Yaskawa MP2200 Machine Controller - Manual (Page 506)

10 Troubleshooting
10.1.3 Motion Program Alarms
10-20
( 19 ) PG Disconnected Error (IL††04 Bit 20)
( 20 ) Accumulated Rotations Receive Error (IL††04 Bit 21)
10.1.3 Motion Program Alarms
( 1 ) Motion Program Alarms
Motion program alarms stored in the alarm output register are displayed as follows.
Detection Timing
• This error is valid only in position control, phase control, or zero point return mode and only when the pulse count method
(A/B) is selected. A PG disconnection detection signal is monitored in the scan cycle using software.
（ Note） The PG disconnection detection signal is detected using a hardware circuit.
Processing when Alarm Occurs
• Position loop processing is stopped and deceleration stop processing is performed using an open-loop speed reference.
• A servo OFF command is sent after the deceleration stop.
• To stop immediately, create a user application that sets the acceleration/deceleration time to 0 when a PG disconnection is
detected.
Error and Cause
• Faulty encoder wiring or broken wire
• Encoder or SERVOPACK fault
• SVA-01 Module fault
Correction
• Check the encoder wiring.
• Contact the maintenance department.
Detection Timing
• When using an absolute encoder, the error is detected when an absolute position is received when the power supply is
turned ON or when the Absolute Read Request bit (OW††00, bit 5) is set to 1.
Processing when Alarm Occurs
• Axis control will be cut off when this bit turns ON.
Error and Cause
• Absolute encoder is not initialized.
• Cable fault
• Hardware fault in servodriver, absolute encoder, or Motion Module
Correction
• Remove the causes of the above errors.
Bit 15 Bit 12 Bit 8 Bit 7 Bit 0
Alarm Code
Axis Alarm
Information on Axes
with Alarms (1 to 16)
Register No.
SW3268