TECO JSDE Series, Manual

Page 1: ...efore operate servo drive y Matching up machine to change the user parameter setting before machine performs If there is no according correct setting number it could lead to out of control or breakdown Safety proceeding Check the covering letter detail before installing running maintaining and examining Furthermore only the profession technician can proceed to assemble and repair Safety proceeding...

Page 2: ...y Keypad operation method and procedure DI status display unusual alarm and alarm reset process y Servo System control function trial operation and performance adjusted y Explanation for all parameters of Servo Driver y Standard specification of JSDE Series In order to daily examine maintain and understand the reason of unusual situation and handle unexpected problem please put this manual in a ne...

Page 3: ...otors 11 1 4 1 Environmental Conditions 11 1 4 2 Method of Installation 11 1 4 3 Notice for in stall motor 12 Chapter 2 Wiring 2 1 Basic Wiring for Servo System 13 2 1 1 Wiring for Main Circuit and Peripheral Devices 13 2 1 2 Wiring for Servo Drives 14 2 1 3 Specifications of Wiring 15 2 1 4 Motor Terminal Layout 16 2 1 5 Typical Wiring for Motor and Main Circuit 18 2 1 6 TB Terminal 19 2 1 7 Wiri...

Page 4: ...3 4 Speed Control Mode S Mode 27 2 3 5 Torque Control Mode T Mode 28 Chapter 3 Panel Operator Digital Operator 3 1 Panel Operator on the Drives 29 3 2 Trial Operation for Servomotor without Load 30 Chapter 4 Parameter Function 4 1 Explanation of Parameter Groups 31 4 2 Parameter Display Table 31 Chapter 5 Troubleshooting 5 1 Alarm function 60 5 2 Troubleshooting of Alarm and Warning 61 ...

Page 5: ...rtation do not power ON y Check if there are any assembly problem or loose parts in the Servo Drive and Motor y Check if the Motor s rotor and shaft can be rotated smoothly by hand The Servo Motor with Mechanical Brake can not be rotated directly y There must be the QC pass seal in each servo drive if not please do not proceed Power ON If there is any question under the situation above please cont...

Page 6: ...se Seal No No K Yes No O No Yes A Yes Yes TECO AC Servo Motor No Motor Series Series A Motor inertia S T Extra low L Low M Middle Motor Speed A 1000 rpm B 2000 rpm C 3000 rpm H 1500 rpm Encolder F 2000 ppr B 2500 ppr H 8192 ppr Motor rate power P5 50 W 01 100 W 02 200 W 03 300 W 04 400W 05 550W 08 750W 10 1 KW 15 1 5 KW 20 2 KW 30 3 KW AC input voltage A AC 220V M Machinery BK No BK B Mech brake ...

Page 7: ... 2500 H1021 JSMA SC01AB 100 3000 2500 H0030 JSMA SC02AF 2000 H1043 JSDE 10 JSMA TC02AB 200 3000 2500 H0121 JSMA LC03AB 300 3000 2500 H0130 JSMA SC02AF 2000 H1133 JSMA TC02AB 200 3000 2500 H0140 JSMA SC04AF 2000 H1141 JSMA SC04AB 2500 H1143 JSDE 15 JSMA TC04AB 400 3000 2500 H0211 JSMA LC08AB 750 3000 2500 H0220 JSMA SC04AF 2000 H1221 JSMA SC04AB 2500 H1223 JSMA TC04AB 400 3000 2500 H0230 JSMA SC08A...

Page 8: ... is via Digital Input signals Refer to diagram of chapter 2 3 3 Speed Mode S Speed control for the servo motor can be achieved via parameters set within the controller or from an external analog 10 10 Vdc command Control of the internal speed parameters is via the Digital Inputs A maximum of three steps speed can be stored internally Refer to diagram of chapter 2 3 4 Single Mode Torque Mode T Torq...

Page 9: ...ase salts and dust y To avoid the corrosive gases and liquids y To avoid the invading of airborne dust or metallic particles y When several Drives are installed in control panel make sure the ventilation space for each drive to prevent the heat the fan also must be installed to keep the ambient temperature under 55 y Please Install the drive in a vertical position face to the front in order to pre...

Page 10: ...10 1 3 2 Direction and Distance Air flow Above 10mm Above 10mm Fan Above 25mm Above 25mm Air flow Fan Above 30mm Above 25mm Above 30mm ...

