Harmonic Drive SC-610 Series, Operation Manual

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Operations Manual SC-610 Page 39
Harmonic Drive AG 900105 11/2005
6.0 Status Indicators
6.1 Status Monitor
The controller provides a status monitor. The indicated signs have the following meaning:
F
or further monitor indications, please refer to appendix C.
Drive / comms watchdog. Interprocessor communications failure.
This is potentially a severe problem if it occurs repeatedly. Communications failure could indicate
a process locking out the interprocessor communications. Clear the error; if the problem persists
then contact technical support.
Over volts. The DC Bus voltage has exceeded the powerbase overvolts level (see
DRIVEBUSOVERVOLTS
). Check the DC Bus level being fed into the system (see Mint keyword
DRIVEBUSVOLTS
). This should be close to the nominal voltage (see Mint keyword
DRIVEBUSNOMINALVOLTS
). Ensure that your input voltage is relevant to the voltage rating of
your drive. If the input voltage is correct, then this error may be the result of high deceleration
rates. If it is not possible to reduce the harshness of the deceleration rate, then a regeneration
resistor should be used. To help you, use WorkBench v5 capture facility to monitor the DC Bus
level during moves.
Integrated Power Module (IPM) trip.
The unit’s powerbase has been overloaded. This should not happen in normal use if limits have
been configured correctly. See the Mint keyword
CURRENTLIMIT
and related commands.
Current trip. Instantaneous over-current trip.
One or more of the 3 motor phases has exceeded 300% of Drive Rated Current.
Under volts. The DC Bus voltage has dropped below the powerbase undervolts level (see
DRIVEBUSUNDERVOLTS
). This error will only be generated if the drive is in the enabled state. As
with the overvolts error, check the input voltage being fed into the system. The error could also
occur during high acceleration profiles.
Feedback trip. Can be enabled/disabled using
FEEDBACKFAULTENABLE
. Five consecutive
errors (or five errors in any 500 servo tick period) will cause the drive to trip.
This error indicates loss of encoder/resolver feedback and may indicate that the feedback cable
has become detached or one of the signals has broken. Check the wiring in the Feedback cable;
check for noise immunity; check the feedback device fitted to the motor (if possible).
Motor or Drive trip. The motor I
2
T or the drive I.T current protection algorithms have exceeded
their limit and tripped the drive (disabled it). Check
DRIVEERROR
or the Error Log to determine
which error has occurred. The motor and drive current limits are fixed according to the database
parameters. The drive can demand peak current for a short duration (see
DRIVEPEAKDURATION
), thereafter it will trip or Foldback according to the setting of
DRIVEOVERLOADMODE
. The same is true for the motor (see
MOTORPEAKDURATION
and
MOTOROVERLOADAREA
). Use the Foldback option to automatically foldback the current to a level
where the drive/motor can recover.
(Symbol not flashing)
Motor I
2
T / It foldback. Motor I
2
T or Drive I.T algorithm has resulted in the demand current being
folded back to a level where the drive/motor can recover. The motor / drive can run with demand
currents greater than their rated value for a period of time; after that time the drive will either trip
or automatically foldback the demand current.
Overtemperature. The temperature of the drive or motor has exceeded a trip level (see Mint
keyword
TEMPERATURELIMITFATAL
) or the Motor overtemperature trip input has been
activated (see Mint keyword
MOTORTEMPERATUREINPUT
).
Drive enabled. The drive is enabled (except where
CONFIG = _cfVirtual
, where it is not
physically enabled).
Torque mode. The drive is in Torque mode. See the Mint keywords
TORQUE
,
TORQUEREFSOURCE
and related commands.
Auto tune test driving motor. Autotune is active and driving the motor. The motor may move.
General error. See
AXISERROR
and
DRIVEERROR
. The motion toolbar displays the status of
AXISERROR
, which is a bit pattern of all latched errors. See also the Error Log topics in the help
file.
Error input. The
ERRORINPUT
has been activated and generated an error.