NSK MEGATORQUE M-ESB-YSB2020AB300 - Excessive Position Error: F1; Software over Travel Limit: F2; Hardware over Travel Limit: F3; Emergency Stop: F4

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10.3. Cause and Remedy of Alarm
u Excessive Position Error: F1
Cause Remedy
(1) The Motor did not move normally because
of a mechanical interference such as a
brake, and thus position error of error
counter exceeds the CO setting.
· Remove mechanical interference.
(2) Error in position error counter exceeds the
CO setting due to poor servo gain tuning.
· Readjust gain.
(Refer to “5. Tuning and Trial Running.”)
(3) Position error in error counter exceeds the
CO setting because of high
acceleration/deceleration (MA).
· Decrease acceleration/deceleration (MA).
(4) Position error in error counter exceeds due
to low setting of the CO data..
· Increase the CO setting.
· Activate the CLR input to cancel alarm. At this
moment the position error counter will be cleared to
0 (Zero).
· Adjust servo parameters (VG, VI, and PG).
· Adjust acceleration/deceleration (MA).
· Reset the CO setting.
· Check the applied load.
(5) Unmatched combination of the Motor and
the Driver Unit.
· Check reference number of the Motor and the
Driver Unit.
(6) Improper PA setting.
· Execute the OG command (automatic position
adjustment of position sensor).
(7) Defective PCB.
(If the alarm occurs even though the RUN
command is not executed.)
· Replace the Driver Unit referring to “Appendix 4:
How to Replace ESB Driver Unit.”
u Software Over Travel Limit: F2
Cause Remedy
(1) The Motor enters the off-limits zone
set by the OTP and the OTM
parameters.
· Back the Motor out of the software over travel limit.
· Move the Motor out the off-limits zone.
l The off-limits zone shall be set so that the Motor can stop with this alarm at where it won’t be
mechanically locked or interfered.
u Hardware Over Travel Limit: F3
Cause Remedy
(1) Motor activated the limit switch.
· Move the Motor out of the off-limit zone.
(2) Mistaken setting of the input port polarity.
· Confirm the AB parameter.
(3) Defective travel limit switch or faulty
wiring.
· Check for defective travel limit switch and faulty
wiring.
u Emergency Stop: F4
Cause Remedy
(1) Mistaken setting of input port polarity.
· Confirm the parameter “AB.”
(2) The EMST is input. (In case of normally
open contact.)
· Input the EMST OFF after the Motor stops.
(3) The EMST (CN2) is OFF. (In case of
normally closed contact.)
· Input the EMST ON after the Motor stops.
(4) Faulty wiring.
· Check wiring.