Hiwin E1, ED1S-VG, ED1S-EG, ED1S-HG User Manual
E1 Series Servo Drive
Gantry Control System
User Manual
www.hiwinmikro.tw
MD22UE01-1910_V1.0
E1 Series Servo Drive Gantry Control System User Manual Revision History
Release Date
MD22UE01-1910_V1.0
Version
Revision History
The version of the manual is also indicated on the bottom of the front cover.
Release Date Version Applicable Product Revision Contents
Oct. 15th, 2019 1.0 E1 series servo drive First edition.
E1 Series Servo Drive Gantry Control System User Manual Table of Contents
Table of Contents
1. Hardware Configuration ................................................................................................................................... 1-1
2. System Architecture ......................................................................................................................................... 2-1
2.1 Communication system architecture ................................................................................................... 2-2
2.2 Control system architecture ................................................................................................................ 2-2
2.2.1 Definition of linear/yaw axis ................................................................................................... 2-2
2.2.2 Definition of linear/yaw axis direction ..................................................................................... 2-3
3. Setting Procedure ............................................................................................................................................ 3-1
3.1 Single axis setting ............................................................................................................................... 3-2
3.2 Establish communication system ........................................................................................................ 3-2
3.3 Confirmation before activating gantry control system ......................................................................... 3-4
3.4 Activate gantry control system ............................................................................................................ 3-4
3.5 Homing procedure............................................................................................................................... 3-5
4. Gain Tuning ...................................................................................................................................................... 4-1
4.1 Single axis gain tuning ........................................................................................................................ 4-2
4.2 Gantry control gain tuning ................................................................................................................... 4-2
4.3 Current ratio parameter ....................................................................................................................... 4-3
4.4 Velocity ripple compensation .............................................................................................................. 4-3
5. Safety Protection Function ............................................................................................................................... 5-1
5.1 Enable/Disable axes in gantry control system .................................................................................... 5-2
5.2 Motor stopping method for alarm ........................................................................................................ 5-2
5.3 Relevant alarms .................................................................................................................................. 5-2
6. Advanced Setting ............................................................................................................................................. 6-1
6.1 Error map ............................................................................................................................................ 6-2
7. Gantry Control Interface Setting ...................................................................................................................... 7-1
E1 Series Servo Drive Gantry Control System User Manual Preface
Preface
Gantry control system: high-performance response gantry control can be achieved by high-speed data
exchange technology between two servo drives. Please select ED1□-□G model.
Linear
Yaw
1. Hardware Configuration
1. Hardware Configuration ................................................................................................................................... 1-1
E1 Series Servo Drive Gantry Control System User Manual Hardware Configuration
MD22UE01-1910
Standard
Fieldbus
Select the model supporting gantry function and connect two servo drives via CN8 with the communication
cable.
Table 1.1
Type Control Interface Model
Standard Voltage command and pulse ED1S-VG-□□□□-□□
Fieldbus
mega-ulink (For HIMC motion controller) ED1S-HG-□□□□-□□
EtherCAT ED1S-EG-□□□□-□□
Figure 1.1 CN8 position
Servo drive 1 CN8
Servo drive 2 CN8
Figure 1.2 Servo drive communication cable (for gantry control system)
Table 1.2 Communication cable for gantry function
Name
Servo drive
communication
cable
HIWIN Part
Number
HE00EJ6DD000
Description
Connect two servo drives which both support gantry function via CN8.
(0.5 m)
1-2 HIWIN MIKROSYSTEM CORP.
2. System Architecture
2. System Architecture ......................................................................................................................................... 2-1
2.1 Communication system architecture ................................................................................................... 2-2
2.2 Control system architecture ................................................................................................................ 2-2
2.2.1 Definition of linear/yaw axis ................................................................................................... 2-2
2.2.2 Definition of linear/yaw axis direction ..................................................................................... 2-3
E1 Series Servo Drive Gantry Control System User Manual System Architecture
MD22UE01-1910
drive 0
(Master)
drive 1
(Slave)
axis 0
axis 1
drive 0
(Linear)
drive 1
(Ya w)
linear
yaw
Single axis mode
Gantry mode
To build a complete gantry control system, two servo drives, two motors and the corresponding encoders
must be prepared as two axes. Before activating gantry control system through setting, establish
communication system between two servo drives first.
2.1 Communication system architecture
Connect CN8 via the cable (refer to “E1 Series Servo Drive User Manual”) and establish communication
system (refer to section 3.2). In communication system, the relationship of master and slave exists in the
two servo drives.
2.2 Control system architecture
2.2.1 Definition of linear/yaw axis
After establishing communication system, users can enter gantry control system via gantry control
interface (refer to chapter 7). After entering gantry control system, two axes’ linear (axis 0 and axis 1)
coordinate system will respectively become linear coordinate system and yaw coordinate system. The
relationship between “Master/Slave” and “Linear/Yaw” is described as below.
Master axis → Linear axis
Slave axis → Yaw axis
2-2 HIWIN MIKROSYSTEM CORP.
Figure 2.2.1.1
E1 Series Servo Drive Gantry Control System User Manual System Architecture
MD22UE01-1910
Example 1
Master Slave
yaw
linear
Example 2
Slave
Master
yaw
linear
2.2.2 Definition of linear/yaw axis direction
Definition of linear axis direction
The linear positive direction of single axis moving part is the positive direction of linear axis.
Definition of yaw axis direction
If the positive direction of linear axis and the position of master are already known, the positive
direction of yaw axis can be determined by gantry right-hand rule, as the following figure shows.
Figure 2.2.2.1
HIWIN MIKROSYSTEM CORP. 2-3
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