Hiwin D2 User manual

www.hiwinmikro.tw
User Manual
D2 Series Servo Drive
MD07UE01-2005_V1.9

Revision History
The version of the manual is also indicated on the bottom of the front cover.
Release Date Version Applicable Product Revision Contents
May 4th, 2020 1.9
D2 MDP 0.053 or above
D2COE MDP 0.131 or above
Lightening 0.197 or above
(1) Revise table 2.1.1.1 in section 2.1.1
Safety certification.
(2) Modify the input power for servo drive.
The suggested input power is 220 V.
(3) Add the description of CN6 in section 2.2
Drive specifications.
(4) Add the frequency range of velocity
control and bandwidth limit in section 2.2
Drive specifications.
(5) Add the description of the delay time of
emulated encoder in section 2.2 Drive
specifications.
(6) Add the figure of emulated encoder output
in section 3.3 Encoder signal output.
(7) Add the description of grounding in
section 4.1.1.1 Grounding.
(8) Add the specifications and wiring diagram
of DC reactor in section 4.1.2.4 DC
reactor wiring.
(9) Add the description of turning off power
supply in section 4.1.2.4 DC reactor
wiring.
(10) Add the description of Modbus
communication cable in section 4.1.5 CN4
Modbus communication.
(11) Revise table 4.1.7.1 in section 4.1.7 CN6
control signal.
(12) Add the wiring diagram of differential
interface for low-speed pulse in section
4.6.1.2 Differential interface for
low-speed pulse.
(13) Revise section 5.1.2 Communication
setup.
(14) Revise the content in table 5.5.1.2 in
section 5.5.1 Digital input.
(15) Revise the output status of Lightening in
section 5.5.2 Digital output.
(16) Add the description of the start position of
error map function in section 6.9.4
Change start position.
(17) Revise figure 8.3.5 in section 8.3 Brake
output.
(18) Revise section 9.3 Error codes and
troubleshooting.
(19) Revise section 9.4 Warning codes and
troubleshooting.
(20) Add section 12.3 Load parameter patch.
MD07UE01-2005_V1.9
Version
Release date

Nov. 7th, 2014 1.8
D2 MDP 0.043 or above
D2COE MDP 0.119 or above
Lightening 0.189 or above
Rewrite and reorganize the User Manual based
on Chinese version of D2 Drive User Manual
v1.8.
Nov. 21st, 2014 1.4 D2 series servo drive
(1) Modify the model number by combining
D2-model and D2T-model drives.
(2) Add the description of ZeroTune.
(3) Add the description of setting parameters
to factory default.
(4) Renew the description of LCD operation.
(5) Add LCD common parameters table.
(6) Add the input range of LCD parameters.
(7) Add the PDL information to drive
specifications.
(8) Add the description of VSF operation.
Aug. 20th, 2014 1.3 D2 series servo drive
(1) Add the information for D2T drive.
(2) Renew the dimension of D2 drive.
(3) Add the dimension of D2 drive with
EtherCAT (CoE/mega-ulink).
(4) Remove the brake wiring without a relay.
(5) Remove the input function of clear
position error.
(6) Add the description of using PDL to assist
with data capture.
(7) Add the description of using PDL to assist
with data capture.
(8) Add motor models with HIWIN 17 encoder
to Table 4-1.
May 15th, 2014 1.2 D2 series servo drive
(1) Update the description of LCD operation.
(2) Update the description according to motor
model.
Aug. 30th, 2012 1.1 D2 series servo drive (1) Renew Figure 2-1 and Figure 2-2.
(2) Renew CN6 connector part number.
Jun. 5th, 2012 1.0 D2 series servo drive First edition.

