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Hiwin D1-N Series Assembly And Commissioning Instructions

Servo drive amplifier with ethercat and safe torque off sto safety function
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Assembly and Commissioning Instructions
D1-N Servo Drive Amplifier
with EtherCAT
and
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Safe Torque Off (STO) Safety Function
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Summary of Contents for Hiwin D1-N Series

  • Page 1 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier with EtherCAT ® Safe Torque Off (STO) Safety Function www.hiwin.de...
  • Page 2 HIWIN GmbH Brücklesbünd 2 77654 Offenburg Germany Phone +49 (0) 7 81 9 32 78 - 0 +49 (0) 7 81 9 32 78 - 90 info@hiwin.de www.hiwin.de All rights reserved. Complete or partial reproduction is not permitted without our permission.

  • Page 3: Table Of Contents

    Disclaimer in the event of modification or improper use Commissioning Qualified trained staff “Auto phase center” General safety notices “Performance center”, controller parameter optimisation HIWIN technical support First travel subject to control Labels on D1-N servo drive amplifier Using the “Scope” functions Controller tuning Product description ............11 “Advanced gains”...

  • Page 4: General Information

    These assembly and commissioning instructions are intended for planners, developers and operators of machines and equip- ment in which HIWIN D1-N servo drive amplifiers are already integrated or are to be used. They are also intended for people who perform the following work on or with the D1-N:...

  • Page 5: Depictions Used In These Assembly Instructions

    Assembly and Commissioning Instructions D1-N Servo Drive Amplifier General information 1.1.4 Scope of validity for these assembly and commissioning instructions These assembly and commissioning instructions apply to servo drive amplifiers from HIWIN with the following product designations: D1-N-09-xx-x-x-xx D1-N-18-xx-x-x-xx D1-N-36-xx-x-x-xx D1-N-90-xx-x-x-xx They also apply if two or more of the drive amplifiers listed above are combined.
  • Page 6 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier General information 1.2.4 Symbols used The following symbols are used in these instructions: Table 1.2 Warning signs Warning of dangerous, electrical voltage! Warning of magnetic fields! Warning of hot surfaces! Substance hazardous to the environment! Access denied! Table 1.3 Signs giving orders Wear protective gloves!

  • Page 7: Warranty And Liability

    1.5 Copyright These instructions are protected by copyright. The written consent of HIWIN GmbH is required for reproduction, publication in part or in whole, modification or abridgement of these instructions. Windows is a registered trademark of the Microsoft Corp.

  • Page 8: Basic Safety Notices

    Only use copper cables for wiring in the switch cabinet.  The drive amplifiers of the D1-N series must not be used in unprotected outdoor areas or areas at risk of explosion.  The D1-N servo drive amplifier can only be declared to be conforming if operated with the accessories supplied and the ...

  • Page 9: General Safety Notices

    Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Basic safety notices 2.4 General safety notices The following safety notices must be observed. Non-compliance with safety notices may put life and limb at risk. 2.4.1 Safety notices regarding storing the drive amplifiers ATTENTION! Damage to the drive amplifier! The drive amplifiers are delivered in packaging.

  • Page 10: Hiwin Technical Support

    Incorrect handling of the software Wiring error Signal failure of encoders 2.5 HIWIN technical support If you have any questions, please contact the technical support team at HIWIN: Phone: +49 (0) 781 / 9 32 78-77 Fax: +49 (0) 781 / 9 32 78-97 E-Mail: support@hiwin.de...

  • Page 11: Product Description

    Product description Product description The D1-N supports rotary servo motors, linear and torque motors and therefore the entire range of HIWIN motor types. The wide range of supported encoder interfaces (digital, analogue 1 V , EnDat 2.2, resolver) and analogue and digital Hall sen- sors allow the D1-N to be used in many different ways, especially with linear motors in conjunction with various positioning measurement systems.

  • Page 12: Type Plates

    Fig. 3.1 Type plate, right hand side of device Fig. 3.2 Type plate, front Table 3.1 Content of type plates Number Description Type designation of drive amplifier HIWIN item number Serial number of device Barcode Electrical properties of the device CE compliant Compliance Functional Safety STO...

  • Page 13: Guidelines And Standards

    The latest documentation, commissioning software “Lightening” and other valuable tools are free to download from www.hiwin.de. Accessories Please refer to Chapter 14 of this document or the current HIWIN catalogue “Drives and Servo Motors” for the extensive range of accessories. For more information, you can also visit www.hiwin.de. D1N-02-4-EN-1709-MA...

  • Page 14: Technical Specification

    Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Product description 3.5 Technical specification Table 3.3 Technical data HIWIN D1-N servo drive amplifier D1N-09 D1N-18 D1N-36 D1N-90 Supply voltage Voltage 220 to 240 VAC ±10 % 220 to 400 VAC ±10 % Frequency 50 to 60 Hz ±5 %...
  • Page 15 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Product description Table 3.3 Technical specification (continuation) HIWIN D1-N servo drive amplifier D1N-09 D1N-18 D1N-36 D1N-90 Nominal value Torque Analogue Input 10 kΩ inputs regulation resistance Input voltage ±10 VDC Resolution 12 bit...

  • Page 16: Assembly

    Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Assembly Assembly WARNING! Danger from electrical voltage! Before and during all assembly, disassembly and repair work, the drive amplifier must be de-energised.  Ensure that no-one can re-establish the mains connection. Otherwise there is a serious risk of injury or death.
  • Page 17 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Assembly 24,15 ±0,1 24,15 ±0,1 25 ±0,1 25 ±0,1 65 ±0,5 65 ±0,5 All measurements are in millimeters. 181,7 ±0,2 181,7 ±0,2 Fig. 4.2 Dimensions of D1-N-36 32,1 ±0,1 55 ±0,1 253,7 ±0,2 Fig.

  • Page 18: Switch Cabinet Assembly

    Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Assembly 4.3 Switch cabinet assembly WARNING! Danger of electric shock due to insufficient earthing! During assembly, ensure sufficient earthing of the drive amplifier.  Conductive screws should be used for this purpose. ...

