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D2 Drive User's Manual

1. i i 2 v al l g D wl l g ow a Hs 3 7 k a Z cg FES E lin RIDI e I Ta Y ee a a a ea a Ee AA 5 WITS 1 s Q 2 D4 2 fil CO a F i L H H F 9 UY 5 5 D Fig 2 1 A Frame dimensions 5 l 5 6010 5 115 0 1 5 to i ee H a Hoooooe i N I HIWIN Hil a 000o S ET i Tara a gt 9a Ek 3 5 3 19 IQ irs pid 3 E Be E g 8 uiclO y ual ke 1 z S m 7 SAE oe zilia E z 5 C o AA 1 D C l p 59A n O I gt FU 2 2 4 2 a 6 PaL a tl Ni o z g Fig 2 2 B Fra
2. a 8 1 2 Searching Near Home Sensor or encoder index S signals Another multi functional homing method is to search the Near Home Sensor or the O index signal of encoders The Near Home Sensor can be set on the IO set test page to 8 digital input that allows the sensor to be triggered by an external switch After completing the search of Near Home Sensor users can search the index signal of encoders on left or right sides for better accuracy N g Homing action is described as follows g The motor will move in the setting initial motion direction parameter at the initial O s 2z motion velocity parameter to search the Near Home Sensor or the index OO y D F Use Near Home Sensor Index for Homing Para eter firstly Use Slower speed Parameter o Ind ignal onl 2 Serach Index signal only Parameter Fig 8 11 KR D Table 8 2 Q n Initial motion Left Set to search the left side first a direction Right Set to search the right side first Saud Search at the low homing velocity Set the i Initial motion velocity in the Slower Speed area Fig 4 36 Cc 5 gt velocity Search at the fast homing velocity Set the 5 Faster speed ne velocity in the faster Speed area Fig 4 36 s Index signal only Search the index signal of encoders only v gt Near Home Sensor only Search the Near Home Sensor only O oo z Near Home Sensor then After the Near Home Sensor is found switch
3. suoleoioeds y JO MEIAISAO Z BULIM IN n D 2 a O dols Bulun 9 suoleoddy g uonde 01d Z Bunooys jqnoJL 6 99 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy 1 suoleoyioeds y JO MEIAISAO Z BULIM rN Yn D Z 5 Co O 91S Bulunl 9 suoleoddy g UONde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 4 Settings input Switch HI LO Pulse Input Operation mode Pos Function Symbol PSEL DelaullInpet None ara Refer to 3 5 2 No diagram Function description This enables users to trigger the input signal via the host controller to switch high low speed pulse input channels Instructions for use users can select Switch HI LO Pulse Input Command as in the figure below in the Inputs tab of the I O Center 11 to 19 are selectable the following figures show I8 as an example The high low speed pulse input channel is switched by an external trigger signal 1 E lim eles E iiam misg G ther Mei ies tole faskls fvlick os cpimedesy M tes Gem Epris beii F biajia ajiak FP fieinih oe is J Biker Matisa F hiii Beek ie alni is sassi 00 bsar Be seine Bef i p bisbi Beja Torte be fa ba ba be ba la ja fitch Glee Falas barwi External signal is not triggered and External signal is triggered and remains a high speed pulse channel becomes a low spee
4. 148 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 5 LCD 133 out_config 0 oe oat conte O4 output signal setting 136 out_config 3 137 out_config 4 ae ae O1 output signal setting 140 out_config 7 141 out_config 8 Sa cont O2 output signal setting 144 out_config 11 145 out_config 12 a aT O3 output signal setting 148 out_config 15 149 X_Stldenext Hardware enable signal setting Axis Enable 150 X_StldRL Hardware right limit signal setting Right Limit Switch 151 X_StldLl Hardware left limit signal setting Left Limit Switch p The homing okay command from the host controller ise A Suenos Homing OK Start Error Map 154 X_StldOutBrake Brake signal setting 155 X_sw_pos_prot_en On Off SW limit 156 X_hw_lim_prot_en On Off limit switch 157 X_emu_N Numerator of emulated encoder output 158 X_emu_M Denominator of emulated encoder output 159 X_emap_en On Off error mapping 160 X_StldReset Drive reset signal setting Reset Amplifier 162 X_home_smooth Homing smooth factor 163 ver_mdp Firmware version 164 X_emu_i_radius Emulated encoder home radius count 165 X_emu_i_jitter Emulated encoder filter factor count 166 X_dcbl_pulse_mode Phase initialization mode Aampx1000 167 X_dcbl_pulse_amp SW method 5 phase initialization current
5. Bulun 9 suoieaddy g uondel0ld Z Bulooysesqnol 6 Operation Manual for D2 Motor Drive System Step 2 Setting the command input format 4 Settings Velocity mode can be selected if the host controller used can send analog command or PWM command Only the Scaling between the external command and current has to be set for the force torque mode The unit shows the corresponding relationship of 1 V with mm s or between the Full PWM and the highest speed A dead band can be set for the velocity command This will be zero when the input voltage or PWM is lower than this setting Please refer to the figure below Dead band The steps for setting the command input format via HMI are described below In the mode operation page key in the required command input format from the Command Types as shown on the left figure 122 HIWIN MIKROSYSTEM CORP In the mode operation page set the scaling between external command and velocity for requirement The unit shows the corresponding relationship of 1V with the mm s or rpm or between the Full PWM and the highest speed as show a on the left figure Set the Dead Band for the current command as show b on the left figure Select Invert Command to invert voltage or PWM command for requirement Operation Manual for D2 Motor Drive System a BP eects Sects e
6. cceeeeeceeeee eee eeenteeeeeeeeeees 108 4 5 In Position setting gcc c cacedestelececsics sexcccti ds eveeneed dt A vaceneadesecendncddsuscenaradecatees 113 4 5 1 Function overview sicactictincitnciinianicucaaetsminaciusominneneneicaddarenwaccauinieass 113 4 5 2 Settings seriei nea e O EEE NR ES 113 4 6 Parameter overview and configuration by mode sssssssssesrerrsesreersenn 115 46 1 POSION MOUE i cecessiasrinauaransrantvriimenstccnats cree tana EE Raa EEEE 115 4 6 2 VRICCIY MOQO sereen e EEE EEEE AEAEE 120 4 6 3 Force torque mode as eiix cers wccrtacernctxenndeutaraencununsad bvoetannmniecedetenttetes 124 4 6 4 Stand Alone MOE ccccccseseccceceesseeeecseasececesseaeeeessaueseeeeaaaaes 128 47 OVS 0 flash sonnii Ena AE ENSET 130 59 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy 1 suoleoyioeds y JO MBIAISAO Z Bunooys jqnoJL BULIM iS Yn D 2 O q91S Bulun 9 suoleoddy g uonde 01d Z 6 jenuey uopesado ay ynogy 1 suoleoyioeds y JO MBIAISAO Z BULIM aN op D 34 5 Co O G91S Bulun 9 suoleoddy g UONde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 4 Settings 4 1 Installation and connection The human machine interface HMI that D2 drives use is called Lightening The communication between drive and PC is a USB connection The Lightening graphical HMI o
7. Go1s Bulun 9 suoleoddy g uonde 01d Z Bunooys jqnoIL 6 17 HIWIN MIKROSYSTEM CORP 2 Overview of the Specifications Operation Manual for D2 Motor Drive System 1 About the Operation Manual PAO aV Ae mals Specifications 3 Wiring 4 Settings 5 LCD 6 Tuning 7 Protection 8 Applications 9 Troubleshooting 18 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 3 Wiring 3 Wiring jenuey uopesado ay ynogy 1 BO PU MMM este etc sca E E ess ede osen ee ea ee es ee 19 7 3 1 System configuration and WINING siiececinvsericss cisrnazedstracislastdeincteinoteamaiaitiandxtsd 20 3 1 1 Master wiring diagram sesessssseseeresrerrrreeretrrrrersrrrererertrererrrrreen 20 3 1 2 ONT power COMMECIOR acco tecccsacetriccctedendsoecracadeemmaciertlancdaiednsiane 21 TE 3 13 Motor wiring diagram ssaiccemaaanesinsrercieateturdamannedeecutieanieeccnttecasicenes 23 as 3 1 4 Regenerative resistor optional wiring diagram ceeeeee 23 o 3 1 5 CN2 brake CONMSOION ccieins sevens untianticcsecveeestantineasheresmtannkaaeivmaiencs 25 3 1 6 Mini USB communication ONS iasiiscctercsscsmianens seemenaeiuntcemienss 28 3 1 7 CNO CONNECTION serieei EAER ETE 29 3 18 CN CONNECCION serie EAEE EEE EEA EER 31 3 2 D2 drive ACCESS ONS S vacate tener emetic reas iecteemaerannenenadaun halt vtiaxermnmensnns
8. Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 3 Wiring 3 6 3 3 Velocity torque mode PWM 50 input Host controller is 5V TTL mega fabs User can define the function for each Host controller Sve 5V TTL type 5 Ii PVA p I R ws coe 47k a ata ae lial 8 ail eo ination forsee ap input a i Le iat i irali a Legh eS er icy ua F 56 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 3 Wiring 3 6 3 4 Velocity torque mode PWM 100 input Host controller is 5V TTL mega fabs User can define the D2 Series Dri function for each PAA 100 command be ries Drive cel Host controller WEZ 5V TTL type mS Af ny ie User can define the function for each input 57 HIWIN MIKROSYSTEM CORP enuen uopesado ay ynogy suoleojioeds y JO MEIAISAC Z sBbunles y dols yBulun 9 Bunooys jqnoJL suoleoddy g uonde 01d Z 6 3 Wiring Operation Manual for D2 Motor Drive System 1 About the Operation Manual 2 Overview of the Specifications 3 Wiring 4 Settings 5 LCD 6 Tuning 7 Protection 8 Applications 9 Troubleshooting 58 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 4 Settings 4 Settings 4 DO UNNI S secre tends E E E E EA abuser 59 4 1 Installation and connection s i
9. ccccecceceeeeeeeeeeeeeees 262 245 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy 1 suoleoioeds y JO MBIAISAO Z BULIM sBulas y dols Bunooys jqnoJL Bulun 9 uono9 Old J lor gt ke iS a D 6 Operation Manual for D2 Motor Drive System 8 Applications a Click onthe main page to enter Application Center as shown in Fig 8 1 gt o la 29 D i o I 5 Fase Speed 0 anega mmy Smooth tacta LBR Tome out 25 EBood Hete ciot bii Y Q T Golat and Righi for Heming 8 S Than meda wA aga tha Tewa ad oal mae ac ale we en pppnda a a aide aman atop al Ihe ridade where fin defleed aa noe 5 fe yng sekedi to use lt Seaech arden signis fhe ores coed anil be at inden gonion 5 h aS La sida condition igh aida mandara D Haia O f ead iran signal Ss Seach eed sing ceat O a amp Tine EO mae E Use Mem Hame Senor finden tor Homra a T Lafe free Uae flower apeed 2 gior lodex signal only D gt 00 D Fig 8 1 Application Center o i O w O Cc 2 N v S D Q oe gt O pef D i Bunooyses qnoly 6 246 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 8 Applications 8 1 Homing settings 2 The first tab in the Application Center is the Homing setting
10. BULIM gt ie T j a 7 91S Bulun 9 Bunooys jqnoJL suoleoddy g uogo old Z 6 suoleoyioeds y JO MBIAISAO Z jenuey uoneJedo y jnogy BULIM aN op D 4 5 a D dols Bulun 9 suoleoddy g UONde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 4 Settings 4 2 3 Setting the operation mode The settings screen for the operation mode is shown in Fig 4 19 After the above parameters of three steps setting has setting has been completed the operation mode parameters must be set for the drive Mode selection She oriee Parameter area 4 pag Seed Pu bout OR pan AL a8 aT settings area l jes eed Pace ped ie pes a 4 TIa D Ba are Ceri io Fame U is ee T Ekma kay ngenam Peo m OK Cancel cee lt buttons for parameters Fig 4 19 Operation mode settings 74 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 4 Settings 4 2 3 1 Position mode principles The host controller sends a pulse to the drive and this pulse has a similar function to a position control command thus the drive moves a corresponding distance every time it receives a pulse The host controller is responsible for route planning The pulse is sent more quickly when the motor is accelerated and is sent at a fixed frequency when the motor moves at a constant speed A
11. Bulun 9 4 X Note If the arrow still moves randomly after dragging the slider bar again please confirm the following 1 The motor power line and the encoder feedback signal line are correctly connected The encoder settings and the parameter settings of the motor are correct Go to the Configuration Center to check if the parameter settings Such as the resolution of the encoder and the pole pair counts of the motor are correct X Note The exciting signal of the host controller needs to be triggered Phee omw Elec Gog suoieaddy g uondel0ld Z Bunooysesqnol 6 for this step Tat e vm SW method 5 auto tuning function pps ET ue RE et Click the Tuning button as in the left 4 tamg How Fad ts knee figure to automatically adapt the K l current value for phase initialization The maximum value shall not be Select SW method 5 auto tuning function greater than the peak current of the 88 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System i ku par uenig bya mobo a akaki enbi TO deeted meon pan eng please check i mhar ia tar from nard op Mo pierre pr ni Te bulon of jog ah HYEN paat prroeed auto kureng H ceni uned menee i 4 Settings motor X Note The exciting signal of the host controller needs to be triggered for this step X Note SW method 5 may cause noise during the operation and auto tuning this is normal The hig
12. DET E E bary MAY Fig 6 42 Bode plot of the velocity and position close loops 221 HIWIN MIKROSYSTEM CORP suoljeoioeds y JO MBIAISAO Z jenuey uopesado ay ynogy 1 BULIM sBuljas y dols Bunooys jqnoJL suoleoddy g uogo old Z 6 Operation Manual for D2 Motor Drive System 6 Tuning P 6 8 2 4 Nichols gt 5 The Vel open loop and Pos open loop of the emulated control system can be analyzed F on the Nichols plot for their frequency responses You can analyze the emulated velocity D gt fai i z 30 or position open loop by checking the Nichols plot Analyzing two loops simultaneously 59 is also possible Fig 6 43 shows the Nichols plot of the velocity open loop When you Ri click the curve on the Nichols plot the frequency response value will be displayed for eJ analysis of the control system 1 Vel open loop Velocity open loop The frequency response of the velocity open N loop in the control system o 2 Pos open loop Position open loop The frequency response of the position open Q 2 loop in the control system oo h 3 oO ny EA s a ei on 2 SS SSS Fi et a a Q Vee SS ba ia ati et Feed Fei Enea Ge Ee a a a A Fig 6 43 Nichols plot of the velocity and position open loops suolesddy g UONoe 01d Z Buooys jqnosL 6 222 HIWIN MIKROSYSTEM CORP Oper
13. single phase three phase D2 EMC accessory pack for D2 EMC accessory pack for D2 EMC2 D2 EMC1 EMI core KCF 130 B 3 Wiring Single phase filter FN2090 6 06 EMI core KCF 130 B Three phase filter FN3025HL 20 71 3 2 7 Regenerative resistor 3 2 8 Connector specifications AC main power cable connector CN1 Motor power cable connector CN1 EU 12 pin 5 0mm 051500400269 12 24AWG R pluggable female WAGO Recommended Note 1 Baeheralive ASISI connector 2092 1112 12AWG 600V connector CN1 Control power cable connector CN1 50 pin 050 Mini D eontielsigial Ribbon MOR standard CP 00 00272SCSI 5 soawe Note 1 connector CN6 50 pin male solder connector Feedback signal HIWIN standard encoder connector CN7 cable Ke kerone EU 3 pin 2 5mm 051500400251 Fixture tool CN2 pluggable female WAGO 20 28AWG 733 130 connector 733 103 Note 1 Mini USB USB 2 0 Type A to communication mini B 051700800366 Optional connector CN3 5 pin 1 8m Shielded Note 1 Accessories include CN1 CN2 CN6 with 733 130 fixture tool connectors HIWIN P N 051800200070 Note When wiring the product turn off all power sources and use the fixture to avoid electric shock HIWIN MIKROSYSTEM CORP 34 Operation Manual for D2 Motor Drive System 3 Wiring 3 3 Standard main power circuit wiring e Wiring and inspection must be conducted by profess
14. 1 Automatic collection by condition For setting the start and stop conditions for data collection For example to capture the graph of the motion cycle check Start Event to set to X_run and check Stop Event to set to X_stop After the setting is completed click Start to bring Data Collection to the standby state When the motion of the motor starts collection of the data begins when the motion ends the collection of data stops When the data collection is completed click Graph to plot the graph of the motion cycle For example to retrieve the graph of the velocity cycle check Start Event to set to X_vel_fb gt 0 and check Stop Event to set to X_vel_fb lt 0 After the setting is completed click Start to bring data collection to the standby state When the motion speed is more than 0 the collection of the data begins when the speed is less than 0 the collection of the data stops When the data collection is completed click Graph to plot the graph of the velocity cycle 2 Manual collection button Click the Start button to start the collection and click the Stop button to stop the collection Click the Graph button to open the Plot View and draw a graph based on the collected data 3 Sampling frequency Rate and the number of the samples Samples The sampling counts Rate determines the sampling frequency For example when Rate is set to 1 the sampling frequency is 15000Hz and when it is set to 2 the sampling frequency is 7500
15. 8 Press the Down key to move the cursor one step to the right N I Press the Function key and then press the Up key to set the 2 9 parameter to 1 The pulse Q command trigger has now been 5 set to Rising Edge gt ic Press the Enter key to finish g 10 setting the pulse command 5 trigger P 4 3 S M Note 1 The pulse command trigger is set using the following parameters 2 O LCDno O LCDno O Parameter e o Definition o Initial value value X fall A command trigger all nse 0 Falling Edge 1 Rising Edge 161 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 5 LCD T Step 2 Electronic gear setting gt The electronic gear can be set in Pulse Mode One input pulse normally corresponds to Q one encoder count A gear ratio of 2 3 for example means two input pulses correspond to three encoder counts A total of four sets of electronic gear ratios can be set They A can be switched using two I Os DIV1 and DIV2 E S The steps for setting the electronic gear ratio on the LCD are described below N g9 A Use the last setting screen from Step g g 2 above F g a F Press and hold the Up key to move to Page with LCD No 81 This is the page for selecting the numerator o output of the electronic gear ratio Please refer to Note 2 for more 2 information about the LCD number 81 rS Press the Enter key and change the o parameter from 1 to 3
16. EO 8E O 68 TO 9 O E LO E LO JSE 6l 6 Bl LE l ZE 9 92 Sl 8z Pl Pt el 62 l 08 LI IES NOJ Z Fig 3 28 43 HIWIN MIKROSYSTEM CORP enuey uopesado ay ynogy suoleoyioeds y JO MEIAISAC Z sBues y dols Bulunl 9 suolesddy 9g UONde 01q Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 3 Wiring 3 6 1 1 High speed pulse command Wiring for the host controller with differential signal example High speed pulse command 4 Mpps or User can define the less mega fabs function for each D2 Series Drive output Host controller High spond pulse input Signal ouiput CNG O MST E EE T EJ Fhoto j j s i Ee n og al Sie seats Se ee ia ee ed eos as cs gt for ta ety oy a eA rH Encoder cutout twine pai CNE oe SE Ge ED Ore ae a a aha Ce 2 User can define the function for each input lend BAMA j Vow 4Oy flan er i Z cuipul open collector E Ns 44 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 3 Wiring 3 6 1 2 Host controller is Sink NPN with current limiting resistance Wiring for the host controller with single ended signal example Low speed pulse User can define the command 500 Kpps BE ssl function for each or less senes Urve output Host controller i3 3oe NPN Type cug Low spood pube inpul Signal outa CHG i Oi
17. Fig 6 22 FFT Plot View Natural logarithm The natural logarithm function to express the X axis in logarithmic form and it is only applicable after FFT is completed Main function icon is as follows Express the X axis in logarithmic form It is only available after FFT is completed 196 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 6 Tuning 6 6 Advanced Gains tuning Advanced Gains Important tasks of the servo drive include the time it takes for the motor to move from start point to the specified position of Move amp Settle the position error and the velocity ripple The improvement of these performances is to be achieved through tuning of gains and parameters Tuning common gain is the simplest way for the D2 drive to improve the motion performance of motor The higher common gain causes higher servo stiffness However if the servo stiffness is too high it will bring about system vibration or electric noise depending on the mechanical status Advance Tegel daa ER Dates ine 1 0 vie lire Oe Ceing ie Oe lot irs 6 8 Common Ahi ole bp Horee Laso at E times Pett enner Bhig Werer ot ere Fig 6 23 Performance center The system also provides advanced gain tuning functions in case that the common gain cannot fulfill required performance These functions include the Filter Acc feedforward Gain Schedule Analog input and current loop 197 HIWIN MIKROSYSTEM CORP jenuey
18. main screen and save the o general servo parameter to Flash After general servo gt parameter is saved the 2 Error Map parameter G n If clicked Continue in the above mentioned step the drive will force it to Reset Same as above and save the Error Map 2 parameter Yet the revision on the general servo Me parameter will lost 2 The confirm window 2 appears Click Confirm to Q 6 save the Error Map N parameter to Flash and the v drive will automatically el D Reset o lor gt ke gos 0 a 5 D Bunooys jqnoJL 6 259 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 8 Applications T Step 2 notes gt The example additional remarks in the manual The mapping range is between Q 0 1000mm The interval is 100mm and the total points are 11 The value in the Error zs field Fig 8 18 comes from the error measurement of laser interferometer Every value A stands for the positioning error Error of every target position For example if the target o position is 100mm and the laser measurement report 100 002mm then enter the 2um 5 for error value Error Map screen description N DO xe E ac as Read Save files wo 2 gt ep 2 a n O 2 m O x 3 5 z o O T Ee 4 a g C 5 i 2 Error Map value Si i y 2 Fig 8 18 O 00 gt 3 3 i e D o 3 g 5
19. uopesado ay ynogy 1 suoleoioeds y JO MEIAISAC Z BULIM sBulles y dols Bunooys jqnoJL suoleoddy g uonde 01d Z 6 enuen uo esado y jnogy 1 suoneaoads y JO M IN AQ Z BULIM sBues y G91S suoleoddy g UONde 01d Z Bunooys jqnoIL 6 Operation Manual for D2 Motor Drive System 6 Tuning E HEQA FANS Hmiia Sytiema Plat view Var 047 Stel KS Oe Bie el aim gt Fr OC ex posae The parameters are not adjusted G WANE poU EEEREN Plans Gees Fig 6 16 Plot view introduction H When the area is framed using the blue solid and dashed lines the value of dt 1 dt and dSamp will appear at the bottom of the graphical frame area dt refers to the time in the area and dSamp refers to the sampling numbers in the area Display one physical value in different channels To move the physical value to another channel for display click the physical value to form a box of dashed line and drag the box to the specified channel Physical value display When the blue solid line moves to a specific time point a figure that shows the amount of the physical value at this time point will appear below the physical value The figure is displayed decimally or hexadecimally The icons in the main function keys area are as follows Hex Display the value hexadecimally D Display the value decimally 192 HIWIN MIKROSYSTEM CORP Opera
20. 1 Check that the position where the drive is installed is well ventilated Amplifier over E07 2 Check that the ambient temperature is not too high temperature D HOT _ 8 Wait for reduction of the temperature inside the drive 4 The error may be brought about by the high load or frequent operation cycle of the drive A cooling fin can be mounted if needed The voltage of the DC bus in the drive is too low E09 UND V Confirm that the drive L1 L2 is connected to a 100 or 220Vac power source Use a multimeter to make sure that there is a 100 or 220Vac power input The 5V power supply for the encoder card is abnormal 1 Remove the CN2 and CN3 connection of D1 or remove the CN6 and CN7 connection of D2 as well as E10 the power line connector of the motor Confirm SV for encoder card fail yeep whether E10V5ERR still occurs If yes please contact the manufacturer to repair and check If not please check if short circuit happens and modify the wiring Under voltage detected 2 If applicable do not use the CN2 and CN3 connection of the hot plugging D1 or the CN6 and CN7 connection of D2 Initialization of the motor fails The trunk line of a 17 bit encoder is connected to the motor of a 13 bit encoder ee E11 1 Check that the UVW three phase motor wire of the Phase initialization error PHINI drive is connected 2 Check that the encoder is connected 3 The phase initialization parameter is not set appropriately
21. C Son 8 OL e Conprae paranters RAR te FLASH i modified 8 undo 227 variables errors i ie oe i i ee i oe Sse Ro ee he A E g TEES X ult uarn uin Hv Kosf fr K_vef 2d X_vof _en ed seen E TaM out conf igla out conf igli out conf igl2 out coonfk igla out conf igl4 out conf iglS L L7 L TEESE SE H IEEE EESEEEETE ETES E EE E E E Etik ii a i a 5 4 A a a 3 a a 2848 out conf ig a a out eoni ig a out conf igli l 7990 out conf igi 3270h put conf iglij 2 out conf iglii j a pat conf igli j A out eont igli i A a pat conf iglidi A pat eaonf igiit i a E put _eonfigli i a a F out _conFigli a ad out eont igli i Siz oat conf igiit a out xor 8 m pu L Login A m b Fig C 2 The function keys are described below Save Save the parameter in the flash memory o 2 Close Close the window 3 Up Move to the previous different parameter between the RAM and the flash memory Down Move to the next different parameter between the RAM and the flash memory Undo Restore the selected parameter that was stored in the RAM to a value in the flash memory Refresh Re compare the parameters stored in RAM and the flash memory 289 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System Compare RAM to flash ver 0 45 Etr Htr Aoda Htr time Ew il vel step kosii 7
22. Error Map page to save the compensation table 130 HIWIN MIKROSYSTEM CORP 4 Settings Operation Manual for D2 Motor Drive System 1 About the Operation Manual 2 Overview of the Specifications 3 Wiring 4 Settings 5 LCD 6 Tuning 7 Protection 8 Applications 9 Troubleshooting 131 HIWIN MIKROSYSTEM CORP jenuey uojesadoO ay ynogy 1 suoleoyioeds y JO MEIAIBAC Z BULIM sbues y dols Bulun 9 suoleoddy g UONde 01d Z Buooys jqnosL 6 Operation Manual for D2 Motor Drive System 5 LCD SLOD iee E E A E E E 132 5 1 LCD panel description x a tccuniaustantenConadsncenscancsncpddstsiseendondsmaanstoahumentenantaes 133 52 Four LED of 0 eee ene ee eee eee EEEE 134 9521 Home AGC senserite enar EEEE eee 136 5 2 2 Display Parameters Page sisccocccosistcccrccotsieaneenecbeaneataenheecasumenes 138 5 2 0 Change Parameters Page wiiccsssaniccciessmnissiatenctienmentasaneneneescnmmanaass 140 524 Actions Page cet ecussacemnyzudedien ieee sn aE aa RRA Anada 151 5 3 LCD configuration by MOTE 6 iaicscancineensissensunimebasnedsaimapndenesstnedeawnsennninns 159 9 3 1 POSION Md Ossessione a a epee a E 159 5 3 2 Velocity MOd ss een ne een ienai Eai 165 5 3 3 Force Torque MOO Boa ceccacttyeAeeradatscntnctdeontseesenddetakecseatecccenesnucbeds 170 5 3 4 Stand Alone MOde ccccccceccceeeeeeeeeeeeeeeeeeeeeeeeaaeeeeeeeeeeeneneaaaa
23. HGen is ened Pincead Cirta fewest ote TY meth amp His anai ie daada mater Foe 2 amie apeicaiion of AC gern moter H na brake ii Buln clic os Tepa mir Tana mis telling Sei SiON 84 HIWIN MIKROSYSTEM CORP Phase initialization method lf user select that motor of model number ninth digit is 5 Lightening will automatically sets SW method 4 Phase initialization and auto tune Click the Execute button as in the left figure to start the phase initialization The auto tune window pops up when the initialization is complete Use and E to drive the motor and keep it operating continuously Confirm that the motor has moved far from the stop After the motor has moved click the Proceed button to start the auto tune Click the Close button to close the window after the tuning has been completed Now the auto phase initialization is complete and test run functions can be performed Note Hard ware enable needs to be triggered for this step X Note Observe whether the DPhase initialized and MSenvo reas lights are green to check if the phase initialization was executed successfully and if the servo close loop control is readv X Note The Gan is tuned status indicator flashes green during the auto gain process The auto tuning is complete when it is continuously lit green or not continuously lit red In this case close the auto tune window and repeat Step 2
24. Pos Vel Trq Std Function Default Input Circuit Symbol ALM No O2 diagram Refer to 3 5 3 Function description This provides an error output status for users Instructions for use Users can set the availability of Errors in the Outputs tab of the I O Center O2 by default Logical Vatue Click Configure O2 to open the Configuration of O2 settings window Click Set all errors to check all the options in the Errors as shown highlighted in red in the figure below In this example the output currently indicates all available errors If users does not select all error options but only part of them the output currently used indicates Customized Trigger method Level trigger 112 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 4 Settings 4 5 In Position setting 4 5 1 Function overview In the servo system both the target position and encoder feedback position have a position error A setting period or setting time is needed for the motor to enter the target radius when it moves to the target position The D2 drive provides an In Position settings interface This enables users to observe if the motor reaches the target position by setting the target radius and debounce time This status can be sent to the host controller in the form of a digital signal 4 5 2 Settings Click to enter the Performance Center The In Position settings screen i
25. 5 3 LCD configuration by mode 5 3 1 Position mode The host controller sends a pulse to the drive This pulse is the same as position command and the drive moves a corresponding distance each time it receives a pulse The host controller is responsible for trajectory planning The pulse is sent more quickly when the host controller is on acceleration motion and is sent at a fixed frequency when the host controller transmits the signal at a constant speed motion 5 3 1 1 Basic setting of position mode The basic setting of position mode is described below Step 1 Mode selection The steps for selecting position mode on the LCD are described below When the drive is powered on the enable state of the drive is first displayed on the LCD Press the Function key twice to move to the parameter change mode Press the Down key three times to move to the operation mode setting screen Press the Enter key to enter the setting state Press the Down key to select the option for position mode MODE Press the Enter key to confirm the POSITION ji j J setting 159 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy 1 suoljeoioeds y JO MBIAISAO Z sBules y BULIM dols Bunooys jqnoJL uono 0ld J suoieoiddy g 6 jenuey uopesado ay ynogy suoleoyioeds y JO MEIAISAO Z BULIM sBues y dols suoleoddy g
26. 6 7 142 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 5 LCD Down keys to change the value i L Press the key twice to move the cursor two steps to the right cG T F 15 0 Use the Up and _ Down keys to change the values cG L __ Press the key three times and stop when 2 appears in the sequence of ie SpA pape a Use the Up and Down keys to change the values Press the key twige and ee l l l M M M H Fig 5 10 Operation of the CG parameter change example 143 HIWIN MIKROSYSTEM CORP enuen uoneiado y jnogy L suoneaoads y JO M IM AQ Z BunIM sbullles p do1s Bulun 9 u0199 01d Z suoieoddy 8 Bunooys jqnoiL 6 Operation Manual for D2 Motor Drive System 5 LCD jenuey uopesado ay ynogy suoleoyioeds y JO MEIAISAO Z BULIM sBunes y G91S Fig 5 11 Number switching sequence in parameter edit mode suoleoddy 9g UoNde 01d Z Bunooys jqnoJL 6 144 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 5 LCD 5 2 3 3 Changes of non numeric parameters The drive operation mode and the pulse format of the host controller allow for changing non numeric parameters Operation Mode Follow the operation steps below to change the operation mode settings
27. 6 7 Graphical oscilloscope Physical value Click directly to select the physical value to be observed Unit Click to select the unit for the physical value Number of channels Click to select the number of channels 1 8 to be displayed simultaneously Time range of the graphical oscilloscope Set the time length for a screen on the horizontal axis Unit Seconds ONO 184 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 6 Tuning Symbol Name Description S The switch of the graphical oscilloscope z Scope On Oif PageDown When the switch is turned OFF and turned 3 2 P g ON again the graphical oscilloscope will as re retrieve data Si O Change of the display waveform mode gt View in paper mode Ctrl T The Normal and Paper modes are available we a lt Display of all selected physical values on a 2 S Toggle scopes window j f EFS PageUp single screen Click to switch between 8 2 Sad physical values 9 aS Adjustment of all physical values to a i Fit graph to window eiiitable stale wo Fit graph to window Dynamical adjustment of all physical dynamically values to a suitable scale 2 a Same as the above but the range on the i dynamically vertical axis can only be increased on clip 2 zi Show last data with plot view Drawing using the plot view tools based on S tool the data of the graphical oscilloscope Oo Reset scope Vee
28. And some external factors may make the position error abnormally big such as the high friction caused by bearings or linear guideways on machinery for lack of lubricators winding or overly tight chains in the case tray foreign objects in the motor stroke motor clashing foreign objects or stops the abnormal position encoder or interference For all abnormalities that lead to bigger position errors an Error Window is configured in the D2 drive When the position error exceeds the Window the drive will generate an error message of Position Error Too Big start the emergency stop procedure send the brake signal and disable the motor Refer to the Maximum Pos Error Settings in 7 2 2 for more information 7 2 2 Position and velocity error warning In addition to the above mentioned settings of the position error limits the D2 drive also has the pre warning function When the Position Error and Velocity Error exceed the setting in the Warning Windows the warning will show in the Status column on the main screen to remind users of the abnormality E Protection center Praba Bi Hai lirnit Brake protection PSA CN PEPR Postion Units iale eGUnE midmum pos error 26214 touni Vining wind oe Position enor 13107 count Velocity eror 1 ABAABe 8 counts Fig 7 3 Table 7 3 Parameter name Description Maximum position error limit value Position error warning value Velocity error warning value Maximum pos
29. Construction interface There are three kinds of files can be loaded such as 1 Load plant gains from file 2 Load plant from file 3 Load gains from file as shown in Fig 6 38 1 Load plant gains from file Load the lop file This file contains the control system and gain parameters 2 Load plant from file Load the fgr file This file contains the control system 3 Load gains from file Load the gns file This file contains the control gains a a R A A A r ac S Fig 6 38 Loop constructor load data from file 217 HIWIN MIKROSYSTEM CORP enuen uojesadoO ay ynogy 4 suoleoioeds QU JO MEIAIBAC Z BULIM suyas y dq91S suoleoddy g uonde 01d Z Buooys jqnoIL 6 jenuey uojesadoO y ynogy 4 suoleoyioeds y JO MEIAIBAC Z BULIM sBuljes y dols suoleoddy 9 UoNoe 01d Z Buooys jqnosL 6 Operation Manual for D2 Motor Drive System 6 Tuning When it is needed to save the control system and gain parameters is needed after the loop constructor analysis users can save them by selecting File gt Save from the Loop Construction interface There are three kinds of files can be saved such as 1 Save plant gains to file 2 Save plant to file 3 Save gains to file as shown in Fig 6 39 1 Save plant gains to file Save the lop file This file contains the control system an
30. G91S suoleoddy g uolNde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 6 Tuning 6 5 1 Graphical display mode The graphical frame displays the number of channels The graphical frame area is mainly for displaying the graph of physical values When the graphs of physical values are collected in the Scope or Data Collection window all physical values selected by the graphical oscilloscope are shown in the Plot View Users can adjust the number of the channels for the graphical frame within an upper limit of 8 The icons in the main function keys area are described below Set the maximum number of channels Display a single channel To observe the graphs of 2 physical values click and select 2 graphs to set the number of channels to 2 To observe the graph of 1 physical value click H and select graphs to set the number of the channels to 1 The Fig 6 10 shows the situation in which only two physical values are selected in the Scope or Data Collection windows E MEOA FADS Motion Zyriena Piet view Yei BAT Paawat Gria Fig 6 10 Plot view introduction B 188 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 6 Tuning Display or hide physical values If users unchecks a physical value the graph of the physical value will be hidden in the graphical frame area Fig 6 11 shows that 2 physical values are unchecked To uncheck all physical values click
31. H_vwolt_warn_win a Host fr Raf E in mor led_p ttiord puat conf igit out_configli out conf igla l out conf igi out conf igl oat conf igi mat config puat _conf igl out conf igl out conf igl nut _eonfigl puat _contigi out oonf igl out conf igi owe sor 1 1 J 1 J J J 1 1 EE ha EN j G p G p y a y o g BMA BPR RRR ERP PBR RPV eee es SS SSS m Em a Pt SSS aaah E ai Seeavwe Fig C 3 C Parameter Comparison Function PRR ER ERE ERE 8 OY BRU RST RPRP RRR EPP RP HER ER Ree eee 8 Redo Cancel the previous Undo action for the selected parameter HIWIN MIKROSYSTEM CORP 290 Operation Manual for D2 Motor Drive System D How to Update the Firmware of the Drive D How to Update the Firmware of the Drive D How to Update the Firmware of the drive ccccccccccecsseeeceseeseeeeeseeseeeeeeaaeees 291 D 1 Update the firmware of the rive ccccccecccseseceeeeeeeeeeeeseeeeeeeeesanaees 292 291 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System D How to Update the Firmware of the Drive D 1 Update the firmware of the drive To update the firmware of the drive click Tools on the main screen and select Upgrade Down grade firmware Fig D 1 Click Upgrade Down grade firmware to open the Upgrade Down grade firmware window Fig D 2 Fig D 2 Upgrade Down grade firmware window 292 HIWIN M
32. Motion direction definition and setting the inverse direction If after executing the continuous motion in Step 2 the direction of the motor is opposite that defined by users close the auto tune window and open the window as shown in the left figure Next click the Toggle button in the window to set the inverse direction and carry out Step 2 again X Note If the motor is used ina vertical application and there is a braking mechanism the motor will be de excited if the direction of the motion is set to opposite This may have a slide down effect Operation Manual for D2 Motor Drive System 4 3 3 2 SW method 1 Fase r sys mode EU msifed 3 mown ip nn 4 Settings Phase initialization method If a motor is used in conjunction with a 13 bit digital incremental encoder lightening will automatically set SW method 5 In this case user also can select SW method 1 from dropdown list Ermes Bb Phase wetatiet Miser ream su oo Curecttl moses 1 21 amp Feecssa pasaon 1509 rout t Ens aes m M meds Oase 2 Crag Re shoe bar te move Bee moter m GM mode The atue n Pe wath had defer temami een geen range Gut meter Ematte ama ered tucrensidy b S Presse aaaaton mode EV method Hauc ma Phase eror Dec deg SM mode excitation Click the SM enable button and the Enabled indicator will turn green X Note When the motor is excited in SM mode the drive outputs the
33. S AppliCatiONS siniraan EEEE AE SE EEE RE E rent 245 Gell Homing Settings soersrrnssceia a R E S 247 8 1 1 Determine home by searching the left and right side conditions 249 8 1 2 Searching Near Home Sensor or encoder index signals 252 8 1 3 Home Offset ooo prendiece enue tehaaaranecencensdteucteeeceunbenesesacostoecanatencsndscetenned 255 8 2 Backlash compensation bissiswacnccacvensianncriiincinenaedincionhlastanimaratiusninecansins 256 8 9 ErmorMap eeror nts Ceatecacseasvntstadavnmnaids de veaadipaiealoudertamenmneetatiaice 257 8 3 1 Operation of Error WAP iscecccsncceeccuxvessctiehaucadearsccatencctteacveteidecdaumenntes 258 8 3 2 Activation of Error Map escscesceccccceinexesdcetsaseaddtaavcrsnnccercuxveevicedsbeancsts 261 8 3 3 Save and read the error table file cccceceseceeeeeeeeeeeeeeeeeeeeeeees 262 8 3 4 Error Map value and encoder reSolution ccccseceeeeeeeeeeeeeeeees 262 9 Troubleshooting een emer me reenter eaten EE ee ree ee eee 263 9 1 Status indicators of the drive evsscscevreeacsusedasncndinasessisadenetiasdestvmanssemaceds 264 9 2 Errors and warnings of the Crive cccccccceceseeeeeeeeeeeeeeeeeeaneneneeeeeeeeees 265 HIWIN MIKROSYSTEM CORP Table of Contents 9 2 1 Status display area on Lightening HMI main screen 06 265 9 2 2 LOD Sle odie sec eee secowesc cede desea e cae vice Neea aaa EANET EE DSEK NES 266 9 2 3 Error and warning l0gS cscs eicscsectsSi
34. Searching change to lower speed move to search the index signal of encoders on the gt homes method left search index left side at low homing velocity gt Near Home Sensor then After the Near Home Sensor is found switch z change to lower speed move to search the index signal of encoders on the A right search index right side at low homing velocity Bunooys jqnoJL 6 252 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 8 Applications If user uses the Near Home Sensor for homing Please connect the photoelectric and mechanical switches to the digital input of the drive For example set 12 to the Near gt Home Sensor on the IO set test page as shown in Fig 8 12 Q Z2 So 59 oO l vew S 1 Met Cont iyared H y r 9 T fhert Met ben a p r O re co Links Suiteh E F ho Bight Limit Switch od wT rature zi xs nO s ie oo io UEa 9 bitch tovcecenters ws OO 8 2 re L ZA Inhibit Pulse Command a r og Ruitah HILO Pulsa Input z D gt 2 Clear Position Error an oO gt Switch te secondary Prode 40 Start Homi Electronic Gear Select PIULO Electronic Char Beleet BIU2 gt wo Q gt Fig 8 12 N 2 Q n oa T O o O e N U S 9 Q ee gt Ke 2 2 N 4 G ex 2 o gt O Q Q 253 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy 1 suole
35. UolNde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 5 LCD Step 2 Pulse format selection The pulse is generated in three formats PulseE Dir Pulse Up Pulse Down or CW CCW and AqB phase Quadrature square wave as shown in the figure below DIR input Forward Backward Forward Backward A phase input SUL STUL Forward Backward The steps selecting the pulse format on the LCD are described below MODE re a Use the last setting screen from POSITION i i i jl j Step 1 above Press the Down key once to move to the pulse format setting screen _RULSMODE TE a Press the Enter key to enter the AqgB mm f setting screen 160 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 5 LCD gt o PULSHODE gem aad 33 BO oO J a PULSMODE Press the Up or Down key to P Ip select the required pulse format for the Control Input ad OO O lt D o oO PULSMODE aS cW CCW P wo PULSHODE Press the Enter key to finish the a B D pulse setting KR Press and hold the Down key to move to Page with LCD No 131 5 This is the page for selecting the S pulse command trigger o Please refer to Note 1 for more information about the LCD a number 131 O Press the Enter key to select the required pulse command trigger in this example the trigger is set to Rising Edge
36. ee op 2 5 Wap Agritates n Total point Ei S O o 1 Cate diaran orn Bash Set the Interval and Total Reminder that index Position points If you have a the revised nn s a preferred unit system click 2 2 mapping value wol i the field below Position to 3 has not been 2 z0 i set the suitable unit Then a saved to the es enter the Error Map value to drive Flash g s00 i4 the Error table N 5 Bs 700 i 3 00 fa D 100 E i 100 2 O ee gt Kej jel 2 mi 2 4 aj Cc a D n O y O 2 258 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 8 Applications gt T Check M Error map enable to o o gt wana m activate the Error Map 22 las port ti fe O Q oO im Tats Sonn tor tase 2 The drive has the general servo parameter and Error N Map parameter Click Send 9 3 oO table to flash in Flash on Q g the function menu If the 8 2 Compar params irii RAM io FLAT general servo parameter S 2 1 PST ore cherie is bi changed in RAM pem fisah was revised but not saved to D Sand ra map wi reed pai and paT new vob will be inst Consider lo do ddae parabens lo Bagh balore poo do derd ero riag table to Fish Flash the window will show Press Contnue to send emor arap table to fash anyway a reminder left figure It is Pres ariel i Gani wo suggested that users should z click Cancel to return to the
