D2 Series Servo Drive User Manual Operation Principles
HIWIN MIKROSYSTEM CORP. 3-15
3.10 Enable
The enable is a necessary step before the drive starts to receive any motion command. Only at the
enable state, the drive can receive the pulse or voltage command from the host controller to do motion.
Step motion mode
The step motion (SM) mode is an open-loop architecture. At this mode, the motor behavior is similar
as the stepper motor. The signal of feedback position is not adopted at the enable. This mode is
used to ensure that the force direction of motor is consistent with the direction of encoder feedback.
If not, it will cause the failure of phase initialization.
Phase initialization
For the drive with the incremental encoder, it needs to find the electrical angle at the first power-on,
called phase initialization. For HIWIN servo motors, after the drive is booted, it is able to successfully
find the electrical angle almost without any movement at the first enable process. The other common
method of phase initialization is to add Hall sensor to achieve the same effect. Generally, the host
controller sends an output signal to the drive (e.g. the input I3 of D2 drive) to complete the phase
initialization and enable process.
To Next Page
Loading...
Need help?
General
