Omron CJ1W-MA - REV 10-2008 Operation Manual page 266

Section 6-3
MECHATROLINK Communications Control
MLK Initialization Error (Unit Error Code: 0020 Hex)
This error occurs if the MECHATROLINK slave station device corresponding
to the axis number registered in the scan list is not detected within 10 seconds
after CONNECT is executed. This error may occur if a MECHATROLINK slave
station communications settings are not set, or if the settings for the MECHA-
TROLINK communications line connection and slave device's station address
do not match the settings in the scan list. Verify that the contents registered in
the scan list matches the MECHATROLINK device settings and connection
configuration.
If this error occurs, the PCU will stop and the connection status will remain ON
(communications still in an executing state).
For PCUs with unit version 1.2 or earlier, operation will not be possible for all
axes registered in the scan list. For PCUs with unit version 1.3 or later, all or
part of the axis operations will be possible assuming that MECHATROLINK
communications can be established (i.e., if the Axis Communications Status
Flag is ON). (Refer to 6-3-2 MECHATROLINK Communications Status for axis
operation restrictions according to Servo Drive status.)
After recovering from the error, release the connection and then execute
CONNECT again. When using a Position Control Unit with unit version 2.0 or
later, the REJOIN command can be used to rejoin the connection without
breaking the connection.
MLK Communications Error (Unit Error Code: 0025 Hex)
This error occurs if two or more connected MECHATROLINK slave station
devices have the same station number when CONNECT is executed. This
error also occurs when communications errors that are not specific to a partic-
ular slave station occur during MECHATROLINK communications, and
causes MECHATROLINK communications to stop (connection released). This
error may occur during MECHATROLINK communications as a result of a
faulty communications path such as noise, breaks, or faulty connections in the
communications line. After removing the cause of the error, restart the PCU
and execute CONNECT again.
MLK Device Error (Unit Error Code: 0026 Hex)
This error occurs if an error in the MECHATROLINK communications section
of the PCU is detected, and causes MECHATROLINK communications to
stop (connection released). This error will occur if the MECHATROLINK com-
munications section of the PCU is faulty. Replace the PCU if this error occurs.
Transfer Cycle Setting Error (Unit Error Code: 0027 Hex)
This error may occur when establishing a connection if the transfer cycle set
in the PCU's Common Parameters is unsuitable for the axis numbers or num-
ber of slave stations connected to MECHATROLINK, and causes MECHA-
TROLINK communications to stop (connection released). This error indicates
that the set value for the transfer cycle is too small for the axis numbers or
number of connected slave stations. Change the transfer cycle setting in the
Common Parameters. After removing the cause of the error, restart the PCU
and execute CONNECT again.
If a Unit common error occurs, the Unit Error Flag in the Common Operating
Memory Area of the PCU turns ON, and the corresponding error code is input
in the Unit Error Code Bits. After the cause of the error is removed, the Unit
common error is cleared by turning ON the UNIT ERROR RESET Bit in the
Common Operating Memory Area.
When clearing a Unit common error, make sure that the UNIT ERROR
RESET Bit will remain ON until the Unit Busy Flag turns ON.
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