YASKAWA SGMJV - Page 358

10 Troubleshooting
10-26
Abnormal Noise
from Servomotor
(cont’d)
FG potential varies because of
influence of machines such as weld-
ers at the servomotor.
Check if the machines are correctly
grounded.
Ground machines correctly, and
prevent diversion to the FG at the
PG side.
SERVOPACK pulse counting error
due to noise interference
Check if there is noise interference
on the input/output signal line from
the encoder.
Take measures against noise in the
encoder wiring.
Excessive vibration and shock to
the encoder
Check if vibration from the machine
occurred or servomotor installation
is incorrect (mounting surface accu-
racy, fixing, alignment, etc.).
Reduce vibration from the machine,
or secure the servomotor installa-
tion.
An encoder fault occurred. − Replace the servomotor.
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 value
(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 value
(Pn102).
Factory setting: Kp = 40.0/s
Reduce the position loop gain
(Pn102).
Incorrect speed loop integral time
constant (Pn101) setting
Check the speed loop integral time
constant (Pn101).
Factory setting: Ti = 20.0 ms
Correct the speed loop integral time
constant (Pn101) setting.
Incorrect moment of inertia ratio
data (Pn103)
Check the moment of inertia ratio
setting (Pn103).
Correct the moment of inertia ratio
(Pn103) setting.
High Rotation
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 value
(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 value
(Pn102).
Factory setting: Kp = 40.0/s
Reduce the position loop gain
(Pn102).
Incorrect speed loop integral time
constant (Pn101) setting
Check the speed loop integral time
constant (Pn101).
Factory setting: Ti = 20.0 ms
Correct the speed loop integral time
constant setting (Pn101).
Incorrect moment of inertia ratio
data (Pn103)
Check the moment of inertia ratio
setting (Pn103).
Correct the moment of inertia ratio
setting (Pn103).
Problem Probable Cause Investigative Actions Corrective Actions