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Hiwin E1 Series User Manual

Gantry control system
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E1 Series Servo Drive
Gantry Control System
User Manual
www.hiwinmikro.tw
MD22UE01-1910_V1.0

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Summary of Contents for Hiwin E1 Series

  • Page 1 E1 Series Servo Drive Gantry Control System User Manual www.hiwinmikro.tw MD22UE01-1910_V1.0...
  • Page 2 E1 Series Servo Drive Gantry Control System User Manual Revision History Revision History The version of the manual is also indicated on the bottom of the front cover. MD22UE01-1910_V1.0 Version Release Date Release Date Version Applicable Product Revision Contents Oct. 15...

  • Page 3: Table Of Contents

    E1 Series Servo Drive Gantry Control System User Manual Table of Contents Table of Contents Hardware Configuration ........................... 1-1 System Architecture ............................2-1 Communication system architecture ....................2-2 Control system architecture ........................ 2-2 2.2.1 Definition of linear/yaw axis ....................2-2 2.2.2...
  • Page 4 E1 Series Servo Drive Gantry Control System User Manual Preface Preface Gantry control system: high-performance response gantry control can be achieved by high-speed data exchange technology between two servo drives. Please select ED1□-□G model. Linear...

  • Page 5: Hardware Configuration

    1. Hardware Configuration Hardware Configuration ........................... 1-1...
  • Page 6 MD22UE01-1910 E1 Series Servo Drive Gantry Control System User Manual Hardware Configuration Select the model supporting gantry function and connect two servo drives via CN8 with the communication cable. Table 1.1 Type Control Interface Model Standard Voltage command and pulse ED1S-VG-□□□□-□□...

  • Page 7: System Architecture

    2. System Architecture System Architecture ............................2-1 Communication system architecture ....................2-2 Control system architecture ........................ 2-2 2.2.1 Definition of linear/yaw axis ....................2-2 2.2.2 Definition of linear/yaw axis direction ..................2-3...

  • Page 8: Communication System Architecture

    2.1 Communication system architecture Connect CN8 via the cable (refer to “E1 Series Servo Drive User Manual”) and establish communication system (refer to section 3.2). In communication system, the relationship of master and slave exists in the two servo drives.

  • Page 9: Definition Of Linear/Yaw Axis Direction

    MD22UE01-1910 E1 Series Servo Drive Gantry Control System User Manual System Architecture 2.2.2 Definition of linear/yaw axis direction Definition of linear axis direction  The linear positive direction of single axis moving part is the positive direction of linear axis.
  • Page 10 MD22UE01-1910 E1 Series Servo Drive Gantry Control System User Manual System Architecture (This page is intentionally left blank.) HIWIN MIKROSYSTEM CORP.

  • Page 11: Setting Procedure

    3. Setting Procedure Setting Procedure ............................3-1 Single axis setting ..........................3-2 Establish communication system ......................3-2 Confirmation before activating gantry control system ................. 3-4 Activate gantry control system ......................3-4 Homing procedure..........................3-5...

  • Page 12: Single Axis Setting

    3.1 Single axis setting Gantry mode must drive the servo drives and the motors of both axes. Therefore, respectively execute single-axis initialization based on “E1 Series Servo Drive Thunder Software Operation Manual”. The setting procedure is shown as below. Connect to master servo drive and execute single-axis initialization.
  • Page 13 MD22UE01-1910 E1 Series Servo Drive Gantry Control System User Manual Setting Procedure Build up the relationship of master and slave. Connect to the left servo drive in figure 3.2.1 and set Pt00D = 0x1 (define it as master). Reboot the left servo drive to make it become effective.

  • Page 14: Confirmation Before Activating Gantry Control System

    MD22UE01-1910 E1 Series Servo Drive Gantry Control System User Manual Setting Procedure 3.3 Confirmation before activating gantry control system Before activating gantry control system, double check some parameters and the resolution. The setting procedure is shown as below. Ensure some Pt parameters of both axes are the same.

