100126

Check encoder feedback signals

Navigate to Diagnostics > Drive > Encoder and verify all encoder channels A, B, Z are present with proper signal levels and no interruptions.

Use oscilloscope on encoder signals if available - look for clean square waves with proper voltage levels

Verify velocity feedback in servo trace

Access Diagnostics > Servo > Trace and monitor actual velocity (n_act) during the fault condition to identify zero velocity periods.

Do not run trace during high-speed operations without proper safety precautions

Check mechanical coupling

Inspect motor-to-machine coupling for mechanical binding, broken couplings, or excessive backlash that could cause velocity feedback anomalies.

Verify position control parameters

Check Parameters > Machine Data > Axis and verify MD32200 POSCTRL_GAIN is not zero. Typical values range from 0.1 to 10.0 depending on axis characteristics.

Compare with working axis parameters or OEM documentation for proper gain values

Check speed control parameters

Verify MD32810 SPEED_CTRL_GAIN and MD32820 SPEED_CTRL_TN are properly configured and non-zero values.

Incorrect gain values can cause instability - document original values before changes

Validate feed constant parameters

Check MD31020 IS_ROT_AX and related feed constants MD31000 LEADSCREW_PITCH are properly configured for linear/rotary axis type.

Check DRIVE-CLiQ communication

Navigate to Diagnostics > Hardware > DRIVE-CLiQ and verify all drive components show 'OK' status with no communication errors.

Look for intermittent communication errors in the diagnostic buffer that may not show as current faults

Verify drive amplifier status

Access Diagnostics > Drive > Status and confirm drive shows 'Operation enabled' with proper DC bus voltage and no internal drive faults.

Check cable connections

Inspect DRIVE-CLiQ cables for proper seating, damage, or corrosion. Verify cable shield connections and proper grounding.

Power down system before disconnecting DRIVE-CLiQ cables to prevent component damage

Review active NC program

Examine the NC program at the line where alarm occurred, looking for parametric calculations, variable assignments, or feed rate calculations that could result in division by zero.

Check R-parameter and variable values

Use Diagnostics > NC > Variables to monitor R-parameters and system variables during program execution to identify zero values used as denominators.

Set breakpoints before suspected problem areas to examine variable states

Validate custom cycles and subroutines

Review any custom cycles or subroutines for mathematical operations that don't include zero-checking before division operations.