12.5
Motion Program Alarms
12-21
12.5 Motion Program Alarms
If the result of investigation using 12.3.2 MP2300 Error Check Flowchart on page 12-6 indicates that
a motion program alarm has occurred, use the alarm code to determine the cause of the error.
12.5.1 Motion Program Alarm Configuration
Motion program alarms stored in the alarm output register (default: SW03268) are displayed as
shown in the following diagram.
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Refer to 5.2.4 ( 5 ) Monitoring Motion Program Execution Information Using S Registers on page
5-15 for information on finding the alarm output register.
12.5.2 Motion Program Alarm Code List
The motion program alarm codes are listed in the following table.
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When displaying these on the register list, set the view mode to hexadecimal.
* The axis number is stored in bits 8 to 11 for axis alarms.
Bit 0Bit 7Bit 8Bit 12Bit 15
Axis
Alarm
Alarm Code
(1 to 14)
Alarm Axis Information
Alarm Code Description Correction
Program
alarms
0 No alarm
Check the specifications
for the instruction that was
being executed in the
motion program when the
alarm occurred according
to the meaning of the
alarm code.
10h Complete circle specified for radius designation
11h Interpolation feed speed exceeded
12h Interpolation feed speed not specified
13h
Range exceeded after acceleration/deceleration speed parameter
conversion
14h LONG_MAX exceeded for circular arc length
15h No vertical specification for circular plane designation
16h No horizontal specification for circular plane designation
17h Specified axes exceeded
18h Specified number of turns exceeded
19h LONG_MAX exceeded for radius
1Bh Emergency stop in progress
1Ch LONG_MAX exceeded for linear interpolation block moving amount
1Dh FMX not defined
1Eh Address T out of range
1Fh Address P out of range
20h REG data error
21h
Function work duplication (Function work in second PFORK column was
used at a different nesting level.)
22h Indirect register designation range error
23h Overflow when converting reference unit
Axis
alarms*
80h During use of logical axis prohibited
Check the specifications
for the instruction that was
being executed in the
motion program when the
alarm occurred according
to the meaning of the
alarm code.
81h
Specifications exceeding POSMAX made for infinite length axis
designation
82h LONG_MAX exceeded for axis moving distance
84h Motion command duplication
85h Motion command response duplication
87h VEL setting data out of range
88h INP setting data out of range
89h ACC/SCC/DCC setting data out of range
8Ah T reference for MVT instruction is 0
8Bh
Instruction designated that cannot be executed for the Motion Module
model
8Ch Prohibition command executed when pulse distribution was not completed
8Dh Motion command error end status
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