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).