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6. NORMAL GAIN ADJUSTMENT
6 - 7
(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 Description Action
C000 Tuning canceled The stop button was pushed during one-touch
tuning.
C001 Overshoot exceeded The overshoot amount is lager 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 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 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 to100 r/min or
higher.
3. The operation interval of the continuous
operation is short.
Maintain the operation interval during motor
driving about 200 ms.
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.
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)".
(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.