Download D2 Drive User's Manual

D2 Drive
HIWIN MIKROSYSTEM CORP.
No.6, Jingke Central Rd.,
Taichung Precision Machinery Park,
Taichung 40852, Taiwan
Tel: +886-4-23550110
Fax: +886-4-23550123
www.hiwinmikro.com.tw
[email protected]
2013 FORM D01UE01-1310
User’s Manual
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Operation Manual for D2 Motor Drive System
1 About the Operation Manual
‹ Users should read the EM information, safety information, and all related instructions
before using the product.
‹ The safety instructions in the Operation Manual are categorized under the "Warning",
"Attention", "Prohibited" and "Required" sections.
2 Overview of the
Specifications
Warning
Inappropriate operation may bring about danger or result in serious injury or death.
Inappropriate operation may bring about disability, light injury or material damage.
1 About the Operation
Manual
1.2 Safety instructions
‹ Please read this Operation Manual carefully before installation, transportation,
maintenance and inspection, and ensure the product is used appropriately.
3 Wiring
Attention
Prohibited
4 Settings
Actions marked
Attention may have a serious consequence. All such
instructions are important and must be followed.
Indicates that the action is forbidden and must not be done.
5 LCD
Required
Indicates that the action is compulsory and must be done.
6 Tuningt
7 Protection 8 Applications
9
Troubleshooting
3
HIWIN MIKROSYSTEM CORP.
Operation Manual for D2 Motor Drive System
1 About the Operation Manual
1 About the Operation
Manual
‹ Usage instructions
Warning
2 Overview of the
Specifications
1. Do not touch the terminal or the inside of the product when it is
powered in order to avoid electric shock.
2. Do not cut the cable, apply too much stress to it, or place
heavy objects on it. Laying the cable between objects may
increase the risk of fire or electric shock.
Attention
1. Do not install the product in a place exposed to moisture or
erosion, or in an environment containing ignitable gas. Do not
use the product close to any flammable objects.
3 Wiring
‹ Storage
Prohibited
4 Settings
1. Do not store the product in a place exposed to water,
moisture, direct sunlight, or harmful gas or liquids.
‹ Handling
Attention
5 LCD
1. Be careful when handling the product to avoid damage.
2. Use appropriate handling methods and do not apply too much
pressure to the case.
3. The product shall not be stacked to avoid instability or
collapse.
6 Tuning
‹ Installation location
7 Protection 8 Applications
Required
9
Troubleshooting
1. The product shall not be installed in a place exposed to high
temperatures, high humidity, or flying dust, iron powder or
metal fragments.
2. Install the product in a place where the ambient temperature
meets the requirements of the Operation Manual. Use a
cooling fan in case of potential high temperatures.
3. Do not install the product in a place exposed to direct sunlight.
4. Since the product does not have a waterproof or
moisture-proof case, do not use it outdoors or install it in a
place where water or other liquids exist.
5. Install the product in a place vibrations are as low as possible.
6. Depending on the frequency of use, heat is generated when
the motor is used continuously. Use a cooling fan, or set the
product to standby if it stops, in order to lower the ambient
temperature of the product so it does not exceed the specified
value.
4
HIWIN MIKROSYSTEM CORP.
Operation Manual for D2 Motor Drive System
1 About the Operation Manual
Attention
1. Correct and reliable wiring must be used to ensure stable
operation and avoid damage, fire or injury.
5 LCD
‹ Operation and transportation
Attention
1. An external emergency stop line must be wired to cut
power and stop the product at any time.
‹ Maintenance
Prohibited
5
9
Troubleshooting
1. Do not dismantle or modify the product.
2. Do not attempt to repair any product malfunction. Instead,
send the product back to WKH&RPSDQ\¶Vprofessional
technicians for repair.
7 Protection 8 Applications
Required
6 Tuningt
1. Ensure the power source specifications are correct to avoid
fire or injury.
2. The product may restart suddenly after power is restored.
Do not come too close to the product.
HIWIN MIKROSYSTEM CORP.
4 Settings
Attention
3 Wiring
‹ Wiring
2 Overview of the
Specifications
1. Do not place any heavy objects on the product to avoid
damage.
2. Do not mix with foreign matter or debris to avoid fire.
3. Ensure that the product is oriented and installed in the
specified direction to avoid fire.
4. Protect the product from high impact shocks to avoid
damage or injury.
