Panasonic MINAS A6 Multi Series Technical Reference page 208

Error No.
Protective function
Main Sub
88 0 Main power undervoltage
protection
(AC insulation detection
2)
1 Control mode setting
error protection
2 ESM requirements
during operation error
protection
(To be continued)
Causes
On each axis of the driver module, the main
power AC cutoff (main circuit power supply
OFF) from the power supply module was
detected with the following settings.
 Main circuit power supply OFF was
detected when the preset value of
6007h/6807h (Abort connection option
code) is 1 and the PDS state is "Operation
Enabled" or "Quick stop active".
 Switch on command was received when
the preset value of 6007h/6807h (Abort
connection option code) is 1 and the PDS
state is "Ready to switch on" and main
circuit power supply OFF.
In the driver module, the following incorrect
settings was detected for each axis.
 The PDS state was changed to "Operation
enabled" when 6060h/6860h (Modes of
operation) was set to 0 and 6061h/6861h
(Modes of operation display) was set to 0.
 6060h/6860h (Modes of operation) was
set to an unsupported control mode.
 6060h/6860h (Modes of operation) was
set to 3 (pv), 4 (tq), 9(csv) or 10 (cst) in
full-closed control.
 6060h/6860h (Modes of operation) was
set to 3 (pv), 4 (tq), 9(csv) or 10 (cst) in
two-degree-of-freedom control mode
(Synchronization type).
 The control mode was set to
two-degree-of-freedom control mode
(synchronization type) in full-closed
control.
In the EtherCAT communication of the
driver module, the following incorrect
combinations occurred on each axis.
 When PDS state was "Operation enabled"
or "Quick stop active", received the ESM
state change command to other ESM
states.
 When Pr7.99 bit0=1 is set, the command
for transiting from the current ESM to
other ESM state was received during
servo-on (while warning D2 is occurring)
on PANATERM for Multi.
Protective Functions
Measures
 The capacity rise of power supply voltage.
A power supply is changed. The cause by
which the magnetic contactor of the main
power supply fell is removed, and a power
supply is switched on again.
 Each phase (L1, L2, L3) of a power supply
is connected correctly. The single phase
100V and the single phase 200V should
use L1 and L3.
 It replaces with new power supply module.
 Check the preset value of 6060h/6860h
(Modes of operation).
 Check the parameters Pr6.47 bit0 and bit3
related to two-degree-of-freedom control
mode.
Check the state transition request from host
controller.
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