D2 Drive User Guide v1.8 3. Operation Principles
HIWIN Mikrosystem Corp. 23
3. Operation Principles
3.
Operation Principles ....................................................................................................... 23
3.1.
Operation modes .................................................................................................. 24
Position mode ............................................................................................. 24
3.1.1.
Velocity mode ............................................................................................. 24
3.1.2.
Force/torque mode ..................................................................................... 25
3.1.3.
Stand-alone mode ...................................................................................... 25
3.1.4.
3.2.
Encoder type ........................................................................................................ 26
3.3.
Encoder signal output ........................................................................................... 27
3.4.
Path planning ....................................................................................................... 28
3.5.
Servo loops and gains .......................................................................................... 30
3.6.
Gain margin and phase margin ............................................................................ 31
Nyquist diagram .......................................................................................... 31
3.6.1.
Bode diagram ............................................................................................. 32
3.6.2.
3.7.
Move and settling ................................................................................................. 34
3.8.
Error compensation .............................................................................................. 35
3.9.
Velocity ripple ....................................................................................................... 36
3.10.
Enable .................................................................................................................. 37
3.11.
Common physical quantities ................................................................................. 38
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