Troubleshooting Motion Errors; Overview Of Motion Errors - YASKAWA MP210 Series User Manual

6 Maintenance, Inspection, and Troubleshooting

6.7.1 Overview of Motion Errors

6.7 Troubleshooting Motion Errors

This section explains the details and corrective actions for errors that occur in motion control functions.
6.7.1 Overview of Motion Errors
Motion errors in the MP2000-series Machine Controller include axis alarms detected for individual SERVO-
PACKs.
The failure location can be determined and appropriate corrections can be taken simply by checking the contents
of the Warning (IL02) and Alarm (IL04) monitoring parameters.
The motion alarms for the Basic Module's MECHATROLINK-I/MECHATROLINK-II functionality are shown
below.
* 1. Refer to 6.7.2 Motion Error Details and Corrections.
* 2. Refer to 6.7.3 (1) Servo Driver Status (IW
* 3. Refer to 6.7.3 (2) Servo Driver Alarm Code (IW
6-32
Warning (IL 02)
∗1
Alarm (IL 04)
∗2
Servo Driver Status
(IW 2C)
∗3
Servo Driver Alarm Code
(IW 2D)

Bit 1: Setting Parameter Error
Bit 2: Fixed Parameter Error
Parameter Number when Range
Over is Generated (IW
Bit 0: Excessive Deviation
Bit 3: Servo Driver Error
Bit 4: Motion Command Set Error
Bit 0: Servo Driver Error
Bit 1: Positive Direction Overtravel
Bit 2: Negative Direction Overtravel
Bit 3: Positive Direction Software Limit
Bit 4: Negative Direction Software Limit
Bit 5: Servo OFF
Bit 1E: Motor Type Set Error
Bit 1F: Connected Encoder Type Error
Bit 0: Alarm (ALM)
Bit 1: Warning (WARNG)
Bit 2: Command READY (CMDRDY)
Bit 3: Servo ON (SVON)
Bit D: Negative Software Limit (N_SOT)
2C).

2D).
01)