6 Maintenance and Inspection
6.7.2 Motion Error Details and Corrections
6-34
( 11 ) Bit B: Filter Time Constant Change Error
The command running will not stop even if the above error occurs. The stop processing from the user program is
needed to stop running commands when necessary.
( 12 ) Bit D: Zero Point Unsetting
( 13 ) Bit 10: Servo Driver Synchronization Communications Error
( 14 ) Bit 11: Servo Driver Communication Error
( 15 ) Bit 12: Servo Driver Command Timeout Error
The above error occurs when Module allocations of SERVOPACK for MECHATROLINK communication have been
completed and the power is not being supplied to the SERVOPACK.
Detection Timing
• Continuously monitored by the motion command processing section.
Processing when
Alarm Occurs
• The SCC (Change Filter Time Constant) command will not be executed.
• The Command Error Completed Status in the Motion Command Status (IW
09, bit 3) will turn ON.
Error and Cause
• An error occurs if the SCC command is executed before the specified pulse distribution has not been
completed (i.e., when IW
0C0, bit 0 was OFF).
Correction
• Correct the program to execute the SCC command after Distribution Completed status (i.e., that
IW
0C, bit 0 is ON) is checked.
Detection Timing
• Enabled only when an absolute encoder is used for an infinite length axis and detected when the next
command is set in the Motion Command (OW
08).
Commands: Positioning, External Positioning, Interpolation, Interpolation with position detection
function, phase reference
Processing when
Alarm Occurs
• The set command will not be executed.
• The Command Error Completed Status in the Motion Command Status (IW
09, bit 3) will turn ON.
Error and Cause
• A move command was set without executing the ZSET command (IW
0C, bit 5 is OFF).
Correction
• After clearing the motion command and resetting the alarm, execute a Zero Point Setting operation.
Detection Timing
• Detected by the communication control section when communication are synchronized between the
Machine Controller and SERVOPACK.
Processing when
Alarm Occurs
• The current command will be aborted.
Error and Cause
• Data of either Machine Controller or servo was not correctly updated.
Correction
• Check the MECHATROLINK cable and reset the alarm.
Detection Timing
• Detected by the communication control section when communication is not synchronized between the
Machine Controller and SERVOPACK.
Processing when
Alarm Occurs
• The current command will be aborted.
• The SERVOPACK will be Servo OFF status.
Error and Cause
• MECHATROLINK communication stopped because the cable was disconnected, there is noise
interference to the communication line or the power supply to the SERVOPACK was turned OFF.
Correction
• Check the MECHATROLINK cable and reset the alarm.
• If this error occurs frequently, refer to
MECHATROLINK-II Installation Manual
(manual number: SIEPS
80000030) to correct wiring and eliminate noise interference.
Detection Timing
• Detected during execution of each motion commands.
• Detected by the MECHATROLINK communication control section when the Servo command responses
are checked for each process.
Processing when
Alarm Occurs
• The current command will be aborted.
Error and Cause
• The MECHATROLINK Servo command did not complete within the specified time (5 s).
Correction
• Check for alarms in the SERVOPACK for MECHATROLINK communication.
