Mitsubishi Electric MELSERVO-J4 series, Instruction Manual

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6 NORMAL GAIN ADJUSTMENT
6.2 One-touch tuning
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If an error occurs
If a tuning error occurs during tuning, one-touch tuning will be forcibly terminated. With that, the following error code will be
displayed in status. Check the cause of tuning error.
If an alarm occurs
If an alarm occurs during tuning, one-touch tuning will be forcibly terminated.
Remove the cause of the alarm and execute one-touch tuning again.
If a warning occurs
If a warning which continue the motor driving occurs during the tuning, one-touch tuning will be continued.
If a warning which does not continue the motor driving occurs during the tuning, one-touch tuning will be stopped.
Error
code Name Description Action
C000 Tuning canceled The stop button was pushed during one-touch tuning. 
C001 Overshoot exceeded The overshoot amount is larger than the value set in
[Pr. PA10 In-position range]. Increase the in-position range.
C002 Servo-off during tuning The one-touch tuning was attempted during servo-off. Perform the one-touch tuning after servo-on.
C003 Control mode error The one-touch tuning was attempted while the torque
mode was selected in the control modes. Select the position mode or velocity mode for the
control mode from the controller, and then make one-
touch tuning.
C004 Time-out 1. 1 cycle time during the operation has been over 30
s.
Set the 1 cycle time during the operation to 30 s or
less.
2. The command speed is low. Set the servo motor speed to 100 r/min or higher.
3. The operation interval of the continuous operation
is short.
Maintain approximately 200 ms of the operation
interval during motor driving.
C005 Load to motor inertia ratio
misestimated 1. The estimation of the load to motor inertia ratio at
one-touch tuning was a failure.
Drive the motor with meeting conditions as follows.
• The acceleration/deceleration time constant to
reach 2000 r/min (mm/s) is 5 s or less.
• Servo motor speed is 150 r/min (mm/s) or higher.
• The load to servo motor (mass of linear servo
motor's primary side or direct drive motor) inertia
ratio is 100 times or less.
• The acceleration/deceleration torque is 10% or
more of the rated torque.
2. The load to motor inertia ratio was not estimated
due to such as an oscillation.
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].
• Set [Pr. PB06 Load to motor inertia ratio/load to
motor mass ratio] properly with manual setting.
C00F One-touch tuning disabled "One-touch tuning function selection" in [Pr. PA21] is
"Disabled (_ _ _ 0)". Select "Enabled (_ _ _ 1)".