Omron R88D-KN01L-ECT-L User Manual page 344

9 Servo Parameter Objects
Magnetic Pole Position Estimation Movement for Stop judgement
3925 hex
Setting 0 to 32,767
range
Size 2 bytes (INT16)
• Set the condition for judging that the motor is stopped during magnetic pole position estimation.
• Set the number of motor movement pulses per unit time [2 ms].
• The motor will be judged as stopped if a condition where the number of motor movement pulses per
unit time [2 ms] set in the Magnetic Pole Position Estimation Movement for Stop judgement (3925
hex) or less persists for the time set in the Magnetic Pole Position Estimation Time for Stop
judgement (3926 hex) or longer.
• This setting is enabled only when the Magnetic Pole Detection Method (3920 hex) is set to 2
(Magnetic pole position estimation).
Magnetic Pole Position Estimation Time for Stop judgement
3926 hex
Setting 0 to 32,767
range
Size 2 bytes (INT16)
• Set the condition for judging that the motor is stopped during magnetic pole position estimation.
• Set the time during which the motor must be stationary in order to be judged as stopped.
• The motor will be judged as stopped if a condition where the number of motor movement pulses per
unit time [2 ms] set in the Magnetic Pole Position Estimation Movement for Stop judgement (3925
hex) or less persists for the time set in the Magnetic Pole Position Estimation Time for Stop
judgement (3926 hex) or longer.
• This setting is enabled only when the Magnetic Pole Detection Method (3920 hex) is set to 2
(Magnetic pole position estimation).
Precautions for Correct Use Precautions for Correct Use
After executing 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 Time for Stop
judgement (3925 hex) and the Magnetic Pole Position Estimation Time for Stop judgement (3926
hex).
9 - 68
Pulse
Unit
Access
ms
Unit
Access
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
Default 40
setting
RW PDO map
Default 40
setting
RW PDO map
A l l
Data B
attribute
Not possible
A l l
Data B
attribute
Not possible