Astraada SRV-64 - Page 283

AS64 series AC servo drive Fault handling
-277-
Code
Name
Possible cause
Workaround
4. The speed loop control
parameters are set
improperly.
5. The setting of P4.39 is too
low.
5. Set P4.39 to 0, which disables
the detecting for a speed
deviation fault.
Er21-0
Position overtravel–CCW
In position mode, the CCW
limit switch is touched or the
accumulated feedback
pulse exceeds the setting of
P0.35.
1. Ensure the CCW limit switch
signal is correct.
2. Ensure the setting of P0.35 is
proper.
Er21-1
Position overtravel–CW
In position mode, the CW
limit switch is touched or the
accumulated feedback
pulse exceeds the setting of
P0.36.
1. Ensure the CW limit switch
signal is correct.
2. Ensure the setting of P0.36 is
proper.
Er22-0
Position deviation fault
1. Server response time is
too slow. Therefore the
residual pulses exceed the
setting of P4.33.
2. The motor load is too
heavy, which causes motor
stalling.
3. Pulse input frequency is
too high, exceeding the
maximum motor speed.
4. The step variable in the
position command input
exceeds the setting of
P4.33.
1. Check whether the conveyer
belt or chain is too tight or the
workbench reaches the
boundary or encounters
obstacles. If yes, resolve the
problem.
2. Increase the settings of
position loop or speed feed-
forward gain parameters.
Alternatively, increase the setting
of P4.33.
3. Adjust electronic gear ratio
parameters.
4. Reduce the step variable in the
position command input.
Er22-1
Hybrid control deviation
too large
In fully-closed loop control,
the feedback position
deviation between the
grating ruler and encoder
exceeds the setting of
P4.64.
1. Ensure the motor and load are
connected properly.
2. Ensure the grating ruler and
encoder are connected properly.
3. Ensure P4.60, P4.61, and
P4.62 are set properly.