Delta RMC101 - Manual (Page 872)

RMC100 and RMCWin User Manual
D-10
The RMC can be configured to automatically stop on the rising edge of this bit by using the Auto
Stop parameter.
Bit 13 (QUAD or STEP) - Retract/Counterclockwise Limit Switch
This bit is set when the axis is moving in the retract or counterclockwise direction and the
Retract/Counterclockwise Limit Switch is activated.
Notice that this bit is not latched. That is, it is automatically cleared when the limit switch goes
inactive, or the axis changes direction.
The Limit Switch bit in the Config parameter determines the active state of the limit switch. If the
limit switch is not used either hardwire it to the inactive state or use the Limit Switch bit to make
the limit switch always inactive.
The RMC can be configured to automatically stop on the rising edge of this bit by using the Auto
Stop parameter.
Bit 12 - Overdrive
This bit is set when the calculated drive output reaches or exceeds the maximum drive. For the
RMC's analog outputs, the maximum drive defaults to ±10 Volts, but can be set lower using the
Limit Drive (L) command. For stepper outputs, the limit is defined by the MAX STEPS/MSEC
parameter, up to a maximum of 1024 steps/millisecond.
This error bit is cleared when any of the commands listed above is issued, and the underlying
error condition is no longer present.
The RMC can be configured to automatically stop on the rising edge of this bit by using the Auto
Stop parameter. Notice that it is highly recommended that the Auto Stop be enabled for this error.
This error usually indicates one of the following:
• The system does not have enough power to drive the axis at the requested Speed.
• There is a step jump in the Actual Position so that the error is large and the resulting corrective
drive output exceeds ±10 volts. This is usually due to a noisy position/pressure transducer or
encoder.
• The wiring from the RMC's drive output to the amplifier is backwards. Either the wiring must be
swapped plus for minus or the Reverse Drive Config bit must be set.
• The axis is physically obstructed or there is a loss of quadrature counts so the Actual Position
cannot reach the Target Position.
• The drive amplifier or hydraulic power is off. This bit will turn on when the Target and Actual
Positions become separated and the closed loop drive increases until it reaches the limit. When
power is returned to the drive or hydraulic power, the axis will jump unless the axis faulted due
to an Auto Stop for this error.
Bit 11 - Parameter Error
This bit is set when an initialization parameter or control parameter is out of bounds. In some
cases one parameter's limit will depend on the value of another parameter, so definite limits may
not always be available. However, the motion controller does try to replace the erroneous value
with another that is within range, so the offending parameter can be determined by comparing the
parameter values before and after the error bit is set.
This bit is cleared when any command is issued to this axis. Notice that it may be immediately set
again if the command was invalid or had invalid command parameters.