Panasonic MINAS-A5NL Series - 8-1-7 RTEX cyclic data error protection 1;2 (Err. 86.0;Err. 86.1)

No. SX-DSV02310 - 158 -
R2.0 Motor Business Division, Appliances Company, Panasonic Corporation
8-1-7 RTEX cyclic data error protection 1/2 (Err. 86.0/Err. 86.1)
Th
is alarm will occur, when data error in cyclic command area (C/R, MAC_ID, cyclic command) occurs or when
Sub_Chk error continues in 32-byte mode for the predetermined period.
Cause • Data error occurs in cyclic command area (C/R, MAC_ID, cyclic command) or
Sub_Chk error continues in 32-byte mode for the predetermined period.
Alarm code Detected space Cause
Byte 0. bit 4–0 MAC-ID Not fit with setting on
rotary switch
Byte 0. bit 7 C/R Set at 1
Err. 86.0
Byte 16. bit 7 Sub_Chk Set at 0
Err. 86.1 Byte 1. bit 6–4 Cyclic command Undefined
Detecting timing • When RTEX communication status is RUNNING.
• When synchronization between the communication and servo is established.
• When received data is read at the communication cycle.
Internal process upon
detecting error
• Command error occurs while in alarm condition.
Alarm code Detected space Error_Code
Byte 0. bit 4–0 MAC-ID 0011h
Byte 0. bit 7 C/R
Err. 86.0
Byte 16. bit 7 Sub_Chk
0012h
Err. 86.1 Byte 1. bit 6–4 Cyclic command 0021h
▪ For details of command error, see Section 6-9-1.
• Discard the received data.
• Use the previously received normal data for processing (servo is in alarm
status).
• RTEX communication keeps RUNNING status.
▪ Because the communication continues, if the normal reception is possible
after occurrence of alarm, commands such as alarm clear can be received.
Action • Check the data in the cyclic command field (Detected space in the table above).
• Check the process in the host controller
Alarm clear attribute • Can be cleared.
Display on COM LED • Flashing in red