5. The product weight must be taken into account during
installation. Inappropriate installation may cause damage
or injury.
6. Install the product on a metal or similar noncombustible
rack to avoid fire.
1 About the Operation
Manual
‹ Installation
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Operation Manual for D2 Motor Drive System
1 About the Operation
Manual
4.3.3
4 Settings
Auto phase initialization setup procedure
4.3.3.1 SW method 4
Step
Operation
Phase initialization method:
If user select that motor of model
number ninth digit is 5. Lightening
will automatically sets SW method
4.
Phase initialization and auto tune:
&OLFNWKHµ([HFXWH¶EXWWRQDVLQWKH
left figure, to start the phase
LQLWLDOL]DWLRQ7KHµDXWRWXQH¶ZLQGRZ
pops up when the initialization is
complete. Use
and
to
drive the motor and keep it
operating continuously. Confirm that
the motor has moved far from the
stop.
After the motor has moved, click the
µ3URFHHG¶EXWWRQWRVWDUWWKHauto
tune&OLFNWKHµ&ORVH¶EXWWRQWR
close the window after the tuning
has been completed. Now the auto
phase initialization is complete and
test run functions can be performed.
Graphical (HMI) description
1
2 Overview of the
Specifications
3 Wiring
4 Settings
2
5 LCD
Ɉ Note: Hard ware enable needs to
be triggered for this step.
Ɉ Note: Observe whether the
and
lights are green to check if the
phase initialization was executed
successfully and if the servo
close-loop control is ready.
澿Note: The
status
indicator flashes green during the
auto gain process. The auto tuning
is complete when it is continuously
lit green or not continuously lit red.
In this case, close the auto tune
window and repeat Step 2.
Motion direction definition and
setting the inverse direction: If after
executing the continuous motion in
Step 2 the direction of the motor is
opposite that defined by users,
close the auto tune window and
open the window as shown in the
OHIWILJXUH1H[WFOLFNWKHµ7RJJOH¶
button in the window to set the
inverse direction and carry out Step
2 again.
6 Tuning
7 Protection 8 Applications
9
Troubleshooting
3
澿Note: If the motor is used in a
vertical application and there is a
braking mechanism, the motor will
be de-excited if the direction of the
motion is set to opposite. This may
have a slide down effect.
84
HIWIN MIKROSYSTEM CORP.
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Operation Manual for D2 Motor Drive System
4 Settings
1 About the Operation
Manual
Phase initialization and auto tune:
&OLFNWKHµ([HFXWH¶EXWWRQDVLQWKH
left figure, to start the phase
LQLWLDOL]DWLRQ7KHµDXWRWXQH¶ZLQGRZ
pops up when the initialization is
complete. Use
and
to drive
the motor and keep it operating
continuously. Confirm that the motor
has moved far from the stop.
After the motor has moved, click the
µ3URFHHG¶EXWWRQWRVWDUWWKHDXWR
WXQH&OLFNWKHµ&ORVH¶EXWWRQWRFORse
the window after the tuning has been
completed. Now the auto phase
initialization is complete and test run
functions can be performed.
2 Overview of the
Specifications
4
3 Wiring
Ɉ Note: The exciting signal of the
host controller needs to be triggered
for this step.
Ɉ Note: Observe whether the
and
lights are green to check if the phase
initialization was executed
successfully and if the servo
close-loop control is ready.
澿Note: The
status
indicator flashes green during the
auto gain process. The auto tuning is
complete when it is continuously lit
green or not continuously lit red. In
this case, close the auto tune window
and repeat Step 4.
Definition of the motion direction and
setting of the inverse direction: If
after execution of the continuous
motion in Step 4, the direction of the
motion defined for the motor is found
opposite to the direction defined by
users, close the Auto tune window
and open the window as shown in
the left figure. Then click the Toggle
button in the window to set the
inverse direction and carry out Step 4
again.
4 Settings
5 LCD
6 Tuning
7 Protection 8 Applications
5
9
Troubleshooting
ɈNote: If the motor is used in a
vertical axis application and there is
a braking mechanism, the motor will
be de-excited if the direction of the
motion is set opposite. This may
have a slide down effect.
