Omron CJ1W-C113 - REV 02-2008, Operation Manual

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Introduction Section 11-2
11-2 Introduction
The errors detected by the Position Control Unit (PCU) can be divided broadly
into the following categories.
Startup Errors The following checks are performed when the PCU is turned ON or restarted.
• Hardware check
• CPU Unit communications check
• Common parameters check
• Flash memory check
• Axis parameters check
The error status is retained when an error occurs. Refer to the tables for the
error-clearing procedure and clear the error.
When two or more errors have occurred, the next error will be detected when
the first error is cleared. Repeat the error-clearing procedure until all of the
errors have been cleared. When an error hasn’t been cleared, all commands
will be invalid except for the all-axis data transfer (write and read) and data
save operations.
Instruction Execution
Errors An error check is performed when a command is executed or a data irregular-
ity is detected during operation. An error check is also performed when a soft-
ware limit, emergency stop, or limit signal is detected.
Refer to the tables in 11-5 Error Code Lists for details on the Unit operation
when an error has occurred. If an emergency stop or limit signal error is
detected when an error has occurred, an emergency stop or limit signal error
will be output. Refer to the tables for the error-clearing procedure and clear
the error.
Note A command such as START can be performed after removing the cause of
the command execution error. Errors occurring during data transfers from CX-
Position or using the IOWR instruction can be cleared (to 0) only when there
were no errors in the write data and write was completed normally. When
error code 8700 is output, errors can be cleared (to 0) if IORD was completed
normally.