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The rotation is not smooth.
The motor rotates slowly even if the target speed is zero in the speed control
mode.
Category
Parameters
Adjustment
Wiring
Causes
The control mode selection is not cor-
rect.
The gains are not appropriate.
Velocity and position commands are
not stable.
CN I/F signals are chattering.
1) Servo-ON signal
2) CW/CCW torque limit input signal
3) Counter clear input signal
4) Speed zero clamp signal
5) Command pulse input inhibit signal
Countermeasures
With the position control mode selected, if Pr02 is set to other
than 0, the motor will rotate slowly because Pr52 (velocity
command offset) governs the operation of the motor. Change
the value of Pr02 to 0.
Increase the value of Pr11 (1st velocity loop gain). Insert a
torque filter (Pr14) and then further increase the value of
Pr11.
Check the behavior of the motor using the check pin on the
LED touch panel and the wave form graphics function of
PANATERM. Check the wiring and its connections. Check
the controller.
1) Check the wiring and connections between CN I/F pins 29
and 41 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 17
and 18, and 16 and 17 using a circuit tester and/or oscil-
loscope. Modify the wiring so that CW/CCW torque limit
input can be made active correctly. Check thecontroller.
3) Check the wiring and connections between CN I/ F pins
30 and 41 by monitoring the display of input and output
signals status. Modify the wiring so that Position Error
Counter input can be made active correctly. Check the
controller.
4) Check the wiring and connections between CN I/F pins 26
and 41 by monitoring the display of input and output sig-
nals status. Modify the wiring so that Zero Speed Clamp
input can be made active correctly. Check the controller.
5) Check the wiring and connections between CN I/F pins 33
and 41 by monitoring the display of input and output sig-
nals status. Modify the wir-ing so that Command Pulse
Input Inhibit can be made active correctly. Check the
ontroller.
Important information
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