YASKAWA MP210 Series User Manual page 255

Motion Command
Interpolation
4
(INTERPOLATE)
and
Last Interpolation
Segment
5
(ENDOF_INTERPOLATE)
Interpolation Mode with
Latch Input
6
(LATCH)
JOG Mode
7
(FEED)
Relative Position Mode
8
(Step mode) (STEP)
Set Zero Point
9
(ZSET)
Change Acceleration
10
Time (ACC)
and
Change Deceleration
11
Time (DCC)
Change Filter Time
Constant
12
(SCC)
Cause of Command Error Occurrence
The travel specified for one scan has exceeded
the segment that can be specified for a
MECHATROLINK SERVOPACK, or the speed
feed forward value has exceeded the maximum
speed that can be specified.
The axis is ABS infinite length, and the zero
point return (setting) is not completed.
In servo OFF status
An alarm is occurring.
Asynchronous communication status
The travel specified for one scan has exceeded
the segment that can be specified for a
MECHATROLINK SERVOPACK, or the speed
feed forward value has exceeded the maximum
speed that can be specified.
The axis is ABS infinite length, and the zero
point return (setting) is not completed.
In servo OFF status
An alarm is occurring.
The latch signal is out of the setting range.
In machine lock status
In servo OFF status
An alarm is occurring.
Asynchronous communication status
Positioning movement exceeds the allowable
value.
In servo OFF status
An alarm is occurring.
Asynchronous communication status
An alarm is occurring.
Asynchronous communication status
An alarm is occurring.
Asynchronous communication status
Executed before distribution has been com-
pleted (DEN = OFF)
SERVOPACK parameter writing was not com-
pleted within the specified time.
Warning A.94 or A.95 has occurred at the SER-
VOPACK.
An alarm is occurring.
Asynchronous communication status
Executed before distribution has been com-
pleted (DEN = OFF)
SERVOPACK parameter writing was not com-
pleted within the specified time.
Warning A.94 or A.95 has occurred at the SER-
VOPACK.
6.6 List of Causes for Command Error Occurrence
Warning (W:) and Alarm (A:) That
Occur at Command
Error Occurrence
A: Excessive Speed
A: Zero Point Unsetting
A: Servo OFF
−
A: Servo Driver Synchronization
Communications Error
A: Excessive Speed
A: Zero Point Unsetting
A: Servo OFF
−
W: Set Parameter Error
−
A: Servo OFF
−
A: Servo Driver Synchronization
Communications Error
A: Excessive Positioning Moving
Amount
A: Servo OFF
−
A: Servo Driver Synchronization
Communications Error
−
A: Servo Driver Synchronization
Communications Error
−
A: Servo Driver Synchronization
Communications Error
−
A: Servo Driver Command Timeout
Error
W: Servo Driver Error
−
A: Servo Driver Synchronization
Communications Error
A: Filter Time Constant Change
Error
A: Servo Driver Command Timeout
Error
W: Servo Driver Error
(cont'd)
6
6-29