C HAP T E R ➅

Maintenance & Troubleshooting

The information in this chapter will enable you to:
❑ Maintain the system’s components to ensure smooth, efficient operation
❑ Isolate and resolve system hardware problems

Problem Isolation
If your system does not function as you expect it to operate, you must identify
and isolate the problem. When you accomplish this, you can effectively begin to
resolve and eradicate the problem.
The first step is to isolate each system component and ensure that each compo-
nent functions properly when it is run independently. You may have to dismantle
your system and put it back together piece by piece to detect the problem. If you
have additional units available, you may want to use them to replace existing
components in your system to help identify the source of the problem.
Determine if the problem is mechanical, electrical, or software-related. Can you
repeat or re-create the problem? Do not make quick rationalizations about the
problems. Random events may appear to be related, but they may not be contrib-
uting factors to your problem. Carefully investigate and decipher the events that
occur before the subsequent system problem.
You may be experiencing more than one problem. You must solve one problem at
a time. Document all testing and problem isolation procedures. You may need to
review and consult these notes later. This will also prevent you from duplicating
your testing efforts.
Once you have isolated the problem, take the necessary steps to resolve it. Refer
to the problem solutions contained in this chapter. If your system’s problem
persists, call Compumotor at 800-358-9070.

Motor Maintenance and Inspection

Since this motor does not use wear-prone parts, the following daily inspection is
sufficient. Each inspection period varies with the environment and operating
conditions. Furthermore, some parts that have been used for 20,000 hours or 5
years may need to be replaced, requiring an overhaul if there are many of them.
When an overhaul or motor disassembly is required, call Compumotor (800-358-
9068).
Chapter ➅ Maintenance & Troubleshooting 47
Inspection Item Period Inspection Details Evaluation
Sound and Vibration check Daily Widen the motor rotating range as much as No change is found under daily inspection.
possible when the motor is checked audibly
and by touching.
Insulation Resistance Measurement Once a year Separate the coupling from the driver, then If it is more than 10 , it is OK. If it is less
measure the insulation resistance between than 10 , consult Compumotor .
the coil terminal and stator housing with an
ohmmeter.
Resolving Motor Trouble
If motor trouble occurs, take the appropriate measures in accordance with the
information in the following table. If the problem persists after corrective mea-
sures have been taken, stop the operation immediately and contact Compumotor.
The table shows possible motor problems, their causes, what to inspect, and how
to resolve the problem.
Trouble Possible Cause(s) Item to Inspect How to Resolve
No motor torque • No AC power is applied. • Wiring inspection • Apply the specified AC power
• The fuse has burned out. • Fuse inspection • Fuse replacement
• The servo on (SRVON) • Inspection • Set to L
terminal is set to H.
• The CPU reset (RST) terminal. • Inspection • Set to H
is set to L
• The integral capacitor reset • Inspection • Set to H
(IRST) terminal is set to L
• Fc, ILIM, DC gain is small • Inspection • Adjusted to an appropriate value
The motor does not • Under overload (error c.) • Under no load • Reduce the load or use a larger motor
move • Incorrect external wiring • Inspect the wiring • Rewire unit correctly (use connection
diagram in this manual).
Motor rotation is • Wrong connection • Check Phase A, B, C, and GND • Rewire unit correctly (use connection
unstable • The motor and driver combination connections diagram in this manual).
is wrong • Check the numbers on the • Match product(s) with appropriate
component(s). Consult Compumotor.
The motor overheats • Ambient temperatire is high • Check temperature • Reduce the temperature (below 45°C).
(should be below 45°C) • When you start the motor,
• The motor is overloaded • Run the motor without its load lighten the load, or replace
existing motor with a large motor.
An abnormal sound is • The unit is mounted incorrectly • The set screws are loose • Tighten the screws.
produced
• The bearings are worn or damaged • Check for sound and vibration • Replace the motor
near the bearing (contact Compumotor).
• The mounting base is vibrating • Check the mounting base • Reinforce the mounting base.
The position is • The A/B Phase and U/D pulse jumper • Inspect the A/B Phase and U/D pulse jumper selections.
dislocated selections are wrong
• The command pulse rate and width • Check the feedback pulse rate (3 MHz maximum) and the circuit response
rate
are not specified
• Both ends of the feedback pulse • If the ends are not connected, connect the driver to AGND
transmission cable are not wired and the controller to SG.
to the earth connector
Driver Maintenance and Inspection
Although the servo driver does not require daily maintenance and inspection, it is
advisable to clean it and check for loose screws periodically. Overhaul the driver
in the same way as the motor (i.e., after 20,000 hours or 5 years).
LED Displays
A 7-segment LED is mounted on the front panel of the driver to display the motor
and driver’s status. Display details are shown below.
LED Display Display Details Cause/Measures
0 • Servo OFF, normal status
0. • Servo ON, normal status
1 • Servo OFF status after overspeed occurrence • Encoder malfunctions
1. • Servo ON status after overspeed occurrence • Command input trouble—check command input
2 • RAM error occurrence • Control board trouble—requires repair
3 • Encoder error occurrence • Encoder malfunction encoder cable wiring check
• Connector trouble—check encoder cable connector
• 0000 Open circuit (SIGØ,SIG1 stop)
• 0001 Open circuit (SIG1 stop)
• 0002 Open circuit (SIGØ stop)
• 0006 Abnormal frequency (Smoother error)
48 Dynaserv User Guide
 • 0007 Abnormal frequency (Incorrect interruption detected)
• 0009 Abnormal frequency (Divided error)
5 • Power supply error • Control power supply voltage trouble
• Connector trouble—requires repair
6 • Counter overflow • High acceleration/deceleration
• High revolution—check command input
7 • ROM error occurrence • Control board trouble requires repair
8 • Main power supply trouble • Decrease in main power supply voltage
• Fuse burnt out/replace the fuse
8. • CPU stop • Control borad trouble/requirement for repair
• Driver reset status
9 • WDT error, Illegal interrupt, compulation overflow • Control board trouble/encoder cable wiring check
A • Power amplifier error • High main power supply voltage
• Bad connector contact—requires repair
• Power board trouble—requires repair
• 0001 Overvoltage (OOV) signal ON)
• 0003 Over current (FAULT) signal ON
c. • Overload occurrence (Servo ON status) • Heavy load—review operation procedure
• Motor locked status—locked status release
c • Overload occurrence (Servo OFF status) • Ambient temperature too high—reduce environmental
temperature
OTHER • Trouble of elements relating to LED output • Control board trouble—requires repair
For engineering assistance, call Compumotor at 800-358-9070. For repairs, see below.
Procedure for Error Correction

