Motorcontrol.pmh - Omron CK5M-CPU1 1 Series Application Manual

4 How to Customize Various Settings
4-3

MotorControl.pmh

This file contains the settings for linear motor control.
No.
*1 Motor[x].ServoCtrl
*2 Motor[x].pEnc, Motor[x].pEnc2
*3 Motor[x].EncType
*4 Motor[x].PosUnit
*5 EncTable[x].Type
*6 EncTable[x].pEnc
*7 EncTable[x].ScaleFactor
*8 Motor[x].AmpFaultlevel
*9 Motor[x].FatalFeLimit
*10 Motor[x].PhaseCtrl
*11 Motor[x].pPhaseEnc
*12 Motor[x].PhasePosSf
*13 Motor[x].PhaseOffset
*14 Motor[x].pAdc
4-4
Parameter
For axis x that uses servo control, set this to 1. In this manual, six
axes are used. However, to use more axes, also set Motor[y].Ser-
voCtrl (y > 6) to 1.
Specify the encoder table to be referenced in loop feedback for axis
x. In this manual, the encoder table with the same index as the axis
is assigned.
Specify the encoder type for axis x. In this document, 6 is specified
to use a sinusoidal encoder.
Specify the command unit for axis x. In this manual, this is set to 3 to
use mm as the unit.
Specify the calculation method for each encoder table. In this man-
ual, this is set to 1 to read 32-bit feedback values.
Specify the register to be referenced by encoder table x. In this man-
ual, feedback values that are calculated by the CK3W-AX2323N Unit
are obtained.
Specify 1/2
CK3W-AX2323N Unit in each 32-bit encoder table.
Set whether to set the amplifier fault level to High active or Low ac-
tive. In this manual, this is set to High active.
Specify the amount of following error that stops operation at the axis
x. To improve safety, set a smaller value. Contrarily, if any following
error prevents operation from starting, set a larger value.
For axis x that use a current loop, set this to 4. In this manual, the
Direct PWM control method is used for the XY stage. However, to
use analog voltage control or EtherCAT control, set this to 0.
Specify the register from which to obtain the feedback position of
each motor.
Specify the conversion factor to convert the current position obtained
in No. 11 into an electrical angle (0 to 2048). Specifically, this is cal-
culated based on the following formula.
PhasePosSf =
Here, A represents the length per pulse of Gate3[0].Chan[x].Phase-
Capt. It is 0.02/16384 since one cycle of a sine wave is 0.02 mm for
the LIDA48 and the number of divisions of interpolation is 16384 for
the PMAC.
Also, B represents the length per rotation of the motor in electrical
angle. It is 36 since the ECL (Electrical Cycle Length) of the linear
motor used in this manual is 36 mm.
Specify the phase difference in the electrical angle (0 to 2048) of
each phase motor. For a three-phase motor, set this to 683 or -683.
Specify the register in which to read feedback current values from
the servo amplifier. In this manual, the feedback values read from the
Direct PWM interface are used.
Description
8
as the conversion factor to obtain 24-bit data from the
2048×A
B
Application Guide Laser Application (O052)