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6. NORMAL GAIN ADJUSTMENT
(3) One-touch tuning execution
During one-touch tuning, pushing the stop button stops one-touch tuning.
If the one-touch tuning is stopped, "C 0 0 0" will be displayed at status in error code.
(4) If an error occur
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.
Error code
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
C00F
One-touch tuning
disabled
(5) If an alarm occur
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.
(6) If a warning occur
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.
Description
The stop button was pushed during one-touch
tuning.
The overshoot amount is larger than the value
set in [Pr. PA10 In-position range].
The one-touch tuning was attempted during
servo-off.
The one-touch tuning was attempted while the
torque mode was selected in the control
modes.
1. 1 cycle time during the operation has been
over 30 s.
2. The command speed is low.
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 such as an oscillation.
"One-touch tuning function selection" in [Pr.
PA21] is "Disabled (_ _ _ 0)".
6 - 7
Action
Increase the in-position range.
Perform the one-touch tuning after servo-on.
Select the position mode or velocity mode for
the control mode from the controller, and then
make one-touch tuning.
Set the 1 cycle time during the operation to 30
s or less.
Set the servo motor speed to100 r/min or
higher.
Maintain the operation interval during motor
driving about 200 ms.
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.
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.
Select "Enabled (_ _ _ 1)".
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