Hiwin E1 Series User manual

www.hiwinmikro.tw
Thunder Software Operation Manual
E1 Series Servo Drive
MD12UE01-2012_V2.2

Revision History
The version of the manual is also indicated on the bottom of the front cover.
Release Date
Version
Applicable Product
Revision Contents
Dec. 31th, 2020
2.2
E1 series servo drive
1. Update section 1.5 Function list.
2. Update section 2.2 Download Thunder.
3. Update section 3.2.2 Connect via USB.
4. Update section 3.4 Update firmware.
5. Update section 4.3.1 Servo Drive
Configuration – Brief introduction.
6. Update section 4.3.2 Power Setup.
7. Update section 4.3.4.1 Edit encoder
parameters.
8. Update section 4.3.5 Control Mode Setup.
9. Update section 4.3.6.2 Position mode.
10. Update section 4.3.6.3 Electronic gear
ratio setting.
11. Update section 4.3.9 Send to drive.
12. Update section 4.4.3.2 Save servo drive
parameters file (*.prm).
13. Update section 4.4.3.3 Load servo drive
parameters file (*.prm).
14. Update section 4.6.2.1 Parameters setup
for direction test.
15. Update section 4.6.3.2 STABS test/tune.
16. Update section 5.2 Test Run.
17. Update section 5.3 Homing Operation.
18. Update section 6.2 Auto tune.
19. Update section 6.4 Spectrum analyzer.
20. Update section 7.3.1 Lissajous.
Release Date
MD12UE01-2012_V2.2
Version

Release Date
Version
Applicable Product
Revision Contents
21. Update section 7.5.7 Monitoring items.
22. Update section 9.2.1 Multi-motion setting
– Brief introduction.
23. Update section 9.2.3 Set multi-motion
parameters.
24. Add section 9.2.9 Instructions for
customized motion.
25. Update section 9.6.1 Error map setup –
Brief introduction.
26. Update section 9.6.2.1 Error map
information setting.
27. Update section 9.7.1 Gantry control
system – Brief introduction.
28. Update section 11.1.3 Examples for servo
drive configuration – Linear motor.
Sep. 4th, 2020
2.1
E1 series servo drive
Rewrite and reorganize this user manual based
on Traditional Chinese user manual E1 系列驅動
器Thunder 軟體操作手冊 (version 2.1).
Apr. 24th, 2020
1.2
E1 series servo drive
Add section “Multi-motion setting”.
Dec. 31th, 2019
1.1
E1 series servo drive
1. Update screenshots.
2. Add section “STABS”.
Mar. 28th, 2019
1.0
E1 series servo drive
1. Update screenshots.
2. Add section “Performance monitor”,
“Calculate dynamic brake resistor”, and
“Access”.
3. Add description of steps in “PDL”.
4. Update operating methods in “Error map
setup”.
Jan. 18th, 2019
0.1
E1 series servo drive
First edition.

Preface
This manual provides users the information and methods of operating each function in Thunder software,
a human-machine interface for E1 series servo drive. The contents in this manual are arranged in
accordance with function options. Carefully read through this manual to correctly operate Thunder software.
◼Reverse compiling or assembly of this software is strictly prohibited.
◼Use of this software in whole or in part by a third party through transfer, exchange, resale, and so
forth, is strictly prohibited without the prior agreement of HIWIN MIKROSYSTEM Corporation.
◼The copyrights and all other rights to the software belong to HIWIN MIKROSYSTEM Corporation.

Safety Precautions
To prevent personal injury and equipment damage in advance, the following signal words are used to
indicate safety precautions in this manual. The signal words are used to classify the hazards and damage
or injury that may occur if a product is used incorrectly. Information marked as shown below is important
for safety. Always read this information and heed the precautions that are provided.
DANGER
◆Obviously at dangerous state; if not heeded, it may cause death or serious injury and may damage
equipment and property. Special safety protection and management must be carried out to avoid danger.
WARNING
◆The condition of usage is at dangerous state; if not heeded, it may cause medium level injury and may
damage equipment and property. Special safety protection and management must be carried out to avoid
danger.
CAUTION
◆The condition of usage is at dangerous state; if not heeded, it may cause minor injury and may damage
equipment and property. Special safety protection and management must be carried out to avoid danger.

