D2 Series Servo Drive

User Manual

www.hiwinmikro.tw
MD07UE01-2010_V2.1
 Revision History

The version of the manual is also indicated on the bottom of the front cover.

MD07UE01-2010_V2.1

Version

Release Date

Release Date Version Applicable Product Revision Contents

(1) Revise figure 8.3.3, figure 8.3.4 and figure
Oct. 28th, 2020 2.1 D2 series servo drive
8.3.5 in section 8.3 Brake output.
(1) Revise the input voltage in section 2.1.2
D2 MDP 0.055 or above Nameplate information.
Jun. 2nd, 2020 2.0 D2COE MDP 0.131 or above (2) Revise the input voltage of figure 4.3.1.1
Lightening 0.197 or above in section 4.3.1 AC power wiring
(single-phase).
(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.
D2 MDP 0.055 or above (9) Add the description of turning off power
May 4th, 2020 1.9 D2COE MDP 0.131 or above supply in section 4.1.2.4 DC reactor
Lightening 0.197 or above 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.
D2 MDP 0.043 or above Rewrite and reorganize the User Manual based
Nov. 7th, 2014 1.8 D2COE MDP 0.119 or above on Chinese version of D2 Drive User Manual
Lightening 0.189 or above v1.8.
(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.
Nov. 21st, 2014 1.4 D2 series servo drive (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.
(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
Aug. 20th, 2014 1.3 D2 series servo drive 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.
(1) Update the description of LCD operation.
May 15th, 2014 1.2 D2 series servo drive (2) Update the description according to motor
model.
(1) Renew Figure 2-1 and Figure 2-2.
Aug. 30th, 2012 1.1 D2 series servo drive
(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
4.1.10 CN13/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
13.3.1 Input register ···································································································· 13-7
13.3.2 Holding 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
(This page is intentionally left blank.)
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

HIWIN MIKROSYSTEM CORP. 1-1

MD07UE01-2010

About This User Manual D2 Series Servo Drive User Manual

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 wait 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).

1-2 HIWIN MIKROSYSTEM CORP.

 MD07UE01-2010

D2 Series Servo Drive User Manual About This User Manual

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.

HIWIN MIKROSYSTEM CORP. 1-3

MD07UE01-2010

About This User Manual D2 Series Servo Drive User Manual

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.

1-4 HIWIN MIKROSYSTEM CORP.

 MD07UE01-2010

D2 Series Servo Drive User Manual About This User Manual

 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.

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About This User Manual D2 Series Servo Drive User Manual

 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.

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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

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2.1 Drive information

2.1.1 Safety certification

The drive complies with the following safety regulations.

Table 2.1.1.1

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
EMC
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
IEC 61800-5-1: 2007(2nd Edition)
LVD
EN 61800-5-1:2007
UL E348161

2.1.2 Nameplate information

Model No.

Input/output voltage
200-240V
Phases
Rated input/output current
Input/output frequency

Figure2.1.2.1

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D2 Series Servo Drive User Manual Specifications

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

T = 13-bit / 17-bit encoder

3: Type
blank = 13-bit encoder only
01 = 100W
04 = 400W
4, 5: Rated output
10 = 1.0KW
20 = 2.0KW
23 = 1/3-phase 220Vac
6, 7: Voltage range
32 = 3-phase 220Vac
S = Standard
E = EtherCAT (CoE)
8: Interface F = EtherCAT (mega-ulink)
K = Standard with extension I/O module
T = Standard with Modbus
A = A frame (100W)
B = B frame (400W)
9: Frame size
C = C frame (1.0KW)
D = D frame (2.0KW)
0 = 13-bit less-wire incremental encoder
10: Encoder type 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.

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2.2 Drive specifications

Table2.2.1 Drive specification

Frame
Single/three-phase, 200 - 240 Vac 50/60Hz
A-C
Main power
Frame
Input power 220V Three-phase, 200 - 240 Vac 50/60Hz
D
Frame
Control power Single-phase, 200 - 240 Vac 50/60Hz
A-D
Frame A: 100 W; frame B: 400 W; frame C: 1.0 KW;
Power
frame D: 2.0 KW.
Frame A: 0.9 Arms; frame B: 2.5 Arms;
Continuous current
frame C: 5.1 Arms; frame D: 11 Arms.
Output power
Frame A: 2.7 Arms; frame B: 7.5 Arms;
Peak current
frame C: 15.3 Arms; frame D: 33 Arms.
Sustainable duration of peak
1 second maximum.
current
Operation temperature: 0°C to 45°C
Temperature (if over 55°C, the forced ventilation is needed)
Storage temperature: -20°C to 65°C

Environment Humidity 0 to 90% RH (non-condensing)

Altitude Below 1,000 meters

Vibration 1G (10 to 500Hz)

Basic specifications

Installation pollution level II

Control method IGBT PWM space vector control

13-bit (10,000 count/rev) less-wire incremental encoder;
Resolution/Feedback
17-bit (131,072 count/rev) serial incremental encoder (5
resolution
lines).
5M pulse/sec (Before Quadrature);
Encoder input Frequency
20M count/sec (After Quadrature).
For the dual-loop model, the rotary encoder should be the
Other 17-bit serial absolute encoder and the linear encoder
should be the digital AqB encoder.
9 (general purpose) for D2 model
10 (general purpose) for D2T model
Input
Optical coupler component, general-purpose input
5 V/1 mA, 24 V/5 mA (Each input pin)
Control signal
4 (general purpose) for D2 model
5 (general purpose) for D2T model
Output
Optical coupler component, general-purpose output
Parallel I/O
24 V/0.1 A (Each output pin)
connector
Input 1 (12-bit A/D)
Analog signal
Output 2 (analog monitor: 2 outputs)

Input 2 (low-speed channel, high-speed channel)

Pulse signal
Output 4 (line driver: 3 outputs; open collector: 1 output)

Used to connect with brake (1 Adc max). Also, it is

Brake connector Control signal Output
programmable for general-purpose output.

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Frame D model has one built-in dynamic brake resistor

Dynamic brake (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
LCD status display: dot matrix 8*2 characters with 4
Front panel buttons;
LED status indicator lights (green, red)
Switchable control modes
(1) Position control;
(2) Velocity control;
Control mode (3) Torque control ;
(4) Position/velocity control;
(5) Position/torque control ;
(6) Velocity/torque control;
(1) Inhibit pulse command;
(2) Axis enable;
(3) Switch between primary and secondary CG;
(4) Electronic gear selection;
Control input
(5) Left limit switch;
(6) Switch between primary and secondary mode;
(7) Clear error;
(8) Right limit switch, etc.
(1) Servo ready;
(2) Errors;
Control output
(3) In-position;
(4) Zero speed detected, etc.
Position control

Photo-coupler interface (single-ended input): 500 Kpps;

Maximum input pulse
Line driver interface (differential input): 4 Mpps (16M
frequency
count/s with AqB).

(1) Pulse/direction (Pulse/Dir);

Signal format of input pulse (2) Pulse up/pulse down (CW/CCW);
Function specifications

Pulse input (3) Quadrature (AqB).

Electronic gear
(Division/ Gear ratio: pulses/counts
Multiplication of command Pulses: 1 - 2,147,483,647; counts: 1 – 2,147,483,647.
pulse)
Smoothing filter Smooth factor: 1 - 500
VSF can remove the vibration frequency that occurs
during movement. It can reduce the vibration caused by
Vibration suppression feature (VSF)
the system’s structure and improve the machine’s
productivity.
(1) Zero speed clamp;
(2) Axis enable;
(3) Switch between primary and secondary CG
Control input (4) Left limit switch
(5) Switch between primary and secondary mode
Velocity control

(6) Clear error

(7) Right limit switch, etc.
(1) Servo ready;
(2) Errors;
Control output
(3) In-velocity;
(4) Zero speed detection, etc.
Velocity commands can be provided by the duty cycle of
Velocity command
PWM input PWM input. Parameters are used to set the scale and
input
command direction.
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Specifications D2 Series Servo Drive User Manual

Velocity command can be provided by the analog voltage.

Velocity command
Analog input Parameters are used to set the scale and command
input
direction.
Zero speed clamp The input of zero speed clamp is possible.

Frequency range 36.5KHz minimum, 100KHz maximum

Bandwidth limit 220ns minimum

(1) Axis enable;
(2) Switch between primary and secondary CG;
(3) Left limit switch;
Control input
(4) Switch between primary and secondary mode;
(5) Clear error;
(6) Right limit switch, etc.
(1) Servo ready;
Torque control

(2) Errors;
Control output
(3) In-velocity;
(4) Zero speed detected, etc.
Torque commands can be provided by the duty cycle of
Torque command
PWM input PWM input. Parameters are used to set the scale and
input
command direction.
Torque commands can be provided by the analog voltage.
Torque command
Analog input Parameters are used to set the scale and command
input
direction.

Speed limit function The parameter for speed limit can be set.

The auto tune procedure runs automatically after start and

identifies the load inertia. Users do not set by themselves.
Auto tune
All necessary gains are set by clicking one button on the
LCD panel.
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).
Emulated encoder feedback output
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.
(1) Motor short detected;
(2) Over voltage detected (> 390 Vdc ± 5%);
(3) Position error too big;
(4) Encoder error;
Common

(5) Soft-thermal threshold reached;

Protective function (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.

Maximum code capacity: 32 KBytes

Variable storage capacity: 800 Bytes

Process description language (PDL) Supported variable type:
(1) Float type: 32 bits;
(2) Integer type: 16 and 32 bits;
(3) Array and pointer supported.
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D2 Series Servo Drive User Manual Specifications

Execution cycle: 66.67 us

4 tasks can be executed simultaneously.

Support if, else, while loop, for loop, goto, till, and other
commands to control program flow.
Support arithmetic operators, logical operators, and
comparison operators.
Support lock and unlock commands to control the
synchronization of multi-tasks.
Maximum length of user-defined name:
(1) variable: 17 characters
(2) label: 24 characters
(3) proc: 24 characters
Method: Establish compensation table to compensate the
encoder error by using the linear interpolation.
Samples: Maximum 5,000 points.

Error mapping Storage location: Flash ROM; disc file.

Unit: um, count.

Enable method: it is activated after the internal homing is
completed, or by an external input signal.
Frame A - C: need external connection (option), and have
no built-in regenerative resistor.
Resistor Frame D: need external connection (option), and also
have one built-in regenerative resistor (resistance: 13 Ω ±
5%; continuous power: 120 W; peak power: 600 W).
Regeneration Cut-in voltage +HV > 370 VDC

Drop-out voltage +HV < 360 VDC

Frame A: 560 uF; frame B: 820 uF;

DC link capacity
frame C: 1,410 uF; frame D: 2,000 uF.

Others Friction compensation, backlash compensation.

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2.3 Drive dimensions

Dimensions and mounting holes of D2-series drives, D2-series drives with the EtherCAT (CoE/
mega-ulink) module, and D2-series drives with the extension I/O module are shown in the following
figures. The dimension unit is in mm, and the diameter of mounting hole is 4 mm.

D2-DNN46A

Figure2.3.1 Dimensions of frame A model

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D2 Series Servo Drive User Manual Specifications

D2-DNN47A

Figure2.3.2 Dimensions of frame B model

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Specifications D2 Series Servo Drive User Manual

D2-DNN48A

Figure2.3.3 Dimensions of frame C model

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D2 Series Servo Drive User Manual Specifications

D2-DNN52A

Figure2.3.4 Dimensions of frame D model

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Specifications D2 Series Servo Drive User Manual

D2-DNN43A

Figure2.3.5 Dimensions of frame A model with the EtherCAT module

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D2 Series Servo Drive User Manual Specifications

D2-DNN44A

Figure2.3.6 Dimensions of frame B model with the EtherCAT module

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Specifications D2 Series Servo Drive User Manual

D2-DNN45A

Figure2.3.7 Dimensions of frame C model with the EtherCAT module

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D2 Series Servo Drive User Manual Specifications

D2-DNN57A

Figure2.3.8 Dimensions of frame D model with the EtherCAT module

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Specifications D2 Series Servo Drive User Manual

D2-DNN54A

Figure2.3.9 Dimensions of frame A model with the extension I/O module

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D2 Series Servo Drive User Manual Specifications

D2-DNN55A

Figure2.3.10 Dimensions of frame B model with the extension I/O module

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D2-DNN56A

Figure2.3.11 Dimensions of frame C model with the extension I/O module

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D2 Series Servo Drive User Manual Specifications

D2-DNN53A

Figure2.3.12 Dimensions of frame D model with the extension I/O module

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2.4 Drive installation

To fix drive in the used environment (e.g. electric cabinet), conductive screws must be used to secure
drive to electric cabinet. Moreover, insulating materials (e.g. paint) on the contact surface of electric
cabinet must be removed, so that the drive can connect to ground through the machine. If the main power
of drive is 220 V, the grounding resistance must be less than 50 Ω.

Installing drive must be careful, not to shut suction hole and vent, and not place it in the inclined position.
Otherwise, it will cause drive failure. In order to ensure that the effect of cooling circulation is well,
installing drive should keep an enough space between the drive and the adjacent article or baffle. If more
than one drive is installed, keep the space between drives more than 20 mm, such that the drive has an
enough space for heat dissipation. Fans can be set in the electric cabinet to facilitate the heat dissipation
of drives.

Figure2.4.1

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D2 Series Servo Drive User Manual Specifications

50 mm 20 mm 20 mm Electric cabinet
or more or more or more case

50 mm 50 mm
or more or more

50 mm
or more

Figure2.4.2 Space between drives

2.5 Computer requirements

Table2.5.1

CPU 1.0 GHz or more

RAM 512 MB or more
Available space on the
50 MB or more
hard disk
Communication port USB
Operating system Windows 2000, Windows XP, Windows 7
Screen resolution 1024 x 768 pixels or more

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3. Operation principles
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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

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3.1 Operation modes

The following operation modes can be used to implement the interface between the standard D2 drive
and the host controller.

(1) Position mode

(2) Velocity mode
(3) Force/torque mode
(4) Stand-alone mode

Each mode is described as follows.

3.1.1 Position mode

The host controller sends pulses to drive. These pulses are equal to position commands. When the drive
receives a pulse, it moves the motor with a corresponding distance. The host controller is responsible for
path planning. The pulse is sent faster and faster at the acceleration, and is sent with a fixed frequency at
the constant speed. As shown in figure 3.1.1.1, there are three formats of pulse signal: pulse/direction
(pulse/dir), pulse up/pulse down (CW/CCW), and quadrature (AqB). Based on the hardware wiring, the
pulse signal can be classified into the differential and single-end TTL logic signals.

The electronic gear can be set in the position mode. One input pulse is normally set to be equal to one
encoder count. For example, the gear ratio of 2:3 means that 2 input pulses is equal to 3 encoder counts.

Pulse input

Dir input
Forward Reversal

CW input

CCW input
Forward Reversal

A-phase input

B-phase input
Forward Reversal
Figure3.1.1.1

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3.1.2 Velocity mode

The drive can receive the command from the host controller via voltage, so as called V command. The
input voltage range is from -10 V to +10 V. The drive converts the received external voltage to the
corresponding velocity command to drive the motor. Besides the voltage, the host controller can also
send the velocity command via PWM signal, so as called PWM command. It utilizes different duty cycles
to correspond to different velocity commands. There are two types of PWM command: single-line type
(PWM 50%) and dual-line type (PWM 100%). The single-line type (PWM 50%) takes the duty cycle of
50% as the basis. If the duty cycle of PWM command is less than 50%, the motor performs the reverse
motion; while if greater than 50%, the motor performs the forward motion. In addition to using one pin to
transmit PWM command, the dual-line type (PWM 100%) needs another pin to control motion direction.

(1) Use voltage command

The drive converts the analog voltage to the velocity command to control the speed of motor
movement. The higher the voltage is, the faster the output speed is. However, the maximum output
speed is limited by the maximum motor speed. The lower the voltage is, the slower the output speed
is. When the voltage value is negative, the output speed is negative and the motor moves in the
reverse direction. The drive can set the command speed corresponding to the voltage per unit.

(2) Use PWM command

The drive converts the PWM signal to the velocity command to control the speed of motor
movement. It can set the command speed corresponding to “Full PWM”.

3.1.3 Force/torque mode

In the force/torque mode, the command from the host controller, which can be received by the drive, is the
same as that in the velocity mode. There are V command and PWM command. After the drive receives
these two commands, it converts them to the corresponding current to drive the motor.

(1) Use voltage command

The drive converts the analog voltage to the current command. By controlling the output current of
drive, it can control the force or torque of motor movement. The higher the voltage is, the larger the
output current is. However, the maximum output current is limited by the maximum motor current.
The lower the voltage is, the smaller the output current is. When the voltage value is negative, the
output current is negative and the motor moves in the reverse direction. The drive can set the
command current corresponding to the voltage per unit.

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(2) Use PWM command

The drive converts the PWM signal to the current command to control the force or torque of motor
movement. It can set the command current correspond to “Full PWM”.

3.1.4 Stand-alone mode

There is one high-speed DSP on the inside of drive. Therefore, the drive can plan the motion profile by
itself. If the drive needs to do test alone or without any host controller (e.g. only the servo motor and
drive), the stand-alone mode can be selected to let drive be responsible for all control loops.

3.2 Encoder type

The encoder usually plays an important role in the servo motor control. It provides the information of drive
position or angle to realize the servo-loop control. There are two types of commonly used encoder: digital
type and analog type. D2-series drives only support the digital encoder presently, but not analog encoder.

(1) Digital type

The digital or so-called incremental encoder normally outputs the differential signal of TTL RS422.
The main feature of this signal is two digital pulses with the 90°-phase difference. The definition of
resolution for this signal is given in figure 3.2.1.

Resolution

Figure3.2.1

(2) Analog type

The analog encoder has two-phase signals: sin and cos. The hardware normally takes the
differential signal of 1 Vpp. The main feature of this signal is two sinusoidal signals with the
90°-phase difference. Its specification is normally represented by the grating period. For example,
the grating period of common linear analog scale is 40 um.

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D2 Series Servo Drive User Manual Operation Principles

Grating Period

Figure3.2.2

3.3 Encoder signal output

The input signal of encoder is used to perform the servo control by the servo drive. When the drive works
with the host controller, the host controller also has the requirement of receiving position signal. Normally,
the drive will transmit the position or angle signal received from the encoder to the host controller. D2
drive provides the following two modes of encoder output.

 Buffered encoder output

When this mode is selected, the drive sends the received encoder signal to the host controller
directly. Besides, if the invert of encoder signal is required, check the option of invert function. At this
time, the drive inverts the received encoder signal and sends it out.

 Emulated encoder output

When this mode is selected, the drive multiplies the received encoder position by a scale and sends
it out to the host controller. For some cases, if the host controller cannot receive the encoder signal
with a too high frequency, the scale can be set to lower the frequency of encoder output. In addition,
if the multiplier factor of analog encoder is set too high, the scale can also be set to lower the
resolution of encoder output. When motor reaches home position for the first time, the width of output
Z-phase signal is half of its original width.

Figure3.3.1

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Operation Principles D2 Series Servo Drive User Manual

D2
Switchable
Buffered
Encoder
Output
Encoder
Emulated Signal
Encoder Processing
Output

Figure3.3.2

3.4 Path planning

The main purpose of path planning is that the host controller calculates the suitable motion command
based on the user’s actual requirement of distance, velocity, acceleration, and smooth factor, as shown in
figure 3.4.1. This command (pulse or V command) is sent to the drive by the host controller, or calculated
by the drive itself (stand-alone mode). Different configurations are adopted according to different
applications.

Position (p)

Velocity (v)

Acceleration (a)

Time (t)
Figure3.4.1
(1) Position
The encoder provides the position information of motor to the drive, such that the drive can realize
the current motor position. For the linear motion, common position units are um, mm, and m; while
for rotary motion, it is the encoder count. For D2 drive, “Reference position” denotes the position
command, which is calculated by the path generator based on the related parameters. However,
“Target position” is the target position set by the user or host controller. After this parameter is sent to
the drive, normally, it needs to be calculated by the path generator so as to let motor move.

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D2 Series Servo Drive User Manual Operation Principles

(2) Velocity
The velocity is defined as the difference of position per unit time. For linear motion, velocity units are
um/sec, mm/sec, m/sec; while for rotary motion, they are count/sec, rps, and rpm.

(3) Acceleration
The acceleration is defined as the difference of velocity per unit time. For linear motion, acceleration
units are um/sec2, mm/sec2, and m/sec2; while for rotary motion, it is rps2.

(4) Smooth factor

When the acceleration is rapidly increased or decreased in a short time, it means that the force
applied to moving object is suddenly increased or decreased. Sometimes, to reduce such impact,
the technique of smooth motion is introduced to the motion control loop, so as to enhance the
performance. D2-serise drives adopt the technique of smooth factor to achieve this effect. By using
the smooth factor, the motion trajectory can be planned to S-type or T-type curve. Its value can be
set from 1 to 500. If this value is larger, the trajectory is closer to S-Type curve and the impact is
smaller. On the other hand, if this value is smaller, the trajectory is closer to T-Type curve. As this
value being 1, it means that there is no effect of smooth function. When the value of smooth factor is
increased, in some case, the settling performance during positioning process will be enhanced,
since the impact of motor force is reduced. However, when the motion becomes smoother, the move
time of path planning is unavoidably increased. Tests on the practical machine are needed to adjust
the smooth factor, so as to get the balance between them.

(5) Emergency stop

D2-series drives have the function of emergency stop. When the drive deactivates the signal of “Axis
enable” on the pin I3, this function is activated. At this moment, the drive immediately stops the
motor in any motion by using the deceleration for emergency stop to guarantee safety.

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3.5 Servo loops and gains

(1) Servo loops

There are three types of control loop for D2 drive: current, velocity, and position control loops to
implement the servo motor control. The architecture of drive’s servo loop is described in figure 3.5.1.
In the position mode, three loops should be connected in sequence to perform the position control for
the motor. In the velocity mode, the velocity loop should use the current loop to drive the motor.
However, in the current mode, the current loop only controls the phase commutation mechanism of
motor, and its command is controlled by the voltage command from the host controller. To simplify
gain parameters of servo loops, D2 drive only uses one common gain (CG) to set and adjust the
overall control-loop architecture.

Target Reference Reference Command PWM

Position Position Velocity Current Output

Common Position Velocity Filter Current Filter Motor &

Gain Loop Loop Loop Encoder
Feedback Position Feedback Velocity Actual Current

Figure3.5.1

(2) Servo gains

D2 drive uses one high-speed DSP to implement the motor control. Generally, when the servo loop
is implemented by the digital method, it needs to adjust many servo gains. However, this drive
adopts an ingenious control design to simplify servo gains as one common gain to significantly
improve convenience.

0.1……………………………………5……………………………………1

Low Response High

Control rigidity

Figure3.5.2

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3.6 Gain margin and phase margin

3.6.1 Nyquist diagram

Gain margin (GM) is defined as that the loop gain, calculated by dB, can be increased before the
close-loop system becomes unstable. On the other hand, phase margin (PM) is defined as that the phase
delay can be increased before the close-loop system becomes unstable.

 Gain margin
Denote G(jωp) as the relative distance from the intersection of Nyquist diagram and the negative real
axis to the point (-1, j0), where ωp is the frequency at the phase crossover. The example of G(jωp)
= 180° is shown in figure 3.6.1.1. For the transfer function G(s) in a loop system, gain margin = GM =

1
20 log10 = −20 log10 G( jω p )
G( jω p )
dB.

Following results can be derived from figure 3.6.1.1 and characteristics of Nyquist diagram.

a If G(jω) does not intersect with the negative real axis, |G(jωp)| = 0 and GM = dB. When the
Nyquist diagram does not intersect with the negative real axis at any non-zero and finite
frequency, GM = dB. Theoretically, the loop gain can be increased to be infinite before the
system becomes unstable.

b If G(jω) intersects with the negative real axis between 0 and -1, 0 < |G(jωp)| < 1 and GM > 0 dB.
When the Nyquist diagram intersects with the negative real axis between 0 and -1 at any
frequency, the system is stable as increasing loop gain.

c If G(jω) is at the point (-1, j0), |G(jωp)| = 1 and GM = 0 dB. When the Nyquist diagram G(jω) is at
the point (-1, j0), GM = 0 dB. This means that the system reaches the unstable boundary and the
loop gain cannot be increased any more.

d If G(jω) passes by the point (-1, j0), |G(jωp)| > 1 and GM < 0 dB. When the Nyquist diagram
G(jω) passes by the point (-1, j0), GM < 0 dB. At this time, GM must be reduced to achieve the
steady state of loop gain.

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j Im G
G ( jω) − Plane

Phase crossover

ω = ωp
0 Re G

G ( jω p )

0←ω
Figure3.6.1.1 Gain margin of Nyquist diagram

 Phase margin
Phase margin is defined as that the angle between the straight line passing through the gain
crossover and the negative real axis of G(jω)-plane, as shown in figure 3.6.1.2.

Phase margin = PM = G(jωg) -180°

j ImG
G (j ω ) − Plane

-1 1
0 Re G
Phase margin
Gain
crossover
ω = ωg

0←ω

Figure3.6.1.2 Phase margin of Nyquist diagram

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D2 Series Servo Drive User Manual Operation Principles

3.6.2 Bode diagram

The gain margin and phase margin of Bode diagram are given in figure 3.6.2.1.

G( jω ) (dB ) 40 ωg Gain crossover

20
0
-20
Gain margin ω ( rad /sec)
-40
-60

∠G ( j ω) (deg) Phase
margin
0
-90
-180
-270 ω ( rad /sec)
-360 ωp Phase crossover

Figure3.6.2.1 Gain margin and phase margin of Bode diagram

The bandwidth of Bode diagram is defined as the frequency at -3 dB, as shown in figure 3.6.2.2.

Gain (dB)

0 dB
-3 dB f
Bandwidth

Figure3.6.2.2 Bandwidth of Bode diagram

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Operation Principles D2 Series Servo Drive User Manual

3.7 Move and settling

The motor moves based on the path planned by the host controller. When it arrives at the target position,
it is able to position accurately and stop motion. This is called move and settling.

 Position error
In the servo system, there is a certain difference between the target position and the encoder
feedback position. This is called position error.

 Target radius
After the motor arrives at the target position, the difference between the feedback position and the
target position must be controlled and kept within a specific positive/negative small range. This range
is called target radius.

 Total time of move and settling

As shown in figure 3.7.1, after the motor arrives at the target position, the position error should be
smaller than the setting of target radius and keep for a certain time (debounce time). After that, the
“In-position” signal is set and called in position. If the position error is continuously out the radius, it is
called not yet in position. The total time spent from the motion start to the settling achievement is the
amount of move time and settling time.

Position Feedback position

+ target radius Target

- target radius Position

Reference After entering the radius

position for a debounce time,
send out the
“In-position” signal.

Move time Time

Settling time

Total time
Figure3.7.1

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D2 Series Servo Drive User Manual Operation Principles

3.8 Error compensation

Normally, the positioning accuracy of drive is determined by the performance of encoder. But sometimes,
the encoder cannot completely meet the requirement of accuracy. In this case, instruments with the
higher level of accuracy (e.g. laser interferometer) should be applied to measure the system error. D2
drive has one high-performance control method. It saves the measured error data into the error map of
drive, as shown in figure 3.8.1, and uses this data during motion. By adopting the method of linear
interpolation between the fixed distance, it calculates the value of error compensation to enhance the
positioning accuracy.

Pulse command Motor cable

input
Host Controller

D2 Motor
drive

Feedback Feedback position

position output Error map
input from encoder

Figure3.8.1

The mapping effective area is determined by the index signal. The area from the index towards positive
direction is the mapping effective area; while the area from the index towards negative direction is the
area without mapping. As shown in the following figure, the mapping effective area for non-zero home
offset is the same as that for zero home offset.

(1) Home offset = 0

Mapping effective area

+ position

index
Drive coordinate = 0

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Operation Principles D2 Series Servo Drive User Manual

(2) Home offset = 100

Home offset
= 100 Mapping effective area

+ position

index
Drive coordinate = -100 Drive coordinate = 0

Figure3.8.2

3.9 Velocity ripple

Generally in the motion control, it is always desirable that the motion in the constant-speed phase is as
smooth as possible. The motion stability can be estimated by the index of velocity ripple. Main factors
causing the variation in the constant-speed phase are the motor cogging force, cable chain, air pipeline,
and guideway friction, and so on. This velocity ripple is usually used for scanning or detecting machines
required high stability in the constant-speed phase. The equation of velocity ripple is:

Velocity Ripple = ±
1 V max
− V min
× 100%,
2 V target

where Vtarget is the target velocity, Vmax is the maximum velocity in the constant-speed phase, and Vmin is
the minimum velocity in the constant-speed phase. As shown in figure 3.9.1, the velocity ripple of (a) is
larger indicated less steadiness; while (b) is smaller indicated better steadiness.

(a) (b)

Vtarget
Vmax Vmax

Vtarget

Vmin Vmin
Constant Constant
Velocity Velocity
Figure3.9.1

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D2 Series Servo Drive User Manual Operation Principles

3.10 Enable

The enable is a necessary step before the drive starts to receive any motion command. Only at the
enable state, the drive can receive the pulse or voltage command from the host controller to do motion.

 Step motion mode

The step motion (SM) mode is an open-loop architecture. At this mode, the motor behavior is similar
as the stepper motor. The signal of feedback position is not adopted at the enable. This mode is
used to ensure that the force direction of motor is consistent with the direction of encoder feedback.
If not, it will cause the failure of phase initialization.

 Phase initialization
For the drive with the incremental encoder, it needs to find the electrical angle at the first power-on,
called phase initialization. For HIWIN servo motors, after the drive is booted, it is able to successfully
find the electrical angle almost without any movement at the first enable process. The other common
method of phase initialization is to add Hall sensor to achieve the same effect. Generally, the host
controller sends an output signal to the drive (e.g. the input I3 of D2 drive) to complete the phase
initialization and enable process.

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3.11 Common physical quantities

Figure3.11.1

No. Physical quantities Description

1 Feedback position Feedback position
2 Reference position Position command
3 Target position Target position
4 Position error Position error
Feedback position of single-turn encoder (only for the drive
5 Single turn feedback position
supporting single-turn encoder)
Feedback position of dual-loop encoder (only for the drive
6 Dual loop feedback position
supporting dual-loop control)
10 Feedback velocity Feedback velocity
11 Reference velocity Velocity command
12 Velocity error Velocity error
20 Reference acceleration Acceleration command
30 Actual current Actual current
31 Command current Current command
32 Current effective value Effective value of current during calculation period
40 Analog command Voltage command (from the host controller)
41 Bus voltage Line voltage
42 Servo voltage percentage Servo voltage
45 PWM command Torque/force/velocity command (from host controller)
51 Soft-thermal accumulator Temperature estimation via software
53 Average load ratio Average load ratio during calculation period
54 Peak load ratio Peak load ratio during calculation period
61 I1 Input 1
62 I2 Input 2
63 I3 Input 3
64 I4 Input 4
65 I5 Input 5
66 I6 Input 6
71 I7 Input 7
72 I8 Input 8
67 I9 Input 9
68 I10 Input 10 (only for D2T model)
81 O1 Output 1
82 O2 Output 2
83 O3 Output 3
84 O4 Output 4
86 O5 Output 5 (only for D2T model)
85 CN2/BRK Brake signal output

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0
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
4.1.10 CN13/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

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4.1 System configuration and wiring

This chapter describes the system configuration of drive and the function of each connector.

4.1.1 System wiring diagram

The following figure shows the name, function, and specification of each drive connector.

Figure4.1.1.1

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Figure4.1.1.2

CN8-out

CN8-in

CN13

CN14

(a) EtherCAT module (b) Extension I/O module

Figure4.1.1.3

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Table4.1.1.1

Item No. Name Connector Description

L1, L2: Single-phase 200-240 Vac, 50/60Hz
L1, L2, L3: Three-phase 200-240 Vac, 50/60Hz
1 AC main power cable Frame A-D: CN1
(The frame D model is only allowed connecting
to three-phase AC power)
Frame A-C: CN1 ( , U, V, W)
2 Motor power cable Connected to motor, three-phase motor power
Frame D: CN2 (U, V, W)
Connected to regenerative resistor
Frame A-C: CN1 (R-, R+)
3 Regenerative resistor (optional/installed according to actual
Frame D: CN1 (B1, B2, B3)
application)
Frame A-D: CN1 Drive control and I/O power
4 Control power cable
(L1C, L2C) (L1C, L2C: Single-phase 200-240 Vac, 50/60Hz)
Connected to brake
Frame A-C: CN2 (B-, B+)
5 Brake (optional/installed according to actual
Frame D: CN6 (O5-, O5+)
application)
Connected to PC (for parameter setting; to be
removed after setting)
Mini USB
6 Frame A-D: CN3 Using mini USB to connect with PC for
communication
monitoring drive, doing test runs, or writing
parameters, etc.
Modbus Frame A-C: CN4, CN5 Connected to host controller by using Modbus
7
communication Frame D: CN4 communication protocol
8 Control signal Frame A-D: CN6 Connected to host controller
9 Feedback signal Frame A-D: CN7 Connected to motor encoder
EtherCAT Connected to host controller by using EtherCAT
10 Frame A-D: CN8
communication communication protocol
11 Extension I/O signal Frame A-D: CN13, CN14 Extension I/O module
12 Safety function signal Frame D: CN5 Connected to safety device
Connected to DC reactor
13 DC reactor Frame D: CN1 (optional/installed according to actual
application)
14 Frame D: CN15 Reserved

4.1.1.1 Grounding

To prevent interference from causing false operation, perform grounding by following the instructions.

(1) Use the third type grounding or D type grounding (Grounding resistance must be below 100 Ω.).
(2) The servo drive cannot share the same power supply with electric welding machine or electric
discharge machine. If there is high frequency generator near the servo drive, install noise filter at the
input sides of main circuit power cable and control circuit power cable.
(3) The ground wire must be as short as possible. Parallel and single-point grounding is suggested.
(4) If servo motor is insulated from machine, ground the servo motor directly.
(5) If there is high frequency generator (such as electric welding machine, electric discharge machine or
frequency converter) in servo system, the high frequency generator must be grounded
separately to avoid interference to other device.

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(6) When servo motor is grounded through a machine, switching noise current may flow out from the
servo drive main circuit with the stray capacitance of the servo motor. To avoid the above situation,
connect the frame or ground terminal of the servo motor to the ground terminal of the servo drive.
Then ground the ground terminal of the servo drive. When linear motor is used, both the forcer
and stator must be grounded.
(7) When control signal cable is interfered, connect its shield to its connector shell. Then perform
grounding.

4.1.2 CN1 power

The pin assignment of CN1 for frame A-C models is different with that for the frame D model. Check the
pin assignment for each model before use. Descriptions of CN1 power wiring include: single/three-phase
power input, motor power output (frame A-C), regenerative resistor wiring, single-phase control power
input, and DC reactor wiring (frame D).

4.1.2.1 Power wiring

Before connecting the main circuit of drive, ensure that the drive is properly grounded. Frame D model is
only allowed connecting three-phase 200 - 240 Vac.

(1) Frame A-C

Connector model: Wago 721-112/026-000 (female).

Figure4.1.2.1.1 CN1 connector type for frame A-C models

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Figure4.1.2.1.2 Installation and removal methods

Table4.1.2.1.1

No. Signal Function

1 L1 AC main power, 220 Vac (50/60 Hz) single/three phase
2 L2 AC main power, 220 Vac (50/60 Hz) single/three phase
3 L3 AC main power, 220 Vac (50/60 Hz) three phase
4 Ground input of AC main power
5 Motor ground input
6 U Motor U-phase input
7 V Motor V-phase input
8 W Motor W-phase input
9 REG- Negative terminal of regenerative resistor
10 REG+ Positive terminal of regenerative resistor
11 L1C
Control power, 220 Vac (50/60 Hz) single phase
12 L2C

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(2) Frame D
Connector model: TE Connectivity 1-2229794-1 (female).
The ground wire of main power should be connected to the drive housing.

Figure4.1.2.1.3 CN1 connector type for frame D model

Table4.1.2.1.2

No. Signal Function

1 L1
2 L2 AC main power, 220 Vac (50/60 Hz) three phase
3 L3
4 L1C
Control power, 220 Vac (50/60Hz) single phase
5 L2C
6 B1 Regenerative resistor input
7 B2 Regenerative resistor input
8 B3 Regenerative resistor input
9 - 1
○ DC reactor input
10 - 2
○ DC reactor input
11 -
○ DC reactor input

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4.1.2.2 Motor wiring

Be sure to ground the drive and the motor. The following motor wiring is only suitable for frame A-C
models.

mega-fabs
D2 Series drive

CN1

L1
L2
L3

U
V
W
REG-
REG+
L1C
L2C
Motor

Figure4.1.2.2.1

4.1.2.3 Regenerative resistor wiring

The regenerative resistor is optional. However, the frame D model has one internal regenerative resistor
(13 Ω/100 W). Install it according to the actual application.

(1) Frame A-C

mega-fabs
D2 Series drive

CN1

L1
Regenerative L2
L3
resistor case

U
V
Fuse W
REG-
REG+
L1C
L2C

Figure4.1.2.3.1

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(2) Frame D

D2T 2KW D2T 2KW

series drive series drive

Regenerative
resistor case
Fuse

(a) Using internal regenerative (b) Using external regenerative resistor

resistor (13 Ω/100 W)
Figure4.1.2.3.2

4.1.2.4 DC reactor wiring

The DC reactor is optional. Its main function is to improve the input power factor and suppress the
harmonic current. Only the frame D model supports this feature. Install it according to the actual
application.

 Specification

Table4.1.2.4.1

Part Number Item Specification Description

440 V
051800200126 Reactor R-B86732G15L712
14.2~196.6Adc

The wiring diagram and instructions for installing DC reactor are given as below.

Note:
(1) ☉1 and ☉2 on CN1 are connected when servo drive is shipped out. Do not disconnect them. Otherwise the
servo drive cannot function normally.
(2) If using DC reactor to suppress harmonic current, its wiring must be between ☉1 and ☉2.

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Wiring D2 Series Servo Drive User Manual

DC reactor is not connected. DC reactor is connected.

Servo Drive Servo Drive

14AWG/600V cable is suggested. 14AWG/600V cable is suggested.

Figure4.1.2.4.1

CAUTION
 Wiring and the related inspection must be done by the professional technician.
 Turn off the power before wiring or inspection to avoid electric shock and other dangers.
 After the power is turned off, do not touch power terminals for a short time period (at least 5 minutes), since
the power in the drive remains high.
 Perform wiring correctly and reliably; otherwise it may cause uncontrolled motor operation, personnel injury,
machine malfunction, or other unexpected accidents.
 Do not connect the U, V, or W terminal of motor to power supply.
 Connectors of power and motor cables should be connected securely; otherwise it may cause fire.
 Ensure that the drive and motor are grounded properly.
 The drive and motor should be installed before wiring; otherwise it may cause electric shock.
 Do not damage, pull, or squeeze the wire; otherwise it may cause electric shock.
 The drive may interfere with the nearby electronic equipment. A noise filter could be used to reduce the
effect of electromagnetic interference.
 Do not make any modification to the drive.
 Do not put the main circuit cable, I/O signal cable, or encoder cable in the same duct, or tie them together.
The cable should be kept more than 30 cm away from each other at wiring.
 Following instructions must be observed for wiring main circuit terminals:
 Do not insert more than two wires in the same socket.
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 Check that there is no short circuit between the wire and its adjacent wire after inserting the wire.
 Use the specific power voltage; otherwise it may cause fire or drive damage.
 If the drive is used at the condition of poor or significantly fluctuating power, ensure that the power is
supplied within the specified range of voltage fluctuation; otherwise it may cause drive damage.
 Install safety devices, such as breaker, to prevent the short circuit of external wiring from damaging the
drive.
 The appropriate isolation and shielding measures must be adopted when the drive is used in the following
environments; otherwise it may cause the poor operation of drive.
 Environment with the interference generated by the static electricity or the like.
 Environment with a strong electric field or a strong magnetic field.
 Environment with the emitted radiation.
 Residual power still exists in capacitor even if main power is cut off. If you would like to stop the motor right
after the main power is cut off, refer to the instructions below.
 Control power must be cut off at the same time.
 Disable hardware enable by using relay.
 Enable dynamic brake after main power is cut off.

4.1.3 CN2 brake/motor power

For frame A-C models, CN2 is the brake connector; while for the frame D model, CN2 is the motor power
connector. Check the pin assignment for each model before use. It is suggested that the brake power
should be independent power and does not use the same power source with other power.

(1) Frame A-C

Use the brake wiring with a relay to connect the drive power of 24 Vdc to the brake.
Connector model: WAGO 734-104.

Figure4.1.3.1

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Power:

Isolated
control
Figure4.1.3.2 Brake wiring with a relay

(2) Frame D
The motor ground wire should be connected to the drive housing.
Connector model: TE Connectivity 3-2229794-1 (female).

Figure4.1.3.3

Table4.1.3.1

No. Single Function

1 U Motor U-phase input
2 V Motor V-phase input
3 W Motor W-phase input

4.1.4 CN3 USB communication

Use the mini USB to connect with PC for monitoring drive, doing test runs, or writing parameters, and so
on. The corresponding operation please refers to Section 5.

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 Wiring diagram of mini USB communication

Use HIWIN cable with the shielding network. Its model is “USB 2.0 Type A to mini-B 5-pin (1.8M)”.

