Troubleshooting during runtime

Fault phenomenon

Fault reason

Handling methods

When inputting commands, the motor does not rotate

1. Wiring error

Please refer to Chapter 3 "Wiring" to ensure that the command pulse signal line is correctly connected, the enable switch, and the overtravel switch are correctly connected

2.Servo parameter configuration error

Location operation mode

1. Ensure that the "P5-15 position command source" is consistent with the actual input position command method

2. Ensure that the "P5-16 instruction pulse shape" is consistent with the actual input instruction pulse signal shape (when inputting the AB signal, the incorrect configuration is "[0] pulse+direction", and the pulse count will be very small)

3. Ensure that the "P5-00 Single Cycle Pulse Number" is set correctly. When the value of the single cycle pulse number is large, the actual rotation of the motor is very small after inputting the command pulse

Speed operation mode

1. Ensure that the command source set for "P6-00 Speed Command Selection" matches the actual input command

When selecting analog input commands, check whether the AI analog input channel selection is correct ("P6-01 speed command A source", "P6-02 speed command B source"), and check whether the AI terminal wiring is correct

When the number is given, check if the "P6-03 speed command digital setting value" is correct

When the jog speed command is given, check whether the "P6-04 jog speed setting value" is correct, check whether the P01 group has set the DI function "[18] forward jog" and "[19] reverse jog", and whether the corresponding terminal logic is valid

2. Check if the "P6-05 Speed Command Acceleration Time" and "P6-06 Speed Command Deceleration Time" settings are correct

Torque operation mode

Ensure that the command source set for "P7-00 torque command source" matches the actual input command

When selecting analog input commands, check whether the AI analog input channel selection is correct ("P7-01 torque command A source", "P7-02 torque command B source"), and check whether the AI terminal wiring is correct

When the number is given, check if the "P7-03 torque command digital setting value" is correct

3.The input command has not taken effect

1. 1. Ensure that the servo is not in an alarm state (the panel status page displays "AL. xxx"). If an alarm occurs, refer to section 6.2 to identify the cause and troubleshoot the issue
2. 2. Ensure that the servo is in the enabled state when the command is sent (the last two digital tubes on the panel display "ru"). If it is not in the enabled state, check P01 group to see if the servo enable signal DI terminal and effective logic are correctly set, and if the enable switch circuit is working properly
3. Ensure that the DI function "[13] pulse disable", "[37] pulse command disable", or "[12] zero clamp" is not used incorrectly

When inputting command, the motor rotates in the wrong direction

Parameter configuration error

Location operation mode

1. Check if the "P02-02 Motor Rotation forward Direction Definition" is set correctly

2. Check if the "P05-17 instruction pulse signal inversion" setting corresponds to the actual input pulse polarity, and verify if the terminal wiring is correct

3. Check if the DI function "[27] Position Command Direction" has been set and if the corresponding terminal logic is valid

Speed operation mode

1. Check if the "P02-02 Motor Rotation forward Direction Definition" is set correctly

2. When selecting analog input commands, check if the polarity of the input signal is reversed

3. When the value is given, check if the "P6-03 speed command digital setting value" is correct

4. Check if the DI function "[26] Speed Command Direction" has been set and if the corresponding terminal logic is valid

5. When the jog speed command is given, check whether the "P6-04 jog speed setting value" is correct, check whether the P01 group has set the DI function "[18] forward jog" and "[19] reverse jog", and whether the corresponding terminal logic is valid

Torque operation mode

1.Check if the "P02-02 Motor Rotation forward Direction Definition" is set correctly

2.When selecting analog input commands, check if the polarity of the input signal is reversed

Check if the DI function "[25] Torque Command Direction" has been set and if the corresponding terminal logic is valid

1、Unstable speed during low-speed operation

2、Vibration occurs during running

1、Unreasonable gain setting

1. Adjust the rigidity level (when the value of "P3-00 self-tuning mode selection" is not "[0] manually adjust the gain parameter", adjust "P3-01 rigidity level")

2. Perform gain adjustment. When the value of "P3-00 self-tuning mode selection" is set to "[0] manual adjustment of gain parameter", adjust parameters such as "P3-04 position loop gain", "P3-05 speed loop gain", "P3-06 speed loop integration time constant", etc

Unstable during low-speed operation, try increasing the rigidity level

Vibration during operation, try to reduce the rigidity level

2、“P03-02 load moment of inertia ratio mismatch

1. In safe operation status, perform "F-003 inertia identification"
2. Estimate the load inertia ratio and manually fill in the parameter 'P3-02 load inertia ratio'

Inaccurate positioning

Refer to the next section "7.2.2 Troubleshooting for inaccurate positioning" for handling

phenomenon

Reason for malfunction

1. In the wiring between the position command output controller (such as PLC) and the servo driver, the input position command counting error is caused by the influence of current noise
2. During the operation of the motor, the input position command is interrupted.

Troubleshooting methods

1. Check if the pulse input terminal (refer to Chapter 3 "Wiring") uses twisted pair shielded wire
2. If conditions permit, use differential input for pulse command signals
3. The wiring of the pulse input terminal must be separated from the main circuit (L1, L2, L3, U, V, W) and routed separately
4. Increase the "P5-18 pulse signal filtering time" and "P5-19 direction signal input filtering time"
5. Check if the "P5-16 Command Pulse Form" matches the actual input signal type
6. Ensure that the '[2] servo enable' signal is not erroneously set to invalid during operation, default DI1 configuration is' [2] servo enable '
7. Ensure that the "[14] forward overtravel" or "[15] reverse overtravel" signals are not activated during operation. The default DI3 configuration is "[14] forward overtravel" and DI4 configuration is "[15] reverse overtravel"
8. If the DI terminal is configured with "[13] pulse disable" or "[37] pulse command disable", ensure that the "[13] pulse disable" or "[37] pulse command disable" signal is not activated during operation

Encoder feedback position signal error (signal interference)

1. Check if there was a malfunction during operation that resulted in incomplete execution of instructions and servo shutdown
2. If the DI terminal is configured with "[35] position deviation clearing", ensure that the "[35] position deviation clearing" signal does not take effect during operation
3. Check if the "P5-50 position deviation clearing action" is reasonable

Mechanical position sliding occurred between the machine and servo motor

Step by step check the connection status of the machinery and identify the location where relative sliding occurred