10 sensor faults, 1 motor cannot move, 10 sensor faults -12 – ElmoMC SimplIQ Software Manual User Manual
Page 207: Motor cannot move -12, Simpliq

SimplIQ
Software Manual
Limits, Protections, Faults and Diagnosis
MAN-SIMSW (Ver. 1.4)
13-12
13.10 Sensor Faults
13.10.1 Motor Cannot Move
When the motor is unable to complete a command to move, the reasons may be:
The motion sensor is faulty: The motor moves but motion is not detected. In this case,
AC motors will generally stop, because the stator field will remain stationary.
The motor is faulty or another mechanical failure is preventing the motor from
moving.
The controller filter is poorly tuned. In this case, the motor torque may oscillate
wildly at high frequency, but the motor will barely move.
Indications of such situations include:
High average motor torque
Stationary motor or very slow motor movement
A stationary motor responding to a high torque command does not always indicate an
error. In certain applications, such as thread fastening, it is perfectly legitimate for the
motor to reach a mechanical motion limit.
The drive user should define whether a high-torque stopped motor is a fault or not. If the
parameter CL[2] is less than 2, a high torque that does not lead to motion is not
considered a fault. If the parameter CL[2] is 2 or more, a high-torque stopped motor,
detected for at least 3 continuous seconds, is considered a fault. The motor is set to off
(MO=0) and MF=0x200,000. The time constant of 3 seconds is used because almost every
motion system applies high torques for short acceleration periods while the speed is
slow.
CL[2] defines the tested torque level as a percentage of the continuous current limit
CL[1]. CL[3] states the absolute threshold main sensor speed under which the motor is
considered not moving. CL[3] should not be set to a very small number because when a
motor is stuck, a vibration may develop that will induce speed-reading. When an encoder
wire is damaged, the motor will run away with the encoder readout vibrating + bit. This
also creates speed-reading.
Example:
If CL[2]=50 and CL[3]=500, the drive will abort (reset to MO=0) if the torque level is kept
at at least 50% of the continuous current, while the shaft speed does not exceed 500
counts/second for a continuous 3 seconds.