Delta AX Series Instruction Manual page 554

AX- Ser i es Mo t i o n Co n t r o l l er I n s t r u c t i o n s Ma n u a l
A.3.2 For Positioning Axis
When an error occurs, you can troubleshoot errors through error codes and the corresponding indicators. Refer to AX-3
Operational Manual for more details of troubleshooting.
The following table lists the error codes and the contents of the errors:
Error code
0x00000 SML_NO_ERROR
0x00001 SML_DI_GENERAL_COMMUNICATION
_ERROR
0x00002 SML_DI_AXIS_ERROR
0x00015 SML_WRONG_OPMODE
0x00022 SML_AXIS_NOT_READY_FOR_MOTIO
N
0x00023 SML_MA_MR_MODULO_ACT_POS_N
OT_MAPPED
0x00024 SML_MV_INVALID_VELACCDEC_VAL
UES
0x00050 SMC_RAG_ERROR_DURING_STARTU
P
0x0005A SML_CGR_ZERO_VALUES
0x0005B SML_CGR_AXIS_POWERED
0x0005D SML_CGR_MODULOPERIOD_NOT_IN
TEGRAL
0x0005E SML_CGR_MOVEMENTTYPE_INVALID Wrong axis type (Must be either a linear
0x0005F SML_CGR_MODULOPERIOD_NON_P
OSITIVE
0x00060 SML_CGR_MODULOPERIOD_TOO_S
MALL
0x00061 SML_CGR_MODULOPERIOD_TOO_LA
RGE
0x00078 SML_R_NO_ERROR_TO_RESET
0x0007A SML_R_ERROR_NOT_RESETTABLE
0x00083 SML_RP_REQUESTING_ERROR
0x00084 SML_RP_RCV_PARAM_CONVERSION
_ERROR
0x0008D SML_WP_SENDING_ERROR
Description Contents
No error messages
Communication error
Axis error
Wrong control mode
The Slave state cannot execute the
motion control instruction.
PDO lacks the essential parameter.
Invalid velocity or
acceleration/deceleration Setting Value
Error occurs during axis re-startup
Cannot enter 0 for
dwRatioTechUnitsDenom and
iRatioTechUnitsNum
Cannot change gear ratio parameter at
the wrong state.
Module period is not an integer.
axis or rotary axis).
Module period cannot be a negative.
Module period is too small.
Module period is too large.
No axis error after using
MC_Reset_DML
Error, non-resettable.
Slave has no corresponding OD, or
reading the OD is not allowed.
Conversion error of the axis parameter
to servo OD. Unknown SoftMotionLight
parameter.
Slave has no corresponding OD, or
writing the OD is not allowed.
Ap p en d i x A
Corrective Action
-
Confirm if the Slave network cable is
properly plugged. Run
DFB_ResetECATMaster to reset
EtherCAT Master, and then re-run
MC_ReinitDrive_DML.
Confirm Slave error information and
eliminate the error, and then re-execute
MC_Reset_DML.
Function block does not support
execution in the current mode. To
execute this function block, execute
SMC_SetControllerMode first to switch
the axis to the appropriate mode.
Axis is at the state that cannot be
controlled. Confirm whether it is at the
Power-on or error state. Start the axis or
run MC_Reset_DML depending on the
situation.
Configure Actual Position (16#6064) to
PDO.
Use MC_Reset_DML to eliminate error.
Confirm if the bus configuration is normal,
and re-run MC_ReinitDrive_DML.
After modifying dwRatioTechUnitsDenom
and iRatioTechUnitsNum to non-zero
values, re-run the function block.
After making the axis state goes into
Disable, re-run the function block.
After modifying the fModuloPeriodU
parameter, re-run the function block.
After modifying the iMovementType
parameter, re-run the function block.
After modifying the fPositionPeriod
parameter, re-run the function block.
After modifying the fPositionPeriod
parameter, re-run the function block.
After modifying the fPositionPeriod
parameter, re-run the function block.
Confirm whether the axis is correct, and
then re-run the function block.
Confirm whether the Slave error has
been eliminated. After error disappeared,
restart MC_Reset_DML.
The OD you visit does not exist or is not
allowed to be accessed. Confirm the
input OD is correct and can be read.
The parameter you visit does not exist.
The OD you visit does not exist or is not
allowed to be written. Confirm the input
OD is correct and can be written.
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