iR-PU01-P
4
4.
Error Handling
Function Block Error
4.1
When using a function block and an error occurs, the diagnostic value is output to
the pin in the function block, and ErrorID contains the error code. The following is a
list showing how to handle errors.
State
Description
Error Handling
AXIS_NOT_READY
The axis is not ready for
operation.
After resolving other errors, enable
MC_Power, wait until the Status
turns to True, and then restart.
AXIS_BUFFER_FULL
Positioning Buffer is full.
Please modify the program to avoid
buffering too many positioning
controls, and use MC_Reset to clear
the error.
AXIS_MOTION_ERROR
A motion error occurs.
Please see chapter 4.3 in this
manual.
AXIS_HOMING_ERROR
A homing error occurs.
Please check the homing related
settings and see Chapter 4.3 in this
manual.
AXIS_TRANSITION_ERROR
Incorrect transition of motion
mode.
Please modify the program to avoid
associating Homing with other
motions, and avoid associating
Positioning Buffer with
non-positioning motions. Please
clear the error using MC_Reset.
Warning
4.2
Warnings occur when:
Warn LED is on
Bit 7 in Digital Input Byte0 is 1
Digital Input Byte0
Axis Number
Index
Sub-index
Axis 0
5500h
01h
Axis 1
5600h
01h
Axis 2
5700h
01h
Axis 3
5800h
01h
In positioning control, a warning occurs when:
The specified acceleration/deceleration rate cannot be reached before reaching
the target velocity due to jerk limitation.
In the distance for positioning, acceleration/deceleration takes a long time so
that target velocity cannot be reached.
