Hiwin D1 - Operation Principles

HIWIN MIKROSYSTEM CORP. 3-1
3. Operation principles
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3. Operation principles ........................................................................................................................................... 3-1
3.1 Operation mode .......................................................................................................................................... 3-2
3.1.1 Position mode ..................................................................................................................................... 3-2
3.1.2 Velocity mode ...................................................................................................................................... 3-3
3.1.3 Force/torque mode .............................................................................................................................. 3-3
3.1.4 Stand-alone mode ............................................................................................................................... 3-4
3.2 Encoder types ............................................................................................................................................ 3-4
3.2.1 Digital type .......................................................................................................................................... 3-4
3.2.2 Analog type ......................................................................................................................................... 3-5
3.3 Buffered encoder output and emulated encoder output ............................................................................. 3-5
3.4 Path planning ............................................................................................................................................. 3-6
3.5 Servo loops and servo gains ...................................................................................................................... 3-8
3.6 Gain margin and phase margin .................................................................................................................. 3-9
3.6.1 Nyquist plot ......................................................................................................................................... 3-9
3.6.2 Bode plot ........................................................................................................................................... 3-12
3.7 Move and settling ..................................................................................................................................... 3-13
3.8 Error compensation .................................................................................................................................. 3-14
3.9 Velocity ripple ........................................................................................................................................... 3-15
3.10 Enabling.................................................................................................................................................... 3-15
3.11 Basic physical quantities .......................................................................................................................... 3-16