Omron R88D-KN01L-ECT-L User Manual page 443

Symptom
Overshooting at startup or
when stopping
Vibration is occurring at the
same frequency as the
power supply.
The position is misaligned.
(Position misalignment
occurs without an error being
output.)
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
Probable cause
The Position Loop Gain 1
(3100 hex) is too large.
The Speed Loop Gain 1
(3101 hex) and the Speed
Loop Integral Time Constant
1 (3102 hex) are balanced
incorrectly.
The machine rigidity set by
realtime autotuning is
incorrect.
The set mass ratio differs
from the load.
Inductive noise is occurring.
The coupling of the
mechanical system is
insufficient.
The gain is wrong.
The load mass is too large.
12 Troubleshooting and Maintenance
Items to check
Review the setting of object
3100 hex.
Review the set values of
objects 3101 hex and
3102 hex.
Review the setting of the
machine rigidity.
Review the set value of the
Mass Ratio (3004 hex).
Check to see if the drive
control signal lines are too
long.
Check to see if the control
signal lines and power
supply lines are bound
together.
Check to see if the
mechanical system is
misaligned.
–
• Check the load mass.
• Check the motor speed.
• The dynamic brake
resistance is disconnected.
Measures
Adjust the gain to prevent
overshooting.
Use the CX-Drive or the
analog monitor to measure
the response and adjust the
gain.
Match the machine rigidity
setting to the load rigidity.
Adjust the set value of object
3004 hex with the load.
Shorten the control signal
lines.
• Separate control signal
lines from power supply
lines.
• Use a low-impedance
power supply for control
signals.
Correct the coupling of the
mechanical system.
Check if manual tuning can
achieve proper adjustment.
• Review the load mass.
• Replace the motor and
Servo Drive with proper
ones.
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