  • Page 19: Electrical Connection

    Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Electrical connection Electrical connection DANGER! Danger from electrical voltage! Always ensure that the drive amplifiers are correctly earthed using the PE bar in the switch cabinet as  reference potential. Safety is not guaranteed if there is no low-ohm earthing. Power connections may be live even if the motor is not moving.
  • Page 20 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Electrical connection A diagram showing all electrical connections on the D1-N can be seen in Fig. 5.2. Please note that the wiring of the inputs and outputs on the X6 connector is shown as NPN-switching in this overview. Fig.

  • Page 21: X1 - Mains Connection

    5.2.1 1-phase mains connection with mains filter Fig. 5.3 1-phase mains filter HIWIN recommends the mains filter described in Table 5.2 for the D1-N’s 1-phase mains connection. Table 5.2 Technical data for Schaffner FN2412-8-44 filter Technical data for Schaffner FN2412-8-44 filter...

  • Page 22: X2 - Brake Resistor Connection

    Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Electrical connection HIWIN recommends the mains filter described in Table 5.3 for the D1-N’s 3-phase mains connection. Table 5.3 Technical data for Schaffner FN3258-7-45 filter Technical data for Schaffner FN3258-7-45 filter Maximum continuous voltage 30 ×...
  • Page 23 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Electrical connection Fig. 5.6 Possible connections on X2 Table 5.4 X2 – brake resistor connection Name DC– D1N-02-4-EN-1709-MA...
  • Page 24 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Electrical connection 5.3.1 Brake resistor calculation 1. Required information To calculate the power and resistance of the regen resistor requires information about the amplifier and the motor. For all applications, gather the following information: Detail of motion profile, including acceleration and velocity Amplifier model number Applied line voltage to amplifier...
  • Page 25 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Electrical connection 5. Determine the amount of energy returned to the amplifier Calculate the amount of energy that will be returned to the amplifier for each deceleration using the following formula: – E Energy returned to the amplifier [J] returned motor...

  • Page 26: X3 - Motor Connection

    Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Electrical connection 5.4 X3 – motor connection Table 5.5 X3 – motor connection Name PE motor ATTENTION! The motor cable without output filter must not exceed a length of 15 m. If longer cables are used, suitable filters must be fitted to effectively dampen any voltage peaks which arise.

  • Page 27: X5 - Parameterisation Interface

    Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Electrical connection Fig. 5.8 Direct brake control Fig. 5.9 Brake control via optocoupler Fig. 5.10 Brake control via relay 5.6 X5 – parameterisation interface A standard USB interface is provided to set parameters for and commission the drive amplifier. This takes the form of a mini type B USB bush on the X5 connector.

  • Page 28: X6 - Input And Output Connection

    Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Electrical connection 5.7 X6 – input and output connection Table 5.7 X6 – inputs and outputs connection Assign- Function ment Voltage adaptation (12 VDC and 24 VDC) for step/direction input. See Section 5.7.1 CCWL Channel 1 for step/direction input (step, CW, track A).
  • Page 29 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Electrical connection 5.7.1 Wiring variants for step/direction input on X6 ATTENTION! Unexpected motor movements due to unshielded cables! Only use shielded cables for all cables carrying encoder signals. This minimises the effect of perturbation and avoids ...
  • Page 30 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Electrical connection 5.7.2 Switching characteristics of digital inputs on the X6 The switching characteristics of the digital inputs can be defined by their wiring on the X6 connector. Either PNP or NPN characteristics can be selected.
  • Page 31 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Electrical connection 5.7.3 Wiring of encoder output on X6 The D1-N can forward encoder signals to other participants, e.g. a superordinate controller, via the X6 connector. Fig. 5.17 shows the wiring needed for this. Fig.

  • Page 32: X7 And X8 - Sto Safety Function Connection

    Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Electrical connection 5.8 X7 and X8 – STO safety function connection The D1-N drive amplifier’s integrated STO (Safe-Torque-Off) safety function is operated using the X7 and X8 connectors. A detailed description of this function and wiring examples can be found in Chapter 6 from Page 35 onwards. Table 5.8 X7 and X8 –...

  • Page 33: X10, X11, X12 - Encoder Connection

    Depending on the type used, the encoder system is connected to the D1-N via the X10, X11 or X12 connector. Table 5.10 X10, X11, X12 – encoder connection Connection Connector type Function Digital encoders and digital Hall Analogue encoders and EnDat 2.2 HIWIN resolvers sensors Signal SIN+ SIN1+ COS+...

  • Page 34: X13 - Ethercat

    Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Electrical connection 5.11 X13 – EtherCAT Using the two RJ45 bushes at the X13 slot, the D1-N can be integrated in an EtherCAT network and communicate with an EtherCAT master. You will find a detailed description of the EtherCAT function in Chapter 7. Table 5.11 X13 –...

  • Page 35: Sto Safety Function

    Assembly and Commissioning Instructions D1-N Servo Drive Amplifier STO safety function STO safety function The D1-N servo drive amplifier features a STO (Safe-Torque-Off) safety function according to IEC 61800-5-2 as standard. 6.1 Definition STO The STO (Safe-Torque-Off) safety function according to IEC 61800-5-2 allows the motor torque to be safely cut off. The drive amplifier’s supply voltage (1-/3-phase 230 VAC or 3-phase 400 VAC) does not have to be interrupted in the process.

  • Page 36: Connections Of Sto Function On

    Assembly and Commissioning Instructions D1-N Servo Drive Amplifier STO safety function 6.3 Connections of STO function on D1-N WARNING! Loss of safety function Incorrect use of the STO reset function may result in a loss of the STO safety function. Follow the requirements relating to use of the safety function in Section 6.5.