Table of Contents
1. About this user manual ············································································································1-1
1.1 Instructions before use ····································································································1-2
1.2 Safety instructions··········································································································1-4
2. Specifications ························································································································2-1
2.1 Drive information ···········································································································2-2
2.1.1 Safety certification ·······························································································2-2
2.1.2 Nameplate information ·························································································2-2
2.1.3 Model number ····································································································2-3
2.2 Drive specifications ········································································································2-4
2.3 Drive dimensions ···········································································································2-8
2.4 Drive installation ·········································································································· 2-20
2.5 Computer requirements································································································· 2-21
3. Operation principles ················································································································3-1
3.1 Operation modes ···········································································································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 type ················································································································3-4
3.3 Encoder signal output ·····································································································3-5
3.4 Path planning················································································································3-6
3.5 Servo loops and gains·····································································································3-8
3.6 Gain margin and phase margin ·························································································3-9
3.6.1 Nyquist diagram ··································································································3-9
3.6.2 Bode diagram ··································································································· 3-11
3.7 Move and settling········································································································· 3-12
3.8 Error compensation ······································································································ 3-13
3.9 Velocity ripple·············································································································· 3-14
3.10 Enable······················································································································· 3-15
3.11 Common physical quantities··························································································· 3-16
4. Wiring ··································································································································4-1
4.1 System configuration and wiring························································································4-2
4.1.1 System wiring diagram ·························································································4-2
4.1.1.1 Grounding ·····························································································4-4
4.1.2 CN1 power·········································································································4-5
4.1.2.1 Power wiring··························································································4-5
4.1.2.2 Motor wiring···························································································4-8
4.1.2.3 Regenerative resistor wiring ······································································4-8
4.1.2.4 DC reactor wiring····················································································4-9
4.1.3 CN2 brake/motor power ······················································································ 4-11
4.1.4 CN3 USB communication···················································································· 4-12
4.1.5 CN4 Modbus communication ··············································································· 4-13
4.1.6 CN5 Modbus communication/safety function ··························································· 4-15
4.1.7 CN6 control signal ····························································································· 4-16
4.1.8 CN7 encoder ···································································································· 4-17
4.1.9 CN8 EtherCAT communication ············································································· 4-18
4.1.10CN13/CN14 extension I/O signal ·········································································· 4-19
4.2 Drive accessories ········································································································ 4-20
4.3 Main power wiring ········································································································ 4-25
4.3.1 AC power wiring (single-phase) ············································································ 4-25
4.3.2 AC power wiring (three-phase) ············································································· 4-26
4.4 Multiple drives connection······························································································ 4-27
4.5 I/O signal wiring··········································································································· 4-29
4.5.1 Digital input wiring ····························································································· 4-29
4.5.1.1 Sink input wiring examples······································································ 4-29
4.5.1.2 Source input wiring examples ·································································· 4-30
4.5.2 Digital output wiring ··························································································· 4-30
4.6 Wiring examples for control commands············································································· 4-32

