Panasonic MINAS A6 Multi Series - Page 207

7.2Details of protective function
7-23
Error No.
Protective function
Causes
Measures
Main
Sub
84
3
Synchronous
establishment
initialization error
protection
In the EtherCAT communication of the
driver module, error occurred during
initialization process of phasing
communication and servo.
 Turn the power off once, then turn it on
again.
 If error occurred repeatedly, there is a
possibility of failure. Stop using the
products, and replace the motor and the
driver module.
 Return the products to the dealer or
manufacturer.
85
0
TxPDO assignment error
protection
In the EtherCAT communication of the
driver module, the following incorrect
TxPDO was assigned.
 The data size of the TxPDO map on Axis
A side was set to exceed 32 bytes.
 The data size of the TxPDO map on Axis
B side was set to exceed 32 bytes.
 An object for Axis B was set in 1A00h to
1A03h (for Axis A).
 An object for Axis A was set in 1A10h to
1A13h (for Axis B).
 Set the TxPDO data size within 32 bytes
for each axis.
 Set only objects for Axis A in 1A00h to
1A03h.
 Set only objects for Axis B in 1A10h to
1A13h.
1
RxPDO assignment error
protection
In the EtherCAT communication of the
driver module, the following incorrect
RxPDO was assigned.
 The data size of the RxPDO map on Axis
A side was set to exceed 32 bytes.
 The data size of the RxPDO map on Axis
B side was set to exceed 32 bytes.
 An object for Axis B was set in 1600h to
1603h (for Axis A).
 An object for Axis A was set in 1610h to
1613h (for Axis B).
 Set the RxPDO data size within 32 bytes
for each axis.
 Set only objects for Axis A in 1600h to
1603h.
 Set only objects for Axis B in 1610h to
1613h.
2
Lost link error protection
In the EtherCAT communication of the
driver module, the time set in Pr7.43 (Lost
link detection time) elapsed when either
Port 0 or Port 1 fell and remains in the lost
link state after the ESM state transitioned
from Init to PreOP (not including a port that
had been in the lost link state at the time of
transition from Init to PreOP).
 Check whether there is any problem in
wiring of EtherCAT communication cable.
 Check whether there is any problem in the
communication from higher rank
equipment.
3
SII EEPROM error
protection
In the EtherCAT communication of the
driver module, SII (EEPROM) information
and object information did not match as
follows.
 Vendor ID, Product code, and Revision
number did not match between SII
(EEPROM) and the object values.
 SII (EEPROM) reading/writing is incorrect.
 Any of bit 11-14 of ESC register 0502h is
1.
 Check the data of SII.
 Retry reading/writing of SII.
87
0
Forced alarm input
protection
Forced alarm input (E-STOP) is applied.
Check the wiring of forced alarm input
(E-STOP).
(To be continued)