Hiwin D1-N Series User manual

www.hiwinmikro.tw
User Manual
D1-N Series Servo Drive

D1-N Series Servo Drive User Manual Revision History
Revision History
Release Date
Version
Applicable Product
Revision Contents
June 21st, 2019 1.9
D1N firmware version
0.819 or later version

D1NCOE firmware version
0.523 or later version
Lightening software
version 0.194 or later
version
This user manual is translated from the Chinese
user manual D1-N
驅動器使用者操作手冊
(version 1.9
), so the version number starts from
1.9.

D1-N Series Servo Drive User Manual Table of Contents
Table of Contents
1. About this user manual ··············································································································1-1
1.1 General precautions·············································································································1-2
1.1.1 Risk identification········································································································1-3
1.2 Safety precautions ···············································································································1-4
2. Specifications ··························································································································2-1
2.1 Safety certificates and model explanations ················································································2-2
2.1.1 Safety certificates ·······································································································2-2
2.1.2 Nameplate information·································································································2-3
2.1.3 Model explanation·······································································································2-4
2.2 Servo drive specification ·······································································································2-5
2.2.1 Basic specification ······································································································2-5
2.2.2 Dimensions ···············································································································2-9
2.3 Installation ······················································································································· 2-11
2.4 System requirements ········································································································· 2-12
3. Operation principles··················································································································3-1
3.1 Operation mode ··················································································································3-2
3.1.1 Position mode ············································································································3-2
3.1.2 Velocity mode ············································································································3-3
3.1.3 Force/torque mode······································································································3-3
3.1.4 Stand-alone mode ······································································································3-3
3.2 Encoder types ····················································································································3-3
3.3 Encoder signal output···········································································································3-5
3.4 Path planning ·····················································································································3-6
3.5 Servo loops and servo gains ··································································································3-8
3.6 Gain margin and phase margin·······························································································3-9
3.6.1 Nyquist plot ···············································································································3-9
3.6.2 Bode plot ················································································································ 3-11
3.7 Move and settling ·············································································································· 3-12
3.8 Error compensation············································································································ 3-13
3.9 Velocity ripple ··················································································································· 3-14
3.10 Enabling ························································································································ 3-15
3.11 Basic physical quantities ··································································································· 3-16
4. Wiring ····································································································································4-1
4.1 System configuration and wiring ·····························································································4-2
4.1.1 System connection······································································································4-2
4.1.2 Connector specifications ······························································································4-5
4.2 Main power (X1)··················································································································4-7
4.3 Regenerative resistor and DC link (X2)··················································································· 4-10
4.4 Motor power (X3)··············································································································· 4-13
4.5 Control power and brake (X4) ······························································································ 4-14
4.6 USB communication (X5) ···································································································· 4-15
4.7 Control signals (X6) ··········································································································· 4-15
4.7.1 Digital command······································································································· 4-17
4.7.2 Programmable I/O ···································································································· 4-18
4.7.3 Encoder output········································································································· 4-20
4.7.4 PT signal output ······································································································· 4-21
4.7.5 Analog command······································································································ 4-21
4.8 Safety function (X7, X8) ······································································································ 4-22
4.9 Motor temperature detection (X9)·························································································· 4-28
4.10 Encoder (X10, X11, X12)··································································································· 4-28
4.11 EtherCAT/Modbus communication (X13) ·············································································· 4-30
4.12 Accessories of D1-N servo drive ························································································· 4-31

