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Troubleshooting
The rotation is not smooth.
C a t e g o r y
A d j u s t m e n t
Wiring
C a u s e s
The gains are not appropriate.
P o s i t i o n c o m m a n d s a r e n o t
stable.
CN I/F signals are chattering.
1) Servo-ON signal
2) Counter clear input signal
3) Zero speed clamp input
Internal command speed selection
1, 2
C o u n t e r m e a s u r e s
Increase the value of Pr11 (1st velocity loop gain).
Set a torque filter (Pr14) and then further increase
the value of Pr11.
Check the behavior of the motor on the waveform
graphic screen of PANATERM
“
using the CN MON
check pin. Check the wiring and its connections.
Check the controller.
1) Check the wiring and connections between CN I/F pins 2
and 13 by monitoring the display of input and output sig-
nals status. Modify the wiring so that Servo-ON signals
can be made active correctly. Check the controller.
2) Check the wiring and connections between CN I/F pins 4
and 13 by monitoring the display of input and output sig-
nals status. Modify the wiring so that the position error
counter clear input can be made active correctly. Check
the controller.
3) Check the wiring and connections between CN I/F pins 5 and
13, 4 and 13, and 6 and 13 by monitoring the display of input
and output signals status. Modify the wiring so that Zero Speed
Clamp input can be made active correctly. Check the control-
ler.
