D2 Drive User Guide v1.8 5. Drive Configuration
HIWIN Mikrosystem Corp. 125
Debounce time setting
The motor positioning may have the overshoot phenomenon, resulting in that the “In-Position”
signal will be instable before the motor reaches the target position. This can be resolved by
setting “Debounce time”. The “In-Position” signal will be sent when the position error enters
“Target radius” and continues to a period of “Debounce time”. The larger “Debounce time” is,
the more stable the “In-Position” signal is, but the larger the time delay is. Through observing
on the oscilloscope, the appropriate “Debounce time” can be set.
(1) After fixing “Target radius” and setting “Debounce time” to 0 ms, let the motor move
a distance and observe the “In-Position” signal on the oscilloscope, as shown in
Fig. 5-45. When “In-Position” is achieved, the signal is a high level; while when it is
not achieved, the signal is a low level. It can be observed from Fig. 5-45, when the
motor moves to near the target position, there are six protruding pulses (the latter
two are closer). Observing the high-level duration of each protruding pulse, the first
one is about 1.5 ms, the second one is about 1.4 ms, the third one is about 1.4 ms,
the fourth one is about 1.3 ms, and the fifth one and the sixth one are about 1 ms.
Fig. 5-45 In-position signal at “Debounce time” being 0 ms
(2) Observing in Fig. 5-45, the widest protruding pulse is 1.5 ms. So, “Debounce time”
can be set to larger than this value. After considering the safety factor, set
“Debounce time” to 3 ms. Let the motor move a distance, the “In-Position” signal is
shown in Fig. 5-46. The instability of “In-Position” signal is improved.
Fig. 5-46 In-position signal at “Debounce time” being 3 ms
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