Hiwin D1-N Series User Manual

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Page 1 D1-N Series Servo Drive User Manual www.hiwinmikro.tw...
Page 2 D1-N Series Servo Drive User Manual Revision History Revision History Release Date Version Applicable Product Revision Contents D1N firmware version This user manual is translated from the Chinese  0.819 or later version user manual D1-N 驅動器使用者操作手冊...
Page 3: Table Of Contents
D1-N Series Servo Drive User Manual Table of Contents Table of Contents About this user manual ·············································································································· 1-1 1.1 General precautions ············································································································· 1-2 1.1.1 Risk identification ········································································································ 1-3 1.2 Safety precautions ··············································································································· 1-4 Specifications ·························································································································· 2-1 2.1 Safety certificates and model explanations ················································································ 2-2 2.1.1 Safety certificates ·······································································································...
Page 4 D1-N Series Servo Drive User Manual Table of Contents Servo drive configuration ··········································································································· 5-1 5.1 Installation and communication ······························································································· 5-2 5.1.1 Installing Lightening ···································································································· 5-2 5.1.2 Communication setup ·································································································· 5-3 5.1.3 Main window·············································································································· 5-7 5.2 Configuration center ············································································································· 5-9 5.2.1 Setting parameters of motor ························································································ 5-10 5.2.2 Setting parameters of encoder ·····················································································...
Page 5 D1-N Series Servo Drive User Manual Table of Contents 6.8 Checking encoder signal ····································································································· 6-44 6.9 Error map function ············································································································· 6-45 6.9.1 Setting error map function ·························································································· 6-45 6.9.2 Enabling error map function ························································································ 6-48 6.9.3 Saving and opening error map table ············································································· 6-49 6.9.4 Changing the start position of error map function ·····························································...
Page 6 D1-N Series Servo Drive User Manual Table of Contents 14.3.2 Holding register ···································································································· 14-12 15. Motor power cable shielding and grounding ·················································································· 15-1 15.1 Motor power cable shielding ······························································································· 15-2 15.2 Grounding ······················································································································ 15-4...
Page 7: About This User Manual
1. About this user manual About this user manual ·············································································································· 1-1 1.1 General precautions ············································································································· 1-2 1.1.1 Risk identification ········································································································ 1-3 1.2 Safety precautions ··············································································································· 1-4 HIWIN MIKROSYSTEM Corp.
Page 8: General Precautions
HIWIN is not responsible for any damage, accident or injury caused by incorrect power supply. Ensure the product is used with its rated load. HIWIN is not responsible for any damage, accident or  injury caused by improper usage.
Page 9: Risk Identification
MD17UE01-1906 D1-N Series Servo Drive User Manual About This User Manual 1.1.1 Risk identification Warning Warning When installing or replacing motor power cable, wiring Each motor has its maximum rated load. If the motor is must be correctly performed. Incorrect wiring may lead...
Page 10: Safety Precautions
MD17UE01-1906 D1-N Series Servo Drive User Manual About This User Manual 1.2 Safety precautions Carefully read through this user 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 11 MD17UE01-1906 D1-N Series Servo Drive User Manual About This User Manual Operation  Do not touch the terminals and internal part of the product when power on, or it  may cause electric shock. Do not touch the terminals and internal part of the product within 10 minutes ...
Page 12 Set external wiring for emergency stop to stop the motor at any time.  Maintenance  Do not disassemble or modify the product.   Do not repair the product by yourselves, please contact HIWIN for repair. HIWIN MIKROSYSTEM Corp.
Page 13: Specifications
2.1.1 Safety certificates ······································································································· 2-2 2.1.2 Nameplate information ································································································· 2-3 2.1.3 Model explanation ······································································································· 2-4 2.2 Servo drive specification ······································································································· 2-5 2.2.1 Basic specification ······································································································ 2-5 2.2.2 Dimensions ··············································································································· 2-9 2.3 Installation ······················································································································· 2-11 2.4 System requirements ········································································································· 2-12 HIWIN MIKROSYSTEM Corp.
Page 14: Safety Certificates And Model Explanations
MD17UE01-1906 D1-N Series Servo Drive User Manual Specifications 2.1 Safety certificates and model explanations 2.1.1 Safety certificates D1-N servo drive complies with the following safety standards. Table 2.1.1.1 Certification Standards EN 61800-3: 2004/A1: 2012 (Category C3) Emission Standards CISPR 11: 2015/AMD1: 2016 (Conduction & Radiation)
Page 15: Nameplate Information
MD17UE01-1906 D1-N Series Servo Drive User Manual Specifications 2.1.2 Nameplate information Figure 2.1.2.1 Table 2.1.2.1 Number Description Model number ○ HIWIN part number ○ Serial number ○ Barcode ○ Voltage, phase, rated current, maximum current and frequency ○ CE compliant ○...
Page 16: Model Explanation
MD17UE01-1906 D1-N Series Servo Drive User Manual Specifications 2.1.3 Model explanation Code 10 11 12 13 14 15 16 17 Example Product Name D1-N………..……=D1-N Peak Current 09 A………..………………………….….= 09 18 A…………..………………………..…= 18 36 A……………..…………….………….= 36 90 A…………………………………….…= 90 Communication Interface Standard (without communication interface)…….…= S...
Page 17: Servo Drive Specification
MD17UE01-1906 D1-N Series Servo Drive User Manual Specifications 2.2 Servo drive specification 2.2.1 Basic specification D1-N D1-N-09 D1-N-18 D1-N-36 D1-N-90 230 Vac Voltage 230 Vac (-20%/+15%) (-20%/+15%) Main Power 400 Vac (±10%) Voltage Frequency 50/60 Hz ± 5% Input Power Phase 1 Ø...
Page 18 MD17UE01-1906 D1-N Series Servo Drive User Manual Specifications Voltage Analog ±10 Vdc Force/ Range Input torque Command Resolution 12 bits Mode Command Source Voltage from controller Type Analog or digital differential input, serial input and resolver Operating Voltage +5 Vdc (500 mA)
Page 19 MD17UE01-1906 D1-N Series Servo Drive User Manual Specifications Set servo drive parameters and monitor servo drive status Communication Standard USB 2.0 via computer. I1 ~ I10 input functions can be user-defined. (Optical coupler, Input general-purpose input) Digital Input Input pin: 5 V/1 mA, 24 V/5 mA Two sets of safety inputs.
Page 20 MD17UE01-1906 D1-N Series Servo Drive User Manual Specifications (Input power: 400 Vac) Over Temperature IGBT > 80 C ± 3 • Short circuit between UVW wires Short Circuit • Short circuit between UVW cable and ground (PE) • Internal PWM bridge short circuit...
Page 21: Dimensions
MD17UE01-1906 D1-N Series Servo Drive User Manual Specifications 2.2.2 Dimensions The dimensions and mounting holes of D1-N servo drives are shown in figure 2.2.2.1 to 2.2.2.3. The unit is mm. The diameter of the mounting hole is 4 mm. Figure 2.2.2.1 D1-N-09 and D1-N-18 servo drives...
Page 22 MD17UE01-1906 D1-N Series Servo Drive User Manual Specifications Figure 2.2.2.2 D1-N-36 servo drive Figure 2.2.2.3 D1-N-90 servo drive 2-10 HIWIN MIKROSYSTEM Corp.
Page 23: Installation
MD17UE01-1906 D1-N Series Servo Drive User Manual Specifications 2.3 Installation When the servo drive is installed in an electric box, ensure the servo drive is mounted with conductive screws. The insulating materials, such as paint, on the contact surface of the electric box must be removed for grounding the servo drive through the electric box.
Page 24: System Requirements
MD17UE01-1906 D1-N Series Servo Drive User Manual Specifications 2.4 System requirements Table 2.4.1 1.0 GHz or higher 512 MB or more Hard Disk Space 50 MB or more Communication Port USB communication port Operating System Win 2000, Win XP or Win 7...
Page 25: Operation Principles
3.6 Gain margin and phase margin ······························································································· 3-9 3.6.1 Nyquist plot ··············································································································· 3-9 3.6.2 Bode plot ················································································································ 3-11 3.7 Move and settling ·············································································································· 3-12 3.8 Error compensation ············································································································ 3-13 3.9 Velocity ripple ··················································································································· 3-14 3.10 Enabling ························································································································ 3-15 3.11 Basic physical quantities ··································································································· 3-16 HIWIN MIKROSYSTEM Corp.
Page 26: Operation Mode
MD17UE01-1906 D1-N Series Servo Drive User Manual Operation Principles 3.1 Operation mode D1-N servo drive supports the following operation modes. (1) Position mode (2) Velocity mode (3) Force/torque mode (4) Stand-alone mode Each operation mode will be described in the following sections.
Page 27: Velocity Mode
MD17UE01-1906 D1-N Series Servo Drive User Manual Operation Principles 3.1.2 Velocity mode In velocity mode, the servo drive receives analog commands (or V commands) from controller. The input voltage range is from -10 V to +10 V. The input voltage is transformed into corresponding velocity command to drive the motor.
Page 28 MD17UE01-1906 D1-N Series Servo Drive User Manual Operation Principles (1) Digital type Digital encoder (or incremental encoder) normally outputs TTL RS422 differential signals. TTL RS422 differential signal includes two digital pulses with 90 degrees phase difference. Its resolution definition is shown in figure 3.2.1. The resolution of linear optical scale is usually 1 um.
