Yaskawa Sigma-5 Large Capacity Users Manual: Design and Maintenance-Rotary Motors-Analog Voltage and Pulse Train Reference - Manual (Page 385)

10.3 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor
10-29
10
Trou
blesh
ooting
Servomotor
Vibrates at
Frequency of
Approx. 200 to
400 Hz.
Unbalanced servo gains
Check to see if the servo gains have
been correctly adjusted.
Execute the advanced autotuning.
Speed loop gain value (Pn100) too
high. Check the speed loop gain (Pn100).
Factory setting: Kv = 40.0 Hz Reduce the speed loop gain
(Pn100).
Position loop gain value (Pn102)
too high.
Check the position loop gain
(Pn102).
Factory setting: Kp = 40.0/s
Reduce the position loop gain
(Pn102).
Incorrect speed loop integral time
constant (Pn101)
Check the speed loop integral time
constant (Pn101).
Factory setting: Ti = 20.0 ms
Correct the speed loop integral time
constant (Pn101).
Incorrect moment of inertia ratio
(Pn103) Check the moment of inertia ratio
(Pn103). Correct the moment of inertia ratio
(Pn103).
High Motor Speed
Overshoot on
Starting and
Stopping
Unbalanced servo gains
Check to see if the servo gains have
been correctly adjusted.
Execute the advanced autotuning.
Speed loop gain value (Pn100) too
high Check the speed loop gain (Pn100).
Factory setting: Kv = 40.0 Hz Reduce the speed loop gain
(Pn100).
Position loop gain value (Pn102)
too high
Check the position loop gain
(Pn102).
Factory setting: Kp = 40.0/s
Reduce the position loop gain
(Pn102).
Incorrect speed loop integral time
constant (Pn101)
Check the speed loop integral time
constant (Pn101).
Factory setting: Ti = 20.0 ms
Correct the speed loop integral time
constant (Pn101).
Incorrect moment of inertia ratio
data (Pn103) Check the moment of inertia ratio
(Pn103). Correct the moment of inertia ratio
(Pn103).
The torque reference is saturated.
Check the torque reference wave-
form.
Use a mode switch.
(cont’d)
Problem Probable Cause Investigative Actions Corrective Actions