Fault 42 Lag error

Subfault: 42.1 Description: Positioning lag error
	Response: Positioning lag error
	Cause	Measure
	Supply voltage too low or line phase missing.	Check the supply voltage.
	Encoder not connected correctly.	Check the encoder wiring.
	Position encoder inverted or not installed correctly on the track.	Check the installation and connection of the position encoder.
	Motor phases not connected properly.	Check the wiring of the motor.
	Acceleration too high.	– Check the profile values. – Increase the torque limit and/or current limit. – Check the project planning.
	The P component of the position controller is too small.	Increase the P component of the position controller.
	The speed controller is incorrectly parameterized.	Check the controller parameters.
	Lag error window too small.	Increase the lag error window.
	There is a mechanical stiffness or blockade.	– Check the mechanical components for stiffness. – Check the mechanical components for blockage.

Subfault: 42.2 Description: Jog mode lag error
	Response: Output stage inhibit
	Cause	Measure
	Supply voltage too low or line phase missing.	Check the supply voltage.
	Encoder not connected correctly.	Check the encoder wiring.
	Position encoder inverted or not installed correctly on the track.	Check the installation and connection of the position encoder.
	Motor phases not connected properly.	Check the wiring of the motor.
	Acceleration too high.	– Check the profile values. – Increase the torque limit and/or current limit. – Check the project planning.
	The P component of the position controller is too small.	Increase the P component of the position controller.
	The speed controller is incorrectly parameterized.	Check the controller parameters.
	Lag error window too small.	Increase the lag error window.
	There is a mechanical stiffness or blockade.	– Check the mechanical components for stiffness. – Check the mechanical components for blockage.

Subfault: 42.3 Description: Standard lag error
	Response: Output stage inhibit
	Cause	Measure
	Supply voltage too low or line phase missing.	Check the supply voltage.
	Encoder not connected correctly.	Check the encoder wiring.
	Position encoder inverted or not installed correctly on the track.	Check the installation and connection of the position encoder.
	Motor phases not connected properly.	Check the wiring of the motor.
	Acceleration too high.	– Check the profile values. – Increase the torque limit and/or current limit. – Check the project planning.
	The P component of the position controller is too small.	Increase the P component of the position controller.
	The speed controller is incorrectly parameterized.	Check the controller parameters.
	Lag error window too small.	Increase the lag error window.