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.
Version: APR-2026.01 | TwinCAT: 3.1 Build 4024.65
Parameter reference for E1 drive with LMSA13L linear motor in CSP mode.
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.
| 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 |
| 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 |
| Object | Name | Setting | Purpose |
|---|---|---|---|
| 0x60FD | Digital Inputs | Monitor | Home/Pos-limit/Neg-limit/STO |
| 0x6041 bit11 | Internal Limit Active | Monitor | Limit/fault detection |
| 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) |
| Object | Name | Setting | Purpose |
|---|---|---|---|
| 0x6065 | Following Error Window | Set threshold | Position deviation limit |
| 0x6066 | Following Error Timeout | Set timeout | Protection trigger delay |
| Object | Name | Usage |
|---|---|---|
| 0x6040 | Controlword | State machine control |
| 0x6041 | Statusword | State monitoring |
| 0x603F | Error Code | First-look fault diagnosis |
┌──────────────┐
│ 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
└──────────────┘
| 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 |
| 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 |
Since LMSA13L uses incremental Hall encoder, homing is required at every power-up:
Move to Negative Limit (low speed)
Seek Home from Negative
Move to Positive Limit
Return to Home
| 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 |
| 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 |
references/parameter-table.md - LMSA13L × E1 complete parameter mapping tablereferences/encoder-mapping.md - Encoder behavior and actual motion correlationreferences/version-selection.md - TwinCAT version selection guide (4024.65 vs 4024.68 vs 4026)