37. gt rt cata di j j setting state HODE f yf f Tas The operation mode is set to the S NDALON Stand Alone mode by default It is no need for selection MODE ar Press the Enter key to confirm the STHDALON l it j f setting Press and hold the Up key to ES 7 f move to the SAVE FLSH page SAVE FLSH Here the parameters can be saved O to the flash memory This will retain the parameters even if the drive is turned off Press the Enter key to enter the setting state SAVEFLSH f A i E Press the Up key to select YES SAVEF LSH Press the Enter key to save the NO l N j parameters to the flash memory 174 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 6 Tuning 6 Tuning 6 1 6 2 6 3 6 4 6 5 6 6 6 7 6 8 E E E etwemaieneetedt 175 Status display and Quick WIE Ws cies ostescitnxasicee tien eetaninuaeceomeonuliamanisenieds 176 6 1 Status display SlAWIS pasc1ccascwnineparcsacsisacenerdnenedenssatnhonetininaianntenan 176 6 1 2 QUICK VEW ar EEEa EE 177 6 1 3 Basic common physical value Basic Variable List 00 178 6 1 4 Software SIMOMCUNS icdexcersasinaseneinepnisiassaeiienamensincinbuteaceieasenatecs 179 Performance COME ccs ccnsisrinasvwardetuiomutinennedecentnite tnaanesteniantiMaadiadweccetees 180 Graphical oscilloscope SCOPE ccccsseceecceceeseeeeecseaeeeeeeseaeseeeeeeaasaees 184 PA ONS CO MANIN 186 6
38. hig i ine ee E ed a a et eid Ered a 18 Mea Erase eee ates ier i on Fig 4 16 Encoder output settings Buffered encoder output When this setting is selected the drive will forward the signal sent by the encoder to the host controller The Invert function can also be checked if needed it allows the drive to inverse and then send it The resolution of the signal being outputted is displayed on the screen for reference Encoder output Output Resolution 18888 Counts Rev Use buffered encoder M invert C Use emulated encoder l Emutated Index Output in every revolution Scalling pl encodercount i emulated encoder output Emulated index radius 10 counts Emulated index jitter filter 1 counts Fig 4 17 Buffered encoder output 72 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 4 Settings Emulated encoder output When this setting is selected the drive will multiply the position signal received from the encoder by a ratio scaling and send the result to the host controller If the ratio is 1 1 the drive will directly output the encoder signal using the current encoder and resolution that has been set Sometimes the host controller cannot receive an encoder signal set at higher frequency In this case a different ratio e g 5 encoder count 1 emulated encoder output can be used If an analog signal from an analog encoder is divided into very small segments scaling might be needed to redu
39. nss uas M Siere Gentes O there Atis j E D Asis Beable E ii wiih s seceedery 6S j n tater Gree Tongeretare Ro elit e w ad gezer te socsadery me m Takin Puise ce 3 u Seite H1 48 Pelee laget Cheer Perit zj e Elstrosis Gear Celes PINIO Electrenia Gear Select PINT Tote Fig 4 29 Input function menu Status indicator The corresponding input pin has been enabled if the status indicator is lit green The input pin has not been enabled if the indicator remains off Logic inversion setting Invert When Invert is checked the trigger condition will be inverted 92 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 4 Settings Excitation de excitation for 13 by default jenuey uopesado ay ynogy 1 Axis Enable with edge trigger as the activating Level Trigger condition Left Limit Switch Hardware left limit for 16 by default Level Trigger Right Limit Switch Hardware right limit for 19 by default Level Trigger Home OK Start Err Map Met OKA CeIn Agnes Edge Trigger T RST Reset Amplifier Drive reset Edge Trigger D DOG SS Clear Error Clear error Edge Trigger 5 a mom eran aig wots commen Loves Tigger Switch to Secondary CG Switch to secondary common grain Level Trigger w Q When this signal is received in velocity mode and the speed is lower than the Zero Speed Clamp Level Trigger set
40. the drive can execute the internal motion program and drive the motor independently without using the external motion control card 4 6 4 1 Basic setting of Stand Alone mode The basic setting of Stand Alone mode is described below Step 1 Selection of the mode The steps for setting Stand Alone mode by via HMI are described below Execute the Lightening HMI program Click the Configuration Center icon as shown on the left in the main function tool bar in the main HMI window or select the Configuration Center option from Conf Tune in the function menu In the Configuration Center select the Mode tab as shown on the left In the mode operation page select Stand Alone Mode a on the left figure After the settings are completed click the OK button b on the left 128 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 4 Settings SP ceeatenn tent wel ore tate Came rere 2 om gt oO Piim ice Meri a aaa H roerei Sp apr Z PLES i i oD bhi ese i a ay j trm Pet i 1 S O Pagi Chee af af ro O Tow Cored aa as O erase Contest oe E aa mi PR pream in m n The parameter Ss Fes lace a i ctor mache Tisma DEA ipari confirmation screen om hme Li E ot TELS tt 6 neman i a appears Click Send to team RAM as shown on the wc ee Fa gt thw
41. z m w z a 40 finoleayg Command 17 039 m F DSP rates S000H Riahee3T4 BHI Timea 18 4 Analog input ofset 0 0GA Q n Se Cia ol Q o Fig 6 31 Analog input suoleo ddy 9 UoNde 01d Z Bunooys jqnoJL 6 208 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 6 Tuning 6 6 5 Current loop The gain values Ki and Kp of current loop are basically calculated by using the parameters of motor which is selected in the Configuration Center and No adjustment is needed normally But they can be adjusted by using this function if the parameters of motor were not set correctly The low pass filter can be set according to the result of frequency response Noise might be generated if the gain of current loop is set too high However this problem can be solved by setting the low pass filter to a lower frequency e g 1000 Hz Kl 653 046 Ep 180 47 Camini Filer Fig 6 32 Current loop 209 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy 1 suoljeoioeds y JO MEIAISAO Z sBules y BUUIMA dols Bulun 9 Bunooys jqnoJL suoleoddy g uonde 01d Z 6 Operation Manual for D2 Motor Drive System 6 Tuning e 6 6 6 Vibration suppression filter VSF gt S The VSF is used to suppress the vibration generated by the motor in motion The zs vibration is significant when a cantilever beam is used as the loadi
42. 0 0001 gt 0 500 1000 1500 2000 2500 3000 3500 4000 4500 Rotational speed w rpm Fig 7 7 FRMS202XXXXXmotor regen curve 0 0008 o 0 0007 v Regen resistor is O 0 0006 necessary O 0 0005 D RG1 0 0004 0003 Regen resistor is not necessary J iKg m 9 0002 0 0001 0 0 500 1000 1500 2000 2500 3000 3500 4000 4500 Rotational speed w rpm Fig 7 8 FRMS402XXXXXmotor regen curve 242 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 7 Protection 0 0025 a 5 z S Regen resistor is da 0 002 necessary 5O a fs 0 0015 RG2 S gt N 0 001 g9 O JiKgm Regen resistor is not necessary a 3 0 0005 S o oS D 9 w 0 500 1000 1500 2000 2500 3000 3500 4000 4500 Z Rotational speed w rpm 2 Fig 7 9 FRMS752XXXXXmotor regen curve KR wn o 0 014 5 5 7 ag 0 012 Regen resistor is a 3 0 01 necessary z Q 3 0 008 RG2 0 006 a 2 0 004 a J Kg m 0 002 Regen resistor i not necessary 0 500 1000 1500 2000 2500 3000 3500 4000 4500 Rotational speed W rpm Fig 7 10 FRMS1K2XXXxXXmotor regen curve suoieoddy gl ieee 7 Buooys jqnosL 6 243 HIWIN MIKROSYSTEM CORP suoleoyioeds y JO MEIAISAC Z jenuey uojesadoO y ynogy 4 BULIM sBunjes y dols Bulun 9 suoneaddy gl oaao 7 Buooys jqnosL 6 Operation Manual for D2 Motor Drive System 7 Protection Table 7 6 s
43. 4 Ti Arari hor Cor ster Ot se o Pumawrs versiot J 99 Drive tt 6 PF r Wow ver AC serve connection ts ean i am a cotqwenh Staenmd alene Pos it icn Mede Q Sd tataws asoro Status message Gases display area 7 ton 0 Error message 2 display area o pomis Quick View m eet signal JO feteal Corrent o 9909008 ot inai i monitoring area O Connection 1 Feedback We lee ity j 0 0190705 arty status display lt lt Sea Enega tatrcceegaeing 1 De Cne urana 5 area z Fig 4 8 Main HMI window e Status message display z There are three indicators for displaying the status message J D Eero ready This light is green when the drive is enabled and goes out when the z T drive is disabled 5 gt D4 Hardware Enable Input This light is green when hardware is enabled The drive cannot S enable the motor if hardware is not enabled Please refer to Appendix B for more S information to enable hardware by using external input gt Hl Software Enabled This light is green when software is enabled Both hardware and x software must be enabled for driving the motor Click the Enable button in the S Performance Center to enable the software or click the Disable button to disable the n o software If there is no connection between your PC and the drive the status of software 9 enable is changed with the status of hardware enable If you close Lightening when PC a is connecting with drive the Ligh
44. 5 2 2 Display Parameters Page ccccseseeecceseeeeeeceeenenereeseaeneneeenes 138 5 2 3 Change Parameters Page c cccccceeeeeeceeeeaeeeeseseeeeeeeeeeeeaaaeees 140 5 2 4 Actions Page yo arcccctce eccadecansaceddtdssicastatuowsievccencsnssnbecdadsacteesasteeee 151 LCD configuration by MGC Gs sacteinennonaaittinieacetcthireteanicachenenmnensateenes 159 5 3 1 POSION MOGs sieer rasa neniesoriuadeaenbicamacasssdaatsnntanedeaintianmncantr 159 5 3 2 Velocity MOdE i secscsne naerenn aa EE AEREE 165 5 3 3 Force torque Mode xvcascaceasanshunincessedeansneastumnadedeuiessacsensteardideuseecuiags 170 5 3 4 Stand Alone WOd6 ve cscsesccccesscncwsnsesiicaadeneasbunnecdsodiesisdseocheeidensiadsenes 174 EE E A E E S T 175 Status display and Quick VIEW scccsisssisssncdincscsnmivssersterdcccamactbayessensaaecnnnnnssd 176 6 1 1 Status display SIGS occa casmnonscrsctsmscadaacaninnnarasinnnpnadxaberdeinneetatentacy 176 6 12 QUICK VIEW aepo ea n a e EE EEE 177 6 1 3 Basic common physical value Basic Variable List 00 178 6 1 4 Software SMOMCUNS acess cctde ddecectsnntevandticeeninbnnciensasennddachoauuiteaseennteas 179 Performance Center occc codedvececassacsscneccaddvnnanetbosehevhacnaseasestetedddevmntesecnceestees 180 Graphical oscilloscope SCOPE ccccsseseccceceeeeeeeecseaeeeeecseaeseeesseaaaaees 184 Data collection receatcesvusicacd esses decanneadcecntnisieutnniduntanstaseavineeles evict imedneeaitads 186 6
45. 6 48 shows lt G Ja 180 For the transfer function G S in a loop system l i n GM 20log 20log G ja dB Gain margin GM 9 Go 9 J p The following results are derived from Fig 6 48 and the characteristics of Nyquist 1 If G j does not intersect with the negative real axis then G je and GM oo dB If Nyquist does not intersect with the negative real axis at any finite frequency then GM dB Theoretically the loop gain can be magnified infinitely before the insteadbility occurs 2 If G j intersects with the negative real axis between 0 and 1 then 0e G jo lt 1 GM gt 0 dB If Nyquist intersects with the negative real axis between 0 and 1 at any frequency the gain increases and the system is steady 3 If the G j is at the 1 j0 point then G je GM dB if Nyquist G j is at the 1 0 point then GM OdB This means that the system has become unsteady and the loop gain cannot be increased any more 4 If G jw passes through the 1 j0 point then G ja gt 1 GM lt 0 dB If Nyquist G j passes through the 1 jO point then GM is dB and the loop gain must reduced by GM to ensure the steadiness JimL L ja Plane Phase crossover Fig 6 48 Gain margin of Nyquist 228 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 6 Tuning Phase margin In Fig 6 49 the phase margin is the included angle form by the straight
46. 7 Fileload SAVE isecncmenissacsciieesemoasiaiectemananstiaahbanciniuieiacaianaees 217 6 892 TOO irern Eaa E aa EE Iaa 219 6 83 FIOT siese EE aa LaS ESEO 223 684 Gain TUNIC anssen aeeai oIa EEEE aaaea 225 6 8 5 Frequency analysis ciccecc sscctedcdeseestacesnatscxteecenssassscondadiedsrenaeeesiones 227 6 83 60 BandWidth ssori eeen EATE 230 175 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy 1 suoljeoioeds y JO MBIAISAO Z BULIM sBuljas p q91S Bunooys jqnoJL suoleoddy g uonde 01d Z 6 jenuey uopesado ay ynogy 1 suoleoyioeds y JO MBIAISAO Z BULIM sBunes y G91 amp suoleoddy g UONde 01d Z Bunooys jqnoIL 6 Operation Manual for D2 Motor Drive System 6 Tuning 6 1 Status display and Quick View In the Lightening GUI status display tool and Quick view tool are indispensable assistant tools for adjustment of the machine They help users understand the system of the drive and display many important values for the motion control 6 1 1 Status display Status There are 2 status display tools as shown in Fig 6 1 below The left figure shows the Status area on the main screen while the right figure shows the Status area in the Performance Center The status display provides the status and error warning messages for users to know the system status Status Hardware Enable Input To indicate whether the hardware enable signa
47. 8 Frame 5 A Frame aanas O Oaai O O a A a B Frame saneneuanoneccencconcncnenensnes ss mmmenmenencenncsmemeonenoneness smn nme nenee 5 C Frame EPIRA EN a T cu eturunae aj Encoder type z 13 bit standard and wiring saving incremental encoders 17 0 zi 17 bit serial incremental encoder EEEE N T E E mee SSNRRERREREE 4 S a gt O Q 3 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 2 Overview of the Specifications 2 2 Servo drive specifications 2 2 1 Servo drive specifications full function jenuey uopesado ay ynogqy A C Frames A C Frames Main power Single three phase 200 240V 50 60Hz Power input Single phase 200 240V 50 60Hz Operating temperature 0 45 C Air circulation must Temperature jer when the ambient temperature is higher Storage temperature 20 C to 65 C Ambient conditions Humidity 0 to 90 RH non condensing Altitude Elevation less than 1 000 meters Protection against vibration TOIU Ra Main circuit control mode IGBT PWM space vector control 13 bit 10 000 count rev standard incremental encoder 9 line and wiring saving incremental Encoder feedback resolution encoder 17 bit 131 072 count rev serial incremental encoder 5 line Input 9 general purpose Output 4 general purpose Input 1 12 bit A D Output 2 analog monitoring 2 outputs Input 2 low speed channel high speed channel Output 4 differential line driver
48. 8 7 graphical oscilloscope and observe the physical of the Actual Current diagram Step 2 Use the slower Speed to move all strokes Step 3 Observe the change in the Actual Current diagram and record the maximum value In the figure below the maximum value is about 0 2A therefore the current of searching End Stop can be set to be slightly more than 0 2A 0 23A in this case n i counts Timels 20 Fig 8 7 Graphical oscilloscope Exception When the Left Side Condition is set to None i e not to use the left side condition the Right Side Condition is set to End Stop or Right Limit Switch and the initial motion direction parameter is set to left it will be determined that homing fails and the Homed status indicator will light red Fig 8 8 in homing and vice versa e Go Left amd Rayii ior Homing This mode wall une the Blower speed bo MA meter golo leit bide hen oegaile side and then siop al the midde where fis defined as home Of pou select bo use Search mide pnie he home MHri will Se of inde posion Len side condition Right side condition Hone Search inder signal Eight Limit witch Search end sep quent B B8 A_ amp Mme B U maet Fig 8 8 If users checks Search Index Signal but there are multiple indexes in strokes e g the Z phase signal of the AC encoder of servo motor the drive will choose the index closest to End Stop or Right Limit Switch as the home 250 HIWIN MIKROSYSTEM CORP Op
49. A 1 SMCL parameters nonennnneeenneneoerrrnrnsenrrnrrrerrrrrsnrnerirsnrrerrsrrrrrerenene 280 A 2 Setting and use of the TST saicdiscnaecceetsavidinecedtarSaiwavuaancereenteisai ecccencsin 281 279 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System A SMCL Tools When SW method 1 is selected for the phase initialization mode SMCL tools can be used to test motor angle search function and adjust the st_cg and st_vpg parameter values to reduce the displacement during the phase initialization Click Start SMCL to search the motor angle and observe the displacement during the search process based on the physical value and position error Fig A 1 The displacement is decreased significantly with a higher st_cg value However the system might become unstable in the SM mode if the st_cg value is set too high Open the filter setting window Perform the SMCL test guithitii st_cg 0 3 displacement 4500 counts st_cg 1 3 displacement 450 counts Fig A 1 A 1 SMCL parameters st_cg The proportional gain of the control loop in the SMCL mode Generally you could set st_cg value as higher as possible However the system might generate resonance and become unstable if the value is set too high In this case reduce the st_cg value to the range from 0 2 to 1 5 If the system become stable adequately st_cg can be adjusted to a value higher than 1 5 st_vpg This gain is related to the load of the motor and st
50. A B phase AqB Gear ratio pulses counts Pulses 1 2147483647 counts 1 2147483647 Smoothing filter coefficient 1 500 0 no smoothing filter VSF can eliminate vibration frequency during motion Vibration suppression function VSF and suppress vibrations generated due to the system structure to improve the machine productivity Control output suoleoddy g UONde 01d Z suoneoijioads uoijoun4 POW O4 UOD UONISOd Bunooys jqnoJL 6 Electronic gear Smoothing filter 12 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System Auto tune Emulated encoder output Protection function UOWWLUOD Error log feature Error mapping Miscellany HIWIN MIKROSYSTEM CORP 13 2 Overview of the Specifications The auto tune procedure starts automatically after execution The load inertia is automatically determined without the need to set it manually All required gain values are set using a key on the LCD display Can be set freely maximum frequency 18M cnt s 1 Motor short circuit detection 2 Overvoltage 3 Position error too big 4 Encoder error 5 Soft thermal protection 6 Motor disconnection detection 7 Amplifier overheating 8 Under voltage 9 Abnormal 5V encoder power source 10 Phase initialization error 11 Abnormal serial encoder communication Errors and warnings can be logged and reviewed Method Establish error mapping using l
51. Applications Fig 7 4 9 Troubleshooting 237 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy 1 suoleoyioeds y JO MBIAISAO Z BULIM sBunes y 91S Bulun 9 suoneoddy gl Ueiecre 7 Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 7 Protection 7 4 Hardware limit protection 7 4 1 Function overview The D2 drive has hardware limit protection The hard limit is usually the photoelectric switch or minor vibration switch installed on the positioning platform by users in order to identify the mechanic motion stroke When the motor collides hardware limit the protective measure of the emergency stop will be activated The hardware limit switch is usually the close sensor When the hardware limit switch is turned on motor will stop emergenctly at Dec kill deceleration After that the drive can only accept the motion command in the opposite direction 7 4 2 Settings After clicking to enter Protection Center and select the HW Limit Protection tab to open the hardware limit setting page If you want to activate the hardware limit check Enable HW Limit r Users can use the _ _ button on this page to set the hardware limit output pin Click the button to open the IO Set test window Refer to 4 4 2 for the information about the settings Pouicn Wnt pwn E anebe itri bri EW lefat Linda da configured to Ih GY rightt lislt
52. D 5 Co O a01ls Bulun 9 suoleoddy g UONde 01d Z Bunooys jqnoJL 6 114 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 4 Settings 4 6 Parameter overview and configuration of mode 4 6 1 Position mode The host controller sends a pulse to the drive and this pulse is similar to position command thus the drive moves a corresponding distance when it receives a pulse The host controller is responsible for planning the route The pulse is sent more quickly on acceleration and is sent at a fixed frequency on constant speed 4 6 1 1 Basic setting of position mode The basic setting of the position mode is described below Step 1 Mode selection The steps for selecting the position mode via HMI are described below Execute the Lightening HMI Program Click the Configuration Center icon as shown on the left in the main function 2 ou tool bar of the HMI or select the Configuration Center option from Conf Tune in the function menu In the Configuration Center 3 select the Mode tab as show n the left figure ecard re In the mode operation page s valgt Liga i EET select Position Mode as ainke show on the on the left D Bangio lise 7 ari ay figure 115 HIWIN MIKROSYSTEM CORP enuen uones9do y noqy 4 suoeaIoads y JO M IM AQ Z BunIM pP ep D 5 c
53. Drive System 6 Tuning 6 5 3 Mathematical operation Math The Plot View also provides the operational function of physical values such as integration differentiation addition and multiplication It allows User to operate in the Plot View and observe the operational result directly It also provides the maximum minimum of the physical value ripple calculation and spectrum analysis functions Statistics table Click B to show the table in Fig 6 18 The table shows the maximum minimum average standard deviation Rms Rip and RipA of the physical value in the selected segment Among them Rip standard deviation average and RipA maximum minimum average Main function icons are as follows i The maximum minimum standard deviation Rms and ripple calculation of the physical value Ploat a2 bit Ripa 1565 dix ref_ace 107507 1067B7 nur 189801 6 Float 32 hit i i zamp 146174 enc_pos Langta2 hit Fig 6 18 Statistics table 194 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 6 Tuning Select Tools Math Operation from the function menu or click w to open the window Fig 6 19 Then select a suitable mathematical operation In the case of addition for example click Linear and select pos_err and vel_fbf from the drop down list Then name the new physical value in the New plot name field and set the color Click Create to generate a physical value lin_1 by adding the
54. Eamus Koss Leeguege About O OOOO OQ a o E gaa Hato Poon Speed SE Asuna aoc Tepihat nuria Cec F de guari Deis i Aiie r gauris Soh ac L Ew ipe pee gy T Laleh apie over Dumpa HTa I Laich Under veliage err Communicator vt Fig 9 8 9 3 2 Supplements to E11 PHINI error elimination If use SW5 to phase initialization E11PHINI may appear E11PHINI may appear if the current is not set appropriately In this case set the current again with reference to Fig 9 9 D foes ae erg summon Mu moe Pete paelon mode VV ast hod S Omenu mow 2 69 sow Fretta poeton 60265 tort 1 Eripe se in LU Toss pusm Seam i Cwag me sisp ta u mars Pe manu a tu mass The bepa n Da waht hed beter emn ens e peee ange Bring meter F gt werees ed p 1D mage seisen soemmen 4 frequency ann Fag eae F Une tees onan en nerast Desset Oi aimp Empo o aang peas ini Tee 4 0 TO toat E eeno A Pesse rari Step 1 Click Tuning HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 9 Troubleshooting 9 4 Warning codes and actions No Errors aae ael Actions codes 1 W01 eee Left SW limit SWLL Software left limit is triggered Right SW limit we Software right limit is triggered g SWRL g Baer Hardware right limit is triggered W03 If the erroneous triggers occur without any connection from Left HW limit HwLL hardware limit to the drive It is recommen
55. Ensure that the product is oriented and installed in the specified direction to avoid fire 4 Protect the product from high impact shocks to avoid damage or injury 5 The product weight must be taken into account during installation Inappropriate installation may cause damage or injury 6 Install the product on a metal or similar noncombustible rack to avoid fire Wiring Attention 1 Correct and reliable wiring must be used to ensure stable operation and avoid damage fire or injury Operation and transportation Attention 1 Ensure the power source specifications are correct to avoid fire or injury 2 The product may restart suddenly after power is restored Do not come too close to the product Required 1 An external emergency stop line must be wired to cut power and stop the product at any time Maintenance O Prohibited 1 Do not dismantle or modify the product 2 Do not attempt to repair any product malfunction Instead send the product back to the Company s professional technicians for repair HIWIN MIKROSYSTEM CORP D D SUOIJEDIJID9dS y JO MEIAIBAC Z BUuIM sBules v uoyesadO y Inogy dols Buooys jqnoIL yOulun 9 suoeaiddy 8 uondel1old Z 6 1 About the Operation Manual Operation Manual for D2 Motor Drive System 1 About the Operation Manual 2 Overview of the Specifications 3 Wiring 4 Se
56. Error I Il Warning 5V NORDY SV RDY EO1LSHORT W01 HWLL Servo status Error warning messaqde Fig 9 3 266 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 9 Troubleshooting 9 2 3 Error and warning logs When D2 drive detects the identified error or warning it will store them in the Errors and Warnings Log in addition to displaying in the error warning status display area on the main screen Fig 9 2 The steps to open the Errors and Warnings Log window is shown in Fig 9 4 Lightening provides this function to prevent the displayed error or warning message that the D2 drive reports from being lost by users All errors and warnings messages occurring after the drive is powered and the number of the occurrences are recorded in the Errors and Warnings Log The Time Log of the Errors and Warnings Log is shown in Fig 9 5 The messages of all error and warning that have happened to the drive are recorded in the Type of error warning column and the time of each occurrence is recorded in the Time seconds column Waa z Trey eu pie r x Pete Ce aes HETI Mote fpr BC cen acer FELEZIGUI Ani Gigs a Dtad slees Fositien Mede tern Ajri Loe rp Msiesirt tania Bi ties miy e L 3a Bevel ara o popia i Feodionk Feattion 160060 IB Feeder Ge lee ity 0 000060 C sge esse fe Ci C owp ats fon Lom arb ae Te ee ee ee Bie Tage of ern Temes pec EF tory may o die oe 11 ale bpa tga bg
57. JO MBIAISAO Z BULIM sBues y dols suoleoddy 9 uoNde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 6 Tuning 6 8 Loop constructor The Loop Constructor function allows users to confirm the stability of the control system It provides spectrum analysis tools such as Nyquist Nichols and Bode In addition to adjusting the filters and gain values vpg vig ppg and CG users can use this function to change the parameters directly and observe the frequency response of the control system To enter the Loop Constructor screen open the Lightening main screen and select Tools gt Loop constructor as shown in Fig 6 36 Fig 6 37 shows the Loop constructor interface CONFIESA EEF Hulk LCD Farru pn pit vew ad Diti es Dheee treres foe eh Eaooder tection FUL Lagi egs Leri warren Dith vipa Position Uris Count JU fietual Current 0 0178231 i Peedbach Position j 3 i Feedback Uolocity 17 5367 Curega_fabtigcatahienng dca gA C rbga_ btaa Gain tuning l z dia KER af a Spectrum analysis a a a L E E Gain tuning Fig 6 37 Loop constructor interface 216 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 6 Tuning 6 8 1 File load save When using the Loop constructor function to analyze the control system users needs to load the control system and gain parameters by selecting File gt Load from the Loop
58. Please refer to Fig 5 12 for an illustrated description of the procedure 1 Press the Enter key to enter the non numeric parameter change mode A solid flashing cursor appears on the left side of the second line 2 Press the Up or Down key to select the Position Velocity Force Torque Current or Stand Alone mode 3 Press the Enter key to confirm the setting change C saa MODE Position mode POSITIO or _MODE VELOCIT MODE Velocity mode VELOCIT or MODE URRENT or MODE STNDALO Force Torque mode Stand Alone mode Fig 5 12 Changing the operation modes 145 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy suoljeoioeds y JO MEIAISAO Z BULIM sbulas p 91S suoleoddy g uonde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 5 LCD P Pulse Format S Follow the operation steps below to change the pulse format settings Please refer to Fig 5 13 for an illustrated description of the procedure 33 1 Press the Enter key to enter the non numeric parameter change mode A solid c O y os flashing cursor appears on the left side of the second line Z 2 Press the Up or Down keys to select the control input Pulse and Direction Pulse 5 Up Pulse Down and Quadrature 3 Press the Enter key to confirm the setting change ge LEVELONE a l E o g i oe PULSMODE i PULSMODE W c
59. Please refer to 2 the parameter edit function in 5 2 3 2 El for the parameter change method in o this example a gear ratio of 2 3 is used S 5 Press the Enter key to finish setting the encoder count Press the Down key to move to Page with LCD No 82 This is the page for selecting the denominator input of the electronic gear ratio Please refer to Note 2 for more information about LCD number 82 Press the Enter key and change the parameter from 1 to 2 Please refer to the parameter edit function in 5 2 3 2 for the parameter change method Press the Enter key to finish setting the input pulse suoleoddy g UoNde 01d Z Press and hold the Down key to move to Page with LCD No 130 This is the page for selecting the inverse pulse command Please refer to Note 2 for more information about LCD number 130 Bunooys jqnoJL 6 Press the Enter key to select the inverse pulse command in this example no inverse pulse command is selected Press the Enter key to finish the setting 162 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 5 LCD Press and hold the Up key to move to Page 124 on the LCD This is the page for selecting the high low speed pulse input Please refer to Note 2 for more information about LCD number 124 Press the Enter key and change the parameter from 512 to 0 Please refer to the parameter edit function in 5 2 3 2 for the
60. RAN kod Click the SM enable button and the Bhima amry BETAH F paai A D Q jp eaters eae NEEE Enabled indicator will turn green S S e EET eae X Note When the motor is excited in ST nnan SM mode the drive outputs the 1 namie te an Sl ace current continuously as set in the 5 B rene Current SM mode field Hence 3 aa excitation in the SM mode should not Going Be Khir bar ts feaa te meiir in DU iade s last too long to avoid overheating the e anpe n Dhe waki had Hae nmani eier pran raa Gunny mobe w Enijs anz ended buitimi motor Hh er Pi X Note The exciting signal of the Phase error iE dap host controller needs to be triggered amp for this step Testing the direction of the motion in SM mode Drag the slider bar to the left and right The motor should rotate when the slider bar is dragged The normal direction is to the right side and the inverse direction is to the left side Normally the Phase error Elec deg arrow lies inside the green area 30 to 30 degrees After releasing the slider bar the message Feedback detect OK will appear on the screen in Step 2 showing that this step is 1 Cane aan GM moss complete Onamo If the arrow moves randomly release the slider bar and then try to drag it Deng Be bene Bae b mea Pe ete n S monte a ain The aoe Pe oa Sod bette em ars ete geen Py Gem mobor g z terest wa oa D dp Oo a N do1s
61. Reduction gear ratio 80 Vcmd_offs Analog input Volt 81 X_cmd_ext_N Numerator of the electronic gear ratio output 82 X_cmd_ext_M Denominator of the electronic gear ratio input 83 X cmd _ext v_sc Velocity command ratio m the rotational speed of sountisst V Dead band for the velocity command the velocity 84 X_cmd_ext_v_dz command is 0 when the input voltage is lower than this Volt setting 85 X emd ext i sc Current command ratio indicating the rotational speed of a iv ak 1V Dead band for the current command the velocity 86 X_cmd_ext_i dz command is 0 when the input voltage is lower than this Volt setting 88 e ii Position error warning count 89 es Velocity error warning count s 90 X_Resistance Motor line line resistance ohm 91 X_Inductance Motor line line inductance mH 92 X_ vel_stop Brake starting speed count s 93 X_delMaxEnToBrk Brake starting delay time 66 67US 94 X_delBrkToDis The brake active time 66 67US 95 X_index_offs Home offset count 112 X_Aenc_sgn Encoder direction 113 X_Aenc_mode Encoder type 115 X_new_sm_fac Smooth factor 116 in_xor Logic inversion setting for digital input 124 pullupdn Digital input signal level setting 125 X_rotaryType Motor type 126 X_st_phase Motor inverse output force 129 X_pulse_mode Pulse format 130 X_pulse_dir Inverse pulse command 131 X_fall_rise Pulse command trigger 132 X _cmd_pwm_mode Command input format in the velocity and current modes
62. System 5 LCD 5 2 Four LCD pages There are four LCD pages on the display panel Home Page Display Parameters Page Change Parameters Page and Actions Page Press the Function key to switch between pages The operation structure of the LCD is shown in Fig 5 2 Home Page Displays the servo state error messages warnings and motor state phase initialization motor movement homing and error mapping Display Parameters Page Displays the motor feedback position position command position error feedback velocity velocity command I O state and other parameters Change Parameters Page Allows changing the common gain CG velocity loop gain VPG phase initialization gain ST_CG operation mode and pulse format save the parameters from RAM to the flash memory and provide settings for 200 advanced parameters Actions Page Allows the servo to perform enable disable jogging and moving to an absolute target position 134 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 5 LCD te OME Fee eee daa 0 0 eee oe Oe feet he fe DT oe BV ey oO Pere ss a fetes oe Dw fe aa ad 2 0 tere 6 te Re Od he a8 ee ew Hemme tee Qe en tm Rent tayna IES mre ree aaee OY v aaa Venn f Mine mga c lt nme oe l were P Yd mm aa a per RAE Motor Oreeee io A peaa P Pa eiie r a we Gage nem D Hepe uen c sini fe vnde ha Oey Oe amp Cerys t naii anoe Fig 5 2 LCD operatio
63. The area in the positive direction of the index is mapped while the area in the negative direction of the index is not mapped The effective range when users uses the non zero Home Offset zero Home Offset are the same Refer to the figure below Refer to the figure below The mapping effective area when Home Offset is set to 0 When Home Offset is set to 0 Mapping effective area Position index Drive coordinate 0 When Home Offset is set to 100 100 Mapping effective area YY YY R RR R RA RRR GGA Position SS index Drive coordinate Drive coordinate 0 100 Fig 8 17 257 HIWIN MIKROSYSTEM CORP suoljeoioeds y JO MBIAISAO Z jenuey uopesado ay ynogy 1 BULIM sBuljas y dols Bunooys jqnoJL Bulun 9 UOND9 O1d J lor gt ke 72h iS a D 6 Operation Manual for D2 Motor Drive System 8 Applications T 8 3 1 Operation of Error Map gt S The steps to activate D2 drive Error Map are described as follows 59 oO a Eb Bak Yew F r Cmega Bbpenm mag Ty 3 Tan D ing mip eres Mire map ite Hima N 34 Y Q Click E in the main 2 S function area or click the Q T Error map option in the 5 o Setting Adjustment a 3 Conf Tune onthe i J function menu to open the z4 window as shown in the left bes os figure gure i a 3 ro 100 280 30 450 Mo eta Tod o ka wi nee
64. and parameter settings of the motor are correct such as the resolution of the encoder or the pole pair counts of the motor Make sure that the encoder uses a differential signal Make sure that the grounding system is suitable 4 3 4 3 Troubleshooting the motor motion Make sure that the exciting signal of the host controller has been triggered Make sure that the drive software excitation has been executed Make sure that there is no mechanical interference Make sure the power line of the motor is connected correctly Make sure that the resistance of the motor is correct 91 HIWIN MIKROSYSTEM CORP Make sure that the motor power line and the feedback signal line of the encoder has jenuey uopesado ay ynogy 1 suoljeoioeds y JO MBIAISAO Z BULIM N ep Di 3 a O ado0ls Bunooys jqnoJL Bulunl 9 suoleoddy g uonde 01d Z 6 jenuey uopesado ay ynogy 1 suoleoyioeds y JO MEIAISAO Z BULIM iN op D 5 O ado01ls Bulun 9 suoleoddy 9 UONde 01d Z Bunooys jqnoIL 6 Operation Manual for D2 Motor Drive System 4 Settings 4 4 I O Center 4 4 1 Digital inputs and their functions Click in the main function keys area in the main screen to open the I O Center Click the dropdown button in the input function menu to select the digital input pin and its function as shown in Fig 4 29 Pio ee Toa mc
65. by external interference if a digital encoder is used Check that the encoder has an anti interference twisted wire and shield or is equipped with an iron core 3 For the analog encoder that sustains a low load Position error too big use the software to search the motor angle Signal attenuation might occur if the initial phase frequency is too high In this case reduce the initial phase frequency by lowering the current of SW1 or SW5 270 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 9 Troubleshooting LCD error codes The motor is overloaded The software detects over temperature of the motor 1 Confirm that the continuous current and peak current of the motor conforms to the specifications of the motor during the motion Soft thermal threshold E05 2 The motion of the motor is obstructed reached SWHOT l3 This error can be eliminated by resetting and re enabling the drive but it may recur if the current output exceeds the specified value due to load and motion parameter settings Actions 4 Reduce the speed acceleration or deceleration 5 The model number or current parameter of the motor is set incorrectly 1 The power line of the motor is not connected to the drive correctly E06 UVWCN Motor may be disconnected 1 Check that the UVW power line connector is connected firmly 2 Check that the model number of the motor is set correctly The drive sustains over temperature
66. change the CG parameter and the changes of all other parameters can be referred to this example If the CG needs to be changed from 0 5 to 1 2 enter the CG editing page and follow the below setting procedure to change the parameters Please refer to Fig 5 10 for an illustrated description of the procedure 1 Press the Enter key to enter the CG edit mode A solid flashing cursor will appear on the left side of the second line 2 Press the Down key and the flashing cursor will move to the 0 position 3 Press the Function key This allows the Up and Down keys to change parameter values Press the Up key twice and stop when the number turns to 1 Press the Function key This allows the Up and Down keys to move the cursor Press the Down key twice to move the flashing cursor to the 5 position Press the Function key This allows the Up and Down keys to change parameter values 8 Press the Down key three times and stop when the number turns to 2 9 Press the Enter key and the CG changes to 1 2 Note The following instructions are for the Function key when using the LCD parameter edit function a When pressing the Function key for less than one second the operation function switches the Up and Down keys between moving the cursor and changing parameter values b When pressing and holding the Function key for more than two seconds the screen will return to LEVEL ONE and any changes will be discarded 4 5
67. current limit of the motor 15 E01 SHORT E05 SWHOT W12 I2T 9 Troubleshooting 1 Solve the UVW short circuit and wiring problems 2 Solve the UVW and ground short circuit problem 3 Check the UVW line line resistance separately and confirm that the resistance is same between lines 4 Check whether the motor wires are too old 1 Confirm that the continuous current and peak current of the motor conforms to the specifications of the motor 2 The acceleration command for the route planning exceeds the rated value of the motor 3 The motion of the motor is obstructed 4 The drive is reset and re enabled 5 Check if the model number or current parameter of the motor is set incorrectly The PC cannot communicate mG with the drive None 1 Check that the BPS and Port are set correctly The host controller receives an incorrect position signal when the emulated encoder function is used 17 None When the D1 drive is set to use emulated encorder Because the emulated encorder output function does not work during operation of the save to flash a function If the motor moves by different reasons when operater the save to flash function on the main screen The host controller may lose the position signal HIWIN MIKROSYSTEM CORP 278 Operation Manual for D2 Motor Drive System A SMCL Tools A SMCL Tools A SMCE TOOS eere E E EE E A E 279
68. e 5 H o 8 a 263 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 9 Troubleshooting gt 9 1 Status indicators of the drive T 4 The status indicator of the drive is a LED lamp on the front panel to display the current S F status of the drive The statuses are described in the table below BO oO 3i N 2 2 ge gt Status indicator S g Status indicator Status of the drive T Si The drive is not connected to the power source lt Both red and green lamps flash The drive is booting 3 Flash green The motor is not powered Light green The motor is active a Flash green and light red The motor is not powered and an 5 error occurs a Note The status indicators look orange when both the red and green are on oO Fe Q o Fig 9 1 oO 4 Cc 2 Q N v l D ai fee gt xe sok 2 n fa z D o F e Q 264 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 9 Troubleshooting 9 2 Errors and warnings of the drive gt T 9 2 1 Status display area on Lightening HMI main screen 2 z T DJ When an error is identified the D2 drive will activate the protection mechanism and E O display the description of the last error in the Last error area Fig 9 2 Users can use 8 this description to adjust and confirm the error of the drive When any incident which needs to be wa
69. error Position Error Velocity error 235 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy 1 suoljeoioeds y JO MEIAISAO Z BULIM Bunooys jqnoJL sBuljas y ado0ls Bulunl 9 suoieaddy gl teiesre 7 6 jenuey uopesado ay ynogy 1 suoleoyioeds y JO MBIAISAO Z BULIM sBumes y G91S Bulun 9 suoeoddy gl Ueiscre 7 Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 7 Protection 7 3 Brake output 7 3 1 Function overview In order to protect the motor and the system structure the D2 series drive provides a brake signal output for actuating the external electromagnetic brake It is commonly used in the actuation of motor in Z direction There are some sequential motion issues in this application For example When motor moving in Z direction at great speed receives disable command from drive and activates brake directly it will cause huge vibration and damage in machinery Moreover if disabling motor too early the machinery and motor may slide down The D2 drive has the exclusive brake parameter to reduce the aforesaid risks 7 3 2 Brake stop sequence After the drive receives the hardware input signal or the software disables the following sequential actions will begin Step 1 In counted the brake will be activated after the delay time delMaxEnToBrk which starts from receiving the disable command
70. g UONde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 4 Settings 4 6 2 Velocity mode The drive can receive commands from the host controller via voltage named V commands The input voltage ranges from 10V to 10V The drive makes the received 10V to 10V input voltage correspond to the velocity or current control to drive the motor In addition to the voltage the host controller can send commands via PWM signals named PWM commands The PWM command converts corresponding to different velocity commands depending on the duty cycle It is classified into single wire type PWM 50 and two wire PWM 100 type The single wire type PWM 50 type refers to the duty cycle of 50 An inverse motion occurs when the duty cycle is less than 50 while normal motion occurs when the duty cycle is more than 50 The two wire type PWM 100 needs one more pin to control the operation direction of the motor V command The analog voltage signal is converted to a velocity command andthe drive controls the motor to operate at that velocity The higher the voltage value but it will not exceed the maximum speed set by drive Conversely the lower the voltage value the lower the output speed When the voltage value is negative the output speed becomes negative correspondingly and the motor operates inversely The command speed to which the unit voltage corresponds can be set in the drive PWM Command The PWM comma
