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Hiwin E1 Series User Manual

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MD09UE01-1910_V1.4

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Summary of Contents for Hiwin E1 Series

  • Page 1 E1 Series Servo Drive User Manual www.hiwinmikro.tw MD09UE01-1910_V1.4...

  • Page 2: Parameters ···························································································································

    E1 Series Servo Drive User Manual Revision History Revision History The version of the manual is also indicated on the bottom of the front cover. MD09UE01-1910_V1.4 Version Release date Release Date Version Applicable Product Revision Contents Revise Approvals. Change the names of sections 2.2.3 and 7.4.2.

  • Page 3: Servo Motor (Ac) ··········································································································

    11. Revise section 3.3.2 Pin definition. 12. Revise section 3.4 Status indicator. 13. Add section 3.5 Basic specification. 14. Revise section 4.1.1 E1 series servo drive (Standard) 15. Revise section 4.1.2 E1 series servo drive (Fieldbus) 16. Revise section 4.3 Basic specification.
  • Page 4 E1 Series Servo Drive User Manual Revision History Release Date Version Applicable Product Revision Contents Add new parameters and descriptions. March 29 , 2019 E1 series servo drive Add chapter 16 Appendix. February 27 , 2019 E1 series servo drive...
  • Page 5 Preface Preface This manual aims to assist users to operate E1 series servo drive. The contents in this manual, including manual preface, evaluation of mechanism design, precautions for electrical planning, software setting, operation and troubleshooting, are arranged in accordance with the procedure of configuring a machine.
  • Page 6 E1 Series Servo Drive User Manual Approvals Approvals Approvals EU Directives UL Approval Servo Drive Model EMC Directives Low-voltage Directives UL 61800-5-1 IEC / EN 61800-3: 2004/A1: IEC / EN 61800-5-1:2007 CSA C22.2 No. 274-17 2012 (Category C3) (PD2, OVC III) ED1□-□□-04□□-□□...
  • Page 7 HIWIN is not responsible for any damage, accident or injury caused by using incorrect power supply. Ensure the product is used with the rated load. HIWIN is not responsible for any damage, accident or  injury caused by improper usage.
  • Page 8 E1 Series Servo Drive User Manual Safety Precautions Safety Precautions Carefully read through this manual before installation, transportation, maintenance and examination.  Ensure the product is correctly used. Carefully read through electromagnetic (EM) information, safety information and related precautions ...
  • Page 9 E1 Series Servo Drive User Manual Safety Precautions Storage  Do not store the product in location which is subject to water, water drop, harmful gas,  harmful liquid or direct sunlight. Transportation  Carefully move the product to avoid damage.
  • Page 10 E1 Series Servo Drive User Manual Safety Precautions (This page is intentionally left blank.)
  • Page 11 E1 Series Servo Drive User Manual Chapter Overview Chapter Overview Chapter Title Contents E1 series servo motor This chapter introduces servo motor models. This chapter introduces servo drive models and regenerative E1 series servo drive resistor selection. This chapter provides model explanation of Excellent Smart Excellent Smart Cube (ESC) Cube (ESC).
  • Page 12 3.5.1 ESC hardware·············································································································· 3-7 3.5.2 ESC cables ················································································································· 3-8 Specification ···························································································································· 4-1 4.1 Dimensions of E1 series servo drive ························································································ 4-2 4.1.1 E1 series servo drive (Standard) ······················································································ 4-2 4.1.2 E1 series servo drive (Fieldbus) ······················································································· 4-5 4.2 Installation ························································································································· 4-8 4.3 Basic specification ···············································································································...
  • Page 13 E1 Series Servo Drive User Manual Table Of Contents 5.7 Other connectors ··············································································································· 5-36 5.7.1 Connector for PC communication (CN3) ·········································································· 5-36 5.7.2 Connector for Fieldbus communication (CN9) ··································································· 5-36 Basic function settings before operation ························································································ 6-1 6.1 Parameters ························································································································ 6-2 6.1.1 Parameter definition ······································································································...
  • Page 14 E1 Series Servo Drive User Manual Table Of Contents 8.1.1 Digital input signal allocation ··························································································· 8-3 8.1.2 Digital output signal allocation ························································································· 8-7 8.1.3 Alarm output (ALM) signal ···························································································· 8-10 8.1.4 Warning output (WARN) signal ······················································································ 8-10 8.1.5 Drive ready output (D-RDY) signal ·················································································· 8-11 8.1.6 Servo ready output (S-RDY) signal ·················································································...
  • Page 15 E1 Series Servo Drive User Manual Table Of Contents 8.16.1 Full-closed loop control ······························································································· 8-80 8.16.2 Operating procedure of full-closed loop control ································································ 8-82 8.16.3 Parameter settings for full-closed loop control ································································· 8-83 8.16.4 Control block diagram for full-closed loop control······························································ 8-84 8.16.5 Setting motor rotation direction and load moving direction ··················································...
  • Page 16 E1 Series Servo Drive User Manual Table Of Contents 11.1.2 Monitoring items of servo drive information ····································································· 11-2 11.2 Servo drive status ············································································································ 11-3 11.2.1 Monitoring servo drive status ······················································································· 11-3 11.2.2 Monitoring items of servo drive status ············································································ 11-3 11.3 Monitoring physical quantity and servo status ········································································...
  • Page 17 E1 Series Servo Drive User Manual Table Of Contents 14.4 Auxiliary function (Ft□□□)································································································· 14-13 14.4.1 Displaying alarm history (Ft000) ················································································· 14-14 14.4.2 Saving parameter to servo drive (Ft001) ······································································· 14-15 14.4.3 JOG (Ft002) ··········································································································· 14-16 14.4.4 Homing (Ft003)······································································································· 14-17 14.4.5 Parameter initialization (Ft005) ··················································································· 14-18 14.4.6 Deleting alarm history (Ft006) ····················································································...
  • Page 18 E1 Series Servo Drive User Manual Table Of Contents (This page is intentionally left blank.)

  • Page 19: E1 Series Servo Motor

    1. E1 series servo motor E1 series servo motor ·············································································································· 1-1 Model explanation of servo motor (AC) ··················································································· 1-2 HIWIN MIKROSYSTEM CORP.

  • Page 20: E1 Series Servo Drive

    E1 Series Servo Motor Model explanation of servo motor (AC) The model explanation of E1 series servo motor is provided in table 1.1.1. Refer to the catalogue of EM1 servo motor if detailed motor parameters are needed for evaluation of machine design.

  • Page 21: Table Of Contents

    2. E1 series servo drive E1 series servo drive ··············································································································· 2-1 2.1 Model explanation of servo drive ··························································································· 2-2 2.1.1 Nameplate ················································································································ 2-2 2.1.2 Model explanation ······································································································· 2-2 2.2 Servo drive and servo motor combination ··············································································· 2-3 2.2.1 Servo motor (AC) ········································································································ 2-3 2.2.2 Linear motor (LM) ·······································································································...

  • Page 22: E1 Series Servo Drive

    50/60Hz 0-333Hz Input/output frequency Figure2.1.1.1 2.1.2 Model explanation The model explanation of E1 series servo drive is provided in table 2.1.2.1 For detailed functions of the servo drive, please refer to this manual. Table2.1.2.1 Code Example 1, 2, 3: E1 Series Servo Drive...
  • Page 23 MD09UE01-1910 E1 Series Servo Drive User Manual E1 Series Servo Drive 2.2 Servo drive and servo motor combination 2.2.1 Servo motor (AC) The supported encoder types of the servo motor (AC) are described in this section. Full-closed loop function is supported.

  • Page 24: Linear Motor (Lm)

    MD09UE01-1910 E1 Series Servo Drive User Manual E1 Series Servo Drive 2.2.2 Linear motor (LM) The supported encoder types when the servo drive is used with linear motor (LM) are described in this section. Serial signal Linear motor with digital (TTL) encoder (Standard)

  • Page 25: Direct Drive Motor (Dm)

    Digital Hall signal Thermal sensor Note: (1) Excellent Smart Cube (ESC) is usually required when standard HIWIN direct drive motor is used. For related information, please refer to chapter 3. (2) For information of cables, please refer to section 16.1.4.

  • Page 26: Selecting Regenerative Resistor

    MD09UE01-1910 E1 Series Servo Drive User Manual E1 Series Servo Drive 2.3 Selecting regenerative resistor The energy used to drive motor returns to servo drive as the motor decelerates. If the returned energy exceeds the capacity of the servo drive capacitors, regenerative resistor should be installed to protect the servo drive by absorbing the extra energy.
  • Page 27 MD09UE01-1910 E1 Series Servo Drive User Manual E1 Series Servo Drive The built-in regenerative resistors of E1 series servo drives  Table2.3.1 Model 400 W 1 KW 2 KW Resistance [Ω] Built-in Regenerative Resistor Regenerative Capacity [W] Resistor Minimum Allowable Resistance of External Regenerative Resistor [Ω]...
  • Page 28 MD09UE01-1910 E1 Series Servo Drive User Manual E1 Series Servo Drive (This page is intentionally left blank.) HIWIN MIKROSYSTEM CORP.
  • Page 29 3.3 Terminals of Excellent Smart Cube (ESC) ··············································································· 3-4 3.3.1 Terminal symbols and terminal names ············································································· 3-4 3.3.2 Pin definition ·············································································································· 3-4 3.4 Status indicator ················································································································· 3-6 3.5 ESC specifications ············································································································· 3-7 3.5.1 ESC hardware············································································································ 3-7 3.5.2 ESC cables ··············································································································· 3-8 HIWIN MIKROSYSTEM CORP.

  • Page 30: Excellent Smart Cube (Esc)

    Excellent Smart Cube (ESC) converts signals, such as encoder signal, signal of thermal sensor, Hall signal, etc. from the motor side into serial communication format for E1 series servo drive. For model explanation of Excellent Smart Cube (ESC), please refer to table 3.1.1.

  • Page 31: Dimensions Of Excellent Smart Cube (Esc)

    MD09UE01-1910 E1 Series Servo Drive User Manual Excellent Smart Cube (ESC) 3.2 Dimensions of Excellent Smart Cube (ESC) The dimensions of Excellent Smart Cube (ESC) are shown in figure 3.2.1. Figure3.2.1 HIWIN MIKROSYSTEM CORP.

  • Page 32: Terminals Of Excellent Smart Cube (Esc)

    E1 Series Servo Drive User Manual Excellent Smart Cube (ESC) 3.3 Terminals of Excellent Smart Cube (ESC) 3.3.1 Terminal symbols and terminal names Terminal for connecting Excellent Smart Cube (ESC) and E1 series servo drive is listed in table 3.3.1.1. Table3.3.1.1 Terminal Symbol Terminal Name...
  • Page 33 MD09UE01-1910 E1 Series Servo Drive User Manual Excellent Smart Cube (ESC) Table3.3.2.1 Signal Description Analog signal input: SIN+ Analog signal input: COS+ Analog signal input: REF+ +5VE Encoder power output +5VE Encoder power output Hall U Input for digital Hall sensor: U...

  • Page 34: Status Indicator

    MD09UE01-1910 E1 Series Servo Drive User Manual Excellent Smart Cube (ESC) 3.4 Status indicator After Excellent Smart Cube (ESC) is connected to the servo drive, the status indicator on ESC will display its current status. Status Indicator Display Status Blinking green ESC is not set by the servo drive.

  • Page 35: Esc Specifications

    MD09UE01-1910 E1 Series Servo Drive User Manual Excellent Smart Cube (ESC) 3.5 ESC specifications 3.5.1 ESC hardware Table3.5.1.1 Item Description Supply Voltage (DC) +5VE Maximum Supply Current 1A (Max.) Digital Halls Incremental Encoder Type Sin. / Cos. / Ref. Hall U/V/W (1.2Vp-p Diff.)

  • Page 36: Esc Cables

    MD09UE01-1910 E1 Series Servo Drive User Manual Excellent Smart Cube (ESC) 3.5.2 ESC cables For the cables of ESC, please refer to section 16.1.4. If user would like to make encoder communication cable or encoder extension cable by himself, the wires of the cables must comply with the specifications stated in the table below.
  • Page 37 4. Specification Specification ·························································································································· 4-1 4.1 Dimensions of E1 series servo drive ······················································································ 4-2 4.1.1 E1 series servo drive (Standard) ···················································································· 4-2 4.1.2 E1 series servo drive (Fieldbus) ····················································································· 4-5 4.2 Installation ······················································································································· 4-8 4.3 Basic specification ············································································································· 4-9 4.4 Selecting no-fuse breaker (NFB) ························································································· 4-12...

  • Page 38: Dimensions Of E1 Series Servo Drive

    Specification 4.1 Dimensions of E1 series servo drive The dimensions and locations of installation holes of E1 series servo drives (Standard and Fieldbus) are provided in sections 4.1.1 and 4.1.2. The dimensions are shown in millimeters (mm). The diameter of installation hole is 5 mm.
  • Page 39 MD09UE01-1910 E1 Series Servo Drive User Manual Specification 1 KW servo drive (Standard)  Figure4.1.1.2 The dimensions of 1 KW servo drive (Standard) HIWIN MIKROSYSTEM CORP.
  • Page 40 MD09UE01-1910 E1 Series Servo Drive User Manual Specification 2 KW servo drive (Standard)  Figure4.1.1.3 The dimensions of 2 KW servo drive (Standard) HIWIN MIKROSYSTEM CORP.

  • Page 41: E1 Series Servo Drive (Fieldbus)

    MD09UE01-1910 E1 Series Servo Drive User Manual Specification 4.1.2 E1 series servo drive (Fieldbus) The model number of Fieldbus servo drive is ED1F. 400 W servo drive (Fieldbus)  Figure4.1.2.1 The dimensions of 400 W servo drive (Fieldbus) HIWIN MIKROSYSTEM CORP.
  • Page 42 MD09UE01-1910 E1 Series Servo Drive User Manual Specification 1 KW servo drive (Fieldbus)  Figure4.1.2.2 The dimensions of 1 KW servo drive (Fieldbus) HIWIN MIKROSYSTEM CORP.
  • Page 43 MD09UE01-1910 E1 Series Servo Drive User Manual Specification 2 KW servo drive (Fieldbus)  Figure4.1.2.3 The dimensions of 2 KW servo drive (Fieldbus) HIWIN MIKROSYSTEM CORP.

  • Page 44: Installation

    MD09UE01-1910 E1 Series Servo Drive User Manual Specification 4.2 Installation If the servo drive is installed in a control box, ensure it is mounted with conductive screws. The insulating materials, such as paint, on the contact surface of the control box must be removed for grounding the servo drive through the control box.

  • Page 45: Basic Specification

    MD09UE01-1910 E1 Series Servo Drive User Manual Specification 4.3 Basic specification Table4.3.1 Basic specification Rated Output 400 W 1 KW 2 KW Rated Voltage (Line to line) AC 200 Vrms~AC 240 Vrms, 50~60 Hz Phase Voltage of Main Power 1 Ø/AC 200 Vrms~AC 240 Vrms 3 Ø/AC 200...
  • Page 46 MD09UE01-1910 E1 Series Servo Drive User Manual Specification Rated Output 400 W 1 KW 2 KW Command Source Pulse command from controller Pulse/Direction  Signal Type CW/CCW   Isolated Circuit High-speed optical coupler Position Input Signal Differential input or single-ended input...
  • Page 47 (Mini USB type) Thunder. The functions of general-purpose inputs (Optical couplers) can be defined by users. E1 series servo drive provides ten general-purpose inputs (I1 Input to I10). Fieldbus model only provides eight general-purpose inputs (I1 to I8) 24 V/5 mA (Each input pin)

  • Page 48: Selecting No-Fuse Breaker (Nfb)

    MD09UE01-1910 E1 Series Servo Drive User Manual Specification 4.4 Selecting no-fuse breaker (NFB) While using no-fuse breaker for current shunt, its rated capacity should be 1.5 to 2.5 times of the rated current of the servo drive and the inrush current of the servo drive must be considered as well. Refer to the instructions below to select no-fuse breaker.
  • Page 49 MD09UE01-1910 E1 Series Servo Drive User Manual Specification Suggested specifications of breaker and fuse used with E1 series servo drive  If several servo drives use the same breaker, the current of the breaker must be: the required current of the breaker for each servo drive x the number of the servo drives. For instance, two ED1□-□□-04□□-□□...
  • Page 50 MD09UE01-1910 E1 Series Servo Drive User Manual Specification (This page is intentionally left blank.) 4-14 HIWIN MIKROSYSTEM CORP.