  • Page 37: Activation Of The Sto Function

    Assembly and Commissioning Instructions D1-N Servo Drive Amplifier STO safety function Table 6.2 Safety inputs connection at X7 and X8 Pin Name Function SF1+ Safety input 1 This input deactivates the final stage. SF1– SF2+ Safety input 2 This input deactivates the final stage. SF2–...
  • Page 38 Danger from unexpected movements! If the test described below fails, a safe operation of the drive is not guaranteed. Further use is not allowed. Contact the HIWIN technical support (see Section 2.5 on Page 10).  Apply 24 VDC voltage at SF1 and SF2 and energise the motor via input 1 at X6. → Motor is energised.
  • Page 39 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier STO safety function 6.4.2 Timing diagram for activating the STO function Operation state D1-N SF1 & SF2 High STO function 10ms > Reaction time> 6ms Motor Enabled Disabled Open Close Feedback contact MO Open Close Motor brake...

  • Page 40: Preconditions For Using The Safety Function

    Assembly and Commissioning Instructions D1-N Servo Drive Amplifier STO safety function 6.5 Preconditions for using the safety function DANGER! Electric shock due to incorrect use The STO (Safe Torque Off) safety function does not result in electrical isolation. The DC intermediate circuit voltage is still present even after the safety function has been activated.
  • Page 41 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier STO safety function 6.5.7 Protected cable routing If short-circuits and/or cross-circuits may arise in conjunction with safety-related signals and are not detected by upstream devices, protected routing in accordance with ISO 13849-2 is needed. In the event of unprotected routing, the cables for safety-related signals (SF1 and SF2) may be damaged.

  • Page 42: Examples Of Circuits For The Sto Function

    Assembly and Commissioning Instructions D1-N Servo Drive Amplifier STO safety function 6.6 Examples of circuits for the STO function 6.6.1 Undertaking a category 0 stop CAUTION! Danger of damage or injury due to uncontrolled movement! The motor is not stopped in a controlled manner. The motor will coast to a standstill once the STO function is triggered. To avoid damage or injury, use the category 1 stop! ...
  • Page 43 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier STO safety function +24VDC SF1+ SF1– Motor SF2+ SF2– Reset Endstufe Notaus DSF+ DSF– MO– Steuerteil D1-N Servoantrieb Motorfreigabe Power In2+ In2– PNOZ s5 Reset mode t(s) Fault Fig. 6.9 Example of circuit for stop category 1 – CoE CoE devices implement the emergency stop ramp via EtherCAT and the “Quick Stop”...

  • Page 44: Safety Function Certified By Tüv

    Assembly and Commissioning Instructions D1-N Servo Drive Amplifier STO safety function 6.7 Safety function certified by TÜV The integrated safety function STO (Safe-Torque-Off) of the D1-N meets the requirements of IEC 61800-5-2 and has been certified by TÜV Nord. Fig. 6.11 Seal of TÜV Nord D1N-02-4-EN-1709-MA...

  • Page 45: Ethercat

    EtherCAT with CoE (CAN over EtherCAT) protocol is supported only by devices with the following type code: D1-N-xx-Ex-x-x-xx EtherCAT with mega_ulink (HIWIN) protocol (see Section 10 on Page 127) is supported only by devices with the following type code: D1-N-xx-Fx-x-x-xx Features Physical interface 1 ×...
  • Page 46 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier EtherCAT Fig. 7.1 Scanning available devices The message stating that not all available devices can be detected automatically must be acknowledged with “OK”. When all devices have been scanned successfully, the input mask depicted in Fig. 7.2 appears. Normally, an EtherCAT master with links to slaves is preselected automatically.
  • Page 47 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier EtherCAT When the TwinCAT system detects a drive, its NC axis may be added automatically as well (Fig. 7.3). The great advantage here is that all PDOs are linked automatically for this NC axis. Fig. 7.4 depicts a device that has been integrated correctly. Fig.
  • Page 48 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier EtherCAT 7.1.5 Setting the maximum speed ATTENTION! Choosing bigger values for speed and acceleration than the limit values in “Lightening”, leads to a not synchronous movement and position error. The “Lightening” limits for speed and acceleration serve to monitor movements and hence contain the maximum dynamic response.

  • Page 49: Lightening" Commissioning Software

    At least 1024 ×768 pixels 8.1 Installation of the software To install the “Lightening” commissioning software, run the “Setup.exe” file. The desired installation location can be changed under “Destination” (standard: “C:\HIWIN\”). Press the “Start” button to start installation. Fig. 8.1 Installation software If Windows tells you during the installation that drivers without a signature need to be installed, confirm this message and install the driver.

  • Page 50: Initial Launch Of The "Lightening" Software

    Assembly and Commissioning Instructions D1-N Servo Drive Amplifier “Lightening” commissioning software “Lightening” is now installed in full and can be launched via the following desktop icon. Fig. 8.3 “Lightening” desktop icon 8.2 Initial launch of the “Lightening” software 8.2.1 Establishing connection with device To establish communication between PC and D1-N, proceed as follows: Connect drive amplifier to PC.

  • Page 51: Operating Interface

    Assembly and Commissioning Instructions D1-N Servo Drive Amplifier “Lightening” commissioning software Fig. 8.5 Setting the communication parameters Confirm your selection with “Apply” and “Close”. If the connection has been established successfully, it will look like this in the status bar. Fig.
  • Page 52 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier “Lightening” commissioning software NOTE All changes are written to the RAM and are lost once the drive amplifier is reset (restarted). To permanently save changes, they must be transferred to the flash memory. This is done by pressing the “Save parameters to flash”...
  • Page 53 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier “Lightening” commissioning software 8.3.1 The “Conf./Tune” menu Fig. 8.12 Conf./Tune menu This menu contains all the functions needed for commissioning. With the exception of “Advanced gains” and “Errors and warnings log”, these functions can also be found on the shortcut bar for quicker access. Overview of functions: “Configuration center”...
  • Page 54 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier “Lightening” commissioning software “Reset amplifier” – device restart “Upgrade/downgrade firmware” – loading of software updates “Set parameters to factory default” – reset drive amplifier to factory setting The “Language” menu is used to select the language. The “About”...

