1. Manuals
  2. Brands
  3. Hiwin Manuals
  4. Servo Drives
  5. E Series
  6. User manual

Hiwin E Series User Manual

Gantry control system
Hide thumbs Also See for E Series:
Table of Contents

Advertisement

Quick Links

E Series Servo Drive
Gantry Control System
User Manual
www.hiwinmikro.tw
MD22UE01-2305_V1.2

Advertisement

Table of Contents
loading
Need help?

Need help?

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

Questions and answers

Subscribe to Our Youtube Channel

Related Manuals for Hiwin E Series

Summary of Contents for Hiwin E Series

  • Page 1 E Series Servo Drive Gantry Control System User Manual www.hiwinmikro.tw MD22UE01-2305_V1.2...
  • Page 2 Revision History The version of the manual is also indicated on the bottom of the front cover. MD22UE01-2305_V1.2 Version Release Date Release Date Version Applicable Product Revision Contents 1. Update manual’s name. 2. Add the information related to E2 series servo drive: servo drive firmware version, applicable model, hardware configuration.
  • Page 3 Related Documents Through related documents, users can quickly understand the positioning of this manual and the correlation between manuals and products. Go to HIWIN MIKROSYSTEM’s official website → Download → Manual Overview for details (https://www.hiwinmikro.tw/Downloads/ManualOverview_EN.htm).
  • Page 4 Firmware Change History Refer to “E1 Series Servo Drive User Manual” and “E2 Series Servo Drive User Manual” for the information of servo drive firmware version. ◼ E1 series servo drive Servo Drive Firmware Version Revision Contents related to Functions of Gantry Control System The default of Pt010 = t.X...
  • Page 5 Preface Gantry control system: high-performance response gantry control can be achieved by high-speed data exchange technology between two servo drives. Linear...

  • Page 6: Table Of Contents

    Table of Contents Hardware configuration ............................ 1-1 System architecture ............................2-1 Communication system architecture ....................2-2 Control system architecture ........................ 2-2 2.2.1 Definition of linear/yaw axis ....................2-2 2.2.2 Control block diagram for gantry control system ..............2-3 2.2.3 Definition of linear/yaw axis direction ..................2-4 Setting procedure .............................
  • Page 7 Encoder pulse output .......................... 6-5 Internal homing procedure ........................6-5 6.10 Touch Probe procedure ........................6-11 6.10.1 HIMC with Touch Probe ....................... 6-14 6.10.2 MECHATROLINK-III with Touch Probe (not supported) ............6-14 Gantry control interface setting ........................7-1...
  • Page 8 (This page is intentionally left blank.) viii...

  • Page 9: Hardware Configuration

    1. Hardware configuration Hardware configuration ............................ 1-1 HIWIN MIKROSYSTEM CORP.
  • Page 10 MD22UE01-2305 Hardware configuration E Series Servo Drive Gantry Control System User Manual ◼ E1 series servo drive Select the model supporting gantry function and connect two servo drives via CN8 with the communication cable. Table 1.1 Type Control Interface Model...
  • Page 11 MD22UE01-2305 E Series Servo Drive Gantry Control System User Manual Hardware configuration ◼ E2 series servo drive Select the model supporting gantry function and connect two servo drives via CN8 with the communication cable. Table 1.3 Type Function Model ED2S-□□-□□□-□A-□□...
  • Page 12 MD22UE01-2305 Hardware configuration E Series Servo Drive Gantry Control System User Manual (This page is intentionally left blank.) HIWIN MIKROSYSTEM CORP.

  • Page 13: System Architecture

    System architecture ............................2-1 Communication system architecture ....................2-2 Control system architecture ........................ 2-2 2.2.1 Definition of linear/yaw axis ....................2-2 2.2.2 Control block diagram for gantry control system ..............2-3 2.2.3 Definition of linear/yaw axis direction ..................2-4 HIWIN MIKROSYSTEM CORP.