Page 11: ... dust or metallic particles y Do not mount the servo motor in a location where temperatures and humidity will exceed specification y Do not mount the motor in a location where it will be subjected to high levels of electromagnetic radiation 1 4 2 Method of Installation 1 Horizontal Install Please let the cable cavity downside to prevent the water or oil or other liquid flow into the servo motor At...

Page 12: ...lease fixing the wiring cable certainly to avoid the cable ablating or breaking 4 The extending length of the shaft shall be sufficient otherwise that will cause vibration of the motor Wrong Example Correct Example Brake Encoder 5 Please do not press the motor too hard when installation or separate from coupling Otherwise the shaft and encoder will be damaged Attention Brake Encoder ...

Page 13: ...es Power 50W 1KW Single Phase or AC 200 230V 3 Phase Magnetic Contactor MC External braking resistor is connected to P and PC Circuit Servo motor JSMA No Fuse Break NFB PLC PC or motion controller Noise Filter CN1 For I O Connection CN4 For Communication TECO Servo PC software RS 232 RS 485 CN2 For Encoder Connection JSDE CN3 RS485 ...

Page 14: ...e Please install devices such as the insulated transformer and noise filter at the input power Keep more than 30 cm between Power wire power cable or motor cable etc and signal cable do not install them in the same conduit y Please set emergency stop switch to prevent abnormal operation y After wiring check the connection situation of each joint ex loose soldering soldering point short terminal or...

Page 15: ...ital input Terminal DI 18 20 Digital output terminal DO 8 Output 24V IP24 17 Input 24V DICOM 24 Digital Ground terminal IG24 0 2mm or 0 3mm Twisted pair cable connecting to the I O Grounding wire including shield cable 4 7 Position Command Input Pulse Sign CN1 Joint Control Signal 9 11 21 23 Encoder Signal Output PA PA PB PB PZ PZ 0 2mm or 0 3mm Twisted pair cable including shield cable 5 Output 5...

Page 16: ...ke control wire Fine yellow 0V 2 Military Specifications Joint Without Mechanical Brake Terminal Symbol Cable Color Signal A Red U B White V C Black W D Green FG A B D C 3 Military Specifications Joint With Mechanical Brake Terminal Symbol Cable Color Signal B Red U G White V E Black W C Green FG A Fine red DC 24V Brake control F Fine yellow 0V Brake control A B D C E F G ...

Page 17: ...le Color Signal 1 White 5V 2 Black 0V 3 Green A 4 Blue A 5 Red B 6 Purple B 7 Yellow Z 8 Orange Z 9 Shield FG 2 Military Specifications Joint Terminal Symbol Cable Color Signal B White 5V I Black 0V A Green A C Blue A H Red B D Purple B G Yellow Z E Orange Z F Shield FG ...

Page 18: ... of Single Phase Main Power Less than 1KW CN2 The Wiring Example of 3 Phase Main Power More than 1KW R S T PC P FG W V U CN2 Power Filter 3Phase220V R External Regeneration BK Resistance Red White Black Green TB1 TB1 NFB MC R MC S MC T Power OFF Power ON MC a MC M PG FG ...

Page 19: ...00 400 750W 550W 1KW A F Name Terminal Sign Detail R S Main circuit power input terminal T Connecting to external AC Power Single 3 Phase 200 230VAC 10 15 50 60Hz 5 P External regeneration resistance terminal PC When using external regeneration set the resistance power in Cn012 Please refer to manual to see resistance value U Motor terminal wire is red V Motor terminal wire is white Motor power ou...

Page 20: ...N3 and CN4 communication terminal CN1 control I O signal terminal and CN2 encoder terminal The diagram below displays all positions for the terminal CN2 9 Pins female Encoder connector CN1 25 Pins female Control I O Signal CN3 CN4 8 Pins female Communication Connector ...

Page 21: ...osition Symbol command input 7 Sign Position Symbol command input 8 IP24 24V power output 9 PA Encoder output A phase 10 PB Encoder output B phase 11 PZ Encoder output Z phase 12 SIN Speed or Torque analog command input 13 AG Analog signal ground Pin NO Name Function 14 DI 2 Digital Input Terminal 2 15 DI 4 Digital Input Terminal 4 16 DI 6 Digital Input Terminal 6 17 DICOM 24V Input 18 DO 1 Digita...

