D2 Drive User Guide

8/15/2019 D2 Drive User Guide

http://slidepdf.com/reader/full/d2-drive-user-guide 1/239

D2 v1.3

HIWIN Mikrosystem Corp.

D2

1.3

2015 01 28



D2 v1.3

HIWIN Mikrosystem Corp. ii

1. ................................................................................................................ 1

................................................................................................. 2 1.1. .................................................................................................... 3 1.2.

2.

........................................................................................................................... 7

................................................................................................. 8 2.1.2.1.1. .................................................................................................... 8

2.1.2. .................................................................................................... 8

2.1.3. .................................................................................................... 9

........................................................................................ 10 2.2.2.2.1. ( ) ....................................................................... 10

2.2.2. ( ) .......................................................................... 12

............................................................................................... 14 2.3. ...................................................................................................... 20 2.4. .................................................................................................. 21 2.5.

3. ................................................................................................................................ 23

............................................................................................... 24 3.1.3.1.1. .................................................................................................. 24

3.1.2. CN1 ................................................................................................. 25

3.1.3. CN2 ................................................................................................. 29

3.1.4. CN3 USB ......................................................................................... 31

3.1.5. CN6 .......................................................................................... 31

3.1.6. CN7 ............................................................................................ 33

D2 ......................................................................................... 34 3.2.3.2.1. .............................................................................................. 34

3.2.2. .............................................................................................. 34 3.2.3. .............................................................................................. 34

3.2.4. USB ............................................................................................. 34

3.2.5. .............................................................................................. 35

3.2.6. EMC ............................................................................................ 35

3.2.7. .................................................................................................. 36

3.2.8. .................................................................................................. 36

........................................................................................ 37 3.3.3.3.1. ( ) .............................................................................. 37

3.3.2. ( ) .............................................................................. 38

................................................................................. 39 3.4. I/O .................................................................................................... 41 3.5.3.5.1. ........................................................................................... 41

3.5.2. ........................................................................................... 42

............................................................................................... 44 3.6.3.6.1. ............................................................................ 44

3.6.2. ............................................................................ 51

3.6.3. (PWM ) ............................................................. 54

4. ................................................................................................................................ 59

...................................................................................................... 60 4.1.4.1.1. .............................................................................................. 60

4.1.2. .................................................................................................. 61

4.1.3. .............................................................................................. 63



D2 v1.3

HIWIN Mikrosystem Corp. iii

.................................................................................................. 66 4.2.4.2.1. ........................................................................................... 67

4.2.2. ....................................................................................... 68

4.2.3. ........................................................................................... 72

4.2.4. .................................................................................... 75

.................................................................................... 77 4.3.

4.3.1. .................................................................................................. 77

4.3.2. ......................................................................... 77

4.3.3. ............................................................................ 78

4.3.4. .................................................................. 79

I/O ........................................................................................................... 80 4.4.4.4.1. .................................................................................... 80

4.4.2. .................................................................................... 90

In-Position ............................................................................................... 94 4.5. ............................................................................. 95 4.6.4.6.1. .................................................................................................. 95

4.6.2.

.................................................................................................. 97

4.6.3. / .......................................................................................... 99

4.6.4. ......................................................................................... 100

Flash .................................................................... 102 4.7.4.7.1. Flash ................................................................................... 102

4.7.2. .............................................................................. 102

5. LCD .............................................................................................................................. 103

....................................................................................................... 104 5.1. ...................................................................................... 105 5.2. LCD ............................................................................................ 107 5.3.5.3.1. ....................................................................................................... 109

5.3.2. ............................................................................................. 110

5.3.3. ............................................................................................. 112

5.3.4. ................................................................................................... 125

LCD .............................................................................. 129 5.4.5.4.1. ................................................................................................ 129

5.4.2. ................................................................................................ 132

5.4.3. / ........................................................................................ 134

5.4.4. ......................................................................................... 135

6. .............................................................................................................................. 137

Quick view .................................................................................. 138 6.1.

6.1.1. ................................................................................................ 138 6.1.2. Quick view ............................................................................................. 138

6.1.3. ............................................................................................ 140

....................................................................................................... 141 6.2. .................................................................................................... 144 6.3. ....................................................................................................... 146 6.4.6.4.1. ................................................................................................ 146

6.4.2. PDL ......................................................................... 147

Plot view ....................................................................................................... 148 6.5.6.5.1. ......................................................................................... 148

6.5.2. / ............................................................................................... 152

6.5.3. ................................................................................................ 153

................................................................................................ 156 6.6.



D2 v1.3

HIWIN Mikrosystem Corp. iv

6.6.1. ................................................................................................... 156

6.6.2. ............................................................................................ 158

6.6.3. ............................................................ 160

6.6.4. .................................................................................. 163

6.6.5. ................................................................................................ 164

6.6.6. ..................................................................................... 164

6.6.7. ............................................................................................ 169 ............................................................................................. 171 6.7.

Loop constructor ........................................................................................... 172 6.8.6.8.1. / ........................................................................................ 173

6.8.2. Tool ....................................................................................................... 174

6.8.3. ................................................................................................... 177

6.8.4. ................................................................................................ 178

6.8.5. ................................................................................................ 179

7. ....................................................................................................................... 183

....................................................................................................... 184 7.1.7.1.1. .............................................................................. 184

7.1.2. ....................................................................... 185

7.1.3. ................................................................... 185

7.1.4. ................................................................................................ 185

...................................................................................... 186 7.2.7.2.1. ......................................................................................... 186

7.2.2. ....................................................................... 186

....................................................................................................... 187 7.3. ....................................................................................................... 188 7.4.7.4.1. ......................................................................................... 188

7.4.2. ......................................................................................... 188

....................................................................................................... 190 7.5.7.5.1. ......................................................................................... 190

7.5.2. ..................................................................................... 190

......................................................................................... 191 7.6.8. .............................................................................................................................. 195

.................................................................................................... 196 8.1.8.1.1. .......................................................................... 197

8.1.2. index ............................. 199

8.1.3. ............................................................................................ 201

....................................................................................................... 202 8.2.

................................................................................................ 203

8.3. 8.3.1. .................................................................................. 204

8.3.2. ......................................................................................... 205

8.3.3. .............................................................................. 206

8.3.4. ................................................................... 206

9. ....................................................................................................................... 207

............................................................................... 208 9.1. ......................................................................................... 209 9.2.9.2.1. Lightening ......................................................... 209

9.2.2. LCD ........................................................................................ 209

9.2.3. Error and Warnings Log ................................................................. 210

...................................................................................... 213 9.3.9.3.1. E03 PEBIG ............................................................... 215



D2 v1.3

HIWIN Mikrosystem Corp. v

...................................................................................... 216 9.4.9.4.1. W03 HWLL W04 HWRL ..................................................... 217

9.4.2. W09 ACC.L W10 VEL.L ..................................................... 217

......................................................................................... 219 9.5. A. ................................................................................................................ 221

A.1. ....................................................................................... 222

A.2. Hardware Enable ........................................................................ 222

A.3. ........................................................................................................ 223

A.4. .......................................................................................... 223

B. ................................................................................................................ 225

B.1. RAM Flash .......................................................................... 226

C. ..................................................................................................... 229

C.1. ..................................................................................................... 230



D2 v1.3

HIWIN Mikrosystem Corp. vi

1.0 2012.01.10 D2

1.1 2012.04.10 D2

1.2 2014.10.15D2 0.033

Lightening 0.177

(1) D2T (2) EtherCAT (3) mega-ulink (4) relay (5) clear posion error (6) SW method 1 SW method 5

(7) ZeroTune (8) I/O center Set Default (9) Set parameters to factory default

(10) LCD (11) LCD (12) LCD (13) PDL (14) E15 E16 E17 E19 W13 W14

error/warning code (15)

1.3 2015.01.28D2 0.033

Lightening 0.177

(1) 1.1

(2) error/warning code E16 (3)



D2 v1.3 1.

HIWIN Mikrosystem Corp. 1

1.

1. ................................................................................................................ 1 1.1. ................................................................................................. 2 1.2. .................................................................................................... 3



D2 v1.3 1.


1.1.

◆

◆

◆

◆

◆

◆

◆ 9.3.

◆

( )



D2 v1.3 1.


1.2.◆

◆

◆ “ ” “ ” “ ” “ ”



D2 v1.3 1.




D2 1.3 2.


2.

2. ........................................................................................................................... 7 ................................................................................................. 8 2.1.

2.1.1. .................................................................................................... 8 2.1.2. .................................................................................................... 8 2.1.3. .................................................................................................... 9

........................................................................................ 10 2.2.2.2.1. ( ) ....................................................................... 10 2.2.2. ( ) .......................................................................... 12

............................................................................................... 14 2.3. ...................................................................................................... 20 2.4. .................................................................................................. 21 2.5.



D2 1.3 2.


2.1.2.1.1.

CE Compliance2-1

EMC

EN 55011

EN 61000-6-2

EN 61800-3

LVD EB 61800-5-1

2.1.2.

2-1

/

/

/



D2 1.3 2.


2.1.3. D2 1 2 2a 3 4 5 6 7 8 9 10 11 12 D 2 - 0 4 2 3 - S - B 0

D2 = D2

TT ….. = T TT ………… .…=

50W / 100W………………………...…..= 01 200W / 400W………………………….. .= 04

750W / 1000W………………………… .= 10

…………….………..………………………….= 1 ….……………………..… ..............................= 2

220V………… .…………………………………...……….= 3

( )…………………………….……………..…….. = P

…………………………………………………………………= S EtherCAT (CoE)..…………………………………………………….…= E EtherCAT (mega- ulink)………………………………………………... = F

A ……………………………………………………………..……..……………..= A B ……………………………………………………………………..…………....= B C ………………………………………………………………………………… ..= C

13-bit …………………………………….………..……..……….…… ....= 0

17-bit …………………………...…………………………………… ..………..= 4 DL 17-bit ………………………….…………= 5

2-2



D2 1.3 2.


2.2.2.2.1. ( )

2-2

220V A-C

/ , 200~240V 50/60Hz

A-C

, 200~240V 50/60Hz

: 0℃~45℃( 55℃ ) : -20℃~65℃

0 to 90% RH( ) 1000

1G (10 to 500Hz) IGBT PWM

/ 13-bit (10000 ) 17-bit (131072 ) ( 5 )

I/O

9 ( ) (D2 )10 ( ) (D2T )

4 ( ) (D2 )5 ( ) (D2T )

1 (12bit A/D) 2 ( : 2 )

2 ( , ) 4 ( Line driver 3 , 1 )

, USB , 115200bps

/ 8*2 LCD

LED ( , ) ,

(1) (2) (3) (4) / (5) / (6) /

(1) (2) (3) (4)

(5) (6) (7) (8) …

(1) , (2) , (3) , (4) …

( ): 500kpps

line driver ( ): 4Mpps(AqB 16M cnt/s)

(1) / (Pulse/Dir), (2) / (CW/CCW), (3) A/B (AqB)

(

)

: pulses/countspulses: 1~2147483647, counts: 1~2147483647

: 1~500 (0: )

(VSF)VSF

(1) , (2) , (3) , (4)

, (5) , (6) , (7) …

(1) , (2) , (3) , (4) …

PWM

PWM ,

,



D2 1.3 2.


.

(1) , (2) , (3) , (4)

, (5) , (6) … 1) , (2) , (3) , (4) …

PWM PWM ,

, .

Auto tune Auto tune , LCD

( 18M count/s)

(1) , (2) , (3) , (4) , (5) , (6) , (7) (8) , (9) 5V , (10) , (11)

(PDL)

32K Bytes 800 Bytes

(1) 32 bits(2) 16 32 bits(3) 66.67 us 4 task

if else while for goto till

Lock Unlock

(1) 17 (2) 24

(3) proc 24

(Error Mapping)

: : 5,000 : Flash ROM, : um, count :

,



D2 1.3 2.