Figure4.1.4.1

PC mega-fabs
D2 Series drive

USB
Serial CN3
port
N/C 4

USB_D+ 3 USB_D+ 3

GND 5 GND 5

USB_D- 2 USB_D- 2

+5V 1 USB_VBUS 1

Figure4.1.4.2

4.1.5 CN4 Modbus communication

Use RS485 cable to connect with the host controller. By using the Modbus serial communication protocol,
it can read and write drive parameters. All CN4 connectors of frame A-D models are Modbus
communication ports, but their connector specifications are different. The Modbus communication cable
must be AWG26/3-wire and double-shielded. It must comply with UL2464 standard and its copper braid
must connect with the shell.

Note:
D2T models with frame A-C do not support the Modbus communication.

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(1) Frame A-C

(a) RS485 (female connector) (b) RS485 (male connector)

Figure4.1.5.1

Table4.1.5.1

PIN Function Description

1 DATA+
RS485 Modbus communication
2 DATA-
3 N/A Reserved
4 GND Digital ground reference

(2) Frame D
Connector model: TE Connectivity 2040008-1 (female).

(a) RS485 (female connector) (b) RS485 (male connector)

Figure4.1.5.2

Table4.1.5.2

PIN Function Description

1 GND Digital ground reference
2 N/A Reserved
3 N/A Reserved
4 N/A Reserved
5 DATA1-
RS485 Modbus communication 1
6 DATA1+
7 DATA2-
RS485 Modbus communication 2
8 DATA2+

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4.1.6 CN5 Modbus communication/safety function

CN5 connectors of frame A-C models are Modbus communication ports; while the CN5 connector of
frame D model is the input of safety-function device. Check the pin assignment for each model before
use.

(1) Frame A-C

They are Modbus communication ports. Refer to Section 4.1.5.

(2) Frame D
If the safety function is not used, connect the supplied safety jumper to CN5. When the safety jumper
is not installed, the drive will not supply current to the motor, and the motor will not work normally.
Connector model: TE Connectivity 1971153-1 (female).

Figure4.1.6.1

Table 4.1.6.1

PIN Function Description

1 Not wiring.
2 Not wiring.
3 SF1-
4 SF1+ Two independent circuits for turning off the
operation signal of power module, so as to turn
5 SF2- off the motor current.
6 SF2+
7 EDM- Output signal for monitoring the status of safety
8 EDM+ function.

Shell FG Frame ground reference.

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4.1.7 CN6 control signal

For the pulse command and PWM command, the high-level input voltage should be greater than 2 V, and
the low-level input voltage should be less than 0.8 V.

(a) SCSI 50PIN (female) (b) SCSI 50PIN (male)

Figure4.1.7.1

 CN6 pin assignment

Table4.1.7.1

Pin Signal Function

1 CWL
Low-speed (500 Kpps) pulse command
3 CWL+
Channel 1: Pulse, CW, A-phase
4 CWL-
2 CCWL
Low-speed (500 Kpps) pulse command
5 CCWL+
Channel 2: Dir, CCW, B-phase
6 CCWL-
13 SG Ground reference for digital signal
21 A
22 /A
48 B Feedback pulse output (buffered encoder or emulated encoder)
49 /B RS422
23 Z
24 /Z
25 SG Digital ground reference
19 CZ Z-phase output (open collector)
14 ADC0+
Analog command input for the velocity/torque (+/- 10 V)
15 ADC0-
16 ADC1+
17 ADC1-
N/A
18 ADC2+
20 ADC2-
Analog voltage output (+/- 10V) for monitoring motor torque (only for D2T
43 AO1
model)
Analog voltage output (+/- 10V) for monitoring motor speed (only for D2T
42 AO2
model)
44 CWH+ High-speed (4 Mpps) pulse command
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Pin Signal Function

Channel 1: Pulse, CW, A-phase
45 CWH-
Maximum voltage: 12 V
46 CCWH+ High-speed (4 Mpps) pulse command
Channel 2: DIR, CCW, B-phase
47 CCWH-
Maximum voltage: 12 V
7 COM Common point for general-purpose input signal (Sink or Source)
33 I1
30 I2
29 I3
27 I4
28 I5 General-purpose input signal (programmable function)
26 I6
32 I7
31 I8
9 I9
8 N/A or I10 D2 model: N/A; D2T model: I10.
35 O1+
34 O1-
37 O2+
36 O2-
General-purpose output signal (programmable function)
39 O3+
38 O3-
11 O4+
10 O4-
D2 model: N/A; D2T model with the frame A, B, or C: O5+;
40 N/A or O5+
D2T model with the frame D: brake output/O5+.
D2 model: N/A; D2T model with the frame A, B, or C: O5-;
12 N/A or O5-
D2T model with the frame D: brake output/O5-.
41 AGND Analog ground reference
50 FG Frame ground reference

4.1.8 CN7 encoder

Press and pull clamps on both sides to remove CN7 connector.

Press and pull these

clamps to remove
CN7 connector

(a) SCR connector 10 pin (male) (b) SCR connector 10PIN (female)

Figure4.1.8.1

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Table4.1.8.1

Pin Signal
Encoder 13-bit 17-bit 17-bit Dual-loop Description
type incremental incremental absolute architecture
1 +5 Vdc +5 Vdc +5 Vdc +5 Vdc Encoder power output of +5 Vdc
2 SG SG SG SG Digital ground and ground for +5 Vdc
3 N/A MA+ PS+ PS+  17-bit incremental: timing output for
serial communication (MA+, MA-)
 17-bit absolute and dual-loop
4 N/A MA- PS- PS- architecture: data transmission for
serial communication (PS+, PS-)
5 A SL+ N/A A  13-bit incremental: digital signal
6 /A SL- N/A /A transmission (A, /A, B, /B, Z, /Z)
7 B N/A N/A B  17-bit incremental: data transmission
for serial communication (SL+, SL-)
8 /B N/A N/A /B  Dual-loop architecture: digital signal
9 Z N/A N/A Z transmission (Connecting to linear
10 /Z N/A N/A /Z encoder)
Shield FG FG FG FG Frame ground reference

4.1.9 CN8 EtherCAT communication

To connect with the EtherCAT module, the connector of network cable should have the shielding
protection.

Figure4.1.9.1 CN8 connector

Table4.1.9.1 CN8 pin assignment

Pin Signal Function

1 TX+ Positive terminal of data transmit
2 TX- Negative terminal of data transmit
3 RX+ Positive terminal of data receive
4 EtherCAT Gnd EtherCAT signal ground
5 EtherCAT Gnd EtherCAT signal ground
6 RX- Negative terminal of data receive
7 EtherCAT Gnd EtherCAT signal ground
8 EtherCAT Gnd EtherCAT signal ground

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4.1.10 CN13/CN14 extension I/O signal

CN13 and CN14 are 26-pin SCSI connectors.

Figure4.1.10.1

Table4.1.10.1 Specification of extension I/O module

Connector Function Quantity Specification

Digital input 24 Suitable for power system between 9 and 28 Vdc.
CN13 and CN14 Suitable for power system less than 24 Vdc.
Digital output 12
Maximum allowable current: 100 mA.

Table4.1.10.2

CN13 CN14
Pin Signal Description Pin Signal Description
1 DO 1+ Positive terminal of digital output 1 1 DO 7+ Positive terminal of digital output 7
2 DO 1- Negative terminal of digital output 1 2 DO 7- Negative terminal of digital output 7
3 DO 2+ Positive terminal of digital output 2 3 DO 8+ Positive terminal of digital output 8
4 DO 2- Negative terminal of digital output 2 4 DO 8- Negative terminal of digital output 8
5 DO 3+ Positive terminal of digital output 3 5 DO 9+ Positive terminal of digital output 9
6 DO 3- Negative terminal of digital output 3 6 DO 9- Negative terminal of digital output 9
7 DO 4+ Positive terminal of digital output 4 7 DO 10+ Positive terminal of digital output 10
8 DO 4- Negative terminal of digital output 4 8 DO 10- Negative terminal of digital output 10
9 DO 5+ Positive terminal of digital output 5 9 DO 11+ Positive terminal of digital output 11
10 DO 5- Negative terminal of digital output 5 10 DO 11- Negative terminal of digital output 11
11 DO 6+ Positive terminal of digital output 6 11 DO 12+ Positive terminal of digital output 12
12 DO 6- Negative terminal of digital output 6 12 DO 12- Negative terminal of digital output 12
14 DI 1 Digital input 1 14 DI 13 Digital input 13
15 DI 2 Digital input 2 15 DI 14 Digital input 14
16 DI 3 Digital input 3 16 DI 15 Digital input 15
17 DI 4 Digital input 4 17 DI 16 Digital input 16
18 DI 5 Digital input 5 18 DI 17 Digital input 17
19 DI 6 Digital input 6 19 DI 18 Digital input 18
20 DI 7 Digital input 7 20 DI 19 Digital input 19
21 DI 8 Digital input 8 21 DI 20 Digital input 20
22 DI 9 Digital input 9 22 DI 21 Digital input 21
23 DI 10 Digital input 10 23 DI 22 Digital input 22
24 DI 11 Digital input 11 24 DI 23 Digital input 23
25 DI 12 Digital input 12 25 DI 24 Digital input 24
Input common point of (allowed for Input common point (allowed for
13 COM+/- 13 COM+/-
positive or negative) positive or negative)
26 COM+/- 26 COM+/-

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4.2 Drive accessories

 Motor power cable

Table4.2.1

Part Name Part No. Description

HVPS04AA□□MB Suitable for 50 W - 750 W motor, without brake, flexible.
Suitable for 1KW motor, without brake, straight connector,
HVPM04BA□□MB
flexible.
Suitable for 2KW motor, without brake, straight connector,
HVPM04BB□□MB
flexible.
Suitable for 1KW motor, without brake, L-type connector,
HVPM04CA□□MB
flexible.
Suitable for 2KW motor, without brake, L-type connector,
HVPM04CB□□MB
Motor power flexible.
cable HVPS06AA□□MB Suitable for 50 W - 750 W motor, with brake, flexible.
Suitable for 1KW motor, with brake, straight connector,
HVPM06BA□□MB
flexible.
Suitable for 2KW motor, with brake, straight connector,
HVPM06BB□□MB
flexible.
Suitable for 1KW motor, with brake, L-type connector,
HVPM06CA□□MB
flexible.
Suitable for 2KW motor, with brake, L-type connector,
HVPM06CB□□MB
flexible.
 denotes the cable length as follows:

Table4.2.2

 03 05 07 10
Cable Length (m) 3 5 7 10

 Encoder cable

Table4.2.3

Part Name Part No. Description

Suitable for 50 W - 750 W motor, 13-bit incremental,
HVE13IAB□□MB
flexible.
Suitable for 1 KW - 2 KW motor, 13-bit incremental,
HVE13IBB□□MB
straight connector, flexible.
Suitable for 1 KW - 2 KW motor, 13-bit incremental, L-type
HVE13ICB□□MB
connector, flexible.
Suitable for 50 W - 750 W motor, 17-bit incremental,
HVE17IAB□□MB
flexible.
Suitable for 1 KW - 2 KW motor, 17-bit incremental,
HVE17IBB□□MB
Encoder cable straight connector, flexible.
Suitable for 1 KW - 2 KW motor, 17-bit incremental, L-type
HVE17ICB□□MB
connector, flexible.
HVE17AAB□□MB Suitable for 50 W - 750 W motor, 17-bit absolute, flexible.
Suitable for 1 KW - 2 KW motor, 17-bit absolute, straight
HVE17ABB□□MB
connector, flexible.
Suitable for 1 KW - 2 KW motor, 17-bit absolute, L-type
HVE17ACB□□MB
connector, flexible.
3 m in length, suitable for frame A-C models with the
HE00817DR300
dual-loop encoder, flexible.
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 denotes the cable length as follows:

Table4.2.4

 03 05 07 10
Wire Length (m) 3 5 7 10

Note:
The encoder cable shall be chosen to match with the motor encoder.

 Control signal cable

Table4.2.5

Part Name Part No. Description

2 m in length. Connected to host controller. The cable at

Control signal cable LMACK02D the controller terminal is free and can be soldered to make
the connector based on the connector of host controller.

3 m in length. Connected to host controller. The cable at

Extension I/O signal
HE00834S1200 the controller terminal is free and can be soldered to make
cable
the connector based on the connector of host controller.

 Communication cable

Table4.2.6

Part Name Part No. Description

USB 2.0 Type A to mini-B 5 pin. 1.8 m in length. The
USB communication cable 051700800366
cable at the drive terminal is the mini-B connector.
HE00834S0800 0.3 m in length. Suitable for frame A-C models.
HE00834S0900 1 m in length. Suitable for frame A-C models.
HE00834S1000 2 m in length. Suitable for frame A-C models.
Modbus communication HE00834S1100 3 m in length. Suitable for frame A-C models.
cable HE00834S1300 0.3 m in length. Suitable for the frame D model.
HE00834S1400 1 m in length. Suitable for the frame D model.
HE00834S1500 2 m in length. Suitable for the frame D model.
HE00834S1600 3 m in length. Suitable for the frame D model.

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 Connector kit

Table4.2.7

D2 Drive Model Model No. Description Quantity

CN1: Connectors of AC power, motor power, regenerative

resistor, and control power. 12 pins, pitch 5 mm, Wago 1
721-112/026-000.
CN2: Brake connector. 4 pins, pitch 3.5 mm 1
Frame A-C D2-CK3
CN6: Control signal connector. 50 pins, welded type,
1
EUMAX XDR-10350AS.
CN1 connector fixture tool: Wago 231-131. 1
CN2 connector fixture tool: Wago 734-230. 1
CN1: Connectors of AC power, drive control power,
regenerative resistor, and DC reactor. 11 pins, TE 1
1-2229794-1-PT1.
CN2: Motor power connector. 3 pins,
1
TE 3-22297894-1.
Frame D
(with Modbus D2-CK4 CN4: Connector kit for serial communication.
1
interface) TE 2040008-1.
CN5: Safety function connector. TE 1971153-1. 1
CN6: Control signal connector. 50 pins, welded type,
1
EUMAX XDR-10350AS.
CN1 and CN2 connector fixture tools: TE 1981045-1. 2
CN1: Connectors of AC power, drive control power,
regenerative resistor, and DC reactor. 11 pins, TE 1
1-2229794-1-PT1.
CN2: Motor power connector. 3 pins,
1
TE 3-22297894-1.
Frame D D2-CK5
CN5: Safety function connector. TE 1971153-1. 1
CN6: Control signal connector. 50 pins welded type, EUMAX
1
XDR-10350AS.
CN1 and CN2 connector fixture tools: TE 1981045-1. 2

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 EMC accessory kit

Table4.2.8

Part Name Model No. Description Quantity

Single-phase filter: FN2090-6-06 for 50 W to 400 W.
1
D2-EMC1 (Rated current: 6 A, leakage current: 0.67 mA)
D2 EMC accessory EMI core KCF-130-B. 2
kit for single phase Single-phase filter FN2090-10-06 for 750 W to 1 KW.
1
D2-EMC3 (Rated current: 10 A, leakage current: 0.67 mA)
EMI core KCF-130-B 2
Three-phase filter: FN3025HL-20-71.
1
D2-EMC2 (Rated current: 20 A, leakage current: 0.4 mA)
D2 EMC accessory EMI core KCF-130-B. 2
kit for three-phase Three-phase filter B84743C0035R166.
1
D2-EMC4 (Rated current: 35 A, leakage current: < 0.5 mA)
EMI core KCF-130-B 2

Note:
The EMI magnetic ring can reduce the noise interference, and can be applied on the main power cable, motor
power cable, encoder cable, or pulse control cable based on demand.

 Regenerative resistor

Table4.2.9

Part Name Model No. Resistance Value Rated Power/Peak Power

RG1 68 Ω 100W/500W
Regenerative resistor
RG2 120 Ω 300W/1500W

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 Connector specifications

Table4.2.10 Connector specifications for frame A-C models

Connector Specifications HIWIN Parts No. Wire Diameter Remarks

AC main power cable (CN1)
Motor power cable (CN1) EU 12-pin 5.0 mm 051500400269 12-24 AWG
pluggable female WAGO: Recommended: (Note 1)
Regenerative resistor (CN1) connector 2092-1112 12 AWG/600 V
Control power cable (CN1)
50-pin, .050" Mini D
Ribbon (MDR), 051500400272
Control signal cable (CN6) 24-30 AWG (Note 1)
standard solder SCSI 50 pin (male)
connector
HIWIN standard
Encoder cable (CN7)
encoder cable
EU 3-pin 2.5 mm 051500400251 Fixture tool:
Brake signal (CN2) pluggable female WAGO: 20-28 AWG 733-130
connector 733-103 (Note 1)
USB 2.0 Type A to
Mini USB communication (CN3) mini-B 5 pin (1.8 m) 051700800366 Optional
(Shielding)

Note:
(1) The accessory kit includes connectors of CN1, CN2, and CN6 (with 733-130 fixture tool). HIWIN P/N:
051800200070.
(2) Turn off all power and use fixture tools to avoid electric shock at wiring.

Table4.2.11 Connector specifications for the frame D model

Connector Specifications HIWIN Parts No. Wire Diameter

AC main power (CN1)
Control power (CN1) 051500400573 22-14 AWG
D3950/single-row 11 Port/
TE Connectivity Recommended:
Regenerative resistor (CN1) 7.5 mm/Line end/X key
1-2229794-1 14 AWG/600 V
DC reactor (CN1)
051500400572 22-14 AWG
D3950/single-row 3 Port/
Motor power cable (CN2) TE Connectivity Recommended:
7.5 mm/Line end/X key
3-2229794-1 14 AWG/600 V
Industrial mini I/O plug connector kit 051500400544
RS485 communication (CN4) D-shape TE Connectivity 24-14 AWG
type 2 2040008-1
051500400545
Industrial mini I/O bypass
Safety bypass (CN5) TE Connectivity
connector type 1
1971153-1

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D2 Series Servo Drive User Manual Wiring

4.3 Main power wiring

CAUTION
 Wiring and the related inspection must be done by the professional technician.
 Turn off the power before the wiring or inspection to avoid electric shock and other dangers.
 After the power is turned off, do not touch power terminals for a short time period (at least 5 minutes),
since the power in the drive remains high.
 Perform wiring correctly and reliably; otherwise it may cause uncontrolled motor operation, personnel
injury, machine malfunction, or other unexpected accidents.
 Do not make any modification to the drive.

4.3.1 AC power wiring (single-phase)

It is recommended to use the single-phase filter model of FN2090-6-06 for 50 W - 400 W motors, and
FN2090-10-06 for 750 W - 1 KW motors.

Emergency
ON OFF Stop
KM
KM
SK

mega-fabs
D2 Series drive
Filter
NFB KM CN1
1-phase
100~240VAC
200 L1
50/60Hz L2
L3
Earth
L1C
L2C

Figure4.3.1.1

Table4.3.1.1

FN2090-6-06 Filter

Maximum continuous operation voltage 250 Vac, 50/60 Hz

Operation frequency DC to 400 Hz

Rated current 1 to 30 A @40℃

Surge pulse protection 2 KV, IEC 61000-4-5

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Wiring D2 Series Servo Drive User Manual

4.3.2 AC power wiring (three-phase)

It is recommended to use the three-phase filter of FN3025HL-20-7.

Emergency
ON OFF Stop
KM
KM
SK

mega-fabs
D2 Series drive

NFB Filter
CN1
KM
3-phase
200~240VAC
L1
50/60Hz L2
L3
Earth
L1C
L2C

Figure4.3.2.1

Table4.3.2.1

FN3025HL-20-71 Filter

Maximum continuous operation voltage 3 x 520/300 Vac

Operation frequency DC to 60 Hz

Rated current 10 to 50 A @50°C

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D2 Series Servo Drive User Manual Wiring

4.4 Multiple drives connection

Do not use the power connector on the drive to connect the power supply between drives in parallel.

Emergency
ON OFF Stop
KM
KM
SK

mega-fabs
D2 Series drive

NFB Filter
CN1
KM
3-phase
200~240VAC
L1
50/60Hz L2
L3
Earth
L1C
Terminal L2C

mega-fabs
D2 Series drive

CN1

L1
Terminal L2
L3

L1C
Terminal
L2C

mega-fabs
D2 Series drive

CN1

L1
L2
L3

L1C
L2C

Figure4.4.1

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Wiring D2 Series Servo Drive User Manual

 Selection of no-fuse breakers (NFBs)

When NFB is used in the drive shunt, its rated capacity is usually 1.5 - 2.5 times the rated motor
current in principle. The selection method is described as follows:
One drive: IB = C×In.
Two or more drives not started at the same time: IB = (ΣIn - InMAX)×K ＋ CMAX×InMAX.
Two or more drives started at the same time: IB = C1×In1 ＋ C2×In2 ＋……＋ CN×InN.

Note:
IB: Rated NFB current;
In: Rated drive current;
InMAX: The maximum rated current among different drives;
C: Multiple of rated current, usually 1.5 - 2.5, or 1.5 if it cannot be determined;
Cmax: Multiple of rated current for the maximum rated current among drives;
K: Demand rate; 1 if it cannot be determined.

Example:
If five D2-0123--A and one D2-0423--B drives are used,
(assuming that C and CMAX are 2)

Not started at the same time: IB = (1.5×5 + 4.1 - 4.1)×1 + 4.1×2 = 15.7 Arms.
Started at the same time: IB = 2×1.5 + 2×1.5 + 2×1.5 + 2×1.5 + 2×1.5 + 2×4.1 = 23.2 Arms.

Table4.4.1 Rated current of D2-series drives

Drive Model Name Rated Input Current

D2-0123--A 1.5 Arms

D2-0423--B 4.1 Arms

D2-1023--C 7.5 Arms

D2T-2033--D 10.5 Arms

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D2 Series Servo Drive User Manual Wiring

4.5 I/O signal wiring

D2 model provides 9 general-purpose inputs and 4 general-purpose outputs on CN6 connector; while
D2T model provides 10 general-purpose inputs and 5 general-purpose outputs on CN6 connector. Users
can configure the function of each I/O by using the software. In this section, take D2 model as an
example. The wiring method for D2T model is the same as that for D2 model.

4.5.1 Digital input wiring

General-purpose inputs of D2-series drives adopt the optical-coupler input interface suitable for the
voltage system of 12 - 24 Vdc. D2 (D2T) model has the total of 9 (10) general-purpose inputs with one
COM port and suitable for Sink or Source connection at the same time. The default function of I3 is “Axis
Enable”. Others can be set by using the human-machine interface (HMI) based on the user’s requirement.

4.5.1.1 Sink input wiring examples

 Input wiring example via switches or relays

Sink connection 接
4.7K
7 COM
Current 33 I1

30 I2

29 I3

Figure4.5.1.1.1

 Input wiring example via transistors

Sink connection
4.7K
流 7 COM
Current 33 I1

30 I2

29 I3

Figure4.5.1.1.2

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Wiring D2 Series Servo Drive User Manual

4.5.1.2 Source input wiring examples

 Input wiring example via switches or relays

Source connection
4.7K
7 COM
33 I1

30 I2

29 I3
Current流

Figure4.5.1.2.1

 Input wiring example via transistors

接
Source connection 4.7K
7 COM
33 I1

30 I2

29 I3
Current流

Figure4.5.1.2.2

4.5.2 Digital output wiring

General-purpose outputs of D2-series drive adopt the output interface of optical-coupler Darlington
suitable for the voltage system of less than 24 Vdc. D2 (D2T) model has 4 (5) general-purpose outputs.
Each output has an independent Darlington open-collector circuit. The maximum allowable current is 100
mA. Users can configure the function of each output by using the software.

Note:
When O5 of frame D model is set to brake signal output, it is necessary to connect to a relay to control
the motor brake, since its maximum allowable current is 100 mA.

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D2 Series Servo Drive User Manual Wiring

O1+ 35
O1- 34
O2+ 37
+24VDC
O2- 36
O3+ 39
O3- 38
O4+ 11
O4- 10

Figure4.5.2.1

 Output wiring example via relays

Figure4.5.2.2

 Output wiring example via optical couplers

Figure4.5.2.3

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4.6
Wiring

4.6.1
(1) When host controller is NPN using 12/24V power with
external resistors:
MD07UE01-2010

3.1.1 for more information.

(2) When host controller is NPN using 24V power without
external resistors:

A phase output

B phase output

C phase output

(3) When host controller is PNP using 12/24V power with

Z phase output (open collector)
external resistors:

Figure4.6.1.1
Voltage input (+/-10V)

(4) When host controller is PNP using 24V power without

external resistors:
Wiring examples for control commands

System wiring diagram for pulse command

D2-ENT01A
: Twisted pair

HIWIN MIKROSYSTEM CORP.

D2 Series Servo Drive User Manual

The position mode can accept three formats of pulse command from the host controller. Refer to Section
 MD07UE01-2010

D2 Series Servo Drive User Manual Wiring

4.6.1.1 Differential interface for high-speed pulse

Wiring example for the host controller having the differential interface for high-speed pulse:

General-purpose output;
High-speed pulse mega-fabs its function can be
Host controller command D2 Series Drive assigned by the user.
(4 Mpps or less) High speed pulse input Signal output CN6 24V
CN6 RDY
1K O1+ 35
PLS 44 CWH+
121 1K O1- 34 Photo-
CW / A 45 CWH-
ALM
Coupler
O2+ 37 wiring
1K
DIR 46 CCWH+
121 O2- 36
CCW / B 1K
47 CCWH- INP
O3+ 39 R
25 SG
O3- 38 Relay
wiring
Signal input O4+ 11 R
CN6
4.7K O4- 10
24V 7 COM
IHN 0V
33 I1
Encoder output ( :Twisted pair)
CPE 30 I2 CN6
A 21 A-phase
SVN 29 I3 /A 22 output
B 48 B-phase
GNS 27 I4 /B 49 output
General-purpose
input; its function DIV1 Z 23 Z-phase
28 I5
can be assigned by /Z 24 output
the user. LL 26 I6

MOD 32 I7 Ic=0.6A(Max.)
Vce=40V(Max.)
CE 31 I8 Z output (open collector)
CZ 19
RL SG 25 0V
9 I9
0V

CN1 CN7
U
V
W

D2-ENE01A

Figure4.6.1.1.1

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Wiring D2 Series Servo Drive User Manual

4.6.1.2 Differential interface for low-speed pulse

Wiring example for the host controller having the differential interface for low-speed pulse:

General-purpose outputs
Low-speed pulse command
(user-defined)
(500K pps or less)

General-purpose inputs
(user-defined)

Figure4.6.1.2.1

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D2 Series Servo Drive User Manual Wiring

4.6.1.3 Sink (NPN) interface with current-limit resistances

Wiring example for the host controller having the NPN interface with current-limit resistances:

Low-speed pulse General-purpose output; its

command mega-fabs function can be assigned by
(500 Kpps or less) D2 Series Drive the user.
Low speed pulse input Signal output CN6 24V
Host controller 12~24VDC CN6
RDY
NPN type O1+ 35
2K
3 CWL+ O1- 34 Photo-
R 220
4 CWL- ALM
Coupler
PLS O2+ 37 wiring
CW / A
2K
5 CCWL+ O2- 36
R 220
6 CCWL- INP
DIR O3+ 39 R

CCW / B O3- 38 Relay

Signal input wiring
0V
O4+ 11 R
CN6
Vdc Resistor (R) 4.7K O4- 10
24V 7 COM
12V 1KΩ , 0.5W IHN 0V
33 I1
24V 2KΩ , 0.5W
Encoder output ( :Twisted pair)
CPE 30 I2 CN6
A 21 A-phase
SVN 29 I3 /A 22 output
General-purpose B 48 B-phase
GNS 27 I4
input; its function /B 49 output
can be assigned by DIV1 Z 23 Z-phase
28 I5
the user. /Z 24 output
LL 26 I6

MOD 32 I7 Ic=0.6A(Max.)
Vce=40V(Max.)
CE 31 I8 Z output (open collector)
CZ 19
RL SG 25 0V
9 I9
0V

CN1 CN7
U
V
W

D2-ENE02A

Figure4.6.1.3.1

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Wiring D2 Series Servo Drive User Manual

4.6.1.4 Sink (NPN) interface without current-limit resistances

Wiring example for the host controller having the NPN interface without current-limit resistances:

Low-speed pulse
General-purpose output;
command mega-fabs its function can be
(500 Kpps or less) D2 Series Drive assigned by the user.
12~24VDC CN6 Low speed pulse input Signal output CN6 24V
Host controller RDY
2K O1+ 35
NPN type 1 CWL 2K
O1- 34 Photo-
220 Coupler
4 CWL- ALM
PLS O2+ 37 wiring
2K
CW / A 2 CCWL
2K
O2- 36
220 INP
6 CCWL- O3+ 39 R
DIR
CCW / B O3- 38 Relay
Signal input wiring
0V
O4+ 11 R
CN6
4.7K O4- 10
24V 7 COM
IHN 0V
33 I1
Encoder output ( :Twisted pair)
CPE 30 I2 CN6
A 21 A-phase
SVN 29 I3 /A 22 output
B 48 B-phase
GNS 27 I4 /B 49 output
General-purpose Z 23
DIV1 28 I5 Z-phase
input; its function /Z 24 output
can be assigned by LL 26 I6
the user.
MOD 32 I7 Ic=0.6A(Max.)
Vce=40V(Max.)
CE 31 I8 Z output (open collector)
CZ 19
RL SG 25 0V
9 I9
0V

CN1 CN7
U
V
W

D2-ENE03A

Figure4.6.1.4.1

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D2 Series Servo Drive User Manual Wiring

4.6.1.5 Source (PNP) interface with current-limit resistances

Wiring example for the host controller having the PNP interface with current-limit resistances:

Low-speed pulse
General-purpose output;
command
Host controller mega-fabs its function can be
(500 Kpps or less)
PNP type D2 Series Drive assigned by the user.
12~24VDC
CN6 Low speed pulse input Signal output CN6 24V
PLS RDY
O1+ 35
CW / A R 2K
3 CWL+ O1- 34 Photo-
220 Coupler
4 CWL- ALM
DIR O2+ 37 wiring
CCW / B R 2K
5 CCWL+ O2- 36
220 INP
6 CCWL- O3+ 39 R
Vdc Resistor (R)
0V O3- 38 Relay
12V 1KΩ , 0.5W Signal input wiring
24V 2KΩ , 0.5W O4+ 11 R
CN6
4.7K O4- 10
24V 7 COM
IHN 0V
33 I1
Encoder output ( :Twisted pair)
CPE 30 I2 CN6
A 21 A-phase
SVN 29 I3 /A 22 output
B 48 B-phase
GNS 27 I4 /B 49 output
General-purpose
input; its function DIV1 Z 23 Z-phase
28 I5
can be assigned by /Z 24 output
the user. LL 26 I6

MOD 32 I7 Ic=0.6A(Max.)
Vce=40V(Max.)
CE 31 I8 Z output (open collector)
CZ 19
RL SG 25 0V
9 I9
0V

CN1 CN7
U
V
W

D2-ENE04A

Figure4.6.1.5.1

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Wiring D2 Series Servo Drive User Manual

4.6.1.6 Source (PNP) interface without current-limit resistances

Wiring example for the host controller having the PNP interface without current-limit resistances:

Low-speed pulse
command
(500 Kpps or less) General-purpose output;
Host controller mega-fabs its function can be
12~24VDC
PNP type D2 Series Drive assigned by the user.
PLS Low speed pulse input Signal output CN6 24V
CN6
CW / A RDY
2K O1+ 35
1 CWL 2K
O1- 34 Photo-
220 Coupler
DIR 4 CWL- ALM
CCW / B O2+ 37 wiring
2K
2 CCWL
2K
O2- 36
220 INP
6 CCWL- O3+ 39 R

0V O3- 38 Relay
Signal input wiring
O4+ 11 R
CN6
4.7K O4- 10
24V 7 COM
IHN 0V
33 I1
Encoder output ( :Twisted pair)
CPE 30 I2 CN6
A 21 A-phase
SVN 29 I3 /A 22 output
B 48 B-phase
GNS 27 I4 /B 49 output
General-purpose
input; its function DIV1 Z 23 Z-phase
28 I5
can be assigned by /Z 24 output
the user. LL 26 I6

MOD 32 I7 Ic=0.6A(Max.)
Vce=40V(Max.)
CE 31 I8 Z output (open collector)
CZ 19
RL SG 25 0V
9 I9
0V

CN1 CN7
U
V
W

D2-ENE05A

Figure4.6.1.6.1

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D2 Series Servo Drive User Manual Wiring

4.6.1.7 5V TTL interface

Wiring example for the host controller having the 5V TTL interface:

Low-speed pulse command

(500 Kpps or less) mega-fabs General-purpose output;
General
its function can be output
Controller D2 Series Drive Definited by user
assigned by the user.
5V TTL type CN6 Low-speed pulse input Signal output CN6 24V
RDY
O1+ 35
STEP 2K
3 CWL+ O1- 34 Photo-
220 Coupler
4 CWL- ALM
O2+ 37 wiring
DIR 2K
5 CCWL+ O2- 36
220 INP
6 CCWL- O3+ 39 R

O3- 38 Relay
0V Signal input wiring
O4+ 11 R
CN6
4.7K O4- 10
24V 7 COM
ZSP 0V
33 I1
Encoder output ( :Twisted pair)
30 I2 CN6
A 21 A-phase
SVN 29 I3 /A 22 output
General-purpose
input; its function B 48 B-phase
General input GNS 27 I4 output
can be assigned by by user
Definited /B 49
the user. Z 23 Z-phase
28 I5
/Z 24 output
LL 26 I6

MOD 32 I7 Ic=0.6A(Max.)
Vce=40V(Max.)
CE 31 I8 Z output (open collector)
CZ 19
RL SG 25 0V
9 I9
0V

CN1 CN7
U
V
W

D2-ENE17A

Figure4.6.1.7.1

HIWIN MIKROSYSTEM CORP. 4-39

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Wiring D2 Series Servo Drive User Manual

Note:
The signal logic of pulse command accepted by D2 drive is shown as follows.

Table4.6.1.7.1

Pulse Command Positive Logic Negative Logic

Pulse
Dir

CW
CCW

A
B

If the pulse command of host controller is the single-ended negative logic CW/CCW signal, it can be
converted to the positive logic CW/CCW signal by using the following wiring.

D2-series drive

Figure4.6.1.7.2 Wiring for converting the single-ended negative logic to positive logic CW/CCW signal

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D2 Series Servo Drive User Manual Wiring

4.6.2 System wiring diagram for voltage command

The drive can accept the voltage command form the host controller in the velocity and force/torque
modes. Refer to Sections 3.1.2 and 3.1.3 for more information.

A phase
output

B phase
output

Z phase
output

Z output (open collector)

Voltage input (+/-10V)

: Twisted pair

Figure4.6.2.1

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Wiring D2 Series Servo Drive User Manual

Wiring example for the host controller having the interface of -10 V to +10 V:

General-purpose output;
mega-fabs its function can be
Host controller D2 Series Drive assigned by the user.
Velocity mode input Signal output CN6 24V
RDY
O1+ 35
R Vref
CN6 O1- 34 Photo-
10K 10.2K ALM
Coupler
14 ADC0+ O2+ 37 wiring
Vcmd+
15 ADC0- O2- 36
Vcmd- 10K 10.2K R
IN-V
O3+ 39 R
Voltage range
-10V~+10V O3- 38 Relay
wiring
ZSPD
Signal input O4+ 11 R
CN6
4.7K O4- 10
24V 7 COM
ZSC 0V
33 I1
Encoder output ( :Twisted pair)
30 I2 CN6
A 21 A-phase
SVN 29 I3 /A 22 output
B 48 B-phase
GNS 27 I4
General-purpose /B 49 output
input; its function Z 23 Z-phase
28 I5
can be assigned by /Z 24 output
the user. LL 26 I6

MOD 32 I7 Ic=0.6A(Max.)
Vce=40V(Max.)
CE 31 I8 Z output (open collector)
CZ 19
RL SG 25 0V
9 I9
0V

CN1 CN7
U
V
W

D2-ENE06A

Figure4.6.2.2

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D2 Series Servo Drive User Manual Wiring

4.6.3 System wiring diagram for PWM command

In addition to analog voltage command, D2-series drives can also accept the PWM command in the
velocity and force/torque modes. The PWM command is classified into single-wire (PWM 50%) and
two-wire (PWM 100%) types. Refer to Sections 3.1.2 and 3.1.3 for more information.

4.6.3.1 NPN interface with PWM 50%

Wiring example for the host controller having the NPN interface with PWM 50%:

General-purpose output;
mega-fabs its function can be
PWM 50% command D2 Series Drive assigned by the user.
Host controller 12~24VDC CN6 Velocity / Torque mode Signal output CN6 24V
RDY
NPN type 2K O1+ 35
1 CWL 2K
O1- 34 Photo-
220 Coupler
4 CWL- ALM
PWM O2+ 37 wiring
2K
2 CCWL
2K
O2- 36
220 INP
0V 6 CCWL- O3+ 39 R

O3- 38 Relay
Signal input wiring
O4+ 11 R
CN6
4.7K O4- 10
24V 7 COM
ZSP 0V
33 I1
Encoder output ( :Twisted pair)
30 I2 CN6
A 21 A-phase
SVN 29 I3 /A 22 output
B 48 B-phase
GNS 27 I4
General-purpose /B 49 output
input; its function Z 23 Z-phase
28 I5
can be assigned by /Z 24 output
the user. LL 26 I6

MOD 32 I7 Ic=0.6A(Max.)
Vce=40V(Max.)
CE 31 I8 Z output (open collector)
CZ 19
RL SG 25 0V
9 I9
0V

CN1 CN7
U
V
W

D2-ENE13A

Figure4.6.3.1.1

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Wiring D2 Series Servo Drive User Manual

4.6.3.2 NPN interface with PWM 100%

Wiring example for the host controller having the NPN interface with PWM 100%:

General-purpose output;
mega-fabs its function can be assigned
PWM 100% command D2 Series Drive by the user.
Host controller 12~24VDC CN6 Velocity / Torque mode Signal output CN6 24V
RDY
NPN type 2K O1+ 35
1 CWL 2K
O1- 34 Photo-
220 Coupler
4 CWL- ALM
PWM O2+ 37 wiring
2K
2 CCWL
2K
O2- 36
220 INP
6 CCWL- O3+ 39 R
DIR
O3- 38 Relay
Signal input wiring
0V
O4+ 11 R
CN6
4.7K O4- 10
24V 7 COM
ZSP 0V
33 I1
Encoder output ( :Twisted pair)
30 I2 CN6
A 21 A-phase
SVN 29 I3 /A 22 output
B 48 B-phase
GNS 27 I4 /B 49 output
General-purpose
input; its function Z 23 Z-phase
28 I5
can be assigned by /Z 24 output
the user. LL 26 I6

MOD 32 I7 Ic=0.6A(Max.)
Vce=40V(Max.)
CE 31 I8 Z output (open collector)
CZ 19
RL SG 25 0V
9 I9
0V

CN1 CN7
U
V
W

D2-ENE14A

Figure4.6.3.2.1

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D2 Series Servo Drive User Manual Wiring

4.6.3.3 5V TTL interface with PWM 50%

Wiring example for the host controller having the 5V TTL interface with PWM 50%:

General-purpose output;
mega-fabs its function can be
General output
PWM 50% command D2 Series Drive assigned by the
Definited byuser.
user
Controller 5VDC CN6 Velocity / Torque mode Signal output CN6 24V
RDY
5V TTL type O1+ 35
2K
3 CWL+ O1- 34 Photo-
PWM 220
4 CWL- ALM
Coupler
O2+ 37 wiring
2K
5 CCWL+ O2- 36
0V
220 INP
6 CCWL- O3+ 39 R

O3- 38 Relay
Signal input wiring
O4+ 11 R
CN6
4.7K O4- 10
24V 7 COM
ZSP 0V
33 I1
Encoder output ( :Twisted pair)
30 I2 CN6
A 21 A-phase
SVN 29 I3 /A 22 output
General-purpose
B 48 B-phase
General
input; input
its function GNS 27 I4 /B 49 output
Definited by user
can be assigned by
Z 23 Z-phase
the user. 28 I5
/Z 24 output
LL 26
29 I6

MOD 32 I7 Ic=0.6A(Max.)
Vce=40V(Max.)
CE 31 I8 Z output (open collector)
CZ 19
RL SG 25 0V
9 I9
0V

CN1 CN7
U
V
W

D2-ENE15B

Figure4.6.3.3.1

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Wiring D2 Series Servo Drive User Manual

4.6.3.4 5V TTL interface with PWM 100%

Wiring example for the host controller having the 5V TTL interface with PWM 100%:

mega-fabs General-purpose output;

General output
D2 Series Drive its function can be assigned
PWM 100% command Definited by user
by the user.
Controller 5VDC CN6 Velocity / Torque mode Signal output CN6 24V
5V TTL type RDY
O1+ 35
2K
3 CWL+ O1- 34 Photo-
PWM 220
4 CWL- ALM
Coupler
O2+ 37 wiring
2K
5 CCWL+ O2- 36
DIR 220 INP
6 CCWL- O3+ 39 R

O3- 38 Relay
Signal input wiring
0V
O4+ 11 R
CN6
4.7K O4- 10
24V 7 COM
ZSP 0V
33 I1
Encoder output ( :Twisted pair)
30 I2 CN6
A 21 A-phase
SVN 29 I3 /A 22 output
B 48 B-phase
General input GNS
General-purpose
Definited by user
27 I4 /B 49 output
input; its function Z 23
28 I5 Z-phase
can be assigned by /Z 24 output
the user. LL 26
29 I6

MOD 32 I7 Ic=0.6A(Max.)
Vce=40V(Max.)
CE 31 I8 Z output (open collector)
CZ 19
RL SG 25 0V
9 I9
0V

CN1 CN7
U
V
W

D2-ENE16B

Figure4.6.3.4.1

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5. Drive configuration
00000000 00000
0
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

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Drive Configuration D2 Series Servo Drive User Manual

5.1 Installation and communication

The human-machine interface (HMI) for D2-series drives is called Lightening. Through the connection
between PC and the drive by using the mini USB, it can perform functions of initialization, configuration,
operation, test runs, parameters saving, and so on. This section describes how to install Lightening and
communicate with the drive.