Page 22: ...connect wire to unassignment terminal Pin NO Name Function 1 B Encoder B phase input 2 A Encoder A phase input 3 A Encoder A phase input 4 GND 5V GND 5 5E 5V output Pin NO Name Function 6 __ _________________ 7 Z Encoder Z phase input 8 Z Encoder Z phase input 9 B Encoder B phase input ...

Page 23: ..._ 4 __ _________________ 5 Data RS 485 Serial data communication 6 __ _________________ 7 Data RS 485 Serial data communication 8 __ _________________ CN4 for RS232 and RS 485 Pin NO Name Function 1 RxD RS 232 Serial data receive 2 __ _________________ 3 GND RS 232 Signal Ground 4 TxD RS 232 Serial data transmit 5 Data RS 485 Serial data communication 6 __ _________________ 7 Data RS 485 Serial da...

Page 24: ...24 2 3 Typical Circuit Wiring Examples 2 3 1 Position Control Mode Pe Mode Line Driver Digital input and output terminal are programmable ...

Page 25: ...25 2 3 2 Position Control Mode Pe Mode Open Collector Digital input and output terminal are programmable ...

Page 26: ...26 2 3 3 Position Control Mode Pi Mode Digital input and output terminal are programmable ...

Page 27: ...27 2 3 4 Speed Control Mode S Mode Digital input and output terminal are programmable ...

Page 28: ...28 2 3 5 Torque Control Mode T Mode Digital input and output terminal are programmable ...

Page 29: ... assemble the servo drive before Power LED is off Key Name Function Keys Description MODE MODE SET 1 To select a basic mode such as the status display mode utility function mode parameter setting mode or monitor mode 2 Returning back to parameter selection from data setting screen INCREMENT DECREMENT 1 Parameter Selection 2 To increase or decrease the set value 3 Press and at the same time to RESE...

Page 30: ... Setting servo motor rotation direction and speed 2 No load servo motor with a host controller A Servo drive wiring and motor installation B Purpose of trial run Confirm if the items below are correct Control signal wiring between host controller and servo drive Servo motor rotation direction speed and rotating number Brake function operation limit function and protection function 3 Servo motor co...

Page 31: ... version display Alarm Code Description Un xx Status Display Parameters dn xx Diagnostics Parameters AL xx Alarm Parameters Cn xx System Parameters Tn1xx Torque Control Parameters Sn2xx Speed Control Parameters Pn3xx Position Control Parameters qn4xx Quick Set up Parameters Hn5xx Multi function I O parameters Control Mode Code Signal Control Mode ALL All Control Mode Pi Position Control Mode Inter...

Page 32: ...12 External CCW Torque Limit Command Value Ex Display 100 Means current external CCW torque limit command is set to 100 Un 13 External CW Torque Limit Command Value Ex Display 100 Means current external CW toque limit command is set to 100 Un 14 Motor feed back Rotation value absolute value rev After power on it displays motor rotation number as an absolute value Un 15 Motor feed back Less then 1 ...

Page 33: ...ng Explanation 0 CCWL and CWL input contacts are able to control the drive inhibit of CCW and CW Cn002 1 1 CCWL CWL input contacts are not able to control CCW and CW drive inhibit CCW and CW drive inhibit is disable 1 X 0 1 ALL 5 6 3 Auto Tuning Setting Explanation 0 Continuously Auto Tuning is Disable Cn002 2 1 Continuously Auto Tuning is Enabled 0 X 0 1 Pi Pe S 5 5 1 EMC reset mode selection Set...

Page 34: ...al logic level status 1 ON 0 OFF Refer to Hn501 2 Hn506 2 for setting contact high Low logic levels 0 msec 2000 2000 ALL 5 6 5 Motor rotate direction Inspect from the load side CCW CW When Torque or Speed Command value is Positive the setting of Motor rotation direction are Explanation Setting Torque Control Speed Control 0 Counter ClockWise CCW Counter ClockWise CCW 1 ClockWise CW Counter ClockWi...

