Omron SMARTSTEP A Series User Manual page 192

Operation
3. Loaded Low-speed Operation
• Send a low-speed command from the Host Controller to rotate the Servomotor. (The definition of
low speed varies depending on the mechanical system, but a rough estimate is 1/10 to 1/5 of the
normal operating speed.)
• Check the following items.
Is the emergency stop operating correctly?
Are the limit switches operating correctly?
Is the operating direction of the machinery correct?
Are the operating sequences correct?
Are there any abnormal sounds or vibration?
Is any error (or alarm) generated?
Note 1. If anything abnormal occurs, refer to 5 Troubleshooting and apply the appropriate counter-
measures.
Note 2. If the system vibrates due to insufficient gain adjustment, making it difficult to check the op-
eration, refer to 4-5 Gain Adjustments, and adjust the gain.
4. Operation under Actual Conditions
• Operate the Servomotor in a regular pattern and check the following items.
Is the operating speed correct? (Use the speed feedback monitor.)
Is the load torque roughly equivalent to the measured value? (Use the torque command monitor
and the accumulated load monitor.)
Are the positioning points correct?
When an operation is repeated, is there any discrepancy in positioning?
Are there any abnormal sounds or vibration?
Is either the Servomotor or the Servo Driver abnormally overheating?
Is any error (or alarm) generated?
Note 1. If anything abnormal occurs, refer to 5 Troubleshooting and apply the appropriate counter-
measures.
Note 2. If the system vibrates due to improper gain adjustment, making it difficult to check operation,
refer to 4-5 Gain Adjustments and adjust the gain.
5. Completing the Trial Operation
• Performing the above procedures completes the trial operation. Next, adjust the gain to improve
command efficiency. (Refer to 4-5 Gain Adjustments for details.)
4-10
Chapter 4