D2 Drive User Guide

D2 v1.
D2
1.3
2015 01 28
HIWIN Mikrosystem Corp.
D2 v1.3
1.
2.
3.
4.
................................................................................................................ 1
1.1.
................................................................................................. 2
1.2.
.................................................................................................... 3
........................................................................................................................... 7
2.1.
................................................................................................. 8
2.1.1.
.................................................................................................... 8
2.1.2.
.................................................................................................... 8
2.1.3.
.................................................................................................... 9
2.2.
........................................................................................ 10
2.2.1.
()....................................................................... 10
2.2.2.
() .......................................................................... 12
2.3.
............................................................................................... 14
...................................................................................................... 20
2.4.
2.5.
.................................................................................................. 21
................................................................................................................................ 23
3.1.
............................................................................................... 24
3.1.1.
.................................................................................................. 24
3.1.2.
CN1 ................................................................................................. 25
3.1.3.
CN2 ................................................................................................. 29
3.1.4.
CN3 USB ......................................................................................... 31
3.1.5.
CN6 .......................................................................................... 31
3.1.6.
CN7 ............................................................................................ 33
3.2.
D2 ......................................................................................... 34
3.2.1.
.............................................................................................. 34
3.2.2.
.............................................................................................. 34
3.2.3.
.............................................................................................. 34
3.2.4.
USB ............................................................................................. 34
3.2.5.
.............................................................................................. 35
3.2.6.
EMC ............................................................................................ 35
3.2.7.
.................................................................................................. 36
3.2.8.
.................................................................................................. 36
3.3.
........................................................................................ 37
3.3.1.
() .............................................................................. 37
3.3.2.
() .............................................................................. 38
3.4.
................................................................................. 39
3.5.
I/O .................................................................................................... 41
3.5.1.
........................................................................................... 41
3.5.2.
........................................................................................... 42
............................................................................................... 44
3.6.
3.6.1.
............................................................................ 44
3.6.2.
............................................................................ 51
3.6.3.
(PWM ) ............................................................. 54
................................................................................................................................ 59
4.1.
...................................................................................................... 60
4.1.1.
.............................................................................................. 60
4.1.2.
.................................................................................................. 61
4.1.3.
.............................................................................................. 63
ii
D2 v1.3
.................................................................................................. 66
........................................................................................... 67
....................................................................................... 68
........................................................................................... 72
.................................................................................... 75
4.3.
.................................................................................... 77
4.3.1.
.................................................................................................. 77
4.3.2.
......................................................................... 77
4.3.3.
............................................................................ 78
4.3.4.
.................................................................. 79
4.4.
I/O ........................................................................................................... 80
4.4.1.
.................................................................................... 80
4.4.2.
.................................................................................... 90
4.5.
In-Position ............................................................................................... 94
4.6.
............................................................................. 95
4.6.1.
.................................................................................................. 95
4.6.2.
.................................................................................................. 97
4.6.3.
/.......................................................................................... 99
4.6.4.
......................................................................................... 100
4.7.
Flash .................................................................... 102
4.7.1.
Flash................................................................................... 102
4.7.2.
.............................................................................. 102
LCD .............................................................................................................................. 103
5.1.
....................................................................................................... 104
5.2.
...................................................................................... 105
5.3.
LCD ............................................................................................ 107
5.3.1.
....................................................................................................... 109
5.3.2.
.............................................................................................110
5.3.3.
.............................................................................................112
5.3.4.
................................................................................................... 125
5.4.
LCD .............................................................................. 129
5.4.1.
................................................................................................ 129
5.4.2.
................................................................................................ 132
5.4.3.
/........................................................................................ 134
5.4.4.
......................................................................................... 135
.............................................................................................................................. 137
6.1.
Quick view .................................................................................. 138
6.1.1.
................................................................................................ 138
6.1.2.
Quick view ............................................................................................. 138
6.1.3.
............................................................................................ 140
6.2.
....................................................................................................... 141
6.3.
.................................................................................................... 144
6.4.
....................................................................................................... 146
6.4.1.
................................................................................................ 146
6.4.2.
PDL ......................................................................... 147
6.5.
Plot view ....................................................................................................... 148
6.5.1.
......................................................................................... 148
6.5.2.
/ ............................................................................................... 152
6.5.3.
................................................................................................ 153
6.6.
................................................................................................ 156
4.2.
4.2.1.
4.2.2.
4.2.3.
4.2.4.
5.
6.
iii
D2 v1.3
................................................................................................... 156
............................................................................................ 158
............................................................ 160
.................................................................................. 163
................................................................................................ 164
..................................................................................... 164
............................................................................................ 169
6.7.
............................................................................................. 171
6.8.
Loop constructor ........................................................................................... 172
6.8.1.
/........................................................................................ 173
6.8.2.
Tool ....................................................................................................... 174
6.8.3.
................................................................................................... 177
6.8.4.
................................................................................................ 178
6.8.5.
................................................................................................ 179
....................................................................................................................... 183
7.1.
....................................................................................................... 184
7.1.1.
.............................................................................. 184
7.1.2.
....................................................................... 185
7.1.3.
................................................................... 185
7.1.4.
................................................................................................ 185
7.2.
...................................................................................... 186
7.2.1.
......................................................................................... 186
7.2.2.
....................................................................... 186
7.3.
....................................................................................................... 187
7.4.
....................................................................................................... 188
7.4.1.
......................................................................................... 188
7.4.2.
......................................................................................... 188
7.5.
....................................................................................................... 190
7.5.1.
......................................................................................... 190
7.5.2.
..................................................................................... 190
7.6.
......................................................................................... 191
.............................................................................................................................. 195
8.1.
.................................................................................................... 196
8.1.1.
.......................................................................... 197
8.1.2.
index ............................. 199
8.1.3.
............................................................................................ 201
8.2.
....................................................................................................... 202
8.3.
................................................................................................ 203
8.3.1.
.................................................................................. 204
8.3.2.
......................................................................................... 205
8.3.3.
.............................................................................. 206
8.3.4.
................................................................... 206
....................................................................................................................... 207
9.1.
............................................................................... 208
9.2.
......................................................................................... 209
9.2.1.
Lightening ......................................................... 209
9.2.2.
LCD ........................................................................................ 209
9.2.3.
Error and Warnings Log ................................................................. 210
9.3.
...................................................................................... 213
9.3.1.
E03 PEBIG ............................................................... 215
6.6.1.
6.6.2.
6.6.3.
6.6.4.
6.6.5.
6.6.6.
6.6.7.
7.
8.
9.
iv
D2 v1.3
...................................................................................... 216
W03 HWLL W04 HWRL ..................................................... 217
W09 ACC.L W10 VEL.L ..................................................... 217
9.5.
......................................................................................... 219
A. ................................................................................................................ 221
A.1. ....................................................................................... 222
A.2. Hardware Enable ........................................................................ 222
A.3. ........................................................................................................ 223
A.4. .......................................................................................... 223
B. ................................................................................................................ 225
B.1. RAM Flash .......................................................................... 226
C. ..................................................................................................... 229
C.1. ..................................................................................................... 230
9.4.
9.4.1.
9.4.2.
D2 v1.3
1.0
2012.01.10
D2
1.1
2012.04.10
D2
D2T
EtherCAT
mega-ulink
relay
clear posion error
SW method 1SW method 5
(7) ZeroTune
(8) I/O centerSet Default
(9) Set parameters to factory default
(10) LCD
(11) LCD
(12) LCD
(13) PDL
(14) E15E16E17E19W13W14
error/warning code
(15)
(1) 1.1
(1)
(2)
(3)
(4)
(5)
(6)
1.2
1.3
2014.10.15
D20.033
Lightening 0.177
2015.01.28
D20.033
Lightening0.177
(2) error/warning codeE16

(3)
vi
D2 v1.3
1.
1.
1.
................................................................................................................ 1
1.1.
................................................................................................. 2
1.2.
.................................................................................................... 3
D2 v1.3
1.
1.1.
9.3.

(
)
D2 v1.3
1.
1.2.

D2 v1.3
1.
D2 v1.3
1.
D2 v1.3
1.
D2 1.3
2.
2.
2.
........................................................................................................................... 7
2.1.
................................................................................................. 8
2.1.1.
.................................................................................................... 8
2.1.2.
.................................................................................................... 8
2.1.3.
.................................................................................................... 9
2.2.
........................................................................................ 10
2.2.1.
()....................................................................... 10
2.2.2.
() .......................................................................... 12
2.3.
............................................................................................... 14
2.4.
...................................................................................................... 20
2.5.
.................................................................................................. 21
D2 1.3
2.
2.1.
2.1.1.
CE Compliance
2-1
EN 55011
EN 61000-6-2
EMC
EN 61800-3
LVD
EB 61800-5-1
2.1.2.
/
/
2-1
D2 1.3
2.
2.1.3.
D2
1
2
2
2a
3
-
4
0
5
4
6
2
7
3
8
-
9
S
10
-
11
B
12
0
D2 = D2
TT ..= T
TT .=
50W / 100W.....= 01
200W / 400W...= 04
750W / 1000W.= 10
....= 1
.................................= 2
220V.....= 3
().....= P
= S
EtherCAT (CoE)...= E
EtherCAT (mega-ulink)...= F
A ......= A
B ......= B
C ..= C
13-bit ..........= 0
17-bit .......= 4
DL 17-bit .= 5
2-2
D2 1.3
2.
2.2.
2.2.1. ()
2-2
A-C
A-C
220V
I/O
USB
(
)
(VSF)
PWM
/, 200~240V 50/60Hz
, 200~240V 50/60Hz
: 0~45( 55)
: -20~65
0 to 90% RH()
1000
1G (10 to 500Hz)
IGBT PWM
13-bit (10000 )
17-bit (131072 )( 5 )
9 () (D2 )
10 () (D2T )
4 () (D2 )
5 () (D2T )
1 (12bit A/D)
2 (: 2 )
2 (, )
4 ( Line driver 3 , 1 )
,
, 115200bps
8*2 LCD
LED (, )
,
(1)
(2)
(3)
(4)/
(5)/
(6)/
(1) (2) (3) (4)
(5) (6)
(7) (8)
(1), (2), (3), (4)
(): 500kpps
line driver (): 4Mpps(AqB 16M cnt/s)
(1) /(Pulse/Dir), (2)/(CW/CCW), (3) A/B
(AqB)
: pulses/counts
pulses: 1~2147483647, counts: 1~2147483647
: 1~500 (0:)
VSF
(1), (2) , (3), (4)

, (5), (6) , (7)
(1), (2), (3), (4)

PWM ,
10
D2 1.3
2.
PWM
Auto tune
(PDL)
(Error Mapping)
.
(1) , (2), (3) , (4)
, (5) , (6)
1), (2), (3), (4)
PWM ,
, .
Auto tune ,
LCD
( 18M count/s)
(1), (2), (3), (4)
, (5), (6), (7) (8)
, (9) 5V , (10), (11)
32K Bytes
800 Bytes
(1) 32 bits
(2) 16 32 bits
(3)
66.67 us
4 task
ifelsewhile for goto till
Lock Unlock
(1) 17
(2) 24
(3) proc 24
:
: 5,000
: Flash ROM,
: um, count
:
,
11
D2 1.3
2.
2.2.2. ()
2-3
220V
A-B
C
A-C
I/O
USB
(
)
(VSF)
Auto tune
(PDL)
, 200~240V 50/60Hz
/, 200~240V 50/60Hz
, 200~240V 50/60Hz
: 0~45( 55)
: -20~65
0 to 90% RH()
1000
1G (10 to 500Hz)
IGBT PWM
13-bit (10000 )
17-bit (131072 )( 5 )
9 () (D2 )
10 () (D2T )
4 () (D2 )
5 () (D2T )
2 (, )
4 ( Line driver 3 , 1 )
,
, 115200 bps
8*2 LCD
LED (, )
,
(1) (2) (3) (4)

(5) (6) (7)
(8)
(1), (2), (3), (4)
(): 500kpps
line driver (): 4Mpps(AqB 16M cnt/s)
(1) /(Pulse/Dir), (2)/(CW/CCW), (3) A/B
(AqB)
: pulses/counts
pulses: 1~2147483647, counts: 1~2147483647
: 1~500 (0:)
VSF
Auto tune ,
LCD
( 18M cnt/s)
(1), (2), (3), (4)
, (5), (6), (7) (8)
, (9) 5V , (10), (11)
32K Bytes
800 Bytes
(1) 32 bits
(2) 16 32 bits
(3)
66.67 us
4 task
ifelsewhile for goto till
12
D2 1.3
(Error Mapping)
2.
Lock Unlock
(1) 17
(2) 24
(3) proc 24
:
: 5,000
: Flash ROM,
: um, count
:
,
13
D2 1.3
2.
2.3.
D2 EtherCAT D2
mm 4 mm
D2-DNN46A
2-3 D2 A
14
D2 1.3
2.
D2-DNN47A
2-4 D2 B
15
D2 1.3
2.
D2-DNN48A
2-5 D2 C
16
D2 1.3
2.
D2-DNN43A
2-6 EtherCAT D2 A
17
D2 1.3
2.
D2-DNN44A
2-7 EtherCAT D2 B
18
D2 1.3
2.
D2-DNN45A
2-8 EtherCAT D2 C
19
D2 1.3
2.
2.4.
()
220V
50 110V 100
20mm
2-9
20
D2 1.3
2.
2.5.
2-4
CPU
1.0GHz
RAM
512MB
50MB
USB
Win 2000Win XPWin 7
1024 *768 pixel
21
D2 1.3
2.
22
D2 v1.3
3.
3.
3.
................................................................................................................................ 23
3.1.
............................................................................................... 24
3.1.1.
.................................................................................................. 24
3.1.2.
CN1 ................................................................................................. 25
3.1.3.
CN2 ................................................................................................. 29
3.1.4.
CN3 USB ......................................................................................... 31
3.1.5.
CN6 .......................................................................................... 31
3.1.6.
CN7 ............................................................................................ 33
3.2.
D2 ......................................................................................... 34
3.2.1.
.............................................................................................. 34
3.2.2.
.............................................................................................. 34
3.2.3.
.............................................................................................. 34
3.2.4.
USB ............................................................................................. 34
3.2.5.
.............................................................................................. 35
3.2.6.
EMC ............................................................................................ 35
3.2.7.
.................................................................................................. 36
3.2.8.
.................................................................................................. 36
3.3.
........................................................................................ 37
3.3.1.
() .............................................................................. 37
3.3.2.
() .............................................................................. 38
3.4.
................................................................................. 39
3.5.
I/O .................................................................................................... 41
3.5.1.
........................................................................................... 41
3.5.2.
........................................................................................... 42
3.6.
............................................................................................... 44
3.6.1.
............................................................................ 44
3.6.2.
............................................................................ 51
3.6.3.
(PWM ) ............................................................. 54
23
D2 v1.3
3.
3.1.
3.1.1.
3-1
3-1
L1L2200~240VAC50/60Hz
L1L2L3200~240VAC50/60Hz
( , U, V, W)
AC(CN1)
(CN1)
(CN1)
(CN1)
(CN2)
Mini USB(CN3)
(CN6)
(CN7)
(/)(REG- / REG+)
I/O(L1C, L2C)
L1CL2C200~240VAC50/60Hz
(/)
()
Mini USBPC
24
D2 v1.3
3.
3.1.2. CN1
CN1 /
3.1.2.1.
(1) D2---B(F)
Wago 2092-1112 ()
WAGO
2092-1112
(12PIN)
L1
L2
L3
U
V
W
REGREG+
L1C
L2C
3-2 CN1
3-3 CN1
25
D2 v1.3
3.
(2) D2---B(G), D2---, D2T---