5.1.1 Setup files

Files in the Lightening setup folder are shown in figure 5.1.1.1, included an auto execution file
“setup.exe”, a firmware folder “dce”, and so on.

Figure5.1.1.1

If using the installation CD, simply wait for the setup program to run automatically. If using setup files
downloaded from HIWIN website (after log in HIWIN website, the file path is “http://
www.hiwinmikro.tw/hiwintree/Product_SubType.aspx?type=D2”), unzip the downloaded file and execute
“setup.exe”. The default installation path is “C:\HIWIN\”. Do not try to change this path. The installation
window is given in figure 5.1.1.2. Click the “Start” button to run the automated installation procedure. After
this procedure is completed, the message window of figure 5.1.1.3 appears to show that the software
installation is ended successfully.

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D2 Series Servo Drive User Manual Drive Configuration

Figure5.1.1.2

Figure5.1.1.3

The execution shortcut of Lightening will appear on the PC desktop after the installation procedure is
completed, as shown in figure 5.1.1.4. The path for this shortcut is:
“C:\HIWIN\dce\toolswin\winkmi\lightening.exe”.

Figure5.1.1.4

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5.1.2 Communication setup

There are three methods of communicating with the drive: (1) using USB communication, (2) using
mega-ulink communication, and (3) using CoE communication. This section will introduce the former two
methods. As for the last one, refer to the other HIWIN document: “HIWIN CoE Drive User Guide” (log in
HIWIN website and download it. If the mega-ulink or CoE communication is used to connect with the
drive, it is suggested to use network card with the network chip certified by Beckhoff.

Note:
(1) The firmware for previous CoE model (firmware number 0.037) cannot support later EtherCAT model. The
firmware must be updated.
(2) The firmware for previous mega-ulink model (firmware number 0.037) cannot support later EtherCAT model.
This can be solved by using PDL program, please contact HIWIN.

(1) Using USB communication

Before starting Lightening, connect to the drive via USB and turn on the control power. Normally,
Lightening will automatically connect to the drive when it is opened. If not, click “Communication
setup” in the “Tools” option to change the communication setup, as shown in the following figure.

Figure5.1.2.1

The window for communication setup is shown in figure 5.1.2.2. D2 drive supports the USB
communication method. Here, the “BPS” field shows the transmission rate and its default value is
115,200 bps. This value should not be changed. The “Port” field shows the communication port. It will
display the existing PC ports. Select the port actually connected to the drive. Using default values in
remaining fields, Lightening can successfully communicate with the drive.

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D2 Series Servo Drive User Manual Drive Configuration

Figure5.1.2.2

(2) Using mega-ulink communication

At the first usage of mega-ulink communication, download and install WinPcap. After installing
WinPcap is done, open the “lightening Communication Setup” window described in the previous
subsection, as shown in figure 5.1.2.2. Select the radio button for “Ethercat” and click the “EtherCat”
button, as shown in figure 5.1.2.3.

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Figure5.1.2.3

The “EtherCat set up” window will appear to display all network cards in the computer, as shown in
figure 5.1.2.4. Select the network card connected to the drive. After that, close the “EtherCat set up”
window and click the “Apply” button in the “lightening Communication Setup” window.

Figure5.1.2.4

After the setting is completed, the window of figure 5.1.2.5 will appear. The number of connected axes
can be obtained from the information in the window. After going back to Lightening main window, the
connection is established and “Ethercat” is shown in the title, as given in figure 5.1.2.6.

Connect to 1 slave

Figure5.1.2.5

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D2 Series Servo Drive User Manual Drive Configuration

Figure5.1.2.6

5.1.3 HMI main window

The HMI main window after connecting is given in figure 5.1.3.1. The axis name can be modified by
clicking the right mouse button at the axis name and choosing “Rename”. It also can be modified directly
by clicking the axis name.

Main toolbar
Drive connection
area Axis name

Status display area

Error message display area

Warning message display area

Quick view signal monitor area

Connection status
display area

Figure5.1.3.1

 Main toolbar
: Open the window of PDL program.

: Save current parameters in the drive RAM to file (PRM file).

: Load parameters in the file (PRM file) to drive RAM.

: Save current parameters in the drive RAM to Flash.

: Reset drive.

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 Status display light

There are three indicators for displaying statuses.
- : The light will be off when the drive is at the disable status. It will become green when
the drive is at the enable status.
- : The light is green when the drive hardware is enabled. If the hardware is not
enabled, the drive cannot enable the motor. The setting method of hardware enable via the external
input refers to Section 5.5.1 and Appendix A.

- : The light is green when the drive software is enabled. Only when both hardware
and software are enabled, the drive can enable the motor. Click the “Enable” button in the
performance center to enable the software; while click the “Disable” button to cancel the software
enable. If there is no connection between PC and the drive, the status of software enable is changed
with the status of hardware enable. If there is the connection between PC and the drive, when
Lightening HMI is closed, it will query whether the software is enabled or disabled after the window is
closed.

 Drive property
Properties of used drive can be obtained by clicking the right mouse button at the axis name and
choosing “Properties”, as shown in figure 5.1.3.2.

Figure5.1.3.2

Note:
When Lightening 0.144 (inclusive) or older version is used to connect with D2 model, or Lightening 0.180 (inclusive)
or older version is used to connect with D2T model, the message for installation error will appear after connecting,
as shown in figure 5.1.3.3. Since these HMI versions do not contain the firmware version for these drives, Lightening
cannot identify them. Click the “Do nothing” button and download the latest version of Lightening from HIWIN
website.

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D2 Series Servo Drive User Manual Drive Configuration

Figure5.1.3.3 Message for firmware version error

5.2 Configuration center

When using a new drive or a new motor, relevant parameters should be set based on the actual
application via configuration center. The configuration center can be opened by clicking in the main
toolbar. The location of this button is shown in figure 5.2.1.

Figure5.2.1

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Drive Configuration D2 Series Servo Drive User Manual

Following setting steps must be done before using D2 drive to drive the motor successfully.
(1) Motor type: Set the used motor type and the corresponding parameters for the motor hardware.
(2) Encoder parameter: Set the used encoder type and its resolution.
(3) Operation mode: Set the operation mode at the drive.

5.2.1 Motor configuration

The motor configuration is at the first page of configuration center. AC servo motors supported by D2
drive can be found under . For the motor with a serial encoder, it does not need to set motor
parameters, since they are already saved in the encoder. Hence, there is no option of . For
Lightening 0.177 (inclusive) or less, the motor configuration page is shown in figure 5.2.1.1; while for
Lightening 0.178 (inclusive) or above, it is given in figure 5.2.1.2.

 Setting for AC servo motor

(1) Motor parameters

By clicking the motor model name of HIWIN servo motor, motor parameters are displayed and
can be set.

(2) Operation parameters

 Screw Moment of Inertia: the rotational inertia of used screw. Unit: Kg x m2.

 Load Mass: the mass of load. Unit: Kg.

 Screw Pitch: the pitch of ball screw (i.e. the amount of linear movement when the screw
moves one revolution). Unit: mm.
 Gear Ratio: the ratio of gear-teeth number at the load to that at the drive.

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Operation parameters
setting area

Motor parameter
setting area

Figure5.2.1.1 Motor configuration page for Lightening 0.177 or less

ZeroTune parameters
setting area

Figure5.2.1.2 Motor configuration page for Lightening 0.178 or above

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(3) ZeroTune parameters

The tuneless feature of ZeroTune can avoid the complex procedure of gain tuning and can
easily set gains. Only by selecting the load level of motor, the stable velocity response will be
achieved. Even a beginner who has no knowledge about servo control can easily drive the
motor. Required parameters to be set are given as follows.
- Load level: the level of load weight. There are five levels: LV1 - LV5. When this field shows
“Tuned”, it means that the gain is not set by ZeroTune, but is set by Auto tune or by manual.
- Mass reference: the maximum reference weight corresponding to the selected level. Unit: Kg.
Table 5-1 shows the maximum reference weight at the different combination of motor power
and load level.

Table5.2.1.1 Mass reference of ZeroTune

Motor power LV1 LV2 LV3 LV4 LV5

50 W,100 W 5 kg 15 kg 30 kg 45 kg 60 kg
200 W,400 W 10 kg 25 kg 50 kg 75 kg 100 kg
750 W,1 KW 20 kg 50 kg 80 kg 110 kg 140 kg

Setting correct parameters for the motor operation can help to calculate suitable values for
driving parameters, such that the drive can successfully drive the motor.

5.2.2 Encoder configuration

The drive normally receives a feedback signal from the position encoder to execute the servo control. The
encoder configuration page is shown in figure 5.2.2.1. Select or set the correct type and parameters of
encoder on this page. To work with the host controller, D2 drive can output encoder signals besides
receiving encoder signals. It provides the buffered encoder output or emulated encoder output. When
using the emulated encoder output, the output resolution can be modified by setting “Scaling”.

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D2 Series Servo Drive User Manual Drive Configuration

Figure5.2.2.1 Encoder configuration page for 13-bit encoder

5.2.2.1 HIWIN standard encoder

Specifications of rotary digital encoder used in HIWIN AC servo motor is given in table 5.2.2.1.1. The 9-th
bit of motor model name being 5 uses the 13-bit digital incremental rotary encoder with the resolution of
10,000 counts/rev. The 9-th bit of motor model name being 6 uses the 17-bit serial incremental rotary
encoder with the resolution of 131,072 counts/rev. The 9-th bit of motor model name being 4 uses the
17-bit serial multi-turn absolute rotary encoder with the resolution of 131,072 counts/rev.

Table5.2.2.1.1

AC servo motor model counts/rev

FRLS series FRLS05XX5, FRLS10XX5, FRLS202X5, FRLS402X5
13-bit Incremental
FRMS series FRMS052X5, FRMS102X5, FRMS4B2X5, FRMS752X5
(10,000 counts/rev)
FRMM series FRMM1K2X5
FRLS series FRLS052X6, FRLS102X6, FRLS202X6, FRLS402X6,
17-bit Incremental
FRMS series FRMS052X6, FRMS102X6, FRMS4B2X6,FRMS752X6
(131,072 counts/rev)
FRMM series FRMM1K2X6
FRLS series FRLS052X4, FRLS102X4, FRLS202X4, FRLS402X4,
17-bit Absolute
FRMS series FRMS052X4, FRMS102X4, FRMS4B2X4,FRMS752X4
(131,072 counts/rev)
FRMM series FRMM1K2X4

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(1) 13-bit incremental encoder

For HIWIN AC servo motor with the 13-bit incremental encoder, simply selecting the purchased
motor model name, the program will automatically connect to encoder parameters suitable for this
motor, as shown in figure 5.2.2.1. For example, for the 9-th bit of motor model name being 5, the
program will automatically connect to the digital rotary encoder with the resolution being 10,000
counts/rev.

(2) 17-bit serial encoder

For HIWIN AC servo motor with the serial encoder, it does not need to set encoder parameters,
since they are already saved in the encoder, as shown in figure 5.2.2.1.1. For example, for the 9-th
bit of motor model name being 4 or 6, the program will automatically read encoder parameters and
show the resolution being 131,072 counts/rev. When using the 9-th bit of motor model name being 4
(with multi-turn absolute encoder), it also shows “Multiturn range” of this encoder. The multi-turn
range of HIWIN absolute encoder is -32,768 to 32,767.

Multi-turn range for

multi-turn absolute encoder

Figure5.2.2.1.1 Encoder configuration page for 17-bit encoder

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D2 Series Servo Drive User Manual Drive Configuration

(3) Dual-loop encoder

HIWIN dual-loop model supports the 17-bit multi-turn absolute encoder (the 9-th bit of motor model
name is 4) and the digital AqB linear encoder. Its encoder configuration page is given in figure
5.2.2.1.2.

a When the option of “Dual loop” is not checked, the setting method for the serial encoder is
adopted. The drive will read encoder parameters automatically, and users do not set them by
manual. The option of “Use emulated encoder” only can be set in the “Encoder output” area.
Users can decide whether to use the function of “Emulated index output in every revolution” by
clicking this option. Details refer to Section 5.2.2.3.

b When the option of “Dual loop” is checked, users must key in the resolution of linear encode, as
shown in figure 5.2.2.1.3. If some encoders are powered on longer, the delay time should be set
in the “Power-on time” field based on their specification to avoid occurring encoder error during
the boot process. Moreover, there are two options of “Use buffered encoder” and “Use
emulated encoder”, that can be chosen in the “Encoder output” area. These two output modes
adopt the position signal of linear encoder. At this moment, the function of “ Emulated index
output in every revolution” is invalided, and the option is anti-gray and cannot be checked.

This area only can be set

after the “Dual loop” option
is checked.

Figure 5.2.2.1.2 Encoder configuration page for dual-loop encoder (the “Dual loop” option is not checked)

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After the “Dual loop” option

is checked, linear encoder
parameters should be set.

After the “Dual loop” option

is checked, this function is
invalided.

Figure5.2.2.1.3 Encoder configuration page for dual-loop encoder (the “Dual loop” option is checked)

5.2.2.2 Customized digital incremental encoder

In the encoder configuration page, besides encoder parameters for HIWIN motor with common resolution
can be chosen, parameters for various encoder brands can also be typed in the customized setting area.
Opening “Rotary” and choosing “Customized Rotary Digital”, the resolution parameter could be entered
according to the encoder specification. In the “Encoder Resolutions” field, enter the total number of
position signal for the encoder output as the motor rotating one revolution, where the unit is counts/rev.
Based on the screw pitch and encoder resolution, the software automatically calculates the linear
resolution and gives it in the “Linear Resolution” field. The unit is um/counts. After this setting is
completed, the save function can be used to create encoder parameters. Users can load the created file
for encoder parameters (*.enc) at any time.

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D2 Series Servo Drive User Manual Drive Configuration

Encoder selection
area
Resolution setting area

Encoder save/load

Figure5.2.2.2.1 Encoder configuration page for customized encoder

5.2.2.3 Encoder output setting

D2 drive sends out the encoder signal with the AqB square wave via CN2. It can be connected to the host
controller if needed. Checking “Use buffered encoder” or “Use emulated encoder” in the “Encoder output”
area, as shown in figure 5.2.2.3.1, the value in the “Output Resolution” field will be updated according to
the selected output mode.

Note:
For AC servo motor with the 17-bit encoder, the Z-phase signal can be sent out to the host controller by using the
emulated encoder, as shown in figure 5.2.2.3.4.

(1) Buffered encoder output

When this option is selected, the drive will forward the signal from the motor’s encoder to the host
controller. Moreover, the “Invert” function can be checked if needed. It allows the drive to inverse the
received signal and then send out it. The resolution of output signal is also displayed on the page for
reference.

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Figure5.2.2.3.1 Encoder output setting area

Figure5.2.2.3.2 Buffered encoder output

(2) Emulated encoder output

When this option is selected, the drive will multiply the received encoder position by “Scaling” and
send the result to the host controller. If the ratio is 1:1, the drive will directly output the encoder signal
based on the adopted encoder and the set resolution. At the some cases, the host controller cannot
receive the encoder signal with a high frequency. Hence, a different ratio can be used, e.g., 5
encoder counts = 1 emulated encoder output. On the other hand, if the multiplier factor of analog
encoder is set too small, “Scaling” might be needed to reduce the resolution of encoder output. The
output direction can be changed by setting 1 encoder count = -1 emulated encoder output. Taking
the emulated encoder output in figure 5.2.2.3.4 as an example, the encoder resolution is 10,000
counts/rev and the scaling for emulated encoder output is 5 encoder counts = 1 emulated encoder
output. Therefore, “Output Resolution” is zoomed in to 2,000 counts/rev.

Note:
The function of emulated encoder output will temporarily loss efficacy when parameters are saved to Flash.

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Figure5.2.2.3.3 Emulated encoder output

(3) Output Z-phase signal to host controller

For AC servo motor with the 17-bit encoder, the Z-phase signal can be sent out to the host controller
by setting the encoder output to “Use emulated encoder”, as shown in figure 5.2.2.3.3. Before using
this function, the encoder output must be set to “Use emulated encoder”, and following two
parameters should be set:

a Emulated index radius: the output range of emulated Z-phase signal, as shown in figure
5.2.2.3.4.
b Emulated index jitter filter: reducing the bounce phenomenon of emulated Z-phase signal.

Center of emulated Z-phase signal

signal range signal range

Figure5.2.2.3.4

When the home offset function is used for homing, the emulated Z-phase signal will move to the
home position after home offset, as shown in the following figure.

Center of emulated Z-phase signal

signal range signal range

Encoder index Home offset Drive position = 0

Figure5.2.2.3.5

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 The output method of emulated Z-phase signal:

a If the option of “Emulated Index Output in every revolution” is not checked, the drive sends
out the Z-phase signal only when it reaches the index position at the first time.
b If the option of “Emulated Index Output in every revolution” is checked, the drive sends out
the Z-phase signal every time when it reaches the index position.

5.2.3 Operation mode configuration

The configuration page for the operation mode is shown in figure 5.2.3.1. After parameters of the previous
two steps have been set, the last step is to set the operation mode for the drive.

Mode selection area

Parameters setting area

Parameters OK/Cancel button

Figure5.2.3.1 Operation mode configuration page

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 Position mode
To work with the host controller only sending pulse commands, the position mode should be chosen
to receive the external pulse command for the motion. The closed-loop control is done by the drive.
D2 drive supports three formats of pulse command. Also, the electronic gear ratio is allowed to be
set for the high-speed application.

Note:
(1) Only at the status of servo ready, the drive accepts the pulse command sent by the host controller.
(2) For the framework of dual-loop control, only the position mode and stand-alone mode can be selected.

Figure5.2.3.2

 Velocity mode
To work with the host controller sending analog commands or PWM commands, the drive can be set
to the velocity mode. Only the ratio (“Scaling”) between the external command and velocity has to be
set, where the unit is the corresponding relationship between 1V and mm/s or rpm, or between Full
PWM and the maximum speed. If “Scaling” is set to a negative value, the motor will move in the
reverse direction.

Dead band definition

Output

Input

Dead band
Figure5.2.3.3

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 Force/Torque mode
To work with the host controller sending analog commands or PWM commands, the other operation
mode is the force/torque mode. Only the ratio (“Scaling”) between the external command and current
has to be set, where the unit is the corresponding relationship between 1V and Ampere, or between
Full PWM and the maximum current. If “Scaling” is set to a negative value, the motor will move in the
reverse direction.

Figure5.2.3.4

 Stand-Alone mode
If only test drive alone or without any host controller (such as only the servo side and drive side), the
stand-alone mode can be selected. This mode let drive be responsible for all loop controls.

5.2.4 Modbus communication configuration

The configuration page for the Modbus communication is given in figure 5.2.4.1. Only the drive with the
Modbus module has this configuration page.

Figure5.2.4.1

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(1) Modbus Slave address

Set the slave address of Modbus communication. Its value is between 1 and 247. Do not set different
drives to the same slave address.

(2) Mode
Set the mode of Modbus communication. The default mode is RTU (remote terminal unit).

(3) Format
Set the data format for the used communication mode. The format information includes the data
length, parity, and stop bits. The data length for the RTU mode is 7 bits; while that for the ASCII
mode is 8 bits. The stop bit for odd parity and even parity is 1 bit; while that for none parity is 2 bits.

(4) Baud rate

Set the baud rate for the Modbus communication. It supports 2,400, 4,800, 9,600, 14,400, 19,200,
and 38,400 bps. The default value is 9,600 bps.

5.2.5 Completing configuration procedure

After completing the motor, encoder, and operation mode configurations, click the “OK” button at the
bottom of window to show figure 5.2.5.1. This window gives parameters before setting and after setting
for the comparison. After confirming parameters, click the “Send to RAM” button to send parameters to
the drive. If the “Cancel” button is clicked, the window returns to the configuration center.

Note:
For a new drive without initialization, after entering the configuration center, the “OK” button at the bottom of window
is invalid and cannot be clicked. After parameter settings for the motor, encoder, and operation modes are
confirmed, the “OK” button becomes valid.

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New parameters Old parameters

Parameters are
sent to the drive.

Cancel button

Figure5.2.5.1

If these parameters need to be kept, click (“Save to Flash”) on the HMI main window to save
parameters to Flash. Parameters in Flash will not disappear even if the drive is turned off. If it is needed to
save parameters to a file on the disc of PC, click (“Save Parameters from Amplifier RAM to File”) to
save parameters to a file. The filename extension of saved file is *.prm. If it is needed to load parameters
in the file to the drive, click (“Load parameters in the file to RAM”) to load parameters to the drive.
After loading parameters, remember to click to save parameters to Flash.

5.3 Auto phase center

5.3.1 Function description

Click in the main toolbar on the HMI main window to open the auto phase center. The drive provides
following two methods for phase initialization.

(1) STABS
This phase initialization method is for the 17-bit serial encoder. Without any tuning, the phase
initialization can be done successfully, and the motor has no jitter phenomena in progress. This
method is for the 9-th bit of drive model name being 4 or 5, and the 9-th bit of motor model name
being 4 or 6. For example, the drive model name is D2T-0423-S-B4 and the motor model name is
FRLS4020606A.

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Figure5.3.1.1 For motors with HIWIN17 encoder and so on

(2) LSWIR
This method is for the less-wire incremental encoder, since it has a built-in hall sensor. Without any
tuning and additional wiring, the phase initialization can be done successfully, and the motor has no
jitter phenomenon in process. This method is for the 9-th bit of drive model name being 0, and the
9-th bit of motor model name being 5. For example, the drive model name is D2-0423-S-B4 and the
motor model name is FRLS4020506A.

Figure5.3.1.2 For motors with wire-saving encoder

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5.3.2 Pre-operation

(1) Confirm that the connection to the motor is correct.

(2) Confirm that the encoder signal is correct.
(3) Confirm that the drive can receive the “Hardware enable” signal.
(4) Confirm that the AC main power has been turned on.

5.3.3 Setting procedure

This section describes the procedure of auto phase initialization for LSWIR. As for STABS, it can use the
same procedure for LSWIR.

Step Graphical (HMI) description Operation

Setting phase initialization method:
For the motor with the 9-th bit of motor
model name being 5, the phase
initialization method is automatically set to
1 LSWIR.

Phase initialization and auto tune:

Click the “Execute” button, as shown in the
left figure, to start the phase initialization.
The “Auto tune” window pops up after the
phase initialization is completed. Use
and to drive the motor to continue
moving. Confirm that the motor moves far
from the hard stop.
After that, click the “Proceed” button to
start auto tuning. Click the “Close” button
to close the window after tuning has been
completed. Now, the auto phase
initialization is completed and the test-run
2 function can be performed.
Note:
(1) Observe whether status lights of
and are
green or not, to check if the phase
initialization is done successfully and the
servo close-loop control is ready.
(2) The status light of flashes
green during the process of auto gain
tuning. After the auto tuning is
completed, it keeps green. When the
auto tuning is failed, it keeps red. In this
case, close the “Auto tune” window and
repeat Step 2.

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Confirming the movement direction

and setting toggle direction:
After performing jog in Step 2, if the motor
moves in the direction opposite to the
user-defined direction, close the “Auto
tune” window and open the “toggle
direction” window via steps in the left
figure. Click the “Toggle” button in the
3
window to complete the setting of reverse
direction. Repeat Step 2 again.
Note:
When the motor is used in the vertical axis, if
there is no mechanical braking mechanism,
executing the toggle direction may cause a
slipping phenomenon of motor, since the motor
will be disabled at the toggle direction.

5.3.4 Troubleshooting

(1) Confirm that the motor power cable and encoder feedback cable have been correctly connected.
(2) Confirm that the parameter setting for the encoder or motor is correct, such as the encoder
resolution or the number of motor pole pair.
(3) Confirm that the grounding system is suitable.
(4) Confirm that the enable signal of host controller in the drive has been triggered.
(5) Confirm that the software enable signal in the drive has been triggered.
(6) Confirm that there is no mechanical interference.
(7) Confirm that the motor resistance is correct.

5.4 Auto tune center

5.4.1 Function description

The auto tune center can automatically find the better drive gain to save the time and cost of tuning by the
engineer. When the auto gain tuning is performed, the motor will continue to vibrate at different
frequencies and will perform functions of gain tuning (control-loop gains) and filter design in progress. The
execution time approximates 25 seconds.
The auto tune center can be opened by clicking in the Lightening main toolbar. Its location is shown in
figure 5.4.1.1.

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Figure5.4.1.1

Note:
The function of auto tune center only supports D2-serial drives (included D2T model). It is applicable to Lightening
0.184 and D2 MDP 0.037 (inclusive) or above, and D2COE MDP 0.113 (inclusive) or above. If the firmware version
is not in the above version, the option of in the Lightening main toolbar will be anti-gray and cannot be clicked. If

it is in the above version, since it is no longer to execute the auto phase center, the option of in the Lightening
main toolbar will be anti-gray and cannot be clicked.

The window of auto tune center is given in figure 5.4.1.2. The window title is the version of auto tune
center (Lightening 0.184 is 2.100). This window can be divided into two areas: enabling area and tuning
area.

Enabling area

Tuning area

Figure5.4.1.2 Auto tune center - disable state

 Enabling area
Clicking the “Enable” button in the enabling area, the drive will enable the motor. Click or to
check the direction of motor movement, as shown in figure 5.4.1.3. If the motor is near the hard stop,
click or to drive the motor far away from it. This can avoid failing in the process of auto gain
tuning.

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Enable/Disable

Change the motor direction

(Toggle Direction)

Figure5.4.1.3 Auto tune center - enable state

A. If the motor is not enabled, all buttons in the tuning area are anti-gray. If the motor is enabled,
the “Enable” button is changed to the “Disable” button, and all options in the tuning area are
valid.

B. There is one “TD” (toggle direction) button in the enabling area. The function of this button is to
change the direction of motor movement, such that it is the same as the user-defined direction.
If the direction is different, simply click the “TD” button to change the motor direction. After
clicking the “TD” button, the drive will disable the motor. Users need to enable the motor again
before continuing with the next step.

 Tuning area
After setting “Auto tune mode” and “Stiffness” in the tuning area, click the “Execute” button, as shown
in figure 5.4.1.4. After that, the “Execute” button will be changed to the “Stop” button. To stop the
process of auto gain tuning, click the “Stop” button or close the window during the drive continuously
sends the firing signal. When the firing signal is sent completely, the process of auto gain tuning
cannot be stopped until the calculation of algorithm is completed.

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A. Auto tune mode

Selectable auto tune modes are given in table 5.4.1.1. If the first tuning, the “Standard” mode is
recommended.

Table5.4.1.1

Auto tune mode Description

1. Standard Applicable to the most of mechanical applications. The system stability
(default) is high.
Applicable to applications of emphasizing the positioning accuracy. The
2. Advanced
system performance is better.

B. Stiffness
Selectable stiffness is given in table 5.4.1.2. If the first tuning, the “Normal” stiffness is
recommended.

Auto tune mode

Stiffness

Figure5.4.1.4 Auto tune center - setting mode

Table5.4.1.2

Stiffness Description
Stiffness is small. Suitable for the low rigidity, such as the belt and other
1. Soft
mechanisms.
Stiffness is normal. Suitable for the high rigidity, such as the ball screw
2. Normal
and other mechanisms. If the mechanical stiffness is not clear, select this
(default)
stiffness.
Stiffness is high. Suitable for Harmonic drive, gear box, and other
3. Rigid
mechanisms close to the rigid-body system.

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Indicator light for Auto tuned

Progress bar

Figure5.4.1.5 Auto tune center – auto tuning

After clicking the “Execute” button, the drive will drive the motor to vibrate at different frequencies
and the status light of “Auto tuned” will continue to flash. After the firing single is sent completely, the
drive will disable the motor and perform the gain tuning algorithm. When the light stops flashing and
the progress bar is full, it means that the process of auto gain tuning is finished (the execution time is
about 25 seconds). After that, if the light keeps green, it indicates that the auto gain tuning is
successful; while if the light keeps red, it indicates that the auto gain tuning is failed. The failed case
and troubleshooting refer to Section 5.4.3. If the auto gain tuning is failed, the gain tuning and filter
design will recover to the original setting.

5.4.2 Announcements

 If the mechanical system meets following conditions, the auto gain tuning easily fails:
(1) The stroke is not sufficient (for example, the motor running range is less than one revolution).
(2) The weight or inertial of load changes too much during the tuning process.
(3) The mechanical system touches the hard stop at tuning.
(4) The dynamic friction of mechanical system is too large.

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 To avoid auto gain tuning failure, before performing it, be sure to confirm the following:
(1) Confirm that the motor power cable is connected well.
(2) Confirm that the encoder feedback cable is connected well.
(3) Confirm that the AC main power is turned on.
(4) Confirm that there is no warning or error in the drive (There is no warning or error in the
Lightening main window).
(5) Confirm that the mechanical system can let the motor run at least 1 revolution.

Notes:
(1) The auto gain tuning function can be applied to all operation modes. If the drive is set to the position
mode, velocity mode, or force/torque mode, the drive cannot accept any external pulse command or
analog voltage command.
(2) After the auto tune center is opened, it cannot be switched back to the Lightening main window until the
auto gain tuning process is completed.
(3) The auto gain tuning function will disable the ZeroTune function. If the ZeroTune function is set again,
gains obtained from the previous auto gain tuning will be disabled.

5.4.3 Troubleshooting

The following are causes and troubleshootings for auto gain tuning problems.

Table5.4.3.1

No. Condition description Troubleshooting

During the auto gain tuning, the AC main Restore the AC main power and reset the drive.
power is turned off, causing the drive to After opening auto tune center, re-perform the auto
1
under voltage. (E09 Under voltage gain tuning process.
detected)
During the auto gain tuning, the status Power cycle drive. Move the motor to other
2 light continues flashing for more than 3 position and re-perform the auto gain tuning
minutes and cannot be stopped. process.
During the auto gain tuning, the drive Refer to Section 9. After troubleshooting,
3 occurs the position error too big. (E03 re-perform the auto gain tuning process.
Position error too big)
After the auto gain tuning process is  Stop the motor at the position occurring the
finished, the motor has a high-frequency high-frequency resonance, and re-perform the
resonance during motion. auto gain tuning process.
4  Decrease the auto tune mode or stiffness, and
re-perform the auto gain tuning process.
 Go to the performance center to decrease the
CG value.
After the auto gain tuning process is  Increase the auto tune mode or stiffness, and
finished, the motor has a low-frequency re-perform the auto gain tuning process.
5 vibration during motion.  Go to the performance center to increase the CG
value.

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If the motor still vibrates abnormally after performing the auto gain tuning process many times, please
collect the following information and consult with the customer-service engineer to help troubleshooting
the problem.

(1) After performing the auto gain tuning process, go to “Message Windows” and click the left “S” button
to save the file of plant.txt.
(2) Perform “Frequency analyzer” and click the “Run” button in the “DCBL Plant” tab. Waiting for finish,
click the “Loop Constructor” button. After the “Loop Constructor” window appears, click “File” ->
“Save” -> “Save plant+gains to file...” to save the file of plant.lop.

5.5 I/O center

5.5.1 Digital input

Click in the main toolbar on the main window to open the I/O center. Click the drop-down button ( )
in the input function menu to select the digital input pin and its function, as shown in figure 5.5.1.1. D2
(D2T) model has 9 (10) digital inputs.

Figure5.5.1.1 Input function menu

(1) Status indicator light

If the status indicator light is green, it means that the corresponding input pin has been activated. If
the light does not light, it means that the input pin is not activated.

(2) Logic inverse setting (Invert)

When the “Invert” option is checked, the trigger condition will be reversed.

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Table5.5.1.1
Hardware
No. Input function Description Trigger
Symbol
1 SVN Axis Enable Enable/Disable; the default used in I3. Level trigger
2 LL Left Limit Switch Left hardware limit; the default used in I6. Level trigger

3 RL Right Limit Switch Right hardware limit; the default used in I9. Level trigger
The homing completed command from the host
4 MAP Home OK, start err. map Edge trigger
controller.
5 RST Reset amplifier Reset the drive. Edge trigger

6 DOG Near home sensor Near home sensor. Level trigger

7 CE Clear Error Clear error. Edge trigger

Reversing the analog voltage command in the
8 INVC Invert V Command Level trigger
velocity or force/torque mode.
9 GNS Switch to secondary CG Switching to secondary common gain. Level trigger
10 JSEL Switch to secondary vpg Switching to secondary vpg gain. Level trigger
Zero speed clamp. In the velocity mode, the
motor will be locked in a fixed position when the
11 ZSC Zero Speed Clamp Level trigger
drive receives this signal and the motor speed is
less than the set value.
12 INH Inhibit Pulse Command Inhibiting the pulse command. Level trigger
Switching between the high-speed and
13 PSEL Switch HI/LO Pulse Input Level trigger
low-speed pulse input channels.
Emergency stop. The drive enters the
14 EMG Abort Motion emergency stop procedure after receiving this Level trigger
signal during motor motion.
Switching from the primary operation mode to
15 MOD Switch to secondary mode Level trigger
the secondary operation mode.
16 HOM Start Homing Starting the built-in homing procedure of drive. Edge trigger
Selecting the electronic gear ratio in the position
17 DIV1 Electronic Gear Select (DIV1) Level trigger
mode.
Selecting the electronic gear ratio in the position
18 DIV2 Electronic Gear Select (DIV2) Level trigger
mode.

Table5.5.1.2 Supported input functions for each operation mode

Not CoE model CoE model

Operation mode
Input function Position Velocity Force/torque Stand-alone Stand-alone
mode mode mode mode mode
Axis Enable V V V V V
Left (-) Limit Switch V - - V V
Right (+) Limit Switch V - - V V
Home OK,start err. map V V V V -
Reset amplifier V V V V V
Near home sensor V V V V V
Clear error V V V V -
Invert V command - V V - -
Switch to secondary CG V V V V -
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Not CoE model CoE model

Operation mode
Input function Position Velocity Force/torque Stand-alone Stand-alone
mode mode mode mode mode
Switch to secondary vpg V V V V -
Zero speed clamp - V - - -
Inhibit pulse command V - - - -
Switch HI/LO pulse input V - - - -
Abort motion - - - V -
Switch to secondary mode V V V V -
Start homing V V V V -
Select electronic gear (DIV1) V - - - -
Select electronic gear (DIV2) V - - - --

Note:
“V” means that the input function has this function in the corresponding mode, and can be set to I1 - I10 at will.

Table5.5.1.3 Default input setting for D2 drive

Not CoE model CoE model

Pin Signal Position Velocity Force/torque Stand-alone Stand-alone Inverse
mode mode mode mode mode
Inhibit Pulse Zero Speed
33 I1 Start Homing No
Command Clamp
30 I2 Abort Motion No

29 I3 Axis Enable Axis Enable Axis Enable Axis Enable Axis Enable No
Switch to Switch to Switch to
Switch to Left (-) Limit
27 I4 secondary secondary secondary No
secondary CG Switch
CG CG CG
Electronic
Near Home Right (+)
28 I5 Gear Select No
Sensor Limit Switch
(DIV1)
Left (-) Left (-) Left (-) Left (-) Near Home
26 I6 No
Limit Switch Limit Switch Limit Switch Limit Switch Sensor
Switch to Switch to Switch to Switch to
32 I7 secondary secondary secondary secondary No
mode mode mode mode
31 I8 Clear Error Clear Error Clear Error Clear Error No

Right (+) Right (+) Right (+) Right (+)

9 I9 No
Limit Switch Limit Switch Limit Switch Limit Switch

8 I10* No

Note:
Only for D2T model.

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Input function Abort Motion Operation mode Pos Vel Trq Std
Symbol EMG Default input I2 Circuit Refer to 4.5.1
 Function description
In the stand-alone mode, the drive will decelerate the motor to stop by using the emergency-stop deceleration
(Dec. kill) when this input single is triggered by the button. The emergency-stop deceleration can be set in the
performance center.
 Instructions
Select “Abort Motion” in the “Input” tab of I/O center (default is I2). Utilize the external trigger signal to stop the
motor by using the emergency-stop deceleration.

The external signal is triggered to stop the

motor by using the emergency-stop
deceleration.

When the input state of “Abort Motion” is True (the state light is green), the drive will decelerate the motor to
stop by using the emergency-stop deceleration (Dec. kill).

Input function Invert V Command Operation mode Pos Vel Trq Std
Symbol INVC Default input None Circuit Refer to 4.5.1
 Function description
Invert the voltage command sent by the host controller.
 Instructions:
Assign “Invert V Command” to the input function in the velocity or force/torque mode. When the input state of
“Invert V Command” is False, the drive let the motor move in the forward direction at receiving the analog input
voltage between 0 to +10 V, and in the reversal direction at receiving the voltage between -10 to 0 V. On the
other hand, when the input state of “Invert V Command” is True, the drive let the motor move in the reversal
direction at receiving the voltage between 0 to +10 V, and in the reversal direction at receiving the voltage
between -10 to 0 V.

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Input function Invert V Command Operation mode Pos Vel Trq Std
Symbol INVC Default input None Circuit Refer to 4.5.1

Analog command 0 to +10 V -10 to 0 V 0 to +10 V -10 to 0 V

True
Invert V command
False
Forward Reversal Forward Reversal

Input function Switch to secondary mode Operation mode Pos Vel Trq Std
Symbol MOD Default input I7 Circuit Refer to 4.5.1
 Function description
Switch the operation mode via the I/O signal from the host controller.
 Instructions
Set the operation mode in the “Mode” tab of configuration center as shown in the following figure.

When the input state of “Switch to secondary mode” is False (the state light is off), the operation mode set in
“Primary Operation Mode” is used. When the input state is True (the state light is on), the operation mode set in
“Secondary Operation Mode” is used.

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Input
Electronic Gear Select (DIV1, DIV2) Operation mode Pos Vel Trq Std
Function
Symbol DIV1, DIV2 Default Input I5 Circuit Refer to 4.5.1
 Function description
Switch among four sets of electronic gear ratio.
 Instructions:
Go to the “Mode” tab of configuration center, and select “Position Mode” in “Primary Operation Mode” or
“Secondary Operation mode” to set four sets of electronic gear ratio, as shown in the following figure.

Configuration page for electronic gear ratio (Primary Operation Mode)

Configuration page for electronic gear ratio (Secondary Operation Mode)

Based on the different combination of DIV1 and DIV2, the required electronic gear ratio can be selected. The
corresponding combination is shown in the following table. For example, the third electronic gear ratio is
required, “Electronic Gear Select (DIV2)” is set to True and “Electronic Gear Select (DIV1)” is set to False.

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DIV2 DIV1 Numerator

0 0 1st
0 1 2nd
1 0 3rd
1 1 4th

Input function Inhibit Pulse Command Operation mode Pos Vel Trq Std
Symbol INH Default input I1 Circuit Refer to 4.5.1
 Function description
Inhibit to receive the pulse command sent by the host controller via triggering this input signal.
 Instructions
In the position mode, assign “Inhibit Pulse Command” to the input function. If this input single is True, the drive
stops receiving the pulse command from the host controller; while if it is False, the drive receives the pulse
command from the host controller to let the motor move.

The external signal is trigged

to stop the motor.

Input function Start homing Operation mode Pos Vel Trq Std
Symbol HOM Default input I1 Circuit Refer to 4.5.1
 Function description
Execute the homing procedure.
 Instructions
When the state of “Start homing” is changed from False to True, the homing procedure will be executed based
on the homing method set in the application center.

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Input function Switch HI/LO Pulse Input Operation mode Pos Vel Trq Std
Symbol PSEL Default input None Circuit Refer to 4.5.1
 Function description
In the position mode, trigger this input signal through the host controller to switch between the high-speed and
low-speed pulse input channels.
 Instructions
Select “Switch HI/LO Pulse Input” in the “Inputs” tab of I/O center (as shown in the following figure). I1 to I9 are
selectable. The following figure takes I8 as an example. Use an external trigger signal to switch between the
high-speed and low-speed pulse input channels.

The external signal is not triggered and The external signal is triggered and the
the high-speed pulse channel is used. low-speed pulse channel is used.

When the input state of “Switch HI/LO Pulse Input” is False (the state light is off), the high-speed pulse channel
is used. When the input state is True (the state light is green), the low-speed pulse channel is used.
Note:
When any input (I1 - I9) is configured as “Switch HI/LO Pulse Input”, the high-speed and low-speed pulse channels
(hardware interface) cannot be set as selecting the position mode in the “Mode” tab of configuration center.

The option of “Switch HI/LO Pulse Input”

The option of “Switch HI/LO Pulse Input”
is not selected. The high-speed and
is selected. The high-speed and
low-speed pulse channel can be set in
low-speed pulse channel cannot be set
the configuration center.
in the configuration center.

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Input function Switch to secondary vpg Operation mode Pos Vel Trq Std
Symbol JSEL Default input None Circuit Refer to 4.5.1
 Function description:
Switch between velocity loop gains.
 Instructions:
Different velocity loop gains can be set in the “Schedule Gains + vpg” tab of “Advanced gains” window, as
shown in the following figure.

When the input state of “Switch to secondary vpg” is True (the light is on), “Secondary vpg” is used. When it is
False (the light is off), “Primary vpg” is used.

