Error Message:

DRUM: Velocity error - drum rotation blocked or PID gain settings wrong

Applies to:

• All

Service Information:

One missing (or dirty) tick on the encoder will indicate a speed error of >1%.

Unbalanced drum or wrong pid gain settings.

Operator Action:

Resume if possible.

Cause:

• Once at velocity, if the velocity drifts by more than DRUM_VelocityOkThreshold (1% except at vslow speed)) more than DRUM_MaxVelErrorCount (= long conveluted calculation but between 4 & 45) times, then this error is reported.
• Drum velocity is > MAX_DRUM_VELOCITY (=400 rpm) druing a "torque to position" command
• If drum is accelerating up to velovity and the position error is > 500 ticks off the planned acceleration profile, this errir is also reported.

See Also:

• Other: Troubleshooting information