Safety related end position exceeded

What does F7021 mean?

This safety technology error indicates that the motor's actual position has exceeded a defined safety-related end position limit on the IndraDrive MPx02. This is a critical safety violation, meaning the axis has moved beyond its designated safe travel range, necessitating an immediate safety stop.

• Incorrectly set safety-related end position limits (e.g., S-0-0193, S-0-0194) in the IndraDrive MPx02.
• Encoder counting error, offset, or corruption, leading to incorrect actual position reporting.
• Loss of control or an unexpected motion command pushing the axis beyond its limits.
• Mechanical overrun due to inertia, brake failure, or external forces.
• Faulty or misaligned external safety limit switch or sensor.

Click steps to track your progress.

1. 1

   Review and adjust the safety-related end position limit parameters (e.g., S-0-0193 'Positive limit', S-0-0194 'Negative limit') in the IndraDrive MPx02, ensuring they align with the machine's physical limits.

2. 2

   Verify the motor encoder for accurate position feedback. Check for mechanical slippage, loose couplings, or encoder damage.

3. 3

   Inspect any external safety limit switches or sensors and their wiring for proper function and connection.

4. 4

   Analyze the commanded motion profile to ensure that no trajectory attempts to exceed these safety end positions.

5. 5

   Perform a re-referencing or recalibration of the axis position, if applicable, to ensure accurate absolute positioning.