Omron R88M-1M Series User Manual page 779

Symptom
The Servomotor or 1st Torque Command Filter
the load generates (3233 hex) or 2nd Torque
abnormal noise or Command Filter (3234 hex)
vibration. does not match the load.
1st Position Control Gain
(3213 hex) or 2nd Position
Control Gain (3214 hex) is too
large.
Proportional Gain and Inte-
gral Gain in 1st Velocity Con-
trol Gain (3223 hex) and 2nd
Velocity Control Gain (3224
hex) are balanced incorrectly.
Noise is entering into the con-
trol I/O signal cable because
the cable is longer than the
specified length.
Noise is entering into the cable
because the encoder cable
does not meet specifications.
Noise is entering into the
encoder cable because the
cable is longer than the speci-
fied length.
Noise is entering into the signal
lines because the encoder
cable is stuck or the sheath is
damaged.
Excessive noise on encoder
cable.
The FG's potential is fluctuating
due to devices near the Servo-
motor, such as welding
machines.
Errors are caused by excessive
vibration or shock on the
encoder.
Overshooting at 1st Position Control Gain
startup or when stop- (3213 hex) or 2nd Position
ping Control Gain (3214 hex) is too
large.
Proportional Gain and Inte-
gral Gain in 1st Velocity Con-
trol Gain (3223 hex) and 2nd
Velocity Control Gain (3224
hex) are balanced incorrectly.
The set inertia ratio differs from
the load.
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User's Manual (I586)
Probable cause
Review the set value of the
torque command filter.
Review the setting of the posi-
tion control gain.
Review the set values of the
velocity control gain.
Check the length of the control
I/O signal cable.
Check to see if it is a shielded
twisted-pair cable with core
wires that are at least 0.12
mm
Check the length of the
encoder cable.
Check the encoder cable for
damage.
Check to see if the encoder
cable is bound together with or
too close to high-current lines.
Check for ground problems
(loss of ground or incomplete
ground) at equipment such as
welding machines near the Ser-
vomotor.
There are problems with
mechanical vibration or Servo-
motor installation (such as the
precision of the mounting sur-
face, attachment, or axial off-
set).
Review the setting of the posi-
tion control gain.
Review the set values of the
velocity control gain.
Review the set value of the
Inertia Ratio (3001-01 hex).
Check items
2
.
12 Troubleshooting
Measures
Set a small value for the torque
command filter to eliminate the
vibration.
Use the Sysmac Studio to mea-
sure the response and adjust
the gain.
Shorten the control I/O signal
cable to 3 m or less.
Use an encoder cable that
meets specifications.
Shorten the encoder cable to
less than 50 m.
Correct the encoder cable's
pathway.
Install the encoder cable where
it won't be subjected to surges.
Ground the equipment prop-
erly and prevent current from
flowing to the encoder FG.
Reduce the mechanical vibra-
tion or correct the Servomotor's
installation.
Use the Sysmac Studio to mea-
sure the response and adjust
the gain.
Adjust the set value of the Iner-
tia Ratio.
12 - 47
12