Page 29: Encoder Signal Output
MD17UE01-1906 D1-N Series Servo Drive User Manual Operation Principles 3.3 Encoder signal output The input signals from encoder are used by the servo drive to perform servo control. When the servo drive is used with controller, the servo drive transmits position or angle signal received from the encoder to the controller.
Page 30: Path Planning
MD17UE01-1906 D1-N Series Servo Drive User Manual Operation Principles 3.4 Path planning Path planning is usually done by controller. The controller calculates suitable motion commands according to the required distance, velocity, acceleration and smooth factor. These commands (Pulse commands or V commands) will be sent from the controller to the servo drive or calculated by the servo drive (Stand-alone mode).
Page 31 MD17UE01-1906 D1-N Series Servo Drive User Manual Operation Principles (3) Acceleration Acceleration is the change in velocity per unit time. Units used for different motion types are as below. Table 3.4.3 Motion Unit Linear Motion um/sec , mm/sec and m/sec...
Page 32: Servo Loops And Servo Gains
MD17UE01-1906 D1-N Series Servo Drive User Manual Operation Principles 3.5 Servo loops and servo gains Servo loops  D1-N servo drive includes three servo loops, current loop, velocity loop and position loop, to control motor. The servo loops of D1-N servo drive are shown in figure 3.5.1. In position mode, all loops are handled by the servo drive.
Page 33: Gain Margin And Phase Margin
MD17UE01-1906 D1-N Series Servo Drive User Manual Operation Principles 3.6 Gain margin and phase margin 3.6.1 Nyquist plot Gain margin (GM) (Unit: db) is the allowable loop gain which can be increased before closed-loop system becomes unstable. Phase margin (PM) is the allowable phase delay which can be increased before closed-loop system becomes unstable.
Page 34 MD17UE01-1906 D1-N Series Servo Drive User Manual Operation Principles j Im ω − Plane Phase crossover ω ω ω ω ← Figure 3.6.1.1 Gain margin (2) Phase margin As figure 3.6.1.2, phase margin is the angle between the straight line passing through gain crossover ω...
Page 35: Bode Plot
MD17UE01-1906 D1-N Series Servo Drive User Manual Operation Principles 3.6.2 Bode plot ω ω Gain crossover ω ( rad sec) Gain margin ω ∠ (deg) Phase margin -180 ω ( rad sec) -270 -360 ω Phase crossover Figure 3.6.2.1 Gain margin and phase margin in Bode plot As figure 3.6.2.2, the bandwidth of Bode plot is at -3 dB.
Page 36: Move And Settling
MD17UE01-1906 D1-N Series Servo Drive User Manual Operation Principles 3.7 Move and settling Motor moves according to the path planned by controller. When motor arrives at target position, it is able to accurately position and stop. This is called move and settling.
Page 37: Error Compensation
MD17UE01-1906 D1-N Series Servo Drive User Manual Operation Principles 3.8 Error compensation Normally the positioning accuracy of a servo drive is decided by encoder. When an encoder cannot meet users’ requirement for accuracy, users may use equipment with higher accuracy level (such as laser interferometer) to measure system error.
Page 38: Velocity Ripple ···················································································································
MD17UE01-1906 D1-N Series Servo Drive User Manual Operation Principles (2) When home offset is set to 100 Home offset Effective range of error compensation = 100 + Position index Servo drive coordinate = 0 Servo drive coordinate = -100 Figure 3.8.3 3.9 Velocity ripple...
Page 39: Enabling
If the servo drive works with incremental encoder, when its power is turned on for the first time, the procedure of finding electrical angle or phase initialization must be done. For HIWIN linear servo motor, electrical angle can be successfully found without moving the motor. Another commonly-used method for phase initialization is by Hall sensor.
Page 40: Basic Physical Quantities
MD17UE01-1906 D1-N Series Servo Drive User Manual Operation Principles 3.11 Basic physical quantities Table 3.11.1 Number Name Description Feedback position Feedback position Reference position Position command Target position Target position Position error Position error Feedback position of single-turn absolute encoder (Only...
Page 41: Wiring
4.7.5 Analog command ······································································································ 4-21 4.8 Safety function (X7, X8) ······································································································ 4-22 4.9 Motor temperature detection (X9) ·························································································· 4-28 4.10 Encoder (X10, X11, X12) ··································································································· 4-28 4.11 EtherCAT/Modbus communication (X13) ·············································································· 4-30 4.12 Accessories of D1-N servo drive ························································································· 4-31 HIWIN MIKROSYSTEM Corp.
Page 42: System Configuration And Wiring
MD17UE01-1906 D1-N Series Servo Drive User Manual Wiring 4.1 System configuration and wiring The system configuration and wiring of the servo drive are described in this section. 4.1.1 System connection The names, functions and specifications of terminals on D1-N servo drive are described in the following figures.
Page 43 MD17UE01-1906 D1-N Series Servo Drive User Manual Wiring Table 4.1.1.1 Item Name Description • 09/18/36A model (L1, L2, L3): Single-phase/Three-phase 230 Vac, 50/60 Hz ○ AC main power (X1) • 90A model (L1, L2, L3): Three-phase 230/380 Vac, 50/60 ○...
Page 44 MD17UE01-1906 D1-N Series Servo Drive User Manual Wiring CAUTION • Wiring and examination must be performed by professional technician. • Turn off the power before wiring or examination to avoid electric shock. • Do not touch power terminals within five minutes after power off. There could be residual voltage in power terminals.
Page 45: Connector Specifications
MD17UE01-1906 D1-N Series Servo Drive User Manual Wiring 4.1.2 Connector specifications D1-N-09/18/36  Table 4.1.2.1 Wire Gauge Connector Specification Manufacturer Note Range 22-12 AWG Connector for AC European standard 4-pin 7.62 mm PHOENIX Suggested: 12 main power cable pluggable connector (Female)
Page 46 MD17UE01-1906 D1-N Series Servo Drive User Manual Wiring D1-N-90  Table 4.1.2.2 Wire Gauge Connector Specification Manufacturer Note Range 20-11 AWG Connector for AC European standard 4-pin 10.16 mm PHOENIX Suggested: 11 main power cable pluggable connector (Female) Part number: 1967472...
Page 47: Main Power (X1)
MD17UE01-1906 D1-N Series Servo Drive User Manual Wiring 4.2 Main power (X1) Ensure the servo drive is properly grounded before connecting to its main circuit. If the power for the servo drive is turned off during operation, the motor will not be disabled immediately, since there is residual power in capacitors.
Page 48 MD17UE01-1906 D1-N Series Servo Drive User Manual Wiring (2) Wiring example Wiring for single-phase filter for D1-N-09/18/36 servo drive For selecting single-phase filter for D1-N-09/18/36 servo drive, B84113H filter (Part number: B84113H0000G120) from TDK (EPCOS) is suggested. Figure 4.2.3 Wiring diagram for single-phase filter (Part number: B84113H0000G120) (Reference: Datasheet of B84113H filter) Table 4.2.3...
Page 49 MD17UE01-1906 D1-N Series Servo Drive User Manual Wiring Table 4.2.4 Filter (Part number: B84143A0020R106) Rated Voltage 520/300 Vac, 50/60 Hz Rated Current 20 A at 50 Leakage Current 3.1 mA (520/300 Vac, 50 Hz) Approval IEC 60939, UL 1283, CSA C22.2 No.8...
Page 50: Regenerative Resistor And Dc Link (X2)
MD17UE01-1906 D1-N Series Servo Drive User Manual Wiring : The largest rated current while using servo drives of different specifications nMAX C: Multiple of rated current (Note: The multiple is usually 1.5 to 2.5. If users are not sure about the multiple, please use 1.5.)
Page 51 MD17UE01-1906 D1-N Series Servo Drive User Manual Wiring Table 4.3.1 Signal D1-N-90 Figure 4.3.2 Connector: PC 16/4-STF-10.16 (1967472) Table 4.3.2 Signal (2) Wiring example D1-N-09/18/36 servo drive Only the internal regenerative resistor (50 Ω/150 W) is used. Figure 4.3.3 Both the internal regenerative resistor and external regenerative resistor are used.
Page 52 MD17UE01-1906 D1-N Series Servo Drive User Manual Wiring Both the internal regenerative resistor and external regenerative resistor are used. (Serial connection) Figure 4.3.5 Only the external regenerative resistor is used. Figure 4.3.6 D1-N-90 servo drive Figure 4.3.7 4-12 HIWIN MIKROSYSTEM Corp.
Page 53: Motor Power (X3)
MD17UE01-1906 D1-N Series Servo Drive User Manual Wiring 4.4 Motor power (X3) The servo drive and motor must be properly grounded. (1) Connector D1-N-09/18/36 servo drive Figure 4.4.1 Connector: PC 5/4-STF-SH1-7, 62 (1778191) Table 4.4.1 Signal D1-N-90 servo drive Figure 4.4.2 Connector: PC16/4-STF-SH-10.16 (1970359) The pin definition is the same as table 4.4.1.
Page 54: Control Power And Brake (X4)
MD17UE01-1906 D1-N Series Servo Drive User Manual Wiring (2) Wiring example Frame Ground D1-N-90 Servo Drive Motor Ground Figure 4.4.3 4.5 Control power and brake (X4) For connecting 24 Vdc control power and brake, please refer to figure 4.1.1.2. When no brake is used, +24 V should be connected to pin +24 V (Pin 1) and 0 V should be connected to pin RTN (Pin 4).
Page 55: Usb Communication (X5)
4.6 USB communication (X5) Connect to PC by mini USB cable (HIWIN USB 2.0 type A to mini-B 5-pin (1.8 M) cable is suggested.) for monitoring, test run, parameter writing, etc. For servo drive operation, please refer to chapter 5.
Page 56 MD17UE01-1906 D1-N Series Servo Drive User Manual Wiring Table 4.7.1 Pin definition of connector for control signals Signal Function Note DC 12 V ~ DC 24 V must be provided. CCWL Differential signal input (4 MHz) Channel 1: Pulse, CW, A phase...
Page 57: Digital Command
MD17UE01-1906 D1-N Series Servo Drive User Manual Wiring Figure 4.7.1 Connector: R-DFMC 1.5/20-STF-3.5 (1790470) 4.7.1 Digital command Optical coupler: HCPL-060L, 5 mA < I < 15 mA, 1.4 V < V < 1.75 V Differential input Figure 4.7.1.1 Single-ended input (With external resistor) Figure 4.7.1.2...
Page 58: Programmable I/O
MD17UE01-1906 D1-N Series Servo Drive User Manual Wiring Single-ended input (Without external resistor) Figure 4.7.1.3 4.7.2 Programmable I/O PNP type: COM is connected to ground (GND). Figure 4.7.2.1 4-18 HIWIN MIKROSYSTEM Corp.
Page 59 MD17UE01-1906 D1-N Series Servo Drive User Manual Wiring NPN type: COM is connected to 24 V. Figure 4.7.2.2 HIWIN MIKROSYSTEM Corp. 4-19...
Page 60: Encoder Output
MD17UE01-1906 D1-N Series Servo Drive User Manual Wiring 4.7.3 Encoder output The encoder output is 5 V differential output. Optical coupler Figure 4.7.3.1 Differential type Figure 4.7.3.2 4-20 HIWIN MIKROSYSTEM Corp.
Page 61: Pt Signal Output
MD17UE01-1906 D1-N Series Servo Drive User Manual Wiring 4.7.4 PT signal output PT signal output is 3.3 V (20 mA) differential output. Figure 4.7.4.1 4.7.5 Analog command Analog command is -10 Vdc ~ +10 Vdc differential signal. The resolution is 12 bits.
Page 62: Safety Function (X7, X8)
MD17UE01-1906 D1-N Series Servo Drive User Manual Wiring 4.8 Safety function (X7, X8) D1-N servo drive supports STO (Safe-Torque-Off) safety function which complies with IEC61800-5-2. Connectors for STO safety function are X7 and X8. When STO safety function is activated by SF1 and SF2 signals, the servo drive stops outputting current to motor.
Page 63 Eff. = 88% 32.4 Vmax  If the desired function (such as motor disabling) cannot be performed after safety inputs are disabled, or STO safety function does not successfully restart after connecting DSF+ and DSF-, please contact HIWIN. HIWIN MIKROSYSTEM Corp. 4-23...
Page 64 MD17UE01-1906 D1-N Series Servo Drive User Manual Wiring Wiring for emergency stop (Motor is not controlled after emergency stop is activated.) Additional safety module is not required for the wiring in figure 4.8.3. When emergency switch is activated, STO safety function is enabled. Then, the servo drive stops outputting current to the motor and the motor will coast to a stop.
Page 65 MD17UE01-1906 D1-N Series Servo Drive User Manual Wiring The formulas of time delay and the required maximum deceleration are as below: (1) Time Delay (T) = (Smooth Factor X 8)/Sampling Rate (2) Maximum Deceleration (Max. dec.) = Speed/T Example: Sampling rate is 16 KHz. Motor speed is 400 mm/s. Smooth factor is 100.