Wago 721-112/026-000 ()
3-4 CN1
3-5
3-2
1
2
3
4
5
6
7
8
9
10
11
12
L1
L2
L3
U
V
W
REGREG+
L1C
L2C
AC220VAC (50/60Hz)
AC220VAC (50/60Hz)
AC220VAC (50/60Hz)
U
V
W
220VAC (50/60Hz)
220VAC (50/60Hz)
26
D2 v1.3
3.
3.1.2.2.
mega-f abs
D2 s eries
CN1
L1
L2
L3
U
V
W
REGREG+
L1C
L2C
3-6
3.1.2.3.
(REG- / REG+)
mega-f abs
D2 s eries
CN1
L1
L2
L3
U
V
W
REGREG+
L1C
L2C
3-7
27
D2 v1.3
3.
UVW
/
30 cm
28
D2 v1.3
3.
3.1.3. CN2
relay 24V DC
3.1.3.1. CN2
(1) D2---B(G) D2---B(F)
: WAGO 733-103
+24V
BRK
RTN
+24V
BRK
RTN
CN2
WAGO
733-103
*:
20~28 AWG
3-8
(2) D2--- D2T---

: WAGO 734-104
3-9
29
D2 v1.3
3.
3.1.3.2. Relay
(1) D2---B(G) D2---B(F)
DC24V
mega-f abs
D2 Series
Relay
B
1 +24V
2 BRK
3 RTN
Motor
3-10 relay for D2---B(G) and D2---B(F)
(2) D2--- D2T---

DC24V
mega-fabs
D2 Series
Relay
B
1
2
3
4
+24V
B+
BRTN
Motor
3-11 relay for D2--- D2T---
30
D2 v1.3
3.
3.1.4. CN3 USB

Mini USB PC ..
4
Mini USB
HIWIN USB2.0 Type A to mini-B 5Pin (1.8M)
3-12
3-13
3.1.5. CN6
SCSI 50PIN (Female)
SCSI 50PIN (Male)
3-14
31
D2 v1.3
3.
CN6
3-3
1
3
4
2
5
6
13
21
22
48
49
23
24
25
19
14
15
16
17
18
20
43
42
44
45
46
47
7
33
30
29
27
28
26
32
31
9
8
35
34
37
36
39
38
11
10
40
12
41
50
CWL
CWL+
CWLCCWL
CCWL+
CCWLSG
A
/A
B
/B
Z
/Z
SG
CZ
ADC0+
ADC0ADC1+
ADC1ADC2+
ADC2DAC1
DAC2
CWH+
CWHCCWH+
CCWHCOM
I1
I2
I3
I4
I5
I6
I7
I8
I9
N/A or I10
O1+
O1O2+
O2O3+
O3O4+
O4N/A or O5+
N/A or O5AGND
FG
(500Kbps)
PulseCWA phase
(500Kbps)
DirCCWB phase
(buffered encoderemulated encoder)

RS422
Z
/(+/-10V)
N/A
N/A
N/A
(4Mbps)
PulseCWA phace
(4Mbps)
DIRCCWB phace
Sink Source
()
D2N/AD2TI10
()
D2N/AD2TO5+
D2N/AD2TO5-
(Analog Ground)
32
D2 v1.3
3.
3.1.6. CN7
CN7 CN7
CN7
Pin1
Pin2
Pin9
Pin10
SCR connector 10PIN()
SCR connector 10PIN()

3-15
3-4
1
2
3
4
5
6
7
8
9
10
+5Vdc
SG
PS+
PSA
/A
B
/B
Z
/Z
+5Vdc
+5 Vdc
33
D2 v1.3
3.
3.2. D2
3.2.1.
3-5
HVPS04AAMA
HVPS04AAMB
HVPS06AAMA
HVPS06AAMB
3-6
(m)
03
3
05
5
07
7
10
10
3.2.2.
3-7
HVE131ABMA
HVE131ABMB
HVE171ABMA
HVE171ABMB
13bit
17bit
3-8
(m)
03
3
05
5
07
7
10
10
3.2.3.
3-9
LMACK02D
2m
3.2.4. USB
3-10
USB
USB2.0 Type A to mini-B 5 PIN
1.8m
mini-B
34
D2 v1.3
3.
3.2.5.
3-11
D2
CN1AC
D2 ---B(G)
D2-CK1
12 pinspitch 5mmWago
721-112 / 026-000
CN23pinspitch 2.5mmWago 734-104
CN6 50 pins welded type 3M

10150-3000PE + 10350-52A0-008
CN1Wago 231-131
CN2Wago 733-103
CN1AC
D2 ---B(F)
D2-CK2
2092-1112
CN23pinspitch 2.5mm

10150-3000PE + 10350-52A0-008
CN2Wago 733-103
CN1AC
D2 ---
D2T---
D2-CK3
721-112 / 026-000
CN24pinspitch 3.5mm

10150-3000PE + 10350-52A0-008
CN2Wago 734-230
3.2.6. EMC
3-12
D2-EMC1
FN2090-6-06 (50W to
400W )
D2-EMC3
EMI core KCF-130-B

FN2090-10-06 (750W
to 1KW )
EMI core KCF-130-B
FN3025HL-20-71
EMI core KCF-130-B
D2 EMC
()
D2 EMC
()
D2-EMC2
35
D2 v1.3
3.
3.2.7.
3-13
RG1
68.
100W / 500W
RG2
120.
300W / 1500W
3.2.8.
3-14
HIWIN
AC
(CN1)
(CN1)
(CN1)
(CN1)
125.0mm
051500400269
WAGO:
2092-1112
(CN6)
50.050" Mini D
Ribbon (MDR)
051500400272
SCSI 50PIN()
(CN7)
HIWIN
(CN2)
32.5mm
051500400251
WAGO:
733-103
Mini USB
(CN3)
USB 2.0 Type A to

mini-B
5Pin(1.8M)(Shielding)
051700800366
12 - 24 AWG
:
12 AWG/600
V
24 - 30 AWG
20 - 28 AWG
:
733-130
1
1 CN1CN2CN6 ( 733-130 )HIWIN P/N: 051800200070

2
36
D2 v1.3
3.
3.3.
3.3.1. ()
50W~400W FN2090-6-06 750W~1KW
FN2090-10-06
3-16
3-15
FN2090-6-06
250VAC, 50/60Hz
DC to 400Hz
1 to 30 A@40
2kV, IEC 61000-4-5
37
D2 v1.3
3.
3.3.2. ()
FN3025HL-20-71
3-17
3-16
FN3025HL-20-71
3 x 520/300 VAC
DC to 60Hz
10 to 50A@50 C
38
D2 v1.3
3.
3.4.
3-18
39
D2 v1.3
3.
(NFB)
NFB 1.5~2.5
IB=CIn
IB= (In-InMAX)KCMAX InMAX
IB=C1In1C2In2CNInN
IB
In
InMAX
C 1.52.5 1.5
CMAX
K 1
5 D2-0123--A 1 D2-0423--B
( C CMAX 2 )
IB=(1.55+4.1-4.1) 1+4.12=15.7A
IB=21.5+21.5+21.5+21.5+21.5+24.1=23.2A
3-17 D2
A(rms)
D2-0123--A
1.5
D2-0423--B
4.1
D2-1023--C
7.5
40
D2 v1.3
3.
3.5. I/O
D2 CN6 9 4
I/O D2T CN6 10 5
D2 D2T D2
3.5.1.
D2 12~24 VDC D2 (D2T)
9 (10) COM Sink Source
I3 Axis Enable
3.5.1.1. Sink
(1)
Sink
Sink
7
33
COM
I1
30
29
4.7K
7
33
COM
I1
I2
30
I2
I3
29
I3
3-19
(2)
Sink
COM
I1
4.7K
7
33
COM
I1
I2
30
I2
I3
29
I3
4.7K
3-20
41
D2 v1.3
3.
3.5.1.2. Source
(1)
Source
Source
7
33
COM
I1
30
29
4.7K
7
33
COM
I1
I2
30
I2
I3
29
I3
3-21
(2)
ce
Source
7
33
COM
I1
30
29
4.7K
7
33
COM
I1
I2
30
I2
I3
29
I3
4.7K
3-22
3.5.2.
D2 24 VDC D2
(D2T) 4 (5) 100 mA
D2
O1+
35
O1-
34
O2+
37
O2-
36
O3+
39
O3-
38
O4+
11
O4-
10
3-23
42
4.7K
D2 v1.3
3.
(1)
O1+
35
O1-
34
O2+
37
O2-
36
O3+
39
O3-
38
O4+
11
O4-
10
+
+24VDC
O1+
35
O1-
34
O2+
37
O2-
36
O3+
39
O3-
38
O4+
11
O4-
10
3-24
(2)
O1+
35
O1-
34
O2+
37
O2-
36
O3+
39
O3-
38
O4+
11
O4-
10
+
+
+24VDC
+
+
O1+
35
O1-
34
O2+
37
O2-
36
O3+
39
O3-
38
O4+
11
O4-
10
+24VDC
3-25
43
D2 v1.3
3.
3.6.
3.6.1.
(4) PNP 24V
(3) PNP 12V24V
(+/-10V)
Z ()
(2) NPN 24V

A
(1) NPN 12V24V
(Pulse)
(P command)
(Pulse/Dir)/(Pulse
Up/Pulse DownCW/CCW) AqB (Quadrature)
D2-ENT01A
3-26
44
D2 v1.3
3.
(differential)
mega-fabs
D2 Series Drive
(4Mpps or less)
High speed pulse input

CN6
PLS
44
CWH+
CW / A
45
CWH-
DIR
46
CCWH+
CCW / B
47
CCWH-
25
SG
121
Signal output
O1+
35
1K
O1-
34
1K
121
1K
Signal input
CN6
24V
IHN
COM
33
I1
24V
CN6
1K
4.7K
O2+
37
O2-
36
O3+
39
O3-
38
O4+
11
O4-
10
30
I2
CN6
A
21
SVN
29
I3
/A
22
GNS
48
27
I4
/B
49
DIV1
28
I5
23
/Z
24
LL
26
I6
MOD
32
I7
CE
31
I8
INP
Relay
wiring
R
CPE
RL
PhotoCoupler
wiring
ALM
0V
Encoder output
D2 wiring exam
Position mode w
input.
RDY
:Twisted pair)
A-phase
output
B-phase
output
Z-phase
output
Ic=0.6A(Max.)
Vce=40V(Max.)
I9
CZ
19
SG
25
Z output (open collector)

0V
0V
CN1
CN7
U
V
W
D2-ENE01A
DATE
3-27
CHK
APPD
201
DRN Erick
45
D2 v1.3
3.
3.6.1.1. Sink(NPN)
(Single ended)
(500 Kpps or less)
12~24VDC
CN6
Low speed pulse input
NPN type
R
CWL+
CWL-
CCWL+
CCWL-
220
CW / A
2K
R
DIR
CCW / B
Resistor (R)
1K , 0.5W
24V
2K , 0.5W
220
Signal input
0V
Vdc
Signal output
2K
PLS
12V
mega-fabs
D2 Series Drive
CN6
24V
IHN
COM
33
I1
4.7K
24V
CN6
O1+
35
O1-
34
O2+
37
O2-
36
O3+
39
O3-
38
O4+
11
O4-
10
30
I2
CN6
A
21
SVN
29
I3
/A
22
GNS
48
27
I4
/B
49
DIV1
28
I5
23
/Z
24
LL
26
I6
MOD
32
I7
CE
31
I8
INP
Relay
wiring
R
CPE
RL
PhotoCoupler
wiring
ALM
0V
Encoder output
D2 wiring
Position m
input. Con
resistor.
RDY
:Twisted pair)
A-phase
output
B-phase
output
Z-phase
output
Ic=0.6A(Max.)
Vce=40V(Max.)
I9
CZ
19
SG
25

0V
0V
CN1
CN7
U
V
W
D2-ENE02A
3-28
46
D2 v1.3
3.
3.6.1.2. Sink(NPN)
(Single ended)
(500 Kpps or less)
12~24VDC
CN6
NPN type
PLS
CW / A
CWL
CWL-
CCWL
DIR
mega-fabs
D2 Series Drive
Signal output
2K
2K
220
2K
CCWL-
CCW / B
2K
220
Signal input
0V
CN6
24V
IHN
COM
33
I1
4.7K
24V
CN6
O1+
35
O1-
34
O2+
37
O2-
36
O3+
39
O3-
38
O4+
11
O4-
10
30
I2
CN6
A
21
SVN
29
I3
/A
22
GNS
48
27
I4
/B
49
DIV1
28
I5
23
/Z
24
LL
26
I6
MOD
32
I7
CE
31
I8
INP
Relay
wiring
R
CPE
RL
PhotoCoupler
wiring
ALM
0V
Encoder output
D2 wiring
Position m
input. Con
internal re
RDY
:Twisted pair)
A-phase
output
B-phase
output
Z-phase
output
Ic=0.6A(Max.)
Vce=40V(Max.)
I9
CZ
19
SG
25

0V
0V
CN1
CN7
U
V
W
D2-ENE03A
3-29
47
D2 v1.3
3.
3.6.1.3. Source(PNP)
(Single ended)
(500 Kpps or less)
PNP type
mega-fabs
D2 Series Drive
12~24VDC
CN6
Signal output
PLS
CW / A
2K
CWL+
CWL-
220
DIR
CCW / B
2K
Vdc
Resistor (R)
12V
1K , 0.5W
24V
2K , 0.5W
CCWL+
CCWL-
0V
220
Signal input
CN6
24V
IHN
COM
33
I1
4.7K
24V
CN6
O1+
35
O1-
34
O2+
37
O2-
36
O3+
39
O3-
38
O4+
11
O4-
10
30
I2
CN6
A
21
SVN
29
I3
/A
22
GNS
48
27
I4
/B
49
DIV1
28
I5
23
/Z
24
LL
26
I6
MOD
32
I7
CE
31
I8
INP
Relay
wiring
R
CPE
RL
PhotoCoupler
wiring
ALM
0V
Encoder output
D2 wiring exa
Position mode
input. Control
resistor.
RDY
:Twisted pair)
A-phase
output
B-phase
output
Z-phase
output
Ic=0.6A(Max.)
Vce=40V(Max.)
I9
CZ
19
SG
25

0V
0V
CN1
CN7
U
V
W
D2-ENE04A
3-30
DATE 0
DRN E
CHK
APPD
48
D2 v1.3
3.
3.6.1.4. Source(PNP)
(Single ended)
(500 Kpps or less)
PLS
CN6
CW / A
DIR
CCW / B
CWL
CWL-
CCWL
mega-fabs
D2 Series Drive
12~24VDC
PNP type
Signal output
2K
2K
220
2K
CCWL-
0V
2K
220
Signal input
CN6
24V
IHN
COM
33
I1
4.7K
24V
CN6
O1+
35
O1-
34
O2+
37
O2-
36
O3+
39
O3-
38
O4+
11
O4-
10
30
I2
CN6
A
21
SVN
29
I3
/A
22
GNS
48
27
I4
/B
49
DIV1
28
I5
23
/Z
24
LL
26
I6
32
I7
CE
31
I8
RL
INP
Relay
wiring
R
CPE
MOD
PhotoCoupler
wiring
ALM
0V
Encoder output
D2 wiring exa
Position mod
input. Control
internal resist
RDY
:Twisted pair)
A-phase
output
B-phase
output
Z-phase
output
Ic=0.6A(Max.)
Vce=40V(Max.)
I9
CZ
19
SG
25

0V
0V
CN1
CN7
U
V
W
D2-ENE05A
3-31
DATE 0
DRN E
CHK
APPD
49
D2 v1.3
3.