71. graphical oscilloscope will re retrieve U Show all plots in same window All physical values are drawn on the same AY screen and share the same vertical axis Connecting the physical value set in the Open recoder window Scope window to the Data Collection function suoleoddy g uonde 01d Z Bunooys jqnoJL 6 185 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy 1 suoleoyioeds y JO MBIAISAO Z BULIM sBunes y G91S suoleoddy 9g UONde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 6 Tuning 6 4 Data collection In addition to the Scope function for observation of the physical values there is a tool that offers more setting options for data collection and more advanced graphical display and processing functions The Data Collection function allows users to set shorter or longer sampling time and provides a conditional trigger mechanism for activation and deactivation of data collection 6 4 1 Data retrieval Data Collection In the open recorder window Fig 6 8 the program automatically picks up the physical value selected on the Scope page for future data collection The main function is described as follows SS Daia collection ver 2097 Samples SUBBA Cireular ie Fale i Lind vars Pr 15000 rate 15600 He at isFr 6 8666667 mage panples dt 3 33937 reg K_uel FoF X_one pas Fig 6 8 Data collection
72. gt Input Electronic Gear Select DIV1 Operation mode WEES 8 Function DIV2 P z2 ircui T Symbol Diva Div2 PefaultInput jg j Circuit Refer to 3 5 2 ae No diagram z Function description S This enables users to switch between four sets of electronic gear ratios 7 Instructions for use DO Fig 1 and Fig 2 show the settings for electronic gear selections There are four gear E 3 ratios that can be set User can use input points to select the desired gear ratio a ej according to the DIVO and DIV1 input states So Ga Liai jae 5 h as oO ar nuimti aaa atar w ber Dey F app feted Spe ned OR er i ad aA lt on ee S 2 ical apie ew ath amp dp 4 gt e n ol QO o O C 2 Q N y e rE D O er O i P Panas ieee D ioi Eai gt O Teper ea heap ic i fand dicta Hoos ey O n J z S moa 2 F Potehi T sap Spaug Pua mpa iii pa deh dF E aia ah rete Pe tga es 36 7 Q Tages fino rl err rani 5 F hps a T Pn oes eri T Paie Uni Pajig Dear a e jpa ae Fig 2 Electronic gear settings screen Secondary Operation Mode 98 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 4 Settings The desired electronic gear ratios are selected from different combinations of DIV1 and DIV2 The corresponding combinations are shown in the table below Numerator jenuey uopesado ay ynogy
73. input 13 as shown in Fig B 1 B 2 Temporary Hardware Enable If users does not have a host controller and cannot input a Hardware Enable signal to the drive the Hardware Enable can be provided temporarily after completion of the following settings Click To IO set test in the main function keys area to open the window in Fig B 1 Confirm that the status indicator of the Axis Enable lights green 11 is usually used for the Hardware Enable signal Since the Invert function is available for each input point it can provide a cheating Hardware Enable signal by inverse the logic value of the signal The drive receives a Hardware Enable signal when the indicator in the State column lights green UGHTENING version 0172 com3 USB 115200 Eon iue T h IA EHH HIVIN Amplifier E p od gJ Ewiteh to secondary OG Kear Hons Eencor Left gt kimit Switch Suiteh to eecondary sode Clear Error Right i Limit Switek Kaeo 284 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System B Axis Enable Setting B 3 Confirmation of the enabled state The drive receives the enabling signal from the host controller when the state indictor of the Hardware Enable Input lights green Fig B 2 UGHTENING version 0 172 coms USS 115200 Lent lume Looks Language About Advanced n aem a TF a P AIFA Jaga wa ELICIT ea a eee Le Gea Controtter dI Asis X prore vartion Motes hee AC serve da Model PRR
74. is onaf igured ta 19 Fig 7 5 238 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 7 Protection 7 5 Software limit protection 7 5 1 Function overview Except for the hardware limit protection users of the D2 series drive can also select the software limit protection which serves as the same function of protecting the stroke When the motor stops at the coordinate of the software limit the drive can only accept the command to move in the opposite direction 7 5 2 Settings After clicking to enter Protection Center select the Limits menu on the Protection tab to show the software limit setting screen Users must check the enable sw limit s option before setting the upper and lower software limits In addition you can check Enable Sw Limit T enatle simit in the Performance Center to activate the software limit protection maci Jr Ai init pat aed erid oe a Feia siren ilir Viia ma i he T onses pe Fei i enable sw limit Lower SW imi 108088 Upper SW linet 18080 imeipa pirhe Upeed 6 55 9eie ek coat Ace LS cants De Lire tis courte Decree 2 2002 pourietZ Amaam taie LB Eni ypa briag RF LMTA ARSE veer EAA eer Later Linder erage amas Fig 7 6 Table 7 5 Parameter name Description For activating the software limit Check to activate enable sw limit Lower SW limit Lower SW limit position Upper SW limit Upper SW limit position 239 HIWIN MI
75. jenuey uopesado ay ynogy 1 suoleoyioeds y JO MBIAISAO Z sBues y dols Bulunl 9 suoleoddy 9g UONde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 3 Wiring 3 2 D2 drive accessories 3 2 1 Motor power cable HVPS04AA Not flex resistant HVPS04AAnoMB HVPSO6AA HVPSO6AAccoMB Without brake signal Flex resistant Motor power cable Not flex resistant With brake signal Flex resistant oo Represents cable length as the following 03 05 07 10 Wire length m 3 5 7 10 3 2 2 Feedback signal cable HVE131ABoo0MA Not flex resistant Feedback signal HVE131AB Flex resistant cable HVE171AB Not flex resistant HVE171AB poo os v w Wire length m 3 5 7 10 3 2 3 Control signal cable 2m in length and connected to the host controller The wire at the controller end of the signal cable is free and can be soldered depending on the host controller connector Control signal cable LMACK02D 3 2 4 USB communication cable USB communication cable USB 2 0 Type A to mini B 5 pin VETO length wina oe connector at the drive end 32 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 3 2 5 Accessory kit module D2 xxxx x B G D2 x
76. mode 2 initial speed selection count s 188 a i Search homing method option 2 189 X_backlash Backlash count 191 X_StldNearHome Near home sensor 192 X_StldClrErr Clear errors 193 X_StldInvCmd Invert command 194 X_Stld2ndCG Switch to secondary CG 195 X_Stld2ndVPG Switch to secondary VPG gains 196 X_StldZSC Zero speed clamp 197 X_StIldINH Inhibit pulse command 198 X_StlIdPS Switch HI LO pulse input 199 X_StldAbort Abort motion 200 X_StldClrPE Clear position error 201 X_Stld2ndOperode Switch to secondary mode Start the built in homing procedure of the drive Start 7 202 X_StldStartHome Homing 203 X_StldDiv1 Electronic gear select DIV1 204 X_StldDiv2 Electronic gear select DIV2 205 out_config 16 CN2BRK brake output signal setting 206 out_config 17 207 out_config 18 208 out_config 19 211 X_vffg Velocity feedforward 212 X_oper_mode1 Primary operation mode 213 X_oper_mode2 Secondary operation mode 214 X_second_cg Secondary CG 215 X_second_vpg Secondary VPG 150 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 5 LCD 5 2 4 Actions Page In the action mode users can perform enable disable JOG and absolute coordination motion and SETZERO functions The velocity and target coordinates for motions can also be set or press the Up or Down key to switch the actions to be performed Please refer to Fig 5 14 for an illustrated descripti
77. mode is described as follows The motor will move at the slow homing velocity in the initial motion direction set at the beginning parameter For example assume that parameter is Left the motor will search the left side first and then the right side and stop at the middle point will be considered as the home of both sides If users checks the Search Index Signal the index closest to the left side condition in the motion will be set the home The searching conditions of left and right side are determined by the settings parameter and parameter Go Left and Right for Homing Parameter D This mode will use the Slower speed to let motor goto Left side then oppsite side and then stop at the middle where itis defined as home If you select to use lt Search index signal gt the home point wiil be at index position Parameter Leftside condition Parameter Right side condition None Search index signal None Search end stop current 8 A_amp Time msec Parameter Parameter_ Fig 8 6 Determine home by searching the left and right side conditions Table 8 1 D Initial motion Left Search the left side first direction Right search the right side first None Not to use the left side condition Left side condition Left side condition End Stop Search the End Stop on the left side Left Limit Switch Search the limit switch on the left side N
78. of 50 An inverse motion occurs when the duty cycle is less than 50 while normal motion occurs when the duty cycle is more than 50 The two wire PWM 100 type needs one more pin to control the operation direction of the motor The PWM command is converted to a velocity command to directly control the operation speed of the motor The velocity to which the Full PWM corresponds can be set in the drive 76 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 4 Settings 4 2 3 4 Setting velocity mode Velocity mode can be selected if the host controller is used to send analog commands or PWM commands Only the ratio scaling between the external command and velocity has to be set for the velocity mode The unit shows the corresponding relationship of 1 V with mm s or rpm or between the Full PWM and the highest speed Dead band definition Output E anaoa D imad Command r PaaS Saing i IE crore Desi Bamit A Dead band Fig 4 21 Setting velocity mode 4 2 3 5 Force torque mode principles V Command The drive can receive commands from the host controller via voltage known as V commands The input voltage ranges from 10V to 10V The drive makes the received 10V to 10V input voltage correspond to the current control to drive the motor The analog voltage signal is converted to a current command to directly control the current output of the drive and thus the force and torque of the motor The higher the voltage
79. parameter change method in this example the high speed pulse input is set Press the Enter key to finish the setting Press and hold the Up key to move to SAVEFLSH the SAVE FLSH page Here the NO parameters can be saved to the flash This will retain the parameters even if the drive is turned off PAVEFLSH Press the Enter key to enter the aB No setting state SAVEFLSH E vEs Press the Up key to select YES SAVEFLSH Press the Enter key to save the NO T i parameters to the flash Note 2 The electronic gear and inverse pulse commands are set using the following parameters LCD no Parameter Definition Initial value 81 Xemd ext N Numerator of the electronic gear ratio 1 output 82 Xemd ext M Denominator of the electronic gear ratio 1 Sa input 130 X_pulse_dir Inverse pulse command 0 High low speed pulse input 124 pullupdn 0 high speed pulse input 2048 512 low speed pulse input 163 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy 1 suoljeoioeds y JO MBIAISAO Z sBules y BULIM 91S Bunooys jqnoJL uono9 0ld J suoieolddy g 6 jenuey uopesado ay ynogy 1 suoleoyioeds y JO MBIAISAO Z BULIM sBues y G91S suoleoddy 9g UoNoe 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 5 LCD Step 3 Smooth factor Rapid increasing or decre
80. pos_err and vel_fbf Fig 6 20 Other mathematical operations are same as the addition in the operation method The icon in the main function keys is as follows Fig 6 20 Math operation connected to Plot View 195 HIWIN MIKROSYSTEM CORP jenuey uopesado ay jnogy suoljeoioeds y JO MEIAIBAC Z sBules y BuIA dols Bulun 9 Buooys jqnoIL uoNoe Old Z suoieolddy g 6 jenuey uopesado ay ynogy 1 suoleoyioeds y JO MEIAISAC Z BULIM sBues y dols suoleoddy 9g UONde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 6 Tuning Fast Fourier Transform FFT Click TE in the main function keys area to open the window as shown in Fig 6 21 Select a physical value e g pos_err for implementation of FFT Click Run FFT to generate the transformed graph as shown in Fig 6 22 Users can click to cancel FTT The icons of the main function keys are shown below Implement FFT for a physical value BRI Cancel FFT Samples 456 928 pos_err z Neer Power 2 524 288 C Extend to Power2 9 961 472 steps C Extend to Power2 by zeros 9 961 472 steps C Extend to Power2 cycly 9 961 472 steps I Direct FFI 111 033 504 steps Run FFT toy Cancel steps Gx Fig 6 21 FFT settings 2 ee Tos a 0 oe r ad E Tg Fremery HD thisdi0il Ori FFTH pai mi
81. protection setting BOHL Both HW limits are active Both left and right hardware limits have been triggered 109 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy 1 suoleoioeds y JO MBIAISAO Z Bunooys jqnoJL BULIM IN n D 2 a O uogo9 0Jd Z Burun L 9 qg91S suoieoslddy g 6 Operation Manual for D2 Motor Drive System 4 Settings Default function setting Click the Set Default button to set all output functions to the factory default settings Click the OK LE button to display the Set Default Output States Configuration message window and then click OK to return to the factory default values Fig 4 33 O1 is the default value for the selection of all Errors options O2 is the In Position signal and CN2BRkK is the default value for the brake jenuey uopesado ay ynogy 1 N nO E The Chipeta Condfigarston willl ba 2 g O Select all emort D p S 9 aS D oo a fees leri himiri rert Pia A ca CELS PELE aan D Yn D O Fig 4 33 Output default values 5 U0 Table 4 3 D2 Drive Output default settings Specified signal input Inversion D Pin Signal L a Sleni ene Position mode Velocity mode encore 5 mode mode i 34 35 01 Servo Ready Servo Ready Servo Ready Servo Ready No 36 37 O2 Errors Errors Errors Errors
82. ratio scaling between the analog command and current for the force torque mode The unit shows the corresponding relationship of 1 V with the amp or between the Full PWM and the maximum amp value of the current A dead band can be set for the current command The current output will be 0 when the highest amp value of the current A dead band can be set for the current command This will be O when the input voltage or PWM is lower than this setting Please refer to the figure below Dead band The steps for setting the command input format on the LCD are described below Use the last setting screen from Step 1 above Press and hold the Down key to move to Page with LCD No 132 This is the page for selecting the command input format in the velocity and current modes Please refer to Note 1 for more information about LCD number 132 nuga Press the Enter key and set the required command input format Please refer to the parameter edit function in 5 2 3 2 for the setting method Press the Enter key to finish setting the command input format Press and hold the Up key to move to Page with LCD No 85 This is the page for selecting the current command ratio Please refer to Note 1 for more information about LCD number 85 Press the Enter key and set the required current command ratio Please refer to the parameter edit function in 5 2 3 2 for the setting method 172 HIWIN MIKROSYSTEM CORP Opera
83. resolution For example if the encoder resolution is 2um and the entered error value is 1pm the program will forcibly convert 262 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 9 Troubleshooting gt T 2 Ba 3i 9 Troubleshooting 3 N Mare E E E EENE OAOA T A O A E 263 S 9 1 Status indicators of the drive csccccccsccnnectccnsiesncscuaninanceccsesanesecchdbinsastcexdenns 264 gt a 9 2 Errors and warnings of the CMV rasses ess tsixecncesceerssnseinscsavceeenustardcentatcenss 265 D z 9 2 1 Status display area on Lightening HMI main screen 00 265 922 GD Stal Sers a A EE E E sence 266 9 2 3 Error and warning l09S sssesesneseeserereererrrrtererrrtrrterrrtrertrrtrrnrerene 267 9 3 Error codes and actions cciudarsancdanscceesxnmadadsiantaatiaetumenennearommaiedaneanens 270 a 9 3 1 Supplements to E03 PEBIG error elimination cccccceeeeees 272 9 3 2 Supplements to E11 PHINI error elimination ccccceeeeeee eee 272 9 4 Warning codes and actions ccceccccceeeee cece eeeeeeeeeeaeeeeeeesaeaeeeeeeaeaaeeeees 273 o 9 4 1 W03 HWLL and W04 HWRL supplementation cceceeeeees 274 9 4 2 WO9ACC L and W10VEL L supplementation ccccccceeeeeeeee ees 274 Q 9 5 Troubleshooting Of COMMON CINOMS wsacxsenscccscisieelewssiacertoonicasedstebvanativasaa sacs 276 oO O 0 O 3 q I o 3 S 00 gt 5 z P
84. s ccc2e ences ticoncnaedateexstedswndennctesnwacddeonanseeecuueeveccenoindddeas 16 2 5 Computer requirements scsiiccusutedcostadscseeadccusenesdvceexenecashe tmcdnadaedecectactinencts 17 SSNANIN eee e E E E E E a EE E E E 19 3 1 System configuration ANd WIFING cccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 20 3 1 1 Master wiring diagram sicscdarscccerascwticeincscheunaateoncceratatenteetuueessos 20 3 1 2 ONT power Connector nssesennerssenrrresrenrrrrssrrrrrrrnrrrrrserrrrrssereree 21 3 1 3 Motor wiring diagram scone ciccsponcetastiteneeintesecuntsonatennccceatanieceeismean ee 23 3 1 4 Regenerative resistor optional wiring diagram ccceeeeeee 23 3 1 5 CN2 brake CONMECION ccccdcarshcarssnanccetnansinGasereuiebccnmnittinaondetectaanmocestes 25 3 1 6 Mini USB communication CNS sd scccscleaceustinvoneantaxatertearnssnienitnceeas 28 317 CNG COMMECION nic cpitnncsstaentnimiachenmuteiensneeanctanmabinadeciantnaintneses 29 3 18 AGING COMMECUIOP ses cutacaniursontanastoducaebnivan casera kaamesesiuaneeant beaten EERE 31 3 2 D2 drive ACCESSONMES i os stedectetescsdacccsnnl sider tecenrsesenndededeacncuntadescbeveenedoteesdevtee 32 3 2 1 Motor power cable iiss ects aecccwiaerntin ah cdl cece eodataasunasncis 32 3 2 2 Feedback signal CADIS scssienceccetecccrcrecauspctesicexndncntanstetnaeeeacicapweseeboee 32 3 2 3 Control signal cable iis ce cca Miecgasnntarsccnncnta aceincenranctesnariarceacammninneren 32 3 2 4
85. sBules y BUUIMA dols Bulun 9 Bunooys jqnoJL suoleoddy g uogo old Z 6 Operation Manual for D2 Motor Drive System 6 Tuning 6 1 3 Basic common physical value Basic Variable List Physical value Description Feedback Position Feedback position Reference Position Position command Target Position Position Error Target position Position error Feedback Velocity Feedback velocity Reference Velocity Velocity command Velocity Error Reference Acceleration Velocity error Acceleration command Actual Current Analog Command Servo Voltage Percentage Actual current 31 Command Current Current command Voltage command from the host controller a1 Bus Voltage Line voltage Servo voltage SIN Analog Encoder Sine signal of an analog encoder COS Analog Encoder PWM Command Cosine signal of an analog encoder Torque force velocity command from the host controller Digital hall bits Amplifier Temperature Digital hall signal Temperature of the drive e No a T i 59 2 3 3 S N GO 0 o 22 O OQ 20 9 S S 9 30 OS O 40 ow co Ta wn o Q n ol E O O Soft Thermal Accumulator Temperature estimation of the software Input point 1 Input point 3 Input point 4 HIWIN MIKROSYSTEM CORP xi 3 Input point 7 o Input
86. the amp or between the Full PWM and the highest amp value of the current A dead band can be set for the current command This will be zero when the input voltage or PWM is lower than this setting Please refer to the figure below Dead band 4 Settings The steps for setting the command input format via HMI are described below mamm rien ee ee Bas k i E mr mi Bar eae a iommi m E rama sect Lt i es 126 HIWIN MIKROSYSTEM CORP In the mode operation page key in the required command input format from the Command Types as shown on the left In the mode operation page set the scaling between external command and current for requirement The unit shows the corresponding relationship of 1V with the amp or between the Full PWM and the highest amp value of the current as show a on the left figure Set the Dead Band for the current command as show b on the left figure Select Invert Command to invert voltage or PWM command for requirement as show c on the left figure Operation Manual for D2 Motor Drive System B araa 1 aes me Cart E s MNE ms kui Fel 4 esn Taga io i a Feii bay Beri arma oy hae E ecto Boum en RE m f BP om Bema a peer Loewe Tie a tera abai Sepa i wim His Iy aa iC ba imei p epg Dri aed pr Cas Ae LEEI es i F F kres Fer i 1 ia Fam Career E ima ee
87. the dialog box and read the possible cause and solution Q for the error Z5 3 0 59 S N Vo pe 38 oO a gt D wo j x 0 Q n oa T O J O z Z amp areenaan aoia artistry anette N Fig 9 7 Help tips window of the Errors and Warnings Log 3 g z 00 gt 5 8 P ie z 4 7 0 O Q 269 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy suoleoyioeds y JO MBIAISAO Z BULIM sBunles y G91S Bulun 9 suoleoddy 9g UONde 01d Z fe cS o iq n Dp fe e p gt Operation Manual for D2 Motor Drive System 9 Troubleshooting 9 3 Error codes and actions LCD error codes A three phase short circuit is detected 1 Disconnect the drive remove the UVW connector at the drive end and check whether the short circuit happens between Motor short over current E01 the UVW and ground The motor might be burned SHORT Errors Actions out if short circuit occurs aeleciod 2 Measure the motor UVW resistance to make sure it is close to the specifications The motor might be burned out if this resistance is much lower than the specifications 3 Separate the motor from the motor wire and use a multimeter to check the motor wire for shirt circuit 1 When the motor sustains a high load and operates E02 at a high speed this error may occur if the back OV
88. to 5 2 3 3 change of non numeric parameters for setting the operation modes Please refer to 5 2 3 1 SAVE TO FLASH for saving the parameters to flash Fig 5 15 Operation of MOTR SET 153 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy suoljeoioeds y JO MEIAISAO Z sBulyjes y BUUIM dols Bunooysejqnos UOND9 O1d J suoieosiddy g 6 Operation Manual for D2 Motor Drive System 5 LCD T 5 2 4 2 AUTOTUNE gt 5 The following operation shows the steps to select whether to execute the AUTOTUNE F setting Please refer to Fig 5 16 for an illustrated description of the procedure y D gt 5 0 5O 1 Press the Enter key to enter the AUTOTUNE option A solid flashing cursor appears on the left side of the second line 2 Press the Up or Down key to select whether to execute AUTOTUNE 3 The drive will execute AUTOTUNE when AUTOTUNE YES is selected and the Enter m 5 key pressed AUTOTUNE do not be executed if AUTOTUNE NO is selected HE nas apnea aa aeons Osa lt S g 7 S AUTOTUNE s E No 3 i AUTOTUNE D da r i l AUTOTUNE ae 5 ai 5 O O Fig 5 16 Operation of AUTOTUNE suoleoddy g UoNde 01d Z Bunooys jqnoJL 6 154 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 5 LCD 5 2 4 3 ENA DIS A gt The fo
89. uopesado ay ynogy W10 Check if the Speed Acc and Dec VELL values in the Motion Protection of Wo9 the Performance Center are set too ACC L low suoleoyioeds y JO MEIAISAO Z Method 1 Click TD which is Step 3 in the Auto Phase Center to reset the direction of the motor Method 2 Check Invert in the mode setting The motion direction of the motor 2 is opposite to the direction None defined by the customer BULIM Open the Conf Tune Error Map window to confirm the followings 1 Confirm that the Error map enable has been checked Refer to 8 3 2 for more information 2 Confirm that the Home action has been performed or homing signal has been set in Input sbunes y 3 Enable the Error Map None dols 1 Use Quick View or Scope to confirm that Target Position has received the input pulse signal 2 Confirm that the pulse signal cable is not disconnected or no poor contact is identified None 3 Confirm that the signal OV is connected to the shield or ground 4 Confirm that the drive and machine are well grounded 5 A core can be mounted to the pulse cable as a filter if needed Bulun 9 The motor moves by itself after enabled 1 Confirm that the unit is correct 2 Confirm that the speed or acceleration is set to 0 3 Confirm whether the SW limit has been enabled If yes check that the Upper or Lower limit is set correctly 4 Push the move
90. value of the drive will not be affected by the invert output setting Output function setting Every output port 01 04 has a corresponding Configure Setting button Click the Configure O1 _Ses 1 button to open the Configuration Setting window This menu provides categories for Statuses Errors and Warnings Fig 4 32 If users selects two or more items in the same configuration the output function works when one of the items is triggered Users can click the Not Configured button to cancel all checked options After selecting the desired function users needs to click Apply __ _ to save the settings or click Cancel __ to discard any changes As for the Set all errors _ button in the Errors category it is recommended to use this button to quickly select all errors This is helpful for users to finish the settings more quickly 108 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 4 Settings carburetor of OY elajn The PAE migra represent Loge OF of Selected Citat Deye j m zy whet Set eres f Lea SN me v Jarn Ream Oe wispa t r Rag owe As Dadi Pusta enu ks bO r utum r e bre oaee Hrer gre heey Lew ines T Gall phery Preahet weached M Seno Wattage Mz Hame Ure may I Jawed O Pata Ery Warning Emad iia T Appife we erpa M Voch Deer Were dere Bowe 2 Owtectod Wate orer nape at
91. wo 3 n Q er er mup B brii faii L fuiteh se cenemdiore Ti E M inpr Bene Essar E H Deit d t Lamja ihedicl E deft 4 5 Limit ujiaik to H bultab t sptedlase ale a T Guduah is teteedae ede Clase Prrer a Cheer rpar G Bight Lika Bedesh j E igba gt Liamis Beiack n External signal is triggered and the motor stops O O j ie N U l 2 2 00 gt O 2 D n 4 fa T D n O gt O le Q 101 HIWIN MIKROSYSTEM CORP enuey uopesado ay ynogy suoleoyioeds y JO MEIAIBAC Z BULIM sBumes py dols Bulun 9 suoleoddy 9g uoNde 01d Z Bunooys jqnoIL 6 Operation Manual for D2 Motor Drive System 4 Settings Input Function Switch to Secondary VPG Operation mode Pos Vel Trq Std Default Input Circuit Symbol JSEL Na None diagram Refer to 3 5 2 Function description This enables users to switch between velocity loop gains Instructions for use Users can set the input function in the Schedule Gains vpg tab in Advanced gains as shown in the figure below Soretced Gars eter Ong k amp 10 Seconcay eg Coy Rom Remar Ce dus jIz6e Cop toe neman vp9 Secor sar CG v iamnm When the input point State is on Secondary vpg is used When off Primary vpg is used HIWIN MIKROSYSTEM CORP 102 Operation Manua
92. 1 Mode selection The steps for selecting of force torque mode via HMI are described below 4 Settings Execute the Lightening HMI program Click the Configuration Center icon as shown on the left in the main function tool bar of the main HMI window or select the Configuration Center option from Conf Tune in the function menu In the Configuration Center select the Mode tab as show on the left figure D Perio Becks D a iaa DO Banja is C PA oo PAU ie D mt Cerra Bg i ae Cea fant E T In the mode operation page select Force Torque Mode as show on the left figure HIWIN MIKROSYSTEM CORP 125 enuen uogeiado y jnogy 4 suoneaoads y JO M IM AQ Z BunIM A 09 D a a dols Bulun 9 Bulooysejqnol suoieoddy 8 uondalold Z 6 enuen uogeiado y jnogy 4 SUOI EOIJINAdS y JO MEIAIBAO Z BunIM D dp Oo N do1s Bulun 9 suoieoddy g uondel0ld Z Buljooysejqnol 6 Operation Manual for D2 Motor Drive System Step 2 Setting the command input format The force mode is another application of the host controller that can send analog commands or PWM commands Only the Scaling between the external command and current has to be set for the force torque mode The unit shows the corresponding relationship of 1 V with
93. 2 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 7 Protection p Minime pos error ALJA Piit ny wince Pornon emir 1110F Makei sitor 1 e M anshi aw irrst Mabo Pradeti Bpewd b 55I faunis I die Dee cymi Dar i iffife l tauni Dec a E ieii count Display only Cannot be j mayin tector 1AA l modified B nm iM E E A ia I iow Re E Lach Agina Sve bere ui erro gt Laich neta erage ama Fig 7 2 In the Motion Protection area Fig 7 2 you can set the maximum velocity acceleration and deceleration for motion Click Position Unit to set units according to userss preference These settings are used in motion protection and the parameter for the testing run Therefore users must confirm whether Motion Protection is set in accordance with users s settings after using P2P Relative Move JOG and other motion functions in the Performance Center When using the host controller to send motion commands i e operating in the Position Mode Velocity Mode or Force Torque Mode it is strongly suggested that users set Acc and Dec to 10 times the value of expected acceleration or deceleration to avoid the restriction of motion protection If you ignore the action and use the host controller to send motion commands the expected acceleration or deceleration may be not reached 7 1 2 Cancelation of velocity acceleration and deceleration limits jenuey uopesado ay ynogy 1 suoljeoioeds y JO
94. 260 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 8 Applications 8 3 2 Activation of Error Map After completing setting the aforesaid Error Map parameter will have the ability to Error Map the drive as long as motor homing is completed drive activates Error Map immediately There are two ways for the D2 drive to complete homing Homing in conjunction with the host controller First Set the Home OK and Start err map input functions at I O Set test Fig 8 19 Take I2 input in the following figure is an example The setting is shown in Fig 8 19 After the host controller sends the motion commands to the drive via the pulse or voltage commands to move the motor to the home and stop motion The host controller should send signals to I2 via the digital control output If the drive receives the signal which means homing is completed and Error Map is activated AHIS Enable le Hone OF ctart err map la Hot Configured Right Limit Switeh Hot Configured Left Limit Switch Mot Configured Hot Configured Hot Configured ee eee ee xj zj gt 2j ps S Fig 8 19 Host controller sending signals to notify of homing completion and Activation of Error Map Stand Alone homing Open the Performance Center window to run homing fy Mme After homing is completed the Error Map will be activated automatically How to confirm whether the Error Map is activated Any time users wants to confirm whether Er
95. 2X1 FRMS752X1 FRMS202X5 FRMS402X5 FRMS752X5 FRMM series FRMM1K2X1 FRMM1K2X5 FRLS series FRLSO5XX3 FRLS10XX3 FRLS201X3 FRLS202X3 FRLS401X3 FRLS402X3 FRMS201X3 FRMS202X3 FRMS401X3 FRMS402X3 FRMS752X3 FRLS series 13 bit Incremental 10 000 counts rev 17 bit Incremental 131 072 counts rev FRMS series FRMM series FRMM1K2X3 70 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 4 2 2 2 Customized digital incremental encoder 4 Settings If the resolution for a customized encoder e g digital rotary encoder needs to be set open Rotary and select Customized Rotary Digital Enter the resolution parameters according to the specifications of the encoder In the Encoder Resolution field shown in Fig 4 15 enter the total number of encoder position signals after one revolution of the motor The unit is counts rev The software will automatically calculate the Linear Resolution according to the screw pitch and the resolution of the encoder The unit is um counts kimi tebe AC dere Caw npa Gr EJ bearri Briar Eegi Ej mp Eesi Bear Lmar Armm B1 Vi iiio an E ies miiiay rdim T m Lie baad eee ising Eminjo r E al i Desir Eshi lir Br Le ae j ia mecodw cous i omise HUU Pesme Tree G D Ede Gi 8 reig irri Emini PiN Ugi brami Deiet ie pe r i mre om as Fig 4 15 Custo
96. 3 1 6 1 Mini USB communication wiring diagram jenuey uopesado ay ynogy 1 Refer to HIWIN with a USB 2 0 Type A to mini B 5 pin 1 8M cable suoleoyioeds y JO MEIAISAC Z D2 Series drive USB serial sBues y dols Bulunl 9 suoleoddy g UONde 01d Z Bunooys jqnoJL 6 28 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 3 1 7 CN6 connector Pin I Pin26 Pin50 SCSI 50PIN Female Pin25 Fig 3 16 HIWIN MIKROSYSTEM CORP 3 Wiring 29 SCSI 50PIN Male jenueny uopesado y ynogy 1 suoleoioeds y JO MEIAIBAC Z sBules y dols yBulun 9 Bunooys jqnoJL suoleoddy g uonde 01d Z 6 jenuey uopesado ay ynogy 1 suoleoyioeds y JO MBIAISAO Z sBues y G91S Bulun 9 suoleoddy 9g UONde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 3 1 7 1 CN6 pin definition Table 3 2 Pin Signal Function 1 CWL Low speed 500 Kpps pulse command 3 CWL Channel 1 Pulse CW A phase 4 CWL 2 CCWL Low speed 500Kpps pulse command 5 CCWL Channel 2 Dir CCW B phase 6 CCWL 13 SG Digital signal ground reference 21 A 22 A 48 B Output pulse of feedback buffered encoder or emulated 49 B encoder RS422 23 Z 24 IZ 25 SG Digi
97. 4 1 Data retrieval Data Coll CliOn crisicieccicccssscsiaiiaacieossixinacsioaacsctesnises 186 Plot VIEW sic sctexpussuasancasquasenceinnnnntd eTEN AEAEE EEEE EOR 187 6 5 1 Graphical display mode ye scccaacceccetancknariieaindenatnneseacavedecensathtioimdsavetens 188 6 5 2 Save read WSS vi occdeccdintictndtnanneticteunmcedecdideed hn esadadabncateacunceadebaeneceds 193 6 5 3 Mathematical operation Math ccccceceeeceeeeeeeeeeeeeeeeeeeeeeeaeees 194 Advanced Gains tuning Advanced Gains ccceeeeeeeeeeeeeeeeeeeeeees 197 661 FAUST ca uneectrnrteterearene esate ER 198 6 6 2 Acceleration feedforward Acc feedforward c ceeeeeeeeeeeeeees 201 6 6 3 Schedule gains and velocity loop gain Schedule Gains vpg 205 6 6 4 Analog input vesarscde tel cscceccnacdceddd one nsnaneeeces evenetonssesosaededavenennnadeeeaceece 208 6 6 5 U1 211 2 6 Seen eee De Se See een ne Ree Per EERE AP Ee ace ee ae one 209 6 6 6 Vibration suppression filter VSF cccecceecceeeeeeeeeeeeeeeeeeeeeeaeees 210 KROSYSTEM CORP Operation Manual for D2 Motor Drive System Table of Contents 6 6 7 Friction compensation a ccccdiscvendssiivaiviradibdvienicdnsialniddoiiuxadeasadaieanven 211 6 7 Encoder signal confirmation ocneaccescctncssandisdasssanathihetiencinascataciannsiveinieeians 215 6 7 1 Encoder signal confirmation function scciscrtsiicatetinnnnocdsrticeraananeearerss 215 6 7 2 Encoder reading confirmation scceitcisccss
98. 4 1 Data retrieval Data Collection ccccceccceceeeeeeeeeeeeeeeeeeaeaeeeeeees 186 NOE VAY oq sauncres atsunsnbup rereana a a aE Aa aa Ee aeae T ERA 187 6 5 1 Graphical display mode c2cssesace2e dexnccetedtdadecdeeiecndagecebestedenceiedbiaxareds 188 05 2 Savelread MNCS casicdsecnictceturcanaernicannnttaaenadadtaa E EE 193 6 5 3 Mathematical operation Math csiimncatinsnsetSuxincddensantertauaeserceedsens 194 Advanced gains tuning Advanced Gains cceeeeeeeeeeeeeeeseeeeeees 197 60601 Fiker enone eese ea eaea ERE aa e EENS a Eaa EEEE EREE Sine 198 6 6 2 Acceleration feedforward Acc Feedforward ccccceeeeeeeeeeeees 201 6 6 3 Schedule gains and velocity loop gain Schedule Gains vpg 205 6 6 4 Analog MpUt acacia ein ewer E EEE ERENER 208 6 6 5 Current 2 6 6 sreci iandike aiea ope eee nes ANE 209 6 6 6 Vibration suppression filter VSF sisccccceasctvstexsentacsveishieiieteacceation 210 6 6 7 Friction compensation wisi ciscsctadidatvinseraiuniedeaciadendsneriddiaaviaasbaietinadvins 211 Encoder signal confirmation Saccec coxesinmsaareccaassamnntbountandecienesaustombeancaaaasansnts 215 6 7 1 Encoder signal confirmation function s esesseeeeeeesestrrrrrerereeeeee n 215 6 7 2 Encoder reading confirmation ccccccccceccseeeeeseeeeeeeeeeeeseeeneees 215 6 7 3 Index signal confirmation cccccccceeeeceeeeeeeeeeeeeeeeeeeeeeeeaeeneneees 215 GOD keelne 1o e E E 216 6 8
99. 4 in the ninth digit of the model number and with motors that have 3 in the ninth digit of the model number such as the drive D2 0423 S B 4 and motor FRLS4020306A Miris Mrr rarai Fhap ma gizda cr EN matha 3 M iara a Fig 4 28 Auto phase center screen SW method 3 82 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 4 Settings 4 3 2 Pre operation for auto phase initialization Confirm the connection to the motor is correct Confirm the encoder signal is correct Confirm the drive can receive the hardware excitation signal Hardware Enable Confirm if the motor overheat signal is connected Confirm the AC mains power has been turned on 83 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy suoljeoioeds y JO MBIAISAO Z BULIM iN n D 2 a O dols Bulun 9 Bunooys jqnoJL suoleoddy g uonde 01d Z 6 enuen uogeiado y jnogy suoneaIoads y JO M IM AQ Z BunIM N 9 gt a Ke o dols Bulun 9 suoieaddy g uondel0ld Z Bunooysesqnol 6 Operation Manual for D2 Motor Drive System 4 Settings 4 3 3 Auto phase initialization setup procedure 4 3 3 1 SW method 4 Pus matics mcd TV morhed 4 Phase riliiior myi FU ahad d E ELUEA Ta rihl Moe gin Lng paaa ghici A mei ia fae bom hard sop WPa peana praan fhe bution of jag d TEA pihini proceed Aia tuning
100. 6 10 seconds click 1 If J is clicked again the zoom in segment S within 7 9 seconds will be displayed Regardless of how many times you zoom in use X to display the original graph Fig 6 13 N nO S 5 9 pg 4 gt wo 3 KR wn QD n oa aa 2 de 1 7iG Fig 6 12 Plot view introduction D fy HETA FANS Motion Dycema Flot view Veo BAT Emere 99x ERTU S Amr E suoleoddy 9g UONde 01d Z Bunooys jqnoJL 6 Fig 6 13 Plot view introduction E 190 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 6 Tuning Zoon in out on the Y axis To zoom in on the Y axis press and hold the Ctrl X and left keys to move the red solid line or the Ctrl X and right keys to move the red dashed line to select a suitable segment Fig 6 14 Then click L at the upper right corner of the screen to enlarge the graph within the selected segment on the Y axis Fig 6 15 If the values on the Y axis in the graphical frame are locked and shows red the vertical display range will not be dynamically adjusted when you drag the horizontal scroll bar Fig 6 15 If you click the E icon at the upper right corner of the screen the original graph on the Y axis before the zoom in will be displayed Refer to Fig 6 16 for the illustrated description CLEA Ii a 2 S S8Bste lmer e Fig 6 15 Plot view introduction G 191 HIWIN MIKROSYSTEM CORP jenuey
101. 6 SOMA WGI WAN eactccetstinaecncicectentcaqansasadncennchaieiionstenuldentdneagicds dseatdeactibaaunarceeeeee 240 1 6 1 PURCUONM OVEIVIEW ccceciccctaanvicgarcntauinenteaatecamxtcsaase Eureca aiia 240 7 7 Drive overheat protection iutsos20005 c02cstsetenoncnsdsocqnomnavanoesderhtremmmnntidnenqnannre 241 7 7 1 Function Overview cccceeccccseeceecseeceeseuscecsausecseuseessueeeseseessaaess 241 7 8 Drive overvoltage protection regen reSiStOr cseeeeeeeeeeeeeeeeeeeeees 242 81 FUNCION OVEIMEW siszannsucsccsanrsreinomantereriaroonaaeesadactaniianieunmidasetinniece 242 231 HIWIN MIKROSYSTEM CORP jenuey uopesado y ynogy 1 suoleoioeds y JO MBIAISAO Z Bunooys jqnoJL sBules y BUUIM dols Bulun 9 suoneaiddy gl oaao 7 6 jenuey uopesado ay ynogy 1 suoleoyioeds y JO MBIAISAO Z BULIM sBumes y G91S Bulun 9 suoneoddy gl Ueiecre 7 Operation Manual for D2 Motor Drive System 7 Protection 7 1 Motion protection 7 1 1 Function overview It is mainly for restricting or designating the maximum velocity maximum acceleration deceleration and emergency stop deceleration of motor output in motor motion When the host controller is used the protection function will be activated and the motion features will be restricted within the set limit value if the responding velocity and acceleration of the pulse or voltage commands sent
102. 78 Copy rom Primary wg 205 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy 1 suoleoioeds y JO MBIAISAO Z BULIM sBuljas y q91S suoleoddy g uonoe 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 6 Tuning B Velocity loop gain vpg gt The velocity loop gain vpg is an internal control parameter of the D2 drive The default 9 value is computed by using theparameters user defined in the Configuration Center Modification of vpg is not needed in general condition but User can use the Freq E a analyzer to adjust its value The steps are as below p 3 S N DO 23 gs 82 oO a 3 Click the button on the page as oo 1 shown in Fig 7 30 Then following screen a appears aN ep 5 n a Click the 5m e T 2 button w O z Q Click the M s button to activate the F frequency analyzer T Motor vibrates from LF 3 to HF you may head z the HF sound at the z end Then a frequency So response diagram 8 appears on the screen n 4 a o D n O y O Q 206 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System a Dja wep DOUI TESIS a eS iii f Acquired from auto nokia ee mputation Cursor line 4 w A i l rE hate etke H mg im serge tk 25 an Frequency response bode dianram Si
103. 8 voltage Operating frequency DC to 60Hz Rated current 7A 50 C 7 7A 40 C Drive power rating 4 KW Current leakage 400V AC 50Hz acai Surge pulse protection 2kV IEC61000 4 5 36 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 3 Wiring 3 4 Multiple drive connection example Note Do not use the drive power connector for parallel connection with other drives jenuey uopesado ay ynogy 1 suoljeoyioeds y JO MEIAIBAC Z sBulles y dols W5ulun L 9 Fig 3 20 suoleoddy g uonde 01d Z Buooys jqnoIL 6 37 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 3 Wiring 3 4 1 Selection of no fuse breakers NFBs Fig 3 4 Rated current of the D2 Series drives D2 0123 O AU D2 0423 O BU enuen uo esado y jnogy 1 D2 1023 0 CO 7 5 N GO l 2 When NFB is used for motor shunts the rated capacitance is usually 1 5 2 5 times the 3 rated current of the motor The selection is described below fe 9 One motor Is Cxl z Two or more motors that are started one at a time la i Ela lnmax K Casax Inmax Two or more motors that are started simultaneously la C1lay C2la CNiin Note lp NFB rated current value o la Motor rated current value 5 INvax The maximum rated current value among different motors specifications C Multiple of the rated cur
104. CG These parameters can be used for gain tuning to emulate the stability of the system after the tuning Fig 6 46 ies i 1 Lit ER EE EA E A A HE E a A HH d il i 7 Be eee ee ee Oh ae a TT M a a aaa E abal piji H ij ka h sann ae ESE h TITA E Y Phasa T phe F Mih Hoia j Eavan Hant madaat Fig 6 46 Loop constructor gains 225 HIWIN MIKROSYSTEM CORP enuey uojesedoO ay ynogy 1 suoljeoioeds y JO MEIAIBAC Z Buooys jqnoIL BUUIM sbulljes y suoieolddy g 6 jenuey uopesado ay ynogy 1 suoleoyioeds y JO MBIAISAO Z BULIM sBunes y G91S suoleoddy g UONde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 6 Tuning 6 8 4 1 Velocity loop vpg is the proportional gain and vig is the integral gain Both are the gains for the velocity loop 1 vpg Adjustment of the vpg value many affect the transient response of the velocity loop and increase its bandwidth 2 vig Adjustment of the vig value may affect the steady state error of the velocity loop and excessive adjustment may affect the stability of the system 6 8 4 2 Position loop ppg is the proportional gain for the position loop 1 ppg Adjustment of the vpg value many affect the transient response of the position loop and increase its bandwidth 226 HIWIN
105. D2 Motor Drive System 4 Settings 4 3 Auto phase center 4 3 1 Mode overview 4 3 1 1 SM mode The SM mode has an open loop control structure and the motor operates like a stepping motor In this mode it can be confirmed if the force direction of the motor is consistent with the feedback reading direction of the position encoder or if the encoder settings are correct If the force direction of the motor and the position encoder are set incorrectly or if the output direction is not consistent with the feedback reading direction of the position encoder then subsequent phase initialization may fail 4 3 1 2 Phase initialization Drive that use an incremental position encoder must undergo the motor angle searching process known as phase initialization when powered on for the first time HIWIN linear servo motors can find the motor angle successfully when the drive is started and excited for the first time almost no movement is needed for the motor to find the angle Hall sensors are also a commonly used means of phase initialization 4 3 1 3 Methods overview Click in the main function tool bar to open the auto phase center The drive provides the following four phase initialization methods SW method 4 This mode features a hall sensor built in with the wire saving incremental encoder No additional wiring is needed for a successful phase initialization and the motor will not shudder during the initialization process This metho
