Lenze E94P PositionServo with MVOB - Manual (Page 59)

PM94H201B_13xxxxxx_EN L 57
Programming
Fault
ID
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