Omron R88D-KN01L-ECT-L User Manual page 356

10 Operation
Index
3924 hex Magnetic Pole
Position Estimation
Maximum
Movement
3925 hex Magnetic Pole
Position Estimation
Movement for Stop
Judgement
3926 hex Magnetic Pole
Position Estimation
Time for Stop
Judgement
3927 hex Magnetic Pole
Position Estimation
Time Limit for Stop
3328 hex Magnetic Pole
Position Estimation
Force Filter Time
Constant
*1 The magnetic pole position estimation accuracy may be improved by increasing the set value in the Magnetic
Pole Position Estimation Force Command Time (3922 hex) or Magnetic Pole Position Estimation Force
Command (3923 hex). However, if you set a large value in the Magnetic Pole Position Estimation Force
Command Time (3922 hex), an Overload Error (Error No. 16.0) will occur depending on the Magnetic Pole
Position Estimation Force Command (3923 hex) setting.
*2 If the amount of motor movement is less than the pulse width set for the motor after application of the set
command force for the set force command time, the Servo Drive judges that the motor has not moved (zero
movement).
The calculation formula for the number of pulses corresponding to one degree of electrical angle (for linear
system) is as follows:
Number of pulses corresponding to one degree of electrical angle (for linear system) = Magnetic pole pitch
[0.01 mm] x 10,000/Feedback scale resolution [0.001 µm]/(360 [degrees]/1 [degree])
*3 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).
*4 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. This time represents the time elapsed after the
stoppage of a force command until the motor comes to a complete stop.
10 - 10
Name Unit
Pulse Set the pulse width to be judged as zero
movement during magnetic pole position
estimation.
As a guide, set the number of pulses
corresponding to one degree of electrical angle.
Pulse Set the condition for judging that the motor is
stopped during magnetic pole position
estimation.
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
ms
Judgement (3926 hex) or less persists for the
time set in the Magnetic Pole Position
Estimation Time for Stop Judgement (3926 hex)
or longer.
To prevent the motor from being judged as
stopped in a wrong timing, be sure to set.
ms Set the condition for judging that the motor is
stopped during magnetic pole position
estimation.
If the motor has not been judged as stopped
when the set limit time expires after the
command force stops, a Magnetic Pole Position
Estimation Error (Error No. 61.1) will occur.
0.01 ms 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.
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
Description
*2
*3
*4
Reference
P. 9-67
P. 9-68
P. 9-68
P. 9-69
P. 9-69