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D1-N Series
Hiwin D1-N Series User Manual
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D1
-
N
Series
Servo
Drive U
ser Manua
l
Specif
ications
2-
12
HIW
IN
MIKROSYSTEM Corp.
M
D17UE01
-
19
06
2.4
S
ys
te
m
r
equire
ments
Table 2.4.
1
CPU
1.0
GHz
or higher
RAM
512
MB
or
more
Hard Disk
Space
50
MB
or m
ore
Comm
unication Port
USB
comm
unication port
Operating S
ystem
W
in 2000
,
W
in X
P
or
W
in 7
Disp
lay
1024*768 p
ixel
or h
igher
23
25
Table of Contents
Default Chapter
3
Table of Contents
3
1 About this User Manual
7
General Precautions
8
HIWIN MIKROSYSTEM Corp
8
Risk Identification
9
Safety Precautions
10
2 Specifications
13
Safety Certificates and Model Explanations
14
Safety Certificates
14
Specifications
14
Nameplate Information
15
Model Explanation
16
Servo Drive Specification
17
Basic Specification
17
Dimensions
21
Installation
23
System Requirements
24
3 Operation Principles
25
Operation Mode
26
Position Mode
26
Velocity Mode
27
Force/Torque Mode
27
Stand-Alone Mode
27
Encoder Types
27
Encoder Signal Output
29
Path Planning
30
Servo Loops and Servo Gains
32
Gain Margin and Phase Margin
33
Nyquist Plot
33
Bode Plot
35
Move and Settling
36
Error Compensation
37
Velocity Ripple ···················································································································
38
Enabling
39
Basic Physical Quantities
40
4 Wiring
41
System Configuration and Wiring
42
System Connection
42
Wiring
42
Connector Specifications
45
Main Power (X1)
47
Regenerative Resistor and DC Link (X2)
50
Motor Power (X3)
53
Control Power and Brake (X4)
54
USB Communication (X5)
55
Control Signals (X6)
55
Digital Command
57
Programmable I/O
58
Encoder Output
60
PT Signal Output
61
Analog Command
61
Safety Function (X7, X8)
62
Motor Temperature Detection (X9)
68
Encoder (X10, X11, X12)
68
Ethercat/Modbus Communication (X13)
70
Accessories of D1-N Servo Drive
71
5 Servo Drive Configuration
79
Installation and Communication
80
Installing Lightening
80
Communication Setup
81
Main Window
85
Configuration Center
87
Setting Parameters of Motor
88
Setting Parameters of Encoder
93
Setting Hall Sensor
102
Setting Operation Mode
103
Setting Servo Drive
105
Modbus Communication Setting
107
Saving Configuration
108
Auto Phase Center
109
Inspection before Auto Phase Initialization
111
Operating Procedures for Auto Phase Initialization
112
Precautions for Auto Phase Initialization
116
I/O Setting
117
Digital Inputs
117
Digital Outputs
125
Setting In-Position Signal
129
Homing
132
Position Trigger Function
139
Save Parameters to Flash and Set to Factory Default
142
Save Parameters to Flash
142
Set Parameters to Factory Default
142
Setting Operation Mode Via Lightening
144
Position Mode
144
Velocity Mode
146
Force/Torque Mode
148
Stand-Alone Mode
149
6 Tuning
151
Status Display and Quick View
152
Status Display
152
Quick View
153
Function Keys
154
Performance Center
154
Scope
157
Data Collection
159
Function Description
159
Data Collection Via PDL Program
161
Plot View
162
Display Mode
162
Save and Open File
167
Calculation Functions
168
Advanced Gain Tuning
170
Filter
171
Acceleration Feedforward
173
Schedule Gains and Velocity Loop Gain
175
Offset Correction for Analog Input
178
Current Loop
179
Vibration Suppression Filter
179
Friction Compensation
183
Loop Constructor
184
Load/Save File
185
Tool
187
Filter
190
Gain Tuning
192
Spectrum Analysis
193
Checking Encoder Signal
194
Error Map Function
195
Setting Error Map Function
195
Enabling Error Map Function
198
Saving and Opening Error Map Table
199
Changing the Start Position of Error Map Function
199
Compensation Function for Resolver Signal ·············································································
204
Operational Description
205
Enabling Signal Compensation Function
206
Saving and Opening Signal Compensation Table
206
Compensation Function for Absolute Resolver Signal
207
Operational Description
207
Enabling Signal Compensation Function
209
Saving and Opening Signal Compensation Table
209
7 LCD Display
211
LCD Panel
212
LCD Display Description
212
8 Protection Function
215
Motion Protection
216
Protection Function
216
Position and Velocity Error Protection
219
Position Error Limit
219
Position Error Warning and Velocity Error Warning
220
Brake Protection
220
Limit Protection
222
Hardware Limit Protection
222
Software Limit Protection
222
Over Temperature Protection
223
Motor over Temperature Protection
223
Software over Temperature Protection
224
Servo Drive over Temperature Protection
224
Overvoltage Protection
224
9 Errors and Warnings
227
Error Messages and Warning Messages
228
Error and Warning Log
233
Automatic Error Handling
236
Troubleshooting
237
Status Indicator
237
Error Description and Corrective Action
239
10 Advanced Frequency Analysis
243
Advanced Frequency Analysis ·····························································································
244
Frequency Analyzer
245
SMCL Tools
246
11 Enabling Motor
249
Enabling Method
250
Checking Enabling State from Lightening
251
12 Parameter Comparison
253
Comparing the Parameters in RAM and Flash
254
13 Updating Firmware and Loading PDL
257
Updating Servo Drive Firmware
258
Loading PDL Program
261
Updating Motor Parameters
263
14 Modbus Communication
265
Modbus Communication Specification
266
Function Codes
266
Modbus Communication
266
Modbus Object
270
Input Register
271
Holding Register
276
15 Motor Power Cable Shielding and Grounding
279
Motor Power Cable Shielding
280
Grounding
282
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Hiwin D1-N Series Specifications
General
Brand
Hiwin
Model
D1-N Series
Category
Amplifier
Language
English
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