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8000 V 3
8000 V 3
) or &- Input the desired number rotations using (Q) to (9). Press --+ Servo ready signals are act to OFF and servo ON signals are set to ON ATest 0 JOG ready screen JOG Ray [####H] rpm speed change io Servo OFF OG down. ic Hold down. TF an alarm letatus is *Teet o faetne at patente 0 JOG Fwd Running [soc crrors |JOG Rvs Running is displayed. C) release. CZ] tetenee. cas P\ Figure A5-9 AS-17No. 20342-0235 Return the ccreen from the ready ecreen to the set screen using [0] and return it to the initial screen using [MODE]. When the screen is returned to the initial screen, an alarm indicating excessive deviation is generated. If JOG operation cannut be performed due to shutdown of the power cupply of the main circuit or an alarm, the following ecreen ic displayed. Test ° JOG Not Ready When JOG operation can be performed, the JOG set screen is displayed 5-18No. 2D342-023E 2.8 Servo Tuning Function (2) outline of the servo tuning function The servo tuning function permite parameters to be adequately set automatically by operating the mater using the remote operator and assuming the load inertia from its operating status. Four parameters (position loop gain (Kp), speed loop gain (Kvp), time constant tor speed loop integration, and current command LPF (ILPF)) are set by this function. (2) Precaution regarding operating conditions and load conditions When the servo tuning function is actuated, the motor is rotated in the forward and reverse directions. Set the operating range of the motor so that the motor can be rotated more than one time in both directions. In addition, operate the motor ouly on the conditions that safety can be ensured and that the mechaniem will not be damaged even if the motor vibrates. In the cases listed below, parameters may not be set adequately by the servo tuning function or a tuning error ("Tune Error" is displayed) may be detected. + Tho load inertia ie greater than the allowable load inertia. * Fluctuation in the load inertia or load torque is large. * Backlash of the ball screw or gear is large. + Mechanical otiffncos (including couplings etc.) is weak and mechanical resonance is generated. + The remote operator is removed from the amplifier during servo tuning. (The power oupply of the remote operator is turned OFF.) * The power supply of the main circuit is shut down or an alarm status is detected during servo tuning. * The output current is limited due to current limit allowance input. (3) Servo tuning operation (a) Select the stiffness for tuning from among "low", "medium", and "high" according to the mechanical stiffness. (v) When servo tuning is performed, the motor 1s rotated in the forward and reveroc directions for approximately 0.5 seconds by the torque command (equivalent to the rated peak torque) of the approximately 60 Hz sinusoidal waveform. The operating range of the motor differs depending on the load status; however, as a standard range, set the operating range so that the motor can be rotated more than one time in both directions. (c) When servo tuning is completed normally, parameters are automatically set adequately using the assumed load inertia and saved in nonvolatile memory. (d) Deviation of the position loop may remain after servo tuning is performed. To return to normal operation, clear the deviation. AS-19No. ZD34z-0235 2.9 Procedures for Servo Tuning Test screen Set page 1 using a or H xTest bY Tune Set [##### #| Tune set screen select the stiffness for tuning using (D) or (4)- (3 types: high, medium, and Low) Servo ready oignalo are cet to OFF and B serve ON signals are set ta ON. xTest 1 Tune Rdy Y=3, N=0 Tune ready screen SS EE ae C 6 Servo OFF a Test 1 Tune Running Y Tong ogee Blinks Completed Abnormal xTest 1 xTeat 1 Tune Completed Tune Error The buzzer beeps After completion, the buzzer beeps. (lwo short beeps). = During servo tuning, an abnormality ie generated. Figure A5-10 AS-20No. 2D342-023E Return the screen from the ready screen to the set screen using [0] and return it to the initial screen using [MODE]. When the screen is returned to the initial screen, an alarm indicating "excessive deviation" is generated. If serve tuning cannot be performed due to shutdown of the power cupply of the main circuit or an alarm, the following screen is displayed. Toot 1 Tune Not Ready When servo tuning can be performed, the tune set screen is displayed. 