YASKAWA Sigma-7 SGD7S Series

Possible Cause Corrective Action
The SERVOPACK started calculating the
moment of inertia but the calculation was
not completed.
n Increase the setting of the speed loop
gain (Pn100).
n Increase the stroke (travel distance).
The moment of inertia fluctuated greatly
and did not converge within 10 tries.
Set Pn103 (Moment of Inertia Ratio) from
the machine specifications and specify not
estimating the moment of inertia.
Low-frequency vibration was detected. Double the setting of moment of inertia cal-
culation starting level (Pn324).
The torque limit was reached.
n If you are using the torque limit,
increase the torque limit.
n Double the setting of moment of inertia
calculation starting level (Pn324).
Speed control changed to proportional
control during calculation of the moment of
inertia.
Use PI control when calculating the
moment of inertia.
You may be able to improve the adjustment results by changing the settings of the posi-
tioning completed width (Pn522) and position reference unit (position user unit (2301h)).
If satisfactory results are still not possible, adjust the overshoot detection level (Pn561).
That may improve the adjustment results.
n Pn561 = 100% (default setting)
This will allow tuning with overshooting that is equivalent to the positioning completed
width.
n Pn561 = 0%
This will allow tuning to be performed without overshooting within the positioning com-
pleted width, but the positioning completed width may be extended.
Overshoot Detection Level
Setting
Range
Setting Unit Default Set-
ting
When Ena-
bled
Classifica-
tion
Pn561 0 to 100 1% 100 Immediately Setup
(applies to Speed Control, Position Control and Torque Control)
9.7.7 Automatically Adjusted Function Settings
You can specify whether to automatically adjust the following functions during autotuning.
Normally, set Pn460 to n.1 (Adjust automatically) (default setting).
Vibration will be detected during autotuning without a host reference and a notch filter will
be adjusted.
Set Pn460 to n.0 (Do not adjust automatically) only if you do not change the setting
of the notch filter before you execute this function.
When an Error Occurs
during Calculation of
Moment of Inertia
Adjustment Results Are
Not Satisfactory for Posi-
tion Control
Automatic Notch Filters
Sigma-7 Series SERVOPACKs
Tuning
Autotuning without Host Reference > Automatically Adjusted Function Settings
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