D1-N Series Servo Drive User Manual Operation Principles
HIWIN MIKROSYSTEM Corp. 3-3
3.1.2 Velocity mode
In velocity mode, the servo drive receives analog commands (or V commands) from controller. The input
voltage range is from -10 V to +10 V. The input voltage is transformed into corresponding velocity
command to drive the motor. The higher the voltage is, the faster the motor runs. (Note: The maximum
speed still depends on the specification of the motor.) The lower the voltage is, the slower the motor runs.
If the voltage value is negative, the motor runs in reverse direction. The corresponding velocity command
of input voltage can be set in the servo drive.
3.1.3 Force/torque mode
In force/torque mode, the servo drive receives analog commands (or V commands) from controller. The
input voltage is transformed into corresponding current command. The force or torque of the motor is
controlled by the output current from the servo drive. The higher the voltage is, the larger the current is.
(Note: The maximum current still depends on the specification of the motor.) The lower the voltage is, the
smaller the current is. If the voltage value is negative, the output current is negative. When the output
current is negative, the motor runs in reverse direction. The corresponding current command of input
voltage can be set in the servo drive.
3.1.4 Stand-alone mode
The servo drive has one high-speed digital signal processor (DSP), so the servo drive is able to do path
planning. Select stand-alone mode when users would like the servo drive to be tested alone or operate
without controller. In stand-alone mode, servo loop is handled by the servo drive.
3.2 Encoder types
Encoder plays an essential role in controlling servo motor. With position and angle information provided
by encoder, the servo drive is able to control servo loop. The commonly-used encoders are optical scale
and magnetic scale which obtain current position by means of optics and variation of magnetic field. The
position signal obtained by the optical scale or magnetic scale is transformed into digital signal or analog
signal. Normally optical scale or magnetic scale may support either digital signal or analog signal output.
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