D2 (D2-0423-S-B(F)) D2-0423-S-B(G)):
3-18
CW/CCW CW/CCW
CW/CCW
3-32 CW/CCW
50
D2 v1.3
3.
3.6.2.
V command
-10V~+10V-10V~+10V
4.7k
4.7k
4.7k
4.7k
4.7k
4.7k
4.7k
A
/A
B
/B
Z
/Z
SG
CZ
4.7k
4.7k
35 O1+
34 O137 O2+
36 O239 O3+
38 O311 O4+
10 O413 SG
44 CWH+
45 CWH46 CCWH+
47 CCWH25 SG
50 FG
Encoder_output
7 COM+
33 I1
30 I2
29 I3
27 I4
28 I5
26 I6
32 I7
31 I8
9
I9
CN6
21
22
48
49
23
24
25
19 Z()
ADC0+ 14
ADC0- 15
(+/-10V)
3-33
51
D2 v1.3
3.
3.6.2.1.
-10V~+10V
mega-fabs
D2 Series Drive
Velocity mode input

R
CN6
Vcmd+
Vcmd-
14
ADC0+
15
ADC0-
Signal output
Vref
Signal input
CN6
ZSC
COM
33
I1
O1-
34
O2+
37
O2-
36
O3+
39
O3-
38
O4+
11
O4-
10
Voltage range
-10V~+10V
35
10K 10.2K
10K 10.2K
24V
24V
CN6
O1+
4.7K
I2
CN6
A
21
SVN
29
I3
/A
22
GNS
48
27
I4
/B
49
28
I5
23
/Z
24
LL
26
I6
MOD
32
I7
CE
31
I8
IN-V
Relay
wiring
ZSPD
30
RL
PhotoCoupler
wiring
ALM
0V
Encoder output
D2 wiring exam
Velocity mode
RDY
:Twisted pair)
A-phase
output
B-phase
output
Z-phase
output
Ic=0.6A(Max.)
Vce=40V(Max.)
I9
CZ
19
SG
25

0V
0V
CN1
CN7
U
V
W
D2-ENE06A
DATE
3-34
CHK
APPD
20
DRN Eri
52
D2 v1.3
3.
3.6.2.2.
-10V~+10V
mega-fabs
D2 Series Drive
Torque mode input

R
CN6
Vcmd+
Vcmd-
14
ADC0+
15
ADC0-
Signal output
Vref
Signal input
CN6
7
COM
33
I1
O1-
34
O2+
37
O2-
36
O3+
39
O3-
38
Voltage range
-10V~+10V
ZSC
35
10K 10.2K
10K 10.2K
24V
24V
CN6
O1+
4.7K
O4+
11
O4-
10
I2
CN6
A
21
SVN
29
I3
/A
22
GNS
48
27
I4
/B
49
28
I5
23
/Z
24
LL
26
I6
MOD
32
I7
CE
31
I8
INP
Relay
wiring
R
30
RL
PhotoCoupler
wiring
ALM
0V
Encoder output
D2 wiring exa
Torque mode
RDY
:Twisted pair)
A-phase
output
B-phase
output
Z-phase
output
Ic=0.6A(Max.)
Vce=40V(Max.)
I9
CZ
19
SG
25

0V
0V
CN1
CN7
U
V
W
D2-ENE07A
DATE
3-35
DRN E
CHK
APPD
53
D2 v1.3
3.
3.6.3. (PWM)
/D2
(PWM 50%)(PWM 100%) 4.6.2 4.6.3
/
3.6.3.1. /PWM 50% (NPN type)
NPN type
mega-fabs
D2 Series Drive
PWM 50% command

12~24VDC
CN6
PWM
0V
CWL
CWL-
CCWL
Velocity / Torque mode
Signal output
2K
2K
220
2K
CCWL-
2K
220
Signal input
CN6
24V
ZSP
COM
33
I1
4.7K
24V
CN6
O1+
35
O1-
34
O2+
37
O2-
36
O3+
39
O3-
38
O4+
11
O4-
10
I2
CN6
A
21
SVN
29
I3
/A
22
GNS
48
27
I4
/B
49
28
I5
23
/Z
24
LL
26
I6
MOD
32
I7
CE
31
I8
INP
Relay
wiring
R
30
RL
PhotoCoupler
wiring
ALM
0V
Encoder output
D2 wiring ex
PWM 50% co
control. Con
internal resi
RDY
:Twisted pair)
A-phase
output
B-phase
output
Z-phase
output
Ic=0.6A(Max.)
Vce=40V(Max.)
I9
CZ
19
SG
25

0V
0V
CN1
CN7
U
V
W
D2-ENE13A
DATE
3-36
DRN
CHK
APPD
54
D2 v1.3
3.
3.6.3.2. /PWM 100% (NPN type)
NPN type
mega-fabs
D2 Series Drive
PWM 100% command

12~24VDC
CN6
PWM
CWL
CWL-
CCWL
DIR
Signal output
2K
2K
220
2K
CCWL-
2K
220
Signal input
0V
CN6
24V
ZSP
COM
33
I1
4.7K
24V
CN6
O1+
35
O1-
34
O2+
37
O2-
36
O3+
39
O3-
38
O4+
11
O4-
10
I2
CN6
A
21
SVN
29
I3
/A
22
GNS
48
27
I4
/B
49
28
I5
23
/Z
24
LL
26
I6
MOD
32
I7
CE
31
I8
INP
Relay
wiring
R
30
RL
PhotoCoupler
wiring
ALM
0V
Encoder output
D2 wiring exam
PWM 100% co
control. Contro
internal resisto
RDY
:Twisted pair)
A-phase
output
B-phase
output
Z-phase
output
Ic=0.6A(Max.)
Vce=40V(Max.)
I9
CZ
19
SG
25

0V
0V
CN1
CN7
U
V
W
D2-ENE14A
3-37
DATE
20
DRN Er
CHK
APPD
55
D2 v1.3
3.
3.6.3.3. /PWM 50% (5V TTL type)
Controller
5V TTL type
5V TTL type
General output
Definited by user
mega-fabs
D2 Series Drive
PWM 50% command

5VDC
CN6
Signal output
2K
PWM
CWL+
CWL-
220
2K
0V
CCWL+
CCWL-
220
Signal input
CN6
24V
ZSP
COM
33
I1
4.7K
24V
CN6
O1+
35
O1-
34
O2+
37
O2-
36
O3+
39
O3-
38
O4+
11
O4-
10
PhotoCoupler
wiring
ALM
INP
Relay
wiring
R
0V
Encoder output
General input
Definited by user
D2 wiring exam
PWM 100% co
control. Contr
RDY
30
I2
CN6
A
21
SVN
29
I3
/A
22
GNS
48
27
I4
/B
49
28
I5
23
/Z
24
LL
26
29
I6
MOD
32
I7
CE
31
I8
RL
I9
:Twisted pair)
A-phase
output
B-phase
output
Z-phase
output
Ic=0.6A(Max.)
Vce=40V(Max.)
CZ
19
SG
25

0V
0V
CN1
CN7
U
V
W
D2-ENE15B
Ver.B: 5
3-38
DATE 05
DRN E
CHK
APPD
56
D2 v1.3
3.
3.6.3.4. /PWM 100% (5V TTL type)
Controller
TTL type
5V5V
TTL
type
General output
Definited by user
mega-fabs
D2 Series Drive
PWM 100% command

5VDC
CN6
Signal output
2K
PWM
CWL+
CWL-
220
2K
DIR
CCWL+
CCWL-
220
Signal input
0V
CN6
24V
ZSP
COM
33
I1
4.7K
24V
CN6
O1+
35
O1-
34
O2+
37
O2-
36
O3+
39
O3-
38
O4+
11
O4-
10
I2
CN6
A
21
SVN
29
I3
/A
22
GNS
48
27
I4
/B
49
28
I5
23
/Z
24
LL
26
29
I6
MOD
32
I7
CE
31
I8
INP
Relay
wiring
R
30
RL
PhotoCoupler
wiring
ALM
0V
Encoder output
General input
Definited by user
D2 wiring exam
PWM 100% com
control. Contro
RDY
:Twisted pair)
A-phase
output
B-phase
output
Z-phase
output
Ic=0.6A(Max.)
Vce=40V(Max.)
I9
CZ
19
SG
25

0V
0V
CN1
CN7
U
V
W
D2-ENE16B
Ver.B: C
3-39
DATE 05/
DRN Eri
CHK
APPD
57
D2 v1.3
3.
58
D2 v1.3
4.
4.
4.
................................................................................................................................ 59
4.1.
...................................................................................................... 60
4.1.1.
.............................................................................................. 60
4.1.2.
.................................................................................................. 61
4.1.3.
.............................................................................................. 63
4.2.
.................................................................................................. 66
4.2.1.
........................................................................................... 67
4.2.2.
....................................................................................... 68
4.2.3.
........................................................................................... 72
4.2.4.
.................................................................................... 75
4.3.
.................................................................................... 77
4.3.1.
.................................................................................................. 77
4.3.2.
......................................................................... 77
4.3.3.
............................................................................ 78
4.3.4.
.................................................................. 79
4.4.
I/O ........................................................................................................... 80
4.4.1.
.................................................................................... 80
4.4.2.
.................................................................................... 90
4.5.
In-Position ............................................................................................... 94
4.6.
............................................................................. 95
4.6.1.
.................................................................................................. 95
4.6.2.
.................................................................................................. 97
4.6.3.
/.......................................................................................... 99
4.6.4.
......................................................................................... 100
4.7.
Flash .................................................................... 102
4.7.1.
Flash................................................................................... 102
4.7.2.
.............................................................................. 102
59
D2 v1.3
4.
4.1.
D2 Lightening
PC Lightenig USB
4.1.1.
Lightening 4-1
setup.exe dce
4-1
( http://www.hiwinmikro.com.tw/hiwintree/
Product_SubType.aspx?type=D2) setup.exe
Lightening 0.177 ( ) (destination) C:\mega_fabs\
Lightening 0.178 ()C:\HIWIN\
Lightening 0.177 4-2 Start
4-3
4-4 USB Install
4-2
4-3
60
D2 v1.3
4.
4-4 USB
Lightening 4-5
C:\mega_fabs\dce\toolswin\winkmi\lightening.exe Lightening 0.178 ()
C:\HIWIN\dce\toolswin\winkmi\lightening.exe
4-5 Lightening
4.1.2.
(1) USB (2) mega-ulink (3) CoE
D CoE
( http://www.hiwinmikro.com.tw/hiwintree/
Product_SubType.aspx?type=D2)
(1)
USB
USB
ToolsCommunication setup
4-6
4-7D2 USB BPS

115200Port
61
D2 v1.3
4.
4-7
(2) mega-ulink
mega-ulink WinPcap WinPcap
lightening Communication Setup 4-7 Ethercat
EtherCat... 4-8
4-8
EtherCat set up 4-9

EtherCat set up
Lightening Communication Setup Apply
62
D2 v1.3
4.
4-9
4-10
Ethercat 4-11
1 slave
4-10
4-11
4.1.3.
4-12 Rename
Quick view
4-12
63
D2 v1.3
4.
(1)
PDL
(RAM)
(RAM)
(RAM) Flash
(2)
(enabled) 4.4.1 A
Performance center Enable

Disable PC
PC Lightening
(3) Drive property

Properties 4-13
4-13
. Lightening 0.144 () D2 Lightening 0.180 ()

D2T
4-14 Do nothing
Lightening
64
D2 v1.3
4.
4-14
65
D2 v1.3
4.
4.2.
(Configuration center)
4-15
4-15
D2
(1) (Motor Type)
(2) (Encoder Parameter)
(3) (Operation Mode)
4.2.1
66
D2 v1.3
4.
4.2.1.
D2 AC
(AC Servo Motor)
4-16 Lightening 0.177 ()
4-17 Lightening 0.178 ()
4-16 (Lightening 0.177 )
ZeroTune
4-17 (Lightening 0.178 )
AC
(1)
HIWIN AC
67
D2 v1.3
4.
(2)
(Screw Moment of Inertia) Kg*(m^2)
(Load Mass) Kg
(Screw Pitch) mm
(Gear Ratio)
(3) ZeroTune
ZeroTune
(Load level) LV1~LV5 5 Tuned

Auto tune ZeroTune
(Mass reference) Kg 4-1
50W,100W
200W,400W
750W,1KW
LV1
5kg
10kg
20kg
4-1 ZeroTune
LV2
LV3
LV4
15kg
30kg
45kg
25kg
50kg
75kg
50kg
80kg
110kg
LV5
60kg
100kg
140kg
4.2.2.
4-18
HIWIN AC
HIWIN 9 5 AC
10000 count/rev
4-18
68
D2 v1.3
4.
HIWIN
Rotary
Customized Rotary Digital
(*.enc)
4-19
4-19
D2
D2 D2
(buffered encoder)(emulated encoder)
(Scalling) 4.2.2.3
4.2.2.1.
HIWIN AC
HIWIN 5
13-bit 10000 count/revHIWIN 3 6
17-bit 131072 count/revHIWIN AC
4-2
4.2.2.2
4-2
AC
FRLS
FRLS05XX5, FRLS10XX5, FRLS202X5, FRLS402X5
FRMS
FRMS202X5, FRMS402X5, FRMS752X5
(count/rev)
13-bit Incremental
(10,000 counts/rev)
FRMM FRMM1K2X5
FRLS05XX3, FRLS10XX3, FRLS202X3, FRLS402X3,
FRLS
FRLS052X6, FRLS102X6, FRLS202X6, FRLS402X6,
17-bit Incremental
FRMS202X3, FRMS402X3, FRMS752X3,
FRMS
(131,072 counts/rev)
FRMS752X6
FRMM FRMM1K2X3, FRMM1K2X6
69
D2 v1.3
4.
4.2.2.2.
Rotary Customized
Rotary Digital 4-20 Encoder Resolutions
Counts/RevLinear Resolution
um/Counts
4-20
4.2.2.3.
D2 CN2 AqB
(Encoder output) 4-21(Use buffered encoder)
(Use emulated encoder)(Output Resolution)
4-21
70
D2 v1.3
4.
. 17 bits AC emulated encoder( 4-23) Z
(1) (Buffered encoder output)
(Invert)
4-22
(2) (Emulated encoder output)

(Scaling)
1:1
5 encoder count = 1 emulated encoder output

1 encoder count
= -1 emulated encoder output 4-23
10000 count/rev 5 1
(Output Resolution) 2000 count/rev
4-23
(3) Z
17 bits AC Emulated encoder output
Z 4-23
a. (Emulated index raduis)Z4-24

b. (Emulated index jitter filter)Z
71
D2 v1.3
4.
Z
4-24
home offsetindexhome
offset
Z
index
Home offset
= 0
4-25
Z
a. Emulated Index Output in every revolution
index Z
b. Emulated Index Output in every revolution
index Z
4.2.3.
4-26
4-26
72
D2 v1.3
4.
4.2.3.1.
(Pulse/Dir)/(Pulse Up/Pulse Down

CW/CCW) AqB (Quadrature)
(Electronic Gear) 1 1 encoder
count 2:3 2 3 encoder count
TTL
Pulse
Dir
CW
CCW
4-27
D2
4-28
73
D2 v1.3
4.
4.2.3.2.
(1) V Command
V command
-10V~+10V-10V~+10V
(2) PWM Command

PWM PWM
commandPWM duty cycle PWM
(PWM 50%)(PWM 100%)(PWM 50%) duty
cycle 50% 50% 50%(PWM 100%)
PWM
Full PWM
PWM
(Scaling) 1V mm/srpm Full
PWM
Dead band
Output
Input
Dead band
4-29
4.2.3.3. /
(1) V Command
V command
-10V~+10V-10V~+10V
(2) PWM Command

PWM PWM
74
D2 v1.3
4.
commandPWM duty cycle PWM

(PWM 50%)(PWM 100%)(PWM 50%) duty
cycle 50% 50% 50%(PWM 100%)
PWM
Full PWM
PWM
(Scaling) 1V Full PWM
4-30 /
4.2.3.4.
DSP
()
4-31
4.2.4.
OK 4-32
Send to RAM
(Save to Flash)
. Configuration center OK
OK
75
D2 v1.3
4.
4-32
PC (Save Parameter from Amplifier RAM to File)

PRM
76
D2 v1.3
4.
4.3.
4.3.1.