4.6.1 System wiring diagram for pulse command ····························································· 4-32
4.6.1.1 Differential interface for high-speed pulse··················································· 4-33
4.6.1.2 Differential interface for low-speed pulse···················································· 4-34
4.6.1.3 Sink (NPN) interface with current-limit resistances ······································· 4-35
4.6.1.4 Sink (NPN) interface without current-limit resistances ··································· 4-36
4.6.1.5 Source (PNP) interface with current-limit resistances ···································· 4-37
4.6.1.6 Source (PNP) interface without current-limit resistances································ 4-38
4.6.1.7 5V TTL interface ··················································································· 4-39
4.6.2 System wiring diagram for voltage command··························································· 4-41
4.6.3 System wiring diagram for PWM command ····························································· 4-43
4.6.3.1 NPN interface with PWM 50% ································································· 4-43
4.6.3.2 NPN interface with PWM 100%································································ 4-44
4.6.3.3 5V TTL interface with PWM 50% ······························································ 4-45
4.6.3.4 5V TTL interface with PWM 100% ···························································· 4-46
5. Drive configuration··················································································································5-1
5.1 Installation and communication ·························································································5-2
5.1.1 Setup files··········································································································5-2
5.1.2 Communication setup···························································································5-4
5.1.3 HMI main window ································································································5-7
5.2 Configuration center ·······································································································5-9
5.2.1 Motor configuration ···························································································· 5-10
5.2.2 Encoder configuration ························································································ 5-12
5.2.2.1 HIWIN standard encoder ········································································ 5-13
5.2.2.2 Customized digital incremental encoder····················································· 5-16
5.2.2.3 Encoder output setting ··········································································· 5-17
5.2.3 Operation mode configuration ·············································································· 5-20
5.2.4 Modbus communication configuration ···································································· 5-22
5.2.5 Completing configuration procedure ······································································ 5-23
5.3 Auto phase center ········································································································ 5-24
5.3.1 Function description··························································································· 5-24
5.3.2 Pre-operation ··································································································· 5-26
5.3.3 Setting procedure ······························································································ 5-26
5.3.4 Troubleshooting ································································································ 5-27
5.4 Auto tune center ·········································································································· 5-27
5.4.1 Function description··························································································· 5-27
5.4.2 Announcements ································································································ 5-31
5.4.3 Troubleshooting ································································································ 5-32
5.5 I/O center ··················································································································· 5-33
5.5.1 Digital input ······································································································ 5-33
5.5.2 Digital output ···································································································· 5-44
5.5.3 Analog output ··································································································· 5-50
5.5.4 Extension I/O···································································································· 5-51
5.6 In-position signal setting ································································································ 5-52
5.7 Homing configuration ···································································································· 5-54
5.7.1 Go left and right for homing ················································································· 5-57
5.7.2 Use near home sensor/index for homing ································································ 5-61
5.7.3 Use multi-turn absolute encoder for homing ···························································· 5-63
5.7.4 Use homing methods in CiA 402 protocol ······························································· 5-64
5.8 Save parameters to Flash and recover to factory default······················································· 5-69
5.8.1 Save parameters to Flash ··················································································· 5-69
5.8.2 Recover to factory default ··················································································· 5-69
5.9 Parameter setting examples via HMI ················································································ 5-71
5.9.1 Position mode··································································································· 5-71
5.9.2 Velocity mode ··································································································· 5-74
5.9.3 Force/Torque mode···························································································· 5-75
5.9.4 Stand-alone mode ····························································································· 5-77
6. Drive 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 Software shortcuts ·······························································································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······················································································· 6-11
6.5 Plot view ···················································································································· 6-12
6.5.1 Graphic display mode························································································· 6-12
6.5.2 Save/open file··································································································· 6-17
6.5.3 Mathematical operation ······················································································ 6-18
6.6 Advanced gains ··········································································································· 6-21
6.6.1 Filter ··············································································································· 6-22
6.6.2 Acceleration feed-forward ··················································································· 6-24
6.6.3 Schedule gains and velocity loop gain···································································· 6-27
6.6.4 Analog input ····································································································· 6-30
6.6.5 Current loop ····································································································· 6-30
6.6.6 Vibration suppression feature··············································································· 6-31
6.6.7 Friction compensation ························································································ 6-35
6.7 Loop constructor ·········································································································· 6-37
6.7.1 Load/Save file··································································································· 6-38
6.7.2 Tool ················································································································ 6-39
6.7.2.1 Frequency response function ·································································· 6-39
6.7.2.2 Nyquist ······························································································· 6-40
6.7.2.3 Bode·································································································· 6-41
6.7.2.4 Nichols ······························································································· 6-42
6.7.3 Filter ··············································································································· 6-42
6.7.3.1 Low pass filter······················································································ 6-43
6.7.3.2 Notch filter··························································································· 6-44
6.7.4 Gain tuning ······································································································ 6-45
6.7.5 Spectrum analysis ····························································································· 6-46
6.8 Encoder signal confirmation ··························································································· 6-46
6.9 Error map function ······································································································· 6-47
6.9.1 Set error map ··································································································· 6-48
6.9.2 Enable error map ······························································································ 6-50
6.9.3 Save/open error map ························································································· 6-51
6.9.4 Change start position ························································································· 6-52
6.10 Backlash compensation································································································· 6-57
7. LCD Operation·······················································································································7-1
7.1 LCD function·················································································································7-2
7.1.1 Panel description·································································································7-2
7.1.2 Operation page description····················································································7-3
7.2 Parameter initialization via LCD ························································································7-5
7.3 Home page···················································································································7-7
7.4 Display parameters page ·································································································7-9
7.5 Change parameters page ······························································································ 7-11
7.5.1 Save to Flash ··································································································· 7-14
7.5.2 Parameter edit function······················································································· 7-15
7.5.3 Advanced parameter zone ·················································································· 7-18
7.6 Actions page··············································································································· 7-26
7.6.1 Enable/Disable ································································································· 7-27
7.6.2 JOG ··············································································································· 7-28
7.6.3 Absolute coordinate motion ················································································· 7-29
7.6.4 Auto tune········································································································· 7-30
7.6.5 Set position to zero ···························································································· 7-31
7.7 Parameter setting examples via LCD················································································ 7-31
7.7.1 Position mode··································································································· 7-31
7.7.2 Velocity mode ··································································································· 7-36
7.7.3 Force/torque mode ···························································································· 7-39
7.7.4 Stand-alone mode ····························································································· 7-41
8. Protection function··················································································································8-1
8.1 Motion protection ···········································································································8-2
8.2 Position and velocity errors protection ················································································8-5
8.2.1 Position error limit································································································8-5
8.2.2 Position error and velocity error warnings ·································································8-6