  • Page 14: Communication System Architecture

    MD22UE01-2305 System architecture E Series Servo Drive Gantry Control System User Manual To build a complete gantry control system, two servo drives, two motors and the corresponding encoders must be prepared as two axes. Before activating gantry control system through setting, establish communication system between two servo drives first.

  • Page 15: Control Block Diagram For Gantry Control System

    MD22UE01-2305 System architecture E Series Servo Drive Gantry Control System User Manual 2.2.2 Control block diagram for gantry control system Before entering gantry control system, the two axes belong to single axis control system. Refer to “E1 Series Servo Drive User Manual” and “E2 Series Servo Drive User Manual” for its control block diagram.

  • Page 16: Definition Of Linear/Yaw Axis Direction

    MD22UE01-2305 System architecture E Series Servo Drive Gantry Control System User Manual 2.2.3 Definition of linear/yaw axis direction ◼ Definition of linear axis direction The linear positive direction of single axis moving part is the positive direction of linear axis.

  • Page 17: Setting Procedure

    Single axis setting ..........................3-2 Establish communication system ......................3-3 Confirmation before activating gantry control system ................. 3-4 Activate gantry control system ......................3-5 Overtravel function ..........................3-5 Overload protection setting ......................... 3-6 Electronic gear ratio setting ........................ 3-6 HIWIN MIKROSYSTEM CORP.

  • Page 18: Single Axis Setting

    3.1 Single axis setting Gantry mode must drive the servo drives and the motors of both axes. Therefore, respectively execute single-axis initialization based on “E Series Servo Drive Thunder Software Operation Manual”. The setting procedure is shown as follows. Connect to master servo drive and execute single-axis initialization.

  • Page 19: Establish Communication System

    MD22UE01-2305 Setting procedure E Series Servo Drive Gantry Control System User Manual 3.2 Establish communication system All the functions of gantry mode are based on the establishment of communication system. Therefore, communication system must be established first. The setting procedure is shown as follows.

  • Page 20: Confirmation Before Activating Gantry Control System

    MD22UE01-2305 Setting procedure E Series Servo Drive Gantry Control System User Manual Figure 3.2.2 Note: When communication system is established, alarm AL.FC0 or AL.FC1 may be triggered if users power off any of the axes. Refer to section 5.3 for cause, confirmation method and corrective action.

  • Page 21: Activate Gantry Control System

    MD22UE01-2305 Setting procedure E Series Servo Drive Gantry Control System User Manual 3.4 Activate gantry control system There are two ways to activate gantry control system, manual or auto. Manual is for Thunder HMI test run, while auto is for host controller. The setting method is shown as follows.

  • Page 22: Overload Protection Setting

    MD22UE01-2305 Setting procedure E Series Servo Drive Gantry Control System User Manual 3.6 Overload protection setting In gantry control system, it is recommended to synchronously set the overload protection setting in both axes. For the setting method and details of overload protection, refer to section 6.10 Protection for motor overload in “E1 Series Servo Drive User Manual”...
  • Page 23 4. Gain tuning Gain tuning ............................... 4-1 Single axis gain tuning ........................4-2 Gantry control gain tuning ........................4-2 Current ratio parameter ........................4-4 Velocity ripple compensation (not supported) ..................4-5 HIWIN MIKROSYSTEM CORP.

  • Page 24: Gain Tuning

    MD22UE01-2305 Gain tuning E Series Servo Drive Gantry Control System User Manual 4.1 Single axis gain tuning When to use: Before entering gantry mode, users want to move the motor by driving single axis. In this case, the target is to make it stable. Refer to “E1 Series Servo Drive User Manual” and “E2 Series Servo Drive User Manual”...
  • Page 25 MD22UE01-2305 Gain tuning E Series Servo Drive Gantry Control System User Manual Table 4.2.3 Control Parameter Pt192 Range 10 ~ 40000 Position mode mode Default Effective Immediately Unit 0.1/s Description Position loop gain in gantry control system Table 4.2.4 Control...

