| Info: | Current lag error |
| Data type: | REAL |
Description:
Runtime error when position controller is active if the lag error PCTRL_LAG_ERROR exceeds the configured lag error limit value AXLIM_DS_STOP.
Reaction:
Default setting STOP_ERR_DECEL_RAMP=ncA_LIMIT:
Movement stopped with speed regulated ramp, with axis limits and by switching off the controller.
Setting STOP_ERR_DECEL_RAMP=ncINDUCTION:
Independent of controller mode: Movement is aborted with induction stop. See also error number 9001.
Setting STOP_ERR_DECEL_RAMP=ncCTRL_OFF:
Independent of controller mode: Movement is aborted by switching off the controller and the power section immediately. The drive has no electrical torque.
Cause/Remedy:
Lag error limit too small (AXLIM_DS_STOP).
Incorrect configuration for set value generation:
- Parameters for acceleration, deceleration or speed too large (e.g. AXLIM_A1_NEG, BASIS_MOVE_V_POS,..).
Incorrect controller configuration:
- Controller is set too weak.
- Feed forward incorrectly configured (e.g. prediction time = 0).
- Unstable control loop.
Current limiting:
- Increased current. See error number 9030.
- EMF: Operating speed too high and/or network voltage too low. Check if the motor is being run within the voltage limit sqrt(ICTRL_USD_REF^2+ ICTRL_USQ_REF^2)> UDC_ACT/sqrt(3).
- Current limiting: Check if the current ICTRL_ISQ_REF is limited with the limits sqrt(2)* MOTOR_CURR_MAX or sqrt(2)* ACOPOS_CURR_MAX.
- Torque limiting: Check if the set value of the current controller ICTRL_ISQ_REF is limited with the 4 quadratic torque limiter (LIM_T1_POS, LIM_T1_NEG, LIM_T2_POS, LIM_T2_NEG, LIM_T1_POS_OVR, LIM_T1_NEG_OVR, LIM_T2_POS_OVR, LIM_T2_NEG_OVR und LIM_T_OVR_GRP).
- ISQ-filter limiting: Check if the set value of the current controller ICTRL_ISQ_REF is limited with one of the ISQ-filter.
- Under-voltage limiter: Check if UDC_ACT < UDC_NOMINAL and ICTRL_ISQ_REF = ISQ_MAX_UDC and ICTRL_ISQ_REF = ISQ_MIN_UDC.
- Recovery power limiter: Check if UDC_ACT> UDC_BLEEDER_ON and ICTRL_ISQ_REF = ISQ_MAX_UDC and ICTRL_ISQ_REF = ISQ_MIN_UDC.
- Temperature limiter: The current is limited when movement is stopped due to over-temperature on junction. See error number 9030.
Speed limiting:
- Speed controller. Check if the speed SCTRL_SPEED_REF is limited with the limits SCTRL_LIM_V_POS, SCTRL_LIM_V_NEG or MOTOR_SPEED_MAX.
- Position controller. Check if the speed PCTRL_V_ACT is limited with the limit POS_CTRL_P_MAX.
Encoder position or speed contains an error: See error number 4014.
Motor wiring error: See error number 6044.
Motor wiring error: See error number 6045.
Motor defect: See error number 6045.
ACOPOS defect: See error number 6045.