Panasonic MINAS A6 Series, Technical Reference

Page: 207 / 306

7.2Details of protective function
7-23
Error No.
Protective function Causes Measures
Main Sub
84 3 Synchronous
establishment
initialization error
protection In the EtherCAT communication of the
driver module, error occurred during
initialization process of phasing
communication and servo.

Turn the power off once, then turn it on
again.

If error occurred repeatedly, there is a
possibility of failure. Stop using the
products, and replace the motor and the
driver module.

Return the products to the dealer or
manufacturer.
85 0 TxPDO assignment error
protection In the EtherCAT communication of the
driver module, the following incorrect
TxPDO was assigned.

The data size of the TxPDO map on Axis
A side was set to exceed 32 bytes.

The data size of the TxPDO map on Axis
B side was set to exceed 32 bytes.

An object for Axis B was set in 1A00h to
1A03h (for Axis A).

An object for Axis A was set in 1A10h to
1A13h (for Axis B).

Set the TxPDO data size within 32 bytes
for each axis.

Set only objects for Axis A in 1A00h to
1A03h.

Set only objects for Axis B in 1A10h to
1A13h.
1 RxPDO assignment error
protection In the EtherCAT communication of the
driver module, the following incorrect
RxPDO was assigned.

The data size of the RxPDO map on Axis
A side was set to exceed 32 bytes.

The data size of the RxPDO map on Axis
B side was set to exceed 32 bytes.

An object for Axis B was set in 1600h to
1603h (for Axis A).

An object for Axis A was set in 1610h to
1613h (for Axis B).

Set the RxPDO data size within 32 bytes
for each axis.

Set only objects for Axis A in 1600h to
1603h.

Set only objects for Axis B in 1610h to
1613h.
2 Lost link error protection In the EtherCAT communication of the
driver module, the time set in Pr7.43 (Lost
link detection time) elapsed when either
Port 0 or Port 1 fell and remains in the lost
link state after the ESM state transitioned
from Init to PreOP (not including a port that
had been in the lost link state at the time of
transition from Init to PreOP).

Check whether there is any problem in
wiring of EtherCAT communication cable.

Check whether there is any problem in the
communication from higher rank
equipment.
3 SII EEPROM error
protection In the EtherCAT communication of the
driver module, SII (EEPROM) information
and object information did not match as
follows.

Vendor ID, Product code, and Revision
number did not match between SII
(EEPROM) and the object values.

SII (EEPROM) reading/writing is incorrect.

Any of bit 11-14 of ESC register 0502h is
1.

Check the data of SII.

Retry reading/writing of SII.
87 0 Forced alarm input
protection Forced alarm input (E-STOP) is applied. Check the wiring of forced alarm input
(E-STOP).
(To be continued)