  • Page 51: Electrical Planning

    5.6.1 Pin definition of STO connector ···················································································· 5-34 5.6.2 Wiring for STO safety function ····················································································· 5-35 5.7 Other connectors ············································································································· 5-36 5.7.1 Connector for PC communication (CN3) ········································································ 5-36 5.7.2 Connector for Fieldbus communication (CN9) ································································· 5-36 HIWIN MIKROSYSTEM CORP.

  • Page 52: Wiring Precautions

    MD09UE01-1910 E1 Series Servo Drive User Manual Electrical Planning 5.1 Wiring precautions 5.1.1 General precautions DANGER Do not modify wiring when power on.  Do not modify wiring when power on, or it may cause electric shock or injury. WARNING Wiring or examination must be performed by professional technician.
  • Page 53 Use the cables specified by HIWIN while wiring.  If cables which are not specified by HIWIN are used, perform wiring by using the wiring materials specified by HIWIN or equivalent products after checking the rated current of the servo drive and environment.

  • Page 54: Countermeasures Against Interference

    MD09UE01-1910 E1 Series Servo Drive User Manual Electrical Planning 5.1.2 Countermeasures against interference The servo drive has sophisticated microprocessors. If wiring or grounding is not correctly performed, the servo drive could be interfered by peripheral equipment. To avoid false operation caused by interference, follow the instructions below to configure the servo drive.
  • Page 55 MD09UE01-1910 E1 Series Servo Drive User Manual Electrical Planning Wiring diagram for noise filter  Noise filter Controller Noise filter 2.0 mm minimum 2.0 mm minimum Copper grounding bar Dedicated ground Figure5.1.2.1 Note: The ground wire must be at least 2.0 mm .
  • Page 56 MD09UE01-1910 E1 Series Servo Drive User Manual Electrical Planning Precautions for wiring and connecting noise filter  The input cables and output cables of noise filter must be separated. Do not put them in the same cable tray or tie them together.
  • Page 57 MD09UE01-1910 E1 Series Servo Drive User Manual Electrical Planning The ground wire must be separated from the output cables.  Figure5.1.2.3 HIWIN MIKROSYSTEM CORP.
  • Page 58 MD09UE01-1910 E1 Series Servo Drive User Manual Electrical Planning Do not put the ground wire, output cables and other signal cables in the same cable tray or tie them  together. Figure5.1.2.4 HIWIN MIKROSYSTEM CORP.
  • Page 59 MD09UE01-1910 E1 Series Servo Drive User Manual Electrical Planning If noise filter is installed inside a control box, connect the ground wires of the noise filter and other  device to the grounding plate of the control box. Then ground the grounding plate.

  • Page 60: Grounding

    MD09UE01-1910 E1 Series Servo Drive User Manual Electrical Planning While connecting multiple servo drives, the control signal cables (CN6) must be away from the main  power cables to prevent signal from being interfered. Figure5.1.2.6 5.1.3 Grounding To prevent interference from causing false operation, perform grounding by following the instructions below.
  • Page 61 MD09UE01-1910 E1 Series Servo Drive User Manual Electrical Planning Figure5.1.3.1 (3) The ground wire must be as short as possible. Parallel and single-point grounding is suggested. (4) If servo motor is insulated from machine, ground the servo motor directly. (5) If there is high frequency generator (such as electric welding machine, electric discharge machine or frequency converter) in servo system, the high frequency generator must be grounded independently to avoid interference to other device.

  • Page 62: Wiring Diagram For Control Mode

    MD09UE01-1910 E1 Series Servo Drive User Manual Electrical Planning 5.2 Wiring diagram for control mode Position mode-Standard model, ED1S  HIWIN E1 Series Drive General output Defined by user Controller: Position Mode Signal output COIN & V-CMP PULH_CW 2.05K 2.05K...
  • Page 63 MD09UE01-1910 E1 Series Servo Drive User Manual Electrical Planning Velocity mode-Standard model, ED1S  HIWIN E1 Series Drive General output Defined by user Controller: Velocity Mode Signal output COIN & V-CMP Photo- Coupler TGON 5.1K 5.1K wiring V_REF+ ＋ Vcmd+ －...
  • Page 64 MD09UE01-1910 E1 Series Servo Drive User Manual Electrical Planning Torque mode-Standard model, ED1S  HIWIN E1 Series Drive General output Defined by user Controller: Torque Mode Signal output COIN & V-CMP Photo- Coupler TGON 5.1K 5.1K wiring T_REF+ ＋ Tcmd+ －...

  • Page 65: Wiring For Power Supply (Cn1)

    MD09UE01-1910 E1 Series Servo Drive User Manual Electrical Planning 5.3 Wiring for power supply (CN1) 5.3.1 Terminal symbols and terminal names Wirings for main circuit power supply and control circuit power supply are described as below. CAUTION Wiring must be correctly performed by referring to this section. Incorrect wiring may cause product malfunction ...

  • Page 66: Wiring For Main Circuit Connector

    MD09UE01-1910 E1 Series Servo Drive User Manual Electrical Planning While using single-phase AC 220 V as main circuit power supply, set Pt00B = t.1 (Three-phase/single-phase power input selection). For more information, please refer to section 6.3.1. 5.3.2 Wiring for main circuit connector CAUTION Wiring or examination must be performed by professional technician.
  • Page 67 MD09UE01-1910 E1 Series Servo Drive User Manual Electrical Planning (2) Ensure the components are compatible with the input power.  The main circuit power supply and control power supply must be turned on at the same time. Or the control power supply must be turned on before the main circuit power supply.

  • Page 68: Wiring Diagram For Power Supply

    MD09UE01-1910 E1 Series Servo Drive User Manual Electrical Planning 5.3.4 Wiring diagram for power supply Wiring diagram for three-phase AC 220 V power supply  NFB: No-fuse breaker 1FLT: Noise filter 1KM: Magnetic contactor (control power supply) 2KM: Magnetic contactor (main circuit power supply)
  • Page 69 MD09UE01-1910 E1 Series Servo Drive User Manual Electrical Planning Wiring diagram for single-phase AC 220 V power supply  NFB: No-fuse breaker 1FLT: Noise filter 1KM: Magnetic contactor (control power supply) 2KM: Magnetic contactor (main circuit power supply) 1Ry: Relay...
  • Page 70 MD09UE01-1910 E1 Series Servo Drive User Manual Electrical Planning Wiring diagram for connecting multiple servo drives (Three-phase AC 220 V power supply)  Multiple servo drives can share the same noise filter. But the noise filter must have sufficient capacity for the total power capacity of the servo drives.

  • Page 71: Wiring For Regenerative Resistor

    MD09UE01-1910 E1 Series Servo Drive User Manual Electrical Planning 5.3.5 Wiring for regenerative resistor This section will describe how to connect to regenerative resistor. WARNING The wiring of external regenerative resistor must be correctly performed. Do not connect B1/⊕ and B3. If B1/ ...
  • Page 72 MD09UE01-1910 E1 Series Servo Drive User Manual Electrical Planning Using built-in regenerative resistor  To use built-in regenerative resistor, please connect B1/⊕ and B2 terminals of the servo drive. HIWIN E1 Series Drive Figure5.3.5.2 Built-in regenerative resistor of the servo drive ...

  • Page 73: Wiring For Dc Reactor

    MD09UE01-1910 E1 Series Servo Drive User Manual Electrical Planning 5.3.6 Wiring for DC reactor connecting DC reactor, ⊝1 and ⊝2 terminals, are connected as the servo drive is shipped out. Remove DC reactor is mainly used to improve power factor and suppress high order harmonic. Terminals for the wire to connect to DC reactor.

  • Page 74: Motor Power Connector (Cn2)

    For information of motor power cable, please refer to table 16.1.1.1 in section 16.1.1. 5.4.3 Encoder connector (CN7) The encoder connector and its pin definition are shown as below. E1 series servo drive supports AC servo motor with single-turn or multi-turn absolute encoder, dual loop control (AC servo motor and digital optical scale) and linear motor with digital optical scale.

  • Page 75: Wiring For Brake

    MD09UE01-1910 E1 Series Servo Drive User Manual Electrical Planning While using multi-turn absolute encoder to record motor revolutions, please install battery. HIWIN E1 Series Drive Battery 3.6 VDC +5 Vdc 0 Vdc +5 Vdc 1 0 Vdc PS + PS(SD) +...

  • Page 76: Control Signals (Cn6)

    MD09UE01-1910 E1 Series Servo Drive User Manual Electrical Planning When brake is connected to relay  Figure5.4.4.1 5.5 Control signals (CN6) 5.5.1 Control signal connector The pin definition of control signal connector is provided in table 5.5.1.1. Perform wiring according to the control mode and I/O signals in use.
  • Page 77 MD09UE01-1910 E1 Series Servo Drive User Manual Electrical Planning Table5.5.1.1 Pin definition of CN6-Standard Control Category Signal Function Description Mode Common point for digital signal inputs The wiring for digital signals must be sink or source type. Digital General-purpose input signals...
  • Page 78 MD09UE01-1910 E1 Series Servo Drive User Manual Electrical Planning E1 series servo drive (CN6)-Fieldbus  Figure5.5.1.2 Pin definition of CN6-Fieldbus Table5.5.1.2 Pin definition of CN6-Fieldbus Control Category Signal Function Description Mode Common point for digital signal inputs The wiring for digital signals must be sink or source type.

  • Page 79: Wiring Example Of Control Mode

    MD09UE01-1910 E1 Series Servo Drive User Manual Electrical Planning Control Category Signal Function Description Mode Frame ground 5.5.2 Wiring example of control mode Position mode (Pulse command)  (1) Differential signal input Figure5.5.2.1 (2) Single-ended signal input (External resistor is used.) Figure5.5.2.2...
  • Page 80 MD09UE01-1910 E1 Series Servo Drive User Manual Electrical Planning (3) Single-ended signal input (External resistor is not used.) Figure5.5.2.3 Velocity mode (Analog command)  Motor velocity is controlled by analog voltage (+/-10 V). Figure5.5.2.4 5-30 HIWIN MIKROSYSTEM CORP.

  • Page 81: Wirings For Digital Inputs And Digital Outputs

    MD09UE01-1910 E1 Series Servo Drive User Manual Electrical Planning Torque mode (Analog command)  Motor torque or force is controlled by analog voltage (+/-10 V). Figure5.5.2.5 5.5.3 Wirings for digital inputs and digital outputs Wiring for digital inputs  Digital input signal is input via optical coupler. The external power could be 12~24 VDC. The wiring could be sink or source type.
  • Page 82 MD09UE01-1910 E1 Series Servo Drive User Manual Electrical Planning (2) Wiring for digital inputs (Source) (Switch or transistor) Source Figure5.5.3.2 Wiring for digital outputs  Digital output signal is output via optical coupler. The external power must not exceed 24 VDC. The digital outputs are independent open-collector outputs.
  • Page 83 MD09UE01-1910 E1 Series Servo Drive User Manual Electrical Planning (2) Wiring for brake and relay BK Figure5.5.3.4 Wiring for analog outputs  Analog outputs are used to monitor motor torque (AO1) and motor velocity (AO2). The voltage range is +-10 V.

  • Page 84: Sto Connector (Cn4)

    MD09UE01-1910 E1 Series Servo Drive User Manual Electrical Planning 5.6 STO connector (CN4) 5.6.1 Pin definition of STO connector For more information of STO safety function, please refer to chapter 12. Before using STO safety function, pay attention to the pin definition. If STO safety function is not used, plug the safety jumper connector provided with the servo drive into CN4.

  • Page 85: Wiring For Sto Safety Function

    E1 Series Servo Drive User Manual Electrical Planning 5.6.2 Wiring for STO safety function Ensure you have safety device connector (HIWIN part number: 051500400404) before wiring. For the specification of the connector, please refer to section 16.2.3. Wiring for STO safety function ...

  • Page 86: Other Connectors

    If the servo drive is the last station, do not connect to this port. Connect to controller (master), OUT port on other servo drive or other slave. Figure 5.7.2.1 Figure 5.7.2.2 shows the example of connecting HIWIN Fieldbus motion controller (HIMC) and ED1F servo drives. 5-36 HIWIN MIKROSYSTEM CORP.
  • Page 87 MD09UE01-1910 E1 Series Servo Drive User Manual Electrical Planning Figure 5.7.2.2 HIWIN MIKROSYSTEM CORP. 5-37...
  • Page 88 MD09UE01-1910 E1 Series Servo Drive User Manual Electrical Planning (This page is intentionally left blank.) 5-38 HIWIN MIKROSYSTEM CORP.
  • Page 89 6.12 Setting encoder ············································································································· 6-28 6.12.1 Precautions for initialization ······················································································· 6-28 6.12.2 Tool ····················································································································· 6-29 6.12.3 Parameter settings for encoder ·················································································· 6-29 6.12.4 Encoder delay time ·································································································· 6-30 6.13 Setting regenerative resistor ····························································································· 6-30 6.14 Over temperature protection ····························································································· 6-31 HIWIN MIKROSYSTEM CORP.

  • Page 90: Basic Function Settings Before Operation

    E1 Series Servo Drive User Manual Basic Function Settings Before Operation 6.1 Parameters This section provides descriptions of parameter definition, parameter list and parameter setting. 6.1.1 Parameter definition The parameters of E1 series servo drive are divided into two categories. Table6.1.1.1 Category Description Setup parameter...

  • Page 91: Parameter List

    MD09UE01-1910 E1 Series Servo Drive User Manual Basic Function Settings Before Operation Setting tuning parameters  Users do not need to set tuning parameters respectively. To improve response performance, users can use the tuning functions provided in Thunder to adjust tuning parameters. For more information, please refer to chapter 10.
  • Page 92 Default t.1 Effective After power on Unit Description Set control mode. In E1 series servo drive, there are position mode, velocity mode, torque mode, internal position mode, internal velocity mode and dual mode. Pt000 = t.X Value Control Mode Value...

  • Page 93: Parameter Setting

    MD09UE01-1910 E1 Series Servo Drive User Manual Basic Function Settings Before Operation 6.1.3 Parameter setting Parameters can be set via the parameter list in Thunder or the servo drive panel. Set parameters via the parameter list in Thunder  Figure6.1.3.1 The Parameter list in Thunder Set parameters via servo drive panel ...
  • Page 94 MD09UE01-1910 E1 Series Servo Drive User Manual Basic Function Settings Before Operation How to execute parameter initialization function  Step 1: Click on Tools on the menu bar of Thunder. Select Set drive to factory default. Set drive to factory default window appears.

  • Page 95: Control Modes

    E1 Series Servo Drive User Manual Basic Function Settings Before Operation 6.2 Control modes E1 series servo drive supports velocity mode, position mode, torque mode, internal velocity mode and internal position mode. Set control mode by Pt000 = t.X. Table6.2.1 Selections of Control Modes Pt000 = t.X...

