Panasonic MINAS A6 Multi Series Technical Reference page 189

7.1List of protective function
(Note 4) When clearable alarm other than EtherCAT communication-related error (Err80.*, Err81.*, Err85.*, Err88.*) is occurred, it will be
able to clear the alarm in the following way.
 When an alarm clear input (A-CLR) is OFF, or while not assigning, the alarm clearance was performed from EtherCAT
communication or PANATERM for Multi(USB communication, EoE communication).
 The alarm clear input (A-CLR) was changed from OFF to ON.
In the following cases, keep in mind that an alarm clearance is not carried out normally.
Example: The alarm clearance is performed from communication (USB or EtherCAT) when A-CLR is ON.
In this case, perform an alarm clearance from communication after turning OFF A-CLR.
Please perform the alarm clearance while motor is stopped after ensuring safety.
Please refer to Technical Document "EtherCAT Communication Specifications" (SX-DSV03446)" for details of the alarm clear
method of than EtherCAT communication-related error (Err80.*, Err81.*, Err85.*, Err88.*).
(Note 5) If the driver module internal control circuit malfunctions due to excessive noise etc., the display will show as follows:
Immediately turn OFF power.
(Note 6) Emergency stop is triggered if Pr 5.10 Sequence at alarm is set to one of 4 to 7 and corresponding alarm is detected.
For details, refer to "6.3.4 Sequence at alarm".
(Note 7) About EtherCAT communication-related error (Err80.*, Err81.*, Err85.*, Err88.*), front panel indication or alarm indication of
PANATERM for Multi is delayed from actual occurrence of alarm.
(Note 8) Common means that the cause of the alarm is common to Axis A and Axis B. It usually occurs at the same time, but depending
on the content, it may not be detected for some axes, and the detection timing may differ for each axis. Alarm clear must be
executed from each axis after removing the cause of the alarm.
(Note 9) Alarms detected by PSM are transmitted to all connected driver modules as shown below
Case1) DM individual alarm (encoder error, motor control error, etc.)
Only the alarm generation axis stops.
Case2) DM common alarm (EtherCAT communication error, DM main power / temperature monitoring, etc.)
All axes in the DM where the alarm occurred stop. (Synchronization within DM)
Case3) PSM related alarm (abnormality in converter, etc.)
All axes of all DMs connected to the PSM that generated the alarm stop.
(Synchronous within DM, asynchronous between DMs)
(Note 10) These alarms are detected by both the drive module and power supply module.
Two alarms are generated in the drive module according to the alarm factor.
Control power shortage voltage
DC bus overvoltage
If the alarm factor detection is not at the same timing in each module, In the drive module, the first detected alarm occurs first,
Later detected alarms are delayed.
7-5
: Err11.0 and Err69.4
: Err12.0 and Err69.2