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635
Countermeasures
Section 11-2
Alarm types
Alarms are categorized, depending on where they occurred, as shown below.
The alarm code corresponding to the type is to be output:
The lower byte (rightmost two digits) indicates the alarm code for the MECHA-
TROLINK-II device. Since there is an alarm code [00h] in the servo driver,
[4000h] is considered to be the alarm.
Alarm Ranks
Alarms are also categorized, depending on what they stop, as shown below:
Note
MLK device stands for the MECHATROLINK-II device.
Alarm type
Details
Alarm code
Unit-related alarm
Alarm related to the entire MC Unit
0001h – 00FFh
Reserved
---
1001h – 10FFh
Motion task-related alarm
Alarm related to motion tasks
2001h – 20FFh
Axis-related alarm
Alarm related to axes
3001h – 30FFh
MLK Device alarm
Alarm and warning detected in MECHATROLINK-II device
Alarms and warnings are stored in the error log.
4000h – 40FFh
Stop Rank
Generated
Area
Unit status after occurrence
Recovery method
System stop All
After Servo OFF (if it is possible), system shuts
down.
Restart, turn power OFF then ON
again, or replace the Module.
Servo OFF
Unit
Serve OFF for all the axes.
Remove the cause, and then reset the
alarm.
Motion task
Servo OFF for all the axes being used in the
motion task.
Axis
MLK device
Servo OFF only for the axis where the alarm
was generated.
If the axis is used in a motion task, stops the
motion task.
(Immediately stops the other axes).
Immediate
stop
Unit
Immediate stop for all the axes.
Remove the cause, and then reset the
alarm.
Motion task
Immediate stop for all the axes being used in
the motion task.
Axis
MLK device
Immediate stop only for the axis where the
alarm was generated.
If the axis is used in a motion task, stops the
motion task.
(Immediately stops the other axes).
Decelera-
tion stop
Unit
Deceleration stop for all the axes.
Remove the cause, and then reset the
alarm.
Motion task
Deceleration stop for all the axes being used in
the motion task.
Axis
MLK device
Deceleration stop only for the axis where the
alarm is generated.
If the axis is used in a motion task, stops the
motion task. (Deceleration stop for the other
axes).
Warning
All
The operation is continued.
Remove the cause, and then reset the
alarm. Note that, however, the follow-
ing warnings do not require the alarm
reset:
• Teaching warning
• Speed clamp warning
• Start warning
• Error counter warning
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