  • Page 96: Setting Main Circuit Power Supply

    6.4 Automatic motor identification E1 series servo drive supports rotary motor (AC servo motor or direct drive motor) and linear motor. The encoder of the motor must be connected to CN7 connector on the servo drive. If HIWIN serial encoder is connected, the servo drive will automatically identify the type and related parameters of the connected motor.

  • Page 97: Function And Setting Of Servo On Input (S-On) Signal

    MD09UE01-1910 E1 Series Servo Drive User Manual Basic Function Settings Before Operation 6.5 Function and setting of servo on input (S-ON) signal After servo on input (S-ON) signal is input, the motor will be enabled and can be operated. The function and setting of S-ON signal will be described as below.

  • Page 98: Setting The Moving Direction Of Motor

    MD09UE01-1910 E1 Series Servo Drive User Manual Basic Function Settings Before Operation 6.6 Setting the moving direction of motor When the actual moving direction of the motor is different from the command from the controller, users can change the moving direction by Pt000 = t.X without changing the polarity of velocity command or position command.

  • Page 99: Overtravel Function

    MD09UE01-1910 E1 Series Servo Drive User Manual Basic Function Settings Before Operation 6.7 Overtravel function For operational safety, machine will restrict the travel distance of its moving parts by means of hardware devices such as end stops and limit switches as well as software signals such as software limits. E1 series servo drive provides overtravel signals (P-OT and N-OT signals) which can be used with limit switches for protecting the machine.

  • Page 100: Overtravel Signals

    MD09UE01-1910 E1 Series Servo Drive User Manual Basic Function Settings Before Operation 6.7.1 Overtravel signals Overtravel signals include forward prohibition input (P-OT) signal and reverse prohibition input (N-OT) signal. Table6.7.1.1 Type Signal Hardware Pin Status Description Forward prohibition (Overtravel protection in forward...
  • Page 101 MD09UE01-1910 E1 Series Servo Drive User Manual Basic Function Settings Before Operation Table6.7.3.1 Parameter Motor Stopping Method Motor State After Stop Effective Category t.00 Dynamic brake t.01 Dynamic brake Free run t.02 Free run The motor decelerates t.1 Zero clamp...

  • Page 102: Overtravel Warning

    MD09UE01-1910 E1 Series Servo Drive User Manual Basic Function Settings Before Operation The deceleration time set in Pt30A is the time to decelerate the motor from maximum velocity to a stop. Actual velocity Actual deceleration time = × Deceleration time (Pt30A) Maximum velocity Figure6.7.3.1...

  • Page 103: Brake

    Figure6.7.4.1 6.8 Brake E1 series servo drive provides brake control output (BK) signal to be used with external brake to protect motor and mechanism. Brake is usually used to prevent motor from moving due to external force or gravity when servo off.

  • Page 104: Brake Operating Sequence

    MD09UE01-1910 E1 Series Servo Drive User Manual Basic Function Settings Before Operation 6.8.1 Brake operating sequence When servo on input (S-ON) signal is OFF or an alarm occurs in the servo drive, brake will be enabled after the time set in Pt508 or the motor decelerates to the velocity set in Pt507. After the time set in Pt506, the motor will be truly disabled.

  • Page 105: Output Timing Of Bk Signal When Motor Stops

    MD09UE01-1910 E1 Series Servo Drive User Manual Basic Function Settings Before Operation 6.8.3 Output timing of BK signal when motor stops If S-ON signal is OFF when servo motor stops, BK signal will also be OFF. Pt506 (Brake command-servo off delay time) can set the time when BK signal is OFF to the time when the power supplied to the motor is cut off (S-RDY signal is OFF.).

  • Page 106: Output Timing Of Bk Signal When Motor Is Operating

    MD09UE01-1910 E1 Series Servo Drive User Manual Basic Function Settings Before Operation 6.8.4 Output timing of BK signal when motor is operating If an alarm occurs when servo motor is operating, the servo motor will stop and BK signal will be OFF.
  • Page 107 MD09UE01-1910 E1 Series Servo Drive User Manual Basic Function Settings Before Operation Table6.8.4.4 Control Position mode, velocity mode Parameter Pt508 Range 10~100 Mode and torque mode Default Effective Immediately Unit 10 ms Description When servo off and the time set in Pt508 elapses, brake is enabled.

  • Page 108: Motor Stopping Methods For Servo Off And Alarm

    MD09UE01-1910 E1 Series Servo Drive User Manual Basic Function Settings Before Operation 6.9 Motor stopping methods for servo off and alarm Motor stopping methods for servo off and alarm are listed in table 6.9.1. Table6.9.1 Motor Stopping Method Description After servo off, the circuit of motor is short-circuited to create Dynamic brake reluctance to stop the motor.

  • Page 109: Motor Stopping Methods For Alarm

    6.9.2 Motor stopping methods for alarm The alarms of E1 series servo drive can be divided into two types, Gr.A and Gr.B. The parameters used to set motor stopping methods for Gr.A alarm and Gr.B alarm are different. To identify an alarm belongs to Gr.A or Gr.B type, please refer to chapter 13.

  • Page 110: Detection For Motor Overload

    MD09UE01-1910 E1 Series Servo Drive User Manual Basic Function Settings Before Operation Table6.9.2.1 Parameter Motor State Motor Stopping Method Effective Category After Stop Pt00B Pt00A Pt001 t.0 Dynamic (Default) brake t.0 Zero clamp t.1 (Default) Free run t.2 t.0 Dynamic...

  • Page 111: Detection Timing For Overload Warning (Al.910)

    MD09UE01-1910 E1 Series Servo Drive User Manual Basic Function Settings Before Operation 6.10.1 Detection timing for overload warning (AL.910) The default detection timing for overload warning is 20% of the detection timing for overload alarm. The detection timing for overload warning can be changed by Pt52B (Overload warning value). Use overload warning as overload protection to have a safer system.
  • Page 112 Note: (1) Set Pt52E according to the specification of your motor. Otherwise, the motor could be damaged. (2) If you are using standard HIWIN AC servo motor, Pt52E will be automatically set after the motor is connected. 6-24 HIWIN MIKROSYSTEM CORP.

  • Page 113: Electronic Gear Ratio

    MD09UE01-1910 E1 Series Servo Drive User Manual Basic Function Settings Before Operation 6.11 Electronic gear ratio 6.11.1 Introduction to electronic gear ratio Controller controls the position of motor by inputting pulses. If the resolution of motor encoder is high and the motor operates at high velocity, the output bandwidth of the controller or the input bandwidth of the servo drive could be insufficient.

  • Page 114: Setting Electronic Gear Ratio

    MD09UE01-1910 E1 Series Servo Drive User Manual Basic Function Settings Before Operation 6.11.2 Setting electronic gear ratio Set electronic gear ratio by Pt20E and Pt210. Note: If electronic gear ratio is set by controller, the electronic gear ratio of servo drive is usually set to 1:1.
  • Page 115 MD09UE01-1910 E1 Series Servo Drive User Manual Basic Function Settings Before Operation Example: The resolution of rotary encoder is 8388608 count/rev. The screw pitch is 10 mm/rev. The reduction ratio is 1/10. The control unit for each pulse is 1 mm. The calculation is as below.

  • Page 116: Setting Encoder

    MD09UE01-1910 E1 Series Servo Drive User Manual Basic Function Settings Before Operation 6.12 Setting encoder When a system installed with absolute encoder is used for the first time, the absolute encoder must be initialized. Therefore, AL.800 (Encoder data backup error) may occur when the power of the servo drive is turned on for initialization.

  • Page 117: Tool

    MD09UE01-1910 E1 Series Servo Drive User Manual Basic Function Settings Before Operation 6.12.2 Tool Users are allowed to use the following tool to initialize encoder. Thunder  Step 1: Click on Tools on the menu bar of Thunder and select Absolute encoder initialization.

  • Page 118: Encoder Delay Time

    Note: When E1 series AC servo motor is used, Pt52D must be higher than the default value. Otherwise, the motor may not be successfully enabled. For full-closed loop control, check the power-on time of the external encoder. If the power-on time is larger than the default value of Pt52D, Pt52D must be increased.

  • Page 119: Over Temperature Protection

    MD09UE01-1910 E1 Series Servo Drive User Manual Basic Function Settings Before Operation Table6.13.1 Control Position mode, velocity mode Parameter Pt600 Range 0~65535 Mode and torque mode Default Effective Immediately Unit 10 W Description Set the capacity of regenerative resistor. Table6.13.2...
  • Page 120 Figure6.14.2 Note: When HIWIN LM is used, the thermal wires are included in the power cable. Connect the thermal wires to the TS connector on ESC. When HIWIN DM is used, the thermal wires are included in the encoder cable. Connect the encoder cable to the Encoder connector on ESC.

  • Page 121: Software Settings And Trial Operation

    7.4.2 Inspection procedure for customized servo motor (AC)/linear motor (LM)/direct drive motor (DM) ··· 7-5 7.5 Detection for electrical angle ·································································································· 7-6 7.5.1 SW method 1 ··············································································································· 7-7 7.5.2 Digital Hall ··················································································································· 7-8 7.6 Trial operation with Thunder ·································································································· 7-9 7.6.1 JOG ··························································································································· 7-9 7.6.2 Point-to-point (P2P) motion ··························································································· 7-10 HIWIN MIKROSYSTEM CORP.

  • Page 122: Trial Operation Procedure

    Software Settings And Trial Operation 7.1 Trial operation procedure The human machine interface of E1 series servo drive is Thunder. After the servo drive and PC are connected by mini USB cable, users are allowed to do initialization, setting, operation, trial operation and parameter writing via Thunder.

  • Page 123: Software Installation And Connection

    MD09UE01-1910 E1 Series Servo Drive User Manual Software Settings And Trial Operation 7.2 Software installation and connection Step 1: Download the setup file of Thunder from official website HIWIN Mikrosystem. Correctly install Thunder into PC. Step 2: Connect the servo drive and PC by mini USB cable.

  • Page 124: Configuration Wizard

    MD09UE01-1910 E1 Series Servo Drive User Manual Software Settings And Trial Operation 7.3 Configuration Wizard Step 5: Continue with step 4. Click on the icon of Setup Window in the upper left corner. Step 6: Check the parameter settings in each page of Configuration Wizard by following the sequence below.

  • Page 125: Inspection Before Trial Operation

    Perform inspection by referring to the inspection procedure of the motor in use. 7.4.1 Inspection procedure for servo motor (AC) While using HIWIN EM1 series servo motor, perform inspection by referring to the procedure provided in table 7.4.1.1. Table7.4.1.1 Inspection procedure for servo motor (AC)

  • Page 126: Detection For Electrical Angle

    7.5 Detection for electrical angle While using customized servo motor (AC), linear motor (LM) or direct drive motor (DM), detection for electrical angle must be completed before closed loop control. E1 series servo drive provides two detection methods: SW method 1 and Digital Hall.

  • Page 127: Sw Method 1

    MD09UE01-1910 E1 Series Servo Drive User Manual Software Settings And Trial Operation 7.5.1 SW method 1 While detecting electrical angle by SW method 1, refer to table 7.5.1.1 for applicable combinations of motors and encoder signals. Table7.5.1.1 Applicable combinations for SW method 1...

  • Page 128: Digital Hall

    MD09UE01-1910 E1 Series Servo Drive User Manual Software Settings And Trial Operation 7.5.2 Digital Hall While detecting electrical angle by Digital Hall, refer to table 7.5.2.1 for applicable combinations of motors and encoder signals. Table7.5.2.1 Applicable combinations for Hall Motor...

  • Page 129: Trial Operation With Thunder

    MD09UE01-1910 E1 Series Servo Drive User Manual Software Settings And Trial Operation 7.6 Trial operation with Thunder The trial operation described in sections 7.6.1 and 7.6.2 is relatively simple. The purpose of trial operation is to check the combination of the servo drive and motor as well as the wiring of the servo drive.

  • Page 130: Point-To-Point (P2P) Motion

    MD09UE01-1910 E1 Series Servo Drive User Manual Software Settings And Trial Operation 7.6.2 Point-to-point (P2P) motion After motion parameters are confirmed, click on Enable button to start point-to-point motion. The performance of motor can be observed from its move time and settling time.
  • Page 131 8.11 Internal homing ············································································································· 8-63 8.11.1 Setting internal homing ····························································································· 8-63 8.11.2 Internal homing methods ·························································································· 8-65 8.11.3 Using internal homing procedure with controller ····························································· 8-70 8.12 Error map ····················································································································· 8-71 8.13 Setting position trigger function ························································································· 8-73 HIWIN MIKROSYSTEM CORP.
  • Page 132 MD09UE01-1910 E1 Series Servo Drive User Manual Application Function 8.14 Restarting the servo drive via software ··············································································· 8-77 8.15 Function and setting of forced stop input (FSTP) signal ·························································· 8-78 8.15.1 Function of forced stop input (FSTP) signal ··································································· 8-78 8.15.2 Enabling/disabling forced stop function ········································································...

  • Page 133: I/O Signal Settings

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function 8.1 I/O signal settings 8.1.1 Digital input signal allocation This section describes how to allocate digital input signals to the desired pins. Each pin is allocated with one default digital input signal when the servo drive is shipped out. The allocated digital input signal of each pin varies with the selected control mode.
  • Page 134 MD09UE01-1910 E1 Series Servo Drive User Manual Application Function Allocating digital input signals  Set Pt513 to t.1 to use the allocation set by yourselves. Digital input signals which can be allocated and parameters used to allocate them are listed in table 8.1.1.2.
  • Page 135 MD09UE01-1910 E1 Series Servo Drive User Manual Application Function Parameter setting values and hardware pin assignment  Table8.1.1.3 Parameter Setting Signal CN6 Pin Description Value Hardware pin can be set to activate or deactivate the allocated digital input function when signal is input or is not input.
  • Page 136 MD09UE01-1910 E1 Series Servo Drive User Manual Application Function Example of allocating digital input signal  The example is not using the default signal allocation. S-ON signal is set to be always ON and ALM-RST signal is allocated to CN6-29.

  • Page 137: Digital Output Signal Allocation

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function 8.1.2 Digital output signal allocation This section describes how to allocate digital output signals to the desired pins. Each pin is allocated with one default digital output signal when the servo drive is shipped out. Users can choose to use the default setting or allocate digital output signals by themselves.
  • Page 138 MD09UE01-1910 E1 Series Servo Drive User Manual Application Function Table8.1.2.2 Digital Output Signal Description Parameter Alarm output signal Pt514 = t.X COIN Positioning completion output signal Pt514 = t.X V-CMP Velocity reach output signal Pt514 = t.X TGON Rotation detection/movement detection output signal Pt514 = t.X...
  • Page 139 MD09UE01-1910 E1 Series Servo Drive User Manual Application Function Set pin polarity  Table8.1.2.4 Parameter Description Pt519 t.XXXX is used to set the pin polarity of O1~O4 signals. Setting value 0 means that the signal will be output when the output condition is satisfied and will not be output when the output condition is not satisfied.

  • Page 140: Alarm Output (Alm) Signal

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function 8.1.3 Alarm output (ALM) signal Alarm output (ALM) signal is output when an alarm occurs. Resetting alarm   For safety, the main circuit power of the servo drive must be turned off as ALM signal is output while doing electrical planning.

  • Page 141: Drive Ready Output (D-Rdy) Signal

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function 8.1.5 Drive ready output (D-RDY) signal After the following conditions are satisfied, the servo drive is ready to receive S-ON signal and to enable motor. (1) No alarm occurs. (2) Encoder communication is ready.

  • Page 142: Rotation Detection Output (Tgon) Signal

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function 8.1.7 Rotation detection output (TGON) signal When servo motor is moving, TGON signal is output. TGON signal can be used to identify if servo motor is moving. Pt502 is for setting rotation detection value (rotary motor) and Pt581 is for setting movement detection value (linear motor).

