Panasonic MINAS A6 Multi Series Technical Reference page 199

7.2Details of protective function
Error No.
Protective function
Main Sub
38 0 Over-travel inhibit input
protection 1
1 Over-travel inhibit input
protection 2
2 Over-travel inhibit input
protection 3
40 0 Absolute system down
error protection
41 0 Absolute counter over
error protection
(To be continued)
7-15
Causes
In the driver module, when Pr 5.04
"over-travel inhibit input setup" = 0 for each
axis, both positive and negative over-travel
inhibit inputs (POT/NOT) have been ON.
In the driver module, when Pr 5.04 = 2 for
each axis, positive or negative over-travel
inhibit input has turned ON.
In the driver module, when Pr5.04
"Over-travel inhibit input setup" of each axis
is set to 0 or 1, the following situation
occurred when EtherCAT communication is
OFF(Init).
 an operation command (e.g. test run, FFT)
has been received through USB
communication (PANATERM for Multi)
while EtherCAT communication is OFF
and either POT or NOT is ON.
 POT or NOT was turned ON while the
system is operating according to the
command given through USB
communication.
NOTE: Err38.1 is not occurred regardless of
POT/NOT status when Pr7.116 bit0=1 (It is
parameter to enable operation command by
PANATERM for Multi when EtherCAT
communication is established.) and
EtherCAT communication is established,
even if operation command by PANATERM
for Multi is used.
 In the driver module, When positive
over-travel inhibit inputs (POT) of A-Axis is
assigned to SI6 or negative over-travel
inhibit inputs (NOT) of A-Axis is assigned
to SI7, Pr 5.04 "Over-travel inhibit input
setup" was set to a value other than 1
(CoE side deceleration stop).
 In the driver module, when positive
over-travel inhibit inputs (POT) of B-Axis is
assigned to SI2 or negative over-travel
inhibit inputs (NOT) of B-Axis is assigned
to SI3, Pr 5.04 "Over-travel inhibit input
setup" was set to other than 1 (CoE side
deceleration stop).
In the driver module, when Pr0.15 "Absolute
encoder setup" for each axis is set to 0, 2, 6,
the power supply voltage to the 1st encoder
or the battery power supply voltage drop,
and then the capacitor voltage built in the
encoder was below the specified value.
In the driver module, when Pr0.15 "Absolute
encoder setup" = 0, 6 for each axis, the
multi-turn counter of the 1st encoder
exceeded the specified value.
Measures
Check that there are not any errors in
switches, wires or power supply which are
connected to positive direction/ negative
direction over-travel inhibit input
(POT/NOT).
In particular, check whether the rising time
of drive inhibit signal power (DC12 to 24V)
to supply servo control I / O connector X4
of the driver module is not slow.
Check that there are not any errors in
switches, wires or power supply which are
connected to positive direction/ negative
direction over-travel inhibit input.
In particular, check whether the rising time
of drive inhibit signal power (DC12 to 24V)
to supply servo control I / O connector X4 of
the driver module is not slow.
 When using each axis POT / NOT with the
assignment shown on the left, check that
Pr5.04 "Over-travel inhibit input setup" is
set to 1 (CoE side deceleration stop).
 When POT is allocated to SI6 or NOT
allocated to SI7, make sure that Pr 5.04
"Over-travel inhibit input setup" is set to 1
(CoE side deceleration stop).
After connecting the power supply for the
battery, clear the absolute encoder.
The alarm of driver module cannot be
cleared until the absolute encoder is reset.
 Set Pr 0.15 Absolute encoder setup to the
appropriate value.
 Limit the travel from the machine origin
within 32767 revolutions.
 Clear the multiple rotation of absolute
encoder.