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E1 Series
Hiwin E1 Series Manual
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E1 Series Servo Dr
ive Thunder Software Operation
Manual
Thunder Overv
iew
HIWIN MIKROSYST
EM CORP
.
1-
11
MD12UE01-
2012
Servo
signal
status
(51)
S-ON //servo on
input signal
(52)
P-CON //proportional
control input signal
(53)
P-OT //forward
prohibition input
signal
(54)
N-OT //reverse
prohibition input
signal
(55)
ALM-RST //alarm
reset input signal
(56)
P-CL //forward
external torque limit
input signal
(57)
N-CL //reverse
external torque limit
input signal
(58)
C-SEL //control
method switching
input signal
(59)
SPD
-D //motor
rotation direction
input signal
(60)
SPD
-A //internal set
velocity input signal
(61)
SPD
-B //internal set
velocity input signal
(62)
ZCLAMP //zero
clamp input signal
(63)
INHIBIT //command
pulse inhibition input
signal
(64)
G-SEL //gain
switching input signal
(65)
PSEL //command
pulse multiplication
switching input signal
(66)
RST //servo drive
reset input signal
(67)
DOG(DEC) //near
home sensor input
signal
(68)
HOM //servo drive
built
-in homing
24
26
Table of Contents
Table of Contents
9
1. Thunder Overview
15
1.1 Brief introduction
16
1.2 System requirements
17
1.3 Thunder functions
18
1.4 Main window
19
1.5 Function list
20
2. Install Thunder
29
2.1 Brief introduction
30
2.2 Download Thunder
31
2.3 Install Thunder
35
2.4 Install USB driver
39
2.5 Remove Thunder
44
3. Start Thunder
47
3.1 Brief introduction
48
3.2 Connection and communication settings
49
3.2.1 Brief introduction
49
3.2.2 Connect via USB
50
3.2.3 Connect via mega-ulink
52
3.2.3.1 Multi-axes connection
52
3.2.3.2 Switch to different axis
55
3.2.3.3 Modify axis name
56
3.2.4 Off-line mode
57
3.3 Mastership switching
60
3.3.1 From Controller to Thunder
61
3.3.2 From Thunder to Controller
62
3.4 Update firmware
63
4. Servo Drive Configuration
65
4.1 Brief introduction
67
4.2 Pre-configuration function
68
4.3 Configuration Wizard
70
4.3.1 Brief introduction
70
4.3.2 Power Setup
71
4.3.3 Motor Setup
73
4.3.3.1 Edit motor parameters
74
4.3.3.2 Save / Load motor parameters file (*.mot)
76
4.3.4 Encoder Setup
78
4.3.4.1 Edit encoder parameters
79
4.3.4.2 Save / Load encoder parameters file (*.enc)
84
4.3.5 Control Mode Setup
86
4.3.6 Command Input Setup
88
4.3.6.1 Velocity mode
88
4.3.6.2 Position mode
90
Rotary motor’s pulse command input setup
90
Linear motor’s pulse command input setup
93
Fieldbus servo drive’s position command input setup
95
4.3.6.3 Electronic gear ratio setting
96
All mechanical structure’s electronic gear ratio setting (except for linear motor and full-closed loop)
97
Full-closed loop’s electronic gear ratio setting
100
Linear motor’s electronic gear ratio setting
101
4.3.6.4 Torque mode
102
4.3.6.5 Internal velocity mode
103
4.3.6.6 Internal position mode
104
4.3.7 Emulated Encoder Output Setup
106
4.3.8 I/O configuration
108
4.3.9 Send to drive
109
4.4 Parameters Setup
111
4.4.1 Brief introduction
111
4.4.2 Edit parameters
112
4.4.2.1 Parameters comparison
113
4.4.2.2 Set Pt parameters
114
4.4.2.3 User-defined parameters
116
Add new parameter
116
Delete selected parameter
118
Save parameter list as a file
119
Load parameters from file
120
4.4.2.4 Send to drive
121
4.4.3 Create a servo drive parameters file
122
4.4.3.1 Brief introduction
122
4.4.3.2 Save servo drive parameters file (*.prm)
122
4.4.3.3 Load servo drive parameters file (*.prm)
124
4.4.4 Send the parameters to servo drive
127
4.4.5 Reset drive
128
4.4.6 Set to factory default
130
4.4.6.1 Brief introduction
130
4.4.6.2 Set to factory default
131
4.4.6.3 Clear error map table
132
4.4.6.4 Disable multi-motion function
133
4.4.6.5 Clear PDL
134
4.5 I/O configuration
135
4.5.1 Brief introduction
135
4.5.2 Configuration of digital input signals
136
4.5.3 Configuration of digital output signals
139
4.5.4 Check configuration of I/O signals
142
4.6 Phase initialization setup
143
4.6.1 Brief introduction
143
4.6.2 Direction test
145
4.6.2.1 Parameters setup for direction test
145
Motor moving velocity
145
Exciting current
146
Motor travel distance
147
4.6.2.2 Start direction test
148
Single-signal encoder test
148