2.2.2. ( )2-3

220V

A-B

, 200~240V 50/60Hz

C / , 200~240V 50/60Hz

A-C

, 200~240V 50/60Hz

: 0℃~45℃( 55℃ ) : -20℃~65℃

0 to 90% RH( ) 1000

1G (10 to 500Hz) IGBT PWM

/ 13-bit (10000 ) 17-bit (131072 ) ( 5 )

I/O

9 ( ) (D2 )10 ( ) (D2T )

4 ( ) (D2 )5 ( ) (D2T )

2 ( , ) 4 ( Line driver 3 , 1 )

, USB , 115200 bps

/ 8*2 LCD

LED ( , ) ,

(1) (2) (3) (4)

(5) (6) (7) (8) …

(1) , (2) , (3) , (4) …

( ): 500kppsline driver ( ): 4Mpps(AqB 16M cnt/s)

(1) / (Pulse/Dir), (2) / (CW/CCW), (3) A/B (AqB)

(

)

: pulses/countspulses: 1~2147483647, counts: 1~2147483647

: 1~500 (0: )

(VSF)VSF

Auto tune Auto tune ,

LCD

( 18M cnt/s)

(1) , (2) , (3) , (4) , (5) , (6) , (7) (8) , (9) 5V , (10) , (11)

(PDL)

32K Bytes 800 Bytes

(1) 32 bits(2) 16 32 bits(3)

66.67 us 4 task

if else while for goto till



D2 1.3 2.


Lock Unlock

(1) 17 (2) 24 (3) proc 24

(Error Mapping)

: : 5,000 : Flash ROM, : um, count :

,



D2 1.3 2.


2.3.D2 EtherCAT D2mm 4 mm

2-3 D2 A

D2-DNN46A



D2 1.3 2.


2-4 D2 B

D2-DNN47A



D2 1.3 2.


2-5 D2 C

D2-DNN48A



D2 1.3 2.


2-6 EtherCAT D2 A

D2-DNN43A



D2 1.3 2.


2-7 EtherCAT D2 B

D2-DNN44A



D2 1.3 2.


2-8 EtherCAT D2 C

D2-DNN45A



D2 1.3 2.


2.4.( )

220V 50Ω 110V 100Ω

20mm

2-9



D2 1.3 2.


2.5.

2-4

CPU 1.0GHz

RAM 512MB

50MB

USB

Win 2000 Win XP Win 7

1024 *768 pixel



D2 1.3 2.




D2 v1.3 3.


3.

3. ................................................................................................................................ 23

............................................................................................... 24 3.1.3.1.1. .................................................................................................. 24

3.1.2. CN1 ................................................................................................. 25

3.1.3. CN2 ................................................................................................. 29

3.1.4. CN3 USB ......................................................................................... 31

3.1.5. CN6 .......................................................................................... 31

3.1.6. CN7 ............................................................................................ 33

D2 ......................................................................................... 34 3.2. 3.2.1. .............................................................................................. 34

3.2.2. .............................................................................................. 34

3.2.3. .............................................................................................. 34

3.2.4. USB ............................................................................................. 34

3.2.5. .............................................................................................. 35

3.2.6. EMC ............................................................................................ 35

3.2.7. .................................................................................................. 36

3.2.8. .................................................................................................. 36

........................................................................................ 37 3.3.3.3.1. ( ) .............................................................................. 37

3.3.2. ( ) .............................................................................. 38

................................................................................. 39 3.4. I/O .................................................................................................... 41 3.5.3.5.1. ........................................................................................... 41

3.5.2. ........................................................................................... 42

............................................................................................... 44 3.6.3.6.1. ............................................................................ 44

3.6.2. ............................................................................ 51

3.6.3. (PWM ) ............................................................. 54



D2 v1.3 3.


3.1.

3.1.1.

3-1

3-1

1 AC (CN1)L1 L2 200~240VAC 50/60HzL1 L2 L3 200~240VAC 50/60Hz

2 (CN1) ( , U, V, W)

3 (CN1) ( / )(REG- / REG+)

4 (CN1) I/O (L1C, L2C)

L1C L2C 200~240VAC 50/60Hz5 (CN2) ( / )

6 Mini USB (CN3) ( ) Mini USB PC …

7 (CN6)

8 (CN7)



D2 v1.3 3.


3.1.2. CN1 CN1 /

3.1.2.1.

(1) D2- - -B(F) Wago 2092-1112 ( )

3-2 CN1

3-3 CN1

L1L2L3

UVWREG-REG+L1CL2C

WAGO2092-1112

(12PIN)



D2 v1.3 3.


(2) D2- - -B(G), D2- - - , D2T- - -

Wago 721-112/026-000 ( )

3-4 CN1

3-5

3-2

1 L1 AC 220VAC (50/60Hz) 2 L2 AC 220VAC (50/60Hz)

3 L3 AC 220VAC (50/60Hz)

4 5

6 U U

7 V V

8 W W

9 REG-

10 REG+

11 L1C 220VAC (50/60Hz)

12 L2C 220VAC (50/60Hz)



D2 v1.3 3.


3.1.2.2.

3-6

3.1.2.3.

(REG- / REG+)

3-7

L1L2L3

UVWREG-REG+L1CL2C

m e g a f a b sD2 se r ies

C N 1

L1L2

L3

UVWREG-REG+L1CL2C

mega fabs

D2 series

CN1



D2 v1.3 3.


5

U V W

/ 30 cm

※ 2

※

※

※

※

※



D2 v1.3 3.


3.1.3. CN2 relay 24V DC

3.1.3.1. CN2

(1) D2- - -B(G) D2- - -B(F)

: WAGO 733-103

3-8

(2) D2- - - D2T- - -

: WAGO 734-104

3-9

+24VBRKRTN

CN2

+24VBRKRTN

WAGO733-103

* :

20~28 AWG



D2 v1.3 3.


3.1.3.2. Relay

(1) D2- - -B(G) D2- - -B(F)

3-10 relay for D2- - -B(G) and D2- - -B(F)

(2) D2- - - D2T- - -

3-11 relay for D2- - - D2T- - -

m e g a f a b s

D 2 S e r i e s

+24V1BRKRTN

23

DC24V

Motor

RelayB

B

mega fabs

D2 Series

+24V 1

B+

RTN

2

4

DC24V

Motor

Rela

B

B

B- 3



D2 v1.3 3.


3.1.4. CN3 USB Mini USB PC .. 4

Mini USB HIWIN USB2.0 Type A to mini-B 5Pin (1.8M)

3-12

3-13

3.1.5. CN6

3-14

SCSI 50PIN (Female) SCSI 50PIN (Male)



D2 v1.3 3.


CN6

3-3

1 CWL (500Kbps)

Pulse CW A phase3 CWL+4 CWL-2 CCWL (500Kbps)

Dir CCW B phase5 CCWL+6 CCWL-

13 SG 21 A

(buffered encoder emulated encoder)RS422

22 /A48 B49 /B23 Z24 /Z25 SG

19 CZ Z 14 ADC0+ / (+/-10V)15 ADC0-16 ADC1+

N/A17 ADC1-18 ADC2+20 ADC2-43 DAC1 N/A42 DAC2 N/A44 CWH+ (4Mbps)

Pulse CW A phace45 CWH-46 CCWH+ (4Mbps)

DIR CCW B phace47 CCWH-7 COM Sink Source

33 I1

( )

30 I229 I327 I428 I526 I632 I731 I89 I98 N/A or I10 D2 N/A D2T I10

35 O1+

( )

34 O1-37 O2+36 O2-39 O3+38 O3-11 O4+10 O4-40 N/A or O5+ D2 N/A D2T O5+ 12 N/A or O5- D2 N/A D2T O5- 41 AGND (Analog Ground)50 FG



D2 v1.3 3.


3.1.6. CN7 CN7 CN7

3-15

3-4

1 +5Vdc +5Vdc

2 SG +5 Vdc 3 PS+ 4 PS-5 A

6 /A7 B8 /B9 Z

10 /Z

Pin1

Pin9

Pin2

Pin10

SCR connector 10PIN( ) SCR connector 10PIN( )

CN7



D2 v1.3 3.


D2 3.2.3.2.1.

3-5

HVPS04AA□□MA HVPS04AA□□MB

HVPS06AA□□MA HVPS06AA□□MB

□□ 3-6

□□ 03 05 07 10 (m) 3 5 7 10

3.2.2.

3-7

13bit

HVE131AB□□MA HVE131AB□□MB

17bitHVE171AB□□MA HVE171AB□□MB

□□ 3-8

□□ 03 05 07 10 (m) 3 5 7 10

.

3.2.3.

3-9

LMACK02D

2m

3.2.4. USB

3-10

USB USB2.0 Type A to mini-B 5 PIN1.8mmini-B



D2 v1.3 3.


3.2.5.

3-11D2

D2 - - -B(G) D2-CK1

CN1 AC

12 pins pitch 5mm Wago721-112 / 026-000

1

CN2 3pins pitch 2.5mm Wago 734-104 1

CN6 50 pins welded type 3M10150-3000PE + 10350-52A0-008

1

CN1 Wago 231-131 1

CN2 Wago 733-103 1

D2 - - -B(F) D2-CK2

CN1 AC 12 pins pitch 5mm Wago

2092-1112

1

CN2 3pins pitch 2.5mm 1


1

CN2 Wago 733-103 1

D2 - - - D2T- - - D2-CK3

CN1 AC 12 pins pitch 5mm Wago

721-112 / 026-000

1

CN2 4pins pitch 3.5mm 1


1

CN2 Wago 734-230 1

3.2.6. EMC

3-12

D2 EMC ( )

D2-EMC1 FN2090-6-06 (50W to

400W )1

EMI core KCF-130-B 1

D2-EMC3

FN2090-10-06 (750Wto 1KW )

1


D2 EMC ( )

D2-EMC2FN3025HL-20-71 1




D2 v1.3 3.


3.2.7.

3-13 /

RG1 68Ω. 100W / 500W

RG2 120Ω. 300W / 1500W

3.2.8.

3-14 HIWIN

AC(CN1)

12 5.0mm

051500400269WAGO:2092-1112

12 - 24 AWG

:12 AWG/600V

1

(CN1) (CN1)

(CN1)

(CN6)

50 .050" Mini DRibbon (MDR)

051500400272SCSI 50PIN( ) 24 - 30 AWG 1

(CN7)

HIWIN

(CN2)

3 2.5mm

051500400251

WAGO:733-103 20 - 28 AWG

:

733-130 1

Mini USB (CN3)

USB 2.0 Type A tomini-B5Pin(1.8M)(Shielding)

051700800366

1 CN1 CN2 CN6 ( 733-130 ) HIWIN P/N: 051800200070 2



D2 v1.3 3.


3.3.

5

3.3.1. ( )50W~400W FN2090-6-06 750W~1KW

FN2090-10-06

3-16

3-15

FN2090-6-06

250VAC, 50/60Hz

DC to 400Hz

1 to 30 A@40 ℃

2kV, IEC 61000-4-5



D2 v1.3 3.


3.3.2. ( )FN3025HL-20-71

3-17

3-16

FN3025HL-20-71

3 x 520/300 VAC

DC to 60Hz

10 to 50A@50 °C



D2 v1.3 3.


3.4.

3-18



D2 v1.3 3.


(NFB)

NFB 1.5~2.5

IB=C×I n IB= (ΣIn-InMAX)×K CMAX InMAX

IB=C1×I n1 C2×I n2 ‧‧‧‧ CN×I nN

IB In InMAX C 1.5 2.5 1.5 C MAX K 1

5 D2-0123- ◇ - A□ 1 D2-0423- ◇ -B□ ( C CMAX 2 )

IB=(1.5×5+4.1-4.1) ×1+4.1×2=15.7A IB=2×1.5+2×1.5+2×1.5+2×1.5+2×1.5+2×4.1=23.2A

3-17 D2

A(rms)

D2-0123- ◇ - A□ 1.5

D2-0423- ◇ -B□ 4.1

D2-1023- ◇ -C□ 7.5



D2 v1.3 3.


I/O 3.5.D2 CN6 9 4 I/O D2T CN6 10 5 D2 D2T D2

3.5.1. D2 12~24 VDC D2 (D2T)

9 (10) COM Sink SourceI3 Axis Enable

3.5.1.1. Sink

(1)

3-19

(2)

3-20

COM7I1

I2

I3

4.7K

33

30

29

Sink

COM7

I1

I2

I3

4.7K

33

30

29

Sink



D2 v1.3 3.


