YASKAWA SGMJV User Manual page 217

If "Errors" is shown
Error
The gain adjustment was
not successfully
completed.
The moment of inertia
cannot be calculated
when the tuning-less
function was activated.
An error occurred during
the calculation of the
moment of inertia.
Travel distance setting
error
The positioning
completed signal (/COIN)
did not turn ON within
approximately 10 seconds
after positioning
adjustment was
completed.
Errors during Calculation of Moment of Inertia
The following table shows the probable causes of errors that may occur during the calculation of the moment
of inertia with the Jcalc set to ON, along with corrective actions for the errors.
Error
Display
The SERVOPACK started calculating the
Err1 moment of inertia, but the calculation was not
completed.
The moment of inertia fluctuated greatly and
Err2
did not converge within 10 tries.
Err3 Low-frequency vibration was detected.
Err4 The torque limit was reached.
While calculating the moment of inertia, the
Err5 speed control was set to proportional control
with P-CON input.
Probable Cause
Machine vibration is occurring or the posi-
tioning completed signal (/COIN) is turning
ON and OFF.
Jcalc was set to OFF, so the moment of
inertia was not calculated and the tuning-
less function was activated.
Refer to the following table Errors during Calculation of Moment of Inertia.
The travel distance is set to approximately
0.5 rotation (0.05 rotation for SGMCS ser-
vomotor) or less, which is less than the min-
imum adjustable travel distance.
The positioning completed width is too nar-
row or the proportional control (P control)
is being used.
Cause
6.3 Advanced Autotuning (Fn201)
Corrective Actions
• Increase the set value for Pn522.
• Change the mode from 2 to 3.
• If machine vibration occurs, suppress the
vibration with the anti-resonance control
adjustment function and the vibration
suppression function.
• Turn OFF the tuning-less function.
• Set Jcalc to ON, so the moment of inertia
will be calculated.
Increase the travel distance. It is recom-
mended to set the number of motor rota-
tions to around 3.
Increase the set value for Pn522. If P con-
trol is used, turn OFF the /P-CON signal.
Corrective Action
• Increase the speed loop gain (Pn100).
• Increase the STROKE (travel distance).
Set the calculation value based on the machine specifi-
cations in Pn103 and execute the calculation with the
Jcalc set to OFF.
Double the calculation starting level of the moment of
inertia (Pn324).
• Increase the torque limit value.
• Double the calculation starting level of the moment
of inertia (Pn324).
Operate the SERVOPACK with PI control while calcu-
lating the moment of inertia.
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