Hiwin D2 Manuel utilisateur

D2 Drive User Guide v1.8

HIWIN Mikrosystem Corp.

D2 Drive User Guide

Version 1.8

December 7, 2016

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

D2 Drive User Guide v1.8 Table of Contents

HIWIN Mikrosystem Corp. iii

4.6.1. System wiring diagram for pulse command.................................................65

4.6.2. System wiring diagram for voltage command.............................................. 73

4.6.3. System wiring diagram for PWM command ................................................75

5. Drive Configuration.........................................................................................................79

5.1. Installation and communication ............................................................................80

5.1.1. Setup files................................................................................................... 80

5.1.2. Communication setup................................................................................. 81

5.1.3. HMI main window .......................................................................................83

5.2. Configuration center.............................................................................................86

5.2.1. Motor configuration.....................................................................................86

5.2.2. Encoder configuration................................................................................. 88

5.2.3. Operation mode configuration..................................................................... 94

5.2.4. Modbus communication configuration......................................................... 96

5.2.5. Completing configuration procedure ...........................................................97

5.3. Auto phase center................................................................................................98

5.3.1. Function description.................................................................................... 98

5.3.2. Pre-operation.............................................................................................. 98

5.3.3. Setting procedure .......................................................................................99

5.3.4. Troubleshooting........................................................................................ 100

5.4. Auto tune center................................................................................................. 101

5.4.1. Function description.................................................................................. 101

5.4.2. Announcements........................................................................................ 104

5.4.3. Troubleshooting........................................................................................ 104

5.5. I/O center........................................................................................................... 106

5.5.1. Digital input............................................................................................... 106

5.5.2. Digital output............................................................................................. 117

5.5.3. Analog output ........................................................................................... 122

5.5.4. Extension I/O............................................................................................ 123

5.6. In-position signal setting..................................................................................... 124

5.7. Homing configuration ......................................................................................... 126

5.7.1. Go left and right for homing ...................................................................... 128

5.7.2. Use near home sensor/index for homing .................................................. 130

5.7.3. Use multi-turn absolute encoder for homing.............................................. 132

5.7.4. Use homing methods in CiA 402 protocol................................................. 133

5.8. Save parameters to Flash and recover to factory default.................................... 138

5.8.1. Save parameters to Flash......................................................................... 138

5.8.2. Recover to factory default......................................................................... 138

5.9. Parameter setting examples via HMI.................................................................. 140

5.9.1. Position mode........................................................................................... 140

5.9.2. Velocity mode........................................................................................... 142

5.9.3. Force/Torque mode.................................................................................. 143

5.9.4. Stand-alone mode .................................................................................... 145

6. Drive Tuning.................................................................................................................147

6.1. Status display and quick view............................................................................. 148

6.1.1. Status display........................................................................................... 148

6.1.2. Quick view................................................................................................ 148

6.1.3. Software shortcuts.................................................................................... 149

6.2. Performance center............................................................................................... 150

6.3. Scope................................................................................................................. 153

6.4. Data collection.................................................................................................... 155

6.4.1. Function description.................................................................................. 155

6.4.2. Data collection via PDL............................................................................. 156

6.5. Plot view............................................................................................................. 157

6.5.1. Graphic display mode............................................................................... 157

6.5.2. Save/open file........................................................................................... 161

D2 Drive User Guide v1.8 Table of Contents

HIWIN Mikrosystem Corp. iv

6.5.3. Mathematical operation ............................................................................ 162

6.6. Advanced gains.................................................................................................. 165

6.6.1. Filter ......................................................................................................... 165

6.6.2. Acceleration feed-forward......................................................................... 167

6.6.3. Schedule gains and velocity loop gain...................................................... 169

6.6.4. Analog input.............................................................................................. 172

6.6.5. Current loop.............................................................................................. 173

6.6.6. Vibration suppression feature ................................................................... 173

6.6.7. Friction compensation............................................................................... 177

6.7. Loop constructor................................................................................................. 179

