D2 Series Servo Drive User Manual Operation Principles
HIWIN MIKROSYSTEM CORP. 3-7
(2) Velocity
The velocity is defined as the difference of position per unit time. For linear motion, velocity units are
um/sec, mm/sec, m/sec; while for rotary motion, they are count/sec, rps, and rpm.
(3) Acceleration
The acceleration is defined as the difference of velocity per unit time. For linear motion, acceleration
units are um/sec
2
, mm/sec
2
, and m/sec
2
; while for rotary motion, it is rps
2
.
(4) Smooth factor
When the acceleration is rapidly increased or decreased in a short time, it means that the force
applied to moving object is suddenly increased or decreased. Sometimes, to reduce such impact,
the technique of smooth motion is introduced to the motion control loop, so as to enhance the
performance. D2-serise drives adopt the technique of smooth factor to achieve this effect. By using
the smooth factor, the motion trajectory can be planned to S-type or T-type curve. Its value can be
set from 1 to 500. If this value is larger, the trajectory is closer to S-Type curve and the impact is
smaller. On the other hand, if this value is smaller, the trajectory is closer to T-Type curve. As this
value being 1, it means that there is no effect of smooth function. When the value of smooth factor is
increased, in some case, the settling performance during positioning process will be enhanced,
since the impact of motor force is reduced. However, when the motion becomes smoother, the move
time of path planning is unavoidably increased. Tests on the practical machine are needed to adjust
the smooth factor, so as to get the balance between them.
(5) Emergency stop
D2-series drives have the function of emergency stop. When the drive deactivates the signal of “Axis
enable” on the pin I3, this function is activated. At this moment, the drive immediately stops the
motor in any motion by using the deceleration for emergency stop to guarantee safety.
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