— 14-11 —
14.2.4.7. Excess Position Error
[Output] DRDY: Open
[TA] F1 > Excess Position Error
[LED] F1
[Motor Condition] Servo Lock
Table 14-16: Cause and Remedy: Excess position error
Cause Remedy
(1) Position error counter value is over “CO”
setting due to mechanical restraint such as
brake.
• Remove mechanical restraint.
(2) Improper gain setting. • Readjust gain.
(Refer to “8. Tuning and Trial Running.”)
(3) Excessive acceleration/deceleration. • Decrease acceleration/deceleration.
(4) “CO” setting is too low. • Increase “CO” setting.
• Activate the “CLR” input to cancel alarm, then
position error counter is cleared to 0 (Zero).
• Adjust servo parameters (VG, VI, PG).
• Adjust acceleration/deceleration (MA).
• Check the applied load.
(5) Unmatched combination of Motor and Driver
Unit.
• Check reference number of Motor and Driver Unit.
(6) Improper “PA” setting. • Set “PA” to 700.
(7) Faulty PCB.
(When the alarm is on even “RUN” command
is not executed.)
• Replace Driver Unit.
◊ Standard ESA Driver--------------------[Appendix 4]
14.2.4.8. Software Over Travel Limit
[Output] DRDY: Open
[TA] F2 > Software Over Travel
[LED] F2
[Motor Condition] Servo Lock in one direction.
(The Motor will only rotate in a direction opposite to that of the rotation
limit.)
Table 14-17: Cause and Remedy: Software over travel
Cause Remedy
(1) The Motor enters the off-limit area set by OTP
and OTM
• Put back Motor position in software over travel limit.
• Get out of off-limit area.
Note : If the Motor cannot make a full turn due to obstacle or off-limits area, “OTM and OTP”
must be set to the point where the Motor can stop before entering off-limit area.
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