D1-N Series Servo Drive User Manual Table of Contents
5. Servo drive configuration ···········································································································5-1
5.1 Installation and communication·······························································································5-2
5.1.1 Installing Lightening ····································································································5-2
5.1.2 Communication setup ··································································································5-3
5.1.3 Main window··············································································································5-7
5.2 Configuration center·············································································································5-9
5.2.1 Setting parameters of motor························································································ 5-10
5.2.2 Setting parameters of encoder····················································································· 5-15
5.2.3 Setting Hall sensor···································································································· 5-24
5.2.4 Setting operation mode ······························································································ 5-25
5.2.5 Setting servo drive ···································································································· 5-27
5.2.6 Modbus communication setting···················································································· 5-29
5.2.7 Saving configuration·································································································· 5-30
5.3 Auto phase center ············································································································· 5-31
5.3.1 Inspection before auto phase initialization ······································································ 5-33
5.3.2 Operating procedures for auto phase initialization···························································· 5-34
5.3.3 Precautions for auto phase initialization ········································································· 5-38
5.4 I/O setting ························································································································ 5-39
5.4.1 Digital inputs············································································································ 5-39
5.4.2 Digital outputs ·········································································································· 5-47
5.5 Setting in-position signal ····································································································· 5-51
5.6 Homing ··························································································································· 5-54
5.7 Position trigger function ······································································································ 5-61
5.8 Save parameters to Flash and set to factory default ·································································· 5-64
5.8.1 Save parameters to Flash··························································································· 5-64
5.8.2 Set parameters to factory default·················································································· 5-64
5.9 Setting operation mode via Lightening···················································································· 5-66
5.9.1 Position mode ·········································································································· 5-66
5.9.2 Velocity mode ·········································································································· 5-68
5.9.3 Force/torque mode···································································································· 5-70
5.9.4 Stand-alone mode ···································································································· 5-71
6. Tuning ···································································································································6-1
6.1 Status display and Quick view ································································································6-2
6.1.1 Status display ············································································································6-2
6.1.2 Quick view ················································································································6-3
6.1.3 Function keys ············································································································6-4
6.2 Performance center ·············································································································6-4
6.3 Scope ·······························································································································6-7
6.4 Data collection ····················································································································6-9
6.4.1 Function description ····································································································6-9
6.4.2 Data collection via PDL program ·················································································· 6-11
6.5 Plot view·························································································································· 6-12
6.5.1 Display mode··········································································································· 6-12
6.5.2 Save and open file ···································································································· 6-17
6.5.3 Calculation functions ································································································· 6-18
6.6 Advanced gain tuning ········································································································· 6-20
6.6.1 Filter ······················································································································ 6-21
6.6.2 Acceleration feedforward ···························································································· 6-23
6.6.3 Schedule gains and velocity loop gain ··········································································· 6-25
6.6.4 Offset correction for analog input·················································································· 6-28
6.6.5 Current loop ············································································································ 6-29
6.6.6 Vibration suppression filter·························································································· 6-29
6.6.7 Friction compensation································································································ 6-33
6.7 Loop constructor ··············································································································· 6-34
6.7.1 Load/save file ·········································································································· 6-35
6.7.2 Tool ······················································································································· 6-37
6.7.3 Filter ······················································································································ 6-40
6.7.4 Gain tuning ············································································································· 6-42
6.7.5 Spectrum analysis ···································································································· 6-43

