Omron CJ1W-MA - REV 10-2008, Operation Manual

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Overview of PCU Errors Section 12-1
The errors common to the PCU can be cleared by setting the UNIT ERROR
RESET Bit in the Common Operating Memory Area, and errors that occur in
axes are cleared by setting the ERROR RESET Bit in the Axis Operating Out-
put Memory Areas.
Note (1) If a warning occurs in a MECHATROLINK slave device, the Warning Flag
will turn ON and operation will continue.
(2) When a connection is released by the PCU, the Servo Drive will be put in
the Servo OFF state.
(3) The operations and status for MECHATROLINK slave device errors
above indicate the PCU operation (i.e., the command sent to the slave
device when an error occurs). The operation of the MECHATROLINK
slave device in which the error occurred depends on the device's specifi-
cations.
(4) MECHATROLINK communications errors that occur in individual axes
cannot be cleared by setting the AXIS ERROR RESET Bit in the Axis Op-
erating Output Memory Areas. (For details, refer to
Errors in MECHA-
TROLINK Communications in this section.)
If two or more errors occur at the same time, the errors are processed in the
order of priority starting from the most important error, as shown in the follow-
ing table, and the error codes are refreshed.
Operation
after error Cause of error Status after error ERROR
RESET
Errors at
powerup
(initializa-
tion errors)
CPU Unit
errors
PCU inter-
nal errors
MECHA-
TROLINK
communi-
cations
errors
PCU Set-
tings/oper-
ation
errors
MECHA-
TROLINK
slave
device
errors
MECHA-
TROLINK
communi-
cations
Servomo-
tor carry-
ing current
System
stopped Causes
PCU opera-
tion on the
left Does not
cause PCU
operation
on the left Causes
PCU opera-
tion on the
left Does not
cause PCU
operation
on the left Does not
cause PCU
operation
on the left Does not
cause PCU
operation
on the left Connection
released. Servomo-
tor not car-
rying
current
(See note
2.) (Servo
OFF) Not possi-
ble
Connection
released
suddenly Does not
cause PCU
operation
on the left Does not
cause PCU
operation
on the left Does not
cause PCU
operation
on the left Causes
PCU opera-
tion on the
left Causes
PCU opera-
tion on the
left Does not
cause PCU
operation
on the left Connection
released. Servomo-
tor not car-
rying
current
(See note
2.) (Servo
OFF) Not possi-
ble
Connection
released
after decel-
eration stop Does not
cause PCU
operation
on the left Causes
PCU opera-
tion on the
left Does not
cause PCU
operation
on the left Does not
cause PCU
operation
on the left Does not
cause PCU
operation
on the left Does not
cause PCU
operation
on the left Connection
released. Servomo-
tor not car-
rying
current
(See note
2.) (Servo
OFF) Possible
only for
CPU Unit
monitor
errors.
Servo OFF Does not
cause PCU
operation
on the left Does not
cause PCU
operation
on the left Does not
cause PCU
operation
on the left Does not
cause PCU
operation
on the left Does not
cause PCU
operation
on the left Causes
PCU opera-
tion on the
left Connection
not
released. Servomo-
tor not car-
rying
current
(Servo
OFF) Possible
Emergency
stop Does not
cause PCU
operation
on the left Does not
cause PCU
operation
on the left Does not
cause PCU
operation
on the left Does not
cause PCU
operation
on the left Does not
cause PCU
operation
on the left Causes
PCU opera-
tion on the
left Connection
not
released. Maintains
previous
status Possible
Decelera-
tion stop Does not
cause PCU
operation
on the left Does not
cause PCU
operation
on the left Does not
cause PCU
operation
on the left Causes
PCU opera-
tion on the
left Causes
PCU opera-
tion on the
left Causes
PCU opera-
tion on the
left Connection
not
released. Maintains
previous
status Possible
(See note
4.)
Maintains Does not
cause PCU
operation
on the left Does not
cause PCU
operation
on the left Does not
cause PCU
operation
on the left Causes
PCU opera-
tion on the
left Causes
PCU opera-
tion on the
left See note 1. Maintains
previous
status Maintains
previous
status Possible