6.7.1. Load/Save file........................................................................................... 180

6.7.2. Tool.......................................................................................................... 181

6.7.3. Filter ......................................................................................................... 184

6.7.4. Gain tuning............................................................................................... 185

6.7.5. Spectrum analysis .................................................................................... 186

6.8. Encoder signal confirmation ............................................................................... 187

6.9. Error map function.............................................................................................. 188

6.9.1. Set error map............................................................................................ 188

6.9.2. Enable error map...................................................................................... 190

6.9.3. Save/open error map................................................................................ 190

6.9.4. Change start position................................................................................ 191

6.10. Backlash compensation...................................................................................... 196

7. LCD Operation..............................................................................................................197

7.1. LCD function ...................................................................................................... 198

7.1.1. Panel description...................................................................................... 198

7.1.2. Operation page description....................................................................... 198

7.2. Parameter initialization via LCD.......................................................................... 200

7.3. Home page......................................................................................................... 202

7.4. Display parameters page.................................................................................... 204

7.5. Change parameters page................................................................................... 206

7.5.1. Save to Flash............................................................................................ 207

7.5.2. Parameter edit function............................................................................. 208

7.5.3. Advanced parameter zone........................................................................ 211

7.6. Actions page ...................................................................................................... 219

7.6.1. Enable/Disable ......................................................................................... 220

7.6.2. JOG.......................................................................................................... 221

7.6.3. Absolute coordinate motion ...................................................................... 222

7.6.4. Auto tune.................................................................................................. 222

7.6.5. Set position to zero................................................................................... 223

7.7. Parameter setting examples via LCD ................................................................. 224

7.7.1. Position mode........................................................................................... 224

7.7.2. Velocity mode........................................................................................... 227

7.7.3. Force/torque mode ................................................................................... 229

7.7.4. Stand-alone mode .................................................................................... 231

8. Protection Function.......................................................................................................233

8.1. Motion protection................................................................................................ 234

8.2. Position and velocity errors protection................................................................ 237

8.2.1. Position error limit..................................................................................... 237

8.2.2. Position error and velocity error warnings................................................. 237

8.3. Brake output....................................................................................................... 238

8.4. Limit protection................................................................................................... 242

8.4.1. Hardware limit protection.......................................................................... 242

8.4.2. Software limit protection............................................................................ 242

8.5. Over temperature protection............................................................................... 244

8.5.1. Soft-thermal protection ............................................................................. 244

D2 Drive User Guide v1.8 Table of Contents

HIWIN Mikrosystem Corp. v

8.5.2. Drive over temperature protection............................................................. 244

8.6. Over voltage protection ...................................................................................... 245

9. Troubleshooting............................................................................................................249

9.1. Drive’s status indicator ....................................................................................... 250

9.2. Drive’s errors and warnings................................................................................ 251

9.2.1. Status display area on Lightening HMI...................................................... 251

9.2.2. LCD status................................................................................................ 251

9.2.3. Errors and warnings log............................................................................ 252

9.2.4. Error at loading PRM file........................................................................... 254

9.3. Error codes and troubleshooting......................................................................... 255

9.4. Warning codes and troubleshooting ................................................................... 258

9.5. Troubleshooting for common issues................................................................... 262

A. Axis Enable Setting.......................................................................................................265

A.1. Start enable method.............................................................................................. 266

A.2. Confirm enable status via HMI .............................................................................. 267

B. Parameter Comparison.................................................................................................269

B.1. Comparing parameters in RAM and Flash ............................................................ 270

C. Update Firmware & Load PDL......................................................................................273

C.1. Update drive’s firmware ........................................................................................ 274

C.2. Load PDL program into drive ................................................................................ 277

D. Modbus Communication...............................................................................................279

D.1. Modbus communication specification.................................................................... 280

D.2. Function code....................................................................................................... 281

D.3. Modbus objects..................................................................................................... 285

D.3.1. Input register.............................................................................................. 285

D.3.2. Holding register.......................................................................................... 289

E. EMC Solution................................................................................................................291

E.1. Common-mode motor filter.................................................................................... 292

E.2. Motor power cable with magnetic rings ................................................................. 295

D2 Drive User Guide v1.8 Table of Contents

HIWIN Mikrosystem Corp. vi

Revision History:

Version

Date

Applicability

Remarks

1.0

2012-06-05

D2-series drive

Frist release.

