Unstable Rotation (Not Smooth); Positioning Accuracy Is Poor - Panasonic MINAS A6N Series Operating Instructions Manual

6
When in Trouble
Classification
Adjustment
Gain adjustment is not proper.
Wiring Servo on signal of Connector X4
is chattering.
6
When in Trouble
Classification
System
Position command is not correct.
(Amount of command pulse)
Adjustment
Position loop gain is small.
Setup of the positioning
Parameter
complete range is large.
Setup of the division/
multiplication is not correct.
Velocity loop gain is proportion
action at motor in stall.
Wiring
Servo on signal of Connector X4
is chattering.
Installation
Load inertia is large.
Related page
• P.3-39 "Details of Parameter"
• P.7-9 "Outline of Setup Support Software "PANATERM"
Rev.2.00
4. Troubleshooting

Unstable Rotation (Not Smooth)

Causes
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 wiring and connection of the Connector X4. Correct the
wiring and connection so that the Servo-ON signal can be turned
on normally. Review the controller.
4. Troubleshooting

Positioning Accuracy Is Poor

Causes
Count the feedback pulses with a monitor function of the USB
conmmunication (PANATERM) or feedback pulse monitor mode of
the console while repeating the movement of the same distance.If
the value does not return to the same value, review the controller.
Check the position deviation with the monitor function of the USB
communication (PANATERM) or at the monitor mode of the console.
Increase the setup of Pr1.00 within the range where no oscillation
occurs.
Lower the setup of Pr4.31 within the range where no chattering of
complete signal occurs.
Check if the repetition accuracy is same or not. If it does not
change, use a larger capacity motor and driver.
Set up Pr1.02 and Pr1.07 of time constant of velocity loop
integration to 9999 or smaller.
Check the wiring and connection of the connector X4.Correct the
wiring and connection so that the servo-On signal can be turned on
normally. Review the controller.
Check the overshoot at stopping with graphic function of the USB
communication (PANATERM) . If no improvement is obtained,
increase the driver and motor capacity.
• P.2-47 "Wiring to the Connector, X4"
Measures
Measures
1
2
3
4
5
6
7
6-49