Hiwin D2 Series User Manual

Hiwin D2 Series User Manual

Hide thumbs Also See for D2 Series:
Table of Contents

Advertisement

Quick Links

D2 Series Servo Drive
User Manual
www.hiwinmikro.tw
MD07UE01-2005_V1.9

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the D2 Series and is the answer not in the manual?

Questions and answers

Subscribe to Our Youtube Channel

Summary of Contents for Hiwin D2 Series

  • Page 1 D2 Series Servo Drive User Manual www.hiwinmikro.tw MD07UE01-2005_V1.9...
  • Page 2 Revision History The version of the manual is also indicated on the bottom of the front cover. MD07UE01-2005_V1.9 Version Release date Release Date Version Applicable Product Revision Contents Revise table 2.1.1.1 in section 2.1.1 Safety certification. Modify the input power for servo drive. The suggested input power is 220 V.
  • Page 3 Add the description of using PDL to assist with data capture. Add the description of using PDL to assist with data capture. Add motor models with HIWIN 17 encoder to Table 4-1. Update the description of LCD operation. May 15...
  • Page 4: Table Of Contents

    Table of Contents 1. About this user manual ············································································································ 1-1 1.1 Instructions before use ···································································································· 1-2 1.2 Safety instructions ·········································································································· 1-4 2. Specifications ························································································································ 2-1 2.1 Drive information ··········································································································· 2-2 2.1.1 Safety certification ······························································································· 2-2 2.1.2 Nameplate information ························································································· 2-2 2.1.3 Model number ····································································································...
  • Page 5 5.1.3 HMI main window ································································································ 5-7 5.2 Configuration center ······································································································· 5-9 5.2.1 Motor configuration ···························································································· 5-10 5.2.2 Encoder configuration ························································································ 5-12 5.2.2.1 HIWIN standard encoder ········································································ 5-13 5.2.2.2 Customized digital incremental encoder ····················································· 5-16 5.2.2.3 Encoder output setting ··········································································· 5-17 5.2.3 Operation mode configuration ··············································································...
  • Page 6 6.3 Scope ·························································································································· 6-7 6.4 Data collection ·············································································································· 6-9 6.4.1 Function description ····························································································· 6-9 6.4.2 Data collection via PDL ······················································································· 6-11 6.5 Plot view ···················································································································· 6-12 6.5.1 Graphic display mode ························································································· 6-12 6.5.2 Save/open file ··································································································· 6-17 6.5.3 Mathematical operation ······················································································ 6-18 6.6 Advanced gains ···········································································································...
  • Page 7 8.3 Brake output ················································································································· 8-6 8.4 Limit protection ············································································································ 8-10 8.4.1 Hardware limit protection ···················································································· 8-10 8.4.2 Software limit protection ······················································································ 8-11 8.5 Over temperature protection ··························································································· 8-12 8.5.1 Soft-thermal protection ······················································································· 8-12 8.5.2 Drive over temperature protection ········································································· 8-12 8.6 Over voltage protection ·································································································...
  • Page 8 (This page is intentionally left blank.)
  • Page 9: About This User Manual

    About this user manual 000000 1. About this user manual ············································································································ 1-1 1.1 Instructions before use ···································································································· 1-2 1.2 Safety instructions ·········································································································· 1-4 HIWIN MIKROSYSTEM CORP.
  • Page 10: Instructions Before Use

    Ensure the product is used with power supply specified on product label or in product requirement.  HIWIN is not responsible for any damage, accident or injury caused by incorrect power supply. Ensure the product is used with rated load. HIWIN is not responsible for any damage, accident or  injury caused by improper usage.
  • Page 11  If you decide to use your self-made extension cord for motor encoder, please look up this User Manual in detail or contact HIWIN Customer Service Department. Wrong connection may cause abnormal motion or injury to people.
  • Page 12: Safety Instructions

    MD07UE01-2005 About This User Manual D2 Series Servo Drive User Manual Safety instructions Carefully read through this manual before installation, transportation, maintenance and examination.  Ensure the product is correctly used. Carefully read through electromagnetic (EM) information, safety information and related precautions ...
  • Page 13 MD07UE01-2005 D2 Series Servo Drive User Manual About This User Manual Operation  Do not touch the terminals and the 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 14 MD07UE01-2005 About This User Manual D2 Series Servo Drive User Manual Wiring  Ensure wiring is correctly performed, or it may cause malfunction or burn.  There is a risk of injury or fire. Operation and transportation  Use power supply specified in product specification, or it may cause injury or ...
  • Page 15: Specifications

    2.1 Drive information ··········································································································· 2-2 2.1.1 Safety certification ······························································································· 2-2 2.1.2 Nameplate information ························································································· 2-2 2.1.3 Model number ···································································································· 2-3 2.2 Drive specifications ········································································································ 2-4 2.3 Drive dimensions ··········································································································· 2-8 2.4 Drive installation ·········································································································· 2-20 2.5 Computer requirements ································································································· 2-21 HIWIN MIKROSYSTEM CORP.
  • Page 16: Drive Information

    MD07UE01-2005 Specifications D2 Series Servo Drive User Manual Drive information 2.1.1 Safety certification The drive complies with the following safety regulations. Table 2.1.1.1 EN 61800-3: 2004 (Category C2)/2012(Category C3) EN 61000-3-2: 2006/A1: 2009/A2: 2009/A3:2014 EN 61000-3-3: 2013 IEC CISPR 11: 2015/A1: 2016...
  • Page 17: Model Number

    D = D frame (2.0KW) 0 = 13-bit less-wire incremental encoder 10: Encoder type 4 = 17-bit serial incremental encoder (HIWIN 17) 5 = Dual loop (full closed loop) and 17-bit serial absolute encoder Note: The standard model supports the pulse and +/- 10 V input interfaces.
  • Page 18: Drive Specifications

    MD07UE01-2005 Specifications D2 Series Servo Drive User Manual Drive specifications Table2.2.1 Drive specification Frame Single/three-phase, 200 - 240 Vac 50/60Hz Main power Frame Input power 220V Three-phase, 200 - 240 Vac 50/60Hz Frame Control power Single-phase, 200 - 240 Vac 50/60Hz Frame A: 100 W;...
  • Page 19 MD07UE01-2005 D2 Series Servo Drive User Manual Specifications Frame D model has one built-in dynamic brake resistor Dynamic brake (line resistance: 2.6 Ω ± 5%; continuous power: 120 W; peak power: 600 W). Communication function Used to connect with PC, 115,200 bps...
  • Page 20 MD07UE01-2005 Specifications D2 Series Servo Drive User Manual Velocity command can be provided by the analog voltage. Velocity command Analog input Parameters are used to set the scale and command input direction. Zero speed clamp The input of zero speed clamp is possible.
  • Page 21 MD07UE01-2005 D2 Series Servo Drive User Manual Specifications Execution cycle: 66.67 us 4 tasks can be executed simultaneously. Support if, else, while loop, for loop, goto, till, and other commands to control program flow. Support arithmetic operators, logical operators, and comparison operators.
  • Page 22: Drive Dimensions

    MD07UE01-2005 Specifications D2 Series Servo Drive User Manual Drive dimensions Dimensions and mounting holes of D2-series drives, D2-series drives with the EtherCAT (CoE/ mega-ulink) module, and D2-series drives with the extension I/O module are shown in the following figures. The dimension unit is in mm, and the diameter of mounting hole is 4 mm.
  • Page 23 MD07UE01-2005 D2 Series Servo Drive User Manual Specifications D2-DNN47A Figure2.3.2 Dimensions of frame B model HIWIN MIKROSYSTEM CORP.
  • Page 24 MD07UE01-2005 Specifications D2 Series Servo Drive User Manual D2-DNN48A Figure2.3.3 Dimensions of frame C model 2-10 HIWIN MIKROSYSTEM CORP.
  • Page 25 MD07UE01-2005 D2 Series Servo Drive User Manual Specifications D2-DNN52A Figure2.3.4 Dimensions of frame D model HIWIN MIKROSYSTEM CORP. 2-11...
  • Page 26 MD07UE01-2005 Specifications D2 Series Servo Drive User Manual D2-DNN43A Figure2.3.5 Dimensions of frame A model with the EtherCAT module 2-12 HIWIN MIKROSYSTEM CORP.
  • Page 27 MD07UE01-2005 D2 Series Servo Drive User Manual Specifications D2-DNN44A Figure2.3.6 Dimensions of frame B model with the EtherCAT module HIWIN MIKROSYSTEM CORP. 2-13...
  • Page 28 MD07UE01-2005 Specifications D2 Series Servo Drive User Manual D2-DNN45A Figure2.3.7 Dimensions of frame C model with the EtherCAT module 2-14 HIWIN MIKROSYSTEM CORP.
  • Page 29 MD07UE01-2005 D2 Series Servo Drive User Manual Specifications D2-DNN57A Figure2.3.8 Dimensions of frame D model with the EtherCAT module HIWIN MIKROSYSTEM CORP. 2-15...
  • Page 30 MD07UE01-2005 Specifications D2 Series Servo Drive User Manual D2-DNN54A Figure2.3.9 Dimensions of frame A model with the extension I/O module 2-16 HIWIN MIKROSYSTEM CORP.
  • Page 31 MD07UE01-2005 D2 Series Servo Drive User Manual Specifications D2-DNN55A Figure2.3.10 Dimensions of frame B model with the extension I/O module HIWIN MIKROSYSTEM CORP. 2-17...
  • Page 32 MD07UE01-2005 Specifications D2 Series Servo Drive User Manual D2-DNN56A Figure2.3.11 Dimensions of frame C model with the extension I/O module 2-18 HIWIN MIKROSYSTEM CORP.
  • Page 33 MD07UE01-2005 D2 Series Servo Drive User Manual Specifications D2-DNN53A Figure2.3.12 Dimensions of frame D model with the extension I/O module HIWIN MIKROSYSTEM CORP. 2-19...
  • Page 34: Drive Installation

    MD07UE01-2005 Specifications D2 Series Servo Drive User Manual Drive installation To fix drive in the used environment (e.g. electric cabinet), conductive screws must be used to secure drive to electric cabinet. Moreover, insulating materials (e.g. paint) on the contact surface of electric cabinet must be removed, so that the drive can connect to ground through the machine.
  • Page 35: Computer Requirements

    MD07UE01-2005 D2 Series Servo Drive User Manual Specifications 50 mm 20 mm 20 mm Electric cabinet or more or more or more case 50 mm 50 mm or more or more 50 mm or more Figure2.4.2 Space between drives Computer requirements Table2.5.1...
  • Page 36 MD07UE01-2005 Specifications D2 Series Servo Drive User Manual (This page is intentionally left blank.) 2-22 HIWIN MIKROSYSTEM CORP.
  • Page 37: Operation Principles

    3.6 Gain margin and phase margin ························································································· 3-9 3.6.1 Nyquist diagram ·································································································· 3-9 3.6.2 Bode diagram ··································································································· 3-11 3.7 Move and settling ········································································································· 3-12 3.8 Error compensation ······································································································ 3-13 3.9 Velocity ripple ·············································································································· 3-14 3.10 Enable ······················································································································· 3-15 3.11 Common physical quantities ··························································································· 3-16 HIWIN MIKROSYSTEM CORP.
  • Page 38: Operation Modes

    MD07UE01-2005 Operation Principles D2 Series Servo Drive User Manual Operation modes The following operation modes can be used to implement the interface between the standard D2 drive and the host controller. (1) Position mode (2) Velocity mode (3) Force/torque mode (4) Stand-alone mode Each mode is described as follows.
  • Page 39: Velocity Mode

    MD07UE01-2005 D2 Series Servo Drive User Manual Operation Principles 3.1.2 Velocity mode The drive can receive the command from the host controller via voltage, so as called V command. The input voltage range is from -10 V to +10 V. The drive converts the received external voltage to the corresponding velocity command to drive the motor.
  • Page 40: Stand-Alone Mode

    MD07UE01-2005 Operation Principles D2 Series Servo Drive User Manual (2) Use PWM command The drive converts the PWM signal to the current command to control the force or torque of motor movement. It can set the command current correspond to “Full PWM”.
  • Page 41: Encoder Signal Output

    MD07UE01-2005 D2 Series Servo Drive User Manual Operation Principles Grating Period Figure3.2.2 Encoder signal output The input signal of encoder is used to perform the servo control by the servo drive. When the drive works with the host controller, the host controller also has the requirement of receiving position signal. Normally, the drive will transmit the position or angle signal received from the encoder to the host controller.
  • Page 42: Path Planning

    MD07UE01-2005 Operation Principles D2 Series Servo Drive User Manual Switchable Buffered Encoder Output Encoder Emulated Signal Encoder Processing Output Figure3.3.2 Path planning The main purpose of path planning is that the host controller calculates the suitable motion command based on the user’s actual requirement of distance, velocity, acceleration, and smooth factor, as shown in figure 3.4.1.
  • Page 43 MD07UE01-2005 D2 Series Servo Drive User Manual Operation Principles (2) Velocity The velocity is defined as the difference of position per unit time. For linear motion, velocity units are um/sec, mm/sec, m/sec; while for rotary motion, they are count/sec, rps, and rpm.
  • Page 44: Servo Loops And Gains

    MD07UE01-2005 Operation Principles D2 Series Servo Drive User Manual Servo loops and gains (1) Servo loops There are three types of control loop for D2 drive: current, velocity, and position control loops to implement the servo motor control. The architecture of drive’s servo loop is described in figure 3.5.1.
  • Page 45: Gain Margin And Phase Margin

    MD07UE01-2005 D2 Series Servo Drive User Manual Operation Principles Gain margin and phase margin 3.6.1 Nyquist diagram Gain margin (GM) is defined as that the loop gain, calculated by dB, can be increased before the close-loop system becomes unstable. On the other hand, phase margin (PM) is defined as that the phase delay can be increased before the close-loop system becomes unstable.
  • Page 46 MD07UE01-2005 Operation Principles D2 Series Servo Drive User Manual j Im ω − Plane Phase crossover ω ω ω ω ← Figure3.6.1.1 Gain margin of Nyquist diagram Phase margin  Phase margin is defined as that the angle between the straight line passing through the gain crossover and the negative real axis of G(jω)-plane, as shown in figure 3.6.1.2.
  • Page 47: Bode Diagram