3-21No. 2D342-023E 3. TROUBLESHOOTING Lf an alarm is generated, the 7-segment LED blinks and an alarm code is output. Take corrective actions referring to the table below. The alarm history (up to seven alarms before the current one) can be displayed. Refer to table A5-15 for taking corrective action. (Note 1) Before replacing the servo amplifier, confirm that there is no external cause (to prevent repeat damage). Table AS-9 Taeoment | Cerpnne, | mak | Aumnane | Opting came Conscti acto, is aie sats couemenures o[o}o] 1] oc | roe | Uotisunente |. DetecherWa | « Reoace he sen Se Coment | ceuel power Seni, ii {KE ‘sonormalty | Supply only is me (Gvereurenp | tuned ON ns a cperaion pie. sfesaraon copiton Sigal are ON ater tteman owe supa le Eine On Lights when [+ Defectve motor. | « Reiace the motor. sono ON signals |" grunting eon. «Bateane power | #repace ne sero vtia arene (te 1) + Detecve cent Teeanecx oreut strooretcanctn | « Comet he Gime macros |” connections ‘atts wentne |e Incorect combination |» Reset ne metorcose fmotorisstated | "oft and ampir cretpped Ofo}+|o| a |ovenea | ugnswnenme |veteanerne |» Repace me sere nag cont power aot. Jar Spon ek tuned ON Lights during '« The motor is. '* Check the load. Iraorepeeton, |” operating beyond de ra toe ~Thefaling bakes | » Actuate te brake and reteset. tess ‘iteuphthe | «incorectcomecion |» Coret ne moor ates, | “otmntrmancreuts |” comecions Ereoretreach | «Ofmotor man cout trespecies” |” (VW) comectons, torque Sconthaty of Upnisaterthe | cenmctone fr one metorisoperted | prose fersometine. | «frcorect contnaton |» Checktne sor ond omc: |” orinaton Uignsameugn | +veteane rie | « Repace me sen beret are cpertes below ‘Sate rae AS-22No. 2D342-023E Table A5-10 Tian code Tagament | cNtpinNo _| Mark | Alam name | Operating cause, rey ees countermeasures 0 | 0] 1 | 1 | AoW | Overheating | Lights when the | + Detective temperature | + Replace the servo \ 7 onme contro power |” sensor PWS ampiter. i i arpliiar | supply ontyle i tamed ON, LUghts during | « The temperature at] « Reduce the ‘motor operation. | "the sen ampier | ” temperature to below wrens 5. 3 += Oniy the servo “= Replace the servo srpliferis abnormal | ” ampli. heated. of] 1 [os] ov | overotage | Lichtswhentne | + Detective PB + Replace the sero \ - control power ampli in S i ‘supply ony is & turned ON Lights ater some | = Excessive input ine | = Adjust the ine votage tine has elapsed | "voltage to within the anerthe man | « Distotion ofthe input | specication. powersupplyis |” power supply tured ON. waveform LUants during | « Excessive oad inertia. | « Adjust the load inertia ‘ator operation to within the speuiication, oO} +] 1] 0] os | cverspeed | ugnts wren tne | « Detective PWS “= Replace the ser a ya contal power amplifier. ‘suppiyoniy is | « Defective motor + Replace the | | tured ON, encoder servorotor i Lights during | « incorrect setting of | « Reset the speed rau opcation. | "the speed scale seat, = Excessive epeed | « Adjust the command ‘command to vthin the specification, “= Defective motor + Replace the moter. encoder “Incorrect connections | « Correct the for metor encoder ‘connections, ignale Lights when the | » Excessive overshoot | » Reset servo tuning, motor is started, “Loosen the stating pattem. + Excessive load inetia.| » Adjust the load inertia to within the specification AS-23No. 20342-0235 Table AS-11 ‘T-segment areal ean Operati Corrective actior ey pete, | von | aamrane | Szeto cae | Semmes afetets STi iit i Hi et cea uswwns| stecroc ti aca te ce ae cee Hl een || eee il saree WE abnormality | supply onlyis 70 specification JE eae evaaeeas| teams oe ipacaars | cream ne | ceomtes ere hee eternal | cen a pd Sells el ae ese nese ome eee — Sect | cree | eee Yak Serre tame aaa BF Fs eee no Stes cea Seo een a el Penis Snaaaear | caramel Deere (jee Seesrecneeg | emer eet a Sanco | onexciicaa aes comes emanmectall | ieeoesea ee a ae eee es Fat qiaciasesaaeanll| couicaed wacema (emcee cornet Sinaia | atomic inet | cece zee ese sao eiva|-eeet sonnets Soeeie re Tl ces i epee | ware a -|Q/- ‘supp is tumed 4 IN htt Tipeaseai | Osemoes IT | Saauenc arasel eel aah Pale come a rcieaeeatt emacs a oa Cnaecnees Samer esac jeanne | iota an co comevet alse eee a AS-24No. 2342-0235 Table AS-12 Tait cone segment Operating Corrective action, CNtpiaNe | Marke | Alam name Cause . Leo eet as status countermeasures t[o[ +] o] FP | Mainpower | Lightswhen the | » Defective PWE “= Replace the servo Mi le ‘supply open- | contol power armpit. i i prs ‘snp timed ON, Ughts when the | + Thethree-shase | « Corect the power ‘main power ower supply is open | ” suppl. ‘suppiyistumed | phase. ON, “= The input terminalis | = Corect the probe. rot adequately (ecu the terminal secured, adequately) t[t[olo] se | Speed LUghts when the | « Defective PWB “= Replace the ser - contr ontel power wpe — abnormatty | supplyis tuned IN om a Lights when | « The motoris “= Perform servo tuning ‘servo ON signals | “osclatng (vibrating). | + Replace the servo ae ON ampli + Repiace the moto. LUahts when the | « Incorect connection | « Correct the problem. ‘speed command | ” or discontinuty of the | "(Secure the terminal 'smput. motor aequately,) ‘+ Encoder signals of ‘the motor + Incorrect connection tedliscantinty 1 [1 [0] +] ove | crcesske | Lightswhenthe | = The commend pulse | « Gtop input ofthe S| 7 eviaton | control power Is input ‘command putse and Mt d i ‘supply is tumed input “deviation clear”. On, 4 NS = Detective Fw “= Repace ine ser ampli Lights during | = The set maximum | « Check fr excessive ‘operationYou might also like
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