Panasonic MINAS A6 Series Operating Instructions Manual page 379

1. When in Trouble
Protective function (Detail of error code)
Protective Error code No.
function
Main Sub
*
18 1 Regenerative driver transistor on the
Regenerative
servo driver is defective.
transistor
error
protection
*
21 0
Communication between the encoder
Encoder
and the driver has been interrupted
communication
in certain times, and disconnection
disconnection detecting function has been triggered.
error
protection
*
1
Communication error has occurred in
Encoder
data from the encoder. Mainly data
communication error due to noise. Encoder cables are
error connected, but communication data has
protection some errors.
*
23 0
Data communication between the
Encoder encoder is normal, but contents of data
communication are not correct.
data error Mainly data error due to noise. Encoder
protection cables are connected, but communication
data has some errors.
Position 24 0 Deviation pulses have exceeded the
deviation setup of Pr0.14.
excess 1) The motor movement has not followed
protection
2) Setup value of Pr0.14 (Position
Speed 1 The difference between the internal
deviation positional command speed and actual
excess speed (speed deviation) exceeds the
protection setup vale of Pr6.02.
Note) If the internal positional command
speed is forcibly set to 0 due to
instantaneous stop caused by the
command pulse inhibit input (INH) or
CW/CCW over-travel inhibit input, the
speed deviation rapidly increases at this
moment. Pr6.02 setup value should have
sufficient margin because the speed
deviation also largely increases on the
rising edge of the internal positional
command speed.
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Causes
the command.
deviation excess setup) is small.
Measures
Replace the driver.
Make a wiring connection of the encoder as
per the wiring diagram. Correct the miswiring
of the connector pins.
• Secure the power supply for the encoder
of DC4.90 V to 5.25 V)...pay an attention
especially when the encoder cables are
long.
• Separate the encoder cable and the motor
cable if they are bound together.
• Connect the shield to FG.
1) Check that the motor follows to the position
command pulses. Check that the output
toque has not saturated in torque monitor.
Make a gain adjustment. Set up maximum
value to Pr0.13 and Pr5.22. Make a
encoder wiring as per the wiring diagram.
Set up the longer acceleration/deceleration
time. Lower the load and speed.
2) Set up a larger value to Pr0.14.
• Increase the setup value of Pr6.02.
• Lengthen the acceleration/deceleration
time of internal positional command speed,
or improve the follow-up characteristic by
adjusting the gain.
• Disable the excess speed deviation
detection (Pr6.02 = 0).
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