D2 Drive User Guide v1.8 5. Drive Configuration
HIWIN Mikrosystem Corp. 129
Select one of following items for the left or right side condition.
(1) None: Non-search;
(2) End Stop: Search the end stop;
(3) Limit Switch: Search the limit switch.
Searching end stop should be carried out with parameters ○4 and ○5 . Parameter ○4 is used
to set the force for searching end stop, and parameter ○5 is used to set the duration of this
force. If this time is too short, the drive may make a misjudgment of searching end stop before
it is found. If this time is too long, the force on the end stop will increase, or the error of
“Soft-thermal threshold reached” will occur. The current for searching end stop can be set by
following steps.
Step 1. Open the “Scope” window, as shown in Fig. 5-52, to set to observe the physical
quantity of “Actual Current”.
Step 2. Use the “Slower Speed” setting to move in the entire stroke.
Step 3. Observe the change of “Actual Current”, and record the maximum value. As shown in
Fig. 5-52, the maximum value of “Actual Current” is about 0.2 A. Therefore, “Search end
stop current” could be set to be slightly more than 0.2 A. For example, it can be set to
0.23 A in this case.
Note.
To avoid the error of “Position error too big” occurring at searching the end stop, the
slower speed and time for searching the end stop should meet the following
condition:
“Slower Speed” x “Time” < “maximum pos error”.
Fig. 5-52
Exceptions:
(1) Consider that “Left side condition” is set to “None” (i.e. not use the left side condition),
“Right side condition” is set to “End Stop” or “Right Limit Switch”, and the initial
movement direction (parameter ○1 ) is set to “Left”, as shown in Fig. 5-53. When the
homing is performed, the homing procedure is judged to be a failure, and the status light
of “Homed” is red; and vice versa. (In this case, it is the unreasonable setting. Hence,
the homing is failed.)
Fig. 5-53
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