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78
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Category
Wiring
Causes
Z-phase signal is not output.
The circuit for Z-phase signal is
not correct.
Countermeasures
Monitor the Z-phase signal using an oscilloscope.
Check that CN I/F Pin 13 is connected to the ground
terminal of the controller. Connect the open collec-
tor to the ground of the driver. Replace the driver
and controller, or repair them.
Check that the line driver is connected at the both
sides. If the controller does not have a differential
input, use CZ output (open collector).
The motor produces an abnormal sound and/or vibration.
Category
Wiring
Adjustment
Installation
Causes
Velocity commands contain
noises.
The gains are too large.
The velocity detection filter is
not correct.
Resonance between the ma-
chine and motor occurs.
Motor bearing
Electromagnetic sound, gear
sound, braking sound, hub sound,
rubbing sound from the encoder,
etc.
Countermeasures
Check the wiring between CN I/F Pins 14 and 15
(velocity command inputs) using an oscilloscope.
Take measures to reduce the noise (noise filters,
ferrite cores, etc.). Properly connect the shield wires
of I/F cables. Use twist-paired wires. Separate the
signal and power wires.
Decrease the values of Pr10 (velocity loop gain) and
Pr11 (position loop gain).
Increase the value of Pr13 (speed detection filter)
until the sound decreases to an acceptable level, or
return the value to 4 (default).
Adjust the value of Pr14 (torque filter). Check the
mechanical resonance using the frequency charac-
teristics analysis program in PANATERM. If a reso-
nance occurs, set Pr10(notch frequency).
Operate the motor without load in order to check
the sound and vibration near the bearing. Replace
the motor and operate it to do the same checks.
Repair the motor, if necessary.
Operate the motor without load or use a new motor
in order to locate the source of sounds. Repair the
motor, if necessary.
Troubleshooting
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