ID 70081

Position lag exceeds range within idle state.

Description

During axis movement the position lag exceeded for the actual federate a permissible limit.

 

The position lag monitoring function (see [FCT-A1// Section: Description]) monitors whether the current position lag of an axis exceeds a limit. It is configured individually in the lists for axis parameters ( P-AXIS-00167, P-AXIS-00168, P-AXIS-00169, P-AXIS-00170, P-AXIS-00172, P-AXIS-00176 and P-AXIS-00191). The numerical control offers two different methods, with which the maximum permissible position lag can be calculated:

Type 1: Standard method – uses a parameter-definable filter

Type 2: Linear method – is based on a theoretical position lag

 

Possible causes of an impermissible position lag could be for example:

  • External force acting to move the axis from the stationary position.
  • If the gain factor set in the position controller is too small (see P-AXIS-00099), the permanent position lag is too large. Therefore the control offset at standstill is too large and the axis cannot reach the given command position.

Response

Class

5

Abrupt axis stop for defective axis

Solution

Class

6

Possible solutions:

  • Remove the influence of the external force
  • Increase the proportional gain factor Kv (see P-AXIS-00099) of position controller
  • If necessary, change the parameter setting of the position lag monitoring function ([FCT-A1// Section: Axis parameters])

Parameter

%1:

Logical axis number [-]

Logical axis number of affected axis see P-AXIS-00016

%2:

Drive type [-]

Drive type of concerned axis, see P-AXIS-00020

%3:

Current value [0.1 µm or 0.0001°]

Current position lag

%4:

Upper limit value [0.1 µm or 0.0001°]

Maximum allowed position lag

%5:

Block number [-]

Block number of the NC program, in which the error occurred

Error type

11, Error message from position controller.