Sigma-II Series SGM*H/SGDH USER'S MANUAL - Esco Drives ...

10.1 TroubleshootingTable 10.8 Troubleshooting for Malfunction without Alarm Display (Cont’d)SymptomCauseInspectionCorrective Actions: Turn OFF the servo system before executing operations.ServomotorVibrates atabout 200 to400 HzHighRotationSpeedOvershoot onStarting andStopping.AbsoluteEncoderPositionDifferenceError(The positionsaved in hostcontrollerwhen thepower turnedOFF is differentfrom theposition whenthe powerturned ON.)Speed loop gain value (Pn100) toohigh.Position loop gain value (Pn102) toohighIncorrect speed loop integral timeconstant (Pn101) settingWhen the autotuning is used: Incorrectmachine rigidity settingWhen the autotuning is not used:Incorrect rotational moment of inertiaratio dataSpeed loop gain value (Pn100) toohighPosition loop gain value (Pn102) toohighIncorrect speed loop integral timeconstant (Pn101) settingWhen the autotuning is used: Incorrectmachine rigidity settingWhen the autotuning is not used:Incorrect rotational moment of inertiaratio dataNoise interference due to improperencoder cable specificationsNoise interference because theencoder cable distance is too long.Noise interference due to damagedencoder cableExcessive noise to the encoder cableFG electrical potential varies byinfluence of such machines on theservomotor side as welder.SERVOPACK pulse counting errordue to noise interferenceExcessive vibration and shock to theencoderEncoder faultSERVOPACK faultHost controller multiturn data readingerrorFactory setting: Kv=40.0 HzRefer to 9.3.2 Servo Gain Manual Tuning.Factory setting: Kp=40.0/sRefer to 9.3.2 Servo Gain Manual Tuning.Factory setting: Ti=20.00 msRefer to 9.3.2 Servo Gain Manual Tuning.Check the machine rigidity setting (Fn001).Check the rotational moment of inertia ratiodata (Pn103).Factory setting: Kv=40.0 HzRefer to the gain adjustment in User’s Manual.Factory setting: Kp=40.0/sRefer to the gain adjustment in User’s Manual.Factory setting: Ti=20.00 msRefer to the gain adjustment in User’s Manual.Check the machine rigidity setting (Fn001).Check the rotational moment of inertia ratiodata (Pn103).The specifications of encoder cable mustbe:Twisted-pair or twisted-pair shielded wirewith core 0.12 mm 2 (0.0002 in 2 ) min. andtinned annealed copper twisted wire.The wiring distance must be 20 m (65.6 ft)max.Noise interference occurred to the signalline because the encoder cable is bent or itssheath damaged.Check if the encoder cable is bundled with ahigh-current line or near high-current line.Check if the machine is correctly grounded.Check if the signal line from the encoderreceives influence from noise interference.Vibration from machine occurred or servomotormounting such as mounting surfaceprecision, fixing, and alignment is incorrect.An encoder fault occurred. (no change inpulse count)Check the multiturn data from SERVO-PACK.Check the error detection at the host controller.Check if the host controller executes dataparity check.Check noise on the signal line betweenSERVOPACK and the host controller.Reduce speed loop gain (Pn100) preset value.Reduce position loop gain (Pn102) preset value.Correct the speed loop integral time constant (Pn101)setting.Select a proper machine rigidity setting (Fn001).Correct the rotational moment of inertia ratio data(Pn103).Reduce the speed loop gain (Pn100) preset value.Reduce the position loop gain (Pn102) preset value.Correct the speed loop integral time constant (Pn101)setting.Select a proper machine rigidity setting (Fn001).Correct the rotational moment of inertia ratio data(Pn103).Use the mode switch setting function.Use encoder cable with the specified specifications.The encoder cable distance must be within the specifiedrange.Correct the encoder cable layout.Change the encoder cable layout so that no surge isapplied.Ground the machine separately from PG side FG.Take measures against noise for encoder wiring.Reduce vibration from machine or mount securely theservomotor.Replace the servomotor.Replace the SERVOPACK.Correct the error detection section of host controller.Execute the multiturn data parity check.Noise influence at no parity check (as the above.)1010-19