Sanyo Denki Sanmotion R 3E S, Instruction Manual, Page: 366 / 514

8. Maintenance
8-33
■
Alarm Code D1 (Excessive Position Deviation)
 Corrective actions
Status at the time of alarm
Cause
1 2 3 4 5 6 7 8 9 10 11 12 13 14
Issued when control power
is turned ON.
✔
Issued when servo ON and
while motor stopping.
✔ ✔
Issued immediately after
entering the command.
✔ ✔ ✔ ✔ ✔ ✔ ✔ ✔ ✔ ✔ ✔
Issued during starting /
stopping at high speed.
✔ ✔ ✔ ✔ ✔ ✔ ✔
Issued during the operations
by lengthy command.
✔ ✔ ✔ ✔
Cause Investigation and corrective actions
1 ■
Position command frequency is too high.
■
Correct the position command of the controller.
2
■
Excessive load inertia moment or low
motor capacity.
■
Correct the load condition or increase the motor
capacity.
3 ■
Holding brake is not released.
■
Check the wiring conditions and correct it if
improper. Replace the servo motor even brake is
not released if brake is excited with proper voltage.
4
■
Application collided to something or locked
mechanically.
■
Refine application system.
5
■
One or all phases of U/V/W -phase of the
servo amplifier and motor has
disconnected.
■
Check the wiring conditions and correct it if
improper.
6
■
Motor is being rotated by an external force
(Gravity, etc.) during stopping (positioning
completion).
■
Check the load, or increase the servo motor
capacity.
7
■
Valid torque limit command is entered by
the controller, and its setting is too small.
■
Setting of a velocity limit command is too
small.
■
Motor encoder pulse setting is not match
with actual servo motor.
■
Enlarge a torque limit value, or disable a torque
limitation.
■
Enlarge setting value of velocity limit command.
■
Sets a correct value to the system parameter ID15
"Absolute encoder resolution" or the system
parameter ID17 "Incremental encoder resolution",
for matching with servo motor encoder.
8
■
Settings of servo parameters (Position
Loop Gain, etc.) are not appropriate.
■
Adjust the servo parameter settings (Raise the
position loop gain, etc.).
9
■
Setting of a excessive position deviation is
too small.
■
Set a value larger of GroupB ID11 "Deviation
Counter Overflow Value".
10
■
Rotation directions of 2 axes are different,
in the tandem operation.
■
Set "04: PC-_VC+_TC+" to Group8 ID00 "Position,
Velocity, Torque Command Input Polarity".
Change to "01: Reversed ", in Group8 ID00
"Position, Velocity, Torque Command Input
Polarity".
11
■
Wiring of servo motor and encoder is
wrong, in the tandem operation.
■
Check the wiring and fix if wrong.
12
■
Defect in internal circuit of servo amplifier.
■
Replace the servo amplifier.
13
■
Defect in internal circuit of motor encoder.
■
Replace the servo motor.
14
■
Power supply voltage is low.
■
Check the power supply voltage.