Omron R88D-KN series User Manual

9 Servo Parameter Objects
9-62
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
• Set the pulse width to be judged as zero movement during magnetic pole position estimation.
• It will be judged as zero movement if the number of motor movement pulses is less than the set value
when a force is applied with the conditions set in the Magnetic Pole Position Estimation Force
Command Time (3922 hex) and the Magnetic Pole Position Estimation Force Command (3923 hex).
• Although setting a smaller value contributes to the reduction in the amount of movement during
magnetic pole position estimation, it may result in a poor detection accuracy. As a guide, set the
number of pulses corresponding to one degree of electrical angle.
• This setting is enabled only when the Magnetic Pole Detection Method (3920 hex) is set to 2
(Magnetic pole position estimation method).
Additional Information
Calculation formula for the number of pulses corresponding to one degree of electrical
angle (for linear system)
Number of pulses corresponding to one degree of electrical angle (for linear system) = Magnetic
pole pitch [0.01 mm] x 10000/Feedback scale resolution [0.001 µm]/(360 [degrees]/1 [degree])
• 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 Judgment (3926 hex)
or less persists for the time set in the Magnetic Pole Position Estimation Time for Stop Judgment
(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 method).
• Set the condition for judging that the motor is stopped during magnetic pole position estimation.
• Set the time during which the motor must be stopped 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 Judgment (3926 hex)
or less persists for the time set in the Magnetic Pole Position Estimation Time for Stop Judgment
(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 method).
3924 hex
Magnetic Pole Position Estimation Maximum Movement
Setting range 0 to 32767 Unit pulse Default setting 100 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
3925 hex
Magnetic Pole Position Estimation Movement for Stop Judgment
Setting range 0 to 32767 Unit pulse Default setting 40 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible.
3926 hex
Magnetic Pole Position Estimation Time for Stop Judgment
Setting range 0 to 32767 Unit ms Default setting 40 Data attribute B
Size 2 bytes (INT16) Access RW PDO map Not possible
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Omron R88D-KN series Specifications

General

Brand	Omron
Model	R88D-KN series
Category	Controller
Language	English