(1) STABS (SW method 3)

17-bit
4 5
34 6 D2-0423-S-B-4 FRLS4020606A
4-33 HIWIN 17
(2) LSWIR (SW method 4)
0
5 D2-0423-S-B-0 FRLS4020506A
4-34
4.3.2.
(Hardware Enable)
AC
77
D2 v1.3
4.
4.3.3.
LSWIR STABS LSWIR
()
5
LSWIR
Execute
Auto tune

Proceed
Close
Auto tune
2
Auto
tune
Toggle
78
D2 v1.3
4.
4.3.4.
79
D2 v1.3
4.
4.4. I/O
4.4.1.
I/O ( )
4-35D2 (D2T) 9 (10)
4-35
(1)
(2) (Invert)
Invert
4-3
SVN
Axis Enable
/I3
Level Trigger
LL
Left Limit Switch
I6
Level Trigger
RL
Right Limit Switch
I9
Level Trigger
MAP
Home OK, start err. map
Edge Trigger
RST
Reset amplifier
Edge Trigger
DOG
Near home sensor
Level Trigger
CE
Clear Error
Edge Trigger
INVC
Invert V Command
/
Level Trigger
GNS
Switch to secondary CG
Level Trigger
80
D2 v1.3
10
JSEL
4.
Switch to secondary vpg
vpg
Level Trigger
Level Trigger
11
ZSC
Zero Speed Clamp
12
INH
Inhibit Pulse Command
Level Trigger
13
PSEL
Switch HI/LO Pulse Input
Level Trigger
14
EMG
Abort Motion
15
MOD
16
HOM
17
DIV1
18
DIV2
Switch to secondary mode
Level Trigger
Level Trigger
Start Homing
Edge Trigger
Electronic Gear Select

(DIV1)
(DIV2)
Level Trigger
Level Trigger
4-4 D2 Inputs
33
I1
Start Homing
30
I2
Abort Motion
29
I3
Axis Enable
Axis Enable
Axis Enable
Axis Enable
27
I4
Switch to
Switch to
Switch to
Switch to
secondary CG
secondary CG
secondary CG
secondary CG
28
26
32
I5
I6
I7
31
I8
I9
I10*
Near Home
Sensor
Inhibit Pulse
Zero Speed
Zero Speed
Command
Clamp
Clamp
Electronic
Gear Select
(DIV1)
Left (-)
Left (-)
Left (-)
Left (-)
Limit Switch
Limit Switch
Limit Switch
Limit Switch
Switch to
Switch to
Switch to
Switch to
secondary
secondary
secondary
secondary
mode
mode
mode
mode
Clear Error
Clear Error
Clear Error
Clear Error
Right (+)
Right (+)
Right (+)
Right (+)
Limit Switch
Limit Switch
Limit Switch
Limit Switch
* D2T
81
D2 v1.3
Abort Motion
4.
Pos
Vel
Trq
Std
3.5.1
EMG
I2
(Dec. kill Performance center )
I/O center input Abort Motion ( I2)
Abort Motion True (state )

(Dec. Kill)
82
D2 v1.3
4.
Invert V Command
INVC
None
Pos
Vel
Trq
Std
3.5.1
/ Input function Invert V Command Invert V

Command False 0~+10V
0~-10V Invert V Command True
0~+10V 0~-10V
Analog Command
Analog
Command
0 ~ +10V
0 ~ -10V
0 ~ +10V
0 ~ -10V
True
Ture
InvertInvert
V Command
Command
False
False
Switch to secondary mode
MOD
I7
I/O
Pos
Vel
Trq
Std
3.5.1
Configuration center mode
Switch to secondary mode False () Primary Operation Mode

True () Secondary Operation Mode
83
D2 v1.3

(DIV1DIV2)
DIV1DIV2
4.
I5
Pos
Vel
Trq
Std
3.5.1
Configuration center Mode Primary Operation Mode

Position Mode Secondary Operation Mode Position Mode 4
(Primary Operation Mode)
(Secondary Operation Mode)
84
D2 v1.3
4.
DIV1 DIV2
3 Electronic Gear Select (DIV2) True Electronic
Gear Select (DIV1) False
DIV2
DIV1
Numerator
Inhibit Pulse Command
st
nd
rd
th
INH
I1
input
Pos
Vel
Trq
Std
3.5.1
Input function Inhibit Pulse Command True

False
85
D2 v1.3
Switch HI/LO Pulse Input

Command
PSEL
4.
Pos
Vel
Trq
Std
3.5.1
None
I/O center inputs () Switch HI/LO Pulse Input Command (

I1~I9 I8)
Switch HI/LO Pulse Input Command False (state )

True (state )
. Switch HI/LO Pulse Input Command (I1~I9 )
Configuration center Mode Position Mode
Switch HI/LO Pulse Input Command,

Configuration center
Switch HI/LO Pulse Input Command,

86
D2 v1.3
4.
Switch to secondary vpg
JSEL
vpg
None
Pos
Vel
Trq
Std
3.5.1
Advanced gains Schedule Gains + vpg
Switch to secondary vpg True () Secondary vpg False

() Primary vpg
Clear Error
CE
I8
Pos
Vel
Trq
Std
3.5.1
Clear Error False True
Start homing
HOM
I1
Pos
Vel
Trq
Std
3.5.1
Start homing False True Application center
87
D2 v1.3
4.
Switch to secondary CG
GNS
CG
None
Pos
Vel
Trq
Std
3.5.1
Advanced gains Schedule Gains + vpg
Switch to secondary CG True () Secondary CG False

() Primary CG
Zero Speed Clamp
Pos
Vel
Trq
Std
ZSC
3.5.1
I1
(Level Trigger)(Zero Speed Clamp)

True
88
D2 v1.3
4.
(vel_stop)
/
vel_stop
- vel_stop
I/O Input function (Zero

Speed Clamp) I1
Protection center (vel_stop)( 500

count/s)
I1 True
89
D2 v1.3
4.
4.4.2.
D2 (O1~O4) CN6
(CN2 BRK) D2T
(O5) CN6 D2
4-36
(1)
TRUE FALSE
(2)
Configuration
Customized 4-36
ErrorsPDL usage (General Purpose)
PDL
(3)
CLOSE OPEN ()
(4) (Invert State)
(5)
Configure O1 Configure O1 (
Configuration (Statuses)
(Errors)(Warnings) 4-37 Configuration
Not Configured (
Apply (
) Cancel (
)
90
D2 v1.3
4.
(Errors) Set all errors (
Errors
4-37
4-5
BRK
Brake
2
3
4
5
6
7
8
RDY
DIS
INP
MOV
HOMD
EMI
ZSPD
Servo Ready
Axis Disable
In-Position
Moving
Homed
Emulated Index
Zero Speed Detected
(,
//)
Zindex
ALM
(Set all
error)
Errors
1
2
3
4
5
6
7
8
9
10
11
12
LS
RS
LH
RH
SVB
PEW
VEW
CUL
ACL
VL
BOHL
HOMF
13
PCHC
Left SW Limit
Right SW Limit
Left Hardware Limit
Right Hardware Limit
Servo Voltage Big
Position Error Warning
Velocity Error Warning
Current Limited
Acceleration Limited
Velocity Limited
Both HW limits are active
Homing fails
Pulse command and homing
conflict
PWMwarning
warning
warning
91
D2 v1.3
4.
4-6 D2 Outputs
3435
O1
Servo Ready
Servo Ready
Servo Ready
Servo Ready
3637
O2
Errors
Errors
Errors
Errors
3839
O3
In-Position
In-Position
1011
O4
Zero Speed
Zero Speed
Zero Speed
Zero Speed
Detected
Detected
Detected
Detected
4012
O5*
CN2 BRK
Brake
Brake
Brake
Brake
* D2T
Zero Speed Detected
ZSPD
O4
Pos
Vel
Trq
Std
3.5.2
vel_stop
12 rpm ZSPD vel_stop !
12 rpm
Speed
vel_stop
ZSPD
ON
92
D2 v1.3
ALM
4.
Errors
O2
Pos
Vel
Trq
Std
3.5.2
I/O center Outputs Errors ( O2)
Configure O2 Configuration of O2 Set all errors Errors

output Errors
Errors Errors output
Customized
93
D2 v1.3
4.
4.5. In-Position
D2 In-Position
In-Position
Performance center Position In-Position
Scope In-Position
O2 4.4.2
4-38
Target radius
Debounce time
Move time
Settling time
Total time
4-7
In-Position
encoder100
In-Position
In-Position
(+)
94
D2 v1.3
4.
4.6.
4.6.1.
4.2.3.1
4.7.1 Flash
(1)
()
Lightening
Configuration
center
/ (Conf/Tune)
Mode
ModePosition
Mode
(2)
D2 4.2.3.1
()
Mode
Control Input
Mode
Increment Position on
2
:Pulse and Direction
Pulse Up/Pulse Down
95
D2 v1.3
4.
(3)
D2 4 (Electronic Gear) 4.4.1
()
(b)
(a)
(c)
Mode
Electronic Gear
(a)
Mode
Invert Pulse Command
(b)
Mode
Hardware Interface
/(c)
(d)
Mode
OK(d)
Send to RAM
RAM
(4)
D2
(Smooth factor) S
T 0~500 S T
1
(Move
time) 0
96
D2 v1.3
()
4.

Performance center
/
(Conf/Tune)Performance center
Performance center
Smooth factor
4.6.2.
D2 PWM 4.2.3.2
4.7.1
Flash
(1)
()
Lightening
Configuration
center
/(Conf/Tune)
Mode
ModeVelocity
Mode
97
D2 v1.3
4.
(2)
()
Mode
Command Types
Mode

(Scaling) 1V
mm/srpmFull PWM
(a)
V command
(a)
(b)
PWM command
(a)
(b)
Mode
(Dead band)(b)
Dead band4-29
Mode
OK
Send to RAM
RAM
98
D2 v1.3
4.
4.6.3. /
D2 PWM 4.2.3.3
/ 4.7.1
Flash
(1)
/
()
Lightening
Configuration
center
/ (Conf/Tune)
Mode
Mode Force/
Torque Mode
(2)
()
Mode
Command Types
V command
(a)
(b)
PWM command
(a)
(b)
Mode
(Scaling)1V
Full PWM
(a)
Mode
(Dead band)
(b)Dead band
4-29
99
D2 v1.3
4.
Mode
OK
Send to RAM
RAM
4.6.4.
4.2.3.4
4.7.1 Flash
(1)
2
()
Lightening
Configuration
center
/ (Conf/Tune)
Mode
100
D2 v1.3
4.
Mode
Stand-Alone Mode(a)
Mode
OK(b)
Send to RAM
RAM
101
D2 v1.3
4.
4.7. Flash
4.7.1. Flash
(Save parameters from amplifier RAM to Flash)
(1) (emulated encoder output)

emulated encoder output
(2) (Error Map)
4.7.2.
Lightening 0.180 () Tools Set parameters to
factory default 4-39 Set drive to
factory default 4-40 Clear error table in flash then
reset drive Yes
4-39
4-40
102
D2 v1.3
5.LCD
5. LCD
5.
LCD .............................................................................................................................. 103

5.1.
....................................................................................................... 104
5.2.
...................................................................................... 105
5.3.
LCD ............................................................................................ 107
5.3.1.
....................................................................................................... 109
5.3.2.
.............................................................................................110
5.3.3.
.............................................................................................112
5.3.4.
................................................................................................... 125
5.4.
LCD .............................................................................. 129
5.4.1.
................................................................................................ 129
5.4.2.
................................................................................................ 132
5.4.3.
/........................................................................................ 134
5.4.4.
......................................................................................... 135
103
D2 v1.3
5.LCD
5.1.
ENTER
5-1 LCD
5-1
F
ENTER
LCD4
14.1.3
/(Jogging)
Jog
Jog
104
D2 v1.3
5.LCD
5.2.
LCD
FRLS402XX5
(STNDALON)
(1) ENTER (MOTRSE)
LS402XX5 9 6 HIWIN 17
ENTER
(2) LCD ZeroTune (ZT)ZeroTune
ENTER ZT
(Load levelLV) 5-2
ENTER
(3) LCD (MODE) ENTER MODE
STNDALON ENTER
(4) LCD SAVE TO FLASH (SAVEFL) ENTER Flash
NO ENTER Flash
5.3.3.1
(5) LCD Home page SVNRDY
5-2 ZeroTune
LV1
LV2
LV3
LV4
LV5
50W, 100W
200W, 400W
5kg
10kg
15kg
25kg
30kg
50kg
45kg
75kg
60kg
100kg
750W, 1KW
20kg
50kg
80kg
110kg
140kg
LV1~LV5
105
D2 v1.3
LEVEL ONE
4 MOTRSE
LS05XX5
5.LCD
LEVEL TWO
4 MOTRSE
LS05XX5
3
ZT
LV5 100
4 MOTRSE
LS402X5
3
ZT
LV5 100
3
LV3
3
MODE
STNDALON
ZT
50
ZeroTune
5-2
ZT
LV5 100
3
MODE
STNDALON
3 SAVEFL
NO
FLASH
5.3.3.1
3 SAVEFL
NO
1 SVNRDY
X
5-2
106
D2 v1.3
5.LCD
5.3. LCD
4 (home page)(display parameters page)
(change parameters page)(actions page) F
LCD 5-3
(1)
(2)
I/O (
)
(3)
Flash
(4)
(Jog)Auto tune
107
D2 v1.3
01FBPO
02RFPO
04POSE
10FBVE
30ACTC
Feedback
Position
Reference
Position
Position
Error
Feedback
Velocity
Reference
Velocity
Velocity
Error
11RFVE
12VELE
Actual
Current
Command
Current
40ANAC
-0.0202
Analog
Command
41DCBU
0.991
Bus
Voltage
31CMDC
5.LCD
Soft
51SWTH
0.014 Thermal
61 I1
62 I2
63 I3
64 I4
65 I5
66 I6
71 I7
72 I8
67 I9
OFF
I1
OFF
I2
OFF
I3
OFF
I4
OFF
I5
OFF
I6
OFF
I7
OFF
I8
OFF
I9
81 O1
TRU-OPEN
O1
82 O2
TRU-OPEN
O2
83 O3
TRU-OPEN
84 O4
TRU-OPEN
Display
Parameters Page
HOME Page
Notes for HOME Page(Display Status):

