YASKAWA SGD7S Product Manual page 297

 When an Error Occurs during Execution of Autotuning without a Host
Reference
Error
The gain adjustments
were not successfully
completed.
An error occurred during
calculation of the
moment of inertia.
Positioning was not
completed within
approximately 10 sec-
onds after position
adjustment was com-
pleted.
 When an Error Occurs during Calculation of Moment of Inertia
Possible Cause
The SERVOPACK started calculating the moment of
inertia but the calculation was not completed.
The moment of inertia fluctuated greatly and did not
converge within 10 tries.
Low-frequency vibration was detected.
The torque limit was reached.
The speed control section changed to proportional
control during calculation of the moment of inertia,
e.g., V_PPI in the servo command output signals
(SVCMD_IO) was set to 1.
 Adjustment Results Are Not Satisfactory for Position Control
You may be able to improve the adjustment results by changing the settings of the positioning
completed width (Pn522) and the electronic gear ratio (Pn20E/Pn210).
If satisfactory results are still not possible, adjust the overshoot detection level (Pn561). That
may improve the adjustment results.
• Pn561 = 100% (default setting)
This will allow tuning with overshooting that is equivalent to the positioning completed width.
• Pn561 = 0%
This will allow tuning to be performed without overshooting within the positioning completed
width, but the positioning completed width may be extended.
Overshoot Detection Level
Pn561 Setting Range
0 to 100
8.6.5 Troubleshooting Problems in Autotuning without a Host Reference
Possible Cause
Machine vibration occurs or the posi-
tioning completion signal is not stable
when the Servomotor stops.
Refer to the following section for troubleshooting information.

When an Error Occurs during Calculation of Moment of Inertia on page 8-31
The positioning completed width is too
narrow or proportional control is being
used.
• Increase the setting of the speed loop gain (Pn100).
• Increase the stroke (travel distance).
Set Pn103 (Moment of Inertia Ratio) from the machine
specifications and specify not estimating the moment
of inertia.
Double the setting of moment of inertia calculation
starting level (Pn324).
• If you are using the torque limit, increase the torque
• Double the setting of moment of inertia calculation
Use PI control when calculating the moment of inertia.
Setting Unit Default Setting
1%
8.6 Autotuning without Host Reference
Corrective Action
• Increase the setting of the positioning
completed width (Pn522).
• Change the mode from 2 to 3.
• If machine vibration occurs, suppress
the vibration with the anti-resonance
control function and the vibration sup-
pression function.
• Increase the setting of the positioning
completed width (Pn522).
• Set V_PPI to 0 in the servo command
output signals (SVCMD_IO).
Corrective Action
limit.
starting level (Pn324).
Speed
When Enabled
100 Immediately
Position Torque
Classification
Setup
8-31
8