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6. NORMAL GAIN ADJUSTMENT
6 - 7
(3) Stop of one-touch tuning
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 an error code.
(4) If an error occurs
If a tuning error occurs during one-touch tuning, the tuning will be forcibly terminated. With that, the
following error code will be displayed in status. Check the cause of the 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 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 control mode was selected as the
control mode.
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. One cycle time during the operation has
been over 30 s.
Set the one cycle time during the operation to
30 s or shorter.
2. The command speed is low. Set the servo motor speed to 100 r/min or
faster.
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. Estimating the load to motor inertia ratio at
one-touch tuning failed.
Drive the motor so that the following
conditions can be met.
The acceleration/deceleration time constant
to reach 2000 r/min is 5 s or shorter.
The speed is 150 r/min or faster.
The load to motor inertia ratio is 100 times
or smaller.
The acceleration/deceleration torque is
10% or higher of the rated torque.
2. The load to motor inertia ratio was not
estimated due to an oscillation or other
influences.
Set 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] properly.
C00F One-touch tuning
disabled
"One-touch tuning function selection" in [Pr.
PA21] is "Disabled (_ _ _ 0)".
Select "Enabled (_ _ _ 1)".
(5) If an alarm occurs
If an alarm occurs during one-touch tuning, the tuning will be forcibly terminated.
Remove the cause of the alarm and execute one-touch tuning again.
(6) If a warning occurs
If a warning which continues the motor driving occurs during one-touch tuning, the tuning will be
continued.
If a warning which does not continue the motor driving occurs during one-touch tuning, the tuning will be
stopped.