Hiwin D1 - Servo Drive Configuration

HIWIN MIKROSYSTEM CORP. 5-1
5. Servo drive configuration
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5. Servo drive configuration ................................................................................................................................... 5-1
5.1 Installation and communication .................................................................................................................. 5-2
5.1.1 Installing Lightening ............................................................................................................................ 5-2
5.1.2 Communication setup ......................................................................................................................... 5-3
5.1.3 Main window ....................................................................................................................................... 5-6
5.2 Configuration center ................................................................................................................................... 5-8
5.2.1 Setting parameters of motor ............................................................................................................... 5-9
5.2.2 Setting parameters of encoder .......................................................................................................... 5-12
5.2.2.1 HIWIN standard encoder ............................................................................................................... 5-14
5.2.2.2 User-defined encoder setting ........................................................................................................ 5-15
5.2.2.3 Setting encoder output .................................................................................................................. 5-16
5.2.3 Setting Hall sensor ............................................................................................................................ 5-19
5.2.4 Setting operation mode ..................................................................................................................... 5-21
5.2.5 Saving configuration.......................................................................................................................... 5-24
5.3 Auto phase center .................................................................................................................................... 5-25
5.3.1 Inspection before auto phase initialization ........................................................................................ 5-28
5.3.2 Operating procedures for auto phase initialization ........................................................................... 5-28
5.3.3 Precautions for auto phase initialization ........................................................................................... 5-32
5.4 I/O setting ................................................................................................................................................. 5-33
5.4.1 Digital inputs ...................................................................................................................................... 5-33
5.4.2 Digital outputs ................................................................................................................................... 5-41
5.5 Setting in-position signal .......................................................................................................................... 5-46
5.6 Homing ..................................................................................................................................................... 5-49
5.6.1 Homing by left side and right side conditions ................................................................................... 5-52
5.6.2 Homing by near home sensor or index signal .................................................................................. 5-55
5.6.3 Homing by single-turn absolute encoder .......................................................................................... 5-57
5.6.4 Homing by CiA 402 standard homing method .................................................................................. 5-58
5.7 Save parameters to Flash and set to factory default ............................................................................... 5-64
5.7.1 Save parameters to Flash ................................................................................................................. 5-64
5.7.2 Set parameters to factory default ...................................................................................................... 5-64
5.8 Setting operation mode via Lightening ..................................................................................................... 5-66
5.8.1 Position mode ................................................................................................................................... 5-66
5.8.2 Velocity mode .................................................................................................................................... 5-68
5.8.3 Force/torque mode ............................................................................................................................ 5-70
5.8.4 Stand-alone mode ............................................................................................................................. 5-72