Hiwin D1 User manual

www.hiwinmikro.tw
User Manual
D1 Servo Drive
MD20UE01-2109_V3.0

Revision History
The version of the manual is also indicated on the bottom of the front cover.
Release Date
MD20UE01-2109_V3.0
Version
Release Date
Version
Applicable Product
Revision Contents
Sep. 24th, 2021
3.0
D1 servo drive
(1) Update section 2.1.2 Model explanation.
(2) Update section 2.2 Basic specifications.
(3) Update section 4.1.1 System connection.
(4) Update section 4.2 Wiring for main circuit.
(5) Update section 10.2 Heat sink.
(6) Delete the related information of Hybrid
brake regenerate.
Jan. 20th, 2021
2.9
D1 servo drive
(1) Update section 2.2 Basic specifications.
(2) Update section 4.2 Wiring for main circuit.
(3) Update section 8.3 Brake protection.
Mar. 11th, 2020
2.8
D1 firmware version 0.250
or later version
D1 CoE firmware version
0.33 or later version
Lightening version 0.197 or
later version
This user manual is translated from the Chinese
user manual D1驅動器使用者操作手冊 (version
2.8), so the version number starts from 2.8.

Table of Contents
1. About this user manual...................................................................................................................................... 1-1
1.1 General precautions................................................................................................................................... 1-2
1.2 Safety precautions...................................................................................................................................... 1-3
2. Specifications .................................................................................................................................................... 2-1
2.1 Safety certificates and model explanations................................................................................................ 2-2
2.1.1 Safety certificates................................................................................................................................ 2-2
2.1.2 Model explanation............................................................................................................................... 2-3
2.2 Basic specifications.................................................................................................................................... 2-4
2.3 Dimensions................................................................................................................................................. 2-8
2.4 Installation ................................................................................................................................................ 2-10
2.5 System requirement................................................................................................................................. 2-11
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............................................................................................................................... 3-4
3.2 Encoder types ............................................................................................................................................ 3-4
3.2.1 Digital type .......................................................................................................................................... 3-4
3.2.2 Analog type ......................................................................................................................................... 3-5
3.3 Buffered encoder output and emulated encoder 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........................................................................................................................................... 3-12
3.7 Move and settling..................................................................................................................................... 3-13
3.8 Error compensation.................................................................................................................................. 3-14
3.9 Velocity ripple........................................................................................................................................... 3-15
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..................................................................................................................... 4-4
4.2 Wiring for main circuit................................................................................................................................. 4-5
4.3 Wiring for motor.......................................................................................................................................... 4-7
4.4 Wiring for regenerative resistor.................................................................................................................. 4-7
4.5 Wiring for control power and brake ............................................................................................................ 4-8
4.6 RS232 communication (CN1) .................................................................................................................... 4-8
4.7 Wiring for control signals (CN2) ................................................................................................................. 4-9
4.7.1 Wiring diagram for digital inputs........................................................................................................ 4-11
4.7.2 Wiring diagram for digital outputs ..................................................................................................... 4-13
4.7.3 Wiring diagram for pulse command input ......................................................................................... 4-15
4.7.4 Wiring diagram for encoder feedback pulse output .......................................................................... 4-21
4.7.5 Wiring diagram for analog command................................................................................................ 4-22
4.7.6 Wiring diagram for PWM command input......................................................................................... 4-23
4.8 Wiring for feedback signals (CN3) ........................................................................................................... 4-24
4.8.1 Wiring diagram for digital incremental encoder ................................................................................ 4-26
4.8.2 Wiring diagram for analog incremental encoder............................................................................... 4-26
4.8.3 Wiring diagram for motor over temperature protection..................................................................... 4-27
4.8.4 Wiring diagram for Hall sensor.......................................................................................................... 4-27
4.9 EtherCAT communication (CN4).............................................................................................................. 4-28
4.10 Accessories of D1 servo drive.................................................................................................................. 4-29
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 ....................................................................................................................................... 5-6
5.2 Configuration center................................................................................................................................... 5-8
5.2.1 Setting parameters of motor ............................................................................................................... 5-9
5.2.2 Setting parameters of encoder.......................................................................................................... 5-12
5.2.2.1 HIWIN standard encoder............................................................................................................... 5-14
5.2.2.2 User-defined encoder setting ........................................................................................................ 5-15
5.2.2.3 Setting encoder output .................................................................................................................. 5-16
5.2.3 Setting Hall sensor............................................................................................................................ 5-19
5.2.4 Setting operation mode..................................................................................................................... 5-21
5.2.5 Saving configuration.......................................................................................................................... 5-24
5.3 Auto phase center .................................................................................................................................... 5-25
5.3.1 Inspection before auto phase initialization........................................................................................ 5-28
5.3.2 Operating procedures for auto phase initialization ........................................................................... 5-28
5.3.3 Precautions for auto phase initialization ........................................................................................... 5-32
5.4 I/O setting................................................................................................................................................. 5-33
5.4.1 Digital inputs...................................................................................................................................... 5-33
5.4.2 Digital outputs ................................................................................................................................... 5-41
5.5 Setting in-position signal .......................................................................................................................... 5-46
5.6 Homing..................................................................................................................................................... 5-49
5.6.1 Homing by left side and right side conditions ................................................................................... 5-52
5.6.2 Homing by near home sensor or index signal .................................................................................. 5-55
5.6.3 Homing by single-turn absolute encoder .......................................................................................... 5-57
5.6.4 Homing by CiA 402 standard homing method.................................................................................. 5-58
5.7 Save parameters to Flash and set to factory default ............................................................................... 5-64
5.7.1 Save parameters to Flash................................................................................................................. 5-64
5.7.2 Set parameters to factory default...................................................................................................... 5-64
5.8 Setting operation mode via Lightening..................................................................................................... 5-66
5.8.1 Position mode ................................................................................................................................... 5-66
5.8.2 Velocity mode.................................................................................................................................... 5-68
5.8.3 Force/torque mode............................................................................................................................ 5-70
5.8.4 Stand-alone mode............................................................................................................................. 5-72
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....................................................................................................................... 6-34
6.7 Loop constructor....................................................................................................................................... 6-35
6.7.1 Load/save file.................................................................................................................................... 6-36
6.7.2 Tool ................................................................................................................................................... 6-37
6.7.2.1 Frequency response function........................................................................................................ 6-38
6.7.2.2 Nyquist........................................................................................................................................... 6-39
6.7.2.3 Bode .............................................................................................................................................. 6-40
6.7.2.4 Nichols........................................................................................................................................... 6-41

