456
Overview of PCU Errors
Section 12-1
12-1 Overview of PCU Errors
The PCU detects errors that occur in the PCU, MECHATROLINK communica-
tions, or the MECHATROLINK slave device and sends notification of the error
to the CPU Unit.
The errors that are detected by the PCU can be divided broadly into problems
common to the PCU and those in each of the controlled axes. The CPU Unit
is notified of any errors according to the cause of the detected error and its
location, as shown in the following table.
Note
(1) MECHATROLINK communications errors are either related to all commu-
nications or occur in individual axes, and are notified either as Unit com-
mon errors or as axis errors.
(2) The PCU settings/operation errors are caused due to operations either
common to the PCU or in each axis, and are notified either as Unit com-
mon errors or as axis errors.
The following diagram shows the operation error notification.
If an error occurs, the PCU operates according to the following table depend-
ing on the cause of the detected error.
Category
Source of
error
Error/
warning
Cause of error
Notifica-
tion from
PCU
Interface
area
Errors at
powerup
(initializa-
tion
errors)
CPU Unit
errors
PCU
internal
errors
MECHA-
TROLINK
communi-
cations
errors
PCU set-
tings/
opera-
tion
errors
MECHA-
TROLINK
slave
device
errors
Unit com-
mon
PCU
Error
Causes
Unit com-
mon error
Causes
Unit com-
mon error
Causes
Unit com-
mon error
Causes
Unit com-
mon error
Causes
Unit com-
mon error
Does not
cause Unit
common
error
Unit Error
Flag, Unit
error code
Common
Operating
Memory
Area
Axis errors PCU
Error
Does not
cause axis
error
Does not
cause axis
error
Does not
cause axis
error
Causes
axis error
Causes
axis error
Does not
cause axis
error
(Axis)
Error Flag,
Axis error
code
Axis Oper-
ating Input
Memory
Areas
MECHA-
TROLINK
slave
device
Error
Does not
cause axis
error
Does not
cause axis
error
Does not
cause axis
error
Causes
axis error
Causes
axis error
Causes
axis error
Warning
Does not
cause axis
error
Does not
cause axis
error
Does not
cause axis
error
Does not
cause axis
error
Does not
cause axis
error
Causes
axis error
(Axis)
Warning
Flag, Axis
error code
MECHATROLINK
12
12 11
Common Operating
Memory Area
Word n+15
Word n+21
Word b
Word b+4
Axis Operating Input
Memory Areas
CPU Unit
Unit Error Flag
Unit error code
Warning Flag
Error Flag
Axis error code
PCU
Errors common to PCU
Errors/warnings occurring in each axis
Servo Drive
n = CIO 1500 + (unit number
×
25)
b = Beginning word of Axis Operating Input Areas specified in Common Para (Axis No.
−
1)
×
25
Summary of Contents for CJ1W-MA - REV 10-2008
Page 3: ...iv ...
Page 5: ...vi ...
Page 21: ...xxii ...
Page 57: ...30 Starting Operation Section 2 2 ...
Page 97: ...70 Wiring Section 3 4 ...
Page 247: ...220 Transferring Servo Parameters Section 5 3 ...
Page 281: ...254 Standard Settings for Servo Drives Using MECHATROLINK Section 6 4 ...
Page 343: ...316 Absolute Encoder Origin Section 8 6 ...
Page 375: ...348 Linear Interpolation Section 9 7 ...
Page 423: ...396 DEVIATION COUNTER RESET Section 10 10 ...
Page 631: ...604 Additional Functions for the CJ1W NCF71 MA Appendix F ...
Page 641: ...614 Index ...
Page 643: ...616 Revision History ...