sh030106u.pdf - 第589页

17. APPLICATIO N OF FUNCTIONS 17 - 38 8) Initia lizing o ne-to uch tunin g Clicking " Return to initial va lue" in th e one-to uch tunin g win d ow of MR Config urator2 ena bles t o return the p arame ter to th…

17. APPLICATION OF FUNCTIONS

17 - 37

Display Name Error detail Corrective action example

C006

Amplifier command start

error

One-touch tuning was attempted to start in

the amplifier command method under the

following speed condition.

Servo motor speed: 20 r/min or higher

Execute the one-touch tuning in the amplifier

command method while the servo motor is

stopped.

C007

Amplifier command

generation error

1. One-touch tuning was executed in the

amplifier command method when the

permissible travel distance is set to 100

pulses or less in the encoder pulse unit, or

the distance is set not to increase the

servo motor speed to 150 r/min (mm/s) (50

r/min for direct drive motor) or higher at the

time of load to motor inertia ratio

estimation.

Set a permissible travel distance to 100

pulses or more in the encoder pulse unit, or a

distance so as to increase the servo motor

speed to 150 r/min (mm/s) (50 r/min for direct

drive motor) or higher at the time of load to

motor inertia ratio estimation, and then

execute the one-touch tuning. Set a

permissible travel distance to four or more

revolutions as a guide value.

Load to motor inertia ratio will be estimated

when "0000" or "0001" is set in [Pr. PA08

Auto tuning mode] at the start of one-touch

tuning.

If the permissible travel distance is short and

the servo motor speed cannot be increased to

150 r/min (mm/s) (50 r/min for direct drive

motor) or higher, select "Auto tuning mode 2

(_ _ _ 2)", "Manual mode (_ _ _ 3)", or "2 gain

adjustment mode 2 (_ _ _ 4)" of "Gain

adjustment mode selection" in [Pr. PA08].

2. An overspeed alarm detection level is set

so that the servo motor speed becomes

150 r/min (mm/s) (50 r/min for direct drive

motor) or less at the time of load to motor

inertia ratio estimation.

When estimating the load to motor inertia

ratio, set the overspeed alarm detection level

so that the speed becomes 150 r/min or

more.

3. The torque limit has been set to 0.

Set the torque limit value to greater than 0.

C008 Stop signal

EM2 was turned off during one-touch tuning in

the amplifier command method.

Review the one-touch tuning start position

and permissible travel distance for the

amplifier command method.

After ensuring safety, turn on EM2.

C009 Parameter

Parameters for manufacturer setting have

been changed.

Return the parameters for manufacturer

setting to the initial values.

C00A Alarm

One-touch tuning was attempted to start in

the amplifier command method during alarm

or warning.

Alarm or warning occurred during one-touch

tuning by the amplifier command method.

Start one-touch tuning when no alarm or

warning occurs.

Prevent alarm or warning from occurring

during one-touch tuning.

C00F

One-touch tuning

disabled

"One-touch tuning function selection" in [Pr.

PX13] is "Disabled (_ _ _ 0)".

Select "Enabled (_ _ _ 1)".

6) If an alarm occurs

If an alarm occurs during the one-touch tuning, the tuning will be forcibly terminated. Remove the

cause of the alarm and execute one-touch tuning again. When executing one-touch tuning in the

amplifier command method again, return the moving part to the tuning start position.

7) If a warning occurs

If a warning which continues the motor driving occurs during one-touch tuning by the user

command method, the tuning will be continued. If a warning which does not continue the motor

driving occurs during the tuning, one-touch tuning will be stopped.

One-touch tuning will be stopped when warning occurs during one-touch tuning by the amplifier

command method regardless of the warning type. Remove the cause of the warning, and return

the moving part to the tuning start position. Then, execute the tuning again.

17. APPLICATION OF FUNCTIONS

17 - 38

8) Initializing one-touch tuning

Clicking "Return to initial value" in the one-touch tuning window of MR Configurator2 enables to

return the parameter to the initial value. Refer to table 17.5 for the parameters which you can

initialize.

Clicking "Return to value before adjustment" in the one-touch tuning window of MR Configurator2

enables to return the parameter to the value before clicking "start".

When the initialization of one-touch tuning is completed, the following window will be displayed.

(returning to initial value)

17. APPLICATION OF FUNCTIONS

17 - 39

1) Caution common for user command method and amplifier command method

a) The tuning is not available in the torque control mode.

b) The one-touch tuning cannot be executed while an alarm or warning which does not continue

the motor driving is occurring.

c) The one-touch tuning cannot be executed during the following test operation mode.

Output signal (DO) forced output

Motor-less operation

d) If one-touch tuning is performed when the gain switching function is enabled, vibration and/or

unusual noise may occur during the tuning.

2) Caution for amplifier command method

a) Starting one-touch tuning while the servo motor is rotating displays "C006" at status in error

code, and the one-touch tuning cannot be executed.

b) One-touch tuning is not available during the test operation mode. The following test operation

modes cannot be executed during one-touch tuning.

Positioning operation

JOG operation

Program operation

Machine analyzer operation

c) After one-touch tuning is executed, control will not be performed by commands from the servo

system controller. To return to the state in which control is performed from the servo system

controller, reset the controller or cycle the power of the servo amplifier.

d) During one-touch tuning, the permissible travel distance may be exceeded due to overshoot,

set a value sufficient to prevent machine collision.

e) When Auto tuning mode 2, Manual mode, or 2 gain adjustment mode 2 is selected in [Pr.

PA08 Auto tuning mode], the load to motor inertia ratio will not be estimated. An optimum

acceleration/deceleration command will be generated by [Pr. PB06 Load to motor inertia

ratio/load to motor mass ratio] at the start of one-touch tuning. When the load to motor inertia

ratio is incorrect, the optimum acceleration/deceleration command may not be generated,

causing the tuning to fail.

f) When one-touch tuning is started by using USB communication, if the USB communication is

interrupted during the tuning, the servo motor will stop, and the tuning will also stop. The

parameter will return to the one at the start of the one-touch tuning.

g) When one-touch tuning is started via the controller, if communication between the controller

and the servo amplifier or personal computer is shut-off during the tuning, the servo motor will

stop, and the tuning will also stop. The parameter will return to the one at the start of the one-

touch tuning.

h) When one-touch tuning is started during the speed control mode, the mode will be switched to

the position control mode automatically. The tuning result may differ from the one obtained by

executing tuning by using the speed command.