Hiwin D2 User Manual

D2 Drive User Guide v1.8 5. Drive Configuration
HIWIN Mikrosystem Corp. 119
8
CUL
Current Limited
Current has saturated. The specification of motor peak
current is reached.
9
ACL
Acceleration Limited
When the motor is moving, the protection setting for the
acceleration is reached.
10
VL
Velocity Limited
When the motor is moving, the protection setting for the
velocity is reached.
11
BOHL
Both HW limits are active
Both left and right hardware limits are triggered.
12
HOMF
Homing fails
The homing process is failed.
13
PCHC
Pulse command and
homing conflict
In the position mode, the pulse command and homing
command are received at the same time.
14
AEBW
Absolute encoder battery
warning
The encoder battery is no power. Replace the battery.
15
WAP
Wrong absolute position
The absolute encoder feedbacks an error absolute position.
Reset the home position.
Table 5-9 Default output setting for D2 drive
Pin
Signal
Not CoE model
CoE model
Inverse
Position
mode
Velocity
mode
Force/torque
mode
Stand-alone
mode
Stand-alone
mode
34, 35
O1
Servo Ready
Servo Ready
Servo Ready
Servo Ready
Servo Ready
No
36, 37
O2
Errors
Errors
Errors
Errors
Errors
No
38, 39
O3
In-Position
In-Position
In-Position
No
10, 11
O4
Zero Speed
Detected
Zero Speed
Detected
Zero Speed
Detected
Zero Speed
Detected
Zero Speed
Detected
No
40, 12
O5*
No
2
CN2
BRK
Brake
Brake
Brake
Brake
Brake
No
*Only for D2T model.
Table 5-10 Supported output functions for each operation mode
Not CoE model
CoE model
Operation mode
Output function
Position
mode
Velocity
mode
Force/torque
mode
Stand-alone
mode
Stand-alone
mode
Brake
V
V
V
V
V
Servo ready
V
V
V
V
V
AXIS disable
V
V
V
V
V
In-position
V
--
--
V
V
Moving
V
--
--
V
V
Homed
V
V
V
V
V
Emulated index
V
V
V
V
--
Zero speed detected
V
V
V
V
--
Note. “V” means that the output function has this function in the corresponding mode.

Hiwin D2 Specifications

General

Brand	Hiwin
Model	D2
Category	DC Drives
Language	English