5 7 2 Encoder Feedback Position Check Digital and analog encoder signals are phases which differ from digital pulse and the sine wave signal In the D1 drive this function can determine encoder feedback position value For example when pushing the motor by specific distance encoder feedback position value can be observed and checked if it is the same as the distance which the motor actual move When an analog encoder is used the original signal can be observed if it is normal by Lissajous circle which is described in more detail in section 5 7 4 5 7 3 Index Signal Check The encoder Z phase signal as index signal can be confirmed by index light as shown in Figure 5 37 and Figure 5 38 When the D1 drive receives encoder Z phase signal the index light will blink green color on the screen
74. ermore there is another feature of statistics with which maximum minimum values can be shown And frequency analysis for signals is also available Statistics table Click the icon to open the table as shown in Figure 5 18 It displays maximum minimum average rms values Rip RipA in the selected range for each physical value as shown in Figure 5 18 The picture of the table is below Maximum minimum rms and ripple values calculation of signals Maximum 1 samp 125 226 54375 samp 128 169 ref acc 1675807 Float 32 bit samp 184 875 enc_pos 38 467 Longt32 bit samp 149 658 Figure 5 18 Statistics table HIWIN Mikrosystem Corp Minimum 16 samp 168 652 534377 5 samp 1842646 187507 samp 148 174 44 035 samp 112 487 19 ip 493 287 96 9887 4668 B6 x 6888 48 ip 572 957 374677 5 1565 11 18981 6 ip 392 3457 744735 4 1975 66 16 738 ip 142 373 2382B 3 469 2037 Range 91 238 149 5858 delta 58 621 total 456 728 Ts b 66667e 5 84 mega fabs D1 Drive User Guide Drive Tuning Math Operations The user can find math operation under tools pop up menu or click the to open the window See Figure 5 19 An example of add operation is shown here Click the Linear radio button and select signal names pos err and vel_fbf under Plot and Plot2 Give a name here lin 1 in the input field of New plot name and set its color if required
75. f Digital Incremental ENcCoder oooooooonnnncccnnnnnnnnnnnononononnnnncnnnnnnnnnnononnnnnnnannnnnnnnnnnnnnnnnnnnnnnnas 38 3 8 2 Connection Schema of Analog Incremental ENCOU F cccccoooooooaoccccnonnnnnnnonononnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnns 38 3 8 3 Connection Schema of Motor Over Temperature INput oooooooonnnnccccnnnncncccnononnnnnnnnnnnnnnnnnnnnnonnonnnnannnnnnnnnnnnnnnnnnnnnnnnns 39 3 8 4 Connection Schema of Digital Hall SenSor ooooooccccccnnncccccnccoccconnnoncnnnnnnonononononnnnnnnnncnnnnnnnnnnnnnononnnnnnnnnnnnnnnnrnnrnnrnnnnnnns 39 39 ACCOSSOMES orne DI DIV AA E E 40 Srl MOL Power GADE cari atras 40 3 2 FE COD ACK IGM al LADIES esca 40 Soo rs es arenes ena inte Pte M E O o E eee ert eee eee 41 3 9 4 R5232 Communication AOS 45 rtorras caidos 41 3 9 5 Accessory Pack A A A 42 Sd EMO ACCESSO iia Ce eee ee iria 42 ROEN A E A 42 o A 42 HIWIN Mikrosystem Corp 20 mega fabs Drive User Guide Wiring 3 1 Configuration and Wiring This chapter describes configuration and wiring of the D1 drive 3 1 1 Configuration mega fabs D1 Amplifier HIWIN Mikrosystem Corp 21 mega fabs Drive User Guide Wiring O Control power cable Connection of the 24V DC power supply and motor brake Connection of the PC Laptop a DD Remove it after completing parameter settings O Control signal cable CN2 Connection of the host controller E Feedback signal cable CN3 Connection of the en
76. he E 3 button to zoom in as shown in Figure HIWIN Mikrosystem Corp 81 mega fabs D1 Drive User Guide Drive Tuning 5 15 Now the Y axis scale is shown in red and vertical dynamic scaling is stopped Therefore dragging the horizontal scroll bar will have no effect to vertical scaling as shown in Figure 5 16 Clicking the E icon on the tool bar it will cancel Y axis zooming and graphic returns to previous picture before Y axis zooming V enc_pos 46 034 537 MEGA FABS Motion S e File View Tools 2 31 47 31 12 2818 50000 180000 a 18000A 40000 20000 8 20000 40000 50000 B 500008 100090 100008 46008 26088 20000 40000 HIWIN Mikrosystem Corp Figure 5 15 82 mega fabs D1 Drive User Guide Drive Tuning ge Y E iz rx i e see i 3 LINANELA i atay i w Slide direction Figure 5 16 dt 1 dt dSamp When the graphic area is marked with blue solid and dashed line cursors it displays on the bottom of window three values dt 1 dt and dSamp dt is the time between the two line cursors dSamp is number of samples in this area see Figure 5 12 The physical value shows in different channels lf the user wants to move a physical value to be shown in another channel drag the variable name to the other channel Display of physical value When the blue solid line cursor is moved to a specific time a value shows up below the p
77. her static friction may need bigger current to overcome it During transition between static and dynamic friction stick and slip may happen lt is not an issue of drive Trouble shooting of Motor Motion Direction When the step 2 in Auto phase center fails it means a problem with the configuration of the motor motion direction Please do the actions below Check encoder power and signal Confirm if the type of encoder signal is differential Check if grounded properly Trouble shooting of Motor Motion When the motor cannot move please do the actions below Confirm if the motor is disabled Check interference in mechanism Check if friction is too high on mechanism Check for good connections of the motor power cable Measure the motor coil resistance to check if it is valid Trouble shooting of Hall Sensor Connection Check for loose connection Check the power and signal of hall sensor Check smoothness of mechanism Check if grounded properly HIWIN Mikrosystem Corp 64 mega fabs D1 Drive User Guide Drive Setting 4 4 1 0 Configuration 4 4 1 Digital Inputs The D1 drive provides 10 digital input ports 11 16 and 19 112 Nine of them are located in the control signal connector CN2 which 15 located in encoder feedback connector CN3 for motor over temperature switch It also can be configured to other functions 19 and 110 can be configured as general purpose input or pulse command input depending on operation mode In Position m
78. highest temperature will not exceed the rated temperature 80 C 2 11 2 Peak Current Peak current is the current supply to instantly produce peak force or torque in a motor The design concept of the HIWIN motor is that the peak current is 2 3 times continuous current Peak current cannot be supplied motor over 1 second 2 11 3 Back EMF Back emf is the voltage generated by a moving spinning motor and is proportional to velocity Back emf constant is defined as ratio of voltage to velocity In specification label Kv is representing back emf constant 2 12 Some Terms in Drive Specifications 2 12 1 Drive Voltage Input The D1 drive has 2 independent voltage inputs One is control voltage input DC and the other voltage input for the driving motor AC Main Control Voltage Input The D1 drive has high performance DSP inside The control voltage is supplied for the DSP lO and communication The voltage is not only for drive operation but also making communication work well The host control can still monitor the drive even when the motor main power is turned off AC Main Power The AC main power supplies high voltage for the driving motor The high voltage is connected to capacitors inside the D1 drive for rectifying and filter and to DC bus and PWM then output to the motor The high power IGBT in combination with DC bus control current to move the motor using PWM technology HIWIN Mikrosystem Corp 17 mega fabs D1 Drive Use
79. howing in Figure 4 8 below Performance center Advanced gains Application center Error map IO ttest y Configuration center Encoder Hall Operation 7 7 Type Parameter Sensors Mode Co n fi g uration p a ge E HiW Motors Ae AC servo Foote H Customized AC servo Motor type AC servo DATA from Amplifier Motor Model Name Manufacturer pu FRACXX1011 mot E FRACKX1022 mot E FRACXX2011 mot E FRACKX2022 mot Screw Moment of Inertia 9e 5 Kg m 2 Peak Current Load Mass 9 60004 A_rms 1 8 Kg Screw Pitch A_rms 26 mm Continuous Current E FRACKX4022 mot E FRACKX7022 mot SS Linear He Torque Torque Constant Gear Ratio B 485999 Nm A_rms 1 Resistance Line Line 1 8 Ohm Inductance Line Line 2 7 mH Pole Number 8 Save Load motfiles OK Cancel Figure 4 8 The following steps have to be done for the driving motor Motor Type Configure motor type and parameters related to motor Encoder Parameter Configure encoder type and resolution Hall Sensors Configure hall sensor type Operation Mode Configure operation mode of drive Please see the sections 4 2 1 to 4 2 5 for more details of doing the steps above HIWIN Mikrosystem Corp 47 mega fabs D1 Drive User Guide Drive Setting 4 2 1 Motor Type The D1 drive supports AC servo motor linear motor and torque motor
80. hysical variable name and it can be displayed in decimal or hex format as shown in Figure 5 12 The icons on the tool bar are Il Display the value in hex format Display the value in decimal format 5 5 2 Save to Read from File Plot view provides possibility to save and read graphic data to and from file The format of file can be text file txt bitamp file omp and gpp file gpp Saved text files contain values of each physical variable In a bitmap file graphic of the curves is saved And gpp file is a special format that can only be opened by Plot view Thus if the user wants to reopen captured data in Plot view in the future ggp format must be selected an Save data in text format Fa Save data in bmp format For saving in gpp format there is no icon the user can find Save or Open under File menu lt is shown in Figure 5 17 HIWIN Mikrosystem Corp 83 mega fabs D1 Drive User Guide Drive Tuning FS MEGA FABS Motion Systen File View Tools Open zl 7 EFT Pe BE GH lt S OM Hex D F A Open single plot Save to TXT file Save to TXT file with Time Save to BMP file Print Reset plots 6 58 36 28 12 2010 Figure 5 17 Save to gpp file 9 5 3 Math The Plot view provides math functions such as integration differentiation addition and multiplication etc for operations on physical values After applying math operations new signal is generated and displayed in Plot View Furth
81. ia dira 40 Motor Power alcoi A nce me aaa beatet arte S 40 ld ole oo o e R 40 39 0 Gontro Signal Cable rs til Enoc 41 3 3 4 52092 COMMUNICA ION VADO tab an 41 SB GSR ACCESSON Pack OG ONES LOE ses eee Iosis ta 42 D962 EMC ACCESSORIES sa 42 HIWIN Mikrosystem Corp 1 mega fabs D1 Drive User Guide Table of Contents 4 A n E E E A 42 A O TEA A AE TENA EE EE E EE A EEAO AS EEEN A EAEE A ETA A S et 42 Drive Setting NA A A A SEE EET Eee SEER 43 4 1 Installation and Communication tt a t 44 AT Sofware istalation Pile Serner TN 44 A123 COMMUPICAION SS Utica ll Eaa pie pri aea a 45 A Lo Mam users Interface WINCOW iinan pilar E 46 A A AA 47 A2 O as rs cits ratte erect a RE eder cies ata a NE dele acct ata a baat oe aa LAGER se BER SEAT ea a ed or EL REE kraner REE hans 48 422 Encoder ramales cie tl AA A a et coe eed ea net A aa et eects ered SEE 52 423 nal SONS Samara sata 57 42 A OPeratlOn MOS rt AAA o 58 A253 Me last Step Or CONT GUAM ON a 60 A O O ai 61 4 91 Pr steps OF Auto Phase Deli iene 62 4 3 2 Configutation Steps of Auto Phase Center veian narrar rin hoe ee 62 A 3 3 NOUCeS of Phase IMAZ ON NE NA ii 64 On AA 65 AA NIG Pulpa a tai 65 A AS A A BREST RENEE 66 o a A A eel eat ann tis hai Annee TREE RUDEN ANES ERE clay atte RSS E sites 69 A A a ER EEN TEE REE ER ERE SE ERE ERE ESTERE SERENE ES SNE RES DE NRES 69 4 92 OONO A TELE Peeve EET rere tempers RED TEE REE TESS nen ES ER EEG ee ry ER EET BEES entree EET o ree rey reer re
82. ick on Continue to save error map value into Flash and drive will be Reset action and lost motor parameter 5 8 1 5 Click the Cancel button then back to main window to save motor parameter in the flash After saved back Error map window and start the step 5 8 1 4 5 8 1 6 The confirm window spring up Click OK to save error map parameters into Flash and drive will be reset automatically HIWIN Mikrosystem Corp 98 mega fabs D1 Drive User Guide LCD Operations 5 8 2 Error Map Activation After completing the configurations of error map parameters the drive is capable of error compensation When homing motor is completed the drive activates the error map function There are 2 methods to make motor homing as followed Homing by Host Controller Example set 12 Home OK start err map like Figure5 41 Please refer to section 4 4 After sending motion command as pulse or voltage to drive for moving motor then stop motion command while motor at home position and host controller should send output to trigger 12 of drive digital input port for confirmation of homing complete to drive Outputs ARIS Enable f pull up C pull down Home OK start err map q La le Not Configured B pull up C pull down 15 Motor Over Temperature 14 Right Limit Switch la Cc le pull up 16 Left Limit Switch C pull down D 19 Not Configured pull up 110 Not Configured f pull down 111 Not Configured m m m
