173[When in Trouble]When in TroublePoint Deviates Positioning Accuracy is PoorHome Position SlipsThe setting of the parameter for positioningoperation is wrong. The setting of positioning completion range islarge. Position loop gain is small. Each input signal of CN X5 is chattering. 1)Servo-ON signal 2)CW/CCW over-travel inhibit input 3)Multi function input 1/2 (when a stop command is set) 4)Strobe signal input 5)Point specifying input Load inertia is large.Adjust the target position parameter at each point. Check the setting of an operation mode (relative travel/absolute travel). Decrease the set value of the positioning completion range (SV.Pr60)to the extent that chattering does not occur. Check the position deviation in the monitor mode of the console or“PANATERM ®”. Increase the set value of SV.Pr10 to the extent that oscillation does notoccur and check it. Check the wiring and connection between each signal of the connectorCN X5 and COM–. Check the overshoot when stopping with a graphic function of“PANATERM ®”. If this problem is not resolved by gain adjustment,increase the motor and driver capacity.Parameter Wiring InstallationClassification Causes CountermeasuresThe homing speed is slow, if any of the homingtypes below is used. 16.Pr36 = 1:Home sensor (based on the front end) 4: Limit sensor Chattering of home sensor (Z-LS) input. Noise is on the encoder line.Review the set value of the homing speed (16.Pr30/31). Check home sensor input signal of the controller with oscilloscope. Review the wiring near to proximity dog and make a noise measure orreduce noise. Reduce noise (installation of noise filter or ferrite core), shieldtreatment of I/F cables, use of a twisted pair or separation of powerand signal lines.Parameter WiringClassification Causes CountermeasuresAbnormal Motor Noise or VibrationGain setup is large. Resonance of the machine and the motor. Motor bearing Electro-magnetic sound, gear noise, rubbingnoise at brake engagement, hub noise or rub-bing noise of encoderLower the gain by setting up lower values to SV.Pr11 and 19, ofvelocity loop gain and SV.Pr10 and 18 of position loop gain. Re-adjust SV.Pr14 and 1C (Torque filter). Check if the machineresonance exists or not with frequency characteristics analyzingfunction of the PANATERM ®. Set up the notch frequency to SV.Pr1Dor SV.Pr28 if resonance exists. Check the noise and vibration near the bearing of the motor whilerunning the motor with no load. Replace the motor to check. Requestfor repair. Check the noise of the motor while running the motor with no load.Replace the motor to check. Request for repair.Adjustment InstallationClassification Causes Countermeasures