Page 66 MD17UE01-1906 D1-N Series Servo Drive User Manual Wiring Table 4.8.3 Function Logic States High High Safety Input High High Status of STO Safety Function Feedback Contact of STO Safety Function Closed Open The time between activation of SF1 and SF2 inputs and activation of STO safety function is called response time.
Page 67 MD17UE01-1906 D1-N Series Servo Drive User Manual Wiring Timing diagram of deactivating STO safety function Figure 4.8.8 (4) Maintenance plan According to IEC 61508 (High demand mode), the minimum maintenance interval of STO safety function is one year. Table 4.8.4 is provided for your maintenance plan and safety calculation.
Page 68: Motor Temperature Detection (X9)
MD17UE01-1906 D1-N Series Servo Drive User Manual Wiring 4.9 Motor temperature detection (X9) D1-N servo drive is able to monitor motor temperature via PTC resistor or NTC resistor. Figure 4.9.1 Connector: R-MSTB2.5/2-STF (1786831) Table 4.9.1 Signal 4.10 Encoder (X10, X11, X12) D1-N servo drive provides D-Sub high density connectors (15 pins) for encoder feedback.
Page 69 MD17UE01-1906 D1-N Series Servo Drive User Manual Wiring Table 4.10.1 Connector Type Female Female Male Description Digital/Hall Sensor Analog/Serial Resolver Signal Signal Signal SIN+ SIN1+ COS+ COS1+ Index+ SIN2+ +9 Vdc AGND +5 Vdc +5 Vdc +5 Vdc SIN- SIN1-...
Page 70: Ethercat/Modbus Communication (X13)
MD17UE01-1906 D1-N Series Servo Drive User Manual Wiring 4.11 EtherCAT/Modbus communication (X13) (1) EtherCAT communication Figure 4.11.1 Table 4.11.1 Signal Function Data transmission (Positive) Data transmission (Negative) Data reception (Positive) EtherCAT Gnd EtherCAT signal ground EtherCAT Gnd EtherCAT signal ground...
Page 71: Accessories Of D1-N Servo Drive
MD17UE01-1906 D1-N Series Servo Drive User Manual Wiring 4.12 Accessories of D1-N servo drive (1) Motor power cable Linear motor Table 4.12.1 Product Name Model Description Applicable linear motor: LMS, LMSA, LMC-EFE and LMC-EFF Supports over temperature signal. LMACSU D-type connector...
Page 72 MD17UE01-1906 D1-N Series Servo Drive User Manual Wiring  stands for cable length. (Unit: m) The conversion table is as below. Table 4.12.2  Cable Length Torque motor Table 4.12.3 Product Name Model Description Applicable for torque motor: TMS, TMN and TMX Motor Power Cable LMACSR...
Page 73 MD17UE01-1906 D1-N Series Servo Drive User Manual Wiring (2) Feedback signal cable Linear motor Table 4.12.7 Product Name Model Description D-type connector for motor LMACFC For digital reader Signal of Hall sensor is not supported. D-type connector for motor LMACFD For digital reader Supports signal of Hall sensor.
Page 74 MD17UE01-1906 D1-N Series Servo Drive User Manual Wiring Torque motor Table 4.12.9 Product Name Model Description For JENA encoder LMACFL Applicable torque motor: TMS and TMNE Supports over temperature signal. For JENA encoder LMACFG Applicable torque motor: TMNEH Supports over temperature signal and signal of Hall sensor.
Page 75 MD17UE01-1906 D1-N Series Servo Drive User Manual Wiring Table 4.12.12  Cable Length (3) Control signal cable Table 4.12.13 Product Name Model Description Control Signal Signal cable for connecting to controller LMACKF Cable With bare wires at both ends which can be soldered by users ...
Page 76 MD17UE01-1906 D1-N Series Servo Drive User Manual Wiring Product Name Model Description Part Number Qty. Hose clamp 060502600002 R-25 mm (Min.) - 40 mm (Max.) Hose clamp 060502600003 R-10 mm (Min.) - 16 mm (Max.) Connector for AC main power cable 051500400342 4 pin, pitch 10.16 mm...
Page 77 MD17UE01-1906 D1-N Series Servo Drive User Manual Wiring (6) Regenerative resistor Table 4.12.18 Product Name Part Number Description 68 Ω 050100700001 Rated power: 100 W Instantaneous power: 500 W 120 Ω 050100700009 Rated power: 300 W Instantaneous power: 1,500 W Regenerative Resistor 50 Ω...
Page 78 MD17UE01-1906 D1-N Series Servo Drive User Manual Wiring (This page is intentionally left blank.) 4-38 HIWIN MIKROSYSTEM Corp.
Page 79: Servo Drive Configuration
5.8.1 Save parameters to Flash ··························································································· 5-64 5.8.2 Set parameters to factory default ·················································································· 5-64 5.9 Setting operation mode via Lightening ···················································································· 5-66 5.9.1 Position mode ·········································································································· 5-66 5.9.2 Velocity mode ·········································································································· 5-68 5.9.3 Force/torque mode ···································································································· 5-70 5.9.4 Stand-alone mode ···································································································· 5-71 HIWIN MIKROSYSTEM Corp.
Page 80: Installation And Communication
After the setup folder is downloaded, click on setup file (setup.exe) to install Lightening. The default installation path is“C:\HIWIN\”, please do not change the path. The installation window is as figure 5.1.1.2. Click on Start button to start installation. When installation finishes, a message dialog will appear as figure 5.1.1.3.
Page 81: Communication Setup
Section 5.1.2 will introduce how to set up USB communication and mega-ulink communication. For CoE communication, please refer to HIWIN CoE Drive User Guide. While using USB communication and CoE communication, it is suggested to use supported network controllers of Beckhoff. (Refer to: https://infosys.beckhoff.com/english.php?content=../content/1033/tcsystemmanager/reference/ethercat/h...
Page 82 MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration Note: If the hardware versions of D1-N mega-ulink and CoE models are A7, please use firmware versions D1N MDP 0.809 and D1NCOE MDP 0.514 or later version. (1) USB communication Connect to the servo drive via mini USB cable and turn on the control power before opening Lightening.
Page 83 MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration Figure 5.1.2.2 (2) mega-ulink communication While using mega-ulink communication for the first time, please download and install WinPcap. After the installation of WinPcap completes, click on Tools and select Communication setup… to open lightening Communication Setup window.
Page 84 MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration Figure 5.1.2.3 EtherCat set up window appears as figure 5.1.2.3. All the network cards of the PC will be shown in the window. Select the network card in use and close EtherCat set up window. Then click on Apply button in lightening Communication Setup window.
Page 85: Main Window
MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration Figure 5.1.2.6 5.1.3 Main window After connection is established, the main window of Lightening is shown as figure 5.1.3.1. Right click on the axis and select Rename to change axis name, or directly click on the axis to change axis name.
Page 86 MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration : Load parameters from file (PRM file) to the servo drive RAM. If dual loop function is set, phase initialization must be performed again after parameters are loaded. : Save parameters from the servo drive RAM to Flash.
Page 87: Configuration Center
MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration 5.2 Configuration center When using a new servo drive, motor or hardware component such as optical scale, related parameters must be set in Configuration center based on actual application. Click on on the toolbar or select Configuration center from Conf./Tune to open Configuration center.
Page 88: Setting Parameters Of Motor
Servo Drive Configuration Note: If HIWIN torque motor is used, encoder parameters of the torque motor will be automatically set after the model is selected. If HIWIN linear motor is used, linear digital 1 um encoder will be automatically selected.
Page 89 Figure 5.2.1.1 (2) Linear motor Motor parameters Select the model of HIWIN linear motor to display and set motor parameters. Operation parameter Moving mass: Set the load mass of motor, including forcer and its housing. (Unit: Kg) HIWIN MIKROSYSTEM Corp.
Page 90 Figure 5.2.1.3 (3) Torque motor Motor parameters Select the model of HIWIN torque motor to display and set motor parameters. Operation parameters Total moment of inertia  Moment of inertia of torque motor (rotor included)(Unit: Kg*m Belt feed constant ...
Page 91 Figure 5.2.1.4 (4) Customized motor Input motor parameters of motors other than HIWIN standard models. For linear motor, click on Linear in figure 5.2.1.5 and click on Customized Linear. Input necessary parameters according to the motor specification. After parameters are set, parameter settings can be saved as file (*.mot) and be loaded anytime.
Page 92 MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration • Torque Constant Force or torque per unit current (Unit: N/A_amp, N/A_rms, Nm/A_amp and Nm/A_rms) • Resistance (Line-Line) Resistance among coils (Unit: Ohm) • Inductance (Line-Line) Inductance among coils (Unit: mH) •...
Page 93: Setting Parameters Of Encoder
5.2.2.1. In this page, users are able to set encoder types and parameters. The parameters of the encoders of HIWIN motors are already listed. Users can also input parameters of other encoders. For instance, while using analog optical scale, click on Linear and select Customized Linear Analog. Input parameters according to the encoder specification.
Page 94 HIWIN standard encoder (1) Linear-digital encoder For instance, the resolution of the digital magnetic scale PM-B-XX-XD-S-XX from HIWIN or the digital optical scale RGH41X series from Renishaw is 1 um. If one of them is used, select Linear and Digital 1um in the area shown in figure 5.2.2.1. If the desired resolution setting cannot be found, users are allowed to input encoder information by themselves.
Page 95 5.2.2.1, select Rotary and Analog 3600 periods 0.3 arc sec. The specifications of rotary analog encoders used by HIWIN TMS series are shown in table 5.2.2.1.1. If other multiplier factor or resolution is required, users are allowed to input encoder information by themselves or select other selection.
Page 96 MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration Figure 5.2.2.1.1 D1-N servo drive supports dual loop control. The supported linear and rotary encoders are listed in table 5.2.2.1.2. In the setting page shown in figure 5.2.2.1.2, digital AqB encoder is used.
Page 97 MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration Figure 5.2.2.1.3 Figure 5.2.2.1.4 Figure 5.2.2.1.5 When EnDat 2.1 encoder is used, users are able to decide whether to use sin/cos signal to increase resolution. The setting page is shown as figure 5.2.2.1.6.
Page 98 MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration 5.2.2.2 User-defined encoder setting (1) Linear-digital encoder Set encoder resolution in Encoder resolution field. The unit can be um/count or nm/count. Figure 5.2.2.2.1 (2) Linear-analog encoder Set the grating period of the analog encoder signal and multiplier factor. The setting value of multiplier factor must be integer multiple of eight.
Page 99 MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration (4) Rotary-analog encoder Set the resolution per revolution (Unit: grating period/rev). The setting value of multiplier factor must be integer multiple of eight. The maximum setting value is 60,000. After multiplier factor is set, the interpolated resolution (Unit: counts/rev) will be automatically calculated and displayed.
Page 100 MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration (2) Emulated encoder output When emulated encoder output is selected, the signals received from the encoder will be scaled before the signals are output to the controller. If the scaling is set to 1:1, the signals will be directly output to the controller according to the adopted encoder and resolution setting.
Page 101 MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration (3) Output emulated Z-phase signal to controller When the bandwidth of the controller is unable to receive Z-phase signal, Emulated index radius and Emulated index jitter filter can be set to enlarge the output range of Z-phase signal to prevent the controller from missing Z-phase signal.