1.1

2012-08-30

D2-series drive

Renew Figure 2-1 and Figure 2-2.

Renew CN6 connector part number.

1.2

2014-05-15

D2-series drive

(1) Update the description of LCD operation.

(2) Update the description according to motor model.

1.3

2014-08-20

D2-series drive

(1) Add the information for D2T drive.

(2) Renew the dimension of D2 drive.

(3) Add the dimension of D2 drive with EtherCAT

(CoE/mega-ulink).

(4) Remove the brake wiring without a relay.

(5) Remove the input function of clear position error.

(6) Add the description of mega-ulink

communication.

(7) Add the description of using PDL to assist with

data capture.

(8) Add motor models with HIWIN 17 encoder to

Table 4.1.

1.4

2014-11-21

D2-series drive

(1) Modify the model number by combining

D2-model and D2T-model drives.

(2) Add the description of ZeroTune.

(3) Add the description of setting parameters to

factory default.

(4) Renew the description of LCD operation.

(5) Add LCD common parameters table.

(6) Add the input range of LCD parameters.

(7) Add the PDL information to drive specifications.

(8) Add the description of VSF operation.

1.8

2016-12-07

D2 MDP 0.043 or

above

D2COE MDP 0.119

or above

Lightening 0.189 or

above

Re-write and re-organize this User Guide based on

Chinese version of D2 Drive User Guide v1.8.

D2 Drive User Guide v1.8 1. About the User Guide

HIWIN Mikrosystem Corp. 1

1. About the User Guide

1. About the User Guide .......................................................................................................1

1.1. Instructions before use...........................................................................................2

1.2. Safety instructions..................................................................................................4

D2 Drive User Guide v1.8 1. About the User Guide

HIWIN Mikrosystem Corp. 2

1.1. Instructions before use

This document is suitable for D2-series drives, included D2 model and D2T model. Read the

User Guide carefully before using the product. HIWIN Mikrosystem Corp. (“the Company”) will

not take any responsibility for damages, accidents, or injuries caused by the installation or use

that is not performed according to these instructions.

Do not dismantle or modify the product. The product has been subject to structural

calculations, computer simulations, and physical tastings to verify its design. Do not

dismantle or modify the product without the consent of the professional technician of the

Company. The Company does not take any responsibility for accidents or damages

resulting from such dismantling or modification.

Before installing or using the product, check the external appearance and ensure that there

is no damage on the product surface. If any damage is identified, contact the Company or

one of the Company’s distributors immediately.

Refer to performance specifications on the product label or manufacturer's document before

using the product. Install the product based on these performance limits and installation

instructions indeed.

Read the specification of power voltage on the label before using the product and confirm

that the power supply meets the product requirement. The Company does not take any

responsibility for product damages or personal injuries resulting from the incorrect power

supply.

Do not use the product over the rated load. The Company does not take any responsibility

for damages or injuries resulting from such misuse.

Do not use the product in an environment where shocks may occur. The Company does not

take any responsibility for damages, accidents, or injuries resulting from such shocks.

If the drive has any error, refer to Section 9.5. Troubleshooting for common issues. Follow

instructions to turn off drive’s power to perform troubleshooting. After the error is eliminated,

turn on drive’s power again.

Do not try to repair any produce’s malfunction. The product can only be repaired by the

qualified technician.

The warranty period is one year from the ex-factory date. The Company does not take any

responsibility for product replacement or repair caused by the inappropriate use or natural

disasters. (Refer to notes and installation instructions in the User Guide.)

