User`s manual

13 - 1
13
Chapter 13 Troubleshooting
13-1 Checks to perform when an error occurs and how to
recover from an error
Perform the following to recover from errors that occur.
At power ON and at startup of this module (when confirming operation after setting parameter or
various data)
When this happens, check the hardware and the various block data on this module. Eliminate the
cause of the error following the error code displayed at this time. After clearing the error, reset the
error, and perform operation according to the regular startup procedure.
Error caused by emergency stop, etc. during operation
When the pulse driver is used, the cause of this error can be eliminated, and the error can be
recovered successfully by performing an error reset. However, in systems using a servo driver, the
timing that a deviation clear is output and setting of the present value (origin) to unconfirmed are
important. See tables 1 to 3 as the conditions for clearing the deviation and for setting the present
value (origin) to unconfirmed by the external input signal differ according to the various parameters.
Item "13-2" describes recovery from an emergency stop on a servo system and cautions to follow.
Relay input
Clear deviation instruction Clear error
Parameter
Closed loop
control mode
selection
0
1
Closed loop control
disabled
Emergency stop when the number
of encoder pulses exceeds the
closed loop control allowable range
Compensation operation is
performed so that allowable
range is entered when the
number of encoder pulses
is outside of the closed loop
control allowable range.
The present
value is held.
parameter 2
address 0000
Table 1: Present value when a deviation clear or error clear according to the closed loop
control mode is executed
2
The present value
(origin) forcibly
becomes unconfirmed.
The present position
is adjusted from the
instruction pulse.
The present position
is adjusted from the
encoder pulse.
The present position
is adjusted from the
instruction pulse.
The present position
is adjusted from the
encoder pulse.
At this time, a
deviation clear is
automatically output.
Signal input
Driver error Limit input
Parameter
Designation of
origin unconfirmed
at hardware error
0
1
The present
value is held.
The present value
(origin) forcibly
becomes unconfirmed.
The present value
(origin) forcibly
becomes unconfirmed.
The present
value is held.
The present value is
held at an error.
The state is forcibly
set to the origin
unconfirmed state.
parameter 1
address 0001
bit 0
Table 2: Present value when software limit error, driver error or limit end error occurs
Designation of origin
unconfirmed at
software limit error
parameter 1
address 0001
bit 0
Software limit detection
The present
value is held.
The present value
(origin) forcibly
becomes unconfirmed.
0
1
The previous state is held
at an emergency input,
limit input and driver error.
The state is forcibly
set to the origin
unconfirmed state.