sh030106u.pdf - 第478页

14. USIN G A LINEAR SER VO MOTOR 14 - 11 14.3.2 M agnetic p ole detec tion POINT Set [Pr. PE 47 Torque offset] to " 0 (initia l value)" bef ore exec uting th e magnetic pole detec tion. Before th e positi oning…

14. USING A LINEAR SERVO MOTOR

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(b) Confirmation method

Confirm the positive direction of the linear servo motor and the increasing direction of the linear

encoder in the following procedure.

1) In servo-off status, move the linear servo motor in the positive direction manually.

2) Confirm the motor speed (in the positive and negative directions) at that time with MR

Configurator2.

3) When [Pr. PC27] is set to "_ _ _ 0" and the positive direction of the linear servo motor matches

with the increasing direction of the linear encoder, if the linear servo motor operates in the

positive direction, the motor speed will be a positive value. If the positive direction of the linear

servo motor does not match with the increasing direction of the linear encoder, the motor speed

will be a negative value. When [Pr. PC27] is set to "_ _ _ 1" and the positive direction of the linear

servo motor matches with the increasing direction of the linear encoder, if the linear servo motor

operates in the positive direction, the motor speed will be a negative value.

(4) Linear encoder resolution setting

POINT

To enable the parameter value, cycle the power after setting.

If an incorrect value is set for [Pr. PL02] or [Pr. PL03], the linear servo motor

may not operate properly, or [AL. 27] or [AL. 42] may occur at the positioning

operation or the magnetic pole detection.

Set the ratio of the electronic gear to the linear encoder resolution with [Pr. PL02 Linear encoder

resolution - Numerator] and [Pr. PL03 Linear encoder resolution - Denominator].

(a) Parameter setting

Set the values that apply to the following equation.

[Pr. PL02 Linear encoder resolution - Numerator]

[Pr. PL03 Linear encoder resolution - Denominator]

= Linear encoder resolution [µm]

(b) Parameter setting example

When the linear encoder resolution is 0.5 µm

[Pr. PL02]

[Pr. PL03]

= Linear encoder resolution = 0.5 µm =

The following shows the simplified chart for the setting values of [Pr. PL02] and [Pr. PL03].

Linear encoder resolution [µm]

0.01 0.02 0.05 0.1 0.2 0.5 1.0 2.0

Setting

value

[Pr. PL02] 1 1 1 1 1 1 1 2

[Pr. PL03] 100 50 20 10 5 2 1 1

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14.3.2 Magnetic pole detection

POINT

Set [Pr. PE47 Torque offset] to "0 (initial value)" before executing the magnetic

pole detection.

Before the positioning operation of the linear servo motor, make sure to perform the magnetic pole detection.

When [Pr. PL01] is set to the initial value, perform the magnetic pole detection only at the first servo-on after

the power is turned on.

The magnetic pole detection includes the following two methods. Each method has advantages and

disadvantages. Select a magnetic pole detection method suitable for your usage.

The position detection method is selected in the initial setting.

Magnetic pole detection Advantage Disadvantage

Position detection method

1. The magnetic pole detection has a

high degree of accuracy.

2. The adjustment procedure at the

magnetic pole detection is simple.

1. The travel distance at the

magnetic pole detection is large.

2. For equipment with small friction,

the initial magnetic pole detection

error may occur.

Minute position detection method

1. The travel distance at the

magnetic pole detection is small.

2. Even for equipment with small

friction, the magnetic pole

detection is available.

1. The adjustment procedure at the

magnetic pole detection is

complex.

2. If a disturbance occurs during the

magnetic pole detection, [AL. 27

Initial magnetic pole detection

error] may occur.

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(1) Magnetic pole detection method by using MR Configurator2

The following shows the magnetic pole detection procedure by using MR Configurator2.

(a) Magnetic pole detection by the position detection method

Have [AL. 32 Overcurrent], [AL. 50

Overload 1], [AL. 51 Overload 2], and

[AL. E1 Overload warning 1]

occurred?

1) Check that FLS (Upper stroke limit), RLS (Lower stroke limit), and EM2 (Forced stop 2) are on, and

then cycle the servo amplifier power.

Turn "On (up)" the test operation select switch (SW2-1) of the servo amplifier, and then cycle the

power of the servo amplifier.

Set [Pr. PL08 Linear servo motor/DD motor function selection 3] to "_ _ _ 0" to set the magnetic

pole detection method to "Position detection method".

Cycle the servo amplifier power.

6) Set [Pr. PL09 Magnetic pole detection voltage level] to "10".

7) Execute "Positive direction travel" or "Negative direction travel" with "Positioning operation" in the

test operation mode on MR Configurator2. Set the travel distance to "0" at this time.

Set [Pr. PL01] to "_ _ _ 0" to set "Magnetic pole detection disabled". (Note)

The magnetic pole detection is carried out.

Is [Pr. PL09] the final value?

Has [AL. 27 Initial magnetic pole

detection error] occurred?

Reset the alarm or cycle the

servo amplifier power.

Cycle the servo amplifier power.

Reset the alarm or cycle the

servo amplifier power.

Increase the value of [Pr. PL09]

by five.

Set an approximately 70% of the

value set for [Pr. PL09] as the

final setting value.

If [AL. 27 Initial magnetic pole

detection error] occurs with this

value, specify a value

intermediate between the value

set at [AL. E1 Overload warning

1] and the value set at [AL. 27

Initial magnetic pole detection

error] as the final setting value.

YES

Magnetic pole detection

End

Set [Pr. PL01 Linear servo motor/DD motor function selection 1] to "_ _ _ 1" to enable "Magnetic

pole detection at first servo-on". (Note)

Note. For the incremental s

stem, the [Pr. PL01] settin

is not required.