Omron R88D-KN series User Manual page 321

Precautions for Correct Use Precautions for Correct Use
After applying a force command, the command force stops and the motor decelerates. After that,
the motor comes to a stop momentarily but may move in a reverse direction due to cogging or
other phenomena.
To prevent the motor from being judged as stopped in a wrong timing when it has not come to a
complete stop in this way, be sure to set the Magnetic Pole Position Estimation Movement for
Stop Judgment (3925 hex) and the Magnetic Pole Position Estimation Time for Stop Judgment
(3926 hex).
3927 hex Magnetic Pole Position Estimationn Time Limit for Stop
Setting range 0 to 32767
Size 2 bytes (INT16)
• Set the limit time for judging motor stop during magnetic pole position estimation.
• This time represents the time elapsed after the stoppage of a force command until the motor comes
to a complete stop.
• If the motor has not been judged as stopped when the set limit time expires, a Magnetic Pole Position
Estimation Error 2 (Error No. 61.1) will occur.
• This setting is enabled only when the Magnetic Pole Detection Method (3920 hex) is set to 2
(Magnetic pole position estimation method).
Precautions for Correct Use Precautions for Correct Use
If you set a large value in the Magnetic Pole Position Estimation Force Command (3923 hex) or
Magnetic Pole Position Estimation Maximum Movement (3924 hex), it may take a long time until
the motor stops because the motor speed when a force command stops will become high. The
motor may take a long time to stop due to a low kinetic friction. In these cases, increase the set
value.
Magnetic Pole Position Estimation Force Filter Time Constant
3928 hex
Setting range 0 to 2500
Size 2 bytes (INT16)
• Set the filter time constant for force commands during magnetic pole position estimation.
• When the set value is 0, the filter is disabled and commands will be processed as step commands.
• This setting is enabled only when the Magnetic Pole Detection Method (3920 hex) is set to 2
(Magnetic pole position estimation method).
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Unit ms Default setting
Access
Unit 0.01 ms Default setting
Access
9 Servo Parameter Objects
1000 Data attribute
RW PDO map
100 Data attribute
RW PDO map
All
B
Not possible
All
B
Not possible.
9
9-63