Error Indicators - Omron CS1W-MC221 - 02-2008 Operation Manual

Error Indicators

No. Problem
80 The position is
slipping. When the
servo is locked, the
present position
changes (when an
absolute encoder is
used).
81
82 Self-holding is not
cleared for the start
line of the program
as it is shown in the
manual.
Program execution
does not end even
when the operation
is completed.
83 Position slippage
has occurred when
using an absolute
encoder for a G-
series Servo Driver.
12-2 Error Indicators
CS1W-MC221
Probable causes
The Servo Driver's encoder
frequency dividing ratio
setting and the MC Unit's
encoder resolution (parameter
setting) are different.
The Servo Driver's reverse
mode setting and the MC
Unit's parameters do not
match.
The time required for the
operation is shorter than the
CPU Unit's cycle time, so the
Program Execution End
signal is not being
transmitted to the CPU Unit.
The axis was moving when
the servo was locked.
The following errors are displayed at the LED indicators at the top of the MC
Unit's front panel.
Items to check
When the position slips without
changing the sign, the slippage
amount will change roughly in
proportion to the distance from
the origin.
The present position absolute
value does not change, but the
sign changes.
This occurs when the target
position is the same as or right
next to the present position
before starting.
Check if the axis is stopped
when the servo is locked.
CS1W-MC421
Section 12-2
Remedy
Set the MC Unit's
encoder resolution to the
same value as the Servo
Driver's encoder
frequency dividing ratio
setting (U Series: Cn-0A;
W Series: Pn201, G
Series: Pn44).
With G-series Servo Driv-
ers, set Pn45 to 0.
Turn OFF Cn-02, bit 0
(the servo reverse mode
setting).
Set the MC Unit parame-
ters to a combination of
either of the following:
Forward with plus voltage
and forward with encoder
increase, or reverse with
plus voltage and reverse
with encoder increase.
Insert "G04 0.1" (DWELL
TIMER) in front of the
G79 in the MC Unit's
G-language program.
Stop the axis before lock-
ing the servo.
531