Hiwin D1-N Series User Manual

D1-N Series Servo Drive User Manual Operation Principles
3-8 HIWIN MIKROSYSTEM Corp.
MD17UE01-1906
3.5 Servo loops and servo gains
 Servo loops
D1-N servo drive includes three servo loops, current loop, velocity loop and position loop, to control
motor. The servo loops of D1-N servo drive are shown in figure 3.5.1. In position mode, all loops are
handled by the servo drive. In velocity mode, velocity loop and current loop are handled by the servo
drive. In torque/force mode, only current loop is handled by the servo drive. Current loop receives
voltage command from controller and controls motor commutation. For easy operation, the servo
loops of D1-N servo drive can be set and adjusted by one common gain (CG).
Figure 3.5.1
 Servo gains
D1-N servo drive uses one high-speed digital signal processor (DSP) to control motor. Normally if
servo loops are controlled via digital method, users need to adjust several servo gains. But for easy
operation, D1-N servo drive provides one common gain (CG) for users to adjust all servo gains at the
same time.
Figure 3.5.2
0.1
…………………………………
0.5
……………………………………
1
Stiffness
Response
High
Low
Common
Gain
Position
Loop
Velocity
Loop
Filter
Current
Loop
Filter
Motor &
Encoder
Actual Current
Feedback Velocity
Feedback Position
Target
Position
Reference
Position
Reference
Velocity
Command
Current
PWM
Output

Hiwin D1-N Series Specifications

General

Brand	Hiwin
Model	D1-N Series
Category	Amplifier
Language	English