Yaskawa MP3200 Troubleshooting Manual - Manual (Page 64)

4.2 Troubleshooting Motion Errors
Troubleshooting Motion Errors
4-14
 Bit 9: Excessive Deviation
Note: The deviation is not checked if the OL22 (Excessive Deviation Detection Value) parameter is set to 0.
 Bit A: Filter Type Change Error
Note: The current command will not stop even if this error occurs. To stop the current command, program stop process-
ing in a user program.
 Bit B: Filter Time Constant Change Error
Note: The current command will not stop even if this error occurs. To stop the current command, program stop process-
ing in a user program.
 Bit D: Zero Point Unset
Detection Timing Anytime except during speed or torque control.
Processing When
Alarm Occurs Movement commands are not executed.
Bit 3 (Command Error End) in IW09 (Motion Command Status) turns ON.
Details and Cause
Any of the following is possible.
• Response was poor because the position loop or speed loop gain is not suitable.
• The value of OL22 (Excessive Deviation Detection Value) is too small.
• The capacity of the motor is too small for the load.
• The SERVOPACK malfunctioned.
Correction
Check the following and make suitable corrections where necessary. If recovery is not
possible, contact the maintenance division.
• Check the position loop or speed loop gain.
• Check the OL22 (Excessive Deviation Detection Value) parameter.
• Check the capacity of the motor.
Detection Timing Always detected (This alarm is detected by the motion command processing section.)
Processing When
Alarm Occurs The Change Filter Type command is not executed.
Bit 3 (Command Error End) in IW09 (Motion Command Status) turns ON.
Details and Cause
An error will occur if the Change Filter Type command is specified when pulse distribu-
tion has not been completed for a command (i.e., when bit 0 in IW0C is OFF).
Correction
Correct the program so that the Change Filter Type command is executed only after pulse
distribution is completed (i.e., only when bit 0 in IW0C is ON).
Detection Timing Always detected (This alarm is detected by the motion command processing section.)
Processing When
Alarm Occurs Commands are not executed.
Bit 3 (Command Error End) in IW09 (Motion Command Status) turns ON.
Details and Cause
An error will occur if the Change Filter Time Constant command is specified when pulse
distribution has not been completed for a command (i.e., when bit 0 in IW0C is
OFF).
Correction
Correct the program so that the Change Filter Time Constant command is executed only
after pulse distribution is completed (i.e., only when bit 0 in IW0C is ON).
Detection Timing
Detection of this alarm is enabled only when an absolute encoder and an infinite-length
axis are used. The alarm is detected when the following command is set in OW08
(Motion Commands). Commands: Positioning, External Positioning, Interpolation,
Latch, or Issue Phase Reference
Processing When
Alarm Occurs The command that was set is not executed.
Bit 3 (Command Error End) in IW09 (Motion Command Status) turns ON.
Details and Cause
A movement command was set when the zero point was not set (i.e., when bit 5 of
IW0C was OFF).
Correction
Clear the motion command, reset the alarm, and then perform an operation to set the zero
point.