  • Page 143: Setting Maximum Motor Velocity

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function 8.2 Setting maximum motor velocity Set maximum motor velocity by Pt316 (rotary) or P385 (linear). Alarm AL.510 (Overspeed) occurs as motor velocity exceeds the value of Pt316 (rotary) or P385 (linear). The performance of motor will be affected if the value of Pt316 (rotary) or P385 (linear) is too small.

  • Page 144: Setting Velocity Mode

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function 8.3.1 Setting velocity mode In velocity mode, motor velocity is controlled by analog voltage. This section describes velocity command input signal (V-REF), velocity command input gain and velocity command offset adjustment. The range of input voltage must be DC +10 V ~ -10 V.

  • Page 145: Velocity Command Offset Adjustment

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function Figure 8.3.1.2 Input range of velocity command voltage 8.3.2 Velocity command offset adjustment In velocity mode, motor may slightly move even when velocity command is 0 V. That is because there is an offset while the servo drive is detecting voltage.
  • Page 146 MD09UE01-1910 E1 Series Servo Drive User Manual Application Function Automatic offset adjustment  Automatic offset adjustment is that after the servo drive measures the offset, it automatically adjusts the analog voltage of velocity command. The offset needs to be saved to the servo drive. (Save RAM to Flash) If not, automatic offset adjustment must be done after the servo drive is turned on again.

  • Page 147: Soft Start

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function Motor velocity (rpm or mm/s) Velocity command voltage (mV) When the volatge of velocity command is 0 V, the jitter is -7 mV~10 mV. Pt30D can be set to 10. Note:...

  • Page 148: Velocity Command Filter

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function Pt305: The required time for the motor to accelerate from stop to its maximum velocity. Pt306: The required time for the motor to decelerate from its maximum velocity to stop. The calculations of the actual acceleration time and deceleration time are:...

  • Page 149: Zero Clamp Input (Zclamp) Signal

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function 8.3.5 Zero clamp input (ZCLAMP) signal After zero clamp input (ZCLAMP) signal is input, zero clamp function is enabled when velocity command is lower than the zero clamp level. Velocity command is ignored when zero clamp function is enabled.
  • Page 150 MD09UE01-1910 E1 Series Servo Drive User Manual Application Function Table8.3.5.2 Parameter t.X Control Mode Input Signal Effective Category t.0 Velocity mode ZCLAMP ZCLAMP, SPD-A, t.3 Internal velocity mode SPD-B, SPD-D, CSEL Internal velocity mode ZCLAMP, SPD-A, t.4 ↔Position mode SPD-B, SPD-D, CSEL...

  • Page 151: Velocity Reach Output (V-Cmp) Signal

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function 8.3.6 Velocity reach output (V-CMP) signal When motor velocity is in accordance with the input velocity command from the controller, velocity reach output (V-CMP) signal is output. Table8.3.6.1 Type Signal Hardware Pin...

  • Page 152: Position Mode

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function If Pt503 = 100 and the velocity command is 2000 rpm, V-CMP signal is output when the motor velocity is 1900～2100 rpm. Figure8.3.6.1 8.4 Position mode In position mode, motor position is controlled by pulse command. Motor position and velocity are determined by the number of pulses and the inputting frequency of pulses.

  • Page 153: Setting Position Mode

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function The control block diagram for position mode is as below. Figure8.4.1 8.4.1 Setting position mode Pulse command type and pulse command input filter are described in the following. Pulse command type ...

  • Page 154: Command Pulse Multiplication Switching Function

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function Pulse command input filter  Table8.4.1.2 Parameter Description Effective Category t.0 The command input is differential signal (1~5 Mpps). (Default) Pt200 After power on Setup t.1 The command input is single-ended signal (1~200 kpps).
  • Page 155 MD09UE01-1910 E1 Series Servo Drive User Manual Application Function Table8.4.2.1 Type Signal Hardware Pin Status Description Enable the command pulse input multiplier. Input PSEL User-defined Disable the command pulse input multiplier. The multiplier is 1. Command pulse multiplication switching output (PSELA) signal ...

  • Page 156: Smooth Function

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function CAUTION After Pt218 is modified, perform trial operation for the motor solely to ensure the operation is normal first. Then  connect the motor to the mechanism. Timing diagram of command pulse multiplication switching ...
  • Page 157 MD09UE01-1910 E1 Series Servo Drive User Manual Application Function Table8.4.3.2 Control Parameter Pt217 Range 0~1000 Position mode Mode Default Effective After the motor stops Unit 0.25 ms Description Set average position command movement time. Position command acceleration/deceleration filter  Pulse frequency...

  • Page 158: Positioning Completion Output (Coin) Signal

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function 8.4.4 Positioning completion output (COIN) signal After motor reaches the target position, positioning completion output (COIN) signal is output when the position deviation is smaller than the positioning completion width (Pt522) and debounce time (Pt523) elapses.
  • Page 159 MD09UE01-1910 E1 Series Servo Drive User Manual Application Function Setting positioning completion width  COIN signal is output when position deviation is smaller than the positioning completion width. Table8.4.4.2 Control Parameter Pt522 Range 0~1073741824 Position mode Mode Default Effective Immediately...

  • Page 160: Positioning Near Output (Near) Signal

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function Table8.4.4.3 Parameter Description Effective Category Output COIN signal when the absolute value of position t.0 deviation is less than the setting value of positioning (Default) completion width (Pt522). Output COIN signal when the absolute value of position...

  • Page 161: Command Pulse Inhibition Input (Inhibit) Signal

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function Setting NEAR signal width  When position deviation is smaller than NEAR signal width (Pt524), NEAR signal is output. Table8.4.5.2 Control Parameter Pt524 Range 1~1073741824 Position mode Mode Default 1073741824 Effective...

  • Page 162: Position Deviation Clear Input (Clr) Signal

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function Figure8.4.6.1 Setting command pulse inhibition input function  Table8.4.6.2 Parameter Control Mode Input Signal Effective Category t.1 Position mode INHIBIT Internal velocity mode INHIBIT, C-SEL, SPD-A, t.4 ↔Position mode SPD-B, SPD-D Position mode t.7...

  • Page 163: Torque Mode

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function Table8.4.7.1 Type Signal Hardware Pin Status Description Position deviation clear input (CLR) signal is input and the deviation counter is 0. Input User-defined Start to count position deviation. Setting position deviation clear input (CLR) signal ...

  • Page 164: Setting Torque Mode

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function 8.5.1 Setting torque mode The range of input voltage must be DC +10 V ~ -10 V. Table8.5.1.1 Signal CN6 Pin Description T_REF+ Torque command input T_REF- Signal ground of torque command input Figure8.5.1.1...

  • Page 165: Torque Command Offset Adjustment

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function Figure8.5.1.2 Input range of torque command voltage Note: Torque command which exceeds the rated torque can be input. But alarm overload (instantaneous maximum load) (AL.710) or overload (continuous maximum load) (AL.720) may occur if torque which exceeds the rating has been output for a period of time.
  • Page 166 MD09UE01-1910 E1 Series Servo Drive User Manual Application Function Table 8.5.2.1 Control Position mode, velocity mode Parameter Pt429 Range 0~3000 Mode and torque mode Default Effective Immediately Unit 1 mV Description Set the dead band for torque command input. Output torque (%)

  • Page 167: Velocity Limit Function In Torque Mode

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function 8.5.4 Velocity limit function in torque mode The velocity limit function is to limit the velocity of motor to avoid damage to mechanism due to overspeed. Select external velocity limit or internal velocity limit by parameter. If the velocity of motor is limited, velocity limit detection output (VLT) signal is output.

  • Page 168: Encoder Pulse Output

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function Internal velocity limit  Set Pt002 to t.0 to use internal velocity limit. Set velocity limit value by Pt407 (Velocity limit during toque control) or Pt480 (Velocity limit during force control).

  • Page 169: Encoder Pulse Output Signal

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function 8.6.1 Encoder pulse output signal The encoder pulse output signal is 5 V differential signal. If you would like to use cable made by yourselves, please use twisted-pair cable to avoid electronic interference.

  • Page 170: Setting Encoder Pulse Output

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function 8.6.2 Setting encoder pulse output Before setting encoder pulse output, please check the output bandwidth of the servo drive and the input bandwidth of controller to ensure pulse signal can be normally output and input.
  • Page 171 MD09UE01-1910 E1 Series Servo Drive User Manual Application Function Z-phase signal width  Z-phase signal width varies with the setting of Pt212. Figure8.6.2.1 When the motor reaches the home position for the first time, the width of output Z-phase signal is only half of its original width.

  • Page 172: Internal Position Mode

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function Multi index (reference point) output for linear platform  Set Pt70A= t.X to output one Z-phase signal every time when linear platform reaches reference point. Table8.6.2.4 Parameter Description Effective Category t.0 Disable multi index output.

  • Page 173: Setting Internal Position Mode

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function 8.7.1 Setting internal position mode Rotary motor  (1) Setting for trial operation (JOG) Table8.7.1.1 Parameter Description Default Range Unit Effective Category Pt304 Jog velocity 600/60* 0~10000 1 rpm Immediately Setup...

  • Page 174: Smooth Function

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function (2) Setting for trial operation (P2P) Table8.7.1.4 Parameter Description Default Range Unit Effective Category Program jog velocity Pt585 1~10000 1 mm/s Immediately Setup (linear servo motor) Program jog Pt534 2~10000 1 ms...

  • Page 175: Setting Internal Velocity Mode

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function 8.8.1 Setting internal velocity mode The digital input signals and pins used for internal velocity mode are listed as below. Default setting  Table8.8.1.1 Default Signal CN6 Pin Description Signal SPD-D Change rotation direction.

  • Page 176: Setting Internal Velocity

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function 8.8.2 Setting internal velocity Table8.8.2.1 Parameter Description Default Range Unit Effective Category Internal set velocity 1 Pt301 Switch to internal set velocity 1 by SPD-A 0~10000 Immediately Setup and SPD-B signals.
  • Page 177 MD09UE01-1910 E1 Series Servo Drive User Manual Application Function The example of using internal set velocity control is as figure 8.8.3.1. While switching to different set velocity, soft start acceleration time (Pt305) or soft start deceleration time (Pt306) will be used to reduce the impact caused by velocity change.

  • Page 178: Dual Mode

    Application Function 8.9 Dual mode E1 series servo drive supports five control modes: position mode, velocity mode, torque mode, internal position mode and internal velocity mode. In addition to the above five control modes, users can use dual mode. Dual mode is the combination of two control modes. In dual mode, users can use control method switching input (C-SEL) signal to switch between two control modes.

  • Page 179: Pt000=T.□□X□ (Control Method Selection) Is Set To 4, 5, 6 Or E

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function Table8.9.3 Parameter Control Mode 1 Control Mode 2 t.4 Internal velocity mode Position mode t.5 Internal velocity mode Velocity mode t.6 Internal velocity mode Torque mode t.7 Position mode Velocity mode t.8...
  • Page 180 MD09UE01-1910 E1 Series Servo Drive User Manual Application Function Linear servo motor  Table8.9.1.2 Input Signal Pt000=t.X Motor Moving Direction SPD-D SPD-A SPD-B t.4 t.5 t.6 t.E Position Velocity Torque Internal mode mode mode position mode Operate at the internal set velocity 1 (linear servo motor) set by Pt380.

  • Page 181: Torque Limit Function

    Positioning completion output (COIN) signal is output after the control mode is switched to position mode. Use COIN signal to check if the control mode is switched to position mode. 8.10 Torque limit function E1 series servo drive provides four methods to limit output torque. Table8.10.1 Torque Limiting Method...

  • Page 182: Internal Torque Limit

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function 8.10.1 Internal torque limit The internal torque limit of rotary servo motor is set by Pt402 (Forward torque limit) and Pt403 (Reverse torque limit) to limit the maximum output torque. The internal force limit of linear servo motor is set by Pt483 (Forward force limit value for internal force limit (linear servo motor)) and Pt484 (Reverse force limit value for internal force limit (linear servo motor)) to limit the maximum output force.

  • Page 183: External Torque Limit

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function Table8.10.1.4 Control Position mode, velocity mode Parameter Pt484 Range 0~800 Mode and torque mode Default Effective Immediately Unit Description Internal force limit (linear servo motor)-force limit value for reverse direction Note: If Pt483 or Pt484 is too small, the force could be insufficient for acceleration or deceleration.
  • Page 184 MD09UE01-1910 E1 Series Servo Drive User Manual Application Function Output torque variation of external torque limit  The default setting of internal torque limit is 800% of rated torque. (1) Rotary servo motor In the example given in table 8.10.2.2, Pt000 is set to t.0 (CCW is the forward direction.).
  • Page 185 MD09UE01-1910 E1 Series Servo Drive User Manual Application Function Related parameters  (1) Rotary servo motor If Pt402, Pt403, Pt404 or Pt405 is too small, the torque could be insufficient for acceleration or deceleration. Table8.10.2.4 Control Position mode, velocity mode...
  • Page 186 MD09UE01-1910 E1 Series Servo Drive User Manual Application Function (2) Linear servo motor If Pt483, Pt484, Pt404 or Pt405 is too small, the force could be insufficient for acceleration and deceleration. Table 8.10.2.8 Control Position mode, velocity mode Parameter Pt483...

  • Page 187: Limiting Torque With Analog Command

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function 8.10.3 Limiting torque with analog command While limiting torque with analog command, the servo drive compares T-REF signals with the setting values of internal torque limits (Pt402 and Pt403). The smaller value will be used as torque limit value.
  • Page 188 MD09UE01-1910 E1 Series Servo Drive User Manual Application Function Torque command input (T-REF) signal The input signal used to limit toque with analog command is described as below. Limiting toque with analog command  Set Pt002 to t.1. T-REF+ and T-REF- signals are used as input signals for torque limit.

  • Page 189: Limiting Torque With External Torque Limit And Analog Command

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function Note: *The percentage of rated torque 8.10.4 Limiting torque with external torque limit and analog command The external input signals (P-CL and N-CL signals) and analog command (T-REF+ and T-REF- signals) can be used for limiting torque at the same time.
  • Page 190 MD09UE01-1910 E1 Series Servo Drive User Manual Application Function External torque limit  External torque limit is enabled by forward external torque limit input (P-CL) signal and reverse external torque limit input (N-CL) signal. P-CL and N-CL signals can be reallocated to other input pins by Pt50B = t.X...
  • Page 191 MD09UE01-1910 E1 Series Servo Drive User Manual Application Function Related parameters  The parameters used for limiting torque with external torque limit and analog command are as below. To disable internal torque limit, set Pt402, Pt403, Pt483 and Pt484 to their maximum values.

  • Page 192: Torque Limit Detection Output (Clt) Signal

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function Table8.10.4.10 Control Position mode, velocity mode Parameter Pt415 Range 0~65535 Mode and torque mode Default Effective Immediately Unit 0.01 ms Description Set T-REF filter time constant. Table8.10.4.11 Control Position mode, velocity mode...

  • Page 193: Internal Homing

    In addition to the internal homing procedures in accordance with the design principle of CiA402, the servo drive also provides several homing procedures defined by HIWIN. The internal homing procedures can only be used in internal position mode or position mode.
  • Page 194 MD09UE01-1910 E1 Series Servo Drive User Manual Application Function (2) Home offset: Home offset is used to adjust the position after homing completes. Figure8.11.1.2 Description of home offset Table8.11.1.1 Parameter Description Default Range Unit Set homing method. The servo drive provides 13...

