D1 Servo Drive User Manual Tuning
HIWIN MIKROSYSTEM CORP. 6-47
(4) Lissajous figure
While using analog encoder, use Lissajous figure to check if the signal is normal. Normally the
Lissajous figure of analog encoder signal must be a circle. The radius of that circle should be 977.4
to 1,954.8. If the radius is not within this range, it means the signal is too strong or too weak and the
encoder must be readjusted. To obtain Lissajous figure, motor must move to let the encoder output
signal, as figure 6.8.2. If motor does not move, there will be no circle and only a dot will appear in the
display area.
Besides, if Lissajous figure is not ideal due to different amplitudes of analog encoder signals or the
center of the circle is not in the center of the display area due to zero level offset, click on Tune
button for adjustment. To use this function, motor must move slowly and let the encoder outputs
signals for at least 10 grating periods.
6.9 Error map function
The accuracy of linear motor is determined by the linear encoder installed on the positioning platform.
Normally the positioning accuracy of positioning platform can be measured and corrected by using laser
interferometer. With laser interferometer, the errors can be obtained. D1 servo drive provides a function
called Error map function, which allows user to input the errors. With the information, the servo drive is
able to calculate compensation value between fixed distances by linear interpolation to improve
positioning accuracy. In Error map window, user needs to set Interval and Total points before inputting
the errors.
Note:
1. The home position is the start position for Error map function to compensate in positive direction. Please
perform homing before using Error map function.
2. If controller would like to receive feedback pulses from the servo drive and enable Error map function at the
same time, select Use emulated encoder in Encoder tab.
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