D1-N Series Servo Drive User Manual Table of Contents
6.8 Checking encoder signal ····································································································· 6-44
6.9 Error map function ············································································································· 6-45
6.9.1 Setting error map function ·························································································· 6-45
6.9.2 Enabling error map function ························································································ 6-48
6.9.3 Saving and opening error map table ············································································· 6-49
6.9.4 Changing the start position of error map function ····························································· 6-49
6.10 Compensation function for resolver signal ············································································· 6-54
6.10.1 Operational description ···························································································· 6-55
6.10.2 Enabling signal compensation function ········································································ 6-56
6.10.3 Saving and opening signal compensation table ····························································· 6-56
6.11 Compensation function for absolute resolver signal ································································· 6-57
6.11.1 Operational description ···························································································· 6-57
6.11.2 Enabling signal compensation function ········································································ 6-59
6.11.3 Saving and opening signal compensation table ····························································· 6-59
7. LCD display ····························································································································7-1
7.1 LCD panel ·························································································································7-2
7.2 LCD display description ········································································································7-2
8. Protection function····················································································································8-1
8.1 Motion protection·················································································································8-2
8.2 Position and velocity error protection ·······················································································8-5
8.2.1 Position error limit ·······································································································8-5
8.2.2 Position error warning and velocity error warning ·······························································8-6
8.3 Brake protection ··················································································································8-6
8.4 Limit protection ···················································································································8-8
8.4.1 Hardware limit protection ······························································································8-8
8.4.2 Software limit protection ·······························································································8-8
8.5 Over temperature protection ··································································································8-9
8.5.1 Motor over temperature protection··················································································8-9
8.5.2 Software over temperature protection············································································ 8-10
8.5.3 Servo drive over temperature protection ········································································ 8-10
8.6 Overvoltage protection········································································································ 8-10
9. Errors and warnings··················································································································9-1
9.1 Error messages and warning messages ···················································································9-2
9.2 Error and warning log ···········································································································9-7
9.3 Automatic error handling ····································································································· 9-10
9.4 Troubleshooting ················································································································ 9-11
9.4.1 Status indicator ········································································································ 9-11
9.4.2 Error description and corrective action··········································································· 9-13
10. Advanced frequency analysis···································································································· 10-1
10.1 Advanced frequency analysis ····························································································· 10-2
10.2 Frequency analyzer·········································································································· 10-3
10.3 SMCL tools ···················································································································· 10-4
11. Enabling motor ······················································································································ 11-1
11.1 Enabling method·············································································································· 11-2
11.2 Checking enabling state from Lightening ··············································································· 11-3
12. Parameter comparison ············································································································ 12-1
12.1 Comparing the parameters in RAM and Flash ········································································ 12-2
13. Updating firmware and loading PDL···························································································· 13-1
13.1 Updating servo drive firmware ···························································································· 13-2
13.2 Loading PDL program······································································································· 13-5
13.3 Updating motor parameters································································································ 13-7
14. Modbus communication ··········································································································· 14-1
14.1 Modbus communication specification ··················································································· 14-2
14.2 Function codes················································································································ 14-2
14.3 Modbus object················································································································· 14-6
14.3.1 Input register·········································································································· 14-7

D1-N Series Servo Drive User Manual Table of Contents
14.3.2 Holding register ···································································································· 14-12
15. Motor power cable shielding and grounding·················································································· 15-1
15.1 Motor power cable shielding······························································································· 15-2
15.2 Grounding ······················································································································ 15-4

HIWIN MIKROSYSTEM Corp. 1-1
1. About this user manual
000 00
1. About this user manual ··············································································································1-1
1.1 General precautions·············································································································1-2
1.1.1 Risk identification········································································································1-3
1.2 Safety precautions ···············································································································1-4

D1-N Series Servo Drive User Manual About This User Manual
1-2 HIWIN MIKROSYSTEM Corp.
MD17UE01-1906
1.1 General precautions
Before using our product, please carefully read through this user manual. HIWIN Mikrosystem (HIWIN) is
not responsible for any damage, accident or injury caused by failure in following the installation
instructions and operating instructions stated in this user manual.
Do not disassemble or modify the product. The design of the product has been verified by structural
calculation, computer simulation and actual testing. HIWIN is not responsible for any damage,
accident or injury caused by disassembly or modification done by users.
Before installing or using the product, ensure there is no damage on its appearance. If any damage
is found after inspection, please contact HIWIN or local distributors.
Carefully read through the specification noted on product label or technical document. Install the
product according to its specification and installation instructions stated in this user manual.
Ensure the product is used with the power supply specified on product label or in product
requirement. HIWIN is not responsible for any damage, accident or injury caused by incorrect power
supply.
Ensure the product is used with its rated load. HIWIN is not responsible for any damage, accident or
injury caused by improper usage.
Do not subject the product to shock. HIWIN is not responsible for any damage, accident or injury
caused by improper usage.
If an error occurs in the servo drive, please refer to section 9.4 and follow the instructions for
troubleshooting. After the error is cleared, power on the servo drive again.
Do not repair the product by yourselves when it malfunctions. The product can only be repaired by
qualified technician from HIWIN.
HIWIN offers 1 year warranty for the product. Warranty starts on the shipping date of the product. The
warranty does not cover damage caused by improper usage (Refer to the notices and instructions stated
in this user manual.) or natural disaster.