Page 35: ...ed preset Cn007 Speed preset level for CW or CCW rotation When the speed is greater then preset level in Cn007 the Speed reached output signal INS will be activated Rated rpm 1 3 rpm 0 4500 S T 5 3 12 Brake Mode Selectable Brake modes for Servo off EMC and CCW CW drive inhibit Setting Explanation Dynamic brakes Mechanical brakes 0 No No Cn008 1 No Yes 0 X 0 1 ALL 5 6 4 CW CCW drive inhibit mode Se...

Page 36: ... band width of the frequency lower the band width value in Cn014 restrain frequency Band width will be wider 7 X 1 100 Pi Pe S 5 3 9 PI P control switch mode Setting Explanation 0 Switch from PI to P if the torque command is greater than Cn016 1 Switch from PI to P if the speed command is greater than Cn017 2 Switch from PI to P if the acceleration rate is greater than Cn018 3 Switch from PI to P ...

Page 37: ...ntrol is selected If Position error value is greater than Cn019 P control is selected 0 pulse 0 50000 Pi Pe S 5 3 11 Automatic gain 1 2 switch delay time Cn020 Speed loop 2 to speed loop 1 Change over delay when two control speed loops P I gains 1 2 are used 0 x02 msec 0 10000 Pi Pe S 5 3 11 Automatic gain 1 2 switch condition Torque command Cn021 Set Cn015 1 0 first When torque command is less th...

Page 38: ... is selected When position error value is greater than Cn024 Gain 2 is selected When Gain 2 is active and position error value becomes less than Cn024 system will automatically switch back to Gain 1 and the switch time delay can be set by Cn020 0 pulse 0 50000 Pi Pe S 5 3 11 Load Inertia ratio Cn025 100 M Inertia J MotorRotor L J aToMotor LoadInerti aRatio LoadInerti 40 x0 1 0 1000 Pi Pe S 5 5 Rig...

Page 39: ...h equip with fan Setting Explanation 1 Run when Servo ON 2 Always Running Cn031 3 Disabled 1 X 1 3 ALL 5 6 8 Speed feed back smoothing filter Cn032 Restrain sharp vibration noise by the setting and this filter also delay the time of servo response 500 Hz 1 1000 Pe Pi S 5 3 12 Speed Feed forward smoothing filter Cn033 Smooth the speed feed forward command 40 Hz 1 100 Pe Pi 5 4 6 Torque command smoo...

Page 40: ...037 1 3 38400 1 bps 0 3 ALL 7 Communication protocol Setting Explanation 0 7 N 2 Modbus ASCII 1 7 E 1 Modbus ASCII 2 7 O 1 Modbus ASCII 3 8 N 2 Modbus ASCII 4 8 E 1 Modbus ASCII 5 8 O 1 Modbus ASCII 6 8 N 2 Modbus RTU 7 8 E 1 Modbus RTU Cn038 8 8 O 1 Modbus RTU 0 X 0 8 ALL 7 Communication time out detection Cn039 Setting non zero value to enable this function communication Time should be in the se...

Page 41: ...tting Explanation 0 Disabled Tn101 1 Enabled 0 X 0 1 T 5 2 3 Linear accel decel time period Tn102 Time taken for the torque command to linearly accelerate to the rated torque level or Decelerate to zero torque 1 msec 1 50000 T 5 2 3 Analog Torque Command Ratio Tn103 Slope of voltage command Torque command can be adjusted 300 10V 0 300 T 5 2 1 ...

Page 42: ...reset Speed Limit 2 Torque control mode Tn106 In Torque control input contacts SPD1 and SPD2 can be used to select Preset speed limit 2 As follows Input Contact SPD2 Input Contact SPD1 1 0 Note Input contacts status 1 ON and 0 OFF Refer to 5 6 1 to set high or low input logic levels 200 rpm 0 3000 T 5 2 6 Preset Speed Limit 3 Torque control mode Tn107 In Torque control input contacts SPD1 and SPD2...

Page 43: ... to 5 6 1 to set high or low input logic levels 200 rpm 3000 3000 S 5 3 1 Internal Speed Command 3 Sn203 In Speed control input contacts SPD1 and SPD2 can be used to select 3 sets of internal speed command select for speed command 3 contact status shows below Input Contact SPD2 Input Contact SPD1 1 1 Note Input contacts status 1 ON and 0 OFF Refer to 5 6 1 to set high or low input logic levels 300...

