CYBELEC VisiPac Series User Manual Download

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User Manual

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VisiPac & VisiTouch Series

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User Manual

2021

V1.0

65/69

Regulation error over the limit

The error indicates that the position error of the regulator has been
over the supervision limit specified in the regulator data.
This error is considered as a

simple error

This error can be generated in the following cases (non exhaustive
list) :

A disturbance has provoked a too big position error.

The power of the motor is off.

The current control required to follow a reference trajectory
can not be delivered to the motor because of the physical
current limitation of the motor. In this case, the reference
trajectory can not be followed and the position error is too
big.

The speed of the reference trajectory is higher than the
physical limit speed of the motor. In this case, the reference
trajectory can not be followed and the position error is too
big.

Defectiveness of the measurement system or in the power
electronics or in the mechanical part provokes this error.

In all of these cases, as soon as the maximal error is reached, the
regulator is set off as well as the motor power stage and the brake
is set on.

Control Time Out

The error indicates that the control (analog output) generated by
the regulator has been in the maximum level of 100% (or

–

100%)

during more than the specified control time out specified in the
regulator data .
This error is considered as a

simple error

Interpolation buffer empty

During the execution of the

Interpolation Mode

function or of the

cycle block

Ipo Buffer

, the error indicates that no interpolation

position is available in the interpolation buffer at the moment.
This error is considered as a

simple error

This error can be generated in the following cases :

The interpolation function has not been initialized by the
corresponding initialization function and the interpolation
buffer is consequently empty.

During the automatic management of the positions
downloading by blocks of the interpolation buffer, a block has
not been downloaded at time and a break of the interpolation
has been produced. In this case, the sampling period of the
interpolation has probably to be increased.

Regulation parameters not valid This error indicates that the regulator of the axis has been set on

with a not valid set of regulation parameters. All sets of parameters
that are used have to be at least one time checked and accepted in
the configuration tool. This check phase is automatically done when
the tuning phase of the regulator is done through the configuration
tool, for example when the regulator is manually set on from the
configuration tool.
This error is considered as a

simple error

Computation error on variable

This error indicates that a computation error occurs during a
variable evaluation (division by 0, square root of a negative number,

…).

This error is considered as a

simple error

Regulation is off on axis
involved in coordinate
transformation

This error indicates that the regulator has been set off when the axis
is involved in a coordinate transformation.
The coordinate transformation has to be set off.
This error is considered as a

simple error

Error on axis involved in a
coordinate transformation

This error indicates that an error occurs on an axis involved in a
coordinate transformation.
This error can be generated in the following cases :