Hiwin D2 User Manual
D2 Drive User Guide v1.8
D2 Drive User Guide
Version 1.8
December 7, 2016
HIWIN Mikrosystem Corp.
D2 Drive User Guide v1.8 Table of Contents
Table of Contents
1. About the User Guide ....................................................................................................... 1
1.1. Instructions before use ................................................................ ........................... 2
1.2. Safety instructions .................................................................................................. 4
2. Specifications ................................................................................................................... 7
2.1. Drive information .................................................................................................... 8
2.1.1. Safety certification ........................................................................................ 8
2.1.2. Nameplate information .................................................................................. 8
2.1.3. Model number ............................................................................................... 9
2.2. Drive specifications .............................................................................................. 10
2.3. Drive dimensions .................................................................................................. 14
2.4. Drive installation ................................................................................................... 21
2.5. Computer requirements ........................................................................................ 22
3. Operation Principles ....................................................................................................... 23
3.1. Operation modes .................................................................................................. 24
3.1.1. Position mode ............................................................................................. 24
3.1.2. Velocity mode ............................................................................................. 24
3.1.3. Force/torque mode ..................................................................................... 25
3.1.4. Stand-alone mode ...................................................................................... 25
3.2. Encoder type ........................................................................................................ 26
3.3. Encoder signal output ........................................................................................... 27
3.4. Path planning ....................................................................................................... 28
3.5. Servo loops and gains .......................................................................................... 30
3.6. Gain margin and phase margin ............................................................................ 31
3.6.1. Nyquist diagram .......................................................................................... 31
3.6.2. Bode diagram ............................................................................................. 32
3.7. Move and settling ................................................................................................. 34
3.8. Error compensation .............................................................................................. 35
3.9. Velocity ripple ....................................................................................................... 36
3.10. Enable .................................................................................................................. 37
3.11. Common physical quantities ................................................................................. 38
4. Wiring ............................................................................................................................. 39
4.1. System configuration and wiring ........................................................................... 40
4.1.1. System wiring diagram ............................................................................... 40
4.1.2. CN1 power ................................................................................................. 43
4.1.3. CN2 brake/motor power .............................................................................. 47
4.1.4. CN3 USB communication ........................................................................... 48
4.1.5. CN4 Modbus communication ...................................................................... 48
4.1.6. CN5 Modbus communication/safety function .............................................. 49
4.1.7. CN6 control signal ...................................................................................... 50
4.1.8. CN7 encoder .............................................................................................. 52
4.1.9. CN8 EtherCAT communication ................................................................... 52
4.1.10. CN13/CN14 extension I/O signal ................................................................ 53
4.2. Drive accessories ................................................................................................. 54
4.3. Main power wiring ................................................................................................ 58
4.3.1. AC power wiring (single-phase) .................................................................. 58
4.3.2. AC power wiring (three-phase) ................................................................... 59
4.4. Multiple drives connection .................................................................................... 60
4.5. I/O signal wiring .................................................................................................... 62
4.5.1. Digital input wiring....................................................................................... 62
4.5.2. Digital output wiring .................................................................................... 63
4.6. Wiring examples for control commands ................................................................ 65
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D2 Drive User Guide v1.8 Table of Contents
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
HIWIN Mikrosystem Corp. iii
D2 Drive User Guide v1.8 Table of Contents
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
HIWIN Mikrosystem Corp. iv
D2 Drive User Guide v1.8 Table of Contents
8.5.2. Drive over temperature protection ............................................................. 244
8.6. Over voltage protection ...................................................................................... 245
9. Troubleshooting ............................................................................................................ 249
9.1. Drive’s status indicator ....................................................................................... 250
9.2. Drive’s errors and warnings ................................................................................ 251
9.2.1. Status display area on Lightening HMI ...................................................... 251
9.2.2. LCD status ................................................................................................ 251
9.2.3. Errors and warnings log ............................................................................ 252
9.2.4. Error at loading PRM file ........................................................................... 254
9.3. Error codes and troubleshooting ......................................................................... 255
9.4. Warning codes and troubleshooting ................................................................... 258
9.5. Troubleshooting for common issues ................................................................ ... 262
A. Axis Enable Setting ....................................................................................................... 265
A.1. Start enable method .............................................................................................. 266
A.2. Confirm enable status via HMI .............................................................................. 267
B. Parameter Comparison ................................................................................................. 269
B.1. Comparing parameters in RAM and Flash ............................................................ 270
C. Update Firmware & Load PDL ...................................................................................... 273
C.1. Update drive’s firmware ........................................................................................ 274
C.2. Load PDL program into drive ................................................................................ 277
D. Modbus Communication ............................................................................................... 279
D.1. Modbus communication specification .................................................................... 280
D.2. Function code ....................................................................................................... 281
D.3. Modbus objects ..................................................................................................... 285
D.3.1. Input register .............................................................................................. 285
D.3.2. Holding register .......................................................................................... 289
E. EMC Solution ................................................................................................................ 291
E.1. Common-mode motor filter .................................................................................... 292
E.2. Motor power cable with magnetic rings ................................................................. 295
HIWIN Mikrosystem Corp. v
D2 Drive User Guide v1.8 Table of Contents
Version
Date
Applicability
Remarks
1.0
2012-06-05
D2-series drive
Frist release.