Double-signal encoder test
150
4.6.3 Phase initialization function
152
4.6.3.1 SW method 1
153
4.6.3.2 STABS test/tune
154
4.6.3.3 Digital hall
155
4.6.4 Start phase initialization
157
5. Perform Test Run
159
5.1 Brief introduction
160
5.2 Test Run
161
5.2.1 Brief introduction
161
5.2.2 Position mode
161
5.2.3 Velocity mode
166
5.3 Homing Operation
169
6. Tuning
181
6.1 Brief introduction
182
6.2 Auto tune
184
6.3 Tuneless
189
6.4 Spectrum analyzer
192
7. Monitoring
197
7.1 Brief introduction
198
7.2 Monitor servo drive’s information
199
7.3 Monitor servo drive’s signal status
201
7.3.1 Lissajous
205
7.3.1.1 Waveform display area
206
Mode
207
View
208
Range
209
Off
210
7.4 Performance monitor
211
7.5 Scope
213
7.5.1 Current monitoring item
216
7.5.2 Start scope with pre defined variables/scenarios
217
7.5.3 Fix range/Auto range setup
219
7.5.4 Grid light
220
7.5.5 Set number of scope channels
222
7.5.6 Start or pause waveform monitoring
223
7.5.7 Monitoring items
224
7.6 Real-time data collection
226
7.6.1 Interface introduction
227
7.6.1.1 Save record settings
228
7.6.1.2 Load record settings
229
7.6.1.3 Operation and settings for collection
230
Collect variables
231
Start and stop collection
233
Start event and stop event for collection
235
Display waveform
237
7.6.1.4 Add new tab
238
7.6.1.5 Sampling settings
239
Sampling number and sampling rate
239
Background updating
241
7.6.2 Plot view
242
7.6.2.1 Open
243
7.6.2.2 Save
244
7.6.2.3 Set show mode
245
7.6.2.4 Set maximum number of graph views
247
7.6.2.5 Zoom the area between cursors
250
7.6.2.6 Undo zoom
251
7.6.2.7 Redo zoom
252
7.6.2.8 Statistics table
253
8. Troubleshooting
255
8.1 Brief introduction
256
8.2 Real-time monitoring
257
8.2.1 Brief introduction
257
8.2.2 Alarm monitoring
257
8.2.3 Warning monitoring
258
8.3 Error log
259
9. Advanced Functions
263
9.1 Brief introduction
265
9.2 Multi-motion setting
265
9.2.1 Brief introduction
265
9.2.2 Preparation
267
9.2.3 Set multi-motion parameters
268
9.2.4 Send multi-motion parameters to servo drive and activate multi-motion function
273
9.2.5 Read multi-motion parameters from servo drive
274
9.2.6 Load multi-motion parameters file (*.mtk)
275
9.2.7 Save multi-motion parameters file (*.mtk)
276
9.2.8 Clear multi-motion parameters and disable multi-motion function
277
9.2.9 Instructions for customized motion
278
9.3 Absolute encoder initialization
281
9.3.1 Brief introduction
281
9.3.2 Interface introduction
282
9.3.2.1 Message field
283
9.4 Analog offset
284
9.4.1 Brief introduction
284
9.4.2 Interface introduction
284
9.5 PDL
286
9.5.1 Brief introduction
286
9.5.2 Open PDL
287
9.5.3 Compile and save PDL
288
9.6 Error map setup
290
9.6.1 Brief introduction
290
9.6.2 Error map setup
291
9.6.2.1 Error map information setting
292
9.6.2.2 Load error map
294
9.6.2.3 Save / Read error map
295
9.6.3 Activate error map
297
9.7 Gantry control system
298
9.7.1 Brief introduction
298
9.7.2 Preparation
299
9.7.3 Gantry setting
300
9.8 Dynamic brake resistor wizard
303
9.8.1 Brief introduction
303
9.8.2 Motor parameters setting
304
9.8.2.1 Motor parameters
306
9.8.2.2 HIWIN motor
307
9.8.2.3 Read parameters
308
9.8.2.4 Other brand motor
309
9.8.3 Application parameters setting
310
9.8.4 Calculation results
312
9.8.5 Save / Load
316
10. Basic Settings of Thunder Interface
319
10.1 Brief introduction
320
10.2 Display unit switching
320
10.2.1 Brief introduction
320
10.2.2 Unit options
321
10.2.3 Display unit setting
322
10.2.3.1 User-defined
323
10.2.3.2 Auto set
324
10.2.3.3 Where to apply
326
10.3 Language switching
329
10.3.1 Brief introduction
329
10.3.2 Language switching setting
329
10.4 Help
330
10.4.1 Brief introduction
330
10.4.2 Help setting
330
11. Appendix
333
11.1 Examples for servo drive configuration
334
11.1.1 AC servo motor (EM1 series)
335
11.1.2 DM direct drive motor (RM series)
338
11.1.3 Linear motor
342
Other manuals for Hiwin E1 Series
User Manual
394 pages
Command Manual
78 pages
Operation Procedure
7 pages
4
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Hiwin E1 Series Specifications
General
Brand
Hiwin
Model
E1 Series
Category
Servo Drives
Language
English
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