Appendix B: Troubleshooting Motion and Encoder Issues
Symptom or Error
Motion is not smooth
1. Do the motors move smoothly with a simple analog command?
Use MDI to perform the following command(press cycle start after
command is entered):
G193 x1 p.1 l1
This command tells the control to put out +1VDC (p.1) for 1 second on
the X axis (x1). To change the axis being commanded, change the x to
y or z etc.. To increase the length of time to 3 seconds, change x1 to x3.
To increase the voltage to +5VDC, change p.1 to p.5. To output -5VDC,
negate the p value to -.5 and so on. The PID loop on the control is not
involved in this move so any instability in the move will be caused by the
servo amplifier and/or motor. Issue multiple commands to output a range
of voltage levels and time lengths as follows (assumes that the X axis is
under test):
G193 x1 p.1 l1
G193 x1 p-.1 l1
G193 x2 p.25 l1
G193 x2 p-.25 l1
G193 x3 p.5 l1
G193 x3 p-.5 l1
Notice that the load meter
reflects the command.
p.5 = 50% = +5VDC
If motion is smooth throughout the above range of commands, the issue
most likely will need to be resolved in tuning on the control. If motion is
not smooth in
any
of the above commands, please see the tuning
section of the manual for your servo amplifier.
