Hiwin D1 - Page 17

D1 Servo Drive User Manual Specifications
HIWIN MIKROSYSTEM CORP. 2-5
MD20UE01-2109
Force/
torque
Mode
Analog Input Command
The specification is the same as the one in velocity mode.
Digital Input Command
The specification is the same as the one in velocity mode.
Command Source
Voltage or PWM from controller
Encoder Type
Operating Voltage
+5 Vdc ± 5% @400 mA
Digital
Input Signal
A, /A, B, /B, Z, /Z, RS422 differential signal
Bandwidth
5 MHz line frequency, x 4 frequency: 20 M counts/s
Analog
Input Amplitude
1 Vpp (sin/cos), differential signal
Bandwidth
1 MHz maximum line (cycle) frequency
Resolution
Maximum 65528 counts/cycle
Resolver
Sin/Cos, differential signal
Reference 3 KHz, 6 Vpp, 100 mA
Encoder Counting Range
-2147483648~2147483647 (32 bits)
The motor commutation is normal and is not affected by
encoder counting range.
Buffered Encoder
Output
Digital Encoder
 Without being processed by the servo drive, A/B phase
signals are directly sent to the controller. (Maximum 18 M
counts/s, digital AqB output, differential signal output)
 Without being processed by the servo drive, Z phase
signals are directly sent to the controller. (Differential
signal)
 The delay time between the time the servo drive receives
encoder signal from the encoder and the time the servo
drive outputs signal from output pin is less than 100
nanosecond (ns).
Analog Encoder
 Maximum 18 M counts/s, digital AqB output, differential
signal output
 The resolution is the grating period of analog encoder/4. (If
grating period = 40 um, the resolution of buffered encoder
output = 10 um/count)
 The delay time between the time the servo drive receives
encoder signal from the encoder and the time the servo
drive outputs signal from output pin is less than 100
nanosecond (ns).
Emulated Encoder Output
 Maximum 18 M counts/s, digital AqB output, differential
signal output
 The ratio of encoder input to emulated encoder output can
be adjusted. The width of emulated index signal output can
be adjusted.
 Linear motor:
(1) Outputs one index (Z phase) signal per travel distance
Rotary motor:
(1) Outputs one index (Z phase) signal per travel distance
(2) Outputs one index (Z phase) signal per motor
revolution
 The maximum delay time between the time the servo drive
receives encoder signal from the encoder and the time the
servo drive outputs signal from output pin is 66.67 us.
Digital Hall Signal
Digital single-ended signal with 120 degrees phase difference
HA, HB, HC
Communication
Interface
Connect to PC via RS232
Protocol
 Full-duplex
 Baud rate: 9,600 ~ 115,200 bps
 Binary
Programmable
I/O Interface
Digital Input
74HC14 Schmitt trigger input
Inputs [I1~I6] [I11, I12] [I9, I10]
10 digital inputs are provided.