    MD07UE01-2005 D2 Series Servo Drive User Manual Operation Principles 3.6.2 Bode diagram The gain margin and phase margin of Bode diagram are given in figure 3.6.2.1. ω ω Gain crossover ω Gain margin ( rad sec) ω ∠ (deg) Phase...
  • Page 48: Move And Settling

    MD07UE01-2005 Operation Principles D2 Series Servo Drive User Manual Move and settling The motor moves based on the path planned by the host controller. When it arrives at the target position, it is able to position accurately and stop motion. This is called move and settling.
  • Page 49: Error Compensation

    MD07UE01-2005 D2 Series Servo Drive User Manual Operation Principles Error compensation Normally, the positioning accuracy of drive is determined by the performance of encoder. But sometimes, the encoder cannot completely meet the requirement of accuracy. In this case, instruments with the higher level of accuracy (e.g.
  • Page 50 MD07UE01-2005 Operation Principles D2 Series Servo Drive User Manual (2) Home offset = 100 Home offset Mapping effective area = 100 + position index Drive coordinate = 0 Drive coordinate = -100 Figure3.8.2 Velocity ripple Generally in the motion control, it is always desirable that the motion in the constant-speed phase is as smooth as possible.
  • Page 51: Enable

    For the drive with the incremental encoder, it needs to find the electrical angle at the first power-on, called phase initialization. For HIWIN servo motors, after the drive is booted, it is able to successfully find the electrical angle almost without any movement at the first enable process. The other common method of phase initialization is to add Hall sensor to achieve the same effect.
  • Page 52: Common Physical Quantities

    MD07UE01-2005 Operation Principles D2 Series Servo Drive User Manual 3.11 Common physical quantities Figure3.11.1 Physical quantities Description Feedback position Feedback position Reference position Position command Target position Target position Position error Position error Feedback position of single-turn encoder (only for the drive...
  • Page 53: Wiring

    4.6.3 System wiring diagram for PWM command ····························································· 4-43 4.6.3.1 NPN interface with PWM 50% ································································· 4-43 4.6.3.2 NPN interface with PWM 100% ································································ 4-44 4.6.3.3 5V TTL interface with PWM 50% ······························································ 4-45 4.6.3.4 5V TTL interface with PWM 100% ···························································· 4-46 HIWIN MIKROSYSTEM CORP.
  • Page 54: System Configuration And Wiring

    MD07UE01-2005 Wiring D2 Series Servo Drive User Manual System configuration and wiring This chapter describes the system configuration of drive and the function of each connector. 4.1.1 System wiring diagram The following figure shows the name, function, and specification of each drive connector.
  • Page 55 MD07UE01-2005 D2 Series Servo Drive User Manual Wiring Figure4.1.1.2 CN8-out CN8-in CN13 CN14 (b) Extension I/O module (a) EtherCAT module Figure4.1.1.3 HIWIN MIKROSYSTEM CORP.
  • Page 56: Grounding

    MD07UE01-2005 Wiring D2 Series Servo Drive User Manual Table4.1.1.1 Item No. Name Connector Description L1, L2: Single-phase 200-240 Vac, 50/60Hz L1, L2, L3: Three-phase 200-240 Vac, 50/60Hz AC main power cable Frame A-D: CN1 (The frame D model is only allowed connecting...
  • Page 57: Cn1 Power

    MD07UE01-2005 D2 Series Servo Drive User Manual Wiring (6) When servo motor is grounded through a machine, switching noise current may flow out from the servo drive main circuit with the stray capacitance of the servo motor. To avoid the above situation, connect the frame or ground terminal of the servo motor to the ground terminal of the servo drive.
  • Page 58 MD07UE01-2005 Wiring D2 Series Servo Drive User Manual Figure4.1.2.1.2 Installation and removal methods Table4.1.2.1.1 Signal Function AC main power, 220 Vac (50/60 Hz) single/three phase AC main power, 220 Vac (50/60 Hz) single/three phase AC main power, 220 Vac (50/60 Hz) three phase...
  • Page 59 MD07UE01-2005 D2 Series Servo Drive User Manual Wiring (2) Frame D Connector model: TE Connectivity 1-2229794-1 (female). The ground wire of main power should be connected to the drive housing. Figure4.1.2.1.3 CN1 connector type for frame D model Table4.1.2.1.2 Signal...
  • Page 60: Motor Wiring

    MD07UE01-2005 Wiring D2 Series Servo Drive User Manual 4.1.2.2 Motor wiring Be sure to ground the drive and the motor. The following motor wiring is only suitable for frame A-C models. mega-fabs D2 Series drive REG- REG+ Motor Figure4.1.2.2.1 4.1.2.3 Regenerative resistor wiring The regenerative resistor is optional.
  • Page 61: Dc Reactor Wiring

    MD07UE01-2005 D2 Series Servo Drive User Manual Wiring (2) Frame D D2T 2KW D2T 2KW series drive series drive Regenerative resistor case Fuse (a) Using internal regenerative (b) Using external regenerative resistor resistor (13 Ω/100 W) Figure4.1.2.3.2 4.1.2.4 DC reactor wiring The DC reactor is optional.
  • Page 62 MD07UE01-2005 Wiring D2 Series Servo Drive User Manual DC reactor is not connected. DC reactor is connected. Servo Drive Servo Drive 14AWG/600V cable is suggested. 14AWG/600V cable is suggested. Figure4.1.2.4.1 CAUTION Wiring and the related inspection must be done by the professional technician.
  • Page 63: Cn2 Brake/Motor Power

    MD07UE01-2005 D2 Series Servo Drive User Manual Wiring  Do not insert more than two wires in the same socket.  Check that there is no short circuit between the wire and its adjacent wire after inserting the wire.  Use the specific power voltage; otherwise it may cause fire or drive damage.
  • Page 64: Cn3 Usb Communication

    MD07UE01-2005 Wiring D2 Series Servo Drive User Manual Power: Figure4.1.3.2 Brake wiring with a relay (2) Frame D The motor ground wire should be connected to the drive housing. Connector model: TE Connectivity 3-2229794-1 (female). Figure4.1.3.3 Table4.1.3.1 Single Function Motor U-phase input...
  • Page 65: Cn4 Modbus Communication

    MD07UE01-2005 D2 Series Servo Drive User Manual Wiring Wiring diagram of mini USB communication  Use HIWIN cable with the shielding network. Its model is “USB 2.0 Type A to mini-B 5-pin (1.8M)”. Figure4.1.4.1 mega-fabs D2 Series drive Serial port...
  • Page 66 MD07UE01-2005 Wiring D2 Series Servo Drive User Manual (1) Frame A-C (a) RS485 (female connector) (b) RS485 (male connector) Figure4.1.5.1 Table4.1.5.1 Function Description DATA+ RS485 Modbus communication DATA- Reserved Digital ground reference (2) Frame D Connector model: TE Connectivity 2040008-1 (female).
  • Page 67: Cn5 Modbus Communication/Safety Function

    MD07UE01-2005 D2 Series Servo Drive User Manual Wiring 4.1.6 CN5 Modbus communication/safety function CN5 connectors of frame A-C models are Modbus communication ports; while the CN5 connector of frame D model is the input of safety-function device. Check the pin assignment for each model before use.
  • Page 68: Cn6 Control Signal

    MD07UE01-2005 Wiring D2 Series Servo Drive User Manual 4.1.7 CN6 control signal For the pulse command and PWM command, the high-level input voltage should be greater than 2 V, and the low-level input voltage should be less than 0.8 V.
  • Page 69: Cn7 Encoder

    MD07UE01-2005 D2 Series Servo Drive User Manual Wiring Signal Function Channel 1: Pulse, CW, A-phase CWH- Maximum voltage: 12 V CCWH+ High-speed (4 Mpps) pulse command Channel 2: DIR, CCW, B-phase CCWH- Maximum voltage: 12 V Common point for general-purpose input signal (Sink or Source) General-purpose input signal (programmable function) N/A or I10 D2 model: N/A;...
  • Page 70: Cn8 Ethercat Communication

    MD07UE01-2005 Wiring D2 Series Servo Drive User Manual Table4.1.8.1 Signal Description Encoder 13-bit 17-bit 17-bit Dual-loop type incremental incremental absolute architecture +5 Vdc +5 Vdc +5 Vdc +5 Vdc Encoder power output of +5 Vdc Digital ground and ground for +5 Vdc 17-bit incremental: timing output for ...
  • Page 71: Cn13/Cn14 Extension I/O Signal

    MD07UE01-2005 D2 Series Servo Drive User Manual Wiring 4.1.10 CN13/CN14 extension I/O signal CN13 and CN14 are 26-pin SCSI connectors. Figure4.1.10.1 Table4.1.10.1 Specification of extension I/O module Connector Function Quantity Specification Digital input Suitable for power system between 9 and 28 Vdc.
  • Page 72: Drive Accessories

    MD07UE01-2005 Wiring D2 Series Servo Drive User Manual Drive accessories Motor power cable  Table4.2.1 Part Name Part No. Description HVPS04AA□□MB Suitable for 50 W - 750 W motor, without brake, flexible. Suitable for 1KW motor, without brake, straight connector, HVPM04BA□□MB...
  • Page 73 MD07UE01-2005 D2 Series Servo Drive User Manual Wiring  denotes the cable length as follows: Table4.2.4  Wire Length (m) Note: The encoder cable shall be chosen to match with the motor encoder. Control signal cable  Table4.2.5 Part Name Part No.
  • Page 74 MD07UE01-2005 Wiring D2 Series Servo Drive User Manual Connector kit  Table4.2.7 D2 Drive Model Model No. Description Quantity CN1: Connectors of AC power, motor power, regenerative resistor, and control power. 12 pins, pitch 5 mm, Wago 721-112/026-000. CN2: Brake connector. 4 pins, pitch 3.5 mm...
  • Page 75 MD07UE01-2005 D2 Series Servo Drive User Manual Wiring EMC accessory kit  Table4.2.8 Part Name Model No. Description Quantity Single-phase filter: FN2090-6-06 for 50 W to 400 W. (Rated current: 6 A, leakage current: 0.67 mA) D2-EMC1 EMI core KCF-130-B.
  • Page 76 Optional (Shielding) Note: The accessory kit includes connectors of CN1, CN2, and CN6 (with 733-130 fixture tool). HIWIN P/N: 051800200070. Turn off all power and use fixture tools to avoid electric shock at wiring. Table4.2.11 Connector specifications for the frame D model...
  • Page 77: Main Power Wiring

    MD07UE01-2005 D2 Series Servo Drive User Manual Wiring Main power wiring CAUTION  Wiring and the related inspection must be done by the professional technician.  Turn off the power before the wiring or inspection to avoid electric shock and other dangers.
  • Page 78: Ac Power Wiring (Three-Phase)

    MD07UE01-2005 Wiring D2 Series Servo Drive User Manual 4.3.2 AC power wiring (three-phase) It is recommended to use the three-phase filter of FN3025HL-20-7. Emergency Stop mega-fabs D2 Series drive Filter 3-phase 200~240VAC 50/60Hz Earth Figure4.3.2.1 Table4.3.2.1 FN3025HL-20-71 Filter Maximum continuous operation voltage...
  • Page 79: Multiple Drives Connection

    MD07UE01-2005 D2 Series Servo Drive User Manual Wiring Multiple drives connection Do not use the power connector on the drive to connect the power supply between drives in parallel. Emergency Stop mega-fabs D2 Series drive Filter 3-phase 200~240VAC 50/60Hz Earth...
  • Page 80 MD07UE01-2005 Wiring D2 Series Servo Drive User Manual Selection of no-fuse breakers (NFBs)  When NFB is used in the drive shunt, its rated capacity is usually 1.5 - 2.5 times the rated motor current in principle. The selection method is described as follows: One drive: I = C×I...
  • Page 81: I/O Signal Wiring

    MD07UE01-2005 D2 Series Servo Drive User Manual Wiring I/O signal wiring D2 model provides 9 general-purpose inputs and 4 general-purpose outputs on CN6 connector; while D2T model provides 10 general-purpose inputs and 5 general-purpose outputs on CN6 connector. Users can configure the function of each I/O by using the software. In this section, take D2 model as an example.
  • Page 82: Digital Output Wiring

    MD07UE01-2005 Wiring D2 Series Servo Drive User Manual 4.5.1.2 Source input wiring examples Input wiring example via switches or relays  Source connection 4.7K Current 流 Figure4.5.1.2.1 Input wiring example via transistors  接 Source connection 4.7K Current 流 Figure4.5.1.2.2 4.5.2...
  • Page 83 MD07UE01-2005 D2 Series Servo Drive User Manual Wiring +24VDC Figure4.5.2.1 Output wiring example via relays  Figure4.5.2.2 Output wiring example via optical couplers  Figure4.5.2.3 HIWIN MIKROSYSTEM CORP. 4-31...
  • Page 84: System Wiring Diagram For Pulse Command

    MD07UE01-2005 Wiring D2 Series Servo Drive User Manual Wiring examples for control commands 4.6.1 System wiring diagram for pulse command The position mode can accept three formats of pulse command from the host controller. Refer to Section 3.1.1 for more information.
  • Page 85: Differential Interface For High-Speed Pulse

    MD07UE01-2005 D2 Series Servo Drive User Manual Wiring 4.6.1.1 Differential interface for high-speed pulse Wiring example for the host controller having the differential interface for high-speed pulse: General-purpose output; mega-fabs its function can be High-speed pulse D2 Series Drive assigned by the user.
  • Page 86: Differential Interface For Low-Speed Pulse

    MD07UE01-2005 Wiring D2 Series Servo Drive User Manual 4.6.1.2 Differential interface for low-speed pulse Wiring example for the host controller having the differential interface for low-speed pulse: General-purpose outputs Low-speed pulse command (user-defined) (500K pps or less) General-purpose inputs (user-defined) Figure4.6.1.2.1...
  • Page 87: Sink (Npn) Interface With Current-Limit Resistances

