Panasonic MINAS A6 Multi Series Technical Reference page 198

Error No.
Protective function
Main Sub
34 0 Software limit protection
1 One revolution absolute
working range error
36 0 EEPROM parameter
error protection
1
37 0 EEPROM check code
error protection
1
2
(To be continued)
Causes
In the driver module, when a position
command within the specified input range of
each axis is given, the motor operates
outside its working range specified in Pr
5.14 (Motor working range setup).
1) Gain is not appropriate.
2) Pr 5.14 setup value is low.
In the driver module, at the time of absolute
encoder is used to each axis, When Pr0.15
(Absolute encoder setup)=3, the motor
(encoder) position or command position
crossed motor working range (encoder 1
revolution data).
In the driver module, data in parameter
storage area had been damaged when
reading the data from EEPROM of each
axis at power-on.
In the driver module, data for writing
confirmation to EEPROM had been
damaged when reading the data from
EEPROM of each axis at power-on.
Protective Functions
Measures
Improves followability to the position
command.
Alternatively, the motor movable range
setting range is expanded.
1) Check the gain (balance between
position loop gain and velocity loop
gain) and inertia ratio.
2) Increase the setup value of Pr 5.14. Or,
Set Pr 5.14 to 0 to disable the
protective function.
 Check the working range of an absolute
encoder (absolute scale) position
including 607Ch/687Ch (Home offset).
 Reconsider electronic gear ratio.
 A motor (encoder) position is returned in
motor working range (inside of encoder 1
revolution data).
 A command position is returned in motor
working range (inside of encoder 1
revolution data).
 Set up all parameters again and save
them in EEPROM again.
 If the error persists, replace the driver
module (it may be a failure.)
 Return the product to the dealer or
manufacturer.
 Replace the driver module. (it may be a
failure).
 Return the product to the dealer or
manufacturer.
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