(1) Encoder Error

Encoder error— 3

Check encoder NO
cable connection

Correction
OK

Set test switch ON. Others Power on again

LED detail display

[0006] Consult Compumotor

[0007] Application Department
[0009]
Without specification ranges

Command input

Within Correction
specification
ranges

YES
Noise, poor connector
connection?

Correction
NO

Consult Compumotor Power on again

Application Department

Chapter ➅ Maintenance & Troubleshooting 49

 (2) Over Speed

Over Speed—1

Command input NO
correct?

YES

Motor and YES

Driver
Mismatch
Correction
NO

Consult Compumotor Power on again

Application Department

(3) Over Count

NO
Over count— 6

NO
Already tuned?

Comand input, YES

correct?

Motor and YES

Driver
Mismatch

Excessive
YES
external force, applied
to motor's rotor?

Correction

NO

Consult Compumotor Power on again

Application Department

50 Dynaserv User Guide

 (4) Abnormal Main Power Supply

Abnormal Main Power Supply—8

Power cable NO
connection OK?

OK
Correction

YES Power voltage

too low?
Power on again

Correction
NO

Power on again Consult Compumotor

Application Department

(5) Amplifier Error

Amplifier Error A

Over voltage
Set test switch ON Over Current
LED Detail display
0001 0003

NO
Power supply
voltage, too high?
NO
Motor Cable
connection, OK?
YES
Load inertia, too much?
OK

NO
NO
Motor part, grounded?
YES
Operation duty, too high?
YES

Correction
NO Correction

Consult Compumotor
Power on again Consult Compumotor
Application Department Power on again
Application Department

Chapter ➅ Maintenance & Troubleshooting 51

 (6) Over load

Over load—C

YES
Motor's rotor, locked?