1.1
2012-08-30
D2-series drive
Renew Figure 2-1 and Figure 2-2.
Renew CN6 connector part number.
1.2
2014-05-15
D2-series drive
(1) Update the description of LCD operation.
(2) Update the description according to motor model.
1.3
2014-08-20
D2-series drive
(1) Add the information for D2T drive.
(2) Renew the dimension of D2 drive.
(3) Add the dimension of D2 drive with EtherCAT
(CoE/mega-ulink).
(4) Remove the brake wiring without a relay.
(5) Remove the input function of clear position error.
(6) Add the description of mega-ulink
communication.
(7) Add the description of using PDL to assist with
data capture.
(8) Add motor models with HIWIN 17 encoder to
Table 4.1.
1.4
2014-11-21
D2-series drive
(1) Modify the model number by combining
D2-model and D2T-model drives.
(2) Add the description of ZeroTune.
(3) Add the description of setting parameters to
factory default.
(4) Renew the description of LCD operation.
(5) Add LCD common parameters table.
(6) Add the input range of LCD parameters.
(7) Add the PDL information to drive specifications.
(8) Add the description of VSF operation.
1.8
2016-12-07
D2 MDP 0.043 or
above
D2COE MDP 0.119
or above
Lightening 0.189 or
above
Re-write and re-organize this User Guide based on
Chinese version of D2 Drive User Guide v1.8.
Revision History:
HIWIN Mikrosystem Corp. vi
D2 Drive User Guide v1.8 1. About the User Guide
1. About the User Guide
1. About the User Guide ....................................................................................................... 1
1.1. Instructions before use ................................................................ ........................... 2
1.2. Safety instructions .................................................................................................. 4
HIWIN Mikrosystem Corp. 1
D2 Drive User Guide v1.8 1. About the User Guide
Attention
‧Maximum ambient temperature for this series drives is 55 ℃.
‧This product can be installed only on the environment with the pollution level being
2.
‧The rated input voltage of drive is 240 V. Hence, the power supply voltage cannot be
over than 240 V. A short-circuit current shall not exceed 5,000 A.
‧The drive does not provide a motor over-temperature sensing, while not have a motor
over-temperature protection.
‧The short-circuit protection of drive cannot be used as a shunt-circuit protection. The
shunt-circuit protection must be chosen in accordance with US National Electrical
Code (NEC) and local regulations.
‧Before starting to inspect the product, turn off the power and wait at least five
minutes. Then, use a multi-meter or a similar instrument to check that the residual
voltage between P and N terminals has dropped to the safety level (50 Vdc or lower)
to avoid electric shock.
1.1. Instructions before use
This document is suitable for D2-series drives, included D2 model and D2T model. Read the
User Guide carefully before using the product. HIWIN Mikrosystem Corp. (“the Company”) will
not take any responsibility for damages, accidents, or injuries caused by the installation or use
that is not performed according to these instructions.
Do not dismantle or modify the product. The product has been subject to structural
calculations, computer simulations, and physical tastings to verify its design. Do not
dismantle or modify the product without the consent of the professional technician of the
Company. The Company does not take any responsibility for accidents or damages
resulting from such dismantling or modification.
