Appendix
EFORT INTELLIGENT EQUIPMENT CO.,LTD
245
11
#nn Following Error
(Servo system)
跟随误差异常
The difference
between the target
position and the actual
position exceeds the
maximum allowable
value.
1. Adjust the PID
parameters of the
drive or the
maximum allowable
value;
2. Check whether
the target position
of the robot and the
current position are
reasonable (the
distance is too far);
3. Reduce robot
motion parameters
(speed, acceleration,
jerk);
4. Check the wiring
of the controller and
the drive, the wiring
of the drive and the
servo motor.
14
#nn Lower E.E.O.S
reached
到达负限位
The target position e
xceeds the minimum
limit that has been
set.
/
15
#nn Upper E.E.O.S
reached
到达正限位
The target position
exceeds the maximum
limit that has been set.
/
21
#nn Transducer is
NOT yet ready
编码器连接异常
/
1. Check the wiring
between the
encoder and the
controller;
2. Check bus
communication.
82
ECAT(int ) No
Communic.(code )
总线通讯中断
EtherCAT
communication
Check bus
communication.