    MD07UE01-2005 D2 Series Servo Drive User Manual Wiring 4.6.1.3 Sink (NPN) interface with current-limit resistances Wiring example for the host controller having the NPN interface with current-limit resistances: General-purpose output; its Low-speed pulse mega-fabs function can be assigned by command D2 Series Drive the user.
  • Page 88: Sink (Npn) Interface Without Current-Limit Resistances

    MD07UE01-2005 Wiring D2 Series Servo Drive User Manual 4.6.1.4 Sink (NPN) interface without current-limit resistances Wiring example for the host controller having the NPN interface without current-limit resistances: Low-speed pulse General-purpose output; mega-fabs command its function can be (500 Kpps or less) D2 Series Drive assigned by the user.
  • Page 89: Source (Pnp) Interface With Current-Limit Resistances

    MD07UE01-2005 D2 Series Servo Drive User Manual Wiring 4.6.1.5 Source (PNP) interface with current-limit resistances Wiring example for the host controller having the PNP interface with current-limit resistances: Low-speed pulse General-purpose output; command mega-fabs its function can be Host controller...
  • Page 90: Source (Pnp) Interface Without Current-Limit Resistances

    MD07UE01-2005 Wiring D2 Series Servo Drive User Manual 4.6.1.6 Source (PNP) interface without current-limit resistances Wiring example for the host controller having the PNP interface without current-limit resistances: Low-speed pulse command General-purpose output; (500 Kpps or less) mega-fabs Host controller...
  • Page 91: Ttl Interface

    MD07UE01-2005 D2 Series Servo Drive User Manual Wiring 4.6.1.7 5V TTL interface Wiring example for the host controller having the 5V TTL interface: Low-speed pulse command General-purpose output; mega-fabs (500 Kpps or less) General output its function can be D2 Series Drive...
  • Page 92 MD07UE01-2005 Wiring D2 Series Servo Drive User Manual Note: The signal logic of pulse command accepted by D2 drive is shown as follows. Table4.6.1.7.1 Pulse Command Positive Logic Negative Logic Pulse If the pulse command of host controller is the single-ended negative logic CW/CCW signal, it can be converted to the positive logic CW/CCW signal by using the following wiring.
  • Page 93: System Wiring Diagram For Voltage Command

    MD07UE01-2005 D2 Series Servo Drive User Manual Wiring 4.6.2 System wiring diagram for voltage command The drive can accept the voltage command form the host controller in the velocity and force/torque modes. Refer to Sections 3.1.2 and 3.1.3 for more information.
  • Page 94 MD07UE01-2005 Wiring D2 Series Servo Drive User Manual Wiring example for the host controller having the interface of -10 V to +10 V: General-purpose output; mega-fabs its function can be D2 Series Drive Host controller assigned by the user. Velocity mode input...
  • Page 95: System Wiring Diagram For Pwm Command

    MD07UE01-2005 D2 Series Servo Drive User Manual Wiring 4.6.3 System wiring diagram for PWM command In addition to analog voltage command, D2-series drives can also accept the PWM command in the velocity and force/torque modes. The PWM command is classified into single-wire (PWM 50%) and two-wire (PWM 100%) types.
  • Page 96 MD07UE01-2005 Wiring D2 Series Servo Drive User Manual 4.6.3.2 NPN interface with PWM 100% Wiring example for the host controller having the NPN interface with PWM 100%: General-purpose output; mega-fabs its function can be assigned D2 Series Drive by the user.
  • Page 97 MD07UE01-2005 D2 Series Servo Drive User Manual Wiring 4.6.3.3 5V TTL interface with PWM 50% Wiring example for the host controller having the 5V TTL interface with PWM 50%: General-purpose output; mega-fabs its function can be General output D2 Series Drive assigned by the user.
  • Page 98 MD07UE01-2005 Wiring D2 Series Servo Drive User Manual 4.6.3.4 5V TTL interface with PWM 100% Wiring example for the host controller having the 5V TTL interface with PWM 100%: mega-fabs General-purpose output; General output its function can be assigned D2 Series Drive...
  • Page 99: Drive Configuration

    5.1.3 HMI main window ································································································ 5-7 5.2 Configuration center ······································································································· 5-9 5.2.1 Motor configuration ···························································································· 5-10 5.2.2 Encoder configuration ························································································ 5-12 5.2.2.1 HIWIN standard encoder ········································································ 5-13 5.2.2.2 Customized digital incremental encoder ····················································· 5-16 5.2.2.3 Encoder output setting ··········································································· 5-17 5.2.3 Operation mode configuration ··············································································...
  • Page 100: Installation And Communication

    “setup.exe”. The default installation path is “C:\HIWIN\”. Do not try to change this path. The installation window is given in figure 5.1.1.2. Click the “Start” button to run the automated installation procedure. After this procedure is completed, the message window of figure 5.1.1.3 appears to show that the software...
  • Page 101 MD07UE01-2005 D2 Series Servo Drive User Manual Drive Configuration Figure5.1.1.2 Figure5.1.1.3 The execution shortcut of Lightening will appear on the PC desktop after the installation procedure is completed, as shown in figure 5.1.1.4. The path for this shortcut is: “C:\HIWIN\dce\toolswin\winkmi\lightening.exe”.
  • Page 102: Communication Setup

    (3) using CoE communication. This section will introduce the former two methods. As for the last one, refer to the other HIWIN document: “HIWIN CoE Drive User Guide” (log in HIWIN website and download it. If the mega-ulink or CoE communication is used to connect with the drive, it is suggested to use network card with the network chip certified by Beckhoff.
  • Page 103 MD07UE01-2005 D2 Series Servo Drive User Manual Drive Configuration Figure5.1.2.2 (2) Using mega-ulink communication At the first usage of mega-ulink communication, download and install WinPcap. After installing WinPcap is done, open the “lightening Communication Setup” window described in the previous subsection, as shown in figure 5.1.2.2.
  • Page 104 MD07UE01-2005 Drive Configuration D2 Series Servo Drive User Manual Figure5.1.2.3 The “EtherCat set up” window will appear to display all network cards in the computer, as shown in figure 5.1.2.4. Select the network card connected to the drive. After that, close the “EtherCat set up”...
  • Page 105: Hmi Main Window

    MD07UE01-2005 D2 Series Servo Drive User Manual Drive Configuration Figure5.1.2.6 5.1.3 HMI main window The HMI main window after connecting is given in figure 5.1.3.1. The axis name can be modified by clicking the right mouse button at the axis name and choosing “Rename”. It also can be modified directly by clicking the axis name.
  • Page 106 D2T model, the message for installation error will appear after connecting, as shown in figure 5.1.3.3. Since these HMI versions do not contain the firmware version for these drives, Lightening cannot identify them. Click the “Do nothing” button and download the latest version of Lightening from HIWIN website.
  • Page 107: Configuration Center

    MD07UE01-2005 D2 Series Servo Drive User Manual Drive Configuration Figure5.1.3.3 Message for firmware version error Configuration center When using a new drive or a new motor, relevant parameters should be set based on the actual application via configuration center. The configuration center can be opened by clicking in the main toolbar.
  • Page 108: Motor Configuration

    Setting for AC servo motor  (1) Motor parameters By clicking the motor model name of HIWIN servo motor, motor parameters are displayed and can be set. (2) Operation parameters  Screw Moment of Inertia: the rotational inertia of used screw. Unit: Kg x m ...
  • Page 109 MD07UE01-2005 D2 Series Servo Drive User Manual Drive Configuration Operation parameters setting area Motor parameter setting area Figure5.2.1.1 Motor configuration page for Lightening 0.177 or less ZeroTune parameters setting area Figure5.2.1.2 Motor configuration page for Lightening 0.178 or above HIWIN MIKROSYSTEM CORP.
  • Page 110: Encoder Configuration

    MD07UE01-2005 Drive Configuration D2 Series Servo Drive User Manual (3) ZeroTune parameters The tuneless feature of ZeroTune can avoid the complex procedure of gain tuning and can easily set gains. Only by selecting the load level of motor, the stable velocity response will be achieved.
  • Page 111: Hiwin Standard Encoder

    5.2.2.1 HIWIN standard encoder Specifications of rotary digital encoder used in HIWIN AC servo motor is given in table 5.2.2.1.1. The 9-th bit of motor model name being 5 uses the 13-bit digital incremental rotary encoder with the resolution of 10,000 counts/rev.
  • Page 112 (2) 17-bit serial encoder For HIWIN AC servo motor with the serial encoder, it does not need to set encoder parameters, since they are already saved in the encoder, as shown in figure 5.2.2.1.1. For example, for the 9-th bit of motor model name being 4 or 6, the program will automatically read encoder parameters and show the resolution being 131,072 counts/rev.
  • Page 113 D2 Series Servo Drive User Manual Drive Configuration (3) Dual-loop encoder HIWIN dual-loop model supports the 17-bit multi-turn absolute encoder (the 9-th bit of motor model name is 4) and the digital AqB linear encoder. Its encoder configuration page is given in figure 5.2.2.1.2.
  • Page 114: Customized Digital Incremental Encoder

    Figure5.2.2.1.3 Encoder configuration page for dual-loop encoder (the “Dual loop” option is checked) 5.2.2.2 Customized digital incremental encoder In the encoder configuration page, besides encoder parameters for HIWIN motor with common resolution can be chosen, parameters for various encoder brands can also be typed in the customized setting area.
  • Page 115: Encoder Output Setting

    MD07UE01-2005 D2 Series Servo Drive User Manual Drive Configuration Encoder selection area Resolution setting area Encoder save/load Figure5.2.2.2.1 Encoder configuration page for customized encoder 5.2.2.3 Encoder output setting D2 drive sends out the encoder signal with the AqB square wave via CN2. It can be connected to the host controller if needed.
  • Page 116 MD07UE01-2005 Drive Configuration D2 Series Servo Drive User Manual Figure5.2.2.3.1 Encoder output setting area Figure5.2.2.3.2 Buffered encoder output (2) Emulated encoder output When this option is selected, the drive will multiply the received encoder position by “Scaling” and send the result to the host controller. If the ratio is 1:1, the drive will directly output the encoder signal based on the adopted encoder and the set resolution.
  • Page 117 MD07UE01-2005 D2 Series Servo Drive User Manual Drive Configuration Figure5.2.2.3.3 Emulated encoder output (3) Output Z-phase signal to host controller For AC servo motor with the 17-bit encoder, the Z-phase signal can be sent out to the host controller by setting the encoder output to “Use emulated encoder”, as shown in figure 5.2.2.3.3. Before using this function, the encoder output must be set to “Use emulated encoder”, and following two...
  • Page 118: Operation Mode Configuration

    MD07UE01-2005 Drive Configuration D2 Series Servo Drive User Manual The output method of emulated Z-phase signal:  If the option of “Emulated Index Output in every revolution” is not checked, the drive sends out the Z-phase signal only when it reaches the index position at the first time.
  • Page 119 MD07UE01-2005 D2 Series Servo Drive User Manual Drive Configuration Position mode  To work with the host controller only sending pulse commands, the position mode should be chosen to receive the external pulse command for the motion. The closed-loop control is done by the drive.
  • Page 120: Modbus Communication Configuration

    MD07UE01-2005 Drive Configuration D2 Series Servo Drive User Manual Force/Torque mode  To work with the host controller sending analog commands or PWM commands, the other operation mode is the force/torque mode. Only the ratio (“Scaling”) between the external command and current has to be set, where the unit is the corresponding relationship between 1V and Ampere, or between Full PWM and the maximum current.
  • Page 121: Completing Configuration Procedure

    MD07UE01-2005 D2 Series Servo Drive User Manual Drive Configuration (1) Modbus Slave address Set the slave address of Modbus communication. Its value is between 1 and 247. Do not set different drives to the same slave address. (2) Mode Set the mode of Modbus communication. The default mode is RTU (remote terminal unit).
  • Page 122: Auto Phase Center

    MD07UE01-2005 Drive Configuration D2 Series Servo Drive User Manual New parameters Old parameters Parameters are sent to the drive. Cancel button Figure5.2.5.1 If these parameters need to be kept, click (“Save to Flash”) on the HMI main window to save parameters to Flash.
  • Page 123 MD07UE01-2005 D2 Series Servo Drive User Manual Drive Configuration Figure5.3.1.1 For motors with HIWIN17 encoder and so on (2) LSWIR This method is for the less-wire incremental encoder, since it has a built-in hall sensor. Without any tuning and additional wiring, the phase initialization can be done successfully, and the motor has no jitter phenomenon in process.
  • Page 124: Pre-Operation

    MD07UE01-2005 Drive Configuration D2 Series Servo Drive User Manual 5.3.2 Pre-operation (1) Confirm that the connection to the motor is correct. (2) Confirm that the encoder signal is correct. (3) Confirm that the drive can receive the “Hardware enable” signal.
  • Page 125: Troubleshooting

    MD07UE01-2005 D2 Series Servo Drive User Manual Drive Configuration Confirming the movement direction and setting toggle direction: After performing jog in Step 2, if the motor moves in the direction opposite to the user-defined direction, close the “Auto tune” window and open the “toggle direction”...
  • Page 126 MD07UE01-2005 Drive Configuration D2 Series Servo Drive User Manual Figure5.4.1.1 Note: The function of auto tune center only supports D2-serial drives (included D2T model). It is applicable to Lightening 0.184 and D2 MDP 0.037 (inclusive) or above, and D2COE MDP 0.113 (inclusive) or above. If the firmware version is not in the above version, the option of in the Lightening main toolbar will be anti-gray and cannot be clicked.
  • Page 127 MD07UE01-2005 D2 Series Servo Drive User Manual Drive Configuration Enable/Disable Change the motor direction (Toggle Direction) Figure5.4.1.3 Auto tune center - enable state A. If the motor is not enabled, all buttons in the tuning area are anti-gray. If the motor is enabled, the “Enable”...
  • Page 128 MD07UE01-2005 Drive Configuration D2 Series Servo Drive User Manual Auto tune mode Selectable auto tune modes are given in table 5.4.1.1. If the first tuning, the “Standard” mode is recommended. Table5.4.1.1 Auto tune mode Description 1. Standard Applicable to the most of mechanical applications. The system stability (default) is high.
  • Page 129: Announcements