Technical Terms
Term
Meaning
Servo motor
A generic name for AC servo motor, direct drive motor (DM), torque motor
(TM) and linear motor (LM).
Rotary motor
A generic name for AC servo motor, direct drive motor (DM) and torque
motor (TM).
Linear motor
A generic name for linear motor (LM).
Servo drive
A generic name for standard and Fieldbus servo drive.
Standard servo drive
The model is ED1S.
A generic name for servo drive with the control interface of voltage
command and pulse.
Fieldbus servo drive
The model is ED1F.
A generic name for servo drive with the control interface of Fieldbus type
(such as EtherCAT and mega-ulink).
AC servo motor dedicated
servo drive
A generic name for servo drive which only supports EM1 series AC servo
motor.
Excellent smart cube
(ESC)
An equipment which converts signals (encoder signal, signal of thermal
sensor, Hall signal, etc.) from motor side into serial communication format
for servo drive. In this manual, it is called ESC.
Enable
Supply power to motor.
Disable
Do not supply power to motor.
Servo ready
Power is supplied to motor.
Drive ready
Servo drive is ready; it can supply power to motor anytime.
Flash
Servo drive’s memory.
Immediately effective
parameter
Parameter will immediately be effective after it is modified.
Non-immediately effective
parameter
Parameter will not be effective until it is sent to servo drive and servo drive
is power cycled.

Differences in Terms for Rotary Motor and Linear Motor
There are differences in terms for rotary motor and linear motor. This manual primarily describes rotary
motor. If linear motor is used, interpret the terms given in the following table.
Rotary motor
Linear motor
torque
force
moment of inertia
mass
rotation
movement
forward rotation and reverse rotation
forward movement and reverse movement
CW and CCW command pulse
forward and reverse command pulse
rotary encoder
linear encoder
absolute rotary encoder
absolute linear encoder
incremental rotary encoder
incremental linear encoder
unit: rpm
unit: mm/s
unit: N·m
unit: N
Visual Aids
The following aids are used to indicate certain types of information for easier reference.
Important
Indicates precautions or restrictions that must be observed.
Also indicates alarm displays and other precautions that will not result in machine damage.
Term
Indicates definitions of difficult terms or terms that have not been previously explained in this
manual.
Example
Indicates operating or setting examples.
Information
Indicates supplemental information to deepen understanding or useful information.

Chapter Overview
Chapter
Title
Contents
1
Thunder Overview
Introduce Thunder’s system requirements, functions, main
window and the list of all functions.
2
Install Thunder
Explain the way to download, install, repair and remove Thunder
software from official website.
3
Start Thunder
Explain how to start Thunder, including servo drive’s connection
and communication settings, mastership switching and firmware
updating.
4
Servo Drive Configuration
Introduce all the basic setting procedures of using servo drive.
5
Perform Test Run
When servo drive configuration is done, users can test motor’s
performance with test run function, and decide home position with
homing function.
6
Tuning
Users can optimize the response of motor by adjusting servo
gains.
7
Monitoring
Users can monitor servo drive’s message, operation and status
via Thunder.
8
Troubleshooting
When an alarm or a warning occurs, Thunder main window will
respond in real-time. Besides, it records the past alarm
messages, elaborates the possible causes, and provides manual
troubleshooting methods in Error log.
9
Advanced Functions
Introduce the special functions supported by Thunder. Users can
use them based on different situation.
10
Basic Settings of Thunder
Interface
Introduce the basic settings of Thunder interface, such as
language changing and unit conversion.
11
Appendix
Provide the supplementary information related to Thunder, such
as examples for servo drive configuration.

