Lenze E94P PositionServo with MVOB Manual de usuario descargar pdf (Pagina 59)

PM94H201B_13xxxxxx_EN L 57

Programming

Fault

Associated ﬂags

in status register

Description

21 3 Subroutine stack underﬂow. Executing RETURN statement without preceding call to subroutine.

22 3 Variable evaluation stack overﬂow. Expression too complicated for compiler to process.

23 21 Motion Queue overﬂow. 32 levels depth exceeded

24 21 Motion Queue underﬂow. Last queued MDV statement has non 0 target velocity

25 3 Unknown opcode. Byte code interpreter error; Occurs when program is missing END statement

26 3

Unknown byte code. Byte code interpreter error; Occurs when RETURN statement missing from

subroutine; or when EPM data is corrupted at run-time

27 21 Drive disabled. Attempt to execute motion while drive is disabled.

28 16, 21

Accel/Decel too high. Motion statement parameters calculate Accel /Decel value above system

capability

29 16, 21

Accel/Decel too low. Motion statement parameters calculate Accel/Decel value below system

capability.

30 16, 21 Velocity too high. Motion statement parameters calculate a velocity above the system capability.

31 16, 21 Velocity too low. Motion statement parameters calculate a velocity below the system capability.

32 3,21 Positive limit switch engaged

33 3,21 Negative limit switch engaged

34 3,21 Attempt at positive motion with engaged positive limit switch

35 3,21 Attempt at negative motion with engaged negative limit switch

36 3 Hardware disable (enable input not active when attempting to enable drive from program or interface)

37 3 Under voltage (hardware revision 2)

38 3 EPM loss

39 3,21 Positive soft limit reached

40 3,21 Negative soft limit reached

41 3 Attempt to use variable with unknown ID from user program

45 1,3 Second encoder position error excess

49 1,3 Illegal manipulation of APOS variable

2.14 Limitations and Restrictions

Communication Interfaces Usage Restrictions

Simultaneous connection to the RS485 port is allowed for retransmitting (conversion) between interfaces.

WARNING!

Usage of the RS485 simultaneously with Ethernet may lead to unpredictable behavior since the

drive will attempt to perform commands from both interfaces concurrently.

Motion Parameters Limitation

Due to a ﬁnite precision in the calculations there are some restrictions for acceleration/deceleration and max velocity for

a move. If the programmer receives arithmetic faults during his program’s execution, it is likely due to these limitations.

Min/Max values are expressed in counts or counts/sample, where the sample is a position loop sample interval (512msec).

Table 19: Motion Parameter Limits

Parameter MIN MAX Units

Accel / Decel 65/(2^32) 512 counts/sample^2

MaxV (maximum velocity) 0 2048 counts/sample

Max move distance 0 +/- 2^31 counts

Stacks and Queues Depth Limitations

Table 20: Stack Depth Limit

Stack/Queue Motion Queue Subroutines Stack Number of Events

Depth 32 32 32

1 2 ... 54 55 56 57 58 59 60 61 62 63 64 ... 139 140

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