sh030106u.pdf - 第515页

15. USIN G A DI REC T DRIV E MOTOR 15 - 12 2) Execute t he mag netic po le detect ion. ( Refer to (3) (a) in th is s ection.) 3) After the c ompleti on of th e magn etic pol e detecti on, change [Pr. PL01] t o "_ _ …

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15. USING A DIRECT DRIVE MOTOR
15 - 11
2) Direct drive motor movement (when FLS and RLS are on)
Magnetic pole detection completion position
Servo-on position (Magnetic pole detection start position)
Center of direct drive motor rotation part
FLS (Note)
(Note) RLS
10 degrees or less
Note. When you turn off FLS (Upper stroke limit) or RLS (Lower stroke limit) during the
magnetic pole detection, the magnetic pole detection is carried on to the opposite
direction. When FLS and RLS are off, [AL. 27 Initial magnetic pole detection error]
occurs.
3) Direct drive motor movement (when FLS or RLS is off)
When FLS or RLS is off at servo-on, the magnetic pole detection is carried out as follows.
Magnetic pole detection completion position
Magnetic pole detection
start position
After the machine moves to the position where the stroke limit
(FLS or RLS) is set, the magnetic pole detection starts.
Servo-on position
Center of direct drive motor rotation part
FLS
RLS
10 degrees or less
(b) Absolute position detection system
POINT
The magnetic pole detection is required in the following timings.
When the system is set up (at the first startup of equipment)
When the Z-phase pulse of the direct drive motor is not turned on at the
system setup (When the Z-phase pulse of the direct drive motor can be turned
on manually, the magnetic pole detection is not required.)
After a direct drive motor is replaced
When [AL. 25 Absolute position erased] has occurred
Turn on the Z-phase pulse of the direct drive motor in JOG operation from the
controller after the magnetic pole detection.
Perform the magnetic pole detection in the following procedure.
1) Set [Pr. PL01 Linear servo motor/DD motor function selection 1] to "_ _ _ 1" (Magnetic pole
detection at first servo-on).
[Pr. PL01]
Magnetic pole detection at first servo-on (initial value)
1
15. USING A DIRECT DRIVE MOTOR
15 - 12
2) Execute the magnetic pole detection. (Refer to (3) (a) in this section.)
3) After the completion of the magnetic pole detection, change [Pr. PL01] to "_ _ _ 0" (Magnetic pole
detection disabled).
[Pr. PL01]
Magnetic pole detection disabled
0
After the magnetic pole detection, by turning on the Z-phase pulse in JOG operation and by
disabling the magnetic pole detection function with [Pr. PL01], the magnetic pole detection after
each power-on is not required.
(4) Magnetic pole detection method setting
Set the magnetic pole detection method using the first digit of [Pr. PL08] (Magnetic pole detection
method selection).
[Pr. PL08]
Magnetic pole detection method selectio
n
0: Position detection method
4: Minute position detection method
(5) Setting of the magnetic pole detection voltage level by the position detection method
For the magnetic pole detection by the position detection method, set the voltage level with [Pr. PL09
Magnetic pole detection voltage level]. For the magnetic pole detection by the minute position detection
method, the voltage level setting is not required.
(a) Guideline of parameter settings
Set the parameters by referring to the following table.
[Pr. PL09] setting
(Guide value)
Servo status
Small ← Medium → Large
(10 or less (initial value) 50 or more)
Torques required for operation Small Large
Overload, overcurrent alarm Not frequently occurs Frequently occurs
Magnetic pole detection alarm Frequently occurs Not frequently occurs
Magnetic pole detection accuracy Low High
(b) Setting procedure
1) Perform the magnetic pole detection, and increase the setting value of [Pr. PL09 Magnetic pole
detection voltage level] until [AL. 50 Overload 1], [AL. 51 Overload 2], [AL. E1 Overload warning
1], and [AL. EC Overload warning 2] occur. Increase the setting value by five as a guide value.
When these alarms and warnings occur during the magnetic pole detection by using MR
Configurator2, the test operation of MR Configurator2 automatically completes and the servo-off
status is established.
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2) Specify the setting value that is an approximately 70% of the value set when [AL. 50 Overload 1],
[AL. 51 Overload 2], [AL. E1 Overload warning 1], and [AL. EC Overload warning 2] occurred as
the final setting value. However, if [AL. 27 Initial magnetic pole detection error] occurs with this
value, specify a value intermediate between the value set at [AL. 50 Overload 1], [AL. 51
Overload 2], [AL. E1 Overload warning 1], or [AL. EC Overload warning 2] and the value set at
the magnetic pole detection alarm as the final setting value.
3) Perform the magnetic pole detection again with the final setting value.
(c) Setting example
Existent
Non-existent
A
larm
Magnetic pole detection
[Pr. PL09] setting value
An alarm has occurred when the setting
value of [Pr. PL09] is set to "70".
While increasing the setting value of [Pr. PL09], carry out the
magnetic pole detection repeatedly.
30 35 40 45 65 70
In this example, the final setting value of [Pr. PL09] is 49 (Setting value at the alarm occurrence = 70
× 0.7).