Mitsubishi Electric MR-J4-10B(-RJ) Instruction Manual page 214

6. NORMAL GAIN ADJUSTMENT
Display Name
C006 Amplifier command start
error
C007 Amplifier command
generation error
C008 Stop signal
C009 Parameter
C00A Alarm
C00F One-touch tuning
disabled
(6) If an alarm occurs
If an alarm occurs during the one-touch tuning, the tuning will be forcibly terminated. Remove the cause
of the alarm and execute one-touch tuning again. When executing one-touch tuning in the amplifier
command method again, return the moving part to the tuning start position.
(7) If a warning occurs
If a warning which continues the motor driving occurs during one-touch tuning by the user command
method, the tuning will be continued. If a warning which does not continue the motor driving occurs
during the tuning, one-touch tuning will be stopped.
One-touch tuning will be stopped when warning occurs during one-touch tuning by the amplifier
command method regardless of the warning type. Remove the cause of the warning, and return the
moving part to the tuning start position. Then, execute the tuning again.
Error detail
One-touch tuning was attempted to start in
the amplifier command method under the
following speed condition.
Servo motor speed: 20 r/min or higher
1. One-touch tuning was executed in the
amplifier command method when the
permissible travel distance is set to 100
pulses or less in the encoder pulse unit, or
the distance is set not to increase the
servo motor speed to 150 r/min (mm/s) (50
r/min for direct drive motor) or higher at the
time of load to motor inertia ratio
estimation.
2. An overspeed alarm detection level is set
so that the servo motor speed becomes
150 r/min (mm/s) (50 r/min for direct drive
motor) or less at the time of load to motor
inertia ratio estimation.
3. The torque limit has been set to 0.
EM2 was turned off during one-touch tuning in
the amplifier command method.
Parameters for manufacturer setting have
been changed.
One-touch tuning was attempted to start in
the amplifier command method during alarm
or warning.
Alarm or warning occurred during one-touch
tuning by the amplifier command method.
"One-touch tuning function selection" in [Pr.
PA21] is "Disabled (_ _ _ 0)".
6 - 15
Corrective action example
Execute the one-touch tuning in the amplifier
command method while the servo motor is
stopped.
Set a permissible travel distance to 100
pulses or more in the encoder pulse unit, or a
distance so as to increase the servo motor
speed to 150 r/min (mm/s) (50 r/min for direct
drive motor) or higher at the time of load to
motor inertia ratio estimation, and then
execute the one-touch tuning. Set a
permissible travel distance to four or more
revolutions as a guide value.
Load to motor inertia ratio will be estimated
when "0000" or "0001" is set in [Pr. PA08
Auto tuning mode] at the start of one-touch
tuning.
If the permissible travel distance is short and
the servo motor speed cannot be increased to
150 r/min (mm/s) (50 r/min for direct drive
motor) or higher, select "Auto tuning mode 2
(_ _ _ 2)", "Manual mode (_ _ _ 3)", or "2 gain
adjustment mode 2 (_ _ _ 4)" of "Gain
adjustment mode selection" in [Pr. PA08].
When estimating the load to motor inertia
ratio, set the overspeed alarm detection level
so that the speed becomes 150 r/min or
more.
Set the torque limit value to greater than 0.
Review the one-touch tuning start position
and permissible travel distance for the
amplifier command method.
After ensuring safety, turn on EM2.
Return the parameters for manufacturer
setting to the initial values.
Start one-touch tuning when no alarm or
warning occurs.
Prevent alarm or warning from occurring
during one-touch tuning.
Select "Enabled (_ _ _ 1)".