Anca AMD2000 Series Manual do Utilizador Página 152
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AMD2000 Series - Servo Drive - User Manual
152 DS619-0-00-0019 - Rev 0 ANCA Motion
Positive Position Soft Limit E0304
Description
Position soft limit in the positive direction has been exceeded. Possible causes for this error
are:
1. Error limit is enabled before the axis has been successfully homed.
2. Master or other High Level Function have commanded the drive to a state (position &
velocity) where it will be unable to decelerate before exceeding the positive position limit.
3. Drive has experienced a fault which has resulted in a runaway event.
Severity
Error
Negative Position Soft Limit E0305
Description
Position soft limit in the negative direction has been exceeded. Possible causes for this error
are:
1. Error limit is enabled before the axis has been successfully homed.
2. Master or other High Level Function have commanded the drive to a state (position &
velocity) where it will be unable to decelerate before exceeding the negative position
limit.
3. Drive has experienced a fault which has resulted in a runaway event.
Severity
Error
Positive Position Dead stop E0306
Description
Position positive dead stop input is active.
Severity
Error
Negative Position Dead stop E0307
Description
Position negative dead stop input is active.
Severity
Error
Instantaneous Current Limit Exceeded E0308
Description
One or more of the motor phase currents has exceeded the instantaneous limit. Possible
causes for this error are:
1. Instantaneous current limit is configured too low given the unified current limit.
2. Current loop is poorly tuned.
3. Motor is faulty.
4. Drive is faulty. Please contact ANCA Motion for support.
Severity
Error
Amplifier I2R Overload E0309
Description
Residual heat within the drive power stage (amplifier) exceeds the thermal limit. Possible
causes for this error are:
1. Application is outside the specification for the drive: too demanding.
2. Current controller is poorly tuned.
3. Field orientation alignment is inaccurate (possible encoder fault).
4. Drive is faulty. Please contact ANCA Motion for support.
Severity
Error
Motor I2T Overload E0320
Description
Motor current is consistently higher than the specified load threshold. Possible causes for this
error are:
1. Load on axis is above configured threshold.
2. Axis has crashed or jammed.
Severity
Error
- AMD2000 Series - Servo Drive 1
- Contents 4
- 1. Safety 10
- Safety 11
- 2. Introduction 12
- 2.1.15 Related Documents 13
- 2.1.17 Trademarks 13
- 3. Product Overview 14
- 3.3 Operating Principle 15
- D2009-2S1-A 16
- 3.5 System Overview 17
- Product Overview 19
- 3.6 Connector Overview 20
- 3.6.12 AMD2000 9A 21
- 3.6.12.4 22
- 3.6.12.7 23
- 4. Mechanical Installation 25
- Mechanical Installation 27
- 4.4 Installation 28
- STEP2 STEP 3 STEP 4 29
- Thermal Overload 5.5.11.1 31
- 5.6 Power Cable Selection 32
- 5.7 Control Cable Selection 33
- 5.8 Cable Routing 33
- 6. Power Wiring 35
- Power Wiring 37
- Heatsink 38
- PE connection 38
- 6.6 Power Supply Filters 41
- 6.8 Motor Connections 44
- 6.8.12.1 45
- Protective Earth Wire to 47
- Metal P-Clip 49
- Exposed Metal Braid 49
- Armature Cable from 3A 49
- 6.9 Drive Output Filters 50
- 6.10 Motor Brake Connection 52
- 6.11 Motor Thermal Switch 52
- 6.12 Motor Thermal Sensor 53
- 7. Control Wiring 55
- 7.2.12 Analogue Outputs 57
- 7.3 Digital I/O 58
- 7.3.12.1 59
- 7.3.12.1.2 60
- 7.3.12.2.2 60
- Digital Outputs 7.3.12.3 61
- 7.6.11 EtherCAT® 62
- EtherCAT 63
- Slave Controller 63
- 7.8 Motor Feedback 65
- 7.7 DIP Buttons 65
- Control Wiring 67
- 8. Installation Checklist 68
- Installation Checklist 69
- 9. Start-up 70
- 9.6 Starting the AMD2000 71
- Start-up 73
- 9.8.11 ANCA MotionBench 77
- 10. Feature Configuration 87
- Figure 10-1 Circle Graph Tab 89
- Figure 10-2 Time Domain Tab 89
- 10.1.15 Drive Bypass Mode 97
- ANCA Motion 100
- Feature Configuration 101
- 10.1.17 Encoders 103
- S-0-0151 / 151 115
- S-0-0403 / 403 115
- P-0-0257 / 33025 119
- 10.1.20 Modulo Operation 121
- 10.1.22 Motor Control 129
- P-0-033 / 32801 131
- P-0-034 / 32802 131
- – EOL calibrated 131
- If Motor Type =PMSM 133
- Field Weakening 133
- 10.1.23 Operating Modes 139
- 11. Fault Tracing 144
- 11.3 Supported Error Codes 145
- Fault Tracing 147
- Error E0007 148
- Too Many Errors I0666 156
- Task Overrun W1002 156
- 12. Technical Data 158
- Technical Data 159
- 12.3.16 Analogue Inputs 161
- 12.3.17 Analogue Outputs 161
- 12.3.19 Encoder Channel 1 161
- 12.4.12 Digital servo drive 163
- 12.6.11 Storage 165
- 12.6.12 Transport 165
- 12.6.15 Cooling 165
- 12.7 Dimension Drawings 166
- 12.10 Temperature De-rating 169
- 12.12 Discharge Period 171
- 12.13 Motor Output Power 171
- 12.15 Materials 174
- 12.16 Standards Conformity 175
- 12.17 EtherCAT® 176
- Conformance Marking 176
- 12.18 CE Marking 176
- Definitions 12.18.12.1 177
- M A 6 0 - 0 6 3 0 - A B 180
- K 2 A - F S P D - 0 2 0 183
- 13.4 Other Accessories 184
- 13.4.12 EtherCAT Cables 185
- 13.4.14 AMD2000 3A EMC Kit 185
- 13.4.15 AMD2000 9A EMC Kit 185
- 13.5 Starter Kits 186
- Accessories 187
- 14. Additional Information 188
- 14.4 Feedback 189
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