83. ick the Graph button to plot the curve of the motion cycle HIWIN Mikrosystem Corp 78 mega fabs D1 Drive User Guide Drive Tuning Example 2 If the user wants to capture a velocity profile click to check Start event box and set the condition to X_vel_fb gt 0 then click to check Stop event box and set X vel fb lt 0 Then click the Start button to make it ready for data collection It will start to capture as soon as the condition velocity gt 0 is satisfied and stop capturing when velocity becomes less than 0 Click the Graph button to plot the velocity profile 5 5 Plot view Plot view is linked with Data collection It plots the captured data from Data collection Plot view provides powerful analysis functions for display measurement and calculation Plot view has 4 areas including menu tool bar physical value variable name display graphic area and time scroll bar as shown in Figure 5 9 Menu iv Y oer ee TR kK i Area of physical Profile area quantit displayed E Scroll of time axis Figure 5 9 Data collection 5 5 1 Graphic Display Number of display channels Graphic area is mainly for the display of physical values After all physical values are captured by scope or data collection the plot view displays them in the window The number of Display channels can be changed and there are maximum 8 channels Following are the descriptions of the related icons on the tool bar Set maximum number of displa
84. ill be at left side of second line 2 Press the down key once to move the flashing cursor to 0 position 3 Press the F key once Switch the function of up down key to numeric parameters modification 4 Press the up key twice until the number changes to 1 then release it 5 Press the F key once Switch the function of up down key to move cursor 6 Press the down key twice to move the flashing cursor to 5 position 7 Press the F key once Switch the function of the up down key to numeric parameters modification 8 Press the down key twice until the number changes to 2 then release tt 9 Press the ENTER key to done of COMMON GAIN changed to 1 2 Note There are two notes while using configure parameters function of LCD a Keep pressing the F key for less than 1 second to switch the function of up down key to move the cursor or switch number b Keep pressing the F key over 2 seconds to go back to LEVEL ONE and abort currently modified values HIWIN Mikrosystem Corp 109 mega fabs D1 Drive User Guide LCD Operations i SEE A ee LEVEL ONE LEVEL TWO Make up down key be used for move Cursor CG Press it twice to mdve the cursor rightward 2 columns 0 5 Make up down key to be used for switching numbers for switching numbers Press it twice unitl 2 displayed then release it 5349372 release it
85. ing drive Earthing resistance should be less than 50Q once drive power input is 220V If the drive power input is 110V the earthing resistance is proposed to be less than 1000 When installing several drives the clearance between the two adjacent drives should be more than 20mm or above in order to have good thermal dissipation The Mounting fan on the control box would also improve thermal dissipation of the drive 50mm 20mm 20mm or above or above mega fabs mega fabs mega fabs tala aaa panmi 36 S 50mm or above Chassis of Control Box or above HIWIN Mikrosystem Corp 5 mega fabs Drive User Guide Specifications 1 5 Specification Requirements of PC 1 0GHz or above 512MB or above 50MB or above 50MB or above SSI RS232 communication port If no RS232 ports available adaptor of USB to RS232 is Port also good PRR Win 2000 Win XP Win 7 System ODLOT 1024 x768 pixel or above Resolution HIWIN Mikrosystem Corp 2 MOTION BASICS This chapter mainly describes basic concept of motor drive and glossary Contents include HIWIN Mikrosystem Corp Title Page 2M NCO SS OCRE PU on A A e E e oO EE 8 ANAIS MOS tia 8 2 1 2 Modes that use voltage Command sssssr iir neres neds EEN aa 9 2 1 3 Modes that Use PWN COMA 10 A olas A A A 10 PL e AA e A nn en PP on ee eae 10 A A 10 A EE N IE E P E E AN E A PE E E E E E N A T A ETA E E E EL 11 2 3 Bulleted Encoder a
86. injury or death HIWIN Mikrosystem Corp Iv mega fabs Drive User Guide About This Manual Revision History Applies to 2011 01 11 First Release 2 0 2011 07 11 D1 series Drive 1 Add LCD panel operation in Chapter 6 2 Chapter 7 introduces protection 3 Chapter 8 introduces error and warning 4 Chapter 9 introduces troubling shooting E HIWIN Mikrosystem Corp v mega fabs Drive User Guide HIWIN Mikrosystem Corp HLA ZA About This Manual vi 1 SPECIFICATIONS This chapter mainly describes specifications of the D1 drive Contents include Title Page FRE leo APA AAPP o e AP ee ere ere ee 2 k2 ne Basic o PECCA ORE sida 2 To DNS DIMAS mios iodo 4 Ta Duve tallos spice 5 1 5 Specification Requirements of PO scales A A re eer eee eee 6 HIWIN Mikrosystem Corp 1 mega fabs Drive User Guide Specifications 1 1 Certifications The D1 Drive is in compliance with below certifications CE Compliance EN 55011 EN61000 6 2 EN61800 3 EB61800 5 1 1 2 Drive Basic Specifications MD 36 S 100 240 VAC 47 to 63 Hz neti 19 or3 24 Vdc 10 1A minimum Continuous current 12 Adc E meme 8 5 Arms Notice Heat sink installed Power O as D GO O gt Q O Q J 5 O E e Type of motor C servo motor linear motor and torque motor Maximum input Pulse 2M Pulses s max Quad A B 8M counts s ENS O Gear ratio pulses counts J pulses 1 32767 counts 1 32767 Contin
87. interpolation in the fixed distance to increase position accuracy After position accuracy measurement and error table made compensation interval and total points should be configured values in the table 5 8 1 Error Map Operation Building the error map function in the D1 drive are the steps below 5 8 1 1 Click the FR button on the tool bar in main window or select Error map item of pup up menu of Conf Tune in the main menu to open the window as showing Figure 5 39 eent Tane Tools About Get table from flash Send table to flash Configuration center Auto phase center H Hall test tune Compare table to flash Performance center Advanced gains Application center IO set test Get Send Flash Open Save files ea Erro map File Flash View File C mega_fabs error map emp Map Attributes Status Error map enable Ml Error map active Ml Homed Interval 188 Total points 11 Data different from flash Position mm Index Each position Error map error map valu OS PI AURA O OS es 000 Trending O 100 200 300 400 500 600 700 800 900 100 ncoder mm Figure 5 39 Error Map Window 5 8 1 2 Configure compensation interval and total points Inputs error compensation values in the error table as well The unit can be set to be different as requirements For example in Figure 5 40 compensation range is 0 1000mm compensation interval 10
88. iod of analog encoder signal then select multiplier factor which is up to 65528 The interpolated resolution will be calculated automatically and updated The unit is um count Wotor type LINEAR DATA from Amplifier Encoder type ANALOG Encoder Model Name Manufacturer Grating period 40 um Multiplier factor Interpolated Resolution 18608 hd 4 604 umic ount Figure 4 15 4 2 2 7 Rotary digital type The user only has to input counts per revolution of encoder signal The unit is counts rev Motor type AC servo DATA from Amplifier Encoder type DIGITAL Encoder Model Marne Manufacturer Encoder Resolution 1608 Counts Rev Linear Resolution H Z umCounts Figure 4 16 HIWIN Mikrosystem Corp 54 mega fabs D1 Drive User Guide Drive Setting 4 2 2 8 Rotary analog type Input how many sine waves per revolution of analog encoder interpolated the multiplier factor is up to 65528 The resolution will be calculated automatically and updated The unit is counts rev Motor type AC servo DATA from Amplifier Encoder type ANALOG Encoder Model Name Manufacturer 586 Grating period Rey Multiplier factor Interpolated Resolution 65528 1 6382e 8 CountsiRey Linear Resolution 1 22M85e 5 umiCounts SavelLoad enc files Figure 4 17 Encoder Output The D1 drive outputs quadratured AB phases encoder signal via CN2 to host controller as the user demands As shown in Figure 4 18 the user can click Use buffered
89. ion The user can add acceleration feedforward to reduce the position error Filter Acc Schedule Analog current feedforward Gains vpg input loop Acc feedforward gain 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 Putthe result into Acc feedforward gain 8 See the position error reduced Figure 5 27 Acc feedforward The adjustment of acceleration feedforward steps are described below Step1 Click the Set scope button to display Oscilloscope screen Step2 Set Acc feedforward gain to zero as shown Figure 5 27 Step3 Make the motor move with the desired maximum acceleration Step4 Write down the maximum Command Current during accelerating As shown in Figure 5 28 command current is 16 in accelerating Figure 5 28 is showing graphs displaying on the Scope at the start of the move Using Toggle scopes windows Page Up button can switch to all graphs drawn in one plot chart Repeat this button can switch sequentially the graphs of Command Current Reference Acceleration and Position Error for convenient observation Step5 Write down the maximum value of reference acceleration in accelerating For example
90. iplions of Status Indica ss cosida toc laica 135 911 2 Error Descrpuons ana Trouble SMOOUNG escasa Ada 135 AS iDrive Thermal CUESTA GEIGER 138 Operation temperature and Cooling Stale Gy ses issaisaidain ada aii lit 139 A2 Heat Ink DISDIACEIMENL nsdyercrcuetexeestevocaadvacns nents a a a a 140 B Auto Phase Initialization And Freq Analyzer 2 ccsssscccceeseeeeseeeseeeeeeaseeeneeaseeeaeeaseeeaneaseeeanoaseeeeeoaeeeeooaseeeeananseeeanenseeeaeaasees 141 B 1 Frequency Analyzer Window of Auto Phase Cente cccccccccseeeeeeeeeeeeeeeeeeeeeceaeaueeeeeeeeaeaeeeeeeesaaaeeeesessaaasaeeeeesssaasaeeess 142 B 2 Close Loop estior Step Mode SMG 16S As dE 143 BEES IN secenueatecances sect chasccancee secnnct oteea need a 143 B22 FO WSC Freq AO ZA AN AA A 143 B 23 T0 USE PS AAA A 144 Cy Setting Of Enable ACUVAUOM is o a 146 Ok Madwar EN E E E a E ESBEE RER 147 G2 IntemalyTROger Enable sersan an A a A E E AAN 147 6 3 Continmation oi Hardware Enable State da 147 S R tema Act ated Enable A A A A Ed 148 Ds Compare Parameter RAM tO Hasan es 149 HIWIN Mikrosystem Corp 111 ABOUT THIS MANUAL Product Warning DANGER Hazardous voltages Exercise caution during installing and adjusting Failure to notice this warning can cause equipment damage DANGER injury or death Risk of electric shock High voltage circuit is connected to main power Failure to notice this warning can cause equipment damage DANGER
91. irmware Figure 4 5 The communication setup is shown in Figure 4 6 below RS232 is supported by the D1 drive BPS means transmission rate with default value 115200 Port should be set to the communication port of PC which connects to the drive Keep the other settings as default and communication will work well Communication Setun HPS 115288 m 7 Protocol ICP HIWIN Mikrosystem Corp 45 mega fabs D1 Drive User Guide Drive Setting 4 1 3 Main user s interface window The main window of the user s interface is shown below and the main functions in the window are described in the followings Save parameters from drive RAM to file Load parameters from a file to drive RAM Save parameters from drive RAM to Flash WEE Reset drive LIGHTENING version 0 133 comi 115200 Conf Tune Tools Language About OA A E T gt Main Tool Bar Hi HIWIN Amplifier i a Firmware version Controller tamuz D Axis X Connected E mz0 PAR 8 183 drives E Model FRAG XX1 KX Axis is cofigured to Stand alone Position Mode Status LA Hardware Enable Input Status Display Area A Software Enabled J Servo ready Last error Error Messages Lastwarning Quick view Position Units El Quick View count bel i Variable Monitoring 18 Feedback Velocity Y 0 000000 counts 58 Amplifier Temperature vj 25 1 G 10 Feedback Velocity v 0 000000 countis Communication Status Communication ok Cimega_fabsidcelta
92. is its value HIWIN Mikrosystem Corp 105 mega fabs D1 Drive User Guide LCD Operations gt E Figure 6 4 Flow chart of display parameters page Table 6 3 Descriptions of parameters in display parameters page Motor feedback position en n imam O Ooo ze Damon Oooo ess je bamos Oooo ean e Titama A e55 5 Digitalimport5 Motor over temperature signa e e Dampo i Oooo 6719 19 DigitalimportO Pluse command F eeno no Digitalimport1O Pluse command em m bamn OOOO ooo n2 n Dampo i Ooo 0 Cn LE Sd s202 Jo Daomp 8038 os Digitaloutput3s 333 p 8404 O4 Digital output 4 Brake signa HIWIN Mikrosystem Corp 106 mega fabs D1 Drive User Guide LCD Operations 6 5 Change Parameters Page In the change parameters page press the up or down key to switch different parameters which will be changed its value The operation procedure is shown in Figure 6 5 The details of the operation method are described in the next section ESSE Save parameters in NO memory of drive to flash q K I Q Q Common gain setting oO A Velocity proportional gaig setting 1 61e 05 B tg Q K gt Phase initialization gainfsetting O O lt H gt MODE Operation mode setting STNDALON Refer to section 4 2 4 Ml lt E PULSMODE i Pulse format setting KE gt Notice 1 Static cursor Para
