Troubleshooting Problems In Autotuning Without A Host Reference - YASKAWA SGD7S Product Manual

8.6.5 Troubleshooting Problems in Autotuning without a Host
Reference
The following tables give the causes of and corrections for problems that may occur in autotun-
ing without a host reference.
 Autotuning without a Host Reference Was Not Performed
Main circuit power supply is OFF.
An alarm or warning occurred.
Overtraveling occurred.
The second gains were selected with the gain selection. Disable automatic gain switching.
The HWBB was activated.
The setting of the travel distance is too small.
The settings for the tuning-less function are not correct.
 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
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., the /P-CON (Proportional Control) signal was
input.

8.6.5 Troubleshooting Problems in Autotuning without a Host Reference

Possible Cause
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.
Possible Cause
8.6 Autotuning without Host Reference
Corrective Action
Turn ON the main circuit power supply.
Remove the cause of the alarm or warning.
Remove the cause of overtraveling.
Release the HWBB.
Set the travel distance again in step 6 of the proce-
dure.
• Disable the tuning-less function (Pn170 =
n.0).
• Enable the tuning-less function (Pn170 =
n.1) and specify moment of inertia estima-
tion.
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).
• Turn OFF the /P-CON (Proportional
Control) signal.
Corrective Action
• 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
limit.
• Double the setting of moment of inertia calculation
starting level (Pn324).
Use PI control when calculating the moment of inertia.
8
8-31