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Category
Wiring
Causes
Z-phase signal is not output.
The circuit for Z-phase signal is not
correct.
Countermeasures
Monitor the Z-phase signal using an oscilloscope. Check that
CN I/F Pin 13 is connected to the ground terminal of the con-
troller. Connect the open collector to the ground of the driver.
Replace the driver and controller, or repair them.
Check that the line driver is connected at the both sides. If
the controller does not have a differential input, use CZ out-
put (open collector).
The motor produces an abnormal sound and/or vibration.
Category
Wiring
Adjustment
Installation
Causes
Velocity commands contain noises.
The gains are too large.
The velocity detection filter is not cor-
rect.
Resonance between the machine and
motor occurs.
Motor bearing
Electromagnetic sound, gear sound,
braking sound, hub sound, rubbing
sound from the encoder, etc.
Countermeasures
Check the wiring between CN I/F Pins 14 and 15 (velocity
command inputs) using an oscilloscope. Take measures to
reduce the noise (noise filters, ferrite cores, etc.). Properly
connect the shield wires of I/F cables. Use twist-paired wires.
Separate the signal and power wires.
Decrease the values of Pr10 (velocity loop gain) and Pr11
(position loop gain).
Increase the value of Pr13 (speed detection filter) until the
sound decreases to an acceptable level, or return the value
to 4 (default).
Adjust the value of Pr14 (torque filter). Check the mechani-
cal resonance using the frequency characteristics analysis
program in PANATERM. If a resonance occurs, set
Pr10(notch frequency).
Operate the motor without load in order to check the sound
and vibration near the bearing. Replace the motor and oper-
ate it to do the same checks. Repair the motor, if necessary.
Operate the motor without load or use a new motor in order
to locate the source of sounds. Repair the motor, if neces-
sary.
Troubleshooting
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