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Direct Drive Motor Specifications and Instruction Manual
7 Setup
7.2 Initial Setup for the Direct-drive Motor System
This section explains the initial setup procedures for direct-drive motor.
CAUTION
1. Perform the initial setup after the operation is enabled for NC system.
2. The initial setup is required for each direct-drive motor.
3. Perform the initial setup again after replacing the encoder.
4. For a system with multiple direct-drive motor axes, the initial setup (DC excitation function) must be performed for each
axis. Set #2213(SV013) to 0 and #2228(SV028) to 1 for the direct-drive motor axis for which the DC excitation function is
not enabled. If the emergency stop is released in the state of #2228(SV028) is 0, magnetic pole position detection error
(16) will occur.
5. The initial setup method differs when using MBA405W. Refer to "7.3 Initial setup for the direct-drive motor system when
using MBA405W".
7.2.1 Adjustment Procedure
For the direct-drive motor system, the initial setup must be performed for each machine because the position relation
between the motor coil and encoder differs among machines. Be sure to set up according to the following procedures.
The motor may not work properly unless the initial setup for the magnetic pole (DC excitation function) is performed
correctly.
DC excitation function detects the position relation (magnetic pole shift amount) between the motor coil and encoder.
The magnetic pole shift amount can be seen at [AFLT gain] on the NC's servo diagnosis screen by moving the direct-
drive motor with DC excitation function. The motor will be driven according to the magnetic pole shift amount from next
time the NC power is turned ON.
With the DC excitation function, once the servo parameter (SV028) is set, resetting is not required unless the encoder is
replaced.
<DC excitation function>
(1) Turn ON the servo drive unit and NC. Confirm that there is no error such as Initial parameter error (37).
(2) Set the servo parameter #2213(SV013) to 100.
(3) Set the parameters related to the DC excitation function (#2261(SV061) to 10, #2262(SV062) to 10, and
#2263(SV063) to 1000).
(4) Set the servo parameter #2234/bit4(SV034/bit4) to "1" to enable the DC excitation mode.
(5) Release the emergency stop.
(6) Confirm that the direct-drive motor carries out a reciprocation operation between about ±10° and 20° once (start DC
excitation).
(7) Confirm that the direct-drive motor stops after the reciprocation operation.
(8) Switch to the [Servo diagn] menu on the NC maintenance screen, select [Servo unit] and monitor [AFLT gain].
(9) Turn ON the emergency stop (terminate DC excitation).
(10) Repeat (5) to (9) 5 times, and monitor the ALFT gain value (magnetic pole shift amount) each time.
If difference of the magnetic pole shift amounts is 1000 data or bigger, reset the related parameter settings
(#2261(SV061)=+10, #2262(SV062)=+10) and perform (5) to (9) again.
(11) Calculate the average of the magnetic pole shift amounts, and set it to #2228(SV028).
(12) Return the servo parameter #2234/bit4(SV034/bit4) back to the original setting, "0".
(13) Turn the NC power ON again.
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IB-1501068-C
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