YASKAWA SERVO Manuel d'utilisateur télécharger pdf (Page 198)

9 Troubleshooting

9-26

Abnormal Noise

from Linear

Servomotor

(cont’d)

Noise interference because the lin-

ear scale connection cables are

damaged

Check the linear scale connection

cables to see if they are not dam-

aged or bent.

Replace the linear scale connection

cables, and reconsider the layout of

the linear scale connection cables.

Excessive noise to the linear scale

connection cables.

Check if the linear scale connection

cables are not bundled with high-

current line or not near the high-cur-

rent line.

Modify the cable layout so that no

surge from high-current line is

applied to the linear scale connec-

tion cables.

FG electrical potential varies by

influence of such machines on the

linear servomotor side as welders.

Check if the machine is correctly

grounded.

Ground the machine separately

from linear scale side FG.

SERVOPACK pulse counting error

due to noise

Check if there is noise interference

on the I/O signal cable from the

serial converter unit.

Take measure against noise for the

serial converter unit wiring.

Excessive vibration and shock to

the serial converter unit

Check if vibration from the machine

occurred or serial converter unit

installation is incorrect.

(Mounting surface accuracy, or fix-

ing.)

Reduce vibration from the machine,

or correct the serial converter unit

installation.

A serial converter unit fault

occurred.

− Replace the serial converter unit.

A linear scale fault occurred. − Replace the linear scale.

Linear

Servomotor

Vibrates at about

200 to 400 Hz

Unbalanced servo gains

Check to see if the servo gains have

been correctly adjusted.

Execute the advanced autotuning.

Speed loop gain value (Pn100) is

too high.

Check the speed loop gain value

(Pn100).

Factory setting: Kv = 40.0 Hz

Reduce the speed loop gain

(Pn100).

Position loop gain value (Pn102) is

too high.

Check the position loop gain value

(Pn102).

Factory setting: Kp = 40.0/s

Reduce the position loop gain

(Pn102).

Incorrect speed loop integral time

constant (Pn101) setting

Check the speed loop integral time

constant (Pn101) setting.

Factory setting: Ti = 20.0 ms

Correct the speed loop integral time

constant (Pn101) setting.

Incorrect mass ratio (Pn103) setting

Check the mass ratio (Pn103) set-

ting.

Correct the mass ratio (Pn103) set-

ting.

High

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) is

too high.

Check the speed loop gain value

(Pn100).

Factory setting: Kv = 40.0 Hz

Reduce the speed loop gain

(Pn100).

Position loop gain value (Pn102) is

too high.

Ch

eck the position loop gain value

(Pn102).

Factory setting:

Kp = 40.0/s

Reduce the position loop gain

(Pn102).

Incorrect speed loop integral time

constant (Pn101) setting

Check the speed loop integral time

constant (Pn101) setting.

Factory setting: Ti = 20.0 ms

Correct the speed loop integral time

constant (Pn101) setting.

Incorrect mass ratio (Pn103) setting

Check the mass ratio (Pn103) set-

ting.

Correct the mass ratio (Pn103) set-

ting.

The force reference is saturated.

Check the force reference wave-

form.

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 Pn483 and Pn484 (Force Limit)

to an appropriate value.

(cont’d)

Problem Probable Cause Investigative Actions Corrective Actions

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