Attention

‧Maximum ambient temperature for this series drives is 55 ℃.

‧This product can be installed only on the environment with the pollution level being

‧The rated input voltage of drive is 240 V. Hence, the power supply voltage cannot be

over than 240 V. A short-circuit current shall not exceed 5,000 A.

‧The drive does not provide a motor over-temperature sensing, while not have a motor

over-temperature protection.

‧The short-circuit protection of drive cannot be used as a shunt-circuit protection. The

shunt-circuit protection must be chosen in accordance with US National Electrical

Code (NEC) and local regulations.

‧Before starting to inspect the product, turn off the power and wait at least five

minutes. Then, use a multi-meter or a similar instrument to check that the residual

voltage between P and N terminals has dropped to the safety level (50 Vdc or lower)

to avoid electric shock.

D2 Drive User Guide v1.8 1. About the User Guide

HIWIN Mikrosystem Corp. 3

Risks specifically identified:

Warning

At installing or exchanging motor power

cables, if the correct sequence of

connection is not followed, the motor may

run abnormally. It is possible to cause injury

to persons or damage to equipment. Please

use correctly labelled cables.

Warning

Each motor model has its own rated

maximum payload. If applying more than

such payload to the motor, it may cause

abnormal motion, damage to equipment,

or injury to persons.

Warning

If users select to use own made motor

encoder cables, please check the User

Guide carefully or contact our service

department. The wrong connection of such

cable may cause abnormal motion or injury

to persons.

Warning

During the usage of motor, in case of the

careless removal of encoder connector

from the drive, please do not hot plug it

back to the drive. It may cause abnormal

motion, damage to equipment, or injury

to persons.

Warning

Applying the open type of optical feedback

system (e.g. optical scale), please note that

if the scale is stained or scratched, it may

cause abnormal motion, damage to the

motor or equipment, or injury to persons.

Warning

When the motor is regularly under the

operation, and careless touch or collision

to the encoder connector on the drive, it

is recommended to power cycle the

drive, or it may cause abnormal motion,

damage to equipment, or injury to

persons.

Warning

Applying the open type of magnetic

feedback system (e.g. magnetic scale),

please note that if the strong magnetic

object comes close to the scale, it may

cause abnormal motion, damage to the

motor or equipment, or injury to persons.

Warning

During the usage of motor, please do not

unplug the encoder connector when it is

not powered off, move the motor, and

then plug it back to the drive, or it may

cause abnormal motion, damage to

equipment, or injury to persons.

D2 Drive User Guide v1.8 1. About the User Guide

HIWIN Mikrosystem Corp. 4

1.2. Safety instructions

Read the User Guide carefully before the installation, transportation, maintenance, and

inspection. Ensure that the product is used correctly.

Users should read the EM information, safety information, and all related instructions before

using the product.

The safety instructions in the User Guide are categorized into “Warning”, “Attention”,

“Prohibited”, and “Required”.

Warning

Inappropriate operations may cause dangers resulting in the serious injury or death.

Inappropriate operations may cause dangers resulting in the disability, minor injury, or

material damage.

Attention

Actions marked Attention may have serious consequences under different situations.

All such instructions are important and must be followed.

Prohibited

Indicate that the action is forbidden and must not be done.

Required

Indicate that the action is compulsory and must be done.

Danger

‧Always ensure that the drive is correctly earthed by using PE bar in the switch

cabinet as reference potential. Safety is not guaranteed if there is no low-ohm

earthing.

‧

Power connections may be live even if the motor does not move. Never disconnect

electrical connections of motor and drive as live. In the worst case, electric arcs

may form and cause personal injury and damage contacts.

‧After disconnecting the drive from the power supply, wait at least five minutes

before touching live parts (e.g. contacts, threaded bolts etc.) or breaking

connections. For your own safety, measure the voltage in the intermediate circuit

and wait until it has fallen below 40 Vdc.

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