Omron SYSMAC CS1G Operation Manual page 612

Countermeasures
Alarm type
Unit-related alarm
Reserved
Motion task-related alarm
Axis-related alarm
MLK Device alarm
Stop Rank Generated
Area
System stop All
Servo OFF Unit
Motion task
Axis
MLK device
Immediate Unit
stop
Motion task
Axis
MLK device
Decelera- Unit
tion stop
Motion task
Axis
MLK device
Warning All
Note
Alarm types
Alarms are categorized, depending on where they occurred, as shown below.
The alarm code corresponding to the type is to be output:
Alarm related to the entire MC Unit
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Alarm related to motion tasks
Alarm related to axes
Alarm and warning detected in MECHATROLINK-II device
The lower byte (rightmost two digits) indicates the alarm code for the MECHA-
TROLINK-II device. Since there is an alarm code [00h] in the servo driver,
[4000h] is considered to be the alarm.
Alarm Ranks
Alarms are also categorized, depending on what they stop, as shown below:
Unit status after occurrence
After Servo OFF (if it is possible), system shuts
down.
Serve OFF for all the axes.
Servo OFF for all the axes being used in the
motion task.
Servo OFF only for the axis where the alarm
was generated.
If the axis is used in a motion task, stops the
motion task.
(Immediately stops the other axes).
Immediate stop for all the axes.
Immediate stop for all the axes being used in
the motion task.
Immediate stop only for the axis where the
alarm was generated.
If the axis is used in a motion task, stops the
motion task.
(Immediately stops the other axes).
Deceleration stop for all the axes.
Deceleration stop for all the axes being used in
the motion task.
Deceleration stop only for the axis where the
alarm is generated.
If the axis is used in a motion task, stops the
motion task. (Deceleration stop for the other
axes).
The operation is continued.
MLK device stands for the MECHATROLINK-II device.
Details
Restart, turn power OFF then ON
again, or replace the Module.
Remove the cause, and then reset the
alarm.
Remove the cause, and then reset the
alarm.
Remove the cause, and then reset the
alarm.
Remove the cause, and then reset the
alarm. Note that, however, the follow-
ing warnings do not require the alarm
reset:
• Teaching warning
• Speed clamp warning
• Start warning
• Error counter warning
Section 11-2
Alarm code
0001h – 00FFh
1001h – 10FFh
2001h – 20FFh
3001h – 30FFh
4000h – 40FFh
Recovery method
589