Mitsubishi Electric MR-J5 Series User Manual page 165

Cancellation of backlash estimation function
Click the stop button during backlash estimation to cancel the backlash estimation. When backlash estimation is canceled,
"C000" is displayed in the error code status. When resuming backlash estimation, stop the servo motor once. In addition,
return the movable part to the estimated starting position.
When backlash estimation error occurs
If an estimation error occurs during the backlash estimation, the estimation will be canceled. At this time, as the error code is
displayed in the error code status, check the cause of the estimation error. To perform the backlash estimation again, stop the
servo motor once. In addition, return the movable part to the estimated starting position.
Display Name
0000 Successfully completed
C000 Tuning canceled
C001 Servo-off during
estimation
C002 Backlash misestimation
C003 Backlash estimation
start error during servo
motor driving
C004 Backlash estimation
start error
C005 Backlash estimation
control mode error
C006 Backlash estimation
command generation
error
C007 Stop signal error
C008 Servo parameter
C009 Alarm
C00A Time-out
FFFF Backlash estimation not
implemented
Error description

"Stop button" was clicked during the backlash
estimation.
Switched to servo-off during the backlash
estimation.
The backlash estimation amount could not be
calculated.
The to-and-fro positioning operation cannot be
performed because of the effect of oscillation.
The backlash estimation is performed without the
gear.
Starting backlash estimation is attempted when the
servo motor speed is 20 r/min or faster.
The backlash estimation start button was pushed
during the backlash estimation.
The backlash estimation start button was pushed
during the amplifier command method one-touch
tuning.
Backlash estimation started in the linear servo
motor control mode.
The torque limit value has been set to 0.
LSP and LSN were turned off during the backlash
estimation.
EM2 was turned off during the backlash estimation.
When using FLS (upper stroke limit) and RLS
(lower stroke limit), FLS and RLS were turned off
during backlash estimation.
Servo parameter for manufacturer setting has been
changed.
The overspeed alarm level is low.
Only one gear ratio is set to 0.
A backlash estimation was attempted to start
during occurrence of an alarm or warning.
An alarm/warning occurred during backlash
estimation.
Two minutes or more passed during backlash
estimation.
Communication with MR Configurator2 was
disconnected during backlash estimation.
The backlash estimation is not implemented.
Handling example


Prevent the servo amplifier from switching to servo-off during the
backlash estimation.
Drive the servo motor under the following conditions:
• The overspeed alarm level is 100 [r/min] or higher.
• The acceleration/deceleration torque is 30 % or more of the
rated torque.
After adjusting the gain so that oscillation does not occur,
perform the backlash estimation.
Execute the backlash estimation as the gear is connected to the
servo motor.
Perform backlash estimation while the servo motor is stopped.
Press the backlash estimation start button when the backlash
estimation is not performed.
Push the backlash estimation start button when the amplifier
command method one-touch tuning is not performed.
Backlash estimation cannot be used in the linear servo motor
control mode.
Set the torque limit value to exceed the rated torque by 30 %.
Review the starting position of the backlash estimation.
After ensuring safety, turn EM2 on.
Restore the servo parameters for manufacturer setting to the
initial values.
Increase the overspeed alarm level.
Set both the gear ratio numerator and denominator.
Start the backlash estimation when no alarm/warning occurs.
Prevent alarm/warning from occurring during backlash
estimation.
Start backlash estimation after the torque limit value and the
overspeed alarm detection level have been increased.
Prevent communication with MR Configurator2 from being
disconnected during backlash estimation.
Perform backlash estimation.
4 APPLICABLE FUNCTION
4.3 Machine diagnosis
4
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