Omron R88M-1M Series User Manual page 894

Appendices
Event code
Event name
(hex)
78210000 Brake Interlock Error The Brake Interlock Output
78230000 Command Error
84B10000 EtherCAT State
Change Error
84B20000 EtherCAT Illegal
State Change Error
84B40000 Synchronization
Error
84B50000 Sync Manager WDT
Error
84B60000 ESC Initialization
Error
A - 108
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User's Manual (I586)
Description
(BKIR) was output by the
Timeout at Servo OFF.
A mistake was made in
using a command.
A communications state
change command was
received for which the cur-
rent communications state
could not be changed.
An undefined communica-
tions state change com-
mand was received.
A signal for synchronous
communications could not
be detected.
PDO communications were
interrupted for the allow-
able period or longer.
The initialization of Ether-
CAT slave communications
controller failed.
Assumed cause
• The Brake Interlock Output
(BKIR) was output because
the motor rotation speed did
not decrease to or less than
the speed set in the Thresh-
old Speed at Servo OFF
within the time set in the
Timeout at Servo OFF
when Servo OFF was per-
formed during the motor
operation
• When bit 9 (Remote) of the
Statusword was set to 1
(remote), and the Servo
Drive was in Operation
enabled state (Servo ON),
the Servo Drive received a
command to change the
communications state from
Operational to another state
(Init, Pre-Operational, or
Safe-Operational)
• A mode of operation other
than the hm mode was set
during the homing operation
• Modes of operation was set
to pp, pv or hm mode when
the communications period
was set to shorter than
250 μs
• A communications state
change command was
received for which the cur-
rent communications state
could not be changed
• An undefined communica-
tions state change com-
mand was received
• Noise
• Error of the EtherCAT slave
communications controller
• An EtherCAT communica-
tions cable is disconnected,
loose, or broken
• Host controller error
• Data was incorrectly over-
written in the non-volatile
memory of the EtherCAT
slave communications con-
troller
• Failure of the EtherCAT
slave communications con-
troller
Level
Refer-
ence
√
P. A-157
√
P. A-158
√
P. A-159
√
P. A-159
√
P. A-160
√ P. A-160
√
P. A-161