User`s manual

Functions
5
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.
0
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]>
00
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)