Phase initialization and performance
tuning:
This method only needs a slight
movement of the motor to execute
the phase initialization. The
performance of the initialization is
adapted along with the auto tune in
Step 4. The result of the tuning can
be confirmed in the following four
steps:
6
1. &OLFNWKHµ6WDUW60&/¶ button to
perform the motor angle searching
86
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Operation Manual for D2 Motor Drive System
4 Settings
1 About the Operation
Manual
4.3.3.3 SW method 5
Step
Operation
Graphical (HMI) description
Phase initialization method setting:
If a motor is used in conjunction with
a 13-bit digital incremental encoder,
lightening will automatically set SW
method 5.
1
2 Overview of the
Specifications
SM mode excitation:
&OLFNWKHµ60HQDEOH¶EXWWRQDQGWKH
µ(QDEOHG¶LQGLFDWRUZLOOWXUQJUHHQ
Ɉ Note: When the motor is excited in
SM mode, the drive outputs the
current continuously as set in the
µ&XUUHQW¶60PRGHILHOG+HQFH
excitation in the SM mode should not
last too long to avoid overheating the
motor.
Ɉ Note: The exciting signal of the
host controller needs to be triggered
for this step.
Testing the direction of the motion in
SM mode: Drag the slider bar to the
left and right. The motor should
rotate when the slider bar is dragged.
The normal direction is to the right
side and the inverse direction is to
the left side.
2
3 Wiring
4 Settings
5 LCD
Normally the Phase error (Elec. deg)
arrow lies inside the green area (-30
to +30 degrees). After releasing the
VOLGHUEDUWKHPHVVDJHµ)HHGEDFN
GHWHFW2.¶ZLOODSSHDURQWKHVFUHHQ
in Step 2 showing that this step is
complete.
If the arrow moves randomly, release
the slider bar and then try to drag it
again.
6 Tuning
7 Protection 8 Applications
3
9
Troubleshooting
4
Select SW method 5 auto tuning function
88
HIWIN MIKROSYSTEM CORP.
Ɉ Note: If the arrow still moves
randomly after dragging the slider
bar again, please confirm the
following:
1. The motor power line and the
encoder feedback signal line are
correctly connected.
2. The encoder settings and the
parameter settings of the motor
are correct. Go to the
Configuration Center to check if
the parameter settings (such as
the resolution of the encoder and
the pole-pair counts of the motor)
are correct.
Ɉ Note: The exciting signal of the
host controller needs to be triggered
for this step.
SW method 5 auto tuning function:
&OLFNWKHµ7XQLQJ¶EXWWRQDVLQWKHOHIW
figure, to automatically adapt the
current value for phase initialization.
The maximum value shall not be
greater than the peak current of the
Operation Manual for D2 Motor Drive System
4 Settings
5 LCD
6 Tuning
7 Protection 8 Applications
9
Troubleshooting
89
HIWIN MIKROSYSTEM CORP..
4 Settings
6
3 Wiring
Ɉ Note: The exciting signal of the
host controller needs to be triggered
for this step.
Ɉ Note: Observe whether the
and
lights are green to check if the phase
initialization was executed
successfully and if the servo
close-loop control is ready.
ɈNote: The
status
indicator flashes green during the
auto gain process. The auto tuning is
complete when it is continuously lit
green or not continuously lit red. In
this case, close the auto tune window
and repeat Step 5.
Motion direction definition and setting
the inverse direction: If after
executing the continuous motion in
Step 4 the direction of the motor is
opposite that defined by users, close
the auto tune window and open the
window as shown in the left figure.
1H[WFOLFNWKHµ7RJJOH¶EXWWRQLQWKH
window to set the inverse direction
and carry out Step 5 again.
ɈNote: If the motor is used in a
vertical application and there is a
braking mechanism, the motor will be
de-excited if the direction of the
motion is set to opposite. This may
have a slide down effect.
2 Overview of the
Specifications
5
1 About the Operation
Manual
motor.
Ɉ Note: The exciting signal of the
host controller needs to be triggered
for this step.
澿 Note: SW method 5 may cause
noise during the operation and auto
tuning; this is normal. The higher
the current, the higher the noise will
be. It may also change depending on
the mechanisms used and the load
intensity.
Phase initialization and auto tune:
&OLFNWKHµ([HFXWH¶EXWWRQDVLQWKH
left figure, to start the phase
LQLWLDOL]DWLRQ7KHµDXWRWXQH¶ZLQGRZ
pops up when the initialization is
complete. Use
and
to drive
the motor and keep it operating
continuously. Confirm that the motor
has moved far from the stop.