NO
Correction

YES
Operation duty
too high?
Power on again

Make duty low

and reduce load NO

Without specification
Driver ranges
installation
environment

Correction
Within specification
ranges

Power on again Consult Compumotor Power on again

Application Department

Returning the System

If your Dynaserv is faulty, you must return the drive and motor for replacement
or repair. A failed drive can damage motors. If you must return your Dynaserv to
effect repairs or upgrades, use the following steps:
Step ➀
Get the serial number and the model number of the defective unit(s), and a
purchase order number to cover repair costs in the event the unit is determined
by Parker Compumotor to be out of warranty.
Step ➁
Before you ship the drive to Parker Compumotor, have someone from your organi-
zation with a technical understanding of the Dynaserv and its application include
answers to the following questions:
❑ What is the extent of the failure/reason for return?
❑ How long did it operate?
❑ How many units are still working?
❑ How many units failed?
❑ What was happening when the unit failed (i.e., installing the unit, cycling power,
starting other equipment, etc)?
❑ How was the product configured (in detail)?
❑ What, if any, cables were modified and how?
❑ With what equipment is the unit interfaced?
❑ What was the application?
❑ What was the system sizing (speed, acceleration, duty cycle, inertia, torque, friction,
etc.)?
❑ What was the system environment (temperature, enclosure, spacing, unit orientation,
52 Dynaserv User Guide
 contaminants, etc.)?
❑ What upgrades, if any, are required (hardware, software, user guide)?
Step ➂
Call Parker Compumotor’s Applications Engineering Department [(800) 358-9070]
for a Return Material Authorization (RMA) number. Returned products cannot be
accepted without an RMA number.
Step ➃
Ship the unit to: Parker Compumotor Corporation
5500 Business Park Drive, Suite D
Rohnert Park, CA 94928
Attn: RMA # xxxxxxx
Reducing Electrical Noise
For detailed information on reducing electrical noise in your system, refer to the
current Compumotor Catalog.
Direct Drive Motors & Resonance
The major feature of the direct drive motor is its lack of a speed reducer. It there-
fore is fast, highly precise, and compact. On the other hand, because it is directly
coupled to the load, it is easy for the load’s mechanical resonance characteristics
to find their way into the velocity control loop, causing oscillations in the velocity
control system.
These oscillations may consist both of relatively low-frequency (several Hz) hunt-
ing and windup phenomena, and relatively high-frequency phase shift oscillations
and mechanical resonances.
Although most low-frequency oscillations can be cured by driver adjustments,
high-frequency oscillations require countermeasures such as improving mechani-
cal rigidity, adding mechanical damping, and/or inserting compensation filters.
With high-frequency oscillations in particular, it is usual for there to be multiple
resonance peaks, and to implement optimal countermeasures requires accurate
location of the resonance frequencies by appropriate measurement methods.
The following table is a summary of the characteristics of the low-frequency
oscillation phenomena (referred to as oscillation or resonance).
Oscillation Symptoms Oscillation: Reasons/Conditions Countermeasures
❑ Reason: Poor adjustment ❑ Make fp < 2.5 fv
❑ Frequency: Several Hz
❑ Conditions: fp fv
Where
fp: Position loop response frequency [Hz]
fv: Speed loop response frequency [Hz]
➀ Hunting fc: Natural oscillation frequency [Hz]
J: Load inertia [kg/m2]
G: DC gain [multiplier]
K: Constant (see attached table)
Reason: Poor adjustment ❑ Reduce <LIM > (see adjustment
procedure).
❑ Frequency: Several Hz ❑ Load inertia is too great.
❑ Conditions: May occur when load is [Load multiple <K> guidelines]
great (load inertia <JL> is 10 times or DM: 50 to 150
more motor’s rotor inertia <JM> and DR: 70 to 500
integral limiter <LIM> or <fc> is large,
➁ Windup and large deviation is imposed by a
step input, etc. Since windup may
sometimes not appear in Test mode,
if <JL> is 10 or more times <JM>,
you should impose a large deviation
—10° or more—by external force or
other means to check for it.
❑ Reason: Phase shift due to filter insertion. ❑ Insert compensating shift insertion
➂ Phase Shift Oscillation ❑ Conditions: Letting fp be the frequency at phase-advancing filter into velocity
which the actual motor velocity is 180° loop to lower fp. A compensation
phase-shifted relative to velocity command, filter should not be inserted if fv > 40
oscillation occurs at fp if fp < fv. —instead, lower the DC GAIN.