Before installing or using the product, check the external appearance and ensure that there
is no damage on the product surface. If any damage is identified, contact the Company or
one of the Company’s distributors immediately.
Refer to performance specifications on the product label or manufacturer's document before
using the product. Install the product based on these performance limits and installation
instructions indeed.
Read the specification of power voltage on the label before using the product and confirm
that the power supply meets the product requirement. The Company does not take any
responsibility for product damages or personal injuries resulting from the incorrect power
supply.
Do not use the product over the rated load. The Company does not take any responsibility
for damages or injuries resulting from such misuse.
Do not use the product in an environment where shocks may occur. The Company does not
take any responsibility for damages, accidents, or injuries resulting from such shocks.
If the drive has any error, refer to Section 9.5. Troubleshooting for common issues. Follow
instructions to turn off drive’s power to perform troubleshooting. After the error is eliminated,
turn on drive’s power again.
Do not try to repair any produce’s malfunction. The product can only be repaired by the
qualified technician.
The warranty period is one year from the ex-factory date. The Company does not take any
responsibility for product replacement or repair caused by the inappropriate use or natural
disasters. (Refer to notes and installation instructions in the User Guide.)
HIWIN Mikrosystem Corp. 2
D2 Drive User Guide v1.8 1. About the User Guide
Warning
At installing or exchanging motor power
cables, if the correct sequence of
connection is not followed, the motor may
run abnormally. It is possible to cause injury
to persons or damage to equipment. Please
use correctly labelled cables.
Warning
Each motor model has its own rated
maximum payload. If applying more than
such payload to the motor, it may cause
abnormal motion, damage to equipment,
or injury to persons.
Warning
If users select to use own made motor
encoder cables, please check the User
Guide carefully or contact our service
department. The wrong connection of such
cable may cause abnormal motion or injury
to persons.
Warning
During the usage of motor, in case of the
careless removal of encoder connector
from the drive, please do not hot plug it
back to the drive. It may cause abnormal
motion, damage to equipment, or injury
to persons.
Warning
Applying the open type of optical feedback
system (e.g. optical scale), please note that
if the scale is stained or scratched, it may
cause abnormal motion, damage to the
motor or equipment, or injury to persons.
Warning
When the motor is regularly under the
operation, and careless touch or collision
to the encoder connector on the drive, it
is recommended to power cycle the
drive, or it may cause abnormal motion,
damage to equipment, or injury to
persons.
Warning
Applying the open type of magnetic
feedback system (e.g. magnetic scale),
please note that if the strong magnetic
object comes close to the scale, it may
cause abnormal motion, damage to the
motor or equipment, or injury to persons.
Warning
During the usage of motor, please do not
unplug the encoder connector when it is
not powered off, move the motor, and
then plug it back to the drive, or it may
cause abnormal motion, damage to
equipment, or injury to persons.
Risks specifically identified:
HIWIN Mikrosystem Corp. 3
D2 Drive User Guide v1.8 1. About the User Guide
Warning
Inappropriate operations may cause dangers resulting in the serious injury or death.
Inappropriate operations may cause dangers resulting in the disability, minor injury, or
material damage.
Attention
Actions marked Attention may have serious consequences under different situations.
All such instructions are important and must be followed.
Prohibited
Indicate that the action is forbidden and must not be done.
Required
Indicate that the action is compulsory and must be done.
Danger
‧
Always ensure that the drive is correctly earthed by using PE bar in the switch
cabinet as reference potential. Safety is not guaranteed if there is no low-ohm
earthing.
‧
Power connections may be live even if the motor does not move. Never disconnect
electrical connections of motor and drive as live. In the worst case, electric arcs
may form and cause personal injury and damage contacts.
‧
After disconnecting the drive from the power supply, wait at least five minutes
before touching live parts (e.g. contacts, threaded bolts etc.) or breaking
connections. For your own safety, measure the voltage in the intermediate circuit
and wait until it has fallen below 40 Vdc.
1.2. Safety instructions
Read the User Guide carefully before the installation, transportation, maintenance, and
inspection. Ensure that the product is used correctly.
Users should read the EM information, safety information, and all related instructions before
using the product.
The safety instructions in the User Guide are categorized into “Warning”, “Attention”,
“Prohibited”, and “Required”.
