7.2
Motion Command Details
7-75
( 4 ) Timing Charts
[ a ] Normal End
[ b ] Error End
7.2.20 Clear SERVOPACK Alarm History (ALMHIST_CLR)
The ALMHIST_CLR command clears the alarm history in the SERVOPACK.
( 1 ) Executing/Operating Procedure
1.
Check to see if all the following conditions are satisfied.
2.
Set OW

08 to 21 to execute the ALMHIST_CLR motion command.
The ALMHIST_CLR command will clear the alarm history stored in the SERVOPACK.
IW

08 will be 21 during command execution.
IB

090 will turn ON during the command processing and will turn OFF when the command
processing has been completed.
3.
Set OW

08 to 0 to execute the NOP motion command and then clear the alarm
history.
( 2 ) Holding and Aborting
The Command Pause bit (OB

090) and the Command Abort bit (OB

091) cannot be used.
OW08 = 20 (ALM-HIST)
IW08 = 20 (ALM-HIST)
IB090 (BUSY)
IW2D
Alarm code (0) Alarm code (0)
IB098 (COMPLETE)
IB093 (FAIL)
Undefined length
of time
Specified
alarm code
Alarm code (0) Alarm code (0)
OW08 = 20 (ALM-HIST)
IW08 = 20 (ALM-HIST)
IB090 (BUSY)
IW2D
IB098 (COMPLETE)
IB093 (FAIL)
Undefined length
of time
Alarm
code (0)
No. Execution Conditions Confirmation Method
1 Motion command execution has been completed.
IW

08 is 0 and IB

090 is OFF.
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