Table of Contents
1. Thunder Overview............................................................................................................................................ 1-1
1.1 Brief introduction............................................................................................................................. 1-2
1.2 System requirements...................................................................................................................... 1-3
1.3 Thunder functions ........................................................................................................................... 1-4
1.4 Main window ................................................................................................................................... 1-5
1.5 Function list..................................................................................................................................... 1-6
2. Install Thunder ................................................................................................................................................. 2-1
2.1 Brief introduction............................................................................................................................. 2-2
2.2 Download Thunder ......................................................................................................................... 2-3
2.3 Install Thunder ................................................................................................................................ 2-7
2.4 Install USB driver ...........................................................................................................................2-11
2.5 Remove Thunder .......................................................................................................................... 2-16
3. Start Thunder ................................................................................................................................................... 3-1
3.1 Brief introduction............................................................................................................................. 3-2
3.2 Connection and communication settings........................................................................................ 3-3
3.2.1 Brief introduction .................................................................................................................... 3-3
3.2.2 Connect via USB.................................................................................................................... 3-4
3.2.3 Connect via mega-ulink ......................................................................................................... 3-6
3.2.3.1 Multi-axes connection........................................................................................... 3-6
3.2.3.2 Switch to different axis.......................................................................................... 3-9
3.2.3.3 Modify axis name................................................................................................ 3-10
3.2.4 Off-line mode.........................................................................................................................3-11
3.3 Mastership switching .................................................................................................................... 3-14
3.3.1 From Controller to Thunder.................................................................................................. 3-15
3.3.2 From Thunder to Controller.................................................................................................. 3-16
3.4 Update firmware ........................................................................................................................... 3-17
4. Servo Drive Configuration ................................................................................................................................ 4-1
4.1 Brief introduction............................................................................................................................. 4-3
4.2 Pre-configuration function............................................................................................................... 4-4
4.3 Configuration Wizard ...................................................................................................................... 4-6
4.3.1 Brief introduction .................................................................................................................... 4-6
4.3.2 Power Setup........................................................................................................................... 4-7
4.3.3 Motor Setup............................................................................................................................ 4-9
4.3.3.1 Edit motor parameters ........................................................................................ 4-10
4.3.3.2 Save / Load motor parameters file (*.mot) ......................................................... 4-12
4.3.4 Encoder Setup ..................................................................................................................... 4-14

4.3.4.1 Edit encoder parameters .................................................................................... 4-15
4.3.4.2 Save / Load encoder parameters file (*.enc) ...................................................... 4-20
4.3.5 Control Mode Setup ............................................................................................................. 4-22
4.3.6 Command Input Setup ......................................................................................................... 4-24
4.3.6.1 Velocity mode ..................................................................................................... 4-24
4.3.6.2 Position mode ..................................................................................................... 4-26
4.3.6.3 Electronic gear ratio setting ................................................................................ 4-32
4.3.6.4 Torque mode....................................................................................................... 4-38
4.3.6.5 Internal velocity mode......................................................................................... 4-39
4.3.6.6 Internal position mode ........................................................................................ 4-40
4.3.7 Emulated Encoder Output Setup ......................................................................................... 4-42
4.3.8 I/O configuration................................................................................................................... 4-44
4.3.9 Send to drive ........................................................................................................................ 4-45
4.4 Parameters Setup......................................................................................................................... 4-47
4.4.1 Brief introduction .................................................................................................................. 4-47
4.4.2 Edit parameters.................................................................................................................... 4-48
4.4.2.1 Parameters comparison ..................................................................................... 4-49
4.4.2.2 Set Pt parameters............................................................................................... 4-50
4.4.2.3 User-defined parameters.................................................................................... 4-52
4.4.2.4 Send to drive....................................................................................................... 4-57
4.4.3 Create a servo drive parameters file.................................................................................... 4-58
4.4.3.1 Brief introduction................................................................................................. 4-58
4.4.3.2 Save servo drive parameters file (*.prm) ............................................................ 4-58
4.4.3.3 Load servo drive parameters file (*.prm) ............................................................ 4-60
4.4.4 Send the parameters to servo drive..................................................................................... 4-63
4.4.5 Reset drive ........................................................................................................................... 4-64
4.4.6 Set to factory default ............................................................................................................ 4-66
4.4.6.1 Brief introduction................................................................................................. 4-66
4.4.6.2 Set to factory default........................................................................................... 4-67
4.4.6.3 Clear error map table.......................................................................................... 4-68
4.4.6.4 Disable multi-motion function ............................................................................. 4-69
4.4.6.5 Clear PDL ........................................................................................................... 4-70
4.5 I/O configuration ........................................................................................................................... 4-71
4.5.1 Brief introduction .................................................................................................................. 4-71
4.5.2 Configuration of digital input signals .................................................................................... 4-72
4.5.3 Configuration of digital output signals .................................................................................. 4-75
4.5.4 Check configuration of I/O signals ....................................................................................... 4-78
4.6 Phase initialization setup .............................................................................................................. 4-79
4.6.1 Brief introduction .................................................................................................................. 4-79
4.6.2 Direction test ........................................................................................................................ 4-81
4.6.2.1 Parameters setup for direction test..................................................................... 4-81
4.6.2.2 Start direction test............................................................................................... 4-84

