Mitsubishi MR-J4-10A Instruction Manual page 245

6. NORMAL GAIN ADJUSTMENT
(c) One-touch tuning execution
During one-touch tuning, pushing the stop button stops one-touch tuning.
If the one-touch tuning is stopped, "C 0 0 0" will be displayed at status in error code.
(d) If an error occur
If a tuning error occurs during tuning, one-touch tuning will be forcibly terminated. With that, the
following error code will be displayed in status. Check the cause of tuning error.
Error code Name
C000 Tuning canceled
C001 Overshoot exceeded
C002 Servo-off during tuning
C003 Control mode error
C004 Time-out
C005 Load to motor inertia
ratio misestimated
C00F One-touch tuning
disabled
(e) If an alarm occur
If an alarm occurs during tuning, one-touch tuning will be forcibly terminated.
Remove the cause of the alarm and execute one-touch tuning again.
(f) If a warning occur
If a warning which continue the motor driving occurs during the tuning, one-touch tuning will be
continued.
If a warning which does not continue the motor driving occurs during the tuning, one-touch tuning will
be stopped.
Table 6.2 List of error code with one-touch tuning
Description
The stop button or "SET" of the push button
was pushed.
The overshoot amount is lager than the value
set in [Pr. PA10 In-position range].
The one-touch tuning was attempted during
servo-off.
The one-touch tuning was attempted while the
torque control mode was selected in the
control modes.
1. 1 cycle time during the operation has been
over 30 s.
2. The command speed is low.
3. The operation interval of the continuous
operation is short.
1. The estimation of the load to motor inertia
ratio at one-touch tuning was a failure.
2. The load to motor inertia ratio was not
estimated due to such as an oscillation.
"One-touch tuning function selection" in [Pr.
PA21] is "Disabled (_ _ _ 0)".
6 - 8
Action
Increase the in-position range.
Perform the one-touch tuning after servo-on.
Select the position control mode or speed
control mode for the control mode from the
controller, and then make one-touch tuning.
Set the 1 cycle time during the operation to 30
s or less.
Set the servo motor speed to100 r/min or
higher.
Maintain the operation interval during motor
driving about 200 ms.
Drive the motor with meeting conditions as
follows.
The acceleration/deceleration time constant
to reach 2000 r/min (mm/s) is 5 s or less.
Speed is 150 r/min (mm/s) or higher.
The load to servo motor (mass of linear
servo motor's primary side or direct drive
motor) inertia ratio is 100 times or less.
The acceleration/deceleration torque is
10% or more of the rated torque.
Set to the auto tuning mode that does not
estimate the load to motor inertia ratio as
follows, and then execute the one-touch
tuning.
Select "Auto tuning mode 2 (_ _ _ 2)",
"Manual mode (_ _ _ 3)", or "2 gain
adjustment mode 2 (_ _ _ 4)" of "Gain
adjustment mode selection" in [Pr. PA08].
Set [Pr. PB06 Load to motor inertia ratio]
properly with manual setting.
Select "Enabled (_ _ _ 1)".