After the motor has moved, click the
µ3URFHHG¶EXWWRQWRVWDUWWKHDXWR
WXQH&OLFNWKHµ&ORVH¶EXWWRQWRFORVH
the window after the tuning has been
completed. Now the auto phase
initialization is complete and test run
functions can be performed.
Operation Manual for D2 Motor Drive System
4 Settings
1 About the Operation
Manual
4.3.3.4 SW method 3
Step
Operation
Graphical (HMI) description
Phase initialization method
:
If a motor is used in conjunction with
the drive that has 4 in the ninth code
of the model number and a 17-bit
digital incremental encoder, and the
ninth digit of its model number is 3,
the system automatically sets the
phase initialization method to SW
method 3.
Phase initialization and auto tune:
&OLFNWKHµ([HFXWH¶EXWWRQDVLQWKH
left figure, to start the phase
LQLWLDOL]DWLRQ7KHµDXWRWXQH¶ZLQGRZ
pops up when the initialization is
complete. Use
and
to drive
the motor and keep it operating
continuously. Confirm that the motor
has moved far from the stop.
After the motor has moved, click the
µ3URFHHG¶EXWWRQWRVWDUWWKHDXWR
WXQH&OLFNWKHµ&ORVH¶EXWWRQWRFORVH
the window after the tuning has been
completed. Now the auto phase
initialization is complete and test run
functions can be performed.
1
2 Overview of the
Specifications
3 Wiring
4 Settings
5 LCD
2
6 Tuning
Ɉ Note: The exciting signal of the
host controller needs to be triggered
for this step.
Ɉ Note: Observe whether the
and
lights are green to check if the phase
initialization was executed
successfully and if the servo
close-loop control is ready.
澿Note: The
status
indicator flashes green during the
auto gain process. The auto tuning is
complete when it is continuously lit
green or not continuously lit red. In
this case, close the auto tune
window and repeat Step 2.
Motion direction definition and
setting the inverse direction: If after
executing the continuous motion in
Step 2 the direction of the motor is
opposite that defined by users, close
the auto tune window and open the
window as shown in the left figure.
1H[WFOLFNWKHµ7RJJOH¶EXWWRQLQWhe
window to set the inverse direction
and carry out Step 2 again.
7 Protection 8 Applications
9
Troubleshooting
3
澿Note: If the motor is used in a
vertical application and there is a
braking mechanism, the motor will be
de-excited if the direction of the
motion is set to opposite. This may
have a slide down effect.
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Operation Manual for D2 Motor Drive System
4 Settings
4.5.1
Function overview
4.5.2
Settings
3 Wiring
Click
to enter the Performance Center. The In-Position settings screen is displayed
LQWKHµ3RVLWLRQ¶WDEUsers can click the ´6HWVFRSH«´ (
) button to capture the
waveform, if needed, from the scope window. The in-position signal is used by O2 by
default. Please refer to 4.4.2 for digital output settings.
2 Overview of the
Specifications
In the servo system, both the target position and encoder feedback position have a
position error. A setting period (or setting time) is needed for the motor to enter the
target radius when it moves to the target position. The D2 drive provides an In-Position
settings interface. This enables users to observe if the motor reaches the target position
by setting the target radius and debounce time. This status can be sent to the host
controller in the form of a digital signal.
1 About the Operation
Manual
4.5 In-Position setting
4 Settings
5 LCD
6 Tuning
7 Protection 8 Applications
113
HIWIN MIKROSYSTEM CORP..
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Troubleshooting
Fig. 4-34 Scope window
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Operation Manual for D2 Motor Drive System
4 Settings
4.6.1
Position mode
4.6.1.1 Basic setting of position mode
The basic setting of the position mode is described below.
Step
Graphical (HMI) description
Operation
In the Configuration Center,
VHOHFWWKH³0RGH´WDE, as
show n the left figure)
4
In the mode operation page,
select ´Position 0RGH´, as
show on the on the left
figure)
7 Protection 8 Applications
3
6 Tuning
2
Click the Configuration
Center icon (as shown on
the left) in the main function
tool bar of the HMI, or select
the Configuration Center
RSWLRQIURP³&RQI7XQH´LQ
the function menu.
5 LCD
Execute the Lightening HMI
Program
4 Settings
1
3 Wiring
Step 1: Mode selection
The steps for selecting the position mode via HMI are described below.
