8.3.4 Servo Gain Adjustment ........................................................................................................ 91
z Servo gain number ..................................................................................................................... 91
9. Controlling Multiple Controllers via Serial Communication................ 92
9.1 Basic Specifications ................................................................................................................... 92
9.2 Connection Example .................................................................................................................. 92
9.3 SIO Converter ............................................................................................................................ 93
9.4 Address Switch .......................................................................................................................... 95
9.5 Connection Cables..................................................................................................................... 95
9.6 Detail Connection Diagram ........................................................................................................ 96
10. Troubleshooting................................................................................. 97
10.1 Action to Be Taken upon Occurrence of Problem ...................................................................... 97
10.2 Alarm Level Classification .......................................................................................................... 98
10.3 Alarm Description Output Using PIO ......................................................................................... 99
10.4 Alarm Description and Cause/Action ....................................................................................... 100
(1) Message level alarms ........................................................................................................ 100
(2) Operation-cancellation level alarms................................................................................... 101
(3) Cold-start level alarms ....................................................................................................... 104
10.5 Messages Displayed during Operation Using the Teaching Pendant or PC Software ............ 106
10.6 Specific Problems..................................................................................................................... 108
z I/O signals cannot be exchanged with the PLC. ...................................................................... 108
z The RDY lamp does not illuminate after the power is input. .................................................... 108
z Only the RDY lamp illuminates when the servo ON signal is input after the power
was input. ................................................................................................................................. 108
z Both the RDY lamp and ALM lamp illuminate when the power is input. .................................. 108
z Home return ends in the middle in a vertical application.......................................................... 109
z Noise occurs during downward movements in a vertical application....................................... 109
z Vibration occurs when the actuator is stopped. ....................................................................... 109
z The actuator overshoots when decelerated to a stop. ............................................................. 109
z The home and target positions sometimes shift....................................................................... 109
z The speed is slow during push & hold operation. .................................................................... 109
z The actuator moves only a half of, or twice as much as, the specified movement...................110
* Appendix .................................................................................................111
Example of Basic RCP2 Positioning Sequence .....................................................................................111
Recording of Position-Data Table ...........................................................................................................114
Recording of User Parameters ...............................................................................................................116
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