Yaskawa MP3200 Troubleshooting Manual - Manual (Page 63)

4.2 Troubleshooting Motion Errors
Troubleshooting Motion Errors
4-13
T
roubleshooting Communications and Motion Control
 Bit 6: Positioning Time Exceeded
Note: The positioning time is not checked if the OW26 (Positioning Completion Check Time) parameter is set to
0.
 Bit 7: Excessive Positioning Travel Distance
The positioning travel limits depend on the setting of fixed parameter No. 4 (Reference Unit Selection) as
given below.
 Bit 8: Excessive Speed
Detection Timing
Positioning was not completed within the time set in OW26 (Positioning Comple-
tion Check Time) after the completion of pulse distribution.
Processing When
Alarm Occurs The current command is aborted.
Bit 3 (Command Error End) in IW09 (Motion Command Status) turns ON.
Details and Cause
Any of the following is possible.
• Response was poor or oscillation occurred because the position loop or speed loop gain
is not suitable.
• The time in OW26 (Positioning Completion Check Time) is too short.
• The capacity of the Servomotor is too small for the load.
• The SERVOPACK and Servomotor are not connected correctly.
Correction
Check the following items.
• Check the parameters that are related to the characteristics (gains) of the SERVO-
PACK.
• Check the connection between the SERVOPACK and Servomotor.
• See if the capacity of the Servomotor is sufficient.
• Check the time in OW26 (Positioning Completion Check Time).
Detection Timing This alarm is detected when a positioning command is executed.
Processing When
Alarm Occurs Movement commands are not executed.
Bit 3 (Command Error End) in IW09 (Motion Command Status) turns ON.
Details and Cause
A movement command (Positioning, STEP Operation, or External Positioning) that
exceeded the positioning travel limit was issued.
Correction Check the axis travel distance specification in the positioning command.
Setting of Fixed
Parameter No. 4
0 1 2 3 4
Reference unit Pulses mm Degrees Inches μm
Positioning travel
limit
2,147,483,647
Detection Timing This alarm is detected when a movement command is executed.
Processing When
Alarm Occurs Movement commands are not executed.
Bit 3 (Command Error End) in IW09 (Motion Command Status) turns ON.
Details and Cause
The command speed (or, for interpolation, the distributed travel distance for one scan)
that was sent to the SERVOPACK with MECHATROLINK communications exceeded
the allowed upper limit.
Correction
Check the speed reference, travel distance per scan for the interpolation reference, and
the speed compensation setting.
2,147,483,647 ×
No. 6 (Travel Distance per Machine Rotation) × No. 9 (Machine Gear Ratio Term)
No. 36 (Numbers of Pulses Per Motor Rotation) × No. 8 (Servomotor Gear Ratio Term)