2 Overview of the
Specifications
The host controller sends a pulse to the drive, and this pulse is similar to position
command, thus the drive moves a corresponding distance when it receives a pulse. The
host controller is responsible for planning the route. The pulse is sent more quickly on
acceleration, and is sent at a fixed frequency on constant speed.
1 About the Operation
Manual
4.6 Parameter overview and configuration of
mode
9
Troubleshooting
115
HIWIN MIKROSYSTEM CORP..
Operation Manual for D2 Motor Drive System
4 Settings
1 About the Operation
Manual
Step 2: Selecting the pulse format
The pulse is generated in three formats: Pulse/Dir, Pulse Up/Pulse Down or CW/CCW,
and AqB phase (Quadrature) square wave as shown in the figure below.
PULSE input
2 Overview of the
Specifications
DIR input
3 Wiring
Normal
Inverse
Normal
Inverse
Normal
Inverse
CW input
CCW input
4 Settings
A phase input
5 LCD
B phase input
6 Tuning
The steps for selecting the pulse format via HMI are described below.
7 Protection 8 Applications
Step
Graphical (HMI) description
Operation
In the Mode operation
page, select the pulse
format on the ³Control
Input´ for the requirement,
as shown on the left figure.
1
9
Troubleshooting
Select the pulse command
trigger method on
³,QFUHPHQW3RVLWLRQ2Q´
for the requirement, as
show on the left figure.
2
(Note: This setting is only
QHHGHGZKHQµ3XOVHDQG
'LUHFWLRQ¶RUµ3XOVH
8S3XOVH'RZQ¶LV
selected)
116
HIWIN MIKROSYSTEM CORP.
Operation Manual for D2 Motor Drive System
4 Settings
The steps for setting the electronic gear ratio via HMI are described below.
Graphical (HMI) description
1
9
Troubleshooting
117
HIWIN MIKROSYSTEM CORP..
7 Protection 8 Applications
6
&OLFNWKHµ6DYHWR)ODVK¶
button in the HMI main
function tool bar to save
the parameters in the
flash memory. This will
6 Tuning
5
The parameter
confirmation screen
appear, click the ³Send to
RAM´, as show on the left
figure.
5 LCD
4
4 Settings
3
3 Wiring
2
Operation
In the Mode operation
page, set the electronic
gear radio on ³(OHFWURQLF
*HDU´ for the requirement,
as show (a) on the left
figure.
In the Mode operation
page, select the pulse
command invert on ³Invert
Command´ for the
requirement, as show (b)
on the left figure.
In the Mode operation
page, depending on the
hardware wiring method,
select high/low command
pulse input on ³Hardware
Interface´, as show (c) on
the left figure.
After finishing all the
setting, click the ³OK´
button, as show on the left
figure.
2 Overview of the
Specifications
Step
1 About the Operation
Manual
Step 3: Electronic gear setting
The electronic gear can be set in the pulse mode. One input pulse normally corresponds
to one encoder count. For example, the gear ratio is 2:3, means two input pulses
correspond to three encoder counts. Total of four sets electronic gear radio can be set.
They can be switched using two I/Os (DIV1 and DIV2). They can be switched using two
I/Os (DIV1 and DIV2).
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Operation Manual for D2 Motor Drive System
4 Settings
Graphical (HMI) description
4 Settings
1
5 LCD
Operation
Click the Performance
Center icon (as shown
on the left) in the main
function tool bar of the
main HMI window, or
select the
Performance Center
option from
µ&RQI7XQH¶LQWKH
function menu.
3 Wiring
Step
2 Overview of the
Specifications
The steps for setting the smooth factor via HMI are described below.
1 About the Operation
Manual
Step 4: Smooth factor
Rapid increases or decreases in acceleration in a short period of time mean that the
force on an object in motion can suddenly increase or decrease. Application of the
smooth motion technique to the motion control loop is helpful for maintaining
performance and reducing such impacts. The D2 drive uses a smooth factor to
determine the S-curve or T-curve track and the adjustment range is 0-500. The track is
closer to an S-curve with a higher adjustment value, and is closer to a T-curve with a
lower adjustment value. A value of 1 means no smooth function is enabled. When a
higher smooth factor is used, in some cases the reduced output force of the motor is
helpful for the final settings during the positioning process. However, the move time will
unavoidably increase when the motion becomes smoother. Tests on the machine are
needed to adjust the smooth factor and reach a balance. The motion protection function
can be disabled when the smooth factor is set to 0.
