Zero Servo Fault

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Position deviation has occurred during zero servo operation. This fault typically arises from the torque limit being set too low for the application, an excessively high load torque on the motor, or electrical signal interference affecting the PG encoder wiring.

• Torque limit parameters (e.g., C1-01, C1-02) set too low to hold the motor position during zero servo.
• Actual load torque exceeding the motor's capability to maintain zero position.
• Excessive position deviation during stationary operation caused by external forces or mechanical backlash.
• Noise or disconnection in the encoder feedback cable causing erroneous position signals.
• Improper tuning of zero servo gain parameters (e.g., S3-01, S3-02).

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1. 1

   1. Increase the torque limit parameters (C1-01 and C1-02) to ensure sufficient holding torque is available for the load.

2. 2

   2. Verify the integrity of the encoder feedback cable and connections for proper shielding and signal levels (e.g., A/B/Z phases).

3. 3

   3. Inspect the mechanical load for any unexpected external forces or movements that might cause position deviation.

4. 4

   4. Review the zero servo gain parameters (e.g., S3-01 for position gain) and adjust according to application requirements and system inertia.

5. 5

   5. Confirm the motor encoder is securely mounted and has no slippage or mechanical play.

6. 6

   6. Measure actual motor position using an external reference during zero servo state to verify the magnitude of deviation.