ADLINK AMP-204C/208C Troubleshooting Guide

Z-phase (EZ) loss: If the EZ signal is not correctly connected during the zeroing process, it will cause Home Mode 0/1 to fail to complete. Use an oscilloscope to confirm whether the EZ pulse occurs during each rotation of the motor.

2.3 Emergency stop and limit switch logic inversion

This card provides hardware EMG (P1-A pin 51) and PEL/MEL (positive/negative limit) inputs. The effective logic levels of these signals can be inverted through axis parameters (such as PRA-EL_LOGIC, PRA-EMG_LOGIC). If a normally closed (NC) switch is used on site and the parameter is set to "non inverting" (default 0), the signal will be low when the switch is closed, and the card will be considered as triggering protection, resulting in all movements being prohibited.

Response measures:

On the I/O monitoring page of MotionCreatorPro2, check the status lights of EMG, PEL, and MEL. Normally, they should be "OFF" (not triggered).

If the light is always on, first check the wiring of the external switch, then adjust the corresponding logic parameters (0 → 1 or 1 → 0) and save them to the EEPROM (call APS_save_eep after using APS_set_axis_param).

Section 4.10.1 of the manual provides a detailed explanation that the rear axle stop code triggered by EMG is 1 (STOP_EMG), which can be read through APS_get-stop_comde.

The 'gray area' of sports parameter configuration

After the hardware connection is correct, fine-tuning the software parameters is the key to determining the motion performance, especially in terms of unit conversion, acceleration and deceleration curves, and zeroing methods.

3.1 Pulse equivalent setting error leads to position deviation

The axis parameter PRA-UNIT_SACTOR (0x86) defines the user coordinate distance corresponding to one rotation of the motor. If the calculation is incorrect, the actual distance of point-to-point (PTP) movement will deviate significantly from the set value. Section 4.2.2 of the manual provides the formula:

text

Unit Factor = (Encoder Resolution / Pitch) × (N/M)

For example, if the encoder has 10000 pulses per revolution, the screw pitch is 10mm, the user unit is μ m, and the reduction ratio is 2:1, then the factor=10000/(10 × 1000) × 2=2.

Common mistake: Ignoring reduction ratio or confusing units (mm vs μ m). It is recommended to first set the current position to zero using APS_det_position, then issue an absolute position command, measure the displacement with a dial gauge, and reverse calculate the factor for correction.

3.2 Excessive acceleration and deceleration time causing overshoot or driver alarm

The parameters of T-shaped or S-shaped curves (ACC, DEC, VS, VM, VE) need to be matched with the load inertia. If the acceleration is set too high (such as>10 ^ 7 unit/s ²), the motor may experience a sudden increase in current during startup, and the driver may report overcurrent (ALM). Section 4.2.3 of the manual emphasizes that when the movement distance is insufficient, the controller will automatically reduce the maximum speed (VM) to maintain acceleration, but the acceleration upper limit still needs to be set reasonably.

Debugging technique: First use the JOG function (continuous mode) to jog at low speed (such as 100 pulse/s), confirm that the motor runs smoothly, and then gradually increase VM and ACC. If there is a "step loss", the driver output current needs to be increased or the ACC needs to be reduced.

3.3 Improper selection of zeroing mode

This card supports three return to zero modes (Home Mode=0/1/2), based on ORG signal, limit signal (EL), or single EZ signal. The most common problem on site is "the position is one fixed value away from the mechanical origin after zeroing is completed" - this is usually due to the failure to set PRA_SHIFT (offset) or EZ alignment to enable PRA_SHIFT, which is not enabled correctly. Manual figures 4-10 to 4-12 provide detailed demonstrations of the stopping edge under different combinations. Engineers need to select the corresponding PRA_COME DIR (direction) based on the actual sensor installation position (normally open/normally closed, along the triggering direction).

Quick check: manually push to the physical origin, read the current command position, and set the value as the offset (negative value) to compensate.

Hidden faults in communication between software and upper computer

4.1 The motion command cannot be executed but there are no errors reported

Possible reasons:

The axis is in an 'abnormal stop' (ASTP=1) state, such as previously triggered by ALM or EMG but not cleared. APS_clear_stop needs to be called to clear the stop code.

The servo ON signal (SVON) was not output, resulting in the driver not being enabled. Check the axis parameters PRA_SVON_LOGIC and hardware wiring (CMPx pin 1).

The software limit (SPEL/SMEL) has been triggered, but the coordinates have exceeded the limit value. You need to manually move the axis back to the safe zone (via JOG or manually modify the command position) before resetting SPEL_EN/SMEL_EN.

4.2 MotionCreatorPro2 is unable to capture curves

The sampling function depends on the correct signal source settings (such as SAMP_SRC_CMD-POS, SAMP_SRC_FBK-POS). If "Feedback speed" is selected but the encoder is not connected, the curve will be zero. In addition, the sampling period is set to 1ms by default. If higher resolution is required, the control period can be adjusted (through APS_det_controll_cycle), but attention should be paid to the DSP load rate (recommended in the manual to be below 70%).