Editing Drive fault handling
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*Operating condition out of allowed bounds, such as under voltage, over voltage, over temperature | *Operating condition out of allowed bounds, such as under voltage, over voltage, over temperature | ||
*Drive has measured excessive current at motor outputs, can be either | *Drive has measured excessive current at motor outputs, can be either | ||
− | **User adjustable over current limit (this is typically 10-100% above motor maximum current parameter | + | **User adjustable over current limit (this is typically 10-100% above motor maximum current parameter [[MMC]]). The tolerance level is adjusted by parameter [[FOC]]. |
**Short circuit (fixed limit defined by hardware, typically several times higher than drive's maximum current rating) | **Short circuit (fixed limit defined by hardware, typically several times higher than drive's maximum current rating) | ||
*Goal faults, such as [[tracking error]], over speed or travel beyond allowed boundaries (limit switch hit) | *Goal faults, such as [[tracking error]], over speed or travel beyond allowed boundaries (limit switch hit) | ||
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:Drive attempts to accelerate to the target velocity as defined by current setpoint | :Drive attempts to accelerate to the target velocity as defined by current setpoint | ||
;Position mode | ;Position mode | ||
− | :Drive attempts to move back to the commanded position (setpoint). Motion happens at user defined error recovery velocity | + | :Drive attempts to move back to the commanded position (setpoint). Motion happens at user defined error recovery velocity [[CRV]], which is usually set lower than than the maximum velocity limit [[CVL]]. If no recovery motion is desired (drive should stay at position where it faulted), then set CRV parameter to zero. |
{{info|Drive will continue listening the change of setpoint during fault stop state. I.e. if drive is in step/direction mode and step pulses arrive during the fault, drive will resume to the position defined by the latest setpoint.}} | {{info|Drive will continue listening the change of setpoint during fault stop state. I.e. if drive is in step/direction mode and step pulses arrive during the fault, drive will resume to the position defined by the latest setpoint.}} | ||
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==Troubleshooting== | ==Troubleshooting== | ||
− | #If drive will stay infinitely or too long in error recovery mode (can be identified by LEDs and configuration tool status info), it is typically caused by constantly changing setpoint value. In such case drive is chasing the varying setpoint but never reaches it (typical especially with analog or PWM setpoint mode where noise can alter the setpoint, or when [[controller]] do not cease sending new setpoint values until drive is recovered). As countermeasure try increasing | + | #If drive will stay infinitely or too long in error recovery mode (can be identified by LEDs and configuration tool status info), it is typically caused by constantly changing setpoint value. In such case drive is chasing the varying setpoint but never reaches it (typical especially with analog or PWM setpoint mode where noise can alter the setpoint, or when [[controller]] do not cease sending new setpoint values until drive is recovered). As countermeasure try increasing [[CRV]] value or stabilize the setpoint. |
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