  • Page 195: Internal Homing Methods

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function CAUTION If you are not using the default electronic gear ratio, ensure the setting of positioning completion width (Pt522)  has been adjusted. Otherwise, the time of performing homing procedure may exceed the time limit.
  • Page 196 MD09UE01-1910 E1 Series Servo Drive User Manual Application Function Parameter Description Figure Setting Homing with the Z-phase signal on the left of DOG signal. Outside DOG signal: Search for the rising edge of DOG signal in positive direction at the velocity for finding near home sensor (rotary servo motor) (Pt701).
  • Page 197 MD09UE01-1910 E1 Series Servo Drive User Manual Application Function Parameter Description Figure Setting Search for the Z-phase signal on the left of the falling edge of DOG signal from positive direction. Search for the falling edge of DOG signal in positive direction at the velocity for...
  • Page 198 MD09UE01-1910 E1 Series Servo Drive User Manual Application Function Parameter Description Figure Setting Homing with the Z-phase signal on the left of the rising edge of DOG signal from negative direction. Outside DOG signal: Search for the rising edge of DOG...
  • Page 199 MD09UE01-1910 E1 Series Servo Drive User Manual Application Function Parameter Description Figure Setting Homing with Z-phase signal from negative direction. Search for Z-phase signal in Pt700=33 negative direction at the velocity for finding home position (rotary servo motor) (Pt702). Parameter...

  • Page 200: Using Internal Homing Procedure With Controller

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function 8.11.3 Using internal homing procedure with controller The internal homing procedure is used to assist controller in finding the absolute coordinates on a mechanism. The controller only needs to trigger the internal homing procedure by inputting servo drive built-in homing procedure input (HOM) signal.

  • Page 201: Error Map

    The accuracy of positioning platform usually depends on the encoder in use. The accuracy is measured by laser interferometer and an error map table can be obtained afterwards. E1 series servo drive provides error map function for users to save error map table to the servo drive flash via Thunder. The servo drive calculates compensation values between fixed intervals by linear interpolation to increase positioning accuracy.
  • Page 202 MD09UE01-1910 E1 Series Servo Drive User Manual Application Function Step 3: Click on Send to drive button to save the error map table to the servo drive flash. A processing window appears. After the error map table is saved, the processing window closes.

  • Page 203: Setting Position Trigger Function

    Enable error map function for gantry axes. 8.13 Setting position trigger function E1 series servo drive provides position trigger (PT) function. When motor moves to the set position, the servo drive simultaneously outputs a pulse signal. The width and interval of the pulse signal can be user-defined, as figure 8.13.1.
  • Page 204 MD09UE01-1910 E1 Series Servo Drive User Manual Application Function Table8.13.1 Description Specification Software Hardware Output Bandwidth of Position Trigger Maximum 4 KHz Maximum 200 MHz Function Pulse Width of Position Trigger 0.25 ms~1000 ms 0.02 us~81 us Function Delay Time for PT Signal Output Maximum 0.25 ms...
  • Page 205 MD09UE01-1910 E1 Series Servo Drive User Manual Application Function Table8.13.4 Control Position mode, velocity mode Parameter Pt231 Range 0~+2 Mode and torque mode Default Effective Immediately Unit 1 control unit Description Set the output interval of position trigger function. Table8.13.5...
  • Page 206 There is a limitation between motor velocity and output interval. In this example, the update frequency of E1 series servo drive is 16 KHz. The required pulse interval is 1 mm and the motor velocity must not exceed 16000 (mm/s). The calculation is as below: The maximum motor velocity <...

  • Page 207: Restarting The Servo Drive Via Software

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function Table8.13.8 Output Interval Maximum Velocity (mm) (mm/s) 1,600,000 160,000 16000 1600 0.01 The unit of Pt230~Pt232 is 1 control unit. The setting values must be within the upper limits and lower ��������20����...

  • Page 208: Function And Setting Of Forced Stop Input (Fstp) Signal

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function 8.15 Function and setting of forced stop input (FSTP) signal Forced stop input (FSTP) signal can forcibly stop the motor. The function and setting of FSTP signal are described in the following sections.

  • Page 209: Motor Stopping Method For Forced Stop

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function 8.15.3 Motor stopping method for forced stop The motor stopping method for forced stop is set by Pt00A = t.X (Stopping method for forced stop) and Pt001 = t.X (Stopping method for servo off and Gr.A alarm), please refer to below.

  • Page 210: Resetting Forced Stop State

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function 8.15.4 Resetting forced stop state When FSTP signal is ON, the servo motor is disabled. If FSTP signal is OFF, the servo drive is in drive ready (D-RDY) state. If S-ON signal is ON when FSTP signal is ON, the servo drive remains in drive ready (D-RDY) state even when FSTP signal is OFF.
  • Page 211 MD09UE01-1910 E1 Series Servo Drive User Manual Application Function Note: Servo drive (1) Use external encoder (reader) which outputs digital signal. (2) For information of cables, please refer to table 16.1.1.1 in section 16.1.1 and table 16.1.2.3 in section 16.1.2.

  • Page 212: Operating Procedure Of Full-Closed Loop Control

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function 8.16.2 Operating procedure of full-closed loop control Table8.16.2.1 Step Contents Operation Parameter Command Operate without load in Set parameters and check  Basic function selection 0 Use Test run in semi-closed loop control...
  • Page 213 MD09UE01-1910 E1 Series Servo Drive User Manual Application Function Step Contents Operation Parameter Command (Pt522)  Multiplier per one full-closed loop rotation (Pt52A) Perform P2P motion in Perform P2P motion and  P2P motion and JOG in Test Test run.

  • Page 214: Control Block Diagram For Full-Closed Loop Control

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function 8.16.4 Control block diagram for full-closed loop control The control block diagram for full-closed loop control is as below. Figure8.16.4.1 8.16.5 Setting motor rotation direction and load moving direction In full-closed loop control, Pt000 = t.☐☐☐X (Rotation/movement direction selection) and Pt002 = t.X☐☐...

  • Page 215: Related Settings Of Unit Conversion

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function Related parameters  (1) Rotation direction selection Table8.16.5.2 Parameter Description Effective Category t.0 CCW is the forward direction. (Default) Pt000 After power on Setup t.1 CW is the forward direction. (reverse mode) (2) Usage of external encoder Table8.16.5.3...
  • Page 216 MD09UE01-1910 E1 Series Servo Drive User Manual Application Function The screw lead of load side for one revolution is 20 mm. Set Pt20A to 20000 um/rev. The resolution of external encoder digital optical scale is 5 um. Set Pt20B to 5000 nm.

  • Page 217: Encoder Output Resolution In Full-Closed Loop Control

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function 8.16.7 Encoder output resolution in full-closed loop control For setting encoder output resolution (Pt281) in full-closed loop control, please refer to section 8.6. 8.16.8 Electronic gear ratio setting in full-closed loop control For setting electronic gear ratio (Pt20E and Pt210) in full-closed loop control, please refer to section 6.11.2.

  • Page 218: Setting Analog Monitor Signal For Full-Closed Loop Control

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function Example: If the belt slips excessively, increase Pt52A. If Pt52A is set to 0, the servo drive reads the feedback position from the external encoder directly. The default setting is 20. In the second rotation, the deviation of the first rotation will be multiplied by 0.8.

  • Page 219: Selecting Feedback Velocity In Full-Closed Loop Control

    MD09UE01-1910 E1 Series Servo Drive User Manual Application Function 8.16.11 Selecting feedback velocity in full-closed loop control In full-closed loop control, feedback velocity from motor encoder (Pt22A = t.0) will be used. If high-resolution external encoder is used, please use the feedback velocity from external encoder (Pt22A = t.1).
  • Page 220 MD09UE01-1910 E1 Series Servo Drive User Manual Application Function (This page is intentionally left blank.) 8-90 HIWIN MIKROSYSTEM CORP.
  • Page 221 9.3 Trial operation for velocity mode ··························································································· 9-7 9.3.1 Operating procedure ···································································································· 9-7 9.4 Trial operation for torque mode ····························································································· 9-8 9.4.1 Operating procedure ···································································································· 9-8 9.5 Trial operation when connected to mechanism ······································································· 9-10 9.5.1 Precautions ············································································································· 9-10 9.5.2 Operating procedure ·································································································· 9-11 HIWIN MIKROSYSTEM CORP.

  • Page 222: Trial Operation When Connected To Controller

    MD09UE01-1910 E1 Series Servo Drive User Manual Trial Operation When Connected To Controller 9.1 Trial operation with controller Check the following items before performing trial operation with controller. (1) Ensure commands from the controller and I/O signals are correct. (2) Ensure the wiring between the servo drive and controller (control signal cable) and the polarity of I/Os are correct.

  • Page 223: Trial Operation For Position Mode

    MD09UE01-1910 E1 Series Servo Drive User Manual Trial Operation When Connected To Controller CAUTION While performing trial operation with controller, ensure the motor does not connected to load (The coupling or  belt is removed.) to avoid accident. 9.2 Trial operation for position mode 9.2.1 Operating procedure...

  • Page 224: Monitoring

    MD09UE01-1910 E1 Series Servo Drive User Manual Trial Operation When Connected To Controller Step 8: Input low-speed pulse commands from the controller for trial operation. For safety, the velocity must not exceed: Rotary motor: 100 rpm  Linear motor: 100 mm/s ...
  • Page 225  Normally the line number of one revolution is indicated by the output sine waves and cosine waves. For instance, HIWIN direct drive motor (TMS32) outputs 3600 sine waves and cosine waves for one revolution. The line number is 3600 line/rev. If analog encoder multiplier factor is 250, the actual resolution is: 3600 ����...
  • Page 226 MD09UE01-1910 E1 Series Servo Drive User Manual Trial Operation When Connected To Controller Resolution of linear analog encoder  If Renishaw analog encoder is used, the straight distance of one sine wave or one cosine wave is 10 um. Then the line is 10 um/line. If analog encoder multiplier factor is 250, the actual resolution is: 10 ��������/����...

  • Page 227: Trial Operation For Velocity Mode

    MD09UE01-1910 E1 Series Servo Drive User Manual Trial Operation When Connected To Controller 9.3 Trial operation for velocity mode 9.3.1 Operating procedure The procedure of trial operation with controller for velocity mode is provided as below. Step 1: Adjust velocity command input gain (Pt300). The default setting of Pt300 is 6 V/rated velocity.

  • Page 228: Trial Operation For Torque Mode

    MD09UE01-1910 E1 Series Servo Drive User Manual Trial Operation When Connected To Controller Step 6: Check if the moving direction of the motor is correct. If the moving direction is different from the command, change the setting by referring to section 6.6.
  • Page 229 MD09UE01-1910 E1 Series Servo Drive User Manual Trial Operation When Connected To Controller Step 2: Check the settings and states of input signals. The basic signals used in torque mode are listed in table 9.4.1.1. The configuration can be user-defined.

  • Page 230: Trial Operation When Connected To Mechanism

    MD09UE01-1910 E1 Series Servo Drive User Manual Trial Operation When Connected To Controller  If any of the result in the above step is incorrect, check the settings by referring to sections 7.1~7.6 and 9.4. 9.5 Trial operation when connected to mechanism This section provides the procedure of trial operation when servo motor is connected with mechanism.

  • Page 231: Operating Procedure

    MD09UE01-1910 E1 Series Servo Drive User Manual Trial Operation When Connected To Controller 9.5.2 Operating procedure Step 1: Enable overtravel signals. Step 2: Set STO safety function, overtravel function and brake. Refer to the sections below. Section 5.5 Control signals (CN6) ...
  • Page 232 MD09UE01-1910 E1 Series Servo Drive User Manual Trial Operation When Connected To Controller (This page is intentionally left blank.) 9-12 HIWIN MIKROSYSTEM CORP.
  • Page 233 10.6.5 Ripple compensation function ·················································································· 10-28 10.7 Common functions for tuning ·························································································· 10-29 10.7.1 Feedforward ········································································································ 10-29 10.7.2 Torque feedforward and velocity feedforward ······························································ 10-30 10.7.3 Position integration ································································································ 10-33 10.7.4 P/PI mode switching selection ·················································································· 10-33 HIWIN MIKROSYSTEM CORP. 10-1...

  • Page 234: Tuning

    The default settings of gain-related parameters are set to have relatively stable servo gains. Use tuning functions provided in E1 series servo drive to improve response performance according to your mechanism and operating condition. The flow chart for tuning procedure is as below.

  • Page 235: Tuning Functions

    MD09UE01-1910 E1 Series Servo Drive User Manual Tuning 10.1.2 Tuning functions The tuning functions provided in E1 series servo drive are listed in table 10.1.2.1. Table10.1.2.1 Tuning Description Control Mode Reference Function Tuneless function can be applied for Velocity mode, position mode and...

  • Page 236: Overtravel Setting

    MD09UE01-1910 E1 Series Servo Drive User Manual Tuning 10.2.1 Overtravel setting Overtravel setting is set to forcibly stop the motor by using the signals from limit switches when the moving parts of mechanism exceed the allowable travel distance. For more information, please refer to section 6.7.
  • Page 237 MD09UE01-1910 E1 Series Servo Drive User Manual Tuning (4) Linear motor (Analog encoder, pitch: 20 um, analog encoder multiplier factor: 500, encoder resolution: 20 um/(500 X 4)=0.01 um) Motor velocity [�������� ���� ⁄ ] �������� 2 10 Pt521 > ×...

  • Page 238: Tuneless Function

    MD09UE01-1910 E1 Series Servo Drive User Manual Tuning 10.3 Tuneless function Tuneless function can be applied for any machine type and load variation to have stable response performance. Tuneless function is automatically enabled after servo ON. CAUTION Tuneless function cannot be applied in torque control.

  • Page 239: Setting Tuneless Function

    MD09UE01-1910 E1 Series Servo Drive User Manual Tuning 10.3.2 Setting tuneless function When vibration or position deviation overflow occurs, adjust stiffness level of tuneless function via Thunder or the servo drive panel. (1) Before adjusting stiffness level Ensure tuneless function (Pt170 = t.1) is enabled before adjusting stiffness level of tuneless function.

  • Page 240: Ineffective Parameters While Executing Tuneless Function

    MD09UE01-1910 E1 Series Servo Drive User Manual Tuning 10.3.4 Ineffective parameters while executing tuneless function The parameters which cannot be used when tuneless function is enabled (Pt170 = t. 1) (Default) are listed in table 10.3.4.1. Table10.3.4.1 Item Parameter Name...

  • Page 241: Precautions Before Executing Auto Tuning

    MD09UE01-1910 E1 Series Servo Drive User Manual Tuning Note: Auto tuning cannot be performed when tuneless function is enabled (Pt170 = t.1 (Default)). Before performing auto tuning, please disable tuneless function (Pt170 = t.0) first. 10.4.2 Precautions before executing auto tuning WARNING During auto tuning, the motor slightly vibrates.
  • Page 242 MD09UE01-1910 E1 Series Servo Drive User Manual Tuning 10.4.3 Causes and corrective actions for auto tuning failure Causes and corrective actions for auto tuning failure  Table10.4.3.1 Cause Corrective Action Main circuit power OFF Connect main circuit power supply. Alarm or warning occurs.

  • Page 243: Related Parameters Of Auto Tuning

    MD09UE01-1910 E1 Series Servo Drive User Manual Tuning 10.4.4 Related parameters of auto tuning After auto tuning completes, the parameters listed in table 10.4.4.1 are automatically adjusted. Table10.4.4.1 Parameter Parameter Name Pt100 Velocity loop gain Pt101 Velocity loop integral time constant...

  • Page 244: Adjusting Application Function

    MD09UE01-1910 E1 Series Servo Drive User Manual Tuning 10.5 Adjusting application function 10.5.1 Setting current gain level Current gain level (Pt13D) and current loop integral gain level (Pt13E) are used to adjust the internal current of the servo drive based on velocity loop gain (Pt100). Noise can be reduced if current gain level is decreased.

