D1 Servo Drive User Manual Operation Principles
HIWIN MIKROSYSTEM CORP. 3-3
3.1.2 Velocity mode
In velocity mode, the servo drive receives analog command (V command) from controller. The input
voltage range is from -10 V to +10 V. The input voltage is transformed into corresponding velocity
command to drive motor. In addition to V command, the servo drive can also receive PWM command.
The servo drive outputs different velocity command based on different duty cycle. Two settings are
supported, PWM 50% and PWM 100%. PWM 50% uses duty cycle 50% as base. When duty cycle is
lower than 50%, the servo drive commands motor to move in negative direction. When duty cycle is larger
than 50%, the servo drive commands motor to move in positive direction. For PWM 100%, an additional
pin is required for controlling the moving direction of motor.
(1) Using V command
Analog voltage is transformed into velocity command to drive motor. The velocity increases as the
analog voltage increases, but the maximum velocity does not exceed the maximum velocity limited
by the servo drive. The velocity decreases as the analog voltage decreases. If the voltage value is
negative, motor moves in negative direction. The corresponding velocity command of input voltage
can be set in the servo drive.
(2) Using PWM command
PWM command is transformed into velocity command to drive motor. The corresponding velocity of
full PWM can be set in the servo drive.
3.1.3 Force/torque mode
In force/torque mode, the servo drive receives analog command (V command) or PWM command from
controller. The received command is transformed into corresponding current command to drive motor.
(1) Using V command
Analog voltage is transformed into current command to control the force and torque of motor. The
current increases as the analog voltage increases, but the maximum current does not exceed the
maximum current of the motor. The current decreases as the analog voltage decreases. If the
voltage value is negative, motor moves in negative direction. The corresponding current of input
voltage can be set in the servo drive.
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