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Hiwin D2 User Manual
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D2 Drive User Guide
v1.8
4.
W
iring
HIWIN Mik
rosystem Corp.
40
4.1.
System configuration
and wiring
This chapter descri
bes the system
configuration o
f drive
and
the function
of each connector
.
4.1.1.
System w
iring diagram
The follow
ing figure show
s the name, function, a
nd specification
of each driv
e connector .
Fig. 4-1
45
47
Table of Contents
Default Chapter
2
Table of Contents
2
1 About the User Guide
7
Instructions before Use
8
Safety Instructions
10
2 Specifications
13
Drive Information
14
Safety Certification
14
Nameplate Information
14
Model Number
15
Drive Specifications
16
Drive Dimensions
20
Drive Installation
27
Computer Requirements
28
3 Operation Principles
29
Operation Modes
30
Position Mode
30
Velocity Mode
30
Force/Torque Mode
31
Stand-Alone Mode
31
Encoder Type
32
Encoder Signal Output
33
Path Planning
34
Servo Loops and Gains
36
Gain Margin and Phase Margin
37
Nyquist Diagram
37
Bode Diagram
38
Move and Settling
40
Error Compensation
41
Velocity Ripple
42
Enable
43
Common Physical Quantities
44
4 Wiring
45
System Configuration and Wiring
46
System Wiring Diagram
46
CN1 Power
49
CN2 Brake/Motor Power
53
CN3 USB Communication
54
CN4 Modbus Communication
54
CN5 Modbus Communication/Safety Function
55
CN6 Control Signal
56
CN7 Encoder
58
CN8 Ethercat Communication
58
CN13/CN14 Extension I/O Signal
59
Drive Accessories
60
Main Power Wiring
64
AC Power Wiring (Single-Phase)
64
AC Power Wiring (Three-Phase)
65
Multiple Drives Connection
66
I/O Signal Wiring
68
Digital Input Wiring
68
Digital Output Wiring
69
Wiring Examples for Control Commands
71
System Wiring Diagram for Pulse Command
71
System Wiring Diagram for Voltage Command
79
System Wiring Voltage for Analog Command
79
System Wiring Diagram for PWM Command
81
5 Drive Configuration
85
Installation and Communication
86
Setup Files
86
Communication Setup
87
HMI Main Window
89
Configuration Center
92
Motor Configuration
92
Encoder Configuration
94
Operation Mode Configuration
100
Modbus Communication Configuration
102
Completing Configuration Procedure
103
Auto Phase Center
104
Function Description
104
Pre-Operation
104
Setting Procedure
105
Troubleshooting
106
Auto Tune Center
107
Function Description
107
Announcements
110
Troubleshooting
110
I/O Center
112
Digital Input
112
Digital Output
123
Analog Output
128
Extension I/O
129
In-Position Signal Setting
130
Homing Configuration
132
Go Left and Right for Homing
134
Use Near Home Sensor/Index for Homing
136
Use Multi-Turn Absolute Encoder for Homing
138
Use Homing Methods in Cia 402 Protocol
139
Save Parameters to Flash and Recover to Factory Default
144
Save Parameters to Flash
144
Recover to Factory Default
144
Parameter Setting Examples Via HMI
146
Position Mode
146
Velocity Mode
148
Force/Torque Mode
149
Stand-Alone Mode
151
6 Drive Tuning
153
Status Display and Quick View
154
Status Display
154
Quick View
154
Software Shortcuts
155
Performance Center
156
Scope
159
Data Collection
161
Function Description
161
Data Collection Via PDL
162
Plot View
163
Graphic Display Mode
163
Save/Open File
167
Mathematical Operation
168
Advanced Gains
171
Filter
171
Acceleration Feed-Forward
173
Schedule Gains and Velocity Loop Gain
175
Analog Input
178
Current Loop
179
Vibration Suppression Feature
179
Friction Compensation
183
Loop Constructor
185
Load/Save File
186
Tool
187
Filter
190
Gain Tuning
191
Spectrum Analysis
192
Encoder Signal Confirmation
193
Error Map Function
194
Set Error Map
194
Enable Error Map
196
Save/Open Error Map
196
Change Start Position
197
Backlash Compensation
202
7 LCD Operation
203
LCD Function
204
Panel Description
204
Operation
204
Parameter Initialization Via LCD
206
Home Page
208
Display Parameters Page
210
Change Parameters Page
212
Save to Flash
213
Parameter Edit Function
214
Advanced Parameter Zone
217
Actions Page
225
Enable/Disable
226
Jog
227
Absolute Coordinate Motion
228
Auto Tune
228
Set Position to Zero
229
Parameter Setting Examples Via LCD
230
Position Mode
230
Velocity Mode
233
Force/Torque Mode
235
Stand-Alone Mode
237
8 Protection Function
239
Motion Protection
240
Position and Velocity Errors Protection
243
Position Error Limit
243
Position Error and Velocity Error Warnings
243
Brake Output
244
Limit Protection
248
Hardware Limit Protection
248
Software Limit Protection
248
Over Temperature Protection
250
Soft-Thermal Protection
250
Drive over Temperature Protection
250
Over Voltage Protection
251
9 Troubleshooting
255
Drive's Status Indicator
256
Drive's Errors and Warnings
257
Status Display Area on Lightening HMI
257
LCD Status
257
Errors and Warnings Log
258
Error at Loading PRM File
260
Error Codes and Troubleshooting
261
Warning Codes and Troubleshooting
264
Troubleshooting for Common Issues
268
Axis Enable Setting
271
Start Enable Method
272
Confirm Enable Status Via HMI
273
Parameter Comparison
275
Comparing Parameters in RAM and Flash
276
Update Firmware & Load PDL
279
Update Drive's Firmware
280
Load PDL Program into Drive
283
Modbus Communication
285
Modbus Communication Specification
286
Function Code
287
Modbus Objects
291
Input Register
291
Holding Register
295
EMC Solution
297
Common-Mode Motor Filter
298
Motor Power Cable with Magnetic Rings
301
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Hiwin D2 Specifications
General
Brand
Hiwin
Model
D2
Category
DC Drives
Language
English
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