8143

Category: Alarm

Cause

Conditions:

1. The monitored magnetic field returned by the Hall sensors differs excessively from the magnetic field calculated internally by the servo.
2. Detection occurs only when linear motor speed is below 100 mm/s or rotary motor speed is below 100 rpm. Cause: When PM.009.Y = 1, the servo compares the motor current magnetic field position with the Hall sensor magnetic field position. This alarm occurs if the difference is too large.

Corrective action

1. Check the Hall sensors for abnormalities or interference.
2. Check the feedback signal for abnormalities. In the software oscilloscope, select [Feedback Position PUU] as the channel type and monitor whether the feedback values are correct.
3. Check whether interference in the feedback signal causes missing pulses.
4. If the encoder feedback is a square-wave digital signal, check as follows: (a) Check whether excessive motor speed exceeds the maximum frequency the hardware can receive. The current hardware limit is 16 MHz (after 4-fold multiplication). (b) Check whether the P1.074.U filter setting is appropriate. Power on again to clear.