Harmonic Drive SC-610 Series, Руководство по эксплуатации

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Operations Manual SC-610 Page A9
Harmonic Drive AG 900105 11/2005
P ower on
Problem Check
The Status display is
showing a flashing symbol
with a static decimal point. The SC-Drive has detected an error. Use the Error Log tool
to view a list of recent errors, or click the Error button on the
motion toolbar to view a description of the error.
Alternatively, type any or all of these commands in the
Command window:
PRINT AXISERROR, PRINT DRIVEERROR,
PRINT MISCERROR
PRINT INITERROR.
Click the
Clear Errors button on the motion toolbar.
T uning
Problem Check
Cannot enable the SC-Drive
because AXISERROR has
bit 13 set Check the drive enable input on connector X3 pins 7 and 9
is connected and powered correctly. Check that DIP switch
8 (enable) is set to the On position.
When the SC-Drive is
enabled the motor is
unstable Check that the current loop has been tuned.
Check that the current loop was tuned with the correct motor
data.
If the motor is still unstable try reducing the Speed
Proportional gain (KVPROP) and Speed Integral gain
(KVINT) on the Speed tab of the Fine-tuning window.
I get a Following Error
(AXISERROR bit 5 is set)
and the drive disables when
tuning the gains Set FOLERRORMODE to zero to ignore the following error
while tuning the gains.
I get a Software limit error
(AXISERROR bits 3 or 4 set)
and the drive disables when
tuning the gains Set SOFTLIMITMODE to zero to ignore the software limit
error while tuning the gains.
I get a Hardware limit error
(AXISERROR bits 1 or 2 set)
and the drive disables when
tuning the gains Set LIMITMODE to zero to ignore the hardware limit errors
while tuning the gains. Alternatively, disable the hardware
limit inputs.
Status LED shows a digit or ‘E.’
If the Status display shows a flashing digit, ‘E’, or the forward or reverse hardware limit symbol, use the Error
Log tool to view a list of recent errors. Alternatively, type PRINT DRIVEERROR, PRINT AXISERROR and
PRINT MISCERROR as separate commands in the WorkBench v5 Command window. Each of these
commands will return an error code, a description of which can be found in the help file.
Press F1 and locate the
DRIVEERROR
,
AXISERROR
and
MISCERROR
keywords. The Error Handling book
contains topics listing the Status display indicators and basic error codes. Remember that many error codes
are the sum of a bit pattern so may not be listed individually. For help on understanding bit pattern values,
see the
Bit pattern values topic in the Keywords book