Download
Share
Print this page
  1. Manuals
  2. Brands
  3. Hiwin Manuals
  4. Servo Drives
  5. E1 Series
  6. Manual

Hiwin E1 Series Manual

Hide thumbs Also See for E1 Series:

Advertisement

Quick Links

Download this manual
E1 Series Servo Drive
Thunder Software Operation Manual
www.hiwinmikro.tw
MD12UE01-2012_V2.2

Advertisement

loading
Need help?

Need help?

Do you have a question about the E1 Series and is the answer not in the manual?

Questions and answers

Related Manuals for Hiwin E1 Series

Summary of Contents for Hiwin E1 Series

  • Page 1 E1 Series Servo Drive Thunder Software Operation Manual www.hiwinmikro.tw MD12UE01-2012_V2.2...
  • Page 2 10. Update section 4.3.6.3 Electronic gear ratio setting. Dec. 31 , 2020 E1 series servo drive 11. Update section 4.3.9 Send to drive. 12. Update section 4.4.3.2 Save servo drive parameters file (*.prm). 13. Update section 4.4.3.3 Load servo drive parameters file (*.prm).
  • Page 3 – Linear motor. Rewrite and reorganize this user manual based on Traditional Chinese user manual E1 系列驅動 Sep. 4 , 2020 E1 series servo drive 器 Thunder 軟體操作手冊 (version 2.1). Apr. 24 , 2020 E1 series servo drive Add section “Multi-motion setting”.
  • Page 4 This manual provides users the information and methods of operating each function in Thunder software, a human-machine interface for E1 series servo drive. The contents in this manual are arranged in accordance with function options. Carefully read through this manual to correctly operate Thunder software.
  • Page 5 Safety Precautions To prevent personal injury and equipment damage in advance, the following signal words are used to indicate safety precautions in this manual. The signal words are used to classify the hazards and damage or injury that may occur if a product is used incorrectly. Information marked as shown below is important for safety.
  • Page 6 Technical Terms Term Meaning A generic name for AC servo motor, direct drive motor (DM), torque motor Servo motor (TM) and linear motor (LM). A generic name for AC servo motor, direct drive motor (DM) and torque Rotary motor motor (TM). Linear motor A generic name for linear motor (LM).
  • Page 7 Differences in Terms for Rotary Motor and Linear Motor There are differences in terms for rotary motor and linear motor. This manual primarily describes rotary motor. If linear motor is used, interpret the terms given in the following table. Rotary motor Linear motor torque force...
  • Page 8 Chapter Overview Chapter Title Contents Introduce Thunder’s system requirements, functions, main Thunder Overview window and the list of all functions. Explain the way to download, install, repair and remove Thunder Install Thunder software from official website. Explain how to start Thunder, including servo drive’s connection Start Thunder and communication settings, mastership switching and firmware updating.
  • Page 9 Table of Contents Thunder Overview ............................1-1 Brief introduction ..........................1-2 System requirements ........................1-3 Thunder functions ........................... 1-4 Main window ........................... 1-5 Function list ............................. 1-6 Install Thunder ..............................2-1 Brief introduction ..........................2-2 Download Thunder ......................... 2-3 Install Thunder ..........................2-7 Install USB driver ...........................
  • Page 10 4.3.4.1 Edit encoder parameters ..................4-15 4.3.4.2 Save / Load encoder parameters file (*.enc) ............4-20 4.3.5 Control Mode Setup ......................4-22 4.3.6 Command Input Setup ......................4-24 4.3.6.1 Velocity mode ..................... 4-24 4.3.6.2 Position mode ..................... 4-26 4.3.6.3 Electronic gear ratio setting ................4-32 4.3.6.4 Torque mode .......................
  • Page 11 4.6.3 Phase initialization function ....................4-88 4.6.3.1 SW method 1 ...................... 4-89 4.6.3.2 STABS test/tune ....................4-90 4.6.3.3 Digital hall ......................4-91 4.6.4 Start phase initialization ....................... 4-93 Perform Test Run ............................. 5-1 Brief introduction ..........................5-2 Test Run ............................5-3 5.2.1 Brief introduction ........................
  • Page 12 7.6.2 Plot view ..........................7-46 7.6.2.1 Open ........................7-47 7.6.2.2 Save ........................7-48 7.6.2.3 Set show mode ....................7-49 7.6.2.4 Set maximum number of graph views ..............7-51 7.6.2.5 Zoom the area between cursors ................. 7-54 7.6.2.6 Undo zoom ......................7-55 7.6.2.7 Redo zoom ......................
  • Page 13 Dynamic brake resistor wizard ..................... 9-41 9.8.1 Brief introduction ........................9-41 9.8.2 Motor parameters setting ..................... 9-42 9.8.2.1 Motor parameters ....................9-44 9.8.2.2 HIWIN motor ....................... 9-45 9.8.2.3 Read parameters ....................9-46 9.8.2.4 Other brand motor ....................9-47 9.8.3 Application parameters setting ..................... 9-48 9.8.4 Calculation results ........................
  • Page 14 (This page is intentionally left blank.)
  • Page 15 1. Thunder Overview Thunder Overview ............................1-1 Brief introduction ..........................1-2 System requirements ........................1-3 Thunder functions ........................... 1-4 Main window ........................... 1-5 Function list ............................. 1-6 HIWIN MIKROSYSTEM CORP.
  • Page 16 MD12UE01-2012 Thunder Overview E1 Series Servo Drive Thunder Software Operation Manual 1.1 Brief introduction Thunder’s system requirements, functions, main window and the list of all functions are introduced in this chapter. System requirements The minimum requirement and recommended requirement for the system to operate Thunder are provided in this section.
  • Page 17 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Thunder Overview 1.2 System requirements The minimum requirement and recommended requirement for the system to operate Thunder are given in Table 1.2.1. Users can select the appropriate hardware based on actual situation.
  • Page 18 Thunder Overview E1 Series Servo Drive Thunder Software Operation Manual 1.3 Thunder functions Thunder is mainly used in E1 series servo drive’s setting and tuning. It is also equipped with the following functions: ◆ Provide servo drive related parameters setting.
  • Page 19 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Thunder Overview 1.4 Main window Figure 1.4.1 Table 1.4.1 Item Description Software version Display Thunder version number. Function menu bar, including “File”, “Tools”, “Settings”, and “Help”. Menu bar Display system information, including servo drive’s type and firmware Information column version, motor type, encoder type, ESC’s type and firmware version.
  • Page 20 MD12UE01-2012 Thunder Overview E1 Series Servo Drive Thunder Software Operation Manual 1.5 Function list All functions in Thunder are listed in this section for users to do quick search. Table 1.5.1 is about functions in menu bar, and Table 1.5.2 is about functions in toolbar.
  • Page 21 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Thunder Overview ctrl unit Others Display unit setting Access Thunder (only available for Fieldbus Controller servo drives) User guide Help About Table 1.5.2 Power Setup Motor Setup Encoder Setup (Open Configuration...
  • Page 22 MD12UE01-2012 Thunder Overview E1 Series Servo Drive Thunder Software Operation Manual Homing on home switch and index pulse – positive initial Method7 move (search for index signal on the left side of DOG signal’s rising edge) Homing on home switch and index pulse –...
  • Page 23 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Thunder Overview Homing on home switch and index pulse – negative initial Method14 move (search for index signal on the left side of DOG signal’s falling edge) Homing on index pulse –...
  • Page 24 MD12UE01-2012 Thunder Overview E1 Series Servo Drive Thunder Software Operation Manual Display motor motion’s status and performance. By modifying servo drive’s (Open performance monitor) parameters, users can observe the Performance monitor change of motion’s performance. Position error Feedback position Position reference...
  • Page 25 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Thunder Overview (51) S-ON //servo on input signal (52) P-CON //proportional control input signal (53) P-OT //forward prohibition input signal (54) N-OT //reverse prohibition input signal (55) ALM-RST //alarm reset input signal...
  • Page 26 MD12UE01-2012 Thunder Overview E1 Series Servo Drive Thunder Software Operation Manual procedure input signal (69) MAP //servo drive error map input signal (70) FSTP //forced stop input signal (71) CLR //position deviation clear input signal (72) ALM //alarm output signal...
  • Page 27 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Thunder Overview (85) DBK //external dynamic brake output signal (86) HOMED //servo drive homing completion output signal (87) PAO //encoder divided pulse output signal-A phase (88) PBO //encoder divided pulse output...
  • Page 28 MD12UE01-2012 Thunder Overview E1 Series Servo Drive Thunder Software Operation Manual (This page is intentionally left blank.) 1-14 HIWIN MIKROSYSTEM CORP.
  • Page 29 2. Install Thunder Install Thunder ..............................2-1 Brief introduction ..........................2-2 Download Thunder ......................... 2-3 Install Thunder ..........................2-7 Install USB driver ........................... 2-11 Remove Thunder .......................... 2-16 HIWIN MIKROSYSTEM CORP.
  • Page 30 MD12UE01-2012 Install Thunder E1 Series Servo Drive Thunder Software Operation Manual 2.1 Brief introduction This chapter explains the way to download, install, repair and remove Thunder software from official website. Users can also install USB driver based on the instructions given in this chapter.
  • Page 31 E1 Series Servo Drive Thunder Software Operation Manual Install Thunder 2.2 Download Thunder Follow the procedure below to install Thunder installation file from HIWIN MIKROSYSTEM official website. Open the browser, connect to HIWIN MIKROSYSTEM official website (https://www.hiwinmikro.tw), and click Download.
  • Page 32 MD12UE01-2012 Install Thunder E1 Series Servo Drive Thunder Software Operation Manual Find the category on the screen and select Controller & Drive. Figure 2.2.3 Find the subcategory on the screen and select Drive E1. Figure 2.2.4 Find the Thunder installation file on the screen, and select one of the versions. Here takes version 1.5.10.0 as an example.
  • Page 33 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Install Thunder Figure 2.2.5 Figure 2.2.6 Table 2.2.1 Firmware version Firmware version Thunder version for standard servo drive for Fieldbus servo drive 1.1.6.1 2.1.8 2.1.8 1.2.15.1 2.2.8 2.2.8 1.3.15.1 2.3.12 2.3.12 1.4.8.1...
  • Page 34 MD12UE01-2012 Install Thunder E1 Series Servo Drive Thunder Software Operation Manual CAUTION ◆ If users cannot connect to Internet or download the software, please contact your information technology center or the related department for troubleshooting first. ◆ To avoid download interruption or page display errors during the download process, use standard browser, such as IE, Google Chrome and Mozilla Firefox.
  • Page 35 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Install Thunder 2.3 Install Thunder Here takes Thunder install 1.5.10.0 as an example. Before installation, ensure if there are important settings in old Thunder. If there are, make a backup first, since new Thunder will overwrite old Thunder’s data.
  • Page 36 MD12UE01-2012 Install Thunder E1 Series Servo Drive Thunder Software Operation Manual Click Next to continue the installation. Figure 2.3.3 Click Install to continue the installation. Figure 2.3.4 HIWIN MIKROSYSTEM CORP.
  • Page 37 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Install Thunder Wait until the installation is done. Figure 2.3.5 Click Finish to complete the installation. Figure 2.3.6 HIWIN MIKROSYSTEM CORP.
  • Page 38 MD12UE01-2012 Install Thunder E1 Series Servo Drive Thunder Software Operation Manual CAUTION ◆ Some functions in Thunder software must be equipped with 7zip. If users do not install the decompression software for 7zip, check Install 7zip. Figure 2.3.7 2-10 HIWIN MIKROSYSTEM CORP.
  • Page 39 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Install Thunder 2.4 Install USB driver After installing Thunder, users must install USB driver for building the communication with servo drive. Here takes Windows 10 operating system as an example to explain the way of installing USB driver.
  • Page 40 MD12UE01-2012 Install Thunder E1 Series Servo Drive Thunder Software Operation Manual Figure 2.4.2 Select Browse my computer for driver software. Figure 2.4.3 2-12 HIWIN MIKROSYSTEM CORP.
  • Page 41 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Install Thunder Click Browse to select folder path. Figure 2.4.4 Select C:\Thunder\usbdrv as the path where Thunder USB driver exists, and click OK. Figure 2.4.5 HIWIN MIKROSYSTEM CORP. 2-13...
  • Page 42 MD12UE01-2012 Install Thunder E1 Series Servo Drive Thunder Software Operation Manual After selecting the path, click Next. Figure 2.4.6 The installation is completed. Click Close after the confirmation. Figure 2.4.7 2-14 HIWIN MIKROSYSTEM CORP.
