Omron R88D-KN series User Manual page 388

12 Troubleshooting and Maintenance
Error No. (hex)
Name
Main Sub
61 0 Magnetic
Pole Position
Estimation
Error 1
1 Magnetic
Pole Position
Estimation
Error 2
2 Magnetic
Pole Position
Estimation
Error 3
83 1 EtherCAT
State
Change Error
2 EtherCAT
Illegal State
Change Error
3 Communications
Synchronization
Error
4 Synchronization
Error
5 Sync
Manager
WDT Error
87 0 Immediate
Stop Input
Error
12-18
Cause
The Magnetic Pole Position Estimation was
not completed successfully.
• The external encoder direction setting is
wrong.
• The force command/command time value
for the Magnetic Pole Position Estimation
is insufficient.
• There is a large unbalanced load or
friction.
The motor did not stop although the time set
in the Magnetic Pole Position Estimation
Time Limit for Stop (3927 hex) object
elapsed.
• The Magnetic Pole Position Estimation
Method (3920 hex) object is set to 3,
although the Magnetic Pole Position
Estimation has never been executed.
• Object 3920 hex was set to 3 when a non-
absolute type external encoder was used.
For details, refer to Troubleshooting Errors Related to EtherCAT Communications on page
12-20
An Immediate Stop (STOP) signal was
entered.
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
Measures
• Check the specifications of the external
encoder and set correct values.
• If the motor is subjected to a large load or
resistance, increase the set value in the
Magnetic Pole Position Estimation Force
Command Time (3922 hex) or Magnetic
Pole Position Estimation Force Command
(3923 hex).
• If the axis has a large unbalanced load or
friction, the Magnetic Pole Position
Estimation function cannot be used.
Increase the value set for the Magnetic Pole
Position Estimation Time Limit for Stop
(3927 hex) object.
• Check the installation environment to be
sure there is no unbalanced load, etc.
• Check the motor to be sure that it does not
operate with the force command set to 0.
• If it takes a long time until the motor stops
because the value set in the Magnetic Pole
Position Estimation Force Command
(3923 hex) or Magnetic Pole Position
Estimation Maximum Movement (3924
hex) is large, increase the value set for the
Magnetic Pole Position Estimation Time
Limit for Stop (3927 hex) object. Similarly,
if the motor takes a long time to stop due
to a low kinetic friction, increase the value
set for the Magnetic Pole Position
Estimation Time Limit for Stop (3927 hex)
object.
• Set object 3920 hex to 2 and execute the
Magnetic Pole Position Estimation once.
Then, set 3 in object 3920 hex again. The
error should not occur any more.
• Make sure that you use an absolute type
external encoder.
Check the Immediate Stop (STOP) signal
wiring.