Omron OMNUC G User Manual page 395

Alarm
Alarm Name
code
26 Overspeed
27 Command error
Internal deviation
29
counter overflow
34 Overrun limit error
36 Parameter error
Cause
The rotation speed of the Servomotor
exceeded the setting of the Overspeed
Detection Level Setting (Pn073).
The operation command resulted in an
error.
1 Incorrect value in position
command.
·
The amount of change in the
position command (value calculat-
ed with the electronic gear ratio)
exceeded the specified value.
·
The travel distance required for
acceleration / deceleration,
calculated when starting
positioning, exceeded the
specified value.
2 A MECHATROLINK-II link was
established with the host while
executing a standalone operation
(normal mode autotuning, and jog
operation).
Note If the alarms are cleared
immediately after actuating
communications, this alarm
may be cleared immediately
after it has been issued, and
cannot be read.
3 Multi-turn data on the absolute
encoder was cleared via RS-232
communications after actuating the
MECHATROLINK-II link.
The value of the internal deviation
counter (internal control unit) exceeded
27
2 (134217728).
The Servomotor exceeded the
allowable operating range set by the
Overrun Limit Setting (Pn026) with
respect to the position command input.
1 The gain is not appropriate for the
load.
2 The setting for Pn026 is too small.
Data in the parameter save area was
corrupted when the data was read from
the EEPROM at power-ON.
8-3 Troubleshooting
Countermeasure
Check that excessive speed
commands have not been issued.
If overshoot is occurring due to
improper gain adjustment, adjust the
gain for the position loop and the
speed loop.
Check that the operation commands
are correct.
1 Review the operation commands
and settings.
Check the settings. For example,
check that the amount of change
for the position command is not too
large (i.e. interpolation function),
the backlash compensation
amount is not too large, the
backlash compensastion time
constant is not too small, the
electronic gear ratio is not too large,
and the acceleration/deceleration
is not too small.
2 Do not actuate the network while
executing normal mode autotuning
and jog operation.
3 Alarm code 27 is issued when
clearing the multi-turn data on the
absolute encoder via RS-232
communications. This is for safety
purposes, not an error. When
executing the multi-turn clear
command via the network, an
alarm will not be issued, but be sure
to reset the control power supply.
Check that the speed monitor and
torque monitor values are indicated as
commanded by the Servo Drive. Check
that torque is not saturated. Check that
the No. 1 Torque Limit (Pn05E) and the
No. 2 Torque Limit (Pn05F) are not too
small.
Check by readjusting the gain,
increasing the acceleration / decelera-
tion times, and lowering the speed with
the reduced load.
1 Check the position loop gain,
speed loop gain, integration time
constant, and inertia ratio.
2 Increase the setting for Pn026.
Set Pn026 to 0 to disable the
protective function.
If the warning continues to occur even
after retransferring all parameters, the
Servo Drive may have failed.
Replace the Servo Drive.
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