Operation Principles D2 Series Servo Drive User Manual
3-12 HIWIN MIKROSYSTEM CORP.
3.7 Move and settling
The motor moves based on the path planned by the host controller. When it arrives at the target position,
it is able to position accurately and stop motion. This is called move and settling.
Position error
In the servo system, there is a certain difference between the target position and the encoder
feedback position. This is called position error.
Target radius
After the motor arrives at the target position, the difference between the feedback position and the
target position must be controlled and kept within a specific positive/negative small range. This range
is called target radius.
Total time of move and settling
As shown in figure 3.7.1, after the motor arrives at the target position, the position error should be
smaller than the setting of target radius and keep for a certain time (debounce time). After that, the
“In-position” signal is set and called in position. If the position error is continuously out the radius, it is
called not yet in position. The total time spent from the motion start to the settling achievement is the
amount of move time and settling time.
Figure3.7.1
position
After entering the radius
for a debounce time,
send out the
“In-position” signal.
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