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

Page: 485 / 644

458
Overview of PCU Errors Section 12-1
If two or more errors of the same priority level occur at the same time, the
error status of the error that was detected first will be maintained (the error
code for the error that was detected first will be held).
Note MECHATROLINK communications errors that occur in individual axes are
processed in order of highest priority among the errors that occur in each
axis. (For details, refer to
Errors in MECHATROLINK Communications in this
section.)
The PCU functions are limited when an error occurs, as follows:
Note For PCUs with unit version 1.2 or earlier, parameters cannot be read, written,
or saved when there is an axis error. Attempts to execute these commands
Category PCU operation if error
occurs
Priority
level
Details
Unit common
errors System stopped
Connection released sud-
denly
Connection released after
deceleration stop High
Low
Individual axis
error MECHATROLINK communi-
cations error (See note.)
Servo OFF
Emergency stop
Deceleration stop
Operation continues If a Unit common error
occurs while an individ-
ual axis error has
occurred, the status of
the Error Flag and axis
error code for the axis
error will be held.
Error Functions that can be
performed
Functions that cannot be
performed
Unit common errors
(Unit Error Flag ON
in the Common
Operating Memory
Area) • UNIT ERROR RESET
• WRITE DATA
• READ DATA
• SAVE DATA
• Releasing connection (CON-
NECT Bit OFF)
• Establishing connection
(CONNECT Bit ON)
Axis error
(Error Flag ON in the
Axis Operating Input
Memory Area) • ERROR RESET
• SERVO UNLOCK
• WRITE SERVO PARAME-
TER (See note.)
• READ SERVO PARAME-
TER (See note.)
• SAVE SERVO PARAME-
TER (See note.)
• Switching between Monitor
type 1 and 2.
For details on MECHA-
TROLINK communications
errors, refer to
Errors in
MECHATROLINK Communi-
cations
in this section.
• ABSOLUTE/RELATIVE
MOVEMENT (with INTER-
RUPT FEEDING)
• ORIGIN SEARCH
• ORIGIN RETURN
• PRESENT POSITION PRE-
SET
• JOG
• DEVIATION COUNTER
RESET
• Changing override
• DECELERATION STOP
• SERVO LOCK
• SPEED CONTROL
• TORQUE CONTROL
• DEVICE SETUP
• WRITE SERVO PARAME-
TER (See note.)
• READ SERVO PARAME-
TER (See note.)
• SAVE SERVO PARAMETER
• EMERGENCY STOP (See
note.)