This appears when I use a cable that is mfi certified to charge my iPad. Why?
You're using a poor quality cable (or, very unlikely, the port is obstructed. There are many cables that say they are MFi certified that are not: you can check if it is here. You should stop using this cable immediately as it could cause real damage to your iPad. While I don't know if this will apply to your cable, Apple has a take back program for third party adapters
and may give you some credit towards buying a proper adapter. (correction: the cheaper price has been discontinued.)