Yaskawa MP3200 Troubleshooting Manual - Manual (Page 61)

4.2 Troubleshooting Motion Errors
Troubleshooting Motion Errors
4-11
T
roubleshooting Communications and Motion Control
Alarms (IL04) and Corrections
This section describes the alarms that are given in IL04 and the corrections for them.
 Alarms in IL04
The following table lists the bits in the Alarms (IL04) parameter.
 Corrections for Alarms (IL04)
 Bit 0: SERVOPACK Error
Note: This bit changes to 1 when an alarm that is classified as a SERVOPACK alarm occurs in MECHATROLINK com-
munications.
IL04 Alarm IL04 Alarm
Bit 0 SERVOPACK Error Bit 10
SERVOPACK Synchronized Communi-
cations Error
Bit 1 Positive Overtravel Bit 11 SERVOPACK Communications Error
Bit 2 Negative Overtravel Bit 12
SERVOPACK Communications Timeout
Error
Bit 3 Positive Software Limit Bit 13 Excessive Absolute Encoder Rotations
Bit 4 Negative Software Limit Bit 14 Reserved for system.
Bit 5 Servo OFF Bit 15 Reserved for system.
Bit 6 Positioning Time Exceeded Bit 16 Not used.
Bit 7 Excessive Positioning Travel Distance Bit 17 Not used.
Bit 8 Excessive Speed Bit 18 Not used.
Bit 9 Excessive Deviation Bit 19 Not used.
Bit A Filter Type Change Error Bit 1A Not used.
Bit B Filter Time Constant Change Error Bit 1B Not used.
Bit C Not used. Bit 1C Not used.
Bit D Zero Point Unset Bit 1D Not used.
Bit E Not used. Bit 1E Motor Type Setting Error
Bit F Not used. Bit 1F Connected Encoder Model Error
Detection Timing SERVOPACK alarms are detected in the alarm control section (always).
Processing When
Alarm Occurs
The current command is canceled.
If a SERVOPACK Error alarm occurs during execution of a POSING command, the
POSING operation is canceled and the axis decelerates to a stop.
Bit 3 (Command Error End) in IW09 (Motion Command Status) turns ON.
Details and Cause
The cause depends on the specific alarm. The specific alarm is given in IW2D
(SERVOPACK Alarm Code).
Correction
• Check the specific SERVOPACK alarm and eliminate the cause.
• Reset the alarm.