Hiwin D2 User Manual

D2 Drive User Guide v1.8 8. Protection Function
HIWIN Mikrosystem Corp. 237
8.2. Position and velocity errors protection
8.2.1. Position error limit
There is a position error in the servo control. The position error is usually larger when the
motor moves. Moreover, some external factors may also cause that the position error
becomes abnormally large, such as that bearings or linear guideways on the mechanism have
a high friction due to the lack of lubricators, the winding or cable tray is too tight, foreign
objects invades on the motor travel, the motor hits the abnormal object or hard stop, the
position encoder is abnormal or interfered, and other conditions. In order to avoid all kinds of
anomalies leading the position error too big, D2 drive has a “Error windows”. When the
position error is over this “Error windows”, the drive will generate an error message of
“Position error too big”, start the emergency stop procedure, send the brake signal, and
disable the motor.
Fig. 8-4
Table 8-3
Parameter
Description
Maximum pos error
Maximum position error limit
Position Error
Position error warning value
Velocity error
Velocity error warning value
If the drive is the dual-loop model and uses the dual-loop function, the “Protection” tab in the
protection center has a “Hybrid deviation error” field to be set to prevent the mixed control
deviation from being too large, as shown in Fig. 8-5. This may cause the velocity loop or
position loop becomes unstable. When the actual error exceeds this set, the drive generates
an error message of “Hybrid deviation too big”. If the dual-loop function is not used, the
“Hybrid deviation error” field is anti-gray and cannot be set.
Fig. 8-5
8.2.2. Position error and velocity error warnings
In addition to the setting of position error limit described above, D2 drive also provides an
early warning function. When the position error or velocity error exceeds the set value in
“Warning windows”, the warning message will be displayed on the “Status” area of main
window to warn the user that an abnormality has occurred in advance.

Hiwin D2 Specifications

General

Brand	Hiwin
Model	D2
Category	DC Drives
Language	English