position / speed mode - Harmonic Drive LLC
position / speed mode - Harmonic Drive LLC
position / speed mode - Harmonic Drive LLC
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Chapter 7Trouble shooting<br />
From prior page<br />
Command<br />
voltage form<br />
correct<br />
Y<br />
Speed lower<br />
than rated<br />
<strong>speed</strong><br />
Y<br />
N<br />
N<br />
If there is a ripple on signal, stabilize it.<br />
Check for electrical noise.<br />
Adjust actuator<br />
<strong>speed</strong> lower than<br />
rated <strong>speed</strong>.<br />
Is load<br />
inertia<br />
proper<br />
N<br />
Gain<br />
adjustment<br />
possible<br />
N<br />
Lower load inertia<br />
Y<br />
Adjust gains<br />
correctly.<br />
Large<br />
fluctuation in<br />
load torque<br />
N<br />
Gain<br />
adjustment<br />
possible<br />
N<br />
Lower its fluctuation.<br />
Use higher output<br />
actuator.<br />
Y<br />
Y<br />
Adjust gains<br />
correctly.<br />
Is the Motor<br />
wiring from<br />
driver<br />
correct<br />
N<br />
Verify motor cable<br />
connections.<br />
Y<br />
Is torque<br />
limit value<br />
too small<br />
N<br />
Set [b: torque limit]<br />
normal.<br />
Y<br />
Is encoder<br />
signal<br />
normal<br />
N<br />
Is there noise<br />
in the<br />
encoder<br />
signal<br />
Y<br />
Improve grounding<br />
and cable installation.<br />
Use shield cable.<br />
Y<br />
N<br />
Actuator failure<br />
To next page<br />
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