LmrXP142机械手册.pdf - 第111页
AC Servopack Check List for Troubleshooting Alarm title Alarm Cause Investigation and corrective actions NP1MT007E-1a C3H Speed feedback abnormality Motor is not rotating. Confirm that the power line is properly connecte…
AC Servopack Check List for Troubleshooting
Alarm titleAlarm Cause Investigation and corrective actions
NP1MT006Ea
B5H Over speed and multiple
rotations generation abnormality
When abnormalities are detected
in the internal part of the absolute
position detector for the
asynchronous system.
Defect in internal circuit of encoder. Turn ON the power supply again; if not restored, replace the motor.
Malfunction due to noise • Confirm proper grounding of the amplifier.
• Check the shielding of the encoder cable.
• Add ferrite core or similar countermeasures against noise.
Number of motor rotations exceeds the permitted speed. Check the operation pattern and reduce the maximum number of
rotations.
B7H Acceleration abnormality
When abnormalities are detected
in the internal part of the absolute
position detector for the
asynchronous system.
Defect in internal circuit of encoder. Turn ON the power supply again; if not restored, replace the motor.
Malfunction due to noise • Confirm proper grounding of the amplifier.
• Check the shielding of the encoder cable.
• Add ferrite core or similar countermeasures against noise.
The acceleration of motor rotation exceeds the permitted
acceleration
Check the operation pattern and extend the acceleration and
declaration time.
Malfunction due to noise • Confirm proper grounding of the amplifier.
• Check the shielding of the encoder cable.
• Add ferrite core or similar countermeasures against noise.
B2H Encoder abnormalities 2
When abnormality is detected in
the internal part of the absolute
position detector (RA062M) of
the Manchester system.
Defect in internal circuit of encoder Turn ON the power supply again; if not restored, replace the motor.
Malfunction due to noise • Confirm proper grounding of the amplifier.
• Check the shielding of the encoder cable.
• Add ferrite core or similar countermeasures against noise.
B3H
B4H
B6H
Absolute encoder rotations
counter abnormality
Absolute encoder 1 rotation
counter abnormality
Encoder memory error
When abnormalities are detected
in the internal part of the absolute
position detector for the
asynchronous system.
Defect in internal circuit of encoder. Turn ON the power supply again; if not restored, replace the motor.
Part 5 Chapter 1 Servo System Troubleshooting
Edition 3.0 5-1-11 XP-142E Mechanical Reference
AC Servopack Check List for Troubleshooting
Alarm titleAlarm Cause Investigation and corrective actions
NP1MT007E-1a
C3H Speed feedback abnormality Motor is not rotating. Confirm that the power line is properly connected.
Replace the servo motor.
Defect in internal circuit of servo amplifier. Replace the servo amplifier.
The motor is vibrating (oscillating). Adjust the servo parameter so that servo motor will not vibrate
(oscillate).
The wiring of A, B, phase of INC-E and ABS-EI encoder
connection is incorrect.
Check the wiring and repair any irregularities.
The motor is vibrating (oscillating). Adjust the servo parameters so that servo motor will not vibrate
(oscillate).
Abnormality in servo amplifier control circuit Replace the servo amplifier.
Excessive overshoot and undershoot. • Monitor speed with the analog monitor.
• Adjust the servo parameters to reduce overshoot and undershoot.
• Increase acceleration and declaration command time. Mask the
alarm.
C2H Speed control abnormality Wiring of U/V/W -phase between servo amplifier and
motor do not match.
Check the wiring and repair any irregularities.
Defect in the encoder of servo motor. Replace the servo motor.
Wiring of U/V/W -phase between servo amplifier and
motor do not match.
Check the wiring and repair any irregularities.
Excessive overshoot while starting. • Monitor speed with the analog monitor.
→ Adjust the servo parameters if overshoot is excessive.
→ Simplify the acceleration and declaration command pattern.
→ Reduce the load inertia.
C1H Over speed Defect in control panel of servo amplifier. Replace the servo amplifier.
Part 5 Chapter 1 Servo System Troubleshooting
Edition 3.0 5-1-12 XP-142E Mechanical Reference
AC Servopack Check List for Troubleshooting
Alarm titleAlarm Cause Investigation and corrective actions
NP1MT007E-2a
D1H Excessive position deviation Position command frequency is high or acceleration and
declaration time is short.
Correct the position command of the controller.
Excessive initial load or low motor capacity. Correct the load condition or increase the motor capacity.
Holding brake is not released. Check the wiring and repair any abnormalities. If specified voltage is
applied, replace the servo motor.
Motor is mechanically locked or machine is colliding. Check the machinery system.
Settings of servo parameters (Position loop gain,etc.)
are not appropriate.
Check the servo parameter settings (raise the position loop gain, etc.)
Excessive deviation setting value is reduced. Set a greater value for excessive deviation.
Defect in control panel of servo amplifier. Replace the servo amplifier.
Servo motor encoder is defective. Replace the servo motor.
Power supply voltage is low. Check the power supply voltage.
One or all phases of U/V/W -phase of the servo amplifier
and motor has disconnected.
Check and repair the wiring connections.
Motor is being rotated by an external force (Gravity, etc.)
during stopping (positioning completion).
Check the load, and/or increase the motor capacity.
• Valid current limit command is entered by the
controller, and the current limit setting is reduced.
•
Number of encoder pulses does not match with the motor.
Increase the current limit value or disable the current limit. Match the
number of motor encoder pulses.
D2H Position pulse frequency
abnormality 1
Command for the digital filter setting of the command
pulse input is entered.
• Decrease the frequency of the command pulse.
• Increase the frequency of the digital filter.
D3H Abnormal position pulse
frequency 2
Frequency of command pulse input is excessive. Reduce the frequency of command pulse input.
Setting value of electronic gear is excessive. Decrease the electronic gear setting value.
DFH Test mode end Normal operation Clear the alarm and restore operation. (After completion of test mode,
to confirm any deviation in the controller).
Part 5 Chapter 1 Servo System Troubleshooting
Edition 3.0 5-1-13 XP-142E Mechanical Reference