Mitsubishi MR-JE-10B Instruction Manual page 150

6. NORMAL GAIN ADJUSTMENT
(5) If an error occurs
If a tuning error occurs during tuning, one-touch tuning will be stopped. With that, the following error
code will be displayed in status. Check the cause of tuning error. When executing one-touch tuning
again, stop the servo motor once. In addition, after returning the moving part to the tuning start position,
execute it.
Display 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
Error detail
The stop button was clicked during one-touch
tuning.
Overshoot amount is a value larger than the
one set in [Pr. PA10 In-position range] and
[Pr. PA25 One-touch tuning - Overshoot
permissible level].
The one-touch tuning was attempted in the
user command method during servo-off.
The servo amplifier will be servo-off status
during one-touch tuning.
1. The one-touch tuning was attempted while
the torque control mode was selected in
the control modes.
2. During one-touch tuning, the control mode
was attempted to change from the position
control mode to the speed control mode.
1. One cycle time during the operation has
been over 30 s.
2. The command speed is slow.
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 an oscillation or other
influences.
6 - 15
Corrective action example
Increase the in-position range or overshoot
permissible level.
When executing one-touch tuning in the user
command method, turn to servo-on, and then
execute it.
Prevent the servo amplifier from being the
servo-off status during one-touch tuning.
Select the position control mode or speed
control mode for the control mode from the
controller, and then execute one-touch tuning.
Do not change the control mode during the
one-touch tuning.
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 or
higher. Error is less likely to occur as the
setting speed is higher.
When one-touch tuning by the amplifier
command is used, set a permissible travel
distance so that the servo motor speed is 100
r/min or higher. Set a permissible travel
distance to two or more revolutions as a guide
value to set the servo motor speed to 100
r/min.
Set the stop interval during operation to 200
ms or more. Error is less likely to occur as the
setting time is longer.
Drive the motor with meeting conditions as
follows.
The acceleration time constant/deceleration
time constant to reach 2000 r/min is 5 s or
less.
Speed is 150 r/min or higher.
The load to 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].
Manually set [Pr. PB06 Load to motor
inertia ratio] properly.