Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 318)

10.2 Troubleshooting for Motion Programs
10-15
10
Troubleshooting
10.2.4 Motion Program Alarm Codes
(1) Configuration of Motion Program Alarms
The following diagram shows the configuration of alarms.
(2) Alarm Code List for Motion Program
The following table shows the alarm codes of motion programs.
Alarm code (When Bit 7 is ON: Axis alarm)
Bit15 Bit12 Bit8 Bit7 Bit0
Alarm occurrence axis
information (1 to 16)
Alarm
Code
Name Description Corrective Actions
02h Division error Data divided by 0 Review the motion program.
10h
A circle instead of
radius was specified
Turn number was specified instead of
radius in the circular arc or helical interpo-
lation command.
• Designate a center coordinate instead
of a radius to perform the circular arc
or helical interpolation command.
• Never specify the turn number.
11h
Interpolation feeding
speed over limit Interpolation feeding speed exceeded the
valid range of the FMX command. Modify the interpolation feeding speed
of the interpolation command
12h
No interpolation feed-
ing speed specified
No interpolation feeding speed was speci-
fied. (once specified, this can be omitted as
in the motion program)
Specify the interpolation feeding speed
in the interpolation command.
13h
Range exceeded after
converting accelera-
tion parameter
Indirect acceleration parameter exceeded
the valid range.
Change the indirect register value.
14h
Circular arc length
exceeded
LONG_MAX Circular arc length exceeded the valid range
in the circular arc or helical interpolation
command. Review the circular arc length in the cir-
cular arc or helical interpolation com-
mand.
15h
Vertical axis not speci-
fied for circular arc
plane
Vertical axis was not specified in the circu-
lar arc or helical interpolation command.
Use PLN command to specify the axis.
16h
Horizontal axis not
specified for circular
arc plane
Horizontal axis was not specified in the cir-
cular arc or helical interpolation command.
Use PLN command to specify the axis.
17h
Specified axis over
limit
Too many axes were configured in the cir-
cular arc (two axes) or helical (three axes)
interpolation command.
Modify the axis in the circular arc or
helical interpolation command.
18h
Turn number over
limit
Turn number exceeded the valid range in
the circular arc or helical interpolation com-
mand.
Modify the turn number in the circular
arc or helical interpolation command.
19h
Radius exceeded
LONG_MAX Radius exceeded the valid range in the cir-
cular arc or helical interpolation command. Review the radius in the circular arc or
helical interpolation command.
1Ah Center point error
Improper center point was specified in the
circular arc or helical interpolation com-
mand. Specify the center point properly in the
circular arc or helical interpolation com-
mand.
1Bh
Running emergency
stop command Axis move command stopped due to a pro-
gram stop request.
Turn OFF the program stop request for
the motion program control signal, and
turn ON the alarm reset request.
1Ch
Linear interpolation
moving amount
exceeded
LONG_MAX
Moving amount exceeded the valid range in
the linear interpolation command. Review the moving amount in the linear
interpolation command.
1Dh FMX undefined
FMX command not executed in the motion
program containing an interpolation com-
mand. Perform an FMX command. The FMX
command is required in each program
containing an interpolation command.
1Eh Address T out of range
Designation exceeded the valid range in the
IAC/IDC/FMX commands. Review the setting in the IAC/IDC/FMX
command.