Page 102: Setting Hall Sensor
MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration Output of emulated Z-phase signal This function can only be used with AC servor motor or direct drive motor. When Emulated Index Output in every revolution is not selected ...
Page 103: Setting Operation Mode
MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration It is not suggested to use Hall phase check function for application of short travel distance (within two pole pitches). Selecting Hall sensor type Figure 5.2.3.1 5.2.4 Setting operation mode The setting page for operation mode is shown as figure 5.2.4.1.
Page 104 MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration Setting operation mode Parameter setting area Figure 5.2.4.1 (1) Position mode For controller which only sends pulse commands, select position mode to receive pulse commands from the controller. The closed-loop control is handled by the servo drive. D1-N servo drive supports three pulse types and two signal types.
Page 105: Setting Servo Drive
MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration setting page in figure 5.2.4.3. Set 1 V equals what velocity in mm/s (linear motor) or rpm (rotary motor). If a negative value is set for Scaling, the motor moves in reverse direction.
Page 106 MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration Figure 5.2.5.1 Table 5.2.5.1 Item Specification Main Power 24 Vdc 48 Vdc 110 Vac 230 Vac 400 Vac Frequency 0 Hz 50/60Hz Phase 1 Ø/3 Ø 3 Ø Voltage Threshold of Activating...
Page 107: Modbus Communication Setting
MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration 5.2.6 Modbus communication setting The setting page for Modbus communication is shown in figure 5.2.6.1. The setting page only shows when the connected servo drive supports Modbus module. Figure 5.2.6.1 (1) Modbus slave address Set the slave address for Modbus communication.
Page 108: Saving Configuration
MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration 5.2.7 Saving configuration After the settings described in sections 5.2.1 to 5.2.5 are completed, click on OK button. Then the page in figure 5.2.7.1 will appear and display the parameters of previous setting and current setting. Ensure the parameters are correct and click on Send to RAM button to save these parameters to the servo drive RAM.
Page 109: Auto Phase Center
This mode is selected when digital Hall sensor is used. Digital Hall sensor must be set in Configuration center, please refer to section 5.2.3. Since Hall test/run is not required when HIWIN standard torque motor with Hall sensor is used, step 5 Hall will not appear in Auto phase center.
Page 110 MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration (2) Phase initialization mode: SW method 1 When SW method 1 is used, Hall sensor is not needed and the motor only needs to move for a small distance to complete phase initialization. Two parameters, st_cg and st_vpg, must be adjusted before using SW method 1, please refer to chapter 10.
Page 111: Inspection Before Auto Phase Initialization
MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration Figure 5.3.3 Phase initialization mode: STABS (4) Phase initialization mode: LSWIR This mode is for less-wire incremental encoder with built-in Hall sensor (The ninth code of motor model is 5, such as FRLS4020506A.). Phase initialization can be completed without tuning and additional wiring.
Page 112: Operating Procedures For Auto Phase Initialization
MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration (6) Set and confirm the current setting for enabling. Set the required current (Unit: ampere (A)) for test run in SM mode in Current (SM mode) field. The setting value should be just enough for motor to move and does not exceed the default setting value which is 95% of the continuous current of the motor.
Page 113 MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration Step Figure Description Check the definition of motion direction: If the moving direction is inconsistent with what the users have defined as forward or reverse direction, click on TD button to reverse the definition of motion direction.
Page 114 MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration The operating procedure of phase initialization mode LSWIR is as below.  Step Figure Description Setting phase initialization mode: When the ninth code of the motor model is 5, phase initialization mode is automatically set to LSWIR.
Page 115 MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration Figure 5.3.2.1 Phase initialization mode: STABS  Click on Tune button in 5. STABS test/tune to open STABS test/tune window and click on Start button. The servo drive starts to output current to drive the motor. After the motor stops, a message will appear to indicate the tuning has completed.
Page 116: Precautions For Auto Phase Initialization
MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration 5.3.3 Precautions for auto phase initialization (1) The current for enabling Pay attention to the following when setting the value in Current (SM mode) field of Auto phase center. The current must be less than 95% of the continuous current of the motor. If users are not sure ...
Page 117: I/O Setting
MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration 5.4 I/O setting 5.4.1 Digital inputs Click on on the toolbar to open I/O center. The servo drive supports 11 digital inputs (I1 to I10 and OT). Digital inputs I1 to I10 locate on connector X6. OT locates on connector X9 for motor over temperature.
Page 118 MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration Figure 5.4.1.2 Table 5.4.1.1 Input functions Abbr. Input Function Description Trigger Method Enable or disable axis. Axis enable Level triggered Digital input I1 (Cannot be changed) Left hardware limit Left limit switch...
Page 119 MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration Table 5.4.1.2 Supported input functions in each operation mode Not CoE Model CoE Model Operation Mode Position Velocity Force/torque Stand-alone Stand-alone Input Function Mode Mode Mode Mode Mode Axis enable ∆...
Page 120 MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration Input Function Clear Error Applicable Operation Mode Abbr. Default Input None Wiring Diagram Refer to section 4.7.2. Function  Clear error. Description  When the input set for clearing error is from OFF to ON, error will be cleared.
Page 121 MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration Input Function Switch To Secondary Mode Applicable Operation Mode Abbr. Default Input None Wiring Diagram Refer to section 4.7.2. Function  Use I/O signal from the controller to switch to secondary operation mode.
Page 122 MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration Electronic Gear Select Input Function Applicable Operation Mode (DIV1, DIV2) Abbr. DIV1, DIV2 Default Input None Wiring Diagram Refer to section 4.7.2. Function  This input function is used to switch among four sets of electronic gear ratios.
Page 123 MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration Input Function Invert V Command Applicable Operation Mode Abbr. INVC Default Input None Wiring Diagram Refer to section 4.7.2. Function  Invert analog command sent from the controller. Description ...
Page 124 MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration Input Function Switch To Secondary CG Applicable Operation Mode Abbr. Default Input None Wiring Diagram Refer to section 4.7.2. Function  Users are allowed to switch between two common gains (CG).
Page 125: Digital Outputs
MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration 5.4.2 Digital outputs The servo drive provides four sets of programmable digital outputs. Three outputs (O1 to O3) are general-purpose outputs which locate on connector X6. One output (O4) which locates on connector X4 is for brake and can also be used as general-purpose output.
Page 126 MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration (3) Logical value The logical value of each output is displayed. The displayed value can be TRUE or FALSE. (4) Invert output voltage If needed, select Invert state to invert the polarity of output voltage. Please be noted the internal logic value of the servo drive will not be affected.
Page 127 MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration Item Abbr. Output Function Description Normally all the selections in this category are set. Users can Errors also set according to their needs. Warnings Left SW limit Left software limit is triggered.
Page 128 MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration Note: “V” means the output function is supported. Output Function Errors Applicable Operation Mode Abbr. Default Output Wiring Diagram Refer to section 4.7.2. Function  Users are allowed to output error statuses.
Page 129: Setting In-Position Signal
MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration 5.5 Setting in-position signal In a servo system, position error exists between target position and encoder feedback position. The settling period as the motor arrives at the target position is called settling time. After that, the motor goes into target radius.
Page 130 MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration Table 5.5.1 Parameter Description The motor will be regarded as in-position after position error is within the target radius for a specific time Target radius (Deboucne time). The default value is 100 times of encoder resolution.
Page 131 MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration Figure 5.5.2 In-position signal when debounce time is set to 0 ms. (2) From figure 5.5.2, the longest time duration is 1.5 ms. Set debounce time to a value which is slightly larger than 1.5 ms.
Page 132: Homing
MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration 5.6 Homing Click on to go to Application center. The setting page for homing is in Homing tab, as figure 5.6.1. Figure 5.6.1 Homing setting There are four basic parameters for homing.
Page 133 MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration Home offset  (1) Set home offset position as zero position is not selected. If Set home offset position as zero position is not selected, the position of index pulse is regarded as home position.
Page 134 MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration Table 5.6.2 Homing Description Figure Method Homing with negative limit switch index pulse, starting negative direction. Search for negative limit switch at faster speed in negative direction. After the negative limit switch is found, search for index pulse at slower speed in positive direction.
Page 135 MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration Homing with the falling edge of near home sensor signal and left index pulse, starting in positive direction. Search for the falling edge of near home sensor signal at faster speed in positive direction.
Page 136 MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration Homing with the falling edge of near home sensor signal and right index pulse, starting in negative direction. Search for the falling edge of near home senor signal at faster speed in negative direction.
Page 137 MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration Homing with hard stop and right index pulse, starting in negative direction. Search for left hard stop at faster speed in negative direction. After it is found, search for index pulse at slower speed in positive direction.
Page 138 MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration Note: The function of setting home offset as zero position has no function when homing method -4 or -5 is set. In both homing procedures, the motor will stop at the position with home offset and set that position to zero.
Page 139: Position Trigger Function
MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration 5.7 Position trigger function D1-N servo drive provides position trigger (PT) function. (Note: CoE model does not support position trigger function.) When the motor moves to the set position, the servo drive outputs a synchronous pulse signal, as figure 5.7.1.
Page 140 MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration Parameters  Table 5.7.2 Default Maximum Minimum PT Parameter Definition Unit Value Value Value PT.StartPosition Start position of PT signal count PT.EndPosition End position of PT signal count PT.Interval Interval of PT signal output count PT.PulseWidth...
