Delta RMC101 - Manual (Page 647)

Parameter Errors 7.4
Support and Troubleshooting 7-23
7.4.70 The Accel Field Must Be Zero in the Command Issued
The Add (+), Subtract (-), and Function (,) commands all require that the Acceleration command
field be 0. One of these commands was issued with a non-zero Acceleration value. This field is
reserved for future use.
7.4.71 The acceleration or deceleration ramp is too slow
When a new move command is sent to the motion controller, the motion controller must calculate
the distance that each of the ramps (acceleration and deceleration) will take. If this calculation
overflows, this parameter error is generated. The overflow occurs when the calculated ramp
would take longer than 65535 position units. This overflow can occur even if the axis is moving a
much shorter distance. There are two ways to fix this problem:
• Increase the ACCELERATION and/or DECELERATION values.
• Decrease the maximum SPEED value.
If this error occurs and the Parameter Error autostop is set to Status Only, the accel/decel ramp
will be set to 65535.
7.4.72 The axis must be stopped before following a spline
Because each spline segment begins with zero velocity, it is necessary that the axis be stopped
at the first spline point when the Follow Spline Segment command is issued.
7.4.73 The command acceleration is invalid
This parameter error indicates that the ACCELERATION command parameter was invalid:
Set Bias Drive command:
The ACCELERATION must be less than 20000 millivolts per millisecond in Acceleration Mode 1,
and greater than zero in Acceleration Mode 3. If this error occurs, the value will be adjusted to the
closest valid value.
P command on a reference axis:
The ACCELERATION parameter is the Reference Acceleration Limit for the reference axis, and
must be a valid value. If this error occurs, the P command will be accepted, but it will use the
previous Reference Acceleration Limit.