  • Page 55: Configuration Center" Without Ethercat/With Ethercat

    First, the parameters are set for the motor used. There are three motor types to choose from (AC servo, linear motor, torque motor: each with or without EtherCAT functions). When using a HIWIN motor, the corresponding data record can be easily selected from the list (see Fig.
  • Page 56 If a HIWIN AC servo motor has been selected, the matching encoder is automatically selected. NOTE If using a non-HIWIN motor, all motor parameters must be taken from the motor manufacturer’s manual and entered in the corresponding fields. The “Customized AC-Servo” with these parameter settings can be added to the motor database.
  • Page 57 HIWIN drive components. NOTE If using a non-HIWIN motor or special encoder, the corresponding data from the encoder manufacturer’s manual must be entered. Fig. 8.17 “Configuration center” – AC servo encoder without CoE NOTE The “Linear resolution”...
  • Page 58 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Montage “Lightening” commissioning software 8.4.1.3 AC servo Hall sensor The “Hall Sensor” tab contains all settings for commutating the motor with Hall sensors. If this function is activated, there is no commutation finding when the drive amplifier is restarted. Both digital and analogue Hall sensors are available.
  • Page 59 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier “Lightening” commissioning software Montage 8.4.1.4 AC servo mode selection The drive amplifier operation mode is defined in the “Mode” tab. The “Stand-Alone” mode should be selected for commis- sioning without an external controller. Depending on the device type present, not all operation modes are available. Operation modes with I/O control are not available for devices with an EtherCAT interface.
  • Page 60 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier “Lightening” commissioning software Fig. 8.20 “Configuration center” – “Position mode” without CoE “Velocity mode”: The drive amplifier receives the nominal speed value via I/O interface X6. Here the nominal value can be supplied via the analogue input or via a digital input using PWM.
  • Page 61 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier “Lightening” commissioning software “Force/Torque mode”: The drive amplifier receives the nominal force/torque value via I/O interface X6. Here the nominal value can be supplied via the analogue input or via a digital input using PWM. The setting is made in the same way as in “Velocity mode”. Fig.
  • Page 62 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier “Lightening” commissioning software 8.4.1.6 End of configuration Once all the parameters have been selected correctly, close the “Configuration center” with the “OK” button. The parameters are listed again in a new window for checking purposes. Changes compared with the data from the drive ampli- fier’s RAM are highlighted in red.
  • Page 63 8.4.2 Linear motor parameterisation 8.4.2.1 Linear motor selection Opening the “Linear” tab presents a selection of the HIWIN linear motor types. In this example, only the weight of the moved drive masses need be set. Fig. 8.26 “Configuration center” – linear motor without CoE NOTE If a non-HIWIN motor is used, all motor parameters must be taken from the motor manufacturer’s manual and...
  • Page 64 The parameter settings for the encoder are entered in the same way as those for the motor. The encoder database contains all encoders which are sold in the direct context of the HIWIN drive components. If a non-HIWIN motor or special encoder is used, the corresponding data from the encoder manufacturer’s manual must be entered.
  • Page 65 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier “Lightening” commissioning software 8.4.2.4 Linear motor operation mode selection The drive amplifier operation mode is defined in the “Mode” tab. “Stand-Alone” mode should be selected for commission- ing without an external controller. Depending on the device type present, not all operation modes are available. Operation modes with I/O control are not available for devices with an EtherCAT interface.
  • Page 66 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier “Lightening” commissioning software Fig. 8.30 “Configuration center” – “Position mode” without CoE “Velocity mode”: The drive amplifier receives the nominal speed value via I/O interface X6. Here the nominal value can be supplied via the analogue input or via a digital input using PWM.
  • Page 67 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier “Lightening” commissioning software “Force/torque mode”: The drive amplifier receives the nominal force/torque value via I/O interface X6. Here the nominal value can be supplied via the analogue input or via a digital input using PWM. The setting is made in the same way as in “Velocity mode”. Fig.
  • Page 68 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier “Lightening” commissioning software 8.4.2.5 AC servo drive The last tab lists the drive’s connected voltage. Fig. 8.34 “Configuration center” – drive selection without CoE NOTE Connect the 24 and 48 VDC supplies via X2 plugs (see Table 5.4) D1N-02-4-EN-1709-MA...
  • Page 69 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier “Lightening” commissioning software 8.4.2.6 End of configuration Once all the parameters have been selected correctly, close the “Configuration center” with the “OK” button. The parameters are listed again in a new window for checking purposes. Changes compared with the data from the drive amplifier’s RAM are highlighted in red.
  • Page 70 8.4.3 Torque motor parameterisation 8.4.3.1 Torque motor selection Opening the “Torque” tab presents a selection of the HIWIN torque motor types. In this example, only the drive’s mass inertia moment need be set. Fig. 8.36 “Configuration center” – torque motor without CoE NOTE If a non-HIWIN motor is used, all motor parameters must be taken from the motor manufacturer’s manual and...
  • Page 71 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier “Lightening” commissioning software Fig. 8.37 “Configuration center” – torque motor encoder without CoE NOTE The “Encoder output” area is only of importance if the drive amplifier creates an encoder signal for e.g. com- municating the position to an external device such as a controller.
  • Page 72 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier “Lightening” commissioning software 8.4.3.4 Torque motor operation mode selection The drive amplifier operation mode is defined in the “Mode” tab. “Stand-Alone” mode should be selected for commission- ing without an external controller. Depending on the device type present, not all operation modes are available. Operation modes with I/O control are not available for devices with an EtherCAT interface.
  • Page 73 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier “Lightening” commissioning software Fig. 8.40 “Configuration center” – “Position mode” without CoE „Velocity mode”: The drive amplifier receives the nominal speed value via I/O interface X6. Here the nominal value can be supplied via the analogue input or via a digital input using PWM.
  • Page 74 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier “Lightening” commissioning software “Dead band” is an area around the stationary point in which “small” signals in the mV range do not trigger movement in order to compensate for any zero point deviations. Output Input Dead band...
  • Page 75 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier “Lightening” commissioning software 8.4.3.5 AC servo drive The last tab lists the drive amplifier’s connected voltage. Fig. 8.44 “Configuration center” – drive selection without CoE D1N-02-4-EN-1709-MA...
  • Page 76 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier “Lightening” commissioning software 8.4.3.6 End of configuration Once all the parameters have been selected correctly, close the “Configuration center” with the “OK” button. The pa- rameters are listed again in a new window for checking purposes. Changes compared with the data from the drive amplifier’s RAM are highlighted in red.
  • Page 77 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier “Lightening” commissioning software 8.4.4 Motor parameterisation with EnDat 2.2 encoder If an encoder with EnDat 2.2 protocol is connected, the “Configuration center” detects this automatically, and there is no other encoder in the selection window. Fig.