Input function Zero Speed Clamp Operation mode Pos Vel Trq Std
Symbol ZSC Default input I1 Circuit Refer to 4.5.1
 Function description
This input function is only applicable to the velocity mode and is level triggered. When the input state of “Zero
Speed Clamp” is True, if the motor speed corresponding to the analog input voltage command is equal to or less
than the brake start speed, the operation mode will be switched to the stand-alone mode automatically, and the
motor will be locked at the current position. Until the motor speed corresponding to the analog input voltage
command is larger than the brake start speed, the operation mode will be switched to the velocity mode
automatically to let the motor continue moving, as shown in the following figure.

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Input function Zero Speed Clamp Operation mode Pos Vel Trq Std
Symbol ZSC Default input I1 Circuit Refer to 4.5.1

Motor speed Brake start speed (vel_stop) is not related to

the rotation direction of motor. It is applicable to
the forward and reversal directions.

vel_stop
Forward direction

Dead band Analog input voltage

-vel_stop

Reversal direction
Velocity mode Stand-Alone mode Velocity mode

 Instructions
At the case of operation mode being set to the velocity mode, go to the I/O center and set “Zero Speed Clamp”
as the input function. The following figure takes I1 as an example.

After that, go to the protection center and set the brake start speed (vel_stop) to a suitable value (the default
value is 500 count/s), referring to the following figure.

The function of “Zero Speed Clamp” is activated when the input state of I1 is True.

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Input function Clear Error Operation mode Pos Vel Trq Std
Symbol CE Default input I8 Circuit Refer to 4.5.1
 Function description
Clear error message.
 Instructions
The error message will be cleared when the input state of “Clear Error” is changed from False to True.

Input function Switch to secondary CG Operation mode Pos Vel Trq Std
Symbol GNS Default input None Circuit Refer to 4.5.1
 Function description:
Switch between common gains.
 Instructions:
“Secondary CG” can be set in the “Schedule Gains + vpg” tab of “Advanced gains” window, as shown in the
following figure.

When the input state of “Switch to secondary CG” is True (the light is on), “Secondary CG” is used. When it is
False (the light is off), “Primary CG” is used.

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5.5.2 Digital output

D2 model provides 5 sets of programmable digital output. Here, 4 sets (O1 - O4) are general- purpose
outputs located on the CN6 connector. The fifth set (CN2 BRK) is specially designed as the brake output
and can also be used as the general-purpose output. D2T model has more than one general-purpose
output (O5) located on the CN6 connector. In this section, take D2 model as an example to illustrate the
digital output function.

Logical value Output state

Output state inverse

Output function

Configuration button

High

Figure5.5.2.1 Digital output

(1) Logical value

The logical value of each output signal is displayed here. The displayed value is TRUE or FALSE.

(2) Output function

When any item in the function menu on “Configuration” window is checked, the item name is shown
in the status display field. If two or more items are checked, it shows “Customized”. If all error items
are checked, as shown in figure 5.5.2.1, it shows “Errors”. If no item is checked, it shows “PDL usage
(General Purpose)” for the usage of general- purpose output. This means that the output function is
controlled by the PDL program language.

(3) Output state

The current state of drive output pin is displayed here to be low or high (transistor is conducted or not
conducted). This allows to know the state of hardware signal on the drive output to assist in wiring
debugging.

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(4) Invert state

If required, this option can be checked to reverse the polarity of output state to match the host
controller.

Note:
The internal logic of drive is not affected by this “Invert State” setting at all.

(5) Output function setting

Each output pin has one corresponding “Configure” setting button. Taking O1 as an example, click
the “Configure O1” button to open the “Configuration” window. This menu can be divided into three
categories: “Statuses”, “Errors”, and “Warnings”, as shown in figure 5.5.2.2 two or more items are
selected in the same configuration category, the output function works when one of these items is
triggered. If all checked options need to be cancelled, click the “Not Configured” button. After
selecting the desired function, click the “Apply” button to complete the setting. On the other hand,
click the “Cancel” button to discard the setting. In the “Errors” category, there is one “Set all errors”
button. It is recommended to use this button at selecting all errors in the “Errors” category. This is
helpful to quickly complete the setting.

Figure5.5.2.2 Output function setting

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Table5.5.2.1

Item Symbol Output function Description

Statuses
Brake signal. (Checking the brake signal will no longer be
1 BRK Brake
possible to set other status, error, or warning.)
2 RDY Servo Ready Servo at the enable state.

3 DIS Axis Disable Servo at the disable state.

4 INP In-Position In-Position signal.

5 MOV Moving Moving.

6 HOMD Homed Homing completed.

7 EMI Emulated Index Emulated Z-phase signal.

8 ZSPD Zero Speed Detected Zero speed detection signal.

Errors
All errors are normally checked (by clicking the “Set all
1 ALM Errors error” button). Users can change the combination of errors
to meet the requirement.
Warnings
1 LS Left Software Limit Left software limit is triggered.

2 RS Right Software Limit Right software limit is triggered.

3 LH Left Hardware Limit Left hardware limit is triggered.

4 RH Right Hardware Limit Right hardware limit is triggered.

5 SVB Servo Voltage Big PWM command is greater than the set warning value.

6 PEW Position Error Warning Position error is greater than the set warning value.

7 VEW Velocity Error Warning Velocity error is greater than the set warning value.
Current has saturated. The specification of motor peak
8 CUL Current Limited
current is reached.
When the motor is moving, the protection setting for the
9 ACL Acceleration Limited
acceleration is reached.
When the motor is moving, the protection setting for the
10 VL Velocity Limited
velocity is reached.
11 BOHL Both HW limits are active Both left and right hardware limits are triggered.

12 HOMF Homing fails The homing process is failed.

Pulse command and In the position mode, the pulse command and homing
13 PCHC
homing conflict command are received at the same time.
Absolute encoder battery
14 AEBW The encoder battery is no power. Replace the battery.
warning
The absolute encoder feedbacks an error absolute position.
15 WAP Wrong absolute position
Reset the home position.

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Table5.5.2.2 Default output setting for D2 drive

Not CoE model CoE model

Pin Signal Position Velocity Force/torque Stand-alone Stand-alone Inverse
mode mode mode mode mode

34, 35 O1 Servo Ready Servo Ready Servo Ready Servo Ready Servo Ready No

36, 37 O2 Errors Errors Errors Errors Errors No

38, 39 O3 In-Position In-Position In-Position No

Zero Speed Zero Speed Zero Speed Zero Speed Zero Speed
10, 11 O4 No
Detected Detected Detected Detected Detected

40, 12 O5* No

2 CN2 BRK Brake Brake Brake Brake Brake No

Note:
*Only for D2T model.

Table5.5.2.3 Supported output functions for each operation mode

Not CoE model CoE model

Operation mode
Output function Position Velocity Force/torque Stand-alone Stand-alone
mode mode mode mode mode
Brake V V V V V
Servo ready V V V V V
AXIS disable V V V V V
In-position V -- -- V V
Moving V -- -- V V
Homed V V V V V
Emulated index V V V V --
Zero speed detected V V V V --

Note:
“V” means that the output function has this function in the corresponding mode.

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Output function Zero Speed Detected Operation mode Pos Vel Trq Std
Symbol ZSPD Default output O4 Circuit Refer to 4.5.2
 Function description
The drive outputs this signal when the motor speed is close to zero.
 Instructions:
The so-called “speed closed to zero” means that the motor speed is less than the threshold set by the parameter
“vel_stop”. In addition, this feature has the hysteresis of 12 rpm to avoid the bounce of ZSPD output signal. The
parameter “vel_stop” refers to Section 8.3.

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Output function Errors Operation mode Pos Vel Trq Std

Symbol ALM Default output O2 Circuit Refer to 4.5.2
 Function description
Output the error status.
 Instructions:
“Errors” can be set in the “Outputs” tab of I/O center (The default is O2).

Low

High

Click the “Configure O2” button to appear the “Configuration of O2” window. Click the “Set all errors” button to
check all options in the “Errors” category, as shown in the red box of the following figure. The used output
displays “Errors”. However, if a part of errors is selected, but not all errors, the used output displays
“Customized”.

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5.5.3 Analog output

D2T model has two analog outputs, located on the CN6 connector, which can be used to monitor the
motor speed (pin 42) and motor torque (pin 43). The output voltage range is from -10 V to 10 V, and the
output resolution is 16 bits. The configuration page for analog output is shown in figure 5.5.3.1.

Figure5.5.3.1 Analog output

(1) AO1 Rated torque

Set the motor torque (Rated torque x %) at the maximum output voltage of pin 43 on CN6 being 10
V, where “Rated torque” = “motor rated current” x “motor torque constant”. The value of  is set by
the user (the input range is from 1 to 300; the default value is 100). “Offset” is the offset of output
voltage (the input range is from -10,000 mv to 10,000 mv; the default value is 0).

(2) AO2 Rated speed

Set the motor speed (Rated speed x %) at the maximum output voltage of pin 42 on CN6 being 10
V, where “Rated speed” is the motor rated speed. The value of  is set by the user (the input range
is from 1 to 300; the default value is 100). “Offset” is the offset of output voltage (the input range is
from -10,000 mv to 10,000 mv; the default value is 0).

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5.5.4 Extension I/O

For D2 drive with the extension I/O module, parameters shown in table 5.5.4.1 can be used to set the
voltage level for each extension I/O pin.

Table5.5.4.1 Extension I/O parameters

Parameter Definition Data Type Maximum Minimum

External_Input_1 Inputs on the extension I/O CN13 Uint16 4,095 0
External_Output_1 Outputs on the extension I/O CN13 Uint16 63 0
External_Input_2 Inputs on the extension I/O CN14 Uint16 4,095 0
External_Output_2 Outputs on the extension I/O CN14 Uint16 63 0

(1) Configured relationship between External_Input_1 and CN13

Table5.5.4.2

Bit No. of External_Input_1 15~12 11 10 9 8 7 6 5 4 3 2 1 0

Pin No. of CN13 - 25 24 23 22 21 20 19 18 17 16 15 14

(2) Configured relationship between External_Output_1 and CN13

Table5.5.4.3

Bit No. of External_output_1 15~6 5 4 3 2 1 0

Pin No. of CN13 - 12, 11 10, 9 8, 7 6, 5 4, 3 2, 1

(3) Configured relationship between External_Input_2 and CN14

Table5.5.4.4

Bit No. of External_output_2 15~12 11 10 9 8 7 6 5 4 3 2 1 0

Pin No. of CN14 - 25 24 23 22 21 20 19 18 17 16 15 14

(4) Configured relationship between External_Output_2 and CN14

Table5.5.4.5

Bit No. of External_output_2 15~6 5 4 3 2 1 0

Pin No. of CN14 - 12, 11 10, 9 8, 7 6, 5 4, 3 2, 1

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Example:
When DI 9 of CN13 (pin 22) is at the high level, DO 2 of CN13 (pin 3 and pin 4) outputs a high-level
signal.

#task/1;
_External_IOtest:
till(External_Input_1 & 0x0100 ); // Wait for DI 9 of CN13 to be high level.
External_Output_1 = 0x0002; // DO 2 of CN13 outputs a high-level signal.
ret;

5.6 In-position signal setting

In the servo system, the target position and the encoder feedback position have a certain following error.
When the motor moves to the target position, there will be a small period of settling, called the settling
time. Then, the motor enters the target radius. D2 drive provides the functional interface of in-position to
observe whether the motor has reached the target position by setting “Target radius” and “Debounce
time”. This function is supported only when the drive is operated in the position mode or stand-alone
mode. The “In-Position” status can be sent to the host controller via the digital output signal.

 Function setting
Click to appear the window of performance center. The “In-Position” configuration page is
displayed in the “Position” tab. Click the “Set scope…” button to open the “Scope” window if
capturing the waveform is needed. The default of “In-Position” signal is O2. Refer to Section 5.5.2 for
setting digital output.

Figure5.6.1

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Table5.6.1

Parameter Description
Target radius for the position error. After the position error is into
Target radius “Target radius” and continues “Debounce time”, “In-Position” is valid.
The default value is 100 times the encoder resolution.
De-bounce time. After the position error is into “Target radius” for
Debounce time
“In-Position” and continues this time, the in-position is valid.
Move time Path planning time.
Settling time Settling time.
Total Total time (move time + settling time).

 Debounce time setting

The motor positioning may have the overshoot phenomenon, resulting in that the “In-Position” signal
will be instable before the motor reaches the target position. This can be resolved by setting
“Debounce time”. The “In-Position” signal will be sent when the position error enters “Target radius”
and continues to a period of “Debounce time”. The larger “Debounce time” is, the more stable the
“In-Position” signal is, but the larger the time delay is. Through observing on the oscilloscope, the
appropriate “Debounce time” can be set.

(1) After fixing “Target radius” and setting “Debounce time” to 0 ms, let the motor move a distance
and observe the “In-Position” signal on the oscilloscope, as shown in figure 5.6.2. When
“In-Position” is achieved, the signal is a high level; while when it is not achieved, the signal is a
low level. It can be observed from figure 5.6.2, when the motor moves to near the target
position, there are six protruding pulses (the latter two are closer). Observing the high-level
duration of each protruding pulse, the first one is about 1.5 ms, the second one is about 1.4 ms,
the third one is about 1.4 ms, the fourth one is about 1.3 ms, and the fifth one and the sixth one
are about 1 ms.

Figure5.6.2 In-position signal at “Debounce time” being 0 ms

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(2) Observing in figure 5.6.2, the widest protruding pulse is 1.5 ms. So, “Debounce time” can be set
to larger than this value. After considering the safety factor, set “Debounce time” to 3 ms. Let
the motor move a distance, the “In-Position” signal is shown in figure 5.6.3. The instability of
“In-Position” signal is improved.

Figure5.6.3 In-position signal at “Debounce time” being 3 ms

5.7 Homing configuration

Click to appear the window of application center, as shown in figure 5.6.2. The first tab is the homing
configuration page of “Homing”.

Figure5.7.1 Homing configuration page

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There are 5 basic parameters for the homing configuration, as shown in the following table.

Table5.7.1

Parameter Description
Slower Speed Slower homing speed.
Faster Speed Faster homing speed.
The homing-specific parameter, smooth factor, can be set in the
Smooth factor
range of 1 to 500.
Time out The maximum time of homing procedure.
Home offset Home offset.

There are 4 modes of homing procedure:

(1) Go left and right for homing, referring to Section 5.7.1.
(2) Use near home sensor/index for homing, referring to Section 5.7.2.
(3) Use multi-turn absolute encoder for homing, referring to Section 5.7.3.
(4) Use homing methods in CiA 402 protocol, referring to Section 5.7.4.

The motor with the incremental encoder uses homing modes (1) and (2). The motor with the multi-turn
absolute encoder uses the homing mode (3). However, in the case of CoE model, it uses the homing
mode (4). This mode is only supported for the software version of Lightening 0.185 or above.

After setting homing mode, click the “Home” button at the bottom of performance center to start the
homing procedure. The “Homed” status light on the performance center will continue flashing green when
the homing is in progress. When the homing is completed, the “Homed” status light will be green ( )
to indicate that the homing is successful. However, when the set “Time out” is reached and the home
position is not found, the “Homed” status light will be red ( ) to indicate that the homing is failed.

 Home offset
(1) Homing mode for incremental encoder
This method is only applicable to homing modes (1) and (2) described above. When “Home
Offset” is set to a nonzero value, the home position found in the original condition is offset by a
distance. This new position is taken as the coordinate origin, and the motor moves to this origin
position. For example, if the left and right conditions are not “None”, the drive will take the
position, which is the home position found in the original condition offset by a distance, as the
new home position, as shown in figure 5.6.3. If “Home Offset” is positive, the coordinated origin
is at the right side of home position found in the original condition; while if it is negative, the
coordinated origin is at the left side of home position found in the original condition.

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Home offset

Home position
Left limit Home position found in Right limit
the original condition Motor

Figure5.7.2

(2) Homing mode for absolute encoder

This method is only applicable to the homing mode (3) described above. When “Home Offset” is
set to a nonzero value, the drive sets the current position to the value of “Home Offset”, and the
motor does not move, as shown in figure 5.7.1. If “Home Offset” is positive, the coordinated
origin is at the left side of current motor position; while if it is negative, the coordinated origin is
at the right side of current motor position.

Home offset

Home position
Left limit Motor Right limit

Figure5.7.3

(3) CiA 402 homing mode

This method is only applicable to the homing mode (4) described above. When “Home Offset” is
set to a nonzero value, the drive sets the home position found in the original condition to the
value of “Home Offset”, as shown in figure 5.7.3. If “Home Offset” is positive, the coordinated
origin is at the left side of home position found in the original condition; while if it is negative, the
coordinated origin is at the right side of home position found in the original condition.

Home offset

Home position Home position found in

Left limit the original condition Right limit
Motor
Figure5.7.4

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5.7.1 Go left and right for homing

This function is a kind of multi-function homing mode built-in D2 drive. By searching the left and right
conditions, the home position can be determined. The main method is to find the midpoint of two
boundaries as the home position. The left and right conditions can choose the left and right limit switches.
They also can be end stops. The current generated when the motor touches the mechanical stop is used
to search the left and right conditions. If it is needed to search the single index of stroke for home position,
click the option of “Search index signal” to achieve this requirement.

 Homing procedure
The motor moves at the slower homing speed based on the set initial movement direction
(parameter ○
1 ). Taking “Left” as an example, the motor first moves in the left direction to search the

left side condition, and then moves in the right direction to search the right side condition. Finally, the
motor stops at the middle of both sides, and takes this position as the home position. If the option of
“Search index signal” is checked, the found index in progress is taken as the home position.
Searching conditions for left side and right side are determined according to the setting (parameters
2 and ○
○ 3 ).

Parameter ①

Parameter ② Parameter ③

Parameter ④ Parameter ⑤

Figure5.7.1.1

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Table5.7.1.1

No. Parameter Option Description

Initial movement Left Search first in the left direction.

○
1
direction Right Search first in the right direction.
None Not use the left side condition.
○
2 Left side condition End Stop Search the left end stop.
Left Limit Switch Search the left limit switch.
None Not use the right side condition.
Right side
○
3 End Stop Search the right end stop.
condition
Right Limit Switch Search the right limit switch.
○
4 Current for searching End Stop
○
5 Time for searching End Stop

Select one of following items for the left or right side condition.
(1) None: Non-search;
(2) End Stop: Search the end stop;
(3) Limit Switch: Search the limit switch.

Searching end stop should be carried out with parameters ○

4 and ○
5 . Parameter ○
4 is used to set the

5 is used to set the duration of this force. If this time is

force for searching end stop, and parameter ○
too short, the drive may make a misjudgment of searching end stop before it is found. If this time is
too long, the force on the end stop will increase, or the error of “Soft-thermal threshold reached” will
occur. The current for searching end stop can be set by following steps.

Step 1: Open the “Scope” window, as shown in figure 5.7.4, to set to observe the physical quantity
of “Actual Current”.
Step 2: Use the “Slower Speed” setting to move in the entire stroke.
Step 3: Observe the change of “Actual Current”, and record the maximum value. As shown in
figure 5.7.4, the maximum value of “Actual Current” is about 0.2 A. Therefore, “Search end
stop current” could be set to be slightly more than 0.2 A. For example, it can be set to 0.23
A in this case.
To avoid the error of “Position error too big” occurring at searching the end stop, the slower speed
and time for searching the end stop should meet the following condition:

“Slower Speed” x “Time” < “maximum pos error”.

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Figure5.7.1.2

 Exceptions:
(1) Consider that “Left side condition” is set to “None” (i.e. not use the left side condition),
“Right side condition” is set to “End Stop” or “Right Limit Switch”, and the initial movement
direction (parameter ○
1 ) is set to “Left”, as shown in figure 5.7.1.1. When the homing is

performed, the homing procedure is judged to be a failure, and the status light of “Homed”
is red; and vice versa. (In this case, it is the unreasonable setting. Hence, the homing is
failed.)

Figure5.7.1.3

(2) If the option of “Search Index Signal” is checked and there are multiple indexes in the
stroke, the drive will take the index closest to “End Stop” or “Right Limit Switch” as the
home position.

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 Homing example
According to the setting of figure 5.7.1.2, when starting the homing procedure, the motor moves
at the slower homing speed in the negative direction to search the left limit switch. After it is
found, the motor searches the first index signal at the slower homing speed in the positive
direction. The action process is described in figure 5.7.1.3.

Figure5.7.1.4

Motor

Negative limit switch

Near home sensor
Positive limit switch
Index signal

Figure5.7.1.5

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5.7.2 Use near home sensor/index for homing

Another homing mode is to search “Near Home Sensor” or encoder index signal to determine the home
position. “Near Home Sensor” is set to a digital input in the I/O center and is triggered via an external
switch. After “Near Home Sensor” is found, the encoder index signal can be searched in the left or right
direction for the home position to get the better accuracy.

 Homing procedure
Use the setting of initial movement direction (parameter ○
6 ) and initial movement speed (parameter

7 ) to search “Near Home Sensor” or index signal.

○

Parameter ⑥ Parameter ⑦

Parameter ⑧

Figure5.7.2.1

Table5.7.2.1

No. Parameter Option Description

Initial Left Search first in the left direction.

⑥ movement
direction Right Search first in the right direction.
Search at the lower homing speed. Set it in the
Initial Slower speed
“Slower Speed” field given in figure 5.6.2.
⑦ movement
speed Search at the faster homing speed. Set it in the
Faster speed
“Faster Speed” field given in figure 5.6.2.
Index signal only Search the encode index signal only.
Near Home Sensor only Search the near home sensor only.

Searching Near Home Sensor then After the near home sensor is found, change to
⑧ home position change to lower speed, move search the encoder index signal at the lower
method left, search index homing speed in the left direction.
Near Home Sensor then After the near home sensor is found, change to
change to lower speed, move search the encoder index signal at a lower
right, search index homing speed in the right direction.

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When “Near Home Sensor” is used for homing, the photoelectric switch or mechanical switch can be
connected to the digital input of drive. Taking I2 as an example, set I2 to be “Near Home Sensor” in
the I/O center, as shown in figure 5.7.1.5.

Figure5.7.2.2

 Homing example
According to the setting of figure 5.7.2.1, when starting the homing procedure, the motor moves
at the faster homing speed in the negative direction to search “Near Home sensor”. After it is
found, the motor searches the first index signal at the slower homing speed in the negative
direction. The action process is described in figure 5.7.2.2.

Figure5.7.2.3

Motor

Negative limit switch

Near home sensor
Positive limit switch
Index signal

Figure5.7.2.4

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5.7.3 Use multi-turn absolute encoder for homing

Due to the characteristic of multi-turn absolute encoder, the drive can obtain the absolute position of
motor at any time. Therefore, this homing mode can know the home position without moving motor.

 Homing procedure
Take the current motor position as the home position.

Figure5.7.3.1

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5.7.4 Use homing methods in CiA 402 protocol

For the CoE model, the software version of Lightening 0.185 or above supports this homing mode. The
configuration page is shown in figure 5.7.2.4, where the green line represents the faster homing speed,
and the orange line represents the slower homing speed. Homing methods in this mode are summarized
in table 5.7.4.1.

Figure5.7.4.1

Table5.7.4.1

No. Description Explanation

Homing on negative limit switch
and index pulse
The motor searches the negative limit
switch in the negative direction by
1 using the faster speed. After searched,
the motor searches the index in the
positive direction by using the slower
speed.

Homing on positive limit switch and

index pulse
The motor searches the positive limit
switch in the positive direction by using
2 the faster speed. After searched, the
motor searches the index in the
negative direction by using the slower
speed.

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No. Description Explanation

Homing on home switch and index
pulse – positive initial motion, left
edge of home switch, left-side index
 Outside home switch
The motor searches the left edge
of home switch in the positive
direction by using the faster
speed. After searched, the motor
searches the left-side index of this
7 signal in the negative direction by
using the slower speed.
 Inside home switch
The motor searches the left edge
of home switch in the negative
direction by using the faster
speed. After searched, the motor
searches the left-side index of this
signal in the negative direction by
using the slower speed.
Homing on home switch and index
pulse – positive initial motion, left
edge of home switch, right-side
index
 Outside home switch
The motor searches the left edge
of home switch in the positive
direction by using the faster
speed. After searched, the motor
searches the right-side index of
8 this signal in the positive direction
by using the slower speed.
 Inside home switch
The motor searches the left edge
of home switch in the negative
direction by using the faster
speed. After searched, the motor
searches the right-side index of
this signal in the positive direction
by using the slower speed.
Homing on home switch and index
pulse – positive initial motion, right
edge of home switch, left-side index
The motor searches the right edge of
home switch in the positive direction
9 by using the faster speed. After
searched, the motor searches the
left-side index of this signal in the
negative direction by using the slower
speed.

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No. Description Explanation

Homing on home switch and index
pulse – positive initial motion, right
edge of home switch, right-side
index
The motor searches the right edge of
10 home switch in the positive direction
by using the faster speed. After
searched, the motor searches the
right-side index of this signal in the
positive direction by using the slower
speed.

Homing on home switch and index

pulse – negative initial motion, right
edge of home switch, right-side
index
 Outside home switch
The motor searches the right edge
of home switch in the negative
direction by using the faster
speed. After searched, the motor
searches the right-side index of
11 this signal in the positive direction
by using the slower speed.
 Inside home switch
The motor searches the right edge
of home switch in the positive
direction by using the faster
speed. After searched, the motor
searches the right-side index of
this signal in the positive direction
by using the slower speed.
Homing on home switch and index
pulse – negative initial motion, right
edge of home switch, left-side index
 Outside home switch
The motor searches the right edge
of home switch in the negative
direction by using the faster
speed. After searched, the motor
searches the left-side index of this
signal in the negative direction by
12 using the slower speed.
 Inside home switch
The motor searches the right edge
of home switch in the positive
direction by using the faster
speed. After searched, the motor
searches the left-side index of this
signal in the negative direction by
using the slower speed.

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No. Description Explanation

Homing on home switch and index
pulse – negative initial motion, left
edge of home switch, right-side
index
The motor searches the left edge of
13 home switch in the negative direction
by using the faster speed. After
searched, the motor searches the
right-side index of this signal in the
positive direction by using the slower
speed.

Homing on home switch and index

pulse – negative initial motion, left
edge of home switch, left-side index
The motor searches the left edge of
home switch in the negative direction
14 by using the faster speed. After
searched, the motor searches the
left-side index of this signal in the
negative direction by using the slower
speed.

Homing on index pulse – negative

initial motion
The motor searches the index pulse in
33 the negative direction by using the
slower speed.

Homing on index pulse – positive

initial motion
The motor searches the index pulse in
34 the positive direction by using the
slower speed.

Homing on current position

Take the current position of motor as
the home position.

37

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No. Description Explanation

Homing on hard stop and index
pulse – negative initial motion
The motor searches the hard stop in
the negative direction by using the
faster speed. After searched, the
-1
motor searches the index pulse in the
positive direction by using the slower
speed.
(For the setting of searching the hard
stop, refer to Section 5.7.1.)
Homing on hard stop and index
pulse – positive initial motion
The motor searches the hard stop in
the positive direction by using the
faster speed. After searched, the
-2
motor searches the index pulse in the
negative direction by using the slower
speed.
(For the setting of searching the hard
stop, refer to Section 5.7.1.)
Homing on absolute encoder
This method is only available for the
motor with the absolute encoder (the
9-th bit of motor model name is 4).
-3
Take the current position of motor as
the absolute target position. The motor
does not move in this method.

Homing on hard stop and home

offset – positive initial motion
The motor searches the hard stop in
the positive direction by using the
faster speed. After searched, the
motor moves to the home offset (End
-4
stop offset) in the negative direction by
using the slower speed. (note)

Homing on hard stop and home

offset – negative initial motion
The motor searches the hard stop in
the negative direction by using the
faster speed. After searched, the
-5 motor moves to the home offset (End
stop offset) in the positive direction by
using the slower speed. (note)

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Note：
Homing methods -4 and -5 do not support the function of “Set home offset as zero position”. That is, whether this
option is checked or unchecked, after the homing procedure is completed, the motor stops at the position of “home
offset” and set this position to zero.

5.8 Save parameters to Flash and recover to factory default

5.8.1 Save parameters to Flash

Click (“Save parameters from amplifier RAM to Flash”) in the HMI main window to save the current
parameter in the memory. Parameters will not disappear even if the drive’s power is turned off. However,
following two items should be noted.

(1) The emulated encoder output is temporarily disabled during saving. Therefore, if the host controller
is connected to the emulated encoder output, the received position information may be lost. Please
pay attention to this.

(2) Compensation values of “Error map” will not be saved via this function. Perform the “Save”
procedure in the “Error map” window to save compensation values.

5.8.2 Recover to factory default

In the “Tools” menu of HMI main window, select “Set parameters to factory default” to restore drive’s
parameters to factory settings, as shown in figure 5.7.3.1. Then, the window of figure 5.7.4.1 (for versions
of Lightening 0.180 - 0.185A) appears to ask if users want to set the drive to factory default. If the error
stable is needed to be cleared at the same time, check the option of “Clear error table in flash then reset
drive”, and click the “Yes” button to automatically execute this function. When the option of “Clear error
table in flash then reset drive” is checked, the program will display the “Notice” window to inform users
that it will save default settings to the drive and then reset the drive before clearing “Error map”, as shown
in figure 5.8.2.1. If the “Yes (Y)” button is clicked, the program executes the chosen function in the window
of “Set parameters to factory default”. However, if the “No (N)” button is clicked, it will go back to the
window of “Set parameters to factory default” to let users reselect functions needed to execute. After
parameters are restored to factory settings, the drive will automatically execute the reset function.

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Figure5.8.2.1

Figure5.8.2.2

Figure5.8.2.3

For the version of Lightening 0.186 (inclusive) or above, select “Set amplifier to factory default” in the
“Tools” menu of HMI main window. Then, the window of figure 5.8.2.2 appears to ask if users want to set
the amplifier to factory default. Lightening is not only to restore drive parameters to factory settings, but
also closes other windows exclusive of main window. If the error stable is needed to be cleared at the
same time, check the option of “Clear error table in flash and reset drive”. If the content of “user.pdl” is
needed to be cleared simultaneously, check the option of “Clear user PDL”. When the option of “Clear
user PDL” is checked, the program will display the “Notice” window to inform users that “user.pdl” will be
cleared, as shown in figure 5.8.2.4. If the “Yes (Y)” button is clicked, the program executes the chosen
function in the window of “Set amplifier to factory default”. However, if the “No (N)” button is clicked, it will
go back to the window of “Set amplifier to factory default” to let users reselect functions needed to
execute. After parameters are restored to factory settings, the drive will automatically execute the “Reset”
function.

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Figure5.8.2.4

Figure5.8.2.5

5.9 Parameter setting examples via HMI

5.9.1 Position mode

In the position mode, the drive will move the corresponding distance when it receives the pulse command,
referring to Section 3.1.1.

The position mode configuration includes: the mode selection, pulse format selection, electronic gear ratio
setting, and smooth factor setting. After all parameters are set, refer to Section 5.8.1 to save parameters
to flash.

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(1) Mode selection

Use following steps to select the position mode via HMI.

Step Graphical (HMI) description Operation

After executing Lightening, click the
“configuration center” icon in the HMI
1 main toolbar, as shown in the left
figure, or select the “configuration
center” option in “Conf/Tune”.
Select the “Mode” tab in the
2 configuration center.

Select the “Position Mode” option in

the “Mode” tab.

(2) Pulse format selection

D2 drive supports three types of command format, referring to Section 3.1.1. Use following steps to
select the pulse format via HMI.
Step Graphical (HMI) description Operation
In the “Mode” tab, select the pulse
format on the “Control Input” area as
required.
1

Select the trigger method of pulse

command on the “Increment Position
On” area as required.
Note:
2 This setting is only needed at choosing
“Pulse and Direction” or “Pulse Up/Pulse
Down”.

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(3) Electronic gear ratio setting

D2 drive provides four sets of electronic gear ratio, referring to Section 5.5.1. Use following steps to
set the electronic gear ratio via HMI.
Step Graphical (HMI) description Operation
Set the electronic gear ratio in the
(a) (b)
“Electronic Gear” area as required, as
1
(c) shown in the left figure (a).

Set to invert the pulse command in the

2 “Invert Pulse Command” area as
required, as shown in the left figure (b).
Set the high-speed/low-speed pulse
command input in the “Hardware
3
Interface” area as required, as shown in
the left figure (c).
After all settings are completed, click the
“OK” button, as shown in the left figure
4 (d).
(d)

After the window for parameters

confirmation appears, click the “Send to
RAM” button to save parameters to
drive RAM.

(4) Smooth factor setting

D2 drive provides the function of “Smooth factor”, referring to Section 3.4. Use following steps to set
the smooth factor via HMI.

Step Graphical (HMI) description Operation

Click the “performance center” icon in
the HMI main toolbar, as shown in the
1
left figure, or select the “performance
center” option in “Conf/Tune”.
Set “Smooth factor” in the performance
center as required, as shown in the red
box of left figure.
2

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5.9.2 Velocity mode

D2 drive can transfer the voltage command and PWM command to the velocity command, referring to
Section 3.1.2.

The velocity mode configuration includes: the mode selection and input command format setting. After all
parameters are set, refer to Section 5.8.1 to save parameters to flash.

(1) Mode selection

Use following steps to select the velocity mode via HMI.

Step Graphical (HMI) description Operation

After executing Lightening, click the
“configuration center” icon in the HMI
1 main toolbar, as shown in the left
figure, or select the “configuration
center” option in “Conf/Tune”.
Select the “Mode” tab in the
2 configuration center.

Select the “Velocity Mode” option in

the “Mode” tab.

(2) Input command format setting

Use following steps to set the input command format via HMI.

Step Graphical (HMI) description Operation

In the “Mode” tab, select the input
command format on the “Command
1 Types” area as required.

Set the ratio (Scaling) of external

command to speed as required. The
V command unit is 1 V equal to how many mm/s or
2
(a) rpm, or Full PWM equal to the
(b) maximum speed, as shown in the left
figure (a).
Set “Dead Band” for the velocity
PWM command command, as shown in the left figure
3 (a) (b). The definition of “Dead Band”
(b) refers to figure 5.2.3.3.

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After all settings are completed, click

the “OK” button, as shown in the left
figure.

After the window for parameters

confirmation appears, click the “Send
to RAM” button to save parameters to
drive RAM.

5.9.3 Force/Torque mode

D2 drive can transfer the voltage command and PWM command to the current command, referring to
Section 3.1.2.

The force/torque mode configuration includes: the mode selection and input command format setting.
After all parameters are set, refer to Section 5.8.1 to save parameters to flash.

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(3) Mode selection

Use following steps to select the force/torque mode via HMI.

Step Graphical (HMI) description Operation

After executing Lightening, click the
“configuration center” icon in the HMI
1 main toolbar, as shown in the left
figure, or select the “configuration
center” option in “Conf/Tune”.
Select the “Mode” tab in the
2 configuration center.

Select the “Velocity Mode” option in

the “Mode” tab.

(4) Input command format setting

Use following steps to set the input command format via HMI.

Step Graphical (HMI) description Operation

In the “Mode” tab, select the input
command format on the “Command
Types” area as required.
1

Set the ratio (Scaling) of external

command to current as required. The
V command
unit is 1 V equal to how many
2
(a) amperes, or Full PWM equal to the
(b) maximum ampere, as shown in the
left figure (a).
Set “Dead Band” for the current
command, as shown in the left figure
PWM command (b). The definition of “Dead Band”
3 (a) refers to figure 5.2.3.3.
(b)

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After all settings are completed, click

the “OK” button, as shown in the left
figure.

After the window for parameters

confirmation appears, click the “Send
to RAM” button to save parameters to
drive RAM.

5.9.4 Stand-alone mode

In the stand-alone mode, the drive will execute the internal path planning to drive the motor, referring to
Section 3.1.4.

The stand-alone mode configuration includes the mode selection. After all parameters are set, refer to
Section 5.8.1 to save parameters to flash.

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(1) Mode selection

Use following steps to select the stand-alone mode via HMI.

Step Graphical (HMI) description Operation

After executing Lightening, click the
“configuration center” icon in the HMI
1 main toolbar, as shown in the left
figure, or select the “configuration
center” option in “Conf/Tune”.
Select the “Mode” tab in the
2 configuration center.

In the “Mode” tab, select the option of

3 “Stand-Alone Mode”, as shown in the
left figure (a).
After all settings are completed, click
(a) the “OK” button, as shown in the left
figure (b).

(b)

After the window for parameters

confirmation appears, click the “Send
to RAM” button to save parameters to
drive RAM.

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000000000 0000000
0
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

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6.1 Status display and quick view

In Lightening HMI, the status display and “Quick view” are two auxiliary tools, which are indispensable in
the tuning process. They can help to know the drive status at any time and present many important
parameter values in the motion control.

6.1.1 Status display

There are 2 status display tools, as shown in figure 6.1.1.1. The left figure shows the “Status” area in the
HMI main screen; while the right figure shows the “Status” area in the performance center. The status
display provides the status and error/warning message for users to know the system status.

 Status
(1) Hardware Enable Input: To indicate whether the hardware enable signal is activated.
(2) Software Enabled: To indicate whether the software enable is activated.
(3) Servo Ready: To indicate whether the motor is enabled.
(4) Phase Initialized: To indicate whether the motor completes the phase initialization.
(5) Moving: To indicate whether the motor is in motion.
(6) Homed: To indicate whether the motor completes the homing procedure.
(7) SM mode: The motor is enabled in the SM mode.

 Errors and warnings

(1) Last error: Display the latest error message.
(2) Last warning: Display the latest warning message.
Refer to Section 9 for more information.

Figure6.1.1.1 Status display

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6.1.2 Quick view

The “Quick view” area is at the bottom of HMI main screen, and is used to help users to know more about
the detail of drive’s current status. The interface provides 3 physical quantities to display. Users can select
the physical quantity to be observed. These 3 physical quantities will update their display values at any
time. This is convenient for users to observe and analyze the system status, as shown in figure 6.1.2.1.
Refer to Section 3.11 for selectable physical quantities.

Figure6.1.2.1 Physical quantity menu in “Quick view”

 Unit setting (Position Units)

For each display of physical quantity, if it is related with the distance, users can select the preferred
unit to display (or set) the relevant physical quantity (position, speed, etc.), as shown in figure
6.1.2.2.

Figure6.1.2.2 Unit setting menu

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6.1.3 Software shortcuts

There are two function shortcuts in HMI for D2 drive: F6 and F12. They are only available if Lightening
HMI is active for Windows operation system.
(1) F6: Move the Lightening main window to the top level.
(2) F12: This function is an emergency stop action. For example, clicking F12 during the movement will
perform the emergency stop action (refer to Section 3.4). The motor will be disabled after the stop.

6.2 Performance center

Most of tuning procedures are centered around the performance center. After completing the setting in
Section 5.3 or Section 5.4, the motor is ready for test runs. The performance center is mainly used to
provide users with the motion testing and tuning, and with the help of auxiliary tools to observe the motion
performance. It provides three modes of motion: point-to-point (“P2P”) motion, relative motion, and
continuous motion (“Jog”). Parameters related to these motions, such as speed,
acceleration/deceleration, emergency stop deceleration, and smooth factor, are also set in this interface.

Figure6.2.1 Performance center

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Take the point-to-point (P2P) motion as an operation example in the following:

Table6.2.1

Step Graphical (HM) description Operation

1 Click to enable the motor.

2 Select .
Set positions of P1 and P2.
(If software limits are used, set the
3
position between “Lower SW limit” and
“Upper SW limit”.)
Set the required speed, acceleration,
deceleration, and smooth factor (refer to
4
Section 3.4). If there are no special
requirement, simply use default values.
Click to move to the P1 position
and click to move to the P2
position. To perform a point-to-point
back-and-forth motion, select the
5
“Repeat” option and enter the break time
(“Dwell time”). Then, click the button of
or to perform the
point-to-point motion.

The performance center has the function of measuring the settling time. The target radius of position error
and debounce time for settling time can be set via “Target radius”, referring to Section 5.6. During motion,
the servo gain (“Primary CG”) can be tuned to meet the requirement of settling time. The higher the servo
gain is, the faster the response is and the shorter the settling time is. The required time from moving to
in-position can be observed via “Move time”, “Settling time”, and “Total time” (refer to Section 3.7). Click
“Set scope…” button to appear the graphical oscilloscope (“Scope”). This tool can be used to observe the
motion waveform related to the settling time.

The performance center has the function of measuring the velocity ripple. The performance of velocity
ripple can be observed via the point-to-point motion. Here, “V max”, “V min”, “V avg”, and “Velocity Ripple”
are the maximum speed, minimum speed, average speed, and velocity ripple at the constant speed
phase, respectively. Click the “Set scope…” button to appear the graphical oscilloscope (“Scope”). This
tool can be used to observe the motion waveform related to the velocity ripple.

○
1

○
2

Figure6.2.1 Performance center – “Velocity Ripple” tab

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(1) V max: The maximum of velocity ripple.

V min: The minimum of velocity ripple.
V avg: The average of velocity ripple.

(2) Velocity Ripple: Velocity ripple.

In addition to the P2P function, the relative motion (“Relative move”) can be set to move a distance; while
the continuous motion (“Jog”) can continue moving in the positive or negative direction just by clicking the
button of or . The speed, acceleration/deceleration, and smooth factor in the “Motion Protection”
area are also used as the function of motion protection. Hence, if these values are forgot to set to the
value of motion protection after the test run is completed, the expected speed or acceleration may not be
reached at receiving the motion command sent from the host controller. Please pay special attention to
this.

○
15
○
8

○
3
○
4

○
5
○
6 ○
13
○
7
○
9

○
14
○
10
○
11
○
12

Figure6.2.2 Performance center – “Position” tab

(3) Enable: Enable the motor.

