YASKAWA JEPMC-MP2300S-E, User Manual

Page: 339 / 462

8.2 Troubleshooting
8.2.5 Motion Program Alarms
8-29
8
Maintenance, Inspection, and
T
roubleshooting
21h PFORK execution error
A motion command was instructed simulta-
neously at the second line in the PFORK of
both a source motion program and a subpro-
gram.
Review the source motion program or sub-
program.
22h
Indirect register range
error Specified register address exceeds the register
size range.
Review the motion program.
23h
Moving amount out of
range
Axis moving amount with decimal point for
an axis move command exceeded the possible
range.
Review the axis moving amount.
80h
Use of logical axis pro-
hibited Multiple motion commands instructed against
the same axis at the same time.
Review the motion program.
81h
Designation exceeded
POSMAX in the infinite
length axis
Moving distance designation exceeded POS-
MAX in the infinite length axis.
• Modify a fixed parameter “Maximum infi-
nite length axis counter”
• Review the motion program.
82h
Axis moving distance
exceeded LONG_MAX Axis moving distance designation exceeded
the valid range.
Review the motion program.
84h
Duplicated motion com-
mand Multiple commands ware executed against a
single axis.
Check whether another program gave a
command to the same axis at the same time.
If so, review the program.
85h
Motion command
response error
A motion command response different from
that instructed by the motion command is
reported from a motion module.
• Remove the alarm cause from the destina-
tion axis.
• If the servo is not turned ON, turn ON the
servo.
• Check whether another program gave a
command to the same axis at the same
time. If so, review the program.
87h
VEL setting data out of
range An instruction in the VEL command exceeded
the valid range.
Review the VEL command.
88h
INP setting data out of
range An instruction in the INP command exceeded
the valid range.
Review the INP command.
89h
ACC/SCC/DCC setting
data out of range An instruction in the ACC/SCC/DCC com-
mand exceeded the valid range.
Review the ACC/SCC/DCC command.
8Ah
No time specified in the
MVT command
T designation in the MVT command was zero. Review the MVT command.
8Bh
Command execution
disabled
A motion command which cannot be executed
by the destination motion module was
instructed.
Review the motion program.
8Ch
Distribution incom-
pleted
A motion command was executed when a
motion module was not in the Distribution
Completed state. Review the motion program so that a
motion command is executed in the Distri-
bution Completed state.
8Dh
Motion command
abnormally aborted Motion module fell into the “Motion com-
mand abnormally aborted” state.
• Release the destination axis error.
• Review the motion program.
Alarm
Code
Name Description Corrective Actions