93. ital 1um enc Output Resolution 1 um Count Rone Use buffered encoder ated Output EE Customized Rotary Analog M Invert ontigu ration i E Customized Rotary Digital C Use emulated encoder Ar ea A seta Heat cede Scallina ail encoder count 1 emulated encoder output Analog 3600 periods 0 3 arc sec enc Digital 10000 entenc Digital 32000 ent enc Save Load enc files a Parameter Save Load OK Cancel Parameter Confirmation OK Cancel button Figure 4 13 Window of Encoder Parameter Configuration The D1 drive supports various kinds of digital and analog encoders including linear optical encoder magnetic encoder and rotary encoder The types of encoder are divided to 4 types as below Linear Digital Encoder Linear Analog Encoder Rotary Digital Encoder Rotary Analog Encoder Please refer to the sections 4 2 2 1 to 4 2 2 4 that introduce the encoders commonly used in HIWIN motors and section 4 2 2 5 to 4 2 2 8 that introduce the configuration of customized encoders For integration with host controller the D1 drive can also output encoder feedback signals see also section 3 7 Wiring of Control Signal CN2 D1 drive provides buffered encoder or emulated encoder for such output purpose Using emulated encoder can change output resolution by scaling The sections 4 2 2 9 to 4 2 2 10 describe details of configurations HIWIN Mikrosystem Corp 52 mega fabs D1 Drive User Guide Drive Setting Encoders commonly used in HIWIN
94. locity Actual Current Target Position Common Gain Feedback Position Refence Refence Command Position 2 6 Common Gain A high speed computing DSP is used inside the D1 drive to implement motor control In common for digital servo loop control several gain parameters should be adjusted The D1 drive has unique technology to simplify these gain parameters to only one gain the common gain It brings convenience for adjustment HIWIN Mikrosystem Corp 13 mega fabs D1 Drive User Guide Motion Concept Low __________ Control 3 High Stiffness 2 Move amp Settle Move and settle is defined as time of motion from commands of profile generator and then settles the motion until within tolerance 2 1 Position error The position error is the error between the target position and the feedback position from encoder 2 2 Target radius The target radius is a tolerance while position error remains so that the motor move is considered to be at target position 2 3 Total time As shown in the picture below when the motor is moved to target position and the position error is less than the specific target radius for duration of debounce time the signal of in position will be set Otherwise if the position error keeps exceeding target radius it is namely not in position The total time indicates duration from beginning of motor motion to status in position The total time is
95. mable assigned to other function q2 6 14 General purpose input programmable 7 speed il ica pese speed In position mode the 4 ports are used for command pulses dl E input In the other modes 19 and 110 are general purpose input A speed 11 110 High Group D speed General purpose input programmable General purpose output programmable pie KR Output pulse of feedback Buffered encoder or emulated encoder 5V 5V dc output load current not to exceed 400 mA Signal ground Analog command input positive pin Analog command output negative pin General purpose input programmable Specific Inputs These inputs of specific purpose are related to operation modes Position Mde __ Pulse Direction CW CCW AGB MO MOM Direction CCW TB Torque Velocity I9 110 General purpose input ss OM ITOM CN2 Pin layout HIWIN Mikrosystem Corp 28 mega fabs Drive User Guide Wiring 3 7 1 Connection Schema of Digital Input The Connector CN2 provides 9 digital input ports The input interface circuit is shown as in the picture below Input ports 19 and 110 are both capable of maximum voltage 12V and the others are capable of maximum voltage 24V The input ports can be configured as pull up or pull down according to the interface of the host controller When the type of output signal is sink for example output of NPN transistor the type of the input in the D1 should be configured as high level Pull
96. mand in the area of Position Unit as the showing Figure 7 2 These settings are not only for motion protection but also for the motion parameters in motor running test After used the motion functions P2P Relative move and JOG in Performance center user has to check the settings in Motion Protection are the values for the purpose of motion protection In order to avoid the motion protection the user has to multiply the original values of acceleration and deceleration by 10 when operation mode is selected to position or velocity mode If ignored this confirmation motor may not reach expected velocity and acceleration deceleration when the motion command is sent by the host controller 7 1 3 Cancellation of protections of velocity acceleration and deceleration In the position mode smooth factor set to zero deactivates velocity acceleration and deceleration protections to drive motor with the command velocity acceleration and deceleration from host controller The user can decide to use motion protection function depending on requirements 7 1 4 Smooth Motion Smooth factor is set for the purpose of reducing the force impact on the load by motor in accelerating and decelerating The value of smooth factor is limited in 1 500 Bigger value represents less force impact and the value of 1 for deactivate Increasing the value of smooth factor brings better performance that setting time will be better due to the reduced force impact by motor But m
97. mat Operation procedures are shown as Figure 6 11 1 After pressing the ENTER key enter change mode of non numeric parameters A flashing solid cursor is at left side of second line 2 Press the up or down key to select control input commands including Pulse and direction Pulse up Pulse Down and Quadrature 3 After selected press ENTER to complete the settings HIWIN Mikrosystem Corp 112 mega fabs D1 Drive User Guide LCD Operations PULSMODE PulseUp CW CCW Pulse Down PULSMODE CW CCW PULSMODE Figure 6 11 Folw chart of change pulse format 6 5 4 Advanced Parameters Settings Following is how to change the settings of advanced parameters Operation procedures are shown as Figure 6 13 1 After pressing the ENTER key enter the ADVANCED parameters page A flashing solid cursor is at the left side of second line 2 Password has to be input to enter advanced parameters settings Please refer to section 6 5 2 Configure Parameters 3 After password input there are over one hundred parameters including codes of parameters for user change as shown in table 6 4 To display password is shown as Figure 6 12 o RE ERE Conf Tune Tools Language About ou 7 Communication setup Ctrl N LCD Password m D password A ota Current code 1005 lotview_ C i E r Open plot view Ctrl G EA FTAA Data collection 9 Scope Ctrl P Reset Amplifier Upgrade
98. meter is configurable 2 Dynamic cursor Parameter in configuring continuous motion Jogging 3 No cursor Display parameters only ADVANCED 0 Advanced parameters modification El IN Figure 6 5 Flow chart of change parameters page HIWIN Mikrosystem Corp 107 mega fabs D1 Drive User Guide LCD Operations 6 5 1 SAVE TO FLASH The following procedure is the way to save parameters in memory to flash in the drive 1 Press the ENTER key to enter SAVEFLSH item A flashing cursor will be at left side of second column 2 Press the up or down key to select YES or NO to save parameters in memory to flash in the drive Select YES to go to next 3 When the servo is disabled DISABLE pressing the ENTER key will show PROCESS Message lt means saving parameters into flash is under proceeding and FINISH A message will be displayed after completed The operation procedure is shown in Figure 6 6 When servo is enabled ENABLE pressing the ENTER key will show an error message of DO DISBL and no parameters be saved to the flash Servo disabled should be done for forward this operation and its procedure is shown in Figure 6 7 LEVEL ONE SAVEFLSH SAVEFLSH Sul _ NO NH NO LEVEL TWO No reaction for pressing SAVEFLSH any key in the duration of PROCESS PROCESS Displaying a i Wait 2 seconds M SAVEF
99. mperature Select the variable of Amplifier Temperature in Quick View to monitor current temperature of drive 7 9 Regen Resistor Optional 7 9 1 Introduction When the motor is moving in decelerating part of motor kinetic energy is transformed to heat dissipation and the other charge to the capacitance in the drive Once the energy over the capability of the capacitance regen resistor is necessary to be used to dissipate the energy for protection of drive The turn on voltage of regen resistor in the D1 drive is 390Vdc and turn off voltage 380Vdc The table below shows the product number of the HIWIN standard regen resistor and the user can use it as requirement HIWIN Mikrosystem Corp 129 mega fabs D1 Drive User Guide Protection Product number Peak Power 5 seconds 050100700001 100W 500W The dimensions of regen resistor are shown in Figure 7 7 in next page Figure 7 7 HIWIN Mikrosystem Corp 130 3 ERROR AND WARNING This chapter mainly describes error and warning messages in the D1 drive Contents include Title Page 8 1 Error and Warning Messages of the D1 Drive escri 132 9 2 Alof the Error and Waming MESSAGES vi vececacenccerascncseranaddstaasenedsannddevanscnchanantddsvangenesenaneddetasneqntenentddstnsseqntensnaddeteendqeueencaeaoe 132 HIWIN Mikrosystem Corp 131 mega fabs D1 Drive User Guide Error and Warning 8 1 Error and Warning Messages of D1 Drive When an error is detected the D1 drive not o
100. muzl Figure 4 7 Status Display Area There are two leds displaying statuses AA Hardware Enable Input If the hardware enable input is activated the led is shown light green otherwise it shows dark green If the hardware enable input is not activated the motor cannot be enabled The hardware enable signal is configured at digital input page Please see the contents of section 4 1 1 and appendix C Software Enabled The led will show light green when the software is enabled and dark green when the software is disabled The motor will enable when the hardware and software are both enabled Pressing the Enable button in the Performance center will make the software enabled Pressing the Disable button will make software disabled The hardware will enable active when the PC disconnects with the drive following the software will enable Lightening will interrogate need to Toggle On or Remain Off when the user closes Lightening with the connect drive HIWIN Mikrosystem Corp 46 mega fabs D1 Drive User Guide Drive Setting Moro ready The led will show light green when the drive software is ready Hardware enable and phase initialized 4 2 Configuration Center When a new D1 drive is used with a motor or when changing the motor or encoder type it is necessary to use the configuration center to setup lt can be accessed by clicking at the button 8 on the tool bar or selecting the Conf Tune and click at configuration center as s
101. nable by SW methodi 23 X ntk2 Parameter of filter2 for enable by SW method 1 Cut off frequency of filter1 in closed loop 25 X tx Damping ratio of filtert in closedloop eooo 27 Xfi k2 Parameteroffileriincosedloop__ Cut off frequency of filter2 in closed loop 29 Xf2xi Dampingratio of filter2 inclosedloop I s0 xiki Parameteroffiter2incosedoop rat x12k2 Parameteroffiler2 in closedloop o 32 X Upikp Current loop proportional gain D axs 7 33 X Upiki Curentioopintergralgain Daxis F 35 X Vpikp Current loop proportional gain Qax o 36 X Vpiki Cwrentloop intergral gain Qax OoOo o Protection value for squre of minimum radius of AE Lissajous circle of analog encoder FEE Velocity for finding index X index tout Homing is stopped by index finding time over this value 66 67us 42 igi out_xor Setting of output voltage inversion of digital output eo Number of counts for motor move unit distance Number of counts per 100mm for linear motor moment Number of counts per revolution for rotary motor rotation mm o ooo count N iN 43 X_cntperunit 4 5 X_pitchScrew Lead of ball screw mm For AC servo motor only mm X_enc_360 Pole pitch of Linear motor count X_sm_ampl Enable current for phase initialization A_ampx1000 36 HIWIN Mikrosystem Corp 115 O 3 D Q h pe Oo 0 U U lt CD E 0 CD mm Q e