Chapter ➅ Maintenance & Troubleshooting 53

 ❑ Reason: Due to mechanical resonance. ❑ Increase mechanical rigidity to
❑ Frequency: 100 Hz to 2 kHz lower resonance peak valueS.
➁ Resonance ❑ Conditions: Load mechanical resonance ❑ Fit mechanical dampers to lower
characteristics enter into velocity control resonance peak values
loop, and velocity control system oscillates. ❑ Add resonance compensation filters
Multiple resonance points are frequent. to lower resonance peak values.

Resonance Measurement Methods

Measurements of oscillatory phenomena are performed by measuring the transfer
function for speed control in the Velocity P Control mode using a signal analyzer
(FFT analyzer). When these measurements are performed, either a random wave-
form or sine wave signal can be input as the VIN signal.
If an FFT analyzer is not available, the resonance points can be found by applying
the output of a sine wave generator to the analog velocity input, and monitoring
the velocity signal (VEL) on an oscilloscope while varying the generator frequency.
Resonance Counter Measures
There are three counter measures for the resonance phenomena generally referred
to as mechanical resonance (items ➂ and ➃ in the previous table).
➀ Increase machine rigidity to reduce resonance peak values.
➁ Fit dampers in the mechanical systems to reduce resonance peak values.
➂ Insert machine resonance compensation filters to reduce resonance peak values.
These measures should be implemented in the order listed.
Mechanical Rigidity
Increasing the mechanical rigidity requires increasing the structural rigidity of the
device. You should begin by minimizing play and looseness at all connections to
raise the overall rigidity of the machine as a whole. In addition, you should also
increase the rigidity of the individual structural components, posts and arms. An
arm using a honeycomb or ribbed structure, for example, is more effective from a
rigidity standpoint than a hollow construction. Although increasing the rigidity
may give rise to new resonances at higher frequencies, such cases can be dealt
with by the measures described in the sections that follow.
Dampers
A damper is a mechanical means for absorbing and attenuating resonant energy.
Dampers generally consist of a rubber pad and deadweight. A damper’s resonance
frequency can be varied by changing the thickness and material properties of the
rubber pad, and the weight of the deadweight. The following rules should be
observed.
Damper resonance frequency = Equipment resonance frequency

Although the heavier the deadweight, the greater the energy absorption, the lowest
limit is established by the following condition:
Deadweight weight > 1 kg

The damper mounting location should meet the following specification:

Directly above (or below) the individual axis motor

Resonance Compensation Filters

Generally, the term compensation filter refers to a filter of circuit configuration that
compensates for resonance characteristics.
❑ First-order lag filter
❑ Notch filter
First-Order Lag Filter
This filter can reduce a resonance peak within the velocity band, due to its small
phase lag. The transfer function and circuit are shown in the figure below. As can
54 Dynaserv User Guide
be seen from the characteristics for various values of frequency ratio, increasing n
too greatly reduces the phase margin, so fd1 cannot be set very small.
In the actual circuit, n can be set to about 4, and fd1 and fd2, respectively, can be
set to 20/80 Hz, 30/120 Hz, or 40/160 Hz by selection with jumpers provided; in
addition, separate terminals are provided so that any desired values for C and R2
can be
soldered in.
In general, the first-order lag filter is an effective countermeasure for resonances
around 100 Hz; its circuitry is built into the same board as the notch filter.

C R2
n = (R1+ R2) / R2
R1
ωs = 1/ (R1+ R2) C
nωs = 1/ R2 C

Phase [°]
90
-
+ 80

70
n
First Order Lag Filter Circuit
60
15
12
[dB] 50 7 10
fd1 fd2 8
6
ωs √ nωs nωs 40 5
4
30 3

20 2

10

0
0 2 4 6 8 10 12
[°] Gain [dB]

Relationship of Frequency
Ratio n, Phase, and Gain

First Order Lag Filter Transfer Function

Notch Filter
The notch filter circuit configuration is shown in the next figure. The notch filter
board is shown in the subsequent figure. This filter is effective for suppression of
high-Q resonances at 100 Hz and above. A switched capacitor filter is used for
the circuit, and the notch frequency and Q values can be set within a predeter-
mined range.
From a circuit configuration standpoint, dual types providing two stages for notch
frequency are typical, and in this case the first-order lag filter section is built into
this construction.

