mm-apr-e1-driver

在为LMSA13L直线电机配置HIWIN E1伺服驱动器时，可按以下步骤操作： (1) 驱动参数的设置与调优（使用Thunder软件）； (2) 电机选型与编码器配置（霍尔/TS）； (3) 速度与加速度限制，以及跟随误差保护机制； (4) CiA-402状态机与控制字/状态字的配置； (5) 增量式编码器系统的归零寻参序列。

SKILL.md

--- frontmatter

name: mm-apr-e1-driver
description: |
  Use when configuring HIWIN E1 servo drive for LMSA13L linear motor:
  (1) Drive parameter setup and tuning (Thunder software),
  (2) Motor selection and encoder configuration (Hall/TS),
  (3) Speed/acceleration limits and following error protection,
  (4) CiA-402 state machine and control word/status word,
  (5) Homing sequence for incremental encoder systems.

HIWIN E1 Servo Drive Configuration Guide

Version: APR-2026.01 | TwinCAT: 3.1 Build 4024.65

Parameter reference for E1 drive with LMSA13L linear motor in CSP mode.

Overview

This skill covers the configuration and tuning of HIWIN E1 servo drives for the LMSA13L linear motor system. The E1 drive uses CoE (CANopen over EtherCAT) with CiA-402 drive profile, supporting CSP (Cyclic Synchronous Position) mode for precise motion control.

Drive Specifications

Parameter	Value	Notes
Model	ED1x-xx-75	Per LMSA13L selection report
Power Supply	380VAC 3-phase	Main circuit
Rated Current	14.1 A(rms)	Motor continuous
Peak Current (1s)	42.4 A(rms)	Motor instantaneous
Continuous Force	308 N
Peak Force (1s)	868 N
Max Velocity	9.7 m/s (9700 mm/s)	System limit
Max Acceleration	≥29.4 m/s²	Required for 1m constant velocity

Critical Parameters (Must Configure)

A1. Communication & Mode (CSP Foundation)

Object	Name	Value	Purpose
0x6060	Modes of Operation	8	CSP mode
-	DC Sync Mode	DC Sync0	Multi-axis synchronization
-	Cycle Time	1ms typical	EtherCAT/NC task period

A2. Travel & Limits (4.2m stroke)

Object	Name	Setting	Purpose
0x60FD	Digital Inputs	Monitor	Home/Pos-limit/Neg-limit/STO
0x6041 bit11	Internal Limit Active	Monitor	Limit/fault detection

A3. Velocity & Dynamics (9.7 m/s max)

Object	Name	Recommended	Purpose
0x607F	Max Profile Velocity	9700 mm/s equiv	Hard speed limit
0x6083	Profile Acceleration	Per calculation	Accel limit
0x6084	Profile Deceleration	Per calculation	Decel limit
0x6085	Quick Stop Deceleration	Set appropriate	Emergency decel
0x605A	Quick Stop Option Code	2	Slow down (E1 only supports 2)

A4. Following Error Protection (CSP Critical)

Object	Name	Setting	Purpose
0x6065	Following Error Window	Set threshold	Position deviation limit
0x6066	Following Error Timeout	Set timeout	Protection trigger delay

A5. Diagnostics

Object	Name	Usage
0x6040	Controlword	State machine control
0x6041	Statusword	State monitoring
0x603F	Error Code	First-look fault diagnosis

CiA-402 State Machine

code

         ┌──────────────┐
         │ Not Ready to │
         │ Switch On    │
         └──────┬───────┘
                │ (automatic)
         ┌──────▼───────┐
         │ Switch On    │
         │ Disabled     │
         └──────┬───────┘
                │ Shutdown (0x0006)
         ┌──────▼───────┐
         │ Ready to     │
         │ Switch On    │
         └──────┬───────┘
                │ Switch On (0x0007)
         ┌──────▼───────┐
         │ Switched On  │
         └──────┬───────┘
                │ Enable Operation (0x000F)
         ┌──────▼───────┐
         │ Operation    │
         │ Enabled      │◄── CSP Mode Active
         └──────────────┘

Controlword (0x6040) Bit Definition

Bit	Name	Description
0	Switch On	Request switch on
1	Enable Voltage	Enable power stage
2	Quick Stop	Active low
3	Enable Operation	Enable torque/velocity
7	Fault Reset	Rising edge clears fault

Statusword (0x6041) Bit Definition

Bit	Name	Description
0	Ready to Switch On	Power stage ready
1	Switched On	Power stage enabled
2	Operation Enabled	Motion enabled
3	Fault	Fault active
7	Warning	Warning active
10	Target Reached	Position reached
11	Internal Limit Active	Limit triggered

Homing Sequence (Incremental Encoder)

Since LMSA13L uses incremental Hall encoder, homing is required at every power-up:

Standard Calibration Flow

•
Move to Negative Limit (low speed)
- •MC_MoveVelocity negative direction
- •Monitor 0x60FD for Neg-Limit signal
- •Stop on trigger
•
Seek Home from Negative
- •Move positive direction
- •Monitor Home switch signal
- •Stop and SetPosition(0.0 mm)
•
Move to Positive Limit
- •Verify full travel
- •Confirm Pos-Limit signal
•
Return to Home
- •Verify repeatability
- •Set calibration complete flag

Calibration Parameters

Parameter	Calibration Mode	Production Mode
Velocity	100-300 mm/s	9700 mm/s max
Acceleration	500 mm/s²	Per design
Timeout	60s per phase	N/A

Fault Codes Reference

Code	Name	Cause
0x2310	Over Current	Short circuit, motor wiring
0x3110	DC Link Over Voltage	Regen resistor insufficient
0x3120	DC Link Under Voltage	Power supply issue
0x4310	Motor Over Temperature	TS sensor triggered
0x5441	Following Error	Position deviation exceeded
0x7500	Communication Error	EtherCAT lost
0x8611	STO Active	Safety function triggered

TwinCAT NC / Drive Setup Checklist

EtherCAT / ESI / Scanning

• Confirm E1 firmware version, copy matching ESI to TwinCAT directory
• Keep only ONE ESI file (avoid conflicts)
• TwinCAT Reload Device Descriptions → Scan Devices
• Link Axis to NC Configuration

Unit Conversion (Critical)

• NC Axis engineering units: mm / mm/s / mm/s²
• Drive position units are increments (inc)
• Calibrate inc/mm ratio by jogging known distance

Velocity Limits

• NC Max velocity = 9700 mm/s
• Drive 0x607F = equivalent in inc/s
• Quick stop: 0x605A=2, 0x6085 properly set

Available References

•references/parameter-table.md - LMSA13L × E1 complete parameter mapping table
•references/encoder-mapping.md - Encoder behavior and actual motion correlation
•references/version-selection.md - TwinCAT version selection guide (4024.65 vs 4024.68 vs 4026)