SAM/SBR limit exceeded

What does C01706 mean?

The limit for Safe Acceleration Monitoring (SAM) or Safe Brake Ramp (SBR) has been exceeded. This indicates that the motor braking response is not within the parameterized tolerance, posing a risk of uncontrolled deceleration and potential mechanical damage or safety hazard.

• Actual acceleration or deceleration of the motor exceeded the configured limits for Safe Acceleration Monitoring (SAM) or Safe Brake Ramp (SBR) (e.g., p9580, p9581).
• Mechanical issue on the load side (e.g., sudden load drop, seized bearing) causing an uncontrolled acceleration or insufficient braking.
• Drive control loop instability or incorrect tuning (e.g., p1460, p1462 for speed controller gain) leading to overshoot in speed or torque.
• Incorrect encoder feedback (e.g., noise, loose connection) providing erroneous speed or position data, causing the SAM/SBR function to misinterpret motion.

Click steps to track your progress.

1. 1

   1. Verify the configured limits for Safe Acceleration Monitoring (p9580) and Safe Brake Ramp (p9581) are appropriate for the application's dynamics and load.

2. 2

   2. Inspect the mechanical system for any issues (e.g., binding, excessive inertia changes, brake malfunction) that could lead to unexpected acceleration/deceleration.

3. 3

   3. Check the motor feedback system (e.g., encoder connection, signal integrity on X130) for noise, intermittent signals, or incorrect pulses.

4. 4

   4. Review and tune the drive's speed controller parameters (e.g., p1460, p1462) to improve dynamic response and prevent overshoots.

5. 5

   5. Perform a safety reset (e.g., via p9699 or cycling safety inputs) after confirming the actual motion adheres to the defined SAM/SBR limits.