D1-N Series Servo Drive User Manual About This User Manual
HIWIN MIKROSYSTEM Corp. 1-3
MD17UE01-1906
1.1.1 Risk identification
Warning
When installing or replacing motor power cable, wiring
must be correctly performed. Incorrect wiring may lead
to abnormal operation of motor, serious injury or
machine damage. Connect
motor power cable
according to the noted symbols on the cable.
Warning
Each motor has its maximum rated load. If the motor is
overloaded, it may le
ad to abnormal operation of
motor, machine damage or injury.
Warning
If users are using a self-made extension cable for motor
encoder, please carefully read through our manuals or
contact customer service department. Incorrect
connection may lead to abnormal operation of motor or
injury.
Warning
If encoder extension cable is accidently disconnected
when power on, reconnect it to the servo drive after
power off. If not, it may lead to abnormal operation of
motor, machine damage or injury.
Warning
When using open-type optical feedback system (such
as optical scale), if there is stain or scratch on the
scale, it may lead to abnormal operation of motor,
motor damage, machine damage or injury.
Warning
If encoder connector is subject to any impact during
operation, check if the servo drive is damaged. It is
suggested to power on the servo
drive again.
Otherwise it may lead to abnormal operation of motor,
machine damage or injury.
Warning
When using open-
type magnetic feedback system
(such as magnetic scale),
prevent strong magnetic
objects from getting close to the scale. Otherwise, it
may lead to abnormal operation of motor, motor
damage, machine damage or injury.
Warning
Do not disconnect encoder extension cable and
reconnect it to the servo drive when power on, or it
may lead to abnormal operation of motor, machine
damage or injury.
Warning
When using linear motor with Hall sensor, ensure the
selected Hall sensor is applicable to your linear motor.
If not, it may lead to motor burn-
out, abnormal
operation of motor or injury.
Warning
If users are using a self-made signal extension cable
of H
all sensor, please carefully read through our
manuals or contact customer service department.
Incorrect connection may lead to abnormal operation
of motor or injury.

D1-N Series Servo Drive User Manual About This User Manual
1-4 HIWIN MIKROSYSTEM Corp.
MD17UE01-1906
1.2 Safety precautions
Carefully read through this user manual before installation, transportation, maintenance and
examination. Ensure the product is correctly used.
Carefully read through electromagnetic (EM) information, safety information and related precautions
before operation.
Safety precautions in this user manual are classified into Warning, Attention, Prohibited and
Required.
Signal Word Description
It indicates if the precaution is not observed, it is likely to cause property
loss, serious injury or death.
It indicates the precaution must be observed.
It indicates prohibited activity.
It indicates mandatory activity.
DANGER
Ensure the servo drive is correctly grounded. Use PE bar in the control cabinet as reference potential.
Perform low-ohmic grounding for safety reason.
Do not touch motor power connectors even when the motor is not moving. Do not remove motor power cable
from the servo drive when it is still power-on, or there is a risk of electric shock or damage to the contact.
Do not touch live part (contact or bolt) or connector within 5 minutes after disconnecting the servo drive from
power supply. For safety reason, we suggest measuring the voltage in the intermediate circuit and wait until it
falls to 40 Vdc.

D1-N Series Servo Drive User Manual About This User Manual
HIWIN MIKROSYSTEM Corp. 1-5
MD17UE01-1906
Operation
Do not touch the terminals and internal part of the product when power on, or it
may cause electric shock.
Do not touch the terminals and internal part of the product within 10 minutes
after power off, or the residual voltage may cause electric shock.
Do not modify wiring when power on, or it may cause electric shock.
Do not damage, apply excessive force to, place any heavy object on cables or
put cables between two objects, or it may cause electric shock or fire.
Do not use the product in location which is subject to
humidity, corrosive
materials, flammable gas or flammable materials.
Storage
Do not store the product in location which is subject to water, water drop, direct
sunlight, harmful gas or liquid.
Transportation
Carefully move the product to avoid damage.
Do not apply excessive force to the product.
Do not stack the products to avoid collapse.
Installation site
Do not install the product in location with high ambient temperature and high
humidity or location which is subject to dust, iron powder or cutting powder.
Install the product in location with ambient temperature stated in the user
manual. Use cooling fan when the ambient temperature is too high.
Do not install the product in location which is subject to direct sunlight.
The product is not drip-
proof or waterproof, so do not install or operate the
product outdoor or in location which is subject to water or liquid.
Install the product in location with less vibration.
Motor generates heat while running for a period of time. Use cooling fan or
disable the motor when it is not in use, so the ambient temperature will not
exceed product specification.

