ID 70099

Difference of command and feedback value too big.

Description

The difference between the new command position value and the old actual value is greater than the permissible limit value when enabling the drive controller (see P-AXIS-00108).

When the controller enable is set, the axis is given a new command value. If this command value differs from the actual value, an abrupt stimulation of the drive occurs. In order to limit the resulting axis motion, the control deviation with respect to a limit value (see P-AXIS-00108) is monitored. If the actual difference between command- and actual position is bigger than the specified value when enabling the drive, the position difference is not driven out.

Response

Class

5

Abrupt axis stop for defective axis

Solution

Class

6

Parameter

%1:

Upper limit value [-]

Maximum permissible position difference see P-AXIS-00108

%2:

Current value [0.1 µm or 0.0001°]

Current position difference.

%3:

Current value [0.1 µm or 0.0001°]

Command position

%4:

Current value [0.1 µm or 0.0001°]

Actual position

%5:

Logical axis number [-]

Logical axis number of affected axis see P-AXIS-00016

Error type

11, Error message from position controller.