6 Tuning
7 Protection 8 Applications
In the Performance
Center, set Smooth
factor for the
requirement, as
show on the left figure.
2
9
Troubleshooting
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Operation Manual for D2 Motor Drive System
4 Settings
Step 1: Mode selection
The steps for selecting velocity mode via HMI are described below.
Step
Graphical (HMI) description
Operation
2
5 LCD
In the mode operation page,
select ´Velocity 0RGH´, as
show on the left figure.
4
4 Settings
3
3 Wiring
Click the Configuration
Center icon (as show on the
left figure) in the main function
tool bar of the HMI, or select
the Configuration Center
RSWLRQIURP³&RQI7XQH´LQWKH
function menu.
In the Configuration Center,
VHOHFWWKHµ0RGH¶WDEDV
shown on the left)-> In the
Configuration Center, select
WKH³0RGH´WDE, as show on
the left figure
2 Overview of the
Specifications
Execute the Lightening HMI
program
1
1 About the Operation
Manual
4.6.2.1 Basic setting of velocity mode
The basic setting of the velocity mode is described below.
6 Tuning
7 Protection 8 Applications
9
Troubleshooting
121
HIWIN MIKROSYSTEM CORP..
Operation Manual for D2 Motor Drive System
4 Settings
1 About the Operation
Manual
Step 2: Setting the command input format
Velocity mode can be selected if the host controller used can send analog command or
PWM command. Only the Scaling between the external command and current has to be
set for the force/torque mode. The unit shows the corresponding relationship of 1 V with
mm/s or between the Full PWM and the highest speed. A dead band can be set for the
velocity command. This will be zero when the input voltage or PWM is lower than this
setting. Please refer to the figure below.
2 Overview of the
Specifications
3 Wiring
4 Settings
The steps for setting the command input format via HMI are described below.
Step
Graphical (HMI) description
5 LCD
In the mode operation
page, key in the
required command input
format from the
³&RPPDQG7\SHV´, as
shown on the left figure.
1
6 Tuning
7 Protection 8 Applications
9
Troubleshooting
In the mode operation
page, set the scaling
between external
command and velocity
for requirement. The
unit shows the
corresponding
relationship of 1V with
the mm/s or rpm, or
between the Full PWM
and the highest speed,
as show (a) on the left
figure.
SHWWKHµ'HDG%DQG¶IRU
the current command,
as show (b) on the left
figure.
Select ³,QYHUW
&RPPDQG´ to invert
voltage or PWM
command for
requirement
2
3
4
122
HIWIN MIKROSYSTEM CORP.
Operation
Operation Manual for D2 Motor Drive System
4 Settings
5
1 About the Operation
Manual
Select ³,QYHUW
&RPPDQG´ to invert
voltage or PWM
command for
requirement
2 Overview of the
Specifications
3 Wiring
5 LCD
6 Tuning
7
&OLFNWKHµ6DYHWR)ODVK¶
button in the HMI main
function tool bar to save
the parameters in the
flash memory. This will
retain the parameters
even if the drive is
turned off.
4 Settings
6
The parameter
confirmation screen
DSSHDUVFOLFNWKHµ6HQG
WR5$0¶EXWWRQ (as
shown on the left)
7 Protection 8 Applications
9
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Operation Manual for D2 Motor Drive System
4 Settings
Step 1: Mode selection
The steps for selecting of force/torque mode via HMI are described below.
Step
Graphical (HMI) description
Operation
2
figure
4
6 Tuning
0RGH´, as show on the
left figure.
5 LCD
In the mode operation
page,
select ´)RUFH7RUTXH
4 Settings
3
3 Wiring
Click the Configuration
Center icon (as shown on
the left) in the main
function tool bar of the
main HMI window, or
select the Configuration
Center option from
µ&RQI7XQH¶LQWKHIXQFWLRQ
menu.
In the Configuration
&HQWHUVHOHFWWKHµ0RGH¶
tab, as show on the left
2 Overview of the
Specifications
Execute the Lightening
HMI program
1
1 About the Operation
Manual
4.6.3.1 Basic setting of force/torque mode
The basic setting of force/torque mode is described below.
7 Protection 8 Applications
9
Troubleshooting
125
HIWIN MIKROSYSTEM CORP..
