Yaskawa Sigma-5 User Manual: Design and Maintenance - Rotary Motors - MECHATROLINK-II Communications Reference - Manual (Page 176)

5.3 Advanced Autotuning (Fn201)
5-23
5
Adjustm
e
nts
When "Error" Flashes on the Display
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.
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 mo-
ment of inertia.
Refer to the following table When an Error Occurs during Calculation of Moment of
Inertia.
Travel distance setting er-
ror
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 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 OPTION field.
The moment of inertia
cannot be calculated
when the tuning-less func-
tion was activated.
When the tuning-less function was activat-
ed, Jcalc was set to OFF so the moment of
inertia was not calculated. • Turn OFF the tuning-less function.
• Set Jcalc to ON, so the moment of inertia
will be calculated.
Error Dis-
play
Probable Cause Corrective Actions
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 set value of the moment of inertia calculat-
ing start level (Pn324).
Err4 The torque limit was reached.
• When using the torque limit, increase the torque
limit.
• Double the set value of the moment of inertia calcu-
lating start level (Pn324).
Err5
While calculating the moment of inertia, the
speed control was set to proportional control by
setting 1 to V_PPI in the OPTION field.
Operate the SERVOPACK with PI control while calcu-
lating the moment of inertia.