Page 141 MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration Note: The first pulse will be output at the position set by PT.StartPosition. Set PT.StartPosition = 25,000. Pulse may not be output at the position set by PT.EndPosition. Pulse will only be output as start position + intervals = end position.
Page 142: Save Parameters To Flash And Set To Factory Default
MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration 5.8 Save parameters to Flash and set to factory default 5.8.1 Save parameters to Flash Click on (Save parameters from amplifier RAM to Flash) to save current parameters to Flash. The parameters will still be accessible after the servo drive is turned off.
Page 143 MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration Figure 5.8.2.2 Yes button No button Figure 5.8.2.3 If users are using Lightening version 0.186 or later version, click on Tools and select Set amplifier to factory default from the submenu. Set amplifier to factory default window appears as figure 5.8.2.4.
Page 144: Setting Operation Mode Via Lightening
MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration 5.9 Setting operation mode via Lightening 5.9.1 Position mode In position mode, when pulse command is received from the controller, the drive will move the motor for a corresponding distance. For further information of position mode, please refer to section 3.1.1. The setting of position mode should include mode selection, pulse type selection, electronic gear ratio setting and smooth factor setting.
Page 145 MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration (2) Pulse type selection D1-N servo drive supports three pulse types. For more information, please refer to section 3.1.1. For pulse type selection, please refer to below. Table 5.9.1.2 Step...
Page 146: Velocity Mode
MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration After setting electronic gear ratio, go to the setting page of Drive to set the input power of the servo drive, please refer to section 5.2.5. Click on OK button to save the setting to the servo drive RAM.
Page 147 MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration (1) Mode selection For mode selection, please refer to below. Table 5.9.2.1 Step Figure Description After Lightening is opened, click on the icon of Configuration center on the toolbar. Or click on Conf./Tune on the menu bar and select Configuration center.
Page 148: Force/Torque Mode
MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration 5.9.3 Force/torque mode D1-N servo drive is able to transform voltage command into current command. For more information, please refer to section 3.1.3. The setting of force/torque mode should include mode selection and format setting of command input.
Page 149: Stand-Alone Mode
MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration 5.9.4 Stand-alone mode In stand-alone mode, the servo drive will drive the motor by using internal path planning. For more information, please refer to section 3.1.4. The setting of stand-alone mode should include mode selection.
Page 150 MD17UE01-1906 D1-N Series Servo Drive User Manual Servo Drive Configuration (This page is intentionally left blank.) 5-72 HIWIN MIKROSYSTEM Corp.
Page 151: Tuning
6.10.3 Saving and opening signal compensation table ····························································· 6-56 6.11 Compensation function for absolute resolver signal ································································· 6-57 6.11.1 Operational description ···························································································· 6-57 6.11.2 Enabling signal compensation function ········································································ 6-59 6.11.3 Saving and opening signal compensation table ····························································· 6-59 HIWIN MIKROSYSTEM Corp.
Page 152: Status Display And Quick View
MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning 6.1 Status display and Quick view In Lightening, status display and Quick view are two essential tools which allow users to know the status of the servo drive and physical quantities for motion control.
Page 153: Quick View
MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning 6.1.2 Quick view In the main window, there is an area called Quick view as figure 6.1.2.1. Quick view can display three user-defined physical quantities. The values of these physical quantities will be updated for users to observe and analyze the system.
Page 154: Function Keys
MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning 6.1.3 Function keys Function keys F6 and F12 can be used when Lightening is in operation. F6: Move the main window of Lightening to the top.  F12: F12 function key is for emergency stop. Press F12 key to stop motion (Refer to section 3.4.) ...
Page 155 MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning Below is the example of performing test run by point-to-point (P2P) motion. Step Figure Description Click on to enable the motor. Select Set P1 and P2. (If software limits are ○ used, ensure P1 and P2 are within Lower SW limit and Upper SW limit.
Page 156 MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning ○ V max: The maximum value of velocity ripple V min: The minimum value of velocity value V avg: The average value of velocity value ○ Velocity Ripple: Velocity ripple (Refer to section 3.9.) For Relative move, users can set desired travel distance.
Page 157: Scope
MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning factor to have S-curve velocity profile and decrease the value of smooth factor to have T-curve velocity profile. (Refer to section 3.4.) ○ 9 P2P: Point-to-point motion 1 0 Relative move: Relative motion ○...
Page 158 MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning ○ ○ ○ ○ Figure 6.3.1 Scope ○ 1 Physical quantity: Select desired physical quantity to be observed. (Refer to section 3.11.) ○ 2 Unit: Select unit for the selected physical quantity.
Page 159: Data Collection
MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning 6.4 Data collection In addition to observing physical quantities in Scope, users can also use Data collection which provides more options for data capture, advanced graph display and processing function to observe physical quantities.
Page 160 MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning ○ 3 Click on Start button to start Data collection. Click on Stop button to stop Data collection. Click on Graph button and the collected data will be plotted as graph in Plot view.
Page 161: Data Collection Via Pdl Program
MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning 6.4.2 Data collection via PDL program To be more precise on Data collection, users can use Sync function in figure 6.4.1.1 to have more flexible and real-time Data collection then event trigger. Users need to add a program fragment with title label “_RecordSync”...
Page 162: Plot View
MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning 6.5 Plot view Data collected in Data collection window can be plotted as graph. Plot view window provides measurement and calculation functions for analysis. There are five areas in Plot view window: menu bar, toolbar, physical quantity display area, graph display area and timeline scrollbar, please refer to figure 6.5.1.
Page 163 MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning Figure 6.5.1.1 Show or hide physical quantities  Uncheck the checkbox of physical quantity to hide the graph of that physical quantity. For instance, in figure 6.5.1.2, the checkboxes of pos_err and ref_acc are unchecked. Icon in Plot view window is described as below.
Page 164 MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning Zoom in and zoom out functions  Plot view window allows users to zoom in and zoom out on X axis and Y axis. If users would like to observe a certain segment of a graph, they can use reference lines to select the desired segment.
Page 165 MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning Figure 6.5.1.4 Zoom in or zoom out on Y axis  If users would like to zoom in on Y axis, users need to press Ctrl key and left click or press Ctrl key and right click at the same time to show two reference lines (red line and red dotted line) to select a segment, as figure 6.5.1.5.
Page 166 MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning Figure 6.5.1.6 Values will not be automatically updated to fit the graph. Figure 6.5.1.7 dt, 1/dt and dSamp  When the segment is selected by reference lines, three values (dt, 1/dt and dSamp) will be shown below the graph as figure 6.5.1.3.
Page 167: Save And Open File
MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning Display a graph in different channel  To display a physical quantity in a different channel, click and hold on the physical quantity until a dotted line box appears. Then drag the physical quantity to the desired channel.
Page 168: Calculation Functions
MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning 6.5.3 Calculation functions Plot view window provides some calculation functions, such as integration, differentiation, addition and multiplication, etc. Users can directly calculate in Plot view window. Besides, Plot view window also provides the maximum value, the minimum value, ripple calculation and spectrum analysis of physical quantity.
Page 169 MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning Figure 6.5.3.3 Fast Fourier transform (FFT)  Click on to show FFT window as figure 6.5.3.4. Select physical quantity to do fast Fourier transform. Take pos_err as an example here. Click on Run FFT button to generate the graph as figure 6.5.3.5.
Page 170: Advanced Gain Tuning
MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning Natural logarithm  Click on to display the values of X axis in logarithmic form. The function is only available after fast Fourier transform completes. 6.6 Advanced gain tuning Reduced time of move and settling, small position error and smooth velocity are often preferred when performing servo control via servo drive.
Page 171: Filter
MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning 6.6.1 Filter Two filters are provided in the servo drive. They can be set as low-pass filters or notch filters to eliminate high-frequency vibration and deal with resonance frequency to enhance controlling performance.
Page 172 MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning Figure 6.6.1.2 Low-pass filter Notch filter  When resonance frequency (For instance, resonance frequency between 10 to 250 Hz.) occurs and cannot be fixed by modification of mechanism or improvement of design, users can consider using notch filter.
Page 173: Acceleration Feedforward
MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning Automatic resonance suppression filter  Automatic resonance suppression filter (f3) will be automatically set and activated as auto gain tuning completes. If resonance cannot be suppressed by automatic resonance suppression filter (f3) after auto gain tuning, go to Advanced gains window and uncheck the checkbox of Activate f3, as figure 6.6.1.1.
Page 174 MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning Step 4: Record the maximum command current during acceleration. In figure 6.6.2.2, the maximum command current is 16. When the motor starts to move, Scope will be as figure 6.6.2.2. Use the icon indicated in figure 6.6.2.2 to show one physical quantity only.
Page 175: Schedule Gains And Velocity Loop Gain
MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning The position error has decreased to 65 counts. Figure 6.6.2.4 After adding acceleration feedforward gain 6.6.3 Schedule gains and velocity loop gain Schedule gains  A complete motion can be divided into three phases. (Refer to section 3.7)
Page 176 MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning Figure 6.6.3.1 Velocity loop gain (vpg)  Velocity loop gain (vpg) is an internal control parameter of D1-N servo drive. The initial value of velocity loop gain is automatically calculated from the parameters set in Configuration center.
Page 177 MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning Click on Run button to start frequency analysis. The motor will firstly vibrate at low Step 3: frequency and then generate a high-frequency sound. A frequency response graph will appear as figure 6.6.3.3 after completion.
Page 178: Offset Correction For Analog Input
MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning vpg from automatic calculation Reference line Frequency response Figure 6.6.3.4 6.6.4 Offset correction for analog input When using voltage mode, the voltage command sent from the controller could have DC bias. This could distort command and affect performance.
