PRESET not allowed during traverse motion

What does 22321 mean?

This alarm is triggered when a PRESET command (to set an axis position) is sent from the HMI or PLC while the specified axis is actively moving in JOG mode. Attempting to preset an axis while it's in motion can lead to incorrect position references or unexpected axis behavior. This prevents the PRESET operation, requiring the axis to be stationary for successful execution and avoiding potential positioning errors.

• PLC program or HMI is issuing a PRESET command to an axis while that axis is actively in motion (e.g., JOG, position control).
• Incorrect state monitoring by the PLC/HMI, failing to detect that the axis is moving before sending the PRESET command.
• Rapid successive commands where a motion command is followed almost immediately by a PRESET, leading to overlap.
• Drive internal processing delay between receiving a motion stop command and actually achieving zero velocity, causing PRESET to be rejected.
• An override or external command is causing residual motion even after an intended stop command.

Click steps to track your progress.

1. 1

   1. Modify the PLC program or HMI logic to ensure the axis velocity (e.g., r2521) is zero before issuing a PRESET command.

2. 2

   2. Implement a status bit or feedback from the drive (e.g., 'axis at standstill' flag) into the PLC logic to confirm the axis is stationary before PRESET.

3. 3

   3. Increase the delay between a motion stop command and the subsequent PRESET command in the control program.

4. 4

   4. Check for any active override signals (e.g., P1080) or external commands that might be causing unexpected axis movement.

5. 5

   5. Verify the drive's control mode (e.g., P1300) to ensure it's not inadvertently in a mode that maintains motion.