— iv —
9. Details of Command and Parameter----9-1
9.1. Handling Instruction of Command and Parameter
-----------------------------------------------------------------9-1
9.1.1. Character String of Command------------------9-1
9.1.2. Grammar of Command -------------------------9-1
9.1.3. Error Message--------------------------------------9-2
9.1.4. Multi-statement on a Line------------------------9-2
9.1.5. Wildcard Search------------------------------------9-3
9.1.6. Repeating Readout--------------------------------9-3
9.1.7. Multi-monitor ----------------------------------------9-4
9.1.8. Initialization of Specified Parameter-----------9-4
9.1.9. Adjusting ---------------------------------------------9-5
9.1.10. Output to Analog Monitor-----------------------9-5
9.2. Glossary of Command and Parameter --------------9-6
9.3. Parameter List ------------------------------------------- 9-85
10. Maintenance------------------------------- 10-1
10.1. Backup Parts ------------------------------------------- 10-1
10.2. Storing the Parts--------------------------------------- 10-1
10.3. Periodic Check-----------------------------------------10-2
10.3.1. Motor ---------------------------------------------- 10-2
10.3.2. Driver Unit
(Including Cables and Handy Terminal)
------------------------------------------------------- 10-2
10.4. Periodic Replacement of Parts--------------------- 10-3
10.4.1. Motor ---------------------------------------------- 10-3
10.4.2. Cables--------------------------------------------- 10-3
10.4.3. Driver Unit---------------------------------------- 10-4
10.5. Repair Service ----------------------------------------- 10-6
10.6. Warranty Period and Covering Range ----------- 10-6
10.6.1. Warranty Period -------------------------------- 10-6
10.6.2. Limited Warranty ------------------------------- 10-6
10.6.3. Immunities --------------------------------------- 10-6
10.6.4. Service Fee-------------------------------------- 10-6
10.6.5. Notice for discontinuity of the Product and
Duration of Support --------------------------- 10-6
11. Alarm and Warning ---------------------- 11-1
11.1. Identifying Alarm and Warning---------------------11-1
11.1.1. LED Alarm Indicator --------------------------- 11-1
11.1.2. Confirmation of Alarm and Warning ------- 11-2
11.1.3. History of Alarm and Warning--------------- 11-3
11.2. List of Alarm and warning ---------------------------11-5
11.2.1. Normal State ------------------------------------ 11-5
11.2.2. Condition in the State of Alarm and Warning -
------------------------------------------------------- 11-6
11.2.2.1. Alarm--------------------------------------- 11-6
11.2.2.2. Warning ----------------------------------- 11-7
11.2.2.3. Over Travel Limit------------------------ 11-7
11.3. Cause and Remedy----------------------------------- 11-8
11.3.1. CPU Error ---------------------------------------- 11-8
11.3.2. Alarm A0: Disconnected Sensor Cable---11-8
11.3.3. Alarm A1: Position Data Error--------------- 11-9
11.3.4. Alarm A2: Motor Cable Disconnected----- 11-9
11.3.5. Warning A3: Software Thermal----------- 11-10
11.3.6. Alarm A4: Excess Velocity -----------------11-11
11.3.7. Warning A5: Home Position Undefined-11-11
11.3.8. Alarm A7: Resolver Amplifier Alarm -----11-12
11.3.9. Alarm A9: Commutation Error-------------11-12
11.3.10. Warning C0: Position Command/Feedback
Signal Error ----------------11-13
11.3.11. Alarm C3: CPU Error-----------------------11-13
11.3.12. Alarm E0: RAM Error ----------------------11-14
11.3.13. Alarm E2: ROM Error ---------------------- 11-14
11.3.14. Alarm E7: System Error -------------------11-15
11.3.15. Alarm E8: Interface Error -----------------11-15
11.3.16. Alarm E9: ADC Error-----------------------11-15
11.3.17. Warning F1: Excess Position Error-----11-16
11.3.18. Over Travel F2: Software Over Travel Limit -
------------------------------------------------------11-17
11.3.19. Over Travel F3: hardware Over Travel Limit-
------------------------------------------------------11-18
11.3.20. Alarm F4: Emergency Stop---------------11-19
11.3.21. Warning F5: Program Error --------------11-19
11.3.22. Warning F8: Automatic Tuning Error--- 11-20
11.3.23. Warning P0: Over Heat--------------------11-21
11.3.24. Alarm P1: Main Power Overvoltage----11-21
11.3.25. Alarm P2: Motor Over Current-----------11-22
11.3.26. Alarm P3: Control Power Under Voltage
------------------------------------------------------11-22
11.3.27. Warning P5: Main Power Under Voltage
------------------------------------------------------11-23
11.3.28. Alarm P9: Power Module Alarm---------11-23
12. Troubleshooting -------------------------- 12-1
12.1. Identifying Problem------------------------------------12-1
12.2. Troubleshooting ----------------------------------------12-1
12.2.1. Power Trouble-----------------------------------12-2
12.2.2. Motor Trouble------------------------------------12-2
12.2.3. Vibration, Abnormal Noise or Unstable Settling
--------------------------------------------------------12-3
12.2.4. Improper Positioning---------------------------12-3
12.2.5. Communication Problem ---------------------12-4
Appendix
Appendix 1: How to Monitor Input and Output Signal-A-1
Appendix 2: How to Check Motor Condition-------------A-5
Appendix 3: How to Back up and Restore the Settings of
Programs and Parameters ------------------A-8
Appendix 3.1. When Using the Handy Terminal
FHT21-------------------------------------A-8
Appendix 3.2. When Using a Personal Computer
------------------------------------------------ A-11
Appendix 3.3. Back up Manually -------------------- A-14
Appendix 4: Procedure for Replacing EDC Driver Unit
-------------------------------------------------------------- A-16
Appendix 5: Dump Resistor-------------------------------- A-18
Appendix 6: Wiring of RS-232C Communication Cable---
-------------------------------------------------------------- A-20
Appendix 7: Setting List of Parameter and Program of
EDC Driver Unit ------------------------------ A-21
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