  • Page 15: Homing Procedure

    After entering gantry mode, both axes are viewed as single linear system. Therefore, homing methods applied in single axis control system (refer to “E1 Series Servo Drive User Manual” for the description) are applicable for gantry control system. The setting procedure is shown as below.
  • Page 16 MD22UE01-1910 E1 Series Servo Drive Gantry Control System User Manual Setting Procedure Overtravel (P-OT or N-OT) signal received by master and slave servo drive can only be triggered in linear servo drive. Therefore, triggering any axis’ overtravel signal satisfies the triggering overtravel signal procedure of homing.

  • Page 17: Gain Tuning

    4. Gain Tuning Gain Tuning ..............................4-1 Single axis gain tuning ........................4-2 Gantry control gain tuning ........................4-2 Current ratio parameter ........................4-3 Velocity ripple compensation ......................4-3...

  • Page 18: Single Axis Gain Tuning

    4.1 Single axis gain tuning When to use: Before entering gantry mode, users want to move the motor by driving single axis. In this case, the target is to make it stable. Refer to “E1 Series Servo Drive User Manual” for the setting method.

  • Page 19: Current Ratio Parameter

    MD22UE01-1910 E1 Series Servo Drive Gantry Control System User Manual Gain Tuning 4.3 Current ratio parameter In gantry control system, a connection relationship exists in the structure of the two axes. Excessive force from yaw axis may cause damage to the stage. To ensure yaw axis’ force limit, users can set linear axis’...
  • Page 20 MD22UE01-1910 E1 Series Servo Drive Gantry Control System User Manual Gain Tuning (This page is intentionally left blank.) HIWIN MIKROSYSTEM CORP.

  • Page 21: Safety Protection Function

    5. Safety Protection Function Safety Protection Function ..........................5-1 Enable/Disable axes in gantry control system ..................5-2 Motor stopping method for alarm ......................5-2 Relevant alarms ..........................5-2...

  • Page 22: Enable/Disable Axes In Gantry Control System

    MD22UE01-1910 E1 Series Servo Drive Gantry Control System User Manual Safety Protection Function Incorrectly operating gantry control system may cause damage to the stage. For safety, pay attention to the following features before entering gantry mode. 5.1 Enable/Disable axes in gantry control system After entering gantry mode, both axes are viewed as single linear system, and master axis is in the position of control.
  • Page 23 MD22UE01-1910 E1 Series Servo Drive Gantry Control System User Manual Safety Protection Function In gantry control interface, clearing the error or entering alarm reset input (ALM-RST) signal in master axis window represents clearing the error of both axes. AL.FC1 Slave axis error in gantry control system ...
  • Page 24 MD22UE01-1910 E1 Series Servo Drive Gantry Control System User Manual Safety Protection Function (This page is intentionally left blank.) HIWIN MIKROSYSTEM CORP.

  • Page 25: Advanced Setting

    6. Advanced Setting Advanced Setting ............................. 6-1 Error map ............................6-2...

  • Page 26: Error Map

    The usage is similar to that of single axis. The sources are from linear axis’ original positions, and the position of linear axis will be compensated. The setting procedure is shown as below. Set up linear axis’ error map and save it to master servo drive (refer to “E1 Series Servo Drive Thunder Software Operation Manual”).

  • Page 27: Gantry Control Interface Setting

    7. Gantry Control Interface Setting Gantry Control Interface Setting ........................7-1...
  • Page 28 MD22UE01-1910 E1 Series Servo Drive Gantry Control System User Manual Gantry Control Interface Setting Here takes linear motor as an example to show the setting of gantry control interface. Step 1. Presetting of gantry control (refer to section 3.1 to 3.3) Open Gantry control system window Step 2.
  • Page 29 MD22UE01-1910 E1 Series Servo Drive Gantry Control System User Manual Gantry Control Interface Setting Step 4. Start gantry control (1) Click Activate button, and wait for the status light of Gantry mode to light up in green. (2) When it succeeds, the label of Master and Slave will become Linear and Yaw.
  • Page 30 MD22UE01-1910 E1 Series Servo Drive Gantry Control System User Manual Gantry Control Interface Setting Step 6. Test run on gantry mode Close Gantry control system window. Click to open Test Run window and observe the synchronous effect on gantry mode with low velocity jog (e.g., 50 mm/s).

This manual is also suitable for:

Ed1s-vg seriesEd1s-eg seriesEd1s-hg series

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