User`s manual

5-45
5
Functions
5. Functions
5.17 Magnetic pole position estimation action
On the RDP, magnetic pole position estimation must be performed after power is turned
on when operating a robot in pulse train mode. To perform magnetic pole position
estimation, set FA90 (Hall sensor connection) to oFF2, and follow the sequence shown
below in "Magnetic pole position estimation and terminal states".
The SRD terminal turns "OFF" during magnetic pole estimation, but turns "ON" when the
magnetic pole estimation ends correctly. Also, when magnetic pole estimation ended
correctly, the normal servo-ON state returns, and the servo operates according to the
commands that are input.
To determine the magnetic pole position after magnetic pole position estimation is
complete, perform return-to-origin. For detailed information on return-to-origin, see
section 5.4, "Return-to-origin function".
Note: To perform magnetic pole position estimation, set FA-90 (Hall sensor connection)
to oFF2. Do not set FA-90 to oFF.
■
Magnetic pole position estimation and terminal states
ON
OFF
ON
ON
OFF
OFF
FOT/ROT terminal
SON terminal
SRD terminal
Robot operation
Servo-off
Second and subsequent servo-on
after power-on
First servo-on (magnetic pole
position estimation) after power-on
Magnetic pole
position estimation
Normal servo-on Servo-off Normal servo-on
10 [ms] or more
No particular instructions
Note 1: The magnetic pole position estimation operation relies on speed command
values generated internally in the robot driver so if command values such as
position command pulses are input from outside the robot driver, then the
robot might suddenly start to operate immediately after the magnetic pole
position estimation ends.
So do not enter command values such as position command pulses from
outside the robot driver during magnetic pole position estimation.
Note 2: If the magnetic pole position estimation ends in an error, then a magnetic
pole position estimation error (E95) occurs.
Note 3: The RDP shipped after October 2008 issues an error E95 (magnetic pole
position estimation error) when magnetic pole position estimation starts
unless both FOT and ROT terminals are ON. The RDP shipped before then
does not issue an error, but fails to estimate the magnetic pole position.