Mitsubishi Electric MELSERVO J5 Series User Manual page 34

Display Name
C_07 Amplifier command
generation error
C_08 Stop signal
C_09 Parameter
C_0A Alarm
C00F One-touch tuning
disabled
The following table shows the servo parameter status after the one-touch tuning error occurred.
Error code
C0 _ _
C1 _ _
If the error code is C1 _ _, [Pr. PB07 Model control gain] returns to the servo parameters at the start of the one-touch tuning. If
the response from the gain after the error code C1 _ _ was outputted is not satisfactory, adjust [Pr. PB07 Model control gain]
manually.
3 ADJUSTMENT METHOD
32
3.2 One-touch tuning
Error description
The one-touch tuning (amplifier command) was
performed when the permissible travel distance was
set to 100 [pulse] or less in the encoder pulse unit, or
the servo motor speed was set to less than 50 [r/min]
(for direct drive motors, less than 15 [r/min]) at the
load to motor inertia ratio estimation.
The overspeed alarm detection level is set where the
servo motor speed becomes 50 [r/min] or less (for
direct drive motors, 15 [r/min] or less) at the time of
load to motor inertia ratio estimation.
The torque limit value has been set to 0.
LSP and LSN were turned off during the one-touch
tuning of the amplifier command method.
EM2 was turned off during the one-touch tuning in
the amplifier command method.
Servo parameter for manufacturer setting has been
changed.
The one-touch tuning in the amplifier command
method was attempted to start during an alarm or a
warning occurrence.
An alarm or a warning occurred during the one-touch
tuning in the amplifier command method.
[Pr. PA21.0 One-touch tuning function selection] is
set to "0" (disabled).
Servo parameter after the one-touch tuning error occurrence
A servo parameter is returned to the value at the start of the one-touch tuning.
The following remain as the servo parameters during the one-touch tuning. Other servo parameters return to the values at
the start of the one-touch tuning.
• [Pr. PA08 Auto tuning mode (ATU)]
• [Pr. PA09 Auto tuning response (RSP)]
• [Pr. PB01 Adaptive tuning mode (adaptive filter II) (FILT)]
• [Pr. PB03 Position command acceleration/deceleration time constant (position smoothing) (PST)]
• [Pr. PB06 Load to motor inertia ratio/load to motor mass ratio (GD2)]
• [Pr. PB08 Position control gain (PG2)]
• [Pr. PB09 Speed control gain (VG2)]
• [Pr. PB10 Speed integral compensation (VIC)]
• [Pr. PB13 Machine resonance suppression filter 1 (NH1)]
• [Pr. PB14 Notch shape selection 1 (NHQ1)]
• [Pr. PB15 Machine resonance suppression filter 2 (NH2)]
• [Pr. PB16 Notch shape selection 2 (NHQ2)]
• [Pr. PB17 Shaft resonance suppression filter (NHF)]
• [Pr. PB18 Low-pass filter setting (LPF)]
• [Pr. PB23 Low-pass filter selection (VFBF)]
• [Pr. PB46 Machine resonance suppression filter 3 (NH3)]
• [Pr. PB47 Notch shape selection 3 (NHQ3)]
• [Pr. PB48 Machine resonance suppression filter 4 (NH4)]
• [Pr. PB49 Notch shape selection 4 (NHQ4)]
• [Pr. PB51 Notch shape selection 5 (NHQ5)]
• [Pr. PE41 Function selection E-3 (EOP3)]
Handling example
Execute one-touch tuning in the amplifier command method
after setting a permissible travel distance to be 100 [pulse] or
more in the encoder pulse unit, or setting the distance so that
the servo motor speed to be 50 [r/min] (mm/s) or more (15 [r/
min] or more for direct drive motors) at the load to motor inertia
ratio estimation.
The permissible travel distance required for estimating the load
to motor inertia ratio is two or more rotations as a guide value.
If [Pr. PA08.0 Gain adjustment mode selection] is set to "3"
(manual mode) at the start of the one-touch tuning, the load to
motor inertia ratio estimation is not performed.
If the servo motor speed cannot be set to 50 [r/min] (mm/s) or
more (15 [r/min] or more for direct drive motors) because of the
short permissible travel distance, execute one-touch tuning in
the amplifier command method while auto tuning mode [Pr.
PA08.0] is set to "3" (manual mode) which does not estimate
the load to motor inertia ratio.
When estimating the load to motor inertia ratio, set the
overspeed alarm detection level to 50 [r/min] or more (for direct
drive motors, 15 [r/min] or more).
Set the torque limit value greater than 0.
Review the start position and the permissible travel distance of
the amplifier command method.
After ensuring safety, turn EM2 on.
Restore the servo parameters for manufacturer setting to the
initial values.
Start the one-touch tuning in the amplifier command method
when no alarm or warning occurs.
Prevent an alarm or a warning from occurring during one-touch
tuning in the amplifier command method.
Enable [Pr. PA21.0 One-touch tuning function selection] to "1"
(enabled).