8.3 Brake output ·················································································································8-6
8.4 Limit protection············································································································ 8-10
8.4.1 Hardware limit protection ···················································································· 8-10
8.4.2 Software limit protection······················································································ 8-11
8.5 Over temperature protection··························································································· 8-12
8.5.1 Soft-thermal protection ······················································································· 8-12
8.5.2 Drive over temperature protection ········································································· 8-12
8.6 Over voltage protection ································································································· 8-12
9. Troubleshooting ·····················································································································9-1
9.1 Drive’s status indicator ····································································································9-2
9.2 Drive’s errors and warnings ······························································································9-2
9.2.1 Status display area on Lightening HMI ·····································································9-2
9.2.2 LCD status·········································································································9-3
9.2.3 Errors and warnings log ························································································9-4
9.2.4 Error at loading PRM file ·······················································································9-6
9.3 Error codes and troubleshooting························································································9-7
9.4 Warning codes and troubleshooting ················································································· 9-11
9.5 Troubleshooting for common issues ················································································· 9-14
10. Axis enable setting ··············································································································· 10-1
10.1 Start enable method ····································································································· 10-2
10.2 Confirm enable status via HMI ························································································ 10-3
11. Parameter comparison ·········································································································· 11-1
11.1 Comparing parameters in RAM and Flash ········································································· 11-2
12. Update firmware and load PDL································································································ 12-1
12.1 Update drive’s firmware································································································· 12-2
12.2 Load PDL program into drive ·························································································· 12-5
12.3 Load parameter patch ··································································································· 12-7
13. Modbus communication ········································································································· 13-1
13.1 Modbus communication specification ··············································································· 13-2
13.2 Function code ············································································································· 13-2
13.3 Modbus objects ··········································································································· 13-6
13.3.1Input register ···································································································· 13-7
13.3.2Holding register······························································································· 13-12
14. EMC solution······················································································································· 14-1
14.1 Common-mode motor filter····························································································· 14-2
14.2 Motor power cable with magnetic rings ············································································· 14-5

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HIWIN MIKROSYSTEM CORP. 1-1
1. About this user manual
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0
1. About this user manual ············································································································1-1
1.1 Instructions before use ····································································································1-2
1.2 Safety instructions··········································································································1-4

About This User Manual D2 Series Servo Drive User Manual
1-2 HIWIN MIKROSYSTEM CORP.
MD07UE01-2005
1.1 Instructions before use
Before using the product, please carefully read through this 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 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 manual.
Ensure the product is used with 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 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 drive, please refer to Chapter 9 and follow the instructions for
troubleshooting. After the error is eliminated, power on the 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. The warranty does not cover damage caused by improper
usage (Refer to the precautions and instructions stated in this manual.) or natural disaster.
ATTENTION

The maximum ambient temperature for the product is 55°C.
The drive can only be installed in the environment that the degree of contamination is below 2.

The rated input voltage of the product is 240V. The power supply voltage cannot exceed 240V, and the
short-circuit current cannot be over 5000A.
The drive provides neither motor over-temperature sensor, nor motor over-temperature protection.
The short-circuit protection of the drive cannot be used as a shunt-circuit protection. The shunt-circuit
protection should be selected based on US National Electrical Code (NEC) and local regulations.
Power off and wa
it at least five minutes before examining the drive. To avoid electric shock, please use a
multi-meter or a similar apparatus to check if the residual voltage between P and N terminals has dropped to
the safety level (50Vdc or lower).