D1-N Series Servo Drive User Manual About This User Manual
1-6 HIWIN MIKROSYSTEM Corp.
MD17UE01-1906
Installation
Do not place heavy object on the product, or it may cause injury.
Prevent any foreign matter from entering the product, or it may cause fire.
Install the product in the specified orientation, or it may cause fire.
Avoid strong shock to the product, or it may cause malfunction or injury.
While installing the product, please consider the prod
uct weight. Improper
installation may cause damage.
Install the product on noncombustible object, such as metal to avoid fire.
Wiring
Ensure wiring is correctly performed. Otherwise, it may lead to malfunction or
motor burn-out, causing a risk of injury or fire.
Operation and transportation
Use power supply specified in product specification, or it may cause injury or
fire.

The product may suddenly start to operate after power supply recovers.
Please do not get too close to the product.
Set external wiring for emergency stop to stop the motor at any time.
Maintenance
Do not disassemble or modify the product.
Do not repair the product by yourselves, please contact HIWIN for repair.

HIWIN MIKROSYSTEM Corp. 2-1
2. Specifications
000 00
2. Specifications ··························································································································2-1
2.1 Safety certificates and model explanations ················································································2-2
2.1.1 Safety certificates ·······································································································2-2
2.1.2 Nameplate information·································································································2-3
2.1.3 Model explanation·······································································································2-4
2.2 Servo drive specification ·······································································································2-5
2.2.1 Basic specification ······································································································2-5
2.2.2 Dimensions ···············································································································2-9
2.3 Installation ······················································································································· 2-11
2.4 System requirements ········································································································· 2-12

D1-N Series Servo Drive User Manual Specifications
2-2 HIWIN MIKROSYSTEM Corp.
MD17UE01-1906
2.1 Safety certificates and model explanations
2.1.1 Safety certificates
D1-N servo drive complies with the following safety standards.
Table 2.1.1.1
Certification Standards
CE
Certification
EMC
EN 61800-3: 2004/A1: 2012 (Category C3)
Emission Standards
CISPR 11: 2015/AMD1: 2016 (Conduction & Radiation)
EN 61000-3-2: 2014 (Harmonics)
EN 61000-3-3: 2013 (Flicker)
Immunity Standards
IEC 61000-4-2: 2008 (ESD)
IEC 61000-4-3: 2006/A1: 2007/A2: 2010 (RS)
IEC 61000-4-4: 2012 (EFT)
IEC 61000-4-5: 2014 (Surge)
IEC 61000-4-6: 2013 (CS)
IEC 61000-4-11: 2004 (Dips)
IEC 61000-4-13: 2009
IEC 61000-2-1: 1990
IEC 61000-2-4: 2003
IEC 60146-1-1: 2009
LVD EN 61800-5-1: 2007
Safe Torque Off
(STO) Certification
IEC 61508: 2010; SIL 3
ISO 13849-1: 2006; PL e (Cat.3)
IEC 62061: 2005; SILcl 3
UL Certification UL 61800-5-1: Edition 1
CSA Certification CSA C22.2 No. 274-17: Secondary edition

D1-N Series Servo Drive User Manual Specifications
HIWIN MIKROSYSTEM Corp. 2-3
MD17UE01-1906
2.1.2 Nameplate information
Figure 2.1.2.1
Table 2.1.2.1
Number Description
○1
Model number
○2HIWIN part number
○3
Serial number
○4Barcode
○5
Voltage, phase, rated current, maximum current and frequency
○6CE compliant
○7
Compliance functional safety STO
○8QR code

