YASKAWA SGD7S-1R9D Product Manual page 536

15.4 Troubleshooting Based on the Operation and Conditions of the Servomotor
Problem
Large Motor
Speed
Overshoot
on Starting
and Stop-
ping
15-56
Possible Cause
The servo gains are not bal-
anced.
The setting of Pn100 (2100
hex) (Speed Loop Gain) is too
high.
The setting of Pn102 (2102
hex) (Position Loop Gain) is
too high.
The setting of Pn101 (2101
hex) (Speed Loop Integral
Time Constant) is not appro-
priate.
The setting of Pn103 (2103
hex) (Moment of Inertia Ratio
or Mass Ratio) is not appro-
priate.
The torque reference is satu-
rated.
The force limits (Pn483 (2483
hex) and Pn484 (2484 hex))
are set to the default values.
Confirmation
Check to see if the servo
gains have been cor-
rectly tuned.
Check the setting of
Pn100 (2100 hex).
The default setting is Kv =
40.0 Hz.
Check the setting of
Pn102 (2102 hex).
The default setting is Kp
= 40.0/s.
Check the setting of
Pn101 (2101 hex).
The default setting is Ti =
20.0 ms.
Check the setting of
Pn103 (2103 hex).
Check the waveform of
the torque reference.
The default values of the
force limits and Pn483
(2483 hex) = 30% and
Pn484 (2484 hex) = 30%.
Continued from previous page.
Correction Reference
Perform autotuning
without a host refer-
page 8-23
ence.
Set Pn100 (2100 hex)
–
to an appropriate value.
Set Pn102 (2102 hex)
–
to an appropriate value.
Set Pn101 (2101 hex)
–
to an appropriate value.
Set Pn103 (2103 hex)
–
to an appropriate value.
Use the mode switch.
–
Set Pn483 (2483 hex)
and Pn484 (2484 hex)
page 6-26
to appropriate values.
Continued on next page.