151
[Trouble Case]
The rotation is not stable (the rotation is not smooth)
Category
Adjustment
Wiring
Cause
Poor gain adjustment
Position command (pulse row
command) is unstable.
The following input signals of CN X5
are chattering.
(1) Servo-ON signal
(2) Deviation counter input signal
(3) Zero speed clamp signal
(4) Internal command speed selection 1
and 2 input signals
Action
Increase the value of the 1st velocity loop gain Pr11. Insert a
1st torque filter Pr14 and increase the value of Pr11 again.
Check how the motor is running, by using the waveform graphic
function of PANATERM
®. Check the wiring and connectors for
poor contact. Also check the controller.
(1) Using the I/O signal status display function, check wiring
and connection between the connector CN X5 pins 2 and
13. Modify the wiring and connection so that Servo-ON
signal successfully turns ON. Check the controller.
(2) Using the I/O signal status display function, check wiring
and connection between the connector CN X5 pins 4 and
13. Modify the wiring and connection so that the deviation
counter input successfully turns ON. Check the controller.
(3) Using the I/O signal status display function, check wiring
and connection between the connector CN X5 pins 5 and
13. Modify the wiring and connection so that the zero speed
clamp input successfully turns ON. Check the controller.
(4) Using the I/O signal status display function, check wiring
and connection between the connector CN X5 pins 4 and
13, and 6 and 13. Modify the wiring and connection so that
the internal command speed selection 1/2 input successfully
turn ON. Check the controller.
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