1. It shows on the first line, ENABLE or DISABLE
2. If there is a warning, it shows on 2nd line the warning message.
3. If there is an error, the 2nd line will show error message.
Examples:
ENABLE
W03 HWLL
Enable/Disable
4
Actions Page
O4
Phase Init
Moving
92 HOME
OFF
Homed
93 ERRM
OFF
ERR.MAP
94 VER
0.028
VERSION
000
2000
001
2000
Common
Parameters
.
.
.
Save to Flash
Enable
Disable
Go back one level
Move to previous
Move to next
Moving to desired MOV2PO
0
destination position
Move to previous
Move to next
VEL LC
Velocity
4e+05
(JOG/MOV PO)
Move to previous
Move to next
MOV PO
10000
Target Position
Move to previous
Move to next
SETZER
0
Set Encoder
Position to Zero
Move to previous
Move to next AUTOTU
YES
Auto Tune
3
SAVEFL
NO
ENA/DIS
ENABLE
Move to previous
Move to next
JOG
Jog
85 BRK
TRU-OPEN CN2BRK
91 MOVI
OFF
ENABLE
DISABLE
E09UND.V
O3
90 PHAS
ON
DISABLE
Positive jog
Negative jog
Go back one level
Move to target
Back to Home
Go back one level
Set Velocity(JOG/MOV PO)

Go back one level
Set desired destination position

Go back one level
YES
NO
Go back one level
Change
Parameters Page
Move to previous
Move to next MOTRSE
LS402X5
Motor Set
X_acc
Choose motor type

Go back one level
X_dcc
003
500
X_vel_max
024
500
028
0
X_f1.fr
X_f2.fr
243 Invert of input point 3

1
280 Invert of CN2 brake output
1
340 Zero tune level
TUNED
Advanced parameters
+++ setting area
5-3 LCD
108
D2 v1.3
5.LCD
5.3.1.
5-3
5-3
SV RDY
SVNRDY
D25-4
5-45-5
1 SVNRDY
X
1 SV RDY
X
1 SV RDY
W01SWLL
1 SVNRDY
E01SHOR
T
5-4
5-4
No.
Lightening
E01SHORT
Motor short (over current) detected
E02OVERV
Over voltage detected
E03PEBIG
Position error too large
E04ENCOD
Encoder error
E05SWHOT
Soft-thermal threshold reached
E06UVWCN
Motor maybe disconnected
E07D.HOT
Amplifier over temperature
E09UND.V
Under voltage detected
10
E10V5ERR
5V for encoder card fail
11
E11PHINI
Phase initialization error
12
E12SER.E
Serial encoder communication error
13
E13HAL.E
Hall sensor error
15
E15CURER
Current control Error
17
E17HYBDV
Hybrid deviation too big
19
E19HFLT
HFLT inconsistent error
109
D2 v1.3
5.LCD
5-5
Lightening
No.
W01SWLL
Left SW limit
W02SWRL
Right SW limit
W03HWLL
Left HW limit
W04HWRL
Right HW limit
W05SVBIG
Servo voltage big
W06PE
Position error warning
W07VE
Velocity error warning
W08CUR.L
Current limited
W09ACC.L
Acceleration limited
10
W10VEL.L
Velocity limited
11
W11BOTH
Both HW limits are active
13
W13HOM.E
Homing fail
14
W14HOM.C
Pulse command and homing conflict
5.3.2.
I/O
5-5
5-6
2 01FBPO
-369
2 02RFPO
-369
2 04POSE
10
5-5
110
D2 v1.3
01FBPO
02RFPO
04POSE
05STPO
06DLPO
10FBVE
11RFVE
12VELE
30ACTC
31CMDC
40ANAC
41DCBU
51SWTH
61 I1
62 I2
63 I3
64 I4
65 I5
66 I6
71 I7
72 I8
67 I9
68 I10
81 O1
82 O2
83 O3
83 O4
86 O5
85 BRK
90PHAS
91MOVI
92HOME
93ERRM
94 VER
5.LCD
5-6
Feedback Position
Reference Position
Position Error
1
Single Turn Feedback Position

2
Dual Loop Feedback Position
Feedback Velocity
Reference Velocity
Velocity Error
Actual Current
Command Current
()
Analog Command
Bus Voltage
Soft-thermal Accumulator
1
I1
2
I2
3
I3
4
I4
5
I5
6
I6
7
I7
8
I8
9
I9
3
10
I10
1
O1
2
O2
3
O3
4
O4
3
5
O5
CN2 BRK
: Phase Initialized
: Moving
: Homed
: Error Map Active
: MDP Version
count
count
count
count
count
count/s
count/s
count/s
A_amp
A_amp
Volt
Volt
-
1
2
3D2T
O1~O55-65-7
2 81 O1
TRU-OPEN
2 81 O1
FLS-CLSE
5-6 Output
111
D2 v1.3
5.LCD
5-7 Output
TRU
FLS
OPEN
CLSE
5.3.3.
LCD 3
5-8 5-9
5-7
3 SAVEFL
NO
Flash
000
2000
001
2000
003
500
024
500
340
LV3 50
+++
0
ZeroTune
()
5-7
112
D2 v1.3
LCD No.
000
001
003
024
028
065
081
082
*
083
*
085
115
129
130
212
5.LCD
5-8 ()
1
f1
2
f2
()
()
()
()
:1~500
0: Quadrature (AqB)
1: Pulse/Direction
2: Pulse up/Pulse down (CW/CCW)
0:
1:
0:
1:
2:
3:
216
219
CW/CCW/
243
I3
280
CN2BRK
340
ZeroTune
0: (CN6 pin 44, 45, 46, 47)

1: (CN6 pin 1, 3, 4, 2, 5, 6)
0:
1:
0:
1:
0:
1:
LV1~LV5,
*
** LCD No. 5-9
5.3.3.1. Flash
Flash
Step 1. ENTER SAVEFL ()
Step 2. (YES NO) Flash
YES
Step 3. (Disable) ENTER PROCESS.
Flash FINISH ! 5-8
(Enable) ENTER 5-8
113
D2 v1.3
LEVEL ONE
5.LCD
LEVEL TWO
3 SAVEFL
NO
3 SAVEFL
NO
3 SAVEFL
YES
3 SAVEFL
PROCESS.
PROCESS.
3 SAVEFL
FINISH !
FINISH !
2
5-8 SAVE TO FLASH
5.3.3.2.
LCD 5-9 #
ENTER
F common gain (CGLCD No. 065)

CG 0.5 1.2
LCD No. 065 5-9 :
Step 1. ENTER LCD No. 065 ()
Step 2. 1 0
Step 3. F 1 ()
Step 4. 2 1 5-10
Step 5. F 1 ()
Step 6. 2 5
Step 7. F 1 ()
Step 8. 4 2
Step 9. ENTER CG 1.2
: LCD F :
(1) F <1 [][]
(2) F >2 Level One
114
D2 v1.3
LEVEL ONE
3
065
0.5
5.LCD
LEVEL TWO
3
065
0.5
3
065
0.5
F
3
065
0.5
2 1
( 001)
3
065
1.5
F
3
065
1.5
2 2
3
065
1.5
F
3
065
1.5
4 2
( 55432)
3
065
1.2
3
065
1.2
5-10
5-9 common gain (LCD No. 065)
115
D2 v1.3
5.LCD
G
()
1
G
e
G
2
G
8
7
5-10
116
D2 v1.3
5.LCD
5.3.3.3.
Step 1. +++ ENTER ()

5-9
Step 2. 5.3.3.2
Step 3. ENTER
F 2 5-11
LEVEL ONE
3
LEVEL TWO
+++
0
LEVEL THREE
000
200
081
1
LCD
No. 081
081
1
1
1
081
1
F
081
1
5 5
( 11
2345)
F
>2
081
5
081
5
5-11
117
D2 v1.3
5.LCD
5-9 ()
LCD
No.
(10)
(10)
(10)
()
count/s
2 -1
count/s
2 -1
count/s
2 -1
count/s
2 -1
count
2 -1
X_sw2_pos
count
2 -1
X_p2p_del
(P2P)
msec
2 -1
000
X_acc
001
X_dcc
002
X_dcc_kill
003
X_vel_max
004
X_sw1_pos
005
006
31
31
31
31
31
- (2 -1)
31
- (2 -1)
31
31
- (2 -1)
31
31
31
31
007
X_p2p_pos1
(P2P)1
count
2 -1
008
X_p2p_pos2
(P2P)2
count
2 -1
- (2 -1)
024
X_f1_fr
Hz
5000
025
X_f1_xi
10
026
X_f1_k1
10
027
X_f1_k2
10
028
X_f2_fr
Hz
5000
029
X_f2_xi
10
030
X_f2_k1
10
031
X_f2_k2
10
032
X_Upi_kp
(D)
100000
033
X_Upi_ki
(D)
100000
31
31
31
039
X_index_vel
(slower speed)
count/s
2 -1
040
X_index_tout
66.67s
2 -1
044
X_pitchScrew
(mm),AC
046
X_sm_ampl
(. curr_drv_peak)
050
X_max_err
051
053
X_curr_mot_p
mm
2 -1
0.1
(A_amp10
00)/curr_dr
v_peak
1000
count
2 -1
A_amp
150
0.1
A_amp
75
0.1
eak
X_curr_mot_c
31
ont
31
059
X_vpg
0.000001
064
X_affg
065
X_CG
10
0.01
066
X_sg_run
10
0.01
067
X_sg_idle
10
0.01
118
D2 v1.3
LCD
No.
068
X_sg_stop
074
X_tr_time
5.LCD
In-Position
075
X_tr
In-Position
079
X_gearRatyio
AC
080*
Vcmd_offs
10
0.01
31
count
31
2 -1
100
10
-10
66.67s
Volt
2 -1
31
31
081
X_cmd_ext_N
()
2 -1
082
X_cmd_ext_M
()
2 -1
X_cmd_ext_v_
(/10)
083*
sc
X_cmd_ext_v_
084*
dz
X_cmd_ext_i_
085*
sc
X_cmd_ext_i_
086*
dz
X_pos_err_wa
088
X_vel_err_war
X_ vel_stop
X_delMaxEnT
093
X_delBrkToDis
095
X_index_offs
X_new_sm_fa
115
(A_amp10
00)/curr_dr
v_peak =1V
1000
-1000
Volt
10
count
2 -1
count/s
3.4*10
count/s
66.67s
2 -1
66.67s
2 -1
(. curr_drv_peak)
X_pulse_mode
X_pulse_dir
X_fall_rise
129
130
131
X_cmd_pwm_
mode
38
-3.4*10
oBrk
094
38
3.4*10
10
n_win
092
count/s =
1V
Volt
rn_win
089
132*
0: Quadrature (AqB)
1: Pulse/Direction
2: Pulse up/Pulse down (CW/CCW)
0:
1:
0: Falling edge
1: Rising edge
0: Analog
1: PWM 50%
2: PWM 100%
31
38
3.4*10
38
31
31
count
31
2 -1
500
119
D2 v1.3
LCD
No.
133
134
5.LCD
out_config[0]
out_config[1]
CN2 BRK
2 -1
15
15
15
15
15
15
15
15
15
15
15
15
15
15
15
15
2 -1
135
out_config[2]
2 -1
136
out_config[3]
2 -1
137
138
out_config[4]
2 -1
2 -1
out_config[6]
2 -1
140
out_config[7]
2 -1
141
out_config[8]
2 -1
139
142
out_config[5]
out_config[9]
O1
O2
2 -1
143
out_config[10]
2 -1
144
out_config[11]
2 -1
145
146
147
148
out_config[12]
2 -1
2 -1
out_config[14]
2 -1
out_config[15]
2 -1
89
89
89
89
72
out_config[13]
O3
_en
(Axis Enable)
0:
80~89: I1~I10**
(Right (+) Limit Switch)
0:
80~89: I1~I10**
(Left (-) Limit Switch)
0:
80~89: I1~I10**
(Home OK,
start err. map)
0:
80~89: I1~I10**
0:
67: CN2 BRK
68~72: O1~O5**
/
0:
1:
/
0:
1:
157
X_emu_N
2 -1
158
X_emu_M
X_emap_en
/
0:
1:
149
X_StIdenext
150
X_StIdRL
151
X_StIdLL
153
X_StIdhome
154
155
156
159
X_StIdOutBrak
e
X_sw_pos_pro
t_en
X_hw_lim_prot
15
2 -1
15
120
D2 v1.3
LCD
No.
160
162
164
X_StIdReset
X_home_smo
5.LCD
(Reset amplifier)
0:
80~89: I1~I10**
89
500
count
2 -1
31
count
2 -1
31
HZ
200
oth
X_emu_i_radi
us
165
X_emu_i_jitter
172
X_vsf.fr
VSF
173
X_vsf.xi
VSF
1.5
0.001
X_vsf_en
VSF
0: VSF
1: VSF
X_cmd_ext_N
2
X_cmd_ext_N
3
X_cmd_ext_N
4
()
2 -1
()
2 -1
()
X_fric_comp_u
p
(. curr_drv_peak)
X_home_vel
174
175
176
177
178
179
#
180
181
182
183
184
185
186
#
187
X_home_optio
n
X_home_DIR
X_home_opt0
_index
X_home_left_
SW
X_home_right
_SW
X_home_wall_
CurrThrshld
X_home_wall_
0:
1: near home sensoindex
0:
1:
index
0:
1: index
0:
1:
2:
0:
1:
2:
(. curr_drv_peak)
CurrTime
X_home_selec
t_Speed
0: Slower speed
1: Faster speed
31
31
2 -1
31
0.1%*curr_
drv_peak
(A_amp)
10
count/s
2 -1
(A_amp10
00)/(curr_dr
v_peak)
2 -1
msec
31
31
2 -1
31
121
D2 v1.3
LCD
No.
188
189
191
X_home_sear
ch_option
0: index
1: Near home sensor
2: Near home sensorindex
3: Near home sensorindex
count
2 -1
89
89
89
89
89
89
89
89
89
89
89
89
89
X_StIdNearHo
(Near home sensor)

