Panasonic MINAS A6N Series, Руководство по эксплуатации

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Error code No. Protective
function
Causes Measures
Main Sub
6-19
1.When in Trouble
Detail of Error Code
Rev.2.00
1
Before Using the Products
2
Preparation
3
Setup
4
Trial Run
5
Adjustment
6
When in T
rouble
7
Supplement
91 1 RTEX
command
error
protection
・
Disagreement in the combination
of communication cycle, 16/32 byte
mode, semi-closed/full-closed and
control mode
・
The control mode is changed within a
period shorter than 2 ms.
・
Control mode was changed during
profile position latch positioning/profile
home position return (Type_Code =
12h, 13h, 31h, 32h, 33h,34h,36h).
・
Control mode was changed while
non-cyclic command (Busy = 1) was
processed.
・
Home position return command (4h)
was executed during profile position
latch positioning/profile home position
return (Type_Code = 12h, 13h, 31h,
32h, 33h,34h,36h).
・
Initialization mode (Type_Code =
1•h, 31h) for home position return
command (4h) was performed during
profile positioning/profile continuous
rotation (Type_Code = 10h, 11h, 20h).
・
Type_Code was changed during
profile position control (pp).
・
Type_Code = 1•h/2•h for home
position return command (4th) was
performed at the time of speed control
(CV)/ torque control (CT).
・
the control mode is except NOP, and
the external scale position information
monitoring facility at the semi-
closed control is effective, and the
communication cycle is 0.0625ms or
less at 16 byte modes.
・
During the two-degrees-of-freedom
control mode (standard type), the
control mode was switched to other
than position/speed control .
・
During the two-degrees-of-freedom
control mode (sync type), the control
mode was switched to other than
position control .
・
Check the process of upper device for any
problem.
3 RTEX
command
error
protection 2
・
Cancellation of Latch mode with stop
function was executed by the host device
for Latch mode with stop function (Type_
Code: F1h) of homing
command between trigger signal detection
and completion of the operation.
Note: It is not supported in versions
corresponding to function extended edition
3 or earlier.
・
Check if cancellation of Latch mode with
stop function is executed near the trigger
signal
.