D1-N Series Servo Drive User Manual Servo Drive Configuration
5-52 HIWIN MIKROSYSTEM Corp.
Table 5.5.1
Parameter Description
Target radius
The motor will be regarded as in-position after position
error is within the target radius for a specific time
(Deboucne time). The default value is 100 times of encoder
Debounce time
The position error needs to be within the target radius for
the set debounce time for the motor to be regarded as
Move time Path planning time
Settling time Settling time
Total time Sum of move time and settling time
Debounce time setting
In-position signal could be unstable as the motor may overshoot during positioning. In this case,
users can set debounce time to have stable in-position signal. In-position signal will only be sent
after position error is within the target radius for the set debounce time. The larger the debounce time
is, the more stable the in-position signal is. But setting larger debounce time could have longer time
delay. Users can set appropriate debounce time by observing in-position signal in oscilloscope. For
finding appropriate debounce time, please refer to below.
(1) Set Target radius and set Debounce time to 0 ms. Let the motor move for a period of time and
observe in-position signal from oscilloscope, as figure 5.5.2. When the motor is in-position,
in-position signal is at high level. In figure 5.5.2, there are six protruding pulses as the motor
moves close to the target position. Observe the time duration of protruding pulse.
Table 5.5.2
Protruding Pulse Time Duration
st
nd
rd
th
5
th
1 ms
th
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