YASKAWA Σ-V Series User Manual page 159

(2) Failure in Operation
This section describes the causes and corrective actions in case the operation has not been successfully com-
pleted.
If "NO-OP" is shown
Probable Cause
The main circuit power supply was OFF.
An alarm or warning occurred.
Overtraveling occurred.
Gain setting 2 was selected by gain switching.
The HWBB function operated.
If "Errors" is shown
Error
The gain adjustment was
not successfully
completed.
An error occurred during
the calculation of the
mass ratio.
Travel distance setting
error
The positioning
completed signal (/COIN)
did not turn ON within
approximately 10 seconds
after positioning
adjustment was
completed.
A setting error occurred in
the mass ratio calculation
when the tuning-less
function was activated.
Errors during Calculation of Mass Ratio
The following table shows the probable causes of errors that may occur during the calculation of the mass
ratio with the Jcalc set to ON, along with corrective actions for the errors.
Error
Display
The SERVOPACK started calculating the mass
Err1
ratio, but the calculation was not completed.
The mass ratio fluctuated greatly and did not
Err2
converge within 10 tries.
Err3 Low-frequency vibration was detected.
Err4 The force limit was reached.
While calculating the mass ratio, the speed con-
Err5 trol was set to proportional control with P-CON
input.
Turn ON the main circuit power supply.
Remove the cause of the alarm or the warning.
Remove the cause of the overtravel.
Turn OFF the automatic gain switching.
Cancel the HWBB function.
Probable Cause
• Machine vibration is occurring or the
positioning completed signal (/COIN) is
repeatedly turning ON and OFF.
Refer to the following table Errors during Calculation of Mass Ratio.
The travel distance is set to approximately 5
mm or less, which is less than the minimum
adjustable travel distance.
The positioning completed width is too nar-
row or the proportional control (P control)
is being used.
When the tuning-less function was
activated, Jcalc was set to OFF, so the mass
ratio was not calculated.
Cause
5.3 Advanced Autotuning (Fn201)
Corrective Actions
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.
Increase the travel distance. It is recom-
mended to set the travel distance to around
90 mm.
• Increase the set value for Pn522.
• If P control is used, turn OFF the /P-CON
signal.
• Turn OFF the tuning-less function.
• Set Jcalc to ON, so the mass ratio will be
calculated.
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 mass calculating start level (Pn324).
• Increase the force limit value.
• Double the mass calculating start level (Pn324).
Operate the SERVOPACK with PI control while calcu-
lating the mass ratio.
5
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