Operation Principles D1 Servo Drive User Manual
3-2 HIWIN MIKROSYSTEM CORP.
3.1 Operation mode
D1 servo drive supports the following operation modes.
(1) Position mode
(2) Velocity mode
(3) Force/torque mode
(4) Stand-alone mode
Each operation mode will be described in the following sections.
3.1.1 Position mode
In position mode, controller sends pulses to the servo drive. These pulses are position commands. When
a pulse is received, the servo drive commands motor to run a corresponding distance. Path planning is
done by controller. At what speed motor runs is decided by the sending frequency of pulses. Motor runs at
faster speed as pulses are sent at faster speed; motor runs at constant speed as pulses are sent at fixed
speed. As figure 3.1.1.1, three pulse types are supported: Pulse/Direction (Pulse/Dir), Pulse up/Pulse
down (CW/CCW) and Quadrature (A/B phase). By different wirings, pulse signal can be TTL differential
signal or single-ended signal. User can set electronic gear ratio in position mode. Normally one pulse is
equivalent to one encoder count. For instance, when electronic gear ratio is set to 2:3, it means two
pulses is equivalent to three encoder counts.
Figure3.1.1.1
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