Yaskawa MP2200 Machine Controller - Manual (Page 491)

10.1 Motion Errors
10-5
10.1.2 Motion Error Details and Corrections
( 1 ) Alarm IL††04 Details
The following table shows the contents of the axis alarms (IL††04).
( 2 ) Servo Driver Error (IL††04, Bit 0)
The above status bit will turn ON for any of the SERVOPACK alarm codes for alarms classified as
SERVOPACK alarms.
IL††04 Alarm Contents SVB-01 SVA-01
Bit 0 Servo Driver Error Yes Yes
Bit 1 Positive Overtravel Yes Yes
Bit 2 Negative Overtravel Yes Yes
Bit 3 Positive Soft Limit (Positive Software Limit) Yes Yes
Bit 4 Negative Soft Limit (Negative Software Limit) Yes Yes
Bit 5 Servo OFF Yes Yes
Bit 6 Positioning Time Over Yes Yes
Bit 7 Excessive Positioning Moving Amount Yes
Bit 8 Excessive Speed Yes Yes
Bit 9 Excessively Following Error Yes Yes
Bit 10 Filter Type Change Error Yes
Bit 11 Filter Time Constant Change Error Yes
Bit 12 Not used − −
Bit 13 Zero Point Not Set Yes Yes
Bit 14 Not used − −
Bit 15 Not used − −
Bit 16 Servo Driver Synchronization Communication Error Yes
Bit 17 Servo Driver Communication Error Yes
Bit 18 Servo Driver Command Timeout Error Yes
Bit 19 ABS Encoder Count Exceeded Yes Yes
Bit 20 PG Disconnection Error Yes
Bit 21 Receiving Error of Accumulated Number of Rotations Yes
Bits 22 to
31
Not used − −
Detection Timing
• SERVOPACK alarms are continuously monitored by the alarm management section.
Processing when Alarm Occurs
• The current command will be aborted. If a SERVOPACK error is detected during execution of a POSING command, the
positioning will be aborted and the axis will decelerate to a stop.
• The Command Error Occurrence in the Servo Module Command Status (IW††09 bit 3) will turn ON.
Error and Cause
• The cause of the error depends on the type of alarm. The contents of an alarm is monitored in IW††2D. Refer to the list of
SERVOPACK alarms on the next page for details.
Correction
• Confirm the SERVOPACK alarm and remove the cause.
• Reset the alarm.
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