HIWIN Mikrosystem Corp. 4
D2 Drive User Guide v1.8 1. About the User Guide
Usage instructions
Warning
Do not touch the terminal or inside part when it is powered to
avoid electric shock.
Do not touch the terminal or inside within 10 minutes from the
power off. The residual voltage may cause electric shock.
Do not change the wiring when it is powered to avoid electric
shock.
Do not cut the cable, apply too much stress to it, or place heavy
objects on it. Laying the cable between objects may cause fire or
electric shock.
Attention
Do not install the product in the place exposed to moisture or
erosion, or in an environment containing ignitable gas. Do not
use the product close to any flammable objects.
Storage
Prohibited
Do not store the product in the place exposed to water, moisture,
direct sunlight, harmful gas, or liquids.
Handling
Attention
Be careful of handling the product and avoid damaging it.
Use appropriate handling methods and do not apply too much
pressure to the case.
The product shall not be stacked too high to avoid collapsing.
Installation location
Required
Do not install the product in the place exposed to high
temperatures, high humidity or flying dust, iron powder, or
cutting powder.
Install the product in the place where the ambient temperature
meets the specification of User Guide. Use one cooling fan if the
temperature is potentially high.
Do not install the product in the place exposed to direct sunlight.
Since the product does not have one waterproof or
moisture-proof case, do not use it outdoors or install it in the
place where water or other liquid exists.
Install the product in the place with the low vibration.
When the motor continues moving, the heat is generated due to
the use frequency. Use one cooling fan, or set to standby status
when the motor stops. So that, the ambient temperature of motor
does not exceed its specific value.
HIWIN Mikrosystem Corp. 5
D2 Drive User Guide v1.8 1. About the User Guide
Installation
Attention
Do not place any heavy objects on the product to avoid damage.
Do not mix with debris to avoid fire.
Ensure that the product is installed in the required direction to
avoid fire.
Protect the product from the strong impact to avoid collapse or
damage.
The weight of mounting body must be taken into account during
installation. Inappropriate installation may cause damage.
Install the product on a metal or noncombustible object to avoid
fire.
Wiring
Attention
Be correct and reliable wiring, otherwise it may cause motor to
out of control or burn out, and make damage or fire.
Operation and transportation
Attention
Ensure that the specification of power source is correct to avoid
damage or fire.
The motor may suddenly start after the power is recovered
instantly. Do not come too close to machine.
Required
Wire an external line for emergency stop to stop the operation
and to cut off the power at any time.
Maintenance
Prohibited
Do not dismantle or modify the product.
Do not attempt to repair any product malfunction. Please send it
back to the professional technician of the Company for repair.
HIWIN Mikrosystem Corp. 6
D2 Drive User Guide v1.8 2. Specifications
2. Specifications
2. Specifications ................................................................................................................... 7
2.1. Drive information .................................................................................................... 8
2.1.1. Safety certification ........................................................................................ 8
2.1.2. Nameplate information .................................................................................. 8
2.1.3. Model number ............................................................................................... 9
2.2. Drive specifications .............................................................................................. 10
2.3. Drive dimensions .................................................................................................. 14
2.4. Drive installation ................................................................................................... 21
2.5. Computer requirements ........................................................................................ 22
HIWIN Mikrosystem Corp. 7
D2 Drive User Guide v1.8 2. Specifications
EMC
EN 61800-3: 2004 (Category C2)
EN 61000-3-2: 2006/A1: 2009/A2: 2009
EN 61000-3-3: 2008
IEC CISPR 11: 2009/A1: 2010
IEC 61000-4-2: 2008
IEC 61000-4-3: 2006/A1: 2007/A2: 2010
IEC 61000-4-4: 2004
IEC 61000-4-5: 2005
IEC 61000-4-6: 2008
IEC 61000-2-1: 1990
IEC 61000-2-4: 2003
IEC 60146-1-1: 1993
LVD
IEC 61800-5-1: 2007 (2nd Edition)
EN 61800-5-1:2007
Model No.
Input/output voltage
Rated input/output current
Input/output frequency
Phases
2.1. Drive information
2.1.1. Safety certification
The drive complies with the following safety regulations.
