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15. USING A DIRECT DRIVE MOTOR
15.3.3 Operation from controller
To configure the absolute position detection system by using the direct drive motor, the battery unit (one
battery case (MR-BT6VCASE) and five batteries (MR-BAT6V1) ) and the absolute position storage unit (MR-
BTAS01) are required.
(1) Operation method
For the incremental system, the magnetic pole detection is automatically performed at the first servo-on
after the power-on. For this reason, when performing the positioning operation, create the sequence
which surely confirms the servo-on status as the inter lock condition of the positioning command.
Also, some parameter settings and the home position return differ according to the controller type.
(2) Servo system controller setting
The following parameters will be enabled by cycling the servo amplifier power after the controller writes
the parameters to the servo amplifier.
Servo amplifier setting
Motor setting
(Note)
No.
Symbol
PA01
**STY
PC01
*ERZ
PC03
*ENRS
PL01
**LIT1
PL04
*LIT2
PL05
LB1
Parameter
PL06
LB2
PL07
LB3
PL08
*LIT3
PL09
LPWM
PL17
LTSTS
PL18
IDLV
Note. The parameter whose symbol is preceded by * is enabled with the following conditions:
* : After setting the parameter, power off and on the servo amplifier or reset the controller.
**: After setting the parameter, cycle the power of the servo amplifier.
Setting item
Name
Operation mode
Error excessive alarm level
Encoder output pulse selection
Linear servo motor/DD motor function
selection 1
Linear servo motor/DD motor function
selection 2
Position deviation error detection level
Speed deviation error detection level
Torque/thrust deviation error detection
level
Linear servo motor/DD motor function
selection 3
Magnetic pole detection voltage level
Magnetic pole detection - Minute
position detection method - Function
selection
Magnetic pole detection - Minute
position detection method -
Identification signal amplitude
Motion controller
R_MTCPU/Q17_DSCPU
Initial
value
1000h
0
0000h
0301h
0003h
0
0
100
Set the items as required.
0010h
30
0000h
0
15 - 14
Set content
Simple motion module
RD77MS_/QD77MS_
MR-J4-B DD
Automatic setting
1060h
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