6.7.3 Filter .................................................................................................................................................. 6-41
6.7.3.1 Low-pass filter ............................................................................................................................... 6-42
6.7.3.2 Notch filter ..................................................................................................................................... 6-43
6.7.4 Gain tuning........................................................................................................................................ 6-44
6.7.5 Spectrum analysis............................................................................................................................. 6-45
6.8 Checking encoder signal.......................................................................................................................... 6-45
6.9 Error map function.................................................................................................................................... 6-47
6.9.1 Setting error map function................................................................................................................. 6-48
6.9.2 Enabling error map function.............................................................................................................. 6-50
6.9.3 Saving and opening error map table................................................................................................. 6-51
6.9.4 Changing the start position of error map function............................................................................. 6-52
6.10 Compensation function for resolver signal............................................................................................... 6-57
6.10.1 Operational description..................................................................................................................... 6-58
6.10.2 Enabling signal compensation function ............................................................................................ 6-59
6.10.3 Saving and opening signal compensation table ............................................................................... 6-59
6.11 Compensation function for absolute resolver signal ................................................................................ 6-60
6.11.1 Operational description..................................................................................................................... 6-60
6.11.2 Enabling signal compensation function ............................................................................................ 6-62
6.11.3 Saving and opening signal compensation table ............................................................................... 6-62
7. LCD display ....................................................................................................................................................... 7-1
7.1 LCD panel .................................................................................................................................................. 7-2
7.1.1 Description .......................................................................................................................................... 7-2
7.1.2 Description of operation page............................................................................................................. 7-3
7.2 Home page................................................................................................................................................. 7-5
7.3 Display parameters page ........................................................................................................................... 7-7
7.4 Change parameters page........................................................................................................................... 7-9
7.4.1 Save to Flash.................................................................................................................................... 7-11
7.4.2 Editing parameters............................................................................................................................ 7-11
7.4.3 Advanced parameter area ................................................................................................................ 7-15
7.5 Actions page............................................................................................................................................. 7-22
7.5.1 Enabling and disabling...................................................................................................................... 7-24
7.5.2 Jog..................................................................................................................................................... 7-25
7.5.3 Absolute motion ................................................................................................................................ 7-26
7.5.4 Auto gain tuning................................................................................................................................ 7-27
7.5.5 Setting current position to zero ......................................................................................................... 7-28
7.6 Setting operation mode via LCD panel .................................................................................................... 7-28
7.6.1 Position mode ................................................................................................................................... 7-28
7.6.2 Velocity mode.................................................................................................................................... 7-34
7.6.3 Force/torque mode............................................................................................................................ 7-36
7.6.4 Stand-alone mode............................................................................................................................. 7-38
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............................................................................... 8-5
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...................................................................................................................... 8-9
8.5 Over temperature protection .................................................................................................................... 8-10
8.5.1 Motor over temperature protection.................................................................................................... 8-10
8.5.2 Software over temperature protection............................................................................................... 8-10
8.5.3 Servo drive over temperature protection........................................................................................... 8-10
8.6 Overvoltage protection............................................................................................................................. 8-11
9. Errors and warnings .......................................................................................................................................... 9-1
9.1 Error messages and warning messages.................................................................................................... 9-2
9.2 Error and warning log................................................................................................................................. 9-5
9.3 Automatic error handling............................................................................................................................ 9-8
9.4 Troubleshooting.......................................................................................................................................... 9-9
9.4.1 Status indicator ................................................................................................................................... 9-9

