Operation Principles D1 Servo Drive User Manual
3-8 HIWIN MIKROSYSTEM CORP.
(5) Emergency stop
D1 servo drive has emergency stop function. When I1 signal (Axis enable) is OFF, the emergency
stop function is activated. The servo drive commands the motor to decelerate at the speed set for
Dec. kill to a stop.
3.5 Servo loops and servo gains
(1) Servo loops
D1 servo drive has three servo loops, including current loop, velocity loop and position loop, to
control servo motor. The servo loops are shown in figure 3.5.1. In position mode, all loops are
handled by the servo drive. In velocity mode, velocity loop and current loop are handled by the servo
drive. In torque/force mode, only current loop is handled by the servo drive. Current loop receives
voltage command from controller and controls motor commutation. For easy operation, the servo
loops of D1 servo drive can be set and adjusted by one common gain (CG).
Figure3.5.1
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