D1-N Series Servo Drive User Manual Specifications
2-4 HIWIN MIKROSYSTEM Corp.
MD17UE01-1906
2.1.3 Model explanation
Code
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
Example
D
1
-
N
-
3
6
-
S
2
-
2
-
1
-
0
0
Product Name
D1-N………..……=D1-N
Peak Current
09 A………..………………………….….= 09
18 A…………..………………………..…= 18
36 A……………..…………….………….= 36
90 A…………………………………….…= 90
Communication Interface
Standard (without communication interface)…….…= S
EtherCAT (CoE) ……………………………….....…...= E
EtherCAT (mega-ulink)………………………..….…...= F
Modbus………………………………………….……..= M
Encoder Type
Standard (digital/analog)…………...…..…………....…...= 2
Resolver……………………………………………………..= 4
Multi encoder………………………………………………..= 9
Voltage Range
1Φ/3Φ230 Vac (for 09/18/36A D1-N servo drive)……………..…..= 2
3Φ230/400 Vac (for 90A D1-N servo drive)..………………………= 6
Heat Sink Type
Without heat sink……..…………………………………………..…………….…..= 0
High profile ..…………………………………………………….……...…………...= 1
Mark
HIWIN mark.……………………………………………………………….………………….…= 00
mega-fabs mark…………………………………………………………..……………………= 01
Note:
(1) D1-N--9 supports dual loop control.
•Supported linear encoder: Digital AqB encoder
•Supported rotary encoder: BiSS encoder or T-code
(2) When D1-N-90 servo drive is used with 400 Vac, the rated current is 20 Aamp and the instantaneous current is
60 Aamp.
(3) D1-N--9 supports the following encoder types: EnDat2.1/2.2, BiSS, digital, analog, T-code, Hiperface,
Hiperface DSL, Nikon and SSI.

D1-N Series Servo Drive User Manual Specifications
HIWIN MIKROSYSTEM Corp. 2-5
MD17UE01-1906
2.2 Servo drive specification
2.2.1 Basic specification
D1-N
D1-N-09
D1-N-18
D1-N-36
D1-N-90
Input Power
Main Power
Voltage
Voltage 230 Vac (-20%/+15%)
230 Vac
(-20%/+15%)
400 Vac (±10%)
Frequency
50/60 Hz ± 5%
Phase
1 Ø or 3 Ø
3 Ø
Main Power Current
3 Arms
6 Arms
12 Arms
30 Arms
Control Voltage
+24 Vdc ± 10%
Control Current
Minimum 1 A
Output Power
Continuous Current 3 Aamp
[2.1 Arms]
6 Aamp
[4.2 Arms]
12 Aamp
[8.5 Arms]
(Note: with
external
heat sink)
•230 Vac
30 Aamp [21 Arms]
•400 Vac
20 Aamp [14 Arms]
(Note: The case of
D1-N-90 is different
from the one of
D1-N-36.)
Instantaneous Current 9 Aamp
[6.4 Arms]
18 Aamp
[12.7 Arms]
36 Aamp
[25.5 Arms]
•230 Vac
90 Aamp [63.6
Arms]
•400 Vac
60 Aamp [42.3
Arms]
Peak Time of
Instantaneous Current
Maximum 1 second
Maximum Supported
Power for Motor
0.2 KW 0.5 KW 1 KW 5.5 KW
State Indication Servo Drive State
LCD matrix (2x8)
Dual color LED
•Red: Error
•Green: Servo ready
Main Circuit Control
IGBT SVPWM control
Control Motor Type
•AC servo motor
•Linear motor
•Torque motor
Control
Mode
Position
Mode
Pulse Command Format
•Pulse/Direction
•CW/CCW
•AqB
Maximum
Input Pulse
Frequency
Differential
signal
4 M line/sec, 5 V 16 M count/sec (Cable length < 2 m)
(CW+/CW-, CCW+/CCW-input)
Single-
ended
signal
12 V ~ 24 V, 500 KHz (CWL, CCWL input)
Command Source Pulses from controller
Electronic Gear
Electronic gear ratio: pulses/counts
Pulse: 1 ~ 2,147,483,647; Count: 1 ~ 2,147,483,647
Velocity
Mode
Analog
Input
Command
Voltage
Range
±10 Vdc
Resolution
12 bits
Command Source
Voltage from controller

