Omron R88D-1SN01H-ECT, Руководство пользователя

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12 Troubleshooting
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
12-
5 T
rou
blesh
oo
ting
12
12-
5-3
T
rou
bleshooting Using the Operat
ion S
tate
The Servomotor or
the load generates
abnormal noise or
vibration. 1st Torque Command Filter
(3233 hex) or 2nd Torque
Command Filter (3234 hex)
does not match the load.
Review the set value of the
torque command filter. Set a small value for the torque
command filter to eliminate the
vibration.
1st Position Control Gain
(3213 hex) or 2nd Position
Control Gain (3214 hex) is too
large.
Review the setting of the posi-
tion control gain. Use the Sysmac Studio to mea-
sure the response and adjust
the gain.
Proportional Gain and Inte-
gral Gain in 1st Velocity Con-
trol Gain (3223 hex) and 2nd
Velocity Control Gain (3224
hex) are balanced incorrectly.
Review the set values of the
velocity control gain.
Noise is entering into the con-
trol I/O signal cable because
the cable is longer than the
specified length. Check the length of the control
I/O signal cable. Shorten the control I/O signal
cable to 3 m or less.
Noise is entering into the cable
because the encoder cable
does not meet specifications. Check to see if it is a shielded
twisted-pair cable with core
wires that are at least 0.12
mm
2
.
Use an encoder cable that
meets specifications.
Noise is entering into the
encoder cable because the
cable is longer than the speci-
fied length. Check the length of the
encoder cable. Shorten the encoder cable to
less than 50 m.
Noise is entering into the signal
lines because the encoder
cable is stuck or the sheath is
damaged. Check the encoder cable for
damage. Correct the encoder cable’s
pathway.
Excessive noise on encoder
cable. Check to see if the encoder
cable is bound together with or
too close to high-current lines. Install the encoder cable where
it won’t be subjected to surges.
The FG’s potential is fluctuating
due to devices near the Servo-
motor, such as welding
machines. Check for ground problems
(loss of ground or incomplete
ground) at equipment such as
welding machines near the Ser-
vomotor. Ground the equipment prop-
erly and prevent current from
flowing to the encoder FG.
Errors are caused by excessive
vibration or shock on the
encoder. There are problems with
mechanical vibration or Servo-
motor installation (such as the
precision of the mounting sur-
face, attachment, or axial off-
set). Reduce the mechanical vibra-
tion or correct the Servomotor’s
installation.
Overshooting at
startup or when stop-
ping 1st Position Control Gain
(3213 hex) or 2nd Position
Control Gain (3214 hex) is too
large.
Review the setting of the posi-
tion control gain. Use the Sysmac Studio to mea-
sure the response and adjust
the gain.
Proportional Gain and Inte-
gral Gain in 1st Velocity Con-
trol Gain (3223 hex) and 2nd
Velocity Control Gain (3224
hex) are balanced incorrectly.
Review the set values of the
velocity control gain.
The set inertia ratio differs from
the load. Review the set value of the
Inertia Ratio (3001-01 hex).
Adjust the set value of the Iner-
tia Ratio.
Symptom Probable cause Check items Measures