(4) Disable: Disable the motor.
(5) Zero: Set the current position to the zero position.
(6) Stop motion: Stop the motor.
(7) Position Units: Unit setting. Set the preferred unit at the operation. This is the same as the unit
setting in “Quick View” on the main window.
(8) Motion Protection: Protection parameters for the motor motion, including the speed, acceleration,
deceleration, emergency stop deceleration, and smooth factor at the test run. Users can use the
smooth factor to plan the path trajectory as an S-type curve or T-type curve. The adjustment range is
1 - 500. The larger the value is, the closer to the S-type curve is; while the smaller the values is, the
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closer to the T-type curve is. Refer to Section 3.4 for more information.
(9) P2P: Execute the point-to-point motion.
(10) Relative move: Execute the relative motion.
(11) Jog: Execute the continuous movement. Set the current value for the continuous movement with the
constant current.
(12) Home: Execute the homing procedure.
(13) Common Gain: Servo gain. The greater the gain is, the greater the servo rigidity is. Users can user
this parameter to adjust the servo rigidity. But if the servo stiffness is too strong, it will lead to system
instability, and cause the vibration and electrical noise. At this time, this value should be reduced.
(14) Status Display: Display the status.
(15) enable sw limit: Start the software limit protection, which restricts the travel of motor.

6.3 Scope

D2 drive provides a “Scope” graphics oscilloscope to help users to observe all significant physical
quantities during the tuning process to judge the tuning result. In addition, this feature can be used to find
the error clue when the drive cannot be operated. Click or the “Set scope…” button in the
performance center to open “Scope”. Clicking the “Set scope…” button in the “Position” tab and “Velocity
Ripple” tab will display their respective physical quantities. As shown in figure 6.3.1, after selecting
parameters, the real-time waveform of selected physical quantity can be observed.

Note:
The data shown in “Scope” is not fully real-time physical quantities. To observe more fine physical changes, use
tools other than “Scope”, such as an oscilloscope or a data collection (refer to Section 6.4).

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○
1 ○
2

○
3

○
4

Figure6.3.1 Scope

(1) Physical quantity: Select the physical quantity to be observed, referring to Section 3.11.
(2) Unit: Select the unit of physical quantity.
(3) Number of channel: Select the number of channels to be displayed simultaneously (1 - 8).
(4) Time range of “Scope”: Set the time length for one screen on the horizontal axis. Unit: seconds.

Table6.3.1

Symbol Name Description

The switch of “Scope”. When the switch is turned off and then turned
Scope On/Off (PageDown)
on, the scope will re-capture the data.
Change the display waveform mode. There are the “Normal” and
View in paper mode (Ctrl+T)
“Paper” modes.
Display all selected physical quantities on a single screen. Each
Toggle scopes window (PageUp)
click to switch a physical quantity.
Fit graph to window Adjust all physical quantities to the appropriate scale.

Fit graph to window dynamically Adjust all physical quantities to the appropriate scale dynamically.
Fit graph to window dynamically Same as above, but the range of vertical axis will only increase
+ clip without reduction.
Show last data with plot view tool Use the “Plot view” tool to draw the data of “Scope”.

Reset scope “Scope” will re-capture the data.

All physical quantities are drawn in the same screen and share one
Show all plots in same window
vertical axis.
Connect physical quantities currently set by “Scope” to the “Data
Open recorder window
collection” function.

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6.4 Data collection

In addition to using “Scope” to observe physical quantities of each drive, there is a tool to provide more
setting options for data capture, and more advanced graphical display and processing functions. The
“Data collection” function allows users to set the sampling time, as well as conditional triggers to start and
stop the data capture.

6.4.1 Function description

By using the “Scope” function of “Open recode window” shown in figure 6.3.1, the program will
automatically set the selected physical quantity for the follow-up data capture. The main function is as
follows.

○
4 ○
1

○
5

○
2

○
3

Figure6.4.1.1 Data collection

(1) Sampling frequency (“Rate”) and the number of samples (“Samples”):

- Samples: The number of samples.
- Rate: Determine the sampling frequency. For example, if “Rate” is set to 1, the sampling frequency
is 15,000 Hz; while when it is set to 2, the sampling frequency is 7,500 Hz. The sampling
frequency can only be up to 15,000 Hz. If too much data is collected, the data collection may be
early completed due to the limit of communication bandwidth. Reducing the number of collected
physical quantities can solve this phenomenon.
- Dt: Sampling time.
- Samples*dt: Total time of data collection. If users want to increase the total time of data collection,
simply increase “Samples”.

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(2) It is the internal variable name of the physical quantity of collected data.
(3) Manual collection button. Click the “Start” button to start the collection and click the “Stop” button to
stop the collection. Click the “Graph” button to draw the collected data via “Plot view”.
(4) Conditional auto collection. Set the start event and stop event for the data collection.
(5) The auto collection option is triggered instantaneously.

 Example 1: To capture the graph of one motion cycle

Check “Start event” and set it to “X_run”. Also, check “Stop event” and set it to “X_stop”. Click
the “Start” button after the setting is completed. Now, “Data collection” is on standby. When the
motor is moving, it will start to collect the data; while when the motor stops the motion, it will
stop to collect the data. After the data collection is completed, click the “Graph” button to draw
the graph of one motion cycle.

 Example 2: To capture the graph of one speed period

Check “Start event” and set it to “X_vel_fb>0”. Also, check “Stop event” and set it to
“X_vel_fb<0”. Click the “Start” button after the setting is completed. Now, “Data collection” is on
standby. When the motor speed is greater than 0, it will start to collect the data; while when the
motor speed is less than 0, it will stop to collect the data. After the data collection is completed,
click the “Graph” button to draw the graph of one speed cycle.

 Example 3: To capture the graph of drive from enable to disable

Check “Start event” and set it to “I3”. Also, check “Stop event” and set it to “~I3”. Click the “Start”
button after the setting is completed. Now, this function will recognize the status of I3. When the
drive is enabled (I3 = 1), it will start to collect the data; while when the drive is disabled (I3 = 0),
it will stop to collect the data.

Note:
When “Upd vars” in ○
1 is unchecked, the Lightening HMI stops updating variables. This can improve the
bandwidth of data collection. However, if “Start event” is triggered by I3 (as in Example 3), the I/O pin of
hardware is triggered via the external signal.

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6.4.2 Data collection via PDL

In order to improve the accuracy of data collection, “Sync” (trigger the auto collection instantaneously) in
figure 6.4.1.1 ○
5 provides more flexible and more real-time data capture than the conditional auto

collection. The program fragment with the title labeled by “_RecordSync” should be added in the PDL
program. Set the start event of data collection. Once this event is triggered, “Data collection” starts to
collect the data. Operation steps are given as follows.

Step 1: An empty task is required to execute “_RecordSync”. Make sure that the task in PDL is less than
four, i.e, whether one of task 0 to task 3 is available.
Step 2: Add the following content in the PDL program:
_RecordSync:
till( ); // Add to wait for the trigger event or status.
rtrs_act=1; // Start to record.
ret; // If this line is not added, the data collection cannot be triggered repeatedly.
Step 3: Add the interrupted condition or status in the parentheses of “till()” on the “_RecordSync” function.
For example, it could be I4 (default for the right limit state) in the I/O center.
Step 4: Check “Sync” in figur e 6.4.1.1 ○
5 .

3 . The program starts to execute the “_RecordSync” function and

Step 5: Click the “Start” button in ○
waits for that the trigger event is satisfied. For example, when the status of I4 is changed from
False to True, the data collection starts to capture the data. If I4 is triggered repeatedly, it will
collect the record data of last trigger.
 Example
#task/1;
_RecordSync:
till(I4); // Wait for the status of I4 changing from False to True.
rtrs_act=1; // Start to collect.
ret;

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6.5 Plot view

The “Plot view” function is built on the “Data collection” function. It draws the data collected by “Data
collection” into graphics. “Plot view” has a powerful analysis function to provide the measurement and
calculation. It is divided into five areas: function menu area, main toolbar area, physical quantity display
area, graphic display area, and timeline scroll bar area, as shown in figure 6.5.1.

Function
menu area

Main
toolbar area

Physical
quantity Graphic
display display
area area

Timeline
scroll bar
area

Figure6.5.1 Plot view

6.5.1 Graphic display mode

(1) Number of display channels

The graphic display area is mainly used to display the graph of physical quantity. When the graph of
physical quantity is captured from “Scope” or “Data collection”, “Plot view” will display all physical
quantities selected by “Scope”. “Plot view” can change the number of channels shown in the graphic
display area. However, the maximum limit is not more than eight. The related icon on the main
toolbar area is described as follows.

- : Set the maximum number of display channels.

- : Display a single channel.

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To observe the graph of two physical quantities, click and then select “Only graph 2” to change
the number of channels into two. To observe the graph of one physical value, click and then
select “Only graph 1” to change the number of channels into one. As shown in figure 6.5.1.1, it gives
an example that “Scope” or “Data collection” only collects two physical quantities.

Figure6.5.1.1

(2) Show or hide physical quantities

If the physical quantity is unchecked, the graphic display area will hide the graph of this physical
quantity. As shown in figure 6.5.1.2, it is the example of two physical quantities being unchecked. To
uncheck all physical quantities, click the related icon on the main toolbar area as follows.
- : Uncheck all physical quantities (or click the “Delete” button).

Figure6.5.1.2

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(3) Zoom in/out

To observe a more subtle change in a certain interval, use the solid-line and dotted-line cursors to
select the interval needed to zoom in. “Plot vies” provides the function of zoom in/out on the X and Y
axes. The related icon and the operation method on the main toolbar area is described as follows.
- : Zoom in on the graph between the blue solid-line and dotted-line cursors on the X axis.
- : Undo zoom.
- : Redo zoom.
- : Cancel all zoom-in displays.
- : Zoom in the graph between the red solid-line and dotted-line cursors on the Y axis.
- : Cancel the zoom-in action on the Y axis.

(4) Zoom in/out on the X axis

To zoom in on the graph of physical quantity ranging from 2 to 4 seconds, as shown in figure 6.5.1.3,
use the left mouse button to move the blue solid-line cursor or the right mouse button to move the
dotted-line cursor to frame this interval. Then, click to zoom in on this interval, as shown in figure
6.5.1.4. To zoom in a more subtle interval, such as 2 - 3 seconds, simply repeat above steps. To go
back to zoom-in interval between 2 and 4 seconds, click . If is clicked, the zoom-in interval
between 2 and 3 seconds will be displayed again. Regardless of how many times users zoom in, use
to revert to the original graph, as shown in figure 6.5.1.3.

Figure6.5.1.3

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Figure6.5.1.4

(5) Zoom in/out on the Y axis

To zoom in on the Y axis, press and hold the “Ctrl” button and the left mouse button to move the red
solid-line cursor or the right mouse button to move the dotted-line cursor to frame a suitable interval,
as shown in figure 6.5.1.5. Then, click at the upper right corner of window to zoom in on the
graph within the selected interval on the Y axis, as shown in figure 6.5.1.6. At this time, the Y-axis
value of graph is locked and shown in red. Dragging the horizontal scroll bar does not dynamically

adjust the vertical display range, as shown in figure 6.5.1.7. Finally, if the icon of is clicked, it will
return to the original graph of Y axis before the zoom-in, as shown in figure 6.5.1.5.

Figure6.5.1.5

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Figure6.5.1.6

Parameters are
not automatically
adjusted to fit the
graph.

Slider movement direction.

Figure6.5.1.7

(6) dt, 1/dt, dSamp

When the interval is framed by using the blue solid-line and dotted-line cursors, values of “dt”, “1/dt”,
and “dSamp” will appear at the bottom of graphic display area. Here, “dt” is the time in the interval
and “dSamp” is the sampling number in the interval, as shown in figure 6.5.1.5.

(7) Display a physical quantity on different channels

To move a physical quantity to another channel for display, click the physical quantity to present a
dotted-line box, and then drag it to another channel.

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(8) Display the value of physical quantity

When the blue solid-line cursor is moved to a specific point in time, the value of physical quantity at
this time will be displayed at the bottom of this physical quantity. The value is displayed in decimal or
hexadecimal, as shown in figure 6.5.1.5. The related icon on the main toolbar area is described as
follows.
- : Display the value in hexadecimal.
- : Display the value in decimal.

6.5.2 Save/open file

In “Plot view”, the saved-file type can be divided into the text file (.txt), picture file (.bmp), and special “Plot
view” file (.gpp). The .txt file saves the value of each physical quantity within the collection time; the .bmp
file saves the graph of all physical quantities as a figure; while the .gpp file is the only file allowed to be
opened in “Plot view”. Therefore, if the file will be re-opened via “Plot view” in the future, remember to
save it as .gpp file. The related icon of saving as .txt file and .bmp file on the main toolbar area is
described as follows.

- : Save the value of physical quantities as a .txt text file.

- : Save the graph of physical quantities as a .bmp figure file.

The .gpp file of “Plot view” is read or opened via the option of “Save” or “Open” in the function menu of
“File”, as shown in figure 6.5.2.1.

Figure6.5.2.1 Save as a .gpp file

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6.5.3 Mathematical operation

“Plot view” also provides some math formulas for the operation of physical quantities, such as the
integration, differentiation, addition, multiplication,…, etc. This allows users to calculate and observe the
calculated result directly in “Plot view”. In addition, it also provides the maximum, minimum, ripple
calculation, and spectrum analysis of each physical quantity.

(1) Statistics table

Click to display the table as shown in figure 6.5.3.1. It shows the maximum, minimum, average,
root mean square (rms), Rip, and RipA of each physical quantity within the interval selected by
cursors, as shown in figure 6.5.3.1. Here,

Rip = standard deviation/average,

RipA = (maximum - minimum) /average.

The related icon on the main toolbar area is described as follows.

- : The maximum, minimum, root mean square (rms), and ripple calculation of physical quantity.

Figure6.5.3.1 Statistics table

(2) Mathematical operation method

Select “Math operation” of “Tools” in the function menu or click to open the window of figure
6.5.3.2 to do a proper mathematical operation. Here, take the addition as an operation example.
After clicking the option of “Linear”, choose “pos_err” and “vel_fbf” via the drop-down menu. Then,
name the new physical quantity in the “New plot name” field and set its color. Finally, click the
“Create” button to generate the physical quantity (“lin_1”) of “pos_err” plus “vel_fbf”, as shown in
figure 6.5.3.3. Other mathematical operations are the same as that for addition. Not repeat them
here. The related icon on the main toolbar area is described as follows.
- : Mathematical operation.

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Figure6.5.3.2

Figure6.5.3.3

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(3) Fast Fourier transform (FFT)

Click in the main toolbar area to appear the window of figure 6.5.3.4, and then choose the
required physical quantity to do the Fourier transform. Here, take “pos_err” as an example. Finally,
click the “Run FFT” button to generate the transformed graph, as shown in figure 6.5.3.5. To cancel
the result of Fourier transform, click . The related icon on the main toolbar area is described as
follows.
- : Do the fast Fourier transform for physical quantity.
- : Cancel the fast Fourier transform.

Figure6.5.3.4

Figure6.5.3.5

(4) Natural logarithm

The natural logarithm function is to express the X axis in the logarithmic form. It is only applicable
after the Fourier transform is completed. The related icon on the main toolbar area is described as
follows.
- : Express the X axis in the logarithmic form. It is only available after FFT is completed.

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6.6 Advanced gains

Important tasks of servo drive include whether the time from the motor starting moving to arriving the
position, i.e. “Move & Settle” (see Section 3.7), is very small, and whether the position error is very small
and the velocity is very smooth during motion. These performance improvements can be achieved by
tuning gains and parameters. The simplest way of D2 drive to adjust the performance of motor motion is
to tune the common gain (“Primary CG”). The greater the common gain is, the stronger the servo rigidity
is. However, if the servo rigidity is too strong, the system vibration or electrical noise may be generated.
These phenomena are various with the mechanical status.

Advance
gains

Common
Gain

Figure6.6.1 Performance center

When using only common gain cannot fulfill the required performance, this system also provides
“Advanced gains”, included functions of “Filter”, “Acc feedforward”, “Schedule Gains + vpg”, “Analog
input”, “current loop”, and so on.

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6.6.1 Filter

The filter is located in the servo control loop on the inside of drive. Its main purposes are to eliminate the
control problem caused by the high-frequency vibration of system, and to deal with the resonant
frequency of overall mechanical system. The performance of system control can be enhanced via the
filter. D2 drive provides two filters that can be used simultaneously and set in the form of low pass filter or
notch filter. To design a filter, the frequency analyzer is usually used to analyze the system characteristic.
By clicking the “Bode…” button given in figure 6.6.1.1, the simulation interface of “Bode plot” is appeared
for the filter design. Settings of two common used filters are described in the following.

Figure6.6.1.1 Filter

 Low pass filter

The setting of typical low pass filter is given as follows:
(1) fr: The cutoff frequency of filter. The unit is Hz. For general applications, a good effect can be
achieved at the setting of 500 Hz. Other cases can be considered to decrease this value.
However, the control performance will be reduced if the cutoff frequency is too small.
(2) xi: The damping ratio of filter. Its value ranges from 0 to 1.
(3) k1: 0.
(4) k2: 0.

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Figure6.6.1.2 Low pass filter

 Notch Filter
When the system has an inappropriate resonance frequency (for example, between 10 and 250 Hz)
that cannot be eliminated by the mechanism correction or design enhancement, the notch filter can
be used to improve this problem. In general, the notch filter should be set according to the result of
frequency analysis. Refer to Section 6.6.3.
The setting of typical notch filter is given as follows:
(1) fr: The cutoff frequency of filter. The unit is Hz.
(2) xi: The damping ratio of filter. Its value ranges from 0 to 1. The closer to 0 this value is, the
narrower the filtering frequency band is; while the closer to 1 this value is, the wider the filtering
frequency band is.
(3) k1: 0.
(4) k2: 1.

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Figure6.6.1.3 Notch filter

 Automatic resonance suppression filter (f3)

After the auto gain tuning is successful, the automatic resonance suppression filter (f3) will be set
and started automatically. However, after the auto gain tuning is completed, when the system
vibration cannot be effectively suppressed by the f3 filter at driving the motor, cancel the check of
“Activate f3” option in the “Filter” tab of “Advanced gains” window, as shown in the red box of figure
6.6.1.1. Then, modify “Filter 1” and “Filter 2” in manual to achieve an effective vibration suppression.

6.6.2 Acceleration feed-forward

The position error of servo control is usually large in the motion phase of acceleration or deceleration.
Especially for applications with a large moving mass or moment of inertial, this problem is more likely to
occur. By setting the parameter of acceleration feed-forward, the position error can be reduced effectively
in the acceleration/deceleration phase.

Following steps are used to adjust the acceleration feed-forward.

Step 1: Click the “Set scope…” button to display the “Scope” window.
Step 2: Step 2. Set “Acc feedforward gain” in figure 6.6.2.1 to 0.
Step 3: Set the maximum acceleration for path planning, and let the motor do the point-to-point motion.

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Figure6.6.2.1 Acceleration feed-forward

Step 4: Record the maximum of “Command Current” in the acceleration phase, as shown in figure
6.6.2.2. It can be observed from the figure that “Command Current” is 16 in the acceleration
phase. When the motor starts moving, “Scope” will be shown as figure 6.6.2.2. Use the button
of “Toggle scopes windows (Page UP)” to change to the graph with a single physical quantity.
Repeatedly clicking this button will switch to the graph of “Command Current”, “Reference
Acceleration”, or “Position Error” to facilitate the observation of graphic value.

“Command
Current” is 16.

Toggle
scopes
“Reference windows
Acceleration” is (Page UP)
950,000 count/s2.

“Position Error”
is 90 counts.

Figure6.6.2.2Trajectory result of motor movement

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Step 5: Record the maximum of “Reference Acceleration” in the acceleration phase. In the example of
figure6.6.2.2, the maximum of “Reference Acceleration is 950,000 count/s2.

Step 6: Dividing the value obtained in Step 4 by the value obtained in Step 5, Acc feedforward gain =
Command Current/Reference Acceleration = 16/950,000 =1.68421*10-5.

Step 7: Enter the result obtained in Step 6 into the “Acc feed forward gain” field, as shown in figure
6.6.2.3.

Figure6.6.2.3 Acceleration feed-forward gain

Step 8: Observe whether “Position Error” is reduced. As shown in figure 6.6.2.4, the position error in the
acceleration phase is decreased from 90 counts in figure 6.6.2.2 to 65 counts.

“Position Error”
is 65 counts.

Figure6.6.2.4 Result of adding acceleration feed-forward

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6.6.3 Schedule gains and velocity loop gain

 Schedule gains
A complete motion can be roughly divided into three phases (see Section 3.7):
(1) Move: From the start to the end of path planning.
(2) Settling: From the end of path planning to the in-position phase.
(3) In-position: Output an in-position signal.

The main purpose of “Schedule gain” is to adjust the output servo stiffness of each motion phase
(“Move”, “Settling”, “In-position”) by changing the servo gain. The gain of each phase is adjusted in
proportion. When it is set to 1, it means that the original servo gain is used. When it is less than 1, the
gain of this phase is lowered. The corresponding parameter of each phase is given as follows.
(1) Move: sg_run.
(2) Settling: sg_stop.
(3) In-position: sg_idle.

If “CG” = 0.5 and “sg_run” = 1.2, this means that the actual servo gain in the “Move” phase is
changed to 0.5 x 1.2 = 0.6.

The “Settling” and “In-position” phases use the same setting method to change the originally fixed
servo gain to the gain met the different requirement in each motion phase via “Schedule gains”.

Figure6.6.3.1 Schedule gains

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 Velocity loop gain (vpg)

The velocity loop gain (vpg) is an internal control parameter of D2 drive. Normally, the initial value is
calculated by parameters set in the configuration center. This value is not to be modified under the
normal case. However, it can be re-adjusted by using “Freq analyzer”.

Step 1: Click the “Freq analyzer” button to appear the window of figure 6.6.3.2.

Figure6.6.3.2

Step 2: Click the “Enable” button.

Step 3: Click the “Run” button to start the frequency analyzer. The motor will be in the
low-frequency vibration and then gradually issue a high-frequency sound. After it is
completed, a frequency response will be drawn on the window, as shown in figure 6.6.3.3.

Figure6.6.3.3

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Step 4: Click the left mouse button on the frequency response diagram to appear the cursor line of
-20 dB. Press and hold the left mouse button to drag the cursor line to close to the line of
frequency response, as shown in figure 6.6.3.4. Dragging the line will re-calculate the gain
and display the vpg value at any time. The gain is increased when the cursor line is
dragged downward; while decreased when it is dragged upward.

Step 5: Click the “Send” button to send the velocity loop gain to the drive. If the setting needs to be
saved, do not forget to save it in the drive’s Flash.

vpg is got
via the
automatic
calculation.

Cursor
line

Frequency
response
line

Figure6.6.3.4

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6.6.4 Analog input

When the voltage mode is used, the voltage command sent by the host controller may contain the DC
bias due to various factors. This will lead to the command distortion and affect the performance. In this
case, this function can be used to compensate and correct the voltage. The compensation is very simple.
As long as clicking the “Set Offset” button in the following figure, the measurement and offset correction
will be executed automatically.

Figure6.6.4.1 Analog input

6.6.5 Current loop

Gain values of current loop, “Ki” and “Kp”, are basically calculated according to motor parameters when
the motor model is selected in the configuration center. They are usually not required for further
adjustment. However, if the motor parameter is not set correctly, this function can be used to adjust.

Figure6.6.5.1 Current loop

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6.6.6 Vibration suppression feature

The vibration suppression feature (VSF) is used to suppress the vibration generated by the motor during
the movement. Especially when the load of mechanism is the cantilever, the vibration is particularly
evident. Through the “VSF” tab in the “Advanced gains” window, the effect of vibration suppression can
be achieved by setting “Frequency” and “VSF factor”, and checking the “enable VSF” option. The setting
range of “Frequency” is 0.1 - 200 Hz, and the range of “VSF factor” is 0.7 - 1.5. Generally, the value of
“VSF factor” is recommended to be 1.0, same as the default value. Note that “enable VSF” cannot be
checked or unchecked while the motor is moving; otherwise the motor will generate an unexpected
vibration and error.

Figure6.6.6.1 Vibration suppression feature (VSF)

The following is the operation method for finding the vibration frequency and starting the vibration
suppression feature.

Step 1: Set the pre-planned acceleration, deceleration, speed, and travel. Then make the motor do the
back-and-forth motion.
Step 2: Open “Scope” to observe “Position Error” and “Reference Velocity”, as shown in figure6.6.6.2.
Step 3: Click (“Plot view”) at the right side of the “Scope” window to analyze captured graphs.

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Figure6.6.6.2

Step 4: Enlarge the graph of “Position Error” at the end of motion command. Set the observed range in
the window, as shown in figure 6.6.6.3, and then click at the toolbar of window to enlarge
the set range. Refer to Section 6.5 for related operations.

Press the Press the

right mouse left mouse
button in the button in
window and the window
drag the line and drag
to cover the the line to
vibration the end of
range. motion
command.

Figure6.6.6.3

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Step 5: Click at the toolbar of “Plot view” window to open the operation window for fast Fourier
transform (FFT). Execute FFT on pos_err, as shown in figure6.6.6.4.

Press this
button to start
to execute
FFT.

Figure6.6.6.4

Step 6: After FFT is completed, the window of figure 6.6.6.5 appears.

Figure6.6.6.5

Step 7: Enlarge the low-frequency region to observe the maximum amplitude of vibration frequency, as
shown in figure 6.6.6.6.

Step 8: Enter the value of low-frequency vibration frequency (this example is 6.7 Hz) into the
“Frequency” field in the “VSF” tab of “Advanced gains” window.

Step 9: Check the “enable VSF” option to enable the vibration suppression feature, as shown in figure
6.6.6.7. Note that: Do not check or uncheck the “enable VSF” option during motor motion.

Step 10: After the vibration suppression feature is enabled, it is found from “Scope” that “Position Error”
has become smaller when the motor is stopped, as shown in figure 6.6.6.8.

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In the window, click the left mouse

button to drag the solid line to the
maximum amplitude.

Low-frequency
vibration
frequency.

Figure6.6.6.6

Figure6.6.6.7

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VSF is disabled VSF is enabled

Figure6.6.6.8

6.6.7 Friction compensation

In the operation of drive element, there is always the mechanical friction to affect the efficiency and
function of movement. D2-series drives provide a friction compensation method to reduce the effect of
friction, as shown in figure 6.6.7.1.

Figure6.6.7.1 Friction compensation

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Before using the friction compensation function, the Lightening HMI provides a convenient set of steps.
The friction compensation can be successfully added after completing each step.

Step 1: Click the “Set scope” button to show the “Scope” window.

Step 2: Set “friction compensation” in figure 6.6.7.1 to 0.

Step 3: Set “Dwell time” to 500 ms.

Step 4: Set the desired speed and make the motor to do the back-and-forth motion. Observing “Position
Error” in “Scope” can determine whether the friction compensation is necessary to add or not. If
the motor has a large position error at the start, as shown in the left side of figure 6.6.7.2, the
friction compensation can be added to improve the position error.

Step 5: Observe “Command Current” at the constant speed, and calculate the average value. In the
example of figure 6.6.7.2, the average value of “Command Current” is 20.

Step 6: Enter the average value obtained from Step 5 into the “friction compensation” field.

Step 7: Observe whether “Position Error” is reduced at the start of motor movement. As shown in the
right side of figure 6.6.7.2, it can be found that the friction compensation does reduce the
position error.

Position
error

The motor has a

large position
error in the start.

Constant
speed

Disable the friction compensation Enable the friction compensation

Figure6.6.7.2

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6.7 Loop constructor

“Loop constructor” allows users to confirm the stability of control system. It has spectrum analysis tools,
such as Nyquist, Nichols, and Bode, and provides users for adjusting filters and gain values (vpg, vig,
ppg, and CG). This function can directly adjust parameters to observe the frequency response of control
system. To open the “Loop constructor” window, click the “Loop constructor” option in the “Tools” menu of
Lightening, as shown in figure 6.7.1. The “Loop constructor” window is given in figure 6.7.2.

Figure6.7.1 Open “Loop constructor” from “Tools”

Gain tuning

Filter Control loop Gain margin and phase margin

Spectrum analysis

Window adjustment

Gain tuning

Figure6.7.2 Loop constructor interface

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6.7.1 Load/Save file

Before using “Loop constructor” to analyze the control system, the control system and gains must be
loaded by selecting the “Load” option in the “File” menu of “Loop constructor” window. There are three
methods of loading file: (1) “Load plant + gains from file...”, (2) “Load plant from file…”, and (3) “Load
gains from file…”, as shown in figure 6.7.1.1.

(1) Load plant + gains from file…: Load the .lop file. This file contains the control system and gain
parameters.
(2) Load plant from file…: Load the .fgr file. This file contains the control system.
(3) Load gains from file…: Load the .gns file. This file contains the control gain.

Figure6.7.1.1 Loop constructor - load data from file

After using “Loop constructor” to analyze the control system, if it is needed to save the control system and
gain parameters, select the “Save” option in the “File” menu of “Loop constructor” window. There are
three methods of saving file: (1) “Save plant + gains to file...”, (2) “Save plant to file…”, and (3) “Save
gains to file...”, as shown in figure 6.7.1.2.

(1) Save plant + gains to file…: Save as the .lop file. This file contains the control system and gain
parameters.
(2) Save plant to file…: Save as the .fgr file. This file contains the control system.
(3) Save gains to file…: Save the .gns file. This file contains the control gain.

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Figure6.7.1.2 Loop constructor - save data to file

6.7.2 Tool

Spectrum analysis tools of “Loop constructor” can analyze and simulate the Nyquist, Bode, and Nichols
diagrams of control system. By using this function, the frequency response of control system can be
obtained.

6.7.2.1 Frequency response function

The frequency response can be expressed by the transfer function of dynamic system, which indicates
the relative relationship between the input signal and the output signal of dynamic system. The control
architecture of drive is shown in figure 6.7.2.1.1.

Figure6.7.2.1.1 Control structure of the drive

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(1) U (s): System input. It is the drive command.

(2) Y (s): System output. It is the position feedback of encoder.
(3) Plant: PL(s) is the relationship between the drive command and the feedback position. The plant
contains the mechanical platform, motor, and feedback system.
(4) Controller: P(s) is the position loop controller, V(s) is the velocity loop controller, and C(s) is the
current loop controller.
(5) Open loop: The transfer function of open loop system is “G(s) =P(s)*V(s)*C(s)*PL(s)”, meaning to
ignore all feedback signals.
(6) Close loop: The transfer function of close loop system is
T(s) = P(s)*V(s)*C(s)*PL(s)/((d/dt*P(s)*V(s)*C(s)*PL)+P(s)*V(s)*C(s)*PL(s)).

6.7.2.2 Nyquist

The “Nyquist” option of “Loop constructor” can analyze and simulate frequency responses of “Vel open
loop” (velocity open loop) and “Pos open loop” (position open loop) of control system. Using the check
method can select to analyze and simulate the Nyquist diagram of “Velocity open loop” or “Position open
loop”. It can also select two loops to analyze and simulate at the same time. The Nyquist plot of “Pos open
loop” is shown in figure 6.7.2.2.1. Clicking the curve on the Nyquist plot displays the value of frequency
response for the analysis of control system.

(1) Vel open loop: The frequency response of the velocity open loop of control system.
(2) Pos open loop: The frequency response of the position open loop of control system.

Figure6.7.2.2.1 Nyquist plot of position open loop

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6.7.2.3 Bode

The “ph + gain” option of “Loop constructor” can analyze and simulate frequency responses of “Vel
controller”, “Vel open loop”, “Vel close loop”, “Pos controller”, “Pos open loop”, and “Pos close loop” of
control system. Using the check method can select to analyze and simulate the Bode diagram of velocity
loop or position loop. It can also select six loops to analyze and simulate at the same time. Bode plots of
“Vel close loop” and “Pos close loop” are shown in figure 6.7.2.3.1. Clicking the curve on the Bode plot
displays the value of frequency response for the analysis of control system.

(1) Vel controller (Velocity controller): The frequency response of velocity controller.
(2) Vel open loop (Velocity open loop): The frequency response of the velocity open loop of control
system.
(3) Vel close loop (Velocity close loop): The frequency response of the velocity close loop of control
system.
(4) Pos controller (Position controller): The frequency response of position controller.
(5) Pos open loop (Position open loop): The frequency response of the position open loop of control
system.
(6) Pos close loop (Position close loop): The frequency response of the position close loop of control
system.

Figure6.7.2.3.1 Bode plots of velocity close loop and position close loop

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6.7.2.4 Nichols

The “Nichols” option of “Loop constructor” can analyze and simulate frequency responses of “Vel open
loop” and “Pos open loop” of control system. Using the check method can select to analyze and simulate
the Nichols diagram of “Vel open loop” or “Pos open loop”. It can also select two loops to analyze and
simulate at the same time. Nichols plots of “Vel open loop” and “Pos open loop” are shown in figure
6.7.2.4.1. Clicking the curve on the Nichols plot displays the value of frequency response for the analysis
of control system.

(1) Vel open loop (Velocity open loop): The frequency response of the velocity open loop of control
system
(2) Pos open loop (Position open loop): The frequency response of the position open loop of control
system

Figure6.7.2.4.1 Nichols plots of velocity open loop and position open loop

6.7.3 Filter

The control loop of drive provides two filters, which can be used at the same time. They are designed to
suppress the high-frequency noise, machine vibration, shortage structure rigidity, and so on.

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6.7.3.1 Low pass filter

The low pass filter in the control system is used to suppress the high-frequency noise or machine
vibration. The Bode plot of low pass filter is given in figure 6.7.3.1.1. Modifying the filter parameters (fr, xi)
will affect the frequency response of various control loop analysis. This is used to simulate the frequency
response of control system plus low pass filter to facilitate the actual adjustment.

(1) fr: The cutoff frequency of filter. The unit is Hz. For general applications, a good effect can be
achieved at the setting of 500 Hz. Other cases can be considered to decrease this value. However,
the control performance will be reduced if the cutoff frequency is too small.
(2) xi: The damping ratio of filter. Its value ranges from 0 to 1.
(3) k1: Low pass filter = 0.
(4) k2: Low pass filter = 0.

Figure6.7.3.1.1 Low pass filter

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6.7.3.2 Notch filter

When the mechanism system has an inappropriate resonance frequency and the resonance
phenomenon cannot be eliminated by modifying the design of mechanism, this problem can be improved
by using a notch filter. The Bode plot of notch filter is given in figure 6.7.3.2.1. Modifying the filter
parameters (fr, xi) will affect the frequency response of various control loop analysis. This is used to
simulate the frequency response of control system plus notch filter to facilitate the actual adjustment.

(1) fr: The cutoff frequency of filter. The unit is Hz.

(2) xi: The damping ratio of filter. Its value ranges from 0 to 1. The closer to 0 the narrower the filtering
frequency band is, the closer to 1 the wider the filtering frequency band is.
(3) k1: Notch filter = 0
(4) k2: Notch filter = 1

Figure6.7.3.2.1 Notch filter

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6.7.4 Gain tuning

“Loop constructor” provides gain values of velocity loop (vpg, vig) and position loop (ppg), and common
gains (CG). Refer to Section 6.6 for more information. These parameters can be used to tune gains to
simulate the stability of control system after gain tuning, as shown in figure 6.7.4.1.

Figure6.7.4.1 Loop constructor - gains

(1) Velocity loop
Gains of velocity loop are vpg and vig, where vpg is the proportional gain of velocity loop and vig is
the integral gain of velocity loop.
 vpg: Tuning vpg affects the transient response of velocity loop and increase the bandwidth of
velocity loop.
 vig: Tuning vig affects the steady-state error of velocity loop, but the excessive adjustment may
cause the system instability.

(2) Position loop

The proportional gain of position loop is ppg.
 ppg: Tuning ppg affects the transient response of position loop and increase the bandwidth of
position loop.

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6.7.5 Spectrum analysis

“Loop constructor” provides the gain margin, phase margin, and bandwidth of velocity loop and position
loop. This function can be used to tune gains to simulate the stability of control system after gain tuning,
as shown in figure 6.7.5.1. Here, “P margin” is the phase margin, and “G margin” is the gain margin. Refer
to Section 3.6 for more information.

Figure6.7.5.1 Loop constructor - P margin and G margin

6.8 Encoder signal confirmation

The encoder plays an important role in the servo motor control, which provides the information about
drive position or angle to achieve the servo loop control. For D2-series drives, the encoder output signal
can be ensured via HMI.

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(1) Encoder confirmation function

Click in the window of performance center or select the “Encoder test/tune” option in the
function menu of “Tools” to open this function window for observing whether the value or signal of
encoder is normal. The function window for digital encoder is shown in figure 6.8.1.

Figure6.8.1 Digital encoder

(2) Encoder value confirmation

The signal of digital encoder is comprised of two digital pulses with 90°-phase difference. For D2
drive, this function can be used to check whether the encoder value is correct. For example, move
the motor with a known distance in manual to check whether the read “Position” is the same as the
moved distance.

(3) Index signal confirmation

The Z-phase signal of encoder can be used to confirm whether the signal is normally received via
the “Index” light in figure 6.8.1. When the drive gets the Z-phase signal, the “Index” light on the
window flashes green.

6.9 Error map function

The motor accuracy is usually determined by the linear encoder used on the positioning platform. The
positioning accuracy is usually measured and corrected by using a laser interferometer, so that the
positioning error table can be obtained. D2 drive has an error map function. By inputting and saving the
error table to the drive via HMI, the drive can use this information to calculate the compensation value at
the fixed distance by using the linear interpolation manner to improve the positioning accuracy.

After measuring the positioning accuracy and obtaining the error table, set the compensation interval
(“Interval”) and total compensation points (“Total points”) first, and then input the error compensation
value into the table one by one.

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Note:
(1) “Error map” takes the home position as the start position, and compensates the position in the positive
direction. Therefore, complete the homing procedure before enabling the error map function.
(2) When the host controller needs to receive the feedback pulse outputted from the drive, and also to enable the
error map function, set “Encoder output” in the “Encoder” tab to “Use emulated encoder”.

6.9.1 Set error map

The following describes steps of enabling the error map function for D2 drive.
Step 1: Go to the application center and select the “Error Map” tab to open the window of error map
function, as shown in figure 6.9.1.1.

Open/save file Get from/ send to

Flash

Error compensation
curve
Error compensation value
for each position

Figure6.9.1.1 Error map window

Step 2: Set the compensation interval (“Interval”) and total compensation points (“Total points”), and
then enter the error compensation value into the “Error” field. If a different custom unit is
needed, click the unit field to set different unit. Taking the example of figure 6.9.1.2, the
compensation range is from 0 to 1,000 mm, the compensation interval is 100 mm, and the total
compensation point is 11 points. The value in the “Error” field is obtained from the error
measurement of laser interferometer. For example, when the target position is 100 mm, the
laser measurement returns to 100.002 mm.

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The displayed
reminder to
inform that the
modified
compensation
value has not
been saved to
the drive’s
Flash.

Figure6.9.1.2 Parameter setting of error map

Note:
(1) When the error compensation value is entered into the table, the entered value is rounded to an integer
multiple of encoder resolution. For example, if the encoder resolution is 2 um and the entered compensation
value is 1 um, the program will forcibly convert it to 2 um. If the input is 0.5 um, it will be converted to 0 um.
(2) Because the displayed accuracy is only to the third decimal, select the appropriate unit for “Position” and
“Error”.

Step 3: Check the option of “Error map enable” ( ).

Step 4: Choose the “Send table to flash” option of “Flash” in the function menu. If there are other
parameters modified except error map parameters, and not yet saved in Flash, the following
window will be displayed. If there is no parameter needed to save except error map parameters,
go to Step 6.

Current parameters except error map parameters are different from those
in the drive’s Flash. If click the “Continue” button to save error map
parameters to Flash, servo parameters will be lost due to the forced
“Reset” action of drive.
Figure6.9.1.3

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Step 5: Click the “Cancel” button and go to the HMI main window to save servo parameters into Flash.
After servo parameters are saved, redo Step 4.
Step 6: When the “confirm” window appears, click the “Confirm” button to save error map parameters
into Flash. After error map parameters are saved, the drive will automatically execute the
“Reset” action.

Figure6.9.1.4

6.9.2 Enable error map

After setting the related parameter of error map described above, the drive has the ability of error
compensation. As soon as the motor completes the homing procedure, the drive starts the error map
immediately. There are two ways for D2 drive to complete the homing procedure. Just choose one of
them to use.

 Homing with host controller

First, set the input function of “Home Ok, start err. map” in the I/O center (see Section 5.5). Assume
that this function is set to I2, as shown in figure 6.9.2.1. The host controller sends the motion
command to the drive via the pulse command or voltage command to let the motor move to the
home position. Then, it stops to send the motion command. The host controller must send the signal
to I2 through its digital control output. At this time, if the drive receives this signal, it thinks that the
homing procedure is completed and starts the error map function.

Figure6.9.2.1

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 Stand-Alone homing

Go to the performance center and click the “Home” button ( ) to execute the homing
procedure (see Section 6.2).

 How to confirm whether the error map function is enabled

At any time, if users want to confirm whether the error map function is already in use, go to the
“Status” area in the “Error map” window, and observe whether the “error map active” light is green.
The green light indicates that the error map function is enabled.

6.9.3 Save/open error map

The established error compensation value can be directly saved into the disk, and can also be directly
read from the disk. As shown in the following figure, click “File” in the function menu to do it. As described
in Section 6.9.1, the “Send Table to Flash” option of “Files” in the function menu can save the error map
table in the drive’s Flash. Note that, the “Save to Flash” button ( ) in the main window cannot
automatically save the error map table in the drive’s Flash (see Section 5.8.1).