Page 179: Current Loop
MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning 6.6.5 Current loop The gains (Ki and Kp) of current loop are calculated according to the motor parameters and do not need to be adjusted again. However, if the motor parameters are not correctly set, users can use these gains for adjustment.
Page 180 MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning Step 1: Set desired acceleration, deceleration and travel distance. Perform point-to-point (P2P) motion. Step 2: Open Scope and observe position error and reference velocity, as figure 6.6.6.2. Step 3: Click on (Plot view) in Scope window for analyzing waveforms.
Page 181 MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning Right click on the graph to Left click on the graph to select select where the vibration where the motion command occurs. completes. Figure 6.6.6.3 Step 5: Click on in Plot view window to do fast Fourier transform of pos_err, as figure 6.6.6.4.
Page 182 MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning Step 7: Zoom in on the segment of low frequency and record the maximum amplitude of vibration frequency, as figure 6.6.6.6. Input the frequency of low-frequency vibration into the Frequency field in VSF tab of Advanced Step 8: gains window.
Page 183: Friction Compensation
MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning Step 10: After vibration suppression filter (VSF) is enabled, the position error has decreased as the motor stops. Vibration suppression filter (VSF) is disabled. Vibration suppression filter (VSF) is enabled. Figure 6.6.6.8 6.6.7 Friction compensation...
Page 184: Loop Constructor
MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning For how to apply friction compensation, please refer to the instructions below. Step 1: Click on Set scope… button to show Scope window. Set friction compensation in figure 6.6.7.1 to 0. Step 2: Step 3: Set Dwell time to 500 ms.
Page 185: Load/Save File
MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning Figure 6.7.1 Gain tuning Control loops Gain margins and phase margins Filters Spectrum analysis Gain tuning Display adjustment Figure 6.7.2 6.7.1 Load/save file When using Loop constructor to analyze control system, the control system and gains must be loaded first.
Page 186 MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning Figure 6.7.1.1 After analyzing control system in Loop constructor, users can save the control system and gains. Click on File on the menu bar and select Save from the submenu. The three saving methods are described as below.
Page 187: Tool
MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning 6.7.2 Tool The spectrum analysis tools of Loop constructor can simulate and analyze the Nyquist plot, Bode plot and Nichols plot of control system. The frequency response of control system can be obtained by using spectrum analysis tools.
Page 188 MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning 6.7.2.2 Nyquist Select Nyquist in Loop constructor window to simulate and analyze the frequency responses of velocity open loop (Vel open loop) and position open loop (Pos open loop) of control system. Check the checkbox of Vel open loop or Pos open loop to simulate and analyze its Nyquist plot.
Page 189 MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning (1) Vel controller (Velocity controller): Frequency response of velocity controller (2) Vel open loop (Velocity open loop): Frequency response of velocity open loop (3) Vel close loop (Velocity close loop): Frequency response of velocity closed loop...
Page 190: Filter
MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning Figure 6.7.2.4.1 Nichols plots of velocity open loop and position open loop 6.7.3 Filter Two filters are provided for the control loop of the servo drive to deal with high-frequency noise, machine vibration or insufficient structural stiffness.
Page 191 MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning Figure 6.7.3.1.1 Low-pass filter 6.7.3.2 Notch filter When resonance frequency occurs and cannot be fixed by modification of mechanism or improvement of design, users can consider using notch filter. Figure 6.7.3.2.1 shows the Bode plot of notch filter. Modify the parameters of filter (fr and xi) to simulate how the filter affects the frequency response of the control system.
Page 192: Gain Tuning
MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning Figure 6.7.3.2.1 6.7.4 Gain tuning Loop constructor allows users to adjust velocity loop gains (vpg and vig), position loop gain (ppg) and common gain (CG) to simulate the stability of the control system after gain tuning.
Page 193: Spectrum Analysis
MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning Velocity loop  The gains of velocity loop are vpg and vig. vpg is the proportional gain of velocity loop. vig is the integral gain of velocity loop. (1) vpg: Adjusting vpg will affect the transient response of velocity loop and increase the bandwidth of velocity loop.
Page 194: Checking Encoder Signal
MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning 6.8 Checking encoder signal Encoder provides the servo drive with information such as position and angle to complete servo loop control. Users can check if the encoder signal is normal or not via Lightening.
Page 195: Error Map Function
MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning Checking index signal  Use Index indicator in figure 6.8.1 or 6.8.2 to check if the Z-phase signal of the encoder is normal. Index indicator becomes green as the servo drive receives Z-phase signal.
Page 196 MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning Load Error map table from Flash Save Error map table to Flash Compare Error map table in Flash Open/Save file Error Error map curve Figure 6.9.1.1 Error map page Step 2: Set Interval and Total points. Input the errors into the fields of Error. Users are allowed to use different units.
Page 197 MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning The smallest digit of displayed accuracy is in third decimal place. Please select appropriate units for Position and Error. When using Error map function with torque motor, no matter how many revolutions the torque motor has run for, as long as the position is the same, the compensation value is the same.
Page 198: Enabling Error Map Function
MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning 6.9.2 Enabling error map function After Error map table is set in the servo drive, the servo drive is able to compensate the errors after homing. D1-N servo drive provides two ways of homing, please refer to below.
Page 199: Saving And Opening Error Map Table
MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning 6.9.3 Saving and opening error map table The error compensation values set in Error map window can be saved as file and that file can be opened in Error map window again, as figure 6.9.3.1. As described in section 6.9.1, select Send table to flash from the submenu of Flash to save Error map table to the servo drive Flash.
Page 200 MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning Figure 6.9.4.1 Note: To compensate the errors in negative direction, input the stop point in Start position field and set the interval in Interval field. For instance, input -1000 in Start position field, 100 in Interval field and 11 in Total points field.
Page 201 MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning Table 6.9.4.2 Home Start Effective Range Offset Position Home offset Effective range = 100 + Position index Servo drive coordinates = -100 Servo drive coordinates = 0 Effective range Home offset = -100...
Page 202 MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning (4) When home offset ≠ 0 and start position ≠ 0 When home offset and start position are both not zero, the effective range of Error map function varies with start position. It does not vary with home offset.
Page 203 MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning Home Start Effective Range Offset Position Home offset = Start position = -50 Effective range + Position index Servo drive coordinates = 0 Servo drive coordinates = -100 Home offset Start position...
Page 204: Compensation Function For Resolver Signal ·············································································
MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning Home Start Effective Range Offset Position Home offset = -100 Start position = -50 Effective range -100 + Position index Servo drive Servo drive coordinates = 100 coordinates Home offset Effective range...
Page 205: Operational Description
MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning 6.10.1 Operational description To enable signal compensation function for resolver signal, please refer to below. Step 1: Open Application center. Select Advanced from the submenu of View on the menu bar. Resolver tab appears as figure 6.10.1.1.
Page 206: Enabling Signal Compensation Function
MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning Figure 6.10.1.2 Step 4: Check the checkbox of Step 5: Save the signal compensation table to Flash, please refer to step 4 to step 6 of setting Error map function in section 6.9.1.
Page 207: Compensation Function For Absolute Resolver Signal
MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning 6.11 Compensation function for absolute resolver signal The compensation table for absolute resolver signal is set for users and needs to be reset only when the servo drive or motor is changed. Before resetting the compensation table for absolute resolver signal, please initialize the absolute resolver first.
Page 208 MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning Click on Check Resolver Data button in figure 6.11.1.2. If the check is OK, Data check window Step 6: appears as figure 6.11.1.3. If not, Error window appears as figure 6.11.1.4 and please repeat step 5.
Page 209: Enabling Signal Compensation Function
MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning Step 7: Go to the main window of Lightening and click on to save parameters to Flash. Step 8: Save the signal compensation table to Flash, please refer to step 4 to step 6 of setting Error map function in section 6.9.1.
Page 210 MD17UE01-1906 D1-N Series Servo Drive User Manual Tuning (This page is intentionally left blank.) 6-60 HIWIN MIKROSYSTEM Corp.
Page 211: Lcd Display
7. LCD display LCD display ···························································································································· 7-1 7.1 LCD panel ························································································································· 7-2 7.2 LCD display description ········································································································ 7-2 HIWIN MIKROSYSTEM Corp.
Page 212: Lcd Panel
MD17UE01-1906 D1-N Series Servo Drive User Manual LCD Display 7.1 LCD panel Axis name Display Keys Figure 7.1.1 LCD panel Table 7.1.1 Function description Name Function Displays servo drive status, error or warning message and axis Display name. Displays axis name and error or warning message. Axis name can Axis name be modified in Lightening, please refer to section 5.1.3.
Page 213 MD17UE01-1906 D1-N Series Servo Drive User Manual LCD Display AXIS DSB AXIS RDY AXIS DSB AXIS RDY Error occurs. Error occurs. Warning occurs. Warning occurs. E01SHOR ERR E01 W01SWLL WRN W01 (a) Abbreviations of error message and warning message (b) Error code and warning code Figure 7.2.1...
Page 214 MD17UE01-1906 D1-N Series Servo Drive User Manual LCD Display Table 7.2.3 Abbreviation of Warning Code Warning message in Lightening Warning Message W01SWLL WRN W01 Left SW limit W02SWRL WRN W02 Right SW limit W03HWLL WRN W03 Left HW limit W04HWRL...
Page 215: Protection Function
8.4.2 Software limit protection ······························································································· 8-8 8.5 Over temperature protection ·································································································· 8-9 8.5.1 Motor over temperature protection ·················································································· 8-9 8.5.2 Software over temperature protection ············································································ 8-10 8.5.3 Servo drive over temperature protection ········································································ 8-10 8.6 Overvoltage protection ········································································································ 8-10 HIWIN MIKROSYSTEM Corp.
