Ratoc Systems USB-Serial Converter REX-USB60F Manual de usuario descargar pdf (Pagina 112)

Functions

5-46

5. Functions

5.18

Magnetic pole position estimation and parameters

The magnetic pole position estimation is performed by repeatedly generating the speed

patterns automatically within the robot driver, as shown below. The number of repeating

cycles automatically generated in one magnetic pole position estimation ranges from 6 to

13 cycles. (The number of repeating cycles may change according to the robot status.)

If failed to estimate the magnetic pole position correctly, a maximum of 4 retries are

automatically attempted to estimate the magnetic pole position.

Fb-41

Fb-40

Speed

[mm/s]

Time [s]

–

Fb-40

Fb-42Fb-43

Fb-43

Fb-41

Twait

1 cycle

6 to 13 cycles (to a maximum of 4 retries)

* Twait (wait time)

The wait time Twait [s] for 1 operation pattern cycle is shown in the formula below.

The wait time Twait [s] under two conditions: (1) Fb-42 [s]

≥

Tstop [s], and

(2) Fb-42 [s] < Tstop [s], are shown below.

= Fb-42 [s] (1) Fb-42 [s] r Tstop [s]

Twait [s]

= Tstop [s] (2) Fb-42 [s] < Tstop [s]

Tstop [s]: This is the time in seconds for the speed detection

value of 0 [mm/s] in the robot driver, to converge to

the range of the "Zero speed detection value" (Fb-22) .

<Wait time Twait state (relation between speed command value, speed detection value

within robot driver and wait time Twait [s]>

Speed [mm/s]

-Fb-22

Speed command

value within robot driver

Speed detection

value within robot driver

Twait(=Fb-42)

Tstop

Time [s]

Speed [mm/s]

Twait(=Tstop)

Fb-42

-Fb-22

Speed detection

value within robot driver

Time [s]

Speed command

value within robot driver

(1) Fb-42[s] r Tstop[s]

(Twait = Fb-24)

(2) Fb-42[s] < Tstop[s]

(Twait = Tstop)

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