sh030106u.pdf - 第481页
14. USIN G A LINEAR SER VO MOTOR 14 - 14 (c) State transition o f the serv o amplifier disp lay (3-digit , 7 -segmen t LED) at the ma gnetic pole detectio n When the m agnetic pole de tectio n with MR Co nfigurat or2 is …
14. USING A LINEAR SERVO MOTOR
14 - 13
(b) Magnetic pole detection by the minute position detection method
Is the travel distance during
the magnetic pole detection
acceptable? (Note 3)
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 "_ _ _ 4" to set the magnetic
pole detection method to "Minute position detection method".
Cycle the servo amplifier power.
6) With [Pr. PL17 Magnetic pole detection - Minute position detection method - Function selection],
set the load to mass of the linear servo motor primary-side ratio. (Note 2)
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.
8)
Set [Pr. PL01] to "_ _ _ 0" to set "Magnetic pole detection disabled". (Note 1)
2)
3)
4)
5)
The magnetic pole detection is carried out.
Is "Response selection"
of [Pr. PL17] set to a final
setting value?
Has an abnormal sound or
vibration occurred during the
magnetic pole detection?
Decrease the value set in "Response
selection" of [Pr. PL17] by two.
Increase the value set in "Response
selection" of [Pr. PL17] by one.
Not
acceptable
YES
Acceptable
NO
YES
NO
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 1)
Note 1. When the linear encoder is an incremental t
y
pe, the [Pr. PL01] settin
g
is not required.
2. If the load to primary-side linear servo motor mass ratio is unknown, perform the magnetic pole
detection b
y
the position detection method, and then perform the auto tunin
g
to set an estimated value.
3. For the magnetic pole detection by the minute position detection method, the maximum travel distance
at the magnetic pole detection must be 0.5 mm or less. To shorten the travel distance, increase the
value of "Response selection" in [Pr. PL17].
14. USING A LINEAR SERVO MOTOR
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(c) State transition of the servo amplifier display (3-digit, 7-segment LED) at the magnetic pole detection
When the magnetic pole detection with MR Configurator2 is normally executed, the servo amplifier
display (3-digit, 7-segment LED) shows the state as below.
The decimal point
blinks.
Servo-off status
During the
magnetic pole
detection
Magnetic pole
detection
completion
(servo-on status)
(2) Preparation for the magnetic pole detection
POINT
When the test operation mode is selected with the test operation select switch
(SW2-1), the SSCNET III/H communication for the servo amplifier in the test
operation mode and the following servo amplifiers is blocked.
For the magnetic pole detection, use the test operation mode (positioning operation) of MR
Configurator2. Turn off the servo amplifier power, and set the test operation select switch (SW2-1) as
shown below. Turning on the power enables the test operation mode.
Set SW2-1 to "ON (up)".
1
ON
2 3 4
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(3) Operation at the magnetic pole detection
WARNING
Note that the magnetic pole detection automatically starts simultaneously with the
turning-on of the servo-on command.
CAUTION
If the magnetic pole detection is not executed properly, the linear servo motor may
operate unexpectedly.
POINT
Establish the machine configuration using FLS (Upper stroke limit) and RLS
(Lower stroke limit). Otherwise, the machine may be damaged due to a collision.
At the magnetic pole detection, whether the linear servo motor moves in the
positive or negative direction is unpredictable.
Depending on the setting value of [Pr. PL09 Magnetic pole detection voltage
level], an overload, overcurrent, magnetic pole detection alarm, or others may
occur.
When performing the positioning operation from a controller, use the sequence
which confirms the normal completion of the magnetic pole detection and the
servo-on status, then outputs the positioning command. If the controller outputs
the positioning command before RD (Ready) turns on, the command may not be
accepted or a servo alarm may occur.
After the magnetic pole detection, check the positioning accuracy with the test
operation (positioning operation function) of MR Configurator2.
When the absolute position linear encoder is used, if a gap is generated to the
positional relation between the linear encoder and the linear servo motor,
perform the magnetic pole detection again.
The accuracy of the magnetic pole detection improves with no load.
An alarm may occur when the linear encoder is not mounted properly, or when
the linear encoder resolution setting ([Pr. PL02] and [Pr. PL03]) or the setting
value of [Pr. PL09 Magnetic pole detection voltage level] is incorrect.
For the machine that its friction becomes 30% or more of the continuous thrust,
the linear servo motor may not operate properly after the magnetic pole
detection.
For the horizontal shaft of the machine that its unbalanced thrust becomes 20%
or more of the continuous thrust, the linear servo motor may not operate
properly after the magnetic pole detection.
For the machine that multiple axes are connected like a tandem configuration, if
you try to perform the magnetic pole detection simultaneously for multiple axes,
the magnetic pole detection may not be executed. Perform the magnetic pole
detection for each axis. At this time, set the axes that the magnetic pole
detection is not performed for to servo-off.