  • Page 78: Application Center

    Assembly and Commissioning Instructions D1-N Servo Drive Amplifier “Lightening” commissioning software 8.5 “Application center” Launch the “Application center” by clicking on the corresponding button in the “Lightening” start interface or the “Light- ening” “Conf./Tune” menu. Fig. 8.47 Accessing the “Application center” NOTE The selection menu provided for “Position Units”...
  • Page 79 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier “Lightening” commissioning software Method –4: The method –4 or –5 is used for homing without limit switches or homing sensor. Move at “Faster Speed” in the positive direction Move up to the hard stop until “End stop current” is reached Keep “End stop current”...
  • Page 80 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier “Lightening” commissioning software Method –2: Move at “Faster Speed” in the positive direction Move up to the hard stop until “End stop current” is reached On reaching this, decelerate, stop, and move at “Slower Speed” in the negative direction until the next index pulse is reached “End stop current”...
  • Page 81 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier “Lightening” commissioning software Method 1: Move at “Faster Speed” in the negative direction Move until the negative hard switch outputs a rising edge On reaching this, decelerate, stop, and move at “Slower Speed” in the positive direction until the next index pulse Fig.
  • Page 82 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier “Lightening” commissioning software Method 8: Move at “Faster Speed” in the positive direction Until the home sensor outputs a rising edge On reaching this, decelerate, stop, and move at “Slower Speed” in the positive direction until the next index pulse Fig.
  • Page 83 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier “Lightening” commissioning software Fig. 8.59 Homing method 10 Method 11: Move at “Faster Speed” in the negative direction When the home sensor outputs a rising edge, decelerate and stop. Move at “Slower Speed” in the positive direction until the next index pulse is reached Fig.
  • Page 84 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier “Lightening” commissioning software Method 13: Move at “Faster Speed” in the negative direction Until the home sensor outputs a falling edge and On reaching this, decelerate, stop, and move at “Slower Speed” in the positive direction until the home sensor (logical 1) and the next index pulse is reached Fig.
  • Page 85 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier “Lightening” commissioning software Method 34: Move at “Slower Speed” in the positive direction Until the index pulse is reached This method is intended for positioning measurement systems that feature only one index mark (single index). Fig.
  • Page 86 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier “Lightening” commissioning software 8.5.3 “Error map” The D1-N drive amplifier allows up to 16,000 position correction points to be stored directly in the drive amplifier. The raw data for the correction points can be captured with a glass scale or laser interferometer for example. Fig.
  • Page 87 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier “Lightening” commissioning software Fig. 8.70 Correction on a belt axis D1N-02-4-EN-1709-MA...
  • Page 88 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier “Lightening” commissioning software 8.5.4 “Resolver” Motors with resolver feedback can also be operated on the D1-N. The resolver is learnt by clicking on the “Start learning” button. Fig. 8.71 “Application center” – “Resolver” D1N-02-4-EN-1709-MA...

  • Page 89: Protection Center" (Limitations)

    Assembly and Commissioning Instructions D1-N Servo Drive Amplifier “Lightening” commissioning software 8.6 “Protection center” (limitations) ATTENTION! Risk of material damage due to wrong limit values for moving parameters! Be sure to correctly set the maximum permissible position error “maximum pos error”. This setting is important for enabling the drive amplifier to deactivate the motor in the event of too great a deviation from nominal position.
  • Page 90 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier “Lightening” commissioning software 8.6.2 “HW limit protection” If limit switches are used, switch monitoring can be activated in this tab. Fig. 8.74 “Protection center” – “HW limit protection” NOTE The relevant inputs for limit switches can be configured in the “I/O center”. See Section 8.7). 8.6.3 “Brake”...
  • Page 91 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier “Lightening” commissioning software “delMaxEnToBrk”: States the maximum time which may pass after the “Controller enable” disappears before the brake is closed (regardless of “vel_stop”). “Dec. Kill”: Shows the delay with which the motor is braked after the “Controller enable” disappears. This delay can be changed in the “Performance center”.

  • Page 92: Digital Inputs And Outputs / "I/O Center

    Assembly and Commissioning Instructions D1-N Servo Drive Amplifier “Lightening” commissioning software 8.7 Digital inputs and outputs / “I/O center” In the “I/O center” all digital inputs and outputs for the D1-N can be configured and monitored. Launch the “I/O center” by clicking on the corresponding button in the main operating interface or the “Lightening” “Conf./Tune”...
  • Page 93 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier “Lightening” commissioning software The “State” LED shows the current state of the input. Please check that all connected inputs are functioning correctly when commissioning. The “Set default” button resets all I/O settings to their default values. NOTE If the “Axis enable”...

  • Page 94: Commissioning

    Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Commissioning Commissioning Once the parameters for the motor have been set as described in Section 8.4 commissioning can begin. DANGER! Danger from electrical voltage! The drive amplifiers should be de-energised before and during all assembly, disassembly or repair work. ...

