Panasonic MINAS A6 Multi Series Technical Reference page 203

7.2Details of protective function
Error No.
Protective function
Main Sub
70 0 U-phase current detector
error protection
1 W-phase current detector
error protection
72 0 Thermal error protection
80 0 ESM unauthorized
request error protection
1 ESM undefined request
error protection
2 Bootstrap requests error
protection
3 Incomplete PLL error
protection
4 PDO watchdog error
protection
(To be continued)
7-19
Causes
In the driver module, each axis motor
U-phase current detection offset value has
some error.
In the driver module, each axis motor
W-phase current detection offset value has
some error.
Thermal has some error.
In the EtherCAT communication of the
driver module, the change state request
which cannot change from the present state
was received.
Init to SafeOP
Init to OP
PreOP to OP
OP to Bootstrap
PreOP to Bootstrap
SafeOP to Bootstrap
In the EtherCAT communication of the
driver module, the change state request
which does not have a definition (except the
following) was received.
1 : Request Init State
2 : Request Pre-Operational State
3 : Request Bootstrap State
4 : Request Safe-Operational State
8 : Request Operational State
In the EtherCAT communication of the
driver module, the following change state
request was received.
3 : Request Bootstrap State
In the EtherCAT communication of the
driver module, phasing servo and
communication (PLL lock) could not be
completed even after the lapse of 1s after
the start of the synchronization process.
In the EtherCAT communication of the
driver module, during PDO communication
(SafeOP or OP state), bit10 of AL Event
Request(0220h) did not turn on within the
time is set ESC register addresses 0400h
and 0420h.
Measures
 Turn off power once, and turn on again.
 Even so, if an error indication appears and
an error occurs, failure is possible.
Discontinue the use and replace the motor
and driver module.
Return to a dealer for investigation (repair).
Check the change state request of host
controller.
Check the change state request of host
controller.
Check the change state request of host
controller.
<In case of DC>
 Check setting of DC mode.
 It is checked whether propagation delay
compensation or drift compensation is
correct.
<In case of SM2>
 It is checked whether the transmitting
timing of PDO from host controller is
constant.
 Check whether there is any problem in
wiring of the EtherCAT communication
cable.
 Check whether there is excessive noise
on the EtherCAT communication cable.
 Check whether the transmitting timing of
PDO from host controller is constant (not
stop).
 Increase the timeout value of the PDO
watchdog detection.
 Check whether there is any problem in
wiring of the EtherCAT communication
cable.
 Check whether there is excessive noise
on the EtherCAT communication cable.