106. EM CORP Operation Manual for D2 Motor Drive System 4 Settings Step 3 Electronic gear setting The electronic gear can be set in the pulse mode One input pulse normally corresponds to one encoder count For example the gear ratio is 2 3 means two input pulses correspond to three encoder counts Total of four sets electronic gear radio can be set They can be switched using two I Os DIV1 and DIV2 They can be switched using two I Os DIV1 and DIV2 The steps for setting the electronic gear ratio via HMI are described below In the Mode operation page set the electronic gear radio on Electronic __ Gear for the requirement as show a on the left figure In the Mode operation page select the pulse command invert on Invert Command for the requirement as show b on the left figure on In the Mode operation Sorte page depending on the hardware wiring method 3 select high low command pulse input on Hardware d Interface as show c on e ae the left figure After finishing all the setting click the OK button as show on the left figure Comte baam rej Been emai Tate oleae an The parameter anija cme aner confirmation screen 5 reece appear click the Send to tram RAM as show on the left ai a ots figure Biiik z YEDE inmi ipa ipar pet a nin oe PT oe aa ee E Pia Hom ee ee Tsa Epa bal 1 Click the Save to Flash an button in th
107. ERY _ electromotive force exceeds the voltage limit A regen resistor can be used to solve this problem and the selected regen resistor must conform to the load and motion specifications The position error is bigger than the maximum pos error value defined in the Motion Protection 1 The gain is tuned inappropriately 2 Confirm that Application center gt Protection gt gt maximum pos error is set appropriately Refer to 9 3 1 for more information 3 The motion of the motor is obstructed E03 PEBIG Over voltage detected 4 Check the position feedback reader and make sure it displays normally 5 Check the linear scale and make sure it is clean 6 Check if the load is too high 7 The guideway has not been maintained for a long time 8 The cable trays are too tight 9 W05 SVBIG happens continuously before E03 occurs Encoder signal error 1 Digital encoder AB phase sequence error 2 Analog encoder The sinusoidal signal is too low when the motor is not in motion 1 When a Renishaw optical position feedback device is used make sure that the reader lights green If not check if the 5V power and signal cables are loose or in a short circuit state If the reader lights red adjust the reader gap of the encoder Make sure that the scale is E04 clean and all connectors of the encoder are connected Encoder error ENCOD _ firmly a Check that the encoder is wired correctly 2 The error may be brought about
108. HAL E 14 E14PHERR Table 5 4 Description of warning codes 1 WO01SWLL Left SW limit 2 WO02SWRL Right SW limit 3 WO3HWLL Left HW limit 4 WO4HWRL Right HW limit 5 WOSSVBIG Servo voltage big 6 WO6PE Position error warning 7 WO07VE Velocity error warning 8 WO8CUR L Current limited 9 WO9ACC L Acceleration limited 10 W10VEL L Velocity limited 11 W11BOTH Both HW limits are active 12 W1212T I2T warning HIWIN MIKROSYSTEM CORP 136 Operation Manual for D2 Motor Drive System 5 LCD Mn Fig 5 4 Operation of the status display mode Press on the home page to enter the servo status display then press the Up or Down key to change the status to be displayed Please refer to Fig 5 4 for an illustrated S description of the procedure For example the phase initialization is not completed when PHAS INI shows OFF or the initialization is completed when it shows ON D a 28 Loni T RSS rae ne men mT a LEVEL ONE LEVEL TWO a I I Io d HO i I Phase 2 5 oA initialization F I Q g j I status If SS l 1 I as I i l i I i I l l S EE MOVING Motor is i I i oN moving 2 status i A 1 nD 2 l G Homing is C ao completed i m n status i i O I M i i ERR MAP Error i oi mapping status l I i I j suoleo
109. HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 6 Tuning 6 7 Encoder signal confirmation The encoder plays an important role in the servo motor control It provides the drive with the position or angle information to ensure the servo loop control In D2 drives the functionality of the encoder output signal can be checked via the HM interface 6 7 1 Encoder signal confirmation function Click on the Performance Center screen or select Tools gt Encoder test tune in the function menu to open the function window and check the reading or signal of the encoder for anomalies The function window is shown in Fig 6 35 Fig 6 35 Digital encoder 6 7 2 Encoder reading confirmation The signal of the digital encoder is comprised of two digital pulses with a phase difference of 90 Users of the D2 drive can use this function to check the encoder for correct readings by for example rotating at a given angle and confirming whether the position reading is same as the angle value 6 7 3 Index signal confirmation jenuey uopesado ay ynogy 1 suoljeoioeds y JO MBIAISAO Z The Index lamp in 7 33 can be used to confirm the reception of the Z phase signal It flashes green once when the drive reads the Z phase signal 215 HIWIN MIKROSYSTEM CORP sBules y BULIM 91S Bunooys jqnoJL suoleoddy g uonde 01d Z 6 jenuey uopesado ay ynogy 1 suoleoyioeds y
110. Hz The maximum sampling frequency is 15000Hz If too many data are collected early finish of the collection may happen due to the limit of the bandwidth Users can reduce the number of the physical values to be collected to solve this problem dt is the sampling time Samples dt is the total collection time of the data Users can increase the total collection time by increasing the Samples 4 The internal variables corresponding to the physical values of the collected data 186 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 6 Tuning 6 5 Plot view The Plot View is a function of the Data Collection It allows graphs can be drawn based z on the data collected in the Data Collection and provides powerful analysis function for different measurements and operations There are 4 areas function menu area main 3 D function key area physical value display area graphical frame area and a timeline aS scroll bar in the Plot View as shown in Fig 6 9 3 5 Function menu E MEG A FALE Motion Systema Flat vie cores g9 3 ome 5 h as oO Physical value w display area Z KR wn 2 Q n hatanata 07 0150 Graphical frame Time trac a area 2 Fig 6 9 Plot view introduction A suolesddy g uogo old Z Bunooys jqnoJL 6 187 HIWIN MIKROSYSTEM CORP enuen uo esado y jnogy 1 suoneaoads y JO M IN AQ Z BULIM sBues y
111. IKROSYSTEM CORP Operation Manual for D2 Motor Drive System D How to Update the Firmware of the Drive The firmware is updated in the Upgrade Downgrade firmware window according to the following steps Left click the firmware version to the updated and highlight it with white letters on a blue background Click File at the left corner of the window and select Update selected firmware to amplifier to open a dialog box Fig D 3 Click OK to open the Auto load programs window The firmware will be loaded in the drive automatically Fig D 4 Do You want to update the amplifier by firruare verion in CAmega fabri dee db frnd yver 0 025 in Warling Directory freeware version 0025 d3 Test if PDL naad complilation Ho need FOL compilation Go to hoot mode m Addreses BOS20088 Write 24398 words 293 HIWIN MIKROSYSTEM CORP HIWIN Motion Control and System Technology HIWIN MIKROSYSTEM CORP No 6 Jingke Central Rd Taichung Precision Machinery Park Taichung 40852 Taiwan Tel 886 4 23550110 Fax 886 4 23550123 www hiwinmikro com tw business dhiwinmikro com tw BSI a BSle BSle 3 ISO 9001 ISO 14001 OHSAS 18001 N FM57748 EMS61827 OHS568853 pe 2013 FORM DO1UE01 1310 3 gy j CAA US TINAN EXCELLENCE
112. JL suoleoddy g uonde 01d Z 6 jenuey uopesado ay ynogy 1 suoleoyioeds y JO MBIAISAO Z BULIM gt ie D Co n G91S Bulun 9 suoleoddy 9g UONde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 4 Settings 4 2 2 1 Digital incremental encoder If a HIWIN series AC servo motor is used simply clients just need to select the motor model name The program will create a automatically link to the encoder parameters applicable to the motor no other encoder settings are required For HIWIN motors which its ninth digit of the model is 1 or 5 means that the motor uses a 13 bit digital incremental rotary encoder with a resolution of 10 000 count rev The ninth digit of the model is 3 means that the motor uses a 17 bit digital incremental rotary encoder with a resolution of 131 072 count rev If the resolution parameter needs to be set for a customized digital incremental rotary encoder please refer to Section 4 2 2 2 Table 4 1 shows the digital rotary encoders that can be used with HIWIN AC servo motors FRAC FRLS FRMS and FRMM series Table 4 1 AC servo motor model Count rev FRACXX1011 FRACXX1022 FRACXX2011 FRAC series FRACXX2022 FRACXX4011 FRACXX4022 FRACXX7522 FRLSO5XX1 FRLS10XX1 FRLS201X1 FRLS202X1 FRLS401X1 FRLS402X1 FRLSO5XX5 FRLS10XX5 FRLS202X5 FRLS402X5 FRMS201X1 FRMS202X1 FRMS401X1 FRMS series FRMS40
113. KROSYSTEM CORP suoleoioeds y JO MBIAISAO Z jenuey uopesado ay ynogy 1 BULIM sBuljas y Bunooys jqnoJL dols Bulunl 9 suoieaddy gl teiecre 7 6 jenuey uopesado ay ynogy 1 suoleoyioeds y JO MBIAISAO Z BULIM sBumes y G91S Bulun 9 suoeoddy gl Ueiscre 7 Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 7 Protection 7 6 Soft Thermal 7 6 1 Function overview The D2 series drive also has the software to estimate the motor temperature in addition to the motor over temperature protection The current output is used to calculate the motor power that is used to estimate the motor temperature When reaching the drive default value the drive will send error messages Error Soft thermal threshold reached begin the emergency stop procedure and disabled Select Soft thermal Accumulator in the Quick View to see the current estimated motor temperature 240 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 7 Protection 7 7 Drive over temperature protection 7 1 1 Function overview The D2 series drive has a protection function to detect drive ove temperature When the drive temperature reaches 80 C an error message will appears Error Amplifier over temperature and the motor stops running Select Amplifier Temperature in the Quick View to see the current drive temperature 241 HIWIN MIKR
114. M CORP Operation Manual for D2 Motor Drive System C Parameter Comparison Function C 1 Compare parameter RAM to flash The Compare parameter RAM to flash window pops up Fig C 1 when users changes the motor parameters in the Lightening program and exits the program before saving them to the flash memory of the drive or when users performs the Error Map and does not save the parameters in the flash memory Refer to 8 3 3 This window is used to remind users that some parameters have been changed and not saved to the flash memory yet Compare parameters RAM to FLASH 2 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 Fig C 1 An advanced comparison window will be opened when users clicks the Details button Users can see the different parameter settings Fig C 2 and Fig C 3 between the RAM and the flash memory in this window The different parameter is indicated with blue color The following two states are displayed in the Flash value column The value stored in the flash memory is same as that in the RAM Sk gt The parameter has performed Undo and the value in the RAM has been change to a parameter value in the flash memory Fig C 3 288 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System C Parameter Comparison Function a Compare RAM to fash ver O05 0 2 i OL wn
115. MBIAISAO Z BULIM sBuljas y In the Position Mode the velocity acceleration and deceleration fields in the Motion Protection of the Performance Center will be greyed out to show that the velocity acceleration and deceleration are cancelled when the Smooth Factor is set to 0 At this time the motor moves completely according to the pulse command of route planning from the host controller and users can decide whether to cancel the drive limit function based on needs 7 1 4 Applicability of emergency stop deceleration Dec kill The emergency stop deceleration Dec kill will be activated in the following situations In the Position and Velocity Mode the rotating motor will stop emergently at Dec kill deceleration when being disabled After users chooses P2P and Relative Move motion on the Performance Center tab and presses Stop Motion After home is found during homing procedure When the JOG motion stops Dec kill is used for high deceleration Thus it is suggested using the maximum capacity of the motor to set Dec kill The formula is described as follows Peak current min motor peak current drive peak current Linear Dec kill peak current x force constant Total mass of a moving objects Rotation Dec kill peak current x torque constant load inertia 233 HIWIN MIKROSYSTEM CORP Bunooys jqnoJL dols Bulun 9 suoneaddy gl orsa 7 6 jenuey uopesado ay ynog
116. MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 6 Tuning 6 8 5 Spectrum analysis Loop constructor provides gain margin phase margin and bandwidth settings for the velocity and position loops These parameters can be used for gain tuning to emulate the stability of the system after the tuning In Fig 6 47 P margin means phase margin and G margin means gain margin ig Lep taazircho D ese x p he eH tT oon i se EEEN BEL E C 4 CSc Co Co ONT Fig 6 47 Loop constructor P margin and G margin 227 HIWIN MIKROSYSTEM CORP enuey uojesedoO ay ynogy 1 suoljeoioeds y JO MEIAIBAC Z BUUIM sbulljes y suoieolddy g Buooys jqnoIL 6 jenuey uopesado ay ynogy 1 suoleoyioeds y JO MBIAISAO Z BULIM sBunes y G91S suoleoddy 9g UONde 01d Z Bunooys jqnoIL 6 Operation Manual for D2 Motor Drive System 6 Tuning 6 8 5 1 Gain margin and phase margin of Nyquist The gain margin is the loop gains db that can be added before the close loop system becomes unsteady The phase margin is the amount of the phase delay that can be added before the close loop system becomes unsteady Gain margin The relative distance from the intersection of Nyquist with the negative real axis to the 1 j0 point is represented by Gi j and p stands for the frequency at the phase crossover Fig
117. No T 38 39 O03 In Position In Position No g 10 11 04 Zero Speed Zero Speed Zero Speed Zero Speed No ie Detected Detected Detected Detected O gol CN2 S 2 BRK Brake Brake Brake Brake No n a 2 a 3 Q9 5 110 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 4 Settings Input Function Zero Speed Detected Operation mode Pos Vel Trq Std Default Input Circuit Symbol ZSPD No 04 diagram Refer to 3 5 3 Function description The signal is outputted when the motor speed is approaching zero Instructions for use The speed approaching zero means that the movement speed of the motor is lower than the threshold value set by the vel_stop parameter This function provides a 12 rpm delay to avoid ZSPD output signal bouncing For more information about vel_ stop please refer to 7 3 2 under 7 3 Brake output speed 111 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy 1 suoljeoioeds y JO MBIAISAO Z BULIM gt ie A a 7 dols Bulun 9 Bunooys jqnoJL suoleoddy g uogo old Z 6 enuey uopesado y ynogy 1 suoleoyioeds y JO MEIAISAO Z BULIM iN op D 5 O dols Bulun 9 suoleoddy g UoNde 01d Z Bunooys jqnoIL 6 Operation Manual for D2 Motor Drive System 4 Settings Input Errors Operation mode
118. Note The exciting signal of the host controller needs to be triggered for this step jenuey uopesado ay ynogy 1 suoljeoioeds y JO MBIAISAO Z BULIM aN n D a 5 Co a qg91S Bulun 9 UOND9 O1d J Bunooys jqnoJL suoieoddy g 6 enuen uolesado y NOqY suoneaIoads y JO M IM AQ Z BULIM D 9 g gt 2 5 Ke n dols Bulun 9 suoieaddy g uondel0ld Z Buljooysejqnol 6 Operation Manual for D2 Motor Drive System DEn Phrase uehaiced Boers res Ha moa an ahe jy anaid To meted ecnrect ques reng pirana aci dor in tar om bard slog Tho pane penr Pe bulon of jog Ela W TES please proceed Aia urang Hin in eed eend l His about to Gsante motor For Z ants appcaton ot AC servo motot E ne trate ia bull in Chewing on Toggle may mate ass taling Togge 4 Settings Phase initialization and auto tune Click the Execute button as in the left figure to start the phase initialization The auto tune window pops up when the initialization is complete Use i and amp to drive the motor and keep it operating continuously Confirm that the motor has moved far from the stop After the motor has moved click the Proceed button to start the auto tune Click the Close button to close the window after the tuning has been completed Now the auto phase initialization is c
119. OM Fates 172 JHE 2 Reference Position H A E LERE ED emunuGesnen 6 Tuning As the figure shows the average of the command current is 0 61 and the position error is 581 550 counts SUOI EOIJINedS y JO MIIAIBAC Z enuen uoneiado y jnogy L BULIM sbules vy w ve w al lt P a37 o0 G83 2 5 al fang TATT oS ee ramp MOF F HI Em tF Diets FiF ta sang i TPI caspi Ma Bipi WAJ bfa ies H H Biphs ELJ ja asge 0 20k delist feted Doe Tat bd Pet Acc Schedule Analog current feedforward Gains wp input loop Tun MESON compensator 1 Press Set scope friction compensation 8 619088 0 1 drive peak cur Enter the average command current of Step 5 in the Friction Compensation field HIWIN MIKROSYSTEM CORP 213 dols UONDE O1q Z Bunooys jqnoiL suoeaddy 8 6 jenuey uopesado ay ynogy 1 suoleoyioeds y JO MEIAISAO Z BULIM sBunes y G91S suoleoddy g UONde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System m a Ld 55 157 smpi 124142 pos arr Leag OJE hit comp 6 064 any 9 777 Haage 147 869 delta 1478 total 147978 Tent tht e S 6 Tuning Observe the position error value and you will find it decreases from 581 550 to 523 495 counts during the acceleration 214
120. OSYSTEM CORP suoleoioeds y JO MBIAISAO Z jenuey uopesado ay ynogy BULIM sbulas y Bunooys jqnoJL ado0ls Bulun 9 suoneaddy gl osse 7 6 jenuey uopesado ay ynogy 1 suoleoyioeds y JO MEIAISAC Z BULIM sBunles y dols Bulunl 9 suoneoddy gl Ueiecre 7 Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 7 Protection 7 8 Drive overvoltage protection regen resistor 7 8 1 Function overview When the motor decelerates the kinetic energy is converted to thermal energy for consumption The remaining energy will be used for drive capatitor charging However if the energy exceeds the capacity of the drive capacitor the energy must be consumed on the regen resistor in the regen circuit in order to protect the drive The turn on voltage of the D2 drive regen resistor is 370Vdc while the turn off voltage is 360Vdc Users can refer to the following characteristics figure of motor specifications to determine whether the regen resistor is necessary Take 200W as an example If users operates at the maximum velocity of 3000rpm and the load inertia exceeds 0 00032Kg m a regen resistor is necessary Refer to Table 7 6 for the selecting the model number of a suitable regen resistor 0 0005 a S lt Regen resistor is 9 0 0004 necessary Q RG1 2 0 0003 n 0 0002 Regen resistor is not necessary J Kg m
121. RV 1 Check that the drive machine and shield have been grounded 1 Check the drive is connected to a 100 or 240Vac power source or whether the power source is disconnected 2 Use a multimeter to check whether it is a 110 or 240 Vac power source 1 Confirm that the speed acceleration and load conform to the specifications 2 Check whether a regen resistor is needed for the motor operating at a high speed The selected regen resistor must conform to the load and motion specifications 3 Check if the load is too high 4 Check if the speed is too high The position error exceeds the 13 Kgs maximum position error setting HIWIN MIKROSYSTEM CORP E03 PEBIG 277 1 Check whether the CG value and the maximum position error value are set too low 2 Motor is obstructed when moving 3 Check if the load is too high jenuey uopesado ay ynogy 1 suoljeoioeds y JO MBIAISAO Z a fe Cc Se iq n n fe e Q sBules y BULIM d91S Bulun 9 suoleoddy g uonde 01d Z jenuey uopesado ay ynogy 1 suoleoyioeds y JO MBIAISAO Z BULIM sBunles y dols Bulunl 9 suolesddy 9g UoNde 01d Z fa D n O F fe amp Operation Manual for D2 Motor Drive System 14 The motor UVW is in short circuit The equivalent current output from the drive exceeds the continuous
122. Refer to 9 3 2 for more information about the setting The serial encoder has a communication error Serial Encoder E12SER 1 Check that the encoder is connected Communication Error 2 Check that the extended line of the encoder conforms to the specifications of the motor E13 The signal output of the Hall sensor is abnormal 12 Hall sensor error HAL E 1 Check that the encoder is connected correctly 211 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy 1 suoljeoioeds y JO MBIAISAO Z BULIM dols sbuljes y Bulun 9 uono9 0ld J suoieosiddy g f E E7 D an O F e ee amp jenuey uopesado ay ynogy 1 suoleoyioeds y JO MEIAISAC Z BULIM sBunles y dols Bulunl 9 suoleoddy g UONde 01d Z x e Se 2 o F fo e p J Operation Manual for D2 Motor Drive System 9 Troubleshooting 9 3 1 Supplements to E03 PEBIG error elimination 1 The max position error can be modified according to the steps as shown in Fig 9 8 It is not recommended to set the position error higher than the default setting Adjust the servo stiffness if E03 PEBIG appears with the default setting in use 3 If no Hall sensor is used and the max position error is to be modified by searching the motor angle repeat the startup test to make sure that no E03 PEBIG appears during the search o one cannon 115200 i F pS a
123. TAD XI Ate 6 Ogrod io Stand alone Position Mede Mrtacware inane rou Sh sstware Enade sere see Postmen one Caant J Actual Cerrent j 6 6688516 aiad t Feedheck Position 5050 court 18 Feedback Velocity j 18 4477 auran Communcaten ot Cmega_tnneccwegrtanng dee gt 0 a t 4 Fig B 2 B 4 HMI control of Axis Enable Usually the Axis Enable signal that the host controller sends through the input port controls the excitation of the motor The following instructions must be observed when the HMI is opened When the HMI Lightening is the active window on the screen users can press F12 to disable the motor This function is usually used in the emergency situation 2 When the Performance Center is opened from the HMI Lightening users can click the Disable button same as F12 to disable the motor Click the Enable button if users needs to enable the motor again In this case the status indicator of the Hardware Enable Input must remain green 285 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System B Axis Enable Setting 286 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System C Parameter Comparison Function C Parameter Comparison Function C Parameter Comparison Function nx edcectvesececsioteddexneceesisdeectamieectentonssdicsatuasdecdoivweass 287 C 1 Compare parameter RAM to flaSh ccccccecesseeeeeeeeeseeeeeeeeseaeeeeeeesaaees 288 287 HIWIN MIKROSYSTE
124. UONde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 2 Overview of the Specifications 2 4 Installation of the drive Fix the drive in the electric cabinet using conductive screws All insulating materials on the contact surface of the cabinet must be thoroughly removed so that the drive can connect to the ground through the machine The ground resistance must be less than 500 at 220V and less than 1000 at 110V If more than one drive is installed a distance of more than 20 mm must be maintained between the drives to ensure heat dissipation Fans can be attached to the electric cabinet to facilitate heat dissipation 50 mm or more 20 mm 20 mm a or more or more Electric MOTR SET MOTR SET MOTR SET Binet LS Sxx1 LSesxki INQ Lse5xxi ewe 50 mm 50 mm or more or more gt CNI CN 4 4 c ae ae E CN2 CN2 P H E i r FA 7 cur Cur 50 mm or more Fig 2 4 Distance between drives 16 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 2 Overview of the Specifications 2 5 Computer requirements 1 0 GHz or better RAM 512 MB or more Hard drive space 50 MB or more jenuey uopesado ay ynogy 1 Communication port USB Operating system Windows 2000 Windows XP Windows 7 Screen resolution 1024x768 pixels or more suoleoyineds N O lt lt Q 9 Loma gt BunIM sBuljas p
125. USB communication Cable seasccssssiacncnctnssmanscndxedienantbasauanttacsaoanmnnineaces 32 3 2 5 Accessory kit COU ccc cess cee ctcccstc cape ieee emrecceeseeeeeatee 33 3 2 6 EMC accessory Kil icc ctecttecancurassinanteraccosraateatiarenmecmnitenaatiasenaanmnianntes 34 3 2 7 Regenerative resistor seeeessererertrrrsstrrrrtrstrrrrttrrrrttstrtrrtrstrnrnt 34 3 2 8 Connector specifications ccxccvesseccasccscandacssinwxidiid coneesiduredcccecoaamesncccee 34 3 3 Standard main power circuit WIriNG ccccceeeeeeeeeeeeeeeeeeeeeeeeeaaaeeeeeeeeeeees 35 3 3 1 AC power wiring diagram Single phase eeeeeeeeeeeeeeeeeees 35 3 3 2 AC power wiring diagram three phase ccceceeeeeeeeeeeeeeees 36 3 4 Multiple drive connection example ccceccceseseeeeeeeeeeeeeeeeaeeeeeeeeeeeeees 37 3 4 1 Selection of no fuse breakers NFBS cccceeseeeeeeeeeeeeeeeeeeeeaes 38 3 5 NO signal COMME CHOON sasnsnsesaanuciecrsnnniannaiieabeaGoneaminesatoccaransiaseneccudoneiuaeseees 39 3 5 1 CN6 I O signal function description cccceeceeceeeeeeeeeeeeeeeeeeeaeneees 39 3 5 2 Digital input wiring cpa ccoccencsaregedeenseceesstve sccaccsieieccteduenncenssetaentctees 40 3 5 3 Digital output wiring src vces cece eccte fe sssscbe cans daceacacautuceedpcsecsacenestematetess 42 3 6 Wiring examples DY mode see cccaticnn ces catinccantoxsnnerciaauenncecsxeenttatesaeeapeumaeete 43 3 6 1 Master wiring diagra
126. V with ampere or between the Full PWM and 0 the highest speed Unit A_amp x 1000 36 1V or A_amp x 1000 36 Full PWM Dead band for the current command the current command is 0 when the input 0 voltage is lower than this setting Unit Volt X_cmd_ext_i_sc Bunooys jqnoJL 6 X_cmd_ext_i_dz 173 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy 1 suoleoioeds y JO MBIAISAO Z BULIM sbulyaes y G91S suoleoddy g UoNde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 5 LCD 5 3 4 Stand Alone Mode Stand Alone mode is a mode for independent operation The drive has a high speed DSP that can perform motion planning by itself With the support of the DSP the drive can execute the internal motion program and drive the motor independently without using the external motion control card 5 3 4 1 Basic setting of Stand Alone mode The basic setting of Stand Alone mode is described below Step 1 Mode selection The steps for selecting Stand Alone mode on the LCD are described below SV NORDY e f f When the drive is powered on the enable state of the drive is first se en displayed on the LCD Press the Function key twice to move to the parameter change mode MODE f f f p Press the Down key three times to STNDALON move to the operation mode i h i setting screen r Pa Press the Enter key to enter the
127. W ccw i cu ccw r I z or a l FULSMODE i _ PULSMODE on l xAgB l a D l y 5 l l 3 or on l l Ps fy PULSMODE PULSMODE Pulse and 0 P D PD Direction i i I Fig 5 13 Changing the pulse format suoleoddy 9 UONde 01d Z Bunooys jqnoJL 6 146 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 5 2 3 4 Setting advanced parameters 5 LCD There are over 100 variables to change in LEVEL ONE The variable codes are shown in Table 5 6 The symbol means that the variable is also applicable to Drive with Pulse Only function Table 5 6 Advanced parameters Ae Parameter Definition Unit 0 X_acc Maximum acceleration of the motor output in motion count s 1 X_dcc Maximum deceleration of the motor output in motion count s a X_dcc_kill Deceleration of the motor output in an emergency stop count s 3 X_vel_max Maximum velocity of the motor in motion count s 4 X_sw1_pos Lower SW limit count 5 X_sw2_pos Upper SW limit count 6 X_p2p_ del Point to Point P2P delay time msec 7 X_p2p_pos1 Point to Point P2P position 1 count 8 X_p2p_pos2 Point to Point P2P position 2 count 16 X_sof_fr Frequency of phase initialized filter1 of SW method 1 Hz 17 X_sof_xi Damping ratio of phase initialized filter1 of SW method 1 18 X_sof_k1 Parameter of phase initialized fi
128. a coliecson Scope Cate Encoder test tune POL Coie Loop COMtrector Reser Ampiter Upgrade Ooengrade fermeare Fig 4 6 Communication setup The communication setup screen is shown below The D2 drive supports USB connections BPS field shows the transmission rate and the default value is 115 200 bps this should not be changed The communication port is set in Port field The field will display the existing port on your PC Select the port that drive is actually connected to Use default values in the remaining fields and the Lightening can be successfully communicated with drive Lire aii Srlnp O Redes a RS7I2USH r CAH C Ethernet CAM Tr id CAH Re fd i c Ecan rate sch Fine fe 7 iain ga Dorma IF address ipen IF rtin Local a sY r zd Protocol TEP Fig 4 7 Connection and transfer rate settings 62 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 4 Settings 4 1 3 Main HMI window The main HMI after the connection is shown in the following The function of each button in the main toolbar is described as below E Save parameters in the RAM to file jenuey uopesado ay ynogy 1 Load parameters in the file to RAM Save parameters in the RAM to FLASH N go reset Reset the drive 83 oO 0 Sg DIN en CET oad Ll 11S ee we d o gt ies mses Main toolbar z ID AVEM aaa
129. anced pains ace Schedule Analog current VEF N feedforward Onna wog input loop Y Q zE O 0 friction compensation 2 000000 6 1 drive peak cur 2 ee Tithe TRA Comoe gabon a S oO 1 Presa Get scope 2 Set Friction Compensation value to 0 oo 3 Put Dwel tre to 500mm 4 Let motor move back and forn at the desired velocity 5 Obscene the command during constant speed molan and cakulale aeerage value 6 Put the average value inte Friction Componsaton values oO 7 Saa the p sion error al the start of moton reduce Q n oa T O o Fig 6 34 Friction compensation UONDE O1d J suoieolddy g Bunooys jqnoJL 6 211 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 6 Tuning L The operation steps of the friction compensation are described below T Click the Set scope 2 Set scope button to enter the x scope screen DO 23 S 3 Set the Friction 25 Compensation to 0 a gt a oO Set the desired ra acceleration A D Set the Dwell Time to 500msec Use the Z P2P function to move the motor back and oO forth gt O w suoeaddy g uondelold Z Buooys jqnoIL 6 212 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 67697 count ii Refureece Velocity 300000 count e 31 Command Current S1 O715 Oiz peak 4 Position Errer OSP rates 1 SO
130. ands for the no load gain by default In the Auto Phase Center a set of suitable parameters can be generated based on the current load using the auto gain tuning function and a fine tuning can be performed using the SMCL tools 280 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System A SMCL Tools A 2 Setting and use of the filter SMCL tools also provide filters for users to select Refer to 6 6 1 for more information about the filters Emulated frequency domain data display Filter configuration 281 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System A SMCL Tools 282 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System B Axis Enable Setting B Axis Enable Setting B Axis Enable Setting casas tececatennen pewsysectve ceacets neater cauneteeeaueeechanineee eines 283 B 1 Axis Enable via the host controller cccccccccccccceseeeeeeeeeeeeeeeeeeeeeeeeeees 284 B2 Temporary Hardware Enable ecvsesccsctecsnaidacaratottnancns ancseeetensnhamanecetcatddas 284 B 3 Confirmation of the enabled state cece ccccceseeeeseeeeeesueeeaeeeaeees 285 B 4 HMI control of Axis Enable 283 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System B Axis Enable Setting B 1 Axis Enable via the host controller Usually the host controller must send a command to the drive via its input port to enable the motor The Axis Enable function is usually set to the digital
131. as velocity acceleration deceleration emergency stop deceleration and smooth factors are also set here The 3 motion modes are 1 Point to Point P2P 2 Relative motion 3 Continuous motion Jog EI Perdoreners terete E e e Haar Pesmen veo Tape rades 100 Deccence tee 100 0 Move tere 20057 33 Setegtere 97 9 tote tere FS182 8 ube sete PI i CURI Kij Fig 6 4 Performance Center 180 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 6 Tuning The Point to Point P2P is used as an example for the following description Cease Click to enable the motor E PERA CEN Select EAI ae l E min Set P1 and P2 positions if SW si FE oe limits are used set the position jris m a between Lower SW limit and M cag daa 28 Upper SW limit jir ie ae D puie e Fi Set in the Motion Protection area velocity acceleration and smooth factor Refer to 7 1 for more information The default value can be used if users does asss not have any special tees Fol A jire wam requirements drra be aan Click _sompr to move P1 position Ste om and click _GOmPe P2 position If you want to perform a point to point motion check the enter delay time Dwell time and click _soarn or _GomPe button to perform the Point to Point motion The Performance Center provides a settling time measuring function Users can use Target Radius
132. asing the acceleration in a short time means that the force for an object can suddenly increase or decrease Application of the smooth motion technique to the motion control loop is helpful for enhancing the performance and reducing such impacts The D2 drive uses a smooth factor to determine the S curve or T curve track and the adjustment range is 0 500 The track is closer to an S curve with a higher adjustment value and is closer to a T curve with a lower adjustment value A value of 1 means no smooth function is enabled When a higher smooth factor is used in some cases the reduced output force of the motor is helpful for the final setting time during the positioning process However the move time will unavoidably increase when the motion becomes smoother Henceforth tests on the machine are needed to adjust the smooth factor and reach a balance The motion protection function can be disabled when the smooth factor is set to 0 The steps for setting the smooth factor on the LCD are described below SAVEF LSH Use the last setting screen from G Step 3 above Press and hold the Down key to move to Page with LCD No 115 This is the page for setting the smooth factor Please refer to Note 3 for more information about LCD number 115 Press the Enter key and set the 7 ra g required smooth factor Please 3 v refer to the parameter edit function in 5 2 3 2 for the setting method a a Press the Enter key to finish th
133. asiteekneiseiivindRunsioada dint cnattiiens 235 7 2 2 Position and velocity error warning ssssesssseserrrsersrerrrererrrerererene 235 l Brake OUR OU t esenee EE aE ennn DENEN E aR 236 7 3 1 Function Overview stccitacaenncecegersiaamnpccstisactemiaticnaeticnstensaunabidddsivretaces 236 7 3 2 Brake stop SCQUCINCE os vic cncaccccossuxxtrectsencecbierencasacceeneenseeteancinenameccs 236 Toe SGUN S ees E yeaa E EE A T arses 236 7 4 Hardware limit PrOte CuO iicwstasieorcdmmrarentiintensiataausianseduddaeumaneretanauneadineeawnd 238 7 4 1 Function Overview cccceeccccseececcseccesssececseuseeseuseessueeeesenseessaaess 238 T SUM EE T 238 7 5 Software limit protection siiecesccccccececccsieccacheatcervarenniadeadccnniea seer eeeacantanitads 239 5 1 FUNCION OVEI MEW coscsis22 sacecennminsinassdsaagtinnsdateesdantoandcnsteirendaateeceians 239 19 2 OWNS essnee a EE ah eeateanntebbennna E EERS 239 ES SOME hermal seers a E a e Eaa 240 7 6 1 Function Overview secsicccctcnaceeraminaicnsesainmmnanccamacnneinmncsetieniconienaestoniactaiin 240 7 7 Drive over temperature protection cccccsssccecsseseesesseesseeseeseeseeseeees 241 7 1 1 Function overview osccieincccicionaiidinnnastcnexcipuntinasdenciicneetnautanmiaancnetennatbaten 241 7 8 Drive overvoltage protection regen resistor ccseceeeeeeeeeeeeneeeeeees 242 7 8 1 Function overview sence icctcectccsconsectennnetieiitratincndtecnageteneutercncasstimedicd 242
134. ating Toppa ance Motion direction definition and setting the inverse direction If after executing the continuous motion in Step 2 the direction of the motor is opposite that defined by users close the auto tune window and open the window as shown in the left figure Next click the Toggle button in the window to set the inverse direction and carry out Step 2 again X Note If the motor is used in a vertical application and there is a braking mechanism the motor will be de excited if the direction of the motion is set to opposite This may have a slide down effect 90 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 4 Settings 4 3 4 Instructions for auto phase initialization 4 3 4 1 Excited current SM mode Output current SM mode setting Both the default value and the upper value are 95 of the continuous current To ensure the operation with this current in SM mode the static and dynamic friction must be assured to allow smooth operation of the motor without the position excessively falling behind If the static friction temporarily becomes dynamic friction when starting SM mode or if the dynamic friction temporarily becomes static friction when stopping SM mode the motor shudder as a result This does not indicate that the drive has any problems 4 3 4 2 Troubleshooting the motion direction test in SM mode been correctly connected Make sure that the settings of the encoder
135. ation Manual for D2 Motor Drive System 6 Tuning 6 8 3 Filter The control loop of the drive provides two filters to deal with HF noise machinery vibration and deficient structure rigidity 6 8 3 1 Low pass filter The low pass filter is used to deal with HF noise and machinery vibration Fig 6 44 shows the Bode plot of a low pass filter Modification of the filter parameters fr xi may affect the frequency response used for the control loop analysis The emulated control system in combination with the frequency response of the low pass filter is very helpful in real applications 1 fr The cutoff frequency of the filter unit Hz 500Hz can produce an excellent result in general applications and lower frequency can be considered in other applications However the control performance will be affected if the cutoff frequency is too low 2 xi The damping ratio of the filter The value ranges from 0 to 1 3 k1 Low pass filter 0 4 k2 Low pass filter 0 E PRA taia j ai 4 19 UE cere AP a ea A ga ae F margin FI pig Pma A apa A Aiii ih E pirmie U Fo pees ioe Dmag Ii Gigi amapas 2 a Pt Ai4 Welcinas ip O Fea Se Ue force 2 irr EITA GI Fig 6 44 Low pass filter 223 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy suoljeoioeds y JO MEIAISAO Z BULIM sBuljas y dols Bunooys jqnoJL suoleoddy g uogo old Z 6 suol
136. ault function setting Click the Set Default _ _ button to set all input functions to the factory default settings The message window Set Default Input States Configuration appears after clicking the button and all input functions will be changed to the factory default settings after clicking OK E as shown in Fig 4 30 AEI Beahle Sel Defoull Input Sinler Conlyrorsieon x Hat Conf inured A IA T Hight Limit fwitch 14 Roght Limi Senkh a Har Chad iguredi Left Lindt folteb Hat Configured Har Caaf imuri Hat Conf jimur IG Lett bons Senek ba La be pa ba be be ba a Ennn unNnu a Fig 4 30 Input default values Status indicator The corresponding input pin has been engaged if the status indicator is lit green The input pin has not been engaged if the indicator remains off Logic inversion setting Invert When Invert is checked the trigger condition will be inverted 107 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy 1 suoljeoioeds y JO MBIAISAO Z BULIM aN n fo a Co D ao sS Bulunl 9 suoleoddy g uonde 01d Z Bunooys jqnoJL 6 jenuey uopesado ay ynogy 1 suoleoyioeds y JO MBIAISAO Z BULIM gt ie D co n G91S Bulun 9 suoleoddy 9g UONde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 4 Settings 4 4 2 Digital outputs and th
137. be immediately servo locked when the velocity command decreased below the vel_stop threshold If velocity command become above the threshold it starts running again according to the command Please refer to the figure below The brake starting speed vel_stop is not related to the rotation direction of the motor It is C applicable to CW and CCW _CW __ directions vel_stop fa Motor speed Analog input voltage Dead band i vel_stop g a T CCW Velocity mode Stand Alone Velocity mode mode i Instructions for use In velocity mode enter the I O Center and set the Zero Speed Clamp as the input function Please refer to the figure below with 11 as an example rars amp 7 Elecevesis tear Select DiW Plectresio Gear Sebect DIV29 104 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 4 Settings Next enter the Protection Center and set the brake starting speed vel_stop toa suitable value 500 count s by default Please refer to the figure below jenuey uopesado y ynogy suoleoioeds y JO MEIAISAC Z BULIM rake ia l Brake Ss Ipee r e mee g SRP yrds ep aN n D a 5 Co a Zero Speed Clamp will be activated when State of 11 is on aol sS Bulun 9 UuoNoe Old Z suoieolddy g Buooys jqnoIL 6 105 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy 1 su
138. bility for product damage or personal injury resulting from incorrect power use Do not use the product over the rated load The Company does not take any responsibility for damage or injury caused by such misuse of the product Do not use the product in an environment where shocks may occur The company does not take any responsibility for damage accidents or injuries of any kind attributable to such shocks Do not try to repair any product malfunctions The product can only be repaired by qualified technicians The warranty period is one year from the ex factory date The Company does not take any responsibility for product replacement or repair caused by inappropriate use or natural disasters Please refer to the notes and installation instructions in the Operation Manual HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 1 About the Operation Manual 1 2 Safety instructions Please read this Operation Manual carefully before installation transportation maintenance and inspection and ensure the product is used appropriately Users should read the EM information safety information and all related instructions before using the product The safety instructions in the Operation Manual are categorized under the Warning Attention Prohibited and Required sections Warning Inappropriate operation may bring about danger or result in serious injury or death Inappropriate operation ma
139. by the drive However if the motor decelerates to the brake starting velocity vel_stop the brake will be activated first Step 2 The post stage power will be shut down and the motor will be disabled after the setting brake time delBrkToDis which is counted from the activation of the brake The purposes are for the complete brake action counted Table 7 4 Parameter name Description Brake starting delay time The maximum time from receiving the delMaxEnToBrk de excitation command to activate the brake Emergency stop deceleration Dec The deceleration of the motor brake in the kill emergency stop Refer to 7 1 4 The speed for activating the brake after the disable command is received The delay time from activating the brake to shutting down the post stage current Brake starting speed vel_ stop The brake acting time deBrkToDis 7 3 3 Settings Click to enter Protection Center Select the Brake tab to open the brake setting page Users can use the _ _ button on this page to set the brake output pin The default pin is CN_BRK and no modification is needed Click the button to show the IO Set test FEE setting window Refer to 4 4 2 for the information about the settings 236 HIWIN MIKROSYSTEM CORP 7 Protection Operation Manual for D2 Motor Drive System 1 About the Operation Manual 2 Overview of the Specifications 3 Wiring 4 Settings 5 LCD 6 Tuning V Rie 8
