D1Servo Drive

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TAIWAN EXCELLENCE GOLD AWARD '12 '11 '09 '08 '05

TAIWAN EXCELLENCE SILVER AWARD 2006, 2001, 1993

BallscrewsGround/Rolled• High Speed

(High Dm-N Value/Super S Series)• Heavy Load (Cool type II)• Self-Lubricanting (E2)• Rotating Nut (R1)

TAIWAN EXCELLENCE 2002

Linear Actuator• LAN for Hospital• LAM for Industrial• LAS Compact Size• LAK Controller

TAIWAN EXCELLENCE GOLD AWARD 2004

Linear Synchronous Motor• Coreless Type (LMC)

• Iron-core Type (LMS)

AC Servo Motor

AC Servo Motor Drives

TAIWAN EXCELLENCE GOLD AWARD 2010, 2003

Industrial Robot• For Semiconductor & Electronic

(KK Robot)• For Automation (KS, KA Robot)

TAIWAN EXCELLENCE SILVER AWARD 2009

Linear Motor Air Bearing Platform

TAIWAN EXCELLENCE GOLD AWARD 2008

TAIWAN EXCELLENCE SILVER AWARD 2007, 2002

Linear GuidewayHG/EG/RG/MG Type• Self-Lubricating (E2)• Low Noise (Q1)• Air Jet (A1)

Positioning

Measurement System

TAIWAN EXCELLENCE SILVER AWARD 2006

TMS Torque Motor Rotary Table

Linear Motor X-Y Robot

TAIWAN EXCELLENCE 2004

Positioning GuidewayLinear Motor Gantry

High speed High precision Multifunctional integration Ecology first Humanistic technology

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01

Excellent PerformanceThe D1 drive attains high positioning performanceto compliment the motion control technology of thesemiconductor industry. The D1 drive achieves very goodfollowing characteristics and effectively shortens thepositioning time.

Simple Operation Human-machine interface provides very simple settings. Allstandard types of motors and encoders are built inside. Setup can be completed with just one-click.

Complete Tool SetsThere are commissioning interfaces for speed andacceleration protection settings, gain settings, and an I/O test. Plus the D1 drive has a complete filter, frequencyanalysis, Bode plot, Lissajous figures and other functionswhich provide a complete driver control program.

Easy IntegrationHIWIN provides positioning modules, motors,and the best servo drive solution from mega-fabs.According to customer’s requirements we can integrateall that are required for user’s easiness of application.

ServicesThrough HIWIN's complete global presence, we can provideimmediate technical services at any time.

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02

With help of semiconductor high-end

motion control algorithm and advanced

common gain concept, the high speed

response is achieved, therefore satisfying

all of the motion control needs.

The D1 drive offers many flexible features, such as an electronic gear function which helps the

user to adjust the resolution of the host controller’s command pulse. This solves compatibility

problems between the encoder’s resolution and the host controller. The D1 drive can also set the

resolution of the emulated encoder which is the output to the host controller. This also solves the

compatibility problems between the encoder’s and the host controller’s resolution.

Using advanced WizAlg controller design

tools, plus space vector current control

technology, servo performance has been

achieved to the highest level. To change

motor speed from -3000 to +3000 rpm, it

takes as low as 0.006 second.

Excellently high speed response

Electronic gear ratio and Encoder Emulator

High acceleration responses

Excellent Performance

Speed Response > 1200Hz

Speed Response > 1200Hz

Speed Response > 1200Hz

0.02 0.04 0.06

0.006 sec

0.08 0.1 0.120

6ms

0.02 0.04 0.06

0.006 sec

0.08 0.1 0.120

0.006sec

0.006sec

HostController

1 um

1 um

ElectronicGear

ElectronicEmulator

Interpolator

40 nm

D1 Driver

40 um

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03

Built-in accuracy improvement features

Accuracy : 51.7Bi-Dir Rep. : 1.2

45

40

35

30

25

20

15

10

5

0

0 500 1000 1500 2000

Target (mm)Renishaw Analysis - Linear

Erro

r (u

m)

Without compensation

Accuracy : 1.4Bi-Dir Rep. : 0.8

45

40

35

30

25

20

15

10

5

0

0 500 1000 1500 2000

Target (mm)Renishaw Analysis - Linear

Erro

r (u

m)

