Omron CS1W-MCH71 -, Operation Manual

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635
Countermeasures
Section 11-2
Alarm types
Alarms are categorized, depending on where they occurred, as shown below.
The alarm code corresponding to the type is to be output:
The lower byte (rightmost two digits) indicates the alarm code for the MECHA-
TROLINK-II device. Since there is an alarm code [00h] in the servo driver,
[4000h] is considered to be the alarm.
Alarm Ranks
Alarms are also categorized, depending on what they stop, as shown below:
Note MLK device stands for the MECHATROLINK-II device.
Alarm type Details Alarm code
Unit-related alarm Alarm related to the entire MC Unit 0001h – 00FFh
Reserved --- 1001h – 10FFh
Motion task-related alarm Alarm related to motion tasks 2001h – 20FFh
Axis-related alarm Alarm related to axes 3001h – 30FFh
MLK Device alarm Alarm and warning detected in MECHATROLINK-II device
Alarms and warnings are stored in the error log.
4000h – 40FFh
Stop Rank Generated
Area
Unit status after occurrence Recovery method
System stop All After Servo OFF (if it is possible), system shuts
down. Restart, turn power OFF then ON
again, or replace the Module.
Servo OFF Unit Serve OFF for all the axes. Remove the cause, and then reset the
alarm.
Motion task Servo OFF for all the axes being used in the
motion task.
Axis
MLK device
Servo OFF only for the axis where the alarm
was generated.
If the axis is used in a motion task, stops the
motion task.
(Immediately stops the other axes).
Immediate
stop Unit Immediate stop for all the axes. Remove the cause, and then reset the
alarm.
Motion task Immediate stop for all the axes being used in
the motion task.
Axis
MLK device
Immediate stop only for the axis where the
alarm was generated.
If the axis is used in a motion task, stops the
motion task.
(Immediately stops the other axes).
Decelera-
tion stop Unit Deceleration stop for all the axes. Remove the cause, and then reset the
alarm.
Motion task Deceleration stop for all the axes being used in
the motion task.
Axis
MLK device
Deceleration stop only for the axis where the
alarm is generated.
If the axis is used in a motion task, stops the
motion task. (Deceleration stop for the other
axes).
Warning All The operation is continued. Remove the cause, and then reset the
alarm. Note that, however, the follow-
ing warnings do not require the alarm
reset:
• Teaching warning
• Speed clamp warning
• Start warning
• Error counter warning