Inovance IS650PT037IUX Series - Troubleshooting: Large Position Deviation

5 Troubleshooting
5
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Er.B01: Pulse input abnormal
Cause Conrming Methods Corrective Action
1. Input pulse
frequency is greater
than H0A-09
(Maximum position
pulse frequency).
Check whether H0A-09 is
smaller than maximum input
pulse frequency required by
normal machine running.
Reset H0A-09 correctly according to the actual
requirement.
If output pulse frequency of host computer is larger than
4 MHz, decrease it.
2. Input pulse suffers
interference.
Check whether position
reference increases abruptly
or whether H0B-13 (input
reference pulse counter) is
larger than the number of
pulses output by host computer
through oscilloscope.
Then check grounding situation
of connecting cables.
First, use an STP cable for pulse input and separate
pulse input cable from servo drive power cables.
Then, when differential input is selected on the
condition of using low-speed pulse input terminal (H05-
01 = 0), ground of host computer must be connected
to GND of servo drive reliably. If open-collector input is
selected, ground of host computer must be connected
to COM of servo drive reliably. Only differential input
can be selected on the condition of using high-speed
pulse input terminal (H05-01 = 1), ground of host
computer must be connected to GND of servo drive
reliably.
Finally, according to selected hardware input terminal,
increase pin lter time of pulse input terminal in H0A-24
or H0A-30.
Er.B02: Position deviation being too large in full closed-loop
Cause Conrming Methods Corrective Action
1. Power output phase
(UVW) loss or incorrect
phase sequence occurs
on servo drive.
Perform motor trial running when there is no load
and check motor wirings.
Connect wirings correctly again or
replace them.
2. UVW cable or
internal/external
encoder cable breaks.
Check wirings.
Reconnect the UVW cable. Power
cables of servo motor and power
cables UVW of servo drive must
be one-to-one correspondence. If
necessary, replace a new cable and
ensure reliable connection.
3. Motor rotor is locked
due to mechanical
factors.
Check running reference and motor speed (H0B-
00) by using the drive debugging platform of
Inovance or operating panel.
Running reference in the position control mode:
H0B-13 (input reference pulse counter)
Running reference in speed control: H0B-01
(speed reference)
Running reference in torque control: H0B-02
(internal torque reference)
Check running reference in corresponding mode is
not 0 but the motor speed is 0.
Eliminate mechanical factors.
4. Servo drive gain is
low.
Check servo drive position loop gain and speed
loop gain.
First gain: H08-00 to H08-02
Second gain: H08-03 to H08-05
Adjust gain manually or perform
automatic gain auto-tuning
according to Chapter 6 in the
IS650P User Manual.