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4. STARTUP
No. Start-up sequence Fault Investigation Possible cause Reference
4 Gain adjustment Rotation ripples
(speed fluctuations)
are large at low
speed.
Make gain adjustment in the
following procedure.
Increase the auto tuning response
level.
Repeat acceleration and
deceleration several times to
complete auto tuning.
Gain adjustment fault Chapter 7
Large load inertia
moment causes the
servo motor shaft to
oscillate side to
side.
If the servo motor may be run with
safety, repeat acceleration and
deceleration several times to
complete auto tuning.
Gain adjustment fault Chapter 7
4.4 Startup in torque control mode
Make a startup in accordance with section 4.1. This section provides the methods specific to the torque control
mode.
4.4.1 Power on and off procedures
(1) Power-on
Switch power on in the following procedure. Always follow this procedure at power-on.
1) Switch off the servo-on (SON).
2) Make sure that the Forward rotation selection (RS1) and Reverse rotation selection (RS2) are off.
3) Switch on the main circuit power supply and control circuit power supply.
At power-on, "88888" appears instantaneously, but it is not an error.
When main circuit power/control circuit power is switched on, the display shows "U (torque command
voltage)", and in two second later, shows data.
(2) Power-off
1) Switch off the Forward rotation selection (RS1) or Reverse rotation selection (RS2).
2) Switch off the Servo-on (SON).
3) Switch off the main circuit power supply and control circuit power supply.