6 Maintenance and Inspection
6.7.1 Overview of Motion Errors
6-30
6.7 Troubleshooting Motion Errors
This section explains the details and remedies for errors that occur in motion control functions.
6.7.1 Overview of Motion Errors
Motion errors in the MP2300 include axis alarms detected for individual SERVOPACKs.
The failure location can be determined and appropriate corrections can be taken simply by checking the contents of the
Warning (IL
02) and Alarm (IL
04) monitoring parameters.
The motion alarms for the MP2300 Basic Module’s MECHATROLINK-I or MECHATROLINK-II functionality are
shown below.
* 1. Refer to
6.7.2 Motion Error Details and Corrections
.
* 2. Refer to
6.7.3 ( 1 ) Servo Driver Status (IW
2C) List
.
* 3. Refer to
6.7.3 ( 2 ) Servo Driver Alarm Code (IW
2D)
.
Warning (IL
02)
Bit 1: Setting Parameter Error
Bit 2: Fixed Parameter Error
Bit 0: Excessive Deviation
Bit 3: Servo Driver Error
Bit 4: Motion Command Set Error
Bit 0: Servo Driver Error
Bit 1: Positive Direction Overtravel
Bit 2: Negative Direction Overtravel
Bit 3: Positive Direction Software Limit
Bit 4: Negative Direction Software Limit
Bit 5: Servo OFF
Bit 1F: Excessive ABS Encoder Rotations
Servo Driver Alarm Code
∗
3
(IW
2D)
Alarm (IL
04)
∗
1
Servo Driver Status
∗
2
(IW
2C)
Bit 0: Alarm
Bit 1: Warning
Bit 2: Command Ready
Bit 3: Servo ON
Bit D: Negative Software Limit
Parameter Number When Range Over Is
Generated (IW
01)
Bit 1E: Servo Driver Command Time-out
Error
