User guide

Chapter 7. Troubleshooting 229
Problem Cause Solution
Direction is reversed.
(STEPPERS ONLY)
1. Direction connections to the drive are
reversed. (n/a to 610n, 6201)
1. Switch DIR+ with DIR- connection to drive.
2. Phase of step motor reversed (motor
does not move in the commanded
direction).
2. Switch A+ with A- connection from drive to motor.
SOFTWARE ALTERNATIVE: If the motor (and the encoder if one is
used) is reversed, use the CMDDIR1 command to reverse the polarity of
both the commanded direction and the polarity of the encoder counts).
3. Phase of encoder reversed (reported
TPE direction is reversed).
3. Swap the A+ and A– connection at the ENCODER connector.
Direction is reversed,
servo condition is stable.
(SERVOS ONLY)
1. Command output (CMD) connections
and feedback device connections or
mounting are reversed.
1. Software remedy: Issue the CMDDIR1 command to the affected axis.
This reverses the polarity of the commanded direction and the feedback
direction so that servo stability is maintained.
Hardware remedy: Switch CMD- with the CMD+ connection to drive or
valve (if your drive or valve does not accept differential outputs this will
not work). You will also have to change the feedback device wiring or
mounting so that it counts in same direction as the commanded direction.
Direction is reversed,
servo condition is unstable.
(SERVOS ONLY)
1. Not tuned properly. 1. Refer to tuning instructions in the Servo Tuner User Guide , or in your
product's Installation Guide .
2. Phase of encoder reversed or
mounting of ANI input or LDT is such
that it counts in the opposite direction as
the commanded direction.
2. Software remedy: For the affected axis, issue the appropriate
feedback polarity reversal command (LDTPOL1 if LDT, ANIPOL1 if
ANI analog input, or ENCPOL1 if encoder).
Hardware remedy: If using encoder feedback, swap the A+ and A-
connections to the 6000 product. If using LDT or ANI feedback, change
the mounting so that the counting direction is reversed.
Distance, velocity, and
accel are incorrect as
programmed.
1. Incorrect resolution setting. 1.a. STEPPERS: Set the resolution on the drive (usually set with DIP
switches) to match the 6000 product's DRES command setting (default
DRES setting is 25,000 steps/rev).
1.b. Match the 6000 product's ERES command setting (default ERES
setting is 4,000 counts/rev) to match the post-quadrature resolution of the
encoder. 615n: When using the internal resolver, use ERES4096.
ERES values for Compumotor encoders:
E Series: ERES4000
OEM Series motors (stepper):
83 size: ERES4000
57 size: ERES2048
SM Series Servo Motors:
SMxxxxD-xxxx: ERES2000
SMxxxxE-xxxx: ERES4000
OEM Series motors (servo):
OEM2300E05A-MO: ERES2000
OEM2303E05A-MO: ERES2000
OEM3400E05A-MO: ERES2000
OEM3401E10A-MO: ERES2000
OEM2300E05A-MO: ERES4000
OEM2303E10A-MO: ERES4000
OEM3400E10A-MO: ERES4000
OEM3401E10A-MO: ERES4000
OEM2300E20A-MO: ERES8000
OEM2303E20A-MO: ERES8000
OEM3400E20A-MO: ERES8000
OEM3401E20A-MO: ERES8000
1.c. 6270 only: Check and set the LDT resolution with the LDTRES
command.
2. Pulse width too narrow. (steppers) 2. Set pulse width to drive specifications using the PULSE command.
3. Wrong scaling values. 3. Check the scaling parameters (SCALE1, SCLA, SCLD, SCLV,
PSCLA, PSCLD, PSCLV, SCLMAS) – see also page 83
Erratic operation. 1. Electrical Noise. 1. Reduce electrical noise or move product away from noise source.
2. Improper shielding. 2. Refer to the Electrical Noise portion of the Technical Reference
section in the Compumotor catalog, or in your Installation Guide.
3. Improper wiring. 3. Check wiring for opens, shorts, & mis-wired connections.
Feedback device (encoder
or LDT) counts missing.
1. Improper wiring. 1. Check wiring.
2. Feedback device slipping. 2. Check and tighten feedback device coupling.
3. Encoder too hot. 3. Reduce encoder temperature with heatsink, thermal insulator, etc.
4. Electrical noise. 4a. Shield wiring.
4b. Use encoder with differential outputs.
5. Encoder frequency too high. 5. Peak encoder frequency must be below 1.6MHz post-quadrature.
Peak frequency must account for velocity ripple.
6. LDT read error (LDT not connected,
LDT failure, or LDTUPD setting too fast).
6.a. Connect LDT and issue DRIVE11 command
6.b. Replace faulty LDT and issue DRIVE11 command
6.c. Increase the LDTUPD value and issue DRIVE11 command
6270: To enable an axis (DRIVE11) without an LDT connected, connect
GATE+ to GND on the LDT connector.
Following problems — see page 223