Hiwin D2 Series User Manual

Operation Principles D2 Series Servo Drive User Manual
3-14 HIWIN MIKROSYSTEM CORP.
MD07UE01-2005
(2) Home offset = 100
Figure3.8.2
3.9 Velocity ripple
Generally in the motion control, it is always desirable that the motion in the constant-speed phase is as
smooth as possible. The motion stability can be estimated by the index of velocity ripple. Main factors
causing the variation in the constant-speed phase are the motor cogging force, cable chain, air pipeline,
and guideway friction, and so on. This velocity ripple is usually used for scanning or detecting machines
required high stability in the constant-speed phase. The equation of velocity ripple is:
%,
RippleVelocity 100
2
1
×
−
±=
V
VV
target
minmax
where V
target
is the target velocity, V
max
is the maximum velocity in the constant-speed phase, and V
min
is
the minimum velocity in the constant-speed phase. As shown in figure 3.9.1, the velocity ripple of (a) is
larger indicated less steadiness; while (b) is smaller indicated better steadiness.
Figure3.9.1
+ position
index
Mapping effective area
Home offset
= 100
Drive coordinate = 0
Drive coordinate = -100
(a)
(b)
Constant
Velocity
Constant
Velocity
V
max
V
min
V
target
V
min
V
target
V
max

Hiwin D2 Series Specifications

General

Brand	Hiwin
Model	D2 Series
Category	Servo Drives
Language	English