CONTENTS
14
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
11-11-2 Objects Requiring Settings ................................................................................................... 11-26
11-11-3 Operation Example ............................................................................................................... 11-27
11-12 Feed-forward Function.................................................................................................... 11-29
11-12-1 Feed-forward Control in TDF Control.................................................................................... 11-29
11-12-2 Feed-forward Control in ODF Control................................................................................... 11-31
Section 12 Troubleshooting
12-1 Actions for Problems ........................................................................................................ 12-2
12-1-1 Preliminary Checks When a Problem Occurs......................................................................... 12-2
12-1-2 Precautions When a Problem Occurs.....................................................................................12-3
12-1-3 Replacing the Servomotor or Servo Drive ..............................................................................12-4
12-2 Warnings ............................................................................................................................ 12-6
12-2-1 Related Objects ......................................................................................................................12-6
12-2-2 Warning List ............................................................................................................................ 12-8
12-3 Errors................................................................................................................................ 12-10
12-3-1 Error List ...............................................................................................................................12-10
12-3-2 Deceleration Stop Operation at Errors..................................................................................12-13
12-4 Information....................................................................................................................... 12-14
12-4-1 Related Objects .................................................................................................................... 12-14
12-4-2 Information List .....................................................................................................................12-14
12-5 Troubleshooting .............................................................................................................. 12-15
12-5-1 Troubleshooting Using Error Displays ..................................................................................12-16
12-5-2 Troubleshooting Using AL Status Codes .............................................................................. 12-38
12-5-3 Troubleshooting Using the Operation State.......................................................................... 12-42
Section 13 Maintenance and Inspection
13-1 Periodic Maintenance........................................................................................................ 13-2
13-2 Servo Drive Lifetime.......................................................................................................... 13-3
13-3 Servomotor Lifetime.......................................................................................................... 13-4
13-4 Method for Broken Ring Maintenance and Inspection .................................................. 13-5
Appendices
A-1 CiA 402 Drive Profile ..........................................................................................................A-2
A-1-1 Controlling the State Machine of the Servo Drive.....................................................................A-2
A-1-2 Modes of Operation ..................................................................................................................A-4
A-1-3 Modes of Operation and Applied/Adjustment Functions...........................................................A-5
A-1-4 Changing the Mode of Operation..............................................................................................A-5
A-1-5 Homing Mode Specifications ....................................................................................................A-7
A-2 CoE Objects ......................................................................................................................A-12
A-2-1 Object Dictionary Area ............................................................................................................A-12
A-2-2 Data Type................................................................................................................................A-12
A-2-3 Object Description Format ......................................................................................................A-13
A-2-4 Communication Objects..........................................................................................................A-14
A-2-5 PDO Mapping Objects............................................................................................................A-20
A-2-6 Sync Manager Communication Objects .................................................................................A-35
A-2-7 Manufacturer Specific Objects................................................................................................A-38
A-2-8 Servo Drive Profile Object ......................................................................................................A-41
A-2-9 Safety Function Objects..........................................................................................................A-64
A-3 Object List .........................................................................................................................A-68
A-4 Sysmac Error Status Codes ..........................................................................................A-100
A-4-1 Error List ...............................................................................................................................A-100
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