— i v —
OTP : Overtravel Limit Switch Position------ 12-26
OTM : Overtravel Limit Switch Position ----- 12-26
PA
: Phase Adjust ------------------------------ 12-27
PC : Pulse Command-------------------------- 12-27
PG
: Position Gain ------------------------------ 12-27
PH : Programmed Home Return------------ 12-28
PS : Position Scale----------------------------- 12-28
RA
: Read Analog Command---------------- 12-28
RC
: Rated Current (Software Thermal) -- 12-29
RI
: Factory Use Only------------------------- 12-29
RR : Resolver Resolution--------------------- 12-29
SE : Serial Error--------------------------------- 12-29
SG
: Servo Gain Adjust, Minor--------------- 12-30
SI
: Set Initial Parameters ------------------- 12-30
SL
: Set Servo Loop --------------------------- 12-31
SM : Factory use only-------------------------- 12-31
SP
: Start Program ----------------------------- 12-31
SV
: Servo-on------------------------------------ 12-31
TA
: Tell Alarm Status ------------------------- 12-32
TC
: Tell Channel Program ------------------- 12-33
TE
: Tell Position Error Counter ------------ 12-33
TL
: Torque Limit Rate ------------------------ 12-33
TP
: Tell Position ------------------------------- 12-34
TR
: Tell RDC Position Data ----------------- 12-34
TS
: Tell Settings ------------------------------- 12-35
VG
: Velocity Gain ------------------------------ 12-35
VI
: Velocity Integrator Frequency--------- 12-36
VM : Velocity Integrator Mode --------------- 12-36
VO : Velocity Error Over Limit --------------- 12-36
VW : Velocity Error Over Limit Width ------- 12-37
WD : Write Data to EEPROM----------------- 12-37
WM : Write Mode to EEPROM---------------- 12-37
ZP
: Factory Use Only------------------------- 12-38
ZV
: Factory Use Only------------------------- 12-38
13. Maintenance---------------------------------- 13-1
13.1. Precautions ---------------------------------------------13-1
13.2. Maintenance Check ----------------------------------13-2
13.2.1. Motor ----------------------------------------------13-2
13.2.2. Driver Unit and Cable Set--------------------13-2
13.3. Periodical Replacement of Parts ------------------13-3
13.3.1. Motor ----------------------------------------------13-3
13.3.2. Driver Unit----------------------------------------13-3
13.4. Storing ---------------------------------------------------13-3
13.5. Warranty Period and Covering Range -----------13-4
13.5.1. Warranty Period --------------------------------13-4
13.5.2. Range of Warranty-----------------------------13-4
13.5.3. Immunities ---------------------------------------13-4
13.5.4. Service Fee--------------------------------------13-4
14. Alarm--------------------------------------------14-1
14.1. Identifying Alarm ---------------------------------------14-1
14.1.1. LED Alarm Indicator ---------------------------14-1
14.1.2. Using TA Command---------------------------14-2
14.1.3. Alarm Code List---------------------------------14-3
14.2. Description of Alarm ----------------------------------14-4
14.2.1. Normal State ------------------------------------14-4
14.2.2. Alarms Related to Power Amplifier --------14-4
14.2.2.1. Heat Sink Overheat or
Regeneration Resistor Overheat------14-4
14.2.2.2. Abnormal Main AC Line Voltage ----14-5
14.2.2.3. Over Current------------------------------14-5
14.2.2.4. Control AC Line Under-Voltage -----14-6
14.2.3. Alarms Related to Motor----------------------14-7
14.2.3.1. Resolver Circuit Error ------------------14-7
14.2.3.2. Software Thermal Sensor-------------14-7
14.2.3.3. Velocity Error Over----------------------14-8
14.2.4. Alarms Related to Control--------------------14-9
14.2.4.1. Memory Error-----------------------------14-9
14.2.4.2. EEPROM Error---------------------------14-9
14.2.4.3. System Error -----------------------------14-9
14.2.4.4. CPU Error-------------------------------14-10
14.2.4.5. Interface Error--------------------------14-10
14.2.4.6. Analog Command Error -------------14-10
14.2.4.7. Excess Position Error----------------14-11
14.2.4.8. Software Over Travel Limit---------14-11
14.2.4.9. Hardware Over Travel Limit--------14-12
14.2.4.10. Emergency Stop ---------------------14-12
14.2.4.11. Program Error------------------------14-12
14.2.4.12. Automatic Tuning Error ------------14-13
14.2.4.13. RS-232C Error -----------------------14-13
14.2.4.14. CPU Error -----------------------------14-14
14.2.5. History of Alarm-------------------------------14-15
14.2.5.1. Indication of History of Alarm ------14-15
14.2.5.2. Clear History of Alarm ---------------14-15
15. Troubleshooting -----------------------------15-1
15.1. Identifying Problem -----------------------------------15-1
15.2. Troubleshooting----------------------------------------15-2
15.2.1. Power Trouble ----------------------------------15-3
15.2.2. Motor Trouble -----------------------------------15-4
15.2.3. Command Trouble -----------------------------15-6
15.2.4. Terminal Trouble -----------------------------15-10
Appendix
Appendix 1: Verify Input / Output Signal ----------------- A-1
Appendix 2 : How to Check Motor Condition ----------- A-5
Appendix 3 : Initializing Driver Unit------------------------ A-9
Appendix 4 : How to Replace ESA25 Driver Unit-----A-11
Appendix 5 : Regeneration Dump Resistor ------------A-18
Appendix 6: Brake Built in YS Series Motor------------A-19
Appendix 7: Parameter • Program Setting List--------A-23
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