D1 Servo Drive User Manual Protection Function
HIWIN MIKROSYSTEM CORP. 8-5
8.2 Position and velocity error protection
8.2.1 Position error limit
In servo control, position error inevitably exists. Position error increases as motor moves, or due to other
reasons such as friction from bearings or linear guideways, tight winding or cable tray, intrusion of foreign
matter, reach of hard stop, abnormal encoder, interference, etc. To avoid excessive position error, D1
servo drive allows user to set error window. When position error exceeds the setting value of error
window, error “Position error too big” occurs. Emergency stop will be activated. Brake signal will be output
and motor will be disabled. The setting area for error window is shown in figure 8.2.1.1.
Figure8.2.1.1
Table8.2.1.1
Warning value of position error
Warning value of velocity error
8.2.2 Position error warning and velocity error warning
In addition to the position error limit described in section 8.2.1, D1 servo drive also provides warning
function. When position error or velocity error exceeds the setting in Warning windows, a warning
message will appear in the main window of Lightening to inform user.
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