4.6.1 System wiring diagram for pulse command ····························································· 4-32
4.6.1.1 Differential interface for high-speed pulse ··················································· 4-33
4.6.1.2 Differential interface for low-speed pulse ···················································· 4-34
4.6.1.3 Sink (NPN) interface with current-limit resistances ······································· 4-35
4.6.1.4 Sink (NPN) interface without current-limit resistances ··································· 4-36
4.6.1.5 Source (PNP) interface with current-limit resistances ···································· 4-37
4.6.1.6 Source (PNP) interface without current-limit resistances ································ 4-38
4.6.1.7 5V TTL interface ··················································································· 4-39
4.6.2 System wiring diagram for voltage command ··························································· 4-41
4.6.3 System wiring diagram for PWM command ····························································· 4-43
4.6.3.1 NPN interface with PWM 50% ································································· 4-43
4.6.3.2 NPN interface with PWM 100% ································································ 4-44
4.6.3.3 5V TTL interface with PWM 50% ······························································ 4-45
4.6.3.4 5V TTL interface with PWM 100% ···························································· 4-46
5. Drive configuration ·················································································································· 5-1
5.1 Installation and communication ························································································· 5-2
5.1.1 Setup files·········································································································· 5-2
5.1.2 Communication setup ··························································································· 5-4
5.1.3 HMI main window ································································································ 5-7
5.2 Configuration center ······································································································· 5-9
5.2.1 Motor configuration ···························································································· 5-10
5.2.2 Encoder configuration ························································································ 5-12
5.2.2.1 HIWIN standard encoder ········································································ 5-13
5.2.2.2 Customized digital incremental encoder ····················································· 5-16
5.2.2.3 Encoder output setting ··········································································· 5-17
5.2.3 Operation mode configuration ·············································································· 5-20
5.2.4 Modbus communication configuration ···································································· 5-22
5.2.5 Completing configuration procedure ······································································ 5-23
5.3 Auto phase center ········································································································ 5-24
5.3.1 Function description ··························································································· 5-24
5.3.2 Pre-operation ··································································································· 5-26
5.3.3 Setting procedure ······························································································ 5-26
5.3.4 Troubleshooting ································································································ 5-27
5.4 Auto tune center ·········································································································· 5-27
5.4.1 Function description ··························································································· 5-27
5.4.2 Announcements ································································································ 5-31
5.4.3 Troubleshooting ································································································ 5-32
5.5 I/O center ··················································································································· 5-33
5.5.1 Digital input ······································································································ 5-33
5.5.2 Digital output ···································································································· 5-44
5.5.3 Analog output ··································································································· 5-50
5.5.4 Extension I/O ···································································································· 5-51
5.6 In-position signal setting ································································································ 5-52
5.7 Homing configuration ···································································································· 5-54
5.7.1 Go left and right for homing ················································································· 5-57
5.7.2 Use near home sensor/index for homing ································································ 5-61
5.7.3 Use multi-turn absolute encoder for homing ···························································· 5-63
5.7.4 Use homing methods in CiA 402 protocol ······························································· 5-64
5.8 Save parameters to Flash and recover to factory default ······················································· 5-69
5.8.1 Save parameters to Flash ··················································································· 5-69
5.8.2 Recover to factory default ··················································································· 5-69
5.9 Parameter setting examples via HMI ················································································ 5-71
5.9.1 Position mode ··································································································· 5-71
5.9.2 Velocity mode ··································································································· 5-74
5.9.3 Force/Torque mode ···························································································· 5-75
5.9.4 Stand-alone mode ····························································································· 5-77
6. Drive Tuning ·························································································································· 6-1
6.1 Status display and quick view ··························································································· 6-2
6.1.1 Status display ····································································································· 6-2
6.1.2 Quick view ········································································································· 6-3
6.1.3 Software shortcuts ······························································································· 6-4
6.2 Performance center ········································································································ 6-4
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