Page 44: ...this function then set the time period for the speed to rise to 63 2 of the full speed 1 msec 1 10000 S 5 3 6 Speed command linear accel decel time constant Sn207 Set Sn205 2 to enable this function then set the time period for the speed to rise linearly to full speed 100 50 Rate Speed Speed Command Speed Command Sn207 Time ms 1 msec 1 50000 S 5 3 6 ...

Page 45: ...ing Sn210 Refer Sn208 200 msec 0 5000 S 5 3 6 Speed loop Gain 1 Sn211 Speed loop gain has a direct effect on the frequency response bandwidth of the Speed control loop Without causing vibration or noise Speed loop gain can be increased to obtain a faster speed response If Cn025 load Inertia ratio is set correctly the speed loop bandwidth will equal to speed loop gain 40 Hz 10 450 Pi Pe S 5 3 8 5 5...

Page 46: ...215 When the actual speed is lower than Sn215 value Output contact ZS is activated 50 rpm 0 4500 S 5 3 12 Analog Speed Command Ratio Sn216 Slope of voltage command Speed command can be adjusted Rate rpm rpm 10V 100 4500 S 5 3 2 Analog Speed Command offset adjust Sn217 The offset amount can be adjusted by this parameter 0 mV 10000 10000 S 5 3 3 Analog speed command upper limited Sn218 Setting Sn218...

Page 47: ...atue of the input contacts GN1 GN2 should be as follows Input Contact GN2 Input Contact GN1 0 0 Note Input contacts status 1 ON and 0 OFF Refer to 5 6 1 to set high or low input logic levels 1 X 1 50000 Pi Pe 5 4 3 Electronic Gear Ratio Numerator 2 Pn303 Use input contacts GN1 GN2 to select one of four electronic Gear Ratio Numerators To select Numerator 2 the statue of the input contacts GN1 GN2 ...

Page 48: ...en the Position error value is higher then number of pulses set in Pn308 an Alarm message AL 11 Position error value alarm will be displayed 50000 pulse 0 50000 Pi Pe 5 4 9 Incorrect position Error band lower limit Pn309 When the Position error value is lower then number of pulses set in Pn309 an Alarm message AL 11 Position error value alarm will be displayed 50000 pulse 0 50000 Pi Pe 5 4 9 Posit...

Page 49: ...ion Definition CCW CW Setting Explanation 0 CW Clockwise Pn314 1 CCW Counter Clockwise 1 X 0 1 Pi Pe 5 4 5 Pulse Error Clear Modes Setting Explanation 0 Once CLR signal is activated it eliminates the Pulse error amount Pe 1 Once CLR signal is activated following takes place The position command is cancelled Motor rotation is interrupted Pulse error amount is cleared Machine home reference is reset...

Page 50: ...tion Number x Pulse number of One Rotate x 4 Pn318 Pulse number 0 pulse 32767 32767 Pi 5 4 2 Internal Position Command 1 Move Speed Pn319 Setting the Move Speed of internal Position Command 1 0 rpm 0 3000 Pi 5 4 2 Internal Position Command 2 Rotation Number Pn320 Please refer to Pn317 0 rev 30000 30000 Pi 5 4 2 Internal Position Command 2 Pulse Number Pn321 Please refer to Pn318 0 pulse 32767 3276...

Page 51: ...rnal Position Command 7 Pulse Number Pn336 Please refer to Pn318 0 pulse 32767 32767 Pi 5 4 2 Internal Position Command 7 Move Speed Pn337 Please refer to Pn319 0 rpm 0 3000 Pi 5 4 2 Internal Position Command 8 Rotation Number Pn338 Please refer to Pn317 0 rev 30000 30000 Pi 5 4 2 Internal Position Command 8 Pulse Number Pn339 Please refer to Pn318 0 pulse 32767 32767 Pi 5 4 2 Internal Position Co...

Page 52: ...sition Command 13 Rotation Number Pn353 Please refer to Pn317 0 rev 30000 30000 Pi 5 4 2 Internal Position Command 13 Pulse Number Pn354 Please refer to Pn318 0 pulse 32767 32767 Pi 5 4 2 Internal Position Command 13 Move Speed Pn355 Please refer to Pn319 0 rpm 0 3000 Pi 5 4 2 Internal Position Command 14 Rotation Number Pn356 Please refer to Pn317 0 rev 30000 30000 Pi 5 4 2 Internal Position Comm...

