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6-4 Troubleshooting MN1903
Symptom Check
Motor runs uncontrollably
when controller is switched
on and servo loop gains are
applied or when a move is
set in progress. Motor then
stops after a short time.
Check that the axis’ corresponding encoder and demand
signals are connected to the same axes of motion. Check
the demand to the drive is connected with the correct
polarity.
Check that for a positive demand signal, a positive increase
in axis position is seen. The MintMT ENCODERMODE
keyword can be used to change encoder input direction.
The MintMT DACMODE keyword can be used to reverse DAC
output polarity.
Check that the maximum following error is set to a
reasonable value. For setting up purposes, following error
detection may be disabled by setting FOLERRORMODE = 0.
Motor is under control, but
vibrates or overshoots
during a move.
Servo loop gains may be set incorrectly. See sections 5.4.2
to 5.6.
Motor is under control, but
when moved to a position
and then back to the start it
does not return to the same
position.
Using an oscilloscope at the breakout module connectors,
check:
H all encoder channels are clear signals and free from
electrical noise;
H t hey are correctly wired to the controller;
H when the m otor turns, the two square wave signals are
90 degrees out of phase. Also check the complement
signals.
Ensure that the encoder lead uses shielded twisted pair
cable and that the shield is attached to the shield connection
only at the breakout module end.
Verify that the breakout module and drive are correctly
grounded to a common earth point.