  • Page 95: Commissioning

    Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Commissioning 9.1 Commissioning Overview of basic commissioning steps: Check motor encoder connection  Disconnect motor cable  Switch on device  Enter motor and encoder parameters  Check function of distance measuring system ...
  • Page 96 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Commissioning Fig. 9.2 “Auto phase center”: For linear/torque motor with SW method 1 Fig. 9.3 “Auto phase center”: For servo motor LSWIR 9.2.1 Servo motors Pressing the button “Auto phase center” opens the window depicted in Fig. 9.3. Pressing the button “View”...
  • Page 97 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Commissioning Fig. 9.5 “Auto phase center” – “Toggle Direction” Before pressing the button “Execute”, make sure that the axis slide can move freely and is ideally at the centre of the axis or that motion cannot cause any damage.
  • Page 98 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Commissioning “SM mode” (Stepper Mode) means that the motor is operated with open control circuit and constantly memorised current. NOTE The “Current (SM-Mode)” value is automatically set to 95 % of the permanent motor current (peak value, not as RMS).
  • Page 99 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Commissioning Fig. 9.11 “Phase error” display WARNING! Danger of damage or injury due to uncontrolled movement! If the pointer exits the green range, insufficient or incorrect parameters have been selected. The motor cannot be controlled in the controlled operation.
  • Page 100 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Commissioning NOTE If the pointer exits the green range during travel, it may be for one of the following reasons: A particularly unfavourable initial position when starting. Under certain circumstances, the motor may seize up if stationary for long periods (particularly with new systems).
  • Page 101 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Commissioning 9.2.3.2 Thorough “Freq analyzer” ATTENTION! Danger of damage due to motor movement! In the following step the motor is energised with different frequencies and starts to oscillate this way and that. A loud, increasingly high-pitched whistling sound can be heard.
  • Page 102 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Commissioning Fig. 9.17 Evaluation of stimulated frequencies Once the process has been completed, the amplitude characteristic can be seen depending on the input frequency. To determine the control parameters, click in the diagram window to display a “–20 dB/dec” line. Fig.
  • Page 103 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Commissioning The inserted “–20 Db/dec” line is moved with the mouse so that it is positioned as well as possible on the falling part of the curve. If the curve doesn’t cleanly match the falling –20 dB line, gauge the centre between the individual points by eye and place the line between them.
  • Page 104 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Commissioning 9.2.4 “Phase initialization” – first commutation NOTE The motor is energised in the following step. To subject the motor to control for the first time, click on the “Start phase initialization” button. Only perform this step when you have completed all the previous steps of the “Auto phase center”...
  • Page 105 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Commissioning Fig. 9.23 SMCL tool Once you have successfully reduced the position error, return to the “Auto phase center” and restart “Phase initializa- tion”. D1N-02-4-EN-1709-MA...
  • Page 106 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Commissioning 9.2.5 Linear and torque motors with EnDat 2.2 Selecting an encoder with EnDat 2.2 (Section 8.4.4) opens “Auto phase center” in “Phase initialization mode” “STABS”. The order of steps is the same as for commutation finding for linear and torque motors in the preceding section. Fig.

  • Page 107: Performance Center", Controller Parameter Optimisation

    Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Commissioning NOTE The motor is energised in the following step. 9.3 “Performance center”, controller parameter optimisation In the “Performance center” you can move your motor/axis in a controlled manner in manual mode using defined param- eters.
  • Page 108 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Commissioning 2. Status (green frame) HW Enable: “Hardware enable” is active SW Enable: “Software enable” is active Servo ready: Motor is subject to control and is ready Phase Initial.: Motor has commutated Moving: Motor is in motion (is 1 for as long as the nominal speed is not 0) Homed:...

  • Page 109: First Travel Subject To Control

    Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Commissioning 9.4 First travel subject to control CAUTION! Danger of damage or injury due to unexpected movement! The motor is now energised and will commutate if this has not already been done. Depending on its position, it may jerk a little.

  • Page 110: Using The "Scope" Functions

    Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Commissioning 9.5 Using the “Scope” functions The “Scope” function can be used to measure all important drive amplifier values and depict their course graphically. The software constantly accesses the current values from the drive. To start the “Scope”...
  • Page 111 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Commissioning The “Scope” is operated using the elements arranged along the right hand edge of the screen: Switch “Scope” on/off “Continuous paper” depiction mode Full-screen mode for one channel. Press several times to switch between the active channels Adapt Y-axis scaling to window size Adapt Y-axis scaling dynamically to window size Adapt Y-axis scaling dynamically to window size, but only in the direction of larger values...
  • Page 112 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Commissioning Fig. 9.33 “Plot view” Example of a curve analysis: Analysis of position error (“pos_err”). Measuring of minimum and maximum and FFT analysis: To analyse a curve, we would advise only displaying one single curve so that as many details as possible can be seen. Do this using the “Set show mode”...
  • Page 113 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Commissioning Fig. 9.35 Enlarged area The “Statistics table” button in the tool bar for the “Plot view” tool allows you to automatically display the characteris- tics of the selected area. Fig. 9.36 Starting the “Statistics table” The “Plot statistic”...
  • Page 114 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Commissioning In the new window, first select the curve that you want to analyse – in this case, the position error. Select the “Direct FFT” method and press the “Run FFT” button to start the process. Fig.
  • Page 115 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Commissioning Fig. 9.41 Recording window Fig. 9.42 Curves recorded D1N-02-4-EN-1709-MA...

  • Page 116: Controller Tuning

    Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Commissioning 9.6 Controller tuning To optimise the control parameters, “Scope” is used in conjunction with a continuous point-to-point movement. Fig. 9.43 shows the “Scope” recording of a motor displaying a position error of up to 2° during movement. The motor was operated here with a “Common Gain”...