0:
80~89: I1~I10**
(Clear error)
0:
80~89: I1~I10**
(Invert V Command)
0:
80~89: I1~I10**
(Switch to secondary
CG)
0:
80~89: I1~I10**
vpg (Switch to secondary
vpg)
0:
80~89: I1~I10**
(Zero Speed Clamp)
0:
80~89: I1~I10**
(Inhibit Pulse Command)
0:
80~89: I1~I10**
(Switch HI/LO
pulse input)
0:
80~89: I1~I10**
(Abort motion)
0:
80~89: I1~I10**
(Clear Position Error)
0:
80~89: I1~I10**
(Switch to secondary
mode)
0:
80~89: I1~I10**
(Start homing)
0:
80~89: I1~I10**
(Electronic Gear Select
(DIV1))
0:
80~89: I1~I10**
me
193
X_StIdInvCmd
194
X_StId2ndCG
195
X_StId2ndVPG
196
X_StIdZSC
197
X_StIdINH
198
X_StIdPS
199
X_StIdAbort
200
X_StIdClrPE
203
X_StIdClrErr
202
X_backlash
192
201
5.LCD
X_StId2ndOpe
rMode
X_StIdStartHo
me
X_StIdDiv1
31
122
D2 v1.3
LCD
No.
5.LCD
(Electronic Gear Select

(DIV2))
0:
80~89: I1~I10**
89
2 -1
2 -1
204
X_StIdDiv2
205
out_config[16]
206
out_config[17]
207
out_config[18]
2 -1
208
out_config[19]
212
213
X_oper_mode
1
X_oper_mode
2
O4
0: Stand-Alone
1: Position mode
2: Velocity mode
3: Force/Torque mode
0: Stand-Alone
1: Position mode
2: Velocity mode
15
15
15
2 -1
15
214
X_second_cg
Secondary CG
10
0.01
215
X_second_vpg
Secondary VPG
0.000001
216
217
218
LCD.low_or_hi
gh
LCD.buff_inv
LCD.emu_or_
buff
/
0:
1:
0:
1:
/
0:
1:
CW/CCW /(CW_CCW_INV)
0:
1:
LCD.cw_ccw_i
nv
LCD.I1_inv
I1
LCD.I2_inv
I2
LCD.I3_inv
I3
LCD.I4_inv
I4
LCD.I5_inv
I5
LCD.I6_inv
I6
LCD.I7_inv
I7
LCD.I8_inv
I8
LCD.I9_inv
I9
LCD.I10_inv
I10 **
LCD.brk_inv
CN2 BRK
219
241
242
243
244
245
246
247
248
249
250
280
123
D2 v1.3
LCD
No.
5.LCD
LCD.O1_inv
O1
LCD.O2_inv
O2
LCD.O3_inv
O3
LCD.O4_inv
O4
LCD.O5_inv
O5 **
340
X_ZT_loadLV
ZeroTune
0: Tuned (Auto tune )
1~5LV1~LV5
341
out_config [20]
2 -1
342
out_config [21]
2 -1
343
out_config [22]
2 -1
344
out_config [23]
345
X_Use2ndEnc
0:
1:
346
X_cntperunit2
347
348
281
282
283
284
285
15
15
15
2 -1
15
count
2 -1
X_2ndEnc_sg
n
-1
1
-1
X_hybdev_thr
eshold
27
349
X_VOF.FB_Sw
itch
/
0
1
351
X_f3.fr
Hz
5000
352
X_f3.xi
10
X_latch_err_td
rv
X_latch_err_u
nderv
X_mult_emu_i
nd
353
354
355
O5 **
0
1
0
1
Index
0
1
count
31
*
** D2T I10 O5
#
ENTER
124
D2 v1.3
5.LCD
5.3.4.
/
5-12
.(MOTRSE) 5.2
4 ENA/DI
SV RDY
4 JOG
-8
4 MOV2PO
-8
4 VEL_LC
300
(enable)/
(disable)
MOV2PO
(Unit: count)
4 MOV PO
0
4 SETZER
-8
(JOG/
MOV2PO)
(unit:
rpm)
4 AUTOTU
NO
4 MOTRSE
LS05XX5
5-12
125
D2 v1.3
5.LCD
5.3.4.1. /
LCD No. 243
(I3 ) 1I3 Axis Enable
5-13
Step 1. ENTER ENA/DI ()
Step 2. (ENABLE)(DISABLE)
Step 3. ENTER
LEVEL ONE
LEVEL TWO
4 ENA/DI
SVNRDY
4 ENA/DI
DISABLE
4 ENA/DI
ENABLE
or
4 ENA/DI
SV RDY
5-13 /
5.3.4.2.
5-14 :
Step 1. ENTER JOG ()
Step 2. ()
LEVEL ONE
LEVEL TWO
2 01FBPO
23088
(CW)
4 JOG
-8
4 JOG
-8
2 01FBPO
-65810
(CCW)
5-14
. /LCD JOG Speed LCD

VEL_LC
126
D2 v1.3
5.LCD
5.3.4.3.
5-15
2000 :
Step 1. (MOV PO) 5.3.3.2
2000
Step 2. MOV2PO ENTER ()
Step 3. VEL_LC MOV PO

LCD 2 (01FBPO)
ENTER
Step 4. ENTER Level One
LEVEL ONE
LEVEL TWO
LCD
4 MOV2PO
0
4 MOV2PO
0
4 MOV2PO
2000
4 MOV2PO
2000
2 01FBPO
1788
LCD
2000
5-15
5.3.4.4.
5-16
(SETZER) ENTER
127
D2 v1.3
5.LCD
LEVEL ONE
4 MOV PO
0
4 SETZER
2000
4 SETZER
0
4 AUTOTU
NO
5-16
5.3.4.5.
(AUTOTU) 5-17
Step 1. ENTER AUTOTU ( 2 )
Step 2.
Step 3. AUTOTU YES ENTER AUTOTU
NO
LEVEL ONE
4 AUTOTU
NO
LEVEL TWO
4 AUTOTU
NO
4 AUTOTU
YES
4 AUTOTU
PROCESS.
5-17
128
D2 v1.3
5.LCD
5.4. LCD
5.4.1.
4.2.3.1
/
5.3.3.1Flash
(1)
LCD
LCD
3 SAVEFL
NO
LCD
212
0
LCD No. 212

(LCD No. 212 1
)
212
0
ENTER
212
1
212
1
ENTER
1
LCD No.
212
X_oper_mode1
0: Stand-Alone
1: Position mode
2: Velocity mode
(2)
D2 4.2.3.1
LCD
LCD
212
1
129
0
(LCD
No. 129 2 )
129
D2 v1.3
5.LCD
129
0
ENTER
( Pulse
up/Pulse down (CW/CCW))
129
2
2
Pulse up/Pulse down (CW/CCW)
129
2
ENTER
(LCD No. 130) CW/CCW /(LCD No. 219)

(LCD No. 129)
2
LCD No.
129
X_pulse_mode
130
X_pulse_dir
219
LCD.cw_ccw_inv
0Quadrature (AqB)
1Pulse/Direction
2Pulse up/Pulse down
(CW/CCW)
0
1
CW/CCW /
0
1
(3) /
D2
LCD /
LCD
129
2
216
0
LCD No. 216 /

(LCD No. 216
3 )
216
1
ENTER
1(:)
216
1
ENTER
3
3
3
0
3
3
130
D2 v1.3
5.LCD
3/
LCD No.
216
LCD.low_or_high
/
0:
1:
(4)
D2 4 (electronic gear ratio) 4.4.1
LCD
LCD
216
1
081
1
LCD No. 081

()(LCD No. 081
4 )
3
2
3
3
3
ENTER 5.3.3.2
3( 23
2 3 encoder count)
081
3
3
3
3
3
3
081
3
ENTER
082
1
LCD No. 082

()(LCD No.
082 4 )
082
ENTER 5.3.3.2
2
2
3
082
2
ENTER
3
4
LCD No.
081
X_cmd_ext_N
()
175
X_cmd_ext_N2
()
176
X_cmd_ext_N3
()
177
X_cmd_ext_N4
()
082
X_cmd_ext_M
()
(5)
Smooth factor S T 0~500
4.6.1
LCD
131
D2 v1.3
LCD
115
100
LCD No. 115

(LCD No. 115
5 )
3
115
300
ENTER
082
2
3
3
5.LCD
115
300
ENTER
3
5
LCD No.
115
X_new_sm_fac
100
5.4.2.
D2 PWM 4.2.3.2
5.3.3.1
Flash
(1)
LCD
LCD
3 SAVEFL
NO
LCD
212
0
LCD No. 212
212
0
ENTER
212
2
212
2
ENTER
132
D2 v1.3
5.LCD
(2)
LCD
LCD
212
2
+++
0
LCD No. +++
3
000
1e+04
ENTER
0
132
0
LCD No. 132
(LCD No. 132 1 )
132
1
ENTER
1(: PWM 50%
)
132
1
ENTER
4
3
3
083
1e+03
083
5e+04
9
3
10
LCD No. 083

(LCD No. 083
1 )
ENTER
( PWM
083
5e+04
ENTER
+++
0
F LCD No. +++
3
(LCD No. 084)(LCD No.
083)
1
LCD No.
132
X_cmd_pwm_mode
083
X_cmd_ext_v_sc
0Analog
1PWM 50%
2PWM 100%
Full PWM
(count/s = 1V count/s =
Full PWM)
1000
133
D2 v1.3
084
X_cmd_ext_v_dz
5.LCD
0
(Volt)
5.4.3. /
D2 PWM 4.2.3.3
/5.3.3.1
Flash
(1)
LCD /
LCD
3 SAVEFL
NO
LCD
212
0
LCD No. 212
212
0
ENTER
212
3
3/
212
3
ENTER
(2)
LCD
LCD
212
3
+++
0
LCD No. +++
3
000
1e+04
ENTER
0
4
132
0
LCD No. 132
(LCD No. 132 1 )
132
1
ENTER
1(: PWM 50%
)
3
5
134
D2 v1.3
5.LCD
132
1
ENTER
3
7
085
1e+03
085
5e+04
085
5e+04
10
LCD No. 085

(LCD No. 085
1 )
ENTER
( PWM
)
ENTER
+++
0
F LCD No. +++
3
(LCD No. 086)(LCD No.
085)
1
LCD No.
132
X_cmd_pwm_mode
085
X_cmd_ext_i_sc
086
X_cmd_ext_i_dz
0Analog
1PWM 50%
2PWM 100%
Full PWM
(
(A_amp1000)/ curr_drv_peak =1V
(A_amp1000)/ curr_drv_peak =
Full PWM)
0 (Volt)
curr_drv_peak(amp)
5.4.4.
4.2.3.4
5.3.3.1Flash
(1)
LCD
LCD
3 SAVEFL
NO
LCD
135
D2 v1.3
212
1
LCD No. 212

(.
)
212
1
ENTER
212
0
212
0
ENTER
5.LCD
136
D2 v1.3
6.
6.
6.
.............................................................................................................................. 137
6.1.
Quick view .................................................................................. 138
6.1.1.
................................................................................................ 138
6.1.2.
Quick view ............................................................................................. 138
6.1.3.
............................................................................................ 140
6.2.
....................................................................................................... 141
6.3.
.................................................................................................... 144
6.4.
....................................................................................................... 146
6.4.1.
................................................................................................ 146
6.4.2.
PDL ......................................................................... 147
6.5.
Plot view ....................................................................................................... 148
6.5.1.
......................................................................................... 148
6.5.2.
/ ............................................................................................... 152
6.5.3.
. ............................................................................................... 153
6.6.
................................................................................................ 156
6.6.1.
................................................................................................... 156
6.6.2.
............................................................................................ 158
6.6.3.
............................................................ 160
6.6.4.
.................................................................................. 163
6.6.5.
................................................................................................ 164
6.6.6.
..................................................................................... 164
6.6.7.
............................................................................................ 169
6.7.
............................................................................................. 171
6.8.
Loop constructor ........................................................................................... 172
6.8.1.
/........................................................................................ 173
6.8.2.
Tool ....................................................................................................... 174
6.8.3.
................................................................................................... 177
6.8.4.
................................................................................................ 178
6.8.5.
................................................................................................ 179
137
D2 v1.3
6.
6.1. Quick view

Lightening Quick view
6.1.1.
6-1 Status Performance
center Status /
(1)
Hardware Enable Input
Software Enabled
Servo ready
Phase Initialized
Moving
Homed
SM mode
(2)
Last error
Last waring
9
6-1
6.1.2. Quick view

Quick view
6-2
138
D2 v1.3
6.
6-2 Quick view
()
() 6-3 6-1
6-3
6-1
Feedback Position
Reference Position
Target Position
Position Error
Single turn feedback position
(
)
Dual loop feedback position

Feedback Velocity
10
()
139
D2 v1.3
6.
11
Reference Velocity
12
Velocity Error
20
Reference Acceleration
30
Actual Current
31
Command Current
40
Analog Command
()
41
Bus Voltage
42
Servo Voltage Percentage
43
SIN-Analog Encoder
44
COS-Analog Encoder
45
PWM Command
//()
46
Digital hall bits
51
Soft-Thermal Accumulator
61
I1
62
I2
63
I3
64
I4
65
I5
66
I6
71
I7
72
I8
67
I9
68
I10
10 (D2T)
81
O1
82
O2
83
O3
84
O4
86
O5
5 (D2T)
85
CN2/BRK
6.1.3.
D2 F6 F12 Lightening
Window
F6 Lightening
F12 F12
140
D2 v1.3
6.
6.2.
(Performance center)
Performance center
Performance center
(P2P)(Relative move)(Jog)
6-4 Performance center
(P2P)
()
P1 P2 (
Lower SW limit Upper

SW limit )
Motion Protection
141
D2 v1.3
6.
P1
P2
Repeat
(Dwell
time)
Performance center Target radius

(Debounce time) 4.5 In-Position
(Primary CG)
(Move time)(Settling time)(Total time)
(Scope)
Performance center
VmaxVminVavg Velocity Ripple
(Scope)
6-5 Performance Center-Velocity Ripple
1 Vmax
Vmin
Vavg
2 Velocity Ripple
P2P(Relative move)(Jog)
Motion Protection
142
D2 v1.3
6.
15
10
11
12
13
14
6-6 Performance center-Position

3
10
11
12
13
14
15
Enable
Disable
Zero
Stop motion
Position Units Quick view
Motion Protection
(Smooth factor) S
T 1~500 S T
P2P
Relative move
Jog
Home
Primary CG
Status
enable sw limit
143
D2 v1.3
6.
6.3.
D2 Scope
Performance center
Position
Velocity Ripple
6-7
Scope Scope
data collection ( 6.4 )
4
6-7
6-1
(1~8)
144
D2 v1.3
6.
6-2
Scope On/Off (PageDown)
View in paper mode (Ctrl+T)
(paper)
Toggle scopes window (PageUp)
Fit graph to window
Fit graph to window dynamically
Fit graph to window dynamically + clip

Show last data with plot view tool
Plot view
Reset scope
Show all plots in same window
Open recoder window
Data collection
145
D2 v1.3
6.
6.4.
Scope
(Data collection)
6.4.1.
6-7 Open recode window Scope
6-8 Data collection

1 (Rate)(Samples)
Samples
Rate Rate 1 15000 Hz 2
7500 Hz 15000 Hz
dt
Samples*dt Samples
2

