Yaskawa MP3200 Troubleshooting Manual - Manual (Page 71)

4.2 Troubleshooting Motion Errors
Checking Status and Alarms of a Reference-type SERVOPACK with MECHATROLINK-III Communications
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T
roubleshooting Communications and Motion Control
Checking Status and Alarms of a Reference-type SERVOPACK
with MECHATROLINK-III Communications
Use the MPE720 to check the status and alarms of a Reference-type SERVOPACK with MECHA-
TROLINK-III Communications.
This section gives the items that can be checked in the SERVOPACK status and alarm information.
SERVOPACK Status Monitor (IW2C) Table
The status of a Reference-type SERVOPACK with MECHATROLINK-III Communications can be moni-
tored in the SERVOPACK Status Monitor parameter (IW2C).
SERVOPACK Alarm Code (IW2D) Tables
If bit 0 (SERVOPACK Error) in IL04 (Alarms) is ON, an alarm has occurred in the Reference-type
SERVOPACK with MECHATROLINK-III Communications. If bit 0 (SERVOPACK Error) in IL04
(Alarms) is ON, an alarm has occurred in the SERVOPACK with MECHATROLINK Communications.
You can check the specific alarm in IW2D (SERVOPACK Alarm Code).
The alarm codes are listed in the following tables. Refer to the relevant SERVOPACK manual for correc-
tive measures.
Bit Status Meaning
Bit 0
Drive Alarm
(D_ALM) 0: No drive alarm.
1: Drive alarm occurred.
Bit 1
Drive Warning
(D_WAR) 0: No drive warning.
1: Drive warning occurred.
Bit 2
Command Ready
(CMDRDY) 0: Commands cannot be received.
1: Commands can be received.
Bit 3
Alarm Clear Execu-
tion Completed
(ALM_CLR_CMP)
0: Servo OFF (base lock)
1: Servo ON (no base lock)
Bit 6 and Bit 7
Echo-back of Com-
mand ID (RCMD_ID) This parameter reports the echo-back value of the command ID of a
MECHATROLINK-III command.
Bit 8 to Bit B
Command Error
(CMD_ALM) This parameter reports the alarm status of a MECHATROLINK-III
command.
Bit C to Bit F
Communications Error
(COMM_ALM) This parameter reports the communications alarm status of a MECHA-
TROLINK-III command.