IAI America XSEL-S - Manual (Page 488)

Chapter 8
Appendix
8.2 Safety Circuit Operation
Timings
8.2.1 Stopping method
480
8.2 Stopping method and Recovery
8.2.1 Stopping method
Actuator operation can be stopped in two methods: normal operation stop and emergency
stop.
(1) Normal operation stop
Normal position control is active: Set a deceleration operation plan and cause the
actuator to decelerate to a stop, according to the plan,
under normal position control
(2) Stop with immediate servo-off
Cancel the operation plan and immediately turn off the servo (power supply to the motor is
cut off).
How operation is stopped in each condition is explained below.
Stop command, Condition Stopping
method
Remarks
Pause (1)
Servo OFF (1)
Emergency stop (1)
Since the motor drive source is cut off by hardware means,
the deceleration operation plan may have to be forcibly
stopped beforehand.
SEL program command (1)
Stop is made when the following four commands are
issued.
HOLD, CANC, STOP, ABPG
Errors not described in list (1)
Errors in list (2)
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Error of stop with immediate servo-off in (2)
Error No. Error name
625 Driver-side detection synchronization communication error
626 Driver IPM15V voltage drop error
627 Driver current detection A/D offset exceeded
633 Feedback pulse synchronization error (detected on speed loop side)
634 Feedback pulse synchronization error (detected on position loop side)
652 Serial encoder command control JOB error
653 Encoder control JOB logic error
677 ABZ encoder Z-phase clear position error
6B5 Belt breaking error
6BB Deviation overflow error (home return not yet complete)
6BC Stop deviation overflow error (home return not yet complete)
B05 Estimate stroke exceeded during home return
B10 Z-phase search timeout error
B11 Home sensor pull-out timeout error
C6B Deviation overflow error
C99 Home sensor non-detection error
C9A Creep sensor non-detection error
C9B Z-phase non-detection error
C9C Z-phase position problem error
CA5 Stop deviation overflow error
CC6 Driver error initial detection
D03 Encoder count error
D0A Driver overload error
D10 IPM error (POE0)
D15 Driver CPU down status error
D17 Main CPU alarm status error
D19 Encoder receive timeout error
F00 to FBF All system-down level errors
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