10 SERVOPACK with Semi-closed Loop Control for Rotary Motors
10-4
10.3 Pole Detection Functionality
When using a rotary motor without hall sensor (except Sigma-1 motors), the pole detection should be exe-
cuted. Make sure the following conditions are satisfied when executing the function.
1. There is no danger when the rotary motor moves approximately 1/4 turn. In case the function
fails, the rotary motor may move approximately 1.5 turns.
2. The encoder resolution is 2000 pulses per revolution or more.
3. Minimum unequal external torque to the rotary motor (5% of the rated torque maximum is
recommended).
4. The moment of inertia ratio is within 50 times.
5. On a horizontal axis.
Note 1. The rotary motor is turned ON during the function. Take measures to avoid electric shock.
2. The rotary motor will make large movements during detection. Take the machine’s range of motion into consid-
eration and do not stand near any moving parts.
3. The function depends on many factors such as inertia ratio and friction. If any error occurs because of one of
these factors the function may fail.
(1) Requirements that Enable the Function
The function is enabled by the following settings:
1. The parameter Pole Sensor Selection Pn080.0 is set to disable pole sensor Pn080.0 = 1.
2. The main power is supplied.
3. No alarms occur.
4. Hard wire base block is not active.
5. The parameter Writing Prohibited Setting Fn010 is not set to prohibit writing.
6. The SEN signal is turned ON in case of an absolute encoder.
(2) Execution of the Function with Analog Voltage and Pulse Train Model
Input Signal Through CN1 connector
Factory-set Input Signal Allocations (Pn50A.0 = 0)
If the factory settings are used to allocate the input signals (Pn50A.0 = 0), the function will start when the
Servo On signal (/S-ON) is ON, and the Servo Ready signal (/S-RDY) will be ON after the function has been
completed.
Changing Input Signal Allocations (Pn50A.0 = 1)
The function signal (/P-DET) must be allocated under the following conditions:
• When designing a sequence for the host controller in which the Servo Ready signal is monitored and then
the Servo ON signal is output.
• When using different timing for the execution of the function and sending the Servo ION signal.
/S-ON input
(/P-DET)
Polarity detection is
being executed.
Status display: P-dt
Polarity detection competed.
Normal operation of servo motor.
/S-RDY output
Type Name Connector Pin No. Setting Description
Input /S-ON CN1-40
ON
Motor power is ON.
The function is executed only once then the motor
will be ready for operation (/S-RDY signal is ON).
OFF Motor power is OFF.
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