With compensation

Accuracy : 51.7Bi-Dir Rep. : 1.2

45

40

35

30

25

20

15

10

5

0

0 500 1000 1500 2000

Target (mm)Renishaw Analysis - Linear

Erro

r (u

m)

Without compensation

Accuracy : 1.4Bi-Dir Rep. : 0.8

45

40

35

30

25

20

15

10

5

0

0 500 1000 1500 2000

Target (mm)Renishaw Analysis - Linear

Erro

r (u

m)

With compensation

With suppressionWithout suppression

D1 drive includes features to improve total positioning accuracy of the mechanical system. The

table size can be up to 16000 points. It is implemented in all control modes to optimize system

behavior.

D1 drive can remove the vibration frequency that occurs during movement. It reduces vibrations

caused by system’s structure and improve the machine’s production efficiency.

Vibration Suppression Feature

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04

Easy operation

LCD display

Simple Operation

Parameters are categorized according to features, only necessary ones are shown at the right

time. No confusing parameter list.

Without PC and user’s interface, it is possible to

complete basic settings. The LCD display shows

the necessary error or warning information and

statuses. With push buttons on the panel, it is

possible to set gains and test run.

Simple setup

Auto phase center

Tuning completed

HIWIN Motors

AC servo

Linear

LMC

LMF

HIWIN Motors

AC servo

Linear

LMC

LMF

1 2 3

Three Steps

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05

Wide range of tools

Complete Tool Sets

Accuracy enhancement

Advanced gain scheduling feature

Optimization tools

Variety of I / O functions

Analysis Tools

To improve on the positioning accuracy of motion systems, the D1 amplifier is featured with an error compensation function. By taking the measurements from a laser interferometer, the positioning error table can be built inside the D1, so that high positioning accuracy is achieved.

After setting gains through optimization tools, there is only one value to adjust:the common gain. During motion, the D2 drive provides a gain scheduling function.You can adjust the gain according to different phases of motion, such as moving phase,settling phase, and in-position phase.

The D1 provides a powerful and easy to use tool for optimization. You can usethe frequency analysis tools to display the real response in the form of a graph.You can easily set the best gain value for the system based on the real response,even first time users can easily get started.

In response to a number of different functions, you are free to configure the I / O pin functionality and adapt different hardware interface needs.This satisfies diverse requirements for different motion controllers with regardsto their pin assignments and hardware interfaces.

To solve a resonance problem, the D1 drive offers a filter design toolfor improving the control performance, a Fast Fourier Transform (FFT) and othermathematical operation tools.. You can use the functions to calculate theresonant frequency of the system easily, and to make the filter design more accurate.

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06

The total solution

Easy Integration

LMC LMS LMT TMS/TMX

Linear Motor Stages

Mega-Fabs Drive

D1 Applications

• PCB Inspection Machine

• Wafer Inspection Machine

• Laser machining

• Industrial robots

• Precision machining equipment

• Large and small size flat panel inspection equipment

• Warehouse positioning system

• Industrial control applications

• Optical Inspection Machine

• Robot control

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07

Motor series drive Motor series drive Motor series drive Motor series drive

LMS47 LMS13~LMS27 TMS03~TMS07 TMX44

LMSC7 LMS37~LMS37L TMS12~TMS18 TMX48

LMCA2~LMCA6 LMS57 TMS32~TMS38 TMX63 MD-36-SR

LMCB2~LMCB8 LMS67 TMS3C D1-36-T TMX65

LMCBA LMSC7(WC)2 TMS74 TMX68

LMCC7~LMCC8 LMSC7L TMS76

LMCD4~LMCDA LMCF6 TMS7C

LMCE4~LMCEC LMCF8

LMCF4 LMF01L MD-36-S2

LMF01 LMF03

LMF02 MD-18-S2 LMF11L

LMF11 LMF13

LMF12 LMF14

LMF21 LMF21L

LMF22 LMF23

LMF31 LMF24

LMF41 LMF32

LMTA2~LMTA4 LMF42

LMTB2~LMTB4

LMTC2~LMTC4

LMTD2~LMTD4

Motor models and the corresponding drive models

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08

Wiring example

Display PanelTwo lines Dot Matrix Indicatesmessages and parameters

Connection to PCUse Rs-232 cable

Connection to host controller26 pin SCSI connector(Standard accessory)

