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15. USIN G A DI REC T DRIV E MOTOR 15 - 9 (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…

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15. USING A DIRECT DRIVE MOTOR
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(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].
15. USING A DIRECT DRIVE 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
completed
(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) and
the disabling control axis switch (SW2-2, SW2-3, and SW2-4) as shown below. Turning on the power
enables the test operation mode.
Set SW2-1 to "ON (up)".
1
ON
2 3 4
15. USING A DIRECT DRIVE MOTOR
15 - 10
(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 direct drive 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 motor rotates in the forward or
reverse 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.
The accuracy of the magnetic pole detection improves with no load.
(a) Incremental system
POINT
For the incremental system, the magnetic pole detection is required every time
the power is turned on.
By turning on the servo-on command from the controller after the power-on, the magnetic pole
detection is automatically carried out. Therefore, there is no need to set the parameter (first digit of
[Pr. PL01]) for executing the magnetic pole detection.
1) Timing chart
15 s or less
ON
OFF
ON
OFF
ON
OFF
95 ms
Servo-on command
Base circuit
RD (Ready)
Magnetic pole detection time (Note)
Note. The magnetic pole detection time indicates the operation time when FLS (Upper
stroke limit
)
and RLS
(
Lower stroke limit
)
are on.