Yaskawa Sigma-5 User Manual: Design and Maintenance - Linear Motors MECHATROLINK-III Communications Reference - Manual (Page 172)

5 Adjustments
5.3.2 Advanced Autotuning Procedure
5-22
When "Error" Flashes on the Display
When an Error Occurs during Calculation of Mass
The following table shows the probable causes of errors that may occur during the calculation of the mass with
the Jcalc set to ON, along with corrective actions for the errors.
Error Probable Cause Corrective Actions
The gain adjustment was
not successfully complet-
ed.
Machine vibration is occurring or the posi-
tioning completed signal (/COIN) is turning
ON and OFF when the servomotor is
stopped.
• 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
mass.
Refer to the following table When an Error Occurs during Calculation of Mass.
Travel distance setting er-
ror
The travel distance is set to approximately 5
mm or less, which is less than the minimum
adjustable travel distance.
Increase the travel distance. It is recom-
mended to set the travel distance to 90 mm.
The positioning complet-
ed signal (/COIN) did not
turn ON within approxi-
mately 10 seconds after
positioning adjustment
was completed.
The positioning completed width is too nar-
row or proportional control (P control) is
being used.
• Increase the set value for Pn522.
• Set 0 to V_PPI in the servo command
output signals (SVCMD_IO).
The mass cannot be cal-
culated when the tuning-
less function was activat-
ed.
When the tuning-less function was activat-
ed, Jcalc was set to OFF so the mass was
not calculated. • Turn OFF the tuning-less function.
• Set Jcalc to ON, so the mass will be cal-
culated.
Error Dis-
play
Probable Cause Corrective Actions
Err1
The SERVOPACK started calculating the mass,
but the calculation was not completed. • Increase the speed loop gain (Pn100).
• Increase the STROKE (travel distance).
Err2
The mass fluctuated greatly and did not con-
verge 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 set value of the mass calculating start level
(Pn324).
Err4 The force limit was reached.
• When using the force limit, increase the force limit.
• Double the set value of the mass calculating start
level (Pn324).
Err5
While calculating the mass, the speed control
was set to proportional control by setting 1 to
V_PPI in the servo command output signals
(SVCMD_IO).
Operate the SERVOPACK with PI control while calcu-
lating the mass.