  • Page 43 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Install Thunder It’s the confirmation screen of successful installation. Figure 2.4.8 HIWIN MIKROSYSTEM CORP. 2-15...
  • Page 44 MD12UE01-2012 Install Thunder E1 Series Servo Drive Thunder Software Operation Manual 2.5 Remove Thunder There are two ways to remove Thunder software after the installation: ◆ Remove it via the installation file downloaded from official website. ◆ Remove it via the application in console.
  • Page 45 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Install Thunder Click Remove to continue the removal. Figure 2.5.3 Click Remove to continue the removal. Figure 2.5.4 HIWIN MIKROSYSTEM CORP. 2-17...
  • Page 46 MD12UE01-2012 Install Thunder E1 Series Servo Drive Thunder Software Operation Manual Wait until the removal is done. Figure 2.5.5 Click Finish to complete the removal. Figure 2.5.6 2-18 HIWIN MIKROSYSTEM CORP.
  • Page 47 Switch to different axis ..................3-9 3.2.3.3 Modify axis name ....................3-10 3.2.4 Off-line mode ......................... 3-11 Mastership switching ........................3-14 3.3.1 From Controller to Thunder ....................3-15 3.3.2 From Thunder to Controller ....................3-16 Update firmware ........................... 3-17 HIWIN MIKROSYSTEM CORP.
  • Page 48 MD12UE01-2012 Start Thunder E1 Series Servo Drive Thunder Software Operation Manual 3.1 Brief introduction This chapter explains how to start Thunder, including servo drive’s connection and communication settings, mastership switching and firmware updating. Connection and communication settings Users can select the desired connecting method, such as USB, mega-ulink or off-line mode (view parameters only).
  • Page 49 Standard servo drive ED1S Fieldbus servo drive (mega-ulink) ED1F-H Fieldbus servo drive (Other) ED1F Refer to section 2.1 in “E1 Series Servo Drive User Manual” for the detailed descriptions of servo drive model. Information Figure 3.2.1.1 Figure 3.2.1.2 HIWIN MIKROSYSTEM CORP.
  • Page 50 MD12UE01-2012 Start Thunder E1 Series Servo Drive Thunder Software Operation Manual Table 3.2.1.2 Item Description Offer servo drive type for users to select: Drive type ED1S, ED1F (mega-ulink), ED1F (Other) Different servo drive has different configuration interface. Config. interface ED1S, ED1F (Other): Off-line (View only), USB ED1F (mega-ulink): Off-line (View only), USB, Network After USB is selected in Config.
  • Page 51 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Start Thunder Figure 3.2.2.1 Select USB in Config. interface. Figure 3.2.2.2 Select the USB port actually connected to the servo drive. Figure 3.2.2.3 Click Connect. Figure 3.2.2.4 HIWIN MIKROSYSTEM CORP.
  • Page 52 MD12UE01-2012 Start Thunder E1 Series Servo Drive Thunder Software Operation Manual If the system information is shown in the information column, it indicates USB connection succeeds. Figure 3.2.2.5 3.2.3 Connect via mega-ulink Users can perform single-axis connection or multi-axes connection via mega-ulink communication.
  • Page 53 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Start Thunder There are two communication ports on CN9, OUT port and IN port. Information Figure 3.2.3.1.1 OUT: Connect to the IN port on other servo drive or other slave. If the servo drive is the last station, do not connect to this port.
  • Page 54 MD12UE01-2012 Start Thunder E1 Series Servo Drive Thunder Software Operation Manual Select the network adapter actually connected to the servo drive. Figure 3.2.3.1.4 Click Connect. Figure 3.2.3.1.5 Go to information column to check if the multi-axes connection succeeds. Figure 3.2.3.1.6...
  • Page 55 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Start Thunder 3.2.3.2 Switch to different axis Users can click the axis name in the tree-like information column to switch to different axis. Here takes two axes, X axis and Y axis, as an example. Follow the procedure below to perform switching.
  • Page 56 MD12UE01-2012 Start Thunder E1 Series Servo Drive Thunder Software Operation Manual 3.2.3.3 Modify axis name Follow the procedure below to modify axis name. Here takes modifying Y axis to Z axis as an example. Right-click Y axis. Figure 3.2.3.3.1 Select Rename to modify axis name.
  • Page 57 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Start Thunder After entering new axis name Z, press Enter key on the keyboard to complete the modification. Figure 3.2.3.3.3 3.2.4 Off-line mode Users can load servo drive parameters file (*.prm) on off-line mode to observe all parameters. Before using the function, ensure the servo drive parameters file (*.prm) to be observed has been saved as a file.
  • Page 58 MD12UE01-2012 Start Thunder E1 Series Servo Drive Thunder Software Operation Manual Click Connect. Figure 3.2.4.2 Click “Load parameters from file to drive” icon in the toolbar to open the servo drive parameters file (*.prm) to be observed. Figure 3.2.4.3 Click “Open Configuration Wizard” icon in the toolbar to open “Configuration Wizard” window.
  • Page 59 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Start Thunder Figure 3.2.4.4 Click “Open Parameters Setup” icon in the toolbar to open “Parameters Setup” window. Refer to section 4.4 for the details of Parameters Setup. Figure 3.2.4.5 HIWIN MIKROSYSTEM CORP.
  • Page 60 MD12UE01-2012 Start Thunder E1 Series Servo Drive Thunder Software Operation Manual 3.3 Mastership switching Users can switch the mastership between host controller and Thunder. Before performing mastership switching, ensure the servo drive is Fieldbus type. Table 3.3.1 Item Reference from Controller to Thunder section 3.3.1...
  • Page 61 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Start Thunder 3.3.1 From Controller to Thunder Follow the procedure below to switch the mastership from Controller to Thunder. Select Access in the menu bar. Figure 3.3.1.1 Select Thunder. Figure 3.3.1.2 HIWIN MIKROSYSTEM CORP.
  • Page 62 MD12UE01-2012 Start Thunder E1 Series Servo Drive Thunder Software Operation Manual 3.3.2 From Thunder to Controller Follow the procedure below to switch the mastership from Thunder to Controller. Select Access in the menu bar. Figure 3.3.2.1 Select Controller. Figure 3.3.2.2 3-16 HIWIN MIKROSYSTEM CORP.
  • Page 63 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Start Thunder 3.4 Update firmware Users can update servo drive’s firmware via Thunder. Here takes version 2.4.6 as an example. If version of firmware and Thunder are not compatible, the following window will show up. After clicking OK, use the Thunder version shown in the message.
  • Page 64 MD12UE01-2012 Start Thunder E1 Series Servo Drive Thunder Software Operation Manual Figure 3.4.3 Ensure “Note” column shows Connecting. Figure 3.4.4 3-18 HIWIN MIKROSYSTEM CORP.
  • Page 65 4.4.3.1 Brief introduction ....................4-58 4.4.3.2 Save servo drive parameters file (*.prm) ............4-58 4.4.3.3 Load servo drive parameters file (*.prm) ............4-60 4.4.4 Send the parameters to servo drive ..................4-63 4.4.5 Reset drive ........................... 4-64 HIWIN MIKROSYSTEM CORP.
  • Page 66 MD12UE01-2012 Servo Drive Configuration E1 Series Servo Drive Thunder Software Operation Manual 4.4.6 Set to factory default ......................4-66 4.4.6.1 Brief introduction ....................4-66 4.4.6.2 Set to factory default ................... 4-67 4.4.6.3 Clear error map table ..................4-68 4.4.6.4 Disable multi-motion function ................4-69 4.4.6.5...
  • Page 67 4.1 Brief introduction All the basic setting procedures of using servo drive are introduced in this chapter. For the detailed descriptions of servo drive, please refer to “E1 Series Servo Drive User Manual”. Pre-configuration function Before servo drive configuration, users can select servo motor type, encoder type and the usage of ESC.
  • Page 68 MD12UE01-2012 Servo Drive Configuration E1 Series Servo Drive Thunder Software Operation Manual 4.2 Pre-configuration function Before servo drive configuration, users can select servo motor type, encoder type and the usage of ESC. Figure 4.2.1 Table 4.2.1 Item Description Menu of servo motor...
  • Page 69 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Servo Drive Configuration Select encoder format. If there is an ESC connected, select the encoder format + Smart cube. Figure 4.2.3 After the selection, click Apply to complete pre-configuration function setting. At this time, servo drive will be power cycled.
  • Page 70 MD12UE01-2012 Servo Drive Configuration E1 Series Servo Drive Thunder Software Operation Manual 4.3 Configuration Wizard 4.3.1 Brief introduction Configuration Wizard leads users to set parameters with step-by-step interface. Power setup, motor setup, encoder setup, control mode setup, mechanical structure selection, command input setup, emulated encoder output setup and I/O configuration are all important parameters settings for servo drive.
  • Page 71 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Servo Drive Configuration Figure 4.3.1.1 Table 4.3.1.1 Item Description 1. This area displays all the steps and the current setting values of the parameters. Setting steps switching 2. Click the buttons in this area to switch to the next step or return to the previous step.
  • Page 72 MD12UE01-2012 Servo Drive Configuration E1 Series Servo Drive Thunder Software Operation Manual Click “Open Configuration Wizard” icon in the toolbar to open “Configuration Wizard” window. Figure 4.3.2.1 Select the desired power, and click Motor Setup to continue the setting of the next step.
  • Page 73 Select the correct model based on the motor type. Motor parameters will be automatically filled in after the selection. This page also provides the following functions: ◆ If the motor is not made by HIWIN, users must fill in the corresponding motor parameters. ◆ Users can save motor parameters as a file (*.mot).
  • Page 74 MD12UE01-2012 Servo Drive Configuration E1 Series Servo Drive Thunder Software Operation Manual 4.3.3.1 Edit motor parameters The procedure of motor setup is as below. Select motor type. Here takes Torque / direct drive motor as an example. Figure 4.3.3.1.1 Select motor series.
  • Page 75 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Servo Drive Configuration Select motor model. Figure 4.3.3.1.3 At this time, motor parameters will be automatically filled in. Figure 4.3.3.1.4 HIWIN MIKROSYSTEM CORP. 4-11...
  • Page 76 Servo Drive Configuration E1 Series Servo Drive Thunder Software Operation Manual If the motor is not made by HIWIN, select Customized in “Series” column after selecting motor type. Then, fill in the necessary parameters based on the motor specification. Information Figure 4.3.3.1.5...
  • Page 77 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Servo Drive Configuration Key in file name of motor parameters file (*.mot), select archive path, and click Save. Figure 4.3.3.2.2 ◼ Load motor parameters file (*.mot) Click “Load parameters from file” icon Figure 4.3.3.2.3...
  • Page 78 MD12UE01-2012 Servo Drive Configuration E1 Series Servo Drive Thunder Software Operation Manual Select motor parameters file (*.mot), and click Open. Figure 4.3.3.2.4 4.3.4 Encoder Setup Select the correct format based on the encoder type. Encoder parameters will be automatically filled in after the selection.
  • Page 79 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Servo Drive Configuration Table 4.3.4.1 Item Description Reference Select encoder model (encoder parameters will be Edit encoder automatically filled in) or select Customized (users can section 4.3.4.1 parameters fill in the desired encoder parameters).
  • Page 80 BiSS-C and EnDat; SSI, NIKON and Hiperface are not supported yet. Information Besides some encoder parameters with common resolution which match HIWIN motor, users can select Customized in “Series” column to key in the related parameters of other brand’s encoder. The corresponding parameter columns will be opened according to different encoder type.
  • Page 81 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Servo Drive Configuration To use full-closed loop, check Activate full-closed loop, and click External encoder setup to open “External encoder setting” window for parameters setting. If there is no need to use full-closed loop, do not check Activate full-closed loop, and skip step 4.
  • Page 82 MD12UE01-2012 Servo Drive Configuration E1 Series Servo Drive Thunder Software Operation Manual After opening “External encoder setting” window, select external encoder type and series, and key in encoder parameters. Figure 4.3.4.1.6 Users can select Customized in “Series” column to key in the customized external encoder parameters.
  • Page 83 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Servo Drive Configuration If there is an ESC connected, check Activate smart cube. To use the over temperature protection function after connecting ESC, check Activate thermal sensor and ensure the motor over temperature cable is certainly connected to thermal sensor (TS) of ESC.
  • Page 84 MD12UE01-2012 Servo Drive Configuration E1 Series Servo Drive Thunder Software Operation Manual 4.3.4.2 Save / Load encoder parameters file (*.enc) ◼ Save encoder parameters file (*.enc) Click “Save parameters as a file” icon Figure 4.3.4.2.1 Key in file name of encoder parameters file (*.enc), select archive path, and click Save.
