Excess Pos Lag A2

What does 22 mean?

This error occurs when Axis 2 is commanded to a position but the Axis 2 servo system exhibits excessive position lag, meaning it is not following the commanded trajectory accurately. This often points to issues with the drive's power, feedback, or tuning.

• Axis 2 servo amplifier is not powered, faulted, or its enable input (X4, pin 14) is inactive.
• Incorrect Encoder Data A2 parameter (P41) or Drive Sensit. A2 parameter (P43) values, leading to misinterpretation of position or velocity.
• Acceleration Rate A2 parameter (P44) value is too high, exceeding the motor's or amplifier's capability to accelerate.
• Loose, damaged, or incorrectly wired Axis 2 encoder cable (to CLM01.3-M connector X2 or motor).
• Mechanical binding or excessive friction in Axis 2's motion path.
• Defective Axis 2 encoder or servo amplifier.

Click steps to track your progress.

1. 1

   Verify that the Axis 2 servo amplifier is powered ON, free of faults, and receiving the enable signal at CLM01.3-M connector X4, pin 14.

2. 2

   Confirm Parameter P41 (Encoder Data A2) matches the encoder and Parameter P43 (Drive Sensit. A2) RPM/Volt matches the amplifier's input (E1/E2).

3. 3

   Reduce Parameter P44 (Acceleration Rate A2) to a value the Axis 2 motor can physically achieve.

4. 4

   Check all connections of the Axis 2 encoder cable to CLM01.3-M connector X2 and to the motor, ensuring proper wiring and shielding.

5. 5

   Inspect the Axis 2 mechanical system for any binding, excessive load, or friction that would hinder smooth movement.

6. 6

   If issues persist after these checks, consider testing or replacing the Axis 2 encoder or servo amplifier.