3.5.1.2. Source

(1)

3-21

(2)

3-22

3.5.2.

D2 24 VDC D2(D2T) 4 (5) 100 mA

D2

3-23

COM7I1

I2

I3

4.7K

33

30

29

Source

COM7 I1

I2

I3

4.7K

33

30

29

Source

O1+ 35

O1- 34

O2+ 37

O2- 36

O3+ 39

O3- 38

O4+ 11

O4- 10



D2 v1.3 3.


(1)

3-24

(2)

3-25

O1+ 35

O1- 34

O2+ 37

O2- 36

O3+ 39

O3- 38

O4+ 11

O4- 10

+-

+-

+-

+-

+24VDC

O1+ 35

O1- 34

O2+ 37

O2- 36

O3+ 39

O3- 38

O4+ 11

O4- 10

+24VDC



D2 v1.3 3.


3.6.3.6.1.

(Pulse) (P command)

(Pulse/Dir) / (PulseUp/Pulse Down CW/CCW) AqB (Quadrature)

3-26

( 1 ) N P N 1 2 V 2 4 V

( 2 ) N P N 2 4 V

( 3 ) P N P 1 2 V 2 4 V

( 4 ) P N P 2 4 V

A

B

Z

( + / - 1 0 V )

Z ( )

:

D2-ENT01A



D2 v1.3 3.


※

D2 (D2-0423-S-B(F)) D2-0423-S-B(G)) :

3-18

CW/CCW CW/CCW CW/CCW

3-32 CW/CCW



D2 v1.3 3.


3.6.2. V command

-10V~+10V -10V~+10V

3-33

+

-

733302927282632319

3534373639381110

444546472550

1514

192524

23

4849

2221

13

COM+I1I2I3I4I5I6I7I8I9

O1+

O2+O1-

O2-O3+O3-O4+O4-SG

CWH+CWH-

CCWH+CCWH-

SGFG

A/AB/BZ/Z

SGCZ

ADC0+ ADC0-

4.7k

CN6

4.7k

4.7k

4.7k

4.7k

4.7k

4.7k

4.7k

4.7k E n c o d e r _ o u t p u t

A

B

Z

Z ( )

(+/-10V)

:



D2 v1.3 3.




D2 v1.3 4.


4.

4. ................................................................................................................................ 59

...................................................................................................... 60 4.1.4.1.1. .............................................................................................. 60

4.1.2. .................................................................................................. 61

4.1.3. .............................................................................................. 63

.................................................................................................. 66 4.2.4.2.1. ........................................................................................... 67

4.2.2. ....................................................................................... 68

4.2.3. ........................................................................................... 72 4.2.4. .................................................................................... 75

.................................................................................... 77 4.3.4.3.1. .................................................................................................. 77

4.3.2. ......................................................................... 77

4.3.3. ............................................................................ 78

4.3.4. .................................................................. 79

I/O ........................................................................................................... 80 4.4.4.4.1. .................................................................................... 80

4.4.2. .................................................................................... 90

In-Position ............................................................................................... 94 4.5. ............................................................................. 95 4.6.4.6.1. .................................................................................................. 95

4.6.2. .................................................................................................. 97

4.6.3. / .......................................................................................... 99

4.6.4. ......................................................................................... 100

Flash .................................................................... 102 4.7.4.7.1. Flash ................................................................................... 102

4.7.2. .............................................................................. 102



D2 v1.3 4.


4-4 USB

Lightening 4-5 “C:\mega_fabs\dce\toolswin\winkmi\lig htening.exe” Lightening 0.178 ( ) “C:\HIWIN\dce\toolswin\winkmi\ lightening.exe”

4-5 Lightening

4.1.2. (1) USB (2) mega-ulink (3) CoE D CoE ( http://www.hiwinmikro.com.tw/hiwintree/

Product_SubType.aspx?type=D2)

(1) USB USB “Tools” “Communication setup…”

4-6

4-7 D2 USB BPS 115200 Port



D2 v1.3 4.


4-7

(2) mega-ulink mega-ulink WinPcap WinPcap

lightening Communication Setup 4-7 Ethercat EtherCat... 4-8

4-8

EtherCat set up 4-9 EtherCat set up Lightening Communication Setup Apply



D2 v1.3 4.


4-9

4-10 Ethercat 4-11

4-10

4-11

4.1.3. 4-12 Rename

4-12

1 slave

Quick view



D2 v1.3 4.


(1)

PDL

(RAM)

(RAM)

(RAM) Flash

(2)

(enabled) 4.4.1 A

Performance center Enable

Disable PC PC Lightening

(3) Drive property Properties 4-13

4-13

. Lightening 0.144 ( ) D2 Lightening 0.180 ( )D2T

4-14 Do nothingLightening



D2 v1.3 4.


4-14



D2 v1.3 4.


4.2. (Configuration center)

4-15

4-15

D2 (1) (Motor Type) (2) (Encoder Parameter) (3) (Operation Mode)

4.2.1



D2 v1.3 4.


HIWIN Rotary Customized Rotary Digital

(*.enc) 4-19

4-19

D2 D2 D2 (buffered encoder) (emulated encoder) (Scalling) 4.2.2.3

4.2.2.1.

HIWIN AC HIWIN 5 13-bit 10000 count/rev HIWIN 3 6 17-bit 131072 count/rev HIWIN AC 4-2 4.2.2.2

4-2

AC (count/rev)FRLS FRLS05XX5, FRLS10XX5, FRLS202X5, FRLS402X5

13-bit Incremental(10,000 counts/rev)

FRMS FRMS202X5, FRMS402X5, FRMS752X5FRMM FRMM1K2X5

FRLS FRLS05XX3, FRLS10XX3, FRLS202X3, FRLS402X3,FRLS052X6, FRLS102X6, FRLS202X6, FRLS402X6,

17-bit Incremental(131,072 counts/rev)FRMS FRMS202X3, FRMS402X3, FRMS752X3,

FRMS752X6

FRMM FRMM1K2X3, FRMM1K2X6

/



D2 v1.3 4.


4.2.2.2.

Rotary CustomizedRotary Digital 4-20 Encoder Resolutions

Counts/Rev Linear Resolution um/Counts

4-20

4.2.2.3.

D2 CN2 AqB (Encoder output) 4-21 (Use buffered encoder) (Use emulated encoder) (Output Resolution)

4-21



D2 v1.3 4.


. 17 bits AC emulated encoder( 4-23) Z

(1) (Buffered encoder output)

(Invert)

4-22

(2) (Emulated encoder output) (Scaling) 1:1

5 encoder count = 1 emulated encoder output 1 encoder count

= -1 emulated encoder output 4-23 10000 count/rev 5 1

(Output Resolution) 2000 count/rev

4-23

(3) Z

17 bits AC Emulated encoder outputZ 4-23

a. (Emulated index raduis ) Z 4-24 b. (Emulated index jitter filter ) Z



D2 v1.3 4.


4-24

home offset index homeoffset

4-25

Z a. Emulated Index Output in every revolution

index Z b. Emulated Index Output in every revolution

index Z

4.2.3. 4-26

4-26

/

Z

Z

= 0

Home offset index



D2 v1.3 4.


4.2.3.1.

(Pulse/Dir) / (Pulse Up/Pulse DownCW/CCW) AqB (Quadrature) (Electronic Gear) 1 1 encodercount 2:3 2 3 encoder count

TTL

4-27

D2

4-28

Pulse

Dir

A

B

CCW

CW



D2 v1.3 4.


4.2.3.2.

(1) V Command V command -10V~+10V -10V~+10V

(2) PWM Command

PWM PWMcommand PWM duty cycle PWM

(PWM 50%) (PWM 100%) (PWM 50%) dutycycle 50% 50% 50% (PWM 100%)

PWM Full PWM

PWM (Scaling) 1V mm/s rpm Full

PWM

4-29

4.2.3.3. /

(1) V Command V command -10V~+10V -10V~+10V

(2) PWM CommandPWM PWM

Output

Input

Dead band

Dead band



D2 v1.3 4.


command PWM duty cycle PWM (PWM 50%) (PWM 100%) (PWM 50%) duty

cycle 50% 50% 50% (PWM 100%) PWM

Full PWM

PWM (Scaling) 1V Full PWM

4-30 /

4.2.3.4.

DSP( )

4-31

4.2.4. OK 4-32 “Send to RAM”

(Save to Flash)

. Configuration center OKOK



D2 v1.3 4.


4-32

PC (Save Parameter from Amplifier RAM to File) PRM



D2 v1.3 4.


4.3.4.3.1.

(1) STABS (SW method 3) 17-bit

4 5 3 4 6 D2-0423-S-B-4 FRLS4020606A

4-33 HIWIN 17

(2) LSWIR (SW method 4)

05 D2-0423-S-B-0 FRLS4020506A

4-34

4.3.2. ※ ※ ※ (Hardware Enable) ※ AC



D2 v1.3 4.


4.3.3. LSWIR STABS LSWIR

( )

1

5 LSWIR

2

Execute

Auto tune

Proceed

Close

※ 1

※ 2

Auto tune 2

3

2

Auto

tune Toggle 2

※



D2 v1.3 4.


4.3.4. ※ ※

※

※

※

※ ※ ※ ※



D2 v1.3 4.


I/O 4.4.4.4.1.

I/O ( ) 4-35 D2 (D2T) 9 (10)

4-35

(1)

(2) (Invert) Invert

4-3

1 SVN Axis Enable / I3

Level Trigger

2 LL Left Limit Switch I6 Level Trigger

3 RL Right Limit Switch I9 Level Trigger

4 MAP Home OK, start err. map Edge Trigger

5 RST Reset amplifier Edge Trigger

6 DOG Near home sensor Level Trigger

7 CE Clear Error Edge Trigger

8 INVC Invert V Command /

Level Trigger

9 GNS Switch to secondary CG Level Trigger



D2 v1.3 4.


10 JSEL Switch to secondary vpg vpg Level Trigger

11 ZSC Zero Speed Clamp

Level Trigger

12 INH Inhibit Pulse Command Level Trigger

13 PSEL Switch HI/LO Pulse Input Level Trigger

14 EMG Abort Motion Level Trigger

15 MOD Switch to secondary mode

Level Trigger

16 HOM Start Homing Edge Trigger

17 DIV1 Electronic Gear Select(DIV1)

Level Trigger

18 DIV2 Electronic Gear Select(DIV2)

Level Trigger

4-4 D2 Inputs

/

33 I1 Start HomingInhibit Pulse

Command

Zero Speed

Clamp

Zero Speed

Clamp

30 I2 Abort Motion

29 I3 Axis Enable Axis Enable Axis Enable Axis Enable

27 I4Switch to

secondary CG

Switch to

secondary CG

Switch to

secondary CG

Switch to

secondary CG

28 I5Near Home

Sensor

Electronic

Gear Select

(DIV1)

26 I6Left (-)

Limit Switch

Left (-)

Limit Switch

Left (-)

Limit Switch

Left (-)

Limit Switch

32 I7

Switch to

secondary

mode

Switch to

secondary

mode

Switch to

secondary

mode

Switch to

secondary

mode

31 I8 Clear Error Clear Error Clear Error Clear Error

9 I9Right (+)

Limit Switch

Right (+)

Limit Switch

Right (+)

Limit Switch

Right (+)

Limit Switch

8 I10*

* D2T



D2 v1.3 4.


Abort Motion Pos Vel Trq Std EMG I2 3.5.1

(Dec. kill Performance center )

I/O center input Abort Motion ( I2)

Abort Motion True (state ) (Dec. Kill)



D2 v1.3 4.


Invert V Command Pos Vel Trq Std INVC None 3.5.1

/ Input function Invert V Command Invert VCommand False 0~+10V 0~-10V Invert V Command True

0~+10V 0~-10V

Switch to secondary mode Pos Vel Trq Std MOD I7 3.5.1

I/O

Configuration center mode

Switch to secondary mode False ( ) Primary Operation Mode

True ( ) Secondary Operation Mode

Invert Command

0 ~ +10V 0 ~ -10V 0 ~ +10V 0 ~ -10VAnalog Command

Ture

FalseInvert Command

0 ~ +10V 0 ~ -10V 0 ~ +10V 0 ~ -10VAnalog Command

Ture

False

True

Analog Command

False Invert V Command



D2 v1.3 4.


