Panasonic MINAS A6 Series, Technical Reference

Page: 196 / 306

Protective Functions
7-12
Error No.
Protective function Causes Measures
Main Sub
27 1 Absolute clear protection In the driver module, Multi-turn clear of
absolute encoder of each axis was made
from PANATERM for Multi(USB
communication, EoE communication).

Check if multi-turn clear of absolute
encoder has been made through
PANATERM for Multi(USB
communication, EoE communication).
This is a safety measure against a change
in the absolute position information of the
1st encoder, and it is not error for this alarm
to occur.
4 Position command error
protection In the driver module, position command
variation (value after electronic gear) of
each axis exceeds the specified value.

Check if the variation of the position
command is large due to operations such
as cyclic position control (csp).

Check electronic gear ratio.
After Err27.4 occurs in incremental mode,
the home position return is not completed,
so perform the home position return after
clearing the alarm.
6 Operation command
contention protection

In the driver module, when Pr7.99 bit0 of
each axis is set to 0, EtherCAT
communications was established during
test run or FFT operating.

In the driver module, when Pr7.99 bit0 of
each axis is set to 1, servo ON command
by EtherCAT communications received
during test run or FFT operating.

Check that EtherCAT has not been
established during test run or FFT when
Pr7.99 bit0=0 is set.

Check that servo ON command by
EtherCAT communication has not been
sent from the host controller during test
run or FFT when Pr7.99 bit0=1 is set.
7 Position information
initialization error
protection In the driver module, perform return to origin
for each axis in hm mode, then return to
origin has been canceled by halt from the
host device between origin detection and
return to origin completion. Check if homing command is canceled near
the home position signal.
29 1 Counter overflow
protection 1 In the driver module, in each axis absolute
mode, in the position information
initialization process at the following
timings, the calculation value (the absolute
encoder (or the absolute external scale)
position information [pulse] / electronic gear
ratio) exceeded 32bit width or the
denominator or numerator exceeded the
unsigned 64-bit size in the calculation
process.

When the control power is ON.

EtherCAT communication is established
(Init -> PreOp).

Returning to origin is completed.

The absolute multi-turn data is cleared
from PANATERM for Multi or EtherCAT
communication.

PANATERM for Multi operation (test run,
frequency characteristic analysis, Z phase
search, fit gain) is completed.

pin assign is executed by PANATERM for
Multi.
Check the operation range at the position of
absolute encoder (absolute scale) and
electronic gear ratio.
2 Counter overflow
protection 2 Position deviation (pulse unit) became
±(2
30
-1)= ±1073741823 or more.
Or the position deviation (command unit)
exceeds ±2
30
=1073741824.

Check that the motor runs as per the
position command pulses.

Check that the output toque has not
saturated in torque monitor.

Make a gain adjustment.

Set up maximum value to torque limit
setting.

Make a wiring connection of the encoder
as per the wiring diagram.
(To be continued)