CE Compliance
Table 2-1
2.1.2. Nameplate information
Fig. 2-1
HIWIN Mikrosystem Corp. 8
D2 Drive User Guide v1.8 2. Specifications
Column
1 2 2a 3 4 5 6 7 8 9 10
11
12
Example
D 2 - 0 4 2 3 - S - B 0
2.1.3. Model number
D2-series drives:
Product
D2-series drive…= D2
Type
17-bit encoder only…….= T
13-bit encoder only........=Blank
Rated output
100 W…………………...........………….= 01
400 W……………………...……………..= 04
1.0 KW………….……….…....................= 10
2.0 KW……………………………………= 20
Voltage range
1/3-phase 110/220 Vac….....………..…….…………..= 23
3-phase 220 Vac…………….……………..........……..= 32
Interface
Standard………………………………………………………………….= S
EtherCAT (CoE)………………………….…………….….….………...= E
EtherCAT (mega-ulink)…………………..…………………………..…= F
Standard with extension I/O module..….……..……………………....= K
Standard with Modbus………………………………………………….= T
Frame size
A frame (suggestion: 100 W rated output)…….…………..…………..…………..= A
B frame (suggestion: 400 W rated output)……….……………………..………....= B
C frame (suggestion: 1.0 KW rated output)…………………………..…………...= C
D frame (suggestion: 2.0 KW rated output)…………………………..…………...= D
Encoder type
13-bit less-wire incremental encoder...…..………………….…..…………….….……....= 0
17-bit serial incremental encoder (HIWIN17)……………………………………………..= 4
Dual loop (full closed loop) and 17-bit serial absolute encoder………..……………….= 5
Note:
(1) The standard model supports the pulse and +/- 10 V input interfaces.
(2) The EtherCAT (CoE) and EtherCAT (mega-ulink) models do not have the extension I/O
module and Modbus module.
(3) The frame D model requires the voltage range of 3-phase 220 Vac.
(4) D2 model does not support the extension I/O module and the rated output of 2.0 KW.
(5) D2T frame A, B, and C models do not have the Modbus module.
(6) For the dual-loop model, the rotary encoder should be the 17-bit serial absolute
encoder and the linear encoder should be the digital AqB encoder.
(7) The EtherCAT (CoE) model does not support the dual-loop control.
Fig. 2-2
HIWIN Mikrosystem Corp. 9
D2 Drive User Guide v1.8 2. Specifications
Basic specifications
Input power
220V
Main power
Frame
A-C
Single/three-phase, 200 - 240 Vac 50/60Hz
Frame
D
Three-phase, 200 - 240 Vac 50/60Hz
Control
power
Frame
A-D
Single-phase, 200 - 240 Vac 50/60Hz
Output power
Power
Frame A: 100 W; frame B: 400 W; frame C: 1.0 KW;
frame D: 2.0 KW.
Continuous current
Frame A: 0.9 A
rms
; frame B: 2.5 A
rms
;
frame C: 5.1 A
rms
; frame D: 11 A
rms
.
Peak current
Frame A: 2.7 A
rms
; frame B: 7.5 A
rms
;
frame C: 15.3 A
rms
; frame D: 33 A
rms
.
Sustainable duration
of peak current
1 second maximum.
Environment
Temperature
Operation temperature: 0°C to 45°C
(if over 55°C, the forced ventilation is needed)
Storage temperature: -20°C to 65°C
Humidity
0 to 90% RH (non-condensing)
Altitude
Below 1,000 meters
Vibration
1G (10 to 500Hz)
Installation pollution level
II
Control method
IGBT PWM space vector control
Encoder input
Resolution/Feedback
resolution
13-bit (10,000 count/rev) less-wire incremental encoder;
17-bit (131,072 count/rev) serial incremental encoder (5
lines).
Frequency
5M pulse/sec (Before Quadrature);
20M count/sec (After Quadrature).
Other
For the dual-loop model, the rotary encoder should be the
17-bit serial absolute encoder and the linear encoder
should be the digital AqB encoder.
Parallel I/O
connector
Control signal
Input
9 (general purpose) for D2 model
10 (general purpose) for D2T model
Output
4 (general purpose) for D2 model
5 (general purpose) for D2T model
Analog signal
Input
1 (12-bit A/D)
Output
2 (analog monitor: 2 outputs)
Pulse signal
Input
2 (low-speed channel, high-speed channel)
Output
4 (line driver: 3 outputs; open collector: 1 output)
Brake
connector
Control signal
Output
Used to connect with brake (1 Adc max). Also, it is
programmable for general-purpose output.