102. nd Encoder Emulator sicssaisscsevissvicssanstsvoenantaeeaivosioenictbyaxervdsdonsiutadernincsdoerivciaieautidqwintadeuninnisessiiaemminiedens 11 A A casa shansiectaa tenance cise a pieeeecses SADON 12 AN e PUE O Pa O AA 12 e o ERE 12 zA a CO e E ere ern er ere 13 2 AA OMMOOUN O E 13 Be ATO en 13 A e ee eee ere eee eet ere 13 2 5 COMMON SA Aenea ene ee tere eee se ee ne ene eae renter ts 13 Cat pg ES A Me nn IA 14 A A 14 a E lo E AAA e PR PRO O O E E AE E A A 14 PEN SC WOVE WAN PPP AP 14 20 ECO MDI so cence aoe cia tc suse sta since ea vpn cu esto cast ctv n 15 29 NEDEN TA DION OO o nn o DEERE ED ERE E Ea 16 A PPP E 16 2101 SM A A ner ae A 16 ca de E E EE o eee N E E 16 2 11 Some Terms Nihe Motor SOSCNCANOMNS session 17 PAS BET CONUS e OA e a E E E E A E S otto 17 A T e Pm 2 17 o o acne ne eae ene tae I SE DERES REE REE DE ERE ee re ene ee ree A E ee ere ee 17 2 12 Some Terms in the Drive Specilica lO mais 17 2121 Drive Voltage DUT iisassiccnsnscencadnienhsscmsnaninceastninntass tamed duadiestmsnanienteanbiisedindsmanedieduadeson EE 17 Aa RME and AMISTAD Eonia 18 A lo ico AAA tl mu RI 18 mega fabs D1 Drive User Guide Motion Concept 2 1 Modes Operation modes between the D1 drive and the host controller can be configured in several modes Position mode Velocity mode Force Torque mode Stand alone Following are descriptions of these operation modes 2 1 1 Position Mode The motion controller or host con
103. ning windows there is a warning message displayed in the Status of main window to remind occurrence of abnormal condition E Application center x Protection HW limit Homming Brake protection Error windows Position Units maximum pos error 5 BBB mm v Warning windows Position error 2 566 mm Velocity error 266606 mm s Figure 7 3 Parameter Description Maximum pos error Limitation of max position error Position error Position error warning Velocity error Velocity error warning 7 3 Brake Output 7 3 1 Introduction In order to protect the motor and the mechanical structure the D1 drive provides brake output signal to trigger external mechanical brake It is usually used in the application of Z direction motor motion In this application there are some issues of sequential motion for example of drive receiving disable command while motor is moving along Z direction Activating the mechanical brake in high speed drop it will cause high vibrations and damage of mechanical parts In addition if the motor is disabled too early the motor and mechanical parts may be damaged The D1 drive with specific brake parameters setting is capable to prevent these cases 7 3 2 Brake Stop Sequence After receiving hardware signal input or operated by GUI to disable motor the sequence will start as below 7 3 2 1 While received the disable command the drive waits for delay time of the brake activation delMaxEnToBrk then activa
104. nly activates protection but also displays the error message in the main window at the same time As Figure 8 1 Status Display Zone the latest occurred error is displayed in the area of Last error The user can do trouble shooting according to the error message Further once a warning occurred during motion the warning event is displayed in the area of Last warning amp LIGHTENING version 0 097 comi 115200 File Conf Tune Tools About Hiv E A A Controller tamuz 0 Axis HW axis 1 ii e 9 155 ig pepa Motortype AC servo 7 HW axis 1 Axis is cofigured to Stand alone Position Mode Status Enabled A Hardware Enable Input e Quick view Position Units count v 1 Feedback Position 373 count 10 Feedback Velocity 0 000000 count s 56 Amplifier Temperature 21 4 C Communication ok C mega_fabsidceltamuzi Figure 8 1 Status Display Zone 8 2 All of the Error and Warning Messages The following tables list the messages and meanings of all detectable errors and warnings by the drive Motor short over Motor short circuit is detected current detected 2 Over voltage detected DC bus voltage is too big bus DC bus voltage is too big is too big Position error too big Position error is bigger than the setting value 2 error is Position error is bigger than the setting value than the setting value Ecodor eno 1 AB phases error of digital encoder 2 Amplitude of sinusoidal signal is too low during motor stoppe
105. nnnnnnnnrnnnrnnnnnnnnnnnnnnnnnnrrnnnnnnnnnas 26 3 60 ROIZ COM MUNGO LG NING re eto die nas 27 31 COM cluIon Or the ControlSignal CN2 eiss n E E A A OAR On 28 3 7 12 Connection Schema of Digital Input irea a a A N E tiecavueve 29 3 7 2 Connection Schema of Digital OU Eco dctuaai lite alce EEEE EEEE 31 3 7 3 Connection Schema of Pulse Command INpUtS ess a ai ocd aa A A A AAA 33 3 7 4 Connection Schema of Encoder Feedback OuUtpUt ooccccccccccococononnccccnnnnnoncnnnnonononnnnnccnnnnnnnnnnnnnonnnnnnnnnrrrnnnnnnnnnrnnrnnnnnnas 34 3 7 6 Connection Schema ot Analog Command Mputa aara ra ET aaNet 35 3 7 6 Connction Schema of Digital Command PWM Command occcnncccnncccncnnnnccnnnonnnnnncnnnnnnnnnnnnnnnnonnnnnnnnnnnnnnnnnnnnononanininnns 35 3 8 Connection Schema of the Feedback Inputs CNS oooooccnnnccccccocccnnnccnononnncnnnonononncconnnnnnnnnncnnnnnnnnnnnrnnnnnnnnnnnennnnnnnnnnnnnnnnninnnos 37 3 8 1 Connection Schema of Digital Incremental ENCOCEL scccccceccececeeeeeeeseeseeeeeeeeeeeeeeeeaaaeeseeeeeeeeeeeeeeeeeeeaaaaaseeess 38 3 8 2 Connection Schema of Analog Incremental ENCOCEN cccccceceeececeeeeeseseeeeeeeeeeeeeeeseeaaaaaaseeeeeeeeeeeeeeeseaaaagaesess 38 3 8 3 Connection Schema of Motor Over Temperature INput ooooooonnnnnccccnnnnnnccnnnnnononnnnnnnnnnnnnnnnnnnonnnnnnannnnnnnnnnnnnnnnnnnnnnnnns 39 3 84 Comecon Schema Of Digital Hall Sensor td A A E 39 2 9 ACCESSONOS Ore Dl DIVO diar
106. nputted in the table are converted automatically by rounding off to the values of integral multiples of encoder resolution For example if the encoder resolution is 2um 1 um of error map value input in the table is converted to 2um and 0 5um of error map value input in the table converted Oum HIWIN Mikrosystem Corp 100 mega fabs D1 Drive User Guide LCD Operations 6 LCD OPERATIONS This chapter mainly describes LCD panel display and operation procedures Title Page AB io Exa Fane Iii OAC 6 AAA A A E RE ETS TERRE SOE HEER mehr PEERS 102 0e Foor IOC OTEC AA A e e US REE E 102 Se TOS AC A Pe E NE E NA 103 o A ERE nania ATi 105 Ai A PP A ECO ERA REESE ERR AARRE EATER 107 Cho wal SAVE FO PLA Sais 108 E e o 109 6 5 3 Non numeric Parameters ONANO init ds 111 6 5 4 Advenced Parameters SC MNOS sastre asi 113 PONS PADE DEP OPERA O o raea ude ss ia 117 6 6 12 Enable Disable ENA DIS jeaiiscasisaecenetetesaceaies eee heiede kk ERR E RER E REE E REE E REELLE REE E REE E REELLE ERE REELLE ERE ERE teeaewekeetaane 118 A A nn a e e ES o o e 119 6 5 3 Absollte Motion O A Dacor sali EE P hos este EEE ei 120 HIWIN Mikrosystem Corp 101 mega fabs D1 Drive User Guide LCD Operations 6 1 Display Panel Introduction ENABLED Display panel eae E adicator Down key F key Function Display panel Display modified values of parameters status parameters and motion Up key Select options and set values of parameters
107. nside to Set Offset correct it Click the button to automatically measure and correct offset as shown Figure 5 35 below Advanced gains ES Acc Schedule Analog feedforward Gains vpg input NS nee ow 46 Analog Command 1 67263 mU DSP rate 15000Hz Rate 156 7Hz Time s 18 Offset Analog input offset 3 718 Set Offset Figure 5 35 Analog Input HIWIN Mikrosystem Corp 94 5 6 5 Current Loop After selecting motor type in the Configuration Center the motor parameters have been used to calculate current loop gain Ki and Kp However if the motor parameters are not set correctly this function also can be used to adjust current loop gain of this motor The low pass filter should be set according to the result of frequency response Higher current loop gain tuned brings the noise of motor The low pass filter can be set at small frequency for example 500HZ to restrict the noise a Advanced gains Acc schedule Analog feedforward Gains wpa input P parameters Kj 946 746 Kp 663 661 Current filter Damping factor 1268 48 Hz Default i HB 787A Freq analyzer Figure 5 36 Cuurrent Loop 5 7 Encoder Signal Checks The encoder plays as key component in the motor servo control It provides motor position or angle information to achieve servo loop control In the D1 drive encoder output signal can be confirmed if normal or not by GUI 5 7 1 Encoder test tune Click on Y in the P
108. ntal axis in Natural logarithm scale It is not available under non FFT view HH Click this to switch to logarithmic scale HIWIN Mikrosystem Corp 86 mega fabs D1 Drive User Guide Drive Tuning 5 6 Advanced Gains The main tasks of the drive is to provide a good performance of the motor from the beginning to the target namely Move time and Settling time Please refer section 2 7 Such as the position error of movement is smaller or not and the velocity is smooth or not We can improve the performance by tuning the gain and parameters To tune Common Gain is the simplest way to enhance the performance of the motor More common gain brings more stiffness which can cause the vibration and electrical noise of system based on the different machines z Performance center Advance Gains TH Position Velocity Ripple Target radius 5 Ea Debounce time 3 3 Move time Settling time 8 8 Total 4 8 il Lower test bound Upper test bound 2000000 2000900 Disable F12 Motion Protection Common Gain Com mon Gain Position Units Speed 180800 8 counts 300000 Zero count Acc 6 32299e 6 countis 2 Dec 6 32299e 6 countis 2 Stop motion Dec kill 6 32299e 7 countis 2 Smooth factor 508 Status dl nee P1 125000 GOP Wenablea elay time ne 1908 msec P2 1588008 Gone Phase Initialized Movin C Relative move Distance x g mM Homed C Jog HF A SM mode al Home Figure 5 23 Performance center lf Common
109. oa CD LCD Operations ce O al SEN o D D U D gt gt 5 gt X_enc_360_div____ Pole pair number of rotary motor Velocity proportational gain for enable by SW method 1 E 9 Common gain for enable by SW method 1 ME Xvpg Velocity proportional gain in closed loop f 47 48 Gain in moment phase of Schedule Gains X sg idle Gain in in position phase of Schedule Gains ilter i Q axis i N A_amp 79 X gearRatyio Gear ration of AC servo motor o oo 80 Vomdofts Offset adjustment of analog command Volt 81 X cmd ext N Numerator of electronic gear ratio Output Jj o o 82 XomdextM Denominator of electronic gear ratio Input 83 X_cmd ext v sc Velocity command ratio 1 input voltage corresponds to eine Ay rotary speed Dead band of velocity command Velocity command is a 0 for input voltage less than setting 85 X omd ext isc Current command ratio 1 input voltage corresponds to A_ampx1000 36 current 1V ae ee Dead band of current command Current command is 0 Volt KJ Pl KEE SE for input voltage less than setting 89 X vel er warn win Warning of velocity error Cuts 190 X_Resistance Resistance line to line of motor coils Inductance line to line of motor coils 112 x Aencsgn Encoderdirecton F 113 X Aenc mode Encoder type Analog Digital p 114 X Aenc mulFac Interpolated factor of analog encoder Je 115 X new smfac Smoothfac
110. ode the two ports cannot be configured to general purpose input port For other modes they can IO setftest a fx State Indicator Input functions Input Signal Level Configuration en AXIS Enable e pull up Not Configured C pull down Not Configured B pull up C pull down Not Configured Not Configured Do ae aes Logic Invert c pull up Motor Over Temperature C pull down D Not Configured 110 Not Configured pull up Default Configuration pull down HE Hat Configured 112 Not Configured oe Cae Ge ae ees Eee Set Default Figure 4 29 Level Configuration Pull up pull down This configuration is based on actual hardware wiring If the hardware wiring is sink type it should be configured to pull up Otherwise for source type of wiring it should be configured to pull down Refer to the wiring examples in the section 3 7 1 Input functions List Click the pop up button to show configuration list as the shown in Figure 4 20 Inputs Outputs State Invert A 11 Mot Configured a E f pull up O 2 AXIS Enable WM I pu y Left Limit Switch Right Limit Switch E Mm Tr B Motor Over Temperature a Home OK start err map pull up 14 hd pull down I5 Not Configured MM Figure 4 30 HIWIN Mikrosystem Corp 65 mega fabs D1 Drive User Guide Drive Setting Functions Descriptions AXIS Enable Enable disable axis Default port for this function is 11 It is e
