Panasonic MINAS A6 Multi Series Technical Reference page 206

Error No.
Protective function
Main Sub
81 5 DC error protection
6 SM event mode error
protection
7 SyncManager2/3 error
protection
(To be continued)
Causes
In the EtherCAT communication of the
driver module, DC setting setup is incorrect.
 A value other than the following was set to
bit 2-0 of 0981h (Activation) of the ESC
register:
bit 2-0 = 000b
bit 2-0 = 011b
In the EtherCAT communication of the
driver module, SM event mode which is not
supported was set up.
 It was set to 1C32h-01h (Sync mode) at
values other than 00h(FreeRun),
01h(SM2), and 02h (DC SYNC0).
 A value other than 00h (FreeRun), 02h
(DC SYNC0), or 22h (SM2) was set to
1C33h-01h (Sync mode).
 000b was set to bit 2-0 of 0981h of the
ESC register and SM2 was set to only
either 1C32h-01h or 1C33h-01h.
In the EtherCAT communication of the
driver module, a setup of SyncManager2/3
was set to the incorrect value.
 Physical Start Address (ESC register
0810h) setting of SyncManager2 is
incorrect.
- The area for reception overlaps the area
for transmission.
- The area for transmission/reception of
Mailbox overlaps the area for
transmission/reception of
SyncManager2/3.
- Address specification of the area for
transmission/reception is odd number.
- The start address is out of range.
 Length (ESC register 0812h) setting of
SyncManager2 is incorrect.
- Different from RxPDO size.
 Control Register: ESC register (0814h)
setting of SyncManager2 is incorrect.
- Other than 01b is set for bit3-2.
 Physical Start Address (ESC register
0818h) setting of SyncManager3 is
incorrect.
- The area for reception overlaps the area
for transmission.
- The area for transmission/reception of
Mailbox overlaps the area for
transmission/reception of
SyncManager2/3.
- Address specification of the area for
transmission/ reception is odd number.
- The start address is out of range.
 Length (ESC register 081Ah) setting of
SyncManager3 is incorrect.
- Different from TxPDO size.
 Control Register: ESC register (081Ch)
setting of SyncManager3 is incorrect.
- Other than 00b is set for bit3-2.
Protective Functions
Measures
Check setting of DC mode.
 1C32h-01h (Sync mode) should set up
00h(FreeRun), 01h(SM2), or 02h (DC
SYNC0).
 1C33h-01h (Sync mode) should set up
00h (FreeRun), 02h (DC SYNC0), or 22h
(SM2).
 The setting of 1C32h-01h should be equal
to that of 1C33h-01h.
Set up SyncManager2/3 correctly.
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