Connection to EncoderEncoder cable (optional)

Status LEDReady/ Error quick guide

Circuit Breaker(MCCB)

Noise Filter

Magnetic Contactor (MC)

Regeneration(optional)

DC 24V for brake(applied by Customer)

Please download from -www.hiwinmikro.com.tw-

LighteningFor D1

FREE

Reactor(L)

(optional)

(optional)

DC24V

MOTOR power end

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09

• Digital amplifier• Field oriented control• Intuitive Lightening interface• 100-240VAC input power• Supports Step/Direction, CW/CCW and A/B phase pulse format• Supports +/- 10V voltage command• Supports analog and digital encoder

MotionController

DC24V

LM STAGE

Drive

PC

CN1

CN3 CN2 CN4

Main Power

Option

5

6 Pulse signal etc.Limit signals

CN2

CN1

CN3

1

2

3

4

Drives for Linear Motor Stages

① Motor Cable② Encoder Cable③ RS-232 Cable④ Regen Resistor⑤ Controller Pulse Cable⑥ Limit Switch Cable

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10

5V@400mA

+

-

Fromencoderinput

SG2

3

+3.3Vdc

+5V

9

8

7

6

5

4 A

Z

/Z

20 SG

121

Case Ground

L LI ON AE D

L2(Neut)

L1(Line)

1ψ47-63Hz100-240VAC

PCI4P-TB

Fuse

4.99K

10K

+24Vdc

RTN

3

1

Fuses

L3

REG+

REG-

3

LineFitter

4

3

2

1

L2

L1

1

2

+V Bus

-V Bus

+5Vdc

V

W

U

TXD

SG

RXD

5

4

3

2

SG

15

14

CN3

I5

SG

4

3

2

U

V

W

CN1

To PC RS-232 port

CN2

27 ST0+

28 ST0-

29 DR0+

30 DR0-

15 EA0+

16 EA0-

17

18 EB0-

EB0+

19

20 EZ0-

EZ0+

I9 10

8

11

9

16

17

18

19

20

21

1

I9M

I10

I10M

A

/A

/Z

/B

Z

B

FG 4

5

6

12

13

14A+

0 V

7

2Innershield

Case Ground

Caseground

CN3

A-

B+

B-

Z+

Z-

+5Vdc

845

845

1

10

1

3

13

12

11

+5V

HC

HB

HA

SG

FG

/A

B

/B

1 FGOutershield

15

5

9-

3-OUT

3-L

8

7

6

2-OUT

2-L

1-OUT

1-L

+ 1

3

2

4

CN1*

Eg. NPN(open collector)sensor power +5~+24Vdc

50V

Vcc

Hall C

Hall B

Hall A 2

4

3

1

Outershield

CN4

Case Ground

+5Vdc

10K10K

5V@400mA

RS422

CN2

1 N/C

N/C6

+24Vdc Power Supply(Required) At least 500mA

Earth Ground

Do not exceed1m

Regen Resistor

* Axis 0 is shown in this example** In case of user's PLC or motion controller the pin numbers would be different.

Typical circuit Typical circuit

Typical circuit

mega-fabs D1 Servo Amplifier

Pos. Limit

Neg. Limit

Digital Encoder

Digital Hall(Optional)

Over temperatureswitch

Linear Motor Stage

Wiring example

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11

CN2

CN1

CN3

MotionController

DC24V

Drive

PC

CN1

CN2

Main Power

Option

Pulse signal etc.5

1

2

3

4

Drives for Rotary Tables

• Digital amplifier• Field oriented control• Intuitive Lightening interface• 100-240VAC input power• Supports Step/Direction, CW/CCW and A/B phase pulse format• Supports +/- 10V voltage command• Supports analog and digital encoder

① Motor Cable② Encoder Cable③ RS-232 Cable④ Regen Resistor⑤ Controller Pulse Cable

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12

5V@400mA

+

-

Fromencoderinput

SG2

3

+5Vdc

+5V

9

8

19

18

17

16 sin+

Z

/Z

121

Case Ground

+24Vdc Power Supply(Required) At least 500mA

L LI ON AE D

L2(Neut)

L1(Line)