9.4.2 Error description and corrective action ............................................................................................. 9-10
10. Servo drive thermal curve............................................................................................................................ 10-1
10.1 Operating temperature and cooling.......................................................................................................... 10-2
10.2 Heat sink................................................................................................................................................... 10-3
11. Advanced frequency analysis...................................................................................................................... 11-1
11.1 Advanced frequency analysis .................................................................................................................. 11-2
11.2 Frequency analyzer.................................................................................................................................. 11-3
11.3 SMCL tools............................................................................................................................................... 11-5
12. Enabling motor............................................................................................................................................. 12-1
12.1 Enabling method ...................................................................................................................................... 12-2
12.2 Checking enabling state from Lightening................................................................................................. 12-3
13. Parameter comparison................................................................................................................................. 13-1
13.1 Comparing the parameters in RAM and Flash......................................................................................... 13-2
14. Updating firmware and loading PDL............................................................................................................ 14-1
14.1 Updating servo drive firmware ................................................................................................................. 14-2
14.2 Loading PDL program .............................................................................................................................. 14-4
15. Troubleshooting for interference.................................................................................................................. 15-1
15.1 Common mode filter................................................................................................................................. 15-2

HIWIN MIKROSYSTEM CORP. 1-1
1. About this user manual
00 00
1. About this user manual...................................................................................................................................... 1-1
1.1 General precautions................................................................................................................................... 1-2
1.2 Safety precautions...................................................................................................................................... 1-3

About This User Manual D1 Servo Drive User Manual
1-2 HIWIN MIKROSYSTEM CORP.
MD20UE01-2109
1.1 General precautions
Before using the 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 user.
◆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 specifications noted on the product label or technical document. Install the
product according to its specifications and installation instructions stated in this user manual.
◆Ensure the product is used with the power supply specified on the product label or in the 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 yourself 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.
CAUTION
The maximum ambient temperature must be below 55 oC.
The product can only be installed in an environment with pollution degree not exceeding 2.
The control power input must be: 24 Vdc, 1 A and level 2.
The rated voltage input is 240 V. Short-circuit current must be below 5000 A.
Before inspection, please turn off the power and wait for at least 5 minutes. To avoid electric shock, ensure the
residual voltage between P and N terminals has dropped to 50 Vdc or lower by using multimeter.

D1 Servo Drive User Manual About This User Manual
HIWIN MIKROSYSTEM CORP. 1-3
MD20UE01-2109
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 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 contacts.
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.
◆Operation
◆Do not touch the terminals and the internal part of the product when power on,
or it may cause electric shock.
◆Do not touch the terminals and the internal part of the product within 10
minutes after power off, or the residual voltage may cause electric shock.
◆Do not modify the wiring when power on, or it may cause electric shock.
◆Do not damage, apply excessive force to, place any heavy object on the
cables or put the cables between two objects, or it may cause electric shock or
fire.
◆If motor with brake is used, follow the enabling procedure stated in section 8.3.
Do not command the motor to move right after enabling.

About This User Manual D1 Servo Drive User Manual
1-4 HIWIN MIKROSYSTEM CORP.
MD20UE01-2109
◆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 or high
humidity. Do not install the product in 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.
◆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 its 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.

D1 Servo Drive User Manual About This User Manual
HIWIN MIKROSYSTEM CORP. 1-5
MD20UE01-2109
◆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 yourself, please contact HIWIN for repair.

About This User Manual D1 Servo Drive User Manual
1-6 HIWIN MIKROSYSTEM CORP.
MD20UE01-2109
(This page is intentionally left blank.)