  • Page 26: Current Ratio Parameter

    MD22UE01-2305 Gain tuning E Series Servo Drive Gantry Control System User Manual position command and the actual position, and slave’s position deviation is judged by the difference between yaw axis’ position command and the actual position. Take rigid gantry as an example, for linear axis’...

  • Page 27: Velocity Ripple Compensation (Not Supported)

    MD22UE01-2305 Gain tuning E Series Servo Drive Gantry Control System User Manual 4.4 Velocity ripple compensation (not supported) In gantry control system, servo drive does not support velocity ripple compensation. HIWIN MIKROSYSTEM CORP.
  • Page 28 MD22UE01-2305 Gain tuning E Series Servo Drive Gantry Control System User Manual (This page is intentionally left blank.) HIWIN MIKROSYSTEM CORP.

  • Page 29: Safety Protection Function

    5. Safety protection function Safety protection function..........................5-1 Enable/Disable axes in gantry control system ..................5-2 Motor stopping methods for alarm ...................... 5-2 Relevant alarms ..........................5-3 HIWIN MIKROSYSTEM CORP.

  • Page 30: Enable/Disable Axes In Gantry Control System

    MD22UE01-2305 Safety protection function E Series Servo Drive Gantry Control System User Manual Incorrectly operating gantry control system may cause damage to the stage. For safety, pay attention to the following features before entering gantry mode. 5.1 Enable/Disable axes in gantry control system Enable axes ◼...

  • Page 31: Relevant Alarms

    MD22UE01-2305 Safety protection function E Series Servo Drive Gantry Control System User Manual 5.3 Relevant alarms ◼ AL.FC0 Group control system communication error (when group communication mode is used) Table 4.3.1 Cause Confirmation Method Corrective Action Communication is interrupted. It...
  • Page 32 MD22UE01-2305 Safety protection function E Series Servo Drive Gantry Control System User Manual Note: If any error occurs in slave axis, alarm AL.FC1 will pop up in master axis window to inform users and host controller. In gantry control interface, clearing the error or entering alarm reset input (ALM-RST) signal in master axis window represents clearing the error of both axes.

  • Page 33: Application Function

    Velocity mode ............................6-4 Torque mode ............................6-5 Encoder pulse output .......................... 6-5 Internal homing procedure ........................6-5 6.10 Touch Probe procedure ........................6-11 6.10.1 HIMC with Touch Probe ....................... 6-14 6.10.2 MECHATROLINK-III with Touch Probe (not supported) ............6-14 HIWIN MIKROSYSTEM CORP.

  • Page 34: Error Map

    The setting procedure is shown as follows. Set up linear axis’ error map and save it to master servo drive (refer to “E Series Servo Drive Thunder Software Operation Manual”).
  • Page 35 MD22UE01-2305 Application function E Series Servo Drive Gantry Control System User Manual Table 6.1.1 Parameter Description Effective Category After internal homing is completed, t.0 enable error map function for single (Default) axis. After internal homing is completed, t.1 enable error map function for gantry axis.

  • Page 36: Torque Limit Function

    MD22UE01-2305 Application function E Series Servo Drive Gantry Control System User Manual 6.2 Torque limit function In gantry control system, the setting of torque limit parameters Pt402 / Pt483, Pt403 / Pt484 and external torque limit parameters Pt404, Pt405 must be synchronously modified in both axes, and the value should be the same.