Page 216: Motion Protection
MD17UE01-1906 D1-N Series Servo Drive User Manual Protection Function 8.1 Motion protection Motion protection limits or specifies the maximum speed, maximum acceleration, maximum deceleration and deceleration of emergency stop of motor. When the requested speed or acceleration is too high, motion protection will be activated to constrain motion by values set for motion protection.
Page 217 MD17UE01-1906 D1-N Series Servo Drive User Manual Protection Function Table 8.1.2 Parameter Description Default Setting Set the maximum speed of motor during Linear motor: 100 mm/s Speed motion. Torque motor: Rated speed Set the maximum acceleration of motor Linear motor: 1/10 × (K ×...
Page 218 MD17UE01-1906 D1-N Series Servo Drive User Manual Protection Function (2) Cancel speed, acceleration and deceleration limits In position mode, when smooth factor is set to 0, it means speed, acceleration and deceleration limits are cancelled. At this time, the motor moves exactly according to the path planned by the controller.
Page 219: Position And Velocity Error Protection
MD17UE01-1906 D1-N Series Servo Drive User Manual Protection Function Reference velocity 100% Before filter After filter Time Acceleration time Filter time constant Deceleration time Figure 8.1.3 8.2 Position and velocity error protection 8.2.1 Position error limit In servo control, position error inevitably exists. Position error increases as motor moves, or due to other reasons such as friction from bearings or linear guideways, tight winding or cable tray, intrusion of foreign matter, reach of hard stop, abnormal encoder, interference, etc.
Page 220: Position Error Warning And Velocity Error Warning
MD17UE01-1906 D1-N Series Servo Drive User Manual Protection Function When using models which support dual loop control, users are allowed to set hybrid deviation error in Protection tab of Protection center to prevent excessive error from causing unstable velocity loop or position loop.
Page 221 MD17UE01-1906 D1-N Series Servo Drive User Manual Protection Function Step 1: When the servo drive receives disabling command, the brake engages after the delay time set in delMaxEnToBrk. If the velocity of the motor is less than the value set in vel_stop, the brake also engages.
Page 222: Limit Protection
MD17UE01-1906 D1-N Series Servo Drive User Manual Protection Function 8.4 Limit protection 8.4.1 Hardware limit protection D1-N servo drive supports hardware limit protection. Hardware limit usually means the photoelectric switch or micro switch installed on positioning platform to specify travel distance. Hardware limit switch is usually a normally-closed sensor.
Page 223: Over Temperature Protection
MD17UE01-1906 D1-N Series Servo Drive User Manual Protection Function to go to Protection center and select Protection tab. Software limits can be set in the setting Click on area of Limits. Check the checkbox of Enable SW limit to set software limits. Software limit protection can be enabled by checking the checkbox of Enable SW limit in Performance center.
Page 224: Software Over Temperature Protection
380 Vdc. For D1-N-90 servo drive, the voltage threshold for activating regenerative resistor is 735 Vdc; the voltage threshold for deactivating regenerative resistor is 695 Vdc. Regenerative resistors used in HIWIN standard products are listed in table 8.6.1. Connect them parallelly or serially according to your need.
Page 225 MD17UE01-1906 D1-N Series Servo Drive User Manual Protection Function Table 8.6.2 Regenerative Resistor Model 165 ± 2 mm 150 ± 2 mm 40 ± 0.5 mm 5.3 ± 0.5 mm 20 ± 0.5 mm 215 ± 2 mm 200 ± 2 mm 60 ±...
Page 226 MD17UE01-1906 D1-N Series Servo Drive User Manual Protection Function (This page is intentionally left blank.) 8-12 HIWIN MIKROSYSTEM Corp.
Page 227: Errors And Warnings
9.1 Error messages and warning messages ··················································································· 9-2 9.2 Error and warning log ··········································································································· 9-7 9.3 Automatic error handling ····································································································· 9-10 9.4 Troubleshooting ················································································································ 9-11 9.4.1 Status indicator ········································································································ 9-11 9.4.2 Error description and corrective action ··········································································· 9-13 HIWIN MIKROSYSTEM Corp.
Page 228: Error Messages And Warning Messages
MD17UE01-1906 D1-N Series Servo Drive User Manual Errors And Warnings 9.1 Error messages and warning messages If an error occurs, D1-N servo drive will activate protection function and display error message in the area of Last error. If a warning occurs, warning message will be displayed in the area of Last warning.
Page 229 MD17UE01-1906 D1-N Series Servo Drive User Manual Errors And Warnings The errors of D1-N servo drive and their corrective actions are listed in table 9.1.1. Table 9.1.1 LCD Error Error Corrective Action Code Three-phase motor power is short-circuited. Turn off the power of the servo drive and remove the connector of the UVW cable from the servo drive.
Page 230 MD17UE01-1906 D1-N Series Servo Drive User Manual Errors And Warnings LCD Error Error Corrective Action Code Motor over temperature sensor is activated. Motor over E08 M.HOT Check if the sensor is correctly connected and set. temperature Check if all the cables are properly grounded. Improper grounding...
Page 231 MD17UE01-1906 D1-N Series Servo Drive User Manual Errors And Warnings LCD Error Error Corrective Action Code error Check if all the cables are properly grounded. ERR E19 E20ATOPH Phase initialization is not completed yet. Auto phase center not complete error Execute all the procedures in Auto phase center again.
Page 232 MD17UE01-1906 D1-N Series Servo Drive User Manual Errors And Warnings LCD Warning Error Corrective Action Code Current reaches the maximum instantaneous current of motor specification. Error “E05 SWHOT” may occur if this is not solved. Current Limited WRN W08 Then motor will be disabled.
Page 233: Error And Warning Log
MD17UE01-1906 D1-N Series Servo Drive User Manual Errors And Warnings 9.2 Error and warning log When D1-N servo drive detects error or warning, the error or warning will be displayed in the main window of Lightening and will be saved in Errors and Warnings Log, as figure 9.2.1. To prevent users from missing the errors or warnings reported by the servo drive, the errors or warnings occur after power on (24 Vdc) are saved in Errors and Warnings Log.
Page 234 MD17UE01-1906 D1-N Series Servo Drive User Manual Errors And Warnings Figure 9.2.2 Besides, users can double click on the error or warning in Statistics tab to show Help tips window which provides the cause and corrective action of the selected error or warning. For instance, in figure 9.2.3, the cause and corrective action of error “E03 Position error too big”...
Page 235 MD17UE01-1906 D1-N Series Servo Drive User Manual Errors And Warnings Figure 9.2.3 HIWIN MIKROSYSTEM Corp.
Page 236: Automatic Error Handling
MD17UE01-1906 D1-N Series Servo Drive User Manual Errors And Warnings 9.3 Automatic error handling D1-N servo drive is able to report error and warning in Lightening. Normally when an error occurs, users need to perform troubleshooting and then clear the error in Lightening. For convenience and efficiency, Lightening provides an automatic error handling function.
Page 237: Troubleshooting
MD17UE01-1906 D1-N Series Servo Drive User Manual Errors And Warnings 9.4 Troubleshooting 9.4.1 Status indicator The status indicator of D1-N servo drive is indicated in figure 9.4.1.1. Status indicator Figure 9.4.1.1 Table 9.4.1.1 Indicator Servo Drive Status No status +24 Vdc power is not supplied.
Page 238 MD17UE01-1906 D1-N Series Servo Drive User Manual Errors And Warnings Table 9.4.1.2 EtherCAT model Indicator Servo Drive Status No status Initialization (Int) Blinking green (200 ms interval) Pre-Operational (Pre-OP) Blinking green (1000 ms interval) Safe-Operational (Safe-OP) Solid green Operational (OP)
Page 239: Error Description And Corrective Action
MD17UE01-1906 D1-N Series Servo Drive User Manual Errors And Warnings 9.4.2 Error description and corrective action Table 9.4.2.1 Description Error Message Corrective Action Speed or acceleration is Check if the speed, acceleration and deceleration limited when sending set for motion protection in Protection center are too...
Page 240 MD17UE01-1906 D1-N Series Servo Drive User Manual Errors And Warnings Description Error Message Corrective Action The servo drive is overheating. Check if the servo drive is installed in well-ventilated location. Amplifier over Check if the ambient temperature is too high.
Page 241 MD17UE01-1906 D1-N Series Servo Drive User Manual Errors And Warnings Description Error Message Corrective Action The position error is greater Check if the common gain (CG) is too small. than value Open Protection tab in Application center and maximum pos error.
Page 242 MD17UE01-1906 D1-N Series Servo Drive User Manual Errors And Warnings (This page is intentionally left blank.) 9-16 HIWIN MIKROSYSTEM Corp.
Page 243: Advanced Frequency Analysis
Advanced frequency analysis 10. Advanced frequency analysis ···································································································· 10-1 10.1 Advanced frequency analysis ····························································································· 10-2 10.2 Frequency analyzer ·········································································································· 10-3 10.3 SMCL tools ···················································································································· 10-4 HIWIN MIKROSYSTEM Corp. 10-1...
Page 244: Advanced Frequency Analysis ·····························································································
MD17UE01-1906 D1-N Series Servo Drive User Manual Advanced Frequency Analysis 10.1 Advanced frequency analysis Frequency analyzer is used for advanced frequency analysis when the values of vpg and st_vpg calculated by the auto tuning function in section 5.3.2 cannot meet the requirement. Frequency analyzer measures the actual frequency response of the system and calculates the values of vpg and st_vpg according to the application.
Page 245: Frequency Analyzer
MD17UE01-1906 D1-N Series Servo Drive User Manual Advanced Frequency Analysis 10.2 Frequency analyzer When frequency analyzer is opened, its default mode is “Stepper/Dcbl plant”. Click on Run button to measure frequency. It is normal to have sound or vibration when measuring frequency. After the measurement completes, the result will be shown in the display area.
Page 246: Smcl Tools
MD17UE01-1906 D1-N Series Servo Drive User Manual Advanced Frequency Analysis When there are several -20 dB/dec segments in the curve, move the -20 dB/dec cursor to the segment which is closest to the top. Figure10.2.2 10.3 SMCL tools When SW method 1 is selected for phase initialization mode, use SMCL tools to adjust st_cg to minimize the movement when performing phase initialization.
Page 247 MD17UE01-1906 D1-N Series Servo Drive User Manual Advanced Frequency Analysis Execute SMCL test. Open filter setting window. St_cg=0.3, movement 4500 count St_cg=1.3, movement 450 count Figure10.3.1 SMCL parameters  (1) st_cg st_cg is the proportional gain of control loop in SMCL mode. Normally st_cg must be as large as possible, but it is on the premise of not affecting the stability of the system.
Page 248 MD17UE01-1906 D1-N Series Servo Drive User Manual Advanced Frequency Analysis Filters  There are filters in SMCL tools. Users may use the filters according to their requirements. For how to set filters, please refer to section 6.6.1. Display area Buttons Setting parameters of filters Figure10.3.2...
Page 249: Enabling Motor
