Panasonic MINAS A6 Multi Series Technical Reference page 207

7.2Details of protective function
Error No.
Protective function
Main Sub
84 3 Synchronous
establishment
initialization error
protection
85 0 TxPDO assignment error
protection
1 RxPDO assignment error
protection
2 Lost link error protection
3 SII EEPROM error
protection
87 0 Forced alarm input
protection
(To be continued)
7-23
Causes
In the EtherCAT communication of the
driver module, error occurred during
initialization process of phasing
communication and servo.
In the EtherCAT communication of the
driver module, the following incorrect
TxPDO was assigned.
 The data size of the TxPDO map on Axis
A side was set to exceed 32 bytes.
 The data size of the TxPDO map on Axis
B side was set to exceed 32 bytes.
 An object for Axis B was set in 1A00h to
1A03h (for Axis A).
 An object for Axis A was set in 1A10h to
1A13h (for Axis B).
In the EtherCAT communication of the
driver module, the following incorrect
RxPDO was assigned.
 The data size of the RxPDO map on Axis
A side was set to exceed 32 bytes.
 The data size of the RxPDO map on Axis
B side was set to exceed 32 bytes.
 An object for Axis B was set in 1600h to
1603h (for Axis A).
 An object for Axis A was set in 1610h to
1613h (for Axis B).
In the EtherCAT communication of the
driver module, the time set in Pr7.43 (Lost
link detection time) elapsed when either
Port 0 or Port 1 fell and remains in the lost
link state after the ESM state transitioned
from Init to PreOP (not including a port that
had been in the lost link state at the time of
transition from Init to PreOP).
In the EtherCAT communication of the
driver module, SII (EEPROM) information
and object information did not match as
follows.
 Vendor ID, Product code, and Revision
number did not match between SII
(EEPROM) and the object values.
 SII (EEPROM) reading/writing is incorrect.
 Any of bit 11-14 of ESC register 0502h is
1.
Forced alarm input (E-STOP) is applied.
Measures
 Turn the power off once, then turn it on
again.
 If error occurred repeatedly, there is a
possibility of failure. Stop using the
products, and replace the motor and the
driver module.
 Return the products to the dealer or
manufacturer.
 Set the TxPDO data size within 32 bytes
for each axis.
 Set only objects for Axis A in 1A00h to
1A03h.
 Set only objects for Axis B in 1A10h to
1A13h.
 Set the RxPDO data size within 32 bytes
for each axis.
 Set only objects for Axis A in 1600h to
1603h.
 Set only objects for Axis B in 1610h to
1613h.
 Check whether there is any problem in
wiring of EtherCAT communication cable.
 Check whether there is any problem in the
communication from higher rank
equipment.
 Check the data of SII.
 Retry reading/writing of SII.
Check the wiring of forced alarm input
(E-STOP).