sh030106u.pdf - 第214页
6. NORM AL GAIN ADJ USTMENT 6 - 13 After the one-to uch tuni ng is completed, "000 0" will b e dis play ed at stat us in er ror code. I n addit ion, settling t ime and ov ersho ot amou nt wil l be d isplaye d i…
6. NORMAL GAIN ADJUSTMENT
6 - 12
After one-touch tuning is executed using the amplifier command method, control will not be performed by
commands from the controller. To return to the state in which control is performed by commands from
the controller, reset the controller or cycle the power.
During processing of one-touch tuning, the progress will be displayed as follows. Tuning will be
completed at 100%.
Completing the one-touch tuning will start writing tuning parameters to the servo amplifier, and the
following window will be displayed. Select whether or not to reflect the tuning result in the project.
6. NORMAL GAIN ADJUSTMENT
6 - 13
After the one-touch tuning is completed, "0000" will be displayed at status in error code. In addition,
settling time and overshoot amount will be displayed in "Adjustment result".
(4) Stop of one-touch tuning
When "Stop" is clicked during one-touch tuning, the tuning will be stopped. At this time, "C000" will
be displayed at status in error code. When the one-touch tuning is stopped, the parameter setting
will be returned to the values at the start of the one-touch tuning. Stop the servo motor before
executing the one-touch tuning again. In addition, execute it after the moving part is returned to the
tuning start position.
6. NORMAL GAIN ADJUSTMENT
6 - 14
(5) If an error occurs
If a tuning error occurs during tuning, one-touch tuning will be stopped. With that, the following error
code will be displayed in status. Check the cause of tuning error. When executing one-touch tuning
again, stop the servo motor once. In addition, after returning the moving part to the tuning start position,
execute it.
Display Name Error detail Corrective action example
C000 Tuning canceled "Stop" was clicked during one-touch tuning.
C001 Overshoot exceeded
Overshoot amount is a value larger than the
one set in [Pr. PA10 In-position range] and
[Pr. PA25 One-touch tuning - Overshoot
permissible level].
Increase the in-position range or overshoot
permissible level.
C002 Servo-off during tuning
The one-touch tuning was attempted in the
user command method during servo-off.
The servo amplifier will be servo-off status
during one-touch tuning.
When executing one-touch tuning in the user
command method, turn to servo-on, and then
execute it.
Prevent the servo amplifier from being the
servo-off status during one-touch tuning.
C003 Control mode error
1. The one-touch tuning was attempted while
the torque control mode was selected in
the control modes.
Select the position control mode or speed
control mode for the control mode from the
controller, and then execute one-touch tuning.
Do not change the control mode during the
one-touch tuning.
2. During one-touch tuning, the control mode
was attempted to change from the position
control mode to the speed control mode.
C004 Time-out
1. One cycle time during the operation has
been over 30 s.
Set one cycle time during the operation (time
from the command start to the next command
start) to 30 s or less.
2. The command speed is slow.
Set the servo motor speed to 100 r/min or
higher. Error is less likely to occur as the
setting speed is higher.
When one-touch tuning by the amplifier
command is used, set a permissible travel
distance so that the servo motor speed is 100
r/min or higher. Set a permissible travel
distance to two or more revolutions as a guide
value to set the servo motor speed to 100
r/min.
3. The operation interval of the continuous
operation is short.
Set the stop interval during operation to 200
ms or more. Error is less likely to occur as the
setting time is longer.
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 time constant/deceleration
time constant to reach 2000 r/min (mm/s) is
5 s or less.
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 an oscillation or other
influences.
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].
Manually set [Pr. PB06 Load to motor
inertia ratio/load to motor mass ratio]
properly.