Mitsubishi MR-J4-10A Instruction Manual page 547

16. USING A DIRECT DRIVE MOTOR
(b) Magnetic pole detection by the minute position detection method
1)
2)
3)
4)
5)
6)
YES
7)
Note 1. For the incremental system, the [Pr. PL01] setting is not required.
Magnetic pole detection
Check that LSP (Forward rotation stroke end), LSN (Reverse rotation stroke end), and EM2 (Forced
stop 2) are on, and then cycle the servo amplifier power.
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".
[Set [Pr. PL01 Linear servo motor/DD motor function selection 1] to "_ _ _ 1" to set "Magnetic pole
detection always enabled". (Note 1)
Cycle the servo amplifier power.
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)
Execute "Forward rotation CCW" or "Reverse rotation CW" with "Positioning operation" in the test
operation mode on MR Configurator2. Set the travel distance to "0" at this time.
The magnetic pole detection is carried out.
Is the response by the
minute position detection method of [Pr.
PL17] the final value?
NO
Has an abnormal sound or
vibration occurred during the magnetic
pole detection?
NO
Is the travel distance during the
magnetic pole detection acceptable?
(Note 3)
Acceptable
Set [Pr. PL01] to "_ _ _ 0" to set "Magnetic pole detection disabled". (Note 1)
End
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 tuning 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
response by the minute position detection method in [Pr. PL17].
Decrease the response by the minute
YES
position detection method of [Pr. PL17]
by two as the final setting value.
Not
Increase the response by the minute
acceptable
position detection method of [Pr. PL17]
by one.
16 - 8