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9.3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor
9-27
Abnormal Noise
from Servomotor
The servomotor largely vibrated
during execution of tuning-less
function.
Check the motor speed waveform.
Reduce the load so that the mass
rat
io becomes within the allowable
value, or increase the load level or
lower the tuning level for the tun-
ing-less levels setting (Fn200).
Mounting is not secured.
Check if there are any loose mount-
ing screws.
Tighten the mounting screws.
Vibration source at the driven
ma
chine.
Check for any foreign matter, dam-
age, or deformations on the machin-
ery's movable parts.
Contact the machine manufacturer.
Noise interference due to incorrect
I
/O signal cable specifications.
The I/O signal cable must be tinned
annealed copper shielded twisted-
pair or screened unshielded twisted-
pair cable with a core of 0.12 mm
2
min.
Use the specified I/O signal cable.
Noise interference due to length of
I
/O signal cable.
Check the length of the I/O signal
cable.
The I/O signal cable length must be
no more than 3 m.
Noise interference due to incorrect
cable specifications of linear scale
connection cables.
The linear scale connection cables
must be tinned annealed
copper
shielded twisted-pair or screened
unshielded twisted-pair cable with a
core of 0.12 mm
2
min.
Use the specified linear scale con-
nection cables.
Noise interference due to length of
linear scale connection cables.
Check the length of the linear scale
connection cables.
The length of each cable must be
equ
al to or shorter than the maxi-
mum wiring length listed here.
• Connection cables for serial
con-
verter unit: 20 m
• Connection cables for linear
sc
ale: 15 m
• Connection cables for hall sensor:
15 m
Noise interference due to damaged
linear scale connection
cables.
Check if the linear scale
connection
cables are bent and the sheaths are
damaged.
Replace the linear scale connection
cables and
correct the cable layout.
Excessive noise to the linear scale
connection cables.
Check if the linear scale
connection
cables are bundled with a high-cur-
rent line or near a high-current line.
Correct the cable layout so that no
sur
ge is applied.
The FG potential varies because of
i
nfluence from machines on the ser-
vomotor side, such as the welder.
Check if the machines are correctly
grounded.
Properly ground the machines to
separate from the linear scale
FG.
SERVOPACK pulse counting error
d
ue to noise interference
Check if there is noise interference
on t
he I/O signal line from the linear
scale.
Take measures against noise in the
linear scale wiring.
Excessive vibration and shock to
t
he linear scale
Check if vibration from the machine
occ
urred or linear scale installation
is incorrect (mounting surface accu-
racy and fixing method).
Reduce vibration from the machine,
or se
cure the linear scale installa-
tion.
Serial converter unit fault Replace the serial converter unit.
A linear scale fault occurred. Replace the linear scale.
Servomotor Vi-
brates at Fre-
quency of Approx.
200
to 400 Hz.
Unbalanced servo gains
Check to see if the servo gains have
bee
n correctly adjusted.
Execute the advanced autotuning.
Speed loop gain value (Pn100) too
h
igh.
Check the speed loop gain (Pn100).
Factory setting: Kv = 40.0 Hz
Reduce the speed loop gain
(Pn100).
Position loop gain value (Pn102)
too high.
Check the position loop gain
(Pn
102).
Factory setting: Kp = 40.0/s
Reduce the position loop gain
(Pn102).
(cont’d)
Problem Probable Cause Investigative Actions Corrective Actions
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