1ψ47-63Hz100-240VAC

PCI4P-TB

Fuse

4.99K

10K

+24Vdc

RTN

3

1

Fuses

L3

REG+

REG-

3

CN2

LineFitter

4

3

2

1

L2

L1

1

2

mega-fabs D1 Servo Amplifier

+5Vdc

V

W

U

TXD

SG

RXD

5

4

3

2

SG

15

14

CN3

I5

SG

4

3

2

U

V

W

CN1To PC RS-232 port

CN1

27 ST0+

28 ST0-

29 DR0+

30 DR0-

15 EA0+

16 EA0-

17

18 EB0-

EB0+

19

20 EZ0-

EZ0+

I9 10

8

11

9

16

17

18

19

20

21

1

I9M

I10

I10M

A

/A

/Z

/B

Z

B

FG

1

2

3

8

9

10U1+

0 V

4,5

6

shield Case Ground

Caseground

CN2AnalogEncoderU1-

U2+

U2-

U0+

U0-

+5Vdc

845

845

1

sin-

cos+

cos-

1 FG

OT-

OT+ 11

12

RS422

-V Bus

+V Bus

6

1

N/C

N/C

Earth Ground

Do not exceed1m

Regen Resistor

* Axis 0 is shown in this example** In case of user's PLC or motion controller the pin numbers would be different.

Typical circuit

Typical circuit

Torque Motor Rotary Table

Wiring example

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13

Item Part Number Description

Communication cable

RS232 communication cable LMACR21D 2m long, RJ11 connector at driver end

Connector Kit

Connector Kit (without CN3 connector)

D1-CK1Incl. connectors for CN2, regenerative resistor, 24V control power and AC power

Connector Kit (with CN3 connector)

D1-CK2Incl. connectors for CN2, CN3, regenerative resistor, 24V control power and AC power

EMC Kit

EMC Kit (single phase) D1-EMC1 Single-phase filter FN2090-10-06 and ferrite cores

EMC Kit (3 phase) D1-EMC2 Three phase filter FN3258-7-45 and ferrite cores

EMC Kit (3 phase) D1-EMC3Three phase filter FN3258-7-45(low leakage current) and ferrite cores

Regenerative resistors

Regenerative resistors 050100700001 Rated Power-100W, peak power-500W

Heat sink

External heat sink D1-H1 Standard

External heat sink D1-H2 Low profile

Control cable

Control signal cable LMACK30R

3m long, for connection to host controller. The signalcable has free leads at the controller side, so solderingcan easily be done for connection with the host controllerconnector.

Control signal cable LMACK□□A For connection to ACS SPiiPlus SA controller

D1 Drive Accessories

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14

EMC Kit

Three phase filter(D1-EMC2)

Single phase filter(D1-EMC1)

Three phase filter(D1-EMC3)

Ferrite core

160

M5

4.5

180

20

1190

10.6

(Unit:mm)D1-DNE01A

(Unit:mm)D1-DNE04A

M4

78

1.5

140

50

4.3x5.5

150

32

31.5

14

31

32.5

(Unit:mm)D1-DNE02A

160

M5

4.5

180

20

1190

10.6

(Unit:mm)D1-DNE01A

(Unit:mm)D1-DNE04A

M4

78

1.5

140

50

4.3x5.5

150

32

31.5

14

31

32.5

(Unit:mm)D1-DNE02A

160

M5

4.5

180

20

1190

10.6

(Unit:mm)D1-DNE01A

(Unit:mm)D1-DNE04A

M4

78

1.5

140

50

4.3x5.5

150

32

31.5

14

31

32.5

(Unit:mm)D1-DNE02A

160

M5

4.5

180

20

1190

10.6

(Unit:mm)D1-DNE01A

(Unit:mm)D1-DNE04A

M4

78

1.5

140

50

4.3x5.5

150

32

31.5

14

31

32.5

(Unit:mm)D1-DNE02A

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15

Regenerative resistors

Heat sink

Regenerative resistors(050100700001)

External heat sink(D1-H1)

External heat sink(D1-H2)

165150

5.3

500

20

40

(Unit:mm)D1-DNE03A

165150

5.3

500

20

40

(Unit:mm)D1-DNE03A

165150

5.3

500

20

40

(Unit:mm)D1-DNE03A

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The specifications in this catalog are subject to change without notification.

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