Panasonic MINAS A6 Multi Series Technical Reference page 210

Error No.
Protective function
Main Sub
92 0 Encoder data recovery
error protection
1 External scale data
recovery error protection
3 Multi-turn data
upper-limit value
disagreement error
protection
93 2 Parameter setup error
protection 2
3 External scale
connection error
protection
8 Parameter setup error
protection 6
(To be continued)
Causes
In the driver module, the initialization
process of the internal position information
of the 1st encoder was not performed
correctly for semi-closed control and
absolute mode axes.
In the driver module, the initialization
process of the internal position information
of the 2nd encoder (external scale, etc.)
was not performed correctly for the axis of
full-closed control and absolute mode.
In the driver module, At continuous rotating
absolute encoder function, there was a
disagreement between the upper-limit value
of encoder multi-turn data and the
upper-limit value of driver module multi-turn
data.
The external scale ratio during full-closed
control exceeded the allowable range for
each axis of the driver module.
The following 2nd encoder (external scale,
etc.) related setting error was detected for
each axis of the driver module during
full-closed control.
1) The communication type of the
connected external scale (serial
communication model) does not match
the type selected by Pr 3.23(External
scale selection).
2) Pr3.23 "External scale type
selection"=3, 4 or 5 was set when
Pr0.01 "Control mode selection"=6 was
set.
The following abnormal settings were
detected for each axis of the driver module
in the infinite rotation absolute mode.
 The continuous rotating absolute encoder
function was set to enable with other than
23bit resolution absolute encoder.
 Absolute home position offset is set
outside the range in continuous rotating
absolute mode
 The actual position is out of range in
infinite rotation absolute mode or single
rotation absolute mode.
Protective Functions
Measures
 Ensure that the power voltage of the 1st
encoder is 5 VDC ± 5% (4.75 to 5.25 V).
Pay special attention when the encoder
cable is long.
 If the motor cable and encoder cable are
bundled together, separated them.
 Connect the shield to FG.
 Ensure the power supply voltage DC5V ±
5% (4.75 to 5.25V) of the 2nd encoder
(external scale, etc.) ... Pay special
attention when the external scale
connection cable is long.
 If the motor cable and external scale
connection cable are bundled together,
separated them.
 Connect the shield to FG... See the
external scale connection diagram in
"REFERENCE SPECIFICATIONS Driver
module section (SX-DSV03454)".
Check the parameter setting value.
 Check the parameter setting value.
 External scale ratio must be in the range
1/40 to 125200 times.
1) Set Pr3.23 according to the type of
external scale connected to the 2nd
encoder.
2) Check the setting in Pr3.23 "External
scale type selection" again.
Check the parameter setting value.
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