Omron R88M-K User Manual page 528

12 Troubleshooting and Maintenance
Error No. (hex)
Name
Main Sub
21 0 Encoder
Communicati
ons
Disconnectio
n Error
1 Encoder
Communicati
ons Error
23 0 Encoder
Communicati
ons Data
Error
24 0 Error Counter
Overflow
1 Excessive
Speed
Deviation
Error
12-18
Cause
A disconnection was detected because
communications between the encoder and
the Servo Drive were stopped more
frequently than the specified value.
There was a communications error in data
from the encoder. There was a data error
mainly due to noise. The encode cable is
connected, but a communications data error
occurred.
No communications error occurred with the
data from the encoder, but there is an error
in the contents of the data. There was a data
error mainly due to noise. The encode cable
is connected, but a communications data
error occurred.
Position error pulses exceeded the setting of
the Following error window (6065 hex).
• Motor operation does not follow the
command.
• The value of the Following error window
(6065 hex) is small.
The difference (speed deviation) between
Motor Velocity Demand Value After Filtering
and actual speed has exceeded the set
value of the Excessive Speed Deviation
Setting (3602 hex).
Note When Motor Velocity Demand Value
After Filtering is forced to 0 during an
immediate stop due to halt or forward/
reverse drive prohibition input, the
speed deviation immediately increases
The speed deviation also increases
when the Motor Velocity Demand
Value After Filtering starts. Therefore,
provide enough margin when making
the settings.
G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
Measures
Wire the encoder correctly as shown in the
wiring diagram. Correct the connector pin
connections.
• Provide the required encoder power
supply voltage 5 VDC ±5% (4.75 to
5.25 V). Be careful especially when the
encode cable is long.
• If the Servomotor cable and the encoder
cable are bundled together, separate
them.
• Connect the shield to FG.
• Provide the required encoder power
supply voltage 5 VDC ±5% (4.75 to
5.25 V). Be careful especially when the
encode cable is long.
• If the Servomotor cable and the encoder
cable are bundled together, separate
them.
• Connect the shield to FG.
• Check to see if the Servomotor rotates
according to the position command pulse.
Check on the torque monitor to see if the
output torque is saturated. Adjust the gain.
Maximize the set values on the Positive
torque limit value (60E0 hex) and the
Negative torque limit value (60E1 hex).
Wire the encoder as shown in the wiring
diagram. Lengthen the acceleration and
deceleration times. Reduce the load and
the speed.
• Increase the set value of object 6065 hex.
• Increase the set value of object 3602 hex.
• Lengthen the acceleration time of the
Motor Velocity Demand Value After
Filtering. Alternatively, improve the
tracking (following) performance by
adjusting the gain.
• Disable the Excessive Speed Deviation
Setting. (3602 hex = 0)