No. SX-DSV02310 - 161 -
R2.0 Motor Business Division, Appliances Company, Panasonic Corporation
8-1-10 RTEX command error protection (Err91.1)
This error will occur when the cyclic command (Byte 1, bits 64) is defined but not correctly received.
Cause • Mismatched combination of communication cycle, 16/32-byte mode and
control mode.
• The control mode switching interval is shorter than 2 ms.
• Control mode is switched during profile position latch positioning/profile
homing operation (Type_Code = 12h, 13h, 31h, 32h, 33h,34h,35h).
• Control mode is switched during processing of non-cyclic command (Busy =
1).
• During operation of profile position latch positioning/profile homing
(Type_Code = 12h, 13h, 31h, 32h, 33h,34h,35h), the homing command (4h)
is executed.
• During operation of profile positioning/profile continuous movement
(Type_Code =10h, 11h, 20h), the initialization mode (Type_Code = 1h, 31h)
of the homing command (4h) is executed.
• During operation with profile position control (PP), Type_Code is changed.
• Run the home return command (4h) Type_Code=1h/2h during the
velocity control (CV)/ thrust control (CT)
• When Block Diagram of 2 Degrees of Freedom Mode is disabled, Control
mode has been changed other than position control.
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
• The command error occurs upon occurrence of the alarm.
▪ For details of command error, see Section 6-10-1.
• RTEX communication keeps RUNNING status.
Action • Check the process of the host controller.
* When changing to another control mode after selecting the current mode, wait
at least for 2 ms.
* Check correspondence relation between the executive function and control
mode.
Alarm clear attribute • Can be cleared.
Display on COM LED • Flashing in red
2.02.0
2.02.0
2.02.0
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