sh030051g.pdf - 第173页
7 - 16 7. SPECIAL ADJUSTMENT FUNCTIONS MEMO
7 - 15
7. SPECIAL ADJUSTMENT FUNCTIONS
(2) When you choose changing by droop pulses
(a) Setting
Parameter No. Abbreviation Name Setting Unit
PB07 PG1 Model loop gain 100 rad/s
PB06 GD2
Ratio of load inertia moment to servo motor
inertia moment
4.0
Multiplier
(
1)
PB08 PG2 Position loop gain 120 rad/s
PB09 VG2 Speed loop gain 3000 rad/s
PB10 VIC Speed integral compensation 20 ms
PB29 GD2B
Gain changing ratio of load inertia moment to
servo motor inertia moment
10.0
Multiplier
(
1)
PB30 PG2B Gain changing position loop gain 84 rad/s
PB31 VG2B Gain changing speed loop gain 4000 rad/s
PB32 VICB Gain changing speed integral compensation 50 ms
PB26 CDP Gain changing selection
0003
(Changed by droop pulses)
PB27 CDS Gain changing condition 50 pulse
PB28 CDT Gain changing time constant 100 ms
(b) Changing operation
CDT 100ms
0
Droop pulses [pulses]
Change of each gain
CDS
CDS
Before-changing gain
After-changing gain
Command pulse
Droop pulses
Model loop gain 100
Ratio of load inertia moment
to servo motor inertia moment
4.0
10.0 4.0 10.0
Position loop gain 120 84 120 84
Speed loop gain 3000 4000 3000 4000
Speed integral compensation 20 50 20 50
7 - 16
7. SPECIAL ADJUSTMENT FUNCTIONS
MEMO
8 - 1
8. TROUBLESHOOTING
8. TROUBLESHOOTING
POINT
As soon as an alarm occurs, make the Servo off status and interrupt the main
circuit power.
If an alarm/warning has occurred, refer to this chapter and remove its cause.
8.1 Alarms and warning list
When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or warning
has occurred, refer to section 8.2 or 8.3 and take the appropriate action. When an alarm occurs, the ALM turns
OFF.
After its cause has been removed, the alarm can be deactivated in any of the methods marked
in the alarm
deactivation column. The alarm is automatically canceled after removing the cause of occurrence.
Alarm deactivation Display Name
Display Name Power Error CPU
Warnings
92 Battery cable disconnection warning
OFF ON reset reset 96 Home position setting warning
Alarms
10 Undervoltage 9F Battery warning
12 Memory error 1 (RAM) E0 Excessive regeneration warning
13 Clock error E1 Overload warning 1
15 Memory error 2 (EEP-ROM) E3 Absolute position counter warning
16 Encoder error 1 (At power on) E4 Parameter warning
17 Board error E6 Servo forced stop warning
19 Memory error 3 (Flash-ROM) E7 Controller forced stop warning
1A Motor combination error E8 Cooling fan speed reduction warning
20 Encoder error 2 E9 Main circuit off warning
24 Main circuit error EC Overload warning 2
25 Absolute position erase ED Output watt excess warning
30 Regenerative error
(Note 1)
(Note 1)
(Note 1)
31 Overspeed
32 Overcurrent
33 Overvoltage
34 Receive error 1
(Note 2)
35 Command frequency error
36 Receive error 2
37 Parameter error
45 Main circuit device overheat
(Note 1)
(Note 1)
(Note 1)
46 Servo motor overheat
(Note 1)
(Note 1)
(Note 1)
47 Cooling fan error
50 Overload 1
(Note 1)
(Note 1)
(Note 1)
51 Overload 2
(Note 1)
(Note 1)
(Note 1)
52 Error excessive
8A USB communication time-out error
8E USB communication error
888 Watchdog
Note 1. Deactivate the alarm about 30 minutes of cooling time after removing the cause of occurrence.
2. In some controller communication status, the alarm factor may not be removed.