Operation Manual for D2 Motor Drive System
4 Settings
1 About the Operation
Manual
Step 2: Setting the command input format
The force mode is another application of the host controller that can send analog
commands or PWM commands. Only the Scaling between the external command and
current has to be set for the force/torque mode. The unit shows the corresponding
relationship of 1 V with the amp or between the Full PWM and the highest amp value of
the current. A dead band can be set for the current command. This will be zero when the
input voltage or PWM is lower than this setting. Please refer to the figure below.
2 Overview of the
Specifications
3 Wiring
4 Settings
The steps for setting the command input format via HMI are described below.
Step
Graphical (HMI) description
5 LCD
In the mode operation
page, key in the required
command input format
IURPWKHµ&RPPDQG
7\SHV¶ (as shown on the
left)
1
6 Tuning
7 Protection 8 Applications
9
Troubleshooting
In the mode operation
page, set the scaling
between external
command and current for
requirement. The unit
shows the corresponding
relationship of 1V with the
amp, or between the Full
PWM and the highest
amp value of the current
as show (a) on the left
figure.
SHWWKHµ'HDG%DQG¶IRU
the current command, as
show (b) on the left figure.
Select ³,QYHUW&RPPDQG´
to invert voltage or PWM
command for
requirement, as show (c)
on the left figure.
2
3
4
126
HIWIN MIKROSYSTEM CORP.
Operation
Operation Manual for D2 Motor Drive System
4 Settings
1 About the Operation
Manual
2 Overview of the
Specifications
After finishing all the
setting, click the ³OK´
button, as show on the left
figure.
5
3 Wiring
6
6 Tuning
7 Protection 8 Applications
7
5 LCD
&OLFNWKHµ6DYHWR)ODVK¶
button in the main
function tool bar in the
main HMI window to save
the parameters in the
flash memory. This will
retain the parameters
even if the drive is turned
off.
4 Settings
The
parameter confirmation
screen
appear, click
the ³Send to RAM´, as
show on the left figure.
9
Troubleshooting
127
HIWIN MIKROSYSTEM CORP..
Operation Manual for D2 Motor Drive System
1 About the Operation
Manual
4.6.4
4 Settings
Stand-Alone mode
Stand-Alone mode is a mode for independent operation. The drive has a high-speed
DSP that can perform motion planning by itself. With the support of the DSP, the drive
can execute the internal motion program and drive the motor independently without
using the external motion control card.
4.6.4.1 Basic setting of Stand-Alone mode
2 Overview of the
Specifications
The basic setting of Stand-Alone mode is described below:
Step 1: Selection of the mode
The steps for setting Stand-Alone mode by via HMI are described below:
Step
Graphical (HMI) description
Operation
3 Wiring
4 Settings
Execute the Lightening
HMI program
2
Click the Configuration
Center icon (as shown on
the left) in the main
function tool bar in the
main HMI window, or
select the Configuration
Center option from
µ&RQI7XQH¶LQWKHIXQFWLRQ
menu.
3
In the Configuration
&HQWHUVHOHFWWKHµ0RGH¶
tab (as shown on the left)
4
In the mode operation
SDJHVHOHFWµStand-Alone
0RGH¶a) on the left figure
5
After the settings are
completedFOLFNWKHµ2.¶
button (b) on the left
5 LCD
1
6 Tuning
7 Protection 8 Applications
9
Troubleshooting
128
HIWIN MIKROSYSTEM CORP.
Operation Manual for D2 Motor Drive System
4 Settings
2 Overview of the
Specifications
3 Wiring
4 Settings
7
&OLFNWKHµ6DYHWR)ODVK¶
button in the HMI main
function tool bar to save
the parameters in the flash
memory. This will retain
the parameters even if the
drive is turned off.
1 About the Operation
Manual
6
The parameter
confirmation screen
appears; Click ³Send to
RAM´, as shown on the
left figure
5 LCD
6 Tuning
7 Protection 8 Applications
9
Troubleshooting
129
HIWIN MIKROSYSTEM CORP..
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Operation Manual for D2 Motor Drive System
5 LCD
Press the key twice to
move the cursor two
steps to the right.