  • Page 37: Torque Mode

    MD22UE01-2305 Application function E Series Servo Drive Gantry Control System User Manual 6.7 Torque mode In gantry control system, set Pt000 = t.2 (control method selection is torque mode) in master servo drive. For the setting method and details of torque mode, refer to section 8.5 Torque mode in “E1 Series Servo Drive User Manual”...
  • Page 38 MD22UE01-2305 Application function E Series Servo Drive Gantry Control System User Manual Figure 6.9.1 At this time, users only complete “linear axis homing procedure”. Go on to complete “posture regulating setting”. Posture regulating setting VI. Disable the motors at home position.
  • Page 39 MD22UE01-2305 Application function E Series Servo Drive Gantry Control System User Manual Table 6.9.2 -1073741824 ~ Control Parameter Pt711 Range Position mode 1073741824 mode Default Effective Immediately Unit 1 control unit Description Home offset of yaw axis in gantry control system (only for master axis) Table 6.9.3...
  • Page 40 MD22UE01-2305 Application function E Series Servo Drive Gantry Control System User Manual Figure 6.9.3 (3) Home offset of yaw axis in gantry control system (Optional): the offset of yaw axis’ home position Since the physical installation deviation existing in indexes makes the home posture of yaw axis not be orthogonal to the linear axis, users can modify the home position of yaw axis via master axis’...
  • Page 41 MD22UE01-2305 Application function E Series Servo Drive Gantry Control System User Manual Table 6.9.4 Parameter Description Effective Category t.0 Pt710 Search DOG signal in both axes. (Default) (only for Immediately Setup Search DOG signal only in master master axis) t.1...
  • Page 42 MD22UE01-2305 Application function E Series Servo Drive Gantry Control System User Manual ◼ Search DOG signal only in master axis When a single index encoder is used with near home sensors, install the near home sensor on master axis side and before both axes’ indexes, as figure 6.9.5 shows.

  • Page 43: Touch Probe Procedure

    MD22UE01-2305 Application function E Series Servo Drive Gantry Control System User Manual Touch Probe procedure 6.10 On gantry mode, Fieldbus type EtherCAT model and mega-ulink model support Touch Probe procedure executed with host controller. Linear axis Touch Probe procedure Ensure both axes have entered gantry mode.
  • Page 44 MD22UE01-2305 Application function E Series Servo Drive Gantry Control System User Manual Note: The dictionary list and the introduction of the related objects are shown as follows. Table 6.10.1 Sub- Data Operation Index Name Access Valid value Unit index type...
  • Page 45 MD22UE01-2305 Application function E Series Servo Drive Gantry Control System User Manual ◼ With a single index encoder When a single index encoder is used with near home sensors, install the near home sensor on master axis side and before both axes’ indexes, as figure 6.10.2 shows.

  • Page 46: Himc With Touch Probe

    MD22UE01-2305 Application function E Series Servo Drive Gantry Control System User Manual (2) Searching steps In gantry control system, the detection timing of near home sensor (DOG signal) for slave axis is later than that for master axis. The first step of Touch Probe procedure is reading master axis’...

  • Page 47: Gantry Control Interface Setting

    7. Gantry control interface setting Gantry control interface setting ........................7-1 HIWIN MIKROSYSTEM CORP.
  • Page 48 MD22UE01-2305 Gantry control interface setting E Series Servo Drive Gantry Control System User Manual Here takes linear motor as an example to show the setting of gantry control interface. Step 1. Presetting of gantry control (refer to section 3.1 to 3.3) Step 2.
  • Page 49 MD22UE01-2305 Gantry control interface setting E Series Servo Drive Gantry Control System User Manual Step 4. Start gantry control (1) Click Activate button, and wait for the status light of Gantry mode to light up in green. (2) When it succeeds, the label of Master and Slave will become Linear and Yaw.
  • Page 50 MD22UE01-2305 Gantry control interface setting E Series Servo Drive Gantry Control System User Manual Step 6. Test run on gantry mode Close Gantry control system window. Click to open Test Run window and observe the synchronous effect on gantry mode with low velocity jog (e.g., 50 mm/s).

This manual is also suitable for:

E1 seriesE2 seriesEd2f-h3-009Ed2s-v0-006Ed2f-e0-006Ed2f-h3-003 ... Show all

Table of Contents