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15. USIN G A DI REC T DRIV E MOTOR 15 - 7 (1) Magnetic pole d etection method by usin g MR Con figur ator2 The foll owing sho ws the magnetic pole detectio n proc edure by usin g MR Con figu rator2. (a) Magnetic pole d e…

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15. USING A DIRECT DRIVE MOTOR
15 - 6
15.3.2 Magnetic pole detection
POINT
The magnetic pole detection is not required for the configured absolute position
detection system where the Z-phase pulse of the direct drive motor can be
turned on manually.
For this operation, always connect the direct drive motor encoder and the servo
amplifier and turn on the control circuit power supply of the servo amplifier.
Perform this operation by considering the safety.
When performing a magnetic pole detection without using FLS (Upper stroke
limit) and RLS (Lower stroke limit), set [Pr. PL08 Linear servo motor/DD motor
function selection 3] to "_ 1 _ _" to disable FLS and RLS.
Set [Pr. PE47 Torque offset] to "0 (initial value)" before executing the magnetic
pole detection.
For the magnetic pole detection of vertical axis with direct drive motors, refer to
section 2.1 of "Direct Drive Motor Instruction Manual".
Before the positioning operation of the direct drive motor, make sure to perform the magnetic pole detection.
Before starting up the equipment, perform the test operation (positioning operation) of MR Configurator2.
15. USING A DIRECT DRIVE MOTOR
15 - 7
(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?
Check that FLS (Upper stroke limit), RLS (Lower stroke limit), and EM2 (Forced stop 2) are on, and
turn the servo amplifier power off and on again.
1)
Set [Pr. PL09 Magnetic pole detection voltage level] to "10".
Execute "Forward CCW rotation" or "Reverse rotation" with "Positioning CW 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)
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".
Set [Pr. PL01 Linear servo motor/DD motor function selection 1] to "_ _ _ 1" to set "Magnetic pole
detection always enabled". (Note)
Turn the servo amplifier power off and on again.
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 turn off the
servo amplifier power, and then
turn on the power again.
Turn the servo amplifier power
off and on again.
Reset the alarm or turn off
the servo amplifier power, and
then turn on the power again.
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.
NO
YES
YES
NO
YES
NO
Magnetic pole detection
End
2)
3)
4)
5)
6)
7)
8)
Note. For the incremental s
y
stem, the [Pr. PL01] settin
g
is not required.
15. USING A DIRECT DRIVE MOTOR
15 - 8
(b) Magnetic pole detection by the minute position detection method
Is the travel distance
during the magnetic pole
detection acceptable?
(Note 3)
Turn the servo amplifier power off and on again.
Execute "Forward CCW rotation" or "Reverse rotation" with "Positioning CW operation" in the test
operation mode on MR Configurator2. Set the travel distance to "0" at this time.
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".
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] to "_ _ _ 0" to set "Magnetic pole detection disabled". (Note 1)
Check that FLS (Upper stroke limit), RLS (Lower stroke limit), and EM2 (Forced stop 2) are on, and
turn the servo amplifier power off and on again.
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. PL01 Linear servo motor/DD motor function selection 1] to "_ _ _ 1" to set "Magnetic pole
detection always enabled". (Note 1)
Set the load inertia moment ratio of the direct drive motor with [Pr. PL17 Magnetic pole detection -
Minute position detection method - Function selection]. (Note 2)
1)
2)
3)
4)
5)
6)
7)
8)
Note 1. For the incremental s
y
stem, the [Pr. PL01] settin
g
is not required.
2. If the load to direct drive motor inertia ratio is unknown, perform the magnetic pole detection by 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 rotation angle at
the magnetic pole detection must be five degrees or less. To shorten the travel distance, increase the
value of "Response selection" in [Pr. PL17].