Electronic Gear Select(DIV1 DIV2)

Pos Vel Trq Std

DIV1 DIV2 I5 3.5.1

4

Configuration center Mode Primary Operation Mode Position Mode Secondary Operation Mode Position Mode 4

(Primary Operation Mode)

(Secondary Operation Mode)



D2 v1.3 4.


DIV1 DIV2 3 Electronic Gear Select (DIV2) True Electronic

Gear Select (DIV1) False

DIV2 DIV1 Numerator

0 0 1 st

0 1 2 nd

1 0 3 rd

1 1 4 th

Inhibit Pulse Command Pos Vel Trq Std INH I1 3.5.1

input

Input function Inhibit Pulse Command True

False



D2 v1.3 4.


Switch HI/LO Pulse InputCommand

Pos Vel Trq Std

PSEL None 3.5.1

I/O center inputs ( ) Switch HI/LO Pulse Input Command (

I1~I9 I8)

Switch HI/LO Pulse Input Command False (state )

True (state )

. Switch HI/LO Pulse Input Command (I1~I9 )Configuration center Mode Position Mode

Switch HI/LO Pulse Input Command,Configuration center

Switch HI/LO Pulse Input Command,Configuration center

.



D2 v1.3 4.


Switch to secondary vpg Pos Vel Trq Std JSEL None 3.5.1

vpg

Advanced gains Schedule Gains + vpg

Switch to secondary vpg True ( ) Secondary vpg False( ) Primary vpg

Clear Error Pos Vel Trq Std CE I8 3.5.1

Clear Error False True

Start homing Pos Vel Trq Std HOM I1 3.5.1

Start homing False True Application center



D2 v1.3 4.


Switch to secondary CG Pos Vel Trq Std GNS None 3.5.1

CG

Advanced gains Schedule Gains + vpg

Switch to secondary CG True ( ) Secondary CG False( ) Primary CG

Zero Speed Clamp Pos Vel Trq Std ZSC I1 3.5.1

(Level Trigger) (Zero Speed Clamp)

True



D2 v1.3 4.


I/O Input function (ZeroSpeed Clamp) I1

Protection center (vel_stop) ( 500count/s)

I1 True

(vel_stop)/

vel_stop

- vel_stop



D2 v1.3 4.


4.4.2. D2 (O1~O4) CN6

(CN2 BRK) D2T(O5) CN6 D2

4-36

(1) TRUE FALSE

(2) Configuration “Customized” 4-36

“Errors” “PDL usage (General Purpose)” PDL

(3) CLOSE OPEN ( )

(4) (Invert State)

(5)

Configure O1 Configure O1 ( )

Configuration (Statuses)

(Errors) (Warnings) 4-37 Configuration

Not Configured ( ) Apply ( ) Cancel ( )



D2 v1.3 4.


(Errors) Set all errors ( ) Errors

4-37

4-5

1 BRK Brake ( , / / )

2 RDY Servo Ready 3 DIS Axis Disable 4 INP In-Position 5 MOV Moving

6 HOMD Homed 7 EMI Emulated Index Z index 8 ZSPD Zero Speed Detected

1 ALM Errors( Set all

error )

1 LS Left SW Limit 2 RS Right SW Limit 3 LH Left Hardware Limit

4 RH Right Hardware Limit 5 SVB Servo Voltage Big PWM warning 6 PEW Position Error Warning warning 7 VEW Velocity Error Warning warning 8 CUL Current Limited 9 ACL Acceleration Limited 10 VL Velocity Limited 11 BOHL Both HW limits are active 12 HOMF Homing fails

13 PCHC Pulse command and homingconflict



D2 v1.3 4.


4-6 D2 Outputs

/

34 35 O1 Servo Ready Servo Ready Servo Ready Servo Ready

36 37 O2 Errors Errors Errors Errors

38 39 O3 In-Position In-Position

10 11 O4Zero Speed

Detected

Zero Speed

Detected

Zero Speed

Detected

Zero Speed

Detected

40 12 O5*

2 CN2 BRK Brake Brake Brake Brake

* D2T

Zero Speed Detected Pos Vel Trq Std ZSPD O4 3.5.2

vel_stop 12 rpm ZSPD vel_stop !

Speed

ZSPD ON

vel_stop

1 2 r p m



D2 v1.3 4.


Errors Pos Vel Trq Std ALM O2 3.5.2

I/O center Outputs Errors ( O2)

Configure O2 Configuration of O2 Set all errors Errors output Errors Errors Errors output Customized



D2 v1.3 4.


In-Position 4.5. D2 In-Position

In-Position

Performance center Position In-Position Scope In-Position O2 4.4.2

4-38

4-7

Target radius In-Position

encoder 100

Debounce time In-Position In-Position

Move time Settling time Total time ( + )



D2 v1.3 4.


(3) D2 4 (Electronic Gear) 4.4.1

( )

1 Mode “Electronic Gear” (a)

2 Mode “Invert Pulse Command”

(b)

3 Mode

“Hardware Interface” / (c)

4 Mode “OK” (d)

5 “Send to RAM”

RAM

(4)

D2(Smooth factor ) S

T 0~500 S T 1 (Movetime ) 0

(a) (b)(c)

(d)



D2 v1.3 4.


( )

1

“Performance center”

/ (Conf/Tune) Performance center

2 Performance center Smooth factor

4.6.2. D2 PWM 4.2.3.2

4.7.1 Flash

(1)

( )

1

Lightening“Configuration

center”/ (Conf/Tune)

Configuration center

2 Configuration center “Mode”

3 Mode “VelocityMode”



D2 v1.3 4.


(2)

( )

1 Mode “Command Types”

2

Mode

(Scaling) 1Vmm/s rpm Full PWM

(a)

3 Mode

(Dead band) (b) Dead band 4-29

4Mode

”OK”

5 “Send to RAM”

RAM

PWM command(a)(b)

V command(a)(b)



D2 v1.3 4.


4.6.3. / D2 PWM 4.2.3.3

/ 4.7.1 Flash

(1) /

( )

1

Lightening “Configuration

center” / (Conf/Tune)



3 Mode “Force/Torque Mode”

(2)

( )

1 Mode “Command Types”

2

Mode (Scaling) 1V

Full PWM (a)

3

Mode (Dead band)

(b) Dead band 4-29

PWM command

(a)(b)

V command(a)(b)



D2 v1.3 4.


4Mode

“OK”

5 “Send to RAM” RAM

4.6.4. 4.2.3.4

4.7.1 Flash

(1)

( )

1

Lightening“Configuration

center”/ (Conf/Tune)





D2 v1.3 4.


3 Mode “Stand- Alone Mode” (a)

4Mode

“OK” (b)

5 “Send to RAM” RAM



D2 v1.3 4.


Flash 4.7.4.7.1. Flash

(Save parameters from amplifier RAM to Flash ) (1) (emulated encoder output)

emulated encoder output (2) (Error Map )

4.7.2. Lightening 0.180 ( ) Tools Set parameters tofactory default 4-39 Set drive tofactory default 4-40 Clear error table in flash thenreset drive Yes

4-39

4-40



D2 v1.3 5.LCD


5. LCD5. LCD .............................................................................................................................. 103

....................................................................................................... 104 5.1. ...................................................................................... 105 5.2. LCD ............................................................................................ 107 5.3.5.3.1. ....................................................................................................... 109

5.3.2. ............................................................................................. 110

5.3.3. ............................................................................................. 112

5.3.4. ................................................................................................... 125 LCD .............................................................................. 129 5.4.

5.4.1. ................................................................................................ 129

5.4.2. ................................................................................................ 132

5.4.3. / ........................................................................................ 134

5.4.4. ......................................................................................... 135



D2 v1.3 5.LCD


5.2.LCD

FRLS402XX5(STNDALON)

(1) ENTER (MOTRSE) LS402XX5 9 6 HIWIN 17

ENTER

(2) LCD ZeroTune (ZT) ZeroTune ENTER ZT (Load level LV) 5-2 ENTER

(3) LCD (MODE) ENTER MODE STNDALON ENTER

(4) LCD SAVE TO FLASH (SAVEFL) ENTER Flash NO ENTER Flash

5.3.3.1

(5) LCD Home page SVNRDY

5-2 ZeroTune LV1 LV2 LV3 LV4 LV5

50W, 100W 5kg 15kg 30kg 45kg 60kg200W, 400W 10kg 25kg 50kg 75kg 100kg

750W, 1KW 20kg 50kg 80kg 110kg 140kg

LV1~LV5



D2 v1.3 5.LCD


5-2

1 SVNRDYX

LEVEL TWOLEVEL ONE

4 MOTRSELS05XX5

4 MOTRSELS05XX5

4 MOTRSELS402X5

3 ZTLV5 100

3 ZTLV5 100

3 MODESTNDALON

3 MODESTNDALON

3 SAVEFL NO

3 SAVEFL NO

FLASH5.3.3.1

3 ZTLV3 50

3 ZTLV5 100

ZeroTune 5-2



D2 v1.3 5.LCD


LCD 5.3. 4 (home page) (display parameters page) (change parameters page) (actions page) F

LCD 5-3

(1)

(2) I/O (

)

(3)

Flash

(4) (Jog) Auto tune



D2 v1.3 5.LCD


5-3 LCD

DisplayParameters Page

Feedback Position

HOME Page

Actions Page

Move to previousMove to next

Enable/Disable

Jog

Moving to desireddestination position

Velocity(JOG/MOV PO)

Target Position

Reference Position

Position Error

Feedback Velocity

Reference Velocity

Velocity Error

Actual Current

Command Current

Analog Command

Bus Voltage

Soft Thermal

Change Parameters Page

X_vel_max

X_dcc

X_acc Save to Flash

X_f1.fr

X_f2.fr

Invert of CN2 brake output

O1




I1

I2

I3

I4

I5

I6

I7

I8

I9

O2

O3

O4


01FBPO 0

02RFPO 0

04POSE 0

10FBVE 0

11RFVE 0

12VELE 0

30ACTC 0

31CMDC 0

40ANAC -0.0202

41DCBU 0.991

51SWTH 0.014

61 I1 OFF

62 I2OFF

63 I3OFF

64 I4OFF

65 I5OFF

66 I6OFF

71 I7OFF

72 I8OFF

67 I9OFF

81 O1TRU-OPEN

82 O2TRU-OPEN

83 O3TRU-OPEN

84 O4TRU-OPEN

SAVEFL

NO000

2000

0012000

003 500

024500

028 0

Invert of input point 3 2431

Notes for HOME Page(Display Status): 1. It shows on the first line, ENABLE or DISABLE 2. If there is a warning, it shows on 2nd line the warning message. 3. If there is an error, the 2nd line will show error message. Examples:

ENABLEDISABLE

DISABLEE09UND.V

ENABLE W03 HWLL

Go back one level

Move to targetBack to Home

Go back one level

Set desired destination position

Go back one level

Set Velocity(JOG/MOV PO)

Go back one level

Positive jogNegative jog

MOV PO 10000

VEL LC 4e+05

MOV2PO0

JOG0

ENA/DISENABLE EnableDisable

Go back one level

Set EncoderPosition to Zero

Auto Tune

Motor Set


Move to previous

Move to next

SETZER 0

Go back one level

YESNO

AUTOTU YES

Go back one level

Choose motor type MOTRSELS402X5

.

.

.

CommonParameters

2 1

3

4

CN2BRK

Phase Init

Moving

Homed

ERR.MAP

85 BRKTRU-OPEN

90 PHASON

91 MOVI OFF

92 HOMEOFF

93 ERRMOFF

VERSION94 VER

0.028

Zero tune level

+++

2801

340TUNED

Advanced parameterssetting area



D2 v1.3 5.LCD


5.3.1.

