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motor without pulley and it shows up that firstly: power of the motor was used only in 15%, lack of torque
(such situation takes place when nominal axis speed is get at 15% servo motor nominal revs value
reached). Lack of or too small pulley ratio makes correct tuning of axis and a toothed difficult or some-
times even impossible. The pulley ratio should be well-matched, so designed nominal axis speed results at
nominal servo motor revs.
11.7.3 Laud noises at standstill
Quite common feature of servo drives are a bit annoying noises at the moment when motors stands.
There is no a "golden mean" for that but in most of case we can handle with this the following way:
Slightly gain decrees and kD value increase.
•
•
Digital filter in a servo amplifier (only small damping values)
DeadBand value set on some small value e.g. 3
•
11.7.4 Cannot start tuning because an axis does not move.
If a motor does not want to work at all then we have to check a servo amplifier. Disconnect velocity signal
from CSMIO/IP-A and activate an axis. Connect AA (1.5V) battery to wires and the motor should start to
rotate. Change battery polarization and connect again, the motor should rotate in the other side. If it is not
then check control signal from servo amplifier, usually „Enable" is needed for power amplifier activation,
however the signal name may be different, you need to check in documentation. Sometimes servo amplifi-
ers have a separate E-Stop and LIMIT inputs which can block the operation.
11.7.5 An axis after activation jerks or starts to move with max. speed.
In situations like this, first we must check an encoder. Counting direction (look at tuning description), elec-
trical connections between a motor and a servo amplifier, encoder signal connections between servo am-
plifier and CSMIO/IP-A. Sometimes strange effects results from confusion between motor phases, or HALL
signals (if used).
11.7.6 Cannot tune an axis
Sometimes happens that although we spend a lot of time on tuning an axis does not work properly
hums, vibrates when it moves etc. Very often the reason is connection of +/- 10V analog signal to a servo
amplifier. When we have 3 axes and we reverse polarization of analog signal in one of them there may be a
problem with GND (depends on servo amplifier input type) and so strange effects may occur. Poor quality
not-shielded cable may be the reason or wrong electrical installation (GND loop etc). Of course it may
show up that the servo amplifier or motion controller is broken (it is rare). To know for sure it is worth to
plug an axis to other encoder and analog +/- 10V channel. You can also try to replace servo amplifiers
between axes to find where the problem is.
C S - L a b s . c . – C S M I O / I P - A - C N C c o n t r o l l e r
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