Chapter ➅ Maintenance & Troubleshooting 55

 User Settable

Jumper
Setting

20/80
30/120
40/160
{ Q1 Q2

IN -
+ - OUT
+

100 X fn1 100 X fn2 Oscillator

(Notch Frequency Setting)
1st Order Filter Dual Notch Filter

ØdB

-12dB
Q Value Q = fn / ∆f
Function
Transfer

Q1 Q2 ∆f 3dB

fn

fn1 fn2 fn1 fn2

Frequency (Hz)

Clock Monitor
Q Value Setting Notch Frequency Setting

Notch Frequency X 100

Q1 Q2 F2
1.3 1.5 1.7 270Hz
fn2

1.1 1.9
F1

Ø.9 2.1 TP6 (GND) fn1

TP1 (VOUT)
Ø.7 2.3 20/80
30/120 OFFSET
40/160
Ø.5 2.5 Connector 150Hz 1.5kHz
(ØΩ) (2ØkΩ)

TP3 (VIN) First Order Lag Filter

Jumper Setting Offset
Adjustment

Adjustment Procedures
Since the offset voltage will change when the settings of pots Q1 and Q2 are
changed, you should adjust the offset adjustment pot (VR1) so that the voltage
difference between TP1 (VOUT) and TP3 (VIN) does not exceed 50mV. When taking
signals from
TP1, TP3, and TP6, be careful not to touch any other pins or parts of the pattern.
General Filter Specifications
Item Specification
System Dual switched-capacitor notch filter+ first-order lag filter
Dimensions(mm) $75 ~ 40 (board size)
Interface DM series: Directly installed on control board
DR series: Connected by 10-pin connector to control board
Power Supply ±15V, 50 mA

56 Dynaserv User Guide

 Input Voltage Range ±10V
Output Offset Voltage ±100 m max (0 to 50°)
Notch and First-Order Filter Specifications
Notch Filter Section First-Order Lag Filter Section
Item Specifications Item Specifications
Notch Frequency 150 to 1.5 kHz Jumper Pin Setting 20/80 Hz
Setting Range 30/120 Hz
40/160 Hz
Q Value Setting Range 0.5 to 2.5 Setting via user- Solder in locations:
added resistor • C (C18)
capacitor • R (R21)
Notch Frequency TP 4: Stage 1
Monitoring Terminal Frequency X 100
(TTL level)
TP 5: Stage 2
Frequency X 100
(TTL level)
Resonance Analysis Example
Oscillation in a servo system may not be due to a resonance peak. Oscillatory
limits are also determined by phase margin and gain margin. Therefore, when
resonance compensation filters (first-order lag and notch) are used, attention must
be given to amplitude and phase margin. Particularly in robots, this may vary
according to the arm posture. The worst case considered when designing the
system.
Eliminating Resonance
The following table summarizes the sources of vibration and the ways that you
might eliminate resonance from your system.
Vibration Resonance
Location Frequency Problem Counter Measure
Base 39 Hz Servo rigidity reduction ❑ Increase base rigidity
due to absorption ❑ First-order lead filter
Bearings 79 Hz Has resonance peak ❑ Mechanical damper (on
motor)
(bearing section Moment ❑ First-order lag filter
mode)
Arm 134 Hz Has resonance peak ❑ Increase arm rigidity Notch
filter
276 Hz

Resonance Tuning
The following is a procedure of suppressing resonance (vibration) in a Dynaserv
application without the use of FFT Analyzer or Oscilloscope. The purpose is to
adjust the Dynaserv for optimum tuning (high gain, stiffness, responsiveness) with
no resonance.
1. This procedure is done in the Position mode.
2. Set the Fc and I.lim to 3.
3. Set Test Switch to ON (up position).
4. On the Notch Filter board set Q1 and Q2 to 1.5 (mid position).
5. Increase the DC Gain until resonance occurs.
6. On the Notch Filter board adjust F1 to null (tune-out) the resonance. If resonance is
very close to the same frequency as the first, tune it out with the same pot (F1). If not
use F2 pot.
7. Repeat steps 5 and 6 until the DC Gain can no longer be increased without resonance.
8. Repeat steps 5, 6, and 7 adjusting F2 on the Notch Filter board.
9. Depending on the mechanical conditions of the application additional filtering may be
necessary. If resonance persists use the 1st Order Lag Filter (20/80, 30/120, 40/160)
jumpers. Use one of these jumpers to minimize resonance then repeat steps 5 - 8. (Go
to step 11).
10. Increase the DC Gain until resonance occurs, then try nulling it out with the 1st Order