    MD07UE01-2005 D2 Series Servo Drive User Manual Drive Configuration Indicator light for Auto tuned Progress bar Figure5.4.1.5 Auto tune center – auto tuning After clicking the “Execute” button, the drive will drive the motor to vibrate at different frequencies and the status light of “Auto tuned” will continue to flash. After the firing single is sent completely, the drive will disable the motor and perform the gain tuning algorithm.
  • Page 130: Troubleshooting

    MD07UE01-2005 Drive Configuration D2 Series Servo Drive User Manual To avoid auto gain tuning failure, before performing it, be sure to confirm the following:  (1) Confirm that the motor power cable is connected well. (2) Confirm that the encoder feedback cable is connected well.
  • Page 131: I/O Center

    MD07UE01-2005 D2 Series Servo Drive User Manual Drive Configuration If the motor still vibrates abnormally after performing the auto gain tuning process many times, please collect the following information and consult with the customer-service engineer to help troubleshooting the problem.
  • Page 132 MD07UE01-2005 Drive Configuration D2 Series Servo Drive User Manual Table 5.5.1.1 Hardware Input function Description Trigger Symbol Axis Enable Enable/Disable; the default used in I3. Level trigger Left Limit Switch Left hardware limit; the default used in I6. Level trigger Right Limit Switch Right hardware limit;...
  • Page 133 MD07UE01-2005 D2 Series Servo Drive User Manual Drive Configuration Not CoE model CoE model Operation mode Position Velocity Force/torque Stand-alone Stand-alone Input function mode mode mode mode mode Switch to secondary vpg Zero speed clamp Inhibit pulse command Switch HI/LO pulse input...
  • Page 134 MD07UE01-2005 Drive Configuration D2 Series Servo Drive User Manual Input function Abort Motion Operation mode Symbol Default input Circuit Refer to 4.5.1  Function description In the stand-alone mode, the drive will decelerate the motor to stop by using the emergency-stop deceleration (Dec.
  • Page 135 MD07UE01-2005 D2 Series Servo Drive User Manual Drive Configuration Input function Invert V Command Operation mode Symbol INVC Default input None Circuit Refer to 4.5.1 0 to +10 V 0 to +10 V -10 to 0 V -10 to 0 V...
  • Page 136 MD07UE01-2005 Drive Configuration D2 Series Servo Drive User Manual Input Electronic Gear Select (DIV1, DIV2) Operation mode Function Symbol DIV1, DIV2 Default Input Circuit Refer to 4.5.1  Function description Switch among four sets of electronic gear ratio.  Instructions: Go to the “Mode”...
  • Page 137 MD07UE01-2005 D2 Series Servo Drive User Manual Drive Configuration DIV2 DIV1 Numerator Input function Inhibit Pulse Command Operation mode Symbol Default input Circuit Refer to 4.5.1  Function description Inhibit to receive the pulse command sent by the host controller via triggering this input signal.
  • Page 138 MD07UE01-2005 Drive Configuration D2 Series Servo Drive User Manual Input function Switch HI/LO Pulse Input Operation mode Symbol PSEL Default input None Circuit Refer to 4.5.1  Function description In the position mode, trigger this input signal through the host controller to switch between the high-speed and low-speed pulse input channels.
  • Page 139 MD07UE01-2005 D2 Series Servo Drive User Manual Drive Configuration Input function Switch to secondary vpg Operation mode Symbol JSEL Default input None Circuit Refer to 4.5.1  Function description: Switch between velocity loop gains.  Instructions: Different velocity loop gains can be set in the “Schedule Gains + vpg” tab of “Advanced gains” window, as shown in the following figure.
  • Page 140 MD07UE01-2005 Drive Configuration D2 Series Servo Drive User Manual Input function Zero Speed Clamp Operation mode Symbol Default input Circuit Refer to 4.5.1 Brake start speed (vel_stop) is not related to Motor speed the rotation direction of motor. It is applicable to the forward and reversal directions.
  • Page 141 MD07UE01-2005 D2 Series Servo Drive User Manual Drive Configuration Input function Clear Error Operation mode Symbol Default input Circuit Refer to 4.5.1  Function description Clear error message.  Instructions The error message will be cleared when the input state of “Clear Error” is changed from False to True.
  • Page 142: Digital Output

    MD07UE01-2005 Drive Configuration D2 Series Servo Drive User Manual 5.5.2 Digital output D2 model provides 5 sets of programmable digital output. Here, 4 sets (O1 - O4) are general- purpose outputs located on the CN6 connector. The fifth set (CN2 BRK) is specially designed as the brake output and can also be used as the general-purpose output.
  • Page 143 MD07UE01-2005 D2 Series Servo Drive User Manual Drive Configuration (4) Invert state If required, this option can be checked to reverse the polarity of output state to match the host controller. Note: The internal logic of drive is not affected by this “Invert State” setting at all.
  • Page 144 MD07UE01-2005 Drive Configuration D2 Series Servo Drive User Manual Table5.5.2.1 Item Symbol Output function Description Statuses Brake signal. (Checking the brake signal will no longer be Brake possible to set other status, error, or warning.) Servo Ready Servo at the enable state.
  • Page 145 MD07UE01-2005 D2 Series Servo Drive User Manual Drive Configuration Table5.5.2.2 Default output setting for D2 drive Not CoE model CoE model Signal Inverse Position Velocity Force/torque Stand-alone Stand-alone mode mode mode mode mode 34, 35 Servo Ready Servo Ready Servo Ready Servo Ready Servo Ready...
  • Page 146 MD07UE01-2005 Drive Configuration D2 Series Servo Drive User Manual Output function Zero Speed Detected Operation mode Symbol ZSPD Default output Circuit Refer to 4.5.2  Function description The drive outputs this signal when the motor speed is close to zero.
  • Page 147 MD07UE01-2005 D2 Series Servo Drive User Manual Drive Configuration Output function Errors Operation mode Refer to 4.5.2 Symbol Default output Circuit  Function description Output the error status.  Instructions: “Errors” can be set in the “Outputs” tab of I/O center (The default is O2).
  • Page 148: Analog Output

    MD07UE01-2005 Drive Configuration D2 Series Servo Drive User Manual 5.5.3 Analog output D2T model has two analog outputs, located on the CN6 connector, which can be used to monitor the motor speed (pin 42) and motor torque (pin 43). The output voltage range is from -10 V to 10 V, and the output resolution is 16 bits.
  • Page 149: Extension I/O

    MD07UE01-2005 D2 Series Servo Drive User Manual Drive Configuration 5.5.4 Extension I/O For D2 drive with the extension I/O module, parameters shown in table 5.5.4.1 can be used to set the voltage level for each extension I/O pin. Table5.5.4.1 Extension I/O parameters...
  • Page 150: In-Position Signal Setting

    MD07UE01-2005 Drive Configuration D2 Series Servo Drive User Manual Example: When DI 9 of CN13 (pin 22) is at the high level, DO 2 of CN13 (pin 3 and pin 4) outputs a high-level signal. #task/1; _External_IOtest: till(External_Input_1 & 0x0100 );...
  • Page 151 MD07UE01-2005 D2 Series Servo Drive User Manual Drive Configuration Table5.6.1 Parameter Description Target radius for the position error. After the position error is into Target radius “Target radius” and continues “Debounce time”, “In-Position” is valid. The default value is 100 times the encoder resolution.
  • Page 152: Homing Configuration

    MD07UE01-2005 Drive Configuration D2 Series Servo Drive User Manual (2) Observing in figure 5.6.2, the widest protruding pulse is 1.5 ms. So, “Debounce time” can be set to larger than this value. After considering the safety factor, set “Debounce time” to 3 ms. Let the motor move a distance, the “In-Position”...
  • Page 153 MD07UE01-2005 D2 Series Servo Drive User Manual Drive Configuration There are 5 basic parameters for the homing configuration, as shown in the following table. Table5.7.1 Parameter Description Slower Speed Slower homing speed. Faster Speed Faster homing speed. The homing-specific parameter, smooth factor, can be set in the Smooth factor range of 1 to 500.
  • Page 154 MD07UE01-2005 Drive Configuration D2 Series Servo Drive User Manual Home offset Home position Home position found in Right limit Left limit Motor the original condition Figure5.7.2 (2) Homing mode for absolute encoder This method is only applicable to the homing mode (3) described above. When “Home Offset” is set to a nonzero value, the drive sets the current position to the value of “Home Offset”, and the...
  • Page 155: Go Left And Right For Homing

    MD07UE01-2005 D2 Series Servo Drive User Manual Drive Configuration 5.7.1 Go left and right for homing This function is a kind of multi-function homing mode built-in D2 drive. By searching the left and right conditions, the home position can be determined. The main method is to find the midpoint of two boundaries as the home position.
  • Page 156 MD07UE01-2005 Drive Configuration D2 Series Servo Drive User Manual Table5.7.1.1 Parameter Option Description Left Search first in the left direction. Initial movement ○ direction Right Search first in the right direction. None Not use the left side condition. Left side condition End Stop Search the left end stop.
  • Page 157 MD07UE01-2005 D2 Series Servo Drive User Manual Drive Configuration Figure5.7.1.2 Exceptions:  (1) Consider that “Left side condition” is set to “None” (i.e. not use the left side condition), “Right side condition” is set to “End Stop” or “Right Limit Switch”, and the initial movement direction (parameter ○...
  • Page 158 MD07UE01-2005 Drive Configuration D2 Series Servo Drive User Manual Homing example  According to the setting of figure 5.7.1.2, when starting the homing procedure, the motor moves at the slower homing speed in the negative direction to search the left limit switch. After it is found, the motor searches the first index signal at the slower homing speed in the positive direction.
  • Page 159: Use Near Home Sensor/Index For Homing

    MD07UE01-2005 D2 Series Servo Drive User Manual Drive Configuration 5.7.2 Use near home sensor/index for homing Another homing mode is to search “Near Home Sensor” or encoder index signal to determine the home position. “Near Home Sensor” is set to a digital input in the I/O center and is triggered via an external switch.
  • Page 160 MD07UE01-2005 Drive Configuration D2 Series Servo Drive User Manual When “Near Home Sensor” is used for homing, the photoelectric switch or mechanical switch can be connected to the digital input of drive. Taking I2 as an example, set I2 to be “Near Home Sensor” in the I/O center, as shown in figure 5.7.1.5.
  • Page 161: Use Multi-Turn Absolute Encoder For Homing

    MD07UE01-2005 D2 Series Servo Drive User Manual Drive Configuration 5.7.3 Use multi-turn absolute encoder for homing Due to the characteristic of multi-turn absolute encoder, the drive can obtain the absolute position of motor at any time. Therefore, this homing mode can know the home position without moving motor.
  • Page 162: Use Homing Methods In Cia 402 Protocol

    MD07UE01-2005 Drive Configuration D2 Series Servo Drive User Manual 5.7.4 Use homing methods in CiA 402 protocol For the CoE model, the software version of Lightening 0.185 or above supports this homing mode. The configuration page is shown in figure 5.7.2.4, where the green line represents the faster homing speed, and the orange line represents the slower homing speed.
  • Page 163 MD07UE01-2005 D2 Series Servo Drive User Manual Drive Configuration Description Explanation Homing on home switch and index pulse – positive initial motion, left edge of home switch, left-side index Outside home switch  The motor searches the left edge of home switch in the positive...
  • Page 164 MD07UE01-2005 Drive Configuration D2 Series Servo Drive User Manual Description Explanation Homing on home switch and index pulse – positive initial motion, right edge of home switch, right-side index The motor searches the right edge of home switch in the positive direction by using the faster speed.
  • Page 165 MD07UE01-2005 D2 Series Servo Drive User Manual Drive Configuration Description Explanation Homing on home switch and index pulse – negative initial motion, left edge of home switch, right-side index The motor searches the left edge of home switch in the negative direction by using the faster speed.
  • Page 166 MD07UE01-2005 Drive Configuration D2 Series Servo Drive User Manual Description Explanation Homing on hard stop and index pulse – negative initial motion The motor searches the hard stop in the negative direction by using the faster speed. After searched, the...
  • Page 167: Save Parameters To Flash And Recover To Factory Default

    MD07UE01-2005 D2 Series Servo Drive User Manual Drive Configuration Note: Homing methods -4 and -5 do not support the function of “Set home offset as zero position”. That is, whether this option is checked or unchecked, after the homing procedure is completed, the motor stops at the position of “home offset”...
  • Page 168 MD07UE01-2005 Drive Configuration D2 Series Servo Drive User Manual Figure5.8.2.1 Figure5.8.2.2 Figure5.8.2.3 For the version of Lightening 0.186 (inclusive) or above, select “Set amplifier to factory default” in the “Tools” menu of HMI main window. Then, the window of figure 5.8.2.2 appears to ask if users want to set the amplifier to factory default.
  • Page 169: Parameter Setting Examples Via Hmi

    MD07UE01-2005 D2 Series Servo Drive User Manual Drive Configuration Figure5.8.2.4 Figure5.8.2.5 Parameter setting examples via HMI 5.9.1 Position mode In the position mode, the drive will move the corresponding distance when it receives the pulse command, referring to Section 3.1.1.
  • Page 170 MD07UE01-2005 Drive Configuration D2 Series Servo Drive User Manual (1) Mode selection Use following steps to select the position mode via HMI. Step Graphical (HMI) description Operation After executing Lightening, click the “configuration center” icon in the HMI main toolbar, as shown in the left figure, or select the “configuration...
  • Page 171 MD07UE01-2005 D2 Series Servo Drive User Manual Drive Configuration (3) Electronic gear ratio setting D2 drive provides four sets of electronic gear ratio, referring to Section 5.5.1. Use following steps to set the electronic gear ratio via HMI. Step Graphical (HMI) description...
  • Page 172: Velocity Mode

    MD07UE01-2005 Drive Configuration D2 Series Servo Drive User Manual 5.9.2 Velocity mode D2 drive can transfer the voltage command and PWM command to the velocity command, referring to Section 3.1.2. The velocity mode configuration includes: the mode selection and input command format setting. After all parameters are set, refer to Section 5.8.1 to save parameters to flash.
  • Page 173: Force/Torque Mode

