4-3
MotorControl.pmh
This file contains the settings for linear motor control.
No.
Parameter
Description
*1
Motor[x].ServoCtrl
For axis x that uses servo control, set this to 1. In this manual, six
axes are used. However, to use more axes, also set Motor[y].Ser-
voCtrl (y > 6) to 1.
*2
Motor[x].pEnc, Motor[x].pEnc2
Specify the encoder table to be referenced in loop feedback for axis
x. In this manual, the encoder table with the same index as the axis
is assigned.
*3
Motor[x].EncType
Specify the encoder type for axis x. In this document, 6 is specified
to use a sinusoidal encoder.
*4
Motor[x].PosUnit
Specify the command unit for axis x. In this manual, this is set to 3 to
use mm as the unit.
*5
EncTable[x].Type
Specify the calculation method for each encoder table. In this man-
ual, this is set to 1 to read 32-bit feedback values.
*6
EncTable[x].pEnc
Specify the register to be referenced by encoder table x. In this man-
ual, feedback values that are calculated by the CK3W-AX2323N Unit
are obtained.
*7
EncTable[x].ScaleFactor
Specify 1/2
8
as the conversion factor to obtain 24-bit data from the
CK3W-AX2323N Unit in each 32-bit encoder table.
*8
Motor[x].AmpFaultlevel
Set whether to set the amplifier fault level to High active or Low ac-
tive. In this manual, this is set to High active.
*9
Motor[x].FatalFeLimit
Specify the amount of following error that stops operation at the axis
x. To improve safety, set a smaller value. Contrarily, if any following
error prevents operation from starting, set a larger value.
*10
Motor[x].PhaseCtrl
For axis x that use a current loop, set this to 4. In this manual, the
Direct PWM control method is used for the XY stage. However, to
use analog voltage control or EtherCAT control, set this to 0.
*11
Motor[x].pPhaseEnc
Specify the register from which to obtain the feedback position of
each motor.
*12
Motor[x].PhasePosSf
Specify the conversion factor to convert the current position obtained
in No. 11 into an electrical angle (0 to 2048). Specifically, this is cal-
culated based on the following formula.
PhasePosSf
=
2048×A
B
Here, A represents the length per pulse of Gate3[0].Chan[x].Phase-
Capt. It is 0.02/16384 since one cycle of a sine wave is 0.02 mm for
the LIDA48 and the number of divisions of interpolation is 16384 for
the PMAC.
Also, B represents the length per rotation of the motor in electrical
angle. It is 36 since the ECL (Electrical Cycle Length) of the linear
motor used in this manual is 36 mm.
*13
Motor[x].PhaseOffset
Specify the phase difference in the electrical angle (0 to 2048) of
each phase motor. For a three-phase motor, set this to 683 or -683.
*14
Motor[x].pAdc
Specify the register in which to read feedback current values from
the servo amplifier. In this manual, the feedback values read from the
Direct PWM interface are used.
4 How to Customize Various Settings
4-4
Application Guide Laser Application (O052)
Summary of Contents for CK3M-CPU 1 Series
Page 10: ...Precautions 10 Application Guide Laser Application O052...
Page 16: ...2 Device Configuration 2 4 Application Guide Laser Application O052...
Page 76: ...3 Connection Procedures 3 60 Application Guide Laser Application O052...
Page 88: ...4 How to Customize Various Settings 4 12 Application Guide Laser Application O052...
Page 89: ......