111. of AC Servo motor Part name HVOOFRACE A Non flexural endurance Feedback signal cable HVOOFRACE B Flexural endurance _ L_ JRepresents cable length as the following fo Jo Cable length HIWIN Mikrosystem Corp 40 mega fabs Drive User Guide Wiring Feedback signal cable of linear and torque motor LMACEL _1Y For Renishaw Digital Encoder motor OT LMACENIOZ For Renishaw Digital Encoder motor OT and digital hall sensors Encoder Cable LMACE I JC For Renishaw Analog Encoder motor OT LMACET IT VJ For Renishaw Analog Encoder motor OT and digital hall sensors LMACE JLJAA For Jena analog encoder and motor For TMS JRepresents cable length as the following cable length m 3 9 3 Control Signal Cable LMACK30R______ For motion controller about 3m long Control Cable LMACK30R For motion controller about 3m long LMACKI I JA For ACS SPiiPlus SA motion controller IL JRepresents cable length as the following cable length m 3 9 4 RS232 Communication Cable RS232 0 communication LMACR21D Cable length is 2 meters long and connector type RJ11 cable at the drive side HIWIN Mikrosystem Corp 41 mega fabs Drive User Guide Wiring 3 9 5 Accessory Pack of Connector 4 pins and pitch 7 5mm 4 pins and pitch 5mm with N 5 In ana pitch omm 3 pins and pitch 5mm Connecter tool Wago 231 131 AC main power connector 4 pins and pitch 7 5mm Motor cable connect
112. oltage received from the host controller to the velocity command for control of the motor velocity When receiving higher voltage the drive will drive the motor at higher velocity On the other hand the drive drives the motor at lower velocity after receiving lower voltage Negative voltage received by the drive means negative velocity command that drive will output to the motor so that motor will move toward the reverse direction It can be setup to scale 1 Volt input corresponding to the specified velocity command output Force torque mode According to the input voltage coming from the host controller drive changes output current to control motor force torque When higher voltage is received the drive will output higher current to the motor but will not exceed the maximum current of the motor On the other hand lower voltage received output lower current to motor Negative voltage received by the drive means negative current command that drive will output to the motor so that the motor will move toward the reverse HIWIN Mikrosystem Corp 9 mega fabs D1 Drive User Guide Motion Concept direction lt can be setup to scale 1Volt input corresponding to the specified current command output 2 1 3 Modes that use PWM command Besides transmitting voltage the host controller can also transmit PWM signal to the drive namely PWM command PWM command uses different duty cycle to output a different velocity or current command There are two modes
113. on HW limit i protection Index variables Posilion Units Search velocity 5 66606 mm s en Time out 25 6_ second Home offset BM BBB mm Figure 4 36 Search velocity Homing velocity Max searching time for the homing sequence Home offset Offset of the home signal position The Homing function is used to search reference index signal The drive will do homing function after the user sets homing velocity and presses the Home button in Preference center When the Home led is blinking green in the Performance center it means homing is under proceeding It will show green for home finished and red for homing timeout 4 7 Save to flash Click the icon A Save to Flash in the main window to save configured parameters into flash memory Even 24V power of the drive is turned off the parameters will not be lost There are two notes as below The function of the emulated encoder output is invalid temporary during saving process The compensation table of the Error map will not be saved at this moment In order to save it the user has to use save function in the Error map window Please refer to section 5 8 HIWIN Mikrosystem Corp 70 mega fabs D1 Drive User Guide Drive Tuning 5 DRIVE TUNING This chapter mainly describes how to improve performance by tuning Contents include Title Page 5 1 Status Display and Quick view A anita 72 Be ds tS A a o RE o An a 72 A 72 a an 73 52 5 5 2 VN Se E EE e a E E T E ERE EDEN ET E
114. onnection Schema of Digital Output The D1 drive connector CN2 supports three general outputs 01 03 shown in the picture below These outputs are of open drain type whose maximum voltage is 40V and maximum current 0 3A Output O4 in the control power connector is usually used for brake output lt also could be configured as general purpose output as well Section 4 4 2 describes how to configure the output signal mega fabs D1 Amplifier 5V de MK CN2 Example of Connection to the Host Controller mega fabs Host controller D1 Amplifier 5V dc HIWIN Mikrosystem Corp 31 mega fabs Drive User Guide Wiring Example of Connection to Relay When a relay is used please also use a diode in parallel connection to avoid damage to the drive External DC Power mega fabs D1 Amplifier 5V de 1K Example of Connection of External Load The outputs can directly connect to the load For example indicator lamp shown in the picture below External voltage cannot exceed 40V and current 0 3A External DC mega fabs Power D1 Amplifier 5V dc fik load y CN2 HIWIN Mikrosystem Corp 32 mega fabs Drive User Guide Wiring 3 7 3 Connection Schema of Pulse Command Inputs The pins 19 19M 110 and 110M are used for receiving pulse command in position mode Example of Connection of Differential Signal from the Host Controller Please refer to section 4 2 4 which intro
115. or D1 drive accessory pack Peang aie eum eet mca DN 24V de power and break connector 3 pins and pitch r i included San CN2 control signal connecter MDR 26P ee CN3 encoder connecter MDR 26P i S Connecter tool Wago 231 131 3 9 6 EMC Accessory Pack D1 EMC accessory by EMC Single phase filter FN2090 10 06 pack single phase EMI Core KCF 130 B D1 EMC accessory py EMC Three phase filter FN2090 10 06 pack three phase EMI Core KCF 130 B 3 9 7 Regen Resistor 050100700001 680 Rated power100W and peak 500W 3 9 8 Heat Sink D1 H1 Standard DTH HIWIN Mikrosystem Corp 42 4 DRIVE SETTING This chapter mainly describes software installation of the D1 drive and the basic settings of the driving motor Contents include Title Page 4 1 Installation and COMMUNICATION ccccccccccceeeeeeeeceeeeaeeeeeeeeeeeaaeeeeeeeeeeaaeeeeeeeeeeseeeeeeeeeeeaeeeeeeeeeseaeaeeeeeeeessaaeseeeeeesaaeaeeeeeeesaaeaes 44 4 1 1 Software Installation Files cuina 44 4 1 2 Communication let 45 4 1 3 Main user s interface WINDOW ii iii 46 nn A An 47 Aa MOOr IDO o 48 ceo PO 52 A RP o A re 57 A A A 58 4 2 5 The last step OF conga A anncacen denancene dadacen da saacmaaneanee dasaneceadadaiends Menem AEE EE EEEE 60 O ooeusanteg sansetioasusedeaduaed ooeuesadeo annatenneadeoaasedeoacnveteocaanetes neve 61 4 0 1 Presies OF Auto Phase OGIO YL sicsctcecdvacsnectesnchsshcsessrcetenevnedesssegcnvesshenhacedeocabecee
116. or HIWIN Mikrosystem Corp 136 temperature is too temperature high sensor is activated mega fabs D1 Drive User Guide DC bus voltage is too high Position error is bigger than the setting of maximum position error Motor has short circuit The output current from drive is over motor continuous current PC fails to connect to drive HIWIN Mikrosystem Corp Over voltage detected Position error too big Motor short over current detected Soft thermal threshold reached Trouble Shooting 1 Check velocity acceleration and moving mass agree with the specifications 2 Check if the regen resistor is needed to motor running in high speed Regen resistor selection should be according to moving mass and motion profile 3 Check if the moving mass is too high 4 Check if the speed is too fast 1 Check if the Common gain is too small 2 Check if the setting of maximum position error in Motion Protection in the window of the Application center is too small 3 Check if the motor moves smoothly 4 Check if the encoder is normal 5 Check if the linear scale is clean 6 Check if the moving mass Is too big 7 Not maintenance on linear guide way for long time 8 Cable chain installed is too tight 1 Check if the connections of motor UVW coils are short 2 Check if the motor UVW coils are short with ground 3 Check if the line resistances of UVW coils are the same 4 Check if the motor cables have good
117. or do jog motion Select options and set values of parameters or do JOG motion Pike Switch in between 4 modes and switch process of edit mode during y setting values of parameters LED status indicator Display of the drive status Refer to section 9 1 1 ENTER key Enter the options of status display save configured parameters and motion confirmation input Static cursor Dash line Parameters are configurable Dynamic cursor Cursor of flashing solid black Parameters in configuring continuous motion Jogging gt No cursor Display parameters only 6 2 Four Modes of LCD There are 4 modes of panel display including Home Page Display Parameters Page Change Parameters and Action Page It can be switched to other modes when pressing the F key The structure of LCD operation is shown in Figure 6 1 Home Page Display servo status of drive error messages or warning messages and motor status Phase initialization motor movement homing and error mapping etc Display Parameters Page Display parameters of motor feedback position position command following error feedback velocity velocity command and I O status Change Parameters Page This is used to change the parameters of common gain CG velocity proportional gain VPG phase initialization gain ST_CG operation mode pulse format and save parameters in memory into FLASH There are over 100 advanced parameters to be configured Actions Page Enable
118. ording to already logged data wo Fit graph to window dynamically Dynamically fit all physical values in proper scale Fit graph to window dynamically clip Like above but the range of vertical axis increases and never decrease E P last data with plot view tool Use plot view to display the data from scope g ss Clear scope and restart logging from beginning Show all plots in same window Put all channels in one plot All channels share one vertical axis g Pe recoder window Link selected physical values to Data collection HIWIN Mikrosystem Corp 71 mega fabs D1 Drive User Guide Drive Tuning 5 4 Data Collection In addition to software scope there is another tool which provides more data capturing functions advanced graphic display features and data processing capability It is Data Collection with which the user can set longer or shorter sampling time conditional trigger for start or stop data capturing Within scope window click the button Open the recoder window icon as shown in Figure 5 7 to open the data collection It will automatically transform the physical values selected in the Scope to corresponding variable names in Data collection window as below w Data collection ver 2 097 File Toole Slaves Start event Circular W Lipd vars a Stop event r 15008 rate 15008 Hz H 8666667 msec E 3 33333 sec Variables to be recorded up to 8 A _pos_err mn vel fhf A Per pos 2_enc_pos B vords sample lt 1
119. ore smooth motion will increase move time Please see the section 2 4 4 that introduces more details The proper value of smooth factor should be determined and tuned on practical machine As descriptions in section 7 1 3 above smooth factor set to zero is for cancellation of motion protection 7 2 Position and Velocity Error Protection 7 2 1 Position Error Limitation There is always position error existing under servo control system When the motor starts to move the position error increases In some conditions this may also cause a big position error such as HIWIN Mikrosystem Corp 125 mega fabs D1 Drive User Guide Protection less lubrication on the bearing or linear guideway cable routing or cable chain too tight particles on the travel range collision of motor and hardstop encoder working abnormal or encoder signal disturbance etc The D1 drive provides an error window When the position error exceeds set limits the drive sends an error message Position error too big and enter the process of emergency stop then output brake signal and disable motor sequentially The configuration as the setting of Maximum pos error in showing Figure 7 3 7 2 2 Warnings of Position Error and Velocity Error Besides the position error settings as the mentioned above the D1 drive also provides the position error warning which is sent before the position error happened When position or velocity error is over the value set in the War
120. ous time of isad peak current Status LED ed Error Green Servo Ready frequency max Input Resistance Main loop control IGBT PWM space vector control 19 I9M I10 110M Differential or 19 110 single end Input port Pulse command mode Pulse Direction CW CCW AqB Position mode Command generator Pulse from host controller Analog Voltage 10 Vdc Input 10KQ 10 Vde S PA Time Gone Command ES Een 2 2 US Velocity 12bits mode PWM 19 PWM 0 100 100 110 Direction 1 0 PWM 19 PWM 50 50 50 110 Nonfunction Frequency Pulse o Command generator Analog Input Command Same as velocity mode Ud Digital command format Same as velocity mode moc Command generator Voltage or PWM from host controller HIWIN Mikrosystem Corp 2 mega fabs Drive User Guide Specifications Operation voltage 5Vdc 5 400mA Input signal A A B B Z Z RS422 differential signal igita Bandwidth 5MHz line frequency after 4x 20M Count s Encoder Type Input 1Vp p Sin Cos gt different signal Analog Bandwidth 1MHz maximum line cycle frequency Maximum 65528 Counts cycle Maximum 18M Count s RS422 differential signal So ear SIC eee AIRS output Scaling adjustment Single end signals with 120 phase difference HA gt Hall signal HB gt HC T RS232 to PC Communication Full duplex Baud rate 115 200bps Binary format Inputs 11 16 111 112 19 110 74HC14 Schmitt trigger input
