YASKAWA E-V-MD Series User Manual page 166

 When an Error Occurs
Error
The gain adjustment was
not successfully
completed.
The gain adjustment was
not successfully
completed.
Travel distance setting
error
The positioning was not
completed within
approximately 10 seconds
after positioning
adjustment was
completed.
 When an Error Occurs 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.
Probable Cause
The SERVOPACK started calculat-
ing 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.
While calculating the moment of
inertia, the speed control was set to
proportional control by setting 1 to
V_PPI in the servo command output
signals (SVCMD_IO).
Probable Cause
Machine vibration is occurring or the posi-
tioning completed signal is not stable when
the servomotor is stopped.
Refer to the following table  When an Error Occurs during Calculation of Moment of
Inertia.
The travel distance is set to approximately
0.5 rotation or less, which is less than the
minimum adjustable travel distance.
The positioning completed width is too nar-
row or proportional control (P control) is
being used.
Corrective Actions
• Increase the speed loop gain (PnAC2).
• Increase the STROKE (travel distance).
Set the calculation value based on the machine specifications
in Pn103 and execute the calculation without calculating the
moment of inertia.
Double the set value of the moment of inertia calculating start
level (Pn324).
• When using the torque limit, increase the torque limit.
• Double the set value of the moment of inertia calculating
start level (Pn324).
Operate the SERVOPACK with PI control while calculating
the moment of inertia.
8.3 Advanced Autotuning
Corrective Actions
• Increase the set value for PnACC.
• Change the setting of the mode selection
from 2 to 3.
• If machine vibration occurs, suppress the
vibration with the anti-resonance control
adjustment function and the vibration
suppression function.
Increase the travel distance. It is recom-
mended to set the number of motor rota-
tions to around 3.
• Increase the set value for PnACC.
• Set 0 to V_PPI in the servo command
output signals (SVCMD_IO).
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