    MD07UE01-2005 D2 Series Servo Drive User Manual Drive Configuration After all settings are completed, click the “OK” button, as shown in the left figure. After the window for parameters confirmation appears, click the “Send to RAM” button to save parameters to drive RAM.
  • Page 174 MD07UE01-2005 Drive Configuration D2 Series Servo Drive User Manual (3) Mode selection Use following steps to select the force/torque mode via HMI. Step Graphical (HMI) description Operation After executing Lightening, click the “configuration center” icon in the HMI main toolbar, as shown in the left figure, or select the “configuration...
  • Page 175: Stand-Alone Mode

    MD07UE01-2005 D2 Series Servo Drive User Manual Drive Configuration After all settings are completed, click the “OK” button, as shown in the left figure. After the window for parameters confirmation appears, click the “Send to RAM” button to save parameters to drive RAM.
  • Page 176 MD07UE01-2005 Drive Configuration D2 Series Servo Drive User Manual (1) Mode selection Use following steps to select the stand-alone mode via HMI. Step Graphical (HMI) description Operation After executing Lightening, click the “configuration center” icon in the HMI main toolbar, as shown in the left figure, or select the “configuration...
  • Page 177: Drive Tuning

    6.8 Encoder signal confirmation ··························································································· 6-46 6.9 Error map function ······································································································· 6-47 6.9.1 Set error map ··································································································· 6-48 6.9.2 Enable error map ······························································································ 6-50 6.9.3 Save/open error map ························································································· 6-51 6.9.4 Change start position ························································································· 6-52 6.10 Backlash compensation ································································································· 6-57 HIWIN MIKROSYSTEM CORP.
  • Page 178: Status Display And Quick View

    MD07UE01-2005 Drive Tuning D2 Series Servo Drive User Manual Status display and quick view In Lightening HMI, the status display and “Quick view” are two auxiliary tools, which are indispensable in the tuning process. They can help to know the drive status at any time and present many important parameter values in the motion control.
  • Page 179: Quick View

    MD07UE01-2005 D2 Series Servo Drive User Manual Drive Tuning 6.1.2 Quick view The “Quick view” area is at the bottom of HMI main screen, and is used to help users to know more about the detail of drive’s current status. The interface provides 3 physical quantities to display. Users can select the physical quantity to be observed.
  • Page 180: Software Shortcuts

    MD07UE01-2005 Drive Tuning D2 Series Servo Drive User Manual 6.1.3 Software shortcuts There are two function shortcuts in HMI for D2 drive: F6 and F12. They are only available if Lightening HMI is active for Windows operation system. (1) F6: Move the Lightening main window to the top level.
  • Page 181 MD07UE01-2005 D2 Series Servo Drive User Manual Drive Tuning Take the point-to-point (P2P) motion as an operation example in the following: Table6.2.1 Step Graphical (HM) description Operation Click to enable the motor. Select Set positions of P1 and P2. (If software limits are used, set the position between “Lower SW limit”...
  • Page 182 MD07UE01-2005 Drive Tuning D2 Series Servo Drive User Manual (1) V max: The maximum of velocity ripple. V min: The minimum of velocity ripple. V avg: The average of velocity ripple. (2) Velocity Ripple: Velocity ripple. In addition to the P2P function, the relative motion (“Relative move”) can be set to move a distance; while the continuous motion (“Jog”) can continue moving in the positive or negative direction just by clicking the...
  • Page 183: Scope

    MD07UE01-2005 D2 Series Servo Drive User Manual Drive Tuning closer to the T-type curve is. Refer to Section 3.4 for more information. (9) P2P: Execute the point-to-point motion. (10) Relative move: Execute the relative motion. (11) Jog: Execute the continuous movement. Set the current value for the continuous movement with the constant current.
  • Page 184 MD07UE01-2005 Drive Tuning D2 Series Servo Drive User Manual ○ ○ ○ ○ Figure6.3.1 Scope (1) Physical quantity: Select the physical quantity to be observed, referring to Section 3.11. (2) Unit: Select the unit of physical quantity. (3) Number of channel: Select the number of channels to be displayed simultaneously (1 - 8).
  • Page 185: Data Collection

    MD07UE01-2005 D2 Series Servo Drive User Manual Drive Tuning Data collection In addition to using “Scope” to observe physical quantities of each drive, there is a tool to provide more setting options for data capture, and more advanced graphical display and processing functions. The “Data collection”...
  • Page 186 MD07UE01-2005 Drive Tuning D2 Series Servo Drive User Manual (2) It is the internal variable name of the physical quantity of collected data. (3) Manual collection button. Click the “Start” button to start the collection and click the “Stop” button to stop the collection.
  • Page 187: Data Collection Via Pdl

    MD07UE01-2005 D2 Series Servo Drive User Manual Drive Tuning 6.4.2 Data collection via PDL In order to improve the accuracy of data collection, “Sync” (trigger the auto collection instantaneously) in figure 6.4.1.1 ○ provides more flexible and more real-time data capture than the conditional auto collection.
  • Page 188: Plot View

    MD07UE01-2005 Drive Tuning D2 Series Servo Drive User Manual Plot view The “Plot view” function is built on the “Data collection” function. It draws the data collected by “Data collection” into graphics. “Plot view” has a powerful analysis function to provide the measurement and calculation.
  • Page 189 MD07UE01-2005 D2 Series Servo Drive User Manual Drive Tuning To observe the graph of two physical quantities, click and then select “Only graph 2” to change the number of channels into two. To observe the graph of one physical value, click and then select “Only graph 1”...
  • Page 190 MD07UE01-2005 Drive Tuning D2 Series Servo Drive User Manual (3) Zoom in/out To observe a more subtle change in a certain interval, use the solid-line and dotted-line cursors to select the interval needed to zoom in. “Plot vies” provides the function of zoom in/out on the X and Y axes.
  • Page 191 MD07UE01-2005 D2 Series Servo Drive User Manual Drive Tuning Figure6.5.1.4 (5) Zoom in/out on the Y axis To zoom in on the Y axis, press and hold the “Ctrl” button and the left mouse button to move the red solid-line cursor or the right mouse button to move the dotted-line cursor to frame a suitable interval, as shown in figure 6.5.1.5.
  • Page 192 MD07UE01-2005 Drive Tuning D2 Series Servo Drive User Manual Figure6.5.1.6 Parameters are not automatically adjusted to fit the graph. Slider movement direction. Figure6.5.1.7 (6) dt, 1/dt, dSamp When the interval is framed by using the blue solid-line and dotted-line cursors, values of “dt”, “1/dt”, and “dSamp”...
  • Page 193: Save/Open File

    MD07UE01-2005 D2 Series Servo Drive User Manual Drive Tuning (8) Display the value of physical quantity When the blue solid-line cursor is moved to a specific point in time, the value of physical quantity at this time will be displayed at the bottom of this physical quantity. The value is displayed in decimal or hexadecimal, as shown in figure 6.5.1.5.
  • Page 194: Mathematical Operation

    MD07UE01-2005 Drive Tuning D2 Series Servo Drive User Manual 6.5.3 Mathematical operation “Plot view” also provides some math formulas for the operation of physical quantities, such as the integration, differentiation, addition, multiplication,…, etc. This allows users to calculate and observe the calculated result directly in “Plot view”.
  • Page 195 MD07UE01-2005 D2 Series Servo Drive User Manual Drive Tuning Figure6.5.3.2 Figure6.5.3.3 HIWIN MIKROSYSTEM CORP. 6-19...
  • Page 196 MD07UE01-2005 Drive Tuning D2 Series Servo Drive User Manual (3) Fast Fourier transform (FFT) Click in the main toolbar area to appear the window of figure 6.5.3.4, and then choose the required physical quantity to do the Fourier transform. Here, take “pos_err” as an example. Finally, click the “Run FFT”...
  • Page 197: Advanced Gains

    MD07UE01-2005 D2 Series Servo Drive User Manual Drive Tuning Advanced gains Important tasks of servo drive include whether the time from the motor starting moving to arriving the position, i.e. “Move & Settle” (see Section 3.7), is very small, and whether the position error is very small and the velocity is very smooth during motion.
  • Page 198: Filter

    MD07UE01-2005 Drive Tuning D2 Series Servo Drive User Manual 6.6.1 Filter The filter is located in the servo control loop on the inside of drive. Its main purposes are to eliminate the control problem caused by the high-frequency vibration of system, and to deal with the resonant frequency of overall mechanical system.
  • Page 199 MD07UE01-2005 D2 Series Servo Drive User Manual Drive Tuning Figure6.6.1.2 Low pass filter Notch Filter  When the system has an inappropriate resonance frequency (for example, between 10 and 250 Hz) that cannot be eliminated by the mechanism correction or design enhancement, the notch filter can be used to improve this problem.
  • Page 200: Acceleration Feed-Forward

    MD07UE01-2005 Drive Tuning D2 Series Servo Drive User Manual Figure6.6.1.3 Notch filter Automatic resonance suppression filter (f3)  After the auto gain tuning is successful, the automatic resonance suppression filter (f3) will be set and started automatically. However, after the auto gain tuning is completed, when the system vibration cannot be effectively suppressed by the f3 filter at driving the motor, cancel the check of “Activate f3”...
  • Page 201 MD07UE01-2005 D2 Series Servo Drive User Manual Drive Tuning Figure6.6.2.1 Acceleration feed-forward Step 4: Record the maximum of “Command Current” in the acceleration phase, as shown in figure 6.6.2.2. It can be observed from the figure that “Command Current” is 16 in the acceleration phase.
  • Page 202 MD07UE01-2005 Drive Tuning D2 Series Servo Drive User Manual Step 5: Record the maximum of “Reference Acceleration” in the acceleration phase. In the example of figure6.6.2.2, the maximum of “Reference Acceleration is 950,000 count/s2. Step 6: Dividing the value obtained in Step 4 by the value obtained in Step 5, Acc feedforward gain = Command Current/Reference Acceleration = 16/950,000 =1.68421*10...
  • Page 203: Schedule Gains And Velocity Loop Gain

    MD07UE01-2005 D2 Series Servo Drive User Manual Drive Tuning 6.6.3 Schedule gains and velocity loop gain Schedule gains  A complete motion can be roughly divided into three phases (see Section 3.7): (1) Move: From the start to the end of path planning.
  • Page 204 MD07UE01-2005 Drive Tuning D2 Series Servo Drive User Manual Velocity loop gain (vpg)  The velocity loop gain (vpg) is an internal control parameter of D2 drive. Normally, the initial value is calculated by parameters set in the configuration center. This value is not to be modified under the normal case.
  • Page 205 MD07UE01-2005 D2 Series Servo Drive User Manual Drive Tuning Step 4: Click the left mouse button on the frequency response diagram to appear the cursor line of -20 dB. Press and hold the left mouse button to drag the cursor line to close to the line of frequency response, as shown in figure 6.6.3.4.
  • Page 206: Analog Input

    MD07UE01-2005 Drive Tuning D2 Series Servo Drive User Manual 6.6.4 Analog input When the voltage mode is used, the voltage command sent by the host controller may contain the DC bias due to various factors. This will lead to the command distortion and affect the performance. In this case, this function can be used to compensate and correct the voltage.
  • Page 207: Vibration Suppression Feature

    MD07UE01-2005 D2 Series Servo Drive User Manual Drive Tuning 6.6.6 Vibration suppression feature The vibration suppression feature (VSF) is used to suppress the vibration generated by the motor during the movement. Especially when the load of mechanism is the cantilever, the vibration is particularly evident.
  • Page 208 MD07UE01-2005 Drive Tuning D2 Series Servo Drive User Manual Figure6.6.6.2 Step 4: Enlarge the graph of “Position Error” at the end of motion command. Set the observed range in the window, as shown in figure 6.6.6.3, and then click at the toolbar of window to enlarge the set range.
  • Page 209 MD07UE01-2005 D2 Series Servo Drive User Manual Drive Tuning Step 5: Click at the toolbar of “Plot view” window to open the operation window for fast Fourier transform (FFT). Execute FFT on pos_err, as shown in figure6.6.6.4. Press this button to start to execute FFT.
  • Page 210 MD07UE01-2005 Drive Tuning D2 Series Servo Drive User Manual In the window, click the left mouse button to drag the solid line to the maximum amplitude. Low-frequency vibration frequency. Figure6.6.6.6 Figure6.6.6.7 6-34 HIWIN MIKROSYSTEM CORP.
  • Page 211: Friction Compensation

    MD07UE01-2005 D2 Series Servo Drive User Manual Drive Tuning VSF is disabled VSF is enabled Figure6.6.6.8 6.6.7 Friction compensation In the operation of drive element, there is always the mechanical friction to affect the efficiency and function of movement. D2-series drives provide a friction compensation method to reduce the effect of friction, as shown in figure 6.6.7.1.
  • Page 212 MD07UE01-2005 Drive Tuning D2 Series Servo Drive User Manual Before using the friction compensation function, the Lightening HMI provides a convenient set of steps. The friction compensation can be successfully added after completing each step. Step 1: Click the “Set scope” button to show the “Scope” window.
  • Page 213: Loop Constructor

    MD07UE01-2005 D2 Series Servo Drive User Manual Drive Tuning Loop constructor “Loop constructor” allows users to confirm the stability of control system. It has spectrum analysis tools, such as Nyquist, Nichols, and Bode, and provides users for adjusting filters and gain values (vpg, vig, ppg, and CG).
  • Page 214: Load/Save File

    MD07UE01-2005 Drive Tuning D2 Series Servo Drive User Manual 6.7.1 Load/Save file Before using “Loop constructor” to analyze the control system, the control system and gains must be loaded by selecting the “Load” option in the “File” menu of “Loop constructor” window. There are three methods of loading file: (1) “Load plant + gains from file...”, (2) “Load plant from file…”, and (3) “Load...
  • Page 215: Tool

