D2 Drive User Guide v1.8 Table of Contents
HIWIN Mikrosystem Corp. ii
Table of Contents
1.
About the User Guide ....................................................................................................... 1
1.1.
Instructions before use ........................................................................................... 2
1.2.
Safety instructions .................................................................................................. 4
2.
Specifications ................................................................................................................... 7
2.1.
Drive information .................................................................................................... 8
2.1.1.
Safety certification ........................................................................................ 8
2.1.2.
Nameplate information .................................................................................. 8
2.1.3.
Model number ............................................................................................... 9
2.2.
Drive specifications .............................................................................................. 10
2.3.
Drive dimensions .................................................................................................. 14
2.4.
Drive installation ................................................................................................... 21
2.5.
Computer requirements ........................................................................................ 22
3.
Operation Principles ....................................................................................................... 23
3.1.
Operation modes .................................................................................................. 24
3.1.1.
Position mode ............................................................................................. 24
3.1.2.
Velocity mode ............................................................................................. 24
3.1.3.
Force/torque mode ..................................................................................... 25
3.1.4.
Stand-alone mode ...................................................................................... 25
3.2.
Encoder type ........................................................................................................ 26
3.3.
Encoder signal output ........................................................................................... 27
3.4.
Path planning ....................................................................................................... 28
3.5.
Servo loops and gains .......................................................................................... 30
3.6.
Gain margin and phase margin ............................................................................ 31
3.6.1.
Nyquist diagram .......................................................................................... 31
3.6.2.
Bode diagram ............................................................................................. 32
3.7.
Move and settling ................................................................................................. 34
3.8.
Error compensation .............................................................................................. 35
3.9.
Velocity ripple ....................................................................................................... 36
3.10.
Enable .................................................................................................................. 37
3.11.
Common physical quantities ................................................................................. 38
4.
Wiring ............................................................................................................................. 39
4.1.
System configuration and wiring ........................................................................... 40
4.1.1.
System wiring diagram ............................................................................... 40
4.1.2.
CN1 power ................................................................................................. 43
4.1.3.
CN2 brake/motor power .............................................................................. 47
4.1.4.
CN3 USB communication ........................................................................... 48
4.1.5.
CN4 Modbus communication ...................................................................... 48
4.1.6.
CN5 Modbus communication/safety function .............................................. 49
4.1.7.
CN6 control signal ...................................................................................... 50
4.1.8.
CN7 encoder .............................................................................................. 52
4.1.9.
CN8 EtherCAT communication ................................................................... 52
4.1.10.
CN13/CN14 extension I/O signal ................................................................ 53
4.2.
Drive accessories ................................................................................................. 54
4.3.
Main power wiring ................................................................................................ 58
4.3.1.
AC power wiring (single-phase) .................................................................. 58
4.3.2.
AC power wiring (three-phase) ................................................................... 59
4.4.
Multiple drives connection .................................................................................... 60
4.5.
I/O signal wiring .................................................................................................... 62
4.5.1.
Digital input wiring....................................................................................... 62
4.5.2.
Digital output wiring .................................................................................... 63
4.6.
Wiring examples for control commands ................................................................ 65
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