173
[When in Trouble]
When in Trouble
Point Deviates Positioning Accuracy is PoorHome Position Slips
The setting of the parameter for positioning
operation is wrong.
The setting of positioning completion range is
large.
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 not
occur and check it.
Check the wiring and connection between each signal of the connector
CN 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
Installation
Classification
Causes Countermeasures
The homing speed is slow, if any of the homing
types 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 or
reduce noise. 
Reduce noise (installation of noise filter or ferrite core), shield
treatment of I/F cables, use of a twisted pair or separation of power
and signal lines.
Parameter 
Wiring
Classification
Causes Countermeasures
Abnormal Motor Noise or Vibration
Gain setup is large. 
Resonance of the machine and 
the motor. 
Motor bearing
Electro-magnetic sound, gear noise, rubbing
noise at brake engagement, hub noise or rub-
bing noise of encoder
Lower the gain by setting up lower values to SV.Pr11 and 19, of
velocity loop gain and SV.Pr10 and 18 of position loop gain.
Re-adjust SV.Pr14 and 1C (Torque filter). Check if the machine
resonance exists or not with frequency characteristics analyzing
function of the PANATERM
®
. Set up the notch frequency to SV.Pr1D
or SV.Pr28 if resonance exists. 
Check the noise and vibration near the bearing of the motor while
running the motor with no load. Replace the motor to check. Request
for repair. 
Check the noise of the motor while running the motor with no load.
Replace the motor to check. Request for repair.
Adjustment
Installation
Classification
Causes Countermeasures