One-Touch Tuning Error - Mitsubishi Electric MR-J5 User Manual

One-touch tuning error

On MR Configurator2
If a tuning error occurs during the tuning, one-touch tuning is stopped. At this time, as the error code is displayed in the error
code status, check the cause of the tuning error. Stop the servo motor before executing one-touch tuning again. In addition,
perform one-touch tuning after the moving part is returned to the tuning start position.
Display Name
C000 Tuning canceled
C_01 Overshoot exceeded
C_02 Servo-off during tuning
C_03 Control mode error
C_04 Time-out
C_05 Load inertia moment
ratio misestimated
C_06 Amplifier command start
error
Error description
The "Stop" button was clicked during one-touch
tuning.
The overshoot amount is larger than the value set in
[Pr. PA10 In-position range] and [Pr. PA25 One-
touch tuning - Overshoot permissible level].
One-touch tuning using the user command method
was attempted during servo-off.
The servo amplifier was set to servo-off state during
one-touch tuning.
One-touch tuning was attempted when torque mode
or continuous operation to torque control mode was
selected as the control mode.
Control switching from the position mode to the
speed mode was attempted during one-touch tuning.
One cycle time during the operation exceeds 30 s.
The command speed is too slow.
The dwell time during continuous operation (stop
time between commands) is too short.
The estimation of the load to motor inertia ratio at
one-touch tuning has failed.
The load to motor inertia ratio cannot be estimated
due to the effect of oscillation, etc.
One-touch tuning using the amplifier command
method was attempted under the following speed
conditions.
• Servo motor speed: 20 [r/min (mm/s)] or higher
• For the MR-J5W_-_G_, MR-J5D2-_G_, MR-J5D3-
_G_, and MR-J5W_-_B_, servo motor speed of
other axes: 20 [r/min (mm/s)] or higher
Handling example

Increase the in-position range or the overshoot permissible
level.
Perform one-touch tuning using the user command method in
servo-on state.
Do not allow the servo amplifier to enter servo-off state during
one-touch tuning.
Select position mode or velocity mode as the control mode, then
perform one-touch tuning without control switching.
Set one cycle time during the operation (time from the
command start to the next command start) to 30 s or less.
Set the servo motor speed to 100 r/min (mm/s) or higher. An
error is less likely to occur if the command speed is higher.
Set the dwell time to 200 ms or more.
An error is less likely to occur as the setting time is longer.
Drive the servo motor under the following conditions:
• Time to reach 2000 r/min (mm/s) is the acceleration/
deceleration time constant of 5 s or less.
• Speed is 50 r/min (mm/s) or higher.
• The load to motor inertia ratio to the servo motor is 100 times
or less.
• The acceleration/deceleration torque is 10 % or more of the
rated torque.
Set [Pr. PA08.0 Gain adjustment mode selection] to "3" (manual
mode), and set the correct value of load inertia moment ratio to
[Pr. PB06 Load to motor inertia ratio/load to motor mass ratio],
then execute one-touch tuning.
Perform one-touch tuning using the amplifier command method
when the servo motor is at a stop.
3 ADJUSTMENT METHOD
3.2 One-touch tuning
3
35