YASKAWA SERVO Manuel d'utilisateur Page 193
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- Table des matières
- DEPANNAGE
- MARQUE LIVRES
Noté. / 5. Basé sur avis des utilisateurs
9.3 Troubleshooting Malfunction Based on Operation and Conditions
9-21
9
Troubleshooting
Servomotor
Vibrates at
Frequency of
Approx. 200 to
400 Hz
(cont’d)
Incorrect speed loop integral time
constant value (Pn101)
Check the speed loop integral time
constant (Pn101).
Factory setting: Ti = 20.0 ms
Correct the speed loop integral time
constant value (Pn101).
Incorrect moment of inertia ratio
value (Pn103)
Check the moment of inertia ratio
value (Pn103).
Correct the moment of inertia ratio
value (Pn103).
High Rotation
Speed Overshoot
on Starting and
Stopping
Unbalanced servo gains
Check to see if the servo gains have
been correctly adjusted.
Execute the advanced autotuning.
Speed loop gain value (Pn100) too
high
Check the speed loop gain value
(Pn100).
Factory setting: Kv = 40.0 Hz
Reduce the speed loop gain value
(Pn100).
Position loop gain value (Pn102)
too high
Check the position loop gain value
(Pn102).
Factory setting: Kp = 40.0/s
Reduce the position loop gain value
(Pn102).
Incorrect speed loop integral time
constant value (Pn101)
Check the speed loop integral time
constant value (Pn101).
Factory setting: Ti = 20.0 ms
Correct the speed loop integral time
constant value (Pn101).
Incorrect moment of inertia ratio
value (Pn103)
Check the moment of inertia ratio
value (Pn103).
Correct the moment of inertia ratio
value (Pn103).
Absolute Encoder
Position
Difference Error
(The position
saved in the host
controller when
the power was
turned OFF is
different from the
position when the
power is next
turned ON.)
Noise interference due to improper
encoder cable specifications
The encoder cable must be tinned
annealed copper shielded twisted-
pair or shielded multi-core twisted-
pair cables with a core of 0.12 mm
2
min.
Use the specified encoder cable.
Noise interference due to length of
encoder cable
Check the encoder cable length.
The encoder cable must be no
longer than 20 m.
Noise interference due to damaged
encoder cable
Check if the encoder cable is bent or
if its sheath is damaged.
Replace the encoder cable and cor-
rect the encoder cable layout.
Excessive noise interference at the
encoder cable
Check if the encoder cable is bun-
dled with a high-current line or near
high-current line.
Correct the encoder cable layout so
that no surge from high-current
lines is applied.
FG potential varies because of
influence of machines such as weld-
ers at the servomotor.
Check if the machines are correctly
grounded.
Ground machines correctly, and
prevent diversion to the FG at the
PG side.
SERVOPACK pulse counting error
due to noise interference
Check if there is noise interference
on the input/output signal line from
the encoder.
Take measures against noise in the
encoder wiring.
Excessive vibration and shock to
the encoder
Check if vibration from the machine
occurred or servomotor installation
is incorrect (mounting surface accu-
racy, fixing, alignment, etc.).
Reduce vibration from the machine,
or secure the servomotor installa-
tion.
An encoder fault occurred. – Replace the servomotor.
A SERVOPACK fault occurred.
(The pulse count does not change.)
– Replace the SERVOPACK.
Host controller multi-turn data read-
ing error
Check the error detection section at
the host controller.
Correct the error detection section
of the host controller.
Check if the host controller is exe-
cuting data parity checks.
Execute a multi-turn data parity
check.
Check noise in the input/output sig-
nal line between the SERVOPACK
and the host controller.
Take measures against noise, and
again execute a multi-turn data par-
ity check.
(cont’d)
Problem Probable Cause Investigative Actions Corrective Actions
- Σ-V Series 1
- About this Manual 3
