D2 Drive User Guide v1.8 Table of Contents
HIWIN Mikrosystem Corp. iv
6.5.3.
Mathematical operation ............................................................................ 162
6.6.
Advanced gains .................................................................................................. 165
6.6.1.
Filter ......................................................................................................... 165
6.6.2.
Acceleration feed-forward ......................................................................... 167
6.6.3.
Schedule gains and velocity loop gain ...................................................... 169
6.6.4.
Analog input.............................................................................................. 172
6.6.5.
Current loop .............................................................................................. 173
6.6.6.
Vibration suppression feature ................................................................... 173
6.6.7.
Friction compensation ............................................................................... 177
6.7.
Loop constructor................................................................................................. 179
6.7.1.
Load/Save file ........................................................................................... 180
6.7.2.
Tool .......................................................................................................... 181
6.7.3.
Filter ......................................................................................................... 184
6.7.4.
Gain tuning ............................................................................................... 185
6.7.5.
Spectrum analysis .................................................................................... 186
6.8.
Encoder signal confirmation ............................................................................... 187
6.9.
Error map function .............................................................................................. 188
6.9.1.
Set error map ............................................................................................ 188
6.9.2.
Enable error map ...................................................................................... 190
6.9.3.
Save/open error map ................................................................................ 190
6.9.4.
Change start position ................................................................................ 191
6.10.
Backlash compensation ...................................................................................... 196
7.
LCD Operation .............................................................................................................. 197
7.1.
LCD function ...................................................................................................... 198
7.1.1.
Panel description ...................................................................................... 198
7.1.2.
Operation page description ....................................................................... 198
7.2.
Parameter initialization via LCD .......................................................................... 200
7.3.
Home page ......................................................................................................... 202
7.4.
Display parameters page .................................................................................... 204
7.5.
Change parameters page ................................................................................... 206
7.5.1.
Save to Flash ............................................................................................ 207
7.5.2.
Parameter edit function ............................................................................. 208
7.5.3.
Advanced parameter zone ........................................................................ 211
7.6.
Actions page ...................................................................................................... 219
7.6.1.
Enable/Disable ......................................................................................... 220
7.6.2.
JOG .......................................................................................................... 221
7.6.3.
Absolute coordinate motion ...................................................................... 222
7.6.4.
Auto tune .................................................................................................. 222
7.6.5.
Set position to zero ................................................................................... 223
7.7.
Parameter setting examples via LCD ................................................................. 224
7.7.1.
Position mode ........................................................................................... 224
7.7.2.
Velocity mode ........................................................................................... 227
7.7.3.
Force/torque mode ................................................................................... 229
7.7.4.
Stand-alone mode .................................................................................... 231
8.
Protection Function ....................................................................................................... 233
8.1.
Motion protection ................................................................................................ 234
8.2.
Position and velocity errors protection ................................................................ 237
8.2.1.
Position error limit ..................................................................................... 237
8.2.2.
Position error and velocity error warnings ................................................. 237
8.3.
Brake output ....................................................................................................... 238
8.4.
Limit protection ................................................................................................... 242
8.4.1.
Hardware limit protection .......................................................................... 242
8.4.2.
Software limit protection............................................................................ 242
8.5.
Over temperature protection ............................................................................... 244
8.5.1.
Soft-thermal protection ............................................................................. 244
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