Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 471)

12.4 List of Causes for Command Error Occurrence
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12.4 List of Causes for Command Error Occurrence
The Command Error Completed Status (Command Error Occurrence) bit (IW 09, bit 3) turns ON when the set
motion command cannot be executed or when the execution of a motion command ends error. The triggers for which
this bit turns ON depend on the motion command.
The following table describes the causes of Command Error Occurrence for each motion command.
Motion Command Code Cause of Command Error Occurrence
Warning (W:) and Alarm (A:) That
Occur at Command Error Occurrence
1
Position Mode
(Positioning)
(POSING)
The positioning movement exceeds the allowable
range. A: Excessive Positioning Moving
Amount
The axis is ABS infinite-length, and the zero point
return setting is not completed.
A: Zero Point Unsetting
In servo OFF status A: Servo OFF
Alarm is occurring. −
Asynchronous communication status
A: Servo Driver Synchronization
Communications Error
2
Latch Torque Positioning
(External positioning)
(EX_POSING)
The positioning movement exceeds the allowable
range. A: Excessive Positioning Moving
Amount
The axis is ABS infinite-length, and the zero point
return setting is not completed.
A: Zero Point Unsetting
In servo OFF status A: Servo OFF
Alarm is occurring. −
Asynchronous communication status
A: Servo Driver Synchronization
Communications Error
SERVOPACK parameter writing was not com-
pleted within the specified time. A: Servo Driver Command Timeout
Error
Warning A.94 or A.95 occurred in the SERVO-
PACK.
W: Servo Driver Error
The selected external signal is outside the setting
range.
W: Set Parameter Error
3
Zero Point Return
(ZRET)
In machine lock status −
In servo OFF status A: Servo OFF
An alarm is occurring. −
Asynchronous communication status
A: Servo Driver Synchronization
Communications Error
SERVOPACK parameter reading or writing was
not completed within the specified time. A: Servo Driver Command Timeout
Error
Warning A.94 or A.95 is occurring in the SERVO-
PACK.
W: Servo Driver Error
The selected zero point return method is outside
the setting range.
W: Set Parameter Error
POT method is selected for zero point return, but
the approach speed is a negative value.
W: Set Parameter Error
NOT method is selected for zero point return, but
the approach speed is a positive value.
W: Set Parameter Error
During zero point return using the DEC1 + Phase-
C pulse, ZERO signal, DEC1 + ZERO signal, or
Phase-C pulse method, the OT signal in the zero
point return direction was ON.
OT alarm or OT warning in zero point
return direction