11.6.17 Error 16: Speed difference error
11.6.17.1 Error 16-1 (emergency code 8400h)
Cause: Speed tracking error too large
Suggested steps:
Check your parameter P744
The control system failed to
track the reference value
l
Please check if the axis is blocked.
l
Try to reduce acceleration or deceleration.
l
If reference speed is higher than the motor
rated speed, please check field weakening
settings. In field-weakening range, the
available torque per current is reduced.
The speed control might run
away, most likely due to a
wrong encoder offset.
l
Please check that the encoder offset is set
properly.
l
If auto commutation is used, re-view the auto
commutation setting and test under all
possible conditions.
l
If torque mode is used, reduce torque, ensure
external speed limitation, or increase speed
control gain for stronger limitation.
This is possibly an EMC
issue. This is very likely if the
problem occurs when
switching on motor control
and/ or when connecting DC
link power supply.
l
Please check the device cabling for proper
connection.
l
Please check device grounding, i. e. the
connection to a metal backplane and cabinet
connection to earth.
l
Check motor grounding and motor cable
length.
MOOG
ID No.: CB40859-001 Date: 11/2020
MSD Servo Drive - Device Help
362
11 Alarms & warnings
11.6.17.2 Error 16-2 (emergency code 8400h)
Cause: Current speed above maximum speed of motor > 120%
Suggested steps:
Check your parameter data set
The control system failed to
track the reference value
l
Please check if the axis is blocked.
l
Try to reduce acceleration or deceleration.
l
If reference speed is higher than the motor
rated speed, please check field weakening
settings. In field-weakening range, the
available torque per current is reduced.
The speed control might run
away, most likely due to a
wrong encoder offset.
l
Please check that the encoder offset is set
properly.
l
If auto commutation is used, re-view the auto
commutation setting and test under all
possible conditions.
l
If torque mode is used, reduce torque, ensure
external speed limitation, or increase speed
control gain for stronger limitation.
This is possibly an EMC
issue. This is very likely if the
problem occurs when
switching on motor control
and/ or when connecting DC
link power supply.
l
Please check the device cabling for proper
connection.
l
Please check device grounding, i. e. the
connection to a metal backplane and cabinet
connection to earth.
l
Check motor grounding and motor cable
length.