Dynamic brake
Frame D model has one built-in dynamic brake resistor
(line resistance: 2.6 Ω ± 5%; continuous power: 120 W;
peak power: 600 W).
Communication function
USB
Used to connect with PC, 115,200 bps
Front panel
LCD status display: dot matrix 8*2 characters with 4
buttons;
LED status indicator lights (green, red)
2.2. Drive specifications
Table 2-2 Drive specification
HIWIN Mikrosystem Corp. 10
D2 Drive User Guide v1.8 2. Specifications
Control mode
Switchable control modes
(1) Position control;
(2) Velocity control;
(3) Torque control ;
(4) Position/velocity control;
(5) Position/torque control ;
(6) Velocity/torque control;
Function specifications
Position control
Control input
(1) Inhibit pulse command;
(2) Axis enable;
(3) Switch between primary and secondary CG;
(4) Electronic gear selection;
(5) Left limit switch;
(6) Switch between primary and secondary mode;
(7) Clear error;
(8) Right limit switch, etc.
Control output
(1) Servo ready;
(2) Errors;
(3) In-position;
(4) Zero speed detected, etc.
Pulse input
Maximum input
pulse frequency
Photo-coupler interface (single-ended input): 500 Kpps;
Line driver interface (differential input): 4 Mpps (16M
count/s with AqB).
Signal format of
input pulse
(1) Pulse/direction (Pulse/Dir);
(2) Pulse up/pulse down (CW/CCW);
(3) Quadrature (AqB).
Electronic gear
(Division/
Multiplication of
command pulse)
Gear ratio: pulses/counts
Pulses: 1 - 2,147,483,647; counts: 1 – 2,147,483,647.
Smoothing filter
Smooth factor: 1 - 500 (0: no smoothing filter)
Vibration suppression feature (VSF)
VSF can remove the vibration frequency that occurs
during movement. It can reduce the vibration caused by
the system’s structure and improve the machine’s
productivity.
Velocity control
Control input
(1) Zero speed clamp;
(2) Axis enable;
(3) Switch between primary and secondary CG
(4) Left limit switch
(5) Switch between primary and secondary mode
(6) Clear error
(7) Right limit switch, etc.
Control output
(1) Servo ready;
(2) Errors;
(3) In-velocity;
(4) Zero speed detection, etc.
PWM input
Velocity command
input
Velocity commands can be provided by the duty cycle of
PWM input. Parameters are used to set the scale and
command direction.
Analog input
Velocity command
input
Velocity command can be provided by the analog voltage.
Parameters are used to set the scale and command
direction.
Zero speed clamp
The input of zero speed clamp is possible.
Torque
control
Control input
(1) Axis enable;
(2) Switch between primary and secondary CG;
(3) Left limit switch;
(4) Switch between primary and secondary mode;
(5) Clear error;
(6) Right limit switch, etc.
HIWIN Mikrosystem Corp. 11
D2 Drive User Guide v1.8 2. Specifications
Control output
(1) Servo ready;
(2) Errors;
(3) In-velocity;
(4) Zero speed detected, etc.
PWM input
Torque command
input
Torque commands can be provided by the duty cycle of
PWM input. Parameters are used to set the scale and
command direction.
Analog input
Torque command
input
Torque commands can be provided by the analog voltage.
Parameters are used to set the scale and command
direction.
Speed limit function
The parameter for speed limit can be set.
Common
Auto tune
The auto tune procedure runs automatically after start and
identifies the load inertia. Users do not set by themselves.
All necessary gains are set by clicking one button on the
LCD panel.
Emulated encoder feedback output
Can be arbitrarily set (The maximum frequency of frame A
- C models is 18M count/s; while that of frame D model is
9M count/s).
Protective function
(1) Motor short detected;
(2) Over voltage detected (> 390 Vdc ± 5%);
(3) Position error too big;
(4) Encoder error;
(5) Soft-thermal threshold reached;
(6) Motor maybe disconnected;
(7) Amplifier over temperature (IGBT > 80℃ ± 3℃);
(8) Under voltage detected;
(9) 5V for encoder card fail;
(10) Phase initialization error;
(11) Serial encoder communication error.