121. pply 24 Vdc and the motor brake When the brake is not used positive of 24Vdc is connected to PINS and negative to PIN1 When the brake is used the brake output port BRK should be connected to relay besides the connection of control power supply When the brake signal is activated the relay will be triggered to engage mechanical brake or external dynamic brake circuit The output type of brake is open drain with capability is 40V maximum and 0 3A maximum Normally as default the output port O4 corresponds to the brake output It also can be configured to other output signals The section 4 4 2 describes how to configure output signals Connection Schema of the Control Power Supply and Brake mega fabs D1 Amplifier 24V DC Power Runny BRKT 2 RNE i HIWIN Mikrosystem Corp 26 mega fabs Drive User Guide Wiring 3 6 RS232 communication CN1 Pin Assignment 2 RXD Receive data from computer 3 SG Signal ground Signal ground 5 TXD Transmit data to computer fe N C No connection Connection Schema of RS232 Communication It is suggested to use the HIWIN accessory with part number LMACR21D mega fabs D1 Amplifier CN1 CN1 RJ11 Pin Assignment HIWIN Mikrosystem Corp 27 mega fabs Drive User Guide Wiring 3 7 Connection of Control Signal CN2 Frame ground cable shield connection Signal ground O OOOO Signal ground Pull up pull down AAA 3 111 Servo on Enable also program
122. protection of the motor The protection function of the Motor Over Temperature in the drive is configured to digital input port I5 as default setting The temperature switch in the motor is normally closed When the motor is operated in normal temperature the temperature switch is closed Otherwise once the motor temperature is too high the temperature switch is open to activate Motor Over Temperature in the drive then the drive sends error message Motor over temperature sensor activated then enter the process of emergency stop and disable the motor 7 7 Soft Thermal 7 7 1 Introduction Besides the protection by the motor temperature sensor the D1 drive also has a capability of motor temperature estimation The temperature estimation is from the calculation of output current power of motor lf the estimated temperature rises to the default value in the drive the drive will send an error message Soft thermal threshold reached on the Status in the main window and enter the process of emergency stop then disable the motor Select the variable Soft thermal Accumulator in Quick View in main window to monitor the estimated temperature 7 8 Drive Over Temperature Protection 7 8 1 Introduction The D1 drive can also detect the temperature of the drive for the protection of drive If the temperature of the drive reaches over 80 C drive stops motion and disables the motor then sends an error message Amplifier over te
123. r Guide Motion Concept 2 13 Rms and Amplitude The motor current is usually represented in rms or amplitude The rms value represents the equivalent or effective current and amplitude related to peak force output to motor The relation between rms and amplitude values are the following Also refer to the figure below Amplitude 2 xRms or 1 414 xrms Thus rms value is 1 2 of amplitude On the other hand amplitude is 1 414 times of rms value Different units are used by different manufacturers HIWIN lists rms values to in motor s specifications amplitude 2 14 Basic Variables List Feedback Position Feedback Position Position Position that goes into position loop 38 Target Position Position from the user or host controller E Difference between Reference and Feedback 4 Position Error position also called following error 10 Feedback Velocity Velocity derived from Feedback position 11 Reference Velocity Velocity that goes into velocity loop 12 oc Error Difference between Reference and Feedback velocity 20 Reference Acceleration Acceleration that goes into servo Acceleration that goes into servo loop 30 Actual Current Current from sensors HIWIN Mikrosystem Corp 18 mega fabs D1 Drive User Guide Motion Concept is pwu Command Torque force velocity command from host controller 51 Soft Thermal Accumulator le TT seo Patareamnsiouseconmars 6 ho Dita input port 10 pulse command soo UTC
124. r Guide Trouble Shooting 9 1 Trouble Shooting 9 1 1 The Descriptions of Status Indicator There are LED indicators in 2 colors on the front panel of the drive to display the drive status The following list are the status descriptions Status indicator Indicator color blink Drive without 24Vdc power 5 seconds Green light blinking Drive disabled Green light keeps on Drive enabled without error Orange light blinks and red light Drive enable with error keeps on Figure 9 1 9 1 2 Error Descriptions and Trouble Shooting a Error Status descriptions Trouble shooting Velocity or pin ae on Please check if the setting values of the Motion g p Protection in the Performance center is too small voltage command to be motion command Meca A Please redo the auto phase steps and click the TD 2 i OPP None button to reverse the motion direction Please refer to the direction the user i section 4 3 defined Open the sheet of Error map in Conf Tune window to check below steps Error map is activated 1 Confirm the Error map enable is checked Please or not refer to section 5 8 2 Confirm Homing is completed and input port configured to related settings of homing After enabled the 1 Using Quick View or Scope to check the Target 4 motor is running None Position is received from pulse command without any motion 2 Check the connection of pulse signal cable HIWIN Mikrosystem Corp 135 mega fabs D
125. reen to indicate the configured function is inactivated Logic Invert Check the Invert check box to inverse input polarity 4 4 2 Digital Outputs There are 4 programmable digital output ports in the D1 drive Three ports 01 03 of them are used to be general purpose output in the CN2 connector The last port O4 in the 24V power connector is used for brake and it is also however be configured as general purpose output HIWIN Mikrosystem Corp 66 mega fabs D1 Drive User Guide Logic Invert Status Display Configuration button Default Configuration am IO setftest Inputs Outputs Logical Value All Errors FALSE onfigure O1 1 Invert Voltage PDL usageCGeneral Purpose FALSE ConfigureO2 Invert Voltage PDL usageCGeneral Purpose FALSE Configure 03 O M InvertWoltage Brake TRUE Configure 04 are 7 Invert Voltage Set Default Figure 4 32 Digital Output Configuration res Output Voltage LOW A 55555 zl LOW 62 A a LOW e O l HIGH OE Drive Setting Logic State Output Voltage For each port there is an output function list respectively For example click the Configure O1 _ Contigure 07 button to show its list The list is divided by 3 groups including Status Errors and Warning as the shown in Figure 4 33 If the user selected two or more than two items the output is activated while on
126. riction gets bigger Filter design There are two filters available to be used under SMCL mode Generally only one 2nd order low pass filter is enough and sometimes it can be reduced by cutting off low pass frequency to lower disturbance caused by low frequency of disturbance The default value of cut off frequency is set to 1192 66Hz B 2 2 To Use Freq Analyzer Open the tool of Freq analyzer and its mode is set to Stepper Dcbl plant test The measurement of frequency domain starts as soon as the button lis clicked it is starting to do the measurement of frequency domain The user can click on the right button of mouse or click twice in blank area to open slope measuring tool in the measurement display zone The purpose of this HIWIN Mikrosystem Corp 143 mega fabs D1 Drive User Guide Advanced Phase Initialization slope measuring tool is used to select the slope of 20db dec Keep pressing the left button of mouse and drag the auxiliary line to get close to the line segment with same slope The software will estimate a proper value to st_vpg automatically At the same time please click on the Send button to send the calculated value to drive If you want to use this value later on click on the button to save it into flash memory to keep it in the drive Freq analyzer junior 1 11 sl 0 File Modes View Mode select Fr ee Step dcbl Dcbl Current plant plant Amplitute IBTENES Close Calculated result Signal offs
127. sabesseeaceonsetecdnancesce hence viesuesecieaatecteare 62 4 3 2 Gonfigutation Steps of Auto Phase Center scceses2sscsnsgeescentsnsccesens decenenaddeasesdeeteusnesddenendshaataaneddesaedeaugentncadenwenedeinencaddeseas 62 4 3 3 Notices OF Phase Initialization aaa 64 fe JONG ON 8 e211 2 sr e Po o ears 65 AE A EET 65 Bo o OS AAA o en 66 Mos MEPOSMON SONO UN a a ais 69 pidele 0 6 0 E A o a 69 Be a N o o EE E E R EE 69 o Pe E A A ene 70 A Pee A 70 HIWIN Mikrosystem Corp 43 mega fabs D1 Drive User Guide Drive Setting 4 1 Installation and Communication Lightening is the user s interface for the D1 drive It is used for initializations settings operations motion test and parameters saving All the functions are done in PC via RS232 communication This section describes how to install it and establish communication 4 1 1 Software Installation Files The folder of the Lightening installation includes the files as shown below It includes setup exe and firmware folder B autorun inf dirlist txt ml dee air ah SCF SCH T 1EB dJ IKE aa O firmupd bat MYFONT EMM myFontl bmm MS DOS HEGER FFA EMM RE FFA EMMA KE HH 3KE EEE 14 KB 4 myFontm bmm short txt HA EMM E setup exe FX 7 KB SL ike Figure 4 1 The user can use the installation disc to install Lightening automatically User also can download them from the website http www hiwinmikro com tw Support_ Download_Cad aspx t
128. sed loop control under SM mode so called SMCL test In this mode please click on the button Start SMCL to enable the motor and then the indicator will be turned on after enabled da Auto phase center Ea lx Phase initialization mode SW method 1 Mi Phase Initialized Ml Servo ready m SM mode m SMCL mode Current SM mode 1 21 A_amp Feedback position 2 count 1 Enable axis in SM mode 2 Drag the slider barto move the motor in SM mode The arrow in the watch had better remains within green range during motion View j i i Phase error Elec deg 3 Direction If necessary press TD to toggle direction definition 4 frequncy analysis Freq analyzer Advanced ARA Max pos err during phase init Offset 65 8 deg function aa Start SMCL 476 count SMCL tool 6 Phase initialization Start phase initialization Figure B 1 If the motor works well but fails to phase initialization section 483 RR ARB XK during the motion direction test section 4 3 2 2 under SCML mode for phase initialization it can be suspected that the problem comes from the settings of physical parameters or system itself If the motor still cannot be enabled after SCML enable procedures we have to do SMCL test to check system parameters The following section will describe the operation procedures in detail HIWIN Mikrosystem Corp 142 mega fabs D1 Drive User Guide Advanced Phase Initialization B 2 Close Loop
129. sensor is implemented in motor or not Do not configure to hall sensors when no hall sensors are built in the actual motor Otherwise the motor will fail to move y Configuration center Motor Encoder Operation Type Parameter Mode Hall Sensors NONE Hall Sensors C Digital Configuration c Parameter Confirmation OK Cancel button OK Cancel Figure 4 21 HIWIN Mikrosystem Corp 57 mega fabs D1 Drive User Guide Drive Setting 4 2 4 Operation Mode Figure 4 22 below shows the operation mode configuration page After configuration in previous sections operation mode of the drive is configured in this page as the last step y Configuration center Motor Encoder Hall Type Parameter Sensors M d Operation Modes Control Input Increment Position on S 7 a Pulse and Direction C Rising Edge election r i Velocity Mode C Pulse Up Pulse Down Falling Edge Param eter C Force Torque Mode GLENN Configuration C Stand Alone Mode Scaling Electronic Gear 2 Input pulses Output counts l Invert Command Parameter OK Cancel OK Cancel button Figure 4 22 Position Mode To work with the host controller sending pulse command the drive should be set to position mode to receive external motion pulse command The D1 drive supports 3 pulse formats and also electronic gear ratio for pulse In position mode digital input ports 19 and 110 are unavailable for general purpose digital input ports Operation