3 Start Stop Graph
Plot view
4
5 6.4.2
1
Start event X_run Stop event X_stop Start
Data collection
Graph
2
Start event X_vel_fb>0 Stop event X_vel_fb<0
Start Data collection 0
0 Graph
146
D2 v1.3
6.
3
Start event I3 Stop event ~I3 Start
I3 (I3 = 1)(I3 = 0)
1 Upd vars Lightening
Start event I3 ( 3) I/O
6.4.2. PDL
6-8
5 Sync()
PDL_RecordSync
Data collection
Step 1. task_RecordSyncPDLtask4
task 0~task 3
Step 2. PDL
_RecordSync:
till( );
//
rtrs_act=1; //
ret;
//
Step 3. _RecordSynctill()I/O center
I4 ()
Step 4. 6-8
5 Sync
Step 5.
3 Start_RecordSync
I4falsetrueI4
#task/1;
_RecordSync:
till(I4);
// I4
rtrs_act=1; //
ret;
147
D2 v1.3
6.
6.5. Plot view

Plot view Data collection Data collection
Plot view Plot view
6-9
6-9 Plot view
6.5.1.
(1)
Data collection
Plot view Plot view Plot view
2 graphs
graph
6-10 Data collection
148
D2 v1.3
6.
6-10
(2)
6-11
:
( Delete )
6-11
(3) /(Zoom in/out)

Plot
view X Y /:
X
Undo zoom
Redo zoom
149
D2 v1.3
6.
Y
Y
(4) X /
6-12 2~4
6-13
2~3 2~4
2~3
6-12
6-12
6-13
150
D2 v1.3
6.
(5) Y/
YCtrl
6-14 Y
6-15Y
6-16
6-14
6-14
6-15
151
D2 v1.3
6.
6-16
(6) dt1/dtdSamp
dt1/dt dSamp
dt dSamp 6-12
(7)
(8)
10 16 6-12:
16
10
6.5.2. /
Plot view txt bmp Plot view (gpp
) txt bmp
gpp Plot view Plot view
gpp txt bmp
.txt
.bmp
gpp FileSaveOpen Plot view gpp
6-17
152
D2 v1.3
6.
6-17 gpp
6.5.3.
Plot view
Plot view /
ripple calculation
(1) (Statistics table)
6-18 /
(Rms)RipRipA Rip=/RipA=(-)/
6-18:
/(Rms)Ripple calculation
6-18 Statistics table
(2)
ToolsMath operation 6-19
Linear pos_err
vel_fbf New plot name Create
pos_err vel_fbf (lin_1) 6-20
153
D2 v1.3
6.
6-19
6-20
(3) (FFT)
6-21
pos_errRun FFT6-22
154
D2 v1.3
6.
6-21
6-22
(4)
x
:
: X FFT
155
D2 v1.3
6.
6.6.
Move & Settle
D2 common gain
(Primary CG)
Advance
gains
Common
Gain
6-23 Performance center
common gain (Advanced

gains)(Filter)(Acc feedforward)
(Schedule Gains + vpg)(Analog input)(current loop)
6.6.1.
D2
(Low pass filter)
(Notch filter) 6-24
(Bode plot)
156
D2 v1.3
6.
6-24
(1)
:
fr Hz 500 Hz
xi 0 1
k10
k20
6-25
157
D2 v1.3
6.
(2)
( 10~250 Hz )
6.8.5
(Notch filter):
fr Hz
xi 0 1 0 1
k10
k21
6-26
(3)
(f3) Auto gain tuning
Auto gain tuning f3
Advanced gains Filter Activate f3
6-24 Filter 1 Filter 2
6.6.2.
(position error)
/
Step 1.
Step 2. 6-27 Acc feedforward gain 0

Step 3.
158
D2 v1.3
6.
6-27
Step 4. 6-28 Command

Current 16Scope 6-28 Toggle scopes
windows (Page Up)
Command CurrentReference AccelerationPosition Error
Command Current
16
Reference
Acceleration
950000 count/s^2
Position Error
90 count
6-28
Step 5. 6-28 Reference Acceleration

950000 count/s^2
159
D2 v1.3
6.
Step 6. Step 4 Step 5 Acc feedforward gain = Command Current/

Reference Acceleration = 16/950000 = 1.68421e-5
Step 7. Step 6 Acc feedforward gain 6-29
6-29
Step 8. Position Error 6-30 6-28

90 count 65 count
Position Error
65 count
6-30
6.6.3.
(1) (Schedule Gains)
a.(Move)
b.(Settling)
c.(In-position)
(Move
SettlingIn-position)
1 1
a.(Move)sg_run
b.(Settling)sg_stop
c.(In position)sg_idle
160
D2 v1.3
6.
CG = 0.5sg_run = 1.2 0.5*1.2=0.6
6-31
(2) (Velocity loop gainvpg)

(vpg) D2 (Configuration
center)
Freq analyzer
Step 1.
Step 2.
6-32
161
D2 v1.3
6.
6-32
Step 3.
6-33
6-33
Step 4. -20dB
6-34
vpg
Step 5.
162
D2 v1.3
6.
Flash
vpg
6-34
6.6.4.
6-35
163
D2 v1.3
6.
6.6.5.
Ki Kp(Configuration center)
6-36
6.6.6.
(VSF)
Advanced gains VSF Frequency VSF factor
enable VSF Frequency 0.1~200 HzVSF factor
0.7~1.5 VSF factor 1.0
enable VSF
Step 1.
Step 2. Scope(Position Error)(Reference Velocity) 6-38
Step 3. Scope (Plot view)
164
D2 v1.3
6.
6-37
6-38
Step 4. 6-39
6.5
165
D2 v1.3
6.
6-39
Step 5. Plot view pos_err

6-40
6-40
Step 6. 6-41
166
D2 v1.3
6.
6-41
Step 7. 6-42
Step 8. ( 6.7 Hz) Advanced gains VSF
Frequency
6-42
Step 9. enable VSF 6-43

enable VSF
167
D2 v1.3
6.
6-43
Step 10. Scope

6-44
6-44
168
D2 v1.3
6.
6.6.7.
D2
-(friction compensation) 6-45
6-45
Lightening
Step 1. Set scope

Step 2. 6-45 friction compensation 0
Step 3. (Dwell time) 500 ms
Step 4.
6-46
Step 5. Command Current 6-46

Command Current 20
Step 6. Step 5 friction compensation
Step 7. 6-46
169
D2 v1.3
6.
6-46
170
D2 v1.3
6.
6.7.
D2
(1)
Performance center
ToolsEncoder test/tune
6-47
6-47
(2)
90 D2
Position
(3) Index
Z 6-47 Index
Z Index
171
D2 v1.3
6.
6.8. Loop constructor

Loop constructor NyquistNichols Bode
(vpgvigppg CG)
Loop constructor Lightening
Tools->Loop constructor 6-48 6-49 Loop constructor
6-48 Tools Loop constructor
gain margin and phase margin
6-49 Loop constructor
172
D2 v1.3
6.
6.8.1. /
Loop constructor Loop constructor
File->Load 3 (1) Load plant + gains from file(2) Load plant from
file(3) Load gains from file 6-50
(1) Load plant + gains from file.lop
(2) Load plant from file.fgr
(3) Load gains from file.gns
6-50 Loop constructor load data form file
Loop constructor Loop constructor

File->Save 3 (1) Save plant + gains to file(2) Save plant to file(3)
Save gains to file 6-51
(1) Save plant + gains to file.lop
(2) Save plant to file.fgr
(3) Save gains to file.gns
173
D2 v1.3
6.
6-51 Loop constructor save data to file
6.8.2. Tool
Loop constructor NyquistBode Nichols
6.8.2.1.
6-52
Drive
+
U(s)
P(s)
-
+
-
V(s)
C(s)
PL(s)
Y(s)
Plant
Current feedback
Velocity feedback
d/dt
Position feedback
6-52
U(s)
Y(s)
PlantPL(s) Plant
ControllerP(s)V(s)C(s)
Open loop G(s) = P(s)*V(s)*C(s)*PL(s)
Close loop
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)
174
D2 v1.3
6.
6.8.2.2. Nyquist
Loop constructor Nyquist Vel open loop(Velocity open loop) Pos
open loop(Position open loop) Velocity open loop
Position open loop Nyquist 6-53 Velocity open
loop Nyquist Nyquist
(1) Vel open loop
(2) Pos open loop
6-53 Velocity open loop Nyquist
6.8.2.3. Bode
Loop constructor ph+gain Vel controllerVel open loop Vel close loop
Pos controllerPos open loop Pos close loop
Velocity loop Position loop Bode 6-54
Velocity open loop Bode Bode
(1) Vel controller(Velocity controller)

(2) Vel open loop(Velocity open loop)
(3) Vel close loop(Velocity close loop)
(4) Pos controller(Position controller)
(5) Pos open loop(Position open loop)
(6) Pos close loop(Position close loop)
175
D2 v1.3
6.
6-54 Velocity close loop Position close loop Bode
6.8.2.4. Nichols
Loop constructor Nichols Vel open loop Pos open loop
Velocity open loop Position open loop Nichols
6-55 Velocity open loop Nichols Nichols
(1) Vel open loop(Velocity open loop)

(2) Pos open loop(Position open loop)
6-55 Velocity open loop Position open loop Nichols
176
D2 v1.3
6.
6.8.3.
2
6.8.3.1. Low pass filter

6-56
(frxi)
(1) fr Hz 500 Hz
(2) xi 0 1
(3) k1=0
(4) k2=0
6-56 Low pass filter
6.8.3.2. Notch filter
6-57 Notch filter (frxi)
(1) fr Hz
(2) xi 0 1 0 1
(3) k1=0
(4) k2=1
177
D2 v1.3
6.
6-57 Notch filter
6.8.4.
Loop constructor (vpgvig)(ppg)(Common gain,
CG) 6.6
6-58
6-58 Loop constructor
178
D2 v1.3
6.
(1) Velocity loop

vpg vigvpg vig
vpg vpg
vig vig
(2) Position loop
ppgppg
ppg ppg
6.8.5.
Loop constructor gain marginphase margin bandwidth
6-59 P margin phase
marginG margin gain margin
6-59 Loop constructor P margin G margin
6.8.5.1. Gain margin and phase margin of Nyquist

Gain margin (db)Phase margin
(1) Gain margin

(-1, j0) G( j ) p
6-60 G( jp ) 180 G(s )
gain margin = GM = 20 log10
1
20 log10 G( j p ) dB
G( j p )
6-48
179
D2 v1.3
6.
a. G( j ) G( jp ) 0
GM dB
GM = dB
b. G( j ) 0 -1 0 G( jp ) 1 GM 0 dB
0 -1
c. G( j ) (-1, j0) G( jp ) 1 GM 0 dB G( j ) (-1, j0)
GM = 0 dB
d. G( j ) (-1, j0) G( jp ) 1 GM 0 dB G( j ) (-1, j0)
GM dB GM
j Im L
L j Plane
Phase crossover
Re L
L( jp )
0
6-60 gain margin
(2) Phase margin

6-61 G( j )
phase margin = PM = G( jg ) 180
180
D2 v1.3
6.
L j Plane
j Im L

-1
Re L
Phase margin
Gain
crossover
g
0
6-61 phase margin
6.8.5.2. Gain margin and phase margin of Bode

G( j ) (dB) 40
20
g Gain crossover
Gain margin
-20
(rad / sec)
-40
-60
G( j ) (deg)
0
Phase
margin
-90
-180
-270
-360
(rad / sec)
p
Phase crossover
6-62 Bode gain margin and phase margin
181
D2 v1.3
6.
6.8.5.3.
-3dB 6-63
Gain (dB)
0 dB
f
-3 dB
Bandwidth
6-63
182
D2 v1.3
7.
7.
7.
....................................................................................................................... 183
7.1.
....................................................................................................... 184
7.1.1.
.............................................................................. 184
7.1.2.
....................................................................... 185
7.1.3.
................................................................... 185
7.1.4.
................................................................................................ 185
7.2.
...................................................................................... 186
7.2.1.
......................................................................................... 186
7.2.2.
....................................................................... 186
7.3.
....................................................................................................... 187
7.4.
....................................................................................................... 188
7.4.1.
......................................................................................... 188
7.4.2.
......................................................................................... 188
7.5.
....................................................................................................... 190
7.5.1.
......................................................................................... 190
7.5.2.
..................................................................................... 190
7.6.
......................................................................................... 191
183
D2 v1.3
7.
7.1.
/
7-1
O
O
X
O
O
O
X
O
O
O
O
O
O
O
X
O
OX
7.1.1.
Performance center
Protection center Protection Motion Protection
7-1
Speed
Acc.
Dec.
Dec. kill
Smooth factor
7-2
7-1 Motion Protecion

(Position Units)
Performance center (P2P
Relative moveJog) Motion Protection
7-2 Acc. Dec. 10
184
D2 v1.3
7.
7-2
7.1.2.
Smooth factor = 0/
7.1.3.
(Dec. kill)
(1)
(2) Performance center P2P Relative move Stop motion
(3)
(4) Jog Jog
7.1.4.
(Smooth factor) 0~500 1
(Move time)
Smooth factor 0 7.1.2
185
D2 v1.3
7.
7.2.
7.2.1.
D2 (Error windows)
(Position error too big)
7-3 Maximum pos error
7-3
Maximum pos error

Position error
Velocity error
7-3
7.2.2.
D2 (Position Error)
(Velcity Error) Warning windows Status
186
D2 v1.3
7.
7.3.
D2 Z
Z
D2
(1)
Step 1. (delMaxEnToBrk)
(vel_stop)
Step 2. (delBrkToDis)
7-4
7-4
(delMaxEnToBrk)
(Dec. kill)
(vel_stop)
(delBrkToDis)
7.1.3
(2)
Protection center Brake
CN2_BRK
I/O center 4.4.2
187
D2 v1.3
7.
7.4.
7.4.1.
D2
(Kill Dec.)
Protection center HW limit protection

enable HW limit
I/O center
4.4.1
7-5
7.4.2.
D2
Protection center Protection Limits

enable sw limit
Performance center enable sw limit
188
D2 v1.3
7.
7-6
enable sw limit
Lower SW limit
Upper SW limit
7-5
189
D2 v1.3
7.
7.5.
7.5.1.
D2
(Soft-thermal threshold reached) Quick view

Soft-thermal Accumulator
7.5.2.
D2 80 C
(Amplifier over temperature)
190
D2 v1.3
7.
7.6.
D2 (Turn on) 370 Vdc(Turn off) 360 Vdc

200 W
2
3000 rpm 0.00035 Kg - m

7-6
0.0004
0.00035
J (Kg-m^2)
0.0003
0.00025
0.0002
0.00015
0.0001
0.00005
4250
4500
4250
4500
4000
3750
3500
3250
3000
2750
2500
2250
2000
1750
1500
1250
1000
750
500
250
w (rpm)
7-7 FRLS202XX
0.0006
0.0005
J (Kg-m^2)
0.0004
0.0003
0.0002
0.0001
4000
3750
3500
3250
3000
2750
2500
2250
2000
1750
1500
1250
1000
750
500
250
w (rpm)
7-8 FRLS402XX
191
D2 v1.3
7.
0.0025
J (Kg-m^2)
0.002
0.0015
0.001
0.0005
3750
4000
4250
4500
3750
4000
4250
4500
3500
3250
3000
2750
2500
2250
2000
1750
1500
1250
1000
750
500
250
w (rpm)
7-9 FRMS752XX
0.014
J (Kg-m^2)
0.012
0.01
0.008
0.006
0.004
0.002
3500
3250
3000
2750
2500
2250
2000
1750
1500
1250
1000
750
500
250
w (rpm)
7-10 FRMS1K2XX
7-6 D2 7-7 HIWIN