Chapter ➅ Maintenance & Troubleshooting 57

 Lag Filters (jimpers 20/80, 30/120. 40/160) on the Notch Filter board. Repeat steps 5
- 8 until
maximum gain is obtained without resonance.
11. Optimize the system tuning by increasing Fc and ILim.

Torque Constant and F/V Gain

TRQ VEL
Torque Angular Accelaration Angular Velocity
[N • m] [rad/sec2] [rad/sec]

1 1
KT J S
KF/V

KT: Torque Constant [N • m/V]

KF/V: F/V GAIN [V/rad/sec]
J: Inertia [kg-m2]
S: Angular Velocity [rad/sec]

The above figure illustrates the transfer function between torque (TRQ) and
velocity (VEL) when no resonance is present.

fc = KT • KF/V / 2π J
100
0
GAIN Frequency [Hz]
[dB]
20dB/dec

-90

Phase -180
[°]

30°
-270

The following tables contain the KF/V and KT values for DM and DR Series motors
respectively.
Motor Type: DM Series KF/V KT
[V/RAD/S] [Nm/V]
DM1050A 0.796 (5V/2 ) 3.92
A Type DM1100A 7.85
DM1150A 11.77
DM1200A 15.7
DM1015B 0.398 (5V/2 • 2) 1.97
B Type DM1030B 3.94
DM1045B 5.91
DM1060B 7.88

Motor Type: DR Series KF/V KT

[V/RAD/S] [Nm/V]A
Type DR1050A 0.53 (5V/2 • 1.5) 4.86
DR1100A 0.796 (5V/2 ) 9.72
DR1150A 14.58
DR1200A 19.44
DR1300A 29.17
DR1400A 38.89

58 Dynaserv User Guide

E Type DR1070E 0.398 (5V/2 • 2) 4.91
DR1100E 7.37
DR1130E 0.796 (5V/2 ) 9.83
DR1160E 12.28
DR1220E 17.19
DR1250E 19.65
B Type DR1008N 0.398 (5V/2 • 2) 1.202
DR1015B 2.04
DR1030B 4.08
DR1045B 6.11
DR1060B 8.15