4.6.3 Phase initialization function.................................................................................................. 4-88
4.6.3.1 SW method 1 ...................................................................................................... 4-89
4.6.3.2 STABS test/tune ................................................................................................. 4-90
4.6.3.3 Digital hall ........................................................................................................... 4-91
4.6.4 Start phase initialization ....................................................................................................... 4-93
5. Perform Test Run ............................................................................................................................................. 5-1
5.1 Brief introduction............................................................................................................................. 5-2
5.2 Test Run.......................................................................................................................................... 5-3
5.2.1 Brief introduction .................................................................................................................... 5-3
5.2.2 Position mode ........................................................................................................................ 5-3
5.2.3 Velocity mode......................................................................................................................... 5-8
5.3 Homing Operation..........................................................................................................................5-11
6. Tuning .............................................................................................................................................................. 6-1
6.1 Brief introduction............................................................................................................................. 6-2
6.2 Auto tune ........................................................................................................................................ 6-4
6.3 Tuneless ......................................................................................................................................... 6-9
6.4 Spectrum analyzer........................................................................................................................ 6-12
7. Monitoring ........................................................................................................................................................ 7-1
7.1 Brief introduction............................................................................................................................. 7-2
7.2 Monitor servo drive’s information.................................................................................................... 7-3
7.3 Monitor servo drive’s signal status ................................................................................................. 7-5
7.3.1 Lissajous ................................................................................................................................ 7-9
7.3.1.1 Waveform display area ....................................................................................... 7-10
7.4 Performance monitor .................................................................................................................... 7-15
7.5 Scope............................................................................................................................................ 7-17
7.5.1 Current monitoring item ....................................................................................................... 7-20
7.5.2 Start scope with pre defined variables/scenarios ................................................................ 7-21
7.5.3 Fix range/Auto range setup.................................................................................................. 7-23
7.5.4 Grid light............................................................................................................................... 7-24
7.5.5 Set number of scope channels ............................................................................................ 7-26
7.5.6 Start or pause waveform monitoring .................................................................................... 7-27
7.5.7 Monitoring items................................................................................................................... 7-28
7.6 Real-time data collection .............................................................................................................. 7-30
7.6.1 Interface introduction ........................................................................................................... 7-31
7.6.1.1 Save record settings........................................................................................... 7-32
7.6.1.2 Load record settings ........................................................................................... 7-33
7.6.1.3 Operation and settings for collection .................................................................. 7-34
7.6.1.4 Add new tab........................................................................................................ 7-42
7.6.1.5 Sampling settings ............................................................................................... 7-43

7.6.2 Plot view............................................................................................................................... 7-46
7.6.2.1 Open ................................................................................................................... 7-47
7.6.2.2 Save.................................................................................................................... 7-48
7.6.2.3 Set show mode ................................................................................................... 7-49
7.6.2.4 Set maximum number of graph views ................................................................ 7-51
7.6.2.5 Zoom the area between cursors......................................................................... 7-54
7.6.2.6 Undo zoom ......................................................................................................... 7-55
7.6.2.7 Redo zoom ......................................................................................................... 7-56
7.6.2.8 Statistics table..................................................................................................... 7-57
8. Troubleshooting................................................................................................................................................ 8-1
8.1 Brief introduction............................................................................................................................. 8-2
8.2 Real-time monitoring....................................................................................................................... 8-3
8.2.1 Brief introduction .................................................................................................................... 8-3
8.2.2 Alarm monitoring .................................................................................................................... 8-3
8.2.3 Warning monitoring ................................................................................................................ 8-4
8.3 Error log .......................................................................................................................................... 8-5
9. Advanced Functions......................................................................................................................................... 9-1
9.1 Brief introduction............................................................................................................................. 9-3
9.2 Multi-motion setting......................................................................................................................... 9-3
9.2.1 Brief introduction .................................................................................................................... 9-3
9.2.2 Preparation............................................................................................................................. 9-5
9.2.3 Set multi-motion parameters.................................................................................................. 9-6
9.2.4 Send multi-motion parameters to servo drive and activate multi-motion function ................9-11
9.2.5 Read multi-motion parameters from servo drive.................................................................. 9-12
9.2.6 Load multi-motion parameters file (*.mtk) ............................................................................ 9-13
9.2.7 Save multi-motion parameters file (*.mtk)............................................................................ 9-14
9.2.8 Clear multi-motion parameters and disable multi-motion function....................................... 9-15
9.2.9 Instructions for customized motion ...................................................................................... 9-16
9.3 Absolute encoder initialization ...................................................................................................... 9-19
9.3.1 Brief introduction .................................................................................................................. 9-19
9.3.2 Interface introduction ........................................................................................................... 9-20
9.3.2.1 Message field...................................................................................................... 9-21
9.4 Analog offset................................................................................................................................. 9-22
9.4.1 Brief introduction .................................................................................................................. 9-22
9.4.2 Interface introduction ........................................................................................................... 9-22
9.5 PDL ............................................................................................................................................... 9-24
9.5.1 Brief introduction .................................................................................................................. 9-24
9.5.2 Open PDL ............................................................................................................................ 9-25
9.5.3 Compile and save PDL ........................................................................................................ 9-26
9.6 Error map setup ............................................................................................................................ 9-28