7-8 7-11
7-6
D2
RG1
RG2
192
D2 v1.3
7.
7-7
RG1
68.
100W / 500W
RG2
120.
300W / 1500W
7-8
L1
L2
RG1
165 2mm
150 2mm
40 0.5mm
20 0.5mm
RG2
215 2mm
200 2mm
60 0.5mm
30 0.5mm
L 500mm
7-11
193
D2 v1.3
7.
194
D2 v1.3
8.
8.
8.
.............................................................................................................................. 195
8.1.
.................................................................................................... 196
8.1.1.
.......................................................................... 197
8.1.2.
index ............................. 199
8.1.3.
............................................................................................ 201
8.2.
....................................................................................................... 202
8.3.
................................................................................................ 203
8.3.1.
.................................................................................. 204
8.3.2.
......................................................................................... 205
8.3.3.
.............................................................................. 206
8.3.4.
................................................................... 206
195
D2 v1.3
8.
8.1.
Application center Homing
8-1
8-1
5 :
8-1
Slower Speed
Faster Speed
Smooth factor
Time out
Home offset
1~500
(1) 8.1.1
(2) index8.1.2
Performance center Home
Performance center Homed Homed
(
) Time out Homed
(
)
196
D2 v1.3
8.
8.1.1.
D2
(End Stop)
index
Search index signal
:
1 ) Left
(
Search index
2
3 )
signal index (
1
8-2
8-2
Left
Right
None
(Left side condition)
End Stop
Left Limit Switch
None
(Right side condition)
End Stop
Right Limit Switch
(Search end stop current)
(Time)
(1) None
(2) End Stop
(3) Limit Switch
4
5
4
5
(Soft-thermal
threshold reached)
Step 1. 8-3 Actual Current
Step 2. (Slower Speed)
Step 3. Actual Current 8-3 0.2A
Search end stop current 0.2A 0.23A
197
D2 v1.3
8.
8-3
:
(1) (Left side condition) None (Right side condition)
1 )
End Stop Right Limit Switch (
8-4 Homed
()
8-4
(2) Search index signal index End Stop

Right Limit Switch index
:
8-5
Z index 8-5
198
D2 v1.3
8.
8-5
8-6
8.1.2. index
(Near Home Sensor) index
I/O center
index
:
6 )(
7 )
(
index
8-7
199
D2 v1.3
8.
8-3
Left
Right
Slower speed
8-1
Slower Speed
8-1
Faster Speed
index
index
Faster speed
Index signal only

Near Home Sensor only
Near Home Sensor then
change to lower speed,
move left,search index
Near Home Sensor then
change to lower speed,
move right,search index
index
I2 I/O center I2 Near Home Sensor 8-8
8-8
:
8-9
Z index 8-10
200
D2 v1.3
8.
8-9
8-10
8.1.3.
(Home offset)
None
8-11
Home offset
8-11
201
D2 v1.3
8.
8.2.
Backlash 8-12
8-12
202
D2 v1.3
8.
8.3.
D2 (error map)
8-13
(Interval)(Total points)
D2
8-13
index index
(Home offset)
0
0
index
=0
100
=100
index
= -100
= 0
8-14
203
D2 v1.3
8.
8.3.1.
D2 :
Step 1. Application center Error Map
/
Flash
8-15 Error map
Step 2. (Interval)(Total points)(Error)

8-16
0~1000 mm 100mm 11 8-16 Error
100 mm
100.002 mm
Flash
8-16
204
D2 v1.3
8.
Step 3.
Step 4. FlashSend table to Flash

Flash
Flash Step 6
Flash
Continue Flash
Reset
8-17
Step 5. Cancel Flash Step 4

Step 6. confirm Flash
Reset
8-18
8.3.2.
D2
(1)
I/O Home OK,start err. map I2 8-19
I2
205
D2 v1.3
8.
8-19 I/O
(2)
Performance center
Error Map Status

Error map active
8.3.3.
File 8.3.1 FlashSend table to flash

Flash Save to Fash
( 4.7.1 )
Flash
8-20
8.3.4.
2 m 1 m 2 m 0.5 m
0 m
206
D2 v1.3
9.
9.
9.
....................................................................................................................... 207
9.1.
............................................................................... 208
9.2.
......................................................................................... 209
9.2.1.
Lightening ......................................................... 209
9.2.2.
LCD ........................................................................................ 209
9.2.3.
Error and Warnings Log ................................................................. 210
9.3.
...................................................................................... 213
9.3.1.
E03 PEBIG ............................................................... 215
9.4.
...................................................................................... 216
9.4.1.
W03 HWLL W04 HWRL ..................................................... 217
9.4.2.
W09 ACC.L W10 VEL.L ..................................................... 217
9.5.
......................................................................................... 219
207
D2 v1.3
9.
9.1.
LED
9-1
208
D2 v1.3
9.
9.2.
9.2.1. Lightening
D2
9-2 (Last error)
(Last warning)
9-2
9.2.2. LCD
9-3
(1) SVNRDYServo OFF
(2) SV RDYServo ON
LCD 9.3 9.4
1 SVNRDY
X
1 SV RDY
X
1 SV RDY
W01SWLL
1 SVNRDY
E01SHOR
T
9-3
209
D2 v1.3
9.
9.2.3. Error and Warnings Log

D2
9-2 (Error and Warnings Log)
9-4
9-4
Lightening
(Time log) 9-5
(Type of error/warning) Time (seconds)
9-5
(Statistics) 9-6
(Frequency)
210
D2 v1.3
9.
9-6
(Help tips) 9-7E06 Motor may be disconnect
211
D2 v1.3
9.
9-7
212
D2 v1.3
9.
9.3.
NO.
Motor short
(over current)
detected
Over voltage
detected
Position error
too big
Soft-thermal
threshold
reached
Motor maybe
disconnected
(1) UVW UVW

Ground
E01 SHORT (2) UVW
(3)
DC bus
E02 OVERV
Motion Protection
(maximum pos error)
(1)
(2) Application center -> Protection -> maximum pos
error 9.3.1
E03 PEBIG (3)
(4)
(5)
(6)
(7) E03 W05 SVBIG 110V
220V
E04
ENCOD
Encoder error
Amplifier over
temperature
LCD
Errors
(1)
(2)
(3)
()
(1)
(2)
E05 SWHOT (3)
(4)
(5)
E06 UVWCN (1) UVW

(2)
E07 D.HOT
(1)
(2)
(3)
(4)
213
D2 v1.3
No.
LCD
Errors
Under voltage
detected
5V for encoder
card fail
E09 UND.V
E10 V5ERR
initialization
E11 PHINI
error
Serial Encoder
11
Communicatio
E12SER.E
n Error
12
Hall sensor
error
DC bus
Phase
10
9.
L1L2110220Vac
110220Vac
Encoder5V
(1) D2CN6CN7
E10 V5ERR
(2) D2CN6CN7
17 bits13bits
(1) UVW
(2)
(1)
(2)
E13 HAL.E
13
Current control
error
E15CURER
Hybrid
14
deviation too
E17HYBDV
big
HFLT
15
inconsistent
E19HFLT
(1)
(2) KpCG
(3)
(1)
(2)
(3)
error
214
D2 v1.3
9.
9.3.1. E03 PEBIG

(1) 9-8
(2) E03 PEBIG
9-8
215
D2 v1.3
9.
9.4.
No.
Errors
Left SW limit
Right SW limit
LCD
W01 SWLL
W02 SWRL
Left HW limit
W03 HWLL
Right HW limit
W04 HWRL
Servo voltage
big
W05
SVBIG
Position error
warning
W06 PE
Velocity error
warning
W07 VE
Current Limited
W08
CUR.L
Acceleration
Limited
W09 ACC.L
10
Velocity Limited
W10 VEL.L
(1)
9.4.1
(2)
(1)
9.4.1
(2)
PWM
E03 PEBIG
(1) 110V 220V
(2)
(1)
(2)
(3)
Warning
(1)
(2)
(3)
E05 SWHOT
(1)
(2)
9.4.2

9.4.2
216
D2 v1.3
No.
11
12
13
Errors
9.
LCD
(1)
Both HW
9.4.1
W11 BOTH
limits active
(2)
(1) near home sensor

W13HOM.
Homing fail
E
(2) Time out Search end stop current
Pulse command
W14HOM.
and homing
C
conflict
9.4.1. W03 HWLLW04 HWRL
9-9
9.4.2. W09 ACC.LW10 VEL.L

(Acc.Dec.) W09 ACC.L
Acc.Dec. Speed 10
217
D2 v1.3
9.
9-10
(Speed) W10 VEL.L

500 mm/s2 100 mm/s2 W10
VEL.L 600 mm/s
9-11
218
D2 v1.3
9.
9.5.
LCD
W10
VEL.L
W09
ACC.L
(Error map)
(V Command)
Performance Center Motion

Protection
(1) (Auto Phase

center) Details Toggle
Direction
(2) Invert
Conf.Tune\Error map
(1) (Error map enable)

8.3.2
(2) (Homing) Input
Homing
(1) Quick View Scope
Target Position
(2)
(3) 0V (Shield)
(4)
(5) (Core)
(1)
(2) 0
(3) (Enable
SW Limit) Upper or Lower limit
(4)
(1) Quick View Scope Target

Position
(2)
(3)
(1) Quick View Scope
(Analog Command)
(2) Advanced gains->Analog input
219
D2 v1.3
9.
LCD
10
()
11
DC bus
E09
UND.V
12
DC bus
E02
OVERV
13
(position error)
(maximum pos error)
E03
PEBIG
14
UVW
E01
SHORT
15
E05
SWHOT
16
17
emulated encoder
E07
D.HOT
E04
ENCOD
(1) Common Gain

(2) Advanced gains/Filter
(Filter)
(1)
(2)
(1) 110 220

Vac
(2) 110 220Vac
(1)
(2)
(3)
(4)
(1) (Common Gain)
maximum pos error
(2)
(3)
(1) UVW
(2) UVW Ground
(3) UVW
(4)
(1)
(2)
(3)
(4)
(5)
(BPS)
(Port)
Use emulated encoder
Save to flash
Save to flashemulated encoder
220
D2 v1.3
A.
A.
A.
................................................................................................................ 221
A.1. ....................................................................................... 222
A.2. Hardware Enable ........................................................................ 222
A.3. ........................................................................................................ 223
A.4. .......................................................................................... 223
221
D2 v1.3
A.
A.1.
(Axis Enable) I3 A-1 I3
A-1
A.2. Hardware Enable

Hardware Enable
Hardware Enable IO set/test A-1 Axis
Enable I3 Hardware Enable
Invert Invert
Hardware Enable Stat Hardware
Enable
222
D2 v1.3
A.
A.3.
Hardware Enable Input
A-2
A-2
A.4.
Axis Enable
(1) (Lightening) F12
(2) (Lightening) Performance Center Disable ( F12)

Enable ( Hardware Enable Input
)
223
D2 v1.3
A.
224
D2 v1.3
B.
B.
B.
................................................................................................................ 225
B.1. RAM Flash .......................................................................... 226
225
D2 v1.3
B.
B.1. RAMFlash
(Lightening) Flash
Flash Compare parameter
RAM to Flash B-1 Flash
B-1 Compare parameter RAM to flash
Details RAM Flash

B-2 B-3 RAM Flash
Flash value
= Flash RAM
Undo RAM Flash B-3
2
B-2 1
:
1 Save Flash
2 Close
3 Up RAM Flash
4 Down RAM Flash
5 Undo RAM Flash
6 Refresh RAM Flash
226
D2 v1.3
B.
B-3 2
7 Redo Undo
227
D2 v1.3
B.
228
D2 v1.3
C.
C.
C.
..................................................................................................... 229
C.1. ..................................................................................................... 230
229
D2 v1.3
C.
C.1.
Tools menu
Upgrade/Downgrade firmware C-1 Upgrade/Downgrade firmware
C-2
C-1
Step2
Step1
C-2 Upgrade/Downgrade firmware
230
D2 v1.3
C.
Upgrade/Downgrade firmware
Step 1.
Step 2. FileUpdate selected firmware to amplifier
C-3
C-3
Step 3. Auto load programs C-4
C-4
Step 4. C-5
C-5
Lightening
Boot mode C-6
231
D2 v1.3
C.
C-6
232
D2 v1.3
D2
C HIWIN Mikrosystem Corp.
233

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D2 v1.

HIWIN Mikrosystem Corp.

HIWIN Mikrosystem Corp.

HIWIN Mikrosystem Corp.

HIWIN Mikrosystem Corp.

HIWIN Mikrosystem Corp.

HIWIN Mikrosystem Corp.

(2) error/warning codeE16

HIWIN Mikrosystem Corp.

HIWIN Mikrosystem Corp.

HIWIN Mikrosystem Corp.

HIWIN Mikrosystem Corp.

HIWIN Mikrosystem Corp.

HIWIN Mikrosystem Corp.

HIWIN Mikrosystem Corp.

HIWIN Mikrosystem Corp.

HIWIN Mikrosystem Corp.

HIWIN Mikrosystem Corp.

(1), (2) , (3), (4)

(1), (2), (3), (4)

HIWIN Mikrosystem Corp.

HIWIN Mikrosystem Corp.

(1) (2) (3) (4)

HIWIN Mikrosystem Corp.

HIWIN Mikrosystem Corp.

HIWIN Mikrosystem Corp.

HIWIN Mikrosystem Corp.

HIWIN Mikrosystem Corp.

HIWIN Mikrosystem Corp.

HIWIN Mikrosystem Corp.

HIWIN Mikrosystem Corp.

Win 2000Win XPWin 7

1024 *768 pixel

HIWIN Mikrosystem Corp.

HIWIN Mikrosystem Corp.

HIWIN Mikrosystem Corp.

HIWIN Mikrosystem Corp.

HIWIN Mikrosystem Corp.

(2) D2---B(G), D2---, D2T---

HIWIN Mikrosystem Corp.

HIWIN Mikrosystem Corp.

HIWIN Mikrosystem Corp.

(2) D2--- D2T---

HIWIN Mikrosystem Corp.

3-10 relay for D2---B(G) and D2---B(F)

(2) D2--- D2T---

3-11 relay for D2--- D2T---

HIWIN Mikrosystem Corp.

3.1.4. CN3 USB

SCSI 50PIN (Female)

SCSI 50PIN (Male)

HIWIN Mikrosystem Corp.

HIWIN Mikrosystem Corp.

(buffered encoderemulated encoder)

SCR connector 10PIN()

HIWIN Mikrosystem Corp.

USB2.0 Type A to mini-B 5 PIN

HIWIN Mikrosystem Corp.

CN23pinspitch 2.5mmWago 734-104

CN6 50 pins welded type 3M

CN6 50 pins welded type 3M

CN6 50 pins welded type 3M

EMI core KCF-130-B

EMI core KCF-130-B