  • Page 85 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Servo Drive Configuration ◼ Load encoder parameters file (*.enc) Click “Load parameters from file” icon Figure 4.3.4.2.3 Select encoder parameters file (*.enc), and click Open. Figure 4.3.4.2.4 HIWIN MIKROSYSTEM CORP. 4-21...
  • Page 86 MD12UE01-2012 Servo Drive Configuration E1 Series Servo Drive Thunder Software Operation Manual 4.3.5 Control Mode Setup Set the desired control mode. The procedure of control mode setup is as below. Click Control Mode Setup to enter control mode setup page.
  • Page 87 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Servo Drive Configuration Fieldbus servo drive does not support control mode setup. Important Figure 4.3.5.3 Table 4.3.5.1 Selection Description Analog voltage is used as velocity command to control motor velocity. This control mode is suitable for: 0 –...
  • Page 88 MD12UE01-2012 Servo Drive Configuration E1 Series Servo Drive Thunder Software Operation Manual Refer to section 8.3 to 8.9 in “E1 Series Servo Drive User Manual” for further descriptions. Information 4.3.6 Command Input Setup This page will display different window based on the control mode selected in Control Mode Setup. Refer to the following table for the related information.
  • Page 89 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Servo Drive Configuration Figure 4.3.6.1.1 Set reference command. Figure 4.3.6.1.2 HIWIN MIKROSYSTEM CORP. 4-25...
  • Page 90 Description Set the ratio of analog voltage and motor rated velocity. Refer to section Velocity command 8.3.1 in “E1 Series Servo Drive User Manual” for the example of velocity input gain (Pt300) command input. It shows the CN6 pin diagram of velocity command input signal and the Diagram input range diagram of velocity command voltage.
  • Page 91 Description Select pulse type (Pt200.0) and pulse filter (Pt200.3), and set pulse Pulse format input ratio (Pt218). Refer to section 8.4 in “E1 Series Servo Drive parameters setting User Manual” for further descriptions of pulse command input. It shows the CN6 pin diagram of pulse command input signal and the Diagram pulse signal diagram.
  • Page 92 MD12UE01-2012 Servo Drive Configuration E1 Series Servo Drive Thunder Software Operation Manual Figure 4.3.6.2.3 “Electronic gear ratio setting” window only supports standard servo drive, and it will display different window based on encoder setting. Refer to the following table for the related information.
  • Page 93 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Servo Drive Configuration ◼ Linear motor’s pulse command input setup Click Command Input Setup to enter command input setup page. Figure 4.3.6.2.4 Set the related parameters of command input. Figure 4.3.6.2.5 HIWIN MIKROSYSTEM CORP.
  • Page 94 Description Select pulse type (Pt200.0) and pulse filter (Pt200.3), and set pulse Pulse format input ratio (Pt218). Refer to section 8.4 in “E1 Series Servo Drive parameters setting User Manual” for further descriptions of pulse command input. It shows the CN6 pin diagram of pulse command input signal and the Diagram pulse signal diagram.
  • Page 95 Figure 4.3.6.2.8 Table 4.3.6.2.5 Item Description Set pulse input ratio (Pt218). Refer to section 8.4 in “E1 Series Servo Pulse format Drive User Manual” for further descriptions of pulse command input. parameters setting Fieldbus servo drive does not support electronic gear ratio setting. Except for EtherCAT model (ED1F-E□-□□□□-□□), the electronic gear ratio is fixed as 1:1.
  • Page 96 MD12UE01-2012 Servo Drive Configuration E1 Series Servo Drive Thunder Software Operation Manual 4.3.6.3 Electronic gear ratio setting This function only supports position mode, internal position mode and dual mode which includes one of the two modes mentioned above (refer to Control Mode Setup). “Electronic gear ratio setting” window only supports standard servo drive, and it will display different window based on motor type and encoder setting.
  • Page 97 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Servo Drive Configuration Diagram of mechanical structure Display the diagram of mechanical structure selected by users and the calculated result of and the calculated result of electronic gear ratio. electronic gear ratio Parameters of electronic gear ratio Key in feed constant, reduction ratio and control unit.
  • Page 98 E1 Series Servo Drive Thunder Software Operation Manual Key in feed constant and reduction ratio. Figure 4.3.6.3.3 Refer to section 6.11 in “E1 Series Servo Drive User Manual” for the description of control unit. To modify control unit, click Modify.
  • Page 99 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Servo Drive Configuration After selecting unit and keying in control unit, click OK. Figure 4.3.6.3.5 When control unit is updated, electronic gear ratio will be recalculated, and the reminder User modified will appear.
  • Page 100 MD12UE01-2012 Servo Drive Configuration E1 Series Servo Drive Thunder Software Operation Manual Figure 4.3.6.3.7 ◼ Full-closed loop’s electronic gear ratio setting If Activate full-closed loop in Encoder Setup is checked, mechanical structure will automatically select Full-closed loop. To modify control unit, click Modify, key in control unit, confirm the calculated result of electronic gear ratio, and click Apply.
  • Page 101 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Servo Drive Configuration ◼ Linear motor’s electronic gear ratio setting If the motor type is linear motor, mechanical structure will automatically select Linear motor. To modify control unit, click Modify, key in control unit, confirm the calculated result of electronic gear ratio, and click Apply.
  • Page 102 MD12UE01-2012 Servo Drive Configuration E1 Series Servo Drive Thunder Software Operation Manual 4.3.6.4 Torque mode Follow the procedure below to complete torque mode’s command input setup. Click Command Input Setup to enter command input setup page. Figure 4.3.6.4.1 Set reference command.
  • Page 103 Description Set the ratio of analog voltage and motor rated torque. Refer to section 8.5 Torque command in “E1 Series Servo Drive User Manual” for the example of torque command input gain (Pt400) input. It shows the CN6 pin diagram of torque command input signal and the input Diagram range diagram of torque command voltage.
  • Page 104 MD12UE01-2012 Servo Drive Configuration E1 Series Servo Drive Thunder Software Operation Manual Set reference command. Figure 4.3.6.5.2 Table 4.3.6.5.1 Item Description Internal velocity 1 Key in internal set velocity 1 (Pt301). Internal velocity 2 Key in internal set velocity 2 (Pt302).
  • Page 105 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Servo Drive Configuration Figure 4.3.6.6.1 Set reference command. Figure 4.3.6.6.2 Table 4.3.6.6.1 Item Description Pulse input ratio Key in command pulse input multiplier (Pt218). “Electronic gear ratio setting” window only supports standard servo drive, Electronic gear ratio and it will display different window based on motor type and encoder setting.
  • Page 106 MD12UE01-2012 Servo Drive Configuration E1 Series Servo Drive Thunder Software Operation Manual 4.3.7 Emulated Encoder Output Setup The function of encoder pulse output is to provide position feedback for host controller. During motor operation, this function will send pulse signals with the output format of A/B phase to host controller based on the set encoder output ratio.
  • Page 107 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Servo Drive Configuration Key in emulated encoder output resolution (Pt212). Figure 4.3.7.2 The following figure shows the CN6 pin assignment of emulated encoder output signals for Fieldbus servo drive. Information Figure 4.3.7.3 HIWIN MIKROSYSTEM CORP.
  • Page 108 MD12UE01-2012 Servo Drive Configuration E1 Series Servo Drive Thunder Software Operation Manual 4.3.8 I/O configuration Configure servo drive’s digital input signals and digital output signals. The procedure of I/O configuration is as below. Click I/O configuration to enter I/O configuration page.
  • Page 109 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Servo Drive Configuration Table 4.3.8.1 Function Reference Modify configuration of digital input signals section 4.5.2 Modify configuration of digital output signals section 4.5.3 4.3.9 Send to drive List all the parameters set by users in Configuration Wizard. After confirming the correctness, users can send the parameters to servo drive.
  • Page 110 MD12UE01-2012 Servo Drive Configuration E1 Series Servo Drive Thunder Software Operation Manual Figure 4.3.9.2 Click Ok. At this time, the servo drive will be power cycled. Figure 4.3.9.3 After the servo drive is power cycled, servo drive configuration is done.
  • Page 111 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Servo Drive Configuration 4.4 Parameters Setup 4.4.1 Brief introduction Based on the classified servo drive Pt parameters list, users can set or compare the Pt parameters different from factory default values. Besides, users can create, edit, save and load personalized parameters list.
  • Page 112 MD12UE01-2012 Servo Drive Configuration E1 Series Servo Drive Thunder Software Operation Manual 4.4.2 Edit parameters Users can modify all servo drive parameters via Pt parameters editing page. This page also provides the following functions: ◆ List all the modified Pt parameters for quick view.
  • Page 113 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Servo Drive Configuration If there is an (I) behind the parameter name, it indicates Effective time of the parameter will immediately be effective when users section 4.4.2.4 parameters change its value. There is no need to save the changed value to servo drive and power cycle it.
  • Page 114 MD12UE01-2012 Servo Drive Configuration E1 Series Servo Drive Thunder Software Operation Manual 4.4.2.2 Set Pt parameters Servo drive Pt parameters are classified into eight categories, Pt0XX to Pt7XX. Each parameter can be classified as setup parameter or tuning parameter. Users can set the related Pt parameters based on the category.
  • Page 115 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Servo Drive Configuration Figure 4.4.2.2.3 After the modification, click Apply. Figure 4.4.2.2.4 If there is no (I) behind the parameter name, after clicking Apply, users should Send to drive and Reset drive to make the parameter be effective.
  • Page 116 MD12UE01-2012 Servo Drive Configuration E1 Series Servo Drive Thunder Software Operation Manual 4.4.2.3 User-defined parameters Users can define non-Pt parameters list. Refer to the following table for the functions. Table 4.4.2.3.1 Item Reference Add new parameter Add new parameter Delete selected parameter...
  • Page 117 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Servo Drive Configuration Figure 4.4.2.3.3 Table 4.4.2.3.2 Item Description Parameter name Users can search for user-defined parameters here. column Parameter data length It is the data definition for user-defined parameter in the servo drive.
  • Page 118 MD12UE01-2012 Servo Drive Configuration E1 Series Servo Drive Thunder Software Operation Manual ◼ Delete selected parameter Check the parameter to be deleted. Figure 4.4.2.3.5 Users can check the box on the left side of Parameter Name to select all the parameters with one click.
  • Page 119 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Servo Drive Configuration ◼ Save parameter list as a file Click “Save parameter list as a file” icon. Figure 4.4.2.3.9 Key in file name of personalized Pt parameters list file (*.desc), select archive path, and click Save.
  • Page 120 MD12UE01-2012 Servo Drive Configuration E1 Series Servo Drive Thunder Software Operation Manual ◼ Load parameters from file Click “Load parameters from file” icon. Figure 4.4.2.3.11 Select personalized Pt parameters list file (*.desc), and click Open. Figure 4.4.2.3.12 Read the message window and click Yes to load personalized Pt parameters list file (*.desc).
  • Page 121 If users modify non-immediately effective parameter in Set Pt parameters, warning AL941 (refer to section 13.3 in “E1 Series Servo Drive User Manual” for the detailed descriptions of warning) will pop up on the left side of Thunder main window to remind users to save the parameter and reset servo drive. Refer to section 4.4.4 and 4.4.5 for the operation procedure.
  • Page 122 MD12UE01-2012 Servo Drive Configuration E1 Series Servo Drive Thunder Software Operation Manual 4.4.3 Create a servo drive parameters file 4.4.3.1 Brief introduction The two main functions of servo drive parameters file (*.prm) are creating a new file and loading parameters file. Users can quickly create a servo drive parameters file (*.prm) in the application environment, and load servo drive parameters file (*.prm) in other environments.
  • Page 123 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Servo Drive Configuration Figure 4.4.3.2.2 Key in file name of servo drive parameters file (*.prm), select archive path, and click Save. Figure 4.4.3.2.3 After ensuring the file is successfully saved, click Close.
  • Page 124 MD12UE01-2012 Servo Drive Configuration E1 Series Servo Drive Thunder Software Operation Manual 4.4.3.3 Load servo drive parameters file (*.prm) DANGER ◆ To avoid unexpected actions, ensure the motor is disabled and remains static before execution. Follow the procedure below to load the created servo drive parameters file to servo drive.
  • Page 125 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Servo Drive Configuration Select servo drive parameters file (*.prm), and click Open. Figure 4.4.3.3.3 Click Load. Figure 4.4.3.3.4 If the following items are checked, users can uncheck the default of Redo phase initialization setup after loading complete.
