YASKAWA MP210 Series User Manual page 261

(6) Bit 6: Positioning Time Over
• Positioning was not completed within the time specified in OW26 (Positioning Completion
Detection Timing
Check Time) after completing pulse distribution.
• The current command was ended forcibly.
Processing when
• The Command Error Completed Status in the Motion Command Status (IW0,9 bit 3) will turn
Alarm Occurs
ON.
One of the following is possible.
• The position loop gain and speed loop gain are not set correctly, creating poor response. Or, there is
oscillation.
Error and Cause
• The value of the Positioning Completion Check Time (OW26) is too short.
• The capacity of the motor is insufficient for the machine load.
• Connections are not correct between the SERVOPACK and the motor.
Check the following.
• Check the SERVOPACK gain parameters.
Correction • Check connections between the SERVOPACK and the motor.
• Check the motor capacity.
• Check the value of the Positioning Completion Check Time (OW26).
Note: If the positioning Completion Check Time (OW26) is set to 0, the Positioning Time Over error will not
occur and these items will not be checked.
(7) Bit 7: Excessive Positioning Moving Amount
Detection Timing • Positioning command is executed.
• The move command is not executed.
Processing when
• The Command Error Completed Status in the Motion Command Status (IW09, bit 3) will turn
Alarm Occurs
ON.
• A move command (commands for positioning, external positioning, or STEP operation) was exe-
Error and Cause
cuted that exceeded the limit of the positioning moving amount.
Correction • Check the moving amount for the axis being positioned.
(8) Bit 8: Excessive Speed
Detection Timing • A move command is executed.
• The move command is not executed.
Processing when
• The Command Error Completed Status in the Motion Command Status (IW09, bit 3) will turn
Alarm Occurs
ON.
• The speed (movement output for one scan in case of interpolation) commanded to MECHA-
Error and Cause
TROLINK servo exceeds the upper limit.
• Check the settings for speed reference, interpolation command movement per scan, and speed com-
Correction
pensation.
(9) Bit 9: Excessive Deviation
Detection Timing • At all times other than during speed control or torque control
• The move command is not executed.
Processing when
• The Command Error Completed Status in the Motion Command Status (IW09, bit 3) will turn
Alarm Occurs
ON.
One of the following is possible.
• The position loop gain and speed loop gain are not set correctly, creating poor response.
Error and Cause • The value of the Error Count Alarm Detection (OL22) is too small.
• The capacity of the motor is insufficient for the machine load.
• SERVOPACK failure
Check the following and correct the problem. If the problem persists, contact the maintenance depart-
ment.
• Check the position loop gain and speed loop gain.
Correction
• Check the value of the Error Count Alarm Detection (OL22).
• Check the motor capacity.
Note: The above check is not performed if the Error Count Alarm Detection (OL22) is set to 0.
6.7 Troubleshooting Motion Errors
6
6-35