D2 Series Servo Drive User ManualAbout This User Manual
HIWIN MIKROSYSTEM CORP.1-3
MD07UE01-2005
WARNING
If the sequence of connection is not correctly followed when installing or replacing motor power cables, the
motor may run abnormally. It may cause serious damage to equipment or injury to people. Please use
correctly labelled wires.
If you decide to use your self-made extension cord for motor encoder, please look up this User Manual in
detail or contact HIWIN Customer Service Department. Wrong connection may cause abnormal motion or
injury to people.
When applying the open type of optical feedback system (e.g. optical scale), please make sure the scale is
not stained or scratched. Otherwise, it may cause abnormal motion to the motor, damage to the motor or
equipment, or injury to people.
When applying the open type of magnetic feedback system (e.g. magnetic scale), please make sure the
strong magnetic object is not close to the scale. Otherwise, it may cause abnormal motion to the motor,
damage to the motor or equipment, or injury to people.
Each motor model has its own rated maximum payload. If exceeds, it may cause abnormal motion to the
motor, even damage to equipment or injury to people.
If you accidentally touch or move the encoder connector on the drive during the operation of motor, please
make sure the drive is undamaged. It is recommended to power cycle the drive, or it may cause damage to
equipment or injury to people.
During the usage of motor, please do not unplug the extension cord for motor encoder, move the motor and
plug it back when power on. It may cause abnormal motion to the motor, even damage to equipment or injury
to people.

About This User Manual D2 Series Servo Drive User Manual
1-4 HIWIN MIKROSYSTEM CORP.
MD07UE01-2005
1.2 Safety instructions
Carefully read through this 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 usage.
Safety precautions in this 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 drive is correctly grounded. Use PE bar in the control cabinet as reference potential.
Perform low-ohmic grounding for safety reason.
Do not remove motor power cable from the drive when it is still power-on, or there is a risk of electric shock or
damage to the contact.
Do not touch the live part (contact or bolt) within 5 minutes after disconnecting the drive from power supply.
For your own safety, we suggest measuring the voltage in the intermediate circuit and wait until it falls to
40Vdc before touching the live part.

D2 Series Servo Drive User ManualAbout This User Manual
HIWIN MIKROSYSTEM CORP.1-5
MD07UE01-2005
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 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 the
cable or put the cable 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 manual.
Use cooling fan if 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 when 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.
When installing the product, take the product weight into consideration.
Improper installation may cause damage.
Install the product on noncombustible objects, such as metal to avoid fire.

About This User Manual D2 Series Servo Drive User Manual
1-6 HIWIN MIKROSYSTEM CORP.
MD07UE01-2005
Wiring
Ensure wiring is correctly performed, or it may cause malfunction or burn.
There is 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 yourself when it malfunctions, please contact
HIWIN for help.

HIWIN MIKROSYSTEM CORP. 2-1
2. Specifications
000000000000 00000
0
2. Specifications ························································································································2-1
2.1 Drive information ···········································································································2-2
2.1.1 Safety certification ·······························································································2-2
2.1.2 Nameplate information ·························································································2-2
2.1.3 Model number ····································································································2-3
2.2 Drive specifications ········································································································2-4
2.3 Drive dimensions ···········································································································2-8
2.4 Drive installation ·········································································································· 2-20
2.5 Computer requirements································································································· 2-21

Specifications D2 Series Servo Drive User Manual
2-2 HIWIN MIKROSYSTEM CORP.
MD07UE01-2005
2.1 Drive information
2.1.1 Safety certification
The drive complies with the following safety regulations.
Table 2.1.1.1
EMC
EN 61800-3: 2004 (Category C2)/2012(Category C3)
EN 61000-3-2: 2006/A1: 2009/A2: 2009/A3:2014
EN 61000-3-3: 2013
IEC CISPR 11: 2015/A1: 2016
IEC 61000-4-2: 2008
IEC 61000-4-3: 2006/A1: 2007/A2: 2010
IEC 61000-4-4: 2012
IEC 61000-4-5: 2014
IEC 61000-4-6: 2013
IEC 61000-2-1: 1990
IEC 61000-2-4: 2003
IEC 60146-1-1: 2009
LVD
IEC 61800-5-1: 2007(2nd Edition)
EN 61800-5-1:2007
UL
E348161
2.1.2 Nameplate information
Figure2.1.2.1
Model No.
Input/output voltage
Rated input/output current
Input/output frequency
Phases
220-240V

