12
Maintenance and Inspection
12.6.1
Overview of Motion Errors
12-22
12.6 Troubleshooting Motion Errors
This section explains the details and remedies for errors that occur in motion control functions.
12.6.1 Overview of Motion Errors
Motion errors in the MP2300 include axis alarms detected for individual SERVOPACKs.
The failure location can be determined and appropriate corrections can be taken simply by checking
the contents of the Warning (IL

02) and Alarm (IL

04) monitoring parameters.
The motion alarms for the MP2300 Basic Module’s MECHATROLINK-I or MECHATROLINK-II
functionality are shown below.
* 1. Refer to 12.6.2 Motion Error Details and Corrections on page 12-23.
* 2. Refer to 12.6.3 ( 1 ) Bit 19: ABS Encoder Count Exceeded on page 12-28.
* 3. Refer to 12.6.3 ( 2 ) Servo Alarm Code (IW

2D) on page 12-29.
Warning (IL02)
Bit 1: Setting Parameter Error
Bit 2: Fixed Parameter Error
Bit 0: Excessively following error
Bit 3: Servo Driver Error
Bit 4: Motion Command Setting Error
Bit 0: Servo Driver Error
Bit 1: Positive Overtravel
Bit 2: Negative Overtravel
Bit 3: Positive Software Limit
Bit 4: Negative Software Limit
Bit 5: Servo OFF
Bit 19: ABS Encoder Count Exceeded
00: Absolute Data Error
02: Parameter Corrupted
10: Overcurrent
11: Ground Fault
F3: Momentary Power Loss
Servo Alarm Code
∗3
(IW

2D)
Alarm (IL04)
∗1
Servo Driver Status
∗2
(IW2C)
Bit 0: Alarm
Bit 1: Warning
Bit 2: Command READY
Bit 3: Servo ON
Bit D: Negative Software Limit
Over Range Parameter Number
(IW01)
Bit 18: Servo Driver Command Timeout
Error
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