140. by the host controller is too big The drive has different protection functions for different operation modes The followings are the suitable parameters for all modes Table 7 1 Velocity Acceleration Deceleration Emergency stop deceleration Limit parameter Operation mode Position Mode Velocity Mode O O O O Force Torque Mode O X X X Stand Alone Mode O O O O Note O means active and X means inactive 7 1 2 Velocity acceleration and deceleration limits Click to enter Performance Center which shows the settings of motion protection l enable sw limi Fi P Bunooys jqnoJL 6 a J Shere acer SERENE a d Disablate 17 Motion F i Common Gain Position Units Speed 1 BG08Be76 comis Jaaa Zoro count Acc 764699 counte 2 Dec 764899 enantio Cee Hl 7 640992 counts Smooth facior 568 Fig 7 1 Table 7 2 Parameter name Description Set the maximum velocity of the motor in the Speed motion Ace Set the maximum acceleration that the motor outputs in the motion Set the maximum deceleration that the motor outputs in the motion Set the deceleration that the motor emergency stop Smooth factor Dec kill Smooth factor You can also click to enter Protection Center and observe the same group of motion protection settings in Motion Protection on the Protection tab The settings can only be displayed not written 23
141. ca E dictaek ija P put EE 4 biei 2 Ses ego Ome See Le 6 Tuning Left click on the frequency response diagram and a line of 20dB appears on the screen Press and hold left key to drag the line to the position close to the bode diagram as shown in the figure below The Gain is re computed during the movement of line and vpg value is displayed on the screen The Gain is increased when the cursor line is dragged downward and decreased when the cursor line is dragged upward Click the Sena button to save vpg value to the RAM of the drive 207 HIWIN MIKROSYSTEM CORP enuen uonesado y jnogy 1 SUOI EOIJINedS y JO MAIAIBAO Z sues p Bui dols Bunooysejqnol suoieaddy 8 uonde1old Z 6 Operation Manual for D2 Motor Drive System 6 Tuning a 6 6 4 Analog input gt S When in current velocity mode the voltage command transmitted from the host controller may have a bias for Many reasons This may bring about distortion of the z A command and affect the performance In this case the analog input function can be a3 used for bias correction and compensation User only needs to click the Set Offset so button for system to execute the auto measurement and modify the offset N E idrnoed gana l oO i Fitter Ace Iche Analog current var Friction 2i 3 teodoiwad Gans vog input oop Comin Se is 353 pm o gt
142. can be provided via the PWM input duty cycle Parameters can be set for the ratio and command direction The velocity command can be provided via the analog voltage Parameters can be set for the ratio and command direction Zero speed clamp input is possible 1 Servo on 2 Switch between first and second gain 3 Left limit switch 4 Switch between primary and secondary mode 5 Clear error 6 Right limit switch etc 1 Servo ready 2 Error 3 In speed output 4 Zero speed detection The torque command can be provided via the PWM input duty cycle Parameters can be set for the ratio and command direction The torque command can be provided via the analog voltage Parameters can be set for the ratio and command direction Setting the velocity limitation is possible The auto tune procedure starts automatically after execution The load inertia is automatically determined without the need to set it manually All required gain values are set using a key on the LCD display Can be set freely maximum frequency 18M cnt s 1 Motor short circuit detection 2 Overvoltage 3 Position error too big 4 Encoder error 5 Soft thermal protection 6 Motor disconnection detection 7 Amplifier overheating 8 Under voltage 9 Abnormal 5V encoder power source 10 Phase initialization error 11 Abnormal serial encoder communication Errors and warnings can be logged and reviewed Method Establish err
143. cassnsiatenaniroommensdiieraactiesaeunss 215 6 7 3 Index signal confirmation si scctneuennchervssaxcsnonserasesnitommnenenntinmassstonaaneed 215 6 3 LOOP COMS UC T sicrcncescctnaerstaasiatacenanttunteuciatnatsnux tie EE EREE aani 216 6 8 1 File load save cc sespeeiseccccclnteneecdccdaceesecasmiansisentedconsanmeaxeeecccecambnenmess 217 68 2 WOON ai E E E E 219 68 3 Filt r S E E E 223 6 894 Gain TUNING essersi ner Sea R eA E SEEE 225 6 8 5 Spectrum analysis sccsaienscicconnacuatoncee uiaadammnnstaanticasauiassexaececeennaits 227 6 8 6 Bandwidth ssyasimcscnertesasonsasatitcacausnensnsecnenensnetticet lantanusneeiencatarenes 230 l PrOtECtIOI asarcasievuracesersandeedsdniiaaciswrics Ee nenii a ATERI NAO EAE EEEn AA ii AN ioro 231 7 14 Motion protection ia teietesccisVunetasarsicuniddesivectedinatt vatrnadiensiijaessaniiiendd cherie 232 7 1 1 Function Overview sesccirce hacer caistiertu cscs csnipistannctadtindoninatinnuniceuncaaamnnetens 232 7 1 2 Velocity acceleration and deceleration limits ccceeeeeeeees 232 7 1 2 Cancelation of velocity acceleration and deceleration limits 233 7 1 4 Applicability of emergency stop deceleration Dec kill 233 7 1 5 Smooth motion n seennneeennneneenninneserrerrennrnrresnrrrrsnrrrrerenrrreseenene 234 7 2 Position and velocity error protection ccccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeaenees 235 7 2 1 Position error limits psssstenteccctiindmnncunancctnaitn
144. cccetedes ck pecsiercades te iaueeecterteaeees 267 9 3 Error codes and actions sisnunschtnncentcsanenccenaetpmmsinnianincassanauiankentadassanmunnnde 270 9 3 1 Supplements to E03 PEBIG error elimination 00cccceeeees 272 9 3 2 Supplements to E11 PHINI error elimination cccceceeeee eee 272 OA Warning codes and actions vricccicccueesetenctautedcucsstatnictead vsesetenstieedenoeecaae 273 9 4 1 WO3 HWLL and W04 HWRL supplementation ccceeeeees 274 9 4 2 WO9ACC L and W10VEL L supplementation cccccecceeeee eee 274 9 5 Troubleshooting Of COMMON EFVOMS cccceee cece eeeeeeeeeeeeeeeeeeesaaaeneeeeeeeeees 276 A OL TOOS cee E E T 279 AN SMGL parameters oiiccccccscaniccctncsdiescentdddcsecnesacmeieertiaddecdanncskueccececaabunenbes 280 A 2 Setting and use of the filter sercerscatrasennnescitaieccianaansarisaaatacianiandaardecmnaanteteatts 281 B Axis Enable Setting ease ocnannivocenececnananiaateasnadsacbuaninenesinnddedetemsssadisaandieaednhideendadeuanes 283 B 1 Axis Enable via the host controller cisccieivccccccniatecernisnerennncacgeneniuxeacsstieweiens 284 B 2 Temporary Hardware Enable sei 12csicccocncanteccensdeneeuithiatsebeanesioniadbcs lead eecents 284 B 3 Confirmation of the enabled state ccccccccssseeeeecaeeeeeeeeseaeeeeeseaeaees 285 B 4 HMI control of Axis Enable cccccccccssseceeececeseeeecesaeseeeessaeseeesesaaaaes 285 C Parameter Compariso
145. ce the output resolution of the encoder The output direction can be changed when the ratio is set to 1 encoder count 1 emulated encoder output In Fig 4 18 for example the encoder resolution is 10 000 count rev and the scaling for the emulated encoder output is 5 encoder count 1 emulated encoder output so the Output Resolution becomes 2 000 count rev Outpul Resolution 2608 Counts Rev C Use buffered encoder r Use emulated encoder Emulated index Output in every revolution encoder count 1 emulaled encoder outpul Emulated index radius 18 coums Emulaled index jitter fitter 1 counts Fig 4 18 Emulated encoder output Transmission of Z phase signal to the host controller When an AC servo motor with a 17 bit encoder is used and the encoder output mode is set to emulated encoder output the Z phase signal can be sent to the host controller The option for this setting is the Emulated Index Output in every revolution in Fig 4 18 Transmission of Z phase signal 1 If the Emulated Index Output in every revolution option is not checked the drive sends the Z phase signal only when it reaches the index position for the first time 2 Ifthe Emulated Index Output in every revolution option is checked the drive sends the Z phase signal every time when it reaches the index position 73 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy 1 suoljeoioeds y JO MBIAISAO Z
146. ch The pitch of an acme or ball screw i e the feed amount of the screw in a single revolution Unit mm Gear Ratio The ratio of the gear teeth number at the load end to the gear teeth number at the drive end jenuey uopesado ay ynogy 1 suoljeoioeds y JO MBIAISAO Z Select a customized motor MAD fa Maco Ej kco Ej madim Ej aai E ACT Ej mecati poj BLEDA meni j Maco ea fe PLS reac fa PALE LS eer fe FLEE eet fee FEA CTL re E 0 e E min s E FEL oes ce E FS La ee E FELEORC ane D Fei ee E Sie Te Sik Beem E Si Sie IRRI HODI m E Ted r E een ow p ain r i O Misima AS ina linty Wigs hips FELIS HE Operation lt 4 parameter settings area Poot Cire Lohi Mani E r a r 2 Trara er er fon Aare a a a Torque Cioaminnd B i pmi Gea Mio 4 Popper isc Ladia 4 8 m Motor parameter settings area iiaia frye 4 7 Paie Hornet L bicig Pap Tena ipet i lire of eri Zant j Save Load motor parameters OK Cancel buttons for parameters ox Cime l Fig 4 12 Customized motor parameter settings HIWIN MIKROSYSTEM CORP 67 BULIM iN n D as a O dols Bulun 9 Bunooys jqnoJL suoleoddy g uonde 01d Z 6 Operation Manual for D2 Motor Drive System 4 Settings 4 2 2 Encoder configuration The drive normally receives a feedback signal from the position enco
147. ci sssccsenatennneecind aisnnetuintoaddieesesnndoesbbtinddantecsaniite 60 AII Setup file srirenina enie e e E E Ee EAE 60 4 1 2 Communication SCID oocc xeeeeeccanesstidencsecnedteed tases neerenseetnacceectianns 62 4 1 3 Main HMI WwindoW setae cere n even tieseh ciaeecouseentnnacdstnas vaverimteklincaceweouaienes 63 4 2 Configuration Center cciricssstentencteeenibaasareeaesearseasoneenmeabeerausstnneamaiaasnnnnechs 65 4 2 1 Motor COMMGUTAUON dcecaidccdesrccsstdascuaatecasnannacseouniannapeiecesahdauduastaiianntand 66 4 2 2 Encoder Configuration cccccccceecceceaeeeeeseeeeeeeeeseansacneeeeeeeeeeeees 68 4 2 3 Setting the operation mode sssssssssrrerrrrrrrrteretrrrrtrtrrrererrenr enne 74 4 2 4 Completing the configuration procedure cccceeeeeeeeseeeeeeeeeeeeees 79 4 3 Auto phase center pisicscsinndnnscaunrcnecdDaniinanssrnamcnd aunitndalaehcodasnniiexctediatuace Pmbitiaaui 80 4 3 1 WOUE OVER WOW wsicnjcrrtnvosancicasrtmemmnnnenieenssentnnasmeseatieeenannvdennccasazaateass 80 4 3 2 Pre operation for auto phase initialization ccccccceeeeeeeeeeeae ees 83 4 3 3 Auto phase initialization Setup procedure cccccecceeeeeeeeeeeeeeees 84 4 3 4 Instructions for auto phase initialization ccceeeccceeseeeeeeeeeeeeeees 91 4a WE CGIMIGR cac E E E 92 4 4 1 Digital inputs and their functions eee eeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 92 4 4 2 Digital outputs and their fUNCtIONS
148. cify the Invert Command as the input function in velocity or force torque mode When Invert checkbox is not ticked positive voltage means forward motion and negative voltage means backward motion When Invert checkbox is ticked voltages have opposite meaning 0 10V Analog Command Whether Invert No checkbox is ticked Forward Backward Forward Backward 96 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 4 Settings Input t Function Switch to Secondary Mode Operation mode Pos Vel Trq Std Default Input Circuit Symbol MOD No I7 diagram Refer to 3 5 2 Function description This enables users to switch the mode using the I O signal from the host controller enuey uopesado ay ynogy Instructions for use N User can set the modes in the Mode tab of the Configuration Center as shown in the G Q figure below 2a O p am DZ i So as oO wo 2 aN n D a 5 Co a qg91S Bulun 9 When the input point State indicates off Primary Operation Mode is activated When the input point State indicates on Secondary Operation Mode is activated Green is on and dark is off suoieoddy g uonde 01d Z Bunooys jqnoJL 6 97 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 4 Settings
149. city protection setting value S w10 when it operates in the torque or velocity mode Velocity Limited VEL L To increase the velocity set a higher protection setting value for the velocity Refer to 9 4 2 for more information Both left and right hardware limits have been triggered W11 BOTH 10 If the erroneous triggers occur without any connection from hardware limit to the drive It is recommended to deactivate the hardware limit enabling the hardware limit enabling state Refer to 9 4 1 for more information Both HW limits active Ey E g 7 g i 273 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy 1 suoleoioeds y JO MBIAISAO Z BULIM qgo1s sus y Bulun 9 uono 0ld J suoieoiddy g x fe Cc Se iq e Sa e r Q suoleoyioeds y JO MEIAIBAC Z jenuey uopesado ay ynogy 1 BULIM sbunjes y dols Bulun 9 x le p 2 P Q ie Q suolesddy 9g UONde 01d Z ice Operation Manual for D2 Motor Drive System 9 Troubleshooting 9 4 1 W03 HWLL and W04 HWRL supplementation If the erroneous triggers occur without any connection from hardware limit to the drive It is recommended to deactivate the hardware limit function WU Tefed gt Lindt Le not configured WU right lt gt linit is configured to 19 Fig 9 10 9 4 2 W09 ACC L and W10VEL L suppl
150. ction Pulse Dir Pulse input input a 2 Clockwise counterclockwise CW CCW 3 A B phase AqB Gear ratio pulses counts Electronic gear Pulses 1 2147483647 counts 1 2147483647 Smoothing filter ake filter coefficient 1 500 0 no smoothing suoleoddy g UoNde 01d Z Control output Bunooys jqnoIL 6 suoleowioeds uonouny POUW 01 U09 UOIISOg 10 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System HIWIN MIKROSYSTEM CORP Vibration suppression function VSF Control input Q lt 8 Control output 3 3 a PWM input Velocity command input Analog input Velocity command input Zero speed clamp Control input 3 3 Cc oO 8 Control output 3 3 f PWM input Torque command input o Analog input Torque command input Velocity limitation function Auto tune Emulated encoder output Protection function O 3 3 O Error log feature Error mapping Miscellany 11 2 Overview of the Specifications VSF can eliminate vibration frequency during motion and suppress vibrations generated due to the system structure to improve the machine productivity 1 Zero speed clamp 2 Servo on 3 Switch between first and second gain 4 Left limit switch 5 Switch between primary and secondary mode 6 Clear error 7 Right limit switch etc 1 Servo ready 2 Error 3 In speed output 4 Zero speed detection The velocity command
151. ctual application design REG REG S5 Control power cable For drive internal control and IO power L1C L2C D o CN1 L1C L2C Single phase 110 240V AC 50 60Hz 8 Brake CN2 Connection to brake optional mounted according to actual application design Connection to PC for setting parameters to be removed after Mini USB communication setting CN3 Mini USB and the PC are used as links for monitoring drive test runs or writing parameters D Control signal CN6 Connection to the host controller 8 Feedback signal CN7 Connection to the motor encoder HIWIN MIKROSYSTEM CORP 20 Operation Manual for D2 Motor Drive System 3 Wiring 3 1 2 CN1 power connector Ensure that the drive has been grounded appropriately before connecting the drive to the main circuit The CN1 power wiring description includes single three phase power input motor power output single phase control power input and regenerative resistor wiring jenuey uopesado ay ynogy 1 3 1 2 1 CN1 connector For D2 xxxx x B F Connector to the extended line Wago 2092 1112 female WAGO 2092 1112 12PIN suoleoioeds y JO MEIAISAC Z sBulyes y papa aanapascaea pasa coe Fig 3 2 CN1 connector dols W5ulun L 9 Fig 3 3 CN1 installation and removal steps suoleoddy g uonde 01d Z Bunooys jqnoJL 6 21 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 3 Wiring For D2 xxxx
152. curr_drv_pe ak 168 X_dcbl_pulse_del SW method 5 phase initialization time factor 66 67us 172 X_vstf fr VSF frequency Hz 173 X_vsf xi VSF damping factor 174 X_vsf_en VSF switch 175 X_cmd_ext_N2 Numerator of the electronic gear ratio second output set 176 X_cmd_ext_N3 Numerator of the electronic gear ratio third output set 177 X_cmd_ext_N4 Numerator of the electronic gear ratio fourth output set 0 1 curr_dr 178 X_fric_comp_up Friction compensation v_peak A_amp 179 X_home_vel Fast homing velocity Faster Speed count s 180 X_home_option Homing mode 181 X_home_DIR Homing start direction 149 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy 1 suoleojioeds y JO MBIAISAO Z sBules y BULA dols Bunooys jqnoJL uono 0ld J suoieolddy g 6 jenuey uopesado ay ynogy 1 suoleoyioeds y JO MBIAISAO Z BULIM sBunes y G91S suoleoddy 9g UoNde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System X_home_opt0_inde 5 LCD 182 Homing mode 1 index searching setting 183 X_home_left_SW Left condition for homing 184 X_home_right_SW Right condition for homing Aampx1000 185 pee Current threshold of hitting the hard stop curr_drv_pe Thrshlid ak 186 ee a Duration time of hitting the hard stop msec 187 as Homing
153. current continuously as set in the Current SM mode field Hence excitation in the SM mode should not last too long to avoid overheating the motor x Note The exciting signal of the host controller needs to be triggered for this step Craie sma e Cl moss ince ol 2 Drag Pee enter tar tb noae fe mate m Ell mode The area Pe OT Nat Lee emen ae peen ence Lewy DS FeeMet amt e p N slider bar HIWIN MIKROSYSTEM CORP 85 Testing the direction of the motion in SM mode Drag the slider bar to the left and right The motor should rotate when the slider bar is dragged The normal direction is to the right side and the inverse direction is to the left side Normally the Phase error Elec deg arrow lies inside the green area 30 to 30 degrees After releasing the slider bar the message Feedback detect OK will appear on the screen in Step 2 showing that this step is complete If the arrow moves randomly release the slider bar and then try to drag it again X Note If the arrow still moves randomly after dragging the slider bar again please confirm the following 1 The motor power line and the encoder feedback signal line are correctly connected The encoder settings and the parameter settings of the motor are correct Go to the Configuration Center to check if the parameter settings such as the resolution of the encoder and the pole pair counts of the motor are correct xX
154. d gain parameters 2 Save plant to file Save the fgr file This file contains the control system 3 Save gains to file Save the gns file This file contains the control gain ntl ot A A S mma Fig 6 39 Loop constructor save data to file HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 6 Tuning 6 8 2 Tool The spectrum analysis provided by the Loop Constructor function can analyze the Nyquist Bode and Nichols plots of the emulated control system and generate frequency responses 6 8 2 1 Frequency response function The frequency response can be represented by the transfer function of a dynamic system and indicates the relative relationship between the input and output signals of that system Fig 6 10 shows the control structure of the drive U s el phia LY Current feedback Velocity feedback Position feedback Fig 6 40 Control structure of the drive U s System input Here it stands for a command from the drive Y s System output Here it stands for a position feedback from the encoder Plant PL s represents the relationship between the drive command and feedback position This Plant contains the mechanical platform motor and feedback system Controller P s is the position loop controller V s is the velocity loop controller and C s is the current loop controller Open loop The transfer function of the open loop system is G s P s V s C s PL
155. d is used in conjunction with drives that have 0 in the ninth digit of the model number and with motors that have 5 in the ninth digit of the model number such as the drive D2 0423 S B 0 and motor FRLS4020506A Yas Oimn l PETA Eeer r si Mf teva trace Pitana tee EU a 4 T m ae ure bio l Fig 4 25 Auto phase center screen SW method 4 80 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 4 Settings SW method 1 This mode is for 13 bit digital incremental encoders Only a slight movement of the motor is needed for a successful phase initialization No hall sensor is required in this method This method is used in conjunction with drives that have 0 in the ninth digit of the model number and with motors that have 1 in the ninth digit of the model number such as the drive D2 0423 S B 0 and motor FRLS4020106A Pratt Sawa eee SY parhad i Brace raters Boer eat wine Bis ee Cent mai 3 JE i emp Tort cator cmri 1 bruir mea n GY ee Atl l T Drai Be phin bot m rna Pe miiir MA moie Tep pma F a ae hat ee nam ee pean ange eg memg G P o Mae pos or dumna piota m E Fig 4 26 Auto phase center screen SW method 1 SW method 5 This method is used in conjunction 13 bit digital incremental encoders No hall sensor is needed for successful phase initialization A phase angle self inspection mechanism is added to the initialization process This takes more time to finish the pha
156. d pulse channel Gree ne ee OE e m E ee High speed channel of pulse input is engaged when the input point signal is off Low speed channel of pulse input is engaged when the input point signal is on Green is on and dark is off Note 1 If any one of the input points 11 19 is configured as Switch HI LO Pulse Input the settings for hardware interface in Configuration center will be irrelevant __ Switch HI LO Pulse Input Command is ___ Switch HI LO Pulse Input Command is _ __not selected High low speed pulse selected No high low speed pulse _ input channel can be set in the os input channel can be set in the Configuration Center Configuration Center 100 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 4 Settings Input sit gt wee Inhibit Pulse Command Operation mode Pos g Function Default Input Circuit SS Symbol INH P i Refer to 3 5 2 T No diagram 5O Function description z This enables users to inhibit the reception of pulse commands from the host controller a by triggering the input signal N Instructions for use ge When users specifies Inhibit Pulse Command as the input function in pulse mode 2 2 reception of pulse commands from the host controller will be prohibited when a true g 2 signal is received The drive will receive pulse commands from the host controller to og drive the motor when a false signal is received 2
157. ddy g uogo old Z Bunooys jqnoJL 6 137 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 5 LCD a 5 2 2 Display Parameters Page lt a e A 3 In the Display Parameters Page press the Up or Down key to change the parameter to Z5 display Please refer to Fig 5 5 for an illustrated description of the procedure The a A definition of each parameter display code is shown below The name of the parameter is 23 shown on the first line and its value and status are show on the second line of the Sy display O N go a3 oo 5 h as i O2RF POS wo 2 7 wn 2 E p a n i o 5 o a Fig 5 5 Operation of the parameter display mode suoleoddy g UONde 01d Z Bunooys jqnoJL 6 138 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 01FB POS 02RF POS 04POSERR 10FB VEL Fig 5 6 Definition of parameter display codes Feedback Position Reference Position Position Error Feedback Velocity Motor feedback position Drive reference position Position error Motor feedback velocity 5 LCD count count count count s 11RF VEL 12VELERR Reference Velocity Velocity Error Drive reference velocity Velocity error count s count s 30ACTCUR Actual Current Motor Actual current A_amp 31CMDCUR Command Current Drive Current command A_amp 40ANACMD Analog Command Analog voltage comma
158. de 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 1 About the Operation Manual 1 1 Instructions before use Read the Operation Manual carefully before using the product mega fabs Motion System the Company will not take any responsibility for damage accidents or injuries caused by installation or use that is not performed according to these instructions Do not dismantle or modify the product The product has been subject to structural calculations computer simulation and physical testing to verify its design Do not dismantle or modify the product without the consent of the Company s professional technicians The Company does not take any responsibility for accidents or damage resulting from such dismantling or modifications Before installing or using the product check the external appearance and ensure there is no damage on the surface of the product If any damage is identified please contact the Company or one of the Company s dealers immediately Please refer to the performance specifications on the product label or manufacturer s document before using the product Only install the product with reference to these performance limits and in accordance with the installation instructions Please read the power voltage specifications and labeling before using the product and confirm that the power supply to be used meets the product requirements The Company does not take any responsi
159. de El T ret Commana L 45 Se OT Pe a m ipa gules n Quip cours m P Cie Devt high Siar Pitas kapat ETH paa el d5 BP z k on Low Boned Pulse input ONS pn 1 3 4 25 6 Fonet Mode f vidoe Misia i 1 EEr p aei 1 a belle D Pulne and Derectan i D Fuse Upi Pa b n THR T garata AR indent Fio of 1 nin Fig 4 20 Position mode settings 4 2 3 3 Velocity mode principles V Command The drive can receive command from the host controller via voltage known as V commands The input voltage ranges from 10V to 10V The drive makes the received 10V to 10V input voltage correspond to different velocities The analog voltage signal is converted to a velocity command and the drive controlling the operating velocity of the motor The higher the voltage value the higher the output speed but it will not exceed the upper limit set by the drive Conversely the lower the voltage value the lower the output speed When the voltage value is negative the output speed becomes negative also and the motor operates inversely The command speed to which the unit voltage corresponds can be set in the drive PWM Command In addition to the voltage the host controller can send commands via PWM signals known as PWM commands The PWM command converts to different velocity or current commands depending on the duty cycle It is classified into single wire PWM 50 and two wire PWM 100 types The single wire PWM 50 type refers to the duty cycle
160. ded to deactivate the hardware limit enabling the hardware limit enabling state Refer to 9 4 1 for more information Hardware right limit is triggered Wo4 If there is no connection from the hardware limit to the drive and Right HW limit HWRL erroneous triggers may occur it is recommended to remove the hardware limit enabling state Refer to 9 4 1 for more information The PWM output switch of the drive has exceeded the limit and the current output cannot be increased any more The error WO05 code E03 PEBIG will show if this warning occurs repeatedly Servo voltage big SVBIG under the position control 1 Change the power source to 220V if 110V is used currently 2 Reduce the speed acceleration or deceleration WO6PE __ The position error is greater than the warning setting value warning peed WO7VE _ The velocity error is greater than the warning setting value The current has been saturated and reached the peak current value of the motor Repeated occurrence of this warning may Current Limited Bin bring about E05 SWHOT and power blackout or W12 12T 1 Reduce the speed acceleration or deceleration 2 Reduce the load The motor has reached the acceleration protection setting woa value when it operates in the torque or velocity mode Acceleration Limited 4 1 To increase the acceleration set a higher protection setting value for the acceleration and deceleration Refer to 9 4 2 for more information The motor has reached the velo
161. define the function for each output 47 HIWIN MIKROSYSTEM CORP enuen uopesado ay ynogy 1 suoleoioeds y JO MEIAIBAC Z sBules y dols Buooys jqnosL W5ulun L 9 suoleoddy g uonde 01d Z 6 enuey uopesado ay ynogy suoleoyioeds y JO MEIAISAC Z sBues y dols Bulun 9 suoleoddy g UoNde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 3 Wiring 3 6 1 5 Host controller is Source PNP without current limiting resistance Wiring for the host controller with single ended signal example Low speed pulse command 500 Kpps or less Host controller mega fabs Users can define the PNP Type 12280 D2 Series Drive function for each 9 output AS a at i a ah ccw s G E User can define the function for each input 48 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 3 Wiring xX Note The signal logic of the pulse command received by the D2 drives D2 0423 S B F and D2 0423 S B G is shown below Table 3 6 Pulse comman Positive logic Negative logic d Pulse Dir CCW If the host controller has a single ended negative logic CW CCW signal it can be converted to a positive logic CW CCW signal using the wiring below mega fabs D2 0423 S B F D2 0423 S B G Low speed mode pulse command Fig 3 34 Wiring for c
162. der to perform servo control The encoder settings page is shown in Fig 4 13 Please select or set the correct type and parameters of the encoder on this page Note If user uses a HIWIN series torque motor or AC servo motor then just select the correct motor model and the program will automatically create a link to the encoder parameters applicable to this motor If a HIWIN series AC motor is being used the program will automatically create a link to the digital rotary encoder the its resolution is jenuey uopesado ay ynogy N nO 10 000 count rev D lt D O lt D z later me le are 5 o law be a Ibaia a gt EHE teats Mckee fee SE iii mes nae eps TEAN mal Aey aa a aaa A ed Beist iule x Tegin Ie ris ow pou rele Sey dahan Poaw as Te Cpm We fsa Bi lL Q A dp 4 EE RREZET a Ai T EEE irae a iip piii ap apam ee oe CS ekehe eee ed E eet He o Soules ad mom oral b aries ee Ba 5 Ermis canna A ma ai nina Pee ae i ae w e gt Coram 4 5 Ke Fig 4 13 Encoder settings interface N p O rE D O O 00 gt ne cS 5 je O n e m Ss O n O g O O 68 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 4 Settings Besides there are a variety of resolution parameters commonly used with HIWIN motor on encoder settings page enter parameters for any third party
163. dverse operation 3 X Places exposed to static interference aj Places exposed to strong electrical or magnetic fields 5 x Places exposed to radiation a e e a 8 5 24 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 3 Wiring 3 1 5 CN2 brake connector The brake can be wired with or without a relay Refer to the wiring diagram for connection to the 24V DC brake 3 1 5 1 CN2 connector For D2 xxxx x B G and D2 xxxx x B F Connector to the line WAGO 733 103 WAGO 733 103 24v 30 BRK 90 RTN C30 gt K Wire diameter 20 28AWG Fig 3 8 For D2 xxxx x BO Connector to the line WAGO 734 104 WAGO 734 104 24V B RTN Fig 3 9 25 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy 1 suoljeoioeds y JO MBIAISAO Z sBuljas y dols W5ulun L 9 Bunooys jqnoJL suoleoddy g uonde 01d Z 6 Operation Manual for D2 Motor Drive System 3 Wiring P 3 1 5 2 Brake wiring with a relay gt S For D2 xxxx x B G and D2 xxxx x B F T 26 DC24V power o 8 mega fabs Si D2 series drive S N nO i Due H 8g T 5 h o gt oO Motor Fig 3 10 Brake wiring with a relay for D2 xxxx x B G and D2 xxxx x B F a For D2 xxxx x B0 pco4y Power 5 gil mega fabs D Relav j D2 Series B oe i i me E E A ao Q 2 B SS i 3B t 8 S T i L4 RTN 3 a z 3 a M
164. e 4 im Prato R en ee A Collar a z R a z oR om 2 pm W wng E CJLAEI 2 OS User can define the function for each input oe i Ss Fig 3 30 45 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy 1 suoljeoioeds y JO MEIAISAC Z sBulyes y dols W5ulun L 9 Bunooys jqnoJL uono9 0ld J suoijeoiddy g 6 Operation Manual for D2 Motor Drive System 3 Wiring 3 6 1 3 Host controller is Sink NPN without current limiting resistance Wiring for the host controller with single ended signal example Low speed pulse mega fabs User can define the command 500 Kpps g function for each ar lace D2 Series Drive output aK as er 4 Host controller 17 A NPN Type enuey uopesado ay ynogy suoleoyioeds y JO MEIAISAC Z g pp 2 iS x User can define the function for each input sBues y dols Bulunl 9 suoleoddy 9g uoNde 01d Z Bunooys jqnoJL 6 46 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 3 Wiring 3 6 1 4 Host controller is Source PNP with current limiting resistance Wiring for the host controller with single ended signal example Low speed pulse command 500 Kpps or less Host controller mega fabs PNP Type D2 Series Drive VOC 12 e PLS COW IA a a DIR OCW B User can define the function for each input User can
165. e i a Md ae setting Note 3 The smooth factor is set using the following parameters LCD no Parameter Definition Initial value 115 X_new_sm_fac Smooth factor 100 164 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 5 LCD 5 3 2 Velocity Mode The drive can receive commands from the host controller by voltage V commands The input voltage ranges from 10V to 10V The drive converts the received 10V to 10V input voltage to the corresponding velocity control to drive the motor In addition to the voltage the host controller can send commands by PWM signals PWM commands The PWM command converts to different velocity commands depending on the duty cycle It is classified into single wire type PWM 50 and two wire PWM 100 type The single wire type PWM 50 type refers to the duty cycle of 50 An inverse motion occurs when the duty cycle is less than 50 while normal motion occurs when the duty cycle is more than 50 The two wire type PWM 100 type needs one more pin to control the operation direction of the motor V Command The analog voltage signal is converted to a velocity command such that the drive can control the motor velocity The higher the voltage value the higher the output speed but it will not exceed the maximum limit set by the drive Conversely the lower the voltage value the lower the output speed When the voltage value is negative the output speed becom
166. e HMI main 6 aa function tool bar to save the parameters in the flash memory This will 117 HIWIN MIKROSYSTEM CORP enuen uones9do y noqy 4 SUOI EOIJINedS y JO MEIAIBAC Z BULIM pP ep D a O do1s Bulun 9 suoieaddy 8 uondelold Z Bunooysejqnol 6 Operation Manual for D2 Motor Drive System 4 Settings retain the parameters even if the drive is turned off jenuey uoneJedo y jnogy suoleoyioeds y JO MBIAISAO Z BULIM rN op D 4 5 Co D qQ91S Bulunl 9 suoleoddy g UONde 01d Z Bunooys jqnoJL 6 118 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 4 Settings Step 4 Smooth factor Rapid increases or decreases in acceleration in a short period of time mean that the force on an object in motion can suddenly increase or decrease Application of the smooth motion technique to the motion control loop is helpful for maintaining performance and reducing such impacts The D2 drive uses a smooth factor to determine the S curve or T curve track and the adjustment range is 0 500 The track is closer to an S curve with a higher adjustment value and is closer to a T curve with a lower adjustment value A value of 1 means no smooth function is enabled When a higher smooth factor is used in some cases the reduced output force of the motor is helpful for the final settings d
167. e T Oira Lge tage Atcevecsben lma Wier encetet cart tee M y la Phase et ener M Gots ey ina are acts Serie encoder comensr caton erat M aTe igr ny Wat Cotgued Fig 4 32 Input and output function settings Statuses Brake signal This setting is exclusive No other options in BRK Brake Statuses Errors or Warnings can be selected after this is checked RDY Servo Ready Servo is ready DIS Axis Disable Servo is off INP In Position In Position signal MOV Moving In a moving state HOMD Homed Homing completed EMI Emulated Index Emulation of Z phase index signal ZSPD Zero Speed Detected Zero speed detection signal Errors All errors are normally checked by clicking the Set all error button but ALM Errors users can change the error combinations to meet their actual requirements Warnings LS Left Software Limit Trigger software left limit RS Right Software Limit Trigger software right limit LH Left Hardware Limit Trigger hardware left limit RH Right Hardware Limit Trigger hardware right limit PWM command greater than SVB Servo Voltage Big threshold PEW Position Error Warning resol ieee greater than the warning setting value VEW Velocity Error Warning VEGA ae greater than the warning setting value CUL Curent Uinited Current has been saturated motor peak current specification value ACL Acceleration Limited Matar operahan has aad the acceleration protection setting VL Velocity Limited Motor operation has reached the velocity
168. e average peak value of the velocity ripple 5 Velocity Ripple Velocity ripple 183 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy suoleojioeds y JO MBIAISAO Z sBules y BULIM dols Bunooys jqnoJL suoleoddy g uonde 01d Z 6 jenuey uopesado ay ynogy 1 suoleoyioeds y JO MBIAISAO Z BULIM sBunes y G91S suoleoddy g UoNde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 6 Tuning 6 3 Graphical oscilloscope Scope The D2 drive provides a Scope function for users to observe all physical values during the adjustment of the machine and determine the result of the adjustment It also allows users to find the cause of the error when the drive is unable to perform its task Click the or button in the Performance Center to enter the Scope window Click on the Position page and Velocity Ripple page to display related physical values As shown in Fig 6 7 users can observe the real time waveform of the physical value after selection of the parameter 4 Position Error yE 1 Feedback Position i 2 Reference Position J Target Position 4 Posities Error Velocity Li Reference Velocity 12 Velocity irrar 20 Be ereace ce larat ies H fictual Oerrent it Analog 41 Bus voltage 42 ervo Voltage Percentage 43 C1N Realeg Encoder 44 cos count s 2 i Feedback Position Tite Y 10 Fig
169. e frequency can be considered in some cases However control performance will be affected if the cutoff frequency is too low xi Damping ratio of the filter The value ranges from 0 to 1 k1 0 k2 0 Fig 6 25 Low pass filter 198 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 6 Tuning Notch Filter When there is an improper resonate frequency in the mechanical system e g 10 250Hz and the resonance cannot be eliminated through mechanical correction or design a notch filter can be used to solve this problem The setting of a notch filter is usually configured with reference result of the frequency analysis A setting of a typical notch filter is set as follows Fr Cutoff frequency The unit is Hz xi TDamping ratio of the filter The value ranges from 0 to 1 The band of the filter becomes narrower when the ratio is closer to 0 It becomes wider when the ratio is closer to 1 k1 0 k2 1 Fig 6 26 Notch filter 199 HIWIN MIKROSYSTEM CORP jenuey uoneJedo y jnogy suoljeoineds y JO MEIAISAO Z BULIM sBulas y dols Bunooys jqnoJL suoleoddy g uogo old Z 6 jenuey uopesado ay ynogy 1 suoleoyioeds y JO MEIAIBAC Z BULIM sBues y dols Bulun 9 suoleo ddy g UONde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 6 Tuning Automatic resonance sup
170. e home by searching the Near Home Sensor or the index signal of encoders Refer to 8 1 2 for more information After completing the setting of homing mode you can click the Home button at the bottom of the Performance Center page to activate the homing procedure The Homed status indicator on the Performance Center page flashes green when homing is proceeding and the Homed status indicator lights green when homing is completed Fig 8 4 If no homes are found before Time Out the Homed status indicator lights red meaning homing fails Fig 8 5 a Per cermarn Be ESBL n Oped 1 hee the Cec 7 ithe n Cec et 1 4108 96 brow tec 108 tee 7 OS Abe ok Dec 7 5 45e 4 Doc tH 1 4106 90 Brown taar 168 Fig 8 5 Homing fails 248 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 8 Applications 8 1 1 Determine home by searching the left and right side conditions This is a built in multi functional homing mode in the D2 drive The home position is determined by searching the left and right side conditions The midpoint between the two boundaries is the home Users can choose the Left Right Limit Switch on the 1O Set test page or search the End Stop that is search left and right side conditions through the current generated by motor touches the mechanic stop If you want to search the single index in the stroke and define it as the home check the Search Index Signal Homing in this
171. e ior rea Tepa im GELLI i igbi nas ms Bape s E imm ripu m mii Fimi tizia i ors ea i Pee L erm r 1 SE Ht Botehes ary ieee ae beet Panel ras Piti Fra rhcihan tana raris Bie Bee Pam apres tbe ate tes zert See a messi pes ret ers one ORS woot hae cet woot DAN Me be ao M cum midi gt 4 Settings After finishing all the setting click the OK button as show on the left figure The parameter confirmation screen appear click the Send to RAM as show on the left figure Click the Save to Flash button in the main function tool bar in the main HMI window to save the parameters in the flash memory This will retain the parameters even if the drive is turned off HIWIN MIKROSYSTEM CORP 127 gt a O S Z oD 5 0 5O 25 o s c O gt N D BO 2 D Ss O 0 2z oo ao 40 wo 3 gt Q dols suoleoddy g uondse10jg Z Bulun 9 Buooys jqnoIL ENN op nes Q O 6 enuen uolesado y NOqyY 4 suoeaIoads y JO M IM AQ Z BunIM N dp q N dols Bulun 9 suoieaddy g uondel0ld Z Bunooysesqnol 6 Operation Manual for D2 Motor Drive System 4 Settings 4 6 4 Stand Alone mode Stand Alone mode is a mode for independent operation The drive has a high speed DSP that can perform motion planning by itself With the support of the DSP
172. eee eee ee suoleoddy g UONde 01d Z Bunooys jqnoJL 6 40 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 3 Wiring 3 5 2 2 Source input wiring example Wiring for input via switches or relays Source connection 4 7K ia Wiring for input via transistors Source connection 4 7K Fig 3 24 41 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy suoljeoioeds y JO MEIAISAO Z sBbunles y dols yBulun 9 suoleoddy g uonde 01d Z Bunooys jqnoJL 6 jenuey uopesado ay ynogy 1 suoleoyioeds y JO MBIAISAO Z sBues y dols Bulunl 9 suoleoddy g UoNde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 3 Wiring 3 5 3 Digital output wiring The D2 general purpose output pins use an optocoupler Darlington output interface that is suitable for a voltage system of less than 24V DC There are 4 general purpose outputs Each output has an independent Darlington open collector circuit The maximum allowable current is 100 mA Users can define the function of each D2 output using the software 3 5 3 1 Wiring for output via relays example 24VDC 50000 See eee ee 42 HIWIN MIKROSYSTEM CORP 3 Wiring Operation Manual for D2 Motor Drive System 1 About the Operation Manual 2 Overview of the 3 6 Wiring examples by mode Master wiring dia
173. ees 174 132 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 5 LCD 5 1 LCD panel description Display Cursor Up key Enter key Down key Function key Fig 5 1 LCD panel Table 5 1 Display For displaying changes in values statuses parameters and actions Up key For the selection and setting of parameter values or jogging Down key For the selection and setting of parameter values or jogging For switching among the four LCD page and switching the edit modes when setting Function ke y parameter values For entering the status display options saving parameter settings and confirming EmErkey input actions Static cursor A flashing underscore means that a parameter can be edited Cursor Dynamic cursor A solid flashing box means that parameters are being edited motion is in progress jogging No cursor Parameters can only be displayed not edited X Note Pressing and holding the Up or Down keys enables users to quickly switch between pages 133 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy suoleoioeds y JO MAIAISAO Z sBules y BUUIM dols Bunooys jqnoJL uono9 0ld J suoieolddy g 6 jenuey uopesado ay ynogy 1 suoleoioeds y JO MBIAISAO Z BULIM sBunes y G91S suoleoddy g UONde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive
174. eir functions The drive provides five sets of programmable digital outputs Four of them 01 04 are general purpose outputs CN 6 connector and the fifth output CN2BRk is specially designed as a brake output or used as a general purpose output Putput state om Invert output state Output function Configure button FOL osege Coser Porpmen Ceria Cl en mE braia aie Gh ie 7o coh ae Default function setting if Sam Fig 4 31 Digital output Logical value The logical value of each output signal is displayed here The value is indicated as True or False Output function When any item in the configuration function menu is checked the name of the item will be displayed in the status display field If two or more items are checked Customized will be displayed If all error items are checked as shown in Fig 4 31 All Errors will be displayed If no items are checked PDL usage General Purpose will be displayed for general purpose output and the output function can then be controlled by PDL program language Output state The output pin state of the drive is displayed here as CLOSE or OPEN transistor conducting or non conducting In this way users can understand the state of the hardware signal that the drive outputs and use this to identify wiring errors Invert output state If required this option can be checked to invert the polarity of the output state Please note that the internal logical
