6023 Drum DRUM: Velocity error - drum rotation blocked or PID gain settings wrong All One missing (or dirty) tick on the encoder will indicate a speed error of >1%. Unbalanced drum or wrong pid gain settings. Resume if possible. 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. ..\..\ShowAllErrors.htmFirmware 0 Error Index ..\..\ShowAllCommands.htmFirmware 0 Command Index ..\..\ShowAllNVS.htmFirmware 0 NVS Index Updated: Wed Jul 16 19:32:26 2008 PST http://techplanet.creo.com/output/computer_to_plate/vlf_trendsetter/content/troubleshooting/6023.htmOther: Troubleshooting information