Harmonic Drive SC-610 Series Operation Manual Download Page 43

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Operations Manual SC-610

Harmonic Drive AG

900105

11/2005

Position or velocity following error. A following error has occurred. See the Mint keyword

AXISERROR

and associated keywords. Following errors could be caused by a badly tuned

drive/motor. At higher acceleration and deceleration rates, the following error will typically be
greater. Ensure that the drive/motor is adequately tuned to cope with these acceleration rates.
The following error limit can be adjusted to suite your application (see Mint keywords

FOLERRORFATAL

and

VELFATAL

). Following error could also be the cause of encoder/resolver

loss (see also Mint keyword

FEEDBACKFAULTENABLE

Follow mode. The drive is in Follow mode. See the Mint keyword

Hold. The Hold DIP switch is active or the PLC Task has requested a Hold state. Motion will be
ramped to zero demand and will then hold on position while the switch is active.

Homing. The drive is currently homing. See the Mint keyword

HOME

Preset Homing. The drive is currently homing. This motion has been triggered from a Preset
move table.

Incremental move. An incremental move is being profiled. See the Mint keywords

INCA

and

INCR

Jog. The drive is jogging. In the Mint help file, see the topics

JOG

JOGCOMMAND

and

Jog screen

Preset jog. The drive is jogging. The jog was triggered from a Preset jog table.

Overspeed. The measured speed of the motor has exceeded the trip level defined by

DRIVESPEEDFATAL

. Check that the trip level is set to a suitable value for your application.

When accelerating to a demand speed close to the trip level, there will typically be a certain
amount of overshoot. Using the Fine-tuning tool, check the amount of overshoot you get with the
acceleration and demand speeds being used in your application.

Positional Move. The drive is performing a linear move. See the Mint keywords

MOVEA

and

MOVER

Preset positions. The drive is performing a linear move. This motion has been triggered from a
Preset move table.

Stop. A

STOP

command has been issued or the stop input is active.

Drive disabled. The drive must be enabled before operation can continue.
Click the

Drive enable

button in WorkBench v5.

Crash (various). The drive enable input or the Enable DIP switch have become inactive whilst the
drive was in the enable state (or the drive was enabled whilst they were inactive) - bit 13 in

AXISEERROR

will be set. The drive can be programmed to ignore this state using the Mint

keyword

DRIVEENABLEINPUTMODE

(see the Parameters tool).

Suspend. The

SUSPEND

command has been issued and is active. Motion will be ramped to zero

demand whilst active.

Speed demand. The drive is under speed control. See the Mint keywords

SPEEDREF

SPEEDREFSOURCE

and related commands.

(Reserved)

Reverse software or hardware limit. A reverse software limit has been activated.
See

AXISERROR

and/or

AXISSTATUS

to determine which applies.

Forward software or hardware limit. A forward software limit has been activated.
See

AXISERROR

and/or

AXISSTATUS

to determine which applies.

Firmware being updated (horizontal bars appear sequentially). New firmware is being
downloaded to the drive.

Initialization error. An initialization error has occurred at power on. See the

Error Log

INITERROR

and

INITWARNING

topics in the help file. Initialization errors should not normally

occur. (possible reasons: Encoder feedback corrupt or 8V fuse of drive damaged X8.3/ X8.5)

Bar is illuminated permanently, dot right corner is flashing: Crash, i.e. interrupt during Firmware-

Download, no communication with the controller possible.

Counter measure: Open software WORK BENCH, start SCAN-procedure and stop it directly
afterwards. The screen shows „No Controller found“. The SELECT Button turn into UPDATE
FIRMWARE. Download the firmware again via this button.

For drives with 24V-option the status monitor works only if the
24V is switched on.