Omron CJ1W-NC271 - 12-2009 Operation Manual page 511

Overview of PCU Errors
Errors in MECHATROLINK Communications
PCU Operation when CPU Unit Load Is Turned OFF
Warnings
will be ignored. For PCUs with unit version 1.3 or later, parameters can be
read, written, or saved even when there is an axis error.
Functions that cannot be performed during errors can be performed after exe-
cuting ERROR RESET to clear the error.
The following errors are MECHATROLINK communications errors that occur
in individual axes.
• Synchronous Communications Alarm (axis error code: 3010 hex)
• Communications Alarm (axis error code: 3011 hex)
• Command timeout (axis error code: 3012 hex)
These errors cannot be cleared using the AXIS ERROR RESET Bit in the
Axis Operating Output Memory Areas.
These errors are related to the interface between the PCU and Servo Drive
and are, therefore, given the highest priority in error processing of individual
axis errors.
If these errors occur, the PCU will execute DECELERATION STOP for the cor-
responding axis (Servo Drive operation will depend on the stop method that is
specified to be used when alarms occur in the Servo Drive) and operation of
the axis will be prohibited.
To clear this error, stop MECHATROLINK communications (release connec-
tion) and then execute CONNECT again.
When the CPU Unit turns OFF the load, the PCU decelerates the active axis
to a stop and releases the MECHATROLINK communications connection.
After recovering from the load OFF status, reestablish the MECHATROLINK
communications connection by turning the CONNECT Bit OFF and then ON
again.
The MECHATROLINK slave device warnings that occur indicate that an error
will occur if operation is continued without correcting the problem.
The type of warning and detection conditions depend on the connected
MECHATROLINK slave device (Servo Drive).
When the PCU detects a warning for the MECHATROLINK slave station
device, the PCU notifies the CPU Unit, by turning ON the Warning Flag for the
corresponding axis, and stores the warning code in the axis error code.
When a warning is detected, the Unit continues operation unchanged.
When a warning is detected and then the associated error occurs for the
same axis, the Error Flag turns ON and the PCU performs error processing.
The axis error code will be overwritten by the error code for the error that has
occurred.
Section 12-1
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