  • Page 126 MD12UE01-2012 Servo Drive Configuration E1 Series Servo Drive Thunder Software Operation Manual After reading the message window and ensuring the file is correct, click Yes. Thunder will load the servo drive parameters file (*.prm) and reset servo drive. Figure 4.4.3.3.5 After the servo drive parameters file (*.prm) is successfully loaded, “Load prm file”...
  • Page 127 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Servo Drive Configuration 4.4.4 Send the parameters to servo drive There are two kinds of servo drive parameters, immediately effective and non-immediately effective. To make non-immediately effective parameters be effective, users must send them to servo drive and power cycle servo drive.
  • Page 128 MD12UE01-2012 Servo Drive Configuration E1 Series Servo Drive Thunder Software Operation Manual Figure 4.4.4.2 4.4.5 Reset drive HMI sends commands to reset servo drive. In the process, servo drive will be power cycled. Users do not need to operate power switch to read servo drive parameters again or reset servo drive’s alarms or warnings.
  • Page 129 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Servo Drive Configuration Figure 4.4.5.2 Click Reset to reset servo drive. Figure 4.4.5.3 HIWIN MIKROSYSTEM CORP. 4-65...
  • Page 130 MD12UE01-2012 Servo Drive Configuration E1 Series Servo Drive Thunder Software Operation Manual 4.4.6 Set to factory default 4.4.6.1 Brief introduction Set the servo drive to factory default and provide three optional functions of clearing the contents in servo drive’s memory.
  • Page 131 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Servo Drive Configuration 4.4.6.2 Set to factory default Follow the procedure below to restore servo drive parameters. The default of Disable multi-motion function option is checked. Information Select Tools in the menu bar, and click Set to factory default.
  • Page 132 MD12UE01-2012 Servo Drive Configuration E1 Series Servo Drive Thunder Software Operation Manual 4.4.6.3 Clear error map table Follow the procedure below to clear the error map table existed in servo drive. Select Tools in the menu bar, and click Set to factory default.
  • Page 133 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Servo Drive Configuration 4.4.6.4 Disable multi-motion function Follow the procedure below to clear and disable the multi-motion function existed in servo drive. Select Tools in the menu bar, and click Set to factory default.
  • Page 134 MD12UE01-2012 Servo Drive Configuration E1 Series Servo Drive Thunder Software Operation Manual 4.4.6.5 Clear PDL Follow the procedure below to clear the user.pdl existed in servo drive. Select Tools in the menu bar, and click Set to factory default. Figure 4.4.6.5.1 Check Clear user.pdl and click Ok to restore servo drive parameters and clear user.pdl.
  • Page 135 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Servo Drive Configuration 4.5 I/O configuration 4.5.1 Brief introduction Users can configure servo drive’s digital input signals and digital output signals. Figure 4.5.1.1 Table 4.5.1.1 Item Description Reference Display the configuration and setting of input / output Digital input tab, section 4.5.2...
  • Page 136 MD12UE01-2012 Servo Drive Configuration E1 Series Servo Drive Thunder Software Operation Manual 4.5.2 Configuration of digital input signals Each pin of CN6 has the default I/O signal configuration as the servo drive leaves the factory. Users can modify its configuration and signal type. Follow the procedure below to modify configuration of digital input signals.
  • Page 137 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Servo Drive Configuration Double-click Click Figure 4.5.2.2 Table 4.5.2.1 Signal Input Not input Signal type Close active Activate digital input Deactivate digital input Open active Deactivate digital input Activate digital input Check User define to customize the digital input signal allocation.
  • Page 138 MD12UE01-2012 Servo Drive Configuration E1 Series Servo Drive Thunder Software Operation Manual Double-click Figure 4.5.2.3 Standard servo drive provides 10 digital inputs, while Fieldbus servo drive only provides 8 digital inputs. Fieldbus servo drive does not support input signal “S-ON” and “P-CON”.
  • Page 139 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Servo Drive Configuration 4.5.3 Configuration of digital output signals Each pin of CN6 has the default I/O signal configuration as the servo drive leaves the factory. Users can modify its configuration and signal type. Follow the procedure below to modify configuration of digital output signals.
  • Page 140 MD12UE01-2012 Servo Drive Configuration E1 Series Servo Drive Thunder Software Operation Manual Double-click Click Figure 4.5.3.3 Table 4.5.3.1 Output condition Satisfied Not satisfied Signal type Close active Output digital signal Do not output digital signal Open active Do not output digital signal Output digital signal Since the output pins are in pairs (O1+ and O1-, O2+ and O2-…), if users click an output pin,...
  • Page 141 Different control mode has different output signal allocation. If the output signal is not supported by the mode, it will be OFF. Refer to section 8.1.2 in “E1 Series Servo Drive User Manual” for the detailed descriptions of output signal.
  • Page 142 MD12UE01-2012 Servo Drive Configuration E1 Series Servo Drive Thunder Software Operation Manual 4.5.4 Check configuration of I/O signals Users can check the configuration of all I/O signals on each pin of CN6 here. If a single pin is assigned to several digital output signals, click to see all signals assigned to it.
  • Page 143 Phase initialization is used for servo motor’s electrical angle positioning. There are three steps, force direction test, electrical angle searching and phase initialization completing. These three steps must be executed in sequence. If HIWIN self-made AC servo motor or DM-RM series is used, there is no need to do phase initialization. Important DM-RM series: One of HIWIN’s self-made direct drive motors.
  • Page 144 MD12UE01-2012 Servo Drive Configuration E1 Series Servo Drive Thunder Software Operation Manual Table 4.6.1.1 Item Description Reference Option of advanced Users can set the parameters for direction test. section 4.6.2 parameters Users can check the consistency of motor’s force direction and encoder’s feedback direction via direction Direction test section 4.6.2...
  • Page 145 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Servo Drive Configuration 4.6.2 Direction test 4.6.2.1 Parameters setup for direction test Before starting direction test, there are three test parameters for users to set: motor moving velocity, exciting current and motor travel distance. Refer to the following table for the related information.
  • Page 146 MD12UE01-2012 Servo Drive Configuration E1 Series Servo Drive Thunder Software Operation Manual Figure 4.6.2.1.2 ◼ Exciting current Exciting current is the required current for the motor to move on SM mode. Follow the procedure below to set exciting current. The default value for exciting current is 70%. The setting range is from 70% to 200%.
  • Page 147 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Servo Drive Configuration Figure 4.6.2.1.4 If the load is very heavy, it may require larger current to make the motor move. High static friction environment may require larger current to overcome static friction.
  • Page 148 MD12UE01-2012 Servo Drive Configuration E1 Series Servo Drive Thunder Software Operation Manual The default value for travel distance is Long. There are three kinds of travel distance for users to select. Figure 4.6.2.1.6 4.6.2.2 Start direction test Encoders can be divided into two categories, single-signal encoder and double-signal encoder. The difference is that double-signal encoder must switch the encoder feedback sources to do the test twice.
  • Page 149 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Servo Drive Configuration Click Jog+ and Jog- to move the motor for direction test. Figure 4.6.2.2.2 During the motor moving process, observe the right-side Phase error (Elec. deg) pointer. Wait until the pointer converges to a specific position, “Feedback detect ok” appears and the light lights up in green.
  • Page 150 MD12UE01-2012 Servo Drive Configuration E1 Series Servo Drive Thunder Software Operation Manual ◼ Double-signal encoder test Select Tools in the menu bar, and click Phase initialization setup. Figure 4.6.2.2.4 The default of encoder type is incremental encoder (sin/cos). Click Jog+ and Jog- to move the motor for direction test.
  • Page 151 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Servo Drive Configuration If the Phase error (Elec. deg) pointer cannot converge, release Jog+ / Jog- first, and hold Jog+ / Jog- to do the test again. Information Select Encoder type to switch to serial encoder (EnDat). Click Jog+ and Jog- to move the motor for direction test.
  • Page 152 MD12UE01-2012 Servo Drive Configuration E1 Series Servo Drive Thunder Software Operation Manual 4.6.3 Phase initialization function After direction test is done, users can select one phase initialization method to detect servo motor’s electrical angle. Refer to the following table for the related information.
  • Page 153 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Servo Drive Configuration 4.6.3.1 SW method 1 It is a built-in phase initialization function of servo drive. With a subtle displacement of motor, the correct electrical angle can be successfully found.
  • Page 154 MD12UE01-2012 Servo Drive Configuration E1 Series Servo Drive Thunder Software Operation Manual Open SMCL tool, click Start, and observe electrical angle’s position error. If it cannot converge to close to 0 within one second, the gain is not ideal. Please adjust load level.
  • Page 155 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Servo Drive Configuration Start STABS tune Execute STABS tune. Display electrical angle Display the commands and the feedback electrical angle in the test process. Follow the procedure below to execute STABS tune.
  • Page 156 MD12UE01-2012 Servo Drive Configuration E1 Series Servo Drive Thunder Software Operation Manual Follow the procedure below to execute Digital hall tune. After selecting Digital hall in Step2. block, click Start. Figure 4.6.3.3.2 When the six phase sections are done, Tuned will light up in green.
  • Page 157 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Servo Drive Configuration 4.6.4 Start phase initialization To execute this step, users must finish force detection test in Step1. block and phase initialization function in Step2. block. Follow the procedure below to start phase initialization.
  • Page 158 MD12UE01-2012 Servo Drive Configuration E1 Series Servo Drive Thunder Software Operation Manual (This page is intentionally left blank.) 4-94 HIWIN MIKROSYSTEM CORP.
  • Page 159 5. Perform Test Run Perform Test Run ............................. 5-1 Brief introduction ..........................5-2 Test Run ............................5-3 5.2.1 Brief introduction ........................5-3 5.2.2 Position mode ........................5-3 5.2.3 Velocity mode ......................... 5-8 Homing Operation .......................... 5-11 HIWIN MIKROSYSTEM CORP.
  • Page 160 Before test run, complete Servo Drive Configuration first and ensure servo drive’s status is at “Servo ready” state. Refer to section 7.4 in “E1 Series Servo Drive User Manual” for the related inspections. Information As for troubleshooting, refer to section 13.4 in “E1 Series Servo Drive User Manual”.
  • Page 161 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Perform Test Run 5.2 Test Run 5.2.1 Brief introduction When motor setup is done, users can perform performance test in test run page. This page provides two ways, position mode and velocity mode. These two motion modes will be introduced in this section.
  • Page 162 MD12UE01-2012 Perform Test Run E1 Series Servo Drive Thunder Software Operation Manual Set parameters for position mode test. Figure 5.2.2.2 Table 5.2.2.1 Item Description Reference Velocity: program jog velocity ◆ Rotary motor rpm (Pt533) ◆ section 8.7.1 in “E1 Linear motor mm/s (Pt585)
  • Page 163 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Perform Test Run In position mode test, the software will automatically switch to internal position mode. Refer to section 4.3.5 for the detailed descriptions of control mode. Important Observe the status and values in position mode test.
  • Page 164 MD12UE01-2012 Perform Test Run E1 Series Servo Drive Thunder Software Operation Manual section 8.4.4 in “E1 Display the time when the motor starts moving to the Total time Series Servo Drive motor is in-position. User Manual” If an alarm occurs during test run, the motor will be automatically disabled.
  • Page 165 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Perform Test Run Perform single point move or point-to-point move. Figure 5.2.2.5 Table 5.2.2.4 Item Description Set start position P1. Users can directly key in the coordinate in the column or click to set the current motor position as the start coordinate.
  • Page 166 MD12UE01-2012 Perform Test Run E1 Series Servo Drive Thunder Software Operation Manual 5.2.3 Velocity mode Users can perform velocity mode test to observe motor’s performance. After ensuring the servo drive is ready, follow the procedure below to execute velocity mode test.
  • Page 167 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Perform Test Run Before switching from position mode to velocity mode, disable the motor. Important Set parameters for velocity mode test. Figure 5.2.3.3 Table 5.2.3.1 Item Description Reference Velocity: Jog velocity ◆...
  • Page 168 MD12UE01-2012 Perform Test Run E1 Series Servo Drive Thunder Software Operation Manual Table 5.2.3.2 Item Description Reference Drive ready: When it lights up in green, the servo dive is ready. Servo ready: section 8.1.7 in “E1 Display whether the motor is enabled. If it lights up in...
  • Page 169 ◆ The failure of homing procedure will make absolute move unable to be correctly executed or make mechanism collide. Refer to section 8.11.3 in “E1 Series Servo Drive User Manual” for troubleshooting methods and causes. Users can define home position or absolute coordinate based on the condition of external equipment. After ensuring the servo drive is ready, follow the procedure below to execute homing.
