Hiwin D1-N Series User Manual

D1-N Series Servo Drive User Manual Operation Principles
3-14 HIWIN MIKROSYSTEM Corp.
MD17UE01-1906
(2) When home offset is set to 100
Figure 3.8.3
3.9 Velocity ripple
In motion control, it is preferable to have smoother motion in constant speed phase. Velocity ripple is used
to check if the motion is stable or not. In constant speed phase, velocity may vary due to cogging force
from motor, cable chain, air pipeline and guideway friction, etc. Velocity ripple is normally used when
equipment requires high stability while operating at constant speed, such as scanning machine or
inspection machine. The formula of velocity ripple is:
V
target
is target velocity. V
max
is the maximum velocity in constant speed phase. V
min
is the minimum
velocity in constant speed phase. As figure 3.9.1, velocity ripple in figure (a) is larger, which means the
motion is less stable; velocity ripple in (b) is smaller, which means the motion is more stable.
Figure 3.9.1
(a)
(b)
Constant
Speed
Constant
Speed
V
max
V
min
V
target
V
min
V
target
V
max
+ Position
index
Effective range of error compensation
Home offset
= 100
Servo drive coordinate = 0
Servo drive coordinate = -100

Hiwin D1-N Series Specifications

General

Brand	Hiwin
Model	D1-N Series
Category	Amplifier
Language	English