9.6.1 Brief introduction .................................................................................................................. 9-28
9.6.2 Error map setup ................................................................................................................... 9-29
9.6.2.1 Error map information setting ............................................................................. 9-30
9.6.2.2 Load error map ................................................................................................... 9-32
9.6.2.3 Save / Read error map ....................................................................................... 9-33
9.6.3 Activate error map................................................................................................................ 9-35
9.7 Gantry control system................................................................................................................... 9-36
9.7.1 Brief introduction .................................................................................................................. 9-36
9.7.2 Preparation........................................................................................................................... 9-37
9.7.3 Gantry setting....................................................................................................................... 9-38
9.8 Dynamic brake resistor wizard ..................................................................................................... 9-41
9.8.1 Brief introduction .................................................................................................................. 9-41
9.8.2 Motor parameters setting ..................................................................................................... 9-42
9.8.2.1 Motor parameters ............................................................................................... 9-44
9.8.2.2 HIWIN motor ....................................................................................................... 9-45
9.8.2.3 Read parameters ................................................................................................ 9-46
9.8.2.4 Other brand motor .............................................................................................. 9-47
9.8.3 Application parameters setting............................................................................................. 9-48
9.8.4 Calculation results................................................................................................................ 9-50
9.8.5 Save / Load .......................................................................................................................... 9-54
10. Basic Settings of Thunder Interface ...................................................................................................... 10-1
10.1 Brief introduction........................................................................................................................... 10-2
10.2 Display unit switching ................................................................................................................... 10-2
10.2.1 Brief introduction .................................................................................................................. 10-2
10.2.2 Unit options .......................................................................................................................... 10-3
10.2.3 Display unit setting ............................................................................................................... 10-4
10.2.3.1 User-defined ....................................................................................................... 10-5
10.2.3.2 Auto set............................................................................................................... 10-6
10.2.3.3 Where to apply.................................................................................................... 10-8
10.3 Language switching .....................................................................................................................10-11
10.3.1 Brief introduction .................................................................................................................10-11
10.3.2 Language switching setting.................................................................................................10-11
10.4 Help............................................................................................................................................. 10-12
10.4.1 Brief introduction ................................................................................................................ 10-12
10.4.2 Help setting ........................................................................................................................ 10-12
11. Appendix.................................................................................................................................................11-1
11.1 Examples for servo drive configuration .........................................................................................11-2
11.1.1 AC servo motor (EM1 series)................................................................................................11-3
11.1.2 DM direct drive motor (RM series) ........................................................................................11-6
11.1.3 Linear motor ........................................................................................................................11-10

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HIWIN MIKROSYSTEM CORP. 1-1
1. Thunder Overview
1. Thunder Overview............................................................................................................................................ 1-1
1.1 Brief introduction............................................................................................................................. 1-2
1.2 System requirements...................................................................................................................... 1-3
1.3 Thunder functions ........................................................................................................................... 1-4
1.4 Main window ................................................................................................................................... 1-5
1.5 Function list..................................................................................................................................... 1-6

Thunder Overview E1 Series Servo Drive Thunder Software Operation Manual
1-2 HIWIN MIKROSYSTEM CORP.
MD12UE01-2012
1.1 Brief introduction
Thunder’s system requirements, functions, main window and the list of all functions are introduced in this
chapter.
System requirements
The minimum requirement and recommended requirement for the system to operate Thunder are provided
in this section. Users can select the appropriate hardware based on actual situation.
Thunder functions
Thunder functions are briefly introduced in this section, including setting and tuning servo drive, monitoring
system messages, executing troubleshooting, etc.
Main window
The operation of Thunder main window is introduced in this section to help users get familiar with Thunder
quickly.
Function list
All functions in Thunder are listed in this section for users to do quick search.

