Yaskawa MotionWorks IEC Hardware - Manual (Page 137)

MotionWorks IEC Hardware Configuration – 2013-03-26 134
Hex Code Description
ErrorClass AxisErrorID ErrorClass+AxisErrorID output from
MC_ReadAxisError
AlarmID AlarmID output from Y_ReadAlarm
mode.
Mechatrolink 3301 0018 The command position specified an instantaneous jump
too large relative to the current position. Sigma-5
amplifiers give an A.94b warning and ignore
subsequent position commands for any absolute
position reference greater than 2,097,152 encoder
pulses (2 revolutions of a 20-bit encoder). The
controller watches for deviation between command
position and actual motor position greater than
1,966,080 encoder pulses and issues an alarm. This is
at 1.875 revolutions of a 20-bit motor little bit of
margin. Sigma-II/III drives have a lower maximum
following error limit of 1,048,576 encoder pulses. The
position error limit on the Servopack (Pn520) should
not be set greater than 1.875 rev = 1,966,080.
Mechatrolink 3301 0019 Setting of Pn002 digit 4 specifies torque feed-forward,
but the SERVOPACK model does not support torque FF
in position mode.
Mechatrolink 3302 00E4 The setting of the MECHATROLINK-II transmission
cycle is out of the allowable range.
Mechatrolink 3304 0000 The base code for io alarms. The io's alarm value is
bitwise OR'd in with this base value.
DPRAM 3309 0009 An error occurred sending command to a servo
DPRAM 3309 000A The drive has an alarm
DPRAM 3309 000B The data buffer for reading drive parameters via the
messaging interface was too small
DPRAM 3309 1000 Error code prefix for data link errors
DPRAM 3309 100F Servo check sum error for data link
DPRAM 3309 1010 Invalid function code for data link
DPRAM 3309 1040 Option card computed an invalid check sum
DPRAM 3309 1041 Invalid data size from the option card
DPRAM 3309 2000 Error code prefix for message errors
DPRAM 3309 2001 Unsupported message function code
DPRAM 3309 20A0 Controller option card detected bad CRC
DPRAM 3309 3000 Error code prefix for data link errors
Mechatrolink 3312 0000 The base code for inverter alarms. The inverter's alarm