175. ementation The W09 ACC L warning message shows and the acceleration is limited if the Acc and Dec settings in the Performance Center are less than the command setting This problem can be solved by increasing the Acc and Dec settings It is recommended to increase the Acc and Dec settings to 10 times the current speed HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 9 Troubleshooting The W10 VEL L warning message shows and the velocity is limited if the Speed setting in the Performance Center is less than the command setting This problem can be solved by increasing the Speed setting For example W10 VEL L appears if the required speed is 500mm s and the Speed setting is 100mm s This problem can be eliminated by increasing the Speed setting to a value higher than the target value e g 600mm s jenuey uopesado ay ynogy suoleoioeds y JO MEIAIBAC Z BULIM sBules y dols Bulun 9 suoieoddy g uogo old Z e Cc Se 0 co ag e a co 275 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 9 Troubleshooting 9 5 Troubleshooting of common errors The speed or acceleration is limited when the motion command is transmitted via the pulse or voltage command 1 If the motor moves slowly to the destination after the host controller has transmitted all pulse commands for the movement jenuey
176. encoder in the customized settings field on the same page For example for a digital rotary encoder open Rotary and select Customized Rotary Digital to enter the resolution parameter based on the specifications of the encoder Use the Save function to save the encoder parameters after the settings have been entered This will create an encoder parameter file enc that can be loaded at any time in the future Fig 4 14 UOI DE aS 1 po9u7 a ki Fon sjer Beje ies PLE Menisin iH Resolution settings heel area hem dew TIET ES Bea m haw mam Save Load encoder parameters Eep Rina pa Tamta fii n ia buini reri met Mi i a oe Trudel moni anu Pade iPAL homilies i more certs j ow eh eode pini fsa een ie j ma Dan dee peer ime a aed Fig 4 14 Customized encoder settings interface The D2 drive can be used with a digital rotary encoder To work with the host controller the D2 drive can transmit an encoder signal in addition to receiving a signal from an encoder The drive can provide buffered encoder output or emulated encoder output When using the emulated encoder output the resolution can be changed for the output via the scaling settings Please refer to Section 4 2 2 3 for more information 69 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy 1 suoljeoioeds y JO MEIAISAO Z BULIM a ie 2 a 7 dols Bulunl 9 Bunooys jqno
177. eoyioeds y JO MEIAIBAC Z jenuey uojesadoO y ynogy 4 BULIM sBuljes y dols suoleoddy g UONde 01d Z Buooys jqnosL 6 Operation Manual for D2 Motor Drive System 6 Tuning 6 8 3 2 Notch filter The notch filter is used when a resonant frequency exists in a system and cannot be eliminated by modifying the system mechanism Fig 6 45 shows the Bode plot of a notch filter Modification of the filter parameters fr xi may affect the frequency response used for the control loop analysis The emulated control system in combination with the frequency response of the notch filter is very helpful in real applications 1 fr The cutoff frequency of the filter unit Hz 2 xi The damping ratio of the filter The value ranges from 0 to 1 The band of the filter becomes narrower when the ratio is closer to 0 It becomes wider when the ratio is closer to 1 3 k1 Notch filter 0 4 k2 Notch filter 1 Ht nt HE a T T E A D T ee e e WENA E E a E a a i a a a E A EDN a tis i a a E PO a R PAT ieee ec i E E PD ks ee aa ase EU Te E D D D E T on BEDU M E a S Fig 6 45 Notch filter 224 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 6 Tuning 6 8 4 Gain tuning Loop constructor provides gain values and common gains CGs for the velocity loop vpg vig and position loop ppg Please refer to 6 6 for more information about VPG and
178. eration Manual for D2 Motor Drive System 8 Applications The Homing example In the settings of Fig 8 9 the motor will move at the slow homing velocity in the negative direction to search the Left Limit Switch and search the first Z phase index signal at the slow homing velocity in the positive direction when the homing procedure begins Refer to 8 10 for action process ee E aw Haring Backiaah Emmm itap Rennie Pottar Linis Fea ate conn Faster pep 10i counta Smin tactor 168 Tere out 25 0 Beco Home oer B count T Golas and Aip in Horeng This mode wil ara the Slower speed ie ipt maw poio Lafe mide hen oppaite Eie BPR RA BY M Ae gs eae TE eee os homie Lem Hdi ptio Higa inje ciio yOu saisi ie usa lt Serch medea Sgn ay eens peor ail Be Of cies aoia Left Limit Switch E Searchinggagignal Mane Baath md coo cuenta A amo iima 8 8 mitt T Uwe Mem Hame Santo indan tor Himig 1 Gc befi ety Use Elev speed 2 Jepch niea cigeal saiy Fig 8 9 i mm Faster speed j 1 Slower speed Vv Vv Lower limit Near home sensor A a Upper limit Z phase E i S fees ele 2 UONDE OId J Fig 8 10 251 HIWIN MIKROSYSTEM CORP jenuey uopesado y ynogy 1 suoleojioeds y JO MEIAIBAOC Z BULIM sBulyes y dols Bunooys jqnoJL Bulun 9 6 Operation Manual for D2 Motor Drive System 8 Applications
179. es negative too and the motor operates inversely The command speed corresponds to how many unit voltage can be set in the drive PWM Command The PWM command is converted to a velocity command to directly control the operation speed of the motor The velocity corresponds to how many Full PWM can be set in the drive 165 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy 1 suoljeoioeds y JO MBIAISAO Z sBules y BULIM 91S Bunooys jqnoJL suoleoddy g uonde 01d Z 6 Operation Manual for D2 Motor Drive System 5 LCD P 4 3 2 1 Basic setting of velocity mode gt 5 The basic setting of velocity mode is described below Cc S O Step 1 Mode selection E The steps for selecting velocity mode on the LCD are described below o m 5 SV NORDY f yf y f When the drive is powered on the ES enable state of the drive is first a2 displayed on the LCD S 3 5 ok Press the Function key twice to o F move to the parameter change mode lt MODE f P Press the Down key three times to STNDALON move to the operation mode a ii i setting screen ia MODE PE a ram Press the Enter key to enter the o _STNDALON M j setting state z D ERORE rw rJ al Press the Down key to select the p VELOCITY ae Ed option for velocity mode a 9 MODE rma Press the Enter key to confirm the VELOCITY l j setting suolesddy g UONde 01d Z Buno
180. gain A See he postion emor iduce Fig 6 28 Acceleration feedforward Acc feedforward 201 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy suoljeojioeds y JO MEIAISAC Z sBules y BUI dols Bunooys jqnoJL suoleoddy g uonde 01d Z 6 jenuey uopesado ay ynogy suoleoyioeds y JO MBIAISAO Z BULIM sBunes y G91S suoleoddy g UoNde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 6 Tuning The procedure for adjusting the acceleration feedforward are described below 1 Set scope Click the Set scope button to show the graphical oscilloscope screen Set Acc feed forward gain to 0 Smooth tactor 508 e PpP W Repeat 4 Owed trne 1009 msec P2 560008 Speed 500089 courts ice 1 bVie r 3 Dec 1 67e6 Dec Hi 1 7667ie 7 courts count s 2 counts Pte _Goart Gomre Set the maximum acceleration as required Use the P2P function to move the motor back and forth HIWIN MIKROSYSTEM CORP eno ess neal 202 Record the command value of the maximum current in the acceleration segment You can see the Command Current is 16 in the acceleration segment in this example Record the maximum reference acceleration value in the acceleration segment The reference acceleration is 950 000 count s 2 in this example Divide the value in Step 5 by t
181. gram for pulse command input 3 6 1 The host controller sends a pulse to the drive which drives the motor to move a corresponding distance every time it receives a pulse This pulse has a similar function to a position control command The position mode P Command receives host controller commands in three modes PLS DIR CW CCW and A B Phase 3 Wiring 4 Settings 5 LCD 6 Tuningt 7 Protection 8 Applications 9 Troubleshooting Specifications RAEI OPE LE Pe BE ee EL Ep begga Sr W ee TE peel H ye R 10 SIS 4 eu18 X UL JNOYYIM damod AppZ Bulsn dNd S J9 01 U09 SOy 341 p S ozlji yi g iz H We 10 S S 4 jeuJ x Ue YIM uoounfuoo Ul Jamod ApZ AZ Buisn dNd S 49 04 U09 soy aL TIS ozzl re nK F elj arn NO sISed BUJa Xd Ue NOUM damod Az Bulsn NdN S J9 01 U09 soy ay Z EMILE LPA 4 4 3 az a ol eg az 1J0 SIS J EUIS X9 UB YIM uojounfuoo ul Jamod AvZ AZ Bulsn NdN S 491101 U09 ysoy ay died paysimy AOL jndul aBeyon 40 99 09 uado yndjno seyd Z yndjno seyd 9 yndjno seyd g nd no seyd y GL 090Y pI 090Y 6L ZO Sc 9S re A ez zZ t a er a co wW Le Y EL Os 9 W292 oz G m l WD i t M oz E MI L Wo Encoder_output ag iz SNO LP a a a i mite MEP u e WLP a AL F Sd 09 9S Sz HMI P HM99 9p HMO SP 1 HM9 FF 9S EL vO OL O ILL
182. he value in Step 6 Acc feedforward gain Command Current Reference Acceleration 16 950000 1 68421 e 5 Enter the result acquired in Step 7 in the Acc feed forward gain field Operation Manual for D2 Motor Drive System 6 Tuning Ta Z an z E O te S ii S a Jie ae O Observe the position error 2 a i i 5 Cc value and you will find it v decreases from 90 counts to S 65 counts in the acceleration segment N gO 2 o 9 2 oO 5 h as oO wo Q A ep D Q n oO T O w uono9 0ld J suoieolddy g Bunooys jqnoJL 6 203 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 6 Tuning T Step 5 notes gt When the motor begins to move the graph appears on the Scope Fig 6 29 You can Q use the Toggle scopes windows Page Up button to switch between the graphs of a lt single physical value Clicking this button repeatedly will toggle between the graphs of A the command current reference acceleration and position error in sequence so that users can read the values of these graphs easily jad S Scope Axi K_ N nO TC 38 E J oo a B l Switch D p between Scope Oo screens 2 ZH Reference Accelerat ay n LA 2 n on 4 Pasitian Ereor 1 t DSF rains 1 5000Hr Raieet 11 85Hz Times 1B U Fig 6 29 Motion track of the motor suoleoddy 9g UoNoe 01d Z B
183. he velocity and force torque modes in 4 6 2 and 4 6 3 oo 5 O Q oO 3i a N 5 lt 5 ome 5 h o S D dols sus y yBulun 9 uono9 0ld J suoieosiddy g Bunooys jqnoJL 6 53 HIWIN MIKROSYSTEM CORP enuey uopesado y ynogy 1 suoneaoads y JO M I AQ Z sBues y dols Bulunl 9 suoleoddy g UONde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 3 Wiring 3 6 3 1 Velocity torque mode PWM 50 input Host controller is NPN mega fabs User can define the F J function for each PV SO command D2 Series Drive output Host controller j3 suaype NPN type swi User can define the function for each input 54 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 3 Wiring 3 6 3 2 Velocity torque mode PWM 100 input Host controller is NPN Host controller 17 3507 NPN type mega fabs User can define the function for each PA 100 command D2 Series Drive output ik ali User can define the function for each input 55 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy suoleojioeds y JO MEIAISAC Z sBulles y dols W5ulun L 9 Bunooys jqnoJL suoleoddy g uonde 01d Z 6 enuey uopesado y ynogy 1 suoneaoads y JO M I AQ Z sBues y dols Bulunl 9 suoleoddy g UONde 01d Z
184. her the current the higher the noise will be It may also change depending on the mechanisms used and the load intensity Phase initialization and auto tune Click the Execute button as in the left figure to start the phase initialization The auto tune window pops up when the initialization is complete Use and to drive the motor and keep it operating continuously Confirm that the motor has moved far from the stop After the motor has moved click the Proceed button to start the auto tune Click the Close button to close the window after the tuning has been completed Now the auto phase initialization is complete and test run functions can be performed xX Note The exciting signal of the host controller needs to be triggered for this step X Note Observe whether the Phase initaized and BServc reac lights are green to check if the phase initialization was executed successfully and if the servo close loop control is ready X Note The MGainistuned status indicator flashes green during the auto gain process The auto tuning is complete when it is continuously lit green or not continuously lit red In this case close the auto tune window and repeat Step 5 fis adot to Araali motor For 2 ans application of AC servo motor fno brate i Qual in cicing en Toogie mas make ants taling Motion direction definition and setting the inverse direction If after executing the continuous motion
185. hows the model number of suitable regen resistors for each D2 drive Table 7 7 shows the model number of regen resistors for HIWIN products Users can choose to use series or parallel connection based on their needs Table 7 8 and Fig 7 11 show the appearance and size Table 7 6 A frame B frame RG1 C frame RG2 Table 7 7 100W 500W 300W 1500W Table 7 8 1652mm 150 2mm 40 0 5mm 20 0 5mm 2154 2mm 20042mm 60 0 5mm 30 0 5mm Fig 7 11 244 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 8 Applications 8 Applications 8 FDO NC AOU seaiarcacrrstere cesar ttinnmititend ii AEE AEE EEEE EEANN SO E 245 8 1 Homing Settings serssusicrsnnusneeros nie aieea 247 8 1 1 Determine home by searching the left and right side conditions 249 8 1 2 Searching the Near Home Sensor or encoder index signals 252 8 13 Mome Offsets r aE iS 255 8 2 Backlash compensation pviscisisistncicercsunsninascnmaniddunainedcnenanbinnccranasenusinies 256 8 9 Error Map sandedetcesyitavontsanicapianoatnanaaes iinet tab varsauieasensasaciibetaceresiaiuenmneuens 257 8 3 1 Operation of Error Wap iecciacisreceerstactenetsccoscemexecteas eotesenexectenncenenerenes 258 8 3 2 Activation of Error Map eee ac sec tenenxnctecntrcatesientetaceecsesmeenciternseecerenes 261 8 3 3 Save and read the error table file ccccceceseceeseeeeeeeeeeeeeeeeeneees 262 8 3 4 Error Map value and encoder reSolution
186. i Tanie Daang i r a zmagama 5 coal aai iea emai ce Pm Biei ieam tas aie Fig 9 5 Errors and Warnings Log 267 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy 1 suoljeoioeds y JO MBIAISAO Z BULIM sBuljas p qg91S Bulunl 9 suoleoddy g uonde 01d Z a e eg iq n P e F Q Operation Manual for D2 Motor Drive System 9 Troubleshooting The Statistics of the Errors and Warnings Log is shown in Fig 9 6 The number of the errors or warnings Frequency that have happened to the drive are recorded in this window With this information users can understand the errors or warnings that happened most frequently and take appropriate actions enuey uopesado ay ynogy suoleoyioeds y JO MEIAIBAC Z BULIM sBunles y x 0 Oo i 0 0 0 0 0 0 dols Danubi ikon HFa aT Orang eee wil ey ep beth i Pookie ahsiiag Bulun 9 Fig 9 6 Statistics of the Errors and Warnings Log suoleoddy g UoNde 01d Z x e o iq n O F fe e J 268 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 9 Troubleshooting Users can double click the type name of an error or warning to show Help tips dialog box Fig 9 7 and view the contents of the message In this example click E06 Motor gt may be disconnected to open
187. i Te Bri incorrect Quis Lng pane cece F miie in tar Eaa hand sigg ENa phiana presi ha buton of jog Eal ond Slee proceed aiia uring BGain tnei Phase initialization and auto tune Click the Execute button as in the left figure to start the phase initialization The auto tune window pops up when the initialization is complete Use ij and to drive the motor and keep it operating continuously Confirm that the motor has moved far from the stop After the motor has moved click the Proceed button to start the auto tune Click the Close button to close the window after the tuning has been completed Now the auto phase initialization is complete and test run functions can be performed x Note The exciting signal of the host controller needs to be triggered for this step X Note Observe whether the Phase witiatzes and BSeno rea lights are green to check if the phase initialization was executed successfully and if the servo close loop control is ready X Note The MGainis uned status indicator flashes green during the auto gain process The auto tuning is complete when it is continuously lit green or not continuously lit red In this case close the auto tune window and repeat Step 2 Buooys jqnoIL 6 fee eee EN eek Ee ec sete Eis alo ie dastle moter Fe 2 an apeication of AG geno motor dna Grate ii pol n ccna om Toggle may Tian ania t
188. i i O lt paniy left figure 2 S CCENT eel wib ad foams lt Mone habe ee eee Soe haa oOo oO atin aan Fa Y m s O O iaa gt Pism Lsa Serie es no gt capa am a a Taia ea ee LSS ital O Sgr pm yp Dor Tinca ee Trga woot Ceme o ee Click the Save to Flash 5 r A Q button in the HMI main function tool bar to save 7 the parameters in the flash R memory This will retain E the parameters even if the B drive is turned off 2 o1 oO o O 4 Cc 5 Q N U j O Q z i CO gt O go v n oO Go O n O Qo Q 129 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy 1 suoleoyioeds y JO MBIAISAO Z BULIM rN op D 5 Co O a0ls Bulunl 9 suoleoddy g UONde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 4 Settings 4 7 Save to flash Click the Save to Flash button in the main HMI window to save the current parameters in the flash memory Parameters saved in the flash memory will be retained even if the drive is turned off 1 The emulated encoder output function will temporarily fail when the parameters are saved If the host controller is connecting to the emulated encoder output signal the encorder information that the host controller receives may be lost 2 The compensation table of the error mapping function will not be saved A save action must be executed on the
189. ig 4 3 Successful installation of the software 60 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 4 Settings S Pict i i Cio yew mani bo kebal eee UB Gee 7 i Fig 4 4 Installation window for USB driver The execution shortcut of the Lightening HMI program Fig 4 5 will appear on your PC desktop after installation The path for this shortcut is C mega_fabs dce toolswin winkmi lightening exe Lightening Fig 4 5 Execution shortcut of the Lightening HMI program 61 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy suoljeoioeds y JO MBIAISAO Z BULIM aN op D a Co a aol s Bulun 9 Bunooys jqnoJL suoleoddy g uonde 01d Z 6 suoleoyioeds y JO MBIAISAO Z jenuey uopesado ay ynogy 1 BUI rN op D a 5 Co D dols Bulunl 9 suolesddy g UoNde 01d Z Bunooys jqnoIL 6 Operation Manual for D2 Motor Drive System 4 Settings 4 1 2 Communication setup Connect the drive via USB and turn on the power before opening Lightening The drive will automatically connect to the Lightening HMI when it is opened If not click Communication setup in the Tools menu to change the communication setup The shortcut for this task is Ctrl N Cont Tune Took Laequege About Commrnurcabor tetup Coie N LCD Peveword 2 Oper pict ven rieg Dat
190. ignals known as PWM commands The PWM command converts to different velocity or current commands depending on the duty cycle It is classified into single wire PWM 50 and two wire PWM 100 types The single wire PWM 50 type refers to the duty cycle of 50 An inverse motion occurs when the duty cycle is less than 50 while normal motion occurs when the duty cycle is more than 50 The two wire PWM 100 type needs one more pin to control the operation direction of the motor V command The analog voltage signal is converted to a current command to directly control the current output of the drive and thus the force and torque of the motor The higher the voltage value the higher the controlled current output but it will not exceed the upper limit set for the motor The lower the voltage value the lower the controlled current output When the voltage value is negative the controlled current output becomes negative correspondingly and the motor operates inversely The current to which the unit voltage corresponds can be set in the drive PWM Command The PWM command is converted to a current command to directly control the current output and thus the force and torque of the motor The current to which the Full PWM corresponds can be set in the drive 124 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 4 6 3 1 Basic setting of force torque mode The basic setting of force torque mode is described below Step
191. in Step 4 the direction of the motor is opposite that defined by users close the auto tune window and open the window as shown in the left figure Next click the Toggle button in the window to set the inverse direction and carry out Step 5 again X Note If the motor is used ina vertical application and there is a braking mechanism the motor will be de excited if the direction of the motion is set to opposite This may have a slide down effect 89 HIWIN MIKROSYSTEM CORP enuen uonesado y jnogy SUOIJEOIJIN8dS BY JO M IM AQ Z Bunooysejqnol BunIM A op D Ko D do1s Bulun 9 suoieaddy 8 uondelold Z 6 enuen uogeiado y noqy suo1eaIoadS y JO M IM AQ Z Operation Manual for D2 Motor Drive System 4 3 3 4 SW method 3 Blinanec Phase etatcston mode EV nethed J Wre nasra l ETE 4 Settings Phase initialization method If a motor is used in conjunction with the drive that has 4 in the ninth code of the model number and a 17 bit digital incremental encoder and the ninth digit of its model number is 3 the system automatically sets the phase initialization method to SW method 3 BULIM aN dp oO a co D dols Bulun 9 suoieoddy g uondel0ld Z tna Bans tes BE bares re Phd Se ce M thee gt l E kui gan iang HEr HjPrhise naaid Up senc ready Fine OAM Hi TEN ARS
192. inear interpolation encoder error compensation Sampling maximum 16 000 points Storage Flash ROM hard drive file Unit um count Activation After internal homing or activated by external input signal Friction compensation backlash compensation jenuey uopesado ay ynogy 1 suoieoyineds BULIM N lt S Q 9 Loma D D sBuljas p ado0ls Bulun 9 uono9 0ld J Bunooys jqnoIL suoieoslddy g 6 Operation Manual for D2 Motor Drive System 2 Overview of the Specifications 2 3 Dimensions of the drive The drive dimensions and location of the holes are shown in the following figures The dimension units are in mm and the diameter of the mounting hole is 4 mm jenuey uopesado ay ynogy 1 7 5 6020 5 115 0 1 5 3 5 1 guns joool N suoieoyioeds N lt S o s e y D S20 oz aza OOOO00000000 000g
193. ing A N Attention o 1 Be careful when handling the product to avoid damage pen 2 2 Use appropriate handling methods and do not apply too much pressure to the case 3 The product shall not be stacked to avoid instability or i collapse amp Installation location z Required T 1 The product shall not be installed in a place exposed to high S temperatures high humidity or flying dust iron powder or metal fragments 2 Install the product in a place where the ambient temperature meets the requirements of the Operation Manual Use a cooling fan in case of potential high temperatures D 3 Do not install the product in a place exposed to direct sunlight 4 Since the product does not have a waterproof or moisture proof case do not use it outdoors or install it in a place where water or other liquids exist 5 Install the product in a place vibrations are as low as possible 6 Depending on the frequency of use heat is generated when the motor is used continuously Use a cooling fan or set the product to standby if it stops in order to lower the ambient temperature of the product so it does not exceed the specified value Bulooyseyqnol 6 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 1 About the Operation Manual Installation A N Attention 1 Do not place any heavy objects on the product to avoid damage 2 Do not mix with foreign matter or debris to avoid fire 3
194. ion cccccceceesseeeeeeeeaeeees 83 4 3 3 Auto phase initialization Setup procedure cccccecseeeeeeeeeeeeeeees 84 4 3 4 Instructions for auto phase initialization cccceccccesseeeeeeeeeeaeeees 91 VO Centera case ce cide eee ea oak E E neon AR 92 4 4 1 Digital inputs and their functions cece cece ee eee cece eeeeeeneseeeeeeeeees 92 4 4 2 Digital outputs and their fUNCtIONS ccc eceeeeeeee eee eeeteeeeeeeeeeees 108 In Position setting 224 cn cnctaciancatinnsssamandieegantcaeeduikeensnnssdasenern tnentantaiuwedamed iad 113 4 5 1 Function OVGIVICW sxccocdivunasecnnetsneilcncedesnidentduueawssesoreanatiidacndteorties 113 4 5 2 Settings enaere ea EEE EEEE 113 Parameter overview and configuration of Mode sssssssseesssrrrrrereree 115 AON POSION M GE sssini E EE aa N aE 115 4 6 2 Velocity OOS agree siesecteieeereecte gotten rneiadetainacbinaneeenacecanocaxadndigieteeness 120 4 6 3 Force torque Mode rcccsccccstencccncecexxtecatebennacdinasveaecnascseexebedsieiniencads 124 4 6 4 Stand Alone MOS sircecic ic crecsdcackevixcxxecctonsianehstucrsseonccedtexeansedewiemecads 128 S ve to MASON oreo racshe enacts connec a e E E a E ERE 130 e E E E E E E E 132 LCD panel description aise ins ceaeesetnciecexxndcddecbiccehinnyxseed ccconidacenmnedddianmteds 133 POUR LOD pag Sieste e EE EE EEES 134 5 2 1 Home Page oi osncgesce es hcecceecstceddcdnseenspadesiesaceneasanoseeecddductepedeeemenetes 136
195. ion Clear Position Error a ol 29 13 Axis Enable Axis Enable Axis Enable Axis Enable No Limit Switch HIWIN MIKROSYSTEM CORP Limit Switch 94 Limit Switch l4 Switch to Switch to Switch to Switch to No secondary CG secondary CG secondary CG secondary CG Near Mame Electronic Gear Select No Sensor lt DIV1 gt Left Left Left No Limit Switch Limit Switch Limit Switch Limit Switch Switch to Switch to Switch to Switch to No Secondary Mode Secondary Mode Secondary Mode sPeonety Mode Clear Error Clear Error Clear Error Clear Error No Right Right Right Right No Limit Switch Operation Manual for D2 Motor Drive System 4 Settings mpu Abort Motion Operation mode Pos Vel Std Function Symbol EMG petaultinput igs Circuit Refer to 3 5 2 No diagram Function description User can use his host controller to trigger this input signal of D2 under position velocity or Stand Alone mode The drive will decelerate the motor to stop as a result of the emergency stop function The deceleration value for the emergency stop can be set in the Dec kill field in the Performance Center Instructions for use Users selects Abort Motion 12 by default in the Inputs tab of the I O Center The signal is triggered externally to immediately decelerate the motor to a full stop E iii Benieg E t I lal a ins iskis Baisi ts eetteiar
196. ional technicians e Turn off the power before wiring or inspection to avoid electric shock or other dangers e High voltage may remain in the drive after the power is turned off Wait a while up to five minutes before touching the power terminal e Perform the wiring appropriately and reliably to ensure stable operation and to avoid injury damage or other accidents e Do not attempt to modify the drive 3 3 1 AC power wiring diagram single phase It is recommended to use the FN2090 6 06 single phase filter I ee at a Toeki ed D2 Series Driver Fig 3 18 Maximum continuous operating 250V AC 50 60Hz voltage Operating frequency DC to 400Hz Rated current 10A 40 C 11 2A 25 C Surge pulse protection 2kV IEC 61000 4 5 35 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy 1 suoleojioeds y JO MBIAISAC Z sBuljes p dols W5ulun L 9 Bunooys jqnoJL suoleoddy g uonde 01d Z 6 enuey uopesado ay ynogy suoleoyioeds y JO MEIAISAO Z sBues y dols Bulun 9 suoleoddy 9g UONde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 3 Wiring 3 3 2 AC power wiring diagram three phase It is recommended to use the FN3258 7 45 three phase filter on OFF Stop ogo 9p _ 9 To kM Fig 3 19 Maximum continuous operating 3 x 480 277V AC FN325
197. l for D2 Motor Drive System 4 Settings input Switch to Secondary CG Operation mode Pos Vel Trq Std Function Symbol GNS Denaut input None oreut Refer to 3 5 2 No diagram Function description This enables users to switch between CGs Instructions for use Users can set the input function in the Schedule Gains vpg tab in Advanced gains as shown in the figure below When the input point State is on Secondary CG is used When off Primary CG is used ini Cans Smet Game arig k I eed CG eS e lt i z kic rap gaa ETTET Eg aoe jenuey uopesado ay ynogy 1 suoleoioeds y JO MEIAIBAC Z 103 HIWIN MIKROSYSTEM CORP BULIM aN op 5 a a aol s Bunooys jqnoJL Bulun 9 suoleoddy g uonde 01d Z 6 jenuey uopesado ay ynogy 1 suoleoyioeds y JO MBIAISAO Z BUI D op D O ado0ls Bulun 9 suoleoddy g UONde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 4 Settings Input Function Zero Speed Clamp Operation mode Vel Default Input Circuit Symbol ZSC No 11 diagram Refer to 3 5 2 Function description This input function is only applicable to velocity mode and is level triggered This input function is only applicable to velocity mode and is level triggered When the input point State is on motor will
198. l is on or off Software Enabled To indicate whether the software enable is on or off Servo Ready To indicate whether the motor is enable Servo Ready To indicate whether the motor is excited Phase Initialized To indicate whether the phase initialization of the motor is completed Moving To indicate whether the motor is in motion Homed To indicate whether the homing of the motor is completed SM mode Motor enabled in the SM mode Errors and warnings Last error The latest error message Last warning The latest warning Refer to Chapter 9 Errors and Warnings for more information Fig 6 1 Status display 176 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 6 Tuning 6 1 2 Quick view There is a Quick View area at the bottom of the GUI main screen It provide users to better understand the details of the system status The interface provides 3 physical value for display Users can select the physical values to be observed These values will be updated at real time for users to observe and analyze the system status Fig 6 2 Fig 6 2 Quick view physical value setting menu Unit settings Position Units For the change of the position unit users can select the preferred unit to display the related physical value position and velocity as shown in Fig 6 3 Fig 6 3 Unit setting menu 177 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy suoleoioeds y JO MEIAISAC Z
199. line passing through the phase crossover and the negative real axis on the Gi j plane Phase margin PM G je 180 J Crossover Phase margin Ow Fig 6 49 Phase margin of Nyquist 229 HIWIN MIKROSYSTEM CORP suoljeoioeds y JO MBIAISAO Z jenuey uopesado ay ynogy 1 BULIM sBuljes y dols Bunooys jqnoJL suoleoddy g uonde 01d Z 6 enuey uoneJedo y NOoqyY suoleoyioeds y JO MBIAISAO Z BULIM sBues y dols suoleoddy 9 uoNde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 6 8 5 2 Gain margin and phase margin of Nyquist 40 Og Gain crossover 20 ii G jo dB 5 f Gain margin 40 L 60 Phase margin 0 90 2G jo 409 EMm 270 360 w_ Phase crossover p Fig 6 50 Bode gain margin and phase margin 6 8 6 Bandwidth The Bode bandwidth is defined to 3dB as shown in Fig 6 51 Gain dB Bandwidth 6 Tuning e rad sec a rad sec Fig 6 51 Bandwidth 230 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 7 Protection 7 Protection fa PrOtECHOR caiaissrsteicebeniiitininidcnintdgouitwuntitiidcchent saunas taeleseieusamidnieiskbeiaeedbmonnnddeieesiamniues 231 Eel Moton DIOLS CHOI ivceccrererianantedinatencetmnmdunenenaaguiuiaksnldnedanancninetiahvheauteneanstya 232 CT FUNCUORM OVErVIEW cciSnsianerismint
200. llowing operation shows the ENA DIS setting steps Please refer to Fig 5 17 for 5 an illustrated description of the procedure oO J gt 0 1 Press the Enter key to enter the ENA DIS setting A solid flashing cursor appears on 59 the left side of the second line S 2 Use the Up or Down key to select ENABLE or DISABLE o 3 Press the Enter key after selecting to finish the setting N oo ee WERT TE aaa a 7 g9 LEVEL ONE LEVEL TWO g 8 39 i i I g i oS D ENA DIS Disable l DISABLE amp h I i ENA DIS e a foc ia i aa l gt om 7 i ENA DIS m E NA DIS Enable C 5 SV RDY l g i j l l o l l O I l j j I i l l MEEDE T E ER ESSES Fig 5 17 Operation of excitation de excitation ENA DIS suoleoddy g uonde 01d Z Bunooys jqnoJL 6 155 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 5 LCD 5 2 4 4 JOG gt 5 The following operation shows the JOG setting procedure Please refer to Fig 5 18 for z an illustrated description of the procedure So 59 1 Press the Enter key to enter the JOG mode A solid flashing cursor appears on the g left side of the second line o 2 Use the Up or Down key to allow the motor to rotate normally or inversely motion The feedback position will display on the LCD when the motor i
201. lter1 of SW method 1 19 X_sof_k2 Parameter of phase initialized filter1 of SW method 1 20 X_nf_fr Frequency of phase initialized filter2 of SW method 1 Hz 21 X_nf_xi Damping ratio of phase initialized filter2 of SW method 1 22 X_nf_k1 SW method 1 parameter of short excited filter 2 23 X_nf k2 Parameter of phase initialized filter2 of SW method 1 24 X_f1_fr Frequency of the closed loop filter 1 Hz 25 X_f1_xi Damping ratio of the closed loop filter 1 26 X_f1_k1 Parameter of closed loop filter 1 27 X_f1_k2 Parameter of closed loop filter 1 28 X_f2_fr Frequency of closed loop filter 2 Hz 29 X_f2_xi Damping ratio of closed loop filter 2 30 X_f2_k1 Parameter of closed loop filter 2 31 X_f2_k2 Parameter of closed loop filter 2 32 X_Upi_kp Current loop proportional gains D axis 33 X_Upi_ki Current loop integral gains D axis 35 X_Vpi_kp Current loop proportional gains Q axis 36 X_Vpi_ki Current loop integral gains Q axis 39 X_index_vel Slow homing velocity slower speed count s 40 X_index_tout Time out of homing process 66 67US 42 out_xor Invert voltage for digital output 43 X_cntperunit Number of rotary motor counts in a revolution 44 X_pitchScrew Screw pitch mm 45 X_enc_360 Number of rotary motor counts in a revolution count A_ampx 46 X_sm_ampl Current for Phase initialization 1000 curr_d rv_peak 47 X_enc_360_div Motor pole pair counts 48 X_st_vpg Velocity gains of SW method 1 i
202. m for pulse command input cccceeeeeees 43 3 6 2 Master wiring diagram for analog command input cccceeeeees 50 3 6 3 Master wiring diagram for PWM command input cccceeeeees 53 4 SENG Siesa eE e a e E E E 59 4 41 Installation and connection oxeiiercrcegaset nwt ieheecenateatitenddanegehieimaxiccieamaceiaid 60 AST Setup file arune a ioa E Ganna 60 4 1 2 Communication SOUND anc enccstitreacaancteatnanavencesiadiedoauencwanerncierencnbece lt ts 62 4 1 3 Main IA WIN OW sinssasaccxtvedennneabasivicanawenrbanessaceexoexedeebieunsaximannenens 63 4 2 Configuration Center ccrcassssctentnennnsvantenaitecadacecnseiorcanaanortnenansermmnenisa 65 4 2 1 Motor configuration seesessseseetesererretettrtttttrtttterrtrrnrtrtntrrerre rrene 66 HIWIN MIKROSYSTEM CORP 4 3 4 4 4 5 4 6 5 3 6 Tuning 6 1 6 2 6 3 6 4 6 5 6 6 HIWIN MI Table of Contents 4 2 2 Encoder COMMGUTAUOM ciicesciscnide ds svessterercsbikcdeveniesmideidccevegsasedtetdense 68 4 2 3 Setting the operation MOdE cccccceceteeeeeeeeeeeeeeeeeeeeaneneeeeeeeeeeees 74 4 2 4 Completion of the configuration procedure cccccceeeeeeeeeeeaeeees 79 Auto phase center siccscisinnrasatactadantus sitio tacccbbenaeanminanenteaderaudtnandisanbaunacnauhiaseusis 80 4 3 1 Mode overview sigisasscicasceetaswnionarseianintisenia bnaxtid momsaanonmnbieasatiecanetuaud 80 4 3 2 Pre operation for auto phase initializat
203. me dimensions 14 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 2 Overview of the Specifications _ 41401 12 7 s gt T 60 05 165 9 1 5 2 0 9 0 1 65 _28 404 2 ain es i 1A f I S D 4 E g O eee 25 ann NANANHA z T p AINA e 5 CNI SR gu UU E B al N z Hpo E 5 Yo F 844 F E lo w 8 pa O g A Flies X ai a O ud 9 vZ a p os TES E nanan is D e E V wW i i S i i Q anane E i Mme MH e amp ee N oO Q n oO O Fig 2 3 C Frame dimensions O Z co suoleoddy g uonde 01d Z Bunooys jqnoIL 6 15 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy suoleoyioeds BULIM sBues y N O lt fo S o 2 e ad01ls Bulun 9 suoleoddy g
204. minal to the power source g Fo The motor power terminal must be securely connected to the power source as to avoid fire D Ensure that the drive and motor are grounded appropriately Wiring must be conducted after installation of the drive and motor to avoid electric shock Do not damage pull or squeeze the wire so as to avoid electric shock The drive may interfere with the operation of nearby electronic equipment A n noise filter can be used to reduce such electromagnetic interference A Do not attempt to modify the drive 2 Do not put the main circuit cable I O signal cable or encoder cable in the same duct or bind them together A distance of more than 30 cm must be maintained between the cables 2 The following instructions must be observed for wiring the main circuit 2 terminals lt Do not insert more than one wire in the same socket X Check there is no short circuit with any nearby wires after inserting the wire X Ensure the specified power voltage is used to avoid fire or damage If the drive is to be used under poor or significantly fluctuating power a conditions ensure power is supplied within the specified voltage fluctuation m range so as to avoid damage F Install a breaker or other safety devices to prevent external short circuits ai from damaging the drive 5 Appropriate isolating and sheltering measures must be taken if the drive is o used in the following places to avoid a
205. mized resolution parameter settings HIWIN MIKROSYSTEM CORP 71 Resolution settings area lt j jenuey uopesado ay ynogy 1 suoljeoioeds y JO MBIAISAO Z BULIM aN op D a 5 Co a qg91S Bulun 9 Bunooys jqnoJL suoleoddy g uonde 01d Z 6 jenuey uoneJedo y jnogy suoleoyioeds y JO MBIAISAO Z BULIM rN op D a 5 Co D G91S Bulunl 9 suoleoddy 9g UONde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 4 Settings 4 2 2 3 Encoder output settings The D2 drive transmits an A amp B square wave encoder signal via CN2 This can be connected to the host controller if needed Check the Used buffered encoder or Use emulated encoder in the encoder output area accordingly Fig 4 16 The value in the Output Resolution field will be updated for the selected output mode X Using AC servo motors with a 17 bit encoder can use the emulated encoder Fig 4 18 Emulated Index Output in every revolution to output the Z phase signal to the host controller l E BP i tpa ew una iam kinse f EPRE Encodes Ha a Epi Anies Eresi tai ata amala pacer tindel Mane RtiGGT aed hpu in i E gee 10 re ew Peseta Hejit p I Tis ia Curi Re ma beer Ao Ei li wl a Encoder Oe jaa output S iie mimpi piin T aa i settings area ne mad aS rc muisei ean od eee er 4
206. n Function scserenssocacceceersocnncteedserennsteedandedatteuttasertueeanbetencecees 287 C 1 Compare parameter RAM to flaSh ccccccccessseseeeeesseeeeeesseeeeseeesasaaes 288 D How to Update the Firmware of the Drive cccccccccessseeeceeaeeseeeeeeaeeeeeeeesaeees 291 D 1 Update the firmware of the rive cccccccccsseesseeceeseeeeeeessaneeseseeanaaes 292 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System Table of Contents Version Date Applicability Remarks 1 0 2012 01 10 D2 Motor Drive Initial edition 1 1 2012 04 10 D2 Motor Drive Revision HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 1 About the Operation Manual 1 About the Operation Manual 1 About the Operation Manual scsc cnccnpnoseecnsccesntausnmeddcnsisacneiiiueedeeelceasssasiencseddtacecdastadeenek 1 1 1 Instructions before USS sce cctesaiadecsenenncemicciosdetacesichunaSbenddenentdon Saacmeadtementntoce 2 1 2 Safety MStrUCt ONS ieran eE E EE EEEE EAE 3 1 HIWIN MIKROSYSTEM CORP suoneayoads y JO MEIAISAC Z gt o S pee 5 D ie 5 D PR o a fa 3 BUUIM sbulljes y dols Bulun 9 Buooys jqnoIL suoleoddy g uonde 01d Z 6 suoleoyioeds y JO MEIAISAO Z ay gt ion O O ie xe D o E O m BULIM sBunes y G91S Bulun 9 suoleoddy 9g UON
207. n Phase initialization 49 X_st_cg Common gains of SW method 1 in Phase initialization 50 X_max_err Maximum position error count 51 X_curr_mot_peak Motor peak current A_amp 147 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy 1 suoljeoioeds y JO MBIAISAO Z sBules y BUUINA dols uono Old J Bunooys jqnoJL suoieolddy g 6 jenuey uopesado ay ynogy 1 suoleoyioeds y JO MBIAISAO Z BULIM sBues y G91S suoleoddy g UONde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 5 LCD 53 X_curr_mot_cont Motor continuous current A_amp 59 X_vpg Closed loop velocity proportional gains 64 X_affg Closed loop acc feedforward gains 65 X_CG Common gains 66 X_sg_run Schedule gain in movement 67 X_sg_idle Schedule gain in In position 68 X_sg_stop Schedule gain in settling 69 X_Ucf_fr Frequency of current loop filter D axis Hz 70 X_Ucf_xi Damping ratio of current loop filter D axis 71 X_Vcf_fr Frequency of current loop filter Q axis Hz 72 X_Vcf_xi Damping ratio of current loop filter Q axis 74 X_tr_time In position debounce time 66 67US 5 X_tr In position error target radius count 76 X_forceConstant Torque constant Nm A_amp 78 X_minert Rotational inertia of rotary motor Kg m 2 79 X_gearRatyio
208. n loop Vel close loop Pos controller Pos open loop and Pos close loop of the emulated control system can be analyzed on the ph gain plot for their frequency responses You can analyze the emulated velocity or position loop by checking the Bode plot Analyzing six loops simultaneously is also possible Fig 6 42 shows the Bode plot of the velocity open loop When you move the cursor over the curve on the Bode plot the frequency response value will be displayed for analysis of the control system 1 Vel controller Velocity controller The frequency response of the velocity controller 2 Vel open loop Velocity open loop The frequency response of the velocity open loop in the control system 3 Vel close loop Velocity close loop The frequency response of the velocity close loop in the control system 4 Pos controller Position controller The frequency response of the position controller 5 Pos open loop Position open loop The frequency response of the position open loop in the control system 6 Pos close loop Position close loop The frequency response of the position close loop in the control system Fb Tow i La 2 wile Saipan A Pee o P epyan fb fn eR Pma 920 HA o 8 dae Gta a ee regen 11 amii CETT ETA ian g ii EG aiima an Ey Poa iiia nap eee 141 Hr temeh aS iter Pane t a bd T P coe alec nee faa 7a weer M Megi nee le nagu F Mn Gi e E Pras E pea a P Fika a a7
209. n structure 135 HIWIN MIKROSYSTEM CORP enuey uopesado ay ynogy suoljeoioeds y JO MEIAIBAC Z BUUIM sBulles y dols Bulunl 9 UONDE O1d J suoieolddy g Buooys jqnoIL 6 jenuey uopesado ay ynogy suoleoyioeds y JO MEIAISAO Z BULIM sBues y G91S suoleoddy g UONde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 5 LCD 5 2 1 Home Page When the drive is powered on the servo state of the drive is first displayed on the LCD The servo state codes are described as follows Table 5 2 SV RDY SV NORDY When the D2 drive detects errors an error or warning message will appear on the second line as shown in Fig 5 3 Definitions of these error and warning codes are shown in Table 5 3 and Table 5 4 respectively SV RDY W01 HWLL Fig 5 3 Errors and warnings SV NORDY SV WORDY EQISHORT Table 5 3 Description of error codes EO3PEBIG 1 2 3 4 6 EO6UVW CN 7 8 9 Motor short over current detected Over voltage detected Position error too large Encoder error Soft thermal threshold reached Motor maybe disconnected Amplifier over temperature Motor over temperature sensor activated Under voltage detected 5V for encoder card fail Phase initialization error Serial encoder communication error Hall sensor error Hall phase check error E08M HOT 1 11 _E11PHINI k 13 E13
210. n your PC can perform the functions including motor initialization motor configurations motion control motor test runs and the corresponding parameter saving This section describes how to install the product and connect it to your PC 4 1 1 Setup file The setup folder of the Lightening graphical HMI contains among others an auto execution file setup exe and a firmware folder dce as shown in Fig 4 1 Fan autorun inf rie Geist bt coe o A y lis j i BA femupd bat MYFONT BMIM rryFord beren y eee n myFontm benm fesal mmi setup exe Fig 4 1 Setup file m j short tot i Please log in and download the setup file from the Internet The path to the file is http www hiwinmikro com tw Support_Download_Cad aspx type RM Execute setup exe directly after completing downloads The installation screen is shown in Fig 4 2 The preset destination for the installation is C mega_fabs Do not try to change this path Press Start to perform the auto installation procedure When the setup procedure is completed a popup window appears to show successful installation of the software as shown in Fig 4 3 If the USB drive installation screen Fig 4 4 appears during the setup procedure click Install and OK to finish the setup procedure ie ee Jsi i a Fig 4 2 Installation screen of the software re MEGA FADS softwere Invialisbon ended ssccesfuhy az F
