ENCODER PROBLEM POSITION ERROR

[philroy5033]

Going thru the start up on a Allin1dc :
Testing the encoders turn ccw and on PID screen absolute and DRO read positive.
I turn by hand slow and fast and read as it should
Under power with no load (belt disconnected) I get a "position fault"
This happens on all 3 axis.
I have scoped the encoder and they all look good.
I noticed that A+ leads B+ by 90 degrees in the cw rotation, just a notation.
When jogging it seemed that the motor jog at same steed 1% or 10% feed rates.
encoder low voltage .180 vdc
encoder high voltage 3.19vdc ( close to minimum in manual).
enclosed zip file and screen shots
Thanks for reading my long post.

[tblough]

Pictures of your encoders? You have them set up as 1024 line encoders (4096 counts) if this is not correct, you will get position faults.

[philroy5033]

sorry yes they RE 1024 LINES PER REV

[cncsnw]

When jogging it seemed that the motor jog at same steed 1% or 10% feed rates.

And is that a slow, steady speed?

Or is it more like a runaway: abrupt fast spin for a fraction of a second, then coast to a stop with an error message?

A runaway, followed by "410 ... position error" typically means that the power polarity, going to the motor, is backwards.

However, "411 ... full power without motion" accompanied by motor movement typically means that the encoder signal is not getting to the control, or the encoder connections are crossed (e.g. X to Y, Y to Z, etc.).

"411 ... full power without motion" and/or "410 ... position error" with no actual motor movement typically mean that the servo drive has no power to work with (E-stop contactor is open); or the limit input circuits are open and not defeated; or the outgoing power is not getting to the motor.

It would help if you would post a complete Report (i.e. the file that begins with "report_008D..." and has a ".zip" extension), instead of just the urf.zip file out of the report. With a complete report we could see what values you have set for Parameters 300-302 and 308-310; whether you have the limit inputs enabled; whether you have encoder faults defeated; what your PID gains are; etc.

Having the wrong value entered for encoder resolution would not cause "410 ... position error" or "411 ... full power without motion" stalls. It would just cause a scaling error, so that the control moves the wrong distance (but thinks and shows that it moved the correct distance).

[philroy5033]

Thanks you it is more like a runaway, I will try reversing the motor polarity this morning.
sounds like a good idea!!

[philroy5033]

Thank you, problem is solved.
I switched the motor leads, I should have known. duh
Autotuned servos, now to do rough and fine alignment.
customer is real happy, so an I.