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14. USIN G A LINEAR SER VO MOTOR 14 - 18 3) After the c ompleti on of th e magn etic pol e detecti on, change [Pr. PL01] t o "_ _ _ 0" (Magn etic pole detection disa bled). [Pr. PL01] Magnetic pole detection di…

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14. USING A LINEAR SERVO MOTOR
14 - 17
3) Linear servo motor movement (when FLS (Upper stroke limit) or RLS (Lower stroke limit) is off)
When FLS or RLS is off at servo-on, the magnetic pole detection is carried out as follows.
RLS FLS
(Note)
Magnetic pole detection completion position
Magnetic pole detection
start position
Servo-on
position
The linear servo motor moves to a
magnetic pole detection start position
upon servo-on, and the magnetic pole
detection is executed.
The linear servo motor reciprocates several times and returns
to the magnetic pole detection start position to complete the
magnetic pole detection and to go into the servo-lock status.
A
t this time, there may be a gap, approximately a quarter of
the pitch against magnetic pole, from the start position.
Note. For the pitch a
g
ainst ma
g
netic pole, refer to
(
3
)
(
a
)
2
)
Note 2 in this section.
(b) For the absolute position linear encoder
POINT
The magnetic pole detection is required in the following timings.
When the system is set up (at the first startup of equipment)
After a servo amplifier is replaced
After a linear servo motor (primary-side or secondary-side) is replaced
After a linear encoder (scale or head) is replaced or remounted
If a gap is generated to the positional relation between the linear encoder and
the linear servo motor, perform the magnetic pole detection again.
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
2) Execute the magnetic pole detection. (Refer to (3) (a) in this section.)
14. USING A LINEAR SERVO MOTOR
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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 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
POINT
In the following cases, set the magnetic pole detection method to the minute
position detection method.
When a shorten travel distance at the magnetic pole detection is required
When the magnetic pole detection by the position detection method is not
completed
When a linear encoder with a resolution smaller than 0.05 μm is used and the
magnetic pole detection does not complete normally by minute position
detection method, select "Enabled (1 _ _ _)" of "Minute position detection
method - High-resolution encoder selection" in [Pr. PL08].
Set the magnetic pole detection method using the first digit of [Pr. PL08] (Magnetic pole detection
method selection).
[Pr. PL08]
Magnetic pole detection method selection
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)
Thrust at operation Small Large
Overload, overcurrent alarm Seldom occurs Frequently occurs
Magnetic pole detection alarm Frequently occurs Seldom occurs
Magnetic pole detection accuracy Low High
14. USING A LINEAR SERVO MOTOR
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(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. 33 Overvoltage], [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.
2) Specify the setting value that is an approximately 70% of the value set when [AL. 50 Overload 1],
[AL. 51 Overload 2], [AL. 33 Overvoltage], [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. 33 Overvoltage], [AL. E1 Overload warning 1], and [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 to check there is no
problem.
(c) Setting example
Occurring
Not occurring
Linear encoder magnetic
pole detection
[Pr. PL09] setting
Alarm
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).