Hiwin D1 - Path Planning

Operation Principles D1 Servo Drive User Manual
3-6 HIWIN MIKROSYSTEM CORP.
MD20UE01-2109
Figure3.3.1
Figure3.3.2
3.4 Path planning
Path planning is usually done by controller. The controller calculates suitable motion command based on
the required distance, velocity, acceleration and smooth factor. These commands (Pulse commands or V
commands) will be sent from the controller to the servo drive or calculated by the servo drive (Stand-alone
mode).
Figure3.4.1
D1
Encoder
Signal
processing
Emulated
encoder
output
Buffered
encoder
output
Z-phase signal
Pulse width
1/2 pulse width
*Home position is reached for
the first time.
Time (t)
Position (P)
Velocity (V)
Acceleration (a)