Hiwin D1 - Protection Function; Motion Protection

Protection Function D1 Servo Drive User Manual
8-2 HIWIN MIKROSYSTEM CORP.
MD20UE01-2109
8.1 Motion protection
Motion protection limits or specifies the maximum speed, maximum acceleration, maximum deceleration
and deceleration of emergency stop. When the requested speed or acceleration is too high, motion
protection will be activated to constrain motion by values set for motion protection. Motion protection
varies in different operation mode, please refer to table 8.1.1.
Table8.1.1
Limited Parameter
Operation Mode
Speed
Acceleration
Deceleration
Deceleration of
Emergency Stop
(Dec. Kill)
Position Mode
O
O
O
O
Velocity Mode
O
O
O
O
Force/torque Mode
O
X
X
X
Stand-alone Mode
O
O
O
O
Note:
“O” means motion protection is supported. “X” means motion protection is not supported.
(1) Set speed, acceleration and deceleration limits
Click on to go to Performance center. The setting page for motion parameters is indicated in
figure 8.1.1. Click on to go to Protection center. The same motion parameters can be observed
in Protection tab, but they are for display only and cannot be modified.
Figure8.1.1
Table8.1.2
Parameter
Description
Default Setting
Speed
Set the maximum speed of motor
during motion.
Linear motor: 100 mm/s
Torque motor: Rated speed
Acc.
Set the maximum acceleration of
motor during motion.
Linear motor: 1/10 * (K
f
* I
p
/ Moving Mass)
*1
Torque motor: 1/2 * (K
t
* I
p
/ (10 * J
m
))
*2
Dec.
Set the maximum deceleration of
motor during motion.
Linear motor: 1/10 * (K
f
* I
p
/ Moving Mass)
*1
Torque motor: 1/2 * (K
t
* I
p
/ (10 * J
m
))
*2
Dec. Kill
The deceleration of emergency stop
Linear motor: 10 * Acc.
Torque motor: 2 * Acc.
Smooth
Factor
Smooth factor
Linear motor: 100
Torque motor: 100