  • Page 117: Advanced Gains" - Filter

    Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Commissioning Fig. 9.45 Position error after increasing the “Common Gain” The optimum value for the “Common Gain” is highly dependent on the motor used and its application. Proceed as shown above to establish the “Common Gain”. Use the “Scope” function to display the values of importance to your application (e.g.
  • Page 118 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Commissioning Fig. 9.47 “Advanced gains” “Filter” provides filter functions for frequencies or frequency ranges. “Acc feedforward” provides settings for the acceleration feedforward. “Schedule Gains +vpg” allows the amplification factor for the accelerator controller to be set manually. “Analog Input”...
  • Page 119 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Commissioning 9.7.2 “Advanced gains” – “Acc feedforward” Fig. 9.48 Setup of acceleration feedforward Proceed as follows to correctly set the feedforward. First set the value for “Acc feedforward gain” to 0. Then start the “Scope” using the button in the window. Ensure that the motor performs the desired acceleration profile during the recording.
  • Page 120 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Commissioning The position error in the acceleration was reduced from 90 to 60 counts. Fig. 9.50 Result obtained with feedforward 9.7.3 “Advanced gains” – “Schedule Gains + vpg” Fig. 9.51 “Advanced gains” – “Schedule Gains + vpg” The D1-N has what is known as a “Common gain (CG)”...
  • Page 121 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Commissioning 9.7.4 “Advanced gains” – “Analog input” Fig. 9.52 “Advanced gains” – “Analog input” If a nominal analogue value is used for speed or torque/force control, an offset correction can be undertaken. If the voltage value at zero volts is not zero or is slightly unstable, the negative effect of this offset can be corrected by pressing the “Set Offset”...
  • Page 122 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Commissioning 9.7.5 “Advanced gains” – “current loop” Fig. 9.53 “Advanced gains” – “current loop” The drive amplifier calculates the amplification factors for the current loop using motor inductance and motor resistance. For most applications, these values do not have to be adapted.
  • Page 123 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Commissioning 9.7.6 “Advanced gains” – “VSF” (vibration suppression function) Fig. 9.54 “Advanced gains” – “VSF” This function is used to filter low-frequency oscillation. The frequency in question can be determined with the “Scope” and/ or “Plot view”.
  • Page 124 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Commissioning Before determining the appropriate value, set the start value to 0. Start the desired movement via the “Performance center” or specify the corresponding nominal values. Start the “Scope” by clicking on the “Set scope” button. Fig.
  • Page 125 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Commissioning Fig. 9.58 Assessing current and position error Enter the command’s “Avr” value in the field for friction compensation. You will see a reduction in the position error. Fig. 9.59 Entering the “command Avr” for friction compensation D1N-02-4-EN-1709-MA...

  • Page 126: Error History

    Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Commissioning 9.8 Error history The “Lightening” software logs all errors and warnings since the drive amplifier’s logic was last restarted. You can display the logged errors and error statistics using the “Errors and Warnings Log”. You can also save this log as a text file on your PC.

  • Page 127: Mega-Ulink Protocol

    The MPI library handles communication and control between the PC and drive controller. A detailed description of this library and how to use it can be found in a separate document called mpi.pdf and can be downloaded from www.hiwin.de. Alterna- tively, contact the technical support team at HIWIN (see Section 2.5).

  • Page 128: Features Of Pdl Programming

    Assembly and Commissioning Instructions D1-N Servo Drive Amplifier mega-ulink protocol 10.3 Features of PDL programming Capable of multitasking, up to 4 tasks can be processed in parallel Quick execution of individual sentences (62.5 µs) Definition of user variables (name, type, size) Support for arrays and pointers Procedures with parameters Use of Loop, While, If, Else, Till, Goto commands...
  • Page 129 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier mega-ulink protocol X_acc = a; m_d = X_dcc; X_dcc = d; end; #task/1; // This task runs immediately after controller initialisation _Test1: call _Reference travel; // Call up the program called “_Reference travel” ret;...
  • Page 130 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier mega-ulink protocol sleep 500; end; goto _Loop; // Jumps back ret; Example 3: Simple relative positioning between 2 positions with zero point correction #task/1; // First task; this task runs immediately after controller initialisation call _sequence program;...

  • Page 131: Writing Pdl Program To D1-N And Saving

    Assembly and Commissioning Instructions D1-N Servo Drive Amplifier mega-ulink protocol X_max_err = 700; // Max. position error in motion in incr. X_trg = 58000; // Position absolute 25,000 incr = 25 mm till(~X_run & X_en=1 ); // Wait until motor is not moving but is still energised sleep 300;...
  • Page 132 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier mega-ulink protocol Programming takes place in three steps (see Fig. 10.4): Save program code in User-PDL (1) Run syntax check (2) Save program to device (3) Fig. 10.4 PDL compiler Programs can be written as txt files and copied/pasted to User-PDL. Alternatively, the program can be written directly in the compiler.
  • Page 133 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier mega-ulink protocol Fig. 10.5 PDL compiler, result of syntax check The program can now be sent to the D1-N and permanently saved in the flash memory. The drive amplifier is restarted (rebooted) in this procedure. CAUTION! Danger of damage or injury due to uncontrolled movement! “Download to amplifier”...
  • Page 134 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier mega-ulink protocol Fig. 10.6 “Advanced” menu in “Lightening” Open “Advanced” menu and select “PDL task list…”.  Fig. 10.7 “PDL task list…” in “Lightening” selection D1N-02-4-EN-1709-MA...

  • Page 135: Overview Advanced Parameters

    Assembly and Commissioning Instructions D1-N Servo Drive Amplifier mega-ulink protocol If “Run” is displayed in the “State” column of the individual tasks, the saved program is running in the D1-N. Fig. 10.8 “Task List” in “Lightening” selection 10.6 Overview advanced parameters Table 10.1 List of advanced parameters Parameter Description...
  • Page 136 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier mega-ulink protocol Table 10.1 List of advanced parameters (continuation) Parameter Description Unit X_f2_k1 Parameter 1 filter 2 in close-loop — X_f2_k2 Parameter 2 filter 2 in close-loop — X_f3_fr Cut-off frequency filter 3 in close-loop —...
  • Page 137 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier mega-ulink protocol Table 10.1 List of advanced parameters (continuation) Parameter Description Unit X_tr_time Debounce time of In-Position msec X_tr Target radius of In-Position counts X_tr_move_time Time for “In-Position” msec X_tr_setl_time Move Time msec X_tr_move_setl Settling time...
  • Page 138 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier mega-ulink protocol Table 10.1 List of advanced parameters (continuation) Parameter Description Unit out_config[1] — out_config[2] — out_config[3] — out_config[4] O1 output signal configurations — out_config[5] — out_config[6] — out_config[7] — out_config[8] O2 output signal configurations —...
  • Page 139 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier mega-ulink protocol Table 10.1 List of advanced parameters (continuation) Parameter Description Unit Position trigger function PT.StartPosition Write only parameter for trigger start position counts PT.EndPosition Write only parameter for trigger end position counts PT.Interval Write only parameter for interval of trigger impulse...
  • Page 140 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier mega-ulink protocol Table 10.1 List of advanced parameters (continuation) Parameter Description Unit X_5V_ENC_Err Read only parameter for missing 5 V encoder supply — (0 = ok, 1 = 5 V fail) X_ph_err Read only parameter commutation fail —...

