Panasonic minas a series Operating Manual page 76

The rotation is not smooth.
The motor rotates slowly even if the target speed is zero in the speed control
mode.
Category
Parameters The control mode selection is not cor-
rect.
Adjustment The gains are not appropriate.
Velocity and position commands are
not stable.
Wiring
CN I/F signals are chattering.
1) Servo-ON signal
2) CW/CCW torque limit input signal
3) Counter clear input signal
4) Speed zero clamp signal
5) Command pulse input inhibit signal
Causes
With the position control mode selected, if Pr02 is set to other
than 0, the motor will rotate slowly because Pr52 (velocity
command offset) governs the operation of the motor. Change
the value of Pr02 to 0.
Increase the value of Pr11 (1st velocity loop gain). Insert a
torque filter (Pr14) and then further increase the value of
Pr11.
Check the behavior of the motor using the check pin on the
LED touch panel and the wave form graphics function of
PANATERM. Check the wiring and its connections. Check
the controller.
1) Check the wiring and connections between CN I/F pins 29
2) Check the wiring and connections between CN I/F pins 17
3) Check the wiring and connections between CN I/ F pins
4) Check the wiring and connections between CN I/F pins 26
5) Check the wiring and connections between CN I/F pins 33
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Countermeasures
and 41 by monitoring the display of input and output sig-
nals status. Modify the wiring so that Servo-ON signals
can be made active correctly. Check the controller.
and 18, and 16 and 17 using a circuit tester and/or oscil-
loscope. Modify the wiring so that CW/CCW torque limit
input can be made active correctly. Check thecontroller.
30 and 41 by monitoring the display of input and output
signals status. Modify the wiring so that Position Error
Counter input can be made active correctly. Check the
controller.
and 41 by monitoring the display of input and output sig-
nals status. Modify the wiring so that Zero Speed Clamp
input can be made active correctly. Check the controller.
and 41 by monitoring the display of input and output sig-
nals status. Modify the wir-ing so that Command Pulse
Input Inhibit can be made active correctly. Check the
ontroller.