YASKAWA Sigma-7 Series Product Manual page 139

Problem Possible Cause
The servo gains are not bal-
anced.
The setting of Pn100 (Speed
Loop Gain) is too high.
Servomotor
Vibrates at
The setting of Pn102 (Posi-
Frequency
tion Loop Gain) is too high.
of Approx.
200 to 400
Hz.
The setting of Pn101 (Speed
Loop Integral Time Con-
stant) is not appropriate.
The setting of Pn103
(Moment of Inertia Ratio or
Mass Ratio) is not appropri-
ate.
The servo gains are not bal-
anced.
The setting of Pn100 (Speed
Loop Gain) is too high.
The setting of Pn102 (Posi-
tion Loop Gain) is too high.
Large Motor
Speed
Overshoot
The setting of Pn101 (Speed
on Starting
Loop Integral Time Con-
and Stop-
stant) is not appropriate.
ping
The setting of Pn103
(Moment of Inertia Ratio or
Mass Ratio) is not appropri-
ate.
The torque reference is satu-
rated.
The force limits (Pn483 and
Pn484) are set to the default
values.
6.3 Troubleshooting Based on the Operation and Conditions of the Servomotor
Confirmation
Check to see if the servo
gains have been cor-
rectly tuned.
Check the setting of
Pn100.
The default setting is Kv =
40.0 Hz.
Check the setting of
Pn102.
The default setting is Kp
= 40.0/s.
Check the setting of
Pn101.
The default setting is Ti =
20.0 ms.
Check the setting of
Pn103.
Check to see if the servo
gains have been cor-
rectly tuned.
Check the setting of
Pn100.
The default setting is Kv =
40.0 Hz.
Check the setting of
Pn102.
The default setting is Kp
= 40.0/s.
Check the setting of
Pn101.
The default setting is Ti =
20.0 ms.
Check the setting of
Pn103.
Check the waveform of
the torque reference.
The default values of the
force limits are Pn483 =
30% and Pn484 = 30%.
Continued from previous page.
Correction Reference
Perform autotuning
*
without a host refer-
ence.
Set Pn100 to an appro-
–
priate value.
Set Pn102 to an appro-
–
priate value.
Set Pn101 to an appro-
–
priate value.
Set Pn103 to an appro-
–
priate value.
Perform autotuning
*
without a host refer-
ence.
Set Pn100 to an appro-
–
priate value.
Set Pn102 to an appro-
–
priate value.
Set Pn101 to an appro-
–
priate value.
Set Pn103 to an appro-
–
priate value.
Use the mode switch.
–
Set Pn483 and Pn484
*
to appropriate values.
Continued on next page.
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