Omron CS1W-MCH71 Operation Manual page 688

Motion Task-related Alarm Codes
Name Error log
Error Detail
code code
Axis reserva- 0372h 2007h 2007h The axis that was declared in a program
tion disable -
0379h
Axis alarm 2008h 2008h An alarm has occurred in an axis controlled
generated
Position 2009h 2009h The position specified with axis movement
specification
error
Alarm Cause and remedy
code
could not be reserved.
• The operating mode is set to Manual
Mode. Make sure the applicable axis is not
in use, and switch to Automatic Mode.
• The axis is used in another program. Wait
until the program is completed, or stop the
program to start ≅another program.
• Axes to be used in subprogram are not
reserved in the main program. Reserve all
the axes to be used in the subprogram with
PROG in the main program.
• The axis that has not been declared was
selected. Check if the axes to be used in
the program are specified correctly. If the
specification is correct, declare the axes
with PROG.
• In parallel execution, etc., a main program
tried to use the axis already declared by a
subprogram. Correct the program to oper-
ate the axis after the subprogram is com-
pleted.
• In parallel execution, etc., a subprogram
tried to declare the axis already being
operated by a main program. Correct the
program to call the subprogram after the
block currently using the axis is completed.
by a task. Remove the cause of the axis
alarm, and reset the alarm.
commands (except for CAM), axis operation
commands, SYNCR, MOVEMODI, OFF-
POS, and LATCH exceeded the allowable
position range. Since the range of pulse unit
system is expressed in 32-bit, the allowable
range has to satisfy the following formula:
−Command unit limit ≤Command unit sys-
tem position ≤ +Command unit limit
Command unit limit [on machine] ≥
2147483647 [on motor] ×
P5AA04 [Command unit/1 machine
rotation] × P5AA06 [on machine]
9001h [No. of encoder pulses/1 motor
rotation] × P5AA05 [on motor]
Correct the applicable position to satisfy the
formula above. When specifying with real
numbers, check the setting value of the axis
parameter [P5AA02: Position command
decimal point position].
• With Traverse (MOVETRAV command):
This error occurs when the operand "Wind-
ing axis rotations" = 0. Correct the program
so that "Winding axis rotations" is not 0.
Section 11-5
Timing Rank Reset
When a Deceler- Enabled
program is ation
executed. stop
When a Deceler- Enabled
program is ation
executed. stop
When a Deceler- Enabled
command ation
including an stop
operand is
executed.
643