10.1
Motion Errors
10-5
10.1.2 Motion Error Details and Corrections
( 1 ) Alarm IL
04 Details
The following table shows the contents of the axis alarms (IL
04).
( 2 ) Servo Driver Error (IL
04, Bit 0)
The above status bit will turn ON for any of the SERVOPACK alarm codes for alarms classified as
SERVOPACK alarms.
IL
04
Alarm Contents SVB-01 SVA-01
Bit 0
Servo Driver Error
Yes Ye s
Bit 1
Positive Overtravel
Yes Ye s
Bit 2
Negative Overtravel
Yes Ye s
Bit 3
Positive Soft Limit (Positive Software Limit)
Yes Ye s
Bit 4
Negative Soft Limit (Negative Software Limit)
Yes Ye s
Bit 5
Servo OFF
Yes Ye s
Bit 6
Positioning Time Over
Yes Ye s
Bit 7
Excessive Positioning Moving Amount
Yes
Bit 8
Excessive Speed
Yes Ye s
Bit 9
Excessively Following Error
Yes Ye s
Bit 10
Filter Type Change Error
Yes
Bit 11
Filter Time Constant Change Error
Yes
Bit 12
Not used
−−
Bit 13
Zero Point Not Set
Yes Ye s
Bit 14
Not used
−−
Bit 15
Not used
−−
Bit 16
Servo Driver Synchronization Communication Error
Yes
Bit 17
Servo Driver Communication Error
Yes
Bit 18
Servo Driver Command Timeout Error
Yes
Bit 19
ABS Encoder Count Exceeded
Yes Ye s
Bit 20
PG Disconnection Error
Yes
Bit 21
Receiving Error of Accumulated Number of Rotations
Yes
Bits 22 to
31
Not used
−−
Detection Timing
• SERVOPACK alarms are continuously monitored by the alarm management section.
Processing when Alarm Occurs
• The current command will be aborted. If a SERVOPACK error is detected during execution of a POSING command, the
positioning will be aborted and the axis will decelerate to a stop.
• The Command Error Occurrence in the Servo Module Command Status (IW
09 bit 3) will turn ON.
Error and Cause
• The cause of the error depends on the type of alarm. The contents of an alarm is monitored in IW
2D. Refer to the list of
SERVOPACK alarms on the next page for details.
Correction
• Confirm the SERVOPACK alarm and remove the cause.
• Reset the alarm.
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