D1-N Series Servo Drive User Manual Protection Function
HIWIN MIKROSYSTEM Corp. 8-5
Figure 8.1.3
8.2 Position and velocity error protection
8.2.1 Position error limit
In servo control, position error inevitably exists. Position error increases as motor moves, or due to other
reasons such as friction from bearings or linear guideways, tight winding or cable tray, intrusion of foreign
matter, reach of hard stop, abnormal encoder, interference, etc. To avoid excessive position error, D1-N
servo drive allows users to set error window. When position error exceeds the setting value of error
window, error “Position error too big” occurs. Emergency stop will be activated. Brake signal will be output
and motor will be disabled. The setting area for error windows is shown in figure 8.2.1.1.
Figure 8.2.1.1
Table 8.2.1.1
Maximum pos error Position error limit
Position error Warning value of position error
Velocity error Warning value of velocity error
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