D1-N Series Servo Drive User Manual Specifications
2-6 HIWIN MIKROSYSTEM Corp.
MD17UE01-1906
Force/
torque
Mode
Analog
Input
Command
Voltage
Range
±10 Vdc
Resolution 12 bits
Command Source Voltage from controller
Encoder Input
Type
Analog or digital differential input, serial input and resolver
Operating Voltage
+5 Vdc (500 mA)
Digital
Input
Signal
Differential signal (A, /A, B, /B, Z and /Z)
Bandwidth
5 MHz line frequency, x4 frequency: 20 M counts/s
Analog
Input
Amplitude
Differential signal (Sin/cos 1 Vpp) Z and /Z signals are digital.
Bandwidth
1 MHz maximum line (Cycle) frequency
Resolution
Maximum 65,528 counts/cycle
Resolver
Differential signal (Sin/cos), reference 3 KHz, 6 Vpp, 100 mA
Encoder Counting Range
-2,147,483,648 ~ 2,147,483,647 (32 bits)
Buffered Encoder
Output
Digital Encoder
•Without being processed by the servo drive, A/B phase
signals are directly sent to the controller. (Maximum 18 M
counts/s, digital AqB output, differential signal output)
•Without being processed by the servo drive, Z phase
signals are directly sent to the controller. (Differential
signal)
•Open collector output (CZ): Outputs with Z phase signal.
Signal width can be adjusted via software.
•The delay time between the time the servo drive receives
encoder signal from the encoder and the time the servo
drive outputs signal from X6 connector is in nanosecond
(ns).
Analog Encoder
•Maximum 18 M counts/s, digital AqB output, differential
signal output
•The resolution is the grating period of analog encoder/4.
(If grating period = 40 um, the resolution of buffered
encoder output = 10 um/count)
•The delay time between the time the servo drive receives
encoder signal from the encoder and the time the servo
drive outputs signal from X6 connector is in nanosecond
(ns).
Emulated Encoder Output
•Maximum 18 M counts/s, digital AqB output, differential
signal output
•The ratio of encoder input to emulated encoder output
can be adjusted. The width of emulated index signal
output can be adjusted.
•Open collector output (CZ): Outputs with Z phase signal.
Signal width can be adjusted via software.
•Linear motor:
(1) Outputs one index (Z phase) signal per travel
distance.
Rotary motor:
(1) Outputs one index (Z phase) signal per travel distance
(2) Outputs one index (Z phase) signal per motor
revolution
•The maximum delay time between the time the servo
drive receives encoder signal from the encoder and the
time the servo drive outputs signal from X6 connector is
66.67 us.
Digital Hall Sensor
Digital single-ended signal with 120 degrees phase
difference

