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Stability
SYMPTOM
Servo motor runs away when the
loop is closed.
Motor oscillates.
Operation
SYMPTOM
Controller rejects commands.
Motor Doesn't Move
Error Light (Red LED)
The red error LED has multiple meanings for Galil controllers. Here is a list of reasons the error light will come on
and possible solutions:
Under Voltage
If the controller is not receiving enough voltage to power up.
Under Current
If the power supply does not have enough current, the red LED will cycle on and off along with the green power
LED.
Position Error
If any axis that is set up as a servo (MT command) has a position error value (TE) that exceeds the error limit (ER) -
the error light will come on to signify there is an axis that has exceeded the position error limit. Use a DP*=0 to set
all encoder positions to zero or a SH (Servo Here) command to eliminate position error.
Invalid Firmware
If the controller is interrupted during a firmware update or an incorrect version of firmware is installed - the error
light will come on. The prompt will show up as a greater than sign ">" instead of the standard colon ":" prompt.
Use GDK software to install the correct version of firmware to fix this problem.
Self Test
During the first few seconds of power up, it is normal for the red LED to turn on while it is performing a self test. If
the self test detects a problem such as corrupted memory or damaged hardware - the error light will stay on to
signal a problem with the board. To fix this problem, a Master Reset may be required. The Master Reset will set the
controller back to factory default conditions so it is recommended that all motor and I/O cables be removed for
safety while performing the Master Reset. Cables can be plugged back in after the correct settings have been
loaded back to the controller (when necessary). To perform a Master Reset - find the jumper location labeled MR
or MRST on the controller and put a jumper across the two pins. Power up with the jumper installed. The Self-Test
will take slightly longer - up to 5seconds. After the error light shuts off, it is safe to power down and remove the
Master Reset jumper. If performing a Master Reset does not get rid of the error light, the controller may need to
be sent back to the factory to be repaired. Contact Galil for more information.
Chapter 9 Troubleshooting ▫ 123
DIAGNOSIS
Reversed Motor Type corrects
MT
-1
situation (
)
DIAGNOSIS
Response of controller from
TC1
diagnoses error.
Response of controller from
TC1
diagnoses error.
CAUSE
Wrong feedback polarity.
Too high gain or too little
damping.
CAUSE
Anything
Correct problem reported by
Anything
Correct problem reported by
REMEDY
Reverse Motor or Encoder Wiring (remember
to set Motor Type back to default value:
1
)
KI
KP
KD
Decrease
and
. Increase
REMEDY
TC1
SC
DMC-21x5 User Manual 1.0a1
MT
.
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