D2 Drive User Guide v1.8 3. Operation Principles
HIWIN Mikrosystem Corp. 25
direction.
(1) Use voltage command
The drive converts the analog voltage to the velocity command to control the speed of
motor movement. The higher the voltage is, the faster the output speed is. However, the
maximum output speed is limited by the maximum motor speed. The lower the voltage is,
the slower the output speed is. When the voltage value is negative, the output speed is
negative and the motor moves in the reverse direction. The drive can set the command
speed corresponding to the voltage per unit.
(2) Use PWM command
The drive converts the PWM signal to the velocity command to control the speed of motor
movement. It can set the command speed corresponding to “Full PWM”.
3.1.3. Force/torque mode
In the force/torque mode, the command from the host controller, which can be received by the
drive, is the same as that in the velocity mode. There are V command and PWM command.
After the drive receives these two commands, it converts them to the corresponding current to
drive the motor.
(1) Use voltage command
The drive converts the analog voltage to the current command. By controlling the output
current of drive, it can control the force or torque of motor movement. The higher the
voltage is, the larger the output current is. However, the maximum output current is limited
by the maximum motor current. The lower the voltage is, the smaller the output current is.
When the voltage value is negative, the output current is negative and the motor moves in
the reverse direction. The drive can set the command current corresponding to the
voltage per unit.
(2) Use PWM command
The drive converts the PWM signal to the current command to control the force or torque
of motor movement. It can set the command current correspond to “Full PWM”.
3.1.4. Stand-alone mode
There is one high-speed DSP on the inside of drive. Therefore, the drive can plan the motion
profile by itself. If the drive needs to do test alone or without any host controller (e.g. only the
servo motor and drive), the stand-alone mode can be selected to let drive be responsible for
all control loops.
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