Page 53: ...s CCWL or CWL can be used as the Home Reference Switch Once Home position is detected then input contacts CCWL and CWL will act as normal max limits again Note When using this function Pn365 1 can not be set to 1 or 2 Cn002 1 selection for CCWL and CWL must be set to 0 2 Once the home routine is activated motor will search for Home position switch in 1st speed in CCW direction and sets the Home re...

Page 54: ...switch or signal is detected motor reverses direction in 2nd speed to find the nearest Z Phase pulse and sets this as the Home position then stops in accordance with Pn365 3 setting method 1 Once the Home Reference switch or signal is detected motor Continues in its direction in 2nd speed to find the nearest Z Phase pulse and sets this as the Home position then stops in accordance with Pn365 3 set...

Page 55: ...oder feed back pulse number are all 0 motor decelerates and stops 0 X 0 1 Pi Pe 5 4 8 Machine Home reference search speed 1st speed Fast Pn366 HOME Refeence search speed Speed 1 100 rpm 0 2000 Pi Pe 5 4 8 Machine Home position search speed 2nd Speed Slow Pn367 Home position search speed Speed 2 50 rpm 0 500 Pi Pe 5 4 8 Home position offset Number of revolutions Pn368 Once the searched home positio...

Page 56: ...peed Loop Gain 2 Same function as Sn213 qn403 Refer to qn401 40 Hz 10 450 Pi Pe S 5 3 8 5 5 Speed Loop Integration Time Constant 2 Same function as Sn214 qn404 Refer to qn402 100 x0 2 ms 1 500 Pi Pe S 5 3 8 5 5 Position Loop Gain 1 Same function as Pn310 qn405 Without causing vibration or noise on the mechanical system the position loop gain value can be increased to speed up response and shorten ...

Page 57: ...5 ORG Home Position Reference Origin 16 POS1 Internal Position select 1 17 POS2 Internal Position select 2 18 POS3 Internal Position select 3 19 POS4 Internal Position select 4 1A TRQINV Torque Inverse 1B RS1 Torque CW Selecting Hn501 0 Hn501 1 1C RS2 Torque CCW Selecting 01 X 01 26 DI 1 Logic State NO NC Selection Setting Explanation 0 Input contact state NO Normally Open Connecting IG24 to input...

Page 58: ... 5 6 1 Signal Functions 01 RDY Servo Ready 02 ALM Alarm 03 ZS Zero Speed 04 BI Brake Signal 05 INS In Speed 06 INP In Position 07 HOME HOME Hn507 0 Hn507 1 08 INT In Torque 01 X 01 08 DO 1 Digital Output Logic State Setting Explanation 0 Close when the output is activated Hn507 2 1 Open when the output is activated 0 X 0 1 ALL 5 6 1 DO 2 Programmable Digital Output Selection Hn508 Please refer to ...

Page 59: ...s controlled by communication The corresponding binary code is 10 0101 convert to Hex code is H 0025 for entering parameter For the setting Bit0 DI 1 is control by communication and Bit1 DI 2 is control by external terminal etc H0000 X H0000 H003F HEX ALL 5 6 1 Setting digital input status in communication mode Hn511 Change Hn511 Hex code for setting digital input status of communication control m...

Page 60: ... by input signal Once the cause of Alarm is rectified disable SON signal Switch off Servo ON then activate input signal ALRS Alarm condition should be cleared and the drive will be ready for operation Reference 5 6 1 for setting SON and Alarm signal b Reset from Keypad Once the cause of Alarm is rectified disable SON signal Switch off Servo ON then press the buttons and at the same time to reset A...

Page 61: ...ALRS DI ON Drive Over current Transistor error 04 Drive main circuit Over current or Transistor error 1 Check connection of the motor cable U V W and encoder Check power cable connection Refer to the diagram in Chapter 2 2 Turn off the power and turn on again after 30 min If the alarm still exists there may be power module malfunction or noise consider the drive for test and repair Reset Power Sup...

Page 62: ...osition tolerance value by Pn312 for a better motor response 3 Extend the time of ac deceleration or reduce load inertia in the permitted range 4 Check if the motor wiring U V W is correct Turn ALRS DI ON Motor over speed 12 Motor s speed is 1 5 times more then motor s rated speed 1 Reduce the speed command 2 Electronic gear ratio is incorrect check and set correctly 3 Adjust speed loop gains Sn21...