HIWIN MIKROSYSTEM CORP. 2-1
2. Specifications
00 000
2. Specifications .................................................................................................................................................... 2-1
2.1 Safety certificates and model explanations................................................................................................ 2-2
2.1.1 Safety certificates................................................................................................................................ 2-2
2.1.2 Model explanation............................................................................................................................... 2-3
2.2 Basic specifications.................................................................................................................................... 2-4
2.3 Dimensions................................................................................................................................................. 2-8
2.4 Installation ................................................................................................................................................ 2-10
2.5 System requirement................................................................................................................................. 2-11

Specifications D1 Servo Drive User Manual
2-2 HIWIN MIKROSYSTEM CORP.
MD20UE01-2109
2.1 Safety certificates and model explanations
2.1.1 Safety certificates
D1 servo drive complies with the following safety standards.
◼CE compliance
Table2.1.1.1
EMC
EN61800-3: 2004 (Category C3)
EN61000-3-2: 2006/A1: 2009/A2: 2009
EN61000-3-3: 2008
EN61000-6-2: 2005
IEC CISPR 11: 2009/A1: 2010
IEC61000-4-2: 2008
IEC61000-4-3: 2006/A1: 2007/A2: 2010
IEC61000-4-4: 2004
IEC61000-4-5: 2005
IEC61000-4-6: 2008
IEC61000-2-1: 1990
IEC61000-2-4: 2003
IEC60146-1-1: 1993
LVD
EN 61800-5-1: 2007

D1 Servo Drive User Manual Specifications
HIWIN MIKROSYSTEM CORP. 2-3
MD20UE01-2109
2.1.2 Model explanation
The model explanation of D1 servo drive is provided as below.
Column
1
2
2A
3
4
5
6
7
8
9
10
11
12
13
14
15
Example
D
1
-
3
6
-
S
2
-
2
-
0
-
0
0
Product Name
D1…………………= D1
Rated Output
36 A……………..…………….…………...= 36
Communication Interface
Standard format RS232 (No communication interface).…= S
EtherCAT (CoE) ………………………………..………..…..= E
EtherCAT (mega-ulink)……………………………………...= F
Encoder Type
Analog......................................………………………………….…= 2
Digital...............................……………………………….......…..…= 3
Resolver ……………………………………………........…….…….= 4
Input Voltage
1Φ/3Φ220 V ………………………..……………………………………………..= 2
Heat Sink
Without heat sink…………………………………………………………….……………….…..= 0
High profile (H1)…………………………………………..……………………………….……...= 1
Reserved Code
Standard……………………………………………………………………………………………………...….….= 00

Specifications D1 Servo Drive User Manual
2-4 HIWIN MIKROSYSTEM CORP.
MD20UE01-2109
2.2 Basic specifications
Table2.2.1
D1
D1-36
Input
Power
Voltage
100 - 240 Vac ±10%
Frequency
47 to 63 Hz
Phase
1 Ø or 3 Ø
Control Voltage
+24 Vdc ±10%
Control Current
1 A minimum
Output
Power
Continuous Current
12 A_amp
[8.5 A_rms]
(Note: with external heat sink)
Instantaneous Current
36 A_amp
[25.4 A_rms]
Allowable Continuous Time for
Instantaneous Current
1 second maximum
Servo Drive Startup Time
1~2 seconds
Servo Drive Reset Time
3~4 seconds
Main Circuit Control
IGBT PWM space vector control
Control Motor Type
13 bit AC servo motor
Linear motor
Torque motor
Status LED Indicator
Servo Drive Status
Red: Error
Green: Servo ready
Control
Mode
Position
Mode
Input Pin
[I9, I9M], [I10, I10M] differential inputs or I9, I10 single-ended
inputs
Pulse Command Type
Pulse/Direction
CW/CCW
AqB
The
Maximum
Input Pulse
Frequency
Differential
Signal
Pulse input (2 M pulses/s max.); Quad A/B (8 M counts/s max.)
Single-
ended
Signal
Pulse input (500 K pulses/s max.); Quad A/B (2 M counts/s
max.)
Command Source
Pulse from controller
Electronic Gear
Electronic gear ratio: pulses /counts
Pulses: 1~2147483647; Counts: 1~2147483647
Velocity
Mode
Analog
Input
Command
Input
Impedance
10 KΩ
Voltage
Range
±10 Vdc
Time
Constant
2.2 us
Resolution
12 bits
Digital Input
Command
PWM 100%
I9: PWM = 0% - 100%
I10: Direction = 1/0
PWM 50%
I9: PWM = 50% ± 50%
I10: No function
Frequency
Range
36.5 KHz minimum, 100 KHz maximum
Pulse Width
Limit
220 ns minimum
Command Source
Voltage or PWM from controller

