Description of Application Faults

At a Glance

These faults are indicated by the AX_ERR bit (%Ir.m.c.5). The parameters can be accessed by the Adjustment screen of the configuration editor. There is no fault checking associated with the soft stops for the unlimited axes (modulo).

Soft Stops

The following table shows the cause, indication and the solution if a Soft stops fault should occur. This is a blocking fault and cannot be deactivated.

Cause	The moving part is no longer situated between the 2 thresholds: lo and hi software limits (this check is activated as soon as the axis is referenced)
Parameter	Software hi limit: SL_MAX (%MDr.m.c.31) Software lo limit: SL_MIN (%MDr.m.c.33)
Result	Moving part is forced to stop
Indication	SLMAX bit (%MWr.m.c.3.8): Software hi limit exceeded SLMIN bit (%MWr.m.c.3.9): Software lo limit exceeded
Remedy	Acknowledge the fault and in manual mode release the moving part outside of the soft stops within the valid measurement space. To do this you must check: that there is no movement in progress, that manual mode is selected, that the STOP command is at 0, that the axis on which this command is carried out is referenced, that there is no other fault with stop on the axis. The moving part can either be repositioned manually or by using the JOG+ and JOG- commands.

Overspeed

The following table shows the cause, the signal and the solution if an Overspeed fault should occur. This is a blocking fault and can be deactivated.

Cause	On one of the axes, the speed of the moving part has exceeded the increased max. speed of the overspeed threshold: VMAX (1 + OVR_SPD)
Parameter	Overspeed threshold OVR_SPD (%MWr.m.c.23). If this parameter is equal to 0, the monitoring is inhibited.
Result	The moving part is stopped
Indication	SPD_FLT bit (%MWr.m.c.3.10)
Remedy	Acknowledge the fault

Stop

The following table shows the cause, the signal and the solution if a Stop fault should occur. This is a non-blocking fault and can be deactivated.

Cause	As soon as the speed setpoint value calculated by the module becomes equal to 0, the module activates a T_STOP time-out: If this parameter is equal to 0, the fault monitoring is inhibited. If this parameter is different from 0, when the time-out has elapsed, the module compares the moving part’s measured speed with the stop speed S_STOP. If the measured speed is greater than S_STOP, the module indicates a stop fault.
Parameter	T_STOP (%MWr.m.c.25): maximum delay for detecting a stop S_STOP (%MWr.m.c.24): speed at which moving part is considered to be at a stop
Result	the fault is signaled
Indication	STP_FLT bit (%MWr.m.c.3.14)
Remedy	Eliminate the drive fault or perform further adjustments then acknowledge the fault

Target Window

The following table shows the cause, the signal and the solution if a Target window fault should occur. This is a non-blocking fault and can be deactivated.

Cause	When a movement to a position with stop is requested, the module checks that the position reached corresponds to the requested position, according to the theoretical stop, using a tolerance that you defined in the parameter TW (Setpoint – TW <= measurement <= Setpoint + TW) If this parameter is equal to 0, the check is inhibited
Parameter	TW (%MDr.m.c.49): target window
Result	If the moving part is not in the target window, the fault is signaled
Indication	TW_FLT bit (%MWr.m.c.3.13): target window fault
Remedy	Check the control loop then acknowledge the fault

Recalibration

The following table shows the cause, the signal and the solution if a Recalibration fault should occur. This is a non-blocking fault and can be deactivated.

Cause	During a recalibration event, the error between the current position and the recalibration reference value is higher than the recalibration threshold The check is inhibited if you have chosen the Recalibration function missing configuration parameter
Parameter	RE_WDW (%MDr.m.c.51): recalibration deviation threshold RE_POS (%MDr.m.c.43): recalibration reference value
Result	If the deviation exceeds the threshold, the fault is signaled
Indication	REC_FLT bit (%MWr.m.c.3.12): recalibration fault
Remedy	Check the control loop then acknowledge the fault

Zero Latch Presence Monitoring

The following table shows the cause, the signal and the solution if a Zero Pulse Presence Monitoring fault should occur.

Cause	During a reference point short cam with zero pulse
Parameter	None
Result	The axis stops
Indication	CMD_NOK bit (%Ir.m.c.6) CMD_FLT word (%MWr.m.c.7) = 16#0015
Remedy	Mechanically adjust the cam then restart the operation

Movement Monitoring

The following table shows the cause, the signal and the solution if a Movement monitoring fault should occur: This is a blocking fault and can be deactivated.

Cause	When the analog output from a channel exceeds a VLIM limit (in absolute value), a time delay is activated When T is reached, a fault is signaled if the position value is the same as that of the internal cycle of the module
Parameter	Limit analog output: VLIM (%MWr.m.c.27) The time-out T is programmed to TACC / 2. TACC (%MWr.m.c.26) is the acceleration adjustment parameter
Result	If the fault is detected the moving part is stopped (analog output set to 0 and speed control authorization relay open) The check is only enabled if VLIM > 0
Indication	FE1_FLT bit (%MWr.m.c.3.11): MAX_F1 deviation exceeded
Remedy	Check the control loop then acknowledge the fault

NOTE: Movement monitoring is active in direct control, manual and automatic modes.

Following Error

The following table shows the cause, the signal and the solution if a Tracking error fault should occur. The MAX_F1 fault is a blocking fault and can be deactivated. The MAX_F2 fault is a non-blocking fault and can be deactivated.

Cause	During a movement, the module compares the measured position of the moving part. A fault is signaled when the tracking error becomes higher than the maximum authorized error that you defined
Parameter	Abnormal non-critical following error MAX_F2 (%MDr.m.c.47) Abnormal critical following error MAX_F1 (%MDr.m.c.45) If these parameters are at 0, monitoring is inhibited.
Result	If the MAX_F2 error is exceeded, the fault is signaled If the MAX_F1 error is exceeded, the moving part is stopped. This fault is only taken into account if MAX_F1 is different from 0
Indication	FE2_FLT bit (%MWr.m.c.3.15): MAX_F2 deviation exceeded FE1_FLT bit (%MWr.m.c.3.11): MAX_F1 deviation exceeded
Remedy	Check the control loop then acknowledge the fault