Motion Program Alarms; Motion Program Alarm Configuration; Motion Program Alarm Code List - YASKAWA MP210 Series User Manual

6 Maintenance, Inspection, and Troubleshooting

6.5.1 Motion Program Alarm Configuration

6.5 Motion Program Alarms

If the result of investigation using 6.3.2 Error Check Flowchart indicates that a motion program alarm has
occurred, use the alarm code to determine the cause of the error.
6.5.1 Motion Program Alarm Configuration
Motion program alarms stored in the alarm output register (default: SW03268) are displayed as shown in the fol-
lowing diagram.
Note: For details on finding the alarm output register, refer to 5.2.4 (5) Monitoring Motion Program Execution
Information Using S Registers.

6.5.2 Motion Program Alarm Code List

The motion program alarm codes are listed in the following table.
Note: When displaying these on the register list, set the view mode to hexadecimal.
Alarm Code
02H
10H
11H
12H
13H
14H
15H
16H
17H
18H
19H
1AH
1BH
6-26
Bit 15 Bit 12
Name
Division error Data divided by 0
Turn number was specified instead of
A circle instead of
radius in the circular arc or helical interpo-
radius was specified
lation command.
Interpolation feeding Interpolation feeding speed exceeded the
speed over limit valid range of the FMX command.
No interpolation feeding speed was speci-
No interpolation feed-
fied. (once specified, this can be omitted
ing speed specified
as in the motion program)
Range exceeded after
Indirect acceleration parameter exceeded
converting accelera-
the valid range.
tion parameter
Circular arc length Circular arc length exceeded the valid
exceeded range in the circular arc or helical interpo-
LONG_MAX lation command.
Vertical axis not speci- Vertical axis was not specified in the cir-
fied for circular arc cular arc or helical interpolation com-
plane mand.
Horizontal axis not Horizontal axis was not specified in the
specified for circular circular arc or helical interpolation com-
arc plane mand.
Too many axes were configured in the cir-
Specified axis over
cular arc (two axes) or helical (three axes)
limit
interpolation command.
Turn number exceeded the valid range in
Turn number over
the circular arc or helical interpolation
limit
command.
Radius exceeded the valid range in the cir-
Radius exceeded
cular arc or helical interpolation com-
LONG_MAX
mand.
Improper center point was specified in the
Center point error circular arc or helical interpolation com-
mand.
Running emergency Axis move command stopped due to a
stop command program stop request.
Bit 8 Bit 7
Alarm Axis Information
Alarm Code (Bit 7 is ON : Axis Alarm)
(1 to 16)
Description
Bit 0
Corrective Actions
Review the motion program.
• Designate a center coordinate instead
of a radius to perform the circular arc
or helical interpolation command.
• Never specify the turn number.
Modify the interpolation feeding speed
of the interpolation command
Specify the interpolation feeding speed
in the interpolation command.
Change the indirect register value.
Review the circular arc length in the cir-
cular arc or helical interpolation com-
mand.
Use PLN command to specify the axis.
Use PLN command to specify the axis.
Modify the axis in the circular arc or
helical interpolation command.
Modify the turn number in the circular
arc or helical interpolation command.
Review the radius in the circular arc or
helical interpolation command.
Specify the center point properly in the
circular arc or helical interpolation com-
mand.
Turn OFF the program stop request for
the motion program control signal, and
turn ON the alarm reset request.