Yaskawa MP920 Motion Module - Manual (Page 371)

8.2 Alarms and Actions Taken
8-15
8
„ Control Mode Error
„ Zero Point Not Set
SVA-01A SVA-02A SVB-01 PO-01
Supported Supported Supported Supported
Detection Timing
• Enabled only when a motion command is used and is detected by the motion command process-
ing section for the command specified at OW††20 (Motion Command Code).
Alarm Processing
• The command will not be executed.
• Bit 5 (command error end) of IW††15 (Motion Command Status) will turn ON.
Errors and Causes
• A motion command (POSITIONING, STEP, etc.) is set at OW††20 (Motion Command Code)
in a mode other than Position Control Mode.
Action Taken
• Change the control mode to Position Control Mode (OB††002 ON) and then set the command
at OW††20 (Motion Command Code).
SVA-01A SVA-02A SVB-01 PO-01
Supported Supported Supported Not supported
Detection Timing
• Enabled only in Position Control Mode.
• Enabled only when infinite length axis is set using an absolute encoder. The error is detected
when the command is set at OW††20 (Motion Command Code).
Command: POSITIONING, EXTERNAL POSITIONING, INTERPOLATION, OR INTERPO-
LATION WITH POSITION DETECTION
Alarm Processing
• The command will not be executed.
• Bit 5 (command error end) of IW††15 (Motion Command Status) will turn ON.
Errors and Causes
• A move command is set without setting zero point (IW††153 OFF).
Action Taken
• Clear the motion command, reset the alarm, and set the zero point.