130. ser Guide Drive Tuning 5 6 3 Schedule Gains and velocity loop gain vpg Schedule Gains A movement can be divided into three phases Refer to section 2 7 Move From the beginning to the end of dictated profile Settling From the end of dictated profile to the trigger of in position In Position When the position error is less than the target radius during debouce time Then in position signal will be triggered The main purpose of the gain schedule is to adjust the Common Gain during three motion stages Move Settling In position it can achieve the rigidity of desired output The adjustment of gains utilizes proportional way when set to 1 indicates that used the original Common Gain and then set to less than 1 indicated the Common Gain decrease during this stages Parameters corresponding to each stage Move sg_run Settling sg_stop In position sg_idle Assume Common Gain 0 5 sg_run 1 2 the actual Common Gain becomes 0 6 0 5 1 2 0 6 during move stage The setting of settling and in position are the same way The user can adjust the proper Schedule Gain to implement in different situation Advanced gains Acc Schedule Analog current feedforward Gains vpg input loop Schedule Gains vpad Velocity loop gain vpg 0 00413453 Freq analyzer sg run sq idle 1 663 In position Figure 5 31 Schedule Gain Velocity Loop Gain vpg Velocity loop gain is an internal control parameter of the D1 drive The initial
131. shown in Figure 5 28 the reference acceleration is 950000counts s2 HIWIN Mikrosystem Corp 90 mega fabs D1 Drive User Guide Drive Tuning Scone Aris En Command Ciirrent is 1A 15 E aac E a j j 10 t Reference Acceleration IS i i Switch Graphs a AA 20 31 Command Current 4 B6865 1 peak 800008 600000 400000 i 200000 ii 7 Pneitinn Errar ie QNeaniint 200000 400000 600000 800000 20 Reference Accelerat gt count s 2 108 4 Position Error DSP rate 15000Hz Rate 211 6Hz Time s 19 Figure 5 28 Motion Parameters Step6 Using the result in step4 to be divided by the result in step5 that is Acc feedforward gain Command Current Reference Acceleration then get 16 950000 1 68421e 5 Step7 Input the result in step6 into Acc feedforward gain as shown in Figure 5 29 E Advanced pins fitter oc Schedule Analog current ltediormad Gains vpq input loop Figure 5 29 Acc feedforward gain Steps Check if the position error is decreased as showing in Figure 5 30 It can be found that position error is reduced from 90 counts as shown in Figure 5 28 to 65 counts Seope Axis XL Ji Connand Current 426977 6 1 peak o BRENNER count s 2 La Position Error is 65count 4 Position Error DSF rale 15000Hz Rale 202 AHI Times 18 Figure 5 30 Add acceleration feedforward gain HIWIN Mikrosystem Corp 91 mega fabs D1 Drive U
132. sical values the user can select the unit to display for the values position and velocity See Figure 5 3 LIGHTENING version 0 133 comi 115200 Conf Tune Tools Language About HiW HIWIN Amplifier Controller tamuz 0 Axis X Firmware version 8 on Motor type AC servo Model FRAC XX10X8X Axis is cofigured to Stand alone Position Mode Status LA Hardware Enable Input J Software Enabled J Servo ready Last error Lastwarning Quick view Position Units t y 0 000000 counts E 25 1 c 0 000000 countis Communication ok i Cimega_fabsidceltamuzl Figure 5 3 Setting Position Unit 5 1 3 Software Hot Key In the user s interface of the D1 drive there are two hot keys F6 and F12 They are valid only when Lightening becomes active window under operation system F6 Brings the main window of Lightening to the top of screen F12 Emergency stop Pressing F12 during motion will stop motion urgently the motor becomes disabled HIWIN Mikrosystem Corp 73 mega fabs D1 Drive User Guide Drive Tuning 5 2 Performance Center Most of the tuning processes are done in the Performance center After completing the motor phase initialization introduced in chapter 4 the motor can be run The main purpose of the Performance center is to do the motion test for tuning and to observe performance with help of software tools Three motion types are provided by the Performance center point to point motion P2P
133. sm mode Bl Phase initialized Current SM mode 1 00 A_amp Digital Hall Rotor angle Elec deg Start Hall tune Ml Hall tune A 4 3 2 5 Press the Freq analyzer button execute frequency analyzer to adjust parameters please refer to appendix B User chooses SW method2 or Hall sensor to do phase initialization This function can help user to tune vpg gain it refer to section 5 6 3 And the user chooses SW method1 to do phase initialization the vpg and st_vpg are tuning by Freq analyzer function The st_vpg is explained in appendix B 4 frequncy analysis Freq analyzer 4 3 2 6 Phase initialization Click the Start Phase initialization button then wait for Phase initialized led tuning on to complete phase initialization After this the drive can drive the motor enter to closed loop control Enabled Phase initialization by SMCL algorithm Phase Initialized M Servo ready Phase initialization f If phase initialization fails please refer to appendix B Advanced Phase Initialization HIWIN Mikrosystem Corp 63 mega fabs D1 Drive User Guide Drive Setting 4 3 3 Notices of Phase Initialization Setting of Enable Current Here are some considerations for the current SM mode setting in Auto phase center The value of the current is below motor continuous current It is suggested to start with smaller current to move motor if the loading is unknown Higher friction needs bigger current to move the motor Hig
134. software limit drive can only execute the motion command of opposite direction movement 7 5 2 Settings Click the icon on the tool bar to enter the window of Application center In the Protection page there is an area named Limits includes a check box enable sw limit FE This check box is checked for activating the configuration of software limit protection In addition checking the check box enable sw limit enable swlimit in the window of the Performance center is used for activating software limit protection as well E Application center HW limit Homming protection rror windows iti j Error w ES S Position Units maximum pos error 2588 count Warning windows Position error 1258 count Velocity error 166608 count s Limits l enable sw limit IW enable sw limit Lower SW limit 1 6686 count Upper SW limit 10008 count Motion Protection Speed 50000 08 count s Acc 3 40129e 7 count s 2 Dec 3 4M129e 7 count s 2 Dec kill 3 46129e 8 count s 2 Smooth factor 508 Figure 7 6 HIWIN Mikrosystem Corp 128 mega fabs D1 Drive User Guide Protection enable sw limit Activation of software limit protection Lower SW limit Negative software limit protection Upper SW limit Positive software limit protection 7 6 Motor Over Temperature Protection 7 6 1 Introduction Normally there is a temperature switch embedded in the motor to detect the temperature The signal is usually connected to the drive for the
135. tes the brake But if the motor velocity is less than the brake activation velocity vel_stop that earlier before waiting time finished the brake will be activated 7 3 2 2 From the beginning of brake activation to the end of brake motion time delBrkToDis the drive will turn off the power to disable the motor This is the purpose of completing motor braking HIWIN Mikrosystem Corp 126 mega fabs D1 Drive User Guide Protection delMaxEnToBrk The delay time from received the disable command to the brake motion started Dec kill Deceleration of emergency stop Please see section 7 1 3 Velocity for activating brake after motor disabled delBrkToDis The delay time from brake motion started to drive turn off the power 7 3 3 Settings Click the icon on the tool bar of main window to open the window of Application center The button a is used for the configuration of digital output port which is usually O4 for output brake signal After clicking this button the window of IO Set test will be opened The detail descriptions of this window are introduced in section 4 4 2 El Application center Protection HW limit Homming protection Enable input delMaxEnToBrk Position Units 568 6 msec mm Dec kill Velocity 810508 2 mm s 2 vel_stop 48 8098 Brake output Driver enable delBrkToDis 566 8 Brake is configured to 04 Figure 7 4 7 4 Limit Switch Settings 7 4 1 Introduction The D1 drive has hardwar
136. the sum of the move time and the settling time HIWIN Mikrosystem Corp 14 mega fabs D1 Drive User Guide Motion Concept A ag Feedback position Position Target ce AMA AN EA position targat radius PRS O MA AA O Reference position Debounce time i Move time Settling time Time lt gt gt Total time 2 8 Error Mapping The Positioning accuracy defined in the drive usually depends on the performance of encoder Sometimes the encoder cannot fulfill specific accuracy In this case more accurate equipment such as laser interferometer can be used to measure the error The D1 drive includes a high performance control algorithm to store the error and compensate it to improve positioning accuracy Dj Motor cable Host controller Position feedback Position feedback HIWIN Mikrosystem Corp 15 mega fabs D1 Drive User Guide Motion Concept 2 9 Velocity Ripple Motion stability is defined as how stable the motor moves is during constant velocity section under motion control Velocity ripple can be used to indicate motion stability The main reasons of causing bad velocity ripple include cogging force cable chain pneumatic tubes and friction of linear guide way The velocity ripple is a critical performance in specific applications like scanning or inspection machines LV Vo Formula of velocity ripple 3 x100 where Vtarget means target velocity Vmax the target maximum
137. the unit is mH Magnetic Pole Pair Pitch The distance between two magnets N or S and the unit could be mm Pole Number Total number of poles per revolution of rotary motor 2 Operation parameters screw Moment of Inertia Moment of inertia of screw itself which is used and the unit is Kg m2 Total Moment of Inertia The moment of inertia of torque motor includes inertia of forcer and the unit is Kg m2 Moving or Load Mass The mass of payload including forcer and housing of forcer and the unit is Kg Screw Pitch The lead of ball screw or Acme screw that is the distance moved after making a turn The unit is mm Gear ratio The ratio of number of gear teeth between load side and drive side Configuration center Motor Encoder Hall Operation Type Parameter Sensors Mode E HiW Motors x Motor HP Acevo Motor type AC servo DATA from Amplifier Selection De E Motor Model Name Manufaciurer FRACXX1011 mot Screw Moment of Inertia 9e 5 Kg m 2 Operation FRACXX1022 mot Parameters FRACXX2011 mot Peak Current Load Mass E FRACXX2022 mot 60084 Arns 1 8 Kg be ee Continuous Current Screw Pitch mot 3 2 A_rms 20 po FRACKX7022 mot EE Linear Torque Constant Gear Ratio ES cai A 405999 Nm A_ems 1 Gt mg LMC Resistance Line Line Peo se an Motor H LMT Inductance Line Line Parameters E P Tonus 2 7 mH i eds Tone Pole Number 5 TMX i Motor Save Load mot files Param eters DR i l l Parameter art OK can
138. then click Create button to perform math operation on the two selected signals See Figure 5 20 Other math operations are used in a similar way Math calculation operation Math operation Ploti pos_err gt vel fhf C Derij ref acc oo enc_pos Linear ploti 1 Multiply r C Shift C Scale offs Best fit C LPF C HPF New plot name lin_1 Set Color Figure 5 19 Figure 5 20 Fast Fourier Transform FFT FFT Click the icon on the tool bar to open the window See Figure 5 21 Select the physical values on which to apply FFI For example select pos err then click Run FFT to start the transformation and generate the curve See Figure 5 22 To terminate Fourier transformation view click the ES button HIWIN Mikrosystem Corp 85 mega fabs D1 Drive User Guide Drive Tuning aa Execute FFT Terminate FFT view NNE OD FFT ver 10 OR poser gt Samples 456 928 pro em bi Neer Power 2 524 288 Extend to Power 9961472 steps C Extend to Power by zeros 9 961 472 steps Extend to Power cycly 7961472 steps Direct FFT 111 633 584 steps Run FFT Stop Cancel steps HH Ay Figure 5 21 2 31 47 31 12 2616 1000 2000 3000 4090 5666 6000 FFT pos_err Frequency lt Hz gt Load from C Users syhsu Desktop 123 gpp Figure 5 22 Natural Logarithm Scale Under FFT view there is an option for displaying the horizo