D1-N Series Servo Drive User Manual Specifications
HIWIN MIKROSYSTEM Corp. 2-7
MD17UE01-1906
Communication Standard USB 2.0
Set servo drive parameters and monitor servo drive status
via computer.
Digital Input
Input
I1 ~ I10 input functions can be user-defined. (Optical coupler,
general-purpose input)
Input pin: 5 V/1 mA, 24 V/5 mA
Safety input
Two sets of safety inputs. The voltage for STO safety
function is 24 V. Signal interrupts > 6 ms
Digital Output
Output
O1 ~ O3 output functions can be user-defined. (Optical
coupler, general-purpose output)
Output pin: 24 V/0.1 A
Brake Output
+24 Vdc, 1 Adc max
PT Output
•PT+ and PT- signals are 3.3 V differential outputs.
•When the set position is reached, PT output is ON.
•Response time of digital encoder is below 0.1 us.
•Only supports digital AqB encoder
•PT pulse width: 25 ns ~ 100 us
•PT position accuracy: ±1 count (Up to 5,000,000
counts/sec)
Monitoring
Monitoring STO status.
PDL Editor
Maximum Storage
for Codes
32 Kbytes
Storage for Variables
800 bytes
Supported Variable Type
Float: 32 bits
Integer: 16 and 32 bits (Array and pointer are supported.)
Execution Cycle
66.67 us
Multitasking
Four tasks can be run at the same time.
Control Commands for
Program Flow
Supports commands such as “if”, “else”, “while loop”, “for
loop”, “goto”, “till”, etc.
Operator
Includes arithmetic operators, logic operators and
comparison operators.
Task Synchronization
Supports lock and unlock commands to perform task
synchronization.
Length Limit for
User-defined Name
Variable: 17 characters
Label: 24 characters
Proc: 24 characters
Regenerative
Resistor
Resistance
Internal regenerative resistor 50
Ω/150 W (Note: When regenerative
energy is above 150 W, please install
regenerative resistor.)
External
regenerative resistor
is required.
Voltage Threshold for
Activation
+HV > 390 Vdc
(Input power: 230 Vac)
•+HV > 390 Vdc
(Input power: 230
Vac)
•+HV > 735 Vdc
(Input power: 400
Vac)
Voltage Threshold for
Deactivation
+HV < 380 Vdc
(Input power: 230 Vac)
•+HV < 380 Vdc
(Input power: 230
Vac)
•+HV < 695 Vdc
(Input power: 400
Vac)
Tolerance
± 5%
DC Link Capacity
940 uF
940 uF
1,880 uF
940 uF
Protection
Function
Overvoltage
+HV > 404 Vdc
+HV > 800 Vdc
Undervoltage +HV < 184 Vdc
(Input power: 230 Vac)
•+HV < 184 Vdc
(Input power: 230
Vac)
•+HV < 320 Vdc

D1-N Series Servo Drive User Manual Specifications
2-8 HIWIN MIKROSYSTEM Corp.
MD17UE01-1906
(Input power: 400
Vac)
Over Temperature
IGBT > 80
o
C ± 3
o
C
Short Circuit
•Short circuit between UVW wires
•Short circuit between UVW cable and ground (PE)
•Internal PWM bridge short circuit
Software Over
Temperature Protection
Starts to estimate temperature rise as continuous current is
exceeded.
Encoder Feedback Error
•The input voltage is 85% lower than normal voltage 5 V.
•Phase error (A/B phase)
•The signal of analog encoder is too weak.
•Serial encoder error
Safety Function STO (Safe Torque Off)
•Two safety inputs are used to suspend motor current.
•STO status can be monitored via digital output.
•To disable safety function, X6-pin 20 and X6-pin 40
should be short-circuited.
•To enable safety function, the servo drive must be turned
off first. Connect safety inputs. X6-pin 20 and X6-pin 40
should not be short-circuited. After that, turn on the servo
drive again.
Error
Compensation
Applicable Motor
•Linear motor
•AC servo motor
•Torque motor
Compensation Method
Creates error map to compensate encoder error by means of
linear interpolation.
Storage Point
Maximum 5,000 points
Storage Location
Flash ROM
Unit
um, count, mm and rev
Enabling Method
•Enabled after internal homing completes.
•Enabled by external input signal.
Communication
Module
EtherCAT
Connect to two RJ-45 connectors of X13.
Supports EtherCAT function (CoE or mega-ulink)
Modbus (RS485)
Connect to two RJ-11 connectors of X13.
•Supports serial communication with other servo drives.
•Supports Modbus RTU and ASCII protocols (Half duplex)
Frequency Suppression Range for Vibration
Suppression Filter (VSF)
0.1 Hz ~ 200 Hz
Environment
Operating Temperature
0 ~ 50 oC (If temperature is above 55 oC, forced ventilation
will be required.)
Storage Temperature -20 oC ~ 65 oC
Humidity
0 to 90% RH (No condensation)
Altitude
Altitude 1000 M or lower
Vibration
1 G (10 ~ 500 Hz)
IP Rating
IP20
Weight (Accessory kit included) (kg)
2.05
(Approx.)
2.2
(Approx.)
3
(Approx.)
6
(Approx.)
Dimensions (Length x Width x Height)
249 mm x
75 mm x
182 mm
249 mm x
75 mm x
182 mm
249 mm x
101 mm x
182 mm
272 mm x 119 mm x
254 mm
Case Complies with CE U.L. Spec 94 V-0 Flammability Rating