Panasonic MINAS-A5BL Series Manual page 72

At-
trib-
Class No.
ute
*1)
Stop pulse count
9 25 B for estimating pole
Stop time for
9 26 B estimating pole
Stop time limit for
9 27 B estimating pole
Torque command
9 28 B filter for estimating
pole position
*1) For information on the parameter attribute, refer to the section 9-1.
 Cautions
 This function is done at the first servo-on after power-on. The motor works when estimating the pole position,
the operation commands are generated on the inside of the servo amplifier regardless of the operation
commands (including control mode) from upper equipment, so fully take care so as not to collide with the end
of the unit.
 This function may not work as expected when the vertical axis, uneven load, or friction is large.
In this case, we recommend you to use the CS signal method (4-7-3-1).
 The setting values for Prs9.22 to 9.27 are valid set during the startup of the pole position estimation. The change is
ignored while estimating the pole position.
 For the estimated accuracy when estimating the pole position, check the segment 7 LED (Pr7.00=8) in the fro
nt panel or PANATERM's status monitor. The smaller this numeric value is, the better the accuracy is. This
accuracy is an estimated accuracy based on the pole position estimation method and will not warrant a real a
ccuracy. Use it only for reference.
 When using the magnetic pole position estimation method, it does not cause a transition to Operation enabled
(servo-on) until the magnetic pole position estimation is completed.
 When multiple axes lock the same work as shown in the figure below:
Do not run the pole position estimation (at the first servo-on after power-on) in the
multiple axes at the same time.
As synchronous operation is not available while estimating the pole position, the pole position estimation cann
ot be finished properly because the axes may suffer an impact from other axis, the estimation result finished
might have a large error, or
the unit may be damaged.
Be sure that the axes excluded from the pole position estimation cannot give any impact on the axis to be
estimated.
In this configuration, we recommend you to use the CS signal method (4-7-3-1) or Pole position
recovery (4-7-3-3).
To use the pole position recovery method, apply the pole position estimation to each linear motor alone.
R1.00
Title Range
0-32767 pulse
position
0-32767
position
0-32767
position
0-2500 0.01ms
Unit
 Set the condition for judging the motor as stopped in the pole position
estimation.
 When the motor moving pulse count is not more than Pr9.25 for Pr9.26
[ms] at 2 ms interval, the motor is judged as stopped and next torque
command is applied.
ms
 This setting is valid only when the pole position estimation is selected
(Pr9.20=2).
 Set the time limit for judging the motor as stopped in the pole position
estimation.
 If the motor is not judged as stopped even if this setting time expires,
ms
Err61.1 Pole position estimation error 2 occurs.
 This setting is valid only when the pole position estimation is selected
(Pr9.20=2).
 Set the time constant of the filter for the torque command in the pole
position estimation. If the setting value is zero, the filter will be
invalid and only a step command will be available.
 This setting is valid only while estimating the pole position when the pole
position estimation is selected (Pr9.20=2).
Work
No. SX-DSV02829 -
Function
Motor Business Unit, Panasonic Corporation
66-