Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - Manual (Page 157)

5 Adjustments
5.3.2 Advanced Autotuning Procedure
5-20
If “Errors” is shown
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 Probable Cause Corrective Actions
The gain adjustment was
not successfully
completed.
• Machine vibration is occurring or the
positioning completed signal (/COIN) is
repeatedly turning ON and OFF.
• 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.
An error occurred during
the calculation of the
moment of inertia.
Refer to the following table Errors during Calculation of Moment of Inertia.
Travel distance setting
error
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.
Increase the travel distance. It is recom-
mended to set the number of motor rota-
tions to around 3.
The positioning
completed signal (/COIN)
did not turn ON within
approximately 10 seconds
after positioning
adjustment was
completed.
The positioning completed width is too nar-
row or the proportional control (P control)
is being used.
• Increase the set value for Pn522.
• If P control is used, turn OFF the /P-CON
signal.
A setting error occurred in
the moment of inertia
calculation when the
tuning-less function was
activated.
Jcalc was set to OFF, so the moment of
inertia was not calculated and the tuning-
less function was activated. • Turn OFF the tuning-less function.
• Set Jcalc to ON, so the moment of inertia
will be calculated.
Error
Display
Cause Corrective Action
Err1
The SERVOPACK started calculating the
moment of inertia, but the calculation was not
completed.
• Increase the speed loop gain (Pn100).
• Increase the STROKE (travel distance).
Err2
The moment of inertia fluctuated greatly and
did not converge within 10 tries.
Set the calculation value based on the machine specifi-
cations in Pn103 and execute the calculation with the
Jcalc set to OFF.
Err3 Low-frequency vibration was detected.
Double the calculation starting level of the moment of
inertia (Pn324).
Err4 The torque limit was reached.
• Increase the torque limit value.
• Double the calculation starting level of the moment
of inertia (Pn324).
Err5
While calculating the moment of inertia, the
speed control was set to proportional control
with P-CON input.
Operate the SERVOPACK with PI control while calcu-
lating the moment of inertia.