D1 Servo Drive User Manual Servo Drive Configuration
HIWIN MIKROSYSTEM CORP. 5-63
◼ Searching for hard stop
When searching for hard stop, two parameters will be used: End stop current and Time. End stop
current is the strength of the force while searching for hard stop. Time is the duration of the force. If
Time is set to be too small, the servo drive may not correctly identify the hard stop. If Time is set to
be too large, error “Soft-thermal threshold reached” could occur. To find proper value for End stop
current, please refer to the following.
Step 1: Open Scope, as figure 5.6.4.2. Set to observe the value of Actual Current.
Step 2: Let the motor move at slow homing speed (Slower speed) for the total travel distance.
Step 3: Observe the value of Actual Current and record the maximum value, as figure 5.6.4.2. The
maximum value is about 0.2 A. End stop current can be slightly larger than 0.2 A. In this
case, End stop current can be set to 0.23 A.
Note:
To avoid error “Position error too big” while searching for hard stop, the setting values of Slower speed and
Time must satisfy the following formula.
Slower Speed X Time < Maximum Pos Error
Figure 5.6.4.2
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