D2 Series Servo Drive User Manual Specifications
HIWIN MIKROSYSTEM CORP.2-3
MD07UE01-2005
2.1.3 Model number
Table 2.1.3.1
Code 1 2 3 - 4 5 6 7 - 8 - 9 10
Example D 2 - 0 4 2 3 - S - B 0
1, 2: Product D2 = D2 series servo drive
3: Type T = 17-bit encoder only
blank = 13-bit encoder only
4, 5: Rated output
01 = 100W
04 = 400W
10 = 1.0KW
20 = 2.0KW
6, 7: Voltage range 23 = 1/3-phase 220Vac
32 = 3-phase 220Vac
8: Interface
S = Standard
E = EtherCAT (CoE)
F = EtherCAT (mega-ulink)
K = Standard with extension I/O module
T = Standard with Modbus
9: Frame size
A = A frame (100W)
B = B frame (400W)
C = C frame (1.0KW)
D = D frame (2.0KW)
10: Encoder type
0 = 13-bit less-wire incremental encoder
4 = 17-bit serial incremental encoder (HIWIN 17)
5 = Dual loop (full closed loop) and 17-bit serial absolute encoder
Note:
(1) The standard model supports the pulse and +/- 10 V input interfaces.
(2) The EtherCAT (CoE) and EtherCAT (mega-ulink) models do not have the extension I/O module and Modbus
module.
(3) The frame D model requires the voltage range of 3-phase 220 Vac.
(4) D2 model does not support the extension I/O module and the rated output of 2.0 KW.
(5) D2T frame A, B, and C models do not have the Modbus module.
(6) For the dual-loop model, the rotary encoder should be the 17-bit serial absolute encoder and the linear
encoder should be the digital AqB encoder.
(7) The EtherCAT (CoE) model does not support the dual-loop control.

Specifications D2 Series Servo Drive User Manual
2-4 HIWIN MIKROSYSTEM CORP.
MD07UE01-2005
2.2 Drive specifications
Table2.2.1 Drive specification
Basic specifications
Input power 220V
Main power
Frame
A-C
Single/three-phase, 200 - 240 Vac 50/60Hz
Frame
D
Three-phase, 200 - 240 Vac 50/60Hz
Control power
Frame
A-D
Single-phase, 200 - 240 Vac 50/60Hz
Output power
Power
Frame A: 100 W; frame B: 400 W; frame C: 1.0 KW;
frame D: 2.0 KW.
Continuous current Frame A: 0.9 Arms; frame B: 2.5 Arms;
frame C: 5.1 A
rms
; frame D: 11 A
rms
.
Peak current
Frame A: 2.7 A
rms
; frame B: 7.5 A
rms
;
frame C: 15.3 Arms; frame D: 33 Arms.
Sustainable duration of peak
current
1 second maximum.
Environment
Temperature
Operation temperature: 0°C to 45°C
(if over 55°C, the forced ventilation is needed)
Storage temperature: -20°C to 65°C
Humidity 0 to 90% RH (non-condensing)
Altitude Below 1,000 meters
Vibration 1G (10 to 500Hz)
Installation pollution level II
Control method IGBT PWM space vector control
Encoder input
Resolution/Feedback
resolution
13-bit (10,000 count/rev) less-wire incremental encoder;
17-bit (131,072 count/rev) serial incremental encoder (5
lines).
Frequency
5M pulse/sec (Before Quadrature);
20M count/sec (After Quadrature).
Other
For the dual-loop model, the rotary encoder should be the
17-bit serial absolute encoder and the linear encoder
should be the digital AqB encoder.
Parallel I/O
connector
Control signal
Input
9 (general purpose) for D2 model
10 (general purpose) for D2T model
Optical coupler component, general-purpose input
5 V/1 mA, 24 V/5 mA (Each input pin)
Output
4 (general purpose) for D2 model
5 (general purpose) for D2T model
Optical coupler component, general-purpose output
24 V/0.1 A (Each output pin)
Analog signal
Input 1 (12-bit A/D)
Output 2 (analog monitor: 2 outputs)
Pulse signal
Input 2 (low-speed channel, high-speed channel)
Output 4 (line driver: 3 outputs; open collector: 1 output)
Brake connector Control signal Output Used to connect with brake (1 Adc max). Also, it is
programmable for general-purpose output.