  • Page 170 MD12UE01-2012 Perform Test Run E1 Series Servo Drive Thunder Software Operation Manual Figure 5.3.2 Table 5.3.1 Item Description Reference Set the velocity for finding near home sensor. section 8.11.1 in ◆ “E1 Series Servo Fast homing speed Rotary motor (Pt701) ◆...
  • Page 171 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Perform Test Run Figure 5.3.3 Wait until the homing procedure is done, and obverse the light display. Table 5.3.2 Diagram Description When it displays gray light, homing is not activated. When it displays green flashing light, the motor is moving.
  • Page 172 MD12UE01-2012 Perform Test Run E1 Series Servo Drive Thunder Software Operation Manual index signal in positive direction at the velocity for finding home position (rotary servo motor) (Pt702). Homing with the index signal on the left of P-OT signal from positive direction. Search for P-OT...
  • Page 173 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Perform Test Run position (rotary servo motor) (Pt702). Homing with the index signal on the right of DOG signal. Outside DOG signal: Search for the rising edge of DOG signal in...
  • Page 174 MD12UE01-2012 Perform Test Run E1 Series Servo Drive Thunder Software Operation Manual (Pt701). After the falling edge of DOG signal is found, search for the index signal on the left of DOG signal in negative direction at the velocity for finding home position (rotary servo motor) (Pt702).
  • Page 175 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Perform Test Run positive direction at the velocity for finding near home sensor (rotary servo motor) (Pt701). After the falling edge of DOG signal is found, search for the index signal...
  • Page 176 MD12UE01-2012 Perform Test Run E1 Series Servo Drive Thunder Software Operation Manual position (rotary servo motor) (Pt702). Outside DOG signal: Search for N-OT signal in negative direction at the velocity for finding near home sensor (rotary servo motor) (Pt701). After N-OT signal is found, search for the falling edge of DOG signal in positive direction.
  • Page 177 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Perform Test Run of DOG signal in positive direction. After the falling edge of DOG signal is found, search for the index signal on the left of DOG signal in negative direction at the velocity for finding home position (rotary servo motor) (Pt702).
  • Page 178 MD12UE01-2012 Perform Test Run E1 Series Servo Drive Thunder Software Operation Manual Homing with the index signal on the left of the falling edge of DOG signal from negative direction. Outside DOG signal: Search for the falling edge of DOG signal in...
  • Page 179 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Perform Test Run Homing with index signal from positive direction. Search for index signal in positive direction at the Pt700 = 34 velocity for finding home position (rotary servo motor) (Pt702).
  • Page 180 MD12UE01-2012 Perform Test Run E1 Series Servo Drive Thunder Software Operation Manual Servo Drive User Manual”), homing could fail. 5-22 HIWIN MIKROSYSTEM CORP.
  • Page 181 6. Tuning Tuning ................................6-1 Brief introduction ..........................6-2 Auto tune ............................6-4 Tuneless ............................6-9 Spectrum analyzer ........................6-12 HIWIN MIKROSYSTEM CORP.
  • Page 182 Gain-related parameters can affect the performance of each other, so please consider the balance among their settings. The default settings of gain-related parameters are set to have relatively stable servo gains. Use tuning functions provided in E1 series servo drive to improve response performance according to your mechanism and operating condition.
  • Page 183 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Tuning Refer to chapter 10 in “E1 Series Servo Drive User Manual” for the detailed tuning methods and contents. Information CAUTION ◆ Ensure the precautions below are followed when tuning. Do not touch the rotating parts of motor when servo ON.
  • Page 184 MD12UE01-2012 Tuning E1 Series Servo Drive Thunder Software Operation Manual 6.2 Auto tune In auto tune, the servo drive automatically adjusts control loops without receiving commands from the controller. During the process, parameters will be adjusted according to mechanical characteristics. The items of auto tune are shown as below: ◆...
  • Page 185 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Tuning WARNING ◆ During auto tune, the motor slightly vibrates. If it vibrates severely, please immediately turn off the power. Pay attention to the following. Check if the mechanism can be operated safely. Ensure emergency stop (Power OFF) can be activated anytime while performing auto tune, as the motor will slightly vibrate.
  • Page 186 MD12UE01-2012 Tuning E1 Series Servo Drive Thunder Software Operation Manual Figure 6.2.2 Adjust JOG velocity. Figure 6.2.3 Click Enable to move the motor to safe place with JOG mode. Figure 6.2.4 Table 6.2.2 Item Description Encoder feedback Display the actual motor feedback position.
  • Page 187 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Tuning Select tuning mode based on requirement. There are two modes, “tune Inertia/Mass ratio only” and “tune Inertia/Mass ratio, filters and loop gains”. Figure 6.2.5 Table 6.2.3 Tuning mode Description Only Inertia/Mass ratio (Pt103/Pt193) will be tuned. Filters and Inertia/Mass ratio only loop gains will not be tuned.
  • Page 188 MD12UE01-2012 Tuning E1 Series Servo Drive Thunder Software Operation Manual Figure 6.2.7 Table 6.2.4 Mechanical property Description Soft Soft stiffness mechanical, such as belt. Normal stiffness mechanical, such as ball screw or linear motor. Normal Select this when the mechanical stiffness is unknown.
  • Page 189 ◆ Some parameters will become invalid when tuneless function is enabled (Pt170.X = 1). Refer to section 10.3.4 in “E1 Series Servo Drive User Manual” for details. ◆ The following parameters will be automatically adjusted while executing tuneless function. Do not modify the parameters after tuneless function is enabled.
  • Page 190 MD12UE01-2012 Tuning E1 Series Servo Drive Thunder Software Operation Manual Table 6.3.2 Parameter Parameter name Pt401 First stage first torque command filter time constant Pt40F Second stage second torque command filter frequency Pt410 Second stage second torque command Q value Figure 6.3.1...
  • Page 191 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Tuning Adjust stiffness level based on actual situation. There are fifteen levels (1~F); 1 is the lowest, while F is the highest. Figure 6.3.3 HIWIN MIKROSYSTEM CORP. 6-11...
  • Page 192 MD12UE01-2012 Tuning E1 Series Servo Drive Thunder Software Operation Manual 6.4 Spectrum analyzer With spectrum analyzer, users can not only measure system’s spectrum characteristics but also get mechanical inertia and moment of inertia ratio. WARNING ◆ During the process of performing spectrum analyzer, the motor slightly vibrates. If it vibrates severely, please immediately turn off the power.
  • Page 193 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Tuning Users can select Step/DBCL Plant mode (open loop), DBCL Plant mode Mode selection (closed loop) or Current mode. System’s frequency response graph; it provides a -20dB cursor line to Bode plot calculate system’s moment of inertia ratio.
  • Page 194 MD12UE01-2012 Tuning E1 Series Servo Drive Thunder Software Operation Manual Table 6.4.2 Mode Description Step/DCBL Plant Perform spectrum analyzer on open loop mode (click SM enable). DCBL Plant Perform spectrum analyzer on closed loop mode (click Enable). Current Perform spectrum analyzer on current mode (click SM enable).
  • Page 195 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Tuning Figure 6.4.5 Click Send to automatically modify the parameter of moment of inertia ratio. Pt103 is for single axis, while Pt193 is for gantry control system. Figure 6.4.6 HIWIN MIKROSYSTEM CORP.
  • Page 196 MD12UE01-2012 Tuning E1 Series Servo Drive Thunder Software Operation Manual (This page is intentionally left blank.) 6-16 HIWIN MIKROSYSTEM CORP.
  • Page 197 Set show mode ....................7-49 7.6.2.4 Set maximum number of graph views ..............7-51 7.6.2.5 Zoom the area between cursors ................. 7-54 7.6.2.6 Undo zoom ......................7-55 7.6.2.7 Redo zoom ......................7-56 7.6.2.8 Statistics table ..................... 7-57 HIWIN MIKROSYSTEM CORP.
  • Page 198 MD12UE01-2012 Monitoring E1 Series Servo Drive Thunder Software Operation Manual 7.1 Brief introduction Users can monitor servo drive’s message, operation and status via Thunder. All the monitoring functions in Thunder are introduced in this chapter. Monitor servo drive’s information Users can get servo drive’s current information, such as the information of servo drive, motor and encoder.
  • Page 199 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Monitoring 7.2 Monitor servo drive’s information Users can get servo drive’s current information. The items can be monitored are as below. ◆ Axis name of servo drive ◆ Specifications of servo drive ◆...
  • Page 200 MD12UE01-2012 Monitoring E1 Series Servo Drive Thunder Software Operation Manual Table 7.2.1 Item Description Axis name of servo Servo drive’s axis name; right-click axis name to modify axis name. drive Ver.: Servo drive model and firmware version. Specifications of servo Typ.: Type for servo drive to receive commands from host.
  • Page 201 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Monitoring 7.3 Monitor servo drive’s signal status Users can get servo drive’s real-time signal status. The items can be monitored are as below. ◆ The voltage of main power cable ◆...
  • Page 202 MD12UE01-2012 Monitoring E1 Series Servo Drive Thunder Software Operation Manual ◼ Standard servo drive Figure 7.3.2 ◼ Standard servo drive – with ESC Figure 7.3.3 HIWIN MIKROSYSTEM CORP.
  • Page 203 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Monitoring ◼ Fieldbus servo drive Figure 7.3.4 ◼ Fieldbus servo drive – with ESC Figure 7.3.5 HIWIN MIKROSYSTEM CORP.
  • Page 204 MD12UE01-2012 Monitoring E1 Series Servo Drive Thunder Software Operation Manual Table 7.3.1 Reference for Item Description wiring section 5.3 in “E1 The voltage of main Real-time voltage of servo drive. Series Servo Drive power cable User Manual” section 5.4.2 in “E1...
  • Page 205 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Monitoring The light remains green when servo drive is in gantry chapter 1 in “E1 control system. Communication status Series Servo Drive of gantry control Gantry Control This item will be displayed only if...
  • Page 206 MD12UE01-2012 Monitoring E1 Series Servo Drive Thunder Software Operation Manual Figure 7.3.1.2 Table 7.3.1.1 Item Description Reference Users can set “Lissajous” window to the top. Set the window to the If the button displays , the window is on the top.
  • Page 207 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Monitoring Table 7.3.1.1.1 Item Reference Mode Mode View View Range Range Mode ◼ Click Limit rate to open the window for adjusting the maximum sample rate. Figure 7.3.1.1.2 Key in the maximum sample rate, and click Apply.
  • Page 208 MD12UE01-2012 Monitoring E1 Series Servo Drive Thunder Software Operation Manual Figure 7.3.1.1.4 ◼ View Click Window to separate waveform display area from the window. Figure 7.3.1.1.5 7-12 HIWIN MIKROSYSTEM CORP.
  • Page 209 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Monitoring Click Icon to put waveform display area back to the window. Figure 7.3.1.1.6 ◼ Range Click Range to modify waveform display scale. Figure 7.3.1.1.7 HIWIN MIKROSYSTEM CORP. 7-13...
  • Page 210 MD12UE01-2012 Monitoring E1 Series Servo Drive Thunder Software Operation Manual ◼ Click Off to close waveform display. Figure 7.3.1.1.8 Click On to activate waveform display. Figure 7.3.1.1.9 7-14 HIWIN MIKROSYSTEM CORP.
  • Page 211 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Monitoring 7.4 Performance monitor Users can adjust some motion parameters, and observe motor motion’s status and performance in real- time. Follow the procedure below to open “Performance monitor” window. Click “Open performance monitor” icon in the toolbar.
  • Page 212 MD12UE01-2012 Monitoring E1 Series Servo Drive Thunder Software Operation Manual Table 7.4.1 Item Description Reference Drive ready When it lights up in green, the servo dive is ready. Moving When it lights up in green, the motor is moving. In-Position When it lights up in green, the motor reaches the position.
  • Page 213 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Monitoring 7.5 Scope Users can get servo drive’s physical quantity and signal waveform without using measuring instrument. It is suitable for short term monitoring. When the signal is triggered, users can immediately observe the change or the transition of the monitoring item for further operation.
  • Page 214 MD12UE01-2012 Monitoring E1 Series Servo Drive Thunder Software Operation Manual Follow the procedure below to open “Scope” window. Click “Open Scope” icon in the toolbar. Figure 7.5.2 Open “Scope” window. (10) (11) (12) (13) (14) Figure 7.5.3 7-18 HIWIN MIKROSYSTEM CORP.
  • Page 215 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Monitoring Table 7.5.1 Item Description Reference The waveform of monitoring item is displayed Waveform display area here. The scale will automatically change due to the waveform in the display range. Users can...