Error log
Errors and warnings are saved in the non-volatile memory.
Process description language (PDL)
Maximum code capacity: 32 KBytes
Variable storage capacity: 800 Bytes
Supported variable type:
(1) Float type: 32 bits;
(2) Integer type: 16 and 32 bits;
(3) Array and pointer supported.
Execution cycle: 66.67 us
4 tasks can be executed simultaneously.
Support if, else, while loop, for loop, goto, till, and other
commands to control program flow.
Support arithmetic operators, logical operators, and
comparison operators.
Support lock and unlock commands to control the
synchronization of multi-tasks.
Maximum length of user-defined name:
(1) variable: 17 characters
(2) label: 24 characters
(3) proc: 24 characters
Error mapping
Method: Establish compensation table to compensate the
encoder error by using the linear interpolation.
Samples: Maximum 5,000 points.
Storage location: Flash ROM; disc file.
HIWIN Mikrosystem Corp. 12
D2 Drive User Guide v1.8 2. Specifications
Unit: um, count.
Enable method: it is activated after the internal homing is
completed, or by an external input signal.
Regeneration
Resistor
Frame A - C: need external connection (option), and have
no built-in regenerative resistor.
Frame D: need external connection (option), and also
have one built-in regenerative resistor (resistance: 13 Ω ±
5%; continuous power: 120 W; peak power: 600 W).
Cut-in voltage
+HV > 370 VDC
Drop-out voltage
+HV < 360 VDC
DC link capacity
Frame A: 560 uF; frame B: 820 uF;
frame C: 1,410 uF; frame D: 2,000 uF.
Others
Friction compensation, backlash compensation.
HIWIN Mikrosystem Corp. 13
D2 Drive User Guide v1.8 2. Specifications
D2-DNN46A
2.3. Drive dimensions
Dimensions and mounting holes of D2-series drives, D2-series drives with the EtherCAT
(CoE/ mega-ulink) module, and D2-series drives with the extension I/O module are shown in
the following figures. The dimension unit is in mm, and the diameter of mounting hole is 4 mm.
Fig. 2-3 Dimensions of frame A model
HIWIN Mikrosystem Corp. 14
D2 Drive User Guide v1.8 2. Specifications
D2-DNN47A
D2-DNN48A
Fig. 2-4 Dimensions of frame B model
Fig. 2-5 Dimensions of frame C model
HIWIN Mikrosystem Corp. 15
D2 Drive User Guide v1.8 2. Specifications
D2-DNN52A
D2-DNN43A
Fig. 2-6 Dimensions of frame D model
Fig. 2-7 Dimensions of frame A model with the EtherCAT module
HIWIN Mikrosystem Corp. 16
D2 Drive User Guide v1.8 2. Specifications
D2-DNN44A
D2-DNN45A
Fig. 2-8 Dimensions of frame B model with the EtherCAT module
Fig. 2-9 Dimensions of frame C model with the EtherCAT module
HIWIN Mikrosystem Corp. 17
D2 Drive User Guide v1.8 2. Specifications
D2-DNN57A
D2-DNN54A
Fig. 2-10 Dimensions of frame D model with the EtherCAT module
Fig. 2-11 Dimensions of frame A model with the extension I/O module
HIWIN Mikrosystem Corp. 18
D2 Drive User Guide v1.8 2. Specifications
D2-DNN55A
D2-DNN56A
Fig. 2-12 Dimensions of frame B model with the extension I/O module
Fig. 2-13 Dimensions of frame C model with the extension I/O module
HIWIN Mikrosystem Corp. 19
D2 Drive User Guide v1.8 2. Specifications
D2-DNN53A
Fig. 2-14 Dimensions of frame D model with the extension I/O module
HIWIN Mikrosystem Corp. 20
D2 Drive User Guide v1.8 2. Specifications
50 mm
or more
20 mm
or more
20 mm
or more
50 mm
or more
Electric
cabinet
50 mm
or more
50 mm
or more
2.4. Drive installation
To fix drive in the used environment (e.g. electric cabinet), conductive screws must be used to
secure drive to electric cabinet. Moreover, insulating materials (e.g. paint) on the contact
surface of electric cabinet must be removed, so that the drive can connect to ground through
the machine. If the main power of drive is 220 V, the grounding resistance must be less than
50 Ω; if 110 V, it must be less than 100 Ω.
