ID 70020

Dynamical position lag exceeds range.
Description	During axis movement, the position lag exceeded a permissible limit for the current motion velocity. Dynamic tracking/following error monitoring ([FCT-A1// Section: Description]) calculates the permissible position lag as a function of motion velocity when an axis is moved. It is configured individually in the lists for axis parameters ( P-AXIS-00167, P-AXIS-00168, P-AXIS-00169, P-AXIS-00170, P-AXIS-00172, P-AXIS-00176 and P-AXIS-00191). The NC control offers two different methods, with which the maximum permissible position lag can be calculated: Type 1: Standard method – uses a parameter-definable filter Type 2: Linear method – is based on a theoretical position lag Possible causes of an impermissible position lag could be for example: Too large accelerations specified for the axis The presence of friction in the actuating system The axis is blocked and can not move freely Poorly set position controller (for gain factor see P-AXIS-00099) Drive type SERCOS: If different proportional gain values are used in the drives and the axis parameters. Possible solutions: Reduce the command accelerations Ensure free movement of the axis Check setting (gain factor Kv, see P-AXIS-00099) of position controller If necessary, change the parameterization of the dynamic tracking/following error monitoring ([FCT-A1// Section: Axis parameters])
Response	Class		8	Controlled halt of the axis, the control loop is open.
Solution	Class		6	Check position controller, freedom of movement; smaller accelerations
Parameter	%1:	Logical axis number [-]
		Logical axis number of affected axis see P-AXIS-00016
	%2:	Drive type [-]
		Drive type of concerned axis, see P-AXIS-00020
	%3:	Current value[0.1 µm or 0.0001°]
		Current position lag
	%4:	Upper limit value[0.1 µm or 0.0001°]
		Maximum allowed position lag
	%5:	Block number [-]
		Block number of the NC program, in which the error occurred
Error type	11, Error message from position controller.