  • Page 216 MD12UE01-2012 Monitoring E1 Series Servo Drive Thunder Software Operation Manual 7.5.1 Current monitoring item Follow the procedure below to select the desired monitoring item. After clicking , drag the scroll bar to select the desired monitoring item. Figure 7.5.1.1 7-20...
  • Page 217 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Monitoring 7.5.2 Start scope with pre defined variables/scenarios Follow the procedure below to set the monitoring items in channel 1 and channel 2 as the default. Click “Start scope with pre defined variables/scenarios” icon.
  • Page 218 MD12UE01-2012 Monitoring E1 Series Servo Drive Thunder Software Operation Manual Figure 7.5.2.2 Click pos_err+vel_ff. Set monitoring item in channel 1 as 1-Position error and set monitoring item in channel 2 as 5-Velocity feedforward. Figure 7.5.2.3 7-22 HIWIN MIKROSYSTEM CORP.
  • Page 219 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Monitoring 7.5.3 Fix range/Auto range setup Follow the procedure below to set the maximum and the minimum value of waveform display scale. Click “Fix range/Auto range setup” icon. Figure 7.5.3.1 Check Fix range and key in the desired values in “Max” and “Min” column. “Max” represents the maximum value of scale, while “Min”...
  • Page 220 MD12UE01-2012 Monitoring E1 Series Servo Drive Thunder Software Operation Manual Figure 7.5.3.3 7.5.4 Grid light Follow the procedure below to adjust the grid light of Scope. Drag the scroll bar. Drag it up to deepen the grid; drag it down to lighten the grid.
  • Page 221 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Monitoring Figure 7.5.4.2 Figure 7.5.4.3 HIWIN MIKROSYSTEM CORP. 7-25...
  • Page 222 MD12UE01-2012 Monitoring E1 Series Servo Drive Thunder Software Operation Manual 7.5.5 Set number of scope channels Users can set the number of channels monitored by Scope. Scope can support up to 8 channels at the same time. Follow the procedure below to set the number of channels monitored by Scope.
  • Page 223 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Monitoring 7.5.6 Start or pause waveform monitoring Follow the procedure below to start or pause waveform monitoring. Click to start waveform monitoring. Figure 7.5.6.1 Waveform monitoring starts. Figure 7.5.6.2 HIWIN MIKROSYSTEM CORP.
  • Page 224 MD12UE01-2012 Monitoring E1 Series Servo Drive Thunder Software Operation Manual Click to pause waveform monitoring. The waveform will stop at the moment the button is clicked. Figure 7.5.6.3 7.5.7 Monitoring items The items can be monitored by Scope are listed in the following table.
  • Page 225 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Monitoring (16) Velocity error (66) RST //servo drive reset input signal (17) Master feedback position (67) DOG //near home sensor input signal (18) Slave feedback position (68) HOM //servo drive built-in homing procedure input signal...
  • Page 226 MD12UE01-2012 Monitoring E1 Series Servo Drive Thunder Software Operation Manual 7.6 Real-time data collection Users can record servo drive’s physical quantity and signal waveform for a period of time, and save them as a file (*.gpp) for observation. Real-time data collection provides start event and stop event for collection.
  • Page 227 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Monitoring 7.6.1 Interface introduction Figure 7.6.1.1 Table 7.6.1.1 Item Description Reference Save record settings: section 7.6.1.1 Save window settings as a file (*.rcw). Load record settings: File section 7.6.1.2 Load settings file (*.rcw).
  • Page 228 MD12UE01-2012 Monitoring E1 Series Servo Drive Thunder Software Operation Manual 7.6.1.1 Save record settings Follow the procedure below to complete saving record settings. Click Save record settings in File. Figure 7.6.1.1.1 Key in file name of settings file (*.rcw), select archive path, and click Save.
  • Page 229 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Monitoring 7.6.1.2 Load record settings Follow the procedure below to complete loading record settings. Click Load record settings in File. Figure 7.6.1.2.1 Select settings file (*.rcw), and click Open. Figure 7.6.1.2.2 HIWIN MIKROSYSTEM CORP.
  • Page 230 MD12UE01-2012 Monitoring E1 Series Servo Drive Thunder Software Operation Manual 7.6.1.3 Operation and settings for collection Figure 7.6.1.3.1 Table 7.6.1.3.1 Item Description Reference Users can key in the desired variables or Scope Collect variables Collect variables brings in the current monitoring items.
  • Page 231 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Monitoring ◼ Collect variables Users can key in the desired variables or Scope brings in the current monitoring items. ◆ Method 1: Users key in the desired variables. Click the column to key in the variable.
  • Page 232 MD12UE01-2012 Monitoring E1 Series Servo Drive Thunder Software Operation Manual ◆ Method 2: Scope brings in the current monitoring items. Click to open “Real-time data collection” window. Figure 7.6.1.3.4 Thunder will send the current item observed by Scope to the...
  • Page 233 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Monitoring ◼ Start and stop collection Click Start(F5). Figure 7.6.1.3.6 Start collecting waveform. Figure 7.6.1.3.7 HIWIN MIKROSYSTEM CORP. 7-37...
  • Page 234 MD12UE01-2012 Monitoring E1 Series Servo Drive Thunder Software Operation Manual To stop collecting waveform, click Stop or wait until the collection time ends. At this time, Data Collection ended successfully will appear at the bottom of the window. Figure 7.6.1.3.8 7-38 HIWIN MIKROSYSTEM CORP.
  • Page 235 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Monitoring ◼ Start event and stop event for collection Users can trigger or modify the event to record waveform. Start event is trigger S_ON and stop event is release S_ON. Example Check Start event and Stop event, and key in the event-related variable.
  • Page 236 MD12UE01-2012 Monitoring E1 Series Servo Drive Thunder Software Operation Manual S_ON is triggered, which satisfies start event for collection. Start collecting waveform. Figure 7.6.1.3.11 S_ON is released, which satisfies stop event for collection. Stop collecting waveform. Figure 7.6.1.3.12 7-40 HIWIN MIKROSYSTEM CORP.
  • Page 237 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Monitoring ◼ Display waveform After the waveform is collected, click Graph or Graph plot view in Tools. Figure 7.6.1.3.13 Figure 7.6.1.3.14 HIWIN MIKROSYSTEM CORP. 7-41...
  • Page 238 MD12UE01-2012 Monitoring E1 Series Servo Drive Thunder Software Operation Manual Open “Plot view” window and display waveform. Refer to section 7.6.2 for the related information of “Plot view” window. Figure 7.6.1.3.15 7.6.1.4 Add new tab Follow the procedure below to add new tab.
  • Page 239 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Monitoring Complete adding new tab. Figure 7.6.1.4.2 7.6.1.5 Sampling settings Users can set sampling number and sampling rate based on requirement, and perform background updating. Sampling number and sampling rate ◼...
  • Page 240 MD12UE01-2012 Monitoring E1 Series Servo Drive Thunder Software Operation Manual Figure 7.6.1.5.1 Click Start(F5) to collect waveform. After 12.5 seconds, 200000 samples are collected and waveform collection is done. Figure 7.6.1.5.2 7-44 HIWIN MIKROSYSTEM CORP.
  • Page 241 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Monitoring ◼ Background updating If users check Upd vars, the values or waveform outside “Real-time data collection” window will still be updated in real-time during data collection. Figure 7.6.1.5.3 HIWIN MIKROSYSTEM CORP.
  • Page 242 MD12UE01-2012 Monitoring E1 Series Servo Drive Thunder Software Operation Manual 7.6.2 Plot view “Plot view” window displays the waveform generated by real-time data collection. Refer to Display waveform to open “Plot view” window. (6) (7) Figure 7.6.2.1 Table 7.6.2.1 Item...
  • Page 243 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Monitoring 7.6.2.1 Open Click Open in File. Figure 7.6.2.1.1 Select waveform file (*.gpp), and click Open. Figure 7.6.2.1.2 HIWIN MIKROSYSTEM CORP. 7-47...
  • Page 244 MD12UE01-2012 Monitoring E1 Series Servo Drive Thunder Software Operation Manual 7.6.2.2 Save Click Save in File. Figure 7.6.2.2.1 Key in file name of waveform file (*.gpp), select archive path, and click Save. Figure 7.6.2.2.2 7-48 HIWIN MIKROSYSTEM CORP.
  • Page 245 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Monitoring 7.6.2.3 Set show mode Click “Set show mode” icon. Figure 7.6.2.3.1 Select All graphs to observe all recorded waveforms. Figure 7.6.2.3.2 HIWIN MIKROSYSTEM CORP. 7-49...
  • Page 246 MD12UE01-2012 Monitoring E1 Series Servo Drive Thunder Software Operation Manual Figure 7.6.2.3.3 Select Only graph to observe the desired waveform. Figure 7.6.2.3.4 7-50 HIWIN MIKROSYSTEM CORP.
  • Page 247 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Monitoring Figure 7.6.2.3.5 7.6.2.4 Set maximum number of graph views After clicking “Set maximum number of graph views” icon, users can select the maximum number of displayed waveforms. Figure 7.6.2.4.1 HIWIN MIKROSYSTEM CORP.
  • Page 248 MD12UE01-2012 Monitoring E1 Series Servo Drive Thunder Software Operation Manual Figure 7.6.2.4.2 To put the variable to another channel, hold the variable box and drag it. Figure 7.6.2.4.3 7-52 HIWIN MIKROSYSTEM CORP.
  • Page 249 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Monitoring If the maximum number of displayed waveforms is less than the actual number of waveforms, the window will display the top waveforms. To observe two waveforms at the same channel, check the box in front of the variable.
  • Page 250 MD12UE01-2012 Monitoring E1 Series Servo Drive Thunder Software Operation Manual 7.6.2.5 Zoom the area between cursors To observe the waveform of a certain area, get blue solid line (left-click) and get blue dashed line (right-click) to frame the area to be observed.
  • Page 251 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Monitoring Figure 7.6.2.5.3 7.6.2.6 Undo zoom Click “Undo zoom” icon to cancel zoom in the waveform. Figure 7.6.2.6.1 HIWIN MIKROSYSTEM CORP. 7-55...
  • Page 252 MD12UE01-2012 Monitoring E1 Series Servo Drive Thunder Software Operation Manual Figure 7.6.2.6.2 7.6.2.7 Redo zoom If “Undo zoom” function has been used, users can click “Redo zoom” icon to zoom in the waveform again. Figure 7.6.2.7.1 7-56 HIWIN MIKROSYSTEM CORP.
  • Page 253 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Monitoring Figure 7.6.2.7.2 7.6.2.8 Statistics table Click “Statistics table” icon to observe the related information of waveform. Figure 7.6.2.8.1 HIWIN MIKROSYSTEM CORP. 7-57...
  • Page 254 MD12UE01-2012 Monitoring E1 Series Servo Drive Thunder Software Operation Manual Figure 7.6.2.8.2 7-58 HIWIN MIKROSYSTEM CORP.
  • Page 255 8. Troubleshooting Troubleshooting..............................8-1 Brief introduction ..........................8-2 Real-time monitoring ........................8-3 8.2.1 Brief introduction ........................8-3 8.2.2 Alarm monitoring ........................8-3 8.2.3 Warning monitoring ........................ 8-4 Error log ............................8-5 HIWIN MIKROSYSTEM CORP.
  • Page 256 MD12UE01-2012 Troubleshooting E1 Series Servo Drive Thunder Software Operation Manual 8.1 Brief introduction When an alarm or a warning occurs, Thunder main window will respond in real-time. Besides, it records the past alarm messages, elaborates the possible causes, and provides manual troubleshooting methods in Error log.
  • Page 257 The motor will be immediately disabled. At this time, users must deal with it immediately. Refer to section 13.2 in “E1 Series Servo Drive User Manual” for the detailed alarm types, phenomena and corrective actions. As for motor stopping methods for alarm, refer to section 6.9.2 “E1 Series Servo Drive User Manual”.
  • Page 258 Compared to triggering an alarm signal, triggering a warning signal belongs to the notification does not need to be immediately dealt with. However, high-risk abnormal phenomenon may still occur. Refer to section 13.3 in “E1 Series Servo Drive User Manual” for the detailed warning types, phenomena and corrective actions.
  • Page 259 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Troubleshooting 8.3 Error log Follow the procedure below to open “Error log” window and learn how to perform the functions in the interface. To open “Error log” window, select Tools in the menu bar and click Error log, or directly click the flashing red message in Thunder main window.
  • Page 260 MD12UE01-2012 Troubleshooting E1 Series Servo Drive Thunder Software Operation Manual Each triggered alarm will be recorded in “Error log” window. If the interval of the same triggered alarm is less than one hour, the alarm will only be recorded once; if the interval exceeds one hour, the alarm will be recorded in History.
