APPENDICES
APP
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5
APPENDIX2 ERROR CODES STORED BY THE PCPU
The errors that are detected at the PCPU are servo program setting errors and
positioning errors.
(1) Servo program setting errors
Servo program setting errors are errors in the positioning data set in the servo
program and are checked for when a servo program is started.
They are errors that occur when the positioning data is designated indirectly.
When a servo program setting error occurs, the following happens:
•
The servo program setting error flag (M9079) comes ON.
•
The program number of the program in which the error occurred is stored in
the error program No. register (D9189).
•
The error code is stored in the error item information register (D9190).
(2) Positioning error
(a) Positioning errors are errors that occur when positioning starts or during
positioning: they are classified into minor errors, major errors, and servo
errors.
1) Minor errors ............. These are errors generated by sequence programs
or servo programs; they are assigned error codes 1
to 999.
The cause of minor errors can be eliminated by
checking the error code and correcting the
sequence program or servo program.
2) Major error............... These are errors generated by external input signals
or control commands from the SCPU; they are
assigned error codes 1000 to 1999.
When a major error occurs, check the error code
and eliminate the error cause in the external input
signal status or sequence program.
3) Servo error .............. These are errors detected by the servo amplifier;
they are assigned error codes 2000 to 2999.
When a servo error occurs, check the error code
and eliminate the error cause at the servo side.
(b) When an error occurs, the error detection signal for the relevant axis comes
ON, and the error code is stored in the minor error code, major error code,
or servo error code register.
<A171SHCPUN>
Table 2.1 Error Code Registers, Error Detection Flags
Error Code Register
Device
Error
Class
Axis 1
Axis 2
Axis 3
Axis 4
Error Detection
Signal
Minor error
D806
D826
D846
D866
Major error
D807
D827
D847
D867
M1607+20n
Servo error
D808
D828
D848
D868
M1608+20n
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