Motion Error Details And Corrections - YASKAWA MP210 Series User Manual

6.7.2 Motion Error Details and Corrections

The following tables show the contents of the axis alarms (IL04) and axis alarm details.
(1) Alarm IL04 List
IL04
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 6 Positioning Time Over
Bit 7 Excessive Positioning Moving Amount
Bit 8 Excessive Speed
Bit 9 Excessive Deviation
Bit A Filter Type Change Error
Bit B Filter Time Constant Change Error
Bit C Not used
Bit D Zero Point Unsetting
Bit E Not used
Bit F Not used
(2) Bit 0: Servo Driver Error
Detection Timing
Processing when
Alarm Occurs
Error and Cause
Correction
Note: The above status bit will turn ON for any of the SERVOPACK alarm for alarms classified as SERVOPACK
alarms.
Alarm Contents
• SERVOPACK alarms are continuously monitored by the alarm management section.
• The current command will be aborted.
If a SERVOPACK error is detected during execution of a POSING command, the positioning will
be aborted and the axis will decelerate to a stop.
• The Command Error Completed Status in the Motion Command Status (IW09,bit 3) will turn
ON.
• The cause of the error depends on the type of alarm. The contents of an alarm is monitored in
IW2D. For details, refer to the list of SERVOPACK alarms in 6.7.3 (2) Servo Driver Alarm

Code (IW 2D).
• Confirm the SERVOPACK alarm and remove the cause.
• Reset the alarm.
IL04
Bit 10 Servo Driver Synchronization Communications Error
Bit 11 Servo Driver Communication Error
Bit 12 Servo Driver Command Timeout Error
Bit 13 Excessive ABS Encoder Rotations
Bit 14 Reserved for system use
Bit 15 Reserved for system use
Bit 16 Not used
Bit 17 Not used
Bit 18 Not used
Bit 19 Not used
Bit 1A Not used
Bit 1B Not used
Bit 1C Not used
Bit 1D Not used
Bit 1E Motor Type Set Error
Bit 1F Connected Encoder Type Error
6.7 Troubleshooting Motion Errors
Alarm Contents
6
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