Mitsubishi Electric MR-J5-G Series User Manual page 61

[AL. 042.3_Servo control error by torque/thrust deviation]
Cause
1.
[Pr. PA17 Servo motor series setting] and [Pr.
PA18 Servo motor type setting] were not set
based on the servo motor to be used.
2.
The settings of the encoder resolution differ
from the actual value.
3.
The mounting direction of the encoder is
incorrect.
4.
The connection of the servo motor is incorrect.
5.
The initial magnetic pole detection was not
executed.
6.
The setting value in the torque/thrust deviation
error detection level is too low.
[AL. 042.8_Fully closed loop control error by position deviation]
Cause
1.
The settings of the load-side encoder
resolution differ from the actual value.
2.
The mounting direction of the load-side
encoder is incorrect.
3.
The setting value of the position deviation
error detection level is too low.
Check/action method
Check if [Pr. PA17] and [Pr. PA18] have been set correctly.
Check the settings of [Pr. PL02 Linear encoder resolution setting - Numerator]
and [Pr. PL03 Linear encoder resolution setting - Denominator].
Refer to "Linear encoder resolution setting" in the following manual.
MR-J5 User's Manual (Hardware)
Check the polarities of the linear encoder and the linear servo motor.
Change the setting of "Encoder pulse count polarity selection" as required.
[A]: [Pr. PC45.0 Encoder pulse count polarity selection]
[G] [WG]: [Pr. PC27.0 Encoder pulse count polarity selection]
Refer to "Setting of linear encoder direction and linear servo motor direction" in
the following manual.
MR-J5 User's Manual (Hardware)
Check the wiring.
Refer to "SIGNALS AND WIRING" in the following manual.
MR-J5 User's Manual (Hardware)
Check the repeatability.
Refer to "Magnetic pole detection" in the following manual.
MR-J5 User's Manual (Hardware)
Calculate the deviation between the current command and torque/thrust. If the
deviation is too large, review the power-supply environment or the operation
status. Review the setting of [Pr. PL07 Torque deviation error detection level]
as required.
Check/action method
Check the settings of [Pr. PE04 Fully closed loop control - Feedback pulse
electronic gear 1 - Numerator] and [Pr. PE05 Fully closed loop control -
Feedback pulse electronic gear 1 - Denominator].
Check the mounting direction of the load-side encoder.
Change the setting of "Encoder pulse count polarity selection" as required.
[A]: [Pr. PC45.0 Encoder pulse count polarity selection]
[G] [WG]: [Pr. PC27.0 Encoder pulse count polarity selection]
Refer to "Checking position data of load-side encoder" in the following manual.
MR-J5 User's Manual (Hardware)
Check the value of the motor-side/load-side position deviation.
If the deviation is too large, review the mechanism of the equipment or the
operation status. Review the setting of [Pr. PE03 Fully closed loop control error
detection function] or [Pr. PE07 Fully closed loop control - Position deviation
error detection level] as required.
1 SERVO AMPLIFIER TROUBLESHOOTING
1.3 Handling methods for alarms/warnings
1
Model
[A]
[G]
[WG]
Model
[A]
[G]
[WG]
59