YASKAWA SIGMA-7 Series User Manual

6.3 Troubleshooting Based on the Operation and Conditions of the Servomotor
6-51
6
Maintenance
Servomotor
Vibrates at
Frequency
of Approx.
200 to 400
Hz.
The servo gains are not bal-
anced.
Check to see if the servo
gains have been cor-
rectly tuned.
Perform autotuning
without a host refer-
ence.
*
The setting of Pn100 (Speed
Loop Gain) is too high.
Check the setting of
Pn100.
The default setting is Kv =
40.0 Hz.
Set Pn100 to an appro-
priate value.
–
The setting of Pn102 (Posi-
tion Loop Gain) is too high.
Check the setting of
Pn102.
The default setting is Kp
= 40.0/s.
Set Pn102 to an appro-
priate value.
–
The setting of Pn101 (Speed
Loop Integral Time Con-
stant) is not appropriate.
Check the setting of
Pn101.
The default setting is Ti =
20.0 ms.
Set Pn101 to an appro-
priate value.
–
The setting of Pn103
(Moment of Inertia Ratio or
Mass Ratio) is not appropri-
ate.
Check the setting of
Pn103.
Set Pn103 to an appro-
priate value.
–
Large Motor
Speed
Overshoot
on Starting
and Stop-
ping
The servo gains are not bal-
anced.
Check to see if the servo
gains have been cor-
rectly tuned.
Perform autotuning
without a host refer-
ence.
*
The setting of Pn100 (Speed
Loop Gain) is too high.
Check the setting of
Pn100.
The default setting is Kv =
40.0 Hz.
Set Pn100 to an appro-
priate value.
–
The setting of Pn102 (Posi-
tion Loop Gain) is too high.
Check the setting of
Pn102.
The default setting is Kp
= 40.0/s.
Set Pn102 to an appro-
priate value.
–
The setting of Pn101 (Speed
Loop Integral Time Con-
stant) is not appropriate.
Check the setting of
Pn101.
The default setting is Ti =
20.0 ms.
Set Pn101 to an appro-
priate value.
–
The setting of Pn103
(Moment of Inertia Ratio or
Mass Ratio) is not appropri-
ate.
Check the setting of
Pn103.
Set Pn103 to an appro-
priate value.
–
The torque reference is satu-
rated.
Check the waveform of
the torque reference.
Use the mode switch.
–
The force limits (Pn483 and
Pn484) are set to the default
values.
The default values of the
force limits are Pn483 =
30% and Pn484 = 30%.
Set Pn483 and Pn484
to appropriate values.
*
Continued on next page.
Continued from previous page.
Problem Possible Cause Confirmation Correction Reference

YASKAWA SIGMA-7 Series Specifications

General

Encoder Resolution	24-bit absolute encoder
Pollution Degree	2
Cooling Method	Natural cooling or forced air cooling
Control Method	Vector control
Communication Protocols	EtherCAT, MECHATROLINK-III
Input Voltage	AC 200 V, AC 400 V
Rated Output	Varies by model
Safety Function	STO (Safe Torque Off), SS1 (Safe Stop 1), SS2 (Safe Stop 2), SLS (Safely Limited Speed), SBC (Safe Brake Control)
Power Supply Voltage	AC 200 V, AC 400 V
Rated Output Current	Varies by model
Protection Functions	Overload, overvoltage, undervoltage, overheat, short circuit
Operating Temperature	0°C to 55°C
Storage Temperature	-20°C to 65°C
Vibration Resistance	5.9 m/s² at 10 Hz to 55 Hz
Ambient Humidity	5% to 95% RH (non-condensing)
Altitude	Up to 1000 m
Installation	Panel mounted