Fanuc · Alpha i Series Servo Amplifier
This alarm is issued when the change in position feedback pulses is relatively small for the change in velocity feedback pulses. This condition typically occurs in a closed-loop system and is not issued with the semi-closed loop.
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Check whether the separate detector outputs position feedback pulses correctly.
If the detector outputs pulses correctly, investigate for a large backlash between the motor position and scale position causing reverse rotation of only the motor at the start of machine operation.