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6 Adjustments
6.3.2 Advanced Autotuning Procedure
6-24
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.
(3) Related Functions on Advanced Autotuning
This section describes functions related to advanced tuning.
Notch Filter
Usually, set this function to Auto Setting. (The notch filter is factory-set to Auto Setting.)
If this function is set to Auto Setting, vibration will be detected automatically during advanced autotuning and
th
e notch filter will be set.
Set this function to Not Auto Setting only if you do
not change the notch filter setting before executing
advanced autotuning.
Anti-Resonance Control Adjustment
This function reduces low vibration frequency, which the notch filter does not detect.
Usually, set this function to Auto Setting. (The anti-reson
ance control is factory-set to Auto Setting.)
When this function is set to Auto Setting, vibration will be automatically detected during advanced autotuning
and anti-resonance control
will be automatically adjusted and set.
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 base
d 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 with the /P-CON
input.
Operate the SERVOPACK with PI control while calcu-
lating the mass.
Parameter Function When Enabled Classification
Pn460
n.0
Does not set the 1st notch filter automatically with
the
utility function.
Immediately Tuning
n.1[Fac-
tory setting]
Sets the 1st notch filter automatically with the utility
function
.
n.0
Does not set the 2nd notch filter automatically with
the utility function.
n.1[Fac-
tory setting]
Sets the 2nd notch filter automatically with the utility
function
.
Parameter Function When Enabled Classification
Pn160
n.0
Does not use the anti-resonance control automatically
with the
utility function.
Immediately Tuning
n.1
[Factory setting]
Uses the anti-resonance control automatically with
th
e utility function.
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