8.3 Advanced Autotuning
8-33
When an Error Occurs
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
completed.
Machine vibration is occurring or the posi-
tioning completed signal is not stable when
the servomotor is stopped.
• Increase the set value for PnACC.
• Change the setting of the mode selection
from 2 to 3.
• If machine vibration occurs, suppress the
vibration with the anti-resonance control
adjustment function and the vibration
suppression function.
The gain adjustment was
not successfully
completed.
Refer to the following table When an Error Occurs during Calculation of Moment of
Inertia.
Travel distance setting
error
The travel distance is set to approximately
0.5 rotation or less, which is less than the
minimum adjustable travel distance.
Increase the travel distance. It is recom-
mended to set the number of motor rota-
tions to around 3.
The positioning was not
completed within
approximately 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 PnACC.
• Set 0 to V_PPI in the servo command
output signals (SVCMD_IO).
Probable Cause Corrective Actions
The SERVOPACK started calculat-
ing the moment of inertia, but the
calculation was not completed.
• Increase the speed loop gain (PnAC2).
• Increase the STROKE (travel distance).
The moment of inertia fluctuated
greatly and did not converge within
10 tries.
Set the calculation value based on the machine specifications
in Pn103 and execute the calculation without calculating the
moment of inertia.
Low-frequency vibration was
detected.
Double the set value of the moment of inertia calculating start
level (Pn324).
The torque limit was reached.
• When using the torque limit, increase the torque limit.
• Double the set value of the moment of inertia calculating
start level (Pn324).
While calculating the moment of
inertia, 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 calculating
the moment of inertia.
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