Enabling motor 11. Enabling motor ······················································································································ 11-1 11.1 Enabling method·············································································································· 11-2 11.2 Checking enabling state from Lightening ··············································································· 11-3 HIWIN MIKROSYSTEM Corp. 11-1...
Page 250: Enabling Method
MD17UE01-1906 D1-N Series Servo Drive User Manual Enabling Motor 11.1 Enabling method Enable motor by controller  Normally motor is enabled by the command sent from controller via input port. Input function Axis enable is set in digital input I1 (section 5.4.1), as figure 11.1.1.
Page 251: Checking Enabling State From Lightening
MD17UE01-1906 D1-N Series Servo Drive User Manual Enabling Motor 11.2 Checking enabling state from Lightening When Hardware enable input indicator in Lightening becomes green, it means enabling signal is received from controller, as figure 11.2.1. Figure11.2.1 Normally motor is enabled by axis enable signal from controller. Pay attention to the following: (1) When Lightening is an active window, pressing F12 key can disable the motor.
Page 252 MD17UE01-1906 D1-N Series Servo Drive User Manual Enabling Motor (This page is intentionally left blank.) 11-4 HIWIN MIKROSYSTEM Corp.
Page 253: Parameter Comparison
Parameter comparison 12. Parameter comparison ············································································································ 12-1 12.1 Comparing the parameters in RAM and Flash ········································································ 12-2 HIWIN MIKROSYSTEM Corp. 12-1...
Page 254: Comparing The Parameters In Ram And Flash
MD17UE01-1906 D1-N Series Servo Drive User Manual Parameter Comparison 12.1 Comparing the parameters in RAM and Flash When motor parameters are modified but have not been saved to the Flash, Compare parameters RAM to FLASH window appears as users are closing Lightening or saving error map parameters to the Flash (Refer to section 6.9.1.), as figure 12.1.1.
Page 255 MD17UE01-1906 D1-N Series Servo Drive User Manual Parameter Comparison The buttons in Compare RAM to flash window are described as below: ○ 1 Save: Save parameter to the drive Flash ○ 2 Close: Close the window. ○ 3 Up: Go to the previous parameter which has different settings in the RAM and Flash.
Page 256 MD17UE01-1906 D1-N Series Servo Drive User Manual Parameter Comparison (This page is intentionally left blank.) 12-4 HIWIN MIKROSYSTEM Corp.
Page 257: Updating Firmware And Loading Pdl
Updating firmware and loading PDL 13. Updating firmware and loading PDL···························································································· 13-1 13.1 Updating servo drive firmware ···························································································· 13-2 13.2 Loading PDL program ······································································································· 13-5 13.3 Updating motor parameters ································································································ 13-7 HIWIN MIKROSYSTEM Corp. 13-1...
Page 258: Updating Servo Drive Firmware
MD17UE01-1906 D1-N Series Servo Drive User Manual Updating Firmware And Loading PDL 13.1 Updating servo drive firmware To update the firmware of the servo drive, click on Tools in the main window of Lightening. Select Upgrade/downgrade firmware from the submenu, as figure 13.1.1. Then window in figure 13.1.2 appears.
Page 259 MD17UE01-1906 D1-N Series Servo Drive User Manual Updating Firmware And Loading PDL In Upgrade/downgrade firmware window, follow the steps below to update firmware. Step 1: Left click on the firmware version to be updated. The selected firmware version will be shown in white text on a blue background.
Page 260 MD17UE01-1906 D1-N Series Servo Drive User Manual Updating Firmware And Loading PDL Yes button Figure13.1.5 Note: If power failure or communication interruption occurs during firmware update, Lightening stays in “Boot mode” and cannot be changed after power is supplied again or communication cable is reconnected, as figure 13.1.6. If this occurs, please contact local distributor.
Page 261: Loading Pdl Program
MD17UE01-1906 D1-N Series Servo Drive User Manual Updating Firmware And Loading PDL 13.2 Loading PDL program Follow the steps provided below to load PDL program to the servo drive. To clear the PDL program in the servo drive, please delete the program codes in user.pdl.
Page 262 MD17UE01-1906 D1-N Series Servo Drive User Manual Updating Firmware And Loading PDL Step 3: After PDL program is loaded or editing program codes is completed, click on (Compile) to show PDL compiler window. Figure13.2.4 (Send to slave) after compilation finishes. Click on Yes button when the dialog...
Page 263: Updating Motor Parameters
MD17UE01-1906 D1-N Series Servo Drive User Manual Updating Firmware And Loading PDL Figure13.2.6 13.3 Updating motor parameters Follow the steps below to update the motor parameters used in Lightening. Step 1: Download parameter patch from our download center. Figure13.3.1 HIWIN MIKROSYSTEM Corp.
Page 264 D1-N Series Servo Drive User Manual Updating Firmware And Loading PDL Step 2: Extract the parameter patch. Figure13.3.2 Execute parameter_patch.exe. Then HIWIN .mot generator window appears. Click on (Y) Step 3: button. The update completes after all the execution windows disappear. Figure13.3.3 Note: If Lightening is not installed, a warning window appears as figure 13.3.4.
Page 265: Modbus Communication
Modbus communication 14. Modbus communication ··········································································································· 14-1 14.1 Modbus communication specification ··················································································· 14-2 14.2 Function codes ················································································································ 14-2 14.3 Modbus object················································································································· 14-6 14.3.1 Input register ·········································································································· 14-7 14.3.2 Holding register ···································································································· 14-12 HIWIN MIKROSYSTEM Corp. 14-1...
Page 266: Modbus Communication Specification
The stop bits for odd parity and even parity must be 1 bit. The stop bit for none parity must be 2 bits. 14.2 Function codes D1-N series drives provide three types of Modbus function codes. Table14.2.1 Message Length (bytes)
Page 267 MD17UE01-1906 D1-N Series Servo Drive User Manual Modbus Communication Table14.2.2 Request Data Length Value Function Code 1 Byte Starting Address 2 Bytes 0x0000~0xFFFF Register Number 2 Bytes 1~125 Response Data Length Value Function Code 1 Byte Byte Count 1 Byte...
Page 268 MD17UE01-1906 D1-N Series Servo Drive User Manual Modbus Communication (2) Read input registers (04h) This function is used to read the contents of the contiguous blocks of input registers. The content of each register is divided into 8 high bits and 8 low bits. 125 registers at most can be read at the same time.
Page 269 MD17UE01-1906 D1-N Series Servo Drive User Manual Modbus Communication Table14.2.7 is the example of reading register 0x0008. The content of register 0x0008 is 2 bytes. Its value is 00 0Ah. Table14.2.7 Command Response Error Slave address Slave address Slave address...
Page 270: Modbus Object
MD17UE01-1906 D1-N Series Servo Drive User Manual Modbus Communication Table14.2.9 Exception Code Definition Description Illegal function The function code is not supported. Illegal data address Try to read an illegal register. Illegal data value The number of registers is over 123.
Page 271: Input Register
MD17UE01-1906 D1-N Series Servo Drive User Manual Modbus Communication 14.3.1 Input register The data length of readable input register is 32 bits. Table14.3.1.1 Object Register Address Description Type Unit 0x0000 Lower data Feedback position INT32 counts 0x0001 Higher data 0x0002...
Page 272 MD17UE01-1906 D1-N Series Servo Drive User Manual Modbus Communication (1) Object 61 - Status 5 Table14.3.1.2 Definition 10~15 (2) Object 81 - Status 4 Table14.3.1.3 Definition 9~11 CW/CCW input Buffer encoder invert Buffer/emulated encoder output (3) Object 90 - Status 6 Table14.3.1.4...
Page 273 MD17UE01-1906 D1-N Series Servo Drive User Manual Modbus Communication (4) Object 91 - Status 0 Table14.3.1.5 Definition Moving Encoder error In position Right hardware limit Left hardware limit Position error too big Soft thermal threshold reached Axis disable Homed Both hardware limits are active...
Page 274 MD17UE01-1906 D1-N Series Servo Drive User Manual Modbus Communication (6) Object 2003 - Drive error events 2 Table14.3.1.7 Definition Phase initialization error Hall sensor error Hall phase check error 7~15 Current control error HFLT inconsistent error Auto phase center not complete error...
Page 275 MD17UE01-1906 D1-N Series Servo Drive User Manual Modbus Communication (8) Object 2005 - Status 2 Table14.3.1.9 Definition Emulated index Phase initialization error Hall sensor error Hall phase check error Zero speed detected 10~13 I2T warning Pulse command and home conflict (9) Object 2006 - Status 3 Table14.3.1.10...
Page 276: Holding Register
MD17UE01-1906 D1-N Series Servo Drive User Manual Modbus Communication 14.3.2 Holding register The data length of readable/writable holding register is 32 bits. Table14.3.2.1 Object Register Address Description Type Unit 0x0000 Lower data Maximum acceleration REAL32 count/s 0x0001 Higher data 0x0002...
Page 277 MD17UE01-1906 D1-N Series Servo Drive User Manual Modbus Communication Object Register Address Description Type Unit 0x01B1 Higher data 0x01B6 Lower data CW/CCW logic UINT32 0x01B7 Higher data 0x01E2 Lower data Input signal logic INT32 0x01E3 Higher data 0x0230 Lower data...
Page 278 MD17UE01-1906 D1-N Series Servo Drive User Manual Modbus Communication (This page is intentionally left blank.) 14-14 HIWIN MIKROSYSTEM Corp.
Page 279: Motor Power Cable Shielding And Grounding
Motor power cable shielding and grounding 15. Motor power cable shielding and grounding ·················································································· 15-1 15.1 Motor power cable shielding ······························································································· 15-2 15.2 Grounding ······················································································································ 15-4 HIWIN MIKROSYSTEM Corp. 15-1...
Page 280: Motor Power Cable Shielding
MD17UE01-1906 D1-N Series Servo Drive User Manual Motor Power Cable Shielding And Grounding 15.1 Motor power cable shielding Noise could affect the servo drive via conduction and radiation while motor is operating. If unshielded motor power cable is used, noise could be transmitted to the ground via stray capacitance and form common-mode signal voltage.
Page 281 MD17UE01-1906 D1-N Series Servo Drive User Manual Motor Power Cable Shielding And Grounding (4) Put a 2 cm heat shrink to fix copper foil tape and wires. Figure15.1.4 (5) Fix the wires with the terminal block by referring to the symbols indicated on the servo drive X3 connector.
Page 282: Grounding
MD17UE01-1906 D1-N Series Servo Drive User Manual Motor Power Cable Shielding And Grounding Figure15.1.7 15.2 Grounding To avoid noise, the servo drive must be correctly grounded. (1) Before connecting to the servo drive, the ground wire (green and yellow wire, 15 AWG) must be crimped with M4 ring terminal (with insulating tube) to prevent contact with adjacent terminal.
Page 283 MD17UE01-1906 D1-N Series Servo Drive User Manual Motor Power Cable Shielding And Grounding Figure15.2.3 Prohibited wiring method of D1-N-09/18/36 (4) If it is necessary to connect two ground wires, please connect them to the separate ground terminals, as figure 15.2.4 and 15.2.5.

This manual is also suitable for:

D1-n-09 D1-n-90 D1-n-18 D1-n-36

Hiwin D1-N Series User Manual

1 About this User Manual

2 Specifications

3 Operation Principles

4 Wiring

5 Servo Drive Configuration

6 Tuning

7 LCD Display

8 Protection Function

9 Errors and Warnings

10 Advanced Frequency Analysis

11 Enabling Motor

12 Parameter Comparison

13 Updating Firmware and Loading PDL

14 Modbus Communication

15 Motor Power Cable Shielding and Grounding

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Summary of Contents for Hiwin D1-N Series