  • Page 245: P (Proportional) Control

    MD09UE01-1910 E1 Series Servo Drive User Manual Tuning Table10.5.2.1 Parameter Description Effective Category t.0 Use velocity detection 1. (Default) Pt009 After power on Tuning t.1 Use velocity detection 2. 10.5.3 P (proportional) control Input proportional control input (P-CON) signal from controller to switch to P control or PI control. In velocity mode, if velocity command is 0 and PI control is selected for velocity loop control, the motor may move due to integration.

  • Page 246: Manual Tuning

    MD09UE01-1910 E1 Series Servo Drive User Manual Tuning 10.6 Manual tuning 10.6.1 Adjusting servo gains Users must have thorough understanding about the configuration and characteristics of the servo loop before manually adjusting servo gains. In most cases, if one parameter is largely adjusted, other parameters will also need to be adjusted again.
  • Page 247 MD09UE01-1910 E1 Series Servo Drive User Manual Tuning Users can directly start manual tuning from the default settings of parameters or after auto tuning is performed. Precaution  Install emergency stop device to immediately stop the motor when vibration occurs.

  • Page 248: Gain Parameters

    MD09UE01-1910 E1 Series Servo Drive User Manual Tuning 10.6.2 Gain parameters Position loop gain  The response of the position loop in the servo drive is determined by position loop gain. The higher the position loop gain is, the better the response and the shorter the positioning time are. Normally, position loop gain cannot be too high.

  • Page 249: Torque Command Filter

    Velocity loop gain 10.6.3 Torque command filter E1 series servo drive provides delay filters and notch filters shown in figure 10.6.3.1 for torque command. Each filter operates independently. Use Pt408 = t.X and t.X to disable or enable notch filter.
  • Page 250 MD09UE01-1910 E1 Series Servo Drive User Manual Tuning Torque command filter  If machine vibrates, adjust the following parameters to eliminate vibration. Table10.6.3.1 Control Position mode, velocity mode Parameter Pt401 Range 1~ 65535 Mode and torque mode Default Effective Immediately Unit 0.01 ms...
  • Page 251 MD09UE01-1910 E1 Series Servo Drive User Manual Tuning Notch filter Q value  Notch filter Q value defines the width of filtering frequency. The width of notch varies with the setting of notch filter Q value. As notch filter Q value increases, the width of filtering frequency becomes narrower.
  • Page 252 MD09UE01-1910 E1 Series Servo Drive User Manual Tuning Notch filter depth  Notch filter depth defines the depth of filtering frequency. The depth of notch varies with the setting of notch filter depth. As the value of notch filter depth decreases, the notch deepens and vibration suppression becomes more effective.
  • Page 253 MD09UE01-1910 E1 Series Servo Drive User Manual Tuning Parameters for setting notch filter  Table10.6.3.6 Parameter Description Effective Category t.0 Disable first stage notch filter. (Default) t.1 Enable first stage notch filter. Pt408 t.0 Disable second stage notch filter. (Default) t.1...
  • Page 254 MD09UE01-1910 E1 Series Servo Drive User Manual Tuning Table10.6.3.10 Control Position mode and velocity Parameter Pt40C Range 50 ~ 5000 Mode mode Default 5000 Effective Immediately Unit 1 Hz Description Second stage notch filter frequency Table10.6.3.11 Control Position mode and velocity...
  • Page 255 MD09UE01-1910 E1 Series Servo Drive User Manual Tuning Table10.6.3.15 Control Position mode and velocity Parameter Pt419 Range 0 ~ 1000 Mode mode Default Effective Immediately Unit 0.001 Description Third stage notch filter depth Table10.6.3.16 Control Position mode and velocity Parameter...

  • Page 256: Vibration Suppression

    MD09UE01-1910 E1 Series Servo Drive User Manual Tuning Table10.6.3.20 Control Position mode and velocity Parameter Pt41E Range 50 ~ 1000 Mode mode Default Effective Immediately Unit 0.01 Description Fifth notch filter Q value Table10.6.3.21 Control Position mode and velocity Parameter...
  • Page 257 MD09UE01-1910 E1 Series Servo Drive User Manual Tuning Item which affects performance  If vibration continues when motor stops, vibration suppression function may not be able to suppress the vibration successfully. In this case, please perform auto tuning. Parameters for vibration suppression ...
  • Page 258 MD09UE01-1910 E1 Series Servo Drive User Manual Tuning Step 4: Observe the waveform of reference velocity (X_vel_ff_int) during dwell time (The segment when velocity command stops and starts) and enlarge the waveform of positon error (X_pos_err). Select the range and click on the icon indicated in figure 10.6.4.1 to zoom in.
  • Page 259 MD09UE01-1910 E1 Series Servo Drive User Manual Tuning Step 6: After fast Fourier transform completes, zoom in on the segment of low frequency. Zoom in Right click and left click on the waveform to select the segment of low frequency.

  • Page 260: Ripple Compensation Function

    MD09UE01-1910 E1 Series Servo Drive User Manual Tuning Step 8: Set the frequency (In figure 10.6.4.4, the frequency is 6.7 Hz.) of low-frequency vibration in vibration suppression frequency (Pt14A). Set vibration suppression compensation (Pt14B). The higher the value, the greater the effect. Users can use the default value for testing first.

  • Page 261: Common Functions For Tuning

    MD09UE01-1910 E1 Series Servo Drive User Manual Tuning Table10.6.5.2 Parameter Description Effective Category t.0 Ripple compensation sensitivity level 0 (Low) t.1 Ripple compensation sensitivity level 1 t.2 Ripple compensation sensitivity level 2 t.3 Ripple compensation sensitivity level 3 t.4 Ripple compensation sensitivity level 4 t.5...

  • Page 262: Torque Feedforward And Velocity Feedforward

    MD09UE01-1910 E1 Series Servo Drive User Manual Tuning Table10.7.1.1 Control Parameter Pt109 Range 0 ~ 100 Position mode Mode Default Effective Immediately Unit Description Feedforward Table10.7.1.2 Control Parameter Pt10A Range 0 ~ 6400 Position mode Mode Default Effective Immediately Unit 0.01 ms...
  • Page 263 MD09UE01-1910 E1 Series Servo Drive User Manual Tuning Table10.7.2.1 Parameter Description Effective Category t.0 Do not use T-REF signal. (Default) t.1 Use T-REF signal as external torque limit. Pt002 After power on Setup t.2 Use T-REF signal as torque feedforward input.
  • Page 264 MD09UE01-1910 E1 Series Servo Drive User Manual Tuning (2) Velocity feedforward Set velocity feedforward by position control selection (Pt207 = t. ) and velocity command   input gain (Pt300). In default setting, Pt300 is set to 600. Therefore, when velocity feedforward is set to ±6 V, it will be the rated velocity.

  • Page 265: Position Integration

    MD09UE01-1910 E1 Series Servo Drive User Manual Tuning 10.7.3 Position integration Set the integration function for position loop by Pt11F (Position integral time constant). Table10.7.3.1 Control Parameter Pt11F Range 1 ~ 50000 Position mode Mode Default Effective Immediately Unit 0.1 ms...
  • Page 266 MD09UE01-1910 E1 Series Servo Drive User Manual Tuning Related parameters  Set switching condition by Pt10B = t.☐☐☐X (Mode switching selection (P/PI mode)). Table10.7.4.2 Parameter for Level of P/PI Mode Switching Switching Condition Parameter Effective Category Selection Rotary Linear Use internal torque command t.☐☐☐0...
  • Page 267 MD09UE01-1910 E1 Series Servo Drive User Manual Tuning Table10.7.4.5 Control Position mode and velocity Parameter Pt10D Range 0~10000 Mode mode Default Effective Immediately Unit 1 rpm Description Set P/PI mode switching (velocity command). Table10.7.4.6 Control Position mode and velocity Parameter...
  • Page 268 MD09UE01-1910 E1 Series Servo Drive User Manual Tuning Table10.7.4.10 Control Position mode and velocity Parameter Pt182 Range 0~30000 Mode mode Default Effective Immediately Unit 1 mm/s Description Set mode switching (acceleration). Table10.7.4.11 Control Parameter Pt10F Range 0~10000 Position mode Mode...
  • Page 269 MD09UE01-1910 E1 Series Servo Drive User Manual Tuning (2) Linear servo motor If velocity command exceeds the velocity set in velocity command for mode switching (P/PI mode) (Pt181), velocity loop is switched to P control. Figure10.7.4.3 Use acceleration as P/PI mode switching condition ...
  • Page 270 MD09UE01-1910 E1 Series Servo Drive User Manual Tuning Use position deviation as P/PI mode switching condition  When position deviation exceeds the value set in position deviation for mode switching (P/PI mode) (Pt10F), velocity loop is switched to P control. This setting can only be used in position mode.

  • Page 271: Monitoring ·····························································································································

    11.2.2 Monitoring items of servo drive status ·········································································· 11-3 11.3 Monitoring physical quantity and servo status ······································································ 11-4 11.3.1 Monitoring physical quantity ······················································································ 11-4 11.3.2 Scope and data collection ························································································· 11-5 11.4 Using measuring instrument ····························································································· 11-7 11.4.1 Changing scale and offset ························································································· 11-7 HIWIN MIKROSYSTEM CORP. 11-1...

  • Page 272: Monitoring

    MD09UE01-1910 E1 Series Servo Drive User Manual Monitoring 11.1 Servo drive information 11.1.1 Monitoring servo drive information The servo drive information can be found in the left column of the main screen of Thunder. Figure11.1.1.1 The information displayed in the main screen of Thunder 11.1.2 Monitoring items of servo drive information...

  • Page 273: Servo Drive Status

    MD09UE01-1910 E1 Series Servo Drive User Manual Monitoring 11.2 Servo drive status 11.2.1 Monitoring servo drive status Click on in the main screen of Thunder to open Interface signal monitor window to monitor servo drive status. Figure11.2.1.1 The displayed information in Interface signal monitor window 11.2.2 Monitoring items of servo drive status...

  • Page 274: Monitoring Physical Quantity And Servo Status

    MD09UE01-1910 E1 Series Servo Drive User Manual Monitoring 11.3 Monitoring physical quantity and servo status 11.3.1 Monitoring physical quantity The physical quantities which can be monitored are shown in the grey boxes in figure 11.3.1.1 and listed in table 11.3.1.1.

  • Page 275: Scope And Data Collection

    MD09UE01-1910 E1 Series Servo Drive User Manual Monitoring 11.3.2 Scope and data collection Thunder provides Scope for users to monitor physical quantity and motion state in real time. Click on in the main screen of Thunder to open Scope. Eight channels (maximum) can be monitored at the same time.
  • Page 276 MD09UE01-1910 E1 Series Servo Drive User Manual Monitoring Table11.3.2.1 Monitoring items in Scope Monitoring Items Physical Quantity Servo Signal Status Position error S-ON //servo on input signal Feedback position P-CON //proportional control input signal Position reference velocity P-OT //forward prohibition input signal...

  • Page 277: Using Measuring Instrument

    MD09UE01-1910 E1 Series Servo Drive User Manual Monitoring 11.4 Using measuring instrument 11.4.1 Changing scale and offset Users can change the scales and offset voltage of analog monitor 1 and analog monitor 2. The relationship of scale, offset voltage and output voltage is shown in figure 11.4.1.1.
  • Page 278 MD09UE01-1910 E1 Series Servo Drive User Manual Monitoring Table11.4.1.4 Control Position mode, velocity mode Parameter Pt553 Range -10000~10000 Mode and torque mode Default Effective Immediately Unit x 0.01 Description Analog monitor 2 scale Example: The motor velocity is being monitored (Pt006 = t.☐☐XX).
  • Page 279 12.4.1 Wiring example ······································································································· 12-8 12.4.2 Malfunction detection method of STO safety function ······················································ 12-9 12.4.3 Operating procedure of STO safety function ·································································· 12-9 12.5 Examination of STO safety function ··················································································· 12-9 12.6 Connecting to safety module ·························································································· 12-10 HIWIN MIKROSYSTEM CORP. 12-1...

  • Page 280: Overview Of Sto Safety Function

    MD09UE01-1910 E1 Series Servo Drive User Manual Safety Function 12.1 Overview of STO safety function 12.1.1 Introduction to STO safety function The built-in STO safety function aims to avoid personnel injury caused by machine moving parts as well as to improve safety and reduce risk. It is able to protect operation personnel as machine malfunctions or is maintained.

  • Page 281: Risk Assessment

    MD09UE01-1910 E1 Series Servo Drive User Manual Safety Function 12.2.1 Risk assessment Risk assessment must be done before using STO safety function. When STO safety function is enabled, the following potential risks could exist. Take these risks into consideration while doing risk assessment.

  • Page 282: Resetting Sto State

    MD09UE01-1910 E1 Series Servo Drive User Manual Safety Function 12.2.3 Resetting STO state When S-ON signal is OFF, power is not supplied to servo motor. If SF1 and SF2 signals are OFF, the servo drive is in STO state. In STO state, after SF1 and SF2 signals are ON, the servo drive is in D-RDY state.

  • Page 283: Error Detection Of Sto Safety Function

    MD09UE01-1910 E1 Series Servo Drive User Manual Safety Function 12.2.4 Error detection of STO safety function If SF1 or SF2 signal is input first and the other signal is not input within 10 seconds, alarm AL.Eb1 (Safety function signal input timing error) will occur. Use alarm AL.Eb1 to identify if STO signals are correctly input.

  • Page 284: Drive Ready Output (D-Rdy) Signal

    MD09UE01-1910 E1 Series Servo Drive User Manual Safety Function 12.2.6 Drive ready output (D-RDY) signal When servo on input (S-ON) signal is input in STO state, drive ready output (D-RDY) signal will still be OFF. When SF1 and SF2 signals are both ON and servo on input (S-ON) signal is OFF, drive ready output (D-RDY) signal will be ON.

  • Page 285: Motor Stopping Method For Sto Safety Function

    MD09UE01-1910 E1 Series Servo Drive User Manual Safety Function 12.2.8 Motor stopping method for STO safety function When SF1 and SF2 signals are OFF and STO safety function is enabled, the servo motor will stop according to the setting of stopping method for servo off and Gr.A alarm (Pt001 = t.X). Pay attention to the following, when motor is stopped by dynamic brake (Pt001 = t.0 or t.1).

  • Page 286: Application Example Of Sto Safety Function

    MD09UE01-1910 E1 Series Servo Drive User Manual Safety Function 12.4 Application example of STO safety function Connecting to the safety module of machine by referring to the example below. 12.4.1 Wiring example The wiring example for safety module G9SX-BC202 from Omron is as below.

  • Page 287: Malfunction Detection Method Of Sto Safety Function

    MD09UE01-1910 E1 Series Servo Drive User Manual Safety Function 12.4.2 Malfunction detection method of STO safety function If SF1 or SF2 signal remains ON, EDM signal will not be ON. Therefore, the system will not be reset even when the guard is closed. The machine cannot be in servo ready state. This could be caused by malfunction of peripheral device, such as disconnection and short circuit of external wiring or malfunction of servo drive.

  • Page 288: Connecting To Safety Module

    MD09UE01-1910 E1 Series Servo Drive User Manual Safety Function 12.6 Connecting to safety module Step 1: Remove the safety jumper connector from STO connector (CN4). Step 2: Use safety device connector. Perform wiring according to the instructions provided in section 5.6.
  • Page 289 13.3.2 Causes and corrective actions for warnings ································································ 13-17 13.4 Causes and corrective actions for abnormal operation ························································· 13-19 13.5 Maintenance ··············································································································· 13-20 13.5.1 Regular inspection ································································································· 13-21 13.5.2 Replacement standard ··························································································· 13-21 13.5.3 Replacing battery ·································································································· 13-22 HIWIN MIKROSYSTEM CORP. 13-1...

