Unstable Rotation (Not Smooth); Motor Runs Slowly Even With Speed Zero At Velocity Control Mode - Panasonic MINAS A6 Series Operating Instructions Manual

6
When in Trouble
Classification
Parameter
Setup of the control mode is not
correct.
Adjustment
Gain adjustment is not proper.
Velocity and position command
are not stable.
Wiring
Each input signal of Connector
X4 is chattering.
1) Servo-ON signal
2) Positive/Negative direction
torque limit input signal
3) Deviation counter input signal
4) Speed zero clamp signal
5) Command pulse inhibition
input
Noise is on the velocity
command.
Slip of offset
Noise is on the position
command.
Related page
• P.4-6 to P.4-85... "Details of parameter" • P.3-32 "Inputs and outputs on connector X4"
• P.7-26 "Outline of Setup support software "PANATERM"
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3. Troubleshooting

Unstable Rotation (Not Smooth),

Motor Runs Slowly Even with Speed Zero at Velocity Control Mode

Causes
If you set up Pr0.01 to 1(Velocity control mode) by mistake at
position control mode, the motor runs slowly at servo-ON due to
speed command offset. Change the setup of Pr0.01 to 0.
Increase the setup of Pr1.01, 1st velocity loop gain. Enter torque
filter of Pr1.04 and increase the setup of Pr1.01 again.
Check the motor movement with connector X7 of the front panel
or the waveform graphic function of the PANATERM. Review the
wiring, connector contact failure and controller.
1) Check the wiring and connection between Pin29 and 41 of the
Connector X4 using the display function of I/O signal status.
Correct the wiring and connection so that the Servo-ON signal
can be turned on normally. Review the controller.
2) Check the wiring and connection between Pin-18 and 17, 16 and
17 of the Connector X4 using tester or oscilloscope. Correct the
wiring and connection so that Positive/Negative direction torque
limit input can be entered normally.
3) Check the wiring and connection between Pin-30 and 41 of the
Connector X4 using display function of I/O signal status. Correct
the wiring and connection so that the deviation counter input can
be turned on normally. Review the controller.
4) Check the wiring and connection between Pin-26 and 41of the
Connector X4 using Display function of I/O signal status. Correct
the wiring and connection so that the speed zero clamp input can
be entered normally. Review the controller.
5) Check the wiring and connection between Pin-33 and 41of the
Connector X4 using display function of I/O signal status. Correct
the wiring and connection so that the command pulse inhibition
input can be entered normally. Review the controller.
Use a shield cable for connecting cable to the Connector X4.
Separate the power line and signal line (30 cm or longer) in the
separate duct.
Check the voltage between Pin-14 and 15 (speed command input)
using a tester or an oscilloscope.
Use a shield cable for connecting cable to the Connector X4.
Separate the power line and signal line (30 cm or longer) in the
separate duct.
Measures