D2 Series Servo Drive User Manual Operation Principles
HIWIN MIKROSYSTEM CORP. 3-3
3.1.2 Velocity mode
The drive can receive the command from the host controller via voltage, so as called V command. The
input voltage range is from -10 V to +10 V. The drive converts the received external voltage to the
corresponding velocity command to drive the motor. Besides the voltage, the host controller can also
send the velocity command via PWM signal, so as called PWM command. It utilizes different duty cycles
to correspond to different velocity commands. There are two types of PWM command: single-line type
(PWM 50%) and dual-line type (PWM 100%). The single-line type (PWM 50%) takes the duty cycle of
50% as the basis. If the duty cycle of PWM command is less than 50%, the motor performs the reverse
motion; while if greater than 50%, the motor performs the forward motion. In addition to using one pin to
transmit PWM command, the dual-line type (PWM 100%) needs another pin to control motion direction.
(1) Use voltage command
The drive converts the analog voltage to the velocity command to control the speed of motor
movement. The higher the voltage is, the faster the output speed is. However, the maximum output
speed is limited by the maximum motor speed. The lower the voltage is, the slower the output speed
is. When the voltage value is negative, the output speed is negative and the motor moves in the
reverse direction. The drive can set the command speed corresponding to the voltage per unit.
(2) Use PWM command
The drive converts the PWM signal to the velocity command to control the speed of motor
movement. It can set the command speed corresponding to “Full PWM”.
3.1.3 Force/torque mode
In the force/torque mode, the command from the host controller, which can be received by the drive, is the
same as that in the velocity mode. There are V command and PWM command. After the drive receives
these two commands, it converts them to the corresponding current to drive the motor.
(1) Use voltage command
The drive converts the analog voltage to the current command. By controlling the output current of
drive, it can control the force or torque of motor movement. The higher the voltage is, the larger the
output current is. However, the maximum output current is limited by the maximum motor current.
The lower the voltage is, the smaller the output current is. When the voltage value is negative, the
output current is negative and the motor moves in the reverse direction. The drive can set the
command current corresponding to the voltage per unit.
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