  • Page 290: Alarm Display

    MD09UE01-1910 E1 Series Servo Drive User Manual Troubleshooting And Maintenance 13.1 Alarm display 13.1.1 Alarm display When an alarm or a warning occurs, users can view its alarm code or warning code from the servo drive panel. Users can also check if an alarm or a warning occurs from the lower left area of Thunder.

  • Page 291: Deleting Error Log

    MD09UE01-1910 E1 Series Servo Drive User Manual Troubleshooting And Maintenance 13.1.3 Deleting error log The error log will not be deleted after alarm reset or the main circuit power is cut off. To clear the error log, please follow the procedure below. Tools used to delete error log are described as below.

  • Page 292: Number

    MD09UE01-1910 E1 Series Servo Drive User Manual Troubleshooting And Maintenance 13.2 Alarm 13.2.1 Alarm list The alarms of the servo drive are listed in table 13.2.1.1. If an alarm occurs, perform troubleshooting by referring to the alarm contents. Alarm type is used to distinguish the stopping method of motor when an alarm occurs.

  • Page 293: Al.d00

    MD09UE01-1910 E1 Series Servo Drive User Manual Troubleshooting And Maintenance Alarm Alarm Alarm Alarm Name Alarm Contents Number Type Reset AL.860 Encoder data writing error Encoder parameter writing error Gr.A AL.861 Motor overheating Motor overheating Gr.A The encoder overheats because the motor AL.870...
  • Page 294 MD09UE01-1910 E1 Series Servo Drive User Manual Troubleshooting And Maintenance Alarm Alarm Alarm Alarm Name Alarm Contents Number Type Reset AL.FB1 Fieldbus communication error Fieldbus communication error Gr.A Communication error of gantry control AL.FC0 Communication error of gantry control system Gr.A...
  • Page 295 MD09UE01-1910 E1 Series Servo Drive User Manual Troubleshooting And Maintenance 13.2.2 Causes and corrective actions for alarms Table13.2.2.1 Causes and corrective actions for alarms Alarm Number And Cause Confirmation Method Corrective Action Alarm Name An error occurs in the AL.024 internal program of the Replace the servo drive.
  • Page 296 MD09UE01-1910 E1 Series Servo Drive User Manual Troubleshooting And Maintenance Alarm Number And Cause Confirmation Method Corrective Action Alarm Name the ground and U, V and W phases. Check if there is short circuit among the U, V and W terminals, or between the...
  • Page 297 MD09UE01-1910 E1 Series Servo Drive User Manual Troubleshooting And Maintenance Alarm Number And Cause Confirmation Method Corrective Action Alarm Name The motor is in Check if the load is too Adjust the load or operating regenerating state due to heavy or the operating condition.
  • Page 298 MD09UE01-1910 E1 Series Servo Drive User Manual Troubleshooting And Maintenance Alarm Number And Cause Confirmation Method Corrective Action Alarm Name The order of U, V and W Check the wiring of the phases in the motor wiring Check if the wiring is correct.
  • Page 299 MD09UE01-1910 E1 Series Servo Drive User Manual Troubleshooting And Maintenance Alarm Number And Cause Confirmation Method Corrective Action Alarm Name malfunction, please replace the motor. Check if there is The encoder (1) Add ferrite ring or replace interference source and the communication is interfered the encoder cable.
  • Page 300 MD09UE01-1910 E1 Series Servo Drive User Manual Troubleshooting And Maintenance Alarm Number And Cause Confirmation Method Corrective Action Alarm Name (1) Re-calculate and adjust the load and operating The encoder overheats AL.870 condition. Or select a new because the motor Encoder overheating motor.
  • Page 301 MD09UE01-1910 E1 Series Servo Drive User Manual Troubleshooting And Maintenance Alarm Number And Cause Confirmation Method Corrective Action Alarm Name Torque command command malfunction operation. A/D converter error Power on again. If the alarm occurs again, it could be servo...

  • Page 302: Position Deviation Overflow

    MD09UE01-1910 E1 Series Servo Drive User Manual Troubleshooting And Maintenance Alarm Number And Cause Confirmation Method Corrective Action Alarm Name Electrical angle phase initialization is not Thunder and ensure Phase detection incomplete completed yet. initialized indicator is green. Save the parameters and power on the servo drive again.
  • Page 303 MD09UE01-1910 E1 Series Servo Drive User Manual Troubleshooting And Maintenance Alarm Number And Cause Confirmation Method Corrective Action Alarm Name cable is poor or the power cable is correct. connection is poor. It could be servo drive AL.FA0 Servo drive malfunction...

  • Page 304: Alarm Reset

    MD09UE01-1910 E1 Series Servo Drive User Manual Troubleshooting And Maintenance 13.2.3 Alarm reset After alarm output (ALM) signal is output, reset the servo drive by the method provided below when the root cause is cleared. Alarm related to encoder may not be reset by alarm reset input (ALM-RST) signal.

  • Page 305: Causes And Corrective Actions For Warnings

    MD09UE01-1910 E1 Series Servo Drive User Manual Troubleshooting And Maintenance 13.3.2 Causes and corrective actions for warnings Table13.3.2.1 Causes and corrective actions for warnings Warning Number Cause Confirmation Method Corrective Action And Warning Name The wiring of the U, V or W...
  • Page 306 MD09UE01-1910 E1 Series Servo Drive User Manual Troubleshooting And Maintenance Warning Number Cause Confirmation Method Corrective Action And Warning Name AL.945 Torque command exceeds Check if the torque limit Adjust torque limit value. Torque limit warning the torque limit value.

  • Page 307: Causes And Corrective Actions For Abnormal Operation

    MD09UE01-1910 E1 Series Servo Drive User Manual Troubleshooting And Maintenance 13.4 Causes and corrective actions for abnormal operation Table13.4.1 Causes and corrective actions for abnormal operation Operation Cause Confirmation Method Corrective Action Use multimeter to measure if the voltage of control power below Vac.

  • Page 308: Maintenance

    MD09UE01-1910 E1 Series Servo Drive User Manual Troubleshooting And Maintenance Operation Cause Confirmation Method Corrective Action window of Thunder is green. Pt50D=t.X (Allocation of command pulse inhibition input (INHIBIT) signal) and input signal from the allocated pin. (3) Check if the signal output from the controller is correct.

  • Page 309: Regular Inspection

     Relay Power on for 30,000 times. Frequency: 1 time/hour Battery 2.5 years (No power is supplied.) Storage temperature: 20°C When replacement standard is met, contact HIWIN or our distributors to check if replacement is required. HIWIN MIKROSYSTEM CORP. 13-21...

  • Page 310: Replacing Battery

    MD09UE01-1910 E1 Series Servo Drive User Manual Troubleshooting And Maintenance 13.5.3 Replacing battery When battery voltage drops to 2.7 V or below, alarm encoder battery undervoltage (AL.810) occurs. Then the battery must be replaced. Replacing battery  (1) When battery is installed on controller Step 1: Turn on the control power of the servo drive only.

  • Page 311: Panel Operation

    14.4.5 Parameter initialization (Ft005) ················································································· 14-18 14.4.6 Deleting alarm history (Ft006) ·················································································· 14-19 14.4.7 Setting absolute encoder (Ft008) ·············································································· 14-20 14.4.8 Displaying firmware version (Ft012) ·········································································· 14-21 14.4.9 Setting stiffness level for tuneless function (Ft200) ······················································· 14-22 HIWIN MIKROSYSTEM CORP. 14-1...

  • Page 312: Panel Description

    MD09UE01-1910 E1 Series Servo Drive User Manual Panel Operation 14.1 Panel description 14.1.1 Key names and functions Users are allowed to perform auxiliary functions, set parameters as well as monitor the status and values* of the servo drive by panel. The names and functions of the keys on the servo drive panel are described as below.

  • Page 313: Switching Function

    MD09UE01-1910 E1 Series Servo Drive User Manual Panel Operation 14.1.2 Switching function Press F key to switch among functions as figure 14.1.2.1. For operation of each function, please refer to the following. Power on Status display Press Press for one second Auxiliary function (Ft)
  • Page 314 MD09UE01-1910 E1 Series Servo Drive User Manual Panel Operation Bit data  Table14.1.3.1 Display Function Description Control power supply status Light up when the control power supply is ON. Do not light up when the control power supply is OFF.

  • Page 315: Parameter Setting (Pt□□□)

    MD09UE01-1910 E1 Series Servo Drive User Manual Panel Operation Abbreviated symbol  Table14.1.3.2 Display Function Description The motor is not enabled. The display means servo OFF. The motor is enabled. The display means servo ON. The motor is prohibited to operate in forward direction.

  • Page 316: Setting Numeric Parameter

    MD09UE01-1910 E1 Series Servo Drive User Manual Panel Operation 14.2.1 Setting numeric parameter Table 14.2.1.1 describes how to change the setting value of velocity loop gain (Pt100) from 40.0 to 100.0 via panel. Note: To display and modify numeric parameters via servo drive panel, please refer to section 14.2.2 and set Pt00B = t.1 (Display all parameters)
  • Page 317 MD09UE01-1910 E1 Series Servo Drive User Manual Panel Operation Setting value with more than six digits  The panel can only display 5-digit value. For setting value with more than six digits, please refer to figure 14.2.1.1. Upper two digits...

  • Page 318: Setting Function Selection Parameter

    MD09UE01-1910 E1 Series Servo Drive User Manual Panel Operation 14.2.2 Setting function selection parameter Table 14.2.2.1 describes how to change from velocity mode to position mode via panel. Table14.2.2.1 Step Display Operation Press F key to go to parameter setting mode.

  • Page 319: Monitoring Function (Ut□□□)

    MD09UE01-1910 E1 Series Servo Drive User Manual Panel Operation 14.3 Monitoring function (Ut□□□) Users are allowed to monitor physical quantity and I/O signal via panel. The number of monitoring item starts with a beginning of “Ut”. The example below is monitoring motor velocity (Ut000).

  • Page 320: Monitoring Input Signals

    MD09UE01-1910 E1 Series Servo Drive User Manual Panel Operation 14.3.2 Monitoring input signals Ut005 is used to monitor input signals. The state of input signal is displayed by the segment of LED. Display  The upper segment lights up: input signal is OFF.
  • Page 321 MD09UE01-1910 E1 Series Servo Drive User Manual Panel Operation (2) Servo on input (S-ON) signal is OFF. ←The upper segment of LED number 1 lights up. 10 9 8 Figure14.3.2.3 (3) Forward prohibition input (P-OT) signal is ON. The lower segment of LED number 3 lights up.
  • Page 322 MD09UE01-1910 E1 Series Servo Drive User Manual Panel Operation LED numbers and their corresponding output signals  Table14.3.3.1 LED Number Output Hardware Pin Signal (Default) CN6-35, 34 COIN & V-CMP CN6-37, 36 TGON CN6-39, 38 D-RDY CN6-11, 10 CN6-40, 12...

  • Page 323: List Of Monitoring Items

    MD09UE01-1910 E1 Series Servo Drive User Manual Panel Operation 14.3.4 List of monitoring items The supported monitoring items and their numbers are listed in table 14.3.4.1. Table14.3.4.1 Number Monitoring Item Unit Ut000 Motor velocity Ut001 Velocity command Ut005 Input signal monitoring...

  • Page 324: Displaying Alarm History (Ft000)

    MD09UE01-1910 E1 Series Servo Drive User Manual Panel Operation 14.4.1 Displaying alarm history (Ft000) Table14.4.1.1 Step Display Operation Press F key to go to auxiliary function mode (Ft). If the displayed number is not Ft000, press UP or DOWN key to display Ft000.

  • Page 325: Saving Parameter To Servo Drive (Ft001)

    MD09UE01-1910 E1 Series Servo Drive User Manual Panel Operation 14.4.2 Saving parameter to servo drive (Ft001) Table14.4.2.1 Step Display Operation Press F key to go to auxiliary function mode (Ft). Press UP or DOWN key to display Ft001. Press DATA/SHIFT key for one second to show the display on the left.

  • Page 326: Jog (Ft002)

    MD09UE01-1910 E1 Series Servo Drive User Manual Panel Operation 14.4.3 JOG (Ft002) For related parameters of JOG, please refer to section 8.7.1. Table14.4.3.1 Step Display Operation Press F key to go to auxiliary function mode (Ft). Press UP or DOWN key to display Ft002.

  • Page 327: Homing (Ft003)

    MD09UE01-1910 E1 Series Servo Drive User Manual Panel Operation 14.4.4 Homing (Ft003) For related parameters of homing, please refer to section 8.11. Table14.4.4.1 Step Display Operation Press F key to go to auxiliary function mode (Ft). Press UP or DOWN key to display Ft003.

  • Page 328: Parameter Initialization (Ft005)

    MD09UE01-1910 E1 Series Servo Drive User Manual Panel Operation Step Display Operation Press DATA/SHIFT key for one second to display Ft003. 14.4.5 Parameter initialization (Ft005) Table14.4.5.1 Step Display Operation Press F key to go to auxiliary function mode (Ft). Press UP or DOWN key to display Ft005.

  • Page 329: Deleting Alarm History (Ft006)

    MD09UE01-1910 E1 Series Servo Drive User Manual Panel Operation 14.4.6 Deleting alarm history (Ft006) Table14.4.6.1 Step Display Operation Press F key to go to auxiliary function mode (Ft). Press UP or DOWN key to display Ft006. Press DATA/SHIFT key for one second to show the display on the left.

  • Page 330: Setting Absolute Encoder (Ft008)

    MD09UE01-1910 E1 Series Servo Drive User Manual Panel Operation 14.4.7 Setting absolute encoder (Ft008) Table14.4.7.1 Step Display Operation Press F key to go to auxiliary function mode (Ft). Press UP or DOWN key to display Ft008. Press DATA/SHIFT key for one second to show the display on the left.

  • Page 331: Displaying Firmware Version (Ft012)

    MD09UE01-1910 E1 Series Servo Drive User Manual Panel Operation 14.4.8 Displaying firmware version (Ft012) Table14.4.8.1 Step Display Operation Press F key to go to auxiliary function mode (Ft). Press UP or DOWN key to display Ft012. Press DATA/SHIFT key for one second to display the firmware version of the servo drive.

  • Page 332: Setting Stiffness Level For Tuneless Function (Ft200)

    MD09UE01-1910 E1 Series Servo Drive User Manual Panel Operation 14.4.9 Setting stiffness level for tuneless function (Ft200) Table14.4.9.1 Step Display Operation Press F key to go to auxiliary function mode (Ft). Press UP or DOWN key to display Ft200. Press DATA/SHIFT key for one second to set stiffness level for tuneless function.
  • Page 333 Parameters 15. Parameters ························································································································· 15-1 15.1 Introduction to parameter ································································································· 15-2 15.2 List of parameters ·········································································································· 15-3 HIWIN MIKROSYSTEM CORP. 15-1...
  • Page 334 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters 15.1 Introduction to parameter The parameter list is described as below. This column indicates the applicable motor for the parameter.  All: The parameter can be used with rotary motor and linear motor.

  • Page 335: Range

    MD09UE01-1910 E1 Series Servo Drive User Manual Parameters 15.2 List of parameters Pt No. Pt000 Setting Size 0000~00E1 Default 0010 Range Basic function Applicable Name Unit selection 0 Motor Effective After power on Category Setup Reference - Description Rotation/movement direction selection Reference CCW is the forward direction.

