Omron CK3W-AX1313 Series, Startup Manual

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No. Set item Set value Description
*13 Motor[1].PwmSf 13458 Set a scale factor for PWM output. The full range is 16384.
The scale factor is normally set to less than 95% of the full range so
that PWM waveform cannot reach the duty cycle of 0% or 100%. It is
set to approximately 82% in this example.
Set it depending on the Servo Drive specifications.
*14 Motor[1].PhaseOff-
set 683 For a three-phase motor, set to 683 or −683.
*15 Motor[1].AmpFault-
Level 1 Specify a logic of AMP Fault detection. Set it depending on the Servo
Drive specifications.
0: Negative logic is used to detect AMP Fault.
1: Positive logic is used to detect AMP Fault.
*16 Motor[1].WarnFeLi-
mit 4000 The status bit Motor[1].AmpWarn is set when the positional deviation
exceeds this value.
The value for a half-rotation of the motor is set in this example. Set it
depending on applications used.
*17 Motor[1].FatalFeLi-
mit 8000 The motor is killed and the status bit Motor[1].FeFatal is set when the
positional deviation exceeds this value.
The value for a half-rotation of the motor is set in this example. Set it
depending on applications used.
*18 Motor[1].Current-
NullPeriod 1 Motor[1].IaBias and Motor[1].IbBias are set in
Motor[1].PhaseFindingStep=1 during phase search.
*19 Motor[1].pEnc EncTable[1].a Specify the digital quadrature encoder as an address used for loop
feedback to control the motor position.
The digital quadrature encoder is assigned to EncTable[1] in Notes *2
in this example.
*20 Motor[1].pEnc2 EncTable[1].a Specify the digital quadrature encoder as the address used for loop
feedback to control the motor velocity.
The digital quadrature encoder is assigned to EncTable[1] in Notes *2
in this example.
*21 Motor[1].pDac Gate3[0].Chan[0].P
wm[0].a Assign DirectPWM to the motor command output register.
*22 Motor[1].pAdc Gate3[0].Chan[0].A
dcAmp[0].a Specify the DirectPWM interface AD converter as an AD converter
used for digital current feedback.
*23 Motor[1].AdcMask $FFFC0000 Specify which bit of 32 bits current feedback word is used as the actual
current value.
The 14 bits AD converter is set in this example. Set it depending on the
Servo Drive specifications.
*24 Motor[1].MaxDac 28377*3.33/11.25 Set an instantaneous current limit value (root mean square: RMS).
Compare those of the Servo Drive and the motor, and use a smaller
value. The motor has a smaller value in this example.
Use the following formula for calculation.
MaxDac =
Cos (30°) × 32767 × Maximum instantaneous current
Servo driver ADC full-range current
Determine parameters depending on the equipment used.
The following shows parameters for equipment used in this example.
Maximum instantaneous current for R88M-K05030T: 4.7 A (p-p)/√2 =
3.33 A (RMS)
ADC full range current for CDHD-0032APB0: 11.25 A (RMS)
3 DirectPWM Interface Connection Procedure
3-15
CK3M-series Startup Guide DirectPWM Interface (O047)
3-4 V
arious Controller Settings
3
3-4-1
Notes List