Installing drive must be careful, not to shut suction hole and vent, and not place it in the
inclined position. Otherwise, it will cause drive failure. In order to ensure that the effect of
cooling circulation is well, installing drive should keep an enough space between the drive and
the adjacent article or baffle. If more than one drive is installed, keep the space between
drives more than 20 mm, such that the drive has an enough space for heat dissipation. Fans
can be set in the electric cabinet to facilitate the heat dissipation of drives.
Fig. 2-15
Fig. 2-16 Space between drives
HIWIN Mikrosystem Corp. 21
D2 Drive User Guide v1.8 2. Specifications
CPU
1.0 GHz or more
RAM
512 MB or more
Available space on
the hard disk
50 MB or more
Communication port
USB
Operating system
Windows 2000, Windows XP, Windows 7
Screen resolution
1024 x 768 pixels or more
2.5. Computer requirements
Table 2-3
HIWIN Mikrosystem Corp. 22
D2 Drive User Guide v1.8 3. Operation Principles
3. Operation Principles
3. Operation Principles ....................................................................................................... 23
3.1. Operation modes .................................................................................................. 24
3.1.1.
3.1.2.
3.1.3.
3.1.4.
3.2. Encoder type ........................................................................................................ 26
3.3. Encoder signal output ........................................................................................... 27
3.4. Path planning ....................................................................................................... 28
3.5. Servo loops and gains .......................................................................................... 30
3.6. Gain margin and phase margin ............................................................................ 31
3.6.1.
3.6.2.
3.7. Move and settling ................................................................................................. 34
3.8. Error compensation .............................................................................................. 35
3.9. Velocity ripple ....................................................................................................... 36
3.10. Enable .................................................................................................................. 37
3.11. Common physical quantities ................................................................................. 38
Position mode ............................................................................................. 24
Velocity mode ............................................................................................. 24
Force/torque mode ..................................................................................... 25
Stand-alone mode ...................................................................................... 25
Nyquist diagram .......................................................................................... 31
Bode diagram ............................................................................................. 32
HIWIN Mikrosystem Corp. 23
D2 Drive User Guide v1.8 3. Operation Principles
Pulse input
Dir input
A-phase input
B-phase input
CCW input
CW input
Reversal
Forward
Forward
Forward
Reversal
Reversal
3.1. Operation modes
The following operation modes can be used to implement the interface between the standard
D2 drive and the host controller.
(1) Position mode;
(2) Velocity mode;
(3) Force/torque mode;
(4) Stand-alone mode.
Each mode is described as follows.
3.1.1. Position mode
The host controller sends pulses to drive. These pulses are equal to position commands.
When the drive receives a pulse, it moves the motor with a corresponding distance. The host
controller is responsible for path planning. The pulse is sent faster and faster at the
acceleration, and is sent with a fixed frequency at the constant speed. As shown in Fig. 3-1,
there are three formats of pulse signal: pulse/direction (pulse/dir), pulse up/pulse down
(CW/CCW), and quadrature (AqB). Based on the hardware wiring, the pulse signal can be
classified into the differential and single-end TTL logic signals.
The electronic gear can be set in the position mode. One input pulse is normally set to be
equal to one encoder count. For example, the gear ratio of 2:3 means that 2 input pulses is
equal to 3 encoder counts.
Fig. 3-1
3.1.2. Velocity mode
The drive can receive the command from the host controller via voltage, so as called V
command. The input voltage range is from -10 V to +10 V. The drive converts the received
external voltage to the corresponding velocity command to drive the motor. Besides the
voltage, the host controller can also send the velocity command via PWM signal, so as called
PWM command. It utilizes different duty cycles to correspond to different velocity commands.
There are two types of PWM command: single-line type (PWM 50%) and dual-line type (PWM
100%). The single-line type (PWM 50%) takes the duty cycle of 50% as the basis. If the duty
cycle of PWM command is less than 50%, the motor performs the reverse motion; while if
greater than 50%, the motor performs the forward motion. In addition to using one pin to
transmit PWM command, the dual-line type (PWM 100%) needs another pin to control motion
HIWIN Mikrosystem Corp. 24
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