Cause : Position error comes when the position error pulse is larger than Pr63 (po- sition error limit). The motor operation does not respond to the commands.

"alarm 24" in panasonic servo drive indicate "Position error". This means the actual position of the servo motor deviates significantly from the commanded position. This type of error typically arises when the servo system cannot keep up with the command signals due to mechanical issues, incorrect settings, or external disturbances.

Troubleshooting Steps:

1. Check Mechanical Load:

• Overload Conditions: Ensure that the mechanical load on the servo motor is within the drive's and motor's specified limits. Excessive load can cause the motor to lag behind the commanded position.
• Mechanical Binding: Inspect the mechanical system for any binding, friction, or obstructions that could prevent smooth movement.
• Coupling and Alignment: Check that the motor is properly coupled to the load and that there are no misalignments.

2. Review Drive Parameters:

• Gain Settings: Ensure that the servo drive's gain settings are correctly configured for your application. Improper tuning of proportional, integral, and derivative gains can lead to position errors.
• Position Error Limits: Check the position error limit parameters in the drive settings. If these are set too low, the drive may trigger the alarm too easily.
• Acceleration/Deceleration: Verify that the acceleration and deceleration parameters are appropriate for your application. Too aggressive settings can cause the motor to overshoot or lag behind.

3. Check the Encoder:

• Signal Integrity: Ensure the encoder is providing accurate feedback to the servo drive. A malfunctioning encoder can cause the drive to receive incorrect position data.
• Connection Inspection: Verify that all encoder connections are secure and free from damage.
• Test Encoder: If possible, test the encoder with another drive or use a diagnostic tool to verify its accuracy.

4. Inspect the Servo Drive and Motor:

• Overheating or Damage: Check for any signs of overheating, wear, or damage to the motor or drive that could affect performance.
• Internal Faults: Run any available diagnostics on the servo drive to check for internal issues.

5. Check for External Disturbances:

• Vibration and Shock: Ensure that the servo system is not subjected to excessive vibration or shock, which could affect position accuracy.
• Environmental Conditions: Make sure the operating environment is within the specified limits for temperature, humidity, and other factors.

6. Reset the Error and Monitor:

• Error Reset: After addressing the potential causes, reset the alarm on the servo drive.
• Test Operation: Run the system under normal operating conditions and monitor to ensure the error does not recur.