    MD07UE01-2005 D2 Series Servo Drive User Manual Drive Tuning Figure6.7.1.2 Loop constructor - save data to file 6.7.2 Tool Spectrum analysis tools of “Loop constructor” can analyze and simulate the Nyquist, Bode, and Nichols diagrams of control system. By using this function, the frequency response of control system can be obtained.
  • Page 216: Nyquist

    MD07UE01-2005 Drive Tuning D2 Series Servo Drive User Manual (1) U (s): System input. It is the drive command. (2) Y (s): System output. It is the position feedback of encoder. (3) Plant: PL(s) is the relationship between the drive command and the feedback position. The plant contains the mechanical platform, motor, and feedback system.
  • Page 217: Bode

    MD07UE01-2005 D2 Series Servo Drive User Manual Drive Tuning 6.7.2.3 Bode The “ph + gain” option of “Loop constructor” can analyze and simulate frequency responses of “Vel controller”, “Vel open loop”, “Vel close loop”, “Pos controller”, “Pos open loop”, and “Pos close loop” of control system.
  • Page 218: Nichols

    MD07UE01-2005 Drive Tuning D2 Series Servo Drive User Manual 6.7.2.4 Nichols The “Nichols” option of “Loop constructor” can analyze and simulate frequency responses of “Vel open loop” and “Pos open loop” of control system. Using the check method can select to analyze and simulate the Nichols diagram of “Vel open loop”...
  • Page 219: Low Pass Filter

    MD07UE01-2005 D2 Series Servo Drive User Manual Drive Tuning 6.7.3.1 Low pass filter The low pass filter in the control system is used to suppress the high-frequency noise or machine vibration. The Bode plot of low pass filter is given in figure 6.7.3.1.1. Modifying the filter parameters (fr, xi) will affect the frequency response of various control loop analysis.
  • Page 220: Notch Filter

    MD07UE01-2005 Drive Tuning D2 Series Servo Drive User Manual 6.7.3.2 Notch filter When the mechanism system has an inappropriate resonance frequency and the resonance phenomenon cannot be eliminated by modifying the design of mechanism, this problem can be improved by using a notch filter. The Bode plot of notch filter is given in figure 6.7.3.2.1. Modifying the filter parameters (fr, xi) will affect the frequency response of various control loop analysis.
  • Page 221: Gain Tuning

    MD07UE01-2005 D2 Series Servo Drive User Manual Drive Tuning 6.7.4 Gain tuning “Loop constructor” provides gain values of velocity loop (vpg, vig) and position loop (ppg), and common gains (CG). Refer to Section 6.6 for more information. These parameters can be used to tune gains to simulate the stability of control system after gain tuning, as shown in figure 6.7.4.1.
  • Page 222: Spectrum Analysis

    MD07UE01-2005 Drive Tuning D2 Series Servo Drive User Manual 6.7.5 Spectrum analysis “Loop constructor” provides the gain margin, phase margin, and bandwidth of velocity loop and position loop. This function can be used to tune gains to simulate the stability of control system after gain tuning, as shown in figure 6.7.5.1.
  • Page 223: Error Map Function

    MD07UE01-2005 D2 Series Servo Drive User Manual Drive Tuning (1) Encoder confirmation function Click in the window of performance center or select the “Encoder test/tune” option in the function menu of “Tools” to open this function window for observing whether the value or signal of encoder is normal.
  • Page 224: Set Error Map

    MD07UE01-2005 Drive Tuning D2 Series Servo Drive User Manual Note: “Error map” takes the home position as the start position, and compensates the position in the positive direction. Therefore, complete the homing procedure before enabling the error map function. When the host controller needs to receive the feedback pulse outputted from the drive, and also to enable the error map function, set “Encoder output”...
  • Page 225 MD07UE01-2005 D2 Series Servo Drive User Manual Drive Tuning The displayed reminder to inform that the modified compensation value has not been saved to the drive’s Flash. Figure6.9.1.2 Parameter setting of error map Note: When the error compensation value is entered into the table, the entered value is rounded to an integer multiple of encoder resolution.
  • Page 226: Enable Error Map

    MD07UE01-2005 Drive Tuning D2 Series Servo Drive User Manual Step 5: Click the “Cancel” button and go to the HMI main window to save servo parameters into Flash. After servo parameters are saved, redo Step 4. Step 6: When the “confirm” window appears, click the “Confirm” button to save error map parameters into Flash.
  • Page 227: Save/Open Error Map

    MD07UE01-2005 D2 Series Servo Drive User Manual Drive Tuning Stand-Alone homing  Go to the performance center and click the “Home” button ( ) to execute the homing procedure (see Section 6.2). How to confirm whether the error map function is enabled ...
  • Page 228: Change Start Position

    MD07UE01-2005 Drive Tuning D2 Series Servo Drive User Manual 6.9.4 Change start position If it is needed to change the start position of error map, select the “Advanced” option of “View” in the function menu to appear the window of figure 6.9.4.1. Enter the required start position of compensation in the “Start position”...
  • Page 229 MD07UE01-2005 D2 Series Servo Drive User Manual Drive Tuning Table6.9.4.1 Home Start Mapping effective area offset position Mapping effective area + position index Drive coordinate = 0 (2) “Home offset” ≠ 0 and “Start position” = 0 For the setting of “Home offset” being nonzero and “Start position” being zero, the mapping effective area is the same as that for the setting of both “Home offset”...
  • Page 230 MD07UE01-2005 Drive Tuning D2 Series Servo Drive User Manual Table6.9.4.3 Home Start Mapping effective area offset position Start position Mapping effective area = 100 index + position Drive coordinate = 0 Start position = -100 Mapping effective area -100 + position...
  • Page 231 MD07UE01-2005 D2 Series Servo Drive User Manual Drive Tuning Home Start Mapping effective area offset position Start position Home offset = -100 = 50 Mapping effective area -100 + position index Drive coordinate = -50 Drive coordinate = 0 Start position...
  • Page 232 MD07UE01-2005 Drive Tuning D2 Series Servo Drive User Manual Home Start Mapping effective area offset position Start position = -100 Home offset = -50 Mapping effective area -100 + position Drive index coordinate Drive coordinate = 50 Home offset = -100...
  • Page 233: Backlash Compensation

    MD07UE01-2005 D2 Series Servo Drive User Manual Drive Tuning 6.10 Backlash compensation If the platform moves in a fixed direction and stops, it does not move immediately when it needs to move in the opposite direction. The platform stays at the original position until the motion command is accumulated to a certain amount to start moving.
  • Page 234 MD07UE01-2005 Drive Tuning D2 Series Servo Drive User Manual (This page is intentionally left blank) 6-58 HIWIN MIKROSYSTEM CORP.
  • Page 235: Lcd Operation

    7.6.4 Auto tune ········································································································· 7-30 7.6.5 Set position to zero ···························································································· 7-31 7.7 Parameter setting examples via LCD················································································ 7-31 7.7.1 Position mode ··································································································· 7-31 7.7.2 Velocity mode ··································································································· 7-36 7.7.3 Force/torque mode ···························································································· 7-39 7.7.4 Stand-alone mode ····························································································· 7-41 HIWIN MIKROSYSTEM CORP.
  • Page 236: Lcd Function

    MD07UE01-2005 LCD Operation D2 Series Servo Drive User Manual LCD function 7.1.1 Panel description Display Page number Axis name Up key Enter key Down key Function key Figure7.1.1.1 LCD panel Table7.1.1.1 Panel function description Name Function Display Display change parameter values, statuses, parameters, actions, and so on.
  • Page 237 MD07UE01-2005 D2 Series Servo Drive User Manual LCD Operation 7.1.2 Operation page description There are four modes on the display panel: home page, display parameters page, change parameters page, and actions page. Press the F key to switch to other mode. The overall structure of LCD is shown in figure 7.1.2.1.
  • Page 238 MD07UE01-2005 LCD Operation D2 Series Servo Drive User Manual Figure7.1.2.1 Overall LCD operation structure HIWIN MIKROSYSTEM CORP.
  • Page 239: Parameter Initialization Via Lcd

    MD07UE01-2005 D2 Series Servo Drive User Manual LCD Operation Parameter initialization via LCD When taking an uninitialized new drive, follow steps below to select the motor model name, perform the initialization procedure, and drive the motor via the LCD panel. The example of operation procedure is that the motor model name is FRLS402XX5 and the operation mode is the stand-alone mode (“STNDALON”).
  • Page 240 MD07UE01-2005 LCD Operation D2 Series Servo Drive User Manual LEVEL ONE LEVEL TWO 4 MOTRSE 4 MOTRSE LS05XX5 LS05XX5 Use the Up key or Down key to select the motor model name. 4 MOTRSE LV5 100 LS402X5 LV5 100 Tune “ZeroTune” gains.
  • Page 241: Home Page

    MD07UE01-2005 D2 Series Servo Drive User Manual LCD Operation Home page When the drive is power-on, the display will show the status of servo ready first. The symbol of this status is given in table 7.3.1. Table7.3.1 LCD displayed symbols for servo ready...
  • Page 242 MD07UE01-2005 LCD Operation D2 Series Servo Drive User Manual LCD Symbol LCD Symbol Error Message Displayed On Lightening (Abbreviated) (Numbered) E15CURER ERR E15 Current Control Error E17HYBDV ERR E17 Hybrid deviation too big E18STO ERR E18 STO active E19HFLT ERR E19...
  • Page 243: Display Parameters Page

    MD07UE01-2005 D2 Series Servo Drive User Manual LCD Operation Display parameters page In the display parameters page, press the Up key or Down key to change the displayed parameter. The operation flow chart is shown in figure 7.4.1, and the definition of the displayed symbol for each parameter is given in table 7.4.1.
  • Page 244 MD07UE01-2005 LCD Operation D2 Series Servo Drive User Manual Table7.4.1 LCD displayed parameters in the display parameters page Displayed Symbol Physical Quantity Description Unit 01FBPO Feedback Position Motor feedback position count 02RFPO Reference Position Drive reference position count 04POSE Position Error...
  • Page 245: Change Parameters Page

    MD07UE01-2005 D2 Series Servo Drive User Manual LCD Operation Note: Only for the drive supporting the single-turn absolute encoder. Only for the drive supporting the dual-loop encoder. Only for D2T model. Only for the drive supporting the 13-bit encoder. The status display for parameters O1 - O5 is shown in figure 7.4.2 and the symbol of status display is described in table 7.4.2.
  • Page 246 MD07UE01-2005 LCD Operation D2 Series Servo Drive User Manual Static Save parameters 3 SAVEFL 3:SAVEFL cursor in the drive’s RAM to flash. 3:No.000 Acceleration 2000 2000 setting. 3:No.001 Deceleration 2000 2000 setting. 3:No.003 Speed setting. • • • • •...
  • Page 247 MD07UE01-2005 D2 Series Servo Drive User Manual LCD Operation Table7.5.1 Common parameter table (set parameter based on the actual application) LCD No. Function Description Acceleration Maximum acceleration of motor during motion Deceleration Maximum deceleration of motor during motion Velocity Maximum velocity of motor during motion...
  • Page 248: Save To Flash

    MD07UE01-2005 LCD Operation D2 Series Servo Drive User Manual 7.5.1 Save to Flash Use following steps to save parameters in the drive’s RAM to Flash (“SAVEFL”). Step 1: Press the Enter key to enter the “SAVEFL” option (the dynamic cursor appears on the left side of the second line).
  • Page 249: Parameter Edit Function

    MD07UE01-2005 D2 Series Servo Drive User Manual LCD Operation 7.5.2 Parameter edit function LCD parameters are classified into two types: enumerated type and non-enumerated type. The parameter marked with “#” in table 7.5.3.1 is the enumerated-type parameter. For this type parameter, after pressing the Enter key, it changes to the edit mode.
  • Page 250 MD07UE01-2005 LCD Operation D2 Series Servo Drive User Manual LEVEL ONE LEVEL TWO Press the F key to switch the function of Up key and Down key to change parameter value. Press the UP key twice and stop when “1” appears (in the sequence of 001)
  • Page 251 MD07UE01-2005 D2 Series Servo Drive User Manual LCD Operation (Space) Figure7.5.2.2 Number switching sequence in the parameter edit mode HIWIN MIKROSYSTEM CORP. 7-17...
  • Page 252: Advanced Parameter Zone

    MD07UE01-2005 LCD Operation D2 Series Servo Drive User Manual 7.5.3 Advanced parameter zone Use following steps to enter the advanced parameter zone. Step 1: Press the Down key to the “+++” page first, and then press the Enter key (the static cursor appears in the left side of the second line) to enter the advanced parameter zone.
  • Page 253 MD07UE01-2005 D2 Series Servo Drive User Manual LCD Operation Table7.5.3.1 Advanced parameter table (set parameter based on the actual application) Parameter Definition Unit Default Max. Min. Maximum acceleration of motor during Refer to motion 000 X_acc rev/s Section (recommended value: ten times of motor’s...
  • Page 254 MD07UE01-2005 LCD Operation D2 Series Servo Drive User Manual Parameter Definition Unit Default Max. Min. Velocity command scale; the speed rpm/V or X_cmd_ext_v_s corresponds to 1 V, or the maximum rpm/Full 3.4X10 -3.4X10 speed corresponds to “Full PWM” (recommended value: rated speed/10) Dead band of velocity command.
  • Page 255 MD07UE01-2005 D2 Series Servo Drive User Manual LCD Operation Parameter Definition Unit Default Max. Min. 143 out_config[10] 144 out_config[11] 1,683 145 out_config[12] 146 out_config[13] O3 output signal setting 147 out_config[14] 148 out_config[15] Enable/Disable the software limit X_sw_pos_prot 0: Disable the software limit...
  • Page 256 MD07UE01-2005 LCD Operation D2 Series Servo Drive User Manual Parameter Definition Unit Default Max. Min. × Current threshold for searching end stop X_home_wall_ 1000)/(cur (Note: “curr_drv_peak” is the drive’s peak CurrThrshld r_drv_pea current) X_home_wall_ Time limitation for searching end stop...
  • Page 257 MD07UE01-2005 D2 Series Servo Drive User Manual LCD Operation Parameter Definition Unit Default Max. Min. Switch between the positive and negative logics for CW/CCW pulse command LCD.cw_ccw_in (CW_CCW_INV) 0: Not inverse 1: Inverse LCD.I1_inv Invert of input 1 LCD.I2_inv Invert of input 2 LCD.I3_inv...
  • Page 258 MD07UE01-2005 LCD Operation D2 Series Servo Drive User Manual Parameter Definition Unit Default Max. Min. Latch the error massage of “under voltage” X_latch_err_un 0: Disable derv 1: Enable Emulated index output in every revolution X_mult_emu_in 0: Disable 1: Enable Mode setting for the second generation of Auto tune AT.mode...
  • Page 259 MD07UE01-2005 D2 Series Servo Drive User Manual LCD Operation Parameter Definition Unit Default Max. Min. UserPDL.X_iVa PDL parameter which can be saved in - 1) r [1] Flash UserPDL.X_iVa PDL parameter which can be saved in - 1) r [2] Flash UserPDL.X_iVa...
  • Page 260: Actions Page