  • Page 261 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Troubleshooting Refresh Update the information of History. Clear history Clear all the alarm messages in History. Save Save the current alarm messages as a text file. Take Figure 8.3.3 as an example: Example The cumulative power-on time of servo drive is 167 days, 0 hours, 33 minutes and 26 seconds.
  • Page 262 MD12UE01-2012 Troubleshooting E1 Series Servo Drive Thunder Software Operation Manual (This page is intentionally left blank.) HIWIN MIKROSYSTEM CORP.
  • Page 263 Save / Read error map ..................9-33 9.6.3 Activate error map ........................ 9-35 Gantry control system ........................9-36 9.7.1 Brief introduction ........................9-36 9.7.2 Preparation ........................... 9-37 9.7.3 Gantry setting ........................9-38 Dynamic brake resistor wizard ..................... 9-41 9.8.1 Brief introduction ........................9-41 HIWIN MIKROSYSTEM CORP.
  • Page 264 MD12UE01-2012 Advanced Functions E1 Series Servo Drive Thunder Software Operation Manual 9.8.2 Motor parameters setting ..................... 9-42 9.8.2.1 Motor parameters ....................9-44 9.8.2.2 HIWIN motor ....................... 9-45 9.8.2.3 Read parameters ....................9-46 9.8.2.4 Other brand motor ....................9-47 9.8.3 Application parameters setting ..................... 9-48 9.8.4...
  • Page 265 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Advanced Functions 9.1 Brief introduction The special functions supported by Thunder are introduced in this chapter. Users can use them based on different situation. The setting methods and timing of usage will be explained as below.
  • Page 266 MD12UE01-2012 Advanced Functions E1 Series Servo Drive Thunder Software Operation Manual (1) (2) (3) (4) (5) (6) Figure 9.2.1.1 Table 9.2.1.2 Item Description Reference Add or modify motion number and the configuration of New or Modify section 9.2.3 input pins.
  • Page 267 32 ~ 63 Go to “I/O configuration” window and set all the input pins for multi-motion function as Not configure. Refer to I/O configuration or section 15.2.6 in “E1 Series Servo Drive User Manual” for the setting method. Figure 9.2.2.1 This function can only be operated when the motor is enabled.
  • Page 268 MD12UE01-2012 Advanced Functions E1 Series Servo Drive Thunder Software Operation Manual Set both numerator and denominator of electronic gear ratio (Pt20E, Pt210) as 1, and set control mode (Pt000.☐☐X☐) as A (Internal position mode). Refer to Parameters Setup for the setting method.
  • Page 269 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Advanced Functions Click “New or Modify” icon to open “Set motion number and specify input signal” window. After keying in “Motion number”, the signal configuration corresponding to each motion will be automatically generated.
  • Page 270 MD12UE01-2012 Advanced Functions E1 Series Servo Drive Thunder Software Operation Manual Figure 9.2.3.3 After the setting is done, click Apply. Figure 9.2.3.4 An information window will pop up. Click OK and check if there is a conflict in input signal configuration.
  • Page 271 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Advanced Functions After the signal configuration is done, the window will generate the corresponding motion number. The default of each motion is N.A.. Figure 9.2.3.6 Select type of motion and set the corresponding parameters.
  • Page 272 MD12UE01-2012 Advanced Functions E1 Series Servo Drive Thunder Software Operation Manual JOG is “high level trigger”, while others are “rising edge trigger”. Linear motor only supports Absolute move, Relative move, JOG, Homing and Customized motion; it does not support Indexing movement.
  • Page 273 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Advanced Functions 9.2.4 Send multi-motion parameters to servo drive and activate multi-motion function Follow the procedure below to save the set multi-motion parameters to servo drive and activate multi- motion function.
  • Page 274 MD12UE01-2012 Advanced Functions E1 Series Servo Drive Thunder Software Operation Manual After the servo drive is power cycled, “Activate multi-motion function success!” window will pop up. After users click OK, the data will be successfully saved to servo drive and multi-motion function will be activated.
  • Page 275 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Advanced Functions 9.2.6 Load multi-motion parameters file (*.mtk) Load multi-motion parameters and display them on “Multi-motion setting” window. Click “Load from file” icon Figure 9.2.6.1 Select multi-motion parameters file (*.mtk), and click Open.
  • Page 276 MD12UE01-2012 Advanced Functions E1 Series Servo Drive Thunder Software Operation Manual 9.2.7 Save multi-motion parameters file (*.mtk) Save the set multi-motion parameters as multi-motion parameters file (*.mtk). Click “Save as a file” icon Figure 9.2.7.1 Key in file name of multi-motion parameters file (*.mtk), select archive path, and click Save.
  • Page 277 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Advanced Functions 9.2.8 Clear multi-motion parameters and disable multi-motion function Clear the multi-motion parameters saved in servo drive and disable multi-motion function. Click “Clear data” icon Figure 9.2.8.1 Read the message window and click Yes. At this time, the servo drive will be power cycled.
  • Page 278 MD12UE01-2012 Advanced Functions E1 Series Servo Drive Thunder Software Operation Manual 9.2.9 Instructions for customized motion Follow the procedure below to use customized motion. It is applicable to Thunder 1.6.11.0 and firmware version 2.6.11 or above. Important Refer to section 9.2.3 and 9.2.4 to activate multi-motion function.
  • Page 279 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Advanced Functions if(MotionSel = motion4)do /*Motion process Do something*/ CsMotion_Flag = END; end; goto MotionSample; ret; CsMotion_Flag is the flag to judge the motion status; 0 indicates no motion, 1 indicates in motion, and 2 indicates motion ends.
  • Page 280 MD12UE01-2012 Advanced Functions E1 Series Servo Drive Thunder Software Operation Manual Edit motion process based on the requirement. Figure 9.2.9.2 Refer to section 9.5.3 to compile and save PDL. After that, customized motion can be used. 9-18 HIWIN MIKROSYSTEM CORP.
  • Page 281 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Advanced Functions 9.3 Absolute encoder initialization 9.3.1 Brief introduction When a system installed with absolute encoder is used for the first time, the absolute encoder must be initialized. After the absolute encoder has been initialized, encoder data and the related alarms will be reset.
  • Page 282 MD12UE01-2012 Advanced Functions E1 Series Servo Drive Thunder Software Operation Manual 9.3.2 Interface introduction Select Tools in the menu bar and click Absolute encoder initialization to open “Absolute encoder initialization” window. Figure 9.3.2.1 Figure 9.3.2.2 Table 9.3.2.1 Item Description Reference When it lights up in green, the servo drive is at “Servo OFF”...
  • Page 283 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Advanced Functions 9.3.2.1 Message field After users click Initialize encoder and encoder initialization succeeds, Ok. Encoder is already initialized. will be displayed in message field. Figure 9.3.2.1.1 HIWIN MIKROSYSTEM CORP. 9-21...
  • Page 284 This kind of deviation is called offset. When it happens, users can adjust the offset with this function. Refer to section 8.3.2 in “E1 Series Servo Drive User Manual” for the detailed descriptions.
  • Page 285 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Advanced Functions Table 9.4.2.1 Item Description Reference section 8.3.1 in “E1 Series Servo Drive V-REF Velocity command input signal User Manual” section 8.5.1 in “E1 Series Servo Drive T-REF Torque command input signal User Manual”...
  • Page 286 MD12UE01-2012 Advanced Functions E1 Series Servo Drive Thunder Software Operation Manual 9.5 PDL PDL (Process Description Language) is a programming language for users to develop motion control in servo drive. Users can edit self-defined motion control procedure (*.pdl) with PDL development-dedicated software, and download the examples from official website for reference.
  • Page 287 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Advanced Functions 9.5.2 Open PDL Follow the procedure below to open PDL development-dedicated software. Click “Open PDL” icon in the toolbar to open PDL editing window. Figure 9.5.2.1 Figure 9.5.2.2 HIWIN MIKROSYSTEM CORP.
  • Page 288 MD12UE01-2012 Advanced Functions E1 Series Servo Drive Thunder Software Operation Manual 9.5.3 Compile and save PDL After users complete self-defined motion control procedure (*.pdl), follow the procedure below to compile and save PDL. Click “Compile” icon to perform program compiling.
  • Page 289 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Advanced Functions If the compilation fails, the new window will display the error information with red words. Information Figure 9.5.3.3 After the compilation is successfully done, click “Save to slave” icon to save PDL to servo drive.
  • Page 290 The accuracy of positioning platform usually depends on the encoder in use. The accuracy is measured by laser interferometer and an error map can be obtained afterwards. E1 series servo drive provides error map function for users to save error map to servo drive via Thunder and load error map from servo drive.
  • Page 291 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Advanced Functions 9.6.2 Error map setup Introduce the way to set, load, save and read error map. Figure 9.6.2.1 Table 9.6.2.1 Item Description Reference Error map setting Set the information of error map.
  • Page 292 MD12UE01-2012 Advanced Functions E1 Series Servo Drive Thunder Software Operation Manual 9.6.2.1 Error map information setting Follow the procedure below to complete error map information setting. Select Tools in the menu bar and click Error map setup to open “Error map setup” window.
  • Page 293 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Advanced Functions If absolute encoder is used, interval will be automatically allocated based on total points. Therefore, users do not need to key in the value. Only AC servo motor and linear motor support the setting of Start position.
  • Page 294 MD12UE01-2012 Advanced Functions E1 Series Servo Drive Thunder Software Operation Manual 9.6.2.2 Load error map If there has been error map in servo drive’s memory, users can click Read from drive to load error map from servo drive. Figure 9.6.2.2.1 9-32 HIWIN MIKROSYSTEM CORP.
  • Page 295 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Advanced Functions 9.6.2.3 Save / Read error map ◼ Save as a file Click Save as a file to save error map file (*.emp) to personal computer. Figure 9.6.2.3.1 Key in file name of error map file (*.emp), select archive path, and click Save.
  • Page 296 MD12UE01-2012 Advanced Functions E1 Series Servo Drive Thunder Software Operation Manual ◼ Read from file Click Read from file to read error map file (*.emp) from personal computer. Figure 9.6.2.3.3 Select error map file (*.emp), and click Open. Figure 9.6.2.3.4 9-34 HIWIN MIKROSYSTEM CORP.
  • Page 297 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Advanced Functions 9.6.3 Activate error map Users can activate error map and observe error line chart here. Figure 9.6.3.1 Table 9.6.3.1 Item Description No light: Error map is not activated. Error map activated Lights up in green: Error map is activated.
  • Page 298 MD12UE01-2012 Advanced Functions E1 Series Servo Drive Thunder Software Operation Manual 9.7 Gantry control system 9.7.1 Brief introduction High-performance response gantry synchronized control can be achieved by high-speed data exchange technology between two servo drives. The way to activate gantry function via Thunder software is introduced in this section.
  • Page 299 Select the model supporting gantry function (ED1□-□G-□□□□-□□) and connect two servo drives via CN8 with the communication cable. Initialize the two axes to the level that both of them can be normally operated. Refer to “E1 Series Servo Drive Gantry Control System User Manual” for the detailed tuning methods and contents. Information HIWIN MIKROSYSTEM CORP.
  • Page 300 MD12UE01-2012 Advanced Functions E1 Series Servo Drive Thunder Software Operation Manual 9.7.3 Gantry setting Follow the procedure below to complete gantry setting. Click “Open Parameters Setup” icon in the toolbar to open “Parameters Setup” window. Figure 9.7.3.1 Modify Pt00D.X = 2 to Pt00D.X = 1 in master axis, and modify Pt00D.X = 2 to Pt00D.X = 0 in slave axis.
  • Page 301 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Advanced Functions Figure 9.7.3.3 Click Activate to observe gantry status lights. It they remain green, gantry function is successfully activated. Figure 9.7.3.4 HIWIN MIKROSYSTEM CORP. 9-39...
  • Page 302 MD12UE01-2012 Advanced Functions E1 Series Servo Drive Thunder Software Operation Manual Perform test run on gantry mode. After ensuring the motion is normal, open “Parameters Setup” window to modify Pt00D.X = 0 to Pt00D.X = 1 in master axis for auto gantry function.
  • Page 303 Pay attention to the contact point current when relay is used. If the current is too large, use magnetic contactor and the contact point of the magnetic contactor must be able to withstand large current. ◆ For 1 kW E1 series servo drive or above, dynamic brake resistor (10 Ohm) is already installed inside the servo drive. Figure 9.8.1.1 Table 9.8.1.1...
