List Of Causes For Command Error Occurrence - YASKAWA MP210 Series User Manual

6 Maintenance, Inspection, and Troubleshooting

6.6 List of Causes for Command Error Occurrence

The Command Error Completed Status (Command Error Occurrence) bit (IW09, bit 3) turns ON when the
set motion command cannot be executed or when the execution of a motion command ends error. The triggers for
which this bit turns ON depend on the motion command.
The following table explains the causes of Command Error Occurrence for each motion command.
Motion Command
Position Mode
(Positioning)
1
(POSING)
Latch Torque Positioning
(External positioning)
2
(EX_POSING)
Zero Point Return
3
(ZRET)
6-28
Cause of Command Error Occurrence
The positioning movement exceeds the allow-
able range.
The axis is ABS infinite-length, and the zero
point return setting is not completed.
In servo OFF status
Alarm is occurring.
Asynchronous communication status
The positioning movement exceeds the allow-
able range.
The axis is ABS infinite-length, and the zero
point return setting is not completed.
In servo OFF status
Alarm is occurring.
Asynchronous communication status
SERVOPACK parameter writing was not com-
pleted within the specified time.
Warning A.94 or A.95 has occurred at the SER-
VOPACK.
The external signal selection is out of the setting
range.
In machine lock status
In servo OFF status
An alarm is occurring.
Asynchronous communication status
SERVOPACK parameter reading or writing was
not completed within the specified time.
Warning A.94 or A.95 has occurred at the SER-
VOPACK.
The selected zero point return method is outside
the setting range.
POT method is selected for zero point return,
but the approach speed is a negative value.
NOT method is selected for zero point return,
but the approach speed is a positive value.
During zero point return using DEC1 + Phase-
C, ZERO signal, DEC1 + ZERO signal, or
Phase-C method, the OT signal in zero point
return direction was ON.
Warning (W:) and Alarm (A:) That
Occur at Command
Error Occurrence
A: Excessive Positioning Moving
Amount
A: Zero Point Unsetting
A: Servo OFF
−
A: Servo Driver Synchronization
Communications Error
A: Excessive Positioning Moving
Amount
A: Zero Point Unsetting
A: Servo OFF
−
A: Servo Driver Synchronization
Communications Error
A: Servo Driver Command Timeout
Error
W: Servo Driver Error
W: Set Parameter Error
−
A: Servo OFF
−
A: Servo Driver Synchronization
Communications Error
A: Servo Driver Command Timeout
Error
W: Servo Driver Error
W: Set Parameter Error
W: Set Parameter Error
W: Set Parameter Error
OT alarm or OT warning in zero
point return direction