5-3

5-3

SV RDY

SVNRDY

D2 5-4 5-4 5-5

5-4

5-4

No. Lightening

1 E01SHORT Motor short (over current) detected

2 E02OVERV Over voltage detected3 E03PEBIG Position error too large

4 E04ENCOD Encoder error

5 E05SWHOT Soft-thermal threshold reached

6 E06UVWCN Motor maybe disconnected

7 E07D.HOT Amplifier over temperature

9 E09UND.V Under voltage detected

10 E10V5ERR 5V for encoder card fail

11 E11PHINI Phase initialization error

12 E12SER.E Serial encoder communication error

13 E13HAL.E Hall sensor error

15 E15CURER Current control Error

17 E17HYBDV Hybrid deviation too big

19 E19HFLT HFLT inconsistent error

1 SVNRDYX

1 SVNRDYE01SHOR

1 SV RDYX

1 SV RDY W01SWLL



D2 v1.3 5.LCD


5-8 ( )

LCD No. 000 001 003

024 f1 1 028 f2 2

065

081 ( )082 ( )083 * ( ) 085 * ( )

115 :1~500

129 0: Quadrature (AqB)1: Pulse/Direction2: Pulse up/Pulse down (CW/CCW)

130 0: 1:

212

0: 1: 2: 3:

216 / 0: (CN6 pin 44, 45, 46, 47)1: (CN6 pin 1, 3, 4, 2, 5, 6)

219 CW/CCW / 0:

1:

243 I3 0: 1:

280 CN2BRK 0: 1:

340 ZeroTune LV1~LV5 ,

* ** LCD No. 5-9

5.3.3.1. Flash

Flash Step 1. ENTER SAVEFL ( ) Step 2. (YES NO) Flash

YES Step 3. (Disable) ENTER PROCESS.

Flash FINISH ! 5-8 (Enable) ENTER 5-8



D2 v1.3 5.LCD


5-8 SAVE TO FLASH

5.3.3.2. LCD 5-9 “#” ENTER

F common gain (CG LCD No. 065)

CG 0.5 1.2 LCD No. 065 5-9 :

Step 1. ENTER LCD No. 065 ( ) Step 2. 1 ‘0’ Step 3. F 1 ( ) Step 4. 2 ‘1’ 5-10 Step 5. F 1 ( ) Step 6. 2 ‘5’ Step 7. F 1 ( ) Step 8. 4 ‘2’ Step 9. ENTER CG 1.2

: LCD F :(1) F <1 [ ] [ ] (2) F >2 Level One

3 SAVEFLPROCESS.

3 SAVEFLFINISH !

3 SAVEFL NO

3 SAVEFL NO

3 SAVEFLYES

2

2

PROCESS.

FINISH !

LEVEL ONE LEVEL TWO



D2 v1.3 5.LCD


5-9 common gain (LCD No. 065)

3 0650.5

3 0650.5

3 0650.5

3 0651.5

2 “1” ( 0 0 1)

3 0650.5

3 0651.5

3 0651.5

3 0651.2

4 “2” ( 5 5 4 3 2)

3 0651 . 2

F

F

F

5-10

LEVEL ONE LEVEL TWO

2 2

3 065 1.5



D2 v1.3 5.LCD


5-10

( )

e

-

.

0 1

2

3

4

5

6

78

9



D2 v1.3 5.LCD


5-9 ( )LCDNo.

000 X_acc

( 10 ) count/s 2 2 31 - 1 1

001 X_dcc

( 10 )count/s 2 2 31 - 1 1

002 X_dcc_kill ( 10 )

count/s 2 2 31 - 1 1

003 X_vel_max

( )count/s 2 31 - 1 1

004 X_sw1_pos count 2 31 - 1 - (2 31-1)

005 X_sw2_pos count 2 31 - 1 - (2 31-1)

006 X_p2p_del (P2P ) msec 2 31 - 1 0

007 X_p2p_pos1 (P2P ) 1 count 2 31 - 1 - (2 31-1)

008 X_p2p_pos2 (P2P ) 2 count 2 31 - 1 - (2 31-1)

024 X_f1_fr 1 Hz 5000 0

025 X_f1_xi 1 - 10 0

026 X_f1_k1 1 - 10 0

027 X_f1_k2 1 - 10 0

028 X_f2_fr 2 Hz 5000 0

029 X_f2_xi 2 - 10 0

030 X_f2_k1 2 - 10 0

031 X_f2_k2 2 - 10 0

032 X_Upi_kp (D ) - 100000 1

033 X_Upi_ki (D ) - 100000 0

039 X_index_vel (slower speed) count/s 2 31 - 1 1

040 X_index_tout 66.67μs 2 31 - 1 1

044 X_pitchScrew (mm), AC mm 2 31 - 1 0.1

046 X_sm_ampl ( . curr_drv_peak )

(A_amp×1000)/curr_dr

v_peak1000 1

050 X_max_err count 2 31 - 1 1

051X_curr_mot_p

eak A_amp 150 0.1

053X_curr_mot_c

ont A_amp 75 0.1

059 X_vpg - 1 0.000001

064 X_affg - 1 0

065 X_CG - 10 0.01

066 X_sg_run - 10 0.01

067 X_sg_idle - 10 0.01



D2 v1.3 5.LCD


LCDNo.

068 X_sg_stop - 10 0.01

074 X_tr_time In-Position 66.67μs 2 31 - 1 0

075 X_tr In-Position count 2 31 - 1 0

079 X_gearRatyio AC - 100 1080* Vcmd_offs Volt 10 -10

081 X_cmd_ext_N ( ) - 2 31 - 1 1

082 X_cmd_ext_M ( ) - 2 31 - 1 1

083*X_cmd_ext_v_

sc

( /10)

count/s =1V 3.4*10 38 -3.4*10 38

084*X_cmd_ext_v_

dz

0 Volt 10 0

085* X_cmd_ext_i_ sc

( . curr_drv_peak )

(A_amp×1000)/curr_dr v_peak =1V

1000 -1000

086*X_cmd_ext_i_

dz

0 Volt 10 0

088X_pos_err_wa

rn_win count 2 31 - 1 1

089X_vel_err_war

n_win count/s 3.4*10 38 1

092 X_ vel_stop count/s 3.4*10 38 1

093X_delMaxEnT

oBrk 66.67μs 2 31 - 1 1

094 X_delBrkToDis 66.67μs 2 31 - 1 1

095 X_index_offs count 2 31 - 1 0

115X_new_sm_fa

c - 500 0

129 # X_pulse_mode

0: Quadrature (AqB)1: Pulse/Direction2: Pulse up/Pulse down (CW/CCW)

- 2 0

130 # X_pulse_dir 0: 1:

- 1 0

131 # X_fall_rise 0: Falling edge1: Rising edge

- 1 0

132* # X_cmd_pwm_

mode

0: Analog1: PWM 50%2: PWM 100%

- 2 0



D2 v1.3 5.LCD


LCDNo.

133 out_config[0]

CN2 BRK

- 2 15 - 1 0

134 out_config[1] - 2 15 - 1 0

135 out_config[2] - 2 15 - 1 0

136out_config[3] - 2

15

- 1 0137 out_config[4]

O1

- 2 15 - 1 0

138 out_config[5] - 2 15 - 1 0

139 out_config[6] - 215 - 1 0

140 out_config[7] - 215 - 1 0

141 out_config[8]

O2

- 2 15 - 1 0

142 out_config[9] - 2 15 - 1 0

143 out_config[10] - 2 15 - 1 0

144out_config[11] - 2

15

- 1 0145 out_config[12]

O3

- 2 15 - 1 0

146 out_config[13] - 2 15 - 1 0

147 out_config[14] - 215 - 1 0

148 out_config[15] - 215 - 1 0

149 X_StIdenext (Axis Enable)

0: 80~89: I1~I10**

- 89 0

150 X_StIdRL (Right (+) Limit Switch)

0:

80~89: I1~I10**

- 89 0

151 X_StIdLL (Left (-) Limit Switch)

0: 80~89: I1~I10**

- 89 0

153 X_StIdhome

(Home OK,start err. map) 0: 80~89: I1~I10**

- 89 0

154X_StIdOutBrak

e

0: 67: CN2 BRK68~72: O1~O5**

- 72 0

155 # X_sw_pos_pro

t_en

/ 0: 1:

- 1 0

156 # X_hw_lim_prot

_en

/ 0: 1:

- 1 0

157 X_emu_N - 2 15 - 1 1

158 X_emu_M - 2 15 - 1 1

159 # X_emap_en /

0:

1:

- 1 0



D2 v1.3 5.LCD


LCDNo.

160 X_StIdReset (Reset amplifier)

0: 80~89: I1~I10**

- 89 0

162X_home_smo

oth

- 500 1

164X_emu_i_radi

us count 2 31 - 1 1

165 X_emu_i_jitter count 2 31 - 1 0

172 X_vsf.fr VSF HZ 200 0

173 X_vsf.xi VSF - 1.5 0.001

174 # X_vsf_enVSF 0: VSF1: VSF

- 1 0

175 X_cmd_ext_N2 ( ) - 2 31 - 1 1

176 X_cmd_ext_N3

( ) - 2 31 - 1 1

177 X_cmd_ext_N4

( ) - 2 31 - 1 1

178X_fric_comp_u

p

( . curr_drv_peak )

0.1%*curr_ drv_peak(A_amp)

10 0

179 X_home_vel count/s 2 31 - 1 1

180 # X_home_optio

n

0:

1: near home senso index

- 1 0

181 # X_home_DIR

0: 1:

- 1 0

182 # X_home_opt0

_index

index 0: 1: index

- 1 0

183 # X_home_left_

SW

0: 1:

2:

- 2 0

184 # X_home_right

_SW

0: 1: 2:

- 2 0

185X_home_wall_

CurrThrshld

( . curr_drv_peak )

(A_amp×1000)/(curr_dr

v_peak)231 - 1 1

186X_home_wall_

CurrTime msec 2 31 - 1 1

187#

X_home_selec

t_Speed

0: Slower speed1: Faster speed

- 1 0



D2 v1.3 5.LCD


LCDNo.

188 # X_home_sear

ch_option

0: index1: Near home sensor2: Near home sensor index3: Near home sensor index

- 3 0

189 X_backlash count 2 31 - 1 0

191X_StIdNearHo

me

(Near home sensor)0: 80~89: I1~I10**

- 89 0

192 X_StIdClrErr (Clear error)0: 80~89: I1~I10**

- 89 0

193 X_StIdInvCmd (Invert V Command)0: 80~89: I1~I10**

- 89 0

194 X_StId2ndCG(Switch to secondary

CG)0: 80~89: I1~I10**

- 89 0

195 X_StId2ndVPG

vpg (Switch to secondaryvpg)0: 80~89: I1~I10**

- 89 0

196 X_StIdZSC(Zero Speed Clamp)

0: 80~89: I1~I10**

- 89 0

197 X_StIdINH

(Inhibit Pulse Command)

0: 80~89: I1~I10**

- 89 0

198 X_StIdPS

(Switch HI/LOpulse input)0: 80~89: I1~I10**

- 89 0

199 X_StIdAbort (Abort motion)

0: 80~89: I1~I10**

- 89 0

200 X_StIdClrPE (Clear Position Error)

0: 80~89: I1~I10**

- 89 0

201X_StId2ndOpe

rMode

(Switch to secondarymode)0: 80~89: I1~I10**

- 89 0

202X_StIdStartHo

me

(Start homing)0: 80~89: I1~I10**

- 89 0

203 X_StIdDiv1

(Electronic Gear Select(DIV1))0: 80~89: I1~I10**

- 89 0



D2 v1.3 5.LCD


LCDNo.

204 X_StIdDiv2

(Electronic Gear Select(DIV2))0: 80~89: I1~I10**

- 89 0

205 out_config[16]

O4

- 2 15 - 1 0

206 out_config[17] - 2 15 - 1 0

207 out_config[18] - 2 15 - 1 0

208 out_config[19] - 2 15 - 1 0

212 # X_oper_mode

1

0: Stand-Alone1: Position mode2: Velocity mode3: Force/Torque mode

- 3 0

213 # X_oper_mode

2


- 3 0

214 X_second_cg Secondary CG - 10 0.01

215 X_second_vpg Secondary VPG - 1 0.000001

216 # LCD.low_or_hi

gh

/ 0: 1:

- 1 0

217 # LCD.buff_inv 0: 1:

- 1 0

218 # LCD.emu_or_

buff

/ 0: 1:

- 1 0

219 # LCD.cw_ccw_inv

CW/CCW / (CW_CCW_INV)0: 1:

- 1 0

241 # LCD.I1_inv I1 - 1 0

242 # LCD.I2_inv I2 - 1 0

243#

LCD.I3_inv I3 - 1 0244 # LCD.I4_inv I4 - 1 0

245 # LCD.I5_inv I5 - 1 0

246 # LCD.I6_inv I6 - 1 0

247 # LCD.I7_inv I7 - 1 0

248 # LCD.I8_inv I8 - 1 0

249 # LCD.I9_inv I9 - 1 0

250#

LCD.I10_inv I10 ** - 1 0280 # LCD.brk_inv CN2 BRK - 1 0



D2 v1.3 5.LCD


LCDNo.