Figure6.9.3.1

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6.9.4 Change start position

If it is needed to change the start position of error map, select the “Advanced” option of “View” in the
function menu to appear the window of figure 6.9.4.1. Enter the required start position of compensation in
the “Start position” field. In addition, pressing the “Next” button on the right side of window, the motor will
move the distance of one “Interval” in the forward; while pressing the “Previous” button, the motor will
move the distance of one “Interval” in the reversal. The “Error” value in the “Status” area is updated to the
error compensation value corresponding to the current position. The red dot on the graph of “Error Map” is
the “Encoder” value, and the “Feedback position” value is equal to the “Encoder” value plus the “Error”
value.

Figure6.9.4.1

Note:
To compensate the errors in negative direction, input the stop point in Start position field and set the interval in
Interval field. For instance, input -1000 in Start position field, 100 in Interval field and 11 in Total points field. Then
the compensation positions will be -1000, -900, -800, …, -100, 0, starting from index 0.

(1) “Home offset” = 0 and “Start position” = 0

For the setting of both “Home offset” and “ Start position” being zero, the effective range of error map
takes the index as the boundary. The area from the index towards positive direction is the mapping
effective area; while the area from the index towards negative direction is the area without mapping.

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Table6.9.4.1

Home Start
Mapping effective area
offset position
Mapping effective area

+ position
0 0
mm mm

index
Drive coordinate = 0

(2) “Home offset” ≠ 0 and “Start position” = 0

For the setting of “Home offset” being nonzero and “Start position” being zero, the mapping effective
area is the same as that for the setting of both “Home offset” and “ Start position” being zero.

Table6.9.4.2

Home Start
Mapping effective area
offset position
Home offset
= 100 Mapping effective area

100 0 + position
mm mm

index
Drive coordinate = -100 Drive coordinate = 0

Home offset Mapping effective area

= -100
+ position
-100 0
mm mm
Drive
coordinate index
=0 Drive coordinate = 100

(3) “Home offset” = 0 and “Start position” ≠ 0

For the setting of “Home offset” being zero and “Start position” being nonzero, the mapping effective
area takes the index as the reference and will move corresponding to “Start position”.

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Table6.9.4.3

Home Start
Mapping effective area
offset position
Start position Mapping effective area
= 100

0 100
mm mm
index + position
Drive coordinate = 0

Start position
= -100
Mapping effective area

0 -100
+ position
mm mm

index
Drive coordinate = 0

(4) “Home offset” ≠ 0 and “Start position” ≠ 0

For the setting of both “Home offset” and “ Start position” being nonzero, the mapping effective area
does not change with “Home offset”, but moves with “Start position”.

Table6.9.4.4

Home Start
Mapping effective area
offset position

Start position
= 100
Mapping effective area
Home offset
= 50
50 100
mm mm

index + position
Drive coordinate = -50 Drive coordinate = 0

Home offset
= 100
Mapping effective area
Start position
= 50
100 50
mm mm

index + position
Drive coordinate = -100 Drive coordinate = 0

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Home Start
Mapping effective area
offset position
Start position Home offset
= -100 = 50

Mapping effective area

50 -100
mm mm + position

index
Drive coordinate = -50 Drive coordinate = 0

Start position Home offset

= -50 = 100

Mapping effective area

100 -50
+ position
mm mm

index
Drive coordinate = -100 Drive coordinate = 0

Home offset Start position

= -50 = 100 Mapping effective area

-50 100
mm mm
Drive
coordinate index + position
=0 Drive coordinate = 50

Home offset Start position

= -100 = 50 Mapping effective area

-100 50
mm mm
Drive
coordinate index + position
=0 Drive coordinate = 100

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Home Start
Mapping effective area
offset position
Start position
= -100

Home offset
= -50
Mapping effective area
-50 -100
mm mm + position

Drive index
coordinate Drive coordinate = 50
=0

Home offset
= -100

Start position
= -50
Mapping effective area
-100 -50
mm mm + position

Drive
coordinate index
=0 Drive coordinate = 100

Home offset
= Start position Mapping effective area
= 100

100 100
mm mm

index + position
Drive coordinate = -100 Drive coordinate = 0

Home offset
= Start position
= -100 Mapping effective area

-100 -100 + position

mm mm

Drive index
coordinate Drive coordinate = 100
=0

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6.10 Backlash compensation

If the platform moves in a fixed direction and stops, it does not move immediately when it needs to move
in the opposite direction. The platform stays at the original position until the motion command is
accumulated to a certain amount to start moving. This is called the backlash error. Go to the “Backlash”
tab. The backlash compensation setting is given in figure 6.10.1. This setting can be used for backlash
compensation to improve the bi-direction reproducibility.

 Backlash function setting

Enter the measured backlash value into this field to complete the backlash compensation setting.

Figure6.10.1 Backlash compensation window

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7. LCD Operation
00000000000 000000
0
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

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7.1 LCD function

7.1.1 Panel description

Display

Page number

Axis name

Up key Enter key

Down key Function key

Figure7.1.1.1 LCD panel

Table7.1.1.1 Panel function description

Name Function
Display Display change parameter values, statuses, parameters, actions, and so on.
LCD display is divided into four pages. The current page number is shown in the upper left
Page number
corner.
The axis name is displayed on the first page - home page, and can be modified on the HMI
Axis name main window. Refer to Section 5.1.3. Messages will also be displayed if there are errors or
warnings.
- Static cursor: Flashing underscore. The parameter can be edited.
- Dynamic cursor: Solid flashing box cursor. The parameter is editing or the continuous
Cursor
motion is in progress (jogging).
- No cursor: Parameters can only be displayed, but not edited.
Up key Select options, set parameter values, and do “Jog” action.
Down key Select options, set parameter values, and do “Jog” action.
Function key Switch among four modes, and switch between actions of edit mode at setting the
(F key) parameter value.
Enter the option of status display, save the setting parameter value, and confirm the action
Enter key
input.

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7.1.2 Operation page description

There are four modes on the display panel: home page, display parameters page, change parameters
page, and actions page. Press the F key to switch to other mode. The overall structure of LCD is shown in
figure 7.1.2.1.

(1) Home page

It mainly shows the servo enable state of drive, error message or warning message, and the axis
name of servo axis.

(2) Display parameters page

It mainly shows the motor feedback position, reference position, position error, feedback velocity,
reference velocity, I/O statuses, motor statuses (phase initialization, motor movement, homing, error
map), and other parameters.

(3) Change parameters page

It mainly is used to change the common gain, velocity loop gain, phase initialization gain, operation
mode, pulse format, and other parameters, and to save parameters in the memory to Flash. More
than 200 advanced parameters can be set.

(4) Actions page

It is mainly for the servo enable or disable, continuous motion (Jog), moving to the absolute target
position, setting the current position to zero, “Auto Tune”, selecting the motor model name, and other
actions.

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Figure7.1.2.1 Overall LCD operation structure

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7.2 Parameter initialization via LCD

When taking an uninitialized new drive, follow steps below to select the motor model name, perform the
initialization procedure, and drive the motor via the LCD panel. The example of operation procedure is
that the motor model name is FRLS402XX5 and the operation mode is the stand-alone mode
(“STNDALON”).

(1) Press the Enter key to set motor model (“MOTRSE”), and then press the Up key or Down key to
select the motor model name connected to the drive. This example is “LS402XX5”. If the 9-th bit of
motor model name is 4 or 6, it uses the serial encoder and the motor model name is unnecessary to
be selected. Press the Enter key to confirm the motor model name.

(2) The LCD screen changes to the gain setting page of “ZeroTune” (“ZT”). Servo loop gains can be
easily set without complex procedures via “ZeroTune”. Only by selecting the load level of motor, the
well stable velocity response can be achieved. Even a beginner who has no knowledge about the
servo control can easily drive a motor. Press the Enter key to enter the “ZT” setting, and then press
the Up key or Down key to select the load level (“LV”). Figure 7.1.2.1 shows the reference weight
corresponded to the load level. After selecting the appropriate load level, press the Enter key to
confirm it.

(3) The LCD screen moves to the setting page of operation mode (“MODE”). Press the Enter key to
enter the “MODE” setting. Press the Up key or Down key to select “STNDALON”, and then press the
Enter key to confirm the change of operation mode.

(4) The LCD screen moves to the “SAVE TO FLASH” page (“SAVEFL”). Press the Enter key to enter the
setting page of saving parameters to Flash, and then press the Up key or Down key to select “NO”.
Press the Enter key to confirm that parameters do not be saved to Flash. Refer to Section 7.5.1 for
more information.

(5) The LCD screen moves to the home page. At this time, “SVNRDY” is displayed to indicate that the
motor is not enabled yet. Now, the setting of motor parameter initialization is completed.

Table7.2.1 Reference weight of “ZeroTune”

Motor Power LV1 LV2 LV3 LV4 LV5

50 W, 100 W 5 Kg 15 Kg 30 Kg 45 Kg 60 Kg
200 W, 400 W 10 Kg 25 Kg 50 Kg 75 Kg 100 Kg
750 W, 1 KW 20 Kg 50 Kg 80 Kg 110 Kg 140 Kg
Note:
LV1 - LV5 mean the load level. For different motor power and load level, the corresponding reference weight will be
displayed.

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LEVEL ONE LEVEL TWO

4 MOTRSE 4 MOTRSE
LS05XX5 LS05XX5

Use the Up key or

Down key to select
the motor model
name.

3 ZT 4 MOTRSE
LV5 100 LS402X5

3 ZT
LV5 100

3 ZT Tune “ZeroTune” gains.

LV3 50 Refer to table 7.2.1.

3 MODE 3 ZT
STNDALON LV5 100

Set the operation mode.

3 MODE
Use the Up key or Down
STNDALON key to select the
operation mode.
3 SAVEFL
NO

Save parameters to Flash.

3 SAVEFL
Refer to Section 7.5.1.
NO

1 SVNRDY
X

Figure7.2.1 Setting procedure of motor parameter initialization

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7.3 Home page

When the drive is power-on, the display will show the status of servo ready first. The symbol of this status
is given in table 7.3.1.

Table7.3.1 LCD displayed symbols for servo ready

LCD Symbol Description

SV RDY Servo is ready.
SVNRDY Servo is not ready.

When D2 drive detects the occurrence of error or warning, the error or warning message will be displayed
on the second line, as shown in figure 7.3.1. Displayed symbols of error and warning are described in
table 7.3.1 and table 7.3.2, respectively. There are two designs for LCD display. Before firmware versions
of D2 MDP 0.037 (inclusive) and D2COE MDP 0.113 (inclusive), the LCD display adopts the abbreviated
design for LCD displayed symbols. On the other hand, after firmware versions of D2 MDP 0.038
(inclusive) and D2COE MDP 0.114 (inclusive), the LCD display adopts the numbered design for LCD
displayed symbols.

1 SVNRDY 1 SV RDY 1:X 1:X

X X SVNRDY SV RDY

Error Warning Error Warning

occurs occurs occurs occurs
1 SVNRDY 1 SV RDY 1:SVNRDY 1:SV RDY
E01SHORT W01SWLL ERR E01 WRN W01

(a) LCD abbreviated display symbol (b) LCD numbered display symbol
Figure7.3.1 Error and warning display

Table7.3.2 LCD displayed symbols for error message

LCD Symbol LCD Symbol

No. Error Message Displayed On Lightening
(Abbreviated) (Numbered)
1 E01SHORT ERR E01 Motor short (over current) detected
2 E02OVERV ERR E02 Over voltage detected
3 E03PEBIG ERR E03 Position error too big
4 E04ENCOD ERR E04 Encoder error
5 E05SWHOT ERR E05 Soft-thermal threshold reached
6 E06UVWCN ERR E06 Motor maybe disconnected
7 E07D.HOT ERR E07 Amplifier over temperature
9 E09UND.V ERR E09 Under voltage detected
10 E10V5ERR ERR E10 5V for encoder card fail
11 E11PHINI ERR E11 Phase initialization error
12 E12SER.E ERR E12 Serial encoder communication error
13 E13HAL.E ERR E13 Hall Sensor Error

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LCD Symbol LCD Symbol

No. Error Message Displayed On Lightening
(Abbreviated) (Numbered)
15 E15CURER ERR E15 Current Control Error
17 E17HYBDV ERR E17 Hybrid deviation too big
18 E18STO ERR E18 STO active
19 E19HFLT ERR E19 HFLT inconsistent error
21 E21WRGMT ERR E21 Incompatible motor model and drive
22 E22BUS.E ERR E22 DC bus voltage abnormal
23 E23NOET ERR E23 EtherCAT interface is not detected
24 E24HOM.E ERR E24 CiA-402 homing error
25 E25FAN.E ERR E25 Fan fault error
26 ERR E26 Drive overload error

Note:
(1) Before D2 MDP 0.037 (inclusive) and D2COE MDP 0.113 (inclusive), the abbreviated design is adopted for
LCD displayed symbols. After D2 MDP 0.038 (inclusive) and D2COE MDP 0.114 (inclusive), the numbered
design is adopted for LCD displayed symbols.
(2) ERR E18, ERR E25, and ERR E26 are only for the frame D model.

Table7.3.3 LCD displayed symbols for warning message

LCD Symbol LCD Symbol

No. Warning Message Displayed On Lightening
(Abbreviated) (Numbered)
1 W01SWLL WRN W01 Left SW limit
2 W02SWRL WRN W02 Right SW limit
3 W03HWLL WRN W03 Left HW limit
4 W04HWRL WRN W04 Right HW limit
5 W05SVBIG WRN W05 Servo voltage big
6 W06PE WRN W06 Position error warning
7 W07VE WRN W07 Velocity error warning
8 W08CUR.L WRN W08 Current Limited
9 W09ACC.L WRN W09 Acceleration Limited
10 W10VEL.L WRN W10 Velocity Limited
11 W11BOTH WRN W11 Both HW limits are active
13 W13HOM.E WRN W13 Homing Fail
14 W14HOM.C WRN W14 Pulse command and homing conflict
15 W15BAT.E WRN W15 Absolute encoder battery warning
16 W16ABS.W WRN W16 Wrong absolute position
17 WRN W17 MECHATROLINK communication warning
18 WRN W18 Absolute encoder position overflow
19 WRN W19 Serial encoder communication warning

Note:
Before D2 MDP 0.037 (inclusive) and D2COE MDP 0.113 (inclusive), the abbreviated design is adopted for LCD
displayed symbols. After D2 MDP 0.038 (inclusive) and D2COE MDP 0.114 (inclusive), the numbered design is
adopted for LCD displayed symbols.

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7.4 Display parameters page

In the display parameters page, press the Up key or Down key to change the displayed parameter. The
operation flow chart is shown in figure 7.4.1, and the definition of the displayed symbol for each parameter
is given in table 7.4.1. In the LCD display, the first line is the parameter name, and the second line is its
value or status.

2 01FBPO 2:01FBPO
-369 -369

2 02RFPO 2:02RFPO
-369 -369

2 04POSE 2:04POSE
10 10

(a) LCD abbreviated display symbol (b) LCD numbered display symbol
Figure7.4.1 Operation flow chart for display parameters page

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Table7.4.1 LCD displayed parameters in the display parameters page

Displayed Symbol Physical Quantity Description Unit

01FBPO Feedback Position Motor feedback position count
02RFPO Reference Position Drive reference position count
04POSE Position Error Position error count
Feedback position of single-turn absolute encoder
05STPO Single Turn Feedback Position (Note 1) count
06DLPO Dual-loop Feedback Position Feedback position of dual-loop encoder (Note 2) count
10FBVE Feedback Velocity Motor feedback velocity rpm
11RFVE Reference Velocity Drive reference velocity rpm
12VELE Velocity Error Velocity error rpm
30ACTC Actual Current Motor actual current Aamp
31CMDC Command Current Drive current command Aamp
Effective value of current during the calculation
32 CE Current effective value Aamp
period
40ANAC Analog Command Analog voltage command (from the host controller) Volt
41DCBU Bus Voltage Bus voltage Volt
51SWTH Soft-thermal Accumulator Soft-thermal accumulator -
53 ALR Average load ratio Average load ratio during the calculation period %
54 PLR Peak load ratio Peak load ratio during the calculation period %
61 I1 I1 Input 1 -
62 I2 I2 Input 2 -
63 I3 I3 Input 3 -
64 I4 I4 Input 4 -
65 I5 I5 Input 5 -
66 I6 I6 Input 6 -
71 I7 I7 Input 7 -
72 I8 I8 Input 8 -
67 I9 I9 Input 9 -
68 I10 I10 Input 10 (Note 3) -
81 O1 O1 Output 1 -
82 O2 O2 Output 2 -
83 O3 O3 Output 3 -
83 O4 O4 Output 4 -
86 O5 O5 Output 5 (Note 3) -
85 BRK CN2 BRK Brake signal output -
90PHAS Status: Phase Initialized Phase initialization status -
91MOVI Status: Moving Motion status -
92HOME Status: Homed Homing status -
93ERRM Status: Error Map Active Error map active status -
94 VER Status: MDP Version MDP version status -
95ELEC Status: Elec. Angle corrected Electrical angle correctness status (Note 4) -

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Note:
(1) Only for the drive supporting the single-turn absolute encoder.
(2) Only for the drive supporting the dual-loop encoder.
(3) Only for D2T model.
(4) Only for the drive supporting the 13-bit encoder.

The status display for parameters O1 - O5 is shown in figure 7.4.2 and the symbol of status display is
described in table 7.4.2.

Output Status

2 81 O1 2 81 O1
TRU-HIGH FLS-LOW

Output logical value

Figure7.4.2 Output status display

Table7.4.2 LCD displayed symbol for output status

LCD symbol Description

TRU True
FLS False
HIGH Open
LOW Close

7.5 Change parameters page

The third page of LCD is the change parameters page, which is used to change the set parameter. The
operation can be divided into two zones: common parameter zone and advanced parameter zone. The
former is given in table 7.5.1 and the latter is given in table 7.5.3.1. In the change parameters page, press
the Up key or Down key to change the edited parameter. The operation flow chart is described in figure
7.5.1. The detailed operation procedure is described in the next subsection (take the LCD abbreviated
display symbol as an example).

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Static
cursor 3 SAVEFL Save parameters 3:SAVEFL
NO in the drive’s RAM NO
to flash.

3 000 Acceleration 3:No.000

2000 setting. 2000

3 001 Deceleration 3:No.001

2000 setting. 2000

3 003 Speed setting. 3:No.003

Common parameter zone

Common parameter zone

500 500

• •
• •
•
•
3 340 ZeroTune 3:No.340
0 load level. 0

Press to enter
parameter
Advanced

3 +++ 3: +++
parameter
Advanced

0 the advanced 0
parameter zone.
zone

zone

Note:
Static cursor (flashing underscore). The parameter can be edited.
(a) LCD abbreviated display symbol (b) LCD numbered display symbol

Figure7.5.1 Operation flow chart for change parameters page

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Table7.5.1 Common parameter table (set parameter based on the actual application)

LCD No. Function Description

000 Acceleration Maximum acceleration of motor during motion
001 Deceleration Maximum deceleration of motor during motion
003 Velocity Maximum velocity of motor during motion
024 f1 Cutoff frequency of closed-loop filter 1
028 f2 Cutoff frequency of closed-loop filter 2
065 Common Gains The larger the value is, the higher the servo rigidity is.
081 Numerator of electronic gear ratio Numerator of electronic gear ratio (output)
082 Denominator of electronic gear ratio Denominator of electronic gear ratio (input)
Velocity command scale (velocity Velocity command scale; the speed corresponds to 1 V, or the
083
mode) maximum speed corresponds to “Full PWM”.
Current command scale (torque Current command scale; the output current corresponds to 1 V,
085
mode) or the maximum current corresponds to “Full PWM”.
The larger the value is, the smoother the motion is. (range: 1 -
115 Smooth factor
500)
0: Quadrature (AqB)
129 Pulse Format 1: Pulse/Direction
2: Pulse up/Pulse down (CW/CCW)
0: Not inverse
130 Inverse pulse command
1: Inverse
0: Stand-alone mode
1: Position mode
212 Primary operation mode
2: Velocity mode
3: Torque mode
High speed/ low speed pulse input 0: High-speed pulse input (CN6 pin 44, 45, 46, 47)
216
switch 1: Low-speed pulse input (CN6 pin 1, 3, 4, 2, 5, 6)
Positive/negative logic of CW/CCW 0: No inverse
219
pulse Switch 1: Inverse
0: No inverse
243 Invert of input point 3
1: Inverse
0: No inverse
280 Invert of CN2 brake output
1: Inverse
The higher the level is, the heavier the load is.
340 Zero Tune Level
There are 5 levels to select: LV1 - LV5.

Note:
For the parameter name of LCD No. and its input range, refer to table 7.5.3.1.

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7.5.1 Save to Flash

Use following steps to save parameters in the drive’s RAM to Flash (“SAVEFL”).

Step 1: Press the Enter key to enter the “SAVEFL” option (the dynamic cursor appears on the left side
of the second line).

Step 2: Press the Up key or Down key to select whether to save parameters in the drive’s RAM to Flash
(“YES”/“NO”). Select “YES” to continue.

Step 3: When the servo is disabled, the “PROCESS.” message will be displayed on the screen after
pressing the Enter key. This indicates that parameters are being saved to Flash. The “FINISH!”
message will be displayed after the “Save” procedure is completed. The operation flow chart is
given in figure 7.5.1.1. When the servo is enabled, pressing the Enter key will also do the same
steps described in figure 7.5.1.1, but the motor will be disabled.

LEVEL ONE LEVEL TWO

3 SAVEFL 3 SAVEFL
NO NO

Dynamic
cursor 3 SAVEFL
YES

Pressing any key will not

have any reaction during
the display of “PROCESS.”
message.

3 SAVEFL
PROCESS.

Wait 2 seconds.
Pressing any key will not
have any reaction during 3 SAVEFL
the display of “FINISH!” FINISH !
message.
Wait 2 seconds.

Figure7.5.1.1 “Save to Flash” operation

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D2 Series Servo Drive User Manual LCD Operation

7.5.2 Parameter edit function

LCD parameters are classified into two types: enumerated type and non-enumerated type. The parameter
marked with “#” in table 7.5.3.1 is the enumerated-type parameter. For this type parameter, after pressing
the Enter key, it changes to the edit mode. Press the UP key or Down key to select the desired parameter.
The non-enumerated-type parameter requires users to enter the parameter value by themselves. In the
edit mode of this type parameter, the UP key or Down key are used to move cursor or to change
parameter value. To switch these functions, press the F key. Here, changing the value of common gain
(CG, LCD No. 064) is taken as an operation example. For changing other parameter, refer to this
operation. Assume that the CG value needs to be changed from 0.5 to 1.2. After entering the page of LCD
No. 065, use following steps to change the parameter value. The operation flow chat is given in figure
7.5.2.1.

Step 1: Press the Enter key to enter the edit mode of LCD No. 065 (the dynamic cursor appears on the
left side of the second line).
Step 2: Press the Down key once to move the flashing cursor to the “0” position.
Step 3: Press the F key once (the function of Up key and Down key is switched to change parameter
value).
Step 4: Press the Up key twice and stop when the number turns to “1”. Refer to figure 7.5.2.2 for the
number switching sequence.
Step 5: Press the F key once (the function of Up key and Down key is switched to move cursor).
Step 6: Press the Down key twice to move the flashing cursor to the “5” position.
Step 7: Press the F key once (the function of Up key and Down key is switched to change parameter
value.)
Step 8: Press the Down key fourth times and stop when the number turns to “2”.
Step 9: Press the Enter key to change CG to 1.2.

Note:
When using the LCD parameter edit mode, the notice of using F key is given as below:
(1) Pressing the F key for less than one second switches the operation of Up key and Down key between moving
cursor and changing parameter value.
(2) Pressing and holding the F key for more than two seconds, the screen will return to LEVEL ONE and any
change will be discarded.

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LCD Operation D2 Series Servo Drive User Manual

LEVEL ONE LEVEL TWO

3 065 3 065
0.5 0.5

3 065
0.5

Press the F key to switch the function

of Up key and Down key to change
parameter value.
3 065
0.5

Press the UP key twice and stop

when “1” appears (in the sequence
of 001)

3 065
1.5

Use the F key to switch the

function of Up key and Down
key to move cursor.
3 065
1.5

Press the Down key twice to

move the cursor to the right two
places.
3 065
1.5

Use the F key to switch the

function of Up key and Down
key to change parameter value.

3 065
1.5

Press the Down key four times and

stop when “2” appears (in the
sequence of 55432).
3 065 3 065 Note:
1.2 1.2 Refer to figure 7.5.2.1for the number
switching sequence.

Figure7.5.2.1 Operation example of changing CG parameter (LCD No. 065)

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D2 Series Servo Drive User Manual LCD Operation

0
1
(Space)

e 2

-
3

. 4

9 5

6
8
7

Figure7.5.2.2 Number switching sequence in the parameter edit mode

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LCD Operation D2 Series Servo Drive User Manual

7.5.3 Advanced parameter zone

Use following steps to enter the advanced parameter zone.

Step 1: Press the Down key to the “+++” page first, and then press the Enter key (the static cursor
appears in the left side of the second line) to enter the advanced parameter zone. Advanced
parameters are listed in table 7.5.3.1.

Step 2: After entering the advanced parameter zone, the operation is the same as that described in
Section 7.5.2.
Step 3: After the parameter is edited, press the Enter key to complete the editing, return to the edited
parameter, and display the edited parameter. To leave the advanced parameter zone, press
and hold the F key for more than 2 seconds, as shown in figure 7.5.3.1.

LEVEL ONE LEVEL TWO LEVEL THREE

3 +++ 000
0 _ 200

Press the UP key or

Down key to show the
page of LCD No. 081.
081 081
1 1

Press once to
shift the cursor
to the right one
place.

081
1

Press the F
key to enter
the parameter
edit mode.

081
1

Press the Up key

five times and
Press and hold the F stop when “5”
appears (in the
key for more than 2
seconds. sequence of 1
12345).
3 +++ 081 081
0 5 5

Figure7.5.3.1 Operation example of advanced parameter zone

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D2 Series Servo Drive User Manual LCD Operation

Table7.5.3.1 Advanced parameter table (set parameter based on the actual application)

LCD
Parameter Definition Unit Default Max. Min.
No.
Maximum acceleration of motor during
Refer to
motion
000 X_acc rev/s2 Section 231 - 1 1
(recommended value: ten times of motor’s
8.1
maximum velocity)
Maximum deceleration of motor during
Refer to
motion
001 X_dcc rev/s2 Section 231 - 1 1
(recommended value: ten times of motor’s
8.1
maximum velocity)
Deceleration of motor output during
Refer to
emergency stop
002 X_dcc_kill rev/s2 Section 231 - 1 1
(recommended: ten times of motor’s
8.1
maximum deceleration)
Maximum velocity of motor during motion Refer to
003 X_vel_max (recommended value: do not exceed the rpm motor 231 - 1 1
rated motor speed) catalog
Position 1 for the point-to-point (P2P)
007 X_p2p_pos1 count 0 231 - 1 -(231 - 1)
motion
Position 2 for the point-to-point (P2P)
008 X_p2p_pos2 count 0.05 rev 231 - 1 -(231 - 1)
motion
024 X_f1_fr Cutoff frequency of closed-loop filter 1 Hz 800 5,000 0
028 X_f2_fr Cutoff frequency of closed-loop filter 2 Hz 0 5,000 0
Refer to
032 X_Upi_kp Proportional gain of current loop (D axis) - Section 100,000 1
6.6.5
Refer to
033 X_Upi_ki Integral gain of current loop (D axis) - Section 100,000 0
6.6.5
0.05
039 X_index_vel Slower homing velocity (“Slower speed”) count/s 231 - 1 1
rev/s
Maximum search time of homing
040 X_index_tout 66.67 μs 25 sec 231 - 1 1
procedure
1 pole
050 X_max_err Maximum position error count 231 - 1 1
pair pitch
Velocity proportional gain of close-loop
059 X_vpg - 0.001 1 10-6
control
Acceleration feed-forward gain of
064 X_affg - 0 1 0
close-loop control
065 X_CG servo gain - 0.3 10 0.01
066 X_sg_run Schedule gain for the motion phase - 1 10 0.01
067 X_sg_idle Schedule gain for the in-position phase - 1 10 0.01
074 X_tr_time De-bounce time of in-position signal 66.67 μs 100 ms 231 - 1 0
075 X_tr Target radius of in-position signal count 100 231 - 1 0
079 X_gearRatyio Gear ratio of AC servo motor - 1 100 1
080 Vcmd_offs Analog input bias correction Volt 0 10 -10
081 X_cmd_ext_N Numerator of electronic gear ratio (output) - 1 231 - 1 1
Denominator of electronic gear ratio
082 X_cmd_ext_M - 1 231 - 1 1
(input)

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LCD Operation D2 Series Servo Drive User Manual

LCD
Parameter Definition Unit Default Max. Min.
No.
Velocity command scale; the speed
rpm/V or
X_cmd_ext_v_s corresponds to 1 V, or the maximum
083 rpm/Full 60 3.4X1038 -3.4X1038
c speed corresponds to “Full PWM”
PWM
(recommended value: rated speed/10)
Dead band of velocity command. The
X_cmd_ext_v_d
084 speed command is 0 when the input Volt 0 10 0
z
voltage is less than the set value
Current command scale; the output Motor
Aamp/V or
X_cmd_ext_i_s current corresponds to 1 V, or the peak
085 Aamp/ Full 3.4X1038 -3.4X1038
c maximum current corresponds to “Full current/1
PWM
PWM” 0
Dead band of current command. The
X_cmd_ext_i_d
086 current command is 0 when the input Volt 0 10 0
z
voltage is less than the set value
X_pos_err_war 0.5 pole
088 Warning threshold for the position error count 231 - 1 1
n_win pair pitch
X_vel_err_warn
089 Warning threshold for the velocity error count/s 108 3.4X1038 1
_win
0.05
092 X_ vel_stop Brake start speed count/s 3.4X1038 1
rev/s
X_delMaxEnTo
093 Delay time for starting brake 66.67 μs 500 ms 231 - 1 1
Brk
094 X_delBrkToDis Brake action time 66.67 μs 50 ms 231 - 1 1
095 X_index_offs Home offset count 0 231 - 1 0
115 X_new_sm_fac Smooth factor - 100 500 0
Pulse format 1: for 17
0: Quadrature (AqB) bit
129# X_pulse_mode - 2 0
1: Pulse/Direction 0: for 13
2: Pulse up/Pulse down (CW/CCW) bit
Invert pulse command
130# X_pulse_dir 0: Not inverse - 0 1 0
1: Inverse
Trigger method of pulse command
131# X_fall_rise 0: Falling edge - 0 1 0
1: Rising edge
Input command format for the velocity and
torque modes
X_cmd_pwm_m
132# 0: Analog - 0 2 0
ode
1: PWM 50%
2: PWM 100%
133 out_config[0] - 0 215 - 1 0
134 out_config[1] - 0 215 - 1 0
CN2 BRK output signal setting
135 out_config[2] - 0 215 - 1 0
136 out_config[3] - 0 215 - 1 0
137 out_config[4] - 0 215 - 1 0
138 out_config[5] - 2,048 215 - 1 0
O1 output signal setting
139 out_config[6] - 0 215 - 1 0
140 out_config[7] - 0 215 - 1 0
141 out_config[8] - 57,538 215 - 1 0
O2 output signal setting
142 out_config[9] - 32,828 215 - 1 0

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D2 Series Servo Drive User Manual LCD Operation

LCD
Parameter Definition Unit Default Max. Min.
No.
143 out_config[10] - 34 215 - 1 0
144 out_config[11] - 1,683 215 - 1 0
145 out_config[12] - 8 215 - 1 0
146 out_config[13] - 0 215 - 1 0
O3 output signal setting
147 out_config[14] - 0 215 - 1 0
148 out_config[15] - 0 215 - 1 0
Enable/Disable the software limit
X_sw_pos_prot
155# 0: Disable the software limit - 0 1 0
_en
1: Enable the software limit
Enable/Disable the hardware limit
X_hw_lim_prot_
156# 0: Disable the hardware limit - 1 1 0
en
1: Enable the hardware limit
157 X_emu_N Numerator of emulated encoder output - 1 231 - 1 1
158 X_emu_M Denominator of emulated encoder output - 1 231 - 1 1
875: for
X_emu_i_radiu 17 bit;
164 Index radius of emulated encoder count 231 - 1 1
s 10: for 13
bit
165 X_emu_i_jitter Filter factor of emulated encoder count 1 231 - 1 0
172 X_vsf.fr VSF frequency Hz 0 200 0
173 X_vsf.xi VSF damping factor - 1 1.5 0.001
Enable/disable VSF
174# X_vsf_en 0: Disable VSF - 0 1 0
1: Enable VSF
Numerator of electronic gear ratio
175 X_cmd_ext_N2 - 1 231 - 1 1
(second output)
Numerator of electronic gear ratio
176 X_cmd_ext_N3 - 1 231 - 1 1
(third output)
Numerator of electronic gear ratio
177 X_cmd_ext_N4 - 1 231 - 1 1
(fourth output)
179 X_home_vel Faster homing velocity (“Faster speed”) count/s 0.1 rev/s 231 - 1 1
Homing mode
180# X_home_option 0: Go left and right for homing - 1 1 0
1: Use near home sensor/index for homing
Start direction for homing
181# X_home_DIR 0: To left side - 0 1 0
1: To right side
Searching index setting for the first homing
mode
X_home_opt0_i
182# 0: Home position at the middle of total - 0 1 0
ndex
travel
1: Home position at the index
Left side condition for homing
X_home_left_S 0: None
183# - 0 2 0
W 1: End stop
2: Limit switch
Right side condition for homing
X_home_right_ 0: None
184# - 0 2 0
SW 1: End stop
2: Limit switch

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LCD Operation D2 Series Servo Drive User Manual

LCD
Parameter Definition Unit Default Max. Min.
No.
(Aamp×
Current threshold for searching end stop
X_home_wall_ 1000)/(cur
185 (Note: “curr_drv_peak” is the drive’s peak 0 231 - 1 1
CurrThrshld r_drv_pea
current)
k)
X_home_wall_
186 Time limitation for searching end stop msec 0 231 - 1 1
CurrTime
Initial speed setting for the second homing
X_home_select mode
187# - 0 1 0
_Speed 0: Slower speed
1: Faster speed
Searching home method for the second
homing option
0: Index signal only
X_home_searc 1: Near Home Sensor only
188# - 0 3 0
h_option 2: Near Home Sensor then change to
lower speed, move left, search index
3: Near Home Sensor then change to
lower speed, move right, search index
189 X_backlash Backlash count 0 231 - 1 0
205 out_config[16] - 0 215 - 1 0
206 out_config[17] - 0 215 - 1 0
O4 output signal setting
207 out_config[18] - 512 215 - 1 0
208 out_config[19] - 0 215 - 1 0
Dynamic brake (only for D frame model)
X_Use_Dynami
209 0: Not use dynamic brake - 0 1 0
cBrk
1: Use dynamic brake
Primary operation mode
0: Stand-Alone
212# X_oper_mode1 1: Position mode - 0 3 0
2: Velocity mode
3: Force/Torque mode
Secondary operation mode
0: Stand-Alone
213# X_oper_mode2 1: Position mode - 0 3 0
2: Velocity mode
3: Force/Torque mode
214 X_second_cg Secondary CG - 0.3 10 0.01
215 X_second_vpg Secondary VPG - X_vpg 1 10-6
Switch between the high-speed and
LCD.low_or_hig low-speed pulse inputs
216# - 0 1 0
h 0: High-speed pulse input
1: Low-speed pulse input
Invert setting of buffered encoder output
217# LCD.buff_inv 0: Not inverse - 0 1 0
1: Inverse
Switch between the buffered and emulated 1: for 17
LCD.emu_or_b encoder outputs bit
218# - 1 0
uff 0: Buffered encoder output 0: for 13
1: Emulated encoder output bit

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D2 Series Servo Drive User Manual LCD Operation

LCD
Parameter Definition Unit Default Max. Min.
No.
Switch between the positive and negative
logics for CW/CCW pulse command
LCD.cw_ccw_in
219# (CW_CCW_INV) - 0 1 0
v
0: Not inverse
1: Inverse
241# LCD.I1_inv Invert of input 1 - 0 1 0
242# LCD.I2_inv Invert of input 2 - 0 1 0
243# LCD.I3_inv Invert of input 3 - 0 1 0
244# LCD.I4_inv Invert of input 4 - 0 1 0
245# LCD.I5_inv Invert of input 5 - 0 1 0
246# LCD.I6_inv Invert of input 6 - 0 1 0
247# LCD.I7_inv Invert of input 7 - 0 1 0
248# LCD.I8_inv Invert of input 8 - 0 1 0
249# LCD.I9_inv Invert of input 9 - 0 1 0
250# LCD.I10_inv Invert of input 10* - 0 1 0
280# LCD.brk_inv Invert of CN2 BRK output - 1 1 0
281# LCD.O1_inv Invert of output 1 - 0 1 0
282# LCD.O2_inv Invert of output 2 - 0 1 0
283# LCD.O3_inv Invert of output 3 - 0 1 0
284# LCD.O4_inv Invert of output 4 - 0 1 0
285# LCD.O5_inv Invert of output 5* - 0 1 0
ZeroTune load level
0: Tuned (gains are modified by Auto tune
340# X_ZT_loadLV - 3 5 0
or manually)
1 - 5: LV1 - LV5
341 out_config [20] - 0 215 - 1 0
342 out_config [21] - 0 215 - 1 0
O5 output signal setting*
343 out_config [22] - 0 215 - 1 0
344 out_config [23] - 0 215 - 1 0
Enable/Disable the dual-loop control
345# X_Use2ndEnc 0: Disable the dual-loop control - 0 1 0
1: Enable the dual-loop control
Linear encoder resolution of dual-loop
346 X_cntperunit2 count 0 231 - 1 0
control
Linear encoder direction of dual-loop
control
347# X_2ndEnc_sgn - -1 1 -1
-1: Inverse
1: Not inverse
X_hybdev_thre Maximum tolerance of deviation input for
348 count 16,000 227 1
shold the hybrid control
Switch between the enable and disable the
X_VOF.FB_Swi velocity observer
349# - 1 1 0
tch 0: Disable the velocity observer
1: Enable the velocity observer
Latch the error massage of “over
X_latch_err_tdr temperature”
353# - 1 1 0
v 0: Disable
1: Enable

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LCD Operation D2 Series Servo Drive User Manual

LCD
Parameter Definition Unit Default Max. Min.
No.
Latch the error massage of “under voltage”
X_latch_err_un
354# 0: Disable - 0 1 0
derv
1: Enable
Emulated index output in every revolution
X_mult_emu_in
355# 0: Disable - 0 1 0
d
1: Enable
Mode setting for the second generation of
Auto tune
357# AT.mode - 1 2 1
1: Standard
0: Advanced
Stiffness setting for the second generation
of Auto tune
358# AT.stiff 1: Soft - 2 3 1
2: Normal
3: Rigid
Baud rate for the Modbus communication
0: 9,600 (default)
1: 2,400
X_Mbus_Baud 2: 4,800
359# bps 0 6 0
RateIndex 3: 9,600
4: 14,400
5: 19,200
6: 38,400
X_Mbus_Slave
360 Drive station number (for Modbus) - 0 247 0
_Addr
Check setting for the Modbus parity
0: 8 data, Even parity, 1 stop bit
1: 8 data, Odd parity, 1 stop bit
X_Mbus_SetPa 2: 8 data, None parity, 2 stop bit
361# - 0 6 0
rity 3: 8 data, Even parity, 1 stop bit
4: 7 data, Odd parity, 1 stop bit
5: 7 data, None parity, 2 stop bit
6: 7 data, Even parity, 1 stop bit
Maximum time interval for the Modbus
362 X_Mbus_T15 ms 3 231-1 1
RTU character
Minimum time interval for the Modbus RTU
363 X_Mbus_T35 ms 4 231-1 1
frame
364 X_TMO_Scale Output scale of analog output 1 % 100 300 1
365 X_TMO_Offs Output offset of analog output 1 mv 0 10,000 -10,000
366 X_VMO_Scale Output scale of analog output 2 % 100 300 1
367 X_VMO_Offs Output offset of analog output 2 mv 0 10,000 -10,000
UserPDL.X_fVa PDL parameter which can be saved in
368 - 0 3.4X1038 -3.4X1038
r[0] Flash
UserPDL.X_fVa PDL parameter which can be saved in
369 - 0 3.4X1038 -3.4X1038
r[1] Flash
UserPDL.X_fVa PDL parameter which can be saved in
370 - 0 3.4X1038 -3.4X1038
r[2] Flash
UserPDL.X_fVa PDL parameter which can be saved in
371 - 0 3.4X1038 -3.4X1038
r[3] Flash
UserPDL.X_fVa PDL parameter which can be saved in
372 - 0 3.4X1038 -3.4X1038
r[4] Flash
UserPDL.X_iVa PDL parameter which can be saved in
373 - 0 231-1 -(231 - 1)
r [0] Flash

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D2 Series Servo Drive User Manual LCD Operation

LCD
Parameter Definition Unit Default Max. Min.
No.
UserPDL.X_iVa PDL parameter which can be saved in
374 - 0 231-1 -(231 - 1)
r [1] Flash
UserPDL.X_iVa PDL parameter which can be saved in
375 - 0 231-1 -(231 - 1)
r [2] Flash
UserPDL.X_iVa PDL parameter which can be saved in
376 - 0 231-1 -(231 - 1)
r [3] Flash
UserPDL.X_iVa PDL parameter which can be saved in
377 - 0 231-1 -(231 - 1)
r [4] Flash
UserPDL.X_iVa PDL parameter which can be saved in
378 - 0 231-1 -(231 - 1)
r [5] Flash
UserPDL.X_iVa PDL parameter which can be saved in
379 - 0 231-1 -(231 - 1)
r [6] Flash
UserPDL.X_iVa PDL parameter which can be saved in
380 - 0 231-1 -(231 - 1)
r [7] Flash
UserPDL.X_iVa PDL parameter which can be saved in
381 - 0 231-1 -(231 - 1)
r [8] Flash
UserPDL.X_iVa PDL parameter which can be saved in
382 - 0 231-1 -(231 - 1)
r [9] Flash
UserPDL.X_iVa PDL parameter which can be saved in
383 - 0 231-1 -(231 - 1)
r [10] Flash
UserPDL.X_iVa PDL parameter which can be saved in
384 - 0 231-1 -(231 - 1)
r [11] Flash
UserPDL.X_iVa PDL parameter which can be saved in
385 - 0 231-1 -(231-1)
r [12] Flash
UserPDL.X_iVa PDL parameter which can be saved in
386 - 0 231-1 -(231 - 1)
r [13] Flash
UserPDL.X_iVa PDL parameter which can be saved in
387 - 0 231-1 -(231 - 1)
r [14] Flash

Note:
(1) * Only D2T model supports functions of I10 and O5.
(2) # It is the enumerated-type parameter. After pressing the Enter key to enter the edit mode, press the Up key or
Down key to select the parameter value.