    MD07UE01-2005 LCD Operation D2 Series Servo Drive User Manual Actions page This page allows users to perform functions of enabling or disabling motor, jogging, moving to absolute position, and setting the current position to zero. Besides, it can set the motion velocity and target position.
  • Page 261: Enable/Disable

    MD07UE01-2005 D2 Series Servo Drive User Manual LCD Operation 4: ENA/DI Servo SV RDY enable/disable. Set target position 4: MOV PO 4: JOG Jogging. for “MOV2PO” (unit: count). 4: SETZER Start the absolute Set the current 4: MOV2PO position motion and...
  • Page 262: Jog

    MD07UE01-2005 LCD Operation D2 Series Servo Drive User Manual LEVEL ONE LEVEL TWO 4 ENA/DI Servo disable DISABLE 4 ENA/DI SVNRDY 4 ENA/DI 4 ENA/DI Servo enable ENABLE SV RDY Figure7.6.1.1 Operation of servo enable/disable 7.6.2 Use following steps to perform the continuous motion (“JOG”). The operation flow chart is given in figure 7.6.2.1.
  • Page 263: Absolute Coordinate Motion

    MD07UE01-2005 D2 Series Servo Drive User Manual LCD Operation Note: In the force/torque mode, the “JOG” speed for LCD operation is based on the “Speed” set in the motion protection, but not based on “VEL_LC” set in the LCD actions page.
  • Page 264: Auto Tune

    MD07UE01-2005 LCD Operation D2 Series Servo Drive User Manual 7.6.4 Auto tune For Lightening 0.183 and D2 MDP 0.036 (inclusive) or below, or D2COE MDP 0.112 (inclusive) or below, the auto gain tuning adopts the first-generation auto tune design. For Lightening 0.184 and D2 MDP 0.037 (inclusive) or above, or D2COE MDP 0.113 (inclusive) or above, the auto gain tuning adopts the...
  • Page 265: Set Position To Zero

    MD07UE01-2005 D2 Series Servo Drive User Manual LCD Operation 7.6.5 Set position to zero Use following steps to set the current position to zero. The operation flow chart is given in figure 7.6.5.1. Step 1: Press the Up key or Down key to go to the “SETZER” option.
  • Page 266 MD07UE01-2005 LCD Operation D2 Series Servo Drive User Manual (1) Mode selection Use following steps to select the position mode via LCD. Table7.7.1.1 LCD Display After Step Used Keys Operation Operation Press the F key to change the LCD screen to the parameter change page.
  • Page 267 MD07UE01-2005 D2 Series Servo Drive User Manual LCD Operation Table7.7.1.3 LCD Display After Step Used keys Operation Operation Continue the last setting screen of operation mode. Press the Down key twice to go to LCD No. 129 page (refer to note 2), i.e. the setting page of pulse format.
  • Page 268 MD07UE01-2005 LCD Operation D2 Series Servo Drive User Manual (3) High/Low speed pulse channel setting D2 drive provides the high-speed and low-speed pulse inputs for flexible use. Use following steps to set the high-speed or low-speed pulse input via LCD.
  • Page 269 MD07UE01-2005 D2 Series Servo Drive User Manual LCD Operation (4) Electronic gear ratio setting D2 drive provides four sets of electronic gear ratio, referring to Section 5.5.1.Use following steps to set the electronic gear ratio via LCD. Table7.7.1.7 LCD Display After...
  • Page 270: Velocity Mode

    MD07UE01-2005 LCD Operation D2 Series Servo Drive User Manual (5) Smooth factor setting D2 drive provides the function of “Smooth factor”, referring to Section3.4. Use following steps to set the smooth factor via LCD. Table7.7.1.9 LCD Display After Step Used Keys...
  • Page 271 MD07UE01-2005 D2 Series Servo Drive User Manual LCD Operation (1) Mode selection Use following steps to select the velocity mode via LCD. Table7.7.2.1 LCD Display After Step Used Keys Operation Operation Press the F key to change the LCD screen to the parameter change page.
  • Page 272 MD07UE01-2005 LCD Operation D2 Series Servo Drive User Manual LCD Display After Step Used Keys Operation Operation Press the Enter key to complete the “input command format” setting. Press and hold the Down key to go to LCD No. 083 page (refer to note 1), i.e. the setting page of velocity command scale.
  • Page 273: Force/Torque Mode

    MD07UE01-2005 D2 Series Servo Drive User Manual LCD Operation 7.7.3 Force/torque mode D2 drive can transfer the voltage command and PWM command to the current command, referring to Section 3.1.2. The force/torque mode configuration includes: the mode selection and input command format setting.
  • Page 274 MD07UE01-2005 LCD Operation D2 Series Servo Drive User Manual Press the Enter key to enter the advanced parameter zone. Press and hold the Up key to go to LCD No. 132 page (refer to note 1), i.e. the setting page of input command format for the velocity and torque modes.
  • Page 275: Stand-Alone Mode

    MD07UE01-2005 D2 Series Servo Drive User Manual LCD Operation 7.7.4 Stand-alone mode In the stand-alone mode, the drive will execute the internal path planning to drive the motor, referring to Section 3.1.4. The stand-alone mode configuration includes the mode selection. After all parameters are set, refer to Section 7.5.1 to save parameters to flash.
  • Page 276 MD07UE01-2005 LCD Operation D2 Series Servo Drive User Manual (This page is intentionally left blank.) 7-42 HIWIN MIKROSYSTEM CORP.
  • Page 277: Protection Function

    8.4 Limit protection ············································································································ 8-10 8.4.1 Hardware limit protection ···················································································· 8-10 8.4.2 Software limit protection ······················································································ 8-11 8.5 Over temperature protection ··························································································· 8-12 8.5.1 Soft-thermal protection ······················································································· 8-12 8.5.2 Drive over temperature protection ········································································· 8-12 8.6 Over voltage protection ································································································· 8-12 HIWIN MIKROSYSTEM CORP.
  • Page 278: Motion Protection

    MD07UE01-2005 Protection Function D2 Series Servo Drive User Manual Motion protection The main function of motion protection is to limit or specify the maximum speed, maximum acceleration, maximum deceleration, emergency stop deceleration of motor output during motor movement. When the...
  • Page 279 MD07UE01-2005 D2 Series Servo Drive User Manual Protection Function Table8.1.2 Parameter Name Description Default Value Set the maximum velocity of Speed AC servo motor: 3,000 rpm motor during motion Set the maximum acceleration of Acc. AC servo motor: 1/2 * (Kt * Ip / (10 * Jm))
  • Page 280 MD07UE01-2005 Protection Function D2 Series Servo Drive User Manual Cancel velocity, acceleration, and deceleration limits  In the position mode, when “Smooth factor” is set to 1, it indicates that drive’s limit functions of speed, acceleration, and deceleration are canceled, and the motor movement completely follows the path planning based on the pulse commend sent from the host controller.
  • Page 281: Position And Velocity Errors Protection

    MD07UE01-2005 D2 Series Servo Drive User Manual Protection Function The value of “Smooth factor” is between 1 and 500. The higher the value is, the smaller the impact is. The value of 1 means no smooth function. In some cases, increasing the smooth factor will be helpful for the final settling performance of positioning process due to the impact reduction of motor force.
  • Page 282: Position Error And Velocity Error Warnings

    MD07UE01-2005 Protection Function D2 Series Servo Drive User Manual Figure8.2.1.2 8.2.2 Position error and velocity error warnings In addition to the setting of position error limit described above, D2 drive also provides an early warning function. When the position error or velocity error exceeds the set value in “Warning windows”, the warning message will be displayed on the “Status”...
  • Page 283 MD07UE01-2005 D2 Series Servo Drive User Manual Protection Function Brake configuration page for frame A - C models  The brake configuration page for frame A - C models is shown in figure 8.3.1. After the drive receives the hardware input signal or software disable operation, it starts the following action sequence.
  • Page 284 MD07UE01-2005 Protection Function D2 Series Servo Drive User Manual Brake configuration page for frame D model  The frame D model has the built-in dynamic brake resistor. Its characteristics are described as follows. (1) It is only applicable to the transient braking effect, and cannot achieve the bite ability of general mechanical brake.
  • Page 285 MD07UE01-2005 D2 Series Servo Drive User Manual Protection Function Enable timing  Figure8.3.3 Dynamic brake timing - enable Disable timing at the motor movement  Figure8.3.4 Dynamic brake timing – disable at the motor movement HIWIN MIKROSYSTEM CORP.
  • Page 286: Limit Protection

    MD07UE01-2005 Protection Function D2 Series Servo Drive User Manual Disable timing at the motor stop  delBrkToDis Action Figure8.3.5 Dynamic brake timing - disable at the motor stop Limit protection 8.4.1 Hardware limit protection D2 drive has a hardware limit protection. The hardware limit is usually the photoelectric switch or micro switch installed in the positioning platform.
  • Page 287: Software Limit Protection

    MD07UE01-2005 D2 Series Servo Drive User Manual Protection Function Figure8.4.1.1 8.4.2 Software limit protection In addition to the hardware limit protection, D2 drive also has the software limit protection. It also plays the role of protecting over stroke. When the motor reaches the position of software limit, the drive can only accept the command to move in the opposite direction.
  • Page 288: Over Temperature Protection

    MD07UE01-2005 Protection Function D2 Series Servo Drive User Manual Table8.4.2.1 Parameter Name Description enable sw limit To activate the software limit protection. Check it to activate. Lower SW limit Lower software limit position. Upper SW limit Upper software limit position.
  • Page 289 MD07UE01-2005 D2 Series Servo Drive User Manual Protection Function Figure8.6.1 Motor regenerative curve of FRLS402XX Figure8.6.2 Motor regenerative curve of FRMS4B2BX Figure8.6.3 Motor regenerative curve of FRMS752XX HIWIN MIKROSYSTEM CORP. 8-13...
  • Page 290 Figure8.6.5 Motor regenerative curve of FRMM2K2XX The regenerative resistor model of HIWIN standard product is given in table 8.6.1. Users can use them in series or in parallel according to the requirement. The appearance and size are given in table 8.6.2 and figure 8.6.6.
  • Page 291 MD07UE01-2005 D2 Series Servo Drive User Manual Protection Function Table8.6.2 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 292 MD07UE01-2005 Protection Function D2 Series Servo Drive User Manual (This page is intentionally left blank.) 8-16 HIWIN MIKROSYSTEM CORP.
  • Page 293: Troubleshooting

    9.2.2 LCD status ········································································································· 9-3 9.2.3 Errors and warnings log ························································································ 9-4 9.2.4 Error at loading PRM file ······················································································· 9-6 9.3 Error codes and troubleshooting ························································································ 9-7 9.4 Warning codes and troubleshooting ················································································· 9-11 9.5 Troubleshooting for common issues ················································································· 9-14 HIWIN MIKROSYSTEM CORP.
  • Page 294: Drive's Status Indicator

    MD07UE01-2005 Troubleshooting D2 Series Servo Drive User Manual Drive’s status indicator The drive’s status indictor is LED on the front panel of drive, which shows the current status of drive. Its status is described in the following stable. Status indicator Status indicator Drive’s status...
  • Page 295: Lcd Status

    MD07UE01-2005 D2 Series Servo Drive User Manual Troubleshooting Figure9.2.1.1 Status display area 9.2.2 LCD status The servo status will be displayed in the home page of LCD screen, as shown in figure 9.2.2.1. (1) SVNRDY: Servo disabled. It is at the “Servo OFF” status. The motor has no power.
  • Page 296: Errors And Warnings Log

    MD07UE01-2005 Troubleshooting D2 Series Servo Drive User Manual 9.2.3 Errors and warnings log When D2 drive detects an error or warning event, in addition to showing it in the error message display area and warning message display area on the main window, as given in figure 9.2.1.1, it is also recorded in “Errors and warnings Log”.
  • Page 297 MD07UE01-2005 D2 Series Servo Drive User Manual Troubleshooting Refer to figure 9.2.5 for the “Statistics” tab in “Errors and warnings log”. The number of errors or warnings (“Frequency”) occurred in the drive is recorded in this window. This can help users to understand which events occur most frequently and to debug.
  • Page 298: Error At Loading Prm File

    MD07UE01-2005 Troubleshooting D2 Series Servo Drive User Manual 9.2.4 Error at loading PRM file To ensure the compatibility between the loaded PRM parameter file and the drive firmware, Lightening will check if the PRM file is suitable for the current firmware version. When the following error message appears, it means that the PRM file is unsuitable, and need to re-set parameters or replace an appropriate firmware version.
  • Page 299: Error Codes And Troubleshooting

    MD07UE01-2005 D2 Series Servo Drive User Manual Troubleshooting Error codes and troubleshooting Table9.3.1 Error Description Troubleshooting Error Code The short of three motor phases is detected. After power-off, unplug the UVW-phase connector at the drive-side and measure the resistance between each phase of UVW and ground to check if there is a short circuit.
  • Page 300 MD07UE01-2005 Troubleshooting D2 Series Servo Drive User Manual Error Description Troubleshooting Error Code temperature Check that the drive is placed in a well-ventilated location. ERR E07 Check if the ambient temperature is too high. Wait for the internal temperature of drive to decrease.
  • Page 301 MD07UE01-2005 D2 Series Servo Drive User Manual Troubleshooting Error Description Troubleshooting Error Code E22BUS.E The DC bus voltage is abnormal. DC bus voltage abnormal Check that the input voltage is well. ERR E22 The drive does not detect the EtherCAT interface or the drive has no EtherCAT interface.
  • Page 302 MD07UE01-2005 Troubleshooting D2 Series Servo Drive User Manual Latch amplifier over temperature error  D2 servo drive is able to report error and warning. Normally when an error occurs, user needs to perform troubleshooting and then clear the error in Lightening. For convenience and efficiency, Lightening provides an automatic error handling function.
  • Page 303: Warning Codes And Troubleshooting

