11 USING A DIRECT DRIVE MOTOR
11.4 Basic functions
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11.4 Basic functions
Operation from controller
For the system using the incremental linear encoder, the magnetic pole detection is automatically performed at the first servo-
on after the power-on. Before performing the positioning operation, check that the servo amplifier is in servo-on status.
Servo control error detection function
If the servo control becomes unstable for some reason, the direct drive motor may not operate properly. To detect this state
and to stop operation, the servo control error detection function is used as a protective function. The servo control error
detection function has three types of detection methods: position deviation, speed deviation, and torque deviation. An error is
detected when each method is enabled with [Pr. PL04.0]. The detection level can be changed with [Pr. PL05], [Pr. PL06], and
[Pr. PL07].
• For the servo control error detection function, the position and speed deviation error detections are enabled by default. ([Pr.
PL04.0 [AL. 042 Servo control error] detection function selection]: 3)
Servo control error detection selection function
Select the servo control error detection function.
• [Pr. PL04.0 [AL. 042 Servo control error] detection function selection]
Refer to the following table.
Initial value: 3
Setting value Position deviation error detection Speed deviation error detection Torque deviation error detection
1 Enabled Disabled Disabled
2 Disabled Enabled Disabled
3 Enabled Enabled Disabled
4 Disabled Disabled Enabled
5 Enabled Disabled Enabled
6 Disabled Enabled Enabled
7 Enabled Enabled Enabled
Direct drive motor
Servo amplifier
Servo amplifier internal value
(1) Model feedback position [rev]
(3) Model feedback speed [r/min]
(5) Command torque [%]
Encoder
Encoder
(2) Feedback position [rev]
(4) Feedback speed [r/min]
(6) Feedback torque [%]
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