139. to move the motor in SM mode The arrow in the watch had better remains within green range during motion Feedback detect ok 1 1 Phase error Elec deg HIWIN Mikrosystem Corp 62 mega fabs D1 Drive User Guide Drive Setting 4 3 2 3 Confirmation of motion direction After completing the previous step if the motion direction is not consistent with user s definition please click TD button It will reverse direction When it shows Toogle Direction ended successfully like picture below you can use section 4 3 2 2 to do direction confirmation again 1 Enable axis in SM mode 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 Toggle Direction ended successfully j Phase error Elec deg 3 Direction If necessary press TD to toggle direction definition 4 3 2 4 If the hall sensor is not used please go to 4 3 2 5 In Figure 4 28 step 4 click the Hall test tune button to tune hall sensor signal while using hall sensor Click the Hall test tune button to open the configuration window Clicking the Start Hall tune button drive will start to output current making the motor move As the motor moves the user s interface print phase sequence numbers 0 5 Until the motor moves to a 360 electrical degree confirm the displayed message of completed hall sensor test to finish the test steps 7 Hall test tune Wf Enabled i
140. tor S e 116 inxor Logicinversionofdigitalimput de HIWIN Mikrosystem Corp 116 C pee l Gain in settle phase of Schedule Gains E tr i 50 91 93 59 64 65 67 0 1 72 74 mega fabs D1 Drive User Guide LCD Operations Parameter Unit X hall mode pullupdn X rotaryType X st phase X oper mode X pulse mode X_pulse_dir X_fall_rise X_cmd_pwm_mode Input command format under velocity and current mote out_config 0 EE O4 output signal configurations 136 out_config 3 tl o O1 output signal configurations i oncong O2 output signal configurations 145 out_config 12 configurat 6 out config 13 O3 output signal configurations out_config 14 03 output signal configurations out_config 15 7 i 8 X_Stidenext X StidRL h X_StldLL X_StldmotTOv X_Stidhome X_StidOutBrake X sw pos prot en X hw lim prot en X_emu_N 158 X emu M Denominator of ratio of emulated encoder output 159 X emapen OmotfErormp Fo 160 X StidReset Setingotariveresetsign Fo 6 6 Actions Page In the actions page it provides the functions of enable disable jog and absolute motion to user The user also can set velocity and target position and press up or down key to change action will be performed The operation procedure is shown as Figure 6 14 The operation in details is described in the next section m A a a ee 01 01 01 O1 01 0i oi Al BR BR
141. troller sends the pulses as position command to the drive Each pulse corresponds to specific distance The Main role of the motion controller is to calculate the motion profile During the time period of acceleration the motion controller sends pulses and sends pulse frequency at constant velocity There are three types of pulses namely Pulse Dir Pulse up pulse down CW CCW and Quadrature A B phase In pulse mode electronic gear is used for scaling the resolution between command pulse and encoder count In normal case 1 input pulse corresponds to 1 encoder count For example of electronic gear set to 2 3 it means that 2 input pulses correspond to 3 encoder counts According to the way of hardware wiring the TTL logic signal can be the type of differential and single end HIWIN Mikrosystem Corp 8 mega fabs D1 Drive User Guide Motion Concept PULSE JUL ULI UL DIR Clockwise Counter clockwise a JUDUL gt UU UL Clockwise Counter clockwise Phase A JEP EL Jf LE Le Clockwise Counter clockwise 2 1 2 Modes that use voltage command The host controller can transmit instruction as voltage to the drive It is also called V command The range of voltage input is 10V 10V The drive converts voltage received to corresponding velocity or the current output to the drive motor Velocity and force torque mode are under this kind of operation The following are descriptions of the two modes Velocity mode The drive transfers v
142. ue In addition two states are displayed in the column of Flash value lt means that the parameters values saved in Flash and Ram are identical x x It means that the parameter and its value in RAM are recovered from the Flash as shown in figure D3 O O Compare RAM to flash ver 0 41 8 sm Comprae paramters R M to FLASH 82 modified H undo 136 variables A errors Slave tamuz gt hex Parameter name Type RAM value 6 Flash value 4 3 2 name A 1 88 2 _ name Li 1 5 2 namel2 1 5 A _nev_s m_fac 566 A nf fr f 5 2 nf ki f A A nf k2 f 5 a nf xi f 8 707 2 oper mode 5 5 24_p2p del 1 DHB 1000 4_p2p posl 1 106 5 KR_p2p_pos2 1 J000 2588 i pal f DAR i pil f 5 a pig f 157 Figure D 2 Compare function window Detail descriptions of these buttons are below Save Save parameters into Flash Close Close window Up Go back to the previous parameter in RAM different from Flash Down Go to the next parameter in RAM different from Flash HIWIN Mikrosystem Corp 150 mega fabs D1 Drive User Guide Compare Parameters RAM to Flash Undo Recover selected parameter saved in RAM to the value saved in Flash GRefresh Re compare the parameters saved in RAM and Flash respectively Redo Redo the Undo action Refresh Slave A Ctamuz gt Comprae paramters RAN to FLASH 8 modified 1 undo 136 variables errors
143. value is usually calculated by the parameters the user set in Configuration center In general it is unnecessary to be modified but the user can re adjust it by Freq analyzer as pictured below HIWIN Mikrosystem Corp 92 mega fabs D1 Drive User Guide Drive Tuning 5 6 3 1 Click the FF button to display the below window Freq analyzer junior 1 11 si File Modes View Full ser Amplitute 16 6666 Signal offs Signal X_disturb Input command Output 4 vel Fh Enable stepjdcbl Debl Current plant plant Close loop dcbl gain wpa Load Run Galin lt db gt SM enable MEET M Enabled W Phase Initialized MSM mode sm_ampl 0 1 33 5876 Figure 5 32 Freq analyzer 5 6 3 2 Click the e button to enable motor 5 6 3 3 Click the button to start frequency analysis The motor vibrates at low frequency and shouts at high frequency After completed the frequency response will be plotted in the screen m Freq analyzer junior 1 11 J0 File Modes View Cir inf delete delete all pa Idle time Data time 1 Min cycles 1 Fr 16666 Amplitute 18 6666 Signal offs Signal X_disturb Input 3 command Output vel fb Frequency analyzing ended successfuly SM enable Disable MM Enabled AM Phase Initialized M SM mode sm_ampl 0 1 33 5876 step tdchl Debl Current plant plant Close loop dcbl gain vpo Load
144. vbg 0 00121515 Signal A_disturh 278937e 5 a9 Input X command mae est KL Run button Output vel fh M Odbcross Frequency analyzing endad sussesstu f Hertz Enable C Rad sec SM enable Full scr M Enabled M Phase Initialized MSM mode sm_ampl 0 1 25 000 Measurement UA display area of frequency 160 Dbidec aomalin 140 Dbidec Y 120 Dbidec 100 Db dec Auxiliary 80 Dbidec 2 60 Dbidec Ine 40 Dbidec v 20 Dbidec O Dbidec 20 Dbidec Slo pe 40 Dbrdec 60 Dbidec Measuring tool 80 Dbidec Idle time a 1 Data time 4 1 Min cycles 1 NE Se ee es Te Figure B 3 B 2 3 To Use Filters The filters introduced in this section are used under SMCL mode In common the filter is designed to a 2nd order low pass filter User can change the filter parameters in the input column and recover to previous values in the drive after clicking on the p atefrom cont button Click on the SendtoCont button to send new values to drive and click on the Setdefaut button to reset back to default values In normal case it is suggested not to cancel filters HIWIN Mikrosystem Corp 144 mega fabs D1 Drive User Guide MA PID filter for EMCI Gain Gainjdd O Phase Phase deg C Nyquist Phase Gain Nichols Points 5 Hertz Radisec Full sereen Filter parameters settings ag n 8 787 a ee HIWIN Mikrosystem Corp Figure B 4 Advan
145. vo motor AC Servo Motor Type Counts per Revolution FRACXX1011 FRACXX1022 FRACXX2011 FRACXX2022 FRACXX4011 FRACXX4022 10000 FRACXX7522 4 2 2 4 Rotary analog type For example using HIWIN TMS32 torque motor integrated with rotary analog encoder with 3600 sin waves per revolution interpolatd to 0 3 arc sec resolution the user can select Rotary then Analog 3600 periods 0 3 arc sec item in the encoder selection area as showing Figure 4 13 to complete the configuration For other rotary HIWIN TMS series torque motors please refer to table 4 2 If using different multiplier factor or resolution user also can configure it in the window of customized encoder Please see the section 4 2 2 8 Table 4 2 Analog encoder resolution of HIWIN TMS series torque motors Torque Motor Type Grating period Rev TMS03 TMS07 2048 1MS12 TMS14 TMS16 TMS18 TMS32 TMS34 3600 TMS34L TMS38 TMS38L TMS3C TMS3CL TMS74 TMS74L TMS76 TMS76L TMS7C TMS7CL 5400 HIWIN Mikrosystem Corp 53 mega fabs D1 Drive User Guide Drive Setting Configuration of customized encoder resolution 4 2 2 5 Linear digital type The user only has to input encoder resolution in the field named Encoder Resolution and select unit to um count or nm cout Motor type LINEAR DATA from Amplifier Encoder type DIGITAL Encoder Model Marne Manufacturer Encoder Resolution 6 885 um I Count Figure 4 14 4 2 2 6 Linear analog type Firstly input grating per
146. w 5 Lower limit Y Upper limit 51006 I I I I I I I I I I I I I I I I I dk I 488481 Disable F12 Motion Protection p Common Gain Position Units Speed 58880 count s 0 500000 Zero count Acc 2 5606e 6 countis Dec 2 5686Ge 6 countis Stop motion Dec kill 4 6525ie 7 countis 2 Smooth factor SAH Figure 7 1 Limitation of max velocity of motor motion Acc Limitation of max acceleration of motor in accelerating Dec Limitation of max acceleration of motor in decelerating Dec kill The deceleration for emergency stop Smooth foctor Parameter of smooth motion Further after clicking the icon on the tool bar to open the window of Application center there is an area named Motion Protection the display area of the same setting of motion protection in the Protection page in the window HIWIN Mikrosystem Corp 124 mega fabs D1 Drive User Guide Protection EJ Application center Protection HW limit Homming i protection Error windows maximum pos error 2566 Position Units count Warning windows Position error 1258 count Velocity error 190008 count s Limits enable sw limit EM oton rotection Speed 500008 8 count s i Acc 3 40129e 7 count s 2 Dec 3 40129e 7 count s 2 Dec kill 3 4M129e 8 count s 2 Smooth factor 588 Display only igure The user can set the maximum velocity acceleration and deceleration in the column of Motion Protection and set the unit depending on de
147. y channels O E Select and show a single display channel To observe two physical values click the icon and select 2 graphs in the pop up menu To C observe only 1 physical value click the E button and select the specific one to display As in Figure 5 10 it shows an example in which two physical values are captured but only channel 1 is displayed HIWIN Mikrosystem Corp 79 mega fabs D1 Drive User Guide Drive Tuning PHAM sec Figure 5 10 Show or Hide Physical Parameter lf the user unchecks the box of physical variable name graphic of the channel will be hidden Figure 5 11 is an example of a display with two physical values unchecked There is also an icon for clearing all graphs as below Clear graphs This icon is used to uncheck all selected physical values Delete key has the same effect s x H 1 8 5 1 vel 1 Hall 49543 8 5 x si e 2 B 5 i Y ref_ace f ig j ma E e 1000ea i H x 4 Sj E 7 SE H E 3 19098088 f i d L Y enc pos 48008 TN E 14 741 Y S 24004 G si a 7 4 20090 2 31 47 400048 3171272018 5 10 15 20 25 39 Tine Caec Desktop 123 gpp B Load from CAUsers syhsu Figure 5 11 Zoom in out In order to observe more subtle variance in specific interval the user can use solid and dashed line cursors to specify the area for zooming in The plot view provides functions of zoom in out for X and Y axis The icons on the tool b
148. ype LM then execute setup exe file The installation is shown as in Figure 4 2 The installation destination is C mega_fabs as default Please do not change the installation destination After pressing the Start button the process of installation will start automatically A message window will pop up when installation completes Press OK button to finish installation procedures Install Software 4 16 ga Systems Ltd A a HIWIN company Source D xp_workixTamuz D1i gt mega_fabs Destination c mega_fabs _ Figure 4 2 HIWIN Mikrosystem Corp 44 mega fabs D1 Drive User Guide Drive Setting Figure 4 3 There is a short cut created on the desktop for opening Lightening after installation complete as showing in Figure 4 4 The short cut of execution root is C mega_fabs dce toolswin winkmi lightening exe P Lightening Figure 4 4 4 1 2 Communication Setup Before launching Lightening the PC should connect to drive via RS232 and 24Vdc power supply to turn on the drive Normally after launching Lightening it will communicate with the drive automatically Sometimes it is needed to change the settings in communication setup Ctrl N under Tools in the menu LIGHTENING version 0 133 comi 115200 Cont Tune Pm Language About Communication setup thM Open plot view Ctd Data collection scope Ctd P Encoder test tune Reset Amplifier Dperade Downgrade f

D1 Drive User Manual

Contents

Download Pdf Manuals

Related Search

Related Contents