Press the key three times
and stop when "2" appears
(in the sequence of
Æ5Æ4Æ3Æ2)
3 Wiring
4 Settings
Press the key twice and
stop when "1" appears
(in the sequence of
Æ0Æ0Æ1)
Use the Up and
Down keys to change
the values
2 Overview of the
Specifications
Use the Up and
Down keys to
change the values
1 About the Operation
Manual
Use the Up and
Down keys to
change the values
5 LCD
6 Tuning
Fig. 5-10 Operation of the CG parameter change (example)
7 Protection 8 Applications
9
Troubleshooting
143
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Operation Manual for D2 Motor Drive System
6 Tuning
1 About the Operation
Manual
Velocity loop gain (vpg)
The velocity loop gain (vpg) is an internal control parameter of the D2 drive. The default
value is computed by using theparameters user defined in the Configuration Center.
Modification of vpg is not needed in general condition, but User can use the Freq
analyzer to adjust its value. The steps are as below..
Step
Graphical (HM) description
Operation
2 Overview of the
Specifications
3 Wiring
Click the
button on the page as
shown in Fig. 7-30.
Then following screen
appears.
2
Click the
button.
3
Click the
button to activate the
frequency analyzer.
Motor vibrates from LF
to HF, you may head
the HF sound at the
end. Then a frequency
response diagram
appears on the screen.
4 Settings
1
5 LCD
6 Tuning
7 Protection 8 Applications
9
Troubleshooting
206
HIWIN MIKROSYSTEM CORP.
Operation Manual for D2 Motor Drive System
6 Tuning
Click the
button to save vpg
value to the RAM of the
drive.
4 Settings
5
3 Wiring
Frequency
response-bode
diagram
2 Overview of the
Specifications
Cursor line
4
1 About the Operation
Manual
Acquired from auto
computation
Left click on the
frequency response
diagram and a line of
-20dB appears on the
screen. Press and hold
left key to drag the line
to the position close to
the bode diagram as
shown in the figure
below. The Gain is
re-computed during the
movement of line, and
vpg value is displayed
on the screen.
The Gain is increased
when the cursor line is
dragged downward, and
decreased when the
cursor line is dragged
upward.
5 LCD
6 Tuning
7 Protection 8 Applications
9
Troubleshooting
207
HIWIN MIKROSYSTEM CORP.
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Operation Manual for D2 Motor Drive System
6 Tuning
Step
1 About the Operation
Manual
The operation steps of the friction compensation are described below.
Graphical (HM) description
Operation
2 Overview of the
Specifications
3 Wiring
4 Settings
Click the Set scope
button to enter the
scope screen.
2
Set the Friction
Compensation to 0.
3
Set the desired
acceleration.
4
Set the Dwell Time to
500msec. Use the
P2P function to move
the motor back and
forth.
5 LCD
1
6 Tuning
7 Protection 8 Applications
9
Troubleshooting
212
HIWIN MIKROSYSTEM CORP.
Operation Manual for D2 Motor Drive System
6 Tuning
1 About the Operation
Manual
2 Overview of the
Specifications
5 LCD
Enter the average
command current of
Step 5 in the Friction
Compensation field.
4 Settings
6
3 Wiring
5
As the figure shows,
the average of the
command current is
-0.61 and the position
error is -581~550
counts.
6 Tuning
7 Protection 8 Applications
9
Troubleshooting
213
HIWIN MIKROSYSTEM CORP.
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Operation Manual for D2 Motor Drive System
1 About the Operation
Manual
8.3.1
8 Applications
Operation of Error Map
The steps to activate D2 drive Error Map are described as follows:
Step
Graphical (HM) description
Operation
2 Overview of the
Specifications
Click
in the main
function area or click the
Error map option in the
Setting/Adjustment
(Conf/Tune) on the
function menu to open the
window as shown in the left
figure.
1
3 Wiring
4 Settings
5 LCD
6 Tuning
2
Set the Interval and Total
points. If you have a
preferred unit system, click
the field below Position to
set the suitable unit. Then
enter the Error Map value to
the Error table.
Reminder that
the revised
mapping value
has not been
saved to the
drive Flash
7 Protection 8 Applications
9
Troubleshooting
258
HIWIN MIKROSYSTEM CORP.
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HIWIN MIKROSYSTEM CORP.
No.6, Jingke Central Rd.,
Taichung Precision Machinery Park,
Taichung 40852, Taiwan
Tel: +886-4-23550110
Fax: +886-4-23550123
www.hiwinmikro.com.tw
[email protected]
2013 FORM D01UE01-1310
User’s Manual