Warnings Related To Communication And Commands; Communication Errors (Comm_Alm); Command Errors (Cmd_Alm) - YASKAWA S-7 Series Command Manual

7.2

Warnings Related to Communication and Commands

Warnings are divided into two categories, warnings related to data reception and procedures in
MECHATROLINK-III communications and warnings related to the validity of commands.
7.2.1

Communication Errors (COMM_ALM)

The table below shows the warnings related to procedures in MECHATROLINK-III communica-
tions.
When an error of this kind is detected, the warning code is displayed on the SERVOPACK as
well.
If any of these warnings occur, the relevant command will not be executed because the com-
mand data is not properly received. The operation of the servomotor continues. Therefore, the
response will be the same as that of the previous command.
Category
COM-
M_ALM
2 Communication error
Commu-
nica- 1 FCS error
tions
Synchronization frame not
3
Warning
received
If a warning A.96  occurs during the interpolation operation (INTERPOLATE), the interpolation
operation at the current feed speed continues within the communication cycle in which the
warning A.96  was detected.
7.2.2

Command Errors (CMD_ALM)

The table below shows the warnings related to the validity of commands.
When an error of this kind is detected, the warning code is displayed on the SERVOPACK as
well.
Category
CMD_
ALM
Parameter numbers or data
9
addresses are incorrect.
The data in the command is
9
invalid.
The combination of data settings
9
is incorrect.
Data
The data size specified by the
Setting
command is incorrect.
Warning
9
The data is specified outside the
range for the relevant data.
The data in the command is
beyond the limit.
1
It will be clamped at the limit
value.
Alarm in Response
Meaning
Check communication
connections.
Take countermeasures
against noise.
Alarm in Response
Meaning
Review the content of
the command data
sent by the controller.
(Refer to the setting
conditions of each
command and
parameter.)
7.2 Warnings Related to Communication and Commands
7.2.1 Communication Errors (COMM_ALM)
Warning
Remedy
Code
A.960
A.962
A.963
SERVOPACK Side
Warning
Warning
Remedy
Code
A.94A
A.94b
Cleared
auto-
A.94C
matically
A.94d
Cleared
A.97b auto-
matically
SERVOPACK Side
Warning Code Reset
Necessary
Remark
Code
Reset
The command
received on occur-
rence of the warning
will be ignored. The
servomotor contin-
ues its operation.
The command will be
executed with the
data clamped at the
limit value.
Continued on next page.
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