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9 Troubleshooting
9-28
Servomotor
Vibrates at
Frequency of
Approx. 200 to
40
0 Hz. (cont’d)
Incorrect speed loop integral time
constant (Pn101)
Check the speed loop integral time
constant (Pn
101).
Factory setting: Ti = 20.0 ms
Correct the speed loop integral time
constant (Pn101).
Incorrect mass ratio (Pn103) Check the mass ratio (Pn103). Correct the mass ratio (Pn103).
High Motor Speed
Ove
rshoot on
Starting and Stop-
ping
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
high
Check the speed loop gain (Pn100).
Factory setting: Kv = 40.0 Hz
Reduce the speed loop gain
(Pn1
00).
Position loop gain value (Pn102)
too high
Check the position loop gain
(Pn102
).
Factory setting: Kp = 40.0/s
Reduce the position loop gain
(Pn1
02).
Incorrect speed loop integral time
constan
t (Pn101)
Check the speed loop integral time
constant (Pn
101).
Factory setting: Ti = 20.0 ms
Correct the speed loop integral time
constant (Pn101).
Incorrect mass ratio data (Pn103) Check the mass ratio (Pn103). Correct the mass ratio (Pn103).
The force reference is saturated.
Check the force reference wave
fo
rm.
Use the mode switch function.
The force limit (Pn483, Pn484
) is
set to the initial value.
Initial value of force limit:
Pn483 = 30%
Pn484 = 30%
Set a appropriate value for Pn483
and
Pn484 (Force Limit).
Absolute Linear
Scale Position Dif-
ference Error (The
po
sition saved in
the host controller
when the power
was turned OFF is
different from the
position when the
power was next
turned ON.)
Noise interference due to incorrect
c
able specifications of linear scale
connection cables.
The linear scale connection cables
must be tin
ned 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
l
inear scale connection cables.
Check the length of the linear scale
connection cables.
The length of each cable must be
equal to or
shorter than the maxi-
mum wiring length listed here.
• Connection cables for serial con-
verter unit: 20 m
• Connection cables for linear
scale: 15
m
• Connection cables for hall sensor:
15 m
Noise interference due to damaged
l
inear scale connection cables.
Check if the linear scale connection
c
ables 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.
FG potential varies because
of
influence of machines such as weld-
ers at the servomotor.
Check if the machines are correctly
gr
ounded.
Ground machines correctly, and
prevent diversion to the
FG on the
linear scale side.
SERVOPACK pulse counting error
due to n
oise interference
Check if there is noise interference
on
the I/O signal line from the serial
converter unit.
Take measures against noise in the
serial converter unit wiring.
Excessive vibration and shock to
the linear scale
Check if vibration from the machine
occurred or linear scale installation
is incorrect (mounting surface accu-
racy and fixing method).
Reduce vibration from the machine,
or sec
ure the linear scale installa-
tion.
A linear scale fault occurred. Replace the linear scale.
A SERVOPACK fault occurred.
(The pulse count does not change.)
Replace the SERVOPACK.
(cont’d)
Problem Probable Cause Investigative Actions Corrective Actions
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