Panasonic MINAS A6 Multi Series Technical Reference page 209

7.2Details of protective function
Error No.
Protective function
Main Sub
88 3 Improper operation error
protection
91 1 Command error
protection
(To be continued)
7-25
Causes
In the driver module, the following incorrect
settings was detected on each axis.
 When EXT1/EXT2 is not assigned to input
signal, EXT1/EXT2 was selected in trigger
selection of a touch probe (60B8h/68B8h
(Touch probe function)).
 In the absolute mode of full-closed,
Z-phase was selected in trigger selection
of a touch probe (60B8h/68B8h (Touch
probe function)).
 When the software limit function is
enabled, the actual position or the
command position wrapped around.
 The calculation result of electronic gear
ratio was outside the range of 8000 times
to 1/1000 times.
 In the calculation process of electronic
gear ratio, the denominator or numerator
exceeded an unsigned 64-bit size.
 In the final calculation result of electronic
gear ratio, the denominator or numerator
exceeded an unsigned 32-bit size.
 When the communication cycle is set to
250 us or lower, the electronic gear ratio
was set to other than 1:1.
 When the communication cycle is set to
500 us, the electronic gear ratio was set to
other than a power of 2.
 When the synchronous mode is DC or
SM2 and the communication cycle is set
to 250us or less, TxPDO size for either
Axis A or Axis B was set to exceed 6
bytes.
 When the synchronous mode is DC or
SM2 and the communication cycle is set
to 500us, the electronic gear ratio was set
to a power of 2 and TxPDO size for either
Axis A or Axis B was set to exceed 25
bytes.
 When the synchronization mode is DC or
SM2 and the communication cycle is set
to 250us or less, RxPDO size for either
Axis A or Axis B was set to exceed 6
bytes.
 When the synchronous mode is DC or
SM2 and the communication cycle is set
to 500us, the electronic gear ratio was set
to a power of 2 and RxPDO size for either
Axis A or Axis B was set to exceed 25
bytes.
The driver module detected the following
command error on each axis.
1) The position that cannot be moved in
the infinite rotation absolute mode (out
of the range of Position range limit
(607Bh / 687Bh)) was set as the target
position.
2) The communication cycle was set to
0.250ms and 0.125ms in full-closed
control and DC synchronous mode or
SM2 synchronous mode.
Measures
 Set up the functional allotment for input
signal correctly.
 Set up trigger selection correctly.
 Check the relation between the operation
range setting and the software limit
setting.
 Review the electronic gear settings and
turn ON the power again.
 Check the communication cycle setting,
electronic gear setting, and TxPDO size
setting.
 Check the communication cycle setting,
electronic gear setting, and RxPDO size
setting.
1) When using absolute positioning under
pp control or csp control in the
continuous rotating absolute encoder
mode, set the target position to a
position inside the movable range
(within the Position range limit
(607Bh/687Bh)).
2) At full-closed control, communication
cycle is 0.500ms or more To.