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9. TROUBLESHOOTING
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IFU DRU
Name Definition Cause Action
1. Machine struck something. 1. Review operation pattern.
2. Install limit switches.
2. Wrong connection of servo motor.
Drive unit's output U, V, W do not
match servo motor's input U, V, W.
Connect correctly.
3. Servo system is instable and
hunting.
1. Repeat acceleration/
deceleration to execute auto
tuning.
2. Change auto tuning response
level setting.
3. Set auto tuning to OFF and
make gain adjustment
manually.
@A.51# Overload 2 Machine collision or
the like caused max.
output current to flow
successively for
several seconds.
Servo motor locked:
0.3s or more
During rotation:
2.5s or more
4. Encoder faulty.
Checking method
When the servo motor shaft is
rotated with the servo off, the
cumulative feedback pulses do
not vary in proportion to the
rotary angle of the shaft but the
indication skips or returns midway.
Change the servo motor.
1. Acceleration/deceleration time
constant is too small.
Increase the acceleration/
deceleration time constant.
2. Torque limit value is too small. Increase the torque limit value.
3. Motor cannot be started due to
torque shortage caused by power
supply voltage drop.
1. Review the power supply
capacity.
2. Use servo motor which
provides larger output.
4. Position control gain 1 (DRU
parameter No.13) value is small.
Increase set value and adjust to
ensure proper operation.
5. Servo motor shaft was rotated by
external force.
1. When torque is limited,
increase the limit value.
2. Reduce load.
3. Use servo motor that provides
larger output.
6. Machine struck something. 1. Review operation pattern.
2. Install limit switches.
7. Encoder faulty. Change the servo motor.
@A.52# Error excessive The deviation
between the model
position and the
actual servo motor
position exceeds the
DRU parameter
No.31 setting value
(initial value: 2
revolutions
8. Wrong connection of servo motor.
Drive unit's output U, V, W do not
match servo motor's input U, V, W.
Connect correctly.