    MD07UE01-2005 D2 Series Servo Drive User Manual Troubleshooting Warning codes and troubleshooting Table9.4.1 Error Description Troubleshooting error code W01 SWLL The set left software limit is reached, and the motor can no longer Left SW limit move to the left.
  • Page 304 MD07UE01-2005 Troubleshooting D2 Series Servo Drive User Manual Error Description Troubleshooting error code WRN W09 To increase the acceleration, increase the acceleration setting in the motion protection. In the velocity mode or torque mode, the velocity protection setting W10 VEL.L is reached when the motor is moving.
  • Page 305 MD07UE01-2005 D2 Series Servo Drive User Manual Troubleshooting Supplement for W03 and W04 warning correction  If the hardware limit is not connected to the drive and the false trigger occurs, the hardware limit function can be turned off. Figure9.4.1 Supplement for W09 and W10 warning correction ...
  • Page 306: Troubleshooting For Common Issues

    MD07UE01-2005 Troubleshooting D2 Series Servo Drive User Manual When the speed (“Speed”) in the performance test is set to be less than the command, the warning message of “W10 VEL.L” or “WRN W10” will appear and the speed will be limited. To solve this problem, increase the speed.
  • Page 307 MD07UE01-2005 D2 Series Servo Drive User Manual Troubleshooting Issue LCD code Troubleshooting Use “Quick View” or “Scope” to check if “Target Position” has received the input pulse signal. Check if the pulse signal cable is disconnected or poor contact. After enabling, the motor moves...
  • Page 308 MD07UE01-2005 Troubleshooting D2 Series Servo Drive User Manual Issue LCD code Troubleshooting Check if the servo gain (common gain) is too small and the maximum position error The position error exceeds the E03 PEBIG (“maximum pos error”) is too small.
  • Page 309: Axis Enable Setting

    10. Axis enable setting 0000 10. Axis enable setting ··············································································································· 10-1 10.1 Start enable method ····································································································· 10-2 10.2 Confirm enable status via HMI ························································································ 10-3 HIWIN MIKROSYSTEM CORP. 10-1...
  • Page 310: Start Enable Method

    MD07UE01-2005 Axis Enable Setting D2 Series Servo Drive User Manual 10.1 Start enable method Enable via host controller  Usually, the host controller sends a command to the drive to control the motor enable. This is done through the drive’s input pin. Normally, the “Axis Enable” function is set to the digital input I3 (see Section 5.5.1), as shown in figure 10.1.1.
  • Page 311: Confirm Enable Status Via Hmi

    MD07UE01-2005 D2 Series Servo Drive User Manual Axis Enable Setting 10.2 Confirm enable status via HMI When the light of “Hardware enable input” in the HMI main window is green, it indicates that the drive has received a hardware enable signal from the host controller, as shown in figure 10.2.1.
  • Page 312 MD07UE01-2005 Axis Enable Setting D2 Series Servo Drive User Manual (This page is intentionally left blank.) 10-4 HIWIN MIKROSYSTEM CORP.
  • Page 313: Parameter Comparison

    11. Parameter comparison 0000000 00000 11. Parameter comparison ·········································································································· 11-1 11.1 Comparing parameters in RAM and Flash ········································································· 11-2 HIWIN MIKROSYSTEM CORP. 11-1...
  • Page 314: Comparing Parameters In Ram And Flash

    MD07UE01-2005 Parameter Comparison D2 Series Servo Drive User Manual 11.1 Comparing parameters in RAM and Flash When motor parameters are modified during the operation of Lightening and do not save in the drive’s Flash, the prompt window of “Compare parameter RAM to Flash” appears at the situation of closing Lightening or saving error map parameters in Flash (see Section 6.9.1), as shown in figure 11.1.1.
  • Page 315 MD07UE01-2005 D2 Series Servo Drive User Manual Parameter Comparison The following is the function description of main button: Save: Save parameters to Flash. ○ Close: Close the window. ○ Up: Go to the previous parameter which is different in RAM and Flash.
  • Page 316 MD07UE01-2005 Parameter Comparison D2 Series Servo Drive User Manual (This page is intentionally left blank.) 11-4 HIWIN MIKROSYSTEM CORP.
  • Page 317: Update Firmware And Load Pdl

    12. Update firmware and load PDL 0000000000 0000 12. Update firmware and load PDL ································································································ 12-1 12.1 Update drive’s firmware ································································································· 12-2 12.2 Load PDL program into drive ·························································································· 12-5 12.3 Load parameter patch ··································································································· 12-7 HIWIN MIKROSYSTEM CORP. 12-1...
  • Page 318: Update Drive's Firmware

    MD07UE01-2005 Update Firmware And Load PDL D2 Series Servo Drive User Manual 12.1 Update drive’s firmware If the drive’s firmware needs to be updated, click the “Tools” option on the main window and select “Upgrade/Downgrade firmware...”, as shown in figure 12.1.1. Clicking “Upgrade/Downgrade firmware...”...
  • Page 319 MD07UE01-2005 D2 Series Servo Drive User Manual Update Firmware And Load PDL In the “Upgrade/Downgrade firmware” window, use following steps to complete the firmware update. Step 1: Click the left mouse button on the firmware version required to update, such that it is with white letters on the blue background.
  • Page 320 MD07UE01-2005 Update Firmware And Load PDL D2 Series Servo Drive User Manual Figure12.1.5 Note: If a power failure or communication error occurs during the firmware update, Lightening may stay at “Boot mode” and cannot be changed after the power is restored or the communication cable is connected again, as shown in figure 12.1.6.
  • Page 321: Load Pdl Program Into Drive

    MD07UE01-2005 D2 Series Servo Drive User Manual Update Firmware And Load PDL 12.2 Load PDL program into drive To load the PDL program into the drive, use following steps to do it. To clear the PDL program in the drive, delete the code in “user.pdl” and use same steps to load the codeless “user.pdl” into the drive.
  • Page 322 MD07UE01-2005 Update Firmware And Load PDL D2 Series Servo Drive User Manual Step 3: After pasting the PDL program or writing the PDL program, click the “Compile” icon () to appear the “Compile” window, as shown in figure 12.2.4. Figure12.2.4 Step 4: After “Compile”...
  • Page 323: Load Parameter Patch

    MD07UE01-2005 D2 Series Servo Drive User Manual Update Firmware And Load PDL Figure12.2.6 12.3 Load parameter patch The download path of parameter patch is the same as that of Lightening. The latest parameter patch is parameter_patch_4.6. Extract parameter patch ...
  • Page 324 After parameter patch is extracted, parameter_patch_4.6.exe appears. Click on this file. Then HIWIN .mot generator dialog window appears. Click on (Y) button to install the patch. Ignore the windows which appear during the installing process. After all the windows close, the installation completes.
  • Page 325: Modbus Communication

    13. Modbus communication 00000000000 0000 13. Modbus communication ········································································································· 13-1 13.1 Modbus communication specification ··············································································· 13-2 13.2 Function code ············································································································· 13-2 13.3 Modbus objects ··········································································································· 13-6 13.3.1 Input register ···································································································· 13-7 13.3.2 Holding register ······························································································· 13-12 HIWIN MIKROSYSTEM CORP. 13-1...
  • Page 326: Modbus Communication Specification

    MD07UE01-2005 Modbus Communication D2 Series Servo Drive User Manual 13.1 Modbus communication specification The Modbus communication specification for D2-series drives is shown in the following table. Table13.1.1 Interface RS-485 2W-cabling Communication Cycle Asynchronous (half duplex) Baud rate 2,400, 4,800, 9,600 (default), 14,400, 19,200, 38,400 bps...
  • Page 327 MD07UE01-2005 D2 Series Servo Drive User Manual Modbus Communication Table13.2.2 Data Length Value Request Function code 1 Byte Starting address 2 Bytes 0x0000 - 0xFFFF Quantity of registers 2 Bytes 1 - 125 Response Function code 1 Byte Byte count...
  • Page 328 MD07UE01-2005 Modbus Communication D2 Series Servo Drive User Manual Command Response Error Read input registers (04h) This function is used to read the contents of the consecutive blocks of input registers in the drive. The related data format is given in the following table. The content of each register is divided into the 8-bits higher data (“Hi”) and the 8-bits lower data (“Lo”).
  • Page 329 MD07UE01-2005 D2 Series Servo Drive User Manual Modbus Communication Table13.2.6 Command Response Error Slave address Slave address Slave address Function code Function code Error code Byte count Exception code Starting address Register 0x0008 Quantity of registers (3) Write multiple registers (10h) This function is used to write the data into consecutive blocks of registers in the drive.
  • Page 330: Modbus Objects

    MD07UE01-2005 Modbus Communication D2 Series Servo Drive User Manual Table13.2.8 Exception Code Exception Name Cause Illegal function The function code is not supported. Illegal data address Try to write an illegal register. Illegal data value The quantity of registers is too large (>123).
  • Page 331: Input Register

    MD07UE01-2005 D2 Series Servo Drive User Manual Modbus Communication 13.3.1 Input register The data length of each readable input register is 32 bits. Table13.3.1 Register Object Description Type Unit Address 0x0000 Lower data Feedback position INT32 counts 0x0001 Higher data...
  • Page 332 MD07UE01-2005 Modbus Communication D2 Series Servo Drive User Manual Register Object Description Type Unit Address 0x00B3 Higher data 0x00B4 Lower data Status 0 UINT32 0x00B5 Higher data 0x0FA0 Lower data 2001 Mode of operation display INT32 0x0FA1 Higher data 0x0FA2...
  • Page 333 MD07UE01-2005 D2 Series Servo Drive User Manual Modbus Communication (2) Object 81 – Status 4 Table13.3.3 Definition 0 - 3 9 - 11 CW/CCW input Buffer encoder invert Buffer/emulated encoder output (3) Object 90 – Status 6 Table13.3.4 Definition Index 2 - 15 (4) Object 91 –...
  • Page 334 MD07UE01-2005 Modbus Communication D2 Series Servo Drive User Manual (5) Object 2002 – Drive error events 1 Table13.3.6 Definition Encoder error 2 - 5 Position error too big Soft-thermal threshold reached 8 - 12 Serial encoder communication error Motor over temperature sensor activated...
  • Page 335 MD07UE01-2005 D2 Series Servo Drive User Manual Modbus Communication (7) Object 2004 – Status 1 Table13.3.8 Definition 0 - 1 Motor short Over voltage Under voltage Motor may be disconnect Left software limit Right software limit Current limited Acceleration limited...
  • Page 336: Holding Register

    MD07UE01-2005 Modbus Communication D2 Series Servo Drive User Manual (9) Object 2006 – Status 3 Table13.3.10 Definition Current control error HFLT inconsistent error 2 - 4 Homing fail Absolute encoder battery warning DC bus voltage abnormal Wrong absolute position 9 - 15 13.3.2...
  • Page 337 MD07UE01-2005 D2 Series Servo Drive User Manual Modbus Communication Register Object Description Type Unit Address Velocity scale for 0x00A6 Lower data external REAL32 count/s = 1 V 0x00A7 Higher data command Current scale for ×1,000)/ 0x00AA Lower data external REAL32...
  • Page 338 MD07UE01-2005 Modbus Communication D2 Series Servo Drive User Manual Register Object Description Type Unit Address 0x0FA4 Lower data 2002 Target current INT32 0.1%A 0x0FA5 Higher data 0x0FA6 Lower data Stop motion 2003 UINT32 0x0FA7 Higher data 0x0FAE Lower data 2007...
  • Page 339: Emc Solution

    14. EMC solution 00000000000000 0000 14. EMC solution ······················································································································· 14-1 14.1 Common-mode motor filter ····························································································· 14-2 14.2 Motor power cable with magnetic rings ············································································· 14-5 HIWIN MIKROSYSTEM CORP. 14-1...
  • Page 340: Common-Mode Motor Filter

    (2) Reduce the common-mode noise at the drive’s output. The part number of HIWIN self-made common-mode motor filter is MC-CM-S. It is suitable for D2-series drives with the power less than 2 KW (inclusive). The specification is given in the following table. When the external common-mode motor filter is used, the effect of common- mode inductor should be considered to improve the performance of motor control.
  • Page 341 MD07UE01-2005 D2 Series Servo Drive User Manual EMC Solution The MF-CM-S dimensions are shown as follows. Figure14.1.2 The wiring diagram of common-mode motor filter with the drive and motor is given as follows. Figure14.1.3 Instruction  (1) Insert the terminal of common-mode motor filter into the drive CN1 in sequence based on the line marked.
  • Page 342 MD07UE01-2005 EMC Solution D2 Series Servo Drive User Manual Filter to drive Table14.1.1 Specification for the filter-to-drive cable E191346 AWM 2586 2mm 2x4C 105 ℃ 600V VW-1 AWM I/II B Description 2mm2x4C 105 ℃ 600V FT1 SIN YU RoHS SUPER FLEXIBLE...
  • Page 343: Motor Power Cable With Magnetic Rings

    MD07UE01-2005 D2 Series Servo Drive User Manual EMC Solution DANGER It has the risk of electric shock.  The cable and J1 connector are the high-voltage circuit and are connected to the main power.  Not paying attention to these warnings could result in the equipment damage, injury, or death.
  • Page 344 MD07UE01-2005 EMC Solution D2 Series Servo Drive User Manual (2) Cable with plug-in magnetic rings The electrical specification for this product is the same as that given in table 14.2.3. Table14.2.3 Part No. Specification Quantity Description Note Plug-in CM Motor filter (100 W to...

Table of Contents