  • Page 304 MD12UE01-2012 Advanced Functions E1 Series Servo Drive Thunder Software Operation Manual setting Calculation results Display results and simulated trends. section 9.8.4 Save / Load Save and load parameters. section 9.8.5 9.8.2 Motor parameters setting Follow the procedure below to complete motor parameters setting.
  • Page 305 Motor parameters automatically fill in motor parameters. Ensure the section 9.8.2.1 parameters are correct. List all the series and model names of HIWIN motors for HIWIN motor users to select. After the selection, Thunder will section 0 automatically fill in motor parameters.
  • Page 306 MD12UE01-2012 Advanced Functions E1 Series Servo Drive Thunder Software Operation Manual 9.8.2.1 Motor parameters After users complete Configuration Wizard, Thunder will automatically fill in motor parameters. Ensure the parameters are correct. Figure 9.8.2.1.1 Table 9.8.2.1.1 Item Description Parameters that will be automatically filled in by Thunder.
  • Page 307 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Advanced Functions 9.8.2.2 HIWIN motor If it is a HIWIN motor, after clicking , users can select “Type”, “Series” and “Model name” via drop-down menu. After the selection, Thunder will automatically fill in “Force / torque constant”, “Resistance (line to line)”...
  • Page 308 MD12UE01-2012 Advanced Functions E1 Series Servo Drive Thunder Software Operation Manual 9.8.2.3 Read parameters Click to read motor parameters from servo drive’s memory. Figure 9.8.2.3.1 Table 9.8.2.3.1 Item Description Parameters that will be automatically filled in by Thunder. ◆ Type ◆...
  • Page 309 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Advanced Functions 9.8.2.4 Other brand motor If it is an other brand motor, after clicking , users must select “Type” and fill in “Model name”, “Force / torque constant”, “Resistance (line to line)” and “Peak current”.
  • Page 310 MD12UE01-2012 Advanced Functions E1 Series Servo Drive Thunder Software Operation Manual 9.8.3 Application parameters setting Fill in application parameters based on system brake performance requirement to evaluate the proper resistance for dynamic brake. There are two kinds of calculation, calculate resistance and calculate current.
  • Page 311 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Advanced Functions ◆ Calculate current Fill in application parameters and the resistance of dynamic brake to be calculated based on performance requirement to check if the resistance is suitable. Figure 9.8.3.2 Table 9.8.3.2...
  • Page 312 MD12UE01-2012 Advanced Functions E1 Series Servo Drive Thunder Software Operation Manual 9.8.4 Calculation results Based on section 9.8.3, there are two kinds of calculation results. ◆ Calculate resistance “Dynamic brake resistor information” window will pop up to inform users whether to use dynamic brake resistor or not.
  • Page 313 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Advanced Functions Figure 9.8.4.2 Table 9.8.4.2 Item Description Resistance information Resistance to be used and power. This graph simulates the falling trend of the velocity during Velocity trend deceleration. By observing the trend, users can check if it meets the expected performance.
  • Page 314 MD12UE01-2012 Advanced Functions E1 Series Servo Drive Thunder Software Operation Manual ◆ Calculate current “Dynamic brake resistor information” window will pop up to inform users whether the resistance is suitable. Suitable Not suitable Figure 9.8.4.3 Table 9.8.4.3 Item Description Evaluation of resistance Inform users whether the resistance is enough.
  • Page 315 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Advanced Functions Not enough Enough Figure 9.8.4.4 Table 9.8.4.4 Item Description Check if the resistance to be used is enough. If it is not enough, Current information the peak current will be displayed in red words.
  • Page 316 MD12UE01-2012 Advanced Functions E1 Series Servo Drive Thunder Software Operation Manual 9.8.5 Save / Load ◼ Save as a file Click to save motor parameters file (*.mot) to personal computer. Figure 9.8.5.1 Key in file name of motor parameters file (*.mot), select archive path, and click Save.
  • Page 317 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Advanced Functions ◼ Load from file Click to load motor parameters file (*.mot) from personal computer. Figure 9.8.5.3 Select motor parameters file (*.mot), and click Open. Figure 9.8.5.4 HIWIN MIKROSYSTEM CORP.
  • Page 318 MD12UE01-2012 Advanced Functions E1 Series Servo Drive Thunder Software Operation Manual (This page is intentionally left blank.) 9-56 HIWIN MIKROSYSTEM CORP.
  • Page 319 Auto set ....................... 10-6 10.2.3.3 Where to apply....................10-8 10.3 Language switching ........................10-11 10.3.1 Brief introduction ......................... 10-11 10.3.2 Language switching setting ....................10-11 10.4 Help ............................. 10-12 10.4.1 Brief introduction ........................ 10-12 10.4.2 Help setting ........................10-12 HIWIN MIKROSYSTEM CORP. 10-1...
  • Page 320 MD12UE01-2012 Basic Settings of Thunder Interface E1 Series Servo Drive Thunder Software Operation Manual Brief introduction 10.1 The basic settings of Thunder interface are introduced in this chapter. With the following functions, users can change language, perform unit conversion, etc.
  • Page 321 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Basic Settings of Thunder Interface 10.2.2 Unit options Display unit can be classified into three categories, linear unit, rotary unit and control unit. Control unit is the basic unit defined by servo drive; linear unit and rotary unit are the derivative units generated by control unit.
  • Page 322 MD12UE01-2012 Basic Settings of Thunder Interface E1 Series Servo Drive Thunder Software Operation Manual 10.2.3 Display unit setting There are two ways to set the proportion of display unit conversion: User-defined or Auto set Figure 10.2.3.1 Table 10.2.3.1 Item Description Setting for the proportion of Users can set the proportion of display unit conversion.
  • Page 323 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Basic Settings of Thunder Interface 10.2.3.1 User-defined Users can define the proportion of display unit conversion. Select Settings in the menu bar, click Display unit and click Display unit setting to open “Display unit setting”...
  • Page 324 MD12UE01-2012 Basic Settings of Thunder Interface E1 Series Servo Drive Thunder Software Operation Manual 10.2.3.2 Auto set In Electronic gear ratio setting, if control unit is not 0, Thunder will automatically calculate the proportion of display unit conversion and Auto set button can be clicked (as Figure 10.2.3.2.1 shows). If control unit is 0, Auto set button cannot be clicked (as Figure 10.2.3.2.2 shows).
  • Page 325 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Basic Settings of Thunder Interface Figure 10.2.3.2.3 Click Auto set. The calculated proportion of display unit conversion will be automatically filled in. Figure 10.2.3.2.4 The mechanical option in electronic gear ratio will simultaneously set rotary unit and linear unit.
  • Page 326 MD12UE01-2012 Basic Settings of Thunder Interface E1 Series Servo Drive Thunder Software Operation Manual 10.2.3.3 Where to apply The parameter which applies display unit will be modified to the corresponding unit name (as Table 10.2.2.2 shows). The color of the string is displayed in orange.
  • Page 327 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Basic Settings of Thunder Interface Figure 10.2.4.4 Figure 10.2.4.5 Figure 10.2.4.6 HIWIN MIKROSYSTEM CORP. 10-9...
  • Page 328 MD12UE01-2012 Basic Settings of Thunder Interface E1 Series Servo Drive Thunder Software Operation Manual Figure 10.2.4.7 10-10 HIWIN MIKROSYSTEM CORP.
  • Page 329 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Basic Settings of Thunder Interface Language switching 10.3 10.3.1 Brief introduction Users can switch Thunder display language. The current version supports English, Traditional Chinese and Simplified Chinese. 10.3.2 Language switching setting Follow the procedure below to set display language.
  • Page 330 Help 10.4 10.4.1 Brief introduction Users can quickly open the folder where the relative manuals of E1 series servo drive are placed and check Thunder version number. 10.4.2 Help setting Follow the procedure below to open the folder where the relative manuals of E1 series servo drive are placed.
  • Page 331 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Basic Settings of Thunder Interface Follow the procedure below to check Thunder version number. Select Help in the menu bar and click About. Figure 10.4.2.3 Check Thunder version number, and click OK.
  • Page 332 MD12UE01-2012 Basic Settings of Thunder Interface E1 Series Servo Drive Thunder Software Operation Manual (This page is intentionally left blank.) 10-14 HIWIN MIKROSYSTEM CORP.
  • Page 333 Appendix Appendix ..............................11-1 11.1 Examples for servo drive configuration ..................11-2 11.1.1 AC servo motor (EM1 series) ....................11-3 11.1.2 DM direct drive motor (RM series) ..................11-6 11.1.3 Linear motor ........................11-10 HIWIN MIKROSYSTEM CORP. 11-1...
  • Page 334 MD12UE01-2012 Appendix E1 Series Servo Drive Thunder Software Operation Manual Examples for servo drive configuration 11.1 This section takes three different kinds of motors for example: ◆ HIWIN self-made AC servo motor (EM1 series) ◆ HIWIN self-made DM direct drive motor (RM series) ◆...
  • Page 335 Connect AC servo motor (EM1 series) to servo drive’s motor power connector (CN2) and encoder connector (CN7). Refer to section 5.4 in “E1 Series Servo Drive User Manual” for the wiring of servo motor. With EM1 series motor, Thunder will automatically fill in motor parameters. This section takes AC servo motor EM1-C-M-40-2-B-F-0-A as an example to demonstrate the basic settings of servo drive.
  • Page 336 MD12UE01-2012 Appendix E1 Series Servo Drive Thunder Software Operation Manual Click “Open Configuration Wizard” icon in the toolbar to open “Configuration Wizard” window. Figure 11.1.1.3 Enter Motor Setup page to view motor parameters automatically filled in. Refer to section 4.3.3 for the detailed descriptions.
  • Page 337 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Appendix Enter Encoder Setup page to view encoder parameters automatically filled in. Refer to section 4.3.4 for the detailed descriptions. Figure 11.1.1.5 Refer to section 4.3.4 to 4.3.9 to complete servo drive configuration.
  • Page 338 Connect DM direct drive motor (RM series) to servo drive’s motor power connector (CN2) and encoder connector (CN7). Refer to section 5.4 in “E1 Series Servo Drive User Manual” for the wiring of servo motor. With RM series motor, Thunder will automatically fill in motor parameters after users complete pre- configuration function setting.
  • Page 339 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Appendix After servo drive is power cycled, “Pre-Configuration” window will show up. Select Torque / direct drive motor for motor type. Figure 11.1.2.3 Select Serial for encoder type. Figure 11.1.2.4 After the selection, click Apply to complete pre-configuration function setting. At this time, servo drive will be power cycled.
  • Page 340 MD12UE01-2012 Appendix E1 Series Servo Drive Thunder Software Operation Manual Figure 11.1.2.6 Enter Motor Setup page to view motor parameters automatically filled in. Refer to section 4.3.3 for the detailed descriptions. Figure 11.1.2.7 11-8 HIWIN MIKROSYSTEM CORP.
  • Page 341 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Appendix Enter Encoder Setup page to view encoder parameters automatically filled in. Refer to section 4.3.4 for the detailed descriptions. Figure 11.1.2.8 Refer to section 4.3.4 to 4.3.9 to complete servo drive configuration.
  • Page 342 Connect linear motor to servo drive’s motor power connector (CN2) and encoder connector (CN7). Refer to section 5.4 in “E1 Series Servo Drive User Manual” for the wiring of servo motor. With linear motor, users must select motor parameters. This section takes linear motor LMSA12 as an example to demonstrate the basic settings of servo drive.
  • Page 343 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Appendix After servo drive is power cycled, “Pre-Configuration” window will show up. Select Linear for motor type. Figure 11.1.3.3 Select encoder format. Here takes Digital as an example. Figure 11.1.3.4 After the selection, click Apply to complete pre-configuration function setting. At this time, servo drive will be power cycled.
  • Page 344 MD12UE01-2012 Appendix E1 Series Servo Drive Thunder Software Operation Manual Figure 11.1.3.6 Enter Motor Setup page. Select LMSA in “Series” column. Figure 11.1.3.7 11-12 HIWIN MIKROSYSTEM CORP.
  • Page 345 MD12UE01-2012 E1 Series Servo Drive Thunder Software Operation Manual Appendix Select LMSA12 in “Model name” column. Motor parameters will be automatically filled in. Refer to section 4.3.3 for the detailed descriptions. Figure 11.1.3.8 If the motors are connected in parallel, check Parallel number and key in the total number of motors in the yellow box.
  • Page 346 MD12UE01-2012 Appendix E1 Series Servo Drive Thunder Software Operation Manual Figure 11.1.3.10 10. Refer to section 4.3.4 to 4.3.9 to complete servo drive configuration. 11-14 HIWIN MIKROSYSTEM CORP.