Hiwin D1 - Page 21

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D1 Servo Drive User Manual Specifications

HIWIN MIKROSYSTEM CORP. 2-9

MD20UE01-2109

Figure2.3.2 D1 EtherCAT servo drive

D1-DNN02A

Main Page

Table of Contents3
About this User Manual7
General Precautions8
Safety Precautions9
Specifications14
Safety Certificates and Model Explanations14
Safety Certificates14
Model Explanation15
Basic Specifications16
Dimensions20
Installation22
System Requirement23
Operation Principles25
Operation Mode26
Position Mode26
Velocity Mode27
Force/Torque Mode27
Stand-Alone Mode28
Encoder Types28
Digital Type28
Analog Type29
Buffered Encoder Output and Emulated Encoder Output29
Path Planning30
Servo Loops and Servo Gains32
Gain Margin and Phase Margin33
Nyquist Plot33
Bode Plot36
Move and Settling37
Error Compensation38
Velocity Ripple39
Enabling39
Basic Physical Quantities40
Wiring43
System Configuration and Wiring44
System Connection44
Wiring44
Connector Specifications46
Wiring for Main Circuit47
Wiring for Motor49
Wiring for Regenerative Resistor49
Wiring for Control Power and Brake50
RS232 Communication (CN1)50
Wiring for Control Signals (CN2)51
Wiring Diagram for Digital Inputs53
Wiring Diagram for Digital Outputs55
Wiring Diagram for Pulse Command Input57
Wiring Diagram for Encoder Feedback Pulse Output63
Wiring Diagram for Analog Command64
Wiring Diagram for PWM Command Input65
Wiring for Feedback Signals (CN3)66
Wiring Diagram for Digital Incremental Encoder68
Wiring Diagram for Analog Incremental Encoder68
Wiring Diagram for Motor over Temperature Protection69
Wiring Diagram for Hall Sensor69
Ethercat Communication (CN4)70
Accessories of D1 Servo Drive71
Servo Drive Configuration81
Installation and Communication82
Installing Lightening82
Communication Setup83
Main Window86
Configuration Center88
Setting Parameters of Motor89
Setting Parameters of Encoder92
HIWIN Standard Encoder94
User-Defined Encoder Setting95
Setting Encoder Output96
Setting Hall Sensor99
Setting Operation Mode101
Saving Configuration104
Auto Phase Center105
Inspection before Auto Phase Initialization108
Operating Procedures for Auto Phase Initialization108
Precautions for Auto Phase Initialization112
I/O Setting113
Digital Inputs113
Digital Outputs121
Setting In-Position Signal126
Homing129
Homing by Left Side and Right Side Conditions132
Homing by Near Home Sensor or Index Signal135
Homing by Single-Turn Absolute Encoder137
Homing by Cia 402 Standard Homing Method138
Save Parameters to Flash and Set to Factory Default144
Save Parameters to Flash144
Set Parameters to Factory Default144
Setting Operation Mode Via Lightening146
Position Mode146
Velocity Mode148
Force/Torque Mode150
Stand-Alone Mode152
Tuning155
Status Display and Quick View156
Status Display156
Quick View157
Function Keys158
Performance Center158
Scope161
Data Collection163
Function Description163
Data Collection Via PDL Program165
Plot View166
Display Mode166
Save and Open File171
Calculation Functions172
Advanced Gain Tuning174
Filter175
Acceleration Feedforward177
Schedule Gains and Velocity Loop Gain179
Offset Correction for Analog Input182
Current Loop183
Vibration Suppression Filter183
Friction Compensation188
Loop Constructor189
Load/Save File190
Tool191
Frequency Response Function192
Nyquist193
Bode194
Nichols195
Filter195
Low-Pass Filter196
Notch Filter197
Gain Tuning198
Spectrum Analysis199
Checking Encoder Signal199
Error Map Function201
Setting Error Map Function202
Enabling Error Map Function204
Saving and Opening Error Map Table205
Changing the Start Position of Error Map Function206
Compensation Function for Resolver Signal211
Operational Description212
Enabling Signal Compensation Function213
Saving and Opening Signal Compensation Table213
Compensation Function for Absolute Resolver Signal214
Operational Description214
Enabling Signal Compensation Function216
Saving and Opening Signal Compensation Table216
LCD Display217
LCD Panel218
Description218
LCD Display218
Description of Operation Page219
Home Page221
Display Parameters Page223
Change Parameters Page225
Save to Flash227
Editing Parameters227
Advanced Parameter Area231
Actions Page238
Enabling and Disabling240
Jog241
Absolute Motion242
Auto Gain Tuning243
Setting Current Position to Zero244
Setting Operation Mode Via LCD Panel244
Position Mode244
Velocity Mode250
Force/Torque Mode252
Stand-Alone Mode254
Protection Function256
Motion Protection256
Position and Velocity Error Protection259
Position Error Limit259
Position Error Warning and Velocity Error Warning259
Brake Protection260
Limit Protection262
Hardware Limit Protection262
Software Limit Protection263
Over Temperature Protection264
Motor over Temperature Protection264
Software over Temperature Protection264
Servo Drive over Temperature Protection264
Overvoltage Protection265
Errors and Warnings267
Error Messages and Warning Messages268
Error and Warning Log271
Automatic Error Handling274
Troubleshooting275
Status Indicator275
Error Description and Corrective Action276
Servo Drive Thermal Curve279
Operating Temperature and Cooling280
Heat Sink281
Advanced Frequency Analysis283
Advanced Frequency Analysis284
Frequency Analyzer285
Advanced Frequency Analysis285
SMCL Tools287
Enabling Motor289
Enabling Method290
Checking Enabling State from Lightening291
Parameter Comparison293
Comparing the Parameters in RAM and Flash294
Updating Firmware and Loading PDL297
Updating Servo Drive Firmware298
Loading PDL Program300
Troubleshooting for Interference303
Common Mode Filter304

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Hiwin D1 - Page 21

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