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D2 Series
Hiwin D2 Series User Manual
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Modbus
Commun
icat
ion
D2
Series
Servo
Drive
User
M
anual
13
-
14
HIWIN MIKR
OSYST
EM C
ORP.
MD
07
UE01
-
200
5
Object
Register
A
ddress
Descr
iption
T
ype
Unit
2002
0x0FA4
Tar
get cur
rent
Lower data
INT32
0.1%
A
0x0FA5
H
ighe
r
da
ta
2003
0x0FA6
St
op mot
ion
Lower data
UINT32
-
0x0FA7
H
ighe
r
da
ta
2007
0x0FAE
Jog veloc
ity
Lower data
REAL32
count/s
0x0FAF
High
e
r
data
337
339
Table of Contents
Default Chapter
4
Table of Contents
4
1 About this User Manual
9
Instructions before Use
10
Safety Instructions
12
2 Specifications
15
Drive Information
16
Safety Certification
16
Nameplate Information
16
Specifications
16
Model Number
17
Drive Specifications
18
Drive Dimensions
22
Drive Installation
34
Computer Requirements
35
3 Operation Principles
37
Operation Modes
38
Position Mode
38
Velocity Mode
39
Force/Torque Mode
39
Stand-Alone Mode
40
Encoder Type
40
Encoder Signal Output
41
Path Planning
42
Servo Loops and Gains
44
Gain Margin and Phase Margin
45
Nyquist Diagram
45
Bode Diagram
47
Move and Settling
48
Error Compensation
49
Enable
51
Common Physical Quantities
52
4 Wiring
53
System Configuration and Wiring
54
System Wiring Diagram
54
Wiring
54
Grounding
56
CN1 Power
57
Power Wiring
57
Motor Wiring
60
Regenerative Resistor Wiring
60
DC Reactor Wiring
61
CN2 Brake/Motor Power
63
CN3 USB Communication
64
CN4 Modbus Communication
65
CN5 Modbus Communication/Safety Function
67
CN6 Control Signal
68
CN7 Encoder
69
CN8 Ethercat Communication
70
CN13/CN14 Extension I/O Signal
71
Drive Accessories
72
Main Power Wiring
77
AC Power Wiring (Single-Phase)
77
AC Power Wiring (Three-Phase)
78
Multiple Drives Connection
79
I/O Signal Wiring
81
Digital Input Wiring
81
Sink Input Wiring Examples
81
Digital Output Wiring
82
Source Input Wiring Examples
82
System Wiring Diagram for Pulse Command
84
Wiring Examples for Control Commands
84
Differential Interface for High-Speed Pulse
85
Differential Interface for Low-Speed Pulse
86
Sink (NPN) Interface with Current-Limit Resistances
87
Sink (NPN) Interface Without Current-Limit Resistances
88
Source (PNP) Interface with Current-Limit Resistances
89
Source (PNP) Interface Without Current-Limit Resistances
90
TTL Interface
91
System Wiring Diagram for Voltage Command
93
System Wiring Diagram for PWM Command
95
NPN Interface with PWM 50
95
5 Drive Configuration
99
Installation and Communication
100
Setup Files
100
Communication Setup
102
HMI Main Window
105
Configuration Center
107
Motor Configuration
108
Encoder Configuration
110
HIWIN Standard Encoder
111
Customized Digital Incremental Encoder
114
Encoder Output Setting
115
Operation Mode Configuration
118
Modbus Communication Configuration
120
Completing Configuration Procedure
121
Auto Phase Center
122
Function Description
122
Pre-Operation
124
Setting Procedure
124
Troubleshooting
125
Auto Tune Center
125
Function Description
125
Announcements
129
Troubleshooting
130
I/O Center
131
Digital Input
131
Digital Output
142
Analog Output
148
Extension I/O
149
In-Position Signal Setting
150
Homing Configuration
152
Go Left and Right for Homing
155
Use Near Home Sensor/Index for Homing
159
Use Multi-Turn Absolute Encoder for Homing
161
Use Homing Methods in Cia 402 Protocol
162
Save Parameters to Flash and Recover to Factory Default
167
Save Parameters to Flash
167
Recover to Factory Default
167
Parameter Setting Examples Via HMI
169
Position Mode
169
Velocity Mode
172
Force/Torque Mode
173
Stand-Alone Mode
175
6 Drive Tuning
177
Status Display and Quick View
178
Status Display
178
Quick View
179
Software Shortcuts
180
Performance Center
180
Scope
183
Data Collection
185
Function Description
185
Data Collection Via PDL
187
Plot View
188
Graphic Display Mode
188
Save/Open File
193
Mathematical Operation
194
Advanced Gains
197
Filter
198
Acceleration Feed-Forward
200
Schedule Gains and Velocity Loop Gain
203
Analog Input
206
Current Loop
206
Vibration Suppression Feature
207
Friction Compensation
211
Loop Constructor
213
Load/Save File
214
Tool
215
Frequency Response Function
215
Nyquist
216
Bode
217
Nichols
218
Filter
218
Low Pass Filter
219
Notch Filter
220
Gain Tuning
221
Spectrum Analysis
222
Encoder Signal Confirmation
222
Error Map Function
223
Set Error Map
224
Enable Error Map
226
Save/Open Error Map
227
Change Start Position
228
Backlash Compensation
233
7 LCD Operation
235
LCD Function
236
Panel Description
236
LCD Operation
236
Parameter Initialization Via LCD
239
Home Page
241
Display Parameters Page
243
Change Parameters Page
245
Save to Flash
248
Parameter Edit Function
249
Advanced Parameter Zone
252
Actions Page
260
Enable/Disable
261
Jog
262
Absolute Coordinate Motion
263
Auto Tune
264
Set Position to Zero
265
Parameter Setting Examples Via LCD
265
Position Mode
265
Velocity Mode
270
Force/Torque Mode
273
Stand-Alone Mode
275
8 Protection Function
277
Motion Protection
278
Protection Function
278
Position and Velocity Errors Protection
281
Position Error Limit
281
Position Error and Velocity Error Warnings
282
Brake Output
282
Limit Protection
286
Hardware Limit Protection
286
Software Limit Protection
287
Over Temperature Protection
288
Soft-Thermal Protection
288
Drive over Temperature Protection
288
Over Voltage Protection
288
9 Troubleshooting
293
Drive's Status Indicator
294
Drive's Errors and Warnings
294
Status Display Area on Lightening HMI
294
Troubleshooting
294
LCD Status
295
Errors and Warnings Log
296
Error at Loading PRM File
298
Error Codes and Troubleshooting
299
Warning Codes and Troubleshooting
303
Troubleshooting for Common Issues
306
10 Axis Enable Setting
309
Start Enable Method
310
Confirm Enable Status Via HMI
311
11 Parameter Comparison
313
Comparing Parameters in RAM and Flash
314
12 Update Firmware and Load PDL
317
Update Drive's Firmware
318
Load PDL Program into Drive
321
Load Parameter Patch
323
13 Modbus Communication
325
Modbus Communication Specification
326
Function Code
326
Modbus Communication
326
Modbus Objects
330
Input Register
331
Holding Register
336
14 EMC Solution
339
Common-Mode Motor Filter
340
Motor Power Cable with Magnetic Rings
343
5
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Hiwin D2 Series Specifications
General
Brand
Hiwin
Model
D2 Series
Category
Servo Drives
Language
English
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