281 # LCD.O1_inv O1 - 1 0

282 # LCD.O2_inv O2 - 1 0

283 # LCD.O3_inv O3 - 1 0

284 # LCD.O4_inv O4 - 1 0

285 # LCD.O5_inv O5 ** - 1 0

340 # X_ZT_loadLVZeroTune 0: Tuned (Auto tune )1~5 LV1~LV5

- 5 0

341 out_config [20]

O5 **

- 2 15 - 1 0

342 out_config [21] - 2 15 - 1 0

343 out_config [22] - 2 15 - 1 0

344 out_config [23] - 2 15 - 1 0

345 # X_Use2ndEnc 0: 1:

- 1 0

346 X_cntperunit2 count 2 31 - 1 0

347 # X_2ndEnc_sgn

-1 1

- 1 -1

348 X_hybdev_thr eshold

count 2 27 1

349 # X_VOF.FB_Switch

/ 0 1

- 1 0

351 X_f3.fr 3 Hz 5000 0

352 X_f3.xi 3 - 10 0

353 # X_latch_err_tdrv

0 1

- 1 0

354 # X_latch_err_underv

0 1

- 1 0

355 # X_mult_emu_ind

Index 0 1

- 1 0

* ** D2T I10 O5 # ENTER



D2 v1.3 5.LCD


5.3.4. /

5-12

. (MOTRSE) 5.2

5-12

4 ENA/DISV RDY

4 JOG-8

4 MOV2PO-8

4 VEL_LC300

(enable)/ (disable)

,

(JOG/MOV2PO)

(unit:rpm)

4 MOTRSELS05XX5

4 AUTOTU NO

4 SETZER-8

4 MOV PO0

MOV2PO

Unit: count



D2 v1.3 5.LCD


5.3.4.1. /

LCD No. 243(I3 ) 1 I3 Axis Enable

5-13 Step 1. ENTER ENA/DI ( ) Step 2. (ENABLE) (DISABLE) Step 3. ENTER

5-13 /

5.3.4.2.

5-14 :Step 1. ENTER JOG ( ) Step 2. ( )

5-14

. / LCD JOG Speed LCD VEL_LC

4 JOG- 8

(CW)

(CCW)

2 01FBPO

- 65810

4 JOG- 8

2 01FBPO23088

LEVEL TWOLEVEL ONE

4 ENA/DISVNRDY

4 ENA/DIDISABLE

4 ENA/DIENABLE

4 ENA/DISV RDY

LEVEL TWOLEVEL ONE

or



D2 v1.3 5.LCD


5.3.4.3.

5-15 2000 :

Step 1. (MOV PO) 5.3.3.2 2000

Step 2. MOV2PO ENTER ( )

Step 3. VEL_LC MOV PO LCD 2 (01FBPO)

ENTER

Step 4. ENTER Level One

5-15

5.3.4.4.

5-16 (SETZER) ENTER

4 MOV2PO0

4 MOV2PO0

2 01FBPO1788

LCD

LEVEL TWO

LCD 2000

LEVEL ONE

4 MOV2PO 2000

4 MOV2PO 2000



D2 v1.3 5.LCD


5-16

5.3.4.5.

(AUTOTU) 5-17 Step 1. ENTER AUTOTU ( 2 ) Step 2. Step 3. AUTOTU YES ENTER AUTOTU

NO

5-17

4 AUTOTU NO

LEVEL TWO

4 AUTOTU NO

4 AUTOTUYES

LEVEL ONE

4 AUTOTU PROCESS.

4 SETZER2000

4 MOV PO0

4 AUTOTU NO

LEVEL ONE

4 SETZER0



D2 v1.3 5.LCD


LCD 5.4.5.4.1.

4.2.3.1

/ 5.3.3.1 Flash

(1) LCD

LCD

1 LCD

2LCD No. 212

(LCD No. 212 1 )

3 ENTER

4 1

5 ENTER

1 LCD No.

212 X_oper_mode1


0

(2) D2 4.2.3.1

LCD

LCD

1

2(LCD

No. 129 2 )

3 SAVEFL NO

3 2120

3 2120

3 2121

3 2121

3 2121

3 1290



D2 v1.3 5.LCD


3ENTER

( Pulseup/Pulse down (CW/CCW) )

42

Pulse up/Pulse down (CW/CCW)

5 ENTER

(LCD No. 130) CW/CCW / (LCD No. 219)(LCD No. 129)

2 LCD No.

129 X_pulse_mode

0 Quadrature (AqB)1 Pulse/Direction2 Pulse up/Pulse down

(CW/CCW)

0

130 X_pulse_dir 0 1

0

219 LCD.cw_ccw_invCW/CCW / 0 1

0

(3) / D2

LCD /

LCD

1

2 LCD No. 216 / (LCD No. 216 3 )

3ENTER

1 ( : )

4 ENTER

3 1292

3 1290

3 1292

3 1292

3 2160

3 2161

3 2161



D2 v1.3 5.LCD


3 / LCD No.

216 LCD.low_or_high /

0: 1:

0

(4) D2 4 (electronic gear ratio) 4.4.1

LCD

LCD

1 /

2LCD No. 081

( ) (LCD No. 081

4 )

3ENTER 5.3.3.2

3 ( 2 3 2 3 encoder count)

4 ENTER

5LCD No. 082

( ) (LCD No.082 4 )

6ENTER 5.3.3.2

2

7 ENTER

4 LCD No.

081 X_cmd_ext_N ( ) 1

175 X_cmd_ext_N2 ( ) 1

176 X_cmd_ext_N3 ( ) 1

177 X_cmd_ext_N4 ( ) 1

082 X_cmd_ext_M ( ) 1

(5) Smooth factor S T 0~500

4.6.1

LCD

3 2161

3 081

1

3 0813

3 0813

3 0821

3 0822

3 0822



D2 v1.3 5.LCD


LCD

1

2

LCD No. 115 (LCD No. 115 5 )

3ENTER

4 ENTER

5 LCD No.

115 X_new_sm_fac 100

5.4.2. D2 PWM 4.2.3.2

5.3.3.1 Flash

(1) LCD

LCD

1 LCD

2LCD No. 212

3 ENTER

4 2

5 ENTER

3 0822

3 115100

3 115300

3 115300

3 SAVEFL NO

3 2120

3 2122

3 2120

3 2122



D2 v1.3 5.LCD


(2) LCD

LCD

1

2LCD No. +++

3 ENTER

4LCD No. 132

(LCD No. 132 1 )

5 ENTER1 ( : PWM 50% )

6 ENTER

7LCD No. 083

(LCD No. 083 1 )

8

ENTER( PWM

“ ” “ ” )

9 ENTER

10F LCD No. +++

(LCD No. 084) (LCD No.083)

1 LCD No.

132 X_cmd_pwm_mode

0 Analog1 PWM 50%2 PWM 100%

0

083 X_cmd_ext_v_sc

Full PWM

( count/s = 1V count/s =Full PWM)

1000

3 212

2

3 +++0

0001e+04

1320

1321

1321

0831e+03

0835e+04

0835e+04

3 +++0



D2 v1.3 5.LCD


084 X_cmd_ext_v_dz

0( Volt)

0

5.4.3. /

D2 PWM 4.2.3.3

/ 5.3.3.1 Flash

(1) LCD /

LCD

1 LCD

2LCD No. 212

3 ENTER

43 /

5 ENTER

(2) LCD

LCD

1

2LCD No. +++

3 ENTER

4LCD No. 132

(LCD No. 132 1 )

5ENTER

1 ( : PWM 50% )

3 SAVEFL NO

3 2120

3 2120

3 2123

3 212 3

3 2123

3 +++0

0001e+04

1320

132

1



D2 v1.3 5.LCD


6 ENTER

7LCD No. 085

(LCD No. 085 1 )

8ENTER ( PWM

“ ” “ ” )

9 ENTER

10F LCD No. +++

(LCD No. 086) (LCD No.085)

1 LCD No.

132 X_cmd_pwm_mode

0 Analog1 PWM 50%2 PWM 100%

0

085 X_cmd_ext_i_sc

Full PWM

( (A_amp×1000)/ curr_drv_peak =1V

(A_amp×1000)/ curr_drv_peak =Full PWM)

0

086 X_cmd_ext_i_dz

0 ( Volt)0

curr_drv_peak ( amp)

5.4.4.

4.2.3.4

5.3.3.1 Flash (1)

LCD

LCD

1 LCD

1321

0851e+03

0855e+04

0855e+04

3 +++0

3 SAVEFL NO



D2 v1.3 5.LCD


2LCD No. 212

( . )

3 ENTER

40

5 ENTER

3 2121

3 2121

3 2120

3 2120



D2 v1.3 6.


6.

6. .............................................................................................................................. 137

Quick view .................................................................................. 138 6.1.6.1.1. ................................................................................................ 138

6.1.2. Quick view ............................................................................................. 138

6.1.3. ............................................................................................ 140

....................................................................................................... 141 6.2. .................................................................................................... 144 6.3. ....................................................................................................... 146 6.4.

6.4.1.

................................................................................................ 146

6.4.2. PDL ......................................................................... 147

Plot view ....................................................................................................... 148 6.5.6.5.1. ......................................................................................... 148

6.5.2. / ............................................................................................... 152

6.5.3. . ............................................................................................... 153

................................................................................................ 156 6.6.6.6.1. ................................................................................................... 156

6.6.2. ............................................................................................ 158

6.6.3. ............................................................ 160

6.6.4. .................................................................................. 163

6.6.5. ................................................................................................ 164

6.6.6. ..................................................................................... 164

6.6.7. ............................................................................................ 169

............................................................................................. 171 6.7. Loop constructor ........................................................................................... 172 6.8.6.8.1. / ........................................................................................ 173

6.8.2. Tool ....................................................................................................... 174

6.8.3. ................................................................................................... 177

6.8.4. ................................................................................................ 178

6.8.5. ................................................................................................ 179



D2 v1.3 6.


11 Reference Velocity

12 Velocity Error

20 Reference Acceleration

30 Actual Current

31 Command Current

40 Analog Command ( )

41 Bus Voltage

42 Servo Voltage Percentage

43 SIN-Analog Encoder

44 COS-Analog Encoder

45 PWM Command / / ( )

46 Digital hall bits

51 Soft-Thermal Accumulator

61 I1 1

62 I2 2

63 I3 364 I4 4

65 I5 5

66 I6 6

71 I7 7

72 I8 8

67 I9 9

68 I10 10 ( D2T )

81 O1 1

82 O2 2

83 O3 384 O4 4

86 O5 5 ( D2T )

85 CN2/BRK

6.1.3. D2 F6 F12 Lightening

Window

F6 Lightening

F12 F12



D2 v1.3 6.


6.2. (Performance center) Performance center Performance center

(P2P ) (Relative move ) (Jog )

6-4 Performance center

(P2P ) ( )

1

2

3

P1 P2 ( Lower SW limit UpperSW limit )

4

Motion Protection



D2 v1.3 6.


5

P1

P2 Repeat (Dwelltime )

Performance center Target radius (Debounce time ) 4.5 In-Position

(Primary CG )(Move time ) (Settling time ) (Total time )

(Scope)

Performance center Vmax Vmin Vavg Velocity Ripple

(Scope)

6-5 Performance Center-Velocity Ripple

○1 Vmax Vmin Vavg

○2 Velocity Ripple

P2P (Relative move ) (Jog ) Motion Protection

○1

○2



D2 v1.3 6.


