Servo Driver Status And Servo Driver Error Codes - YASKAWA MP210 Series User Manual

6 Maintenance, Inspection, and Troubleshooting

6.7.3 Servo Driver Status and Servo Driver Error Codes

6.7.3 Servo Driver Status and Servo Driver Error Codes
(1) Servo Driver Status (IW2C)
The status of a SERVOPACK for MECHATROLINK communication can be monitored in Servo Driver Status
monitoring parameter IW2C.
The Servo alarm codes are listed in the following table.
Bit No.
Bit 0
Bit 1
Bit 2
Bit 3
Bit 4
Bit 5
Bit 6
Bit 7
Bit 8
Bit 9
Bit A
Bit B
Bit C
Bit D
Bit E
Bit F
6-38
Status
0: No alarm occurred.
Alarm
(ALARM)
1: Alarm occurred.
0: No warning occurred.
Warning
(WARNG)
1: Warning occurred.
0: Command reception not possible (busy).
Command Ready
(CMDRDY)
1: Command reception possible (ready).
0: Servo OFF (baseblock)
Servo ON
(SVON)
1: Servo ON (baseblock cleared)
0: Main power OFF
Main Power Supply ON
(PON)
1: Main power ON
0: Machine lock released
Machine Lock
(MLOCK)
1: Machine locked
0: The APOS (absolute position) is not in the zero point.
Zero Position
(ZPOINT)
1: The APOS (absolute position) is in the zero point range.
0: Pulse distribution is not completed or the APOS is not in the positioning com-
Positioning Complete
(PSET)
1: Pulse distribution is completed and the APOS is within the positioning completed
Commanded Profile
0: Pulse distribution is being performed for positioning command.
Complete
1: Pulse distribution for positioning commands has been completed
(DEN)
0: A torque limit is not being applied.
Torque Restriction
(T_LIM)
1: A torque limit is being applied.
0: Latch not completed.
Latch Complete
(L_CMP)
1: Latch completed.
0: The APOS is outside the NEAR Signal Output Width.
Locating Neighborhood
(NEAR)
1: The APOS is inside the NEAR Signal Output Width.
0: The positive software limit has not been exceeded.
Positive Software Limit
(P-SOT)
1: The positive software limit has been exceeded.
0: The negative software limit has not been exceeded.
Negative Software
Limit (N-SOT)
1: The negative software limit has been exceeded.
−
Reserved
Reserved −
pleted width.
width.
Description