Motor Type: DR Series KF/V KT

[V/RAD/S] [Nm/V]A
Type DR5030B .159 3.52
DR5050B .159 4.69
DR5070B .159 5.87

Chapter ➅ Maintenance & Troubleshooting 59

60 Dynaserv User Guide
 Index
A FEEDBACK PULSE SIGNAL 16 RACK MOUNTING 12
FIRST-ORDER LAG FILTER 55
A/B PHASE 17 O
AC GAIN 17 G
ANALOG VELOCITY 2 OPERATING TEMPERATURE 11
ANALOG VELOCITY 1
GEARING 2 OPTIONAL EQUIPMENT 5
GENERAL FILTER SPECIFICATIONS 56 OSCILLATION 53
B COUNTER MEASURES 54
I DAMPER 54
BALL BEARINGS 3
I/O MEASUREMENT 54
BASE LEVELNESS 13
A/B PHASE OUTPUT PULSE 26 MECHANICAL RIGIDITY 54
BENCH MOUNT 6
DIRECTION INPUT 25
MOTOR 6 P
STEP INPUT 25
BENCH TEST 6
UP/DOWN PHASE OUTPUT PULSE 26 PANEL LAYOUT 13
C VELOCITY COMMAND INPUT (VIN) 25 HORIZONTALLY 13
VELOCITY MONITORING OUTPUT (VELMON) VERTICALLY 13
CABLE 6 25 POSITION 2
MOTOR 7 I/O SIGNALS POSITION 1, 2
CABLES 5, 6, 7, 19 CN2 46 POSITION CONTROL SYSTEM 30
ENCODER 20 TB1 46 POSITION INTEGRAL FEEDBACK 29
MOTOR 20 TB2 46 POSITION MODE 2
RATED CURRENTS 19 INDEXER/DRIVE CONNECTION POWER 7
SIZES 19 CN1 24 POWER CIRCUIT 27
CAUTIONS 14 INTEGRAL FEEDBACK 3 POWER INPUTS 7
CN1 8
INPUTS 24 J R
OUTPUTS 24
COMPENSATION FILTER 54 JUMPERS 14, 16 RATE. SEE 1; 2
FIRST-ORDER LAG FILTER 55 JP1 16 REPAIR 52
55
NOTCH FILTER
UD/AB 17 RESOLVER 2
CONNECTOR 6 RESOLVER CABLE CODES (DR SERIES) 21
8-PIN HONDA 6
L RESOLVER FEEDBACK 1
CN1 29 LED CHARACTER 8 RESONANCE 57
CONTAMINANTS 11, 14 RETURN MATERIAL AUTHORIZATION (RMA) 53
CONTROL BOARD M ROTARY SWITCHES 15
JP1 16
CONTROLLERS 16
MAGNETIC COMPONENTS 3 S
CORNER FREQUENCY 26
MAGNETIC FLUX 2
MAGNETIC RESOLVER 14 SCALE FACTOR 27
CUT-OFF FREQUENCY 16
MECHANICAL COUPLING 13 SCALING 27
D MECHANICAL RESONANCE 53 SERIAL PULSE INTERFACE BOARD
MODE 34 JP23 17
DC GAIN 17, 27, 34 TORQUE CONTROL 35 S1 18
VARIABLE RESISTOR 27 MODE 9 SERIAL TAG 5
DC GAIN 29 CONTROL 34 SERVO 8
DIGITAL POSITION LOOP 2 POSITION CONTROL 29 SERVO CONTROLLER 2
DIRECT-DRIVE MOTOR 2 TEST 30 SERVO DRIVER 16
DIRECT-DRIVE SYSTEMS 2 MODES 29 SERVO OFF 8
DIRECTION 25 MOTOR 47, 48 SERVO ON 8
DM SPEED/TORQUE PERFORMANCE CURVES 40 FUNCTIONALITY 6 SHIP KIT 5
DRIVE 1 INSPECTION 47 SIGNAL 29
SD 1 MOTOR CABLE STEP AND DIRECTION 2
SR 1 COLOR CODES 7 STORAGE TEMPERATURE 11
DRIVE/INDEXER CONNECTION 22 MOTOR CABLE CODES (DM & DR SERIES) 20 SWITCH
DRIVER 48 MOTOR DIMENSIONS (TYPES A AND E) 43 FC 29
MAINTENANCE 48 MOTOR ROTOR 13 SWITCHES 14
MOTOR SIZE 5 SYSTEM GAINS 9
E MOTOR SPEED 16
MOTOR TORQUE OUTPUT 5
T
ELECTRICAL NOISE 53
MOTORS 1, 43 30
ENCLOSURE 11 TERMINALS
DIMENSIONS 43 TEST SWITCH 30, 31
NEMA TYPE 12 12
ENCODER 2
DM SERIES 1 TORQUE 2
ENCODER CABLE CODES (DM SERIES) 21 DR SERIES 1 TORQUE 1, 2, 58
ENCODER FEEDBACK 1
MOUNTING 11 TORQUE MODE 2
AIR FLOW 13
F DIMENSIONS 12 U
FASTENERS 12
F/V GAIN 58 PANEL MOUNTING 12 UP/DOWN PHASE 17
FACTORY SETTINGS 14 SCREWS 12 UP/DOWN PHASES 17
FAILED DRIVE 52 MOUNTING
FC 26
Chapter ➅ Maintenance & Troubleshooting 61
V
VARIABLE RESISTOR 30
DC GAIN 30
VARIABLE RESISTORS 14, 15
VELOCITY 2
VELOCITY 1, 2, 25, 58
VELOCITY CONTROL MODE 34
VELOCITY DETECTION 25
VELOCITY MODE 2
VELOCITY MONITORING OUTPUT 25
VELOCITY SIGNAL FILTER 16
VIBRATION 12

62 Dynaserv User Guide