Hiwin D2 User Manual

D2 Drive User Guide v1.8 3. Operation Principles
HIWIN Mikrosystem Corp. 38
3.11. Common physical quantities
Table 3-1
No.
Physical quantities
Description
1
Feedback Position
Feedback position
2
Reference Position
Position command
3
Target Position
Target position
4
Position Error
Position error
5
Single turn feedback position
Feedback position of single-turn encoder (only for the
drive supporting single-turn encoder)
6
Dual loop feedback position
Feedback position of dual-loop encoder (only for the
drive supporting dual-loop control)
10
Feedback Velocity
Feedback velocity
11
Reference Velocity
Velocity command
12
Velocity Error
Velocity error
20
Reference Acceleration
Acceleration command
30
Actual Current
Actual current
31
Command Current
Current command
32
Current effective value
Effective value of current during calculation period
40
Analog Command
Voltage command (from the host controller)
41
Bus Voltage
Line voltage
42
Servo Voltage Percentage
Servo voltage
45
PWM Command
Torque/force/velocity command (from host controller)
51
Soft-Thermal Accumulator
Temperature estimation via software
53
Average load ratio
Average load ratio during calculation period
54
Peak load ratio
Peak load ratio during calculation period
61
I1
Input 1
62
I2
Input 2
63
I3
Input 3
64
I4
Input 4
65
I5
Input 5
66
I6
Input 6
71
I7
Input 7
72
I8
Input 8
67
I9
Input 9
68
I10
Input 10 (only for D2T model)
81
O1
Output 1
82
O2
Output 2
83
O3
Output 3
84
O4
Output 4
86
O5
Output 5 (only for D2T model)
85
CN2/BRK
Brake signal output

Hiwin D2 Specifications

General

Brand	Hiwin
Model	D2
Category	DC Drives
Language	English