211. nacennes 32 3 2 1 Motor power cable iii cc ccciicsiaccicssusnaieneriaradnnadeunteniidsnnesiensdasuesiacindnnnbes 32 gt 3 2 2 Feedback signal capl ssie 32 2 3 2 3 Control signal cable coc sdhedcncentntinnesyskeeasorerdaccaaaaiionestattwsnadteueeeneecs 32 a 3 2 4 USB communication Cable ccccccccccessesescesscessesseseesseestesteenseaees 32 i 3 2 5 Accessory kit MOCUIC cececeeeeee ce eeeeeeeeceeaeneneceneueeeeseneneneeeenenes 33 3 2 6 ING accessory Klieren neiaie ARENE REEERE ANAE EREA 34 4 3 2 7 Regenerative resistor cg recccactoadetetsannsccencatetantisieactesantenexuxabieddteeremneicun 34 9 3 2 8 Connector specifications so ccscocccexexxxecddcnmac eassnrecccesddxxxanxidsescerunecacts 34 3 3 Standard main power circuit wiring vecaictecrsssccstieabennpratedtbanpereentremeaatiaaavnkts 35 3 3 1 AC power wiring diagram single phase eseeeeeeeeeeeeeeees 35 a 3 3 2 AC power wiring diagram three phase c ceeeeeeeeeeeeeeeeeeeeees 36 S 3 4 Multiple drive connection example ccccccecceeeeeeeeeeeeeeeeeeeeeeeeaneneeeees 37 a 3 4 1 Selection of no fuse breakers NFBS ccceeeeeseeeeeeeeeeeeeeeneeeeeees 38 3 9 EY SINAN COMMIS NOM west sacsatessnnceconinsiulientnce E ERE 39 3 5 1 CNG I O signal function CESCHPTOM ei siisascnsssnatecicmmoacsbndeincead cameras 39 3 3 5 2 Digital MI PUE WING tcnseatsus comriesiedionamnsnirtadaganonetiaatennietummmensveucierays 40 8 3 5 3 Digi
212. nd from the host controller Volt 41DC BUS Bus Voltage Bus voltage Volt 6111 Input point 1 1 62 2 12 Input point 2 13 Input point 3 Input point 4 Input point 5 Input point 6 6 7117 I7 Input point 7 18 Input point 8 19 Input point 9 01 Output point 1 83 O3 02 O3 Output point 2 Output point 3 84 04 85 CN2BRK 04 CN2 BRK Output point 4 Output point 5 brake signal The status display of parameters 01 04 is shown in Fig 5 7 and the status codes are described in Table 5 5 1 01 FLSE LOW Output logical value Fig 5 7 Output status display Table 5 5 Definition of output status codes False High voltage HIWIN MIKROSYSTEM CORP Low voltage 139 jenuey uopesado ay ynogy 1 suoljeoioeds y JO MBIAISAO Z sBules y BUI dols Bunooys jqnoJL uono 0ld J suoieolddy g 6 Operation Manual for D2 Motor Drive System 5 LCD a 5 2 3 Change Parameters Page gt S Press the Up or Down key to switch the parameters to be changed in the change o parameter page Please refer to Fig 5 8 for an illustrated description of the procedure 2 A The detailed operating procedure is described in the next section jad oO g gt Save the parameters from the drive RAM g O to the flash memory 2 S 82 O OQ ao 3 C
213. nd is converted to a velocity command to directly control the operation speed of the motor The velocity to which the Full PWM corresponds can be set in the drive 120 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 4 Settings 4 6 2 1 Basic setting of velocity mode The basic setting of the velocity mode is described below Step 1 Mode selection The steps for selecting velocity mode via HMI are described below enuen uonesado y noqy Execute the Lightening HMI program Click the Configuration Center icon as show on the left figure in the main function tool bar of the HMI or select the Configuration Center option from Conf Tune in the function menu In the Configuration Center select the Mode tab as shown on the left gt In the SUOITEDIJIO8dS y JO MAIAIBAO Z BULIM Configuration Center select gt the Mode tab as show on g the left figure gt co 12 ol T Paman Qperabgon Woogie DnA In the mode operation page o 4 sees Ansley select Velocity Mode as Z Veio Mode F PWM 50 show on the left figure ForceTongue unre al i Stunden bode S a N U al o 2 ee gt O so n O lez oO n O g O o Q 121 HIWIN MIKROSYSTEM CORP enuen uolesado y NOqY 4 SUOI EOIJINAdS y JO MEIAIBAO Z BunIM N dp 4 N dols
214. ng mechanism User z A can use a vibroscope to measure the vibration frequency at the location where vibration a is obvious and enter the measured value in the Frequency column The enable VSF Si must be checked to enable the VSF User then needs to move the motor for verification S of the effectiveness When the motor is moving User can use the VSF factor value 1 0 by default to adjust the effect of the suppression The allowable range is 0 7 1 5 N nO oo 5 h a gt z enable VF lrequercy Q00000 be 1 200 o VOF tector 1 000D PRT 3 VSF Vipraton fupores non FumcBon ii fatas whan may heip io piminaie knw Pequenry Q A DO ung MIDA 1 Uee cope oF Gata CoBectbon tosi to mare fhe Pequercy of uibr ston Gung modon 2 Set VIF fanta to he range rei ornemended above a sahe of wE be good iN MOst asea KR wn 2 n oa O Fig 6 33 Vibration suppression filter VSF suoleoddy g UoNde 01d Z Bunooys jqnoJL 6 210 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 6 Tuning 6 6 7 Friction compensation gt The position error is usually more significant in the period of acceleration and constant Q speed motion especially for the use in a higher moving mass or moment of inertia Z5 Setting the friction compensation parameter can effectively reduce the position error in 2 the acceleration period Fig 6 34 shows the setting page of the friction compensation 0 D LS Adv
215. nnel 4 differential line driver with 3 outputs open collector Output i drive with 1 output Brake Used for direct connection to the brake It can also be Control signal Output connector used for programmable general purpose output Communication function USB For PC connection 115 200 bps 4 key dot matrix 8 2 character LCD status display With LED status indicator green red External connection is needed as no built in regenerative resistor is available Control mode Position mode 1 Pulse inhibit command 2 Clear position error 3 Servo on 4 Switch between first and second gain 5 Electronic gear ratio selection 6 Left limit switch 7 Switch between primary and secondary mode Temperature Ambient conditions 1G 10 500Hz suoieoyioeds N O lt fo S o s e r suoneoyioeds oiseg BULIM Control signal I O signal connector Pulse signal sBunes y Panel indicator G91S Regenerative function Bulun 9 Control input 8 Clear error 9 Right limit switch etc 1 Servo ready 2 Error 3 In position output 4 Zero speed detection For optical coupler interface single ended input 500 Maximum input pulse kpps frequency For line driver interface differential input 4 Mpps 16M cnt s at AqB 1 Pulse direction Pulse Dir Pulse input Input pulse signal format 2 Clockwise counterclockwise CW CCW 3
216. nsation setting can be used for backlash compensation to improve bidirectional repeatability Hepthar Fig 8 16 Backlash compensation settings Backlash setting method Enter the measured backlash value in the settings to complete the backlash compensation setting 256 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 8 Applications 8 3 Error Map A systematic error in the machinery often exists in the positioning system of the AC servo motor driving screw A laser interferometer is generally used to measure the positioning accuracy The positioning error table obtained from the measurement coupled with Error Map can improve the accuracy The error table is entered to the drive via the HMI input and save The drive applies the information in motion to calculate the error value through the linear interpolation in certain distances in order to improve the positioning accuracy When using the laser interferometer in measurement users can use the integer multiple of the screw pitch as the sampling distance of laser measurement to measure the error value of every stop point and obtain the systematic error of screws The values will be entered to the drive for the improvement of accuracy After obtaining the error table from the positioning accuracy measurement you should set the Interval and Total Points and enter the Error Map value to the table one by one The effective range of the Error Map table is divided by index
217. o 7 dols Bulun 9 Bulnooysejqnol suoieaddy 8 uondelold Z 6 Operation Manual for D2 Motor Drive System 4 Settings Step 2 Selecting the pulse format The pulse is generated in three formats Pulse Dir Pulse Up Pulse Down or CW CCW and AqB phase Quadrature square wave as shown in the figure below enuen uonesado y jnogy 1 X DIR input DO oe Normal Inverse Qa Sg oo oS O CW input wo E CCW input Normal Inverse gt de oi n A phase input SUL TUL o1 z o UIL TITUL O l B phase input Normal Inverse O 5 amp The steps for selecting the pulse format via HMI are described below N F m a ies a mete as So iqeiped e a Cede Hier Eats i a PE lasek aca ne aca ean In the Mode operation 3 i ih F Li tag page select the pulse 5 1 i r ak format on the Control g i nn Input for the requirement T as shown on the left figure fed 5 o Select the pulse command a 2 trigger method on 5 mee Commana Increment Position On Oo tet eee a Oo lt a a ee d Q CARON os viga jost Pune boti pin 64 48 8 ET for the requirement as S OO inta show on the left figure 2 2 1 hs sate pete SE i TU eee Note This setting is only i ee ET MESES needed when Pulse and Rang Ege Direction or Pulse Up Pulse Down is selected 116 HIWIN MIKROSYST
218. o a non zero value a new home will be set by being moved from the original home by a distance Take the left and right side conditions are not set to None the drive will move the original home by a distance to become the new home Fig 8 15 If the Home Offset value is positive the new home will be on the right side of the original home If the Home Offset value is negative the new home will be on the left side of the original home Home offset Left border Original home found according Tome Right border to the original conditions Fig 8 15 255 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy 1 suoljeoioeds y JO MBIAISAO Z BULIM sBulas p qa91S Bunooys jqnoJL Bulun 9 uono9 Old J lor gt ke iS a 5 D 6 jenuey uopesado ay ynogy 1 suoleoyioeds y JO MBIAISAO Z BULIM sBues y G91S Bunooys jqnoJL BulunNJ 9 UOND9 Old J ler gt ae 2 i O a 6 Operation Manual for D2 Motor Drive System 8 Applications 8 2 Backlash compensation The backlash error is a platform that moves along a fixed axis and stops and when it begins to move in the opposite direction the platform does not move immediately but stays in the same position and waits for the motion command to accumulate to a certain degrees The setting page is shown on the Backlash tab As it is shown the backlash compe
219. o01ls Bulun 9 suoleoddy g UoNde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 4 Settings 4 2 3 6 Setting force torque mode Force mode is another application of the host controller that can send analog commands or PWM commands Only the ratio scaling between the external command and the current has to be set for the force torque mode The unit shows the corresponding relationship of 1 V with the ampere or between the Full PWM and the highest ampere value of the current Panton ice 4 m Analog D meari oman D Valoo Mods E a te i ist a ForeTonque Made ran Seming C Gand dene isa DeatGent D mW Fig 4 22 Setting force torque mode 4 2 3 7 Stand Alone mode Stand Alone mode can be selected for drives that will be tested alone or used without any host controller e g only the servo end and drive end are used This model allows the drive to handle all loop controls Operation Modes Position Mode Velocity Mode Force Torque Mode ES Fig 4 23 Stand Alone mode 78 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 4 Settings 4 2 4 Completion of the configuration procedure After completing the four parameter setting steps above for the motor encoder hall sensor and operation mode at the bottom of the screen a window as shown in Fig 4 24 appears showing the parameters before and after the settings for comparison After confirming the
220. oleoyioeds y JO MBIAISAO Z BUI gt ie D Co 12 qG91S Bulun 9 suoleoddy 9g UONde 01d Z Bunooys jqnoIL 6 Operation Manual for D2 Motor Drive System 4 Settings npu Clear Position Error Operation mode Std Function Default Input Wane Circuit Referto 353 Symbol No diagram Function description This allows resetting the Position Error value back to 0 Instructions for use The Position Error value will be reset to 0 when the input state of the Clear Position Error is on Green is on and dark is off Input Function Symbol CE Clear Error Operation mode Default Input I8 Circuit No diagram Refer to 3 5 2 Function description This allows error states to be cleared Instructions for use Error messages will be cleared when the input state of Clear Error is on Green is on and dark is off Input z Start Homing Operation mode Pos Std unction Default Circuit Symbol HOM Input No 11 diagram Refer to 3 5 2 Function description This allows the execution of the homing action Instructions for use The homing action will be executed using the homing method set in the Application Center when the input state of Start Homing is changed from off to on Green is on and dark is off 106 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 4 Settings Def
221. oller with a voltage of 10V to 10V example 5 F mega fabs User can define the E oO Host controller D2 Series Drive at ae each v E ted w 7 N emi Vemd Qo 6 voltage g 2 18 10N O O 5 h as oO aw User can define the function for each input sBbunles y ken BAME Voes40vMas dols yBulun 9 suoleoddy g uonde 01d Z Bunooys jqnoJL 6 51 HIWIN MIKROSYSTEM CORP enuey uopesado ay ynogy suoleoyioeds y JO MEIAISAC Z sBues y dols Bulun 9 suolesddy g uoNde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 3 Wiring 3 6 2 2 Force Torque mode Wiring for the host controller with a voltage of 10V to 10V example mega fabs User can define the 0 Series Drive function for each Host controller S r j output ai Phata t Vern wring i Vernd Vomage range Ama 1i Relay wring abd A phatie aut B phaze outaut 2 phase User can define the function for each input 52 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 3 Wiring 3 6 3 Master wiring diagram for PWM command input a gt In addition to the analog command D2 drives can receive PWM commands in the velocity and force torque S modes The PWM command is classified into single wire PWM 50 and two wire PWM 100 types For 2 more information please refer to t
222. ommon gain setting wo 2 T Velocity loop gain oO setting 2 n o al O o f Note Phase initialization 1 Static cursor gain Parameters can be edited 2 Dynamic cursor Parameters are being edited or motor are jogging Operation mode 3 No cursor Parameters setting can only be displayed not edited Pulse format setting 215 _0 00206 suoleoddy g UONde 01d Z ACC 2 12e 07 Acceleration setting Advanced parameter change Bunooys jqnoJL 6 M Ea e Velocity setting VEL_MAX 5e 04 2 12e 07 Fig 5 8 Operation of the parameter change mode 140 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 5 LCD trresssnnrennnennnnnnnnnnnnuannnnnnnnnnnnnnannnnnnnnnnnnnnnnnnnnnn na Fig 5 9 Operation of Save to flash 5 2 3 1 Save to flash p gt The following operation shows the steps to save the parameters from the drive RAM to 5 the flash memory SAVE FLASH z fed 1 Press the Enter key to enter the SAVE FLSH option A solid flashing cursor appears E on the left side of the second line 8 2 Press the Up or Down key YES NO to select whether to save the parameters from the drive RAM to the flash memory Select YES to continue 3 When the servo is disable DISABLE press the Enter key and the message PROCESS will appear on the screen indicating that the parameters are being LO saved to the flash memo
223. omplete and test run functions can be performed xX Note The exciting signal of the host controller needs to be triggered for this step X Note Observe whether the DpPhase initaized and BSero reas lights are green to check if the phase initialization was executed successfully and if the servo close loop control is ready X Note The MGainis wnead status indicator flashes green during the auto gain process The auto tuning is complete when it is continuously lit green or not continuously lit red In this case close the auto tune window and repeat Step 4 Definition of the motion direction and setting of the inverse direction If after execution of the continuous motion in Step 4 the direction of the motion defined for the motor is found opposite to the direction defined by users Close the Auto tune window and open the window as shown in the left figure Then click the Toggle button in the window to set the inverse direction and carry out Step 4 again X Note If the motor is used in a vertical axis application and there is a braking mechanism the motor will be de excited if the direction of the motion is set opposite This may have a slide down effect 1 BW maitai E Mae hiid H ees de FA tet GT C 86 HIWIN MIKROSYSTEM CORP Phase initialization and performance tuning This method only needs a slight movement of the motor to execute the phase initialization The performance of the initialization is ada
224. on of the procedure The detailed operating procedure is described in the next section ENA DIS Servo Enable Disable MOV POS Set a target position for MOV2POS Unit 0 count a s Jog A D SE ad o Start absolute coordinate Lg motion and move to the target position AUTOTUNE _ NO Auto tune Velocity for the motion a JOG MOV2POS Unit count s MOTR SET LS05XX1 Motor set Fig 5 14 Operation modes example 151 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy 1 suoleoioeds y JO MBIAISAO Z BunIM sBuljas p dols Bunooys jqnoJL suoleoddy g uogo old Z 6 jenuey uopesado ay ynogy 1 suoleoyioeds y JO MBIAISAO Z BULIM sBunes y G91S suoleoddy g UONde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 5 LCD 5 2 4 1 Motor Set The following example shows the actions necessary to select the model number of the motor and perform the three initialization steps on the LCD to drive the motor Please refer to the following description for the procedure A motor with model number FRMS402XX1 operating in the Stand Alone mode is used as an example below 1 Press the Enter key to enter the MOTR SET setting then press the Up or Down key to select a model number MS402XX1 to which the drive is to be connected Press the Enter key to confirm the selection 2 The LCD screen a
225. on oter CIO Ante X Formware vertion 2 Q 0 2 0 826 oO 8 Motor ype AC serve O gt A lt E Ant is cofguredto Etand alana Fntition Made S 9 ees 2 Mirarse Enise ingest a Si Sotware Erades Bi Sere roomy Lait en wo 3 Q A Current lisited ry Posten gt See j e ai thie voltage j 148 079 i Feedback Position aj 1 zont B 18 Feedback Velocity 0 190705 zo mta Communcason ok Cwmega_tsbsidosiightening dca 4210 Crmega_tansincwiy ol Fig 4 10 Main functions screen The following steps must be finished for using D2 drive to drive a motor 1 Motor type Set the type of motor and all related parameters 3 2 Encoder parameters Set the type of encoder and its resolution ics 3 Operation mode Set the operation mode at drive Ni U l The settings procedure is described step by step in 4 2 1 9 e 00 gt 3 g P m z e oO v oO 9 a 65 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy 1 suoleoyioeds y JO MBIAISAO Z BULIM D Yn D O ad01ls Bulun 9 suoleoddy g UoNde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 4 Settings 4 2 1 Motor configuration D2 drive supports AC servo motors The motor configuration page is at the first page of the Configuration Center The options are under i Motors AC servo motor settings 1 Motor parameters Click a HIWIN AC
226. on the LCD during the movement To stop the motion during movement simply press the Enter key to stop the motor To resume the motion press the Up key and the motor will move to the preset destination 4 Press the Enter key to return to LEVEL ONE LEVEL ONE The position feedback value is displayed on the LCD during the movement Move FOS r aE 20 Q1FB Pos ES i EERE The coordinate position 2 000 is displayed on the LCD when the motor reaches the destination L Do ee E a a ee ee Fig 5 19 Absolute coordinate motion MOV2POS operation 157 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy 1 suoljeoioeds y JO MBIAISAO Z sBulyjes y BUUIMA dols Bunooys jqnoJL suoleoddy g uogo old Z 6 Operation Manual for D2 Motor Drive System 5 LCD T 5 2 4 6 SETZERO gt 5 The following operation shows the steps for setting the current position to zero Please z refer to Fig 5 20 for an illustrated description of the procedure So 59 Press the Up or Down key to enter the SETZERO setting Press the Enter key to set the Bi current position to zero 5 N go S S VEL LCD 3 a 5e 05 oO 5 h oS oO w 2 amp wn 2 2 n ol E Q o Fig 5 20 Operation of set to zero SETZERO suoleoddy g UoNde 01d Z Bunooys jqnoJL 6 158 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 5 LCD
227. one Not to use the right side condition Pignit side condition End Stop Search the End Stop on the right side Right side condition Right Limit Switch Search the limit switch on the right side Current of searching End Stop Time parameter End Stop Time 249 HIWIN MIKROSYSTEM CORP enuey uopesado y ynogy 1 suoljeoioeds y JO MBIAISAO Z BULIM sBuljas y Bunooys jqnoJL Bulun 9 go1 UOND8 O1d J ee gt Ae teh iS ZR n 6 jenuey uopesado ay ynogy 1 suoleoyioeds y JO MBIAISAO Z BULIM sBues y G91S Bunooys jqnoJL Bulunl 9 OONA UONOSIOI Z 6 Operation Manual for D2 Motor Drive System 8 Applications Select one of the following for the left or right side conditions 1 None Non search 2 End Stop Search the End Stop 3 Limit Switch Search the limit switch To Search End Stop should be carried out with parameter and parameter Parameter is used to set the force needed for searching the End Stop and parameter is to set the time for the force If the time is too short an End Stop may be mistaken before it is found If the time is too long the force pressing the End Stop will increase or it well reach the soft thermal threshold You can search the current of End Stop by following the steps below Step 1 Turn on the graphical oscilloscope Fig
228. onversion from a single ended negative to positive logic CW CCW signal 49 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy 1 suoljeoioeds y JO MBIAISAO Z sBuljas y Bunooys jqnoJL dols yBulun 9 suoleoddy g uogo old Z 6 Operation Manual for D2 Motor Drive System 3 Wiring e 3 6 2 Master wiring diagram for analog command input gt i a te MS RRP a a RNS Ete S The drive can receive voltage commands from the host controller known as V command The input voltage ranges from 10V to 10V The drive can control velocity or current of the motor corresponding to the external voltage commands from 10V to 23 10V i 5 7 COM 331 LO 30 2 z Pe 83 20 13 fe s 82 27 l RGA os 23 I5 n z 26 16 ia a1 I8 pal a if l i gt Aphase seas le ee ae i B 48 f 7 B phase p IB 49 j j output 35 O1 F El pe Z 23 Z phase a 34 O1 I 24 mF rT outpyt 2 ai O i i SG 29 Z output open collector 36 02 HAT CZ 19 i 39 03 38 03 rt O4 rT ed T y le ADCO0 14 Voltage input 10V o 10 O4 fs t ADCO 15 13 SG Bak CWHt E a 45 CWH h r 3 46 CCWH a LAT CCWH H 29 SG y 50 FG e T CN6 l Twisted pair 5 a Fig 3 35 5 5 5 a e S 2 o 3 a 50 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 3 Wiring 3 6 2 1 Velocity mode z a gt Wiring for the host contr
229. or for the test run Users can use the smooth factor to determine the S curve or T curve track and the adjustment range is 1 500 The track is closer to an S curve with a higher adjustment value and is closer to a T curve with a lower adjustment value Refer to 7 1 for more information Position Units Setting the unit that users prefers for the operation This has the same effect as the setting function in Quick View on the main screen D P2P Point to Point 8 Relative move Relative motion Jog This stands for a continuous motion Users can define a current value in the current mode to perform the continuous motion at a constant current Home Homing 4D Common Gain The higher the common gain the higher the servo stiffness Users can use this value to adjust the servo stiffness However if the servo stiffness is too high the system may become unsteady and cause vibration and electric noise The stiffness value must be reduced in this case Status Display Display the status 4 enable sw limit Enabl the software limit The function will restrict the travel of the motor 182 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 6 Tuning vmar 251250 Yimin Aiia 43 ve ee a hi 562060 x om eae vend d aag POS Fig 6 6 Performance Center Velocity Ripple page V max The maximum peak value of the velocity ripple V min The minimum peak value of the velocity ripple V avg Th
230. or mapping using linear interpolation encoder error compensation Sampling maximum 16 000 points Storage Flash ROM hard drive file Unit um count Activation After internal homing or activated by external input signal Friction compensation backlash compensation jenuey uopesado ay ynogy suoleoyineds BULIM N lt 0 Q 9 Loma F sbu S y ado0ls Bulunl 9 UOND9 O1d J Bunooyss qnoly suoieoiddy g 6 Operation Manual for D2 Motor Drive System 2 Overview of the Specifications 2 2 Servo drive specifications pulse type A B Frames C Frame Single three phase 200 240V 50 60Hz Control A C Power Frames Main Single phase 200 240V 50 60Hz ower Power input 220V pow Single phase 200 240V 50 60Hz jenuey uopesado ay ynogy Operating temperature 0 45 C Air circulation must be available when the ambient temperature is higher than 55 C Storage temperature 20 C to 65 C Humidity 0 to 90 RH non condensing Altitude Elevation less than 1 000 meters Protection against vibration Main circuit control mode IGBT PWM space vector control 13 bit 10 000 count rev standard incremental encoder 9 line and wiring saving incremental Encoder feedback resolution encoder 17 bit 131 072 count rev serial incremental encoder 5 line Input 9 general purpose Output 4 general purpose Input 2 low speed channel high speed cha
231. otor s Fig 3 11 Brake wiring with a relay for D2 xxxx x BO UV S 8 ee gt xe 8 n O Cc ex a o g O Q 5 26 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 3 Wiring 3 1 5 3 Brake wiring without a relay Direct mounting to the HIWIN motor is allowed For D2 xxxx x B G and D2 xxxx x B F mega fabs D2 Series drive DC24V power Current lt 600mA uonejos HIWIN Motor Fig 3 12 Brake wiring without a relay for D2 xxxx x B G and D2 xxxx x B F For D2 xxxx x 0 DOW mega fabs D2 Seres Drive 11 1 lt 600mA B 1 y A 2 B 2 Ea 4 RTN _ HIVWIN Motor Fig 3 13 Brake wiring without a relay for D2 xxxx x 0 For wiring without a relay the dynamic or electromagnetic brake on the motor is activated directly using the open drain switch on D2 The brake output BRK is open drain and can sustain a maximum of 40V voltage and 1A current Use this in conjunction with the Brake BRK output of the HM I O set 27 HIWIN MIKROSYSTEM CORP suoljeoioeds y JO MBIAISAO Z jenuey uopesado ay ynogy sBuljes y dols W5ulun 1 9 Bunooys jqnoJL suoleoddy g uogo old Z 6 Operation Manual for D2 Motor Drive System 3 Wiring 3 1 6 Mini USB communication CN3 Mini USB and a PC can be used as links for monitoring drive test runs or writing parameters Refer to Chapter 4 for the operation
232. ound reference on CZ Z phase output open collector 5 14 ADCO 15 ADCO Analog command input Velocity Torque High speed 4 Mpps pulse command a Channel 1 Pulse CW A phase High speed 4 Mpps pulse command Channel 2 DIR CCW B phase a Common port for general purpose input signal can be either Sink or Source U 33 11 General purpose input signal Hardware Enable by default a 30 12 Q S 00 General purpose input signal programmable function E n z 35 O1 oO 34 O1 a 37 O2 9 ae General purpose input signal programmable function 39 03 purp put sig prog Analog signal ground reference 50 FG Frame ground reference 39 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 3 Wiring 3 5 2 Digital input wiring The D2 general purpose input pins use an optocoupler input interface that is suitable for 12 24V DC voltage systems There are a total of 9 general purpose inputs with a COM port suitable for Sink and Source connections 13 uses Axis Enable control by default and others are available for users to define HM functions based on their requirements jenuey uopesado ay ynogy 1 3 5 2 1 Sink input wiring example D Input via a switch or relay ae Sink connection 2 S S Current a 4 Input via a transistor sBues y Fig 3 21 91S Sink connection PEENE EEEE ALET Current Bulunl 9 SPP
233. oyioeds y JO MEIAIBAC Z BULIM sBues y dols Bulun 9 UOND9 Old J oe gt xo 2 fed O a Bunooys jqnoIL 6 Operation Manual for D2 Motor Drive System 8 Applications The Homing example In the settings of Fig 8 13 the motor will move at the fast homing velocity in the negative direction to search the Near Home Sensor and search the first Z phase index signal at the slow homing velocity in the negative direction when the homing procedure begins Refer to Fig 8 14 for the action process _ Hemeng Bacxtash Eno Map Renata Poeton unii coant Fuster Spora 160A GERE Smaa facie 16i Tim out 7 8 peci Homa giset 5 pani C Ge Lait and Figh ter Horiz This caste will uae Ba Hower apeecis at metar pale MENE aid ren cecidis Bija and en Map Aha miie where fis defined as home Lef ride corgia Rigii rds condi MAE CAG M garanna Se Saach and see mmen EW iam Tims ME mae E ija Hear homa Semia iian i aring iGo Leit Bui Lise Footer ppasd 2 Biad Haar More fencer then chaspa to lower apasi nove laft search inden Frou tard ia wee Drath k piga Boe home pool wii be al inde prigi ae Fasterspeed Slower speed C E e lt 4 7 Near home sensor o 2 z Z phase 254 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 8 Applications 8 1 3 Home Offset If the Home Offset is set t
234. oys jqnoJL 6 166 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 5 LCD Step 2 Setting the command input format Velocity mode can be used if the host controller can output analog commands or PWM commands Only the ratio scaling between the analog commands and the velocity needs to be set for velocity mode The unit shows the corresponding relationship of 1 V with mm s or between the Full PWM and the maximum speed The dead band can be set for the velocity command The velocity will be 0 when the input voltage or PWM is lower than this setting Please refer to the figure below Dead band The steps for setting the command input format on the LCD are described below MODE Use the last setting screen from Step 1 VELOCITY above Press and hold the Down key to move to Page with LCD No 132 This is the r f page for selecting the command input A Y F format in the velocity and current n modes Please refer to Note 1 for more information about LCD number 132 Press the Enter key and set the 7 pr required command input format Please refer to the parameter edit function in 5 2 3 2 for the setting method fA v g J Press the Enter key to finish setting the l I i command input format Press and hold the Up key to move to Page with LCD No 83 This is the page v g fed for selecting the velocity command il jl A ratio Please refer to Note 1 fo
235. page Fig 8 2 Homing g settings S gt 59 ted Error Mao Resolver 5 Sows Speer Hoenue mont Faster Speed 0 100000 ma N Smooch facts 108 no Tene ot 25 8 second Hore cftset A A a C Golet and Right tor Homing z lt This mode wil use Pe Slower speed to iet motor goto RENE 2 Side aod Men stop at Ihe cde where fs Getnes as Home 5 If you Selec to Use Saach des piona Me Nome pont we De at index posmen D Lot tice Conaiton hoch Sae consacn Mane Searching ana e w Search eed stoc current EL lase nme E Use risar Home Sensor incer for Homing 1 Ge Left Fenty Use Slewer speed F Saach Index signal analy gt e Q n Fig 8 2 Homing settings oa There are 5 basic parameter settings for homing O Fig 8 3 Parameter name Description pe Slower Speed Slow homing velocity 5 Faster Speed Fast homing velocity amp Smooth factor The smooth parameter range between 1 and 500 Timeout Time out g O Home offset Home offset S ec gt 5 g P z ex a o gt 247 HIWIN MIKROSYSTEM CORP suoleoyioeds y JO MEIAISAC Z jenuey uopesado ay ynogy 1 BULIM sBues y dols Bunooys jqnoJL Bulun 9 ooo ONA uonoajold Z 6 Operation Manual for D2 Motor Drive System 8 Applications There are 2 homing modes 1 Determining the home by searching the left and right side conditions Refer to 8 1 1 for more information 2 Determining th
236. point 8 O gt Onput point 1 Onput point 2 a a 84 04 Onput point 4 3 85 CN2_BRK Onput point 5 brake signal e g a 178 Operation Manual for D2 Motor Drive System 6 Tuning 6 1 4 Software shortcuts P S gt There are 2 shortcuts F6 and F12 on the GUI of the D2 drive The function is effective S only when the Lightening GUI is active in the Windows operating system F6 Move the main window of the Lightening GUI to the top A F12 Emergency stop For example click F12 when the motor is in motion to perform 2 the emergency stop or click F12 to servo off the motor ai O N nO 82 gS a wo 3 KR wn Q 3 o _ O o suoleoddy g uonde 01d Z Bunooys jqnoJL 6 179 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy 1 suoleoyioeds y JO MBIAISAO Z BULIM sBumes y dols suoleoddy g UONde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System Most of stage turning are performed by using the functions in Performance Center You can perform a trial run after the auto phase initialization of the motor is completed Chapter 4 The Performance Center allows users to perform the trail run so that they 6 2 Performance Center can make tuning and observe the motion performance by assistant tools There are three motion modes in the Performance Center for the trial run The motion related parameters such
237. pression filter f3 The completion of the auto gain tuning will also start the f3 filter However when user drives the motor and finds that system vibration is not effectly suppressed by f3 filter User can uncheck the Activate f3 option the red frame in Fig 6 27 in the Filter tab of the Advanced Gains and manually set up Filter 1 and Filter 2 to suppress resonance effectively fit 208 000 ae A fet 0 000000 fi B Beene I Noten fitter Noth regung 20 Desable fitter HIWIN MIKROSYSTEM CORP fair 0 PERENAE a ee a fi 8 5en8Re i Lowpass filter cul olfequncy 708 C Disable titer 200 Operation Manual for D2 Motor Drive System 6 Tuning 6 6 2 Acceleration feedforward Acc feedforward The position error is usually more significant during acceleration and deceleration especially when a higher moving mass or moment of inertia is applied Setting the acc feedforward parameter can effectively reduce the position error during acceleration and deceleration Ansy ameni WSF ingot kop hex Schedule feediorward Gains py A aE hune aot heedicrward gaan 1 Press Sal stopa 2 Set Ace feeaceward gain to 0 O A Let motor move a he cesined Pigh acceleration odd ithe dawn Ie maim Command Curent during acceleation kom fee mope 5 Wile down Boe according masiram Ratera Acceleration liom the scope A Caladate max Command mar Reference Arcelerstion 7 Put the resul ints Ace feectonward
238. pted along with the auto tune in Step 4 The result of the tuning can be confirmed in the following four steps 1 Click the Start SMCL button to perform the motor angle searching Operation Manual for D2 Motor Drive System 4 Settings test Observe the values in the Offset and Max pos err during phase init fields These indicate the motor angle searching result and the maximum displacement during the search respectively Repeat Steps 1 and 2 and observe if the error of the offset value in each repeat is within 15 deg jenuey uopesado ay ynogy If the error of the offset value is gt ae NO excessively high in each repeat pe click the SMCL tool button for oa advanced tuning Please refer to 9 2 Appendix A 5 o as xX Note The exciting signal of the o host controller needs to be triggered for this step w Q D gt ie T a 7 dols Bulun 9 uono9 0ld J suoieolddy g Bunooys jqnoJL 6 87 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 4 Settings 4 3 3 3 SW method 5 cae cl Phase initialization method setting Se eee If a motor is used in conjunction with a 13 bit digital incremental encoder Conener mee 1 21 ane lightening will automatically set SW Feriado 2 dat method 5 rude mated TI neubad enuen uonesado y jnogy 4 SM mode excitation E Bensi
239. r acceleration when the host controller sends the motion command 181 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy 1 suoleoioeds y JO MBIAISAO Z BULIM sBuljas y dols uono Old J suoieolddy g Bunooys jqnoJL 6 jenuey uopesado ay ynogy suoleoyioeds y JO MEIAISAO Z BULIM sBues y G91S suoleoddy g UoNoe 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 6 Tuning Description of the operation functions on the screen E na Pabor k ki 1 ABST Trion Fme Teel ion LUE Deit Glad bese Dhien jma 10A A reir Moves top OP rele bijin M N mir 6 Tamima HE Piki i iE M i matian z iem Speed samm aitia Im Tren i an aa inure Der aT rewrite hee coh b oh oe aes fraser teller FEE bhli dinaria Fr napr Hj Shears peh Fig 6 5 Performance Center Position page q Enable Motor excitation 2 Disable Motor de excitation 3 Zero Set the current position to zero 4 Stop motion Stop the motor Position Units Set the unit that the use prefers for the operation This has the same effect as the setting function in Quick View on the main screen Motion Protection The motion protection parameters of the motor are also the velocity acceleration deceleration emergency stop deceleration and smooth fact
240. r after the motor is disabled and confirm that it moves smoothly suoleoddy g UONde 01d Z The motor does not move 5 according to the command after None enabled e SH iq n SN fo e Er 276 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System The pulse has been transmitted but the motor does not operate None 9 Troubleshooting 1 Use Quick View or Scope to confirm that Target Position has received the input pulse signal 2 Check whether the pulse cable is connected disconnected or contacted poorly 3 Check whether the electronic gear is set to low The analog voltage V Command has been transmitted but the motor does not operate Noise is too loud during the operation The temperature of the drive is too high None None E07 D HOT 1 Use Quick View or Scope to check whether the analog command is input successfully 2 The voltage offset can be set in the Advanced gains gt Analog input window 1 Reduce the Common Gain value 2 The filter can be set in the Advanced gains Filter window 1 Check that the position where the drive is at well ventilated 2 Check that the ambient temperature is not too high The position feedback sensor reader transmits an incorrect signal The voltage of the DC bus is too low 6 7 9 10 The voltage of the DC bus is too high E04 ENCOD E09 UND V E02 OVE
241. r more information about LCD number 83 Press the Enter key and set the required velocity command ratio Please refer to the parameter edit ee Ta ee function in 5 2 3 2 for the setting uae feted To set an inverse voltage or PWM command add a minus sign to the velocity command ratio 167 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy 1 suoljeoioeds y JO MBIAISAO Z sBules y BUI dols Bunooys jqnoJL uono9 0ld J suoieolddy g 6 jenuey uopesado ay ynogy 1 suoleoyioeds y JO MEIAISAO Z BULIM sBunes y G91S suoleoddy g UoNde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System naum 5 LCD Press the Enter key to finish setting the velocity command ratio amp gt a le 03 8 3 4 Aas Press the Down key to move o Page with LCD No 84 This is the page for selecting the dead band for the velocity command Please refer to Note 1 for more information about LCD number 84 Dagan aY IF o Press the Enter key and set the required dead band Please refer to the parameter edit function in 5 2 3 2 for the setting method Press the Enter key to finish setting the dead band SAVEFLSH HO FEF Press and hold the Up key to move to the SAVE FLSH page Here the parameters can be saved to the flash This will retain the parameters even if the d
242. rea For servo motor systems open AC servo and select Customized AC servo as shown in the following figure Enter then enter the required parameters according to the specifications of the motor Use the Save function to save the motor parameters after the settings have been entered This will create a motor parameter file mot that can be loaded at any time in the future 1 Basic motor parameters Peak Current The maximum current that a motor can sustain temporarily Unit A_amp or A_rms Continuous Current The maximum current that a motor can sustain continuously Unit A_amp or A_rms Force Torque Constant The characteristics of the motor coil Its unit is force or torque of the current Unit N A_amp N A_rms Nm A_amp or Nm A_rms Resistance Line Line The characteristics of the motor coil indicating the resistance value between coils Unit Ohm Inductance Line Line The characteristics of the motor coil indicating the inductance value between coils Unit mH Pole Number The total number of magnetic poles in one revolution 360 of a rotary motor Motor Peak Time The time for which a motor is allowed to sustain the peak current Unit sec Moment of Inertia The rotational inertia of a motor in operation Unit Kg m 2 2 Motor operation parameters Screw Moment of Inertia The rotational inertia of the screw used Unit Kg m2 Moving or Load Mass The total mass of a moving object Unit Kg Screw Pit
243. rent usually 1 5 2 5 or 1 5 if the final multiple cannot be determined Cmax The multiple of the rated current based on the maximum rated current among the motors K Demand rate 1 is recommended if the final value cannot be determined Calculation example Q If five D2 0123 Aon and one D2 0423 Bno drives are used assuming that C and Cmax are doubled 8 3 S Started one at a time Ip 1 5 5 4 1 4 1 1 4 1 2 15 7A o Started simultaneously lg 2 1 5 2 1 5 2 1 5 2 1 5 2 1 5 27 4 1 23 2A g aj 5 e 5 a T amp 38 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 3 Wiring 3 5 I O signal connection The D2 drive provides 9 general purpose inputs and 4 general purpose outputs on its CN6 connector for use Users can define the function of each I O point using the software jenuey uopesado y ynogy 3 5 1 CN6 I O signal function description For more information on the function of CN6 I O signal pins please refer to Section 4 4 Table 3 5 Low speed 500 Kpps pulse command Channel 1 Pulse CW A phase suoleoioeds y JO MBIAISAO Z Low speed 500 Kpps pulse command 5 CCWL Channel 2 Dir CCW B phase 6 CCWL 13 SG Digital signal ground reference 21 A 22 A D 48 B Output pulse of feedback buffered encoder or emulated Y encoder RS422 a n Digital signal gr
244. rive is turned off PAVEPLSH E xo _SAVEFLSH f YES fahvyry o Press the Enter key to enter the setting state Press the Up key to select YES SAVEFLSH _ N HIWIN MIKROSYSTEM CORP 168 Press the Enter key to save the parameters to the flash Operation Manual for D2 Motor Drive System Note 1 The settings are performed using the following parameters 5 LCD LCD no Parameter Definition Initial value 132 X_cmd_pwm_mode X_cmd_ext_v_sc X_cmd_ext_v_dz HIWIN MIKROSYSTEM CORP The command input format in the velocity and current modes 0 Analog 1 PWM 50 2 PWM 100 The velocity command ratio indicating the corresponding relationship of 1V with count s or between the Full PWM and the highest speed Unit count s 1V or count s Full PWM Dead band for the velocity command the velocity command is 0 when the input voltage is lower than the setting Unit Volt 169 0 1000 jenuey uopesado ay ynogy 1 suoleojioeds y JO MBIAISAO Z sBules y BUUIM 91S UOND8 O1d J Bunooys jqnoJL suoieolddy g 6 jenuey uopesado ay ynogy suoleoyioeds y JO MBIAISAO Z BULIM sBunes y G91S suoleoddy g uoNde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 5 LCD 5 3 3 Force torque mode The drive can receive commands from
245. rned occurs during the operation the drive will display the incident in the z Last warning area N go LIGHTENING wean 0134 cam 0 11200 8 el 82 gS as HM HIRIN Ampichier ia 6 e Hao bpe AC sarwa Pi Model FRACKN 4822 lt Ais is cofigured io Stand alone Position Rods Salus Q Bhange Enae bpt WSoteate Enabled KR wn Q Q n oa egret 5 Poston ieie s O i Feedback Position 4605 Si Soft thernal Accumlater 6 022422 a if Faodhack Unlocity 337 590 z Z icumega_fabsidretlightening dee d2 0 Cimega_fabslgcediy a Fig 9 2 Status display area of the drive NI a 8 z 00 gt 5 g P a e Cc Se iq n P e r Q 265 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy suoleoyioeds y JO MBIAISAO Z BULIM sBumes y 91S Bulunl 9 x 8 S iq no F eo e Er ico suolesddy 9g UONde 01d Z o Operation Manual for D2 Motor Drive System 9 Troubleshooting 9 2 2 LCD status The servo status is displayed in the first line on the home page of the panel Fig 9 3 SV NORDY Servo disabled servo Off motor is not powered SV RDY Servo enabled servo On motor is powered The error or warning code is displayed in the second line on the homepage when an error or warning occurs For LCD error codes refer to 9 3 and 9 4 about the error warning codes and solutions