- Pn000㧩㨚㧜㧜㧜㧜 4
- PROHIBITED 5
- MANDATORY 5
- Safety Precautions 6
- WARNING 6
- CAUTION 10
- Warranty 11
- (3) Suitability for Use 12
- (4) Specifications Change 12
- Applicable Standards 13
- Contents 14
- Revision History 17
- Overview 18
- 1 Overview 19
- SGDV – OC A03 A 20
- Nameplate (Ratings) 21
- Nameplate (Model no.) 21
- Specifications 22
- 2.1.1 Main Functions 23
- 2.2 General Specifications 25
- 2.4 LED Indicators 27
- SERVOPACK Installation 28
- Standards 29
- 3.2 SERVOPACK Installation 30
- 3.2.2 Installation Standards 31
- Single-phase 100 V 32
- Three-phase 200 V 33
- Three-phase 400 V 37
- Wiring and Connection 39
- SGDV-FE1A 40
- SERVOPACK 40
- INDEXER Module 40
- SGMJV/SGMAV/SGMPS/SGMCS 40
- Servomotor 40
- Personal computer 41
- (SIEP S800000 60) 42
- (when an absolute 43
- SGDV-FE5A 44
- S800000 66) 46
- SGDV-DE5A 47
- 4.2 I/O Signal Connections 48
- (2) Output Signals 49
- (3) CN11 Input Signals 49
- 4 Wiring and Connection 50
- 4.2.2 Interface Circuits 52
- SGDV SERVOPACK 54
- RS-422 or RS-485 56
- Host controller 56
- 4.3.3 Connector Signal Names 57
- 4.3.4 Connection Examples 58
- 4.3.5 RS-422/RS-485 Interface 59
- 5.1 Parameter Configurations 62
- 5.3.1 Servo ON Signal (/S-ON) 65
- 5.3.2 Overtravel 65
- Overtravel 66
- After stoppingStopping Method 66
- (/ALO1, /ALO2, and /ALO3) 67
- Emergency stop 68
- 5 to 24 VDC 68
- Photocoupler 68
- 5.3 Sequence I/O Signals 69
- Reference speed 70
- Motor speed 70
- Position error 70
- /INPOSITION 70
- (1) Signal Specifications 71
- (2) Related Parameters 71
- 5.3.9 Encoder Signal Outputs 72
- 5.4.1 Setting Reference Units 73
- Position References 74
- Forward Software Limit 76
- (P-LS): PnB21 76
- Reverse Software Limit 76
- (N-LS): PnB23 76
- Workpiece 76
- 5.4.3 Setting Home Position 78
- 5.4.4 Backlash Compensation 79
- 5.4.5 Torque Limit 79
- 6.1 Program Table 82
- 6.1.4 Program Table Settings 85
- 6.1.6 Program Table Operation 89
- (2) Resetting the Program 90
- 6.1.10 Program Table Examples 93
- (4) Using ZONE Table 95
- Zone Table 96
- (6) Using INFINITE 97
- (7) Using Registration 97
- Continuous Stop Function 98
- Latch operation 99
- 6.2.3 Registration Operation 100
- Program Table 101
- 6.3 ZONE Table Settings 102
- ZONEN = +11000 ZONEP = +1000 103
- 6.4 Homing/JOG Speed Table 104
- 6 Program Table 106
- 6.6 JOG Speed Table Operation 108
- 6.6.2 JOG Speed Table 109
- Operation 110
- Serial Command Communications 111
- 7.2 Settings 113
- 7.3 Command/Response Format 114
- 7.5 Echoback Response Time 116
- 7.6.1 Positive Responses 117
- 7.6.2 Negative Responses 117
- 7.7 Serial Commands 118
- 7.7.2 Control Commands 119
- 1 t2 t3 t4 120
- 7.7.2 Control Commands 122
- 1+y2 = y) 129
- 7.7.3 Parameter Edit Commands 132
- Operation of Digital Operator 146
- 8.1 Overview 147
- 㧮㧮ޓޓޓޓޓ㧙㧼㧳㧹ޓ㧱㨐㨕㨠㧙 148
- 㧼㧻㧿㧜㧜㧜㧩㧵㧗㧝㧞㧟㧠㧡㧢㧣㧤 148
- 㧼㧻㧿㧜㧜㧝㧩㧭㧗㧝㧞㧟㧠㧡㧢㧣㧤 148
- 㧼㧻㧿㧜㧜㧞㧩㧗㧵㧺㧲㧵㧺㧵㨀㧱 148
- 㧼㧻㧿㧜㧜㧟㧩㧿㨀㧻㧼 148
- 8.2.1 Utility Functions 149
- (1) Preparation 151
- (2) Editing Program Table 151
- 㧭㧯㧯㧜㧜㧞㧩㧦 152
- 㧭㧯㧯㧜㧜㧟㧩㧦 152
- 㧭㧯㧯㧜㧜㧠㧩㧦 152
- 㧭㧯㧯㧜㧜㧡㧩㧜㧜㧜㧜㧝㧜㧜㧜 152
- POS: Target Position 153
- SPD: Positioning Speed 153
- RSPD: Registration Speed 153
- ACC: Acceleration 154
- DEC: Deceleration 154
- EVENT: Pass Condition 154
- (4) Saving Program Tables 155
- (3) Saving ZONE Tables 157
- (2) Editing JOG Speed Tables 159
- (2) Operating Procedure 161
- 㧮㧮ޓޓޓޓޓ㧙㧲㨁㧺㧯㨀㧵㧻㧺㧙 165
- 㧲㨚㧮㧜㧤ޓ㧶㧿㧼㧰ޓ㧵㨚㨕㨠 165
- 㧲㨚㧮㧜㧥ޓ㨆㧿㧱㨀 165
- 㧲㨚㧮㧜㧭ޓ㧹㨛㨚㨕㨠㨛㨞 165
- 㧲㨚㧮㧜㧮ޓ㧼㨞㨙ޓ㧵㨚㨕㨠 165
- 㧲㨚㧮㧜㧯ޓ㧭㧸㧹ޓ㧾㨑㨟㨑㨠 171
- 㧲㨚㧮㧜㧰ޓ㧵㨚㨐㨑㨤㨑㨞ޓ㧭㧸㧹 171
- 㧲㨚㧜㧜㧜ޓ㧭㨘㨙ޓ㧴㨕㨟㨠㨛㨞㨥 171
- Troubleshooting 173
- 9.1 Troubleshooting 174
- 9 Troubleshooting 176
- 9.2 Warning Displays 184
- Status Displays 186
- (2) Linear Servomotors 196
- (cont’d) 198
- Appendix 202
- 10 Appendix 203
- SERVOPACKs 210
- 10.3 Monitor Modes 227
- Revision number 238
- WEB revision number 238
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