15 Appendix
55-8 FSM: impermissible
acceleration detected
Cause:
- Error in connected position encoder.
- EMC malfunctions affecting the position
encoder.
- Impermissibly high acceleration rates in the
movement profiles.
- Acceleration limit parameterised too low.
- Angle jump after homing run in the position data
transmitted from the servo drive to the safety
module.
Measure:
- Check the connected position encoders: If
further error messages occur in conjunction with
the encoders, then eliminate their cause first.
- Check the motor and encoder cable / shield
connection on motor and drive side. EMC
malfunctions can trigger the error.
- Check the setpoint specifications / motion
profiles of the control: Do they contain
impermissibly high accelerations above the limit
value for acceleration monitoring (P06.07)?
- Check whether the limit value for acceleration
monitoring was parameterised correctly - the limit
value (P06.07) should be at least 30% ... 50%
above the maximum acceleration actually
occurring.
- In case of an angle jump in the position data
transmitted from the servo drive - acknowledge
error once.
Group 56: FSM: Actual value evaluation 2
56-8 FSM: speed / angle
difference encoder 1 - 2
Cause:
- Rotational speed difference between encoders
1 and 2 of one μC outside the permissible range
for longer than the allowed time.
- Angle difference between encoders 1 and 2 of
one μC outside the permissible range for longer
than the allowed time.
Measure:
- Problem may occur if two position encoders are
used in the system and they are not “rigidly
coupled”.
- Check for elasticity or backlash, improve
mechanical system.
- Adjust the expert parameters for the position
comparison if this is acceptable from an
application point of view.
Product manual BL 4000-C Page 288 of 298
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