246. ror Map is active they can observe whether the Error Map Active ror map ace on the Error Map window lights green which status at means Error Map is active 261 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy 1 suoljeoioeds y JO MBIAISAO Z BULIM sBbunles y qa91S Bulun 9 UOND9 O1d J lor gt ke 13 iS a 5 D Bunooys jqnoJL 6 jenuey uopesado ay ynogy 1 suoleoyioeds y JO MBIAISAO Z BULIM sBues y dols Bunooys jqnoJL Bulun 9 uo01 99 0Jd J gt D e iS fa 3 D 6 Operation Manual for D2 Motor Drive System 8 Applications 8 3 3 Save and read the error table file The established error map value can be saved to the disk and read directly from the disk also Click File on the tool bar in the following figure to access As mentioned in 8 3 1 the Send Table to Flash in Flash on the function menu can be used to save the map table to the flash memory of the drive Please pay attention to the Save the Flash button on the main screen the map table mentioned in this section will not Fie Cmega baam mas ame me b ere Be i i cle bee I eet i e ae _ ane oe Geb Him ie 8 3 4 Error Map value and encoder resolution When the Error Map value is entered to the table the value will be rounded up or down to integer or its multiple of the encoder
247. rresponds can be set in the drive 170 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 5 LCD 5 3 3 1 Basic setting of force torque mode The basic setting of force torque mode is described below Step 1 Mode selection The steps for selecting the force torque mode on the LCD are described below SV NORDY f r f When the drive is powered on the 1 ry v F enable state of the drive is first a ii di displayed on the LCD Press the Function key twice to move to the parameter change mode Press the Down key three times to move to the operation mode setting screen Press the Enter key to enter the setting state Press the Down key three times to select the option for force torque mode 6 MODE PE E Press the Enter key to confirm the CURRENT i fl j j setting enuey uopesado y ynogy 1 suoljeoioeds y JO MBIAISAO Z BULIM sBuljes y dols 171 HIWIN MIKROSYSTEM CORP Buiun 9 UOND8 O1d J suoieolddy g Bunooys jqnoJL 6 suoleoyioeds y JO MBIAISAO Z jenuey uopesado ay ynogy 1 BULIM sbulyas y G91S suoleo ddy g UONde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System Step 2 Setting the command input format 5 LCD The force mode is another application of the host controller that can output analog commands or PWM commands Only the
248. ry The FINISH message will appear after completing the 8 S save Please refer to Fig 5 9 for an illustrated description of the procedure a a _e ae ee REESSS ER RR oa T ake Coe eae AE TOD OTE ea o S LEVEL ONE LEVEL TWO as E p i SAVEFLSH f gavaran A No z e 0 Wj a ZANI No keys will respond when a 7 nN pressed while the PROCESS a Dynamic cursor is message displayed Y e _ AVEFLSH FA SAVEFLSH E i i E ves PROCESS a l s o oo lg No keys will respond when 5 pressed while the FINISH is O i SAVEFLSH gt message displayed i l suoleoddy g uogo old Z Bunooys jqnoJL 6 141 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy 1 suoleoyioeds y JO MBIAISAO Z BULIM sBunes y G91S suoleoddy 9g UoNde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 5 LCD 5 2 3 2 Parameter edit function The editable parameters of the drive such as CG VPG ST_CG MODE PULSMODE ACC VEL_MAX advanced parameters are variables which can be used to set values The parameter edit function on the LCD can be used for setting values or use the Up and Down keys to move the cursor or switch the values based on users s needs Press the Function key to switch between functions The following example is used to perform how to
249. s meaning to ignore all feedback signals Close loop The transfer function of the close loop is T s P s V s C s PL s d dt P s V s C s PL P s V s C s PL s 219 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy suoljeoioeds y JO MBIAISAO Z sBules y BUUIMA dols Bunooys jqnoJL suoleoddy g uonde 01d Z 6 suoleoyioeds y JO MEIAIBAC Z jenuey uojesadoO y ynogy 4 BULIM sBuljes y dols suoleoddy g UONde 01d Z Buooys jqnosL 6 Operation Manual for D2 Motor Drive System 6 Tuning 6 8 2 2 Nyquist The Vel open loop velocity open loop and Pos open loop positionopen loop of the emulated control system can be analyzed on the Nyquist plot for their frequency responses You can analyze the emulated velocity or position open loop by checking the Nyquist plot Analyzing two loops simultaneously is also possible Fig 6 41 shows the Nyquist plot of the velocity open loop When you click the curve on the Nyquist plot the frequency response value will be displayed for analysis of the control system 1 Vel open loop The frequency response of the velocity open loop 2 Pos open loop The frequency response of the position open loop Fig 6 41 Nyquist plot of the velocity open loop 220 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 6 Tuning 6 8 2 3 Bode The Vel controller Vel ope
250. s Manual amp D i e c o E vo P Nn gt N gz c e fas Far i e O c e E e 2 E O x O E z Z z z z IV User Peeerrrrrr TT 6466666466666 D2 Dr Operation Manual for D2 Motor Drive System Table of Contents 1 About the Operation Manual ie sicccecevveiccstisaceutsdsantscesadvedateaddnctondiasaustcdisensnseteasaevaneneeess 1 1 1 Instructions before USS rensccssausncccantdsassanndcamendnidcnayaeeiwcetinsinnnmnddennncnceamanndenties 2 1 2 Safety IMStUC ONS scsnnnssercerromaamsncnverreeaconuassesannnirasenieutad e Er EOS Ta EaR 3 2 Overview of the Specifications cccccceceececeeeeeeeeeeeeeeeeeeeeeeaeaaaaaeeeeeeeesseneaaaeaeeees 7 21 Safety COMMOTION sisitnccd ceasisonoinaaaeesotetnvidecectiniantceesnanteeestenneteiionemarnaxs 8 2 1 1 Nameplate information x 2 icc s2c2ctcssnsunccecesceccegnosuedtatiessatumeadmssteeneceaeses 9 2 1 2 Model number sciscestichartiocrtstecrttsiiatec ncaa puirenseaetcadatena gt euitiiscamececiaaaniunasnt cae 9 2 2 Servo drive specificationS nsennnusesennennennnnirserrnrirrrrrrrnrenrrrrsnererneenrne 10 2 2 1 Servo drive specifications full fUNCtION ccceeeeeeeeeeeeeeeeeeees 10 2 2 Servo drive specifications pulse type ccccecessseeeseeeeeeeeeeeeeneneeeeeees 12 2 3 Dimensions Of the CYS sirasterisassacetersaxrsnsnatocateannessoesdaudvemsardedaseaentians 14 2 4 Installation of the drive lt
251. s OD brar sas Leese bafa 1 1 bmii paibui P Eritsb ie erremlarp mis Beits KAP Fabre impr Bis a b binis paiish Dati Ten Leh ee a EREREERER fen ir SA f ta mt A Meri kais is bais Kable Guitih ia eatery 0 baar bans Eoocer E bafi 1 a biai Gebtok feito da ipiinaimy wie bathe ajA Pelee beper Biola it 0 bimii F iiph ba ba ba e a e BEEEEEE The signal is triggered externally and the motor immediately decelerates to a full stop When the input point of the Abort Motion is true indicator on the external pulse command is ignored and the drive decelerates the motor as a result of the emergency stop function Dec kill jenuey uopesado ay ynogy 1 suoleoioeds y JO MBIAISAO Z HIWIN MIKROSYSTEM CORP 95 BULIM a ie A a 7 qa91S Bunooys jqnoJL Bulun 9 suolesddy g uonde 01d Z 6 jenuey uopesado ay ynogy 1 suoleoyioeds y JO MBIAISAO Z BULIM rN op D Z 5 Co O ado01ls Bulun 9 suoleoddy g UONde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 4 Settings Input Function Invert Command Operation mode Vel Trq Symbol INVC Default Input None Circuit Refer to 3 5 2 No diagram Function description This inverts the command from the host controller Instructions for use Spe
252. s displayed in the Position tab Users can click the Set scope _ button to capture the waveform if needed from the scope window The in position signal is used by O2 by default Please refer to 4 4 2 for digital output settings fF Petonrrance canter a Vo a a EO N T Postien Velocity Ripple Target radius 180 emini S Dehounce ime 160 8 meee Biye irme Ai mea Tring ime LA meec Tot irme 6 0 mip 4 Pasiria Breer E F L a a i Fesikerk Fanii isn i Li Predbh st Velar ity a W a4 B H Fig 4 34 Scope window 113 HIWIN MIKROSYSTEM CORP enuen uoneiado y jnogy SUOI EOIJINedS y JO MIIAIBAC Z BunIM EN dp D 3 Co O dols Bunooys jqnoiL Bulunl 9 suoieaddy 8 uondelold Z 6 Operation Manual for D2 Motor Drive System 4 Settings Table 4 4 Parameter name Description In Position is confirmed if the error is within the target Target radius radius setting The default value is 100 times the resolution of the encoder In Position is not confirmed until the error keep Debounce time under target radius for a preset debounce time after entering the In Position target radius jenuey uopesado ay ynogy N A Q Move time Route planning time oO z Setting time Setting time Zs a oo Total Total time move time setting time D S oO w 3 Q N op
253. s in motion The N motor stops immediately when the key is released Vo lt os CY LL ae a E LEVELONE LEVEL TWO 5 g a g oi l i _Q1FB POS l a i i Press and hold E 323088 i i the Up key CW i i Q l i l gt on i 2 Press and hold give a the Down key 65810 sma Feedback l position O O i i i Fig 5 18 Continuous motion jog operation suoleo ddy 9g UoNde 01d Z Bunooys jqnoJL 6 156 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 5 LCD 5 2 4 5 MOV2POS The following operation shows the setting procedure for movement to an absolute coordinate position Please refer to Fig 5 19 for an illustrated description of the procedure An absolute coordinate position of destination 2000 is used as an example below 1 Use the Up or Down key to enter the MOV POS setting page Please refer to the parameter edit function in 5 2 3 2 for the input method In this example the coordinate position of destination will be set to 2 000 2 Move to the MOV2POS option and press the Enter key A solid flashing cursor appears on the left side of the second line The current position is displayed but the motion has not yet started 3 Press the Up key to start the motion The motor moves to the destination MOV POS at the speed as set in VEL_LCD The feedback position 01FBPOS information is displayed on the second line
254. s shown in following figure the pulse is generated in three formats PulseE Dir Pulse Up Pulse Down or CW CCW and AqB phase Quadrature square wave The electronic gear can be set in the pulse mode One input pulse normally corresponds to one encoder count A gear ratio of 2 3 for example means 2 input pulses correspond to 3 encoder counts The pulse signal is classified into TTL differential and single ended signals according to the wiring method of the hardware DIR input Normal Inverse CCW ww Y UUUL Normal Inverse A phase LO TU input input Normal Inverse 75 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy 1 suoljeoioeds y JO MBIAISAO Z BULIM iN n D as a O ado0ls Bulun 9 Bunooys jqnoJL suoleoddy g uonde 01d Z 6 jenuey uopesado ay ynogy 1 suoleoyioeds y JO MBIAISAO Z BUI gt ie D Co 12 G91S Bulunl 9 suoleoddy g UoNde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 4 Settings 4 2 3 2 Setting the position mode If the host controller only sends pulse command the position mode must be selected to receive the external motion pulse command The close loop control is dealt with by the drive The D2 drive supports three pulse formats and is also allowed to set the electronic gear ratio for the high speed application system Prina pai ihre Mo
255. se initialization because of the required current changes and phase angle self inspection mechanism This method is used in conjunction with drives that have 0 in the ninth digit of the model number and with motor that have 1 in the ninth digit of the model number such as the drive D2 0423 S B 0 and motor FRLS4020106A Himsa Ser tees Wisiri art ten Paiis rukata mode EU artikei i Dremi mi 3 36 laedseci por 1 Pihis meim Ti moat sme 2 ene Tikar Tar ruma ba mew ot Ad rez nakonako Loni boa OT Praga eee Car ony Ma pou arr daneg phage m tet HLA toui D ip EEs ra Cee Tuang Baa ehe 8 ee Fig 4 27 Auto phase center screen SW method 5 81 HIWIN MIKROSYSTEM CORP enuey uopesado y ynogy 1 suoljeoioeds y JO MEIAIBAC Z BULIM aN op D Zd Co o qg91S Bulun 9 suolesddy g uonde 01d Z Bunooys jqnoJL 6 suoleoyioeds y JO MEIAISAC Z jenuey uopesado ay ynogy 1 BUI sBumes y dols Bulunl 9 suoleoddy g UONde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 4 Settings SW method 3 This mode is used in the phase initialization of 17 bit digital incremental encoders No tuning is needed for a successful phase initialization and the motor will not shudder during the initialization process This mode is used in conjunction with drives that have
256. servo motor model to set and display the parameters for the selected motor 2 Operation parameters Screw Moment of Inertia The rotational inertia of the screw used Unit Kg m 2 Load Mass The mass to be loaded Unit Kg Screw Pitch The pitch of the ball screw i e the linear movement amount of the screw in a revolution Unit mm Gear Ratio The ratio of the gear teeth number at the load end to the gear teeth number at the drive end Input the correct values of motor operation parameters can help drive to calculate the suitable values for driving parameters and thus successfully drive the motor I rapsa ro sis was Emade Vom Re res E urpe AC sno E aAa r Model ame PALTOSI ware WIVIN E ADOD mee E AGOA mga E MONL B aoon se Peas Ont t maoun a 7 p BR aaoo men m me Content A a a Operation PRL met LM atonoa met tage Constant parameter BR Preset met a1 eet ree E SB rrest200 mee settings area Basse met ee oO mt wt persp Ta Liae Live 3 MLDG mui 4 Reeser lt 4 Motor V a r frer Motor Pear Tong pect parameter Ed MAIMU mon i9 settings area HER nn ma SIS sana meg pres SaR b R o G mot L aunan mae Fig 4 11 Motor parameter settings 66 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 4 Settings Customized motor settings Hardware parameters for motors other than standard HIWIN products can also be entered in the customized motor settings a
257. settings click Send to RAM to send the parameters to the drive The screen returns to the Configuration Center if Cancel is clicked To retain this set of parameters click Save to Flash in the main HMI window to save the parameters in the flash memory Parameters saved in the flash memory will be retained even if the drive is turned off SP Ctrl Benn ut Feared Creech Dais fot ra Tea Moreni of meri a Gaar Foss Load Maes Eora Pah Fesk Corel Ceninuse Ciner THa C Riuiania baisi Frig hapreher Rai bret cela hen Waradasteer Eh na ay Ae a a hiss voue Tp aed y abs Dy Den iby TOS Osa ooo HAH Oot lite Ware Dpr eda i STL ee LE Dgan ide STALLONE UOoE The parameters are ee Pani sent to the drive or Fig 4 24 Completion of the configuration procedisperele4 To be save the parameters to a file on your PC click Save Parameters from Amplifier RAM to File to save the parameters to a file The file extension is prm 79 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy 1 suoleoioeds y JO MBIAISAO Z BULIM iN n D as a O ado0ls Bunooys jqnoJL Bulun 9 suoleoddy g uonde 01d Z 6 jenuey uopesado ay ynogy 1 suoleoyioeds y JO MBIAISAO Z BUI gt ie D a Co n G91S Bulunl 9 suoleoddy 9g UONde 01d Z Bunooys jqnoIL 6 Operation Manual for
258. sl Pema Fier Cine tir aZ pata Ei a ts spes boa lee iii tirs oper aos eo Poe ed M Farri ras pma Hi af LL ar ar he PLPR Pepi me Paget ha a E aes Can a err 4 Settings Select Invert Command to voltage or PWM command for requirement invert The parameter confirmation screen appears click the Send to RAM button as shown on the left Click the Save to Flash button in the HMI main function tool bar to save the parameters in the flash memory This will retain the parameters even if the drive is turned off HIWIN MIKROSYSTEM CORP 123 enuen uones9do y noqy suoneaIoads y JO M IM AQ Z BunIM dols suonesiddy g uondse10ig Z Bulun 9 BuooysajqnoIL ENN ep D S Co O 6 jenuey uopesado ay ynogy suoleoyioeds y JO MBIAISAO Z BULIM gt ie D Co n qG91S Bulun 9 suoleoddy g UONde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 4 Settings 4 6 3 Force torque mode The drive can receive commands from the host controller via voltage known as V commands The input voltage ranges from 10V to 10V The drive makes the received 10V to 10V input voltage correspond to the velocity or current control to drive the motor In addition to the voltage the host controller can send commands via PWM s
259. ssdnaensteertiananesancicnmotaieindeesnsien 232 7 1 2 Velocity acceleration and deceleration limits c cccccceeeeees 232 7 1 3 Cancelation of velocity acceleration and deceleration limits 233 7 1 4 Applicability of emergency stop deceleration Dec kill 233 e15 SMON MOUN corsie era EE EERE TENES 234 7 2 Position and velocity error protection scccssecsscccctexorssnesetnesearecumacavencenesenes 235 7 2 1 Position error WINS cciisinnrinccindiinensaitensninieenshaineneiineiedidesdavhedinnncniniuieais 235 7 2 2 Position and velocity error Warning ssssssssessersrserererrrererrrrrererene 235 l3 Brake outp l s i cihcascanerictes onittbucleiaradine ipinsiiermaarant E EE TE EEE 236 Pocock FUNCION OVEIMIEW tccctu2consscsinisaeinsmcnscidernineamaisenitinsinauredehedssencenene 236 7 3 2 Brake stop SGQUGNCG iiccccsc ciccdecccs ccnsstcctessectencsecnccsccaddedessaceeeeertnee 236 T33 OCS ecse e Eaa chant EESEL 236 7 4 Hardware limit PrOlCuOM ecg cccetitcccoonehstorccedsesiensfexencrincnoienbnetiaxeaceiiendens 238 7 4 1 Function Overview icciscisvaccctindsintrnunnciciin aunts ienindinemnaiiacioadhaticat duiiutsiae 238 142 Sett Seea arer a EENE E AIEEE aE EEn 238 7 5 Software limit protection cccvsscecs cs ccscacsddscesescdveciedetsecssseneshentendessscdaseactecatees 239 7 5 1 Function Overview sesiscccceredipsiscnnerinasmmanimnancaradunnbaressaiienaccendaasinasnscs 239 Tae SettiNgS eeraa aE EEEE A 239 7
260. tal output Wiring sriscicceccsncnazsesnscetdetcnanasbionatuctdessonndnaiasceteniumniiaees 42 9 3 6 Wiring examples for operation MOdEC cccccsecccecseeeeeeeeeeaeseeeeesaseeeees 43 eo 3 6 1 Master wiring diagram for pulse command input eeeeeee 43 g 3 6 2 Master wiring diagram for analog command input ee 50 F 3 6 3 Master wiring diagram for PWM command input eee 53 3 n D o 8 a 19 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 3 Wiring gt 3 1 System configuration and wiring T 4 This chapter introduces the drive configuration and functions of each parts Following S F figure is showing the details of drive configuration BO S 3 1 1 Master wiring diagram O tt is S g Crna Broer OCH 8 dik MRA S T m men MOTR SET pecs LSOSXX1 Sa on HIWIN 3 BR nnan i KR O m n n n on s8 Q n 1 o 4v ter bree bell as QO O O c metan to toe 5 usap Q m Aau ms ath Baa T i z 3 Fig 3 1 D 2 Q Table 3 1 a Item no Description 3 AC main power cable L1 L2 Single phase 110 240V AC 50 60Hz aj CN1 L1 L2 L3 Three phase 200 240V AC 50 60Hz S Motor power cable CN1 Connection to motor three phase motor power U V W a Regenerative resistor Connection to motor regenerative resistor optional mounted F CN1 according to a
261. tal signal ground reference 19 CZ Z phase output open collector 4 pow Analog command input Velocity Torque 16 ADC1 17 ADC1 18 ADC2 WA 20 ADC2 43 DAC1 N A 42 DAC2 N A 44 CWH High speed 4 Mpps pulse command 45 CWH Channel 1 Pulse CW A phase 46 CCWH High speed 4 Mpps pulse command 47 CCWH Channel 2 DIR CCW B phase Common port for general purpose input signal can be either 4 GoM Sink or Source 33 11 General purpose input signal Hardware Enable by default 30 12 29 13 27 14 28 I5 l 26 6 General purpose input signal programmable function 32 I7 31 18 9 19 8 N A N A 35 0O1 34 01 37 O2 8 oe General purpose input signal programmable function 39 O3 38 O3 11 O4 10 04 40 N A N A 12 N A N A 41 AGND Analog signal ground reference 50 FG Frame ground reference 30 HIWIN MIKROSYSTEM CORP 3 Wiring Operation Manual for D2 Motor Drive System 3 Wiring 3 1 8 CN7 connector Pin2 Pin9 PinlO SCR connector 10PIN male SCR connector 10PIN female Fig 3 17 Table 3 3 1 5V DC Encoder power output 5Vdc 2 SG Signal ground and 5Vdc ground 3 PS 4 Ps Serial encoder input 5 A 6 A 7 B feeds 8 B Digital incremental encoder input 9 Z 10 IZ 31 HIWIN MIKROSYSTEM CORP enuen uopesado ay ynogy 1 suoljeoioeds y JO MBIAISAO Z sBuljes p dols yBulun 9 Bunooys jqnoJL suoleoddy g uonde 01d Z 6
262. tening HMI will query you whether want to enable or disable software after the window is closed 63 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy 1 suoleoyioeds y JO MEIAISAC Z BUI D wn o a co O dols Bulunl 9 suoleoddy g UONde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 4 Settings When using Lightening 0 144 or older versions for connection to a D2 drive an installation error message as shown in Fig 4 9 appears after the connection This is because these HMI versions do not contain and cannot identify the firmware version e g v0 006 of the D2 drive Please click Do nothing and download the latest Lightening HMI software version from the HIWIN website Lora ates fereware ates tated ene W cuter tee The seen n Setet CEES BO Fig 4 9 Firmware version installation error message 64 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 4 Settings 4 2 Configuration Center When using a new drive or a new motor please set up all required options according to your actual needs Through Configuration Center Click amp in the main function toolbar to enter the Configuration Center The position of the button is shown in Fig 4 10 enue uoneJedo y jnogy UGHTENONG version 0 172 comt UTN 115300 eNe vg hee Took Lempo Atxmt 2 2 4 N Ti ME AVAIN Amp her C
263. the following safety standards CE Compliance EN55011 EMC EN61000 6 2 jenuey uopesado ay ynogy 1 EN61800 3 LVD EB61800 5 1 suoieoyioeds N lt S o 2 y D BULIM sBues y 91S Bulunl 9 suoleoddy g UONde 01d Z Bunooys jqnoJL 6 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 2 Overview of the Specifications 2 1 1 Nameplate information gt sf Model no Model No D2 0423 3 5 B0 z P mega fabs F S N BO C T E Input output voltage INPUT OUTPUT Voltage 100 240V 0 373V z Phases Pi 1130 ag Rated input output current FLE 4AA 3 2A N Freq 50 60Hz 0 333Hz L Q Input output frequency twin MIKROSYSTEM CORP wasem tawan g S oe 2 oS D Se 2 1 2 Model number Column 1 4 5 6 7 8 8 wnn ES 0o 2 Item number G D2 drive eresse D2 Rated output ii BOW 1OOW crvvessrrssresssesssesets nanan 01 2 DOOWIAOOW secenctececcenae aman 04 2 T5OW 1OOOW rvrvvosseee nner 10 AC voltage ee Single phase issin ap nR S _se Ra pgaadudcaaasetey amp Three phase IREN ENEE E 8 S S_aFuBaaauEUDSaWGsaEET z j AC voltage range a P OVJ 220Y smsni maam 3 Control interface J Pulse type for position control siisestcsivscsshadiaesivevedtnse oi P 3 Full function crete nennnnntanannnnnnnennnannenen S
264. the host controller by voltage V commands The input voltage ranges from 10V to 10V The drive makes the received 10V to 10V input voltage correspond to the current control to drive the motor In addition to the voltage the host controller can send commands by PWM signals PWM commands The PWM command converts to different velocity current commands depending on the duty cycle It is classified into single wire PWM 50 and two wire PWM 100 types The single wire PWM 50 type refers to the duty cycle of 50 An inverse motion occurs when the duty cycle is less than 50 while normal motion occurs when the duty cycle is more than 50 The two wire PWM 100 type needs one more pin to control the operation direction of the motor V command The analog voltage signal is converted to a current command to directly control the current output of the drive and thus the force and torque of the motor The higher the voltage value the higher the output current but it will not exceed the maximum limit set by the drive Conversely the lower the voltage value the lower the output current When the voltage value is negative the output current becomes negative too and the motor operates inversely The current correspond to how many unit voltage can be set in the drive PWM Command The PWM command is converted to a current command to directly control the current output and thus the force and torque of the motor The current to which the Full PWM co
265. the icon in the main function keys area L Uncheck all physical values Or click the Delete button R MEGA FAIR Hemon Spite Plot vere Ver EAF Se BEM wid iee ry E PWanrls Cra Time eer Fig 6 11 Plot view introduction C Zoom in out To observe the subtle change of a certain segment closely use the solid line and dashed line borders to select the area to be zoomed in The Plot View allows users to zoom in out the X and Y axes The followings are the icons and operations in the main function menu Z00m in the graph between the blue solid line and dashed line on the X axis Undo zoom Redo zoom Cancel all zoom in displays Zoom in the graph between the red solid line and dashed line on the Y axis ie x 2 3 F Cancel the zoom in action on the Y axis 189 HIWIN MIKROSYSTEM CORP jenuey uoneJedo y jnogy suoleoioeds y JO MBIAISAO Z sBules y BUUIMA dols Bunooys jqnoJL suoleoddy g uonde 01d Z 6 Operation Manual for D2 Motor Drive System 6 Tuning P Zoon in out on the X axis gt To zoom in on the physical value graph ranging from 6 to 10 seconds use the left key to Q move the blue solid line or use the right key to move the dashed line to frame this S F segment Then click to zoom in Fig 6 12 To zoom in on a much smaller 5 O segment e g 7 9 seconds repeat the above steps To see the previous zoom in z segment
266. ting value the motor servo will be e locked in a fixed position A Inhibit Pulse Command Inhibit pulse command Level Trigger a ie Switch high low speed pulse input Switch HI LO Pulse Input g P Pa onde Level Trigger channels o The motor enters the emergency stop T Abort Motion procedure after receiving this signal Level Trigger 2 during operation Clear Position Error Clear position error Level Trigger O Switch from the primary to the seconda Switch to Secondary Mode p y a Level Trigger operation mode 2 Start the built in homing procedure of th Start Homing ap 7 Edge Trigger drive a Selection of the electronic gear ratio in D Electronic Gear Select DIV1 g Level Trigger Q pulse mode 3 Selection of the electroni r ratio in i S DIV2 Electronic Gear Select DIV2 a ease ees Level Trigger pulse mode 0 gt O sok 5 D n 3 T D n O gt Q Q 93 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy suoleoyioeds y JO MEIAISAO Z BULIM rN op D 34 5 Co O a01ls Bulunl 9 suoleoddy g UONde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System Table 4 2 D2Drive Input default settings Stand Alone mode Specified signal input Position mode Velocity mode Force torque mode 4 Settings Inversion Start Homing Inhibit Pulse Command Zero Speed Clamp Zero Speed Clamp No Abort Mot
267. tion Manual for D2 Motor Drive System 5 LCD To set an inverse voltage or PWM a command add a minus sign to the gt current command ratio S T 85 Press the Enter key to finish setting 3 D 0 the current command ratio 5 Press the Down key to move to Page 5 F with LCD No 86 This is the page for 86 selecting the dead band for the 0 current command N Please refer to Note 1 for more Q information about LCD number 86 8 g z Press the Enter key and set the S z Cn 56 required dead band Please refer to 5 g m the parameter edit function in 5 2 3 2 o F for the setting method Ls Press the Enter key to finish setting lt the dead band a Press and hold the Up key to move SAVEFLSH to the SAVE FLSH page Here the A NO parameters can be saved to the D flash This will retain the parameters even if the drive is turned off Q h FAVEFLSH Press the Enter key to enter the E No setting state O w SAVEFLSH P YES Press the Up key to select YES o ian ren Press the Enter key to save the N parameters to the flash N U 3 2 Note 1 The settings are performed using the following parameters Q Parameter Definition Initial value gt O The command input format in the velocity E Sooma owm mode and current modes 0 D Pwm_ 0 Analog 1 PWM 50 2 PWM 9 n 100 The current command ratio indicating the corresponding relationship of 1
268. tion Manual for D2 Motor Drive System 6 Tuning 6 5 2 Save read files In the Plot View the type of the files which can be saved are text files txt picture files omp and special Plot View files gpp The txt file is used for saving the figures of all physical values within the retrieving time while the bmp file is used for saving the graphs of all physical values as pictures The gpp file is the only file which is allowed to be opened in the Plot View Therefore if User needs to open a file in the Plot View remember to save it as a gpp file Click the following icons in the main function keys area to save the files as the txt and bmp files lal Save the figures of the physical values as a txt file G l Save the graphs of physical values as a bmp file Select Save Open in the File function menu to save or read the Plot view gpp file Fig 6 17 xX 22 2OR te sa Open args plot Seve t TXT fk Seve to TKT file with Tane ZRIOVINT CII Fig 6 17 Save as gpp file 193 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy suoljeoioeds y JO MEIAISAO Z BULIM sBuljas y dols suoleoddy g uonde 01d Z Bunooys jqnoJL 6 jenuey uopesado ay ynogy suoleoyioeds y JO MEIAISAC Z BULIM sBues y dols suoleoddy g uoNde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor
269. to set the error target radius and debounce time Refer to 4 5 for more information User can also adjust the Common Gain during motion to meet requirements of settling time The higher the Common Gain the faster the response and the shorter the settling time Further user can using the Move Time Settling Time and Total Time fields to observe the time needed from moving to entering the radius Click a sceee to open the graphical oscilloscope Scope window which can be used to observe the motion waveform of the setting time The Performance Center provides a velocity ripple measuring function User can observe the performance of velocity ripple in P2P motion The Vmax Vmin Vavg and Velocity Ripple stand for the maximum velocity minimum velocity average velocity and velocity ripple in the uniform motion segment respectively Click _ to open the graphical oscilloscope Scope which can be used to observe the motion waveform of the velocity ripple In addition to the P2P function the Relative Move is used for setting the distance of the movement and Jog is used for setting the normal or inverse jogging movement Users only needs to click the or button for the setting The velocity acceleration or deceleration and smooth factor set in the Motion Protection area are also used for motion protection Therefore if users forgets to set the motion protection values after the test run the motor may not reach the expected velocity o
270. ttings 5 LCD 6 Tuning 7 Protection 8 Applications 9 Troubleshooting HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 2 Overview of the Specifications 2 Overview of the Specifications jenuey uopesado y ynogy 2 Overview of the Specifications lt i cs sacwecaeenecoesivasaxnnctanaiasssatvencueveshesctsadtadseddosadsunenseedestes 7 T 2 1 Safety certification sera teed eshte iecerreiatssicadateetdeaabandliuedaadansiassehimnanteceteanals 8 2 5 2 Val INGRIG Plate WOMAN sisira eaa 9 3 21 2 Model number sacacasa eaea Ei 9 a 2 2 SERVO UNIVE SDSCINCAN ONS eroica an ea A E AS 10 oS 2 2 1 Servo drive specifications full fUNCtION ccceeeeeeeeeeeeeeeeees 10 2 2 1 Servo drive specifications pulse ssssssssserrrrrererererrrrrrrrrrrereeree 12 2 3 Dimensions of the CVE ins vccenrceciponvesraaccieceancvescanedednedaopniaxnanetmaneaentciacss 14 lt 24 Installation ofthe drVe x seterevacgsticcti eastumniteteasenpcoreanat start tashoeensarccaseceogoneds 16 2 5 Computer requirements ci dcccciasccccccesteccctdnieoctcccnauesadecenindcenecsnadasesiettdandedieas 17 KR wn Q 3 ol T Q O O z 3 a I o 8 S ec gt 3 aj z B O 5 D o 3 a T7 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 2 Overview of the Specifications 2 1 Safety certification The product complies with the requirements of
271. unooyse qnos 6 204 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 6 Tuning 6 6 3 Schedule gains and velocity loop gain Schedule Gainst vpg Schedule gains A complete motion control can be divided to three stages Move From the start to the end of trajectory planning Settling From the end of trajectory planning to the in position stage In position Completion of the position settling The purpose of the schedule gain is to adjust the servo stiffness to be output at each motion stage Move Settling In position based on the common gain Adjustment of the gain at each stage is conducted proportionally The original common gain is used when the setting value is 1 and the gains are reduced when the setting value is less than 1 The corresponding parameters at each stage Move sg_run Settling sg_stop In position sg_idle If common gain 0 5 and sg_run 1 2 the common gain that is practically used at the Move stage is changed to 0 5 1 2 0 6 The same is applicable at the Settling and In position stages The constant common gain is changed appropriately by using the schedule gain to meet the requirements at different stages Ace analog VSF Friction jleedtorward Gains WPg input Compens Schedule Gains ma Velocity boop gain Primary wpg 8 085 32455 Freq naiyot Miring S iing Scheduled Gaits according to WO Secondary OG Secondary py U JR Copy from Primary CG H Bes
272. uopesado ay ynogy 1 suoljeoioeds y JO MEIAISAO Z BULIM sBuljas p dols Bunooys jqnoJL suoleoddy g uonde 01d Z 6 jenuey uopesado ay ynogy 1 suoleoyioeds y JO MEIAISAO Z BULIM sBues y 91S suoleo ddy g uoNde 01d Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 6 Tuning 6 6 1 Filter The filter is located inside of servo control loop and mainly used to eliminate the problem caused by high frequency vibration of the system or deal with the resonant frequency of the mechanical system to improve the control performance of system The D2 drive has two filters that can be used concurrently and set as a low pass filter or a notch filter To design a filter is often done by analyzing the system characteristic in frequency domain Yser can click the button in Fig 6 24 to open the emulated interface of Bode plot The settings of two commonly used filters are described as follows PE pik mm Cf T meam GPR i Te a mi EE A a Dri E emma h GAAR Eo i mam Lew piar tir cathe pep mmi i Lir 3 tates T Higa kig ait he beie Pe T kipipi aie bis teias Dimi ISEE mm r immi Carer abr Bien er air Fee Fig 6 24 Filter Low pass filter A setting of a typical low pass filter is set as follows Fr Cutoff frequency The unit is Hz 500Hz can produce an excellent result in general applications and reduction of th
273. uring the positioning process However the move time will unavoidably increase when the motion becomes smoother Tests on the machine are needed to adjust the smooth factor and reach a balance The motion protection function can be disabled when the smooth factor is set to 0 The steps for setting the smooth factor via HMI are described below Click the Performance Center icon as shown on the left in the main function tool bar of the main HMI window or 1 an Gar select the Performance Center option from Conf Tune in the function menu Lr o eT BeBoOakT T ender Orr Oy Eese Tapina 1 caet Bet eeoa Oste bee tte meer Hon tee 6 8 re Semey toe 0 0 se tow ie 8 aet Dianaaa D e In the Performance m DEO F Center set Smooth 2 aineina se meee gt en re factor for the lees cet j Am tI casey P BCR Sere requirement as C T show on the left figure Be feet tae ees Aen Lad Reece ve oe ij L ETT rr in nsec PZ Caa KGL ERTE Mar reast Apa nma i N _ Bene gt Brace e i a sel iew csn e ji w 119 HIWIN MIKROSYSTEM CORP enuen uones9do y noqy 4 SUOI EOIJINedS y JO MEIAIBAC Z BULIM ENN ep D S co O do1s Bulun 9 Bunooysejqnol suoieaddy 8 uondelold Z 6 jenuey uopesado ay ynogy 1 suoleoyioeds y JO MBIAISAO Z BUI gt ie D Co 12 qQ91S Bulunl 9 suoleoddy
274. utomatically moves to the AUTOTUNE page Press the Enter key to enter the AUTOTUNE setting screen Users can only select YES on this page Press the Enter key to confirm the auto tune If the auto tune is performed successfully continue to Step 3 Please refer to 5 2 4 2 for a detailed description of the procedure 3 The LCD screen next automatically moves to the MODE page Press the Enter key to enter the MODE setting screen press the Up or Down key to select STNDALON then press the Enter key to confirm the selection 4 The LCD screen now automatically moves to the SAVE TO FLASH SAVE FLSH screen Press the Enter key to enter the SAVE FLSH setting screen then press the Up or Down key to select No Press the Enter key to confirm that no parameters will be saved to the flash memory Please refer to 5 2 3 1 for a detailed description of the procedure 5 The LCD screen finally automatically moves to the PHAS INI page in LEVEL TWO of the Home Page Successful phase initialization is confirmed when ON is displayed on the screen 152 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System MOTR SET LSO5xX1 AUTOTUNE _ YES M5402 1 Mg AUTOTUNE B YES MODE STNDALON SAVEFLSH AVEFLSH NO 5 in y LSO5XX1 MOTR SET Use the Up or Down key to select the motor model name Please refer to 5 2 4 2 for a detailed description of AUTOTUNE AUTOTUNE PROCESS Please refer
275. value the higher the output current but it will not exceed the upper limit set by the drive Conversely the lower the voltage value the lower the output speed When the voltage value is negative the output speed becomes negative too and the motor operates inversely The current to which the unit voltage corresponds can be set in the drive PWM Command In addition to the voltage the host controller can send commands via PWM signals known as PWM commands The PWM command converts to different velocity or current commands depending on the duty cycle It is classified into single wire PWM 50 and two wire PWM 100 types The single wire PWM 50 type refers to the duty cycle of 50 An inverse motion occurs when the duty cycle is less than 50 while normal motion occurs when the duty cycle is more than 50 The two wire PWM 100 type needs one more pin to control the operation direction of the motor The PWM command is converted to a current command to directly control the current output and thus the force and torque of the motor The current to which the Full PWM corresponds can be set in the drive 77 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy 1 suoljeoioeds y JO MEIAISAO Z Bunooys jqnoJL BULIM A ep a 5 a a 91S Bulun 9 suoleojddy g uonde 01d Z 6 jenuey uopesado ay ynogy 1 suoleoyioeds y JO MBIAISAO Z BUI iN wn D 34 5 Co O ad
276. with 3 outputs open collector put with 1 output Brake Used for direct connection to the brake It can also be connector used for programmable general purpose output Communication function USB For PC connection 115 200 bps 4 key dot matrix 8 2 character LCD status display with LED status indicator green red External connection is needed as no built in regenerative resistor is available The control mode is switchable 1 Position mode 2 Velocity mode 3 Torque mode 4 Position velocity mode 5 Position torque mode 6 Velocity torque mode 1 Pulse inhibit command 2 Clear position error 3 Servo on 4 Switch between first and second gain suoieoyioeds N lt fo S o s e r BunIM Control signal I O signal Analog signal connector suoneoyioads oiseg SBUINES p Pulse signal Control signal Output G91S Panel indicator Regenerative function Bulunl 9 Control mode Control input 5 Electronic gear ratio selection 6 Left limit switch 7 Switch between primary and secondary mode 8 Clear error 9 Right limit switch etc 1 Servo ready 2 Error 3 In position output 4 Zero speed detection For optical coupler interface single ended input 500 Maximum input pulse kpps frequency For line driver interface differential input 4 Mpps 16M cnt s at AqB 1 Pulse dire
277. x B G and D2 xxxx x B0O Connector to the extended line Wago 721 112 026 000 female enuey uopesado ay ynogy suoleoyioeds y JO MEIAISAC Z sBues y dols Bulunl 9 Fig 3 5 Installation and removal steps suoleoddy g UONde 01d Z Bunooys jqnoJL 6 22 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 3 Wiring 3 1 3 Motor wiring diagram Well grounding is needed between the drive and the motor D2 series drive Fig 3 6 3 1 4 Regenerative resistor optional wiring diagram The regenerative resistor is mounted optionally according to the actual application design D2 series drive Fig 3 7 23 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy suoleoioeds y JO MAIAISAO Z sBuljes y dols W5ulun L 9 Bunooys jqnoJL suoleoddy g uonde 01q Z 6 Operation Manual for D2 Motor Drive System 3 Wiring Wiring and inspection must be conducted by professional technicians Turn off the power before wiring or inspection to avoid electric shock and other dangers High voltage may remain in the drive after the power is turned off Wait for a while up to five minutes before touching the power terminal jenuey uopesado ay ynogy 1 is 5 Perform the wiring appropriately and reliably to ensure stable operation and as avoid injury damage or other accidents z Do not connect the motor U V or W ter
278. xxx x B F CN1 AC power motor power Regenerative resistor and control power connector 12 pins pitch 5mm Wago 721 112 026 000 3 Wiring CN2 Brake connector 3 pins pitch 2 5mm Wago 734 104 CN6 Control signal connector 50 pins solder type 3M 10150 3000PE 10350 52A0 008 CN1 connector fixture Wago 231 131 CN2 connector fixture Wago 733 103 CN1 AC power motor power Regenerative resistor and control power connector 12 pins pitch 5mm Wago 2092 1112 CN2 Brake connector 3 pins pitch 2 5mm CN6 Control signal connector 50 pins solder type 3M 10150 3000PE 10350 52A0 008 CN2 connector fixture Wago 733 103 D2 xxxx x B0 CN1 AC power motor power Regenerative resistor and control power connector 12 pins pitch 5mm Wago 721 112 026 000 CN2 Brake connector 4 pins pitch 3 5mm CN6 Control signal connector 50 pins solder type 3M 10150 3000PE 10350 52A0 008 CN2 connector fixture Wago 734 230 33 HIWIN MIKROSYSTEM CORP jenuey uopesado ay ynogy suoleoioeds y JO MBIAISAO Z sbunles y dols Bunooys jqnoJL uonos Olg Z Bulun 9 suoleolddy g 6 jenuey uopesado ay ynogy suoleoyioeds y JO MBIAISAO Z sBues y dols Bulun 9 suoleoddy 9g uono3 0ld Z Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 3 2 6 EMC accessory kit
279. y suoleoyioeds y JO MBIAISAO Z BULIM sBumes y G91S Bulun 9 suoeoddy gl Ueiecre 7 Bunooys jqnoJL 6 Operation Manual for D2 Motor Drive System 7 Protection 7 1 5 Smooth motion The smooth motion is used to lower the impact of motor force on load in the acceleration and deceleration segment during motion The purpose can be met by setting the smooth factor The value of a smooth factor is between 0 to 500 The higher the value the less the impact A value of 1 means that the smooth function is not active When a higher smooth factor is used in some cases the reduced output force of the motor is helpful for the final settings during the positioning process However the move time will unavoidably increase when the motion becomes smoother Henceforth tests on the machine are needed to adjust the smooth factor and reach a balance The motion protection function of the drive can be disabled when the smooth factor is set to 0 Moreover the smooth factor is only effective and can only be set when the drive is operated in the Position and Stand Alone Mode The factor is ineffective and the velocity mode and the Force Torque Mode 234 HIWIN MIKROSYSTEM CORP Operation Manual for D2 Motor Drive System 7 Protection 7 2 Position and velocity error protection 7 2 1 Position error limits The position error exists in the servo control When motor moves the position error becomes bigger
280. y bring about disability light injury or material damage Attention Actions marked A Attention may have a serious consequence All such instructions are important and must be followed Y Prohibited Indicates that the action is forbidden and must not be done Q Required Indicates that the action is compulsory and must be done HIWIN MIKROSYSTEM CORP _ gt o e es os oO cp aS o oO e SUOI EOIJIN9dS BY JO MAIAIBAC Z BULIM sbuiles y dols Buooys jqnoIL yOulun 9 suoeaiddy 8 uondel1old Z 6 Operation Manual for D2 Motor Drive System 1 About the Operation Manual Usage instructions N Warning 1 Do not touch the terminal or the inside of the product when it is powered in order to avoid electric shock 2 Donotcut the cable apply too much stress to it or place heavy objects on it Laying the cable between objects may increase the risk of fire or electric shock gt o e S as a a O a 2 N nO i 8 Attention lt 8 2 1 Do not install the product in a place exposed to moisture or eS erosion or in an environment containing ignitable gas Do not o use the product close to any flammable objects Storage Q Prohibited BunIM 1 Do not store the product in a place exposed to water A moisture direct sunlight or harmful gas or liquids D Handl

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