5.8 Operation Sequence at Occurrence of Alarm
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5.8
Operation Sequence at Occurrence of Alarm
When the D_ALM bit in the CMD_STAT field of the response is 1 or a COMM_ALM field of 8 or
a greater value is detected, send the SV_OFF command.
Use the ALM_RD command to check the alarm code that has occurred.
To clear the alarm status, send the ALM_CLR command or set the ALM_CLR bit of the
CMD_CTRL command to "1" after eliminating the cause of the alarm. However, this will not
clear the alarm status that require the power supply to be turned OFF and back ON for clear-
ance.
•
For Communication Error Alarms
When a communication error alarm (COMM_ALM
≥
8) occurs, the communication phase
shifts to phase 2. To restore communication phase 3, send a SYNC_SET command after
resetting the alarm.
•
For Warnings
When the D_WAR bit is 1 or the COMM_ALM field of a value from 1 to 7 is detected, a warn-
ing occurs but the servo OFF state will not be established. Check the alarm code using the
ALM_RD command and perform appropriate processing. To clear the warning state, send the
ALM_CLR command or set the ALM_CLR bit of the CMD_CTRL command to "1."
•
For Command Errors
Check the status of CMD_ALM with the host controller in every communication cycle and
perform appropriate processing because CMD_ALM will be automatically cleared on recep-
tion of the next normal command after detecting CMD_ALM
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