Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 131)

8 Detecting Alarms/Warnings Related to Communications or Commands
8-2
8.1 List of Alarms
The following table shows alarms that are related to communications or commands and that may occur in
MECHATROLINK-II communications.
If an error is found in the command or data that a SERVOPACK has received, the SERVOPACK returns the
corresponding alarm number.
At the same time, the alarm number is displayed on the SERVOPACK.
„ Servomotor Stopping Method
If an alarm occurs, the servomotor can be stopped by doing either of the following operations.
Gr.1: The servomotor is stopped according to the setting in Pn001.0 if an alarm occurs. Pn001.0 is factory-set
to stop the servomotor by applying the DB.
Gr.2: The servomotor is stopped according to the setting in Pn00B.1 if an alarm occurs. Pn00B.1 is factory-set
to stop the servomotor by setting the speed reference to " 0. " The servomotor under torque (force) con-
trol will always use the Gr.1 method to stop. By setting Pn00B.1 to 1, the servomotor stops using the
same method as Gr.1. When coordinating a number of servomotors, use this stopping method to prevent
machine damage that may result due to differences in the stop method.
„ Alarm Reset
Available: Removing the cause of alarm and then executing the alarm reset can clear the alarm.
N/A: Executing the alarm reset cannot clear the alarm.
Alarm Number:
Alarm Name
(Alarm Description)
Cause Investigative Actions Corrective Actions
SERVOPACK Side
Servomotor
Stopping
Method
Alarm
Reset
A.b6A:
MECHATROLINK
Communications ASIC
Error 1
SERVOPACK MECHA-
TROLINK communica-
tion section fault. − Replace the SERVOPACK. Gr.1 N/A
A.E02:
MECHATROLINK-II
Internal
Synchronization
Error 1
MECHATROLINK-II
transmission cycle fluc-
tuated.
−
Remove the cause of trans-
mission cycle fluctuation at
host controller.
Gr.1 Available
A SERVOPACK fault
occurred.
−
Turn the power supply OFF
and then ON again. If the
alarm still occurs, the SER-
VOPACK may be faulty.
Replace the SERVOPACK.
A.E40:
MECHATROLINK-II
Transmission Cycle
Setting Error
Setting of MECHA-
TROLINK-II transmis-
sion cycle is out of
specifications range.
Check the MECHA-
TROLINK-II transmis-
sion cycle setting.
Set the transmission cycle to
the proper value.
Gr.2 Available
A.E50:
MECHATROLINK-II
Synchronization Error
WDT data of host con-
troller was not updated
correctly. Check the WDT data
updating for the host
controller.
Update the WDT data at the
host controller correctly.
Gr.2 Available
A SERVOPACK fault
occurred.
−
Turn the power supply OFF
and then ON again. If the
alarm still occurs, the SER-
VOPACK may be faulty.
Replace the SERVOPACK.