Hiwin D1 - Table of Contents

Table of Contents
1. About this user manual ...................................................................................................................................... 1-1
1.1 General precautions ................................................................................................................................... 1-2
1.2 Safety precautions ...................................................................................................................................... 1-3
2. Specifications .................................................................................................................................................... 2-1
2.1 Safety certificates and model explanations ................................................................................................ 2-2
2.1.1 Safety certificates ................................................................................................................................ 2-2
2.1.2 Model explanation ............................................................................................................................... 2-3
2.2 Basic specifications .................................................................................................................................... 2-4
2.3 Dimensions ................................................................................................................................................. 2-8
2.4 Installation ................................................................................................................................................ 2-10
2.5 System requirement ................................................................................................................................. 2-11
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
4. Wiring ................................................................................................................................................................. 4-1
4.1 System configuration and wiring ................................................................................................................ 4-2
4.1.1 System connection .............................................................................................................................. 4-2
4.1.2 Connector specifications ..................................................................................................................... 4-4
4.2 Wiring for main circuit ................................................................................................................................. 4-5
4.3 Wiring for motor .......................................................................................................................................... 4-7
4.4 Wiring for regenerative resistor .................................................................................................................. 4-7
4.5 Wiring for control power and brake ............................................................................................................ 4-8
4.6 RS232 communication (CN1) .................................................................................................................... 4-8
4.7 Wiring for control signals (CN2) ................................................................................................................. 4-9
4.7.1 Wiring diagram for digital inputs ........................................................................................................ 4-11
4.7.2 Wiring diagram for digital outputs ..................................................................................................... 4-13
4.7.3 Wiring diagram for pulse command input ......................................................................................... 4-15
4.7.4 Wiring diagram for encoder feedback pulse output .......................................................................... 4-21
4.7.5 Wiring diagram for analog command ................................................................................................ 4-22
4.7.6 Wiring diagram for PWM command input ......................................................................................... 4-23
4.8 Wiring for feedback signals (CN3) ........................................................................................................... 4-24
4.8.1 Wiring diagram for digital incremental encoder ................................................................................ 4-26
4.8.2 Wiring diagram for analog incremental encoder ............................................................................... 4-26
4.8.3 Wiring diagram for motor over temperature protection ..................................................................... 4-27
4.8.4 Wiring diagram for Hall sensor .......................................................................................................... 4-27
4.9 EtherCAT communication (CN4) .............................................................................................................. 4-28
4.10 Accessories of D1 servo drive .................................................................................................................. 4-29
5. Servo drive configuration ................................................................................................................................... 5-1
5.1 Installation and communication .................................................................................................................. 5-2