6-6 Performance center-Position

○3 Enable ○4 Disable ○5 Zero ○6 Stop motion ○7 Position Units Quick view

○8 Motion Protection

(Smooth factor ) S T 1~500 S T

○9 P2P ○10 Relative move ○11 Jog ○12 Home ○13 Primary CG

○14 Status ○15 enable sw limit

○4 ○5

○3

○6

○9

○10 ○11 ○12

○14

○13

○8

○7

○15



D2 v1.3 6.


6.3.D2 Scope

Performance center Position

Velocity Ripple 6-7

Scope Scope data collection ( 6.4 )

6-7

○1 6-1 ○2 ○3 (1~8) ○4

○3

○1

○4

○2



D2 v1.3 6.


6-2

Scope On/Off (PageDown)

View in paper mode (Ctrl+T) (paper)

Toggle scopes window (PageUp)

Fit graph to window

Fit graph to window dynamically

Fit graph to window dynamically + clip

Show last data with plot view tool Plot view

Reset scope

Show all plots in same window

Open recoder window Data collection



D2 v1.3 6.


6.4. Scope (Data collection)

6.4.1. 6-7 Open recode window Scope

6-8 Data collection

○1 (Rate ) (Samples ) Samples Rate Rate 1 15000 Hz 2

7500 Hz 15000 Hz

dt Samples*dt Samples

○2 ○3 Start Stop Graph

Plot view ○4 ○5 6.4.2

1 Start event X_run Stop event X_stop Start

Data collection Graph

2 Start event X_vel_fb>0 Stop event X_vel_fb<0

Start Data collection 0 0 Graph

○4

○5

○3

○1

○2



D2 v1.3 6.


3 Start event I3 Stop event ~I3 StartI3 (I3 = 1) (I3 = 0)

○ 1 Upd vars Lightening Start event I3 ( 3) I/O

6.4.2. PDL 6-8 ○5 Sync ( ) PDL _RecordSync Data collection

Step 1. task _RecordSync PDL task 4 task 0~task 3

Step 2. PDL _RecordSync:

till( ); // rtrs_act=1; //

ret; //

Step 3. _RecordSync till() I/O center I4 ( )

Step 4. 6-8 ○5 Sync Step 5. ○3 Start _RecordSync

I4 false true I4

#task/1;

_RecordSync:till(I4); // I4 rtrs_act=1; //

ret;



D2 v1.3 6.


Plot view6.5.Plot view Data collection Data collection Plot view Plot view

6-9

6-9 Plot view

6.5.1. (1)

Data collection Plot view Plot view Plot view

2 graphs graph 6-10 Data collection



D2 v1.3 6.


6-10

(2) 6-11

:( Delete )

6-11

(3) / (Zoom in/out) Plot

view X Y / :

X

Undo zoom Redo zoom



D2 v1.3 6.


Y

Y

(4) X /

6-12 2~4 6-13 2~3 2~4 2~3 6-12

6-12

6-13



D2 v1.3 6.


(5) Y / Y Ctrl

6-14 Y 6-15 Y

6-16 Y

6-14

6-14

6-15



D2 v1.3 6.


6-16

(6) dt 1/dt dSamp dt 1/dt dSamp

dt dSamp 6-12

(7)

(8)

10 16 6-12 :

16

10

6.5.2. / Plot view txt bmp Plot view (gpp ) txt bmp

gpp Plot view Plot view gpp txt bmp .txt

.bmp

gpp “File” “Save” “Open” Plot view gpp 6-17



D2 v1.3 6.


6-17 gpp

6.5.3. Plot view …

Plot view / ripple calculation

(1) (Statistics table)

6-18 / (Rms ) Rip RipA Rip = / RipA =( - )/ 6-18 :

/ (Rms ) Ripple calculation

6-18 Statistics table

(2)

“Tools” “Math operation” 6-19

Linear pos_err vel_fbf New plot name Createpos_err vel_fbf (lin_1) 6-20



D2 v1.3 6.


6-19

6-20

(3) (FFT)

6-21 pos_err Run FFT 6-22 :



D2 v1.3 6.


6-21

6-22

(4) x

:

: X FFT



D2 v1.3 6.


6.6. Move & Settle

D2 common gain

(Primary CG )

6-23 Performance center

common gain (Advancedgains ) (Filter ) (Acc feedforward )

(Schedule Gains + vpg ) (Analog input ) (current loop )

6.6.1.

D2 (Low pass filter )

(Notch filter ) 6-24 (Bode plot)

Advancegains

CommonGain



D2 v1.3 6.


6-24

(1) :

fr Hz 500 Hz

xi 0 1 k1 0

k2 0

6-25



D2 v1.3 6.


(2) ( 10~250 Hz )

6.8.5 (Notch filter) :

fr Hz

xi 0 1 0 1 k1 0 k2 1

6-26

(3) (f3) Auto gain tuning

Auto gain tuning f3 Advanced gains Filter Activate f3 6-24 Filter 1 Filter 2

6.6.2. (position error) /

Step 1. Step 2. 6-27 Acc feedforward gain 0 Step 3.



D2 v1.3 6.


Step 6. Step 4 Step 5 Acc feedforward gain = Command Current/Reference Acceleration = 16/950000 = 1.68421e-5

Step 7. Step 6 Acc feedforward gain 6-29

6-29

Step 8. Position Error 6-30 6-28 90 count 65 count

6-30

6.6.3. (1) (Schedule Gains)

a. (Move ) b. (Settling ) c. (In-position )

(MoveSettling In-position ) 1 1

a. (Move ) sg_run

b. (Settling ) sg_stop c. (In position ) sg_idle

Position Error 65 count



D2 v1.3 6.


CG = 0.5 sg_run = 1.2 0.5*1.2=0.6

6-31

(2) (Velocity loop gain vpg) (vpg) D2 (Configurationcenter)

Freq analyzer

Step 1. 6-32 Step 2.



D2 v1.3 6.


6-32

Step 3. 6-33

6-33

Step 4. -20dB 6-34 vpg

Step 5.



D2 v1.3 6.


Flash

6-34

6.6.4.

6-35

vpg



D2 v1.3 6.


6.6.5. Ki Kp (Configuration center)

6-36

6.6.6. (VSF)

Advanced gains VSF Frequency VSF factor enable VSF Frequency 0.1~200 Hz VSF factor

0.7~1.5 VSF factor 1.0 enable VSF

Step 1. Step 2. Scope (Position Error) (Reference Velocity) 6-38

Step 3. Scope (Plot view)



D2 v1.3 6.


6-37

6-38

Step 4. 6-39 6.5



D2 v1.3 6.


6-39

Step 5. Plot view pos_err 6-40

6-40

Step 6. 6-41



D2 v1.3 6.


6-41

Step 7. 6-42 Step 8. ( 6.7 Hz) Advanced gains VSF

Frequency

6-42

Step 9. enable VSF 6-43 enable VSF



D2 v1.3 6.


6-43

Step 10. Scope 6-44

6-44



D2 v1.3 6.


6-46



D2 v1.3 6.


6.7. D2

(1) Performance center “Tools” “Encoder test/tune”

6-47

6-47

(2) 90° D2

Position

(3) Index

Z 6-47 Index Z Index



D2 v1.3 6.


Loop constructor6.8.Loop constructor Nyquist Nichols Bode

(vpg vig ppg CG) Loop constructor Lightening

Tools->Loop constructor 6-48 6-49 Loop constructor

6-48 Tools Loop constructor

6-49 Loop constructor

gain margin and phase margin



D2 v1.3 6.


6.8.1. / Loop constructor Loop constructor File->Load 3 (1) Load plant + gains from file …(2) Load plant from

file…(3) Load gains from file… 6-50 (1) Load plant + gains from file… .lop

(2) Load plant from file… .fgr (3) Load gains from file… .gns

6-50 Loop constructor load data form file

Loop constructor Loop constructor File->Save 3 (1) Save plant + gains to file…(2) Save plant to file…(3) Save gains to file… 6-51

(1) Save plant + gains to file… .lop (2) Save plant to file… .fgr (3) Save gains to file… .gns



D2 v1.3 6.


6-54 Velocity close loop Position close loop Bode

6.8.2.4. Nichols

Loop constructor Nichols Vel open loop Pos open loop Velocity open loop Position open loop Nichols 6-55 Velocity open loop Nichols Nichols

(1) Vel open loop(Velocity open loop) (2) Pos open loop(Position open loop)

6-55 Velocity open loop Position open loop Nichols



D2 v1.3 6.


6.8.3. 2

6.8.3.1. Low pass filter

6-56 (fr xi)

(1) fr Hz 500 Hz

(2) xi 0 1 (3) k1 =0 (4) k2 =0

6-56 Low pass filter

6.8.3.2. Notch filter

6-57 Notch filter (fr xi)

(1) fr Hz (2) xi 0 1 0 1

(3) k1 =0 (4) k2 =1



D2 v1.3 6.


6-57 Notch filter

6.8.4. Loop constructor (vpg vig) (ppg) (Common gain,CG) 6.6 6-58

6-58 Loop constructor



D2 v1.3 6.


(1) Velocity loop vpg vig vpg vig

vpg vpg vig vig

(2) Position loop

ppg ppg ppg ppg

6.8.5. Loop constructor gain margin phase margin bandwidth

6-59 P margin phasemargin G margin gain margin

6-59 Loop constructor P margin G margin

6.8.5.1. Gain margin and phase margin of Nyquist

Gain margin (db) Phase margin

(1) Gain margin (-1, j 0) )( j G

p

6-60 180)( p j G )(sG

gain margin = GM = )(log)(

log p p

j G j G

1010 20

120 dB

6-48



D2 v1.3 6.


a. )( j G dBGM j G p 0)(

GM = ∞ dB

b. )( j G 0 -1 dBGM j G p 010 )( 0 -1

c. )( j G (-1, j 0) dBGM j G p 01 )( )( j G (-1, j 0) GM = 0 dB

d. )( j G (-1, j 0) dBGM j G p 01 )( )( j G (-1, j 0) GM dB GM

6-60 gain margin

(2) Phase margin 6-61 )( j G

phase margin = PM = 180)( g j G

)( p j L

0

p

LRe

L j Im

Plane j L

Phase crossover

0



D2 v1.3 6.


6-61 phase margin

6.8.5.2. Gain margin and phase margin of Bode

6-62 Bode gain margin and phase margin

40

20

0

-20

-40-60

-360

0

-90

-180-270

Gain crossoverg

p Phase crossover

Gain margin

Phasemargin

)()( dB j G

(deg))( j G

sec)/(rad

sec)/(rad

0

g

LRe

L j Im Plane j L

Gaincrossover

0

1-1Phase margin



D2 v1.3 6.


6.8.5.3.

-3dB 6-63

6-63

0 dB

-3 dBBandwidth

Gain (dB)

f



D2 v1.3 7.


7.

7. ....................................................................................................................... 183 ....................................................................................................... 184 7.1.

7.1.1. .............................................................................. 184 7.1.2. ....................................................................... 185 7.1.3. ................................................................... 185 7.1.4. ................................................................................................ 185

...................................................................................... 186 7.2.7.2.1. ......................................................................................... 186

7.2.2. ....................................................................... 186 ....................................................................................................... 187 7.3. ....................................................................................................... 188 7.4.7.4.1. ......................................................................................... 188 7.4.2. ......................................................................................... 188

....................................................................................................... 190 7.5.7.5.1. ......................................................................................... 190 7.5.2. ..................................................................................... 190

......................................................................................... 191 7.6.



D2 v1.3 7.


7.1./

7-1

O O O O O O O O / O X X X O O O O

O X

7.1.1.

Performance center Protection center Protection Motion Protection

7-1

7-2

Speed Acc. Dec. Dec. kill Smooth factor

7-1 Motion Protecion (Position Units )

Performance center (P2P Relative move Jog ) Motion Protection

7-2 Acc. Dec. 10 /



D2 v1.3 7.


7-2

7.1.2. Smooth factor = 0 /

7.1.3. (Dec. kill)

(1) (2) Performance center P2P Relative move Stop motion

(3) (4) Jog Jog

7.1.4.

(Smooth factor ) 0~500 1

(Move time ) Smooth factor 0 7.1.2



D2 v1.3 7.


7.2.7.2.1.