D2 Series Servo Drive User Manual Specifications
HIWIN MIKROSYSTEM CORP.2-5
MD07UE01-2005
Dynamic brake
Frame D model has one built-in dynamic brake resistor
(line resistance: 2.6 Ω ± 5%; continuous power: 120 W;
peak power: 600 W).
Communication function USB Used to connect with PC, 115,200 bps
Front panel
LCD status display: dot matrix 8*2 characters with 4
buttons;
LED status indicator lights (green, red)
Control mode
Switchable control modes
(1) Position control;
(2) Velocity control;
(3) Torque control ;
(4) Position/velocity control;
(5) Position/torque control ;
(6) Velocity/torque control;
Function specifications
Position control
Control input
(1) Inhibit pulse command;
(2) Axis enable;
(3) Switch between primary and secondary CG;
(4) Electronic gear selection;
(5) Left limit switch;
(6) Switch between primary and secondary mode;
(7) Clear error;
(8) Right limit switch, etc.
Control output
(1) Servo ready;
(2) Errors;
(3) In-position;
(4) Zero speed detected, etc.
Pulse input
Maximum input pulse
frequency
Photo-coupler interface (single-ended input): 500 Kpps;
Line driver interface (differential input): 4 Mpps (16M
count/s with AqB).
Signal format of input pulse
(1) Pulse/direction (Pulse/Dir);
(2) Pulse up/pulse down (CW/CCW);
(3) Quadrature (AqB).
Electronic gear
(Division/
Multiplication of command
pulse)
Gear ratio: pulses/counts
Pulses: 1 - 2,147,483,647; counts: 1 – 2,147,483,647.
Smoothing filter Smooth factor: 1 - 500
Vibration suppression feature (VSF)
VSF can remove the vibration frequency that occurs
during movement. It can reduce the vibration caused by
the system’s structure and improve the machine’s
productivity.
Velocity control
Control input
(1) Zero speed clamp;
(2) Axis enable;
(3) Switch between primary and secondary CG
(4) Left limit switch
(5) Switch between primary and secondary mode
(6) Clear error
(7) Right limit switch, etc.
Control output
(1) Servo ready;
(2) Errors;
(3) In-velocity;
(4) Zero speed detection, etc.
PWM input Velocity command
input
Velocity commands can be provided by the duty cycle of
PWM input. Parameters are used to set the scale and
command direction.

Specifications D2 Series Servo Drive User Manual
2-6 HIWIN MIKROSYSTEM CORP.
MD07UE01-2005
Analog input Velocity command
input
Velocity command can be provided by the analog voltage.
Parameters are used to set the scale and command
direction.
Zero speed clamp The input of zero speed clamp is possible.
Frequency range 36.5KHz minimum, 100KHz maximum
Bandwidth limit 220ns minimum
Torque control
Control input
(1) Axis enable;
(2) Switch between primary and secondary CG;
(3) Left limit switch;
(4) Switch between primary and secondary mode;
(5) Clear error;
(6) Right limit switch, etc.
Control output
(1) Servo ready;
(2) Errors;
(3) In-velocity;
(4) Zero speed detected, etc.
PWM input Torque command
input
Torque commands can be provided by the duty cycle of
PWM input. Parameters are used to set the scale and
command direction.
Analog input Torque command
input
Torque commands can be provided by the analog voltage.
Parameters are used to set the scale and command
direction.
Speed limit function The parameter for speed limit can be set.
Common
Auto tune
The auto tune procedure runs automatically after start and
identifies the load inertia. Users do not set by themselves.
All necessary gains are set by clicking one button on the
LCD panel.
Emulated encoder feedback output
Can be arbitrarily set (The maximum frequency of frame A
- C models is 18M count/s; while that of frame D model is
9M count/s).
The maximum delay time between the time the servo
drive receives encoder signal from the encoder and the
time the servo drive outputs signal is 66.67 us.
Protective function
(1) Motor short detected;
(2) Over voltage detected (> 390 Vdc ± 5%);
(3) Position error too big;
(4) Encoder error;
(5) Soft-thermal threshold reached;
(6) Motor maybe disconnected;
(7) Amplifier over temperature (IGBT > 80℃±3℃);
(8) Under voltage detected;
(9) 5V for encoder card fail;
(10) Phase initialization error;
(11) Serial encoder communication error.
Error log Errors and warnings are saved in the non-volatile memory.
Process description language (PDL)
Maximum code capacity: 32 KBytes
Variable storage capacity: 800 Bytes
Supported variable type:
(1) Float type: 32 bits;
(2) Integer type: 16 and 32 bits;
(3) Array and pointer supported.