Omron CS1W-NC113 Manual page 291

Troubleshooting Tables
No. Problem
There are unusual
41
noises.
42
43
44
Vibration is
45
occurring at the
same frequency as
the application
frequency.
46
47
The motor axis is
48
vibrating
unsteadily.
49
50
51
52
Probable causes
The machinery is vibrating.
The speed loop gain is
insufficient. (The gain is too
high.)
The wrong Servo Motor is
selected (so it cannot be
adjusted).
There is eccentricity in the
couplings connecting the
Servo Motor axis and the
mechanical system.
Inductive noise is being
generated.
The control signals are not
properly grounded.
Twisted-pair or shielded
cable is not being used
between the PCU and the
Servo Drive.
The gain adjustment is
insufficient. (The gain is too
low.)
The gain cannot be adjusted
because the mechanical
rigidity is too weak.
The mechanical structure is
producing stick slip
(high-viscosity statical
friction).
The wrong Servo Motor is
selected (so it cannot be
adjusted).
The Servo Motor or the
Servo Drive is defective.
Items to check
Check for foreign objects in the
machinery's moving parts, and
inspect for damage,
deformation, and looseness.
---
Check the torque and inertia
ratings and select another
Servo Motor.
---
Check whether the Servo Drive
control signals are too long.
Check whether the control
signal lines and power lines are
bundled together.
Check whether the control
signal shield is properly
grounded at the Servo Drive.
Check whether the control
signal lines are in contact with
the ground.
Check whether twisted-pair
cables are used for the pulse
signals, and whether the cables
are shielded.
---
This particularly tends to occur
in systems with vertical axes,
scalar robots, palletizers, and
so on, which place a torsion
load on the axes.
---
Check the torque and inertia
ratings and select another
Servo Motor.
---
Section 11-1
Remedy
Make any necessary
repairs.
Perform autotuning.
Manually adjust
(decrease) the gain.
Change to a suitable
Servo Motor.
Adjust the mounting of
the Servo Motor and
machinery.
Shorten the control
signals.
Separate the control
signal lines and the
power lines.
Use a low-impedance
power supply for the
control signal lines.
Correct the wiring.
Use twisted-pair and
shielded cable as in the
wiring examples.
Perform autotuning.
Manually adjust
(increase) the gain.
Increase the mechanical
rigidity.
Re-adjust the gain.
Perform autotuning.
Manually adjust the gain.
Change to a suitable
Servo Motor.
Replace the Servo Motor
or the Servo Drive.
281