D2 Drive User Guide v1.8 3. Operation Principles
HIWIN Mikrosystem Corp. 37
3.10. Enable
The enable is a necessary step before the drive starts to receive any motion command. Only
at the enable state, the drive can receive the pulse or voltage command from the host
controller to do motion.
(1) Step motion mode
The step motion (SM) mode is an open-loop architecture. At this mode, the motor
behavior is similar as the stepper motor. The signal of feedback position is not adopted at
the enable. This mode is used to ensure that the force direction of motor is consistent with
the direction of encoder feedback. If not, it will cause the failure of phase initialization.
(2) Phase initialization
For the drive with the incremental encoder, it needs to find the electrical angle at the first
power-on, called phase initialization. For HIWIN servo motors, after the drive is booted, it
is able to successfully find the electrical angle almost without any movement at the first
enable process. The other common method of phase initialization is to add Hall sensor to
achieve the same effect. Generally, the host controller sends an output signal to the drive
(e.g. the input I3 of D2 drive) to complete the phase initialization and enable process.
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