IAI R-unit RSEL, Инструкция по эксплуатации, Страница: 691 / 844

Chapter
11 T
roubleshooting
11.3 Error List
11-51
ME0392-4C
Error
No.
Error name Content and Cause / Countermeasure
O
per
at
io
n-
can
cel
lat
ion
4AA
Circle/arc calculation
error
[Content & Cause]
1) Position data not available for arch movement was indicated
[Countermeasure]
1) Position data available for arch movement should be indicated
4AB
SEL data error
[Content & Cause]
1) The number of flash ROM erasing has exceeded the upper limit
[Countermeasure]
1) Replace SEL unit
4AC
Actual-position soft limit
over error
[Content & Cause]
The current position has exceeded the soft limit
1) An external force was applied when the servo is off
2) An actuator was overshot
[Countermeasure]
Set the current position back in the range of the soft limit
1) Do not attempt to move it out of the range
2) Have a gain adjustment conducted
4AD
Position data type error
[Content & Cause]
There is an error in the position data type.
• An appropriate type was indicated
• Axis-specific coordinate system and orthogonal coordinate system
existed together
[Countermeasure]
Check the indication of the position data type referring to the SEL
command programming manual and correct the value indicated in the
position data type
4AE
Invalid feature used error
[Content & Cause]
A feature not available in the current setting is used in a SEL command or
IAI Protocol command.
[Countermeasure]
Check in the SEL command programming manual or the serial
communication protocol specification document and correct the SEL
program or IAI Protocol Command.
4AF
Driver unsupported
function error
[Content & Cause]
A feature not supported in the driver was attempted to be used
1) An axis connected to RCON-DC was indicated as the target axis for
NTCH Command
[Countermeasure]
1)Check the content of the SEL program
4B0
Acceleration/deceleration
specification error
[Content & Cause]
There is an error in the acceleration/deceleration indication
1) The indication of the acceleration/deceleration is 0 or less
2) Orthogonal coordinate system movement was made with ACMX
Command declared
[Countermeasure]
1), 2) Check the velocity indication in the SEL programs, IAI Protocol
commands and position data.
11.3 Error List
ME0392-4C
11-52
Error
No.
Error name Content and Cause / Countermeasure
O
per
at
io
n-
can
cel
lat
ion
4B1 Excess command
acceleration/deceleration
[Content & Cause]
The command acceleration/deceleration has exceeded the allowable
value during operation
1) Indicated velocity and/or acceleration/deceleration in CP operation
are/is too high
2) It came to need a motor rotation with high acceleration/deceleration in
order to retain the velocity and operation posture in a CP operation with
the cartesian coordinates indicated
[Countermeasure]
1) Decrease the indicated velocity in a command such as VEL Command
or OVRD Command, and acceleration/deceleration in ACC Command
or DCL Command
2) Change the operation position
500
Emergency stop
[Content & Cause]
1) The emergency stop condition was detected
[Countermeasure]
1) Check the following if it is unexpected;
• If there is a contact error on the system I/O connector
• If the wiring on the system I/O connector is correct
• If the emergency stop is constructed in an external circuit, check if there
is any problem in the external circuit
Co
ld
-st
art
600
Encoder error
[Content & Cause]
1) Contact error at connector of actuator connection cable
2) Cable breakage on actuator connection cable
3) Malfunction of encoder
4) Malfunction of driver unit
5) Noise applied on actuator connection cable
6) Parameter No. 158 “Valid/Invalid Axis Select” on an axis not connected
is set to “0: Valid”
[Countermeasure]
1) Check actuator connection cable connection status and connect again
2) Replace the actuator connection cable
3) Replace encoder (or replace motor unit)
4) Replace driver unit
5) Take a countermeasure to noise on actuator connection cable (such as
installing ferrite core)
6) Set Parameter No. 158 “Valid/Invalid Axis Select” on an axis not
connected to “1: Invalid”
601
Fan error
[Content & Cause]
1) Fan malfunction
[Countermeasure]
1) Replace the fan unit
602
SEL global data error
[Content & Cause]
1) The power was cut off during the SEL global data initialization
2) The SEL global data was damaged due to noise apply
[Countermeasure]
1) Initialize the SEL global data
2) Take a countermeasure to noise on a controller (in case of high
frequency)
603
Controller update error
[Content & Cause]
1) Error in indicating controller name or unit name of the updating tools
[Countermeasure]
1) Indicate the controller names and unit names of the updating tools to perform update