Yaskawa MP3200 Troubleshooting Manual - Manual (Page 67)

4.2 Troubleshooting Motion Errors
Troubleshooting Motion Errors
4-17
T
roubleshooting Communications and Motion Control
Causes of Command Error End Alarms (IW09 Bit 3)
Bit 3 (Command Error End) of the IW09 monitor parameter will turn ON when a motion command
cannot be executed for some reason or if execution does not end normally. The reasons that cause this bit
to turn ON depend on the motion command.
The following table gives the reasons that cause this bit to turn ON for each motion command.
Motion Command Code Reason for Command Error End
Warnings (W) and Alarms (A)
That Occur at the Same Time
1 POSING (Positioning)
The positioning travel distance exceeded the
allowed value. A: Excessive Positioning Travel
Distance
An absolute infinite-length axis is being used but
the zero point is not set.
A: Zero Point Unset
The power to the Servomotor is OFF. A: Servo OFF
An alarm has occurred. −
Communications are not synchronized.
A: SERVOPACK Synchronized
Communications Error
2
EX_POSING
(External Positioning)
The positioning travel distance exceeded the
allowed value. A: Excessive Positioning Travel
Distance
An absolute infinite-length axis is being used but
the zero point is not set.
A: Zero Point Unset
The power to the Servomotor is OFF. A: Servo OFF
An alarm has occurred. −
Communications are not synchronized.
A: SERVOPACK Synchronized
Communications Error
Writing the SERVOPACK parameters was not
completed within the specified time. A: SERVOPACK Communica-
tions Timeout Error
An A.94 or A.95 warning occurred in the SER-
VOPACK.
W: SERVOPACK Error
An external signal selection is not within the set-
ting range.
W: Setting Parameter Error
3
Zero Point Return
(ZRET)
The machine is locked. −
The power to the Servomotor is OFF. A: Servo OFF
An alarm has occurred. −
Communications are not synchronized.
A: SERVOPACK Synchronized
Communications Error
Reading or writing the SERVOPACK parameters
was not completed within the specified time. A: SERVOPACK Communica-
tions Timeout Error
An A.94 or A.95 warning occurred in the SER-
VOPACK.
W: SERVOPACK Error
The zero point return method is not set within the
setting range.
W: Setting Parameter Error
The zero point return method is set to P-OT, but
the approach speed is negative.
W: Setting Parameter Error
The zero point return method is set to N-OT, but
the approach speed is positive.
W: Setting Parameter Error
The zero point return method is set to DEC1 +
phase-C pulse, ZERO signal, DEC1 + ZERO sig-
nal, or Phase-C pulse, but the OT signal in the
zero point return direction is ON.
OT alarm or OT warning in the
zero point return direction
Continued on next page.