D1 Servo Drive User Manual Tuning
HIWIN MIKROSYSTEM CORP. 6-7
⑧ Motion protection: Parameters for test run and motion protection, including speed, acceleration,
deceleration, Dec. kill and smooth factor
User can use smooth factor to create S-curve velocity profile or T-curve velocity profile. The setting
range is from 1 to 500. Increase the value of smooth factor to have S-curve velocity profile and
decrease the value of smooth factor to have T-curve velocity profile. (Refer to section 3.4.)
⑨ P2P: Point-to-point motion
⑩ Relative move: Relative motion
⑪ Jog: Perform continuous motion. In current mode, current value is set for continuous motion of
constant current.
⑫ Home: Homing
⑬ Primary CG: Servo gain
The higher the gain is, the greater the servo stiffness is. User can use primary CG to adjust servo
stiffness. If servo stiffness is too strong, the system becomes unstable, causing vibration and
electrical noise. At this time, this value must be decreased.
⑭ Status: Status display
⑮ Enable sw limit: Enable software limit. This function can limit the travel distance of motor.
6.3 Scope
D1 servo drive provides Scope for user to observe essential physical quantities during tuning. User can
also use Scope to find out the cause when motor cannot be operated. Click on in Performance center
or to open Scope. Click on in Position page and Velocity Ripple page to show
related physical quantities in Scope. As figure 6.3.1, after the desired parameter is selected, the
waveform of the selected physical quantity can be observed.
Note:
The contents displayed in Scope are not real-time. To observe detailed information of physical quantity, please use
oscilloscope or Data collection function. (Refer to section 6.4.)
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