  • Page 336: Range

    MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt001 Setting Size 0000~0042 Default 0030 Range Application function Applicable Name Unit selection 1 Motor Effective After power on Category Setup Reference - Description Stopping method for servo off and Gr.A alarm Reference Use dynamic brake to stop the motor.
  • Page 337 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt002 Setting Size 0000~4213 Default 0000 Range Application function Applicable Name Unit selection 2 Motor Effective After power on Category Setup Reference - Description Applicable Torque control selection (using T-REF signal)
  • Page 338 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt006 Setting Size 0000~005F Default 0002 Range Application function Applicable Name Unit selection 6 Motor Effective Immediately Category Setup Reference - Description Analog monitor 1 signal selection Motor velocity* (1 V/1000 rpm)
  • Page 339 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt007 Setting Size 0000~015F Default 0100 Range Application function Applicable Name Unit selection 7 Motor Effective Immediately Category Setup Reference - Description Analog monitor 2 signal selection Motor velocity* (1 V/1000 rpm)
  • Page 340 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt008 Setting Size 0000~1001 Default 0000 Range Application function Applicable Name Unit Rotary selection 8 Motor Effective After power on Category Setup Reference - Description Alarm/warning selection for battery undervoltage Reference t.X...
  • Page 341 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt00A Setting Size 0000~1144 Default 1000* Range Application function Applicable Name Unit selection A Motor Effective After power on Category Tuning Reference Description Stopping method for Gr.B alarm Reference Use dynamic brake to stop the motor or let the motor run freely until it stops.
  • Page 342 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt00B Setting Size 0000~0121 Default 0000 Range Application function Applicable Name Unit selection B Motor Effective After power on Category Setup Reference - Description Parameter display on panel Reference t.X Display setup parameters only.
  • Page 343 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt00E Setting Size 0000~0111 Default 0111 Range Position trigger Applicable Motor with digital Name Unit function setting Motor encoder Effective After power on Category Setup Reference - Description Position trigger function Reference t.X...
  • Page 344 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt103 Setting Size 0~50000 Default Range Moment of inertia Applicable Name Unit ratio Motor Effective Immediately Category Tuning Reference - Pt No. Pt109 Setting Size 0~100 Default Range Applicable Name...
  • Page 345 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt10C Setting Size 0~800 Default Range Torque/force command for mode 1% rated Applicable Name Unit switching (P/PI torque/force Motor mode) Effective Immediately Category Tuning Reference - Pt No. Pt10D Setting...
  • Page 346 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt13E Setting Size 1~5000 Default Range Current loop integral Applicable Name Unit gain level Motor Effective Immediately Category Tuning Reference - Pt No. Pt140 Setting Size 0000~0010 Default 0000 Range...
  • Page 347 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt170 Setting Size 0000~0F01 Default 0701 Range Tuneless function Applicable Name Unit selection Motor Effective Category Setup Reference Description Tuneless function Effective t.X Disable tuneless function. After power Enable tuneless function.
  • Page 348 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt190 Setting Size 10~20000 Default Range Velocity loop gain in Applicable Name gantry control Unit 0.1 Hz Motor system Effective Immediately Category Tuning Reference - Pt No. Pt191 Setting Size...
  • Page 349 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt200 Setting Size 0000~2016 Default 0000 Range Position command Applicable Name Unit form selection Motor Effective After power on Category Setup Reference - Description Pulse command form Reference Pulse signal (pulse + direction) (positive logic) Pulse signal (CW + CCW) (positive logic) Reserved (Do not modify.)
  • Page 350 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt207 Setting Size 0000~2010 Default 0000 Range Position control Applicable Name Unit function selection Motor Effective After power on Category Setup Reference - Description t.X Reserved (Do not modify.) Position control selection (using V-REF signal) Reference t.X...
  • Page 351 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt20D Setting Size 1~65535 Default Range Gear ratio at load Applicable Name side (full-closed Unit Rotary Motor loop) Effective After power on Category Setup Reference - Pt No. Pt20E Setting...
  • Page 352 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt218 Setting Size 1~100 Default Range Command pulse Applicable Name Unit input multiplier Motor Effective Immediately Category Setup Reference - Pt No. Pt22A Setting Size 0000~1000 Default 0000 Range Full-closed loop...
  • Page 353 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt232 Setting Size +1~+2 Default Range Stop position of Applicable Name position trigger Unit 1 control unit Motor function Effective Immediately Category Setup Reference Pt No. Pt233 Setting Size 0~4095...
  • Page 354 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt302 Setting Size 0~10000 Default Range Internal set velocity Applicable Name Unit Rotary motor: 1 rpm Rotary Motor Effective Immediately Category Setup Reference - Pt No. Pt303 Setting Size 0~10000...
  • Page 355 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt30A Setting Size 0~10000 Default Range Deceleration time for Applicable Name servo off and forced Unit 1 ms Motor stop Effective Immediately Category Setup Reference - Pt No. Pt30C Setting...
  • Page 356 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt382 Setting Size 0~10000 Default Range Internal set velocity Applicable Name 3 (linear servo Unit 1 mm/s Linear Motor motor) Effective Immediately Category Setup Reference - Pt No. Pt383 Setting...
  • Page 357 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt403 Setting Size 0~800 Default Range Applicable Name Reverse torque limit Unit Rotary Motor Effective Immediately Category Setup Reference - Pt No. Pt404 Setting Size 0~800 Default Range Forward external...
  • Page 358 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt408 Setting Size 0000~0101 Default 0000 Range Torque related Applicable Name Unit function selection Motor Effective Category Setup Reference - Description Notch filter selection 1 Effective Reference t.X Disable first stage notch filter.
  • Page 359 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt40D Setting Size 50~1000 Default Range Second stage notch Applicable Name Unit 0.01 filter Q value Motor Effective Immediately Category Tuning Reference - Pt No. Pt40E Setting Size 0~1000 Default...
  • Page 360 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt416 Setting Size 0000~0111 Default 0000 Range Torque related Applicable Name Unit function selection 2 Motor Effective Immediately Category Setup Reference - Description Notch filter selection 3 t.X Disable third stage notch filter.
  • Page 361 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt41A Setting Size 50~5000 Default 5000 Range Fourth stage notch Applicable Name Unit 1 Hz filter frequency Motor Effective Immediately Category Tuning Reference - Pt No. Pt41B Setting Size 50~1000...
  • Page 362 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt423 Setting Size 0000 ~ F001 Default 5000 Range Velocity ripple Applicable Name compensation Unit Motor selection Effective Category Setup Reference - Description Velocity ripple compensation Effective t.X Disable velocity ripple compensation.
  • Page 363 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt480 Setting Size 0~10000 Default 10000 Range Velocity limit during Applicable Name force control (linear Unit 1 mm/s Motor servo motor) Effective Immediately Category Setup Reference - Pt No. Pt481...
  • Page 364 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt4A0 Setting Size 1~100 Default Range Gain ratio for Applicable Name field-weakening Unit Motor control Effective Immediately Category Setup Reference - Pt No. Pt4A1 Setting Size 85~100 Default Range Ratio of voltage...
  • Page 365 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt507 Setting Size 0~10000 Default Range Brake command Applicable Name Unit 1 rpm Rotary output velocity value Motor Effective Immediately Category Setup Reference - Pt No. Pt508 Setting Size 10~100...
  • Page 366 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt50B Setting Size 0000~BBBB Default B654 Range Input signal selection Applicable Name Unit Motor Effective After power on Category Setup Reference - Description Allocation of alarm reset input (ALM-RST) signal Reference t.X...
  • Page 367 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt50C Setting Size 0000~BBBB Default BBBB Range Input signal selection Applicable Name Unit Motor Effective After power on Category Setup Reference - Description Allocation of motor rotation direction input (SPD-D) signal Reference Active when CN6-33 (I1) input signal is ON.
  • Page 368 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt50D Setting Size 0000~BBBB Default BBBB Range Input signal selection Applicable Name Unit Motor Effective After power on Category Setup Reference - Description Allocation of command pulse inhibition input (INHIBIT) signal Reference t.X...
  • Page 369 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt50E Setting Size 0000~BBBB Default 87BB Range Input signal selection Applicable Name Unit Motor Effective After power on Category Setup Reference - Description Allocation of servo drive reset input (RST) signal Reference Active when CN6-33 (I1) input signal is ON.
  • Page 370 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt50F Setting Size 0000~BBBB Default BBB9 Range Input signal selection Applicable Name Unit Motor Effective After power on Category Setup Reference - Description Allocation of forced stop input (FSTP) signal Reference t.X...
  • Page 371 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt512 Setting Size 0000~1111 Default 0000 Range Input signal inverse Applicable Name Unit setting 2 Motor Effective After power on Category Setup Reference - Description I5 signal inversion t.X The signal is not inverted.
  • Page 372 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt514 Setting Size 0000~5555 Default 2114 Range Output signal Applicable Name Unit selection 1 Motor Effective After power on Category Setup Reference - Description Allocation of alarm output (ALM) signal...
  • Page 373 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt516 Setting Size 0000~5555 Default 0005 Range Output signal Applicable Name Unit selection 3 Motor Effective After power on Category Setup Reference - Description Allocation of brake control output (BK) signal...
  • Page 374 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt519 Setting Size 0000~1111 Default 0000 Range Output signal Applicable Name Unit inverse setting 1 Motor Effective After power on Category Setup Reference - Description O1 signal inversion t.X The signal is not inverted.
  • Page 375 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt51B Setting Size 0~1073741824 Default 1000 Range Detection value for Applicable Name overflow motor-load Unit 1 control unit Rotary Motor position deviation Effective Immediately Category Setup Reference - Pt No.
  • Page 376 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt524 Setting Size 1~1073741824 Default 1073741824 Range Applicable Name NEAR signal width Unit 1 control unit Motor Effective Immediately Category Setup Reference - Pt No. Pt52A Setting Size 0~100 Default...
  • Page 377 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt531 Setting -1073741824 ～ Size Default Range 1073741822 Program jog travel Applicable Name Unit 1 control unit distance P1 Motor Effective Immediately Category Setup Reference - Pt No. Pt532 Setting -1073741823 ～...
  • Page 378 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt550 Setting Size -10000~10000 Default Range Analog monitor 1 Applicable Name Unit 0.01 V offset voltage Motor Effective Immediately Category Setup Reference - Pt No. Pt551 Setting Size -10000~10000 Default...
  • Page 379 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt583 Setting Size 0~10000 Default Range Brake command Applicable Name output velocity value Unit 1 mm/s Linear Motor (linear servo motor) Effective Immediately Category Setup Reference - Pt No. Pt585...
  • Page 380 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt702 Setting Size 0~3000 Default Range Velocity for finding Applicable Name home position Unit 1 rpm Rotary Motor (rotary servo motor) Effective Immediately Category Setup Reference - Pt No. Pt703...
  • Page 381 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt708 Setting Size 2~10000 Default Range Homing deceleration Applicable Name Unit 1 ms time Motor Effective Immediately Category Setup Reference - Pt No. Pt709 Setting Size 2~1000 Default Range Homing emergency...
  • Page 382 MD09UE01-1910 E1 Series Servo Drive User Manual Parameters Pt No. Pt710 Setting Size 0000~0001 Default 0000 Range Gantry control Applicable Name system home Unit Motor application selection Effective After power on Category Setup Reference - Description Locking function for yaw axis in gantry control system t.X...

  • Page 383: Appendix

    16.1.5 Control signal cable ··································································································· 16-8 16.1.6 Communication cable ································································································· 16-9 16.2 Accessories ·················································································································· 16-11 16.2.1 Accessory kit ·········································································································· 16-11 16.2.2 Power supply filter ··································································································· 16-11 16.2.3 Connector specification ···························································································· 16-12 16.2.4 Accessories for absolute encoder ··············································································· 16-12 HIWIN MIKROSYSTEM CORP. 16-1...

  • Page 384: Cables

    MD09UE01-1910 E1 Series Servo Drive User Manual Appendix 16.1 Cables 16.1.1 Servo motor power cable Motor end Servo drive end CN2 Figure16.1.1.1 Motor power cable (HVPS04AB□□MB, without brake cable) Motor end Servo drive end CN2 Figure16.1.1.2 Motor power cable (HVPS06AB□□MB, with brake cable) Table16.1.1.1 Motor power cable for servo motor...

  • Page 385: Encoder Extension Cable For Servo Motor

    MD09UE01-1910 E1 Series Servo Drive User Manual Appendix 16.1.2 Encoder extension cable for servo motor Motor end Servo drive end CN7 Figure16.1.2.1 Encoder extension cable (HVE23IAB□□MB, serial incremental type, without battery box) Motor end Servo drive end CN7 Figure16.1.2.2 Encoder extension cable (HVE23AAB□□MB, serial absolute type, with battery box) Table16.1.2.1 Encoder extension cable for servo motor...
  • Page 386 MD09UE01-1910 E1 Series Servo Drive User Manual Appendix Motor end Servo drive end CN7 Renishaw linear digital encoder Figure16.1.2.4 Encoder extension cable (HE00817EZ□□0, serial absolute type for full-closed loop control, with battery box) Table16.1.2.3 Encoder extension cable for full-closed loop control...

  • Page 387: Encoder Extension Cable For Linear Motor ········································································

    MD09UE01-1910 E1 Series Servo Drive User Manual Appendix 16.1.3 Encoder extension cable for linear motor When using linear motor with digital linear scale, the cable below is required. Renishaw linear digital Servo drive end CN7 encoder Figure16.1.3.1 Encoder extension cable (HE00817EK□00, HE00VJQ82100)

  • Page 388: Esc Encoder Extension Cable ······················································································

    16.1.4 ESC encoder extension cable ESC encoder extension cable and ESC encoder communication cable are required if ESC is used. Since ESC is required when using linear motor with linear encoder or HIWIN direct drive motor, the cable below is required.
  • Page 389 MD09UE01-1910 E1 Series Servo Drive User Manual Appendix □ stands for cable length, please refer to below. Table16.1.4.2 □ Cable Length Table16.1.4.3 Name HIWIN Part Number Description ESC encoder communication HE00EJUDA□00 For connecting ESC to CN7 on the servo drive cable □...

  • Page 390: Control Signal Cable ···································································································

    MD09UE01-1910 E1 Series Servo Drive User Manual Appendix 16.1.5 Control signal cable Table16.1.5.1 HIWIN Part Name Description Number Servo drive Connect servo drive (standard) to controller via CN6 to receive or send pulse cable HE00EJ6DA300 pulse command, voltage command, I/O signal, analog monitoring output (Standard 50 signal, encoder output signal, etc.

  • Page 391: Communication Cable

    MD09UE01-1910 E1 Series Servo Drive User Manual Appendix Table16.1.5.3 HIWIN Part Name Description Number Servo drive Send or receive I/O signal, analog monitoritng output signal, analog signal cable HE00EJ6DC300 otuput signal, etc. via CN6 on Fieldbus servo drive. The cable (3 m) is (Fieldbus 36 with open ends.
  • Page 392 MD09UE01-1910 E1 Series Servo Drive User Manual Appendix Table16.1.6.1 HIWIN Part Name Description Number USB2.0 Type A to mini-B 5 Pin; 1.8 m, mini-B connector (servo drive communication 051700800366 side) cable To use Thunder, the servo drive must be connected to PC via CN3.

  • Page 393: Accessories

    MD09UE01-1910 E1 Series Servo Drive User Manual Appendix 16.2 Accessories 16.2.1 Accessory kit The accessory kit is included when the servo drive is shipped out. Table16.2.1.1 HIWIN Part Name Description Qty. Number CN1: AC main power input terminal, control power input...

  • Page 394: Connector Specification

    MD09UE01-1910 E1 Series Servo Drive User Manual Appendix 16.2.3 Connector specification Table16.2.3.1 Connector HIWIN Part Description (Cable Side) Number AC main power input terminal, control power input terminal, terminal for regenerative resistor and terminal for DC reactor Main circuit D3950/one row 11 Port/7.5 mm/cable side/X key...

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