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LCD Operation D2 Series Servo Drive User Manual

7.6 Actions page

This page allows users to perform functions of enabling or disabling motor, jogging, moving to absolute
position, and setting the current position to zero. Besides, it can set the motion velocity and target
position. Press the Up key or Down key to select the required function. The operation flow chart of actions
page is given in figure 7.6.1 or figure 7.6.2. The detailed operation procedure is described in the next
subsection (take the LCD abbreviated display symbol as an example).

Note:
The “MOTRSE” function will redo the procedure of initializing motor, referring to Section 7.2.

4 ENA/DI Servo
SV RDY enable/disable.

4 JOG 4 MOV PO Set target position

Jogging. for “MOV2PO”
-8 0
(unit: count).

4 MOV2PO Start the absolute 4 SETZER Set the current

-8 position motion and -8 motor position
move to the target to zero.
position.

4 JOG_CU Jog current. 4 AUTOTU Perform the auto

1 (unit: Aamp) NO gain tuning.

4 VEL_LC Motion velocity. 4 MOTRSE Set motor

300 (“JOG”/“MOV2PO”) LS05XX5 model name.
(unit: rpm)

Figure7.6.1 Operation flow chart of actions page (LCD abbreviated display symbol)

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D2 Series Servo Drive User Manual LCD Operation

4: ENA/DI Servo
SV RDY enable/disable.

4: JOG 4: MOV PO Set target position

Jogging. for “MOV2PO”
-8 0
(unit: count).

4: MOV2PO Start the absolute 4: SETZER Set the current

-8 position motion and -8 motor position
move to the target to zero.
position.

4: JOG_CU Jog current. 4: AUTOTU Perform the auto

1 (unit: Aamp) NO gain tuning.

4: VEL_LC Motion velocity. 4: MOTRSE Set motor

300 (“JOG”/“MOV2PO”) LS05XX5 model name.
(unit: rpm)

Figure7.6.2 Operation flow chart of actions page (LCD numbered display symbol)

7.6.1 Enable/Disable

Before using this function to enable/disable the servo motor, ensure that the external enable signal is sent
to the drive, or LCD No. 243 (inverse of I3) is set to 1. The default configuration for I3 is the input of “Axis
Enable” signal. Use following steps to set the enable or disable. The operation flow chart is given in figure
7.6.1.1.

Step 1: Press the Enter key to enter the “ENA/DI” option (the dynamic cursor appears on the left side of
the second line).
Step 2: Press the Up key or Down key to select “ENABLE” or “DISABLE”.
Step 3: After selecting, press the Enter key to complete the setting.

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LCD Operation D2 Series Servo Drive User Manual

LEVEL ONE LEVEL TWO

4 ENA/DI
Servo disable
DISABLE

4 ENA/DI
SVNRDY

or
4 ENA/DI 4 ENA/DI
ENABLE Servo enable
SV RDY

Figure7.6.1.1 Operation of servo enable/disable

7.6.2 JOG

Use following steps to perform the continuous motion (“JOG”). The operation flow chart is given in figure
7.6.2.1.
Step 1: Press the Enter key to enter the “JOG” option (the dynamic cursor appears on the left side of
the second line).
Step 2: Press the Up key or Down key to let the motor rotate in the forward or reversal direction. The
feedback position will be shown in the LCD display when the motor is in motion. The motor
stops the movement immediately when the key is released.

LEVEL ONE LEVEL TWO

2 01FBPO
Press and hold 323088
the Up key
(CW)
4 JOG 4 JOG
-8 -8

Press and hold

Feedback the Down key 2 01FBPO
position -65810
(CCW)
Feedback
position

Figure7.6.2.1 Operation of continuous motion (“JOG”)

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D2 Series Servo Drive User Manual LCD Operation

Note:
In the force/torque mode, the “JOG” speed for LCD operation is based on the “Speed” set in the motion protection,
but not based on “VEL_LC” set in the LCD actions page.

7.6.3 Absolute coordinate motion

Use following steps to perform the action of moving to absolute target position. The operation flow chart is
given in figure 7.6.3.1. Take the absolute coordinate of target position being 2,000 as an example.

Step 1: Press the Up key or Down key to enter the “MOV PO” option for setting target position. Refer to
Section 7.5.2 for the editing method. In this example, the target position will be set to 2,000.

Step 2: Move to the “MOV2PO” option and press the Enter key (the dynamic cursor appears on the left
side of the second line). The current position is displayed, but the motor does not yet start
moving.

Step 3: Press the Up key to start moving. The motor moves to the target position set in “MOV2PO” with
the speed set in “VEL_LC”. The feedback position (“01FB PO”) is displayed on the second line
of LCD screen during motion. To stop the movement during motion, just press the Enter key. To
continue the motion, just press the Up key to continue moving to the original set target position.

Step 4: Press the Enter key to return to LEVEL ONE.

LEVEL ONE LEVEL TWO The feedback position is

displayed on the LCD
screen during motion.

4 MOV2PO 4 MOV2PO 2 01FBPO

0 0 1 788

4 MOV2PO 4 MOV2PO
2000 2000

The target position 2,000 will be displayed

on the LCD screen when the motor reaches
the destination.

Figure7.6.3.1 Operation of absolute coordinate motion (“MOV2PO”)

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7.6.4 Auto tune

For Lightening 0.183 and D2 MDP 0.036 (inclusive) or below, or D2COE MDP 0.112 (inclusive) or below,
the auto gain tuning adopts the first-generation auto tune design. For Lightening 0.184 and D2 MDP
0.037 (inclusive) or above, or D2COE MDP 0.113 (inclusive) or above, the auto gain tuning adopts the
second-generation auto tune design described in Section 5.4. Use following steps to perform the auto
gain tuning (“AUTOTU”). The operation flow chart is given in figure 7.6.4.1.

Step 1: Press the Enter key to enter the “AUTOTU” option (the dynamic cursor appears on the left side
of the second line).
Step 2: Press the Up key or Down key to select whether to execute the auto gain tuning.
Step 3: The drive will execute the auto gain tuning when “AUTOTU YES” is selected and the Enter key
is pressed. Otherwise, the drive does not execute the auto gain tuning when “AUTOTU NO” is
selected.

LEVEL ONE LEVEL TWO

4 AUTOTU 4 AUTOTU
NO NO

4 AUTOTU
4 AUTOTU PROCESS.
YES
Complete
the auto
gain tuning.
4 AUTOTU
Execute the
FINISH!
auto gain
tuning.
Wait 2
seconds.

Figure7.6.4.1 Operation of executing the auto gain tuning

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D2 Series Servo Drive User Manual LCD Operation

7.6.5 Set position to zero

Use following steps to set the current position to zero. The operation flow chart is given in figure 7.6.5.1.

Step 1: Press the Up key or Down key to go to the “SETZER” option.

Step 2: Press the Enter key to set the current position to zero.

LEVEL ONE
4 MOV PO
0

4 SETZER 4 SETZER
2000 0

4 AUTOTU
NO

Figure7.6.5.1 Operation of setting current to zero (“SETZER”)

7.7 Parameter setting examples via LCD

7.7.1 Position mode

In the position mode, the drive will move the corresponding distance when it receives the pulse command,
referring to Section 3.1.1. The position mode configuration includes: the mode selection, pulse format
selection, electronic gear ratio setting, and smooth factor setting. After all parameters are set, refer to
Section 7.5.1 to save parameters to flash.

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(1) Mode selection

Use following steps to select the position mode via LCD.
Table7.7.1.1

LCD Display After

Step Used Keys Operation
Operation
Press the F key to change the LCD screen to the
1 parameter change page.

Press and hold the Down key to go to LCD No.

2 212 page (refer to note 1), i.e. the setting page of
operation mode.

Press the Enter key to enter the edit mode.

3

Press the Up key once to set this parameter to 1,

4 i.e. the position mode.

Press the Enter key to complete the setting.

5

Note:
The operation mode can be set via the following parameter.

Table7.7.1.2

LCD No. Parameter Definition Initial value

Primary operation mode
0: Stand-Alone
212 X_oper_mode1 1: Position mode 0
2: Velocity mode
3: Force/Torque mode

(2) Pulse format selection

D2 drive supports three types of command format, referring to Section 3.1.1.
Use following steps to select the pulse format via LCD.

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D2 Series Servo Drive User Manual LCD Operation

Table7.7.1.3

LCD Display After

Step Used keys Operation
Operation
Continue the last setting screen of operation
1 mode.

Press the Down key twice to go to LCD No. 129

2 page (refer to note 2), i.e. the setting page of
pulse format.

Press the Enter key to enter the edit mode.

3

Press the Up key or Down key to select the

required input pulse format.
4 (Note. This example is to select the pulse format
of “Pulse up/Pulse down (CW/CCW)”.)

Press the Enter key to complete the pulse format

5 setting.

To set “invert pulse command” (LCD No. 130) or “switch positive/negative logic” (LCD No. 219), the
setting procedure is the same as that for “pulse format” (LCD No. 129).

Note:
The pulse format can be set via following parameters.
Table7.7.1.4

LCD No. Parameter Definition Initial value

Pulse format
0：Quadrature (AqB)
129 X_pulse_mode 0
1：Pulse/Direction
2：Pulse up/Pulse down (CW/CCW)
Invert pulse command
130 X_pulse_dir 0: Not inverse 0
1: Inverse
Switch between the positive and
negative logic for CW/CCW pulse
219 LCD.cw_ccw_inv command 0
0: Not inverse
1: Inverse

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(3) High/Low speed pulse channel setting

D2 drive provides the high-speed and low-speed pulse inputs for flexible use. Use following steps to
set the high-speed or low-speed pulse input via LCD.

Table7.7.1.5

LCD Display After

Step Used Keys Operation
Operation
Continue the last setting screen of pulse format.
1

Press and hold the Up key to go to LCD No. 216

page (refer to note 3), i.e. the setting page of
2 switching between the high-speed and
low-speed pulse channels.
Press the Enter key first, and press the Up key
once to set this parameter to 1. (Note. This
3 example is the high-speed pulse channel.)

Press the Enter key to complete the setting.

4

Note:
The high/low speed pulse channel can be set via the following parameter.

Table7.7.1.6

LCD No. Parameter Definition Initial Value

Switch between the high-speed and
low-speed pulse inputs
216 LCD.low_or_high 0: High-speed pulse input 0
1: Low-speed pulse input

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D2 Series Servo Drive User Manual LCD Operation

(4) Electronic gear ratio setting

D2 drive provides four sets of electronic gear ratio, referring to Section 5.5.1.Use following steps to
set the electronic gear ratio via LCD.

Table7.7.1.7

LCD Display After

Step Used Keys Operation
Operation
Continue the last setting screen of “HI/LO speed
1 pulse channel”.

Press and hold the Down key to go to LCD No.

2 081 page (refer to note 4), i.e. the setting page of
the numerator of electronic gear ratio (output).

Press the Enter key first and change the

3 parameter from 1 to 3. (Note. This example sets
the electronic gear ratio to 2:3.)

Press the Enter key to complete the setting of the

4 numerator of electronic gear ratio.

Press the Up key once to go to LCD No. 082

page (refer to note 4), i.e. the setting page of the
5 denominator of electronic gear ratio (input).

Press the Enter key first and set the parameter

6 from 1 to 2.

Press the Enter key to complete the setting of the

7 denominator of electronic gear ratio.

Note:
The electronic gear ratio can be set via following parameters.

Table7.7.1.8

LCD No. Parameter Definition Initial Value

081 Xcmd_ext_N Numerator of electronic gear ratio (output) 1
Numerator of electronic gear ratio (second
175 X_cmd_ext_N2 1
output)
Numerator of electronic gear ratio
176 X_cmd_ext_N3 1
(third output)
Numerator of electronic gear ratio
177 X_cmd_ext_N4 1
(fourth output)
082 Xcmd_ext_M Denominator of electronic gear ratio (input) 1

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(5) Smooth factor setting

D2 drive provides the function of “Smooth factor”, referring to Section3.4. Use following steps to set
the smooth factor via LCD.
Table7.7.1.9

LCD Display After

Step Used Keys Operation
Operation
Continue the last setting screen of electronic
1 gear ratio.

Press and hold the Down key to go to LCD No.

2 115 page (refer to note 5), i.e. the setting page
of smooth factor.

Press the Enter key first and set this parameter

3 to the required value.

Press the Enter key to complete the smooth

4 factor setting.

Note:
The smooth factor can be set via the following parameter.

Table7.7.1.10

LCD No. Parameter Definition Initial value

115 X_new_sm_fac Smooth factor 100

7.7.2 Velocity mode

D2 drive can transfer the voltage command and PWM command to the velocity command, referring to
Section 3.1.2. The velocity mode configuration includes: the mode selection and input command format
setting. After all parameters are set, refer to Section 7.5.1 to save parameters to flash.

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D2 Series Servo Drive User Manual LCD Operation

(1) Mode selection

Use following steps to select the velocity mode via LCD.
Table7.7.2.1

LCD Display After

Step Used Keys Operation
Operation
Press the F key to change the LCD screen to the
1 parameter change page.

Press and hold the Down key to go to LCD No.

2 212 page, i.e. the setting page for operation
mode.

Press the Enter key to enter the edit mode.

3

Press the Up key twice to set this parameter to 2,

4 i.e. the velocity mode.

Press the Enter key to complete the setting.

5

(2) Input command format setting

Use following steps to set the input command format via LCD.

Table7.7.2.2

LCD Display After

Step Used Keys Operation
Operation
Continue the last setting screen of operation
1 mode.

Press and hold the Down key to go to the “+++”

2 page.

Press the Enter key to enter the advanced

3 parameter zone.

Press and hold the Up key to go to LCD No. 132

page (refer to note 1), i.e. the setting page of
4
input command format for the velocity and
torque modes.
Press the Up key or Down key to set this
5 parameter to the required value. (Note. This
example is the analog command input.)

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LCD Display After

Step Used Keys Operation
Operation
Press the Enter key to complete the “input
6 command format” setting.

Press and hold the Down key to go to LCD No.

7 083 page (refer to note 1), i.e. the setting page
of velocity command scale.

Press the Enter key first and set this parameter

to the required value. (To invert the voltage or
8 PWM command, simply add a minus sign to
“velocity command scale”.)

Press the Enter key to complete the “velocity

9 command scale” setting.

Press and hold the F key to go back to the “+++”

10 page, i.e. the common parameter zone.

To set the dead band for velocity command (LCD No. 084), the setting procedure is the same as that
for setting velocity command scale (LCD No. 083).

Note:
The input command format can be set via following parameters.

Table7.7.2.3

LCD No. Parameter Definition Initial value

Input command format for the velocity
and torque modes
132 X_cmd_pwm_mode 0: Analog 0
1: PWM 50%
2: PWM 100%
Velocity command scale; the speed
corresponds to 1V, or the maximum
083 X_cmd_ext_v_sc 60
speed corresponds to Full PWM.
(unit: rpm = 1 V or rpm = Full PWM)
Dead band of velocity command. The
speed command is 0 when the input
084 X_cmd_ext_v_dz 0
voltage is less than the set value.
(unit: volt)

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D2 Series Servo Drive User Manual LCD Operation

7.7.3 Force/torque mode

D2 drive can transfer the voltage command and PWM command to the current command, referring to
Section 3.1.2. The force/torque mode configuration includes: the mode selection and input command
format setting. After all parameters are set, refer to Section 7.5.1 to save parameters to flash.

(1) Mode selection

Use following steps to select the force/torque mode via LCD.

Table7.7.3.1

LCD Display After

Step Used Keys Operation
Operation
Press the F key to change the LCD screen to the
1 parameter change page.

Press and hold the Down key to go to LCD No.

2 212 page, i.e. the setting page of operation
mode.

Press the Enter key to enter the edit mode.

3

Press the Up key three times to set this

4 parameter to 3, i.e. the force/torque mode.

Press the Enter key to complete the setting.

5

(2) Input command format setting

Use following steps to set the input command format via LCD.

Table7.7.3.2

LCD Display After

Step Used Keys Operation
Operation
Continue the last setting screen of operation
1 mode.

Press and hold the Down key to go to the “+++”

2 page.

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Press the Enter key to enter the advanced

3 parameter zone.

Press and hold the Up key to go to LCD No. 132

page (refer to note 1), i.e. the setting page of
4
input command format for the velocity and
torque modes.
Press the Up key or Down key to set this
5 parameter to the required value. (Note. This
example is the analog command input.)

Press the Enter key to complete the “input

6 command format” setting.

Press and hold the Down key to go to LCD No.

7 085 page (refer to note 1), i.e. the setting page
of current command scale.

Press the Enter key first and set this parameter

to the required value. (To invert the voltage or
8 PWM command, simply add a minus sign to
“current command scale”.)

Press the Enter key to complete the “current

9 command scale” setting.

Press and hold the F key to go back to the “+++”

10 page, i.e. the common parameter zone.

To set the dead band for current command (LCD No. 086), the setting procedure is the same as that
for setting current command scale (LCD No. 085).

Note:
The input command format can be set via following parameters.

Table7.7.3.3

LCD No. Parameter Definition Initial value

Input command format for the velocity
and torque modes
132 X_cmd_pwm_mode 0: Analog 0
1: PWM 50%
2: PWM 100%
Current command scale; the output
current corresponds to 1 V, or the
Motor peak
085 X_cmd_ext_i_sc maximum current corresponds to Full
current/10
PWM. (unit: Aamp = 1 V or Aamp = Full
PWM)
Dead band of current command. The
current command is 0 when the input
086 X_cmd_ext_i_dz 0
voltage is less than the set value.
(unit: volt)
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D2 Series Servo Drive User Manual LCD Operation

7.7.4 Stand-alone mode

In the stand-alone mode, the drive will execute the internal path planning to drive the motor, referring to
Section 3.1.4. The stand-alone mode configuration includes the mode selection. After all parameters are
set, refer to Section 7.5.1 to save parameters to flash.

(1) Mode selection

Use following steps to select the stand-alone mode via LCD.

Table7.7.4.1

LCD Display After

Step Used Keys Operation
Operation
Press the F key to change the LCD screen to the
1 parameter change page.

Press and hold the Down key to go to LCD No.

212 page, i.e. the setting page of operation
2
mode. (Note. This example is to change it from
the position mode to the stand-alone mode.)
Press the Enter key to enter the edit mode.
3

Press the Down key once to set this parameter to

4 1, i.e. the stand-alone mode.

Press the Enter key to complete the setting.

5

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8. Protection function
00000000000 0000
0
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

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Protection Function D2 Series Servo Drive User Manual

8.1 Motion protection

The main function of motion protection is to limit or specify the maximum speed, maximum acceleration,
maximum deceleration, emergency stop deceleration of motor output during motor movement. When the
speed and acceleration corresponding to the pulse command or voltage command sent from the host
controller are too high, the protection function is activated and the motion characteristic is limited to the
set value. The drive has various protection functions for different operation modes. The following is
applicable parameters for each operation mode.

Table8.1.1

Limit parameter Emergency Stop

Velocity Acceleration Deceleration
Operation mode Deceleration
Position mode O O O O
Velocity mode O O O O
Force/Torque mode O X X X
Stand-Alone mode O O O O

Note:
“O” means it is active, and “X means it is inactive.

 Speed, acceleration, and deceleration limitations

Click to enter the performance center to display the configuration page for the motion
protection, as shown in the following figure. In addition, clicking can enter the protection center
to observe the same setting of motion protection in the “Motion Protection” area on the “Protection”
tab. However, this area can only be displayed, but not be modified.

Figure8.1.1

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Table8.1.2

Parameter Name Description Default Value

Set the maximum velocity of
Speed AC servo motor: 3,000 rpm
motor during motion
Set the maximum acceleration of
Acc. AC servo motor: 1/2 * (Kt * Ip / (10 * Jm))
motor during motion
Set the maximum deceleration of
Dec. AC servo motor: 1/2 * (Kt * Ip / (10 * Jm))
motor during motion
Set the deceleration of motor for
Dec. kill AC servo motor: 2 * Acc.
emergency stop
Smooth factor Smooth factor AC servo motor: 100

Note:
Jm is the moment of inertia obtained by the inertia estimation.

As shown in figure 8.1.1, the “Motion Protection” area displays the maximum speed, maximum
acceleration, and maximum deceleration of movement. The unit can be set according to the user’s
custom unit by clicking “Position Units”. These settings are not only used for the motion protection,
but also used as test run parameters. Therefore, when the motion function (“P2P”, “Relative move”,
or “Jog”) in the performance center is used, it is important to check whether the data in the “Motion
Protection” area is the user’s motion protection setting, as shown in figure 8.1.2. In the position mode
or velocity mode, be sure to set “Acc.” and “Dec.” to the required value multiplied by 10 times, to
avoid being limited by the motion protection function. If this action is ignored, the desired speed or
acceleration/deceleration may not be achieved when the motion command is sent from the host
controller.

Display only and cannot be

modified here.

Figure8.1.3

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Protection Function D2 Series Servo Drive User Manual

 Cancel velocity, acceleration, and deceleration limits

In the position mode, when “Smooth factor” is set to 1, it indicates that drive’s limit functions of
speed, acceleration, and deceleration are canceled, and the motor movement completely follows the
path planning based on the pulse commend sent from the host controller. Users can decide whether
to cancel the drive’s limit function based on the requirement.

 Applicable scope of emergency stop deceleration

The emergency stop deceleration (“Dec. kill”) will be activated in following cases.
(1) In the position and velocity modes, it is the deceleration when the motor in motion is disabled to
the emergency stop condition.
(2) When executing “P2P” or “Relative move” in the performance center, it is the deceleration after
pressing the “Stop motion” button.
(3) When performing the homing procedure, it is the deceleration after finding the home position.
(4) In the “Jog” operation, it is the deceleration after the “Jog” motion is stopped.
“Dec. kill” is used for the case of requiring a high deceleration. Thus, it is recommended to set “Dec.
kill” based on the maximum capacity of motor. The formula for the rotary motor is described as
follows:
Peak current = min (motor peak current, drive peak current).
Dec. kill = (peak current x torque constant)/load inertia.

 Smooth motion
The function of smooth motion is used to reduce the impact of motor force to the load in the
acceleration/deceleration phase of motion process. This purpose is achieved by setting “Smooth
factor”. This parameter is designed according to the number of samples in the moving average filter,
as shown in figure 8.1.4. The relationship of filter time constant and “Smooth factor” is described as
follows.
(1) Non CoE model: filter time constant = “Smooth factor” × 0.5333 ms;
(2) CoE model: filter time constant = “Smooth factor” × 0.5 ms.

Reference velocity 100%

Before filter After

filter

Time

Acceleration time Filter time constant Deceleration time

Figure8.1.4

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D2 Series Servo Drive User Manual Protection Function

The value of “Smooth factor” is between 1 and 500. The higher the value is, the smaller the impact
is. The value of 1 means no smooth function. In some cases, increasing the smooth factor will be
helpful for the final settling performance of positioning process due to the impact reduction of motor
force. However, the smoother motion inevitably increases the move time (see Section 3.7). How to
obtain the balance between the two must be practically tested and tuned in the machine.

8.2 Position and velocity errors protection

8.2.1 Position error limit

There is a position error in the servo control. The position error is usually larger when the motor moves.
Moreover, some external factors may also cause that the position error becomes abnormally large, such
as that bearings or linear guideways on the mechanism have a high friction due to the lack of lubricators,
the winding or cable tray is too tight, foreign objects invades on the motor travel, the motor hits the
abnormal object or hard stop, the position encoder is abnormal or interfered, and other conditions. In
order to avoid all kinds of anomalies leading the position error too big, D2 drive has a “Error windows”.
When the position error is over this “Error windows”, the drive will generate an error message of “Position
error too big”, start the emergency stop procedure, send the brake signal, and disable the motor.

Figure8.2.1.1

Table8.2.1.1

Parameter Description
Maximum Pos Error Maximum position error limit
Position Error Position error warning value
Velocity Error Velocity error warning value

If the drive is the dual-loop model and uses the dual-loop function, the “Protection” tab in the protection
center has a “Hybrid deviation error” field to be set to prevent the mixed control deviation from being too
large, as shown in figure 8.2.1.2. This may cause the velocity loop or position loop becomes unstable.
When the actual error exceeds this set, the drive generates an error message of “Hybrid deviation too
big”. If the dual-loop function is not used, the “Hybrid deviation error” field is anti-gray and cannot be set.

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Figure8.2.1.2

8.2.2 Position error and velocity error warnings

In addition to the setting of position error limit described above, D2 drive also provides an early warning
function. When the position error or velocity error exceeds the set value in “Warning windows”, the
warning message will be displayed on the “Status” area of main window to warn the user that an
abnormality has occurred in advance.

8.3 Brake output

In order to protect the motor and the system structure, D2-series drives provide a brake signal output to
actuate an external electromagnetic brake, which is often used in the Z-direction motor actuation. There
are some timing motion issues in this application. For example, when the motor moves in the Z direction
and the drive receives a disable command, if the brake directly starts at the high speed, the great shock
will be generated to damage the mechanism. In addition, if the motor is disabled early, there is a risk that
the mechanism and the motor may slip. D2-series drives have proprietary brake parameters to reduce
this risk.

Click to enter the protection center and select the “Brake” tab to open the configuration page for
braking timing. The output pin of brake can be set by clicking the “Set…” button on this page. The default
pin is CN2_BRK for frame A - C models and O5 for the frame D model. Click this button to show the
configuration page of I/O center. Refer to Section 5.5.2 for the setting information.

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 Brake configuration page for frame A - C models

The brake configuration page for frame A - C models is shown in figure 8.3.1. After the drive receives
the hardware input signal or software disable operation, it starts the following action sequence.

Step 1: When the drive receives the disable command, the brake will be started after the delay
time of starting brake (“delMaxEnToBrk”). However, if the motor speed is reduced to the
brake start speed (“vel_stop”), the brake is started first.

Step 2: Counting from the drive starting the brake, the post-stage power will be turned off after the
set brake action time (“delBrkToDis”). Its main purpose is to completely and truly execute
the brake action.

Figure8.3.1

Table8.3.1

Parameter Name Description

Delay time of starting brake The maximum time from receiving the disable command to
(“delMaxEnToBrk”) starting the brake.
Emergency stop deceleration (“Dec. The deceleration of motor brake during emergency stop. Refer to
kill”) Section 8.1.
The speed for starting the brake after receiving the disable
Brake start speed (“vel_stop”)
command.
The delay time from starting the brake to shutting down the
Brake action time (“deBrkToDis”)
post-stage current.
The delay time from closing the brake to completing the
Delay time for the dynamic brake switchover of dynamic brake relay. (Frame A - C models do not
relay (“delRelsBrk”) support this function. Hence, this field is anti-gray and cannot be
set.)

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 Brake configuration page for frame D model

The frame D model has the built-in dynamic brake resistor. Its characteristics are described as
follows.

(1) It is only applicable to the transient braking effect, and cannot achieve the bite ability of general
mechanical brake.
(2) The braking performance is poor in comparison to the emergency deceleration. Its main
function is to compensate some error cases that the braking function does not apply the
emergency deceleration.

The brake configuration page for the frame D model is shown in figure 8.3.2, and brake parameters
are the same as those given in table 8.3.1. To enable the dynamic brake function, simply check the
option of “Enable Dynamic Brake”. If the option of “Enable Dynamic Brake” is unchecked, this
function is disabled. Although the frame D model has the built-in dynamic brake resistor, in most
cases, it will first use the mechanical brake process to decelerate. Only when the error of E01, E02,
E03, E04, E07, E10, or E12 occurs (see Section 9.3 for error codes), the dynamic brake is activated
first, and then the mechanical brake process is activated. Refer to figure 8.3.3 to figure 8.3.5 for the
dynamic brake timing.

Figure8.3.2

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 Enable timing

Figure8.3.3 Dynamic brake timing - enable

 Disable timing at the motor movement

Figure8.3.4 Dynamic brake timing – disable at the motor movement

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 Disable timing at the motor stop

Figure8.3.5 Dynamic brake timing - disable at the motor stop

8.4 Limit protection

8.4.1 Hardware limit protection

D2 drive has a hardware limit protection. The hardware limit is usually the photoelectric switch or micro
switch installed in the positioning platform. It is used to identify the stroke of mechanical movement. When
the motor hits the hardware limit, the emergency brake protection will be activated. Usually, the hardware
limit switch is a normally close sensor. When the hardware limit switch is touched, the drive stops the
motor by using the emergency stop deceleration (“Dec. kill”). At this moment, the drive can only accept
the motion command in the opposite direction.

After clicking to enter the protection center, select the “HW limit protection” tab to open the
configuration page of hardware limits. To enable the hardware limit protection, the option of “enable HW
limit” ( ) must be checked. The digital input pin of hardware limit can be set by clicking the
“Set…” button on this page. Clicking this button will appear the configuration page of I/O center. Refer to
Section 5.5.1 for the setting information.

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D2 Series Servo Drive User Manual Protection Function

Figure8.4.1.1

8.4.2 Software limit protection

In addition to the hardware limit protection, D2 drive also has the software limit protection. It also plays the
role of protecting over stroke. When the motor reaches the position of software limit, the drive can only
accept the command to move in the opposite direction.

Click to enter the protection center, and select the “Protection” tab. The “Limits” area is the
configuration page of software limits. After checking the option of “enable sw limit”, the upper and lower
software limits can be set. Moreover, the software limit protection can be activated by checking the option
of “enable sw limit” in the performance center.

Figure8.4.2.1

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Table8.4.2.1

Parameter Name Description

enable sw limit To activate the software limit protection. Check it to activate.
Lower SW limit Lower software limit position.
Upper SW limit Upper software limit position.

8.5 Over temperature protection

8.5.1 Soft-thermal protection

D2 drive has the function of estimating the motor temperature by using the software. Utilizing the current
output to estimate the motor power and then estimate the motor temperature. When it reaches the default
value of drive, the drive issues an error message of “Soft-thermal threshold reached”, enters the
emergency stop process, and finally disables the motor. Select the “Soft-thermal Accumulator” item in
“Quick view” to observe the current estimation of motor temperature.

8.5.2 Drive over temperature protection

D2 drive has the protection of drive over temperature. When the drive’s temperature reaches 80 °C, the
error message of “Amplifier over temperature” is displayed, and the motor is stopped.

8.6 Over voltage protection

When the motor is decelerating, the kinetic energy is converted into the thermal energy for the
consumption. The remaining energy charges the drive’s capacitor. When the energy exceeds the capacity
of drive’s capacitor, the energy must be consumed on the regenerative resistor in the regenerative circuit
to protect the drive. The regenerative resistor of D2 drive has the turn-on voltage of 370 Vdc and the
turn-off voltage of 360 Vdc. Users can refer to the following characteristic of each motor specification
(under the deceleration of 10 m/s2 and the screw pitch of 10 mm) to determine whether the regenerative
resistor is needed or not. Take the motor of 750 W as an example. If the motor is operated at the highest
speed of 3,000 rpm and the load inertia is more than 0.00082 Kg-m2, a regenerative resistor is needed.
Refer to table 7.1.1 to select an appropriate regenerative resistor model.

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D2 Series Servo Drive User Manual Protection Function

Figure8.6.1 Motor regenerative curve of FRLS402XX

Figure8.6.2 Motor regenerative curve of FRMS4B2BX

Figure8.6.3 Motor regenerative curve of FRMS752XX

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Figure8.6.4 Motor regenerative curve of FRMM1K2XX

Figure8.6.5 Motor regenerative curve of FRMM2K2XX

The regenerative resistor model of HIWIN standard product is given in table 8.6.1. Users can use them in
series or in parallel according to the requirement. The appearance and size are given in table 8.6.2 and
figure 8.6.6.

Table8.6.1

Regenerative Resistance Rated Power/

HIWIN Part No.
Resistor Model Value Peak Power
RG1 050100700001 68 Ω 100 W / 500 W
RG2 050100700009 120 Ω 300 W / 1500 W
RG3 050100700008 50 Ω 150 W / 750 W
RG4 050100700019 50 Ω 600 W / 3000 W

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Table8.6.2

Regenerative
L1 L2 W W1 H
Resistor Model
RG1 165 ± 2 mm 150 ± 2 mm 40 ± 0.5 mm 5.3 ± 0.5 mm 20 ± 0.5 mm
RG2 215 ± 2 mm 200 ± 2 mm 60 ± 1 mm 5.3 ± 1 mm 30 ± 1 mm

RG3 190 ± 2 mm 175 ± 2 mm 40 ± 1 mm 5.2 ± 1 mm 20 ± 1 mm

RG4 390 ± 2 mm 360 ± 2 mm 60 ± 1 mm 9 ± 1 mm 28 ± 1mm

Line length L: 500mm

Figure8.6.6

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9. Troubleshooting
00000 0000000
0
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

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9.1 Drive’s status indicator

The drive’s status indictor is LED on the front panel of drive, which shows the current status of drive. Its
status is described in the following stable.

Status indicator
Status indicator Drive’s status
No light The drive has no control power.
Green and red lights flash
The drive is booting.
simultaneously
Green light flashes The motor has no power.
Green light constantly lights The motor has power.
Green light flashes and red The motor has no power, and an error
light constantly lights occurs.
Note:
The status indicator will look like orange when the red and green lights are
enabled at the same time.

Figure9.1.1

9.2 Drive’s errors and warnings

9.2.1 Status display area on Lightening HMI

When D2 drive detects an error, in addition to staring the protection mechanism, it also displays the last
error message in the error message display area (“Last error”), as shown in figure 9.2.1.1. Uses can judge
the error condition of drive based on this message. On the other hand, when the event occurs and needs
to be warned during the operation, the warning message will be shown in the warning message display
area (“Last warning”).

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Figure9.2.1.1 Status display area

9.2.2 LCD status

The servo status will be displayed in the home page of LCD screen, as shown in figure 9.2.2.1.

(1) SVNRDY: Servo disabled. It is at the “Servo OFF” status. The motor has no power.
(2) SV RDY: Servo enabled. It is at the “Servo ON” status. The motor has power.

When an error or warning occurs, the second line of home page displays an error or warning message
code. For LCD error codes, refer to Sections 9.3 and 9.4 error/warning codes and troubleshooting.

1 SVNRDY 1 SV RDY 1:X 1:X

X X SVNRDY SV RDY

Error Warning Error Warning

occurs occurs occurs occurs
1 SVNRDY 1 SV RDY 1:SVNRDY 1:SV RDY
E01SHORT W01SWLL ERR E01 WRN W01

(a) LCD abbreviated display symbol (b) LCD numbered display symbol
Figure9.2.2.1

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9.2.3 Errors and warnings log

When D2 drive detects an error or warning event, in addition to showing it in the error message display
area and warning message display area on the main window, as given in figure 9.2.1.1, it is also recorded
in “Errors and warnings Log”. The opening method is shown in figure 9.2.3.1.

Figure9.2.3.1 Open “Errors and warnings Log”

Lightening provides this function to prevent that errors and warnings reported by the drive are flashing.
This may cause that users lose the error and warning messages. The error and warning messages and
the number, occurred after the drive is powered on, are recorded in “Errors and warnings log”. Refer to
figure 9.2.3.2 for the “Time log” tab in “Errors and warnings log”. All occurred error and warning messages
are recorded in “Type of error/warning” in the chronological order. The occurrence time is recorded in the
“Time (seconds)” column.

Figure9.2.4 Errors and warnings log

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D2 Series Servo Drive User Manual Troubleshooting

Refer to figure 9.2.5 for the “Statistics” tab in “Errors and warnings log”. The number of errors or warnings
(“Frequency”) occurred in the drive is recorded in this window. This can help users to understand which
events occur most frequently and to debug.

Figure9.2.5 Statistics in “Errors and warnings log”

Moreover, when users want to know more about the content of errors and warnings, double-click the
name of error or warning event to appear the “Help tips” window. For example, as shown in figure 9.2.6, if
the error event of “E04 Encoder error” is clicked, the possible cause and solution can be obtained from
this window.

Figure9.2.6 “Help tips” window in “Errors and warnings log”

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9.2.4 Error at loading PRM file

To ensure the compatibility between the loaded PRM parameter file and the drive firmware, Lightening
will check if the PRM file is suitable for the current firmware version. When the following error message
appears, it means that the PRM file is unsuitable, and need to re-set parameters or replace an
appropriate firmware version. The number in the parentheses denotes the PRM error scenario, referring
to table 9.2.4.1.

Figure9.2.4.1

Table9.2.4.1

Number PRM Error Scenario

0 The MDP version of loaded PRM file is greater than the drive’s MDP version.
1 The AC motor model name in the loaded PRM file is not the standard product.
The 9-th bit of AC motor model name in the loaded PRM file is 1, but the enable
2
method cannot correspond.
The 9-th bit of AC motor model name in the loaded PRM file is 3 or 4, but the
3
enable method cannot correspond.
The 9-th bit of AC motor model name in the loaded PRM file is 5, but the enable
4
method cannot correspond.
The 9-th bit of AC motor model name in the loaded PRM file is 6, but the enable
5
method cannot correspond.
The “X_id_seondary” parameter in the loaded PRM file does not match that in the
6
drive.

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9.3 Error codes and troubleshooting

Table9.3.1

LCD
No. Error Description Troubleshooting
Error Code
The short of three motor phases is detected.
(1) After power-off, unplug the UVW-phase connector at the
drive-side and measure the resistance between each phase of
UVW and ground to check if there is a short circuit. The short
E01 SHORT circuit may burn the motor.
Motor short (over
1 or (2) Measure the line-to-line resistance between motor UVW
current) detected
ERR E01 phases to check that they are close to the specification. If the
line-to-line resistance is lower than the specification too much,
the motor may be burned.
(3) Separate the motor from the motor power cable, and use a
multimeter to check if the motor power cable is short.
The DC bus voltage in the drive exceeds the limit.
E02 OVERV When the motor has a heavy load and is operated at high speed,
Over voltage
2 or the back EMF exceeding the voltage limit will cause this error.
detected
ERR E02 Check if the regenerative resistor needs to be installed, which is
selected according to the load and the motion specification.
The position error is greater than “maximum pos error” set in the
“Motion Protection” area.
(1) Check if the gain tuning is improper.
(2) Confirm that the maximum position error is set properly
E03 PEBIG (“Application center” -> “Protection” -> “maximum pos error”).
Position error too
3 or (3) Check if the motor movement is obstructed.
big
ERR E03 (4) Check if the load is too heavy.
(5) Check if the guideway is without maintenance for a long time.
(6) Check if the cable tray is installed too tight.
(7) “W05 SVBIG” continues occurring before “E03”. Use 220 V
power.
The encoder signal is incorrect or the alarm pin reports an error.
(1) Confirm that all encoder connectors are connected firmly.
E04 ENCOD (2) Confirm that the encoder wiring is correct.
4 Encoder error or (3) If the encoder is a digital type, it may be caused by the
ERR E04 external interference. Confirm that the encoder cable has an
anti-interference twisted wire and shield, or is equipped with
an iron core.
Motor overload. (The software detects the motor over-temperature.)
(1) Confirm that the continuous current and peak current during
motor movement comply with the motor specification.
E05 SWHOT (2) Check if the motor movement is obstructed.
Soft-thermal (3) It can be eliminated by resetting and re-enabling the drive.
5 or
threshold reached However, if the current exceeds the motor specification due to
ERR E05
the load and motor parameters, it may occur again.
(4) Reduce the speed, acceleration, and deceleration.
(5) Check if the motor model name or motor current parameter is
set incorrectly.
E06 UVWCN The motor power cable is not physically connected to the drive.
Motor maybe
6 or (1) Check if the connector of UVW cable is loose.
disconnected
ERR E06 (2) Check if the motor model name is set incorrectly.
7 Amplifier over E07 D.HOT The drive is over temperature.

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LCD
No. Error Description Troubleshooting
Error Code
temperature or (1) Check that the drive is placed in a well-ventilated location.
ERR E07 (2) Check if the ambient temperature is too high.
(3) Wait for the internal temperature of drive to decrease.
(4) To drive a large load or operate at a high duty cycle, install the
heat sink if needed.
The DC bus in the drive is too small.
E09 UND.V
Under voltage
9 or Confirm that L1 and L2 of drive are connected to 220 Vac power
detected
ERR E09 source. Use a multimeter to check whether the input is 220 Vac.

