3 Typical fault profiles (continued)
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BetrHbKRC2FL--USA--Fehler 11.04.00 en
3.4 DSE error messages during operation
3.4.1 Watchdog interpolation cycle Ax
The interpolator sends one feed value per interpolation cycle to the DSE. If this transmission
is interrupted for one or more cycles, the watchdog is triggered and this error message is
generated.
3.4.2 Synchronization error with DSE Ax
The interpolator sends one feed value per interpolation cycle to the DSE. If the DSE does
not read this feed value from the interface, the synchronization monitoring is triggered and
this error message is generated.
3.4.3 Regulator limit exceeded Ax
The position controller output has gone into limitation, i.e. the axis does not follow the com-
mand value. Possible causes:
G The motor is blocked because
-- the brake does not release
-- the robot has caused a collision during a motion
-- the axis has hit an end stop
G The acceleration is too high because
-- incorrect machine data have been loaded
-- an incorrect weight is entered in the variable $LOAD
-- the weight on the tool is too high
G There is no servo--control of the motor because
-- the enable signal is missing (KSD defective)
-- the motor cables have been interchanged or are defective
-- the motor is not connected
G The controller amplification is incorrect
3.4.4 Stopped Ax
The axis has moved outside the standstill window, although the interpolator had not specified
a movement. Possible causes:
G The brake is defective and the axis sags.
G The weight on the tool is greater than the holding torque of the axis.
G There is no servo--control of the motor because
-- the enable signal is missing (KSD defective)
-- the motor cables have been interchanged or are defective
-- the motor is not connected
3.4.5 Motor temperature Ax
The permissible motor temperature has been exceeded. Possible causes:
-- External temperature is too high
-- Encoder cable is interrupted
-- The motion pauses in the motion program are too short
-- The axis is sluggish
-- The weight on the flange is too high
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