  • Page 141: Stopping Pdl Program, Allowing It To Run On And Deleting It

    Assembly and Commissioning Instructions D1-N Servo Drive Amplifier mega-ulink protocol 10.7 Stopping PDL program, allowing it to run on and deleting it The “Lightening” software has an input window called “Message window” under “Performance center” for stopping a PDL program. Fig.
  • Page 142 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier mega-ulink protocol The drive amplifier confirms the command with “OK”. To check, you can open “PDL Task List” (see Fig. 10.7 and Fig. 10.8) Fig. 10.12 “Message window” – task 1 stopped Task 1 (see Fig.

  • Page 143: Implementing The "Position Trigger

    //Pulse width NOTE The variables can also be set via an external PC controller applying the HIWIN mega-ulink protocol. 11.1.1 Step by step procedure The following steps are needed for the “Position trigger’s” test mode. First, copy to the user PDL the following PDL...
  • Page 144 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Implementing the “Position trigger” The “Message Window” must always show the label and its values before the movement. The label for positive movements is “run IncreasePT”. Fig. 11.1 “Message window” – “run Increase PT” Initiate the movement.
  • Page 145 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Implementing the “Position trigger” Fig. 11.4 “Position Trigger” pulse width 11.1.2 Calculating Calculating the maximum speed as a function of pulse frequency: Maximum speed = interval count × processor frequency Example: 640,000 counts/s = 40 counts × 16,000 Hz Start position End position Interval...
  • Page 146 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Implementing the “Position trigger” 11.1.3 Automatic program run PDL program loop (production mode) The labels cannot be initiated in production mode, so a PDL program loop executes this function. This executes movements between two fixed points.

  • Page 147: Troubleshooting

    Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Troubleshooting Troubleshooting DANGER! Danger from electrical voltage! The drive amplifiers should be de-energised before and during all assembly, disassembly or repair work.  Ensure that no-one can reestablish the mains connection. Otherwise there is a risk of death and injury. Always ensure that the drive amplifiers are correctly earthed using the PE bar in the switch cabinet as ...

  • Page 148: Error Codes And Troubleshooting

    Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Troubleshooting 12.1 Error codes and troubleshooting Table 12.1 Error codes and troubleshooting Code Display Error shown in “Lightening” Description E01SHORT Motor short (over current) detected Short-circuit in the motor power supply Rectification of problem: Switch off the amplifier and remove the motor connector.
  • Page 149 Check the supply to the drive amplifier. E23NOET EtherCAT interface is not detected EtherCAT hardware not detected. Rectification of problem: Check the firmware version of the drive amplifier, if necessary, contact technical support (Section 2.5 “HIWIN technical support” on Page 10). D1N-02-4-EN-1709-MA...

  • Page 150: Warnings And Problem Rectification

    Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Troubleshooting Table 12.1 Error codes and troubleshooting (continuation) Code Display Error shown in “Lightening” Description E24HOM.E CiA402 homing error Error on executing the CiA402 reference travel Rectification of problem: Check the function of reference switch, limit switch, and reference mark. Check the cam switch and the strength of the encoder head.

  • Page 151: Other Errors And Problem Rectification

    In “Lightening” versions 0.183 and older, the LCD display shows only ERR/WRN plus the first three letters. For example, E01SHORT is shown as ERR E01, and W01SWLL as WRN W01. A list of error and warning descriptions can be found in the “Lightening” file C:\HIWIN\dce\tools\Errors_Warnings_EN.txt. 12.3 Other errors and problem rectification Table 12.3 Other errors and problem rectification...

  • Page 152: Repair And Replacement

    The drive amplifiers contain components at risk from electrostatic which may be damaged if handled incorrectly. In case the D1-N is defective or does not work correctly anymore, please contact HIWIN (see Section 2.5). They will support you for repair or replacement of the D1-N.

  • Page 153: Parts Numbers And Accessories

    Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Parts numbers and accessories Parts numbers and accessories 14.1 Article numbers for drive amplifier sets Table 14.1 Article numbers for drive amplifier sets Description Content Article number D1-N-09-E0-2-0-00 1 × D1-N, 1 × Connector kit CK4 23.0001 D1-N-09-F0-2-0-00 1 ×...

  • Page 154: Article Numbers For Motor Cables

    14.3 Article numbers for motor cables Table 14.3 Article numbers for motor cables Description Length Article number HIWIN motor cable for linear motors, suitable for drag chains, 1.5 mm², 8-10-0069 on motor side with M23 connector, on D1-N side with open ends 8-10-0070 8-10-0071...

  • Page 155: Ec Declaration Of Conformity

    EC Declaration of Conformity EC Declaration of Conformity According to the Machinery Directive 2006/42/EC (Annex II A) Manufacturer: HIWIN MIKROSYSTEM CORP., Ltd No. 6, Jingke Central Rd., Taichung Precision Machinery Park, Taichung City 40852, Taiwan This declaration relates exclusively to the following product in the state in which it was placed on the market, and excludes components which are added and/or operations carried out subsequently by the final user.
  • Page 156 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Notes D1N-02-4-EN-1709-MA...
  • Page 157 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Notes D1N-02-4-EN-1709-MA...
  • Page 158 Assembly and Commissioning Instructions D1-N Servo Drive Amplifier Notes D1N-02-4-EN-1709-MA...
  • Page 160 Linear Motor Rotary Tables Drives & Servo Motors Components Germany France Switzerland Netherlands China HIWIN GmbH HIWIN France s.a.r.l. HIWIN Schweiz GmbH HIWIN GmbH HIWIN Corp. Brücklesbünd 2 20 Rue du Vieux Bourg Eichwiesstrasse 20 info hiwin.nl www.hiwin.cn D-77654 Offenburg...

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