The 5V power supply of encoder interface is abnormal.

E10 V5ERR (1) Unplug CN6, CN7, and motor power cable of D2 drive. Check
5V for encoder whether there is still the error of “E10 V5ERR”. If yes, contact
10 or
card fail the manufacturer for repair; otherwise, check if there is a short
ERR E10
circuit and then modify the wiring.
(2) Do not hot-plug CN6 and CN7 of D2 drive.
Motor phase initialization is failed.
E11 PHINI (1) Check that the encoder signal is normal and motor parameters
Phase initialization
11 or are set correctly.
error
ERR E11 (2) Check if the payload is too high, the friction is too high, and
whether obstacles are on the way.
The serial encoder communication has an error.
Serial Encoder E12 SER.E
12 Communication or (1) Check that the encoder cable is connected to the drive.
Error ERR E12 (2) Check that the encoder cable complies with the motor
specification.
E13 HAL.E The less-wire encoder detects a hall signal error.
13 Hall sensor error or
ERR E13 Check that the encoder cable is properly connected to the drive.
The current control has an error.
E15CURER (1) Check that the motor model name is set correctly.
Current control
13 or (2) Check that the current-loop gain (“Kp”) and servo gain are set
error
ERR E15 appropriately.
(3) Check that the encoder cable is connected correctly.
In the architecture of dual-loop control, the hybrid control deviation
exceeds the allowable maximum of hybrid control deviation.
E17HYBDV (1) Check that the parameter of linear encoder is set correctly.
Hybrid deviation (2) Check that the direction of linear encoder is consistent with the
17 or
too big rotary encoder, or if the linear encoder has the signal
ERR E17
interference.
(3) Check if the coupling is loose, the gear is not tightly engaged,
or the pitch tolerance or backlash of screw is too large.
The STO safety function is triggered.
E18STO
18 STO active or Reconnect STO to 24 V after the risk has been removed, and then
ERR E18 contact “DSF+” with “DSF-“ for 1 second to release the error
condition.
E19HFLT Drive hardware signals are conflicted abnormally.
HFLT inconsistent
19 or
error Check that each cable is grounded.
ERR E19
Incompatible E21WRGMT The motor model name is not compatible with the drive.
21 motor model and or
drive ERR E21 Check that the motor model name is correct.

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LCD
No. Error Description Troubleshooting
Error Code
E22BUS.E The DC bus voltage is abnormal.
DC bus voltage
22 or
abnormal Check that the input voltage is well.
ERR E22
The drive does not detect the EtherCAT interface or the drive has
EtherCAT E23NOET no EtherCAT interface.
23 interface is not or (1) Re-power the drive to re-detect it.
detected ERR E23 (2) The drive does not support EtherCAT. Check that the drive
has this function.
An error occurs while performing the CiA-402 homing. This causes
E24HOM.E the homing fail.
CiA-402 homing
24 or (1) Check that the left and right limits, near home sensor, and
error
ERR E24 index signals are normal.
(2) Check that the used homing method is appropriate.
E25FAN.E The fan system is abnormal.
25 Fan fault error or
ERR E25 Check if the fan is stuck in a foreign object.
The motor was operated over the rated current for longer than the
Drive overload sustainable duration.
26 ERR E26
error Check that the motion profile is appropriate, or if the load is too
heavy.

 Supplement for E03 error correction

(1) Modify the maximum position error by steps described in figure 9.3.1.
(2) It is not recommended to set the position error higher than the default value. If “E03 PEBIG” or
“ERR E03” appears at the default value, adjust the servo rigidity.

Figure9.3.2

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Troubleshooting D2 Series Servo Drive User Manual

 Latch amplifier over temperature error

D2 servo drive is able to report error and warning. Normally when an error occurs, user needs to
perform troubleshooting and then clear the error in Lightening. For convenience and efficiency,
Lightening provides an automatic error handling function. User can choose whether to enable this
function on error message “Amplifier over temperature”.

Click on Protection tab in Protection center. Enable or disable this function in the setting area of
Error type setting, as figure 9.3.1. Check the checkbox of Latch amplifier over temperature error
to disable automatic error handling function. If the checkbox is not checked, automatic error
handling function will be enabled.

 Example 1
When error “Amplifier over temperature” occurs, it means the servo drive is overheating. If user
would like the motor to be enabled automatically after the cause of the error is cleared, uncheck
the checkbox of Latch amplifier over temperature error. If the servo drive cools down
naturally, the motor will be enabled automatically.

Figure9.3.1

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D2 Series Servo Drive User Manual Troubleshooting

9.4 Warning codes and troubleshooting

Table9.4.1

LCD
No. Error Description Troubleshooting
error code
W01 SWLL
The set left software limit is reached, and the motor can no longer
1 Left SW limit or
move to the left.
WRN W01
W02 SWRL
The set right software limit is reached, and the motor can no
2 Right SW limit or
longer move to the right.
WRN W02
The hardware limit switch on the left side has been detected and
the motor can no longer move to the left.
W03 HWLL
3 Left HW limit or (1) If the hardware limit is not connected to the drive and the
WRN W03 false trigger occurs, cancel the enable of hardware limit.
(2) If it is confirmed that the limit switch is not actually triggered,
check that the wiring or actuation logic is correct.
The hardware limit switch on the right side has been detected and
the motor can no longer move to the right.
W04 HWRL
4 Right HW limit or (1) If the hardware limit is not connected to the drive and the
WRN W04 false trigger occurs, cancel the enable of hardware limit.
(2) If it is confirmed that the limit switch is not actually triggered,
check that the wiring or actuation logic is correct.
The drive’s PWM output switch is greater than the limit value and
the current output cannot be increased. If this warning continues
W05 SVBIG occurring in the position control, the error of “E03 PEBIG” will
5 Servo voltage big or happen.
WRN W05
(1) Change the power source to 220 V.
(2) Reduce the speed, acceleration, or deceleration.
The position error exceeds the set warning window for position
error.
W06 PE (1) Check that the servo gain is properly tuned.
Position error
6 or (2) Check if the warning threshold is set too small.
warning
WRN W06 (3) Sometimes, this phenomenon may occur since the
maintenance period is over or the lubrication is not
implemented.
The velocity error exceeds the set warning window for velocity
error.
W07 VE (1) Check that the servo gain is properly tuned.
Velocity error
7 or (2) Check if the warning threshold is set too small.
warning
WRN W07 (3) Sometimes, this phenomenon may occur since the
maintenance period is over or the lubrication is not
implemented.
The current has saturated in the specification of motor peak
W08 CUR.L current. If this warning continues occurring, the error of “E05
8 Current Limited or SWHOT” will happen and the motor will be disabled.
WRN W08 (1) Reduce the speed, acceleration, or deceleration.
(2) Decrease the load.
Acceleration W09 ACC.L In the position mode or velocity mode, the acceleration protection
9
Limited or setting is reached when the motor is moving.

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LCD
No. Error Description Troubleshooting
error code
WRN W09 To increase the acceleration, increase the acceleration setting in
the motion protection.
In the velocity mode or torque mode, the velocity protection setting
W10 VEL.L is reached when the motor is moving.
10 Velocity Limited or
WRN W10 To increase the velocity, increase the velocity setting in the motion
protection.
Both the left and right hardware limits have been triggered.
W11 BOTH (1) If the hardware limit is not connected to the drive and the
Both HW limits
11 or false trigger occurs, cancel the enable of hardware limit.
active
WRN W11 (2) If it is confirmed that the limit switch is not actually triggered,
check that the wiring or actuation logic is correct.
Failed to perform the homing procedure.
W13 HOM.E (1) Check that the left and right limits, near home sensor, and
13 Homing fail or index signal are normal.
WRN W13 (2) Check that “Time out” and “Search end stop current” are set
properly.
In the position mode, the conflict situation of receiving the pulse
W14HOM.C command and homing command simultaneously occurs.
Pulse command
14 or
and homing conflict Do not send the pulse command and perform the built-in homing
WRN W14
function at the same time.
W15BAT.E The encoder battery has no power.
Absolute encoder
15 or
battery warning Replace the battery.
WRN W15
W16ABS.W The absolute encoder feedbacks the error absolute position.
Wrong absolute
16 or
position Reset the home position.
WRN W16
MECHATROLINK MECHATROLINK communication warning
17 communication WRN W17
warning Check if communication cable is correctly connected.

Absolute encoder Absolute encoder feedback position overflow

18 WRN W18
position overflow Command the motor to move towards the opposite direction.
Serial encoder Serial encoder communication warning
19 communication WRN W19
warning Check if the encoder cable is correctly connected.

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 MD07UE01-2010

D2 Series Servo Drive User Manual Troubleshooting

 Supplement for W03 and W04 warning correction

If the hardware limit is not connected to the drive and the false trigger occurs, the hardware limit
function can be turned off.

Figure9.4.1

 Supplement for W09 and W10 warning correction

When the acceleration and deceleration (“Acc.” and “Dec.”) in the performance test is set to be less
than the command, the warning message of “W09 ACC.L” or “WRN W09” will appear and the
acceleration will be limited. To solve this problem, increase the acceleration and deceleration. It is
recommended to set “Acc.” and “Dec.” to 10 times the current “Speed”.

Figure9.4.2

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Troubleshooting D2 Series Servo Drive User Manual

When the speed (“Speed”) in the performance test is set to be less than the command, the warning
message of “W10 VEL.L” or “WRN W10” will appear and the speed will be limited. To solve this
problem, increase the speed. For example, if the required speed is 500 mm/s and “Speed” is set to
100 mm/s, “W10 VEL.L” or “WRN W10” will appear. “Speed” can be changed to a value larger than
the target value, e.g. 600 mm/s.

Figure9.4.2

9.5 Troubleshooting for common issues

No. Issue LCD code Troubleshooting

The speed or acceleration is limited Check if the speed, acceleration, and

when the motion command is sent W10 VEL.L deceleration in the “Motion Protection” area of
by using the pulse or voltage (WRN W10) performance center are set too small.
1 command. Or, the host controller
has sent out all pulse commands for W09 ACC.L
the movement, but the motor is still (WRN W09)
slowly moving to the target position.
(1) In the “Details” menu of auto phase center,
select “Toggle direction” to reset the motor
The motor direction is opposite to
2 None direction.
the customer-defined direction.
(2) Check the “Invert” option in the mode
configuration page to invert the command.
Open the “Error Map” tab in the application center
to confirm the following items:
(1) Confirm that the “Error map enable” option
3 “Error map” is not activated. None is checked. Refer to Section 6.9.2.
(2) Confirm that the homing process has been
done or the related homing signal has been
set in the “Input” tab.

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D2 Series Servo Drive User Manual Troubleshooting

No. Issue LCD code Troubleshooting

(1) Use “Quick View” or “Scope” to check if

“Target Position” has received the input
pulse signal.
(2) Check if the pulse signal cable is
disconnected or poor contact.
After enabling, the motor moves
4 None (3) Check that the signal of 0 V is connected to
without any command.
the shield or ground.
(4) Check that the drive and machine are
grounded.
(5) Add a core to the pulse cable for filtering, if
needed.
(1) Confirm that the command unit is correct.
(2) Check if the speed or acceleration is set to
0.
After enabling, the motor does not
(3) Check if the “Enable SW Limit” option has
5 move when the command is sent None
been enabled. If yes, check that “Upper
out.
limit” or “Lower limit” is set correctly.
(4) After disabling, turn the motor spindle to
confirm that the rotation is smooth.
(1) Use “Quick View” or “Scope” to confirm that
“Target Position” has received the input
pulse signal.
The pulse command has sent out,
6 None (2) Check if the pulse signal cable is
but the motor does not move.
disconnected or poor contact.
(3) Check if the electronic gear ratio is set to
small.
(1) Use “Quick View” or “Scope” to confirm that
The analog voltage command (V “Analog Command” has received the input
7 Command) has sent out, but the None voltage.
motor does not move. (2) Set the voltage offset in the “Analog input”
tab of “Advanced gains” window.
(1) Reduce the servo gain (common gain).
The motor is moving with a loud
8 None (2) Set the filter in the “Filter” tab of “Advanced
noise.
gains” window.
(1) Check that the drive is placed in a
E07D.HOT well-ventilated location.
9 The drive temperature is too high.
(ERR E07) (2) Check that the ambient temperature is not
too high.
The position feedback sensor E04 ENCOD Check that the drive and machine are grounded,
10
(reader) sends an incorrect signal. (ERR E04) and the shield is grounded.

(1) Check whether the drive’s main power is

E09 UND.V connected to 220 Vac, or disconnected.
11 The DC bus voltage is too small.
(ERR E09) (2) Use a multimeter to check that there is a
220 Vac power supply.

(1) Confirm that the speed, acceleration, and

load meet specifications.
(2) Check whether a regenerative resistor
E02 OVERV
12 The DC bus voltage is too large. needs to be installed when the motor is
(ERR E02)
operated at the high speed.
(3) Check if the load is too heavy.
(4) Check if the speed is too high.

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Troubleshooting D2 Series Servo Drive User Manual

No. Issue LCD code Troubleshooting

(1) Check if the servo gain (common gain) is

too small and the maximum position error
The position error exceeds the E03 PEBIG
13 (“maximum pos error”) is too small.
setting of maximum position error. (ERR E03)
(2) Check if the motor movement is obstructed.
(3) Check if the load is too heavy.
(1) Solve the short circuit between the motor
UVW phases and wiring problems.
(2) Solve the short circuit between the motor
E01 SHORT power phase (UVW) and ground.
14 The motor UVW has a short circuit.
(ERR E01) (3) Measure the line-to-line resistance of motor
phase (UVW), and confirm that resistances
between lines are the same.
(4) Check if the motor cable is too old.
(1) Confirm that the motor continuous current
and peak current comply with the motor
The equivalent current of drive
E05 SWHOT specification.
15 output exceeds the limit of motor
(ERR E05) (2) The acceleration command in the path
continuous current.
planning is higher than the motor rated
acceleration.
The computer cannot communicate Confirm that the transmission rate (“BPS”) and
16 None
with the drive. communication port (“Port”) are set correctly.

When “Use emulated encoder” is set, the motor

The host controller receives an moves due to various factors during the operation
17 incorrect position when using the None of “Save to flash” ( ) on the main window. The
emulated encoder function. emulated output function has no effect when
“Save to flash” is performing.

9-16 HIWIN MIKROSYSTEM CORP.

10. Axis enable setting
0000 00
0
10. Axis enable setting ··············································································································· 10-1
10.1 Start enable method ····································································································· 10-2
10.2 Confirm enable status via HMI ························································································ 10-3

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Axis Enable Setting D2 Series Servo Drive User Manual

10.1 Start enable method

 Enable via host controller

Usually, the host controller sends a command to the drive to control the motor enable. This is done
through the drive’s input pin. Normally, the “Axis Enable” function is set to the digital input I3 (see
Section 5.5.1), as shown in figure 10.1.1.

Figure10.1.1

 Temporary hardware enable

When the user does not have the host controller to send the hardware enable signal to the drive, the
following method can be used to provide the hardware enable temporarily. First, click the button
in the main toolbar to open the I/O center, as shown in figure 10.1.1. Confirm that the status light of
“Axis Enable” is green. Generally, I3 is set to the input of hardware enable signal. Since each input
pin has an “Invert” function, the signal logic can be reversed via this “Invert” option to temporarily
provide a simulated hardware enable signal according to the test requirement. When the status light
in the “State” column is green, it indicates that the drive has received a hardware enable signal.

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D2 Series Servo Drive User Manual Axis Enable Setting

10.2 Confirm enable status via HMI

When the light of “Hardware enable input” in the HMI main window is green, it indicates that the drive has
received a hardware enable signal from the host controller, as shown in figure 10.2.1.

Figure10.2.1

Usually, the motor enable is controlled by the “Axis Enable” signal sent from the host controller to the
drive’s input pin. When HMI is turned on, following items must be noticed.
(1) When Lightening is a valid window on the computer, the F12 key can be pressed to disable the
motor at any time. Usually, it is useful in the emergency situation.
(2) When the performance center in Lightening is turned on, the “Disable” button (same as F12) can be
pressed to disable the motor. Click the “Enable” button on the window to enable the motor again (but
only if the “Hardware enable input” light is still green).

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11. Parameter comparison
0000000 00000
0
11. Parameter comparison ·········································································································· 11-1
11.1 Comparing parameters in RAM and Flash ········································································· 11-2

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Parameter Comparison D2 Series Servo Drive User Manual

11.1 Comparing parameters in RAM and Flash

When motor parameters are modified during the operation of Lightening and do not save in the drive’s
Flash, the prompt window of “Compare parameter RAM to Flash” appears at the situation of closing
Lightening or saving error map parameters in Flash (see Section 6.9.1), as shown in figure 11.1.1. This
window mainly reminds the user that parameters have been modified but not yet saved in Flash.

Figure11.1.1
Click the “Details” option on the window to open the advanced comparison window. It can be used to
further observe which parameters in RAM and Flash have different settings, as shown in figure 11.1.2. If
the RAM data and Flash data are not the same, the parameter name and its value are listed in blue. In
addition, the “Flash values” filed displays one of following two states.

(1) =: The parameter in Flash is the same as that in RAM.

(2) : The parameter has performed the “Undo” action and the value in RAM has been changed to
that in Flash, as shown in figure 11.1.3.

②
○
1
⑥
○
3

○
5
○
4

Figure11.1.2
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D2 Series Servo Drive User Manual Parameter Comparison

The following is the function description of main button:

1 Save: Save parameters to Flash.
○
2 Close: Close the window.
○
3 Up: Go to the previous parameter which is different in RAM and Flash.
○
4 Down: Go to the next parameter which is different in RAM and Flash.
○
5 Undo: Restore the selected parameter saved in RAM to that saved in Flash
○
6 Refresh: Re-compare parameters saved in RAM and Flash.
○

○
7

Figure11.1.3

7 Redo: Cancel the previous “Undo” action for the selected parameter.
○

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12. Update firmware and load PDL

0000000000 0000
0
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

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Update Firmware And Load PDL D2 Series Servo Drive User Manual

12.1 Update drive’s firmware

If the drive’s firmware needs to be updated, click the “Tools” option on the main window and select
“Upgrade/Downgrade firmware...”, as shown in figure 12.1.1. Clicking “Upgrade/Downgrade firmware...”
will appear the window of figure12.1.2.

Figure12.1.1

Step2

Step1

Figure12.1.2 “Upgrade/Downgrade firmware” window

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 MD07UE01-2010

D2 Series Servo Drive User Manual Update Firmware And Load PDL

In the “Upgrade/Downgrade firmware” window, use following steps to complete the firmware update.

Step 1: Click the left mouse button on the firmware version required to update, such that it is with white
letters on the blue background.
Step 2: Click the “File” option in the upper left corner of window and select “Update selected firmware to
amplifier” to appear the dialog window of figure12.1.3.

Figure12.1.3

Step 3: Click the “Confirm” button to appear the “Auto load programs” window. The firmware will be
loaded to the drive automatically, as shown in figure 12.1.4.

Figure12.1.4

Step 4: After the firmware update is completed, the message window of figure 12.1.5 appears. Click the
“Conform” button.

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Update Firmware And Load PDL D2 Series Servo Drive User Manual

Figure12.1.5

Note:
If a power failure or communication error occurs during the firmware update, Lightening may stay at “Boot
mode” and cannot be changed after the power is restored or the communication cable is connected
again, as shown in figure 12.1.6. Please contact the franchised dealer to help eliminating it.

Figure12.1.6

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D2 Series Servo Drive User Manual Update Firmware And Load PDL

12.2 Load PDL program into drive

To load the PDL program into the drive, use following steps to do it. To clear the PDL program in the
drive, delete the code in “user.pdl” and use same steps to load the codeless “user.pdl” into the drive.

Step 1: Click the icon () shown in figure 12.2.1 to open the “PDL” window.

Figure12.2.1

Step 2: Click the “Edit” button to appear the PDL edit interface.

Figure12.2.2

Figure12.2.3

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Update Firmware And Load PDL D2 Series Servo Drive User Manual

Step 3: After pasting the PDL program or writing the PDL program, click the “Compile” icon () to appear
the “Compile” window, as shown in figure 12.2.4.

Figure12.2.4

Step 4: After “Compile” is completed, click the “Send to slave” icon () and click the “Confirm” button in
the dialog window of figure 12.2.5 to appear the execution window of figure 12.2.6 After loading
the PDL program is completed, this window will be closed automatically.

Figure12.2.5

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D2 Series Servo Drive User Manual Update Firmware And Load PDL

Figure12.2.6

12.3 Load parameter patch

The download path of parameter patch is the same as that of Lightening. The latest parameter patch is
parameter_patch_4.6.

 Extract parameter patch

Figure12.3.1

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Update Firmware And Load PDL D2 Series Servo Drive User Manual

 Install parameter patch

After parameter patch is extracted, parameter_patch_4.6.exe appears. Click on this file. Then
HIWIN .mot generator dialog window appears. Click on (Y) button to install the patch. Ignore the
windows which appear during the installing process. After all the windows close, the installation
completes.

Figure12.3.2

 Other
If Lightening is not installed, a warning window appears informing user that Lightening is not
installed.

Figure12.3.3

12-8 HIWIN MIKROSYSTEM CORP.

13. Modbus communication
00000000000 0000
0
13. Modbus communication ········································································································· 13-1
13.1 Modbus communication specification ··············································································· 13-2
13.2 Function code ············································································································· 13-2
13.3 Modbus objects ··········································································································· 13-6
13.3.1 Input register ···································································································· 13-7
13.3.2 Holding register······························································································· 13-12

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13.1 Modbus communication specification

The Modbus communication specification for D2-series drives is shown in the following table.

Table13.1.1

Interface RS-485 2W-cabling

Communication Cycle Asynchronous (half duplex)
Baud rate 2,400, 4,800, 9,600 (default), 14,400, 19,200, 38,400 bps
Protocol RTU (default), ASCII
Data length (note 1) 8 bits (default), 7 bits
Communication
Parity Even (default), odd, none
Parameters
Start bit 1 bit
Start bit (note 2) 1 bit (default), 2 bits
Slave address 1 - 247

Note:
(1) The data length in the RTU communication protocol is 8 bits; while that in the ASCII communication protocol is
7 bits.
(2) The stop bit for the odd parity and even parity is 1 bits; while that for the none parity is 2 bits.

13.2 Function code

D2-series drives provide three types of function code, as given in the following table.

Table13.2.1

Message Length (Bytes)

Function Code Definition Command Response*
Max Min Max Min
03h Read holding registers 8 8 255 7
04h Read input registers 8 8 255 7
10h Write multiple registers 255 11 8 8
Note:
*The message length of exception response is 5 bytes.

(1) Read holding registers (03h)

This function is used to read the contents of the consecutive blocks of holding registers in the drive.
The related data format is given in the following table. The content of each register is divided into the
8-bits higher data (“Hi”) and the 8-bits lower data (“Lo”). The maximum of consecutive blocks read at
the same time is 125.

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D2 Series Servo Drive User Manual Modbus Communication

Table13.2.2

Data Length Value

Request
Function code 1 Byte 03h
Starting address 2 Bytes 0x0000 - 0xFFFF
Quantity of registers 2 Bytes 1 - 125
Response
Function code 1 Byte 03h
Byte count 1 Byte 2xN
Register value 2 x N Bytes
Error
Error code 1 Byte 83h
Exception code 1 Byte 01h, 02h, 03h, 04h

Note:
N is the quantity of registers.

Table13.2.3

Exception Code Exception Name Cause

01h Illegal function The function code is not supported.
02h Illegal data address Try to read an illegal register.
03h Illegal data value The quantity of registers is too large (>125).
The accessed data includes the incomplete data.
04h Server device failure For example, the host controller only requests 16
bits of 32-bits parameter.
The following table is an example of requesting to read registers 0x006B - 0x006D. For the case of
normal response, the content of register 0x006B is shown as the 2-bytes value of “02 2Bh”, the
content of register 0x006C is the 2-bytes value of “00 00h”, and the content of register 0x006D is the
2-bytes value of “00 64h”.

Table13.2.3

Command Response Error

Slave address 01h Slave address 01h Slave address 01h
Function code 03h Function code 03h Error code 83h

Starting Hi 00h Byte count 06h Exception code 02h

address Lo 6Bh Hi 02h Lo C0h
Register 0x006B CRC
Quantity of Hi 00h Lo 2Bh Hi F1h
registers Lo 03h Hi 00h
Register 0x006C
Lo 74h Lo 00h
CRC
Hi 17h Hi 00h
Register 0x006D
Lo 64h
CRC Lo 05h
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Modbus Communication D2 Series Servo Drive User Manual

Command Response Error

Hi 7Ah

(2) Read input registers (04h)

This function is used to read the contents of the consecutive blocks of input registers in the drive.
The related data format is given in the following table. The content of each register is divided into the
8-bits higher data (“Hi”) and the 8-bits lower data (“Lo”). The maximum of consecutive blocks read at
the same time is 125.

Table13.2.4

Data Length Value

Request
Function code 1 Byte 04h
Starting address 2 Bytes 0x0000 - 0xFFFF
Quantity of registers 2 Bytes 1 - 125

Response
Function code 1 Byte 04h
Byte count 1 Byte 2xN
Register value 2 x N Bytes

Error
Error code 1 Byte 84h
Exception code 1 Byte 01h, 02h, 03h, 04h

Note:
N is the quantity of registers.

Table13.2.5

Exception Code Exception Name Cause

01h Illegal function The function code is not supported.
02h Illegal data address Try to read an illegal register.
03h Illegal data value The quantity of registers is too large (>125).
The accessed data includes the incomplete data.
04h Server device failure For example, the host controller only requests 16
bits of 32-bits parameter.

The following table is an example of requesting to read the register 0x0008. For the case of normal
response, the content of register 0x0008 is shown as the 2-bytes value of “00 0Ah”.

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D2 Series Servo Drive User Manual Modbus Communication

Table13.2.6

Command Response Error

Slave address 01h Slave address 01h Slave address 01h
Function code 04h Function code 04h Error code 84h

Starting Hi 00h Byte count 02h Exception code 02h

address Lo 08h Hi 00h Lo C2h
Register
CRC
Hi 00h 0x0008 Lo 0Ah Hi C1h
Quantity of
registers Lo 01h Lo 35h
CRC
Lo B0h Hi 37h
CRC
Hi 08h

(3) Write multiple registers (10h)

This function is used to write the data into consecutive blocks of registers in the drive. The maximum
of consecutive blocks read at the same time is 123.

Table13.2.7

Data Length Value

Request
Function code 1 Byte 10h
Starting address 2 Bytes 0x0000 - 0xFFFF
Quantity of registers 2 Bytes 1 - 123
Byte count 1 Byte 2xN
Register value 2 x N Bytes
Response
Function code 1 Byte 10h
Starting address 2 Bytes 0x0000 - 0xFFFF
Quantity of registers 2 Bytes 1 - 123
Error
Error code 1 Byte 90h
Exception code 1 Byte 01h, 02h, 03h, 04h

Note:
N is the quantity of registers.

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Modbus Communication D2 Series Servo Drive User Manual

Table13.2.8

Exception Code Exception Name Cause

01h Illegal function The function code is not supported.
02h Illegal data address Try to write an illegal register.
03h Illegal data value The quantity of registers is too large (>123).
The accessed data includes the incomplete data.
04h Server device failure For example, the host controller only writes 16 bits of
32-bits parameter.

The following table is an example of requesting to write the data of “00 0Ah” and “01 02h” into 2
registers, where the starting address is 0x0001.

Table13.2.9

Command Response Error

Slave address 01h Slave address 01h Slave address 01h
Function code 10h Function code 10h Function code 90h

Starting Hi 00h Starting Hi 00h Exception code 02h

address Lo 01h address Lo 01h Lo CDh
CRC
Quantity of Hi 00h Quantity of Hi 00h Hi C1h
registers Lo 02h registers Lo 02h
Byte count 04h Lo 10h
CRC
Register Hi 00h Hi 08h
0x0001 Lo 0Ah

Register Hi 01h
0x0002 Lo 02h
Lo 92h
CRC
Hi 30h

13.3 Modbus objects

The data type of Modbus object is listed in the following table.

Table13.3.1

Code Data Type Range

INT16 Signed 16 bit -32,768 to +32,767
INT32 Signed 32 bit -2,147,483,648 to +2,147,483,647
UINT16 Unsigned 16 bit 0 to 65,535
UINT32 Unsigned 32 bit 0 to 4,294,967,295
REAL32 Float 32 bit -

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D2 Series Servo Drive User Manual Modbus Communication

13.3.1 Input register

The data length of each readable input register is 32 bits.

Table13.3.1

Register
Object Description Type Unit
Address
0x0000 Lower data
1 Feedback position INT32 counts
0x0001 Higher data
0x0002 Lower data
2 Reference position INT32 counts
0x0003 Higher data
0x0006 Lower data
4 Position error INT32 counts
0x0007 Higher data
0x0012 Lower data
10 Feedback velocity REAL32 count/s
0x0013 Higher data
0x0014 Lower data
11 Reference velocity REAL32 count/s
0x0015 Higher data
0x0016 Lower data
12 Velocity error REAL32 count/s
0x0017 Higher data
0x003A Lower data
30 Actual current REAL32 Aamp
0x003B Higher data
0x003C Lower data
31 Command current REAL32 Aamp
0x003D Higher data
0x004E Lower data
40 Analog command REAL32 mV
0x004F Higher data
0x0050 Lower data
41 Bus voltage REAL32 V
0x0051 Higher data
0x0064 Lower data
51 Soft-thermal accumulator REAL32 %
0x0065 Higher data
0x0068 Lower data
53 Average load ratio REAL32 %
0x0069 Higher data
0x0070 Lower data
54 Peak load ratio REAL32 %
0x0071 Higher data
0x0072 Lower data
55 Current effective value REAL32 Aamp
0x0073 Higher data
0x0078 Lower data
61 Status 5 UINT32 -
0x0079 Higher data
0x00A0 Lower data
81 Status 4 UINT32 -
0x00A1 Higher data
90 0x00B2 Status 6 Lower data UINT32 -

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Register
Object Description Type Unit
Address
0x00B3 Higher data
0x00B4 Lower data
91 Status 0 UINT32 -
0x00B5 Higher data
0x0FA0 Lower data
2001 Mode of operation display INT32 -
0x0FA1 Higher data
0x0FA2 Lower data
2002 Drive error events 1 UINT32 -
0x0FA3 Higher data
0x0FA4 Lower data
2003 Drive error events 2 UINT32 -
0x0FA5 Higher data
0x0FA6 Lower data
2004 Status 1 UINT32 -
0x0FA7 Higher data
0x0FA8 Lower data
2005 Status 2 UINT32 -
0x0FA9 Higher data
0x0FAA Lower data
2006 Status 3 UINT32 -
0x0FAB Higher data
0x0FAE Feedback position of Lower data
2008 INT32 count
0x0FAF secondary encoder Higher data
0x0FB0 Lower data
2009 Hybrid deviation error REAL32 count
0x0FB1 Higher data

(1) Object 61 – Status 5

Table13.3.2

Bit Definition
0 I1
1 I2
2 I3
3 I4
4 I5
5 I6
6 I7
7 I8
8 I9
9 I10
10 - 15 -

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D2 Series Servo Drive User Manual Modbus Communication

(2) Object 81 – Status 4

Table13.3.3

Bit Definition
0-3 -
4 O1
5 O2
6 O3
7 O4
8 O5
9 - 11 -
12 CW/CCW input
13 Buffer encoder invert
14 Buffer/emulated encoder output
15 -

(3) Object 90 – Status 6

Table13.3.4

Bit Definition
0 -
1 Index
2 - 15 -

(4) Object 91 – Status 0

Table13.3.5

Bit Definition
0 Moving
1 Encoder error
2 -
3 In position
4 Right hardware limit
5 Left hardware limit
6 Position error too big
7 Soft thermal threshold reached
8 Axis disable
9 -
10 Homed
11 -
12 Both hardware limits are active
13 Serial encoder communication error
14 Motor over temperature
15 Amplifier over temperature

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(5) Object 2002 – Drive error events 1

Table13.3.6

Bit Definition
0 -
1 Encoder error
2-5 -
6 Position error too big
7 Soft-thermal threshold reached
8 - 12 -
13 Serial encoder communication error
14 Motor over temperature sensor activated
15 Amplifier over temperature
16 - 17 -
18 Motor short (over current) detected
19 Over voltage detected
20 Under voltage detected
21 Motor maybe disconnected
22 - 30 -
31 5V for encoder card fail

(6) Object 2003 – Drive error events 2

Table13.3.7

Bit Definition
0 -
1 Phase initialization error
2-4 -
5 Hall sensor error
6 Hall phase check error
7 - 15 -
16 Current control error
17 HFLT inconsistent error
18 Auto phase center not complete error
19 -
20 Hybrid deviation too big
21 - 22 -
23 DC bus voltage abnormal
24 - 29 -
30 EtherCAT interface disconnected
31 CiA-402 home failed

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D2 Series Servo Drive User Manual Modbus Communication

(7) Object 2004 – Status 1

Table13.3.8

Bit Definition
0-1 -
2 Motor short
3 Over voltage
4 Under voltage
5 Motor may be disconnect
6 Left software limit
7 Right software limit
8 Current limited
9 Acceleration limited
10 Velocity limited
11 Servo ready
12 Servo voltage big
13 Position error warning
14 Velocity error warning
15 5V for encoder card fail

(8) Object 2005 – Status 2

Table13.3.9

Bit Definition
0 Emulated index
1 Phase initialization error
2-4 -
5 Hall sensor error
6 Hall phase check error
7-8 -
9 Zero speed detected
10 - 13 -
14 I2T warning
15 Pulse command and home conflict

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(9) Object 2006 – Status 3

Table13.3.10

Bit Definition
0 Current control error
1 HFLT inconsistent error
2-4 -
5 Homing fail
6 Absolute encoder battery warning
7 DC bus voltage abnormal
8 Wrong absolute position
9 - 15 -

13.3.2 Holding register

The data length of each readable/writable holding register is 32 bits.

Table13.3.2.1

Register
Object Description Type Unit
Address
0x0000 Maximum Lower data
0 REAL32 count/s2
0x0001 acceleration Higher data
0x0002 Maximum Lower data
1 REAL32 count/s2
0x0003 deceleration Higher data
0x0004 Lower data
2 Kill deceleration REAL32 count/s2
0x0005 Higher data
0x0006 Lower data
3 Maximum velocity REAL32 count/s
0x0007 Higher data
0x004E Home velocity Lower data
39 (Index search INT32 count/s
0x004F speed) Higher data
0x0050 Lower data
40 Homing time out INT32 1s/15,000
0x0051 Higher data
0x0064 Maximum Lower data
50 REAL32 Aamp
0x0065 following error Higher data
0x009E AC servo gear Lower data
79 REAL32 -
0x009F ratio Higher data
0x00A2 Numerator of Lower data
81 electronic gear INT32 -
0x00A3 ratio Higher data
0x00A4 Denominator of Lower data
82 electronic gear INT32 -
0x00A5 ratio Higher data

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Register
Object Description Type Unit
Address
0x00A6 Velocity scale for Lower data
83 external REAL32 count/s = 1 V
0x00A7 command Higher data
0x00AA Current scale for Lower data (Aamp×1,000)/
85 external REAL32 (curr_drv_peak)
0x00AB command Higher data =1V
0x00E6 Lower data
115 Smooth factor UINT32 -
0x00E7 Higher data
0x0102 Lower data
129 Pulse mode INT32 -
0x0103 Higher data
0x0104 Pulse command Lower data
130 UINT32 -
0x0105 inversion Higher data
0x01A8 Lower data
212 Operation mode UINT32 -
0x01A9 Higher data
0x01B0 Encoder output Lower data
216 INT32 -
0x01B1 setting Higher data
0x01B6 Lower data
219 CW/CCW logic UINT32 -
0x01B7 Higher data
0x01E2 Lower data
241 Input signal logic INT32 -
0x01E3 Higher data
0x0230 Output signal Lower data
280 UINT32 -
0x0231 logic Higher data
0x02A8 Lower data
340 Load level UINT32 -
0x02A9 Higher data
0x02A2 Direction of Lower data
347 INT32 -
0x02A3 second encoder Higher data
0x02A4 Hybrid deviation Lower data
348 INT32 -
0x02A5 limit Higher data
0x02BC Brake activation Lower data
350 INT32 -
0x02BD delay time Higher data
0x02C6 Output emulated Lower data
355 index per INT32 -
0x02C7 revolution Higher data
General purpose Lower data
368 ~ 2 x index ~
REAL32 REAL32 -
372 2 x index +1 Higher data
parameter
373 ~ 2 x index ~ General purpose Lower data
INT32 -
387 2 x index +1 INT32 parameter Higher data
0x0FA0 Lower data
2000 Target position INT32 count
0x0FA1 Higher data
0x0FA2 Lower data
2001 Target velocity INT32 count/s
0x0FA3 Higher data

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Register
Object Description Type Unit
Address
0x0FA4 Lower data
2002 Target current INT32 0.1%A
0x0FA5 Higher data
0x0FA6 Lower data
2003 Stop motion UINT32 -
0x0FA7 Higher data
0x0FAE Lower data
2007 Jog velocity REAL32 count/s
0x0FAF Higher data

13-14 HIWIN MIKROSYSTEM CORP.

14. EMC solution
00000000000000 0000
0
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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14.1 Common-mode motor filter

A common-mode motor filter can be considered when following situations occur.

(1) For the drive with the 17-bit encoder, the encoder feedback is disturbed and the error of “serial
encoder communication error” occurs when the drive is enabled.
(2) Reduce the common-mode noise at the drive’s output.

The part number of HIWIN self-made common-mode motor filter is MC-CM-S. It is suitable for D2-series
drives with the power less than 2 KW (inclusive). The specification is given in the following table. When
the external common-mode motor filter is used, the effect of common- mode inductor should be
considered to improve the performance of motor control.

Table14.1.1

Item Specification
Maximum voltage 373 Vdc
Input
Maximum current 11 Arms
Maximum voltage 373 Vdc
Output
Maximum current 11 Arms
Peak current* /Maximum duration of peak current 33 Arms / 1 second
Ambient operating temperature 0 to 50°C
Common-mode inductor (line) 1,100μH (nominal)

Note:
(1) *The maximum input/output peak current can be maintained for 1 second from the start.
(2) 
If the drive is operated below the maximum temperature, no cooling fan is required. However, if the ambient
temperature exceeds 50°C, an external fan should be used for cooling. The fan should have a flow rate of at
least 110 cubic feet (CFM).

Figure14.1.1

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The MF-CM-S dimensions are shown as follows.

J1 J1

Figure14.1.2

The wiring diagram of common-mode motor filter with the drive and motor is given as follows.

Figure14.1.3
 Instruction
(1) Insert the terminal of common-mode motor filter into the drive CN1 in sequence based on the
line marked.
(2) Insert the motor cable into the connector of common-mode motor filter based on the label on the
connector.

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A. Filter to drive

Table14.1.1 Specification for the filter-to-drive cable

E191346 AWM 2586 2mm 2x4C 105℃ 600V VW-1 AWM I/II B
Description 2mm2x4C 105℃ 600V FT1 SIN YU RoHS SUPER FLEXIBLE
AND OIL RESISTANCE CE
Cable Size 14 AWG

Table14.1.2 Pin assignment for the filter-to-drive cable

Pin (Color) Name Function

Red U Connect to the drive’s U-phase (input)
White V Connect to the drive’s V-phase (input)
Black W Connect to the drive’s W-phase (input)
Green PE Housing ground and cable shielding

B. Filter (J1) to motor

Table14.1.3 Specification for the filter J1

Description 4 position, 7.5mm pluggable female terminal block.

Manufacturer PN Wago 721-864/001-000
Cable Size 28 – 12 AWG
Recommended Wire 14 AWG, 600 V
Wire Insertion/ Extraction Tool 475604 (SUPU) 4PIN, Female, pitch 7.5mm

Table14.1.4 Connector definition

Pin Name Function

1 U Connect to the motor’s U-phase (output)
2 V Connect to the motor’s V-phase (output)
3 W Connect to the motor’s W-phase (output)
4 PE Housing ground and cable shielding

Figure14.1.4 Connector

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DANGER
 It has the risk of electric shock.
 The cable and J1 connector are the high-voltage circuit and are connected to the main power.
 Not paying attention to these warnings could result in the equipment damage, injury, or death.
 Be careful when installing.
 Not paying attention to these warnings could result in the equipment damage, injury, or death.

14.2 Motor power cable with magnetic rings

When the motor (100 W - 750 W) is at the enable state, if the control signal is subject to the noise
interference, a magnetic ring can be considered to install in the motor power cable.

(1) Motor power cable including internal magnetic rings

Table14.2.1

Part No. Specification Quantity Description Note

1. The power cable does not
Motor filter
contain the brake signal.
HE00831M2800 AC P.C. + Core 1 (100 W to 750
2. The length of power cable is
W only)
about 2.4 meters.

Table14.2.2

Item Specification
Maximum Voltage 240 Vac
Maximum Current 7.5 Arms
Peak Current/Maximum Duration Of Peak Current 15 Arms/1 second
Ambient Operating Temperature 0 to 40 ℃

Figure14.2.1

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EMC Solution D2 Series Servo Drive User Manual

(2) Cable with plug-in magnetic rings

The electrical specification for this product is the same as that given in table 14.2.3.

Table14.2.3

Part No. Specification Quantity Description Note

Plug-in CM Motor filter (100 W to
HE00831RB200 1 -
choke filter 750 W only)

Figure14.2.2

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