E1 Series Servo Drive Thunder Software Operation Manual Thunder Overview
HIWIN MIKROSYSTEM CORP. 1-3
MD12UE01-2012
1.2 System requirements
The minimum requirement and recommended requirement for the system to operate Thunder are given in
Table 1.2.1. Users can select the appropriate hardware based on actual situation.
Table 1.2.1
Component
Recommended requirement
Minimum requirement
Supported language
English, Traditional Chinese,
Simplified Chinese
English, Traditional Chinese,
Simplified Chinese
Operating system
Windows 7, Windows 8.1,
Windows 10
Windows 7 or above
CPU clock rate
3 GB or above
1 GB or above
Memory
4 GB RAM or above
2 GB RAM or above
Number of USB port
1 or more
1 or more
Version of USB port
USB 2.0 or above
USB 2.0 or above
Screen
1920x1080 resolution or higher
1366x768 resolution or higher
CAUTION
◆When operating Thunder, use minimum requirement or better hardware configuration and operating
environment. If the environment for configuration is poor than minimum requirement, unexpected
abnormalities may occur.
◆To get a better experience of Thunder, use recommended requirement or better hardware configuration
and operating environment.

Thunder Overview E1 Series Servo Drive Thunder Software Operation Manual
1-4 HIWIN MIKROSYSTEM CORP.
MD12UE01-2012
1.3 Thunder functions
Thunder is mainly used in E1 series servo drive’s setting and tuning. It is also equipped with the following
functions:
◆Provide servo drive related parameters setting.
◆Provide encoder related parameters setting.
◆Provide motor related parameters setting.
◆Do test run.
◆Tune servo drive.
◆Monitor system messages, including servo drive status, Excellent Smart Cube (ESC) status, motor
status and other system messages, such as firmware version and communication format.
◆Execute troubleshooting. For example, check and clear malfunctions or errors, provide the reasons,
ensure the troubleshooting methods and the steps to solve them.
To get the related technical documents, please download them from HIWIN MIKROSTSTEM official
website (https://www.hiwinmikro.tw).

E1 Series Servo Drive Thunder Software Operation Manual Thunder Overview
HIWIN MIKROSYSTEM CORP. 1-5
MD12UE01-2012
1.4 Main window
Figure 1.4.1
Table 1.4.1
No.
Item
Description
(1)
Software version
Display Thunder version number.
(2)
Menu bar
Function menu bar, including “File”, “Tools”, “Settings”, and “Help”.
(3)
Information column
Display system information, including servo drive’s type and firmware
version, motor type, encoder type, ESC’s type and firmware version.
(4)
Alarm
Display alarm’s code and name.
(5)
Warning
Display warning’s code and name.
(6)
Status light
Display ready signal, including servo signal, drive signal, STO signal, servo
on signal, gantry mode signal.
(7)
Toolbar
Tool menu bar, including “Configuration Wizard”, “Parameters Setup”, “Test
Run”, “Homing Operation”, “Interface signal monitor”, “Performance
monitor”, “Scope”, “PDL”, “Multi-motion setting”, “Save parameters as a
file”, “Load parameters from file to drive”, “Save to drive” and “Reset drive”.
(8)
Main window
Display the page of each function.
(1)
(7)
(8)
(2)
(3)
(4)
(5)
(6)

Thunder Overview E1 Series Servo Drive Thunder Software Operation Manual
1-6 HIWIN MIKROSYSTEM CORP.
MD12UE01-2012
1.5 Function list
All functions in Thunder are listed in this section for users to do quick search. Table 1.5.1 is about functions
in menu bar, and Table 1.5.2 is about functions in toolbar.
Table 1.5.1
Thunder main window
Menu bar
File
Load prm file
Save prm as a file
Tools
Communication setup
Phase initialization setup
Auto tune
Absolute encoder initialization
Analog offset
Dynamic brake resistor wizard
Gantry control system
Tuneless
Error map setup
I/O configuration
Real-time data collection
Spectrum analyzer
Error log
Messages + command prompt
Set to factory default
Update firmware
Settings
Language
English
Traditional Chinese
Simplified Chinese
Japanese (not supported yet)
Display unit
Linear unit
um
mm
cm
m
m (m/min)
Rotary unit
rad
milrad
deg
rev