YASKAWA Sigma-7 SGD7S Series - Page 653

Problem Possible Cause Confirmation Correction Reference
The setting of Pn102
(Position Loop Gain)
is too high.
Check the setting of
Pn102. The default
setting is Kp = 40.0/s.
Set Pn102 to an
appropriate value.
–
The setting of Pn101
(Speed Loop Integral
Time Constant) is not
appropriate.
Check the setting of
Pn101. The default
setting is Ti = 20.0 ms.
Set Pn101 to an
appropriate value.
–
The setting of Pn103
(Moment of Inertia
Ratio or Mass Ratio)
is not appropriate.
Check the setting of
Pn103.
Set Pn103 to an
appropriate value.
–
Large Motor Speed
Overshoot on Starting
and Stopping
The servo gains are
not balanced.
Check to see if the
servo gains have
been correctly tuned.
Perform autotuning
without a host refer-
ence.
Ä Chap. 9.7 ‘Auto-
tuning without Host
Reference’ page 321
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
appropriate value.
–
The setting of Pn102
(Position Loop Gain)
is too high.
Check the setting of
Pn102. The default
setting is Kp = 40.0/s.
Set Pn102 to an
appropriate value.
–
The setting of Pn101
(Speed Loop Integral
Time Constant) is not
appropriate.
Check the setting of
Pn101. The default
setting is Ti = 20.0 ms.
Set Pn101 to an
appropriate value.
–
The setting of Pn103
(Moment of Inertia
Ratio or Mass Ratio)
is not appropriate.
Check the setting of
Pn103.
Set Pn103 to an
appropriate value.
–
The torque reference
is saturated.
Check the waveform
of the torque refer-
ence.
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.
Ä Chap. 7.8.2
‘Internal Torque
Limits’ page 222
Absolute Encoder
Position Deviation
Error (The position
that was saved in the
host controller when
the power was turned
OFF is different from
the position when the
power was next
turned ON.)
Noise interference
occurred because of
incorrect Encoder
Cable specifications.
Turn OFF the power
supply to the servo
system. Check the
Encoder Cable to see
if it satisfies specifica-
tions. Use a shielded
twisted-pair cables or
a screened twisted-
pair cable with con-
ductors of at least
0.12 mm
2
.
Use cables that satisfy
the specifications.
–
Sigma-7 Series SERVOPACKs
Maintenance
Troubleshooting Based on the Operation and Conditions of the Servomotor
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