D1 Servo Drive User Manual Specifications
HIWIN MIKROSYSTEM CORP. 2-5
MD20UE01-2109
Force/
torque
Mode
Analog Input Command
The specification is the same as the one in velocity mode.
Digital Input Command
The specification is the same as the one in velocity mode.
Command Source
Voltage or PWM from controller
Encoder Type
Operating Voltage
+5 Vdc ± 5% @400 mA
Digital
Input Signal
A, /A, B, /B, Z, /Z, RS422 differential signal
Bandwidth
5 MHz line frequency, x 4 frequency: 20 M counts/s
Analog
Input Amplitude
1 Vpp (sin/cos), differential signal
Bandwidth
1 MHz maximum line (cycle) frequency
Resolution
Maximum 65528 counts/cycle
Resolver
Sin/Cos, differential signal
Reference 3 KHz, 6 Vpp, 100 mA
Encoder Counting Range
-2147483648~2147483647 (32 bits)
The motor commutation is normal and is not affected by
encoder counting range.
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)
The delay time between the time the servo drive receives
encoder signal from the encoder and the time the servo
drive outputs signal from output pin is less than 100
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 output pin is less than 100
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.
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 output pin is 66.67 us.
Digital Hall Signal
Digital single-ended signal with 120 degrees phase difference
HA, HB, HC
Communication
Interface
Connect to PC via RS232
Protocol
Full-duplex
Baud rate: 9,600 ~ 115,200 bps
Binary
Programmable
I/O Interface
Digital Input
74HC14 Schmitt trigger input
Inputs [I1~I6] [I11, I12] [I9, I10]
10 digital inputs are provided.

Specifications D1 Servo Drive User Manual
2-6 HIWIN MIKROSYSTEM CORP.
MD20UE01-2109
Note: When I9 and I10 are set for digital inputs, they cannot be
programmed as general inputs.
Digital Output
0.3 Adc max, +40 Vdc max (Open drain)
[O1~O3]
Brake Output
Brake [O4], 1 Adc max.
PDL Editor
The Maximum Storage for
Codes
32K Bytes
Storage for Variables
800 Bytes
Supported Variable Type
Float: 32 bits
Integer: 16 bits 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
Resistor
External connection
Voltage Threshold for
Activation
+HV > 390 Vdc
Voltage Threshold for
Deactivation
+HV < 380 Vdc
Hysteresis
10 V ± 0.5 Vdc
DC Link Capacity
940 uF
940 uF
1880 uF
Protection Function
Short circuit, Overvoltage (> 400 Vdc ± 5%), Position error too
big, Encoder error, Motor cable lost connection, Drive over
temperature (IGBT > 80 oC± 3oC), Motor over temperature,
Undervoltage (< 60 Vdc), I2T current limit protection
Error Compensation
Applicable Motor
Linear motor
Compensation Method
Creates error map table to compensate encoder error by
means of linear interpolation.
Storage Point
Maximum 5,000 points
Storage Location
Flash ROM, disk file
Unit
um, count
Enabling Method
•Enabled after internal homing completes.
•Enabled by external input signal.
Frequency Suppression Range for Vibration
Suppression Filter (VSF)
0.1 Hz~200 Hz
Environment
Operating Temperature
0~50oC (If temperature is above 55 oC, forced ventilation will
be required.)
Storage Temperature
-20oC ~65oC
Humidity
0 to 90%RH (No condensation)
Altitude
Altitude 1000 M or lower
Vibration
1G (10 to 500 Hz)
IP Rating
IP20
Cooling
Natural cooling or external heat sinks
Weight
1,250 g (min.)
Dimensions
191.6 mm X 139.8 mm X 64.8 mm
Case
Complies with CE U.L. Spec 94 V-0 Flammability Rating

D1 Servo Drive User Manual Specifications
HIWIN MIKROSYSTEM CORP. 2-7
MD20UE01-2109

Specifications D1 Servo Drive User Manual
2-8 HIWIN MIKROSYSTEM CORP.
MD20UE01-2109
2.3 Dimensions
The dimensions and mounting holes of D1 and D1 EtherCAT (CoE and mega-ulink) servo drives are
shown in figures 2.3.1 and 2.3.2. The unit is mm. The diameter of the mounting hole is 4 mm.
Figure2.3.1 D1 servo drive
D1-DNN03A