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9 Details on Servo Parameter Objects
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
9-7 Special Objects
9
• Set how many times the EtherCAT communications data setting warning should be detected
continuously without an error.
• If a Data Setting Warning (Warning No. B0 hex) occurs more than this setting, a Command Error
(Error No. 91.1) will occur.
• It can be set to between 0 and 15. The error will occur when the number of detected Data Setting
Warning exceeds this set value + 1.
Additional Information
• This object is supported for unit version 2.1 or later.
• In the default setting, the data setting warning (Warning No. B0 hex) will not occur because the
Communications Control (3800 hex) bit 14 is 1, and therefore no Command Error (Error
No. 91.1) will occur.
• To enable this setting, set the Communications Control (3800 hex) bit 14 to 0.
• When you enable this setting and do not change the default setting value (default: 1), a
Command Error will occur if the data setting warning is detected twice in a row.
• Set the error and warning masks for EtherCAT communications.
Precautions for Correct UsePrecautions for Correct Use
This function is for debugging. For normal operation, leave this object at the default setting.
• Bit Descriptions
• Error masks
The following table shows the error you can mask by setting each error mask bit of the
Communications Control object (3800 hex).
To mask an error, set the corresponding error bit to 1.
3781 hex
Data Setting Warning Detection Setting
Setting range 0 to 15 Unit Times
Default setting
1 Data Attribute C
Size 2 bytes (INT16) Access RW PDO map Not possible.
3800 hex
Communications Control
Setting range −32768 to
32767
Unit − Default setting Refer to the
description.
Data Attribute C
Size 2 bytes (INT16) Access RW PDO map Not possible.
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Function Error masks Warning masks Error masks
Communications Control (3800 hex)
Error
Error No. (hex) Error name
Bit 1 83.1 EtherCAT state change error
Bit 2 83.2 EtherCAT illegal state change error
Bit 3 83.3 Communications synchronization error
Bit 12 83.4 Synchronization error
Bit 13 83.5 Sync Manager WDT Error
Bit 14
*1
*1. Only Command Errors (Error No. 91.1) due to the data setting warning (B0 hex) are masked. Command
Errors (Error No. 91.1) due to other causes are not masked.
For details on the causes of a Command Error (Error No. 91.1), refer to Command error on page 12-28.
91.1 Command Error
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