Hiwin D2 - Operation Principles; Operation Modes; Encoder Type; Encoder Signal Output

D2 Drive User Guide v1.8 Table of Contents
HIWIN Mikrosystem Corp. iii
4.6.1. System wiring diagram for pulse command................................................. 65
4.6.2. System wiring diagram for voltage command .............................................. 73
4.6.3. System wiring diagram for PWM command ................................................ 75
5. Drive Configuration ......................................................................................................... 79
5.1. Installation and communication ............................................................................ 80
5.1.1. Setup files ................................................................................................... 80
5.1.2. Communication setup ................................................................................. 81
5.1.3. HMI main window ....................................................................................... 83
5.2. Configuration center ............................................................................................. 86
5.2.1. Motor configuration ..................................................................................... 86
5.2.2. Encoder configuration ................................................................................. 88
5.2.3. Operation mode configuration ..................................................................... 94
5.2.4. Modbus communication configuration ......................................................... 96
5.2.5. Completing configuration procedure ........................................................... 97
5.3. Auto phase center ................................................................................................ 98
5.3.1. Function description .................................................................................... 98
5.3.2. Pre-operation .............................................................................................. 98
5.3.3. Setting procedure ....................................................................................... 99
5.3.4. Troubleshooting ........................................................................................ 100
5.4. Auto tune center ................................................................................................. 101
5.4.1. Function description .................................................................................. 101
5.4.2. Announcements ........................................................................................ 104
5.4.3. Troubleshooting ........................................................................................ 104
5.5. I/O center ........................................................................................................... 106
5.5.1. Digital input ............................................................................................... 106
5.5.2. Digital output ............................................................................................. 117
5.5.3. Analog output ........................................................................................... 122
5.5.4. Extension I/O ............................................................................................ 123
5.6. In-position signal setting ..................................................................................... 124
5.7. Homing configuration ......................................................................................... 126
5.7.1. Go left and right for homing ...................................................................... 128
5.7.2. Use near home sensor/index for homing .................................................. 130
5.7.3. Use multi-turn absolute encoder for homing.............................................. 132
5.7.4. Use homing methods in CiA 402 protocol ................................................. 133
5.8. Save parameters to Flash and recover to factory default .................................... 138
5.8.1. Save parameters to Flash ......................................................................... 138
5.8.2. Recover to factory default ......................................................................... 138
5.9. Parameter setting examples via HMI .................................................................. 140
5.9.1. Position mode ........................................................................................... 140
5.9.2. Velocity mode ........................................................................................... 142
5.9.3. Force/Torque mode .................................................................................. 143
5.9.4. Stand-alone mode .................................................................................... 145
6. Drive Tuning ................................................................................................................. 147
6.1. Status display and quick view ............................................................................. 148
6.1.1. Status display ........................................................................................... 148
6.1.2. Quick view ................................................................................................ 148
6.1.3. Software shortcuts .................................................................................... 149
6.2. Performance center ............................................................................................... 150
6.3. Scope ................................................................................................................. 153
6.4. Data collection .................................................................................................... 155
6.4.1. Function description .................................................................................. 155
6.4.2. Data collection via PDL ............................................................................. 156
6.5. Plot view ............................................................................................................. 157
6.5.1. Graphic display mode ............................................................................... 157
6.5.2. Save/open file ........................................................................................... 161