YASKAWA JEPMC-MP2300-Y Series User Manual page 563

12.6.2 Motion Error Details and Corrections
The following tables show the contents of the axis alarms (IL
details
(subsection 2).
( 1 ) Alarm IL 04 List
IL 04
Servo Driver Error
Bit 0
Positive Overtravel
Bit 1
Negative Overtravel
Bit 2
Positive Soft Limit (Positive Software Limit)
Bit 3
Negative Soft Limit (Negative Software Limit)
Bit 4
Servo OFF
Bit 5
Positioning Time Over
Bit 6
Excessive Positioning Moving Amount
Bit 7
Excessive Speed
Bit 8
Excessively Following Error
Bit 9
Filter Type Change Error
Bit 10
Filter Time Constant Change Error
Bit 11
Not used
Bit 12
Zero Point Not Set
Bit 13
Not used
Bit 14
Not used
Bit 15
( 2 ) Bit 0: Servo Driver Error
Detection Timing
Processing when
Alarm Occurs
Error and Cause
Correction
Alarm Contents
• SERVOPACK alarms are continuously monitored by the alarm management section.
• The current command will be aborted.
If a SERVOPACK error is detected during execution of a POSING command, the positioning will be
aborted and the axis will decelerate to a stop.
• The Command Error Occurrence in the Servo Module Command Status (IW
• The cause of the error depends on the type of alarm. The contents of an alarm is monitored in IW
Refer to the list of SERVOPACK alarms in 12.6.3 ( 2 ) Servo Alarm Code (IW
details.
• Confirm the SERVOPACK alarm and remove the cause.
• Reset the alarm.
The above status bit will turn ON for any of the SERVOPACK alarm codes for alarms classified as
SERVOPACK alarms.
12.6 Troubleshooting Motion Errors
04) (subsection 1) and axis alarm
IL 04
Alarm Contents
Servo Driver Synchronization
Bit 16
Communication Error
Servo Driver Communication Error
Bit 17
Servo Driver Command Timeout Error
Bit 18
ABS Encoder Count Exceeded
Bit 19
Reserved by the system.
Bit 20
Reserved by the system.
Bit 21
Not used
Bit 22
Not used
Bit 23
Not used
Bit 24
Not used
Bit 25
Not used
Bit 26
Not used
Bit 27
Not used
Bit 28
Not used
Bit 29
Not used
Bit 30
Not used
Bit 31
09 bit 3) will turn ON.
2D.
2D) on page 12-29 for
12-23