D2 (Error windows )

(Position error too big ) 7-3 Maximum pos error

7-3

7-3

Maximum pos error Position error Velocity error

7.2.2. D2 (Position Error)

(Velcity Error) Warning windows Status



D2 v1.3 7.


7.3. D2 Z

Z

D2

(1)

Step 1. (delMaxEnToBrk ) (vel_stop )

Step 2. (delBrkToDis )

7-4

7-4

(delMaxEnToBrk)

(Dec. kill) 7.1.3 (vel_stop) (delBrkToDis)

(2) Protection center Brake CN2_BRK I/O center 4.4.2



D2 v1.3 7.


7.4.7.4.1.

D2 (Kill Dec. )

Protection center HW limit protection enable HW limit

I/O center 4.4.1

7-5

7.4.2. D2

Protection center Protection Limits enable sw limit

Performance center enable sw limit



D2 v1.3 7.


7-6

7-5

enable sw limit Lower SW limit Upper SW limit



D2 v1.3 7.


7.5.7.5.1.

D2

(Soft-thermal threshold reached ) Quick view Soft-thermal Accumulator

7.5.2.

D2 C 80 (Amplifier over temperature )



D2 v1.3 7.


7-9 FRMS752XX

7-10 FRMS1K2XX

7-6 D2 7-7 HIWIN 7-8 7-11

7-6D2

A -

B RG1

C RG2

0

0.0005

0.001

0.0015

0.002

0.0025

0 2 5 0

5 0 0

7 5 0

1 0 0 0

1 2 5 0

1 5 0 0

1 7 5 0

2 0 0 0

2 2 5 0

2 5 0 0

2 7 5 0

3 0 0 0

3 2 5 0

3 5 0 0

3 7 5 0

4 0 0 0

4 2 5 0

4 5 0 0

w (rpm)

J (Kg-m^2)

0

0.002

0.004

0.006

0.008

0.01

0.012

0.014

0 2 5 0

5 0 0

7 5 0

1 0 0 0

1 2 5 0

1 5 0 0

1 7 5 0

2 0 0 0

2 2 5 0

2 5 0 0

2 7 5 0

3 0 0 0

3 2 5 0

3 5 0 0

3 7 5 0

4 0 0 0

4 2 5 0

4 5 0 0

w (rpm)

J (Kg-m^2)



D2 v1.3 7.




D2 v1.3 8.


8.1. Application center Homing 8-1

8-1

5 :

8-1

Slower Speed Faster Speed Smooth factor 1~500Time out Home offset

(1) 8.1.1 (2) index 8.1.2

Performance center Home Performance center Homed Homed ( ) Time out Homed

( )



D2 v1.3 8.


8.1.1. D2

(End Stop ) index Search index signal

: ( ○1 ) Left

Search indexsignal index ( ○2 ○3 )

8-2

8-2

○1 Left Right

○2 (Left side condition)

None End Stop Left Limit Switch

○3 (Right side condition)

None End Stop Right Limit Switch

○4 (Search end stop current)○5 (Time)

(1) None (2) End Stop

(3) Limit Switch

○ 4 ○5 ○ 4 ○ 5 (Soft-thermalthreshold reached ) Step 1. 8-3 Actual Current Step 2. (Slower Speed ) Step 3. Actual Current 8-3 0.2A

Search end stop current 0.2A 0.23A

○1

○2 ○

3

○4 ○5



D2 v1.3 8.


8-3

:(1) (Left side condition ) None (Right side condition )

End Stop Right Limit Switch ( ○1 ) 8-4 Homed

( )

8-4

(2) Search index signal index End Stop Right Limit Switch index

: 8-5

Z index 8-5



D2 v1.3 8.


8-5

8-6

8.1.2. index (Near Home Sensor ) index I/O center index

: ( ○6 ) ( ○7 )

index

8-7

○6 ○7

○8



D2 v1.3 8.


8-3

⑥

Left Right

⑦

Slower speed 8-1 Slower Speed

Faster speed 8-1 Faster Speed

⑧

Index signal only index Near Home Sensor only Near Home Sensor thenchange to lower speed,move left,search index

index

Near Home Sensor thenchange to lower speed,move right,search index

index

I2 I/O center I2 Near Home Sensor 8-8

8-8

: 8-9

Z index 8-10



D2 v1.3 8.


8-9

8-10

8.1.3. (Home offset )

None 8-11

8-11

Home offset



D2 v1.3 8.


8.2. “Backlash” 8-12

8-12



D2 v1.3 8.


8.3. D2 (error map) 8-13

(Interval ) (Total points )

8-13

index index (Home offset ) 0

8-14

D2

index

0

=0

100

index = 0

=100

+

+

= -



D2 v1.3 8.


Step 3. Step 4. “Flash” “Send table to Flash”

Flash Flash Step 6

8-17

Step 5. Cancel Flash Step 4 Step 6. confirm “ ” Flash

Reset

8-18

8.3.2. D2

(1) I/O Home OK,start err. map I2 8-19

I2

Flash Continue Flash Reset



D2 v1.3 9.


9.

9. ....................................................................................................................... 207 ............................................................................... 208 9.1.

......................................................................................... 209 9.2.9.2.1. Lightening ......................................................... 209 9.2.2. LCD ........................................................................................ 209 9.2.3. Error and Warnings Log ................................................................. 210

...................................................................................... 213 9.3.9.3.1. E03 PEBIG ............................................................... 215

...................................................................................... 216 9.4. 9.4.1. W03 HWLL W04 HWRL ..................................................... 217 9.4.2. W09 ACC.L W10 VEL.L ..................................................... 217

......................................................................................... 219 9.5.



D2 v1.3 9.


9.1.LED

9-1

/



D2 v1.3 9.


9.2.9.2.1. Lightening

D2 9-2 (Last error)

(Last warning)

9-2

9.2.2. LCD 9-3

(1) SVNRDY Servo OFF (2) SV RDY Servo ON

LCD 9.3 9.4

9-3

1 SVNRDYX

1 SVNRDYE01SHOR

1 SV RDYX

1 SV RDY W01SWLL



D2 v1.3 9.


9.2.3. Error and Warnings Log D2

9-2 (Error and Warnings Log) 9-4

9-4

Lightening

(Time log) 9-5 (Type of error/warning) Time (seconds)

9-5

(Statistics) 9-6(Frequency)



D2 v1.3 9.


9-6

(Help tips) 9-7 “E06 Motor may be disconnect”



D2 v1.3 9.


9-7



D2 v1.3 9.


9.3.

NO. ErrorsLCD

1Motor short

(over current)detected

E01 SHORT

(1) UVW UVW Ground (2) UVW

(3)

2 Over voltagedetected E02 OVERV

DC bus

3 Position errortoo big E03 PEBIG

Motion Protection (maximum pos error) (1) (2) Application center -> Protection -> maximum pos

error 9.3.1 (3) (4) (5) (6) (7) E03 W05 SVBIG 110V

220V

4 Encoder error E04ENCOD

(1) (2) (3)

5Soft-thermal

threshold

reached

E05 SWHOT

( ) (1) (2) (3)

(4) (5)

6 Motor maybedisconnected E06 UVWCN

(1) UVW (2)

7 Amplifier overtemperature E07 D.HOT

(1) (2) (3) (4)



D2 v1.3 9.


No. Errors LCD

8Under voltage

detectedE09 UND.V

DC bus

L1 L2 110 220Vac 110 220Vac

95V for encoder

card failE10 V5ERR

Encoder 5V

(1) D2 CN6 CN7 E10 V5ERR

(2) D2 CN6 CN7

10

Phase

initialization

error

E11 PHINI

17 bits 13bits (1) UVW

(2)

11

Serial Encoder

Communicatio

n Error

E12SER.E

(1) (2)

12Hall sensor

errorE13 HAL.E

13Current control

errorE15CURER

(1)

(2) Kp CG (3)

14

Hybrid

deviation too

big

E17HYBDV

(1) (2)

(3)

15HFLT

inconsistent

error

E19HFLT



D2 v1.3 9.


9.3.1. E03 PEBIG (1) 9-8 (2) E03 PEBIG

9-8



D2 v1.3 9.


9.4.

No. ErrorsLCD

1 Left SW limit W01 SWLL 2 Right SW limit W02 SWRL

3 Left HW limit W03 HWLL

(1) 9.4.1

(2)

4 Right HW limit W04 HWRL

(1) 9.4.1 (2)

5 Servo voltagebig

W05SVBIG

PWM E03 PEBIG

(1) 110V 220V (2)

6 Position error

warningW06 PE

(1)

(2) (3)

7 Velocity errorwarning W07 VE

Warning (1) (2) (3)

8 Current Limited W08CUR.L

E05 SWHOT

(1) (2)

9 AccelerationLimited W09 ACC.L

9.4.2

10 Velocity Limited W10 VEL.L

9.4.2



D2 v1.3 9.


9-10

(Speed) W10 VEL.L 500 mm/s 2 100 mm/s 2 W10

VEL.L 600 mm/s

9-11



D2 v1.3 9.


9.5. LCD

1

W10

VEL.L

W09 ACC.L

Performance Center MotionProtection

2

(1) (Auto Phasecenter) Details ToggleDirection

(2) “Invert”

3 (Error map)

Conf.Tune\Error map

(1) (Error map enable)

8.3.2 (2) (Homing) Input

Homing

4

(1) Quick View Scope Target Position

(2)

(3) 0V (Shield)

(4) (5) (Core)

5

(1) (2) 0 (3) (Enable

SW Limit) Upper or Lower limit

(4)

6

(1) Quick View Scope TargetPosition

(2)

(3)

7 (V Command)

(1) Quick View Scope (Analog Command)

(2) Advanced gains->Analog input



D2 v1.3 9.


LCD

8 (1) Common Gain (2) Advanced gains/Filter

(Filter)

9 E07D.HOT

(1) (2)

10 ( )

E04

ENCOD

11 DC bus E09UND.V

(1) 110 220Vac

(2) 110 220Vac

12 DC bus E02OVERV

(1)

(2)

(3) (4)

13 (position error)

(maximum pos error)

E03PEBIG

(1) (Common Gain) maximum pos error

(2) (3)

14 UVW E01SHORT

(1) UVW (2) UVW Ground (3) UVW

(4)

15

E05SWHOT

(1)

(2)

(3) (4) (5)

16 (BPS)

(Port)

17 emulated encoder

“Use emulated encoder” “Save to flash”

“Save to flash” emulated encoder



D2 v1.3 A.


A.

A. ................................................................................................................ 221 A.1. ....................................................................................... 222 A.2. Hardware Enable ........................................................................ 222 A.3. ........................................................................................................ 223 A.4. .......................................................................................... 223



D2 v1.3 A.


A.3. “Hardware Enable Input” A-2

A-2

A.4.

Axis Enable

(1) (Lightening) F12

(2) (Lightening) Performance Center Disable ( F12) Enable ( Hardware Enable Input )



D2 v1.3 A.




D2 v1.3 B.


B.

B. ................................................................................................................ 225 B.1. RAM Flash .......................................................................... 226



D2 v1.3 B.


B.1. RAM Flash (Lightening) Flash

Flash Compare parameterRAM to Flash B-1 Flash

B-1 Compare parameter RAM to flash

Details RAM Flash B-2 B-3 RAM Flash Flash value

= Flash RAM Undo RAM Flash B-3

B-2 1

:○1 Save Flash ○2 Close ○3 Up RAM Flash ○4 Down RAM Flash ○5 Undo RAM Flash ○6 Refresh RAM Flash

○2

○5 ○4

○6 ○3

○1



D2 v1.3 B.




D2 v1.3 C.


C.1. Tools menu

Upgrade/Downgrade firmware C-1 Upgrade/Downgrade firmware C-2

C-1

C-2 Upgrade/Downgrade firmware

Step1

Step2



D2 v1.3 C.


Upgrade/Downgrade firmware Step 1. Step 2. “File” “Update selected firmware to amplifier”

C-3

C-3

Step 3. Auto load programs C-4

C-4

Step 4. C-5

C-5

LighteningBoot mode C-6



D2 v1.3 C.


C-6



D2 v1.3

D2 Drive User Guide

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Transcript of D2 Drive User Guide